From a55349b1f80d164860985221dd82bfdfcab9e142 Mon Sep 17 00:00:00 2001 From: ronansoergel9 Date: Thu, 19 Mar 2026 18:56:38 -0700 Subject: [PATCH 01/11] Autos --- src/main/deploy/choreo/Autos_Practice1.chor | 534 ++++++++++++++++++++ src/main/deploy/choreo/BtoD.traj | 2 +- src/main/deploy/choreo/DtoCL.traj | 4 +- src/main/deploy/choreo/DtoRL.traj | 6 +- src/main/deploy/choreo/FLMtoEL.traj | 112 ++-- src/main/deploy/choreo/FLMtoML.traj | 20 +- src/main/deploy/choreo/FRMtoMR.traj | 36 +- src/main/deploy/choreo/FRtoSRT.traj | 288 +++++++++++ src/main/deploy/choreo/MLtoCL.traj | 12 +- src/main/deploy/choreo/MLtoD.traj | 160 +++--- src/main/deploy/choreo/MRtoCR.traj | 4 +- src/main/deploy/choreo/OtoCR.traj | 66 +-- src/main/deploy/choreo/OtoS.traj | 4 +- src/main/deploy/choreo/PLtoDRO.traj | 6 +- src/main/deploy/choreo/PLtoFL.traj | 10 +- src/main/deploy/choreo/PRtoDRO.traj | 10 +- src/main/deploy/choreo/PRtoFR.traj | 2 +- src/main/deploy/choreo/PRtoO.traj | 2 +- src/main/deploy/choreo/RLtoFL.traj | 108 ++-- src/main/deploy/choreo/RRtoFR.traj | 78 +-- src/main/deploy/choreo/RUNtoTEST.traj | 20 +- src/main/deploy/choreo/SLBtoCL.traj | 86 ++-- src/main/deploy/choreo/SRTtoO.traj | 100 ++++ src/main/deploy/choreo/testposes.traj | 12 +- 24 files changed, 1302 insertions(+), 380 deletions(-) create mode 100644 src/main/deploy/choreo/Autos_Practice1.chor create mode 100644 src/main/deploy/choreo/FRtoSRT.traj create mode 100644 src/main/deploy/choreo/SRTtoO.traj diff --git a/src/main/deploy/choreo/Autos_Practice1.chor b/src/main/deploy/choreo/Autos_Practice1.chor new file mode 100644 index 00000000..d515d794 --- /dev/null +++ b/src/main/deploy/choreo/Autos_Practice1.chor @@ -0,0 +1,534 @@ +{ + "name":"Autos_Practice1", + "version":2, + "type":"Swerve", + "variables":{ + "expressions":{ + "slow":{ + "dimension":"LinVel", + "var":{ + "exp":"2 m / s", + "val":2.0 + } + }, + "slowaccel":{ + "dimension":"LinAcc", + "var":{ + "exp":"1.5 m / s ^ 2", + "val":1.5 + } + }, + "slower":{ + "dimension":"LinVel", + "var":{ + "exp":"1.5 m / s", + "val":1.5 + } + }, + "slowest":{ + "dimension":"LinVel", + "var":{ + "exp":"1 m / s", + "val":1.0 + } + } + }, + "poses":{ + "CL":{ + "x":{ + "exp":"1.998773455619812 m", + "val":1.998773455619812 + }, + "y":{ + "exp":"4.835856914520264 m", + "val":4.835856914520264 + }, + "heading":{ + "exp":"1.5728533535678788 rad", + "val":1.5728533535678788 + } + }, + "CM":{ + "x":{ + "exp":"1.7500560283660889 m", + "val":1.7500560283660889 + }, + "y":{ + "exp":"3.7646303176879883 m", + "val":3.764630317687988 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "CR":{ + "x":{ + "exp":"1.8024730682373047 m", + "val":1.802473068237305 + }, + "y":{ + "exp":"2.449967384338379 m", + "val":2.449967384338379 + }, + "heading":{ + "exp":"-1.5737992594811685 rad", + "val":-1.5737992594811685 + } + }, + "D":{ + "x":{ + "exp":"0.703999767303467 m", + "val":0.703999767303467 + }, + "y":{ + "exp":"5.975247383117676 m", + "val":5.975247383117676 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "DLO":{ + "x":{ + "exp":"8.579570770263672 m", + "val":8.579570770263672 + }, + "y":{ + "exp":"5.865847587585449 m", + "val":5.865847587585449 + }, + "heading":{ + "exp":"-1.5707963267948966 rad", + "val":-1.5707963267948966 + } + }, + "DLT":{ + "x":{ + "exp":"8.579570770263672 m", + "val":8.579570770263672 + }, + "y":{ + "exp":"2.2046804428100586 m", + "val":2.2046804428100586 + }, + "heading":{ + "exp":"DLO.heading", + "val":-1.5707963267948966 + } + }, + "DRO":{ + "x":{ + "exp":"7.979954719543457 m", + "val":7.979954719543457 + }, + "y":{ + "exp":"2.225545644760132 m", + "val":2.225545644760132 + }, + "heading":{ + "exp":"1.5752676626464273 rad", + "val":1.5752676626464273 + } + }, + "DRT":{ + "x":{ + "exp":"7.979954719543457 m", + "val":7.979954719543457 + }, + "y":{ + "exp":"5.877043724060059 m", + "val":5.877043724060059 + }, + "heading":{ + "exp":"1.5752676626464273 rad", + "val":1.5752676626464273 + } + }, + "ELL":{ + "x":{ + "exp":"2.1214685440063477 m", + "val":2.1214685440063477 + }, + "y":{ + "exp":"7.046450138092041 m", + "val":7.046450138092041 + }, + "heading":{ + "exp":"-1.573056098378181 rad", + "val":-1.573056098378181 + } + }, + "ER":{ + "x":{ + "exp":"2.1974267959594727 m", + "val":2.1974267959594727 + }, + "y":{ + "exp":"0.9764090180397034 m", + "val":0.9764090180397034 + }, + "heading":{ + "exp":"1.5718817860612435 rad", + "val":1.5718817860612435 + } + }, + "FL":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"5.865901947021484 m", + "val":5.865901947021484 + }, + "heading":{ + "exp":"-1.5707963267948966 rad", + "val":-1.5707963267948966 + } + }, + "FLM":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"4.503572463989258 m", + "val":4.503572463989258 + }, + "heading":{ + "exp":"-1.5707963267948966 rad", + "val":-1.5707963267948966 + } + }, + "FR":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"2.2169458866119385 m", + "val":2.2169458866119385 + }, + "heading":{ + "exp":"1.5707963267948966 rad", + "val":1.5707963267948966 + } + }, + "FRM":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"3.55698299407959 m", + "val":3.55698299407959 + }, + "heading":{ + "exp":"1.5707963267948966 rad", + "val":1.5707963267948966 + } + }, + "M":{ + "x":{ + "exp":"1.8712037801742554 m", + "val":1.8712037801742551 + }, + "y":{ + "exp":"4 m", + "val":4.0 + }, + "heading":{ + "exp":"3.141592638598 / 2 rad", + "val":1.570796319299 + } + }, + "MLL":{ + "x":{ + "exp":"3.2225897312164307 m", + "val":3.2225897312164307 + }, + "y":{ + "exp":"7.436997413635254 m", + "val":7.436997413635254 + }, + "heading":{ + "exp":"0 rad", + "val":0.0 + } + }, + "MR":{ + "x":{ + "exp":"3.32966947555542 m", + "val":3.32966947555542 + }, + "y":{ + "exp":"0.688210129737854 m", + "val":0.688210129737854 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "O":{ + "x":{ + "exp":"0.4355199635028839 m", + "val":0.4355199635028839 + }, + "y":{ + "exp":"0.5460934042930603 m", + "val":0.5460934042930603 + }, + "heading":{ + "exp":"3.141592653589793 / 2 rad", + "val":1.5707963267948966 + } + }, + "PLB":{ + "x":{ + "exp":"3.708786010742188 m", + "val":3.708786010742188 + }, + "y":{ + "exp":"5.537450790405273 m", + "val":5.537450790405273 + }, + "heading":{ + "exp":"0 deg", + "val":0.0 + } + }, + "PLT":{ + "x":{ + "exp":"3.7620644569396973 m", + "val":3.7620644569396977 + }, + "y":{ + "exp":"7.357067584991455 m", + "val":7.357067584991455 + }, + "heading":{ + "exp":"SLT.heading", + "val":3.141592653589793 + } + }, + "PM":{ + "x":{ + "exp":"3.6745946407318115 m", + "val":3.674594640731811 + }, + "y":{ + "exp":"4.0000072192 m", + "val":4.0000072192 + }, + "heading":{ + "exp":"3.141592638589 / 2 rad", + "val":1.5707963192945 + } + }, + "PRB":{ + "x":{ + "exp":"3.7007737159729004 m", + "val":3.700773715972901 + }, + "y":{ + "exp":"2.531209707260132 m", + "val":2.531209707260132 + }, + "heading":{ + "exp":"0 deg", + "val":0.0 + } + }, + "PRT":{ + "x":{ + "exp":"3.7242095470428467 m", + "val":3.7242095470428462 + }, + "y":{ + "exp":"0.7309682965278625 m", + "val":0.7309682965278625 + }, + "heading":{ + "exp":"3.141592690548533 / 2 rad", + "val":1.5707963452742666 + } + }, + "RLL":{ + "x":{ + "exp":"2.9497299194335938 m", + "val":2.9497299194335938 + }, + "y":{ + "exp":"7.378527641296387 m", + "val":7.378527641296387 + }, + "heading":{ + "exp":"0 deg", + "val":0.0 + } + }, + "RR":{ + "x":{ + "exp":"2.5106818675994873 m", + "val":2.5106818675994873 + }, + "y":{ + "exp":"0.6606601476669312 m", + "val":0.6606601476669312 + }, + "heading":{ + "exp":"0 deg", + "val":0.0 + } + }, + "SC":{ + "x":{ + "exp":"2.4044814109802246 m", + "val":2.4044814109802246 + }, + "y":{ + "exp":"2 m", + "val":2.0 + }, + "heading":{ + "exp":"-3.1415076242073234 rad", + "val":-3.141507624207323 + } + }, + "SLB":{ + "x":{ + "exp":"2.7844135761260986 m", + "val":2.784413576126098 + }, + "y":{ + "exp":"5.38032865524292 m", + "val":5.38032865524292 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "SLT":{ + "x":{ + "exp":"2.814626932144165 m", + "val":2.814626932144165 + }, + "y":{ + "exp":"7.330637454986572 m", + "val":7.330637454986572 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "SRB":{ + "x":{ + "exp":"2.7844135761260986 m", + "val":2.784413576126098 + }, + "y":{ + "exp":"2.601309061050415 m", + "val":2.601309061050415 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "SRT":{ + "x":{ + "exp":"2.768587827682495 m", + "val":2.768587827682495 + }, + "y":{ + "exp":"0.7205682992935181 m", + "val":0.7205682992935181 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + } + } + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"21.748 / 2 in", + "val":0.2761996 + }, + "y":{ + "exp":"21.748 / 2 in", + "val":0.2761996 + } + }, + "backLeft":{ + "x":{ + "exp":"-21.748 / 2 in", + "val":-0.2761996 + }, + "y":{ + "exp":"21.748 / 2 in", + "val":0.2761996 + } + }, + "mass":{ + "exp":"145.8 lb", + "val":66.133767546 + }, + "inertia":{ + "exp":"35620.08132 in ^ 2 * lb", + "val":10.42384825260472 + }, + "gearing":{ + "exp":"7.03", + "val":7.03 + }, + "radius":{ + "exp":"2 in", + "val":0.0508 + }, + "vmax":{ + "exp":"4640 RPM", + "val":485.8996637552213 + }, + "tmax":{ + "exp":"0.9 N * m", + "val":0.9 + }, + "cof":{ + "exp":"2.25", + "val":2.25 + }, + "bumper":{ + "front":{ + "exp":"34.8 / 2 in", + "val":0.44196 + }, + "side":{ + "exp":"34.8 / 2 in", + "val":0.44196 + }, + "back":{ + "exp":"34.8 / 2 in", + "val":0.44196 + } + }, + "differentialTrackWidth":{ + "exp":"21.367 in", + "val":0.5427218 + } + }, + "generationFeatures":[], + "codegen":{ + "root":null, + "genVars":true, + "genTrajData":true, + "useChoreoLib":true + } +} diff --git a/src/main/deploy/choreo/BtoD.traj b/src/main/deploy/choreo/BtoD.traj index 1ee6dd9d..82876864 100644 --- a/src/main/deploy/choreo/BtoD.traj +++ b/src/main/deploy/choreo/BtoD.traj @@ -76,7 +76,7 @@ {"t":0.52864, "x":2.98888, "y":5.97525, "heading":1.83171, "vx":-1.49954, "vy":0.0, "omega":1.49905, "ax":0.0, "ay":0.0, "alpha":2.43873, "fx":[-8.14757,14.08325,8.14758,-14.08325], "fy":[-14.08329,-8.14762,14.08321,8.14753]}, {"t":0.56168, "x":2.93934, "y":5.97525, "heading":1.88124, "vx":-1.49954, "vy":0.0, "omega":1.57962, "ax":0.0, "ay":0.0, "alpha":2.12217, "fx":[-6.47456,12.59117,6.47456,-12.59117], "fy":[-12.59121,-6.4746,12.59113,6.47452]}, {"t":0.59472, "x":2.88979, "y":5.97525, "heading":1.93343, "vx":-1.49954, "vy":0.0, "omega":1.64974, "ax":0.0, "ay":0.0, "alpha":1.8198, "fx":[-4.98124,11.07209,4.98124,-11.07209], "fy":[-11.07212,-4.98127,11.07206,4.9812]}, - {"t":0.62776, "x":2.84025, "y":5.97525, "heading":1.98794, "vx":-1.49954, "vy":0.0, "omega":1.70986, "ax":0.0, "ay":0.0, "alpha":1.53035, "fx":[-3.67545,9.52539,3.67545,-9.52538], "fy":[-9.5254,-3.67547,9.52537,3.67543]}, + {"t":0.62776, "x":2.84025, "y":5.97525, "heading":1.98794, "vx":-1.49954, "vy":0.0, "omega":1.70986, "ax":0.0, "ay":0.0, "alpha":1.53035, "fx":[-3.67545,9.52539,3.67545,-9.52539], "fy":[-9.5254,-3.67547,9.52537,3.67543]}, {"t":0.6608, "x":2.7907, "y":5.97525, "heading":2.04443, "vx":-1.49954, "vy":0.0, "omega":1.76043, "ax":0.0, "ay":0.0, "alpha":1.25233, "fx":[-2.56281,7.95232,2.56281,-7.95232], "fy":[-7.95231,-2.56281,7.95232,2.56281]}, {"t":0.69384, "x":2.74116, "y":5.97525, "heading":2.1026, "vx":-1.49954, "vy":0.0, "omega":1.8018, "ax":0.0, "ay":0.0, "alpha":0.98409, "fx":[-1.6472,6.35547,1.6472,-6.35547], "fy":[-6.35544,-1.64717,6.35549,1.64722]}, {"t":0.72688, "x":2.69161, "y":5.97525, "heading":2.16213, "vx":-1.49954, "vy":0.0, "omega":1.83432, "ax":0.0, "ay":0.0, "alpha":0.7238, "fx":[-0.93126,4.73825,0.93126,-4.73825], "fy":[-4.7382,-0.93121,4.7383,0.93131]}, diff --git a/src/main/deploy/choreo/DtoCL.traj b/src/main/deploy/choreo/DtoCL.traj index fa6e8988..f4d5ff51 100644 --- a/src/main/deploy/choreo/DtoCL.traj +++ b/src/main/deploy/choreo/DtoCL.traj @@ -103,7 +103,7 @@ {"t":1.82147, "x":1.79376, "y":5.38118, "heading":2.02154, "vx":0.3518, "vy":-0.93578, "omega":-1.32782, "ax":0.0, "ay":0.0, "alpha":1.09642, "fx":[-2.40252,6.9091,2.40251,-6.9091], "fy":[-6.9091,-2.40252,6.9091,2.40252]}, {"t":1.8576, "x":1.80647, "y":5.34737, "heading":1.97357, "vx":0.3518, "vy":-0.93578, "omega":-1.28821, "ax":0.0, "ay":0.0, "alpha":1.26833, "fx":[-3.15926,7.84991,3.15926,-7.84991], "fy":[-7.84991,-3.15926,7.84991,3.15926]}, {"t":1.89373, "x":1.81918, "y":5.31356, "heading":1.92703, "vx":0.3518, "vy":-0.93578, "omega":-1.24238, "ax":0.0, "ay":0.0, "alpha":1.44861, "fx":[-4.02153,8.78811,4.02153,-8.78812], "fy":[-8.78812,-4.02153,8.78811,4.02153]}, - {"t":1.92986, "x":1.83189, "y":5.27975, "heading":1.88215, "vx":0.3518, "vy":-0.93578, "omega":-1.19005, "ax":0.0, "ay":0.0, "alpha":1.63826, "fx":[-4.98939,9.72457,4.98939,-9.72458], "fy":[-9.72458,-4.98939,9.72457,4.98939]}, + {"t":1.92986, "x":1.83189, "y":5.27975, "heading":1.88215, "vx":0.3518, "vy":-0.93578, "omega":-1.19005, "ax":0.0, "ay":0.0, "alpha":1.63826, "fx":[-4.98939,9.72457,4.98939,-9.72458], "fy":[-9.72457,-4.98939,9.72457,4.98939]}, {"t":1.96598, "x":1.8446, "y":5.24595, "heading":1.83915, "vx":0.3518, "vy":-0.93578, "omega":-1.13086, "ax":0.0, "ay":0.0, "alpha":1.83827, "fx":[-6.06234,10.66108,6.06234,-10.66108], "fy":[-10.66108,-6.06234,10.66108,6.06234]}, {"t":2.00211, "x":1.85731, "y":5.21214, "heading":1.7983, "vx":0.3518, "vy":-0.93578, "omega":-1.06445, "ax":0.0, "ay":0.0, "alpha":2.04959, "fx":[-7.23909,11.60062,7.23909,-11.60062], "fy":[-11.60062,-7.23909,11.60062,7.23909]}, {"t":2.03824, "x":1.87002, "y":5.17833, "heading":1.75984, "vx":0.3518, "vy":-0.93578, "omega":-0.9904, "ax":0.0, "ay":0.0, "alpha":2.27313, "fx":[-8.51735,12.54768,8.51735,-12.54768], "fy":[-12.54768,-8.51735,12.54768,8.51735]}, @@ -111,7 +111,7 @@ {"t":2.11049, "x":1.89544, "y":5.11072, "heading":1.69124, "vx":0.3518, "vy":-0.93578, "omega":-0.81761, "ax":0.0, "ay":0.0, "alpha":2.76025, "fx":[-11.3626,14.49187,11.3626,-14.49187], "fy":[-14.49187,-11.3626,14.49187,11.3626]}, {"t":2.14662, "x":1.90815, "y":5.07691, "heading":1.66171, "vx":0.3518, "vy":-0.93578, "omega":-0.71789, "ax":0.0, "ay":0.0, "alpha":3.02531, "fx":[-12.91737,15.50873,12.91737,-15.50873], "fy":[-15.50873,-12.91737,15.50873,12.91737]}, {"t":2.18275, "x":1.92086, "y":5.0431, "heading":1.63577, "vx":0.3518, "vy":-0.93578, "omega":-0.60859, "ax":0.0, "ay":0.0, "alpha":3.3055, "fx":[-14.54841,16.57337,14.54841,-16.57337], "fy":[-16.57337,-14.54841,16.57337,14.54841]}, - {"t":2.21888, "x":1.93357, "y":5.00929, "heading":1.61378, "vx":0.3518, "vy":-0.93578, "omega":-0.48917, "ax":0.0, "ay":0.0, "alpha":3.60125, "fx":[-16.24325,17.70342,16.24325,-17.70343], "fy":[-17.70343,-16.24325,17.70342,16.24325]}, + {"t":2.21888, "x":1.93357, "y":5.00929, "heading":1.61378, "vx":0.3518, "vy":-0.93578, "omega":-0.48917, "ax":0.0, "ay":0.0, "alpha":3.60125, "fx":[-16.24325,17.70342,16.24325,-17.70343], "fy":[-17.70343,-16.24325,17.70343,16.24325]}, {"t":2.25501, "x":1.94628, "y":4.97549, "heading":1.59611, "vx":0.3518, "vy":-0.93578, "omega":-0.35906, "ax":0.0, "ay":0.0, "alpha":3.91284, "fx":[-17.98585,18.92028,17.98581,-18.92032], "fy":[-18.9203,-17.98584,18.92029,17.98582]}, {"t":2.29113, "x":1.95899, "y":4.94168, "heading":1.58314, "vx":0.3518, "vy":-0.93578, "omega":-0.2177, "ax":-0.00007, "ay":0.00006, "alpha":4.24036, "fx":[-19.7568,20.24831,19.75441,-20.25048], "fy":[-20.24832,-19.75465,20.25046,19.75656]}, {"t":2.32726, "x":1.9717, "y":4.90787, "heading":1.57527, "vx":0.3518, "vy":-0.93578, "omega":-0.0645, "ax":-1.80451, "ay":4.80009, "alpha":1.74447, "fx":[-44.08865,-20.34516,-17.08174,-37.82338], "fy":[71.13943,76.9102,86.92662,82.47202]}, diff --git a/src/main/deploy/choreo/DtoRL.traj b/src/main/deploy/choreo/DtoRL.traj index 6f8da676..3adac9ea 100644 --- a/src/main/deploy/choreo/DtoRL.traj +++ b/src/main/deploy/choreo/DtoRL.traj @@ -66,7 +66,7 @@ {"t":0.14302, "x":0.78046, "y":5.97522, "heading":-3.13043, "vx":1.0691, "vy":-0.00034, "omega":0.20852, "ax":7.46551, "ay":-0.00227, "alpha":1.47111, "fx":[123.64387,123.62078,123.25127,123.20607], "fy":[-12.08827,12.31573,14.96405,-15.34157]}, {"t":0.17877, "x":0.82346, "y":5.97521, "heading":-3.12298, "vx":1.33602, "vy":-0.00042, "omega":0.26111, "ax":7.45404, "ay":-0.00218, "alpha":1.48627, "fx":[123.48894,123.44446,123.04928,122.98083], "fy":[-12.07963,12.51043,15.00768,-15.58281]}, {"t":0.21452, "x":0.87599, "y":5.97519, "heading":-3.11364, "vx":1.60253, "vy":-0.0005, "omega":0.31425, "ax":7.41997, "ay":-0.00199, "alpha":1.53093, "fx":[123.01531,122.93876,122.42715,122.3295], "fy":[-12.21504,12.91746,15.29715,-16.13092]}, - {"t":0.25028, "x":0.93803, "y":5.97517, "heading":-3.1024, "vx":1.86782, "vy":-0.00057, "omega":0.36899, "ax":3.6808, "ay":0.01341, "alpha":6.26207, "fx":[83.7474,82.30948,37.4961,39.87194], "fy":[-27.60891,30.37797,43.81204,-45.69427]}, + {"t":0.25028, "x":0.93803, "y":5.97517, "heading":-3.1024, "vx":1.86782, "vy":-0.00057, "omega":0.36899, "ax":3.6808, "ay":0.01341, "alpha":6.26207, "fx":[83.7474,82.30948,37.49609,39.87195], "fy":[-27.60892,30.37798,43.81204,-45.69426]}, {"t":0.28603, "x":1.00716, "y":5.97516, "heading":-3.08921, "vx":1.99942, "vy":-0.00009, "omega":0.59288, "ax":0.00024, "ay":0.00825, "alpha":-17.57364, "fx":[-87.00754,-78.56602,87.25517,78.33409], "fy":[78.60219,-87.01069,-78.29709,87.25137]}, {"t":0.32178, "x":1.07865, "y":5.97516, "heading":-3.06801, "vx":1.99943, "vy":0.00021, "omega":-0.03544, "ax":0.0, "ay":0.00947, "alpha":-18.13457, "fx":[-91.46219,-79.17637,91.75437,78.88405], "fy":[79.20778,-91.47292,-78.85146,91.74275]}, {"t":0.35754, "x":1.15014, "y":5.97518, "heading":-3.06928, "vx":1.99943, "vy":0.00055, "omega":-0.68382, "ax":-0.00014, "ay":0.01127, "alpha":-18.31599, "fx":[-92.24807,-80.11818,92.5991,79.75804], "fy":[80.14725,-92.2603,-79.72728,92.58557]}, @@ -116,7 +116,7 @@ {"t":1.29999, "x":2.15597, "y":6.35448, "heading":1.40059, "vx":1.08073, "vy":1.30769, "omega":-1.99903, "ax":2.66834, "ay":3.59608, "alpha":0.0, "fx":[44.1169,44.11692,44.11692,44.1169], "fy":[59.45558,59.45558,59.45559,59.4556]}, {"t":1.32073, "x":2.17896, "y":6.38237, "heading":1.35914, "vx":1.13606, "vy":1.38226, "omega":-1.99903, "ax":2.87023, "ay":3.78667, "alpha":0.00004, "fx":[47.45466,47.45504,47.455,47.45461], "fy":[62.6066,62.60641,62.60667,62.60686]}, {"t":1.34146, "x":2.20313, "y":6.41185, "heading":1.31768, "vx":1.19558, "vy":1.46079, "omega":-1.99903, "ax":3.13049, "ay":4.04696, "alpha":0.24465, "fx":[50.54703,53.3209,52.94658,50.21661], "fy":[66.81574,65.28731,67.02416,68.51371]}, - {"t":1.3622, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.2605, "vy":1.54471, "omega":-1.99396, "ax":0.04579, "ay":0.25072, "alpha":-0.1354, "fx":[1.55415,0.3306,-0.04058,1.18378], "fy":[4.57038,4.9413,3.72044,3.34927]}, + {"t":1.3622, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.2605, "vy":1.54471, "omega":-1.99396, "ax":0.04579, "ay":0.25072, "alpha":-0.1354, "fx":[1.55415,0.33062,-0.04058,1.18376], "fy":[4.57045,4.94126,3.72042,3.34926]}, {"t":1.38442, "x":2.25661, "y":6.47739, "heading":1.23193, "vx":1.26151, "vy":1.55028, "omega":-1.99697, "ax":-0.03153, "ay":0.02578, "alpha":-0.00006, "fx":[-0.52087,-0.52139,-0.52158,-0.52106], "fy":[0.42644,0.42662,0.4261,0.42592]}, {"t":1.40663, "x":2.28463, "y":6.51183, "heading":1.18757, "vx":1.26081, "vy":1.55085, "omega":-1.99697, "ax":-0.01044, "ay":0.00849, "alpha":0.0, "fx":[-0.17259,-0.1726,-0.1726,-0.1726], "fy":[0.1403,0.14031,0.1403,0.1403]}, {"t":1.42885, "x":2.31264, "y":6.54629, "heading":1.1432, "vx":1.26058, "vy":1.55104, "omega":-1.99697, "ax":-0.00341, "ay":0.00277, "alpha":0.0, "fx":[-0.05633,-0.05634,-0.05634,-0.05633], "fy":[0.04579,0.04579,0.04579,0.04578]}, @@ -135,7 +135,7 @@ {"t":1.71766, "x":2.67667, "y":6.99428, "heading":0.56646, "vx":1.25975, "vy":1.55171, "omega":-1.99697, "ax":-0.06724, "ay":0.05454, "alpha":0.0, "fx":[-1.11176,-1.11175,-1.11175,-1.11175], "fy":[0.90168,0.90167,0.90167,0.90168]}, {"t":1.73988, "x":2.70464, "y":7.02877, "heading":0.52209, "vx":1.25826, "vy":1.55292, "omega":-1.99697, "ax":-0.20287, "ay":0.16388, "alpha":0.0, "fx":[-3.35408,-3.35408,-3.35407,-3.35407], "fy":[2.70954,2.70954,2.70954,2.70955]}, {"t":1.76209, "x":2.73254, "y":7.06331, "heading":0.47772, "vx":1.25375, "vy":1.55656, "omega":-1.99697, "ax":-0.60858, "ay":0.4852, "alpha":0.0, "fx":[-10.06193,-10.06192,-10.0619,-10.06191], "fy":[8.02203,8.02201,8.02202,8.02204]}, - {"t":1.78431, "x":2.76024, "y":7.09801, "heading":0.43336, "vx":1.24023, "vy":1.56734, "omega":-1.99697, "ax":-2.25948, "ay":0.58298, "alpha":0.00364, "fx":[-37.37745,-37.36567,-37.33642,-37.3482], "fy":[9.64674,9.6136,9.63069,9.66383]}, + {"t":1.78431, "x":2.76024, "y":7.09801, "heading":0.43336, "vx":1.24023, "vy":1.56734, "omega":-1.99697, "ax":-2.25948, "ay":0.58298, "alpha":0.00364, "fx":[-37.37745,-37.36567,-37.33643,-37.3482], "fy":[9.64674,9.6136,9.63069,9.66384]}, {"t":1.80652, "x":2.78724, "y":7.13297, "heading":0.38899, "vx":1.19003, "vy":1.5803, "omega":-1.99689, "ax":-4.7246, "ay":-5.54915, "alpha":0.27351, "fx":[-80.66539,-77.40174,-75.49369,-78.8951], "fy":[-89.59664,-92.52363,-93.90515,-90.96092]}, {"t":1.82874, "x":2.81251, "y":7.16671, "heading":0.34463, "vx":1.08507, "vy":1.45701, "omega":-1.99081, "ax":-4.59954, "ay":-5.46909, "alpha":3.49214, "fx":[-104.65617,-71.92613,-36.77664,-90.82577], "fy":[-64.29985,-99.90164,-116.86789,-80.62221]}, {"t":1.85096, "x":2.83548, "y":7.19773, "heading":0.3004, "vx":0.98289, "vy":1.33551, "omega":-1.91323, "ax":-4.50738, "ay":-5.12699, "alpha":5.28892, "fx":[-113.94013,-71.17227,-11.94429,-101.03345], "fy":[-47.67043,-101.20107,-122.72444,-67.47155]}, diff --git a/src/main/deploy/choreo/FLMtoEL.traj b/src/main/deploy/choreo/FLMtoEL.traj index 14f1700d..2ab7729c 100644 --- a/src/main/deploy/choreo/FLMtoEL.traj +++ b/src/main/deploy/choreo/FLMtoEL.traj @@ -68,7 +68,7 @@ {"t":0.29191, "x":7.59356, "y":4.87795, "heading":-1.80616, "vx":-0.77701, "vy":1.28258, "omega":-0.80544, "ax":0.0, "ay":0.0, "alpha":0.00847, "fx":[0.04815,-0.02953,-0.04815,0.02953], "fy":[0.02953,0.04815,-0.02953,-0.04815]}, {"t":0.3284, "x":7.56521, "y":4.92475, "heading":-1.83555, "vx":-0.77701, "vy":1.28258, "omega":-0.80513, "ax":0.0, "ay":0.0, "alpha":0.00964, "fx":[0.05581,-0.032,-0.05581,0.032], "fy":[0.032,0.05581,-0.032,-0.05581]}, {"t":0.36488, "x":7.53686, "y":4.97155, "heading":-1.86492, "vx":-0.77701, "vy":1.28258, "omega":-0.80478, "ax":0.0, "ay":0.0, "alpha":0.01091, "fx":[0.06416,-0.03433,-0.06416,0.03433], "fy":[0.03433,0.06416,-0.03433,-0.06416]}, - {"t":0.40137, "x":7.5085, "y":5.01835, "heading":-1.89429, "vx":-0.77701, "vy":1.28258, "omega":-0.80438, "ax":0.0, "ay":0.0, "alpha":0.01227, "fx":[0.07329,-0.03648,-0.07329,0.03648], "fy":[0.03648,0.07329,-0.03648,-0.07329]}, + {"t":0.40137, "x":7.5085, "y":5.01835, "heading":-1.89429, "vx":-0.77701, "vy":1.28258, "omega":-0.80438, "ax":0.0, "ay":0.0, "alpha":0.01227, "fx":[0.07329,-0.03649,-0.07329,0.03648], "fy":[0.03648,0.07329,-0.03648,-0.07329]}, {"t":0.43786, "x":7.48015, "y":5.06515, "heading":-1.92364, "vx":-0.77701, "vy":1.28258, "omega":-0.80393, "ax":0.0, "ay":0.0, "alpha":0.01375, "fx":[0.08328,-0.03845,-0.08328,0.03845], "fy":[0.03845,0.08328,-0.03845,-0.08328]}, {"t":0.47435, "x":7.4518, "y":5.11195, "heading":-1.95297, "vx":-0.77701, "vy":1.28258, "omega":-0.80343, "ax":0.0, "ay":0.0, "alpha":0.01535, "fx":[0.09422,-0.0402,-0.09422,0.04019], "fy":[0.04019,0.09422,-0.0402,-0.09422]}, {"t":0.51084, "x":7.42345, "y":5.15875, "heading":-1.98229, "vx":-0.77701, "vy":1.28258, "omega":-0.80287, "ax":0.0, "ay":0.0, "alpha":0.0171, "fx":[0.10622,-0.04168,-0.10622,0.04168], "fy":[0.04168,0.10622,-0.04168,-0.10622]}, @@ -85,7 +85,7 @@ {"t":0.91221, "x":7.11158, "y":5.67354, "heading":-2.30278, "vx":-0.77701, "vy":1.28258, "omega":-0.79085, "ax":0.0, "ay":0.0, "alpha":0.05164, "fx":[0.34406,-0.0184,-0.34406,0.0184], "fy":[0.0184,0.34406,-0.0184,-0.34406]}, {"t":0.9487, "x":7.08322, "y":5.72034, "heading":-2.33164, "vx":-0.77701, "vy":1.28258, "omega":-0.78897, "ax":0.0, "ay":0.0, "alpha":0.0569, "fx":[0.37952,-0.00932,-0.37952,0.00932], "fy":[0.00932,0.37952,-0.00932,-0.37952]}, {"t":0.98519, "x":7.05487, "y":5.76714, "heading":-2.36042, "vx":-0.77701, "vy":1.28258, "omega":-0.78689, "ax":0.0, "ay":0.0, "alpha":0.06268, "fx":[0.41818,0.00177,-0.41818,-0.00177], "fy":[-0.00177,0.41818,0.00177,-0.41818]}, - {"t":1.02168, "x":7.02652, "y":5.81394, "heading":-2.38914, "vx":-0.77701, "vy":1.28258, "omega":-0.7846, "ax":0.0, "ay":0.0, "alpha":0.06903, "fx":[0.46027,0.01517,-0.46027,-0.01517], "fy":[-0.01517,0.46027,0.01517,-0.46027]}, + {"t":1.02168, "x":7.02652, "y":5.81394, "heading":-2.38914, "vx":-0.77701, "vy":1.28258, "omega":-0.7846, "ax":0.0, "ay":0.0, "alpha":0.06903, "fx":[0.46028,0.01517,-0.46027,-0.01517], "fy":[-0.01517,0.46028,0.01517,-0.46027]}, {"t":1.05817, "x":6.99817, "y":5.86074, "heading":-2.41776, "vx":-0.77701, "vy":1.28258, "omega":-0.78208, "ax":0.0, "ay":0.0, "alpha":0.076, "fx":[0.50608,0.0312,-0.50608,-0.0312], "fy":[-0.0312,0.50608,0.0312,-0.50608]}, {"t":1.09465, "x":6.96982, "y":5.90754, "heading":-2.4463, "vx":-0.77701, "vy":1.28258, "omega":-0.77931, "ax":0.0, "ay":0.0, "alpha":0.08366, "fx":[0.55587,0.05022,-0.55587,-0.05022], "fy":[-0.05022,0.55587,0.05022,-0.55587]}, {"t":1.13114, "x":6.94146, "y":5.95434, "heading":-2.47474, "vx":-0.77701, "vy":1.28258, "omega":-0.77626, "ax":0.0, "ay":0.0, "alpha":0.09207, "fx":[0.60996,0.07265,-0.60996,-0.07265], "fy":[-0.07265,0.60996,0.07265,-0.60996]}, @@ -106,84 +106,84 @@ {"t":1.67847, "x":6.51618, "y":6.65633, "heading":-2.87905, "vx":-0.77701, "vy":1.28258, "omega":-0.66969, "ax":0.0, "ay":0.0, "alpha":0.38246, "fx":[2.21073,1.27418,-2.21073,-1.27418], "fy":[-1.27418,2.21073,1.27418,-2.21073]}, {"t":1.71496, "x":6.48783, "y":6.70313, "heading":-2.90349, "vx":-0.77701, "vy":1.28258, "omega":-0.65573, "ax":0.0, "ay":0.0, "alpha":0.42029, "fx":[2.39446,1.45915,-2.39446,-1.45915], "fy":[-1.45915,2.39446,1.45915,-2.39446]}, {"t":1.75145, "x":6.45948, "y":6.74993, "heading":-2.92741, "vx":-0.77701, "vy":1.28258, "omega":-0.6404, "ax":0.0, "ay":0.0, "alpha":0.46183, "fx":[2.59198,1.66584,-2.59198,-1.66584], "fy":[-1.66584,2.59198,1.66584,-2.59198]}, - {"t":1.78793, "x":6.43113, "y":6.79673, "heading":-2.95078, "vx":-0.77701, "vy":1.28258, "omega":-0.62355, "ax":0.0, "ay":0.0, "alpha":0.50743, "fx":[2.80437,1.89636,-2.80437,-1.89636], "fy":[-1.89636,2.80437,1.89636,-2.80437]}, - {"t":1.82442, "x":6.40278, "y":6.84353, "heading":-2.97353, "vx":-0.77701, "vy":1.28258, "omega":-0.60503, "ax":0.0, "ay":0.0, "alpha":0.55748, "fx":[3.03279,2.15297,-3.0328,-2.15298], "fy":[-2.15298,3.03279,2.15297,-3.0328]}, - {"t":1.86091, "x":6.37442, "y":6.89033, "heading":-2.99561, "vx":-0.77701, "vy":1.28258, "omega":-0.58469, "ax":-0.00001, "ay":0.0, "alpha":0.61241, "fx":[3.2785,2.43797,-3.27871,-2.43819], "fy":[-2.43815,3.27854,2.43802,-3.27867]}, - {"t":1.8974, "x":6.34607, "y":6.93712, "heading":-3.01694, "vx":-0.77701, "vy":1.28258, "omega":-0.56234, "ax":-0.00011, "ay":-0.00007, "alpha":0.67268, "fx":[3.54147,2.75239,-3.54517,-2.75609], "fy":[-2.75536,3.5422,2.75312,-3.54444]}, - {"t":1.93389, "x":6.31772, "y":6.98392, "heading":-3.03746, "vx":-0.77702, "vy":1.28258, "omega":-0.5378, "ax":-0.00192, "ay":-0.00117, "alpha":0.7388, "fx":[3.79686,3.07236,-3.86051,-3.13593], "fy":[-3.12347,3.80947,3.08482,-3.8479]}, - {"t":1.97038, "x":6.28937, "y":7.03072, "heading":-3.05709, "vx":-0.77709, "vy":1.28254, "omega":-0.51084, "ax":-0.03308, "ay":-0.02007, "alpha":0.81125, "fx":[3.58912,2.94376,-4.68393,-4.03678], "fy":[-3.82345,3.80583,3.15769,-4.46709]}, - {"t":2.00687, "x":6.26099, "y":7.07751, "heading":-3.07573, "vx":-0.77829, "vy":1.2818, "omega":-0.48124, "ax":-0.56153, "ay":-0.34717, "alpha":0.87723, "fx":[-4.88042,-5.46091,-13.70639,-13.08817], "fy":[-9.66218,-1.32751,-1.86144,-10.10873]}, - {"t":2.04335, "x":6.23222, "y":7.12405, "heading":-3.09328, "vx":-0.79878, "vy":1.26914, "omega":-0.44923, "ax":-4.40835, "ay":-3.20165, "alpha":0.30666, "fx":[-70.91896,-72.49891,-74.82654,-73.29652], "fy":[-55.29452,-51.84874,-50.59263,-54.0015]}, + {"t":1.78793, "x":6.43113, "y":6.79673, "heading":-2.95078, "vx":-0.77701, "vy":1.28258, "omega":-0.62355, "ax":0.0, "ay":0.0, "alpha":0.50743, "fx":[2.80436,1.89636,-2.80436,-1.89636], "fy":[-1.89636,2.80436,1.89636,-2.80436]}, + {"t":1.82442, "x":6.40278, "y":6.84353, "heading":-2.97353, "vx":-0.77701, "vy":1.28258, "omega":-0.60503, "ax":0.0, "ay":0.0, "alpha":0.55748, "fx":[3.03279,2.15296,-3.0328,-2.15298], "fy":[-2.15297,3.03279,2.15297,-3.0328]}, + {"t":1.86091, "x":6.37442, "y":6.89033, "heading":-2.99561, "vx":-0.77701, "vy":1.28258, "omega":-0.58469, "ax":-0.00001, "ay":0.0, "alpha":0.61241, "fx":[3.2785,2.43797,-3.27871,-2.43819], "fy":[-2.43814,3.27854,2.43801,-3.27867]}, + {"t":1.8974, "x":6.34607, "y":6.93712, "heading":-3.01694, "vx":-0.77701, "vy":1.28258, "omega":-0.56234, "ax":-0.00011, "ay":-0.00007, "alpha":0.67268, "fx":[3.54147,2.75239,-3.54517,-2.75609], "fy":[-2.75536,3.5422,2.75311,-3.54443]}, + {"t":1.93389, "x":6.31772, "y":6.98392, "heading":-3.03746, "vx":-0.77702, "vy":1.28258, "omega":-0.5378, "ax":-0.00192, "ay":-0.00117, "alpha":0.73879, "fx":[3.79686,3.07236,-3.8605,-3.13593], "fy":[-3.12346,3.80947,3.08482,-3.8479]}, + {"t":1.97038, "x":6.28937, "y":7.03072, "heading":-3.05709, "vx":-0.77709, "vy":1.28254, "omega":-0.51084, "ax":-0.03308, "ay":-0.02007, "alpha":0.81125, "fx":[3.58912,2.94375,-4.68392,-4.03678], "fy":[-3.82345,3.80582,3.15769,-4.46708]}, + {"t":2.00687, "x":6.26099, "y":7.07751, "heading":-3.07573, "vx":-0.77829, "vy":1.2818, "omega":-0.48124, "ax":-0.56153, "ay":-0.34717, "alpha":0.87723, "fx":[-4.88043,-5.46091,-13.70639,-13.08817], "fy":[-9.66217,-1.32752,-1.86144,-10.10873]}, + {"t":2.04335, "x":6.23222, "y":7.12405, "heading":-3.09328, "vx":-0.79878, "vy":1.26914, "omega":-0.44923, "ax":-4.40835, "ay":-3.20165, "alpha":0.30666, "fx":[-70.91896,-72.49891,-74.82654,-73.29652], "fy":[-55.29451,-51.84874,-50.59263,-54.0015]}, {"t":2.07984, "x":6.20014, "y":7.16822, "heading":-3.10968, "vx":-0.95964, "vy":1.15231, "omega":-0.43804, "ax":-5.15195, "ay":-5.12866, "alpha":0.03811, "fx":[-84.83251,-85.17935,-85.5258,-85.18043], "fy":[-85.14146,-84.77041,-84.44672,-84.81884]}, {"t":2.11633, "x":6.16169, "y":7.20686, "heading":-3.12566, "vx":-1.14762, "vy":0.96518, "omega":-0.43665, "ax":-4.24326, "ay":-6.11343, "alpha":0.01416, "fx":[-70.00461,-70.12963,-70.3069,-70.18188], "fy":[-101.1814,-101.0916,-100.97068,-101.0608]}, {"t":2.15282, "x":6.11699, "y":7.238, "heading":3.14159, "vx":-1.30246, "vy":0.74211, "omega":-0.43613, "ax":-2.99843, "ay":-6.81753, "alpha":0.01427, "fx":[-49.41417,-49.51104,-49.73477,-49.63763], "fy":[-112.78844,-112.74292,-112.64574,-112.69161]}, {"t":2.19516, "x":6.05916, "y":7.26331, "heading":3.12313, "vx":-1.4294, "vy":0.45346, "omega":-0.43553, "ax":-1.46869, "ay":-7.04446, "alpha":0.05305, "fx":[-23.74013,-23.9024,-24.82798,-24.65927], "fy":[-116.59972,-116.52255,-116.33727,-116.41703]}, - {"t":2.2375, "x":5.99732, "y":7.2762, "heading":3.10469, "vx":-1.49159, "vy":0.15521, "omega":-0.43328, "ax":-0.18594, "ay":-3.10764, "alpha":0.75358, "fx":[0.90502,1.26338,-7.24925,-7.21573], "fy":[-54.50435,-48.61819,-48.24808,-54.14942]}, - {"t":2.27984, "x":5.93401, "y":7.27999, "heading":3.08634, "vx":-1.49946, "vy":0.02363, "omega":-0.40138, "ax":-0.00199, "ay":-0.14531, "alpha":0.97844, "fx":[4.31604,4.83907,-4.39512,-4.89185], "fy":[-7.26365,1.94912,2.4601,-6.75522]}, - {"t":2.32217, "x":5.87052, "y":7.28086, "heading":3.06935, "vx":-1.49954, "vy":0.01748, "omega":-0.35995, "ax":-0.00007, "ay":-0.00564, "alpha":0.9067, "fx":[3.95618,4.57411,-3.95878,-4.57583], "fy":[-4.6682,3.86418,4.48173,-4.05078]}, + {"t":2.2375, "x":5.99732, "y":7.2762, "heading":3.10469, "vx":-1.49159, "vy":0.15521, "omega":-0.43328, "ax":-0.18594, "ay":-3.10764, "alpha":0.75358, "fx":[0.90502,1.26337,-7.24925,-7.21573], "fy":[-54.50435,-48.61819,-48.24808,-54.14942]}, + {"t":2.27984, "x":5.93401, "y":7.27999, "heading":3.08634, "vx":-1.49946, "vy":0.02363, "omega":-0.40138, "ax":-0.00199, "ay":-0.14531, "alpha":0.97844, "fx":[4.31603,4.83906,-4.39512,-4.89185], "fy":[-7.26365,1.94912,2.4601,-6.75522]}, + {"t":2.32217, "x":5.87052, "y":7.28086, "heading":3.06935, "vx":-1.49954, "vy":0.01748, "omega":-0.35995, "ax":-0.00007, "ay":-0.00564, "alpha":0.9067, "fx":[3.95618,4.5741,-3.95878,-4.57583], "fy":[-4.6682,3.86418,4.48172,-4.05077]}, {"t":2.36451, "x":5.80703, "y":7.28159, "heading":3.05411, "vx":-1.49955, "vy":0.01724, "omega":-0.32156, "ax":0.0, "ay":-0.00022, "alpha":0.84466, "fx":[3.62128,4.3176,-3.62138,-4.31767], "fy":[-4.32125,3.61771,4.31402,-3.62495]}, {"t":2.40685, "x":5.74354, "y":7.28232, "heading":3.04049, "vx":-1.49955, "vy":0.01723, "omega":-0.2858, "ax":0.0, "ay":-0.00001, "alpha":0.79235, "fx":[3.34161,4.09612,-3.34161,-4.09613], "fy":[-4.09626,3.34147,4.09598,-3.34175]}, {"t":2.44919, "x":5.68005, "y":7.28305, "heading":3.02839, "vx":-1.49955, "vy":0.01723, "omega":-0.25225, "ax":0.0, "ay":0.0, "alpha":0.74918, "fx":[3.11243,3.91087,-3.11243,-3.91087], "fy":[-3.91087,3.11242,3.91086,-3.11243]}, - {"t":2.49153, "x":5.61656, "y":7.28378, "heading":3.01771, "vx":-1.49955, "vy":0.01723, "omega":-0.22053, "ax":0.0, "ay":0.0, "alpha":0.71464, "fx":[2.92894,3.76207,-2.92894,-3.76207], "fy":[-3.76207,2.92894,3.76207,-2.92894]}, - {"t":2.53387, "x":5.55307, "y":7.28451, "heading":3.00838, "vx":-1.49955, "vy":0.01723, "omega":-0.19028, "ax":0.0, "ay":0.0, "alpha":0.68835, "fx":[2.78721,3.64984,-2.78721,-3.64984], "fy":[-3.64984,2.78721,3.64984,-2.78721]}, + {"t":2.49153, "x":5.61656, "y":7.28378, "heading":3.01771, "vx":-1.49955, "vy":0.01723, "omega":-0.22054, "ax":0.0, "ay":0.0, "alpha":0.71464, "fx":[2.92894,3.76207,-2.92894,-3.76207], "fy":[-3.76208,2.92894,3.76207,-2.92894]}, + {"t":2.53387, "x":5.55307, "y":7.28451, "heading":3.00838, "vx":-1.49955, "vy":0.01723, "omega":-0.19028, "ax":0.0, "ay":0.0, "alpha":0.68835, "fx":[2.78722,3.64984,-2.78722,-3.64984], "fy":[-3.64984,2.78722,3.64984,-2.78722]}, {"t":2.57621, "x":5.48959, "y":7.28524, "heading":3.00032, "vx":-1.49955, "vy":0.01723, "omega":-0.16113, "ax":0.0, "ay":0.0, "alpha":0.66999, "fx":[2.6842,3.57427,-2.6842,-3.57427], "fy":[-3.57427,2.6842,3.57427,-2.6842]}, {"t":2.61855, "x":5.4261, "y":7.28597, "heading":2.9935, "vx":-1.49955, "vy":0.01723, "omega":-0.13277, "ax":0.0, "ay":0.0, "alpha":0.65937, "fx":[2.61758,3.53554,-2.61758,-3.53554], "fy":[-3.53554,2.61758,3.53554,-2.61758]}, - {"t":2.66088, "x":5.36261, "y":7.2867, "heading":2.98788, "vx":-1.49955, "vy":0.01723, "omega":-0.10485, "ax":0.0, "ay":0.0, "alpha":0.65635, "fx":[2.58577,3.53394,-2.58577,-3.53394], "fy":[-3.53394,2.58577,3.53394,-2.58577]}, - {"t":2.70322, "x":5.29912, "y":7.28743, "heading":2.98344, "vx":-1.49955, "vy":0.01723, "omega":-0.07706, "ax":0.0, "ay":0.0, "alpha":0.6609, "fx":[2.58787,3.56997,-2.58787,-3.56997], "fy":[-3.56997,2.58787,3.56997,-2.58787]}, - {"t":2.74556, "x":5.23563, "y":7.28816, "heading":2.98018, "vx":-1.49955, "vy":0.01723, "omega":-0.04908, "ax":0.0, "ay":0.0, "alpha":0.67307, "fx":[2.62364,3.64426,-2.62364,-3.64426], "fy":[-3.64426,2.62364,3.64426,-2.62364]}, + {"t":2.66088, "x":5.36261, "y":7.2867, "heading":2.98788, "vx":-1.49955, "vy":0.01723, "omega":-0.10485, "ax":0.0, "ay":0.0, "alpha":0.65635, "fx":[2.58578,3.53395,-2.58578,-3.53395], "fy":[-3.53395,2.58578,3.53395,-2.58578]}, + {"t":2.70322, "x":5.29912, "y":7.28743, "heading":2.98344, "vx":-1.49955, "vy":0.01723, "omega":-0.07706, "ax":0.0, "ay":0.0, "alpha":0.6609, "fx":[2.58788,3.56997,-2.58788,-3.56997], "fy":[-3.56997,2.58788,3.56997,-2.58788]}, + {"t":2.74556, "x":5.23563, "y":7.28816, "heading":2.98018, "vx":-1.49955, "vy":0.01723, "omega":-0.04908, "ax":0.0, "ay":0.0, "alpha":0.67307, "fx":[2.62364,3.64427,-2.62364,-3.64427], "fy":[-3.64427,2.62364,3.64427,-2.62364]}, {"t":2.7879, "x":5.17214, "y":7.28889, "heading":2.9781, "vx":-1.49955, "vy":0.01723, "omega":-0.02058, "ax":0.0, "ay":0.0, "alpha":0.69299, "fx":[2.69348,3.75772,-2.69348,-3.75772], "fy":[-3.75772,2.69348,3.75772,-2.69348]}, {"t":2.83024, "x":5.10865, "y":7.28962, "heading":2.97723, "vx":-1.49955, "vy":0.01723, "omega":0.00876, "ax":0.0, "ay":0.0, "alpha":0.72088, "fx":[2.79849,3.91141,-2.79849,-3.91141], "fy":[-3.91141,2.79849,3.91141,-2.79849]}, - {"t":2.87258, "x":5.04516, "y":7.29035, "heading":2.9776, "vx":-1.49955, "vy":0.01723, "omega":0.03928, "ax":0.0, "ay":0.0, "alpha":0.75706, "fx":[2.94047,4.10663,-2.94047,-4.10663], "fy":[-4.10663,2.94047,4.10663,-2.94047]}, - {"t":2.91492, "x":4.98167, "y":7.29108, "heading":2.97926, "vx":-1.49955, "vy":0.01723, "omega":0.07133, "ax":0.0, "ay":0.0, "alpha":0.80194, "fx":[3.12199,4.34487,-3.12199,-4.34487], "fy":[-4.34487,3.12199,4.34487,-3.12199]}, - {"t":2.95725, "x":4.91819, "y":7.29181, "heading":2.98228, "vx":-1.49955, "vy":0.01723, "omega":0.10528, "ax":0.0, "ay":0.0, "alpha":0.85601, "fx":[3.34648,4.62773,-3.34648,-4.62773], "fy":[-4.62773,3.34648,4.62773,-3.34648]}, - {"t":2.99959, "x":4.8547, "y":7.29254, "heading":2.98674, "vx":-1.49955, "vy":0.01723, "omega":0.14153, "ax":0.0, "ay":0.0, "alpha":0.91988, "fx":[3.6183,4.95693,-3.6183,-4.95693], "fy":[-4.95693,3.6183,4.95693,-3.6183]}, - {"t":3.04193, "x":4.79121, "y":7.29327, "heading":2.99273, "vx":-1.49955, "vy":0.01723, "omega":0.18047, "ax":0.0, "ay":0.0, "alpha":0.99425, "fx":[3.94288,5.33418,-3.94288,-5.33418], "fy":[-5.33418,3.94288,5.33418,-3.94288]}, + {"t":2.87258, "x":5.04516, "y":7.29035, "heading":2.9776, "vx":-1.49955, "vy":0.01723, "omega":0.03928, "ax":0.0, "ay":0.0, "alpha":0.75706, "fx":[2.94047,4.10664,-2.94047,-4.10664], "fy":[-4.10664,2.94047,4.10664,-2.94047]}, + {"t":2.91492, "x":4.98167, "y":7.29108, "heading":2.97926, "vx":-1.49955, "vy":0.01723, "omega":0.07133, "ax":0.0, "ay":0.0, "alpha":0.80194, "fx":[3.122,4.34487,-3.122,-4.34487], "fy":[-4.34487,3.122,4.34487,-3.122]}, + {"t":2.95725, "x":4.91819, "y":7.29181, "heading":2.98228, "vx":-1.49955, "vy":0.01723, "omega":0.10528, "ax":0.0, "ay":0.0, "alpha":0.85601, "fx":[3.34649,4.62774,-3.34649,-4.62774], "fy":[-4.62774,3.34649,4.62774,-3.34649]}, + {"t":2.99959, "x":4.8547, "y":7.29254, "heading":2.98674, "vx":-1.49955, "vy":0.01723, "omega":0.14153, "ax":0.0, "ay":0.0, "alpha":0.91988, "fx":[3.6183,4.95694,-3.6183,-4.95694], "fy":[-4.95694,3.6183,4.95694,-3.6183]}, + {"t":3.04193, "x":4.79121, "y":7.29327, "heading":2.99273, "vx":-1.49955, "vy":0.01723, "omega":0.18047, "ax":0.0, "ay":0.0, "alpha":0.99425, "fx":[3.94288,5.33419,-3.94288,-5.33419], "fy":[-5.33419,3.94288,5.33419,-3.94288]}, {"t":3.08427, "x":4.72772, "y":7.294, "heading":3.00037, "vx":-1.49955, "vy":0.01723, "omega":0.22257, "ax":0.0, "ay":0.0, "alpha":1.07995, "fx":[4.32688,5.76107,-4.32688,-5.76107], "fy":[-5.76107,4.32688,5.76107,-4.32688]}, - {"t":3.12661, "x":4.66423, "y":7.29473, "heading":3.00979, "vx":-1.49955, "vy":0.01723, "omega":0.26829, "ax":0.0, "ay":0.0, "alpha":1.17791, "fx":[4.77838,6.2389,-4.77838,-6.2389], "fy":[-6.2389,4.77838,6.2389,-4.77838]}, - {"t":3.16895, "x":4.60074, "y":7.29545, "heading":3.02115, "vx":-1.49955, "vy":0.01723, "omega":0.31816, "ax":0.0, "ay":0.0, "alpha":1.2892, "fx":[5.30705,6.76849,-5.30705,-6.76849], "fy":[-6.7685,5.30705,6.76849,-5.30705]}, - {"t":3.21129, "x":4.53725, "y":7.29618, "heading":3.03462, "vx":-1.49955, "vy":0.01723, "omega":0.37275, "ax":0.0, "ay":-0.00001, "alpha":1.415, "fx":[5.92445,7.34983,-5.92446,-7.34983], "fy":[-7.34992,5.92437,7.34974,-5.92454]}, - {"t":3.25363, "x":4.47376, "y":7.29691, "heading":3.05041, "vx":-1.49955, "vy":0.01723, "omega":0.43266, "ax":0.0, "ay":-0.00013, "alpha":1.55664, "fx":[6.64424,7.98168,-6.64432,-7.9817], "fy":[-7.98389,6.64207,7.97948,-6.64649]}, + {"t":3.12661, "x":4.66423, "y":7.29473, "heading":3.00979, "vx":-1.49955, "vy":0.01723, "omega":0.26829, "ax":0.0, "ay":0.0, "alpha":1.17791, "fx":[4.77838,6.23891,-4.77838,-6.23891], "fy":[-6.23891,4.77838,6.23891,-4.77838]}, + {"t":3.16895, "x":4.60074, "y":7.29545, "heading":3.02115, "vx":-1.49955, "vy":0.01723, "omega":0.31816, "ax":0.0, "ay":0.0, "alpha":1.2892, "fx":[5.30705,6.7685,-5.30705,-6.7685], "fy":[-6.7685,5.30705,6.76849,-5.30705]}, + {"t":3.21129, "x":4.53725, "y":7.29618, "heading":3.03462, "vx":-1.49955, "vy":0.01723, "omega":0.37275, "ax":0.0, "ay":-0.00001, "alpha":1.415, "fx":[5.92446,7.34983,-5.92446,-7.34983], "fy":[-7.34992,5.92437,7.34975,-5.92454]}, + {"t":3.25363, "x":4.47376, "y":7.29691, "heading":3.05041, "vx":-1.49955, "vy":0.01723, "omega":0.43266, "ax":0.0, "ay":-0.00013, "alpha":1.55664, "fx":[6.64424,7.98168,-6.64432,-7.9817], "fy":[-7.9839,6.64207,7.97948,-6.64649]}, {"t":3.29596, "x":4.41027, "y":7.29764, "heading":3.06872, "vx":-1.49955, "vy":0.01723, "omega":0.49856, "ax":-0.00004, "ay":-0.00341, "alpha":1.71558, "fx":[7.4815,8.66091,-7.48373,-8.66126], "fy":[-8.71732,7.42625,8.60484,-7.53898]}, {"t":3.3383, "x":4.34679, "y":7.29837, "heading":3.08983, "vx":-1.49955, "vy":0.01708, "omega":0.5712, "ax":-0.00088, "ay":-0.08651, "alpha":1.89295, "fx":[8.42805,9.38146,-8.48642,-9.38123], "fy":[-10.80781,7.02325,7.94997,-9.88658]}, {"t":3.38064, "x":4.2833, "y":7.29902, "heading":3.11402, "vx":-1.49959, "vy":0.01342, "omega":0.65134, "ax":0.05119, "ay":-2.03861, "alpha":1.80961, "fx":[9.38861,10.62864,-8.3722,-8.25956], "fy":[-41.78041,-26.0062,-25.5941,-41.44007]}, {"t":3.42298, "x":4.21985, "y":7.29776, "heading":3.14159, "vx":-1.49742, "vy":-0.07289, "omega":0.72796, "ax":0.23419, "ay":-3.0172, "alpha":1.06076, "fx":[9.36699,9.98463,-1.9943,-1.8693], "fy":[-53.96526,-45.55554,-45.80474,-54.21303]}, - {"t":3.45501, "x":4.17201, "y":7.29387, "heading":-3.11827, "vx":-1.48992, "vy":-0.16954, "omega":0.76194, "ax":0.03431, "ay":-0.29334, "alpha":1.34396, "fx":[7.0359,6.79482,-5.95184,-5.60962], "fy":[-11.0273,1.62697,1.3308,-11.33043]}, - {"t":3.48704, "x":4.1243, "y":7.28829, "heading":-3.09387, "vx":-1.48882, "vy":-0.17893, "omega":0.80499, "ax":0.00291, "ay":-0.02413, "alpha":1.23878, "fx":[6.16247,5.60844,-6.06992,-5.50881], "fy":[-5.95733,5.71715,5.15963,-6.51503]}, - {"t":3.51908, "x":4.07661, "y":7.28255, "heading":-3.06808, "vx":-1.48872, "vy":-0.17971, "omega":0.84467, "ax":0.00024, "ay":-0.00198, "alpha":1.13781, "fx":[5.75124,4.96304,-5.74358,-4.95489], "fy":[-4.99169,5.71468,4.92623,-5.78013]}, - {"t":3.55111, "x":4.02892, "y":7.27679, "heading":-3.04103, "vx":-1.48872, "vy":-0.17977, "omega":0.88111, "ax":0.00002, "ay":-0.00016, "alpha":1.04451, "fx":[5.39763,4.40823,-5.39699,-4.40757], "fy":[-4.41058,5.39463,4.40522,-5.39999]}, - {"t":3.58314, "x":3.98124, "y":7.27103, "heading":-3.0128, "vx":-1.48872, "vy":-0.17978, "omega":0.91457, "ax":0.0, "ay":-0.00001, "alpha":0.95833, "fx":[5.06418,3.90289,-5.06412,-3.90283], "fy":[-3.90308,5.06393,3.90264,-5.06437]}, - {"t":3.61517, "x":3.93355, "y":7.26527, "heading":-2.98351, "vx":-1.48872, "vy":-0.17978, "omega":0.94527, "ax":0.0, "ay":0.0, "alpha":0.87875, "fx":[4.74646,3.44122,-4.74646,-3.44121], "fy":[-3.44124,4.74644,3.44119,-4.74648]}, - {"t":3.6472, "x":3.88586, "y":7.25952, "heading":-2.95323, "vx":-1.48872, "vy":-0.17978, "omega":0.97342, "ax":0.0, "ay":0.0, "alpha":0.80527, "fx":[4.44306,3.02035,-4.44306,-3.02035], "fy":[-3.02036,4.44305,3.02035,-4.44306]}, - {"t":3.67924, "x":3.83818, "y":7.25376, "heading":-2.92205, "vx":-1.48872, "vy":-0.17978, "omega":0.99921, "ax":0.0, "ay":0.0, "alpha":0.73743, "fx":[4.153,2.63771,-4.153,-2.63771], "fy":[-2.63771,4.15299,2.6377,-4.153]}, - {"t":3.71127, "x":3.79049, "y":7.248, "heading":-2.89004, "vx":-1.48872, "vy":-0.17978, "omega":1.02283, "ax":0.0, "ay":0.0, "alpha":0.67479, "fx":[3.8755,2.29079,-3.8755,-2.29079], "fy":[-2.29079,3.87549,2.29079,-3.8755]}, - {"t":3.7433, "x":3.7428, "y":7.24224, "heading":-2.85728, "vx":-1.48872, "vy":-0.17978, "omega":1.04445, "ax":0.0, "ay":0.0, "alpha":0.61693, "fx":[3.60991,1.97718,-3.60991,-1.97718], "fy":[-1.97719,3.60991,1.97718,-3.60992]}, - {"t":3.77533, "x":3.69512, "y":7.23648, "heading":-2.82382, "vx":-1.48872, "vy":-0.17978, "omega":1.06421, "ax":0.0, "ay":0.0, "alpha":0.56348, "fx":[3.35569,1.69457,-3.35569,-1.69457], "fy":[-1.69458,3.35569,1.69457,-3.3557]}, - {"t":3.80736, "x":3.64743, "y":7.23072, "heading":-2.78973, "vx":-1.48872, "vy":-0.17978, "omega":1.08226, "ax":0.0, "ay":0.0, "alpha":0.51407, "fx":[3.11236,1.44075,-3.11236,-1.44075], "fy":[-1.44075,3.11236,1.44074,-3.11237]}, - {"t":3.8394, "x":3.59974, "y":7.22496, "heading":-2.75507, "vx":-1.48872, "vy":-0.17978, "omega":1.09872, "ax":0.0, "ay":0.0, "alpha":0.46837, "fx":[2.87949,1.2136,-2.87949,-1.2136], "fy":[-1.21361,2.87949,1.2136,-2.8795]}, - {"t":3.87143, "x":3.55206, "y":7.21921, "heading":-2.71987, "vx":-1.48872, "vy":-0.17978, "omega":1.11373, "ax":0.0, "ay":0.0, "alpha":0.42607, "fx":[2.65668,1.01115,-2.65668,-1.01115], "fy":[-1.01116,2.65668,1.01115,-2.65669]}, - {"t":3.90346, "x":3.50437, "y":7.21345, "heading":-2.6842, "vx":-1.48872, "vy":-0.17978, "omega":1.12738, "ax":0.0, "ay":0.0, "alpha":0.38689, "fx":[2.44355,0.83153,-2.44354,-0.83152], "fy":[-0.83153,2.44354,0.83152,-2.44355]}, - {"t":3.93549, "x":3.45668, "y":7.20769, "heading":-2.64808, "vx":-1.48872, "vy":-0.17978, "omega":1.13977, "ax":0.0, "ay":0.0, "alpha":0.35053, "fx":[2.2397,0.67297,-2.2397,-0.67297], "fy":[-0.67297,2.2397,0.67297,-2.23971]}, - {"t":3.96752, "x":3.409, "y":7.20193, "heading":-2.61158, "vx":-1.48872, "vy":-0.17978, "omega":1.151, "ax":0.0, "ay":0.0, "alpha":0.31676, "fx":[2.04478,0.53385,-2.04478,-0.53385], "fy":[-0.53385,2.04477,0.53385,-2.04478]}, - {"t":3.99956, "x":3.36131, "y":7.19617, "heading":-2.57471, "vx":-1.48872, "vy":-0.17978, "omega":1.16114, "ax":0.0, "ay":0.0, "alpha":0.28533, "fx":[1.85837,0.41267,-1.85837,-0.41267], "fy":[-0.41267,1.85837,0.41267,-1.85837]}, - {"t":4.03159, "x":3.31363, "y":7.19041, "heading":-2.53751, "vx":-1.48872, "vy":-0.17978, "omega":1.17028, "ax":0.0, "ay":0.0, "alpha":0.25603, "fx":[1.6801,0.30802,-1.6801,-0.30802], "fy":[-0.30801,1.6801,0.30802,-1.68009]}, - {"t":4.06362, "x":3.26594, "y":7.18465, "heading":-2.50003, "vx":-1.48872, "vy":-0.17978, "omega":1.17848, "ax":0.0, "ay":0.0, "alpha":0.22862, "fx":[1.50953,0.21863,-1.50953,-0.21863], "fy":[-0.21863,1.50953,0.21863,-1.50953]}, - {"t":4.09565, "x":3.21825, "y":7.1789, "heading":-2.46228, "vx":-1.48872, "vy":-0.17978, "omega":1.18581, "ax":0.0, "ay":0.0, "alpha":0.20293, "fx":[1.34626,0.14335,-1.34626,-0.14335], "fy":[-0.14335,1.34626,0.14336,-1.34625]}, - {"t":4.12768, "x":3.17057, "y":7.17314, "heading":-2.42429, "vx":-1.48872, "vy":-0.17978, "omega":1.19231, "ax":0.0, "ay":0.0, "alpha":0.17876, "fx":[1.18983,0.08115,-1.18983,-0.08115], "fy":[-0.08115,1.18984,0.08116,-1.18983]}, - {"t":4.15972, "x":3.12288, "y":7.16738, "heading":-2.3861, "vx":-1.48872, "vy":-0.17978, "omega":1.19803, "ax":0.0, "ay":0.0, "alpha":0.15593, "fx":[1.03981,0.03111,-1.03981,-0.03111], "fy":[-0.0311,1.03981,0.03111,-1.0398]}, - {"t":4.19175, "x":3.07519, "y":7.16162, "heading":-2.34773, "vx":-1.48872, "vy":-0.17978, "omega":1.20303, "ax":0.0, "ay":0.0, "alpha":0.13426, "fx":[0.89573,-0.00759,-0.89573,0.00758], "fy":[0.00759,0.89574,-0.00758,-0.89572]}, - {"t":4.22378, "x":3.02751, "y":7.15586, "heading":-2.30919, "vx":-1.48872, "vy":-0.17978, "omega":1.20733, "ax":0.0, "ay":0.0, "alpha":0.11361, "fx":[0.75713,-0.03562,-0.75714,0.03561], "fy":[0.03562,0.75714,-0.03561,-0.75713]}, + {"t":3.45501, "x":4.17201, "y":7.29387, "heading":-3.11827, "vx":-1.48992, "vy":-0.16954, "omega":0.76194, "ax":0.03431, "ay":-0.29334, "alpha":1.34396, "fx":[7.03589,6.79481,-5.95184,-5.60962], "fy":[-11.0273,1.62697,1.3308,-11.33043]}, + {"t":3.48704, "x":4.1243, "y":7.28829, "heading":-3.09387, "vx":-1.48882, "vy":-0.17893, "omega":0.80499, "ax":0.00291, "ay":-0.02413, "alpha":1.23878, "fx":[6.16247,5.60844,-6.06991,-5.50881], "fy":[-5.95733,5.71715,5.15963,-6.51503]}, + {"t":3.51908, "x":4.07661, "y":7.28255, "heading":-3.06808, "vx":-1.48872, "vy":-0.17971, "omega":0.84467, "ax":0.00024, "ay":-0.00198, "alpha":1.13781, "fx":[5.75123,4.96304,-5.74358,-4.95489], "fy":[-4.99169,5.71468,4.92623,-5.78013]}, + {"t":3.55111, "x":4.02892, "y":7.27679, "heading":-3.04103, "vx":-1.48872, "vy":-0.17977, "omega":0.88111, "ax":0.00002, "ay":-0.00016, "alpha":1.04451, "fx":[5.39762,4.40823,-5.39699,-4.40757], "fy":[-4.41058,5.39463,4.40521,-5.39999]}, + {"t":3.58314, "x":3.98124, "y":7.27103, "heading":-3.0128, "vx":-1.48872, "vy":-0.17978, "omega":0.91457, "ax":0.0, "ay":-0.00001, "alpha":0.95833, "fx":[5.06417,3.90289,-5.06412,-3.90283], "fy":[-3.90308,5.06393,3.90264,-5.06437]}, + {"t":3.61517, "x":3.93355, "y":7.26527, "heading":-2.98351, "vx":-1.48872, "vy":-0.17978, "omega":0.94527, "ax":0.0, "ay":0.0, "alpha":0.87875, "fx":[4.74646,3.44122,-4.74645,-3.44121], "fy":[-3.44123,4.74644,3.44119,-4.74648]}, + {"t":3.6472, "x":3.88586, "y":7.25952, "heading":-2.95323, "vx":-1.48872, "vy":-0.17978, "omega":0.97342, "ax":0.0, "ay":0.0, "alpha":0.80527, "fx":[4.44306,3.02035,-4.44306,-3.02035], "fy":[-3.02035,4.44305,3.02035,-4.44306]}, + {"t":3.67924, "x":3.83818, "y":7.25376, "heading":-2.92205, "vx":-1.48872, "vy":-0.17978, "omega":0.99921, "ax":0.0, "ay":0.0, "alpha":0.73743, "fx":[4.153,2.63771,-4.15299,-2.63771], "fy":[-2.63771,4.15299,2.6377,-4.153]}, + {"t":3.71127, "x":3.79049, "y":7.248, "heading":-2.89004, "vx":-1.48872, "vy":-0.17978, "omega":1.02283, "ax":0.0, "ay":0.0, "alpha":0.67479, "fx":[3.87549,2.29079,-3.87549,-2.29079], "fy":[-2.29079,3.87549,2.29078,-3.8755]}, + {"t":3.7433, "x":3.7428, "y":7.24224, "heading":-2.85728, "vx":-1.48872, "vy":-0.17978, "omega":1.04445, "ax":0.0, "ay":0.0, "alpha":0.61693, "fx":[3.60991,1.97718,-3.60991,-1.97718], "fy":[-1.97719,3.6099,1.97718,-3.60991]}, + {"t":3.77533, "x":3.69512, "y":7.23648, "heading":-2.82382, "vx":-1.48872, "vy":-0.17978, "omega":1.06421, "ax":0.0, "ay":0.0, "alpha":0.56348, "fx":[3.35569,1.69457,-3.35569,-1.69457], "fy":[-1.69458,3.35568,1.69457,-3.35569]}, + {"t":3.80736, "x":3.64743, "y":7.23072, "heading":-2.78973, "vx":-1.48872, "vy":-0.17978, "omega":1.08226, "ax":0.0, "ay":0.0, "alpha":0.51407, "fx":[3.11236,1.44075,-3.11236,-1.44074], "fy":[-1.44075,3.11235,1.44074,-3.11236]}, + {"t":3.8394, "x":3.59974, "y":7.22496, "heading":-2.75507, "vx":-1.48872, "vy":-0.17978, "omega":1.09873, "ax":0.0, "ay":0.0, "alpha":0.46837, "fx":[2.87949,1.2136,-2.87949,-1.2136], "fy":[-1.2136,2.87948,1.2136,-2.87949]}, + {"t":3.87143, "x":3.55206, "y":7.21921, "heading":-2.71987, "vx":-1.48872, "vy":-0.17978, "omega":1.11373, "ax":0.0, "ay":0.0, "alpha":0.42607, "fx":[2.65668,1.01115,-2.65668,-1.01115], "fy":[-1.01115,2.65667,1.01115,-2.65668]}, + {"t":3.90346, "x":3.50437, "y":7.21345, "heading":-2.6842, "vx":-1.48872, "vy":-0.17978, "omega":1.12738, "ax":0.0, "ay":0.0, "alpha":0.38689, "fx":[2.44354,0.83152,-2.44354,-0.83152], "fy":[-0.83153,2.44354,0.83152,-2.44354]}, + {"t":3.93549, "x":3.45668, "y":7.20769, "heading":-2.64808, "vx":-1.48872, "vy":-0.17978, "omega":1.13977, "ax":0.0, "ay":0.0, "alpha":0.35053, "fx":[2.2397,0.67297,-2.2397,-0.67297], "fy":[-0.67297,2.2397,0.67297,-2.2397]}, + {"t":3.96752, "x":3.409, "y":7.20193, "heading":-2.61158, "vx":-1.48872, "vy":-0.17978, "omega":1.151, "ax":0.0, "ay":0.0, "alpha":0.31676, "fx":[2.04477,0.53385,-2.04477,-0.53385], "fy":[-0.53385,2.04477,0.53385,-2.04477]}, + {"t":3.99956, "x":3.36131, "y":7.19617, "heading":-2.57471, "vx":-1.48872, "vy":-0.17978, "omega":1.16114, "ax":0.0, "ay":0.0, "alpha":0.28533, "fx":[1.85837,0.41267,-1.85837,-0.41267], "fy":[-0.41266,1.85837,0.41267,-1.85837]}, + {"t":4.03159, "x":3.31363, "y":7.19041, "heading":-2.53751, "vx":-1.48872, "vy":-0.17978, "omega":1.17028, "ax":0.0, "ay":0.0, "alpha":0.25602, "fx":[1.68009,0.30801,-1.68009,-0.30801], "fy":[-0.30801,1.68009,0.30802,-1.68009]}, + {"t":4.06362, "x":3.26594, "y":7.18465, "heading":-2.50003, "vx":-1.48872, "vy":-0.17978, "omega":1.17848, "ax":0.0, "ay":0.0, "alpha":0.22862, "fx":[1.50953,0.21863,-1.50953,-0.21863], "fy":[-0.21863,1.50953,0.21863,-1.50952]}, + {"t":4.09565, "x":3.21825, "y":7.1789, "heading":-2.46228, "vx":-1.48872, "vy":-0.17978, "omega":1.18581, "ax":0.0, "ay":0.0, "alpha":0.20293, "fx":[1.34625,0.14335,-1.34625,-0.14335], "fy":[-0.14335,1.34626,0.14336,-1.34625]}, + {"t":4.12768, "x":3.17057, "y":7.17314, "heading":-2.42429, "vx":-1.48872, "vy":-0.17978, "omega":1.19231, "ax":0.0, "ay":0.0, "alpha":0.17876, "fx":[1.18983,0.08115,-1.18983,-0.08115], "fy":[-0.08115,1.18983,0.08116,-1.18982]}, + {"t":4.15972, "x":3.12288, "y":7.16738, "heading":-2.3861, "vx":-1.48872, "vy":-0.17978, "omega":1.19803, "ax":0.0, "ay":0.0, "alpha":0.15592, "fx":[1.0398,0.03111,-1.0398,-0.03111], "fy":[-0.0311,1.03981,0.03111,-1.0398]}, + {"t":4.19175, "x":3.07519, "y":7.16162, "heading":-2.34773, "vx":-1.48872, "vy":-0.17978, "omega":1.20303, "ax":0.0, "ay":0.0, "alpha":0.13426, "fx":[0.89572,-0.00759,-0.89573,0.00758], "fy":[0.00759,0.89573,-0.00758,-0.89572]}, + {"t":4.22378, "x":3.02751, "y":7.15586, "heading":-2.30919, "vx":-1.48872, "vy":-0.17978, "omega":1.20733, "ax":0.0, "ay":0.0, "alpha":0.11361, "fx":[0.75713,-0.03562,-0.75713,0.03561], "fy":[0.03562,0.75714,-0.03561,-0.75712]}, {"t":4.25581, "x":2.97982, "y":7.1501, "heading":-2.27052, "vx":-1.48872, "vy":-0.17978, "omega":1.21097, "ax":0.0, "ay":0.0, "alpha":0.09381, "fx":[0.62356,-0.05356,-0.62357,0.05356], "fy":[0.05356,0.62357,-0.05355,-0.62356]}, - {"t":4.28784, "x":2.93213, "y":7.14434, "heading":-2.23173, "vx":-1.48872, "vy":-0.17978, "omega":1.21397, "ax":0.0, "ay":0.0, "alpha":0.07471, "fx":[0.49456,-0.06188,-0.49457,0.06188], "fy":[0.06188,0.49457,-0.06187,-0.49456]}, + {"t":4.28784, "x":2.93213, "y":7.14434, "heading":-2.23173, "vx":-1.48872, "vy":-0.17978, "omega":1.21397, "ax":0.0, "ay":0.0, "alpha":0.07471, "fx":[0.49456,-0.06188,-0.49456,0.06188], "fy":[0.06188,0.49457,-0.06187,-0.49456]}, {"t":4.31988, "x":2.88445, "y":7.13859, "heading":-2.19284, "vx":-1.48872, "vy":-0.17978, "omega":1.21637, "ax":0.0, "ay":0.0, "alpha":0.05616, "fx":[0.36968,-0.06093,-0.36968,0.06093], "fy":[0.06094,0.36969,-0.06092,-0.36967]}, - {"t":4.35191, "x":2.83676, "y":7.13283, "heading":-2.15388, "vx":-1.48872, "vy":-0.17978, "omega":1.21817, "ax":0.0, "ay":0.0, "alpha":0.03802, "fx":[0.24848,-0.05097,-0.24849,0.05097], "fy":[0.05098,0.24849,-0.05096,-0.24848]}, + {"t":4.35191, "x":2.83676, "y":7.13283, "heading":-2.15388, "vx":-1.48872, "vy":-0.17978, "omega":1.21816, "ax":0.0, "ay":0.0, "alpha":0.03802, "fx":[0.24848,-0.05097,-0.24849,0.05097], "fy":[0.05098,0.24849,-0.05096,-0.24848]}, {"t":4.38394, "x":2.78907, "y":7.12707, "heading":-2.11486, "vx":-1.48872, "vy":-0.17978, "omega":1.21938, "ax":0.0, "ay":0.0, "alpha":0.02015, "fx":[0.13056,-0.03214,-0.13056,0.03213], "fy":[0.03214,0.13057,-0.03213,-0.13055]}, {"t":4.41597, "x":2.74139, "y":7.12131, "heading":-2.0758, "vx":-1.48872, "vy":-0.17978, "omega":1.22003, "ax":0.0, "ay":0.0, "alpha":0.00242, "fx":[0.01551,-0.00447,-0.01551,0.00447], "fy":[0.00447,0.01552,-0.00446,-0.0155]}, {"t":4.448, "x":2.6937, "y":7.11555, "heading":-2.03672, "vx":-1.48872, "vy":-0.17978, "omega":1.22011, "ax":0.0, "ay":0.0, "alpha":-0.01532, "fx":[-0.09702,0.0321,0.09702,-0.0321], "fy":[-0.03209,-0.09702,0.0321,0.09703]}, - {"t":4.48004, "x":2.64601, "y":7.10979, "heading":-1.99764, "vx":-1.48872, "vy":-0.17978, "omega":1.21962, "ax":0.0, "ay":0.0, "alpha":-0.03319, "fx":[-0.20737,0.07771,0.20737,-0.07771], "fy":[-0.07771,-0.20736,0.07772,0.20737]}, + {"t":4.48004, "x":2.64601, "y":7.10979, "heading":-1.99764, "vx":-1.48872, "vy":-0.17978, "omega":1.21962, "ax":0.0, "ay":0.0, "alpha":-0.03319, "fx":[-0.20737,0.07771,0.20737,-0.07771], "fy":[-0.07771,-0.20737,0.07772,0.20737]}, {"t":4.51207, "x":2.59833, "y":7.10403, "heading":-1.95857, "vx":-1.48872, "vy":-0.17978, "omega":1.21855, "ax":0.0, "ay":0.0, "alpha":-0.05134, "fx":[-0.31582,0.13264,0.31582,-0.13264], "fy":[-0.13264,-0.31581,0.13264,0.31582]}, {"t":4.5441, "x":2.55064, "y":7.09828, "heading":-1.91954, "vx":-1.48872, "vy":-0.17978, "omega":1.21691, "ax":0.0, "ay":0.0, "alpha":-0.0699, "fx":[-0.42261,0.19723,0.42261,-0.19723], "fy":[-0.19723,-0.42261,0.19723,0.42261]}, {"t":4.57613, "x":2.50295, "y":7.09252, "heading":-1.88056, "vx":-1.48872, "vy":-0.17978, "omega":1.21467, "ax":0.0, "ay":0.0, "alpha":-0.08901, "fx":[-0.52795,0.27193,0.52795,-0.27193], "fy":[-0.27193,-0.52795,0.27193,0.52795]}, - {"t":4.60816, "x":2.45527, "y":7.08676, "heading":-1.84165, "vx":-1.48872, "vy":-0.17978, "omega":1.21182, "ax":0.0, "ay":0.0, "alpha":-0.10882, "fx":[-0.63198,0.35728,0.63198,-0.35728], "fy":[-0.35728,-0.63198,0.35728,0.63197]}, + {"t":4.60816, "x":2.45527, "y":7.08676, "heading":-1.84165, "vx":-1.48872, "vy":-0.17978, "omega":1.21182, "ax":0.0, "ay":0.0, "alpha":-0.10882, "fx":[-0.63198,0.35728,0.63198,-0.35728], "fy":[-0.35728,-0.63198,0.35728,0.63198]}, {"t":4.6402, "x":2.40758, "y":7.081, "heading":-1.80283, "vx":-1.48872, "vy":-0.17978, "omega":1.20833, "ax":0.0, "ay":0.0, "alpha":-0.12946, "fx":[-0.73478,0.4539,0.73478,-0.4539], "fy":[-0.45391,-0.73478,0.4539,0.73478]}, {"t":4.67223, "x":2.35989, "y":7.07524, "heading":-1.76413, "vx":-1.48872, "vy":-0.17978, "omega":1.20418, "ax":0.0, "ay":0.0, "alpha":-0.15108, "fx":[-0.83639,0.56252,0.83639,-0.56252], "fy":[-0.56252,-0.83639,0.56251,0.83639]}, {"t":4.70426, "x":2.31221, "y":7.06948, "heading":-1.72556, "vx":-1.48872, "vy":-0.17978, "omega":1.19935, "ax":0.0, "ay":0.0, "alpha":-0.17385, "fx":[-0.93677,0.68393,0.93677,-0.68393], "fy":[-0.68393,-0.93677,0.68392,0.93676]}, diff --git a/src/main/deploy/choreo/FLMtoML.traj b/src/main/deploy/choreo/FLMtoML.traj index d4c8f3d4..cde30880 100644 --- a/src/main/deploy/choreo/FLMtoML.traj +++ b/src/main/deploy/choreo/FLMtoML.traj @@ -77,25 +77,25 @@ {"t":0.49482, "x":7.48623, "y":5.43474, "heading":-1.01959, "vx":-0.67529, "vy":1.8819, "omega":1.10071, "ax":0.0, "ay":0.0, "alpha":-0.09482, "fx":[-0.14682,0.61531,0.14678,-0.61536], "fy":[-0.61534,-0.14681,0.61533,0.14679]}, {"t":0.5278, "x":7.46396, "y":5.49682, "heading":-0.98328, "vx":-0.67529, "vy":1.8819, "omega":1.09758, "ax":0.0, "ay":0.0, "alpha":-0.1062, "fx":[-0.13931,0.69468,0.13927,-0.69471], "fy":[-0.6947,-0.1393,0.69469,0.13928]}, {"t":0.56079, "x":7.44168, "y":5.5589, "heading":-0.94707, "vx":-0.67529, "vy":1.8819, "omega":1.09408, "ax":0.0, "ay":0.0, "alpha":-0.11872, "fx":[-0.12751,0.78173,0.12749,-0.78176], "fy":[-0.78175,-0.12751,0.78174,0.1275]}, - {"t":0.59378, "x":7.41941, "y":5.62098, "heading":-0.91098, "vx":-0.67529, "vy":1.8819, "omega":1.09016, "ax":0.0, "ay":0.0, "alpha":-0.13253, "fx":[-0.11076,0.87725,0.11075,-0.87726], "fy":[-0.87725,-0.11075,0.87725,0.11075]}, - {"t":0.62677, "x":7.39713, "y":5.68306, "heading":-0.87502, "vx":-0.67529, "vy":1.8819, "omega":1.08579, "ax":0.0, "ay":0.0, "alpha":-0.1478, "fx":[-0.08825,0.98207,0.08825,-0.98207], "fy":[-0.98207,-0.08825,0.98207,0.08825]}, + {"t":0.59378, "x":7.41941, "y":5.62098, "heading":-0.91098, "vx":-0.67529, "vy":1.8819, "omega":1.09016, "ax":0.0, "ay":0.0, "alpha":-0.13253, "fx":[-0.11076,0.87725,0.11075,-0.87726], "fy":[-0.87726,-0.11075,0.87725,0.11075]}, + {"t":0.62677, "x":7.39713, "y":5.68306, "heading":-0.87502, "vx":-0.67529, "vy":1.8819, "omega":1.08579, "ax":0.0, "ay":0.0, "alpha":-0.1478, "fx":[-0.08825,0.98208,0.08825,-0.98207], "fy":[-0.98207,-0.08825,0.98207,0.08825]}, {"t":0.65976, "x":7.37485, "y":5.74514, "heading":-0.8392, "vx":-0.67529, "vy":1.8819, "omega":1.08091, "ax":0.0, "ay":0.0, "alpha":-0.16469, "fx":[-0.05908,1.09715,0.0591,-1.09714], "fy":[-1.09714,-0.05909,1.09715,0.05909]}, {"t":0.69274, "x":7.35258, "y":5.80722, "heading":-0.80355, "vx":-0.67529, "vy":1.8819, "omega":1.07548, "ax":0.0, "ay":0.0, "alpha":-0.18342, "fx":[-0.02219,1.22352,0.02222,-1.22349], "fy":[-1.2235,-0.0222,1.22351,0.02221]}, - {"t":0.72573, "x":7.3303, "y":5.8693, "heading":-0.76807, "vx":-0.67529, "vy":1.8819, "omega":1.06943, "ax":0.0, "ay":0.0, "alpha":-0.20422, "fx":[0.02363,1.3623,-0.02359,-1.36226], "fy":[-1.36227,0.02362,1.36228,-0.0236]}, + {"t":0.72573, "x":7.3303, "y":5.8693, "heading":-0.76807, "vx":-0.67529, "vy":1.8819, "omega":1.06943, "ax":0.0, "ay":0.0, "alpha":-0.20422, "fx":[0.02363,1.3623,-0.02359,-1.36226], "fy":[-1.36227,0.02362,1.36229,-0.0236]}, {"t":0.75872, "x":7.30802, "y":5.93138, "heading":-0.73279, "vx":-0.67529, "vy":1.8819, "omega":1.06269, "ax":0.0, "ay":0.0, "alpha":-0.22735, "fx":[0.07978,1.5147,-0.07974,-1.51466], "fy":[-1.51467,0.07977,1.51469,-0.07975]}, - {"t":0.79171, "x":7.28575, "y":5.99346, "heading":-0.69773, "vx":-0.67529, "vy":1.8819, "omega":1.05519, "ax":0.0, "ay":0.0, "alpha":-0.25309, "fx":[0.14786,1.68205,-0.14781,-1.682], "fy":[-1.68202,0.14784,1.68204,-0.14782]}, + {"t":0.79171, "x":7.28575, "y":5.99346, "heading":-0.69773, "vx":-0.67529, "vy":1.8819, "omega":1.05519, "ax":0.0, "ay":0.0, "alpha":-0.25309, "fx":[0.14786,1.68206,-0.14781,-1.682], "fy":[-1.68202,0.14784,1.68204,-0.14782]}, {"t":0.82469, "x":7.26347, "y":6.05554, "heading":-0.66293, "vx":-0.67529, "vy":1.8819, "omega":1.04685, "ax":0.0, "ay":0.0, "alpha":-0.28176, "fx":[0.22968,1.86576,-0.22962,-1.8657], "fy":[-1.86572,0.22966,1.86574,-0.22964]}, {"t":0.85768, "x":7.2412, "y":6.11762, "heading":-0.62839, "vx":-0.67529, "vy":1.8819, "omega":1.03755, "ax":0.0, "ay":0.0, "alpha":-0.31372, "fx":[0.3273,2.06731,-0.32724,-2.06725], "fy":[-2.06727,0.32728,2.06729,-0.32726]}, {"t":0.89067, "x":7.21892, "y":6.1797, "heading":-0.59417, "vx":-0.67529, "vy":1.8819, "omega":1.0272, "ax":0.0, "ay":0.0, "alpha":-0.34935, "fx":[0.44303,2.28829,-0.44297,-2.28823], "fy":[-2.28825,0.44301,2.28827,-0.44299]}, {"t":0.92366, "x":7.19664, "y":6.24178, "heading":-0.56028, "vx":-0.67528, "vy":1.8819, "omega":1.01568, "ax":0.0, "ay":0.0, "alpha":-0.38909, "fx":[0.57948,2.53039,-0.57942,-2.53033], "fy":[-2.53035,0.57946,2.53037,-0.57944]}, - {"t":0.95665, "x":7.17437, "y":6.30386, "heading":-0.52678, "vx":-0.67528, "vy":1.8819, "omega":1.00284, "ax":0.0, "ay":0.0, "alpha":-0.43341, "fx":[0.73953,2.79537,-0.73947,-2.79532], "fy":[-2.79533,0.73951,2.79535,-0.73949]}, + {"t":0.95665, "x":7.17437, "y":6.30386, "heading":-0.52678, "vx":-0.67528, "vy":1.8819, "omega":1.00284, "ax":0.0, "ay":0.0, "alpha":-0.43341, "fx":[0.73953,2.79537,-0.73947,-2.79532], "fy":[-2.79533,0.73951,2.79536,-0.73949]}, {"t":0.98963, "x":7.15209, "y":6.36594, "heading":-0.49369, "vx":-0.67528, "vy":1.8819, "omega":0.98855, "ax":0.0, "ay":0.0, "alpha":-0.48281, "fx":[0.92638,3.08509,-0.92633,-3.08504], "fy":[-3.08506,0.92636,3.08508,-0.92634]}, {"t":1.02262, "x":7.12982, "y":6.42802, "heading":-0.46108, "vx":-0.67528, "vy":1.8819, "omega":0.97262, "ax":0.0, "ay":0.0, "alpha":-0.53789, "fx":[1.14355,3.40152,-1.14351,-3.40147], "fy":[-3.40149,1.14354,3.4015,-1.14352]}, {"t":1.05561, "x":7.10754, "y":6.4901, "heading":-0.429, "vx":-0.67528, "vy":1.8819, "omega":0.95487, "ax":0.0, "ay":0.0, "alpha":-0.59924, "fx":[1.39489,3.7467,-1.39486,-3.74667], "fy":[-3.74668,1.39488,3.74669,-1.39487]}, {"t":1.0886, "x":7.08526, "y":6.55218, "heading":-0.3975, "vx":-0.67528, "vy":1.8819, "omega":0.93511, "ax":0.0, "ay":0.0, "alpha":-0.66756, "fx":[1.68458,4.12282,-1.68459,-4.12283], "fy":[-4.12283,1.68458,4.12283,-1.68458]}, {"t":1.12158, "x":7.06299, "y":6.61426, "heading":-0.36665, "vx":-0.67528, "vy":1.8819, "omega":0.91309, "ax":-0.00001, "ay":0.0, "alpha":-0.74358, "fx":[2.01702,4.53212,-2.01729,-4.53238], "fy":[-4.5323,2.01711,4.5322,-2.0172]}, {"t":1.15457, "x":7.04071, "y":6.67634, "heading":-0.33653, "vx":-0.67529, "vy":1.8819, "omega":0.88856, "ax":-0.00007, "ay":-0.00003, "alpha":-0.8281, "fx":[2.39626,4.97629,-2.39858,-4.97861], "fy":[-4.97787,2.39701,4.97703,-2.39783]}, - {"t":1.18756, "x":7.01843, "y":6.73842, "heading":-0.30722, "vx":-0.67529, "vy":1.8819, "omega":0.86124, "ax":-0.00058, "ay":-0.00021, "alpha":-0.92198, "fx":[2.82092,5.45161,-2.84005,-5.47067], "fy":[-5.46458,2.82707,5.4577,-2.8339]}, + {"t":1.18756, "x":7.01843, "y":6.73842, "heading":-0.30722, "vx":-0.67529, "vy":1.8819, "omega":0.86124, "ax":-0.00058, "ay":-0.00021, "alpha":-0.92198, "fx":[2.82092,5.45162,-2.84005,-5.47067], "fy":[-5.46458,2.82707,5.4577,-2.8339]}, {"t":1.22055, "x":6.99616, "y":6.8005, "heading":-0.27881, "vx":-0.67531, "vy":1.8819, "omega":0.83083, "ax":-0.00474, "ay":-0.0017, "alpha":-1.02616, "fx":[3.2432,5.90817,-3.40024,-6.06442], "fy":[-6.01457,3.29376,5.95804,-3.34967]}, {"t":1.25354, "x":6.97388, "y":6.86258, "heading":-0.2514, "vx":-0.67546, "vy":1.88184, "omega":0.79697, "ax":-0.0388, "ay":-0.01394, "alpha":-1.14158, "fx":[3.233,5.91596,-4.51997,-7.19528], "fy":[-6.78832,3.64757,6.32388,-4.10525]}, {"t":1.28652, "x":6.95158, "y":6.92465, "heading":-0.22511, "vx":-0.67674, "vy":1.88138, "omega":0.75932, "ax":-0.31649, "ay":-0.11484, "alpha":-1.26448, "fx":[-0.76541,1.91524,-9.73608,-12.34411], "fy":[-9.07927,2.60014,5.24633,-6.36189]}, @@ -110,11 +110,11 @@ {"t":1.58341, "x":6.58419, "y":7.35965, "heading":-0.02193, "vx":-1.88258, "vy":0.66749, "omega":0.6648, "ax":-1.99161, "ay":-7.2427, "alpha":-0.00772, "fx":[-32.84321,-32.87719,-33.01307,-32.97896], "fy":[-119.77032,-119.76057,-119.72329,-119.73311]}, {"t":1.6164, "x":6.521, "y":7.37773, "heading":0.0, "vx":-1.94828, "vy":0.42856, "omega":0.66455, "ax":-1.13054, "ay":-7.41786, "alpha":-0.01219, "fx":[-18.56281,-18.5966,-18.82068,-18.7865], "fy":[-122.66279,-122.65677,-122.62273,-122.62887]}, {"t":1.65872, "x":6.43754, "y":7.38922, "heading":0.02812, "vx":-1.99612, "vy":0.11465, "omega":0.66403, "ax":-0.06245, "ay":-4.01614, "alpha":-1.51211, "fx":[7.88833,8.36594,-11.06242,-9.32221], "fy":[-71.42344,-61.21644,-61.38141,-71.58086]}, - {"t":1.70104, "x":6.35301, "y":7.39047, "heading":0.05622, "vx":-1.99876, "vy":-0.05531, "omega":0.60004, "ax":-0.01803, "ay":1.24513, "alpha":-2.2454, "fx":[11.47735,9.66503,-11.46483,-10.86974], "fy":[10.91926,31.43024,30.3079,9.68772]}, + {"t":1.70104, "x":6.35301, "y":7.39047, "heading":0.05622, "vx":-1.99876, "vy":-0.05531, "omega":0.60004, "ax":-0.01803, "ay":1.24513, "alpha":-2.2454, "fx":[11.47735,9.66503,-11.46482,-10.86974], "fy":[10.91926,31.43024,30.3079,9.68772]}, {"t":1.74336, "x":6.26841, "y":7.38925, "heading":0.08162, "vx":-1.99953, "vy":-0.00262, "omega":0.50502, "ax":0.00043, "ay":0.27211, "alpha":-2.08211, "fx":[10.66676,8.95265,-10.54206,-9.04905], "fy":[-4.46898,15.0663,13.48501,-6.08685]}, - {"t":1.78568, "x":6.18379, "y":7.38938, "heading":0.10299, "vx":-1.99951, "vy":0.0089, "omega":0.41691, "ax":0.00082, "ay":0.13845, "alpha":-1.83651, "fx":[9.54703,7.72168,-9.4766,-7.73791], "fy":[-5.43085,11.78971,10.01825,-7.22092]}, + {"t":1.78568, "x":6.18379, "y":7.38938, "heading":0.10299, "vx":-1.99951, "vy":0.0089, "omega":0.41691, "ax":0.00082, "ay":0.13845, "alpha":-1.8365, "fx":[9.54703,7.72168,-9.4766,-7.73791], "fy":[-5.43085,11.78971,10.01825,-7.22092]}, {"t":1.82799, "x":6.09918, "y":7.38988, "heading":0.12063, "vx":-1.99947, "vy":0.01476, "omega":0.33919, "ax":0.00082, "ay":0.09734, "alpha":-1.6164, "fx":[8.51433,6.65533,-8.46386,-6.65164], "fy":[-5.03888,10.09266,8.26367,-6.87979]}, - {"t":1.87031, "x":6.01456, "y":7.39059, "heading":0.13499, "vx":-1.99944, "vy":0.01888, "omega":0.27079, "ax":0.00076, "ay":0.07444, "alpha":-1.4217, "fx":[7.5687,5.7496,-7.5298,-5.73814], "fy":[-4.51011,8.77646,6.97542,-6.31904]}, + {"t":1.87031, "x":6.01456, "y":7.39059, "heading":0.13499, "vx":-1.99944, "vy":0.01888, "omega":0.27079, "ax":0.00076, "ay":0.07444, "alpha":-1.4217, "fx":[7.5687,5.7496,-7.52979,-5.73814], "fy":[-4.51011,8.77646,6.97542,-6.31904]}, {"t":1.91263, "x":5.92995, "y":7.39146, "heading":0.14645, "vx":-1.99941, "vy":0.02203, "omega":0.21062, "ax":0.00068, "ay":0.05883, "alpha":-1.24984, "fx":[6.70931,4.98011,-6.67835,-4.96579], "fy":[-3.99845,7.66429,5.94626,-5.7217]}, {"t":1.95495, "x":5.84534, "y":7.39245, "heading":0.15536, "vx":-1.99938, "vy":0.02452, "omega":0.15773, "ax":0.0006, "ay":0.04733, "alpha":-1.09829, "fx":[5.93335,4.32471,-5.90823,-4.30987], "fy":[-3.53352,6.70203,5.10039,-5.1386]}, {"t":1.99727, "x":5.76073, "y":7.39352, "heading":0.16203, "vx":-1.99935, "vy":0.02652, "omega":0.11125, "ax":0.00053, "ay":0.03851, "alpha":-0.96476, "fx":[5.23638,3.76465,-5.21576,-3.75044], "fy":[-3.12012,5.8619,4.39459,-4.58968]}, @@ -135,7 +135,7 @@ {"t":2.63205, "x":4.49164, "y":7.41433, "heading":0.1202, "vx":-1.99922, "vy":0.03534, "omega":-0.173, "ax":0.00004, "ay":0.0023, "alpha":-0.12214, "fx":[0.64179,0.5036,-0.64044,-0.50226], "fy":[-0.46493,0.67912,0.54094,-0.60311]}, {"t":2.67437, "x":4.40703, "y":7.41582, "heading":0.11288, "vx":-1.99921, "vy":0.03544, "omega":-0.17817, "ax":0.00003, "ay":0.00191, "alpha":-0.10316, "fx":[0.53892,0.42929,-0.5378,-0.42817], "fy":[-0.3972,0.5699,0.46027,-0.50683]}, {"t":2.71669, "x":4.32243, "y":7.41732, "heading":0.10534, "vx":-1.99921, "vy":0.03552, "omega":-0.18253, "ax":0.00003, "ay":0.00158, "alpha":-0.08593, "fx":[0.44621,0.36097,-0.44528,-0.36004], "fy":[-0.33436,0.47189,0.38664,-0.41961]}, - {"t":2.75901, "x":4.23783, "y":7.41883, "heading":0.09761, "vx":-1.99921, "vy":0.03559, "omega":-0.18617, "ax":0.00002, "ay":0.00131, "alpha":-0.07016, "fx":[0.36205,0.29754,-0.36128,-0.29677], "fy":[-0.27551,0.3833,0.31879,-0.34003]}, + {"t":2.75901, "x":4.23783, "y":7.41883, "heading":0.09761, "vx":-1.99921, "vy":0.03559, "omega":-0.18617, "ax":0.00002, "ay":0.00131, "alpha":-0.07016, "fx":[0.36205,0.29754,-0.36128,-0.29676], "fy":[-0.27551,0.3833,0.31879,-0.34003]}, {"t":2.80132, "x":4.15322, "y":7.42034, "heading":0.08974, "vx":-1.99921, "vy":0.03564, "omega":-0.18914, "ax":0.00002, "ay":0.00108, "alpha":-0.05558, "fx":[0.28498,0.23798,-0.28434,-0.23734], "fy":[-0.21979,0.30254,0.25554,-0.26678]}, {"t":2.84364, "x":4.06862, "y":7.42185, "heading":0.08173, "vx":-1.99921, "vy":0.03569, "omega":-0.19149, "ax":0.00002, "ay":0.00089, "alpha":-0.04195, "fx":[0.21367,0.18135,-0.21314,-0.18082], "fy":[-0.16636,0.22813,0.19581,-0.19868]}, {"t":2.88596, "x":3.98401, "y":7.42336, "heading":0.07363, "vx":-1.99921, "vy":0.03573, "omega":-0.19327, "ax":0.00001, "ay":0.00073, "alpha":-0.02903, "fx":[0.14688,0.12673,-0.14645,-0.1263], "fy":[-0.11444,0.15873,0.13859,-0.13459]}, diff --git a/src/main/deploy/choreo/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj index 2c29dde0..ed827bf0 100644 --- a/src/main/deploy/choreo/FRMtoMR.traj +++ b/src/main/deploy/choreo/FRMtoMR.traj @@ -67,7 +67,7 @@ {"t":0.16551, "x":7.75554, "y":3.23251, "heading":1.76367, "vx":-0.39169, "vy":-1.96065, "omega":1.16322, "ax":0.0, "ay":0.0, "alpha":-0.03498, "fx":[0.13033,-0.1936,-0.13034,0.19359], "fy":[0.1936,0.13033,-0.1936,-0.13033]}, {"t":0.19861, "x":7.74258, "y":3.16761, "heading":1.80218, "vx":-0.39169, "vy":-1.96065, "omega":1.16206, "ax":0.0, "ay":0.0, "alpha":-0.0411, "fx":[0.14425,-0.2332,-0.14428,0.23317], "fy":[0.23319,0.14426,-0.23318,-0.14426]}, {"t":0.23171, "x":7.72961, "y":3.10271, "heading":1.84064, "vx":-0.39169, "vy":-1.96065, "omega":1.1607, "ax":0.0, "ay":0.0, "alpha":-0.04753, "fx":[0.15631,-0.27591,-0.15636,0.27586], "fy":[0.27589,0.15634,-0.27588,-0.15633]}, - {"t":0.26481, "x":7.71665, "y":3.03781, "heading":1.87906, "vx":-0.39169, "vy":-1.96065, "omega":1.15913, "ax":0.0, "ay":0.0, "alpha":-0.05436, "fx":[0.16652,-0.32221,-0.16659,0.32214], "fy":[0.32218,0.16656,-0.32217,-0.16655]}, + {"t":0.26481, "x":7.71665, "y":3.03781, "heading":1.87906, "vx":-0.39169, "vy":-1.96065, "omega":1.15913, "ax":0.0, "ay":0.0, "alpha":-0.05436, "fx":[0.16652,-0.32221,-0.16659,0.32215], "fy":[0.32218,0.16656,-0.32217,-0.16655]}, {"t":0.29791, "x":7.70368, "y":2.97291, "heading":1.91743, "vx":-0.39169, "vy":-1.96065, "omega":1.15733, "ax":0.0, "ay":0.0, "alpha":-0.0617, "fx":[0.17483,-0.37267,-0.1749,0.37259], "fy":[0.37264,0.17487,-0.37262,-0.17486]}, {"t":0.33101, "x":7.69072, "y":2.90801, "heading":1.95574, "vx":-0.39169, "vy":-1.96065, "omega":1.15529, "ax":0.0, "ay":0.0, "alpha":-0.06965, "fx":[0.18109,-0.42794,-0.18118,0.42785], "fy":[0.4279,0.18115,-0.42788,-0.18113]}, {"t":0.36411, "x":7.67775, "y":2.84311, "heading":1.99398, "vx":-0.39169, "vy":-1.96065, "omega":1.15298, "ax":0.0, "ay":0.0, "alpha":-0.07833, "fx":[0.18513,-0.48874,-0.18523,0.48864], "fy":[0.4887,0.18519,-0.48868,-0.18517]}, @@ -93,7 +93,7 @@ {"t":1.02614, "x":7.41845, "y":1.5451, "heading":2.72016, "vx":-0.39169, "vy":-1.96065, "omega":0.96726, "ax":-0.00001, "ay":0.0, "alpha":-0.74356, "fx":[-1.76613,-4.636,1.76571,4.63558], "fy":[4.63583,-1.76588,-4.63575,1.76596]}, {"t":1.05924, "x":7.40548, "y":1.4802, "heading":2.75217, "vx":-0.39169, "vy":-1.96065, "omega":0.94264, "ax":-0.00012, "ay":0.00002, "alpha":-0.82983, "fx":[-2.13735,-5.10983,2.13347,5.10596], "fy":[5.10828,-2.13502,-5.10751,2.1358]}, {"t":1.09234, "x":7.39251, "y":1.4153, "heading":2.78338, "vx":-0.39169, "vy":-1.96065, "omega":0.91518, "ax":-0.00098, "ay":0.0002, "alpha":-0.92558, "fx":[-2.57465,-5.6364,2.54212,5.60395], "fy":[5.62339,-2.5551,-5.61697,2.56166]}, - {"t":1.12545, "x":7.37955, "y":1.3504, "heading":2.81367, "vx":-0.39172, "vy":-1.96065, "omega":0.88454, "ax":-0.00813, "ay":0.00163, "alpha":-1.03175, "fx":[-3.17497,-6.30991,2.90561,6.04129], "fy":[6.20213,-3.01306,-6.14912,3.06757]}, + {"t":1.12545, "x":7.37955, "y":1.3504, "heading":2.81367, "vx":-0.39172, "vy":-1.96065, "omega":0.88454, "ax":-0.00813, "ay":0.00163, "alpha":-1.03175, "fx":[-3.17497,-6.30991,2.90561,6.04129], "fy":[6.20212,-3.01306,-6.14912,3.06757]}, {"t":1.15855, "x":7.36658, "y":1.2855, "heading":2.84295, "vx":-0.39199, "vy":-1.96059, "omega":0.85039, "ax":-0.06717, "ay":0.01347, "alpha":-1.14919, "fx":[-4.69797,-7.88492,2.47358,5.6672], "fy":[6.99562,-3.36015,-6.55815,3.81344]}, {"t":1.19165, "x":7.35357, "y":1.22061, "heading":2.8711, "vx":-0.39422, "vy":-1.96015, "omega":0.81235, "ax":-0.55026, "ay":0.11334, "alpha":-1.26547, "fx":[-13.23183,-16.40325,-4.99186,-1.76402], "fy":[9.20985,-2.28085,-5.54311,6.10966]}, {"t":1.22475, "x":7.34022, "y":1.15579, "heading":2.89799, "vx":-0.41243, "vy":-1.95639, "omega":0.77046, "ax":-3.4952, "ay":0.84637, "alpha":-0.89718, "fx":[-59.75307,-62.15758,-55.90284,-53.33725], "fy":[19.6765,9.90858,7.9833,18.40513]}, @@ -109,42 +109,42 @@ {"t":1.55576, "x":6.91678, "y":0.70189, "heading":3.14159, "vx":-1.94202, "vy":-0.39946, "omega":0.72913, "ax":-1.29987, "ay":7.39727, "alpha":-0.00987, "fx":[-21.56559,-21.59729,-21.41693,-21.38548], "fy":[122.28956,122.28342,122.31504,122.32109]}, {"t":1.59849, "x":6.83261, "y":0.69158, "heading":-3.11044, "vx":-1.99757, "vy":-0.08336, "omega":0.72871, "ax":-0.00739, "ay":3.85284, "alpha":-1.6875, "fx":[-9.81688,-10.51859,10.87543,8.97127], "fy":[69.38904,57.62944,58.03471,69.7494]}, {"t":1.64122, "x":6.74725, "y":0.69153, "heading":-3.0793, "vx":-1.99788, "vy":0.08127, "omega":0.6566, "ax":-0.03317, "ay":-1.18511, "alpha":-2.39464, "fx":[-13.16498,-11.04551,11.41579,10.60129], "fy":[-9.3185,-31.21489,-29.95894,-7.88377]}, - {"t":1.68396, "x":6.66185, "y":0.69392, "heading":-3.05124, "vx":-1.9993, "vy":0.03063, "omega":0.55428, "ax":-0.00331, "ay":-0.26533, "alpha":-2.20751, "fx":[-11.44057,-9.438,11.2105,9.44904], "fy":[5.02172,-15.67185,-13.81875,6.92175]}, - {"t":1.72669, "x":6.57641, "y":0.69499, "heading":-3.02756, "vx":-1.99944, "vy":0.01929, "omega":0.45995, "ax":-0.00112, "ay":-0.13685, "alpha":-1.94511, "fx":[-10.20646,-8.06966,10.12165,8.08041], "fy":[5.80136,-12.41411,-10.33804,7.9004]}, + {"t":1.68396, "x":6.66185, "y":0.69392, "heading":-3.05124, "vx":-1.9993, "vy":0.03063, "omega":0.55428, "ax":-0.00331, "ay":-0.26533, "alpha":-2.20751, "fx":[-11.44057,-9.438,11.2105,9.44904], "fy":[5.02172,-15.67186,-13.81875,6.92175]}, + {"t":1.72669, "x":6.57641, "y":0.69499, "heading":-3.02756, "vx":-1.99944, "vy":0.01929, "omega":0.45995, "ax":-0.00112, "ay":-0.13685, "alpha":-1.94511, "fx":[-10.20647,-8.06966,10.12165,8.08041], "fy":[5.80136,-12.41411,-10.33804,7.90041]}, {"t":1.76942, "x":6.49098, "y":0.69569, "heading":-3.0079, "vx":-1.99949, "vy":0.01344, "omega":0.37683, "ax":-0.00055, "ay":-0.09633, "alpha":-1.71034, "fx":[-9.09551,-6.91843,9.05162,6.92605], "fy":[5.32364,-10.6597,-8.5163,7.48145]}, {"t":1.81215, "x":6.40554, "y":0.69618, "heading":-2.9918, "vx":-1.99951, "vy":0.00933, "omega":0.30375, "ax":-0.00029, "ay":-0.07361, "alpha":-1.50285, "fx":[-8.08139,-5.95008,8.0569,5.9557], "fy":[4.73242,-9.28221,-7.17107,6.85299]}, - {"t":1.85488, "x":6.32009, "y":0.69651, "heading":-2.97882, "vx":-1.99952, "vy":0.00618, "omega":0.23953, "ax":-0.00014, "ay":-0.05812, "alpha":-1.31987, "fx":[-7.16064,-5.13334,7.1468,5.13769], "fy":[4.17244,-8.11223,-6.09736,6.1935]}, + {"t":1.85488, "x":6.32009, "y":0.69651, "heading":-2.97882, "vx":-1.99952, "vy":0.00618, "omega":0.23953, "ax":-0.00014, "ay":-0.05812, "alpha":-1.31988, "fx":[-7.16064,-5.13334,7.1468,5.13769], "fy":[4.17244,-8.11223,-6.09736,6.1935]}, {"t":1.89761, "x":6.23465, "y":0.69672, "heading":-2.96858, "vx":-1.99953, "vy":0.0037, "omega":0.18313, "ax":-0.00006, "ay":-0.04673, "alpha":-1.15871, "fx":[-6.32974,-4.44208,6.32206,4.44559], "fy":[3.66995,-7.09693,-5.21703,5.5539]}, - {"t":1.94034, "x":6.14921, "y":0.69684, "heading":-2.96076, "vx":-1.99953, "vy":0.0017, "omega":0.13362, "ax":-0.00002, "ay":-0.03798, "alpha":-1.01687, "fx":[-5.58384,-3.85479,5.5798,3.85772], "fy":[3.2274,-6.20888,-4.48471,4.9542]}, + {"t":1.94034, "x":6.14921, "y":0.69684, "heading":-2.96076, "vx":-1.99953, "vy":0.0017, "omega":0.13362, "ax":-0.00002, "ay":-0.03798, "alpha":-1.01687, "fx":[-5.58384,-3.85479,5.5798,3.85772], "fy":[3.2274,-6.20888,-4.48472,4.9542]}, {"t":1.98307, "x":6.06377, "y":0.69687, "heading":-2.95505, "vx":-1.99953, "vy":0.00008, "omega":0.09017, "ax":0.00001, "ay":-0.0311, "alpha":-0.89212, "fx":[-4.91714,-3.35385,4.91526,3.35634], "fy":[2.84039,-5.42977,-3.86958,4.40229]}, {"t":2.0258, "x":5.97833, "y":0.69685, "heading":-2.9512, "vx":-1.99953, "vy":-0.00125, "omega":0.05205, "ax":0.00002, "ay":-0.02558, "alpha":-0.78243, "fx":[-4.32333,-2.92486,4.32271,2.927], "fy":[2.50263,-4.74561,-3.34909,3.90024]}, {"t":2.06853, "x":5.89289, "y":0.69677, "heading":-2.94897, "vx":-1.99953, "vy":-0.00234, "omega":0.01862, "ax":0.00003, "ay":-0.02111, "alpha":-0.68602, "fx":[-3.79597,-2.55602,3.79607,2.55787], "fy":[2.2077,-4.14481,-2.90611,3.44711]}, {"t":2.11126, "x":5.80745, "y":0.69665, "heading":-2.94818, "vx":-1.99953, "vy":-0.00325, "omega":-0.0107, "ax":0.00003, "ay":-0.01746, "alpha":-0.60129, "fx":[-3.32872,-2.2377,3.32921,2.2393], "fy":[1.94973,-3.61745,-2.52722,3.04041]}, {"t":2.15399, "x":5.722, "y":0.6965, "heading":-2.94863, "vx":-1.99953, "vy":-0.00399, "omega":-0.03639, "ax":0.00003, "ay":-0.01446, "alpha":-0.52684, "fx":[-2.91551,-1.96195,2.91619,1.96333], "fy":[1.72352,-3.1548,-2.20174,2.67686]}, {"t":2.19672, "x":5.63656, "y":0.69631, "heading":-2.95019, "vx":-1.99953, "vy":-0.00461, "omega":-0.0589, "ax":0.00003, "ay":-0.01199, "alpha":-0.4614, "fx":[-2.55065,-1.72225,2.55139,1.72344], "fy":[1.52463,-2.74912,-1.92105,2.35289]}, - {"t":2.23945, "x":5.55112, "y":0.69611, "heading":-2.95271, "vx":-1.99953, "vy":-0.00512, "omega":-0.07862, "ax":0.00003, "ay":-0.00994, "alpha":-0.40389, "fx":[-2.22885,-1.51319,2.22959,1.51421], "fy":[1.34928,-2.39357,-1.67811,2.06485]}, - {"t":2.28218, "x":5.46568, "y":0.69588, "heading":-2.95607, "vx":-1.99953, "vy":-0.00555, "omega":-0.09588, "ax":0.00002, "ay":-0.00825, "alpha":-0.35331, "fx":[-1.94528,-1.33027,1.94597,1.33114], "fy":[1.19425,-2.08203,-1.46715,1.80921]}, + {"t":2.23945, "x":5.55112, "y":0.69611, "heading":-2.95271, "vx":-1.99953, "vy":-0.00512, "omega":-0.07862, "ax":0.00003, "ay":-0.00994, "alpha":-0.40389, "fx":[-2.22885,-1.51319,2.22958,1.51421], "fy":[1.34928,-2.39357,-1.67811,2.06485]}, + {"t":2.28218, "x":5.46568, "y":0.69588, "heading":-2.95607, "vx":-1.99953, "vy":-0.00555, "omega":-0.09588, "ax":0.00002, "ay":-0.00825, "alpha":-0.35331, "fx":[-1.94527,-1.33027,1.94596,1.33114], "fy":[1.19425,-2.08203,-1.46714,1.8092]}, {"t":2.32492, "x":5.38024, "y":0.69563, "heading":-2.96016, "vx":-1.99952, "vy":-0.0059, "omega":-0.11098, "ax":0.00002, "ay":-0.00685, "alpha":-0.30882, "fx":[-1.69552,-1.16972,1.69615,1.17046], "fy":[1.05681,-1.80908,-1.28336,1.58258]}, - {"t":2.36765, "x":5.2948, "y":0.69537, "heading":-2.9649, "vx":-1.99952, "vy":-0.00619, "omega":-0.12417, "ax":0.00002, "ay":-0.00569, "alpha":-0.26965, "fx":[-1.4756,-1.02837,1.47616,1.029], "fy":[0.93463,-1.56992,-1.12274,1.38184]}, - {"t":2.41038, "x":5.20936, "y":0.69511, "heading":-2.97021, "vx":-1.99952, "vy":-0.00643, "omega":-0.13569, "ax":0.00002, "ay":-0.00472, "alpha":-0.23513, "fx":[-1.28193,-0.90355,1.28242,0.90409], "fy":[0.82572,-1.36027,-0.98193,1.20408]}, - {"t":2.45311, "x":5.12392, "y":0.69483, "heading":-2.97601, "vx":-1.99952, "vy":-0.00664, "omega":-0.14574, "ax":0.00001, "ay":-0.00392, "alpha":-0.20467, "fx":[-1.11129,-0.79297,1.11171,0.79343], "fy":[0.72834,-1.17636,-0.85806,1.04664]}, - {"t":2.49584, "x":5.03848, "y":0.69454, "heading":-2.98224, "vx":-1.99952, "vy":-0.0068, "omega":-0.15449, "ax":0.00001, "ay":-0.00326, "alpha":-0.17775, "fx":[-0.96081,-0.69467,0.96117,0.69505], "fy":[0.64099,-1.01486,-0.74873,0.90712]}, - {"t":2.53857, "x":4.95304, "y":0.69425, "heading":-2.98884, "vx":-1.99952, "vy":-0.00694, "omega":-0.16208, "ax":0.00001, "ay":-0.00271, "alpha":-0.1539, "fx":[-0.82791,-0.60695,0.82821,0.60727], "fy":[0.56237,-0.87279,-0.65185,0.78333]}, + {"t":2.36765, "x":5.2948, "y":0.69537, "heading":-2.9649, "vx":-1.99952, "vy":-0.00619, "omega":-0.12417, "ax":0.00002, "ay":-0.00569, "alpha":-0.26965, "fx":[-1.4756,-1.02837,1.47616,1.029], "fy":[0.93463,-1.56991,-1.12274,1.38184]}, + {"t":2.41038, "x":5.20936, "y":0.69511, "heading":-2.97021, "vx":-1.99952, "vy":-0.00643, "omega":-0.13569, "ax":0.00002, "ay":-0.00472, "alpha":-0.23513, "fx":[-1.28193,-0.90355,1.28241,0.90409], "fy":[0.82571,-1.36027,-0.98192,1.20407]}, + {"t":2.45311, "x":5.12392, "y":0.69483, "heading":-2.97601, "vx":-1.99952, "vy":-0.00664, "omega":-0.14574, "ax":0.00001, "ay":-0.00392, "alpha":-0.20467, "fx":[-1.11129,-0.79297,1.11171,0.79343], "fy":[0.72833,-1.17636,-0.85806,1.04664]}, + {"t":2.49584, "x":5.03848, "y":0.69454, "heading":-2.98224, "vx":-1.99952, "vy":-0.0068, "omega":-0.15449, "ax":0.00001, "ay":-0.00326, "alpha":-0.17775, "fx":[-0.96081,-0.69467,0.96117,0.69505], "fy":[0.64099,-1.01485,-0.74873,0.90712]}, + {"t":2.53857, "x":4.95304, "y":0.69425, "heading":-2.98884, "vx":-1.99952, "vy":-0.00694, "omega":-0.16208, "ax":0.00001, "ay":-0.00271, "alpha":-0.1539, "fx":[-0.82791,-0.60695,0.82821,0.60727], "fy":[0.56237,-0.87279,-0.65185,0.78332]}, {"t":2.5813, "x":4.86759, "y":0.69395, "heading":-2.99576, "vx":-1.99952, "vy":-0.00706, "omega":-0.16866, "ax":0.00001, "ay":-0.00225, "alpha":-0.13271, "fx":[-0.71029,-0.52833,0.71055,0.5286], "fy":[0.49131,-0.74756,-0.56561,0.67327]}, {"t":2.62403, "x":4.78215, "y":0.69364, "heading":-3.00297, "vx":-1.99952, "vy":-0.00715, "omega":-0.17433, "ax":0.00001, "ay":-0.00187, "alpha":-0.11382, "fx":[-0.6059,-0.4575,0.60612,0.45773], "fy":[0.42678,-0.63685,-0.48846,0.57517]}, {"t":2.66676, "x":4.69671, "y":0.69333, "heading":-3.01042, "vx":-1.99952, "vy":-0.00723, "omega":-0.17919, "ax":0.00001, "ay":-0.00155, "alpha":-0.0969, "fx":[-0.51291,-0.39332,0.51309,0.39351], "fy":[0.36782,-0.5386,-0.41901,0.48741]}, - {"t":2.70949, "x":4.61127, "y":0.69302, "heading":-3.01808, "vx":-1.99952, "vy":-0.0073, "omega":-0.18333, "ax":0.0, "ay":-0.00128, "alpha":-0.08166, "fx":[-0.42967,-0.33475,0.42983,0.33491], "fy":[0.3136,-0.45099,-0.35606,0.40852]}, + {"t":2.70949, "x":4.61127, "y":0.69302, "heading":-3.01808, "vx":-1.99952, "vy":-0.0073, "omega":-0.18333, "ax":0.0, "ay":-0.00128, "alpha":-0.08166, "fx":[-0.42967,-0.33475,0.42983,0.33491], "fy":[0.31359,-0.45098,-0.35606,0.40851]}, {"t":2.75222, "x":4.52583, "y":0.69271, "heading":-3.02591, "vx":-1.99952, "vy":-0.00736, "omega":-0.18682, "ax":0.0, "ay":-0.00106, "alpha":-0.06783, "fx":[-0.35471,-0.28085,0.35484,0.28098], "fy":[0.26331,-0.37238,-0.29852,0.33717]}, {"t":2.79495, "x":4.44039, "y":0.6924, "heading":-3.03389, "vx":-1.99952, "vy":-0.0074, "omega":-0.18972, "ax":0.0, "ay":-0.00088, "alpha":-0.05517, "fx":[-0.2867,-0.23074,0.28681,0.23085], "fy":[0.21622,-0.30134,-0.24538,0.27217]}, - {"t":2.83768, "x":4.35495, "y":0.69208, "heading":-3.042, "vx":-1.99952, "vy":-0.00744, "omega":-0.19208, "ax":0.0, "ay":-0.00073, "alpha":-0.04348, "fx":[-0.22443,-0.18364,0.22452,0.18373], "fy":[0.17163,-0.23653,-0.19575,0.21241]}, - {"t":2.88041, "x":4.26951, "y":0.69176, "heading":-3.05021, "vx":-1.99952, "vy":-0.00747, "omega":-0.19394, "ax":0.0, "ay":-0.0006, "alpha":-0.03253, "fx":[-0.16679,-0.13878,0.16686,0.13885], "fy":[0.12886,-0.17678,-0.14877,0.15687]}, + {"t":2.83768, "x":4.35495, "y":0.69208, "heading":-3.042, "vx":-1.99952, "vy":-0.00744, "omega":-0.19208, "ax":0.0, "ay":-0.00073, "alpha":-0.04347, "fx":[-0.22443,-0.18364,0.22452,0.18373], "fy":[0.17162,-0.23653,-0.19575,0.21241]}, + {"t":2.88041, "x":4.26951, "y":0.69176, "heading":-3.05021, "vx":-1.99952, "vy":-0.00747, "omega":-0.19394, "ax":0.0, "ay":-0.0006, "alpha":-0.03253, "fx":[-0.16678,-0.13878,0.16686,0.13885], "fy":[0.12886,-0.17678,-0.14877,0.15687]}, {"t":2.92315, "x":4.18407, "y":0.69144, "heading":-3.0585, "vx":-1.99952, "vy":-0.0075, "omega":-0.19533, "ax":0.0, "ay":-0.0005, "alpha":-0.02215, "fx":[-0.11276,-0.09542,0.11282,0.09548], "fy":[0.08725,-0.12099,-0.10364,0.1046]}, {"t":2.96588, "x":4.09863, "y":0.69112, "heading":-3.06684, "vx":-1.99952, "vy":-0.00752, "omega":-0.19627, "ax":0.0, "ay":-0.00041, "alpha":-0.01215, "fx":[-0.06141,-0.05285,0.06146,0.0529], "fy":[0.04616,-0.06815,-0.05959,0.05472]}, - {"t":3.00861, "x":4.01319, "y":0.6908, "heading":-3.07523, "vx":-1.99952, "vy":-0.00753, "omega":-0.19679, "ax":0.0, "ay":-0.00033, "alpha":-0.00236, "fx":[-0.01183,-0.01036,0.01188,0.0104], "fy":[0.00491,-0.01732,-0.01584,0.00639]}, + {"t":3.00861, "x":4.01319, "y":0.6908, "heading":-3.07523, "vx":-1.99952, "vy":-0.00753, "omega":-0.19679, "ax":0.0, "ay":-0.00033, "alpha":-0.00236, "fx":[-0.01183,-0.01036,0.01187,0.0104], "fy":[0.00491,-0.01732,-0.01584,0.00639]}, {"t":3.05134, "x":3.92775, "y":0.69048, "heading":-3.08364, "vx":-1.99952, "vy":-0.00755, "omega":-0.19689, "ax":0.0, "ay":-0.00027, "alpha":0.00739, "fx":[0.03682,0.03278,-0.03678,-0.03275], "fy":[-0.03717,0.03239,0.02836,-0.04121]}, {"t":3.09407, "x":3.8423, "y":0.69015, "heading":-3.09205, "vx":-1.99952, "vy":-0.00756, "omega":-0.19658, "ax":0.0, "ay":-0.00021, "alpha":0.01726, "fx":[0.08537,0.07731,-0.08535,-0.07728], "fy":[-0.08079,0.08186,0.07379,-0.08886]}, {"t":3.1368, "x":3.75686, "y":0.68983, "heading":-3.10045, "vx":-1.99952, "vy":-0.00757, "omega":-0.19584, "ax":0.0, "ay":-0.00016, "alpha":0.02743, "fx":[0.13465,0.124,-0.13463,-0.12398], "fy":[-0.1267,0.13192,0.12128,-0.13735]}, - {"t":3.17953, "x":3.67142, "y":0.68951, "heading":-3.10882, "vx":-1.99952, "vy":-0.00758, "omega":-0.19467, "ax":0.0, "ay":-0.00012, "alpha":0.03808, "fx":[0.18546,0.17369,-0.18544,-0.17367], "fy":[-0.1757,0.18343,0.17166,-0.18747]}, + {"t":3.17953, "x":3.67142, "y":0.68951, "heading":-3.10882, "vx":-1.99952, "vy":-0.00758, "omega":-0.19467, "ax":0.0, "ay":-0.00012, "alpha":0.03808, "fx":[0.18546,0.17369,-0.18545,-0.17367], "fy":[-0.1757,0.18343,0.17166,-0.18747]}, {"t":3.22226, "x":3.58598, "y":0.68918, "heading":-3.11714, "vx":-1.99952, "vy":-0.00758, "omega":-0.19304, "ax":0.0, "ay":-0.00008, "alpha":0.04939, "fx":[0.23865,0.22725,-0.23864,-0.22724], "fy":[-0.22864,0.23725,0.22585,-0.24004]}, {"t":3.26499, "x":3.50054, "y":0.68886, "heading":-3.12539, "vx":-1.99952, "vy":-0.00758, "omega":-0.19093, "ax":0.0, "ay":-0.00005, "alpha":0.06156, "fx":[0.29508,0.28567,-0.29507,-0.28565], "fy":[-0.28648,0.29425,0.28484,-0.29589]}, {"t":3.30772, "x":3.4151, "y":0.68853, "heading":-3.13355, "vx":-1.99952, "vy":-0.00759, "omega":-0.1883, "ax":0.01094, "ay":0.00003, "alpha":0.07479, "fx":[0.53659,0.53091,-0.17471,-0.16903], "fy":[-0.34955,0.35607,0.35039,-0.35524]}, diff --git a/src/main/deploy/choreo/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj new file mode 100644 index 00000000..aef92409 --- /dev/null +++ b/src/main/deploy/choreo/FRtoSRT.traj @@ -0,0 +1,288 @@ +{ + "name":"FRtoSRT", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":7.775508880615234, "y":2.226898431777954, "heading":1.5707963267948966, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.738821983337402, "y":3.3275232315063477, "heading":0.9685095839813652, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.276905059814453, "y":3.5231900215148926, "heading":0.026309798204746184, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.839447021484375, "y":3.3152942657470703, "heading":-1.14416723126684, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.019723892211914, "y":2.5584933757781982, "heading":-1.8049012747276192, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.501133918762207, "y":1.2703827619552612, "heading":-2.452669240168714, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.543155193328857, "y":0.6248778104782104, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.108928680419922, "y":0.5510483384132385, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":5, "to":5, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"7.775508880615234 m", "val":7.775508880615234}, "y":{"exp":"2.226898431777954 m", "val":2.226898431777954}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.738821983337402 m", "val":7.738821983337402}, "y":{"exp":"3.3275232315063477 m", "val":3.3275232315063477}, "heading":{"exp":"0.9685095839813652 rad", "val":0.9685095839813652}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.276905059814453 m", "val":8.276905059814453}, "y":{"exp":"3.5231900215148926 m", "val":3.5231900215148926}, "heading":{"exp":"26.309798204746183 mrad", "val":0.026309798204746184}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.839447021484375 m", "val":8.839447021484375}, "y":{"exp":"3.3152942657470703 m", "val":3.3152942657470703}, "heading":{"exp":"-1.14416723126684 rad", "val":-1.14416723126684}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.019723892211914 m", "val":9.019723892211914}, "y":{"exp":"2.5584933757781982 m", "val":2.5584933757781982}, "heading":{"exp":"-1.8049012747276194 rad", "val":-1.8049012747276192}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.501133918762207 m", "val":8.501133918762207}, "y":{"exp":"1.2703827619552612 m", "val":1.2703827619552612}, "heading":{"exp":"-2.452669240168714 rad", "val":-2.452669240168714}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.543155193328857 m", "val":7.543155193328857}, "y":{"exp":"0.6248778104782104 m", "val":0.6248778104782104}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.108928680419922 m", "val":6.108928680419922}, "y":{"exp":"0.5510483384132385 m", "val":0.5510483384132385}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.768587827682495 m", "val":2.768587827682495}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":5, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,1.17614,1.75655,2.36088,3.14552,3.89496,4.46336,4.87752,6.06471], + "samples":[ + {"t":0.0, "x":7.77551, "y":2.2269, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.44942, "ay":7.50982, "alpha":-0.00157, "fx":[-7.41486,-7.44439,-7.44615,-7.41662], "fy":[124.16409,124.16233,124.16218,124.16395]}, + {"t":0.03675, "x":7.77521, "y":2.23197, "heading":1.5708, "vx":-0.01652, "vy":0.27602, "omega":-0.00006, "ax":-0.44913, "ay":7.50494, "alpha":-0.00228, "fx":[-7.40304,-7.44576,-7.44832,-7.40559], "fy":[124.08387,124.08132,124.08108,124.08364]}, + {"t":0.07351, "x":7.77429, "y":2.24718, "heading":1.57079, "vx":-0.03303, "vy":0.55186, "omega":-0.00014, "ax":-0.44826, "ay":7.49038, "alpha":-0.00438, "fx":[-7.36781,-7.44983,-7.45475,-7.37267], "fy":[123.84445,123.83956,123.83895,123.84384]}, + {"t":0.11026, "x":7.77278, "y":2.27253, "heading":1.57079, "vx":-0.0495, "vy":0.82716, "omega":-0.0003, "ax":-0.27718, "ay":4.63174, "alpha":-0.48685, "fx":[-1.38852,-7.56988,-7.91971,-1.45317], "fy":[78.1102,77.90993,75.03926,75.25483]}, + {"t":0.14702, "x":7.77077, "y":2.30606, "heading":1.57078, "vx":-0.05969, "vy":0.9974, "omega":-0.0182, "ax":-0.00001, "ay":0.00017, "alpha":-1.04195, "fx":[4.91536,-4.91553,-4.91572,4.9152], "fy":[4.91822,4.9184,-4.91251,-4.91269]}, + {"t":0.18377, "x":7.76858, "y":2.34272, "heading":1.57011, "vx":-0.05969, "vy":0.9974, "omega":-0.05649, "ax":0.0, "ay":0.0, "alpha":-1.01112, "fx":[4.77327,-4.76672,-4.77327,4.76672], "fy":[4.76672,4.77328,-4.76672,-4.77327]}, + {"t":0.22053, "x":7.76638, "y":2.37938, "heading":1.56803, "vx":-0.05969, "vy":0.9974, "omega":-0.09366, "ax":0.0, "ay":0.0, "alpha":-0.98719, "fx":[4.66996,-4.64422,-4.66996,4.64422], "fy":[4.64422,4.66996,-4.64422,-4.66996]}, + {"t":0.25728, "x":7.76419, "y":2.41603, "heading":1.56459, "vx":-0.05969, "vy":0.9974, "omega":-0.12994, "ax":0.0, "ay":0.0, "alpha":-0.97001, "fx":[4.60437,-4.54757,-4.60437,4.54757], "fy":[4.54757,4.60437,-4.54757,-4.60437]}, + {"t":0.29403, "x":7.762, "y":2.45269, "heading":1.55981, "vx":-0.05969, "vy":0.9974, "omega":-0.16559, "ax":0.0, "ay":0.0, "alpha":-0.95947, "fx":[4.57577,-4.47636,-4.57577,4.47636], "fy":[4.47636,4.57577,-4.47636,-4.57577]}, + {"t":0.33079, "x":7.7598, "y":2.48935, "heading":1.55373, "vx":-0.05969, "vy":0.9974, "omega":-0.20086, "ax":0.0, "ay":0.0, "alpha":-0.95551, "fx":[4.58392,-4.43006,-4.58392,4.43006], "fy":[4.43006,4.58392,-4.43006,-4.58392]}, + {"t":0.36754, "x":7.75761, "y":2.52601, "heading":1.54635, "vx":-0.05969, "vy":0.9974, "omega":-0.23598, "ax":0.0, "ay":0.0, "alpha":-0.9581, "fx":[4.62903,-4.40803,-4.62903,4.40803], "fy":[4.40803,4.62903,-4.40803,-4.62903]}, + {"t":0.4043, "x":7.75541, "y":2.56267, "heading":1.53767, "vx":-0.05969, "vy":0.9974, "omega":-0.27119, "ax":0.0, "ay":0.0, "alpha":-0.96727, "fx":[4.71176,-4.40952,-4.71176,4.40952], "fy":[4.40952,4.71176,-4.40952,-4.71176]}, + {"t":0.44105, "x":7.75322, "y":2.59933, "heading":1.52771, "vx":-0.05969, "vy":0.9974, "omega":-0.30674, "ax":0.0, "ay":0.0, "alpha":-0.98309, "fx":[4.83324,-4.43367,-4.83324,4.43367], "fy":[4.43367,4.83324,-4.43367,-4.83324]}, + {"t":0.47781, "x":7.75103, "y":2.63599, "heading":1.51643, "vx":-0.05969, "vy":0.9974, "omega":-0.34287, "ax":0.0, "ay":0.0, "alpha":-1.00566, "fx":[4.99502,-4.47943,-4.99502,4.47943], "fy":[4.47943,4.99502,-4.47943,-4.99502]}, + {"t":0.51456, "x":7.74883, "y":2.67265, "heading":1.50383, "vx":-0.05969, "vy":0.9974, "omega":-0.37984, "ax":0.0, "ay":0.0, "alpha":-1.03514, "fx":[5.19915,-4.5456,-5.19915,4.5456], "fy":[4.5456,5.19915,-4.5456,-5.19915]}, + {"t":0.55132, "x":7.74664, "y":2.70931, "heading":1.48987, "vx":-0.05969, "vy":0.9974, "omega":-0.41788, "ax":0.0, "ay":0.0, "alpha":-1.07174, "fx":[5.44813,-4.63069,-5.44813,4.63069], "fy":[4.63069,5.44813,-4.63069,-5.44813]}, + {"t":0.58807, "x":7.74445, "y":2.74596, "heading":1.47451, "vx":-0.05969, "vy":0.9974, "omega":-0.45727, "ax":0.0, "ay":0.0, "alpha":-1.11569, "fx":[5.74495,-4.73294,-5.74495,4.73294], "fy":[4.73294,5.74495,-4.73294,-5.74495]}, + {"t":0.62482, "x":7.74225, "y":2.78262, "heading":1.4577, "vx":-0.05969, "vy":0.9974, "omega":-0.49828, "ax":0.0, "ay":0.0, "alpha":-1.16731, "fx":[6.0931,-4.85019,-6.0931,4.85019], "fy":[4.85019,6.0931,-4.85019,-6.0931]}, + {"t":0.66158, "x":7.74006, "y":2.81928, "heading":1.43939, "vx":-0.05969, "vy":0.9974, "omega":-0.54118, "ax":0.0, "ay":0.0, "alpha":-1.22693, "fx":[6.4966,-4.97978,-6.4966,4.97978], "fy":[4.97978,6.4966,-4.97978,-6.4966]}, + {"t":0.69833, "x":7.73786, "y":2.85594, "heading":1.4195, "vx":-0.05969, "vy":0.9974, "omega":-0.58628, "ax":0.0, "ay":0.0, "alpha":-1.29496, "fx":[6.95998,-5.11846,-6.95998,5.11846], "fy":[5.11846,6.95998,-5.11846,-6.95998]}, + {"t":0.73509, "x":7.73567, "y":2.8926, "heading":1.39795, "vx":-0.05969, "vy":0.9974, "omega":-0.63387, "ax":0.0, "ay":0.0, "alpha":-1.37184, "fx":[7.48832,-5.26222,-7.48832,5.26222], "fy":[5.26222,7.48832,-5.26222,-7.48832]}, + {"t":0.77184, "x":7.73348, "y":2.92926, "heading":1.37465, "vx":-0.05969, "vy":0.9974, "omega":-0.6843, "ax":0.0, "ay":0.0, "alpha":-1.45808, "fx":[8.08723,-5.40611,-8.08723,5.40611], "fy":[5.40611,8.08723,-5.40611,-8.08723]}, + {"t":0.8086, "x":7.73128, "y":2.96592, "heading":1.3495, "vx":-0.05969, "vy":0.9974, "omega":-0.73789, "ax":0.0, "ay":0.0, "alpha":-1.55425, "fx":[8.76282,-5.54406,-8.76282,5.54406], "fy":[5.54406,8.76282,-5.54406,-8.76282]}, + {"t":0.84535, "x":7.72909, "y":3.00258, "heading":1.32238, "vx":-0.05969, "vy":0.9974, "omega":-0.79501, "ax":0.0, "ay":0.0, "alpha":-1.66097, "fx":[9.52167,-5.66859,-9.52167,5.66859], "fy":[5.66859,9.52167,-5.66859,-9.52167]}, + {"t":0.8821, "x":7.72689, "y":3.03924, "heading":1.29316, "vx":-0.05969, "vy":0.9974, "omega":-0.85606, "ax":0.0, "ay":0.0, "alpha":-1.7789, "fx":[10.37077,-5.77055,-10.37077,5.77056], "fy":[5.77055,10.37077,-5.77056,-10.37077]}, + {"t":0.91886, "x":7.7247, "y":3.0759, "heading":1.2617, "vx":-0.05969, "vy":0.9974, "omega":-0.92144, "ax":0.0, "ay":0.0, "alpha":-1.9088, "fx":[11.31737,-5.83875,-11.31731,5.83882], "fy":[5.83879,11.31734,-5.83879,-11.31734]}, + {"t":0.95561, "x":7.72251, "y":3.11255, "heading":1.22783, "vx":-0.05969, "vy":0.9974, "omega":-0.9916, "ax":0.00007, "ay":0.0, "alpha":-2.05146, "fx":[12.36984,-5.85851,-12.36748,5.86091], "fy":[5.85977,12.36875,-5.85965,-12.36858]}, + {"t":0.99237, "x":7.72031, "y":3.14921, "heading":1.19138, "vx":-0.05969, "vy":0.9974, "omega":-1.067, "ax":0.00262, "ay":0.00016, "alpha":-2.20773, "fx":[13.57477,-5.77304,-13.48885,5.86073], "fy":[5.81906,13.53482,-5.8147,-13.5288]}, + {"t":1.02912, "x":7.71812, "y":3.18587, "heading":1.15217, "vx":-0.05959, "vy":0.99741, "omega":-1.14814, "ax":0.09531, "ay":0.00552, "alpha":-2.37778, "fx":[16.36206,-4.09218,-13.25027,7.28387], "fy":[5.76469,14.91825,-5.61413,-14.70362]}, + {"t":1.06588, "x":7.716, "y":3.22254, "heading":1.10997, "vx":-0.05609, "vy":0.99761, "omega":-1.23554, "ax":2.96067, "ay":0.00448, "alpha":-1.88669, "fx":[58.8288,45.79126,38.60608,52.57402], "fy":[4.38716,14.16218,-4.93373,-13.31928]}, + {"t":1.10263, "x":7.71593, "y":3.25921, "heading":1.06456, "vx":0.05273, "vy":0.99778, "omega":-1.30488, "ax":7.15789, "ay":-1.35966, "alpha":-0.09413, "fx":[118.48291,118.52839,118.20759,118.1592], "fy":[-21.9541,-21.40516,-23.0156,-23.54458]}, + {"t":1.13938, "x":7.72271, "y":3.29496, "heading":1.0166, "vx":0.31581, "vy":0.9478, "omega":-1.30834, "ax":6.67389, "ay":-3.36376, "alpha":-0.02402, "fx":[110.43595,110.45073,110.24852,110.23433], "fy":[-55.43328,-55.39591,-55.79658,-55.83246]}, + {"t":1.17614, "x":7.73882, "y":3.32752, "heading":0.96851, "vx":0.56111, "vy":0.82417, "omega":-1.30922, "ax":5.77845, "ay":-4.7189, "alpha":-0.01952, "fx":[95.66317,95.64179,95.41172,95.43383], "fy":[-77.86852,-77.8892,-78.17132,-78.14988]}, + {"t":1.20137, "x":7.75482, "y":3.34682, "heading":0.93547, "vx":0.70693, "vy":0.70509, "omega":-1.30972, "ax":4.70851, "ay":-5.68125, "alpha":-0.04028, "fx":[78.19794,78.05204,77.4961,77.64567], "fy":[-93.64754,-93.74969,-94.21461,-94.11072]}, + {"t":1.22661, "x":7.77416, "y":3.3628, "heading":0.90242, "vx":0.82575, "vy":0.56172, "omega":-1.31073, "ax":3.42407, "ay":-6.13572, "alpha":-0.13054, "fx":[57.93894,57.11222,55.26815,56.12735], "fy":[-100.74983,-101.04921,-102.1411,-101.83836]}, + {"t":1.25184, "x":7.79609, "y":3.37502, "heading":0.86934, "vx":0.91215, "vy":0.40689, "omega":-1.31403, "ax":1.3939, "ay":-3.58076, "alpha":-1.05731, "fx":[31.40878,23.69441,14.46402,22.61684], "fy":[-57.59436,-53.51234,-61.0163,-64.68585]}, + {"t":1.27708, "x":7.81955, "y":3.38415, "heading":0.83618, "vx":0.94733, "vy":0.31653, "omega":-1.34071, "ax":0.12208, "ay":-0.37138, "alpha":-1.7239, "fx":[13.51794,1.46379,-9.50506,2.59711], "fy":[-5.59266,5.3745,-6.79473,-17.54788]}, + {"t":1.30231, "x":7.8435, "y":3.39202, "heading":0.80235, "vx":0.95041, "vy":0.30715, "omega":-1.38421, "ax":0.00915, "ay":-0.02836, "alpha":-1.67686, "fx":[11.33611,-0.0371,-11.03557,0.342], "fy":[-0.283,10.72045,-0.66251,-11.65067]}, + {"t":1.32755, "x":7.86748, "y":3.39976, "heading":0.76742, "vx":0.95064, "vy":0.30644, "omega":-1.42653, "ax":0.00069, "ay":-0.00215, "alpha":-1.62649, "fx":[10.86093,0.20665,-10.83816,-0.18349], "fy":[-0.23096,10.81418,0.15917,-10.8849]}, + {"t":1.35278, "x":7.89147, "y":3.4075, "heading":0.73142, "vx":0.95066, "vy":0.30638, "omega":-1.46757, "ax":0.00005, "ay":-0.00016, "alpha":-1.58177, "fx":[10.53842,0.5702,-10.5367,-0.56845], "fy":[-0.57205,10.53487,0.5666,-10.54024]}, + {"t":1.37802, "x":7.91546, "y":3.41523, "heading":0.69439, "vx":0.95066, "vy":0.30638, "omega":-1.50749, "ax":0.0, "ay":-0.00001, "alpha":-1.54264, "fx":[10.24933,0.93544,-10.2492,-0.9353], "fy":[-0.93558,10.24906,0.93516,-10.24947]}, + {"t":1.40326, "x":7.93945, "y":3.42296, "heading":0.65635, "vx":0.95066, "vy":0.30638, "omega":-1.54641, "ax":0.0, "ay":0.0, "alpha":-1.50901, "fx":[9.98379,1.29563,-9.98378,-1.29562], "fy":[-1.29564,9.98377,1.29561,-9.9838]}, + {"t":1.42849, "x":7.96344, "y":3.43069, "heading":0.61732, "vx":0.95066, "vy":0.30638, "omega":-1.58449, "ax":0.0, "ay":0.0, "alpha":-1.48081, "fx":[9.74016,1.65267,-9.74016,-1.65268], "fy":[-1.65268,9.74016,1.65267,-9.74016]}, + {"t":1.45373, "x":7.98743, "y":3.43842, "heading":0.57734, "vx":0.95066, "vy":0.30638, "omega":-1.62186, "ax":0.0, "ay":0.0, "alpha":-1.45799, "fx":[9.51732,2.00925,-9.51732,-2.00925], "fy":[-2.00925,9.51732,2.00925,-9.51732]}, + {"t":1.47896, "x":8.01142, "y":3.44615, "heading":0.53641, "vx":0.95066, "vy":0.30638, "omega":-1.65866, "ax":0.0, "ay":0.0, "alpha":-1.44049, "fx":[9.31403,2.36823,-9.31403,-2.36823], "fy":[-2.36823,9.31403,2.36823,-9.31403]}, + {"t":1.5042, "x":8.03541, "y":3.45388, "heading":0.49455, "vx":0.95066, "vy":0.30638, "omega":-1.69501, "ax":0.0, "ay":0.0, "alpha":-1.42831, "fx":[9.12891,2.73258,-9.12891,-2.73258], "fy":[-2.73259,9.12891,2.73258,-9.12891]}, + {"t":1.52943, "x":8.0594, "y":3.46162, "heading":0.45178, "vx":0.95066, "vy":0.30638, "omega":-1.73105, "ax":0.0, "ay":0.0, "alpha":-1.42143, "fx":[8.96034,3.10541,-8.96034,-3.10541], "fy":[-3.10541,8.96033,3.1054,-8.96034]}, + {"t":1.55467, "x":8.08339, "y":3.46935, "heading":0.4081, "vx":0.95066, "vy":0.30638, "omega":-1.76692, "ax":0.0, "ay":0.0, "alpha":-1.41986, "fx":[8.80648,3.4899,-8.80646,-3.48988], "fy":[-3.48992,8.80644,3.48986,-8.8065]}, + {"t":1.5799, "x":8.10738, "y":3.47708, "heading":0.36351, "vx":0.95066, "vy":0.30638, "omega":-1.80275, "ax":0.00001, "ay":-0.00002, "alpha":-1.42364, "fx":[8.66528,3.8894,-8.66506,-3.88917], "fy":[-3.88964,8.66482,3.88894,-8.66552]}, + {"t":1.60514, "x":8.13137, "y":3.48481, "heading":0.31802, "vx":0.95066, "vy":0.30638, "omega":-1.83868, "ax":0.00009, "ay":-0.00027, "alpha":-1.43282, "fx":[8.53543,4.3084,-8.53257,-4.30543], "fy":[-4.31146,8.52947,4.30237,-8.53852]}, + {"t":1.63037, "x":8.15536, "y":3.49254, "heading":0.27162, "vx":0.95066, "vy":0.30637, "omega":-1.87483, "ax":0.00117, "ay":-0.00362, "alpha":-1.44747, "fx":[8.42906,4.76578,-8.39126,-4.7265], "fy":[-4.80602,8.35044,4.68625,-8.46987]}, + {"t":1.65561, "x":8.17935, "y":3.50027, "heading":0.2243, "vx":0.95069, "vy":0.30628, "omega":-1.91136, "ax":0.01536, "ay":-0.04777, "alpha":-1.46755, "fx":[8.53871,5.46925,-8.04107,-4.9513], "fy":[-6.00002,7.50041,4.41892,-9.0787]}, + {"t":1.68084, "x":8.20335, "y":3.50799, "heading":0.17607, "vx":0.95108, "vy":0.30508, "omega":-1.94839, "ax":0.19559, "ay":-0.62787, "alpha":-1.47112, "fx":[11.24116,8.98898,-4.90908,-2.38573], "fy":[-15.93158,-2.35522,-4.83783,-18.39863]}, + {"t":1.70608, "x":8.22741, "y":3.51549, "heading":0.1269, "vx":0.95602, "vy":0.28923, "omega":-1.98552, "ax":1.13598, "ay":-4.83557, "alpha":-0.6035, "fx":[22.61315,22.93683,14.71627,14.86046], "fy":[-80.8645,-77.49861,-79.08911,-82.34217]}, + {"t":1.73131, "x":8.2519, "y":3.52124, "heading":0.0768, "vx":0.98468, "vy":0.16721, "omega":-2.00075, "ax":0.49913, "ay":-7.14109, "alpha":-0.07997, "fx":[8.97193,8.96503,7.52442,7.54783], "fy":[-118.05294,-117.98012,-118.08127,-118.15305]}, + {"t":1.75655, "x":8.27691, "y":3.52319, "heading":0.02631, "vx":0.99728, "vy":-0.013, "omega":-2.00277, "ax":-0.65744, "ay":-7.12682, "alpha":-0.06724, "fx":[-10.20743,-10.33804,-11.53783,-11.39602], "fy":[-117.91885,-117.84583,-117.74185,-117.81713]}, + {"t":1.78072, "x":8.30082, "y":3.52079, "heading":-0.0221, "vx":0.98139, "vy":-0.18528, "omega":-2.00439, "ax":-1.31566, "ay":-5.14021, "alpha":-0.37879, "fx":[-18.85713,-19.50127,-24.7404,-23.91097], "fy":[-86.41891,-84.44839,-83.52283,-85.55124]}, + {"t":1.80489, "x":8.32416, "y":3.51481, "heading":-0.07056, "vx":0.94958, "vy":-0.30954, "omega":-2.01355, "ax":-0.28078, "ay":-0.83161, "alpha":-0.91114, "fx":[-0.61112,-0.0004,-8.74185,-9.21596], "fy":[-18.32855,-9.83996,-9.18138,-17.6477]}, + {"t":1.82907, "x":8.34703, "y":3.50709, "heading":-0.11923, "vx":0.94279, "vy":-0.32964, "omega":-2.03557, "ax":-0.02473, "ay":-0.07053, "alpha":-0.75311, "fx":[2.69461,3.54345,-3.51634,-4.35717], "fy":[-5.11634,1.93865,2.78383,-4.27037]}, + {"t":1.85324, "x":8.36982, "y":3.4991, "heading":-0.16844, "vx":0.9422, "vy":-0.33134, "omega":-2.05378, "ax":-0.00208, "ay":-0.00592, "alpha":-0.57269, "fx":[2.17604,3.08206,-2.24503,-3.15067], "fy":[-3.21416,2.11273,3.01857,-2.30833]}, + {"t":1.87741, "x":8.39259, "y":3.49109, "heading":-0.21808, "vx":0.94215, "vy":-0.33149, "omega":-2.06762, "ax":-0.00017, "ay":-0.0005, "alpha":-0.39392, "fx":[1.40935,2.21349,-1.41513,-2.21925], "fy":[-2.22458,1.40403,2.20817,-1.42045]}, + {"t":1.90159, "x":8.41537, "y":3.48307, "heading":-0.26807, "vx":0.94214, "vy":-0.3315, "omega":-2.07714, "ax":-0.00001, "ay":-0.00004, "alpha":-0.21639, "fx":[0.71374,1.2545,-0.71423,-1.25499], "fy":[-1.25545,0.71328,1.25405,-0.71468]}, + {"t":1.92576, "x":8.43814, "y":3.47506, "heading":-0.31828, "vx":0.94214, "vy":-0.3315, "omega":-2.08238, "ax":0.0, "ay":0.0, "alpha":-0.03955, "fx":[0.11879,0.23555,-0.11884,-0.2356], "fy":[-0.23564,0.11874,0.2355,-0.11888]}, + {"t":1.94993, "x":8.46091, "y":3.46705, "heading":-0.36861, "vx":0.94214, "vy":-0.3315, "omega":-2.08333, "ax":0.0, "ay":0.0, "alpha":0.13717, "fx":[-0.37048,-0.83681,0.37046,0.8368], "fy":[0.83678,-0.37049,-0.83682,0.37045]}, + {"t":1.97411, "x":8.48369, "y":3.45903, "heading":-0.41898, "vx":0.94214, "vy":-0.3315, "omega":-2.08002, "ax":0.0, "ay":0.0, "alpha":0.31432, "fx":[-0.75132,-1.95781,0.75131,1.9578], "fy":[1.9578,-0.75133,-1.95782,0.7513]}, + {"t":1.99828, "x":8.50646, "y":3.45102, "heading":-0.46926, "vx":0.94214, "vy":-0.3315, "omega":-2.07242, "ax":0.0, "ay":0.0, "alpha":0.49246, "fx":[-1.02148,-3.1227,1.02147,3.12269], "fy":[3.12269,-1.02148,-3.12271,1.02146]}, + {"t":2.02245, "x":8.52924, "y":3.44301, "heading":-0.51935, "vx":0.94214, "vy":-0.3315, "omega":-2.06051, "ax":0.0, "ay":0.0, "alpha":0.67215, "fx":[-1.17901,-4.32658,1.17901,4.32657], "fy":[4.32657,-1.17901,-4.32658,1.179]}, + {"t":2.04663, "x":8.55201, "y":3.43499, "heading":-0.56916, "vx":0.94214, "vy":-0.3315, "omega":-2.04426, "ax":0.0, "ay":0.0, "alpha":0.85394, "fx":[-1.22234,-5.56446,1.22234,5.56445], "fy":[5.56445,-1.22234,-5.56446,1.22233]}, + {"t":2.0708, "x":8.57479, "y":3.42698, "heading":-0.61858, "vx":0.94214, "vy":-0.3315, "omega":-2.02362, "ax":0.0, "ay":0.0, "alpha":1.03835, "fx":[-1.15027,-6.8313,1.15027,6.8313], "fy":[6.8313,-1.15027,-6.8313,1.15027]}, + {"t":2.09497, "x":8.59756, "y":3.41897, "heading":-0.6675, "vx":0.94214, "vy":-0.3315, "omega":-1.99852, "ax":0.0, "ay":0.0, "alpha":1.22592, "fx":[-0.96205,-8.12206,0.96205,8.12206], "fy":[8.12206,-0.96205,-8.12206,0.96205]}, + {"t":2.11915, "x":8.62034, "y":3.41095, "heading":-0.71581, "vx":0.94214, "vy":-0.3315, "omega":-1.96889, "ax":0.0, "ay":0.0, "alpha":1.41714, "fx":[-0.65741,-9.43173,0.65741,9.43173], "fy":[9.43173,-0.65741,-9.43173,0.65741]}, + {"t":2.14332, "x":8.64311, "y":3.40294, "heading":-0.7634, "vx":0.94214, "vy":-0.3315, "omega":-1.93463, "ax":0.0, "ay":0.0, "alpha":1.61251, "fx":[-0.23662,-10.75542,0.23658,10.75539], "fy":[10.75535,-0.23665,-10.75546,0.23654]}, + {"t":2.16749, "x":8.66589, "y":3.39493, "heading":-0.81017, "vx":0.94214, "vy":-0.3315, "omega":-1.89565, "ax":-0.00001, "ay":-0.00004, "alpha":1.81247, "fx":[0.29927,-12.0886,-0.29976,12.08811], "fy":[12.08765,0.2988,-12.08905,-0.30022]}, + {"t":2.19167, "x":8.68866, "y":3.38691, "heading":-0.85599, "vx":0.94214, "vy":-0.3315, "omega":-1.85184, "ax":-0.00018, "ay":-0.0005, "alpha":2.01745, "fx":[0.94646,-13.42898,-0.95235,13.42317], "fy":[13.41786,0.94099,-13.4343,-0.95783]}, + {"t":2.21584, "x":8.71144, "y":3.3789, "heading":-0.90076, "vx":0.94214, "vy":-0.33151, "omega":-1.80307, "ax":-0.00207, "ay":-0.00587, "alpha":2.22783, "fx":[1.6765,-14.79842,-1.74516,14.73039], "fy":[14.66874,1.61228,-14.86004,-1.80941]}, + {"t":2.24001, "x":8.73421, "y":3.37088, "heading":-0.94435, "vx":0.94209, "vy":-0.33166, "omega":-1.74921, "ax":-0.02406, "ay":-0.06814, "alpha":2.44352, "fx":[2.18138,-16.49523,-2.97773,15.70065], "fy":[14.98936,1.43401,-17.2016,-3.72808]}, + {"t":2.26419, "x":8.75698, "y":3.36285, "heading":-0.98663, "vx":0.94151, "vy":-0.3333, "omega":-1.69015, "ax":-0.2832, "ay":-0.77501, "alpha":2.60411, "fx":[-1.29851,-21.88703,-8.04594,12.50262], "fy":[4.29495,-9.49961,-29.40765,-16.64197]}, + {"t":2.28836, "x":8.77965, "y":3.35456, "heading":-1.02749, "vx":0.93466, "vy":-0.35204, "omega":-1.6272, "ax":-2.12918, "ay":-4.72649, "alpha":1.04765, "fx":[-35.56152,-44.56573,-35.12522,-25.55789], "fy":[-74.04094,-74.6285,-82.18615,-81.7253]}, + {"t":2.31253, "x":8.80163, "y":3.34467, "heading":-1.06682, "vx":0.88319, "vy":-0.46629, "omega":-1.60187, "ax":-3.87359, "ay":-6.00295, "alpha":0.16984, "fx":[-64.51722,-65.78145,-63.59517,-62.28158], "fy":[-98.82237,-98.15907,-99.67693,-100.3392]}, + {"t":2.33671, "x":8.82184, "y":3.33165, "heading":-1.10554, "vx":0.78955, "vy":-0.6114, "omega":-1.59777, "ax":-5.07312, "ay":-5.37937, "alpha":0.06435, "fx":[-84.12754,-84.43438,-83.62907,-83.31346], "fy":[-88.6841,-88.42095,-89.19326,-89.45982]}, + {"t":2.36088, "x":8.83945, "y":3.31529, "heading":-1.14417, "vx":0.66692, "vy":-0.74144, "omega":-1.59621, "ax":-5.99456, "ay":-4.34976, "alpha":0.06902, "fx":[-99.39605,-99.55892,-98.83002,-98.65802], "fy":[-71.50267,-71.31233,-72.32633,-72.52502]}, + {"t":2.39106, "x":8.85684, "y":3.29094, "heading":-1.19234, "vx":0.48601, "vy":-0.87271, "omega":-1.59413, "ax":-6.3711, "ay":-2.72137, "alpha":0.31889, "fx":[-106.20527,-106.63695,-104.51795,-103.98485], "fy":[-42.35595,-42.52212,-47.51906,-47.57725]}, + {"t":2.42124, "x":8.86861, "y":3.26336, "heading":-1.24045, "vx":0.29374, "vy":-0.95484, "omega":-1.5845, "ax":-1.988, "ay":-0.54476, "alpha":2.99417, "fx":[-25.70069,-49.65642,-40.69659,-15.42013], "fy":[10.63307,0.18553,-26.89742,-19.9484]}, + {"t":2.45142, "x":8.87657, "y":3.2343, "heading":-1.28826, "vx":0.23375, "vy":-0.97128, "omega":-1.49414, "ax":-0.10593, "ay":-0.02531, "alpha":3.2526, "fx":[8.685,-20.7448,-12.2234,17.27736], "fy":[18.64945,9.99173,-19.38307,-10.93222]}, + {"t":2.48159, "x":8.88357, "y":3.20498, "heading":-1.33336, "vx":0.23055, "vy":-0.97204, "omega":-1.39599, "ax":-0.00521, "ay":-0.00124, "alpha":3.05955, "fx":[10.54679,-17.50923,-10.72036,17.33794], "fy":[17.40547,10.61084,-17.44173,-10.65634]}, + {"t":2.51177, "x":8.89053, "y":3.17564, "heading":-1.37548, "vx":0.23039, "vy":-0.97208, "omega":-1.30365, "ax":-0.00025, "ay":-0.00006, "alpha":2.87772, "fx":[10.6787,-15.95649,-10.68716,15.94809], "fy":[15.95139,10.68183,-15.95319,-10.68403]}, + {"t":2.54195, "x":8.89748, "y":3.1463, "heading":-1.41483, "vx":0.23038, "vy":-0.97208, "omega":-1.21681, "ax":-0.00001, "ay":0.0, "alpha":2.70784, "fx":[10.63471,-14.60381,-10.63512,14.6034], "fy":[14.60356,10.63486,-14.60365,-10.63497]}, + {"t":2.57213, "x":8.90444, "y":3.11697, "heading":-1.45155, "vx":0.23038, "vy":-0.97208, "omega":-1.13509, "ax":0.0, "ay":0.0, "alpha":2.54938, "fx":[10.51057,-13.37216,-10.51059,13.37214], "fy":[13.37214,10.51058,-13.37215,-10.51059]}, + {"t":2.60231, "x":8.91139, "y":3.08763, "heading":-1.4858, "vx":0.23038, "vy":-0.97208, "omega":-1.05815, "ax":0.0, "ay":0.0, "alpha":2.4018, "fx":[10.32779,-12.25152,-10.32779,12.25152], "fy":[12.25152,10.32779,-12.25153,-10.32779]}, + {"t":2.63249, "x":8.91834, "y":3.0583, "heading":-1.51774, "vx":0.23038, "vy":-0.97208, "omega":-0.98567, "ax":0.0, "ay":0.0, "alpha":2.26458, "fx":[10.10161,-11.23478,-10.10161,11.23478], "fy":[11.23478,10.10161,-11.23478,-10.10161]}, + {"t":2.66266, "x":8.92529, "y":3.02896, "heading":-1.54748, "vx":0.23038, "vy":-0.97208, "omega":-0.91733, "ax":0.0, "ay":0.0, "alpha":2.13723, "fx":[9.84465,-10.31473,-9.84465,10.31473], "fy":[10.31473,9.84465,-10.31473,-9.84465]}, + {"t":2.69284, "x":8.93225, "y":2.99962, "heading":-1.57517, "vx":0.23038, "vy":-0.97208, "omega":-0.85283, "ax":0.0, "ay":0.0, "alpha":2.01926, "fx":[9.56745,-9.4842,-9.56745,9.4842], "fy":[9.4842,9.56745,-9.4842,-9.56745]}, + {"t":2.72302, "x":8.9392, "y":2.97029, "heading":-1.6009, "vx":0.23038, "vy":-0.97208, "omega":-0.79189, "ax":0.0, "ay":0.0, "alpha":1.91022, "fx":[9.27872,-8.73619,-9.27872,8.73619], "fy":[8.73619,9.27872,-8.73619,-9.27872]}, + {"t":2.7532, "x":8.94615, "y":2.94095, "heading":-1.6248, "vx":0.23038, "vy":-0.97208, "omega":-0.73425, "ax":0.0, "ay":0.0, "alpha":1.80969, "fx":[8.98567,-8.06401,-8.98567,8.06401], "fy":[8.06401,8.98567,-8.06401,-8.98567]}, + {"t":2.78338, "x":8.9531, "y":2.91162, "heading":-1.64696, "vx":0.23038, "vy":-0.97208, "omega":-0.67963, "ax":0.0, "ay":0.0, "alpha":1.71726, "fx":[8.69418,-7.46134,-8.69417,7.46134], "fy":[7.46134,8.69417,-7.46134,-8.69418]}, + {"t":2.81356, "x":8.96006, "y":2.88228, "heading":-1.66747, "vx":0.23038, "vy":-0.97208, "omega":-0.62781, "ax":0.0, "ay":0.0, "alpha":1.63256, "fx":[8.40906,-6.92229,-8.40906,6.92229], "fy":[6.92229,8.40906,-6.92229,-8.40906]}, + {"t":2.84373, "x":8.96701, "y":2.85295, "heading":-1.68642, "vx":0.23038, "vy":-0.97208, "omega":-0.57854, "ax":0.0, "ay":0.0, "alpha":1.55522, "fx":[8.13422,-6.44144,-8.13422,6.44144], "fy":[6.44144,8.13422,-6.44144,-8.13422]}, + {"t":2.87391, "x":8.97396, "y":2.82361, "heading":-1.70388, "vx":0.23038, "vy":-0.97208, "omega":-0.53161, "ax":0.0, "ay":0.0, "alpha":1.48494, "fx":[7.87281,-6.0138,-7.87281,6.0138], "fy":[6.0138,7.87281,-6.0138,-7.87281]}, + {"t":2.90409, "x":8.98091, "y":2.79427, "heading":-1.71992, "vx":0.23038, "vy":-0.97208, "omega":-0.48679, "ax":0.0, "ay":0.0, "alpha":1.4214, "fx":[7.62734,-5.63487,-7.62735,5.63486], "fy":[5.63486,7.62734,-5.63487,-7.62734]}, + {"t":2.93427, "x":8.98787, "y":2.76494, "heading":-1.73461, "vx":0.23038, "vy":-0.97208, "omega":-0.4439, "ax":-0.00001, "ay":0.0, "alpha":1.36435, "fx":[7.3997,-5.30069,-7.39999,5.3004], "fy":[5.30051,7.39981,-5.30058,-7.39988]}, + {"t":2.96445, "x":8.99482, "y":2.7356, "heading":-1.74801, "vx":0.23038, "vy":-0.97208, "omega":-0.40272, "ax":-0.00018, "ay":-0.00004, "alpha":1.31353, "fx":[7.18887,-5.01028,-7.19497,5.00414], "fy":[5.0065,7.19118,-5.00792,-7.19266]}, + {"t":2.99463, "x":9.00177, "y":2.70627, "heading":-1.76016, "vx":0.23038, "vy":-0.97208, "omega":-0.36308, "ax":-0.00394, "ay":-0.00093, "alpha":1.26871, "fx":[6.93982,-4.81696,-7.06983,4.68625], "fy":[4.73641,6.98913,-4.76679,-7.02052]}, + {"t":3.02481, "x":9.00872, "y":2.67693, "heading":-1.77112, "vx":0.23026, "vy":-0.97211, "omega":-0.3248, "ax":-0.0841, "ay":-0.0198, "alpha":1.2294, "fx":[5.44998,-5.92362,-8.22347,3.1355], "fy":[4.20746,6.50648,-4.85222,-7.17123]}, + {"t":3.05498, "x":9.01563, "y":2.64758, "heading":-1.78092, "vx":0.22772, "vy":-0.97271, "omega":-0.28769, "ax":-1.71096, "ay":-0.35295, "alpha":1.07468, "fx":[-22.60633,-32.16695,-33.88061,-24.49803], "fy":[-1.78883,0.47964,-9.72441,-12.30843]}, + {"t":3.08516, "x":9.02173, "y":2.61807, "heading":-1.7896, "vx":0.17609, "vy":-0.98336, "omega":-0.25526, "ax":-6.80381, "ay":-0.50171, "alpha":0.11578, "fx":[-112.4195,-112.64484,-112.56566,-112.33149], "fy":[-7.61597,-7.07115,-8.96129,-9.53188]}, + {"t":3.11534, "x":9.02394, "y":2.58816, "heading":-1.7973, "vx":-0.02924, "vy":-0.9985, "omega":-0.25177, "ax":-7.32688, "ay":1.0154, "alpha":0.02087, "fx":[-121.11065,-121.11293,-121.1664,-121.16418], "fy":[16.96166,16.996,16.61514,16.57962]}, + {"t":3.14552, "x":9.01972, "y":2.55849, "heading":-1.8049, "vx":-0.25035, "vy":-0.96786, "omega":-0.25114, "ax":-3.15608, "ay":-6.82343, "alpha":-0.03191, "fx":[-52.39401,-51.86044,-51.96672,-52.50249], "fy":[-112.71717,-112.9634,-112.91325,-112.66539]}, + {"t":3.1755, "x":9.0108, "y":2.52641, "heading":-1.81243, "vx":-0.34497, "vy":-1.17241, "omega":-0.25209, "ax":-3.1639, "ay":-6.81781, "alpha":-0.07367, "fx":[-52.8048,-51.57565,-51.80958,-53.0505], "fy":[-112.49508,-113.06324,-112.95289,-112.37607]}, + {"t":3.20547, "x":8.99904, "y":2.4882, "heading":-1.81999, "vx":-0.43981, "vy":-1.37679, "omega":-0.2543, "ax":-3.17367, "ay":-6.81062, "alpha":-0.12626, "fx":[-53.3227,-51.2232,-51.60333,-53.73761], "fy":[-112.21269,-113.18531,-113.00601,-112.00811]}, + {"t":3.23545, "x":8.98443, "y":2.44387, "heading":-1.82761, "vx":-0.53495, "vy":-1.58096, "omega":-0.25809, "ax":-3.18624, "ay":-6.80113, "alpha":-0.19451, "fx":[-53.99261,-50.77399,-51.32493,-54.62651], "fy":[-111.84323,-113.33869,-113.07875,-111.5235]}, + {"t":3.26543, "x":8.96696, "y":2.39342, "heading":-1.83535, "vx":-0.63047, "vy":-1.78484, "omega":-0.26392, "ax":-3.203, "ay":-6.78801, "alpha":-0.28667, "fx":[-54.88857,-50.17942,-50.93423,-55.82412], "fy":[-111.34132,-113.5382,-113.18163,-110.85528]}, + {"t":3.29541, "x":8.94662, "y":2.33687, "heading":-1.84326, "vx":-0.72649, "vy":-1.98833, "omega":-0.27251, "ax":-3.22645, "ay":-6.76872, "alpha":-0.41798, "fx":[-56.1418,-49.35184,-50.35466,-57.52872], "fy":[-110.62366,-113.80967,-113.33422,-109.87352]}, + {"t":3.32539, "x":8.92339, "y":2.27422, "heading":-1.85143, "vx":-0.82321, "vy":-2.19124, "omega":-0.28504, "ax":-3.26153, "ay":-6.7377, "alpha":-0.62023, "fx":[-58.00858,-48.11538,-49.42016,-60.1533], "fy":[-109.51954,-114.20255,-113.57748,-108.28986]}, + {"t":3.35536, "x":8.89725, "y":2.2055, "heading":-1.85997, "vx":-0.92098, "vy":-2.39322, "omega":-0.30364, "ax":-3.3195, "ay":-6.67998, "alpha":-0.97268, "fx":[-61.06321,-46.05824,-47.69207,-64.71756], "fy":[-107.61787,-114.82406,-114.01275,-105.31777]}, + {"t":3.38534, "x":8.86815, "y":2.13076, "heading":-1.86908, "vx":-1.02049, "vy":-2.59347, "omega":-0.33279, "ax":-3.43072, "ay":-6.53885, "alpha":-1.74517, "fx":[-66.89494,-41.94138,-43.521,-74.52903], "fy":[-103.63508,-115.9525,-114.96898,-97.88212]}, + {"t":3.41532, "x":8.83601, "y":2.05007, "heading":-1.87905, "vx":-1.12334, "vy":-2.78949, "omega":-0.38511, "ax":-3.59837, "ay":-5.84415, "alpha":-4.82183, "fx":[-81.77274,-29.63762,-21.27836,-105.28474], "fy":[-90.96379,-118.45476,-117.69531,-59.38171]}, + {"t":3.4453, "x":8.80072, "y":1.96383, "heading":-1.8906, "vx":-1.23121, "vy":-2.96468, "omega":-0.52966, "ax":0.40662, "ay":2.74734, "alpha":-15.46104, "fx":[-115.18175,99.70256,75.98372,-33.61306], "fy":[26.04688,-53.73912,93.32179,116.06215]}, + {"t":3.47527, "x":8.764, "y":1.87619, "heading":-1.90647, "vx":-1.21902, "vy":-2.88232, "omega":-0.99314, "ax":2.3439, "ay":6.72485, "alpha":-3.768, "fx":[-0.60114,76.30947,63.22488,16.07801], "fy":[122.03193,95.23055,105.52045,121.95689]}, + {"t":3.50525, "x":8.72851, "y":1.7928, "heading":-1.93625, "vx":-1.14875, "vy":-2.68073, "omega":-1.1061, "ax":2.69472, "ay":6.85886, "alpha":-2.14595, "fx":[23.4677,65.4654,60.11911,29.15975], "fy":[121.01681,104.45705,108.00707,120.12106]}, + {"t":3.53523, "x":8.69528, "y":1.71552, "heading":-1.96941, "vx":-1.06797, "vy":-2.47511, "omega":-1.17043, "ax":2.82147, "ay":6.87854, "alpha":-1.56946, "fx":[31.4413,61.39927,58.77307,34.98108], "fy":[119.63975,107.38613,109.04411,118.83394]}, + {"t":3.56521, "x":8.66453, "y":1.64442, "heading":-2.00449, "vx":-0.98339, "vy":-2.26891, "omega":-1.21748, "ax":2.88634, "ay":6.88277, "alpha":-1.27236, "fx":[35.31572,59.22365,58.05116,38.29404], "fy":[118.77845,108.84283,109.59699,117.96504]}, + {"t":3.59518, "x":8.63635, "y":1.57949, "heading":-2.04099, "vx":-0.89686, "vy":-2.06258, "omega":-1.25562, "ax":2.92568, "ay":6.88336, "alpha":-1.09068, "fx":[37.57524,57.83119,57.61993,40.45975], "fy":[118.21801,109.73289,109.93076,117.34073]}, + {"t":3.62516, "x":8.61078, "y":1.52075, "heading":-2.07863, "vx":-0.80916, "vy":-1.85624, "omega":-1.28832, "ax":2.95206, "ay":6.8829, "alpha":-0.96794, "fx":[39.04037,56.8356,57.34609,42.00871], "fy":[117.83219,110.34717,110.14766,116.86536]}, + {"t":3.65514, "x":8.58785, "y":1.4682, "heading":-2.11725, "vx":-0.72066, "vy":-1.6499, "omega":-1.31733, "ax":2.97097, "ay":6.88215, "alpha":-0.8794, "fx":[40.0589,56.06725,57.16584,43.18955], "fy":[117.55401,110.80732,110.29548,116.48582]}, + {"t":3.68512, "x":8.56758, "y":1.42183, "heading":-2.15674, "vx":-0.6316, "vy":-1.44359, "omega":-1.3437, "ax":2.98519, "ay":6.88135, "alpha":-0.81247, "fx":[40.80317,55.43999,57.04467,44.13403], "fy":[117.34585,111.17313,110.39963,116.1709]}, + {"t":3.7151, "x":8.54999, "y":1.38165, "heading":-2.19702, "vx":-0.54211, "vy":-1.2373, "omega":-1.36805, "ax":2.99627, "ay":6.88058, "alpha":-0.7601, "fx":[41.36829,54.90553,56.96226,44.91834], "fy":[117.18521,111.47733,110.47489,115.90125]}, + {"t":3.74507, "x":8.53508, "y":1.34765, "heading":-2.23803, "vx":-0.45229, "vy":-1.03104, "omega":-1.39084, "ax":3.00514, "ay":6.87987, "alpha":-0.71798, "fx":[41.81109,54.43473,56.90575,45.5896], "fy":[117.05785,111.73932,110.5305,115.66428]}, + {"t":3.77505, "x":8.52287, "y":1.31983, "heading":-2.27973, "vx":-0.3622, "vy":-0.8248, "omega":-1.41236, "ax":3.0124, "ay":6.87923, "alpha":-0.68337, "fx":[42.16764,54.00902,56.86657,46.1784], "fy":[116.95433,111.9713,110.57255,115.45149]}, + {"t":3.80503, "x":8.51337, "y":1.2982, "heading":-2.32207, "vx":-0.2719, "vy":-0.61857, "omega":-1.43285, "ax":3.01846, "ay":6.87866, "alpha":-0.65443, "fx":[42.46199,53.61606,56.83872,46.70546], "fy":[116.86815,112.18129,110.60524,115.25696]}, + {"t":3.83501, "x":8.50657, "y":1.28274, "heading":-2.36502, "vx":-0.18141, "vy":-0.41237, "omega":-1.45247, "ax":3.02359, "ay":6.87814, "alpha":-0.62987, "fx":[42.7108,53.24739,56.81787,47.18528], "fy":[116.79468,112.37475,110.6316,115.07642]}, + {"t":3.86498, "x":8.50249, "y":1.27347, "heading":-2.40856, "vx":-0.09077, "vy":-0.20618, "omega":-1.47135, "ax":3.02799, "ay":6.87768, "alpha":-0.60878, "fx":[42.92602,52.89706,56.80076,47.62825], "fy":[116.73052,112.55549,110.65387,114.90679]}, + {"t":3.89496, "x":8.50113, "y":1.27038, "heading":-2.45267, "vx":0.0, "vy":0.0, "omega":-1.4896, "ax":-5.78188, "ay":-4.79779, "alpha":-0.54294, "fx":[-98.74614,-92.49404,-92.17491,-98.96252], "fy":[-75.55224,-83.08917,-83.41595,-75.23853]}, + {"t":3.91864, "x":8.49951, "y":1.26904, "heading":-2.48795, "vx":-0.13693, "vy":-0.11363, "omega":-1.50246, "ax":-5.79943, "ay":-4.77752, "alpha":-0.48238, "fx":[-98.77115,-93.2239,-92.7797,-98.76331], "fy":[-75.49836,-82.25073,-82.72594,-75.48044]}, + {"t":3.94233, "x":8.49464, "y":1.26501, "heading":-2.52353, "vx":-0.27428, "vy":-0.22677, "omega":-1.51388, "ax":-5.81877, "ay":-4.75473, "alpha":-0.41494, "fx":[-98.75942,-93.99688,-93.48325,-98.57738], "fy":[-75.48996,-81.34483,-81.91123,-75.70194]}, + {"t":3.96601, "x":8.48652, "y":1.2583, "heading":-2.55938, "vx":-0.41209, "vy":-0.33938, "omega":-1.52371, "ax":-5.84018, "ay":-4.72891, "alpha":-0.33938, "fx":[-98.70491,-94.81932,-94.29816,-98.41043], "fy":[-75.53449,-80.35995,-80.95043,-75.89563]}, + {"t":3.98969, "x":8.47512, "y":1.24894, "heading":-2.59547, "vx":-0.5504, "vy":-0.45137, "omega":-1.53175, "ax":-5.864, "ay":-4.69943, "alpha":-0.25413, "fx":[-98.60014,-95.69946,-95.23939,-98.26932], "fy":[-75.64093,-79.281,-79.8166,-76.05266]}, + {"t":4.01338, "x":8.46044, "y":1.23693, "heading":-2.63175, "vx":-0.68928, "vy":-0.56267, "omega":-1.53776, "ax":-5.89065, "ay":-4.66548, "alpha":-0.15718, "fx":[-98.43565,-96.64814,-96.32477,-98.16232], "fy":[-75.8203,-78.0878,-78.47528,-76.16232]}, + {"t":4.03706, "x":8.44246, "y":1.2223, "heading":-2.66817, "vx":-0.82879, "vy":-0.67316, "omega":-1.54149, "ax":-5.92064, "ay":-4.62597, "alpha":-0.04587, "fx":[-98.19931,-97.67983,-97.57567,-98.09944], "fy":[-76.08642,-76.75286,-76.8817,-76.21157]}, + {"t":4.06074, "x":8.42117, "y":1.20506, "heading":-2.70467, "vx":-0.96901, "vy":-0.78272, "omega":-1.54257, "ax":-5.9546, "ay":-4.57944, "alpha":0.0833, "fx":[-97.87506,-98.81418,-99.01777,-98.09284], "fy":[-76.45698,-75.23772,-74.97668,-76.1843]}, + {"t":4.08443, "x":8.39655, "y":1.18524, "heading":-2.74121, "vx":-1.11003, "vy":-0.89118, "omega":-1.5406, "ax":-5.99329, "ay":-4.52391, "alpha":0.23504, "fx":[-97.44122,-100.07828,-100.68187,-98.15749], "fy":[-76.95508,-73.48713,-72.68052,-76.06034]}, + {"t":4.10811, "x":8.36858, "y":1.16286, "heading":-2.77769, "vx":-1.25197, "vy":-0.99832, "omega":-1.53503, "ax":-6.03767, "ay":-4.45655, "alpha":0.41588, "fx":[-96.86754,-101.51037,-102.60437,-98.31188], "fy":[-77.61183,-71.41893,-69.88374,-75.81392]}, + {"t":4.13179, "x":8.33724, "y":1.13797, "heading":-2.81405, "vx":-1.39496, "vy":-1.10386, "omega":-1.52518, "ax":-6.0889, "ay":-4.37327, "alpha":0.63507, "fx":[-96.1104,-103.16544,-104.82698,-98.57928], "fy":[-78.47028,-68.90611,-66.43276,-75.41149]}, + {"t":4.15548, "x":8.3025, "y":1.1106, "heading":-2.85017, "vx":-1.53916, "vy":-1.20743, "omega":-1.51014, "ax":-6.14832, "ay":-4.26787, "alpha":0.90621, "fx":[-95.10431,-105.12444,-107.39361,-98.98925], "fy":[-79.59209,-65.74238,-62.10742,-74.80822]}, + {"t":4.17916, "x":8.26432, "y":1.08081, "heading":-2.88593, "vx":-1.68477, "vy":-1.30851, "omega":-1.48868, "ax":-6.21733, "ay":-4.13055, "alpha":1.25012, "fx":[-93.74612,-107.50818,-110.34081,-99.58007], "fy":[-81.06906,-61.57188,-56.58521,-73.94258]}, + {"t":4.20284, "x":8.22268, "y":1.04866, "heading":-2.92119, "vx":-1.83202, "vy":-1.40633, "omega":-1.45908, "ax":-6.29682, "ay":-3.94487, "alpha":1.70086, "fx":[-91.86363,-110.49521,-113.67117,-100.40215], "fy":[-83.0441,-55.73183,-49.38555,-72.72736]}, + {"t":4.22652, "x":8.17752, "y":1.01424, "heading":-2.95574, "vx":-1.98115, "vy":-1.49976, "omega":-1.41879, "ax":-6.38516, "ay":-3.68096, "alpha":2.31964, "fx":[-89.14755,-114.31817,-117.28601,-101.52312], "fy":[-85.75124,-46.86198,-39.78806,-71.03419]}, + {"t":4.25021, "x":8.12881, "y":0.97769, "heading":-2.98934, "vx":-2.13237, "vy":-1.58694, "omega":-1.36386, "ax":-6.47005, "ay":-3.27852, "alpha":3.2343, "fx":[-84.98843,-119.04182,-120.82282,-103.0354], "fy":[-89.59467,-31.81982,-26.74039,-68.66571]}, + {"t":4.27389, "x":8.0765, "y":0.93919, "heading":-3.02165, "vx":-2.2856, "vy":-1.66458, "omega":-1.28726, "ax":-6.48743, "ay":-2.60196, "alpha":4.77537, "fx":[-78.04058,-122.62808,-123.3021,-105.06727], "fy":[-95.29526,-2.60423,-8.87724,-65.30092]}, + {"t":4.29757, "x":8.02055, "y":0.89904, "heading":-3.05213, "vx":-2.43924, "vy":-1.72621, "omega":-1.17416, "ax":-6.11098, "ay":-1.42641, "alpha":7.80762, "fx":[-65.08754,-108.65221,-122.59609,-107.80653], "fy":[-103.92038,55.16393,14.78544,-60.36273]}, + {"t":4.32126, "x":7.96106, "y":0.85776, "heading":-3.07994, "vx":-2.58397, "vy":-1.75999, "omega":-0.98926, "ax":-5.18542, "ay":-0.30591, "alpha":11.15491, "fx":[-50.63831,-63.25699,-117.20025,-111.83554], "fy":[-110.63566,103.97495,38.46646,-52.03658]}, + {"t":4.34494, "x":7.89841, "y":0.81599, "heading":-3.10337, "vx":-2.70677, "vy":-1.76723, "omega":-0.72507, "ax":-5.20458, "ay":0.44506, "alpha":10.93393, "fx":[-67.81439,-47.82792,-111.10235,-117.4536], "fy":[-99.10616,112.07572,53.23013,-36.76636]}, + {"t":4.36862, "x":7.83285, "y":0.77426, "heading":-3.12054, "vx":-2.83003, "vy":-1.75669, "omega":-0.46612, "ax":-5.29193, "ay":1.85444, "alpha":9.29732, "fx":[-100.31772,-27.90139,-99.74337,-122.01277], "fy":[-55.45791,118.91054,72.07418,-12.88543]}, + {"t":4.39231, "x":7.76434, "y":0.73318, "heading":-3.13158, "vx":-2.95536, "vy":-1.71277, "omega":-0.24593, "ax":-4.8344, "ay":4.72447, "alpha":5.10666, "fx":[-84.1467,-28.12101,-87.84302,-119.60647], "fy":[81.93073,119.02008,85.97239,25.52378]}, + {"t":4.41599, "x":7.69299, "y":0.69394, "heading":-3.1374, "vx":-3.06986, "vy":-1.60088, "omega":-0.12499, "ax":-4.14691, "ay":5.8623, "alpha":3.08709, "fx":[-61.21537,-37.287,-75.46762,-100.28097], "fy":[104.40385,116.61157,96.85587,69.82475]}, + {"t":4.43967, "x":7.61913, "y":0.65767, "heading":-3.14036, "vx":-3.16807, "vy":-1.46205, "omega":-0.05188, "ax":-3.35975, "ay":6.54495, "alpha":1.57038, "fx":[-49.01211,-38.94434,-60.91577,-73.3206], "fy":[111.87255,116.29055,106.62328,98.05586]}, + {"t":4.46336, "x":7.54316, "y":0.62488, "heading":3.14159, "vx":-3.24764, "vy":-1.30704, "omega":-0.01469, "ax":-2.70483, "ay":6.8857, "alpha":0.51931, "fx":[-42.03711,-39.04049,-47.19427,-50.60878], "fy":[114.8442,116.06792,113.05755,111.40776]}, + {"t":4.48636, "x":7.46771, "y":0.59663, "heading":3.14125, "vx":-3.30987, "vy":-1.14861, "omega":-0.00274, "ax":-2.27239, "ay":7.01299, "alpha":0.14294, "fx":[-36.74269,-36.00373,-38.3792,-39.15641], "fy":[116.18346,116.47179,115.72872,115.41148]}, + {"t":4.50937, "x":7.39096, "y":0.57205, "heading":3.14119, "vx":-3.36216, "vy":-0.98724, "omega":0.00055, "ax":-1.9061, "ay":7.07629, "alpha":0.02859, "fx":[-31.33295,-31.20538,-31.69497,-31.82425], "fy":[117.03525,117.08379,116.95608,116.90654]}, + {"t":4.53238, "x":7.31309, "y":0.55121, "heading":3.1412, "vx":-3.40602, "vy":-0.82443, "omega":0.00121, "ax":-1.54888, "ay":7.09762, "alpha":0.00229, "fx":[-25.59247,-25.58408,-25.62402,-25.63243], "fy":[117.35054,117.35389,117.34551,117.34215]}, + {"t":4.55539, "x":7.23431, "y":0.53412, "heading":3.14123, "vx":-3.44166, "vy":-0.66112, "omega":0.00126, "ax":-1.1931, "ay":7.06738, "alpha":-0.00197, "fx":[-19.74048,-19.74603,-19.71147,-19.70593], "fy":[116.84666,116.84395,116.84949,116.85219]}, + {"t":4.5784, "x":7.15481, "y":0.52078, "heading":3.14126, "vx":-3.46911, "vy":-0.4985, "omega":0.00121, "ax":-0.84267, "ay":6.96033, "alpha":-0.002, "fx":[-13.94773,-13.95165,-13.91689,-13.91298], "fy":[115.07769,115.07469,115.07859,115.08159]}, + {"t":4.60141, "x":7.07476, "y":0.51115, "heading":3.14129, "vx":-3.4885, "vy":-0.33835, "omega":0.00117, "ax":-0.5063, "ay":6.72552, "alpha":-0.00148, "fx":[-8.38255,-8.38424,-8.35914,-8.35746], "fy":[111.19658,111.19367,111.19535,111.19826]}, + {"t":4.62442, "x":6.99436, "y":0.50515, "heading":3.14132, "vx":-3.50015, "vy":-0.1836, "omega":0.00113, "ax":-0.2021, "ay":6.25842, "alpha":-0.00099, "fx":[-3.34907,-3.34949,-3.33376,-3.33334], "fy":[103.47453,103.47164,103.47206,103.47495]}, + {"t":4.64743, "x":6.91377, "y":0.50258, "heading":3.14134, "vx":-3.5048, "vy":-0.0396, "omega":0.00111, "ax":0.03233, "ay":5.36614, "alpha":-0.00057, "fx":[0.53044,0.53047,0.53858,0.53854], "fy":[88.7221,88.71945,88.71942,88.72206]}, + {"t":4.67044, "x":6.83314, "y":0.50309, "heading":3.14137, "vx":-3.50405, "vy":0.08387, "omega":0.0011, "ax":0.14166, "ay":3.88025, "alpha":-0.00026, "fx":[2.34048,2.34053,2.34363,2.34358], "fy":[64.15485,64.15305,64.15301,64.15481]}, + {"t":4.69345, "x":6.75255, "y":0.50605, "heading":3.14139, "vx":-3.50079, "vy":0.17315, "omega":0.00109, "ax":0.12426, "ay":2.19572, "alpha":-0.00009, "fx":[2.05394,2.05394,2.05483,2.05482], "fy":[36.30317,36.30242,36.30242,36.30316]}, + {"t":4.71645, "x":6.67203, "y":0.51061, "heading":3.14142, "vx":-3.49793, "vy":0.22367, "omega":0.00109, "ax":0.07011, "ay":1.04128, "alpha":-0.00002, "fx":[1.15899,1.15899,1.15919,1.15919], "fy":[17.21599,17.21579,17.21579,17.21599]}, + {"t":4.73946, "x":6.59157, "y":0.51603, "heading":3.14144, "vx":-3.49632, "vy":0.24763, "omega":0.00109, "ax":0.03279, "ay":0.45356, "alpha":0.0, "fx":[0.54214,0.54214,0.54218,0.54218], "fy":[7.499,7.49895,7.49895,7.499]}, + {"t":4.76247, "x":6.51113, "y":0.52185, "heading":3.14147, "vx":-3.49557, "vy":0.25806, "omega":0.00109, "ax":0.01245, "ay":0.16736, "alpha":0.0, "fx":[0.20577,0.20577,0.20578,0.20578], "fy":[2.76706,2.76706,2.76706,2.76706]}, + {"t":4.78548, "x":6.4307, "y":0.52783, "heading":3.14149, "vx":-3.49528, "vy":0.26191, "omega":0.00109, "ax":-0.00021, "ay":-0.00281, "alpha":0.0, "fx":[-0.00348,-0.00348,-0.00348,-0.00348], "fy":[-0.04649,-0.04649,-0.04649,-0.04649]}, + {"t":4.80849, "x":6.35028, "y":0.53386, "heading":3.14152, "vx":-3.49528, "vy":0.26185, "omega":0.00109, "ax":-0.013, "ay":-0.17495, "alpha":0.0, "fx":[-0.21499,-0.21499,-0.21498,-0.21498], "fy":[-2.89247,-2.89248,-2.89248,-2.89247]}, + {"t":4.8315, "x":6.26985, "y":0.53984, "heading":3.14154, "vx":-3.49558, "vy":0.25782, "omega":0.00109, "ax":-0.034, "ay":-0.46828, "alpha":-0.00032, "fx":[-0.5636,-0.56359,-0.56058,-0.56058], "fy":[-7.74082,-7.74381,-7.74381,-7.74082]}, + {"t":4.85451, "x":6.18942, "y":0.54565, "heading":3.14157, "vx":-3.49637, "vy":0.24705, "omega":0.00108, "ax":-0.14632, "ay":-1.06659, "alpha":-0.04684, "fx":[-2.64587,-2.64323,-2.1928,-2.19499], "fy":[-17.41657,-17.84981,-17.85228,-17.41899]}, + {"t":4.87752, "x":6.10893, "y":0.55105, "heading":3.14159, "vx":-3.49973, "vy":0.22251, "omega":0.0, "ax":-0.07755, "ay":-0.92896, "alpha":-0.00008, "fx":[-1.28255,-1.28255,-1.28183,-1.28183], "fy":[-15.35853,-15.35923,-15.35923,-15.35854]}, + {"t":4.91846, "x":5.96559, "y":0.55938, "heading":-3.14159, "vx":-3.50291, "vy":0.18448, "omega":0.0, "ax":-0.00847, "ay":-0.16365, "alpha":0.0, "fx":[-0.14002,-0.14002,-0.14002,-0.14002], "fy":[-2.70567,-2.70568,-2.70568,-2.70567]}, + {"t":4.95939, "x":5.82218, "y":0.56679, "heading":-3.14159, "vx":-3.50325, "vy":0.17778, "omega":0.0, "ax":-0.00143, "ay":-0.02836, "alpha":0.0, "fx":[-0.02372,-0.02372,-0.02372,-0.02372], "fy":[-0.46888,-0.46888,-0.46888,-0.46888]}, + {"t":5.00033, "x":5.67877, "y":0.57405, "heading":-3.14159, "vx":-3.50331, "vy":0.17662, "omega":0.0, "ax":-0.00025, "ay":-0.00491, "alpha":0.0, "fx":[-0.00409,-0.00409,-0.00409,-0.00409], "fy":[-0.08121,-0.08121,-0.08121,-0.08121]}, + {"t":5.04127, "x":5.53535, "y":0.58127, "heading":-3.14159, "vx":-3.50332, "vy":0.17642, "omega":0.0, "ax":-0.00004, "ay":-0.00085, "alpha":0.0, "fx":[-0.00071,-0.00071,-0.00071,-0.00071], "fy":[-0.01407,-0.01407,-0.01407,-0.01407]}, + {"t":5.08221, "x":5.39193, "y":0.5885, "heading":-3.14159, "vx":-3.50332, "vy":0.17638, "omega":0.0, "ax":-0.00001, "ay":-0.00015, "alpha":0.0, "fx":[-0.00012,-0.00012,-0.00012,-0.00012], "fy":[-0.00244,-0.00244,-0.00244,-0.00244]}, + {"t":5.12314, "x":5.24851, "y":0.59572, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":-0.00003, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[-0.00042,-0.00042,-0.00042,-0.00042]}, + {"t":5.16408, "x":5.1051, "y":0.60294, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00007,-0.00007,-0.00007,-0.00007]}, + {"t":5.20502, "x":4.96168, "y":0.61016, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, + {"t":5.24596, "x":4.81826, "y":0.61738, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.2869, "x":4.67484, "y":0.6246, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.32783, "x":4.53142, "y":0.63182, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.36877, "x":4.388, "y":0.63904, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.40971, "x":4.24459, "y":0.64626, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.45065, "x":4.10117, "y":0.65348, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.49158, "x":3.95775, "y":0.6607, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.53252, "x":3.81433, "y":0.66792, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.00092, "ay":-0.00005, "alpha":0.0, "fx":[0.01527,0.01527,0.01527,0.01527], "fy":[-0.00077,-0.00077,-0.00077,-0.00077]}, + {"t":5.57346, "x":3.67091, "y":0.67514, "heading":-3.14159, "vx":-3.50329, "vy":0.17637, "omega":0.0, "ax":3.07212, "ay":-0.15467, "alpha":-0.00001, "fx":[50.79263,50.79263,50.79272,50.79273], "fy":[-2.5571,-2.55723,-2.55722,-2.55709]}, + {"t":5.6144, "x":3.53007, "y":0.68223, "heading":-3.14159, "vx":-3.37752, "vy":0.17004, "omega":0.0, "ax":7.43892, "ay":-0.37451, "alpha":0.0, "fx":[122.99097,122.99097,122.99097,122.99097], "fy":[-6.192,-6.19198,-6.19198,-6.192]}, + {"t":5.65534, "x":3.39804, "y":0.68888, "heading":-3.14159, "vx":-3.07299, "vy":0.15471, "omega":0.0, "ax":7.48127, "ay":-0.37664, "alpha":0.0, "fx":[123.69109,123.69109,123.69109,123.69109], "fy":[-6.22724,-6.22723,-6.22723,-6.22724]}, + {"t":5.69627, "x":3.27851, "y":0.6949, "heading":-3.14159, "vx":-2.76672, "vy":0.13929, "omega":0.0, "ax":7.49539, "ay":-0.37736, "alpha":0.0, "fx":[123.92464,123.92464,123.92464,123.92464], "fy":[-6.239,-6.23898,-6.23898,-6.239]}, + {"t":5.73721, "x":3.17152, "y":0.70028, "heading":-3.14159, "vx":-2.45988, "vy":0.12384, "omega":0.0, "ax":7.50245, "ay":-0.37771, "alpha":0.0, "fx":[124.04128,124.04129,124.04129,124.04128], "fy":[-6.24488,-6.24486,-6.24486,-6.24488]}, + {"t":5.77815, "x":3.07711, "y":0.70504, "heading":-3.14159, "vx":-2.15275, "vy":0.10838, "omega":0.0, "ax":7.50668, "ay":-0.37792, "alpha":0.0, "fx":[124.11119,124.11119,124.11119,124.11119], "fy":[-6.2484,-6.24837,-6.24838,-6.2484]}, + {"t":5.81909, "x":2.99527, "y":0.70916, "heading":-3.14159, "vx":-1.84544, "vy":0.09291, "omega":0.0, "ax":7.50949, "ay":-0.37807, "alpha":0.0, "fx":[124.15775,124.15776,124.15776,124.15775], "fy":[-6.25074,-6.25072,-6.25072,-6.25074]}, + {"t":5.86002, "x":2.92601, "y":0.71264, "heading":-3.14159, "vx":-1.53802, "vy":0.07743, "omega":0.0, "ax":7.5115, "ay":-0.37817, "alpha":0.0, "fx":[124.19099,124.19099,124.19099,124.19099], "fy":[-6.25241,-6.25239,-6.25239,-6.25241]}, + {"t":5.90096, "x":2.86934, "y":0.7155, "heading":-3.14159, "vx":-1.23051, "vy":0.06195, "omega":0.0, "ax":7.51301, "ay":-0.37824, "alpha":0.0, "fx":[124.2159,124.2159,124.2159,124.2159], "fy":[-6.25367,-6.25365,-6.25365,-6.25367]}, + {"t":5.9419, "x":2.82527, "y":0.71771, "heading":-3.14159, "vx":-0.92295, "vy":0.04647, "omega":0.0, "ax":7.51418, "ay":-0.3783, "alpha":0.0, "fx":[124.23526,124.23526,124.23526,124.23526], "fy":[-6.25464,-6.25462,-6.25462,-6.25464]}, + {"t":5.98284, "x":2.79378, "y":0.7193, "heading":-3.14159, "vx":-0.61534, "vy":0.03098, "omega":0.0, "ax":7.51512, "ay":-0.37835, "alpha":0.0, "fx":[124.25075,124.25075,124.25075,124.25075], "fy":[-6.25542,-6.2554,-6.2554,-6.25542]}, + {"t":6.02377, "x":2.77489, "y":0.72025, "heading":-3.14159, "vx":-0.30768, "vy":0.01549, "omega":0.0, "ax":7.51588, "ay":-0.37839, "alpha":0.0, "fx":[124.26341,124.26341,124.26341,124.26341], "fy":[-6.25606,-6.25604,-6.25604,-6.25606]}, + {"t":6.06471, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/MLtoCL.traj b/src/main/deploy/choreo/MLtoCL.traj index b7150c2d..bfae4331 100644 --- a/src/main/deploy/choreo/MLtoCL.traj +++ b/src/main/deploy/choreo/MLtoCL.traj @@ -61,10 +61,10 @@ {"t":0.03069, "x":3.18725, "y":7.38687, "heading":0.04296, "vx":-1.15197, "vy":-1.63412, "omega":1.3994, "ax":-0.00001, "ay":0.0, "alpha":-0.01396, "fx":[0.06839,0.06273,-0.06882,-0.06317], "fy":[-0.06288,0.06867,0.06302,-0.06853]}, {"t":0.06139, "x":3.15189, "y":7.33671, "heading":0.08591, "vx":-1.15197, "vy":-1.63412, "omega":1.39897, "ax":-0.00001, "ay":0.00001, "alpha":-0.02035, "fx":[0.10374,0.08727,-0.10404,-0.08756], "fy":[-0.08731,0.10399,0.08752,-0.10379]}, {"t":0.09208, "x":3.11653, "y":7.28655, "heading":0.12885, "vx":-1.15197, "vy":-1.63412, "omega":1.39835, "ax":-0.00001, "ay":0.00001, "alpha":-0.02687, "fx":[0.14187,0.10929,-0.14216,-0.10958], "fy":[-0.10933,0.14212,0.10954,-0.14191]}, - {"t":0.12277, "x":3.08118, "y":7.23639, "heading":0.17177, "vx":-1.15197, "vy":-1.63412, "omega":1.39752, "ax":-0.00001, "ay":0.00001, "alpha":-0.03367, "fx":[0.18352,0.12921,-0.1838,-0.1295], "fy":[-0.12926,0.18376,0.12946,-0.18356]}, + {"t":0.12277, "x":3.08118, "y":7.23639, "heading":0.17177, "vx":-1.15197, "vy":-1.63412, "omega":1.39752, "ax":-0.00001, "ay":0.00001, "alpha":-0.03367, "fx":[0.18351,0.12921,-0.1838,-0.1295], "fy":[-0.12926,0.18376,0.12946,-0.18356]}, {"t":0.15347, "x":3.04582, "y":7.18624, "heading":0.21467, "vx":-1.15197, "vy":-1.63412, "omega":1.39649, "ax":-0.00001, "ay":0.00001, "alpha":-0.0409, "fx":[0.22947,0.14727,-0.22975,-0.14755], "fy":[-0.14731,0.22971,0.14751,-0.22951]}, - {"t":0.18416, "x":3.01046, "y":7.13608, "heading":0.25753, "vx":-1.15197, "vy":-1.63412, "omega":1.39524, "ax":-0.00001, "ay":0.00001, "alpha":-0.04871, "fx":[0.28061,0.16356,-0.28087,-0.16382], "fy":[-0.1636,0.28083,0.16378,-0.28065]}, - {"t":0.21485, "x":2.9751, "y":7.08592, "heading":0.30035, "vx":-1.15197, "vy":-1.63412, "omega":1.39374, "ax":-0.00001, "ay":0.0, "alpha":-0.05727, "fx":[0.33788,0.17802,-0.33811,-0.17825], "fy":[-0.17805,0.33807,0.17821,-0.33791]}, + {"t":0.18416, "x":3.01046, "y":7.13608, "heading":0.25753, "vx":-1.15197, "vy":-1.63412, "omega":1.39524, "ax":-0.00001, "ay":0.00001, "alpha":-0.04871, "fx":[0.28061,0.16356,-0.28087,-0.16381], "fy":[-0.1636,0.28083,0.16378,-0.28065]}, + {"t":0.21485, "x":2.9751, "y":7.08592, "heading":0.30035, "vx":-1.15197, "vy":-1.63412, "omega":1.39374, "ax":-0.00001, "ay":0.0, "alpha":-0.05727, "fx":[0.33788,0.17802,-0.3381,-0.17825], "fy":[-0.17805,0.33807,0.17821,-0.33791]}, {"t":0.24555, "x":2.93974, "y":7.03577, "heading":0.34313, "vx":-1.15197, "vy":-1.63412, "omega":1.39198, "ax":-0.00001, "ay":0.0, "alpha":-0.06673, "fx":[0.40226,0.19044,-0.40245,-0.19063], "fy":[-0.19047,0.40242,0.1906,-0.40229]}, {"t":0.27624, "x":2.90439, "y":6.98561, "heading":0.38586, "vx":-1.15197, "vy":-1.63412, "omega":1.38993, "ax":0.0, "ay":0.0, "alpha":-0.07726, "fx":[0.47479,0.20044,-0.47494,-0.20059], "fy":[-0.20046,0.47492,0.20057,-0.47481]}, {"t":0.30693, "x":2.86903, "y":6.93545, "heading":0.42852, "vx":-1.15197, "vy":-1.63412, "omega":1.38756, "ax":0.0, "ay":0.0, "alpha":-0.08903, "fx":[0.5565,0.20745,-0.5566,-0.20756], "fy":[-0.20747,0.55659,0.20754,-0.55651]}, @@ -74,7 +74,7 @@ {"t":0.42971, "x":2.7276, "y":6.73483, "heading":0.59832, "vx":-1.15197, "vy":-1.63412, "omega":1.37401, "ax":0.0, "ay":0.0, "alpha":-0.1519, "fx":[0.99574,0.18852,-0.99566,-0.18844], "fy":[-0.18851,0.99567,0.18845,-0.99573]}, {"t":0.4604, "x":2.69224, "y":6.68467, "heading":0.64049, "vx":-1.15197, "vy":-1.63412, "omega":1.36935, "ax":0.0, "ay":0.0, "alpha":-0.17246, "fx":[1.13859,0.1662,-1.13847,-0.16608], "fy":[-0.16619,1.13849,0.1661,-1.13858]}, {"t":0.49109, "x":2.65688, "y":6.63451, "heading":0.68252, "vx":-1.15197, "vy":-1.63412, "omega":1.36405, "ax":0.0, "ay":0.0, "alpha":-0.19536, "fx":[1.29653,0.13392,-1.29637,-0.13377], "fy":[-0.1339,1.29639,0.13379,-1.2965]}, - {"t":0.52179, "x":2.62152, "y":6.58436, "heading":0.72439, "vx":-1.15197, "vy":-1.63412, "omega":1.35806, "ax":0.00001, "ay":0.0, "alpha":-0.2208, "fx":[1.47042,0.08991,-1.47024,-0.08972], "fy":[-0.08988,1.47027,0.08975,-1.4704]}, + {"t":0.52179, "x":2.62152, "y":6.58436, "heading":0.72439, "vx":-1.15197, "vy":-1.63412, "omega":1.35806, "ax":0.00001, "ay":0.0, "alpha":-0.2208, "fx":[1.47042,0.08991,-1.47024,-0.08972], "fy":[-0.08988,1.47026,0.08975,-1.4704]}, {"t":0.55248, "x":2.58617, "y":6.5342, "heading":0.76607, "vx":-1.15197, "vy":-1.63412, "omega":1.35128, "ax":0.00001, "ay":0.0, "alpha":-0.24902, "fx":[1.66114,0.03221,-1.66094,-0.032], "fy":[-0.03218,1.66097,0.03203,-1.66111]}, {"t":0.58317, "x":2.55081, "y":6.48404, "heading":0.80755, "vx":-1.15197, "vy":-1.63412, "omega":1.34364, "ax":0.00001, "ay":0.0, "alpha":-0.28028, "fx":[1.86954,-0.04131,-1.86932,0.04153], "fy":[0.04134,1.86936,-0.04149,-1.86951]}, {"t":0.61387, "x":2.51545, "y":6.43389, "heading":0.84879, "vx":-1.15197, "vy":-1.63412, "omega":1.33503, "ax":0.00001, "ay":0.0, "alpha":-0.31485, "fx":[2.09647,-0.13296,-2.09625,0.13318], "fy":[0.13299,2.09628,-0.13315,-2.09644]}, @@ -82,10 +82,10 @@ {"t":0.67525, "x":2.44474, "y":6.33357, "heading":0.93045, "vx":-1.15197, "vy":-1.63412, "omega":1.31453, "ax":0.00001, "ay":0.0, "alpha":-0.39527, "fx":[2.60947,-0.38106,-2.60927,0.38126], "fy":[0.38109,2.6093,-0.38123,-2.60944]}, {"t":0.70595, "x":2.40938, "y":6.28342, "heading":0.97079, "vx":-1.15197, "vy":-1.63412, "omega":1.3024, "ax":0.00001, "ay":0.0, "alpha":-0.44185, "fx":[2.8974,-0.5433,-2.89722,0.54348], "fy":[0.54332,2.89724,-0.54345,-2.89737]}, {"t":0.73664, "x":2.37402, "y":6.23326, "heading":1.01077, "vx":-1.15197, "vy":-1.63412, "omega":1.28884, "ax":0.0, "ay":0.0, "alpha":-0.49325, "fx":[3.20761,-0.7353,-3.20745,0.73545], "fy":[0.73532,3.20747,-0.73543,-3.20759]}, - {"t":0.76733, "x":2.33866, "y":6.1831, "heading":1.05033, "vx":-1.15197, "vy":-1.63412, "omega":1.2737, "ax":0.0, "ay":0.0, "alpha":-0.54996, "fx":[3.54117,-0.96067,-3.54105,0.96079], "fy":[0.96068,3.54106,-0.96077,-3.54115]}, + {"t":0.76733, "x":2.33866, "y":6.1831, "heading":1.05033, "vx":-1.15197, "vy":-1.63412, "omega":1.2737, "ax":0.0, "ay":0.0, "alpha":-0.54996, "fx":[3.54117,-0.96067,-3.54104,0.96079], "fy":[0.96068,3.54106,-0.96077,-3.54115]}, {"t":0.79803, "x":2.3033, "y":6.13295, "heading":1.08942, "vx":-1.15197, "vy":-1.63412, "omega":1.25682, "ax":0.0, "ay":0.0, "alpha":-0.61254, "fx":[3.89923,-1.22333,-3.89914,1.22342], "fy":[1.22334,3.89915,-1.2234,-3.89922]}, {"t":0.82872, "x":2.26795, "y":6.08279, "heading":1.128, "vx":-1.15197, "vy":-1.63412, "omega":1.23802, "ax":0.0, "ay":0.0, "alpha":-0.68158, "fx":[4.283,-1.52756,-4.28295,1.52761], "fy":[1.52757,4.28296,-1.52761,-4.283]}, - {"t":0.85941, "x":2.23259, "y":6.03263, "heading":1.166, "vx":-1.15197, "vy":-1.63412, "omega":1.2171, "ax":0.0, "ay":0.0, "alpha":-0.75777, "fx":[4.69379,-1.87801,-4.69377,1.87803], "fy":[1.87801,4.69377,-1.87803,-4.69379]}, + {"t":0.85941, "x":2.23259, "y":6.03263, "heading":1.166, "vx":-1.15197, "vy":-1.63412, "omega":1.2171, "ax":0.0, "ay":0.0, "alpha":-0.75777, "fx":[4.69379,-1.87801,-4.69377,1.87803], "fy":[1.87801,4.69377,-1.87802,-4.69379]}, {"t":0.89011, "x":2.19723, "y":5.98248, "heading":1.20335, "vx":-1.15197, "vy":-1.63412, "omega":1.19384, "ax":0.0, "ay":0.0, "alpha":-0.84184, "fx":[5.13296,-2.27967,-5.13297,2.27966], "fy":[2.27967,5.13297,-2.27966,-5.13296]}, {"t":0.9208, "x":2.16187, "y":5.93232, "heading":1.24, "vx":-1.15197, "vy":-1.63412, "omega":1.168, "ax":0.0, "ay":0.0, "alpha":-0.9346, "fx":[5.60194,-2.73795,-5.60202,2.73787], "fy":[2.73793,5.602,-2.73788,-5.60196]}, {"t":0.95149, "x":2.12651, "y":5.88216, "heading":1.27585, "vx":-1.15197, "vy":-1.63412, "omega":1.13931, "ax":-0.00001, "ay":0.00001, "alpha":-1.03691, "fx":[6.10219,-3.25861,-6.10253,3.25828], "fy":[3.25856,6.10248,-3.25833,-6.10225]}, diff --git a/src/main/deploy/choreo/MLtoD.traj b/src/main/deploy/choreo/MLtoD.traj index a13e50b0..20ba5481 100644 --- a/src/main/deploy/choreo/MLtoD.traj +++ b/src/main/deploy/choreo/MLtoD.traj @@ -57,86 +57,86 @@ "sampleType":"Swerve", "waypoints":[0.0,0.72084,2.09872], "samples":[ - {"t":0.0, "x":3.22259, "y":7.437, "heading":0.0, "vx":-3.33223, "vy":-1.0605, "omega":0.0002, "ax":-0.32846, "ay":-0.15602, "alpha":-0.00754, "fx":[-5.335,-5.33377,-5.52629,-5.52716], "fy":[-2.55446,-2.65962,-2.54956,-2.55468]}, - {"t":0.01897, "x":3.15932, "y":7.41685, "heading":0.0, "vx":-3.33846, "vy":-1.06346, "omega":0.00006, "ax":0.06121, "ay":-0.20186, "alpha":0.00025, "fx":[1.10659,1.12137,0.91724,0.90276], "fy":[-3.24105,-3.55726,-3.32633,-3.22532]}, - {"t":0.03794, "x":3.096, "y":7.39664, "heading":0.0, "vx":-3.3373, "vy":-1.06729, "omega":0.00006, "ax":0.10147, "ay":-0.33233, "alpha":-0.00013, "fx":[1.62267,1.67437,1.81297,1.60029], "fy":[-5.75551,-5.49303,-5.43559,-5.29405]}, - {"t":0.05691, "x":3.03271, "y":7.37634, "heading":0.00001, "vx":-3.33537, "vy":-1.0736, "omega":0.00006, "ax":0.13927, "ay":-0.38398, "alpha":-0.00399, "fx":[2.63207,2.73241,1.97781,1.86837], "fy":[-6.01486,-7.038,-6.34305,-5.99832]}, - {"t":0.07588, "x":2.96947, "y":7.3559, "heading":0.00001, "vx":-3.33273, "vy":-1.08088, "omega":-0.00002, "ax":0.97955, "ay":-0.37205, "alpha":0.38174, "fx":[14.27686,14.47893,18.06543,17.96041], "fy":[-4.67874,-8.055,-7.81587,-4.0552]}, - {"t":0.09485, "x":2.90643, "y":7.33533, "heading":0.00001, "vx":-3.31415, "vy":-1.08794, "omega":0.00723, "ax":3.80318, "ay":0.58811, "alpha":1.6957, "fx":[55.66817,56.41612,70.15175,69.28247], "fy":[19.52061,0.55118,0.5728,18.24958]}, - {"t":0.11382, "x":2.84424, "y":7.3148, "heading":0.00014, "vx":-3.24201, "vy":-1.07678, "omega":0.03939, "ax":3.82425, "ay":0.93832, "alpha":2.20721, "fx":[53.36563,54.82268,72.70676,72.01689], "fy":[28.79054,3.74354,3.90106,25.61939]}, - {"t":0.13279, "x":2.78343, "y":7.29454, "heading":0.00089, "vx":-3.16946, "vy":-1.05898, "omega":0.08126, "ax":3.82798, "ay":1.01929, "alpha":2.28754, "fx":[53.39528,55.33332,73.33123,71.09921], "fy":[31.01717,4.35464,4.03498,28.00237]}, - {"t":0.15175, "x":2.724, "y":7.27464, "heading":0.00243, "vx":-3.09685, "vy":-1.03965, "omega":0.12465, "ax":3.82839, "ay":1.05884, "alpha":2.53081, "fx":[52.12531,54.62359,74.33145,72.10569], "fy":[33.66642,3.42424,3.67621,29.25816]}, - {"t":0.17072, "x":2.66594, "y":7.25511, "heading":0.0048, "vx":-3.02423, "vy":-1.01956, "omega":0.17266, "ax":3.8287, "ay":1.08045, "alpha":2.54365, "fx":[52.227,55.00371,74.46173,71.5138], "fy":[34.10856,3.57688,3.52731,30.24131]}, - {"t":0.18969, "x":2.60926, "y":7.23596, "heading":0.00807, "vx":-2.9516, "vy":-0.99907, "omega":0.22091, "ax":3.82883, "ay":1.09436, "alpha":2.67122, "fx":[51.49246,54.78715,74.96023,71.97505], "fy":[35.54698,2.80933,3.30566,30.71234]}, - {"t":0.20866, "x":2.55396, "y":7.21721, "heading":0.01226, "vx":-2.87897, "vy":-0.97831, "omega":0.27159, "ax":3.82888, "ay":1.10409, "alpha":2.67368, "fx":[51.54004,55.00032,75.06287,71.61517], "fy":[35.52511,2.88802,3.25204,31.3524]}, - {"t":0.22763, "x":2.50004, "y":7.19885, "heading":0.01742, "vx":-2.80634, "vy":-0.95736, "omega":0.3223, "ax":3.82896, "ay":1.11107, "alpha":2.74683, "fx":[51.05403,54.97743,75.33461,71.85722], "fy":[36.38665,2.29213,3.21758,31.58316]}, - {"t":0.2466, "x":2.44749, "y":7.18089, "heading":0.02353, "vx":-2.7337, "vy":-0.93629, "omega":0.37441, "ax":3.82894, "ay":1.11664, "alpha":2.73498, "fx":[51.11707,55.17875,75.39447,71.5321], "fy":[36.12994,2.38598,3.28521,32.04643]}, - {"t":0.26557, "x":2.39633, "y":7.16333, "heading":0.03063, "vx":-2.66107, "vy":-0.91511, "omega":0.42629, "ax":3.82892, "ay":1.12106, "alpha":2.77604, "fx":[50.77266,55.27471,75.5466,71.62697], "fy":[36.6501,1.91194,3.39552,32.18225]}, - {"t":0.28454, "x":2.34654, "y":7.14617, "heading":0.03872, "vx":-2.58844, "vy":-0.89384, "omega":0.47895, "ax":3.8289, "ay":1.12464, "alpha":2.7519, "fx":[50.8553,55.49242,75.56498,71.30685], "fy":[36.23332,2.05043,3.56211,32.53066]}, - {"t":0.30351, "x":2.29812, "y":7.12942, "heading":0.0478, "vx":-2.51581, "vy":-0.87251, "omega":0.53115, "ax":3.82887, "ay":1.12762, "alpha":2.77192, "fx":[50.61014,55.67852,75.64277,71.2863], "fy":[36.51905,1.6396,3.78497,32.6302]}, - {"t":0.32248, "x":2.25109, "y":7.11307, "heading":0.05788, "vx":-2.44318, "vy":-0.85112, "omega":0.58373, "ax":3.82887, "ay":1.13004, "alpha":2.73887, "fx":[50.71001,55.91407,75.62424,70.96954], "fy":[35.99038,1.80658,4.03628,32.90047]}, - {"t":0.34145, "x":2.20543, "y":7.09713, "heading":0.06895, "vx":-2.37054, "vy":-0.82968, "omega":0.63569, "ax":3.82885, "ay":1.13219, "alpha":2.74386, "fx":[50.53104,56.16369,75.64856,70.87281], "fy":[36.09449,1.45758,4.34484,32.97901]}, - {"t":0.36042, "x":2.16115, "y":7.08159, "heading":0.08101, "vx":-2.29791, "vy":-0.8082, "omega":0.68774, "ax":3.82883, "ay":1.13403, "alpha":2.70301, "fx":[50.65357,56.41958,75.60209,70.53946], "fy":[35.47803,1.66248,4.66544,33.19197]}, - {"t":0.37939, "x":2.11825, "y":7.06646, "heading":0.09406, "vx":-2.22528, "vy":-0.78669, "omega":0.73901, "ax":3.82882, "ay":1.13561, "alpha":2.69784, "fx":[50.52096,56.71171,75.58556,70.39579], "fy":[35.45474,1.35346,5.04415,33.24983]}, - {"t":0.39836, "x":2.07673, "y":7.05175, "heading":0.10807, "vx":-2.15265, "vy":-0.76515, "omega":0.79019, "ax":3.8288, "ay":1.13703, "alpha":2.65085, "fx":[50.66646,56.99574,75.5167,70.03387], "fy":[34.76737,1.57972,5.42353,33.42529]}, - {"t":0.41733, "x":2.03658, "y":7.03744, "heading":0.12306, "vx":-2.08002, "vy":-0.74358, "omega":0.84047, "ax":3.82878, "ay":1.1383, "alpha":2.63661, "fx":[50.57702,57.33291,75.47063,69.83078], "fy":[34.63034,1.3244,5.85398,33.47119]}, - {"t":0.4363, "x":1.99782, "y":7.02354, "heading":0.13901, "vx":-2.00739, "vy":-0.72199, "omega":0.89049, "ax":3.82877, "ay":1.13939, "alpha":2.58488, "fx":[50.74514,57.62286,75.37611,69.46673], "fy":[33.88475,1.58216,6.28281,33.6024]}, - {"t":0.45526, "x":1.96043, "y":7.01005, "heading":0.1559, "vx":-1.93476, "vy":-0.70037, "omega":0.93952, "ax":3.82875, "ay":1.14041, "alpha":2.5638, "fx":[50.69265,57.98728,75.29932,69.23031], "fy":[33.65409,1.37559,6.75741,33.63254]}, - {"t":0.47423, "x":1.92441, "y":6.99696, "heading":0.17372, "vx":-1.86213, "vy":-0.67874, "omega":0.98815, "ax":3.82874, "ay":1.1413, "alpha":2.50807, "fx":[50.88663,58.28777,75.18521,68.84944], "fy":[32.86245,1.66074,7.22739,33.72782]}, - {"t":0.4932, "x":1.88978, "y":6.98429, "heading":0.19247, "vx":-1.78951, "vy":-0.65709, "omega":1.03573, "ax":3.82872, "ay":1.14214, "alpha":2.48113, "fx":[50.87531,58.67584,75.08241,68.57434], "fy":[32.55646,1.50154,7.73514,33.74074]}, - {"t":0.51217, "x":1.85652, "y":6.97204, "heading":0.21211, "vx":-1.71688, "vy":-0.63543, "omega":1.0828, "ax":3.82872, "ay":1.14287, "alpha":2.42235, "fx":[51.08926,58.97698,74.9463,68.19487], "fy":[31.72828,1.82357,8.23642,33.79428]}, - {"t":0.53114, "x":1.82464, "y":6.96019, "heading":0.23265, "vx":-1.64425, "vy":-0.61375, "omega":1.12875, "ax":3.8287, "ay":1.14358, "alpha":2.39042, "fx":[51.12242,59.38051,74.81476,67.88866], "fy":[31.35949,1.70748,8.77462,33.78747]}, - {"t":0.55011, "x":1.79414, "y":6.94875, "heading":0.25406, "vx":-1.57162, "vy":-0.59205, "omega":1.17409, "ax":3.82869, "ay":1.1442, "alpha":2.32973, "fx":[51.35215,59.67936,74.66058,67.51382], "fy":[30.51143,2.06481,9.29595,33.79782]}, - {"t":0.56908, "x":1.76502, "y":6.93773, "heading":0.27634, "vx":-1.49899, "vy":-0.57035, "omega":1.21829, "ax":3.82868, "ay":1.14479, "alpha":2.29365, "fx":[51.42324,60.08404,74.50059,67.19707], "fy":[30.09257,2.00404,9.85438,33.75858]}, - {"t":0.58805, "x":1.73727, "y":6.92711, "heading":0.29945, "vx":-1.42637, "vy":-0.54863, "omega":1.26179, "ax":3.82867, "ay":1.14532, "alpha":2.23134, "fx":[51.67726,60.38235,74.32766,66.81725], "fy":[29.23025,2.38999,10.39147,33.73279]}, - {"t":0.60702, "x":1.7109, "y":6.91691, "heading":0.32338, "vx":-1.35374, "vy":-0.52691, "omega":1.30412, "ax":3.82866, "ay":1.14584, "alpha":2.19128, "fx":[51.79863,60.78155,74.14054,66.48292], "fy":[28.76432,2.38723,10.9601,33.66691]}, - {"t":0.62599, "x":1.68591, "y":6.90712, "heading":0.34812, "vx":-1.28111, "vy":-0.50517, "omega":1.34569, "ax":3.82865, "ay":1.14629, "alpha":2.12901, "fx":[52.06311,61.07514,73.94775,66.11728], "fy":[27.91721,2.78839,11.50946,33.59361]}, - {"t":0.64496, "x":1.6623, "y":6.89775, "heading":0.37365, "vx":-1.20848, "vy":-0.48343, "omega":1.38607, "ax":3.82865, "ay":1.14673, "alpha":2.08562, "fx":[52.22453,61.46602,73.73541,65.77678], "fy":[27.43023,2.85208,12.0705,33.48458]}, - {"t":0.66393, "x":1.64006, "y":6.88878, "heading":0.39994, "vx":-1.13586, "vy":-0.46167, "omega":1.42564, "ax":3.82864, "ay":1.14714, "alpha":2.0227, "fx":[52.50483,61.74763,73.52359,65.42609], "fy":[26.59102,3.29192,12.61788,33.36378]}, - {"t":0.6829, "x":1.61921, "y":6.88023, "heading":0.42698, "vx":-1.06323, "vy":-0.43991, "omega":1.46401, "ax":3.82863, "ay":1.14752, "alpha":1.97703, "fx":[52.69869,62.12533,73.28429,65.09334], "fy":[26.09862,3.40577,13.17728,33.20808]}, - {"t":0.70187, "x":1.59973, "y":6.87209, "heading":0.45476, "vx":-0.9906, "vy":-0.41815, "omega":1.50151, "ax":3.82862, "ay":1.14787, "alpha":1.91395, "fx":[53.00174,62.3899,73.05511,64.75458], "fy":[25.27823,3.87609,13.71503,33.04357]}, - {"t":0.72084, "x":1.58162, "y":6.86437, "heading":0.48324, "vx":-0.91798, "vy":-0.39637, "omega":1.53782, "ax":1.80714, "ay":-3.5201, "alpha":3.19713, "fx":[5.80097,21.41161,50.63947,41.66105], "fy":[-58.7188,-76.13038,-59.72303,-38.22515]}, - {"t":0.75364, "x":1.55248, "y":6.84947, "heading":0.53369, "vx":-0.85869, "vy":-0.51185, "omega":1.6427, "ax":2.2329, "ay":-3.24892, "alpha":2.96734, "fx":[14.97457,30.28167,55.96812,46.44548], "fy":[-55.81302,-71.09786,-53.94816,-34.00437]}, - {"t":0.78645, "x":1.52551, "y":6.83093, "heading":0.58758, "vx":-0.78544, "vy":-0.61844, "omega":1.74005, "ax":2.34047, "ay":-2.6423, "alpha":3.20146, "fx":[16.34759,33.93228,58.90303,45.60112], "fy":[-44.60717,-64.25107,-43.99813,-21.88867]}, - {"t":0.81926, "x":1.501, "y":6.80922, "heading":0.64467, "vx":-0.70865, "vy":-0.70513, "omega":1.84508, "ax":0.5636, "ay":-0.55197, "alpha":3.50704, "fx":[-14.39338,8.04692,32.61729,11.00242], "fy":[-8.41193,-32.29881,-10.31962,14.52647]}, - {"t":0.85206, "x":1.47806, "y":6.78579, "heading":0.7052, "vx":-0.69016, "vy":-0.72323, "omega":1.96014, "ax":-0.01098, "ay":0.01049, "alpha":3.2944, "fx":[-22.82719,-0.21534,22.29283,0.02344], "fy":[-0.46469,-21.10763,0.25569,22.01013]}, - {"t":0.88487, "x":1.45541, "y":6.76207, "heading":0.7695, "vx":-0.69052, "vy":-0.72289, "omega":2.06822, "ax":0.0067, "ay":-0.0064, "alpha":2.97106, "fx":[-19.6853,1.74741,20.03211,-1.651], "fy":[-1.4737,-19.97825,1.32867,19.69993]}, - {"t":0.91768, "x":1.43276, "y":6.73835, "heading":0.83735, "vx":-0.6903, "vy":-0.7231, "omega":2.16569, "ax":-0.01538, "ay":0.01469, "alpha":2.69342, "fx":[-18.45685,2.15692,17.95047,-2.6675], "fy":[-2.38018,-17.22222,2.74624,17.82777]}, - {"t":0.95048, "x":1.4101, "y":6.71463, "heading":0.9084, "vx":-0.69081, "vy":-0.72262, "omega":2.25405, "ax":0.01305, "ay":-0.01247, "alpha":2.37023, "fx":[-15.26807,3.64369,15.76581,-3.27838], "fy":[-3.50145,-15.7454,3.14448,15.27776]}, - {"t":0.98329, "x":1.38745, "y":6.69092, "heading":0.98235, "vx":-0.69038, "vy":-0.72303, "omega":2.33181, "ax":-0.0038, "ay":0.00363, "alpha":2.10357, "fx":[-13.8519,3.8107,13.72862,-3.9387], "fy":[-3.85764,-13.20225,3.942,13.35787]}, - {"t":1.0161, "x":1.3648, "y":6.6672, "heading":1.05885, "vx":-0.6905, "vy":-0.72291, "omega":2.40082, "ax":0.00604, "ay":-0.00577, "alpha":1.80471, "fx":[-11.19135,4.38232,11.42958,-4.22095], "fy":[-4.29694,-11.42407,4.14579,11.19366]}, - {"t":1.0489, "x":1.34215, "y":6.64348, "heading":1.13761, "vx":-0.69031, "vy":-0.7231, "omega":2.46003, "ax":-0.00509, "ay":0.00486, "alpha":1.54786, "fx":[-9.69652,4.24302,9.52773,-4.41088], "fy":[-4.19778,-9.1422,4.33716,9.32428]}, - {"t":1.08171, "x":1.3195, "y":6.61976, "heading":1.21832, "vx":-0.69047, "vy":-0.72294, "omega":2.51081, "ax":0.00319, "ay":-0.00305, "alpha":1.27106, "fx":[-7.3567,4.22128,7.48731,-4.14075], "fy":[-4.16475,-7.48574,4.09145,7.35741]}, - {"t":1.11452, "x":1.29685, "y":6.59604, "heading":1.30069, "vx":-0.69037, "vy":-0.72304, "omega":2.55251, "ax":-0.00349, "ay":0.00333, "alpha":1.02026, "fx":[-5.89318,3.72933,5.77735,-3.84421], "fy":[-3.63069,-5.51952,3.72557,5.64497]}, - {"t":1.14732, "x":1.2742, "y":6.57232, "heading":1.38443, "vx":-0.69048, "vy":-0.72293, "omega":2.58598, "ax":0.00265, "ay":-0.00253, "alpha":0.75951, "fx":[-3.96033,3.16276,4.06516,-3.09244], "fy":[-3.12312,-4.06417,3.05881,3.9612]}, - {"t":1.18013, "x":1.25155, "y":6.54861, "heading":1.46927, "vx":-0.6904, "vy":-0.72301, "omega":2.61089, "ax":-0.00228, "ay":0.00218, "alpha":0.51054, "fx":[-2.6641,2.27695,2.58853,-2.35238], "fy":[-2.16065,-2.448,2.22155,2.53133]}, - {"t":1.21294, "x":1.22889, "y":6.52489, "heading":1.55492, "vx":-0.69047, "vy":-0.72294, "omega":2.62764, "ax":0.00214, "ay":-0.00205, "alpha":0.25933, "fx":[-1.1994,1.24786,1.28285,-1.18953], "fy":[-1.21891,-1.28203,1.16528,1.20027]}, - {"t":1.24574, "x":1.20624, "y":6.50117, "heading":1.64113, "vx":-0.6904, "vy":-0.72301, "omega":2.63615, "ax":-0.00179, "ay":0.00171, "alpha":0.00764, "fx":[-0.17436,-0.01895,0.11535,-0.04019], "fy":[0.12005,-0.07648,-0.07196,0.14122]}, - {"t":1.27855, "x":1.18359, "y":6.47745, "heading":1.72761, "vx":-0.69046, "vy":-0.72295, "omega":2.6364, "ax":0.00166, "ay":-0.00158, "alpha":-0.24054, "fx":[0.77754,-1.40963,-0.71297,1.45481], "fy":[1.43129,0.71379,-1.47321,-0.77668]}, - {"t":1.31136, "x":1.16094, "y":6.45373, "heading":1.8141, "vx":-0.6904, "vy":-0.723, "omega":2.62851, "ax":-0.00148, "ay":0.00141, "alpha":-0.49981, "fx":[1.44067,-3.01682,-1.48967,2.96785], "fy":[3.07441,1.4483,-3.03378,-1.39538]}, - {"t":1.34416, "x":1.13829, "y":6.43001, "heading":1.90034, "vx":-0.69045, "vy":-0.72296, "omega":2.61211, "ax":0.00133, "ay":-0.00127, "alpha":-0.75103, "fx":[1.84328,-4.66369,-1.79142,4.69951], "fy":[4.68013,1.79245,-4.71409,-1.84224]}, - {"t":1.37697, "x":1.11564, "y":6.40629, "heading":1.98603, "vx":-0.69041, "vy":-0.723, "omega":2.58748, "ax":-0.00123, "ay":0.00117, "alpha":-1.02288, "fx":[2.06244,-6.55323,-2.10332,6.51282], "fy":[6.54519,2.0079,-6.51077,-1.9647]}, - {"t":1.40978, "x":1.09299, "y":6.38258, "heading":2.07092, "vx":-0.69045, "vy":-0.72296, "omega":2.55392, "ax":0.00111, "ay":-0.00106, "alpha":-1.28254, "fx":[1.89492,-8.34679,-1.85096,8.37626], "fy":[8.35937,1.85241,-8.38843,-1.89347]}, - {"t":1.44259, "x":1.07034, "y":6.35886, "heading":2.1547, "vx":-0.69041, "vy":-0.72299, "omega":2.51184, "ax":-0.00106, "ay":0.00101, "alpha":-1.5719, "fx":[1.60191,-10.44514,-1.63735,10.41075], "fy":[10.35749,1.51759,-10.32698,-1.48142]}, - {"t":1.47539, "x":1.04769, "y":6.33514, "heading":2.23711, "vx":-0.69045, "vy":-0.72296, "omega":2.46027, "ax":0.00099, "ay":-0.00094, "alpha":-1.8446, "fx":[0.86675,-12.27508,-0.8267,12.30044], "fy":[12.28464,0.82887,-12.31143,-0.86456]}, - {"t":1.5082, "x":1.02504, "y":6.31142, "heading":2.31782, "vx":-0.69042, "vy":-0.72299, "omega":2.39976, "ax":-0.00097, "ay":0.00093, "alpha":-2.15611, "fx":[0.01371,-14.49733,-0.04673,14.46599], "fy":[14.32568,-0.06576,-14.29609,0.09763]}, - {"t":1.54101, "x":1.00239, "y":6.2877, "heading":2.39655, "vx":-0.69045, "vy":-0.72296, "omega":2.32902, "ax":0.00104, "ay":-0.001, "alpha":-2.44553, "fx":[-1.25736,-16.25984,1.30069,16.28549], "fy":[16.26696,-1.29714,-16.29669,1.26099]}, - {"t":1.57381, "x":0.97974, "y":6.26398, "heading":2.47296, "vx":-0.69041, "vy":-0.72299, "omega":2.24879, "ax":-0.00108, "ay":0.00103, "alpha":-2.78326, "fx":[-2.69425,-18.52081,2.6575,18.48598], "fy":[18.27024,-2.73183,-18.23487,2.76483]}, - {"t":1.60662, "x":0.95708, "y":6.24026, "heading":2.54674, "vx":-0.69045, "vy":-0.72296, "omega":2.15748, "ax":0.00141, "ay":-0.00134, "alpha":-3.09209, "fx":[-4.43542,-20.12682,4.49552,20.15969], "fy":[20.13248,-4.48944,-20.17341,4.44157]}, - {"t":1.63943, "x":0.93443, "y":6.21654, "heading":2.61752, "vx":-0.6904, "vy":-0.72301, "omega":2.05604, "ax":-0.00219, "ay":0.00209, "alpha":-3.45919, "fx":[-6.46165,-22.36533,6.38945,22.293], "fy":[22.04786,-6.40037,-21.97397,6.4645]}, - {"t":1.67223, "x":0.91178, "y":6.19283, "heading":2.68497, "vx":-0.69047, "vy":-0.72294, "omega":1.94256, "ax":0.00277, "ay":-0.00265, "alpha":-3.7886, "fx":[-8.55187,-23.73024,8.671,23.79435], "fy":[23.73617,-8.65927,-23.81418,8.56228]}, - {"t":1.70504, "x":0.88913, "y":6.16911, "heading":2.7487, "vx":-0.69038, "vy":-0.72302, "omega":1.81826, "ax":-0.00531, "ay":0.00507, "alpha":-4.18703, "fx":[-11.15939,-25.93886,10.99405,25.75315], "fy":[25.56458,-10.92923,-25.3899,11.08984]}, - {"t":1.73785, "x":0.86648, "y":6.14539, "heading":2.80835, "vx":-0.69056, "vy":-0.72286, "omega":1.6809, "ax":0.00913, "ay":-0.00872, "alpha":-4.53558, "fx":[-13.37031,-26.93274,13.73137,27.17567], "fy":[26.93822,-13.69793,-27.1978,13.38073]}, - {"t":1.77065, "x":0.84383, "y":6.12167, "heading":2.86349, "vx":-0.69026, "vy":-0.72314, "omega":1.5321, "ax":-0.00707, "ay":0.00675, "alpha":-4.96164, "fx":[-16.48056,-29.15157,16.33559,28.82908], "fy":[28.67944,-16.15119,-28.48968,16.40781]}, - {"t":1.80346, "x":0.82118, "y":6.09795, "heading":2.91376, "vx":-0.69049, "vy":-0.72292, "omega":1.36933, "ax":0.00068, "ay":-0.00054, "alpha":-5.30614, "fx":[-18.89433,-30.01168,19.2026,29.74862], "fy":[29.84742,-18.87211,-29.94038,18.92958]}, - {"t":1.83627, "x":0.79853, "y":6.07423, "heading":2.95868, "vx":-0.69047, "vy":-0.72294, "omega":1.19525, "ax":1.72557, "ay":1.80372, "alpha":-4.7822, "fx":[9.72975,1.82585,51.17273,51.39032], "fy":[58.11022,13.6684,2.70291,44.80539]}, - {"t":1.86907, "x":0.77681, "y":6.05149, "heading":2.99789, "vx":-0.63386, "vy":-0.66377, "omega":1.03836, "ax":2.75598, "ay":2.88625, "alpha":-3.80361, "fx":[26.62087,26.94504,67.55042,61.14723], "fy":[71.53385,37.86636,24.15006,57.32817]}, - {"t":1.90188, "x":0.75749, "y":6.03126, "heading":3.03196, "vx":-0.54344, "vy":-0.56908, "omega":0.91358, "ax":2.75928, "ay":2.88951, "alpha":-4.01428, "fx":[24.83021,27.02822,69.3736,61.24967], "fy":[72.69829,36.49735,23.15893,58.73977]}, - {"t":1.93469, "x":0.74115, "y":6.01415, "heading":3.06193, "vx":-0.45292, "vy":-0.47428, "omega":0.78188, "ax":2.76037, "ay":2.89061, "alpha":-4.26302, "fx":[23.03158,26.57651,71.23568,61.7102], "fy":[74.0596,34.8036,22.28747,60.0161]}, - {"t":1.96749, "x":0.72778, "y":6.00015, "heading":3.08758, "vx":-0.36236, "vy":-0.37945, "omega":0.64203, "ax":2.76092, "ay":2.89115, "alpha":-4.51374, "fx":[21.16751,26.2765,73.12361,62.02261], "fy":[75.40944,33.14295,21.27222,61.37824]}, - {"t":2.0003, "x":0.71737, "y":5.98925, "heading":3.10864, "vx":-0.27178, "vy":-0.2846, "omega":0.49395, "ax":2.76125, "ay":2.89148, "alpha":-4.76689, "fx":[19.46996,25.74312,74.90709,62.49173], "fy":[76.79917,31.45772,20.35543,62.61224]}, - {"t":2.03311, "x":0.70994, "y":5.98147, "heading":3.12485, "vx":-0.1812, "vy":-0.18974, "omega":0.33756, "ax":2.76147, "ay":2.8917, "alpha":-5.01999, "fx":[17.74565,25.24701,76.69388,62.9399], "fy":[78.19732,29.88837,19.34132,63.81195]}, - {"t":2.06591, "x":0.70549, "y":5.9768, "heading":3.13592, "vx":-0.0906, "vy":-0.09487, "omega":0.17287, "ax":2.76163, "ay":2.89185, "alpha":-5.2693, "fx":[16.24709,24.55978,78.34648,63.48356], "fy":[79.64274,28.4449,18.26213,64.89939]}, + {"t":0.0, "x":3.22259, "y":7.437, "heading":0.0, "vx":-3.33231, "vy":-1.06026, "omega":0.00021, "ax":-0.32771, "ay":-0.15859, "alpha":-0.00777, "fx":[-5.37696,-5.37593,-5.45938,-5.4603], "fy":[-2.65347,-2.55677,-2.62402,-2.65381]}, + {"t":0.01897, "x":3.15932, "y":7.41686, "heading":0.0, "vx":-3.33852, "vy":-1.06327, "omega":0.00006, "ax":0.06233, "ay":-0.20577, "alpha":-0.00092, "fx":[1.02036,1.03628,1.04058,1.02499], "fy":[-3.42062,-3.34044,-3.4419,-3.40531]}, + {"t":0.03794, "x":3.096, "y":7.39665, "heading":0.00001, "vx":-3.33734, "vy":-1.06717, "omega":0.00005, "ax":0.10109, "ay":-0.33025, "alpha":0.00244, "fx":[1.70007,1.75013,1.44447,1.79059], "fy":[-4.95844,-5.5655,-5.50846,-5.80822]}, + {"t":0.05691, "x":3.03271, "y":7.37635, "heading":0.00001, "vx":-3.33542, "vy":-1.07343, "omega":0.00009, "ax":0.14296, "ay":-0.3972, "alpha":-0.00918, "fx":[2.41852,2.52694,2.31306,2.19588], "fy":[-6.5505,-6.5577,-6.62149,-6.53865]}, + {"t":0.07588, "x":2.96947, "y":7.35591, "heading":0.00001, "vx":-3.33271, "vy":-1.08097, "omega":-0.00008, "ax":0.97911, "ay":-0.36943, "alpha":0.4036, "fx":[14.43353,14.62788,17.85593,17.83517], "fy":[-3.24699,-8.38109,-8.13605,-4.6678]}, + {"t":0.09485, "x":2.90642, "y":7.33534, "heading":0.00001, "vx":-3.31414, "vy":-1.08798, "omega":0.00757, "ax":3.80295, "ay":0.58875, "alpha":1.74935, "fx":[55.50027,56.26095,70.3151,69.42727], "fy":[19.92256,-0.05107,0.49916,18.56532]}, + {"t":0.11382, "x":2.84424, "y":7.31481, "heading":0.00015, "vx":-3.242, "vy":-1.07681, "omega":0.04076, "ax":3.82437, "ay":0.93781, "alpha":2.10632, "fx":[54.27129,55.63151,73.43383,69.58309], "fy":[27.33874,3.84165,3.97984,26.86098]}, + {"t":0.13279, "x":2.78343, "y":7.29455, "heading":0.00092, "vx":-3.16945, "vy":-1.05902, "omega":0.08071, "ax":3.8279, "ay":1.01956, "alpha":2.35854, "fx":[53.24235,55.22838,73.4811,71.20146], "fy":[31.65823,3.30622,4.00827,28.45494]}, + {"t":0.15175, "x":2.724, "y":7.27465, "heading":0.00245, "vx":-3.09684, "vy":-1.03968, "omega":0.12545, "ax":3.82838, "ay":1.05886, "alpha":2.4655, "fx":[52.71456,55.0606,74.62493,70.7854], "fy":[32.32448,3.54818,3.76368,30.39004]}, + {"t":0.17072, "x":2.66594, "y":7.25511, "heading":0.00483, "vx":-3.02422, "vy":-1.01959, "omega":0.17222, "ax":3.82865, "ay":1.08062, "alpha":2.60269, "fx":[52.09906,54.94789,74.58155,71.57422], "fy":[34.68538,2.72711,3.45253,30.60061]}, + {"t":0.18969, "x":2.60926, "y":7.23597, "heading":0.0081, "vx":-2.95159, "vy":-0.99909, "omega":0.22159, "ax":3.82882, "ay":1.0944, "alpha":2.61561, "fx":[52.01311,55.10914,75.16872,70.92311], "fy":[34.28032,2.94359,3.39244,31.76053]}, + {"t":0.20866, "x":2.55396, "y":7.21721, "heading":0.0123, "vx":-2.87896, "vy":-0.97833, "omega":0.27121, "ax":3.82884, "ay":1.10423, "alpha":2.7237, "fx":[51.42605,54.97147,75.16391,71.65414], "fy":[36.03756,2.19156,3.15395,31.64394]}, + {"t":0.22763, "x":2.50004, "y":7.19885, "heading":0.01745, "vx":-2.80633, "vy":-0.95739, "omega":0.32288, "ax":3.82895, "ay":1.11109, "alpha":2.7043, "fx":[51.4734,55.18653,75.47446,71.08847], "fy":[35.2852,2.41804,3.28953,32.48802]}, + {"t":0.2466, "x":2.44749, "y":7.18089, "heading":0.02357, "vx":-2.7337, "vy":-0.93631, "omega":0.37418, "ax":3.82892, "ay":1.11672, "alpha":2.77708, "fx":[51.01263,55.16505,75.48265,71.56043], "fy":[36.57564,1.84038,3.16043,32.27647]}, + {"t":0.26557, "x":2.39632, "y":7.16333, "heading":0.03067, "vx":-2.66106, "vy":-0.91513, "omega":0.42686, "ax":3.82891, "ay":1.12109, "alpha":2.73687, "fx":[51.1607,55.44308,75.66257,70.95401], "fy":[35.60386,2.05405,3.47366,33.01012]}, + {"t":0.28454, "x":2.34653, "y":7.14617, "heading":0.03877, "vx":-2.58843, "vy":-0.89386, "omega":0.47877, "ax":3.82888, "ay":1.12472, "alpha":2.79016, "fx":[50.75719,55.49141,75.64456,71.3248], "fy":[36.64885,1.55352,3.44382,32.7356]}, + {"t":0.30351, "x":2.29812, "y":7.12942, "heading":0.04785, "vx":-2.5158, "vy":-0.87252, "omega":0.5317, "ax":3.82886, "ay":1.12765, "alpha":2.73699, "fx":[50.94901,55.79564,75.72925,70.74324], "fy":[35.51737,1.8033,3.87587,33.37926]}, + {"t":0.32248, "x":2.25109, "y":7.11307, "heading":0.05794, "vx":-2.44317, "vy":-0.85113, "omega":0.58362, "ax":3.82886, "ay":1.1301, "alpha":2.7731, "fx":[50.61838,55.92141,75.69609,70.98074], "fy":[36.37065,1.37403,3.91546,33.07765]}, + {"t":0.34145, "x":2.20543, "y":7.09713, "heading":0.06901, "vx":-2.37054, "vy":-0.8297, "omega":0.63622, "ax":3.82884, "ay":1.13222, "alpha":2.70978, "fx":[50.86883,56.27747,75.73223,70.33699], "fy":[35.12862,1.62917,4.43566,33.68438]}, + {"t":0.36042, "x":2.16115, "y":7.08159, "heading":0.08108, "vx":-2.29791, "vy":-0.80822, "omega":0.68763, "ax":3.82881, "ay":1.1341, "alpha":2.73517, "fx":[50.56692,56.43524,75.66807,70.54322], "fy":[35.84206,1.24618,4.5564,33.35746]}, + {"t":0.37939, "x":2.11825, "y":7.06647, "heading":0.09412, "vx":-2.22528, "vy":-0.78671, "omega":0.73951, "ax":3.82881, "ay":1.13564, "alpha":2.66688, "fx":[50.83538,56.8146,75.66445,69.89902], "fy":[34.56196,1.52413,5.12922,33.88882]}, + {"t":0.39836, "x":2.07673, "y":7.05175, "heading":0.10815, "vx":-2.15265, "vy":-0.76516, "omega":0.7901, "ax":3.82878, "ay":1.13708, "alpha":2.6796, "fx":[50.58619,57.01506,75.57702,70.03341], "fy":[35.0993,1.22196,5.30949,33.56876]}, + {"t":0.41733, "x":2.03658, "y":7.03744, "heading":0.12314, "vx":-2.08002, "vy":-0.74359, "omega":0.84093, "ax":3.82877, "ay":1.13833, "alpha":2.60824, "fx":[50.85428,57.40937,75.53835,69.40877], "fy":[33.77101,1.51309,5.95271,34.04496]}, + {"t":0.4363, "x":1.99782, "y":7.02354, "heading":0.13909, "vx":-2.00739, "vy":-0.722, "omega":0.89041, "ax":3.82875, "ay":1.13944, "alpha":2.61188, "fx":[50.67043,57.64695,75.43175,69.46073], "fy":[34.20067,1.24093,6.17644,33.73734]}, + {"t":0.45526, "x":1.96043, "y":7.01005, "heading":0.15598, "vx":-1.93476, "vy":-0.70039, "omega":0.93995, "ax":3.82874, "ay":1.14044, "alpha":2.53705, "fx":[50.97146,58.06407,75.3653,68.80817], "fy":[32.82164,1.56104,6.85236,34.18643]}, + {"t":0.47423, "x":1.92441, "y":6.99697, "heading":0.17381, "vx":-1.86213, "vy":-0.67875, "omega":0.98808, "ax":3.82873, "ay":1.14134, "alpha":2.5333, "fx":[50.81746,58.31556,75.23654,68.83855], "fy":[33.16219,1.33945,7.12604,33.85376]}, + {"t":0.4932, "x":1.88978, "y":6.9843, "heading":0.19255, "vx":-1.7895, "vy":-0.6571, "omega":1.03613, "ax":3.82872, "ay":1.14217, "alpha":2.45666, "fx":[51.13207,58.74012,75.14266,68.1925], "fy":[31.7458,1.69472,7.83713,34.25804]}, + {"t":0.51217, "x":1.85652, "y":6.97204, "heading":0.21221, "vx":-1.71687, "vy":-0.63544, "omega":1.08273, "ax":3.8287, "ay":1.14292, "alpha":2.44623, "fx":[51.02627,59.0079,74.99378,68.17858], "fy":[32.01416,1.51262,8.14244,33.91624]}, + {"t":0.53114, "x":1.82464, "y":6.96019, "heading":0.23275, "vx":-1.64425, "vy":-0.61376, "omega":1.12914, "ax":3.82869, "ay":1.1436, "alpha":2.36739, "fx":[51.38112,59.44431,74.87307,67.50733], "fy":[30.54292,1.90474,8.87836,34.30479]}, + {"t":0.55011, "x":1.79414, "y":6.94875, "heading":0.25416, "vx":-1.57162, "vy":-0.59206, "omega":1.17405, "ax":3.82868, "ay":1.14424, "alpha":2.35211, "fx":[51.29542,59.71218,74.70437,67.49309], "fy":[30.78136,1.76986,9.20649,33.91511]}, + {"t":0.56908, "x":1.76502, "y":6.93773, "heading":0.27644, "vx":-1.49899, "vy":-0.57036, "omega":1.21866, "ax":3.82867, "ay":1.14482, "alpha":2.27434, "fx":[51.6587,60.14464,74.56067,66.84041], "fy":[29.33945,2.18694,9.95125,34.23367]}, + {"t":0.58805, "x":1.73727, "y":6.92711, "heading":0.29955, "vx":-1.42636, "vy":-0.54864, "omega":1.26181, "ax":3.82866, "ay":1.14536, "alpha":2.25222, "fx":[51.62725,60.41581,74.36805,66.7926], "fy":[29.48256,2.11227,10.30583,33.84657]}, + {"t":0.60702, "x":1.7109, "y":6.91691, "heading":0.32349, "vx":-1.35374, "vy":-0.52691, "omega":1.30453, "ax":3.82865, "ay":1.14586, "alpha":2.1757, "fx":[52.01993,60.84336,74.2025,66.13734], "fy":[28.05905,2.55189,11.04645,34.12289]}, + {"t":0.62599, "x":1.68591, "y":6.90712, "heading":0.34823, "vx":-1.28111, "vy":-0.50518, "omega":1.3458, "ax":3.82864, "ay":1.14633, "alpha":2.14589, "fx":[52.02009,61.10531,73.98515,66.09192], "fy":[28.12971,2.58661,11.40778,33.6873]}, + {"t":0.64496, "x":1.6623, "y":6.89775, "heading":0.37376, "vx":-1.20848, "vy":-0.48343, "omega":1.38651, "ax":3.82864, "ay":1.14675, "alpha":2.07241, "fx":[52.45236,61.53394,73.79936,65.41656], "fy":[26.71861,3.01014,12.15459,33.95581]}, + {"t":0.66393, "x":1.64006, "y":6.88878, "heading":0.40006, "vx":-1.13586, "vy":-0.46168, "omega":1.42582, "ax":3.82862, "ay":1.14718, "alpha":2.03864, "fx":[52.46671,61.77883,73.55833,65.39743], "fy":[26.79042,3.09512,12.52383,33.45797]}, + {"t":0.6829, "x":1.61921, "y":6.88023, "heading":0.42711, "vx":-1.06323, "vy":-0.43992, "omega":1.46449, "ax":3.82862, "ay":1.14755, "alpha":1.96752, "fx":[52.90772,62.18984,73.34947,64.7541], "fy":[25.43055,3.54875,13.25728,33.65492]}, + {"t":0.70187, "x":1.59973, "y":6.87209, "heading":0.45489, "vx":-0.9906, "vy":-0.41815, "omega":1.50181, "ax":3.82861, "ay":1.14791, "alpha":1.92913, "fx":[52.96904,62.42154,73.08771,64.72228], "fy":[25.46152,3.6832,13.62823,33.1425]}, + {"t":0.72084, "x":1.58162, "y":6.86437, "heading":0.48338, "vx":-0.91798, "vy":-0.39637, "omega":1.53841, "ax":1.80715, "ay":-3.52009, "alpha":3.15159, "fx":[5.75341,21.9107,50.53509,41.31455], "fy":[-58.90158,-75.43489,-59.96061,-38.49987]}, + {"t":0.75364, "x":1.55248, "y":6.84947, "heading":0.53385, "vx":-0.85869, "vy":-0.51186, "omega":1.6418, "ax":2.23289, "ay":-3.2489, "alpha":2.93691, "fx":[15.63233,30.54209,56.26418,45.23096], "fy":[-54.64108,-71.32579,-54.19854,-34.69646]}, + {"t":0.78645, "x":1.52551, "y":6.83093, "heading":0.58771, "vx":-0.78543, "vy":-0.61844, "omega":1.73815, "ax":2.34037, "ay":-2.64218, "alpha":3.11641, "fx":[16.28373,34.44113,58.79128,45.2612], "fy":[-45.1697,-62.59509,-44.62881,-22.34398]}, + {"t":0.81926, "x":1.501, "y":6.80922, "heading":0.64474, "vx":-0.70865, "vy":-0.70512, "omega":1.84039, "ax":0.56428, "ay":-0.55262, "alpha":3.55053, "fx":[-14.78379,7.85067,32.83718,11.41368], "fy":[-9.42695,-32.24869,-10.0978,15.22685]}, + {"t":0.85206, "x":1.47806, "y":6.78579, "heading":0.70511, "vx":-0.69014, "vy":-0.72325, "omega":1.95687, "ax":-0.0114, "ay":0.01088, "alpha":3.32113, "fx":[-22.60806,-0.1175,22.06566,-0.09394], "fy":[-0.24046,-21.79377,0.26708,22.48697]}, + {"t":0.88487, "x":1.45541, "y":6.76207, "heading":0.76931, "vx":-0.69052, "vy":-0.7229, "omega":2.06583, "ax":0.00659, "ay":-0.0063, "alpha":3.01797, "fx":[-20.14261,1.52107,20.19922,-1.14179], "fy":[-2.30053,-19.98982,1.55153,20.32244]}, + {"t":0.91768, "x":1.43276, "y":6.73835, "heading":0.83709, "vx":-0.6903, "vy":-0.7231, "omega":2.16484, "ax":-0.01575, "ay":0.01505, "alpha":2.68276, "fx":[-18.26274,2.19871,17.74407,-2.7216], "fy":[-2.44612,-17.15687,2.58789,18.01027]}, + {"t":0.95048, "x":1.41011, "y":6.71463, "heading":0.90811, "vx":-0.69082, "vy":-0.72261, "omega":2.25285, "ax":0.01334, "ay":-0.01275, "alpha":2.40927, "fx":[-15.58489,3.55495,15.96455,-3.05214], "fy":[-3.84471,-15.88865,3.23444,15.65573]}, + {"t":0.98329, "x":1.38745, "y":6.69092, "heading":0.98202, "vx":-0.69038, "vy":-0.72303, "omega":2.33189, "ax":-0.00399, "ay":0.00381, "alpha":2.0865, "fx":[-13.68728,3.81279,13.55735,-3.94677], "fy":[-4.00623,-12.98511,3.79829,13.4451]}, + {"t":1.0161, "x":1.3648, "y":6.6672, "heading":1.05852, "vx":-0.69051, "vy":-0.7229, "omega":2.40034, "ax":0.00633, "ay":-0.00605, "alpha":1.83308, "fx":[-11.45066,4.33432,11.56782,-4.03275], "fy":[-4.44441,-11.58566,4.19774,11.43248]}, + {"t":1.0489, "x":1.34215, "y":6.64348, "heading":1.13727, "vx":-0.6903, "vy":-0.7231, "omega":2.46048, "ax":-0.00528, "ay":0.00504, "alpha":1.5342, "fx":[-9.57092,4.21566,9.39575,-4.38971], "fy":[-4.34946,-8.95095,4.25568,9.37821]}, + {"t":1.08171, "x":1.3195, "y":6.61976, "heading":1.21799, "vx":-0.69048, "vy":-0.72294, "omega":2.51081, "ax":0.00333, "ay":-0.00318, "alpha":1.28782, "fx":[-7.56533,4.18984,7.55536,-3.95993], "fy":[-4.20757,-7.62615,4.12893,7.49474]}, + {"t":1.11452, "x":1.29685, "y":6.59604, "heading":1.30036, "vx":-0.69037, "vy":-0.72304, "omega":2.55306, "ax":-0.00356, "ay":0.0034, "alpha":1.01169, "fx":[-5.8073,3.68778,5.68897,-3.80519], "fy":[-3.75944,-5.38923,3.69818,5.67563]}, + {"t":1.14732, "x":1.2742, "y":6.57232, "heading":1.38412, "vx":-0.69048, "vy":-0.72293, "omega":2.58625, "ax":0.00263, "ay":-0.00251, "alpha":0.76584, "fx":[-4.11162,3.1391,4.07398,-2.92776], "fy":[-3.11298,-4.16313,3.08762,4.02258]}, + {"t":1.18013, "x":1.25155, "y":6.5486, "heading":1.46896, "vx":-0.6904, "vy":-0.72301, "omega":2.61138, "ax":-0.00219, "ay":0.00209, "alpha":0.50673, "fx":[-2.61543,2.235,2.54289,-2.30742], "fy":[-2.24885,-2.38886,2.23174,2.54441]}, + {"t":1.21294, "x":1.2289, "y":6.52489, "heading":1.55463, "vx":-0.69047, "vy":-0.72294, "omega":2.628, "ax":0.00197, "ay":-0.00189, "alpha":0.25822, "fx":[-1.28874,1.22565,1.24945,-1.05583], "fy":[-1.19502,-1.32744,1.18699,1.2108]}, + {"t":1.24574, "x":1.20624, "y":6.50117, "heading":1.64085, "vx":-0.6904, "vy":-0.723, "omega":2.63647, "ax":-0.00154, "ay":0.00148, "alpha":0.00706, "fx":[-0.15799,-0.04994,0.10698,-0.00121], "fy":[0.08452,-0.08461,-0.04402,0.14167]}, + {"t":1.27855, "x":1.18359, "y":6.47745, "heading":1.72734, "vx":-0.69046, "vy":-0.72296, "omega":2.6367, "ax":0.00136, "ay":-0.0013, "alpha":-0.24498, "fx":[0.751,-1.43494,-0.76789,1.54167], "fy":[1.43875,0.72669,-1.4591,-0.79213]}, + {"t":1.31136, "x":1.16094, "y":6.45373, "heading":1.81385, "vx":-0.69041, "vy":-0.723, "omega":2.62867, "ax":-0.00112, "ay":0.00107, "alpha":-0.49923, "fx":[1.43194,-3.02767,-1.46909,2.99048], "fy":[3.09759,1.38635,-3.00962,-1.40333]}, + {"t":1.34416, "x":1.13829, "y":6.43001, "heading":1.90008, "vx":-0.69045, "vy":-0.72296, "omega":2.61229, "ax":0.00093, "ay":-0.00088, "alpha":-0.75456, "fx":[1.87585,-4.69514,-1.84545,4.72595], "fy":[4.64812,1.86176,-4.7089,-1.85945]}, + {"t":1.37697, "x":1.11564, "y":6.40629, "heading":1.98578, "vx":-0.69042, "vy":-0.72299, "omega":2.58754, "ax":-0.00079, "ay":0.00076, "alpha":-1.0231, "fx":[2.03763,-6.53718,-2.06397,6.51109], "fy":[6.62677,1.91175,-6.51139,-1.97706]}, + {"t":1.40978, "x":1.09299, "y":6.38257, "heading":2.07067, "vx":-0.69044, "vy":-0.72297, "omega":2.55397, "ax":0.00065, "ay":-0.00062, "alpha":-1.28184, "fx":[1.97793,-8.38634,-1.8819,8.33333], "fy":[8.27179,1.97019,-8.39352,-1.88954]}, + {"t":1.44259, "x":1.07034, "y":6.35886, "heading":2.15446, "vx":-0.69042, "vy":-0.72299, "omega":2.51192, "ax":-0.00058, "ay":0.00055, "alpha":-1.57423, "fx":[1.57134,-10.3983,-1.59076,10.37946], "fy":[10.4906,1.41126,-10.37089,-1.49444]}, + {"t":1.47539, "x":1.04769, "y":6.33514, "heading":2.23687, "vx":-0.69044, "vy":-0.72297, "omega":2.46027, "ax":0.0005, "ay":-0.00048, "alpha":-1.83807, "fx":[0.98625,-12.32401,-0.81456,12.18563], "fy":[12.13355,0.98159,-12.32783,-0.81911]}, + {"t":1.5082, "x":1.02504, "y":6.31142, "heading":2.31758, "vx":-0.69042, "vy":-0.72298, "omega":2.39997, "ax":-0.00049, "ay":0.00047, "alpha":-2.16081, "fx":[-0.01134,-14.41884,-0.00525,14.4032], "fy":[14.49678,-0.15474,-14.39808,0.08682]}, + {"t":1.54101, "x":1.00239, "y":6.2877, "heading":2.39632, "vx":-0.69044, "vy":-0.72297, "omega":2.32908, "ax":0.00055, "ay":-0.00052, "alpha":-2.43389, "fx":[-1.12072,-16.31941,1.37111,16.10508], "fy":[16.05459,-1.12794,-16.32503,1.36393]}, + {"t":1.57381, "x":0.97974, "y":6.26398, "heading":2.47273, "vx":-0.69042, "vy":-0.72299, "omega":2.24923, "ax":-0.00057, "ay":0.00054, "alpha":-2.78947, "fx":[-2.70145,-18.41227,2.68218,18.39402], "fy":[18.45897,-2.77269,-18.40657,2.75613]}, + {"t":1.60662, "x":0.95709, "y":6.24026, "heading":2.54652, "vx":-0.69044, "vy":-0.72297, "omega":2.15772, "ax":0.00088, "ay":-0.00084, "alpha":-3.07849, "fx":[-4.30632,-20.19958,4.63089,19.93317], "fy":[19.87382,-4.32611,-20.21426,4.61101]}, + {"t":1.63943, "x":0.93443, "y":6.21654, "heading":2.61731, "vx":-0.69041, "vy":-0.723, "omega":2.05672, "ax":-0.00149, "ay":0.00143, "alpha":-3.46501, "fx":[-6.43761,-22.22999,6.38891,22.17995], "fy":[22.22676,-6.35683,-22.22645,6.45082]}, + {"t":1.67223, "x":0.91178, "y":6.19283, "heading":2.68478, "vx":-0.69046, "vy":-0.72295, "omega":1.94305, "ax":0.00195, "ay":-0.00187, "alpha":-3.77848, "fx":[-8.4634,-23.8263,8.86029,23.55855], "fy":[23.46904,-8.52421,-23.86708,8.79891]}, + {"t":1.70504, "x":0.88913, "y":6.16911, "heading":2.74852, "vx":-0.6904, "vy":-0.72301, "omega":1.81909, "ax":-0.00438, "ay":0.00418, "alpha":-4.18939, "fx":[-11.09525,-25.78657,10.96198,25.63035], "fy":[25.69779,-10.72909,-25.74014,11.04794]}, + {"t":1.73785, "x":0.86648, "y":6.14539, "heading":2.8082, "vx":-0.69054, "vy":-0.72287, "omega":1.68165, "ax":0.00804, "ay":-0.00767, "alpha":-4.53433, "fx":[-13.34164,-27.05314,13.9606,26.96568], "fy":[26.7202,-13.62176,-27.27045,13.66444]}, + {"t":1.77065, "x":0.84383, "y":6.12167, "heading":2.86337, "vx":-0.69028, "vy":-0.72313, "omega":1.53289, "ax":-0.00699, "ay":0.00668, "alpha":-4.95507, "fx":[-16.39044,-29.01637,16.25567,28.68882], "fy":[28.7184,-15.6087,-28.97684,16.30863]}, + {"t":1.80346, "x":0.82118, "y":6.09795, "heading":2.91366, "vx":-0.69051, "vy":-0.72291, "omega":1.37033, "ax":0.00214, "ay":-0.00192, "alpha":-5.33077, "fx":[-18.91552,-30.13994,19.43556,29.76116], "fy":[29.90411,-18.99907,-30.1579,19.12561]}, + {"t":1.83627, "x":0.79853, "y":6.07423, "heading":2.95862, "vx":-0.69044, "vy":-0.72297, "omega":1.19545, "ax":1.72445, "ay":1.8048, "alpha":-4.78992, "fx":[9.7198,1.89849,51.11584,51.31019], "fy":[58.27443,13.43825,2.6921,44.95324]}, + {"t":1.86907, "x":0.77681, "y":6.05149, "heading":2.99784, "vx":-0.63386, "vy":-0.66376, "omega":1.0383, "ax":2.75604, "ay":2.88619, "alpha":-3.78714, "fx":[26.79298,27.0313,67.61686,60.82636], "fy":[71.29978,37.96411,24.06676,57.54403]}, + {"t":1.90188, "x":0.75749, "y":6.03126, "heading":3.0319, "vx":-0.54345, "vy":-0.56907, "omega":0.91406, "ax":2.75932, "ay":2.88947, "alpha":-4.02264, "fx":[24.80583,27.11114,69.35289,61.21455], "fy":[72.82637,36.04215,23.35431,58.86892]}, + {"t":1.93469, "x":0.74115, "y":6.01415, "heading":3.06189, "vx":-0.45292, "vy":-0.47428, "omega":0.78209, "ax":2.76039, "ay":2.89059, "alpha":-4.2569, "fx":[23.1215,26.6136,71.29704,61.52312], "fy":[73.92929,34.86393,22.20269,60.16961]}, + {"t":1.96749, "x":0.72778, "y":6.00015, "heading":3.08755, "vx":-0.36236, "vy":-0.37945, "omega":0.64244, "ax":2.76094, "ay":2.89114, "alpha":-4.5196, "fx":[21.16532,26.30242,73.12249,62.00122], "fy":[75.47831,32.97856,21.29584,61.44894]}, + {"t":2.0003, "x":0.71737, "y":5.98925, "heading":3.10862, "vx":-0.27178, "vy":-0.2846, "omega":0.49416, "ax":2.76126, "ay":2.89147, "alpha":-4.7652, "fx":[19.50429,25.76626,74.96614,62.37603], "fy":[76.71734,31.50302,20.2808,62.72262]}, + {"t":2.03311, "x":0.70994, "y":5.98147, "heading":3.12483, "vx":-0.1812, "vy":-0.18974, "omega":0.33783, "ax":2.76148, "ay":2.89169, "alpha":-5.02405, "fx":[17.75324,25.24541,76.70076,62.92785], "fy":[78.23721,29.8515,19.29546,63.85401]}, + {"t":2.06591, "x":0.70549, "y":5.9768, "heading":3.13592, "vx":-0.0906, "vy":-0.09487, "omega":0.17301, "ax":2.76164, "ay":2.89185, "alpha":-5.27354, "fx":[16.22191,24.49023,78.39137,63.53391], "fy":[79.64505,28.44739,18.27461,64.88162]}, {"t":2.09872, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, diff --git a/src/main/deploy/choreo/MRtoCR.traj b/src/main/deploy/choreo/MRtoCR.traj index 26effdaa..2bdc05e2 100644 --- a/src/main/deploy/choreo/MRtoCR.traj +++ b/src/main/deploy/choreo/MRtoCR.traj @@ -62,9 +62,9 @@ {"t":0.18185, "x":3.081, "y":1.10306, "heading":-2.6786, "vx":-1.60082, "vy":2.58929, "omega":1.48641, "ax":-3.02841, "ay":1.91407, "alpha":-9.13023, "fx":[-94.18147,-86.46506,14.65081,-34.28445], "fy":[42.07108,-33.93663,26.84724,91.60274]}, {"t":0.21216, "x":3.03109, "y":1.18242, "heading":-2.63355, "vx":-1.69261, "vy":2.6473, "omega":1.20969, "ax":-2.98353, "ay":1.26655, "alpha":-8.1135, "fx":[-89.59458,-74.72819,4.70349,-37.69248], "fy":[30.93959,-36.6768,11.44398,78.0548]}, {"t":0.24247, "x":2.97842, "y":1.26324, "heading":-2.59688, "vx":-1.78304, "vy":2.68569, "omega":0.96377, "ax":-2.68868, "ay":0.71562, "alpha":-6.64368, "fx":[-79.31265,-60.28091,-1.59425,-36.62497], "fy":[20.26567,-34.61819,1.79705,59.88244]}, - {"t":0.27278, "x":2.92315, "y":1.34497, "heading":-2.56767, "vx":-1.86453, "vy":2.70738, "omega":0.76241, "ax":-2.14636, "ay":0.26294, "alpha":-4.70873, "fx":[-62.28902,-43.78197,-5.27451,-30.60136], "fy":[10.33876,-27.91762,-2.94146,37.90925]}, + {"t":0.27278, "x":2.92315, "y":1.34497, "heading":-2.56767, "vx":-1.86453, "vy":2.70738, "omega":0.76241, "ax":-2.14636, "ay":0.26294, "alpha":-4.70873, "fx":[-62.28902,-43.78197,-5.27451,-30.60136], "fy":[10.33876,-27.91763,-2.94146,37.90925]}, {"t":0.30309, "x":2.86565, "y":1.42715, "heading":-2.54456, "vx":-1.92958, "vy":2.71535, "omega":0.6197, "ax":-1.52162, "ay":-0.11125, "alpha":-2.61985, "fx":[-41.28234,-28.5837,-8.23583,-22.52872], "fy":[1.45451,-19.42461,-5.59218,16.20473]}, - {"t":0.3334, "x":2.80647, "y":1.5094, "heading":-2.52578, "vx":-1.9757, "vy":2.71198, "omega":0.54029, "ax":-1.05141, "ay":-0.46371, "alpha":-0.78643, "fx":[-22.46521,-18.19003,-12.25369,-16.62494], "fy":[-6.70232,-12.87971,-8.67919,-2.4054]}, + {"t":0.3334, "x":2.80647, "y":1.5094, "heading":-2.52578, "vx":-1.9757, "vy":2.71198, "omega":0.54029, "ax":-1.05141, "ay":-0.46371, "alpha":-0.78643, "fx":[-22.46521,-18.19003,-12.25369,-16.62494], "fy":[-6.70232,-12.8797,-8.67919,-2.4054]}, {"t":0.36371, "x":2.7461, "y":1.59138, "heading":-2.50941, "vx":-2.00757, "vy":2.69792, "omega":0.51646, "ax":-0.77804, "ay":-0.90677, "alpha":0.93072, "fx":[-6.65951,-12.0865,-19.02577,-13.68326], "fy":[-16.13345,-8.85714,-13.93986,-21.03753]}, {"t":0.39402, "x":2.6849, "y":1.67273, "heading":-2.49375, "vx":-2.03115, "vy":2.67044, "omega":0.54467, "ax":-0.59549, "ay":-1.55946, "alpha":3.01875, "fx":[10.97235,-7.75208,-30.44348,-12.15902], "fy":[-29.73562,-5.94886,-23.11442,-44.33416]}, {"t":0.42432, "x":2.62306, "y":1.75296, "heading":-2.47724, "vx":-2.0492, "vy":2.62317, "omega":0.63616, "ax":-0.47157, "ay":-2.38704, "alpha":5.37663, "fx":[30.75915,-4.50462,-46.24977,-11.19127], "fy":[-47.22752,-4.21867,-36.75495,-69.66304]}, diff --git a/src/main/deploy/choreo/OtoCR.traj b/src/main/deploy/choreo/OtoCR.traj index 7d97a05b..ea6c57e0 100644 --- a/src/main/deploy/choreo/OtoCR.traj +++ b/src/main/deploy/choreo/OtoCR.traj @@ -56,69 +56,69 @@ {"t":0.0, "x":0.43552, "y":0.54609, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.48298, "ay":6.04247, "alpha":0.00748, "fx":[74.10727,74.19831,74.1309,74.03985], "fy":[99.91144,99.84398,99.89421,99.96158]}, {"t":0.03804, "x":0.43876, "y":0.55047, "heading":1.5708, "vx":0.17053, "vy":0.22986, "omega":0.00028, "ax":4.48025, "ay":6.03879, "alpha":0.01044, "fx":[74.05746,74.18442,74.09049,73.96351], "fy":[99.85392,99.7599,99.83004,99.92389]}, {"t":0.07608, "x":0.44849, "y":0.56358, "heading":1.57081, "vx":0.34097, "vy":0.45958, "omega":0.00068, "ax":4.4721, "ay":6.02779, "alpha":0.01929, "fx":[73.90843,74.14274,73.96989,73.73553], "fy":[99.68184,99.50867,99.63855,99.81113]}, - {"t":0.11412, "x":0.4647, "y":0.58542, "heading":1.57083, "vx":0.51109, "vy":0.68888, "omega":0.00142, "ax":2.22369, "ay":2.99735, "alpha":2.81362, "fx":[24.77598,54.67068,47.33322,20.2811], "fy":[40.1773,34.31597,58.72416,65.00891]}, - {"t":0.15216, "x":0.48575, "y":0.6138, "heading":1.57089, "vx":0.59568, "vy":0.8029, "omega":0.10845, "ax":0.00005, "ay":0.0, "alpha":4.22282, "fx":[-19.91862,19.92402,19.9204,-19.92222], "fy":[-19.9231,-19.9194,19.92314,19.91962]}, - {"t":0.1902, "x":0.50841, "y":0.64434, "heading":1.57501, "vx":0.59568, "vy":0.8029, "omega":0.26908, "ax":0.0, "ay":0.0, "alpha":3.89866, "fx":[-18.31433,18.46944,18.31436,-18.46941], "fy":[-18.46944,-18.31435,18.46941,18.31433]}, - {"t":0.22824, "x":0.53107, "y":0.67488, "heading":1.58525, "vx":0.59568, "vy":0.8029, "omega":0.41739, "ax":0.0, "ay":0.0, "alpha":3.59311, "fx":[-16.70387,17.1938,16.70387,-17.1938], "fy":[-17.1938,-16.70387,17.1938,16.70387]}, + {"t":0.11412, "x":0.4647, "y":0.58542, "heading":1.57083, "vx":0.51109, "vy":0.68888, "omega":0.00142, "ax":2.22369, "ay":2.99735, "alpha":2.81361, "fx":[24.77598,54.67068,47.33321,20.2811], "fy":[40.1773,34.31597,58.72416,65.00891]}, + {"t":0.15216, "x":0.48575, "y":0.6138, "heading":1.57089, "vx":0.59568, "vy":0.8029, "omega":0.10845, "ax":0.00005, "ay":0.0, "alpha":4.22282, "fx":[-19.91861,19.92402,19.9204,-19.92222], "fy":[-19.9231,-19.91939,19.92314,19.91962]}, + {"t":0.1902, "x":0.50841, "y":0.64434, "heading":1.57501, "vx":0.59568, "vy":0.8029, "omega":0.26908, "ax":0.0, "ay":0.0, "alpha":3.89866, "fx":[-18.31432,18.46944,18.31435,-18.46941], "fy":[-18.46943,-18.31435,18.46941,18.31433]}, + {"t":0.22824, "x":0.53107, "y":0.67488, "heading":1.58525, "vx":0.59568, "vy":0.8029, "omega":0.41739, "ax":0.0, "ay":0.0, "alpha":3.59311, "fx":[-16.70386,17.19379,16.70386,-17.19379], "fy":[-17.19379,-16.70386,17.19379,16.70386]}, {"t":0.26628, "x":0.55373, "y":0.70542, "heading":1.60113, "vx":0.59568, "vy":0.8029, "omega":0.55407, "ax":0.0, "ay":0.0, "alpha":3.30606, "fx":[-15.11632,16.06225,15.11632,-16.06225], "fy":[-16.06225,-15.11632,16.06225,15.11632]}, - {"t":0.30432, "x":0.57639, "y":0.73597, "heading":1.6222, "vx":0.59568, "vy":0.8029, "omega":0.67984, "ax":0.0, "ay":0.0, "alpha":3.03722, "fx":[-13.57301,15.04551,13.57301,-15.04551], "fy":[-15.04551,-13.57301,15.04551,13.57301]}, + {"t":0.30432, "x":0.57639, "y":0.73597, "heading":1.6222, "vx":0.59568, "vy":0.8029, "omega":0.67984, "ax":0.0, "ay":0.0, "alpha":3.03722, "fx":[-13.57301,15.0455,13.57301,-15.0455], "fy":[-15.0455,-13.57301,15.0455,13.57301]}, {"t":0.34236, "x":0.59905, "y":0.76651, "heading":1.64806, "vx":0.59568, "vy":0.8029, "omega":0.79538, "ax":0.0, "ay":0.0, "alpha":2.78611, "fx":[-12.08977,14.11892,12.08977,-14.11892], "fy":[-14.11892,-12.08977,14.11892,12.08977]}, {"t":0.3804, "x":0.62171, "y":0.79705, "heading":1.67832, "vx":0.59568, "vy":0.8029, "omega":0.90136, "ax":0.0, "ay":0.0, "alpha":2.55213, "fx":[-10.67813,13.26229,10.67813,-13.26229], "fy":[-13.26229,-10.67813,13.26229,10.67813]}, - {"t":0.41844, "x":0.64437, "y":0.82759, "heading":1.71261, "vx":0.59568, "vy":0.8029, "omega":0.99844, "ax":0.0, "ay":0.0, "alpha":2.33456, "fx":[-9.3462,12.45943,9.3462,-12.45943], "fy":[-12.45943,-9.3462,12.45943,9.3462]}, + {"t":0.41844, "x":0.64437, "y":0.82759, "heading":1.71261, "vx":0.59568, "vy":0.8029, "omega":0.99844, "ax":0.0, "ay":0.0, "alpha":2.33456, "fx":[-9.3462,12.45942,9.3462,-12.45942], "fy":[-12.45942,-9.3462,12.45942,9.3462]}, {"t":0.45649, "x":0.66703, "y":0.85814, "heading":1.75059, "vx":0.59568, "vy":0.8029, "omega":1.08725, "ax":0.0, "ay":0.0, "alpha":2.13262, "fx":[-8.09942,11.69769,8.09942,-11.69769], "fy":[-11.69769,-8.09942,11.69769,8.09942]}, {"t":0.49453, "x":0.68969, "y":0.88868, "heading":1.79195, "vx":0.59568, "vy":0.8029, "omega":1.16838, "ax":0.0, "ay":0.0, "alpha":1.94547, "fx":[-6.94109,10.96751,6.94109,-10.96751], "fy":[-10.96751,-6.94109,10.96751,6.94109]}, - {"t":0.53257, "x":0.71235, "y":0.91922, "heading":1.8364, "vx":0.59568, "vy":0.8029, "omega":1.24239, "ax":0.0, "ay":0.0, "alpha":1.77223, "fx":[-5.87284,10.26192,5.87284,-10.26192], "fy":[-10.26192,-5.87284,10.26192,5.87284]}, + {"t":0.53257, "x":0.71235, "y":0.91922, "heading":1.8364, "vx":0.59568, "vy":0.8029, "omega":1.24238, "ax":0.0, "ay":0.0, "alpha":1.77223, "fx":[-5.87284,10.26192,5.87284,-10.26192], "fy":[-10.26192,-5.87284,10.26192,5.87284]}, {"t":0.57061, "x":0.73501, "y":0.94976, "heading":1.88366, "vx":0.59568, "vy":0.8029, "omega":1.3098, "ax":0.0, "ay":0.0, "alpha":1.612, "fx":[-4.89493,9.57607,4.89493,-9.57607], "fy":[-9.57607,-4.89493,9.57607,4.89493]}, {"t":0.60865, "x":0.75767, "y":0.98031, "heading":1.93348, "vx":0.59568, "vy":0.8029, "omega":1.37112, "ax":0.0, "ay":0.0, "alpha":1.46389, "fx":[-4.00655,8.90682,4.00655,-8.90682], "fy":[-8.90682,-4.00655,8.90682,4.00655]}, {"t":0.64669, "x":0.78033, "y":1.01085, "heading":1.98564, "vx":0.59568, "vy":0.8029, "omega":1.42681, "ax":0.0, "ay":0.0, "alpha":1.32701, "fx":[-3.20606,8.2524,3.20606,-8.25239], "fy":[-8.2524,-3.20606,8.25239,3.20606]}, - {"t":0.68473, "x":0.80299, "y":1.04139, "heading":2.03992, "vx":0.59568, "vy":0.8029, "omega":1.47729, "ax":0.0, "ay":0.0, "alpha":1.20051, "fx":[-2.49114,7.61203,2.49114,-7.61203], "fy":[-7.61203,-2.49114,7.61203,2.49114]}, - {"t":0.72277, "x":0.82565, "y":1.07193, "heading":2.09611, "vx":0.59568, "vy":0.8029, "omega":1.52296, "ax":0.0, "ay":0.0, "alpha":1.08353, "fx":[-1.85897,6.98575,1.85897,-6.98575], "fy":[-6.98575,-1.85897,6.98575,1.85897]}, - {"t":0.76081, "x":0.84831, "y":1.10248, "heading":2.15405, "vx":0.59568, "vy":0.8029, "omega":1.56418, "ax":0.0, "ay":0.0, "alpha":0.97527, "fx":[-1.30635,6.37411,1.30635,-6.37411], "fy":[-6.37411,-1.30635,6.37411,1.30635]}, + {"t":0.68473, "x":0.80299, "y":1.04139, "heading":2.03992, "vx":0.59568, "vy":0.8029, "omega":1.47729, "ax":0.0, "ay":0.0, "alpha":1.20051, "fx":[-2.49114,7.61204,2.49114,-7.61203], "fy":[-7.61204,-2.49114,7.61203,2.49114]}, + {"t":0.72277, "x":0.82565, "y":1.07193, "heading":2.09611, "vx":0.59568, "vy":0.8029, "omega":1.52296, "ax":0.0, "ay":0.0, "alpha":1.08353, "fx":[-1.85897,6.98576,1.85897,-6.98575], "fy":[-6.98576,-1.85897,6.98575,1.85897]}, + {"t":0.76081, "x":0.84831, "y":1.10248, "heading":2.15405, "vx":0.59568, "vy":0.8029, "omega":1.56417, "ax":0.0, "ay":0.0, "alpha":0.97527, "fx":[-1.30635,6.37411,1.30635,-6.37411], "fy":[-6.37411,-1.30635,6.37411,1.30635]}, {"t":0.79885, "x":0.87097, "y":1.13302, "heading":2.21355, "vx":0.59568, "vy":0.8029, "omega":1.60127, "ax":0.0, "ay":0.0, "alpha":0.87495, "fx":[-0.82984,5.77802,0.82984,-5.77802], "fy":[-5.77802,-0.82984,5.77802,0.82984]}, {"t":0.83689, "x":0.89363, "y":1.16356, "heading":2.27446, "vx":0.59568, "vy":0.8029, "omega":1.63456, "ax":0.0, "ay":0.0, "alpha":0.78183, "fx":[-0.42584,5.19863,0.42584,-5.19863], "fy":[-5.19863,-0.42584,5.19863,0.42584]}, - {"t":0.87493, "x":0.91629, "y":1.1941, "heading":2.33664, "vx":0.59568, "vy":0.8029, "omega":1.6643, "ax":0.0, "ay":0.0, "alpha":0.6952, "fx":[-0.09068,4.6372,0.09068,-4.63721], "fy":[-4.6372,-0.09068,4.63721,0.09068]}, - {"t":0.91297, "x":0.93895, "y":1.22465, "heading":2.39995, "vx":0.59568, "vy":0.8029, "omega":1.69074, "ax":0.0, "ay":0.0, "alpha":0.61439, "fx":[0.1793,4.09506,-0.17931,-4.09507], "fy":[-4.09506,0.17931,4.09507,-0.1793]}, - {"t":0.95101, "x":0.96161, "y":1.25519, "heading":2.46427, "vx":0.59568, "vy":0.8029, "omega":1.71412, "ax":0.0, "ay":0.0, "alpha":0.53877, "fx":[0.38771,3.57351,-0.38772,-3.57351], "fy":[-3.57351,0.38772,3.57351,-0.38771]}, - {"t":0.98905, "x":0.98427, "y":1.28573, "heading":2.52947, "vx":0.59568, "vy":0.8029, "omega":1.73461, "ax":0.0, "ay":0.0, "alpha":0.46773, "fx":[0.53802,3.0738,-0.53803,-3.0738], "fy":[-3.0738,0.53803,3.0738,-0.53802]}, - {"t":1.02709, "x":1.00693, "y":1.31627, "heading":2.59546, "vx":0.59568, "vy":0.8029, "omega":1.7524, "ax":0.0, "ay":0.0, "alpha":0.4007, "fx":[0.63354,2.59714,-0.63355,-2.59715], "fy":[-2.59715,0.63355,2.59715,-0.63354]}, - {"t":1.06513, "x":1.02959, "y":1.34682, "heading":2.66212, "vx":0.59568, "vy":0.8029, "omega":1.76765, "ax":0.0, "ay":0.0, "alpha":0.33712, "fx":[0.67738,2.14469,-0.67739,-2.1447], "fy":[-2.14469,0.67739,2.1447,-0.67739]}, - {"t":1.10317, "x":1.05225, "y":1.37736, "heading":2.72936, "vx":0.59568, "vy":0.8029, "omega":1.78047, "ax":0.0, "ay":0.0, "alpha":0.27647, "fx":[0.67244,1.71753,-0.67244,-1.71753], "fy":[-1.71753,0.67244,1.71753,-0.67244]}, - {"t":1.14121, "x":1.07491, "y":1.4079, "heading":2.79709, "vx":0.59568, "vy":0.8029, "omega":1.79099, "ax":0.0, "ay":0.0, "alpha":0.21823, "fx":[0.62133,1.31672,-0.62134,-1.31672], "fy":[-1.31672,0.62134,1.31672,-0.62133]}, + {"t":0.87493, "x":0.91629, "y":1.1941, "heading":2.33664, "vx":0.59568, "vy":0.8029, "omega":1.6643, "ax":0.0, "ay":0.0, "alpha":0.6952, "fx":[-0.09068,4.63721,0.09068,-4.63721], "fy":[-4.63721,-0.09068,4.63721,0.09068]}, + {"t":0.91297, "x":0.93895, "y":1.22465, "heading":2.39995, "vx":0.59568, "vy":0.8029, "omega":1.69074, "ax":0.0, "ay":0.0, "alpha":0.61439, "fx":[0.1793,4.09507,-0.17931,-4.09507], "fy":[-4.09507,0.17931,4.09507,-0.1793]}, + {"t":0.95101, "x":0.96161, "y":1.25519, "heading":2.46427, "vx":0.59568, "vy":0.8029, "omega":1.71412, "ax":0.0, "ay":0.0, "alpha":0.53877, "fx":[0.38771,3.57351,-0.38772,-3.57352], "fy":[-3.57351,0.38772,3.57351,-0.38771]}, + {"t":0.98905, "x":0.98427, "y":1.28573, "heading":2.52947, "vx":0.59568, "vy":0.8029, "omega":1.73461, "ax":0.0, "ay":0.0, "alpha":0.46773, "fx":[0.53802,3.0738,-0.53803,-3.07381], "fy":[-3.0738,0.53803,3.07381,-0.53802]}, + {"t":1.02709, "x":1.00693, "y":1.31627, "heading":2.59546, "vx":0.59568, "vy":0.8029, "omega":1.7524, "ax":0.0, "ay":0.0, "alpha":0.4007, "fx":[0.63354,2.59715,-0.63355,-2.59715], "fy":[-2.59715,0.63355,2.59715,-0.63354]}, + {"t":1.06513, "x":1.02959, "y":1.34682, "heading":2.66212, "vx":0.59568, "vy":0.8029, "omega":1.76765, "ax":0.0, "ay":0.0, "alpha":0.33712, "fx":[0.67739,2.14469,-0.67739,-2.1447], "fy":[-2.14469,0.67739,2.1447,-0.67739]}, + {"t":1.10317, "x":1.05225, "y":1.37736, "heading":2.72936, "vx":0.59568, "vy":0.8029, "omega":1.78047, "ax":0.0, "ay":0.0, "alpha":0.27647, "fx":[0.67244,1.71753,-0.67244,-1.71754], "fy":[-1.71753,0.67244,1.71754,-0.67244]}, + {"t":1.14121, "x":1.07491, "y":1.4079, "heading":2.79709, "vx":0.59568, "vy":0.8029, "omega":1.79099, "ax":0.0, "ay":0.0, "alpha":0.21823, "fx":[0.62134,1.31672,-0.62134,-1.31673], "fy":[-1.31672,0.62134,1.31673,-0.62134]}, {"t":1.17925, "x":1.09757, "y":1.43844, "heading":2.86522, "vx":0.59568, "vy":0.8029, "omega":1.79929, "ax":0.0, "ay":0.0, "alpha":0.16192, "fx":[0.52645,0.94332,-0.52645,-0.94332], "fy":[-0.94332,0.52645,0.94332,-0.52645]}, {"t":1.21729, "x":1.12023, "y":1.46899, "heading":2.93367, "vx":0.59568, "vy":0.8029, "omega":1.80545, "ax":0.0, "ay":0.0, "alpha":0.10705, "fx":[0.38989,0.59839,-0.38989,-0.59839], "fy":[-0.59839,0.38989,0.59839,-0.38989]}, {"t":1.25533, "x":1.14288, "y":1.49953, "heading":3.00235, "vx":0.59568, "vy":0.8029, "omega":1.80952, "ax":0.0, "ay":0.0, "alpha":0.05314, "fx":[0.21348,0.28308,-0.21348,-0.28307], "fy":[-0.28308,0.21348,0.28307,-0.21348]}, {"t":1.29337, "x":1.16554, "y":1.53007, "heading":3.07119, "vx":0.59568, "vy":0.8029, "omega":1.81154, "ax":0.0, "ay":0.0, "alpha":-0.00027, "fx":[-0.00119,-0.00137,0.0012,0.00138], "fy":[0.00137,-0.0012,-0.00138,0.00119]}, - {"t":1.33142, "x":1.1882, "y":1.56061, "heading":3.1401, "vx":0.59568, "vy":0.8029, "omega":1.81153, "ax":0.0, "ay":0.0, "alpha":-0.05367, "fx":[-0.25281,-0.25356,0.25281,0.25357], "fy":[0.25356,-0.25281,-0.25357,0.25281]}, - {"t":1.36946, "x":1.21086, "y":1.59116, "heading":-3.07418, "vx":0.59568, "vy":0.8029, "omega":1.80949, "ax":0.0, "ay":0.0, "alpha":-0.10752, "fx":[-0.54024,-0.4719,0.54025,0.47191], "fy":[0.4719,-0.54025,-0.47191,0.54024]}, - {"t":1.4075, "x":1.23352, "y":1.6217, "heading":-3.00534, "vx":0.59568, "vy":0.8029, "omega":1.8054, "ax":0.0, "ay":0.0, "alpha":-0.1623, "fx":[-0.86256,-0.65456,0.86256,0.65457], "fy":[0.65456,-0.86256,-0.65457,0.86256]}, + {"t":1.33142, "x":1.1882, "y":1.56061, "heading":3.1401, "vx":0.59568, "vy":0.8029, "omega":1.81153, "ax":0.0, "ay":0.0, "alpha":-0.05367, "fx":[-0.2528,-0.25356,0.25281,0.25357], "fy":[0.25356,-0.25281,-0.25357,0.25281]}, + {"t":1.36946, "x":1.21086, "y":1.59116, "heading":-3.07418, "vx":0.59568, "vy":0.8029, "omega":1.80949, "ax":0.0, "ay":0.0, "alpha":-0.10752, "fx":[-0.54024,-0.4719,0.54025,0.47191], "fy":[0.4719,-0.54024,-0.47191,0.54024]}, + {"t":1.4075, "x":1.23352, "y":1.6217, "heading":-3.00534, "vx":0.59568, "vy":0.8029, "omega":1.8054, "ax":0.0, "ay":0.0, "alpha":-0.1623, "fx":[-0.86255,-0.65456,0.86256,0.65457], "fy":[0.65456,-0.86256,-0.65456,0.86255]}, {"t":1.44554, "x":1.25618, "y":1.65224, "heading":-2.93666, "vx":0.59568, "vy":0.8029, "omega":1.79923, "ax":0.0, "ay":0.0, "alpha":-0.2185, "fx":[-1.21895,-0.79944,1.21896,0.79944], "fy":[0.79944,-1.21896,-0.79944,1.21895]}, - {"t":1.48358, "x":1.27884, "y":1.68279, "heading":-2.86822, "vx":0.59568, "vy":0.8029, "omega":1.79092, "ax":0.0, "ay":0.0, "alpha":-0.2766, "fx":[-1.60872,-0.90413,1.60872,0.90414], "fy":[0.90414,-1.60872,-0.90414,1.60872]}, - {"t":1.52162, "x":1.3015, "y":1.71333, "heading":-2.80009, "vx":0.59568, "vy":0.8029, "omega":1.78039, "ax":0.0, "ay":0.0, "alpha":-0.33712, "fx":[-2.03118,-0.96593,2.03118,0.96594], "fy":[0.96593,-2.03118,-0.96594,2.03118]}, + {"t":1.48358, "x":1.27884, "y":1.68279, "heading":-2.86822, "vx":0.59568, "vy":0.8029, "omega":1.79092, "ax":0.0, "ay":0.0, "alpha":-0.2766, "fx":[-1.60872,-0.90413,1.60872,0.90414], "fy":[0.90413,-1.60872,-0.90414,1.60872]}, + {"t":1.52162, "x":1.3015, "y":1.71333, "heading":-2.80009, "vx":0.59568, "vy":0.8029, "omega":1.78039, "ax":0.0, "ay":0.0, "alpha":-0.33712, "fx":[-2.03118,-0.96593,2.03118,0.96594], "fy":[0.96593,-2.03118,-0.96593,2.03118]}, {"t":1.55966, "x":1.32416, "y":1.74387, "heading":-2.73237, "vx":0.59568, "vy":0.8029, "omega":1.76757, "ax":0.0, "ay":0.0, "alpha":-0.40058, "fx":[-2.48565,-0.98178,2.48565,0.98179], "fy":[0.98179,-2.48565,-0.98179,2.48565]}, {"t":1.5977, "x":1.34682, "y":1.77441, "heading":-2.66513, "vx":0.59568, "vy":0.8029, "omega":1.75233, "ax":0.0, "ay":0.0, "alpha":-0.46751, "fx":[-2.97138,-0.94832,2.97138,0.94832], "fy":[0.94832,-2.97138,-0.94832,2.97138]}, {"t":1.63574, "x":1.36948, "y":1.80496, "heading":-2.59847, "vx":0.59568, "vy":0.8029, "omega":1.73455, "ax":0.0, "ay":0.0, "alpha":-0.53847, "fx":[-3.48754,-0.86187,3.48754,0.86187], "fy":[0.86187,-3.48754,-0.86187,3.48754]}, {"t":1.67378, "x":1.39214, "y":1.8355, "heading":-2.53249, "vx":0.59568, "vy":0.8029, "omega":1.71406, "ax":0.0, "ay":0.0, "alpha":-0.61404, "fx":[-4.03313,-0.71846,4.03312,0.71846], "fy":[0.71846,-4.03313,-0.71846,4.03313]}, - {"t":1.71182, "x":1.4148, "y":1.86604, "heading":-2.46728, "vx":0.59568, "vy":0.8029, "omega":1.6907, "ax":0.0, "ay":0.0, "alpha":-0.69482, "fx":[-4.60701,-0.5139,4.60701,0.51389], "fy":[0.5139,-4.60701,-0.5139,4.60701]}, + {"t":1.71182, "x":1.4148, "y":1.86604, "heading":-2.46728, "vx":0.59568, "vy":0.8029, "omega":1.6907, "ax":0.0, "ay":0.0, "alpha":-0.69482, "fx":[-4.60701,-0.5139,4.60701,0.5139], "fy":[0.5139,-4.60701,-0.5139,4.60701]}, {"t":1.74986, "x":1.43746, "y":1.89658, "heading":-2.40297, "vx":0.59568, "vy":0.8029, "omega":1.66427, "ax":0.0, "ay":0.0, "alpha":-0.78146, "fx":[-5.20788,-0.24376,5.20788,0.24376], "fy":[0.24376,-5.20788,-0.24376,5.20788]}, {"t":1.7879, "x":1.46012, "y":1.92713, "heading":-2.33966, "vx":0.59568, "vy":0.8029, "omega":1.63455, "ax":0.0, "ay":0.0, "alpha":-0.87461, "fx":[-5.83426,0.09649,5.83426,-0.09649], "fy":[-0.09649,-5.83426,0.09649,5.83426]}, - {"t":1.82594, "x":1.48278, "y":1.95767, "heading":-2.27748, "vx":0.59568, "vy":0.8029, "omega":1.60128, "ax":0.0, "ay":0.0, "alpha":-0.97498, "fx":[-6.48454,0.51149,6.48454,-0.5115], "fy":[-0.51149,-6.48454,0.5115,6.48454]}, + {"t":1.82594, "x":1.48278, "y":1.95767, "heading":-2.27748, "vx":0.59568, "vy":0.8029, "omega":1.60128, "ax":0.0, "ay":0.0, "alpha":-0.97498, "fx":[-6.48455,0.51149,6.48454,-0.5115], "fy":[-0.51149,-6.48454,0.5115,6.48454]}, {"t":1.86398, "x":1.50544, "y":1.98821, "heading":-2.21656, "vx":0.59568, "vy":0.8029, "omega":1.56419, "ax":0.0, "ay":0.0, "alpha":-1.0833, "fx":[-7.15703,1.00588,7.15703,-1.00588], "fy":[-1.00588,-7.15703,1.00588,7.15703]}, {"t":1.90202, "x":1.5281, "y":2.01875, "heading":-2.15706, "vx":0.59568, "vy":0.8029, "omega":1.52298, "ax":0.0, "ay":0.0, "alpha":-1.20035, "fx":[-7.84999,1.58418,7.84999,-1.58418], "fy":[-1.58418,-7.84999,1.58418,7.84999]}, - {"t":1.94006, "x":1.55076, "y":2.0493, "heading":-2.09913, "vx":0.59568, "vy":0.8029, "omega":1.47732, "ax":0.0, "ay":0.0, "alpha":-1.32692, "fx":[-8.56177,2.25074,8.56177,-2.25074], "fy":[-2.25074,-8.56177,2.25074,8.56177]}, + {"t":1.94006, "x":1.55076, "y":2.0493, "heading":-2.09913, "vx":0.59568, "vy":0.8029, "omega":1.47732, "ax":0.0, "ay":0.0, "alpha":-1.32692, "fx":[-8.56178,2.25074,8.56177,-2.25074], "fy":[-2.25074,-8.56177,2.25074,8.56178]}, {"t":1.9781, "x":1.57342, "y":2.07984, "heading":-2.04293, "vx":0.59568, "vy":0.8029, "omega":1.42684, "ax":0.0, "ay":0.0, "alpha":-1.46385, "fx":[-9.29094,3.00962,9.29094,-3.00962], "fy":[-3.00962,-9.29094,3.00962,9.29094]}, - {"t":2.01614, "x":1.59608, "y":2.11038, "heading":-1.98865, "vx":0.59568, "vy":0.8029, "omega":1.37115, "ax":0.0, "ay":0.0, "alpha":-1.61201, "fx":[-10.03641,3.8644,10.03642,-3.8644], "fy":[-3.8644,-10.03642,3.8644,10.03642]}, - {"t":2.05418, "x":1.61874, "y":2.14092, "heading":-1.93649, "vx":0.59568, "vy":0.8029, "omega":1.30983, "ax":0.0, "ay":0.0, "alpha":-1.77227, "fx":[-10.79772,4.8181,10.79772,-4.8181], "fy":[-4.8181,-10.79772,4.8181,10.79772]}, - {"t":2.09222, "x":1.6414, "y":2.17147, "heading":-1.88667, "vx":0.59568, "vy":0.8029, "omega":1.24241, "ax":0.0, "ay":0.0, "alpha":-1.94554, "fx":[-11.57523,5.87294,11.57523,-5.87294], "fy":[-5.87294,-11.57523,5.87294,11.57523]}, - {"t":2.13026, "x":1.66406, "y":2.20201, "heading":-1.8394, "vx":0.59568, "vy":0.8029, "omega":1.1684, "ax":0.0, "ay":0.0, "alpha":-2.13271, "fx":[-12.37046,7.03022,12.37046,-7.03021], "fy":[-7.03022,-12.37046,7.03021,12.37046]}, + {"t":2.01614, "x":1.59608, "y":2.11038, "heading":-1.98865, "vx":0.59568, "vy":0.8029, "omega":1.37115, "ax":0.0, "ay":0.0, "alpha":-1.61201, "fx":[-10.03642,3.8644,10.03642,-3.8644], "fy":[-3.8644,-10.03642,3.8644,10.03642]}, + {"t":2.05418, "x":1.61874, "y":2.14092, "heading":-1.93649, "vx":0.59568, "vy":0.8029, "omega":1.30983, "ax":0.0, "ay":0.0, "alpha":-1.77228, "fx":[-10.79772,4.8181,10.79772,-4.8181], "fy":[-4.8181,-10.79772,4.8181,10.79772]}, + {"t":2.09222, "x":1.6414, "y":2.17147, "heading":-1.88667, "vx":0.59568, "vy":0.8029, "omega":1.24241, "ax":0.0, "ay":0.0, "alpha":-1.94554, "fx":[-11.57523,5.87295,11.57523,-5.87294], "fy":[-5.87295,-11.57523,5.87294,11.57523]}, + {"t":2.13026, "x":1.66406, "y":2.20201, "heading":-1.8394, "vx":0.59568, "vy":0.8029, "omega":1.1684, "ax":0.0, "ay":0.0, "alpha":-2.13271, "fx":[-12.37046,7.03022,12.37046,-7.03021], "fy":[-7.03022,-12.37046,7.03022,12.37046]}, {"t":2.1683, "x":1.68672, "y":2.23255, "heading":-1.79496, "vx":0.59568, "vy":0.8029, "omega":1.08728, "ax":0.0, "ay":0.0, "alpha":-2.33465, "fx":[-13.18646,8.28997,13.18646,-8.28997], "fy":[-8.28997,-13.18646,8.28997,13.18646]}, {"t":2.20635, "x":1.70938, "y":2.26309, "heading":-1.7536, "vx":0.59568, "vy":0.8029, "omega":0.99846, "ax":0.0, "ay":0.0, "alpha":-2.55221, "fx":[-14.02822,9.6508,14.02822,-9.6508], "fy":[-9.6508,-14.02822,9.6508,14.02822]}, {"t":2.24439, "x":1.73204, "y":2.29364, "heading":-1.71562, "vx":0.59568, "vy":0.8029, "omega":0.90138, "ax":0.0, "ay":0.0, "alpha":-2.78618, "fx":[-14.90314,11.10946,14.90314,-11.10946], "fy":[-11.10946,-14.90314,11.10946,14.90314]}, {"t":2.28243, "x":1.7547, "y":2.32418, "heading":-1.68133, "vx":0.59568, "vy":0.8029, "omega":0.79539, "ax":0.0, "ay":0.0, "alpha":-3.03727, "fx":[-15.82152,12.6605,15.82152,-12.6605], "fy":[-12.6605,-15.82152,12.6605,15.82152]}, {"t":2.32047, "x":1.77736, "y":2.35472, "heading":-1.65107, "vx":0.59568, "vy":0.8029, "omega":0.67985, "ax":0.0, "ay":0.0, "alpha":-3.3061, "fx":[-16.79708,14.29577,16.79708,-14.29577], "fy":[-14.29577,-16.79708,14.29577,16.79708]}, - {"t":2.35851, "x":1.80002, "y":2.38526, "heading":-1.62521, "vx":0.59568, "vy":0.8029, "omega":0.55409, "ax":0.0, "ay":0.0, "alpha":-3.59313, "fx":[-17.84749,16.00377,17.84749,-16.00377], "fy":[-16.00377,-17.84749,16.00377,17.84749]}, - {"t":2.39655, "x":1.82268, "y":2.41581, "heading":-1.60413, "vx":0.59568, "vy":0.8029, "omega":0.4174, "ax":0.0, "ay":0.0, "alpha":-3.89867, "fx":[-18.99486,17.76889,18.99483,-17.76892], "fy":[-17.76889,-18.99483,17.76892,18.99485]}, + {"t":2.35851, "x":1.80002, "y":2.38526, "heading":-1.62521, "vx":0.59568, "vy":0.8029, "omega":0.55409, "ax":0.0, "ay":0.0, "alpha":-3.59313, "fx":[-17.8475,16.00377,17.84749,-16.00377], "fy":[-16.00377,-17.84749,16.00377,17.8475]}, + {"t":2.39655, "x":1.82268, "y":2.41581, "heading":-1.60413, "vx":0.59568, "vy":0.8029, "omega":0.4174, "ax":0.0, "ay":0.0, "alpha":-3.89867, "fx":[-18.99486,17.76889,18.99483,-17.76892], "fy":[-17.7689,-18.99483,17.76892,18.99486]}, {"t":2.43459, "x":1.84534, "y":2.44635, "heading":-1.58825, "vx":0.59568, "vy":0.8029, "omega":0.26909, "ax":-0.00006, "ay":0.0, "alpha":-4.22282, "fx":[-20.2669,19.56961,20.26507,-19.57145], "fy":[-19.57053,-20.26608,19.57053,20.26589]}, - {"t":2.47263, "x":1.868, "y":2.47689, "heading":-1.57802, "vx":0.59568, "vy":0.8029, "omega":0.10846, "ax":-2.22369, "ay":-2.99736, "alpha":-2.81387, "fx":[-47.44425,-20.37853,-24.62861,-54.60944], "fy":[-58.62488,-65.06062,-40.30922,-34.23173]}, + {"t":2.47263, "x":1.868, "y":2.47689, "heading":-1.57802, "vx":0.59568, "vy":0.8029, "omega":0.10846, "ax":-2.22369, "ay":-2.99736, "alpha":-2.81387, "fx":[-47.44425,-20.37852,-24.62861,-54.60944], "fy":[-58.62488,-65.06062,-40.30922,-34.23173]}, {"t":2.51067, "x":1.88905, "y":2.50526, "heading":-1.57389, "vx":0.51109, "vy":0.68888, "omega":0.00142, "ax":-4.4721, "ay":-6.02779, "alpha":-0.01929, "fx":[-73.97053,-73.73563,-73.90781,-74.14266], "fy":[-99.63807,-99.81106,-99.6823,-99.50873]}, {"t":2.54871, "x":1.90526, "y":2.52711, "heading":-1.57384, "vx":0.34097, "vy":0.45958, "omega":0.00068, "ax":-4.48025, "ay":-6.03879, "alpha":-0.01044, "fx":[-74.09083,-73.96357,-74.05712,-74.18437], "fy":[-99.82979,-99.92385,-99.85417,-99.75993]}, {"t":2.58675, "x":1.91499, "y":2.54022, "heading":-1.57381, "vx":0.17053, "vy":0.22986, "omega":0.00028, "ax":-4.48298, "ay":-6.04247, "alpha":-0.00748, "fx":[-74.13114,-74.03989,-74.10703,-74.19828], "fy":[-99.89403,-99.96156,-99.91161,-99.844]}, diff --git a/src/main/deploy/choreo/OtoS.traj b/src/main/deploy/choreo/OtoS.traj index ba7f5559..00147321 100644 --- a/src/main/deploy/choreo/OtoS.traj +++ b/src/main/deploy/choreo/OtoS.traj @@ -75,7 +75,7 @@ {"t":0.71082, "x":1.17178, "y":1.08976, "heading":2.0156, "vx":1.20635, "vy":0.89079, "omega":1.45775, "ax":0.0, "ay":0.0, "alpha":0.88465, "fx":[-1.97157,5.563,1.97155,-5.56301], "fy":[-5.563,-1.97155,5.56301,1.97157]}, {"t":0.74823, "x":1.21691, "y":1.12308, "heading":2.07014, "vx":1.20635, "vy":0.89079, "omega":1.49085, "ax":0.0, "ay":0.0, "alpha":0.69709, "fx":[-1.31232,4.46173,1.3123,-4.46175], "fy":[-4.46173,-1.31229,4.46175,1.31232]}, {"t":0.78564, "x":1.26204, "y":1.15641, "heading":2.12591, "vx":1.20635, "vy":0.89079, "omega":1.51693, "ax":0.0, "ay":0.0, "alpha":0.51652, "fx":[-0.78658,3.35503,0.78655,-3.35506], "fy":[-3.35503,-0.78654,3.35506,0.78658]}, - {"t":0.82305, "x":1.30717, "y":1.18973, "heading":2.18266, "vx":1.20635, "vy":0.89079, "omega":1.53625, "ax":0.0, "ay":0.0, "alpha":0.34118, "fx":[-0.39304,2.24205,0.39301,-2.24208], "fy":[-2.24204,-0.393,2.24208,0.39304]}, + {"t":0.82305, "x":1.30717, "y":1.18973, "heading":2.18266, "vx":1.20635, "vy":0.89079, "omega":1.53625, "ax":0.0, "ay":0.0, "alpha":0.34118, "fx":[-0.39304,2.24204,0.39301,-2.24208], "fy":[-2.24204,-0.393,2.24208,0.39304]}, {"t":0.86046, "x":1.3523, "y":1.22306, "heading":2.24014, "vx":1.20635, "vy":0.89079, "omega":1.54901, "ax":0.0, "ay":0.0, "alpha":0.16936, "fx":[-0.13085,1.12226,0.13082,-1.12229], "fy":[-1.12225,-0.13082,1.12229,0.13086]}, {"t":0.89788, "x":1.39743, "y":1.25638, "heading":2.29809, "vx":1.20635, "vy":0.89079, "omega":1.55535, "ax":0.0, "ay":0.0, "alpha":-0.0007, "fx":[0.00026,-0.00465,-0.00028,0.00462], "fy":[0.00466,0.00029,-0.00462,-0.00025]}, {"t":0.93529, "x":1.44257, "y":1.28971, "heading":2.35627, "vx":1.20635, "vy":0.89079, "omega":1.55532, "ax":0.0, "ay":0.0, "alpha":-0.1707, "fx":[-0.0001,-1.13884,0.00008,1.13882], "fy":[1.13884,-0.00008,-1.13881,0.00011]}, @@ -90,7 +90,7 @@ {"t":1.27199, "x":1.84875, "y":1.58964, "heading":2.85026, "vx":1.20635, "vy":0.89079, "omega":1.24753, "ax":0.0, "ay":0.0, "alpha":-1.98747, "fx":[-6.28777,-11.67393,6.28779,11.67394], "fy":[11.67392,-6.28779,-11.67394,6.28777]}, {"t":1.3094, "x":1.89388, "y":1.62297, "heading":2.89693, "vx":1.20635, "vy":0.89079, "omega":1.17317, "ax":0.0, "ay":0.0, "alpha":-2.25303, "fx":[-7.73761,-12.88684,7.73762,12.88685], "fy":[12.88684,-7.73762,-12.88685,7.73761]}, {"t":1.34681, "x":1.93901, "y":1.65629, "heading":2.94082, "vx":1.20635, "vy":0.89079, "omega":1.08888, "ax":0.0, "ay":0.0, "alpha":-2.53718, "fx":[-9.34178,-14.11577,9.34178,14.11578], "fy":[14.11577,-9.34178,-14.11578,9.34178]}, - {"t":1.38423, "x":1.98414, "y":1.68962, "heading":2.98156, "vx":1.20635, "vy":0.89079, "omega":0.99396, "ax":0.0, "ay":0.0, "alpha":-2.8411, "fx":[-11.09587,-15.36753,11.09587,15.36754], "fy":[15.36754,-11.09587,-15.36754,11.09587]}, + {"t":1.38423, "x":1.98414, "y":1.68962, "heading":2.98156, "vx":1.20635, "vy":0.89079, "omega":0.99396, "ax":0.0, "ay":0.0, "alpha":-2.8411, "fx":[-11.09586,-15.36753,11.09587,15.36754], "fy":[15.36754,-11.09587,-15.36754,11.09587]}, {"t":1.42164, "x":2.02928, "y":1.72294, "heading":3.01874, "vx":1.20635, "vy":0.89079, "omega":0.88767, "ax":0.0, "ay":0.0, "alpha":-3.16577, "fx":[-12.99195,-16.65223,12.99195,16.65223], "fy":[16.65223,-12.99195,-16.65223,12.99195]}, {"t":1.45905, "x":2.07441, "y":1.75627, "heading":3.05195, "vx":1.20635, "vy":0.89079, "omega":0.76924, "ax":0.0, "ay":0.0, "alpha":-3.51189, "fx":[-15.01777,-17.9841,15.01777,17.9841], "fy":[17.9841,-15.01777,-17.9841,15.01777]}, {"t":1.49646, "x":2.11954, "y":1.78959, "heading":3.08073, "vx":1.20635, "vy":0.89079, "omega":0.63785, "ax":0.0, "ay":0.0, "alpha":-3.87978, "fx":[-17.1558,-19.38242,17.1558,19.38243], "fy":[19.38242,-17.1558,-19.38243,17.15579]}, diff --git a/src/main/deploy/choreo/PLtoDRO.traj b/src/main/deploy/choreo/PLtoDRO.traj index c573b70f..f1ea0eab 100644 --- a/src/main/deploy/choreo/PLtoDRO.traj +++ b/src/main/deploy/choreo/PLtoDRO.traj @@ -67,7 +67,7 @@ {"t":0.23633, "x":3.96647, "y":7.35273, "heading":1.57181, "vx":1.49922, "vy":-0.03182, "omega":0.18867, "ax":0.0, "ay":0.0, "alpha":4.57143, "fx":[-21.54409,21.58766,21.54409,-21.58766], "fy":[-21.58766,-21.54409,21.58766,21.54409]}, {"t":0.27009, "x":4.01708, "y":7.35166, "heading":1.57818, "vx":1.49922, "vy":-0.03182, "omega":0.343, "ax":0.0, "ay":0.0, "alpha":4.21207, "fx":[-19.72342,20.0167,19.72342,-20.0167], "fy":[-20.0167,-19.72342,20.0167,19.72342]}, {"t":0.30385, "x":4.0677, "y":7.35058, "heading":1.58976, "vx":1.49922, "vy":-0.03182, "omega":0.48521, "ax":0.0, "ay":0.0, "alpha":3.87049, "fx":[-17.9097,18.60205,17.9097,-18.60205], "fy":[-18.60205,-17.9097,18.60205,17.9097]}, - {"t":0.33761, "x":4.11831, "y":7.34951, "heading":1.60614, "vx":1.49922, "vy":-0.03182, "omega":0.61588, "ax":0.0, "ay":0.0, "alpha":3.54695, "fx":[-16.13116,17.31363,16.13116,-17.31363], "fy":[-17.31363,-16.13115,17.31363,16.13116]}, + {"t":0.33761, "x":4.11831, "y":7.34951, "heading":1.60614, "vx":1.49922, "vy":-0.03182, "omega":0.61588, "ax":0.0, "ay":0.0, "alpha":3.54695, "fx":[-16.13116,17.31363,16.13115,-17.31363], "fy":[-17.31363,-16.13115,17.31363,16.13116]}, {"t":0.37137, "x":4.16893, "y":7.34843, "heading":1.62693, "vx":1.49922, "vy":-0.03182, "omega":0.73563, "ax":0.0, "ay":0.0, "alpha":3.24146, "fx":[-14.40966,16.12554,14.40966,-16.12554], "fy":[-16.12554,-14.40966,16.12554,14.40967]}, {"t":0.40514, "x":4.21954, "y":7.34736, "heading":1.65177, "vx":1.49922, "vy":-0.03182, "omega":0.84507, "ax":0.0, "ay":0.0, "alpha":2.95379, "fx":[-12.76189,15.01601,12.76189,-15.01601], "fy":[-15.016,-12.76189,15.01601,12.7619]}, {"t":0.4389, "x":4.27016, "y":7.34628, "heading":1.6803, "vx":1.49922, "vy":-0.03182, "omega":0.94479, "ax":0.0, "ay":0.0, "alpha":2.6835, "fx":[-11.20023,13.96714,11.20022,-13.96714], "fy":[-13.96714,-11.20022,13.96715,11.20023]}, @@ -84,7 +84,7 @@ {"t":0.81027, "x":4.82693, "y":7.33447, "heading":2.15723, "vx":1.49922, "vy":-0.03182, "omega":1.54885, "ax":0.0, "ay":0.0, "alpha":0.60942, "fx":[-0.80362,3.9856,0.80362,-3.9856], "fy":[-3.98562,-0.80364,3.98558,0.8036]}, {"t":0.84403, "x":4.87755, "y":7.33339, "heading":2.20952, "vx":1.49922, "vy":-0.03182, "omega":1.56943, "ax":0.0, "ay":0.0, "alpha":0.47503, "fx":[-0.46317,3.13518,0.46317,-3.13518], "fy":[-3.1352,-0.46319,3.13515,0.46314]}, {"t":0.8778, "x":4.92817, "y":7.33232, "heading":2.26251, "vx":1.49922, "vy":-0.03182, "omega":1.58547, "ax":0.0, "ay":0.0, "alpha":0.3448, "fx":[-0.2152,2.29028,0.21519,-2.29028], "fy":[-2.29031,-0.21523,2.29025,0.21516]}, - {"t":0.91156, "x":4.97878, "y":7.33124, "heading":2.31604, "vx":1.49922, "vy":-0.03182, "omega":1.59711, "ax":0.0, "ay":0.0, "alpha":0.2176, "fx":[-0.05829,1.4506,0.05828,-1.4506], "fy":[-1.45063,-0.05832,1.45056,0.05825]}, + {"t":0.91156, "x":4.97878, "y":7.33124, "heading":2.31604, "vx":1.49922, "vy":-0.03182, "omega":1.59711, "ax":0.0, "ay":0.0, "alpha":0.2176, "fx":[-0.05829,1.4506,0.05828,-1.4506], "fy":[-1.45063,-0.05832,1.45057,0.05825]}, {"t":0.94532, "x":5.0294, "y":7.33017, "heading":2.36996, "vx":1.49922, "vy":-0.03182, "omega":1.60445, "ax":0.0, "ay":0.0, "alpha":0.09232, "fx":[0.00848,0.61583,-0.00848,-0.61584], "fy":[-0.61587,0.00844,0.6158,-0.00851]}, {"t":0.97908, "x":5.08001, "y":7.3291, "heading":2.42413, "vx":1.49922, "vy":-0.03182, "omega":1.60757, "ax":0.0, "ay":0.0, "alpha":-0.03219, "fx":[-0.01458,-0.21426,0.01458,0.21426], "fy":[0.21423,-0.01461,-0.21429,0.01455]}, {"t":1.01284, "x":5.13063, "y":7.32802, "heading":2.4784, "vx":1.49922, "vy":-0.03182, "omega":1.60648, "ax":0.0, "ay":0.0, "alpha":-0.15703, "fx":[-0.12771,-1.03982,0.12771,1.03982], "fy":[1.0398,-0.12773,-1.03985,0.12768]}, @@ -142,7 +142,7 @@ {"t":2.88341, "x":7.93488, "y":7.26067, "heading":-2.4674, "vx":1.49913, "vy":-0.03742, "omega":0.45793, "ax":0.0, "ay":-0.00001, "alpha":0.79324, "fx":[5.25948,0.58728,-5.2595,-0.58729], "fy":[-0.58752,5.25926,0.58705,-5.25972]}, {"t":2.9202, "x":7.99003, "y":7.2593, "heading":-2.45055, "vx":1.49913, "vy":-0.03742, "omega":0.48711, "ax":-0.00001, "ay":-0.00025, "alpha":0.8834, "fx":[5.86737,0.55517,-5.86758,-0.55537], "fy":[-0.55939,5.86338,0.55116,-5.87158]}, {"t":2.95699, "x":8.04518, "y":7.25792, "heading":-2.43263, "vx":1.49912, "vy":-0.03743, "omega":0.51961, "ax":-0.00011, "ay":-0.00436, "alpha":0.98124, "fx":[6.5255,0.49811,-6.52916,-0.50167], "fy":[-0.57221,6.4554,0.42757,-6.59925]}, - {"t":2.99378, "x":8.10033, "y":7.25654, "heading":-2.41351, "vx":1.49912, "vy":-0.03759, "omega":0.55571, "ax":-0.00199, "ay":-0.07649, "alpha":1.08737, "fx":[7.21004,0.38308,-7.27661,-0.44813], "fy":[-1.68445,5.98154,-0.85325,-8.50215]}, + {"t":2.99378, "x":8.10033, "y":7.25654, "heading":-2.41351, "vx":1.49912, "vy":-0.03759, "omega":0.55571, "ax":-0.00199, "ay":-0.07649, "alpha":1.08737, "fx":[7.21005,0.38308,-7.27661,-0.44813], "fy":[-1.68445,5.98154,-0.85325,-8.50215]}, {"t":3.03056, "x":8.15548, "y":7.2551, "heading":-2.39307, "vx":1.49905, "vy":-0.0404, "omega":0.59571, "ax":-0.05584, "ay":-1.29978, "alpha":1.1339, "fx":[6.8575,-0.65315,-8.70814,-1.18902], "fy":[-21.85208,-14.08059,-21.27232,-28.75416]}, {"t":3.06735, "x":8.21058, "y":7.25274, "heading":-2.37116, "vx":1.49699, "vy":-0.08822, "omega":0.63742, "ax":-0.87821, "ay":-6.34368, "alpha":0.21474, "fx":[-12.07993,-14.77186,-16.94615,-14.28163], "fy":[-105.16374,-104.45772,-104.58831,-105.32138]}, {"t":3.10414, "x":8.26506, "y":7.2452, "heading":-2.34771, "vx":1.46469, "vy":-0.32158, "omega":0.64532, "ax":-2.21453, "ay":-6.99819, "alpha":0.03797, "fx":[-36.16429,-36.75667,-37.06203,-36.4723], "fy":[-115.8419,-115.64663,-115.56614,-115.76215]}, diff --git a/src/main/deploy/choreo/PLtoFL.traj b/src/main/deploy/choreo/PLtoFL.traj index 0c4d4486..66caf15b 100644 --- a/src/main/deploy/choreo/PLtoFL.traj +++ b/src/main/deploy/choreo/PLtoFL.traj @@ -71,16 +71,16 @@ {"t":0.46431, "x":5.06655, "y":7.35144, "heading":0.01999, "vx":1.99952, "vy":0.00261, "omega":0.17586, "ax":0.0, "ay":0.0, "alpha":-0.05741, "fx":[0.2762,0.26538,-0.2762,-0.26538], "fy":[-0.26538,0.2762,0.26538,-0.2762]}, {"t":0.50652, "x":5.15095, "y":7.35155, "heading":0.02741, "vx":1.99952, "vy":0.00261, "omega":0.17344, "ax":0.0, "ay":0.0, "alpha":-0.36031, "fx":[1.74572,1.65255,-1.74572,-1.65255], "fy":[-1.65255,1.74572,1.65255,-1.74572]}, {"t":0.54873, "x":5.23535, "y":7.35166, "heading":0.03473, "vx":1.99952, "vy":0.00261, "omega":0.15823, "ax":0.0, "ay":0.0, "alpha":-0.6687, "fx":[3.26226,3.04317,-3.26226,-3.04317], "fy":[-3.04317,3.26226,3.04317,-3.26226]}, - {"t":0.59094, "x":5.31975, "y":7.35177, "heading":0.04141, "vx":1.99952, "vy":0.00261, "omega":0.13001, "ax":0.0, "ay":0.0, "alpha":-0.98719, "fx":[4.84592,4.46031,-4.84592,-4.46031], "fy":[-4.46032,4.84592,4.46031,-4.84592]}, + {"t":0.59094, "x":5.31975, "y":7.35177, "heading":0.04141, "vx":1.99952, "vy":0.00261, "omega":0.13001, "ax":0.0, "ay":0.0, "alpha":-0.98719, "fx":[4.84592,4.46032,-4.84592,-4.46031], "fy":[-4.46032,4.84592,4.46031,-4.84592]}, {"t":0.63315, "x":5.40415, "y":7.35188, "heading":0.0469, "vx":1.99952, "vy":0.00261, "omega":0.08834, "ax":0.0, "ay":0.0, "alpha":-1.32036, "fx":[6.51402,5.92998,-6.51402,-5.92998], "fy":[-5.92999,6.51402,5.92998,-6.51403]}, {"t":0.67536, "x":5.48855, "y":7.35199, "heading":0.05063, "vx":1.99952, "vy":0.00261, "omega":0.0326, "ax":0.0, "ay":0.0, "alpha":-1.67274, "fx":[8.28042,7.48173,-8.28042,-7.48173], "fy":[-7.48178,8.28037,7.48168,-8.28047]}, {"t":0.71758, "x":5.57295, "y":7.3521, "heading":0.052, "vx":1.99952, "vy":0.00261, "omega":-0.038, "ax":0.0, "ay":-0.00005, "alpha":-2.04873, "fx":[10.15426,9.1495,-10.15427,-9.14948], "fy":[-9.15024,10.15351,9.14874,-10.15501]}, - {"t":0.75979, "x":5.65735, "y":7.35221, "heading":0.0504, "vx":1.99952, "vy":0.0026, "omega":-0.12448, "ax":0.0, "ay":-0.00067, "alpha":-2.45257, "fx":[12.13809,10.97271,-12.13845,-10.9723], "fy":[-10.98357,12.12725,10.96144,-12.14929]}, + {"t":0.75979, "x":5.65735, "y":7.35221, "heading":0.0504, "vx":1.99952, "vy":0.0026, "omega":-0.12448, "ax":0.0, "ay":-0.00067, "alpha":-2.45257, "fx":[12.1381,10.97271,-12.13845,-10.9723], "fy":[-10.98357,12.12725,10.96144,-12.14929]}, {"t":0.802, "x":5.74175, "y":7.35232, "heading":0.04515, "vx":1.99952, "vy":0.00258, "omega":-0.228, "ax":0.00001, "ay":-0.0097, "alpha":-2.88819, "fx":[14.22256,13.0004,-14.22983,-12.99237], "fy":[-13.15711,14.06606,12.83557,-14.38623]}, {"t":0.84421, "x":5.82615, "y":7.35242, "heading":0.03552, "vx":1.99952, "vy":0.00217, "omega":-0.34992, "ax":-0.00005, "ay":-0.13882, "alpha":-3.35694, "fx":[16.31961,15.34262,-16.46954,-15.19628], "fy":[-17.55915,14.0933,12.95819,-18.67308]}, {"t":0.88642, "x":5.91055, "y":7.35238, "heading":0.02075, "vx":1.99952, "vy":-0.00369, "omega":-0.49161, "ax":-0.05674, "ay":-1.85581, "alpha":-3.44268, "fx":[15.61876,17.00381,-19.69246,-16.68284], "fy":[-45.70012,-15.13781,-15.77719,-46.11689]}, {"t":0.92863, "x":5.9949, "y":7.35057, "heading":0.0, "vx":1.99712, "vy":-0.08203, "omega":-0.63693, "ax":-0.16165, "ay":-2.96212, "alpha":-1.62399, "fx":[5.87583,6.47542,-12.07232,-10.96965], "fy":[-55.57681,-42.62801,-42.37179,-55.31972]}, - {"t":0.95397, "x":6.04546, "y":7.34754, "heading":-0.01614, "vx":1.99303, "vy":-0.1571, "omega":-0.67809, "ax":-0.06297, "ay":-0.75292, "alpha":-2.00304, "fx":[8.21851,8.78584,-10.59054,-10.57796], "fy":[-21.97449,-3.25495,-2.93547,-21.62832]}, + {"t":0.95397, "x":6.04546, "y":7.34754, "heading":-0.01614, "vx":1.99303, "vy":-0.1571, "omega":-0.67809, "ax":-0.06297, "ay":-0.75292, "alpha":-2.00304, "fx":[8.21851,8.78584,-10.59054,-10.57796], "fy":[-21.97449,-3.25495,-2.93546,-21.62832]}, {"t":0.97932, "x":6.09596, "y":7.34332, "heading":-0.03333, "vx":1.99143, "vy":-0.17619, "omega":-0.72886, "ax":-0.0148, "ay":-0.16529, "alpha":-1.88545, "fx":[8.32561,8.97319,-8.87093,-9.40651], "fy":[-11.91581,5.85632,6.44908,-11.32053]}, {"t":1.00466, "x":6.14643, "y":7.3388, "heading":-0.0518, "vx":1.99106, "vy":-0.18038, "omega":-0.77664, "ax":-0.00326, "ay":-0.03589, "alpha":-1.74236, "fx":[7.72414,8.5857,-7.84233,-8.68312], "fy":[-9.22747,7.18929,8.04069,-8.37634]}, {"t":1.03001, "x":6.19689, "y":7.33422, "heading":-0.07149, "vx":1.99097, "vy":-0.18129, "omega":-0.82081, "ax":-0.00071, "ay":-0.00778, "alpha":-1.60819, "fx":[7.01276,8.09845,-7.03811,-8.11997], "fy":[-8.23773,6.89679,7.98067,-7.15405]}, @@ -94,11 +94,11 @@ {"t":1.23277, "x":6.60058, "y":7.29742, "heading":-0.26277, "vx":1.99095, "vy":-0.18154, "omega":-1.07102, "ax":0.0, "ay":-0.00001, "alpha":-0.84633, "fx":[2.8184,4.89262,-2.81844,-4.89266], "fy":[-4.89279,2.81827,4.89249,-2.81857]}, {"t":1.25812, "x":6.65104, "y":7.29281, "heading":-0.28992, "vx":1.99095, "vy":-0.18154, "omega":-1.09247, "ax":0.0, "ay":-0.00003, "alpha":-0.78253, "fx":[2.48217,4.59283,-2.48225,-4.59292], "fy":[-4.59333,2.48176,4.59243,-2.48266]}, {"t":1.28346, "x":6.7015, "y":7.28821, "heading":-0.31761, "vx":1.99095, "vy":-0.18154, "omega":-1.11231, "ax":-0.00001, "ay":-0.00011, "alpha":-0.72428, "fx":[2.17871,4.31284,-2.17906,-4.31317], "fy":[-4.31485,2.17705,4.31117,-2.18073]}, - {"t":1.30881, "x":6.75196, "y":7.28361, "heading":-0.3458, "vx":1.99095, "vy":-0.18154, "omega":-1.13066, "ax":-0.00005, "ay":-0.0005, "alpha":-0.67125, "fx":[1.9051,4.05177,-1.90663,-4.05327], "fy":[-4.06084,1.89754,4.04421,-1.9142]}, + {"t":1.30881, "x":6.75196, "y":7.28361, "heading":-0.3458, "vx":1.99095, "vy":-0.18154, "omega":-1.13066, "ax":-0.00005, "ay":-0.0005, "alpha":-0.67125, "fx":[1.90509,4.05177,-1.90663,-4.05327], "fy":[-4.06084,1.89754,4.04421,-1.9142]}, {"t":1.33415, "x":6.80243, "y":7.27901, "heading":-0.37446, "vx":1.99095, "vy":-0.18155, "omega":-1.14768, "ax":-0.00021, "ay":-0.00233, "alpha":-0.6231, "fx":[1.65709,3.8075,-1.6642,-3.81447], "fy":[-3.84954,1.62202,3.77241,-1.69925]}, {"t":1.3595, "x":6.85289, "y":7.27441, "heading":-0.40354, "vx":1.99094, "vy":-0.18161, "omega":-1.16347, "ax":-0.00099, "ay":-0.01088, "alpha":-0.57954, "fx":[1.42427,3.57172,-1.45737,-3.6043], "fy":[-3.76769,1.26083,3.40823,-1.62075]}, {"t":1.38484, "x":6.90335, "y":7.2698, "heading":-0.43303, "vx":1.99092, "vy":-0.18189, "omega":-1.17816, "ax":-0.00465, "ay":-0.05075, "alpha":-0.54026, "fx":[1.16661,3.30668,-1.32149,-3.45955], "fy":[-4.22137,0.40423,2.54414,-2.08343]}, - {"t":1.41019, "x":6.95381, "y":7.26518, "heading":-0.46289, "vx":1.9908, "vy":-0.18318, "omega":-1.19185, "ax":-0.02213, "ay":-0.23662, "alpha":-0.50415, "fx":[0.69982,2.82903,-1.43555,-3.55703], "fy":[-7.09724,-2.84995,-0.72294,-4.97868]}, + {"t":1.41019, "x":6.95381, "y":7.26518, "heading":-0.46289, "vx":1.9908, "vy":-0.18318, "omega":-1.19185, "ax":-0.02213, "ay":-0.23662, "alpha":-0.50415, "fx":[0.69982,2.82903,-1.43555,-3.55703], "fy":[-7.09724,-2.84995,-0.72294,-4.97869]}, {"t":1.43553, "x":7.00426, "y":7.26046, "heading":-0.4931, "vx":1.99024, "vy":-0.18917, "omega":-1.20463, "ax":-0.11032, "ay":-1.08131, "alpha":-0.45451, "fx":[-0.92711,1.14215,-2.73482,-4.77625], "fy":[-20.71815,-17.04181,-15.02165,-18.72919]}, {"t":1.46088, "x":7.05466, "y":7.25531, "heading":-0.52363, "vx":1.98744, "vy":-0.21658, "omega":-1.21615, "ax":-0.5043, "ay":-3.77665, "alpha":-0.2643, "fx":[-7.66506,-6.23406,-9.03197,-10.41996], "fy":[-63.75007,-62.21616,-61.12311,-62.67487]}, {"t":1.48622, "x":7.10487, "y":7.24861, "heading":-0.55446, "vx":1.97466, "vy":-0.3123, "omega":-1.22285, "ax":-1.22173, "ay":-6.1339, "alpha":-0.07724, "fx":[-19.87617,-19.4072,-20.5273,-20.98696], "fy":[-101.62798,-101.50395,-101.2012,-101.32469]}, diff --git a/src/main/deploy/choreo/PRtoDRO.traj b/src/main/deploy/choreo/PRtoDRO.traj index fc7b3fda..0a773b5e 100644 --- a/src/main/deploy/choreo/PRtoDRO.traj +++ b/src/main/deploy/choreo/PRtoDRO.traj @@ -91,7 +91,7 @@ {"t":1.432, "x":5.72049, "y":0.72265, "heading":1.53911, "vx":1.49966, "vy":-0.00625, "omega":0.12064, "ax":0.0, "ay":0.00001, "alpha":0.67453, "fx":[-3.28132,3.07968,3.28132,-3.07968], "fy":[-3.07944,-3.28108,3.07992,3.28157]}, {"t":1.4782, "x":5.78977, "y":0.72236, "heading":1.54468, "vx":1.49966, "vy":-0.00625, "omega":0.15179, "ax":0.0, "ay":0.00048, "alpha":0.76131, "fx":[-3.68403,3.49652,3.68407,-3.49643], "fy":[-3.48849,-3.67607,3.50446,3.69203]}, {"t":1.52439, "x":5.85904, "y":0.72207, "heading":1.55169, "vx":1.49966, "vy":-0.00623, "omega":0.18696, "ax":0.00006, "ay":0.01584, "alpha":0.85842, "fx":[-4.12579,3.97311,4.12672,-3.96996], "fy":[-3.70963,-3.86439,4.23336,4.38805]}, - {"t":1.57058, "x":5.92832, "y":0.7218, "heading":1.56033, "vx":1.49966, "vy":-0.0055, "omega":0.22662, "ax":-0.01098, "ay":0.51658, "alpha":0.95813, "fx":[-4.79359,4.33373,4.38542,-4.65156], "fy":[4.08948,3.99522,12.99406,13.08461]}, + {"t":1.57058, "x":5.92832, "y":0.7218, "heading":1.56033, "vx":1.49966, "vy":-0.0055, "omega":0.22662, "ax":-0.01098, "ay":0.51658, "alpha":0.95813, "fx":[-4.79359,4.33373,4.38542,-4.65155], "fy":[4.08948,3.99522,12.99406,13.08461]}, {"t":1.61678, "x":5.99758, "y":0.7221, "heading":1.5708, "vx":1.49916, "vy":0.01837, "omega":0.27087, "ax":-0.00782, "ay":0.7693, "alpha":0.65432, "fx":[-3.26475,3.00484,2.97457,-3.23187], "fy":[9.66408,9.66509,15.77449,15.77289]}, {"t":1.65289, "x":6.05171, "y":0.72326, "heading":1.58058, "vx":1.49887, "vy":0.04615, "omega":0.2945, "ax":-0.00145, "ay":0.04637, "alpha":0.58472, "fx":[-2.75621,2.76211,2.70666,-2.80866], "fy":[-2.01859,-1.96463,3.55179,3.4978]}, {"t":1.689, "x":6.10584, "y":0.72496, "heading":1.59121, "vx":1.49882, "vy":0.04782, "omega":0.31562, "ax":-0.00009, "ay":0.00277, "alpha":0.50631, "fx":[-2.34075,2.43535,2.33776,-2.4382], "fy":[-2.39105,-2.29352,2.48251,2.38498]}, @@ -118,7 +118,7 @@ {"t":2.44735, "x":7.24246, "y":0.7613, "heading":1.85419, "vx":1.49882, "vy":0.04793, "omega":0.19276, "ax":0.0, "ay":0.00001, "alpha":-1.01698, "fx":[3.2648,-5.94779,-3.26481,5.94778], "fy":[5.94797,3.26499,-5.94759,-3.26461]}, {"t":2.48346, "x":7.29659, "y":0.76303, "heading":1.86115, "vx":1.49882, "vy":0.04793, "omega":0.15604, "ax":-0.00001, "ay":0.00019, "alpha":-1.13184, "fx":[3.58724,-6.64472,-3.58746,6.64454], "fy":[6.64777,3.5905,-6.64149,-3.5842]}, {"t":2.51957, "x":7.35071, "y":0.76476, "heading":1.86678, "vx":1.49882, "vy":0.04793, "omega":0.11516, "ax":-0.0001, "ay":0.00317, "alpha":-1.25584, "fx":[3.9369,-7.39641,-3.94065,7.39346], "fy":[7.44716,3.99126,-7.3427,-3.88629]}, - {"t":2.55568, "x":7.40484, "y":0.76649, "heading":1.87094, "vx":1.49881, "vy":0.04805, "omega":0.06981, "ax":-0.00172, "ay":0.05265, "alpha":-1.38978, "fx":[4.2925,-8.22645,-4.35755,8.17767], "fy":[9.06909,5.19754,-7.33345,-3.45152]}, + {"t":2.55568, "x":7.40484, "y":0.76649, "heading":1.87094, "vx":1.49881, "vy":0.04805, "omega":0.06981, "ax":-0.00172, "ay":0.05265, "alpha":-1.38978, "fx":[4.2925,-8.22645,-4.35756,8.17767], "fy":[9.06909,5.19754,-7.33345,-3.45152]}, {"t":2.59179, "x":7.45896, "y":0.76826, "heading":1.87346, "vx":1.49875, "vy":0.04995, "omega":0.01962, "ax":-0.03772, "ay":0.86201, "alpha":-1.49553, "fx":[4.00125,-9.49189,-5.4057,8.40182], "fy":[22.93288,18.85879,5.47698,9.7393]}, {"t":2.62791, "x":7.51306, "y":0.77063, "heading":1.87417, "vx":1.49739, "vy":0.08108, "omega":-0.03438, "ax":-0.72331, "ay":5.78434, "alpha":-0.42725, "fx":[-9.57278,-15.67869,-14.49626,-8.08753], "fy":[96.88658,95.82129,94.37704,95.45544]}, {"t":2.66402, "x":7.56666, "y":0.77733, "heading":1.87293, "vx":1.47127, "vy":0.28996, "omega":-0.04981, "ax":-2.03312, "ay":7.0007, "alpha":-0.0613, "fx":[-33.09503,-34.16526,-34.13891,-33.05897], "fy":[115.91611,115.60446,115.57396,115.88824]}, @@ -127,9 +127,9 @@ {"t":2.77235, "x":7.71002, "y":0.84852, "heading":1.86734, "vx":1.11613, "vy":0.99994, "omega":-0.05336, "ax":-5.43061, "ay":5.15226, "alpha":-0.01211, "fx":[-89.68034,-89.81681,-89.8929,-89.75641], "fy":[85.29691,85.15422,85.07209,85.21506]}, {"t":2.80614, "x":7.74463, "y":0.88524, "heading":1.86554, "vx":0.93265, "vy":1.17401, "omega":-0.05377, "ax":-6.19663, "ay":4.12895, "alpha":-0.02076, "fx":[-102.30064,-102.46905,-102.6024,-102.43435], "fy":[68.49258,68.2455,68.0386,68.28619]}, {"t":2.83992, "x":7.77261, "y":0.92726, "heading":1.86372, "vx":0.7233, "vy":1.31351, "omega":-0.05447, "ax":-6.68405, "ay":2.99259, "alpha":-0.04679, "fx":[-110.26095,-110.50887,-110.75819,-110.51313], "fy":[50.02999,49.52445,48.92539,49.43128]}, - {"t":2.87371, "x":7.79323, "y":0.97335, "heading":1.86188, "vx":0.49748, "vy":1.41461, "omega":-0.05606, "ax":-6.3552, "ay":1.71795, "alpha":-0.20421, "fx":[-104.38193,-105.24226,-105.74508,-104.9238], "fy":[30.65089,29.00729,26.17235,27.78419]}, + {"t":2.87371, "x":7.79323, "y":0.97335, "heading":1.86188, "vx":0.49748, "vy":1.41461, "omega":-0.05606, "ax":-6.3552, "ay":1.71795, "alpha":-0.20422, "fx":[-104.38193,-105.24226,-105.74508,-104.9238], "fy":[30.65089,29.00729,26.17235,27.78419]}, {"t":2.90749, "x":7.80641, "y":1.02212, "heading":1.85999, "vx":0.28277, "vy":1.47265, "omega":-0.06295, "ax":-1.92543, "ay":0.32602, "alpha":-1.21351, "fx":[-28.14056,-38.34852,-35.66983,-25.17686], "fy":[13.14528,9.23361,-2.16025,1.34259]}, - {"t":2.94128, "x":7.81486, "y":1.07206, "heading":1.85786, "vx":0.21771, "vy":1.48367, "omega":-0.10395, "ax":-0.14814, "ay":0.02148, "alpha":-1.26631, "fx":[1.58045,-9.85945,-6.49407,4.97576], "fy":[7.78792,4.38535,-7.06033,-3.69207]}, + {"t":2.94128, "x":7.81486, "y":1.07206, "heading":1.85786, "vx":0.21771, "vy":1.48367, "omega":-0.10395, "ax":-0.14814, "ay":0.02148, "alpha":-1.26632, "fx":[1.58045,-9.85945,-6.49407,4.97577], "fy":[7.78792,4.38535,-7.06033,-3.69207]}, {"t":2.97507, "x":7.82213, "y":1.1222, "heading":1.85435, "vx":0.21271, "vy":1.48439, "omega":-0.14674, "ax":-0.01061, "ay":0.00152, "alpha":-1.15606, "fx":[3.53436,-6.93665,-3.88597,6.58681], "fy":[6.78739,3.73476,-6.73614,-3.68558]}, {"t":3.00885, "x":7.82931, "y":1.17235, "heading":1.84939, "vx":0.21235, "vy":1.48444, "omega":-0.18579, "ax":-0.00076, "ay":0.00011, "alpha":-1.05302, "fx":[3.39741,-6.15473,-3.42252,6.12972], "fy":[6.14405,3.41172,-6.1404,-3.4082]}, {"t":3.04264, "x":7.83649, "y":1.2225, "heading":1.84312, "vx":0.21232, "vy":1.48445, "omega":-0.22137, "ax":-0.00005, "ay":0.00001, "alpha":-0.95749, "fx":[3.13474,-5.56637,-3.13653,5.56458], "fy":[5.56561,3.13576,-5.56535,-3.13551]}, @@ -140,7 +140,7 @@ {"t":3.21156, "x":7.87235, "y":1.47327, "heading":1.79577, "vx":0.21232, "vy":1.48445, "omega":-0.3552, "ax":0.0, "ay":0.0, "alpha":-0.57162, "fx":[2.0271,-3.23022,-2.0271,3.23022], "fy":[3.23022,2.0271,-3.23022,-2.0271]}, {"t":3.24535, "x":7.87953, "y":1.52342, "heading":1.78377, "vx":0.21232, "vy":1.48445, "omega":-0.37451, "ax":0.0, "ay":0.0, "alpha":-0.50903, "fx":[1.83954,-2.85466,-1.83954,2.85466], "fy":[2.85466,1.83954,-2.85466,-1.83954]}, {"t":3.27913, "x":7.8867, "y":1.57357, "heading":1.77111, "vx":0.21232, "vy":1.48445, "omega":-0.39171, "ax":0.0, "ay":0.0, "alpha":-0.45019, "fx":[1.65872,-2.5039,-1.65872,2.5039], "fy":[2.5039,1.65872,-2.5039,-1.65872]}, - {"t":3.31292, "x":7.89388, "y":1.62372, "heading":1.75788, "vx":0.21232, "vy":1.48445, "omega":-0.40692, "ax":0.0, "ay":0.0, "alpha":-0.39467, "fx":[1.48309,-2.17569,-1.4831,2.17569], "fy":[2.17569,1.48309,-2.17569,-1.4831]}, + {"t":3.31292, "x":7.89388, "y":1.62372, "heading":1.75788, "vx":0.21232, "vy":1.48445, "omega":-0.40692, "ax":0.0, "ay":0.0, "alpha":-0.39467, "fx":[1.48309,-2.17569,-1.48309,2.17569], "fy":[2.17569,1.48309,-2.17569,-1.48309]}, {"t":3.3467, "x":7.90105, "y":1.67388, "heading":1.74413, "vx":0.21232, "vy":1.48445, "omega":-0.42025, "ax":0.0, "ay":0.0, "alpha":-0.34208, "fx":[1.31126,-1.86791,-1.31126,1.86791], "fy":[1.86791,1.31126,-1.86791,-1.31126]}, {"t":3.38049, "x":7.90822, "y":1.72403, "heading":1.72993, "vx":0.21232, "vy":1.48445, "omega":-0.43181, "ax":0.0, "ay":0.0, "alpha":-0.29202, "fx":[1.1419,-1.57851,-1.1419,1.57851], "fy":[1.57851,1.1419,-1.57851,-1.1419]}, {"t":3.41427, "x":7.9154, "y":1.77418, "heading":1.71535, "vx":0.21232, "vy":1.48445, "omega":-0.44167, "ax":0.0, "ay":0.0, "alpha":-0.24413, "fx":[0.97377,-1.30556,-0.97377,1.30556], "fy":[1.30556,0.97377,-1.30556,-0.97377]}, diff --git a/src/main/deploy/choreo/PRtoFR.traj b/src/main/deploy/choreo/PRtoFR.traj index 58ee73b3..b61cf071 100644 --- a/src/main/deploy/choreo/PRtoFR.traj +++ b/src/main/deploy/choreo/PRtoFR.traj @@ -100,7 +100,7 @@ {"t":1.3722, "x":6.86241, "y":0.72468, "heading":0.46057, "vx":1.99872, "vy":-0.0466, "omega":1.05751, "ax":0.00031, "ay":0.01341, "alpha":0.33995, "fx":[-2.14423,-0.71874,2.15461,0.72895], "fy":[0.94559,-1.92777,-0.50209,2.37104]}, {"t":1.39951, "x":6.917, "y":0.72341, "heading":0.48945, "vx":1.99873, "vy":-0.04624, "omega":1.0668, "ax":0.00165, "ay":0.07276, "alpha":0.3083, "fx":[-1.9402,-0.57286,1.99501,0.62697], "fy":[1.8031,-0.7645,0.60346,3.16996]}, {"t":1.42683, "x":6.9716, "y":0.72217, "heading":0.51859, "vx":1.99878, "vy":-0.04425, "omega":1.07522, "ax":0.00766, "ay":0.39385, "alpha":0.27786, "fx":[-1.66586,-0.36405,1.92043,0.61577], "fy":[7.00062,4.72725,6.0254,8.29379]}, - {"t":1.45414, "x":7.0262, "y":0.72111, "heading":0.54796, "vx":1.99899, "vy":-0.03349, "omega":1.08281, "ax":0.00622, "ay":1.99082, "alpha":0.21979, "fx":[-1.41982,-0.26776,1.62993,0.46901], "fy":[33.23972,31.58625,32.59687,34.23735]}, + {"t":1.45414, "x":7.0262, "y":0.72111, "heading":0.54796, "vx":1.99899, "vy":-0.03349, "omega":1.08281, "ax":0.00622, "ay":1.99082, "alpha":0.21979, "fx":[-1.41982,-0.26776,1.62992,0.46901], "fy":[33.23972,31.58625,32.59687,34.23735]}, {"t":1.48146, "x":7.0808, "y":0.72094, "heading":0.57754, "vx":1.99916, "vy":0.02089, "omega":1.08881, "ax":-0.25559, "ay":5.39025, "alpha":0.07337, "fx":[-4.94341,-4.40265,-3.50602,-4.0509], "fy":[89.14544,88.88047,89.09313,89.35882]}, {"t":1.50877, "x":7.13532, "y":0.72352, "heading":0.60728, "vx":1.99217, "vy":0.16812, "omega":1.09082, "ax":-0.89549, "ay":6.79019, "alpha":0.01933, "fx":[-15.02869,-14.87389,-14.58197,-14.73731], "fy":[112.24262,112.23483,112.2878,112.29581]}, {"t":1.53609, "x":7.1894, "y":0.73065, "heading":0.63708, "vx":1.96771, "vy":0.3536, "omega":1.09135, "ax":-1.63079, "ay":7.04601, "alpha":0.0073, "fx":[-27.04767,-26.99529,-26.87751,-26.93], "fy":[116.47651,116.48358,116.51302,116.50597]}, diff --git a/src/main/deploy/choreo/PRtoO.traj b/src/main/deploy/choreo/PRtoO.traj index 88ffc7e4..03ac614e 100644 --- a/src/main/deploy/choreo/PRtoO.traj +++ b/src/main/deploy/choreo/PRtoO.traj @@ -76,7 +76,7 @@ {"t":0.57112, "x":2.53984, "y":0.74581, "heading":1.5708, "vx":-3.50638, "vy":-0.02177, "omega":0.0, "ax":6.80142, "ay":-1.07824, "alpha":0.0, "fx":[112.45094,112.45094,112.45094,112.45094], "fy":[-17.82701,-17.82701,-17.82701,-17.82701]}, {"t":0.60681, "x":2.41902, "y":0.74435, "heading":1.5708, "vx":-3.2636, "vy":-0.06026, "omega":0.0, "ax":7.43194, "ay":-0.26143, "alpha":0.0, "fx":[122.87562,122.87562,122.87562,122.87562], "fy":[-4.3224,-4.3224,-4.3224,-4.3224]}, {"t":0.64251, "x":2.30726, "y":0.74203, "heading":1.5708, "vx":-2.99832, "vy":-0.06959, "omega":0.0, "ax":0.27283, "ay":-4.93752, "alpha":0.0, "fx":[4.51085,4.51085,4.51085,4.51085], "fy":[-81.63426,-81.63426,-81.63426,-81.63426]}, - {"t":0.6819, "x":2.18936, "y":0.73546, "heading":1.5708, "vx":-2.98757, "vy":-0.26409, "omega":0.0, "ax":0.12615, "ay":-1.30006, "alpha":0.0, "fx":[2.08566,2.08565,2.08565,2.08566], "fy":[-21.49441,-21.49441,-21.49441,-21.49441]}, + {"t":0.6819, "x":2.18936, "y":0.73546, "heading":1.5708, "vx":-2.98757, "vy":-0.26409, "omega":0.0, "ax":0.12615, "ay":-1.30006, "alpha":0.0, "fx":[2.08566,2.08565,2.08565,2.08566], "fy":[-21.49441,-21.49441,-21.49442,-21.49442]}, {"t":0.72129, "x":2.07177, "y":0.72405, "heading":1.5708, "vx":-2.9826, "vy":-0.3153, "omega":0.0, "ax":0.02174, "ay":-0.20306, "alpha":0.0, "fx":[0.35946,0.35946,0.35946,0.35946], "fy":[-3.35735,-3.35735,-3.35735,-3.35735]}, {"t":0.76068, "x":1.9543, "y":0.71147, "heading":1.5708, "vx":-2.98175, "vy":-0.3233, "omega":0.0, "ax":0.00335, "ay":-0.03082, "alpha":0.0, "fx":[0.05536,0.05535,0.05535,0.05536], "fy":[-0.50956,-0.50956,-0.50957,-0.50957]}, {"t":0.80008, "x":1.83685, "y":0.69871, "heading":1.5708, "vx":-2.98161, "vy":-0.32451, "omega":0.0, "ax":0.00051, "ay":-0.00468, "alpha":0.0, "fx":[0.00842,0.00841,0.00841,0.00842], "fy":[-0.0773,-0.0773,-0.0773,-0.0773]}, diff --git a/src/main/deploy/choreo/RLtoFL.traj b/src/main/deploy/choreo/RLtoFL.traj index d139df85..e38920b1 100644 --- a/src/main/deploy/choreo/RLtoFL.traj +++ b/src/main/deploy/choreo/RLtoFL.traj @@ -67,59 +67,59 @@ {"t":0.13503, "x":3.01832, "y":7.36141, "heading":0.00001, "vx":1.01584, "vy":0.00005, "omega":0.00032, "ax":7.51403, "ay":0.00037, "alpha":0.0037, "fx":[124.23272,124.23272,124.2329,124.2329], "fy":[0.04089,-0.0288,-0.02878,0.04087]}, {"t":0.18004, "x":3.07166, "y":7.36141, "heading":0.00003, "vx":1.35405, "vy":0.00006, "omega":0.00049, "ax":7.49602, "ay":0.00038, "alpha":0.00638, "fx":[123.93469,123.9347,123.93529,123.93528], "fy":[0.06626,-0.05367,-0.05361,0.0662]}, {"t":0.22505, "x":3.1402, "y":7.36141, "heading":0.00005, "vx":1.69144, "vy":0.00008, "omega":0.00077, "ax":6.84489, "ay":0.00054, "alpha":0.10759, "fx":[113.08095,113.08109,113.25812,113.25798], "fy":[0.94243,-0.92448,-0.91079,0.92867]}, - {"t":0.27006, "x":3.22326, "y":7.36142, "heading":0.00008, "vx":1.99954, "vy":0.00011, "omega":0.00562, "ax":0.00056, "ay":0.00032, "alpha":0.95783, "fx":[-4.50971,-4.50898,4.52822,4.52743], "fy":[4.52355,-4.51366,-4.51286,4.52426]}, - {"t":0.31507, "x":3.31327, "y":7.36142, "heading":0.00034, "vx":1.99956, "vy":0.00012, "omega":0.04873, "ax":0.0, "ay":0.00037, "alpha":0.81066, "fx":[-3.82561,-3.82305,3.82563,3.82303], "fy":[3.82922,-3.81944,-3.81687,3.83179]}, - {"t":0.36008, "x":3.40327, "y":7.36143, "heading":0.00253, "vx":1.99956, "vy":0.00014, "omega":0.08522, "ax":0.0, "ay":0.00048, "alpha":0.67866, "fx":[-3.20968,-3.1935,3.2097,3.19348], "fy":[3.20143,-3.20175,-3.18555,3.21763]}, + {"t":0.27006, "x":3.22326, "y":7.36142, "heading":0.00008, "vx":1.99954, "vy":0.00011, "omega":0.00562, "ax":0.00056, "ay":0.00032, "alpha":0.95783, "fx":[-4.5097,-4.50897,4.52821,4.52742], "fy":[4.52354,-4.51366,-4.51285,4.52425]}, + {"t":0.31507, "x":3.31327, "y":7.36142, "heading":0.00034, "vx":1.99956, "vy":0.00012, "omega":0.04873, "ax":0.0, "ay":0.00037, "alpha":0.81066, "fx":[-3.8256,-3.82305,3.82562,3.82302], "fy":[3.82921,-3.81944,-3.81686,3.83179]}, + {"t":0.36008, "x":3.40327, "y":7.36143, "heading":0.00253, "vx":1.99956, "vy":0.00014, "omega":0.08522, "ax":0.0, "ay":0.00048, "alpha":0.67866, "fx":[-3.20968,-3.1935,3.20969,3.19347], "fy":[3.20143,-3.20174,-3.18554,3.21763]}, {"t":0.40509, "x":3.49327, "y":7.36144, "heading":0.00637, "vx":1.99956, "vy":0.00016, "omega":0.11576, "ax":0.0, "ay":0.00061, "alpha":0.55942, "fx":[-2.65583,-2.62225,2.65585,2.62223], "fy":[2.63227,-2.64581,-2.61221,2.66587]}, - {"t":0.4501, "x":3.58327, "y":7.36144, "heading":0.01158, "vx":1.99956, "vy":0.00019, "omega":0.14094, "ax":0.0, "ay":0.00076, "alpha":0.45076, "fx":[-2.15094,-2.10172,2.15095,2.1017], "fy":[2.1142,-2.13846,-2.08923,2.16343]}, + {"t":0.4501, "x":3.58327, "y":7.36144, "heading":0.01158, "vx":1.99956, "vy":0.00019, "omega":0.14094, "ax":0.0, "ay":0.00076, "alpha":0.45076, "fx":[-2.15093,-2.10172,2.15095,2.1017], "fy":[2.11419,-2.13846,-2.08922,2.16343]}, {"t":0.49511, "x":3.67327, "y":7.36145, "heading":0.01792, "vx":1.99956, "vy":0.00022, "omega":0.16123, "ax":0.0, "ay":0.00093, "alpha":0.35065, "fx":[-1.68355,-1.62428,1.68356,1.62427], "fy":[1.63966,-1.66817,-1.60889,1.69894]}, {"t":0.54012, "x":3.76327, "y":7.36146, "heading":0.02518, "vx":1.99956, "vy":0.00026, "omega":0.17701, "ax":0.0, "ay":0.00114, "alpha":0.2572, "fx":[-1.24352,-1.18244,1.24353,1.18243], "fy":[1.20128,-1.22468,-1.16359,1.26237]}, - {"t":0.58513, "x":3.85327, "y":7.36148, "heading":0.03314, "vx":1.99956, "vy":0.00031, "omega":0.18859, "ax":0.0, "ay":0.00139, "alpha":0.16866, "fx":[-0.82161,-0.76888,0.8216,0.76887], "fy":[0.79185,-0.79863,-0.74589,0.84459]}, - {"t":0.63014, "x":3.94327, "y":7.36149, "heading":0.04163, "vx":1.99956, "vy":0.00038, "omega":0.19618, "ax":0.0, "ay":0.00169, "alpha":0.08334, "fx":[-0.40921,-0.37648,0.4092,0.37647], "fy":[0.40442,-0.38126,-0.34853,0.43715]}, - {"t":0.67515, "x":4.03327, "y":7.36151, "heading":0.05046, "vx":1.99956, "vy":0.00045, "omega":0.19993, "ax":0.0, "ay":0.00205, "alpha":-0.00038, "fx":[0.00188,0.0017,-0.0019,-0.00172], "fy":[0.03221,0.03581,0.03563,0.03203]}, - {"t":0.72017, "x":4.12327, "y":7.36153, "heading":0.05946, "vx":1.99956, "vy":0.00054, "omega":0.19992, "ax":0.0, "ay":0.00249, "alpha":-0.08412, "fx":[0.41969,0.37252,-0.41971,-0.37255], "fy":[-0.33142,0.46081,0.41365,-0.37859]}, - {"t":0.76518, "x":4.21327, "y":7.36156, "heading":0.06846, "vx":1.99956, "vy":0.00066, "omega":0.19613, "ax":0.0, "ay":0.00301, "alpha":-0.16946, "fx":[0.85222,0.74284,-0.85224,-0.74288], "fy":[-0.69307,0.90202,0.79265,-0.80244]}, - {"t":0.81019, "x":4.30327, "y":7.36159, "heading":0.07729, "vx":1.99956, "vy":0.00079, "omega":0.1885, "ax":0.0, "ay":0.00365, "alpha":-0.25803, "fx":[1.30762,1.11962,-1.30765,-1.11969], "fy":[-1.05939,1.36789,1.17992,-1.24737]}, - {"t":0.8552, "x":4.39328, "y":7.36163, "heading":0.08577, "vx":1.99956, "vy":0.00096, "omega":0.17689, "ax":0.0, "ay":0.00441, "alpha":-0.35153, "fx":[1.7943,1.51012,-1.79433,-1.51024], "fy":[-1.43725,1.86723,1.5831,-1.7214]}, - {"t":0.90021, "x":4.48328, "y":7.36168, "heading":0.09374, "vx":1.99956, "vy":0.00115, "omega":0.16107, "ax":0.0, "ay":0.00534, "alpha":-0.45171, "fx":[2.32105,1.92204,-2.32106,-1.92226], "fy":[-1.83392,2.40926,2.01037,-2.23285]}, - {"t":0.94522, "x":4.57328, "y":7.36174, "heading":0.10099, "vx":1.99956, "vy":0.00139, "omega":0.14074, "ax":0.0, "ay":0.00645, "alpha":-0.56046, "fx":[2.89709,2.3638,-2.89706,-2.36415], "fy":[-2.25723,3.00377,2.47071,-2.79037]}, - {"t":0.99023, "x":4.66328, "y":7.36181, "heading":0.10732, "vx":1.99956, "vy":0.00168, "omega":0.11551, "ax":-0.00001, "ay":0.00781, "alpha":-0.6798, "fx":[3.53211,2.84475,-3.53202,-2.84532], "fy":[-2.71588,3.66114,2.97418,-3.40298]}, - {"t":1.03524, "x":4.75328, "y":7.36189, "heading":0.11252, "vx":1.99956, "vy":0.00204, "omega":0.08491, "ax":-0.00001, "ay":0.00945, "alpha":-0.81193, "fx":[4.2363,3.37557,-4.23607,-3.3765], "fy":[-3.21971,4.39236,3.53234,-4.07999]}, - {"t":1.08025, "x":4.84328, "y":7.36199, "heading":0.11634, "vx":1.99956, "vy":0.00246, "omega":0.04837, "ax":-0.00002, "ay":0.01144, "alpha":-0.95925, "fx":[5.02022,3.96867,-5.01976,-3.97015], "fy":[-3.7801,5.20903,4.15868,-4.8309]}, + {"t":0.58513, "x":3.85327, "y":7.36148, "heading":0.03314, "vx":1.99956, "vy":0.00031, "omega":0.18859, "ax":0.0, "ay":0.00139, "alpha":0.16866, "fx":[-0.82161,-0.76888,0.82161,0.76887], "fy":[0.79185,-0.79863,-0.74589,0.84459]}, + {"t":0.63014, "x":3.94327, "y":7.36149, "heading":0.04163, "vx":1.99956, "vy":0.00038, "omega":0.19618, "ax":0.0, "ay":0.00169, "alpha":0.08335, "fx":[-0.40921,-0.37648,0.4092,0.37647], "fy":[0.40442,-0.38126,-0.34853,0.43715]}, + {"t":0.67515, "x":4.03327, "y":7.36151, "heading":0.05046, "vx":1.99956, "vy":0.00045, "omega":0.19993, "ax":0.0, "ay":0.00205, "alpha":-0.00038, "fx":[0.00188,0.0017,-0.0019,-0.00171], "fy":[0.03221,0.0358,0.03562,0.03203]}, + {"t":0.72017, "x":4.12327, "y":7.36153, "heading":0.05946, "vx":1.99956, "vy":0.00054, "omega":0.19992, "ax":0.0, "ay":0.00249, "alpha":-0.08411, "fx":[0.41968,0.37252,-0.41971,-0.37255], "fy":[-0.33142,0.46081,0.41364,-0.37858]}, + {"t":0.76518, "x":4.21327, "y":7.36156, "heading":0.06846, "vx":1.99956, "vy":0.00066, "omega":0.19613, "ax":0.0, "ay":0.00301, "alpha":-0.16946, "fx":[0.85221,0.74283,-0.85224,-0.74288], "fy":[-0.69307,0.90201,0.79264,-0.80244]}, + {"t":0.81019, "x":4.30327, "y":7.36159, "heading":0.07729, "vx":1.99956, "vy":0.00079, "omega":0.1885, "ax":0.0, "ay":0.00365, "alpha":-0.25803, "fx":[1.30761,1.11961,-1.30764,-1.11969], "fy":[-1.05939,1.36789,1.17992,-1.24736]}, + {"t":0.8552, "x":4.39328, "y":7.36163, "heading":0.08577, "vx":1.99956, "vy":0.00096, "omega":0.17689, "ax":0.0, "ay":0.00441, "alpha":-0.35153, "fx":[1.7943,1.51011,-1.79432,-1.51024], "fy":[-1.43725,1.86722,1.5831,-1.72139]}, + {"t":0.90021, "x":4.48328, "y":7.36168, "heading":0.09374, "vx":1.99956, "vy":0.00115, "omega":0.16107, "ax":0.0, "ay":0.00534, "alpha":-0.45171, "fx":[2.32105,1.92204,-2.32106,-1.92225], "fy":[-1.83392,2.40926,2.01037,-2.23284]}, + {"t":0.94522, "x":4.57328, "y":7.36174, "heading":0.10098, "vx":1.99956, "vy":0.00139, "omega":0.14074, "ax":0.0, "ay":0.00645, "alpha":-0.56046, "fx":[2.89708,2.36379,-2.89706,-2.36415], "fy":[-2.25723,3.00377,2.47071,-2.79036]}, + {"t":0.99023, "x":4.66328, "y":7.36181, "heading":0.10732, "vx":1.99956, "vy":0.00168, "omega":0.11551, "ax":-0.00001, "ay":0.00781, "alpha":-0.6798, "fx":[3.53211,2.84475,-3.53201,-2.84532], "fy":[-2.71587,3.66113,2.97418,-3.40297]}, + {"t":1.03524, "x":4.75328, "y":7.36189, "heading":0.11252, "vx":1.99956, "vy":0.00204, "omega":0.08491, "ax":-0.00001, "ay":0.00945, "alpha":-0.81193, "fx":[4.2363,3.37557,-4.23607,-3.3765], "fy":[-3.2197,4.39236,3.53234,-4.07998]}, + {"t":1.08025, "x":4.84328, "y":7.36199, "heading":0.11634, "vx":1.99956, "vy":0.00246, "omega":0.04837, "ax":-0.00002, "ay":0.01144, "alpha":-0.95925, "fx":[5.02021,3.96867,-5.01976,-3.97015], "fy":[-3.7801,5.20902,4.15868,-4.8309]}, {"t":1.12526, "x":4.93328, "y":7.36211, "heading":0.11852, "vx":1.99956, "vy":0.00298, "omega":0.00519, "ax":-0.00002, "ay":0.01386, "alpha":-1.12437, "fx":[5.89465,4.63868,-5.89378,-4.64105], "fy":[-4.41044,6.12318,4.86922,-5.66517]}, {"t":1.17027, "x":5.02328, "y":7.36226, "heading":0.11875, "vx":1.99956, "vy":0.0036, "omega":-0.04542, "ax":-0.00003, "ay":0.01681, "alpha":-1.31016, "fx":[6.87027,5.40311,-6.86872,-5.40688], "fy":[-5.12664,7.14708,5.68324,-6.59177]}, - {"t":1.21528, "x":5.11328, "y":7.36244, "heading":0.11671, "vx":1.99956, "vy":0.00436, "omega":-0.10439, "ax":-0.00005, "ay":0.02042, "alpha":-1.51979, "fx":[7.95716,6.28309,-7.95442,-6.28907], "fy":[-5.9478,8.29283,6.62417,-7.61851]}, - {"t":1.26029, "x":5.20328, "y":7.36266, "heading":0.11201, "vx":1.99955, "vy":0.00528, "omega":-0.1728, "ax":-0.00007, "ay":0.02487, "alpha":-1.75667, "fx":[9.16394,7.30424,-9.15923,-7.31374], "fy":[-6.89691,9.57171,7.72075,-8.75107]}, + {"t":1.21528, "x":5.11328, "y":7.36244, "heading":0.11671, "vx":1.99956, "vy":0.00436, "omega":-0.10439, "ax":-0.00005, "ay":0.02042, "alpha":-1.51979, "fx":[7.95715,6.28309,-7.95442,-6.28907], "fy":[-5.9478,8.29283,6.62417,-7.61851]}, + {"t":1.26029, "x":5.20328, "y":7.36266, "heading":0.11201, "vx":1.99955, "vy":0.00528, "omega":-0.1728, "ax":-0.00007, "ay":0.02487, "alpha":-1.75667, "fx":[9.16394,7.30424,-9.15923,-7.31375], "fy":[-6.89691,9.57171,7.72075,-8.75107]}, {"t":1.3053, "x":5.29328, "y":7.36292, "heading":0.10423, "vx":1.99955, "vy":0.0064, "omega":-0.25186, "ax":-0.00011, "ay":0.03035, "alpha":-2.0245, "fx":[10.49665,8.49773,-10.48865,-8.51284], "fy":[-8.00209,10.99282,9.00791,-9.9918]}, {"t":1.35031, "x":5.38328, "y":7.36324, "heading":0.09289, "vx":1.99955, "vy":0.00776, "omega":-0.34299, "ax":-0.00016, "ay":0.03659, "alpha":-2.32725, "fx":[11.95689,9.90154,-11.94359,-9.92523], "fy":[-9.30622,12.55296,10.51958,-11.34639]}, {"t":1.39532, "x":5.47328, "y":7.36362, "heading":0.07746, "vx":1.99954, "vy":0.00941, "omega":-0.44774, "ax":-0.00017, "ay":0.03337, "alpha":-2.66917, "fx":[13.53709,11.56606,-13.52039,-11.59398], "fy":[-11.02608,14.0783,12.13301,-12.97811]}, - {"t":1.44033, "x":5.56328, "y":7.36408, "heading":0.0573, "vx":1.99953, "vy":0.01091, "omega":-0.56788, "ax":0.00059, "ay":-0.16321, "alpha":-3.05181, "fx":[15.14317,13.63693,-15.26711,-13.47407], "fy":[-16.24857,12.50033,10.83582,-17.88116]}, + {"t":1.44033, "x":5.56328, "y":7.36408, "heading":0.0573, "vx":1.99953, "vy":0.01091, "omega":-0.56788, "ax":0.00059, "ay":-0.16321, "alpha":-3.05181, "fx":[15.14317,13.63694,-15.26711,-13.47407], "fy":[-16.24857,12.50033,10.83582,-17.88116]}, {"t":1.48534, "x":5.65328, "y":7.36441, "heading":0.03174, "vx":1.99956, "vy":0.00356, "omega":-0.70524, "ax":-0.11889, "ay":-3.12242, "alpha":-2.49176, "fx":[11.326,12.30594,-17.381,-14.11391], "fy":[-61.21008,-41.7182,-42.09694,-61.47238]}, {"t":1.53035, "x":5.74316, "y":7.3614, "heading":0.0, "vx":1.99421, "vy":-0.13698, "omega":-0.8174, "ax":-0.45522, "ay":-4.6262, "alpha":-0.91067, "fx":[-1.55579,-1.6945,-13.98896,-12.86605], "fy":[-79.47573,-74.13711,-73.45492,-78.88049]}, {"t":1.55822, "x":5.79856, "y":7.35579, "heading":-0.02278, "vx":1.98152, "vy":-0.26589, "omega":-0.84277, "ax":-0.18683, "ay":-1.30188, "alpha":-1.72492, "fx":[4.97578,5.59997,-11.5327,-11.39864], "fy":[-29.68007,-13.8659,-13.39576,-29.15649]}, {"t":1.58608, "x":5.8537, "y":7.34788, "heading":-0.04626, "vx":1.97631, "vy":-0.30217, "omega":-0.89084, "ax":-0.03708, "ay":-0.2398, "alpha":-1.65749, "fx":[6.81457,7.59689,-8.10386,-8.7598], "fy":[-12.13333,3.47641,4.19996,-11.4022]}, {"t":1.61395, "x":5.90876, "y":7.33936, "heading":-0.07109, "vx":1.97528, "vy":-0.30886, "omega":-0.93703, "ax":-0.00672, "ay":-0.0429, "alpha":-1.50179, "fx":[6.44816,7.46378,-6.67971,-7.67675], "fy":[-8.27928,5.85412,6.86055,-7.2726]}, {"t":1.64182, "x":5.96381, "y":7.33074, "heading":-0.0972, "vx":1.97509, "vy":-0.31005, "omega":-0.97888, "ax":-0.0012, "ay":-0.00765, "alpha":-1.3544, "fx":[5.71864,6.96013,-5.75974,-6.99854], "fy":[-7.10585,5.61259,6.8528,-5.86575]}, - {"t":1.66968, "x":6.01884, "y":7.3221, "heading":-0.12448, "vx":1.97506, "vy":-0.31027, "omega":-1.01662, "ax":-0.00021, "ay":-0.00136, "alpha":-1.21752, "fx":[4.98248,6.40891,-4.98977,-6.41582], "fy":[-6.43492,4.96355,6.38981,-5.0087]}, - {"t":1.69755, "x":6.07388, "y":7.31345, "heading":-0.15281, "vx":1.97505, "vy":-0.3103, "omega":-1.05055, "ax":-0.00004, "ay":-0.00025, "alpha":-1.09036, "fx":[4.30027,5.86624,-4.30158,-5.86749], "fy":[-5.87091,4.29687,5.86281,-4.30498]}, - {"t":1.72542, "x":6.12892, "y":7.3048, "heading":-0.18208, "vx":1.97505, "vy":-0.31031, "omega":-1.08094, "ax":-0.00001, "ay":-0.00005, "alpha":-0.97208, "fx":[3.67948,5.34028,-3.67973,-5.34052], "fy":[-5.34117,3.67884,5.33964,-3.68038]}, + {"t":1.66968, "x":6.01884, "y":7.3221, "heading":-0.12448, "vx":1.97506, "vy":-0.31027, "omega":-1.01662, "ax":-0.00021, "ay":-0.00136, "alpha":-1.21752, "fx":[4.98248,6.40892,-4.98977,-6.41582], "fy":[-6.43492,4.96355,6.38981,-5.0087]}, + {"t":1.69755, "x":6.07388, "y":7.31345, "heading":-0.15281, "vx":1.97505, "vy":-0.3103, "omega":-1.05055, "ax":-0.00004, "ay":-0.00025, "alpha":-1.09037, "fx":[4.30027,5.86624,-4.30158,-5.86749], "fy":[-5.87091,4.29687,5.86281,-4.30498]}, + {"t":1.72542, "x":6.12892, "y":7.3048, "heading":-0.18208, "vx":1.97505, "vy":-0.31031, "omega":-1.08094, "ax":-0.00001, "ay":-0.00005, "alpha":-0.97208, "fx":[3.67948,5.34028,-3.67973,-5.34053], "fy":[-5.34117,3.67884,5.33964,-3.68038]}, {"t":1.75329, "x":6.18396, "y":7.29615, "heading":-0.21221, "vx":1.97505, "vy":-0.31031, "omega":-1.10802, "ax":0.0, "ay":-0.00001, "alpha":-0.86183, "fx":[3.11817,4.8308,-3.11824,-4.83086], "fy":[-4.83102,3.11801,4.83064,-3.1184]}, {"t":1.78115, "x":6.239, "y":7.28751, "heading":-0.24308, "vx":1.97505, "vy":-0.31031, "omega":-1.13204, "ax":0.0, "ay":-0.00001, "alpha":-0.75882, "fx":[2.61287,4.33615,-2.6129,-4.33618], "fy":[-4.33626,2.61279,4.33607,-2.61298]}, - {"t":1.80902, "x":6.29404, "y":7.27886, "heading":-0.27463, "vx":1.97505, "vy":-0.31031, "omega":-1.15319, "ax":0.0, "ay":-0.00001, "alpha":-0.66228, "fx":[2.15996,3.85455,-2.15999,-3.85457], "fy":[-3.85464,2.15989,3.85448,-2.16005]}, + {"t":1.80902, "x":6.29404, "y":7.27886, "heading":-0.27463, "vx":1.97505, "vy":-0.31031, "omega":-1.15319, "ax":0.0, "ay":-0.00001, "alpha":-0.66228, "fx":[2.15996,3.85455,-2.15999,-3.85458], "fy":[-3.85465,2.15989,3.85448,-2.16005]}, {"t":1.83689, "x":6.34908, "y":7.27021, "heading":-0.30677, "vx":1.97505, "vy":-0.31031, "omega":-1.17164, "ax":0.0, "ay":0.0, "alpha":-0.57148, "fx":[1.75598,3.38423,-1.75601,-3.38426], "fy":[-3.38433,1.75592,3.38417,-1.75608]}, - {"t":1.86475, "x":6.40411, "y":7.26157, "heading":-0.33942, "vx":1.97505, "vy":-0.31031, "omega":-1.18757, "ax":0.0, "ay":0.0, "alpha":-0.48571, "fx":[1.39773,2.92346,-1.39776,-2.92349], "fy":[-2.92355,1.39766,2.9234,-1.39782]}, - {"t":1.89262, "x":6.45915, "y":7.25292, "heading":-0.37251, "vx":1.97505, "vy":-0.31031, "omega":-1.2011, "ax":0.0, "ay":0.0, "alpha":-0.40427, "fx":[1.08224,2.47048,-1.08226,-2.4705], "fy":[-2.47056,1.08218,2.47042,-1.08232]}, - {"t":1.92049, "x":6.51419, "y":7.24427, "heading":-0.40598, "vx":1.97505, "vy":-0.31031, "omega":-1.21237, "ax":0.0, "ay":0.0, "alpha":-0.32652, "fx":[0.80683,2.02349,-0.80686,-2.02351], "fy":[-2.02356,0.80678,2.02344,-0.80691]}, - {"t":1.94835, "x":6.56923, "y":7.23562, "heading":-0.43977, "vx":1.97505, "vy":-0.31031, "omega":-1.22147, "ax":0.0, "ay":0.0, "alpha":-0.25181, "fx":[0.56916,1.58062,-0.56918,-1.58064], "fy":[-1.58069,0.56911,1.58057,-0.56923]}, - {"t":1.97622, "x":6.62427, "y":7.22698, "heading":-0.4738, "vx":1.97505, "vy":-0.31031, "omega":-1.22849, "ax":0.0, "ay":-0.00001, "alpha":-0.17951, "fx":[0.36714,1.13992,-0.36717,-1.13995], "fy":[-1.14003,0.36706,1.13984,-0.36725]}, - {"t":2.00409, "x":6.67931, "y":7.21833, "heading":-0.50804, "vx":1.97505, "vy":-0.31031, "omega":-1.23349, "ax":0.0, "ay":-0.00002, "alpha":-0.10899, "fx":[0.19905,0.6993,-0.19916,-0.69942], "fy":[-0.69972,0.19874,0.69899,-0.19947]}, - {"t":2.03195, "x":6.73434, "y":7.20968, "heading":-0.54241, "vx":1.97505, "vy":-0.31031, "omega":-1.23652, "ax":-0.00002, "ay":-0.00012, "alpha":-0.03964, "fx":[0.06333,0.25641,-0.06395,-0.25703], "fy":[-0.2587,0.06166,0.25474,-0.06561]}, - {"t":2.05982, "x":6.78938, "y":7.20103, "heading":-0.57687, "vx":1.97505, "vy":-0.31032, "omega":-1.23763, "ax":-0.00011, "ay":-0.00068, "alpha":0.02915, "fx":[-0.04202,-0.19203,0.03851,0.18852], "fy":[0.1791,-0.05144,-0.20146,0.02908]}, - {"t":2.08769, "x":6.84442, "y":7.19239, "heading":-0.61136, "vx":1.97505, "vy":-0.31034, "omega":-1.23682, "ax":-0.0006, "ay":-0.00383, "alpha":0.09802, "fx":[-0.1232,-0.65402,0.10328,0.63411], "fy":[0.58071,-0.17659,-0.70741,0.04988]}, - {"t":2.11555, "x":6.89946, "y":7.18374, "heading":-0.64582, "vx":1.97503, "vy":-0.31044, "omega":-1.23409, "ax":-0.00341, "ay":-0.02169, "alpha":0.16758, "fx":[-0.212,-1.1636,0.0991,1.05075], "fy":[0.74849,-0.51426,-1.46582,-0.20318]}, - {"t":2.14342, "x":6.9545, "y":7.17508, "heading":-0.68021, "vx":1.97494, "vy":-0.31105, "omega":-1.22942, "ax":-0.01944, "ay":-0.12273, "alpha":0.23836, "fx":[-0.48864,-1.90313,-0.15437,1.2606], "fy":[-0.44772,-2.19621,-3.60987,-1.86264]}, - {"t":2.17129, "x":7.00952, "y":7.16636, "heading":-0.71447, "vx":1.97439, "vy":-0.31447, "omega":-1.22277, "ax":-0.113, "ay":-0.68788, "alpha":0.30611, "fx":[-2.0207,-3.92058,-1.71774,0.18595], "fy":[-9.34906,-11.51383,-13.3911,-11.23789]}, - {"t":2.19915, "x":7.0645, "y":7.15733, "heading":-0.74855, "vx":1.97125, "vy":-0.33364, "omega":-1.21424, "ax":-0.61054, "ay":-3.17108, "alpha":0.26685, "fx":[-10.29724,-12.16786,-9.90074,-8.01163], "fy":[-50.94274,-52.36778,-53.90303,-52.50176]}, + {"t":1.86475, "x":6.40411, "y":7.26157, "heading":-0.33942, "vx":1.97505, "vy":-0.31031, "omega":-1.18757, "ax":0.0, "ay":0.0, "alpha":-0.48571, "fx":[1.39773,2.92346,-1.39776,-2.92349], "fy":[-2.92356,1.39767,2.9234,-1.39782]}, + {"t":1.89262, "x":6.45915, "y":7.25292, "heading":-0.37251, "vx":1.97505, "vy":-0.31031, "omega":-1.2011, "ax":0.0, "ay":0.0, "alpha":-0.40427, "fx":[1.08224,2.47048,-1.08226,-2.47051], "fy":[-2.47057,1.08218,2.47042,-1.08232]}, + {"t":1.92049, "x":6.51419, "y":7.24427, "heading":-0.40598, "vx":1.97505, "vy":-0.31031, "omega":-1.21237, "ax":0.0, "ay":0.0, "alpha":-0.32652, "fx":[0.80684,2.02349,-0.80686,-2.02351], "fy":[-2.02357,0.80678,2.02344,-0.80691]}, + {"t":1.94835, "x":6.56923, "y":7.23562, "heading":-0.43977, "vx":1.97505, "vy":-0.31031, "omega":-1.22147, "ax":0.0, "ay":0.0, "alpha":-0.25181, "fx":[0.56916,1.58062,-0.56918,-1.58065], "fy":[-1.5807,0.56911,1.58057,-0.56923]}, + {"t":1.97622, "x":6.62427, "y":7.22698, "heading":-0.4738, "vx":1.97505, "vy":-0.31031, "omega":-1.22849, "ax":0.0, "ay":-0.00001, "alpha":-0.17951, "fx":[0.36714,1.13993,-0.36718,-1.13996], "fy":[-1.14004,0.36706,1.13985,-0.36726]}, + {"t":2.00409, "x":6.67931, "y":7.21833, "heading":-0.50804, "vx":1.97505, "vy":-0.31031, "omega":-1.23349, "ax":0.0, "ay":-0.00002, "alpha":-0.10899, "fx":[0.19905,0.6993,-0.19917,-0.69942], "fy":[-0.69973,0.19874,0.699,-0.19947]}, + {"t":2.03195, "x":6.73434, "y":7.20968, "heading":-0.54241, "vx":1.97505, "vy":-0.31031, "omega":-1.23652, "ax":-0.00002, "ay":-0.00012, "alpha":-0.03964, "fx":[0.06333,0.25641,-0.06395,-0.25703], "fy":[-0.2587,0.06166,0.25475,-0.06561]}, + {"t":2.05982, "x":6.78938, "y":7.20103, "heading":-0.57687, "vx":1.97505, "vy":-0.31032, "omega":-1.23763, "ax":-0.00011, "ay":-0.00068, "alpha":0.02915, "fx":[-0.04202,-0.19203,0.03851,0.18852], "fy":[0.17909,-0.05144,-0.20145,0.02908]}, + {"t":2.08769, "x":6.84442, "y":7.19239, "heading":-0.61136, "vx":1.97505, "vy":-0.31034, "omega":-1.23682, "ax":-0.0006, "ay":-0.00383, "alpha":0.09802, "fx":[-0.12319,-0.65401,0.10328,0.6341], "fy":[0.58071,-0.17659,-0.70741,0.04988]}, + {"t":2.11555, "x":6.89946, "y":7.18374, "heading":-0.64582, "vx":1.97503, "vy":-0.31044, "omega":-1.23409, "ax":-0.00341, "ay":-0.02169, "alpha":0.16758, "fx":[-0.212,-1.16359,0.0991,1.05075], "fy":[0.74849,-0.51425,-1.46582,-0.20318]}, + {"t":2.14342, "x":6.9545, "y":7.17508, "heading":-0.68021, "vx":1.97494, "vy":-0.31105, "omega":-1.22942, "ax":-0.01944, "ay":-0.12273, "alpha":0.23836, "fx":[-0.48864,-1.90313,-0.15437,1.2606], "fy":[-0.44773,-2.19621,-3.60987,-1.86264]}, + {"t":2.17129, "x":7.00952, "y":7.16636, "heading":-0.71447, "vx":1.97439, "vy":-0.31447, "omega":-1.22277, "ax":-0.113, "ay":-0.68788, "alpha":0.30611, "fx":[-2.0207,-3.92057,-1.71774,0.18594], "fy":[-9.34906,-11.51383,-13.3911,-11.23789]}, + {"t":2.19915, "x":7.0645, "y":7.15733, "heading":-0.74855, "vx":1.97125, "vy":-0.33364, "omega":-1.21424, "ax":-0.61054, "ay":-3.17108, "alpha":0.26685, "fx":[-10.29724,-12.16785,-9.90074,-8.01163], "fy":[-50.94274,-52.36778,-53.90303,-52.50176]}, {"t":2.22702, "x":7.11919, "y":7.1468, "heading":-0.78239, "vx":1.95423, "vy":-0.422, "omega":-1.20681, "ax":-1.57686, "ay":-6.02083, "alpha":0.08775, "fx":[-26.27181,-27.00213,-25.87434,-25.1357], "fy":[-99.30788,-99.34948,-99.78329,-99.73983]}, {"t":2.25489, "x":7.17304, "y":7.1327, "heading":-0.81602, "vx":1.91029, "vy":-0.58978, "omega":-1.20436, "ax":-2.41623, "ay":-6.64213, "alpha":0.03466, "fx":[-40.06791,-40.33904,-39.83015,-39.55696], "fy":[-109.74615,-109.68414,-109.88858,-109.95021]}, {"t":2.28275, "x":7.22534, "y":7.11369, "heading":-0.84958, "vx":1.84296, "vy":-0.77488, "omega":-1.2034, "ax":-3.17449, "ay":-6.58449, "alpha":0.01879, "fx":[-52.56491,-52.68952,-52.40611,-52.28076], "fy":[-108.81847,-108.7688,-108.91009,-108.95976]}, @@ -131,11 +131,11 @@ {"t":2.43905, "x":7.46336, "y":6.91851, "heading":-1.03752, "vx":1.1204, "vy":-1.65563, "omega":-1.20124, "ax":-6.10527, "ay":-3.75747, "alpha":0.03867, "fx":[-101.10558,-101.14056,-100.77774,-100.74067], "fy":[-61.82338,-61.83215,-62.42294,-62.41744]}, {"t":2.46328, "x":7.48871, "y":6.87729, "heading":-1.06663, "vx":0.97247, "vy":-1.74667, "omega":-1.2003, "ax":-6.05459, "ay":-3.0531, "alpha":0.08448, "fx":[-100.37659,-100.48393,-99.83323,-99.71886], "fy":[-49.77405,-49.89742,-51.17482,-51.06647]}, {"t":2.48751, "x":7.5105, "y":6.83408, "heading":-1.09571, "vx":0.82576, "vy":-1.82065, "omega":-1.19825, "ax":-5.16164, "ay":-2.13396, "alpha":0.24146, "fx":[-85.64312,-86.45923,-85.05319,-84.20345], "fy":[-33.31963,-34.02489,-37.19976,-36.58277]}, - {"t":2.51174, "x":7.52899, "y":6.78933, "heading":-1.12474, "vx":0.7007, "vy":-1.87235, "omega":-1.1924, "ax":-2.5657, "ay":-0.9123, "alpha":0.65897, "fx":[-41.47498,-46.23852,-43.42035,-38.54569], "fy":[-10.58263,-13.18491,-19.47233,-17.09386]}, + {"t":2.51174, "x":7.52899, "y":6.78933, "heading":-1.12474, "vx":0.7007, "vy":-1.87235, "omega":-1.1924, "ax":-2.5657, "ay":-0.9123, "alpha":0.65897, "fx":[-41.47498,-46.23852,-43.42034,-38.54569], "fy":[-10.58263,-13.18491,-19.47233,-17.09386]}, {"t":2.53597, "x":7.54521, "y":6.7437, "heading":-1.15363, "vx":0.63853, "vy":-1.89446, "omega":-1.17644, "ax":-0.69128, "ay":-0.22962, "alpha":0.87129, "fx":[-9.39578,-16.81073,-13.48842,-6.02214], "fy":[1.67889,-1.68084,-9.22532,-5.95807]}, {"t":2.5602, "x":7.56048, "y":6.69773, "heading":-1.18214, "vx":0.62178, "vy":-1.90002, "omega":-1.15533, "ax":-0.1634, "ay":-0.05328, "alpha":0.92354, "fx":[-0.32652,-8.37967,-5.08278,2.98277], "fy":[4.80979,1.49643,-6.55929,-3.27085]}, - {"t":2.58443, "x":7.5755, "y":6.65168, "heading":-1.21013, "vx":0.61782, "vy":-1.90131, "omega":-1.13295, "ax":-0.03825, "ay":-0.01242, "alpha":0.96725, "fx":[2.0259,-6.51139,-3.29218,5.24794], "fy":[5.67615,2.45239,-6.08354,-2.86634]}, - {"t":2.60866, "x":7.59046, "y":6.6056, "heading":-1.23758, "vx":0.61689, "vy":-1.90161, "omega":-1.10951, "ax":-0.00895, "ay":-0.0029, "alpha":1.01634, "fx":[2.81451,-6.24697,-3.11084,5.95129], "fy":[6.05157,2.91425,-6.14672,-3.01113]}, + {"t":2.58443, "x":7.5755, "y":6.65168, "heading":-1.21013, "vx":0.61782, "vy":-1.90131, "omega":-1.13295, "ax":-0.03825, "ay":-0.01242, "alpha":0.96725, "fx":[2.0259,-6.51139,-3.29218,5.24794], "fy":[5.67615,2.45238,-6.08354,-2.86634]}, + {"t":2.60866, "x":7.59046, "y":6.6056, "heading":-1.23758, "vx":0.61689, "vy":-1.90161, "omega":-1.10951, "ax":-0.00895, "ay":-0.0029, "alpha":1.01634, "fx":[2.81451,-6.24697,-3.11083,5.95129], "fy":[6.05157,2.91425,-6.14672,-3.01113]}, {"t":2.63289, "x":7.6054, "y":6.55953, "heading":-1.26447, "vx":0.61668, "vy":-1.90168, "omega":-1.08489, "ax":-0.0021, "ay":-0.00068, "alpha":1.07185, "fx":[3.26156,-6.38057,-3.33097,6.31131], "fy":[6.33481,3.28491,-6.35707,-3.30763]}, {"t":2.65712, "x":7.62034, "y":6.51345, "heading":-1.29075, "vx":0.61663, "vy":-1.9017, "omega":-1.05891, "ax":-0.00049, "ay":-0.00016, "alpha":1.1341, "fx":[3.65483,-6.62863,-3.67113,6.61236], "fy":[6.61789,3.66031,-6.62311,-3.66565]}, {"t":2.68135, "x":7.63529, "y":6.46737, "heading":-1.31641, "vx":0.61661, "vy":-1.9017, "omega":-1.03144, "ax":-0.00012, "ay":-0.00004, "alpha":1.2034, "fx":[4.06382,-6.92496,-4.0677,6.9211], "fy":[6.92241,4.06512,-6.92365,-4.0664]}, @@ -143,30 +143,30 @@ {"t":2.72981, "x":7.66517, "y":6.37521, "heading":-1.36569, "vx":0.61661, "vy":-1.90171, "omega":-0.97126, "ax":-0.00002, "ay":-0.00001, "alpha":1.36455, "fx":[4.99091,-7.61386,-4.99166,7.61311], "fy":[7.61336,4.99116,-7.61361,-4.99141]}, {"t":2.75404, "x":7.68011, "y":6.32914, "heading":-1.38922, "vx":0.61661, "vy":-1.90171, "omega":-0.9382, "ax":-0.00007, "ay":-0.00002, "alpha":1.45717, "fx":[5.51876,-8.0037,-5.52104,8.00142], "fy":[8.0022,5.51952,-8.00293,-5.52028]}, {"t":2.77827, "x":7.69505, "y":6.28306, "heading":-1.41196, "vx":0.61661, "vy":-1.90171, "omega":-0.90289, "ax":-0.00029, "ay":-0.00009, "alpha":1.55837, "fx":[6.09154,-8.42669,-6.10101,8.41722], "fy":[8.42045,6.0947,-8.42346,-6.09785]}, - {"t":2.8025, "x":7.70999, "y":6.23698, "heading":-1.43383, "vx":0.6166, "vy":-1.90171, "omega":-0.86513, "ax":-0.00122, "ay":-0.00039, "alpha":1.66861, "fx":[6.70312,-8.89288,-6.74332,8.85265], "fy":[8.86641,6.71653,-8.87912,-6.72991]}, - {"t":2.82673, "x":7.72493, "y":6.1909, "heading":-1.45479, "vx":0.61657, "vy":-1.90172, "omega":-0.8247, "ax":-0.00515, "ay":-0.00167, "alpha":1.78835, "fx":[7.31827,-9.44163,-7.48856,9.27107], "fy":[9.32954,7.37498,-9.38316,-7.43187]}, - {"t":2.85096, "x":7.73987, "y":6.14482, "heading":-1.47478, "vx":0.61645, "vy":-1.90176, "omega":-0.78137, "ax":-0.0218, "ay":-0.00706, "alpha":1.91804, "fx":[7.77923,-10.23507,-8.49905,9.51332], "fy":[9.76146,8.01863,-9.98706,-8.26011]}, - {"t":2.87519, "x":7.7548, "y":6.09874, "heading":-1.49371, "vx":0.61592, "vy":-1.90193, "omega":-0.73489, "ax":-0.09199, "ay":-0.02973, "alpha":2.05761, "fx":[7.4105,-11.94893,-10.44614,8.90105], "fy":[9.95378,8.42199,-10.8985,-9.44341]}, - {"t":2.89942, "x":7.76969, "y":6.05265, "heading":-1.51152, "vx":0.61369, "vy":-1.90265, "omega":-0.68504, "ax":-0.38657, "ay":-0.12363, "alpha":2.19686, "fx":[3.31618,-17.35753,-16.06429,4.54059], "fy":[9.0173,7.63741,-12.92275,-11.90823]}, - {"t":2.92365, "x":7.78445, "y":6.00651, "heading":-1.52811, "vx":0.60432, "vy":-1.90565, "omega":-0.63181, "ax":-1.56055, "ay":-0.4779, "alpha":2.16248, "fx":[-16.65204,-36.30875,-34.85164,-15.3924], "fy":[3.25881,2.14941,-18.33985,-18.674]}, + {"t":2.8025, "x":7.70999, "y":6.23698, "heading":-1.43383, "vx":0.6166, "vy":-1.90171, "omega":-0.86513, "ax":-0.00122, "ay":-0.00039, "alpha":1.66861, "fx":[6.70312,-8.89288,-6.74332,8.85265], "fy":[8.86641,6.71653,-8.87912,-6.72992]}, + {"t":2.82673, "x":7.72493, "y":6.1909, "heading":-1.45479, "vx":0.61657, "vy":-1.90172, "omega":-0.8247, "ax":-0.00515, "ay":-0.00167, "alpha":1.78835, "fx":[7.31827,-9.44163,-7.48856,9.27107], "fy":[9.32954,7.37498,-9.38316,-7.43188]}, + {"t":2.85096, "x":7.73987, "y":6.14482, "heading":-1.47478, "vx":0.61645, "vy":-1.90176, "omega":-0.78137, "ax":-0.0218, "ay":-0.00706, "alpha":1.91804, "fx":[7.77923,-10.23508,-8.49905,9.51332], "fy":[9.76146,8.01863,-9.98706,-8.26011]}, + {"t":2.87519, "x":7.7548, "y":6.09874, "heading":-1.49371, "vx":0.61592, "vy":-1.90193, "omega":-0.73489, "ax":-0.09199, "ay":-0.02973, "alpha":2.05761, "fx":[7.4105,-11.94893,-10.44614,8.90105], "fy":[9.95378,8.42199,-10.8985,-9.44342]}, + {"t":2.89942, "x":7.76969, "y":6.05265, "heading":-1.51152, "vx":0.61369, "vy":-1.90265, "omega":-0.68504, "ax":-0.38657, "ay":-0.12363, "alpha":2.19686, "fx":[3.31618,-17.35753,-16.06429,4.54059], "fy":[9.0173,7.63741,-12.92276,-11.90823]}, + {"t":2.92365, "x":7.78445, "y":6.00651, "heading":-1.52811, "vx":0.60432, "vy":-1.90565, "omega":-0.63181, "ax":-1.56055, "ay":-0.4779, "alpha":2.16248, "fx":[-16.65204,-36.30875,-34.85164,-15.3924], "fy":[3.25881,2.14942,-18.33985,-18.674]}, {"t":2.94788, "x":7.79863, "y":5.96019, "heading":-1.54342, "vx":0.56651, "vy":-1.91723, "omega":-0.57941, "ax":-4.38731, "ay":-1.16588, "alpha":1.20168, "fx":[-69.9002,-77.43395,-75.33972,-67.47543], "fy":[-12.22539,-11.35927,-25.58896,-27.9305]}, {"t":2.97211, "x":7.81107, "y":5.9134, "heading":-1.55746, "vx":0.46021, "vy":-1.94547, "omega":-0.55029, "ax":-6.32861, "ay":-1.21619, "alpha":0.42966, "fx":[-104.57882,-105.80664,-104.74538,-103.40425], "fy":[-17.11159,-16.28164,-22.92845,-24.10973]}, {"t":2.99634, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.30686, "vy":-1.97494, "omega":-0.53988, "ax":-6.38569, "ay":-0.64065, "alpha":0.58703, "fx":[-105.20575,-106.74908,-106.00783,-104.34696], "fy":[-6.07654,-5.63265,-14.75805,-15.90154]}, {"t":3.03221, "x":7.82726, "y":5.79464, "heading":-1.59016, "vx":0.07778, "vy":-1.99793, "omega":-0.51882, "ax":-2.26855, "ay":-0.04216, "alpha":2.69557, "fx":[-25.75043,-48.89426,-49.20593,-26.17708], "fy":[13.73048,12.64542,-13.42947,-15.7346]}, - {"t":3.06809, "x":7.8286, "y":5.72294, "heading":-1.60878, "vx":-0.00361, "vy":-1.99944, "omega":-0.42212, "ax":-0.25649, "ay":0.00105, "alpha":2.87236, "fx":[9.80522,-17.25837,-18.2723,8.76254], "fy":[13.15945,13.98878,-12.92422,-14.15454]}, - {"t":3.10396, "x":7.8283, "y":5.65121, "heading":-1.62392, "vx":-0.01281, "vy":-1.9994, "omega":-0.31908, "ax":-0.0265, "ay":0.00018, "alpha":2.56908, "fx":[12.30879,-11.89783,-13.18327,11.02005], "fy":[11.4704,12.741,-11.44807,-12.75169]}, - {"t":3.13984, "x":7.82782, "y":5.57948, "heading":-1.63537, "vx":-0.01376, "vy":-1.99939, "omega":-0.22691, "ax":-0.00271, "ay":0.00002, "alpha":2.28525, "fx":[11.40914,-10.10754,-11.49865,10.0177], "fy":[10.0636,11.45354,-10.06164,-11.45426]}, - {"t":3.17571, "x":7.82733, "y":5.50775, "heading":-1.64351, "vx":-0.01385, "vy":-1.99939, "omega":-0.14493, "ax":-0.00028, "ay":0.0, "alpha":2.02507, "fx":[10.21758,-8.83864,-10.22668,8.82951], "fy":[8.83416,10.2221,-8.83399,-10.22215]}, - {"t":3.21158, "x":7.82683, "y":5.43602, "heading":-1.64871, "vx":-0.01386, "vy":-1.99939, "omega":-0.07228, "ax":-0.00003, "ay":0.0, "alpha":1.7865, "fx":[9.05781,-7.74681,-9.05873,7.74589], "fy":[7.74636,9.05827,-7.74634,-9.05827]}, + {"t":3.06809, "x":7.8286, "y":5.72294, "heading":-1.60878, "vx":-0.00361, "vy":-1.99944, "omega":-0.42212, "ax":-0.25649, "ay":0.00105, "alpha":2.87236, "fx":[9.80522,-17.25837,-18.27231,8.76254], "fy":[13.15945,13.98879,-12.92422,-14.15454]}, + {"t":3.10396, "x":7.8283, "y":5.65121, "heading":-1.62392, "vx":-0.01281, "vy":-1.9994, "omega":-0.31908, "ax":-0.0265, "ay":0.00018, "alpha":2.56908, "fx":[12.30879,-11.89783,-13.18327,11.02005], "fy":[11.4704,12.741,-11.44807,-12.7517]}, + {"t":3.13984, "x":7.82782, "y":5.57948, "heading":-1.63537, "vx":-0.01376, "vy":-1.99939, "omega":-0.22691, "ax":-0.00271, "ay":0.00002, "alpha":2.28525, "fx":[11.40914,-10.10754,-11.49866,10.0177], "fy":[10.0636,11.45354,-10.06164,-11.45426]}, + {"t":3.17571, "x":7.82733, "y":5.50775, "heading":-1.64351, "vx":-0.01385, "vy":-1.99939, "omega":-0.14493, "ax":-0.00028, "ay":0.0, "alpha":2.02507, "fx":[10.21758,-8.83864,-10.22668,8.82951], "fy":[8.83416,10.22211,-8.83399,-10.22215]}, + {"t":3.21158, "x":7.82683, "y":5.43602, "heading":-1.64871, "vx":-0.01386, "vy":-1.99939, "omega":-0.07228, "ax":-0.00003, "ay":0.0, "alpha":1.7865, "fx":[9.05781,-7.74681,-9.05873,7.74589], "fy":[7.74636,9.05827,-7.74635,-9.05827]}, {"t":3.24746, "x":7.82633, "y":5.3643, "heading":-1.6513, "vx":-0.01387, "vy":-1.99939, "omega":-0.00819, "ax":0.0, "ay":0.0, "alpha":1.56743, "fx":[7.96507,-6.77589,-7.96516,6.7758], "fy":[6.77584,7.96512,-6.77584,-7.96512]}, - {"t":3.28333, "x":7.82584, "y":5.29257, "heading":-1.65159, "vx":-0.01387, "vy":-1.99939, "omega":0.04804, "ax":0.0, "ay":0.0, "alpha":1.36582, "fx":[6.94231,-5.90225,-6.94232,5.90224], "fy":[5.90224,6.94232,-5.90224,-6.94232]}, + {"t":3.28333, "x":7.82584, "y":5.29257, "heading":-1.65159, "vx":-0.01387, "vy":-1.99939, "omega":0.04804, "ax":0.0, "ay":0.0, "alpha":1.36582, "fx":[6.94231,-5.90225,-6.94232,5.90224], "fy":[5.90225,6.94232,-5.90224,-6.94232]}, {"t":3.31921, "x":7.82534, "y":5.22084, "heading":-1.64987, "vx":-0.01387, "vy":-1.99939, "omega":0.09704, "ax":0.0, "ay":0.0, "alpha":1.17966, "fx":[5.98731,-5.10811,-5.98731,5.10811], "fy":[5.10811,5.98731,-5.10811,-5.98731]}, {"t":3.35508, "x":7.82484, "y":5.14911, "heading":-1.64639, "vx":-0.01387, "vy":-1.99939, "omega":0.13936, "ax":0.0, "ay":0.0, "alpha":1.00704, "fx":[5.09596,-4.3784,-5.09596,4.3784], "fy":[4.3784,5.09596,-4.3784,-5.09596]}, {"t":3.39096, "x":7.82434, "y":5.07739, "heading":-1.64139, "vx":-0.01387, "vy":-1.99939, "omega":0.17549, "ax":0.0, "ay":0.0, "alpha":0.84611, "fx":[4.26314,-3.70005,-4.26314,3.70005], "fy":[3.70005,4.26314,-3.70005,-4.26314]}, {"t":3.42683, "x":7.82385, "y":5.00566, "heading":-1.63509, "vx":-0.01387, "vy":-1.99939, "omega":0.20584, "ax":0.0, "ay":0.0, "alpha":0.69508, "fx":[3.483,-3.06162,-3.483,3.06162], "fy":[3.06162,3.483,-3.06162,-3.483]}, - {"t":3.46271, "x":7.82335, "y":4.93393, "heading":-1.62771, "vx":-0.01387, "vy":-1.99939, "omega":0.23078, "ax":0.0, "ay":0.0, "alpha":0.55227, "fx":[2.74932,-2.45293,-2.74932,2.45293], "fy":[2.45293,2.74932,-2.45292,-2.74932]}, - {"t":3.49858, "x":7.82285, "y":4.8622, "heading":-1.61943, "vx":-0.01387, "vy":-1.99939, "omega":0.25059, "ax":0.0, "ay":0.0, "alpha":0.41601, "fx":[2.05562,-1.86481,-2.05562,1.86481], "fy":[1.86481,2.05562,-1.86481,-2.05562]}, - {"t":3.53446, "x":7.82236, "y":4.79047, "heading":-1.61044, "vx":-0.01387, "vy":-1.99939, "omega":0.26552, "ax":0.0, "ay":0.0, "alpha":0.28471, "fx":[1.39533,-1.28886,-1.39533,1.28886], "fy":[1.28886,1.39533,-1.28886,-1.39532]}, + {"t":3.46271, "x":7.82335, "y":4.93393, "heading":-1.62771, "vx":-0.01387, "vy":-1.99939, "omega":0.23078, "ax":0.0, "ay":0.0, "alpha":0.55227, "fx":[2.74932,-2.45293,-2.74932,2.45293], "fy":[2.45293,2.74932,-2.45293,-2.74932]}, + {"t":3.49858, "x":7.82285, "y":4.8622, "heading":-1.61943, "vx":-0.01387, "vy":-1.99939, "omega":0.25059, "ax":0.0, "ay":0.0, "alpha":0.41601, "fx":[2.05562,-1.86481,-2.05562,1.86481], "fy":[1.86481,2.05563,-1.86481,-2.05562]}, + {"t":3.53446, "x":7.82236, "y":4.79047, "heading":-1.61044, "vx":-0.01387, "vy":-1.99939, "omega":0.26552, "ax":0.0, "ay":0.0, "alpha":0.28471, "fx":[1.39533,-1.28886,-1.39533,1.28886], "fy":[1.28886,1.39533,-1.28886,-1.39533]}, {"t":3.57033, "x":7.82186, "y":4.71875, "heading":-1.60091, "vx":-0.01387, "vy":-1.99939, "omega":0.27573, "ax":0.0, "ay":0.0, "alpha":0.15683, "fx":[0.76178,-0.71722,-0.76178,0.71722], "fy":[0.71722,0.76178,-0.71722,-0.76178]}, {"t":3.60621, "x":7.82136, "y":4.64702, "heading":-1.59102, "vx":-0.01387, "vy":-1.99939, "omega":0.28136, "ax":0.0, "ay":0.0, "alpha":0.03082, "fx":[0.1483,-0.14242,-0.1483,0.14242], "fy":[0.14243,0.14831,-0.14241,-0.14829]}, {"t":3.64208, "x":7.82086, "y":4.57529, "heading":-1.58093, "vx":-0.01387, "vy":-1.99939, "omega":0.28246, "ax":0.00011, "ay":0.01558, "alpha":-0.09482, "fx":[-0.45003,0.44454,0.45359,-0.44095], "fy":[-0.18516,-0.19422,0.70033,0.70939]}, diff --git a/src/main/deploy/choreo/RRtoFR.traj b/src/main/deploy/choreo/RRtoFR.traj index 32144ae2..771c3497 100644 --- a/src/main/deploy/choreo/RRtoFR.traj +++ b/src/main/deploy/choreo/RRtoFR.traj @@ -76,55 +76,55 @@ {"t":0.61518, "x":3.74071, "y":0.6547, "heading":0.00002, "vx":1.99952, "vy":-0.01051, "omega":-0.01351, "ax":-0.00001, "ay":-0.00158, "alpha":-0.09273, "fx":[0.43731,0.43729,-0.43759,-0.43757], "fy":[-0.4636,0.41128,0.41126,-0.46362]}, {"t":0.65912, "x":3.82857, "y":0.65424, "heading":-0.00057, "vx":1.99952, "vy":-0.01057, "omega":-0.01758, "ax":-0.00001, "ay":-0.00165, "alpha":-0.10803, "fx":[0.50919,0.50977,-0.50948,-0.51006], "fy":[-0.53712,0.48214,0.48272,-0.53654]}, {"t":0.70306, "x":3.91643, "y":0.65377, "heading":-0.00134, "vx":1.99952, "vy":-0.01065, "omega":-0.02233, "ax":-0.00001, "ay":-0.00177, "alpha":-0.12466, "fx":[0.58713,0.58872,-0.58745,-0.58903], "fy":[-0.61808,0.55809,0.55967,-0.6165]}, - {"t":0.747, "x":4.0043, "y":0.6533, "heading":-0.00232, "vx":1.99952, "vy":-0.01072, "omega":-0.02781, "ax":-0.00001, "ay":-0.00195, "alpha":-0.14245, "fx":[0.67027,0.67339,-0.67062,-0.67374], "fy":[-0.70583,0.63818,0.6413,-0.70271]}, - {"t":0.79094, "x":4.09216, "y":0.65283, "heading":-0.00355, "vx":1.99952, "vy":-0.01081, "omega":-0.03407, "ax":-0.00001, "ay":-0.00221, "alpha":-0.16113, "fx":[0.75722,0.76262,-0.75763,-0.76302], "fy":[-0.7993,0.72094,0.72633,-0.79391]}, + {"t":0.747, "x":4.0043, "y":0.6533, "heading":-0.00232, "vx":1.99952, "vy":-0.01072, "omega":-0.02781, "ax":-0.00001, "ay":-0.00195, "alpha":-0.14245, "fx":[0.67027,0.6734,-0.67062,-0.67374], "fy":[-0.70583,0.63818,0.64131,-0.70271]}, + {"t":0.79094, "x":4.09216, "y":0.65283, "heading":-0.00355, "vx":1.99952, "vy":-0.01081, "omega":-0.03407, "ax":-0.00001, "ay":-0.00221, "alpha":-0.16113, "fx":[0.75722,0.76262,-0.75763,-0.76302], "fy":[-0.7993,0.72094,0.72634,-0.79391]}, {"t":0.83488, "x":4.18002, "y":0.65235, "heading":-0.00504, "vx":1.99951, "vy":-0.01091, "omega":-0.04115, "ax":-0.00001, "ay":-0.00254, "alpha":-0.1803, "fx":[0.84604,0.85463,-0.84651,-0.85509], "fy":[-0.89687,0.80426,0.81284,-0.88829]}, {"t":0.87882, "x":4.26788, "y":0.65187, "heading":-0.00685, "vx":1.99951, "vy":-0.01102, "omega":-0.04907, "ax":-0.00002, "ay":-0.00297, "alpha":-0.19943, "fx":[0.93405,0.94696,-0.93461,-0.9475], "fy":[-0.99628,0.88528,0.89817,-0.98339]}, {"t":0.92277, "x":4.35574, "y":0.65139, "heading":-0.00901, "vx":1.99951, "vy":-0.01115, "omega":-0.05783, "ax":-0.00002, "ay":-0.0035, "alpha":-0.21778, "fx":[1.01773,1.03626,-1.0184,-1.0369], "fy":[-1.09444,0.96021,0.97872,-1.07593]}, {"t":0.96671, "x":4.4436, "y":0.65089, "heading":-0.01155, "vx":1.99951, "vy":-0.0113, "omega":-0.0674, "ax":-0.00002, "ay":-0.00416, "alpha":-0.23441, "fx":[1.0926,1.11817,-1.09341,-1.11894], "fy":[-1.1873,1.02426,1.04981,-1.16175]}, {"t":1.01065, "x":4.53146, "y":0.65039, "heading":-0.01451, "vx":1.99951, "vy":-0.01149, "omega":-0.0777, "ax":-0.00003, "ay":-0.00497, "alpha":-0.24814, "fx":[1.15299,1.18699,-1.15397,-1.18792], "fy":[-1.26955,1.07138,1.10536,-1.23558]}, - {"t":1.05459, "x":4.61932, "y":0.64988, "heading":-0.01793, "vx":1.99951, "vy":-0.0117, "omega":-0.08861, "ax":-0.00004, "ay":-0.00595, "alpha":-0.25747, "fx":[1.19204,1.23562,-1.19325,-1.23676], "fy":[-1.33458,1.09425,1.1378,-1.29104]}, + {"t":1.05459, "x":4.61932, "y":0.64988, "heading":-0.01793, "vx":1.99951, "vy":-0.0117, "omega":-0.08861, "ax":-0.00004, "ay":-0.00595, "alpha":-0.25747, "fx":[1.19204,1.23562,-1.19325,-1.23675], "fy":[-1.33458,1.09425,1.1378,-1.29104]}, {"t":1.09853, "x":4.70718, "y":0.64936, "heading":-0.02182, "vx":1.99951, "vy":-0.01197, "omega":-0.09992, "ax":-0.00004, "ay":-0.00715, "alpha":-0.26055, "fx":[1.20131,1.25499,-1.20279,-1.25639], "fy":[-1.3739,1.08383,1.13747,-1.32027]}, - {"t":1.14247, "x":4.79505, "y":0.64883, "heading":-0.02621, "vx":1.99951, "vy":-0.01228, "omega":-0.11137, "ax":-0.00005, "ay":-0.00861, "alpha":-0.2552, "fx":[1.17104,1.2342,-1.17287,-1.23592], "fy":[-1.37733,1.02967,1.09278,-1.31423]}, + {"t":1.14247, "x":4.79505, "y":0.64883, "heading":-0.02621, "vx":1.99951, "vy":-0.01228, "omega":-0.11137, "ax":-0.00005, "ay":-0.00861, "alpha":-0.2552, "fx":[1.17104,1.23419,-1.17287,-1.23592], "fy":[-1.37733,1.02967,1.09278,-1.31423]}, {"t":1.18641, "x":4.88291, "y":0.64828, "heading":-0.0311, "vx":1.9995, "vy":-0.01266, "omega":-0.12258, "ax":-0.00007, "ay":-0.01037, "alpha":-0.2387, "fx":[1.08937,1.15947,-1.09164,-1.16163], "fy":[-1.33198,0.91906,0.98911,-1.26194]}, {"t":1.23035, "x":4.97077, "y":0.64771, "heading":-0.03649, "vx":1.9995, "vy":-0.01311, "omega":-0.13307, "ax":-0.00008, "ay":-0.01251, "alpha":-0.20796, "fx":[0.94319,1.01483,-0.94602,-1.01755], "fy":[-1.22294,0.73784,0.80942,-1.15136]}, - {"t":1.2743, "x":5.05863, "y":0.64713, "heading":-0.04234, "vx":1.9995, "vy":-0.01366, "omega":-0.14221, "ax":-0.00011, "ay":-0.01509, "alpha":-0.15918, "fx":[0.71669,0.7803,-0.72023,-0.78376], "fy":[-1.03157,0.46891,0.53248,-0.968]}, - {"t":1.31824, "x":5.14649, "y":0.64651, "heading":-0.04859, "vx":1.99949, "vy":-0.01433, "omega":-0.14921, "ax":-0.00013, "ay":-0.01823, "alpha":-0.08818, "fx":[0.39309,0.43351,-0.39754,-0.43794], "fy":[-0.73714,0.09389,0.1343,-0.69673]}, + {"t":1.2743, "x":5.05863, "y":0.64713, "heading":-0.04234, "vx":1.9995, "vy":-0.01366, "omega":-0.14221, "ax":-0.00011, "ay":-0.01509, "alpha":-0.15918, "fx":[0.7167,0.7803,-0.72023,-0.78376], "fy":[-1.03157,0.46891,0.53248,-0.968]}, + {"t":1.31824, "x":5.14649, "y":0.64651, "heading":-0.04859, "vx":1.99949, "vy":-0.01433, "omega":-0.14921, "ax":-0.00013, "ay":-0.01823, "alpha":-0.08818, "fx":[0.39308,0.43351,-0.39754,-0.43794], "fy":[-0.73713,0.09389,0.1343,-0.69673]}, {"t":1.36218, "x":5.23435, "y":0.64586, "heading":-0.05514, "vx":1.99949, "vy":-0.01513, "omega":-0.15308, "ax":-0.00017, "ay":-0.02204, "alpha":0.01011, "fx":[-0.04783,-0.05309,0.04214,0.0474], "fy":[-0.31419,-0.40942,-0.41468,-0.31945]}, - {"t":1.40612, "x":5.32221, "y":0.64518, "heading":-0.06187, "vx":1.99948, "vy":-0.0161, "omega":-0.15264, "ax":-0.00022, "ay":-0.02669, "alpha":0.14107, "fx":[-0.6268,-0.70905,0.61938,0.70174], "fy":[0.2641,-1.06435,-1.14665,0.1818]}, + {"t":1.40612, "x":5.32221, "y":0.64518, "heading":-0.06187, "vx":1.99948, "vy":-0.0161, "omega":-0.15264, "ax":-0.00022, "ay":-0.02669, "alpha":0.14107, "fx":[-0.6268,-0.70905,0.61939,0.70174], "fy":[0.26411,-1.06436,-1.14665,0.1818]}, {"t":1.45006, "x":5.41007, "y":0.64445, "heading":-0.06858, "vx":1.99947, "vy":-0.01727, "omega":-0.14644, "ax":-0.00029, "ay":-0.03239, "alpha":0.31113, "fx":[-1.36872,-1.56958,1.35879,1.56025], "fy":[1.02932,-1.89928,-2.1004,0.82813]}, - {"t":1.494, "x":5.49793, "y":0.64366, "heading":-0.07501, "vx":1.99946, "vy":-0.01869, "omega":-0.13277, "ax":-0.00039, "ay":-0.03946, "alpha":0.52677, "fx":[-2.29879,-2.67025,2.285,2.65851], "fy":[2.0119,-2.94425,-3.31657,1.63929]}, + {"t":1.494, "x":5.49793, "y":0.64366, "heading":-0.07501, "vx":1.99946, "vy":-0.01869, "omega":-0.13277, "ax":-0.00039, "ay":-0.03946, "alpha":0.52677, "fx":[-2.2988,-2.67025,2.285,2.65851], "fy":[2.0119,-2.94425,-3.31657,1.63929]}, {"t":1.53794, "x":5.58578, "y":0.6428, "heading":-0.08084, "vx":1.99944, "vy":-0.02043, "omega":-0.10962, "ax":-0.00052, "ay":-0.04836, "alpha":0.79533, "fx":[-3.44691,-4.05007,3.42685,4.03575], "fy":[3.24323,-4.23638,-4.84194,2.6368]}, {"t":1.58188, "x":5.67364, "y":0.64185, "heading":-0.08566, "vx":1.99942, "vy":-0.02255, "omega":-0.07467, "ax":-0.00071, "ay":-0.05986, "alpha":1.12374, "fx":[-4.84393,-5.74403,4.81322,5.72748], "fy":[4.74591,-5.81822,-6.72418,3.83767]}, - {"t":1.62583, "x":5.7615, "y":0.6408, "heading":-0.08894, "vx":1.99939, "vy":-0.02518, "omega":-0.02529, "ax":-0.00101, "ay":-0.07535, "alpha":1.5187, "fx":[-6.52533,-7.78196,6.47562,7.76479], "fy":[6.52748,-7.74619,-9.01622,5.25205]}, - {"t":1.66977, "x":5.84935, "y":0.63962, "heading":-0.09005, "vx":1.99934, "vy":-0.02849, "omega":0.04144, "ax":-0.0015, "ay":-0.09769, "alpha":1.9855, "fx":[-8.53063,-10.1795,8.44506,10.16606], "fy":[8.55723,-10.10303,-11.78163,6.86663]}, - {"t":1.71371, "x":5.9372, "y":0.63828, "heading":-0.08823, "vx":1.99928, "vy":-0.03278, "omega":0.12869, "ax":-0.00239, "ay":-0.13402, "alpha":2.52665, "fx":[-10.9062,-12.92702,10.7468,12.92804], "fy":[10.71017,-13.04131,-15.12887,8.59697]}, - {"t":1.75765, "x":6.02505, "y":0.63671, "heading":-0.08258, "vx":1.99917, "vy":-0.03867, "omega":0.23971, "ax":-0.00438, "ay":-0.20296, "alpha":3.14049, "fx":[-13.72009,-15.97654,13.38707,16.01999], "fy":[12.63353,-16.90129,-19.31766,10.16285]}, - {"t":1.80159, "x":6.11289, "y":0.63481, "heading":-0.07205, "vx":1.99898, "vy":-0.04759, "omega":0.37771, "ax":-0.0075, "ay":-0.279, "alpha":3.82054, "fx":[-17.02119,-19.2318,16.38889,19.36829], "fy":[14.65802,-21.28899,-23.83848,12.01834]}, - {"t":1.84553, "x":6.20072, "y":0.63245, "heading":-0.05545, "vx":1.99865, "vy":-0.05985, "omega":0.54559, "ax":0.0123, "ay":2.21564, "alpha":3.88477, "fx":[-16.97284,-22.49263,20.77844,19.50078], "fy":[54.12255,21.06211,18.87986,52.46394]}, + {"t":1.62583, "x":5.7615, "y":0.6408, "heading":-0.08894, "vx":1.99939, "vy":-0.02518, "omega":-0.02529, "ax":-0.00101, "ay":-0.07535, "alpha":1.5187, "fx":[-6.52533,-7.78196,6.47562,7.76479], "fy":[6.52748,-7.74619,-9.01622,5.25206]}, + {"t":1.66977, "x":5.84935, "y":0.63962, "heading":-0.09005, "vx":1.99934, "vy":-0.02849, "omega":0.04144, "ax":-0.0015, "ay":-0.09769, "alpha":1.9855, "fx":[-8.53063,-10.1795,8.44506,10.16607], "fy":[8.55723,-10.10303,-11.78163,6.86663]}, + {"t":1.71371, "x":5.9372, "y":0.63828, "heading":-0.08823, "vx":1.99928, "vy":-0.03278, "omega":0.12869, "ax":-0.00239, "ay":-0.13402, "alpha":2.52665, "fx":[-10.9062,-12.92703,10.74681,12.92804], "fy":[10.71017,-13.04131,-15.12887,8.59698]}, + {"t":1.75765, "x":6.02505, "y":0.63671, "heading":-0.08258, "vx":1.99917, "vy":-0.03867, "omega":0.23971, "ax":-0.00438, "ay":-0.20296, "alpha":3.14049, "fx":[-13.72009,-15.97655,13.38708,16.02], "fy":[12.63353,-16.90129,-19.31766,10.16285]}, + {"t":1.80159, "x":6.11289, "y":0.63481, "heading":-0.07205, "vx":1.99898, "vy":-0.04759, "omega":0.37771, "ax":-0.0075, "ay":-0.279, "alpha":3.82054, "fx":[-17.0212,-19.23181,16.38889,19.3683], "fy":[14.65802,-21.28899,-23.83848,12.01835]}, + {"t":1.84553, "x":6.20072, "y":0.63245, "heading":-0.05545, "vx":1.99865, "vy":-0.05985, "omega":0.54559, "ax":0.0123, "ay":2.21564, "alpha":3.88477, "fx":[-16.97284,-22.49264,20.77845,19.50079], "fy":[54.12256,21.06211,18.87985,52.46394]}, {"t":1.88947, "x":6.28856, "y":0.63196, "heading":-0.03147, "vx":1.99919, "vy":0.03751, "omega":0.71629, "ax":-0.68378, "ay":6.94936, "alpha":0.43828, "fx":[-14.52486,-15.67827,-7.86096,-7.15696], "fy":[114.9212,114.19955,114.92013,115.54631]}, {"t":1.93341, "x":6.37575, "y":0.64032, "heading":0.0, "vx":1.96914, "vy":0.34287, "omega":0.73555, "ax":-1.46066, "ay":6.79946, "alpha":0.23939, "fx":[-25.73177,-26.58148,-22.5079,-21.77797], "fy":[112.28735,111.75858,112.57461,113.05311]}, - {"t":1.95722, "x":6.42222, "y":0.65041, "heading":0.01751, "vx":1.93436, "vy":0.50477, "omega":0.74125, "ax":-1.7773, "ay":5.91401, "alpha":0.55802, "fx":[-32.49255,-34.52673,-26.04119,-24.47889], "fy":[97.98053,95.58384,97.69559,99.85607]}, - {"t":1.98104, "x":6.46777, "y":0.6641, "heading":0.03516, "vx":1.89205, "vy":0.64558, "omega":0.75453, "ax":-1.3465, "ay":3.66564, "alpha":1.54031, "fx":[-29.686,-32.43893,-13.94129,-12.98286], "fy":[64.94212,53.33981,56.42583,67.71499]}, - {"t":2.00485, "x":6.51244, "y":0.68051, "heading":0.05313, "vx":1.85999, "vy":0.73286, "omega":0.79121, "ax":-0.47244, "ay":1.17314, "alpha":2.37397, "fx":[-19.30941,-19.16619,4.33895,2.89222], "fy":[29.46891,7.73688,9.17473,31.20351]}, - {"t":2.02866, "x":6.55659, "y":0.6983, "heading":0.07197, "vx":1.84874, "vy":0.76079, "omega":0.84773, "ax":-0.11777, "ay":0.28469, "alpha":2.36716, "fx":[-13.81172,-12.38833,10.07635,8.3352], "fy":[14.99606,-7.21137,-5.62199,16.665]}, - {"t":2.05247, "x":6.60058, "y":0.71649, "heading":0.09215, "vx":1.84593, "vy":0.76757, "omega":0.9041, "ax":-0.02496, "ay":0.05995, "alpha":2.24642, "fx":[-11.92544,-10.00685,11.13058,9.15116], "fy":[10.56378,-10.53308,-8.58799,12.52184]}, + {"t":1.95722, "x":6.42222, "y":0.65041, "heading":0.01751, "vx":1.93436, "vy":0.50477, "omega":0.74125, "ax":-1.7773, "ay":5.91401, "alpha":0.55802, "fx":[-32.49256,-34.52673,-26.04119,-24.47889], "fy":[97.98053,95.58384,97.69559,99.85607]}, + {"t":1.98104, "x":6.46777, "y":0.6641, "heading":0.03516, "vx":1.89205, "vy":0.64558, "omega":0.75453, "ax":-1.3465, "ay":3.66564, "alpha":1.54031, "fx":[-29.686,-32.43893,-13.94128,-12.98286], "fy":[64.94212,53.33981,56.42583,67.71499]}, + {"t":2.00485, "x":6.51244, "y":0.68051, "heading":0.05313, "vx":1.85999, "vy":0.73286, "omega":0.79121, "ax":-0.47244, "ay":1.17314, "alpha":2.37397, "fx":[-19.30941,-19.16619,4.33895,2.89222], "fy":[29.46891,7.73688,9.17473,31.20352]}, + {"t":2.02866, "x":6.55659, "y":0.6983, "heading":0.07197, "vx":1.84874, "vy":0.76079, "omega":0.84773, "ax":-0.11777, "ay":0.28469, "alpha":2.36716, "fx":[-13.81172,-12.38833,10.07635,8.3352], "fy":[14.99606,-7.21136,-5.62199,16.665]}, + {"t":2.05247, "x":6.60058, "y":0.71649, "heading":0.09215, "vx":1.84593, "vy":0.76757, "omega":0.9041, "ax":-0.02496, "ay":0.05995, "alpha":2.24642, "fx":[-11.92544,-10.00685,11.13058,9.15116], "fy":[10.56378,-10.53308,-8.58798,12.52184]}, {"t":2.07628, "x":6.64452, "y":0.73479, "heading":0.11368, "vx":1.84534, "vy":0.769, "omega":0.95758, "ax":-0.00213, "ay":0.00509, "alpha":2.12406, "fx":[-11.12633,-8.85561,11.05838,8.78301], "fy":[8.90275,-11.00785,-8.73479,11.17662]}, - {"t":2.10009, "x":6.68846, "y":0.7531, "heading":0.13648, "vx":1.84529, "vy":0.76912, "omega":1.00816, "ax":0.00331, "ay":-0.00794, "alpha":2.00629, "fx":[-10.61143,-8.0328,10.71751,8.14542], "fy":[7.95777,-10.79595,-8.22002,10.53291]}, - {"t":2.1239, "x":6.7324, "y":0.77141, "heading":0.16048, "vx":1.84537, "vy":0.76893, "omega":1.05593, "ax":0.00447, "ay":-0.01075, "alpha":1.89295, "fx":[-10.1703,-7.31241,10.31428,7.46432], "fy":[7.21076,-10.4201,-7.56582,10.06445]}, - {"t":2.14771, "x":6.77634, "y":0.78971, "heading":0.18563, "vx":1.84547, "vy":0.76868, "omega":1.101, "ax":0.00461, "ay":-0.01108, "alpha":1.78366, "fx":[-9.74852,-6.63892,9.89732,6.795], "fy":[6.53384,-10.00611,-6.90005,9.63973]}, - {"t":2.17152, "x":6.82028, "y":0.80801, "heading":0.21184, "vx":1.84558, "vy":0.76841, "omega":1.14347, "ax":0.00451, "ay":-0.01083, "alpha":1.67814, "fx":[-9.33132,-5.99907,9.47718,6.15123], "fy":[5.89602,-9.58331,-6.2543,9.22521]}, - {"t":2.19533, "x":6.86423, "y":0.8263, "heading":0.23907, "vx":1.84569, "vy":0.76815, "omega":1.18343, "ax":0.00435, "ay":-0.01047, "alpha":1.57615, "fx":[-8.91415,-5.39005,9.05543,5.5367], "fy":[5.29019,-9.15778,-5.63661,8.81181]}, - {"t":2.21914, "x":6.90817, "y":0.84459, "heading":0.26724, "vx":1.84579, "vy":0.7679, "omega":1.22096, "ax":0.0042, "ay":-0.01009, "alpha":1.47752, "fx":[-8.49525,-4.81166,8.63172,4.95264], "fy":[4.71517,-8.7302,-5.0492,8.3968]}, - {"t":2.24295, "x":6.95212, "y":0.86287, "heading":0.29632, "vx":1.84589, "vy":0.76766, "omega":1.25614, "ax":0.00403, "ay":-0.0097, "alpha":1.38216, "fx":[-8.07448,-4.2647,8.20585,4.39985], "fy":[4.17178,-8.30033,-4.49284,7.98003]}, - {"t":2.26676, "x":6.99608, "y":0.88115, "heading":0.32623, "vx":1.84599, "vy":0.76743, "omega":1.28905, "ax":0.00382, "ay":-0.00919, "alpha":1.28995, "fx":[-7.65228,-3.7504,7.77693,3.8781], "fy":[3.66221,-7.86628,-3.96635,7.56295]}, - {"t":2.29057, "x":7.04003, "y":0.89942, "heading":0.35692, "vx":1.84608, "vy":0.76721, "omega":1.31976, "ax":0.00337, "ay":-0.00812, "alpha":1.20093, "fx":[-7.23264,-3.27264,7.34296,3.38529], "fy":[3.19451,-7.42184,-3.46338,7.15373]}, - {"t":2.31438, "x":7.08399, "y":0.91768, "heading":0.38834, "vx":1.84616, "vy":0.76702, "omega":1.34835, "ax":0.00195, "ay":-0.0047, "alpha":1.115, "fx":[-6.82817,-2.84418,6.89211,2.90925], "fy":[2.79873,-6.93768,-2.9544,6.78246]}, - {"t":2.33819, "x":7.12795, "y":0.93595, "heading":0.42045, "vx":1.84621, "vy":0.76691, "omega":1.3749, "ax":-0.00354, "ay":0.00851, "alpha":1.0323, "fx":[-6.4917,-2.51718,6.3755,2.39934], "fy":[2.59871,-6.29286,-2.31683,6.57394]}, - {"t":2.362, "x":7.1719, "y":0.95421, "heading":0.45318, "vx":1.84612, "vy":0.76711, "omega":1.39948, "ax":-0.02592, "ay":0.06231, "alpha":0.95257, "fx":[-6.43414,-2.50468,5.58205,1.64244], "fy":[3.10324,-4.97857,-1.04008,7.03605]}, - {"t":2.38581, "x":7.21585, "y":0.97249, "heading":0.4865, "vx":1.84551, "vy":0.7686, "omega":1.42216, "ax":-0.11869, "ay":0.28353, "alpha":0.87369, "fx":[-7.52814,-3.69719,3.62202,-0.24633], "fy":[6.40084,-0.88441,2.98661,10.24758]}, - {"t":2.40962, "x":7.25976, "y":0.99087, "heading":0.52037, "vx":1.84268, "vy":0.77535, "omega":1.44297, "ax":-0.4996, "ay":1.16267, "alpha":0.75959, "fx":[-13.18956,-9.74275,-3.27259,-6.83543], "fy":[20.44439,14.37958,18.04222,24.02572]}, - {"t":2.43343, "x":7.30349, "y":1.00966, "heading":0.55472, "vx":1.83078, "vy":0.80303, "omega":1.46105, "ax":-1.65233, "ay":3.54027, "alpha":0.42303, "fx":[-30.37157,-28.6783,-24.1936,-26.03111], "fy":[58.5197,56.10743,58.58507,60.9195]}, + {"t":2.10009, "x":6.68846, "y":0.7531, "heading":0.13648, "vx":1.84529, "vy":0.76912, "omega":1.00816, "ax":0.00331, "ay":-0.00794, "alpha":2.00629, "fx":[-10.61143,-8.03279,10.71751,8.14542], "fy":[7.95777,-10.79595,-8.22002,10.53291]}, + {"t":2.1239, "x":6.7324, "y":0.77141, "heading":0.16048, "vx":1.84537, "vy":0.76893, "omega":1.05593, "ax":0.00447, "ay":-0.01075, "alpha":1.89295, "fx":[-10.1703,-7.3124,10.31427,7.46431], "fy":[7.21076,-10.4201,-7.56582,10.06445]}, + {"t":2.14771, "x":6.77634, "y":0.78971, "heading":0.18563, "vx":1.84547, "vy":0.76868, "omega":1.101, "ax":0.00461, "ay":-0.01108, "alpha":1.78366, "fx":[-9.74851,-6.63891,9.89732,6.795], "fy":[6.53384,-10.00611,-6.90005,9.63973]}, + {"t":2.17152, "x":6.82028, "y":0.80801, "heading":0.21184, "vx":1.84558, "vy":0.76841, "omega":1.14347, "ax":0.00451, "ay":-0.01083, "alpha":1.67814, "fx":[-9.33132,-5.99906,9.47718,6.15122], "fy":[5.89602,-9.5833,-6.25429,9.2252]}, + {"t":2.19533, "x":6.86423, "y":0.8263, "heading":0.23907, "vx":1.84569, "vy":0.76815, "omega":1.18343, "ax":0.00435, "ay":-0.01047, "alpha":1.57615, "fx":[-8.91414,-5.39004,9.05543,5.53669], "fy":[5.29018,-9.15778,-5.6366,8.81181]}, + {"t":2.21914, "x":6.90817, "y":0.84459, "heading":0.26724, "vx":1.84579, "vy":0.7679, "omega":1.22096, "ax":0.0042, "ay":-0.01009, "alpha":1.47752, "fx":[-8.49524,-4.81166,8.63171,4.95264], "fy":[4.71516,-8.73019,-5.0492,8.39679]}, + {"t":2.24295, "x":6.95212, "y":0.86287, "heading":0.29632, "vx":1.84589, "vy":0.76766, "omega":1.25614, "ax":0.00403, "ay":-0.0097, "alpha":1.38216, "fx":[-8.07447,-4.2647,8.20585,4.39984], "fy":[4.17178,-8.30033,-4.49284,7.98002]}, + {"t":2.26676, "x":6.99608, "y":0.88115, "heading":0.32623, "vx":1.84599, "vy":0.76743, "omega":1.28905, "ax":0.00382, "ay":-0.00919, "alpha":1.28995, "fx":[-7.65228,-3.7504,7.77692,3.8781], "fy":[3.6622,-7.86628,-3.96635,7.56294]}, + {"t":2.29057, "x":7.04003, "y":0.89942, "heading":0.35692, "vx":1.84608, "vy":0.76721, "omega":1.31976, "ax":0.00337, "ay":-0.00812, "alpha":1.20093, "fx":[-7.23263,-3.27263,7.34296,3.38528], "fy":[3.1945,-7.42184,-3.46338,7.15373]}, + {"t":2.31438, "x":7.08399, "y":0.91768, "heading":0.38834, "vx":1.84616, "vy":0.76702, "omega":1.34835, "ax":0.00195, "ay":-0.0047, "alpha":1.115, "fx":[-6.82816,-2.84418,6.8921,2.90925], "fy":[2.79872,-6.93768,-2.9544,6.78245]}, + {"t":2.33819, "x":7.12795, "y":0.93595, "heading":0.42045, "vx":1.84621, "vy":0.76691, "omega":1.3749, "ax":-0.00354, "ay":0.00851, "alpha":1.0323, "fx":[-6.49169,-2.51718,6.3755,2.39934], "fy":[2.5987,-6.29285,-2.31683,6.57393]}, + {"t":2.362, "x":7.1719, "y":0.95421, "heading":0.45318, "vx":1.84612, "vy":0.76711, "omega":1.39948, "ax":-0.02592, "ay":0.06231, "alpha":0.95257, "fx":[-6.43413,-2.50467,5.58204,1.64244], "fy":[3.10323,-4.97857,-1.04007,7.03604]}, + {"t":2.38581, "x":7.21585, "y":0.97249, "heading":0.4865, "vx":1.84551, "vy":0.7686, "omega":1.42216, "ax":-0.11869, "ay":0.28353, "alpha":0.87369, "fx":[-7.52814,-3.69718,3.62202,-0.24633], "fy":[6.40083,-0.88441,2.98661,10.24757]}, + {"t":2.40962, "x":7.25976, "y":0.99087, "heading":0.52037, "vx":1.84268, "vy":0.77535, "omega":1.44297, "ax":-0.4996, "ay":1.16267, "alpha":0.75959, "fx":[-13.18955,-9.74275,-3.27259,-6.83543], "fy":[20.44439,14.37958,18.04222,24.02571]}, + {"t":2.43343, "x":7.30349, "y":1.00966, "heading":0.55472, "vx":1.83078, "vy":0.80303, "omega":1.46105, "ax":-1.65233, "ay":3.54027, "alpha":0.42303, "fx":[-30.37156,-28.6783,-24.1936,-26.03111], "fy":[58.5197,56.10743,58.58507,60.91949]}, {"t":2.45724, "x":7.34662, "y":1.02979, "heading":0.58951, "vx":1.79144, "vy":0.88732, "omega":1.47112, "ax":-2.94074, "ay":5.42487, "alpha":0.13105, "fx":[-49.68893,-49.3426,-47.53708,-47.91328], "fy":[89.32104,89.04902,90.06961,90.32744]}, {"t":2.48105, "x":7.38844, "y":1.05245, "heading":0.62454, "vx":1.72142, "vy":1.01649, "omega":1.47424, "ax":-3.78071, "ay":5.83419, "alpha":0.04771, "fx":[-62.89086,-62.82233,-62.12308,-62.19637], "fy":[96.24894,96.21402,96.67096,96.70306]}, {"t":2.50486, "x":7.42835, "y":1.07831, "heading":0.65964, "vx":1.6314, "vy":1.15541, "omega":1.47538, "ax":-4.42969, "ay":5.71279, "alpha":0.02162, "fx":[-73.39755,-73.38812,-73.078,-73.0884], "fy":[94.33864,94.32553,94.566,94.57835]}, @@ -137,9 +137,9 @@ {"t":2.66348, "x":7.62088, "y":1.32436, "heading":0.8938, "vx":0.73419, "vy":1.85934, "omega":1.47715, "ax":-6.14306, "ay":2.17764, "alpha":0.02837, "fx":[-101.65438,-101.64616,-101.47755,-101.48587], "fy":[35.88314,35.71561,36.12536,36.29148]}, {"t":2.68528, "x":7.63542, "y":1.36541, "heading":0.926, "vx":0.60029, "vy":1.90681, "omega":1.47777, "ax":-4.95643, "ay":1.40898, "alpha":0.0614, "fx":[-82.20505,-82.0124,-81.68838,-81.88187], "fy":[23.11625,22.7415,23.47642,23.84724]}, {"t":2.70708, "x":7.64733, "y":1.40731, "heading":0.95822, "vx":0.49225, "vy":1.93753, "omega":1.47911, "ax":-2.49175, "ay":0.59622, "alpha":0.11293, "fx":[-41.86863,-41.12086,-40.52378,-41.27552], "fy":[9.67692,9.04464,10.04047,10.66853]}, - {"t":2.72888, "x":7.65747, "y":1.44969, "heading":0.99046, "vx":0.43793, "vy":1.95052, "omega":1.48157, "ax":-0.79084, "ay":0.17391, "alpha":0.11399, "fx":[-13.81244,-12.92614,-12.33745,-13.22532], "fy":[2.71548,2.12334,3.03567,3.6266]}, - {"t":2.75068, "x":7.66683, "y":1.49224, "heading":1.02275, "vx":0.42069, "vy":1.95431, "omega":1.48406, "ax":-0.22463, "ay":0.04806, "alpha":0.09143, "fx":[-4.30622,-3.57086,-3.12133,-3.85697], "fy":[0.65083,0.20114,0.93842,1.38788]}, - {"t":2.77248, "x":7.67594, "y":1.53486, "heading":1.0551, "vx":0.41579, "vy":1.95536, "omega":1.48605, "ax":-0.06269, "ay":0.01331, "alpha":0.06721, "fx":[-1.46857,-0.91702,-0.6043,-1.15588], "fy":[0.10048,-0.21225,0.33949,0.65218]}, + {"t":2.72888, "x":7.65747, "y":1.44969, "heading":0.99046, "vx":0.43793, "vy":1.95052, "omega":1.48157, "ax":-0.79084, "ay":0.17391, "alpha":0.11399, "fx":[-13.81244,-12.92614,-12.33744,-13.22532], "fy":[2.71548,2.12334,3.03567,3.6266]}, + {"t":2.75068, "x":7.66683, "y":1.49224, "heading":1.02275, "vx":0.42069, "vy":1.95431, "omega":1.48406, "ax":-0.22463, "ay":0.04806, "alpha":0.09143, "fx":[-4.30622,-3.57087,-3.12133,-3.85697], "fy":[0.65083,0.20114,0.93842,1.38788]}, + {"t":2.77248, "x":7.67594, "y":1.53486, "heading":1.0551, "vx":0.41579, "vy":1.95536, "omega":1.48605, "ax":-0.06269, "ay":0.01331, "alpha":0.06721, "fx":[-1.46857,-0.91702,-0.6043,-1.15588], "fy":[0.10048,-0.21225,0.33949,0.65219]}, {"t":2.79427, "x":7.68499, "y":1.57748, "heading":1.0875, "vx":0.41443, "vy":1.95565, "omega":1.48752, "ax":-0.01708, "ay":0.00362, "alpha":0.04322, "fx":[-0.55762,-0.19658,-0.00709,-0.36814], "fy":[-0.02602,-0.21551,0.14556,0.33505]}, {"t":2.81607, "x":7.69402, "y":1.62011, "heading":1.11992, "vx":0.41406, "vy":1.95573, "omega":1.48846, "ax":-0.00427, "ay":0.0009, "alpha":0.01954, "fx":[-0.19373,-0.02783,0.0525,-0.11341], "fy":[-0.02788,-0.1082,0.05771,0.13803]}, {"t":2.83787, "x":7.70305, "y":1.66275, "heading":1.15237, "vx":0.41396, "vy":1.95575, "omega":1.48888, "ax":-0.00069, "ay":0.00015, "alpha":-0.00404, "fx":[0.01369,-0.02116,-0.03666,-0.00181], "fy":[0.01207,0.02757,-0.00728,-0.02278]}, @@ -148,8 +148,8 @@ {"t":2.90326, "x":7.73012, "y":1.79064, "heading":1.24972, "vx":0.41397, "vy":1.95575, "omega":1.48707, "ax":0.00059, "ay":-0.00013, "alpha":-0.07534, "fx":[0.45922,-0.21531,-0.43965,0.23488], "fy":[0.22299,0.44733,-0.22719,-0.45153]}, {"t":2.92506, "x":7.73914, "y":1.83327, "heading":1.28213, "vx":0.41398, "vy":1.95575, "omega":1.48543, "ax":0.00059, "ay":-0.00013, "alpha":-0.09977, "fx":[0.59487,-0.3075,-0.57547,0.3269], "fy":[0.31512,0.58309,-0.31928,-0.58725]}, {"t":2.94686, "x":7.74817, "y":1.8759, "heading":1.31451, "vx":0.41399, "vy":1.95574, "omega":1.48326, "ax":0.00057, "ay":-0.00012, "alpha":-0.12473, "fx":[0.72775,-0.41068,-0.70901,0.42943], "fy":[0.41804,0.71637,-0.42206,-0.72039]}, - {"t":2.96866, "x":7.75719, "y":1.91854, "heading":1.34684, "vx":0.414, "vy":1.95574, "omega":1.48054, "ax":0.00054, "ay":-0.00012, "alpha":-0.15039, "fx":[0.85829,-0.52518,-0.8403,0.54317], "fy":[0.53224,0.84736,-0.5361,-0.85122]}, - {"t":2.99046, "x":7.76621, "y":1.96117, "heading":1.37912, "vx":0.41402, "vy":1.95574, "omega":1.47726, "ax":0.00052, "ay":-0.00011, "alpha":-0.17685, "fx":[0.98658,-0.65144,-0.96933,0.6687], "fy":[0.65822,0.9761,-0.66192,-0.9798]}, + {"t":2.96866, "x":7.75719, "y":1.91854, "heading":1.34684, "vx":0.414, "vy":1.95574, "omega":1.48054, "ax":0.00054, "ay":-0.00012, "alpha":-0.15039, "fx":[0.85829,-0.52518,-0.8403,0.54317], "fy":[0.53224,0.84736,-0.53611,-0.85122]}, + {"t":2.99046, "x":7.76621, "y":1.96117, "heading":1.37912, "vx":0.41402, "vy":1.95574, "omega":1.47726, "ax":0.00052, "ay":-0.00011, "alpha":-0.17685, "fx":[0.98658,-0.65145,-0.96933,0.6687], "fy":[0.65822,0.9761,-0.66192,-0.9798]}, {"t":3.01226, "x":7.77524, "y":2.0038, "heading":1.41132, "vx":0.41403, "vy":1.95574, "omega":1.47341, "ax":0.0005, "ay":-0.00011, "alpha":-0.20427, "fx":[1.1127,-0.79013,-1.09619,0.80664], "fy":[0.79661,1.10267,-0.80015,-1.10621]}, {"t":3.03405, "x":7.78426, "y":2.04643, "heading":1.44344, "vx":0.41404, "vy":1.95573, "omega":1.46895, "ax":0.00047, "ay":-0.0001, "alpha":-0.23278, "fx":[1.2366,-0.94193,-1.2209,0.95763], "fy":[0.94809,1.22707,-0.95146,-1.23043]}, {"t":3.05585, "x":7.79329, "y":2.08906, "heading":1.47546, "vx":0.41405, "vy":1.95573, "omega":1.46388, "ax":0.00044, "ay":-0.00009, "alpha":-0.26255, "fx":[1.3581,-1.10779,-1.3436,1.12228], "fy":[1.11348,1.3493,-1.11659,-1.3524]}, diff --git a/src/main/deploy/choreo/RUNtoTEST.traj b/src/main/deploy/choreo/RUNtoTEST.traj index 18e86ff3..5d082397 100644 --- a/src/main/deploy/choreo/RUNtoTEST.traj +++ b/src/main/deploy/choreo/RUNtoTEST.traj @@ -93,26 +93,26 @@ {"t":1.01384, "x":3.16799, "y":3.19439, "heading":1.57083, "vx":0.92973, "vy":3.38228, "omega":-0.00016, "ax":-0.01061, "ay":0.00292, "alpha":0.0, "fx":[-0.17544,-0.17544,-0.17544,-0.17544], "fy":[0.04821,0.04821,0.04821,0.04821]}, {"t":1.0544, "x":3.20568, "y":3.33156, "heading":1.57083, "vx":0.9293, "vy":3.3824, "omega":-0.00016, "ax":-0.0602, "ay":0.01652, "alpha":0.0, "fx":[-0.99533,-0.99533,-0.99533,-0.99533], "fy":[0.27307,0.27307,0.27307,0.27307]}, {"t":1.09495, "x":3.24332, "y":3.46874, "heading":1.57082, "vx":0.92686, "vy":3.38307, "omega":-0.00016, "ax":-0.34101, "ay":0.09267, "alpha":0.0, "fx":[-5.63808,-5.63808,-5.63808,-5.63808], "fy":[1.53218,1.53218,1.53217,1.53217]}, - {"t":1.13551, "x":3.28063, "y":3.60601, "heading":1.57082, "vx":0.91303, "vy":3.38683, "omega":-0.00016, "ax":-1.82159, "ay":0.46976, "alpha":-0.00001, "fx":[-30.11714,-30.11723,-30.11723,-30.11714], "fy":[7.76683,7.76682,7.76672,7.76672]}, - {"t":1.17606, "x":3.31616, "y":3.74375, "heading":1.57081, "vx":0.83916, "vy":3.40588, "omega":-0.00016, "ax":-5.24933, "ay":1.12108, "alpha":-0.00007, "fx":[-86.78925,-86.78961,-86.78975,-86.78939], "fy":[18.53588,18.53574,18.53476,18.5349]}, + {"t":1.13551, "x":3.28063, "y":3.60601, "heading":1.57082, "vx":0.91303, "vy":3.38683, "omega":-0.00016, "ax":-1.82159, "ay":0.46976, "alpha":-0.00001, "fx":[-30.11713,-30.11723,-30.11723,-30.11714], "fy":[7.76683,7.76682,7.76672,7.76672]}, + {"t":1.17606, "x":3.31616, "y":3.74375, "heading":1.57081, "vx":0.83916, "vy":3.40588, "omega":-0.00016, "ax":-5.24933, "ay":1.12108, "alpha":-0.00007, "fx":[-86.78925,-86.78961,-86.78975,-86.78939], "fy":[18.53588,18.53575,18.53476,18.5349]}, {"t":1.21661, "x":3.34587, "y":3.88279, "heading":1.5708, "vx":0.62628, "vy":3.45134, "omega":-0.00016, "ax":-6.79732, "ay":0.95599, "alpha":-0.00104, "fx":[-112.38102,-112.38299,-112.38523,-112.38326], "fy":[15.81579,15.81355,15.79598,15.79822]}, {"t":1.25717, "x":3.36568, "y":4.02354, "heading":1.5708, "vx":0.35062, "vy":3.49011, "omega":-0.0002, "ax":-6.85446, "ay":0.4124, "alpha":0.0002, "fx":[-113.32808,-113.32774,-113.32755,-113.32789], "fy":[6.81649,6.81668,6.82018,6.81999]}, {"t":1.29833, "x":3.37431, "y":4.16756, "heading":1.57079, "vx":0.06846, "vy":3.50709, "omega":-0.00019, "ax":-5.31092, "ay":-0.0612, "alpha":0.00008, "fx":[-87.80792,-87.80755,-87.80756,-87.80793], "fy":[-1.01232,-1.01233,-1.01122,-1.01122]}, - {"t":1.3395, "x":3.37262, "y":4.31188, "heading":1.57078, "vx":-0.15016, "vy":3.50457, "omega":-0.00019, "ax":-1.76835, "ay":-0.09408, "alpha":0.00001, "fx":[-29.23704,-29.23694,-29.23694,-29.23704], "fy":[-1.55556,-1.55556,-1.55544,-1.55544]}, + {"t":1.3395, "x":3.37262, "y":4.31188, "heading":1.57078, "vx":-0.15016, "vy":3.50457, "omega":-0.00019, "ax":-1.76835, "ay":-0.09408, "alpha":0.00001, "fx":[-29.23704,-29.23693,-29.23693,-29.23704], "fy":[-1.55556,-1.55556,-1.55544,-1.55544]}, {"t":1.38066, "x":3.36494, "y":4.45606, "heading":1.57077, "vx":-0.22296, "vy":3.5007, "omega":-0.00019, "ax":-0.31926, "ay":-0.02093, "alpha":0.0, "fx":[-5.2785,-5.2785,-5.2785,-5.2785], "fy":[-0.34605,-0.34605,-0.34604,-0.34604]}, {"t":1.42183, "x":3.3555, "y":4.60015, "heading":1.57076, "vx":-0.2361, "vy":3.49984, "omega":-0.00019, "ax":-0.05462, "ay":-0.0037, "alpha":0.0, "fx":[-0.90303,-0.90303,-0.90303,-0.90303], "fy":[-0.06121,-0.06121,-0.06121,-0.06121]}, {"t":1.46299, "x":3.34573, "y":4.74421, "heading":1.57076, "vx":-0.23835, "vy":3.49968, "omega":-0.00019, "ax":-0.00933, "ay":-0.00064, "alpha":0.0, "fx":[-0.15424,-0.15424,-0.15424,-0.15424], "fy":[-0.01051,-0.01051,-0.01051,-0.01051]}, {"t":1.50415, "x":3.33591, "y":4.88828, "heading":1.57075, "vx":-0.23873, "vy":3.49966, "omega":-0.00019, "ax":-0.00159, "ay":-0.00011, "alpha":0.0, "fx":[-0.02635,-0.02635,-0.02635,-0.02635], "fy":[-0.0018,-0.0018,-0.0018,-0.0018]}, {"t":1.54532, "x":3.32608, "y":5.03234, "heading":1.57074, "vx":-0.2388, "vy":3.49965, "omega":-0.00019, "ax":-0.00027, "ay":-0.00002, "alpha":0.0, "fx":[-0.00453,-0.00453,-0.00453,-0.00453], "fy":[-0.00031,-0.00031,-0.00031,-0.00031]}, - {"t":1.58648, "x":3.31625, "y":5.1764, "heading":1.57073, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00094,-0.00094,-0.00094,-0.00094], "fy":[-0.00006,-0.00006,-0.00006,-0.00006]}, + {"t":1.58648, "x":3.31625, "y":5.1764, "heading":1.57073, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00093,-0.00093,-0.00093,-0.00093], "fy":[-0.00006,-0.00006,-0.00006,-0.00006]}, {"t":1.62765, "x":3.30642, "y":5.32046, "heading":1.57073, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00111,-0.00111,-0.00111,-0.00111], "fy":[-0.00008,-0.00008,-0.00008,-0.00008]}, {"t":1.66881, "x":3.29659, "y":5.46452, "heading":1.57072, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00035, "ay":-0.00002, "alpha":0.0, "fx":[-0.00573,-0.00573,-0.00573,-0.00573], "fy":[-0.00039,-0.00039,-0.00039,-0.00039]}, {"t":1.70998, "x":3.28676, "y":5.60858, "heading":1.57071, "vx":-0.23883, "vy":3.49965, "omega":-0.00019, "ax":-0.00202, "ay":-0.00014, "alpha":0.0, "fx":[-0.03343,-0.03343,-0.03343,-0.03343], "fy":[-0.00228,-0.00228,-0.00228,-0.00228]}, {"t":1.75114, "x":3.27693, "y":5.75265, "heading":1.5707, "vx":-0.23891, "vy":3.49965, "omega":-0.00019, "ax":-0.01184, "ay":-0.00081, "alpha":0.0, "fx":[-0.19568,-0.19568,-0.19568,-0.19568], "fy":[-0.01337,-0.01337,-0.01337,-0.01337]}, {"t":1.79231, "x":3.26708, "y":5.89671, "heading":1.57069, "vx":-0.2394, "vy":3.49961, "omega":-0.00019, "ax":-0.06929, "ay":-0.00477, "alpha":0.0, "fx":[-1.14555,-1.14555,-1.14555,-1.14555], "fy":[-0.07884,-0.07884,-0.07884,-0.07884]}, {"t":1.83347, "x":3.25717, "y":6.04076, "heading":1.57069, "vx":-0.24225, "vy":3.49942, "omega":-0.00019, "ax":-0.40443, "ay":-0.02897, "alpha":0.0, "fx":[-6.68661,-6.68662,-6.68662,-6.68661], "fy":[-0.47901,-0.47901,-0.47902,-0.47902]}, - {"t":1.87464, "x":3.24685, "y":6.18479, "heading":1.57068, "vx":-0.2589, "vy":3.49822, "omega":-0.00019, "ax":-2.16955, "ay":-0.18861, "alpha":-0.00002, "fx":[-35.87002,-35.87016,-35.87016,-35.87002], "fy":[-3.11835,-3.11835,-3.11851,-3.11852]}, - {"t":1.9158, "x":3.23436, "y":6.32863, "heading":1.57067, "vx":-0.34821, "vy":3.49046, "omega":-0.00019, "ax":-5.62452, "ay":-0.7518, "alpha":-0.0001, "fx":[-92.99246,-92.99288,-92.99274,-92.99232], "fy":[-12.42923,-12.42909,-12.43051,-12.43065]}, + {"t":1.87464, "x":3.24685, "y":6.18479, "heading":1.57068, "vx":-0.2589, "vy":3.49822, "omega":-0.00019, "ax":-2.16955, "ay":-0.18861, "alpha":-0.00002, "fx":[-35.87002,-35.87016,-35.87016,-35.87001], "fy":[-3.11835,-3.11835,-3.11851,-3.11851]}, + {"t":1.9158, "x":3.23436, "y":6.32863, "heading":1.57067, "vx":-0.34821, "vy":3.49046, "omega":-0.00019, "ax":-5.62452, "ay":-0.7518, "alpha":-0.0001, "fx":[-92.99246,-92.99288,-92.99274,-92.99233], "fy":[-12.42923,-12.42909,-12.43051,-12.43065]}, {"t":1.95697, "x":3.21526, "y":6.47168, "heading":1.57066, "vx":-0.57974, "vy":3.45951, "omega":-0.00019, "ax":-6.80113, "ay":-1.42949, "alpha":-0.00084, "fx":[-112.44658,-112.44834,-112.44562,-112.44386], "fy":[-23.62865,-23.62592,-23.64006,-23.64279]}, {"t":1.99813, "x":3.18563, "y":6.61288, "heading":1.57065, "vx":-0.8597, "vy":3.40067, "omega":-0.00023, "ax":-6.94392, "ay":-2.16971, "alpha":-0.03643, "fx":[-114.85851,-114.93782,-114.75622,-114.67515], "fy":[-35.65983,-35.4785,-36.08441,-36.26824]}, {"t":2.03929, "x":3.14436, "y":6.75103, "heading":1.57065, "vx":-1.14555, "vy":3.31135, "omega":-0.00173, "ax":-3.79368, "ay":-6.38131, "alpha":-0.14556, "fx":[-62.29995,-64.31644,-63.13941,-61.13427], "fy":[-105.73205,-104.54198,-105.29586,-106.45]}, @@ -160,14 +160,14 @@ {"t":3.787, "x":1.83281, "y":3.77261, "heading":1.58323, "vx":-0.04344, "vy":-3.50757, "omega":0.00021, "ax":0.00016, "ay":0.0, "alpha":0.0, "fx":[0.00272,0.00272,0.00272,0.00272], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]}, {"t":3.82877, "x":1.83099, "y":3.62609, "heading":1.58324, "vx":-0.04343, "vy":-3.50757, "omega":0.00021, "ax":0.00099, "ay":-0.00001, "alpha":0.0, "fx":[0.01645,0.01645,0.01645,0.01645], "fy":[-0.0002,-0.0002,-0.0002,-0.0002]}, {"t":3.87054, "x":1.82918, "y":3.47958, "heading":1.58324, "vx":-0.04339, "vy":-3.50757, "omega":0.00021, "ax":0.00601, "ay":-0.00007, "alpha":0.0, "fx":[0.09938,0.09938,0.09938,0.09938], "fy":[-0.00123,-0.00123,-0.00123,-0.00123]}, - {"t":3.91231, "x":1.82737, "y":3.33307, "heading":1.58325, "vx":-0.04314, "vy":-3.50758, "omega":0.00021, "ax":0.03631, "ay":-0.00044, "alpha":0.0, "fx":[0.60039,0.60039,0.60039,0.60039], "fy":[-0.00725,-0.00725,-0.00725,-0.00725]}, + {"t":3.91231, "x":1.82737, "y":3.33307, "heading":1.58325, "vx":-0.04314, "vy":-3.50758, "omega":0.00021, "ax":0.03631, "ay":-0.00044, "alpha":0.0, "fx":[0.60038,0.60039,0.60039,0.60038], "fy":[-0.00725,-0.00725,-0.00725,-0.00725]}, {"t":3.95408, "x":1.8256, "y":3.18655, "heading":1.58326, "vx":-0.04162, "vy":-3.50759, "omega":0.00021, "ax":0.2192, "ay":-0.00231, "alpha":0.0, "fx":[3.62419,3.62419,3.62419,3.62419], "fy":[-0.03823,-0.03823,-0.03823,-0.03823]}, - {"t":3.99585, "x":1.82406, "y":3.04003, "heading":1.58327, "vx":-0.03247, "vy":-3.50769, "omega":0.00021, "ax":1.28615, "ay":-0.00199, "alpha":0.00001, "fx":[21.2644,21.26448,21.26447,21.2644], "fy":[-0.03297,-0.03297,-0.03289,-0.03289]}, + {"t":3.99585, "x":1.82406, "y":3.04003, "heading":1.58327, "vx":-0.03247, "vy":-3.50769, "omega":0.00021, "ax":1.28615, "ay":-0.00199, "alpha":0.00001, "fx":[21.2644,21.26447,21.26447,21.2644], "fy":[-0.03297,-0.03297,-0.03289,-0.03289]}, {"t":4.03762, "x":1.82382, "y":2.89351, "heading":1.58328, "vx":0.02126, "vy":-3.50777, "omega":0.00021, "ax":4.73639, "ay":0.16296, "alpha":0.00003, "fx":[78.30881,78.30901,78.309,78.3088], "fy":[2.69409,2.69408,2.69454,2.69454]}, {"t":4.07939, "x":1.82884, "y":2.74713, "heading":1.58329, "vx":0.2191, "vy":-3.50097, "omega":0.00021, "ax":6.71494, "ay":0.69822, "alpha":-0.00698, "fx":[111.02259,111.00862,111.01969,111.03364], "fy":[11.59822,11.60769,11.48984,11.48048]}, {"t":4.12116, "x":1.84385, "y":2.60151, "heading":1.5833, "vx":0.49959, "vy":-3.4718, "omega":-0.00008, "ax":6.61587, "ay":1.19552, "alpha":-0.00029, "fx":[109.38313,109.38244,109.38321,109.3839], "fy":[19.76812,19.76883,19.76403,19.76332]}, - {"t":4.15775, "x":1.86656, "y":2.47527, "heading":1.58329, "vx":0.74167, "vy":-3.42806, "omega":-0.00009, "ax":5.096, "ay":1.2487, "alpha":0.00003, "fx":[84.25432,84.2545,84.25443,84.25424], "fy":[20.64509,20.64502,20.64548,20.64555]}, - {"t":4.19435, "x":1.89711, "y":2.35066, "heading":1.58329, "vx":0.92814, "vy":-3.38236, "omega":-0.00009, "ax":2.0434, "ay":0.58501, "alpha":0.00001, "fx":[33.78438,33.78445,33.78444,33.78438], "fy":[9.67216,9.67216,9.67223,9.67223]}, + {"t":4.15775, "x":1.86656, "y":2.47527, "heading":1.58329, "vx":0.74167, "vy":-3.42806, "omega":-0.00009, "ax":5.096, "ay":1.2487, "alpha":0.00003, "fx":[84.25432,84.2545,84.25443,84.25425], "fy":[20.64509,20.64502,20.64548,20.64555]}, + {"t":4.19435, "x":1.89711, "y":2.35066, "heading":1.58329, "vx":0.92814, "vy":-3.38236, "omega":-0.00009, "ax":2.0434, "ay":0.58501, "alpha":0.00001, "fx":[33.78438,33.78444,33.78444,33.78438], "fy":[9.67216,9.67216,9.67223,9.67223]}, {"t":4.23094, "x":1.93244, "y":2.22729, "heading":1.58329, "vx":1.00292, "vy":-3.36096, "omega":-0.00009, "ax":0.47581, "ay":0.14331, "alpha":0.0, "fx":[7.86674,7.86675,7.86675,7.86674], "fy":[2.36947,2.36947,2.36947,2.36947]}, {"t":4.26753, "x":1.96946, "y":2.1044, "heading":1.58328, "vx":1.02033, "vy":-3.35571, "omega":-0.00009, "ax":0.1029, "ay":0.03135, "alpha":0.0, "fx":[1.70133,1.70133,1.70133,1.70133], "fy":[0.51833,0.51833,0.51833,0.51833]}, {"t":4.30412, "x":2.00686, "y":1.98163, "heading":1.58328, "vx":1.02409, "vy":-3.35457, "omega":-0.00009, "ax":0.02218, "ay":0.00677, "alpha":0.0, "fx":[0.36673,0.36673,0.36673,0.36673], "fy":[0.112,0.112,0.112,0.112]}, diff --git a/src/main/deploy/choreo/SLBtoCL.traj b/src/main/deploy/choreo/SLBtoCL.traj index 24783cb7..99148111 100644 --- a/src/main/deploy/choreo/SLBtoCL.traj +++ b/src/main/deploy/choreo/SLBtoCL.traj @@ -55,58 +55,58 @@ "sampleType":"Swerve", "waypoints":[0.0,1.33528,1.79414], "samples":[ - {"t":0.0, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-0.95178, "vy":-0.30286, "omega":-1.69219, "ax":-0.02567, "ay":-0.00817, "alpha":0.03942, "fx":[-0.23842,-0.23842,-0.61039,-0.61039], "fy":[-0.32105,0.05093,0.05093,-0.32104]}, - {"t":0.03338, "x":2.75263, "y":5.37021, "heading":3.0851, "vx":-0.95263, "vy":-0.30313, "omega":-1.69088, "ax":0.0, "ay":0.0, "alpha":0.07899, "fx":[0.35098,0.39306,-0.35099,-0.39307], "fy":[-0.39307,0.35099,0.39306,-0.35099]}, - {"t":0.06676, "x":2.72083, "y":5.3601, "heading":3.02866, "vx":-0.95263, "vy":-0.30313, "omega":-1.68824, "ax":0.0, "ay":0.0, "alpha":0.11905, "fx":[0.49476,0.62135,-0.49476,-0.62135], "fy":[-0.62135,0.49476,0.62135,-0.49476]}, - {"t":0.10015, "x":2.68903, "y":5.34998, "heading":2.9723, "vx":-0.95263, "vy":-0.30313, "omega":-1.68427, "ax":0.0, "ay":0.0, "alpha":0.15988, "fx":[0.61637,0.87052,-0.61637,-0.87052], "fy":[-0.87052,0.61636,0.87052,-0.61637]}, - {"t":0.13353, "x":2.65722, "y":5.33986, "heading":2.91608, "vx":-0.95263, "vy":-0.30313, "omega":-1.67893, "ax":0.0, "ay":0.0, "alpha":0.20175, "fx":[0.71483,1.14047,-0.71483,-1.14047], "fy":[-1.14048,0.71483,1.14047,-0.71483]}, - {"t":0.16691, "x":2.62542, "y":5.32974, "heading":2.86003, "vx":-0.95263, "vy":-0.30313, "omega":-1.67219, "ax":0.0, "ay":0.0, "alpha":0.24491, "fx":[0.78883,1.43088,-0.78883,-1.43088], "fy":[-1.43088,0.78883,1.43088,-0.78883]}, - {"t":0.20029, "x":2.59362, "y":5.31962, "heading":2.80421, "vx":-0.95263, "vy":-0.30313, "omega":-1.66402, "ax":0.0, "ay":0.0, "alpha":0.28969, "fx":[0.8372,1.74196,-0.83719,-1.74195], "fy":[-1.74196,0.83719,1.74195,-0.8372]}, - {"t":0.23367, "x":2.56182, "y":5.3095, "heading":2.74866, "vx":-0.95263, "vy":-0.30313, "omega":-1.65435, "ax":0.0, "ay":0.0, "alpha":0.33631, "fx":[0.85814,2.07312,-0.85814,-2.07312], "fy":[-2.07312,0.85814,2.07312,-0.85814]}, - {"t":0.26706, "x":2.53002, "y":5.29938, "heading":2.69344, "vx":-0.95263, "vy":-0.30313, "omega":-1.64312, "ax":0.0, "ay":0.0, "alpha":0.38518, "fx":[0.8503,2.42503,-0.8503,-2.42503], "fy":[-2.42504,0.85029,2.42503,-0.8503]}, - {"t":0.30044, "x":2.49822, "y":5.28926, "heading":2.63859, "vx":-0.95263, "vy":-0.30313, "omega":-1.63026, "ax":0.0, "ay":0.0, "alpha":0.43646, "fx":[0.8114,2.79657,-0.81139,-2.79657], "fy":[-2.79658,0.81139,2.79657,-0.8114]}, - {"t":0.33382, "x":2.46642, "y":5.27914, "heading":2.58417, "vx":-0.95263, "vy":-0.30313, "omega":-1.61569, "ax":0.0, "ay":0.0, "alpha":0.49069, "fx":[0.73985,3.18901,-0.73985,-3.18901], "fy":[-3.18902,0.73984,3.18901,-0.73985]}, - {"t":0.3672, "x":2.43462, "y":5.26902, "heading":2.53023, "vx":-0.95263, "vy":-0.30313, "omega":-1.59931, "ax":0.0, "ay":0.0, "alpha":0.54794, "fx":[0.63298,3.60042,-0.63298,-3.60042], "fy":[-3.60042,0.63298,3.60042,-0.63298]}, - {"t":0.40058, "x":2.40282, "y":5.2589, "heading":2.47684, "vx":-0.95263, "vy":-0.30313, "omega":-1.58102, "ax":0.0, "ay":0.0, "alpha":0.60889, "fx":[0.48889,4.03276,-0.48889,-4.03276], "fy":[-4.03276,0.48889,4.03276,-0.48889]}, - {"t":0.43397, "x":2.37102, "y":5.24879, "heading":2.42406, "vx":-0.95263, "vy":-0.30313, "omega":-1.5607, "ax":0.0, "ay":0.0, "alpha":0.67353, "fx":[0.30471,4.4832,-0.30471,-4.4832], "fy":[-4.4832,0.30471,4.4832,-0.30471]}, - {"t":0.46735, "x":2.33922, "y":5.23867, "heading":2.37197, "vx":-0.95263, "vy":-0.30313, "omega":-1.53821, "ax":0.0, "ay":0.0, "alpha":0.74268, "fx":[0.07811,4.95428,-0.07811,-4.95428], "fy":[-4.95428,0.07811,4.95428,-0.07811]}, - {"t":0.50073, "x":2.30742, "y":5.22855, "heading":2.32062, "vx":-0.95263, "vy":-0.30313, "omega":-1.51342, "ax":0.0, "ay":0.0, "alpha":0.81629, "fx":[-0.19375,5.44252,0.19375,-5.44252], "fy":[-5.44252,-0.19375,5.44252,0.19376]}, - {"t":0.53411, "x":2.27562, "y":5.21843, "heading":2.2701, "vx":-0.95263, "vy":-0.30313, "omega":-1.48617, "ax":0.0, "ay":0.0, "alpha":0.89526, "fx":[-0.51366,5.9507,0.51366,-5.9507], "fy":[-5.9507,-0.51365,5.9507,0.51366]}, - {"t":0.56749, "x":2.24381, "y":5.20831, "heading":2.22049, "vx":-0.95263, "vy":-0.30313, "omega":-1.45629, "ax":0.0, "ay":0.0, "alpha":0.97956, "fx":[-0.88422,6.47515,0.88422,-6.47515], "fy":[-6.47515,-0.88422,6.47515,0.88422]}, - {"t":0.60087, "x":2.21201, "y":5.19819, "heading":2.17187, "vx":-0.95263, "vy":-0.30313, "omega":-1.42359, "ax":0.0, "ay":0.0, "alpha":1.07012, "fx":[-1.30857,7.01847,1.30857,-7.01847], "fy":[-7.01847,-1.30857,7.01847,1.30857]}, - {"t":0.63426, "x":2.18021, "y":5.18807, "heading":2.12435, "vx":-0.95263, "vy":-0.30313, "omega":-1.38786, "ax":0.0, "ay":0.0, "alpha":1.167, "fx":[-1.78902,7.57745,1.78902,-7.57745], "fy":[-7.57744,-1.78902,7.57745,1.78902]}, - {"t":0.66764, "x":2.14841, "y":5.17795, "heading":2.07802, "vx":-0.95263, "vy":-0.30313, "omega":-1.34891, "ax":0.0, "ay":0.0, "alpha":1.27109, "fx":[-2.32872,8.15417,2.32872,-8.15417], "fy":[-8.15417,-2.32872,8.15418,2.32872]}, - {"t":0.70102, "x":2.11661, "y":5.16783, "heading":2.03299, "vx":-0.95263, "vy":-0.30313, "omega":-1.30648, "ax":0.0, "ay":0.0, "alpha":1.3826, "fx":[-2.92969,8.74651,2.92969,-8.74651], "fy":[-8.74651,-2.92969,8.74651,2.92969]}, - {"t":0.7344, "x":2.08481, "y":5.15771, "heading":1.98938, "vx":-0.95263, "vy":-0.30313, "omega":-1.26032, "ax":0.0, "ay":0.0, "alpha":1.50231, "fx":[-3.59469,9.356,3.59468,-9.356], "fy":[-9.356,-3.59468,9.356,3.59469]}, - {"t":0.76778, "x":2.05301, "y":5.1476, "heading":1.94731, "vx":-0.95263, "vy":-0.30313, "omega":-1.21017, "ax":0.0, "ay":0.0, "alpha":1.63064, "fx":[-4.32541,9.9821,4.32541,-9.9821], "fy":[-9.9821,-4.32541,9.9821,4.32541]}, - {"t":0.80117, "x":2.02121, "y":5.13748, "heading":1.90691, "vx":-0.95263, "vy":-0.30313, "omega":-1.15574, "ax":0.0, "ay":0.0, "alpha":1.76822, "fx":[-5.12371,10.6261,5.12371,-10.6261], "fy":[-10.6261,-5.12371,10.6261,5.12371]}, + {"t":0.0, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-0.95178, "vy":-0.30286, "omega":-1.69219, "ax":-0.02567, "ay":-0.00817, "alpha":0.03942, "fx":[-0.23843,-0.23843,-0.61039,-0.61038], "fy":[-0.32105,0.05092,0.05092,-0.32104]}, + {"t":0.03338, "x":2.75263, "y":5.37021, "heading":3.0851, "vx":-0.95263, "vy":-0.30313, "omega":-1.69088, "ax":0.0, "ay":0.0, "alpha":0.07899, "fx":[0.35098,0.39305,-0.35099,-0.39306], "fy":[-0.39306,0.35098,0.39306,-0.35098]}, + {"t":0.06676, "x":2.72083, "y":5.3601, "heading":3.02866, "vx":-0.95263, "vy":-0.30313, "omega":-1.68824, "ax":0.0, "ay":0.0, "alpha":0.11905, "fx":[0.49475,0.62134,-0.49475,-0.62134], "fy":[-0.62134,0.49475,0.62134,-0.49475]}, + {"t":0.10015, "x":2.68903, "y":5.34998, "heading":2.9723, "vx":-0.95263, "vy":-0.30313, "omega":-1.68427, "ax":0.0, "ay":0.0, "alpha":0.15987, "fx":[0.61636,0.8705,-0.61635,-0.8705], "fy":[-0.8705,0.61635,0.8705,-0.61636]}, + {"t":0.13353, "x":2.65722, "y":5.33986, "heading":2.91608, "vx":-0.95263, "vy":-0.30313, "omega":-1.67893, "ax":0.0, "ay":0.0, "alpha":0.20174, "fx":[0.71482,1.14046,-0.71482,-1.14045], "fy":[-1.14046,0.71482,1.14045,-0.71482]}, + {"t":0.16691, "x":2.62542, "y":5.32974, "heading":2.86003, "vx":-0.95263, "vy":-0.30313, "omega":-1.6722, "ax":0.0, "ay":0.0, "alpha":0.2449, "fx":[0.78882,1.43086,-0.78882,-1.43086], "fy":[-1.43086,0.78881,1.43085,-0.78882]}, + {"t":0.20029, "x":2.59362, "y":5.31962, "heading":2.80421, "vx":-0.95263, "vy":-0.30313, "omega":-1.66402, "ax":0.0, "ay":0.0, "alpha":0.28969, "fx":[0.83719,1.74193,-0.83718,-1.74193], "fy":[-1.74194,0.83718,1.74193,-0.83719]}, + {"t":0.23367, "x":2.56182, "y":5.3095, "heading":2.74866, "vx":-0.95263, "vy":-0.30313, "omega":-1.65435, "ax":0.0, "ay":0.0, "alpha":0.3363, "fx":[0.85813,2.07309,-0.85813,-2.07309], "fy":[-2.0731,0.85813,2.07309,-0.85813]}, + {"t":0.26706, "x":2.53002, "y":5.29938, "heading":2.69344, "vx":-0.95263, "vy":-0.30313, "omega":-1.64312, "ax":0.0, "ay":0.0, "alpha":0.38518, "fx":[0.85029,2.42502,-0.85029,-2.42502], "fy":[-2.42502,0.85029,2.42502,-0.85029]}, + {"t":0.30044, "x":2.49822, "y":5.28926, "heading":2.63859, "vx":-0.95263, "vy":-0.30313, "omega":-1.63027, "ax":0.0, "ay":0.0, "alpha":0.43646, "fx":[0.81139,2.79656,-0.81139,-2.79656], "fy":[-2.79656,0.81139,2.79656,-0.81139]}, + {"t":0.33382, "x":2.46642, "y":5.27914, "heading":2.58417, "vx":-0.95263, "vy":-0.30313, "omega":-1.6157, "ax":0.0, "ay":0.0, "alpha":0.49069, "fx":[0.73985,3.18902,-0.73985,-3.18902], "fy":[-3.18902,0.73985,3.18902,-0.73985]}, + {"t":0.3672, "x":2.43462, "y":5.26902, "heading":2.53023, "vx":-0.95263, "vy":-0.30313, "omega":-1.59932, "ax":0.0, "ay":0.0, "alpha":0.54794, "fx":[0.63298,3.60043,-0.63298,-3.60043], "fy":[-3.60043,0.63298,3.60043,-0.63298]}, + {"t":0.40058, "x":2.40282, "y":5.2589, "heading":2.47684, "vx":-0.95263, "vy":-0.30313, "omega":-1.58102, "ax":0.0, "ay":0.0, "alpha":0.6089, "fx":[0.4889,4.03279,-0.4889,-4.03279], "fy":[-4.03279,0.48889,4.03278,-0.4889]}, + {"t":0.43397, "x":2.37102, "y":5.24879, "heading":2.42406, "vx":-0.95263, "vy":-0.30313, "omega":-1.5607, "ax":0.0, "ay":0.0, "alpha":0.67354, "fx":[0.30471,4.48324,-0.30471,-4.48324], "fy":[-4.48324,0.30471,4.48324,-0.30471]}, + {"t":0.46735, "x":2.33922, "y":5.23867, "heading":2.37197, "vx":-0.95263, "vy":-0.30313, "omega":-1.53821, "ax":0.0, "ay":0.0, "alpha":0.74269, "fx":[0.07811,4.95435,-0.07811,-4.95435], "fy":[-4.95435,0.07811,4.95435,-0.07811]}, + {"t":0.50073, "x":2.30742, "y":5.22855, "heading":2.32062, "vx":-0.95263, "vy":-0.30313, "omega":-1.51342, "ax":0.0, "ay":0.0, "alpha":0.8163, "fx":[-0.19376,5.44259,0.19376,-5.44259], "fy":[-5.44259,-0.19376,5.44259,0.19376]}, + {"t":0.53411, "x":2.27562, "y":5.21843, "heading":2.2701, "vx":-0.95263, "vy":-0.30313, "omega":-1.48617, "ax":0.0, "ay":0.0, "alpha":0.89527, "fx":[-0.51366,5.95078,0.51366,-5.95078], "fy":[-5.95078,-0.51366,5.95078,0.51366]}, + {"t":0.56749, "x":2.24381, "y":5.20831, "heading":2.22048, "vx":-0.95263, "vy":-0.30313, "omega":-1.45629, "ax":0.0, "ay":0.0, "alpha":0.97957, "fx":[-0.88423,6.47522,0.88423,-6.47522], "fy":[-6.47522,-0.88423,6.47522,0.88423]}, + {"t":0.60087, "x":2.21201, "y":5.19819, "heading":2.17187, "vx":-0.95263, "vy":-0.30313, "omega":-1.42359, "ax":0.0, "ay":0.0, "alpha":1.07013, "fx":[-1.30858,7.01854,1.30858,-7.01854], "fy":[-7.01854,-1.30858,7.01854,1.30858]}, + {"t":0.63426, "x":2.18021, "y":5.18807, "heading":2.12435, "vx":-0.95263, "vy":-0.30313, "omega":-1.38786, "ax":0.0, "ay":0.0, "alpha":1.16701, "fx":[-1.78903,7.57749,1.78903,-7.57749], "fy":[-7.57749,-1.78903,7.57749,1.78903]}, + {"t":0.66764, "x":2.14841, "y":5.17795, "heading":2.07802, "vx":-0.95263, "vy":-0.30313, "omega":-1.34891, "ax":0.0, "ay":0.0, "alpha":1.27109, "fx":[-2.32873,8.15421,2.32873,-8.15422], "fy":[-8.15421,-2.32873,8.15422,2.32873]}, + {"t":0.70102, "x":2.11661, "y":5.16783, "heading":2.03299, "vx":-0.95263, "vy":-0.30313, "omega":-1.30647, "ax":0.0, "ay":0.0, "alpha":1.3826, "fx":[-2.9297,8.74653,2.9297,-8.74653], "fy":[-8.74653,-2.9297,8.74653,2.9297]}, + {"t":0.7344, "x":2.08481, "y":5.15771, "heading":1.98938, "vx":-0.95263, "vy":-0.30313, "omega":-1.26032, "ax":0.0, "ay":0.0, "alpha":1.50231, "fx":[-3.5947,9.35602,3.5947,-9.35602], "fy":[-9.35602,-3.59469,9.35602,3.5947]}, + {"t":0.76778, "x":2.05301, "y":5.1476, "heading":1.94731, "vx":-0.95263, "vy":-0.30313, "omega":-1.21017, "ax":0.0, "ay":0.0, "alpha":1.63064, "fx":[-4.32542,9.98211,4.32541,-9.98211], "fy":[-9.98211,-4.32541,9.98211,4.32542]}, + {"t":0.80117, "x":2.02121, "y":5.13748, "heading":1.90691, "vx":-0.95263, "vy":-0.30313, "omega":-1.15574, "ax":0.0, "ay":0.0, "alpha":1.76822, "fx":[-5.12371,10.62611,5.12371,-10.62611], "fy":[-10.62611,-5.12371,10.62611,5.12371]}, {"t":0.83455, "x":1.98941, "y":5.12736, "heading":1.86833, "vx":-0.95263, "vy":-0.30313, "omega":-1.09671, "ax":0.0, "ay":0.0, "alpha":1.91566, "fx":[-5.99084,11.28947,5.99084,-11.28947], "fy":[-11.28947,-5.99084,11.28947,5.99084]}, {"t":0.86793, "x":1.95761, "y":5.11724, "heading":1.83172, "vx":-0.95263, "vy":-0.30313, "omega":-1.03276, "ax":0.0, "ay":0.0, "alpha":2.07347, "fx":[-6.92726,11.97394,6.92726,-11.97394], "fy":[-11.97394,-6.92726,11.97394,6.92726]}, - {"t":0.90131, "x":1.92581, "y":5.10712, "heading":1.79724, "vx":-0.95263, "vy":-0.30313, "omega":-0.96355, "ax":0.0, "ay":0.0, "alpha":2.24236, "fx":[-7.93339,12.68334,7.93339,-12.68334], "fy":[-12.68334,-7.93339,12.68334,7.93339]}, - {"t":0.93469, "x":1.89401, "y":5.097, "heading":1.76508, "vx":-0.95263, "vy":-0.30313, "omega":-0.88869, "ax":0.0, "ay":0.0, "alpha":2.42274, "fx":[-9.00781,13.42084,9.00781,-13.42084], "fy":[-13.42084,-9.00781,13.42084,9.00781]}, - {"t":0.96808, "x":1.8622, "y":5.08688, "heading":1.73541, "vx":-0.95263, "vy":-0.30313, "omega":-0.80782, "ax":0.0, "ay":0.0, "alpha":2.61534, "fx":[-10.14938,14.193,10.14938,-14.193], "fy":[-14.19301,-10.14939,14.193,10.14938]}, - {"t":1.00146, "x":1.8304, "y":5.07676, "heading":1.70844, "vx":-0.95263, "vy":-0.30313, "omega":-0.72051, "ax":0.0, "ay":-0.00001, "alpha":2.82051, "fx":[-11.35425,15.00573,11.35433,-15.00567], "fy":[-15.00581,-11.3544,15.0056,11.35419]}, - {"t":1.03484, "x":1.7986, "y":5.06664, "heading":1.68439, "vx":-0.95263, "vy":-0.30313, "omega":-0.62636, "ax":0.00005, "ay":-0.00017, "alpha":3.03889, "fx":[-12.61773,15.8695,12.61969,-15.86786], "fy":[-15.87151,-12.62153,15.86585,12.61589]}, - {"t":1.06822, "x":1.7668, "y":5.05652, "heading":1.66348, "vx":-0.95263, "vy":-0.30313, "omega":-0.52491, "ax":0.00145, "ay":-0.00457, "alpha":3.27076, "fx":[-13.90915,16.81338,13.96209,-16.77012], "fy":[-16.8676,-14.01086,16.71589,13.86034]}, - {"t":1.1016, "x":1.735, "y":5.0464, "heading":1.64596, "vx":-0.95258, "vy":-0.30329, "omega":-0.41573, "ax":0.03882, "ay":-0.12102, "alpha":3.51465, "fx":[-14.57973,18.34891,16.01038,-17.21246], "fy":[-19.78951,-17.27123,15.764,13.29307]}, - {"t":1.13499, "x":1.70323, "y":5.03621, "heading":1.63208, "vx":-0.95129, "vy":-0.30733, "omega":-0.2984, "ax":1.03151, "ay":-2.72985, "alpha":2.82023, "fx":[2.94569,30.50689,33.37072,1.39438], "fy":[-58.79889,-54.81146,-31.43277,-35.49203]}, - {"t":1.16837, "x":1.67204, "y":5.02443, "heading":1.62212, "vx":-0.91685, "vy":-0.39846, "omega":-0.20426, "ax":3.64635, "ay":-6.21328, "alpha":0.18891, "fx":[58.32609,60.95875,62.26185,59.60049], "fy":[-103.90536,-102.46156,-101.52001,-103.02095]}, + {"t":0.90131, "x":1.92581, "y":5.10712, "heading":1.79724, "vx":-0.95263, "vy":-0.30313, "omega":-0.96354, "ax":0.0, "ay":0.0, "alpha":2.24236, "fx":[-7.93338,12.68333,7.93338,-12.68333], "fy":[-12.68333,-7.93338,12.68333,7.93338]}, + {"t":0.93469, "x":1.89401, "y":5.097, "heading":1.76508, "vx":-0.95263, "vy":-0.30313, "omega":-0.88869, "ax":0.0, "ay":0.0, "alpha":2.42273, "fx":[-9.00781,13.42083,9.00781,-13.42083], "fy":[-13.42083,-9.00781,13.42083,9.00781]}, + {"t":0.96808, "x":1.8622, "y":5.08688, "heading":1.73541, "vx":-0.95263, "vy":-0.30313, "omega":-0.80781, "ax":0.0, "ay":0.0, "alpha":2.61534, "fx":[-10.14937,14.19299,10.14937,-14.19298], "fy":[-14.19299,-10.14938,14.19298,10.14937]}, + {"t":1.00146, "x":1.8304, "y":5.07676, "heading":1.70844, "vx":-0.95263, "vy":-0.30313, "omega":-0.72051, "ax":0.0, "ay":-0.00001, "alpha":2.8205, "fx":[-11.35424,15.00571,11.35431,-15.00565], "fy":[-15.00578,-11.35438,15.00557,11.35417]}, + {"t":1.03484, "x":1.7986, "y":5.06664, "heading":1.68439, "vx":-0.95263, "vy":-0.30313, "omega":-0.62636, "ax":0.00005, "ay":-0.00017, "alpha":3.03889, "fx":[-12.61772,15.86948,12.61967,-15.86784], "fy":[-15.87149,-12.62151,15.86583,12.61587]}, + {"t":1.06822, "x":1.7668, "y":5.05652, "heading":1.66348, "vx":-0.95263, "vy":-0.30313, "omega":-0.52491, "ax":0.00145, "ay":-0.00457, "alpha":3.27075, "fx":[-13.90912,16.81335,13.96206,-16.7701], "fy":[-16.86757,-14.01083,16.71586,13.86032]}, + {"t":1.1016, "x":1.735, "y":5.0464, "heading":1.64596, "vx":-0.95258, "vy":-0.30329, "omega":-0.41573, "ax":0.03882, "ay":-0.12102, "alpha":3.51464, "fx":[-14.5797,18.34888,16.01036,-17.21243], "fy":[-19.78949,-17.27121,15.76397,13.29305]}, + {"t":1.13499, "x":1.70323, "y":5.03621, "heading":1.63208, "vx":-0.95129, "vy":-0.30733, "omega":-0.2984, "ax":1.03151, "ay":-2.72985, "alpha":2.82022, "fx":[2.94571,30.50687,33.3707,1.39441], "fy":[-58.79887,-54.81144,-31.43279,-35.49205]}, + {"t":1.16837, "x":1.67204, "y":5.02443, "heading":1.62212, "vx":-0.91685, "vy":-0.39846, "omega":-0.20426, "ax":3.64635, "ay":-6.21328, "alpha":0.18891, "fx":[58.3261,60.95875,62.26185,59.6005], "fy":[-103.90536,-102.46156,-101.52001,-103.02095]}, {"t":1.20175, "x":1.64347, "y":5.00767, "heading":1.6153, "vx":-0.79513, "vy":-0.60587, "omega":-0.19795, "ax":5.2735, "ay":-5.26663, "alpha":0.04862, "fx":[86.73567,87.21431,87.64161,87.16484], "fy":[-87.52889,-87.06117,-86.62092,-87.09132]}, - {"t":1.23513, "x":1.61986, "y":4.98451, "heading":1.60869, "vx":-0.61909, "vy":-0.78168, "omega":-0.19633, "ax":7.4802, "ay":-0.58897, "alpha":0.01921, "fx":[123.65699,123.66179,123.68968,123.68507], "fy":[-9.9376,-9.89537,-9.53834,-9.57955]}, + {"t":1.23513, "x":1.61986, "y":4.98451, "heading":1.60869, "vx":-0.61909, "vy":-0.78168, "omega":-0.19633, "ax":7.4802, "ay":-0.58897, "alpha":0.01921, "fx":[123.65699,123.66179,123.68968,123.68507], "fy":[-9.93759,-9.89537,-9.53834,-9.57955]}, {"t":1.26851, "x":1.60337, "y":4.95809, "heading":1.60214, "vx":-0.36939, "vy":-0.80134, "omega":-0.19569, "ax":7.48235, "ay":0.71538, "alpha":0.0114, "fx":[123.71836,123.72011,123.69978,123.69798], "fy":[11.72778,11.71435,11.92734,11.94113]}, {"t":1.3019, "x":1.5952, "y":4.93173, "heading":1.59561, "vx":-0.11961, "vy":-0.77746, "omega":-0.19531, "ax":7.42319, "ay":1.21302, "alpha":0.00831, "fx":[122.74158,122.74524,122.72029,122.71658], "fy":[19.98943,19.96844,20.12137,20.14255]}, {"t":1.33528, "x":1.59535, "y":4.90646, "heading":1.58909, "vx":0.12819, "vy":-0.73696, "omega":-0.19503, "ax":7.36696, "ay":1.52015, "alpha":0.0077, "fx":[121.81288,121.81845,121.78971,121.78408], "fy":[25.0765,25.05047,25.19,25.21619]}, {"t":1.37057, "x":1.60446, "y":4.88139, "heading":1.5822, "vx":0.38822, "vy":-0.68331, "omega":-0.19476, "ax":7.22295, "ay":2.08094, "alpha":0.01051, "fx":[119.43913,119.45402,119.40138,119.38634], "fy":[34.3385,34.28817,34.47143,34.522]}, {"t":1.40587, "x":1.62266, "y":4.85857, "heading":1.57533, "vx":0.64317, "vy":-0.60986, "omega":-0.19439, "ax":6.5678, "ay":3.6246, "alpha":0.0183, "fx":[108.62075,108.70117,108.55626,108.47524], "fy":[59.86652,59.723,59.98742,60.1312]}, {"t":1.44117, "x":1.64946, "y":4.8393, "heading":1.56847, "vx":0.87499, "vy":-0.48192, "omega":-0.19374, "ax":2.72145, "ay":6.92276, "alpha":0.04916, "fx":[44.74919,45.54686,45.23882,44.44495], "fy":[114.54622,114.23596,114.36984,114.67621]}, - {"t":1.47647, "x":1.68204, "y":4.8266, "heading":1.56163, "vx":0.97105, "vy":-0.23757, "omega":-0.19201, "ax":0.81187, "ay":6.84742, "alpha":0.30055, "fx":[11.04965,16.30375,15.69214,10.64623], "fy":[113.24204,112.65941,113.20263,113.74132]}, - {"t":1.51176, "x":1.71682, "y":4.82248, "heading":1.55485, "vx":0.99971, "vy":0.00413, "omega":-0.1814, "ax":-0.03368, "ay":1.27009, "alpha":2.71521, "fx":[-14.41778,12.84957,12.3929,-13.05238], "fy":[8.76567,8.3588,33.27748,33.59404]}, - {"t":1.54706, "x":1.75208, "y":4.82342, "heading":1.54845, "vx":0.99852, "vy":0.04896, "omega":-0.08556, "ax":-0.00204, "ay":0.04101, "alpha":2.4388, "fx":[-11.80497,11.22332,11.71443,-11.2677], "fy":[-10.56581,-11.08203,11.92396,12.43582]}, - {"t":1.58236, "x":1.78733, "y":4.82517, "heading":1.54543, "vx":0.99845, "vy":0.0504, "omega":0.00052, "ax":-0.00006, "ay":0.00128, "alpha":2.01448, "fx":[-9.74264,9.25847,9.74002,-9.2601], "fy":[-9.23815,-9.72025,9.28042,9.76241]}, - {"t":1.61765, "x":1.82257, "y":4.82695, "heading":1.54545, "vx":0.99844, "vy":0.05045, "omega":0.07163, "ax":0.0, "ay":0.00004, "alpha":1.59619, "fx":[-7.71854,7.3368,7.71846,-7.33685], "fy":[-7.33617,-7.71785,7.33748,7.71915]}, - {"t":1.65295, "x":1.85781, "y":4.82873, "heading":1.54798, "vx":0.99844, "vy":0.05045, "omega":0.12797, "ax":0.0, "ay":0.0, "alpha":1.18307, "fx":[-5.70707,5.45239,5.70707,-5.45239], "fy":[-5.45237,-5.70705,5.45241,5.70709]}, - {"t":1.68825, "x":1.89305, "y":4.83051, "heading":1.55249, "vx":0.99844, "vy":0.05045, "omega":0.16973, "ax":0.0, "ay":0.0, "alpha":0.77394, "fx":[-3.71731,3.58368,3.71731,-3.58368], "fy":[-3.58368,-3.71731,3.58368,3.71731]}, - {"t":1.72354, "x":1.92829, "y":4.8323, "heading":1.55849, "vx":0.99844, "vy":0.05045, "omega":0.19705, "ax":0.0, "ay":0.0, "alpha":0.3675, "fx":[-1.75491,1.71223,1.75491,-1.71223], "fy":[-1.71223,-1.75491,1.71223,1.75491]}, + {"t":1.47647, "x":1.68204, "y":4.8266, "heading":1.56163, "vx":0.97105, "vy":-0.23757, "omega":-0.19201, "ax":0.81187, "ay":6.84742, "alpha":0.30055, "fx":[11.04966,16.30375,15.69214,10.64624], "fy":[113.24204,112.65942,113.20263,113.74132]}, + {"t":1.51176, "x":1.71682, "y":4.82248, "heading":1.55485, "vx":0.99971, "vy":0.00413, "omega":-0.1814, "ax":-0.03368, "ay":1.27009, "alpha":2.7152, "fx":[-14.41775,12.84954,12.39287,-13.05235], "fy":[8.76569,8.35883,33.27746,33.59402]}, + {"t":1.54706, "x":1.75208, "y":4.82342, "heading":1.54845, "vx":0.99852, "vy":0.04896, "omega":-0.08556, "ax":-0.00204, "ay":0.04101, "alpha":2.4388, "fx":[-11.80494,11.2233,11.71441,-11.26767], "fy":[-10.56579,-11.08201,11.92394,12.43579]}, + {"t":1.58236, "x":1.78733, "y":4.82517, "heading":1.54543, "vx":0.99845, "vy":0.0504, "omega":0.00052, "ax":-0.00006, "ay":0.00128, "alpha":2.01447, "fx":[-9.74262,9.25845,9.74,-9.26009], "fy":[-9.23814,-9.72023,9.2804,9.76239]}, + {"t":1.61765, "x":1.82257, "y":4.82695, "heading":1.54545, "vx":0.99844, "vy":0.05045, "omega":0.07163, "ax":0.0, "ay":0.00004, "alpha":1.59619, "fx":[-7.71852,7.33678,7.71845,-7.33684], "fy":[-7.33616,-7.71784,7.33746,7.71913]}, + {"t":1.65295, "x":1.85781, "y":4.82873, "heading":1.54798, "vx":0.99844, "vy":0.05045, "omega":0.12797, "ax":0.0, "ay":0.0, "alpha":1.18307, "fx":[-5.70706,5.45238,5.70706,-5.45238], "fy":[-5.45236,-5.70704,5.4524,5.70708]}, + {"t":1.68825, "x":1.89305, "y":4.83051, "heading":1.55249, "vx":0.99844, "vy":0.05045, "omega":0.16973, "ax":0.0, "ay":0.0, "alpha":0.77394, "fx":[-3.71731,3.58367,3.71731,-3.58367], "fy":[-3.58367,-3.7173,3.58367,3.71731]}, + {"t":1.72354, "x":1.92829, "y":4.8323, "heading":1.55849, "vx":0.99844, "vy":0.05045, "omega":0.19705, "ax":0.0, "ay":0.0, "alpha":0.3675, "fx":[-1.75491,1.71222,1.75491,-1.71223], "fy":[-1.71223,-1.75491,1.71223,1.75491]}, {"t":1.75884, "x":1.96354, "y":4.83408, "heading":1.56544, "vx":0.99844, "vy":0.05045, "omega":0.21002, "ax":-0.00801, "ay":-0.0004, "alpha":-0.03764, "fx":[0.04607,-0.3091,-0.311,0.04417], "fy":[0.16994,0.17184,-0.18333,-0.18523]}, {"t":1.79414, "x":1.99877, "y":4.83586, "heading":1.57285, "vx":0.99816, "vy":0.05044, "omega":0.20869, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] diff --git a/src/main/deploy/choreo/SRTtoO.traj b/src/main/deploy/choreo/SRTtoO.traj new file mode 100644 index 00000000..31b1c7ae --- /dev/null +++ b/src/main/deploy/choreo/SRTtoO.traj @@ -0,0 +1,100 @@ +{ + "name":"SRTtoO", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.5460254549980164, "y":0.6156588196754456, "heading":1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"2.768587827682495 m", "val":2.768587827682495}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.5460254549980164 m", "val":0.5460254549980164}, "y":{"exp":"0.6156588196754456 m", "val":0.6156588196754456}, "heading":{"exp":"3.141592653589793 / 2 rad", "val":1.5707963267948966}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.4355199635028839 m", "val":0.4355199635028839}, "y":{"exp":"0.5460934042930603 m", "val":0.5460934042930603}, "heading":{"exp":"3.141592653589793 / 2 rad", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,1.06393,1.25241], + "samples":[ + {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.81459, "ay":0.16179, "alpha":-9.68614, "fx":[-115.98482,-117.94554,-78.74633,-71.86391], "fy":[45.06405,-39.64354,-96.12542,101.40444]}, + {"t":0.03129, "x":2.76574, "y":0.72065, "heading":3.14159, "vx":-0.18195, "vy":0.00506, "omega":-0.3031, "ax":-5.83275, "ay":0.16321, "alpha":-9.62649, "fx":[-116.02154,-117.97985,-79.32107,-72.41951], "fy":[44.94014,-39.50746,-95.6185,100.97955]}, + {"t":0.06258, "x":2.75719, "y":0.72089, "heading":3.13211, "vx":-0.36447, "vy":0.01017, "omega":-0.60433, "ax":-5.85248, "ay":0.18221, "alpha":-9.56074, "fx":[-115.87851,-118.17981,-80.08196,-72.90633], "fy":[45.27205,-38.86479,-94.94703,100.5901]}, + {"t":0.09388, "x":2.74292, "y":0.72129, "heading":3.1132, "vx":-0.54761, "vy":0.01587, "omega":-0.90351, "ax":-5.87559, "ay":0.21806, "alpha":-9.48131, "fx":[-115.55917,-118.53697,-81.06339,-73.41534], "fy":[46.03744,-37.71148,-94.07232,100.16756]}, + {"t":0.12517, "x":2.72291, "y":0.7219, "heading":3.08492, "vx":-0.73147, "vy":0.0227, "omega":-1.2002, "ax":-5.90514, "ay":0.26965, "alpha":-9.37495, "fx":[-115.06632,-119.03674,-82.32859,-74.09729], "fy":[47.20155,-36.03854,-92.92375,99.59392]}, + {"t":0.15646, "x":2.69713, "y":0.72274, "heading":3.04737, "vx":-0.91625, "vy":0.03113, "omega":-1.49356, "ax":-5.94591, "ay":0.33499, "alpha":-9.22098, "fx":[-114.40641,-119.6578,-83.96658,-75.19491], "fy":[48.71034,-33.83216,-91.39421,98.66989]}, + {"t":0.18775, "x":2.66555, "y":0.72388, "heading":3.00063, "vx":-1.10231, "vy":0.04162, "omega":-1.7821, "ax":-6.00538, "ay":0.41015, "alpha":-8.98782, "fx":[-113.59782,-120.37104,-86.09215,-77.09763], "fy":[50.47681,-31.07342,-89.32741,97.04891]}, + {"t":0.21904, "x":2.62811, "y":0.72538, "heading":2.94487, "vx":-1.29023, "vy":0.05445, "omega":-2.06335, "ax":-6.09537, "ay":0.48728, "alpha":-8.62623, "fx":[-112.68793,-121.13799,-88.85702,-80.42717], "fy":[52.3518,-27.73637,-86.48284,94.09324]}, + {"t":0.25034, "x":2.58475, "y":0.72732, "heading":2.8803, "vx":-1.48097, "vy":0.0697, "omega":-2.33329, "ax":-6.2347, "ay":0.55017, "alpha":-8.05715, "fx":[-111.79247,-121.90802,-92.49029,-86.13334], "fy":[54.05205,-23.77988,-82.43813,88.55104]}, + {"t":0.28163, "x":2.53536, "y":0.72977, "heading":2.80729, "vx":-1.67607, "vy":0.08691, "omega":-2.58541, "ax":-6.45094, "ay":0.5658, "alpha":-7.15301, "fx":[-111.20358,-122.6107,-97.42246,-95.38806], "fy":[54.94196,-19.11662,-76.28159,77.87445]}, + {"t":0.31292, "x":2.47975, "y":0.73277, "heading":2.72638, "vx":-1.87793, "vy":0.10462, "omega":-2.80924, "ax":-6.77166, "ay":0.47944, "alpha":-5.71517, "fx":[-111.76792,-123.12332,-104.68401,-108.26044], "fy":[53.1262,-13.46912,-65.35608,57.4065]}, + {"t":0.34421, "x":2.41767, "y":0.73628, "heading":2.63848, "vx":-2.08983, "vy":0.11962, "omega":-2.98808, "ax":-7.19661, "ay":0.2998, "alpha":-3.14731, "fx":[-116.63787,-122.99029,-116.80575,-119.50522], "fy":[38.68431,-5.23127,-37.0269,23.4006]}, + {"t":0.37551, "x":2.34875, "y":0.74017, "heading":2.54497, "vx":-2.31503, "vy":0.129, "omega":-3.08657, "ax":-4.32371, "ay":1.03603, "alpha":11.61694, "fx":[-75.16959,1.4578,-91.61667,-120.61477], "fy":[-92.52778,94.35884,77.73966,-11.05424]}, + {"t":0.4068, "x":2.2742, "y":0.74471, "heading":2.44839, "vx":-2.45032, "vy":0.16142, "omega":-2.72305, "ax":-4.18803, "ay":-0.03356, "alpha":11.31884, "fx":[-76.45186,10.07544,-90.343,-120.25093], "fy":[-91.21503,21.16512,77.65649,-9.826]}, + {"t":0.43809, "x":2.19547, "y":0.74975, "heading":2.36318, "vx":-2.58138, "vy":0.16037, "omega":-2.36886, "ax":-4.2693, "ay":-0.9589, "alpha":10.90249, "fx":[-79.86281,4.18725,-86.79806,-119.87106], "fy":[-87.36203,-50.64691,79.80378,-5.21029]}, + {"t":0.46938, "x":2.1126, "y":0.7543, "heading":2.28905, "vx":-2.71497, "vy":0.13037, "omega":-2.0277, "ax":-4.31341, "ay":-0.94046, "alpha":10.74378, "fx":[-83.37541,-1.02495,-81.85819,-119.00339], "fy":[-82.40076,-63.01784,82.59952,0.6231]}, + {"t":0.50067, "x":2.02553, "y":0.75792, "heading":2.2256, "vx":-2.84995, "vy":0.10094, "omega":-1.6915, "ax":-4.27179, "ay":-0.6792, "alpha":10.62317, "fx":[-86.09002,-3.31635,-75.80498,-117.29823], "fy":[-76.75735,-59.97653,85.0763,6.73962]}, + {"t":0.53197, "x":1.93426, "y":0.76074, "heading":2.17267, "vx":-2.98362, "vy":0.07968, "omega":-1.35908, "ax":-4.13371, "ay":-0.32584, "alpha":10.40681, "fx":[-87.1082,-3.25686,-68.75162,-114.26094], "fy":[-70.51398,-49.46834,86.05996,12.37347]}, + {"t":0.56326, "x":1.83887, "y":0.76308, "heading":2.13014, "vx":-3.11297, "vy":0.06949, "omega":-1.03343, "ax":-3.85772, "ay":0.02804, "alpha":9.88718, "fx":[-84.58479,-1.71523,-60.25063,-108.57518], "fy":[-63.2133,-34.72193,83.29204,16.49748]}, + {"t":0.59455, "x":1.73957, "y":0.76526, "heading":2.0978, "vx":-3.23369, "vy":0.07037, "omega":-0.72404, "ax":-3.21672, "ay":0.18102, "alpha":8.37228, "fx":[-71.60403,-0.09976,-46.83266,-94.1975], "fy":[-52.13123,-20.64795,68.59477,16.15592]}, + {"t":0.62584, "x":1.63681, "y":0.76755, "heading":2.07514, "vx":-3.33435, "vy":0.07603, "omega":-0.46205, "ax":-0.12135, "ay":-0.86338, "alpha":0.19143, "fx":[-2.35991,-0.76271,-1.65136,-3.25104], "fy":[-15.48323,-14.63013,-13.06331,-13.92171]}, + {"t":0.65713, "x":1.53241, "y":0.76951, "heading":2.06069, "vx":-3.33814, "vy":0.04901, "omega":-0.45606, "ax":2.91192, "ay":-1.80173, "alpha":-7.94573, "fx":[77.34106,-6.28269,33.93975,87.57787], "fy":[27.96426,-25.82113,-82.73415,-38.56446]}, + {"t":0.68843, "x":1.42938, "y":0.77016, "heading":2.04642, "vx":-3.24702, "vy":-0.00737, "omega":-0.7047, "ax":3.38216, "ay":-2.36494, "alpha":-9.37086, "fx":[96.23304,-11.98713,39.297,100.13235], "fy":[33.98833,-46.53186,-98.67072,-45.18781]}, + {"t":0.71972, "x":1.32943, "y":0.76877, "heading":2.02436, "vx":-3.14119, "vy":-0.08137, "omega":-0.99793, "ax":3.43036, "ay":-2.94841, "alpha":-9.78287, "fx":[104.88904,-18.67426,37.90235,102.7455], "fy":[31.17506,-68.30401,-106.18728,-51.67305]}, + {"t":0.75101, "x":1.23281, "y":0.76478, "heading":1.99314, "vx":-3.03385, "vy":-0.17363, "omega":-1.30406, "ax":3.32158, "ay":-3.47597, "alpha":-9.92545, "fx":[110.52435,-26.05928,33.39488,101.80888], "fy":[24.47427,-84.13468,-111.26785,-58.95059]}, + {"t":0.7823, "x":1.1395, "y":0.75765, "heading":1.95233, "vx":-2.92991, "vy":-0.2824, "omega":-1.61465, "ax":3.12315, "ay":-3.92541, "alpha":-9.96845, "fx":[114.48558,-33.76721,27.00511,98.82198], "fy":[15.5293,-93.26214,-115.12495,-66.74417]}, + {"t":0.81359, "x":1.04935, "y":0.74689, "heading":1.9018, "vx":-2.83218, "vy":-0.40524, "omega":-1.92658, "ax":6.84907, "ay":-2.43575, "alpha":1.44483, "fx":[106.19835,113.76183,118.85263,114.14197], "fy":[-57.81706,-42.4265,-22.89431,-37.94777]}, + {"t":0.84489, "x":0.96408, "y":0.73302, "heading":1.84152, "vx":-2.61785, "vy":-0.48146, "omega":-1.88137, "ax":6.7983, "ay":-0.9234, "alpha":5.2357, "fx":[92.14982,118.59139,119.71647,119.13964], "fy":[-81.51633,-34.79482,30.01518,25.2283]}, + {"t":0.87618, "x":0.88549, "y":0.7175, "heading":1.78264, "vx":-2.40512, "vy":-0.51035, "omega":-1.71754, "ax":6.55264, "ay":-0.46927, "alpha":6.71407, "fx":[86.94386,118.6755,118.20055,109.5309], "fy":[-87.7974,-35.87801,37.15361,55.48721]}, + {"t":0.90747, "x":0.81344, "y":0.7013, "heading":1.7289, "vx":-2.20008, "vy":-0.52504, "omega":-1.50744, "ax":6.38118, "ay":-0.3141, "alpha":7.53603, "fx":[83.94947,118.23644,117.97576,101.84966], "fy":[-90.99016,-37.83551,38.50222,69.55077]}, + {"t":0.93876, "x":0.74772, "y":0.68472, "heading":1.68173, "vx":-2.0004, "vy":-0.53487, "omega":-1.27162, "ax":6.27067, "ay":-0.26806, "alpha":8.02517, "fx":[81.94954,117.67995,118.1645,96.90904], "fy":[-92.97729,-39.81104,38.26584,76.79492]}, + {"t":0.97006, "x":0.68819, "y":0.66785, "heading":1.64194, "vx":-1.80417, "vy":-0.54325, "omega":-1.0205, "ax":6.1988, "ay":-0.26405, "alpha":8.32959, "fx":[80.54863,117.13297,118.46286,93.80521], "fy":[-94.31106,-41.56145,37.5513,80.85877]}, + {"t":1.00135, "x":0.63477, "y":0.65072, "heading":1.61, "vx":-1.6102, "vy":-0.55152, "omega":-0.75984, "ax":6.15113, "ay":-0.27442, "alpha":8.52476, "fx":[79.56018,116.65715,118.75021,91.82987], "fy":[-95.23033,-42.99173,36.78421,83.28923]}, + {"t":1.03264, "x":0.58739, "y":0.63333, "heading":1.58623, "vx":-1.41772, "vy":-0.5601, "omega":-0.49309, "ax":6.11897, "ay":-0.28629, "alpha":8.6528, "fx":[78.87168,116.28914,118.9737,90.53614], "fy":[-95.866,-44.05856,36.16573,84.82559]}, + {"t":1.06393, "x":0.54603, "y":0.61566, "heading":1.5708, "vx":-1.22624, "vy":-0.56906, "omega":-0.22232, "ax":6.91997, "ay":0.27557, "alpha":5.45885, "fx":[111.64745,121.15431,119.28987,105.55237], "fy":[-54.29668,-27.9781,35.09773,65.40161]}, + {"t":1.09534, "x":0.51092, "y":0.59792, "heading":1.56381, "vx":-1.00887, "vy":-0.56041, "omega":-0.05084, "ax":7.11872, "ay":1.71898, "alpha":3.02891, "fx":[124.15908,124.31605,116.16779,106.14514], "fy":[3.11343,1.64496,44.33909,64.58546]}, + {"t":1.12676, "x":0.48274, "y":0.58116, "heading":1.56222, "vx":-0.78525, "vy":-0.50641, "omega":0.0443, "ax":6.88415, "ay":2.92742, "alpha":1.32709, "fx":[117.06057,119.57583,112.06602,106.57253], "fy":[41.72856,34.03241,53.86427,63.97601]}, + {"t":1.15817, "x":0.46147, "y":0.5667, "heading":1.56361, "vx":-0.56899, "vy":-0.41445, "omega":0.08599, "ax":6.47742, "ay":3.82069, "alpha":0.03258, "fx":[107.14748,107.30764,107.04164,106.87962], "fy":[63.07781,62.80675,63.26006,63.53168]}, + {"t":1.18958, "x":0.44679, "y":0.55557, "heading":1.56631, "vx":-0.36552, "vy":-0.29443, "omega":0.08701, "ax":6.03029, "ay":4.45997, "alpha":-0.99172, "fx":[98.96285,91.52462,101.21711,107.10099], "fy":[75.33964,84.19042,72.21376,63.2105]}, + {"t":1.221, "x":0.43829, "y":0.54852, "heading":1.56904, "vx":-0.17609, "vy":-0.15433, "omega":0.05586, "ax":5.60571, "ay":4.91293, "alpha":-1.77828, "fx":[92.69477,76.02166,94.74687,107.26351], "fy":[82.97345,98.44339,80.5179,62.9755]}, + {"t":1.25241, "x":0.43552, "y":0.54609, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index f2df0f1b..34134453 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -222,10 +222,10 @@ {"t":6.01272, "x":3.15022, "y":1.99175, "heading":-1.26559, "vx":-1.18882, "vy":3.13277, "omega":-0.5371, "ax":0.21646, "ay":-0.11829, "alpha":-0.40209, "fx":[2.33981,5.95376,4.82109,1.20038], "fy":[-4.33825,-3.19268,0.4251,-0.71712]}, {"t":6.04856, "x":3.10776, "y":2.10394, "heading":-1.28484, "vx":-1.18106, "vy":3.12853, "omega":-0.55151, "ax":0.43824, "ay":-0.31208, "alpha":-1.24114, "fx":[3.28769,14.44771,11.2756,-0.02869], "fy":[-12.47363,-9.08306,2.12576,-1.20796]}, {"t":6.08439, "x":3.06571, "y":2.21585, "heading":-1.3046, "vx":-1.16536, "vy":3.11734, "omega":-0.59598, "ax":0.72064, "ay":-0.55231, "alpha":-2.23923, "fx":[4.54553,24.54645,19.6714,-1.10461], "fy":[-22.32215,-16.31874,3.90897,-1.79424]}, - {"t":6.12023, "x":3.02442, "y":2.32721, "heading":-1.32596, "vx":-1.13953, "vy":3.09755, "omega":-0.67623, "ax":0.99923, "ay":-0.83157, "alpha":-3.27591, "fx":[5.38577,34.30213,28.80862,-2.41369], "fy":[-33.08354,-24.31682,5.16173,-2.75628]}, - {"t":6.15606, "x":2.98422, "y":2.43768, "heading":-1.35019, "vx":-1.10373, "vy":3.06775, "omega":-0.79362, "ax":1.20617, "ay":-1.1213, "alpha":-4.17244, "fx":[5.21183,41.65965,36.99253,-4.09534], "fy":[-43.07986,-32.05021,5.24153,-4.26702]}, - {"t":6.1919, "x":2.94544, "y":2.5469, "heading":-1.37863, "vx":-1.0605, "vy":3.02757, "omega":-0.94315, "ax":1.30232, "ay":-1.3992, "alpha":-4.82034, "fx":[3.71313,45.67827,42.9428,-6.207], "fy":[-51.04502,-38.93338,3.80018,-6.35629]}, - {"t":6.22774, "x":2.90827, "y":2.6545, "heading":-1.41243, "vx":-1.01383, "vy":2.97742, "omega":-1.11589, "ax":1.27939, "ay":-1.65687, "alpha":-5.20682, "fx":[0.8517,46.40634,46.15368,-8.80109], "fy":[-56.62238,-44.90462,0.84553,-8.89363]}, + {"t":6.12023, "x":3.02442, "y":2.32721, "heading":-1.32596, "vx":-1.13953, "vy":3.09755, "omega":-0.67623, "ax":0.99923, "ay":-0.83157, "alpha":-3.27591, "fx":[5.38577,34.30213,28.80861,-2.41369], "fy":[-33.08353,-24.31682,5.16173,-2.75628]}, + {"t":6.15606, "x":2.98422, "y":2.43768, "heading":-1.35019, "vx":-1.10373, "vy":3.06775, "omega":-0.79362, "ax":1.20617, "ay":-1.1213, "alpha":-4.17244, "fx":[5.21183,41.65965,36.99253,-4.09534], "fy":[-43.07985,-32.05021,5.24153,-4.26702]}, + {"t":6.1919, "x":2.94544, "y":2.5469, "heading":-1.37863, "vx":-1.0605, "vy":3.02757, "omega":-0.94315, "ax":1.30232, "ay":-1.3992, "alpha":-4.82034, "fx":[3.71314,45.67827,42.9428,-6.207], "fy":[-51.04502,-38.93338,3.80018,-6.35629]}, + {"t":6.22774, "x":2.90827, "y":2.6545, "heading":-1.41243, "vx":-1.01383, "vy":2.97742, "omega":-1.11589, "ax":1.27939, "ay":-1.65687, "alpha":-5.20682, "fx":[0.8517,46.40633,46.15368,-8.80109], "fy":[-56.62238,-44.90462,0.84553,-8.89363]}, {"t":6.26357, "x":2.87276, "y":2.76013, "heading":-1.45242, "vx":-0.96798, "vy":2.91805, "omega":-1.30248, "ax":1.14459, "ay":-1.89276, "alpha":-5.37202, "fx":[-3.267,44.2701,46.63856,-11.9458], "fy":[-60.047,-50.10849,-3.38651,-11.63353]}, {"t":6.29941, "x":2.83881, "y":2.86349, "heading":-1.4991, "vx":-0.92697, "vy":2.85022, "omega":-1.49499, "ax":0.91101, "ay":-2.10802, "alpha":-5.37893, "fx":[-8.49794,39.78974,44.69974,-15.74287], "fy":[-61.81943,-54.73875,-8.54788,-14.30506]}, {"t":6.33524, "x":2.80618, "y":2.96428, "heading":-1.55267, "vx":-0.89432, "vy":2.77468, "omega":-1.68775, "ax":0.59547, "ay":-2.30903, "alpha":-5.30923, "fx":[-14.73866,33.56701,40.92883,-20.37631], "fy":[-62.61348,-59.09789,-14.28801,-16.70577]}, @@ -233,8 +233,8 @@ {"t":6.40692, "x":2.74337, "y":3.15708, "heading":-1.68045, "vx":-0.86519, "vy":2.6019, "omega":-2.06674, "ax":-0.2035, "ay":-2.74237, "alpha":-5.3625, "fx":[-30.50914,18.67654,31.9859,-33.61125], "fy":[-64.48267,-69.40056,-27.16332,-20.31667]}, {"t":6.44275, "x":2.71223, "y":3.24856, "heading":-1.75452, "vx":-0.87248, "vy":2.50362, "omega":-2.25891, "ax":-0.64189, "ay":-3.01222, "alpha":-5.68523, "fx":[-40.25461,11.26476,29.44066,-42.90147], "fy":[-66.54976,-76.57819,-34.97711,-21.1043]}, {"t":6.47859, "x":2.68055, "y":3.33635, "heading":-1.83547, "vx":-0.89548, "vy":2.39568, "omega":-2.46264, "ax":-1.02644, "ay":-3.29332, "alpha":-6.282, "fx":[-50.46638,4.96198,30.65297,-53.03075], "fy":[-68.90159,-84.76836,-43.90394,-20.22601]}, - {"t":6.51442, "x":2.6478, "y":3.42009, "heading":-1.92372, "vx":-0.93226, "vy":2.27766, "omega":-2.68777, "ax":-1.16499, "ay":-3.50797, "alpha":-7.23655, "fx":[-58.88132,2.28216,39.84858,-60.29449], "fy":[-71.04547,-92.63089,-51.96327,-16.35552]}, - {"t":6.55026, "x":2.61364, "y":3.49945, "heading":-2.02004, "vx":-0.97401, "vy":2.15194, "omega":-2.9471, "ax":-0.65141, "ay":-3.50958, "alpha":-8.6893, "fx":[-61.07915,9.19376,62.596,-53.7908], "fy":[-74.33272,-98.71258,-52.7563,-6.30029]}, + {"t":6.51442, "x":2.6478, "y":3.42009, "heading":-1.92372, "vx":-0.93226, "vy":2.27766, "omega":-2.68777, "ax":-1.16499, "ay":-3.50797, "alpha":-7.23655, "fx":[-58.88132,2.28216,39.84857,-60.29449], "fy":[-71.04547,-92.63089,-51.96327,-16.35552]}, + {"t":6.55026, "x":2.61364, "y":3.49945, "heading":-2.02004, "vx":-0.97401, "vy":2.15194, "omega":-2.9471, "ax":-0.65141, "ay":-3.50958, "alpha":-8.6893, "fx":[-61.07915,9.19375,62.596,-53.7908], "fy":[-74.33272,-98.71258,-52.7563,-6.30029]}, {"t":6.5861, "x":2.57832, "y":3.57432, "heading":-2.12565, "vx":-0.99736, "vy":2.02618, "omega":-3.25849, "ax":1.77662, "ay":-2.76423, "alpha":-10.31613, "fx":[-45.33759,36.76017,93.72827,32.34397], "fy":[-82.35719,-98.04754,-36.20351,33.79916]}, {"t":6.62193, "x":2.54372, "y":3.64515, "heading":-2.24242, "vx":-0.93369, "vy":1.92712, "omega":-3.62818, "ax":5.85611, "ay":-2.79999, "alpha":-2.9788, "fx":[83.61538,88.45532,107.71999,107.49572], "fy":[-65.44488,-69.62915,-35.08283,-15.01673]}, {"t":6.65777, "x":2.51402, "y":3.71242, "heading":-2.37244, "vx":-0.72383, "vy":1.82678, "omega":-3.73492, "ax":3.10937, "ay":-4.9947, "alpha":9.02383, "fx":[100.08886,118.69486,-44.47792,31.32823], "fy":[-72.29903,-24.01351,-114.44857,-119.55729]}, From be46cd749373f031065ae7c5dd6b1ff618ef3e47 Mon Sep 17 00:00:00 2001 From: ronansoergel9 Date: Thu, 19 Mar 2026 20:15:09 -0700 Subject: [PATCH 02/11] unfinished intake-outpost-score auto --- src/main/deploy/choreo/FRtoSRT.traj | 444 ++++++++++++++-------------- src/main/java/frc/robot/Autos.java | 9 + 2 files changed, 239 insertions(+), 214 deletions(-) diff --git a/src/main/deploy/choreo/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj index aef92409..7b24f03c 100644 --- a/src/main/deploy/choreo/FRtoSRT.traj +++ b/src/main/deploy/choreo/FRtoSRT.traj @@ -7,10 +7,10 @@ {"x":7.738821983337402, "y":3.3275232315063477, "heading":0.9685095839813652, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.276905059814453, "y":3.5231900215148926, "heading":0.026309798204746184, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.839447021484375, "y":3.3152942657470703, "heading":-1.14416723126684, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.019723892211914, "y":2.5584933757781982, "heading":-1.8049012747276192, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.501133918762207, "y":1.2703827619552612, "heading":-2.452669240168714, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.543155193328857, "y":0.6248778104782104, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.108928680419922, "y":0.5510483384132385, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.019723892211914, "y":2.5584933757781982, "heading":-1.8049012747276192, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.57016372680664, "y":1.2301474809646606, "heading":-2.022249125335878, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.543155193328857, "y":0.6248778104782104, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.108928680419922, "y":0.5510483384132385, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -22,7 +22,8 @@ {"from":5, "to":5, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":0, "to":8, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -31,10 +32,10 @@ {"x":{"exp":"7.738821983337402 m", "val":7.738821983337402}, "y":{"exp":"3.3275232315063477 m", "val":3.3275232315063477}, "heading":{"exp":"0.9685095839813652 rad", "val":0.9685095839813652}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"8.276905059814453 m", "val":8.276905059814453}, "y":{"exp":"3.5231900215148926 m", "val":3.5231900215148926}, "heading":{"exp":"26.309798204746183 mrad", "val":0.026309798204746184}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"8.839447021484375 m", "val":8.839447021484375}, "y":{"exp":"3.3152942657470703 m", "val":3.3152942657470703}, "heading":{"exp":"-1.14416723126684 rad", "val":-1.14416723126684}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.019723892211914 m", "val":9.019723892211914}, "y":{"exp":"2.5584933757781982 m", "val":2.5584933757781982}, "heading":{"exp":"-1.8049012747276194 rad", "val":-1.8049012747276192}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.501133918762207 m", "val":8.501133918762207}, "y":{"exp":"1.2703827619552612 m", "val":1.2703827619552612}, "heading":{"exp":"-2.452669240168714 rad", "val":-2.452669240168714}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.543155193328857 m", "val":7.543155193328857}, "y":{"exp":"0.6248778104782104 m", "val":0.6248778104782104}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.108928680419922 m", "val":6.108928680419922}, "y":{"exp":"0.5510483384132385 m", "val":0.5510483384132385}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.019723892211914 m", "val":9.019723892211914}, "y":{"exp":"2.5584933757781982 m", "val":2.5584933757781982}, "heading":{"exp":"-1.8049012747276194 rad", "val":-1.8049012747276192}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.57016372680664 m", "val":8.57016372680664}, "y":{"exp":"1.2301474809646606 m", "val":1.2301474809646606}, "heading":{"exp":"-2.022249125335878 rad", "val":-2.022249125335878}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.543155193328857 m", "val":7.543155193328857}, "y":{"exp":"0.6248778104782104 m", "val":0.6248778104782104}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.108928680419922 m", "val":6.108928680419922}, "y":{"exp":"0.5510483384132385 m", "val":0.5510483384132385}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.768587827682495 m", "val":2.768587827682495}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -46,7 +47,8 @@ {"from":5, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}, {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":0, "to":8, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -77,211 +79,225 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.17614,1.75655,2.36088,3.14552,3.89496,4.46336,4.87752,6.06471], + "waypoints":[0.0,1.17614,1.75655,2.36094,3.14441,4.01404,4.74433,5.46346,7.26988], "samples":[ - {"t":0.0, "x":7.77551, "y":2.2269, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.44942, "ay":7.50982, "alpha":-0.00157, "fx":[-7.41486,-7.44439,-7.44615,-7.41662], "fy":[124.16409,124.16233,124.16218,124.16395]}, - {"t":0.03675, "x":7.77521, "y":2.23197, "heading":1.5708, "vx":-0.01652, "vy":0.27602, "omega":-0.00006, "ax":-0.44913, "ay":7.50494, "alpha":-0.00228, "fx":[-7.40304,-7.44576,-7.44832,-7.40559], "fy":[124.08387,124.08132,124.08108,124.08364]}, - {"t":0.07351, "x":7.77429, "y":2.24718, "heading":1.57079, "vx":-0.03303, "vy":0.55186, "omega":-0.00014, "ax":-0.44826, "ay":7.49038, "alpha":-0.00438, "fx":[-7.36781,-7.44983,-7.45475,-7.37267], "fy":[123.84445,123.83956,123.83895,123.84384]}, - {"t":0.11026, "x":7.77278, "y":2.27253, "heading":1.57079, "vx":-0.0495, "vy":0.82716, "omega":-0.0003, "ax":-0.27718, "ay":4.63174, "alpha":-0.48685, "fx":[-1.38852,-7.56988,-7.91971,-1.45317], "fy":[78.1102,77.90993,75.03926,75.25483]}, - {"t":0.14702, "x":7.77077, "y":2.30606, "heading":1.57078, "vx":-0.05969, "vy":0.9974, "omega":-0.0182, "ax":-0.00001, "ay":0.00017, "alpha":-1.04195, "fx":[4.91536,-4.91553,-4.91572,4.9152], "fy":[4.91822,4.9184,-4.91251,-4.91269]}, - {"t":0.18377, "x":7.76858, "y":2.34272, "heading":1.57011, "vx":-0.05969, "vy":0.9974, "omega":-0.05649, "ax":0.0, "ay":0.0, "alpha":-1.01112, "fx":[4.77327,-4.76672,-4.77327,4.76672], "fy":[4.76672,4.77328,-4.76672,-4.77327]}, - {"t":0.22053, "x":7.76638, "y":2.37938, "heading":1.56803, "vx":-0.05969, "vy":0.9974, "omega":-0.09366, "ax":0.0, "ay":0.0, "alpha":-0.98719, "fx":[4.66996,-4.64422,-4.66996,4.64422], "fy":[4.64422,4.66996,-4.64422,-4.66996]}, - {"t":0.25728, "x":7.76419, "y":2.41603, "heading":1.56459, "vx":-0.05969, "vy":0.9974, "omega":-0.12994, "ax":0.0, "ay":0.0, "alpha":-0.97001, "fx":[4.60437,-4.54757,-4.60437,4.54757], "fy":[4.54757,4.60437,-4.54757,-4.60437]}, - {"t":0.29403, "x":7.762, "y":2.45269, "heading":1.55981, "vx":-0.05969, "vy":0.9974, "omega":-0.16559, "ax":0.0, "ay":0.0, "alpha":-0.95947, "fx":[4.57577,-4.47636,-4.57577,4.47636], "fy":[4.47636,4.57577,-4.47636,-4.57577]}, - {"t":0.33079, "x":7.7598, "y":2.48935, "heading":1.55373, "vx":-0.05969, "vy":0.9974, "omega":-0.20086, "ax":0.0, "ay":0.0, "alpha":-0.95551, "fx":[4.58392,-4.43006,-4.58392,4.43006], "fy":[4.43006,4.58392,-4.43006,-4.58392]}, - {"t":0.36754, "x":7.75761, "y":2.52601, "heading":1.54635, "vx":-0.05969, "vy":0.9974, "omega":-0.23598, "ax":0.0, "ay":0.0, "alpha":-0.9581, "fx":[4.62903,-4.40803,-4.62903,4.40803], "fy":[4.40803,4.62903,-4.40803,-4.62903]}, - {"t":0.4043, "x":7.75541, "y":2.56267, "heading":1.53767, "vx":-0.05969, "vy":0.9974, "omega":-0.27119, "ax":0.0, "ay":0.0, "alpha":-0.96727, "fx":[4.71176,-4.40952,-4.71176,4.40952], "fy":[4.40952,4.71176,-4.40952,-4.71176]}, - {"t":0.44105, "x":7.75322, "y":2.59933, "heading":1.52771, "vx":-0.05969, "vy":0.9974, "omega":-0.30674, "ax":0.0, "ay":0.0, "alpha":-0.98309, "fx":[4.83324,-4.43367,-4.83324,4.43367], "fy":[4.43367,4.83324,-4.43367,-4.83324]}, - {"t":0.47781, "x":7.75103, "y":2.63599, "heading":1.51643, "vx":-0.05969, "vy":0.9974, "omega":-0.34287, "ax":0.0, "ay":0.0, "alpha":-1.00566, "fx":[4.99502,-4.47943,-4.99502,4.47943], "fy":[4.47943,4.99502,-4.47943,-4.99502]}, - {"t":0.51456, "x":7.74883, "y":2.67265, "heading":1.50383, "vx":-0.05969, "vy":0.9974, "omega":-0.37984, "ax":0.0, "ay":0.0, "alpha":-1.03514, "fx":[5.19915,-4.5456,-5.19915,4.5456], "fy":[4.5456,5.19915,-4.5456,-5.19915]}, - {"t":0.55132, "x":7.74664, "y":2.70931, "heading":1.48987, "vx":-0.05969, "vy":0.9974, "omega":-0.41788, "ax":0.0, "ay":0.0, "alpha":-1.07174, "fx":[5.44813,-4.63069,-5.44813,4.63069], "fy":[4.63069,5.44813,-4.63069,-5.44813]}, - {"t":0.58807, "x":7.74445, "y":2.74596, "heading":1.47451, "vx":-0.05969, "vy":0.9974, "omega":-0.45727, "ax":0.0, "ay":0.0, "alpha":-1.11569, "fx":[5.74495,-4.73294,-5.74495,4.73294], "fy":[4.73294,5.74495,-4.73294,-5.74495]}, - {"t":0.62482, "x":7.74225, "y":2.78262, "heading":1.4577, "vx":-0.05969, "vy":0.9974, "omega":-0.49828, "ax":0.0, "ay":0.0, "alpha":-1.16731, "fx":[6.0931,-4.85019,-6.0931,4.85019], "fy":[4.85019,6.0931,-4.85019,-6.0931]}, - {"t":0.66158, "x":7.74006, "y":2.81928, "heading":1.43939, "vx":-0.05969, "vy":0.9974, "omega":-0.54118, "ax":0.0, "ay":0.0, "alpha":-1.22693, "fx":[6.4966,-4.97978,-6.4966,4.97978], "fy":[4.97978,6.4966,-4.97978,-6.4966]}, - {"t":0.69833, "x":7.73786, "y":2.85594, "heading":1.4195, "vx":-0.05969, "vy":0.9974, "omega":-0.58628, "ax":0.0, "ay":0.0, "alpha":-1.29496, "fx":[6.95998,-5.11846,-6.95998,5.11846], "fy":[5.11846,6.95998,-5.11846,-6.95998]}, - {"t":0.73509, "x":7.73567, "y":2.8926, "heading":1.39795, "vx":-0.05969, "vy":0.9974, "omega":-0.63387, "ax":0.0, "ay":0.0, "alpha":-1.37184, "fx":[7.48832,-5.26222,-7.48832,5.26222], "fy":[5.26222,7.48832,-5.26222,-7.48832]}, - {"t":0.77184, "x":7.73348, "y":2.92926, "heading":1.37465, "vx":-0.05969, "vy":0.9974, "omega":-0.6843, "ax":0.0, "ay":0.0, "alpha":-1.45808, "fx":[8.08723,-5.40611,-8.08723,5.40611], "fy":[5.40611,8.08723,-5.40611,-8.08723]}, - {"t":0.8086, "x":7.73128, "y":2.96592, "heading":1.3495, "vx":-0.05969, "vy":0.9974, "omega":-0.73789, "ax":0.0, "ay":0.0, "alpha":-1.55425, "fx":[8.76282,-5.54406,-8.76282,5.54406], "fy":[5.54406,8.76282,-5.54406,-8.76282]}, - {"t":0.84535, "x":7.72909, "y":3.00258, "heading":1.32238, "vx":-0.05969, "vy":0.9974, "omega":-0.79501, "ax":0.0, "ay":0.0, "alpha":-1.66097, "fx":[9.52167,-5.66859,-9.52167,5.66859], "fy":[5.66859,9.52167,-5.66859,-9.52167]}, - {"t":0.8821, "x":7.72689, "y":3.03924, "heading":1.29316, "vx":-0.05969, "vy":0.9974, "omega":-0.85606, "ax":0.0, "ay":0.0, "alpha":-1.7789, "fx":[10.37077,-5.77055,-10.37077,5.77056], "fy":[5.77055,10.37077,-5.77056,-10.37077]}, - {"t":0.91886, "x":7.7247, "y":3.0759, "heading":1.2617, "vx":-0.05969, "vy":0.9974, "omega":-0.92144, "ax":0.0, "ay":0.0, "alpha":-1.9088, "fx":[11.31737,-5.83875,-11.31731,5.83882], "fy":[5.83879,11.31734,-5.83879,-11.31734]}, - {"t":0.95561, "x":7.72251, "y":3.11255, "heading":1.22783, "vx":-0.05969, "vy":0.9974, "omega":-0.9916, "ax":0.00007, "ay":0.0, "alpha":-2.05146, "fx":[12.36984,-5.85851,-12.36748,5.86091], "fy":[5.85977,12.36875,-5.85965,-12.36858]}, - {"t":0.99237, "x":7.72031, "y":3.14921, "heading":1.19138, "vx":-0.05969, "vy":0.9974, "omega":-1.067, "ax":0.00262, "ay":0.00016, "alpha":-2.20773, "fx":[13.57477,-5.77304,-13.48885,5.86073], "fy":[5.81906,13.53482,-5.8147,-13.5288]}, - {"t":1.02912, "x":7.71812, "y":3.18587, "heading":1.15217, "vx":-0.05959, "vy":0.99741, "omega":-1.14814, "ax":0.09531, "ay":0.00552, "alpha":-2.37778, "fx":[16.36206,-4.09218,-13.25027,7.28387], "fy":[5.76469,14.91825,-5.61413,-14.70362]}, - {"t":1.06588, "x":7.716, "y":3.22254, "heading":1.10997, "vx":-0.05609, "vy":0.99761, "omega":-1.23554, "ax":2.96067, "ay":0.00448, "alpha":-1.88669, "fx":[58.8288,45.79126,38.60608,52.57402], "fy":[4.38716,14.16218,-4.93373,-13.31928]}, - {"t":1.10263, "x":7.71593, "y":3.25921, "heading":1.06456, "vx":0.05273, "vy":0.99778, "omega":-1.30488, "ax":7.15789, "ay":-1.35966, "alpha":-0.09413, "fx":[118.48291,118.52839,118.20759,118.1592], "fy":[-21.9541,-21.40516,-23.0156,-23.54458]}, - {"t":1.13938, "x":7.72271, "y":3.29496, "heading":1.0166, "vx":0.31581, "vy":0.9478, "omega":-1.30834, "ax":6.67389, "ay":-3.36376, "alpha":-0.02402, "fx":[110.43595,110.45073,110.24852,110.23433], "fy":[-55.43328,-55.39591,-55.79658,-55.83246]}, - {"t":1.17614, "x":7.73882, "y":3.32752, "heading":0.96851, "vx":0.56111, "vy":0.82417, "omega":-1.30922, "ax":5.77845, "ay":-4.7189, "alpha":-0.01952, "fx":[95.66317,95.64179,95.41172,95.43383], "fy":[-77.86852,-77.8892,-78.17132,-78.14988]}, - {"t":1.20137, "x":7.75482, "y":3.34682, "heading":0.93547, "vx":0.70693, "vy":0.70509, "omega":-1.30972, "ax":4.70851, "ay":-5.68125, "alpha":-0.04028, "fx":[78.19794,78.05204,77.4961,77.64567], "fy":[-93.64754,-93.74969,-94.21461,-94.11072]}, - {"t":1.22661, "x":7.77416, "y":3.3628, "heading":0.90242, "vx":0.82575, "vy":0.56172, "omega":-1.31073, "ax":3.42407, "ay":-6.13572, "alpha":-0.13054, "fx":[57.93894,57.11222,55.26815,56.12735], "fy":[-100.74983,-101.04921,-102.1411,-101.83836]}, - {"t":1.25184, "x":7.79609, "y":3.37502, "heading":0.86934, "vx":0.91215, "vy":0.40689, "omega":-1.31403, "ax":1.3939, "ay":-3.58076, "alpha":-1.05731, "fx":[31.40878,23.69441,14.46402,22.61684], "fy":[-57.59436,-53.51234,-61.0163,-64.68585]}, - {"t":1.27708, "x":7.81955, "y":3.38415, "heading":0.83618, "vx":0.94733, "vy":0.31653, "omega":-1.34071, "ax":0.12208, "ay":-0.37138, "alpha":-1.7239, "fx":[13.51794,1.46379,-9.50506,2.59711], "fy":[-5.59266,5.3745,-6.79473,-17.54788]}, - {"t":1.30231, "x":7.8435, "y":3.39202, "heading":0.80235, "vx":0.95041, "vy":0.30715, "omega":-1.38421, "ax":0.00915, "ay":-0.02836, "alpha":-1.67686, "fx":[11.33611,-0.0371,-11.03557,0.342], "fy":[-0.283,10.72045,-0.66251,-11.65067]}, - {"t":1.32755, "x":7.86748, "y":3.39976, "heading":0.76742, "vx":0.95064, "vy":0.30644, "omega":-1.42653, "ax":0.00069, "ay":-0.00215, "alpha":-1.62649, "fx":[10.86093,0.20665,-10.83816,-0.18349], "fy":[-0.23096,10.81418,0.15917,-10.8849]}, - {"t":1.35278, "x":7.89147, "y":3.4075, "heading":0.73142, "vx":0.95066, "vy":0.30638, "omega":-1.46757, "ax":0.00005, "ay":-0.00016, "alpha":-1.58177, "fx":[10.53842,0.5702,-10.5367,-0.56845], "fy":[-0.57205,10.53487,0.5666,-10.54024]}, - {"t":1.37802, "x":7.91546, "y":3.41523, "heading":0.69439, "vx":0.95066, "vy":0.30638, "omega":-1.50749, "ax":0.0, "ay":-0.00001, "alpha":-1.54264, "fx":[10.24933,0.93544,-10.2492,-0.9353], "fy":[-0.93558,10.24906,0.93516,-10.24947]}, - {"t":1.40326, "x":7.93945, "y":3.42296, "heading":0.65635, "vx":0.95066, "vy":0.30638, "omega":-1.54641, "ax":0.0, "ay":0.0, "alpha":-1.50901, "fx":[9.98379,1.29563,-9.98378,-1.29562], "fy":[-1.29564,9.98377,1.29561,-9.9838]}, - {"t":1.42849, "x":7.96344, "y":3.43069, "heading":0.61732, "vx":0.95066, "vy":0.30638, "omega":-1.58449, "ax":0.0, "ay":0.0, "alpha":-1.48081, "fx":[9.74016,1.65267,-9.74016,-1.65268], "fy":[-1.65268,9.74016,1.65267,-9.74016]}, - {"t":1.45373, "x":7.98743, "y":3.43842, "heading":0.57734, "vx":0.95066, "vy":0.30638, "omega":-1.62186, "ax":0.0, "ay":0.0, "alpha":-1.45799, "fx":[9.51732,2.00925,-9.51732,-2.00925], "fy":[-2.00925,9.51732,2.00925,-9.51732]}, - {"t":1.47896, "x":8.01142, "y":3.44615, "heading":0.53641, "vx":0.95066, "vy":0.30638, "omega":-1.65866, "ax":0.0, "ay":0.0, "alpha":-1.44049, "fx":[9.31403,2.36823,-9.31403,-2.36823], "fy":[-2.36823,9.31403,2.36823,-9.31403]}, - {"t":1.5042, "x":8.03541, "y":3.45388, "heading":0.49455, "vx":0.95066, "vy":0.30638, "omega":-1.69501, "ax":0.0, "ay":0.0, "alpha":-1.42831, "fx":[9.12891,2.73258,-9.12891,-2.73258], "fy":[-2.73259,9.12891,2.73258,-9.12891]}, - {"t":1.52943, "x":8.0594, "y":3.46162, "heading":0.45178, "vx":0.95066, "vy":0.30638, "omega":-1.73105, "ax":0.0, "ay":0.0, "alpha":-1.42143, "fx":[8.96034,3.10541,-8.96034,-3.10541], "fy":[-3.10541,8.96033,3.1054,-8.96034]}, - {"t":1.55467, "x":8.08339, "y":3.46935, "heading":0.4081, "vx":0.95066, "vy":0.30638, "omega":-1.76692, "ax":0.0, "ay":0.0, "alpha":-1.41986, "fx":[8.80648,3.4899,-8.80646,-3.48988], "fy":[-3.48992,8.80644,3.48986,-8.8065]}, - {"t":1.5799, "x":8.10738, "y":3.47708, "heading":0.36351, "vx":0.95066, "vy":0.30638, "omega":-1.80275, "ax":0.00001, "ay":-0.00002, "alpha":-1.42364, "fx":[8.66528,3.8894,-8.66506,-3.88917], "fy":[-3.88964,8.66482,3.88894,-8.66552]}, - {"t":1.60514, "x":8.13137, "y":3.48481, "heading":0.31802, "vx":0.95066, "vy":0.30638, "omega":-1.83868, "ax":0.00009, "ay":-0.00027, "alpha":-1.43282, "fx":[8.53543,4.3084,-8.53257,-4.30543], "fy":[-4.31146,8.52947,4.30237,-8.53852]}, - {"t":1.63037, "x":8.15536, "y":3.49254, "heading":0.27162, "vx":0.95066, "vy":0.30637, "omega":-1.87483, "ax":0.00117, "ay":-0.00362, "alpha":-1.44747, "fx":[8.42906,4.76578,-8.39126,-4.7265], "fy":[-4.80602,8.35044,4.68625,-8.46987]}, - {"t":1.65561, "x":8.17935, "y":3.50027, "heading":0.2243, "vx":0.95069, "vy":0.30628, "omega":-1.91136, "ax":0.01536, "ay":-0.04777, "alpha":-1.46755, "fx":[8.53871,5.46925,-8.04107,-4.9513], "fy":[-6.00002,7.50041,4.41892,-9.0787]}, - {"t":1.68084, "x":8.20335, "y":3.50799, "heading":0.17607, "vx":0.95108, "vy":0.30508, "omega":-1.94839, "ax":0.19559, "ay":-0.62787, "alpha":-1.47112, "fx":[11.24116,8.98898,-4.90908,-2.38573], "fy":[-15.93158,-2.35522,-4.83783,-18.39863]}, - {"t":1.70608, "x":8.22741, "y":3.51549, "heading":0.1269, "vx":0.95602, "vy":0.28923, "omega":-1.98552, "ax":1.13598, "ay":-4.83557, "alpha":-0.6035, "fx":[22.61315,22.93683,14.71627,14.86046], "fy":[-80.8645,-77.49861,-79.08911,-82.34217]}, - {"t":1.73131, "x":8.2519, "y":3.52124, "heading":0.0768, "vx":0.98468, "vy":0.16721, "omega":-2.00075, "ax":0.49913, "ay":-7.14109, "alpha":-0.07997, "fx":[8.97193,8.96503,7.52442,7.54783], "fy":[-118.05294,-117.98012,-118.08127,-118.15305]}, - {"t":1.75655, "x":8.27691, "y":3.52319, "heading":0.02631, "vx":0.99728, "vy":-0.013, "omega":-2.00277, "ax":-0.65744, "ay":-7.12682, "alpha":-0.06724, "fx":[-10.20743,-10.33804,-11.53783,-11.39602], "fy":[-117.91885,-117.84583,-117.74185,-117.81713]}, - {"t":1.78072, "x":8.30082, "y":3.52079, "heading":-0.0221, "vx":0.98139, "vy":-0.18528, "omega":-2.00439, "ax":-1.31566, "ay":-5.14021, "alpha":-0.37879, "fx":[-18.85713,-19.50127,-24.7404,-23.91097], "fy":[-86.41891,-84.44839,-83.52283,-85.55124]}, - {"t":1.80489, "x":8.32416, "y":3.51481, "heading":-0.07056, "vx":0.94958, "vy":-0.30954, "omega":-2.01355, "ax":-0.28078, "ay":-0.83161, "alpha":-0.91114, "fx":[-0.61112,-0.0004,-8.74185,-9.21596], "fy":[-18.32855,-9.83996,-9.18138,-17.6477]}, - {"t":1.82907, "x":8.34703, "y":3.50709, "heading":-0.11923, "vx":0.94279, "vy":-0.32964, "omega":-2.03557, "ax":-0.02473, "ay":-0.07053, "alpha":-0.75311, "fx":[2.69461,3.54345,-3.51634,-4.35717], "fy":[-5.11634,1.93865,2.78383,-4.27037]}, - {"t":1.85324, "x":8.36982, "y":3.4991, "heading":-0.16844, "vx":0.9422, "vy":-0.33134, "omega":-2.05378, "ax":-0.00208, "ay":-0.00592, "alpha":-0.57269, "fx":[2.17604,3.08206,-2.24503,-3.15067], "fy":[-3.21416,2.11273,3.01857,-2.30833]}, - {"t":1.87741, "x":8.39259, "y":3.49109, "heading":-0.21808, "vx":0.94215, "vy":-0.33149, "omega":-2.06762, "ax":-0.00017, "ay":-0.0005, "alpha":-0.39392, "fx":[1.40935,2.21349,-1.41513,-2.21925], "fy":[-2.22458,1.40403,2.20817,-1.42045]}, - {"t":1.90159, "x":8.41537, "y":3.48307, "heading":-0.26807, "vx":0.94214, "vy":-0.3315, "omega":-2.07714, "ax":-0.00001, "ay":-0.00004, "alpha":-0.21639, "fx":[0.71374,1.2545,-0.71423,-1.25499], "fy":[-1.25545,0.71328,1.25405,-0.71468]}, - {"t":1.92576, "x":8.43814, "y":3.47506, "heading":-0.31828, "vx":0.94214, "vy":-0.3315, "omega":-2.08238, "ax":0.0, "ay":0.0, "alpha":-0.03955, "fx":[0.11879,0.23555,-0.11884,-0.2356], "fy":[-0.23564,0.11874,0.2355,-0.11888]}, - {"t":1.94993, "x":8.46091, "y":3.46705, "heading":-0.36861, "vx":0.94214, "vy":-0.3315, "omega":-2.08333, "ax":0.0, "ay":0.0, "alpha":0.13717, "fx":[-0.37048,-0.83681,0.37046,0.8368], "fy":[0.83678,-0.37049,-0.83682,0.37045]}, - {"t":1.97411, "x":8.48369, "y":3.45903, "heading":-0.41898, "vx":0.94214, "vy":-0.3315, "omega":-2.08002, "ax":0.0, "ay":0.0, "alpha":0.31432, "fx":[-0.75132,-1.95781,0.75131,1.9578], "fy":[1.9578,-0.75133,-1.95782,0.7513]}, - {"t":1.99828, "x":8.50646, "y":3.45102, "heading":-0.46926, "vx":0.94214, "vy":-0.3315, "omega":-2.07242, "ax":0.0, "ay":0.0, "alpha":0.49246, "fx":[-1.02148,-3.1227,1.02147,3.12269], "fy":[3.12269,-1.02148,-3.12271,1.02146]}, - {"t":2.02245, "x":8.52924, "y":3.44301, "heading":-0.51935, "vx":0.94214, "vy":-0.3315, "omega":-2.06051, "ax":0.0, "ay":0.0, "alpha":0.67215, "fx":[-1.17901,-4.32658,1.17901,4.32657], "fy":[4.32657,-1.17901,-4.32658,1.179]}, - {"t":2.04663, "x":8.55201, "y":3.43499, "heading":-0.56916, "vx":0.94214, "vy":-0.3315, "omega":-2.04426, "ax":0.0, "ay":0.0, "alpha":0.85394, "fx":[-1.22234,-5.56446,1.22234,5.56445], "fy":[5.56445,-1.22234,-5.56446,1.22233]}, - {"t":2.0708, "x":8.57479, "y":3.42698, "heading":-0.61858, "vx":0.94214, "vy":-0.3315, "omega":-2.02362, "ax":0.0, "ay":0.0, "alpha":1.03835, "fx":[-1.15027,-6.8313,1.15027,6.8313], "fy":[6.8313,-1.15027,-6.8313,1.15027]}, - {"t":2.09497, "x":8.59756, "y":3.41897, "heading":-0.6675, "vx":0.94214, "vy":-0.3315, "omega":-1.99852, "ax":0.0, "ay":0.0, "alpha":1.22592, "fx":[-0.96205,-8.12206,0.96205,8.12206], "fy":[8.12206,-0.96205,-8.12206,0.96205]}, - {"t":2.11915, "x":8.62034, "y":3.41095, "heading":-0.71581, "vx":0.94214, "vy":-0.3315, "omega":-1.96889, "ax":0.0, "ay":0.0, "alpha":1.41714, "fx":[-0.65741,-9.43173,0.65741,9.43173], "fy":[9.43173,-0.65741,-9.43173,0.65741]}, - {"t":2.14332, "x":8.64311, "y":3.40294, "heading":-0.7634, "vx":0.94214, "vy":-0.3315, "omega":-1.93463, "ax":0.0, "ay":0.0, "alpha":1.61251, "fx":[-0.23662,-10.75542,0.23658,10.75539], "fy":[10.75535,-0.23665,-10.75546,0.23654]}, - {"t":2.16749, "x":8.66589, "y":3.39493, "heading":-0.81017, "vx":0.94214, "vy":-0.3315, "omega":-1.89565, "ax":-0.00001, "ay":-0.00004, "alpha":1.81247, "fx":[0.29927,-12.0886,-0.29976,12.08811], "fy":[12.08765,0.2988,-12.08905,-0.30022]}, - {"t":2.19167, "x":8.68866, "y":3.38691, "heading":-0.85599, "vx":0.94214, "vy":-0.3315, "omega":-1.85184, "ax":-0.00018, "ay":-0.0005, "alpha":2.01745, "fx":[0.94646,-13.42898,-0.95235,13.42317], "fy":[13.41786,0.94099,-13.4343,-0.95783]}, - {"t":2.21584, "x":8.71144, "y":3.3789, "heading":-0.90076, "vx":0.94214, "vy":-0.33151, "omega":-1.80307, "ax":-0.00207, "ay":-0.00587, "alpha":2.22783, "fx":[1.6765,-14.79842,-1.74516,14.73039], "fy":[14.66874,1.61228,-14.86004,-1.80941]}, - {"t":2.24001, "x":8.73421, "y":3.37088, "heading":-0.94435, "vx":0.94209, "vy":-0.33166, "omega":-1.74921, "ax":-0.02406, "ay":-0.06814, "alpha":2.44352, "fx":[2.18138,-16.49523,-2.97773,15.70065], "fy":[14.98936,1.43401,-17.2016,-3.72808]}, - {"t":2.26419, "x":8.75698, "y":3.36285, "heading":-0.98663, "vx":0.94151, "vy":-0.3333, "omega":-1.69015, "ax":-0.2832, "ay":-0.77501, "alpha":2.60411, "fx":[-1.29851,-21.88703,-8.04594,12.50262], "fy":[4.29495,-9.49961,-29.40765,-16.64197]}, - {"t":2.28836, "x":8.77965, "y":3.35456, "heading":-1.02749, "vx":0.93466, "vy":-0.35204, "omega":-1.6272, "ax":-2.12918, "ay":-4.72649, "alpha":1.04765, "fx":[-35.56152,-44.56573,-35.12522,-25.55789], "fy":[-74.04094,-74.6285,-82.18615,-81.7253]}, - {"t":2.31253, "x":8.80163, "y":3.34467, "heading":-1.06682, "vx":0.88319, "vy":-0.46629, "omega":-1.60187, "ax":-3.87359, "ay":-6.00295, "alpha":0.16984, "fx":[-64.51722,-65.78145,-63.59517,-62.28158], "fy":[-98.82237,-98.15907,-99.67693,-100.3392]}, - {"t":2.33671, "x":8.82184, "y":3.33165, "heading":-1.10554, "vx":0.78955, "vy":-0.6114, "omega":-1.59777, "ax":-5.07312, "ay":-5.37937, "alpha":0.06435, "fx":[-84.12754,-84.43438,-83.62907,-83.31346], "fy":[-88.6841,-88.42095,-89.19326,-89.45982]}, - {"t":2.36088, "x":8.83945, "y":3.31529, "heading":-1.14417, "vx":0.66692, "vy":-0.74144, "omega":-1.59621, "ax":-5.99456, "ay":-4.34976, "alpha":0.06902, "fx":[-99.39605,-99.55892,-98.83002,-98.65802], "fy":[-71.50267,-71.31233,-72.32633,-72.52502]}, - {"t":2.39106, "x":8.85684, "y":3.29094, "heading":-1.19234, "vx":0.48601, "vy":-0.87271, "omega":-1.59413, "ax":-6.3711, "ay":-2.72137, "alpha":0.31889, "fx":[-106.20527,-106.63695,-104.51795,-103.98485], "fy":[-42.35595,-42.52212,-47.51906,-47.57725]}, - {"t":2.42124, "x":8.86861, "y":3.26336, "heading":-1.24045, "vx":0.29374, "vy":-0.95484, "omega":-1.5845, "ax":-1.988, "ay":-0.54476, "alpha":2.99417, "fx":[-25.70069,-49.65642,-40.69659,-15.42013], "fy":[10.63307,0.18553,-26.89742,-19.9484]}, - {"t":2.45142, "x":8.87657, "y":3.2343, "heading":-1.28826, "vx":0.23375, "vy":-0.97128, "omega":-1.49414, "ax":-0.10593, "ay":-0.02531, "alpha":3.2526, "fx":[8.685,-20.7448,-12.2234,17.27736], "fy":[18.64945,9.99173,-19.38307,-10.93222]}, - {"t":2.48159, "x":8.88357, "y":3.20498, "heading":-1.33336, "vx":0.23055, "vy":-0.97204, "omega":-1.39599, "ax":-0.00521, "ay":-0.00124, "alpha":3.05955, "fx":[10.54679,-17.50923,-10.72036,17.33794], "fy":[17.40547,10.61084,-17.44173,-10.65634]}, - {"t":2.51177, "x":8.89053, "y":3.17564, "heading":-1.37548, "vx":0.23039, "vy":-0.97208, "omega":-1.30365, "ax":-0.00025, "ay":-0.00006, "alpha":2.87772, "fx":[10.6787,-15.95649,-10.68716,15.94809], "fy":[15.95139,10.68183,-15.95319,-10.68403]}, - {"t":2.54195, "x":8.89748, "y":3.1463, "heading":-1.41483, "vx":0.23038, "vy":-0.97208, "omega":-1.21681, "ax":-0.00001, "ay":0.0, "alpha":2.70784, "fx":[10.63471,-14.60381,-10.63512,14.6034], "fy":[14.60356,10.63486,-14.60365,-10.63497]}, - {"t":2.57213, "x":8.90444, "y":3.11697, "heading":-1.45155, "vx":0.23038, "vy":-0.97208, "omega":-1.13509, "ax":0.0, "ay":0.0, "alpha":2.54938, "fx":[10.51057,-13.37216,-10.51059,13.37214], "fy":[13.37214,10.51058,-13.37215,-10.51059]}, - {"t":2.60231, "x":8.91139, "y":3.08763, "heading":-1.4858, "vx":0.23038, "vy":-0.97208, "omega":-1.05815, "ax":0.0, "ay":0.0, "alpha":2.4018, "fx":[10.32779,-12.25152,-10.32779,12.25152], "fy":[12.25152,10.32779,-12.25153,-10.32779]}, - {"t":2.63249, "x":8.91834, "y":3.0583, "heading":-1.51774, "vx":0.23038, "vy":-0.97208, "omega":-0.98567, "ax":0.0, "ay":0.0, "alpha":2.26458, "fx":[10.10161,-11.23478,-10.10161,11.23478], "fy":[11.23478,10.10161,-11.23478,-10.10161]}, - {"t":2.66266, "x":8.92529, "y":3.02896, "heading":-1.54748, "vx":0.23038, "vy":-0.97208, "omega":-0.91733, "ax":0.0, "ay":0.0, "alpha":2.13723, "fx":[9.84465,-10.31473,-9.84465,10.31473], "fy":[10.31473,9.84465,-10.31473,-9.84465]}, - {"t":2.69284, "x":8.93225, "y":2.99962, "heading":-1.57517, "vx":0.23038, "vy":-0.97208, "omega":-0.85283, "ax":0.0, "ay":0.0, "alpha":2.01926, "fx":[9.56745,-9.4842,-9.56745,9.4842], "fy":[9.4842,9.56745,-9.4842,-9.56745]}, - {"t":2.72302, "x":8.9392, "y":2.97029, "heading":-1.6009, "vx":0.23038, "vy":-0.97208, "omega":-0.79189, "ax":0.0, "ay":0.0, "alpha":1.91022, "fx":[9.27872,-8.73619,-9.27872,8.73619], "fy":[8.73619,9.27872,-8.73619,-9.27872]}, - {"t":2.7532, "x":8.94615, "y":2.94095, "heading":-1.6248, "vx":0.23038, "vy":-0.97208, "omega":-0.73425, "ax":0.0, "ay":0.0, "alpha":1.80969, "fx":[8.98567,-8.06401,-8.98567,8.06401], "fy":[8.06401,8.98567,-8.06401,-8.98567]}, - {"t":2.78338, "x":8.9531, "y":2.91162, "heading":-1.64696, "vx":0.23038, "vy":-0.97208, "omega":-0.67963, "ax":0.0, "ay":0.0, "alpha":1.71726, "fx":[8.69418,-7.46134,-8.69417,7.46134], "fy":[7.46134,8.69417,-7.46134,-8.69418]}, - {"t":2.81356, "x":8.96006, "y":2.88228, "heading":-1.66747, "vx":0.23038, "vy":-0.97208, "omega":-0.62781, "ax":0.0, "ay":0.0, "alpha":1.63256, "fx":[8.40906,-6.92229,-8.40906,6.92229], "fy":[6.92229,8.40906,-6.92229,-8.40906]}, - {"t":2.84373, "x":8.96701, "y":2.85295, "heading":-1.68642, "vx":0.23038, "vy":-0.97208, "omega":-0.57854, "ax":0.0, "ay":0.0, "alpha":1.55522, "fx":[8.13422,-6.44144,-8.13422,6.44144], "fy":[6.44144,8.13422,-6.44144,-8.13422]}, - {"t":2.87391, "x":8.97396, "y":2.82361, "heading":-1.70388, "vx":0.23038, "vy":-0.97208, "omega":-0.53161, "ax":0.0, "ay":0.0, "alpha":1.48494, "fx":[7.87281,-6.0138,-7.87281,6.0138], "fy":[6.0138,7.87281,-6.0138,-7.87281]}, - {"t":2.90409, "x":8.98091, "y":2.79427, "heading":-1.71992, "vx":0.23038, "vy":-0.97208, "omega":-0.48679, "ax":0.0, "ay":0.0, "alpha":1.4214, "fx":[7.62734,-5.63487,-7.62735,5.63486], "fy":[5.63486,7.62734,-5.63487,-7.62734]}, - {"t":2.93427, "x":8.98787, "y":2.76494, "heading":-1.73461, "vx":0.23038, "vy":-0.97208, "omega":-0.4439, "ax":-0.00001, "ay":0.0, "alpha":1.36435, "fx":[7.3997,-5.30069,-7.39999,5.3004], "fy":[5.30051,7.39981,-5.30058,-7.39988]}, - {"t":2.96445, "x":8.99482, "y":2.7356, "heading":-1.74801, "vx":0.23038, "vy":-0.97208, "omega":-0.40272, "ax":-0.00018, "ay":-0.00004, "alpha":1.31353, "fx":[7.18887,-5.01028,-7.19497,5.00414], "fy":[5.0065,7.19118,-5.00792,-7.19266]}, - {"t":2.99463, "x":9.00177, "y":2.70627, "heading":-1.76016, "vx":0.23038, "vy":-0.97208, "omega":-0.36308, "ax":-0.00394, "ay":-0.00093, "alpha":1.26871, "fx":[6.93982,-4.81696,-7.06983,4.68625], "fy":[4.73641,6.98913,-4.76679,-7.02052]}, - {"t":3.02481, "x":9.00872, "y":2.67693, "heading":-1.77112, "vx":0.23026, "vy":-0.97211, "omega":-0.3248, "ax":-0.0841, "ay":-0.0198, "alpha":1.2294, "fx":[5.44998,-5.92362,-8.22347,3.1355], "fy":[4.20746,6.50648,-4.85222,-7.17123]}, - {"t":3.05498, "x":9.01563, "y":2.64758, "heading":-1.78092, "vx":0.22772, "vy":-0.97271, "omega":-0.28769, "ax":-1.71096, "ay":-0.35295, "alpha":1.07468, "fx":[-22.60633,-32.16695,-33.88061,-24.49803], "fy":[-1.78883,0.47964,-9.72441,-12.30843]}, - {"t":3.08516, "x":9.02173, "y":2.61807, "heading":-1.7896, "vx":0.17609, "vy":-0.98336, "omega":-0.25526, "ax":-6.80381, "ay":-0.50171, "alpha":0.11578, "fx":[-112.4195,-112.64484,-112.56566,-112.33149], "fy":[-7.61597,-7.07115,-8.96129,-9.53188]}, - {"t":3.11534, "x":9.02394, "y":2.58816, "heading":-1.7973, "vx":-0.02924, "vy":-0.9985, "omega":-0.25177, "ax":-7.32688, "ay":1.0154, "alpha":0.02087, "fx":[-121.11065,-121.11293,-121.1664,-121.16418], "fy":[16.96166,16.996,16.61514,16.57962]}, - {"t":3.14552, "x":9.01972, "y":2.55849, "heading":-1.8049, "vx":-0.25035, "vy":-0.96786, "omega":-0.25114, "ax":-3.15608, "ay":-6.82343, "alpha":-0.03191, "fx":[-52.39401,-51.86044,-51.96672,-52.50249], "fy":[-112.71717,-112.9634,-112.91325,-112.66539]}, - {"t":3.1755, "x":9.0108, "y":2.52641, "heading":-1.81243, "vx":-0.34497, "vy":-1.17241, "omega":-0.25209, "ax":-3.1639, "ay":-6.81781, "alpha":-0.07367, "fx":[-52.8048,-51.57565,-51.80958,-53.0505], "fy":[-112.49508,-113.06324,-112.95289,-112.37607]}, - {"t":3.20547, "x":8.99904, "y":2.4882, "heading":-1.81999, "vx":-0.43981, "vy":-1.37679, "omega":-0.2543, "ax":-3.17367, "ay":-6.81062, "alpha":-0.12626, "fx":[-53.3227,-51.2232,-51.60333,-53.73761], "fy":[-112.21269,-113.18531,-113.00601,-112.00811]}, - {"t":3.23545, "x":8.98443, "y":2.44387, "heading":-1.82761, "vx":-0.53495, "vy":-1.58096, "omega":-0.25809, "ax":-3.18624, "ay":-6.80113, "alpha":-0.19451, "fx":[-53.99261,-50.77399,-51.32493,-54.62651], "fy":[-111.84323,-113.33869,-113.07875,-111.5235]}, - {"t":3.26543, "x":8.96696, "y":2.39342, "heading":-1.83535, "vx":-0.63047, "vy":-1.78484, "omega":-0.26392, "ax":-3.203, "ay":-6.78801, "alpha":-0.28667, "fx":[-54.88857,-50.17942,-50.93423,-55.82412], "fy":[-111.34132,-113.5382,-113.18163,-110.85528]}, - {"t":3.29541, "x":8.94662, "y":2.33687, "heading":-1.84326, "vx":-0.72649, "vy":-1.98833, "omega":-0.27251, "ax":-3.22645, "ay":-6.76872, "alpha":-0.41798, "fx":[-56.1418,-49.35184,-50.35466,-57.52872], "fy":[-110.62366,-113.80967,-113.33422,-109.87352]}, - {"t":3.32539, "x":8.92339, "y":2.27422, "heading":-1.85143, "vx":-0.82321, "vy":-2.19124, "omega":-0.28504, "ax":-3.26153, "ay":-6.7377, "alpha":-0.62023, "fx":[-58.00858,-48.11538,-49.42016,-60.1533], "fy":[-109.51954,-114.20255,-113.57748,-108.28986]}, - {"t":3.35536, "x":8.89725, "y":2.2055, "heading":-1.85997, "vx":-0.92098, "vy":-2.39322, "omega":-0.30364, "ax":-3.3195, "ay":-6.67998, "alpha":-0.97268, "fx":[-61.06321,-46.05824,-47.69207,-64.71756], "fy":[-107.61787,-114.82406,-114.01275,-105.31777]}, - {"t":3.38534, "x":8.86815, "y":2.13076, "heading":-1.86908, "vx":-1.02049, "vy":-2.59347, "omega":-0.33279, "ax":-3.43072, "ay":-6.53885, "alpha":-1.74517, "fx":[-66.89494,-41.94138,-43.521,-74.52903], "fy":[-103.63508,-115.9525,-114.96898,-97.88212]}, - {"t":3.41532, "x":8.83601, "y":2.05007, "heading":-1.87905, "vx":-1.12334, "vy":-2.78949, "omega":-0.38511, "ax":-3.59837, "ay":-5.84415, "alpha":-4.82183, "fx":[-81.77274,-29.63762,-21.27836,-105.28474], "fy":[-90.96379,-118.45476,-117.69531,-59.38171]}, - {"t":3.4453, "x":8.80072, "y":1.96383, "heading":-1.8906, "vx":-1.23121, "vy":-2.96468, "omega":-0.52966, "ax":0.40662, "ay":2.74734, "alpha":-15.46104, "fx":[-115.18175,99.70256,75.98372,-33.61306], "fy":[26.04688,-53.73912,93.32179,116.06215]}, - {"t":3.47527, "x":8.764, "y":1.87619, "heading":-1.90647, "vx":-1.21902, "vy":-2.88232, "omega":-0.99314, "ax":2.3439, "ay":6.72485, "alpha":-3.768, "fx":[-0.60114,76.30947,63.22488,16.07801], "fy":[122.03193,95.23055,105.52045,121.95689]}, - {"t":3.50525, "x":8.72851, "y":1.7928, "heading":-1.93625, "vx":-1.14875, "vy":-2.68073, "omega":-1.1061, "ax":2.69472, "ay":6.85886, "alpha":-2.14595, "fx":[23.4677,65.4654,60.11911,29.15975], "fy":[121.01681,104.45705,108.00707,120.12106]}, - {"t":3.53523, "x":8.69528, "y":1.71552, "heading":-1.96941, "vx":-1.06797, "vy":-2.47511, "omega":-1.17043, "ax":2.82147, "ay":6.87854, "alpha":-1.56946, "fx":[31.4413,61.39927,58.77307,34.98108], "fy":[119.63975,107.38613,109.04411,118.83394]}, - {"t":3.56521, "x":8.66453, "y":1.64442, "heading":-2.00449, "vx":-0.98339, "vy":-2.26891, "omega":-1.21748, "ax":2.88634, "ay":6.88277, "alpha":-1.27236, "fx":[35.31572,59.22365,58.05116,38.29404], "fy":[118.77845,108.84283,109.59699,117.96504]}, - {"t":3.59518, "x":8.63635, "y":1.57949, "heading":-2.04099, "vx":-0.89686, "vy":-2.06258, "omega":-1.25562, "ax":2.92568, "ay":6.88336, "alpha":-1.09068, "fx":[37.57524,57.83119,57.61993,40.45975], "fy":[118.21801,109.73289,109.93076,117.34073]}, - {"t":3.62516, "x":8.61078, "y":1.52075, "heading":-2.07863, "vx":-0.80916, "vy":-1.85624, "omega":-1.28832, "ax":2.95206, "ay":6.8829, "alpha":-0.96794, "fx":[39.04037,56.8356,57.34609,42.00871], "fy":[117.83219,110.34717,110.14766,116.86536]}, - {"t":3.65514, "x":8.58785, "y":1.4682, "heading":-2.11725, "vx":-0.72066, "vy":-1.6499, "omega":-1.31733, "ax":2.97097, "ay":6.88215, "alpha":-0.8794, "fx":[40.0589,56.06725,57.16584,43.18955], "fy":[117.55401,110.80732,110.29548,116.48582]}, - {"t":3.68512, "x":8.56758, "y":1.42183, "heading":-2.15674, "vx":-0.6316, "vy":-1.44359, "omega":-1.3437, "ax":2.98519, "ay":6.88135, "alpha":-0.81247, "fx":[40.80317,55.43999,57.04467,44.13403], "fy":[117.34585,111.17313,110.39963,116.1709]}, - {"t":3.7151, "x":8.54999, "y":1.38165, "heading":-2.19702, "vx":-0.54211, "vy":-1.2373, "omega":-1.36805, "ax":2.99627, "ay":6.88058, "alpha":-0.7601, "fx":[41.36829,54.90553,56.96226,44.91834], "fy":[117.18521,111.47733,110.47489,115.90125]}, - {"t":3.74507, "x":8.53508, "y":1.34765, "heading":-2.23803, "vx":-0.45229, "vy":-1.03104, "omega":-1.39084, "ax":3.00514, "ay":6.87987, "alpha":-0.71798, "fx":[41.81109,54.43473,56.90575,45.5896], "fy":[117.05785,111.73932,110.5305,115.66428]}, - {"t":3.77505, "x":8.52287, "y":1.31983, "heading":-2.27973, "vx":-0.3622, "vy":-0.8248, "omega":-1.41236, "ax":3.0124, "ay":6.87923, "alpha":-0.68337, "fx":[42.16764,54.00902,56.86657,46.1784], "fy":[116.95433,111.9713,110.57255,115.45149]}, - {"t":3.80503, "x":8.51337, "y":1.2982, "heading":-2.32207, "vx":-0.2719, "vy":-0.61857, "omega":-1.43285, "ax":3.01846, "ay":6.87866, "alpha":-0.65443, "fx":[42.46199,53.61606,56.83872,46.70546], "fy":[116.86815,112.18129,110.60524,115.25696]}, - {"t":3.83501, "x":8.50657, "y":1.28274, "heading":-2.36502, "vx":-0.18141, "vy":-0.41237, "omega":-1.45247, "ax":3.02359, "ay":6.87814, "alpha":-0.62987, "fx":[42.7108,53.24739,56.81787,47.18528], "fy":[116.79468,112.37475,110.6316,115.07642]}, - {"t":3.86498, "x":8.50249, "y":1.27347, "heading":-2.40856, "vx":-0.09077, "vy":-0.20618, "omega":-1.47135, "ax":3.02799, "ay":6.87768, "alpha":-0.60878, "fx":[42.92602,52.89706,56.80076,47.62825], "fy":[116.73052,112.55549,110.65387,114.90679]}, - {"t":3.89496, "x":8.50113, "y":1.27038, "heading":-2.45267, "vx":0.0, "vy":0.0, "omega":-1.4896, "ax":-5.78188, "ay":-4.79779, "alpha":-0.54294, "fx":[-98.74614,-92.49404,-92.17491,-98.96252], "fy":[-75.55224,-83.08917,-83.41595,-75.23853]}, - {"t":3.91864, "x":8.49951, "y":1.26904, "heading":-2.48795, "vx":-0.13693, "vy":-0.11363, "omega":-1.50246, "ax":-5.79943, "ay":-4.77752, "alpha":-0.48238, "fx":[-98.77115,-93.2239,-92.7797,-98.76331], "fy":[-75.49836,-82.25073,-82.72594,-75.48044]}, - {"t":3.94233, "x":8.49464, "y":1.26501, "heading":-2.52353, "vx":-0.27428, "vy":-0.22677, "omega":-1.51388, "ax":-5.81877, "ay":-4.75473, "alpha":-0.41494, "fx":[-98.75942,-93.99688,-93.48325,-98.57738], "fy":[-75.48996,-81.34483,-81.91123,-75.70194]}, - {"t":3.96601, "x":8.48652, "y":1.2583, "heading":-2.55938, "vx":-0.41209, "vy":-0.33938, "omega":-1.52371, "ax":-5.84018, "ay":-4.72891, "alpha":-0.33938, "fx":[-98.70491,-94.81932,-94.29816,-98.41043], "fy":[-75.53449,-80.35995,-80.95043,-75.89563]}, - {"t":3.98969, "x":8.47512, "y":1.24894, "heading":-2.59547, "vx":-0.5504, "vy":-0.45137, "omega":-1.53175, "ax":-5.864, "ay":-4.69943, "alpha":-0.25413, "fx":[-98.60014,-95.69946,-95.23939,-98.26932], "fy":[-75.64093,-79.281,-79.8166,-76.05266]}, - {"t":4.01338, "x":8.46044, "y":1.23693, "heading":-2.63175, "vx":-0.68928, "vy":-0.56267, "omega":-1.53776, "ax":-5.89065, "ay":-4.66548, "alpha":-0.15718, "fx":[-98.43565,-96.64814,-96.32477,-98.16232], "fy":[-75.8203,-78.0878,-78.47528,-76.16232]}, - {"t":4.03706, "x":8.44246, "y":1.2223, "heading":-2.66817, "vx":-0.82879, "vy":-0.67316, "omega":-1.54149, "ax":-5.92064, "ay":-4.62597, "alpha":-0.04587, "fx":[-98.19931,-97.67983,-97.57567,-98.09944], "fy":[-76.08642,-76.75286,-76.8817,-76.21157]}, - {"t":4.06074, "x":8.42117, "y":1.20506, "heading":-2.70467, "vx":-0.96901, "vy":-0.78272, "omega":-1.54257, "ax":-5.9546, "ay":-4.57944, "alpha":0.0833, "fx":[-97.87506,-98.81418,-99.01777,-98.09284], "fy":[-76.45698,-75.23772,-74.97668,-76.1843]}, - {"t":4.08443, "x":8.39655, "y":1.18524, "heading":-2.74121, "vx":-1.11003, "vy":-0.89118, "omega":-1.5406, "ax":-5.99329, "ay":-4.52391, "alpha":0.23504, "fx":[-97.44122,-100.07828,-100.68187,-98.15749], "fy":[-76.95508,-73.48713,-72.68052,-76.06034]}, - {"t":4.10811, "x":8.36858, "y":1.16286, "heading":-2.77769, "vx":-1.25197, "vy":-0.99832, "omega":-1.53503, "ax":-6.03767, "ay":-4.45655, "alpha":0.41588, "fx":[-96.86754,-101.51037,-102.60437,-98.31188], "fy":[-77.61183,-71.41893,-69.88374,-75.81392]}, - {"t":4.13179, "x":8.33724, "y":1.13797, "heading":-2.81405, "vx":-1.39496, "vy":-1.10386, "omega":-1.52518, "ax":-6.0889, "ay":-4.37327, "alpha":0.63507, "fx":[-96.1104,-103.16544,-104.82698,-98.57928], "fy":[-78.47028,-68.90611,-66.43276,-75.41149]}, - {"t":4.15548, "x":8.3025, "y":1.1106, "heading":-2.85017, "vx":-1.53916, "vy":-1.20743, "omega":-1.51014, "ax":-6.14832, "ay":-4.26787, "alpha":0.90621, "fx":[-95.10431,-105.12444,-107.39361,-98.98925], "fy":[-79.59209,-65.74238,-62.10742,-74.80822]}, - {"t":4.17916, "x":8.26432, "y":1.08081, "heading":-2.88593, "vx":-1.68477, "vy":-1.30851, "omega":-1.48868, "ax":-6.21733, "ay":-4.13055, "alpha":1.25012, "fx":[-93.74612,-107.50818,-110.34081,-99.58007], "fy":[-81.06906,-61.57188,-56.58521,-73.94258]}, - {"t":4.20284, "x":8.22268, "y":1.04866, "heading":-2.92119, "vx":-1.83202, "vy":-1.40633, "omega":-1.45908, "ax":-6.29682, "ay":-3.94487, "alpha":1.70086, "fx":[-91.86363,-110.49521,-113.67117,-100.40215], "fy":[-83.0441,-55.73183,-49.38555,-72.72736]}, - {"t":4.22652, "x":8.17752, "y":1.01424, "heading":-2.95574, "vx":-1.98115, "vy":-1.49976, "omega":-1.41879, "ax":-6.38516, "ay":-3.68096, "alpha":2.31964, "fx":[-89.14755,-114.31817,-117.28601,-101.52312], "fy":[-85.75124,-46.86198,-39.78806,-71.03419]}, - {"t":4.25021, "x":8.12881, "y":0.97769, "heading":-2.98934, "vx":-2.13237, "vy":-1.58694, "omega":-1.36386, "ax":-6.47005, "ay":-3.27852, "alpha":3.2343, "fx":[-84.98843,-119.04182,-120.82282,-103.0354], "fy":[-89.59467,-31.81982,-26.74039,-68.66571]}, - {"t":4.27389, "x":8.0765, "y":0.93919, "heading":-3.02165, "vx":-2.2856, "vy":-1.66458, "omega":-1.28726, "ax":-6.48743, "ay":-2.60196, "alpha":4.77537, "fx":[-78.04058,-122.62808,-123.3021,-105.06727], "fy":[-95.29526,-2.60423,-8.87724,-65.30092]}, - {"t":4.29757, "x":8.02055, "y":0.89904, "heading":-3.05213, "vx":-2.43924, "vy":-1.72621, "omega":-1.17416, "ax":-6.11098, "ay":-1.42641, "alpha":7.80762, "fx":[-65.08754,-108.65221,-122.59609,-107.80653], "fy":[-103.92038,55.16393,14.78544,-60.36273]}, - {"t":4.32126, "x":7.96106, "y":0.85776, "heading":-3.07994, "vx":-2.58397, "vy":-1.75999, "omega":-0.98926, "ax":-5.18542, "ay":-0.30591, "alpha":11.15491, "fx":[-50.63831,-63.25699,-117.20025,-111.83554], "fy":[-110.63566,103.97495,38.46646,-52.03658]}, - {"t":4.34494, "x":7.89841, "y":0.81599, "heading":-3.10337, "vx":-2.70677, "vy":-1.76723, "omega":-0.72507, "ax":-5.20458, "ay":0.44506, "alpha":10.93393, "fx":[-67.81439,-47.82792,-111.10235,-117.4536], "fy":[-99.10616,112.07572,53.23013,-36.76636]}, - {"t":4.36862, "x":7.83285, "y":0.77426, "heading":-3.12054, "vx":-2.83003, "vy":-1.75669, "omega":-0.46612, "ax":-5.29193, "ay":1.85444, "alpha":9.29732, "fx":[-100.31772,-27.90139,-99.74337,-122.01277], "fy":[-55.45791,118.91054,72.07418,-12.88543]}, - {"t":4.39231, "x":7.76434, "y":0.73318, "heading":-3.13158, "vx":-2.95536, "vy":-1.71277, "omega":-0.24593, "ax":-4.8344, "ay":4.72447, "alpha":5.10666, "fx":[-84.1467,-28.12101,-87.84302,-119.60647], "fy":[81.93073,119.02008,85.97239,25.52378]}, - {"t":4.41599, "x":7.69299, "y":0.69394, "heading":-3.1374, "vx":-3.06986, "vy":-1.60088, "omega":-0.12499, "ax":-4.14691, "ay":5.8623, "alpha":3.08709, "fx":[-61.21537,-37.287,-75.46762,-100.28097], "fy":[104.40385,116.61157,96.85587,69.82475]}, - {"t":4.43967, "x":7.61913, "y":0.65767, "heading":-3.14036, "vx":-3.16807, "vy":-1.46205, "omega":-0.05188, "ax":-3.35975, "ay":6.54495, "alpha":1.57038, "fx":[-49.01211,-38.94434,-60.91577,-73.3206], "fy":[111.87255,116.29055,106.62328,98.05586]}, - {"t":4.46336, "x":7.54316, "y":0.62488, "heading":3.14159, "vx":-3.24764, "vy":-1.30704, "omega":-0.01469, "ax":-2.70483, "ay":6.8857, "alpha":0.51931, "fx":[-42.03711,-39.04049,-47.19427,-50.60878], "fy":[114.8442,116.06792,113.05755,111.40776]}, - {"t":4.48636, "x":7.46771, "y":0.59663, "heading":3.14125, "vx":-3.30987, "vy":-1.14861, "omega":-0.00274, "ax":-2.27239, "ay":7.01299, "alpha":0.14294, "fx":[-36.74269,-36.00373,-38.3792,-39.15641], "fy":[116.18346,116.47179,115.72872,115.41148]}, - {"t":4.50937, "x":7.39096, "y":0.57205, "heading":3.14119, "vx":-3.36216, "vy":-0.98724, "omega":0.00055, "ax":-1.9061, "ay":7.07629, "alpha":0.02859, "fx":[-31.33295,-31.20538,-31.69497,-31.82425], "fy":[117.03525,117.08379,116.95608,116.90654]}, - {"t":4.53238, "x":7.31309, "y":0.55121, "heading":3.1412, "vx":-3.40602, "vy":-0.82443, "omega":0.00121, "ax":-1.54888, "ay":7.09762, "alpha":0.00229, "fx":[-25.59247,-25.58408,-25.62402,-25.63243], "fy":[117.35054,117.35389,117.34551,117.34215]}, - {"t":4.55539, "x":7.23431, "y":0.53412, "heading":3.14123, "vx":-3.44166, "vy":-0.66112, "omega":0.00126, "ax":-1.1931, "ay":7.06738, "alpha":-0.00197, "fx":[-19.74048,-19.74603,-19.71147,-19.70593], "fy":[116.84666,116.84395,116.84949,116.85219]}, - {"t":4.5784, "x":7.15481, "y":0.52078, "heading":3.14126, "vx":-3.46911, "vy":-0.4985, "omega":0.00121, "ax":-0.84267, "ay":6.96033, "alpha":-0.002, "fx":[-13.94773,-13.95165,-13.91689,-13.91298], "fy":[115.07769,115.07469,115.07859,115.08159]}, - {"t":4.60141, "x":7.07476, "y":0.51115, "heading":3.14129, "vx":-3.4885, "vy":-0.33835, "omega":0.00117, "ax":-0.5063, "ay":6.72552, "alpha":-0.00148, "fx":[-8.38255,-8.38424,-8.35914,-8.35746], "fy":[111.19658,111.19367,111.19535,111.19826]}, - {"t":4.62442, "x":6.99436, "y":0.50515, "heading":3.14132, "vx":-3.50015, "vy":-0.1836, "omega":0.00113, "ax":-0.2021, "ay":6.25842, "alpha":-0.00099, "fx":[-3.34907,-3.34949,-3.33376,-3.33334], "fy":[103.47453,103.47164,103.47206,103.47495]}, - {"t":4.64743, "x":6.91377, "y":0.50258, "heading":3.14134, "vx":-3.5048, "vy":-0.0396, "omega":0.00111, "ax":0.03233, "ay":5.36614, "alpha":-0.00057, "fx":[0.53044,0.53047,0.53858,0.53854], "fy":[88.7221,88.71945,88.71942,88.72206]}, - {"t":4.67044, "x":6.83314, "y":0.50309, "heading":3.14137, "vx":-3.50405, "vy":0.08387, "omega":0.0011, "ax":0.14166, "ay":3.88025, "alpha":-0.00026, "fx":[2.34048,2.34053,2.34363,2.34358], "fy":[64.15485,64.15305,64.15301,64.15481]}, - {"t":4.69345, "x":6.75255, "y":0.50605, "heading":3.14139, "vx":-3.50079, "vy":0.17315, "omega":0.00109, "ax":0.12426, "ay":2.19572, "alpha":-0.00009, "fx":[2.05394,2.05394,2.05483,2.05482], "fy":[36.30317,36.30242,36.30242,36.30316]}, - {"t":4.71645, "x":6.67203, "y":0.51061, "heading":3.14142, "vx":-3.49793, "vy":0.22367, "omega":0.00109, "ax":0.07011, "ay":1.04128, "alpha":-0.00002, "fx":[1.15899,1.15899,1.15919,1.15919], "fy":[17.21599,17.21579,17.21579,17.21599]}, - {"t":4.73946, "x":6.59157, "y":0.51603, "heading":3.14144, "vx":-3.49632, "vy":0.24763, "omega":0.00109, "ax":0.03279, "ay":0.45356, "alpha":0.0, "fx":[0.54214,0.54214,0.54218,0.54218], "fy":[7.499,7.49895,7.49895,7.499]}, - {"t":4.76247, "x":6.51113, "y":0.52185, "heading":3.14147, "vx":-3.49557, "vy":0.25806, "omega":0.00109, "ax":0.01245, "ay":0.16736, "alpha":0.0, "fx":[0.20577,0.20577,0.20578,0.20578], "fy":[2.76706,2.76706,2.76706,2.76706]}, - {"t":4.78548, "x":6.4307, "y":0.52783, "heading":3.14149, "vx":-3.49528, "vy":0.26191, "omega":0.00109, "ax":-0.00021, "ay":-0.00281, "alpha":0.0, "fx":[-0.00348,-0.00348,-0.00348,-0.00348], "fy":[-0.04649,-0.04649,-0.04649,-0.04649]}, - {"t":4.80849, "x":6.35028, "y":0.53386, "heading":3.14152, "vx":-3.49528, "vy":0.26185, "omega":0.00109, "ax":-0.013, "ay":-0.17495, "alpha":0.0, "fx":[-0.21499,-0.21499,-0.21498,-0.21498], "fy":[-2.89247,-2.89248,-2.89248,-2.89247]}, - {"t":4.8315, "x":6.26985, "y":0.53984, "heading":3.14154, "vx":-3.49558, "vy":0.25782, "omega":0.00109, "ax":-0.034, "ay":-0.46828, "alpha":-0.00032, "fx":[-0.5636,-0.56359,-0.56058,-0.56058], "fy":[-7.74082,-7.74381,-7.74381,-7.74082]}, - {"t":4.85451, "x":6.18942, "y":0.54565, "heading":3.14157, "vx":-3.49637, "vy":0.24705, "omega":0.00108, "ax":-0.14632, "ay":-1.06659, "alpha":-0.04684, "fx":[-2.64587,-2.64323,-2.1928,-2.19499], "fy":[-17.41657,-17.84981,-17.85228,-17.41899]}, - {"t":4.87752, "x":6.10893, "y":0.55105, "heading":3.14159, "vx":-3.49973, "vy":0.22251, "omega":0.0, "ax":-0.07755, "ay":-0.92896, "alpha":-0.00008, "fx":[-1.28255,-1.28255,-1.28183,-1.28183], "fy":[-15.35853,-15.35923,-15.35923,-15.35854]}, - {"t":4.91846, "x":5.96559, "y":0.55938, "heading":-3.14159, "vx":-3.50291, "vy":0.18448, "omega":0.0, "ax":-0.00847, "ay":-0.16365, "alpha":0.0, "fx":[-0.14002,-0.14002,-0.14002,-0.14002], "fy":[-2.70567,-2.70568,-2.70568,-2.70567]}, - {"t":4.95939, "x":5.82218, "y":0.56679, "heading":-3.14159, "vx":-3.50325, "vy":0.17778, "omega":0.0, "ax":-0.00143, "ay":-0.02836, "alpha":0.0, "fx":[-0.02372,-0.02372,-0.02372,-0.02372], "fy":[-0.46888,-0.46888,-0.46888,-0.46888]}, - {"t":5.00033, "x":5.67877, "y":0.57405, "heading":-3.14159, "vx":-3.50331, "vy":0.17662, "omega":0.0, "ax":-0.00025, "ay":-0.00491, "alpha":0.0, "fx":[-0.00409,-0.00409,-0.00409,-0.00409], "fy":[-0.08121,-0.08121,-0.08121,-0.08121]}, - {"t":5.04127, "x":5.53535, "y":0.58127, "heading":-3.14159, "vx":-3.50332, "vy":0.17642, "omega":0.0, "ax":-0.00004, "ay":-0.00085, "alpha":0.0, "fx":[-0.00071,-0.00071,-0.00071,-0.00071], "fy":[-0.01407,-0.01407,-0.01407,-0.01407]}, - {"t":5.08221, "x":5.39193, "y":0.5885, "heading":-3.14159, "vx":-3.50332, "vy":0.17638, "omega":0.0, "ax":-0.00001, "ay":-0.00015, "alpha":0.0, "fx":[-0.00012,-0.00012,-0.00012,-0.00012], "fy":[-0.00244,-0.00244,-0.00244,-0.00244]}, - {"t":5.12314, "x":5.24851, "y":0.59572, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":-0.00003, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[-0.00042,-0.00042,-0.00042,-0.00042]}, - {"t":5.16408, "x":5.1051, "y":0.60294, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00007,-0.00007,-0.00007,-0.00007]}, - {"t":5.20502, "x":4.96168, "y":0.61016, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, - {"t":5.24596, "x":4.81826, "y":0.61738, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.2869, "x":4.67484, "y":0.6246, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.32783, "x":4.53142, "y":0.63182, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.36877, "x":4.388, "y":0.63904, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.40971, "x":4.24459, "y":0.64626, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.45065, "x":4.10117, "y":0.65348, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.49158, "x":3.95775, "y":0.6607, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.53252, "x":3.81433, "y":0.66792, "heading":-3.14159, "vx":-3.50333, "vy":0.17638, "omega":0.0, "ax":0.00092, "ay":-0.00005, "alpha":0.0, "fx":[0.01527,0.01527,0.01527,0.01527], "fy":[-0.00077,-0.00077,-0.00077,-0.00077]}, - {"t":5.57346, "x":3.67091, "y":0.67514, "heading":-3.14159, "vx":-3.50329, "vy":0.17637, "omega":0.0, "ax":3.07212, "ay":-0.15467, "alpha":-0.00001, "fx":[50.79263,50.79263,50.79272,50.79273], "fy":[-2.5571,-2.55723,-2.55722,-2.55709]}, - {"t":5.6144, "x":3.53007, "y":0.68223, "heading":-3.14159, "vx":-3.37752, "vy":0.17004, "omega":0.0, "ax":7.43892, "ay":-0.37451, "alpha":0.0, "fx":[122.99097,122.99097,122.99097,122.99097], "fy":[-6.192,-6.19198,-6.19198,-6.192]}, - {"t":5.65534, "x":3.39804, "y":0.68888, "heading":-3.14159, "vx":-3.07299, "vy":0.15471, "omega":0.0, "ax":7.48127, "ay":-0.37664, "alpha":0.0, "fx":[123.69109,123.69109,123.69109,123.69109], "fy":[-6.22724,-6.22723,-6.22723,-6.22724]}, - {"t":5.69627, "x":3.27851, "y":0.6949, "heading":-3.14159, "vx":-2.76672, "vy":0.13929, "omega":0.0, "ax":7.49539, "ay":-0.37736, "alpha":0.0, "fx":[123.92464,123.92464,123.92464,123.92464], "fy":[-6.239,-6.23898,-6.23898,-6.239]}, - {"t":5.73721, "x":3.17152, "y":0.70028, "heading":-3.14159, "vx":-2.45988, "vy":0.12384, "omega":0.0, "ax":7.50245, "ay":-0.37771, "alpha":0.0, "fx":[124.04128,124.04129,124.04129,124.04128], "fy":[-6.24488,-6.24486,-6.24486,-6.24488]}, - {"t":5.77815, "x":3.07711, "y":0.70504, "heading":-3.14159, "vx":-2.15275, "vy":0.10838, "omega":0.0, "ax":7.50668, "ay":-0.37792, "alpha":0.0, "fx":[124.11119,124.11119,124.11119,124.11119], "fy":[-6.2484,-6.24837,-6.24838,-6.2484]}, - {"t":5.81909, "x":2.99527, "y":0.70916, "heading":-3.14159, "vx":-1.84544, "vy":0.09291, "omega":0.0, "ax":7.50949, "ay":-0.37807, "alpha":0.0, "fx":[124.15775,124.15776,124.15776,124.15775], "fy":[-6.25074,-6.25072,-6.25072,-6.25074]}, - {"t":5.86002, "x":2.92601, "y":0.71264, "heading":-3.14159, "vx":-1.53802, "vy":0.07743, "omega":0.0, "ax":7.5115, "ay":-0.37817, "alpha":0.0, "fx":[124.19099,124.19099,124.19099,124.19099], "fy":[-6.25241,-6.25239,-6.25239,-6.25241]}, - {"t":5.90096, "x":2.86934, "y":0.7155, "heading":-3.14159, "vx":-1.23051, "vy":0.06195, "omega":0.0, "ax":7.51301, "ay":-0.37824, "alpha":0.0, "fx":[124.2159,124.2159,124.2159,124.2159], "fy":[-6.25367,-6.25365,-6.25365,-6.25367]}, - {"t":5.9419, "x":2.82527, "y":0.71771, "heading":-3.14159, "vx":-0.92295, "vy":0.04647, "omega":0.0, "ax":7.51418, "ay":-0.3783, "alpha":0.0, "fx":[124.23526,124.23526,124.23526,124.23526], "fy":[-6.25464,-6.25462,-6.25462,-6.25464]}, - {"t":5.98284, "x":2.79378, "y":0.7193, "heading":-3.14159, "vx":-0.61534, "vy":0.03098, "omega":0.0, "ax":7.51512, "ay":-0.37835, "alpha":0.0, "fx":[124.25075,124.25075,124.25075,124.25075], "fy":[-6.25542,-6.2554,-6.2554,-6.25542]}, - {"t":6.02377, "x":2.77489, "y":0.72025, "heading":-3.14159, "vx":-0.30768, "vy":0.01549, "omega":0.0, "ax":7.51588, "ay":-0.37839, "alpha":0.0, "fx":[124.26341,124.26341,124.26341,124.26341], "fy":[-6.25606,-6.25604,-6.25604,-6.25606]}, - {"t":6.06471, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.77551, "y":2.2269, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.44943, "ay":7.50982, "alpha":-0.00147, "fx":[-7.41593,-7.44357,-7.44522,-7.41758], "fy":[124.16401,124.16236,124.16222,124.16388]}, + {"t":0.03675, "x":7.77521, "y":2.23197, "heading":1.5708, "vx":-0.01652, "vy":0.27602, "omega":-0.00005, "ax":-0.44914, "ay":7.50494, "alpha":-0.00214, "fx":[-7.40448,-7.44462,-7.44702,-7.40687], "fy":[124.08376,124.08136,124.08114,124.08354]}, + {"t":0.07351, "x":7.77429, "y":2.24718, "heading":1.57079, "vx":-0.03303, "vy":0.55186, "omega":-0.00013, "ax":-0.44826, "ay":7.49037, "alpha":-0.00413, "fx":[-7.37032,-7.44773,-7.45237,-7.37491], "fy":[123.84423,123.83962,123.83903,123.84365]}, + {"t":0.11026, "x":7.77278, "y":2.27253, "heading":1.57079, "vx":-0.0495, "vy":0.82716, "omega":-0.00028, "ax":-0.27719, "ay":4.63173, "alpha":-0.46162, "fx":[-1.55061,-7.41855,-7.74332,-1.61896], "fy":[78.03092,77.84066,75.11914,75.32316]}, + {"t":0.14702, "x":7.77077, "y":2.30606, "heading":1.57078, "vx":-0.05969, "vy":0.9974, "omega":-0.01725, "ax":-0.00001, "ay":0.00017, "alpha":-0.99307, "fx":[4.68473,-4.68491,-4.68509,4.68458], "fy":[4.6876,4.68776,-4.68189,-4.68206]}, + {"t":0.18377, "x":7.76858, "y":2.34272, "heading":1.57014, "vx":-0.05969, "vy":0.9974, "omega":-0.05375, "ax":0.0, "ay":0.0, "alpha":-0.96879, "fx":[4.57326,-4.56731,-4.57326,4.56731], "fy":[4.56731,4.57326,-4.56731,-4.57326]}, + {"t":0.22053, "x":7.76638, "y":2.37938, "heading":1.56817, "vx":-0.05969, "vy":0.9974, "omega":-0.08936, "ax":0.0, "ay":0.0, "alpha":-0.95113, "fx":[4.49876,-4.47519,-4.49876,4.47519], "fy":[4.47519,4.49876,-4.47519,-4.49876]}, + {"t":0.25728, "x":7.76419, "y":2.41603, "heading":1.56489, "vx":-0.05969, "vy":0.9974, "omega":-0.12432, "ax":0.0, "ay":0.0, "alpha":-0.93999, "fx":[4.46055,-4.40812,-4.46055,4.40812], "fy":[4.40812,4.46055,-4.40812,-4.46055]}, + {"t":0.29403, "x":7.762, "y":2.45269, "heading":1.56032, "vx":-0.05969, "vy":0.9974, "omega":-0.15886, "ax":0.0, "ay":0.0, "alpha":-0.93528, "fx":[4.45821,-4.36573,-4.45821,4.36573], "fy":[4.36573,4.45821,-4.36573,-4.45821]}, + {"t":0.33079, "x":7.7598, "y":2.48935, "heading":1.55448, "vx":-0.05969, "vy":0.9974, "omega":-0.19324, "ax":0.0, "ay":0.0, "alpha":-0.93699, "fx":[4.49182,-4.34755,-4.49182,4.34755], "fy":[4.34755,4.49182,-4.34755,-4.49182]}, + {"t":0.36754, "x":7.75761, "y":2.52601, "heading":1.54737, "vx":-0.05969, "vy":0.9974, "omega":-0.22768, "ax":0.0, "ay":0.0, "alpha":-0.94513, "fx":[4.56186,-4.35302,-4.56186,4.35302], "fy":[4.35302,4.56186,-4.35302,-4.56186]}, + {"t":0.4043, "x":7.75541, "y":2.56267, "heading":1.53901, "vx":-0.05969, "vy":0.9974, "omega":-0.26242, "ax":0.0, "ay":0.0, "alpha":-0.95975, "fx":[4.66928,-4.38146,-4.66928,4.38146], "fy":[4.38146,4.66928,-4.38146,-4.66928]}, + {"t":0.44105, "x":7.75322, "y":2.59933, "heading":1.52936, "vx":-0.05969, "vy":0.9974, "omega":-0.29769, "ax":0.0, "ay":0.0, "alpha":-0.98096, "fx":[4.81545,-4.43206,-4.81545,4.43206], "fy":[4.43206,4.81545,-4.43206,-4.81545]}, + {"t":0.47781, "x":7.75103, "y":2.63599, "heading":1.51842, "vx":-0.05969, "vy":0.9974, "omega":-0.33375, "ax":0.0, "ay":0.0, "alpha":-1.00891, "fx":[5.00223,-4.50387,-5.00223,4.50387], "fy":[4.50387,5.00223,-4.50387,-5.00223]}, + {"t":0.51456, "x":7.74883, "y":2.67265, "heading":1.50615, "vx":-0.05969, "vy":0.9974, "omega":-0.37083, "ax":0.0, "ay":0.0, "alpha":-1.04379, "fx":[5.2319,-4.59572,-5.2319,4.59572], "fy":[4.59572,5.2319,-4.59572,-5.2319]}, + {"t":0.55132, "x":7.74664, "y":2.70931, "heading":1.49252, "vx":-0.05969, "vy":0.9974, "omega":-0.40919, "ax":0.0, "ay":0.0, "alpha":-1.08582, "fx":[5.50725,-4.70618,-5.50725,4.70618], "fy":[4.70618,5.50725,-4.70618,-5.50725]}, + {"t":0.58807, "x":7.74445, "y":2.74596, "heading":1.47748, "vx":-0.05969, "vy":0.9974, "omega":-0.4491, "ax":0.0, "ay":0.0, "alpha":-1.1353, "fx":[5.83156,-4.83349,-5.83156,4.83349], "fy":[4.83349,5.83156,-4.83349,-5.83156]}, + {"t":0.62482, "x":7.74225, "y":2.78262, "heading":1.46098, "vx":-0.05969, "vy":0.9974, "omega":-0.49083, "ax":0.0, "ay":0.0, "alpha":-1.19256, "fx":[6.20864,-4.97546,-6.20864,4.97546], "fy":[4.97546,6.20864,-4.97546,-6.20864]}, + {"t":0.66158, "x":7.74006, "y":2.81928, "heading":1.44294, "vx":-0.05969, "vy":0.9974, "omega":-0.53466, "ax":0.0, "ay":0.0, "alpha":-1.25797, "fx":[6.64281,-5.12938,-6.64281,5.12938], "fy":[5.12938,6.64281,-5.12938,-6.64281]}, + {"t":0.69833, "x":7.73786, "y":2.85594, "heading":1.42329, "vx":-0.05969, "vy":0.9974, "omega":-0.5809, "ax":0.0, "ay":0.0, "alpha":-1.33198, "fx":[7.13897,-5.29188,-7.13897,5.29188], "fy":[5.29188,7.13897,-5.29188,-7.13897]}, + {"t":0.73509, "x":7.73567, "y":2.8926, "heading":1.40194, "vx":-0.05969, "vy":0.9974, "omega":-0.62985, "ax":0.0, "ay":0.0, "alpha":-1.41506, "fx":[7.70256,-5.45877,-7.70256,5.45877], "fy":[5.45877,7.70256,-5.45877,-7.70256]}, + {"t":0.77184, "x":7.73348, "y":2.92926, "heading":1.37879, "vx":-0.05969, "vy":0.9974, "omega":-0.68186, "ax":0.0, "ay":0.0, "alpha":-1.50777, "fx":[8.3396,-5.62485,-8.3396,5.62485], "fy":[5.62485,8.3396,-5.62485,-8.3396]}, + {"t":0.8086, "x":7.73128, "y":2.96592, "heading":1.35373, "vx":-0.05969, "vy":0.9974, "omega":-0.73728, "ax":0.0, "ay":0.0, "alpha":-1.61068, "fx":[9.05662,-5.78366,-9.05662,5.78366], "fy":[5.78366,9.05662,-5.78366,-9.05662]}, + {"t":0.84535, "x":7.72909, "y":3.00258, "heading":1.32663, "vx":-0.05969, "vy":0.9974, "omega":-0.79648, "ax":0.0, "ay":0.0, "alpha":-1.72447, "fx":[9.86065,-5.92725,-9.86065,5.92725], "fy":[5.92725,9.86065,-5.92725,-9.86065]}, + {"t":0.8821, "x":7.72689, "y":3.03924, "heading":1.29735, "vx":-0.05969, "vy":0.9974, "omega":-0.85986, "ax":0.0, "ay":0.0, "alpha":-1.84984, "fx":[10.75909,-6.04583,-10.75908,6.04583], "fy":[6.04583,10.75908,-6.04583,-10.75908]}, + {"t":0.91886, "x":7.7247, "y":3.0759, "heading":1.26575, "vx":-0.05969, "vy":0.9974, "omega":-0.92785, "ax":0.0, "ay":0.0, "alpha":-1.98756, "fx":[11.75963,-6.12739,-11.75956,6.12746], "fy":[6.12742,11.7596,-6.12742,-11.75959]}, + {"t":0.95561, "x":7.72251, "y":3.11255, "heading":1.23165, "vx":-0.05969, "vy":0.9974, "omega":-1.0009, "ax":0.00007, "ay":0.0, "alpha":-2.13847, "fx":[12.87105,-6.1562,-12.86867,6.15862], "fy":[6.15747,12.86994,-6.15735,-12.86978]}, + {"t":0.99237, "x":7.72031, "y":3.14921, "heading":1.19486, "vx":-0.05969, "vy":0.9974, "omega":-1.0795, "ax":0.00264, "ay":0.00016, "alpha":-2.30344, "fx":[14.14038,-6.07399,-14.05413,6.16217], "fy":[6.12023,14.10033,-6.11593,-14.0942]}, + {"t":1.02912, "x":7.71812, "y":3.18587, "heading":1.15518, "vx":-0.05959, "vy":0.99741, "omega":-1.16416, "ax":0.09551, "ay":0.00553, "alpha":-2.48263, "fx":[16.99842,-4.38462,-13.88367,7.58622], "fy":[6.06074,15.55513,-5.91305,-15.33692]}, + {"t":1.06588, "x":7.716, "y":3.22254, "heading":1.1124, "vx":-0.05608, "vy":0.99761, "omega":-1.25541, "ax":2.96057, "ay":0.00446, "alpha":-1.97179, "fx":[59.25618,45.63263,38.13383,52.77081], "fy":[4.60079,14.80108,-5.21669,-13.88989]}, + {"t":1.10263, "x":7.71593, "y":3.25921, "heading":1.06625, "vx":0.05273, "vy":0.99778, "omega":-1.32788, "ax":7.15789, "ay":-1.35969, "alpha":-0.09857, "fx":[118.48983,118.53684,118.20088,118.15074], "fy":[-21.92815,-21.35569,-23.04349,-23.59403]}, + {"t":1.13939, "x":7.72271, "y":3.29496, "heading":1.01745, "vx":0.31582, "vy":0.9478, "omega":-1.3315, "ax":6.67386, "ay":-3.36383, "alpha":-0.02517, "fx":[110.43996,110.45529,110.24337,110.2287], "fy":[-55.42558,-55.38674,-55.80664,-55.84384]}, + {"t":1.17614, "x":7.73882, "y":3.32752, "heading":0.96851, "vx":0.56111, "vy":0.82417, "omega":-1.33243, "ax":5.77846, "ay":-4.71889, "alpha":-0.02028, "fx":[95.66833,95.64614,95.40705,95.43004], "fy":[-77.86234,-77.88381,-78.17699,-78.15469]}, + {"t":1.20137, "x":7.75482, "y":3.34682, "heading":0.93489, "vx":0.70693, "vy":0.70509, "omega":-1.33294, "ax":4.7085, "ay":-5.68127, "alpha":-0.04148, "fx":[78.20801,78.05815,77.48551,77.63926], "fy":[-93.63955,-93.74444,-94.2233,-94.11656]}, + {"t":1.22661, "x":7.77416, "y":3.3628, "heading":0.90125, "vx":0.82575, "vy":0.56172, "omega":-1.33399, "ax":3.42407, "ay":-6.13578, "alpha":-0.13312, "fx":[57.96435,57.12384,55.24202,56.11634], "fy":[-100.73753,-101.04145,-102.15531,-101.84782]}, + {"t":1.25184, "x":7.79609, "y":3.37502, "heading":0.86759, "vx":0.91216, "vy":0.40688, "omega":-1.33735, "ax":1.39401, "ay":-3.58112, "alpha":-1.06672, "fx":[31.48235,23.71904,14.38834,22.60107], "fy":[-57.59685,-53.46369,-61.02973,-64.74241]}, + {"t":1.27708, "x":7.81955, "y":3.38415, "heading":0.83384, "vx":0.94733, "vy":0.31651, "omega":-1.36426, "ax":0.12212, "ay":-0.37151, "alpha":-1.71979, "fx":[13.49221,1.49291,-9.47852,2.56959], "fy":[-5.62276,5.34608,-6.76834,-17.52434]}, + {"t":1.30231, "x":7.8435, "y":3.39202, "heading":0.79941, "vx":0.95042, "vy":0.30714, "omega":-1.40766, "ax":0.00916, "ay":-0.02837, "alpha":-1.65246, "fx":[11.17396,-0.00189,-10.87332,0.30686], "fy":[-0.31823,10.55797,-0.62738,-11.48875]}, + {"t":1.32755, "x":7.86748, "y":3.39976, "heading":0.76389, "vx":0.95065, "vy":0.30642, "omega":-1.44936, "ax":0.00069, "ay":-0.00215, "alpha":-1.5817, "fx":[10.56141,0.23854,-10.53863,-0.21539], "fy":[-0.26285,10.51464,0.19108,-10.5854]}, + {"t":1.35278, "x":7.89147, "y":3.40749, "heading":0.72731, "vx":0.95066, "vy":0.30637, "omega":-1.48928, "ax":0.00005, "ay":-0.00016, "alpha":-1.51638, "fx":[10.10048,0.58817,-10.09876,-0.58642], "fy":[-0.59001,10.09694,0.58458,-10.1023]}, + {"t":1.37802, "x":7.91546, "y":3.41522, "heading":0.68973, "vx":0.95067, "vy":0.30636, "omega":-1.52754, "ax":0.0, "ay":-0.00001, "alpha":-1.45639, "fx":[9.67209,0.92819,-9.67196,-0.92806], "fy":[-0.92833,9.67182,0.92792,-9.67223]}, + {"t":1.40325, "x":7.93945, "y":3.42296, "heading":0.65118, "vx":0.95067, "vy":0.30636, "omega":-1.5643, "ax":0.0, "ay":0.0, "alpha":-1.40157, "fx":[9.26665,1.25124,-9.26664,-1.25124], "fy":[-1.25125,9.26663,1.25122,-9.26666]}, + {"t":1.42849, "x":7.96344, "y":3.43069, "heading":0.61171, "vx":0.95067, "vy":0.30636, "omega":-1.59966, "ax":0.0, "ay":0.0, "alpha":-1.35179, "fx":[8.88287,1.55857,-8.88288,-1.55857], "fy":[-1.55857,8.88287,1.55856,-8.88288]}, + {"t":1.45372, "x":7.98743, "y":3.43842, "heading":0.57134, "vx":0.95067, "vy":0.30636, "omega":-1.63378, "ax":0.0, "ay":0.0, "alpha":-1.30689, "fx":[8.52005,1.85215,-8.52005,-1.85215], "fy":[-1.85215,8.52005,1.85215,-8.52006]}, + {"t":1.47896, "x":8.01142, "y":3.44615, "heading":0.53011, "vx":0.95067, "vy":0.30636, "omega":-1.66676, "ax":0.0, "ay":0.0, "alpha":-1.26677, "fx":[8.17747,2.13415,-8.17747,-2.13415], "fy":[-2.13415,8.17747,2.13415,-8.17747]}, + {"t":1.5042, "x":8.03541, "y":3.45388, "heading":0.48805, "vx":0.95067, "vy":0.30636, "omega":-1.69872, "ax":0.0, "ay":0.0, "alpha":-1.23131, "fx":[7.85433,2.40681,-7.85433,-2.40681], "fy":[-2.40681,7.85432,2.4068,-7.85433]}, + {"t":1.52943, "x":8.0594, "y":3.46161, "heading":0.44518, "vx":0.95067, "vy":0.30636, "omega":-1.72979, "ax":0.0, "ay":0.0, "alpha":-1.20042, "fx":[7.54972,2.67243,-7.54972,-2.67242], "fy":[-2.67243,7.54971,2.67242,-7.54972]}, + {"t":1.55467, "x":8.08339, "y":3.46934, "heading":0.40153, "vx":0.95067, "vy":0.30636, "omega":-1.76009, "ax":0.0, "ay":0.0, "alpha":-1.17403, "fx":[7.26263,2.93339,-7.26261,-2.93337], "fy":[-2.93341,7.26259,2.93335,-7.26265]}, + {"t":1.5799, "x":8.10738, "y":3.47707, "heading":0.35712, "vx":0.95067, "vy":0.30636, "omega":-1.78971, "ax":0.00001, "ay":-0.00002, "alpha":-1.15206, "fx":[6.99198,3.19219,-6.99176,-3.19197], "fy":[-3.19242,6.99153,3.19174,-6.99221]}, + {"t":1.60514, "x":8.13137, "y":3.4848, "heading":0.31195, "vx":0.95067, "vy":0.30636, "omega":-1.81879, "ax":0.00009, "ay":-0.00027, "alpha":-1.13446, "fx":[6.73756,3.45242,-6.73472,-3.44951], "fy":[-3.45543,6.73169,3.4465,-6.74059]}, + {"t":1.63037, "x":8.15536, "y":3.49254, "heading":0.26606, "vx":0.95067, "vy":0.30636, "omega":-1.84741, "ax":0.00115, "ay":-0.00357, "alpha":-1.1212, "fx":[6.51271,3.73173,-6.47511,-3.69325], "fy":[-3.77158,6.43492,3.65339,-6.5529]}, + {"t":1.65561, "x":8.17935, "y":3.50027, "heading":0.21944, "vx":0.9507, "vy":0.30627, "omega":-1.87571, "ax":0.01523, "ay":-0.04738, "alpha":-1.11216, "fx":[6.51198,4.23376,-6.01416,-3.72435], "fy":[-4.7622,5.47982,3.19471,-7.04582]}, + {"t":1.68084, "x":8.20335, "y":3.50798, "heading":0.1721, "vx":0.95108, "vy":0.30507, "omega":-1.90377, "ax":0.19496, "ay":-0.62579, "alpha":-1.09104, "fx":[9.15795,7.50185,-2.78554,-0.98074], "fy":[-14.48608,-4.41149,-6.21056,-16.27778]}, + {"t":1.70608, "x":8.22741, "y":3.51548, "heading":0.12406, "vx":0.956, "vy":0.28928, "omega":-1.93131, "ax":1.13544, "ay":-4.83092, "alpha":-0.43808, "fx":[21.56738,21.77211,15.85505,15.89634], "fy":[-80.53806,-78.09945,-79.23499,-81.61424]}, + {"t":1.73131, "x":8.2519, "y":3.52124, "heading":0.07533, "vx":0.98465, "vy":0.16737, "omega":-1.94236, "ax":0.5003, "ay":-7.14048, "alpha":-0.05676, "fx":[8.78239,8.77745,7.7568,7.77006], "fy":[-118.04689,-117.99512,-118.06689,-118.11812]}, + {"t":1.75655, "x":8.27691, "y":3.52319, "heading":0.02631, "vx":0.99728, "vy":-0.01282, "omega":-1.94379, "ax":-0.65608, "ay":-7.12641, "alpha":-0.04849, "fx":[-10.36912,-10.46428,-11.3284,-11.22741], "fy":[-117.88749,-117.83457,-117.75997,-117.81406]}, + {"t":1.78072, "x":8.30082, "y":3.5208, "heading":-0.02068, "vx":0.98142, "vy":-0.18511, "omega":-1.94497, "ax":-1.31297, "ay":-5.13487, "alpha":-0.27948, "fx":[-19.56224,-20.05956,-23.90405,-23.30612], "fy":[-85.95718,-84.49438,-83.82125,-85.31543]}, + {"t":1.8049, "x":8.32417, "y":3.51482, "heading":-0.0677, "vx":0.94968, "vy":-0.30924, "omega":-1.95172, "ax":-0.27938, "ay":-0.82842, "alpha":-0.69035, "fx":[-1.54898,-1.11744,-7.72841,-8.08193], "fy":[-17.15686,-10.72505,-10.24284,-16.66151]}, + {"t":1.82907, "x":8.34704, "y":3.5071, "heading":-0.11489, "vx":0.94292, "vy":-0.32927, "omega":-1.96841, "ax":-0.02455, "ay":-0.0701, "alpha":-0.59428, "fx":[2.05696,2.70191,-2.87115,-3.51116], "fy":[-4.26545,1.30448,1.94727,-3.62213]}, + {"t":1.85325, "x":8.36983, "y":3.49912, "heading":-0.16248, "vx":0.94233, "vy":-0.33097, "omega":-1.98278, "ax":-0.00206, "ay":-0.00587, "alpha":-0.48164, "fx":[1.84051,2.57573,-1.90884,-2.64379], "fy":[-2.70682,1.77761,2.5127,-1.97173]}, + {"t":1.87742, "x":8.39261, "y":3.49112, "heading":-0.21041, "vx":0.94228, "vy":-0.33111, "omega":-1.99442, "ax":-0.00017, "ay":-0.00049, "alpha":-0.37053, "fx":[1.34147,2.07164,-1.3472,-2.07735], "fy":[-2.08263,1.3362,2.06637,-1.35247]}, + {"t":1.9016, "x":8.41539, "y":3.48311, "heading":-0.25863, "vx":0.94227, "vy":-0.33112, "omega":-2.00338, "ax":-0.00001, "ay":-0.00004, "alpha":-0.26069, "fx":[0.87413,1.50318,-0.87462,-1.50366], "fy":[-1.50411,0.87368,1.50273,-0.87506]}, + {"t":1.92577, "x":8.43817, "y":3.47511, "heading":-0.30706, "vx":0.94227, "vy":-0.33112, "omega":-2.00968, "ax":0.0, "ay":0.0, "alpha":-0.15175, "fx":[0.46599,0.89874,-0.46604,-0.89879], "fy":[-0.89883,0.46594,0.8987,-0.46608]}, + {"t":1.94995, "x":8.46095, "y":3.4671, "heading":-0.35564, "vx":0.94227, "vy":-0.33112, "omega":-2.01335, "ax":0.0, "ay":0.0, "alpha":-0.04333, "fx":[0.12045,0.26282,-0.12046,-0.26283], "fy":[-0.26284,0.12044,0.2628,-0.12047]}, + {"t":1.97413, "x":8.48373, "y":3.4591, "heading":-0.40432, "vx":0.94227, "vy":-0.33112, "omega":-2.0144, "ax":0.0, "ay":0.0, "alpha":0.06492, "fx":[-0.1611,-0.40208,0.16109,0.40207], "fy":[0.40206,-0.16111,-0.40209,0.16109]}, + {"t":1.9983, "x":8.50651, "y":3.45109, "heading":-0.45302, "vx":0.94227, "vy":-0.33112, "omega":-2.01283, "ax":0.0, "ay":0.0, "alpha":0.1734, "fx":[-0.37748,-1.09356,0.37748,1.09355], "fy":[1.09354,-0.37749,-1.09356,0.37747]}, + {"t":2.02248, "x":8.52929, "y":3.44309, "heading":-0.50168, "vx":0.94227, "vy":-0.33112, "omega":-2.00864, "ax":0.0, "ay":0.0, "alpha":0.28247, "fx":[-0.52754,-1.80921,0.52753,1.8092], "fy":[1.80919,-0.52754,-1.80921,0.52753]}, + {"t":2.04665, "x":8.55207, "y":3.43508, "heading":-0.55024, "vx":0.94227, "vy":-0.33112, "omega":-2.00181, "ax":0.0, "ay":0.0, "alpha":0.39251, "fx":[-0.61014,-2.5466,0.61014,2.54659], "fy":[2.54659,-0.61015,-2.5466,0.61014]}, + {"t":2.07083, "x":8.57485, "y":3.42708, "heading":-0.59863, "vx":0.94227, "vy":-0.33112, "omega":-1.99232, "ax":0.0, "ay":0.0, "alpha":0.50389, "fx":[-0.62421,-3.30328,0.6242,3.30328], "fy":[3.30328,-0.62421,-3.30328,0.6242]}, + {"t":2.095, "x":8.59763, "y":3.41907, "heading":-0.6468, "vx":0.94227, "vy":-0.33112, "omega":-1.98014, "ax":0.0, "ay":0.0, "alpha":0.61698, "fx":[-0.56868,-4.07679,0.56868,4.07679], "fy":[4.07679,-0.56868,-4.07679,0.56868]}, + {"t":2.11918, "x":8.62041, "y":3.41107, "heading":-0.69467, "vx":0.94227, "vy":-0.33112, "omega":-1.96522, "ax":0.0, "ay":0.0, "alpha":0.73217, "fx":[-0.44257,-4.86466,0.44257,4.86465], "fy":[4.86465,-0.44257,-4.86466,0.44256]}, + {"t":2.14336, "x":8.64319, "y":3.40306, "heading":-0.74218, "vx":0.94227, "vy":-0.33112, "omega":-1.94752, "ax":0.0, "ay":0.0, "alpha":0.84982, "fx":[-0.24496,-5.66441,0.24493,5.66438], "fy":[5.66434,-0.245,-5.66445,0.24489]}, + {"t":2.16753, "x":8.66597, "y":3.39506, "heading":-0.78926, "vx":0.94227, "vy":-0.33112, "omega":-1.92698, "ax":-0.00001, "ay":-0.00004, "alpha":0.97032, "fx":[0.02479,-6.47379,-0.02527,6.47331], "fy":[6.47287,0.02434,-6.47423,-0.02572]}, + {"t":2.19171, "x":8.68875, "y":3.38705, "heading":-0.83585, "vx":0.94227, "vy":-0.33112, "omega":-1.90352, "ax":-0.00017, "ay":-0.0005, "alpha":1.09403, "fx":[0.3652,-7.29255,-0.37099,7.2868], "fy":[7.28149,0.35985,-7.29786,-0.37634]}, + {"t":2.21588, "x":8.71153, "y":3.37905, "heading":-0.88187, "vx":0.94227, "vy":-0.33113, "omega":-1.87707, "ax":-0.00207, "ay":-0.0059, "alpha":1.22133, "fx":[0.75049,-8.14459,-0.8192,8.07613], "fy":[8.01322,0.68686,-8.20747,-0.88285]}, + {"t":2.24006, "x":8.73431, "y":3.37104, "heading":-0.92725, "vx":0.94222, "vy":-0.33128, "omega":-1.84754, "ax":-0.02465, "ay":-0.06991, "alpha":1.35232, "fx":[0.86715,-9.33949,-1.68298,8.52509], "fy":[7.78144,0.11375,-10.08018,-2.43817]}, + {"t":2.26423, "x":8.75708, "y":3.36301, "heading":-0.97191, "vx":0.94162, "vy":-0.33297, "omega":-1.81485, "ax":-0.29724, "ay":-0.81308, "alpha":1.44958, "fx":[-3.18318,-14.52722,-6.64445,4.69753], "fy":[-3.96533,-11.67039,-22.75381,-15.38245]}, + {"t":2.28841, "x":8.77976, "y":3.35472, "heading":-1.01579, "vx":0.93444, "vy":-0.35262, "omega":-1.7798, "ax":-2.17744, "ay":-4.81041, "alpha":0.55778, "fx":[-36.2597,-41.06657,-35.83097,-30.84539], "fy":[-77.38804,-77.63056,-81.6604,-81.45134]}, + {"t":2.31259, "x":8.80172, "y":3.34479, "heading":-1.05882, "vx":0.8818, "vy":-0.46892, "omega":-1.76632, "ax":-3.8978, "ay":-5.99927, "alpha":0.09199, "fx":[-64.70832,-65.38445,-64.18712,-63.49619], "fy":[-98.95075,-98.59655,-99.42631,-99.78055]}, + {"t":2.33676, "x":8.8219, "y":3.3317, "heading":-1.10152, "vx":0.78756, "vy":-0.61396, "omega":-1.7641, "ax":-5.09259, "ay":-5.3641, "alpha":0.03532, "fx":[-84.33748,-84.50314,-84.06007,-83.89175], "fy":[-88.54449,-88.40204,-88.82895,-88.97247]}, + {"t":2.36094, "x":8.83945, "y":3.31529, "heading":-1.14417, "vx":0.66445, "vy":-0.74364, "omega":-1.76324, "ax":-6.00996, "ay":-4.3323, "alpha":0.04002, "fx":[-99.5304,-99.62413,-99.20174,-99.10495], "fy":[-71.38676,-71.27677,-71.86758,-71.9804]}, + {"t":2.39107, "x":8.85674, "y":3.29092, "heading":-1.1973, "vx":0.48335, "vy":-0.87418, "omega":-1.76204, "ax":-6.40485, "ay":-2.71089, "alpha":0.19119, "fx":[-106.41085,-106.67287,-105.39583,-105.09719], "fy":[-43.25013,-43.31194,-46.35001,-46.36956]}, + {"t":2.4212, "x":8.8684, "y":3.26335, "heading":-1.2504, "vx":0.29035, "vy":-0.95587, "omega":-1.75627, "ax":-2.09609, "ay":-0.56279, "alpha":2.00564, "fx":[-29.74466,-45.85325,-39.8683,-23.15625], "fy":[3.6855,-2.78407,-21.45578,-16.66535]}, + {"t":2.45134, "x":8.8762, "y":3.23429, "heading":-1.30332, "vx":0.22718, "vy":-0.97283, "omega":-1.69584, "ax":-0.11008, "ay":-0.02551, "alpha":2.37051, "fx":[5.99759,-15.54974,-9.65569,11.92809], "fy":[13.34986,7.38211,-14.13605,-8.28318]}, + {"t":2.48147, "x":8.88299, "y":3.20496, "heading":-1.35442, "vx":0.22387, "vy":-0.9736, "omega":-1.62441, "ax":-0.0053, "ay":-0.00122, "alpha":2.39267, "fx":[8.51306,-13.53495,-8.68888,13.36034], "fy":[13.42897,8.57941,-13.46635,-8.62257]}, + {"t":2.5116, "x":8.88973, "y":3.17562, "heading":-1.40337, "vx":0.22371, "vy":-0.97364, "omega":-1.55231, "ax":-0.00026, "ay":-0.00006, "alpha":2.42579, "fx":[9.37244,-13.19498,-9.38089,13.18656], "fy":[13.18987,9.37562,-13.19167,-9.37771]}, + {"t":2.54174, "x":8.89648, "y":3.14628, "heading":-1.45015, "vx":0.2237, "vy":-0.97364, "omega":-1.47921, "ax":-0.00001, "ay":0.0, "alpha":2.47086, "fx":[10.16851,-12.9748,-10.16891,12.97439], "fy":[12.97455,10.16866,-12.97464,-10.16876]}, + {"t":2.57187, "x":8.90322, "y":3.11694, "heading":-1.49472, "vx":0.2237, "vy":-0.97364, "omega":-1.40475, "ax":0.0, "ay":0.0, "alpha":2.52792, "fx":[10.98466,-12.79745,-10.98468,12.79743], "fy":[12.79743,10.98467,-12.79744,-10.98467]}, + {"t":2.602, "x":8.90996, "y":3.0876, "heading":-1.53705, "vx":0.2237, "vy":-0.97364, "omega":-1.32858, "ax":0.0, "ay":0.0, "alpha":2.597, "fx":[11.83111,-12.65785,-11.83111,12.65785], "fy":[12.65785,11.83111,-12.65785,-11.83112]}, + {"t":2.63214, "x":8.9167, "y":3.05827, "heading":-1.57708, "vx":0.2237, "vy":-0.97364, "omega":-1.25032, "ax":0.0, "ay":0.0, "alpha":2.6782, "fx":[12.71371,-12.55482,-12.71371,12.55482], "fy":[12.55482,12.71371,-12.55482,-12.71371]}, + {"t":2.66227, "x":8.92344, "y":3.02893, "heading":-1.61476, "vx":0.2237, "vy":-0.97364, "omega":-1.16962, "ax":0.0, "ay":0.0, "alpha":2.77163, "fx":[13.63727,-12.48795,-13.63727,12.48795], "fy":[12.48795,13.63727,-12.48795,-13.63727]}, + {"t":2.6924, "x":8.93018, "y":2.99959, "heading":-1.65001, "vx":0.2237, "vy":-0.97364, "omega":-1.0861, "ax":0.0, "ay":0.0, "alpha":2.8774, "fx":[14.60578,-12.45761,-14.60577,12.45762], "fy":[12.45761,14.60577,-12.45762,-14.60578]}, + {"t":2.72254, "x":8.93692, "y":2.97025, "heading":-1.68273, "vx":0.2237, "vy":-0.97364, "omega":-0.99939, "ax":0.0, "ay":0.0, "alpha":2.99568, "fx":[15.62242,-12.46518,-15.62242,12.46518], "fy":[12.46518,15.62242,-12.46518,-15.62242]}, + {"t":2.75267, "x":8.94366, "y":2.94091, "heading":-1.71285, "vx":0.2237, "vy":-0.97364, "omega":-0.90912, "ax":0.0, "ay":0.0, "alpha":3.12662, "fx":[16.68958,-12.51314,-16.68958,12.51314], "fy":[12.51314,16.68958,-12.51314,-16.68958]}, + {"t":2.78281, "x":8.9504, "y":2.91157, "heading":-1.74024, "vx":0.2237, "vy":-0.97364, "omega":-0.81491, "ax":0.0, "ay":0.0, "alpha":3.27036, "fx":[17.80882,-12.60533,-17.80882,12.60533], "fy":[12.60533,17.80882,-12.60533,-17.80882]}, + {"t":2.81294, "x":8.95714, "y":2.88223, "heading":-1.7648, "vx":0.2237, "vy":-0.97364, "omega":-0.71636, "ax":0.0, "ay":0.0, "alpha":3.42705, "fx":[18.98081,-12.7471,-18.98081,12.7471], "fy":[12.7471,18.98081,-12.7471,-18.98081]}, + {"t":2.84307, "x":8.96388, "y":2.85289, "heading":-1.78639, "vx":0.2237, "vy":-0.97364, "omega":-0.61309, "ax":0.0, "ay":0.0, "alpha":3.59683, "fx":[20.20528,-12.94549,-20.20527,12.94549], "fy":[12.94549,20.20527,-12.94549,-20.20528]}, + {"t":2.87321, "x":8.97062, "y":2.82355, "heading":-1.80486, "vx":0.2237, "vy":-0.97364, "omega":-0.5047, "ax":0.0, "ay":0.0, "alpha":3.7798, "fx":[21.4808,-13.20945,-21.4808,13.20945], "fy":[13.20945,21.4808,-13.20945,-21.4808]}, + {"t":2.90334, "x":8.97737, "y":2.79421, "heading":-1.82007, "vx":0.2237, "vy":-0.97364, "omega":-0.39081, "ax":0.0, "ay":0.0, "alpha":3.97603, "fx":[22.80467,-13.54998,-22.80468,13.54997], "fy":[13.54997,22.80468,-13.54997,-22.80468]}, + {"t":2.93347, "x":8.98411, "y":2.76487, "heading":-1.83185, "vx":0.2237, "vy":-0.97364, "omega":-0.27099, "ax":0.0, "ay":0.0, "alpha":4.18555, "fx":[24.17261,-13.98036,-24.17273,13.98023], "fy":[13.98028,24.17265,-13.98031,-24.17269]}, + {"t":2.96361, "x":8.99085, "y":2.73554, "heading":-1.84001, "vx":0.2237, "vy":-0.97364, "omega":-0.14487, "ax":-0.00007, "ay":-0.00002, "alpha":4.40832, "fx":[25.57753,-14.51723,-25.57979,14.51479], "fy":[14.51579,25.57834,-14.51623,-25.57898]}, + {"t":2.99374, "x":8.99759, "y":2.7062, "heading":-1.84438, "vx":0.2237, "vy":-0.97364, "omega":-0.01203, "ax":-0.00136, "ay":-0.00031, "alpha":4.64428, "fx":[26.99275,-15.19866,-27.03572,15.15171], "fy":[15.17104,27.00805,-15.17933,-27.02043]}, + {"t":3.02387, "x":9.00433, "y":2.67686, "heading":-1.84474, "vx":0.22366, "vy":-0.97365, "omega":0.12792, "ax":-0.02567, "ay":-0.00588, "alpha":4.89314, "fx":[28.06377,-16.42318,-28.87067,15.53271], "fy":[15.9022,28.34922,-16.05398,-28.58662]}, + {"t":3.05401, "x":9.01106, "y":2.64751, "heading":-1.84088, "vx":0.22288, "vy":-0.97383, "omega":0.27536, "ax":-0.47736, "ay":-0.10551, "alpha":5.11479, "fx":[22.08729,-25.09117,-37.0492,8.48348], "fy":[15.54214,27.63136,-18.14943,-32.00175]}, + {"t":3.08414, "x":9.01756, "y":2.61812, "heading":-1.83259, "vx":0.2085, "vy":-0.977, "omega":0.42949, "ax":-5.20216, "ay":-0.68436, "alpha":1.98409, "fx":[-80.98926,-90.78359,-91.47826,-80.78719], "fy":[-1.87153,5.2474,-18.74648,-29.88883]}, + {"t":3.11427, "x":9.02148, "y":2.58837, "heading":-1.81964, "vx":0.05174, "vy":-0.99763, "omega":0.48928, "ax":-7.29377, "ay":0.40643, "alpha":0.19259, "fx":[-120.45328,-120.51583,-120.73514,-120.66014], "fy":[8.12914,8.76392,5.35685,4.62884]}, + {"t":3.14441, "x":9.01972, "y":2.55849, "heading":-1.8049, "vx":-0.16805, "vy":-0.98538, "omega":0.49508, "ax":-2.58283, "ay":-7.05507, "alpha":0.01706, "fx":[-42.57053,-42.87039,-42.83518,-42.53603], "fy":[-116.69265,-116.58292,-116.59677,-116.70613]}, + {"t":3.18064, "x":9.01194, "y":2.51816, "heading":-1.78696, "vx":-0.26164, "vy":-1.24102, "omega":0.4957, "ax":-2.60718, "ay":-7.03564, "alpha":0.02085, "fx":[-42.94849,-43.31307,-43.26227,-42.89874], "fy":[-116.38067,-116.24571,-116.26627,-116.40066]}, + {"t":3.21688, "x":9.00075, "y":2.46857, "heading":-1.769, "vx":-0.35611, "vy":-1.49595, "omega":0.49646, "ax":-2.67744, "ay":-6.97856, "alpha":0.03205, "fx":[-44.03648,-44.59032,-44.49702,-43.94556], "fy":[-115.46548,-115.25357,-115.29456,-115.50505]}, + {"t":3.25311, "x":8.98609, "y":2.40978, "heading":-1.75101, "vx":-0.45312, "vy":-1.74882, "omega":0.49762, "ax":-4.86149, "ay":-4.11188, "alpha":0.4975, "fx":[-79.31578,-83.94985,-81.46804,-76.77491], "fy":[-67.84143,-63.55404,-68.21539,-72.3233]}, + {"t":3.28935, "x":8.96648, "y":2.34372, "heading":-1.73298, "vx":-0.62928, "vy":-1.89782, "omega":0.51564, "ax":-1.06094, "ay":0.3631, "alpha":1.82465, "fx":[-7.73218,-24.3904,-27.34212,-10.69899], "fy":[13.54648,15.7888,-1.18133,-4.14099]}, + {"t":3.32558, "x":8.94298, "y":2.27519, "heading":-1.7143, "vx":-0.66772, "vy":-1.88466, "omega":0.58176, "ax":-0.10647, "ay":0.03784, "alpha":0.87121, "fx":[2.89467,-5.2387,-6.4156,1.71866], "fy":[4.11094,5.27738,-2.85149,-4.03418]}, + {"t":3.36182, "x":8.91871, "y":2.20692, "heading":-1.69322, "vx":-0.67158, "vy":-1.88329, "omega":0.61333, "ax":-0.01034, "ay":0.00369, "alpha":-0.16823, "fx":[-1.05554,0.5198,0.71363,-0.86171], "fy":[-0.62977,-0.82362,0.75176,0.94555]}, + {"t":3.39805, "x":8.89437, "y":2.13868, "heading":-1.67099, "vx":-0.67195, "vy":-1.88315, "omega":0.60723, "ax":-0.001, "ay":0.00036, "alpha":-1.20709, "fx":[-6.25206,5.07981,6.21901,-5.11282], "fy":[-5.09035,-6.22971,5.10228,6.24135]}, + {"t":3.43429, "x":8.87002, "y":2.07045, "heading":-1.64899, "vx":-0.67199, "vy":-1.88314, "omega":0.56349, "ax":-0.0001, "ay":0.00003, "alpha":-2.23904, "fx":[-11.35717,9.70377,11.35395,-9.70698], "fy":[-9.70478,-11.35501,9.70598,11.35611]}, + {"t":3.47052, "x":8.84567, "y":2.00221, "heading":-1.62857, "vx":-0.67199, "vy":-1.88314, "omega":0.48236, "ax":-0.00001, "ay":0.0, "alpha":-3.25773, "fx":[-16.23038,14.45523,16.23006,-14.45555], "fy":[-14.45533,-16.23017,14.45545,16.23027]}, + {"t":3.50676, "x":8.82132, "y":1.93398, "heading":-1.61109, "vx":-0.67199, "vy":-1.88314, "omega":0.36432, "ax":0.0, "ay":0.0, "alpha":-4.25636, "fx":[-20.87213,19.25427,20.8721,-19.2543], "fy":[-19.25428,-20.87211,19.25429,20.87212]}, + {"t":3.54299, "x":8.79697, "y":1.86574, "heading":-1.59789, "vx":-0.67199, "vy":-1.88314, "omega":0.21009, "ax":0.0, "ay":0.0, "alpha":-5.22793, "fx":[-25.32206,23.98574,25.32209,-23.98571], "fy":[-23.98574,-25.32208,23.98572,25.32207]}, + {"t":3.57923, "x":8.77262, "y":1.79751, "heading":-1.59028, "vx":-0.67199, "vy":-1.88314, "omega":0.02066, "ax":0.00001, "ay":0.0, "alpha":-6.16588, "fx":[-29.64874,28.51569,29.64905,-28.5154], "fy":[-28.51561,-29.64893,28.51547,29.64886]}, + {"t":3.61546, "x":8.74827, "y":1.72927, "heading":-1.58953, "vx":-0.67199, "vy":-1.88314, "omega":-0.20276, "ax":0.00007, "ay":-0.00003, "alpha":-7.06467, "fx":[-33.94501,32.6988,33.94758,-32.69645], "fy":[-32.69824,-33.94655,32.69701,33.94604]}, + {"t":3.6517, "x":8.72392, "y":1.66104, "heading":-1.59688, "vx":-0.67199, "vy":-1.88314, "omega":-0.45875, "ax":0.00056, "ay":-0.0002, "alpha":-7.92041, "fx":[-38.31666,36.38651,38.33636,-36.36886], "fy":[-36.38272,-38.32813,36.37265,38.32489]}, + {"t":3.68793, "x":8.69958, "y":1.5928, "heading":-1.6135, "vx":-0.67197, "vy":-1.88315, "omega":-0.74574, "ax":0.00407, "ay":-0.00129, "alpha":-8.73118, "fx":[-42.83986,39.45752,42.9812,-39.3298], "fy":[-39.43014,-42.91688,39.35725,42.90422]}, + {"t":3.72416, "x":8.67523, "y":1.52456, "heading":-1.64052, "vx":-0.67182, "vy":-1.88319, "omega":-1.06212, "ax":0.86957, "ay":2.45745, "alpha":-7.82941, "fx":[-35.3768,61.63769,49.04735,-17.80054], "fy":[12.17043,3.73618,68.31545,78.29833]}, + {"t":3.7604, "x":8.65146, "y":1.45794, "heading":-1.67901, "vx":-0.64031, "vy":-1.79415, "omega":-1.34582, "ax":2.51206, "ay":7.03731, "alpha":-0.11719, "fx":[40.75751,42.78287,42.29371,40.29791], "fy":[116.61867,115.89547,116.09307,116.79661]}, + {"t":3.79663, "x":8.6299, "y":1.39755, "heading":-1.72777, "vx":-0.54929, "vy":-1.53915, "omega":-1.35006, "ax":2.5219, "ay":7.066, "alpha":-0.06529, "fx":[41.23108,42.37202,42.15523,41.02417], "fy":[116.98864,116.58125,116.66498,117.06654]}, + {"t":3.83287, "x":8.61166, "y":1.34642, "heading":-1.77669, "vx":-0.45791, "vy":-1.28312, "omega":-1.35243, "ax":2.52519, "ay":7.07561, "alpha":-0.04776, "fx":[41.38665,42.22817,42.11066,41.27473], "fy":[117.11261,116.81217,116.85713,117.15465]}, + {"t":3.8691, "x":8.59672, "y":1.30457, "heading":-1.8257, "vx":-0.36641, "vy":-1.02673, "omega":-1.35416, "ax":2.52684, "ay":7.08041, "alpha":-0.03891, "fx":[41.4626,42.15207,42.09006,41.40446], "fy":[117.17518,116.92906,116.95296,117.1973]}, + {"t":3.90534, "x":8.5851, "y":1.27201, "heading":-1.87477, "vx":-0.27485, "vy":-0.77018, "omega":-1.35557, "ax":2.52783, "ay":7.0833, "alpha":-0.03356, "fx":[41.50677,42.10329,42.07904,41.4855], "fy":[117.21319,117.00028,117.01009,117.2218]}, + {"t":3.94157, "x":8.5768, "y":1.24876, "heading":-1.92388, "vx":-0.18326, "vy":-0.51351, "omega":-1.35678, "ax":2.52848, "ay":7.08523, "alpha":-0.02997, "fx":[41.53515,42.06823,42.07276,41.5421], "fy":[117.2389,117.04866,117.04785,117.23724]}, + {"t":3.97781, "x":8.57182, "y":1.2348, "heading":-1.97305, "vx":-0.09164, "vy":-0.25678, "omega":-1.35787, "ax":2.52896, "ay":7.0866, "alpha":-0.02739, "fx":[41.55457,42.04102,42.0691,41.5847], "fy":[117.25755,117.08399,117.07454,117.24751]}, + {"t":4.01404, "x":8.57016, "y":1.23015, "heading":-2.02225, "vx":0.0, "vy":0.0, "omega":-1.35886, "ax":-6.41346, "ay":-3.9287, "alpha":-0.02614, "fx":[-106.07595,-105.85885,-105.99719,-106.21397], "fy":[-64.89193,-65.24469,-65.01844,-64.66452]}, + {"t":4.04109, "x":8.56782, "y":1.22871, "heading":-2.059, "vx":-0.17347, "vy":-0.10626, "omega":-1.35957, "ax":-6.4122, "ay":-3.92793, "alpha":-0.02725, "fx":[-106.06363,-105.83215,-105.96785,-106.19907], "fy":[-64.8655,-65.2416,-65.01946,-64.642]}, + {"t":4.06814, "x":8.56078, "y":1.2244, "heading":-2.09578, "vx":-0.3469, "vy":-0.2125, "omega":-1.36031, "ax":-6.41058, "ay":-3.92694, "alpha":-0.02869, "fx":[-106.04658,-105.79785,-105.93148,-106.18004], "fy":[-64.83368,-65.23777,-65.01872,-64.61302]}, + {"t":4.09519, "x":8.54905, "y":1.21722, "heading":-2.13257, "vx":-0.52029, "vy":-0.31872, "omega":-1.36108, "ax":-6.40844, "ay":-3.92562, "alpha":-0.03062, "fx":[-106.02251,-105.7521,-105.88459,-106.15494], "fy":[-64.79374,-65.233,-65.01538,-64.57419]}, + {"t":4.12223, "x":8.53264, "y":1.20716, "heading":-2.16938, "vx":-0.69363, "vy":-0.4249, "omega":-1.36191, "ax":-6.40545, "ay":-3.92379, "alpha":-0.03333, "fx":[-105.98734,-105.68801,-105.82093,-106.12035], "fy":[-64.74085,-65.22697,-65.00801,-64.51949]}, + {"t":4.14928, "x":8.51153, "y":1.19423, "heading":-2.20622, "vx":-0.86688, "vy":-0.53103, "omega":-1.36281, "ax":-6.401, "ay":-3.92107, "alpha":-0.03741, "fx":[-105.93303,-105.59197,-105.72809,-106.06947], "fy":[-64.66541,-65.21908,-64.99376,-64.43695]}, + {"t":4.17633, "x":8.48574, "y":1.17843, "heading":-2.24308, "vx":-1.04001, "vy":-0.63708, "omega":-1.36382, "ax":-6.39368, "ay":-3.91659, "alpha":-0.04421, "fx":[-105.8412,-105.43278,-105.57761,-105.98674], "fy":[-64.54538,-65.20789,-64.96617,-64.29913]}, + {"t":4.20338, "x":8.45527, "y":1.15977, "heading":-2.27997, "vx":-1.21295, "vy":-0.74302, "omega":-1.36502, "ax":-6.37937, "ay":-3.90782, "alpha":-0.05771, "fx":[-105.65859,-105.11986,-105.28634,-105.82675], "fy":[-64.31679,-65.18929,-64.90645,-64.02605]}, + {"t":4.23042, "x":8.42013, "y":1.13824, "heading":-2.31689, "vx":-1.38549, "vy":-0.84871, "omega":-1.36658, "ax":-6.3389, "ay":-3.88303, "alpha":-0.09641, "fx":[-105.13883,-104.23369,-104.46587,-105.37692], "fy":[-63.6842,-65.14317,-64.72647,-63.24525]}, + {"t":4.25747, "x":8.38034, "y":1.11387, "heading":-2.35385, "vx":-1.55694, "vy":-0.95374, "omega":-1.36919, "ax":-5.4652, "ay":-3.34794, "alpha":-0.98407, "fx":[-94.59536,-86.31047,-85.78185,-94.74668], "fy":[-51.54399,-63.65481,-60.00637,-46.20679]}, + {"t":4.28452, "x":8.33623, "y":1.08685, "heading":-2.39089, "vx":-1.70477, "vy":-1.04429, "omega":-1.3958, "ax":-0.00231, "ay":-0.00139, "alpha":-4.91354, "fx":[-32.79714,-1.17763,32.72568,1.09608], "fy":[1.11243,-32.78273,-1.16184,32.74022]}, + {"t":4.31157, "x":8.29012, "y":1.0586, "heading":-2.42864, "vx":-1.70483, "vy":-1.04433, "omega":-1.5287, "ax":0.0, "ay":0.0, "alpha":-4.14532, "fx":[-27.58339,-2.00178,27.58333,2.00173], "fy":[2.00182,-27.5833,-2.00169,27.58342]}, + {"t":4.33862, "x":8.24401, "y":1.03035, "heading":-2.46999, "vx":-1.70483, "vy":-1.04433, "omega":-1.64083, "ax":-0.00001, "ay":0.00001, "alpha":-3.36772, "fx":[-22.32288,-2.55129,22.32266,2.55105], "fy":[2.55139,-22.32256,-2.55095,22.32298]}, + {"t":4.36566, "x":8.1979, "y":1.00211, "heading":-2.51437, "vx":-1.70483, "vy":-1.04433, "omega":-1.73191, "ax":-0.00002, "ay":0.00003, "alpha":-2.58476, "fx":[-17.02951,-2.71653,17.02898,2.71596], "fy":[2.71673,-17.02878,-2.71577,17.02971]}, + {"t":4.39271, "x":8.15178, "y":0.97386, "heading":-2.56121, "vx":-1.70483, "vy":-1.04433, "omega":-1.80183, "ax":-0.00003, "ay":0.00004, "alpha":-1.79944, "fx":[-11.75415,-2.44448,11.7533,2.44361], "fy":[2.44477,-11.753,-2.44332,11.75444]}, + {"t":4.41976, "x":8.10567, "y":0.94561, "heading":-2.60995, "vx":-1.70483, "vy":-1.04433, "omega":-1.8505, "ax":-0.00003, "ay":0.00005, "alpha":-1.01362, "fx":[-6.54648,-1.69818,6.54541,1.6971], "fy":[1.69852,-6.54506,-1.69675,6.54683]}, + {"t":4.44681, "x":8.05956, "y":0.91737, "heading":-2.66, "vx":-1.70483, "vy":-1.04433, "omega":-1.87791, "ax":-0.00004, "ay":0.00006, "alpha":-0.22821, "fx":[-1.45341,-0.45607,1.4522,0.45486], "fy":[0.45646,-1.45182,-0.45448,1.4538]}, + {"t":4.47385, "x":8.01345, "y":0.88912, "heading":-2.71079, "vx":-1.70483, "vy":-1.04433, "omega":-1.88409, "ax":-0.00006, "ay":0.00009, "alpha":0.55661, "fx":[3.48152,1.28843,-3.48338,-1.29029], "fy":[-1.28785,3.48396,1.29088,-3.48094]}, + {"t":4.5009, "x":7.96734, "y":0.86087, "heading":-2.76175, "vx":-1.70483, "vy":-1.04432, "omega":-1.86903, "ax":-0.00019, "ay":0.0003, "alpha":1.34093, "fx":[8.21742,3.52642,-8.22351,-3.53263], "fy":[-3.52451,8.22547,3.53454,-8.21547]}, + {"t":4.52795, "x":7.92123, "y":0.83263, "heading":-2.8123, "vx":-1.70484, "vy":-1.04431, "omega":-1.83276, "ax":-0.00091, "ay":0.00149, "alpha":2.12464, "fx":[12.71104,6.22796,-12.74043,-6.25884], "fy":[-6.21878,12.75027,6.26801,-12.7012]}, + {"t":4.555, "x":7.87511, "y":0.80438, "heading":-2.86188, "vx":-1.70486, "vy":-1.04427, "omega":-1.77529, "ax":-0.00468, "ay":0.00765, "alpha":2.90695, "fx":[16.89292,9.31352,-17.04062,-9.4756], "fy":[-9.26804,17.09316,9.52096,-16.84038]}, + {"t":4.58204, "x":7.829, "y":0.77614, "heading":-2.90989, "vx":-1.70499, "vy":-1.04407, "omega":-1.69667, "ax":-0.02361, "ay":0.03858, "alpha":3.68577, "fx":[20.55457,12.51179,-21.27722,-13.35062], "fy":[-12.29404,21.5563,13.56485,-20.27552]}, + {"t":4.60909, "x":7.78288, "y":0.74791, "heading":-2.95578, "vx":-1.70563, "vy":-1.04302, "omega":-1.59698, "ax":-0.11544, "ay":0.18942, "alpha":4.45145, "fx":[22.81427,14.66978,-26.22112,-18.89767], "fy":[-13.6383,27.68607,19.8296,-21.35029]}, + {"t":4.63614, "x":7.7367, "y":0.71977, "heading":-2.99898, "vx":-1.70875, "vy":-1.0379, "omega":-1.47658, "ax":-0.53533, "ay":0.89557, "alpha":5.03793, "fx":[19.25782,10.6944,-34.54768,-30.80812], "fy":[-4.99956,41.98581,34.07336,-11.83239]}, + {"t":4.66319, "x":7.69029, "y":0.69203, "heading":-3.03892, "vx":-1.72323, "vy":-1.01368, "omega":-1.34031, "ax":-1.891, "ay":3.41864, "alpha":3.57131, "fx":[-11.03296,-12.24308,-47.34274,-54.44027], "fy":[48.4316,75.13961,65.61704,36.899]}, + {"t":4.69023, "x":7.64299, "y":0.66586, "heading":-3.07517, "vx":-1.77438, "vy":-0.92121, "omega":-1.24372, "ax":-2.71214, "ay":5.83271, "alpha":1.16864, "fx":[-38.62001,-34.47673,-50.23117,-56.03595], "fy":[97.38252,102.05363,96.226,90.077]}, + {"t":4.71728, "x":7.594, "y":0.64308, "heading":-3.10881, "vx":-1.84773, "vy":-0.76345, "omega":-1.21211, "ax":-2.37506, "ay":6.69951, "alpha":0.49752, "fx":[-36.33016,-34.18391,-41.9899,-44.56768], "fy":[111.50751,112.70704,110.18581,108.66318]}, + {"t":4.74433, "x":7.54316, "y":0.62488, "heading":3.14159, "vx":-1.91197, "vy":-0.58225, "omega":-1.19865, "ax":-1.65909, "ay":6.95201, "alpha":0.54035, "fx":[-23.71202,-21.95828,-30.84052,-33.21083], "fy":[115.55154,116.40623,114.48103,113.3237]}, + {"t":4.78029, "x":7.47333, "y":0.60844, "heading":3.09849, "vx":-1.97163, "vy":-0.33227, "omega":-1.17922, "ax":-0.65489, "ay":5.61074, "alpha":2.48008, "fx":[7.39439,6.94114,-24.36781,-33.27833], "fy":[89.12168,99.08357,97.23115,85.62274]}, + {"t":4.81624, "x":7.40202, "y":0.60012, "heading":3.05609, "vx":-1.99518, "vy":-0.13053, "omega":-1.09005, "ax":-0.06959, "ay":1.29492, "alpha":6.74913, "fx":[31.59304,31.60695,-28.32324,-39.47924], "fy":[-12.48361,50.04808,54.16454,-6.09128]}, + {"t":4.8522, "x":7.33023, "y":0.59626, "heading":3.0169, "vx":-1.99768, "vy":-0.08397, "omega":-0.84737, "ax":-0.00667, "ay":0.16446, "alpha":6.46619, "fx":[26.69093,33.6552,-26.28554,-34.50171], "fy":[-31.41873,29.27159,36.67055,-23.64689]}, + {"t":4.88816, "x":7.2584, "y":0.59335, "heading":2.98643, "vx":-1.99792, "vy":-0.07805, "omega":-0.61486, "ax":-0.00077, "ay":0.01986, "alpha":5.84769, "fx":[23.00968,31.47572,-22.97463,-31.56186], "fy":[-31.201,23.3312,31.83568,-22.65239]}, + {"t":4.92411, "x":7.18656, "y":0.59055, "heading":2.96432, "vx":-1.99795, "vy":-0.07734, "omega":-0.4046, "ax":-0.00009, "ay":0.00231, "alpha":5.23842, "fx":[19.96855,28.67882,-19.96594,-28.68735], "fy":[-28.64601,20.00661,28.72015,-19.92787]}, + {"t":4.96007, "x":7.11472, "y":0.58777, "heading":2.94977, "vx":-1.99795, "vy":-0.07726, "omega":-0.21624, "ax":-0.00001, "ay":0.00026, "alpha":4.64629, "fx":[17.33829,25.69535,-17.33814,-25.69617], "fy":[-25.69157,17.34263,25.69996,-17.3338]}, + {"t":4.99603, "x":7.04288, "y":0.585, "heading":2.942, "vx":-1.99795, "vy":-0.07725, "omega":-0.04918, "ax":0.0, "ay":0.00003, "alpha":4.07332, "fx":[15.02451,22.64451,-15.0245,-22.64458], "fy":[-22.64408,15.02499,22.64501,-15.02402]}, + {"t":5.03198, "x":6.97104, "y":0.58222, "heading":2.94023, "vx":-1.99795, "vy":-0.07725, "omega":0.09728, "ax":0.0, "ay":0.0, "alpha":3.5207, "fx":[12.95152,19.59532,-12.95152,-19.59532], "fy":[-19.59527,12.95157,19.59537,-12.95147]}, + {"t":5.06794, "x":6.8992, "y":0.57944, "heading":2.94373, "vx":-1.99795, "vy":-0.07725, "omega":0.22388, "ax":0.0, "ay":0.0, "alpha":2.98867, "fx":[11.05247,16.59562,-11.05247,-16.59562], "fy":[-16.59561,11.05248,16.59562,-11.05246]}, + {"t":5.1039, "x":6.82736, "y":0.57666, "heading":2.95178, "vx":-1.99795, "vy":-0.07725, "omega":0.33134, "ax":0.0, "ay":0.0, "alpha":2.47652, "fx":[9.2689,13.67759,-9.2689,-13.67759], "fy":[-13.67759,9.2689,13.67759,-9.2689]}, + {"t":5.13985, "x":6.75552, "y":0.57389, "heading":2.96369, "vx":-1.99795, "vy":-0.07725, "omega":0.42039, "ax":0.0, "ay":0.0, "alpha":1.98268, "fx":[7.55054,10.86098,-7.55054,-10.86098], "fy":[-10.86098,7.55054,10.86099,-7.55053]}, + {"t":5.17581, "x":6.68368, "y":0.57111, "heading":2.97881, "vx":-1.99795, "vy":-0.07725, "omega":0.49168, "ax":0.0, "ay":0.0, "alpha":1.50474, "fx":[5.85434,8.15527,-5.85434,-8.15527], "fy":[-8.15527,5.85434,8.15528,-5.85433]}, + {"t":5.21177, "x":6.61184, "y":0.56833, "heading":2.99649, "vx":-1.99795, "vy":-0.07725, "omega":0.54578, "ax":0.0, "ay":0.0, "alpha":1.03965, "fx":[4.14383,5.56222,-4.14383,-5.56222], "fy":[-5.56218,4.14388,5.56226,-4.14379]}, + {"t":5.24772, "x":6.54, "y":0.56555, "heading":3.01611, "vx":-1.99795, "vy":-0.07725, "omega":0.58317, "ax":0.0, "ay":0.00003, "alpha":0.58382, "fx":[2.38783,3.07723,-2.38787,-3.07726], "fy":[-3.07683,2.38827,3.07767,-2.38743]}, + {"t":5.28368, "x":6.46816, "y":0.56278, "heading":3.03708, "vx":-1.99795, "vy":-0.07725, "omega":0.60416, "ax":-0.00001, "ay":0.00026, "alpha":0.13336, "fx":[0.55989,0.69116,-0.56022,-0.69148], "fy":[-0.68707,0.5643,0.69557,-0.55581]}, + {"t":5.31964, "x":6.39632, "y":0.56, "heading":3.0588, "vx":-1.99795, "vy":-0.07724, "omega":0.60895, "ax":-0.0001, "ay":0.00261, "alpha":-0.31588, "fx":[-1.36349,-1.60998,1.36019,1.60663], "fy":[1.65139,-1.31875,-1.56522,1.40493]}, + {"t":5.35559, "x":6.32448, "y":0.55722, "heading":3.0807, "vx":-1.99795, "vy":-0.07714, "omega":0.5976, "ax":-0.00101, "ay":0.02636, "alpha":-0.76803, "fx":[-3.41203,-3.85449,3.38003,3.81958], "fy":[4.27265,-2.96,-3.40122,3.83191]}, + {"t":5.39155, "x":6.25264, "y":0.55447, "heading":3.10219, "vx":-1.99799, "vy":-0.0762, "omega":0.56998, "ax":-0.00947, "ay":0.26507, "alpha":-1.22418, "fx":[-5.68733,-6.18143,5.41159,5.83067], "fy":[10.37064,-1.152,-1.60977,9.92145]}, + {"t":5.42751, "x":6.18079, "y":0.5519, "heading":3.12268, "vx":-1.99833, "vy":-0.06666, "omega":0.52596, "ax":-0.01678, "ay":2.39507, "alpha":-1.38778, "fx":[-7.10226,-7.8728,7.02812,6.83716], "fy":[45.57612,33.82621,33.60855,45.38426]}, + {"t":5.46346, "x":6.10893, "y":0.55105, "heading":3.14159, "vx":-1.99893, "vy":0.01945, "omega":0.47606, "ax":0.03828, "ay":1.69845, "alpha":-1.7122, "fx":[-7.62799,-8.08787,9.38979,8.85785], "fy":[35.76677,20.43196,20.40266,35.72343]}, + {"t":5.50978, "x":6.01638, "y":0.55377, "heading":-3.11954, "vx":-1.99716, "vy":0.09812, "omega":0.39676, "ax":0.00463, "ay":0.09222, "alpha":-1.64452, "fx":[-7.8402,-7.52141,8.01687,7.65089], "fy":[9.10998,-6.40227,-6.05821,9.44958]}, + {"t":5.5561, "x":5.92388, "y":0.55842, "heading":-3.10117, "vx":-1.99695, "vy":0.1024, "omega":0.32058, "ax":0.00024, "ay":0.00475, "alpha":-1.42783, "fx":[-6.99807,-6.4545,7.00704,6.46165], "fy":[6.53669,-6.92406,-6.37946,7.08104]}, + {"t":5.60242, "x":5.83139, "y":0.56316, "heading":-3.08632, "vx":-1.99694, "vy":0.10262, "omega":0.25445, "ax":0.00001, "ay":0.00024, "alpha":-1.23835, "fx":[-6.15555,-5.51007,6.156,5.51045], "fy":[5.5143,-6.15175,-5.50623,6.15981]}, + {"t":5.64874, "x":5.73889, "y":0.56792, "heading":-3.07453, "vx":-1.99694, "vy":0.10263, "omega":0.19709, "ax":0.0, "ay":0.00001, "alpha":-1.07311, "fx":[-5.3903,-4.71181,5.39033,4.71183], "fy":[4.71203,-5.39011,-4.71162,5.39052]}, + {"t":5.69506, "x":5.6464, "y":0.57267, "heading":-3.0654, "vx":-1.99694, "vy":0.10263, "omega":0.14739, "ax":0.0, "ay":0.0, "alpha":-0.92905, "fx":[-4.7037,-4.03649,4.7037,4.03649], "fy":[4.0365,-4.70369,-4.03648,4.70371]}, + {"t":5.74138, "x":5.5539, "y":0.57742, "heading":-3.05857, "vx":-1.99694, "vy":0.10263, "omega":0.10436, "ax":0.0, "ay":0.0, "alpha":-0.80341, "fx":[-4.09136,-3.46278,4.09136,3.46278], "fy":[3.46279,-4.09136,-3.46278,4.09136]}, + {"t":5.78769, "x":5.46141, "y":0.58218, "heading":-3.05374, "vx":-1.99694, "vy":0.10263, "omega":0.06714, "ax":0.0, "ay":0.0, "alpha":-0.69379, "fx":[-3.54753,-2.9732,3.54753,2.9732], "fy":[2.9732,-3.54753,-2.9732,3.54753]}, + {"t":5.83401, "x":5.36891, "y":0.58693, "heading":-3.05063, "vx":-1.99694, "vy":0.10263, "omega":0.03501, "ax":0.0, "ay":0.0, "alpha":-0.59805, "fx":[-3.06594,-2.55338,3.06594,2.55338], "fy":[2.55338,-3.06594,-2.55338,3.06594]}, + {"t":5.88033, "x":5.27642, "y":0.59168, "heading":-3.04901, "vx":-1.99694, "vy":0.10263, "omega":0.00731, "ax":0.0, "ay":0.0, "alpha":-0.51431, "fx":[-2.64019,-2.19157,2.64019,2.19157], "fy":[2.19157,-2.64019,-2.19157,2.64019]}, + {"t":5.92665, "x":5.18392, "y":0.59644, "heading":-3.04867, "vx":-1.99694, "vy":0.10263, "omega":-0.01652, "ax":0.0, "ay":0.0, "alpha":-0.44091, "fx":[-2.26405,-1.87805,2.26405,1.87805], "fy":[1.87805,-2.26405,-1.87805,2.26405]}, + {"t":5.97297, "x":5.09143, "y":0.60119, "heading":-3.04944, "vx":-1.99694, "vy":0.10263, "omega":-0.03694, "ax":0.0, "ay":0.0, "alpha":-0.3764, "fx":[-1.93156,-1.60474,1.93156,1.60474], "fy":[1.60474,-1.93156,-1.60474,1.93156]}, + {"t":6.01929, "x":4.99893, "y":0.60594, "heading":-3.05115, "vx":-1.99694, "vy":0.10263, "omega":-0.05437, "ax":0.0, "ay":0.0, "alpha":-0.31949, "fx":[-1.63716,-1.3649,1.63716,1.3649], "fy":[1.3649,-1.63716,-1.3649,1.63716]}, + {"t":6.0656, "x":4.90644, "y":0.6107, "heading":-3.05367, "vx":-1.99694, "vy":0.10263, "omega":-0.06917, "ax":0.0, "ay":0.0, "alpha":-0.26903, "fx":[-1.3757,-1.1528,1.3757,1.1528], "fy":[1.1528,-1.3757,-1.1528,1.3757]}, + {"t":6.11192, "x":4.81394, "y":0.61545, "heading":-3.05687, "vx":-1.99694, "vy":0.10263, "omega":-0.08163, "ax":0.0, "ay":0.0, "alpha":-0.22401, "fx":[-1.14243,-0.96357,1.14243,0.96357], "fy":[0.96357,-1.14243,-0.96357,1.14243]}, + {"t":6.15824, "x":4.72145, "y":0.62021, "heading":-3.06065, "vx":-1.99694, "vy":0.10263, "omega":-0.09201, "ax":0.0, "ay":0.0, "alpha":-0.18353, "fx":[-0.93299,-0.79298,0.93299,0.79298], "fy":[0.79298,-0.93299,-0.79298,0.93299]}, + {"t":6.20456, "x":4.62895, "y":0.62496, "heading":-3.06491, "vx":-1.99694, "vy":0.10263, "omega":-0.10051, "ax":0.0, "ay":0.0, "alpha":-0.14677, "fx":[-0.7434,-0.63732,0.7434,0.63732], "fy":[0.63732,-0.7434,-0.63732,0.7434]}, + {"t":6.25088, "x":4.53646, "y":0.62971, "heading":-3.06957, "vx":-1.99694, "vy":0.10263, "omega":-0.10731, "ax":0.0, "ay":0.0, "alpha":-0.11298, "fx":[-0.56998,-0.49326,0.56998,0.49326], "fy":[0.49326,-0.56998,-0.49326,0.56998]}, + {"t":6.2972, "x":4.44396, "y":0.63447, "heading":-3.07454, "vx":-1.99694, "vy":0.10263, "omega":-0.11254, "ax":0.0, "ay":0.0, "alpha":-0.08149, "fx":[-0.40931,-0.3578,0.40931,0.3578], "fy":[0.3578,-0.40931,-0.3578,0.40931]}, + {"t":6.34351, "x":4.35147, "y":0.63922, "heading":-3.07975, "vx":-1.99694, "vy":0.10263, "omega":-0.11631, "ax":0.0, "ay":0.0, "alpha":-0.05164, "fx":[-0.25822,-0.22811,0.25822,0.22811], "fy":[0.22811,-0.25822,-0.22811,0.25822]}, + {"t":6.38983, "x":4.25897, "y":0.64397, "heading":-3.08514, "vx":-1.99694, "vy":0.10263, "omega":-0.11871, "ax":0.0, "ay":0.0, "alpha":-0.02285, "fx":[-0.11369,-0.10153,0.11369,0.10153], "fy":[0.10153,-0.11369,-0.10153,0.11369]}, + {"t":6.43615, "x":4.16648, "y":0.64873, "heading":-3.09064, "vx":-1.99694, "vy":0.10263, "omega":-0.11976, "ax":0.0, "ay":0.0, "alpha":0.00548, "fx":[0.02716,0.02452,-0.02716,-0.02452], "fy":[-0.02452,0.02716,0.02452,-0.02716]}, + {"t":6.48247, "x":4.07398, "y":0.65348, "heading":-3.09618, "vx":-1.99694, "vy":0.10263, "omega":-0.11951, "ax":0.0, "ay":0.0, "alpha":0.03393, "fx":[0.16716,0.15263,-0.16716,-0.15263], "fy":[-0.15263,0.16716,0.15263,-0.16716]}, + {"t":6.52879, "x":3.98149, "y":0.65823, "heading":-3.10172, "vx":-1.99694, "vy":0.10263, "omega":-0.11794, "ax":0.0, "ay":0.0, "alpha":0.06306, "fx":[0.30911,0.28539,-0.30911,-0.28539], "fy":[-0.28539,0.30911,0.28539,-0.30911]}, + {"t":6.57511, "x":3.889, "y":0.66299, "heading":-3.10718, "vx":-1.99694, "vy":0.10263, "omega":-0.11502, "ax":0.0, "ay":0.0, "alpha":0.09347, "fx":[0.45586,0.42552,-0.45586,-0.42552], "fy":[-0.42552,0.45586,0.42552,-0.45586]}, + {"t":6.62142, "x":3.7965, "y":0.66774, "heading":-3.11251, "vx":-1.99694, "vy":0.10263, "omega":-0.11069, "ax":0.0, "ay":0.0, "alpha":0.12578, "fx":[0.61037,0.57586,-0.61037,-0.57586], "fy":[-0.57586,0.61037,0.57586,-0.61037]}, + {"t":6.66774, "x":3.70401, "y":0.67249, "heading":-3.11764, "vx":-1.99694, "vy":0.10263, "omega":-0.10486, "ax":0.0, "ay":0.0, "alpha":0.16064, "fx":[0.77574,0.73943,-0.77574,-0.73943], "fy":[-0.73943,0.77574,0.73943,-0.77574]}, + {"t":6.71406, "x":3.61151, "y":0.67725, "heading":-3.12249, "vx":-1.99694, "vy":0.10263, "omega":-0.09742, "ax":0.0, "ay":0.0, "alpha":0.19875, "fx":[0.95533,0.91952,-0.95533,-0.91952], "fy":[-0.91952,0.95533,0.91952,-0.95533]}, + {"t":6.76038, "x":3.51902, "y":0.682, "heading":-3.12701, "vx":-1.99694, "vy":0.10263, "omega":-0.08822, "ax":0.0, "ay":0.0, "alpha":0.24088, "fx":[1.15284,1.11969,-1.15284,-1.11969], "fy":[-1.11969,1.15284,1.11969,-1.15284]}, + {"t":6.8067, "x":3.42652, "y":0.68676, "heading":-3.13109, "vx":-1.99694, "vy":0.10263, "omega":-0.07706, "ax":0.0, "ay":0.0, "alpha":0.2879, "fx":[1.37236,1.34383,-1.37236,-1.34383], "fy":[-1.34383,1.37236,1.34383,-1.37236]}, + {"t":6.85302, "x":3.33403, "y":0.69151, "heading":-3.13466, "vx":-1.99694, "vy":0.10263, "omega":-0.06372, "ax":0.0, "ay":0.0, "alpha":0.34073, "fx":[1.61852,1.59624,-1.61852,-1.59624], "fy":[-1.59624,1.61852,1.59624,-1.61852]}, + {"t":6.89933, "x":3.24153, "y":0.69626, "heading":-3.13761, "vx":-1.99694, "vy":0.10263, "omega":-0.04794, "ax":0.0, "ay":0.0, "alpha":0.40045, "fx":[1.89664,1.8816,-1.89664,-1.8816], "fy":[-1.8816,1.89664,1.8816,-1.89664]}, + {"t":6.94565, "x":3.14904, "y":0.70102, "heading":-3.13983, "vx":-1.99694, "vy":0.10263, "omega":-0.02939, "ax":0.00015, "ay":-0.00001, "alpha":0.46825, "fx":[2.21538,2.2076,-2.21032,-2.20255], "fy":[-2.2052,2.21272,2.20495,-2.21298]}, + {"t":6.99197, "x":3.05654, "y":0.70577, "heading":-3.14119, "vx":-1.99693, "vy":0.10263, "omega":-0.00771, "ax":5.58107, "ay":-0.28683, "alpha":0.15831, "fx":[92.57104,92.65364,91.97904,91.89363], "fy":[-5.84506,-3.55423,-3.61894,-5.95066]}, + {"t":7.03829, "x":2.97003, "y":0.71022, "heading":-3.14155, "vx":-1.73842, "vy":0.08934, "omega":-0.00037, "ax":7.48673, "ay":-0.38476, "alpha":0.00304, "fx":[123.78019,123.7831,123.78268,123.77976], "fy":[-6.38845,-6.33156,-6.33446,-6.39137]}, + {"t":7.08461, "x":2.89754, "y":0.71394, "heading":-3.14157, "vx":-1.39165, "vy":0.07152, "omega":-0.00023, "ax":7.50477, "ay":-0.38569, "alpha":0.00173, "fx":[124.07889,124.08056,124.08039,124.07873], "fy":[-6.39217,-6.35974,-6.3614,-6.39384]}, + {"t":7.13093, "x":2.84114, "y":0.71684, "heading":-3.14158, "vx":-1.04404, "vy":0.05366, "omega":-0.00015, "ax":7.51085, "ay":-0.386, "alpha":0.00129, "fx":[124.17966,124.1809,124.1808,124.17956], "fy":[-6.39342,-6.36925,-6.37049,-6.39466]}, + {"t":7.17725, "x":2.80083, "y":0.71891, "heading":-3.14159, "vx":-0.69615, "vy":0.03578, "omega":-0.00009, "ax":7.51391, "ay":-0.38616, "alpha":0.00106, "fx":[124.23027,124.2313,124.23122,124.23019], "fy":[-6.39404,-6.37403,-6.37506,-6.39507]}, + {"t":7.22356, "x":2.77665, "y":0.72015, "heading":-3.14159, "vx":-0.34812, "vy":0.01789, "omega":-0.00004, "ax":7.51574, "ay":-0.38625, "alpha":0.00093, "fx":[124.2607,124.2616,124.26154,124.26064], "fy":[-6.39442,-6.37691,-6.3778,-6.39532]}, + {"t":7.26988, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index e522c47d..22bcd393 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -125,12 +125,15 @@ public enum Path { RRtoIR("RR", "FR", Action.INTAKE), PRtoIR("PR", "FR", Action.INTAKE), PLtoIL("PL", "FL", Action.INTAKE), + FRtoSRT("FR", "SRT", Action.INTAKE), + // SCORE DtoRL("D", "RL", Action.SCORE), OtoRR("O", "RR", Action.NOTHING), DtoS("D", "S", Action.SCORE), OtoS("O", "S", Action.SCORE), PMtoM("PM", "M", Action.SCORE), + SRTtoO("SRT", "O", Action.SCORE), // FLOW MLtoD("ML", "D", Action.FLOW), // CLIMB @@ -684,6 +687,12 @@ public Command getCenterScoreAuto() { return routine.cmd(); } + public Command getNeutralOutpostScore() { + final AutoRoutine routine = factory.newRoutine("Neutral Outpost Score"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {}; + } + public Command getTestAuto() { final AutoRoutine routine = factory.newRoutine("test auto"); Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST}; From 4c8d50c960ea038aba3faac9881b6ffd5c215681 Mon Sep 17 00:00:00 2001 From: ronansoergel9 Date: Sat, 21 Mar 2026 10:23:21 -0700 Subject: [PATCH 03/11] Added 2 Autos --- src/main/deploy/choreo/FRtoFRM.traj | 3 +- src/main/deploy/choreo/MRtoSRT.traj | 69 ++++++++++++++++++++++ src/main/deploy/choreo/SRTtoO.traj | 92 ++++++++++++++--------------- src/main/java/frc/robot/Autos.java | 38 ++++++++++-- 4 files changed, 151 insertions(+), 51 deletions(-) create mode 100644 src/main/deploy/choreo/MRtoSRT.traj diff --git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index 35a3f4d2..ae91c6b2 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -20,7 +20,8 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":false}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 diff --git a/src/main/deploy/choreo/MRtoSRT.traj b/src/main/deploy/choreo/MRtoSRT.traj new file mode 100644 index 00000000..4bf12cd1 --- /dev/null +++ b/src/main/deploy/choreo/MRtoSRT.traj @@ -0,0 +1,69 @@ +{ + "name":"MRtoSRT", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.54895], + "samples":[ + {"t":0.0, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.51399, "ay":0.43334, "alpha":0.0, "fx":[-124.23209,-124.23209,-124.23209,-124.23209], "fy":[7.1646,7.1646,7.1646,7.1646]}, + {"t":0.0499, "x":3.32031, "y":0.68875, "heading":3.14159, "vx":-0.37499, "vy":0.02163, "omega":0.0, "ax":-7.51235, "ay":0.43324, "alpha":0.0, "fx":[-124.20496,-124.20496,-124.20496,-124.20496], "fy":[7.16303,7.16303,7.16303,7.16303]}, + {"t":0.09981, "x":3.29224, "y":0.69037, "heading":3.14159, "vx":-0.74989, "vy":0.04325, "omega":0.0, "ax":-7.50961, "ay":0.43309, "alpha":0.0, "fx":[-124.15975,-124.15975,-124.15975,-124.15975], "fy":[7.16042,7.16042,7.16042,7.16042]}, + {"t":0.14971, "x":3.24547, "y":0.69307, "heading":3.14159, "vx":-1.12466, "vy":0.06486, "omega":0.0, "ax":-7.50415, "ay":0.43277, "alpha":0.0, "fx":[-124.06938,-124.06938,-124.06938,-124.06938], "fy":[7.15521,7.15521,7.15521,7.15521]}, + {"t":0.19962, "x":3.18, "y":0.69684, "heading":3.14159, "vx":-1.49915, "vy":0.08646, "omega":0.0, "ax":-7.48777, "ay":0.43183, "alpha":0.0, "fx":[-123.79865,-123.79865,-123.79865,-123.79865], "fy":[7.1396,7.1396,7.1396,7.1396]}, + {"t":0.24952, "x":3.09586, "y":0.70169, "heading":3.14159, "vx":-1.87283, "vy":0.10801, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.29943, "x":3.0024, "y":0.70708, "heading":3.14159, "vx":-1.87283, "vy":0.10801, "omega":0.0, "ax":7.48777, "ay":-0.43183, "alpha":0.0, "fx":[123.79865,123.79865,123.79865,123.79865], "fy":[-7.1396,-7.1396,-7.1396,-7.1396]}, + {"t":0.34933, "x":2.91826, "y":0.71194, "heading":3.14159, "vx":-1.49915, "vy":0.08646, "omega":0.0, "ax":7.50415, "ay":-0.43277, "alpha":0.0, "fx":[124.06938,124.06938,124.06938,124.06938], "fy":[-7.15521,-7.15521,-7.15521,-7.15521]}, + {"t":0.39924, "x":2.85279, "y":0.71571, "heading":3.14159, "vx":-1.12466, "vy":0.06486, "omega":0.0, "ax":7.50961, "ay":-0.43309, "alpha":0.0, "fx":[124.15975,124.15975,124.15975,124.15975], "fy":[-7.16042,-7.16042,-7.16042,-7.16042]}, + {"t":0.44914, "x":2.80601, "y":0.71841, "heading":3.14159, "vx":-0.74989, "vy":0.04325, "omega":0.0, "ax":7.51235, "ay":-0.43324, "alpha":0.0, "fx":[124.20496,124.20496,124.20496,124.20496], "fy":[-7.16303,-7.16303,-7.16303,-7.16303]}, + {"t":0.49905, "x":2.77794, "y":0.72003, "heading":3.14159, "vx":-0.37499, "vy":0.02163, "omega":0.0, "ax":7.51399, "ay":-0.43334, "alpha":0.0, "fx":[124.23209,124.23209,124.23209,124.23209], "fy":[-7.1646,-7.1646,-7.1646,-7.1646]}, + {"t":0.54895, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/SRTtoO.traj b/src/main/deploy/choreo/SRTtoO.traj index 31b1c7ae..60cfa7b4 100644 --- a/src/main/deploy/choreo/SRTtoO.traj +++ b/src/main/deploy/choreo/SRTtoO.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.5460254549980164, "y":0.6156588196754456, "heading":1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.6444171071052551, "y":0.6268262267112732, "heading":1.5707963267948966, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.768587827682495 m", "val":2.768587827682495}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.5460254549980164 m", "val":0.5460254549980164}, "y":{"exp":"0.6156588196754456 m", "val":0.6156588196754456}, "heading":{"exp":"3.141592653589793 / 2 rad", "val":1.5707963267948966}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.768587827682495 m", "val":2.768587827682495}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.6444171071052551 m", "val":0.6444171071052551}, "y":{"exp":"0.6268262267112732 m", "val":0.6268262267112732}, "heading":{"exp":"3.141592653589793 / 2 rad", "val":1.5707963267948966}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.4355199635028839 m", "val":0.4355199635028839}, "y":{"exp":"0.5460934042930603 m", "val":0.5460934042930603}, "heading":{"exp":"3.141592653589793 / 2 rad", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -51,49 +51,49 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.06393,1.25241], + "waypoints":[0.0,1.00355,1.24899], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.81459, "ay":0.16179, "alpha":-9.68614, "fx":[-115.98482,-117.94554,-78.74633,-71.86391], "fy":[45.06405,-39.64354,-96.12542,101.40444]}, - {"t":0.03129, "x":2.76574, "y":0.72065, "heading":3.14159, "vx":-0.18195, "vy":0.00506, "omega":-0.3031, "ax":-5.83275, "ay":0.16321, "alpha":-9.62649, "fx":[-116.02154,-117.97985,-79.32107,-72.41951], "fy":[44.94014,-39.50746,-95.6185,100.97955]}, - {"t":0.06258, "x":2.75719, "y":0.72089, "heading":3.13211, "vx":-0.36447, "vy":0.01017, "omega":-0.60433, "ax":-5.85248, "ay":0.18221, "alpha":-9.56074, "fx":[-115.87851,-118.17981,-80.08196,-72.90633], "fy":[45.27205,-38.86479,-94.94703,100.5901]}, - {"t":0.09388, "x":2.74292, "y":0.72129, "heading":3.1132, "vx":-0.54761, "vy":0.01587, "omega":-0.90351, "ax":-5.87559, "ay":0.21806, "alpha":-9.48131, "fx":[-115.55917,-118.53697,-81.06339,-73.41534], "fy":[46.03744,-37.71148,-94.07232,100.16756]}, - {"t":0.12517, "x":2.72291, "y":0.7219, "heading":3.08492, "vx":-0.73147, "vy":0.0227, "omega":-1.2002, "ax":-5.90514, "ay":0.26965, "alpha":-9.37495, "fx":[-115.06632,-119.03674,-82.32859,-74.09729], "fy":[47.20155,-36.03854,-92.92375,99.59392]}, - {"t":0.15646, "x":2.69713, "y":0.72274, "heading":3.04737, "vx":-0.91625, "vy":0.03113, "omega":-1.49356, "ax":-5.94591, "ay":0.33499, "alpha":-9.22098, "fx":[-114.40641,-119.6578,-83.96658,-75.19491], "fy":[48.71034,-33.83216,-91.39421,98.66989]}, - {"t":0.18775, "x":2.66555, "y":0.72388, "heading":3.00063, "vx":-1.10231, "vy":0.04162, "omega":-1.7821, "ax":-6.00538, "ay":0.41015, "alpha":-8.98782, "fx":[-113.59782,-120.37104,-86.09215,-77.09763], "fy":[50.47681,-31.07342,-89.32741,97.04891]}, - {"t":0.21904, "x":2.62811, "y":0.72538, "heading":2.94487, "vx":-1.29023, "vy":0.05445, "omega":-2.06335, "ax":-6.09537, "ay":0.48728, "alpha":-8.62623, "fx":[-112.68793,-121.13799,-88.85702,-80.42717], "fy":[52.3518,-27.73637,-86.48284,94.09324]}, - {"t":0.25034, "x":2.58475, "y":0.72732, "heading":2.8803, "vx":-1.48097, "vy":0.0697, "omega":-2.33329, "ax":-6.2347, "ay":0.55017, "alpha":-8.05715, "fx":[-111.79247,-121.90802,-92.49029,-86.13334], "fy":[54.05205,-23.77988,-82.43813,88.55104]}, - {"t":0.28163, "x":2.53536, "y":0.72977, "heading":2.80729, "vx":-1.67607, "vy":0.08691, "omega":-2.58541, "ax":-6.45094, "ay":0.5658, "alpha":-7.15301, "fx":[-111.20358,-122.6107,-97.42246,-95.38806], "fy":[54.94196,-19.11662,-76.28159,77.87445]}, - {"t":0.31292, "x":2.47975, "y":0.73277, "heading":2.72638, "vx":-1.87793, "vy":0.10462, "omega":-2.80924, "ax":-6.77166, "ay":0.47944, "alpha":-5.71517, "fx":[-111.76792,-123.12332,-104.68401,-108.26044], "fy":[53.1262,-13.46912,-65.35608,57.4065]}, - {"t":0.34421, "x":2.41767, "y":0.73628, "heading":2.63848, "vx":-2.08983, "vy":0.11962, "omega":-2.98808, "ax":-7.19661, "ay":0.2998, "alpha":-3.14731, "fx":[-116.63787,-122.99029,-116.80575,-119.50522], "fy":[38.68431,-5.23127,-37.0269,23.4006]}, - {"t":0.37551, "x":2.34875, "y":0.74017, "heading":2.54497, "vx":-2.31503, "vy":0.129, "omega":-3.08657, "ax":-4.32371, "ay":1.03603, "alpha":11.61694, "fx":[-75.16959,1.4578,-91.61667,-120.61477], "fy":[-92.52778,94.35884,77.73966,-11.05424]}, - {"t":0.4068, "x":2.2742, "y":0.74471, "heading":2.44839, "vx":-2.45032, "vy":0.16142, "omega":-2.72305, "ax":-4.18803, "ay":-0.03356, "alpha":11.31884, "fx":[-76.45186,10.07544,-90.343,-120.25093], "fy":[-91.21503,21.16512,77.65649,-9.826]}, - {"t":0.43809, "x":2.19547, "y":0.74975, "heading":2.36318, "vx":-2.58138, "vy":0.16037, "omega":-2.36886, "ax":-4.2693, "ay":-0.9589, "alpha":10.90249, "fx":[-79.86281,4.18725,-86.79806,-119.87106], "fy":[-87.36203,-50.64691,79.80378,-5.21029]}, - {"t":0.46938, "x":2.1126, "y":0.7543, "heading":2.28905, "vx":-2.71497, "vy":0.13037, "omega":-2.0277, "ax":-4.31341, "ay":-0.94046, "alpha":10.74378, "fx":[-83.37541,-1.02495,-81.85819,-119.00339], "fy":[-82.40076,-63.01784,82.59952,0.6231]}, - {"t":0.50067, "x":2.02553, "y":0.75792, "heading":2.2256, "vx":-2.84995, "vy":0.10094, "omega":-1.6915, "ax":-4.27179, "ay":-0.6792, "alpha":10.62317, "fx":[-86.09002,-3.31635,-75.80498,-117.29823], "fy":[-76.75735,-59.97653,85.0763,6.73962]}, - {"t":0.53197, "x":1.93426, "y":0.76074, "heading":2.17267, "vx":-2.98362, "vy":0.07968, "omega":-1.35908, "ax":-4.13371, "ay":-0.32584, "alpha":10.40681, "fx":[-87.1082,-3.25686,-68.75162,-114.26094], "fy":[-70.51398,-49.46834,86.05996,12.37347]}, - {"t":0.56326, "x":1.83887, "y":0.76308, "heading":2.13014, "vx":-3.11297, "vy":0.06949, "omega":-1.03343, "ax":-3.85772, "ay":0.02804, "alpha":9.88718, "fx":[-84.58479,-1.71523,-60.25063,-108.57518], "fy":[-63.2133,-34.72193,83.29204,16.49748]}, - {"t":0.59455, "x":1.73957, "y":0.76526, "heading":2.0978, "vx":-3.23369, "vy":0.07037, "omega":-0.72404, "ax":-3.21672, "ay":0.18102, "alpha":8.37228, "fx":[-71.60403,-0.09976,-46.83266,-94.1975], "fy":[-52.13123,-20.64795,68.59477,16.15592]}, - {"t":0.62584, "x":1.63681, "y":0.76755, "heading":2.07514, "vx":-3.33435, "vy":0.07603, "omega":-0.46205, "ax":-0.12135, "ay":-0.86338, "alpha":0.19143, "fx":[-2.35991,-0.76271,-1.65136,-3.25104], "fy":[-15.48323,-14.63013,-13.06331,-13.92171]}, - {"t":0.65713, "x":1.53241, "y":0.76951, "heading":2.06069, "vx":-3.33814, "vy":0.04901, "omega":-0.45606, "ax":2.91192, "ay":-1.80173, "alpha":-7.94573, "fx":[77.34106,-6.28269,33.93975,87.57787], "fy":[27.96426,-25.82113,-82.73415,-38.56446]}, - {"t":0.68843, "x":1.42938, "y":0.77016, "heading":2.04642, "vx":-3.24702, "vy":-0.00737, "omega":-0.7047, "ax":3.38216, "ay":-2.36494, "alpha":-9.37086, "fx":[96.23304,-11.98713,39.297,100.13235], "fy":[33.98833,-46.53186,-98.67072,-45.18781]}, - {"t":0.71972, "x":1.32943, "y":0.76877, "heading":2.02436, "vx":-3.14119, "vy":-0.08137, "omega":-0.99793, "ax":3.43036, "ay":-2.94841, "alpha":-9.78287, "fx":[104.88904,-18.67426,37.90235,102.7455], "fy":[31.17506,-68.30401,-106.18728,-51.67305]}, - {"t":0.75101, "x":1.23281, "y":0.76478, "heading":1.99314, "vx":-3.03385, "vy":-0.17363, "omega":-1.30406, "ax":3.32158, "ay":-3.47597, "alpha":-9.92545, "fx":[110.52435,-26.05928,33.39488,101.80888], "fy":[24.47427,-84.13468,-111.26785,-58.95059]}, - {"t":0.7823, "x":1.1395, "y":0.75765, "heading":1.95233, "vx":-2.92991, "vy":-0.2824, "omega":-1.61465, "ax":3.12315, "ay":-3.92541, "alpha":-9.96845, "fx":[114.48558,-33.76721,27.00511,98.82198], "fy":[15.5293,-93.26214,-115.12495,-66.74417]}, - {"t":0.81359, "x":1.04935, "y":0.74689, "heading":1.9018, "vx":-2.83218, "vy":-0.40524, "omega":-1.92658, "ax":6.84907, "ay":-2.43575, "alpha":1.44483, "fx":[106.19835,113.76183,118.85263,114.14197], "fy":[-57.81706,-42.4265,-22.89431,-37.94777]}, - {"t":0.84489, "x":0.96408, "y":0.73302, "heading":1.84152, "vx":-2.61785, "vy":-0.48146, "omega":-1.88137, "ax":6.7983, "ay":-0.9234, "alpha":5.2357, "fx":[92.14982,118.59139,119.71647,119.13964], "fy":[-81.51633,-34.79482,30.01518,25.2283]}, - {"t":0.87618, "x":0.88549, "y":0.7175, "heading":1.78264, "vx":-2.40512, "vy":-0.51035, "omega":-1.71754, "ax":6.55264, "ay":-0.46927, "alpha":6.71407, "fx":[86.94386,118.6755,118.20055,109.5309], "fy":[-87.7974,-35.87801,37.15361,55.48721]}, - {"t":0.90747, "x":0.81344, "y":0.7013, "heading":1.7289, "vx":-2.20008, "vy":-0.52504, "omega":-1.50744, "ax":6.38118, "ay":-0.3141, "alpha":7.53603, "fx":[83.94947,118.23644,117.97576,101.84966], "fy":[-90.99016,-37.83551,38.50222,69.55077]}, - {"t":0.93876, "x":0.74772, "y":0.68472, "heading":1.68173, "vx":-2.0004, "vy":-0.53487, "omega":-1.27162, "ax":6.27067, "ay":-0.26806, "alpha":8.02517, "fx":[81.94954,117.67995,118.1645,96.90904], "fy":[-92.97729,-39.81104,38.26584,76.79492]}, - {"t":0.97006, "x":0.68819, "y":0.66785, "heading":1.64194, "vx":-1.80417, "vy":-0.54325, "omega":-1.0205, "ax":6.1988, "ay":-0.26405, "alpha":8.32959, "fx":[80.54863,117.13297,118.46286,93.80521], "fy":[-94.31106,-41.56145,37.5513,80.85877]}, - {"t":1.00135, "x":0.63477, "y":0.65072, "heading":1.61, "vx":-1.6102, "vy":-0.55152, "omega":-0.75984, "ax":6.15113, "ay":-0.27442, "alpha":8.52476, "fx":[79.56018,116.65715,118.75021,91.82987], "fy":[-95.23033,-42.99173,36.78421,83.28923]}, - {"t":1.03264, "x":0.58739, "y":0.63333, "heading":1.58623, "vx":-1.41772, "vy":-0.5601, "omega":-0.49309, "ax":6.11897, "ay":-0.28629, "alpha":8.6528, "fx":[78.87168,116.28914,118.9737,90.53614], "fy":[-95.866,-44.05856,36.16573,84.82559]}, - {"t":1.06393, "x":0.54603, "y":0.61566, "heading":1.5708, "vx":-1.22624, "vy":-0.56906, "omega":-0.22232, "ax":6.91997, "ay":0.27557, "alpha":5.45885, "fx":[111.64745,121.15431,119.28987,105.55237], "fy":[-54.29668,-27.9781,35.09773,65.40161]}, - {"t":1.09534, "x":0.51092, "y":0.59792, "heading":1.56381, "vx":-1.00887, "vy":-0.56041, "omega":-0.05084, "ax":7.11872, "ay":1.71898, "alpha":3.02891, "fx":[124.15908,124.31605,116.16779,106.14514], "fy":[3.11343,1.64496,44.33909,64.58546]}, - {"t":1.12676, "x":0.48274, "y":0.58116, "heading":1.56222, "vx":-0.78525, "vy":-0.50641, "omega":0.0443, "ax":6.88415, "ay":2.92742, "alpha":1.32709, "fx":[117.06057,119.57583,112.06602,106.57253], "fy":[41.72856,34.03241,53.86427,63.97601]}, - {"t":1.15817, "x":0.46147, "y":0.5667, "heading":1.56361, "vx":-0.56899, "vy":-0.41445, "omega":0.08599, "ax":6.47742, "ay":3.82069, "alpha":0.03258, "fx":[107.14748,107.30764,107.04164,106.87962], "fy":[63.07781,62.80675,63.26006,63.53168]}, - {"t":1.18958, "x":0.44679, "y":0.55557, "heading":1.56631, "vx":-0.36552, "vy":-0.29443, "omega":0.08701, "ax":6.03029, "ay":4.45997, "alpha":-0.99172, "fx":[98.96285,91.52462,101.21711,107.10099], "fy":[75.33964,84.19042,72.21376,63.2105]}, - {"t":1.221, "x":0.43829, "y":0.54852, "heading":1.56904, "vx":-0.17609, "vy":-0.15433, "omega":0.05586, "ax":5.60571, "ay":4.91293, "alpha":-1.77828, "fx":[92.69477,76.02166,94.74687,107.26351], "fy":[82.97345,98.44339,80.5179,62.9755]}, - {"t":1.25241, "x":0.43552, "y":0.54609, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.6196, "ay":0.11102, "alpha":-10.27613, "fx":[-115.77113,-117.26016,-71.78687,-66.82698], "fy":[45.59931,-41.61638,-101.41595,104.7749]}, + {"t":0.03041, "x":2.76599, "y":0.72062, "heading":3.14159, "vx":-0.1709, "vy":0.00338, "omega":-0.3125, "ax":-5.63207, "ay":0.11132, "alpha":-10.23623, "fx":[-115.79493,-117.27746,-72.17734,-67.22039], "fy":[45.50924,-41.5348,-101.10601,104.49358]}, + {"t":0.06082, "x":2.75819, "y":0.72077, "heading":3.13209, "vx":-0.34217, "vy":0.00676, "omega":-0.62379, "ax":-5.64561, "ay":0.1309, "alpha":-10.19216, "fx":[-115.62709,-117.47293,-72.81977,-67.44567], "fy":[45.89814,-40.93971,-100.61024,104.30898]}, + {"t":0.09123, "x":2.74517, "y":0.72104, "heading":3.11312, "vx":-0.51386, "vy":0.01074, "omega":-0.93375, "ax":-5.66164, "ay":0.16926, "alpha":-10.13779, "fx":[-115.26794,-117.83853,-73.74252,-67.57674], "fy":[46.74896,-39.82724,-99.89916,104.17127]}, + {"t":0.12164, "x":2.72693, "y":0.72144, "heading":3.08472, "vx":-0.68603, "vy":0.01589, "omega":-1.24204, "ax":-5.68262, "ay":0.22559, "alpha":-10.0622, "fx":[-114.71551,-118.35973,-74.99772,-67.7403], "fy":[48.03439,-38.18915,-98.91899,103.99297]}, + {"t":0.15205, "x":2.70344, "y":0.72203, "heading":3.04695, "vx":-0.85884, "vy":0.02275, "omega":-1.54804, "ax":-5.7125, "ay":0.29841, "alpha":-9.94809, "fx":[-113.9688,-119.01478,-76.65769,-68.1481], "fy":[49.71161,-36.01339,-97.58897,103.62549]}, + {"t":0.18246, "x":2.67468, "y":0.72286, "heading":2.99987, "vx":-1.03257, "vy":0.03182, "omega":-1.85057, "ax":-5.75771, "ay":0.38471, "alpha":-9.76859, "fx":[-113.03432,-119.77369,-78.81353,-69.15754], "fy":[51.71193,-33.2848,-95.79327,102.80844]}, + {"t":0.21287, "x":2.64061, "y":0.72401, "heading":2.9436, "vx":-1.20766, "vy":0.04352, "omega":-2.14764, "ax":-5.82914, "ay":0.47822, "alpha":-9.48046, "fx":[-111.93936,-120.59658,-81.5823,-71.38481], "fy":[53.91925,-29.98536,-93.35885,101.05137]}, + {"t":0.24329, "x":2.60119, "y":0.72555, "heading":2.87829, "vx":-1.38493, "vy":0.05807, "omega":-2.43595, "ax":-5.94609, "ay":0.56501, "alpha":-9.00974, "fx":[-110.76268,-121.43074,-85.13771,-75.90635], "fy":[56.11824,-26.09253,-89.99395,97.33418]}, + {"t":0.2737, "x":2.55633, "y":0.72758, "heading":2.80421, "vx":-1.56575, "vy":0.07525, "omega":-2.70994, "ax":-6.14268, "ay":0.61209, "alpha":-8.22362, "fx":[-109.71787,-122.20344,-89.80998,-84.50749], "fy":[57.84216,-21.56881,-85.09692,89.30308]}, + {"t":0.30411, "x":2.50587, "y":0.73015, "heading":2.7218, "vx":-1.75256, "vy":0.09386, "omega":-2.96002, "ax":-6.46863, "ay":0.54176, "alpha":-6.8933, "fx":[-109.44665,-122.79357,-96.4454,-99.1095], "fy":[57.76705,-16.3087,-76.9877,71.35794]}, + {"t":0.33452, "x":2.44958, "y":0.73326, "heading":2.63178, "vx":-1.94927, "vy":0.11034, "omega":-3.16965, "ax":-6.94531, "ay":0.24909, "alpha":-4.616, "fx":[-112.55296,-122.82918,-108.04221,-115.89496], "fy":[49.49069,-9.73344,-57.80125,34.5172]}, + {"t":0.36493, "x":2.38709, "y":0.73673, "heading":2.53539, "vx":-2.16048, "vy":0.11791, "omega":-3.31003, "ax":-5.33474, "ay":0.47624, "alpha":8.60379, "fx":[-79.75134,-58.07335,-95.70662,-119.27539], "fy":[-86.33355,60.18255,69.81036,-12.16371]}, + {"t":0.39534, "x":2.31892, "y":0.74053, "heading":2.43473, "vx":-2.32272, "vy":0.1324, "omega":-3.04838, "ax":-4.12088, "ay":-0.97227, "alpha":10.99642, "fx":[-73.47858,10.2613,-90.61046,-118.70155], "fy":[-91.62757,-34.34689,74.14507,-12.47071]}, + {"t":0.42575, "x":2.24638, "y":0.74411, "heading":2.34203, "vx":-2.44804, "vy":0.10283, "omega":-2.71397, "ax":-4.25291, "ay":-1.37058, "alpha":10.63798, "fx":[-77.1432,1.51573,-87.31204,-118.32143], "fy":[-87.72759,-70.51546,75.61154,-8.00978]}, + {"t":0.45616, "x":2.16997, "y":0.7466, "heading":2.25949, "vx":-2.57737, "vy":0.06115, "omega":-2.39047, "ax":-4.31431, "ay":-1.22115, "alpha":10.47167, "fx":[-81.20481,-4.47558,-82.15179,-117.48907], "fy":[-82.34253,-75.11021,78.37601,-1.68268]}, + {"t":0.48657, "x":2.0896, "y":0.7479, "heading":2.1868, "vx":-2.70857, "vy":0.02401, "omega":-2.07201, "ax":-4.2812, "ay":-0.90101, "alpha":10.36063, "fx":[-84.65826,-7.42371,-75.27193,-115.77819], "fy":[-75.99035,-70.65,81.52313,5.53016]}, + {"t":0.51698, "x":2.00525, "y":0.74821, "heading":2.12378, "vx":-2.83877, "vy":-0.00339, "omega":-1.75694, "ax":-4.14868, "ay":-0.49409, "alpha":10.19522, "fx":[-86.76504,-7.82287,-67.01457,-112.76505], "fy":[-68.84261,-60.42908,83.80016,12.79545]}, + {"t":0.54739, "x":1.917, "y":0.74788, "heading":2.07035, "vx":-2.96493, "vy":-0.01841, "omega":-1.4469, "ax":-3.90382, "ay":-0.05829, "alpha":9.83949, "fx":[-86.47176,-6.17288,-57.70883,-107.82094], "fy":[-60.89368,-45.74947,83.60889,19.17926]}, + {"t":0.5778, "x":1.82503, "y":0.74729, "heading":2.02635, "vx":-3.08365, "vy":-0.02019, "omega":-1.14767, "ax":-3.50049, "ay":0.30863, "alpha":9.06946, "fx":[-81.55161,-3.44651,-47.11998,-99.38231], "fy":[-51.71763,-29.50509,78.28685,23.34694]}, + {"t":0.60821, "x":1.72963, "y":0.74682, "heading":1.99145, "vx":-3.1901, "vy":-0.0108, "omega":-0.87186, "ax":-2.74054, "ay":0.40227, "alpha":7.25303, "fx":[-65.43765,-1.16944,-33.02768,-81.60769], "fy":[-39.34466,-16.37731,60.40623,21.91968]}, + {"t":0.63862, "x":1.63135, "y":0.74668, "heading":1.96494, "vx":-3.27344, "vy":0.00143, "omega":-0.65129, "ax":-0.68295, "ay":-0.37029, "alpha":1.69163, "fx":[-15.50818,-0.85022,-7.13772,-21.67006], "fy":[-16.47664,-10.6463,4.43554,-1.80139]}, + {"t":0.66903, "x":1.53149, "y":0.74655, "heading":1.94513, "vx":-3.29421, "vy":-0.00983, "omega":-0.59985, "ax":1.94868, "ay":-1.61596, "alpha":-5.68242, "fx":[53.8826,-4.26499,17.13687,62.11903], "fy":[9.96272,-15.34356,-62.94808,-38.54082]}, + {"t":0.69945, "x":1.43221, "y":0.74551, "heading":1.92689, "vx":-3.23495, "vy":-0.05897, "omega":-0.77266, "ax":2.73451, "ay":-2.30812, "alpha":-8.10113, "fx":[83.6765,-9.80693,23.45781,83.51632], "fy":[17.01527,-28.69117,-89.37748,-51.59137]}, + {"t":0.72986, "x":1.3351, "y":0.74264, "heading":1.90339, "vx":-3.15179, "vy":-0.12916, "omega":-1.01902, "ax":2.89642, "ay":-2.95612, "alpha":-8.93035, "fx":[97.19581,-17.49065,22.70877,89.13745], "fy":[14.5368,-48.00175,-101.5499,-60.48458]}, + {"t":0.76027, "x":1.24059, "y":0.73735, "heading":1.8724, "vx":-3.06371, "vy":-0.21906, "omega":-1.2906, "ax":2.80329, "ay":-3.6091, "alpha":-9.20469, "fx":[104.82532,-26.6721,18.32408,88.91508], "fy":[6.7544,-67.47165,-108.80354,-69.16283]}, + {"t":0.79068, "x":1.14872, "y":0.72902, "heading":1.83316, "vx":-2.97846, "vy":-0.32881, "omega":-1.57052, "ax":4.08822, "ay":-4.35493, "alpha":-5.7165, "fx":[109.19165,37.28307,34.6064,89.28809], "fy":[-19.06608,-87.35709,-108.21682,-73.36804]}, + {"t":0.82109, "x":1.06003, "y":0.71701, "heading":1.7854, "vx":-2.85413, "vy":-0.46125, "omega":-1.74436, "ax":6.58985, "ay":-0.69524, "alpha":6.11991, "fx":[87.53226,117.54197,118.39915,112.33828], "fy":[-85.15132,-36.58165,32.91997,42.8344]}, + {"t":0.8515, "x":0.97628, "y":0.70266, "heading":1.73235, "vx":-2.65373, "vy":-0.48239, "omega":-1.55825, "ax":6.3173, "ay":-0.26952, "alpha":7.65994, "fx":[83.01796,118.02273,117.30742,99.43841], "fy":[-91.01518,-37.42211,39.36416,71.2485]}, + {"t":0.88191, "x":0.8985, "y":0.68786, "heading":1.68496, "vx":-2.46162, "vy":-0.49059, "omega":-1.3253, "ax":6.18342, "ay":-0.18315, "alpha":8.28649, "fx":[80.78999,117.69647,117.40427,93.04182], "fy":[-93.51744,-39.2017,39.94924,80.65742]}, + {"t":0.91232, "x":0.8265, "y":0.67286, "heading":1.64466, "vx":-2.27358, "vy":-0.49616, "omega":-1.07331, "ax":6.11075, "ay":-0.17593, "alpha":8.60966, "fx":[79.39941,117.2358,117.74785,89.74394], "fy":[-94.96813,-40.92577,39.36176,84.89716]}, + {"t":0.94273, "x":0.76019, "y":0.65769, "heading":1.61202, "vx":-2.08774, "vy":-0.50151, "omega":-0.81148, "ax":6.06792, "ay":-0.19067, "alpha":8.7949, "fx":[78.47814,116.79545,118.10246,87.91825], "fy":[-95.89615,-42.37961,38.54864,87.11747]}, + {"t":0.97314, "x":0.6995, "y":0.64235, "heading":1.58734, "vx":-1.90322, "vy":-0.50731, "omega":-0.54402, "ax":6.0414, "ay":-0.2082, "alpha":8.9071, "fx":[77.86797,116.43836,118.39008,86.84446], "fy":[-96.50715,-43.49074,37.83305,88.39565]}, + {"t":1.00355, "x":0.64442, "y":0.62683, "heading":1.5708, "vx":-1.71949, "vy":-0.51364, "omega":-0.27315, "ax":6.92022, "ay":0.16971, "alpha":5.46858, "fx":[110.47795,120.80717,119.65794,106.71703], "fy":[-56.57493,-29.37105,33.75693,63.41278]}, + {"t":1.03862, "x":0.58838, "y":0.60892, "heading":1.56122, "vx":-1.47685, "vy":-0.50769, "omega":-0.08141, "ax":7.23192, "ay":1.09703, "alpha":3.10571, "fx":[123.70637,124.10327,118.87573,111.58887], "fy":[-11.05465,-7.44954,36.44413,54.61049]}, + {"t":1.07368, "x":0.54104, "y":0.59179, "heading":1.55836, "vx":-1.22327, "vy":-0.46922, "omega":0.02749, "ax":7.238, "ay":1.8268, "alpha":1.58513, "fx":[122.8933,123.52182,118.00058,114.26072], "fy":[18.4865,14.18943,39.20908,48.9281]}, + {"t":1.10874, "x":0.5026, "y":0.57646, "heading":1.55933, "vx":-0.96949, "vy":-0.40517, "omega":0.08307, "ax":7.13225, "ay":2.3681, "alpha":0.50477, "fx":[118.93484,119.73634,117.10181,115.90972], "fy":[36.23228,33.54566,41.83788,44.99586]}, + {"t":1.1438, "x":0.47299, "y":0.56371, "heading":1.56224, "vx":-0.71941, "vy":-0.32214, "omega":0.10077, "ax":6.98875, "ay":2.77522, "alpha":-0.33134, "fx":[114.96699,113.9974,116.2209,117.00675], "fy":[47.43918,49.70334,44.24488,42.1486]}, + {"t":1.17887, "x":0.45206, "y":0.55412, "heading":1.56577, "vx":-0.47436, "vy":-0.22483, "omega":0.08915, "ax":6.83732, "ay":3.08593, "alpha":-1.00044, "fx":[111.57928,107.44311,115.37798,117.77712], "fy":[54.99855,62.6549,46.41562,40.01534]}, + {"t":1.21393, "x":0.43963, "y":0.54814, "heading":1.5689, "vx":-0.23462, "vy":-0.11663, "omega":0.05407, "ax":6.69146, "ay":3.32622, "alpha":-1.54216, "fx":[108.78218,100.83089,114.57554,118.34278], "fy":[60.38485,72.84522,48.37805,38.36718]}, + {"t":1.24899, "x":0.43552, "y":0.54609, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 22bcd393..54c810a7 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -125,7 +125,9 @@ public enum Path { RRtoIR("RR", "FR", Action.INTAKE), PRtoIR("PR", "FR", Action.INTAKE), PLtoIL("PL", "FL", Action.INTAKE), - FRtoSRT("FR", "SRT", Action.INTAKE), + FRtoSRT("FR", "SRT", Action.INTAKE),//chopped, do not use until fixed + PRtoFR("PR", "FR", Action.INTAKE), + // SCORE DtoRL("D", "RL", Action.SCORE), @@ -145,6 +147,7 @@ public enum Path { RBtoO("RB", "O", Action.OUTPOST_SCORE), FRMtoMRScore("FRM", "MR", Action.INTAKE_SCORE), + FLMtoMLScore("FLM", "ML", Action.INTAKE_SCORE), RUNtoTEST("RUN", "TEST", Action.NOTHING), @@ -687,10 +690,37 @@ public Command getCenterScoreAuto() { return routine.cmd(); } - public Command getNeutralOutpostScore() { - final AutoRoutine routine = factory.newRoutine("Neutral Outpost Score"); + public Command getRightNeutralOutpostScore() { + final AutoRoutine routine = factory.newRoutine("Right Neutral Outpost Score"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {}; + Path[] paths = {Path.PRtoFR, Path.FRtoFRM, Path.FRMtoMRScore, Path.MRtoO}; + + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().onTrue(autoCommand); + + return routine.cmd(); + } + + public Command getLeftNeutralOutpostScore() { + final AutoRoutine routine = factory.newRoutine("Left Neutral Outpost Score"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLtoFLM, Path.FLMtoMLScore,Path.MLtoD}; + + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().onTrue(autoCommand); + + return routine.cmd(); } public Command getTestAuto() { From 57c88de9d9d9568cbc230bab8257cef977a38b5b Mon Sep 17 00:00:00 2001 From: ronansoergel9 Date: Sat, 21 Mar 2026 11:45:01 -0700 Subject: [PATCH 04/11] Added left double intake trench auto --- src/main/deploy/choreo/FLtoML.traj | 143 ++++++++++++ src/main/deploy/choreo/FRtoSRT.traj | 344 ++++++++-------------------- src/main/deploy/choreo/MLtoFL.traj | 139 +++++++++++ src/main/java/frc/robot/Autos.java | 38 ++- 4 files changed, 401 insertions(+), 263 deletions(-) create mode 100644 src/main/deploy/choreo/FLtoML.traj create mode 100644 src/main/deploy/choreo/MLtoFL.traj diff --git a/src/main/deploy/choreo/FLtoML.traj b/src/main/deploy/choreo/FLtoML.traj new file mode 100644 index 00000000..5c5c8495 --- /dev/null +++ b/src/main/deploy/choreo/FLtoML.traj @@ -0,0 +1,143 @@ +{ + "name":"FLtoML", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.90720272064209, "y":7.349101543426514, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.869002342224121, "y":7.436997413635254, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.15}}, "enabled":true}, + {"from":1, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.90720272064209 m", "val":6.90720272064209}, "y":{"exp":"7.349101543426514 m", "val":7.349101543426514}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.869002342224121 m", "val":4.869002342224121}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MLL.x", "val":3.2225897312164307}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.15 m", "val":0.15}}}, "enabled":true}, + {"from":1, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.80507,1.43835,2.14142], + "samples":[ + {"t":0.0, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.56855, "ay":6.44932, "alpha":5.23555, "fx":[-1.2276,-63.64477,-102.04002,-2.95558], "fy":[124.39352,106.91008,71.05769,124.15625]}, + {"t":0.02875, "x":7.8193, "y":5.86857, "heading":-1.5708, "vx":-0.07385, "vy":0.18543, "omega":0.15053, "ax":-2.58087, "ay":6.45326, "alpha":5.19236, "fx":[-1.55093,-63.62705,-101.79644,-3.70843], "fy":[124.37851,106.90921,71.37961,124.11117]}, + {"t":0.0575, "x":7.81611, "y":5.87657, "heading":-1.56647, "vx":-0.14806, "vy":0.37098, "omega":0.29983, "ax":-2.59376, "ay":6.45531, "alpha":5.15865, "fx":[-2.05882,-63.7701,-101.56608,-4.14032], "fy":[124.35808,106.81058,71.67525,124.06991]}, + {"t":0.08626, "x":7.81078, "y":5.8899, "heading":-1.55785, "vx":-0.22264, "vy":0.55659, "omega":0.44815, "ax":-2.60775, "ay":6.45568, "alpha":5.13218, "fx":[-2.75771,-64.06942,-101.33747,-4.29571], "fy":[124.32938,106.61544,71.9599,124.03355]}, + {"t":0.11501, "x":7.80331, "y":5.90857, "heading":-1.54496, "vx":-0.29761, "vy":0.7422, "omega":0.59571, "ax":-2.62361, "ay":6.45461, "alpha":5.10998, "fx":[-3.65851,-64.51959,-101.09396,-4.23735], "fy":[124.28822,106.32449,72.25511,123.99995]}, + {"t":0.14376, "x":7.79366, "y":5.93258, "heading":-1.52783, "vx":-0.37305, "vy":0.92779, "omega":0.74264, "ax":-2.64242, "ay":6.45241, "alpha":5.08801, "fx":[-4.7781,-65.11374,-100.81171,-4.04982], "fy":[124.22861,105.93818,72.59103,123.96462]}, + {"t":0.17251, "x":7.78185, "y":5.96192, "heading":-1.50648, "vx":-0.44903, "vy":1.11331, "omega":0.88893, "ax":-2.66561, "ay":6.44951, "alpha":5.06047, "fx":[-6.14217,-65.84264,-100.45623,-3.84604], "fy":[124.14197,105.45718,73.0102,123.92138]}, + {"t":0.20127, "x":7.76783, "y":5.9966, "heading":-1.48092, "vx":-0.52567, "vy":1.29875, "omega":1.03443, "ax":-2.69513, "ay":6.44655, "alpha":5.01885, "fx":[-7.7904,-66.69322,-99.9763,-3.77926], "fy":[124.01551,104.88315,73.57385,123.86225]}, + {"t":0.23002, "x":7.7516, "y":6.03661, "heading":-1.45118, "vx":-0.60316, "vy":1.4841, "omega":1.17873, "ax":-2.73372, "ay":6.44448, "alpha":4.95013, "fx":[-9.78683,-67.64557,-99.2923,-4.0664], "fy":[123.82911,104.22028,74.37325,123.77519]}, + {"t":0.25877, "x":7.73313, "y":6.08194, "heading":-1.41729, "vx":-0.68176, "vy":1.6694, "omega":1.32106, "ax":-2.78555, "ay":6.44472, "alpha":4.83325, "fx":[-12.24276,-68.66693,-98.27244,-5.03699], "fy":[123.54818,103.47825,75.55133,123.63558]}, + {"t":0.28752, "x":7.71238, "y":6.13261, "heading":-1.3793, "vx":-0.76185, "vy":1.8547, "omega":1.46003, "ax":-2.85775, "ay":6.44923, "alpha":4.63134, "fx":[-15.37297,-69.69705,-96.67807,-7.24559], "fy":[123.1052,102.6792,77.34823,123.37897]}, + {"t":0.31628, "x":7.68929, "y":6.1886, "heading":-1.33733, "vx":-0.84402, "vy":2.04013, "omega":1.59319, "ax":-2.96444, "ay":6.46013, "alpha":4.27166, "fx":[-19.66016,-70.60657,-94.01865,-11.76427], "fy":[122.34081,101.87692,80.21001,122.80518]}, + {"t":0.34503, "x":7.6638, "y":6.24993, "heading":-1.29152, "vx":-0.92925, "vy":2.22587, "omega":1.71601, "ax":-3.14009, "ay":6.47521, "alpha":3.58136, "fx":[-26.4747,-71.03951,-89.07832,-21.07326], "fy":[120.74885,101.22603,85.09043,121.16441]}, + {"t":0.37378, "x":7.63578, "y":6.3166, "heading":-1.24218, "vx":-1.01954, "vy":2.41205, "omega":1.81898, "ax":-3.49735, "ay":6.44096, "alpha":1.99642, "fx":[-41.76553,-69.42947,-77.79525,-42.30239], "fy":[115.49242,101.37991,94.43983,114.65259]}, + {"t":0.40253, "x":7.60502, "y":6.38862, "heading":-1.18988, "vx":-1.1201, "vy":2.59724, "omega":1.87639, "ax":-4.11951, "ay":4.86935, "alpha":-6.15144, "fx":[-115.54976,-24.73893,-37.87059,-94.27926], "fy":[23.12721,109.9662,113.82372,75.1111]}, + {"t":0.43129, "x":7.57112, "y":6.46531, "heading":-1.13593, "vx":-1.23854, "vy":2.73725, "omega":1.69952, "ax":-2.4056, "ay":2.84308, "alpha":-12.86396, "fx":[-106.69486,76.14422,-24.9571,-103.58393], "fy":[-41.29843,57.3057,114.54816,57.46822]}, + {"t":0.46004, "x":7.53451, "y":6.54518, "heading":-1.08706, "vx":-1.30771, "vy":2.81899, "omega":1.32965, "ax":-2.45769, "ay":2.68471, "alpha":-11.8658, "fx":[-97.8267,61.10955,-25.76591,-100.05342], "fy":[-39.87929,55.20663,108.68581,53.53673]}, + {"t":0.48879, "x":7.49589, "y":6.62735, "heading":-1.04883, "vx":-1.37837, "vy":2.89618, "omega":0.98848, "ax":-3.64588, "ay":0.52332, "alpha":-6.67052, "fx":[-75.08884,-22.71099,-51.96449,-91.35173], "fy":[-39.82003,-6.98663,62.75934,18.65624]}, + {"t":0.51754, "x":7.45476, "y":6.71084, "heading":-1.02041, "vx":-1.4832, "vy":2.91123, "omega":0.79669, "ax":-2.56268, "ay":-3.7606, "alpha":7.08038, "fx":[-56.03192,-89.17998,-42.7408,18.47311], "fy":[-15.98213,-46.53326,-95.14483,-91.04274]}, + {"t":0.5463, "x":7.41105, "y":6.79299, "heading":-0.9975, "vx":-1.55688, "vy":2.8031, "omega":1.00026, "ax":-2.08716, "ay":-4.3168, "alpha":8.76684, "fx":[-54.88994,-96.13807,-33.30533,46.30129], "fy":[-17.62048,-57.78531,-110.05086,-100.02939]}, + {"t":0.57505, "x":7.36542, "y":6.8718, "heading":-0.96874, "vx":-1.61689, "vy":2.67899, "omega":1.25233, "ax":-2.41288, "ay":-4.6622, "alpha":8.55108, "fx":[-75.91547,-98.45899,-32.97611,47.77756], "fy":[-27.65349,-62.4104,-113.63863,-104.62613]}, + {"t":0.6038, "x":7.31794, "y":6.9469, "heading":-0.93274, "vx":-1.68627, "vy":2.54494, "omega":1.49819, "ax":-2.84267, "ay":-4.97967, "alpha":7.8877, "fx":[-93.3802,-99.1388,-35.6691,40.19163], "fy":[-39.09088,-65.63562,-114.53156,-110.06618]}, + {"t":0.63255, "x":7.26828, "y":7.01801, "heading":-0.88966, "vx":-1.768, "vy":2.40176, "omega":1.72498, "ax":-3.25032, "ay":-5.26739, "alpha":6.93933, "fx":[-100.41125,-98.64724,-40.24967,24.35207], "fy":[-49.46866,-68.90692,-114.04036,-115.93635]}, + {"t":0.6613, "x":7.2161, "y":7.08489, "heading":-0.84006, "vx":-1.86146, "vy":2.25031, "omega":1.92451, "ax":-3.68133, "ay":-5.51569, "alpha":5.59759, "fx":[-100.85025,-96.88306,-46.15501,0.42826], "fy":[-59.76417,-72.97159,-112.50066,-119.53682]}, + {"t":0.69006, "x":7.16106, "y":7.14731, "heading":-0.78473, "vx":-1.96731, "vy":2.09172, "omega":2.08545, "ax":-4.07466, "ay":-5.71256, "alpha":3.9277, "fx":[-96.49913,-93.1577,-52.71401,-27.10151], "fy":[-71.37364,-78.71316,-110.13028,-117.57582]}, + {"t":0.71881, "x":7.10281, "y":7.20509, "heading":-0.72477, "vx":-2.08446, "vy":1.92747, "omega":2.19838, "ax":-4.2931, "ay":-5.87455, "alpha":2.2685, "fx":[-88.20138,-86.69414,-59.23353,-49.79003], "fy":[-83.73319,-86.4665,-107.21511,-111.09162]}, + {"t":0.74756, "x":7.0411, "y":7.25809, "heading":-0.66156, "vx":-2.2079, "vy":1.75856, "omega":2.26361, "ax":-4.27742, "ay":-6.04588, "alpha":0.84937, "fx":[-77.1701,-77.09491,-65.09893,-63.51825], "fy":[-95.23608,-95.59959,-104.14996,-104.85107]}, + {"t":0.77631, "x":6.97585, "y":7.30615, "heading":-0.59647, "vx":-2.33088, "vy":1.58473, "omega":2.28803, "ax":-3.94056, "ay":-6.31967, "alpha":-0.39694, "fx":[-62.25357,-61.77314,-68.23879,-68.33867], "fy":[-106.35077,-106.53728,-102.51209,-102.5432]}, + {"t":0.80507, "x":6.9072, "y":7.3491, "heading":-0.53069, "vx":-2.44418, "vy":1.40302, "omega":2.27661, "ax":-3.60512, "ay":-6.47753, "alpha":-0.86237, "fx":[-53.30165,-51.94608,-66.80917,-66.36319], "fy":[-110.78363,-111.18299,-102.93241,-103.48421]}, + {"t":0.82618, "x":6.8548, "y":7.37728, "heading":-0.48263, "vx":-2.52029, "vy":1.26629, "omega":2.25841, "ax":-3.4695, "ay":-6.48005, "alpha":-1.6763, "fx":[-45.57699,-42.1135,-72.38749,-69.37289], "fy":[-113.9769,-114.77206,-98.52818,-101.2727]}, + {"t":0.84729, "x":6.80083, "y":7.40256, "heading":-0.43496, "vx":-2.59353, "vy":1.1295, "omega":2.22302, "ax":-3.35835, "ay":-6.41916, "alpha":-2.60333, "fx":[-38.17541,-31.60913,-80.03422,-72.28188], "fy":[-116.42985,-117.44637,-91.67931,-98.9677]}, + {"t":0.8684, "x":6.74533, "y":7.42498, "heading":-0.38803, "vx":-2.66442, "vy":0.99399, "omega":2.16807, "ax":-3.28412, "ay":-6.28003, "alpha":-3.62658, "fx":[-31.61999,-21.25372,-89.2331,-75.08445], "fy":[-118.09559,-118.87686,-81.78401,-96.56586]}, + {"t":0.8895, "x":6.68836, "y":7.44456, "heading":-0.34226, "vx":-2.73375, "vy":0.86142, "omega":2.09151, "ax":-3.24088, "ay":-6.06441, "alpha":-4.69476, "fx":[-26.15622,-11.7958,-98.63575,-77.74392], "fy":[-119.07544,-118.96525,-68.93463,-94.08714]}, + {"t":0.91061, "x":6.62993, "y":7.46139, "heading":-0.29811, "vx":-2.80216, "vy":0.73341, "omega":1.99241, "ax":-3.21086, "ay":-5.79284, "alpha":-5.72046, "fx":[-21.79074,-3.74296,-106.60936,-80.20333], "fy":[-119.51236,-117.73001,-54.28933,-91.57056]}, + {"t":0.93172, "x":6.57006, "y":7.47558, "heading":-0.25605, "vx":-2.86994, "vy":0.61112, "omega":1.87165, "ax":-3.17555, "ay":-5.4935, "alpha":-6.62611, "fx":[-18.31668,2.86336,-112.16815,-82.38976], "fy":[-119.53503,-115.09299,-39.60618,-89.07194]}, + {"t":0.95283, "x":6.50877, "y":7.48726, "heading":-0.21654, "vx":-2.93697, "vy":0.49516, "omega":1.73178, "ax":-3.12721, "ay":-5.18269, "alpha":-7.38223, "fx":[-15.49298,8.20996,-115.28559,-84.24534], "fy":[-119.21064,-110.5829,-26.32618,-86.63104]}, + {"t":0.97394, "x":6.44607, "y":7.49656, "heading":-0.17999, "vx":-3.00299, "vy":0.38575, "omega":1.57595, "ax":-3.07142, "ay":-4.85296, "alpha":-8.00672, "fx":[-13.17836,12.24836,-116.4629,-85.73176], "fy":[-118.53315,-102.97564,-15.18351,-84.25199]}, + {"t":0.99505, "x":6.382, "y":7.50362, "heading":-0.14672, "vx":-3.06782, "vy":0.28331, "omega":1.40693, "ax":-3.02576, "ay":-4.46714, "alpha":-8.55076, "fx":[-11.32302,14.24737,-116.24447,-86.78499], "fy":[-117.42898,-89.6647,-6.40787,-81.92727]}, + {"t":1.01616, "x":6.31656, "y":7.5086, "heading":-0.11702, "vx":-3.13169, "vy":0.18901, "omega":1.22643, "ax":-3.01636, "ay":-3.96296, "alpha":-9.08424, "fx":[-9.84907,12.57268,-114.98707,-87.21984], "fy":[-115.75836,-66.50781,-0.10638,-79.71307]}, + {"t":1.03727, "x":6.24978, "y":7.51171, "heading":-0.09113, "vx":-3.19537, "vy":0.10536, "omega":1.03466, "ax":-3.0356, "ay":-3.36965, "alpha":-9.584, "fx":[-8.46163,7.10807,-112.77294,-86.6292], "fy":[-113.30075,-35.28409,3.52835,-77.79085]}, + {"t":1.05838, "x":6.18165, "y":7.51318, "heading":-0.06929, "vx":-3.25945, "vy":0.03422, "omega":0.83235, "ax":-2.98126, "ay":-2.94467, "alpha":-9.77125, "fx":[-6.67752,3.19909,-109.23349,-84.44976], "fy":[-109.62232,-13.42333,4.51366,-76.20989]}, + {"t":1.07949, "x":6.11218, "y":7.51325, "heading":-0.05172, "vx":-3.32238, "vy":-0.02794, "omega":0.62608, "ax":-2.78139, "ay":-2.76766, "alpha":-9.42607, "fx":[-4.25933,3.18661,-103.0476,-79.82317], "fy":[-103.64249,-7.83883,2.90644,-74.4606]}, + {"t":1.1006, "x":6.04143, "y":7.51204, "heading":-0.0385, "vx":-3.3811, "vy":-0.08636, "omega":0.4271, "ax":-2.37909, "ay":-2.68818, "alpha":-8.32114, "fx":[-1.26557,4.63902,-90.31247,-70.39927], "fy":[-92.63249,-11.96402,-2.16597,-71.01678]}, + {"t":1.12171, "x":5.96953, "y":7.50962, "heading":-0.02949, "vx":-3.43132, "vy":-0.14311, "omega":0.25145, "ax":-1.57016, "ay":-2.44802, "alpha":-5.72986, "fx":[1.46764,4.53411,-60.25451,-49.58795], "fy":[-70.30594,-18.43171,-12.38615,-60.77288]}, + {"t":1.14282, "x":5.89674, "y":7.50606, "heading":-0.02418, "vx":-3.46446, "vy":-0.19478, "omega":0.13049, "ax":-0.49724, "ay":-1.62049, "alpha":-2.03652, "fx":[1.48944,2.10506,-18.59026,-17.88861], "fy":[-36.52565,-18.03578,-17.16739,-35.44013]}, + {"t":1.16393, "x":5.8235, "y":7.50158, "heading":-0.02142, "vx":-3.47496, "vy":-0.22899, "omega":0.0875, "ax":-0.07076, "ay":-0.76566, "alpha":-0.42364, "fx":[0.80276,0.89484,-3.15566,-3.22133], "fy":[-14.68293,-10.72729,-10.6355,-14.58999]}, + {"t":1.18504, "x":5.75013, "y":7.49658, "heading":-0.01958, "vx":-3.47645, "vy":-0.24515, "omega":0.07856, "ax":-0.00026, "ay":-0.31027, "alpha":-0.07668, "fx":[0.35073,0.36509,-0.35962,-0.37363], "fy":[-5.49798,-4.7759,-4.76176,-5.48385]}, + {"t":1.20615, "x":5.67674, "y":7.49133, "heading":-0.01792, "vx":-3.47646, "vy":-0.2517, "omega":0.07694, "ax":0.00426, "ay":-0.09675, "alpha":-0.00719, "fx":[0.10374,0.10496,0.03714,0.03593], "fy":[-1.6342,-1.5664,-1.56519,-1.63298]}, + {"t":1.22726, "x":5.60336, "y":7.486, "heading":-0.01629, "vx":-3.47637, "vy":-0.25374, "omega":0.07679, "ax":0.00179, "ay":-0.0001, "alpha":0.00959, "fx":[-0.01482,-0.0163,0.07414,0.07562], "fy":[0.04424,-0.0462,-0.04767,0.04277]}, + {"t":1.24837, "x":5.52998, "y":7.48064, "heading":-0.01467, "vx":-3.47633, "vy":-0.25375, "omega":0.07699, "ax":0.0, "ay":0.0437, "alpha":0.01495, "fx":[-0.0695,-0.07157,0.06946,0.07153], "fy":[0.79399,0.65297,0.65091,0.79192]}, + {"t":1.26948, "x":5.45659, "y":7.4753, "heading":-0.01305, "vx":-3.47633, "vy":-0.25282, "omega":0.07731, "ax":-0.00107, "ay":0.06746, "alpha":0.01748, "fx":[-0.09909,-0.10124,0.06367,0.06582], "fy":[1.19889,1.03401,1.03186,1.19674]}, + {"t":1.29058, "x":5.38321, "y":7.46997, "heading":-0.01142, "vx":-3.47635, "vy":-0.2514, "omega":0.07768, "ax":-0.00215, "ay":0.09118, "alpha":0.01986, "fx":[-0.12825,-0.1304,0.05701,0.05915], "fy":[1.60228,1.41493,1.41279,1.60015]}, + {"t":1.31169, "x":5.30982, "y":7.46469, "heading":-0.00978, "vx":-3.4764, "vy":-0.24948, "omega":0.0781, "ax":-0.00416, "ay":0.13346, "alpha":0.02373, "fx":[-0.17963,-0.18183,0.04211,0.0443], "fy":[2.31952,2.09573,2.09354,2.31733]}, + {"t":1.3328, "x":5.23644, "y":7.45945, "heading":-0.00813, "vx":-3.47649, "vy":-0.24666, "omega":0.0786, "ax":-0.00879, "ay":0.22196, "alpha":0.02994, "fx":[-0.28547,-0.2878,-0.00508,-0.00278], "fy":[3.81208,3.52986,3.52759,3.80981]}, + {"t":1.35391, "x":5.16305, "y":7.45429, "heading":-0.00647, "vx":-3.47667, "vy":-0.24197, "omega":0.07923, "ax":-0.02131, "ay":0.40827, "alpha":0.03176, "fx":[-0.50155,-0.50362,-0.20309,-0.2011], "fy":[6.90034,6.60161,6.59977,6.89851]}, + {"t":1.37502, "x":5.08965, "y":7.44928, "heading":-0.0048, "vx":-3.47712, "vy":-0.23335, "omega":0.0799, "ax":-0.06448, "ay":0.79201, "alpha":-0.03203, "fx":[-0.91426,-0.91233,-1.21776,-1.21985], "fy":[12.94479,13.24367,13.24455,12.94568]}, + {"t":1.39613, "x":5.01624, "y":7.44453, "heading":-0.00311, "vx":-3.47848, "vy":-0.21664, "omega":0.07922, "ax":-0.24569, "ay":1.54031, "alpha":-0.53056, "fx":[-1.47737,-1.4371,-6.6043,-6.72959], "fy":[23.08914,27.89595,27.83932,23.04235]}, + {"t":1.41724, "x":4.94276, "y":7.4403, "heading":-0.00144, "vx":-3.48367, "vy":-0.18412, "omega":0.06802, "ax":-0.96215, "ay":2.63093, "alpha":-3.20499, "fx":[0.89474,0.79135,-30.11492,-35.20206], "fy":[31.16258,58.38308,55.59078,28.85679]}, + {"t":1.43835, "x":4.869, "y":7.437, "heading":0.0, "vx":-3.50398, "vy":-0.12858, "omega":0.00037, "ax":-0.09089, "ay":2.80215, "alpha":-0.00997, "fx":[-1.44969,-1.44888,-1.55587,-1.55675], "fy":[46.28913,46.37016,46.36931,46.28828]}, + {"t":1.47535, "x":4.73928, "y":7.43416, "heading":0.00001, "vx":-3.50734, "vy":-0.02489, "omega":0.0, "ax":-0.00242, "ay":0.69296, "alpha":-0.00001, "fx":[-0.03995,-0.03995,-0.04004,-0.04004], "fy":[11.45699,11.45709,11.45709,11.45699]}, + {"t":1.51236, "x":4.6095, "y":7.43371, "heading":0.00001, "vx":-3.50743, "vy":0.00075, "omega":0.0, "ax":0.00016, "ay":0.15433, "alpha":0.0, "fx":[0.00261,0.00261,0.00261,0.00261], "fy":[2.55168,2.55168,2.55168,2.55168]}, + {"t":1.54936, "x":4.47971, "y":7.43384, "heading":0.00001, "vx":-3.50743, "vy":0.00646, "omega":0.0, "ax":0.00008, "ay":0.0386, "alpha":0.0, "fx":[0.00131,0.00131,0.00131,0.00131], "fy":[0.63814,0.63814,0.63814,0.63814]}, + {"t":1.58636, "x":4.34992, "y":7.43411, "heading":0.00001, "vx":-3.50742, "vy":0.00789, "omega":0.0, "ax":0.00003, "ay":0.01375, "alpha":0.0, "fx":[0.00055,0.00055,0.00055,0.00055], "fy":[0.22734,0.22734,0.22734,0.22734]}, + {"t":1.62337, "x":4.22014, "y":7.43441, "heading":0.00001, "vx":-3.50742, "vy":0.0084, "omega":0.0, "ax":0.00291, "ay":0.00938, "alpha":0.0, "fx":[0.04809,0.04809,0.04806,0.04806], "fy":[0.15509,0.15512,0.15512,0.15509]}, + {"t":1.66037, "x":4.09035, "y":7.43473, "heading":0.00001, "vx":-3.50731, "vy":0.00874, "omega":0.0, "ax":4.70153, "ay":-0.00242, "alpha":-0.00144, "fx":[77.73664,77.73664,77.72832,77.72832], "fy":[-0.0495,-0.03056,-0.03057,-0.0495]}, + {"t":1.69738, "x":3.96379, "y":7.43505, "heading":0.00001, "vx":-3.33334, "vy":0.00865, "omega":-0.00005, "ax":7.43266, "ay":-0.01835, "alpha":0.00008, "fx":[122.8874,122.88739,122.88741,122.88742], "fy":[-0.30267,-0.30415,-0.30415,-0.30267]}, + {"t":1.73438, "x":3.84553, "y":7.43536, "heading":0.00001, "vx":-3.05831, "vy":0.00797, "omega":-0.00005, "ax":7.4823, "ay":-0.01885, "alpha":0.00011, "fx":[123.7082,123.70819,123.7082,123.70821], "fy":[-0.31067,-0.31268,-0.31267,-0.31066]}, + {"t":1.77138, "x":3.73749, "y":7.43564, "heading":0.00001, "vx":-2.78144, "vy":0.00728, "omega":-0.00005, "ax":7.49912, "ay":-0.01912, "alpha":0.00012, "fx":[123.98633,123.98632,123.98633,123.98634], "fy":[-0.31494,-0.31714,-0.31713,-0.31494]}, + {"t":1.80839, "x":3.6397, "y":7.4359, "heading":0.00001, "vx":-2.50394, "vy":0.00657, "omega":-0.00004, "ax":7.50758, "ay":-0.01931, "alpha":0.00012, "fx":[124.12607,124.12606,124.12607,124.12608], "fy":[-0.31805,-0.32034,-0.32033,-0.31805]}, + {"t":1.84539, "x":3.55218, "y":7.43613, "heading":0.00001, "vx":-2.22614, "vy":0.00586, "omega":-0.00004, "ax":7.51266, "ay":-0.01946, "alpha":0.00012, "fx":[124.21009,124.21008,124.21009,124.2101], "fy":[-0.32053,-0.32288,-0.32287,-0.32053]}, + {"t":1.88239, "x":3.47495, "y":7.43633, "heading":0.0, "vx":-1.94814, "vy":0.00514, "omega":-0.00003, "ax":7.51605, "ay":-0.01958, "alpha":0.00013, "fx":[124.26616,124.26616,124.26616,124.26617], "fy":[-0.32258,-0.32497,-0.32496,-0.32258]}, + {"t":1.9194, "x":3.40801, "y":7.43651, "heading":0.0, "vx":-1.67002, "vy":0.00441, "omega":-0.00003, "ax":7.51847, "ay":-0.01969, "alpha":0.00013, "fx":[124.30624,124.30624,124.30624,124.30625], "fy":[-0.32431,-0.32672,-0.32671,-0.3243]}, + {"t":1.9564, "x":3.35136, "y":7.43666, "heading":0.0, "vx":-1.39181, "vy":0.00368, "omega":-0.00002, "ax":7.52029, "ay":-0.01978, "alpha":0.00013, "fx":[124.33631,124.3363,124.33631,124.33631], "fy":[-0.32576,-0.32819,-0.32818,-0.32576]}, + {"t":1.9934, "x":3.30501, "y":7.43678, "heading":0.0, "vx":-1.11354, "vy":0.00295, "omega":-0.00002, "ax":7.52171, "ay":-0.01985, "alpha":0.00013, "fx":[124.3597,124.35969,124.3597,124.35971], "fy":[-0.32699,-0.32943,-0.32943,-0.32698]}, + {"t":2.03041, "x":3.26895, "y":7.43687, "heading":0.0, "vx":-0.83521, "vy":0.00222, "omega":-0.00001, "ax":7.52284, "ay":-0.01991, "alpha":0.00013, "fx":[124.37842,124.37841,124.37841,124.37842], "fy":[-0.32802,-0.33048,-0.33047,-0.32802]}, + {"t":2.06741, "x":3.2432, "y":7.43694, "heading":0.0, "vx":-0.55684, "vy":0.00148, "omega":-0.00001, "ax":7.52376, "ay":-0.01997, "alpha":0.00013, "fx":[124.39373,124.39372,124.39373,124.39373], "fy":[-0.32889,-0.33136,-0.33135,-0.32889]}, + {"t":2.10441, "x":3.22774, "y":7.43698, "heading":0.0, "vx":-0.27843, "vy":0.00074, "omega":0.0, "ax":7.52454, "ay":-0.02001, "alpha":0.00013, "fx":[124.40649,124.40649,124.40649,124.4065], "fy":[-0.32963,-0.3321,-0.3321,-0.32962]}, + {"t":2.14142, "x":3.22259, "y":7.437, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj index 7b24f03c..e7070879 100644 --- a/src/main/deploy/choreo/FRtoSRT.traj +++ b/src/main/deploy/choreo/FRtoSRT.traj @@ -3,52 +3,30 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.775508880615234, "y":2.226898431777954, "heading":1.5707963267948966, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.738821983337402, "y":3.3275232315063477, "heading":0.9685095839813652, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.276905059814453, "y":3.5231900215148926, "heading":0.026309798204746184, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.839447021484375, "y":3.3152942657470703, "heading":-1.14416723126684, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.019723892211914, "y":2.5584933757781982, "heading":-1.8049012747276192, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.57016372680664, "y":1.2301474809646606, "heading":-2.022249125335878, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.543155193328857, "y":0.6248778104782104, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.108928680419922, "y":0.5510483384132385, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.937558174133301, "y":0.7205682992935181, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.8473358154296875, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, - {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":5, "to":5, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":0, "to":8, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], + {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.2}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"7.775508880615234 m", "val":7.775508880615234}, "y":{"exp":"2.226898431777954 m", "val":2.226898431777954}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.738821983337402 m", "val":7.738821983337402}, "y":{"exp":"3.3275232315063477 m", "val":3.3275232315063477}, "heading":{"exp":"0.9685095839813652 rad", "val":0.9685095839813652}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.276905059814453 m", "val":8.276905059814453}, "y":{"exp":"3.5231900215148926 m", "val":3.5231900215148926}, "heading":{"exp":"26.309798204746183 mrad", "val":0.026309798204746184}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.839447021484375 m", "val":8.839447021484375}, "y":{"exp":"3.3152942657470703 m", "val":3.3152942657470703}, "heading":{"exp":"-1.14416723126684 rad", "val":-1.14416723126684}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.019723892211914 m", "val":9.019723892211914}, "y":{"exp":"2.5584933757781982 m", "val":2.5584933757781982}, "heading":{"exp":"-1.8049012747276194 rad", "val":-1.8049012747276192}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.57016372680664 m", "val":8.57016372680664}, "y":{"exp":"1.2301474809646606 m", "val":1.2301474809646606}, "heading":{"exp":"-2.022249125335878 rad", "val":-2.022249125335878}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.543155193328857 m", "val":7.543155193328857}, "y":{"exp":"0.6248778104782104 m", "val":0.6248778104782104}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.108928680419922 m", "val":6.108928680419922}, "y":{"exp":"0.5510483384132385 m", "val":0.5510483384132385}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.768587827682495 m", "val":2.768587827682495}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.937558174133301 m", "val":6.937558174133301}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.8473358154296875 m", "val":4.8473358154296875}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, - {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, - {"from":5, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, - {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, - {"from":0, "to":8, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}], + {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.2 m", "val":0.2}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -79,225 +57,89 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.17614,1.75655,2.36094,3.14441,4.01404,4.74433,5.46346,7.26988], + "waypoints":[0.0,0.81298,1.46758,2.29395], "samples":[ - {"t":0.0, "x":7.77551, "y":2.2269, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.44943, "ay":7.50982, "alpha":-0.00147, "fx":[-7.41593,-7.44357,-7.44522,-7.41758], "fy":[124.16401,124.16236,124.16222,124.16388]}, - {"t":0.03675, "x":7.77521, "y":2.23197, "heading":1.5708, "vx":-0.01652, "vy":0.27602, "omega":-0.00005, "ax":-0.44914, "ay":7.50494, "alpha":-0.00214, "fx":[-7.40448,-7.44462,-7.44702,-7.40687], "fy":[124.08376,124.08136,124.08114,124.08354]}, - {"t":0.07351, "x":7.77429, "y":2.24718, "heading":1.57079, "vx":-0.03303, "vy":0.55186, "omega":-0.00013, "ax":-0.44826, "ay":7.49037, "alpha":-0.00413, "fx":[-7.37032,-7.44773,-7.45237,-7.37491], "fy":[123.84423,123.83962,123.83903,123.84365]}, - {"t":0.11026, "x":7.77278, "y":2.27253, "heading":1.57079, "vx":-0.0495, "vy":0.82716, "omega":-0.00028, "ax":-0.27719, "ay":4.63173, "alpha":-0.46162, "fx":[-1.55061,-7.41855,-7.74332,-1.61896], "fy":[78.03092,77.84066,75.11914,75.32316]}, - {"t":0.14702, "x":7.77077, "y":2.30606, "heading":1.57078, "vx":-0.05969, "vy":0.9974, "omega":-0.01725, "ax":-0.00001, "ay":0.00017, "alpha":-0.99307, "fx":[4.68473,-4.68491,-4.68509,4.68458], "fy":[4.6876,4.68776,-4.68189,-4.68206]}, - {"t":0.18377, "x":7.76858, "y":2.34272, "heading":1.57014, "vx":-0.05969, "vy":0.9974, "omega":-0.05375, "ax":0.0, "ay":0.0, "alpha":-0.96879, "fx":[4.57326,-4.56731,-4.57326,4.56731], "fy":[4.56731,4.57326,-4.56731,-4.57326]}, - {"t":0.22053, "x":7.76638, "y":2.37938, "heading":1.56817, "vx":-0.05969, "vy":0.9974, "omega":-0.08936, "ax":0.0, "ay":0.0, "alpha":-0.95113, "fx":[4.49876,-4.47519,-4.49876,4.47519], "fy":[4.47519,4.49876,-4.47519,-4.49876]}, - {"t":0.25728, "x":7.76419, "y":2.41603, "heading":1.56489, "vx":-0.05969, "vy":0.9974, "omega":-0.12432, "ax":0.0, "ay":0.0, "alpha":-0.93999, "fx":[4.46055,-4.40812,-4.46055,4.40812], "fy":[4.40812,4.46055,-4.40812,-4.46055]}, - {"t":0.29403, "x":7.762, "y":2.45269, "heading":1.56032, "vx":-0.05969, "vy":0.9974, "omega":-0.15886, "ax":0.0, "ay":0.0, "alpha":-0.93528, "fx":[4.45821,-4.36573,-4.45821,4.36573], "fy":[4.36573,4.45821,-4.36573,-4.45821]}, - {"t":0.33079, "x":7.7598, "y":2.48935, "heading":1.55448, "vx":-0.05969, "vy":0.9974, "omega":-0.19324, "ax":0.0, "ay":0.0, "alpha":-0.93699, "fx":[4.49182,-4.34755,-4.49182,4.34755], "fy":[4.34755,4.49182,-4.34755,-4.49182]}, - {"t":0.36754, "x":7.75761, "y":2.52601, "heading":1.54737, "vx":-0.05969, "vy":0.9974, "omega":-0.22768, "ax":0.0, "ay":0.0, "alpha":-0.94513, "fx":[4.56186,-4.35302,-4.56186,4.35302], "fy":[4.35302,4.56186,-4.35302,-4.56186]}, - {"t":0.4043, "x":7.75541, "y":2.56267, "heading":1.53901, "vx":-0.05969, "vy":0.9974, "omega":-0.26242, "ax":0.0, "ay":0.0, "alpha":-0.95975, "fx":[4.66928,-4.38146,-4.66928,4.38146], "fy":[4.38146,4.66928,-4.38146,-4.66928]}, - {"t":0.44105, "x":7.75322, "y":2.59933, "heading":1.52936, "vx":-0.05969, "vy":0.9974, "omega":-0.29769, "ax":0.0, "ay":0.0, "alpha":-0.98096, "fx":[4.81545,-4.43206,-4.81545,4.43206], "fy":[4.43206,4.81545,-4.43206,-4.81545]}, - {"t":0.47781, "x":7.75103, "y":2.63599, "heading":1.51842, "vx":-0.05969, "vy":0.9974, "omega":-0.33375, "ax":0.0, "ay":0.0, "alpha":-1.00891, "fx":[5.00223,-4.50387,-5.00223,4.50387], "fy":[4.50387,5.00223,-4.50387,-5.00223]}, - {"t":0.51456, "x":7.74883, "y":2.67265, "heading":1.50615, "vx":-0.05969, "vy":0.9974, "omega":-0.37083, "ax":0.0, "ay":0.0, "alpha":-1.04379, "fx":[5.2319,-4.59572,-5.2319,4.59572], "fy":[4.59572,5.2319,-4.59572,-5.2319]}, - {"t":0.55132, "x":7.74664, "y":2.70931, "heading":1.49252, "vx":-0.05969, "vy":0.9974, "omega":-0.40919, "ax":0.0, "ay":0.0, "alpha":-1.08582, "fx":[5.50725,-4.70618,-5.50725,4.70618], "fy":[4.70618,5.50725,-4.70618,-5.50725]}, - {"t":0.58807, "x":7.74445, "y":2.74596, "heading":1.47748, "vx":-0.05969, "vy":0.9974, "omega":-0.4491, "ax":0.0, "ay":0.0, "alpha":-1.1353, "fx":[5.83156,-4.83349,-5.83156,4.83349], "fy":[4.83349,5.83156,-4.83349,-5.83156]}, - {"t":0.62482, "x":7.74225, "y":2.78262, "heading":1.46098, "vx":-0.05969, "vy":0.9974, "omega":-0.49083, "ax":0.0, "ay":0.0, "alpha":-1.19256, "fx":[6.20864,-4.97546,-6.20864,4.97546], "fy":[4.97546,6.20864,-4.97546,-6.20864]}, - {"t":0.66158, "x":7.74006, "y":2.81928, "heading":1.44294, "vx":-0.05969, "vy":0.9974, "omega":-0.53466, "ax":0.0, "ay":0.0, "alpha":-1.25797, "fx":[6.64281,-5.12938,-6.64281,5.12938], "fy":[5.12938,6.64281,-5.12938,-6.64281]}, - {"t":0.69833, "x":7.73786, "y":2.85594, "heading":1.42329, "vx":-0.05969, "vy":0.9974, "omega":-0.5809, "ax":0.0, "ay":0.0, "alpha":-1.33198, "fx":[7.13897,-5.29188,-7.13897,5.29188], "fy":[5.29188,7.13897,-5.29188,-7.13897]}, - {"t":0.73509, "x":7.73567, "y":2.8926, "heading":1.40194, "vx":-0.05969, "vy":0.9974, "omega":-0.62985, "ax":0.0, "ay":0.0, "alpha":-1.41506, "fx":[7.70256,-5.45877,-7.70256,5.45877], "fy":[5.45877,7.70256,-5.45877,-7.70256]}, - {"t":0.77184, "x":7.73348, "y":2.92926, "heading":1.37879, "vx":-0.05969, "vy":0.9974, "omega":-0.68186, "ax":0.0, "ay":0.0, "alpha":-1.50777, "fx":[8.3396,-5.62485,-8.3396,5.62485], "fy":[5.62485,8.3396,-5.62485,-8.3396]}, - {"t":0.8086, "x":7.73128, "y":2.96592, "heading":1.35373, "vx":-0.05969, "vy":0.9974, "omega":-0.73728, "ax":0.0, "ay":0.0, "alpha":-1.61068, "fx":[9.05662,-5.78366,-9.05662,5.78366], "fy":[5.78366,9.05662,-5.78366,-9.05662]}, - {"t":0.84535, "x":7.72909, "y":3.00258, "heading":1.32663, "vx":-0.05969, "vy":0.9974, "omega":-0.79648, "ax":0.0, "ay":0.0, "alpha":-1.72447, "fx":[9.86065,-5.92725,-9.86065,5.92725], "fy":[5.92725,9.86065,-5.92725,-9.86065]}, - {"t":0.8821, "x":7.72689, "y":3.03924, "heading":1.29735, "vx":-0.05969, "vy":0.9974, "omega":-0.85986, "ax":0.0, "ay":0.0, "alpha":-1.84984, "fx":[10.75909,-6.04583,-10.75908,6.04583], "fy":[6.04583,10.75908,-6.04583,-10.75908]}, - {"t":0.91886, "x":7.7247, "y":3.0759, "heading":1.26575, "vx":-0.05969, "vy":0.9974, "omega":-0.92785, "ax":0.0, "ay":0.0, "alpha":-1.98756, "fx":[11.75963,-6.12739,-11.75956,6.12746], "fy":[6.12742,11.7596,-6.12742,-11.75959]}, - {"t":0.95561, "x":7.72251, "y":3.11255, "heading":1.23165, "vx":-0.05969, "vy":0.9974, "omega":-1.0009, "ax":0.00007, "ay":0.0, "alpha":-2.13847, "fx":[12.87105,-6.1562,-12.86867,6.15862], "fy":[6.15747,12.86994,-6.15735,-12.86978]}, - {"t":0.99237, "x":7.72031, "y":3.14921, "heading":1.19486, "vx":-0.05969, "vy":0.9974, "omega":-1.0795, "ax":0.00264, "ay":0.00016, "alpha":-2.30344, "fx":[14.14038,-6.07399,-14.05413,6.16217], "fy":[6.12023,14.10033,-6.11593,-14.0942]}, - {"t":1.02912, "x":7.71812, "y":3.18587, "heading":1.15518, "vx":-0.05959, "vy":0.99741, "omega":-1.16416, "ax":0.09551, "ay":0.00553, "alpha":-2.48263, "fx":[16.99842,-4.38462,-13.88367,7.58622], "fy":[6.06074,15.55513,-5.91305,-15.33692]}, - {"t":1.06588, "x":7.716, "y":3.22254, "heading":1.1124, "vx":-0.05608, "vy":0.99761, "omega":-1.25541, "ax":2.96057, "ay":0.00446, "alpha":-1.97179, "fx":[59.25618,45.63263,38.13383,52.77081], "fy":[4.60079,14.80108,-5.21669,-13.88989]}, - {"t":1.10263, "x":7.71593, "y":3.25921, "heading":1.06625, "vx":0.05273, "vy":0.99778, "omega":-1.32788, "ax":7.15789, "ay":-1.35969, "alpha":-0.09857, "fx":[118.48983,118.53684,118.20088,118.15074], "fy":[-21.92815,-21.35569,-23.04349,-23.59403]}, - {"t":1.13939, "x":7.72271, "y":3.29496, "heading":1.01745, "vx":0.31582, "vy":0.9478, "omega":-1.3315, "ax":6.67386, "ay":-3.36383, "alpha":-0.02517, "fx":[110.43996,110.45529,110.24337,110.2287], "fy":[-55.42558,-55.38674,-55.80664,-55.84384]}, - {"t":1.17614, "x":7.73882, "y":3.32752, "heading":0.96851, "vx":0.56111, "vy":0.82417, "omega":-1.33243, "ax":5.77846, "ay":-4.71889, "alpha":-0.02028, "fx":[95.66833,95.64614,95.40705,95.43004], "fy":[-77.86234,-77.88381,-78.17699,-78.15469]}, - {"t":1.20137, "x":7.75482, "y":3.34682, "heading":0.93489, "vx":0.70693, "vy":0.70509, "omega":-1.33294, "ax":4.7085, "ay":-5.68127, "alpha":-0.04148, "fx":[78.20801,78.05815,77.48551,77.63926], "fy":[-93.63955,-93.74444,-94.2233,-94.11656]}, - {"t":1.22661, "x":7.77416, "y":3.3628, "heading":0.90125, "vx":0.82575, "vy":0.56172, "omega":-1.33399, "ax":3.42407, "ay":-6.13578, "alpha":-0.13312, "fx":[57.96435,57.12384,55.24202,56.11634], "fy":[-100.73753,-101.04145,-102.15531,-101.84782]}, - {"t":1.25184, "x":7.79609, "y":3.37502, "heading":0.86759, "vx":0.91216, "vy":0.40688, "omega":-1.33735, "ax":1.39401, "ay":-3.58112, "alpha":-1.06672, "fx":[31.48235,23.71904,14.38834,22.60107], "fy":[-57.59685,-53.46369,-61.02973,-64.74241]}, - {"t":1.27708, "x":7.81955, "y":3.38415, "heading":0.83384, "vx":0.94733, "vy":0.31651, "omega":-1.36426, "ax":0.12212, "ay":-0.37151, "alpha":-1.71979, "fx":[13.49221,1.49291,-9.47852,2.56959], "fy":[-5.62276,5.34608,-6.76834,-17.52434]}, - {"t":1.30231, "x":7.8435, "y":3.39202, "heading":0.79941, "vx":0.95042, "vy":0.30714, "omega":-1.40766, "ax":0.00916, "ay":-0.02837, "alpha":-1.65246, "fx":[11.17396,-0.00189,-10.87332,0.30686], "fy":[-0.31823,10.55797,-0.62738,-11.48875]}, - {"t":1.32755, "x":7.86748, "y":3.39976, "heading":0.76389, "vx":0.95065, "vy":0.30642, "omega":-1.44936, "ax":0.00069, "ay":-0.00215, "alpha":-1.5817, "fx":[10.56141,0.23854,-10.53863,-0.21539], "fy":[-0.26285,10.51464,0.19108,-10.5854]}, - {"t":1.35278, "x":7.89147, "y":3.40749, "heading":0.72731, "vx":0.95066, "vy":0.30637, "omega":-1.48928, "ax":0.00005, "ay":-0.00016, "alpha":-1.51638, "fx":[10.10048,0.58817,-10.09876,-0.58642], "fy":[-0.59001,10.09694,0.58458,-10.1023]}, - {"t":1.37802, "x":7.91546, "y":3.41522, "heading":0.68973, "vx":0.95067, "vy":0.30636, "omega":-1.52754, "ax":0.0, "ay":-0.00001, "alpha":-1.45639, "fx":[9.67209,0.92819,-9.67196,-0.92806], "fy":[-0.92833,9.67182,0.92792,-9.67223]}, - {"t":1.40325, "x":7.93945, "y":3.42296, "heading":0.65118, "vx":0.95067, "vy":0.30636, "omega":-1.5643, "ax":0.0, "ay":0.0, "alpha":-1.40157, "fx":[9.26665,1.25124,-9.26664,-1.25124], "fy":[-1.25125,9.26663,1.25122,-9.26666]}, - {"t":1.42849, "x":7.96344, "y":3.43069, "heading":0.61171, "vx":0.95067, "vy":0.30636, "omega":-1.59966, "ax":0.0, "ay":0.0, "alpha":-1.35179, "fx":[8.88287,1.55857,-8.88288,-1.55857], "fy":[-1.55857,8.88287,1.55856,-8.88288]}, - {"t":1.45372, "x":7.98743, "y":3.43842, "heading":0.57134, "vx":0.95067, "vy":0.30636, "omega":-1.63378, "ax":0.0, "ay":0.0, "alpha":-1.30689, "fx":[8.52005,1.85215,-8.52005,-1.85215], "fy":[-1.85215,8.52005,1.85215,-8.52006]}, - {"t":1.47896, "x":8.01142, "y":3.44615, "heading":0.53011, "vx":0.95067, "vy":0.30636, "omega":-1.66676, "ax":0.0, "ay":0.0, "alpha":-1.26677, "fx":[8.17747,2.13415,-8.17747,-2.13415], "fy":[-2.13415,8.17747,2.13415,-8.17747]}, - {"t":1.5042, "x":8.03541, "y":3.45388, "heading":0.48805, "vx":0.95067, "vy":0.30636, "omega":-1.69872, "ax":0.0, "ay":0.0, "alpha":-1.23131, "fx":[7.85433,2.40681,-7.85433,-2.40681], "fy":[-2.40681,7.85432,2.4068,-7.85433]}, - {"t":1.52943, "x":8.0594, "y":3.46161, "heading":0.44518, "vx":0.95067, "vy":0.30636, "omega":-1.72979, "ax":0.0, "ay":0.0, "alpha":-1.20042, "fx":[7.54972,2.67243,-7.54972,-2.67242], "fy":[-2.67243,7.54971,2.67242,-7.54972]}, - {"t":1.55467, "x":8.08339, "y":3.46934, "heading":0.40153, "vx":0.95067, "vy":0.30636, "omega":-1.76009, "ax":0.0, "ay":0.0, "alpha":-1.17403, "fx":[7.26263,2.93339,-7.26261,-2.93337], "fy":[-2.93341,7.26259,2.93335,-7.26265]}, - {"t":1.5799, "x":8.10738, "y":3.47707, "heading":0.35712, "vx":0.95067, "vy":0.30636, "omega":-1.78971, "ax":0.00001, "ay":-0.00002, "alpha":-1.15206, "fx":[6.99198,3.19219,-6.99176,-3.19197], "fy":[-3.19242,6.99153,3.19174,-6.99221]}, - {"t":1.60514, "x":8.13137, "y":3.4848, "heading":0.31195, "vx":0.95067, "vy":0.30636, "omega":-1.81879, "ax":0.00009, "ay":-0.00027, "alpha":-1.13446, "fx":[6.73756,3.45242,-6.73472,-3.44951], "fy":[-3.45543,6.73169,3.4465,-6.74059]}, - {"t":1.63037, "x":8.15536, "y":3.49254, "heading":0.26606, "vx":0.95067, "vy":0.30636, "omega":-1.84741, "ax":0.00115, "ay":-0.00357, "alpha":-1.1212, "fx":[6.51271,3.73173,-6.47511,-3.69325], "fy":[-3.77158,6.43492,3.65339,-6.5529]}, - {"t":1.65561, "x":8.17935, "y":3.50027, "heading":0.21944, "vx":0.9507, "vy":0.30627, "omega":-1.87571, "ax":0.01523, "ay":-0.04738, "alpha":-1.11216, "fx":[6.51198,4.23376,-6.01416,-3.72435], "fy":[-4.7622,5.47982,3.19471,-7.04582]}, - {"t":1.68084, "x":8.20335, "y":3.50798, "heading":0.1721, "vx":0.95108, "vy":0.30507, "omega":-1.90377, "ax":0.19496, "ay":-0.62579, "alpha":-1.09104, "fx":[9.15795,7.50185,-2.78554,-0.98074], "fy":[-14.48608,-4.41149,-6.21056,-16.27778]}, - {"t":1.70608, "x":8.22741, "y":3.51548, "heading":0.12406, "vx":0.956, "vy":0.28928, "omega":-1.93131, "ax":1.13544, "ay":-4.83092, "alpha":-0.43808, "fx":[21.56738,21.77211,15.85505,15.89634], "fy":[-80.53806,-78.09945,-79.23499,-81.61424]}, - {"t":1.73131, "x":8.2519, "y":3.52124, "heading":0.07533, "vx":0.98465, "vy":0.16737, "omega":-1.94236, "ax":0.5003, "ay":-7.14048, "alpha":-0.05676, "fx":[8.78239,8.77745,7.7568,7.77006], "fy":[-118.04689,-117.99512,-118.06689,-118.11812]}, - {"t":1.75655, "x":8.27691, "y":3.52319, "heading":0.02631, "vx":0.99728, "vy":-0.01282, "omega":-1.94379, "ax":-0.65608, "ay":-7.12641, "alpha":-0.04849, "fx":[-10.36912,-10.46428,-11.3284,-11.22741], "fy":[-117.88749,-117.83457,-117.75997,-117.81406]}, - {"t":1.78072, "x":8.30082, "y":3.5208, "heading":-0.02068, "vx":0.98142, "vy":-0.18511, "omega":-1.94497, "ax":-1.31297, "ay":-5.13487, "alpha":-0.27948, "fx":[-19.56224,-20.05956,-23.90405,-23.30612], "fy":[-85.95718,-84.49438,-83.82125,-85.31543]}, - {"t":1.8049, "x":8.32417, "y":3.51482, "heading":-0.0677, "vx":0.94968, "vy":-0.30924, "omega":-1.95172, "ax":-0.27938, "ay":-0.82842, "alpha":-0.69035, "fx":[-1.54898,-1.11744,-7.72841,-8.08193], "fy":[-17.15686,-10.72505,-10.24284,-16.66151]}, - {"t":1.82907, "x":8.34704, "y":3.5071, "heading":-0.11489, "vx":0.94292, "vy":-0.32927, "omega":-1.96841, "ax":-0.02455, "ay":-0.0701, "alpha":-0.59428, "fx":[2.05696,2.70191,-2.87115,-3.51116], "fy":[-4.26545,1.30448,1.94727,-3.62213]}, - {"t":1.85325, "x":8.36983, "y":3.49912, "heading":-0.16248, "vx":0.94233, "vy":-0.33097, "omega":-1.98278, "ax":-0.00206, "ay":-0.00587, "alpha":-0.48164, "fx":[1.84051,2.57573,-1.90884,-2.64379], "fy":[-2.70682,1.77761,2.5127,-1.97173]}, - {"t":1.87742, "x":8.39261, "y":3.49112, "heading":-0.21041, "vx":0.94228, "vy":-0.33111, "omega":-1.99442, "ax":-0.00017, "ay":-0.00049, "alpha":-0.37053, "fx":[1.34147,2.07164,-1.3472,-2.07735], "fy":[-2.08263,1.3362,2.06637,-1.35247]}, - {"t":1.9016, "x":8.41539, "y":3.48311, "heading":-0.25863, "vx":0.94227, "vy":-0.33112, "omega":-2.00338, "ax":-0.00001, "ay":-0.00004, "alpha":-0.26069, "fx":[0.87413,1.50318,-0.87462,-1.50366], "fy":[-1.50411,0.87368,1.50273,-0.87506]}, - {"t":1.92577, "x":8.43817, "y":3.47511, "heading":-0.30706, "vx":0.94227, "vy":-0.33112, "omega":-2.00968, "ax":0.0, "ay":0.0, "alpha":-0.15175, "fx":[0.46599,0.89874,-0.46604,-0.89879], "fy":[-0.89883,0.46594,0.8987,-0.46608]}, - {"t":1.94995, "x":8.46095, "y":3.4671, "heading":-0.35564, "vx":0.94227, "vy":-0.33112, "omega":-2.01335, "ax":0.0, "ay":0.0, "alpha":-0.04333, "fx":[0.12045,0.26282,-0.12046,-0.26283], "fy":[-0.26284,0.12044,0.2628,-0.12047]}, - {"t":1.97413, "x":8.48373, "y":3.4591, "heading":-0.40432, "vx":0.94227, "vy":-0.33112, "omega":-2.0144, "ax":0.0, "ay":0.0, "alpha":0.06492, "fx":[-0.1611,-0.40208,0.16109,0.40207], "fy":[0.40206,-0.16111,-0.40209,0.16109]}, - {"t":1.9983, "x":8.50651, "y":3.45109, "heading":-0.45302, "vx":0.94227, "vy":-0.33112, "omega":-2.01283, "ax":0.0, "ay":0.0, "alpha":0.1734, "fx":[-0.37748,-1.09356,0.37748,1.09355], "fy":[1.09354,-0.37749,-1.09356,0.37747]}, - {"t":2.02248, "x":8.52929, "y":3.44309, "heading":-0.50168, "vx":0.94227, "vy":-0.33112, "omega":-2.00864, "ax":0.0, "ay":0.0, "alpha":0.28247, "fx":[-0.52754,-1.80921,0.52753,1.8092], "fy":[1.80919,-0.52754,-1.80921,0.52753]}, - {"t":2.04665, "x":8.55207, "y":3.43508, "heading":-0.55024, "vx":0.94227, "vy":-0.33112, "omega":-2.00181, "ax":0.0, "ay":0.0, "alpha":0.39251, "fx":[-0.61014,-2.5466,0.61014,2.54659], "fy":[2.54659,-0.61015,-2.5466,0.61014]}, - {"t":2.07083, "x":8.57485, "y":3.42708, "heading":-0.59863, "vx":0.94227, "vy":-0.33112, "omega":-1.99232, "ax":0.0, "ay":0.0, "alpha":0.50389, "fx":[-0.62421,-3.30328,0.6242,3.30328], "fy":[3.30328,-0.62421,-3.30328,0.6242]}, - {"t":2.095, "x":8.59763, "y":3.41907, "heading":-0.6468, "vx":0.94227, "vy":-0.33112, "omega":-1.98014, "ax":0.0, "ay":0.0, "alpha":0.61698, "fx":[-0.56868,-4.07679,0.56868,4.07679], "fy":[4.07679,-0.56868,-4.07679,0.56868]}, - {"t":2.11918, "x":8.62041, "y":3.41107, "heading":-0.69467, "vx":0.94227, "vy":-0.33112, "omega":-1.96522, "ax":0.0, "ay":0.0, "alpha":0.73217, "fx":[-0.44257,-4.86466,0.44257,4.86465], "fy":[4.86465,-0.44257,-4.86466,0.44256]}, - {"t":2.14336, "x":8.64319, "y":3.40306, "heading":-0.74218, "vx":0.94227, "vy":-0.33112, "omega":-1.94752, "ax":0.0, "ay":0.0, "alpha":0.84982, "fx":[-0.24496,-5.66441,0.24493,5.66438], "fy":[5.66434,-0.245,-5.66445,0.24489]}, - {"t":2.16753, "x":8.66597, "y":3.39506, "heading":-0.78926, "vx":0.94227, "vy":-0.33112, "omega":-1.92698, "ax":-0.00001, "ay":-0.00004, "alpha":0.97032, "fx":[0.02479,-6.47379,-0.02527,6.47331], "fy":[6.47287,0.02434,-6.47423,-0.02572]}, - {"t":2.19171, "x":8.68875, "y":3.38705, "heading":-0.83585, "vx":0.94227, "vy":-0.33112, "omega":-1.90352, "ax":-0.00017, "ay":-0.0005, "alpha":1.09403, "fx":[0.3652,-7.29255,-0.37099,7.2868], "fy":[7.28149,0.35985,-7.29786,-0.37634]}, - {"t":2.21588, "x":8.71153, "y":3.37905, "heading":-0.88187, "vx":0.94227, "vy":-0.33113, "omega":-1.87707, "ax":-0.00207, "ay":-0.0059, "alpha":1.22133, "fx":[0.75049,-8.14459,-0.8192,8.07613], "fy":[8.01322,0.68686,-8.20747,-0.88285]}, - {"t":2.24006, "x":8.73431, "y":3.37104, "heading":-0.92725, "vx":0.94222, "vy":-0.33128, "omega":-1.84754, "ax":-0.02465, "ay":-0.06991, "alpha":1.35232, "fx":[0.86715,-9.33949,-1.68298,8.52509], "fy":[7.78144,0.11375,-10.08018,-2.43817]}, - {"t":2.26423, "x":8.75708, "y":3.36301, "heading":-0.97191, "vx":0.94162, "vy":-0.33297, "omega":-1.81485, "ax":-0.29724, "ay":-0.81308, "alpha":1.44958, "fx":[-3.18318,-14.52722,-6.64445,4.69753], "fy":[-3.96533,-11.67039,-22.75381,-15.38245]}, - {"t":2.28841, "x":8.77976, "y":3.35472, "heading":-1.01579, "vx":0.93444, "vy":-0.35262, "omega":-1.7798, "ax":-2.17744, "ay":-4.81041, "alpha":0.55778, "fx":[-36.2597,-41.06657,-35.83097,-30.84539], "fy":[-77.38804,-77.63056,-81.6604,-81.45134]}, - {"t":2.31259, "x":8.80172, "y":3.34479, "heading":-1.05882, "vx":0.8818, "vy":-0.46892, "omega":-1.76632, "ax":-3.8978, "ay":-5.99927, "alpha":0.09199, "fx":[-64.70832,-65.38445,-64.18712,-63.49619], "fy":[-98.95075,-98.59655,-99.42631,-99.78055]}, - {"t":2.33676, "x":8.8219, "y":3.3317, "heading":-1.10152, "vx":0.78756, "vy":-0.61396, "omega":-1.7641, "ax":-5.09259, "ay":-5.3641, "alpha":0.03532, "fx":[-84.33748,-84.50314,-84.06007,-83.89175], "fy":[-88.54449,-88.40204,-88.82895,-88.97247]}, - {"t":2.36094, "x":8.83945, "y":3.31529, "heading":-1.14417, "vx":0.66445, "vy":-0.74364, "omega":-1.76324, "ax":-6.00996, "ay":-4.3323, "alpha":0.04002, "fx":[-99.5304,-99.62413,-99.20174,-99.10495], "fy":[-71.38676,-71.27677,-71.86758,-71.9804]}, - {"t":2.39107, "x":8.85674, "y":3.29092, "heading":-1.1973, "vx":0.48335, "vy":-0.87418, "omega":-1.76204, "ax":-6.40485, "ay":-2.71089, "alpha":0.19119, "fx":[-106.41085,-106.67287,-105.39583,-105.09719], "fy":[-43.25013,-43.31194,-46.35001,-46.36956]}, - {"t":2.4212, "x":8.8684, "y":3.26335, "heading":-1.2504, "vx":0.29035, "vy":-0.95587, "omega":-1.75627, "ax":-2.09609, "ay":-0.56279, "alpha":2.00564, "fx":[-29.74466,-45.85325,-39.8683,-23.15625], "fy":[3.6855,-2.78407,-21.45578,-16.66535]}, - {"t":2.45134, "x":8.8762, "y":3.23429, "heading":-1.30332, "vx":0.22718, "vy":-0.97283, "omega":-1.69584, "ax":-0.11008, "ay":-0.02551, "alpha":2.37051, "fx":[5.99759,-15.54974,-9.65569,11.92809], "fy":[13.34986,7.38211,-14.13605,-8.28318]}, - {"t":2.48147, "x":8.88299, "y":3.20496, "heading":-1.35442, "vx":0.22387, "vy":-0.9736, "omega":-1.62441, "ax":-0.0053, "ay":-0.00122, "alpha":2.39267, "fx":[8.51306,-13.53495,-8.68888,13.36034], "fy":[13.42897,8.57941,-13.46635,-8.62257]}, - {"t":2.5116, "x":8.88973, "y":3.17562, "heading":-1.40337, "vx":0.22371, "vy":-0.97364, "omega":-1.55231, "ax":-0.00026, "ay":-0.00006, "alpha":2.42579, "fx":[9.37244,-13.19498,-9.38089,13.18656], "fy":[13.18987,9.37562,-13.19167,-9.37771]}, - {"t":2.54174, "x":8.89648, "y":3.14628, "heading":-1.45015, "vx":0.2237, "vy":-0.97364, "omega":-1.47921, "ax":-0.00001, "ay":0.0, "alpha":2.47086, "fx":[10.16851,-12.9748,-10.16891,12.97439], "fy":[12.97455,10.16866,-12.97464,-10.16876]}, - {"t":2.57187, "x":8.90322, "y":3.11694, "heading":-1.49472, "vx":0.2237, "vy":-0.97364, "omega":-1.40475, "ax":0.0, "ay":0.0, "alpha":2.52792, "fx":[10.98466,-12.79745,-10.98468,12.79743], "fy":[12.79743,10.98467,-12.79744,-10.98467]}, - {"t":2.602, "x":8.90996, "y":3.0876, "heading":-1.53705, "vx":0.2237, "vy":-0.97364, "omega":-1.32858, "ax":0.0, "ay":0.0, "alpha":2.597, "fx":[11.83111,-12.65785,-11.83111,12.65785], "fy":[12.65785,11.83111,-12.65785,-11.83112]}, - {"t":2.63214, "x":8.9167, "y":3.05827, "heading":-1.57708, "vx":0.2237, "vy":-0.97364, "omega":-1.25032, "ax":0.0, "ay":0.0, "alpha":2.6782, "fx":[12.71371,-12.55482,-12.71371,12.55482], "fy":[12.55482,12.71371,-12.55482,-12.71371]}, - {"t":2.66227, "x":8.92344, "y":3.02893, "heading":-1.61476, "vx":0.2237, "vy":-0.97364, "omega":-1.16962, "ax":0.0, "ay":0.0, "alpha":2.77163, "fx":[13.63727,-12.48795,-13.63727,12.48795], "fy":[12.48795,13.63727,-12.48795,-13.63727]}, - {"t":2.6924, "x":8.93018, "y":2.99959, "heading":-1.65001, "vx":0.2237, "vy":-0.97364, "omega":-1.0861, "ax":0.0, "ay":0.0, "alpha":2.8774, "fx":[14.60578,-12.45761,-14.60577,12.45762], "fy":[12.45761,14.60577,-12.45762,-14.60578]}, - {"t":2.72254, "x":8.93692, "y":2.97025, "heading":-1.68273, "vx":0.2237, "vy":-0.97364, "omega":-0.99939, "ax":0.0, "ay":0.0, "alpha":2.99568, "fx":[15.62242,-12.46518,-15.62242,12.46518], "fy":[12.46518,15.62242,-12.46518,-15.62242]}, - {"t":2.75267, "x":8.94366, "y":2.94091, "heading":-1.71285, "vx":0.2237, "vy":-0.97364, "omega":-0.90912, "ax":0.0, "ay":0.0, "alpha":3.12662, "fx":[16.68958,-12.51314,-16.68958,12.51314], "fy":[12.51314,16.68958,-12.51314,-16.68958]}, - {"t":2.78281, "x":8.9504, "y":2.91157, "heading":-1.74024, "vx":0.2237, "vy":-0.97364, "omega":-0.81491, "ax":0.0, "ay":0.0, "alpha":3.27036, "fx":[17.80882,-12.60533,-17.80882,12.60533], "fy":[12.60533,17.80882,-12.60533,-17.80882]}, - {"t":2.81294, "x":8.95714, "y":2.88223, "heading":-1.7648, "vx":0.2237, "vy":-0.97364, "omega":-0.71636, "ax":0.0, "ay":0.0, "alpha":3.42705, "fx":[18.98081,-12.7471,-18.98081,12.7471], "fy":[12.7471,18.98081,-12.7471,-18.98081]}, - {"t":2.84307, "x":8.96388, "y":2.85289, "heading":-1.78639, "vx":0.2237, "vy":-0.97364, "omega":-0.61309, "ax":0.0, "ay":0.0, "alpha":3.59683, "fx":[20.20528,-12.94549,-20.20527,12.94549], "fy":[12.94549,20.20527,-12.94549,-20.20528]}, - {"t":2.87321, "x":8.97062, "y":2.82355, "heading":-1.80486, "vx":0.2237, "vy":-0.97364, "omega":-0.5047, "ax":0.0, "ay":0.0, "alpha":3.7798, "fx":[21.4808,-13.20945,-21.4808,13.20945], "fy":[13.20945,21.4808,-13.20945,-21.4808]}, - {"t":2.90334, "x":8.97737, "y":2.79421, "heading":-1.82007, "vx":0.2237, "vy":-0.97364, "omega":-0.39081, "ax":0.0, "ay":0.0, "alpha":3.97603, "fx":[22.80467,-13.54998,-22.80468,13.54997], "fy":[13.54997,22.80468,-13.54997,-22.80468]}, - {"t":2.93347, "x":8.98411, "y":2.76487, "heading":-1.83185, "vx":0.2237, "vy":-0.97364, "omega":-0.27099, "ax":0.0, "ay":0.0, "alpha":4.18555, "fx":[24.17261,-13.98036,-24.17273,13.98023], "fy":[13.98028,24.17265,-13.98031,-24.17269]}, - {"t":2.96361, "x":8.99085, "y":2.73554, "heading":-1.84001, "vx":0.2237, "vy":-0.97364, "omega":-0.14487, "ax":-0.00007, "ay":-0.00002, "alpha":4.40832, "fx":[25.57753,-14.51723,-25.57979,14.51479], "fy":[14.51579,25.57834,-14.51623,-25.57898]}, - {"t":2.99374, "x":8.99759, "y":2.7062, "heading":-1.84438, "vx":0.2237, "vy":-0.97364, "omega":-0.01203, "ax":-0.00136, "ay":-0.00031, "alpha":4.64428, "fx":[26.99275,-15.19866,-27.03572,15.15171], "fy":[15.17104,27.00805,-15.17933,-27.02043]}, - {"t":3.02387, "x":9.00433, "y":2.67686, "heading":-1.84474, "vx":0.22366, "vy":-0.97365, "omega":0.12792, "ax":-0.02567, "ay":-0.00588, "alpha":4.89314, "fx":[28.06377,-16.42318,-28.87067,15.53271], "fy":[15.9022,28.34922,-16.05398,-28.58662]}, - {"t":3.05401, "x":9.01106, "y":2.64751, "heading":-1.84088, "vx":0.22288, "vy":-0.97383, "omega":0.27536, "ax":-0.47736, "ay":-0.10551, "alpha":5.11479, "fx":[22.08729,-25.09117,-37.0492,8.48348], "fy":[15.54214,27.63136,-18.14943,-32.00175]}, - {"t":3.08414, "x":9.01756, "y":2.61812, "heading":-1.83259, "vx":0.2085, "vy":-0.977, "omega":0.42949, "ax":-5.20216, "ay":-0.68436, "alpha":1.98409, "fx":[-80.98926,-90.78359,-91.47826,-80.78719], "fy":[-1.87153,5.2474,-18.74648,-29.88883]}, - {"t":3.11427, "x":9.02148, "y":2.58837, "heading":-1.81964, "vx":0.05174, "vy":-0.99763, "omega":0.48928, "ax":-7.29377, "ay":0.40643, "alpha":0.19259, "fx":[-120.45328,-120.51583,-120.73514,-120.66014], "fy":[8.12914,8.76392,5.35685,4.62884]}, - {"t":3.14441, "x":9.01972, "y":2.55849, "heading":-1.8049, "vx":-0.16805, "vy":-0.98538, "omega":0.49508, "ax":-2.58283, "ay":-7.05507, "alpha":0.01706, "fx":[-42.57053,-42.87039,-42.83518,-42.53603], "fy":[-116.69265,-116.58292,-116.59677,-116.70613]}, - {"t":3.18064, "x":9.01194, "y":2.51816, "heading":-1.78696, "vx":-0.26164, "vy":-1.24102, "omega":0.4957, "ax":-2.60718, "ay":-7.03564, "alpha":0.02085, "fx":[-42.94849,-43.31307,-43.26227,-42.89874], "fy":[-116.38067,-116.24571,-116.26627,-116.40066]}, - {"t":3.21688, "x":9.00075, "y":2.46857, "heading":-1.769, "vx":-0.35611, "vy":-1.49595, "omega":0.49646, "ax":-2.67744, "ay":-6.97856, "alpha":0.03205, "fx":[-44.03648,-44.59032,-44.49702,-43.94556], "fy":[-115.46548,-115.25357,-115.29456,-115.50505]}, - {"t":3.25311, "x":8.98609, "y":2.40978, "heading":-1.75101, "vx":-0.45312, "vy":-1.74882, "omega":0.49762, "ax":-4.86149, "ay":-4.11188, "alpha":0.4975, "fx":[-79.31578,-83.94985,-81.46804,-76.77491], "fy":[-67.84143,-63.55404,-68.21539,-72.3233]}, - {"t":3.28935, "x":8.96648, "y":2.34372, "heading":-1.73298, "vx":-0.62928, "vy":-1.89782, "omega":0.51564, "ax":-1.06094, "ay":0.3631, "alpha":1.82465, "fx":[-7.73218,-24.3904,-27.34212,-10.69899], "fy":[13.54648,15.7888,-1.18133,-4.14099]}, - {"t":3.32558, "x":8.94298, "y":2.27519, "heading":-1.7143, "vx":-0.66772, "vy":-1.88466, "omega":0.58176, "ax":-0.10647, "ay":0.03784, "alpha":0.87121, "fx":[2.89467,-5.2387,-6.4156,1.71866], "fy":[4.11094,5.27738,-2.85149,-4.03418]}, - {"t":3.36182, "x":8.91871, "y":2.20692, "heading":-1.69322, "vx":-0.67158, "vy":-1.88329, "omega":0.61333, "ax":-0.01034, "ay":0.00369, "alpha":-0.16823, "fx":[-1.05554,0.5198,0.71363,-0.86171], "fy":[-0.62977,-0.82362,0.75176,0.94555]}, - {"t":3.39805, "x":8.89437, "y":2.13868, "heading":-1.67099, "vx":-0.67195, "vy":-1.88315, "omega":0.60723, "ax":-0.001, "ay":0.00036, "alpha":-1.20709, "fx":[-6.25206,5.07981,6.21901,-5.11282], "fy":[-5.09035,-6.22971,5.10228,6.24135]}, - {"t":3.43429, "x":8.87002, "y":2.07045, "heading":-1.64899, "vx":-0.67199, "vy":-1.88314, "omega":0.56349, "ax":-0.0001, "ay":0.00003, "alpha":-2.23904, "fx":[-11.35717,9.70377,11.35395,-9.70698], "fy":[-9.70478,-11.35501,9.70598,11.35611]}, - {"t":3.47052, "x":8.84567, "y":2.00221, "heading":-1.62857, "vx":-0.67199, "vy":-1.88314, "omega":0.48236, "ax":-0.00001, "ay":0.0, "alpha":-3.25773, "fx":[-16.23038,14.45523,16.23006,-14.45555], "fy":[-14.45533,-16.23017,14.45545,16.23027]}, - {"t":3.50676, "x":8.82132, "y":1.93398, "heading":-1.61109, "vx":-0.67199, "vy":-1.88314, "omega":0.36432, "ax":0.0, "ay":0.0, "alpha":-4.25636, "fx":[-20.87213,19.25427,20.8721,-19.2543], "fy":[-19.25428,-20.87211,19.25429,20.87212]}, - {"t":3.54299, "x":8.79697, "y":1.86574, "heading":-1.59789, "vx":-0.67199, "vy":-1.88314, "omega":0.21009, "ax":0.0, "ay":0.0, "alpha":-5.22793, "fx":[-25.32206,23.98574,25.32209,-23.98571], "fy":[-23.98574,-25.32208,23.98572,25.32207]}, - {"t":3.57923, "x":8.77262, "y":1.79751, "heading":-1.59028, "vx":-0.67199, "vy":-1.88314, "omega":0.02066, "ax":0.00001, "ay":0.0, "alpha":-6.16588, "fx":[-29.64874,28.51569,29.64905,-28.5154], "fy":[-28.51561,-29.64893,28.51547,29.64886]}, - {"t":3.61546, "x":8.74827, "y":1.72927, "heading":-1.58953, "vx":-0.67199, "vy":-1.88314, "omega":-0.20276, "ax":0.00007, "ay":-0.00003, "alpha":-7.06467, "fx":[-33.94501,32.6988,33.94758,-32.69645], "fy":[-32.69824,-33.94655,32.69701,33.94604]}, - {"t":3.6517, "x":8.72392, "y":1.66104, "heading":-1.59688, "vx":-0.67199, "vy":-1.88314, "omega":-0.45875, "ax":0.00056, "ay":-0.0002, "alpha":-7.92041, "fx":[-38.31666,36.38651,38.33636,-36.36886], "fy":[-36.38272,-38.32813,36.37265,38.32489]}, - {"t":3.68793, "x":8.69958, "y":1.5928, "heading":-1.6135, "vx":-0.67197, "vy":-1.88315, "omega":-0.74574, "ax":0.00407, "ay":-0.00129, "alpha":-8.73118, "fx":[-42.83986,39.45752,42.9812,-39.3298], "fy":[-39.43014,-42.91688,39.35725,42.90422]}, - {"t":3.72416, "x":8.67523, "y":1.52456, "heading":-1.64052, "vx":-0.67182, "vy":-1.88319, "omega":-1.06212, "ax":0.86957, "ay":2.45745, "alpha":-7.82941, "fx":[-35.3768,61.63769,49.04735,-17.80054], "fy":[12.17043,3.73618,68.31545,78.29833]}, - {"t":3.7604, "x":8.65146, "y":1.45794, "heading":-1.67901, "vx":-0.64031, "vy":-1.79415, "omega":-1.34582, "ax":2.51206, "ay":7.03731, "alpha":-0.11719, "fx":[40.75751,42.78287,42.29371,40.29791], "fy":[116.61867,115.89547,116.09307,116.79661]}, - {"t":3.79663, "x":8.6299, "y":1.39755, "heading":-1.72777, "vx":-0.54929, "vy":-1.53915, "omega":-1.35006, "ax":2.5219, "ay":7.066, "alpha":-0.06529, "fx":[41.23108,42.37202,42.15523,41.02417], "fy":[116.98864,116.58125,116.66498,117.06654]}, - {"t":3.83287, "x":8.61166, "y":1.34642, "heading":-1.77669, "vx":-0.45791, "vy":-1.28312, "omega":-1.35243, "ax":2.52519, "ay":7.07561, "alpha":-0.04776, "fx":[41.38665,42.22817,42.11066,41.27473], "fy":[117.11261,116.81217,116.85713,117.15465]}, - {"t":3.8691, "x":8.59672, "y":1.30457, "heading":-1.8257, "vx":-0.36641, "vy":-1.02673, "omega":-1.35416, "ax":2.52684, "ay":7.08041, "alpha":-0.03891, "fx":[41.4626,42.15207,42.09006,41.40446], "fy":[117.17518,116.92906,116.95296,117.1973]}, - {"t":3.90534, "x":8.5851, "y":1.27201, "heading":-1.87477, "vx":-0.27485, "vy":-0.77018, "omega":-1.35557, "ax":2.52783, "ay":7.0833, "alpha":-0.03356, "fx":[41.50677,42.10329,42.07904,41.4855], "fy":[117.21319,117.00028,117.01009,117.2218]}, - {"t":3.94157, "x":8.5768, "y":1.24876, "heading":-1.92388, "vx":-0.18326, "vy":-0.51351, "omega":-1.35678, "ax":2.52848, "ay":7.08523, "alpha":-0.02997, "fx":[41.53515,42.06823,42.07276,41.5421], "fy":[117.2389,117.04866,117.04785,117.23724]}, - {"t":3.97781, "x":8.57182, "y":1.2348, "heading":-1.97305, "vx":-0.09164, "vy":-0.25678, "omega":-1.35787, "ax":2.52896, "ay":7.0866, "alpha":-0.02739, "fx":[41.55457,42.04102,42.0691,41.5847], "fy":[117.25755,117.08399,117.07454,117.24751]}, - {"t":4.01404, "x":8.57016, "y":1.23015, "heading":-2.02225, "vx":0.0, "vy":0.0, "omega":-1.35886, "ax":-6.41346, "ay":-3.9287, "alpha":-0.02614, "fx":[-106.07595,-105.85885,-105.99719,-106.21397], "fy":[-64.89193,-65.24469,-65.01844,-64.66452]}, - {"t":4.04109, "x":8.56782, "y":1.22871, "heading":-2.059, "vx":-0.17347, "vy":-0.10626, "omega":-1.35957, "ax":-6.4122, "ay":-3.92793, "alpha":-0.02725, "fx":[-106.06363,-105.83215,-105.96785,-106.19907], "fy":[-64.8655,-65.2416,-65.01946,-64.642]}, - {"t":4.06814, "x":8.56078, "y":1.2244, "heading":-2.09578, "vx":-0.3469, "vy":-0.2125, "omega":-1.36031, "ax":-6.41058, "ay":-3.92694, "alpha":-0.02869, "fx":[-106.04658,-105.79785,-105.93148,-106.18004], "fy":[-64.83368,-65.23777,-65.01872,-64.61302]}, - {"t":4.09519, "x":8.54905, "y":1.21722, "heading":-2.13257, "vx":-0.52029, "vy":-0.31872, "omega":-1.36108, "ax":-6.40844, "ay":-3.92562, "alpha":-0.03062, "fx":[-106.02251,-105.7521,-105.88459,-106.15494], "fy":[-64.79374,-65.233,-65.01538,-64.57419]}, - {"t":4.12223, "x":8.53264, "y":1.20716, "heading":-2.16938, "vx":-0.69363, "vy":-0.4249, "omega":-1.36191, "ax":-6.40545, "ay":-3.92379, "alpha":-0.03333, "fx":[-105.98734,-105.68801,-105.82093,-106.12035], "fy":[-64.74085,-65.22697,-65.00801,-64.51949]}, - {"t":4.14928, "x":8.51153, "y":1.19423, "heading":-2.20622, "vx":-0.86688, "vy":-0.53103, "omega":-1.36281, "ax":-6.401, "ay":-3.92107, "alpha":-0.03741, "fx":[-105.93303,-105.59197,-105.72809,-106.06947], "fy":[-64.66541,-65.21908,-64.99376,-64.43695]}, - {"t":4.17633, "x":8.48574, "y":1.17843, "heading":-2.24308, "vx":-1.04001, "vy":-0.63708, "omega":-1.36382, "ax":-6.39368, "ay":-3.91659, "alpha":-0.04421, "fx":[-105.8412,-105.43278,-105.57761,-105.98674], "fy":[-64.54538,-65.20789,-64.96617,-64.29913]}, - {"t":4.20338, "x":8.45527, "y":1.15977, "heading":-2.27997, "vx":-1.21295, "vy":-0.74302, "omega":-1.36502, "ax":-6.37937, "ay":-3.90782, "alpha":-0.05771, "fx":[-105.65859,-105.11986,-105.28634,-105.82675], "fy":[-64.31679,-65.18929,-64.90645,-64.02605]}, - {"t":4.23042, "x":8.42013, "y":1.13824, "heading":-2.31689, "vx":-1.38549, "vy":-0.84871, "omega":-1.36658, "ax":-6.3389, "ay":-3.88303, "alpha":-0.09641, "fx":[-105.13883,-104.23369,-104.46587,-105.37692], "fy":[-63.6842,-65.14317,-64.72647,-63.24525]}, - {"t":4.25747, "x":8.38034, "y":1.11387, "heading":-2.35385, "vx":-1.55694, "vy":-0.95374, "omega":-1.36919, "ax":-5.4652, "ay":-3.34794, "alpha":-0.98407, "fx":[-94.59536,-86.31047,-85.78185,-94.74668], "fy":[-51.54399,-63.65481,-60.00637,-46.20679]}, - {"t":4.28452, "x":8.33623, "y":1.08685, "heading":-2.39089, "vx":-1.70477, "vy":-1.04429, "omega":-1.3958, "ax":-0.00231, "ay":-0.00139, "alpha":-4.91354, "fx":[-32.79714,-1.17763,32.72568,1.09608], "fy":[1.11243,-32.78273,-1.16184,32.74022]}, - {"t":4.31157, "x":8.29012, "y":1.0586, "heading":-2.42864, "vx":-1.70483, "vy":-1.04433, "omega":-1.5287, "ax":0.0, "ay":0.0, "alpha":-4.14532, "fx":[-27.58339,-2.00178,27.58333,2.00173], "fy":[2.00182,-27.5833,-2.00169,27.58342]}, - {"t":4.33862, "x":8.24401, "y":1.03035, "heading":-2.46999, "vx":-1.70483, "vy":-1.04433, "omega":-1.64083, "ax":-0.00001, "ay":0.00001, "alpha":-3.36772, "fx":[-22.32288,-2.55129,22.32266,2.55105], "fy":[2.55139,-22.32256,-2.55095,22.32298]}, - {"t":4.36566, "x":8.1979, "y":1.00211, "heading":-2.51437, "vx":-1.70483, "vy":-1.04433, "omega":-1.73191, "ax":-0.00002, "ay":0.00003, "alpha":-2.58476, "fx":[-17.02951,-2.71653,17.02898,2.71596], "fy":[2.71673,-17.02878,-2.71577,17.02971]}, - {"t":4.39271, "x":8.15178, "y":0.97386, "heading":-2.56121, "vx":-1.70483, "vy":-1.04433, "omega":-1.80183, "ax":-0.00003, "ay":0.00004, "alpha":-1.79944, "fx":[-11.75415,-2.44448,11.7533,2.44361], "fy":[2.44477,-11.753,-2.44332,11.75444]}, - {"t":4.41976, "x":8.10567, "y":0.94561, "heading":-2.60995, "vx":-1.70483, "vy":-1.04433, "omega":-1.8505, "ax":-0.00003, "ay":0.00005, "alpha":-1.01362, "fx":[-6.54648,-1.69818,6.54541,1.6971], "fy":[1.69852,-6.54506,-1.69675,6.54683]}, - {"t":4.44681, "x":8.05956, "y":0.91737, "heading":-2.66, "vx":-1.70483, "vy":-1.04433, "omega":-1.87791, "ax":-0.00004, "ay":0.00006, "alpha":-0.22821, "fx":[-1.45341,-0.45607,1.4522,0.45486], "fy":[0.45646,-1.45182,-0.45448,1.4538]}, - {"t":4.47385, "x":8.01345, "y":0.88912, "heading":-2.71079, "vx":-1.70483, "vy":-1.04433, "omega":-1.88409, "ax":-0.00006, "ay":0.00009, "alpha":0.55661, "fx":[3.48152,1.28843,-3.48338,-1.29029], "fy":[-1.28785,3.48396,1.29088,-3.48094]}, - {"t":4.5009, "x":7.96734, "y":0.86087, "heading":-2.76175, "vx":-1.70483, "vy":-1.04432, "omega":-1.86903, "ax":-0.00019, "ay":0.0003, "alpha":1.34093, "fx":[8.21742,3.52642,-8.22351,-3.53263], "fy":[-3.52451,8.22547,3.53454,-8.21547]}, - {"t":4.52795, "x":7.92123, "y":0.83263, "heading":-2.8123, "vx":-1.70484, "vy":-1.04431, "omega":-1.83276, "ax":-0.00091, "ay":0.00149, "alpha":2.12464, "fx":[12.71104,6.22796,-12.74043,-6.25884], "fy":[-6.21878,12.75027,6.26801,-12.7012]}, - {"t":4.555, "x":7.87511, "y":0.80438, "heading":-2.86188, "vx":-1.70486, "vy":-1.04427, "omega":-1.77529, "ax":-0.00468, "ay":0.00765, "alpha":2.90695, "fx":[16.89292,9.31352,-17.04062,-9.4756], "fy":[-9.26804,17.09316,9.52096,-16.84038]}, - {"t":4.58204, "x":7.829, "y":0.77614, "heading":-2.90989, "vx":-1.70499, "vy":-1.04407, "omega":-1.69667, "ax":-0.02361, "ay":0.03858, "alpha":3.68577, "fx":[20.55457,12.51179,-21.27722,-13.35062], "fy":[-12.29404,21.5563,13.56485,-20.27552]}, - {"t":4.60909, "x":7.78288, "y":0.74791, "heading":-2.95578, "vx":-1.70563, "vy":-1.04302, "omega":-1.59698, "ax":-0.11544, "ay":0.18942, "alpha":4.45145, "fx":[22.81427,14.66978,-26.22112,-18.89767], "fy":[-13.6383,27.68607,19.8296,-21.35029]}, - {"t":4.63614, "x":7.7367, "y":0.71977, "heading":-2.99898, "vx":-1.70875, "vy":-1.0379, "omega":-1.47658, "ax":-0.53533, "ay":0.89557, "alpha":5.03793, "fx":[19.25782,10.6944,-34.54768,-30.80812], "fy":[-4.99956,41.98581,34.07336,-11.83239]}, - {"t":4.66319, "x":7.69029, "y":0.69203, "heading":-3.03892, "vx":-1.72323, "vy":-1.01368, "omega":-1.34031, "ax":-1.891, "ay":3.41864, "alpha":3.57131, "fx":[-11.03296,-12.24308,-47.34274,-54.44027], "fy":[48.4316,75.13961,65.61704,36.899]}, - {"t":4.69023, "x":7.64299, "y":0.66586, "heading":-3.07517, "vx":-1.77438, "vy":-0.92121, "omega":-1.24372, "ax":-2.71214, "ay":5.83271, "alpha":1.16864, "fx":[-38.62001,-34.47673,-50.23117,-56.03595], "fy":[97.38252,102.05363,96.226,90.077]}, - {"t":4.71728, "x":7.594, "y":0.64308, "heading":-3.10881, "vx":-1.84773, "vy":-0.76345, "omega":-1.21211, "ax":-2.37506, "ay":6.69951, "alpha":0.49752, "fx":[-36.33016,-34.18391,-41.9899,-44.56768], "fy":[111.50751,112.70704,110.18581,108.66318]}, - {"t":4.74433, "x":7.54316, "y":0.62488, "heading":3.14159, "vx":-1.91197, "vy":-0.58225, "omega":-1.19865, "ax":-1.65909, "ay":6.95201, "alpha":0.54035, "fx":[-23.71202,-21.95828,-30.84052,-33.21083], "fy":[115.55154,116.40623,114.48103,113.3237]}, - {"t":4.78029, "x":7.47333, "y":0.60844, "heading":3.09849, "vx":-1.97163, "vy":-0.33227, "omega":-1.17922, "ax":-0.65489, "ay":5.61074, "alpha":2.48008, "fx":[7.39439,6.94114,-24.36781,-33.27833], "fy":[89.12168,99.08357,97.23115,85.62274]}, - {"t":4.81624, "x":7.40202, "y":0.60012, "heading":3.05609, "vx":-1.99518, "vy":-0.13053, "omega":-1.09005, "ax":-0.06959, "ay":1.29492, "alpha":6.74913, "fx":[31.59304,31.60695,-28.32324,-39.47924], "fy":[-12.48361,50.04808,54.16454,-6.09128]}, - {"t":4.8522, "x":7.33023, "y":0.59626, "heading":3.0169, "vx":-1.99768, "vy":-0.08397, "omega":-0.84737, "ax":-0.00667, "ay":0.16446, "alpha":6.46619, "fx":[26.69093,33.6552,-26.28554,-34.50171], "fy":[-31.41873,29.27159,36.67055,-23.64689]}, - {"t":4.88816, "x":7.2584, "y":0.59335, "heading":2.98643, "vx":-1.99792, "vy":-0.07805, "omega":-0.61486, "ax":-0.00077, "ay":0.01986, "alpha":5.84769, "fx":[23.00968,31.47572,-22.97463,-31.56186], "fy":[-31.201,23.3312,31.83568,-22.65239]}, - {"t":4.92411, "x":7.18656, "y":0.59055, "heading":2.96432, "vx":-1.99795, "vy":-0.07734, "omega":-0.4046, "ax":-0.00009, "ay":0.00231, "alpha":5.23842, "fx":[19.96855,28.67882,-19.96594,-28.68735], "fy":[-28.64601,20.00661,28.72015,-19.92787]}, - {"t":4.96007, "x":7.11472, "y":0.58777, "heading":2.94977, "vx":-1.99795, "vy":-0.07726, "omega":-0.21624, "ax":-0.00001, "ay":0.00026, "alpha":4.64629, "fx":[17.33829,25.69535,-17.33814,-25.69617], "fy":[-25.69157,17.34263,25.69996,-17.3338]}, - {"t":4.99603, "x":7.04288, "y":0.585, "heading":2.942, "vx":-1.99795, "vy":-0.07725, "omega":-0.04918, "ax":0.0, "ay":0.00003, "alpha":4.07332, "fx":[15.02451,22.64451,-15.0245,-22.64458], "fy":[-22.64408,15.02499,22.64501,-15.02402]}, - {"t":5.03198, "x":6.97104, "y":0.58222, "heading":2.94023, "vx":-1.99795, "vy":-0.07725, "omega":0.09728, "ax":0.0, "ay":0.0, "alpha":3.5207, "fx":[12.95152,19.59532,-12.95152,-19.59532], "fy":[-19.59527,12.95157,19.59537,-12.95147]}, - {"t":5.06794, "x":6.8992, "y":0.57944, "heading":2.94373, "vx":-1.99795, "vy":-0.07725, "omega":0.22388, "ax":0.0, "ay":0.0, "alpha":2.98867, "fx":[11.05247,16.59562,-11.05247,-16.59562], "fy":[-16.59561,11.05248,16.59562,-11.05246]}, - {"t":5.1039, "x":6.82736, "y":0.57666, "heading":2.95178, "vx":-1.99795, "vy":-0.07725, "omega":0.33134, "ax":0.0, "ay":0.0, "alpha":2.47652, "fx":[9.2689,13.67759,-9.2689,-13.67759], "fy":[-13.67759,9.2689,13.67759,-9.2689]}, - {"t":5.13985, "x":6.75552, "y":0.57389, "heading":2.96369, "vx":-1.99795, "vy":-0.07725, "omega":0.42039, "ax":0.0, "ay":0.0, "alpha":1.98268, "fx":[7.55054,10.86098,-7.55054,-10.86098], "fy":[-10.86098,7.55054,10.86099,-7.55053]}, - {"t":5.17581, "x":6.68368, "y":0.57111, "heading":2.97881, "vx":-1.99795, "vy":-0.07725, "omega":0.49168, "ax":0.0, "ay":0.0, "alpha":1.50474, "fx":[5.85434,8.15527,-5.85434,-8.15527], "fy":[-8.15527,5.85434,8.15528,-5.85433]}, - {"t":5.21177, "x":6.61184, "y":0.56833, "heading":2.99649, "vx":-1.99795, "vy":-0.07725, "omega":0.54578, "ax":0.0, "ay":0.0, "alpha":1.03965, "fx":[4.14383,5.56222,-4.14383,-5.56222], "fy":[-5.56218,4.14388,5.56226,-4.14379]}, - {"t":5.24772, "x":6.54, "y":0.56555, "heading":3.01611, "vx":-1.99795, "vy":-0.07725, "omega":0.58317, "ax":0.0, "ay":0.00003, "alpha":0.58382, "fx":[2.38783,3.07723,-2.38787,-3.07726], "fy":[-3.07683,2.38827,3.07767,-2.38743]}, - {"t":5.28368, "x":6.46816, "y":0.56278, "heading":3.03708, "vx":-1.99795, "vy":-0.07725, "omega":0.60416, "ax":-0.00001, "ay":0.00026, "alpha":0.13336, "fx":[0.55989,0.69116,-0.56022,-0.69148], "fy":[-0.68707,0.5643,0.69557,-0.55581]}, - {"t":5.31964, "x":6.39632, "y":0.56, "heading":3.0588, "vx":-1.99795, "vy":-0.07724, "omega":0.60895, "ax":-0.0001, "ay":0.00261, "alpha":-0.31588, "fx":[-1.36349,-1.60998,1.36019,1.60663], "fy":[1.65139,-1.31875,-1.56522,1.40493]}, - {"t":5.35559, "x":6.32448, "y":0.55722, "heading":3.0807, "vx":-1.99795, "vy":-0.07714, "omega":0.5976, "ax":-0.00101, "ay":0.02636, "alpha":-0.76803, "fx":[-3.41203,-3.85449,3.38003,3.81958], "fy":[4.27265,-2.96,-3.40122,3.83191]}, - {"t":5.39155, "x":6.25264, "y":0.55447, "heading":3.10219, "vx":-1.99799, "vy":-0.0762, "omega":0.56998, "ax":-0.00947, "ay":0.26507, "alpha":-1.22418, "fx":[-5.68733,-6.18143,5.41159,5.83067], "fy":[10.37064,-1.152,-1.60977,9.92145]}, - {"t":5.42751, "x":6.18079, "y":0.5519, "heading":3.12268, "vx":-1.99833, "vy":-0.06666, "omega":0.52596, "ax":-0.01678, "ay":2.39507, "alpha":-1.38778, "fx":[-7.10226,-7.8728,7.02812,6.83716], "fy":[45.57612,33.82621,33.60855,45.38426]}, - {"t":5.46346, "x":6.10893, "y":0.55105, "heading":3.14159, "vx":-1.99893, "vy":0.01945, "omega":0.47606, "ax":0.03828, "ay":1.69845, "alpha":-1.7122, "fx":[-7.62799,-8.08787,9.38979,8.85785], "fy":[35.76677,20.43196,20.40266,35.72343]}, - {"t":5.50978, "x":6.01638, "y":0.55377, "heading":-3.11954, "vx":-1.99716, "vy":0.09812, "omega":0.39676, "ax":0.00463, "ay":0.09222, "alpha":-1.64452, "fx":[-7.8402,-7.52141,8.01687,7.65089], "fy":[9.10998,-6.40227,-6.05821,9.44958]}, - {"t":5.5561, "x":5.92388, "y":0.55842, "heading":-3.10117, "vx":-1.99695, "vy":0.1024, "omega":0.32058, "ax":0.00024, "ay":0.00475, "alpha":-1.42783, "fx":[-6.99807,-6.4545,7.00704,6.46165], "fy":[6.53669,-6.92406,-6.37946,7.08104]}, - {"t":5.60242, "x":5.83139, "y":0.56316, "heading":-3.08632, "vx":-1.99694, "vy":0.10262, "omega":0.25445, "ax":0.00001, "ay":0.00024, "alpha":-1.23835, "fx":[-6.15555,-5.51007,6.156,5.51045], "fy":[5.5143,-6.15175,-5.50623,6.15981]}, - {"t":5.64874, "x":5.73889, "y":0.56792, "heading":-3.07453, "vx":-1.99694, "vy":0.10263, "omega":0.19709, "ax":0.0, "ay":0.00001, "alpha":-1.07311, "fx":[-5.3903,-4.71181,5.39033,4.71183], "fy":[4.71203,-5.39011,-4.71162,5.39052]}, - {"t":5.69506, "x":5.6464, "y":0.57267, "heading":-3.0654, "vx":-1.99694, "vy":0.10263, "omega":0.14739, "ax":0.0, "ay":0.0, "alpha":-0.92905, "fx":[-4.7037,-4.03649,4.7037,4.03649], "fy":[4.0365,-4.70369,-4.03648,4.70371]}, - {"t":5.74138, "x":5.5539, "y":0.57742, "heading":-3.05857, "vx":-1.99694, "vy":0.10263, "omega":0.10436, "ax":0.0, "ay":0.0, "alpha":-0.80341, "fx":[-4.09136,-3.46278,4.09136,3.46278], "fy":[3.46279,-4.09136,-3.46278,4.09136]}, - {"t":5.78769, "x":5.46141, "y":0.58218, "heading":-3.05374, "vx":-1.99694, "vy":0.10263, "omega":0.06714, "ax":0.0, "ay":0.0, "alpha":-0.69379, "fx":[-3.54753,-2.9732,3.54753,2.9732], "fy":[2.9732,-3.54753,-2.9732,3.54753]}, - {"t":5.83401, "x":5.36891, "y":0.58693, "heading":-3.05063, "vx":-1.99694, "vy":0.10263, "omega":0.03501, "ax":0.0, "ay":0.0, "alpha":-0.59805, "fx":[-3.06594,-2.55338,3.06594,2.55338], "fy":[2.55338,-3.06594,-2.55338,3.06594]}, - {"t":5.88033, "x":5.27642, "y":0.59168, "heading":-3.04901, "vx":-1.99694, "vy":0.10263, "omega":0.00731, "ax":0.0, "ay":0.0, "alpha":-0.51431, "fx":[-2.64019,-2.19157,2.64019,2.19157], "fy":[2.19157,-2.64019,-2.19157,2.64019]}, - {"t":5.92665, "x":5.18392, "y":0.59644, "heading":-3.04867, "vx":-1.99694, "vy":0.10263, "omega":-0.01652, "ax":0.0, "ay":0.0, "alpha":-0.44091, "fx":[-2.26405,-1.87805,2.26405,1.87805], "fy":[1.87805,-2.26405,-1.87805,2.26405]}, - {"t":5.97297, "x":5.09143, "y":0.60119, "heading":-3.04944, "vx":-1.99694, "vy":0.10263, "omega":-0.03694, "ax":0.0, "ay":0.0, "alpha":-0.3764, "fx":[-1.93156,-1.60474,1.93156,1.60474], "fy":[1.60474,-1.93156,-1.60474,1.93156]}, - {"t":6.01929, "x":4.99893, "y":0.60594, "heading":-3.05115, "vx":-1.99694, "vy":0.10263, "omega":-0.05437, "ax":0.0, "ay":0.0, "alpha":-0.31949, "fx":[-1.63716,-1.3649,1.63716,1.3649], "fy":[1.3649,-1.63716,-1.3649,1.63716]}, - {"t":6.0656, "x":4.90644, "y":0.6107, "heading":-3.05367, "vx":-1.99694, "vy":0.10263, "omega":-0.06917, "ax":0.0, "ay":0.0, "alpha":-0.26903, "fx":[-1.3757,-1.1528,1.3757,1.1528], "fy":[1.1528,-1.3757,-1.1528,1.3757]}, - {"t":6.11192, "x":4.81394, "y":0.61545, "heading":-3.05687, "vx":-1.99694, "vy":0.10263, "omega":-0.08163, "ax":0.0, "ay":0.0, "alpha":-0.22401, "fx":[-1.14243,-0.96357,1.14243,0.96357], "fy":[0.96357,-1.14243,-0.96357,1.14243]}, - {"t":6.15824, "x":4.72145, "y":0.62021, "heading":-3.06065, "vx":-1.99694, "vy":0.10263, "omega":-0.09201, "ax":0.0, "ay":0.0, "alpha":-0.18353, "fx":[-0.93299,-0.79298,0.93299,0.79298], "fy":[0.79298,-0.93299,-0.79298,0.93299]}, - {"t":6.20456, "x":4.62895, "y":0.62496, "heading":-3.06491, "vx":-1.99694, "vy":0.10263, "omega":-0.10051, "ax":0.0, "ay":0.0, "alpha":-0.14677, "fx":[-0.7434,-0.63732,0.7434,0.63732], "fy":[0.63732,-0.7434,-0.63732,0.7434]}, - {"t":6.25088, "x":4.53646, "y":0.62971, "heading":-3.06957, "vx":-1.99694, "vy":0.10263, "omega":-0.10731, "ax":0.0, "ay":0.0, "alpha":-0.11298, "fx":[-0.56998,-0.49326,0.56998,0.49326], "fy":[0.49326,-0.56998,-0.49326,0.56998]}, - {"t":6.2972, "x":4.44396, "y":0.63447, "heading":-3.07454, "vx":-1.99694, "vy":0.10263, "omega":-0.11254, "ax":0.0, "ay":0.0, "alpha":-0.08149, "fx":[-0.40931,-0.3578,0.40931,0.3578], "fy":[0.3578,-0.40931,-0.3578,0.40931]}, - {"t":6.34351, "x":4.35147, "y":0.63922, "heading":-3.07975, "vx":-1.99694, "vy":0.10263, "omega":-0.11631, "ax":0.0, "ay":0.0, "alpha":-0.05164, "fx":[-0.25822,-0.22811,0.25822,0.22811], "fy":[0.22811,-0.25822,-0.22811,0.25822]}, - {"t":6.38983, "x":4.25897, "y":0.64397, "heading":-3.08514, "vx":-1.99694, "vy":0.10263, "omega":-0.11871, "ax":0.0, "ay":0.0, "alpha":-0.02285, "fx":[-0.11369,-0.10153,0.11369,0.10153], "fy":[0.10153,-0.11369,-0.10153,0.11369]}, - {"t":6.43615, "x":4.16648, "y":0.64873, "heading":-3.09064, "vx":-1.99694, "vy":0.10263, "omega":-0.11976, "ax":0.0, "ay":0.0, "alpha":0.00548, "fx":[0.02716,0.02452,-0.02716,-0.02452], "fy":[-0.02452,0.02716,0.02452,-0.02716]}, - {"t":6.48247, "x":4.07398, "y":0.65348, "heading":-3.09618, "vx":-1.99694, "vy":0.10263, "omega":-0.11951, "ax":0.0, "ay":0.0, "alpha":0.03393, "fx":[0.16716,0.15263,-0.16716,-0.15263], "fy":[-0.15263,0.16716,0.15263,-0.16716]}, - {"t":6.52879, "x":3.98149, "y":0.65823, "heading":-3.10172, "vx":-1.99694, "vy":0.10263, "omega":-0.11794, "ax":0.0, "ay":0.0, "alpha":0.06306, "fx":[0.30911,0.28539,-0.30911,-0.28539], "fy":[-0.28539,0.30911,0.28539,-0.30911]}, - {"t":6.57511, "x":3.889, "y":0.66299, "heading":-3.10718, "vx":-1.99694, "vy":0.10263, "omega":-0.11502, "ax":0.0, "ay":0.0, "alpha":0.09347, "fx":[0.45586,0.42552,-0.45586,-0.42552], "fy":[-0.42552,0.45586,0.42552,-0.45586]}, - {"t":6.62142, "x":3.7965, "y":0.66774, "heading":-3.11251, "vx":-1.99694, "vy":0.10263, "omega":-0.11069, "ax":0.0, "ay":0.0, "alpha":0.12578, "fx":[0.61037,0.57586,-0.61037,-0.57586], "fy":[-0.57586,0.61037,0.57586,-0.61037]}, - {"t":6.66774, "x":3.70401, "y":0.67249, "heading":-3.11764, "vx":-1.99694, "vy":0.10263, "omega":-0.10486, "ax":0.0, "ay":0.0, "alpha":0.16064, "fx":[0.77574,0.73943,-0.77574,-0.73943], "fy":[-0.73943,0.77574,0.73943,-0.77574]}, - {"t":6.71406, "x":3.61151, "y":0.67725, "heading":-3.12249, "vx":-1.99694, "vy":0.10263, "omega":-0.09742, "ax":0.0, "ay":0.0, "alpha":0.19875, "fx":[0.95533,0.91952,-0.95533,-0.91952], "fy":[-0.91952,0.95533,0.91952,-0.95533]}, - {"t":6.76038, "x":3.51902, "y":0.682, "heading":-3.12701, "vx":-1.99694, "vy":0.10263, "omega":-0.08822, "ax":0.0, "ay":0.0, "alpha":0.24088, "fx":[1.15284,1.11969,-1.15284,-1.11969], "fy":[-1.11969,1.15284,1.11969,-1.15284]}, - {"t":6.8067, "x":3.42652, "y":0.68676, "heading":-3.13109, "vx":-1.99694, "vy":0.10263, "omega":-0.07706, "ax":0.0, "ay":0.0, "alpha":0.2879, "fx":[1.37236,1.34383,-1.37236,-1.34383], "fy":[-1.34383,1.37236,1.34383,-1.37236]}, - {"t":6.85302, "x":3.33403, "y":0.69151, "heading":-3.13466, "vx":-1.99694, "vy":0.10263, "omega":-0.06372, "ax":0.0, "ay":0.0, "alpha":0.34073, "fx":[1.61852,1.59624,-1.61852,-1.59624], "fy":[-1.59624,1.61852,1.59624,-1.61852]}, - {"t":6.89933, "x":3.24153, "y":0.69626, "heading":-3.13761, "vx":-1.99694, "vy":0.10263, "omega":-0.04794, "ax":0.0, "ay":0.0, "alpha":0.40045, "fx":[1.89664,1.8816,-1.89664,-1.8816], "fy":[-1.8816,1.89664,1.8816,-1.89664]}, - {"t":6.94565, "x":3.14904, "y":0.70102, "heading":-3.13983, "vx":-1.99694, "vy":0.10263, "omega":-0.02939, "ax":0.00015, "ay":-0.00001, "alpha":0.46825, "fx":[2.21538,2.2076,-2.21032,-2.20255], "fy":[-2.2052,2.21272,2.20495,-2.21298]}, - {"t":6.99197, "x":3.05654, "y":0.70577, "heading":-3.14119, "vx":-1.99693, "vy":0.10263, "omega":-0.00771, "ax":5.58107, "ay":-0.28683, "alpha":0.15831, "fx":[92.57104,92.65364,91.97904,91.89363], "fy":[-5.84506,-3.55423,-3.61894,-5.95066]}, - {"t":7.03829, "x":2.97003, "y":0.71022, "heading":-3.14155, "vx":-1.73842, "vy":0.08934, "omega":-0.00037, "ax":7.48673, "ay":-0.38476, "alpha":0.00304, "fx":[123.78019,123.7831,123.78268,123.77976], "fy":[-6.38845,-6.33156,-6.33446,-6.39137]}, - {"t":7.08461, "x":2.89754, "y":0.71394, "heading":-3.14157, "vx":-1.39165, "vy":0.07152, "omega":-0.00023, "ax":7.50477, "ay":-0.38569, "alpha":0.00173, "fx":[124.07889,124.08056,124.08039,124.07873], "fy":[-6.39217,-6.35974,-6.3614,-6.39384]}, - {"t":7.13093, "x":2.84114, "y":0.71684, "heading":-3.14158, "vx":-1.04404, "vy":0.05366, "omega":-0.00015, "ax":7.51085, "ay":-0.386, "alpha":0.00129, "fx":[124.17966,124.1809,124.1808,124.17956], "fy":[-6.39342,-6.36925,-6.37049,-6.39466]}, - {"t":7.17725, "x":2.80083, "y":0.71891, "heading":-3.14159, "vx":-0.69615, "vy":0.03578, "omega":-0.00009, "ax":7.51391, "ay":-0.38616, "alpha":0.00106, "fx":[124.23027,124.2313,124.23122,124.23019], "fy":[-6.39404,-6.37403,-6.37506,-6.39507]}, - {"t":7.22356, "x":2.77665, "y":0.72015, "heading":-3.14159, "vx":-0.34812, "vy":0.01789, "omega":-0.00004, "ax":7.51574, "ay":-0.38625, "alpha":0.00093, "fx":[124.2607,124.2616,124.26154,124.26064], "fy":[-6.39442,-6.37691,-6.3778,-6.39532]}, - {"t":7.26988, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.91963, "ay":-6.07086, "alpha":7.57495, "fx":[-64.98764,11.798,38.45552,-112.21848], "fy":[-106.10789,-123.84714,-117.98329,-53.55073]}, + {"t":0.02903, "x":7.81956, "y":2.21439, "heading":1.5708, "vx":-0.05574, "vy":-0.17627, "omega":0.21994, "ax":-1.92765, "ay":-6.07348, "alpha":7.55292, "fx":[-65.00171,11.67711,38.00188,-112.16012], "fy":[-106.08796,-123.84725,-118.09222,-53.63459]}, + {"t":0.05807, "x":7.81713, "y":2.20671, "heading":1.57718, "vx":-0.11171, "vy":-0.35261, "omega":0.43924, "ax":-1.93904, "ay":-6.0869, "alpha":7.48073, "fx":[-64.72326,11.78286,36.66139,-111.95703], "fy":[-106.24479,-123.82347,-118.46633,-54.01491]}, + {"t":0.0871, "x":7.81306, "y":2.19391, "heading":1.58994, "vx":-0.16801, "vy":-0.52934, "omega":0.65644, "ax":-1.95603, "ay":-6.11145, "alpha":7.35381, "fx":[-64.15237,12.09133,34.2963,-111.59483], "fy":[-106.57469,-123.77682,-119.11006,-54.71186]}, + {"t":0.11614, "x":7.80736, "y":2.17596, "heading":1.60899, "vx":-0.2248, "vy":-0.70679, "omega":0.86995, "ax":-1.98231, "ay":-6.14725, "alpha":7.16602, "fx":[-63.29114,12.56371,30.68195,-111.05227], "fy":[-107.06925,-123.70863,-120.0124,-55.75079]}, + {"t":0.14517, "x":7.8, "y":2.15285, "heading":1.63425, "vx":-0.28235, "vy":-0.88527, "omega":1.07802, "ax":-2.0232, "ay":-6.19379, "alpha":6.91077, "fx":[-62.14495,13.13973,25.50204,-110.29888], "fy":[-107.71487,-123.62184,-121.11806,-57.16366]}, + {"t":0.17421, "x":7.79095, "y":2.12453, "heading":1.66555, "vx":-0.3411, "vy":-1.06511, "omega":1.27867, "ax":-2.08551, "ay":-6.24921, "alpha":6.58354, "fx":[-60.72441,13.72586,18.36612,-109.29051], "fy":[-108.49189,-123.5229,-122.27647,-58.9927]}, + {"t":0.20324, "x":7.78017, "y":2.09097, "heading":1.70268, "vx":-0.40165, "vy":-1.24655, "omega":1.46982, "ax":-2.17662, "ay":-6.30944, "alpha":6.18625, "fx":[-59.0487,14.17197,8.88865,-107.95984], "fy":[-109.37315,-123.42486,-123.16955,-61.29931]}, + {"t":0.23228, "x":7.76759, "y":2.05212, "heading":1.74536, "vx":-0.46485, "vy":-1.42975, "omega":1.64944, "ax":-2.30188, "ay":-6.36763, "alpha":5.73239, "fx":[-57.15187,14.22071,-3.10656,-106.19426], "fy":[-110.32108,-123.35192,-123.25606,-64.18598]}, + {"t":0.26131, "x":7.75312, "y":2.00792, "heading":1.79325, "vx":-0.53168, "vy":-1.61463, "omega":1.81588, "ax":-2.46037, "ay":-6.41622, "alpha":5.24499, "fx":[-55.09697,13.38247,-17.21998,-103.77884], "fy":[-111.28,-123.3445,-121.85326,-67.85129]}, + {"t":0.29035, "x":7.73665, "y":1.95834, "heading":1.84597, "vx":-0.60312, "vy":-1.80092, "omega":1.96817, "ax":-2.64252, "ay":-6.45474, "alpha":4.72538, "fx":[-53.01677,10.57314,-32.09131,-100.2248], "fy":[-112.15219,-123.45056,-118.53137,-72.74215]}, + {"t":0.31938, "x":7.71802, "y":1.90333, "heading":1.90312, "vx":-0.67984, "vy":-1.98834, "omega":2.10537, "ax":-2.84232, "ay":-6.50335, "alpha":4.03832, "fx":[-51.27239,2.79002,-45.38271,-94.10837], "fy":[-112.69886,-123.55376,-113.77779,-80.06083]}, + {"t":0.34842, "x":7.69708, "y":1.84286, "heading":1.96425, "vx":-0.76237, "vy":-2.17716, "omega":2.22262, "ax":-3.12221, "ay":-6.59538, "alpha":2.41226, "fx":[-51.47992,-21.76074,-54.2096,-79.03298], "fy":[-111.85592,-120.85469,-109.42606,-94.04063]}, + {"t":0.37745, "x":7.67363, "y":1.77686, "heading":2.02878, "vx":-0.85302, "vy":-2.36866, "omega":2.29266, "ax":-3.70869, "ay":-5.05509, "alpha":-6.61324, "fx":[-97.58932,-107.88572,-54.92532,15.13078], "fy":[-52.50536,-54.42146,-108.45395,-118.93151]}, + {"t":0.40649, "x":7.6473, "y":1.70596, "heading":2.09535, "vx":-0.96071, "vy":-2.51543, "omega":2.10065, "ax":-3.31364, "ay":-3.49825, "alpha":-10.89538, "fx":[-97.64793,-111.71848,-49.69365,39.91658], "fy":[33.96591,-43.83918,-110.11358,-111.36541]}, + {"t":0.43552, "x":7.61801, "y":1.63145, "heading":2.15634, "vx":-1.05692, "vy":-2.617, "omega":1.7843, "ax":-3.10913, "ay":-3.53483, "alpha":-10.90491, "fx":[-95.16396,-108.85626,-45.07528,43.47713], "fy":[31.74962,-47.18764,-110.75267,-107.5809]}, + {"t":0.46456, "x":7.58601, "y":1.55397, "heading":2.20815, "vx":-1.14719, "vy":-2.71963, "omega":1.46768, "ax":-2.96041, "ay":-3.44294, "alpha":-10.79707, "fx":[-90.4094,-106.09938,-42.76046,43.48623], "fy":[31.42432,-47.28329,-109.15642,-102.67939]}, + {"t":0.49359, "x":7.55146, "y":1.47356, "heading":2.25076, "vx":-1.23314, "vy":-2.8196, "omega":1.15419, "ax":-3.13746, "ay":-2.95049, "alpha":-10.11255, "fx":[-83.94426,-104.19108,-48.65272,29.29612], "fy":[35.63964,-37.60536,-100.1155,-93.04554]}, + {"t":0.52263, "x":7.51433, "y":1.39045, "heading":2.28427, "vx":-1.32424, "vy":-2.90527, "omega":0.86057, "ax":-5.09385, "ay":0.79555, "alpha":-3.36911, "fx":[-80.11598,-96.7715,-88.05594,-71.93212], "fy":[44.8708,12.77389,-20.01963,14.98746]}, + {"t":0.55166, "x":7.47373, "y":1.30643, "heading":2.30926, "vx":-1.47214, "vy":-2.88217, "omega":0.76275, "ax":-4.51277, "ay":3.91182, "alpha":4.54298, "fx":[-98.43963,-42.436,-60.86555,-96.70529], "fy":[24.63504,88.84064,91.62539,53.60236]}, + {"t":0.5807, "x":7.42909, "y":1.2244, "heading":2.3314, "vx":-1.60317, "vy":-2.76859, "omega":0.89465, "ax":-4.32878, "ay":4.46798, "alpha":5.87019, "fx":[-107.40145,-22.31331,-55.51065,-101.05291], "fy":[25.24763,107.85104,103.1286,59.25696]}, + {"t":0.60973, "x":7.38071, "y":1.14589, "heading":2.35738, "vx":-1.72885, "vy":-2.63886, "omega":1.06509, "ax":-4.60936, "ay":4.59941, "alpha":5.58815, "fx":[-111.72817,-29.37326,-59.84723,-103.88551], "fy":[29.13818,111.66802,103.75333,59.61711]}, + {"t":0.63877, "x":7.32857, "y":1.07121, "heading":2.3883, "vx":-1.86268, "vy":-2.50532, "omega":1.22734, "ax":-4.96526, "ay":4.62671, "alpha":4.82534, "fx":[-113.11131,-43.21317,-66.34815,-105.69897], "fy":[35.1508,110.25853,101.36474,59.20775]}, + {"t":0.6678, "x":7.2724, "y":1.00042, "heading":2.42394, "vx":-2.00685, "vy":-2.37098, "omega":1.36745, "ax":-4.34889, "ay":5.83444, "alpha":1.78247, "fx":[-83.32168,-54.47218,-63.97303,-85.84169], "fy":[87.58834,108.20346,103.72496,86.33666]}, + {"t":0.69684, "x":7.2123, "y":0.93404, "heading":2.46364, "vx":-2.13312, "vy":-2.20158, "omega":1.4192, "ax":-4.1355, "ay":6.14322, "alpha":0.53176, "fx":[-71.18197,-63.06159,-65.89259,-73.36007], "fy":[99.61635,105.00737,103.42953,98.22135]}, + {"t":0.72587, "x":7.14862, "y":0.87271, "heading":2.50485, "vx":-2.25319, "vy":-2.02321, "omega":1.43464, "ax":-4.00121, "ay":6.27923, "alpha":0.03214, "fx":[-66.2972,-65.82541,-66.01136,-66.48084], "fy":[103.72069,104.02374,103.91355,103.61086]}, + {"t":0.75491, "x":7.08151, "y":0.81661, "heading":2.54651, "vx":-2.36937, "vy":-1.8409, "omega":1.43557, "ax":-3.8251, "ay":6.40957, "alpha":-0.30148, "fx":[-62.13924,-66.41929,-64.43988,-59.97014], "fy":[106.69787,104.06368,105.24589,107.88131]}, + {"t":0.78394, "x":7.0111, "y":0.76586, "heading":2.58819, "vx":-2.48043, "vy":-1.6548, "omega":1.42682, "ax":-3.62393, "ay":6.53485, "alpha":-0.57545, "fx":[-58.28306,-66.18506,-61.85691,-53.33909], "fy":[109.12354,104.48016,107.01699,111.55386]}, + {"t":0.81298, "x":6.93756, "y":0.72057, "heading":2.62961, "vx":-2.58565, "vy":-1.46506, "omega":1.41011, "ax":-3.39116, "ay":6.63982, "alpha":-0.63729, "fx":[-54.76957,-63.2726,-57.67977,-48.54851], "fy":[110.67381,105.97999,109.0135,113.44932]}, + {"t":0.8348, "x":6.88033, "y":0.69018, "heading":2.66038, "vx":-2.65965, "vy":-1.32018, "omega":1.39621, "ax":-3.25217, "ay":6.68873, "alpha":-0.88278, "fx":[-52.51167,-63.8882,-55.5388,-43.13958], "fy":[111.62188,105.42078,109.87243,115.43561]}, + {"t":0.85662, "x":6.82152, "y":0.66297, "heading":2.69085, "vx":-2.73061, "vy":-1.17423, "omega":1.37694, "ax":-3.10494, "ay":6.73221, "alpha":-1.134, "fx":[-50.40447,-64.51254,-52.94459,-37.47988], "fy":[112.41574,104.79894,110.83091,117.18079]}, + {"t":0.87844, "x":6.7612, "y":0.63895, "heading":2.72089, "vx":-2.79836, "vy":-1.02733, "omega":1.3522, "ax":-2.95113, "ay":6.76813, "alpha":-1.38761, "fx":[-48.47314,-65.1323,-49.86058,-31.70311], "fy":[113.04363,104.10225,111.84506,118.61093]}, + {"t":0.90026, "x":6.69944, "y":0.61814, "heading":2.7504, "vx":-2.86275, "vy":-0.87965, "omega":1.32192, "ax":-2.78874, "ay":6.79526, "alpha":-1.64541, "fx":[-46.68224,-65.72854,-46.18692,-25.83238], "fy":[113.51388,103.31211,112.87393,119.69612]}, + {"t":0.92208, "x":6.63631, "y":0.60057, "heading":2.77924, "vx":-2.9236, "vy":-0.73138, "omega":1.28602, "ax":-2.61594, "ay":6.81118, "alpha":-1.90972, "fx":[-45.00212,-66.27795,-41.81512,-19.9071], "fy":[113.81898,102.39582,113.83805,120.39594]}, + {"t":0.9439, "x":6.5719, "y":0.58623, "heading":2.8073, "vx":-2.98068, "vy":-0.58276, "omega":1.24435, "ax":-2.43145, "ay":6.81152, "alpha":-2.18342, "fx":[-43.41176,-66.74906,-36.64476,-13.99562], "fy":[113.92842,101.29614,114.593,120.65391]}, + {"t":0.96572, "x":6.50628, "y":0.57514, "heading":2.83446, "vx":-3.03374, "vy":-0.43413, "omega":1.19671, "ax":-2.23492, "ay":6.78873, "alpha":-2.47013, "fx":[-41.89772,-67.09582,-30.61081,-8.19904], "fy":[113.77587,99.91011,114.88983,120.38853]}, + {"t":0.98754, "x":6.43955, "y":0.56728, "heading":2.86057, "vx":-3.0825, "vy":-0.286, "omega":1.14281, "ax":-2.02746, "ay":6.72955, "alpha":-2.77451, "fx":[-40.4528,-67.24699,-23.7308,-2.65323], "fy":[113.23092,98.04313,114.30875,119.46796]}, + {"t":1.00936, "x":6.37181, "y":0.56264, "heading":2.8855, "vx":-3.12674, "vy":-0.13916, "omega":1.08227, "ax":-1.81281, "ay":6.60945, "alpha":-3.10227, "fx":[-39.07754,-67.08702,-16.1854,2.46215], "fy":[112.03256,95.30218,112.12929,117.64389]}, + {"t":1.03118, "x":6.30315, "y":0.56118, "heading":2.90912, "vx":-3.1663, "vy":0.00506, "omega":1.01458, "ax":-1.5999, "ay":6.3788, "alpha":-3.46068, "fx":[-37.7955,-66.41827,-8.47146,6.878], "fy":[109.6203,90.82917,107.02397,114.38058]}, + {"t":1.053, "x":6.23368, "y":0.56281, "heading":2.93126, "vx":-3.20121, "vy":0.14424, "omega":0.93907, "ax":-1.41013, "ay":5.92553, "alpha":-3.86002, "fx":[-36.71408,-64.86498,-1.75027,10.07224], "fy":[104.66758,82.59718,96.22669,108.38608]}, + {"t":1.07482, "x":6.1635, "y":0.56736, "heading":2.95175, "vx":-3.23198, "vy":0.27354, "omega":0.85484, "ax":-1.29276, "ay":4.97441, "alpha":-4.30495, "fx":[-36.17215,-61.49295,1.38521,10.78508], "fy":[93.72006,65.69745,73.34883,96.21002]}, + {"t":1.09664, "x":6.09267, "y":0.57452, "heading":2.9704, "vx":-3.26018, "vy":0.38208, "omega":0.76091, "ax":-1.28279, "ay":2.99408, "alpha":-4.56888, "fx":[-36.22517,-53.20782,-2.08611,6.68346], "fy":[68.30054,31.96756,29.00265,68.73894]}, + {"t":1.11846, "x":6.02122, "y":0.58357, "heading":2.987, "vx":-3.28817, "vy":0.44741, "omega":0.66121, "ax":-1.08398, "ay":0.44885, "alpha":-3.59973, "fx":[-31.4767,-37.22844,-4.29878,1.31621], "fy":[26.21574,-6.5923,-12.82088,22.88129]}, + {"t":1.14028, "x":5.94922, "y":0.59344, "heading":3.00143, "vx":-3.31183, "vy":0.4572, "omega":0.58267, "ax":-0.71506, "ay":-0.61372, "alpha":-2.18446, "fx":[-20.91248,-23.13926,-3.07503,-0.16301], "fy":[1.54236,-18.64651,-22.05718,-1.42601]}, + {"t":1.1621, "x":5.87678, "y":0.60327, "heading":3.01414, "vx":-3.32743, "vy":0.44381, "omega":0.535, "ax":-0.43895, "ay":-0.72737, "alpha":-1.26152, "fx":[-12.56992,-13.83827,-2.06676,-0.55423], "fy":[-5.36548,-17.05093,-18.71913,-6.96799]}, + {"t":1.18392, "x":5.80407, "y":0.61278, "heading":3.02582, "vx":-3.33701, "vy":0.42794, "omega":0.50748, "ax":-0.26188, "ay":-0.61645, "alpha":-0.73893, "fx":[-7.44556,-8.18184,-1.24825,-0.44351], "fy":[-6.33346,-13.21055,-14.05615,-7.1683]}, + {"t":1.20574, "x":5.7312, "y":0.62197, "heading":3.03689, "vx":-3.34272, "vy":0.41449, "omega":0.49135, "ax":-0.16105, "ay":-0.46797, "alpha":-0.48318, "fx":[-4.71043,-5.16557,-0.62586,-0.14892], "fy":[-5.23569,-9.75163,-10.23975,-5.72128]}, + {"t":1.22756, "x":5.65822, "y":0.6309, "heading":3.04761, "vx":-3.34623, "vy":0.40428, "omega":0.48081, "ax":-0.11146, "ay":-0.32811, "alpha":-0.38976, "fx":[-3.50861,-3.84462,-0.18182,0.16408], "fy":[-3.42331,-7.07719,-7.4271,-3.77186]}, + {"t":1.24938, "x":5.58518, "y":0.63964, "heading":3.0581, "vx":-3.34867, "vy":0.39712, "omega":0.47231, "ax":-0.09395, "ay":-0.20847, "alpha":-0.3887, "fx":[-3.23175,-3.53208,0.12187,0.42854], "fy":[-1.46691,-5.11832,-5.42731,-1.77425]}, + {"t":1.2712, "x":5.51209, "y":0.64826, "heading":3.06841, "vx":-3.35072, "vy":0.39257, "omega":0.46382, "ax":-0.09685, "ay":-0.11109, "alpha":-0.44006, "fx":[-3.52195,-3.8217,0.31722,0.62153], "fy":[0.38545,-3.75363,-4.06023,0.08177]}, + {"t":1.29302, "x":5.43895, "y":0.6568, "heading":3.07853, "vx":-3.35283, "vy":0.39015, "omega":0.45422, "ax":-0.1153, "ay":-0.03654, "alpha":-0.5276, "fx":[-4.23402,-4.5456,0.42014,0.73439], "fy":[2.03615,-2.93003,-3.24745,1.72453]}, + {"t":1.31484, "x":5.36577, "y":0.6653, "heading":3.08844, "vx":-3.35535, "vy":0.38935, "omega":0.44271, "ax":-0.15161, "ay":0.01075, "alpha":-0.65672, "fx":[-5.43448,-5.76366,0.42105,0.75068], "fy":[3.43403,-2.74971,-3.08489,3.11129]}, + {"t":1.33666, "x":5.29252, "y":0.6738, "heading":3.0981, "vx":-3.35865, "vy":0.38958, "omega":0.42838, "ax":-0.21844, "ay":0.0144, "alpha":-0.86047, "fx":[-7.48705,-7.8403,0.26347,0.61738], "fy":[4.46542,-3.63698,-4.00475,4.12843]}, + {"t":1.35848, "x":5.21918, "y":0.68231, "heading":3.10745, "vx":-3.36342, "vy":0.3899, "omega":0.4096, "ax":-0.34783, "ay":-0.07104, "alpha":-1.2209, "fx":[-11.31075,-11.68009,-0.20402,0.19176], "fy":[4.77109,-6.71628,-7.16866,4.41563]}, + {"t":1.3803, "x":5.14571, "y":0.6908, "heading":3.11639, "vx":-3.37101, "vy":0.38835, "omega":0.38296, "ax":-0.60821, "ay":-0.35445, "alpha":-1.91316, "fx":[-18.94504,-19.13692,-1.29498,-0.84651], "fy":[3.39306,-14.5241,-15.31647,3.0062]}, + {"t":1.40212, "x":5.07201, "y":0.69919, "heading":3.12474, "vx":-3.38428, "vy":0.38061, "omega":0.34122, "ax":-1.10055, "ay":-1.03415, "alpha":-3.2102, "fx":[-34.07806,-32.54332,-3.24005,-2.92188], "fy":[-1.57991,-30.98808,-33.54678,-2.27763]}, + {"t":1.42394, "x":4.9979, "y":0.70724, "heading":3.13219, "vx":-3.40829, "vy":0.35805, "omega":0.27117, "ax":-1.78465, "ay":-2.17268, "alpha":-5.10174, "fx":[-58.8362,-49.77136,-4.31999,-5.09811], "fy":[-10.75118,-55.0148,-63.49813,-14.42332]}, + {"t":1.44576, "x":4.92311, "y":0.71454, "heading":3.1381, "vx":-3.44724, "vy":0.31064, "omega":0.15985, "ax":-2.3206, "ay":-3.14772, "alpha":-7.25598, "fx":[-86.77027,-64.64805,-0.85097,-1.20065], "fy":[-14.25882,-74.54161,-91.76832,-27.60164]}, + {"t":1.46758, "x":4.84734, "y":0.72057, "heading":3.14159, "vx":-3.49787, "vy":0.24196, "omega":0.00153, "ax":-0.24009, "ay":-4.76958, "alpha":-0.04061, "fx":[-4.24595,-4.22945,-3.69405,-3.70848], "fy":[-78.73489,-78.96491,-78.98033,-78.7504]}, + {"t":1.50514, "x":4.71578, "y":0.72629, "heading":-3.14154, "vx":-3.50689, "vy":0.0628, "omega":0.0, "ax":-0.01507, "ay":-1.61761, "alpha":-0.00007, "fx":[-0.24943,-0.24943,-0.24873,-0.24874], "fy":[-26.74437,-26.74501,-26.74501,-26.74437]}, + {"t":1.5427, "x":4.58404, "y":0.72751, "heading":-3.14154, "vx":-3.50746, "vy":0.00204, "omega":0.0, "ax":0.00044, "ay":-0.34887, "alpha":0.0, "fx":[0.00732,0.00732,0.00732,0.00732], "fy":[-5.76809,-5.76809,-5.76809,-5.76809]}, + {"t":1.58026, "x":4.45229, "y":0.72734, "heading":-3.14154, "vx":-3.50744, "vy":-0.01107, "omega":0.0, "ax":0.00025, "ay":-0.07133, "alpha":0.0, "fx":[0.00417,0.00417,0.00417,0.00417], "fy":[-1.17929,-1.17929,-1.17929,-1.17929]}, + {"t":1.61783, "x":4.32054, "y":0.72687, "heading":-3.14154, "vx":-3.50743, "vy":-0.01375, "omega":0.0, "ax":0.00006, "ay":-0.01395, "alpha":0.0, "fx":[0.00092,0.00092,0.00092,0.00092], "fy":[-0.23072,-0.23072,-0.23072,-0.23072]}, + {"t":1.65539, "x":4.18879, "y":0.72635, "heading":-3.14154, "vx":-3.50743, "vy":-0.01427, "omega":0.0, "ax":0.00001, "ay":-0.00218, "alpha":0.0, "fx":[0.00015,0.00015,0.00015,0.00015], "fy":[-0.03603,-0.03603,-0.03603,-0.03603]}, + {"t":1.69295, "x":4.05705, "y":0.72581, "heading":-3.14154, "vx":-3.50743, "vy":-0.01435, "omega":0.0, "ax":0.0, "ay":0.00019, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00308,0.00308,0.00308,0.00308]}, + {"t":1.73051, "x":3.9253, "y":0.72527, "heading":-3.14154, "vx":-3.50743, "vy":-0.01435, "omega":0.0, "ax":0.0, "ay":0.00063, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.01042,0.01042,0.01042,0.01042]}, + {"t":1.76808, "x":3.79355, "y":0.72473, "heading":-3.14154, "vx":-3.50743, "vy":-0.01432, "omega":0.0, "ax":0.00144, "ay":0.00078, "alpha":-0.00001, "fx":[0.0237,0.0237,0.02377,0.02377], "fy":[0.01299,0.01292,0.01292,0.01299]}, + {"t":1.80564, "x":3.6618, "y":0.7242, "heading":-3.14154, "vx":-3.50737, "vy":-0.01429, "omega":0.0, "ax":3.28928, "ay":0.01449, "alpha":-0.00592, "fx":[54.36047,54.36057,54.4058,54.4057], "fy":[0.27297,0.20641,0.20634,0.27286]}, + {"t":1.8432, "x":3.53238, "y":0.72367, "heading":-3.14154, "vx":-3.38382, "vy":-0.01375, "omega":-0.00022, "ax":7.43261, "ay":0.0303, "alpha":0.00035, "fx":[122.88661,122.88659,122.8865,122.88653], "fy":[0.49767,0.50411,0.50413,0.4977]}, + {"t":1.88076, "x":3.41051, "y":0.72317, "heading":-3.14154, "vx":-3.10463, "vy":-0.01261, "omega":-0.00021, "ax":7.48278, "ay":0.03046, "alpha":0.00045, "fx":[123.71612,123.71608,123.71603,123.71606], "fy":[0.49946,0.50782,0.50785,0.49949]}, + {"t":1.91833, "x":3.29918, "y":0.72272, "heading":-3.14155, "vx":-2.82356, "vy":-0.01147, "omega":-0.00019, "ax":7.49955, "ay":0.03051, "alpha":0.00048, "fx":[123.99346,123.99343,123.99339,123.99342], "fy":[0.49987,0.5089,0.50894,0.49991]}, + {"t":1.95589, "x":3.19841, "y":0.72231, "heading":-3.14156, "vx":-2.54186, "vy":-0.01032, "omega":-0.00018, "ax":7.50794, "ay":0.03052, "alpha":0.0005, "fx":[124.13206,124.13203,124.132,124.13203], "fy":[0.49996,0.50933,0.50937,0.5]}, + {"t":1.99345, "x":3.10822, "y":0.72195, "heading":-3.14157, "vx":-2.25984, "vy":-0.00917, "omega":-0.00016, "ax":7.51296, "ay":0.03053, "alpha":0.00051, "fx":[124.21515,124.21512,124.21509,124.21513], "fy":[0.49995,0.50953,0.50956,0.49999]}, + {"t":2.03102, "x":3.02864, "y":0.72162, "heading":-3.14157, "vx":-1.97763, "vy":-0.00803, "omega":-0.00014, "ax":7.51631, "ay":0.03053, "alpha":0.00052, "fx":[124.2705,124.27047,124.27044,124.27048], "fy":[0.4999,0.50961,0.50965,0.49994]}, + {"t":2.06858, "x":2.95966, "y":0.72134, "heading":-3.14158, "vx":-1.6953, "vy":-0.00688, "omega":-0.00012, "ax":7.5187, "ay":0.03053, "alpha":0.00052, "fx":[124.31001,124.30997,124.30995,124.30999], "fy":[0.49983,0.50964,0.50968,0.49987]}, + {"t":2.10614, "x":2.90128, "y":0.72111, "heading":-3.14158, "vx":-1.41288, "vy":-0.00573, "omega":-0.0001, "ax":7.52049, "ay":0.03053, "alpha":0.00052, "fx":[124.33963,124.33959,124.33957,124.33961], "fy":[0.49977,0.50965,0.50969,0.49981]}, + {"t":2.1437, "x":2.85352, "y":0.72091, "heading":-3.14159, "vx":-1.13039, "vy":-0.00459, "omega":-0.00008, "ax":7.52188, "ay":0.03053, "alpha":0.00053, "fx":[124.36265,124.36261,124.36259,124.36263], "fy":[0.4997,0.50964,0.50968,0.49974]}, + {"t":2.18127, "x":2.81636, "y":0.72076, "heading":-3.14159, "vx":-0.84785, "vy":-0.00344, "omega":-0.00006, "ax":7.523, "ay":0.03052, "alpha":0.00053, "fx":[124.38106,124.38102,124.381,124.38104], "fy":[0.49965,0.50963,0.50967,0.49969]}, + {"t":2.21883, "x":2.78982, "y":0.72065, "heading":-3.14159, "vx":-0.56526, "vy":-0.00229, "omega":-0.00004, "ax":7.52391, "ay":0.03052, "alpha":0.00053, "fx":[124.39611,124.39607,124.39606,124.3961], "fy":[0.4996,0.50962,0.50966,0.49964]}, + {"t":2.25639, "x":2.7739, "y":0.72059, "heading":-3.14159, "vx":-0.28265, "vy":-0.00115, "omega":-0.00002, "ax":7.52467, "ay":0.03052, "alpha":0.00053, "fx":[124.40866,124.40862,124.40861,124.40865], "fy":[0.49955,0.5096,0.50965,0.4996]}, + {"t":2.29395, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/MLtoFL.traj b/src/main/deploy/choreo/MLtoFL.traj new file mode 100644 index 00000000..f762f65d --- /dev/null +++ b/src/main/deploy/choreo/MLtoFL.traj @@ -0,0 +1,139 @@ +{ + "name":"MLtoFL", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.869002342224121, "y":7.436997413635254, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.907824516296387, "y":7.349101543426514, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.15}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"MLL.x", "val":3.2225897312164307}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.869002342224121 m", "val":4.869002342224121}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.907824516296387 m", "val":6.907824516296387}, "y":{"exp":"7.349101543426514 m", "val":7.349101543426514}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.15 m", "val":0.15}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.70309,1.33948,2.14027], + "samples":[ + {"t":0.0, "x":3.22259, "y":7.437, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52454, "ay":-0.01984, "alpha":0.00001, "fx":[124.40651,124.40651,124.40651,124.40651], "fy":[-0.32801,-0.32816,-0.32816,-0.32801]}, + {"t":0.037, "x":3.22774, "y":7.43698, "heading":0.0, "vx":0.27844, "vy":-0.00073, "omega":0.0, "ax":7.52377, "ay":-0.0198, "alpha":0.00001, "fx":[124.39375,124.39375,124.39375,124.39375], "fy":[-0.32727,-0.32742,-0.32742,-0.32727]}, + {"t":0.07401, "x":3.2432, "y":7.43694, "heading":0.0, "vx":0.55685, "vy":-0.00147, "omega":0.0, "ax":7.52284, "ay":-0.01975, "alpha":0.00001, "fx":[124.37844,124.37844,124.37844,124.37844], "fy":[-0.3264,-0.32654,-0.32654,-0.3264]}, + {"t":0.11101, "x":3.26895, "y":7.43688, "heading":0.0, "vx":0.83523, "vy":-0.0022, "omega":0.0, "ax":7.52171, "ay":-0.01968, "alpha":0.00001, "fx":[124.35972,124.35972,124.35972,124.35972], "fy":[-0.32536,-0.3255,-0.3255,-0.32536]}, + {"t":0.14802, "x":3.30501, "y":7.43678, "heading":0.0, "vx":1.11357, "vy":-0.00293, "omega":0.0, "ax":7.52029, "ay":-0.01961, "alpha":0.00001, "fx":[124.33633,124.33633,124.33633,124.33633], "fy":[-0.32412,-0.32426,-0.32426,-0.32412]}, + {"t":0.18502, "x":3.35137, "y":7.43666, "heading":0.0, "vx":1.39185, "vy":-0.00365, "omega":0.0, "ax":7.51847, "ay":-0.01952, "alpha":0.00001, "fx":[124.30627,124.30627,124.30627,124.30627], "fy":[-0.32266,-0.3228,-0.3228,-0.32266]}, + {"t":0.22203, "x":3.40802, "y":7.43651, "heading":0.0, "vx":1.67007, "vy":-0.00437, "omega":0.0, "ax":7.51605, "ay":-0.01941, "alpha":0.00001, "fx":[124.26619,124.26619,124.26619,124.26619], "fy":[-0.32092,-0.32106,-0.32106,-0.32092]}, + {"t":0.25903, "x":3.47496, "y":7.43634, "heading":0.0, "vx":1.9482, "vy":-0.00509, "omega":0.0, "ax":7.51266, "ay":-0.01929, "alpha":0.00001, "fx":[124.21012,124.21012,124.21012,124.21012], "fy":[-0.31885,-0.31899,-0.31899,-0.31885]}, + {"t":0.29604, "x":3.5522, "y":7.43613, "heading":0.0, "vx":2.2262, "vy":-0.00581, "omega":0.0, "ax":7.50758, "ay":-0.01914, "alpha":0.00001, "fx":[124.12611,124.12611,124.12611,124.12611], "fy":[-0.31635,-0.31648,-0.31648,-0.31635]}, + {"t":0.33304, "x":3.63972, "y":7.43591, "heading":0.0, "vx":2.50402, "vy":-0.00651, "omega":0.0, "ax":7.49913, "ay":-0.01895, "alpha":0.00001, "fx":[123.98637,123.98637,123.98637,123.98637], "fy":[-0.3132,-0.31332,-0.31332,-0.3132]}, + {"t":0.37004, "x":3.73751, "y":7.43565, "heading":0.0, "vx":2.78152, "vy":-0.00722, "omega":0.0, "ax":7.48231, "ay":-0.01868, "alpha":0.00001, "fx":[123.70826,123.70826,123.70826,123.70826], "fy":[-0.30884,-0.30895,-0.30895,-0.30884]}, + {"t":0.40705, "x":3.84557, "y":7.43537, "heading":0.0, "vx":3.0584, "vy":-0.00791, "omega":0.0, "ax":7.43266, "ay":-0.01818, "alpha":0.0, "fx":[122.88747,122.88747,122.88747,122.88747], "fy":[-0.30061,-0.30069,-0.30069,-0.30061]}, + {"t":0.44405, "x":3.96383, "y":7.43507, "heading":0.0, "vx":3.33344, "vy":-0.00858, "omega":0.0, "ax":4.69883, "ay":-0.0023, "alpha":-0.00008, "fx":[77.68812,77.68812,77.68764,77.68764], "fy":[-0.03859,-0.03749,-0.0375,-0.03859]}, + {"t":0.48106, "x":4.0904, "y":7.43475, "heading":0.0, "vx":3.50731, "vy":-0.00866, "omega":0.0, "ax":0.0029, "ay":0.00937, "alpha":0.0, "fx":[0.048,0.048,0.048,0.048], "fy":[0.15497,0.15497,0.15497,0.15497]}, + {"t":0.51806, "x":4.22019, "y":7.43443, "heading":0.0, "vx":3.50742, "vy":-0.00832, "omega":0.0, "ax":0.00003, "ay":0.01369, "alpha":0.0, "fx":[0.00054,0.00054,0.00054,0.00054], "fy":[0.22641,0.22641,0.22641,0.22641]}, + {"t":0.55507, "x":4.34998, "y":7.43413, "heading":0.0, "vx":3.50742, "vy":-0.00781, "omega":0.0, "ax":0.00008, "ay":0.03831, "alpha":0.0, "fx":[0.00128,0.00128,0.00128,0.00128], "fy":[0.63341,0.63341,0.63341,0.63341]}, + {"t":0.59207, "x":4.47977, "y":7.43387, "heading":0.0, "vx":3.50743, "vy":-0.00639, "omega":0.0, "ax":0.00015, "ay":0.15297, "alpha":0.0, "fx":[0.00256,0.00256,0.00255,0.00255], "fy":[2.52909,2.5291,2.5291,2.52909]}, + {"t":0.62908, "x":4.60956, "y":7.43374, "heading":0.0, "vx":3.50743, "vy":-0.00073, "omega":0.0, "ax":-0.00242, "ay":0.68668, "alpha":-0.00058, "fx":[-0.03729,-0.03729,-0.04277,-0.04277], "fy":[11.35048,11.35587,11.35587,11.35048]}, + {"t":0.66608, "x":4.73935, "y":7.43418, "heading":0.0, "vx":3.50734, "vy":0.02468, "omega":-0.00002, "ax":-0.19275, "ay":2.77644, "alpha":-0.56221, "fx":[-0.17848,-0.17296,-6.10086,-6.29478], "fy":[43.66025,48.24788,48.14727,43.56098]}, + {"t":0.70309, "x":4.869, "y":7.437, "heading":0.0, "vx":3.50021, "vy":0.12742, "omega":-0.02083, "ax":-0.8417, "ay":2.67916, "alpha":-2.45058, "fx":[-1.09145,-0.94961,-25.14896,-28.47463], "fy":[34.91795,55.46924,53.57383,33.22218]}, + {"t":0.7243, "x":4.94306, "y":7.4403, "heading":-0.00044, "vx":3.48236, "vy":0.18425, "omega":-0.07281, "ax":-0.21031, "ay":1.51756, "alpha":-0.40944, "fx":[-1.47887,-1.45869,-5.45057,-5.52072], "fy":[23.25549,26.96716,26.92296,23.21616]}, + {"t":0.74551, "x":5.01689, "y":7.44455, "heading":-0.00199, "vx":3.47789, "vy":0.21644, "omega":-0.0815, "ax":-0.05698, "ay":0.77332, "alpha":-0.01016, "fx":[-0.89385,-0.89352,-0.99037,-0.99071], "fy":[12.73827,12.83312,12.83315,12.73831]}, + {"t":0.76672, "x":5.09065, "y":7.44932, "heading":-0.00372, "vx":3.47668, "vy":0.23285, "omega":-0.08171, "ax":-0.01905, "ay":0.39587, "alpha":0.03665, "fx":[-0.48758,-0.48901,-0.14217,-0.14084], "fy":[6.71819,6.37332,6.37212,6.71701]}, + {"t":0.78794, "x":5.1644, "y":7.45435, "heading":-0.00545, "vx":3.47628, "vy":0.24125, "omega":-0.08093, "ax":-0.0077, "ay":0.21397, "alpha":0.03178, "fx":[-0.27658,-0.27825,0.02183,0.02346], "fy":[3.6882,3.38862,3.38701,3.68659]}, + {"t":0.80915, "x":5.23814, "y":7.45951, "heading":-0.00717, "vx":3.47612, "vy":0.24578, "omega":-0.08026, "ax":-0.00345, "ay":0.12782, "alpha":0.02486, "fx":[-0.17351,-0.17521,0.05945,0.06113], "fy":[2.23135,1.99683,1.99516,2.22967]}, + {"t":0.83036, "x":5.31188, "y":7.46476, "heading":-0.00887, "vx":3.47604, "vy":0.2485, "omega":-0.07973, "ax":-0.00157, "ay":0.08603, "alpha":0.02069, "fx":[-0.1227,-0.12443,0.07077,0.0725], "fy":[1.52087,1.32572,1.32399,1.51914]}, + {"t":0.85158, "x":5.38562, "y":7.47005, "heading":-0.01056, "vx":3.47601, "vy":0.25032, "omega":-0.07929, "ax":-0.00047, "ay":0.06066, "alpha":0.01791, "fx":[-0.09143,-0.09322,0.07579,0.07757], "fy":[1.08826,0.91928,0.9175,1.08648]}, + {"t":0.87279, "x":5.45935, "y":7.47537, "heading":-0.01224, "vx":3.476, "vy":0.25161, "omega":-0.07891, "ax":0.00071, "ay":0.03181, "alpha":0.01445, "fx":[-0.05554,-0.05721,0.07915,0.08082], "fy":[0.59492,0.45857,0.4569,0.59326]}, + {"t":0.894, "x":5.53309, "y":7.48071, "heading":-0.01392, "vx":3.47602, "vy":0.25228, "omega":-0.07861, "ax":0.00252, "ay":-0.02369, "alpha":0.00612, "fx":[0.0132,0.0124,0.07015,0.07095], "fy":[-0.36241,-0.42015,-0.42096,-0.36321]}, + {"t":0.91522, "x":5.60683, "y":7.48606, "heading":-0.01558, "vx":3.47607, "vy":0.25178, "omega":-0.07848, "ax":0.0032, "ay":-0.1457, "alpha":-0.02303, "fx":[0.15992,0.16332,-0.05401,-0.05739], "fy":[-2.51916,-2.302,-2.29862,-2.51578]}, + {"t":0.93643, "x":5.68057, "y":7.49137, "heading":-0.01725, "vx":3.47614, "vy":0.24869, "omega":-0.07897, "ax":-0.01593, "ay":-0.41268, "alpha":-0.15445, "fx":[0.45443,0.48024,-0.98209,-1.00602], "fy":[-7.56207,-6.10942,-6.08403,-7.53668]}, + {"t":0.95764, "x":5.7543, "y":7.49655, "heading":-0.01892, "vx":3.4758, "vy":0.23993, "omega":-0.08224, "ax":-0.17259, "ay":-0.97025, "alpha":-0.81299, "fx":[0.96111,1.12558,-6.73002,-6.77043], "fy":[-19.91176,-12.35938,-12.1789,-19.71651]}, + {"t":0.97886, "x":5.828, "y":7.50142, "heading":-0.02067, "vx":3.47214, "vy":0.21935, "omega":-0.09949, "ax":-0.87673, "ay":-1.87689, "alpha":-3.35927, "fx":[1.64949,2.6713,-32.64127,-29.66086], "fy":[-47.48725,-16.91822,-15.08079,-44.63937]}, + {"t":1.00007, "x":5.90145, "y":7.50565, "heading":-0.02278, "vx":3.45354, "vy":0.17954, "omega":-0.17075, "ax":-1.95373, "ay":-2.43525, "alpha":-7.01435, "fx":[0.73921,3.92592,-74.34708,-59.52536], "fy":[-78.86462,-11.67974,-5.81475,-64.69295]}, + {"t":1.02128, "x":5.97427, "y":7.50891, "heading":-0.0264, "vx":3.4121, "vy":0.12788, "omega":-0.31954, "ax":-2.56672, "ay":-2.54622, "alpha":-8.95446, "fx":[-1.70253,2.00493,-95.65284,-74.39634], "fy":[-96.08514,-2.14648,1.66698,-71.82655]}, + {"t":1.04249, "x":6.04608, "y":7.51105, "heading":-0.03318, "vx":3.35765, "vy":0.07387, "omega":-0.5095, "ax":-2.888, "ay":-2.58302, "alpha":-9.80729, "fx":[-3.80187,-0.96785,-105.07654,-81.14832], "fy":[-104.85454,4.18933,4.68129,-74.841]}, + {"t":1.06371, "x":6.11665, "y":7.51204, "heading":-0.04399, "vx":3.29638, "vy":0.01907, "omega":-0.71754, "ax":-3.06435, "ay":-2.71025, "alpha":-10.08515, "fx":[-5.44038,-2.65533,-110.02962,-84.53201], "fy":[-109.89511,2.06985,5.26848,-76.68248]}, + {"t":1.08492, "x":6.18589, "y":7.51183, "heading":-0.05921, "vx":3.23138, "vy":-0.03842, "omega":-0.93148, "ax":-3.12248, "ay":-3.05283, "alpha":-9.9127, "fx":[-6.67107,-0.65866,-113.01903,-86.15293], "fy":[-113.14157,-14.55673,4.10274,-78.29961]}, + {"t":1.10613, "x":6.25374, "y":7.51033, "heading":-0.07897, "vx":3.16514, "vy":-0.10318, "omega":-1.14176, "ax":-3.07942, "ay":-3.65176, "alpha":-9.35956, "fx":[-7.64527,5.52376,-114.96324,-86.56871], "fy":[-115.40802,-47.02721,1.04175,-80.11143]}, + {"t":1.12735, "x":6.32019, "y":7.50732, "heading":-0.10319, "vx":3.09982, "vy":-0.18065, "omega":-1.3403, "ax":-3.03876, "ay":-4.26124, "alpha":-8.7039, "fx":[-8.76182,9.97354,-116.14376,-86.0328], "fy":[-117.04485,-78.00071,-4.49467,-82.27142]}, + {"t":1.14856, "x":6.38526, "y":7.50253, "heading":-0.13162, "vx":3.03536, "vy":-0.27104, "omega":-1.52494, "ax":-3.05156, "ay":-4.73096, "alpha":-8.07836, "fx":[-10.31981,9.64486,-116.41194,-84.72427], "fy":[-118.21678,-96.89579,-12.99474,-84.76884]}, + {"t":1.16977, "x":6.44896, "y":7.49572, "heading":-0.16397, "vx":2.97062, "vy":-0.3714, "omega":-1.6963, "ax":-3.08727, "ay":-5.12057, "alpha":-7.39543, "fx":[-12.4292,6.24918,-115.22956,-82.76329], "fy":[-119.01541,-107.37104,-24.70776,-87.54864]}, + {"t":1.19099, "x":6.51128, "y":7.48669, "heading":-0.19995, "vx":2.90513, "vy":-0.48002, "omega":-1.85318, "ax":-3.11609, "ay":-5.4865, "alpha":-6.56383, "fx":[-15.1833,1.0468,-111.722,-80.22051], "fy":[-119.48103,-113.30076,-39.50673,-90.55461]}, + {"t":1.2122, "x":6.57221, "y":7.47527, "heading":-0.23926, "vx":2.83903, "vy":-0.59641, "omega":-1.99242, "ax":-3.12621, "ay":-5.8413, "alpha":-5.54228, "fx":[-18.81086,-5.74889,-105.01193,-77.17633], "fy":[-119.58837,-116.62668,-56.39324,-93.69866]}, + {"t":1.23341, "x":6.63173, "y":7.4613, "heading":-0.28153, "vx":2.77271, "vy":-0.72032, "omega":-2.10999, "ax":-3.12806, "ay":-6.15933, "alpha":-4.36943, "fx":[-23.69118,-14.31595,-95.09324,-73.76971], "fy":[-119.21998,-118.1137,-73.16136,-96.84454]}, + {"t":1.25463, "x":6.68984, "y":7.44464, "heading":-0.32629, "vx":2.70636, "vy":-0.85098, "omega":-2.20268, "ax":-3.1501, "ay":-6.39899, "alpha":-3.16377, "fx":[-30.10431,-24.45105,-83.59894,-70.17337], "fy":[-118.17378,-117.94881,-87.21309,-99.85377]}, + {"t":1.27584, "x":6.74655, "y":7.42515, "heading":-0.37301, "vx":2.63954, "vy":-0.98672, "omega":-2.2698, "ax":-3.21908, "ay":-6.53678, "alpha":-2.04506, "fx":[-37.96795,-35.36937,-73.00859,-66.54372], "fy":[-116.23045,-116.21769,-97.2216,-102.63212]}, + {"t":1.29705, "x":6.80181, "y":7.40274, "heading":-0.42116, "vx":2.57125, "vy":-1.12539, "omega":-2.31318, "ax":-3.35962, "ay":-6.57039, "alpha":-1.04835, "fx":[-47.25823,-46.63954,-65.11738,-63.16944], "fy":[-113.07498,-112.96614,-103.44879,-105.03458]}, + {"t":1.31826, "x":6.8556, "y":7.37739, "heading":-0.47023, "vx":2.49998, "vy":-1.26476, "omega":-2.33542, "ax":-3.59814, "ay":-6.4965, "alpha":-0.15425, "fx":[-58.21446,-58.2555,-60.79324,-60.69562], "fy":[-108.13786,-108.06948,-106.66427,-106.76659]}, + {"t":1.33948, "x":6.90782, "y":7.3491, "heading":-0.51977, "vx":2.42365, "vy":-1.40258, "omega":-2.33869, "ax":-3.76923, "ay":-6.40055, "alpha":1.08547, "fx":[-71.7014,-70.2865,-54.31409,-52.97148], "fy":[-100.08627,-101.3434,-110.72553,-111.13748]}, + {"t":1.36808, "x":6.9756, "y":7.30637, "heading":-0.58666, "vx":2.31585, "vy":-1.58563, "omega":-2.30764, "ax":-3.85713, "ay":-6.22653, "alpha":2.25719, "fx":[-83.03037,-79.32367,-50.11186,-42.62072], "fy":[-90.17658,-94.16756,-112.4777,-114.96205]}, + {"t":1.39668, "x":7.04025, "y":7.25848, "heading":-0.65266, "vx":2.20554, "vy":-1.76371, "omega":-2.24309, "ax":-3.79625, "ay":-6.04617, "alpha":3.58129, "fx":[-92.37787,-86.26027,-45.9203,-26.50182], "fy":[-79.32731,-87.47773,-114.00126,-119.04943]}, + {"t":1.42528, "x":7.10178, "y":7.20556, "heading":-0.71681, "vx":2.09697, "vy":-1.93663, "omega":-2.14066, "ax":-3.60612, "ay":-5.84595, "alpha":4.96414, "fx":[-99.02548,-91.24404,-41.96295,-6.25373], "fy":[-68.62265,-81.7152,-115.20341,-121.07322]}, + {"t":1.45388, "x":7.16028, "y":7.14778, "heading":-0.77803, "vx":1.99383, "vy":-2.10382, "omega":-1.99869, "ax":-3.35601, "ay":-5.61751, "alpha":6.21097, "fx":[-102.65999,-94.64264,-38.46994,13.82709], "fy":[-58.88204,-76.9391,-116.00726,-119.67855]}, + {"t":1.48248, "x":7.21593, "y":7.08532, "heading":-0.8352, "vx":1.89785, "vy":-2.26448, "omega":-1.82106, "ax":-3.11454, "ay":-5.36261, "alpha":7.19456, "fx":[-103.23306,-96.95541,-35.71395,29.92643], "fy":[-49.74434,-72.76951,-116.31724,-115.81824]}, + {"t":1.51108, "x":7.26893, "y":7.01836, "heading":-0.88728, "vx":1.80878, "vy":-2.41785, "omega":-1.6153, "ax":-2.89647, "ay":-5.08779, "alpha":7.9116, "fx":[-99.7836,-98.42369,-33.94109,40.59407], "fy":[-40.3876,-68.81187,-115.99182,-111.28337]}, + {"t":1.53968, "x":7.31948, "y":6.94713, "heading":-0.93347, "vx":1.72594, "vy":-2.56336, "omega":-1.38902, "ax":-2.68143, "ay":-4.79359, "alpha":8.39328, "fx":[-90.18037,-98.97965,-33.57076,45.39794], "fy":[-30.47658,-64.63201,-114.64927,-107.26039]}, + {"t":1.56828, "x":7.36774, "y":6.87186, "heading":-0.9732, "vx":1.64925, "vy":-2.70045, "omega":-1.14898, "ax":-2.54473, "ay":-4.46634, "alpha":8.48578, "fx":[-76.06608,-98.20077,-35.98377,41.95777], "fy":[-21.46802,-59.04479,-110.89798,-103.96478]}, + {"t":1.59688, "x":7.41387, "y":6.7928, "heading":-1.00606, "vx":1.57647, "vy":-2.82819, "omega":-0.90629, "ax":-3.10425, "ay":-3.90954, "alpha":6.78074, "fx":[-72.06084,-93.75588,-48.4332,8.95443], "fy":[-18.91721,-47.38473,-95.99486,-96.25548]}, + {"t":1.62548, "x":7.45769, "y":6.71031, "heading":-1.03198, "vx":1.48769, "vy":-2.94, "omega":-0.71236, "ax":-4.10027, "ay":0.37961, "alpha":-6.63743, "fx":[-80.41751,-33.59533,-60.20136,-96.95193], "fy":[-43.63819,-11.22482,63.63409,16.33406]}, + {"t":1.65408, "x":7.49856, "y":6.62638, "heading":-1.05235, "vx":1.37042, "vy":-2.92915, "omega":-0.90219, "ax":-2.47465, "ay":2.87951, "alpha":-12.02802, "fx":[-99.4679,63.73878,-26.63646,-101.29255], "fy":[-40.3061,65.71679,110.60715,54.41479]}, + {"t":1.68268, "x":7.53674, "y":6.54379, "heading":-1.07816, "vx":1.29965, "vy":-2.84679, "omega":-1.24619, "ax":-2.37755, "ay":3.10439, "alpha":-12.91634, "fx":[-107.07499,77.45886,-24.03834,-103.58175], "fy":[-41.5771,71.62783,116.13088,59.12362]}, + {"t":1.71128, "x":7.57294, "y":6.46364, "heading":-1.1138, "vx":1.23165, "vy":-2.75801, "omega":-1.61559, "ax":-4.0354, "ay":5.35998, "alpha":-5.10868, "fx":[-109.31738,-25.96809,-40.81264,-90.77811], "fy":[46.31378,114.19337,113.77645,80.19223]}, + {"t":1.73988, "x":7.60651, "y":6.38695, "heading":-1.16, "vx":1.11624, "vy":-2.60471, "omega":-1.7617, "ax":-3.43757, "ay":6.51707, "alpha":1.60557, "fx":[-44.5378,-67.65828,-72.00688,-43.13659], "fy":[114.56909,102.65278,99.13921,114.63701]}, + {"t":1.76848, "x":7.63703, "y":6.31513, "heading":-1.21039, "vx":1.01793, "vy":-2.41833, "omega":-1.71578, "ax":-3.13168, "ay":6.54683, "alpha":3.16377, "fx":[-30.34349,-70.85277,-83.43463,-22.47904], "fy":[119.86511,101.35962,90.67303,121.06867]}, + {"t":1.79708, "x":7.66486, "y":6.24864, "heading":-1.25946, "vx":0.92836, "vy":-2.23109, "omega":-1.6253, "ax":-2.97409, "ay":6.52605, "alpha":3.89999, "fx":[-23.6302,-71.04129,-89.15473,-12.86122], "fy":[121.64869,101.56634,85.57691,122.80042]}, + {"t":1.82567, "x":7.6902, "y":6.1875, "heading":-1.30594, "vx":0.8433, "vy":-2.04444, "omega":-1.51376, "ax":-2.8743, "ay":6.50855, "alpha":4.3108, "fx":[-19.24531,-70.40869,-92.50648,-7.92785], "fy":[122.56564,102.18321,82.27037,123.41575]}, + {"t":1.85427, "x":7.71314, "y":6.13169, "heading":-1.34923, "vx":0.7611, "vy":-1.8583, "omega":-1.39047, "ax":-2.80386, "ay":6.49831, "alpha":4.5567, "fx":[-15.94281,-69.48454,-94.64661,-5.35617], "fy":[123.12863,102.92219,80.02217,123.68456]}, + {"t":1.88287, "x":7.73376, "y":6.0812, "heading":-1.389, "vx":0.68091, "vy":-1.67245, "omega":-1.26015, "ax":-2.75121, "ay":6.4937, "alpha":4.70798, "fx":[-13.27639,-68.46697,-96.08567,-4.11856], "fy":[123.50532,103.67459,78.44847,123.82451]}, + {"t":1.91147, "x":7.75211, "y":6.03603, "heading":-1.42504, "vx":0.60222, "vy":-1.48673, "omega":-1.1255, "ax":-2.71059, "ay":6.49277, "alpha":4.8016, "fx":[-11.04624,-67.44964,-97.08815,-3.67768], "fy":[123.76858,104.39128,77.32372,123.90783]}, + {"t":1.94007, "x":7.76823, "y":5.99616, "heading":-1.45723, "vx":0.5247, "vy":-1.30104, "omega":-0.98818, "ax":-2.67868, "ay":6.49395, "alpha":4.85948, "fx":[-9.14847,-66.48388,-97.80722,-3.71183], "fy":[123.95654,105.04787,76.50385,123.96121]}, + {"t":1.96867, "x":7.78214, "y":5.96161, "heading":-1.48549, "vx":0.44809, "vy":-1.11531, "omega":-0.8492, "ax":-2.65325, "ay":6.49609, "alpha":4.89571, "fx":[-7.5228,-65.60081,-98.33892,-4.00677], "fy":[124.09194,105.63172,75.89134,123.99616]}, + {"t":1.99727, "x":7.79387, "y":5.93237, "heading":-1.50978, "vx":0.37221, "vy":-0.92953, "omega":-0.70918, "ax":-2.63265, "ay":6.49838, "alpha":4.91984, "fx":[-6.13129,-64.82069,-98.74708,-4.40819], "fy":[124.18963,106.13624,75.41736,124.01937]}, + {"t":2.02587, "x":7.80343, "y":5.90844, "heading":-1.53006, "vx":0.29692, "vy":-0.74367, "omega":-0.56847, "ax":-2.61562, "ay":6.50025, "alpha":4.93856, "fx":[-4.94855,-64.15745,-99.07596,-4.79891], "fy":[124.25993,106.55802,75.03195,124.03633]}, + {"t":2.05447, "x":7.81086, "y":5.88983, "heading":-1.54632, "vx":0.22211, "vy":-0.55777, "omega":-0.42723, "ax":-2.60113, "ay":6.50131, "alpha":4.95665, "fx":[-3.95701,-63.62111,-99.35716,-5.0872], "fy":[124.31029,106.89534,74.69813,124.05224]}, + {"t":2.08307, "x":7.81615, "y":5.87654, "heading":-1.55854, "vx":0.14772, "vy":-0.37183, "omega":-0.28547, "ax":-2.58835, "ay":6.50127, "alpha":4.9776, "fx":[-3.1443,-63.21916,-99.61372,-5.20037], "fy":[124.34627,107.14723,74.38818,124.07182]}, + {"t":2.11167, "x":7.81931, "y":5.86856, "heading":-1.5667, "vx":0.07369, "vy":-0.1859, "omega":-0.14311, "ax":-2.57664, "ay":6.49993, "alpha":5.00403, "fx":[-2.50187,-62.95741,-99.86253,-5.08112], "fy":[124.37199,107.31293,74.08124,124.09856]}, + {"t":2.14027, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 54c810a7..cf09d6ad 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -125,8 +125,8 @@ public enum Path { RRtoIR("RR", "FR", Action.INTAKE), PRtoIR("PR", "FR", Action.INTAKE), PLtoIL("PL", "FL", Action.INTAKE), - FRtoSRT("FR", "SRT", Action.INTAKE),//chopped, do not use until fixed PRtoFR("PR", "FR", Action.INTAKE), + MLtoIL("PR", "FR", Action.INTAKE), // SCORE @@ -136,6 +136,8 @@ public enum Path { OtoS("O", "S", Action.SCORE), PMtoM("PM", "M", Action.SCORE), SRTtoO("SRT", "O", Action.SCORE), + FRtoSRT("FR", "SRT", Action.SCORE), + FLtoML("FR", "SRT", Action.SCORE), // FLOW MLtoD("ML", "D", Action.FLOW), // CLIMB @@ -694,8 +696,7 @@ public Command getRightNeutralOutpostScore() { final AutoRoutine routine = factory.newRoutine("Right Neutral Outpost Score"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); Path[] paths = {Path.PRtoFR, Path.FRtoFRM, Path.FRMtoMRScore, Path.MRtoO}; - - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); @@ -707,20 +708,33 @@ public Command getRightNeutralOutpostScore() { } public Command getLeftNeutralOutpostScore() { - final AutoRoutine routine = factory.newRoutine("Left Neutral Outpost Score"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLtoFLM, Path.FLMtoMLScore,Path.MLtoD}; + final AutoRoutine routine = factory.newRoutine("Left Neutral Outpost Score"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLtoFLM, Path.FLMtoMLScore,Path.MLtoD}; + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().onTrue(autoCommand); - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + return routine.cmd(); + } + + public Command getLeftNeutralScoreTwice() { + final AutoRoutine routine = factory.newRoutine("Left Neutral Score Twice"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoIL, Path.FLtoML, Path.MLtoIL, Path.ILtoILM, Path.FLMtoML}; + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); } - routine.active().onTrue(autoCommand); + routine.active().onTrue(autoCommand); - return routine.cmd(); + return routine.cmd(); } public Command getTestAuto() { From c9d34966315937128d15d2986ab06cd60dbc080e Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 14:17:06 -0700 Subject: [PATCH 05/11] label used paths --- src/main/java/frc/robot/Autos.java | 40 +++++++++++++++--------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index cf09d6ad..d8e368fe 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -107,26 +107,26 @@ public enum Obstacle { public enum Path { // OUTPOST PRtoO("PR", "O", Action.OUTPOST), - MRtoO("MR", "O", Action.OUTPOST), + usedMRtoO("MR", "O", Action.OUTPOST), StoO("S", "O", Action.OUTPOST), // DEPOT PLtoD("PL", "D", Action.INTAKE), // FEED - FLtoFLM("FL", "FLM", Action.FEED), - FRtoFRM("FR", "FRM", Action.FEED), - FLMtoML("FLM", "ML", Action.FEED), + usedFLtoFLM("FL", "FLM", Action.FEED), + usedFRtoFRM("FR", "FRM", Action.FEED), + usedFLMtoML("FLM", "ML", Action.FEED), FRMtoMR("FRM", "MR", Action.FEED), // INTAKE - ILtoILM("FL", "FLM", Action.INTAKE), + usedILtoILM("FL", "FLM", Action.INTAKE), IRtoIRM("FR", "FRM", Action.INTAKE), ILMtoML("FLM", "ML", Action.INTAKE), IRMtoMR("FRM", "MR", Action.INTAKE), RLtoIL("RL", "FL", Action.INTAKE), RRtoIR("RR", "FR", Action.INTAKE), PRtoIR("PR", "FR", Action.INTAKE), - PLtoIL("PL", "FL", Action.INTAKE), - PRtoFR("PR", "FR", Action.INTAKE), - MLtoIL("PR", "FR", Action.INTAKE), + usedPLtoIL("PL", "FL", Action.INTAKE), + usedPRtoFR("PR", "FR", Action.INTAKE), + usedMLtoIL("PR", "FR", Action.INTAKE), // SCORE @@ -137,9 +137,9 @@ public enum Path { PMtoM("PM", "M", Action.SCORE), SRTtoO("SRT", "O", Action.SCORE), FRtoSRT("FR", "SRT", Action.SCORE), - FLtoML("FR", "SRT", Action.SCORE), + usedFLtoML("FR", "SRT", Action.SCORE), // FLOW - MLtoD("ML", "D", Action.FLOW), + usedMLtoD("ML", "D", Action.FLOW), // CLIMB MLtoCL("ML", "CL", Action.CLIMB_SCORE), MRtoCR("MR", "CR", Action.CLIMB_SCORE), @@ -148,8 +148,8 @@ public enum Path { DtoCL("D", "CL", Action.CLIMB_SCORE), RBtoO("RB", "O", Action.OUTPOST_SCORE), - FRMtoMRScore("FRM", "MR", Action.INTAKE_SCORE), - FLMtoMLScore("FLM", "ML", Action.INTAKE_SCORE), + usedFRMtoMRScore("FRM", "MR", Action.INTAKE_SCORE), + usedFLMtoMLScore("FLM", "ML", Action.INTAKE_SCORE), RUNtoTEST("RUN", "TEST", Action.NOTHING), @@ -513,7 +513,7 @@ public Command getOutpostScoreClimbAuto() { public Command getDepotFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL}; + Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.usedFLtoFLM, Path.usedFLMtoML, Path.MLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); @@ -529,7 +529,7 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR}; + Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.usedFRtoFRM, Path.FRMtoMR, Path.MRtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); @@ -546,7 +546,7 @@ public Command getOutpostFeedClimbAuto() { public Command getFillDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Fill Depot Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}; + Path[] paths = {Path.usedPLtoIL, Path.usedFLtoFLM, Path.usedFLMtoML, Path.usedMLtoD, Path.DtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); // TODO set left climb true @@ -563,7 +563,7 @@ public Command getFillDepotScoreClimbAuto() { public Command getFillOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Fill Outpost Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; + Path[] paths = {Path.PRtoIR, Path.usedFRtoFRM, Path.FRMtoMR, Path.usedMRtoO, Path.OtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); @@ -580,7 +580,7 @@ public Command getRightBumpOutpostCenterAuto() { final AutoRoutine routine = factory.newRoutine("Right Bump Outpost Center Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); // Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; - Path[] paths = {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.FRMtoMRScore}; + Path[] paths = {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.usedFRMtoMRScore}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); @@ -695,7 +695,7 @@ public Command getCenterScoreAuto() { public Command getRightNeutralOutpostScore() { final AutoRoutine routine = factory.newRoutine("Right Neutral Outpost Score"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoFR, Path.FRtoFRM, Path.FRMtoMRScore, Path.MRtoO}; + Path[] paths = {Path.usedPRtoFR, Path.usedFRtoFRM, Path.usedFRMtoMRScore, Path.usedMRtoO}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { @@ -710,7 +710,7 @@ public Command getRightNeutralOutpostScore() { public Command getLeftNeutralOutpostScore() { final AutoRoutine routine = factory.newRoutine("Left Neutral Outpost Score"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLtoFLM, Path.FLMtoMLScore,Path.MLtoD}; + Path[] paths = {Path.usedPLtoIL, Path.usedFLtoFLM, Path.usedFLtoFLM, Path.usedFLMtoMLScore,Path.usedMLtoD}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { @@ -725,7 +725,7 @@ public Command getLeftNeutralOutpostScore() { public Command getLeftNeutralScoreTwice() { final AutoRoutine routine = factory.newRoutine("Left Neutral Score Twice"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoIL, Path.FLtoML, Path.MLtoIL, Path.ILtoILM, Path.FLMtoML}; + Path[] paths = {Path.usedPLtoIL, Path.usedFLtoML, Path.usedMLtoIL, Path.usedILtoILM, Path.usedFLMtoML}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { From 3b590812dbff3facb91e222447dba691604b0a9b Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 14:31:22 -0700 Subject: [PATCH 06/11] Revert "label used paths" This reverts commit c9d34966315937128d15d2986ab06cd60dbc080e. --- src/main/java/frc/robot/Autos.java | 40 +++++++++++++++--------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index d8e368fe..cf09d6ad 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -107,26 +107,26 @@ public enum Obstacle { public enum Path { // OUTPOST PRtoO("PR", "O", Action.OUTPOST), - usedMRtoO("MR", "O", Action.OUTPOST), + MRtoO("MR", "O", Action.OUTPOST), StoO("S", "O", Action.OUTPOST), // DEPOT PLtoD("PL", "D", Action.INTAKE), // FEED - usedFLtoFLM("FL", "FLM", Action.FEED), - usedFRtoFRM("FR", "FRM", Action.FEED), - usedFLMtoML("FLM", "ML", Action.FEED), + FLtoFLM("FL", "FLM", Action.FEED), + FRtoFRM("FR", "FRM", Action.FEED), + FLMtoML("FLM", "ML", Action.FEED), FRMtoMR("FRM", "MR", Action.FEED), // INTAKE - usedILtoILM("FL", "FLM", Action.INTAKE), + ILtoILM("FL", "FLM", Action.INTAKE), IRtoIRM("FR", "FRM", Action.INTAKE), ILMtoML("FLM", "ML", Action.INTAKE), IRMtoMR("FRM", "MR", Action.INTAKE), RLtoIL("RL", "FL", Action.INTAKE), RRtoIR("RR", "FR", Action.INTAKE), PRtoIR("PR", "FR", Action.INTAKE), - usedPLtoIL("PL", "FL", Action.INTAKE), - usedPRtoFR("PR", "FR", Action.INTAKE), - usedMLtoIL("PR", "FR", Action.INTAKE), + PLtoIL("PL", "FL", Action.INTAKE), + PRtoFR("PR", "FR", Action.INTAKE), + MLtoIL("PR", "FR", Action.INTAKE), // SCORE @@ -137,9 +137,9 @@ public enum Path { PMtoM("PM", "M", Action.SCORE), SRTtoO("SRT", "O", Action.SCORE), FRtoSRT("FR", "SRT", Action.SCORE), - usedFLtoML("FR", "SRT", Action.SCORE), + FLtoML("FR", "SRT", Action.SCORE), // FLOW - usedMLtoD("ML", "D", Action.FLOW), + MLtoD("ML", "D", Action.FLOW), // CLIMB MLtoCL("ML", "CL", Action.CLIMB_SCORE), MRtoCR("MR", "CR", Action.CLIMB_SCORE), @@ -148,8 +148,8 @@ public enum Path { DtoCL("D", "CL", Action.CLIMB_SCORE), RBtoO("RB", "O", Action.OUTPOST_SCORE), - usedFRMtoMRScore("FRM", "MR", Action.INTAKE_SCORE), - usedFLMtoMLScore("FLM", "ML", Action.INTAKE_SCORE), + FRMtoMRScore("FRM", "MR", Action.INTAKE_SCORE), + FLMtoMLScore("FLM", "ML", Action.INTAKE_SCORE), RUNtoTEST("RUN", "TEST", Action.NOTHING), @@ -513,7 +513,7 @@ public Command getOutpostScoreClimbAuto() { public Command getDepotFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.usedFLtoFLM, Path.usedFLMtoML, Path.MLtoCL}; + Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); @@ -529,7 +529,7 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.usedFRtoFRM, Path.FRMtoMR, Path.MRtoCR}; + Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); @@ -546,7 +546,7 @@ public Command getOutpostFeedClimbAuto() { public Command getFillDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Fill Depot Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.usedPLtoIL, Path.usedFLtoFLM, Path.usedFLMtoML, Path.usedMLtoD, Path.DtoCL}; + Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); // TODO set left climb true @@ -563,7 +563,7 @@ public Command getFillDepotScoreClimbAuto() { public Command getFillOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Fill Outpost Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoIR, Path.usedFRtoFRM, Path.FRMtoMR, Path.usedMRtoO, Path.OtoCR}; + Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); @@ -580,7 +580,7 @@ public Command getRightBumpOutpostCenterAuto() { final AutoRoutine routine = factory.newRoutine("Right Bump Outpost Center Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); // Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; - Path[] paths = {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.usedFRMtoMRScore}; + Path[] paths = {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.FRMtoMRScore}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); @@ -695,7 +695,7 @@ public Command getCenterScoreAuto() { public Command getRightNeutralOutpostScore() { final AutoRoutine routine = factory.newRoutine("Right Neutral Outpost Score"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.usedPRtoFR, Path.usedFRtoFRM, Path.usedFRMtoMRScore, Path.usedMRtoO}; + Path[] paths = {Path.PRtoFR, Path.FRtoFRM, Path.FRMtoMRScore, Path.MRtoO}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { @@ -710,7 +710,7 @@ public Command getRightNeutralOutpostScore() { public Command getLeftNeutralOutpostScore() { final AutoRoutine routine = factory.newRoutine("Left Neutral Outpost Score"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.usedPLtoIL, Path.usedFLtoFLM, Path.usedFLtoFLM, Path.usedFLMtoMLScore,Path.usedMLtoD}; + Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLtoFLM, Path.FLMtoMLScore,Path.MLtoD}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { @@ -725,7 +725,7 @@ public Command getLeftNeutralOutpostScore() { public Command getLeftNeutralScoreTwice() { final AutoRoutine routine = factory.newRoutine("Left Neutral Score Twice"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.usedPLtoIL, Path.usedFLtoML, Path.usedMLtoIL, Path.usedILtoILM, Path.usedFLMtoML}; + Path[] paths = {Path.PLtoIL, Path.FLtoML, Path.MLtoIL, Path.ILtoILM, Path.FLMtoML}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { From cc335ca806e76fba2b946b75b834c949e60e43a4 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 17:38:30 -0700 Subject: [PATCH 07/11] name it the right thing --- src/main/deploy/choreo/DepottoLPreTrench.traj | 196 ++++----- src/main/deploy/choreo/FLtoML.traj | 2 +- src/main/deploy/choreo/LBumptoDepot.traj | 2 +- .../deploy/choreo/LCleanuptoLPreTrench.traj | 155 +++++++ .../deploy/choreo/LNeutraltoLPreTrench.traj | 195 +++++---- src/main/deploy/choreo/LPreTrenchtoDepot.traj | 190 ++++----- .../deploy/choreo/LPreTrenchtoLCleanup.traj | 161 ++++++++ .../deploy/choreo/LPreTrenchtoLClimb.traj | 153 +++---- .../deploy/choreo/LPreTrenchtoLNeutral.traj | 229 ++++++----- .../deploy/choreo/RPreTrenchtoRClimb.traj | 4 +- src/main/deploy/choreo/RUNtoTEST.traj | 20 +- .../choreo/StartingLTrenchtoLNeutral.traj | 208 +++++----- src/main/deploy/choreo/rebuiltChoreo.chor | 22 +- src/main/deploy/choreo/testposes.traj | 381 +++++++++--------- src/main/java/frc/robot/Autos.java | 7 +- 15 files changed, 1133 insertions(+), 792 deletions(-) create mode 100644 src/main/deploy/choreo/LCleanuptoLPreTrench.traj create mode 100644 src/main/deploy/choreo/LPreTrenchtoLCleanup.traj diff --git a/src/main/deploy/choreo/DepottoLPreTrench.traj b/src/main/deploy/choreo/DepottoLPreTrench.traj index 5911e13e..49922e30 100644 --- a/src/main/deploy/choreo/DepottoLPreTrench.traj +++ b/src/main/deploy/choreo/DepottoLPreTrench.traj @@ -5,8 +5,8 @@ "waypoints":[ {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.293079853057861, "y":5.975247383117676, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -19,8 +19,8 @@ "waypoints":[ {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.228600025177002 m", "val":2.228600025177002}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"1.2762303344743435 rad", "val":1.2762303344743435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"2.228600025177002 m", "val":2.228600025177002}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"1.2762303344743435 rad", "val":1.2762303344743435}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -57,100 +57,102 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.42905,1.3622,2.11755], + "waypoints":[0.0,0.42905,1.3622,2.26911], "samples":[ - {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.47867, "ay":-0.00238, "alpha":1.45373, "fx":[123.81944,123.82631,123.47868,123.46815], "fy":[-12.1296,12.05915,14.94475,-15.0316]}, - {"t":0.03575, "x":0.70878, "y":5.97525, "heading":3.14159, "vx":0.26739, "vy":-0.00009, "omega":0.05198, "ax":7.47702, "ay":-0.00237, "alpha":1.45587, "fx":[123.79557,123.80243,123.44809,123.43757], "fy":[-12.14285,12.0726,14.9653,-15.05193]}, - {"t":0.07151, "x":0.72312, "y":5.97524, "heading":-3.13973, "vx":0.53472, "vy":-0.00017, "omega":0.10403, "ax":7.47472, "ay":-0.00235, "alpha":1.45891, "fx":[123.76461,123.76659,123.40812,123.39185], "fy":[-12.13707,12.1161,14.97015,-15.10485]}, - {"t":0.10726, "x":0.74702, "y":5.97523, "heading":-3.13601, "vx":0.80197, "vy":-0.00025, "omega":0.15619, "ax":7.47126, "ay":-0.00232, "alpha":1.46348, "fx":[123.71951,123.71161,123.34962,123.3218], "fy":[-12.11599,12.1939,14.96519,-15.1966]}, - {"t":0.14302, "x":0.78046, "y":5.97522, "heading":-3.13043, "vx":1.0691, "vy":-0.00034, "omega":0.20852, "ax":7.46551, "ay":-0.00227, "alpha":1.47111, "fx":[123.64387,123.62078,123.25127,123.20607], "fy":[-12.08827,12.31573,14.96405,-15.34157]}, - {"t":0.17877, "x":0.82346, "y":5.97521, "heading":-3.12298, "vx":1.33602, "vy":-0.00042, "omega":0.26111, "ax":7.45404, "ay":-0.00218, "alpha":1.48627, "fx":[123.48894,123.44446,123.04928,122.98083], "fy":[-12.07963,12.51043,15.00768,-15.58281]}, - {"t":0.21452, "x":0.87599, "y":5.97519, "heading":-3.11364, "vx":1.60253, "vy":-0.0005, "omega":0.31425, "ax":7.41997, "ay":-0.00199, "alpha":1.53093, "fx":[123.01531,122.93876,122.42715,122.3295], "fy":[-12.21504,12.91746,15.29715,-16.13092]}, - {"t":0.25028, "x":0.93803, "y":5.97517, "heading":-3.1024, "vx":1.86782, "vy":-0.00057, "omega":0.36899, "ax":3.6808, "ay":0.01341, "alpha":6.26207, "fx":[83.7474,82.30948,37.49609,39.87195], "fy":[-27.60892,30.37798,43.81204,-45.69426]}, - {"t":0.28603, "x":1.00716, "y":5.97516, "heading":-3.08921, "vx":1.99942, "vy":-0.00009, "omega":0.59288, "ax":0.00024, "ay":0.00825, "alpha":-17.57364, "fx":[-87.00754,-78.56602,87.25517,78.33409], "fy":[78.60219,-87.01069,-78.29709,87.25137]}, - {"t":0.32178, "x":1.07865, "y":5.97516, "heading":-3.06801, "vx":1.99943, "vy":0.00021, "omega":-0.03544, "ax":0.0, "ay":0.00947, "alpha":-18.13457, "fx":[-91.46219,-79.17637,91.75437,78.88405], "fy":[79.20778,-91.47292,-78.85146,91.74275]}, - {"t":0.35754, "x":1.15014, "y":5.97518, "heading":-3.06928, "vx":1.99943, "vy":0.00055, "omega":-0.68382, "ax":-0.00014, "ay":0.01127, "alpha":-18.31599, "fx":[-92.24807,-80.11818,92.5991,79.75804], "fy":[80.14725,-92.2603,-79.72728,92.58557]}, - {"t":0.39329, "x":1.22163, "y":5.9752, "heading":-3.09373, "vx":1.99942, "vy":0.00095, "omega":-1.33869, "ax":-0.0519, "ay":0.01336, "alpha":-18.40506, "fx":[-91.44152,-83.71466,90.3124,81.41163], "fy":[81.99388,-89.8551,-83.17138,91.91608]}, - {"t":0.42905, "x":1.29308, "y":5.97525, "heading":3.14159, "vx":1.99757, "vy":0.00143, "omega":-1.99674, "ax":-5.16969, "ay":0.35653, "alpha":-0.11082, "fx":[-85.71694,-85.78416,-85.22937,-85.16074], "fy":[6.62408,5.0972,5.15632,6.70078]}, - {"t":0.44978, "x":1.33339, "y":5.97535, "heading":3.10019, "vx":1.89037, "vy":0.00882, "omega":-1.99903, "ax":-4.80825, "ay":0.40452, "alpha":-0.00002, "fx":[-79.49692,-79.49693,-79.49684,-79.49682], "fy":[6.68824,6.68801,6.68801,6.68824]}, - {"t":0.47052, "x":1.37156, "y":5.97562, "heading":3.05873, "vx":1.79066, "vy":0.01721, "omega":-1.99903, "ax":-4.5394, "ay":0.44129, "alpha":0.0, "fx":[-75.05198,-75.05198,-75.05197,-75.05197], "fy":[7.29601,7.29599,7.29599,7.29601]}, - {"t":0.49126, "x":1.40771, "y":5.97608, "heading":3.01728, "vx":1.69653, "vy":0.02636, "omega":-1.99903, "ax":-4.30315, "ay":0.4749, "alpha":0.0, "fx":[-71.14596,-71.14596,-71.14595,-71.14595], "fy":[7.85171,7.85169,7.85169,7.85171]}, - {"t":0.51199, "x":1.44197, "y":5.97672, "heading":2.97583, "vx":1.60729, "vy":0.03621, "omega":-1.99903, "ax":-4.08296, "ay":0.50761, "alpha":0.0, "fx":[-67.50534,-67.50534,-67.50533,-67.50533], "fy":[8.39248,8.39247,8.39247,8.39248]}, - {"t":0.53273, "x":1.47442, "y":5.97758, "heading":2.93437, "vx":1.52262, "vy":0.04673, "omega":-1.99903, "ax":-3.872, "ay":0.5404, "alpha":0.0, "fx":[-64.01746,-64.01746,-64.01746,-64.01746], "fy":[8.93473,8.93472,8.93472,8.93473]}, - {"t":0.55347, "x":1.50516, "y":5.97867, "heading":2.89292, "vx":1.44233, "vy":0.05794, "omega":-1.99903, "ax":-3.66689, "ay":0.57385, "alpha":0.0, "fx":[-60.62632,-60.62633,-60.62632,-60.62632], "fy":[9.48766,9.48765,9.48765,9.48766]}, - {"t":0.5742, "x":1.53428, "y":5.97999, "heading":2.85147, "vx":1.36629, "vy":0.06984, "omega":-1.99903, "ax":-3.46577, "ay":0.6083, "alpha":0.0, "fx":[-57.30115,-57.30116,-57.30115,-57.30115], "fy":[10.05735,10.05735,10.05734,10.05735]}, - {"t":0.59494, "x":1.56187, "y":5.98157, "heading":2.81001, "vx":1.29442, "vy":0.08245, "omega":-1.99903, "ax":-3.26757, "ay":0.64405, "alpha":0.0, "fx":[-54.02418,-54.02418,-54.02418,-54.02418], "fy":[10.64834,10.64833,10.64833,10.64834]}, - {"t":0.61568, "x":1.58801, "y":5.98342, "heading":2.76856, "vx":1.22666, "vy":0.09581, "omega":-1.99903, "ax":-3.07165, "ay":0.6813, "alpha":0.0, "fx":[-50.785,-50.785,-50.785,-50.78499], "fy":[11.2643,11.2643,11.2643,11.2643]}, - {"t":0.63641, "x":1.61279, "y":5.98555, "heading":2.7271, "vx":1.16297, "vy":0.10994, "omega":-1.99903, "ax":-2.87766, "ay":0.72026, "alpha":0.0, "fx":[-47.57765,-47.57765,-47.57765,-47.57765], "fy":[11.90843,11.90843,11.90843,11.90843]}, - {"t":0.65715, "x":1.63629, "y":5.98799, "heading":2.68565, "vx":1.10329, "vy":0.12487, "omega":-1.99903, "ax":-2.6854, "ay":0.7611, "alpha":0.0, "fx":[-44.39896,-44.39896,-44.39896,-44.39896], "fy":[12.58364,12.58364,12.58363,12.58364]}, - {"t":0.67789, "x":1.65859, "y":5.99074, "heading":2.6442, "vx":1.04761, "vy":0.14066, "omega":-1.99903, "ax":-2.49479, "ay":0.80398, "alpha":0.0, "fx":[-41.24747,-41.24747,-41.24747,-41.24747], "fy":[13.29263,13.29263,13.29263,13.29263]}, - {"t":0.69862, "x":1.67977, "y":5.99383, "heading":2.60274, "vx":0.99587, "vy":0.15733, "omega":-1.99903, "ax":-2.3058, "ay":0.84907, "alpha":0.0, "fx":[-38.12278,-38.12278,-38.12278,-38.12278], "fy":[14.03802,14.03802,14.03802,14.03802]}, - {"t":0.71936, "x":1.69993, "y":5.99728, "heading":2.56129, "vx":0.94806, "vy":0.17493, "omega":-1.99903, "ax":-2.11844, "ay":0.89651, "alpha":0.0, "fx":[-35.02506,-35.02506,-35.02506,-35.02506], "fy":[14.82233,14.82233,14.82233,14.82233]}, - {"t":0.7401, "x":1.71913, "y":6.0011, "heading":2.51984, "vx":0.90413, "vy":0.19353, "omega":-1.99903, "ax":-1.93273, "ay":0.94645, "alpha":0.0, "fx":[-31.95473,-31.95473,-31.95473,-31.95473], "fy":[15.64804,15.64804,15.64803,15.64804]}, - {"t":0.76083, "x":1.73747, "y":6.00531, "heading":2.47838, "vx":0.86405, "vy":0.21315, "omega":-1.99903, "ax":-1.74871, "ay":0.99904, "alpha":0.0, "fx":[-28.91221,-28.91221,-28.91221,-28.91221], "fy":[16.51754,16.51754,16.51754,16.51754]}, - {"t":0.78157, "x":1.75501, "y":6.00995, "heading":2.43693, "vx":0.82779, "vy":0.23387, "omega":-1.99903, "ax":-1.56639, "ay":1.05442, "alpha":0.0, "fx":[-25.89776,-25.89776,-25.89776,-25.89776], "fy":[17.43319,17.43319,17.43319,17.43319]}, - {"t":0.80231, "x":1.77184, "y":6.01503, "heading":2.39548, "vx":0.79531, "vy":0.25573, "omega":-1.99903, "ax":-1.38576, "ay":1.11273, "alpha":0.0, "fx":[-22.91139,-22.91139,-22.91139,-22.91139], "fy":[18.39727,18.39727,18.39727,18.39727]}, - {"t":0.82304, "x":1.78803, "y":6.02057, "heading":2.35402, "vx":0.76657, "vy":0.27881, "omega":-1.99903, "ax":-1.20681, "ay":1.1741, "alpha":0.0, "fx":[-19.95275,-19.95275,-19.95275,-19.95275], "fy":[19.41194,19.41194,19.41194,19.41194]}, - {"t":0.84378, "x":1.80367, "y":6.0266, "heading":2.31257, "vx":0.74155, "vy":0.30316, "omega":-1.99903, "ax":-1.0295, "ay":1.23866, "alpha":0.0, "fx":[-17.02118,-17.02118,-17.02118,-17.02118], "fy":[20.47924,20.47924,20.47924,20.47924]}, - {"t":0.86452, "x":1.81883, "y":6.03315, "heading":2.27112, "vx":0.7202, "vy":0.32884, "omega":-1.99903, "ax":-0.85377, "ay":1.30651, "alpha":0.0, "fx":[-14.11568,-14.11568,-14.11568,-14.11568], "fy":[21.60108,21.60108,21.60108,21.60108]}, - {"t":0.88525, "x":1.83358, "y":6.04025, "heading":2.22966, "vx":0.70249, "vy":0.35593, "omega":-1.99903, "ax":-0.67953, "ay":1.37776, "alpha":0.0, "fx":[-11.23495,-11.23495,-11.23495,-11.23495], "fy":[22.77913,22.77913,22.77913,22.77913]}, - {"t":0.90599, "x":1.848, "y":6.04793, "heading":2.18821, "vx":0.6884, "vy":0.3845, "omega":-1.99903, "ax":-0.5067, "ay":1.4525, "alpha":0.0, "fx":[-8.37749,-8.37749,-8.37749,-8.37749], "fy":[24.01486,24.01486,24.01486,24.01486]}, - {"t":0.92673, "x":1.86216, "y":6.05622, "heading":2.14675, "vx":0.67789, "vy":0.41462, "omega":-1.99903, "ax":-0.33518, "ay":1.53081, "alpha":0.0, "fx":[-5.54162,-5.54162,-5.54162,-5.54162], "fy":[25.30948,25.30948,25.30948,25.30948]}, - {"t":0.94746, "x":1.87615, "y":6.06514, "heading":2.1053, "vx":0.67094, "vy":0.44637, "omega":-1.99903, "ax":-0.16485, "ay":1.61273, "alpha":0.0, "fx":[-2.72558,-2.72558,-2.72558,-2.72558], "fy":[26.6639,26.6639,26.6639,26.6639]}, - {"t":0.9682, "x":1.89003, "y":6.07475, "heading":2.06385, "vx":0.66752, "vy":0.47981, "omega":-1.99903, "ax":0.00438, "ay":1.6983, "alpha":0.0, "fx":[0.07236,0.07236,0.07236,0.07236], "fy":[28.0787,28.0787,28.0787,28.0787]}, - {"t":0.98894, "x":1.90387, "y":6.08506, "heading":2.02239, "vx":0.66762, "vy":0.51503, "omega":-1.99903, "ax":0.17261, "ay":1.78754, "alpha":0.0, "fx":[2.85388,2.85388,2.85388,2.85388], "fy":[29.55417,29.55417,29.55417,29.55417]}, - {"t":1.00968, "x":1.91775, "y":6.09613, "heading":1.98094, "vx":0.67119, "vy":0.5521, "omega":-1.99903, "ax":0.33995, "ay":1.88045, "alpha":0.0, "fx":[5.62054,5.62054,5.62054,5.62054], "fy":[31.09025,31.09026,31.09026,31.09026]}, - {"t":1.03041, "x":1.93174, "y":6.10798, "heading":1.93949, "vx":0.67824, "vy":0.59109, "omega":-1.99903, "ax":0.50647, "ay":1.977, "alpha":0.0, "fx":[8.37371,8.37371,8.37371,8.37371], "fy":[32.68661,32.68662,32.68662,32.68662]}, - {"t":1.05115, "x":1.94592, "y":6.12066, "heading":1.89803, "vx":0.68875, "vy":0.63209, "omega":-1.99903, "ax":0.67225, "ay":2.07716, "alpha":0.0, "fx":[11.11463,11.11463,11.11463,11.11463], "fy":[34.34267,34.34267,34.34267,34.34267]}, - {"t":1.07189, "x":1.96034, "y":6.13422, "heading":1.85658, "vx":0.70269, "vy":0.67516, "omega":-1.99903, "ax":0.83736, "ay":2.18089, "alpha":0.0, "fx":[13.84437,13.84437,13.84437,13.84437], "fy":[36.05766,36.05766,36.05767,36.05767]}, - {"t":1.09262, "x":1.97509, "y":6.14869, "heading":1.81513, "vx":0.72005, "vy":0.72039, "omega":-1.99903, "ax":1.00185, "ay":2.28814, "alpha":0.0, "fx":[16.56396,16.56396,16.56396,16.56396], "fy":[37.83083,37.83083,37.83084,37.83084]}, - {"t":1.11336, "x":1.99024, "y":6.16412, "heading":1.77367, "vx":0.74083, "vy":0.76783, "omega":-1.99903, "ax":1.16579, "ay":2.39887, "alpha":0.0, "fx":[19.27448,19.27448,19.27448,19.27448], "fy":[39.66154,39.66154,39.66154,39.66154]}, - {"t":1.1341, "x":2.00585, "y":6.18055, "heading":1.73222, "vx":0.765, "vy":0.81758, "omega":-1.99903, "ax":1.32926, "ay":2.51306, "alpha":0.0, "fx":[21.97728,21.97729,21.97728,21.97728], "fy":[41.54956,41.54956,41.54956,41.54956]}, - {"t":1.15483, "x":2.022, "y":6.19805, "heading":1.69077, "vx":0.79257, "vy":0.86969, "omega":-1.99903, "ax":1.49239, "ay":2.63075, "alpha":0.0, "fx":[24.67428,24.67428,24.67428,24.67428], "fy":[43.49542,43.49542,43.49543,43.49543]}, - {"t":1.17557, "x":2.03876, "y":6.21665, "heading":1.64931, "vx":0.82351, "vy":0.92425, "omega":-1.99903, "ax":1.65534, "ay":2.75206, "alpha":0.0, "fx":[27.3684,27.3684,27.3684,27.36839], "fy":[45.50094,45.50094,45.50095,45.50095]}, - {"t":1.19631, "x":2.05619, "y":6.23641, "heading":1.60786, "vx":0.85784, "vy":0.98131, "omega":-1.99903, "ax":1.81839, "ay":2.8772, "alpha":0.0, "fx":[30.06428,30.06428,30.06428,30.06428], "fy":[47.57004,47.57003,47.57004,47.57004]}, - {"t":1.21704, "x":2.07437, "y":6.25737, "heading":1.56641, "vx":0.89555, "vy":1.04098, "omega":-1.99903, "ax":1.98201, "ay":3.00663, "alpha":0.0, "fx":[32.76939,32.7694,32.7694,32.76939], "fy":[49.70998,49.70998,49.70999,49.70999]}, - {"t":1.23778, "x":2.09337, "y":6.27961, "heading":1.52495, "vx":0.93665, "vy":1.10333, "omega":-1.99903, "ax":2.14692, "ay":3.14113, "alpha":0.0, "fx":[35.496,35.49601,35.49601,35.496], "fy":[51.93369,51.93369,51.9337,51.9337]}, - {"t":1.25852, "x":2.11325, "y":6.30316, "heading":1.4835, "vx":0.98117, "vy":1.16846, "omega":-1.99903, "ax":2.3144, "ay":3.28208, "alpha":0.0, "fx":[38.26492,38.26493,38.26493,38.26492], "fy":[54.26402,54.26402,54.26403,54.26403]}, - {"t":1.27925, "x":2.1341, "y":6.3281, "heading":1.44204, "vx":1.02916, "vy":1.23652, "omega":-1.99903, "ax":2.48669, "ay":3.43202, "alpha":0.0, "fx":[41.11361,41.11363,41.11362,41.11361], "fy":[56.74302,56.74302,56.74303,56.74303]}, - {"t":1.29999, "x":2.15597, "y":6.35448, "heading":1.40059, "vx":1.08073, "vy":1.30769, "omega":-1.99903, "ax":2.66834, "ay":3.59608, "alpha":0.0, "fx":[44.1169,44.11692,44.11692,44.1169], "fy":[59.45558,59.45558,59.45559,59.4556]}, - {"t":1.32073, "x":2.17896, "y":6.38237, "heading":1.35914, "vx":1.13606, "vy":1.38226, "omega":-1.99903, "ax":2.87023, "ay":3.78667, "alpha":0.00004, "fx":[47.45466,47.45504,47.455,47.45461], "fy":[62.6066,62.60641,62.60667,62.60686]}, - {"t":1.34146, "x":2.20313, "y":6.41185, "heading":1.31768, "vx":1.19558, "vy":1.46079, "omega":-1.99903, "ax":3.13049, "ay":4.04696, "alpha":0.24465, "fx":[50.54703,53.3209,52.94658,50.21661], "fy":[66.81574,65.28731,67.02416,68.51371]}, - {"t":1.3622, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.2605, "vy":1.54471, "omega":-1.99396, "ax":0.04579, "ay":0.25072, "alpha":-0.1354, "fx":[1.55415,0.33062,-0.04058,1.18376], "fy":[4.57045,4.94126,3.72042,3.34926]}, - {"t":1.38442, "x":2.25661, "y":6.47739, "heading":1.23193, "vx":1.26151, "vy":1.55028, "omega":-1.99697, "ax":-0.03153, "ay":0.02578, "alpha":-0.00006, "fx":[-0.52087,-0.52139,-0.52158,-0.52106], "fy":[0.42644,0.42662,0.4261,0.42592]}, - {"t":1.40663, "x":2.28463, "y":6.51183, "heading":1.18757, "vx":1.26081, "vy":1.55085, "omega":-1.99697, "ax":-0.01044, "ay":0.00849, "alpha":0.0, "fx":[-0.17259,-0.1726,-0.1726,-0.1726], "fy":[0.1403,0.14031,0.1403,0.1403]}, - {"t":1.42885, "x":2.31264, "y":6.54629, "heading":1.1432, "vx":1.26058, "vy":1.55104, "omega":-1.99697, "ax":-0.00341, "ay":0.00277, "alpha":0.0, "fx":[-0.05633,-0.05634,-0.05634,-0.05633], "fy":[0.04579,0.04579,0.04579,0.04578]}, - {"t":1.45107, "x":2.34065, "y":6.58075, "heading":1.09884, "vx":1.2605, "vy":1.5511, "omega":-1.99697, "ax":-0.00106, "ay":0.00087, "alpha":0.0, "fx":[-0.0176,-0.0176,-0.0176,-0.0176], "fy":[0.0143,0.01431,0.0143,0.0143]}, - {"t":1.47328, "x":2.36865, "y":6.61521, "heading":1.05447, "vx":1.26048, "vy":1.55112, "omega":-1.99697, "ax":-0.00028, "ay":0.00023, "alpha":0.0, "fx":[-0.00462,-0.00462,-0.00462,-0.00462], "fy":[0.00376,0.00376,0.00376,0.00375]}, - {"t":1.4955, "x":2.39665, "y":6.64967, "heading":1.01011, "vx":1.26047, "vy":1.55112, "omega":-1.99697, "ax":-0.00001, "ay":0.00001, "alpha":0.0, "fx":[-0.00023,-0.00023,-0.00023,-0.00023], "fy":[0.00019,0.00019,0.00019,0.00019]}, - {"t":1.51771, "x":2.42465, "y":6.68413, "heading":0.96574, "vx":1.26047, "vy":1.55112, "omega":-1.99697, "ax":0.00008, "ay":-0.00006, "alpha":0.0, "fx":[0.00125,0.00125,0.00125,0.00125], "fy":[-0.00101,-0.00101,-0.00101,-0.00101]}, - {"t":1.53993, "x":2.45266, "y":6.71859, "heading":0.92138, "vx":1.26048, "vy":1.55112, "omega":-1.99697, "ax":0.0001, "ay":-0.00008, "alpha":0.0, "fx":[0.00165,0.00165,0.00165,0.00165], "fy":[-0.00134,-0.00134,-0.00134,-0.00134]}, - {"t":1.56215, "x":2.48066, "y":6.75305, "heading":0.87701, "vx":1.26048, "vy":1.55112, "omega":-1.99697, "ax":0.00009, "ay":-0.00007, "alpha":0.0, "fx":[0.00146,0.00146,0.00146,0.00146], "fy":[-0.00119,-0.00119,-0.00119,-0.00119]}, - {"t":1.58436, "x":2.50866, "y":6.78751, "heading":0.83265, "vx":1.26048, "vy":1.55112, "omega":-1.99697, "ax":0.00003, "ay":-0.00002, "alpha":0.0, "fx":[0.00044,0.00044,0.00044,0.00044], "fy":[-0.00036,-0.00036,-0.00036,-0.00036]}, - {"t":1.60658, "x":2.53667, "y":6.82197, "heading":0.78828, "vx":1.26048, "vy":1.55112, "omega":-1.99697, "ax":-0.00016, "ay":0.00013, "alpha":0.0, "fx":[-0.00267,-0.00266,-0.00266,-0.00266], "fy":[0.00216,0.00216,0.00216,0.00216]}, - {"t":1.6288, "x":2.56467, "y":6.85643, "heading":0.74392, "vx":1.26048, "vy":1.55112, "omega":-1.99697, "ax":-0.00072, "ay":0.00058, "alpha":0.0, "fx":[-0.01185,-0.01185,-0.01185,-0.01185], "fy":[0.00963,0.00962,0.00963,0.00963]}, - {"t":1.65101, "x":2.59267, "y":6.89089, "heading":0.69955, "vx":1.26046, "vy":1.55113, "omega":-1.99697, "ax":-0.00237, "ay":0.00193, "alpha":0.0, "fx":[-0.03921,-0.03921,-0.03921,-0.03921], "fy":[0.03186,0.03185,0.03186,0.03186]}, - {"t":1.67323, "x":2.62068, "y":6.92535, "heading":0.65519, "vx":1.26041, "vy":1.55118, "omega":-1.99697, "ax":-0.00733, "ay":0.00596, "alpha":0.0, "fx":[-0.12124,-0.12124,-0.12124,-0.12124], "fy":[0.0985,0.0985,0.0985,0.0985]}, - {"t":1.69544, "x":2.64867, "y":6.95981, "heading":0.61082, "vx":1.26025, "vy":1.55131, "omega":-1.99697, "ax":-0.02226, "ay":0.01808, "alpha":0.0, "fx":[-0.36804,-0.36803,-0.36803,-0.36803], "fy":[0.29888,0.29887,0.29888,0.29888]}, - {"t":1.71766, "x":2.67667, "y":6.99428, "heading":0.56646, "vx":1.25975, "vy":1.55171, "omega":-1.99697, "ax":-0.06724, "ay":0.05454, "alpha":0.0, "fx":[-1.11176,-1.11175,-1.11175,-1.11175], "fy":[0.90168,0.90167,0.90167,0.90168]}, - {"t":1.73988, "x":2.70464, "y":7.02877, "heading":0.52209, "vx":1.25826, "vy":1.55292, "omega":-1.99697, "ax":-0.20287, "ay":0.16388, "alpha":0.0, "fx":[-3.35408,-3.35408,-3.35407,-3.35407], "fy":[2.70954,2.70954,2.70954,2.70955]}, - {"t":1.76209, "x":2.73254, "y":7.06331, "heading":0.47772, "vx":1.25375, "vy":1.55656, "omega":-1.99697, "ax":-0.60858, "ay":0.4852, "alpha":0.0, "fx":[-10.06193,-10.06192,-10.0619,-10.06191], "fy":[8.02203,8.02201,8.02202,8.02204]}, - {"t":1.78431, "x":2.76024, "y":7.09801, "heading":0.43336, "vx":1.24023, "vy":1.56734, "omega":-1.99697, "ax":-2.25948, "ay":0.58298, "alpha":0.00364, "fx":[-37.37745,-37.36567,-37.33643,-37.3482], "fy":[9.64674,9.6136,9.63069,9.66384]}, - {"t":1.80652, "x":2.78724, "y":7.13297, "heading":0.38899, "vx":1.19003, "vy":1.5803, "omega":-1.99689, "ax":-4.7246, "ay":-5.54915, "alpha":0.27351, "fx":[-80.66539,-77.40174,-75.49369,-78.8951], "fy":[-89.59664,-92.52363,-93.90515,-90.96092]}, - {"t":1.82874, "x":2.81251, "y":7.16671, "heading":0.34463, "vx":1.08507, "vy":1.45701, "omega":-1.99081, "ax":-4.59954, "ay":-5.46909, "alpha":3.49214, "fx":[-104.65617,-71.92613,-36.77664,-90.82577], "fy":[-64.29985,-99.90164,-116.86789,-80.62221]}, - {"t":1.85096, "x":2.83548, "y":7.19773, "heading":0.3004, "vx":0.98289, "vy":1.33551, "omega":-1.91323, "ax":-4.50738, "ay":-5.12699, "alpha":5.28892, "fx":[-113.94013,-71.17227,-11.94429,-101.03345], "fy":[-47.67043,-101.20107,-122.72444,-67.47155]}, - {"t":1.87317, "x":2.85621, "y":7.22614, "heading":0.2579, "vx":0.88275, "vy":1.22161, "omega":-1.79573, "ax":-4.4994, "ay":-4.86699, "alpha":6.08156, "fx":[-117.66896,-72.13432,-1.56047,-106.19854], "fy":[-38.48681,-100.82617,-123.67091,-58.88879]}, - {"t":1.89539, "x":2.87471, "y":7.25208, "heading":0.218, "vx":0.78279, "vy":1.11348, "omega":-1.66062, "ax":-4.50503, "ay":-4.70922, "alpha":6.44589, "fx":[-119.71191,-73.54665,3.18149,-107.8573], "fy":[-32.18895,-99.96778,-123.8512,-55.43079]}, - {"t":1.91761, "x":2.89099, "y":7.27565, "heading":0.18111, "vx":0.6827, "vy":1.00886, "omega":-1.51742, "ax":-4.49301, "ay":-4.65164, "alpha":6.56527, "fx":[-121.0164,-75.0545,5.39519,-106.46386], "fy":[-27.33633,-98.94587,-123.90763,-57.44062]}, - {"t":1.93982, "x":2.90505, "y":7.29692, "heading":0.1474, "vx":0.58289, "vy":0.90552, "omega":-1.37156, "ax":-4.43273, "ay":-4.70073, "alpha":6.52787, "fx":[-121.91715,-76.52434,6.34436,-101.05613], "fy":[-23.36262,-97.88599,-123.95325,-65.67537]}, - {"t":1.96204, "x":2.9169, "y":7.31587, "heading":0.11693, "vx":0.48441, "vy":0.80109, "omega":-1.22654, "ax":-4.27085, "ay":-4.86471, "alpha":6.43571, "fx":[-122.56333,-77.8982,6.61257,-88.59851], "fy":[-20.01382,-96.84928,-124.00436,-80.85413]}, - {"t":1.98425, "x":2.92661, "y":7.33247, "heading":0.08968, "vx":0.38953, "vy":0.69301, "omega":-1.08356, "ax":-3.93019, "ay":-5.10819, "alpha":6.51154, "fx":[-123.03299,-79.14959,6.48906,-64.22472], "fy":[-17.17371,-95.86981,-124.05962,-100.72101]}, - {"t":2.00647, "x":2.93429, "y":7.34661, "heading":0.06561, "vx":0.30221, "vy":0.57953, "omega":-0.9389, "ax":-3.41352, "ay":-5.29195, "alpha":7.03937, "fx":[-123.37334,-80.26557,6.12778,-28.23785], "fy":[-14.79067,-94.96934,-124.11555,-116.10133]}, - {"t":2.02869, "x":2.94016, "y":7.35817, "heading":0.04475, "vx":0.22638, "vy":0.46196, "omega":-0.78251, "ax":-2.91223, "ay":-5.30884, "alpha":7.89878, "fx":[-123.61714,-81.23578,5.63209,6.62406], "fy":[-12.83716,-94.16652,-124.16866,-119.92113]}, - {"t":2.0509, "x":2.94447, "y":7.36713, "heading":0.02736, "vx":0.16168, "vy":0.34402, "omega":-0.60703, "ax":-2.57669, "ay":-5.23165, "alpha":8.6715, "fx":[-123.78804,-82.04375,5.09292,30.33286], "fy":[-11.30068,-93.48458,-124.21575,-116.98775]}, - {"t":2.07312, "x":2.94743, "y":7.37348, "heading":0.01388, "vx":0.10443, "vy":0.22779, "omega":-0.41438, "ax":-2.3933, "ay":-5.15184, "alpha":9.18632, "fx":[-123.90301,-82.66847,4.59216,43.70148], "fy":[-10.18072,-92.9503,-124.25467,-113.32515]}, - {"t":2.09534, "x":2.94916, "y":7.37727, "heading":0.00467, "vx":0.05126, "vy":0.11333, "omega":-0.2103, "ax":-2.30748, "ay":-5.10145, "alpha":9.46587, "fx":[-123.97426,-83.09265,4.19366,50.27082], "fy":[-9.47772,-92.58629,-124.28473,-111.02943]}, - {"t":2.11755, "x":2.94973, "y":7.37853, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.47867, "ay":-0.004, "alpha":1.45375, "fx":[123.81707,123.82862,123.48221,123.46452], "fy":[-12.15374,12.03539,14.91551,-15.06143]}, + {"t":0.03575, "x":0.70878, "y":5.97524, "heading":3.14159, "vx":0.26739, "vy":-0.00014, "omega":0.05198, "ax":7.47702, "ay":-0.00398, "alpha":1.4559, "fx":[123.79322,123.80473,123.45161,123.43396], "fy":[-12.16687,12.04895,14.93619,-15.08162]}, + {"t":0.07151, "x":0.72312, "y":5.97524, "heading":-3.13973, "vx":0.53472, "vy":-0.00029, "omega":0.10403, "ax":7.47471, "ay":-0.00395, "alpha":1.45893, "fx":[123.76227,123.76889,123.41162,123.38824], "fy":[-12.16093,12.09261,14.94122,-15.13435]}, + {"t":0.10726, "x":0.74702, "y":5.97522, "heading":-3.13601, "vx":0.80197, "vy":-0.00043, "omega":0.15619, "ax":7.47126, "ay":-0.00391, "alpha":1.46351, "fx":[123.7172,123.71389,123.35309,123.3182], "fy":[-12.13961,12.17063,14.93651,-15.2258]}, + {"t":0.14302, "x":0.78046, "y":5.97521, "heading":-3.13043, "vx":1.0691, "vy":-0.00057, "omega":0.20852, "ax":7.4655, "ay":-0.00383, "alpha":1.47113, "fx":[123.64161,123.62306,123.25469,123.20251], "fy":[-12.11147,12.29284,14.93579,-15.37028]}, + {"t":0.17877, "x":0.82346, "y":5.97518, "heading":-3.12297, "vx":1.33602, "vy":-0.0007, "omega":0.26112, "ax":7.45403, "ay":-0.00369, "alpha":1.4863, "fx":[123.48675,123.44669,123.0526,122.97733], "fy":[-12.10203,12.4883,14.98028,-15.61055]}, + {"t":0.21452, "x":0.87599, "y":5.97516, "heading":-3.11364, "vx":1.60253, "vy":-0.00083, "omega":0.31426, "ax":7.41997, "ay":-0.00334, "alpha":1.53095, "fx":[123.01334,122.94083,122.43021,122.32624], "fy":[-12.23508,12.89759,15.27238,-16.15584]}, + {"t":0.25028, "x":0.93803, "y":5.97512, "heading":-3.1024, "vx":1.86782, "vy":-0.00095, "omega":0.369, "ax":3.68079, "ay":0.02215, "alpha":6.26168, "fx":[83.77223,82.27859,37.46108,39.91249], "fy":[-27.48188,30.50068,43.97581,-45.5295]}, + {"t":0.28603, "x":1.00717, "y":5.9751, "heading":-3.08921, "vx":1.99942, "vy":-0.00016, "omega":0.59287, "ax":0.00024, "ay":0.01421, "alpha":-17.57363, "fx":[-86.9211,-78.65308,87.34229,78.24756], "fy":[78.70925,-86.92102,-78.18895,87.34042]}, + {"t":0.32178, "x":1.07865, "y":5.97511, "heading":-3.06801, "vx":1.99943, "vy":0.00035, "omega":-0.03545, "ax":-0.00001, "ay":0.01609, "alpha":-18.13453, "fx":[-91.36034,-79.2789,91.85673,78.78214], "fy":[79.33151,-91.378,-78.72612,91.83653]}, + {"t":0.35754, "x":1.15014, "y":5.97513, "heading":-3.06928, "vx":1.99943, "vy":0.00092, "omega":-0.68383, "ax":-0.00015, "ay":0.01909, "alpha":-18.31592, "fx":[-92.12533,-80.24195,92.7224,79.63518], "fy":[80.2932,-92.14789,-79.57906,92.69614]}, + {"t":0.39329, "x":1.22163, "y":5.97518, "heading":-3.09373, "vx":1.99942, "vy":0.0016, "omega":-1.33869, "ax":-0.05228, "ay":0.02261, "alpha":-18.40495, "fx":[-91.30125,-83.86883,90.45666,81.25618], "fy":[82.15444,-89.70721,-83.00994,92.05774]}, + {"t":0.42905, "x":1.29308, "y":5.97525, "heading":3.14159, "vx":1.99755, "vy":0.00241, "omega":-1.99674, "ax":-5.27262, "ay":0.56801, "alpha":-0.11081, "fx":[-87.38955,-87.49873,-86.96067,-86.84914], "fy":[10.10728,8.56455,8.66593,10.22656]}, + {"t":0.44978, "x":1.33337, "y":5.97542, "heading":3.10019, "vx":1.88822, "vy":0.01419, "omega":-1.99903, "ax":-4.93993, "ay":0.62208, "alpha":-0.00002, "fx":[-81.67417,-81.67419,-81.67409,-81.67407], "fy":[10.28525,10.285,10.28501,10.28526]}, + {"t":0.47052, "x":1.37146, "y":5.97585, "heading":3.05873, "vx":1.78578, "vy":0.02709, "omega":-1.99903, "ax":-4.68986, "ay":0.65635, "alpha":0.0, "fx":[-77.53955,-77.53955,-77.53954,-77.53954], "fy":[10.85178,10.85176,10.85176,10.85178]}, + {"t":0.49126, "x":1.40749, "y":5.97655, "heading":3.01728, "vx":1.68853, "vy":0.0407, "omega":-1.99903, "ax":-4.46756, "ay":0.6837, "alpha":0.0, "fx":[-73.8641,-73.86411,-73.8641,-73.8641], "fy":[11.30384,11.30383,11.30382,11.30384]}, + {"t":0.51199, "x":1.44154, "y":5.97754, "heading":2.97583, "vx":1.59588, "vy":0.05488, "omega":-1.99903, "ax":-4.25787, "ay":0.70772, "alpha":0.0, "fx":[-70.39719,-70.39719,-70.39719,-70.39719], "fy":[11.70108,11.70107,11.70107,11.70108]}, + {"t":0.53273, "x":1.47372, "y":5.97883, "heading":2.93437, "vx":1.50759, "vy":0.06955, "omega":-1.99903, "ax":-4.05447, "ay":0.73003, "alpha":0.0, "fx":[-67.0343,-67.03431,-67.0343,-67.0343], "fy":[12.06984,12.06983,12.06983,12.06984]}, + {"t":0.55347, "x":1.50411, "y":5.98043, "heading":2.89292, "vx":1.42351, "vy":0.08469, "omega":-1.99903, "ax":-3.85415, "ay":0.7515, "alpha":0.0, "fx":[-63.72234,-63.72234,-63.72234,-63.72233], "fy":[12.42482,12.42481,12.42481,12.42482]}, + {"t":0.5742, "x":1.5328, "y":5.98235, "heading":2.85147, "vx":1.34359, "vy":0.10028, "omega":-1.99903, "ax":-3.65509, "ay":0.77271, "alpha":0.0, "fx":[-60.43119,-60.4312,-60.43119,-60.43119], "fy":[12.77559,12.77558,12.77558,12.77559]}, + {"t":0.59494, "x":1.55987, "y":5.98459, "heading":2.81001, "vx":1.2678, "vy":0.1163, "omega":-1.99903, "ax":-3.45619, "ay":0.7941, "alpha":0.0, "fx":[-57.14279,-57.14279,-57.14279,-57.14279], "fy":[13.12915,13.12914,13.12914,13.12915]}, + {"t":0.61568, "x":1.58542, "y":5.98718, "heading":2.76856, "vx":1.19613, "vy":0.13277, "omega":-1.99903, "ax":-3.2568, "ay":0.81598, "alpha":0.0, "fx":[-53.84605,-53.84605,-53.84605,-53.84605], "fy":[13.49104,13.49104,13.49104,13.49104]}, + {"t":0.63641, "x":1.60953, "y":5.99011, "heading":2.7271, "vx":1.12859, "vy":0.14969, "omega":-1.99903, "ax":-3.05649, "ay":0.83866, "alpha":0.0, "fx":[-50.53434,-50.53434,-50.53434,-50.53434], "fy":[13.86595,13.86595,13.86595,13.86595]}, + {"t":0.65715, "x":1.63227, "y":5.99339, "heading":2.68565, "vx":1.06521, "vy":0.16708, "omega":-1.99903, "ax":-2.85506, "ay":0.86237, "alpha":0.0, "fx":[-47.20399,-47.20399,-47.20399,-47.20399], "fy":[14.25801,14.258,14.258,14.25801]}, + {"t":0.67789, "x":1.65375, "y":5.99704, "heading":2.6442, "vx":1.006, "vy":0.18496, "omega":-1.99903, "ax":-2.65241, "ay":0.88735, "alpha":0.0, "fx":[-43.85343,-43.85343,-43.85343,-43.85343], "fy":[14.67097,14.67097,14.67097,14.67097]}, + {"t":0.69862, "x":1.67404, "y":6.00107, "heading":2.60274, "vx":0.951, "vy":0.20336, "omega":-1.99903, "ax":-2.44853, "ay":0.91381, "alpha":0.0, "fx":[-40.48259,-40.48259,-40.48259,-40.48259], "fy":[15.10835,15.10835,15.10835,15.10835]}, + {"t":0.71936, "x":1.69323, "y":6.00548, "heading":2.56129, "vx":0.90023, "vy":0.22231, "omega":-1.99903, "ax":-2.24348, "ay":0.94194, "alpha":0.0, "fx":[-37.09248,-37.09248,-37.09248,-37.09248], "fy":[15.57343,15.57343,15.57343,15.57343]}, + {"t":0.7401, "x":1.71142, "y":6.01029, "heading":2.51984, "vx":0.8537, "vy":0.24184, "omega":-1.99903, "ax":-2.03738, "ay":0.97193, "alpha":0.0, "fx":[-33.68486,-33.68486,-33.68486,-33.68486], "fy":[16.06934,16.06934,16.06934,16.06934]}, + {"t":0.76083, "x":1.72868, "y":6.01552, "heading":2.47838, "vx":0.81145, "vy":0.262, "omega":-1.99903, "ax":-1.83035, "ay":1.00397, "alpha":0.0, "fx":[-30.26201,-30.26201,-30.26201,-30.26201], "fy":[16.59903,16.59903,16.59903,16.59903]}, + {"t":0.78157, "x":1.74512, "y":6.02117, "heading":2.43693, "vx":0.7735, "vy":0.28282, "omega":-1.99903, "ax":-1.62256, "ay":1.03822, "alpha":0.0, "fx":[-26.82651,-26.82651,-26.82651,-26.82651], "fy":[17.16531,17.16531,17.16531,17.16531]}, + {"t":0.80231, "x":1.76081, "y":6.02725, "heading":2.39548, "vx":0.73985, "vy":0.30435, "omega":-1.99903, "ax":-1.41417, "ay":1.07484, "alpha":0.0, "fx":[-23.38113,-23.38113,-23.38113,-23.38113], "fy":[17.77079,17.77079,17.77079,17.77079]}, + {"t":0.82304, "x":1.77584, "y":6.0338, "heading":2.35402, "vx":0.71053, "vy":0.32664, "omega":-1.99903, "ax":-1.20535, "ay":1.11398, "alpha":0.0, "fx":[-19.92865,-19.92865,-19.92865,-19.92865], "fy":[18.41792,18.41792,18.41792,18.41792]}, + {"t":0.84378, "x":1.79032, "y":6.04081, "heading":2.31257, "vx":0.68553, "vy":0.34974, "omega":-1.99903, "ax":-0.99627, "ay":1.15578, "alpha":0.0, "fx":[-16.47181,-16.47181,-16.47181,-16.4718], "fy":[19.10894,19.10894,19.10894,19.10894]}, + {"t":0.86452, "x":1.80432, "y":6.04831, "heading":2.27112, "vx":0.66487, "vy":0.3737, "omega":-1.99903, "ax":-0.78709, "ay":1.20035, "alpha":0.0, "fx":[-13.01324,-13.01324,-13.01324,-13.01324], "fy":[19.84585,19.84584,19.84584,19.84584]}, + {"t":0.88525, "x":1.81794, "y":6.05632, "heading":2.22966, "vx":0.64855, "vy":0.3986, "omega":-1.99903, "ax":-0.57795, "ay":1.2478, "alpha":0.0, "fx":[-9.55546,-9.55546,-9.55546,-9.55546], "fy":[20.6304,20.6304,20.6304,20.6304]}, + {"t":0.90599, "x":1.83126, "y":6.06485, "heading":2.18821, "vx":0.63657, "vy":0.42447, "omega":-1.99903, "ax":-0.369, "ay":1.29822, "alpha":0.0, "fx":[-6.10089,-6.10089,-6.10089,-6.10089], "fy":[21.46409,21.46409,21.46409,21.46409]}, + {"t":0.92673, "x":1.84438, "y":6.07393, "heading":2.14675, "vx":0.62891, "vy":0.45139, "omega":-1.99903, "ax":-0.16039, "ay":1.35169, "alpha":0.0, "fx":[-2.65181,-2.65181,-2.65181,-2.65181], "fy":[22.34814,22.34814,22.34814,22.34814]}, + {"t":0.94746, "x":1.85739, "y":6.08358, "heading":2.1053, "vx":0.62559, "vy":0.47942, "omega":-1.99903, "ax":0.04775, "ay":1.40827, "alpha":0.0, "fx":[0.7895,0.7895,0.7895,0.7895], "fy":[23.28348,23.28348,23.28348,23.28348]}, + {"t":0.9682, "x":1.87037, "y":6.09383, "heading":2.06385, "vx":0.62658, "vy":0.50862, "omega":-1.99903, "ax":0.25529, "ay":1.46798, "alpha":0.0, "fx":[4.22081,4.22081,4.22081,4.22081], "fy":[24.27075,24.27075,24.27075,24.27075]}, + {"t":0.98894, "x":1.88342, "y":6.10469, "heading":2.02239, "vx":0.63187, "vy":0.53907, "omega":-1.99903, "ax":0.46208, "ay":1.53086, "alpha":0.0, "fx":[7.63983,7.63983,7.63983,7.63983], "fy":[25.31035,25.31035,25.31035,25.31035]}, + {"t":1.00968, "x":1.89663, "y":6.1162, "heading":1.98094, "vx":0.64145, "vy":0.57081, "omega":-1.99903, "ax":0.66799, "ay":1.59691, "alpha":0.0, "fx":[11.04423,11.04423,11.04423,11.04423], "fy":[26.40246,26.40246,26.40246,26.40246]}, + {"t":1.03041, "x":1.91007, "y":6.12838, "heading":1.93949, "vx":0.65531, "vy":0.60393, "omega":-1.99903, "ax":0.87287, "ay":1.66614, "alpha":0.0, "fx":[14.4316,14.4316,14.4316,14.4316], "fy":[27.5471,27.5471,27.5471,27.5471]}, + {"t":1.05115, "x":1.92385, "y":6.14126, "heading":1.89803, "vx":0.67341, "vy":0.63848, "omega":-1.99903, "ax":1.07658, "ay":1.73855, "alpha":0.0, "fx":[17.7995,17.7995,17.7995,17.7995], "fy":[28.7442,28.7442,28.7442,28.7442]}, + {"t":1.07189, "x":1.93804, "y":6.15487, "heading":1.85658, "vx":0.69573, "vy":0.67453, "omega":-1.99903, "ax":1.27895, "ay":1.81413, "alpha":0.0, "fx":[21.14549,21.1455,21.14549,21.14549], "fy":[29.99376,29.99376,29.99376,29.99376]}, + {"t":1.09262, "x":1.95275, "y":6.16925, "heading":1.81513, "vx":0.72225, "vy":0.71215, "omega":-1.99903, "ax":1.47987, "ay":1.89289, "alpha":0.0, "fx":[24.46728,24.46728,24.46728,24.46728], "fy":[31.29596,31.29596,31.29596,31.29596]}, + {"t":1.11336, "x":1.96804, "y":6.18443, "heading":1.77367, "vx":0.75294, "vy":0.7514, "omega":-1.99903, "ax":1.67919, "ay":1.97487, "alpha":0.0, "fx":[27.76284,27.76284,27.76284,27.76284], "fy":[32.65139,32.65139,32.65139,32.65139]}, + {"t":1.1341, "x":1.98402, "y":6.20043, "heading":1.73222, "vx":0.78776, "vy":0.79235, "omega":-1.99903, "ax":1.87684, "ay":2.06015, "alpha":0.0, "fx":[31.03065,31.03065,31.03065,31.03065], "fy":[34.06132,34.06132,34.06132,34.06132]}, + {"t":1.15483, "x":2.00075, "y":6.21731, "heading":1.69077, "vx":0.82668, "vy":0.83507, "omega":-1.99903, "ax":2.07277, "ay":2.14886, "alpha":0.0, "fx":[34.27,34.27,34.27,34.26999], "fy":[35.52809,35.52809,35.52809,35.52809]}, + {"t":1.17557, "x":2.01834, "y":6.23508, "heading":1.64931, "vx":0.86966, "vy":0.87963, "omega":-1.99903, "ax":2.26701, "ay":2.24126, "alpha":0.0, "fx":[37.48144,37.48144,37.48144,37.48144], "fy":[37.05566,37.05566,37.05566,37.05566]}, + {"t":1.19631, "x":2.03686, "y":6.25381, "heading":1.60786, "vx":0.91667, "vy":0.92611, "omega":-1.99903, "ax":2.45971, "ay":2.33771, "alpha":0.0, "fx":[40.66746,40.66747,40.66746,40.66746], "fy":[38.65044,38.65044,38.65045,38.65045]}, + {"t":1.21704, "x":2.0564, "y":6.27351, "heading":1.56641, "vx":0.96768, "vy":0.97459, "omega":-1.99903, "ax":2.6512, "ay":2.43886, "alpha":0.0, "fx":[43.83354,43.83354,43.83354,43.83353], "fy":[40.32267,40.32267,40.32268,40.32268]}, + {"t":1.23778, "x":2.07704, "y":6.29425, "heading":1.52495, "vx":1.02266, "vy":1.02516, "omega":-1.99903, "ax":2.84212, "ay":2.54567, "alpha":0.0, "fx":[46.98999,46.99,46.98999,46.98999], "fy":[42.08876,42.08876,42.08877,42.08877]}, + {"t":1.25852, "x":2.09886, "y":6.31605, "heading":1.4835, "vx":1.08159, "vy":1.07795, "omega":-1.99903, "ax":3.03358, "ay":2.65982, "alpha":0.0, "fx":[50.15554,50.15555,50.15555,50.15554], "fy":[43.97594,43.97593,43.97594,43.97595]}, + {"t":1.27925, "x":2.12194, "y":6.33898, "heading":1.44204, "vx":1.1445, "vy":1.13311, "omega":-1.99903, "ax":3.22771, "ay":2.78419, "alpha":0.0, "fx":[53.36508,53.36509,53.36509,53.36507], "fy":[46.03219,46.03218,46.03219,46.0322]}, + {"t":1.29999, "x":2.14636, "y":6.36307, "heading":1.40059, "vx":1.21143, "vy":1.19084, "omega":-1.99903, "ax":3.42879, "ay":2.92449, "alpha":0.0, "fx":[56.68962,56.68963,56.68963,56.68962], "fy":[48.35185,48.35184,48.35185,48.35186]}, + {"t":1.32073, "x":2.17222, "y":6.3884, "heading":1.35914, "vx":1.28254, "vy":1.25148, "omega":-1.99903, "ax":3.64732, "ay":3.09434, "alpha":0.00024, "fx":[60.30186,60.30415,60.30371,60.30142], "fy":[51.15976,51.15835,51.16055,51.16196]}, + {"t":1.34146, "x":2.1996, "y":6.41501, "heading":1.31768, "vx":1.35817, "vy":1.31565, "omega":-1.99903, "ax":3.87452, "ay":3.30328, "alpha":1.74563, "fx":[57.15656,74.22413,70.56774,54.28802], "fy":[53.15585,40.88878,56.70394,67.71002]}, + {"t":1.3622, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.43851, "vy":1.38415, "omega":-1.96283, "ax":0.27334, "ay":-0.11997, "alpha":-0.63191, "fx":[8.2347,2.5395,0.80183,6.50101], "fy":[0.00442,1.74175,-3.98275,-5.69778]}, + {"t":1.38739, "x":2.26493, "y":6.47784, "heading":1.22678, "vx":1.4454, "vy":1.38113, "omega":-1.97875, "ax":0.04234, "ay":-0.04432, "alpha":-0.00995, "fx":[0.76005,0.67168,0.64002,0.72839], "fy":[-0.7044,-0.67274,-0.76112,-0.79277]}, + {"t":1.41258, "x":2.30135, "y":6.51262, "heading":1.17693, "vx":1.44647, "vy":1.38001, "omega":-1.979, "ax":0.00938, "ay":-0.00983, "alpha":-0.00018, "fx":[0.15619,0.15462,0.15397,0.15554], "fy":[-0.16211,-0.16146,-0.16303,-0.16368]}, + {"t":1.43778, "x":2.33779, "y":6.54738, "heading":1.12708, "vx":1.4467, "vy":1.37976, "omega":-1.979, "ax":0.00209, "ay":-0.00219, "alpha":-0.00003, "fx":[0.03477,0.03453,0.03441,0.03466], "fy":[-0.03621,-0.03609,-0.03633,-0.03645]}, + {"t":1.46297, "x":2.37424, "y":6.58214, "heading":1.07722, "vx":1.44676, "vy":1.37971, "omega":-1.97901, "ax":0.00049, "ay":-0.00051, "alpha":-0.00002, "fx":[0.00822,0.00801,0.0079,0.0081], "fy":[-0.0084,-0.00829,-0.00849,-0.00861]}, + {"t":1.48816, "x":2.41069, "y":6.6169, "heading":1.02737, "vx":1.44677, "vy":1.3797, "omega":-1.97901, "ax":0.00014, "ay":-0.00015, "alpha":-0.00002, "fx":[0.00247,0.00229,0.00218,0.00236], "fy":[-0.0024,-0.00229,-0.00247,-0.00258]}, + {"t":1.51335, "x":2.44713, "y":6.65165, "heading":0.97751, "vx":1.44677, "vy":1.37969, "omega":-1.97901, "ax":0.00007, "ay":-0.00007, "alpha":-0.00002, "fx":[0.0013,0.00115,0.00105,0.0012], "fy":[-0.00121,-0.00111,-0.00125,-0.00135]}, + {"t":1.53854, "x":2.48358, "y":6.68641, "heading":0.92766, "vx":1.44677, "vy":1.37969, "omega":-1.97901, "ax":0.00006, "ay":-0.00006, "alpha":-0.00001, "fx":[0.00111,0.001,0.00092,0.00103], "fy":[-0.00105,-0.00097,-0.00108,-0.00116]}, + {"t":1.56374, "x":2.52003, "y":6.72117, "heading":0.8778, "vx":1.44678, "vy":1.37969, "omega":-1.97901, "ax":0.00006, "ay":-0.00007, "alpha":-0.00001, "fx":[0.00112,0.00104,0.00098,0.00106], "fy":[-0.00109,-0.00103,-0.00111,-0.00117]}, + {"t":1.58893, "x":2.55647, "y":6.75592, "heading":0.82795, "vx":1.44678, "vy":1.37969, "omega":-1.97901, "ax":0.00007, "ay":-0.00007, "alpha":-0.00001, "fx":[0.00113,0.00109,0.00106,0.00109], "fy":[-0.00114,-0.00111,-0.00115,-0.00118]}, + {"t":1.61412, "x":2.59292, "y":6.79068, "heading":0.77809, "vx":1.44678, "vy":1.37969, "omega":-1.97901, "ax":0.00007, "ay":-0.00007, "alpha":0.0, "fx":[0.0011,0.0011,0.0011,0.0011], "fy":[-0.00116,-0.00116,-0.00116,-0.00116]}, + {"t":1.63931, "x":2.62937, "y":6.82544, "heading":0.72824, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00006, "ay":-0.00007, "alpha":0.00001, "fx":[0.00104,0.00107,0.00111,0.00108], "fy":[-0.00112,-0.00116,-0.00113,-0.00109]}, + {"t":1.6645, "x":2.66582, "y":6.8602, "heading":0.67838, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00006, "ay":-0.00006, "alpha":0.00001, "fx":[0.00093,0.001,0.00107,0.00101], "fy":[-0.00105,-0.00112,-0.00106,-0.00098]}, + {"t":1.6897, "x":2.70226, "y":6.89495, "heading":0.62853, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00005, "ay":-0.00006, "alpha":0.00002, "fx":[0.0008,0.00088,0.001,0.00091], "fy":[-0.00093,-0.00104,-0.00096,-0.00084]}, + {"t":1.71489, "x":2.73871, "y":6.92971, "heading":0.57867, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00005, "ay":-0.00005, "alpha":0.00002, "fx":[0.00065,0.00075,0.0009,0.0008], "fy":[-0.00078,-0.00094,-0.00084,-0.00069]}, + {"t":1.74008, "x":2.77516, "y":6.96447, "heading":0.52882, "vx":1.44679, "vy":1.37968, "omega":-1.97901, "ax":0.00004, "ay":-0.00004, "alpha":0.00002, "fx":[0.00055,0.00065,0.00084,0.00073], "fy":[-0.00069,-0.00087,-0.00077,-0.00058]}, + {"t":1.76527, "x":2.81161, "y":6.99922, "heading":0.47896, "vx":1.44679, "vy":1.37968, "omega":-1.97901, "ax":0.00006, "ay":-0.00006, "alpha":0.00003, "fx":[0.00076,0.00087,0.00108,0.00097], "fy":[-0.00092,-0.00113,-0.00102,-0.00081]}, + {"t":1.79046, "x":2.84805, "y":7.03398, "heading":0.42911, "vx":1.44679, "vy":1.37968, "omega":-1.97901, "ax":0.00016, "ay":-0.00017, "alpha":0.00003, "fx":[0.00248,0.00259,0.00281,0.00271], "fy":[-0.00272,-0.00294,-0.00284,-0.00261]}, + {"t":1.81566, "x":2.8845, "y":7.06874, "heading":0.37925, "vx":1.44679, "vy":1.37967, "omega":-1.979, "ax":0.00068, "ay":-0.00071, "alpha":0.00004, "fx":[0.01094,0.01107,0.0114,0.01127], "fy":[-0.01161,-0.01195,-0.01182,-0.01148]}, + {"t":1.84085, "x":2.92095, "y":7.10349, "heading":0.3294, "vx":1.44681, "vy":1.37965, "omega":-1.979, "ax":0.00305, "ay":-0.0032, "alpha":0.00077, "fx":[0.04582,0.04815,0.05499,0.05265], "fy":[-0.05061,-0.05744,-0.05511,-0.04828]}, + {"t":1.86604, "x":2.9574, "y":7.13825, "heading":0.27954, "vx":1.44689, "vy":1.37957, "omega":-1.97898, "ax":0.0138, "ay":-0.01448, "alpha":0.0478, "fx":[-0.05078,0.07366,0.50713,0.3827], "fy":[-0.08486,-0.51833,-0.39389,0.03958]}, + {"t":1.89123, "x":2.99385, "y":7.173, "heading":0.22969, "vx":1.44723, "vy":1.37921, "omega":-1.97778, "ax":0.05947, "ay":-0.06247, "alpha":2.85477, "fx":[-15.22747,-9.03456,17.13039,11.06484], "fy":[9.02245,-17.22385,-11.06844,15.13828]}, + {"t":1.91642, "x":3.03033, "y":7.20772, "heading":0.17987, "vx":1.44873, "vy":1.37763, "omega":-1.90586, "ax":0.05727, "ay":-0.06029, "alpha":15.09011, "fx":[-82.66421,-55.53384,82.90333,59.08247], "fy":[56.6537,-84.11298,-57.94734,81.4197]}, + {"t":1.94162, "x":3.06684, "y":7.24241, "heading":0.13185, "vx":1.45017, "vy":1.37612, "omega":-1.52571, "ax":0.06346, "ay":-0.06701, "alpha":16.8987, "fx":[-89.57569,-66.39805,89.47272,70.69775], "fy":[68.03226,-91.19562,-69.06113,87.7926]}, + {"t":1.96681, "x":3.1034, "y":7.27705, "heading":0.09342, "vx":1.45177, "vy":1.37443, "omega":-1.1, "ax":0.06131, "ay":-0.09379, "alpha":17.50226, "fx":[-90.43152,-71.99691,89.44932,77.034], "fy":[73.56763,-92.0523,-75.42335,87.70511]}, + {"t":1.992, "x":3.13999, "y":7.31165, "heading":0.06571, "vx":1.45332, "vy":1.37206, "omega":-0.65909, "ax":-4.01447, "ay":-3.01491, "alpha":9.70406, "fx":[-120.47631,-82.97752,2.15239,-64.19053], "fy":[-6.1702,-89.00394,-120.37571,16.16262]}, + {"t":2.01719, "x":3.17533, "y":7.34526, "heading":0.0491, "vx":1.35219, "vy":1.29611, "omega":-0.41462, "ax":-5.2024, "ay":-5.03119, "alpha":3.01102, "fx":[-110.82632,-87.17886,-55.53298,-90.51624], "fy":[-53.56369,-87.29978,-109.78765,-82.08068]}, + {"t":2.04238, "x":3.20774, "y":7.37631, "heading":0.03866, "vx":1.22113, "vy":1.16937, "omega":-0.33877, "ax":-5.31518, "ay":-5.11379, "alpha":2.16083, "fx":[-106.29625,-88.24593,-66.57312,-90.39736], "fy":[-63.21558,-86.84436,-104.19913,-83.93523]}, + {"t":2.06758, "x":3.23682, "y":7.40415, "heading":0.03012, "vx":1.08723, "vy":1.04054, "omega":-0.28433, "ax":-5.35615, "ay":-5.14036, "alpha":1.79864, "fx":[-104.11119,-88.74975,-71.03383,-90.32783], "fy":[-67.21692,-86.61572,-101.53068,-84.58829]}, + {"t":2.09277, "x":3.26251, "y":7.42873, "heading":0.02296, "vx":0.9523, "vy":0.91105, "omega":-0.23902, "ax":-5.37694, "ay":-5.15302, "alpha":1.59877, "fx":[-102.84078,-89.04868,-73.43085,-90.27702], "fy":[-69.39428,-86.47283,-99.98952,-84.93213]}, + {"t":2.11796, "x":3.28479, "y":7.45005, "heading":0.01694, "vx":0.81684, "vy":0.78123, "omega":-0.19875, "ax":-5.38943, "ay":-5.16033, "alpha":1.47226, "fx":[-102.01278,-89.24811,-74.92428,-90.23805], "fy":[-70.76116,-86.37375,-98.98947,-85.1474]}, + {"t":2.14315, "x":3.30366, "y":7.46809, "heading":0.01193, "vx":0.68107, "vy":0.65123, "omega":-0.16166, "ax":-5.39774, "ay":-5.16505, "alpha":1.38505, "fx":[-101.43093,-89.39023,-75.94298,-90.20852], "fy":[-71.69867,-86.30156,-98.2892,-85.29462]}, + {"t":2.16834, "x":3.3191, "y":7.48286, "heading":0.00786, "vx":0.54509, "vy":0.52111, "omega":-0.12677, "ax":-5.40365, "ay":-5.16834, "alpha":1.32131, "fx":[-100.99971,-89.49525,-76.6817,-90.18735], "fy":[-72.38174,-86.24808,-97.77202,-85.39982]}, + {"t":2.19353, "x":3.33112, "y":7.49434, "heading":0.00467, "vx":0.40896, "vy":0.39091, "omega":-0.09348, "ax":-5.40808, "ay":-5.17076, "alpha":1.27271, "fx":[-100.66719,-89.57411,-77.24144,-90.17393], "fy":[-72.90184,-86.20888,-97.37482,-85.47611]}, + {"t":2.21873, "x":3.33971, "y":7.50255, "heading":0.00231, "vx":0.27272, "vy":0.26065, "omega":-0.06142, "ax":-5.41151, "ay":-5.17261, "alpha":1.23444, "fx":[-100.40275,-89.63323,-77.67982,-90.1679], "fy":[-73.31139,-86.1813,-97.06053,-85.53079]}, + {"t":2.24392, "x":3.34486, "y":7.50748, "heading":0.00076, "vx":0.1364, "vy":0.13034, "omega":-0.03032, "ax":-5.41425, "ay":-5.17407, "alpha":1.20353, "fx":[-100.18718,-89.67665,-78.03206,-90.169], "fy":[-73.6426,-86.16366,-96.80596,-85.56828]}, + {"t":2.26911, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/FLtoML.traj b/src/main/deploy/choreo/FLtoML.traj index 5c5c8495..6e299763 100644 --- a/src/main/deploy/choreo/FLtoML.traj +++ b/src/main/deploy/choreo/FLtoML.traj @@ -74,7 +74,7 @@ {"t":0.34503, "x":7.6638, "y":6.24993, "heading":-1.29152, "vx":-0.92925, "vy":2.22587, "omega":1.71601, "ax":-3.14009, "ay":6.47521, "alpha":3.58136, "fx":[-26.4747,-71.03951,-89.07832,-21.07326], "fy":[120.74885,101.22603,85.09043,121.16441]}, {"t":0.37378, "x":7.63578, "y":6.3166, "heading":-1.24218, "vx":-1.01954, "vy":2.41205, "omega":1.81898, "ax":-3.49735, "ay":6.44096, "alpha":1.99642, "fx":[-41.76553,-69.42947,-77.79525,-42.30239], "fy":[115.49242,101.37991,94.43983,114.65259]}, {"t":0.40253, "x":7.60502, "y":6.38862, "heading":-1.18988, "vx":-1.1201, "vy":2.59724, "omega":1.87639, "ax":-4.11951, "ay":4.86935, "alpha":-6.15144, "fx":[-115.54976,-24.73893,-37.87059,-94.27926], "fy":[23.12721,109.9662,113.82372,75.1111]}, - {"t":0.43129, "x":7.57112, "y":6.46531, "heading":-1.13593, "vx":-1.23854, "vy":2.73725, "omega":1.69952, "ax":-2.4056, "ay":2.84308, "alpha":-12.86396, "fx":[-106.69486,76.14422,-24.9571,-103.58393], "fy":[-41.29843,57.3057,114.54816,57.46822]}, + {"t":0.43129, "x":7.57112, "y":6.46531, "heading":-1.13593, "vx":-1.23854, "vy":2.73725, "omega":1.69952, "ax":-2.4056, "ay":2.84308, "alpha":-12.86396, "fx":[-106.69486,76.14422,-24.95711,-103.58393], "fy":[-41.29843,57.3057,114.54816,57.46822]}, {"t":0.46004, "x":7.53451, "y":6.54518, "heading":-1.08706, "vx":-1.30771, "vy":2.81899, "omega":1.32965, "ax":-2.45769, "ay":2.68471, "alpha":-11.8658, "fx":[-97.8267,61.10955,-25.76591,-100.05342], "fy":[-39.87929,55.20663,108.68581,53.53673]}, {"t":0.48879, "x":7.49589, "y":6.62735, "heading":-1.04883, "vx":-1.37837, "vy":2.89618, "omega":0.98848, "ax":-3.64588, "ay":0.52332, "alpha":-6.67052, "fx":[-75.08884,-22.71099,-51.96449,-91.35173], "fy":[-39.82003,-6.98663,62.75934,18.65624]}, {"t":0.51754, "x":7.45476, "y":6.71084, "heading":-1.02041, "vx":-1.4832, "vy":2.91123, "omega":0.79669, "ax":-2.56268, "ay":-3.7606, "alpha":7.08038, "fx":[-56.03192,-89.17998,-42.7408,18.47311], "fy":[-15.98213,-46.53326,-95.14483,-91.04274]}, diff --git a/src/main/deploy/choreo/LBumptoDepot.traj b/src/main/deploy/choreo/LBumptoDepot.traj index 1719a257..9c535115 100644 --- a/src/main/deploy/choreo/LBumptoDepot.traj +++ b/src/main/deploy/choreo/LBumptoDepot.traj @@ -76,7 +76,7 @@ {"t":0.52864, "x":2.98888, "y":5.97525, "heading":1.83171, "vx":-1.49954, "vy":0.0, "omega":1.49905, "ax":0.0, "ay":0.0, "alpha":2.43873, "fx":[-8.14757,14.08325,8.14758,-14.08325], "fy":[-14.08329,-8.14762,14.08321,8.14753]}, {"t":0.56168, "x":2.93934, "y":5.97525, "heading":1.88124, "vx":-1.49954, "vy":0.0, "omega":1.57962, "ax":0.0, "ay":0.0, "alpha":2.12217, "fx":[-6.47456,12.59117,6.47456,-12.59117], "fy":[-12.59121,-6.4746,12.59113,6.47452]}, {"t":0.59472, "x":2.88979, "y":5.97525, "heading":1.93343, "vx":-1.49954, "vy":0.0, "omega":1.64974, "ax":0.0, "ay":0.0, "alpha":1.8198, "fx":[-4.98124,11.07209,4.98124,-11.07209], "fy":[-11.07212,-4.98127,11.07206,4.9812]}, - {"t":0.62776, "x":2.84025, "y":5.97525, "heading":1.98794, "vx":-1.49954, "vy":0.0, "omega":1.70986, "ax":0.0, "ay":0.0, "alpha":1.53035, "fx":[-3.67545,9.52539,3.67545,-9.52539], "fy":[-9.5254,-3.67547,9.52537,3.67543]}, + {"t":0.62776, "x":2.84025, "y":5.97525, "heading":1.98794, "vx":-1.49954, "vy":0.0, "omega":1.70986, "ax":0.0, "ay":0.0, "alpha":1.53035, "fx":[-3.67545,9.52539,3.67545,-9.52538], "fy":[-9.5254,-3.67547,9.52537,3.67543]}, {"t":0.6608, "x":2.7907, "y":5.97525, "heading":2.04443, "vx":-1.49954, "vy":0.0, "omega":1.76043, "ax":0.0, "ay":0.0, "alpha":1.25233, "fx":[-2.56281,7.95232,2.56281,-7.95232], "fy":[-7.95231,-2.56281,7.95232,2.56281]}, {"t":0.69384, "x":2.74116, "y":5.97525, "heading":2.1026, "vx":-1.49954, "vy":0.0, "omega":1.8018, "ax":0.0, "ay":0.0, "alpha":0.98409, "fx":[-1.6472,6.35547,1.6472,-6.35547], "fy":[-6.35544,-1.64717,6.35549,1.64722]}, {"t":0.72688, "x":2.69161, "y":5.97525, "heading":2.16213, "vx":-1.49954, "vy":0.0, "omega":1.83432, "ax":0.0, "ay":0.0, "alpha":0.7238, "fx":[-0.93126,4.73825,0.93126,-4.73825], "fy":[-4.7382,-0.93121,4.7383,0.93131]}, diff --git a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj new file mode 100644 index 00000000..65dbacf6 --- /dev/null +++ b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj @@ -0,0 +1,155 @@ +{ + "name":"LCleanuptoLPreTrench", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,2.48944,3.93858], + "samples":[ + {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.41848, "vy":1.95246, "omega":1.0963, "ax":-0.01014, "ay":0.01058, "alpha":0.25743, "fx":[1.04683,-1.38206,-1.38205,1.04684], "fy":[1.38944,1.38942,-1.03946,-1.03945]}, + {"t":0.0461, "x":6.08741, "y":3.88239, "heading":-1.52026, "vx":0.41801, "vy":1.95294, "omega":1.10817, "ax":-0.02617, "ay":0.0326, "alpha":-0.09069, "fx":[-0.73343,0.11107,-0.132,-0.9765], "fy":[-0.0048,0.23827,1.08277,0.8397]}, + {"t":0.0922, "x":6.10665, "y":3.97245, "heading":-1.46917, "vx":0.41681, "vy":1.95445, "omega":1.10399, "ax":-0.04095, "ay":0.0365, "alpha":0.17952, "fx":[-0.44732,-2.03487,-0.90691,0.68064], "fy":[1.96123,0.83327,-0.75428,0.37368]}, + {"t":0.1383, "x":6.12583, "y":4.0626, "heading":-1.41827, "vx":0.41492, "vy":1.95613, "omega":1.11226, "ax":-0.06188, "ay":0.0118, "alpha":-0.10757, "fx":[-1.0668,-0.1651,-0.97929,-1.881], "fy":[-0.66279,0.1514,1.05311,0.23891]}, + {"t":0.1844, "x":6.14489, "y":4.15279, "heading":-1.367, "vx":0.41206, "vy":1.95667, "omega":1.1073, "ax":-0.07634, "ay":0.01841, "alpha":-0.12324, "fx":[-2.45107,-1.05983,-0.07323,-1.46448], "fy":[0.10199,-0.8846,0.50665,1.49324]}, + {"t":0.2305, "x":6.1638, "y":4.24301, "heading":-1.31595, "vx":0.40855, "vy":1.95752, "omega":1.10162, "ax":-0.09226, "ay":0.01879, "alpha":0.16657, "fx":[-1.16843,-2.60433,-1.88217,-0.44629], "fy":[1.38973,0.66758,-0.76831,-0.04616]}, + {"t":0.2766, "x":6.18254, "y":4.33327, "heading":-1.26517, "vx":0.40429, "vy":1.95839, "omega":1.1093, "ax":-0.107, "ay":0.02562, "alpha":-0.46669, "fx":[-3.70461,0.73366,0.16658,-4.2717], "fy":[-2.07913,-1.51204,2.92623,2.35915]}, + {"t":0.3227, "x":6.20106, "y":4.42358, "heading":-1.21403, "vx":0.39936, "vy":1.95957, "omega":1.08779, "ax":-0.12308, "ay":0.02681, "alpha":0.33457, "fx":[-1.96753,-4.45829,-2.10245,0.38831], "fy":[2.86665,0.5108,-1.97995,0.37588]}, + {"t":0.36881, "x":6.21934, "y":4.51395, "heading":-1.16388, "vx":0.39369, "vy":1.96081, "omega":1.10321, "ax":-0.13952, "ay":0.02764, "alpha":-0.73906, "fx":[-4.43277,2.15403,-0.18086,-6.76766], "fy":[-4.0039,-1.66901,4.91779,2.58289]}, + {"t":0.41491, "x":6.23734, "y":4.60437, "heading":-1.11302, "vx":0.38725, "vy":1.96208, "omega":1.06914, "ax":-0.15574, "ay":0.03027, "alpha":0.4312, "fx":[-3.07325,-5.78271,-2.07669,0.63276], "fy":[3.70828,0.00226,-2.70718,0.99882]}, + {"t":0.46101, "x":6.25503, "y":4.69486, "heading":-1.06373, "vx":0.38007, "vy":1.96348, "omega":1.08902, "ax":-0.17692, "ay":0.00835, "alpha":-0.9532, "fx":[-4.81478,3.14885,-1.03545,-8.99908], "fy":[-5.93586,-1.75157,6.21206,2.02776]}, + {"t":0.50711, "x":6.27237, "y":4.78538, "heading":-1.01353, "vx":0.37192, "vy":1.96386, "omega":1.04507, "ax":-0.20093, "ay":-0.0278, "alpha":0.45952, "fx":[-4.49547,-6.74168,-2.14849,0.09771], "fy":[2.96003,-1.63316,-3.87936,0.71382]}, + {"t":0.55321, "x":6.2893, "y":4.87589, "heading":-0.96535, "vx":0.36265, "vy":1.96258, "omega":1.06626, "ax":-0.22556, "ay":-0.06699, "alpha":-1.09822, "fx":[-5.05126,3.47735,-2.40727,-10.93588], "fy":[-8.31421,-2.4296,6.09902,0.21438]}, + {"t":0.59931, "x":6.30578, "y":4.9663, "heading":-0.91619, "vx":0.35226, "vy":1.95949, "omega":1.01563, "ax":-0.2504, "ay":-0.10706, "alpha":0.41264, "fx":[-5.93226,-7.15248,-2.34783,-1.12761], "fy":[1.2424,-3.56225,-4.78246,0.02218]}, + {"t":0.64541, "x":6.32175, "y":5.05652, "heading":-0.86937, "vx":0.34071, "vy":1.95456, "omega":1.03465, "ax":-0.27535, "ay":-0.14742, "alpha":-1.16538, "fx":[-5.14061,3.20046,-3.96437,-12.30544], "fy":[-10.19035,-3.02553,5.31554,-1.8493]}, + {"t":0.69151, "x":6.33716, "y":5.14647, "heading":-0.82167, "vx":0.32802, "vy":1.94776, "omega":0.98093, "ax":-0.30036, "ay":-0.1879, "alpha":0.29034, "fx":[-7.13337,-6.98297,-2.79865,-2.94905], "fy":[-1.08962,-5.27395,-5.12355,-0.93924]}, + {"t":0.73761, "x":6.35197, "y":5.23606, "heading":-0.77645, "vx":0.31417, "vy":1.9391, "omega":0.99431, "ax":-0.32543, "ay":-0.22841, "alpha":-1.15515, "fx":[-5.25027,2.32548,-5.51053,-13.08627], "fy":[-11.4823,-3.6463,3.92945,-3.90656]}, + {"t":0.78371, "x":6.3661, "y":5.32521, "heading":-0.73061, "vx":0.29917, "vy":1.92857, "omega":0.94106, "ax":-0.35054, "ay":-0.26894, "alpha":0.10268, "fx":[-7.94677,-6.36373,-3.64445,-5.22747], "fy":[-3.87837,-6.59767,-5.01463,-2.29535]}, + {"t":0.82981, "x":6.37952, "y":5.41383, "heading":-0.68723, "vx":0.28301, "vy":1.91617, "omega":0.94579, "ax":-0.3757, "ay":-0.30948, "alpha":-1.07667, "fx":[-5.51739,0.93784,-6.90592,-13.36113], "fy":[-12.2662,-4.42245,2.03278,-5.81099]}, + {"t":0.87591, "x":6.39217, "y":5.50184, "heading":-0.64363, "vx":0.26569, "vy":1.9019, "omega":0.89616, "ax":-0.40092, "ay":-0.35002, "alpha":-0.13213, "fx":[-8.30434,-5.49895,-4.95283,-7.7582], "fy":[-6.91672,-7.46285,-4.65747,-4.11135]}, + {"t":0.92201, "x":6.40399, "y":5.58915, "heading":-0.60232, "vx":0.24721, "vy":1.88577, "omega":0.89007, "ax":-0.4262, "ay":-0.39059, "alpha":-0.94552, "fx":[-6.01254,-0.82257,-8.08042,-13.27037], "fy":[-12.68166,-5.42382,-0.23387,-7.49172]}, + {"t":0.96811, "x":6.41494, "y":5.67567, "heading":-0.56128, "vx":0.22756, "vy":1.86776, "omega":0.84648, "ax":-0.45154, "ay":-0.43118, "alpha":-0.3904, "fx":[-8.23418,-4.61878,-6.6967,-10.31208], "fy":[-9.97552,-7.89761,-4.28223,-6.36015]}, + {"t":1.01421, "x":6.42495, "y":5.76131, "heading":-0.52226, "vx":0.20674, "vy":1.84788, "omega":0.82848, "ax":-0.47695, "ay":-0.47181, "alpha":-0.78197, "fx":[-6.7301,-2.7939,-9.04107,-12.97724], "fy":[-12.89227,-6.64512,-2.70894,-8.95609]}, + {"t":1.06032, "x":6.43397, "y":5.846, "heading":-0.48407, "vx":0.18475, "vy":1.82613, "omega":0.79243, "ax":-0.50244, "ay":-0.51248, "alpha":-0.64769, "fx":[-7.8271,-3.93114,-8.78698,-12.68291], "fy":[-12.84902,-7.9932,-4.09726,-8.95308]}, + {"t":1.10642, "x":6.44196, "y":5.92964, "heading":-0.44753, "vx":0.16159, "vy":1.80251, "omega":0.76257, "ax":-0.52802, "ay":-0.55322, "alpha":-0.60699, "fx":[-7.60674,-4.83231,-9.85317,-12.62758], "fy":[-13.04433,-8.02348,-5.24907,-10.26992]}, + {"t":1.15252, "x":6.44884, "y":6.01215, "heading":-0.41238, "vx":0.13725, "vy":1.777, "omega":0.73459, "ax":-0.5537, "ay":-0.59404, "alpha":-0.88045, "fx":[-7.23338,-3.5985,-11.07563,-14.71049], "fy":[-15.37749,-7.90036,-4.26551,-11.74262]}, + {"t":1.19862, "x":6.45458, "y":6.09344, "heading":-0.37851, "vx":0.11172, "vy":1.74962, "omega":0.694, "ax":-0.57948, "ay":-0.63494, "alpha":-0.43977, "fx":[-8.54755,-6.83135,-10.61422,-12.3304], "fy":[-13.24729,-9.46443,-7.74826,-11.53111]}, + {"t":1.24472, "x":6.45912, "y":6.17342, "heading":-0.34652, "vx":0.08501, "vy":1.72034, "omega":0.67373, "ax":-0.6054, "ay":-0.67595, "alpha":-1.06942, "fx":[-6.62045,-3.71835,-13.39816,-16.30024], "fy":[-17.46671,-7.78691,-4.88484,-14.56463]}, + {"t":1.29082, "x":6.46239, "y":6.25202, "heading":-0.31546, "vx":0.0571, "vy":1.68918, "omega":0.62442, "ax":-0.63145, "ay":-0.71708, "alpha":-0.29612, "fx":[-9.44048,-8.73186,-11.43953,-12.14814], "fy":[-13.56391,-10.85624,-10.14765,-12.8553]}, + {"t":1.33692, "x":6.46435, "y":6.32913, "heading":-0.28668, "vx":0.02799, "vy":1.65612, "omega":0.61077, "ax":-0.65765, "ay":-0.75834, "alpha":-1.20249, "fx":[-6.14181,-4.31496,-15.60471,-17.43154], "fy":[-19.09633,-7.80659,-5.97977,-17.26948]}, + {"t":1.38302, "x":6.46495, "y":6.40467, "heading":-0.25852, "vx":-0.00233, "vy":1.62116, "omega":0.55534, "ax":-0.68403, "ay":-0.79977, "alpha":-0.18601, "fx":[-10.20205,-10.51783,-12.41668,-12.10091], "fy":[-14.01445,-12.11559,-12.43138,-14.33023]}, + {"t":1.42912, "x":6.46411, "y":6.47856, "heading":-0.23292, "vx":-0.03386, "vy":1.58429, "omega":0.54676, "ax":-0.7106, "ay":-0.84137, "alpha":-1.27545, "fx":[-5.91473,-5.34889,-17.58261,-18.14844], "fy":[-20.31047,-8.07675,-7.51093,-19.74462]}, + {"t":1.47522, "x":6.4618, "y":6.5507, "heading":-0.20771, "vx":-0.06662, "vy":1.54551, "omega":0.48796, "ax":-0.73739, "ay":-0.88317, "alpha":-0.11545, "fx":[-10.78562,-12.18857,-13.59747,-12.19453], "fy":[-14.60475,-13.19584,-14.59881,-16.0077]}, + {"t":1.52132, "x":6.45794, "y":6.62101, "heading":-0.18521, "vx":-0.10062, "vy":1.50479, "omega":0.48264, "ax":-0.76442, "ay":-0.92519, "alpha":-1.29375, "fx":[-5.9698,-6.74312,-19.30704,-18.53372], "fy":[-21.19183,-8.62791,-9.40124,-21.96514]}, + {"t":1.56742, "x":6.45249, "y":6.6894, "heading":-0.16296, "vx":-0.13586, "vy":1.46214, "omega":0.423, "ax":-0.79171, "ay":-0.96746, "alpha":-0.08524, "fx":[-11.24165,-13.71603,-14.93788,-12.46352], "fy":[-15.36917,-14.14732,-16.62169,-17.84354]}, + {"t":1.61352, "x":6.44539, "y":6.75577, "heading":-0.14346, "vx":-0.17235, "vy":1.41754, "omega":0.41907, "ax":-0.81932, "ay":-1.01001, "alpha":-1.26828, "fx":[-6.26531,-8.42451,-20.82691,-18.66772], "fy":[-21.82054,-9.41814,-11.57733,-23.97971]}, + {"t":1.65962, "x":6.43657, "y":6.82005, "heading":-0.12415, "vx":-0.21012, "vy":1.37098, "omega":0.3606, "ax":-0.84726, "ay":-1.05287, "alpha":-0.09028, "fx":[-11.7293,-15.01802,-16.28682,-12.99812], "fy":[-16.39764,-15.12884,-18.41755,-19.68635]}, + {"t":1.70572, "x":6.42598, "y":6.88214, "heading":-0.10752, "vx":-0.24918, "vy":1.32244, "omega":0.35644, "ax":-0.87558, "ay":-1.09608, "alpha":-1.21074, "fx":[-6.76981,-10.3108,-22.18273,-18.64175], "fy":[-22.28748,-10.41556,-13.95651,-25.82844]}, + {"t":1.75183, "x":6.41356, "y":6.94194, "heading":-0.09109, "vx":-0.28955, "vy":1.27191, "omega":0.30062, "ax":-0.90432, "ay":-1.13968, "alpha":-0.1192, "fx":[-12.40991,-16.03282,-17.49308,-13.87017], "fy":[-17.7615,-16.30126,-19.92413,-21.3844]}, + {"t":1.79793, "x":6.39926, "y":6.99936, "heading":-0.07723, "vx":-0.33124, "vy":1.21937, "omega":0.29513, "ax":-0.93354, "ay":-1.18371, "alpha":-1.12994, "fx":[-7.58664,-12.23022,-23.28249,-18.63888], "fy":[-22.77513,-11.7229,-16.36643,-27.41868]}, + {"t":1.84403, "x":6.38299, "y":7.05432, "heading":-0.06362, "vx":-0.37427, "vy":1.1648, "omega":0.24304, "ax":-0.96328, "ay":-1.22822, "alpha":-0.16309, "fx":[-13.24736,-16.83495,-18.60546,-15.01782], "fy":[-19.39817,-17.62771,-21.21526,-22.98576]}, + {"t":1.89013, "x":6.36472, "y":7.10671, "heading":-0.05242, "vx":-0.41868, "vy":1.10818, "omega":0.23552, "ax":-0.99363, "ay":-1.27327, "alpha":-1.02452, "fx":[-8.96775,-13.94737,-23.8884,-18.90869], "fy":[-23.53224,-13.59127,-18.57084,-28.51183]}, + {"t":1.93623, "x":6.34436, "y":7.15644, "heading":-0.04156, "vx":-0.46449, "vy":1.04948, "omega":0.18829, "ax":-1.02463, "ay":-1.31892, "alpha":-0.2321, "fx":[-14.00201,-17.54052,-19.87948,-16.34083], "fy":[-21.20647,-18.8676,-22.40608,-24.74498]}, + {"t":1.98233, "x":6.32186, "y":7.20342, "heading":-0.03288, "vx":-0.51173, "vy":0.98868, "omega":0.17759, "ax":-1.05638, "ay":-1.36524, "alpha":-0.8885, "fx":[-10.96746,-15.4295,-23.96396,-19.50173], "fy":[-24.60824,-16.07387,-20.53588,-29.07025]}, + {"t":2.02843, "x":6.29714, "y":7.24755, "heading":-0.0247, "vx":-0.56043, "vy":0.92574, "omega":0.13663, "ax":-1.08897, "ay":-1.4123, "alpha":-0.2909, "fx":[-15.10614,-18.08359,-20.90276,-17.92506], "fy":[-23.27099,-20.45193,-23.42938,-26.24842]}, + {"t":2.07453, "x":6.27015, "y":7.28873, "heading":-0.0184, "vx":-0.61063, "vy":0.86063, "omega":0.12322, "ax":-1.12248, "ay":-1.46019, "alpha":-0.799, "fx":[-12.69646,-16.80512,-24.42073,-20.31174], "fy":[-25.89547,-18.27998,-22.38866,-30.00408]}, + {"t":2.12063, "x":6.24081, "y":7.32685, "heading":-0.01272, "vx":-0.66238, "vy":0.79331, "omega":0.08638, "ax":-1.15704, "ay":-1.50902, "alpha":-0.23564, "fx":[-17.16518,-18.84974,-21.0948,-19.40984], "fy":[-25.22947,-22.98453,-24.66916,-26.91398]}, + {"t":2.16673, "x":6.20904, "y":7.36182, "heading":-0.00873, "vx":-0.71572, "vy":0.72375, "omega":0.07552, "ax":-1.19277, "ay":-1.55888, "alpha":-0.61744, "fx":[-15.48474,-18.10764,-23.95662,-21.33324], "fy":[-27.38665,-21.53778,-24.16077,-30.00945]}, + {"t":2.21283, "x":6.17478, "y":7.39353, "heading":-0.00525, "vx":-0.7707, "vy":0.65188, "omega":0.04705, "ax":-1.2298, "ay":-1.6099, "alpha":-0.27905, "fx":[-18.31499,-19.71046,-22.35097,-20.95493], "fy":[-27.23968,-24.59927,-25.99488,-28.63501]}, + {"t":2.25893, "x":6.13794, "y":7.42187, "heading":-0.00308, "vx":-0.8274, "vy":0.57766, "omega":0.03419, "ax":-1.2683, "ay":-1.66222, "alpha":-0.31116, "fx":[-18.98135,-20.01821,-22.95756,-21.92003], "fy":[-28.43335,-25.49408,-26.53114,-29.47003]}, + {"t":2.30503, "x":6.09845, "y":7.44674, "heading":-0.00151, "vx":-0.88587, "vy":0.50104, "omega":0.01984, "ax":-1.30843, "ay":-1.71598, "alpha":-0.21718, "fx":[-20.26407,-20.95145,-23.0019,-22.31377], "fy":[-29.05254,-27.00212,-27.68975,-29.73966]}, + {"t":2.35113, "x":6.05622, "y":7.46801, "heading":-0.00059, "vx":-0.94619, "vy":0.42193, "omega":0.00983, "ax":-1.35039, "ay":-1.77136, "alpha":-0.14476, "fx":[-21.45363,-21.83356,-23.19996,-22.8192], "fy":[-29.77989,-28.41346,-28.79369,-30.15946]}, + {"t":2.39723, "x":6.01117, "y":7.48558, "heading":-0.00014, "vx":-1.00844, "vy":0.34027, "omega":0.00316, "ax":-1.3944, "ay":-1.82854, "alpha":-0.07138, "fx":[-22.62938,-22.80573,-23.47962,-23.30235], "fy":[-30.48098,-29.807,-29.98371,-30.65687]}, + {"t":2.44333, "x":5.96319, "y":7.49932, "heading":0.00001, "vx":-1.07272, "vy":0.25597, "omega":-0.00013, "ax":-1.44071, "ay":-1.88776, "alpha":0.00285, "fx":[-23.80581,-23.86087,-23.83441,-23.77838], "fy":[-31.1705,-31.19676,-31.25221,-31.22495]}, + {"t":2.48944, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-1.13914, "vy":0.16894, "omega":0.0, "ax":-1.48941, "ay":-1.68201, "alpha":0.0, "fx":[-24.62501,-24.62499,-24.62499,-24.62501], "fy":[-27.80945,-27.80945,-27.80944,-27.80944]}, + {"t":2.53618, "x":5.85733, "y":7.51518, "heading":0.0, "vx":-1.20877, "vy":0.09031, "omega":0.0, "ax":-1.43518, "ay":-1.15711, "alpha":0.0, "fx":[-23.78021,-23.67368,-23.77863,-23.68143], "fy":[-19.20987,-19.04945,-19.21582,-19.04922]}, + {"t":2.58293, "x":5.79926, "y":7.51813, "heading":0.0, "vx":-1.27586, "vy":0.03622, "omega":0.0, "ax":-1.36437, "ay":-0.656, "alpha":0.0, "fx":[-22.5577,-22.5577,-22.5577,-22.5577], "fy":[-10.84591,-10.84591,-10.84591,-10.84591]}, + {"t":2.62968, "x":5.73813, "y":7.51911, "heading":0.0, "vx":-1.33963, "vy":0.00556, "omega":0.0, "ax":-1.29171, "ay":-0.23711, "alpha":0.0, "fx":[-21.35641,-21.35641,-21.35641,-21.35641], "fy":[-3.92026,-3.92026,-3.92026,-3.92026]}, + {"t":2.67642, "x":5.67409, "y":7.51911, "heading":0.0, "vx":-1.40002, "vy":-0.00553, "omega":0.0, "ax":-1.22127, "ay":-0.04645, "alpha":0.0, "fx":[-20.19184,-20.19184,-20.19184,-20.19184], "fy":[-0.76791,-0.76791,-0.76791,-0.76791]}, + {"t":2.72317, "x":5.60731, "y":7.5188, "heading":0.0, "vx":-1.45711, "vy":-0.0077, "omega":0.0, "ax":-1.15282, "ay":-0.02576, "alpha":0.0, "fx":[-19.06012,-19.06012,-19.06012,-19.06012], "fy":[-0.42587,-0.42587,-0.42587,-0.42587]}, + {"t":2.76992, "x":5.53794, "y":7.51842, "heading":0.0, "vx":-1.511, "vy":-0.0089, "omega":0.0, "ax":-1.08615, "ay":-0.01553, "alpha":0.0, "fx":[-17.95777,-17.95777,-17.95777,-17.95777], "fy":[-0.25669,-0.25669,-0.25669,-0.25669]}, + {"t":2.81666, "x":5.46611, "y":7.51798, "heading":0.0, "vx":-1.56177, "vy":-0.00963, "omega":0.0, "ax":-1.02106, "ay":-0.01033, "alpha":0.0, "fx":[-16.88169,-16.88169,-16.88169,-16.88169], "fy":[-0.17085,-0.17085,-0.17085,-0.17085]}, + {"t":2.86341, "x":5.39199, "y":7.51752, "heading":0.0, "vx":-1.6095, "vy":-0.01011, "omega":0.0, "ax":-0.9574, "ay":-0.00787, "alpha":0.0, "fx":[-15.82909,-15.82909,-15.82909,-15.82909], "fy":[-0.1302,-0.1302,-0.1302,-0.1302]}, + {"t":2.91016, "x":5.31571, "y":7.51704, "heading":0.0, "vx":-1.65426, "vy":-0.01048, "omega":0.0, "ax":-0.895, "ay":-0.00669, "alpha":0.0, "fx":[-14.79747,-14.79747,-14.79747,-14.79747], "fy":[-0.11063,-0.11063,-0.11063,-0.11063]}, + {"t":2.9569, "x":5.2374, "y":7.51654, "heading":0.0, "vx":-1.6961, "vy":-0.01079, "omega":0.0, "ax":-0.83374, "ay":-0.00566, "alpha":0.0, "fx":[-13.7846,-13.7846,-13.7846,-13.7846], "fy":[-0.09357,-0.09357,-0.09357,-0.09357]}, + {"t":3.00365, "x":5.1572, "y":7.51603, "heading":0.0, "vx":-1.73507, "vy":-0.01106, "omega":0.0, "ax":-0.77349, "ay":-0.00408, "alpha":0.0, "fx":[-12.78847,-12.78847,-12.78847,-12.78847], "fy":[-0.06745,-0.06745,-0.06745,-0.06745]}, + {"t":3.0504, "x":5.07525, "y":7.51551, "heading":0.0, "vx":-1.77123, "vy":-0.01125, "omega":0.0, "ax":-0.71415, "ay":-0.00103, "alpha":0.0, "fx":[-11.80728,-11.80728,-11.80728,-11.80728], "fy":[-0.01704,-0.01704,-0.01704,-0.01704]}, + {"t":3.09714, "x":4.99167, "y":7.51498, "heading":0.0, "vx":-1.80461, "vy":-0.01129, "omega":0.0, "ax":-0.65561, "ay":0.00414, "alpha":0.0, "fx":[-10.83942,-10.83942,-10.83942,-10.83942], "fy":[0.06847,0.06847,0.06847,0.06847]}, + {"t":3.14389, "x":4.90659, "y":7.51446, "heading":0.0, "vx":-1.83526, "vy":-0.0111, "omega":0.0, "ax":-0.59778, "ay":0.01038, "alpha":0.0, "fx":[-9.88344,-9.88344,-9.88344,-9.88344], "fy":[0.17165,0.17165,0.17165,0.17165]}, + {"t":3.19064, "x":4.82014, "y":7.51395, "heading":0.0, "vx":-1.86321, "vy":-0.01062, "omega":0.0, "ax":-0.54061, "ay":0.01489, "alpha":0.0, "fx":[-8.93806,-8.93806,-8.93806,-8.93806], "fy":[0.24625,0.24625,0.24625,0.24625]}, + {"t":3.23738, "x":4.73246, "y":7.51347, "heading":0.0, "vx":-1.88848, "vy":-0.00992, "omega":0.0, "ax":-0.484, "ay":0.01572, "alpha":0.0, "fx":[-8.00214,-8.00214,-8.00214,-8.00214], "fy":[0.25993,0.25993,0.25993,0.25993]}, + {"t":3.28413, "x":4.64365, "y":7.51303, "heading":0.0, "vx":-1.9111, "vy":-0.00918, "omega":0.0, "ax":-0.4279, "ay":0.01429, "alpha":0.0, "fx":[-7.07465,-7.07465,-7.07465,-7.07465], "fy":[0.2363,0.2363,0.2363,0.2363]}, + {"t":3.33088, "x":4.55384, "y":7.51261, "heading":0.0, "vx":-1.93111, "vy":-0.00852, "omega":0.0, "ax":-0.37226, "ay":0.01272, "alpha":0.0, "fx":[-6.15475,-6.15475,-6.15475,-6.15475], "fy":[0.21034,0.21034,0.21034,0.21034]}, + {"t":3.37762, "x":4.46316, "y":7.51223, "heading":0.0, "vx":-1.94851, "vy":-0.00792, "omega":0.0, "ax":-0.31704, "ay":0.01152, "alpha":0.0, "fx":[-5.24176,-5.24176,-5.24176,-5.24176], "fy":[0.19047,0.19047,0.19047,0.19047]}, + {"t":3.42437, "x":4.37173, "y":7.51187, "heading":0.0, "vx":-1.96333, "vy":-0.00738, "omega":0.0, "ax":-0.26221, "ay":0.01059, "alpha":0.0, "fx":[-4.33525,-4.33525,-4.33525,-4.33525], "fy":[0.17502,0.17502,0.17502,0.17502]}, + {"t":3.47112, "x":4.27966, "y":7.51154, "heading":0.0, "vx":-1.97559, "vy":-0.00689, "omega":0.0, "ax":-0.20778, "ay":0.00979, "alpha":0.0, "fx":[-3.4353,-3.4353,-3.4353,-3.4353], "fy":[0.16185,0.16185,0.16185,0.16185]}, + {"t":3.51786, "x":4.18708, "y":7.51123, "heading":0.0, "vx":-1.9853, "vy":-0.00643, "omega":0.0, "ax":-0.15382, "ay":0.00905, "alpha":0.0, "fx":[-2.54319,-2.54319,-2.54319,-2.54319], "fy":[0.14959,0.14959,0.14959,0.14959]}, + {"t":3.56461, "x":4.09411, "y":7.51093, "heading":0.0, "vx":-1.99249, "vy":-0.00601, "omega":0.0, "ax":-0.10064, "ay":0.00831, "alpha":0.0, "fx":[-1.664,-1.664,-1.664,-1.664], "fy":[0.13739,0.13739,0.13739,0.13739]}, + {"t":3.61136, "x":4.00086, "y":7.51066, "heading":0.0, "vx":-1.99719, "vy":-0.00562, "omega":0.0, "ax":-0.04958, "ay":0.00753, "alpha":0.0, "fx":[-0.81969,-0.81969,-0.81969,-0.81969], "fy":[0.12455,0.12455,0.12455,0.12455]}, + {"t":3.6581, "x":3.90744, "y":7.51041, "heading":0.0, "vx":-1.99951, "vy":-0.00527, "omega":0.0, "ax":-0.00902, "ay":0.00665, "alpha":0.0, "fx":[-0.14911,-0.14911,-0.14911,-0.14911], "fy":[0.11,0.11,0.11,0.11]}, + {"t":3.70485, "x":3.81396, "y":7.51017, "heading":0.0, "vx":-1.99993, "vy":-0.00496, "omega":0.0, "ax":-0.00007, "ay":0.00558, "alpha":0.0, "fx":[-0.00121,-0.00121,-0.00121,-0.00121], "fy":[0.09219,0.09219,0.09219,0.09219]}, + {"t":3.7516, "x":3.72047, "y":7.50994, "heading":0.0, "vx":-1.99994, "vy":-0.0047, "omega":0.0, "ax":0.00148, "ay":0.00433, "alpha":0.0, "fx":[0.02442,0.02442,0.02442,0.02442], "fy":[0.07164,0.07164,0.07164,0.07164]}, + {"t":3.79834, "x":3.62698, "y":7.50973, "heading":0.0, "vx":-1.99987, "vy":-0.00449, "omega":0.0, "ax":0.00197, "ay":0.00283, "alpha":0.0, "fx":[0.03251,0.03251,0.03251,0.03251], "fy":[0.04686,0.04686,0.04686,0.04686]}, + {"t":3.84509, "x":3.5335, "y":7.50952, "heading":0.0, "vx":-1.99978, "vy":-0.00436, "omega":0.0, "ax":0.00261, "ay":0.00113, "alpha":0.0, "fx":[0.04312,0.04312,0.04312,0.04312], "fy":[0.0186,0.0186,0.0186,0.0186]}, + {"t":3.89184, "x":3.44002, "y":7.50932, "heading":0.0, "vx":-1.99965, "vy":-0.00431, "omega":0.0, "ax":0.0332, "ay":-0.00076, "alpha":0.0, "fx":[0.54891,0.54891,0.54891,0.54891], "fy":[-0.01255,-0.01255,-0.01255,-0.01255]}, + {"t":3.93858, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.9981, "vy":-0.00434, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj index f1f7db65..62873968 100644 --- a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj +++ b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.521002769470215, "y":7.377725124359131, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.521002769470215, "y":7.509117603302002, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -19,9 +19,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -61,100 +61,97 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.61867,3.4053], + "waypoints":[0.0,1.68066,3.26884], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.66901, "vy":1.88221, "omega":1.43858, "ax":-0.0185, "ay":0.05192, "alpha":-0.01036, "fx":[-0.35473,-0.25701,-0.25701,-0.35472], "fy":[0.80952,0.80952,0.90723,0.90723]}, - {"t":0.03303, "x":7.79826, "y":4.56578, "heading":-1.52327, "vx":-0.66962, "vy":1.88393, "omega":1.43824, "ax":-0.00001, "ay":0.0, "alpha":-0.0204, "fx":[-0.09175,0.10055,0.0914,-0.1009], "fy":[-0.10074,-0.09159,0.10071,0.09156]}, - {"t":0.06607, "x":7.77614, "y":4.62801, "heading":-1.47576, "vx":-0.66962, "vy":1.88393, "omega":1.43756, "ax":-0.00001, "ay":0.0, "alpha":-0.03123, "fx":[-0.13279,0.1605,0.13254,-0.16075], "fy":[-0.16067,-0.13271,0.16058,0.13262]}, - {"t":0.0991, "x":7.75402, "y":4.69025, "heading":-1.42827, "vx":-0.66962, "vy":1.88393, "omega":1.43653, "ax":-0.00001, "ay":0.0, "alpha":-0.04291, "fx":[-0.17177,0.229,0.17149,-0.22928], "fy":[-0.22919,-0.17168,0.22909,0.17158]}, - {"t":0.13214, "x":7.73189, "y":4.75248, "heading":-1.38082, "vx":-0.66962, "vy":1.88393, "omega":1.43511, "ax":-0.00001, "ay":0.0, "alpha":-0.05554, "fx":[-0.208,0.30664,0.20768,-0.30696], "fy":[-0.30686,-0.20789,0.30674,0.20778]}, - {"t":0.16517, "x":7.70977, "y":4.81471, "heading":-1.33341, "vx":-0.66962, "vy":1.88393, "omega":1.43328, "ax":-0.00001, "ay":0.0, "alpha":-0.06921, "fx":[-0.24073,0.39394,0.24039,-0.39428], "fy":[-0.39417,-0.24062,0.39405,0.2405]}, - {"t":0.1982, "x":7.68765, "y":4.87695, "heading":-1.28607, "vx":-0.66962, "vy":1.88393, "omega":1.43099, "ax":-0.00001, "ay":0.0, "alpha":-0.08399, "fx":[-0.26914,0.49139,0.2688,-0.49174], "fy":[-0.49163,-0.26903,0.49151,0.26891]}, - {"t":0.23124, "x":7.66553, "y":4.93918, "heading":-1.23879, "vx":-0.66962, "vy":1.88393, "omega":1.42822, "ax":-0.00001, "ay":0.0, "alpha":-0.09998, "fx":[-0.29235,0.59948,0.29201,-0.59983], "fy":[-0.59972,-0.29224,0.5996,0.29212]}, - {"t":0.26427, "x":7.64341, "y":5.00141, "heading":-1.19161, "vx":-0.66962, "vy":1.88393, "omega":1.42492, "ax":-0.00001, "ay":0.0, "alpha":-0.1173, "fx":[-0.3094,0.71875,0.30907,-0.71908], "fy":[-0.71897,-0.30929,0.71886,0.30918]}, - {"t":0.29731, "x":7.62129, "y":5.06365, "heading":-1.14454, "vx":-0.66962, "vy":1.88393, "omega":1.42104, "ax":-0.00001, "ay":0.0, "alpha":-0.13608, "fx":[-0.31924,0.8498,0.31895,-0.8501], "fy":[-0.85,-0.31915,0.8499,0.31904]}, - {"t":0.33034, "x":7.59917, "y":5.12588, "heading":-1.0976, "vx":-0.66962, "vy":1.88393, "omega":1.41655, "ax":-0.00001, "ay":0.0, "alpha":-0.15647, "fx":[-0.32078,0.99334,0.32052,-0.9936], "fy":[-0.99351,-0.32069,0.99343,0.32061]}, - {"t":0.36337, "x":7.57705, "y":5.18812, "heading":-1.05081, "vx":-0.66962, "vy":1.88393, "omega":1.41138, "ax":-0.00001, "ay":0.0, "alpha":-0.17868, "fx":[-0.31278,1.15022,0.31258,-1.15042], "fy":[-1.15036,-0.31272,1.15029,0.31265]}, - {"t":0.39641, "x":7.55493, "y":5.25035, "heading":-1.00418, "vx":-0.66962, "vy":1.88393, "omega":1.40547, "ax":0.0, "ay":0.0, "alpha":-0.20292, "fx":[-0.2939,1.32146,0.29376,-1.3216], "fy":[-1.32155,-0.29386,1.3215,0.29381]}, - {"t":0.42944, "x":7.53281, "y":5.31258, "heading":-0.95775, "vx":-0.66962, "vy":1.88393, "omega":1.39877, "ax":0.0, "ay":0.0, "alpha":-0.22948, "fx":[-0.26261,1.50825,0.26253,-1.50833], "fy":[-1.50831,-0.26258,1.50828,0.26256]}, - {"t":0.46248, "x":7.51069, "y":5.37482, "heading":-0.91155, "vx":-0.66962, "vy":1.88393, "omega":1.39119, "ax":0.0, "ay":0.0, "alpha":-0.25867, "fx":[-0.21714,1.71203,0.21712,-1.71204], "fy":[-1.71204,-0.21713,1.71203,0.21712]}, - {"t":0.49551, "x":7.48857, "y":5.43705, "heading":-0.86559, "vx":-0.66962, "vy":1.88393, "omega":1.38265, "ax":0.0, "ay":0.0, "alpha":-0.29088, "fx":[-0.15544,1.93441,0.15548,-1.93437], "fy":[-1.93439,-0.15545,1.9344,0.15547]}, - {"t":0.52854, "x":7.46645, "y":5.49928, "heading":-0.81992, "vx":-0.66962, "vy":1.88393, "omega":1.37304, "ax":0.0, "ay":0.0, "alpha":-0.32653, "fx":[-0.07514,2.17726,0.07523,-2.17716], "fy":[-2.17719,-0.07517,2.17723,0.0752]}, - {"t":0.56158, "x":7.44433, "y":5.56152, "heading":-0.77456, "vx":-0.66962, "vy":1.88393, "omega":1.36225, "ax":0.0, "ay":0.0, "alpha":-0.36613, "fx":[0.02654,2.44259,-0.0264,-2.44245], "fy":[-2.4425,0.0265,2.44255,-0.02645]}, - {"t":0.59461, "x":7.42221, "y":5.62375, "heading":-0.72956, "vx":-0.66962, "vy":1.88393, "omega":1.35015, "ax":0.00001, "ay":0.0, "alpha":-0.41022, "fx":[0.15283,2.73263,-0.15265,-2.73246], "fy":[-2.73251,0.15277,2.73258,-0.15271]}, - {"t":0.62765, "x":7.40009, "y":5.68599, "heading":-0.68496, "vx":-0.66962, "vy":1.88393, "omega":1.3366, "ax":0.00001, "ay":0.0, "alpha":-0.45942, "fx":[0.30744,3.04973,-0.30724,-3.04953], "fy":[-3.0496,0.30738,3.04967,-0.3073]}, - {"t":0.66068, "x":7.37797, "y":5.74822, "heading":-0.6408, "vx":-0.66962, "vy":1.88393, "omega":1.32143, "ax":0.00001, "ay":0.0, "alpha":-0.51443, "fx":[0.49463,3.39634,-0.49442,-3.39612], "fy":[-3.39619,0.49456,3.39627,-0.49448]}, - {"t":0.69371, "x":7.35585, "y":5.81045, "heading":-0.59715, "vx":-0.66962, "vy":1.88393, "omega":1.30443, "ax":0.00001, "ay":0.0, "alpha":-0.57598, "fx":[0.71922,3.77495,-0.719,-3.77473], "fy":[-3.7748,0.71915,3.77488,-0.71907]}, - {"t":0.72675, "x":7.33373, "y":5.87269, "heading":-0.55406, "vx":-0.66962, "vy":1.88393, "omega":1.28541, "ax":0.00001, "ay":0.0, "alpha":-0.64491, "fx":[0.9866,4.18809,-0.98639,-4.18788], "fy":[-4.18795,0.98653,4.18802,-0.98646]}, - {"t":0.75978, "x":7.31161, "y":5.93492, "heading":-0.5116, "vx":-0.66962, "vy":1.88393, "omega":1.2641, "ax":0.00001, "ay":0.0, "alpha":-0.72211, "fx":[1.30272,4.63824,-1.30254,-4.63806], "fy":[-4.63811,1.30267,4.63818,-1.3026]}, - {"t":0.79282, "x":7.28949, "y":5.99715, "heading":-0.46984, "vx":-0.66962, "vy":1.88393, "omega":1.24025, "ax":0.0, "ay":0.0, "alpha":-0.80852, "fx":[1.67412,5.12785,-1.67396,-5.12769], "fy":[-5.12774,1.67407,5.1278,-1.67401]}, - {"t":0.82585, "x":7.26737, "y":6.05939, "heading":-0.42887, "vx":-0.66962, "vy":1.88393, "omega":1.21354, "ax":0.0, "ay":0.0, "alpha":-0.90518, "fx":[2.10779,5.65927,-2.10767,-5.65915], "fy":[-5.65919,2.10776,5.65923,-2.10771]}, - {"t":0.85889, "x":7.24525, "y":6.12162, "heading":-0.38878, "vx":-0.66962, "vy":1.88393, "omega":1.18364, "ax":0.0, "ay":0.0, "alpha":-1.01317, "fx":[2.61122,6.2348,-2.61113,-6.23472], "fy":[-6.23474,2.61119,6.23478,-2.61116]}, - {"t":0.89192, "x":7.22313, "y":6.18386, "heading":-0.34968, "vx":-0.66962, "vy":1.88393, "omega":1.15017, "ax":0.0, "ay":0.0, "alpha":-1.13366, "fx":[3.1922,6.8567,-3.19215,-6.85665], "fy":[-6.85667,3.19219,6.85669,-3.19216]}, - {"t":0.92495, "x":7.20101, "y":6.24609, "heading":-0.31169, "vx":-0.66962, "vy":1.88393, "omega":1.11272, "ax":0.0, "ay":0.0, "alpha":-1.26786, "fx":[3.85878,7.52723,-3.85877,-7.52721], "fy":[-7.52722,3.85878,7.52723,-3.85877]}, - {"t":0.95799, "x":7.17889, "y":6.30832, "heading":-0.27493, "vx":-0.66962, "vy":1.88393, "omega":1.07084, "ax":0.0, "ay":0.0, "alpha":-1.41705, "fx":[4.61908,8.24876,-4.61909,-8.24877], "fy":[-8.24876,4.61909,8.24876,-4.61909]}, - {"t":0.99102, "x":7.15677, "y":6.37056, "heading":-0.23956, "vx":-0.66962, "vy":1.88393, "omega":1.02403, "ax":0.0, "ay":0.0, "alpha":-1.58254, "fx":[5.4811,9.0239,-5.48113,-9.02393], "fy":[-9.02392,5.48111,9.02391,-5.48112]}, - {"t":1.02406, "x":7.13465, "y":6.43279, "heading":-0.20573, "vx":-0.66962, "vy":1.88393, "omega":0.97175, "ax":0.0, "ay":0.0, "alpha":-1.7657, "fx":[6.45246,9.85567,-6.45251,-9.85571], "fy":[-9.8557,6.45248,9.85568,-6.45249]}, - {"t":1.05709, "x":7.11253, "y":6.49502, "heading":-0.17363, "vx":-0.66962, "vy":1.88393, "omega":0.91342, "ax":0.0, "ay":0.0, "alpha":-1.96788, "fx":[7.54014,10.74773,-7.5402,-10.74779], "fy":[-10.74777,7.54016,10.74775,-7.54018]}, - {"t":1.09012, "x":7.09041, "y":6.55726, "heading":-0.14345, "vx":-0.66962, "vy":1.88393, "omega":0.84841, "ax":0.0, "ay":0.0, "alpha":-2.19045, "fx":[8.75003,11.70464,-8.75015,-11.70475], "fy":[-11.70472,8.75007,11.70468,-8.75011]}, - {"t":1.12316, "x":7.06829, "y":6.61949, "heading":-0.11543, "vx":-0.66962, "vy":1.88393, "omega":0.77605, "ax":-0.00002, "ay":-0.00001, "alpha":-2.43473, "fx":[10.08637,12.73207,-10.08693,-12.73261], "fy":[-12.73244,10.08656,12.73224,-10.08674]}, - {"t":1.15619, "x":7.04617, "y":6.68173, "heading":-0.08979, "vx":-0.66962, "vy":1.88393, "omega":0.69562, "ax":-0.00012, "ay":-0.00004, "alpha":-2.70195, "fx":[11.55014,13.83616,-11.55426,-13.84019], "fy":[-13.83893,11.55152,13.83741,-11.55288]}, - {"t":1.18923, "x":7.02405, "y":6.74396, "heading":-0.06681, "vx":-0.66962, "vy":1.88393, "omega":0.60637, "ax":-0.00097, "ay":-0.00034, "alpha":-2.99321, "fx":[13.13014,15.01597,-13.16255,-15.04759], "fy":[-15.03786,13.14105,15.02571,-13.15165]}, - {"t":1.22226, "x":7.00193, "y":6.80619, "heading":-0.04678, "vx":-0.66966, "vy":1.88392, "omega":0.50749, "ax":-0.0076, "ay":-0.0027, "alpha":-3.30942, "fx":[14.73772,16.20141,-14.99252,-16.44915], "fy":[-16.37379,14.82426,16.27687,-14.90599]}, - {"t":1.25529, "x":6.9798, "y":6.86842, "heading":-0.03002, "vx":-0.66991, "vy":1.88383, "omega":0.39817, "ax":-0.05901, "ay":-0.02102, "alpha":-3.65077, "fx":[15.70656,16.76995,-17.68897,-18.69036], "fy":[-18.11739,16.38716,17.34941,-17.00934]}, - {"t":1.28833, "x":6.95764, "y":6.93064, "heading":-0.01686, "vx":-0.67186, "vy":1.88313, "omega":0.27757, "ax":-0.45042, "ay":-0.16272, "alpha":-3.98812, "fx":[10.89861,11.70992,-26.0554,-26.34133], "fy":[-22.25745,16.15677,16.20574,-20.86621]}, - {"t":1.32136, "x":6.9352, "y":6.99276, "heading":-0.00769, "vx":-0.68673, "vy":1.87776, "omega":0.14582, "ax":-2.90629, "ay":-1.14891, "alpha":-3.16331, "fx":[-33.49918,-36.5535,-62.74568,-59.40581], "fy":[-38.90391,-2.53292,-1.81545,-32.72959]}, - {"t":1.3544, "x":6.91093, "y":7.05417, "heading":-0.00288, "vx":-0.78274, "vy":1.8398, "omega":0.04133, "ax":-5.89108, "ay":-2.89364, "alpha":-0.69926, "fx":[-93.50576,-97.75037,-101.01533,-97.32805], "fy":[-54.76799,-44.8909,-41.14125,-50.56723]}, - {"t":1.38743, "x":6.88186, "y":7.11336, "heading":-0.00151, "vx":-0.97735, "vy":1.74421, "omega":0.01823, "ax":-6.08637, "ay":-3.90709, "alpha":-0.22957, "fx":[-99.03303,-100.88709,-102.18435,-100.41021], "fy":[-67.00908,-64.00578,-62.19474,-65.18099]}, - {"t":1.42046, "x":6.84625, "y":7.16885, "heading":-0.00091, "vx":-1.17841, "vy":1.61515, "omega":0.01064, "ax":-5.69484, "ay":-4.71664, "alpha":-0.11425, "fx":[-93.19844,-94.22683,-95.10353,-94.09247], "fy":[-79.12694,-77.85935,-76.83486,-78.10818]}, - {"t":1.4535, "x":6.80422, "y":7.21963, "heading":-0.00056, "vx":-1.36653, "vy":1.45934, "omega":0.00687, "ax":-5.11438, "ay":-5.42284, "alpha":-0.07013, "fx":[-83.88415,-84.53258,-85.23052,-84.58612], "fy":[-90.29208,-89.67138,-89.02149,-89.64765]}, - {"t":1.48653, "x":6.75628, "y":7.26488, "heading":-0.00033, "vx":-1.53548, "vy":1.2802, "omega":0.00455, "ax":-4.42178, "ay":-6.03569, "alpha":-0.04862, "fx":[-72.59388,-73.02533,-73.62058,-73.18936], "fy":[-100.16679,-99.84647,-99.41296,-99.73701]}, - {"t":1.51957, "x":6.70315, "y":7.30388, "heading":-0.00018, "vx":-1.68155, "vy":1.08082, "omega":0.00295, "ax":-3.64298, "ay":-6.55274, "alpha":-0.03647, "fx":[-59.8245,-60.11343,-60.63798,-60.34808], "fy":[-108.56558,-108.4026,-108.11187,-108.27721]}, - {"t":1.5526, "x":6.64561, "y":7.33601, "heading":-0.00008, "vx":-1.80189, "vy":0.86435, "omega":0.00174, "ax":-2.77854, "ay":-6.97329, "alpha":-0.02889, "fx":[-45.61146,-45.79693,-46.26672,-46.07995], "fy":[-115.42333,-115.34794,-115.16108,-115.23785]}, - {"t":1.58563, "x":6.58457, "y":7.36075, "heading":-0.00003, "vx":-1.89368, "vy":0.634, "omega":0.00079, "ax":-1.85659, "ay":-7.27937, "alpha":-0.02383, "fx":[-30.43203,-30.53846,-30.96017,-30.85246], "fy":[-120.42065,-120.39247,-120.28503,-120.31393]}, - {"t":1.61867, "x":6.521, "y":7.37773, "heading":0.0, "vx":-1.95501, "vy":0.39353, "omega":0.0, "ax":-1.00875, "ay":-7.43661, "alpha":0.0, "fx":[-16.67803,-16.67803,-16.67803,-16.67803], "fy":[-122.95279,-122.95279,-122.95279,-122.95279]}, - {"t":1.66121, "x":6.43693, "y":7.38774, "heading":0.0, "vx":-1.99792, "vy":0.07719, "omega":0.0, "ax":0.0089, "ay":-3.91253, "alpha":0.0, "fx":[0.14714,0.14714,0.14714,0.14714], "fy":[-64.68756,-64.68756,-64.68756,-64.68756]}, - {"t":1.70375, "x":6.35195, "y":7.38748, "heading":0.0, "vx":-1.99754, "vy":-0.08925, "omega":0.0, "ax":-0.0384, "ay":1.20769, "alpha":0.0, "fx":[-0.63493,-0.63493,-0.63493,-0.63493], "fy":[19.96722,19.96722,19.96722,19.96722]}, - {"t":1.74628, "x":6.26694, "y":7.38478, "heading":0.0, "vx":-1.99917, "vy":-0.03788, "omega":0.0, "ax":-0.00429, "ay":0.26659, "alpha":0.0, "fx":[-0.07099,-0.07099,-0.07099,-0.07099], "fy":[4.4077,4.4077,4.4077,4.4077]}, - {"t":1.78882, "x":6.18189, "y":7.38341, "heading":0.0, "vx":-1.99935, "vy":-0.02653, "omega":0.0, "ax":-0.00162, "ay":0.13748, "alpha":0.0, "fx":[-0.02684,-0.02684,-0.02684,-0.02684], "fy":[2.27305,2.27305,2.27305,2.27305]}, - {"t":1.83136, "x":6.09684, "y":7.3824, "heading":0.0, "vx":-1.99942, "vy":-0.02069, "omega":0.0, "ax":-0.0009, "ay":0.09688, "alpha":0.0, "fx":[-0.01492,-0.01492,-0.01492,-0.01492], "fy":[1.60183,1.60183,1.60183,1.60183]}, - {"t":1.8739, "x":6.01179, "y":7.38161, "heading":0.0, "vx":-1.99946, "vy":-0.01657, "omega":0.0, "ax":-0.00056, "ay":0.07407, "alpha":0.0, "fx":[-0.00918,-0.00918,-0.00918,-0.00918], "fy":[1.22464,1.22464,1.22464,1.22464]}, - {"t":1.91644, "x":5.92673, "y":7.38097, "heading":0.0, "vx":-1.99949, "vy":-0.01341, "omega":0.0, "ax":-0.00036, "ay":0.05851, "alpha":0.0, "fx":[-0.00589,-0.00589,-0.00589,-0.00589], "fy":[0.96738,0.96738,0.96738,0.96738]}, - {"t":1.95898, "x":5.84168, "y":7.38045, "heading":0.0, "vx":-1.9995, "vy":-0.01093, "omega":0.0, "ax":-0.00023, "ay":0.04706, "alpha":0.0, "fx":[-0.00386,-0.00386,-0.00386,-0.00386], "fy":[0.77801,0.77801,0.77801,0.77801]}, - {"t":2.00152, "x":5.75662, "y":7.38003, "heading":0.0, "vx":-1.99951, "vy":-0.00892, "omega":0.0, "ax":-0.00016, "ay":0.03827, "alpha":0.0, "fx":[-0.00257,-0.00257,-0.00257,-0.00257], "fy":[0.63268,0.63268,0.63268,0.63268]}, - {"t":2.04406, "x":5.67156, "y":7.37969, "heading":0.0, "vx":-1.99952, "vy":-0.0073, "omega":0.0, "ax":-0.0001, "ay":0.03134, "alpha":0.0, "fx":[-0.00172,-0.00172,-0.00172,-0.00172], "fy":[0.51818,0.51818,0.51818,0.51818]}, - {"t":2.08659, "x":5.5865, "y":7.37941, "heading":0.0, "vx":-1.99952, "vy":-0.00596, "omega":0.0, "ax":-0.00007, "ay":0.02579, "alpha":0.0, "fx":[-0.00115,-0.00115,-0.00115,-0.00115], "fy":[0.4264,0.4264,0.4264,0.4264]}, - {"t":2.12913, "x":5.50145, "y":7.37918, "heading":0.0, "vx":-1.99952, "vy":-0.00487, "omega":0.0, "ax":-0.00005, "ay":0.02129, "alpha":0.0, "fx":[-0.00078,-0.00078,-0.00078,-0.00078], "fy":[0.35199,0.35199,0.35199,0.35199]}, - {"t":2.17167, "x":5.41639, "y":7.37899, "heading":0.0, "vx":-1.99953, "vy":-0.00396, "omega":0.0, "ax":-0.00003, "ay":0.01761, "alpha":0.0, "fx":[-0.00052,-0.00052,-0.00052,-0.00052], "fy":[0.29119,0.29119,0.29119,0.29119]}, - {"t":2.21421, "x":5.33133, "y":7.37883, "heading":0.0, "vx":-1.99953, "vy":-0.00321, "omega":0.0, "ax":-0.00002, "ay":0.01459, "alpha":0.0, "fx":[-0.00035,-0.00035,-0.00035,-0.00035], "fy":[0.24124,0.24124,0.24124,0.24124]}, - {"t":2.25675, "x":5.24627, "y":7.37871, "heading":0.0, "vx":-1.99953, "vy":-0.00259, "omega":0.0, "ax":-0.00001, "ay":0.0121, "alpha":0.0, "fx":[-0.00023,-0.00023,-0.00023,-0.00023], "fy":[0.20005,0.20005,0.20005,0.20005]}, - {"t":2.29929, "x":5.16122, "y":7.37861, "heading":0.0, "vx":-1.99953, "vy":-0.00208, "omega":0.0, "ax":-0.00001, "ay":0.01004, "alpha":0.0, "fx":[-0.00015,-0.00015,-0.00015,-0.00015], "fy":[0.16601,0.16601,0.16601,0.16601]}, - {"t":2.34183, "x":5.07616, "y":7.37853, "heading":0.0, "vx":-1.99953, "vy":-0.00165, "omega":0.0, "ax":-0.00001, "ay":0.00834, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.13783,0.13783,0.13783,0.13783]}, - {"t":2.38437, "x":4.9911, "y":7.37847, "heading":0.0, "vx":-1.99953, "vy":-0.00129, "omega":0.0, "ax":0.0, "ay":0.00692, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.11446,0.11446,0.11446,0.11446]}, - {"t":2.4269, "x":4.90604, "y":7.37842, "heading":0.0, "vx":-1.99953, "vy":-0.001, "omega":0.0, "ax":0.0, "ay":0.00575, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.09508,0.09508,0.09508,0.09508]}, - {"t":2.46944, "x":4.82099, "y":7.37838, "heading":0.0, "vx":-1.99953, "vy":-0.00075, "omega":0.0, "ax":0.0, "ay":0.00478, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.07899,0.07899,0.07899,0.07899]}, - {"t":2.51198, "x":4.73593, "y":7.37836, "heading":0.0, "vx":-1.99953, "vy":-0.00055, "omega":0.0, "ax":0.0, "ay":0.00397, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.06562,0.06562,0.06562,0.06562]}, - {"t":2.55452, "x":4.65087, "y":7.37834, "heading":0.0, "vx":-1.99953, "vy":-0.00038, "omega":0.0, "ax":0.0, "ay":0.0033, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.05452,0.05452,0.05452,0.05452]}, - {"t":2.59706, "x":4.56581, "y":7.37832, "heading":0.0, "vx":-1.99953, "vy":-0.00024, "omega":0.0, "ax":0.0, "ay":0.00274, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.04529,0.04529,0.04529,0.04529]}, - {"t":2.6396, "x":4.48076, "y":7.37832, "heading":0.0, "vx":-1.99953, "vy":-0.00013, "omega":0.0, "ax":0.0, "ay":0.00228, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.03762,0.03762,0.03762,0.03762]}, - {"t":2.68214, "x":4.3957, "y":7.37831, "heading":0.0, "vx":-1.99953, "vy":-0.00003, "omega":0.0, "ax":0.0, "ay":0.00189, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.03124,0.03124,0.03124,0.03124]}, - {"t":2.72468, "x":4.31064, "y":7.37831, "heading":0.0, "vx":-1.99953, "vy":0.00005, "omega":0.0, "ax":0.0, "ay":0.00157, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02594,0.02594,0.02594,0.02594]}, - {"t":2.76722, "x":4.22558, "y":7.37832, "heading":0.0, "vx":-1.99953, "vy":0.00012, "omega":0.0, "ax":0.0, "ay":0.0013, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02153,0.02153,0.02153,0.02153]}, - {"t":2.80975, "x":4.14053, "y":7.37832, "heading":0.0, "vx":-1.99953, "vy":0.00017, "omega":0.0, "ax":0.0, "ay":0.00108, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01785,0.01785,0.01785,0.01785]}, - {"t":2.85229, "x":4.05547, "y":7.37833, "heading":0.0, "vx":-1.99953, "vy":0.00022, "omega":0.0, "ax":0.0, "ay":0.00089, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01479,0.01479,0.01479,0.01479]}, - {"t":2.89483, "x":3.97041, "y":7.37834, "heading":0.0, "vx":-1.99953, "vy":0.00026, "omega":0.0, "ax":0.0, "ay":0.00074, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01224,0.01224,0.01224,0.01224]}, - {"t":2.93737, "x":3.88535, "y":7.37835, "heading":0.0, "vx":-1.99953, "vy":0.00029, "omega":0.0, "ax":0.0, "ay":0.00061, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01011,0.01011,0.01011,0.01011]}, - {"t":2.97991, "x":3.8003, "y":7.37837, "heading":0.0, "vx":-1.99953, "vy":0.00032, "omega":0.0, "ax":0.0, "ay":0.0005, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00832,0.00832,0.00832,0.00832]}, - {"t":3.02245, "x":3.71524, "y":7.37838, "heading":0.0, "vx":-1.99953, "vy":0.00034, "omega":0.0, "ax":0.0, "ay":0.00041, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00682,0.00682,0.00682,0.00682]}, - {"t":3.06499, "x":3.63018, "y":7.37839, "heading":0.0, "vx":-1.99953, "vy":0.00035, "omega":0.0, "ax":0.0, "ay":0.00034, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00556,0.00556,0.00556,0.00556]}, - {"t":3.10753, "x":3.54512, "y":7.37841, "heading":0.0, "vx":-1.99953, "vy":0.00037, "omega":0.0, "ax":0.0, "ay":0.00027, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00448,0.00448,0.00448,0.00448]}, - {"t":3.15006, "x":3.46007, "y":7.37843, "heading":0.0, "vx":-1.99953, "vy":0.00038, "omega":0.0, "ax":0.0, "ay":0.00022, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00356,0.00356,0.00356,0.00356]}, - {"t":3.1926, "x":3.37501, "y":7.37844, "heading":0.0, "vx":-1.99953, "vy":0.00039, "omega":0.0, "ax":0.0, "ay":0.00017, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00276,0.00276,0.00276,0.00276]}, - {"t":3.23514, "x":3.28995, "y":7.37846, "heading":0.0, "vx":-1.99953, "vy":0.0004, "omega":0.0, "ax":0.0, "ay":0.00012, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00205,0.00205,0.00205,0.00205]}, - {"t":3.27768, "x":3.20489, "y":7.37848, "heading":0.0, "vx":-1.99953, "vy":0.0004, "omega":0.0, "ax":0.0, "ay":0.00009, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00142,0.00142,0.00142,0.00142]}, - {"t":3.32022, "x":3.11984, "y":7.37849, "heading":0.0, "vx":-1.99953, "vy":0.00041, "omega":0.0, "ax":0.0, "ay":0.00005, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00083,0.00083,0.00083,0.00083]}, - {"t":3.36276, "x":3.03478, "y":7.37851, "heading":0.0, "vx":-1.99953, "vy":0.00041, "omega":0.0, "ax":0.01105, "ay":0.00001, "alpha":0.0, "fx":[0.18269,0.18269,0.18269,0.18269], "fy":[0.00024,0.00024,0.00024,0.00024]}, - {"t":3.4053, "x":2.94973, "y":7.37853, "heading":0.0, "vx":-1.99906, "vy":0.00041, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.63968, "vy":1.89243, "omega":1.37105, "ax":-0.01708, "ay":0.05041, "alpha":-0.00859, "fx":[-0.32289,-0.24181,-0.2418,-0.32288], "fy":[0.79297,0.79298,0.87405,0.87405]}, + {"t":0.03361, "x":7.79885, "y":4.56721, "heading":-1.52471, "vx":-0.64025, "vy":1.89412, "omega":1.37076, "ax":-0.00001, "ay":0.0, "alpha":-0.01682, "fx":[-0.07575,0.08278,0.07547,-0.08306], "fy":[-0.08293,-0.07562,0.08291,0.0756]}, + {"t":0.06723, "x":7.77733, "y":4.63088, "heading":-1.47864, "vx":-0.64025, "vy":1.89412, "omega":1.37019, "ax":-0.00001, "ay":0.0, "alpha":-0.02567, "fx":[-0.10956,0.13165,0.10936,-0.13185], "fy":[-0.13179,-0.10949,0.13172,0.10943]}, + {"t":0.10084, "x":7.75581, "y":4.69455, "heading":-1.43258, "vx":-0.64025, "vy":1.89412, "omega":1.36933, "ax":-0.00001, "ay":0.0, "alpha":-0.03523, "fx":[-0.14182,0.1874,0.1416,-0.18762], "fy":[-0.18754,-0.14175,0.18747,0.14167]}, + {"t":0.13445, "x":7.73429, "y":4.75821, "heading":-1.38655, "vx":-0.64025, "vy":1.89412, "omega":1.36815, "ax":-0.00001, "ay":0.0, "alpha":-0.04555, "fx":[-0.17201,0.2505,0.17176,-0.25075], "fy":[-0.25067,-0.17193,0.25058,0.17184]}, + {"t":0.16807, "x":7.71277, "y":4.82188, "heading":-1.34056, "vx":-0.64025, "vy":1.89412, "omega":1.36662, "ax":-0.00001, "ay":0.0, "alpha":-0.05671, "fx":[-0.19956,0.32141,0.1993,-0.32167], "fy":[-0.32158,-0.19947,0.32149,0.19938]}, + {"t":0.20168, "x":7.69125, "y":4.88555, "heading":-1.29463, "vx":-0.64025, "vy":1.89412, "omega":1.36471, "ax":-0.00001, "ay":0.0, "alpha":-0.06878, "fx":[-0.22385,0.40054,0.22358,-0.40081], "fy":[-0.40072,-0.22376,0.40063,0.22367]}, + {"t":0.23529, "x":7.66973, "y":4.94922, "heading":-1.24875, "vx":-0.64025, "vy":1.89412, "omega":1.3624, "ax":-0.00001, "ay":0.0, "alpha":-0.08185, "fx":[-0.24419,0.48835,0.24393,-0.48861], "fy":[-0.48853,-0.24411,0.48844,0.24402]}, + {"t":0.26891, "x":7.64821, "y":5.01288, "heading":-1.20296, "vx":-0.64025, "vy":1.89412, "omega":1.35965, "ax":-0.00001, "ay":0.0, "alpha":-0.096, "fx":[-0.25986,0.58532,0.25961,-0.58557], "fy":[-0.58549,-0.25978,0.5854,0.25969]}, + {"t":0.30252, "x":7.62669, "y":5.07655, "heading":-1.15726, "vx":-0.64025, "vy":1.89412, "omega":1.35642, "ax":-0.00001, "ay":0.0, "alpha":-0.11135, "fx":[-0.27004,0.69201,0.26982,-0.69223], "fy":[-0.69216,-0.26997,0.69208,0.26989]}, + {"t":0.33613, "x":7.60517, "y":5.14022, "heading":-1.11166, "vx":-0.64025, "vy":1.89412, "omega":1.35268, "ax":-0.00001, "ay":0.0, "alpha":-0.12804, "fx":[-0.27388,0.80904,0.27368,-0.80924], "fy":[-0.80917,-0.27381,0.80911,0.27375]}, + {"t":0.36975, "x":7.58364, "y":5.20389, "heading":-1.0662, "vx":-0.64025, "vy":1.89412, "omega":1.34837, "ax":0.0, "ay":0.0, "alpha":-0.14621, "fx":[-0.27041,0.9372,0.27025,-0.93736], "fy":[-0.93731,-0.27035,0.93725,0.2703]}, + {"t":0.40336, "x":7.56212, "y":5.26755, "heading":-1.02087, "vx":-0.64025, "vy":1.89412, "omega":1.34346, "ax":0.0, "ay":0.0, "alpha":-0.16608, "fx":[-0.25856,1.07738,0.25845,-1.07749], "fy":[-1.07746,-0.25852,1.07742,0.25849]}, + {"t":0.43697, "x":7.5406, "y":5.33122, "heading":-0.97571, "vx":-0.64025, "vy":1.89412, "omega":1.33788, "ax":0.0, "ay":0.0, "alpha":-0.18786, "fx":[-0.23712,1.23065,0.23705,-1.23072], "fy":[-1.23069,-0.2371,1.23067,0.23708]}, + {"t":0.47059, "x":7.51908, "y":5.39489, "heading":-0.93074, "vx":-0.64025, "vy":1.89412, "omega":1.33156, "ax":0.0, "ay":0.0, "alpha":-0.21182, "fx":[-0.20469,1.39825,0.20466,-1.39828], "fy":[-1.39827,-0.20468,1.39826,0.20467]}, + {"t":0.5042, "x":7.49756, "y":5.45856, "heading":-0.88599, "vx":-0.64025, "vy":1.89412, "omega":1.32444, "ax":0.0, "ay":0.0, "alpha":-0.23827, "fx":[-0.15962,1.58162,0.15964,-1.5816], "fy":[-1.58161,-0.15963,1.58162,0.15963]}, + {"t":0.53781, "x":7.47604, "y":5.52223, "heading":-0.84147, "vx":-0.64025, "vy":1.89412, "omega":1.31643, "ax":0.0, "ay":0.0, "alpha":-0.26757, "fx":[-0.10001,1.78238,0.10007,-1.78232], "fy":[-1.78234,-0.10003,1.78236,0.10005]}, + {"t":0.57143, "x":7.45452, "y":5.58589, "heading":-0.79722, "vx":-0.64025, "vy":1.89412, "omega":1.30744, "ax":0.0, "ay":0.0, "alpha":-0.30014, "fx":[-0.02362,2.00232,0.02372,-2.00222], "fy":[-2.00225,-0.02365,2.00229,0.02369]}, + {"t":0.60504, "x":7.433, "y":5.64956, "heading":-0.75327, "vx":-0.64025, "vy":1.89412, "omega":1.29735, "ax":0.0, "ay":0.0, "alpha":-0.33643, "fx":[0.07216,2.24341,-0.07203,-2.24328], "fy":[-2.24332,0.07212,2.24337,-0.07208]}, + {"t":0.63865, "x":7.41148, "y":5.71323, "heading":-0.70966, "vx":-0.64025, "vy":1.89412, "omega":1.28604, "ax":0.0, "ay":0.0, "alpha":-0.37696, "fx":[0.19036,2.50776,-0.19021,-2.50761], "fy":[-2.50766,0.19031,2.50771,-0.19026]}, + {"t":0.67227, "x":7.38996, "y":5.7769, "heading":-0.66643, "vx":-0.64025, "vy":1.89412, "omega":1.27337, "ax":0.00001, "ay":0.0, "alpha":-0.4223, "fx":[0.33447,2.79761,-0.3343,-2.79744], "fy":[-2.7975,0.33441,2.79755,-0.33435]}, + {"t":0.70588, "x":7.36843, "y":5.84056, "heading":-0.62363, "vx":-0.64025, "vy":1.89412, "omega":1.25917, "ax":0.00001, "ay":0.0, "alpha":-0.47311, "fx":[0.50846,3.11526,-0.50829,-3.11509], "fy":[-3.11515,0.5084,3.11521,-0.50834]}, + {"t":0.73949, "x":7.34691, "y":5.90423, "heading":-0.58131, "vx":-0.64025, "vy":1.89412, "omega":1.24327, "ax":0.00001, "ay":0.0, "alpha":-0.53007, "fx":[0.71683,3.46311,-0.71667,-3.46294], "fy":[-3.46299,0.71678,3.46305,-0.71672]}, + {"t":0.77311, "x":7.32539, "y":5.9679, "heading":-0.53952, "vx":-0.64025, "vy":1.89412, "omega":1.22545, "ax":0.0, "ay":0.0, "alpha":-0.59396, "fx":[0.96463,3.84354,-0.96448,-3.84339], "fy":[-3.84344,0.96458,3.84349,-0.96453]}, + {"t":0.80672, "x":7.30387, "y":6.03157, "heading":-0.49833, "vx":-0.64025, "vy":1.89412, "omega":1.20549, "ax":0.0, "ay":0.0, "alpha":-0.6656, "fx":[1.25742,4.25898,-1.25728,-4.25884], "fy":[-4.25889,1.25737,4.25894,-1.25732]}, + {"t":0.84033, "x":7.28235, "y":6.09523, "heading":-0.45781, "vx":-0.64025, "vy":1.89412, "omega":1.18312, "ax":0.0, "ay":0.0, "alpha":-0.74591, "fx":[1.60129,4.71181,-1.60118,-4.7117], "fy":[-4.71173,1.60125,4.71177,-1.60121]}, + {"t":0.87394, "x":7.26083, "y":6.1589, "heading":-0.41804, "vx":-0.64025, "vy":1.89412, "omega":1.15804, "ax":0.0, "ay":0.0, "alpha":-0.83584, "fx":[2.00284,5.20439,-2.00275,-5.20431], "fy":[-5.20434,2.00281,5.20437,-2.00278]}, + {"t":0.90756, "x":7.23931, "y":6.22257, "heading":-0.37911, "vx":-0.64025, "vy":1.89412, "omega":1.12995, "ax":0.0, "ay":0.0, "alpha":-0.93646, "fx":[2.46912,5.7391,-2.46906,-5.73904], "fy":[-5.73906,2.4691,5.73908,-2.46908]}, + {"t":0.94117, "x":7.21779, "y":6.28624, "heading":-0.34113, "vx":-0.64025, "vy":1.89412, "omega":1.09847, "ax":0.0, "ay":0.0, "alpha":-1.04886, "fx":[3.00755,6.3183,-3.00753,-6.31827], "fy":[-6.31828,3.00755,6.31829,-3.00753]}, + {"t":0.97478, "x":7.19627, "y":6.3499, "heading":-0.30421, "vx":-0.64025, "vy":1.89412, "omega":1.06322, "ax":0.0, "ay":0.0, "alpha":-1.17424, "fx":[3.62588,6.94445,-3.62588,-6.94445], "fy":[-6.94445,3.62588,6.94445,-3.62588]}, + {"t":1.0084, "x":7.17475, "y":6.41357, "heading":-0.26847, "vx":-0.64025, "vy":1.89412, "omega":1.02375, "ax":0.0, "ay":0.0, "alpha":-1.31385, "fx":[4.332,7.62017,-4.33202,-7.62019], "fy":[-7.62018,4.33201,7.62018,-4.33201]}, + {"t":1.04201, "x":7.15322, "y":6.47724, "heading":-0.23406, "vx":-0.64025, "vy":1.89412, "omega":0.97958, "ax":0.0, "ay":0.0, "alpha":-1.469, "fx":[5.13383,8.34835,-5.13386,-8.34839], "fy":[-8.34837,5.13384,8.34836,-5.13385]}, + {"t":1.07562, "x":7.1317, "y":6.54091, "heading":-0.20113, "vx":-0.64025, "vy":1.89412, "omega":0.93021, "ax":0.0, "ay":0.0, "alpha":-1.64107, "fx":[6.03909,9.13235,-6.03913,-9.13239], "fy":[-9.13238,6.0391,9.13237,-6.03911]}, + {"t":1.10924, "x":7.11018, "y":6.60457, "heading":-0.16986, "vx":-0.64025, "vy":1.89412, "omega":0.87504, "ax":0.0, "ay":0.0, "alpha":-1.83146, "fx":[7.05504,9.97616,-7.05509,-9.97621], "fy":[-9.97619,7.05506,9.97618,-7.05507]}, + {"t":1.14285, "x":7.08866, "y":6.66824, "heading":-0.14045, "vx":-0.64025, "vy":1.89412, "omega":0.81348, "ax":0.0, "ay":0.0, "alpha":-2.0416, "fx":[8.18815,10.88469,-8.18824,-10.88478], "fy":[-10.88475,8.18818,10.88472,-8.18821]}, + {"t":1.17646, "x":7.06714, "y":6.73191, "heading":-0.11311, "vx":-0.64025, "vy":1.89412, "omega":0.74486, "ax":-0.00001, "ay":0.0, "alpha":-2.2729, "fx":[9.44357,11.86395,-9.44397,-11.86435], "fy":[-11.86421,9.4437,11.86408,-9.44383]}, + {"t":1.21008, "x":7.04562, "y":6.79558, "heading":-0.08807, "vx":-0.64025, "vy":1.89412, "omega":0.66846, "ax":-0.00009, "ay":-0.00003, "alpha":-2.52673, "fx":[10.82379,12.92066,-10.82687,-12.92368], "fy":[-12.92271,10.82484,12.92163,-10.82582]}, + {"t":1.24369, "x":7.0241, "y":6.85924, "heading":-0.0656, "vx":-0.64026, "vy":1.89412, "omega":0.58353, "ax":-0.00076, "ay":-0.00026, "alpha":-2.80438, "fx":[12.32139,14.05615,-12.34675,-14.08098], "fy":[-14.07307,12.3301,14.06405,-12.33804]}, + {"t":1.2773, "x":7.00258, "y":6.92291, "heading":-0.04599, "vx":-0.64028, "vy":1.89411, "omega":0.48926, "ax":-0.00624, "ay":-0.00211, "alpha":-3.10698, "fx":[13.86358,15.21358,-14.07241,-15.41751], "fy":[-15.35322,13.93587,15.27793,-14.00013]}, + {"t":1.31092, "x":6.98105, "y":6.98658, "heading":-0.02954, "vx":-0.64049, "vy":1.89404, "omega":0.38483, "ax":-0.05085, "ay":-0.01722, "alpha":-3.43512, "fx":[14.86744,15.84637,-16.57141,-17.50513], "fy":[-16.99056,15.46295,16.36545,-15.97667]}, + {"t":1.34453, "x":6.95949, "y":7.05023, "heading":-0.0166, "vx":-0.6422, "vy":1.89346, "omega":0.26936, "ax":-0.4078, "ay":-0.13997, "alpha":-3.7667, "fx":[10.61324,11.34203,-24.3009,-24.62381], "fy":[-20.72667,15.44422,15.55577,-19.52993]}, + {"t":1.37814, "x":6.93768, "y":7.1138, "heading":-0.00755, "vx":-0.65591, "vy":1.88876, "omega":0.14275, "ax":-2.79821, "ay":-1.05134, "alpha":-3.07524, "fx":[-32.23006,-34.76515,-60.47641,-57.58441], "fy":[-36.38244,-1.37063,-0.89698,-30.87929]}, + {"t":1.41176, "x":6.91405, "y":7.17669, "heading":-0.00275, "vx":-0.74997, "vy":1.85342, "omega":0.03938, "ax":-5.93078, "ay":-2.78989, "alpha":-0.66569, "fx":[-94.47105,-98.38514,-101.39124,-97.97721], "fy":[-52.7268,-43.19979,-39.7477,-48.83169]}, + {"t":1.44537, "x":6.88549, "y":7.23742, "heading":-0.00143, "vx":-0.94932, "vy":1.75964, "omega":0.017, "ax":-6.14888, "ay":-3.819, "alpha":-0.21227, "fx":[-100.22387,-101.91502,-103.06562,-101.44386], "fy":[-65.38671,-62.55715,-60.90521,-63.7161]}, + {"t":1.47898, "x":6.85011, "y":7.29441, "heading":-0.00086, "vx":-1.156, "vy":1.63127, "omega":0.00987, "ax":-5.75757, "ay":-4.64661, "alpha":-0.10455, "fx":[-94.33086,-95.26785,-96.04661,-95.12464], "fy":[-77.88226,-76.69772,-75.76461,-76.95316]}, + {"t":1.5126, "x":6.808, "y":7.34661, "heading":-0.00053, "vx":-1.34953, "vy":1.47508, "omega":0.00636, "ax":-5.1729, "ay":-5.37098, "alpha":-0.06389, "fx":[-84.9174,-85.50914,-86.13266,-85.54449], "fy":[-89.38518,-88.80704,-88.21428,-88.79676]}, + {"t":1.54621, "x":6.75971, "y":7.39316, "heading":-0.00031, "vx":-1.52341, "vy":1.29455, "omega":0.00421, "ax":-4.47265, "ay":-6.00057, "alpha":-0.0442, "fx":[-73.48365,-73.87812,-74.41276,-74.01858], "fy":[-99.55632,-99.25852,-98.86241,-99.16325]}, + {"t":1.57982, "x":6.70598, "y":7.43329, "heading":-0.00017, "vx":-1.67375, "vy":1.09285, "omega":0.00272, "ax":-3.68254, "ay":-6.53226, "alpha":-0.03312, "fx":[-60.51636,-60.78086,-61.25411,-60.98886], "fy":[-108.20877,-108.05757,-107.79162,-107.94475]}, + {"t":1.61344, "x":6.64764, "y":7.46633, "heading":-0.00008, "vx":-1.79753, "vy":0.87328, "omega":0.00161, "ax":-2.79887, "ay":-6.96635, "alpha":-0.02623, "fx":[-45.97768,-46.14718,-46.5727,-46.40214], "fy":[-115.29753,-115.22812,-115.05747,-115.12803]}, + {"t":1.64705, "x":6.58564, "y":7.49175, "heading":-0.00002, "vx":-1.89161, "vy":0.63912, "omega":0.00073, "ax":-1.85878, "ay":-7.27971, "alpha":-0.02163, "fx":[-30.49257,-30.58937,-30.97214,-30.87429], "fy":[-120.42014,-120.39452,-120.2969,-120.32311]}, + {"t":1.68066, "x":6.521, "y":7.50912, "heading":0.0, "vx":-1.95409, "vy":0.39442, "omega":0.0, "ax":-1.04166, "ay":-7.4324, "alpha":0.0, "fx":[-17.22222,-17.22222,-17.22222,-17.22222], "fy":[-122.88308,-122.88308,-122.88308,-122.88308]}, + {"t":1.72246, "x":6.43842, "y":7.51911, "heading":0.0, "vx":-1.99763, "vy":0.08379, "omega":0.0, "ax":0.00899, "ay":-4.28466, "alpha":0.0, "fx":[0.1486,0.1486,0.1486,0.1486], "fy":[-70.84026,-70.84026,-70.84026,-70.84026]}, + {"t":1.76425, "x":6.35494, "y":7.51887, "heading":0.0, "vx":-1.99725, "vy":-0.09528, "omega":0.0, "ax":-0.04533, "ay":1.35157, "alpha":0.0, "fx":[-0.7495,-0.7495,-0.7495,-0.7495], "fy":[22.34612,22.34612,22.34612,22.34612]}, + {"t":1.80605, "x":6.27143, "y":7.51607, "heading":0.0, "vx":-1.99915, "vy":-0.0388, "omega":0.0, "ax":-0.00462, "ay":0.28043, "alpha":0.0, "fx":[-0.07637,-0.07637,-0.07637,-0.07637], "fy":[4.63641,4.63641,4.63641,4.63641]}, + {"t":1.84784, "x":6.18787, "y":7.51469, "heading":0.0, "vx":-1.99934, "vy":-0.02708, "omega":0.0, "ax":-0.00169, "ay":0.13978, "alpha":0.0, "fx":[-0.02791,-0.02791,-0.02791,-0.02791], "fy":[2.31106,2.31106,2.31106,2.31106]}, + {"t":1.88963, "x":6.10431, "y":7.51368, "heading":0.0, "vx":-1.99941, "vy":-0.02123, "omega":0.0, "ax":-0.00094, "ay":0.09825, "alpha":0.0, "fx":[-0.01558,-0.01558,-0.01558,-0.01558], "fy":[1.62433,1.62433,1.62433,1.62433]}, + {"t":1.93143, "x":6.02075, "y":7.51288, "heading":0.0, "vx":-1.99945, "vy":-0.01713, "omega":0.0, "ax":-0.00059, "ay":0.07526, "alpha":0.0, "fx":[-0.00968,-0.00968,-0.00968,-0.00968], "fy":[1.24432,1.24432,1.24432,1.24432]}, + {"t":1.97322, "x":5.93718, "y":7.51223, "heading":0.0, "vx":-1.99947, "vy":-0.01398, "omega":0.0, "ax":-0.00038, "ay":0.05957, "alpha":0.0, "fx":[-0.00627,-0.00627,-0.00627,-0.00627], "fy":[0.98495,0.98495,0.98495,0.98495]}, + {"t":2.01502, "x":5.85361, "y":7.5117, "heading":0.0, "vx":-1.99949, "vy":-0.01149, "omega":0.0, "ax":-0.00025, "ay":0.048, "alpha":0.0, "fx":[-0.00416,-0.00416,-0.00416,-0.00416], "fy":[0.79361,0.79361,0.79361,0.79361]}, + {"t":2.05681, "x":5.77005, "y":7.51126, "heading":0.0, "vx":-1.9995, "vy":-0.00949, "omega":0.0, "ax":-0.00017, "ay":0.0391, "alpha":0.0, "fx":[-0.0028,-0.0028,-0.0028,-0.0028], "fy":[0.64648,0.64648,0.64648,0.64648]}, + {"t":2.0986, "x":5.68648, "y":7.5109, "heading":0.0, "vx":-1.99951, "vy":-0.00785, "omega":0.0, "ax":-0.00012, "ay":0.03208, "alpha":0.0, "fx":[-0.0019,-0.0019,-0.0019,-0.0019], "fy":[0.53036,0.53036,0.53036,0.53036]}, + {"t":2.1404, "x":5.60291, "y":7.5106, "heading":0.0, "vx":-1.99951, "vy":-0.00651, "omega":0.0, "ax":-0.00008, "ay":0.02644, "alpha":0.0, "fx":[-0.0013,-0.0013,-0.0013,-0.0013], "fy":[0.43714,0.43714,0.43714,0.43714]}, + {"t":2.18219, "x":5.51934, "y":7.51035, "heading":0.0, "vx":-1.99952, "vy":-0.00541, "omega":0.0, "ax":-0.00005, "ay":0.02186, "alpha":0.0, "fx":[-0.00089,-0.00089,-0.00089,-0.00089], "fy":[0.36143,0.36143,0.36143,0.36143]}, + {"t":2.22399, "x":5.43577, "y":7.51014, "heading":0.0, "vx":-1.99952, "vy":-0.00449, "omega":0.0, "ax":-0.00004, "ay":0.01811, "alpha":0.0, "fx":[-0.00062,-0.00062,-0.00062,-0.00062], "fy":[0.29948,0.29948,0.29948,0.29948]}, + {"t":2.26578, "x":5.35221, "y":7.50997, "heading":0.0, "vx":-1.99952, "vy":-0.00374, "omega":0.0, "ax":-0.00003, "ay":0.01503, "alpha":0.0, "fx":[-0.00043,-0.00043,-0.00043,-0.00043], "fy":[0.2485,0.2485,0.2485,0.2485]}, + {"t":2.30758, "x":5.26864, "y":7.50983, "heading":0.0, "vx":-1.99952, "vy":-0.00311, "omega":0.0, "ax":-0.00002, "ay":0.01248, "alpha":0.0, "fx":[-0.00029,-0.00029,-0.00029,-0.00029], "fy":[0.2064,0.2064,0.2064,0.2064]}, + {"t":2.34937, "x":5.18507, "y":7.50971, "heading":0.0, "vx":-1.99952, "vy":-0.00259, "omega":0.0, "ax":-0.00001, "ay":0.01038, "alpha":0.0, "fx":[-0.0002,-0.0002,-0.0002,-0.0002], "fy":[0.17155,0.17155,0.17155,0.17155]}, + {"t":2.39116, "x":5.1015, "y":7.50961, "heading":0.0, "vx":-1.99952, "vy":-0.00215, "omega":0.0, "ax":-0.00001, "ay":0.00863, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.14264,0.14264,0.14264,0.14264]}, + {"t":2.43296, "x":5.01793, "y":7.50953, "heading":0.0, "vx":-1.99952, "vy":-0.00179, "omega":0.0, "ax":-0.00001, "ay":0.00718, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.11864,0.11864,0.11864,0.11864]}, + {"t":2.47475, "x":4.93437, "y":7.50946, "heading":0.0, "vx":-1.99952, "vy":-0.00149, "omega":0.0, "ax":0.0, "ay":0.00597, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.09868,0.09868,0.09868,0.09868]}, + {"t":2.51655, "x":4.8508, "y":7.5094, "heading":0.0, "vx":-1.99952, "vy":-0.00124, "omega":0.0, "ax":0.0, "ay":0.00496, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.08209,0.08209,0.08209,0.08209]}, + {"t":2.55834, "x":4.76723, "y":7.50935, "heading":0.0, "vx":-1.99952, "vy":-0.00103, "omega":0.0, "ax":0.0, "ay":0.00413, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.06827,0.06827,0.06827,0.06827]}, + {"t":2.60013, "x":4.68366, "y":7.50931, "heading":0.0, "vx":-1.99952, "vy":-0.00086, "omega":0.0, "ax":0.0, "ay":0.00343, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.05677,0.05677,0.05677,0.05677]}, + {"t":2.64193, "x":4.60009, "y":7.50928, "heading":0.0, "vx":-1.99952, "vy":-0.00072, "omega":0.0, "ax":0.0, "ay":0.00285, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.04718,0.04718,0.04718,0.04718]}, + {"t":2.68372, "x":4.51652, "y":7.50925, "heading":0.0, "vx":-1.99952, "vy":-0.0006, "omega":0.0, "ax":0.0, "ay":0.00237, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03919,0.03919,0.03919,0.03919]}, + {"t":2.72552, "x":4.43296, "y":7.50923, "heading":0.0, "vx":-1.99952, "vy":-0.0005, "omega":0.0, "ax":0.0, "ay":0.00197, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03252,0.03252,0.03252,0.03252]}, + {"t":2.76731, "x":4.34939, "y":7.50921, "heading":0.0, "vx":-1.99952, "vy":-0.00042, "omega":0.0, "ax":0.0, "ay":0.00163, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.02695,0.02695,0.02695,0.02695]}, + {"t":2.80911, "x":4.26582, "y":7.50919, "heading":0.0, "vx":-1.99952, "vy":-0.00035, "omega":0.0, "ax":0.0, "ay":0.00135, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02229,0.02229,0.02229,0.02229]}, + {"t":2.8509, "x":4.18225, "y":7.50918, "heading":0.0, "vx":-1.99952, "vy":-0.00029, "omega":0.0, "ax":0.0, "ay":0.00111, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01838,0.01838,0.01838,0.01838]}, + {"t":2.89269, "x":4.09868, "y":7.50917, "heading":0.0, "vx":-1.99952, "vy":-0.00025, "omega":0.0, "ax":0.0, "ay":0.00091, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01508,0.01508,0.01508,0.01508]}, + {"t":2.93449, "x":4.01511, "y":7.50916, "heading":0.0, "vx":-1.99952, "vy":-0.00021, "omega":0.0, "ax":0.0, "ay":0.00074, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0123,0.0123,0.0123,0.0123]}, + {"t":2.97628, "x":3.93155, "y":7.50915, "heading":0.0, "vx":-1.99952, "vy":-0.00018, "omega":0.0, "ax":0.0, "ay":0.0006, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00993,0.00993,0.00993,0.00993]}, + {"t":3.01808, "x":3.84798, "y":7.50915, "heading":0.0, "vx":-1.99952, "vy":-0.00015, "omega":0.0, "ax":0.0, "ay":0.00048, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00789,0.00789,0.00789,0.00789]}, + {"t":3.05987, "x":3.76441, "y":7.50914, "heading":0.0, "vx":-1.99952, "vy":-0.00013, "omega":0.0, "ax":0.0, "ay":0.00037, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00613,0.00613,0.00613,0.00613]}, + {"t":3.10166, "x":3.68084, "y":7.50913, "heading":0.0, "vx":-1.99952, "vy":-0.00012, "omega":0.0, "ax":0.0, "ay":0.00028, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00456,0.00456,0.00456,0.00456]}, + {"t":3.14346, "x":3.59727, "y":7.50913, "heading":0.0, "vx":-1.99952, "vy":-0.00011, "omega":0.0, "ax":0.0, "ay":0.00019, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00315,0.00315,0.00315,0.00315]}, + {"t":3.18525, "x":3.5137, "y":7.50913, "heading":0.0, "vx":-1.99952, "vy":-0.0001, "omega":0.0, "ax":0.0, "ay":0.00011, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00185,0.00185,0.00185,0.00185]}, + {"t":3.22705, "x":3.43014, "y":7.50912, "heading":0.0, "vx":-1.99952, "vy":-0.00009, "omega":0.0, "ax":0.01144, "ay":0.00004, "alpha":0.0, "fx":[0.18915,0.18915,0.18915,0.18915], "fy":[0.00062,0.00062,0.00062,0.00062]}, + {"t":3.26884, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.99904, "vy":-0.00009, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoDepot.traj b/src/main/deploy/choreo/LPreTrenchtoDepot.traj index a590ef73..5eea31dd 100644 --- a/src/main/deploy/choreo/LPreTrenchtoDepot.traj +++ b/src/main/deploy/choreo/LPreTrenchtoDepot.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.2870702743530273, "y":6.423518180847168, "heading":2.0344439357957027, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":1.1956301927566528, "y":5.975247383117676, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -18,7 +18,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.2870702743530273 m", "val":2.2870702743530273}, "y":{"exp":"6.423518180847168 m", "val":6.423518180847168}, "heading":{"exp":"2.0344439357957027 rad", "val":2.0344439357957027}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"1.1956301927566528 m", "val":1.1956301927566528}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -59,98 +59,102 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.55421,1.73991,2.3573], + "waypoints":[0.0,0.65751,1.84026,2.45768], "samples":[ - {"t":0.0, "x":2.94973, "y":7.37853, "heading":0.0, "vx":-1.74315, "vy":-2.66982, "omega":0.52997, "ax":1.99712, "ay":2.77404, "alpha":0.88196, "fx":[28.18614,28.68433,38.03659,37.16978], "fy":[49.99911,43.56067,40.69343,49.20463]}, - {"t":0.01679, "x":2.92074, "y":7.33408, "heading":0.0089, "vx":-1.70961, "vy":-2.62323, "omega":0.54478, "ax":1.93943, "ay":3.40398, "alpha":1.39548, "fx":[23.88017,25.51085,40.79272,38.0781], "fy":[63.11318,52.06054,48.90043,61.04356]}, - {"t":0.03359, "x":2.8923, "y":7.29051, "heading":0.01805, "vx":-1.67704, "vy":-2.56606, "omega":0.56822, "ax":1.95733, "ay":3.43319, "alpha":1.80565, "fx":[21.73617,24.28628,43.27402,40.14933], "fy":[66.18966,50.08411,48.06436,62.71161]}, - {"t":0.05038, "x":2.86441, "y":7.2479, "heading":0.02759, "vx":-1.64417, "vy":-2.50841, "omega":0.59854, "ax":1.96528, "ay":3.44496, "alpha":2.01967, "fx":[20.20019,23.50409,45.73338,40.53368], "fy":[67.00067,50.23306,46.86219,63.73238]}, - {"t":0.06718, "x":2.83708, "y":7.20626, "heading":0.03764, "vx":-1.61116, "vy":-2.45055, "omega":0.63246, "ax":1.96965, "ay":3.45137, "alpha":2.19923, "fx":[19.09711,23.00529,46.83149,41.32638], "fy":[68.17732,49.18515,46.49478,64.39463]}, - {"t":0.08397, "x":2.81029, "y":7.16559, "heading":0.04827, "vx":-1.57808, "vy":-2.39259, "omega":0.66939, "ax":1.97248, "ay":3.45535, "alpha":2.33345, "fx":[18.02092,22.60891,48.36758,41.45014], "fy":[68.64181,49.12894,45.74704,64.99772]}, - {"t":0.10076, "x":2.78407, "y":7.12589, "heading":0.05951, "vx":-1.54496, "vy":-2.33456, "omega":0.70858, "ax":1.97444, "ay":3.45808, "alpha":2.42359, "fx":[17.40389,22.52725,48.8898,41.75652], "fy":[69.21723,48.40827,45.6526,65.41785]}, - {"t":0.11756, "x":2.7584, "y":7.08717, "heading":0.07141, "vx":-1.5118, "vy":-2.27648, "omega":0.74928, "ax":1.97593, "ay":3.46004, "alpha":2.50839, "fx":[16.62842,22.37988,49.95003,41.71718], "fy":[69.43456,48.31909,45.22968,65.84232]}, - {"t":0.13435, "x":2.73329, "y":7.04943, "heading":0.08399, "vx":-1.47861, "vy":-2.21838, "omega":0.79141, "ax":1.97706, "ay":3.46153, "alpha":2.55096, "fx":[16.26422,22.56559,50.16088,41.75976], "fy":[69.71389,47.75678,45.30905,66.14453]}, - {"t":0.15115, "x":2.70874, "y":7.01266, "heading":0.09728, "vx":-1.44541, "vy":-2.16024, "omega":0.83425, "ax":1.97798, "ay":3.46269, "alpha":2.60234, "fx":[15.69126,22.60117,50.91743,41.60129], "fy":[69.75531,47.67425,45.10543,66.46583]}, - {"t":0.16794, "x":2.68474, "y":6.97687, "heading":0.11129, "vx":-1.41219, "vy":-2.10209, "omega":0.87795, "ax":1.97872, "ay":3.46362, "alpha":2.61505, "fx":[15.48722,22.96281,50.94183,41.46856], "fy":[69.83413,47.21133,45.31256,66.70446]}, - {"t":0.18474, "x":2.66131, "y":6.94206, "heading":0.12604, "vx":-1.37896, "vy":-2.04392, "omega":0.92187, "ax":1.97935, "ay":3.46438, "alpha":2.6445, "fx":[15.04752,23.12808,51.48857,41.23793], "fy":[69.76575,47.13786,45.25671,66.95236]}, - {"t":0.20153, "x":2.63843, "y":6.90822, "heading":0.14152, "vx":-1.34572, "vy":-1.98574, "omega":0.96628, "ax":1.97988, "ay":3.46502, "alpha":2.6378, "fx":[14.95019,23.60517,51.38829,40.99352], "fy":[69.70702,46.74418,45.55809,67.14538]}, - {"t":0.21832, "x":2.61611, "y":6.87536, "heading":0.15775, "vx":-1.31247, "vy":-1.92755, "omega":1.01058, "ax":1.98035, "ay":3.46555, "alpha":2.65146, "fx":[14.61168,23.8778,51.77998,40.6983], "fy":[69.55915,46.67276,45.61213,67.34591]}, - {"t":0.23512, "x":2.59434, "y":6.84348, "heading":0.17472, "vx":-1.27921, "vy":-1.86935, "omega":1.05511, "ax":1.98074, "ay":3.46601, "alpha":2.63149, "fx":[14.59457,24.43067,51.59281,40.37599], "fy":[69.40266,46.33761,45.97866,67.50138]}, - {"t":0.25191, "x":2.57314, "y":6.81257, "heading":0.19244, "vx":-1.24595, "vy":-1.81114, "omega":1.09931, "ax":1.98109, "ay":3.46641, "alpha":2.63284, "fx":[14.33994,24.78009,51.86465,40.03256], "fy":[69.18285,46.28465,46.11617,67.66289]}, - {"t":0.26871, "x":2.55249, "y":6.78264, "heading":0.2109, "vx":-1.21268, "vy":-1.75292, "omega":1.14352, "ax":1.9814, "ay":3.46675, "alpha":2.6036, "fx":[14.38814,25.38564,51.60929,39.65459], "fy":[68.95687,45.99272,46.53309,67.78685]}, - {"t":0.2855, "x":2.53241, "y":6.75369, "heading":0.23011, "vx":-1.1794, "vy":-1.6947, "omega":1.18725, "ax":1.98169, "ay":3.46706, "alpha":2.59532, "fx":[14.20662,25.79078,51.78563,39.27336], "fy":[68.67531,45.96381,46.73565,67.91471]}, - {"t":0.30229, "x":2.51288, "y":6.72572, "heading":0.25004, "vx":-1.14612, "vy":-1.63647, "omega":1.23083, "ax":1.98194, "ay":3.46733, "alpha":2.55922, "fx":[14.31351,26.43154,51.4744,38.85343], "fy":[68.39665,45.7107,47.19004,68.01]}, - {"t":0.31909, "x":2.49391, "y":6.69873, "heading":0.27071, "vx":-1.11283, "vy":-1.57824, "omega":1.27381, "ax":1.98216, "ay":3.46757, "alpha":2.54332, "fx":[14.19874,26.88201,51.56754,38.43953], "fy":[68.06459,45.701,47.44738,68.11036]}, - {"t":0.33588, "x":2.4755, "y":6.67271, "heading":0.29211, "vx":-1.07955, "vy":-1.52001, "omega":1.31653, "ax":1.98237, "ay":3.46778, "alpha":2.50135, "fx":[14.36715,27.53634,51.21224,37.98565], "fy":[67.73079,45.49988,47.92868,68.17832]}, - {"t":0.35268, "x":2.45765, "y":6.64767, "heading":0.31422, "vx":-1.04625, "vy":-1.46177, "omega":1.35853, "ax":1.98256, "ay":3.46798, "alpha":2.47968, "fx":[14.31074,28.0146,51.2334,37.55512], "fy":[67.36484,45.51543,48.22322,68.24705]}, - {"t":0.36947, "x":2.44036, "y":6.62361, "heading":0.33703, "vx":-1.01296, "vy":-1.40353, "omega":1.40018, "ax":1.98273, "ay":3.46816, "alpha":2.43347, "fx":[14.53603,28.67211,50.83521,37.08189], "fy":[66.99623,45.35664,48.72361,68.28578]}, - {"t":0.38627, "x":2.42363, "y":6.60053, "heading":0.36055, "vx":-0.97966, "vy":-1.34528, "omega":1.44105, "ax":1.98289, "ay":3.46832, "alpha":2.40687, "fx":[14.53803,29.16812,50.79361,36.63593], "fy":[66.59565,45.39993,49.0508,68.32656]}, - {"t":0.40306, "x":2.40745, "y":6.57843, "heading":0.38475, "vx":-0.94636, "vy":-1.28704, "omega":1.48147, "ax":1.98303, "ay":3.46847, "alpha":2.35709, "fx":[14.81898,29.81363,50.35724,36.15536], "fy":[66.19434,45.29114,49.56289,68.33442]}, - {"t":0.41985, "x":2.39184, "y":6.5573, "heading":0.40963, "vx":-0.91306, "vy":-1.22879, "omega":1.52105, "ax":1.98317, "ay":3.4686, "alpha":2.32658, "fx":[14.88066,30.31474,50.26019,35.6988], "fy":[65.77112,45.36212,49.91153,68.34686]}, - {"t":0.43665, "x":2.37679, "y":6.53715, "heading":0.43517, "vx":-0.87975, "vy":-1.17053, "omega":1.56013, "ax":1.98329, "ay":3.46873, "alpha":2.2738, "fx":[15.21974,30.93976,49.7885,35.21459], "fy":[65.34676,45.30235,50.42734,68.32349]}, - {"t":0.45344, "x":2.36229, "y":6.51799, "heading":0.46137, "vx":-0.84644, "vy":-1.11228, "omega":1.59831, "ax":1.98341, "ay":3.46884, "alpha":2.23985, "fx":[15.33751,31.42752,49.64456,34.76087], "fy":[64.9008,45.41614,50.78671,68.30385]}, - {"t":0.47024, "x":2.34836, "y":6.4998, "heading":0.48822, "vx":-0.81313, "vy":-1.05402, "omega":1.63593, "ax":1.98352, "ay":3.46895, "alpha":2.18482, "fx":[15.72967,32.02685,49.13695,34.28406], "fy":[64.46074,45.39822,51.30656,68.24913]}, - {"t":0.48703, "x":2.33498, "y":6.48258, "heading":0.51569, "vx":-0.77982, "vy":-0.99577, "omega":1.67262, "ax":1.98362, "ay":3.46905, "alpha":2.14838, "fx":[15.90177,32.50217,48.94747,33.83314], "fy":[64.00635,45.54036,51.674,68.20038]}, - {"t":0.50382, "x":2.32216, "y":6.46635, "heading":0.54378, "vx":-0.74651, "vy":-0.93751, "omega":1.7087, "ax":1.98372, "ay":3.46914, "alpha":2.09159, "fx":[16.34134,33.05931,48.41152,33.37849], "fy":[63.56007,45.57393,52.1847,68.10865]}, - {"t":0.52062, "x":2.30991, "y":6.45109, "heading":0.57248, "vx":-0.71319, "vy":-0.87925, "omega":1.74383, "ax":1.98381, "ay":3.46922, "alpha":2.05274, "fx":[16.57066,33.51293,48.18108,32.93223], "fy":[63.0962,45.75044,52.554,68.03226]}, - {"t":0.53741, "x":2.29821, "y":6.43682, "heading":0.60176, "vx":-0.67988, "vy":-0.82098, "omega":1.7783, "ax":1.98389, "ay":3.46931, "alpha":1.99405, "fx":[17.06516,34.02074,47.61936,32.49703], "fy":[62.64199,45.83628,53.05201,67.90811]}, - {"t":0.55421, "x":2.28707, "y":6.42352, "heading":0.63163, "vx":-0.64656, "vy":-0.76272, "omega":1.81179, "ax":-2.87006, "ay":2.7454, "alpha":3.1736, "fx":[-66.30762,-57.24465,-25.20891,-41.04674], "fy":[43.64586,22.62438,49.6452,65.64823]}, - {"t":0.58313, "x":2.26717, "y":6.40261, "heading":0.68402, "vx":-0.72956, "vy":-0.68332, "omega":1.90357, "ax":-2.5465, "ay":3.05148, "alpha":2.92211, "fx":[-60.86504,-49.72657,-20.51371,-37.30419], "fy":[48.06681,30.48055,55.27661,67.98198]}, - {"t":0.61205, "x":2.24501, "y":6.38412, "heading":0.73908, "vx":-0.8032, "vy":-0.59508, "omega":1.98808, "ax":-2.16201, "ay":3.2944, "alpha":2.76693, "fx":[-55.03324,-41.41347,-14.27306,-32.2624], "fy":[51.39224,37.00575,59.3635,70.10953]}, - {"t":0.64097, "x":2.22088, "y":6.36829, "heading":0.79657, "vx":-0.86573, "vy":-0.4998, "omega":2.06809, "ax":-1.69246, "ay":3.33584, "alpha":2.79128, "fx":[-48.05736,-30.25483,-6.49203,-27.12478], "fy":[52.89347,37.49558,59.84093,70.3814]}, - {"t":0.66988, "x":2.19513, "y":6.35523, "heading":0.85638, "vx":-0.91467, "vy":-0.40333, "omega":2.14882, "ax":-0.55791, "ay":1.34072, "alpha":3.39897, "fx":[-32.51926,-7.17249,14.26691,-11.47211], "fy":[19.48088,-0.07285,25.94773,43.31084]}, - {"t":0.6988, "x":2.16845, "y":6.34413, "heading":0.91852, "vx":-0.93081, "vy":-0.36456, "omega":2.24711, "ax":-0.07739, "ay":0.1994, "alpha":3.21308, "fx":[-22.56955,2.65656,19.83097,-5.03587], "fy":[-1.0574,-17.70837,7.76196,24.19096]}, - {"t":0.72772, "x":2.1415, "y":6.33367, "heading":0.98351, "vx":-0.93305, "vy":-0.35879, "omega":2.34004, "ax":0.00546, "ay":-0.0142, "alpha":2.95392, "fx":[-19.25734,4.94623,19.40748,-4.735], "fy":[-4.92916,-19.31192,4.76621,18.53565]}, - {"t":0.75664, "x":2.11451, "y":6.32329, "heading":1.05118, "vx":-0.93289, "vy":-0.3592, "omega":2.42546, "ax":0.00073, "ay":-0.0019, "alpha":2.59767, "fx":[-16.48607,5.50335,16.43996,-5.40881], "fy":[-5.6942,-16.43756,5.55823,16.44785]}, - {"t":0.78556, "x":2.08754, "y":6.3129, "heading":1.12132, "vx":-0.93287, "vy":-0.35926, "omega":2.50059, "ax":0.00033, "ay":-0.00087, "alpha":2.30466, "fx":[-14.47077,5.82866,14.47648,-5.81225], "fy":[-5.69764,-14.11709,5.73306,14.0242]}, - {"t":0.81448, "x":2.06056, "y":6.30251, "heading":1.19364, "vx":-0.93286, "vy":-0.35928, "omega":2.56724, "ax":-0.00206, "ay":0.00535, "alpha":1.97922, "fx":[-11.87709,5.85639,11.78847,-5.90405], "fy":[-5.86235,-11.72577,6.00635,11.9357]}, - {"t":0.8434, "x":2.03358, "y":6.29212, "heading":1.26788, "vx":-0.93292, "vy":-0.35913, "omega":2.62447, "ax":0.00013, "ay":-0.00034, "alpha":1.6884, "fx":[-9.91368,5.7408,9.91826,-5.73681], "fy":[-5.56821,-9.60691,5.57745,9.57542]}, - {"t":0.87232, "x":2.0066, "y":6.28173, "heading":1.34378, "vx":-0.93291, "vy":-0.35914, "omega":2.6733, "ax":-0.00028, "ay":0.00073, "alpha":1.38659, "fx":[-7.6188,5.26538,7.60148,-5.26671], "fy":[-5.28719,-7.58937,5.29462,7.63038]}, - {"t":0.90124, "x":1.97962, "y":6.27135, "heading":1.42109, "vx":-0.93292, "vy":-0.35912, "omega":2.7134, "ax":0.00052, "ay":-0.00134, "alpha":1.09892, "fx":[-5.85648,4.65589,5.87387,-4.63912], "fy":[-4.46735,-5.67183,4.43289,5.61754]}, - {"t":0.93016, "x":1.95264, "y":6.26096, "heading":1.49956, "vx":-0.93291, "vy":-0.35916, "omega":2.74518, "ax":-0.00003, "ay":0.00008, "alpha":0.81286, "fx":[-3.97677,3.68959,3.97156,-3.68632], "fy":[-3.70494,-3.9683,3.69818,3.98011]}, - {"t":0.95908, "x":1.92566, "y":6.25058, "heading":1.57895, "vx":-0.93291, "vy":-0.35915, "omega":2.76869, "ax":0.00015, "ay":-0.0004, "alpha":0.52594, "fx":[-2.49522,2.62448,2.50021,-2.61935], "fy":[-2.42583,-2.3913,2.41839,2.37243]}, - {"t":0.988, "x":1.89868, "y":6.24019, "heading":1.65902, "vx":-0.9329, "vy":-0.35916, "omega":2.7839, "ax":-0.0001, "ay":0.00025, "alpha":0.24852, "fx":[-1.09439,1.24408,1.0885,-1.2445], "fy":[-1.2518,-1.08447,1.25405,1.09861]}, - {"t":1.01692, "x":1.8717, "y":6.2298, "heading":1.73953, "vx":-0.93291, "vy":-0.35916, "omega":2.79109, "ax":0.0, "ay":0.0, "alpha":-0.04074, "fx":[0.02369,-0.22102,-0.02387,0.22107], "fy":[0.39761,0.04444,-0.39357,-0.04815]}, - {"t":1.04584, "x":1.84472, "y":6.21942, "heading":1.82025, "vx":-0.93291, "vy":-0.35916, "omega":2.78991, "ax":-0.00004, "ay":0.00012, "alpha":-0.31613, "fx":[0.88593,-1.9287,-0.88942,1.92922], "fy":[1.92242,0.89171,-1.92297,-0.88345]}, - {"t":1.07476, "x":1.81774, "y":6.20903, "heading":1.90093, "vx":-0.93291, "vy":-0.35915, "omega":2.78077, "ax":-0.00001, "ay":0.00001, "alpha":-0.61124, "fx":[1.55846,-3.72747,-1.55872,3.72738], "fy":[3.85426,1.50567,-3.8509,-1.50816]}, - {"t":1.10368, "x":1.79076, "y":6.19864, "heading":1.98135, "vx":-0.93291, "vy":-0.35915, "omega":2.76309, "ax":0.0, "ay":-0.00001, "alpha":-0.89048, "fx":[1.83827,-5.66235,-1.83984,5.66406], "fy":[5.65628,1.84071,-5.66011,-1.83723]}, - {"t":1.1326, "x":1.76379, "y":6.18826, "heading":2.06126, "vx":-0.93291, "vy":-0.35915, "omega":2.73734, "ax":0.00001, "ay":-0.00003, "alpha":-1.1952, "fx":[1.99772,-7.71325,-1.99742,7.71367], "fy":[7.77195,1.89409,-7.77056,-1.89739]}, - {"t":1.16152, "x":1.73681, "y":6.17787, "heading":2.14042, "vx":-0.93291, "vy":-0.35915, "omega":2.70277, "ax":0.0, "ay":0.0, "alpha":-1.48333, "fx":[1.67425,-9.76556,-1.67578,9.76699], "fy":[9.76003,1.67679,-9.76348,-1.6731]}, - {"t":1.19044, "x":1.70983, "y":6.16748, "heading":2.21858, "vx":-0.93291, "vy":-0.35915, "omega":2.65987, "ax":0.00003, "ay":-0.00009, "alpha":-1.80152, "fx":[1.27334,-11.97515,-1.27221,11.97628], "fy":[11.95612,1.14519,-11.95696,-1.15025]}, - {"t":1.21936, "x":1.68285, "y":6.1571, "heading":2.29551, "vx":-0.93291, "vy":-0.35916, "omega":2.60778, "ax":-0.00004, "ay":0.00011, "alpha":-2.10256, "fx":[0.35229,-14.03422,-0.35516,14.0342], "fy":[14.0292,0.35769,-14.02972,-0.34967]}, - {"t":1.24828, "x":1.65587, "y":6.14671, "heading":2.37092, "vx":-0.93291, "vy":-0.35915, "omega":2.54697, "ax":0.00007, "ay":-0.00018, "alpha":-2.43786, "fx":[-0.63231,-16.30317,0.63476,16.30531], "fy":[16.20593,-0.75755,-16.20961,0.74931]}, - {"t":1.2772, "x":1.62889, "y":6.13632, "heading":2.44458, "vx":-0.93291, "vy":-0.35916, "omega":2.47647, "ax":-0.00012, "ay":0.00032, "alpha":-2.75465, "fx":[-2.11567,-18.26692,2.11046,18.26407], "fy":[18.26223,-2.10488,-18.25764,2.12123]}, - {"t":1.30612, "x":1.60191, "y":6.12594, "heading":2.5162, "vx":-0.93291, "vy":-0.35915, "omega":2.3968, "ax":0.00011, "ay":-0.0003, "alpha":-3.10997, "fx":[-3.6787,-20.49699,3.68287,20.50042], "fy":[20.32959,-3.77407,-20.33654,3.76126]}, - {"t":1.33504, "x":1.57493, "y":6.11555, "heading":2.58551, "vx":-0.93291, "vy":-0.35916, "omega":2.30687, "ax":-0.00021, "ay":0.00054, "alpha":-3.44399, "fx":[-5.65753,-22.28164,5.65037,22.27501], "fy":[22.27616,-5.64063,-22.26665,5.66692]}, - {"t":1.36396, "x":1.54795, "y":6.10516, "heading":2.65223, "vx":-0.93291, "vy":-0.35914, "omega":2.20727, "ax":0.00024, "ay":-0.00062, "alpha":-3.82082, "fx":[-7.75944,-24.38445,7.76762,24.39193], "fy":[24.15965,-7.80589,-24.17542,7.78095]}, - {"t":1.39288, "x":1.52097, "y":6.09478, "heading":2.71606, "vx":-0.93291, "vy":-0.35916, "omega":2.09677, "ax":-0.00021, "ay":0.00054, "alpha":-4.17204, "fx":[-10.13677,-25.93544,10.13191,25.92657], "fy":[25.92404,-10.11849,-25.91887,10.14898]}, - {"t":1.42179, "x":1.49399, "y":6.08439, "heading":2.7767, "vx":-0.93291, "vy":-0.35914, "omega":1.97612, "ax":0.00051, "ay":-0.00133, "alpha":-4.56998, "fx":[-12.70015,-27.84616,12.71722,27.86288], "fy":[27.5773,-12.69171,-27.61404,12.64067]}, - {"t":1.45071, "x":1.46701, "y":6.074, "heading":2.83384, "vx":-0.9329, "vy":-0.35918, "omega":1.84395, "ax":-0.00029, "ay":0.00074, "alpha":-4.9367, "fx":[-15.35725,-29.15494,15.35724,29.13606], "fy":[29.13006,-15.33111,-29.12947,15.37959]}, - {"t":1.47963, "x":1.44003, "y":6.06362, "heading":2.88717, "vx":-0.9329, "vy":-0.35916, "omega":1.70119, "ax":0.00036, "ay":-0.00093, "alpha":-5.35308, "fx":[-18.26985,-30.85424,18.2887,30.85914], "fy":[30.56247,-18.18027,-30.5889,18.14499]}, - {"t":1.50855, "x":1.41305, "y":6.05323, "heading":2.93637, "vx":-0.93289, "vy":-0.35919, "omega":1.54638, "ax":-0.00141, "ay":0.00367, "alpha":-5.7318, "fx":[-21.07143,-31.97525,21.06827,31.885], "fy":[31.92817,-20.97283,-31.86829,21.15559]}, - {"t":1.53747, "x":1.38607, "y":6.04284, "heading":2.98109, "vx":-0.93294, "vy":-0.35908, "omega":1.38062, "ax":-0.00037, "ay":0.00097, "alpha":-6.16173, "fx":[-24.16048,-33.48709,24.20876,33.41416], "fy":[33.16284,-23.98622,-33.15245,24.03985]}, - {"t":1.56639, "x":1.35909, "y":6.03246, "heading":3.02102, "vx":-0.93295, "vy":-0.35905, "omega":1.20242, "ax":-0.00049, "ay":0.00126, "alpha":-6.54494, "fx":[-26.87887,-34.50706,27.06178,34.29204], "fy":[34.21963,-26.83177,-34.37352,27.0692]}, - {"t":1.59531, "x":1.33211, "y":6.02208, "heading":3.05579, "vx":-0.93296, "vy":-0.35902, "omega":1.01314, "ax":0.00667, "ay":-0.01731, "alpha":-6.98001, "fx":[-29.77941,-35.87238,30.38087,35.71173], "fy":[35.09617,-30.13961,-35.79375,29.69252]}, - {"t":1.62423, "x":1.30514, "y":6.01169, "heading":3.08509, "vx":-0.93277, "vy":-0.35952, "omega":0.81128, "ax":-0.00974, "ay":0.02529, "alpha":-7.33771, "fx":[-32.25087,-37.50051,33.07669,36.03069], "fy":[36.30517,-31.73859,-36.2377,33.34369]}, - {"t":1.65315, "x":1.27816, "y":6.0013, "heading":3.10855, "vx":-0.93305, "vy":-0.35879, "omega":0.59908, "ax":-0.14458, "ay":0.38277, "alpha":-7.691, "fx":[-36.07659,-42.06685,34.5956,33.98594], "fy":[42.60972,-27.98186,-31.05398,41.74012]}, - {"t":1.68207, "x":1.25111, "y":5.99108, "heading":3.12588, "vx":-0.93723, "vy":-0.34772, "omega":0.37666, "ax":-0.72087, "ay":2.1587, "alpha":-7.25805, "fx":[-41.89614,-54.32509,27.46583,21.0813], "fy":[66.33211,4.20993,2.61275,69.60841]}, - {"t":1.71099, "x":1.22371, "y":5.98193, "heading":3.13677, "vx":-0.95808, "vy":-0.28529, "omega":0.16676, "ax":-0.88357, "ay":3.74893, "alpha":-5.76634, "fx":[-38.8115,-56.89486,23.65991,13.61271], "fy":[80.59869,39.24706,42.39438,85.69053]}, - {"t":1.73991, "x":1.19563, "y":5.97525, "heading":3.14159, "vx":-0.98363, "vy":-0.17687, "omega":0.0, "ax":-0.38303, "ay":3.65013, "alpha":0.0, "fx":[-6.45112,-6.41125,-6.23983,-6.22877], "fy":[60.24555,60.77874,60.11659,60.25602]}, - {"t":1.78107, "x":1.15482, "y":5.97106, "heading":3.14159, "vx":-0.99939, "vy":-0.02664, "omega":0.0, "ax":-0.00746, "ay":0.88712, "alpha":0.0, "fx":[-0.19174,-0.19212,-0.11024,0.00077], "fy":[14.37507,14.73569,14.73575,14.82197]}, - {"t":1.82223, "x":1.11368, "y":5.97071, "heading":3.14159, "vx":-0.9997, "vy":0.00988, "omega":0.0, "ax":0.0003, "ay":0.02899, "alpha":0.0, "fx":[0.06475,0.06478,-0.05473,-0.05472], "fy":[0.53898,0.18675,0.65223,0.53899]}, - {"t":1.86339, "x":1.07253, "y":5.97115, "heading":3.14159, "vx":-0.99969, "vy":0.01107, "omega":0.0, "ax":0.0, "ay":0.00029, "alpha":0.0, "fx":[-0.02387,-0.02388,0.02052,0.02744], "fy":[-0.11138,0.02872,0.02871,0.0731]}, - {"t":1.90455, "x":1.03139, "y":5.9716, "heading":3.14159, "vx":-0.99969, "vy":0.01108, "omega":0.0, "ax":0.00002, "ay":0.00164, "alpha":0.0, "fx":[0.0096,0.0096,-0.009,-0.009], "fy":[0.03648,-0.02009,0.05585,0.03648]}, - {"t":1.94571, "x":0.99024, "y":5.97206, "heading":3.14159, "vx":-0.99969, "vy":0.01115, "omega":0.0, "ax":0.0, "ay":-0.0001, "alpha":0.0, "fx":[-0.00313,-0.00312,0.00982,-0.00365], "fy":[-0.02399,0.00137,0.00137,0.01431]}, - {"t":1.98686, "x":0.9491, "y":5.97252, "heading":3.14159, "vx":-0.99969, "vy":0.01115, "omega":0.0, "ax":0.0, "ay":-0.00041, "alpha":0.0, "fx":[0.00262,0.00262,-0.00277,-0.00277], "fy":[-0.00401,-0.0207,0.00191,-0.00401]}, - {"t":2.02802, "x":0.90795, "y":5.97298, "heading":3.14159, "vx":-0.99969, "vy":0.01113, "omega":0.0, "ax":0.0, "ay":0.00005, "alpha":0.0, "fx":[0.00954,0.00955,0.037,-0.05586], "fy":[0.00183,-0.0086,-0.00861,0.01891]}, - {"t":2.06918, "x":0.8668, "y":5.97343, "heading":3.14159, "vx":-0.99969, "vy":0.01113, "omega":0.0, "ax":0.30502, "ay":-0.00333, "alpha":0.0, "fx":[5.04319,5.04319,5.04285,5.04285], "fy":[-0.05482,-0.05602,-0.05432,-0.05482]}, - {"t":2.11034, "x":0.82592, "y":5.97389, "heading":3.14159, "vx":-0.98713, "vy":0.01099, "omega":0.0, "ax":3.99355, "ay":-0.04448, "alpha":0.0, "fx":[66.01512,66.01546,66.00796,66.07021], "fy":[-0.73991,-0.72326,-0.72383,-0.75476]}, - {"t":2.1515, "x":0.78867, "y":5.9743, "heading":3.14159, "vx":-0.82276, "vy":0.00916, "omega":0.0, "ax":3.99669, "ay":-0.04451, "alpha":0.0, "fx":[66.07708,66.07717,66.08083,66.08087], "fy":[-0.73784,-0.72328,-0.74493,-0.73781]}, - {"t":2.19266, "x":0.75819, "y":5.97464, "heading":3.14159, "vx":-0.65826, "vy":0.00733, "omega":0.0, "ax":3.99772, "ay":-0.04452, "alpha":0.0, "fx":[66.09267,66.09273,66.08786,66.11079], "fy":[-0.72807,-0.73265,-0.73299,-0.75083]}, - {"t":2.23382, "x":0.73448, "y":5.97491, "heading":3.14159, "vx":-0.49372, "vy":0.0055, "omega":0.0, "ax":3.99823, "ay":-0.04453, "alpha":0.0, "fx":[66.1024,66.10252,66.10646,66.10652], "fy":[-0.73827,-0.72111,-0.7473,-0.7382]}, - {"t":2.27498, "x":0.71755, "y":5.9751, "heading":3.14159, "vx":-0.32916, "vy":0.00367, "omega":0.0, "ax":3.99853, "ay":-0.04453, "alpha":0.0, "fx":[66.10754,66.10767,66.11144,66.11151], "fy":[-0.73824,-0.72127,-0.7474,-0.73817]}, - {"t":2.31614, "x":0.70739, "y":5.97521, "heading":3.14159, "vx":-0.16458, "vy":0.00183, "omega":0.0, "ax":3.99874, "ay":-0.04453, "alpha":0.0, "fx":[66.10987,66.12073,66.11048,66.11055], "fy":[-0.73395,-0.7384,-0.73898,-0.73386]}, - {"t":2.3573, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-2.39915, "vy":-2.5428, "omega":-0.00007, "ax":-0.46114, "ay":-0.07998, "alpha":0.01732, "fx":[-7.56584,-7.56601,-7.68203,-7.68286], "fy":[-1.10078,-1.60218,-1.48571,-1.10057]}, + {"t":0.01777, "x":3.30387, "y":7.46392, "heading":0.0, "vx":-2.40735, "vy":-2.54422, "omega":0.00024, "ax":1.1408, "ay":1.06628, "alpha":1.15347, "fx":[13.1951,13.38595,24.60567,24.2589], "fy":[23.06579,12.77831,11.85604,22.81717]}, + {"t":0.03554, "x":3.26127, "y":7.41887, "heading":0.0, "vx":-2.38707, "vy":-2.52527, "omega":0.02074, "ax":2.43913, "ay":2.98926, "alpha":2.15428, "fx":[29.42636,30.61577,50.69688,50.56959], "fy":[61.55055,39.81426,38.99193,57.33443]}, + {"t":0.05331, "x":3.21924, "y":7.37447, "heading":0.00037, "vx":-2.34373, "vy":-2.47215, "omega":0.05902, "ax":2.60094, "ay":2.95244, "alpha":2.44387, "fx":[29.97269,32.32908,56.98224,52.72592], "fy":[61.81658,39.55739,35.6574,58.22465]}, + {"t":0.07108, "x":3.178, "y":7.33101, "heading":0.00142, "vx":-2.29751, "vy":-2.41969, "omega":0.10245, "ax":2.60091, "ay":2.9839, "alpha":2.8515, "fx":[27.80043,30.61599,58.743,54.84883], "fy":[65.36734,37.23247,35.21439,59.52238]}, + {"t":0.08885, "x":3.13758, "y":7.28848, "heading":0.00324, "vx":-2.25129, "vy":-2.36666, "omega":0.15312, "ax":2.62479, "ay":2.97779, "alpha":2.93054, "fx":[27.19694,31.40684,60.87313,54.11011], "fy":[65.54043,37.8171,33.5409,60.03406]}, + {"t":0.10662, "x":3.09799, "y":7.24689, "heading":0.00596, "vx":-2.20465, "vy":-2.31374, "omega":0.2052, "ax":2.63421, "ay":2.97811, "alpha":3.08705, "fx":[26.31595,30.80173,61.80344,55.2888], "fy":[66.67981,36.67616,33.53749,60.06009]}, + {"t":0.12439, "x":3.05923, "y":7.20624, "heading":0.00961, "vx":-2.15783, "vy":-2.26082, "omega":0.26006, "ax":2.6427, "ay":2.97624, "alpha":3.15569, "fx":[25.67167,31.40694,63.02536,54.66755], "fy":[67.00635,36.84445,32.34199,60.63686]}, + {"t":0.14216, "x":3.0213, "y":7.16654, "heading":0.01423, "vx":-2.11087, "vy":-2.20793, "omega":0.31614, "ax":2.64755, "ay":2.97589, "alpha":3.20474, "fx":[25.34632,31.15584,63.26285,55.32764], "fy":[67.34169,36.2812,32.71009,60.47415]}, + {"t":0.15993, "x":2.9842, "y":7.12777, "heading":0.01985, "vx":-2.06382, "vy":-2.15505, "omega":0.37309, "ax":2.65196, "ay":2.97492, "alpha":3.27141, "fx":[24.67899,31.68593,64.22587,54.79346], "fy":[67.66897,36.11936,31.8905,61.06356]}, + {"t":0.17771, "x":2.94795, "y":7.08995, "heading":0.02648, "vx":-2.0167, "vy":-2.10218, "omega":0.43122, "ax":2.65486, "ay":2.97461, "alpha":3.26709, "fx":[24.69825,31.6301,64.03342,55.21388], "fy":[67.67721,35.83511,32.38543,60.8242]}, + {"t":0.19548, "x":2.91253, "y":7.05306, "heading":0.03414, "vx":-1.96952, "vy":-2.04932, "omega":0.48928, "ax":2.65739, "ay":2.97415, "alpha":3.32155, "fx":[24.02204,32.25226,64.86383,54.6052], "fy":[67.89104,35.5231,31.84797,61.4294]}, + {"t":0.21325, "x":2.87795, "y":7.01711, "heading":0.04284, "vx":-1.9223, "vy":-1.99647, "omega":0.54831, "ax":2.65928, "ay":2.97393, "alpha":3.27684, "fx":[24.32892,32.30508,64.41797,54.81592], "fy":[67.60047,35.45107,32.47107,61.15461]}, + {"t":0.23102, "x":2.84421, "y":6.9821, "heading":0.05258, "vx":-1.87504, "vy":-1.94362, "omega":0.60654, "ax":2.66097, "ay":2.97363, "alpha":3.32784, "fx":[23.58052,33.06246,65.15579,54.18103], "fy":[67.79698,34.98264,32.11334,61.76456]}, + {"t":0.24879, "x":2.81131, "y":6.94803, "heading":0.06336, "vx":-1.82775, "vy":-1.89078, "omega":0.66567, "ax":2.66231, "ay":2.97345, "alpha":3.25593, "fx":[24.11205,33.1223,64.54476,54.2897], "fy":[67.29977,35.08864,32.82394,61.43322]}, + {"t":0.26656, "x":2.77925, "y":6.9149, "heading":0.07519, "vx":-1.78044, "vy":-1.83794, "omega":0.72353, "ax":2.66354, "ay":2.97323, "alpha":3.30302, "fx":[23.29148,34.06516,65.21326,53.5799], "fy":[67.4595,34.48074,32.61888,62.0717]}, + {"t":0.28433, "x":2.74803, "y":6.88271, "heading":0.08805, "vx":-1.73311, "vy":-1.7851, "omega":0.78223, "ax":2.66452, "ay":2.9731, "alpha":3.21063, "fx":[24.01221,34.0562,64.50128,53.64509], "fy":[66.78211,34.77445,33.39121,61.67477]}, + {"t":0.3021, "x":2.71765, "y":6.85146, "heading":0.10195, "vx":-1.68576, "vy":-1.73227, "omega":0.83929, "ax":2.66548, "ay":2.9729, "alpha":3.2554, "fx":[23.13808,35.23895,65.0834,52.81762], "fy":[66.93323,33.96606,33.33115,62.37892]}, + {"t":0.31987, "x":2.68812, "y":6.82114, "heading":0.11686, "vx":-1.63839, "vy":-1.67944, "omega":0.89714, "ax":2.66621, "ay":2.97283, "alpha":3.14743, "fx":[24.01386,35.1044,64.33625,52.87173], "fy":[66.10577,34.48828,34.11332,61.89709]}, + {"t":0.33764, "x":2.65942, "y":6.79177, "heading":0.1328, "vx":-1.59101, "vy":-1.62661, "omega":0.95307, "ax":2.66697, "ay":2.97266, "alpha":3.18895, "fx":[23.10517,36.49505,64.82456,51.95181], "fy":[66.21494,33.54332,34.18979,62.6452]}, + {"t":0.35541, "x":2.63157, "y":6.76333, "heading":0.14974, "vx":-1.54362, "vy":-1.57379, "omega":1.00974, "ax":2.66755, "ay":2.97259, "alpha":3.07133, "fx":[24.09477,36.25518,64.04604,52.01945], "fy":[65.31968,34.21627,34.96075,62.09201]}, + {"t":0.37318, "x":2.60456, "y":6.73583, "heading":0.16768, "vx":-1.49621, "vy":-1.52096, "omega":1.06432, "ax":2.66817, "ay":2.97245, "alpha":3.10826, "fx":[23.18706,37.80482,64.45726,51.00681], "fy":[65.34115,33.20783,35.16211,62.86848]}, + {"t":0.39095, "x":2.57839, "y":6.70927, "heading":0.1866, "vx":-1.4488, "vy":-1.46814, "omega":1.11955, "ax":2.66864, "ay":2.9724, "alpha":2.98433, "fx":[24.25724,37.47892,63.66541,51.08552], "fy":[64.41552,33.98893,35.91073,62.26104]}, + {"t":0.40872, "x":2.55307, "y":6.68365, "heading":0.20649, "vx":-1.40138, "vy":-1.41532, "omega":1.17258, "ax":2.66914, "ay":2.97229, "alpha":3.01505, "fx":[23.40304,39.13746,63.98727,49.99235], "fy":[64.32331,32.97129,36.22448,63.04977]}, + {"t":0.42649, "x":2.52859, "y":6.65897, "heading":0.22733, "vx":-1.35394, "vy":-1.3625, "omega":1.22616, "ax":2.66953, "ay":2.97225, "alpha":2.88757, "fx":[24.51036,38.75964,63.19864,50.0775], "fy":[63.3861,33.82041,36.95252,62.4068]}, + {"t":0.44426, "x":2.50495, "y":6.63523, "heading":0.24912, "vx":-1.30651, "vy":-1.30968, "omega":1.27748, "ax":2.66995, "ay":2.97215, "alpha":2.91193, "fx":[23.76197,40.47242,63.41683,48.92286], "fy":[63.18771,32.81225,37.37052,63.18886]}, + {"t":0.46203, "x":2.48215, "y":6.61242, "heading":0.27182, "vx":-1.25906, "vy":-1.25686, "omega":1.32922, "ax":2.67028, "ay":2.97211, "alpha":2.78514, "fx":[24.84395,40.08069,62.64799,49.02306], "fy":[62.29563,33.69565,38.05644,62.50931]}, + {"t":0.4798, "x":2.4602, "y":6.59056, "heading":0.29544, "vx":-1.21161, "vy":-1.20405, "omega":1.37872, "ax":2.67063, "ay":2.97203, "alpha":2.80022, "fx":[24.25104,41.76557,62.76759,47.83493], "fy":[61.9461,32.7929,38.55633,63.2564]}, + {"t":0.49758, "x":2.43909, "y":6.56963, "heading":0.31994, "vx":-1.16415, "vy":-1.15123, "omega":1.42848, "ax":2.67091, "ay":2.972, "alpha":2.67604, "fx":[25.28661,41.41645,62.02346,47.91109], "fy":[61.11035,33.65608,39.21008,62.57319]}, + {"t":0.51535, "x":2.41882, "y":6.54964, "heading":0.34533, "vx":-1.11668, "vy":-1.09842, "omega":1.47603, "ax":2.67122, "ay":2.97193, "alpha":2.68055, "fx":[24.89053,42.99742,62.0338,46.73641], "fy":[60.61342,32.90278,39.77436,63.25419]}, + {"t":0.53312, "x":2.3994, "y":6.53059, "heading":0.37156, "vx":-1.06922, "vy":-1.04561, "omega":1.52367, "ax":2.67147, "ay":2.9719, "alpha":2.56241, "fx":[25.83539,42.74385,61.30817,46.78698], "fy":[59.85954,33.69162,40.40624,62.58533]}, + {"t":0.55089, "x":2.38082, "y":6.51248, "heading":0.39863, "vx":-1.02174, "vy":-0.99279, "omega":1.5692, "ax":2.67174, "ay":2.97183, "alpha":2.55451, "fx":[25.66703,44.14444,61.22665,45.65424], "fy":[59.21691,33.15508,40.99819,63.16812]}, + {"t":0.56866, "x":2.36309, "y":6.49531, "heading":0.42652, "vx":-0.97426, "vy":-0.93998, "omega":1.6146, "ax":2.67195, "ay":2.97181, "alpha":2.44596, "fx":[26.48895,44.03565,60.512,45.66975], "fy":[58.58317,33.80927,41.61922,62.52501]}, + {"t":0.58643, "x":2.3462, "y":6.47907, "heading":0.45521, "vx":-0.92678, "vy":-0.88717, "omega":1.65806, "ax":2.67219, "ay":2.97175, "alpha":2.42382, "fx":[26.56589,45.20629,60.34644,44.60324], "fy":[57.79187,33.5268,42.22133,62.99298]}, + {"t":0.6042, "x":2.33015, "y":6.46378, "heading":0.48468, "vx":-0.8793, "vy":-0.83436, "omega":1.70114, "ax":2.67238, "ay":2.97173, "alpha":2.324, "fx":[27.29594,45.26366,59.63922,44.53544], "fy":[57.22509,34.05621,42.83956,62.41062]}, + {"t":0.62197, "x":2.31495, "y":6.44942, "heading":0.51491, "vx":-0.83181, "vy":-0.78155, "omega":1.74244, "ax":2.67258, "ay":2.97168, "alpha":2.29085, "fx":[27.57116,46.17774,59.40272,43.59585], "fy":[56.37142,33.99926,43.42345,62.73452]}, + {"t":0.63974, "x":2.30059, "y":6.436, "heading":0.54587, "vx":-0.78431, "vy":-0.72874, "omega":1.78315, "ax":2.67274, "ay":2.97167, "alpha":2.19974, "fx":[28.22624,46.39805,58.68339,43.45052], "fy":[55.86368,34.40366,44.05053,62.20967]}, + {"t":0.65751, "x":2.28707, "y":6.42352, "heading":0.57756, "vx":-0.73682, "vy":-0.67594, "omega":1.82224, "ax":-2.4877, "ay":3.05681, "alpha":3.38668, "fx":[-62.56383,-51.24391,-16.43456,-34.2789], "fy":[50.60167,28.37108,51.88452,71.30094]}, + {"t":0.68636, "x":2.26478, "y":6.40529, "heading":0.63012, "vx":-0.80858, "vy":-0.58776, "omega":1.91993, "ax":-2.12489, "ay":3.30044, "alpha":3.30624, "fx":[-57.87988,-40.5997,-9.90986,-32.13752], "fy":[53.43245,32.46072,59.02892,73.34819]}, + {"t":0.71521, "x":2.24057, "y":6.38971, "heading":0.68551, "vx":-0.86988, "vy":-0.49255, "omega":2.01531, "ax":-1.55169, "ay":3.09002, "alpha":3.34852, "fx":[-49.03954,-30.14294,-0.74591,-22.69085], "fy":[51.17079,30.36606,51.63779,71.18]}, + {"t":0.74405, "x":2.21483, "y":6.37679, "heading":0.74365, "vx":-0.91464, "vy":-0.40341, "omega":2.11191, "ax":-0.43744, "ay":1.03703, "alpha":3.82221, "fx":[-33.51546,-4.19238,18.85511,-10.07655], "fy":[14.05115,-8.64888,21.55085,41.62981]}, + {"t":0.7729, "x":2.18826, "y":6.36558, "heading":0.80457, "vx":-0.92726, "vy":-0.37349, "omega":2.22217, "ax":-0.06975, "ay":0.17458, "alpha":3.35284, "fx":[-23.89908,-0.74961,21.77335,-1.73724], "fy":[2.7324,-19.29726,3.62425,24.48597]}, + {"t":0.80175, "x":2.16149, "y":6.35488, "heading":0.86867, "vx":-0.92927, "vy":-0.36845, "omega":2.31889, "ax":0.00646, "ay":-0.01629, "alpha":3.37546, "fx":[-22.16037,6.4149,22.09429,-5.92175], "fy":[-6.84662,-22.266,6.29008,21.74532]}, + {"t":0.8306, "x":2.13468, "y":6.34424, "heading":0.93557, "vx":-0.92909, "vy":-0.36892, "omega":2.41626, "ax":0.02503, "ay":-0.06287, "alpha":2.69101, "fx":[-17.77877,2.77073,18.62011,-1.95695], "fy":[-2.87225,-18.61454,1.01544,16.31381]}, + {"t":0.85944, "x":2.10789, "y":6.33357, "heading":1.00527, "vx":-0.92836, "vy":-0.37074, "omega":2.49389, "ax":0.0063, "ay":-0.01575, "alpha":2.79795, "fx":[-17.30987,7.9838,17.42242,-7.67973], "fy":[-8.29677,-17.56687,7.68423,17.1378]}, + {"t":0.88829, "x":2.08111, "y":6.32287, "heading":1.07721, "vx":-0.92818, "vy":-0.37119, "omega":2.57461, "ax":0.00374, "ay":-0.00936, "alpha":2.03559, "fx":[-13.54585,3.27711,13.66749,-3.15138], "fy":[-2.78727,-13.1772,2.54973,12.79566]}, + {"t":0.91714, "x":2.05434, "y":6.31216, "heading":1.15148, "vx":-0.92807, "vy":-0.37146, "omega":2.63333, "ax":-0.00428, "ay":0.01071, "alpha":2.22296, "fx":[-12.78909,8.19953,12.62014,-8.31374], "fy":[-8.17997,-12.49806,8.47709,12.9091]}, + {"t":0.94599, "x":2.02756, "y":6.30145, "heading":1.22745, "vx":-0.9282, "vy":-0.37115, "omega":2.69746, "ax":-0.00149, "ay":0.00372, "alpha":1.42099, "fx":[-9.3935,3.08603,9.34156,-3.13237], "fy":[-2.42575,-8.90997,2.58958,8.99197]}, + {"t":0.97483, "x":2.00079, "y":6.29074, "heading":1.30526, "vx":-0.92824, "vy":-0.37105, "omega":2.73845, "ax":-0.0032, "ay":0.00801, "alpha":1.6519, "fx":[-8.44662,7.45842,8.32626,-7.54969], "fy":[-7.45296,-8.23131,7.67156,8.54226]}, + {"t":1.00368, "x":1.97401, "y":6.28004, "heading":1.38426, "vx":-0.92833, "vy":-0.37082, "omega":2.7861, "ax":0.00009, "ay":-0.00022, "alpha":0.8375, "fx":[-5.64495,2.08421,5.64616,-2.07963], "fy":[-1.46468,-5.47591,1.49844,5.42776]}, + {"t":1.03253, "x":1.94723, "y":6.26935, "heading":1.46463, "vx":-0.92833, "vy":-0.37082, "omega":2.81026, "ax":-0.00106, "ay":0.00265, "alpha":1.07538, "fx":[-4.65622,5.64319,4.60777,-5.66475], "fy":[-5.69287,-4.56516,5.73381,4.69944]}, + {"t":1.06138, "x":1.92045, "y":6.25865, "heading":1.5457, "vx":-0.92836, "vy":-0.37075, "omega":2.84128, "ax":0.0011, "ay":-0.00275, "alpha":0.27434, "fx":[-2.57461,0.21776,2.61039,-0.18095], "fy":[0.32478,-2.66824,-0.37185,2.53356]}, + {"t":1.09022, "x":1.89367, "y":6.24795, "heading":1.62767, "vx":-0.92833, "vy":-0.37082, "omega":2.8492, "ax":-0.0004, "ay":0.001, "alpha":0.48503, "fx":[-1.66484,2.83232,1.63904,-2.83297], "fy":[-2.90041,-1.61137,2.88519,1.69284]}, + {"t":1.11907, "x":1.86689, "y":6.23726, "heading":1.70986, "vx":-0.92834, "vy":-0.3708, "omega":2.86319, "ax":0.00102, "ay":-0.00256, "alpha":-0.27911, "fx":[-0.33398,-2.42112,0.36793,2.45468], "fy":[2.86891,-0.5905,-2.90823,0.46077]}, + {"t":1.14792, "x":1.84011, "y":6.22656, "heading":1.79246, "vx":-0.92831, "vy":-0.37087, "omega":2.85514, "ax":-0.00048, "ay":0.0012, "alpha":-0.12479, "fx":[0.35704,-0.78288,-0.38416,0.77835], "fy":[0.71594,0.41491,-0.72555,-0.32603]}, + {"t":1.17677, "x":1.81333, "y":6.21586, "heading":1.87482, "vx":-0.92833, "vy":-0.37083, "omega":2.85154, "ax":0.00071, "ay":-0.00177, "alpha":-0.83391, "fx":[0.96388,-5.68647,-0.94003,5.70937], "fy":[6.01041,0.60182,-6.02309,-0.70624]}, + {"t":1.20561, "x":1.78655, "y":6.20516, "heading":1.95708, "vx":-0.92831, "vy":-0.37089, "omega":2.82748, "ax":-0.00066, "ay":0.00166, "alpha":-0.75692, "fx":[1.28182,-4.96886,-1.31381,4.95712], "fy":[4.90609,1.34999,-4.90121,-1.24536]}, + {"t":1.23446, "x":1.75977, "y":6.19446, "heading":2.03864, "vx":-0.92832, "vy":-0.37084, "omega":2.80565, "ax":0.00057, "ay":-0.00142, "alpha":-1.40116, "fx":[1.22306,-9.41153,-1.2038,9.42967], "fy":[9.58423,0.79345,-9.58445,-0.88687]}, + {"t":1.26331, "x":1.73299, "y":6.18377, "heading":2.11958, "vx":-0.92831, "vy":-0.37088, "omega":2.76523, "ax":-0.00077, "ay":0.00192, "alpha":-1.41228, "fx":[1.03325,-9.47639,-1.06789,9.46035], "fy":[9.41579,1.1076,-9.40309,-0.9934]}, + {"t":1.29216, "x":1.70621, "y":6.17307, "heading":2.19935, "vx":-0.92833, "vy":-0.37082, "omega":2.72448, "ax":0.00065, "ay":-0.00164, "alpha":-1.99122, "fx":[0.3769,-13.41344,-0.35468,13.43454], "fy":[13.41933,-0.08251,-13.42573,-0.01956]}, + {"t":1.321, "x":1.67943, "y":6.16237, "heading":2.27795, "vx":-0.92831, "vy":-0.37087, "omega":2.66704, "ax":-0.00076, "ay":0.00191, "alpha":-2.09075, "fx":[-0.40212,-14.05929,0.36824,14.04274], "fy":[13.99783,-0.32739,-13.98669,0.44252]}, + {"t":1.34985, "x":1.65265, "y":6.15167, "heading":2.35488, "vx":-0.92833, "vy":-0.37082, "omega":2.60673, "ax":0.00096, "ay":-0.00241, "alpha":-2.61271, "fx":[-1.59602,-17.49921,1.62823,17.53075], "fy":[17.33672,-2.0453,-17.36655,1.91549]}, + {"t":1.3787, "x":1.62587, "y":6.14097, "heading":2.43008, "vx":-0.92831, "vy":-0.37089, "omega":2.53136, "ax":-0.00068, "ay":0.00169, "alpha":-2.79203, "fx":[-2.9741,-18.49586,2.94394,18.48138], "fy":[18.43122,-2.90353,-18.42864,3.01275]}, + {"t":1.40755, "x":1.59909, "y":6.13028, "heading":2.5031, "vx":-0.92832, "vy":-0.37084, "omega":2.45082, "ax":0.00137, "ay":-0.00343, "alpha":-3.27156, "fx":[-4.6621,-21.48181,4.70672,21.5278], "fy":[21.16481,-5.05508,-21.22482,4.88822]}, + {"t":1.43639, "x":1.57231, "y":6.11958, "heading":2.5738, "vx":-0.92829, "vy":-0.37094, "omega":2.35644, "ax":-0.00077, "ay":0.00192, "alpha":-3.51605, "fx":[-6.57754,-22.61218,6.54581,22.59329], "fy":[22.54918,-6.50104,-22.53978,6.61833]}, + {"t":1.46524, "x":1.54553, "y":6.10888, "heading":2.64178, "vx":-0.92831, "vy":-0.37088, "omega":2.25501, "ax":0.00136, "ay":-0.00341, "alpha":-3.97025, "fx":[-8.72965,-25.20554,8.77122,25.25419], "fy":[24.76957,-8.99489,-24.82462,8.82416]}, + {"t":1.49409, "x":1.51875, "y":6.09818, "heading":2.70683, "vx":-0.92827, "vy":-0.37098, "omega":2.14048, "ax":-0.00172, "ay":0.0043, "alpha":-4.26283, "fx":[-11.06344,-26.3028,11.00305,26.24955], "fy":[26.2634,-10.93153,-26.17519,11.12766]}, + {"t":1.52294, "x":1.49197, "y":6.08748, "heading":2.76858, "vx":-0.92832, "vy":-0.37085, "omega":2.01751, "ax":0.00023, "ay":-0.00057, "alpha":-4.7074, "fx":[-13.64332,-28.56881,13.64293,28.58441], "fy":[28.06825,-13.67781,-28.02738,13.59896]}, + {"t":1.55178, "x":1.46519, "y":6.07678, "heading":2.82678, "vx":-0.92831, "vy":-0.37087, "omega":1.88171, "ax":-0.00368, "ay":0.00922, "alpha":-5.03192, "fx":[-16.23025,-29.53244,16.11437,29.40471], "fy":[29.5326,-15.98316,-29.28893,16.34947]}, + {"t":1.58063, "x":1.43841, "y":6.06608, "heading":2.88106, "vx":-0.92842, "vy":-0.37061, "omega":1.73655, "ax":-0.00047, "ay":0.00118, "alpha":-5.47856, "fx":[-19.14302,-31.51438,19.12712,31.49913], "fy":[30.95732,-18.96456,-30.86145,18.94668]}, + {"t":1.60948, "x":1.41163, "y":6.05539, "heading":2.93116, "vx":-0.92843, "vy":-0.37057, "omega":1.57851, "ax":-0.00254, "ay":0.00637, "alpha":-5.82065, "fx":[-21.75881,-32.29984,21.72908,32.16166], "fy":[32.18794,-21.56799,-32.09745,21.89865]}, + {"t":1.63833, "x":1.38484, "y":6.0447, "heading":2.9767, "vx":-0.9285, "vy":-0.37039, "omega":1.4106, "ax":0.00786, "ay":-0.01969, "alpha":-6.27643, "fx":[-24.76546,-33.99837,25.13246,34.15108], "fy":[33.1089,-24.97733,-33.7358,24.30182]}, + {"t":1.66717, "x":1.35806, "y":6.03401, "heading":3.01739, "vx":-0.92828, "vy":-0.37096, "omega":1.22954, "ax":0.0092, "ay":-0.023, "alpha":-6.61958, "fx":[-27.15968,-34.71615,27.78311,34.70131], "fy":[33.90233,-27.64469,-35.03796,27.25938]}, + {"t":1.69602, "x":1.33129, "y":6.0233, "heading":3.05286, "vx":-0.92801, "vy":-0.37162, "omega":1.03858, "ax":0.01815, "ay":-0.04523, "alpha":-7.08069, "fx":[-30.04397,-36.50867,31.42023,36.33262], "fy":[34.78474,-31.04184,-36.47014,29.73598]}, + {"t":1.72487, "x":1.30453, "y":6.01256, "heading":3.08282, "vx":-0.92749, "vy":-0.37292, "omega":0.83432, "ax":-0.04046, "ay":0.10108, "alpha":-7.37857, "fx":[-32.70729,-38.58783,33.10505,35.51397], "fy":[37.36531,-30.55803,-35.17039,35.04765]}, + {"t":1.75372, "x":1.27775, "y":6.00185, "heading":3.10688, "vx":-0.92866, "vy":-0.37001, "omega":0.62146, "ax":-0.22928, "ay":0.59121, "alpha":-7.7116, "fx":[-37.31111,-44.42315,33.87395,32.69685], "fy":[45.59486,-24.30492,-27.43644,45.2452]}, + {"t":1.78256, "x":1.25087, "y":5.99142, "heading":3.12481, "vx":-0.93527, "vy":-0.35295, "omega":0.399, "ax":-0.71842, "ay":2.1064, "alpha":-7.49904, "fx":[-43.19802,-54.33303,27.74579,22.27374], "fy":[67.43635,1.85468,0.08623,69.92685]}, + {"t":1.81141, "x":1.22359, "y":5.98211, "heading":3.13632, "vx":-0.95599, "vy":-0.29219, "omega":0.18268, "ax":-0.91383, "ay":3.75714, "alpha":-6.33244, "fx":[-41.14291,-59.5741,25.43575,14.84656], "fy":[83.93595,37.55829,37.68872,89.29057]}, + {"t":1.84026, "x":1.19563, "y":5.97525, "heading":3.14159, "vx":-0.98236, "vy":-0.1838, "omega":0.0, "ax":-0.41016, "ay":3.68894, "alpha":0.0, "fx":[-7.0037,-6.95789,-6.58845,-6.57522], "fy":[60.78514,61.92151,60.45914,60.79758]}, + {"t":1.88142, "x":1.15485, "y":5.97081, "heading":3.14159, "vx":-0.99924, "vy":-0.03196, "omega":0.0, "ax":-0.01094, "ay":1.04665, "alpha":0.0, "fx":[-0.21798,-0.22127,-0.14447,-0.13986], "fy":[17.10994,17.34147,17.34538,17.42198]}, + {"t":1.92258, "x":1.11371, "y":5.97038, "heading":3.14159, "vx":-0.99969, "vy":0.01112, "omega":0.0, "ax":0.00045, "ay":0.03747, "alpha":0.0, "fx":[0.09619,0.09624,-0.08149,-0.08147], "fy":[0.70836,0.19248,0.86887,0.70838]}, + {"t":1.96374, "x":1.07256, "y":5.97087, "heading":3.14159, "vx":-0.99967, "vy":0.01266, "omega":0.0, "ax":-0.00034, "ay":-0.02788, "alpha":0.0, "fx":[-0.03005,-0.03003,0.10504,-0.06725], "fy":[-0.66916,-0.43648,-0.43649,-0.30168]}, + {"t":2.0049, "x":1.03141, "y":5.97136, "heading":3.14159, "vx":-0.99968, "vy":0.01151, "omega":0.0, "ax":0.00001, "ay":0.00115, "alpha":0.0, "fx":[0.02124,0.02124,-0.0208,-0.0208], "fy":[0.04005,-0.08724,0.08324,0.04005]}, + {"t":2.04607, "x":0.99026, "y":5.97184, "heading":3.14159, "vx":-0.99968, "vy":0.01156, "omega":0.0, "ax":0.00009, "ay":0.00782, "alpha":0.0, "fx":[0.0286,0.02864,0.13034,-0.18152], "fy":[0.10893,0.10221,0.10219,0.2039]}, + {"t":2.08723, "x":0.94912, "y":5.97232, "heading":3.14159, "vx":-0.99968, "vy":0.01188, "omega":0.0, "ax":0.00002, "ay":0.00207, "alpha":0.0, "fx":[0.00816,0.00815,-0.00734,-0.00734], "fy":[0.04192,-0.00688,0.05973,0.04192]}, + {"t":2.12839, "x":0.90797, "y":5.97281, "heading":3.14159, "vx":-0.99968, "vy":0.01197, "omega":0.0, "ax":0.00001, "ay":0.00077, "alpha":0.0, "fx":[0.0389,0.03892,0.14572,-0.22273], "fy":[0.02204,-0.026,-0.026,0.08078]}, + {"t":2.16955, "x":0.86682, "y":5.97331, "heading":3.14159, "vx":-0.99968, "vy":0.012, "omega":0.0, "ax":0.30358, "ay":-0.00583, "alpha":0.0, "fx":[5.02236,5.02235,5.01608,5.01607], "fy":[-0.09323,-0.11331,-0.08571,-0.09323]}, + {"t":2.21071, "x":0.82593, "y":5.9738, "heading":3.14159, "vx":-0.98718, "vy":0.01176, "omega":0.0, "ax":3.99352, "ay":-0.0476, "alpha":0.0, "fx":[65.98958,65.99105,65.96485,66.16089], "fy":[-0.81832,-0.75001,-0.75152,-0.82833]}, + {"t":2.25187, "x":0.78868, "y":5.97424, "heading":3.14159, "vx":-0.8228, "vy":0.0098, "omega":0.0, "ax":3.99665, "ay":-0.0476, "alpha":0.0, "fx":[66.07464,66.07465,66.08217,66.08215], "fy":[-0.79078,-0.7691,-0.79748,-0.79083]}, + {"t":2.29303, "x":0.7582, "y":5.9746, "heading":3.14159, "vx":-0.6583, "vy":0.00784, "omega":0.0, "ax":3.99768, "ay":-0.04761, "alpha":0.0, "fx":[66.07104,66.07219,66.0603,66.17817], "fy":[-0.79653,-0.76261,-0.7642,-0.82551]}, + {"t":2.3342, "x":0.73449, "y":5.97488, "heading":3.14159, "vx":-0.49375, "vy":0.00588, "omega":0.0, "ax":3.99819, "ay":-0.04762, "alpha":0.0, "fx":[66.09893,66.09913,66.1087,66.10879], "fy":[-0.79223,-0.75666,-0.80827,-0.79214]}, + {"t":2.37536, "x":0.71755, "y":5.97509, "heading":3.14159, "vx":-0.32918, "vy":0.00392, "omega":0.0, "ax":3.9985, "ay":-0.04762, "alpha":0.0, "fx":[66.1036,66.10391,66.11406,66.11422], "fy":[-0.79267,-0.75127,-0.81314,-0.7925]}, + {"t":2.41652, "x":0.70739, "y":5.97521, "heading":3.14159, "vx":-0.16459, "vy":0.00196, "omega":0.0, "ax":3.9987, "ay":-0.04763, "alpha":0.0, "fx":[66.09497,66.15664,66.09848,66.09919], "fy":[-0.77446,-0.79842,-0.8034,-0.77342]}, + {"t":2.45768, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj new file mode 100644 index 00000000..bfb7de2a --- /dev/null +++ b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj @@ -0,0 +1,161 @@ +{ + "name":"LPreTrenchtoLCleanup", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.814759731292725, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.107110023498535, "y":6.267597198486328, "heading":-1.4382449013353842, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"7.509117603302002 m", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.814759731292725 m", "val":5.814759731292725}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"6.107110023498535 m", "val":6.107110023498535}, "y":{"exp":"6.267597198486328 m", "val":6.267597198486328}, "heading":{"exp":"-1.4382449013353842 rad", "val":-1.4382449013353842}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,1.38096,2.12494,3.36329], + "samples":[ + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52564, "ay":0.00213, "alpha":0.0, "fx":[124.42468,124.42468,124.42468,124.42468], "fy":[0.03523,0.03523,0.03523,0.03523]}, + {"t":0.04603, "x":3.35455, "y":7.50912, "heading":0.0, "vx":0.34642, "vy":0.0001, "omega":0.0, "ax":7.52379, "ay":0.00216, "alpha":0.0, "fx":[124.39418,124.39418,124.39418,124.39418], "fy":[0.03567,0.03567,0.03567,0.03567]}, + {"t":0.09206, "x":3.37847, "y":7.50913, "heading":0.0, "vx":0.69276, "vy":0.0002, "omega":0.0, "ax":7.52073, "ay":0.0022, "alpha":0.0, "fx":[124.34348,124.34348,124.34348,124.34348], "fy":[0.03632,0.03632,0.03632,0.03632]}, + {"t":0.1381, "x":3.41832, "y":7.50914, "heading":0.0, "vx":1.03895, "vy":0.0003, "omega":0.0, "ax":7.51462, "ay":0.00225, "alpha":0.0, "fx":[124.24261,124.24261,124.24261,124.24261], "fy":[0.03724,0.03724,0.03724,0.03724]}, + {"t":0.18413, "x":3.47411, "y":7.50915, "heading":0.0, "vx":1.38487, "vy":0.0004, "omega":0.0, "ax":7.49658, "ay":0.00234, "alpha":0.0, "fx":[123.94421,123.94421,123.94421,123.94421], "fy":[0.03861,0.03861,0.03861,0.03861]}, + {"t":0.23016, "x":3.5458, "y":7.50918, "heading":0.0, "vx":1.72995, "vy":0.00051, "omega":0.0, "ax":5.85711, "ay":0.00336, "alpha":0.0, "fx":[96.83817,96.83817,96.83817,96.83817], "fy":[0.05548,0.05548,0.05548,0.05548]}, + {"t":0.27619, "x":3.63164, "y":7.5092, "heading":0.0, "vx":1.99956, "vy":0.00066, "omega":0.0, "ax":0.00018, "ay":0.00185, "alpha":0.0, "fx":[0.00304,0.00304,0.00304,0.00304], "fy":[0.03062,0.03062,0.03062,0.03062]}, + {"t":0.32222, "x":3.72369, "y":7.50923, "heading":0.0, "vx":1.99957, "vy":0.00075, "omega":0.0, "ax":0.0, "ay":0.00233, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.03858,0.03858,0.03858,0.03858]}, + {"t":0.36826, "x":3.81573, "y":7.50927, "heading":0.0, "vx":1.99957, "vy":0.00086, "omega":0.0, "ax":0.0, "ay":0.00301, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.04977,0.04977,0.04977,0.04977]}, + {"t":0.41429, "x":3.90777, "y":7.50931, "heading":0.0, "vx":1.99957, "vy":0.001, "omega":0.0, "ax":0.0, "ay":0.0038, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0629,0.0629,0.0629,0.0629]}, + {"t":0.46032, "x":3.99982, "y":7.50936, "heading":0.0, "vx":1.99957, "vy":0.00117, "omega":0.0, "ax":0.0, "ay":0.00474, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.07835,0.07835,0.07835,0.07835]}, + {"t":0.50635, "x":4.09186, "y":7.50942, "heading":0.0, "vx":1.99957, "vy":0.00139, "omega":0.0, "ax":0.0, "ay":0.00585, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.0967,0.0967,0.0967,0.0967]}, + {"t":0.55239, "x":4.18391, "y":7.50949, "heading":0.0, "vx":1.99957, "vy":0.00166, "omega":0.0, "ax":-0.00001, "ay":0.00718, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[0.11865,0.11865,0.11865,0.11865]}, + {"t":0.59842, "x":4.27595, "y":7.50958, "heading":0.0, "vx":1.99957, "vy":0.00199, "omega":0.0, "ax":-0.00001, "ay":0.00877, "alpha":0.0, "fx":[-0.00016,-0.00016,-0.00016,-0.00016], "fy":[0.14502,0.14502,0.14502,0.14502]}, + {"t":0.64445, "x":4.368, "y":7.50968, "heading":0.0, "vx":1.99957, "vy":0.00239, "omega":0.0, "ax":-0.00001, "ay":0.0107, "alpha":0.0, "fx":[-0.00023,-0.00023,-0.00023,-0.00023], "fy":[0.17686,0.17686,0.17686,0.17686]}, + {"t":0.69048, "x":4.46004, "y":7.5098, "heading":0.0, "vx":1.99957, "vy":0.00288, "omega":0.0, "ax":-0.00002, "ay":0.01303, "alpha":0.0, "fx":[-0.00034,-0.00034,-0.00034,-0.00034], "fy":[0.21544,0.21544,0.21544,0.21544]}, + {"t":0.73651, "x":4.55208, "y":7.50995, "heading":0.0, "vx":1.99957, "vy":0.00348, "omega":0.0, "ax":-0.00003, "ay":0.01587, "alpha":0.0, "fx":[-0.00051,-0.00051,-0.00051,-0.00051], "fy":[0.26238,0.26238,0.26238,0.26238]}, + {"t":0.78255, "x":4.64413, "y":7.51012, "heading":0.0, "vx":1.99957, "vy":0.00421, "omega":0.0, "ax":-0.00005, "ay":0.01934, "alpha":0.0, "fx":[-0.00075,-0.00075,-0.00075,-0.00075], "fy":[0.31976,0.31976,0.31976,0.31976]}, + {"t":0.82858, "x":4.73617, "y":7.51034, "heading":0.0, "vx":1.99957, "vy":0.00511, "omega":0.0, "ax":-0.00007, "ay":0.02361, "alpha":0.0, "fx":[-0.0011,-0.0011,-0.0011,-0.0011], "fy":[0.39037,0.39037,0.39037,0.39037]}, + {"t":0.87461, "x":4.82822, "y":7.5106, "heading":0.0, "vx":1.99956, "vy":0.00619, "omega":0.0, "ax":-0.0001, "ay":0.02891, "alpha":0.0, "fx":[-0.00164,-0.00164,-0.00164,-0.00164], "fy":[0.478,0.478,0.478,0.478]}, + {"t":0.92064, "x":4.92026, "y":7.51091, "heading":0.0, "vx":1.99956, "vy":0.00752, "omega":0.0, "ax":-0.00015, "ay":0.03557, "alpha":0.0, "fx":[-0.00245,-0.00245,-0.00245,-0.00245], "fy":[0.58817,0.58817,0.58817,0.58817]}, + {"t":0.96667, "x":5.0123, "y":7.5113, "heading":0.0, "vx":1.99955, "vy":0.00916, "omega":0.0, "ax":-0.00022, "ay":0.04412, "alpha":0.0, "fx":[-0.00371,-0.00371,-0.00371,-0.00371], "fy":[0.72938,0.72938,0.72938,0.72938]}, + {"t":1.01271, "x":5.10435, "y":7.51177, "heading":0.0, "vx":1.99954, "vy":0.01119, "omega":0.0, "ax":-0.00035, "ay":0.05539, "alpha":0.0, "fx":[-0.00571,-0.00571,-0.00571,-0.00571], "fy":[0.91577,0.91577,0.91577,0.91577]}, + {"t":1.05874, "x":5.19639, "y":7.51234, "heading":0.0, "vx":1.99952, "vy":0.01374, "omega":0.0, "ax":-0.00055, "ay":0.07099, "alpha":0.0, "fx":[-0.00902,-0.00902,-0.00902,-0.00902], "fy":[1.17365,1.17365,1.17365,1.17365]}, + {"t":1.10477, "x":5.28843, "y":7.51305, "heading":0.0, "vx":1.9995, "vy":0.01701, "omega":0.0, "ax":-0.00091, "ay":0.0944, "alpha":0.0, "fx":[-0.01497,-0.01497,-0.01497,-0.01497], "fy":[1.56068,1.56068,1.56068,1.56068]}, + {"t":1.1508, "x":5.38047, "y":7.51393, "heading":0.0, "vx":1.99946, "vy":0.02135, "omega":0.0, "ax":-0.00166, "ay":0.13577, "alpha":0.0, "fx":[-0.02748,-0.02748,-0.02748,-0.02748], "fy":[2.24474,2.24474,2.24474,2.24474]}, + {"t":1.19683, "x":5.47251, "y":7.51506, "heading":0.0, "vx":1.99938, "vy":0.0276, "omega":0.0, "ax":-0.004, "ay":0.24106, "alpha":0.0, "fx":[-0.06608,-0.06608,-0.06608,-0.06608], "fy":[3.98557,3.98557,3.98557,3.98557]}, + {"t":1.24287, "x":5.56454, "y":7.51658, "heading":0.0, "vx":1.9992, "vy":0.0387, "omega":0.0, "ax":-0.02534, "ay":0.6622, "alpha":0.0, "fx":[-0.41897,-0.41897,-0.41897,-0.41897], "fy":[10.94841,10.94841,10.94841,10.94841]}, + {"t":1.2889, "x":5.65654, "y":7.51907, "heading":0.0, "vx":1.99803, "vy":0.06918, "omega":0.0, "ax":-6.84321, "ay":-2.96205, "alpha":0.0, "fx":[-113.14179,-113.14179,-113.14179,-113.14179], "fy":[-48.97285,-48.97285,-48.97285,-48.97285]}, + {"t":1.33493, "x":5.74127, "y":7.51911, "heading":0.0, "vx":1.68302, "vy":-0.06717, "omega":0.0, "ax":-3.75524, "ay":-6.51548, "alpha":0.0, "fx":[-62.08697,-62.08697,-62.08697,-62.08697], "fy":[-107.72333,-107.72333,-107.72333,-107.72333]}, + {"t":1.38096, "x":5.81476, "y":7.50912, "heading":0.0, "vx":1.51016, "vy":-0.36709, "omega":0.0, "ax":-2.19248, "ay":-6.14659, "alpha":-6.94999, "fx":[7.79342,24.52074,-111.30455,-66.00674], "fy":[-124.13429,-121.56784,-55.34629,-105.44897]}, + {"t":1.40576, "x":5.85154, "y":7.49812, "heading":0.0, "vx":1.45579, "vy":-0.51952, "omega":-0.17235, "ax":-2.26302, "ay":-6.10239, "alpha":-6.98914, "fx":[7.05041,22.92625,-112.47176,-67.16706], "fy":[-124.16453,-121.81347,-52.89522,-104.70078]}, + {"t":1.43056, "x":5.88694, "y":7.48336, "heading":-0.00427, "vx":1.39967, "vy":-0.67085, "omega":-0.34568, "ax":-2.34286, "ay":-6.04429, "alpha":-7.05948, "fx":[6.01517,21.56893,-113.82873,-68.69774], "fy":[-124.20259,-121.98192,-49.85952,-103.68773]}, + {"t":1.45536, "x":5.92093, "y":7.46487, "heading":-0.01285, "vx":1.34157, "vy":-0.82075, "omega":-0.52075, "ax":-2.43332, "ay":-5.96927, "alpha":-7.16487, "fx":[4.65009,20.44733,-115.37816,-70.64397], "fy":[-124.24197,-122.07557,-46.09883,-102.35366]}, + {"t":1.48016, "x":5.95346, "y":7.44268, "heading":-0.02576, "vx":1.28122, "vy":-0.96878, "omega":-0.69843, "ax":-2.53624, "ay":-5.87314, "alpha":-7.30974, "fx":[2.9003,19.54092,-117.10738,-73.06475], "fy":[-124.2722,-122.09427,-41.42831,-100.61819]}, + {"t":1.50496, "x":5.98445, "y":7.41685, "heading":-0.04308, "vx":1.21833, "vy":-1.11443, "omega":-0.87971, "ax":-2.65409, "ay":-5.75011, "alpha":-7.49895, "fx":[0.68491,18.80149,-118.97387,-76.03743], "fy":[-124.27625,-122.0322,-35.60381,-98.36435]}, + {"t":1.52976, "x":6.01385, "y":7.38744, "heading":-0.0649, "vx":1.15251, "vy":-1.25703, "omega":-1.06568, "ax":-2.79023, "ay":-5.59201, "alpha":-7.73698, "fx":[-2.11808,18.13159,-120.8787,-79.66305], "fy":[-124.22529,-121.87085,-28.30641,-95.41832]}, + {"t":1.55456, "x":6.04157, "y":7.35455, "heading":-0.09133, "vx":1.08331, "vy":-1.39571, "omega":-1.25755, "ax":-2.94962, "ay":-5.3872, "alpha":-8.02523, "fx":[-5.69922,17.32067,-122.61983,-84.07108], "fy":[-124.06783,-121.55803,-19.13457,-91.51514]}, + {"t":1.57936, "x":6.06753, "y":7.31828, "heading":-0.12251, "vx":1.01016, "vy":-1.52931, "omega":-1.45657, "ax":-3.14221, "ay":-5.11835, "alpha":-8.35257, "fx":[-10.36951,15.79787,-123.8171,-89.41775], "fy":[-123.70529,-120.92107,-7.62844,-86.241]}, + {"t":1.60416, "x":6.09161, "y":7.27878, "heading":-0.15863, "vx":0.93224, "vy":-1.65624, "omega":-1.66371, "ax":-3.40666, "ay":-4.7525, "alpha":-8.64979, "fx":[-16.66026,11.03711,-123.81773,-95.85456], "fy":[-122.9323,-119.03156,6.60783,-78.94469]}, + {"t":1.62896, "x":6.11368, "y":7.23625, "heading":-0.19989, "vx":0.84775, "vy":-1.7741, "omega":-1.87822, "ax":-4.70772, "ay":-3.43872, "alpha":-8.00369, "fx":[-25.4816,-60.81885,-121.72376,-103.31488], "fy":[-121.28602,-60.64424,23.28928,-68.77449]}, + {"t":1.65375, "x":6.13326, "y":7.19119, "heading":-0.24647, "vx":0.73101, "vy":-1.85938, "omega":-2.0767, "ax":-3.44235, "ay":-1.27506, "alpha":-13.47478, "fx":[-30.0081,28.83953,-119.75668,-106.73051], "fy":[-120.1227,67.5198,31.46248,-63.18402]}, + {"t":1.67855, "x":6.15033, "y":7.14469, "heading":-0.29797, "vx":0.64564, "vy":-1.891, "omega":-2.41087, "ax":-3.03508, "ay":-0.97592, "alpha":-14.61248, "fx":[-35.07149,61.54777,-117.3198,-109.87778], "fy":[-118.57386,72.22446,39.10062,-57.2928]}, + {"t":1.70335, "x":6.16541, "y":7.09749, "heading":-0.35776, "vx":0.57037, "vy":-1.9152, "omega":-2.77325, "ax":-3.00498, "ay":-0.8373, "alpha":-14.71486, "fx":[-41.45361,69.98666,-114.27935,-112.98454], "fy":[-116.24307,64.71348,46.63994,-50.48384]}, + {"t":1.72815, "x":6.17863, "y":7.04974, "heading":-0.42653, "vx":0.49585, "vy":-1.93596, "omega":-3.13817, "ax":-3.29407, "ay":-0.77363, "alpha":-13.97577, "fx":[-49.73057,58.61287,-110.85881,-115.8727], "fy":[-112.52996,50.63777,53.39465,-42.66582]}, + {"t":1.75295, "x":6.18991, "y":7.00149, "heading":-0.50436, "vx":0.41416, "vy":-1.95515, "omega":-3.48475, "ax":-5.37511, "ay":-0.95204, "alpha":-8.72365, "fx":[-62.13202,-67.31779,-107.5379,-118.48826], "fy":[-105.33188,16.91766,58.32543,-32.87296]}, + {"t":1.77775, "x":6.19853, "y":6.95271, "heading":-0.59078, "vx":0.28086, "vy":-1.97876, "omega":-3.7011, "ax":-6.39102, "ay":-0.64884, "alpha":-5.86471, "fx":[-86.36943,-108.53684,-107.49575,-120.26007], "fy":[-84.00298,4.88585,54.96795,-18.76103]}, + {"t":1.80255, "x":6.20353, "y":6.90344, "heading":-0.68256, "vx":0.12237, "vy":-1.99485, "omega":-3.84654, "ax":-7.00078, "ay":-0.08641, "alpha":-0.95147, "fx":[-115.27888,-115.15535,-115.74065,-116.8132], "fy":[-13.32484,-0.23398,10.26981,-2.42536]}, + {"t":1.82735, "x":6.20441, "y":6.85394, "heading":-0.77795, "vx":-0.05125, "vy":-1.99699, "omega":-3.87013, "ax":-6.43276, "ay":0.42601, "alpha":0.01118, "fx":[-106.34866,-106.37623,-106.36276,-106.33527], "fy":[7.17196,7.03519,6.9147,7.05151]}, + {"t":1.85215, "x":6.20116, "y":6.80455, "heading":-0.87393, "vx":-0.21078, "vy":-1.98643, "omega":-3.86985, "ax":-4.62954, "ay":0.6254, "alpha":-0.00098, "fx":[-76.54327,-76.53822,-76.54122,-76.54627], "fy":[10.33105,10.33988,10.34897,10.34014]}, + {"t":1.87695, "x":6.19451, "y":6.75548, "heading":-0.9699, "vx":-0.32558, "vy":-1.97092, "omega":-3.86988, "ax":-1.39158, "ay":0.23464, "alpha":-0.38133, "fx":[-23.4961,-20.58628,-22.53607,-25.41169], "fy":[1.29209,3.42413,6.47024,4.33102]}, + {"t":1.90175, "x":6.18601, "y":6.70668, "heading":-1.06587, "vx":-0.36009, "vy":-1.9651, "omega":-3.87934, "ax":-0.32795, "ay":0.01808, "alpha":9.52195, "fx":[10.87708,-65.18182,-24.1855,56.80135], "fy":[62.08069,17.25282,-60.11308,-18.02471]}, + {"t":1.92655, "x":6.17698, "y":6.65795, "heading":-1.16208, "vx":-0.36823, "vy":-1.96465, "omega":-3.6432, "ax":0.12759, "ay":-0.02415, "alpha":17.82436, "fx":[47.46999,-110.14033,-39.94593,111.05412], "fy":[109.11358,44.42592,-112.01183,-43.12474]}, + {"t":1.95135, "x":6.16789, "y":6.60922, "heading":-1.25242, "vx":-0.36506, "vy":-1.96525, "omega":-3.20117, "ax":0.1515, "ay":-0.02806, "alpha":18.22547, "fx":[58.9613,-107.85526,-50.3981,109.31147], "fy":[106.44016,56.00287,-110.68,-53.61889]}, + {"t":1.97615, "x":6.15888, "y":6.56047, "heading":-1.33181, "vx":-0.36131, "vy":-1.96594, "omega":-2.74919, "ax":0.16456, "ay":-0.03009, "alpha":18.36571, "fx":[67.94081,-103.60334,-59.21764,105.763], "fy":[102.0793,65.37696,-107.30505,-62.14136]}, + {"t":2.00094, "x":6.14997, "y":6.51171, "heading":-1.39999, "vx":-0.35723, "vy":-1.96669, "omega":-2.29373, "ax":0.17504, "ay":-0.03161, "alpha":18.43666, "fx":[75.13919,-99.00297,-66.49489,101.93472], "fy":[97.50911,72.99948,-103.52794,-69.07085]}, + {"t":2.02574, "x":6.14117, "y":6.46293, "heading":-1.45687, "vx":-0.35288, "vy":-1.96747, "omega":-1.83652, "ax":0.18466, "ay":-0.0329, "alpha":18.47919, "fx":[80.82756,-94.61884,-72.32671,98.33005], "fy":[93.23246,79.0726,-99.90271,-74.5782]}, + {"t":2.05054, "x":6.13247, "y":6.41413, "heading":-1.50242, "vx":-0.34831, "vy":-1.96829, "omega":-1.37824, "ax":0.19399, "ay":-0.03406, "alpha":18.50731, "fx":[85.19085,-90.77557,-76.81509,95.22877], "fy":[89.53114,83.75679,-96.74539,-78.7952]}, + {"t":2.07534, "x":6.12389, "y":6.3653, "heading":-1.5366, "vx":-0.34349, "vy":-1.96914, "omega":-0.91928, "ax":0.20334, "ay":-0.03472, "alpha":18.52709, "fx":[88.3701,-87.68202,-80.05996,92.81975], "fy":[86.59318,87.19696,-94.2631,-81.82349]}, + {"t":2.10014, "x":6.11544, "y":6.31646, "heading":-1.55939, "vx":-0.33845, "vy":-1.97, "omega":-0.45982, "ax":0.21439, "ay":-0.02619, "alpha":18.54155, "fx":[90.36362,-85.30938,-82.25688,91.38078], "fy":[84.66517,89.67242,-92.49256,-83.57683]}, + {"t":2.12494, "x":6.10711, "y":6.2676, "heading":-1.5708, "vx":-0.33314, "vy":-1.97065, "omega":0.0, "ax":6.16516, "ay":-0.67501, "alpha":0.0, "fx":[101.93138,101.93138,101.93138,101.93138], "fy":[-11.16019,-11.16019,-11.16019,-11.16019]}, + {"t":2.16489, "x":6.09872, "y":6.18834, "heading":-1.5708, "vx":-0.08686, "vy":-1.99761, "omega":0.0, "ax":1.44331, "ay":-0.04194, "alpha":0.0, "fx":[23.86294,23.86294,23.86294,23.86294], "fy":[-0.69349,-0.69349,-0.69349,-0.69349]}, + {"t":2.20483, "x":6.0964, "y":6.10851, "heading":-1.5708, "vx":-0.0292, "vy":-1.99929, "omega":0.0, "ax":0.11326, "ay":-0.00153, "alpha":0.0, "fx":[1.87256,1.87256,1.87256,1.87256], "fy":[-0.02524,-0.02524,-0.02524,-0.02524]}, + {"t":2.24478, "x":6.09533, "y":6.02864, "heading":-1.5708, "vx":-0.02468, "vy":-1.99935, "omega":0.0, "ax":0.00856, "ay":-0.0001, "alpha":0.0, "fx":[0.14155,0.14155,0.14155,0.14155], "fy":[-0.00174,-0.00174,-0.00174,-0.00174]}, + {"t":2.28473, "x":6.09435, "y":5.94877, "heading":-1.5708, "vx":-0.02434, "vy":-1.99935, "omega":0.0, "ax":0.00065, "ay":-0.00001, "alpha":0.0, "fx":[0.0107,0.0107,0.0107,0.0107], "fy":[-0.00013,-0.00013,-0.00013,-0.00013]}, + {"t":2.32467, "x":6.09338, "y":5.86891, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.00005, "ay":0.0, "alpha":0.0, "fx":[0.00081,0.00081,0.00081,0.00081], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, + {"t":2.36462, "x":6.09241, "y":5.78904, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.40457, "x":6.09143, "y":5.70917, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.44451, "x":6.09046, "y":5.6293, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.48446, "x":6.08949, "y":5.54944, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.52441, "x":6.08852, "y":5.46957, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.56435, "x":6.08755, "y":5.3897, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.6043, "x":6.08658, "y":5.30984, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.64425, "x":6.08561, "y":5.22997, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.68419, "x":6.08464, "y":5.1501, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.72414, "x":6.08367, "y":5.07023, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.76409, "x":6.0827, "y":4.99037, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.80403, "x":6.08172, "y":4.9105, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.84398, "x":6.08075, "y":4.83063, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.88393, "x":6.07978, "y":4.75076, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.92387, "x":6.07881, "y":4.6709, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.96382, "x":6.07784, "y":4.59103, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.00377, "x":6.07687, "y":4.51116, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.04371, "x":6.0759, "y":4.4313, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.08366, "x":6.07493, "y":4.35143, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.12361, "x":6.07396, "y":4.27156, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.16355, "x":6.07299, "y":4.19169, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.2035, "x":6.07201, "y":4.11183, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.24345, "x":6.07104, "y":4.03196, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.28339, "x":6.07007, "y":3.95209, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.32334, "x":6.0691, "y":3.87222, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.00015, "ay":0.01256, "alpha":0.0, "fx":[0.00253,0.00253,0.00253,0.00253], "fy":[0.20769,0.20769,0.20769,0.20769]}, + {"t":3.36329, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":-0.0243, "vy":-1.99885, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj index 457b3a1b..7d6ab351 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7803301811218262, "y":5.078708171844482, "heading":1.6207547225168395, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.7803301811218262 m", "val":1.7803301811218262}, "y":{"exp":"5.078708171844482 m", "val":5.078708171844482}, "heading":{"exp":"1.6207547225168395 rad", "val":1.6207547225168395}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LClimb.x", "val":0.5524598956108093}, "y":{"exp":"LClimb.y", "val":4.88380765914917}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -57,80 +57,83 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.32864,2.64551], + "waypoints":[0.0,1.48301,2.79866], "samples":[ - {"t":0.0, "x":2.94973, "y":7.37853, "heading":0.0, "vx":-0.86839, "vy":-1.79876, "omega":1.70569, "ax":-0.02745, "ay":-0.05662, "alpha":-0.02304, "fx":[-0.3452,-0.34521,-0.56257,-0.56256], "fy":[-1.04488,-0.82753,-0.82752,-1.04487]}, - {"t":0.0309, "x":2.92288, "y":7.32292, "heading":0.0527, "vx":-0.86924, "vy":-1.80051, "omega":1.70498, "ax":-0.00003, "ay":0.00001, "alpha":-0.04399, "fx":[0.2177,0.19583,-0.21865,-0.19679], "fy":[-0.19615,0.21834,0.19647,-0.21802]}, - {"t":0.0618, "x":2.89603, "y":7.26729, "heading":0.10538, "vx":-0.86924, "vy":-1.80051, "omega":1.70362, "ax":-0.00002, "ay":0.00001, "alpha":-0.06457, "fx":[0.3346,0.27052,-0.33532,-0.27124], "fy":[-0.27071,0.33514,0.27105,-0.33479]}, - {"t":0.0927, "x":2.86917, "y":7.21166, "heading":0.15802, "vx":-0.86924, "vy":-1.80051, "omega":1.70163, "ax":-0.00002, "ay":0.00001, "alpha":-0.08521, "fx":[0.45983,0.33332,-0.46063,-0.33411], "fy":[-0.33352,0.46042,0.33391,-0.46004]}, - {"t":0.12359, "x":2.84231, "y":7.15602, "heading":0.2106, "vx":-0.86924, "vy":-1.80051, "omega":1.69899, "ax":-0.00003, "ay":0.00001, "alpha":-0.10638, "fx":[0.59526,0.38543,-0.59614,-0.38631], "fy":[-0.38566,0.59591,0.38608,-0.59549]}, - {"t":0.15449, "x":2.81545, "y":7.10039, "heading":0.2631, "vx":-0.86924, "vy":-1.80051, "omega":1.69571, "ax":-0.00003, "ay":0.00001, "alpha":-0.1286, "fx":[0.74314,0.42757,-0.74405,-0.42848], "fy":[-0.42781,0.74381,0.42825,-0.74337]}, - {"t":0.18539, "x":2.78859, "y":7.04476, "heading":0.31549, "vx":-0.86924, "vy":-1.80051, "omega":1.69173, "ax":-0.00003, "ay":0.00001, "alpha":-0.1524, "fx":[0.9061,0.45994,-0.90701,-0.46084], "fy":[-0.46017,0.90677,0.46061,-0.90634]}, - {"t":0.21629, "x":2.76174, "y":6.98912, "heading":0.36776, "vx":-0.86924, "vy":-1.80051, "omega":1.68702, "ax":-0.00003, "ay":0.00001, "alpha":-0.17834, "fx":[1.08713,0.48216,-1.08798,-0.48302], "fy":[-0.48238,1.08776,0.48279,-1.08735]}, - {"t":0.24719, "x":2.73488, "y":6.93349, "heading":0.41989, "vx":-0.86924, "vy":-1.80051, "omega":1.68151, "ax":-0.00002, "ay":0.00001, "alpha":-0.207, "fx":[1.28942,0.49323,-1.29017,-0.49399], "fy":[-0.49343,1.28998,0.49379,-1.28961]}, - {"t":0.27809, "x":2.70802, "y":6.87786, "heading":0.47185, "vx":-0.86925, "vy":-1.80051, "omega":1.67512, "ax":-0.00002, "ay":0.00001, "alpha":-0.23897, "fx":[1.51624,0.49142,-1.51687,-0.49205], "fy":[-0.49159,1.51671,0.49189,-1.51641]}, - {"t":0.30899, "x":2.68116, "y":6.82222, "heading":0.52361, "vx":-0.86925, "vy":-1.80051, "omega":1.66773, "ax":-0.00001, "ay":0.00001, "alpha":-0.27484, "fx":[1.77089,0.47432,-1.77136,-0.47479], "fy":[-0.47444,1.77124,0.47467,-1.77101]}, - {"t":0.33988, "x":2.6543, "y":6.76659, "heading":0.57514, "vx":-0.86925, "vy":-1.80051, "omega":1.65924, "ax":-0.00001, "ay":0.0, "alpha":-0.31521, "fx":[2.05649,0.43877,-2.05679,-0.43907], "fy":[-0.43885,2.05671,0.43899,-2.05657]}, - {"t":0.37078, "x":2.62744, "y":6.71096, "heading":0.6264, "vx":-0.86925, "vy":-1.80051, "omega":1.6495, "ax":0.0, "ay":0.0, "alpha":-0.36069, "fx":[2.37598,0.38093,-2.3761,-0.38105], "fy":[-0.38096,2.37607,0.38102,-2.37601]}, - {"t":0.40168, "x":2.60058, "y":6.65533, "heading":0.67737, "vx":-0.86925, "vy":-1.80051, "omega":1.63836, "ax":0.0, "ay":0.0, "alpha":-0.41189, "fx":[2.73198,0.2963,-2.73192,-0.29625], "fy":[-0.29629,2.73194,0.29626,-2.73196]}, - {"t":0.43258, "x":2.57373, "y":6.59969, "heading":0.72799, "vx":-0.86925, "vy":-1.80051, "omega":1.62563, "ax":0.00001, "ay":0.0, "alpha":-0.46943, "fx":[3.12677,0.17979,-3.12655,-0.17957], "fy":[-0.17973,3.12661,0.17963,-3.12671]}, - {"t":0.46348, "x":2.54687, "y":6.54406, "heading":0.77822, "vx":-0.86925, "vy":-1.80051, "omega":1.61113, "ax":0.00001, "ay":-0.00001, "alpha":-0.53393, "fx":[3.56225,0.02573,-3.5619,-0.02538], "fy":[-0.02564,3.56199,0.02547,-3.56216]}, - {"t":0.49438, "x":2.52001, "y":6.48843, "heading":0.82801, "vx":-0.86925, "vy":-1.80051, "omega":1.59463, "ax":0.00001, "ay":-0.00001, "alpha":-0.60607, "fx":[4.04,-0.172,-4.03955,0.17245], "fy":[0.17212,4.03966,-0.17234,-4.03988]}, - {"t":0.52527, "x":2.49315, "y":6.43279, "heading":0.87728, "vx":-0.86925, "vy":-1.80051, "omega":1.5759, "ax":0.00002, "ay":-0.00001, "alpha":-0.68653, "fx":[4.56122,-0.41998,-4.56071,0.4205], "fy":[0.42011,4.56084,-0.42037,-4.56109]}, - {"t":0.55617, "x":2.46629, "y":6.37716, "heading":0.92597, "vx":-0.86925, "vy":-1.80051, "omega":1.55469, "ax":0.00002, "ay":-0.00001, "alpha":-0.77608, "fx":[5.12688,-0.72517,-5.12634,0.72571], "fy":[0.72531,5.12648,-0.72558,-5.12675]}, - {"t":0.58707, "x":2.43943, "y":6.32153, "heading":0.97401, "vx":-0.86924, "vy":-1.80051, "omega":1.53071, "ax":0.00002, "ay":-0.00001, "alpha":-0.87551, "fx":[5.73771,-1.09488,-5.73717,1.09542], "fy":[1.09502,5.73731,-1.09528,-5.73757]}, - {"t":0.61797, "x":2.41258, "y":6.2659, "heading":1.0213, "vx":-0.86924, "vy":-1.80051, "omega":1.50366, "ax":0.00001, "ay":-0.00001, "alpha":-0.9857, "fx":[6.39429,-1.53677,-6.3938,1.53726], "fy":[1.53689,6.39393,-1.53713,-6.39417]}, - {"t":0.64887, "x":2.38572, "y":6.21026, "heading":1.06776, "vx":-0.86924, "vy":-1.80051, "omega":1.4732, "ax":0.00001, "ay":-0.00001, "alpha":-1.10762, "fx":[7.09716,-2.05874,-7.09674,2.05916], "fy":[2.05885,7.09684,-2.05906,-7.09705]}, - {"t":0.67977, "x":2.35886, "y":6.15463, "heading":1.11328, "vx":-0.86924, "vy":-1.80051, "omega":1.43898, "ax":0.00001, "ay":-0.00001, "alpha":-1.24231, "fx":[7.84681,-2.66899,-7.84648,2.66932], "fy":[2.66907,7.84656,-2.66924,-7.84673]}, - {"t":0.71067, "x":2.332, "y":6.099, "heading":1.15775, "vx":-0.86924, "vy":-1.80051, "omega":1.40059, "ax":0.00001, "ay":0.0, "alpha":-1.3909, "fx":[8.64379,-3.37582,-8.64356,3.37605], "fy":[3.37588,8.64362,-3.376,-8.64374]}, - {"t":0.74156, "x":2.30514, "y":6.04336, "heading":1.20102, "vx":-0.86924, "vy":-1.80051, "omega":1.35761, "ax":0.0, "ay":0.0, "alpha":-1.5546, "fx":[9.48876,-4.18762,-9.48863,4.18776], "fy":[4.18765,9.48866,-4.18773,-9.48873]}, - {"t":0.77246, "x":2.27828, "y":5.98773, "heading":1.24297, "vx":-0.86924, "vy":-1.80051, "omega":1.30958, "ax":0.0, "ay":0.0, "alpha":-1.73467, "fx":[10.38251,-5.11262,-10.38246,5.11266], "fy":[5.11262,10.38247,-5.11266,-10.3825]}, - {"t":0.80336, "x":2.25143, "y":5.9321, "heading":1.28343, "vx":-0.86924, "vy":-1.80051, "omega":1.25598, "ax":0.0, "ay":0.0, "alpha":-1.9324, "fx":[11.32606,-6.15864,-11.32609,6.15861], "fy":[6.15862,11.32608,-6.15862,-11.32607]}, - {"t":0.83426, "x":2.22457, "y":5.87646, "heading":1.32224, "vx":-0.86924, "vy":-1.80051, "omega":1.19627, "ax":0.0, "ay":0.0, "alpha":-2.14908, "fx":[12.3208,-7.33277,-12.32088,7.33269], "fy":[7.33274,12.32085,-7.33271,-12.32082]}, - {"t":0.86516, "x":2.19771, "y":5.82083, "heading":1.35921, "vx":-0.86924, "vy":-1.80051, "omega":1.12987, "ax":0.0, "ay":0.0, "alpha":-2.38594, "fx":[13.36857,-8.64092,-13.36869,8.64081], "fy":[8.64089,13.36865,-8.64084,-13.36861]}, - {"t":0.89606, "x":2.17085, "y":5.7652, "heading":1.39412, "vx":-0.86924, "vy":-1.80051, "omega":1.05615, "ax":0.0, "ay":0.0, "alpha":-2.64414, "fx":[14.47199,-10.08731,-14.47215,10.08715], "fy":[10.08727,14.4721,-10.0872,-14.47204]}, - {"t":0.92696, "x":2.14399, "y":5.70957, "heading":1.42675, "vx":-0.86924, "vy":-1.80051, "omega":0.97445, "ax":-0.00001, "ay":0.00001, "alpha":-2.92465, "fx":[15.6346,-11.67391,-15.63503,11.67349], "fy":[11.6738,15.6349,-11.6736,-15.63472]}, - {"t":0.95785, "x":2.11713, "y":5.65393, "heading":1.45686, "vx":-0.86924, "vy":-1.80051, "omega":0.88408, "ax":-0.00007, "ay":0.00003, "alpha":-3.22824, "fx":[16.86089,-13.40023,-16.8631,13.39804], "fy":[13.3997,16.86249,-13.39857,-16.8615]}, - {"t":0.98875, "x":2.09028, "y":5.5983, "heading":1.48418, "vx":-0.86925, "vy":-1.80051, "omega":0.78433, "ax":-0.00043, "ay":0.00021, "alpha":-3.55536, "fx":[18.15353,-15.26565,-18.16785,15.25163], "fy":[15.26233,18.16383,-15.25495,-18.15755]}, - {"t":1.01965, "x":2.06342, "y":5.54267, "heading":1.50841, "vx":-0.86926, "vy":-1.8005, "omega":0.67448, "ax":-0.00282, "ay":0.00136, "alpha":-3.90617, "fx":[19.4931,-17.28877,-19.58795,17.19681], "fy":[17.2675,19.56092,-17.2181,-19.52013]}, - {"t":1.05055, "x":2.03656, "y":5.48703, "heading":1.52925, "vx":-0.86935, "vy":-1.80046, "omega":0.55378, "ax":-0.01844, "ay":0.00891, "alpha":-4.28035, "fx":[20.70265,-19.63494,-21.32525,19.03789], "fy":[19.50072,21.14463,-19.17292,-20.8833]}, - {"t":1.08145, "x":2.00969, "y":5.43141, "heading":1.54636, "vx":-0.86992, "vy":-1.80018, "omega":0.42152, "ax":-0.11849, "ay":0.05741, "alpha":-4.67472, "fx":[20.57257,-23.40461,-24.59748,19.59315], "fy":[22.5914,23.40927,-20.44187,-21.7621]}, - {"t":1.11235, "x":1.98275, "y":5.37581, "heading":1.55939, "vx":-0.87358, "vy":-1.79841, "omega":0.27708, "ax":-0.74004, "ay":0.36534, "alpha":-4.98323, "fx":[11.1458,-34.72132,-36.38966,11.02382], "fy":[30.51968,28.9487,-16.68573,-18.62135]}, - {"t":1.14324, "x":1.95541, "y":5.32042, "heading":1.56795, "vx":-0.89644, "vy":-1.78712, "omega":0.12311, "ax":-3.5344, "ay":1.91436, "alpha":-3.18095, "fx":[-42.02464,-67.71062,-74.37911,-49.62892], "fy":[53.71497,44.39214,12.43806,16.05849]}, - {"t":1.17414, "x":1.92602, "y":5.26611, "heading":1.57175, "vx":-1.00565, "vy":-1.72797, "omega":0.02482, "ax":-2.82549, "ay":6.2312, "alpha":-0.63062, "fx":[-40.39798,-49.36319,-53.25726,-43.84187], "fy":[106.10195,102.65412,99.68724,103.6496]}, - {"t":1.20504, "x":1.8936, "y":5.2157, "heading":1.57252, "vx":-1.09295, "vy":-1.53543, "omega":0.00534, "ax":2.66096, "ay":6.96419, "alpha":-0.07518, "fx":[44.37295,43.15128,43.61206,44.84287], "fy":[115.00901,115.46745,115.27959,114.8121]}, - {"t":1.23594, "x":1.8611, "y":5.17158, "heading":1.57268, "vx":-1.01073, "vy":-1.32025, "omega":0.00301, "ax":2.95624, "ay":6.88477, "alpha":-0.04219, "fx":[49.06723,48.39975,48.68531,49.35525], "fy":[113.7508,114.03459,113.9087,113.62188]}, - {"t":1.26684, "x":1.83128, "y":5.13407, "heading":1.57278, "vx":-0.91939, "vy":-1.10752, "omega":0.00171, "ax":3.05944, "ay":6.85393, "alpha":-0.03062, "fx":[50.71554,50.23614,50.45,50.93061], "fy":[113.26169,113.47421,113.3772,113.16306]}, - {"t":1.29774, "x":1.80433, "y":5.10312, "heading":1.57283, "vx":-0.82486, "vy":-0.89575, "omega":0.00076, "ax":3.11197, "ay":6.8376, "alpha":-0.02473, "fx":[51.55612,51.17111,51.34649,51.73227], "fy":[113.00254,113.17682,113.09609,112.92073]}, - {"t":1.32864, "x":1.78033, "y":5.07871, "heading":1.57285, "vx":-0.7287, "vy":-0.68447, "omega":0.0, "ax":-4.07751, "ay":6.25663, "alpha":0.0, "fx":[-67.41522,-67.41522,-67.41522,-67.41522], "fy":[103.44358,103.44358,103.44358,103.44358]}, - {"t":1.37567, "x":1.74155, "y":5.05344, "heading":1.57285, "vx":-0.92047, "vy":-0.39022, "omega":0.0, "ax":-1.46835, "ay":5.25959, "alpha":0.0, "fx":[-24.27681,-24.27681,-24.27681,-24.27681], "fy":[86.95906,86.95906,86.95906,86.95906]}, - {"t":1.4227, "x":1.69663, "y":5.0409, "heading":1.57285, "vx":-0.98953, "vy":-0.14285, "omega":0.0, "ax":-0.02071, "ay":0.14705, "alpha":0.0, "fx":[-0.3424,-0.3424,-0.3424,-0.3424], "fy":[2.43126,2.43126,2.43126,2.43126]}, - {"t":1.46973, "x":1.65007, "y":5.03434, "heading":1.57285, "vx":-0.99051, "vy":-0.13594, "omega":0.0, "ax":-0.00026, "ay":0.00192, "alpha":0.0, "fx":[-0.00434,-0.00434,-0.00434,-0.00434], "fy":[0.03166,0.03166,0.03166,0.03166]}, - {"t":1.51676, "x":1.60349, "y":5.02795, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.00002, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.00041,0.00041,0.00041,0.00041]}, - {"t":1.56379, "x":1.5569, "y":5.02156, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":1.61082, "x":1.51032, "y":5.01518, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.65785, "x":1.46373, "y":5.00879, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.70488, "x":1.41715, "y":5.0024, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.75192, "x":1.37056, "y":4.99601, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.79895, "x":1.32398, "y":4.98962, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.84598, "x":1.27739, "y":4.98323, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.89301, "x":1.23081, "y":4.97684, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.94004, "x":1.18422, "y":4.97045, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.98707, "x":1.13764, "y":4.96406, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.0341, "x":1.09105, "y":4.95767, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.08113, "x":1.04447, "y":4.95128, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.12816, "x":0.99788, "y":4.9449, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.1752, "x":0.9513, "y":4.93851, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.22223, "x":0.90471, "y":4.93212, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.26926, "x":0.85812, "y":4.92573, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.31629, "x":0.81154, "y":4.91934, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.36332, "x":0.76495, "y":4.91295, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.41035, "x":0.71837, "y":4.90656, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.45738, "x":0.67178, "y":4.90017, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":0.00005, "ay":0.00001, "alpha":0.0, "fx":[0.00091,0.00091,0.00091,0.00091], "fy":[0.00012,0.00012,0.00012,0.00012]}, - {"t":2.50441, "x":0.6252, "y":4.89378, "heading":1.57285, "vx":-0.99052, "vy":-0.13585, "omega":0.0, "ax":6.16071, "ay":0.84493, "alpha":0.0, "fx":[101.85766,101.85766,101.85766,101.85766], "fy":[13.96952,13.96952,13.96952,13.96952]}, - {"t":2.55144, "x":0.58543, "y":4.88833, "heading":1.57285, "vx":-0.70077, "vy":-0.09611, "omega":0.0, "ax":7.44575, "ay":1.02117, "alpha":0.0, "fx":[123.1038,123.1038,123.1038,123.1038], "fy":[16.88338,16.88338,16.88338,16.88338]}, - {"t":2.59848, "x":0.5607, "y":4.88494, "heading":1.57285, "vx":-0.35059, "vy":-0.04808, "omega":0.0, "ax":7.45441, "ay":1.02235, "alpha":0.0, "fx":[123.24706,123.24706,123.24706,123.24706], "fy":[16.90303,16.90303,16.90303,16.90303]}, - {"t":2.64551, "x":0.55246, "y":4.88381, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.05515, "vy":-1.69609, "omega":1.47516, "ax":-0.03064, "ay":-0.04917, "alpha":-0.01217, "fx":[-0.44921,-0.44921,-0.564,-0.56399], "fy":[-0.8703,-0.75552,-0.75551,-0.87029]}, + {"t":0.03224, "x":3.31254, "y":7.45441, "heading":0.04756, "vx":-1.05614, "vy":-1.69767, "omega":1.47477, "ax":-0.00001, "ay":0.00001, "alpha":-0.023, "fx":[0.11328,0.10296,-0.11377,-0.10346], "fy":[-0.10311,0.11362,0.1033,-0.11343]}, + {"t":0.06448, "x":3.27849, "y":7.39968, "heading":0.0951, "vx":-1.05614, "vy":-1.69767, "omega":1.47403, "ax":-0.00001, "ay":0.00001, "alpha":-0.03377, "fx":[0.17356,0.1433,-0.17392,-0.14366], "fy":[-0.14337,0.17385,0.14359,-0.17363]}, + {"t":0.09672, "x":3.24445, "y":7.34495, "heading":0.14263, "vx":-1.05614, "vy":-1.69767, "omega":1.47294, "ax":-0.00001, "ay":0.00001, "alpha":-0.04475, "fx":[0.23876,0.17875,-0.23913,-0.17913], "fy":[-0.17882,0.23906,0.17906,-0.23883]}, + {"t":0.12896, "x":3.2104, "y":7.29022, "heading":0.19011, "vx":-1.05614, "vy":-1.69767, "omega":1.4715, "ax":-0.00001, "ay":0.00001, "alpha":-0.05616, "fx":[0.31005,0.20991,-0.31042,-0.21029], "fy":[-0.20999,0.31035,0.21022,-0.31012]}, + {"t":0.1612, "x":3.17635, "y":7.23548, "heading":0.23755, "vx":-1.05614, "vy":-1.69767, "omega":1.46969, "ax":-0.00001, "ay":0.00001, "alpha":-0.0683, "fx":[0.38879,0.23715,-0.38916,-0.23752], "fy":[-0.23722,0.38909,0.23745,-0.38886]}, + {"t":0.19344, "x":3.1423, "y":7.18075, "heading":0.28493, "vx":-1.05614, "vy":-1.69767, "omega":1.46749, "ax":-0.00001, "ay":0.00001, "alpha":-0.08142, "fx":[0.4764,0.26047,-0.47675,-0.26082], "fy":[-0.26053,0.47668,0.26075,-0.47647]}, + {"t":0.22568, "x":3.10825, "y":7.12602, "heading":0.33225, "vx":-1.05614, "vy":-1.69767, "omega":1.46486, "ax":-0.00001, "ay":0.00001, "alpha":-0.09583, "fx":[0.57463,0.27974,-0.57495,-0.28005], "fy":[-0.2798,0.57489,0.27999,-0.57469]}, + {"t":0.25792, "x":3.0742, "y":7.07129, "heading":0.37947, "vx":-1.05614, "vy":-1.69767, "omega":1.46177, "ax":-0.00001, "ay":0.0, "alpha":-0.11179, "fx":[0.68506,0.29436,-0.68532,-0.29463], "fy":[-0.29441,0.68527,0.29457,-0.68511]}, + {"t":0.29015, "x":3.04015, "y":7.01656, "heading":0.4266, "vx":-1.05614, "vy":-1.69767, "omega":1.45817, "ax":-0.00001, "ay":0.0, "alpha":-0.12963, "fx":[0.80966,0.30358,-0.80986,-0.30379], "fy":[-0.30362,0.80982,0.30375,-0.8097]}, + {"t":0.32239, "x":3.0061, "y":6.96182, "heading":0.47361, "vx":-1.05614, "vy":-1.69767, "omega":1.45399, "ax":0.0, "ay":0.0, "alpha":-0.14962, "fx":[0.95,0.30614,-0.95015,-0.30628], "fy":[-0.30617,0.95012,0.30626,-0.95003]}, + {"t":0.35463, "x":2.97205, "y":6.90709, "heading":0.52048, "vx":-1.05614, "vy":-1.69767, "omega":1.44916, "ax":0.0, "ay":0.0, "alpha":-0.17211, "fx":[1.10818,0.30061,-1.10826,-0.30069], "fy":[-0.30062,1.10824,0.30067,-1.1082]}, + {"t":0.38687, "x":2.938, "y":6.85236, "heading":0.5672, "vx":-1.05614, "vy":-1.69767, "omega":1.44362, "ax":0.0, "ay":0.0, "alpha":-0.19738, "fx":[1.28562,0.28505,-1.28563,-0.28506], "fy":[-0.28505,1.28563,0.28505,-1.28562]}, + {"t":0.41911, "x":2.90395, "y":6.79763, "heading":0.61375, "vx":-1.05614, "vy":-1.69767, "omega":1.43725, "ax":0.0, "ay":0.0, "alpha":-0.22581, "fx":[1.48439,0.25735,-1.48433,-0.2573], "fy":[-0.25734,1.48434,0.25731,-1.48438]}, + {"t":0.45135, "x":2.8699, "y":6.7429, "heading":0.66008, "vx":-1.05614, "vy":-1.69767, "omega":1.42997, "ax":0.0, "ay":0.0, "alpha":-0.25768, "fx":[1.70571,0.21493,-1.70559,-0.21481], "fy":[-0.21491,1.70562,0.21483,-1.70569]}, + {"t":0.48359, "x":2.83585, "y":6.68817, "heading":0.70618, "vx":-1.05614, "vy":-1.69767, "omega":1.42167, "ax":0.00001, "ay":0.0, "alpha":-0.29343, "fx":[1.95157,0.15499,-1.9514,-0.15482], "fy":[-0.15496,1.95143,0.15485,-1.95154]}, + {"t":0.51583, "x":2.8018, "y":6.63343, "heading":0.75202, "vx":-1.05614, "vy":-1.69767, "omega":1.41221, "ax":0.00001, "ay":0.0, "alpha":-0.33337, "fx":[2.22297,0.07433,-2.22276,-0.07412], "fy":[-0.0743,2.2228,0.07416,-2.22293]}, + {"t":0.54807, "x":2.76776, "y":6.5787, "heading":0.79755, "vx":-1.05614, "vy":-1.69767, "omega":1.40146, "ax":0.00001, "ay":0.0, "alpha":-0.378, "fx":[2.52181,-0.03052,-2.52156,0.03076], "fy":[0.03056,2.52161,-0.03072,-2.52176]}, + {"t":0.58031, "x":2.73371, "y":6.52397, "heading":0.84273, "vx":-1.05614, "vy":-1.69767, "omega":1.38927, "ax":0.00001, "ay":0.0, "alpha":-0.42771, "fx":[2.84896,-0.16338,-2.84871,0.16363], "fy":[0.16342,2.84875,-0.16359,-2.84892]}, + {"t":0.61255, "x":2.69966, "y":6.46924, "heading":0.88752, "vx":-1.05614, "vy":-1.69767, "omega":1.37548, "ax":0.00001, "ay":0.0, "alpha":-0.48308, "fx":[3.20627,-0.32843,-3.20601,0.32869], "fy":[0.32847,3.20606,-0.32864,-3.20622]}, + {"t":0.64479, "x":2.66561, "y":6.41451, "heading":0.93186, "vx":-1.05614, "vy":-1.69767, "omega":1.35991, "ax":0.00001, "ay":0.0, "alpha":-0.54461, "fx":[3.59463,-0.53014,-3.59438,0.53039], "fy":[0.53019,3.59443,-0.53035,-3.59459]}, + {"t":0.67703, "x":2.63156, "y":6.35977, "heading":0.9757, "vx":-1.05614, "vy":-1.69767, "omega":1.34235, "ax":0.00001, "ay":0.0, "alpha":-0.61298, "fx":[4.01586,-0.77348,-4.01563,0.7737], "fy":[0.77352,4.01567,-0.77366,-4.01581]}, + {"t":0.70927, "x":2.59751, "y":6.30504, "heading":1.01898, "vx":-1.05614, "vy":-1.69767, "omega":1.32259, "ax":0.00001, "ay":0.0, "alpha":-0.68885, "fx":[4.47104,-1.06367,-4.47085,1.06386], "fy":[1.0637,4.47089,-1.06382,-4.47101]}, + {"t":0.74151, "x":2.56346, "y":6.25031, "heading":1.06162, "vx":-1.05614, "vy":-1.69767, "omega":1.30038, "ax":0.0, "ay":0.0, "alpha":-0.77304, "fx":[4.96201,-1.40649,-4.96186,1.40664], "fy":[1.40652,4.96189,-1.40661,-4.96198]}, + {"t":0.77375, "x":2.52941, "y":6.19558, "heading":1.10354, "vx":-1.05614, "vy":-1.69767, "omega":1.27546, "ax":0.0, "ay":0.0, "alpha":-0.86639, "fx":[5.4902,-1.80804,-5.49009,1.80815], "fy":[1.80806,5.49011,-1.80813,-5.49018]}, + {"t":0.80599, "x":2.49536, "y":6.14085, "heading":1.14466, "vx":-1.05614, "vy":-1.69767, "omega":1.24752, "ax":0.0, "ay":0.0, "alpha":-0.96987, "fx":[6.05747,-2.27495,-6.05741,2.27501], "fy":[2.27495,6.05742,-2.275,-6.05746]}, + {"t":0.83822, "x":2.46131, "y":6.08611, "heading":1.18488, "vx":-1.05614, "vy":-1.69767, "omega":1.21626, "ax":0.0, "ay":0.0, "alpha":-1.08451, "fx":[6.6657,-2.81417,-6.66568,2.81419], "fy":[2.81417,6.66569,-2.81419,-6.6657]}, + {"t":0.87046, "x":2.42726, "y":6.03138, "heading":1.2241, "vx":-1.05614, "vy":-1.69767, "omega":1.18129, "ax":0.0, "ay":0.0, "alpha":-1.21143, "fx":[7.31684,-3.43302,-7.31686,3.433], "fy":[3.43301,7.31685,-3.43301,-7.31685]}, + {"t":0.9027, "x":2.39321, "y":5.97665, "heading":1.26218, "vx":-1.05614, "vy":-1.69767, "omega":1.14224, "ax":0.0, "ay":0.0, "alpha":-1.35188, "fx":[8.01331,-4.13914,-8.01336,4.1391], "fy":[4.13913,8.01335,-4.13911,-8.01332]}, + {"t":0.93494, "x":2.35916, "y":5.92192, "heading":1.299, "vx":-1.05614, "vy":-1.69767, "omega":1.09865, "ax":0.0, "ay":0.0, "alpha":-1.50707, "fx":[8.7573,-4.94009,-8.75736,4.94002], "fy":[4.94008,8.75735,-4.94004,-8.75731]}, + {"t":0.96718, "x":2.32512, "y":5.86719, "heading":1.33442, "vx":-1.05614, "vy":-1.69767, "omega":1.05007, "ax":0.0, "ay":0.0, "alpha":-1.67841, "fx":[9.55195,-5.84365,-9.55203,5.84357], "fy":[5.84363,9.55202,-5.84359,-9.55197]}, + {"t":0.99942, "x":2.29107, "y":5.81245, "heading":1.36828, "vx":-1.05614, "vy":-1.69767, "omega":0.99596, "ax":0.0, "ay":0.0, "alpha":-1.86718, "fx":[10.40011,-6.85681,-10.40019,6.85672], "fy":[6.85679,10.40017,-6.85674,-10.40013]}, + {"t":1.03166, "x":2.25702, "y":5.75772, "heading":1.40039, "vx":-1.05614, "vy":-1.69767, "omega":0.93576, "ax":0.0, "ay":0.0, "alpha":-2.07481, "fx":[11.30607,-7.98638,-11.30615,7.98629], "fy":[7.98636,11.30613,-7.98631,-11.30608]}, + {"t":1.0639, "x":2.22297, "y":5.70299, "heading":1.43056, "vx":-1.05614, "vy":-1.69767, "omega":0.86887, "ax":0.0, "ay":0.0, "alpha":-2.30256, "fx":[12.27407,-9.2375,-12.2742,9.23736], "fy":[9.23747,12.27417,-9.23739,-12.27409]}, + {"t":1.09614, "x":2.18892, "y":5.64826, "heading":1.45857, "vx":-1.05614, "vy":-1.69767, "omega":0.79463, "ax":-0.00002, "ay":0.00001, "alpha":-2.55178, "fx":[13.31026,-10.61445,-13.31079,10.61392], "fy":[10.61435,13.31069,-10.61402,-13.31037]}, + {"t":1.12838, "x":2.15487, "y":5.59353, "heading":1.48419, "vx":-1.05614, "vy":-1.69767, "omega":0.71237, "ax":-0.00011, "ay":0.00007, "alpha":-2.82351, "fx":[14.42047,-12.11969,-14.42411,12.11611], "fy":[12.11906,14.42337,-12.11674,-14.42121]}, + {"t":1.16062, "x":2.12082, "y":5.5388, "heading":1.50715, "vx":-1.05614, "vy":-1.69767, "omega":0.62134, "ax":-0.00081, "ay":0.0005, "alpha":-3.11881, "fx":[15.60559,-13.76071,-15.63258,13.73443], "fy":[13.75625,15.62697,-13.73891,-15.61119]}, + {"t":1.19286, "x":2.08677, "y":5.48406, "heading":1.52718, "vx":-1.05617, "vy":-1.69765, "omega":0.52079, "ax":-0.00595, "ay":0.0037, "alpha":-3.43837, "fx":[16.81232,-15.59454,-17.01248,15.40146], "fy":[15.56272,16.97006,-15.4334,-16.85472]}, + {"t":1.2251, "x":2.05272, "y":5.42933, "heading":1.54397, "vx":-1.05636, "vy":-1.69753, "omega":0.40994, "ax":-0.04343, "ay":0.02705, "alpha":-3.78237, "fx":[17.58112,-18.05867,-19.05055,16.65623], "fy":[17.8372,18.73212,-16.88198,-17.89856]}, + {"t":1.25734, "x":2.01864, "y":5.37462, "heading":1.55719, "vx":-1.05776, "vy":-1.69666, "omega":0.288, "ax":-0.31183, "ay":0.1957, "alpha":-4.13306, "fx":[14.46957,-24.17855,-25.0809,14.16746], "fy":[22.78036,22.72676,-15.79668,-16.76825]}, + {"t":1.28958, "x":1.98437, "y":5.32002, "heading":1.56647, "vx":-1.06781, "vy":-1.69035, "omega":0.15475, "ax":-2.01482, "ay":1.32882, "alpha":-3.73193, "fx":[-15.35286,-48.06947,-52.27659,-17.54843], "fy":[42.89378,37.74481,3.39539,3.84607]}, + {"t":1.32182, "x":1.9489, "y":5.26622, "heading":1.57146, "vx":-1.13277, "vy":-1.64751, "omega":0.03443, "ax":-3.61163, "ay":5.15017, "alpha":-0.9345, "fx":[-51.42408,-62.2454,-68.10363,-57.07734], "fy":[91.2172,85.79304,78.69942,84.89025]}, + {"t":1.35406, "x":1.9105, "y":5.21578, "heading":1.57257, "vx":-1.24921, "vy":-1.48147, "omega":0.00431, "ax":3.59353, "ay":6.53431, "alpha":-0.05903, "fx":[59.60576,58.75867,59.21975,60.06945], "fy":[107.93871,108.39612,108.13371,107.67026]}, + {"t":1.38629, "x":1.8721, "y":5.17141, "heading":1.57271, "vx":-1.13335, "vy":-1.27081, "omega":0.0024, "ax":3.78373, "ay":6.46953, "alpha":-0.03236, "fx":[62.6523,62.19964,62.46361,62.91688], "fy":[106.91132,107.17351,107.01678,106.75275]}, + {"t":1.41853, "x":1.83753, "y":5.13381, "heading":1.57279, "vx":-1.01137, "vy":-1.06224, "omega":0.00136, "ax":3.84798, "ay":6.4463, "alpha":-0.02336, "fx":[63.68554,63.36177,63.55497,63.87902], "fy":[106.54207,106.73404,106.61762,106.42469]}, + {"t":1.45077, "x":1.80692, "y":5.10291, "heading":1.57283, "vx":-0.88731, "vy":-0.85441, "omega":0.00061, "ax":3.88027, "ay":6.43436, "alpha":-0.01884, "fx":[64.20572,63.9458,64.10268,64.36277], "fy":[106.35199,106.50793,106.41267,106.25611]}, + {"t":1.48301, "x":1.78033, "y":5.07871, "heading":1.57285, "vx":-0.76221, "vy":-0.64697, "omega":0.0, "ax":-3.75298, "ay":6.43771, "alpha":0.0, "fx":[-62.04961,-62.04961,-62.04961,-62.04961], "fy":[106.43743,106.43743,106.43743,106.43743]}, + {"t":1.53, "x":1.74037, "y":5.05542, "heading":1.57285, "vx":-0.93856, "vy":-0.34448, "omega":0.0, "ax":-1.08497, "ay":4.29156, "alpha":0.0, "fx":[-17.93826,-17.93826,-17.93826,-17.93826], "fy":[70.9543,70.9543,70.9543,70.9543]}, + {"t":1.57699, "x":1.69508, "y":5.04397, "heading":1.57285, "vx":-0.98953, "vy":-0.14283, "omega":0.0, "ax":-0.01236, "ay":0.08688, "alpha":0.0, "fx":[-0.20435,-0.20435,-0.20435,-0.20435], "fy":[1.43645,1.43645,1.43645,1.43645]}, + {"t":1.62397, "x":1.64857, "y":5.03735, "heading":1.57285, "vx":-0.99012, "vy":-0.13875, "omega":0.0, "ax":-0.00016, "ay":0.00113, "alpha":0.0, "fx":[-0.00263,-0.00263,-0.00263,-0.00263], "fy":[0.01875,0.01875,0.01875,0.01875]}, + {"t":1.67096, "x":1.60204, "y":5.03083, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.00024,0.00024,0.00024,0.00024]}, + {"t":1.71795, "x":1.55552, "y":5.02432, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.76494, "x":1.509, "y":5.0178, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.81192, "x":1.46247, "y":5.01128, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.85891, "x":1.41595, "y":5.00477, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.9059, "x":1.36943, "y":4.99825, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.95289, "x":1.3229, "y":4.99173, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.99987, "x":1.27638, "y":4.98521, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.04686, "x":1.22986, "y":4.9787, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.09385, "x":1.18333, "y":4.97218, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.14083, "x":1.13681, "y":4.96566, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.18782, "x":1.09029, "y":4.95915, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.23481, "x":1.04376, "y":4.95263, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.2818, "x":0.99724, "y":4.94611, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.32878, "x":0.95072, "y":4.9396, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.37577, "x":0.9042, "y":4.93308, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.42276, "x":0.85767, "y":4.92656, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.46975, "x":0.81115, "y":4.92004, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.51673, "x":0.76463, "y":4.91353, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.56372, "x":0.7181, "y":4.90701, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.61071, "x":0.67158, "y":4.90049, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.00006, "ay":0.00001, "alpha":0.0, "fx":[0.00093,0.00093,0.00093,0.00093], "fy":[0.00013,0.00013,0.00013,0.00013]}, + {"t":2.65769, "x":0.62506, "y":4.89398, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":6.17793, "ay":0.8654, "alpha":0.0, "fx":[102.14244,102.14244,102.14244,102.14244], "fy":[14.30808,14.30808,14.30808,14.30808]}, + {"t":2.70468, "x":0.58535, "y":4.88842, "heading":1.57285, "vx":-0.69984, "vy":-0.09803, "omega":0.0, "ax":7.44275, "ay":1.04258, "alpha":0.0, "fx":[123.05419,123.05419,123.05419,123.05419], "fy":[17.23739,17.23739,17.23739,17.23739]}, + {"t":2.75167, "x":0.56069, "y":4.88496, "heading":1.57285, "vx":-0.35012, "vy":-0.04904, "omega":0.0, "ax":7.45142, "ay":1.04379, "alpha":0.0, "fx":[123.19765,123.19765,123.19765,123.19765], "fy":[17.25749,17.25749,17.25749,17.25749]}, + {"t":2.79866, "x":0.55246, "y":4.88381, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj index 49a30797..ea0f4eb1 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.743162631988525, "y":7.378527641296387, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.743162631988525, "y":7.509117603302002, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.366947174072266, "y":7.026499271392822, "heading":-0.7102714504381418, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -20,8 +20,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"7.366947174072266 m", "val":7.366947174072266}, "y":{"exp":"7.026499271392822 m", "val":7.026499271392822}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -63,119 +63,116 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.53036,2.36778,2.98282,3.68016], + "waypoints":[0.0,1.3317,2.1841,2.79782,3.49519], "samples":[ - {"t":0.0, "x":2.94973, "y":7.37853, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52532, "ay":0.00038, "alpha":0.0, "fx":[124.41944,124.41944,124.41944,124.41944], "fy":[0.00626,0.00626,0.00626,0.00626]}, - {"t":0.04501, "x":2.95735, "y":7.37853, "heading":0.0, "vx":0.33872, "vy":0.00002, "omega":0.0, "ax":7.52341, "ay":0.00038, "alpha":0.0, "fx":[124.38791,124.38791,124.38791,124.38791], "fy":[0.00634,0.00634,0.00634,0.00634]}, - {"t":0.09002, "x":2.98022, "y":7.37853, "heading":0.0, "vx":0.67735, "vy":0.00003, "omega":0.0, "ax":7.52026, "ay":0.00039, "alpha":0.0, "fx":[124.33574,124.33574,124.33574,124.33574], "fy":[0.00646,0.00646,0.00646,0.00646]}, - {"t":0.13503, "x":3.01833, "y":7.37853, "heading":0.0, "vx":1.01585, "vy":0.00005, "omega":0.0, "ax":7.51403, "ay":0.0004, "alpha":0.0, "fx":[124.23282,124.23282,124.23282,124.23282], "fy":[0.00663,0.00663,0.00663,0.00663]}, - {"t":0.18004, "x":3.07166, "y":7.37853, "heading":0.0, "vx":1.35406, "vy":0.00007, "omega":0.0, "ax":7.49602, "ay":0.00042, "alpha":0.0, "fx":[123.93499,123.93499,123.93499,123.93499], "fy":[0.00691,0.00691,0.00691,0.00691]}, - {"t":0.22505, "x":3.1402, "y":7.37854, "heading":0.0, "vx":1.69146, "vy":0.00009, "omega":0.0, "ax":6.84454, "ay":0.00059, "alpha":0.0, "fx":[113.16382,113.16382,113.16382,113.16382], "fy":[0.00983,0.00983,0.00983,0.00983]}, - {"t":0.27006, "x":3.22327, "y":7.37854, "heading":0.0, "vx":1.99954, "vy":0.00012, "omega":0.0, "ax":0.00056, "ay":0.00035, "alpha":0.0, "fx":[0.00923,0.00923,0.00923,0.00923], "fy":[0.00584,0.00584,0.00584,0.00584]}, - {"t":0.31507, "x":3.31327, "y":7.37855, "heading":0.0, "vx":1.99956, "vy":0.00013, "omega":0.0, "ax":0.0, "ay":0.00041, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00678,0.00678,0.00678,0.00678]}, - {"t":0.36009, "x":3.40327, "y":7.37855, "heading":0.0, "vx":1.99956, "vy":0.00015, "omega":0.0, "ax":0.0, "ay":0.00053, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00872,0.00872,0.00872,0.00872]}, - {"t":0.4051, "x":3.49327, "y":7.37856, "heading":0.0, "vx":1.99956, "vy":0.00017, "omega":0.0, "ax":0.0, "ay":0.00067, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01101,0.01101,0.01101,0.01101]}, - {"t":0.45011, "x":3.58327, "y":7.37857, "heading":0.0, "vx":1.99956, "vy":0.0002, "omega":0.0, "ax":0.0, "ay":0.00083, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0137,0.0137,0.0137,0.0137]}, - {"t":0.49512, "x":3.67328, "y":7.37858, "heading":0.0, "vx":1.99956, "vy":0.00024, "omega":0.0, "ax":0.0, "ay":0.00102, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01689,0.01689,0.01689,0.01689]}, - {"t":0.54013, "x":3.76328, "y":7.37859, "heading":0.0, "vx":1.99956, "vy":0.00029, "omega":0.0, "ax":0.0, "ay":0.00125, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02068,0.02068,0.02068,0.02068]}, - {"t":0.58514, "x":3.85328, "y":7.37861, "heading":0.0, "vx":1.99956, "vy":0.00034, "omega":0.0, "ax":0.0, "ay":0.00153, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02522,0.02522,0.02522,0.02522]}, - {"t":0.63015, "x":3.94328, "y":7.37862, "heading":0.0, "vx":1.99956, "vy":0.00041, "omega":0.0, "ax":0.0, "ay":0.00186, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03067,0.03067,0.03067,0.03067]}, - {"t":0.67516, "x":4.03328, "y":7.37864, "heading":0.0, "vx":1.99956, "vy":0.0005, "omega":0.0, "ax":0.0, "ay":0.00225, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03723,0.03723,0.03723,0.03723]}, - {"t":0.72017, "x":4.12328, "y":7.37867, "heading":0.0, "vx":1.99956, "vy":0.0006, "omega":0.0, "ax":0.0, "ay":0.00273, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.04512,0.04512,0.04512,0.04512]}, - {"t":0.76518, "x":4.21329, "y":7.3787, "heading":0.0, "vx":1.99956, "vy":0.00072, "omega":0.0, "ax":0.0, "ay":0.00331, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.05465,0.05465,0.05465,0.05465]}, - {"t":0.81019, "x":4.30329, "y":7.37873, "heading":0.0, "vx":1.99956, "vy":0.00087, "omega":0.0, "ax":0.0, "ay":0.004, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.06615,0.06615,0.06615,0.06615]}, - {"t":0.8552, "x":4.39329, "y":7.37878, "heading":0.0, "vx":1.99956, "vy":0.00105, "omega":0.0, "ax":0.0, "ay":0.00484, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.08004,0.08004,0.08004,0.08004]}, - {"t":0.90021, "x":4.48329, "y":7.37883, "heading":0.0, "vx":1.99956, "vy":0.00127, "omega":0.0, "ax":0.0, "ay":0.00586, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.09684,0.09684,0.09684,0.09684]}, - {"t":0.94522, "x":4.57329, "y":7.37889, "heading":0.0, "vx":1.99956, "vy":0.00153, "omega":0.0, "ax":-0.00001, "ay":0.00709, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.11717,0.11717,0.11717,0.11717]}, - {"t":0.99023, "x":4.66329, "y":7.37897, "heading":0.0, "vx":1.99956, "vy":0.00185, "omega":0.0, "ax":-0.00001, "ay":0.00857, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.14177,0.14177,0.14177,0.14177]}, - {"t":1.03525, "x":4.75329, "y":7.37906, "heading":0.0, "vx":1.99956, "vy":0.00223, "omega":0.0, "ax":-0.00001, "ay":0.01038, "alpha":0.0, "fx":[-0.00021,-0.00021,-0.00021,-0.00021], "fy":[0.17161,0.17161,0.17161,0.17161]}, - {"t":1.08026, "x":4.8433, "y":7.37917, "heading":0.0, "vx":1.99956, "vy":0.0027, "omega":0.0, "ax":-0.00002, "ay":0.01257, "alpha":0.0, "fx":[-0.00031,-0.00031,-0.00031,-0.00031], "fy":[0.20783,0.20783,0.20783,0.20783]}, - {"t":1.12527, "x":4.9333, "y":7.3793, "heading":0.0, "vx":1.99956, "vy":0.00327, "omega":0.0, "ax":-0.00003, "ay":0.01524, "alpha":0.0, "fx":[-0.00045,-0.00045,-0.00045,-0.00045], "fy":[0.2519,0.2519,0.2519,0.2519]}, - {"t":1.17028, "x":5.0233, "y":7.37947, "heading":0.0, "vx":1.99956, "vy":0.00395, "omega":0.0, "ax":-0.00004, "ay":0.01849, "alpha":0.0, "fx":[-0.00067,-0.00067,-0.00067,-0.00067], "fy":[0.30572,0.30572,0.30572,0.30572]}, - {"t":1.21529, "x":5.1133, "y":7.37966, "heading":0.0, "vx":1.99955, "vy":0.00479, "omega":0.0, "ax":-0.00006, "ay":0.02248, "alpha":0.0, "fx":[-0.00098,-0.00098,-0.00098,-0.00098], "fy":[0.37173,0.37173,0.37173,0.37173]}, - {"t":1.2603, "x":5.2033, "y":7.3799, "heading":0.0, "vx":1.99955, "vy":0.0058, "omega":0.0, "ax":-0.00009, "ay":0.02741, "alpha":0.0, "fx":[-0.00145,-0.00145,-0.00145,-0.00145], "fy":[0.45325,0.45325,0.45325,0.45325]}, - {"t":1.30531, "x":5.2933, "y":7.38019, "heading":0.0, "vx":1.99955, "vy":0.00703, "omega":0.0, "ax":-0.00013, "ay":0.03353, "alpha":0.0, "fx":[-0.00216,-0.00216,-0.00216,-0.00216], "fy":[0.55443,0.55443,0.55443,0.55443]}, - {"t":1.35032, "x":5.3833, "y":7.38054, "heading":0.0, "vx":1.99954, "vy":0.00854, "omega":0.0, "ax":-0.00019, "ay":0.04063, "alpha":0.0, "fx":[-0.00318,-0.00318,-0.00318,-0.00318], "fy":[0.67182,0.67182,0.67182,0.67182]}, - {"t":1.39533, "x":5.4733, "y":7.38097, "heading":0.0, "vx":1.99953, "vy":0.01037, "omega":0.0, "ax":-0.00021, "ay":0.03793, "alpha":0.0, "fx":[-0.00352,-0.00352,-0.00352,-0.00352], "fy":[0.6271,0.6271,0.6271,0.6271]}, - {"t":1.44034, "x":5.5633, "y":7.38147, "heading":0.0, "vx":1.99952, "vy":0.01208, "omega":0.0, "ax":0.00072, "ay":-0.1804, "alpha":0.0, "fx":[0.01192,0.01192,0.01192,0.01192], "fy":[-2.98258,-2.98258,-2.98258,-2.98258]}, - {"t":1.48535, "x":5.6533, "y":7.38183, "heading":0.0, "vx":1.99956, "vy":0.00396, "omega":0.0, "ax":-0.14109, "ay":-3.43884, "alpha":0.0, "fx":[-2.3327,-2.3327,-2.3327,-2.3327], "fy":[-56.8558,-56.8558,-56.8558,-56.8558]}, - {"t":1.53036, "x":5.74316, "y":7.37853, "heading":0.0, "vx":1.99321, "vy":-0.15083, "omega":0.0, "ax":-0.51158, "ay":-4.79119, "alpha":-2.81863, "fx":[8.77515,11.55116,-30.52876,-23.63], "fy":[-88.10808,-72.66068,-69.82355,-86.2669]}, - {"t":1.55828, "x":5.7986, "y":7.37245, "heading":0.0, "vx":1.97893, "vy":-0.28457, "omega":-0.07868, "ax":-0.22028, "ay":-1.42955, "alpha":-5.43777, "fx":[21.1406,24.82381,-32.53268,-28.0], "fy":[-48.78942,1.0619,1.03038,-47.84423]}, - {"t":1.58619, "x":5.85376, "y":7.36395, "heading":-0.0022, "vx":1.97278, "vy":-0.32447, "omega":-0.23047, "ax":-0.04915, "ay":-0.29502, "alpha":-5.36608, "fx":[24.09336,24.99228,-26.52615,-25.81022], "fy":[-30.2816,20.39539,20.39678,-30.02108]}, - {"t":1.6141, "x":5.9088, "y":7.35478, "heading":-0.00863, "vx":1.9714, "vy":-0.33271, "omega":-0.38026, "ax":-0.00993, "ay":-0.05869, "alpha":-4.96054, "fx":[22.96767,23.50822,-23.43348,-23.69918], "fy":[-24.58232,22.23683,22.62066,-24.15687]}, - {"t":1.64202, "x":5.96383, "y":7.34547, "heading":-0.01924, "vx":1.97113, "vy":-0.33435, "omega":-0.51873, "ax":-0.00195, "ay":-0.01146, "alpha":-4.55568, "fx":[21.03057,21.88037,-21.11763,-21.92201], "fy":[-22.09215,20.8859,21.71008,-21.26204]}, - {"t":1.66993, "x":6.01885, "y":7.33613, "heading":-0.03372, "vx":1.97107, "vy":-0.33467, "omega":-0.64589, "ax":-0.00037, "ay":-0.0022, "alpha":-4.16679, "fx":[18.97499,20.30422,-18.99104,-20.31294], "fy":[-20.34519,18.94677,20.27196,-19.01926]}, - {"t":1.69785, "x":6.07387, "y":7.32679, "heading":-0.05175, "vx":1.97106, "vy":-0.33473, "omega":-0.7622, "ax":-0.00007, "ay":-0.00042, "alpha":-3.79536, "fx":[16.95308,18.80608,-16.95601,-18.80786], "fy":[-18.81388,16.94767,18.80006,-16.96142]}, - {"t":1.72576, "x":6.12889, "y":7.31744, "heading":-0.07303, "vx":1.97106, "vy":-0.33474, "omega":-0.86815, "ax":-0.00001, "ay":-0.00008, "alpha":-3.442, "fx":[15.00941,17.37905,-15.00995,-17.37941], "fy":[-17.38052,15.0084,17.37794,-15.01096]}, - {"t":1.75367, "x":6.18391, "y":7.3081, "heading":-0.09726, "vx":1.97106, "vy":-0.33474, "omega":-0.96423, "ax":0.0, "ay":-0.00002, "alpha":-3.10692, "fx":[13.16436,16.01104,-13.16447,-16.01112], "fy":[-16.01133,13.16416,16.01083,-13.16466]}, - {"t":1.78159, "x":6.23893, "y":7.29876, "heading":-0.12418, "vx":1.97106, "vy":-0.33474, "omega":-1.05095, "ax":0.0, "ay":0.0, "alpha":-2.79001, "fx":[11.43037,14.69083,-11.43041,-14.69087], "fy":[-14.69093,11.43031,14.69077,-11.43047]}, - {"t":1.8095, "x":6.29395, "y":7.28941, "heading":-0.15351, "vx":1.97106, "vy":-0.33474, "omega":-1.12883, "ax":0.0, "ay":0.0, "alpha":-2.49081, "fx":[9.81549,13.40907,-9.81553,-13.4091], "fy":[-13.40917,9.81543,13.40901,-9.81559]}, - {"t":1.83742, "x":6.34897, "y":7.28007, "heading":-0.18502, "vx":1.97106, "vy":-0.33474, "omega":-1.19836, "ax":0.0, "ay":-0.00001, "alpha":-2.20861, "fx":[8.32449,12.15814,-8.32455,-12.15819], "fy":[-12.15828,8.32441,12.15805,-8.32463]}, - {"t":1.86533, "x":6.40399, "y":7.27072, "heading":-0.21848, "vx":1.97106, "vy":-0.33474, "omega":-1.26001, "ax":0.0, "ay":-0.00001, "alpha":-1.94246, "fx":[6.95961,10.93189,-6.95968,-10.93195], "fy":[-10.93207,6.95949,10.93176,-6.9598]}, - {"t":1.89324, "x":6.45901, "y":7.26138, "heading":-0.25365, "vx":1.97106, "vy":-0.33474, "omega":-1.31423, "ax":0.0, "ay":-0.00001, "alpha":-1.69124, "fx":[5.72106,9.72525,-5.72114,-9.72532], "fy":[-9.72548,5.72091,9.72509,-5.7213]}, - {"t":1.92116, "x":6.51403, "y":7.25204, "heading":-0.29033, "vx":1.97106, "vy":-0.33474, "omega":-1.36144, "ax":0.0, "ay":-0.00001, "alpha":-1.45369, "fx":[4.60757,8.53397,-4.60766,-8.53405], "fy":[-8.53424,4.60739,8.53378,-4.60784]}, - {"t":1.94907, "x":6.56905, "y":7.24269, "heading":-0.32834, "vx":1.97106, "vy":-0.33474, "omega":-1.40202, "ax":0.0, "ay":-0.00002, "alpha":-1.22843, "fx":[3.61679,7.35432,-3.61689,-7.35441], "fy":[-7.35462,3.61659,7.35412,-3.61709]}, - {"t":1.97699, "x":6.62407, "y":7.23335, "heading":-0.36747, "vx":1.97106, "vy":-0.33474, "omega":-1.43631, "ax":0.0, "ay":-0.00002, "alpha":-1.01403, "fx":[2.7457,6.18287,-2.74581,-6.18297], "fy":[-6.18321,2.74547,6.18263,-2.74605]}, - {"t":2.0049, "x":6.67909, "y":7.224, "heading":-0.40757, "vx":1.97106, "vy":-0.33474, "omega":-1.46462, "ax":-0.00001, "ay":-0.00003, "alpha":-0.80895, "fx":[1.99089,5.01622,-1.99107,-5.01639], "fy":[-5.0168,1.99049,5.01581,-1.99148]}, - {"t":2.03281, "x":6.73411, "y":7.21466, "heading":-0.44845, "vx":1.97106, "vy":-0.33474, "omega":-1.4872, "ax":-0.00002, "ay":-0.00011, "alpha":-0.61163, "fx":[1.34876,3.85076,-1.34936,-3.85136], "fy":[-3.85281,1.34731,3.84932,-1.35081]}, - {"t":2.06073, "x":6.78913, "y":7.20532, "heading":-0.48996, "vx":1.97106, "vy":-0.33475, "omega":-1.50427, "ax":-0.00009, "ay":-0.00055, "alpha":-0.42044, "fx":[0.81516,2.68195,-0.81824,-2.68501], "fy":[-2.69251,0.80766,2.67445,-0.82573]}, - {"t":2.08864, "x":6.84415, "y":7.19597, "heading":-0.53195, "vx":1.97106, "vy":-0.33476, "omega":-1.51601, "ax":-0.00052, "ay":-0.00307, "alpha":-0.23372, "fx":[0.38237,1.50089,-0.3996,-1.51811], "fy":[-1.56019,0.34028,1.45881,-0.44169]}, - {"t":2.11656, "x":6.89917, "y":7.18663, "heading":-0.57427, "vx":1.97104, "vy":-0.33485, "omega":-1.52253, "ax":-0.00296, "ay":-0.0174, "alpha":-0.04977, "fx":[0.02067,0.27574,-0.11849,-0.37355], "fy":[-0.61232,-0.2181,0.03696,-0.35726]}, - {"t":2.14447, "x":6.95419, "y":7.17727, "heading":-0.61677, "vx":1.97096, "vy":-0.33533, "omega":-1.52392, "ax":-0.01688, "ay":-0.0988, "alpha":0.13315, "fx":[-0.42829,-1.15488,-0.12997,0.59679], "fy":[-0.7578,-1.78251,-2.50892,-1.4845]}, - {"t":2.17238, "x":7.0092, "y":7.16787, "heading":-0.65931, "vx":1.97049, "vy":-0.33809, "omega":-1.5202, "ax":-0.0979, "ay":-0.55731, "alpha":0.31341, "fx":[-1.88801,-3.7023,-1.35134,0.46737], "fy":[-7.14802,-9.47417,-11.27573,-8.95905]}, - {"t":2.2003, "x":7.06417, "y":7.15822, "heading":-0.70174, "vx":1.96776, "vy":-0.35365, "omega":-1.51146, "ax":-0.54479, "ay":-2.72583, "alpha":0.38281, "fx":[-9.39034,-11.85132,-8.64315,-6.1443], "fy":[-42.81841,-45.13294,-47.29152,-45.02622]}, - {"t":2.22821, "x":7.11888, "y":7.14729, "heading":-0.74393, "vx":1.95255, "vy":-0.42974, "omega":-1.50077, "ax":-1.53881, "ay":-5.81466, "alpha":0.15368, "fx":[-25.83764,-27.01377,-25.05925,-23.85664], "fy":[-95.66683,-95.83172,-96.60726,-96.4398]}, - {"t":2.25613, "x":7.17279, "y":7.13302, "heading":-0.78583, "vx":1.90959, "vy":-0.59205, "omega":-1.49648, "ax":-2.40501, "ay":-6.59272, "alpha":0.06278, "fx":[-39.99864,-40.45842,-39.53109,-39.06429], "fy":[-108.85986,-108.76595,-109.14112,-109.23418]}, - {"t":2.28404, "x":7.22515, "y":7.11393, "heading":-0.8276, "vx":1.84246, "vy":-0.77608, "omega":-1.49473, "ax":-3.17115, "ay":-6.56744, "alpha":0.03503, "fx":[-52.58652,-52.80627,-52.27493,-52.05256], "fy":[-108.49221,-108.40691,-108.67255,-108.75794]}, - {"t":2.31195, "x":7.27535, "y":7.08971, "heading":-0.86932, "vx":1.75394, "vy":-0.9594, "omega":-1.49375, "ax":-3.88272, "ay":-6.29592, "alpha":0.02331, "fx":[-64.30988,-64.42768,-64.08023,-63.96118], "fy":[-104.01649,-103.95239,-104.16979,-104.23417]}, - {"t":2.33987, "x":7.3228, "y":7.06047, "heading":-0.91102, "vx":1.64556, "vy":-1.13514, "omega":-1.4931, "ax":-4.57425, "ay":-5.87505, "alpha":0.01719, "fx":[-75.71822,-75.78255,-75.53835,-75.47333], "fy":[-97.06177,-97.01615,-97.20757,-97.25348]}, - {"t":2.36778, "x":7.36695, "y":7.0265, "heading":-0.9527, "vx":1.51787, "vy":-1.29914, "omega":-1.49262, "ax":-5.04653, "ay":-5.45801, "alpha":0.01778, "fx":[-83.52903,-83.58143,-83.34449,-83.29138], "fy":[-90.15073,-90.10804,-90.32846,-90.37158]}, - {"t":2.39144, "x":7.40144, "y":6.99424, "heading":-0.98801, "vx":1.3985, "vy":-1.42825, "omega":-1.4922, "ax":-5.49871, "ay":-4.93759, "alpha":0.02725, "fx":[-91.05049,-91.10684,-90.77535,-90.71748], "fy":[-81.47355,-81.42488,-81.79641,-81.84634]}, - {"t":2.41509, "x":7.43298, "y":6.95907, "heading":-1.0233, "vx":1.26842, "vy":-1.54505, "omega":-1.49155, "ax":-5.84524, "ay":-4.39269, "alpha":0.04502, "fx":[-96.85482,-96.92057,-96.43095,-96.36159], "fy":[-72.32096,-72.2738,-72.92969,-72.98084]}, - {"t":2.43875, "x":7.46135, "y":6.9213, "heading":-1.05859, "vx":1.13015, "vy":-1.64896, "omega":-1.49049, "ax":-6.06292, "ay":-3.79064, "alpha":0.08327, "fx":[-100.58605,-100.68376,-99.90095,-99.79317], "fy":[-62.04396,-62.03361,-63.29319,-63.31825]}, - {"t":2.4624, "x":7.48639, "y":6.88123, "heading":-1.09384, "vx":0.98673, "vy":-1.73863, "omega":-1.48852, "ax":-6.00182, "ay":-3.09707, "alpha":0.18346, "fx":[-99.80505,-100.08836,-98.67428,-98.35533], "fy":[-49.72195,-49.9139,-52.6538,-52.53098]}, - {"t":2.48606, "x":7.50805, "y":6.83924, "heading":-1.12906, "vx":0.84476, "vy":-1.81189, "omega":-1.48418, "ax":-5.1258, "ay":-2.18754, "alpha":0.5191, "fx":[-85.35166,-87.19268,-84.22608,-82.21785], "fy":[-32.03232,-33.37182,-40.09999,-39.1664]}, - {"t":2.50971, "x":7.5266, "y":6.79576, "heading":-1.16416, "vx":0.72351, "vy":-1.86363, "omega":-1.4719, "ax":-2.62962, "ay":-0.97113, "alpha":1.40632, "fx":[-41.28077,-51.46934,-45.9109,-35.24587], "fy":[-6.46095,-11.70354,-25.10568,-20.95433]}, - {"t":2.53337, "x":7.54298, "y":6.75141, "heading":-1.19898, "vx":0.6613, "vy":-1.88661, "omega":-1.43863, "ax":-0.74978, "ay":-0.25889, "alpha":1.91136, "fx":[-7.45267,-23.95091,-17.45037,-0.73173], "fy":[7.59104,0.84315,-15.89652,-9.65878]}, - {"t":2.55702, "x":7.55841, "y":6.70671, "heading":-1.23301, "vx":0.64357, "vy":-1.89273, "omega":-1.39342, "ax":-0.18733, "ay":-0.06345, "alpha":2.06355, "fx":[2.83929,-15.48995,-9.06089,9.32303], "fy":[11.40367,4.88058,-13.42667,-7.05387]}, - {"t":2.58068, "x":7.57359, "y":6.66192, "heading":-1.26598, "vx":0.63914, "vy":-1.89423, "omega":-1.34461, "ax":-0.04636, "ay":-0.01563, "alpha":2.19166, "fx":[5.98945,-13.72863,-7.52853,12.20207], "fy":[12.71823,6.49107,-13.21355,-7.02918]}, - {"t":2.60433, "x":7.58869, "y":6.6171, "heading":-1.29778, "vx":0.63804, "vy":-1.8946, "omega":-1.29276, "ax":-0.01148, "ay":-0.00387, "alpha":2.33053, "fx":[7.43214,-13.7407,-7.81313,13.36245], "fy":[13.49073,7.55575,-13.61248,-7.68967]}, - {"t":2.62799, "x":7.60378, "y":6.57228, "heading":-1.32836, "vx":0.63777, "vy":-1.89469, "omega":-1.23763, "ax":-0.00285, "ay":-0.00096, "alpha":2.48278, "fx":[8.51106,-14.22883,-8.60553,14.13492], "fy":[14.16689,8.54157,-14.19687,-8.57503]}, - {"t":2.65164, "x":7.61887, "y":6.52747, "heading":-1.35764, "vx":0.6377, "vy":-1.89472, "omega":-1.1789, "ax":-0.00071, "ay":-0.00024, "alpha":2.6489, "fx":[9.55819,-14.86869,-9.58165,14.84534], "fy":[14.85331,9.56573,-14.86072,-9.57412]}, - {"t":2.6753, "x":7.63395, "y":6.48265, "heading":-1.38553, "vx":0.63769, "vy":-1.89472, "omega":-1.11624, "ax":-0.00018, "ay":-0.00006, "alpha":2.82921, "fx":[10.6569,-15.58006,-10.66276,15.57421], "fy":[15.57621,10.65876,-15.57806,-10.66089]}, - {"t":2.69895, "x":7.64904, "y":6.43783, "heading":-1.41193, "vx":0.63768, "vy":-1.89472, "omega":-1.04932, "ax":-0.00005, "ay":-0.00002, "alpha":3.02398, "fx":[11.82841,-16.34373,-11.83013,16.34201], "fy":[16.3426,11.82895,-16.34315,-11.82959]}, - {"t":2.72261, "x":7.66412, "y":6.39301, "heading":-1.43675, "vx":0.63768, "vy":-1.89472, "omega":-0.97778, "ax":-0.00005, "ay":-0.00002, "alpha":3.23342, "fx":[13.07757,-17.15631,-13.07921,17.15466], "fy":[17.15523,13.07808,-17.15574,-13.0787]}, - {"t":2.74626, "x":7.67921, "y":6.34819, "heading":-1.45988, "vx":0.63768, "vy":-1.89472, "omega":-0.9013, "ax":-0.00016, "ay":-0.00006, "alpha":3.45768, "fx":[14.40333,-18.01972,-14.40873,18.01428], "fy":[18.01618,14.40501,-18.01783,-14.40705]}, - {"t":2.76992, "x":7.69429, "y":6.30337, "heading":-1.4812, "vx":0.63767, "vy":-1.89472, "omega":-0.81951, "ax":-0.00064, "ay":-0.00022, "alpha":3.69682, "fx":[15.79904,-18.94096,-15.82003,18.91972], "fy":[18.92721,15.80554,-18.93347,-15.81353]}, - {"t":2.79357, "x":7.70937, "y":6.25855, "heading":-1.50059, "vx":0.63766, "vy":-1.89473, "omega":-0.73206, "ax":-0.00248, "ay":-0.00083, "alpha":3.95078, "fx":[17.24392,-19.94079,-17.32518,19.85812], "fy":[19.88756,17.26886,-19.91135,-17.30026]}, - {"t":2.81723, "x":7.72446, "y":6.21373, "heading":-1.51791, "vx":0.6376, "vy":-1.89475, "omega":-0.6386, "ax":-0.00953, "ay":-0.00321, "alpha":4.21936, "fx":[18.66912,-21.08876,-18.98045,20.77006], "fy":[20.88473,18.7636,-20.97415,-18.88617]}, - {"t":2.84088, "x":7.73954, "y":6.1689, "heading":-1.53301, "vx":0.63738, "vy":-1.89483, "omega":-0.53879, "ax":-0.03627, "ay":-0.01219, "alpha":4.50208, "fx":[19.82992,-22.63434,-21.0111,21.41695], "fy":[21.86017,20.18478,-22.19197,-20.65922]}, - {"t":2.86454, "x":7.7546, "y":6.12408, "heading":-1.54576, "vx":0.63652, "vy":-1.89511, "omega":-0.43229, "ax":-0.1367, "ay":-0.04578, "alpha":4.79582, "fx":[19.82191,-25.483,-24.25755,20.87803], "fy":[22.58155,21.1536,-23.79253,-22.97052]}, - {"t":2.88819, "x":7.76962, "y":6.07924, "heading":-1.55598, "vx":0.63328, "vy":-1.8962, "omega":-0.31885, "ax":-0.5087, "ay":-0.1681, "alpha":5.06134, "fx":[15.12889,-32.77018,-31.58881,15.58798], "fy":[22.12298,20.27833,-26.4321,-27.08609]}, - {"t":2.91185, "x":7.78446, "y":6.03433, "heading":-1.56353, "vx":0.62125, "vy":-1.90017, "omega":-0.19912, "ax":-1.81137, "ay":-0.56971, "alpha":4.82816, "fx":[-8.91941,-52.72349,-50.20033,-7.94978], "fy":[16.17524,13.06361,-30.92332,-35.99277]}, - {"t":2.9355, "x":7.79865, "y":5.98923, "heading":-1.56824, "vx":0.5784, "vy":-1.91365, "omega":-0.08491, "ax":-4.60596, "ay":-1.25103, "alpha":2.60279, "fx":[-71.15608,-86.24288,-82.0523,-65.15807], "fy":[-4.60483,-3.63969,-33.21246,-41.27828]}, - {"t":2.95916, "x":7.81104, "y":5.94361, "heading":-1.57024, "vx":0.46945, "vy":-1.94324, "omega":-0.02334, "ax":-6.37214, "ay":-1.25902, "alpha":0.98671, "fx":[-105.37813,-107.97698,-105.64734,-102.41143], "fy":[-13.79722,-12.1328,-26.91731,-30.41643]}, - {"t":2.98282, "x":7.82037, "y":5.89729, "heading":-1.5708, "vx":0.31871, "vy":-1.97303, "omega":0.0, "ax":-6.4895, "ay":-0.69576, "alpha":0.0, "fx":[-107.29377,-107.29377,-107.29377,-107.29377], "fy":[-11.50335,-11.50335,-11.50335,-11.50335]}, - {"t":3.01768, "x":7.82753, "y":5.82807, "heading":-1.5708, "vx":0.09244, "vy":-1.99728, "omega":0.0, "ax":-2.69633, "ay":-0.06139, "alpha":0.0, "fx":[-44.57955,-44.57955,-44.57955,-44.57955], "fy":[-1.01497,-1.01497,-1.01497,-1.01497]}, - {"t":3.05255, "x":7.82912, "y":5.75839, "heading":-1.5708, "vx":-0.00157, "vy":-1.99943, "omega":0.0, "ax":-0.32841, "ay":0.0012, "alpha":0.0, "fx":[-5.42983,-5.42983,-5.42983,-5.42983], "fy":[0.01976,0.01976,0.01976,0.01976]}, - {"t":3.08742, "x":7.82886, "y":5.68868, "heading":-1.5708, "vx":-0.01302, "vy":-1.99938, "omega":0.0, "ax":-0.03495, "ay":0.00024, "alpha":0.0, "fx":[-0.5779,-0.5779,-0.5779,-0.5779], "fy":[0.00394,0.00394,0.00394,0.00394]}, - {"t":3.12228, "x":7.82839, "y":5.61897, "heading":-1.5708, "vx":-0.01424, "vy":-1.99938, "omega":0.0, "ax":-0.00371, "ay":0.00003, "alpha":0.0, "fx":[-0.06139,-0.06139,-0.06139,-0.06139], "fy":[0.00044,0.00044,0.00044,0.00044]}, - {"t":3.15715, "x":7.82789, "y":5.54925, "heading":-1.5708, "vx":-0.01437, "vy":-1.99937, "omega":0.0, "ax":-0.00039, "ay":0.0, "alpha":0.0, "fx":[-0.00652,-0.00652,-0.00652,-0.00652], "fy":[0.00005,0.00005,0.00005,0.00005]}, - {"t":3.19202, "x":7.82739, "y":5.47954, "heading":-1.5708, "vx":-0.01438, "vy":-1.99937, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00069,-0.00069,-0.00069,-0.00069], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.22689, "x":7.82689, "y":5.40983, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.26175, "x":7.82638, "y":5.34012, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.29662, "x":7.82588, "y":5.2704, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.33149, "x":7.82538, "y":5.20069, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.36636, "x":7.82488, "y":5.13098, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.40122, "x":7.82438, "y":5.06126, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.43609, "x":7.82388, "y":4.99155, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.47096, "x":7.82337, "y":4.92184, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.50582, "x":7.82287, "y":4.85213, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.54069, "x":7.82237, "y":4.78241, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.57556, "x":7.82187, "y":4.7127, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.61043, "x":7.82137, "y":4.64299, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":3.64529, "x":7.82087, "y":4.57328, "heading":-1.5708, "vx":-0.01439, "vy":-1.99937, "omega":0.0, "ax":0.00012, "ay":0.01649, "alpha":0.0, "fx":[0.00196,0.00196,0.00196,0.00196], "fy":[0.2727,0.2727,0.2727,0.2727]}, - {"t":3.68016, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01438, "vy":-1.9988, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52561, "ay":0.00137, "alpha":0.0, "fx":[124.42428,124.42428,124.42428,124.42428], "fy":[0.02259,0.02259,0.02259,0.02259]}, + {"t":0.04439, "x":3.35399, "y":7.50912, "heading":0.0, "vx":0.33406, "vy":0.00006, "omega":0.0, "ax":7.52394, "ay":0.00139, "alpha":0.0, "fx":[124.39667,124.39667,124.39667,124.39667], "fy":[0.02294,0.02294,0.02294,0.02294]}, + {"t":0.08878, "x":3.37623, "y":7.50912, "heading":0.0, "vx":0.66805, "vy":0.00012, "omega":0.0, "ax":7.52131, "ay":0.00142, "alpha":0.0, "fx":[124.35306,124.35306,124.35306,124.35306], "fy":[0.02343,0.02343,0.02343,0.02343]}, + {"t":0.13317, "x":3.4133, "y":7.50913, "heading":0.0, "vx":1.00192, "vy":0.00019, "omega":0.0, "ax":7.51652, "ay":0.00146, "alpha":0.0, "fx":[124.27393,124.27393,124.27393,124.27393], "fy":[0.02414,0.02414,0.02414,0.02414]}, + {"t":0.17756, "x":3.46518, "y":7.50914, "heading":0.0, "vx":1.33558, "vy":0.00025, "omega":0.0, "ax":7.50516, "ay":0.00153, "alpha":0.0, "fx":[124.08607,124.08607,124.08607,124.08607], "fy":[0.02526,0.02526,0.02526,0.02526]}, + {"t":0.22195, "x":3.53186, "y":7.50915, "heading":0.0, "vx":1.66874, "vy":0.00032, "omega":0.0, "ax":7.44401, "ay":0.0017, "alpha":0.0, "fx":[123.07504,123.07504,123.07504,123.07504], "fy":[0.02817,0.02817,0.02817,0.02817]}, + {"t":0.26634, "x":3.61327, "y":7.50917, "heading":0.0, "vx":1.99918, "vy":0.00039, "omega":0.0, "ax":0.0084, "ay":0.00162, "alpha":0.0, "fx":[0.13887,0.13887,0.13887,0.13887], "fy":[0.02677,0.02677,0.02677,0.02677]}, + {"t":0.31073, "x":3.70202, "y":7.50919, "heading":0.0, "vx":1.99955, "vy":0.00047, "omega":0.0, "ax":0.0, "ay":0.00148, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02448,0.02448,0.02448,0.02448]}, + {"t":0.35512, "x":3.79078, "y":7.50921, "heading":0.0, "vx":1.99955, "vy":0.00053, "omega":0.0, "ax":0.0, "ay":0.00188, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03109,0.03109,0.03109,0.03109]}, + {"t":0.39951, "x":3.87954, "y":7.50923, "heading":0.0, "vx":1.99955, "vy":0.00061, "omega":0.0, "ax":0.0, "ay":0.00238, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03927,0.03927,0.03927,0.03927]}, + {"t":0.4439, "x":3.9683, "y":7.50926, "heading":0.0, "vx":1.99955, "vy":0.00072, "omega":0.0, "ax":0.0, "ay":0.00296, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.04889,0.04889,0.04889,0.04889]}, + {"t":0.48829, "x":4.05706, "y":7.5093, "heading":0.0, "vx":1.99955, "vy":0.00085, "omega":0.0, "ax":0.0, "ay":0.00365, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.06027,0.06027,0.06027,0.06027]}, + {"t":0.53268, "x":4.14582, "y":7.50934, "heading":0.0, "vx":1.99955, "vy":0.00101, "omega":0.0, "ax":0.0, "ay":0.00446, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.07382,0.07382,0.07382,0.07382]}, + {"t":0.57707, "x":4.23458, "y":7.50939, "heading":0.0, "vx":1.99955, "vy":0.00121, "omega":0.0, "ax":0.0, "ay":0.00545, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.09003,0.09003,0.09003,0.09003]}, + {"t":0.62146, "x":4.32334, "y":7.50945, "heading":0.0, "vx":1.99955, "vy":0.00145, "omega":0.0, "ax":-0.00001, "ay":0.00662, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[0.1095,0.1095,0.1095,0.1095]}, + {"t":0.66585, "x":4.4121, "y":7.50952, "heading":0.0, "vx":1.99955, "vy":0.00175, "omega":0.0, "ax":-0.00001, "ay":0.00804, "alpha":0.0, "fx":[-0.00013,-0.00013,-0.00013,-0.00013], "fy":[0.13295,0.13295,0.13295,0.13295]}, + {"t":0.71024, "x":4.50086, "y":7.50961, "heading":0.0, "vx":1.99955, "vy":0.0021, "omega":0.0, "ax":-0.00001, "ay":0.00975, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.16126,0.16126,0.16126,0.16126]}, + {"t":0.75463, "x":4.58962, "y":7.50971, "heading":0.0, "vx":1.99955, "vy":0.00254, "omega":0.0, "ax":-0.00002, "ay":0.01183, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[0.19552,0.19552,0.19552,0.19552]}, + {"t":0.79902, "x":4.67838, "y":7.50983, "heading":0.0, "vx":1.99955, "vy":0.00306, "omega":0.0, "ax":-0.00002, "ay":0.01434, "alpha":0.0, "fx":[-0.0004,-0.0004,-0.0004,-0.0004], "fy":[0.23709,0.23709,0.23709,0.23709]}, + {"t":0.84341, "x":4.76714, "y":7.50998, "heading":0.0, "vx":1.99955, "vy":0.0037, "omega":0.0, "ax":-0.00004, "ay":0.0174, "alpha":0.0, "fx":[-0.00059,-0.00059,-0.00059,-0.00059], "fy":[0.28769,0.28769,0.28769,0.28769]}, + {"t":0.8878, "x":4.8559, "y":7.51016, "heading":0.0, "vx":1.99954, "vy":0.00447, "omega":0.0, "ax":-0.00005, "ay":0.02114, "alpha":0.0, "fx":[-0.00086,-0.00086,-0.00086,-0.00086], "fy":[0.34956,0.34956,0.34956,0.34956]}, + {"t":0.93219, "x":4.94466, "y":7.51038, "heading":0.0, "vx":1.99954, "vy":0.00541, "omega":0.0, "ax":-0.00008, "ay":0.02575, "alpha":0.0, "fx":[-0.00127,-0.00127,-0.00127,-0.00127], "fy":[0.42567,0.42567,0.42567,0.42567]}, + {"t":0.97658, "x":5.03342, "y":7.51065, "heading":0.0, "vx":1.99954, "vy":0.00655, "omega":0.0, "ax":-0.00011, "ay":0.03146, "alpha":0.0, "fx":[-0.00189,-0.00189,-0.00189,-0.00189], "fy":[0.52014,0.52014,0.52014,0.52014]}, + {"t":1.02097, "x":5.12218, "y":7.51097, "heading":0.0, "vx":1.99953, "vy":0.00795, "omega":0.0, "ax":-0.00017, "ay":0.03865, "alpha":0.0, "fx":[-0.00281,-0.00281,-0.00281,-0.00281], "fy":[0.63896,0.63896,0.63896,0.63896]}, + {"t":1.06536, "x":5.21094, "y":7.51136, "heading":0.0, "vx":1.99953, "vy":0.00966, "omega":0.0, "ax":-0.00026, "ay":0.04786, "alpha":0.0, "fx":[-0.00424,-0.00424,-0.00424,-0.00424], "fy":[0.79132,0.79132,0.79132,0.79132]}, + {"t":1.10975, "x":5.2997, "y":7.51184, "heading":0.0, "vx":1.99952, "vy":0.01179, "omega":0.0, "ax":-0.00039, "ay":0.05995, "alpha":0.0, "fx":[-0.0065,-0.0065,-0.0065,-0.0065], "fy":[0.9911,0.9911,0.9911,0.9911]}, + {"t":1.15414, "x":5.38846, "y":7.51242, "heading":0.0, "vx":1.9995, "vy":0.01445, "omega":0.0, "ax":-0.0006, "ay":0.07484, "alpha":0.0, "fx":[-0.00997,-0.00997,-0.00997,-0.00997], "fy":[1.23739,1.23739,1.23739,1.23739]}, + {"t":1.19853, "x":5.47722, "y":7.51314, "heading":0.0, "vx":1.99947, "vy":0.01777, "omega":0.0, "ax":-0.00062, "ay":0.06501, "alpha":0.0, "fx":[-0.01033,-0.01033,-0.01033,-0.01033], "fy":[1.07486,1.07486,1.07486,1.07486]}, + {"t":1.24292, "x":5.56597, "y":7.51399, "heading":0.0, "vx":1.99944, "vy":0.02066, "omega":0.0, "ax":0.00238, "ay":-0.49448, "alpha":0.0, "fx":[0.03942,0.03942,0.03942,0.03942], "fy":[-8.17552,-8.17552,-8.17552,-8.17552]}, + {"t":1.28731, "x":5.65473, "y":7.51442, "heading":0.0, "vx":1.99955, "vy":-0.00129, "omega":0.0, "ax":-0.33423, "ay":-5.32145, "alpha":0.0, "fx":[-5.526,-5.526,-5.526,-5.526], "fy":[-87.98194,-87.98194,-87.98194,-87.98194]}, + {"t":1.3317, "x":5.74316, "y":7.50912, "heading":0.0, "vx":1.98471, "vy":-0.23751, "omega":0.0, "ax":-0.95401, "ay":-5.97411, "alpha":-1.5206, "fx":[-3.8239,-4.60876,-29.71498,-24.94447], "fy":[-102.77249,-97.68628,-94.27824,-100.35317]}, + {"t":1.3592, "x":5.79738, "y":7.50033, "heading":0.0, "vx":1.95848, "vy":-0.40178, "omega":-0.04181, "ax":-0.63812, "ay":-2.82422, "alpha":-4.53884, "fx":[11.94766,15.71746,-38.99844,-30.86822], "fy":[-66.50923,-29.41942,-27.08621,-63.7617]}, + {"t":1.3867, "x":5.85099, "y":7.48821, "heading":-0.00115, "vx":1.94093, "vy":-0.47944, "omega":-0.16661, "ax":-0.16337, "ay":-0.64859, "alpha":-5.44729, "fx":[22.31639,24.0639,-29.55183,-27.63281], "fy":[-36.5489,14.89582,14.66587,-35.90666]}, + {"t":1.41419, "x":5.90429, "y":7.47478, "heading":-0.00573, "vx":1.93644, "vy":-0.49727, "omega":-0.3164, "ax":-0.03459, "ay":-0.13415, "alpha":-5.10688, "fx":[23.2259,23.82886,-24.70252,-24.63954], "fy":[-26.48377,21.76546,21.96614,-26.11986]}, + {"t":1.44169, "x":5.95753, "y":7.46106, "heading":-0.01443, "vx":1.93549, "vy":-0.50096, "omega":-0.45682, "ax":-0.00704, "ay":-0.02717, "alpha":-4.70756, "fx":[21.74054,22.43878,-22.03085,-22.61401], "fy":[-22.98192,21.44216,22.07019,-22.32759]}, + {"t":1.46919, "x":6.01074, "y":7.44728, "heading":-0.02699, "vx":1.9353, "vy":-0.50171, "omega":-0.58626, "ax":-0.0014, "ay":-0.00542, "alpha":-4.32098, "fx":[19.79875,20.90875,-19.85491,-20.94548], "fy":[-21.01763,19.73824,20.83658,-19.91536]}, + {"t":1.49668, "x":6.06396, "y":7.43348, "heading":-0.04311, "vx":1.93526, "vy":-0.50186, "omega":-0.70507, "ax":-0.00028, "ay":-0.00106, "alpha":-3.95107, "fx":[17.81328,19.42154,-17.824,-19.42906], "fy":[-19.44301,17.80121,19.4076,-17.83607]}, + {"t":1.52418, "x":6.11717, "y":7.41968, "heading":-0.0625, "vx":1.93525, "vy":-0.50189, "omega":-0.81372, "ax":-0.00005, "ay":-0.0002, "alpha":-3.59862, "fx":[15.88212,18.00305,-15.88414,-18.00456], "fy":[-18.0072,15.87977,18.00041,-15.88649]}, + {"t":1.55168, "x":6.17038, "y":7.40588, "heading":-0.08487, "vx":1.93525, "vy":-0.50189, "omega":-0.91267, "ax":-0.00001, "ay":-0.00004, "alpha":-3.264, "fx":[14.0371,16.64779,-14.03748,-16.64808], "fy":[-16.64856,14.03667,16.64731,-14.03791]}, + {"t":1.57917, "x":6.2236, "y":7.39208, "heading":-0.10997, "vx":1.93525, "vy":-0.50189, "omega":-1.00242, "ax":0.0, "ay":-0.00001, "alpha":-2.94722, "fx":[12.29372,15.3455,-12.29379,-15.34556], "fy":[-15.34564,12.29365,15.34543,-12.29385]}, + {"t":1.60667, "x":6.27681, "y":7.37828, "heading":-0.13753, "vx":1.93525, "vy":-0.50189, "omega":-1.08345, "ax":0.0, "ay":0.0, "alpha":-2.64799, "fx":[10.66136,14.08664,-10.66139,-14.08666], "fy":[-14.08668,10.66135,14.08663,-10.6614]}, + {"t":1.63417, "x":6.33002, "y":7.36448, "heading":-0.16732, "vx":1.93525, "vy":-0.50189, "omega":-1.15627, "ax":0.0, "ay":0.0, "alpha":-2.36572, "fx":[9.1458,12.86319,-9.14583,-12.86322], "fy":[-12.86324,9.14578,12.86316,-9.14586]}, + {"t":1.66166, "x":6.38323, "y":7.35068, "heading":-0.19912, "vx":1.93525, "vy":-0.50189, "omega":-1.22131, "ax":0.0, "ay":0.0, "alpha":-2.09962, "fx":[7.75006,11.66858,-7.75011,-11.66863], "fy":[-11.66868,7.75001,11.66852,-7.75016]}, + {"t":1.68916, "x":6.43645, "y":7.33688, "heading":-0.2327, "vx":1.93525, "vy":-0.50189, "omega":-1.27905, "ax":0.0, "ay":-0.00001, "alpha":-1.8487, "fx":[6.47504,10.49741,-6.47512,-10.49748], "fy":[-10.49757,6.47496,10.49732,-6.47521]}, + {"t":1.71666, "x":6.48966, "y":7.32308, "heading":-0.26787, "vx":1.93525, "vy":-0.50189, "omega":-1.32988, "ax":0.0, "ay":-0.00001, "alpha":-1.61182, "fx":[5.32005,9.34517,-5.32015,-9.34526], "fy":[-9.34539,5.31992,9.34504,-5.32027]}, + {"t":1.74415, "x":6.54287, "y":7.30928, "heading":-0.30444, "vx":1.93525, "vy":-0.50189, "omega":-1.3742, "ax":0.0, "ay":-0.00001, "alpha":-1.38774, "fx":[4.28318,8.208,-4.28331,-8.20812], "fy":[-8.20827,4.28303,8.20784,-4.28346]}, + {"t":1.77165, "x":6.59609, "y":7.29548, "heading":-0.34222, "vx":1.93525, "vy":-0.50189, "omega":-1.41236, "ax":0.0, "ay":-0.00002, "alpha":-1.17512, "fx":[3.36177,7.08247,-3.36191,-7.08261], "fy":[-7.08279,3.36159,7.08228,-3.36209]}, + {"t":1.79915, "x":6.6493, "y":7.28168, "heading":-0.38106, "vx":1.93525, "vy":-0.50189, "omega":-1.44467, "ax":0.0, "ay":-0.00002, "alpha":-0.97259, "fx":[2.55266,5.96539,-2.55282,-5.96555], "fy":[-5.96577,2.55245,5.96518,-2.55304]}, + {"t":1.82664, "x":6.70251, "y":7.26787, "heading":-0.42078, "vx":1.93525, "vy":-0.50189, "omega":-1.47141, "ax":-0.00001, "ay":-0.00003, "alpha":-0.77872, "fx":[1.85249,4.85365,-1.85272,-4.85388], "fy":[-4.8542,1.85217,4.85333,-1.85304]}, + {"t":1.85414, "x":6.75572, "y":7.25407, "heading":-0.46124, "vx":1.93525, "vy":-0.5019, "omega":-1.49283, "ax":-0.00002, "ay":-0.00007, "alpha":-0.59206, "fx":[1.2578,3.74395,-1.25843,-3.74458], "fy":[-3.74546,1.25691,3.74307,-1.25931]}, + {"t":1.88164, "x":6.80894, "y":7.24027, "heading":-0.50229, "vx":1.93525, "vy":-0.5019, "omega":-1.50911, "ax":-0.00009, "ay":-0.00033, "alpha":-0.41112, "fx":[0.76476,2.63221,-0.76762,-2.63507], "fy":[-2.63914,0.76069,2.62814,-0.77169]}, + {"t":1.90913, "x":6.86215, "y":7.22647, "heading":-0.54378, "vx":1.93525, "vy":-0.50191, "omega":-1.52041, "ax":-0.00046, "ay":-0.00178, "alpha":-0.23439, "fx":[0.36653,1.51069,-0.38178,-1.52592], "fy":[-1.54767,0.34479,1.48895,-0.40352]}, + {"t":1.93663, "x":6.91536, "y":7.21267, "heading":-0.58559, "vx":1.93523, "vy":-0.50196, "omega":-1.52685, "ax":-0.00253, "ay":-0.00974, "alpha":-0.06031, "fx":[0.03809,0.35257,-0.12163,-0.43611], "fy":[-0.55532,-0.08113,0.23335,-0.24084]}, + {"t":1.96413, "x":6.96857, "y":7.19887, "heading":-0.62757, "vx":1.93516, "vy":-0.50222, "omega":-1.52851, "ax":-0.01392, "ay":-0.05356, "alpha":0.11269, "fx":[-0.34839,-0.97267,-0.11201,0.51235], "fy":[-0.14307,-1.00371,-1.62796,-0.76743]}, + {"t":1.99162, "x":7.02178, "y":7.18504, "heading":-0.6696, "vx":1.93478, "vy":-0.5037, "omega":-1.52541, "ax":-0.0772, "ay":-0.29402, "alpha":0.28534, "fx":[-1.49874,-3.16929,-1.0552,0.61755], "fy":[-2.97166,-5.08026,-6.74848,-4.64402]}, + {"t":2.01912, "x":7.07495, "y":7.17108, "heading":-0.71155, "vx":1.93266, "vy":-0.51178, "omega":-1.51757, "ax":-0.4259, "ay":-1.53964, "alpha":0.42234, "fx":[-7.32873,-9.9488,-6.76689,-4.12194], "fy":[-22.73784,-25.60154,-28.15086,-25.33173]}, + {"t":2.04662, "x":7.12793, "y":7.15642, "heading":-0.75327, "vx":1.92095, "vy":-0.55411, "omega":-1.50596, "ax":-1.54995, "ay":-4.75226, "alpha":0.24952, "fx":[-26.14372,-27.85435,-25.13439,-23.37127], "fy":[-77.48141,-78.17748,-79.65359,-78.97218]}, + {"t":2.07411, "x":7.18017, "y":7.13939, "heading":-0.79468, "vx":1.87833, "vy":-0.68479, "omega":-1.49909, "ax":-2.60789, "ay":-6.23419, "alpha":0.0893, "fx":[-43.45361,-44.04945,-42.78816,-42.17846], "fy":[-102.81661,-102.72896,-103.32852,-103.41644]}, + {"t":2.10161, "x":7.23083, "y":7.1182, "heading":-0.8359, "vx":1.80662, "vy":-0.85621, "omega":-1.49664, "ax":-3.40654, "ay":-6.35058, "alpha":0.04473, "fx":[-56.5274,-56.78112,-56.11826,-55.86026], "fy":[-104.86108,-104.76237,-105.13247,-105.23176]}, + {"t":2.12911, "x":7.27922, "y":7.09226, "heading":-0.87706, "vx":1.71295, "vy":-1.03083, "omega":-1.49541, "ax":-4.11083, "ay":-6.10387, "alpha":0.02795, "fx":[-68.10758,-68.23306,-67.82553,-67.69826], "fy":[-100.81388,-100.74298,-101.02184,-101.0933]}, + {"t":2.1566, "x":7.32476, "y":7.06161, "heading":-0.91817, "vx":1.59992, "vy":-1.19866, "omega":-1.49464, "ax":-4.78134, "ay":-5.6819, "alpha":0.01981, "fx":[-79.15734,-79.22137,-78.94728,-78.88235], "fy":[-93.8487,-93.8014,-94.03369,-94.08145]}, + {"t":2.1841, "x":7.36695, "y":7.0265, "heading":-0.95927, "vx":1.46845, "vy":-1.3549, "omega":-1.4941, "ax":-5.23171, "ay":-5.25124, "alpha":0.02056, "fx":[-86.60541,-86.65651,-86.39144,-86.33942], "fy":[-86.70932,-86.66682,-86.93256,-86.9757]}, + {"t":2.20771, "x":7.40015, "y":6.99305, "heading":-0.99454, "vx":1.34495, "vy":-1.47885, "omega":-1.49361, "ax":-5.64775, "ay":-4.7093, "alpha":0.03286, "fx":[-93.54052,-93.59655,-93.21393,-93.15581], "fy":[-77.65191,-77.60709,-78.06891,-78.11572]}, + {"t":2.23131, "x":7.43033, "y":6.95684, "heading":-1.0298, "vx":1.21164, "vy":-1.59001, "omega":-1.49284, "ax":-5.93948, "ay":-4.13957, "alpha":0.05758, "fx":[-98.46122,-98.53288,-97.94172,-97.86464], "fy":[-68.02825,-67.99735,-68.85094,-68.88865]}, + {"t":2.25491, "x":7.45727, "y":6.91815, "heading":-1.06503, "vx":1.07144, "vy":-1.68772, "omega":-1.49148, "ax":-6.04495, "ay":-3.498, "alpha":0.11621, "fx":[-100.38107,-100.52503,-99.51512,-99.35406], "fy":[-56.92203,-56.98022,-58.73176,-58.70209]}, + {"t":2.27852, "x":7.48088, "y":6.87734, "heading":-1.10024, "vx":0.92875, "vy":-1.77029, "omega":-1.48873, "ax":-5.66883, "ay":-2.71155, "alpha":0.29181, "fx":[-94.40619,-95.0767,-93.08028,-92.33792], "fy":[-42.45935,-43.00146,-47.12502,-46.73906]}, + {"t":2.30212, "x":7.50122, "y":6.8348, "heading":-1.13538, "vx":0.79494, "vy":-1.8343, "omega":-1.48184, "ax":-3.91784, "ay":-1.58326, "alpha":0.89343, "fx":[-64.50012,-69.47294,-65.21343,-59.91502], "fy":[-19.5656,-22.63633,-32.40338,-30.10192]}, + {"t":2.32573, "x":7.51889, "y":6.79106, "heading":-1.17036, "vx":0.70247, "vy":-1.87167, "omega":-1.46076, "ax":-1.3931, "ay":-0.50902, "alpha":1.66801, "fx":[-19.32428,-33.05926,-26.91258,-12.83465], "fy":[2.2834,-4.03589,-18.74719,-13.16371]}, + {"t":2.34933, "x":7.53509, "y":6.74674, "heading":-1.20484, "vx":0.66958, "vy":-1.88368, "omega":-1.42138, "ax":-0.35872, "ay":-0.12661, "alpha":1.89767, "fx":[-0.82884,-17.45419,-11.08264,5.64229], "fy":[9.54475,3.03156,-13.61089,-7.33852]}, + {"t":2.37294, "x":7.55079, "y":6.70224, "heading":-1.23839, "vx":0.66111, "vy":-1.88667, "omega":-1.37659, "ax":-0.08912, "ay":-0.03117, "alpha":2.02472, "fx":[4.43066,-13.61232,-7.38934,10.67733], "fy":[11.64866,5.3811,-12.64469,-6.44666]}, + {"t":2.39654, "x":7.56637, "y":6.65769, "heading":-1.27088, "vx":0.65901, "vy":-1.88741, "omega":-1.3288, "ax":-0.02211, "ay":-0.00772, "alpha":2.15586, "fx":[6.34465,-13.0852,-7.07842,12.35681], "fy":[12.59852,6.57923,-12.84372,-6.84436]}, + {"t":2.42015, "x":7.58192, "y":6.61314, "heading":-1.30225, "vx":0.65849, "vy":-1.88759, "omega":-1.27791, "ax":-0.00549, "ay":-0.00192, "alpha":2.29928, "fx":[7.48898,-13.4267,-7.67122,13.24563], "fy":[13.30591,7.547,-13.36643,-7.61324]}, + {"t":2.44375, "x":7.59746, "y":6.56858, "heading":-1.33241, "vx":0.65836, "vy":-1.88763, "omega":-1.22364, "ax":-0.00137, "ay":-0.00048, "alpha":2.45586, "fx":[8.49957,-14.01623,-8.5449,13.97114], "fy":[13.9862,8.51393,-14.00117,-8.53054]}, + {"t":2.46736, "x":7.613, "y":6.52403, "heading":-1.3613, "vx":0.65833, "vy":-1.88765, "omega":-1.16567, "ax":-0.00034, "ay":-0.00012, "alpha":2.62599, "fx":[9.53532,-14.69935,-9.5466,14.68811], "fy":[14.69187,9.53887,-14.69558,-9.54305]}, + {"t":2.49096, "x":7.62854, "y":6.47947, "heading":-1.38881, "vx":0.65832, "vy":-1.88765, "omega":-1.10368, "ax":-0.00009, "ay":-0.00003, "alpha":2.81002, "fx":[10.63689,-15.43806,-10.63973,15.43522], "fy":[15.43617,10.63777,-15.43711,-10.63885]}, + {"t":2.51456, "x":7.64408, "y":6.43491, "heading":-1.41486, "vx":0.65832, "vy":-1.88765, "omega":-1.03735, "ax":-0.00003, "ay":-0.00001, "alpha":3.00825, "fx":[11.81486,-16.22378,-11.81586,16.22278], "fy":[16.22311,11.81516,-16.22345,-11.81555]}, + {"t":2.53817, "x":7.65962, "y":6.39036, "heading":-1.43935, "vx":0.65832, "vy":-1.88765, "omega":-0.96634, "ax":-0.00005, "ay":-0.00002, "alpha":3.22089, "fx":[13.07124,-17.05595,-13.07287,17.05432], "fy":[17.05487,13.07173,-17.0554,-13.07237]}, + {"t":2.56177, "x":7.67516, "y":6.3458, "heading":-1.46216, "vx":0.65832, "vy":-1.88765, "omega":-0.89032, "ax":-0.00018, "ay":-0.00006, "alpha":3.44812, "fx":[14.40405,-17.93747,-14.41009,17.93138], "fy":[17.93347,14.40589,-17.93538,-14.40825]}, + {"t":2.58538, "x":7.6907, "y":6.30124, "heading":-1.48318, "vx":0.65831, "vy":-1.88765, "omega":-0.80892, "ax":-0.00072, "ay":-0.00025, "alpha":3.69, "fx":[15.8058,-18.8762,-15.82938,18.8523], "fy":[18.86059,15.81296,-18.86791,-15.82223]}, + {"t":2.60898, "x":7.70624, "y":6.25668, "heading":-1.50227, "vx":0.65829, "vy":-1.88766, "omega":-0.72182, "ax":-0.00278, "ay":-0.00097, "alpha":3.94648, "fx":[17.25364,-19.89508,-17.34461,19.8024], "fy":[19.83486,17.28099,-19.86263,-17.31728]}, + {"t":2.63259, "x":7.72178, "y":6.21213, "heading":-1.51931, "vx":0.65823, "vy":-1.88768, "omega":-0.62867, "ax":-0.01063, "ay":-0.00371, "alpha":4.21736, "fx":[18.67159,-21.07109,-19.0188,20.71513], "fy":[20.8411,18.77478,-20.94519,-18.91585]}, + {"t":2.65619, "x":7.73731, "y":6.16757, "heading":-1.53415, "vx":0.65798, "vy":-1.88777, "omega":-0.52912, "ax":-0.04033, "ay":-0.01404, "alpha":4.50214, "fx":[19.78947,-22.68008,-21.10172,21.32532], "fy":[21.81064,20.17557,-22.19574,-20.71932]}, + {"t":2.6798, "x":7.75283, "y":6.123, "heading":-1.54664, "vx":0.65703, "vy":-1.8881, "omega":-0.42285, "ax":-0.15142, "ay":-0.05253, "alpha":4.79705, "fx":[19.60877,-25.71931,-24.51755,20.61386], "fy":[22.47343,21.05433,-23.8747,-23.1272]}, + {"t":2.7034, "x":7.7683, "y":6.07842, "heading":-1.55662, "vx":0.65345, "vy":-1.88934, "omega":-0.30962, "ax":-0.56105, "ay":-0.19184, "alpha":5.0543, "fx":[14.23496,-33.60554,-32.37564,14.64186], "fy":[21.75106,19.84205,-26.72076,-27.55965]}, + {"t":2.72701, "x":7.78357, "y":6.03377, "heading":-1.56393, "vx":0.64021, "vy":-1.89387, "omega":-0.19031, "ax":-1.97461, "ay":-0.64057, "alpha":4.72187, "fx":[-12.46322,-54.86305,-52.07825,-11.18417], "fy":[14.62973,11.64068,-31.54324,-37.09079]}, + {"t":2.75061, "x":7.79813, "y":5.98889, "heading":-1.56842, "vx":0.5936, "vy":-1.90899, "omega":-0.07885, "ax":-4.78164, "ay":-1.33412, "alpha":2.41398, "fx":[-75.0064,-88.33503,-84.04211,-68.8446], "fy":[-7.16427,-5.66316,-33.75343,-41.64977]}, + {"t":2.77421, "x":7.81081, "y":5.94346, "heading":-1.57028, "vx":0.48073, "vy":-1.94048, "omega":-0.02187, "ax":-6.42544, "ay":-1.30664, "alpha":0.92665, "fx":[-106.35721,-108.71302,-106.4089,-103.45931], "fy":[-15.04957,-13.32367,-27.33983,-30.69979]}, + {"t":2.79782, "x":7.82037, "y":5.89729, "heading":-1.5708, "vx":0.32906, "vy":-1.97132, "omega":0.0, "ax":-6.55864, "ay":-0.73359, "alpha":0.0, "fx":[-108.43682,-108.43682,-108.43682,-108.43682], "fy":[-12.12869,-12.12869,-12.12869,-12.12869]}, + {"t":2.83269, "x":7.82785, "y":5.8281, "heading":-1.5708, "vx":0.10037, "vy":-1.9969, "omega":0.0, "ax":-2.90774, "ay":-0.07238, "alpha":0.0, "fx":[-48.07491,-48.07491,-48.07491,-48.07491], "fy":[-1.19674,-1.19674,-1.19674,-1.19674]}, + {"t":2.86756, "x":7.82958, "y":5.75843, "heading":-1.5708, "vx":-0.00102, "vy":-1.99943, "omega":0.0, "ax":-0.36281, "ay":0.00133, "alpha":0.0, "fx":[-5.99847,-5.99847,-5.99847,-5.99847], "fy":[0.02197,0.02197,0.02197,0.02197]}, + {"t":2.90242, "x":7.82933, "y":5.68872, "heading":-1.5708, "vx":-0.01367, "vy":-1.99938, "omega":0.0, "ax":-0.03863, "ay":0.00028, "alpha":0.0, "fx":[-0.63863,-0.63863,-0.63863,-0.63863], "fy":[0.00458,0.00458,0.00458,0.00458]}, + {"t":2.93729, "x":7.82883, "y":5.619, "heading":-1.5708, "vx":-0.01502, "vy":-1.99937, "omega":0.0, "ax":-0.0041, "ay":0.00003, "alpha":0.0, "fx":[-0.06784,-0.06784,-0.06784,-0.06784], "fy":[0.00051,0.00051,0.00051,0.00051]}, + {"t":2.97216, "x":7.8283, "y":5.54929, "heading":-1.5708, "vx":-0.01516, "vy":-1.99937, "omega":0.0, "ax":-0.00044, "ay":0.0, "alpha":0.0, "fx":[-0.00721,-0.00721,-0.00721,-0.00721], "fy":[0.00005,0.00005,0.00005,0.00005]}, + {"t":3.00703, "x":7.82777, "y":5.47957, "heading":-1.5708, "vx":-0.01517, "vy":-1.99937, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00077,-0.00077,-0.00077,-0.00077], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":3.0419, "x":7.82724, "y":5.40986, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.07677, "x":7.82672, "y":5.34014, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.11164, "x":7.82619, "y":5.27043, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.1465, "x":7.82566, "y":5.20071, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.18137, "x":7.82513, "y":5.131, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.21624, "x":7.8246, "y":5.06128, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.25111, "x":7.82407, "y":4.99157, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.28598, "x":7.82354, "y":4.92185, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.32085, "x":7.82301, "y":4.85214, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.35571, "x":7.82248, "y":4.78242, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.39058, "x":7.82195, "y":4.71271, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.42545, "x":7.82142, "y":4.64299, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":3.46032, "x":7.82089, "y":4.57328, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.00013, "ay":0.01649, "alpha":0.0, "fx":[0.00207,0.00207,0.00207,0.00207], "fy":[0.27268,0.27268,0.27268,0.27268]}, + {"t":3.49519, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01517, "vy":-1.99879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/RPreTrenchtoRClimb.traj b/src/main/deploy/choreo/RPreTrenchtoRClimb.traj index b7720ae7..3035d319 100644 --- a/src/main/deploy/choreo/RPreTrenchtoRClimb.traj +++ b/src/main/deploy/choreo/RPreTrenchtoRClimb.traj @@ -62,9 +62,9 @@ {"t":0.18185, "x":3.081, "y":1.10306, "heading":-2.6786, "vx":-1.60082, "vy":2.58929, "omega":1.48641, "ax":-3.02841, "ay":1.91407, "alpha":-9.13023, "fx":[-94.18147,-86.46506,14.65081,-34.28445], "fy":[42.07108,-33.93663,26.84724,91.60274]}, {"t":0.21216, "x":3.03109, "y":1.18242, "heading":-2.63355, "vx":-1.69261, "vy":2.6473, "omega":1.20969, "ax":-2.98353, "ay":1.26655, "alpha":-8.1135, "fx":[-89.59458,-74.72819,4.70349,-37.69248], "fy":[30.93959,-36.6768,11.44398,78.0548]}, {"t":0.24247, "x":2.97842, "y":1.26324, "heading":-2.59688, "vx":-1.78304, "vy":2.68569, "omega":0.96377, "ax":-2.68868, "ay":0.71562, "alpha":-6.64368, "fx":[-79.31265,-60.28091,-1.59425,-36.62497], "fy":[20.26567,-34.61819,1.79705,59.88244]}, - {"t":0.27278, "x":2.92315, "y":1.34497, "heading":-2.56767, "vx":-1.86453, "vy":2.70738, "omega":0.76241, "ax":-2.14636, "ay":0.26294, "alpha":-4.70873, "fx":[-62.28902,-43.78197,-5.27451,-30.60136], "fy":[10.33876,-27.91763,-2.94146,37.90925]}, + {"t":0.27278, "x":2.92315, "y":1.34497, "heading":-2.56767, "vx":-1.86453, "vy":2.70738, "omega":0.76241, "ax":-2.14636, "ay":0.26294, "alpha":-4.70873, "fx":[-62.28902,-43.78197,-5.27451,-30.60136], "fy":[10.33876,-27.91762,-2.94146,37.90925]}, {"t":0.30309, "x":2.86565, "y":1.42715, "heading":-2.54456, "vx":-1.92958, "vy":2.71535, "omega":0.6197, "ax":-1.52162, "ay":-0.11125, "alpha":-2.61985, "fx":[-41.28234,-28.5837,-8.23583,-22.52872], "fy":[1.45451,-19.42461,-5.59218,16.20473]}, - {"t":0.3334, "x":2.80647, "y":1.5094, "heading":-2.52578, "vx":-1.9757, "vy":2.71198, "omega":0.54029, "ax":-1.05141, "ay":-0.46371, "alpha":-0.78643, "fx":[-22.46521,-18.19003,-12.25369,-16.62494], "fy":[-6.70232,-12.8797,-8.67919,-2.4054]}, + {"t":0.3334, "x":2.80647, "y":1.5094, "heading":-2.52578, "vx":-1.9757, "vy":2.71198, "omega":0.54029, "ax":-1.05141, "ay":-0.46371, "alpha":-0.78643, "fx":[-22.46521,-18.19003,-12.25369,-16.62494], "fy":[-6.70232,-12.87971,-8.67919,-2.4054]}, {"t":0.36371, "x":2.7461, "y":1.59138, "heading":-2.50941, "vx":-2.00757, "vy":2.69792, "omega":0.51646, "ax":-0.77804, "ay":-0.90677, "alpha":0.93072, "fx":[-6.65951,-12.0865,-19.02577,-13.68326], "fy":[-16.13345,-8.85714,-13.93986,-21.03753]}, {"t":0.39402, "x":2.6849, "y":1.67273, "heading":-2.49375, "vx":-2.03115, "vy":2.67044, "omega":0.54467, "ax":-0.59549, "ay":-1.55946, "alpha":3.01875, "fx":[10.97235,-7.75208,-30.44348,-12.15902], "fy":[-29.73562,-5.94886,-23.11442,-44.33416]}, {"t":0.42432, "x":2.62306, "y":1.75296, "heading":-2.47724, "vx":-2.0492, "vy":2.62317, "omega":0.63616, "ax":-0.47157, "ay":-2.38704, "alpha":5.37663, "fx":[30.75915,-4.50462,-46.24977,-11.19127], "fy":[-47.22752,-4.21867,-36.75495,-69.66304]}, diff --git a/src/main/deploy/choreo/RUNtoTEST.traj b/src/main/deploy/choreo/RUNtoTEST.traj index 5d082397..18e86ff3 100644 --- a/src/main/deploy/choreo/RUNtoTEST.traj +++ b/src/main/deploy/choreo/RUNtoTEST.traj @@ -93,26 +93,26 @@ {"t":1.01384, "x":3.16799, "y":3.19439, "heading":1.57083, "vx":0.92973, "vy":3.38228, "omega":-0.00016, "ax":-0.01061, "ay":0.00292, "alpha":0.0, "fx":[-0.17544,-0.17544,-0.17544,-0.17544], "fy":[0.04821,0.04821,0.04821,0.04821]}, {"t":1.0544, "x":3.20568, "y":3.33156, "heading":1.57083, "vx":0.9293, "vy":3.3824, "omega":-0.00016, "ax":-0.0602, "ay":0.01652, "alpha":0.0, "fx":[-0.99533,-0.99533,-0.99533,-0.99533], "fy":[0.27307,0.27307,0.27307,0.27307]}, {"t":1.09495, "x":3.24332, "y":3.46874, "heading":1.57082, "vx":0.92686, "vy":3.38307, "omega":-0.00016, "ax":-0.34101, "ay":0.09267, "alpha":0.0, "fx":[-5.63808,-5.63808,-5.63808,-5.63808], "fy":[1.53218,1.53218,1.53217,1.53217]}, - {"t":1.13551, "x":3.28063, "y":3.60601, "heading":1.57082, "vx":0.91303, "vy":3.38683, "omega":-0.00016, "ax":-1.82159, "ay":0.46976, "alpha":-0.00001, "fx":[-30.11713,-30.11723,-30.11723,-30.11714], "fy":[7.76683,7.76682,7.76672,7.76672]}, - {"t":1.17606, "x":3.31616, "y":3.74375, "heading":1.57081, "vx":0.83916, "vy":3.40588, "omega":-0.00016, "ax":-5.24933, "ay":1.12108, "alpha":-0.00007, "fx":[-86.78925,-86.78961,-86.78975,-86.78939], "fy":[18.53588,18.53575,18.53476,18.5349]}, + {"t":1.13551, "x":3.28063, "y":3.60601, "heading":1.57082, "vx":0.91303, "vy":3.38683, "omega":-0.00016, "ax":-1.82159, "ay":0.46976, "alpha":-0.00001, "fx":[-30.11714,-30.11723,-30.11723,-30.11714], "fy":[7.76683,7.76682,7.76672,7.76672]}, + {"t":1.17606, "x":3.31616, "y":3.74375, "heading":1.57081, "vx":0.83916, "vy":3.40588, "omega":-0.00016, "ax":-5.24933, "ay":1.12108, "alpha":-0.00007, "fx":[-86.78925,-86.78961,-86.78975,-86.78939], "fy":[18.53588,18.53574,18.53476,18.5349]}, {"t":1.21661, "x":3.34587, "y":3.88279, "heading":1.5708, "vx":0.62628, "vy":3.45134, "omega":-0.00016, "ax":-6.79732, "ay":0.95599, "alpha":-0.00104, "fx":[-112.38102,-112.38299,-112.38523,-112.38326], "fy":[15.81579,15.81355,15.79598,15.79822]}, {"t":1.25717, "x":3.36568, "y":4.02354, "heading":1.5708, "vx":0.35062, "vy":3.49011, "omega":-0.0002, "ax":-6.85446, "ay":0.4124, "alpha":0.0002, "fx":[-113.32808,-113.32774,-113.32755,-113.32789], "fy":[6.81649,6.81668,6.82018,6.81999]}, {"t":1.29833, "x":3.37431, "y":4.16756, "heading":1.57079, "vx":0.06846, "vy":3.50709, "omega":-0.00019, "ax":-5.31092, "ay":-0.0612, "alpha":0.00008, "fx":[-87.80792,-87.80755,-87.80756,-87.80793], "fy":[-1.01232,-1.01233,-1.01122,-1.01122]}, - {"t":1.3395, "x":3.37262, "y":4.31188, "heading":1.57078, "vx":-0.15016, "vy":3.50457, "omega":-0.00019, "ax":-1.76835, "ay":-0.09408, "alpha":0.00001, "fx":[-29.23704,-29.23693,-29.23693,-29.23704], "fy":[-1.55556,-1.55556,-1.55544,-1.55544]}, + {"t":1.3395, "x":3.37262, "y":4.31188, "heading":1.57078, "vx":-0.15016, "vy":3.50457, "omega":-0.00019, "ax":-1.76835, "ay":-0.09408, "alpha":0.00001, "fx":[-29.23704,-29.23694,-29.23694,-29.23704], "fy":[-1.55556,-1.55556,-1.55544,-1.55544]}, {"t":1.38066, "x":3.36494, "y":4.45606, "heading":1.57077, "vx":-0.22296, "vy":3.5007, "omega":-0.00019, "ax":-0.31926, "ay":-0.02093, "alpha":0.0, "fx":[-5.2785,-5.2785,-5.2785,-5.2785], "fy":[-0.34605,-0.34605,-0.34604,-0.34604]}, {"t":1.42183, "x":3.3555, "y":4.60015, "heading":1.57076, "vx":-0.2361, "vy":3.49984, "omega":-0.00019, "ax":-0.05462, "ay":-0.0037, "alpha":0.0, "fx":[-0.90303,-0.90303,-0.90303,-0.90303], "fy":[-0.06121,-0.06121,-0.06121,-0.06121]}, {"t":1.46299, "x":3.34573, "y":4.74421, "heading":1.57076, "vx":-0.23835, "vy":3.49968, "omega":-0.00019, "ax":-0.00933, "ay":-0.00064, "alpha":0.0, "fx":[-0.15424,-0.15424,-0.15424,-0.15424], "fy":[-0.01051,-0.01051,-0.01051,-0.01051]}, {"t":1.50415, "x":3.33591, "y":4.88828, "heading":1.57075, "vx":-0.23873, "vy":3.49966, "omega":-0.00019, "ax":-0.00159, "ay":-0.00011, "alpha":0.0, "fx":[-0.02635,-0.02635,-0.02635,-0.02635], "fy":[-0.0018,-0.0018,-0.0018,-0.0018]}, {"t":1.54532, "x":3.32608, "y":5.03234, "heading":1.57074, "vx":-0.2388, "vy":3.49965, "omega":-0.00019, "ax":-0.00027, "ay":-0.00002, "alpha":0.0, "fx":[-0.00453,-0.00453,-0.00453,-0.00453], "fy":[-0.00031,-0.00031,-0.00031,-0.00031]}, - {"t":1.58648, "x":3.31625, "y":5.1764, "heading":1.57073, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00093,-0.00093,-0.00093,-0.00093], "fy":[-0.00006,-0.00006,-0.00006,-0.00006]}, + {"t":1.58648, "x":3.31625, "y":5.1764, "heading":1.57073, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00094,-0.00094,-0.00094,-0.00094], "fy":[-0.00006,-0.00006,-0.00006,-0.00006]}, {"t":1.62765, "x":3.30642, "y":5.32046, "heading":1.57073, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00111,-0.00111,-0.00111,-0.00111], "fy":[-0.00008,-0.00008,-0.00008,-0.00008]}, {"t":1.66881, "x":3.29659, "y":5.46452, "heading":1.57072, "vx":-0.23881, "vy":3.49965, "omega":-0.00019, "ax":-0.00035, "ay":-0.00002, "alpha":0.0, "fx":[-0.00573,-0.00573,-0.00573,-0.00573], "fy":[-0.00039,-0.00039,-0.00039,-0.00039]}, {"t":1.70998, "x":3.28676, "y":5.60858, "heading":1.57071, "vx":-0.23883, "vy":3.49965, "omega":-0.00019, "ax":-0.00202, "ay":-0.00014, "alpha":0.0, "fx":[-0.03343,-0.03343,-0.03343,-0.03343], "fy":[-0.00228,-0.00228,-0.00228,-0.00228]}, {"t":1.75114, "x":3.27693, "y":5.75265, "heading":1.5707, "vx":-0.23891, "vy":3.49965, "omega":-0.00019, "ax":-0.01184, "ay":-0.00081, "alpha":0.0, "fx":[-0.19568,-0.19568,-0.19568,-0.19568], "fy":[-0.01337,-0.01337,-0.01337,-0.01337]}, {"t":1.79231, "x":3.26708, "y":5.89671, "heading":1.57069, "vx":-0.2394, "vy":3.49961, "omega":-0.00019, "ax":-0.06929, "ay":-0.00477, "alpha":0.0, "fx":[-1.14555,-1.14555,-1.14555,-1.14555], "fy":[-0.07884,-0.07884,-0.07884,-0.07884]}, {"t":1.83347, "x":3.25717, "y":6.04076, "heading":1.57069, "vx":-0.24225, "vy":3.49942, "omega":-0.00019, "ax":-0.40443, "ay":-0.02897, "alpha":0.0, "fx":[-6.68661,-6.68662,-6.68662,-6.68661], "fy":[-0.47901,-0.47901,-0.47902,-0.47902]}, - {"t":1.87464, "x":3.24685, "y":6.18479, "heading":1.57068, "vx":-0.2589, "vy":3.49822, "omega":-0.00019, "ax":-2.16955, "ay":-0.18861, "alpha":-0.00002, "fx":[-35.87002,-35.87016,-35.87016,-35.87001], "fy":[-3.11835,-3.11835,-3.11851,-3.11851]}, - {"t":1.9158, "x":3.23436, "y":6.32863, "heading":1.57067, "vx":-0.34821, "vy":3.49046, "omega":-0.00019, "ax":-5.62452, "ay":-0.7518, "alpha":-0.0001, "fx":[-92.99246,-92.99288,-92.99274,-92.99233], "fy":[-12.42923,-12.42909,-12.43051,-12.43065]}, + {"t":1.87464, "x":3.24685, "y":6.18479, "heading":1.57068, "vx":-0.2589, "vy":3.49822, "omega":-0.00019, "ax":-2.16955, "ay":-0.18861, "alpha":-0.00002, "fx":[-35.87002,-35.87016,-35.87016,-35.87002], "fy":[-3.11835,-3.11835,-3.11851,-3.11852]}, + {"t":1.9158, "x":3.23436, "y":6.32863, "heading":1.57067, "vx":-0.34821, "vy":3.49046, "omega":-0.00019, "ax":-5.62452, "ay":-0.7518, "alpha":-0.0001, "fx":[-92.99246,-92.99288,-92.99274,-92.99232], "fy":[-12.42923,-12.42909,-12.43051,-12.43065]}, {"t":1.95697, "x":3.21526, "y":6.47168, "heading":1.57066, "vx":-0.57974, "vy":3.45951, "omega":-0.00019, "ax":-6.80113, "ay":-1.42949, "alpha":-0.00084, "fx":[-112.44658,-112.44834,-112.44562,-112.44386], "fy":[-23.62865,-23.62592,-23.64006,-23.64279]}, {"t":1.99813, "x":3.18563, "y":6.61288, "heading":1.57065, "vx":-0.8597, "vy":3.40067, "omega":-0.00023, "ax":-6.94392, "ay":-2.16971, "alpha":-0.03643, "fx":[-114.85851,-114.93782,-114.75622,-114.67515], "fy":[-35.65983,-35.4785,-36.08441,-36.26824]}, {"t":2.03929, "x":3.14436, "y":6.75103, "heading":1.57065, "vx":-1.14555, "vy":3.31135, "omega":-0.00173, "ax":-3.79368, "ay":-6.38131, "alpha":-0.14556, "fx":[-62.29995,-64.31644,-63.13941,-61.13427], "fy":[-105.73205,-104.54198,-105.29586,-106.45]}, @@ -160,14 +160,14 @@ {"t":3.787, "x":1.83281, "y":3.77261, "heading":1.58323, "vx":-0.04344, "vy":-3.50757, "omega":0.00021, "ax":0.00016, "ay":0.0, "alpha":0.0, "fx":[0.00272,0.00272,0.00272,0.00272], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]}, {"t":3.82877, "x":1.83099, "y":3.62609, "heading":1.58324, "vx":-0.04343, "vy":-3.50757, "omega":0.00021, "ax":0.00099, "ay":-0.00001, "alpha":0.0, "fx":[0.01645,0.01645,0.01645,0.01645], "fy":[-0.0002,-0.0002,-0.0002,-0.0002]}, {"t":3.87054, "x":1.82918, "y":3.47958, "heading":1.58324, "vx":-0.04339, "vy":-3.50757, "omega":0.00021, "ax":0.00601, "ay":-0.00007, "alpha":0.0, "fx":[0.09938,0.09938,0.09938,0.09938], "fy":[-0.00123,-0.00123,-0.00123,-0.00123]}, - {"t":3.91231, "x":1.82737, "y":3.33307, "heading":1.58325, "vx":-0.04314, "vy":-3.50758, "omega":0.00021, "ax":0.03631, "ay":-0.00044, "alpha":0.0, "fx":[0.60038,0.60039,0.60039,0.60038], "fy":[-0.00725,-0.00725,-0.00725,-0.00725]}, + {"t":3.91231, "x":1.82737, "y":3.33307, "heading":1.58325, "vx":-0.04314, "vy":-3.50758, "omega":0.00021, "ax":0.03631, "ay":-0.00044, "alpha":0.0, "fx":[0.60039,0.60039,0.60039,0.60039], "fy":[-0.00725,-0.00725,-0.00725,-0.00725]}, {"t":3.95408, "x":1.8256, "y":3.18655, "heading":1.58326, "vx":-0.04162, "vy":-3.50759, "omega":0.00021, "ax":0.2192, "ay":-0.00231, "alpha":0.0, "fx":[3.62419,3.62419,3.62419,3.62419], "fy":[-0.03823,-0.03823,-0.03823,-0.03823]}, - {"t":3.99585, "x":1.82406, "y":3.04003, "heading":1.58327, "vx":-0.03247, "vy":-3.50769, "omega":0.00021, "ax":1.28615, "ay":-0.00199, "alpha":0.00001, "fx":[21.2644,21.26447,21.26447,21.2644], "fy":[-0.03297,-0.03297,-0.03289,-0.03289]}, + {"t":3.99585, "x":1.82406, "y":3.04003, "heading":1.58327, "vx":-0.03247, "vy":-3.50769, "omega":0.00021, "ax":1.28615, "ay":-0.00199, "alpha":0.00001, "fx":[21.2644,21.26448,21.26447,21.2644], "fy":[-0.03297,-0.03297,-0.03289,-0.03289]}, {"t":4.03762, "x":1.82382, "y":2.89351, "heading":1.58328, "vx":0.02126, "vy":-3.50777, "omega":0.00021, "ax":4.73639, "ay":0.16296, "alpha":0.00003, "fx":[78.30881,78.30901,78.309,78.3088], "fy":[2.69409,2.69408,2.69454,2.69454]}, {"t":4.07939, "x":1.82884, "y":2.74713, "heading":1.58329, "vx":0.2191, "vy":-3.50097, "omega":0.00021, "ax":6.71494, "ay":0.69822, "alpha":-0.00698, "fx":[111.02259,111.00862,111.01969,111.03364], "fy":[11.59822,11.60769,11.48984,11.48048]}, {"t":4.12116, "x":1.84385, "y":2.60151, "heading":1.5833, "vx":0.49959, "vy":-3.4718, "omega":-0.00008, "ax":6.61587, "ay":1.19552, "alpha":-0.00029, "fx":[109.38313,109.38244,109.38321,109.3839], "fy":[19.76812,19.76883,19.76403,19.76332]}, - {"t":4.15775, "x":1.86656, "y":2.47527, "heading":1.58329, "vx":0.74167, "vy":-3.42806, "omega":-0.00009, "ax":5.096, "ay":1.2487, "alpha":0.00003, "fx":[84.25432,84.2545,84.25443,84.25425], "fy":[20.64509,20.64502,20.64548,20.64555]}, - {"t":4.19435, "x":1.89711, "y":2.35066, "heading":1.58329, "vx":0.92814, "vy":-3.38236, "omega":-0.00009, "ax":2.0434, "ay":0.58501, "alpha":0.00001, "fx":[33.78438,33.78444,33.78444,33.78438], "fy":[9.67216,9.67216,9.67223,9.67223]}, + {"t":4.15775, "x":1.86656, "y":2.47527, "heading":1.58329, "vx":0.74167, "vy":-3.42806, "omega":-0.00009, "ax":5.096, "ay":1.2487, "alpha":0.00003, "fx":[84.25432,84.2545,84.25443,84.25424], "fy":[20.64509,20.64502,20.64548,20.64555]}, + {"t":4.19435, "x":1.89711, "y":2.35066, "heading":1.58329, "vx":0.92814, "vy":-3.38236, "omega":-0.00009, "ax":2.0434, "ay":0.58501, "alpha":0.00001, "fx":[33.78438,33.78445,33.78444,33.78438], "fy":[9.67216,9.67216,9.67223,9.67223]}, {"t":4.23094, "x":1.93244, "y":2.22729, "heading":1.58329, "vx":1.00292, "vy":-3.36096, "omega":-0.00009, "ax":0.47581, "ay":0.14331, "alpha":0.0, "fx":[7.86674,7.86675,7.86675,7.86674], "fy":[2.36947,2.36947,2.36947,2.36947]}, {"t":4.26753, "x":1.96946, "y":2.1044, "heading":1.58328, "vx":1.02033, "vy":-3.35571, "omega":-0.00009, "ax":0.1029, "ay":0.03135, "alpha":0.0, "fx":[1.70133,1.70133,1.70133,1.70133], "fy":[0.51833,0.51833,0.51833,0.51833]}, {"t":4.30412, "x":2.00686, "y":1.98163, "heading":1.58328, "vx":1.02409, "vy":-3.35457, "omega":-0.00009, "ax":0.02218, "ay":0.00677, "alpha":0.0, "fx":[0.36673,0.36673,0.36673,0.36673], "fy":[0.112,0.112,0.112,0.112]}, diff --git a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj index 1a46ad85..62daef02 100644 --- a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.40537166595459, "y":7.350574970245361, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.378722190856934, "y":7.126171112060547, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, @@ -19,7 +19,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartingLTrench.x", "val":4.40537166595459}, "y":{"exp":"StartingLTrench.y", "val":7.350574970245361}, "heading":{"exp":"StartingLTrench.heading", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.994898796081543 m", "val":5.994898796081543}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"7.378722190856934 m", "val":7.378722190856934}, "y":{"exp":"7.126171112060547 m", "val":7.126171112060547}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, @@ -61,106 +61,112 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.92863,1.63801,2.29957,2.99683], + "waypoints":[0.0,1.24979,1.95917,2.62074,3.31799], "samples":[ - {"t":0.0, "x":4.40537, "y":7.35057, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.5255, "ay":0.01019, "alpha":0.0, "fx":[124.42244,124.42244,124.42244,124.42244], "fy":[0.16842,0.16842,0.16842,0.16842]}, - {"t":0.04221, "x":4.41208, "y":7.35058, "heading":0.0, "vx":0.31765, "vy":0.00043, "omega":0.0, "ax":7.52399, "ay":0.01018, "alpha":0.0, "fx":[124.39749,124.39749,124.39749,124.39749], "fy":[0.16839,0.16839,0.16839,0.16839]}, - {"t":0.08442, "x":4.43219, "y":7.35061, "heading":0.0, "vx":0.63524, "vy":0.00086, "omega":0.0, "ax":7.52173, "ay":0.01018, "alpha":0.0, "fx":[124.36008,124.36008,124.36008,124.36008], "fy":[0.16834,0.16834,0.16834,0.16834]}, - {"t":0.12663, "x":4.4657, "y":7.35066, "heading":0.0, "vx":0.95274, "vy":0.00129, "omega":0.0, "ax":7.51796, "ay":0.01018, "alpha":0.0, "fx":[124.29774,124.29774,124.29774,124.29774], "fy":[0.16826,0.16826,0.16826,0.16826]}, - {"t":0.16884, "x":4.51261, "y":7.35072, "heading":0.0, "vx":1.27008, "vy":0.00172, "omega":0.0, "ax":7.51042, "ay":0.01017, "alpha":0.0, "fx":[124.17315,124.17315,124.17315,124.17315], "fy":[0.16809,0.16809,0.16809,0.16809]}, - {"t":0.21105, "x":4.57292, "y":7.3508, "heading":0.0, "vx":1.58709, "vy":0.00215, "omega":0.0, "ax":7.48787, "ay":0.01014, "alpha":0.0, "fx":[123.80029,123.80029,123.80029,123.80029], "fy":[0.16758,0.16758,0.16758,0.16758]}, - {"t":0.25326, "x":4.64658, "y":7.3509, "heading":0.0, "vx":1.90316, "vy":0.00258, "omega":0.0, "ax":2.28282, "ay":0.00309, "alpha":0.0, "fx":[37.7429,37.7429,37.7429,37.7429], "fy":[0.05109,0.05109,0.05109,0.05109]}, - {"t":0.29547, "x":4.72894, "y":7.35101, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.00005, "ay":0.0, "alpha":0.0, "fx":[0.00075,0.00075,0.00075,0.00075], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.33768, "x":4.81335, "y":7.35113, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.37989, "x":4.89775, "y":7.35124, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.4221, "x":4.98215, "y":7.35136, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.46431, "x":5.06655, "y":7.35147, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.50652, "x":5.15095, "y":7.35158, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.54873, "x":5.23535, "y":7.3517, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.59095, "x":5.31975, "y":7.35181, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.63316, "x":5.40415, "y":7.35193, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.67537, "x":5.48855, "y":7.35204, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00004,-0.00004,-0.00004,-0.00004]}, - {"t":0.71758, "x":5.57295, "y":7.35216, "heading":0.0, "vx":1.99952, "vy":0.00271, "omega":0.0, "ax":0.0, "ay":-0.00004, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00065,-0.00065,-0.00065,-0.00065]}, - {"t":0.75979, "x":5.65735, "y":7.35227, "heading":0.0, "vx":1.99952, "vy":0.0027, "omega":0.0, "ax":0.0, "ay":-0.0006, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.0099,-0.0099,-0.0099,-0.0099]}, - {"t":0.802, "x":5.74175, "y":7.35238, "heading":0.0, "vx":1.99952, "vy":0.00268, "omega":0.0, "ax":0.00001, "ay":-0.00909, "alpha":0.0, "fx":[0.00019,0.00019,0.00019,0.00019], "fy":[-0.15026,-0.15026,-0.15026,-0.15026]}, - {"t":0.84421, "x":5.82615, "y":7.35249, "heading":0.0, "vx":1.99952, "vy":0.0023, "omega":0.0, "ax":-0.00004, "ay":-0.13787, "alpha":0.0, "fx":[-0.00072,-0.00072,-0.00072,-0.00072], "fy":[-2.2795,-2.2795,-2.2795,-2.2795]}, - {"t":0.88642, "x":5.91055, "y":7.35246, "heading":0.0, "vx":1.99952, "vy":-0.00352, "omega":0.0, "ax":-0.06062, "ay":-1.95171, "alpha":0.0, "fx":[-1.0023,-1.0023,-1.0023,-1.0023], "fy":[-32.26854,-32.26854,-32.26854,-32.26854]}, - {"t":0.92863, "x":5.9949, "y":7.35057, "heading":0.0, "vx":1.99696, "vy":-0.08591, "omega":0.0, "ax":-0.16069, "ay":-2.87839, "alpha":-4.83859, "fx":[20.35418,26.91685,-32.80132,-25.09677], "fy":[-67.32042,-28.55136,-27.90756,-66.57928]}, - {"t":0.95396, "x":6.04544, "y":7.34747, "heading":0.0, "vx":1.99289, "vy":-0.15883, "omega":-0.12259, "ax":-0.06611, "ay":-0.78072, "alpha":-5.78503, "fx":[25.30262,27.72987,-29.98777,-27.41677], "fy":[-40.01627,14.12653,14.00331,-39.74535]}, - {"t":0.9793, "x":6.09591, "y":7.3432, "heading":-0.00311, "vx":1.99121, "vy":-0.17861, "omega":-0.26915, "ax":-0.01749, "ay":-0.19232, "alpha":-5.49772, "fx":[25.31033,26.01895,-26.4407,-26.0451], "fy":[-29.2031,22.67806,22.79721,-28.99087]}, - {"t":1.00463, "x":6.14635, "y":7.33861, "heading":-0.00992, "vx":1.99077, "vy":-0.18348, "omega":-0.40844, "ax":-0.00429, "ay":-0.04638, "alpha":-5.11943, "fx":[23.78266,24.3773,-24.04,-24.40359], "fy":[-25.15974,23.14649,23.61775,-24.67174]}, - {"t":1.02997, "x":6.19679, "y":7.33395, "heading":-0.02027, "vx":1.99066, "vy":-0.18466, "omega":-0.53814, "ax":-0.00102, "ay":-0.01101, "alpha":-4.74755, "fx":[21.90947,22.84108,-21.96689,-22.85127], "fy":[-23.02875,21.75664,22.66343,-22.1195]}, - {"t":1.0553, "x":6.24722, "y":7.32927, "heading":-0.03391, "vx":1.99064, "vy":-0.18494, "omega":-0.65842, "ax":-0.00024, "ay":-0.00258, "alpha":-4.38885, "fx":[19.98444,21.39292,-19.9971,-21.39612], "fy":[-21.43719,19.94821,21.35184,-20.03332]}, - {"t":1.08064, "x":6.29765, "y":7.32458, "heading":-0.05059, "vx":1.99063, "vy":-0.185, "omega":-0.76961, "ax":-0.00006, "ay":-0.0006, "alpha":-4.04456, "fx":[18.08975,20.02029,-18.09252,-20.02121], "fy":[-20.03061,18.08127,20.0109,-18.101]}, - {"t":1.10597, "x":6.34808, "y":7.31989, "heading":-0.07009, "vx":1.99063, "vy":-0.18502, "omega":-0.87208, "ax":-0.00001, "ay":-0.00014, "alpha":-3.71537, "fx":[16.25665,18.71164,-16.25727,-18.7119], "fy":[-18.71404,16.25469,18.70951,-16.25924]}, - {"t":1.13131, "x":6.39852, "y":7.31521, "heading":-0.09218, "vx":1.99063, "vy":-0.18502, "omega":-0.96621, "ax":0.0, "ay":-0.00003, "alpha":-3.4017, "fx":[14.50225,17.45662,-14.50241,-17.4567], "fy":[-17.45721,14.50177,17.4561,-14.50289]}, - {"t":1.15664, "x":6.44895, "y":7.31052, "heading":-0.11666, "vx":1.99063, "vy":-0.18502, "omega":-1.05239, "ax":0.0, "ay":-0.00001, "alpha":-3.1037, "fx":[12.83803,16.24647,-12.8381,-16.24651], "fy":[-16.24668,12.83787,16.2463,-12.83826]}, - {"t":1.18198, "x":6.49938, "y":7.30583, "heading":-0.14332, "vx":1.99063, "vy":-0.18502, "omega":-1.13102, "ax":0.0, "ay":-0.00001, "alpha":-2.8213, "fx":[11.27209,15.07412,-11.27214,-15.07415], "fy":[-15.07429,11.27196,15.07398,-11.27226]}, - {"t":1.20731, "x":6.54982, "y":7.30114, "heading":-0.17197, "vx":1.99063, "vy":-0.18502, "omega":-1.2025, "ax":0.0, "ay":-0.00001, "alpha":-2.55423, "fx":[9.80986,13.93396,-9.80992,-13.934], "fy":[-13.93418,9.8097,13.93379,-9.81009]}, - {"t":1.23265, "x":6.60025, "y":7.29646, "heading":-0.20244, "vx":1.99063, "vy":-0.18502, "omega":-1.26721, "ax":0.0, "ay":-0.00002, "alpha":-2.30204, "fx":[8.45463,12.82165,-8.45471,-12.82171], "fy":[-12.82198,8.45437,12.82139,-8.45497]}, - {"t":1.25798, "x":6.65068, "y":7.29177, "heading":-0.23455, "vx":1.99063, "vy":-0.18502, "omega":-1.32553, "ax":0.0, "ay":-0.00004, "alpha":-2.06411, "fx":[7.20783,11.73386,-7.20797,-11.73397], "fy":[-11.73453,7.20728,11.7333,-7.20852]}, - {"t":1.28332, "x":6.70111, "y":7.28708, "heading":-0.26813, "vx":1.99063, "vy":-0.18502, "omega":-1.37783, "ax":-0.00001, "ay":-0.00012, "alpha":-1.83972, "fx":[6.06937,10.66797,-6.06977,-10.66831], "fy":[-10.67004,6.06765,10.66624,-6.07149]}, - {"t":1.30865, "x":6.75155, "y":7.28239, "heading":-0.30303, "vx":1.99063, "vy":-0.18503, "omega":-1.42444, "ax":-0.00004, "ay":-0.00047, "alpha":-1.62805, "fx":[5.03768,9.62172,-5.03924,-9.62308], "fy":[-9.63014,5.03067,9.61466,-5.04626]}, - {"t":1.33399, "x":6.80198, "y":7.27771, "heading":-0.33912, "vx":1.99063, "vy":-0.18504, "omega":-1.46568, "ax":-0.0002, "ay":-0.00211, "alpha":-1.42819, "fx":[4.10908,8.59204,-4.11591,-8.59818], "fy":[-8.62983,4.07755,8.56039,-4.14744]}, - {"t":1.35932, "x":6.85241, "y":7.27302, "heading":-0.37626, "vx":1.99062, "vy":-0.18509, "omega":-1.50187, "ax":-0.0009, "ay":-0.00971, "alpha":-1.23917, "fx":[3.27338,7.5705,-3.30441,-7.59927], "fy":[-7.74503,3.12783,7.42468,-3.44992]}, - {"t":1.38466, "x":6.90284, "y":7.26833, "heading":-0.41431, "vx":1.9906, "vy":-0.18534, "omega":-1.53326, "ax":-0.00421, "ay":-0.04512, "alpha":-1.0599, "fx":[2.49295,6.52227,-2.63588,-6.65803], "fy":[-7.33404,1.81657,5.84538,-3.31171]}, - {"t":1.40999, "x":6.95327, "y":7.26362, "heading":-0.45315, "vx":1.99049, "vy":-0.18648, "omega":-1.56011, "ax":-0.01995, "ay":-0.20986, "alpha":-0.88816, "fx":[1.59982,5.28108,-2.27021,-5.92973], "fy":[-9.0614,-1.54507,2.13338,-5.4058]}, - {"t":1.43533, "x":7.0037, "y":7.25882, "heading":-0.49268, "vx":1.98999, "vy":-0.1918, "omega":-1.58261, "ax":-0.09866, "ay":-0.96172, "alpha":-0.70321, "fx":[-0.25514,2.94323,-3.03671,-6.17613], "fy":[-20.30807,-14.60059,-11.4596,-17.23419]}, - {"t":1.46066, "x":7.05408, "y":7.25366, "heading":-0.53277, "vx":1.98749, "vy":-0.21616, "omega":-1.60043, "ax":-0.46169, "ay":-3.50938, "alpha":-0.36394, "fx":[-6.78029,-4.79816,-8.52212,-10.43303], "fy":[-59.89754,-57.68807,-56.12864,-58.37447]}, - {"t":1.486, "x":7.10429, "y":7.24705, "heading":-0.57332, "vx":1.97579, "vy":-0.30507, "omega":-1.60965, "ax":-1.17315, "ay":-6.0282, "alpha":-0.08384, "fx":[-19.07213,-18.53923,-19.72535,-20.24806], "fy":[-99.90636,-99.75784,-99.42782,-99.57566]}, - {"t":1.51133, "x":7.15397, "y":7.23739, "heading":-0.6141, "vx":1.94607, "vy":-0.4578, "omega":-1.61178, "ax":-1.89963, "ay":-6.72061, "alpha":-0.01978, "fx":[-31.31011,-31.19207,-31.50504,-31.62229], "fy":[-111.1597,-111.16724,-111.06986,-111.06228]}, - {"t":1.53667, "x":7.20266, "y":7.22363, "heading":-0.65493, "vx":1.89794, "vy":-0.62807, "omega":-1.61228, "ax":-2.59611, "ay":-6.77695, "alpha":-0.00397, "fx":[-42.9006,-42.88041,-42.94485,-42.965], "fy":[-112.05653,-112.06149,-112.03599,-112.03103]}, - {"t":1.562, "x":7.24991, "y":7.20555, "heading":-0.69578, "vx":1.83217, "vy":-0.79976, "omega":-1.61238, "ax":-3.26332, "ay":-6.60837, "alpha":0.00109, "fx":[-53.96044,-53.96485,-53.94742,-53.94301], "fy":[-109.25562,-109.25391,-109.26263,-109.26434]}, - {"t":1.58734, "x":7.29528, "y":7.18316, "heading":-0.73663, "vx":1.74949, "vy":-0.96718, "omega":-1.61235, "ax":-3.89895, "ay":-6.3203, "alpha":0.00296, "fx":[-64.4816,-64.49055,-64.44461,-64.43564], "fy":[-104.48442,-104.4798,-104.50831,-104.51294]}, - {"t":1.61268, "x":7.33836, "y":7.15663, "heading":-0.77748, "vx":1.65071, "vy":-1.12731, "omega":-1.61227, "ax":-4.53141, "ay":-5.92302, "alpha":0.00367, "fx":[-74.94329,-74.95045,-74.89643,-74.88923], "fy":[-97.90943,-97.9048,-97.94625,-97.95089]}, - {"t":1.63801, "x":7.37872, "y":7.12617, "heading":-0.81833, "vx":1.53591, "vy":-1.27737, "omega":-1.61218, "ax":-4.98782, "ay":-5.54129, "alpha":0.00505, "fx":[-82.49751,-82.50412,-82.43431,-82.42764], "fy":[-91.58747,-91.58283,-91.64578,-91.65047]}, - {"t":1.66251, "x":7.41486, "y":7.09321, "heading":-0.85783, "vx":1.4137, "vy":-1.41314, "omega":-1.61206, "ax":-5.47907, "ay":-5.01059, "alpha":0.00903, "fx":[-90.64209,-90.64696,-90.53377,-90.52874], "fy":[-82.78112,-82.7794,-82.90328,-82.90517]}, - {"t":1.68701, "x":7.44785, "y":7.05708, "heading":-0.89733, "vx":1.27945, "vy":-1.53591, "omega":-1.61184, "ax":-5.86913, "ay":-4.45969, "alpha":0.01647, "fx":[-97.12856,-97.12924,-96.94534,-96.94423], "fy":[-73.608,-73.61803,-73.85978,-73.85035]}, - {"t":1.71152, "x":7.47744, "y":7.01811, "heading":-0.93682, "vx":1.13564, "vy":-1.64519, "omega":-1.61143, "ax":-6.1577, "ay":-3.85972, "alpha":0.03209, "fx":[-101.96645,-101.96056,-101.6503,-101.6549], "fy":[-63.54351,-63.59247,-64.08437,-64.0378]}, - {"t":1.73602, "x":7.50342, "y":6.97664, "heading":-0.97631, "vx":0.98476, "vy":-1.73976, "omega":-1.61065, "ax":-6.26128, "ay":-3.19749, "alpha":0.07096, "fx":[-103.80565,-103.81029,-103.23764,-103.22862], "fy":[-52.22388,-52.40472,-53.50148,-53.33209]}, - {"t":1.76052, "x":7.52567, "y":6.93305, "heading":-1.01577, "vx":0.83134, "vy":-1.8181, "omega":-1.60891, "ax":-5.88179, "ay":-2.41773, "alpha":0.19537, "fx":[-97.74052,-98.01639,-96.7625,-96.4658], "fy":[-38.19265,-38.90685,-41.71796,-41.07587]}, - {"t":1.78502, "x":7.54427, "y":6.88778, "heading":-1.05519, "vx":0.68723, "vy":-1.87734, "omega":-1.60412, "ax":-4.03042, "ay":-1.35759, "alpha":0.67095, "fx":[-66.61981,-70.04524,-66.73736,-63.14466], "fy":[-17.16484,-20.21851,-27.5203,-24.87905]}, - {"t":1.80953, "x":7.5599, "y":6.84137, "heading":-1.0945, "vx":0.58847, "vy":-1.91061, "omega":-1.58768, "ax":-1.34609, "ay":-0.40198, "alpha":1.33912, "fx":[-19.85114,-30.50117,-24.80066,-13.86908], "fy":[2.1582,-3.78422,-15.25212,-9.70637]}, - {"t":1.83403, "x":7.57391, "y":6.79444, "heading":-1.1334, "vx":0.55549, "vy":-1.92046, "omega":-1.55487, "ax":-0.321, "ay":-0.09214, "alpha":1.57835, "fx":[-1.75482,-15.17142,-8.90383,4.6011], "fy":[8.42097,2.05129,-11.40223,-5.16363]}, - {"t":1.85853, "x":7.58743, "y":6.74735, "heading":-1.1715, "vx":0.54763, "vy":-1.92272, "omega":-1.5162, "ax":-0.07411, "ay":-0.02107, "alpha":1.74514, "fx":[3.15262,-12.00484,-5.61429,9.56535], "fy":[10.44781,4.02743,-11.12525,-4.74348]}, - {"t":1.88303, "x":7.60082, "y":6.70023, "heading":-1.20865, "vx":0.54581, "vy":-1.92323, "omega":-1.47344, "ax":-0.01711, "ay":-0.00485, "alpha":1.91868, "fx":[4.97327,-11.95265,-5.54174,11.38956], "fy":[11.59373,5.17457,-11.74865,-5.34069]}, - {"t":1.90754, "x":7.61419, "y":6.65311, "heading":-1.24475, "vx":0.54539, "vy":-1.92335, "omega":-1.42642, "ax":-0.00396, "ay":-0.00112, "alpha":2.10477, "fx":[6.15997,-12.65181,-6.29171,12.52133], "fy":[12.56878,6.20645,-12.60437,-6.24525]}, - {"t":1.93204, "x":7.62756, "y":6.60598, "heading":-1.2797, "vx":0.54529, "vy":-1.92338, "omega":-1.37485, "ax":-0.00093, "ay":-0.00026, "alpha":2.30432, "fx":[7.27809,-13.54854,-7.30885,13.51807], "fy":[13.52919,7.28889,-13.53742,-7.29805]}, - {"t":1.95654, "x":7.64092, "y":6.55886, "heading":-1.31339, "vx":0.54527, "vy":-1.92338, "omega":-1.31839, "ax":-0.00022, "ay":-0.00006, "alpha":2.51793, "fx":[8.45948,-14.51465,-8.46676,14.50743], "fy":[14.51007,8.46201,-14.51201,-8.46422]}, - {"t":1.98104, "x":7.65428, "y":6.51173, "heading":-1.34569, "vx":0.54526, "vy":-1.92339, "omega":-1.2567, "ax":-0.00005, "ay":-0.00002, "alpha":2.74612, "fx":[9.73552,-15.52058,-9.73729,15.51882], "fy":[15.51946,9.73612,-15.51994,-9.73668]}, - {"t":2.00554, "x":7.66764, "y":6.4646, "heading":-1.37648, "vx":0.54526, "vy":-1.92339, "omega":-1.18941, "ax":-0.00002, "ay":-0.00001, "alpha":2.98929, "fx":[11.11341,-16.55995,-11.11393,16.55943], "fy":[16.55961,11.11358,-16.55976,-11.11376]}, - {"t":2.03005, "x":7.681, "y":6.41747, "heading":-1.40563, "vx":0.54526, "vy":-1.92339, "omega":-1.11617, "ax":-0.00002, "ay":-0.00001, "alpha":3.24776, "fx":[12.59345,-17.63232,-12.59403,17.63174], "fy":[17.63195,12.59364,-17.63211,-12.59384]}, - {"t":2.05455, "x":7.69436, "y":6.37035, "heading":-1.43297, "vx":0.54526, "vy":-1.92339, "omega":-1.03659, "ax":-0.00007, "ay":-0.00002, "alpha":3.52168, "fx":[14.17255,-18.73967,-14.17472,18.73749], "fy":[18.7383,14.17328,-18.73886,-14.17399]}, - {"t":2.07905, "x":7.70772, "y":6.32322, "heading":-1.45837, "vx":0.54526, "vy":-1.92339, "omega":-0.9503, "ax":-0.00028, "ay":-0.00008, "alpha":3.81105, "fx":[15.84372,-19.88681,-15.85286,19.87762], "fy":[19.88111,15.84679,-19.88333,-15.8498]}, - {"t":2.10355, "x":7.72108, "y":6.27609, "heading":-1.48166, "vx":0.54525, "vy":-1.92339, "omega":-0.85692, "ax":-0.00115, "ay":-0.00033, "alpha":4.11566, "fx":[17.59147,-21.08612,-17.62915,21.04807], "fy":[21.06267,17.60398,-21.07152,-17.61664]}, - {"t":2.12806, "x":7.73444, "y":6.22896, "heading":-1.50265, "vx":0.54523, "vy":-1.9234, "omega":-0.75608, "ax":-0.00466, "ay":-0.00132, "alpha":4.43512, "fx":[19.37326,-22.37654,-19.52605,22.22123], "fy":[22.28153,19.42337,-22.31626,-19.47599]}, - {"t":2.15256, "x":7.74779, "y":6.18184, "heading":-1.52118, "vx":0.54511, "vy":-1.92343, "omega":-0.64741, "ax":-0.01871, "ay":-0.0053, "alpha":4.76875, "fx":[21.0475,-23.89776,-21.65877,23.27172], "fy":[23.51792,21.24525,-23.65188,-21.46182]}, - {"t":2.17706, "x":7.76115, "y":6.13471, "heading":-1.53704, "vx":0.54465, "vy":-1.92356, "omega":-0.53056, "ax":-0.07417, "ay":-0.02096, "alpha":5.11491, "fx":[22.09183,-26.17493,-24.50486,23.68296], "fy":[24.6787,22.8649,-25.18467,-23.74529]}, - {"t":2.20156, "x":7.77447, "y":6.08757, "heading":-1.55004, "vx":0.54284, "vy":-1.92407, "omega":-0.40523, "ax":-0.28982, "ay":-0.08119, "alpha":5.4593, "fx":[20.46479,-31.14906,-29.85484,21.37194], "fy":[25.37834,23.51223,-27.23411,-27.02582]}, - {"t":2.22607, "x":7.78768, "y":6.0404, "heading":-1.55997, "vx":0.53574, "vy":-1.92606, "omega":-0.27147, "ax":-1.10541, "ay":-0.29911, "alpha":5.60475, "fx":[7.42086,-45.01646,-43.25983,7.75032], "fy":[23.80327,20.33851,-30.35142,-33.57131]}, - {"t":2.25057, "x":7.80048, "y":5.99312, "heading":-1.56662, "vx":0.50865, "vy":-1.93339, "omega":-0.13414, "ax":-3.5757, "ay":-0.85488, "alpha":3.99911, "fx":[-46.64837,-75.71686,-72.0252,-42.08394], "fy":[10.29414,7.39356,-32.45043,-41.77343]}, - {"t":2.27507, "x":7.81187, "y":5.94549, "heading":-1.56991, "vx":0.42104, "vy":-1.95434, "omega":-0.03615, "ax":-6.05588, "ay":-1.04512, "alpha":1.4754, "fx":[-99.35092,-104.04135,-101.42312,-95.68305], "fy":[-6.50373,-5.42944,-26.14998,-31.03435]}, - {"t":2.29957, "x":7.82037, "y":5.89729, "heading":-1.5708, "vx":0.27265, "vy":-1.97995, "omega":0.0, "ax":-6.06666, "ay":-0.5319, "alpha":0.0, "fx":[-100.30269,-100.30269,-100.30269,-100.30269], "fy":[-8.79413,-8.79413,-8.79413,-8.79413]}, - {"t":2.33444, "x":7.82618, "y":5.82794, "heading":-1.5708, "vx":0.06115, "vy":-1.99849, "omega":0.0, "ax":-1.84152, "ay":-0.02681, "alpha":0.0, "fx":[-30.4466,-30.4466,-30.4466,-30.4466], "fy":[-0.44331,-0.44331,-0.44331,-0.44331]}, - {"t":2.3693, "x":7.8272, "y":5.75825, "heading":-1.5708, "vx":-0.00305, "vy":-1.99942, "omega":0.0, "ax":-0.20809, "ay":0.00069, "alpha":0.0, "fx":[-3.4404,-3.4404,-3.4404,-3.4404], "fy":[0.01146,0.01146,0.01146,0.01146]}, - {"t":2.40416, "x":7.82696, "y":5.68854, "heading":-1.5708, "vx":-0.0103, "vy":-1.9994, "omega":0.0, "ax":-0.02213, "ay":0.00012, "alpha":0.0, "fx":[-0.36586,-0.36586,-0.36586,-0.36586], "fy":[0.00196,0.00196,0.00196,0.00196]}, - {"t":2.43902, "x":7.82659, "y":5.61884, "heading":-1.5708, "vx":-0.01107, "vy":-1.9994, "omega":0.0, "ax":-0.00235, "ay":0.00001, "alpha":0.0, "fx":[-0.03888,-0.03888,-0.03888,-0.03888], "fy":[0.00022,0.00022,0.00022,0.00022]}, - {"t":2.47389, "x":7.8262, "y":5.54913, "heading":-1.5708, "vx":-0.01116, "vy":-1.99939, "omega":0.0, "ax":-0.00025, "ay":0.0, "alpha":0.0, "fx":[-0.00413,-0.00413,-0.00413,-0.00413], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":2.50875, "x":7.82582, "y":5.47943, "heading":-1.5708, "vx":-0.01116, "vy":-1.99939, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00044,-0.00044,-0.00044,-0.00044], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.54361, "x":7.82543, "y":5.40972, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.57848, "x":7.82504, "y":5.34002, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.61334, "x":7.82465, "y":5.27031, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.6482, "x":7.82426, "y":5.20061, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.68306, "x":7.82387, "y":5.13091, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.71793, "x":7.82348, "y":5.0612, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.75279, "x":7.82309, "y":4.9915, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.78765, "x":7.8227, "y":4.92179, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.82252, "x":7.82231, "y":4.85209, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.85738, "x":7.82192, "y":4.78238, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.89224, "x":7.82153, "y":4.71268, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.9271, "x":7.82114, "y":4.64297, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":2.96197, "x":7.82075, "y":4.57327, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.00009, "ay":0.0165, "alpha":0.0, "fx":[0.00152,0.00152,0.00152,0.00152], "fy":[0.27277,0.27277,0.27277,0.27277]}, - {"t":2.99683, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01116, "vy":-1.99882, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.76206, "y":7.35707, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52529, "ay":-0.01486, "alpha":0.0, "fx":[124.41895,124.41895,124.41895,124.41895], "fy":[-0.24565,-0.24565,-0.24565,-0.24565]}, + {"t":0.04464, "x":3.76956, "y":7.35705, "heading":0.0, "vx":0.33589, "vy":-0.00066, "omega":0.0, "ax":7.52341, "ay":-0.01485, "alpha":0.0, "fx":[124.38788,124.38788,124.38788,124.38788], "fy":[-0.24558,-0.24558,-0.24558,-0.24558]}, + {"t":0.08927, "x":3.79205, "y":7.35701, "heading":0.0, "vx":0.67171, "vy":-0.00133, "omega":0.0, "ax":7.52033, "ay":-0.01485, "alpha":0.0, "fx":[124.33692,124.33692,124.33692,124.33692], "fy":[-0.24548,-0.24548,-0.24548,-0.24548]}, + {"t":0.13391, "x":3.82952, "y":7.35693, "heading":0.0, "vx":1.00738, "vy":-0.00199, "omega":0.0, "ax":7.51434, "ay":-0.01484, "alpha":0.0, "fx":[124.23796,124.23796,124.23796,124.23796], "fy":[-0.24529,-0.24529,-0.24529,-0.24529]}, + {"t":0.17854, "x":3.88197, "y":7.35683, "heading":0.0, "vx":1.34278, "vy":-0.00265, "omega":0.0, "ax":7.49771, "ay":-0.0148, "alpha":0.0, "fx":[123.96299,123.96299,123.96299,123.96299], "fy":[-0.24475,-0.24475,-0.24475,-0.24475]}, + {"t":0.22318, "x":3.94938, "y":7.3567, "heading":0.0, "vx":1.67745, "vy":-0.00331, "omega":0.0, "ax":7.21496, "ay":-0.01424, "alpha":0.0, "fx":[119.28813,119.28813,119.28813,119.28813], "fy":[-0.23552,-0.23552,-0.23552,-0.23552]}, + {"t":0.26781, "x":4.03144, "y":7.35654, "heading":0.0, "vx":1.99949, "vy":-0.00395, "omega":0.0, "ax":0.00138, "ay":0.0, "alpha":0.0, "fx":[0.02281,0.02281,0.02281,0.02281], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, + {"t":0.31245, "x":4.12069, "y":7.35636, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.35708, "x":4.20994, "y":7.35618, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.40172, "x":4.29919, "y":7.35601, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.44635, "x":4.38844, "y":7.35583, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.49099, "x":4.47769, "y":7.35565, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.53563, "x":4.56694, "y":7.35548, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.58026, "x":4.65619, "y":7.3553, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.6249, "x":4.74544, "y":7.35513, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.66953, "x":4.83469, "y":7.35495, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.71417, "x":4.92395, "y":7.35477, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.7588, "x":5.0132, "y":7.3546, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.80344, "x":5.10245, "y":7.35442, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.84807, "x":5.1917, "y":7.35424, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.89271, "x":5.28095, "y":7.35407, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.93734, "x":5.3702, "y":7.35389, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.98198, "x":5.45945, "y":7.35372, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, + {"t":1.02662, "x":5.5487, "y":7.35354, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":-0.00002, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.0003,-0.0003,-0.0003,-0.0003]}, + {"t":1.07125, "x":5.63795, "y":7.35336, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":-0.00032, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.00532,-0.00532,-0.00532,-0.00532]}, + {"t":1.11589, "x":5.7272, "y":7.35319, "heading":0.0, "vx":1.99955, "vy":-0.00396, "omega":0.0, "ax":-0.00001, "ay":-0.00577, "alpha":0.0, "fx":[-0.0002,-0.0002,-0.0002,-0.0002], "fy":[-0.09539,-0.09539,-0.09539,-0.09539]}, + {"t":1.16052, "x":5.81646, "y":7.353, "heading":0.0, "vx":1.99955, "vy":-0.00422, "omega":0.0, "ax":-0.00034, "ay":-0.10333, "alpha":0.0, "fx":[-0.00559,-0.00559,-0.00559,-0.00559], "fy":[-1.70847,-1.70847,-1.70847,-1.70847]}, + {"t":1.20516, "x":5.90571, "y":7.35271, "heading":0.0, "vx":1.99954, "vy":-0.00883, "omega":0.0, "ax":-0.05753, "ay":-1.75086, "alpha":0.0, "fx":[-0.95124,-0.95124,-0.95124,-0.95124], "fy":[-28.94779,-28.94779,-28.94779,-28.94779]}, + {"t":1.24979, "x":5.9949, "y":7.35057, "heading":0.0, "vx":1.99697, "vy":-0.08698, "omega":0.0, "ax":-0.162, "ay":-2.8477, "alpha":-4.86394, "fx":[20.40866,26.95202,-32.88012,-25.19425], "fy":[-66.98931,-27.86732,-27.23144,-66.24086]}, + {"t":1.27513, "x":6.04544, "y":7.34746, "heading":0.0, "vx":1.99287, "vy":-0.15913, "omega":-0.12323, "ax":-0.06532, "ay":-0.7706, "alpha":-5.78527, "fx":[25.3241,27.72043,-29.95046,-27.41391], "fy":[-39.85636,14.30302,14.17994,-39.58931]}, + {"t":1.30046, "x":6.09591, "y":7.34318, "heading":-0.00312, "vx":1.99121, "vy":-0.17865, "omega":-0.2698, "ax":-0.01726, "ay":-0.18978, "alpha":-5.49525, "fx":[25.30546,26.00719,-26.42045,-26.03352], "fy":[-29.15,22.70822,22.82869,-28.93778]}, + {"t":1.3258, "x":6.14635, "y":7.33859, "heading":-0.00996, "vx":1.99077, "vy":-0.18346, "omega":-0.40902, "ax":-0.00423, "ay":-0.04576, "alpha":-5.1169, "fx":[23.77178,24.36612,-24.02556,-24.39215], "fy":[-25.13821,23.14403,23.61675,-24.64901]}, + {"t":1.35113, "x":6.19679, "y":7.33393, "heading":-0.02032, "vx":1.99067, "vy":-0.18462, "omega":-0.53866, "ax":-0.00101, "ay":-0.01086, "alpha":-4.74512, "fx":[21.89753,22.83046,-21.95416,-22.84054], "fy":[-23.01563,21.74673,22.6552,-22.10474]}, + {"t":1.37647, "x":6.24722, "y":7.32925, "heading":-0.03397, "vx":1.99064, "vy":-0.1849, "omega":-0.65887, "ax":-0.00024, "ay":-0.00254, "alpha":-4.38653, "fx":[19.97266,21.38284,-19.98515,-21.386], "fy":[-21.42652,19.93692,21.34232,-20.02088]}, + {"t":1.4018, "x":6.29765, "y":7.32456, "heading":-0.05066, "vx":1.99063, "vy":-0.18496, "omega":-0.77001, "ax":-0.00006, "ay":-0.00059, "alpha":-4.04236, "fx":[18.07848,20.01071,-18.08122,-20.01162], "fy":[-20.02089,18.07012,20.00145,-18.08958]}, + {"t":1.42714, "x":6.34808, "y":7.31988, "heading":-0.07017, "vx":1.99063, "vy":-0.18498, "omega":-0.87242, "ax":-0.00001, "ay":-0.00014, "alpha":-3.7133, "fx":[16.24603,18.70252,-16.24664,-18.70278], "fy":[-18.70489,16.24409,18.70041,-16.24858]}, + {"t":1.45247, "x":6.39852, "y":7.31519, "heading":-0.09227, "vx":1.99063, "vy":-0.18498, "omega":-0.9665, "ax":0.0, "ay":-0.00003, "alpha":-3.39974, "fx":[14.49234,17.44791,-14.49249,-17.44799], "fy":[-17.4485,14.49187,17.44741,-14.49297]}, + {"t":1.47781, "x":6.44895, "y":7.3105, "heading":-0.11676, "vx":1.99063, "vy":-0.18498, "omega":-1.05263, "ax":0.0, "ay":-0.00001, "alpha":-3.10187, "fx":[12.82887,16.23815,-12.82893,-16.2382], "fy":[-16.23837,12.82871,16.23798,-12.82909]}, + {"t":1.50314, "x":6.49938, "y":7.30582, "heading":-0.14342, "vx":1.99063, "vy":-0.18498, "omega":-1.13122, "ax":0.0, "ay":-0.00001, "alpha":-2.81959, "fx":[11.26369,15.06617,-11.26374,-15.06621], "fy":[-15.06634,11.26356,15.06603,-11.26387]}, + {"t":1.52848, "x":6.54981, "y":7.30113, "heading":-0.17208, "vx":1.99063, "vy":-0.18498, "omega":-1.20265, "ax":0.0, "ay":-0.00001, "alpha":-2.55264, "fx":[9.80224,13.92636,-9.8023,-13.9264], "fy":[-13.92658,9.80207,13.92619,-9.80246]}, + {"t":1.55381, "x":6.60025, "y":7.29644, "heading":-0.20255, "vx":1.99063, "vy":-0.18498, "omega":-1.26732, "ax":0.0, "ay":-0.00002, "alpha":-2.30056, "fx":[8.44776,12.81439,-8.44784,-12.81445], "fy":[-12.81472,8.4475,12.81412,-8.4481]}, + {"t":1.57915, "x":6.65068, "y":7.29176, "heading":-0.23466, "vx":1.99063, "vy":-0.18498, "omega":-1.32561, "ax":0.0, "ay":-0.00004, "alpha":-2.06275, "fx":[7.2017,11.72692,-7.20184,-11.72703], "fy":[-11.72759,7.20115,11.72636,-7.20239]}, + {"t":1.60448, "x":6.70111, "y":7.28707, "heading":-0.26825, "vx":1.99063, "vy":-0.18498, "omega":-1.37787, "ax":-0.00001, "ay":-0.00012, "alpha":-1.83846, "fx":[6.06394,10.66135,-6.06434,-10.66169], "fy":[-10.66342,6.06222,10.65962,-6.06606]}, + {"t":1.62982, "x":6.75155, "y":7.28238, "heading":-0.30315, "vx":1.99063, "vy":-0.18498, "omega":-1.42444, "ax":-0.00004, "ay":-0.00047, "alpha":-1.62688, "fx":[5.03293,9.61541,-5.03449,-9.61677], "fy":[-9.62383,5.02591,9.60835,-5.0415]}, + {"t":1.65515, "x":6.80198, "y":7.2777, "heading":-0.33924, "vx":1.99063, "vy":-0.185, "omega":-1.46566, "ax":-0.0002, "ay":-0.00211, "alpha":-1.42711, "fx":[4.10496,8.58603,-4.11179,-8.59218], "fy":[-8.62383,4.07342,8.55438,-4.14332]}, + {"t":1.68049, "x":6.85241, "y":7.27301, "heading":-0.37637, "vx":1.99063, "vy":-0.18505, "omega":-1.50182, "ax":-0.0009, "ay":-0.00972, "alpha":-1.23817, "fx":[3.26985,7.56479,-3.30087,-7.59356], "fy":[-7.73936,3.12426,7.41894,-3.44642]}, + {"t":1.70582, "x":6.90284, "y":7.26832, "heading":-0.41442, "vx":1.9906, "vy":-0.1853, "omega":-1.53319, "ax":-0.00421, "ay":-0.04513, "alpha":-1.05899, "fx":[2.48996,6.51685,-2.63288,-6.65262], "fy":[-7.32879,1.81342,5.8398,-3.30887]}, + {"t":1.73116, "x":6.95327, "y":7.26361, "heading":-0.45327, "vx":1.9905, "vy":-0.18644, "omega":-1.56001, "ax":-0.01995, "ay":-0.20991, "alpha":-0.88731, "fx":[1.59734,5.27593,-2.26771,-5.9246], "fy":[-9.05702,-1.5483,2.12748,-5.40405]}, + {"t":1.75649, "x":7.0037, "y":7.25882, "heading":-0.49279, "vx":1.98999, "vy":-0.19176, "omega":-1.58249, "ax":-0.09866, "ay":-0.96193, "alpha":-0.70244, "fx":[-0.25718,2.93833,-3.03468,-6.17137], "fy":[-20.30669,-14.60587,-11.46773,-17.23554]}, + {"t":1.78183, "x":7.05408, "y":7.25365, "heading":-0.53288, "vx":1.98749, "vy":-0.21613, "omega":-1.60029, "ax":-0.4617, "ay":-3.50985, "alpha":-0.36343, "fx":[-6.78187,-4.80211,-8.52074,-10.42949], "fy":[-59.90259,-57.69656,-56.13919,-58.38148]}, + {"t":1.80716, "x":7.10429, "y":7.24705, "heading":-0.57343, "vx":1.97579, "vy":-0.30505, "omega":-1.6095, "ax":-1.17312, "ay":-6.02841, "alpha":-0.08369, "fx":[-19.07237,-18.54029,-19.72424,-20.24617], "fy":[-99.90935,-99.76115,-99.43173,-99.57924]}, + {"t":1.8325, "x":7.15397, "y":7.23739, "heading":-0.6142, "vx":1.94607, "vy":-0.45778, "omega":-1.61162, "ax":-1.89958, "ay":-6.72068, "alpha":-0.01973, "fx":[-31.30963,-31.19185,-31.50402,-31.62101], "fy":[-111.16078,-111.16832,-111.07119,-111.06361]}, + {"t":1.85783, "x":7.20266, "y":7.22363, "heading":-0.65503, "vx":1.89795, "vy":-0.62805, "omega":-1.61212, "ax":-2.59606, "ay":-6.77699, "alpha":-0.00395, "fx":[-42.89987,-42.87979,-42.94387,-42.96391], "fy":[-112.05718,-112.06211,-112.03675,-112.03182]}, + {"t":1.88317, "x":7.24991, "y":7.20555, "heading":-0.69588, "vx":1.83218, "vy":-0.79974, "omega":-1.61222, "ax":-3.26327, "ay":-6.60841, "alpha":0.0011, "fx":[-53.95963,-53.96409,-53.94648,-53.94201], "fy":[-109.25619,-109.25447,-109.26328,-109.26501]}, + {"t":1.9085, "x":7.29528, "y":7.18316, "heading":-0.73672, "vx":1.7495, "vy":-0.96717, "omega":-1.61219, "ax":-3.8989, "ay":-6.32034, "alpha":0.00296, "fx":[-64.48076,-64.48974,-64.4437,-64.4347], "fy":[-104.48503,-104.4804,-104.50897,-104.51361]}, + {"t":1.93384, "x":7.33836, "y":7.15663, "heading":-0.77757, "vx":1.65072, "vy":-1.12729, "omega":-1.61212, "ax":-4.53136, "ay":-5.92306, "alpha":0.00368, "fx":[-74.94248,-74.94966,-74.89557,-74.88836], "fy":[-97.9101,-97.90547,-97.94696,-97.95161]}, + {"t":1.95917, "x":7.37872, "y":7.12617, "heading":-0.81841, "vx":1.53592, "vy":-1.27735, "omega":-1.61202, "ax":-4.98778, "ay":-5.54134, "alpha":0.00506, "fx":[-82.49674,-82.50336,-82.4335,-82.42682], "fy":[-91.58824,-91.58359,-91.64658,-91.65128]}, + {"t":1.98368, "x":7.41486, "y":7.09321, "heading":-0.85791, "vx":1.41371, "vy":-1.41313, "omega":-1.6119, "ax":-5.47903, "ay":-5.01064, "alpha":0.00904, "fx":[-90.64145,-90.64633,-90.53308,-90.52804], "fy":[-82.78196,-82.78022,-82.90416,-82.90606]}, + {"t":2.00818, "x":7.44785, "y":7.05708, "heading":-0.8974, "vx":1.27946, "vy":-1.5359, "omega":-1.61168, "ax":-5.86909, "ay":-4.45975, "alpha":0.01648, "fx":[-97.12807,-97.12876,-96.9448,-96.94367], "fy":[-73.6089,-73.61892,-73.86074,-73.85133]}, + {"t":2.03268, "x":7.47744, "y":7.01811, "heading":-0.93689, "vx":1.13565, "vy":-1.64518, "omega":-1.61127, "ax":-6.15769, "ay":-3.85979, "alpha":0.03209, "fx":[-101.9662,-101.96033,-101.65,-101.65459], "fy":[-63.5445,-63.59343,-64.08543,-64.03889]}, + {"t":2.05718, "x":7.50342, "y":6.97664, "heading":-0.97637, "vx":0.98478, "vy":-1.73975, "omega":-1.61049, "ax":-6.2613, "ay":-3.19756, "alpha":0.07097, "fx":[-103.80593,-103.8106,-103.23788,-103.22883], "fy":[-52.22503,-52.4058,-53.50268,-53.33336]}, + {"t":2.08168, "x":7.52567, "y":6.93305, "heading":-1.01583, "vx":0.83136, "vy":-1.8181, "omega":-1.60875, "ax":-5.88191, "ay":-2.41782, "alpha":0.19537, "fx":[-97.74244,-98.01832,-96.76443,-96.46769], "fy":[-38.19427,-38.90825,-41.71946,-41.07758]}, + {"t":2.10619, "x":7.54427, "y":6.88778, "heading":-1.05525, "vx":0.68724, "vy":-1.87734, "omega":-1.60396, "ax":-4.03079, "ay":-1.35773, "alpha":0.67092, "fx":[-66.62581,-70.05093,-66.74333,-63.15095], "fy":[-17.16731,-20.22038,-27.52235,-24.88175]}, + {"t":2.13069, "x":7.5599, "y":6.84137, "heading":-1.09455, "vx":0.58847, "vy":-1.91061, "omega":-1.58752, "ax":-1.34632, "ay":-0.40205, "alpha":1.33915, "fx":[-19.85452,-30.50494,-24.80488,-13.87288], "fy":[2.15721,-3.78475,-15.25331,-9.70814]}, + {"t":2.15519, "x":7.57392, "y":6.79444, "heading":-1.13345, "vx":0.55549, "vy":-1.92046, "omega":-1.55471, "ax":-0.32106, "ay":-0.09216, "alpha":1.57837, "fx":[-1.75526,-15.17232,-8.90533,4.60008], "fy":[8.42067,2.05157,-11.40244,-5.16446]}, + {"t":2.17969, "x":7.58743, "y":6.74735, "heading":-1.17154, "vx":0.54762, "vy":-1.92272, "omega":-1.51604, "ax":-0.07412, "ay":-0.02107, "alpha":1.74512, "fx":[3.15284,-12.00474,-5.61496,9.56481], "fy":[10.44743,4.02782,-11.12498,-4.74399]}, + {"t":2.2042, "x":7.60083, "y":6.70024, "heading":-1.20869, "vx":0.5458, "vy":-1.92323, "omega":-1.47328, "ax":-0.01711, "ay":-0.00486, "alpha":1.91862, "fx":[4.97353,-11.95209,-5.54211,11.3889], "fy":[11.59311,5.17487,-11.74805,-5.34102]}, + {"t":2.2287, "x":7.6142, "y":6.65311, "heading":-1.24479, "vx":0.54538, "vy":-1.92335, "omega":-1.42627, "ax":-0.00397, "ay":-0.00112, "alpha":2.10466, "fx":[6.16012,-12.65093,-6.29188,12.52044], "fy":[12.5679,6.2066,-12.60348,-6.24541]}, + {"t":2.2532, "x":7.62756, "y":6.60598, "heading":-1.27974, "vx":0.54529, "vy":-1.92338, "omega":-1.3747, "ax":-0.00093, "ay":-0.00026, "alpha":2.30417, "fx":[7.27806,-13.54738,-7.30883,13.51691], "fy":[13.52803,7.28887,-13.53626,-7.29803]}, + {"t":2.2777, "x":7.64092, "y":6.55886, "heading":-1.31342, "vx":0.54526, "vy":-1.92339, "omega":-1.31824, "ax":-0.00022, "ay":-0.00006, "alpha":2.51773, "fx":[8.45924,-14.51323,-8.46653,14.50601], "fy":[14.50865,8.46178,-14.51059,-8.46399]}, + {"t":2.30221, "x":7.65428, "y":6.51173, "heading":-1.34572, "vx":0.54526, "vy":-1.92339, "omega":-1.25655, "ax":-0.00005, "ay":-0.00002, "alpha":2.74587, "fx":[9.73505,-15.51891,-9.73683,15.51715], "fy":[15.51779,9.73566,-15.51827,-9.73622]}, + {"t":2.32671, "x":7.66764, "y":6.4646, "heading":-1.37651, "vx":0.54526, "vy":-1.92339, "omega":-1.18927, "ax":-0.00002, "ay":-0.00001, "alpha":2.98899, "fx":[11.11269,-16.55804,-11.11322,16.55752], "fy":[16.5577,11.11286,-16.55786,-11.11304]}, + {"t":2.35121, "x":7.681, "y":6.41747, "heading":-1.40565, "vx":0.54526, "vy":-1.92339, "omega":-1.11603, "ax":-0.00002, "ay":-0.00001, "alpha":3.24741, "fx":[12.59246,-17.63019,-12.59304,17.62961], "fy":[17.62982,12.59265,-17.62998,-12.59285]}, + {"t":2.37571, "x":7.69436, "y":6.37035, "heading":-1.43299, "vx":0.54526, "vy":-1.92339, "omega":-1.03646, "ax":-0.00007, "ay":-0.00002, "alpha":3.52128, "fx":[14.17127,-18.73732,-14.17344,18.73515], "fy":[18.73596,14.17199,-18.73651,-14.17271]}, + {"t":2.40021, "x":7.70772, "y":6.32322, "heading":-1.45839, "vx":0.54526, "vy":-1.92339, "omega":-0.95018, "ax":-0.00028, "ay":-0.00008, "alpha":3.8106, "fx":[15.84214,-19.88427,-15.85128,19.87509], "fy":[19.87857,15.84521,-19.88079,-15.84822]}, + {"t":2.42472, "x":7.72108, "y":6.27609, "heading":-1.48167, "vx":0.54525, "vy":-1.92339, "omega":-0.85681, "ax":-0.00114, "ay":-0.00033, "alpha":4.11517, "fx":[17.58958,-21.08339,-17.62725,21.04535], "fy":[21.05995,17.60209,-21.06879,-17.61474]}, + {"t":2.44922, "x":7.73444, "y":6.22896, "heading":-1.50266, "vx":0.54522, "vy":-1.9234, "omega":-0.75598, "ax":-0.00466, "ay":-0.00132, "alpha":4.43458, "fx":[19.37107,-22.37364,-19.52384,22.21835], "fy":[22.27864,19.42117,-22.31337,-19.47379]}, + {"t":2.47372, "x":7.7478, "y":6.18184, "heading":-1.52119, "vx":0.54511, "vy":-1.92343, "omega":-0.64733, "ax":-0.01871, "ay":-0.0053, "alpha":4.76816, "fx":[21.04503,-23.89467,-21.65624,23.2687], "fy":[23.51487,21.24277,-23.64883,-21.4593]}, + {"t":2.49822, "x":7.76115, "y":6.13471, "heading":-1.53705, "vx":0.54465, "vy":-1.92356, "omega":-0.53049, "ax":-0.07416, "ay":-0.02096, "alpha":5.11427, "fx":[22.08914,-26.17163,-24.50197,23.67988], "fy":[24.67551,22.86217,-25.18148,-23.74243]}, + {"t":2.52273, "x":7.77447, "y":6.08757, "heading":-1.55005, "vx":0.54283, "vy":-1.92407, "omega":-0.40518, "ax":-0.28981, "ay":-0.08118, "alpha":5.45863, "fx":[20.462,-31.14545,-29.85156,21.36894], "fy":[25.37498,23.50938,-27.23082,-27.02253]}, + {"t":2.54723, "x":7.78768, "y":6.0404, "heading":-1.55997, "vx":0.53573, "vy":-1.92606, "omega":-0.27143, "ax":-1.10538, "ay":-0.29909, "alpha":5.60407, "fx":[7.41827,-45.01267,-43.25643,7.74772], "fy":[23.79963,20.33587,-30.34832,-33.5674]}, + {"t":2.57173, "x":7.80048, "y":5.99312, "heading":-1.56662, "vx":0.50865, "vy":-1.93339, "omega":-0.13412, "ax":-3.57567, "ay":-0.85486, "alpha":3.99863, "fx":[-46.64918,-75.71438,-72.02321,-42.0855], "fy":[10.29088,7.39151,-32.4482,-41.76937]}, + {"t":2.59623, "x":7.81187, "y":5.94549, "heading":-1.56991, "vx":0.42103, "vy":-1.95434, "omega":-0.03615, "ax":-6.05587, "ay":-1.0451, "alpha":1.4752, "fx":[-99.35069,-104.0406,-101.4227,-95.68343], "fy":[-6.50507,-5.43068,-26.14871,-31.03218]}, + {"t":2.62074, "x":7.82037, "y":5.89729, "heading":-1.5708, "vx":0.27265, "vy":-1.97995, "omega":0.0, "ax":-6.06662, "ay":-0.53189, "alpha":0.0, "fx":[-100.3021,-100.3021,-100.3021,-100.3021], "fy":[-8.79396,-8.79396,-8.79396,-8.79396]}, + {"t":2.6556, "x":7.82618, "y":5.82794, "heading":-1.5708, "vx":0.06115, "vy":-1.99849, "omega":0.0, "ax":-1.84146, "ay":-0.02681, "alpha":0.0, "fx":[-30.44575,-30.44575,-30.44575,-30.44575], "fy":[-0.44329,-0.44329,-0.44329,-0.44329]}, + {"t":2.69046, "x":7.8272, "y":5.75825, "heading":-1.5708, "vx":-0.00305, "vy":-1.99942, "omega":0.0, "ax":-0.20808, "ay":0.00069, "alpha":0.0, "fx":[-3.44029,-3.44029,-3.44029,-3.44029], "fy":[0.01146,0.01146,0.01146,0.01146]}, + {"t":2.72532, "x":7.82696, "y":5.68854, "heading":-1.5708, "vx":-0.0103, "vy":-1.9994, "omega":0.0, "ax":-0.02213, "ay":0.00012, "alpha":0.0, "fx":[-0.36585,-0.36585,-0.36585,-0.36585], "fy":[0.00196,0.00196,0.00196,0.00196]}, + {"t":2.76019, "x":7.82659, "y":5.61884, "heading":-1.5708, "vx":-0.01107, "vy":-1.9994, "omega":0.0, "ax":-0.00235, "ay":0.00001, "alpha":0.0, "fx":[-0.03888,-0.03888,-0.03888,-0.03888], "fy":[0.00022,0.00022,0.00022,0.00022]}, + {"t":2.79505, "x":7.8262, "y":5.54913, "heading":-1.5708, "vx":-0.01116, "vy":-1.99939, "omega":0.0, "ax":-0.00025, "ay":0.0, "alpha":0.0, "fx":[-0.00413,-0.00413,-0.00413,-0.00413], "fy":[0.00002,0.00002,0.00002,0.00002]}, + {"t":2.82991, "x":7.82582, "y":5.47943, "heading":-1.5708, "vx":-0.01116, "vy":-1.99939, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00044,-0.00044,-0.00044,-0.00044], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.86478, "x":7.82543, "y":5.40972, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.89964, "x":7.82504, "y":5.34002, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.9345, "x":7.82465, "y":5.27031, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.96936, "x":7.82426, "y":5.20061, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.00423, "x":7.82387, "y":5.13091, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.03909, "x":7.82348, "y":5.0612, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.07395, "x":7.82309, "y":4.9915, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.10882, "x":7.8227, "y":4.92179, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.14368, "x":7.82231, "y":4.85209, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.17854, "x":7.82192, "y":4.78238, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.21341, "x":7.82153, "y":4.71268, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.24827, "x":7.82114, "y":4.64297, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":3.28313, "x":7.82075, "y":4.57327, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.00009, "ay":0.0165, "alpha":0.0, "fx":[0.00152,0.00152,0.00152,0.00152], "fy":[0.27277,0.27277,0.27277,0.27277]}, + {"t":3.31799, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01116, "vy":-1.99882, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 3a9dcd1a..6875019f 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -76,6 +76,20 @@ "val":1.5707963267948966 } }, + "LCleanup":{ + "x":{ + "exp":"6.068130016326904 m", + "val":6.068130016326904 + }, + "y":{ + "exp":"3.792367458343506 m", + "val":3.792367458343506 + }, + "heading":{ + "exp":"LNeutral.heading", + "val":-1.5707963267948966 + } + }, "LClimb":{ "x":{ "exp":"0.5524598956108093 m", @@ -106,12 +120,12 @@ }, "LPreTrench":{ "x":{ - "exp":"2.9497299194335938 m", - "val":2.9497299194335938 + "exp":"3.3465769290924072 m", + "val":3.3465769290924072 }, "y":{ - "exp":"7.378527641296387 m", - "val":7.378527641296387 + "exp":"7.509117603302002 m", + "val":7.509117603302002 }, "heading":{ "exp":"0 deg", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index 457f23f1..20832069 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -57,197 +57,196 @@ "sampleType":"Swerve", "waypoints":[0.0,1.18729,3.04335,5.2049,6.96088], "samples":[ - {"t":0.0, "x":1.80247, "y":2.44997, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.04418, "ay":5.45978, "alpha":-9.10499, "fx":[-121.67024,52.29683,9.55577,-75.37153], "fy":[25.80596,112.20382,124.04672,99.0191]}, - {"t":0.03109, "x":1.80149, "y":2.45261, "heading":-1.5738, "vx":-0.06355, "vy":0.16974, "omega":-0.28307, "ax":-2.01564, "ay":5.43374, "alpha":-9.20578, "fx":[-121.78198,54.20174,9.76162,-75.48344], "fy":[25.20171,111.21029,124.01912,98.92237]}, - {"t":0.06218, "x":1.79854, "y":2.46051, "heading":-1.5826, "vx":-0.12622, "vy":0.33867, "omega":-0.56926, "ax":-2.00007, "ay":5.4324, "alpha":-9.20147, "fx":[-121.77377,54.32861,10.36221,-75.18907], "fy":[25.16054,111.01601,123.95584,99.1326]}, - {"t":0.09327, "x":1.79364, "y":2.47366, "heading":-1.6003, "vx":-0.1884, "vy":0.50756, "omega":-0.85533, "ax":-2.00468, "ay":5.45924, "alpha":-9.07272, "fx":[-121.63977,52.19982,11.34555,-74.48248], "fy":[25.70944,111.83155,123.85118,99.64793]}, - {"t":0.12436, "x":1.78682, "y":2.49208, "heading":-1.62689, "vx":-0.25072, "vy":0.67728, "omega":-1.13739, "ax":-2.04888, "ay":5.51922, "alpha":-8.77925, "fx":[-121.36687,46.55182,12.6784,-73.36356], "fy":[26.86477,113.99022,123.69776,100.45387]}, - {"t":0.15544, "x":1.77803, "y":2.5158, "heading":-1.66225, "vx":-0.31442, "vy":0.84887, "omega":-1.41033, "ax":-2.17627, "ay":5.61497, "alpha":-8.25285, "fx":[-120.93537,34.55243,14.3006,-71.84243], "fy":[28.62482,117.70471,123.48856,101.52092]}, - {"t":0.18653, "x":1.76721, "y":2.54491, "heading":-1.70609, "vx":-0.38207, "vy":1.02343, "omega":-1.6669, "ax":-2.47526, "ay":5.72274, "alpha":-7.42859, "fx":[-120.32333,10.45243,16.11992,-69.94759], "fy":[30.95371,121.49192,123.21984,102.8008]}, - {"t":0.21762, "x":1.75413, "y":2.57949, "heading":-1.75792, "vx":-0.45903, "vy":1.20134, "omega":-1.89785, "ax":-3.04796, "ay":5.70729, "alpha":-6.50446, "fx":[-119.5171,-32.32428,18.00806,-67.73979], "fy":[33.75398,116.57615,122.89388,104.22072]}, - {"t":0.24871, "x":1.73839, "y":2.6196, "heading":-1.81692, "vx":-0.55379, "vy":1.37878, "omega":-2.10007, "ax":-3.70993, "ay":5.35096, "alpha":-6.33025, "fx":[-118.51823,-81.24692,19.74934,-65.33559], "fy":[36.86818,88.8101,122.52725,105.67367]}, - {"t":0.2798, "x":1.71938, "y":2.66505, "heading":-1.88221, "vx":-0.66912, "vy":1.54513, "omega":-2.29687, "ax":-4.04835, "ay":4.86849, "alpha":-7.04585, "fx":[-117.32902,-108.26841,20.8268,-62.96231], "fy":[40.13501,52.66644,122.18067,106.98942]}, - {"t":0.31089, "x":1.69662, "y":2.71544, "heading":-1.95362, "vx":-0.79498, "vy":1.69649, "omega":-2.51592, "ax":-4.14566, "ay":4.57292, "alpha":-7.72402, "fx":[-115.93622,-116.78107,19.72609,-61.1768], "fy":[43.36467,29.23943,122.02341,107.79707]}, - {"t":0.34198, "x":1.6699, "y":2.77039, "heading":-2.03183, "vx":-0.92387, "vy":1.83866, "omega":-2.75605, "ax":-4.31996, "ay":4.45921, "alpha":-7.69016, "fx":[-114.32629,-117.96586,9.05682,-62.45996], "fy":[45.86889,20.32707,122.28079,106.42763]}, - {"t":0.37307, "x":1.63909, "y":2.82971, "heading":-2.11752, "vx":-1.05817, "vy":1.97729, "omega":-2.99513, "ax":-6.74217, "ay":2.05929, "alpha":-0.24791, "fx":[-112.10035,-112.15236,-110.83778,-110.79474], "fy":[32.62001,31.4299,35.54367,36.5951]}, - {"t":0.40416, "x":1.60294, "y":2.89217, "heading":-2.21063, "vx":-1.26778, "vy":2.04131, "omega":-3.00283, "ax":-6.0452, "ay":0.40068, "alpha":4.80778, "fx":[-90.95065,-97.9715,-113.81505,-97.05476], "fy":[25.23933,52.86768,-1.75941,-49.84934]}, - {"t":0.43525, "x":1.5606, "y":2.95583, "heading":-2.30399, "vx":-1.45572, "vy":2.05377, "omega":-2.85336, "ax":-4.60584, "ay":1.85016, "alpha":6.70468, "fx":[-38.70665,-71.26069,-105.17666,-89.45758], "fy":[61.56658,76.25032,19.75478,-35.21352]}, - {"t":0.46633, "x":1.51312, "y":3.02057, "heading":-2.39269, "vx":-1.59891, "vy":2.11129, "omega":-2.64492, "ax":-1.74646, "ay":3.43154, "alpha":7.50483, "fx":[34.57595,-21.59978,-76.10044,-52.37552], "fy":[71.38654,94.73286,55.28641,5.53462]}, - {"t":0.49742, "x":1.46257, "y":3.08787, "heading":-2.47492, "vx":-1.6532, "vy":2.21797, "omega":-2.41161, "ax":2.96991, "ay":4.08974, "alpha":3.86659, "fx":[75.75616,44.43258,15.43458,60.78781], "fy":[57.0524,86.39752,83.06552,43.95416]}, - {"t":0.52851, "x":1.41261, "y":3.1588, "heading":-2.5499, "vx":-1.56087, "vy":2.34512, "omega":-2.2914, "ax":5.22876, "ay":3.15727, "alpha":-0.32645, "fx":[84.69723,87.42669,88.15122,85.5224], "fy":[54.03572,49.60891,50.45385,54.70358]}, - {"t":0.5596, "x":1.36661, "y":3.23323, "heading":-2.62113, "vx":-1.39832, "vy":2.44327, "omega":-2.30155, "ax":5.88606, "ay":1.99828, "alpha":-2.92661, "fx":[85.62264,103.08877,107.43579,93.12038], "fy":[52.75661,2.7881,20.70184,55.90693]}, - {"t":0.59069, "x":1.32598, "y":3.31016, "heading":-2.69269, "vx":-1.21532, "vy":2.5054, "omega":-2.39253, "ax":5.674, "ay":0.42873, "alpha":-5.10895, "fx":[79.52297,89.32137,109.45961,96.93888], "fy":[38.56209,-48.55878,-8.47583,46.82615]}, - {"t":0.62178, "x":1.29094, "y":3.38826, "heading":-2.76707, "vx":-1.03893, "vy":2.51873, "omega":-2.55136, "ax":4.30103, "ay":-1.65618, "alpha":-7.05109, "fx":[40.7706,49.05968,98.2877,96.32534], "fy":[-10.07901,-86.44382,-40.46588,27.45898]}, - {"t":0.65287, "x":1.26072, "y":3.46576, "heading":-2.84639, "vx":-0.90521, "vy":2.46724, "omega":-2.77057, "ax":2.5644, "ay":-3.21502, "alpha":-7.59402, "fx":[-12.04181,16.4172,77.82269,87.39545], "fy":[-50.08333,-96.00839,-64.69158,-1.83806]}, - {"t":0.68396, "x":1.23381, "y":3.54091, "heading":-2.93252, "vx":-0.82549, "vy":2.36728, "omega":-3.00667, "ax":0.98142, "ay":-3.87729, "alpha":-6.64094, "fx":[-36.92474,-9.45129,50.42428,60.85669], "fy":[-53.55279,-92.81306,-79.0135,-31.04051]}, - {"t":0.71505, "x":1.20862, "y":3.61263, "heading":-3.026, "vx":-0.79497, "vy":2.24674, "omega":-3.21313, "ax":-0.77102, "ay":-3.92985, "alpha":-4.59104, "fx":[-48.59571,-30.95467,14.82997,13.73019], "fy":[-48.39914,-80.71317,-81.40424,-49.37949]}, - {"t":0.74614, "x":1.18354, "y":3.68058, "heading":-3.12589, "vx":-0.81894, "vy":2.12457, "omega":-3.35586, "ax":-2.40559, "ay":-3.36811, "alpha":-1.90139, "fx":[-52.56388,-46.60969,-27.61742,-32.29948], "fy":[-45.12481,-61.42174,-66.19891,-50.0001]}, - {"t":0.77722, "x":1.15691, "y":3.74501, "heading":3.05297, "vx":-0.89373, "vy":2.01986, "omega":-3.41497, "ax":-3.47268, "ay":-2.4076, "alpha":0.50766, "fx":[-54.71856,-55.74288,-60.11555,-59.0845], "fy":[-43.3456,-38.14077,-36.29823,-41.43882]}, - {"t":0.80831, "x":1.12745, "y":3.80664, "heading":2.9468, "vx":-1.00169, "vy":1.94501, "omega":-3.39919, "ax":-3.96659, "ay":-1.43233, "alpha":2.07224, "fx":[-57.42928,-58.41433,-73.68589,-72.79571], "fy":[-39.95499,-15.77183,-8.51797,-30.48076]}, - {"t":0.8394, "x":1.09439, "y":3.86641, "heading":2.84112, "vx":-1.12501, "vy":1.90048, "omega":-3.33476, "ax":-4.07984, "ay":-0.5977, "alpha":2.93002, "fx":[-59.60743,-55.7124,-75.56908,-78.92632], "fy":[-34.11684,2.04144,11.55161,-19.00424]}, - {"t":0.87049, "x":1.05744, "y":3.92521, "heading":2.73745, "vx":-1.25185, "vy":1.8819, "omega":-3.24367, "ax":-3.90827, "ay":0.11517, "alpha":3.35448, "fx":[-59.36758,-48.66182,-70.91053,-79.5289], "fy":[-25.96672,15.06309,25.96164,-7.44111]}, - {"t":0.90158, "x":1.01664, "y":3.98377, "heading":2.6366, "vx":-1.37335, "vy":1.88548, "omega":-3.13938, "ax":-3.37303, "ay":0.81262, "alpha":3.51706, "fx":[-53.64447,-35.78158,-59.79695,-73.84825], "fy":[-14.47537,25.51856,37.50506,5.19359]}, - {"t":0.93267, "x":0.97231, "y":4.04278, "heading":2.539, "vx":-1.47822, "vy":1.91074, "omega":-3.03004, "ax":-1.87201, "ay":1.77407, "alpha":3.32037, "fx":[-30.3414,-8.12649,-33.10472,-52.23019], "fy":[6.58066,37.18354,49.62689,23.93482]}, - {"t":0.96376, "x":0.92545, "y":4.10304, "heading":2.4448, "vx":-1.53642, "vy":1.96589, "omega":-2.92681, "ax":2.52642, "ay":2.98572, "alpha":0.63759, "fx":[43.36371,46.02327,40.32346,37.37112], "fy":[45.15454,48.65841,53.45055,50.1931]}, - {"t":0.99485, "x":0.87891, "y":4.1656, "heading":2.35381, "vx":-1.45787, "vy":2.05872, "omega":-2.90699, "ax":5.52059, "ay":2.96721, "alpha":-2.03498, "fx":[84.17696,82.26397,99.40478,99.25189], "fy":[66.04376,58.81065,28.72757,42.65101]}, - {"t":1.02594, "x":0.83625, "y":4.23104, "heading":2.26344, "vx":-1.28624, "vy":2.15097, "omega":-2.97026, "ax":6.40886, "ay":2.57064, "alpha":-2.49192, "fx":[97.7701,98.14346,114.74401,113.18439], "fy":[64.90797,58.18185,13.92574,32.99038]}, - {"t":1.05703, "x":0.79936, "y":4.29915, "heading":2.17109, "vx":-1.087, "vy":2.23088, "omega":-3.04773, "ax":6.82996, "ay":2.09771, "alpha":-2.42242, "fx":[106.18566,107.28137,119.65245,118.57155], "fy":[57.44502,51.5593,5.57722,24.14776]}, - {"t":1.08811, "x":0.76887, "y":4.36952, "heading":2.07634, "vx":-0.87466, "vy":2.2961, "omega":-3.12304, "ax":7.09362, "ay":1.58837, "alpha":-2.1899, "fx":[112.55643,113.60904,121.6287,121.33383], "fy":[47.5364,42.35475,-0.46983,15.62351]}, - {"t":1.1192, "x":0.7451, "y":4.44167, "heading":1.97925, "vx":-0.65413, "vy":2.34548, "omega":-3.19112, "ax":7.27223, "ay":1.05395, "alpha":-1.8847, "fx":[117.47076,118.20595,122.46258,122.80053], "fy":[36.22682,31.74238,-5.57501,7.30717]}, - {"t":1.15029, "x":0.72828, "y":4.5151, "heading":1.88004, "vx":-0.42804, "vy":2.37825, "omega":-3.24972, "ax":7.38688, "ay":0.50078, "alpha":-1.53787, "fx":[121.01558,121.3775,122.71976,123.40911], "fy":[23.93858,20.21397,-10.26262,-0.77165]}, - {"t":1.18138, "x":0.71854, "y":4.58928, "heading":1.77901, "vx":-0.19839, "vy":2.39381, "omega":-3.29753, "ax":7.44419, "ay":-0.06518, "alpha":-1.16306, "fx":[123.14505,123.18996,122.61319,123.36397], "fy":[10.93593,8.06061,-14.78112,-8.52617]}, - {"t":1.21247, "x":0.71597, "y":4.66367, "heading":1.67649, "vx":0.03304, "vy":2.39179, "omega":-3.33368, "ax":7.44658, "ay":-0.63095, "alpha":-0.77456, "fx":[123.78567,123.64202,122.23105,122.81173], "fy":[-2.37855,-4.30803,-19.24815,-15.79207]}, - {"t":1.24356, "x":0.7206, "y":4.73772, "heading":1.57285, "vx":0.26455, "vy":2.37217, "omega":-3.35777, "ax":7.42586, "ay":-0.96522, "alpha":0.38756, "fx":[122.20239,122.42339,123.29437,123.17997], "fy":[-20.0987,-18.96391,-12.01754,-12.75367]}, - {"t":1.27856, "x":0.7344, "y":4.82015, "heading":1.45535, "vx":0.52442, "vy":2.33839, "omega":-3.3442, "ax":7.31442, "ay":-1.23241, "alpha":1.72622, "fx":[117.36709,119.20009,123.64551,123.51771], "fy":[-38.69997,-33.41412,-5.91981,-3.47034]}, - {"t":1.31355, "x":0.75723, "y":4.90123, "heading":1.33832, "vx":0.78039, "vy":2.29527, "omega":-3.28379, "ax":7.12377, "ay":-1.34778, "alpha":3.23354, "fx":[110.10546,114.85252,123.67863,122.48501], "fy":[-55.23924,-45.87782,-1.53276,13.51629]}, - {"t":1.34855, "x":0.78891, "y":4.98072, "heading":1.2234, "vx":1.02969, "vy":2.2481, "omega":-3.17063, "ax":6.86852, "ay":-1.34553, "alpha":4.71705, "fx":[102.31628,110.16841,123.57281,118.1836], "fy":[-67.50279,-55.85495,0.64269,33.72994]}, - {"t":1.38354, "x":0.82915, "y":5.05857, "heading":1.11244, "vx":1.27005, "vy":2.20101, "omega":-3.00556, "ax":6.58835, "ay":-1.3767, "alpha":5.88439, "fx":[94.89534,105.14677,123.43633,112.23416], "fy":[-76.11248,-64.4242,0.07316,49.41731]}, - {"t":1.41854, "x":0.87763, "y":5.13476, "heading":1.00726, "vx":1.50061, "vy":2.15283, "omega":-2.79963, "ax":6.31757, "ay":-1.55389, "alpha":6.63964, "fx":[86.97427,99.26733,123.20241,108.36092], "fy":[-83.1173,-72.72576,-3.75741,56.83587]}, - {"t":1.45353, "x":0.93401, "y":5.20914, "heading":0.90929, "vx":1.7217, "vy":2.09846, "omega":-2.56728, "ax":6.06512, "ay":-1.9181, "alpha":7.02383, "fx":[77.68156,92.18914,122.5014,108.73696], "fy":[-89.80882,-81.03781,-11.32275,55.31795]}, - {"t":1.48853, "x":0.99797, "y":5.2814, "heading":0.81944, "vx":1.93395, "vy":2.03133, "omega":-2.32148, "ax":5.80339, "ay":-2.48168, "alpha":7.09277, "fx":[66.63381,83.70854,120.55946,112.89801], "fy":[-96.82949,-89.23759,-22.75396,44.6982]}, - {"t":1.52352, "x":1.06921, "y":5.35097, "heading":0.7382, "vx":2.13704, "vy":1.94448, "omega":-2.07326, "ax":5.44127, "ay":-2.74883, "alpha":7.54478, "fx":[53.37965,75.59239,118.46481,112.41462], "fy":[-100.39179,-95.13847,-29.22612,42.9659]}, - {"t":1.55852, "x":1.14733, "y":5.41734, "heading":0.66565, "vx":2.32746, "vy":1.84829, "omega":-1.80923, "ax":5.00828, "ay":-2.3601, "alpha":8.47814, "fx":[38.49288,70.15292,117.648,104.92283], "fy":[-87.67966,-96.79178,-26.70042,55.08971]}, - {"t":1.59351, "x":1.23184, "y":5.48057, "heading":0.60233, "vx":2.50273, "vy":1.7657, "omega":-1.51254, "ax":4.07208, "ay":-0.27545, "alpha":11.03961, "fx":[-6.92906,66.46901,116.56058,93.20161], "fy":[26.36809,-94.22957,-18.91663,68.56159]}, - {"t":1.62851, "x":1.32192, "y":5.5422, "heading":0.5494, "vx":2.64523, "vy":1.75606, "omega":-1.1262, "ax":3.42572, "ay":1.09523, "alpha":11.84752, "fx":[-25.38061,63.00851,112.76983,76.15771], "fy":[78.58173,-83.11439,-3.94424,80.90854]}, - {"t":1.6635, "x":1.41659, "y":5.60432, "heading":0.50999, "vx":2.76511, "vy":1.79438, "omega":-0.71159, "ax":2.59422, "ay":1.73429, "alpha":10.47809, "fx":[-29.41432,45.69496,99.58806,55.69704], "fy":[74.83927,-56.53313,11.94965,84.43913]}, - {"t":1.6985, "x":1.51494, "y":5.66818, "heading":0.48509, "vx":2.8559, "vy":1.85508, "omega":-0.34491, "ax":1.08398, "ay":1.64719, "alpha":6.01197, "fx":[-21.86959,8.44986,57.1546,27.95252], "fy":[44.1064,-12.97886,16.45738,61.34978]}, - {"t":1.73349, "x":1.61555, "y":5.7341, "heading":0.47302, "vx":2.89383, "vy":1.91272, "omega":-0.13452, "ax":0.043, "ay":0.48188, "alpha":1.00648, "fx":[-5.69424,-1.36835,7.13994,2.76651], "fy":[10.04667,1.58481,5.92705,14.30998]}, - {"t":1.76849, "x":1.71685, "y":5.80134, "heading":0.46831, "vx":2.89534, "vy":1.92958, "omega":-0.0993, "ax":-0.02829, "ay":0.10785, "alpha":0.12733, "fx":[-1.27491,-0.73278,0.33962,-0.20277], "fy":[2.04785,0.97599,1.51838,2.59002]}, - {"t":1.80348, "x":1.81815, "y":5.86893, "heading":0.46484, "vx":2.89435, "vy":1.93336, "omega":-0.09484, "ax":-0.00914, "ay":0.02836, "alpha":0.03354, "fx":[-0.36342,-0.22157,0.06129,-0.08056], "fy":[0.53936,0.25651,0.39836,0.68121]}, - {"t":1.83848, "x":1.91944, "y":5.9366, "heading":0.46152, "vx":2.89403, "vy":1.93435, "omega":-0.09367, "ax":-0.00124, "ay":0.01018, "alpha":0.02149, "fx":[-0.15637,-0.06607,0.1155,0.0252], "fy":[0.21398,0.03241,0.12271,0.30428]}, - {"t":1.87348, "x":2.02071, "y":6.0043, "heading":0.45824, "vx":2.89399, "vy":1.93471, "omega":-0.09291, "ax":0.00088, "ay":0.00581, "alpha":0.01908, "fx":[-0.10596,-0.02635,0.13506,0.05545], "fy":[0.13703,-0.02438,0.05524,0.21664]}, - {"t":1.90847, "x":2.12199, "y":6.07201, "heading":0.45499, "vx":2.89402, "vy":1.93491, "omega":-0.09225, "ax":0.00133, "ay":0.00471, "alpha":0.01814, "fx":[-0.09245,-0.01723,0.13653,0.06131], "fy":[0.11718,-0.03658,0.03864,0.1924]}, - {"t":1.94347, "x":2.22327, "y":6.13973, "heading":0.45176, "vx":2.89406, "vy":1.93507, "omega":-0.09161, "ax":0.00137, "ay":0.0044, "alpha":0.01752, "fx":[-0.08785,-0.0157,0.13299,0.06084], "fy":[0.11097,-0.03772,0.03443,0.18312]}, - {"t":1.97846, "x":2.32455, "y":6.20745, "heading":0.44855, "vx":2.89411, "vy":1.93523, "omega":-0.091, "ax":0.0013, "ay":0.00427, "alpha":0.01698, "fx":[-0.08544,-0.01597,0.12838,0.05891], "fy":[0.10809,-0.03626,0.03321,0.17756]}, - {"t":2.01346, "x":2.42583, "y":6.27518, "heading":0.44537, "vx":2.89416, "vy":1.93538, "omega":-0.09041, "ax":0.00121, "ay":0.0042, "alpha":0.01648, "fx":[-0.0836,-0.01661,0.12371,0.05673], "fy":[0.10604,-0.03429,0.0327,0.17302]}, - {"t":2.04845, "x":2.52711, "y":6.34291, "heading":0.44221, "vx":2.8942, "vy":1.93552, "omega":-0.08983, "ax":0.00113, "ay":0.00413, "alpha":0.01601, "fx":[-0.08193,-0.01729,0.11922,0.05459], "fy":[0.10421,-0.0323,0.03234,0.16885]}, - {"t":2.08345, "x":2.62839, "y":6.41064, "heading":0.43906, "vx":2.89424, "vy":1.93567, "omega":-0.08927, "ax":0.00105, "ay":0.00407, "alpha":0.01556, "fx":[-0.08033,-0.01793,0.11495,0.05255], "fy":[0.10248,-0.0304,0.032,0.16489]}, - {"t":2.11844, "x":2.72968, "y":6.47839, "heading":0.43594, "vx":2.89428, "vy":1.93581, "omega":-0.08872, "ax":0.00097, "ay":0.00401, "alpha":0.01513, "fx":[-0.07879,-0.01851,0.11091,0.05063], "fy":[0.10079,-0.02862,0.03166,0.16108]}, - {"t":2.15344, "x":2.83097, "y":6.54613, "heading":0.43283, "vx":2.89431, "vy":1.93595, "omega":-0.08819, "ax":0.0009, "ay":0.00394, "alpha":0.01472, "fx":[-0.07729,-0.01902,0.10708,0.04881], "fy":[0.09914,-0.02696,0.0313,0.15741]}, - {"t":2.18843, "x":2.93225, "y":6.61388, "heading":0.42975, "vx":2.89434, "vy":1.93609, "omega":-0.08768, "ax":0.00084, "ay":0.00388, "alpha":0.01433, "fx":[-0.07581,-0.01947,0.10346,0.04712], "fy":[0.09749,-0.02544,0.0309,0.15384]}, - {"t":2.22343, "x":3.03354, "y":6.68164, "heading":0.42668, "vx":2.89437, "vy":1.93623, "omega":-0.08718, "ax":0.00078, "ay":0.00381, "alpha":0.01396, "fx":[-0.07427,-0.01977,0.1001,0.0456], "fy":[0.09574,-0.02414,0.03036,0.15023]}, - {"t":2.25842, "x":3.13483, "y":6.7494, "heading":0.42363, "vx":2.8944, "vy":1.93636, "omega":-0.08669, "ax":0.00075, "ay":0.00371, "alpha":0.01359, "fx":[-0.07236,-0.01966,0.09721,0.04451], "fy":[0.09339,-0.02348,0.02922,0.14609]}, - {"t":2.29342, "x":3.23612, "y":6.81717, "heading":0.42059, "vx":2.89442, "vy":1.93649, "omega":-0.08621, "ax":0.00081, "ay":0.00345, "alpha":0.0132, "fx":[-0.0688,-0.01796,0.09572,0.04487], "fy":[0.08848,-0.02519,0.02565,0.13933]}, - {"t":2.32841, "x":3.33741, "y":6.88494, "heading":0.41758, "vx":2.89445, "vy":1.93661, "omega":-0.08575, "ax":0.00125, "ay":0.00257, "alpha":0.01268, "fx":[-0.05829,-0.00978,0.09955,0.05104], "fy":[0.0729,-0.03643,0.01208,0.12141]}, - {"t":2.36341, "x":3.43871, "y":6.95271, "heading":0.41458, "vx":2.8945, "vy":1.9367, "omega":-0.08531, "ax":0.0032, "ay":-0.0009, "alpha":0.01155, "fx":[-0.01892,0.02496,0.12468,0.08079], "fy":[0.01296,-0.08675,-0.04287,0.05684]}, - {"t":2.39841, "x":3.54, "y":7.02049, "heading":0.41159, "vx":2.89461, "vy":1.93667, "omega":-0.0849, "ax":0.01131, "ay":-0.01516, "alpha":0.00751, "fx":[0.14033,0.16866,0.23358,0.20524], "fy":[-0.23231,-0.29722,-0.26888,-0.20397]}, - {"t":2.4334, "x":3.64131, "y":7.08825, "heading":0.40862, "vx":2.895, "vy":1.93614, "omega":-0.08464, "ax":0.04329, "ay":-0.07473, "alpha":-0.01383, "fx":[0.80158,0.74975,0.63,0.68183], "fy":[-1.26948,-1.14977,-1.20162,-1.32134]}, - {"t":2.4684, "x":3.74265, "y":7.15596, "heading":0.40566, "vx":2.89652, "vy":1.93352, "omega":-0.08513, "ax":0.15137, "ay":-0.33131, "alpha":-0.17957, "fx":[3.61581,2.94998,1.38859,2.0565], "fy":[-5.91935,-4.36572,-5.03646,-6.58926]}, - {"t":2.50339, "x":3.8441, "y":7.22342, "heading":0.40268, "vx":2.90182, "vy":1.92193, "omega":-0.09141, "ax":0.2934, "ay":-1.43447, "alpha":-1.69903, "fx":[15.49253,9.56527,-6.13763,0.48366], "fy":[-27.7498,-13.39507,-19.89734,-33.82482]}, - {"t":2.53839, "x":3.94583, "y":7.2898, "heading":0.39948, "vx":2.91208, "vy":1.87173, "omega":-0.15087, "ax":-0.20643, "ay":-3.51407, "alpha":-6.46941, "fx":[38.68543,22.52435,-55.97015,-18.89153], "fy":[-74.14397,-23.69926,-47.01147,-87.54396]}, - {"t":2.57338, "x":4.04762, "y":7.35315, "heading":0.3942, "vx":2.90486, "vy":1.74875, "omega":-0.37727, "ax":-0.05859, "ay":-4.66794, "alpha":-7.75208, "fx":[48.81554,44.83294,-75.03468,-22.4883], "fy":[-93.12149,-45.76536,-63.932,-105.88988]}, - {"t":2.60838, "x":4.14924, "y":7.41149, "heading":0.381, "vx":2.90281, "vy":1.5854, "omega":-0.64855, "ax":0.71582, "ay":-5.65676, "alpha":-6.66244, "fx":[54.92947,64.1002,-60.21572,-11.47405], "fy":[-99.12289,-72.49409,-88.59247,-113.89307]}, - {"t":2.64337, "x":4.25126, "y":7.46351, "heading":0.3583, "vx":2.92786, "vy":1.38744, "omega":-0.88171, "ax":1.69115, "ay":-6.43244, "alpha":-4.02768, "fx":[56.0388,63.83678,-15.64839,7.61482], "fy":[-103.20097,-92.44056,-112.3417,-117.41836]}, - {"t":2.67837, "x":4.35476, "y":7.50813, "heading":0.32744, "vx":2.98704, "vy":1.16233, "omega":-1.02266, "ax":2.24756, "ay":-6.81841, "alpha":-1.27022, "fx":[47.28126,48.67983,25.08025,27.59835], "fy":[-110.00368,-108.31859,-116.08794,-116.51723]}, - {"t":2.71336, "x":4.46067, "y":7.54463, "heading":0.29166, "vx":3.0657, "vy":0.92372, "omega":-1.06711, "ax":1.79438, "ay":-7.11934, "alpha":0.7955, "fx":[21.81249,23.36958,36.68971,36.79715], "fy":[-119.46992,-119.52553,-116.11712,-115.71648]}, - {"t":2.74836, "x":4.56905, "y":7.57259, "heading":0.25431, "vx":3.12849, "vy":0.67458, "omega":-1.03927, "ax":1.37094, "ay":-7.26084, "alpha":1.32449, "fx":[8.6913,12.70256,34.31496,34.95664], "fy":[-122.31785,-122.30433,-118.05889,-117.50552]}, - {"t":2.78335, "x":4.67937, "y":7.59175, "heading":0.21794, "vx":3.17647, "vy":0.42048, "omega":-0.99292, "ax":0.89032, "ay":-7.35381, "alpha":1.57071, "fx":[-2.61988,3.4127,28.79883,29.28858], "fy":[-123.19022,-123.43777,-120.05997,-119.64702]}, - {"t":2.81835, "x":4.79108, "y":7.60197, "heading":0.1832, "vx":3.20762, "vy":0.16313, "omega":-0.93795, "ax":0.39375, "ay":-7.40229, "alpha":1.76461, "fx":[-13.66838,-5.56837,22.6453,22.63191], "fy":[-122.80124,-123.65033,-121.66566,-121.42433]}, - {"t":2.85334, "x":4.90357, "y":7.60314, "heading":0.15037, "vx":3.2214, "vy":-0.09591, "omega":-0.8762, "ax":-0.09643, "ay":-7.40871, "alpha":1.95972, "fx":[-24.60853,-14.25258,16.59484,15.88887], "fy":[-121.30604,-123.13588,-122.82067,-122.70299]}, - {"t":2.88834, "x":5.01625, "y":7.59525, "heading":0.11971, "vx":3.21803, "vy":-0.35518, "omega":-0.80762, "ax":-0.57101, "ay":-7.37678, "alpha":2.17237, "fx":[-35.43585,-22.58964,10.90242,9.3598], "fy":[-118.75093,-122.00779,-123.5795,-123.51588]}, - {"t":2.92333, "x":5.12851, "y":7.5783, "heading":0.09145, "vx":3.19805, "vy":-0.61334, "omega":-0.73159, "ax":-1.04305, "ay":-7.30555, "alpha":2.42893, "fx":[-46.67117,-30.86446,5.57396,2.98062], "fy":[-114.91606,-120.27295,-124.02203,-123.93265]}, - {"t":2.95833, "x":5.23979, "y":7.55236, "heading":0.06584, "vx":3.16154, "vy":-0.869, "omega":-0.64659, "ax":-1.67033, "ay":-7.13223, "alpha":2.9436, "fx":[-63.55791,-41.9729,-0.07634,-4.85825], "fy":[-106.6033,-116.93662,-124.21432,-123.92695]}, - {"t":2.99333, "x":5.34941, "y":7.51759, "heading":0.04322, "vx":3.10309, "vy":-1.11859, "omega":-0.54358, "ax":-2.36644, "ay":-6.83562, "alpha":3.61416, "fx":[-82.58479,-53.96253,-5.61143,-14.34299], "fy":[-92.73989,-111.97416,-124.13958,-123.21151]}, - {"t":3.02832, "x":5.45655, "y":7.47426, "heading":0.02419, "vx":3.02028, "vy":-1.35781, "omega":-0.4171, "ax":-2.88868, "ay":-6.54657, "alpha":4.08268, "fx":[-95.28736,-62.5828,-10.03085,-23.13828], "fy":[-79.72119,-107.44241,-123.90009,-121.88589]}, - {"t":3.06332, "x":5.56048, "y":7.42273, "heading":0.0096, "vx":2.91919, "vy":-1.58691, "omega":-0.27423, "ax":-3.27505, "ay":-6.29723, "alpha":4.38211, "fx":[-103.34001,-68.6881,-13.50333,-31.0597], "fy":[-69.0451,-103.68214,-123.60006,-120.13219]}, - {"t":3.09831, "x":5.66063, "y":7.36334, "heading":0.0, "vx":2.80458, "vy":-1.80728, "omega":-0.12087, "ax":-3.80297, "ay":-6.19702, "alpha":3.37311, "fx":[-99.85365,-72.02157,-28.67538,-50.95404], "fy":[-74.09029,-101.42722,-121.01686,-113.29761]}, - {"t":3.14335, "x":5.78309, "y":7.27566, "heading":-0.00544, "vx":2.63329, "vy":-2.08638, "omega":0.03105, "ax":-4.37273, "ay":-5.90823, "alpha":2.76333, "fx":[-100.82633,-77.64558,-43.4585,-67.25483], "fy":[-72.7001,-97.14177,-116.47986,-104.4121]}, - {"t":3.18839, "x":5.89725, "y":7.1757, "heading":-0.00405, "vx":2.43635, "vy":-2.35248, "omega":0.1555, "ax":-5.11159, "ay":-5.40051, "alpha":1.90245, "fx":[-102.09844,-85.94017,-65.39449,-84.61565], "fy":[-70.81607,-89.80499,-105.65735,-90.87744]}, - {"t":3.23343, "x":6.0018, "y":7.06427, "heading":0.00296, "vx":2.20613, "vy":-2.59571, "omega":0.24118, "ax":-5.96506, "ay":-4.54747, "alpha":0.67417, "fx":[-103.8396,-98.07309,-93.05443,-99.52508], "fy":[-68.104,-76.20708,-82.21851,-74.21147]}, - {"t":3.27847, "x":6.09511, "y":6.94275, "heading":0.01382, "vx":1.93748, "vy":-2.80052, "omega":0.27155, "ax":-6.35767, "ay":-3.9864, "alpha":0.10116, "fx":[-105.80464,-104.95361,-104.41462,-105.2836], "fy":[-64.80398,-66.18035,-67.01612,-65.63523]}, - {"t":3.3235, "x":6.17592, "y":6.81257, "heading":0.02605, "vx":1.65114, "vy":-2.98007, "omega":0.2761, "ax":-6.64023, "ay":-3.47207, "alpha":-0.26475, "fx":[-108.20825,-110.32939,-111.30096,-109.30484], "fy":[-60.36626,-56.37035,-54.48011,-58.40429]}, - {"t":3.36854, "x":6.24355, "y":6.67483, "heading":0.03849, "vx":1.35207, "vy":-3.13644, "omega":0.26418, "ax":-6.88767, "ay":-2.89769, "alpha":-0.55207, "fx":[-111.14331,-115.12866,-116.35739,-112.87803], "fy":[-54.14882,-44.97818,-41.91183,-50.59608]}, - {"t":3.41358, "x":6.29746, "y":6.53063, "heading":0.05038, "vx":1.04186, "vy":-3.26695, "omega":0.23932, "ax":-7.08851, "ay":-2.2555, "alpha":-0.74209, "fx":[-114.37922,-118.7814,-119.63903,-115.99039], "fy":[-45.59224,-32.26491,-29.56839,-41.73898]}, - {"t":3.45862, "x":6.3372, "y":6.38121, "heading":0.06116, "vx":0.7226, "vy":-3.36853, "omega":0.20589, "ax":-7.20889, "ay":-1.55944, "alpha":-0.86147, "fx":[-116.94485,-120.57657,-121.08583,-118.14363], "fy":[-35.04654,-18.76713,-17.42988,-31.88828]}, - {"t":3.50366, "x":6.36243, "y":6.22791, "heading":0.07044, "vx":0.39793, "vy":-3.43877, "omega":0.16709, "ax":-7.13945, "ay":-0.89902, "alpha":-1.42591, "fx":[-115.51414,-119.11683,-120.11597,-117.41203], "fy":[-29.42152,-1.49477,-2.84615,-25.69296]}, - {"t":3.5487, "x":6.37311, "y":6.07212, "heading":0.07796, "vx":0.07638, "vy":-3.47926, "omega":0.10287, "ax":-6.68139, "ay":-0.25002, "alpha":-1.40666, "fx":[-108.54229,-109.54424,-112.37487,-111.40381], "fy":[-16.5212,9.29434,6.05858,-15.36654]}, - {"t":3.59374, "x":6.36977, "y":5.91517, "heading":0.08259, "vx":-0.22454, "vy":-3.49052, "omega":0.03952, "ax":-4.17529, "ay":0.31151, "alpha":-0.24916, "fx":[-68.20064,-68.22731,-69.86392,-69.836], "fy":[3.79026,6.87075,6.47958,3.46057]}, - {"t":3.63877, "x":6.35542, "y":5.75828, "heading":0.08437, "vx":-0.41259, "vy":-3.47649, "omega":0.0283, "ax":-0.84384, "ay":0.09853, "alpha":-0.02393, "fx":[-13.83139,-13.84954,-14.07179,-14.05367], "fy":[1.52504,1.75282,1.73285,1.50516]}, - {"t":3.68381, "x":6.33599, "y":5.6018, "heading":0.08565, "vx":-0.4506, "vy":-3.47205, "omega":0.02722, "ax":-0.12022, "ay":0.01484, "alpha":-0.00361, "fx":[-1.96917,-1.97208,-2.00603,-2.00312], "fy":[0.2298,0.26376,0.26084,0.22688]}, - {"t":3.72885, "x":6.31557, "y":5.44544, "heading":0.08687, "vx":-0.45601, "vy":-3.47139, "omega":0.02706, "ax":-0.01702, "ay":0.00199, "alpha":-0.00124, "fx":[-0.27502,-0.27603,-0.28768,-0.28667], "fy":[0.02764,0.03929,0.03828,0.02663]}, - {"t":3.77389, "x":6.29501, "y":5.2891, "heading":0.08809, "vx":-0.45678, "vy":-3.4713, "omega":0.027, "ax":-0.0025, "ay":0.00017, "alpha":-0.00091, "fx":[-0.03665,-0.0374,-0.04597,-0.04522], "fy":[-0.00111,0.00746,0.0067,-0.00187]}, - {"t":3.81893, "x":6.27444, "y":5.13275, "heading":0.08931, "vx":-0.45689, "vy":-3.47129, "omega":0.02696, "ax":-0.00046, "ay":-0.00009, "alpha":-0.00086, "fx":[-0.00314,-0.00387,-0.01196,-0.01124], "fy":[-0.00512,0.00297,0.00225,-0.00585]}, - {"t":3.86397, "x":6.25386, "y":4.97641, "heading":0.09052, "vx":-0.45691, "vy":-3.47129, "omega":0.02692, "ax":-0.00017, "ay":-0.00012, "alpha":-0.00085, "fx":[0.00154,0.00082,-0.00716,-0.00644], "fy":[-0.00564,0.00234,0.00161,-0.00637]}, - {"t":3.90901, "x":6.23328, "y":4.82007, "heading":0.09174, "vx":-0.45692, "vy":-3.4713, "omega":0.02688, "ax":-0.00013, "ay":-0.00013, "alpha":-0.00084, "fx":[0.00217,0.00144,-0.00647,-0.00574], "fy":[-0.00567,0.00224,0.00152,-0.0064]}, - {"t":3.95404, "x":6.2127, "y":4.66373, "heading":0.09295, "vx":-0.45693, "vy":-3.4713, "omega":0.02684, "ax":-0.00012, "ay":-0.00013, "alpha":-0.00084, "fx":[0.00223,0.0015,-0.00636,-0.00563], "fy":[-0.00564,0.00223,0.00149,-0.00637]}, - {"t":3.99908, "x":6.19212, "y":4.50738, "heading":0.09416, "vx":-0.45693, "vy":-3.47131, "omega":0.02681, "ax":-0.00012, "ay":-0.00012, "alpha":-0.00083, "fx":[0.00222,0.00148,-0.00633,-0.00559], "fy":[-0.00559,0.00222,0.00148,-0.00633]}, - {"t":4.04412, "x":6.17154, "y":4.35104, "heading":0.09536, "vx":-0.45694, "vy":-3.47131, "omega":0.02677, "ax":-0.00012, "ay":-0.00012, "alpha":-0.00083, "fx":[0.00219,0.00144,-0.00631,-0.00557], "fy":[-0.00554,0.00221,0.00147,-0.00628]}, - {"t":4.08916, "x":6.15096, "y":4.1947, "heading":0.09657, "vx":-0.45694, "vy":-3.47132, "omega":0.02673, "ax":-0.00013, "ay":-0.00012, "alpha":-0.00082, "fx":[0.00215,0.00141,-0.00629,-0.00555], "fy":[-0.00549,0.00221,0.00146,-0.00624]}, - {"t":4.1342, "x":6.13038, "y":4.03836, "heading":0.09777, "vx":-0.45695, "vy":-3.47132, "omega":0.0267, "ax":-0.00013, "ay":-0.00012, "alpha":-0.00081, "fx":[0.00212,0.00137,-0.00628,-0.00553], "fy":[-0.00545,0.0022,0.00145,-0.0062]}, - {"t":4.17924, "x":6.1098, "y":3.88201, "heading":0.09898, "vx":-0.45695, "vy":-3.47133, "omega":0.02666, "ax":-0.00013, "ay":-0.00012, "alpha":-0.00081, "fx":[0.00209,0.00134,-0.00626,-0.0055], "fy":[-0.0054,0.0022,0.00144,-0.00616]}, - {"t":4.22427, "x":6.08922, "y":3.72567, "heading":0.10018, "vx":-0.45696, "vy":-3.47134, "omega":0.02662, "ax":-0.00013, "ay":-0.00012, "alpha":-0.0008, "fx":[0.00206,0.00131,-0.00624,-0.00548], "fy":[-0.00536,0.00219,0.00143,-0.00611]}, - {"t":4.26931, "x":6.06864, "y":3.56932, "heading":0.10137, "vx":-0.45697, "vy":-3.47134, "omega":0.02659, "ax":-0.00013, "ay":-0.00012, "alpha":-0.0008, "fx":[0.00203,0.00127,-0.00623,-0.00546], "fy":[-0.00531,0.00219,0.00142,-0.00607]}, - {"t":4.31435, "x":6.04806, "y":3.41298, "heading":0.10257, "vx":-0.45697, "vy":-3.47135, "omega":0.02655, "ax":-0.00013, "ay":-0.00012, "alpha":-0.00079, "fx":[0.00199,0.00122,-0.00622,-0.00546], "fy":[-0.00526,0.00218,0.00142,-0.00603]}, - {"t":4.35939, "x":6.02748, "y":3.25664, "heading":0.10377, "vx":-0.45698, "vy":-3.47135, "omega":0.02651, "ax":-0.00013, "ay":-0.00011, "alpha":-0.00079, "fx":[0.00187,0.0011,-0.0063,-0.00553], "fy":[-0.00521,0.00219,0.00142,-0.00598]}, - {"t":4.40443, "x":6.0069, "y":3.10029, "heading":0.10496, "vx":-0.45698, "vy":-3.47136, "omega":0.02648, "ax":-0.00017, "ay":-0.00011, "alpha":-0.00078, "fx":[0.0012,0.00042,-0.00693,-0.00616], "fy":[-0.00509,0.00227,0.0015,-0.00586]}, - {"t":4.44947, "x":5.98632, "y":2.94395, "heading":0.10615, "vx":-0.45699, "vy":-3.47136, "omega":0.02644, "ax":-0.00045, "ay":-0.00007, "alpha":-0.00078, "fx":[-0.00341,-0.0042,-0.01156,-0.01077], "fy":[-0.00448,0.00288,0.00209,-0.00527]}, - {"t":4.49451, "x":5.96573, "y":2.7876, "heading":0.10735, "vx":-0.45701, "vy":-3.47136, "omega":0.02641, "ax":-0.00244, "ay":0.00018, "alpha":-0.00082, "fx":[-0.03604,-0.03686,-0.04455,-0.04372], "fy":[-0.00046,0.00723,0.0064,-0.00129]}, - {"t":4.53954, "x":5.94515, "y":2.63126, "heading":0.10854, "vx":-0.45712, "vy":-3.47136, "omega":0.02637, "ax":-0.01654, "ay":0.00197, "alpha":-0.0011, "fx":[-0.26778,-0.2689,-0.2792,-0.27808], "fy":[0.02792,0.03821,0.03709,0.0268]}, - {"t":4.58458, "x":5.92454, "y":2.47491, "heading":0.10972, "vx":-0.45787, "vy":-3.47127, "omega":0.02632, "ax":-0.11677, "ay":0.01477, "alpha":-0.00305, "fx":[-1.91473,-1.91787,-1.94643,-1.94328], "fy":[0.23155,0.26011,0.25697,0.2284]}, - {"t":4.62962, "x":5.9038, "y":2.31859, "heading":0.11091, "vx":-0.46313, "vy":-3.4706, "omega":0.02618, "ax":-0.81872, "ay":0.10993, "alpha":-0.01505, "fx":[-13.45896,-13.47406,-13.61362,-13.59854], "fy":[1.75439,1.89715,1.88078,1.73805]}, - {"t":4.67466, "x":5.88211, "y":2.16239, "heading":0.11209, "vx":-0.5, "vy":-3.46565, "omega":0.02551, "ax":-4.06831, "ay":0.68542, "alpha":-0.05134, "fx":[-67.09235,-67.08381,-67.43414,-67.44256], "fy":[11.08391,11.69749,11.57951,10.96821]}, - {"t":4.7197, "x":5.85547, "y":2.00699, "heading":0.11324, "vx":-0.68323, "vy":-3.43478, "omega":0.02319, "ax":-6.52279, "ay":1.58948, "alpha":-0.03031, "fx":[-107.84377,-107.74903,-107.84503,-107.93889], "fy":[26.12236,26.59579,26.43615,25.96416]}, - {"t":4.76474, "x":5.81808, "y":1.85391, "heading":0.11428, "vx":-0.97701, "vy":-3.36319, "omega":0.02183, "ax":-6.84369, "ay":2.359, "alpha":0.035, "fx":[-113.1175,-113.29301,-113.183,-113.00574], "fy":[39.14882,38.6044,38.85531,39.40128]}, - {"t":4.80978, "x":5.76714, "y":1.70483, "heading":0.11526, "vx":-1.28524, "vy":-3.25695, "omega":0.02341, "ax":-6.71165, "ay":3.08747, "alpha":0.13648, "fx":[-110.82798,-111.6921,-111.12021,-110.22639], "fy":[51.44177,49.4763,50.64506,52.62281]}, - {"t":4.85481, "x":5.70244, "y":1.56127, "heading":0.11632, "vx":-1.58752, "vy":-3.11789, "omega":0.02955, "ax":-6.41868, "ay":3.77522, "alpha":0.2327, "fx":[-105.95997,-107.64837,-106.32691,-104.55634], "fy":[62.79786,59.79855,62.03713,65.03577]}, - {"t":4.89985, "x":5.62443, "y":1.42467, "heading":0.11765, "vx":-1.87661, "vy":-2.94786, "omega":0.04003, "ax":-6.06047, "ay":4.37785, "alpha":0.1799, "fx":[-100.16616,-101.58481,-100.25502,-98.79561], "fy":[72.47783,70.44668,72.29404,74.30521]}, - {"t":4.94489, "x":5.53377, "y":1.29635, "heading":0.11945, "vx":-2.14956, "vy":-2.75069, "omega":0.04814, "ax":-5.42917, "ay":5.15612, "alpha":-0.52827, "fx":[-89.32643,-84.91573,-90.28764,-94.52143], "fy":[85.79339,90.22089,84.88917,80.09047]}, - {"t":4.98993, "x":5.43145, "y":1.17769, "heading":0.12162, "vx":-2.39409, "vy":-2.51847, "omega":0.02434, "ax":-3.57628, "ay":6.40551, "alpha":-2.80048, "fx":[-43.14798,-33.21093,-70.21948,-89.93455], "fy":[116.15574,119.61403,102.42123,85.42975]}, - {"t":5.03497, "x":5.31999, "y":1.07076, "heading":0.12272, "vx":-2.55516, "vy":-2.22997, "omega":-0.10179, "ax":-2.31304, "ay":6.76107, "alpha":-4.21077, "fx":[-0.49388,-7.28072,-59.73211,-85.46347], "fy":[124.04108,124.06036,108.99879,90.03464]}, - {"t":5.08001, "x":5.20257, "y":0.97718, "heading":0.11813, "vx":-2.65933, "vy":-1.92546, "omega":-0.29143, "ax":-1.56572, "ay":6.82194, "alpha":-5.07669, "fx":[25.95019,6.01546,-53.53641,-81.97616], "fy":[121.41176,124.1996,112.2389,93.3101]}, - {"t":5.12505, "x":5.08121, "y":0.89738, "heading":0.10501, "vx":-2.72985, "vy":-1.61821, "omega":-0.52008, "ax":-1.1017, "ay":6.81177, "alpha":-5.59772, "fx":[41.53945,14.18388,-49.18063,-79.40253], "fy":[117.08024,123.57624,114.25583,95.57543]}, - {"t":5.17008, "x":4.95714, "y":0.83141, "heading":0.08158, "vx":-2.77947, "vy":-1.31142, "omega":-0.77219, "ax":-0.78519, "ay":6.78757, "alpha":-5.92867, "fx":[51.18066,20.09435,-45.5937,-77.60857], "fy":[113.25466,122.78175,115.76184,97.08962]}, - {"t":5.21512, "x":4.83116, "y":0.77923, "heading":0.0468, "vx":-2.81483, "vy":-1.00572, "omega":-1.03921, "ax":-0.54828, "ay":6.76289, "alpha":-6.15269, "fx":[57.43523,24.98722,-42.24251,-76.43979], "fy":[110.25387,121.89979,117.04652,98.05528]}, - {"t":5.26016, "x":4.70383, "y":0.74079, "heading":0.0, "vx":-2.83953, "vy":-0.70113, "omega":-1.31632, "ax":-0.3569, "ay":6.99609, "alpha":-5.07893, "fx":[48.56124,25.68056,-34.87502,-62.97008], "fy":[114.38817,121.72077,119.41467,107.15405]}, - {"t":5.296, "x":4.60184, "y":0.72016, "heading":-0.04717, "vx":-2.85232, "vy":-0.45041, "omega":-1.49833, "ax":-0.07904, "ay":7.06123, "alpha":-4.76784, "fx":[49.44517,29.59292,-28.80578,-55.45967], "fy":[113.97679,120.80898,121.00267,111.19731]}, - {"t":5.33183, "x":4.49958, "y":0.70855, "heading":-0.10087, "vx":-2.85515, "vy":-0.19737, "omega":-1.66919, "ax":0.27256, "ay":7.12312, "alpha":-4.37783, "fx":[50.68128,34.13851,-21.23482,-45.55941], "fy":[113.39551,119.57787,122.53332,115.57202]}, - {"t":5.36767, "x":4.39743, "y":0.70605, "heading":-0.16068, "vx":-2.84538, "vy":0.0579, "omega":-1.82607, "ax":0.72696, "ay":7.16919, "alpha":-3.88284, "fx":[52.52834,39.42156,-11.619,-32.25407], "fy":[112.50974,117.90706,123.78292,119.92612]}, - {"t":5.40351, "x":4.29593, "y":0.71273, "heading":-0.22612, "vx":-2.81933, "vy":0.31481, "omega":-1.96522, "ax":1.32259, "ay":7.17217, "alpha":-3.25005, "fx":[55.32147,45.58653,0.8604,-14.3005], "fy":[111.11587,115.61576,124.27895,123.31233]}, - {"t":5.43934, "x":4.19575, "y":0.72862, "heading":-0.29655, "vx":-2.77193, "vy":0.57184, "omega":-2.08169, "ax":2.08052, "ay":7.08116, "alpha":-2.47029, "fx":[59.3124,52.69931,16.96416,8.61708], "fy":[108.98392,112.48406,123.05414,123.7814]}, - {"t":5.47518, "x":4.09775, "y":0.75366, "heading":-0.37115, "vx":-2.69738, "vy":0.8256, "omega":-2.17021, "ax":2.81006, "ay":6.88604, "alpha":-1.77247, "fx":[63.66181,59.58675,33.12136,29.46961], "fy":[106.4214,108.8946,119.62963,120.4539]}, - {"t":5.51101, "x":4.00289, "y":0.78766, "heading":-0.44892, "vx":-2.59667, "vy":1.07237, "omega":-2.23373, "ax":3.36327, "ay":6.66101, "alpha":-1.2809, "fx":[67.35832,65.1316,45.84403,44.09187], "fy":[103.98636,105.5272,115.22172,115.78219]}, - {"t":5.54685, "x":3.912, "y":0.83037, "heading":-0.52897, "vx":-2.47615, "vy":1.31107, "omega":-2.27964, "ax":3.86105, "ay":6.39796, "alpha":-0.78461, "fx":[70.52765,69.69855,57.87413,57.2457], "fy":[101.65245,102.33322,109.45453,109.681]}, - {"t":5.58269, "x":3.82574, "y":0.88146, "heading":-0.61066, "vx":-2.33778, "vy":1.54035, "omega":-2.30775, "ax":4.29725, "ay":6.10574, "alpha":-0.17366, "fx":[72.38878,72.36406,69.74254,69.69814], "fy":[99.98766,100.04084,101.88565,101.88138]}, - {"t":5.61852, "x":3.74472, "y":0.94058, "heading":-0.69336, "vx":-2.18379, "vy":1.75915, "omega":-2.31398, "ax":4.59674, "ay":5.81964, "alpha":0.79081, "fx":[70.81045,69.684,81.87557,81.62947], "fy":[100.49498,101.03495,91.42668,91.9182]}, - {"t":5.65436, "x":3.66942, "y":1.00736, "heading":-0.77629, "vx":-2.01906, "vy":1.96771, "omega":-2.28564, "ax":4.51492, "ay":5.5565, "alpha":2.95609, "fx":[61.43018,47.41423,96.29313,93.45131], "fy":[105.42101,111.12152,72.58635,78.34318]}, - {"t":5.69019, "x":3.59996, "y":1.08144, "heading":-0.85819, "vx":-1.85726, "vy":2.16683, "omega":-2.1797, "ax":4.05744, "ay":5.31025, "alpha":5.20939, "fx":[52.90628,13.35112,102.95578,99.12083], "fy":[108.9342,117.93824,55.22762,69.08668]}, - {"t":5.72603, "x":3.53601, "y":1.1625, "heading":-0.93631, "vx":-1.71186, "vy":2.35713, "omega":-1.99302, "ax":3.5795, "ay":5.01197, "alpha":6.72554, "fx":[47.55151,-13.0208,100.89781,101.29759], "fy":[110.03413,115.89028,42.77579,62.76045]}, - {"t":5.76187, "x":3.47696, "y":1.25019, "heading":-1.00773, "vx":-1.58358, "vy":2.53674, "omega":-1.752, "ax":3.23501, "ay":4.63644, "alpha":7.55092, "fx":[46.0479,-24.83602,90.75458,101.97676], "fy":[108.48133,110.93655,30.95871,56.24869]}, - {"t":5.7977, "x":3.42229, "y":1.34408, "heading":-1.07051, "vx":-1.46765, "vy":2.70289, "omega":-1.48141, "ax":2.86006, "ay":4.19267, "alpha":7.93539, "fx":[46.34977,-26.93071,69.77805,99.94941], "fy":[104.03399,104.57249,19.65517,49.01547]}, - {"t":5.83354, "x":3.37153, "y":1.44363, "heading":-1.1236, "vx":-1.36516, "vy":2.85314, "omega":-1.19703, "ax":2.32448, "ay":3.59202, "alpha":7.72179, "fx":[45.25721,-23.08212,40.22125,91.33035], "fy":[94.45496,92.32471,10.5076,40.26625]}, - {"t":5.86937, "x":3.3241, "y":1.54818, "heading":-1.1665, "vx":-1.28186, "vy":2.98186, "omega":-0.92031, "ax":1.59467, "ay":2.56406, "alpha":6.04819, "fx":[37.20751,-14.84613,15.76848,67.33169], "fy":[72.71249,64.85881,4.61858,27.38093]}, - {"t":5.90521, "x":3.27919, "y":1.65668, "heading":-1.19948, "vx":-1.22471, "vy":3.07375, "omega":-0.70357, "ax":0.70474, "ay":1.19042, "alpha":3.09495, "fx":[19.40215,-7.60706,3.60412,31.20778], "fy":[37.52707,28.95064,0.7267,11.52275]}, - {"t":5.94105, "x":3.23575, "y":1.7676, "heading":-1.22469, "vx":-1.19946, "vy":3.11641, "omega":-0.59266, "ax":0.19232, "ay":0.38742, "alpha":1.22896, "fx":[6.64191,-4.25222,-0.30751,10.63637], "fy":[13.77437,9.93294,-1.0197,2.93396]}, - {"t":5.97688, "x":3.19289, "y":1.87953, "heading":-1.24593, "vx":-1.19256, "vy":3.13029, "omega":-0.54862, "ax":0.10444, "ay":0.06903, "alpha":0.3215, "fx":[2.67954,-0.19473,0.77419,3.64829], "fy":[3.0622,2.09584,-0.78068,0.18813]}, - {"t":6.01272, "x":3.15022, "y":1.99175, "heading":-1.26559, "vx":-1.18882, "vy":3.13277, "omega":-0.5371, "ax":0.21646, "ay":-0.11829, "alpha":-0.40209, "fx":[2.33981,5.95376,4.82109,1.20038], "fy":[-4.33825,-3.19268,0.4251,-0.71712]}, - {"t":6.04856, "x":3.10776, "y":2.10394, "heading":-1.28484, "vx":-1.18106, "vy":3.12853, "omega":-0.55151, "ax":0.43824, "ay":-0.31208, "alpha":-1.24114, "fx":[3.28769,14.44771,11.2756,-0.02869], "fy":[-12.47363,-9.08306,2.12576,-1.20796]}, - {"t":6.08439, "x":3.06571, "y":2.21585, "heading":-1.3046, "vx":-1.16536, "vy":3.11734, "omega":-0.59598, "ax":0.72064, "ay":-0.55231, "alpha":-2.23923, "fx":[4.54553,24.54645,19.6714,-1.10461], "fy":[-22.32215,-16.31874,3.90897,-1.79424]}, - {"t":6.12023, "x":3.02442, "y":2.32721, "heading":-1.32596, "vx":-1.13953, "vy":3.09755, "omega":-0.67623, "ax":0.99923, "ay":-0.83157, "alpha":-3.27591, "fx":[5.38577,34.30213,28.80862,-2.41369], "fy":[-33.08354,-24.31682,5.16173,-2.75628]}, - {"t":6.15606, "x":2.98422, "y":2.43768, "heading":-1.35019, "vx":-1.10373, "vy":3.06775, "omega":-0.79362, "ax":1.20617, "ay":-1.1213, "alpha":-4.17244, "fx":[5.21183,41.65965,36.99253,-4.09534], "fy":[-43.07986,-32.05021,5.24153,-4.26702]}, - {"t":6.1919, "x":2.94544, "y":2.5469, "heading":-1.37863, "vx":-1.0605, "vy":3.02757, "omega":-0.94315, "ax":1.30232, "ay":-1.3992, "alpha":-4.82034, "fx":[3.71313,45.67827,42.9428,-6.207], "fy":[-51.04502,-38.93338,3.80018,-6.35629]}, - {"t":6.22774, "x":2.90827, "y":2.6545, "heading":-1.41243, "vx":-1.01383, "vy":2.97742, "omega":-1.11589, "ax":1.27939, "ay":-1.65687, "alpha":-5.20682, "fx":[0.8517,46.40634,46.15368,-8.80109], "fy":[-56.62238,-44.90462,0.84553,-8.89363]}, - {"t":6.26357, "x":2.87276, "y":2.76013, "heading":-1.45242, "vx":-0.96798, "vy":2.91805, "omega":-1.30248, "ax":1.14459, "ay":-1.89276, "alpha":-5.37202, "fx":[-3.267,44.2701,46.63856,-11.9458], "fy":[-60.047,-50.10849,-3.38651,-11.63353]}, - {"t":6.29941, "x":2.83881, "y":2.86349, "heading":-1.4991, "vx":-0.92697, "vy":2.85022, "omega":-1.49499, "ax":0.91101, "ay":-2.10802, "alpha":-5.37893, "fx":[-8.49794,39.78974,44.69974,-15.74287], "fy":[-61.81943,-54.73875,-8.54788,-14.30506]}, - {"t":6.33524, "x":2.80618, "y":2.96428, "heading":-1.55267, "vx":-0.89432, "vy":2.77468, "omega":-1.68775, "ax":0.59547, "ay":-2.30903, "alpha":-5.30923, "fx":[-14.73866,33.56701,40.92883,-20.37631], "fy":[-62.61348,-59.09789,-14.28801,-16.70577]}, - {"t":6.37108, "x":2.77451, "y":3.06223, "heading":-1.61315, "vx":-0.87298, "vy":2.69193, "omega":-1.87802, "ax":0.21748, "ay":-2.51232, "alpha":-5.26621, "fx":[-22.01723,26.30068,36.27774,-26.17832], "fy":[-63.24836,-63.73322,-20.42957,-18.73819]}, - {"t":6.40692, "x":2.74337, "y":3.15708, "heading":-1.68045, "vx":-0.86519, "vy":2.6019, "omega":-2.06674, "ax":-0.2035, "ay":-2.74237, "alpha":-5.3625, "fx":[-30.50914,18.67654,31.9859,-33.61125], "fy":[-64.48267,-69.40056,-27.16332,-20.31667]}, - {"t":6.44275, "x":2.71223, "y":3.24856, "heading":-1.75452, "vx":-0.87248, "vy":2.50362, "omega":-2.25891, "ax":-0.64189, "ay":-3.01222, "alpha":-5.68523, "fx":[-40.25461,11.26476,29.44066,-42.90147], "fy":[-66.54976,-76.57819,-34.97711,-21.1043]}, - {"t":6.47859, "x":2.68055, "y":3.33635, "heading":-1.83547, "vx":-0.89548, "vy":2.39568, "omega":-2.46264, "ax":-1.02644, "ay":-3.29332, "alpha":-6.282, "fx":[-50.46638,4.96198,30.65297,-53.03075], "fy":[-68.90159,-84.76836,-43.90394,-20.22601]}, - {"t":6.51442, "x":2.6478, "y":3.42009, "heading":-1.92372, "vx":-0.93226, "vy":2.27766, "omega":-2.68777, "ax":-1.16499, "ay":-3.50797, "alpha":-7.23655, "fx":[-58.88132,2.28216,39.84858,-60.29449], "fy":[-71.04547,-92.63089,-51.96327,-16.35552]}, - {"t":6.55026, "x":2.61364, "y":3.49945, "heading":-2.02004, "vx":-0.97401, "vy":2.15194, "omega":-2.9471, "ax":-0.65141, "ay":-3.50958, "alpha":-8.6893, "fx":[-61.07915,9.19376,62.596,-53.7908], "fy":[-74.33272,-98.71258,-52.7563,-6.30029]}, - {"t":6.5861, "x":2.57832, "y":3.57432, "heading":-2.12565, "vx":-0.99736, "vy":2.02618, "omega":-3.25849, "ax":1.77662, "ay":-2.76423, "alpha":-10.31613, "fx":[-45.33759,36.76017,93.72827,32.34397], "fy":[-82.35719,-98.04754,-36.20351,33.79916]}, - {"t":6.62193, "x":2.54372, "y":3.64515, "heading":-2.24242, "vx":-0.93369, "vy":1.92712, "omega":-3.62818, "ax":5.85611, "ay":-2.79999, "alpha":-2.9788, "fx":[83.61538,88.45532,107.71999,107.49572], "fy":[-65.44488,-69.62915,-35.08283,-15.01673]}, - {"t":6.65777, "x":2.51402, "y":3.71242, "heading":-2.37244, "vx":-0.72383, "vy":1.82678, "omega":-3.73492, "ax":3.10937, "ay":-4.9947, "alpha":9.02383, "fx":[100.08886,118.69486,-44.47792,31.32823], "fy":[-72.29903,-24.01351,-114.44857,-119.55729]}, - {"t":6.6936, "x":2.49008, "y":3.77467, "heading":-2.50629, "vx":-0.6124, "vy":1.64778, "omega":-3.41155, "ax":2.72966, "ay":-4.90875, "alpha":10.09522, "fx":[95.9696,122.09092,-58.26759,20.7297], "fy":[-78.54639,-14.80974,-108.96574,-122.31253]}, - {"t":6.72944, "x":2.46989, "y":3.83057, "heading":-2.62854, "vx":-0.51458, "vy":1.47187, "omega":-3.04977, "ax":2.43872, "ay":-4.94712, "alpha":10.50116, "fx":[91.47521,122.78276,-65.58389,12.60794], "fy":[-84.01169,-14.57156,-105.01729,-123.57112]}, - {"t":6.76528, "x":2.45301, "y":3.88014, "heading":-2.73784, "vx":-0.42719, "vy":1.29459, "omega":-2.67345, "ax":2.1921, "ay":-5.01443, "alpha":10.66311, "fx":[87.10425,122.78249,-70.61007,5.69522], "fy":[-88.66438,-16.95418,-101.84465,-124.16008]}, - {"t":6.80111, "x":2.43911, "y":3.92331, "heading":-2.83364, "vx":-0.34863, "vy":1.11489, "omega":-2.29133, "ax":1.98091, "ay":-5.08344, "alpha":10.70532, "fx":[83.05167,122.48563,-74.2756,-0.25654], "fy":[-92.54436,-20.02632,-99.27906,-124.33724]}, - {"t":6.83695, "x":2.42789, "y":3.96, "heading":-2.91575, "vx":-0.27764, "vy":0.93272, "omega":-1.90769, "ax":1.80153, "ay":-5.14435, "alpha":10.68702, "fx":[79.43571,122.05748,-77.01153,-5.33958], "fy":[-95.71248,-23.03119,-97.21702,-124.2543]}, - {"t":6.87279, "x":2.4191, "y":3.99013, "heading":-2.98412, "vx":-0.21308, "vy":0.74837, "omega":-1.52471, "ax":1.65114, "ay":-5.19249, "alpha":10.64672, "fx":[76.33697,121.60592,-79.13904,-9.60757], "fy":[-98.2335,-25.62332,-95.52214,-124.02021]}, - {"t":6.90862, "x":2.41252, "y":4.01361, "heading":-3.03876, "vx":-0.15391, "vy":0.56229, "omega":-1.14317, "ax":1.52668, "ay":-5.22457, "alpha":10.61458, "fx":[73.81233,121.2117,-80.95964,-13.09902], "fy":[-100.16745,-27.62884,-94.00653,-123.71783]}, - {"t":6.94446, "x":2.40798, "y":4.03041, "heading":-3.07972, "vx":-0.0992, "vy":0.37506, "omega":-0.76279, "ax":1.42493, "ay":-5.2375, "alpha":10.61576, "fx":[71.90275,120.93521,-82.76078,-15.84103], "fy":[-101.56441,-28.95239,-92.44771,-123.41096]}, - {"t":6.98029, "x":2.40534, "y":4.04048, "heading":-3.10706, "vx":-0.04814, "vy":0.18737, "omega":-0.38236, "ax":1.34331, "ay":-5.22852, "alpha":10.66974, "fx":[70.63876,120.81847,-84.77133,-17.84804], "fy":[-102.46132,-29.53496,-90.63663,-123.14867]}, - {"t":7.01613, "x":2.40448, "y":4.04384, "heading":-3.12076, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":1.8388, "y":2.70093, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.40815, "ay":5.38916, "alpha":-8.71582, "fx":[-122.95286,37.83662,5.32842,-79.47199], "fy":[18.80256,117.55095,124.29387,95.75796]}, + {"t":0.03044, "x":1.83768, "y":2.70342, "heading":-1.5738, "vx":-0.07331, "vy":0.16406, "omega":-0.26534, "ax":-2.37433, "ay":5.36719, "alpha":-8.81579, "fx":[-123.0143,40.03066,5.52007,-79.55997], "fy":[18.30252,116.70293,124.27361,95.67312]}, + {"t":0.06089, "x":1.83435, "y":2.71091, "heading":-1.58188, "vx":-0.14559, "vy":0.32746, "omega":-0.53372, "ax":-2.37583, "ay":5.37266, "alpha":-8.7717, "fx":[-122.98948,39.09831,6.05302,-79.28459], "fy":[18.36261,116.8304,124.2339,95.88738]}, + {"t":0.09133, "x":1.82882, "y":2.72337, "heading":-1.59813, "vx":-0.21792, "vy":0.49102, "omega":-0.80076, "ax":-2.42781, "ay":5.40849, "alpha":-8.55326, "fx":[-122.87365,34.04142,6.91372,-78.64144], "fy":[19.0036,118.11152,124.17005,96.39847]}, + {"t":0.12177, "x":1.82106, "y":2.74082, "heading":-1.6225, "vx":-0.29183, "vy":0.65567, "omega":-1.06115, "ax":-2.5678, "ay":5.47236, "alpha":-8.10777, "fx":[-122.65597,22.40189,8.06972,-77.63373], "fy":[20.22836,120.41259,124.0758,97.19071]}, + {"t":0.15222, "x":1.81098, "y":2.76332, "heading":-1.65481, "vx":-0.37, "vy":0.82227, "omega":-1.30797, "ax":-2.86882, "ay":5.53404, "alpha":-7.39282, "fx":[-122.32193,-0.5987,9.47157,-76.27655], "fy":[22.0083,121.80203,123.94424,98.23263]}, + {"t":0.18266, "x":1.79839, "y":2.79091, "heading":-1.69463, "vx":-0.45734, "vy":0.99074, "omega":-1.53304, "ax":-3.40489, "ay":5.46956, "alpha":-6.58665, "fx":[-121.86017,-39.77699,11.06227,-74.60335], "fy":[24.26063,114.21966,123.7682,99.47429]}, + {"t":0.2131, "x":1.78289, "y":2.82361, "heading":-1.7413, "vx":-0.561, "vy":1.15725, "omega":-1.73355, "ax":-4.0196, "ay":5.09368, "alpha":-6.39956, "fx":[-121.26903,-84.65862,12.76992,-72.67326], "fy":[26.84773,85.63046,123.54098,100.8454]}, + {"t":0.24355, "x":1.76395, "y":2.8612, "heading":-1.79407, "vx":-0.68337, "vy":1.31232, "omega":-1.92838, "ax":-4.34901, "ay":4.5707, "alpha":-7.09199, "fx":[-120.55042,-110.92831,14.44002,-70.57768], "fy":[29.63226,47.1284,123.26269,102.25448]}, + {"t":0.27399, "x":1.74113, "y":2.90327, "heading":-1.85278, "vx":-0.81576, "vy":1.45147, "omega":-2.14428, "ax":-4.41109, "ay":4.20047, "alpha":-7.94531, "fx":[-119.69912,-119.29847,15.73188,-68.45644], "fy":[32.50691,18.75756,122.94943,103.57871]}, + {"t":0.30443, "x":1.71425, "y":2.9494, "heading":-1.91806, "vx":-0.95005, "vy":1.57934, "omega":-2.38616, "ax":-4.39038, "ay":4.00737, "alpha":-8.55308, "fx":[-118.7072,-120.7029,15.70888,-66.6511], "fy":[35.30478,2.50961,122.65543,104.55246]}, + {"t":0.33488, "x":1.68329, "y":2.99934, "heading":-1.9907, "vx":-1.08371, "vy":1.70134, "omega":-2.64654, "ax":-4.44301, "ay":3.92004, "alpha":-8.71007, "fx":[-117.62008,-120.001,10.385,-66.59703], "fy":[37.32303,-4.63131,122.45302,104.10219]}, + {"t":0.36532, "x":1.64824, "y":3.05295, "heading":-2.07127, "vx":-1.21897, "vy":1.82068, "omega":-2.91171, "ax":-5.53721, "ay":3.40948, "alpha":-6.10716, "fx":[-116.91034,-117.38072,-48.77904,-83.12663], "fy":[31.35785,-1.3672,107.40583,88.08528]}, + {"t":0.39576, "x":1.60857, "y":3.10996, "heading":-2.15991, "vx":-1.38754, "vy":1.92448, "omega":-3.09763, "ax":-6.33878, "ay":-0.78766, "alpha":2.82774, "fx":[-101.56656,-107.84561,-110.9815,-98.81385], "fy":[-9.3187,18.7328,-15.79732,-45.70761]}, + {"t":0.42621, "x":1.56339, "y":3.16818, "heading":-2.25421, "vx":-1.58051, "vy":1.9005, "omega":-3.01154, "ax":-4.8572, "ay":1.02664, "alpha":5.01074, "fx":[-57.8454,-78.51205,-100.67777,-84.18964], "fy":[34.48082,56.90839,9.17345,-32.66738]}, + {"t":0.45665, "x":1.51302, "y":3.22651, "heading":-2.34589, "vx":-1.72838, "vy":1.93175, "omega":-2.859, "ax":0.57592, "ay":4.04471, "alpha":5.03927, "fx":[49.86109,7.34771,-34.23189,15.11057], "fy":[66.3599,90.32695,70.83838,39.96661]}, + {"t":0.48709, "x":1.46067, "y":3.2872, "heading":-2.43293, "vx":-1.71085, "vy":2.05488, "omega":-2.70559, "ax":4.84335, "ay":3.99526, "alpha":-0.01338, "fx":[79.99517,80.132,80.15905,80.02244], "fy":[66.12394,65.9592,65.987,66.15145]}, + {"t":0.51754, "x":1.41083, "y":3.35161, "heading":-2.5153, "vx":-1.5634, "vy":2.17651, "omega":-2.706, "ax":5.94757, "ay":3.16934, "alpha":-1.93915, "fx":[89.08271,106.23409,106.06831,91.95043], "fy":[65.76439,33.50037,42.80236,67.53325]}, + {"t":0.54798, "x":1.36599, "y":3.41933, "heading":-2.59768, "vx":-1.38234, "vy":2.273, "omega":-2.76503, "ax":6.10023, "ay":1.5841, "alpha":-3.9548, "fx":[88.18281,106.19258,112.80524,96.25041], "fy":[52.99589,-18.46218,12.21534,58.01349]}, + {"t":0.57842, "x":1.32674, "y":3.48927, "heading":-2.68185, "vx":-1.19663, "vy":2.32122, "omega":-2.88543, "ax":5.17243, "ay":-0.72817, "alpha":-6.32257, "fx":[66.95863,70.13845,106.98801,97.98693], "fy":[12.32944,-75.70719,-25.08972,40.31075]}, + {"t":0.60886, "x":1.29271, "y":3.55959, "heading":-2.7697, "vx":-1.03916, "vy":2.29906, "omega":-3.07791, "ax":3.24947, "ay":-3.01149, "alpha":-7.5522, "fx":[2.60341,30.03887,88.17701,94.08042], "fy":[-53.56566,-96.60004,-57.21094,8.21561]}, + {"t":0.63931, "x":1.26258, "y":3.62819, "heading":-2.8634, "vx":-0.94024, "vy":2.20738, "omega":-3.30782, "ax":1.38321, "ay":-4.1065, "alpha":-6.83475, "fx":[-34.44995,-2.10368,58.66555,69.36477], "fy":[-63.45929,-98.03603,-79.15788,-30.92524]}, + {"t":0.66975, "x":1.23459, "y":3.69349, "heading":-2.9641, "vx":-0.89813, "vy":2.08236, "omega":-3.51589, "ax":-0.72993, "ay":-4.40579, "alpha":-4.67259, "fx":[-52.02476,-29.44836,18.4274,14.77292], "fy":[-57.68576,-88.1342,-87.41783,-58.13365]}, + {"t":0.70019, "x":1.20691, "y":3.75484, "heading":-3.07113, "vx":-0.92035, "vy":1.94823, "omega":-3.65814, "ax":-2.64799, "ay":-3.93383, "alpha":-1.84908, "fx":[-57.64299,-49.4815,-30.38905,-37.60812], "fy":[-54.63483,-70.12251,-75.20555,-60.19634]}, + {"t":0.73064, "x":1.17767, "y":3.81233, "heading":3.10069, "vx":-1.00096, "vy":1.82848, "omega":-3.71443, "ax":-3.86547, "ay":-2.93951, "alpha":0.59046, "fx":[-60.36396,-62.4159,-67.42899,-65.42924], "fy":[-52.90345,-46.77594,-44.33065,-50.39058]}, + {"t":0.76108, "x":1.1454, "y":3.86663, "heading":2.98761, "vx":-1.11864, "vy":1.73899, "omega":-3.69646, "ax":-4.44734, "ay":-1.82262, "alpha":2.25498, "fx":[-63.48701,-67.72442,-83.03918,-79.86886], "fy":[-48.94325,-21.26363,-12.7593,-37.57039]}, + {"t":0.79152, "x":1.10929, "y":3.91872, "heading":2.87508, "vx":-1.25403, "vy":1.6835, "omega":-3.62781, "ax":-4.57338, "ay":-0.72304, "alpha":3.37682, "fx":[-65.92913,-64.54339,-84.94375,-87.03879], "fy":[-41.74365,3.79703,13.28463,-23.15568]}, + {"t":0.82197, "x":1.06899, "y":3.96964, "heading":2.76463, "vx":-1.39326, "vy":1.66149, "omega":-3.52501, "ax":-4.25638, "ay":0.43809, "alpha":4.29908, "fx":[-65.03163,-50.62941,-77.40979,-88.41965], "fy":[-30.14469,28.79713,36.55641,-6.23656]}, + {"t":0.85241, "x":1.0246, "y":4.02042, "heading":2.65732, "vx":-1.52284, "vy":1.67483, "omega":-3.39413, "ax":-3.13753, "ay":1.90261, "alpha":5.16609, "fx":[-52.64837,-17.98029,-56.33797,-80.53011], "fy":[-7.94701,54.56841,61.32358,17.88197]}, + {"t":0.88285, "x":0.97679, "y":4.07229, "heading":2.55399, "vx":-1.61836, "vy":1.73275, "omega":-3.23686, "ax":0.25075, "ay":3.82957, "alpha":4.54188, "fx":[15.64163,38.29126,-2.77275,-34.57706], "fy":[39.12638,68.18764,84.7782,61.17158]}, + {"t":0.9133, "x":0.92764, "y":4.12682, "heading":2.45545, "vx":-1.61072, "vy":1.84933, "omega":-3.09859, "ax":4.46165, "ay":4.2172, "alpha":0.47761, "fx":[76.23869,76.5423,71.42978,70.85511], "fy":[66.14372,68.03228,73.14014,71.58336]}, + {"t":0.94374, "x":0.88067, "y":4.18507, "heading":2.36112, "vx":-1.47489, "vy":1.97772, "omega":-3.08405, "ax":5.88736, "ay":3.6363, "alpha":-1.24702, "fx":[91.3958,91.8809,103.85444,102.22229], "fy":[70.79223,67.17847,47.85435,54.65729]}, + {"t":0.97418, "x":0.8385, "y":4.24697, "heading":2.26723, "vx":-1.29566, "vy":2.08842, "omega":-3.12201, "ax":6.4864, "ay":3.05596, "alpha":-1.68607, "fx":[100.34914,101.43583,114.75916,112.42573], "fy":[65.81289,61.65194,32.04372,42.59352]}, + {"t":1.00463, "x":0.80206, "y":4.31196, "heading":2.17219, "vx":-1.0982, "vy":2.18145, "omega":-3.17334, "ax":6.84757, "ay":2.49616, "alpha":-1.70405, "fx":[107.45019,108.57498,119.31432,117.51583], "fy":[57.37397,53.42238,21.73589,32.54805]}, + {"t":1.03507, "x":0.7718, "y":4.37953, "heading":2.07558, "vx":-0.88974, "vy":2.25744, "omega":-3.22522, "ax":7.10005, "ay":1.93862, "alpha":-1.54639, "fx":[113.28199,114.17017,121.56886,120.53216], "fy":[47.15928,43.62695,14.01265,23.40919]}, + {"t":1.06551, "x":0.748, "y":4.44915, "heading":1.9774, "vx":-0.67359, "vy":2.31646, "omega":-3.27229, "ax":7.28089, "ay":1.3755, "alpha":-1.29841, "fx":[117.90641,118.47117,122.77105,122.36379], "fy":[35.77099,32.78616,7.58101,14.82891]}, + {"t":1.09596, "x":0.73087, "y":4.52031, "heading":1.87778, "vx":-0.45193, "vy":2.35834, "omega":-3.31182, "ax":7.40236, "ay":0.8054, "alpha":-0.99604, "fx":[121.26572,121.52552,123.38625,123.36819], "fy":[23.52008,21.1949,1.82548,6.72336]}, + {"t":1.1264, "x":0.72054, "y":4.59248, "heading":1.77695, "vx":-0.22658, "vy":2.38285, "omega":-3.34214, "ax":7.46873, "ay":0.23066, "alpha":-0.65677, "fx":[123.27232,123.3119,123.61076,123.74011], "fy":[10.63908,9.07903,-3.58194,-0.88171]}, + {"t":1.15684, "x":0.71711, "y":4.66512, "heading":1.67521, "vx":0.00079, "vy":2.38988, "omega":-3.36214, "ax":7.48194, "ay":-0.33623, "alpha":-0.29875, "fx":[123.8481,123.80107,123.5328,123.62724], "fy":[-2.43561,-3.14626,-8.8019,-7.85231]}, + {"t":1.18729, "x":0.7206, "y":4.73772, "heading":1.57285, "vx":0.22857, "vy":2.37964, "omega":-3.37123, "ax":7.4519, "ay":-0.71157, "alpha":0.71688, "fx":[122.39149,122.75198,123.88393,123.79478], "fy":[-19.40335,-17.42893,-4.82351,-5.40326]}, + {"t":1.22231, "x":0.73317, "y":4.82062, "heading":1.45479, "vx":0.48953, "vy":2.35472, "omega":-3.34613, "ax":7.33822, "ay":-1.02437, "alpha":1.9303, "fx":[117.96671,119.76726,123.89974,123.67041], "fy":[-37.25025,-31.77856,-1.46964,2.75328]}, + {"t":1.25733, "x":0.75481, "y":4.90246, "heading":1.33761, "vx":0.74652, "vy":2.31885, "omega":-3.27853, "ax":7.15524, "ay":-1.22977, "alpha":3.23821, "fx":[111.39734,115.5726,123.83107,122.40183], "fy":[-53.08879,-44.42731,0.12411,16.06242]}, + {"t":1.29235, "x":0.78535, "y":4.98291, "heading":1.2228, "vx":0.99709, "vy":2.27578, "omega":-3.16513, "ax":6.92277, "ay":-1.36746, "alpha":4.47841, "fx":[104.02688,110.72655,123.73949,119.33588], "fy":[-65.55459,-55.1375,-0.37262,30.62947]}, + {"t":1.32737, "x":0.82451, "y":5.06177, "heading":1.11195, "vx":1.23953, "vy":2.22789, "omega":-3.00829, "ax":6.67121, "ay":-1.54487, "alpha":5.45399, "fx":[96.46149,105.25964,123.58134,115.88975], "fy":[-75.25101,-64.67155,-3.3821,41.13637]}, + {"t":1.36239, "x":0.87201, "y":5.13884, "heading":1.0066, "vx":1.47315, "vy":2.17379, "omega":-2.81729, "ax":6.42045, "ay":-1.84915, "alpha":6.08059, "fx":[88.24116,98.85278,123.12611,114.38845], "fy":[-83.60071,-73.77352,-9.38352,44.46663]}, + {"t":1.39741, "x":0.92753, "y":5.21383, "heading":0.90794, "vx":1.698, "vy":2.10903, "omega":-2.60435, "ax":6.16461, "ay":-2.32444, "alpha":6.36167, "fx":[78.70497,91.21581,121.84972,115.91816], "fy":[-91.56247,-82.68052,-18.78777,39.30683]}, + {"t":1.43243, "x":0.99078, "y":5.28627, "heading":0.81674, "vx":1.91388, "vy":2.02763, "omega":-2.38157, "ax":5.81952, "ay":-2.87046, "alpha":6.63948, "fx":[65.56836,82.03967,119.41319,117.84549], "fy":[-100.1027,-91.32261,-29.41898,31.01013]}, + {"t":1.46745, "x":1.06137, "y":5.35551, "heading":0.73334, "vx":2.11768, "vy":1.92711, "omega":-2.14905, "ax":5.45796, "ay":-2.83227, "alpha":7.48383, "fx":[53.69138,75.21168,118.42875,113.62337], "fy":[-101.9089,-95.89943,-30.56697,41.06657]}, + {"t":1.50247, "x":1.13888, "y":5.42126, "heading":0.65808, "vx":2.30882, "vy":1.82792, "omega":-1.88697, "ax":5.03048, "ay":-2.39109, "alpha":8.50418, "fx":[39.16585,70.03879,118.06575,105.41432], "fy":[-89.32703,-97.58634,-26.98271,55.76422]}, + {"t":1.53749, "x":1.22282, "y":5.48381, "heading":0.59199, "vx":2.48499, "vy":1.74419, "omega":-1.58915, "ax":4.03956, "ay":-0.0382, "alpha":11.43733, "fx":[-10.93821,66.7132,117.45963,93.91662], "fy":[42.21782,-95.51277,-19.01914,69.78803]}, + {"t":1.57251, "x":1.31232, "y":5.54487, "heading":0.53634, "vx":2.62645, "vy":1.74285, "omega":-1.18862, "ax":3.52949, "ay":1.13608, "alpha":12.10516, "fx":[-24.60402,64.47853,114.67385,78.87012], "fy":[84.98951,-86.02525,-5.24512,81.41441]}, + {"t":1.60753, "x":1.40646, "y":5.6066, "heading":0.49472, "vx":2.75005, "vy":1.78263, "omega":-0.7647, "ax":2.84451, "ay":1.72781, "alpha":11.02305, "fx":[-28.57733,51.4113,104.47918,60.80487], "fy":[81.77678,-63.53144,9.88066,86.14028]}, + {"t":1.64255, "x":1.50451, "y":5.67009, "heading":0.46794, "vx":2.84967, "vy":1.84314, "omega":-0.37867, "ax":1.39703, "ay":1.82546, "alpha":7.09782, "fx":[-24.01478,13.01021,68.54605,34.84914], "fy":[53.27248,-18.61129,16.96354,69.1001]}, + {"t":1.67757, "x":1.60516, "y":5.73576, "heading":0.45468, "vx":2.89859, "vy":1.90707, "omega":-0.1301, "ax":0.06308, "ay":0.55537, "alpha":1.17572, "fx":[-6.39935,-1.52806,8.52348,3.57566], "fy":[11.75527,1.77504,6.67043,16.52773]}, + {"t":1.71259, "x":1.70671, "y":5.80288, "heading":0.45012, "vx":2.9008, "vy":1.92652, "omega":-0.08893, "ax":-0.03579, "ay":0.11637, "alpha":0.1189, "fx":[-1.3409,-0.85299,0.15754,-0.33064], "fy":[2.18492,1.17502,1.66324,2.67296]}, + {"t":1.74761, "x":1.80828, "y":5.87042, "heading":0.44701, "vx":2.89955, "vy":1.93059, "omega":-0.08477, "ax":-0.01169, "ay":0.02895, "alpha":0.02585, "fx":[-0.35592,-0.2505,-0.03057,-0.13599], "fy":[0.53592,0.316,0.42143,0.64135]}, + {"t":1.78263, "x":1.90981, "y":5.93805, "heading":0.44404, "vx":2.89914, "vy":1.93161, "omega":-0.08386, "ax":-0.00227, "ay":0.00942, "alpha":0.01576, "fx":[-0.13658,-0.0727,0.06158,-0.0023], "fy":[0.19098,0.05669,0.12057,0.25486]}, + {"t":1.81765, "x":2.01134, "y":6.0057, "heading":0.4411, "vx":2.89906, "vy":1.93194, "omega":-0.08331, "ax":0.00021, "ay":0.00479, "alpha":0.01396, "fx":[-0.08413,-0.02791,0.09118,0.03496], "fy":[0.11066,-0.00843,0.0478,0.16689]}, + {"t":1.85267, "x":2.11286, "y":6.07336, "heading":0.43818, "vx":2.89907, "vy":1.93211, "omega":-0.08282, "ax":0.00078, "ay":0.00365, "alpha":0.01333, "fx":[-0.0707,-0.01735,0.09652,0.04317], "fy":[0.09064,-0.02323,0.03012,0.14399]}, + {"t":1.88769, "x":2.21439, "y":6.14102, "heading":0.43528, "vx":2.89909, "vy":1.93223, "omega":-0.08235, "ax":0.00087, "ay":0.00335, "alpha":0.01293, "fx":[-0.06662,-0.01517,0.09546,0.04401], "fy":[0.08492,-0.02571,0.02574,0.13637]}, + {"t":1.92271, "x":2.31592, "y":6.20869, "heading":0.4324, "vx":2.89912, "vy":1.93235, "omega":-0.0819, "ax":0.00085, "ay":0.00324, "alpha":0.0126, "fx":[-0.0648,-0.015,0.09291,0.04311], "fy":[0.08265,-0.02526,0.02454,0.13245]}, + {"t":1.95773, "x":2.41744, "y":6.27636, "heading":0.42953, "vx":2.89915, "vy":1.93246, "omega":-0.08146, "ax":0.0008, "ay":0.00319, "alpha":0.01229, "fx":[-0.06355,-0.01528,0.09011,0.04184], "fy":[0.08123,-0.02416,0.02412,0.1295]}, + {"t":1.99275, "x":2.51897, "y":6.34404, "heading":0.42668, "vx":2.89918, "vy":1.93258, "omega":-0.08103, "ax":0.00075, "ay":0.00314, "alpha":0.01199, "fx":[-0.06245,-0.01563,0.08735,0.04053], "fy":[0.08003,-0.02296,0.02386,0.12685]}, + {"t":2.02777, "x":2.6205, "y":6.41172, "heading":0.42384, "vx":2.89921, "vy":1.93269, "omega":-0.08061, "ax":0.0007, "ay":0.0031, "alpha":0.01171, "fx":[-0.06141,-0.01599,0.08469,0.03927], "fy":[0.0789,-0.02178,0.02365,0.12433]}, + {"t":2.06279, "x":2.72203, "y":6.47941, "heading":0.42102, "vx":2.89923, "vy":1.9328, "omega":-0.0802, "ax":0.00066, "ay":0.00306, "alpha":0.01143, "fx":[-0.06041,-0.01632,0.08215,0.03806], "fy":[0.0778,-0.02066,0.02343,0.12189]}, + {"t":2.09781, "x":2.82356, "y":6.54709, "heading":0.41821, "vx":2.89926, "vy":1.9329, "omega":-0.0798, "ax":0.00061, "ay":0.00302, "alpha":0.01117, "fx":[-0.05942,-0.01661,0.07972,0.03691], "fy":[0.07673,-0.0196,0.02321,0.11954]}, + {"t":2.13283, "x":2.9251, "y":6.61479, "heading":0.41541, "vx":2.89928, "vy":1.93301, "omega":-0.07941, "ax":0.00057, "ay":0.00298, "alpha":0.01092, "fx":[-0.05844,-0.01686,0.07741,0.03583], "fy":[0.07564,-0.01863,0.02295,0.11722]}, + {"t":2.16785, "x":3.02663, "y":6.68248, "heading":0.41263, "vx":2.8993, "vy":1.93311, "omega":-0.07902, "ax":0.00054, "ay":0.00293, "alpha":0.01068, "fx":[-0.0574,-0.01701,0.07526,0.03487], "fy":[0.07445,-0.01782,0.02257,0.11484]}, + {"t":2.20287, "x":3.12816, "y":6.75018, "heading":0.40987, "vx":2.89932, "vy":1.93322, "omega":-0.07865, "ax":0.00053, "ay":0.00286, "alpha":0.01043, "fx":[-0.05604,-0.01681,0.07348,0.03425], "fy":[0.07275,-0.01754,0.02169,0.11198]}, + {"t":2.23789, "x":3.2297, "y":6.81788, "heading":0.40711, "vx":2.89934, "vy":1.93332, "omega":-0.07828, "ax":0.00059, "ay":0.00265, "alpha":0.01018, "fx":[-0.05326,-0.01524,0.07293,0.03491], "fy":[0.06886,-0.0193,0.01871,0.10688]}, + {"t":2.27291, "x":3.33123, "y":6.88559, "heading":0.40437, "vx":2.89936, "vy":1.93341, "omega":-0.07793, "ax":0.00099, "ay":0.0019, "alpha":0.00983, "fx":[-0.04449,-0.00802,0.07722,0.04074], "fy":[0.0558,-0.02943,0.00704,0.09228]}, + {"t":2.30793, "x":3.43277, "y":6.9533, "heading":0.40164, "vx":2.89939, "vy":1.93347, "omega":-0.07758, "ax":0.00274, "ay":-0.0011, "alpha":0.00906, "fx":[-0.01078,0.02265,0.10135,0.06792], "fy":[0.00447,-0.07423,-0.0408,0.0379]}, + {"t":2.34295, "x":3.53431, "y":7.02101, "heading":0.39892, "vx":2.89949, "vy":1.93344, "omega":-0.07727, "ax":0.01008, "ay":-0.0135, "alpha":0.0064, "fx":[0.12704,0.15049,0.20612,0.18267], "fy":[-0.20708,-0.26271,-0.23926,-0.18363]}, + {"t":2.37797, "x":3.63585, "y":7.08871, "heading":0.39622, "vx":2.89984, "vy":1.93296, "omega":-0.07704, "ax":0.03985, "ay":-0.06545, "alpha":-0.00691, "fx":[0.70143,0.67628,0.61614,0.6413], "fy":[-1.0996,-1.03947,-1.06463,-1.12476]}, + {"t":2.41299, "x":3.73743, "y":7.15636, "heading":0.39352, "vx":2.90123, "vy":1.93067, "omega":-0.07728, "ax":0.1493, "ay":-0.28833, "alpha":-0.10876, "fx":[3.13915,2.74704,1.79735,2.19016], "fy":[-5.04295,-4.09673,-4.49133,-5.43733]}, + {"t":2.44801, "x":3.83912, "y":7.2238, "heading":0.39081, "vx":2.90646, "vy":1.92057, "omega":-0.08109, "ax":0.38162, "ay":-1.26641, "alpha":-1.16881, "fx":[13.56334,9.58649,-1.10139,3.18975], "fy":[-23.7748,-13.83376,-18.18063,-27.96341]}, + {"t":2.48303, "x":3.94114, "y":7.29028, "heading":0.38797, "vx":2.91983, "vy":1.87622, "omega":-0.12203, "ax":-0.02687, "ay":-3.50468, "alpha":-5.93128, "fx":[37.87776,24.45964,-48.54868,-15.5658], "fy":[-71.93415,-26.76322,-47.94909,-85.13142]}, + {"t":2.51805, "x":4.04338, "y":7.35383, "heading":0.3837, "vx":2.91889, "vy":1.75349, "omega":-0.32974, "ax":-0.00805, "ay":-4.7332, "alpha":-7.66702, "fx":[48.73008,46.91716,-74.0336,-22.14607], "fy":[-93.63597,-48.07322,-65.14527,-106.16957]}, + {"t":2.55307, "x":4.14559, "y":7.41234, "heading":0.37215, "vx":2.9186, "vy":1.58773, "omega":-0.59824, "ax":0.69214, "ay":-5.68793, "alpha":-6.72342, "fx":[54.64164,64.97093,-61.46735,-12.37112], "fy":[-99.90397,-73.32557,-88.6507,-114.28373]}, + {"t":2.58809, "x":4.24822, "y":7.46445, "heading":0.3512, "vx":2.94284, "vy":1.38854, "omega":-0.83369, "ax":1.58798, "ay":-6.43924, "alpha":-4.28974, "fx":[55.86998,64.74316,-20.69354,5.09946], "fy":[-103.73857,-92.17262,-111.97961,-117.9601]}, + {"t":2.62311, "x":4.35226, "y":7.50913, "heading":0.32201, "vx":2.99845, "vy":1.16304, "omega":-0.98392, "ax":2.14439, "ay":-6.83928, "alpha":-1.62024, "fx":[48.17062,50.36761,19.57717,23.70134], "fy":[-109.89608,-107.57778,-117.19226,-117.64141]}, + {"t":2.65813, "x":4.45858, "y":7.54567, "heading":0.28755, "vx":3.07355, "vy":0.92353, "omega":-1.04066, "ax":1.75736, "ay":-7.13214, "alpha":0.56456, "fx":[23.54742,24.49456,34.14124,34.0376], "fy":[-119.13274,-119.19676,-116.78932,-116.55618]}, + {"t":2.69315, "x":4.56729, "y":7.57364, "heading":0.25111, "vx":3.13509, "vy":0.67376, "omega":-1.02089, "ax":1.33323, "ay":-7.27237, "alpha":1.21759, "fx":[9.23129,12.80285,32.87844,33.25868], "fy":[-122.26734,-122.26077,-118.4331,-117.98797]}, + {"t":2.72817, "x":4.6779, "y":7.59277, "heading":0.21536, "vx":3.18178, "vy":0.41908, "omega":-0.97825, "ax":0.86354, "ay":-7.36083, "alpha":1.50216, "fx":[-2.27813,3.40089,27.84018,28.14617], "fy":[-123.19031,-123.4229,-120.27046,-119.91545]}, + {"t":2.76319, "x":4.78985, "y":7.60294, "heading":0.1811, "vx":3.21202, "vy":0.16131, "omega":-0.92564, "ax":0.37261, "ay":-7.40666, "alpha":1.71503, "fx":[-13.42925,-5.62515,21.92269,21.7737], "fy":[-122.8234,-123.63953,-121.78969,-121.57799]}, + {"t":2.79821, "x":4.90257, "y":7.60404, "heading":0.14868, "vx":3.22507, "vy":-0.09807, "omega":-0.86558, "ax":-0.11431, "ay":-7.4114, "alpha":1.92087, "fx":[-24.43132,-14.33057,16.00934,15.19253], "fy":[-121.3391,-123.12191,-122.89346,-122.78928]}, + {"t":2.83323, "x":5.01544, "y":7.59606, "heading":0.11837, "vx":3.22107, "vy":-0.35762, "omega":-0.79831, "ax":-0.5868, "ay":-7.37832, "alpha":2.14014, "fx":[-35.29861,-22.67703,10.40589,8.76265], "fy":[-118.78992,-121.98841,-123.61917,-123.55856]}, + {"t":2.86825, "x":5.12788, "y":7.57901, "heading":0.09041, "vx":3.20052, "vy":-0.61601, "omega":-0.72337, "ax":-1.05633, "ay":-7.30654, "alpha":2.39964, "fx":[-46.52491,-30.93458,5.1452,2.4555], "fy":[-114.97405,-120.25276,-124.03844,-123.94362]}, + {"t":2.90327, "x":5.23932, "y":7.55296, "heading":0.06508, "vx":3.16353, "vy":-0.87188, "omega":-0.63933, "ax":-1.6771, "ay":-7.13488, "alpha":2.9094, "fx":[-63.24252,-41.9445,-0.43254,-5.29358], "fy":[-106.78965,-116.94512,-124.21205,-123.90951]}, + {"t":2.93829, "x":5.34907, "y":7.51805, "heading":0.04269, "vx":3.1048, "vy":-1.12175, "omega":-0.53744, "ax":-2.37549, "ay":-6.83699, "alpha":3.58565, "fx":[-82.38972,-53.98806,-5.93958,-14.78246], "fy":[-92.91223,-111.96069,-124.12323,-123.16005]}, + {"t":2.97331, "x":5.45635, "y":7.47458, "heading":0.02387, "vx":3.02161, "vy":-1.36118, "omega":-0.41187, "ax":-2.90016, "ay":-6.5457, "alpha":4.06003, "fx":[-95.2039,-62.65209,-10.33774,-23.60506], "fy":[-79.82003,-107.40122,-123.87407,-121.79674]}, + {"t":3.00833, "x":5.56039, "y":7.4229, "heading":0.00944, "vx":2.92004, "vy":-1.59041, "omega":-0.26969, "ax":-3.28792, "ay":-6.29435, "alpha":4.36348, "fx":[-103.31857,-68.77902,-13.78996,-31.55524], "fy":[-69.07662,-103.62131,-123.56781,-120.00326]}, + {"t":3.04335, "x":5.66063, "y":7.36334, "heading":0.0, "vx":2.8049, "vy":-1.81084, "omega":-0.11688, "ax":-3.81656, "ay":-6.19182, "alpha":3.35448, "fx":[-99.8354,-72.13335,-29.03768,-51.39718], "fy":[-74.11423,-101.34709,-120.92976,-113.09735]}, + {"t":3.08838, "x":5.78307, "y":7.27551, "heading":-0.00526, "vx":2.63303, "vy":-2.08967, "omega":0.03418, "ax":-4.38866, "ay":-5.8997, "alpha":2.74136, "fx":[-100.81004,-77.79537,-43.94001,-67.69339], "fy":[-72.72184,-97.02083,-116.29811,-104.12864]}, + {"t":3.13341, "x":5.89719, "y":7.17543, "heading":-0.00372, "vx":2.4354, "vy":-2.35535, "omega":0.15763, "ax":-5.12975, "ay":-5.38644, "alpha":1.87427, "fx":[-102.08624,-86.15607,-66.02006,-84.98715], "fy":[-70.83244,-89.59612,-105.26627,-90.53089]}, + {"t":3.17844, "x":6.00166, "y":7.0639, "heading":0.00337, "vx":2.20439, "vy":-2.59791, "omega":0.24203, "ax":-5.97525, "ay":-4.535, "alpha":0.65274, "fx":[-103.83014,-98.24338,-93.42124,-99.67114], "fy":[-68.11658,-75.98482,-81.80007,-74.01521]}, + {"t":3.22347, "x":6.09487, "y":6.94231, "heading":0.01427, "vx":1.93531, "vy":-2.80213, "omega":0.27142, "ax":-6.35961, "ay":-3.9832, "alpha":0.09508, "fx":[-105.79484,-104.99464,-104.48971,-105.30576], "fy":[-64.81739,-66.11227,-66.89672,-65.59779]}, + {"t":3.26851, "x":6.17558, "y":6.81209, "heading":0.0265, "vx":1.64893, "vy":-2.9815, "omega":0.27571, "ax":-6.64185, "ay":-3.46858, "alpha":-0.2697, "fx":[-108.20704,-110.36789,-111.35347,-109.32234], "fy":[-60.3641,-56.28975,-54.36853,-58.36805]}, + {"t":3.31354, "x":6.2431, "y":6.67431, "heading":0.03891, "vx":1.34983, "vy":-3.1377, "omega":0.26356, "ax":-6.88909, "ay":-2.89355, "alpha":-0.55588, "fx":[-111.15194,-115.16232,-116.39258,-112.89468], "fy":[-54.12297,-44.88143,-41.80511,-50.55196]}, + {"t":3.35857, "x":6.2969, "y":6.53008, "heading":0.05078, "vx":1.0396, "vy":-3.26801, "omega":0.23853, "ax":-7.0896, "ay":-2.25063, "alpha":-0.74434, "fx":[-114.39523,-118.80329,-119.65757,-116.00582], "fy":[-45.53426,-32.15834,-29.46994,-41.67983]}, + {"t":3.4036, "x":6.33653, "y":6.38063, "heading":0.06152, "vx":0.72034, "vy":-3.36936, "omega":0.20501, "ax":-7.2092, "ay":-1.55401, "alpha":-0.86255, "fx":[-116.95511,-120.57912,-121.0868,-118.15075], "fy":[-34.96253,-18.65771,-17.33748,-31.815]}, + {"t":3.44864, "x":6.36165, "y":6.22732, "heading":0.07075, "vx":0.39569, "vy":-3.43934, "omega":0.16617, "ax":-7.13727, "ay":-0.89527, "alpha":-1.43367, "fx":[-115.468,-119.07621,-120.0887,-117.38191], "fy":[-29.43076,-1.34686,-2.7392,-25.69073]}, + {"t":3.49367, "x":6.37224, "y":6.07153, "heading":0.07824, "vx":0.07428, "vy":-3.47965, "omega":0.1016, "ax":-6.67406, "ay":-0.24113, "alpha":-1.38656, "fx":[-108.45353,-109.41031,-112.22678,-111.2899], "fy":[-16.15274,9.23767,6.05029,-15.08177]}, + {"t":3.5387, "x":6.36881, "y":5.91459, "heading":0.08281, "vx":-0.22627, "vy":-3.49051, "omega":0.03916, "ax":-4.1387, "ay":0.31105, "alpha":-0.24287, "fx":[-67.6092,-67.63775,-69.24506,-69.21552], "fy":[3.82299,6.81235,6.43363,3.50192]}, + {"t":3.58373, "x":6.35443, "y":5.75772, "heading":0.08458, "vx":-0.41264, "vy":-3.47651, "omega":0.02823, "ax":-0.83036, "ay":0.09694, "alpha":-0.0234, "fx":[-13.61109,-13.62891,-13.8463,-13.82851], "fy":[1.50112,1.72373,1.70419,1.48166]}, + {"t":3.62877, "x":6.335, "y":5.60126, "heading":0.08585, "vx":-0.45004, "vy":-3.47214, "omega":0.02717, "ax":-0.11829, "ay":0.01458, "alpha":-0.00355, "fx":[-1.93756,-1.94043,-1.97383,-1.97096], "fy":[0.22579,0.25921,0.25633,0.22291]}, + {"t":3.6738, "x":6.31462, "y":5.44492, "heading":0.08707, "vx":-0.45536, "vy":-3.47148, "omega":0.02701, "ax":-0.01675, "ay":0.00196, "alpha":-0.00123, "fx":[-0.27065,-0.27166,-0.28321,-0.2822], "fy":[0.0271,0.03865,0.03764,0.02609]}, + {"t":3.71883, "x":6.29409, "y":5.28859, "heading":0.08829, "vx":-0.45612, "vy":-3.4714, "omega":0.02696, "ax":-0.00246, "ay":0.00016, "alpha":-0.00091, "fx":[-0.03605,-0.0368,-0.04533,-0.04458], "fy":[-0.00117,0.00736,0.00661,-0.00192]}, + {"t":3.76386, "x":6.27355, "y":5.13227, "heading":0.0895, "vx":-0.45623, "vy":-3.47139, "omega":0.02692, "ax":-0.00045, "ay":-0.00009, "alpha":-0.00086, "fx":[-0.00306,-0.00378,-0.01185,-0.01112], "fy":[-0.00511,0.00295,0.00223,-0.00583]}, + {"t":3.8089, "x":6.25301, "y":4.97594, "heading":0.09071, "vx":-0.45625, "vy":-3.47139, "omega":0.02688, "ax":-0.00017, "ay":-0.00012, "alpha":-0.00085, "fx":[0.00155,0.00083,-0.00712,-0.0064], "fy":[-0.00562,0.00233,0.0016,-0.00634]}, + {"t":3.85393, "x":6.23246, "y":4.81962, "heading":0.09192, "vx":-0.45626, "vy":-3.4714, "omega":0.02684, "ax":-0.00013, "ay":-0.00013, "alpha":-0.00084, "fx":[0.00217,0.00145,-0.00644,-0.00571], "fy":[-0.00565,0.00224,0.00151,-0.00638]}, + {"t":3.89896, "x":6.21191, "y":4.66329, "heading":0.09313, "vx":-0.45626, "vy":-3.4714, "omega":0.0268, "ax":-0.00012, "ay":-0.00012, "alpha":-0.00083, "fx":[0.00223,0.0015,-0.00633,-0.0056], "fy":[-0.00561,0.00222,0.00149,-0.00635]}, + {"t":3.94399, "x":6.19137, "y":4.50697, "heading":0.09434, "vx":-0.45627, "vy":-3.47141, "omega":0.02676, "ax":-0.00012, "ay":-0.00012, "alpha":-0.00083, "fx":[0.00221,0.00148,-0.0063,-0.00557], "fy":[-0.00557,0.00221,0.00147,-0.0063]}, + {"t":3.98902, "x":6.17082, "y":4.35064, "heading":0.09554, "vx":-0.45627, "vy":-3.47141, "omega":0.02673, "ax":-0.00012, "ay":-0.00012, "alpha":-0.00082, "fx":[0.00218,0.00144,-0.00628,-0.00554], "fy":[-0.00552,0.00221,0.00146,-0.00626]}, + {"t":4.03406, "x":6.15027, "y":4.19431, "heading":0.09675, "vx":-0.45628, "vy":-3.47142, "omega":0.02669, "ax":-0.00012, "ay":-0.00012, "alpha":-0.00082, "fx":[0.00215,0.00141,-0.00627,-0.00552], "fy":[-0.00547,0.0022,0.00146,-0.00622]}, + {"t":4.07909, "x":6.12973, "y":4.03799, "heading":0.09795, "vx":-0.45628, "vy":-3.47143, "omega":0.02665, "ax":-0.00012, "ay":-0.00012, "alpha":-0.00081, "fx":[0.00212,0.00137,-0.00625,-0.0055], "fy":[-0.00543,0.00219,0.00145,-0.00618]}, + {"t":4.12412, "x":6.10918, "y":3.88166, "heading":0.09915, "vx":-0.45629, "vy":-3.47143, "omega":0.02662, "ax":-0.00013, "ay":-0.00012, "alpha":-0.00081, "fx":[0.00209,0.00134,-0.00623,-0.00548], "fy":[-0.00538,0.00219,0.00144,-0.00613]}, + {"t":4.16915, "x":6.08863, "y":3.72533, "heading":0.10035, "vx":-0.4563, "vy":-3.47144, "omega":0.02658, "ax":-0.00013, "ay":-0.00012, "alpha":-0.0008, "fx":[0.00206,0.0013,-0.00621,-0.00546], "fy":[-0.00534,0.00218,0.00143,-0.00609]}, + {"t":4.21419, "x":6.06808, "y":3.56901, "heading":0.10155, "vx":-0.4563, "vy":-3.47144, "omega":0.02654, "ax":-0.00013, "ay":-0.00012, "alpha":-0.0008, "fx":[0.00203,0.00127,-0.0062,-0.00544], "fy":[-0.00529,0.00218,0.00142,-0.00605]}, + {"t":4.25922, "x":6.04753, "y":3.41268, "heading":0.10274, "vx":-0.45631, "vy":-3.47145, "omega":0.02651, "ax":-0.00013, "ay":-0.00012, "alpha":-0.00079, "fx":[0.00199,0.00122,-0.00619,-0.00543], "fy":[-0.00524,0.00217,0.00141,-0.00601]}, + {"t":4.30425, "x":6.02698, "y":3.25635, "heading":0.10394, "vx":-0.45631, "vy":-3.47145, "omega":0.02647, "ax":-0.00013, "ay":-0.00011, "alpha":-0.00079, "fx":[0.00187,0.0011,-0.00627,-0.0055], "fy":[-0.00519,0.00218,0.00141,-0.00596]}, + {"t":4.34928, "x":6.00644, "y":3.10003, "heading":0.10513, "vx":-0.45632, "vy":-3.47146, "omega":0.02644, "ax":-0.00017, "ay":-0.00011, "alpha":-0.00078, "fx":[0.00119,0.00042,-0.00691,-0.00614], "fy":[-0.00507,0.00226,0.00149,-0.00584]}, + {"t":4.39432, "x":5.98589, "y":2.9437, "heading":0.10632, "vx":-0.45633, "vy":-3.47146, "omega":0.0264, "ax":-0.00045, "ay":-0.00007, "alpha":-0.00078, "fx":[-0.00345,-0.00423,-0.01157,-0.01078], "fy":[-0.00446,0.00287,0.00209,-0.00524]}, + {"t":4.43935, "x":5.96534, "y":2.78737, "heading":0.10751, "vx":-0.45635, "vy":-3.47147, "omega":0.02637, "ax":-0.00245, "ay":0.00018, "alpha":-0.00082, "fx":[-0.03627,-0.0371,-0.04476,-0.04393], "fy":[-0.00042,0.00724,0.00642,-0.00125]}, + {"t":4.48438, "x":5.94478, "y":2.63104, "heading":0.10869, "vx":-0.45646, "vy":-3.47146, "omega":0.02633, "ax":-0.01664, "ay":0.00198, "alpha":-0.0011, "fx":[-0.26936,-0.27048,-0.28076,-0.27963], "fy":[0.02809,0.03836,0.03724,0.02697]}, + {"t":4.52941, "x":5.92421, "y":2.47472, "heading":0.10988, "vx":-0.45721, "vy":-3.47137, "omega":0.02628, "ax":-0.11741, "ay":0.01484, "alpha":-0.00305, "fx":[-1.92533,-1.92849,-1.95706,-1.95391], "fy":[0.23257,0.26116,0.25801,0.22942]}, + {"t":4.57444, "x":5.9035, "y":2.31841, "heading":0.11106, "vx":-0.46249, "vy":-3.4707, "omega":0.02614, "ax":-0.82288, "ay":0.11038, "alpha":-0.01507, "fx":[-13.5276,-13.54273,-13.68244,-13.66732], "fy":[1.76165,1.9046,1.88818,1.74526]}, + {"t":4.61948, "x":5.88184, "y":2.16222, "heading":0.11224, "vx":-0.49955, "vy":-3.46573, "omega":0.02547, "ax":-4.07881, "ay":0.68697, "alpha":-0.05126, "fx":[-67.26661,-67.25783,-67.60692,-67.61558], "fy":[11.10988,11.72314,11.60495,10.99397]}, + {"t":4.66451, "x":5.85521, "y":2.00685, "heading":0.11339, "vx":-0.68323, "vy":-3.43479, "omega":0.02316, "ax":-6.52502, "ay":1.59014, "alpha":-0.03011, "fx":[-107.8808,-107.78659,-107.88186,-107.9752], "fy":[26.13425,26.60475,26.44597,25.97689]}, + {"t":4.70954, "x":5.81783, "y":1.85379, "heading":0.11443, "vx":-0.97707, "vy":-3.36319, "omega":0.0218, "ax":-6.84414, "ay":2.35925, "alpha":0.03501, "fx":[-113.1249,-113.30052,-113.19045,-113.01308], "fy":[39.15298,38.6083,38.85946,39.40568]}, + {"t":4.75457, "x":5.76689, "y":1.70473, "heading":0.11541, "vx":-1.28527, "vy":-3.25694, "omega":0.02338, "ax":-6.71184, "ay":3.08744, "alpha":0.13613, "fx":[-110.8316,-111.69349,-111.12295,-110.23151], "fy":[51.44005,49.47968,50.6458,52.61837]}, + {"t":4.79961, "x":5.7022, "y":1.56119, "heading":0.11647, "vx":-1.58752, "vy":-3.11791, "omega":0.02951, "ax":-6.41895, "ay":3.7749, "alpha":0.23181, "fx":[-105.96515,-107.647,-106.33041,-104.56703], "fy":[62.79094,59.80318,62.03359,65.02067]}, + {"t":4.84464, "x":5.6242, "y":1.42461, "heading":0.11779, "vx":-1.87658, "vy":-2.94792, "omega":0.03995, "ax":-6.06085, "ay":4.37739, "alpha":0.1786, "fx":[-100.17274,-101.58106,-100.26078,-98.81229], "fy":[72.46935,70.45293,72.28714,74.28386]}, + {"t":4.88967, "x":5.53355, "y":1.2963, "heading":0.11959, "vx":-2.14952, "vy":-2.75079, "omega":0.04799, "ax":-5.42633, "ay":5.15889, "alpha":-0.53538, "fx":[-89.27047,-84.8009,-90.25178,-94.54064], "fy":[85.85125,90.32935,84.92835,80.06816]}, + {"t":4.9347, "x":5.43125, "y":1.17765, "heading":0.12175, "vx":-2.39388, "vy":-2.51848, "omega":0.02388, "ax":-3.57386, "ay":6.40634, "alpha":-2.8045, "fx":[-43.05892,-33.14748,-70.20557,-89.94064], "fy":[116.18883,119.63193,102.43106,85.42351]}, + {"t":4.97974, "x":5.31983, "y":1.07074, "heading":0.12283, "vx":-2.55482, "vy":-2.22998, "omega":-0.10241, "ax":-2.31221, "ay":6.7611, "alpha":-4.21233, "fx":[-0.45398,-7.26658,-59.73049,-85.46399], "fy":[124.04139,124.06131,108.99978,90.03425]}, + {"t":5.02477, "x":5.20243, "y":0.97717, "heading":0.11822, "vx":-2.65894, "vy":-1.92551, "omega":-0.2921, "ax":-1.56579, "ay":6.82197, "alpha":-5.07648, "fx":[25.94954,6.01104,-53.53877,-81.97311], "fy":[121.41201,124.19986,112.23782,93.31286]}, + {"t":5.0698, "x":5.08111, "y":0.89738, "heading":0.10506, "vx":-2.72945, "vy":-1.61831, "omega":-0.52071, "ax":-1.1022, "ay":6.81196, "alpha":-5.59644, "fx":[41.51693,14.17179,-49.18409,-79.39703], "fy":[117.08828,123.57764,114.25436,95.58006]}, + {"t":5.11483, "x":4.95708, "y":0.83141, "heading":0.08161, "vx":-2.77909, "vy":-1.31155, "omega":-0.77273, "ax":-0.78589, "ay":6.78792, "alpha":-5.92673, "fx":[51.14631,20.07863,-45.59731,-77.60128], "fy":[113.27019,122.78432,115.76042,97.09549]}, + {"t":5.15987, "x":4.83113, "y":0.77923, "heading":0.04682, "vx":-2.81448, "vy":-1.00587, "omega":-1.03962, "ax":-0.5491, "ay":6.76336, "alpha":-6.1503, "fx":[57.39362,24.96944,-42.24606,-76.43104], "fy":[110.27554,121.90342,117.04523,98.06214]}, + {"t":5.2049, "x":4.70383, "y":0.74079, "heading":0.0, "vx":-2.8392, "vy":-0.7013, "omega":-1.31659, "ax":-0.35785, "ay":6.99638, "alpha":-5.07716, "fx":[48.52228,25.66227,-34.88116,-62.96953], "fy":[114.40474,121.72463,119.41289,107.15445]}, + {"t":5.24073, "x":4.60185, "y":0.72015, "heading":-0.04718, "vx":-2.85203, "vy":-0.45058, "omega":-1.49853, "ax":-0.08012, "ay":7.0615, "alpha":-4.76626, "fx":[49.4053,29.57353,-28.81396,-55.46383], "fy":[113.99412,120.81374,121.00074,111.19533]}, + {"t":5.27657, "x":4.4996, "y":0.70854, "heading":-0.10088, "vx":-2.8549, "vy":-0.19752, "omega":-1.66934, "ax":0.2713, "ay":7.1234, "alpha":-4.37648, "fx":[50.64064,34.11759,-21.24593,-45.56994], "fy":[113.41371,119.58386,122.53142,115.56797]}, + {"t":5.31241, "x":4.39746, "y":0.70603, "heading":-0.16071, "vx":-2.84518, "vy":0.05776, "omega":-1.82618, "ax":0.72548, "ay":7.1695, "alpha":-3.8818, "fx":[52.48725,39.39869,-11.63422,-32.27309], "fy":[112.52897,117.91473,123.78153,119.92112]}, + {"t":5.34824, "x":4.29597, "y":0.71271, "heading":-0.22615, "vx":-2.81918, "vy":0.31469, "omega":-1.96529, "ax":1.32085, "ay":7.17259, "alpha":-3.24938, "fx":[55.28059,45.56141,0.83996,-14.3293], "fy":[111.13628,115.6257,124.27915,123.30912]}, + {"t":5.38408, "x":4.19578, "y":0.72859, "heading":-0.29658, "vx":-2.77184, "vy":0.57173, "omega":-2.08173, "ax":2.07873, "ay":7.08175, "alpha":-2.46974, "fx":[59.27361,52.67298,16.94168,8.58596], "fy":[109.00511,112.49644,123.05731,123.78371]}, + {"t":5.41992, "x":4.09779, "y":0.75363, "heading":-0.37118, "vx":-2.69735, "vy":0.82551, "omega":-2.17024, "ax":2.80914, "ay":6.88654, "alpha":-1.77094, "fx":[63.62976,59.56507,33.1174,29.46678], "fy":[106.44078,108.90652,119.6308,120.45482]}, + {"t":5.45575, "x":4.00293, "y":0.78763, "heading":-0.44895, "vx":-2.59668, "vy":1.0723, "omega":-2.2337, "ax":3.36263, "ay":6.66145, "alpha":-1.27918, "fx":[67.33045,65.11144,45.8458,44.09573], "fy":[104.00475,105.53976,115.22114,115.78105]}, + {"t":5.49159, "x":3.91203, "y":0.83034, "heading":-0.529, "vx":-2.47618, "vy":1.31102, "omega":-2.27954, "ax":3.8605, "ay":6.39838, "alpha":-0.78305, "fx":[70.50428,69.67954,57.87631,57.24901], "fy":[101.6692,102.34643,109.45364,109.67979]}, + {"t":5.52743, "x":3.82577, "y":0.88143, "heading":-0.61069, "vx":-2.33783, "vy":1.54032, "omega":-2.30761, "ax":4.29683, "ay":6.1061, "alpha":-0.17256, "fx":[72.37304,72.34896,69.74372,69.69956], "fy":[99.99997,100.05244,101.88552,101.88133]}, + {"t":5.56326, "x":3.74475, "y":0.94055, "heading":-0.69339, "vx":-2.18385, "vy":1.75914, "omega":-2.31379, "ax":4.59665, "ay":5.81984, "alpha":0.79055, "fx":[70.81066,69.68426,81.87207,81.62669], "fy":[100.49658,101.0368,91.43205,91.92257]}, + {"t":5.5991, "x":3.66944, "y":1.00733, "heading":-0.77631, "vx":-2.01912, "vy":1.9677, "omega":-2.28546, "ax":4.51536, "ay":5.55681, "alpha":2.95313, "fx":[61.44528,47.4514,96.27805,93.44323], "fy":[105.41418,111.10964,72.6133,78.3556]}, + {"t":5.63493, "x":3.59998, "y":1.08141, "heading":-0.85821, "vx":-1.85731, "vy":2.16683, "omega":-2.17963, "ax":4.05832, "ay":5.31017, "alpha":5.20775, "fx":[52.9211,13.38812,102.95881,99.12373], "fy":[108.92822,117.9362,55.23206,69.08493]}, + {"t":5.67077, "x":3.53603, "y":1.16247, "heading":-0.93632, "vx":-1.71187, "vy":2.35713, "omega":-1.993, "ax":3.58031, "ay":5.01194, "alpha":6.72443, "fx":[47.56424,-12.99189,100.90561,101.30111], "fy":[110.02953,115.89466,42.77737,62.75718]}, + {"t":5.70661, "x":3.47698, "y":1.25016, "heading":-1.00774, "vx":-1.58357, "vy":2.53674, "omega":-1.75202, "ax":3.23557, "ay":4.63643, "alpha":7.55028, "fx":[46.05622,-24.81964,90.76459,101.97932], "fy":[108.47825,110.94045,30.95997,56.2458]}, + {"t":5.74244, "x":3.42231, "y":1.34404, "heading":-1.07053, "vx":-1.46762, "vy":2.70289, "omega":-1.48145, "ax":2.86039, "ay":4.19263, "alpha":7.935, "fx":[46.35445,-26.92204,69.78526,99.95046], "fy":[104.03149,104.57374,19.65598,49.01299]}, + {"t":5.77828, "x":3.37155, "y":1.4436, "heading":-1.12362, "vx":-1.36511, "vy":2.85314, "omega":-1.19709, "ax":2.3247, "ay":3.59189, "alpha":7.72128, "fx":[45.26044,-23.07417,40.22573,91.32914], "fy":[94.45082,92.32273,10.50835,40.26321]}, + {"t":5.81412, "x":3.32413, "y":1.54815, "heading":-1.16652, "vx":-1.2818, "vy":2.98186, "omega":-0.92039, "ax":1.59469, "ay":2.56375, "alpha":6.04736, "fx":[37.20735,-14.83915,15.76947,67.32539], "fy":[72.70415,64.85088,4.61874,27.37664]}, + {"t":5.84995, "x":3.27922, "y":1.65666, "heading":-1.1995, "vx":-1.22465, "vy":3.07374, "omega":-0.70367, "ax":0.70437, "ay":1.19012, "alpha":3.09463, "fx":[19.39602,-7.6107,3.59799,31.19934], "fy":[37.52054,28.94447,0.72392,11.51839]}, + {"t":5.88579, "x":3.23578, "y":1.76757, "heading":-1.22472, "vx":-1.19941, "vy":3.11639, "omega":-0.59277, "ax":0.19186, "ay":0.38735, "alpha":1.22945, "fx":[6.63596,-4.26258,-0.31669,10.6317], "fy":[13.77612,9.93335,-1.02363,2.93134]}, + {"t":5.92162, "x":3.19292, "y":1.8795, "heading":-1.24596, "vx":-1.19254, "vy":3.13027, "omega":-0.54871, "ax":0.10401, "ay":0.0691, "alpha":0.32233, "fx":[2.67486,-0.20683,0.76449,3.64603], "fy":[3.06817,2.0994,-0.78455,0.18667]}, + {"t":5.95746, "x":3.15025, "y":1.99172, "heading":-1.26562, "vx":-1.18881, "vy":3.13275, "omega":-0.53716, "ax":0.21603, "ay":-0.11816, "alpha":-0.40109, "fx":[2.33571,5.94077,4.811,1.19922], "fy":[-4.33014,-3.18755,0.42132,-0.71795]}, + {"t":5.9933, "x":3.10779, "y":2.10391, "heading":-1.28487, "vx":-1.18107, "vy":3.12851, "omega":-0.55153, "ax":0.4378, "ay":-0.3119, "alpha":-1.24001, "fx":[3.28373,14.43384,11.26481,-0.02921], "fy":[-12.46378,-9.07686,2.12191,-1.20834]}, + {"t":6.02913, "x":3.06574, "y":2.21583, "heading":-1.30464, "vx":-1.16538, "vy":3.11733, "omega":-0.59597, "ax":0.72019, "ay":-0.55208, "alpha":-2.23798, "fx":[4.54162,24.53204,19.65974,-1.10452], "fy":[-22.31054,-16.3117,3.90504,-1.79409]}, + {"t":6.06497, "x":3.02444, "y":2.32719, "heading":-1.326, "vx":-1.13957, "vy":3.09755, "omega":-0.67617, "ax":0.99882, "ay":-0.83133, "alpha":-3.27472, "fx":[5.38223,34.28908,28.79731,-2.41307], "fy":[-33.07168,-24.31008,5.15822,-2.75549]}, + {"t":6.10081, "x":2.98425, "y":2.43766, "heading":-1.35023, "vx":-1.10377, "vy":3.06776, "omega":-0.79353, "ax":1.20584, "ay":-1.12106, "alpha":-4.17143, "fx":[5.20906,41.6493,36.98286,-4.09417], "fy":[-43.06919,-32.04444,5.23894,-4.26542]}, + {"t":6.13664, "x":2.94547, "y":2.54687, "heading":-1.37866, "vx":-1.06056, "vy":3.02758, "omega":-0.94301, "ax":1.3021, "ay":-1.39899, "alpha":-4.81962, "fx":[3.71138,45.67124,42.93585,-6.20538], "fy":[-51.03672,-38.92892,3.79888,-6.35394]}, + {"t":6.17248, "x":2.9083, "y":2.65447, "heading":-1.41246, "vx":-1.0139, "vy":2.97745, "omega":-1.11573, "ax":1.27929, "ay":-1.65669, "alpha":-5.2064, "fx":[0.85103,46.4026,46.14993,-8.79911], "fy":[-56.61677,-44.90142,0.84558,-8.89071]}, + {"t":6.20832, "x":2.87278, "y":2.76011, "heading":-1.45244, "vx":-0.96805, "vy":2.91808, "omega":-1.30231, "ax":1.14461, "ay":-1.89262, "alpha":-5.37189, "fx":[-3.26666,44.26943,46.63817,-11.94356], "fy":[-60.04401,-50.10648,-3.38524,-11.6304]}, + {"t":6.24415, "x":2.83883, "y":2.86347, "heading":-1.49911, "vx":-0.92703, "vy":2.85025, "omega":-1.49482, "ax":0.91115, "ay":-2.10793, "alpha":-5.37909, "fx":[-8.4968,39.79199,44.70296,-15.74061], "fy":[-61.81907,-54.73815,-8.54578,-14.30216]}, + {"t":6.27999, "x":2.80619, "y":2.96426, "heading":-1.55268, "vx":-0.89438, "vy":2.77471, "omega":-1.68759, "ax":0.5957, "ay":-2.30901, "alpha":-5.30963, "fx":[-14.73703,33.57172,40.9354,-20.37422], "fy":[-62.6154,-59.09881,-14.28566,-16.70342]}, + {"t":6.31582, "x":2.77452, "y":3.06221, "heading":-1.61316, "vx":-0.87303, "vy":2.69197, "omega":-1.87786, "ax":0.21777, "ay":-2.51236, "alpha":-5.2668, "fx":[-22.01551,26.30718,36.28719,-26.1767], "fy":[-63.25214,-63.73573,-20.42765,-18.73663]}, + {"t":6.35166, "x":2.74337, "y":3.15707, "heading":-1.68045, "vx":-0.86523, "vy":2.60193, "omega":-2.06661, "ax":-0.20318, "ay":-2.74247, "alpha":-5.36319, "fx":[-30.5076,18.68374,31.99699,-33.61023], "fy":[-64.48744,-69.4042,-27.16236,-20.31594]}, + {"t":6.3875, "x":2.71224, "y":3.24855, "heading":-1.75451, "vx":-0.87251, "vy":2.50365, "omega":-2.2588, "ax":-0.64159, "ay":-3.01235, "alpha":-5.6859, "fx":[-40.25333,11.27156,29.45198,-42.90113], "fy":[-66.55461,-76.58215,-34.97725,-21.10432]}, + {"t":6.42333, "x":2.68056, "y":3.33634, "heading":-1.83546, "vx":-0.8955, "vy":2.3957, "omega":-2.46257, "ax":-1.02619, "ay":-3.29346, "alpha":-6.28256, "fx":[-50.46531,4.96761,30.66301,-53.03092], "fy":[-68.90586,-84.77184,-43.9048,-20.22663]}, + {"t":6.45917, "x":2.64781, "y":3.42008, "heading":-1.92371, "vx":-0.93228, "vy":2.27767, "omega":-2.68771, "ax":-1.16481, "ay":-3.50809, "alpha":-7.23694, "fx":[-58.88046,2.28625,39.85594,-60.29507], "fy":[-71.04897,-92.63347,-51.96419,-16.35661]}, + {"t":6.49501, "x":2.61365, "y":3.49945, "heading":-2.02003, "vx":-0.97402, "vy":2.15196, "omega":-2.94706, "ax":-0.65135, "ay":-3.50968, "alpha":-8.68949, "fx":[-61.07886,9.19583,62.59935,-53.79248], "fy":[-74.33539,-98.71428,-52.75717,-6.30176]}, + {"t":6.53084, "x":2.57833, "y":3.57431, "heading":-2.12564, "vx":-0.99736, "vy":2.02618, "omega":-3.25846, "ax":1.77651, "ay":-2.76435, "alpha":-10.31622, "fx":[-45.3395,36.759,93.72835,32.33932], "fy":[-82.35911,-98.04923,-36.20555,33.79727]}, + {"t":6.56668, "x":2.54372, "y":3.64515, "heading":-2.24241, "vx":-0.9337, "vy":1.92712, "omega":-3.62815, "ax":5.85599, "ay":-2.7997, "alpha":-2.98018, "fx":[83.60707,88.45185,107.72289,107.49702], "fy":[-65.44981,-69.6336,-35.07485,-14.99624]}, + {"t":6.60252, "x":2.51402, "y":3.71241, "heading":-2.37243, "vx":-0.72384, "vy":1.82679, "omega":-3.73495, "ax":3.10939, "ay":-4.99471, "alpha":9.02374, "fx":[100.08918,118.6946,-44.47704,31.329], "fy":[-72.29858,-24.01455,-114.44893,-119.55709]}, + {"t":6.63835, "x":2.49008, "y":3.77467, "heading":-2.50628, "vx":-0.61241, "vy":1.6478, "omega":-3.41157, "ax":2.72969, "ay":-4.90875, "alpha":10.0952, "fx":[95.97004,122.09093,-58.26695,20.73043], "fy":[-78.54587,-14.80961,-108.96609,-122.31241]}, + {"t":6.67419, "x":2.46989, "y":3.83057, "heading":-2.62854, "vx":-0.51459, "vy":1.47188, "omega":-3.0498, "ax":2.43875, "ay":-4.94711, "alpha":10.50115, "fx":[91.47564,122.78282,-65.58339,12.60859], "fy":[-84.01122,-14.57112,-105.01762,-123.57105]}, + {"t":6.71002, "x":2.45301, "y":3.88014, "heading":-2.73783, "vx":-0.4272, "vy":1.2946, "omega":-2.67347, "ax":2.19212, "ay":-5.01442, "alpha":10.66311, "fx":[87.10466,122.78256,-70.60967,5.69579], "fy":[-88.66398,-16.95367,-101.84494,-124.16006]}, + {"t":6.74586, "x":2.43911, "y":3.92331, "heading":-2.83364, "vx":-0.34864, "vy":1.1149, "omega":-2.29135, "ax":1.98093, "ay":-5.08343, "alpha":10.70532, "fx":[83.05205,122.48571,-74.27527,-0.25605], "fy":[-92.54403,-20.02582,-99.27931,-124.33724]}, + {"t":6.7817, "x":2.42789, "y":3.96, "heading":-2.91575, "vx":-0.27765, "vy":0.93273, "omega":-1.90771, "ax":1.80155, "ay":-5.14434, "alpha":10.68703, "fx":[79.43604,122.05757,-77.01125,-5.33916], "fy":[-95.71221,-23.03072,-97.21725,-124.25432]}, + {"t":6.81753, "x":2.4191, "y":3.99012, "heading":-2.98412, "vx":-0.21309, "vy":0.74837, "omega":-1.52472, "ax":1.65116, "ay":-5.19249, "alpha":10.64672, "fx":[76.33727,121.60601,-79.1388,-9.60722], "fy":[-98.23327,-25.62289,-95.52234,-124.02024]}, + {"t":6.85337, "x":2.41252, "y":4.01361, "heading":-3.03876, "vx":-0.15392, "vy":0.56229, "omega":-1.14318, "ax":1.5267, "ay":-5.22457, "alpha":10.61458, "fx":[73.8126,121.2118,-80.95944,-13.09873], "fy":[-100.16725,-27.62843,-94.00671,-123.71786]}, + {"t":6.88921, "x":2.40798, "y":4.03041, "heading":-3.07972, "vx":-0.0992, "vy":0.37506, "omega":-0.7628, "ax":1.42494, "ay":-5.23749, "alpha":10.61577, "fx":[71.903,120.9353,-82.76062,-15.84078], "fy":[-101.56424,-28.95201,-92.44786,-123.411]}, + {"t":6.92504, "x":2.40534, "y":4.04048, "heading":-3.10706, "vx":-0.04814, "vy":0.18737, "omega":-0.38236, "ax":1.34332, "ay":-5.22851, "alpha":10.66974, "fx":[70.63899,120.81857,-84.77122,-17.84782], "fy":[-102.46116,-29.53458,-90.63673,-123.1487]}, + {"t":6.96088, "x":2.40448, "y":4.04384, "heading":-3.12076, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index f834f1e2..589ee098 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -84,9 +84,12 @@ public enum Path { // INTAKE LNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.INTAKE), EndWScoreLNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.SCORE_AT_END), + EndWScoreLCleanuptoLPreTrench("LCleanuptoLPreTrench", Action.SCORE_AT_END), RNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.INTAKE), LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), + LPreTrenchtoLCleanup("LPreTrenchtoLCleanup", Action.INTAKE), + RPreTrenchtoRNeutral("RPreTrenchtoRNeutral", Action.INTAKE), StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), @@ -562,8 +565,8 @@ public Command getLeftNeutralScoreTwice() { new Path[] { Path.StartingLTrenchtoLNeutral, Path.EndWScoreLNeutraltoLPreTrench, - Path.LPreTrenchtoLNeutral, - Path.EndWScoreLNeutraltoLPreTrench + Path.LPreTrenchtoLCleanup, + Path.EndWScoreLCleanuptoLPreTrench }, setLeftClimb()); } From 00920930c47f15d80389aa2000d736a182172b91 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 18:55:02 -0700 Subject: [PATCH 08/11] more tuning --- src/main/deploy/choreo/DepottoLPreTrench.traj | 194 ++++++------- .../deploy/choreo/LCleanuptoLPreTrench.traj | 181 ++++++------ .../deploy/choreo/LNeutraltoLPreTrench.traj | 260 +++++++++++------- .../deploy/choreo/LPreTrenchtoLCleanup.traj | 194 +++++++------ .../deploy/choreo/LPreTrenchtoLClimb.traj | 156 +++++------ .../deploy/choreo/LPreTrenchtoLNeutral.traj | 231 ++++++++-------- src/main/deploy/choreo/LTrenchtoDepot.traj | 107 ++++--- src/main/deploy/choreo/OutposttoRClimb.traj | 105 ++++--- .../deploy/choreo/OutposttoRPreTrench.traj | 4 +- src/main/deploy/choreo/RBumptoOutpost.traj | 88 +++--- .../deploy/choreo/RNeutraltoRPreTrench.traj | 173 ++++++------ .../deploy/choreo/RPreTrenchtoRNeutral.traj | 202 +++++++------- .../choreo/StartingLTrenchtoLNeutral.traj | 225 ++++++++------- src/main/deploy/choreo/rebuiltChoreo.chor | 14 +- src/main/java/frc/robot/Autos.java | 3 +- src/main/java/frc/robot/Robot.java | 1 + .../indexer/SpindexerSubsystem.java | 10 +- .../subsystems/shooter/TurretSubsystem.java | 21 +- 18 files changed, 1079 insertions(+), 1090 deletions(-) diff --git a/src/main/deploy/choreo/DepottoLPreTrench.traj b/src/main/deploy/choreo/DepottoLPreTrench.traj index 49922e30..c12a2e38 100644 --- a/src/main/deploy/choreo/DepottoLPreTrench.traj +++ b/src/main/deploy/choreo/DepottoLPreTrench.traj @@ -11,7 +11,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, @@ -25,7 +25,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", @@ -57,102 +57,102 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.42905,1.3622,2.26911], + "waypoints":[0.0,0.40459,1.34153,2.14528], "samples":[ - {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.47867, "ay":-0.004, "alpha":1.45375, "fx":[123.81707,123.82862,123.48221,123.46452], "fy":[-12.15374,12.03539,14.91551,-15.06143]}, - {"t":0.03575, "x":0.70878, "y":5.97524, "heading":3.14159, "vx":0.26739, "vy":-0.00014, "omega":0.05198, "ax":7.47702, "ay":-0.00398, "alpha":1.4559, "fx":[123.79322,123.80473,123.45161,123.43396], "fy":[-12.16687,12.04895,14.93619,-15.08162]}, - {"t":0.07151, "x":0.72312, "y":5.97524, "heading":-3.13973, "vx":0.53472, "vy":-0.00029, "omega":0.10403, "ax":7.47471, "ay":-0.00395, "alpha":1.45893, "fx":[123.76227,123.76889,123.41162,123.38824], "fy":[-12.16093,12.09261,14.94122,-15.13435]}, - {"t":0.10726, "x":0.74702, "y":5.97522, "heading":-3.13601, "vx":0.80197, "vy":-0.00043, "omega":0.15619, "ax":7.47126, "ay":-0.00391, "alpha":1.46351, "fx":[123.7172,123.71389,123.35309,123.3182], "fy":[-12.13961,12.17063,14.93651,-15.2258]}, - {"t":0.14302, "x":0.78046, "y":5.97521, "heading":-3.13043, "vx":1.0691, "vy":-0.00057, "omega":0.20852, "ax":7.4655, "ay":-0.00383, "alpha":1.47113, "fx":[123.64161,123.62306,123.25469,123.20251], "fy":[-12.11147,12.29284,14.93579,-15.37028]}, - {"t":0.17877, "x":0.82346, "y":5.97518, "heading":-3.12297, "vx":1.33602, "vy":-0.0007, "omega":0.26112, "ax":7.45403, "ay":-0.00369, "alpha":1.4863, "fx":[123.48675,123.44669,123.0526,122.97733], "fy":[-12.10203,12.4883,14.98028,-15.61055]}, - {"t":0.21452, "x":0.87599, "y":5.97516, "heading":-3.11364, "vx":1.60253, "vy":-0.00083, "omega":0.31426, "ax":7.41997, "ay":-0.00334, "alpha":1.53095, "fx":[123.01334,122.94083,122.43021,122.32624], "fy":[-12.23508,12.89759,15.27238,-16.15584]}, - {"t":0.25028, "x":0.93803, "y":5.97512, "heading":-3.1024, "vx":1.86782, "vy":-0.00095, "omega":0.369, "ax":3.68079, "ay":0.02215, "alpha":6.26168, "fx":[83.77223,82.27859,37.46108,39.91249], "fy":[-27.48188,30.50068,43.97581,-45.5295]}, - {"t":0.28603, "x":1.00717, "y":5.9751, "heading":-3.08921, "vx":1.99942, "vy":-0.00016, "omega":0.59287, "ax":0.00024, "ay":0.01421, "alpha":-17.57363, "fx":[-86.9211,-78.65308,87.34229,78.24756], "fy":[78.70925,-86.92102,-78.18895,87.34042]}, - {"t":0.32178, "x":1.07865, "y":5.97511, "heading":-3.06801, "vx":1.99943, "vy":0.00035, "omega":-0.03545, "ax":-0.00001, "ay":0.01609, "alpha":-18.13453, "fx":[-91.36034,-79.2789,91.85673,78.78214], "fy":[79.33151,-91.378,-78.72612,91.83653]}, - {"t":0.35754, "x":1.15014, "y":5.97513, "heading":-3.06928, "vx":1.99943, "vy":0.00092, "omega":-0.68383, "ax":-0.00015, "ay":0.01909, "alpha":-18.31592, "fx":[-92.12533,-80.24195,92.7224,79.63518], "fy":[80.2932,-92.14789,-79.57906,92.69614]}, - {"t":0.39329, "x":1.22163, "y":5.97518, "heading":-3.09373, "vx":1.99942, "vy":0.0016, "omega":-1.33869, "ax":-0.05228, "ay":0.02261, "alpha":-18.40495, "fx":[-91.30125,-83.86883,90.45666,81.25618], "fy":[82.15444,-89.70721,-83.00994,92.05774]}, - {"t":0.42905, "x":1.29308, "y":5.97525, "heading":3.14159, "vx":1.99755, "vy":0.00241, "omega":-1.99674, "ax":-5.27262, "ay":0.56801, "alpha":-0.11081, "fx":[-87.38955,-87.49873,-86.96067,-86.84914], "fy":[10.10728,8.56455,8.66593,10.22656]}, - {"t":0.44978, "x":1.33337, "y":5.97542, "heading":3.10019, "vx":1.88822, "vy":0.01419, "omega":-1.99903, "ax":-4.93993, "ay":0.62208, "alpha":-0.00002, "fx":[-81.67417,-81.67419,-81.67409,-81.67407], "fy":[10.28525,10.285,10.28501,10.28526]}, - {"t":0.47052, "x":1.37146, "y":5.97585, "heading":3.05873, "vx":1.78578, "vy":0.02709, "omega":-1.99903, "ax":-4.68986, "ay":0.65635, "alpha":0.0, "fx":[-77.53955,-77.53955,-77.53954,-77.53954], "fy":[10.85178,10.85176,10.85176,10.85178]}, - {"t":0.49126, "x":1.40749, "y":5.97655, "heading":3.01728, "vx":1.68853, "vy":0.0407, "omega":-1.99903, "ax":-4.46756, "ay":0.6837, "alpha":0.0, "fx":[-73.8641,-73.86411,-73.8641,-73.8641], "fy":[11.30384,11.30383,11.30382,11.30384]}, - {"t":0.51199, "x":1.44154, "y":5.97754, "heading":2.97583, "vx":1.59588, "vy":0.05488, "omega":-1.99903, "ax":-4.25787, "ay":0.70772, "alpha":0.0, "fx":[-70.39719,-70.39719,-70.39719,-70.39719], "fy":[11.70108,11.70107,11.70107,11.70108]}, - {"t":0.53273, "x":1.47372, "y":5.97883, "heading":2.93437, "vx":1.50759, "vy":0.06955, "omega":-1.99903, "ax":-4.05447, "ay":0.73003, "alpha":0.0, "fx":[-67.0343,-67.03431,-67.0343,-67.0343], "fy":[12.06984,12.06983,12.06983,12.06984]}, - {"t":0.55347, "x":1.50411, "y":5.98043, "heading":2.89292, "vx":1.42351, "vy":0.08469, "omega":-1.99903, "ax":-3.85415, "ay":0.7515, "alpha":0.0, "fx":[-63.72234,-63.72234,-63.72234,-63.72233], "fy":[12.42482,12.42481,12.42481,12.42482]}, - {"t":0.5742, "x":1.5328, "y":5.98235, "heading":2.85147, "vx":1.34359, "vy":0.10028, "omega":-1.99903, "ax":-3.65509, "ay":0.77271, "alpha":0.0, "fx":[-60.43119,-60.4312,-60.43119,-60.43119], "fy":[12.77559,12.77558,12.77558,12.77559]}, - {"t":0.59494, "x":1.55987, "y":5.98459, "heading":2.81001, "vx":1.2678, "vy":0.1163, "omega":-1.99903, "ax":-3.45619, "ay":0.7941, "alpha":0.0, "fx":[-57.14279,-57.14279,-57.14279,-57.14279], "fy":[13.12915,13.12914,13.12914,13.12915]}, - {"t":0.61568, "x":1.58542, "y":5.98718, "heading":2.76856, "vx":1.19613, "vy":0.13277, "omega":-1.99903, "ax":-3.2568, "ay":0.81598, "alpha":0.0, "fx":[-53.84605,-53.84605,-53.84605,-53.84605], "fy":[13.49104,13.49104,13.49104,13.49104]}, - {"t":0.63641, "x":1.60953, "y":5.99011, "heading":2.7271, "vx":1.12859, "vy":0.14969, "omega":-1.99903, "ax":-3.05649, "ay":0.83866, "alpha":0.0, "fx":[-50.53434,-50.53434,-50.53434,-50.53434], "fy":[13.86595,13.86595,13.86595,13.86595]}, - {"t":0.65715, "x":1.63227, "y":5.99339, "heading":2.68565, "vx":1.06521, "vy":0.16708, "omega":-1.99903, "ax":-2.85506, "ay":0.86237, "alpha":0.0, "fx":[-47.20399,-47.20399,-47.20399,-47.20399], "fy":[14.25801,14.258,14.258,14.25801]}, - {"t":0.67789, "x":1.65375, "y":5.99704, "heading":2.6442, "vx":1.006, "vy":0.18496, "omega":-1.99903, "ax":-2.65241, "ay":0.88735, "alpha":0.0, "fx":[-43.85343,-43.85343,-43.85343,-43.85343], "fy":[14.67097,14.67097,14.67097,14.67097]}, - {"t":0.69862, "x":1.67404, "y":6.00107, "heading":2.60274, "vx":0.951, "vy":0.20336, "omega":-1.99903, "ax":-2.44853, "ay":0.91381, "alpha":0.0, "fx":[-40.48259,-40.48259,-40.48259,-40.48259], "fy":[15.10835,15.10835,15.10835,15.10835]}, - {"t":0.71936, "x":1.69323, "y":6.00548, "heading":2.56129, "vx":0.90023, "vy":0.22231, "omega":-1.99903, "ax":-2.24348, "ay":0.94194, "alpha":0.0, "fx":[-37.09248,-37.09248,-37.09248,-37.09248], "fy":[15.57343,15.57343,15.57343,15.57343]}, - {"t":0.7401, "x":1.71142, "y":6.01029, "heading":2.51984, "vx":0.8537, "vy":0.24184, "omega":-1.99903, "ax":-2.03738, "ay":0.97193, "alpha":0.0, "fx":[-33.68486,-33.68486,-33.68486,-33.68486], "fy":[16.06934,16.06934,16.06934,16.06934]}, - {"t":0.76083, "x":1.72868, "y":6.01552, "heading":2.47838, "vx":0.81145, "vy":0.262, "omega":-1.99903, "ax":-1.83035, "ay":1.00397, "alpha":0.0, "fx":[-30.26201,-30.26201,-30.26201,-30.26201], "fy":[16.59903,16.59903,16.59903,16.59903]}, - {"t":0.78157, "x":1.74512, "y":6.02117, "heading":2.43693, "vx":0.7735, "vy":0.28282, "omega":-1.99903, "ax":-1.62256, "ay":1.03822, "alpha":0.0, "fx":[-26.82651,-26.82651,-26.82651,-26.82651], "fy":[17.16531,17.16531,17.16531,17.16531]}, - {"t":0.80231, "x":1.76081, "y":6.02725, "heading":2.39548, "vx":0.73985, "vy":0.30435, "omega":-1.99903, "ax":-1.41417, "ay":1.07484, "alpha":0.0, "fx":[-23.38113,-23.38113,-23.38113,-23.38113], "fy":[17.77079,17.77079,17.77079,17.77079]}, - {"t":0.82304, "x":1.77584, "y":6.0338, "heading":2.35402, "vx":0.71053, "vy":0.32664, "omega":-1.99903, "ax":-1.20535, "ay":1.11398, "alpha":0.0, "fx":[-19.92865,-19.92865,-19.92865,-19.92865], "fy":[18.41792,18.41792,18.41792,18.41792]}, - {"t":0.84378, "x":1.79032, "y":6.04081, "heading":2.31257, "vx":0.68553, "vy":0.34974, "omega":-1.99903, "ax":-0.99627, "ay":1.15578, "alpha":0.0, "fx":[-16.47181,-16.47181,-16.47181,-16.4718], "fy":[19.10894,19.10894,19.10894,19.10894]}, - {"t":0.86452, "x":1.80432, "y":6.04831, "heading":2.27112, "vx":0.66487, "vy":0.3737, "omega":-1.99903, "ax":-0.78709, "ay":1.20035, "alpha":0.0, "fx":[-13.01324,-13.01324,-13.01324,-13.01324], "fy":[19.84585,19.84584,19.84584,19.84584]}, - {"t":0.88525, "x":1.81794, "y":6.05632, "heading":2.22966, "vx":0.64855, "vy":0.3986, "omega":-1.99903, "ax":-0.57795, "ay":1.2478, "alpha":0.0, "fx":[-9.55546,-9.55546,-9.55546,-9.55546], "fy":[20.6304,20.6304,20.6304,20.6304]}, - {"t":0.90599, "x":1.83126, "y":6.06485, "heading":2.18821, "vx":0.63657, "vy":0.42447, "omega":-1.99903, "ax":-0.369, "ay":1.29822, "alpha":0.0, "fx":[-6.10089,-6.10089,-6.10089,-6.10089], "fy":[21.46409,21.46409,21.46409,21.46409]}, - {"t":0.92673, "x":1.84438, "y":6.07393, "heading":2.14675, "vx":0.62891, "vy":0.45139, "omega":-1.99903, "ax":-0.16039, "ay":1.35169, "alpha":0.0, "fx":[-2.65181,-2.65181,-2.65181,-2.65181], "fy":[22.34814,22.34814,22.34814,22.34814]}, - {"t":0.94746, "x":1.85739, "y":6.08358, "heading":2.1053, "vx":0.62559, "vy":0.47942, "omega":-1.99903, "ax":0.04775, "ay":1.40827, "alpha":0.0, "fx":[0.7895,0.7895,0.7895,0.7895], "fy":[23.28348,23.28348,23.28348,23.28348]}, - {"t":0.9682, "x":1.87037, "y":6.09383, "heading":2.06385, "vx":0.62658, "vy":0.50862, "omega":-1.99903, "ax":0.25529, "ay":1.46798, "alpha":0.0, "fx":[4.22081,4.22081,4.22081,4.22081], "fy":[24.27075,24.27075,24.27075,24.27075]}, - {"t":0.98894, "x":1.88342, "y":6.10469, "heading":2.02239, "vx":0.63187, "vy":0.53907, "omega":-1.99903, "ax":0.46208, "ay":1.53086, "alpha":0.0, "fx":[7.63983,7.63983,7.63983,7.63983], "fy":[25.31035,25.31035,25.31035,25.31035]}, - {"t":1.00968, "x":1.89663, "y":6.1162, "heading":1.98094, "vx":0.64145, "vy":0.57081, "omega":-1.99903, "ax":0.66799, "ay":1.59691, "alpha":0.0, "fx":[11.04423,11.04423,11.04423,11.04423], "fy":[26.40246,26.40246,26.40246,26.40246]}, - {"t":1.03041, "x":1.91007, "y":6.12838, "heading":1.93949, "vx":0.65531, "vy":0.60393, "omega":-1.99903, "ax":0.87287, "ay":1.66614, "alpha":0.0, "fx":[14.4316,14.4316,14.4316,14.4316], "fy":[27.5471,27.5471,27.5471,27.5471]}, - {"t":1.05115, "x":1.92385, "y":6.14126, "heading":1.89803, "vx":0.67341, "vy":0.63848, "omega":-1.99903, "ax":1.07658, "ay":1.73855, "alpha":0.0, "fx":[17.7995,17.7995,17.7995,17.7995], "fy":[28.7442,28.7442,28.7442,28.7442]}, - {"t":1.07189, "x":1.93804, "y":6.15487, "heading":1.85658, "vx":0.69573, "vy":0.67453, "omega":-1.99903, "ax":1.27895, "ay":1.81413, "alpha":0.0, "fx":[21.14549,21.1455,21.14549,21.14549], "fy":[29.99376,29.99376,29.99376,29.99376]}, - {"t":1.09262, "x":1.95275, "y":6.16925, "heading":1.81513, "vx":0.72225, "vy":0.71215, "omega":-1.99903, "ax":1.47987, "ay":1.89289, "alpha":0.0, "fx":[24.46728,24.46728,24.46728,24.46728], "fy":[31.29596,31.29596,31.29596,31.29596]}, - {"t":1.11336, "x":1.96804, "y":6.18443, "heading":1.77367, "vx":0.75294, "vy":0.7514, "omega":-1.99903, "ax":1.67919, "ay":1.97487, "alpha":0.0, "fx":[27.76284,27.76284,27.76284,27.76284], "fy":[32.65139,32.65139,32.65139,32.65139]}, - {"t":1.1341, "x":1.98402, "y":6.20043, "heading":1.73222, "vx":0.78776, "vy":0.79235, "omega":-1.99903, "ax":1.87684, "ay":2.06015, "alpha":0.0, "fx":[31.03065,31.03065,31.03065,31.03065], "fy":[34.06132,34.06132,34.06132,34.06132]}, - {"t":1.15483, "x":2.00075, "y":6.21731, "heading":1.69077, "vx":0.82668, "vy":0.83507, "omega":-1.99903, "ax":2.07277, "ay":2.14886, "alpha":0.0, "fx":[34.27,34.27,34.27,34.26999], "fy":[35.52809,35.52809,35.52809,35.52809]}, - {"t":1.17557, "x":2.01834, "y":6.23508, "heading":1.64931, "vx":0.86966, "vy":0.87963, "omega":-1.99903, "ax":2.26701, "ay":2.24126, "alpha":0.0, "fx":[37.48144,37.48144,37.48144,37.48144], "fy":[37.05566,37.05566,37.05566,37.05566]}, - {"t":1.19631, "x":2.03686, "y":6.25381, "heading":1.60786, "vx":0.91667, "vy":0.92611, "omega":-1.99903, "ax":2.45971, "ay":2.33771, "alpha":0.0, "fx":[40.66746,40.66747,40.66746,40.66746], "fy":[38.65044,38.65044,38.65045,38.65045]}, - {"t":1.21704, "x":2.0564, "y":6.27351, "heading":1.56641, "vx":0.96768, "vy":0.97459, "omega":-1.99903, "ax":2.6512, "ay":2.43886, "alpha":0.0, "fx":[43.83354,43.83354,43.83354,43.83353], "fy":[40.32267,40.32267,40.32268,40.32268]}, - {"t":1.23778, "x":2.07704, "y":6.29425, "heading":1.52495, "vx":1.02266, "vy":1.02516, "omega":-1.99903, "ax":2.84212, "ay":2.54567, "alpha":0.0, "fx":[46.98999,46.99,46.98999,46.98999], "fy":[42.08876,42.08876,42.08877,42.08877]}, - {"t":1.25852, "x":2.09886, "y":6.31605, "heading":1.4835, "vx":1.08159, "vy":1.07795, "omega":-1.99903, "ax":3.03358, "ay":2.65982, "alpha":0.0, "fx":[50.15554,50.15555,50.15555,50.15554], "fy":[43.97594,43.97593,43.97594,43.97595]}, - {"t":1.27925, "x":2.12194, "y":6.33898, "heading":1.44204, "vx":1.1445, "vy":1.13311, "omega":-1.99903, "ax":3.22771, "ay":2.78419, "alpha":0.0, "fx":[53.36508,53.36509,53.36509,53.36507], "fy":[46.03219,46.03218,46.03219,46.0322]}, - {"t":1.29999, "x":2.14636, "y":6.36307, "heading":1.40059, "vx":1.21143, "vy":1.19084, "omega":-1.99903, "ax":3.42879, "ay":2.92449, "alpha":0.0, "fx":[56.68962,56.68963,56.68963,56.68962], "fy":[48.35185,48.35184,48.35185,48.35186]}, - {"t":1.32073, "x":2.17222, "y":6.3884, "heading":1.35914, "vx":1.28254, "vy":1.25148, "omega":-1.99903, "ax":3.64732, "ay":3.09434, "alpha":0.00024, "fx":[60.30186,60.30415,60.30371,60.30142], "fy":[51.15976,51.15835,51.16055,51.16196]}, - {"t":1.34146, "x":2.1996, "y":6.41501, "heading":1.31768, "vx":1.35817, "vy":1.31565, "omega":-1.99903, "ax":3.87452, "ay":3.30328, "alpha":1.74563, "fx":[57.15656,74.22413,70.56774,54.28802], "fy":[53.15585,40.88878,56.70394,67.71002]}, - {"t":1.3622, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.43851, "vy":1.38415, "omega":-1.96283, "ax":0.27334, "ay":-0.11997, "alpha":-0.63191, "fx":[8.2347,2.5395,0.80183,6.50101], "fy":[0.00442,1.74175,-3.98275,-5.69778]}, - {"t":1.38739, "x":2.26493, "y":6.47784, "heading":1.22678, "vx":1.4454, "vy":1.38113, "omega":-1.97875, "ax":0.04234, "ay":-0.04432, "alpha":-0.00995, "fx":[0.76005,0.67168,0.64002,0.72839], "fy":[-0.7044,-0.67274,-0.76112,-0.79277]}, - {"t":1.41258, "x":2.30135, "y":6.51262, "heading":1.17693, "vx":1.44647, "vy":1.38001, "omega":-1.979, "ax":0.00938, "ay":-0.00983, "alpha":-0.00018, "fx":[0.15619,0.15462,0.15397,0.15554], "fy":[-0.16211,-0.16146,-0.16303,-0.16368]}, - {"t":1.43778, "x":2.33779, "y":6.54738, "heading":1.12708, "vx":1.4467, "vy":1.37976, "omega":-1.979, "ax":0.00209, "ay":-0.00219, "alpha":-0.00003, "fx":[0.03477,0.03453,0.03441,0.03466], "fy":[-0.03621,-0.03609,-0.03633,-0.03645]}, - {"t":1.46297, "x":2.37424, "y":6.58214, "heading":1.07722, "vx":1.44676, "vy":1.37971, "omega":-1.97901, "ax":0.00049, "ay":-0.00051, "alpha":-0.00002, "fx":[0.00822,0.00801,0.0079,0.0081], "fy":[-0.0084,-0.00829,-0.00849,-0.00861]}, - {"t":1.48816, "x":2.41069, "y":6.6169, "heading":1.02737, "vx":1.44677, "vy":1.3797, "omega":-1.97901, "ax":0.00014, "ay":-0.00015, "alpha":-0.00002, "fx":[0.00247,0.00229,0.00218,0.00236], "fy":[-0.0024,-0.00229,-0.00247,-0.00258]}, - {"t":1.51335, "x":2.44713, "y":6.65165, "heading":0.97751, "vx":1.44677, "vy":1.37969, "omega":-1.97901, "ax":0.00007, "ay":-0.00007, "alpha":-0.00002, "fx":[0.0013,0.00115,0.00105,0.0012], "fy":[-0.00121,-0.00111,-0.00125,-0.00135]}, - {"t":1.53854, "x":2.48358, "y":6.68641, "heading":0.92766, "vx":1.44677, "vy":1.37969, "omega":-1.97901, "ax":0.00006, "ay":-0.00006, "alpha":-0.00001, "fx":[0.00111,0.001,0.00092,0.00103], "fy":[-0.00105,-0.00097,-0.00108,-0.00116]}, - {"t":1.56374, "x":2.52003, "y":6.72117, "heading":0.8778, "vx":1.44678, "vy":1.37969, "omega":-1.97901, "ax":0.00006, "ay":-0.00007, "alpha":-0.00001, "fx":[0.00112,0.00104,0.00098,0.00106], "fy":[-0.00109,-0.00103,-0.00111,-0.00117]}, - {"t":1.58893, "x":2.55647, "y":6.75592, "heading":0.82795, "vx":1.44678, "vy":1.37969, "omega":-1.97901, "ax":0.00007, "ay":-0.00007, "alpha":-0.00001, "fx":[0.00113,0.00109,0.00106,0.00109], "fy":[-0.00114,-0.00111,-0.00115,-0.00118]}, - {"t":1.61412, "x":2.59292, "y":6.79068, "heading":0.77809, "vx":1.44678, "vy":1.37969, "omega":-1.97901, "ax":0.00007, "ay":-0.00007, "alpha":0.0, "fx":[0.0011,0.0011,0.0011,0.0011], "fy":[-0.00116,-0.00116,-0.00116,-0.00116]}, - {"t":1.63931, "x":2.62937, "y":6.82544, "heading":0.72824, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00006, "ay":-0.00007, "alpha":0.00001, "fx":[0.00104,0.00107,0.00111,0.00108], "fy":[-0.00112,-0.00116,-0.00113,-0.00109]}, - {"t":1.6645, "x":2.66582, "y":6.8602, "heading":0.67838, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00006, "ay":-0.00006, "alpha":0.00001, "fx":[0.00093,0.001,0.00107,0.00101], "fy":[-0.00105,-0.00112,-0.00106,-0.00098]}, - {"t":1.6897, "x":2.70226, "y":6.89495, "heading":0.62853, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00005, "ay":-0.00006, "alpha":0.00002, "fx":[0.0008,0.00088,0.001,0.00091], "fy":[-0.00093,-0.00104,-0.00096,-0.00084]}, - {"t":1.71489, "x":2.73871, "y":6.92971, "heading":0.57867, "vx":1.44678, "vy":1.37968, "omega":-1.97901, "ax":0.00005, "ay":-0.00005, "alpha":0.00002, "fx":[0.00065,0.00075,0.0009,0.0008], "fy":[-0.00078,-0.00094,-0.00084,-0.00069]}, - {"t":1.74008, "x":2.77516, "y":6.96447, "heading":0.52882, "vx":1.44679, "vy":1.37968, "omega":-1.97901, "ax":0.00004, "ay":-0.00004, "alpha":0.00002, "fx":[0.00055,0.00065,0.00084,0.00073], "fy":[-0.00069,-0.00087,-0.00077,-0.00058]}, - {"t":1.76527, "x":2.81161, "y":6.99922, "heading":0.47896, "vx":1.44679, "vy":1.37968, "omega":-1.97901, "ax":0.00006, "ay":-0.00006, "alpha":0.00003, "fx":[0.00076,0.00087,0.00108,0.00097], "fy":[-0.00092,-0.00113,-0.00102,-0.00081]}, - {"t":1.79046, "x":2.84805, "y":7.03398, "heading":0.42911, "vx":1.44679, "vy":1.37968, "omega":-1.97901, "ax":0.00016, "ay":-0.00017, "alpha":0.00003, "fx":[0.00248,0.00259,0.00281,0.00271], "fy":[-0.00272,-0.00294,-0.00284,-0.00261]}, - {"t":1.81566, "x":2.8845, "y":7.06874, "heading":0.37925, "vx":1.44679, "vy":1.37967, "omega":-1.979, "ax":0.00068, "ay":-0.00071, "alpha":0.00004, "fx":[0.01094,0.01107,0.0114,0.01127], "fy":[-0.01161,-0.01195,-0.01182,-0.01148]}, - {"t":1.84085, "x":2.92095, "y":7.10349, "heading":0.3294, "vx":1.44681, "vy":1.37965, "omega":-1.979, "ax":0.00305, "ay":-0.0032, "alpha":0.00077, "fx":[0.04582,0.04815,0.05499,0.05265], "fy":[-0.05061,-0.05744,-0.05511,-0.04828]}, - {"t":1.86604, "x":2.9574, "y":7.13825, "heading":0.27954, "vx":1.44689, "vy":1.37957, "omega":-1.97898, "ax":0.0138, "ay":-0.01448, "alpha":0.0478, "fx":[-0.05078,0.07366,0.50713,0.3827], "fy":[-0.08486,-0.51833,-0.39389,0.03958]}, - {"t":1.89123, "x":2.99385, "y":7.173, "heading":0.22969, "vx":1.44723, "vy":1.37921, "omega":-1.97778, "ax":0.05947, "ay":-0.06247, "alpha":2.85477, "fx":[-15.22747,-9.03456,17.13039,11.06484], "fy":[9.02245,-17.22385,-11.06844,15.13828]}, - {"t":1.91642, "x":3.03033, "y":7.20772, "heading":0.17987, "vx":1.44873, "vy":1.37763, "omega":-1.90586, "ax":0.05727, "ay":-0.06029, "alpha":15.09011, "fx":[-82.66421,-55.53384,82.90333,59.08247], "fy":[56.6537,-84.11298,-57.94734,81.4197]}, - {"t":1.94162, "x":3.06684, "y":7.24241, "heading":0.13185, "vx":1.45017, "vy":1.37612, "omega":-1.52571, "ax":0.06346, "ay":-0.06701, "alpha":16.8987, "fx":[-89.57569,-66.39805,89.47272,70.69775], "fy":[68.03226,-91.19562,-69.06113,87.7926]}, - {"t":1.96681, "x":3.1034, "y":7.27705, "heading":0.09342, "vx":1.45177, "vy":1.37443, "omega":-1.1, "ax":0.06131, "ay":-0.09379, "alpha":17.50226, "fx":[-90.43152,-71.99691,89.44932,77.034], "fy":[73.56763,-92.0523,-75.42335,87.70511]}, - {"t":1.992, "x":3.13999, "y":7.31165, "heading":0.06571, "vx":1.45332, "vy":1.37206, "omega":-0.65909, "ax":-4.01447, "ay":-3.01491, "alpha":9.70406, "fx":[-120.47631,-82.97752,2.15239,-64.19053], "fy":[-6.1702,-89.00394,-120.37571,16.16262]}, - {"t":2.01719, "x":3.17533, "y":7.34526, "heading":0.0491, "vx":1.35219, "vy":1.29611, "omega":-0.41462, "ax":-5.2024, "ay":-5.03119, "alpha":3.01102, "fx":[-110.82632,-87.17886,-55.53298,-90.51624], "fy":[-53.56369,-87.29978,-109.78765,-82.08068]}, - {"t":2.04238, "x":3.20774, "y":7.37631, "heading":0.03866, "vx":1.22113, "vy":1.16937, "omega":-0.33877, "ax":-5.31518, "ay":-5.11379, "alpha":2.16083, "fx":[-106.29625,-88.24593,-66.57312,-90.39736], "fy":[-63.21558,-86.84436,-104.19913,-83.93523]}, - {"t":2.06758, "x":3.23682, "y":7.40415, "heading":0.03012, "vx":1.08723, "vy":1.04054, "omega":-0.28433, "ax":-5.35615, "ay":-5.14036, "alpha":1.79864, "fx":[-104.11119,-88.74975,-71.03383,-90.32783], "fy":[-67.21692,-86.61572,-101.53068,-84.58829]}, - {"t":2.09277, "x":3.26251, "y":7.42873, "heading":0.02296, "vx":0.9523, "vy":0.91105, "omega":-0.23902, "ax":-5.37694, "ay":-5.15302, "alpha":1.59877, "fx":[-102.84078,-89.04868,-73.43085,-90.27702], "fy":[-69.39428,-86.47283,-99.98952,-84.93213]}, - {"t":2.11796, "x":3.28479, "y":7.45005, "heading":0.01694, "vx":0.81684, "vy":0.78123, "omega":-0.19875, "ax":-5.38943, "ay":-5.16033, "alpha":1.47226, "fx":[-102.01278,-89.24811,-74.92428,-90.23805], "fy":[-70.76116,-86.37375,-98.98947,-85.1474]}, - {"t":2.14315, "x":3.30366, "y":7.46809, "heading":0.01193, "vx":0.68107, "vy":0.65123, "omega":-0.16166, "ax":-5.39774, "ay":-5.16505, "alpha":1.38505, "fx":[-101.43093,-89.39023,-75.94298,-90.20852], "fy":[-71.69867,-86.30156,-98.2892,-85.29462]}, - {"t":2.16834, "x":3.3191, "y":7.48286, "heading":0.00786, "vx":0.54509, "vy":0.52111, "omega":-0.12677, "ax":-5.40365, "ay":-5.16834, "alpha":1.32131, "fx":[-100.99971,-89.49525,-76.6817,-90.18735], "fy":[-72.38174,-86.24808,-97.77202,-85.39982]}, - {"t":2.19353, "x":3.33112, "y":7.49434, "heading":0.00467, "vx":0.40896, "vy":0.39091, "omega":-0.09348, "ax":-5.40808, "ay":-5.17076, "alpha":1.27271, "fx":[-100.66719,-89.57411,-77.24144,-90.17393], "fy":[-72.90184,-86.20888,-97.37482,-85.47611]}, - {"t":2.21873, "x":3.33971, "y":7.50255, "heading":0.00231, "vx":0.27272, "vy":0.26065, "omega":-0.06142, "ax":-5.41151, "ay":-5.17261, "alpha":1.23444, "fx":[-100.40275,-89.63323,-77.67982,-90.1679], "fy":[-73.31139,-86.1813,-97.06053,-85.53079]}, - {"t":2.24392, "x":3.34486, "y":7.50748, "heading":0.00076, "vx":0.1364, "vy":0.13034, "omega":-0.03032, "ax":-5.41425, "ay":-5.17407, "alpha":1.20353, "fx":[-100.18718,-89.67665,-78.03206,-90.169], "fy":[-73.6426,-86.16366,-96.80596,-85.56828]}, - {"t":2.26911, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.42941, "ay":-0.00077, "alpha":2.1057, "fx":[123.31607,123.319,122.35244,122.34712], "fy":[-16.48119,16.45927,22.28229,-22.31151]}, + {"t":0.03372, "x":0.70822, "y":5.97525, "heading":3.14159, "vx":0.25049, "vy":-0.00003, "omega":0.07099, "ax":7.45037, "ay":-0.00152, "alpha":1.84084, "fx":[123.51447,123.5197,122.84795,122.83906], "fy":[-14.78692,14.74311,19.26991,-19.32659]}, + {"t":0.06743, "x":0.7209, "y":5.97525, "heading":-3.1392, "vx":0.50168, "vy":-0.00008, "omega":0.13306, "ax":7.47173, "ay":-0.00242, "alpha":1.52416, "fx":[123.73651,123.73705,123.33972,123.32019], "fy":[-12.59677,12.59069,15.68339,-15.8375]}, + {"t":0.10115, "x":0.74206, "y":5.97524, "heading":-3.13471, "vx":0.75359, "vy":-0.00016, "omega":0.18445, "ax":7.4922, "ay":-0.00357, "alpha":1.13751, "fx":[123.96886,123.96591,123.78874,123.76382], "fy":[-9.72068,9.75554,11.39967,-11.6709]}, + {"t":0.13486, "x":0.77173, "y":5.97523, "heading":-3.12849, "vx":1.0062, "vy":-0.00028, "omega":0.2228, "ax":7.50899, "ay":-0.00507, "alpha":0.65175, "fx":[124.17659,124.17631,124.13105,124.11411], "fy":[-5.82213,5.82201,6.25414,-6.58904]}, + {"t":0.16858, "x":0.80992, "y":5.97522, "heading":-3.12098, "vx":1.25936, "vy":-0.00045, "omega":0.24477, "ax":7.51568, "ay":-0.00704, "alpha":0.01527, "fx":[124.26028,124.26053,124.25987,124.25961], "fy":[-0.25677,0.03029,0.02443,-0.2633]}, + {"t":0.20229, "x":0.85665, "y":5.9752, "heading":-3.11273, "vx":1.51276, "vy":-0.00069, "omega":0.24529, "ax":7.49565, "ay":-0.00973, "alpha":-0.87712, "fx":[123.89815,123.84252,123.99334,123.98186], "fy":[8.34592,-9.15689,-7.59246,7.75964]}, + {"t":0.23601, "x":0.91192, "y":5.97517, "heading":-3.10446, "vx":1.76548, "vy":-0.00102, "omega":0.21572, "ax":7.3963, "ay":-0.01258, "alpha":-2.28691, "fx":[121.82344,121.45135,123.01395,122.85668], "fy":[23.33152,-25.24142,-17.00934,18.08702]}, + {"t":0.26972, "x":0.97564, "y":5.97513, "heading":-3.09719, "vx":2.01485, "vy":-0.00144, "omega":0.13861, "ax":6.99009, "ay":-0.00068, "alpha":-5.0412, "fx":[111.38114,110.06969,120.75357,120.07689], "fy":[53.95067,-56.67275,-28.77604,31.4533]}, + {"t":0.30344, "x":1.04755, "y":5.97508, "heading":-3.09251, "vx":2.25052, "vy":-0.00146, "omega":-0.03136, "ax":5.16323, "ay":0.10015, "alpha":-11.4363, "fx":[53.66845,57.40557,116.18005,114.21002], "fy":[111.03785,-109.31854,-43.55823,48.46216]}, + {"t":0.33715, "x":1.12636, "y":5.97509, "heading":-3.09357, "vx":2.4246, "vy":0.00191, "omega":-0.41694, "ax":1.84434, "ay":0.02086, "alpha":-17.513, "fx":[-51.29657,-37.49823,107.48413,103.28362], "fy":[112.41341,-117.79868,-61.85986,68.6247]}, + {"t":0.37087, "x":1.20916, "y":5.97517, "heading":-3.10763, "vx":2.48679, "vy":0.00262, "omega":-1.0074, "ax":0.14094, "ay":-0.01431, "alpha":-18.57151, "fx":[-88.548,-81.79584,92.42703,87.23803], "fy":[86.70212,-93.10533,-82.60842,88.06501]}, + {"t":0.40459, "x":1.29308, "y":5.97525, "heading":3.14159, "vx":2.49154, "vy":0.00213, "omega":-1.63354, "ax":-1.18334, "ay":-0.0575, "alpha":-17.53775, "fx":[-99.58606,-98.01078,58.61112,60.72708], "fy":[68.36161,-70.7047,-103.66898,102.20932]}, + {"t":0.42541, "x":1.3447, "y":5.97528, "heading":3.10758, "vx":2.4669, "vy":0.00094, "omega":-1.99869, "ax":-6.43617, "ay":-0.41582, "alpha":-0.0166, "fx":[-106.44025,-106.42698,-106.38369,-106.39704], "fy":[-6.7282,-6.99777,-7.02202,-6.75188]}, + {"t":0.44623, "x":1.39467, "y":5.97521, "heading":3.06597, "vx":2.33289, "vy":-0.00772, "omega":-1.99904, "ax":-6.34, "ay":-0.3902, "alpha":-0.00001, "fx":[-104.82203,-104.82203,-104.82199,-104.822], "fy":[-6.45122,-6.45143,-6.45146,-6.45124]}, + {"t":0.46705, "x":1.44187, "y":5.97496, "heading":3.02434, "vx":2.20089, "vy":-0.01584, "omega":-1.99904, "ax":-6.25402, "ay":-0.35335, "alpha":-0.00001, "fx":[-103.40042,-103.40041,-103.4004,-103.4004], "fy":[-5.8421,-5.84218,-5.84219,-5.84211]}, + {"t":0.48787, "x":1.48633, "y":5.97456, "heading":2.98272, "vx":2.07068, "vy":-0.0232, "omega":-1.99904, "ax":-6.16906, "ay":-0.30855, "alpha":0.0, "fx":[-101.99587,-101.99587,-101.99586,-101.99586], "fy":[-5.1014,-5.10145,-5.10147,-5.10141]}, + {"t":0.50869, "x":1.52811, "y":5.97401, "heading":2.9411, "vx":1.94223, "vy":-0.02963, "omega":-1.99904, "ax":-6.08166, "ay":-0.25651, "alpha":0.0, "fx":[-100.55072,-100.55072,-100.55071,-100.55071], "fy":[-4.2409,-4.24094,-4.24095,-4.24091]}, + {"t":0.52951, "x":1.56723, "y":5.97333, "heading":2.89948, "vx":1.81561, "vy":-0.03497, "omega":-1.99904, "ax":-5.98963, "ay":-0.19718, "alpha":0.0, "fx":[-99.02926,-99.02926,-99.02925,-99.02925], "fy":[-3.26007,-3.2601,-3.26011,-3.26008]}, + {"t":0.55033, "x":1.60374, "y":5.97256, "heading":2.85786, "vx":1.6909, "vy":-0.03907, "omega":-1.99904, "ax":-5.89122, "ay":-0.13019, "alpha":0.0, "fx":[-97.40219,-97.40219,-97.40219,-97.40219], "fy":[-2.15241,-2.15243,-2.15244,-2.15242]}, + {"t":0.57115, "x":1.63766, "y":5.97172, "heading":2.81624, "vx":1.56824, "vy":-0.04178, "omega":-1.99904, "ax":-5.78471, "ay":-0.05488, "alpha":0.0, "fx":[-95.6411,-95.64111,-95.6411,-95.6411], "fy":[-0.90741,-0.90743,-0.90743,-0.90742]}, + {"t":0.59197, "x":1.66906, "y":5.97084, "heading":2.77461, "vx":1.44779, "vy":-0.04293, "omega":-1.99904, "ax":-5.66825, "ay":0.02956, "alpha":0.0, "fx":[-93.71561,-93.71561,-93.7156,-93.7156], "fy":[0.48879,0.48878,0.48877,0.48878]}, + {"t":0.61279, "x":1.69798, "y":5.96995, "heading":2.73299, "vx":1.32978, "vy":-0.04231, "omega":-1.99904, "ax":-5.53976, "ay":0.12419, "alpha":0.0, "fx":[-91.59129,-91.59129,-91.59129,-91.59129], "fy":[2.05324,2.05323,2.05322,2.05323]}, + {"t":0.63362, "x":1.72447, "y":5.9691, "heading":2.69137, "vx":1.21443, "vy":-0.03972, "omega":-1.99904, "ax":-5.39681, "ay":0.23021, "alpha":0.0, "fx":[-89.22791,-89.22791,-89.22791,-89.22791], "fy":[3.80616,3.80615,3.80615,3.80616]}, + {"t":0.65444, "x":1.74858, "y":5.96832, "heading":2.64975, "vx":1.10207, "vy":-0.03493, "omega":-1.99904, "ax":-5.2365, "ay":0.34905, "alpha":0.0, "fx":[-86.57742,-86.57743,-86.57742,-86.57742], "fy":[5.77095,5.77094,5.77094,5.77095]}, + {"t":0.67526, "x":1.77039, "y":5.96767, "heading":2.60813, "vx":0.99304, "vy":-0.02766, "omega":-1.99904, "ax":-5.05532, "ay":0.48229, "alpha":0.0, "fx":[-83.58185,-83.58185,-83.58185,-83.58185], "fy":[7.97393,7.97392,7.97392,7.97392]}, + {"t":0.69608, "x":1.78997, "y":5.9672, "heading":2.56651, "vx":0.88778, "vy":-0.01762, "omega":-1.99904, "ax":-4.84902, "ay":0.63167, "alpha":0.0, "fx":[-80.17095,-80.17095,-80.17095,-80.17095], "fy":[10.44364,10.44364,10.44364,10.44364]}, + {"t":0.7169, "x":1.80741, "y":5.96697, "heading":2.52488, "vx":0.78682, "vy":-0.00447, "omega":-1.99904, "ax":-4.61247, "ay":0.79894, "alpha":0.0, "fx":[-76.25993,-76.25994,-76.25993,-76.25993], "fy":[13.20926,13.20926,13.20925,13.20926]}, + {"t":0.73772, "x":1.82279, "y":5.96705, "heading":2.48326, "vx":0.69079, "vy":0.01216, "omega":-1.99904, "ax":-4.33956, "ay":0.98572, "alpha":0.0, "fx":[-71.74787,-71.74787,-71.74787,-71.74787], "fy":[16.29732,16.29732,16.29732,16.29732]}, + {"t":0.75854, "x":1.83623, "y":5.96752, "heading":2.44164, "vx":0.60043, "vy":0.03269, "omega":-1.99904, "ax":-4.02325, "ay":1.19309, "alpha":0.0, "fx":[-66.5182,-66.5182,-66.5182,-66.5182], "fy":[19.72593,19.72593,19.72593,19.72593]}, + {"t":0.77936, "x":1.84786, "y":5.96845, "heading":2.40002, "vx":0.51666, "vy":0.05753, "omega":-1.99904, "ax":-3.65587, "ay":1.42107, "alpha":0.0, "fx":[-60.44409,-60.44409,-60.44409,-60.44409], "fy":[23.49512,23.49512,23.49512,23.49512]}, + {"t":0.80018, "x":1.85782, "y":5.96996, "heading":2.3584, "vx":0.44055, "vy":0.08712, "omega":-1.99904, "ax":-3.23, "ay":1.66769, "alpha":0.0, "fx":[-53.40307,-53.40307,-53.40307,-53.40307], "fy":[27.5727,27.5727,27.5727,27.5727]}, + {"t":0.821, "x":1.8663, "y":5.97214, "heading":2.31677, "vx":0.37329, "vy":0.12184, "omega":-1.99904, "ax":-2.74029, "ay":1.92803, "alpha":0.0, "fx":[-45.30645,-45.30645,-45.30645,-45.30645], "fy":[31.87692,31.87692,31.87692,31.87692]}, + {"t":0.84182, "x":1.87348, "y":5.97509, "heading":2.27515, "vx":0.31624, "vy":0.16198, "omega":-1.99904, "ax":-2.18625, "ay":2.19328, "alpha":0.0, "fx":[-36.14617,-36.14617,-36.14617,-36.14617], "fy":[36.26254,36.26254,36.26254,36.26254]}, + {"t":0.86265, "x":1.87959, "y":5.97894, "heading":2.23353, "vx":0.27072, "vy":0.20765, "omega":-1.99904, "ax":-1.57555, "ay":2.451, "alpha":0.0, "fx":[-26.04929,-26.04929,-26.04929,-26.04929], "fy":[40.52347,40.52347,40.52347,40.52347]}, + {"t":0.88347, "x":1.88488, "y":5.98379, "heading":2.19191, "vx":0.23792, "vy":0.25868, "omega":-1.99904, "ax":-0.92599, "ay":2.68706, "alpha":0.0, "fx":[-15.3098,-15.3098,-15.3098,-15.30981], "fy":[44.42635,44.42635,44.42635,44.42635]}, + {"t":0.90429, "x":1.88963, "y":5.98976, "heading":2.15029, "vx":0.21864, "vy":0.31463, "omega":-1.99904, "ax":-0.26361, "ay":2.88942, "alpha":0.0, "fx":[-4.3584,-4.3584,-4.3584,-4.3584], "fy":[47.77206,47.77206,47.77206,47.77206]}, + {"t":0.92511, "x":1.89413, "y":5.99694, "heading":2.10867, "vx":0.21315, "vy":0.37479, "omega":-1.99904, "ax":0.38326, "ay":3.05163, "alpha":0.0, "fx":[6.33655,6.33655,6.33655,6.33655], "fy":[50.45386,50.45387,50.45387,50.45387]}, + {"t":0.94593, "x":1.89865, "y":6.0054, "heading":2.06704, "vx":0.22113, "vy":0.43833, "omega":-1.99904, "ax":0.99106, "ay":3.17387, "alpha":0.0, "fx":[16.38558,16.38558,16.38558,16.38558], "fy":[52.47499,52.47499,52.47499,52.47499]}, + {"t":0.96675, "x":1.90347, "y":6.01522, "heading":2.02542, "vx":0.24176, "vy":0.50441, "omega":-1.99904, "ax":1.54514, "ay":3.26131, "alpha":0.0, "fx":[25.54654,25.54654,25.54654,25.54654], "fy":[53.92063,53.92063,53.92063,53.92063]}, + {"t":0.98757, "x":1.90884, "y":6.02643, "heading":1.9838, "vx":0.27393, "vy":0.57231, "omega":-1.99904, "ax":2.03981, "ay":3.32128, "alpha":0.0, "fx":[33.72511,33.72512,33.72511,33.72511], "fy":[54.91211,54.91211,54.91211,54.91211]}, + {"t":1.00839, "x":1.91498, "y":6.03906, "heading":1.94218, "vx":0.3164, "vy":0.64146, "omega":-1.99904, "ax":2.47588, "ay":3.36109, "alpha":0.0, "fx":[40.93477,40.93477,40.93477,40.93477], "fy":[55.57043,55.57043,55.57043,55.57043]}, + {"t":1.02921, "x":1.92211, "y":6.05315, "heading":1.90056, "vx":0.36795, "vy":0.71144, "omega":-1.99904, "ax":2.85785, "ay":3.38695, "alpha":0.0, "fx":[47.25011,47.25011,47.25011,47.25011], "fy":[55.9979,55.9979,55.9979,55.9979]}, + {"t":1.05003, "x":1.93039, "y":6.06869, "heading":1.85894, "vx":0.42746, "vy":0.78196, "omega":-1.99904, "ax":3.19179, "ay":3.40362, "alpha":0.0, "fx":[52.77134,52.77135,52.77134,52.77134], "fy":[56.27354,56.27353,56.27354,56.27354]}, + {"t":1.07085, "x":1.93998, "y":6.08571, "heading":1.81731, "vx":0.49391, "vy":0.85283, "omega":-1.99904, "ax":3.48402, "ay":3.41462, "alpha":0.0, "fx":[57.60277,57.60277,57.60277,57.60277], "fy":[56.45537,56.45537,56.45538,56.45538]}, + {"t":1.09167, "x":1.95102, "y":6.10421, "heading":1.77569, "vx":0.56645, "vy":0.92393, "omega":-1.99904, "ax":3.74041, "ay":3.42246, "alpha":0.0, "fx":[61.84182,61.84182,61.84182,61.84181], "fy":[56.58504,56.58504,56.58505,56.58505]}, + {"t":1.1125, "x":1.96362, "y":6.12419, "heading":1.73407, "vx":0.64433, "vy":0.99518, "omega":-1.99904, "ax":3.96618, "ay":3.42895, "alpha":0.0, "fx":[65.57465,65.57466,65.57465,65.57465], "fy":[56.6923,56.69229,56.6923,56.6923]}, + {"t":1.13332, "x":1.9779, "y":6.14565, "heading":1.69245, "vx":0.72691, "vy":1.06658, "omega":-1.99904, "ax":4.16581, "ay":3.43539, "alpha":0.0, "fx":[68.87525,68.87526,68.87525,68.87525], "fy":[56.79878,56.79878,56.79879,56.79879]}, + {"t":1.15414, "x":1.99394, "y":6.1686, "heading":1.65083, "vx":0.81365, "vy":1.13811, "omega":-1.99904, "ax":4.34308, "ay":3.44278, "alpha":0.0, "fx":[71.80611,71.80612,71.80611,71.80611], "fy":[56.92097,56.92097,56.92098,56.92098]}, + {"t":1.17496, "x":2.01182, "y":6.19305, "heading":1.6092, "vx":0.90407, "vy":1.20979, "omega":-1.99904, "ax":4.50116, "ay":3.45194, "alpha":0.0, "fx":[74.41962,74.41963,74.41963,74.41962], "fy":[57.07246,57.07246,57.07247,57.07248]}, + {"t":1.19578, "x":2.03162, "y":6.21898, "heading":1.56758, "vx":0.99779, "vy":1.28166, "omega":-1.99904, "ax":4.64268, "ay":3.46364, "alpha":0.0, "fx":[76.75956,76.75957,76.75956,76.75955], "fy":[57.26594,57.26593,57.26595,57.26596]}, + {"t":1.2166, "x":2.0534, "y":6.24642, "heading":1.52596, "vx":1.09446, "vy":1.35378, "omega":-1.99904, "ax":4.76988, "ay":3.47872, "alpha":0.0, "fx":[78.86246,78.86248,78.86246,78.86245], "fy":[57.51519,57.51517,57.5152,57.51521]}, + {"t":1.23742, "x":2.07722, "y":6.27536, "heading":1.48434, "vx":1.19377, "vy":1.42621, "omega":-1.99904, "ax":4.88458, "ay":3.49823, "alpha":0.0, "fx":[80.75891,80.75894,80.75892,80.7589], "fy":[57.8378,57.83778,57.83781,57.83783]}, + {"t":1.25824, "x":2.10313, "y":6.30581, "heading":1.44272, "vx":1.29547, "vy":1.49904, "omega":-1.99904, "ax":4.98835, "ay":3.52376, "alpha":0.0, "fx":[82.47463,82.47466,82.47464,82.47461], "fy":[58.25995,58.25992,58.25996,58.26]}, + {"t":1.27906, "x":2.13119, "y":6.33779, "heading":1.4011, "vx":1.39933, "vy":1.57241, "omega":-1.99904, "ax":5.08252, "ay":3.55809, "alpha":0.00001, "fx":[84.03146,84.03151,84.03148,84.03143], "fy":[58.82753,58.82747,58.82754,58.8276]}, + {"t":1.29988, "x":2.16143, "y":6.3713, "heading":1.35947, "vx":1.50515, "vy":1.64649, "omega":-1.99904, "ax":5.16824, "ay":3.60729, "alpha":0.00013, "fx":[85.4485,85.44958,85.44899,85.44791], "fy":[59.64084,59.63973,59.64105,59.64216]}, + {"t":1.3207, "x":2.19388, "y":6.40636, "heading":1.31785, "vx":1.61276, "vy":1.7216, "omega":-1.99904, "ax":5.24414, "ay":3.68988, "alpha":0.38719, "fx":[85.93048,89.19839,87.50382,84.18179], "fy":[60.91794,57.31642,61.14498,64.64653]}, + {"t":1.34153, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.72195, "vy":1.79843, "omega":-1.99098, "ax":2.08359, "ay":-1.49426, "alpha":-0.19886, "fx":[35.64327,33.97612,33.25292,34.92354], "fy":[-23.93287,-23.55566,-25.48679,-25.84555]}, + {"t":1.36385, "x":2.26756, "y":6.48279, "heading":1.23178, "vx":1.76847, "vy":1.76506, "omega":-1.99542, "ax":0.75481, "ay":-0.76316, "alpha":-0.00026, "fx":[12.48123,12.47889,12.47802,12.48036], "fy":[-12.61685,-12.61606,-12.61844,-12.61922]}, + {"t":1.38618, "x":2.30724, "y":6.522, "heading":1.18723, "vx":1.78532, "vy":1.74803, "omega":-1.99542, "ax":0.2902, "ay":-0.29748, "alpha":-0.00003, "fx":[4.79819,4.79795,4.79785,4.79809], "fy":[-4.9183,-4.91821,-4.91845,-4.91854]}, + {"t":1.4085, "x":2.34717, "y":6.56096, "heading":1.14268, "vx":1.7918, "vy":1.74138, "omega":-1.99542, "ax":0.11059, "ay":-0.11395, "alpha":-0.00003, "fx":[1.82867,1.82843,1.82832,1.82856], "fy":[-1.88387,-1.88376,-1.884,-1.88411]}, + {"t":1.43083, "x":2.3872, "y":6.59981, "heading":1.09813, "vx":1.79427, "vy":1.73884, "omega":-1.99542, "ax":0.04252, "ay":-0.04389, "alpha":-0.00003, "fx":[0.70311,0.70288,0.70277,0.70299], "fy":[-0.72553,-0.72542,-0.72564,-0.72576]}, + {"t":1.45316, "x":2.42727, "y":6.63862, "heading":1.05358, "vx":1.79522, "vy":1.73786, "omega":-1.99542, "ax":0.01684, "ay":-0.01739, "alpha":-0.00002, "fx":[0.27855,0.27834,0.27823,0.27843], "fy":[-0.28746,-0.28734,-0.28754,-0.28766]}, + {"t":1.47548, "x":2.46736, "y":6.67742, "heading":1.00903, "vx":1.79559, "vy":1.73747, "omega":-1.99542, "ax":0.00722, "ay":-0.00746, "alpha":-0.00002, "fx":[0.11959,0.11942,0.11931,0.11948], "fy":[-0.12331,-0.1232,-0.12337,-0.12348]}, + {"t":1.49781, "x":2.50745, "y":6.7162, "heading":0.96448, "vx":1.79575, "vy":1.73731, "omega":-1.99542, "ax":0.00369, "ay":-0.00381, "alpha":-0.00002, "fx":[0.0611,0.06096,0.06087,0.061], "fy":[-0.06292,-0.06282,-0.06296,-0.06306]}, + {"t":1.52014, "x":2.54754, "y":6.75499, "heading":0.91992, "vx":1.79584, "vy":1.73722, "omega":-1.99542, "ax":0.00244, "ay":-0.00252, "alpha":-0.00001, "fx":[0.04051,0.04041,0.04033,0.04044], "fy":[-0.0417,-0.04162,-0.04173,-0.0418]}, + {"t":1.54246, "x":2.58763, "y":6.79378, "heading":0.87537, "vx":1.79589, "vy":1.73716, "omega":-1.99543, "ax":0.00208, "ay":-0.00214, "alpha":-0.00001, "fx":[0.03441,0.03435,0.03429,0.03436], "fy":[-0.03546,-0.0354,-0.03547,-0.03553]}, + {"t":1.56479, "x":2.62773, "y":6.83256, "heading":0.83082, "vx":1.79594, "vy":1.73712, "omega":-1.99543, "ax":0.0021, "ay":-0.00217, "alpha":0.0, "fx":[0.03481,0.03478,0.03475,0.03478], "fy":[-0.03593,-0.0359,-0.03594,-0.03597]}, + {"t":1.58712, "x":2.66783, "y":6.87134, "heading":0.78627, "vx":1.79598, "vy":1.73707, "omega":-1.99543, "ax":0.00248, "ay":-0.00257, "alpha":0.0, "fx":[0.04107,0.04107,0.04107,0.04107], "fy":[-0.04247,-0.04247,-0.04247,-0.04247]}, + {"t":1.60944, "x":2.70793, "y":6.91013, "heading":0.74172, "vx":1.79604, "vy":1.73701, "omega":-1.99543, "ax":0.00359, "ay":-0.00371, "alpha":0.0, "fx":[0.05928,0.05931,0.05935,0.05932], "fy":[-0.06136,-0.0614,-0.06137,-0.06133]}, + {"t":1.63177, "x":2.74803, "y":6.94891, "heading":0.69717, "vx":1.79612, "vy":1.73693, "omega":-1.99543, "ax":0.00656, "ay":-0.00679, "alpha":0.00001, "fx":[0.10841,0.10847,0.10854,0.10848], "fy":[-0.11223,-0.1123,-0.11224,-0.11218]}, + {"t":1.65409, "x":2.78813, "y":6.98768, "heading":0.65262, "vx":1.79627, "vy":1.73678, "omega":-1.99543, "ax":0.01449, "ay":-0.015, "alpha":0.00001, "fx":[0.23952,0.23959,0.2397,0.23962], "fy":[-0.24793,-0.24803,-0.24795,-0.24785]}, + {"t":1.67642, "x":2.82824, "y":7.02646, "heading":0.60807, "vx":1.79659, "vy":1.73644, "omega":-1.99542, "ax":0.03553, "ay":-0.03678, "alpha":0.00002, "fx":[0.58731,0.5874,0.58754,0.58744], "fy":[-0.60813,-0.60827,-0.60817,-0.60804]}, + {"t":1.69875, "x":2.86836, "y":7.06522, "heading":0.56352, "vx":1.79738, "vy":1.73562, "omega":-1.99542, "ax":0.09107, "ay":-0.09443, "alpha":0.00002, "fx":[1.50556,1.50567,1.50584,1.50573], "fy":[-1.56121,-1.56138,-1.56127,-1.56111]}, + {"t":1.72107, "x":2.90851, "y":7.10394, "heading":0.51897, "vx":1.79942, "vy":1.73351, "omega":-1.99542, "ax":0.23676, "ay":-0.24653, "alpha":0.00002, "fx":[3.91431,3.91442,3.91461,3.9145], "fy":[-4.07592,-4.07611,-4.076,-4.07581]}, + {"t":1.7434, "x":2.94874, "y":7.14258, "heading":0.47442, "vx":1.8047, "vy":1.72801, "omega":-1.99542, "ax":0.60808, "ay":-0.64478, "alpha":0.00037, "fx":[10.0514,10.05293,10.05603,10.05449], "fy":[-10.65966,-10.6627,-10.66109,-10.65804]}, + {"t":1.76573, "x":2.98919, "y":7.181, "heading":0.42987, "vx":1.81828, "vy":1.71361, "omega":-1.99542, "ax":-1.63148, "ay":-3.79618, "alpha":0.19205, "fx":[-28.52085,-27.25028,-25.42662,-26.69797], "fy":[-62.15011,-63.61718,-63.38172,-61.9069]}, + {"t":1.78805, "x":3.02938, "y":7.21832, "heading":0.38532, "vx":1.78185, "vy":1.62886, "omega":-1.99113, "ax":-4.98773, "ay":-4.97508, "alpha":3.40179, "fx":[-106.17963,-76.61713,-48.42469,-98.63601], "fy":[-58.40019,-94.39197,-110.09689,-66.13192]}, + {"t":1.81038, "x":3.06792, "y":7.25344, "heading":0.34086, "vx":1.6705, "vy":1.51778, "omega":-1.91518, "ax":-4.98523, "ay":-4.68793, "alpha":5.14877, "fx":[-114.45236,-76.55652,-28.601,-110.08222], "fy":[-44.9498,-96.52915,-119.04165,-49.5097]}, + {"t":1.83271, "x":3.10397, "y":7.28616, "heading":0.2981, "vx":1.55919, "vy":1.41312, "omega":-1.80022, "ax":-4.9939, "ay":-4.52864, "alpha":5.73721, "fx":[-117.22367,-77.66546,-21.68049,-113.69592], "fy":[-38.89666,-96.26093,-121.25739,-43.08113]}, + {"t":1.85503, "x":3.13754, "y":7.31658, "heading":0.25791, "vx":1.4477, "vy":1.31201, "omega":-1.67213, "ax":-5.00958, "ay":-4.4469, "alpha":5.95113, "fx":[-118.74426,-79.0009,-18.77976,-114.77755], "fy":[-34.91284,-95.46623,-122.11771,-41.59327]}, + {"t":1.87736, "x":3.16861, "y":7.34477, "heading":0.22058, "vx":1.33585, "vy":1.21272, "omega":-1.53927, "ax":-5.02487, "ay":-4.41075, "alpha":6.00231, "fx":[-119.76169,-80.345,-17.5392,-114.66772], "fy":[-31.84789,-94.51342,-122.52469,-42.81365]}, + {"t":1.89969, "x":3.19718, "y":7.37074, "heading":0.18621, "vx":1.22366, "vy":1.11425, "omega":-1.40526, "ax":-5.03581, "ay":-4.4037, "alpha":5.97548, "fx":[-120.51135,-81.62459,-17.09721,-113.8038], "fy":[-29.31239,-93.52658,-122.73295,-45.66118]}, + {"t":1.92201, "x":3.22325, "y":7.39452, "heading":0.15484, "vx":1.11123, "vy":1.01593, "omega":-1.27184, "ax":-5.04038, "ay":-4.41593, "alpha":5.91297, "fx":[-121.09298,-82.81079,-17.0677,-112.36798], "fy":[-27.13794,-92.56049,-122.83934,-49.50418]}, + {"t":1.94434, "x":3.2468, "y":7.4161, "heading":0.12644, "vx":0.9987, "vy":0.91734, "omega":-1.13983, "ax":-5.03786, "ay":-4.4407, "alpha":5.83882, "fx":[-121.55755,-83.89182,-17.25302,-110.47043], "fy":[-25.23956,-91.64369,-122.88878,-53.90828]}, + {"t":1.96666, "x":3.26784, "y":7.43548, "heading":0.10099, "vx":0.88622, "vy":0.81819, "omega":-1.00947, "ax":-5.02849, "ay":-4.47289, "alpha":5.7674, "fx":[-121.93481,-84.86339,-17.54221,-108.21246], "fy":[-23.56964,-90.79287,-122.90537,-58.54103]}, + {"t":1.98899, "x":3.28637, "y":7.45263, "heading":0.07846, "vx":0.77395, "vy":0.71833, "omega":-0.8807, "ax":-5.01326, "ay":-4.50841, "alpha":5.70686, "fx":[-122.2438,-85.72461,-17.86856,-105.7085], "fy":[-22.09954,-90.0187,-122.90355,-63.13631]}, + {"t":2.01132, "x":3.30241, "y":7.46754, "heading":0.05879, "vx":0.66203, "vy":0.61767, "omega":-0.75329, "ax":-4.99372, "ay":-4.54404, "alpha":5.66099, "fx":[-122.49766,-86.47613,-18.1897,-103.08974], "fy":[-20.81116,-89.32858,-122.89274,-67.48212]}, + {"t":2.03364, "x":3.31594, "y":7.4802, "heading":0.04197, "vx":0.55053, "vy":0.51622, "omega":-0.6269, "ax":-4.97175, "ay":-4.57733, "alpha":5.63042, "fx":[-122.70589,-87.11913,-18.47732,-100.4985], "fy":[-19.69268,-88.72795,-122.87952,-71.41567]}, + {"t":2.05597, "x":3.32699, "y":7.49059, "heading":0.02798, "vx":0.43953, "vy":0.41403, "omega":-0.50119, "ax":-4.94937, "ay":-4.60649, "alpha":5.61363, "fx":[-122.87562,-87.65482,-18.71155,-98.07875], "fy":[-18.73613,-88.22109,-122.86872,-74.81871]}, + {"t":2.0783, "x":3.33557, "y":7.49868, "heading":0.01679, "vx":0.32903, "vy":0.31118, "omega":-0.37586, "ax":-4.92851, "ay":-4.63034, "alpha":5.60785, "fx":[-123.01234,-88.08424,-18.87775,-95.96644], "fy":[-17.93601,-87.81148,-122.86401,-77.61042]}, + {"t":2.10062, "x":3.34169, "y":7.50448, "heading":0.0084, "vx":0.219, "vy":0.2078, "omega":-0.25066, "ax":-4.91088, "ay":-4.6481, "alpha":5.60995, "fx":[-123.12033,-88.40811,-18.96455,-94.28199], "fy":[-17.28829,-87.50199,-122.86823,-79.73798]}, + {"t":2.12295, "x":3.34536, "y":7.50796, "heading":0.0028, "vx":0.10935, "vy":0.10402, "omega":-0.12541, "ax":-4.89792, "ay":-4.65926, "alpha":5.61702, "fx":[-123.20289,-88.62679,-18.96269,-93.12561], "fy":[-16.78983,-87.29498,-122.88357,-81.16597]}, + {"t":2.14528, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj index 65dbacf6..9d82b8c6 100644 --- a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj +++ b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj @@ -3,14 +3,14 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, @@ -19,14 +19,14 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, @@ -61,94 +61,85 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.48944,3.93858], + "waypoints":[0.0,1.63367,2.8351], "samples":[ - {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.41848, "vy":1.95246, "omega":1.0963, "ax":-0.01014, "ay":0.01058, "alpha":0.25743, "fx":[1.04683,-1.38206,-1.38205,1.04684], "fy":[1.38944,1.38942,-1.03946,-1.03945]}, - {"t":0.0461, "x":6.08741, "y":3.88239, "heading":-1.52026, "vx":0.41801, "vy":1.95294, "omega":1.10817, "ax":-0.02617, "ay":0.0326, "alpha":-0.09069, "fx":[-0.73343,0.11107,-0.132,-0.9765], "fy":[-0.0048,0.23827,1.08277,0.8397]}, - {"t":0.0922, "x":6.10665, "y":3.97245, "heading":-1.46917, "vx":0.41681, "vy":1.95445, "omega":1.10399, "ax":-0.04095, "ay":0.0365, "alpha":0.17952, "fx":[-0.44732,-2.03487,-0.90691,0.68064], "fy":[1.96123,0.83327,-0.75428,0.37368]}, - {"t":0.1383, "x":6.12583, "y":4.0626, "heading":-1.41827, "vx":0.41492, "vy":1.95613, "omega":1.11226, "ax":-0.06188, "ay":0.0118, "alpha":-0.10757, "fx":[-1.0668,-0.1651,-0.97929,-1.881], "fy":[-0.66279,0.1514,1.05311,0.23891]}, - {"t":0.1844, "x":6.14489, "y":4.15279, "heading":-1.367, "vx":0.41206, "vy":1.95667, "omega":1.1073, "ax":-0.07634, "ay":0.01841, "alpha":-0.12324, "fx":[-2.45107,-1.05983,-0.07323,-1.46448], "fy":[0.10199,-0.8846,0.50665,1.49324]}, - {"t":0.2305, "x":6.1638, "y":4.24301, "heading":-1.31595, "vx":0.40855, "vy":1.95752, "omega":1.10162, "ax":-0.09226, "ay":0.01879, "alpha":0.16657, "fx":[-1.16843,-2.60433,-1.88217,-0.44629], "fy":[1.38973,0.66758,-0.76831,-0.04616]}, - {"t":0.2766, "x":6.18254, "y":4.33327, "heading":-1.26517, "vx":0.40429, "vy":1.95839, "omega":1.1093, "ax":-0.107, "ay":0.02562, "alpha":-0.46669, "fx":[-3.70461,0.73366,0.16658,-4.2717], "fy":[-2.07913,-1.51204,2.92623,2.35915]}, - {"t":0.3227, "x":6.20106, "y":4.42358, "heading":-1.21403, "vx":0.39936, "vy":1.95957, "omega":1.08779, "ax":-0.12308, "ay":0.02681, "alpha":0.33457, "fx":[-1.96753,-4.45829,-2.10245,0.38831], "fy":[2.86665,0.5108,-1.97995,0.37588]}, - {"t":0.36881, "x":6.21934, "y":4.51395, "heading":-1.16388, "vx":0.39369, "vy":1.96081, "omega":1.10321, "ax":-0.13952, "ay":0.02764, "alpha":-0.73906, "fx":[-4.43277,2.15403,-0.18086,-6.76766], "fy":[-4.0039,-1.66901,4.91779,2.58289]}, - {"t":0.41491, "x":6.23734, "y":4.60437, "heading":-1.11302, "vx":0.38725, "vy":1.96208, "omega":1.06914, "ax":-0.15574, "ay":0.03027, "alpha":0.4312, "fx":[-3.07325,-5.78271,-2.07669,0.63276], "fy":[3.70828,0.00226,-2.70718,0.99882]}, - {"t":0.46101, "x":6.25503, "y":4.69486, "heading":-1.06373, "vx":0.38007, "vy":1.96348, "omega":1.08902, "ax":-0.17692, "ay":0.00835, "alpha":-0.9532, "fx":[-4.81478,3.14885,-1.03545,-8.99908], "fy":[-5.93586,-1.75157,6.21206,2.02776]}, - {"t":0.50711, "x":6.27237, "y":4.78538, "heading":-1.01353, "vx":0.37192, "vy":1.96386, "omega":1.04507, "ax":-0.20093, "ay":-0.0278, "alpha":0.45952, "fx":[-4.49547,-6.74168,-2.14849,0.09771], "fy":[2.96003,-1.63316,-3.87936,0.71382]}, - {"t":0.55321, "x":6.2893, "y":4.87589, "heading":-0.96535, "vx":0.36265, "vy":1.96258, "omega":1.06626, "ax":-0.22556, "ay":-0.06699, "alpha":-1.09822, "fx":[-5.05126,3.47735,-2.40727,-10.93588], "fy":[-8.31421,-2.4296,6.09902,0.21438]}, - {"t":0.59931, "x":6.30578, "y":4.9663, "heading":-0.91619, "vx":0.35226, "vy":1.95949, "omega":1.01563, "ax":-0.2504, "ay":-0.10706, "alpha":0.41264, "fx":[-5.93226,-7.15248,-2.34783,-1.12761], "fy":[1.2424,-3.56225,-4.78246,0.02218]}, - {"t":0.64541, "x":6.32175, "y":5.05652, "heading":-0.86937, "vx":0.34071, "vy":1.95456, "omega":1.03465, "ax":-0.27535, "ay":-0.14742, "alpha":-1.16538, "fx":[-5.14061,3.20046,-3.96437,-12.30544], "fy":[-10.19035,-3.02553,5.31554,-1.8493]}, - {"t":0.69151, "x":6.33716, "y":5.14647, "heading":-0.82167, "vx":0.32802, "vy":1.94776, "omega":0.98093, "ax":-0.30036, "ay":-0.1879, "alpha":0.29034, "fx":[-7.13337,-6.98297,-2.79865,-2.94905], "fy":[-1.08962,-5.27395,-5.12355,-0.93924]}, - {"t":0.73761, "x":6.35197, "y":5.23606, "heading":-0.77645, "vx":0.31417, "vy":1.9391, "omega":0.99431, "ax":-0.32543, "ay":-0.22841, "alpha":-1.15515, "fx":[-5.25027,2.32548,-5.51053,-13.08627], "fy":[-11.4823,-3.6463,3.92945,-3.90656]}, - {"t":0.78371, "x":6.3661, "y":5.32521, "heading":-0.73061, "vx":0.29917, "vy":1.92857, "omega":0.94106, "ax":-0.35054, "ay":-0.26894, "alpha":0.10268, "fx":[-7.94677,-6.36373,-3.64445,-5.22747], "fy":[-3.87837,-6.59767,-5.01463,-2.29535]}, - {"t":0.82981, "x":6.37952, "y":5.41383, "heading":-0.68723, "vx":0.28301, "vy":1.91617, "omega":0.94579, "ax":-0.3757, "ay":-0.30948, "alpha":-1.07667, "fx":[-5.51739,0.93784,-6.90592,-13.36113], "fy":[-12.2662,-4.42245,2.03278,-5.81099]}, - {"t":0.87591, "x":6.39217, "y":5.50184, "heading":-0.64363, "vx":0.26569, "vy":1.9019, "omega":0.89616, "ax":-0.40092, "ay":-0.35002, "alpha":-0.13213, "fx":[-8.30434,-5.49895,-4.95283,-7.7582], "fy":[-6.91672,-7.46285,-4.65747,-4.11135]}, - {"t":0.92201, "x":6.40399, "y":5.58915, "heading":-0.60232, "vx":0.24721, "vy":1.88577, "omega":0.89007, "ax":-0.4262, "ay":-0.39059, "alpha":-0.94552, "fx":[-6.01254,-0.82257,-8.08042,-13.27037], "fy":[-12.68166,-5.42382,-0.23387,-7.49172]}, - {"t":0.96811, "x":6.41494, "y":5.67567, "heading":-0.56128, "vx":0.22756, "vy":1.86776, "omega":0.84648, "ax":-0.45154, "ay":-0.43118, "alpha":-0.3904, "fx":[-8.23418,-4.61878,-6.6967,-10.31208], "fy":[-9.97552,-7.89761,-4.28223,-6.36015]}, - {"t":1.01421, "x":6.42495, "y":5.76131, "heading":-0.52226, "vx":0.20674, "vy":1.84788, "omega":0.82848, "ax":-0.47695, "ay":-0.47181, "alpha":-0.78197, "fx":[-6.7301,-2.7939,-9.04107,-12.97724], "fy":[-12.89227,-6.64512,-2.70894,-8.95609]}, - {"t":1.06032, "x":6.43397, "y":5.846, "heading":-0.48407, "vx":0.18475, "vy":1.82613, "omega":0.79243, "ax":-0.50244, "ay":-0.51248, "alpha":-0.64769, "fx":[-7.8271,-3.93114,-8.78698,-12.68291], "fy":[-12.84902,-7.9932,-4.09726,-8.95308]}, - {"t":1.10642, "x":6.44196, "y":5.92964, "heading":-0.44753, "vx":0.16159, "vy":1.80251, "omega":0.76257, "ax":-0.52802, "ay":-0.55322, "alpha":-0.60699, "fx":[-7.60674,-4.83231,-9.85317,-12.62758], "fy":[-13.04433,-8.02348,-5.24907,-10.26992]}, - {"t":1.15252, "x":6.44884, "y":6.01215, "heading":-0.41238, "vx":0.13725, "vy":1.777, "omega":0.73459, "ax":-0.5537, "ay":-0.59404, "alpha":-0.88045, "fx":[-7.23338,-3.5985,-11.07563,-14.71049], "fy":[-15.37749,-7.90036,-4.26551,-11.74262]}, - {"t":1.19862, "x":6.45458, "y":6.09344, "heading":-0.37851, "vx":0.11172, "vy":1.74962, "omega":0.694, "ax":-0.57948, "ay":-0.63494, "alpha":-0.43977, "fx":[-8.54755,-6.83135,-10.61422,-12.3304], "fy":[-13.24729,-9.46443,-7.74826,-11.53111]}, - {"t":1.24472, "x":6.45912, "y":6.17342, "heading":-0.34652, "vx":0.08501, "vy":1.72034, "omega":0.67373, "ax":-0.6054, "ay":-0.67595, "alpha":-1.06942, "fx":[-6.62045,-3.71835,-13.39816,-16.30024], "fy":[-17.46671,-7.78691,-4.88484,-14.56463]}, - {"t":1.29082, "x":6.46239, "y":6.25202, "heading":-0.31546, "vx":0.0571, "vy":1.68918, "omega":0.62442, "ax":-0.63145, "ay":-0.71708, "alpha":-0.29612, "fx":[-9.44048,-8.73186,-11.43953,-12.14814], "fy":[-13.56391,-10.85624,-10.14765,-12.8553]}, - {"t":1.33692, "x":6.46435, "y":6.32913, "heading":-0.28668, "vx":0.02799, "vy":1.65612, "omega":0.61077, "ax":-0.65765, "ay":-0.75834, "alpha":-1.20249, "fx":[-6.14181,-4.31496,-15.60471,-17.43154], "fy":[-19.09633,-7.80659,-5.97977,-17.26948]}, - {"t":1.38302, "x":6.46495, "y":6.40467, "heading":-0.25852, "vx":-0.00233, "vy":1.62116, "omega":0.55534, "ax":-0.68403, "ay":-0.79977, "alpha":-0.18601, "fx":[-10.20205,-10.51783,-12.41668,-12.10091], "fy":[-14.01445,-12.11559,-12.43138,-14.33023]}, - {"t":1.42912, "x":6.46411, "y":6.47856, "heading":-0.23292, "vx":-0.03386, "vy":1.58429, "omega":0.54676, "ax":-0.7106, "ay":-0.84137, "alpha":-1.27545, "fx":[-5.91473,-5.34889,-17.58261,-18.14844], "fy":[-20.31047,-8.07675,-7.51093,-19.74462]}, - {"t":1.47522, "x":6.4618, "y":6.5507, "heading":-0.20771, "vx":-0.06662, "vy":1.54551, "omega":0.48796, "ax":-0.73739, "ay":-0.88317, "alpha":-0.11545, "fx":[-10.78562,-12.18857,-13.59747,-12.19453], "fy":[-14.60475,-13.19584,-14.59881,-16.0077]}, - {"t":1.52132, "x":6.45794, "y":6.62101, "heading":-0.18521, "vx":-0.10062, "vy":1.50479, "omega":0.48264, "ax":-0.76442, "ay":-0.92519, "alpha":-1.29375, "fx":[-5.9698,-6.74312,-19.30704,-18.53372], "fy":[-21.19183,-8.62791,-9.40124,-21.96514]}, - {"t":1.56742, "x":6.45249, "y":6.6894, "heading":-0.16296, "vx":-0.13586, "vy":1.46214, "omega":0.423, "ax":-0.79171, "ay":-0.96746, "alpha":-0.08524, "fx":[-11.24165,-13.71603,-14.93788,-12.46352], "fy":[-15.36917,-14.14732,-16.62169,-17.84354]}, - {"t":1.61352, "x":6.44539, "y":6.75577, "heading":-0.14346, "vx":-0.17235, "vy":1.41754, "omega":0.41907, "ax":-0.81932, "ay":-1.01001, "alpha":-1.26828, "fx":[-6.26531,-8.42451,-20.82691,-18.66772], "fy":[-21.82054,-9.41814,-11.57733,-23.97971]}, - {"t":1.65962, "x":6.43657, "y":6.82005, "heading":-0.12415, "vx":-0.21012, "vy":1.37098, "omega":0.3606, "ax":-0.84726, "ay":-1.05287, "alpha":-0.09028, "fx":[-11.7293,-15.01802,-16.28682,-12.99812], "fy":[-16.39764,-15.12884,-18.41755,-19.68635]}, - {"t":1.70572, "x":6.42598, "y":6.88214, "heading":-0.10752, "vx":-0.24918, "vy":1.32244, "omega":0.35644, "ax":-0.87558, "ay":-1.09608, "alpha":-1.21074, "fx":[-6.76981,-10.3108,-22.18273,-18.64175], "fy":[-22.28748,-10.41556,-13.95651,-25.82844]}, - {"t":1.75183, "x":6.41356, "y":6.94194, "heading":-0.09109, "vx":-0.28955, "vy":1.27191, "omega":0.30062, "ax":-0.90432, "ay":-1.13968, "alpha":-0.1192, "fx":[-12.40991,-16.03282,-17.49308,-13.87017], "fy":[-17.7615,-16.30126,-19.92413,-21.3844]}, - {"t":1.79793, "x":6.39926, "y":6.99936, "heading":-0.07723, "vx":-0.33124, "vy":1.21937, "omega":0.29513, "ax":-0.93354, "ay":-1.18371, "alpha":-1.12994, "fx":[-7.58664,-12.23022,-23.28249,-18.63888], "fy":[-22.77513,-11.7229,-16.36643,-27.41868]}, - {"t":1.84403, "x":6.38299, "y":7.05432, "heading":-0.06362, "vx":-0.37427, "vy":1.1648, "omega":0.24304, "ax":-0.96328, "ay":-1.22822, "alpha":-0.16309, "fx":[-13.24736,-16.83495,-18.60546,-15.01782], "fy":[-19.39817,-17.62771,-21.21526,-22.98576]}, - {"t":1.89013, "x":6.36472, "y":7.10671, "heading":-0.05242, "vx":-0.41868, "vy":1.10818, "omega":0.23552, "ax":-0.99363, "ay":-1.27327, "alpha":-1.02452, "fx":[-8.96775,-13.94737,-23.8884,-18.90869], "fy":[-23.53224,-13.59127,-18.57084,-28.51183]}, - {"t":1.93623, "x":6.34436, "y":7.15644, "heading":-0.04156, "vx":-0.46449, "vy":1.04948, "omega":0.18829, "ax":-1.02463, "ay":-1.31892, "alpha":-0.2321, "fx":[-14.00201,-17.54052,-19.87948,-16.34083], "fy":[-21.20647,-18.8676,-22.40608,-24.74498]}, - {"t":1.98233, "x":6.32186, "y":7.20342, "heading":-0.03288, "vx":-0.51173, "vy":0.98868, "omega":0.17759, "ax":-1.05638, "ay":-1.36524, "alpha":-0.8885, "fx":[-10.96746,-15.4295,-23.96396,-19.50173], "fy":[-24.60824,-16.07387,-20.53588,-29.07025]}, - {"t":2.02843, "x":6.29714, "y":7.24755, "heading":-0.0247, "vx":-0.56043, "vy":0.92574, "omega":0.13663, "ax":-1.08897, "ay":-1.4123, "alpha":-0.2909, "fx":[-15.10614,-18.08359,-20.90276,-17.92506], "fy":[-23.27099,-20.45193,-23.42938,-26.24842]}, - {"t":2.07453, "x":6.27015, "y":7.28873, "heading":-0.0184, "vx":-0.61063, "vy":0.86063, "omega":0.12322, "ax":-1.12248, "ay":-1.46019, "alpha":-0.799, "fx":[-12.69646,-16.80512,-24.42073,-20.31174], "fy":[-25.89547,-18.27998,-22.38866,-30.00408]}, - {"t":2.12063, "x":6.24081, "y":7.32685, "heading":-0.01272, "vx":-0.66238, "vy":0.79331, "omega":0.08638, "ax":-1.15704, "ay":-1.50902, "alpha":-0.23564, "fx":[-17.16518,-18.84974,-21.0948,-19.40984], "fy":[-25.22947,-22.98453,-24.66916,-26.91398]}, - {"t":2.16673, "x":6.20904, "y":7.36182, "heading":-0.00873, "vx":-0.71572, "vy":0.72375, "omega":0.07552, "ax":-1.19277, "ay":-1.55888, "alpha":-0.61744, "fx":[-15.48474,-18.10764,-23.95662,-21.33324], "fy":[-27.38665,-21.53778,-24.16077,-30.00945]}, - {"t":2.21283, "x":6.17478, "y":7.39353, "heading":-0.00525, "vx":-0.7707, "vy":0.65188, "omega":0.04705, "ax":-1.2298, "ay":-1.6099, "alpha":-0.27905, "fx":[-18.31499,-19.71046,-22.35097,-20.95493], "fy":[-27.23968,-24.59927,-25.99488,-28.63501]}, - {"t":2.25893, "x":6.13794, "y":7.42187, "heading":-0.00308, "vx":-0.8274, "vy":0.57766, "omega":0.03419, "ax":-1.2683, "ay":-1.66222, "alpha":-0.31116, "fx":[-18.98135,-20.01821,-22.95756,-21.92003], "fy":[-28.43335,-25.49408,-26.53114,-29.47003]}, - {"t":2.30503, "x":6.09845, "y":7.44674, "heading":-0.00151, "vx":-0.88587, "vy":0.50104, "omega":0.01984, "ax":-1.30843, "ay":-1.71598, "alpha":-0.21718, "fx":[-20.26407,-20.95145,-23.0019,-22.31377], "fy":[-29.05254,-27.00212,-27.68975,-29.73966]}, - {"t":2.35113, "x":6.05622, "y":7.46801, "heading":-0.00059, "vx":-0.94619, "vy":0.42193, "omega":0.00983, "ax":-1.35039, "ay":-1.77136, "alpha":-0.14476, "fx":[-21.45363,-21.83356,-23.19996,-22.8192], "fy":[-29.77989,-28.41346,-28.79369,-30.15946]}, - {"t":2.39723, "x":6.01117, "y":7.48558, "heading":-0.00014, "vx":-1.00844, "vy":0.34027, "omega":0.00316, "ax":-1.3944, "ay":-1.82854, "alpha":-0.07138, "fx":[-22.62938,-22.80573,-23.47962,-23.30235], "fy":[-30.48098,-29.807,-29.98371,-30.65687]}, - {"t":2.44333, "x":5.96319, "y":7.49932, "heading":0.00001, "vx":-1.07272, "vy":0.25597, "omega":-0.00013, "ax":-1.44071, "ay":-1.88776, "alpha":0.00285, "fx":[-23.80581,-23.86087,-23.83441,-23.77838], "fy":[-31.1705,-31.19676,-31.25221,-31.22495]}, - {"t":2.48944, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-1.13914, "vy":0.16894, "omega":0.0, "ax":-1.48941, "ay":-1.68201, "alpha":0.0, "fx":[-24.62501,-24.62499,-24.62499,-24.62501], "fy":[-27.80945,-27.80945,-27.80944,-27.80944]}, - {"t":2.53618, "x":5.85733, "y":7.51518, "heading":0.0, "vx":-1.20877, "vy":0.09031, "omega":0.0, "ax":-1.43518, "ay":-1.15711, "alpha":0.0, "fx":[-23.78021,-23.67368,-23.77863,-23.68143], "fy":[-19.20987,-19.04945,-19.21582,-19.04922]}, - {"t":2.58293, "x":5.79926, "y":7.51813, "heading":0.0, "vx":-1.27586, "vy":0.03622, "omega":0.0, "ax":-1.36437, "ay":-0.656, "alpha":0.0, "fx":[-22.5577,-22.5577,-22.5577,-22.5577], "fy":[-10.84591,-10.84591,-10.84591,-10.84591]}, - {"t":2.62968, "x":5.73813, "y":7.51911, "heading":0.0, "vx":-1.33963, "vy":0.00556, "omega":0.0, "ax":-1.29171, "ay":-0.23711, "alpha":0.0, "fx":[-21.35641,-21.35641,-21.35641,-21.35641], "fy":[-3.92026,-3.92026,-3.92026,-3.92026]}, - {"t":2.67642, "x":5.67409, "y":7.51911, "heading":0.0, "vx":-1.40002, "vy":-0.00553, "omega":0.0, "ax":-1.22127, "ay":-0.04645, "alpha":0.0, "fx":[-20.19184,-20.19184,-20.19184,-20.19184], "fy":[-0.76791,-0.76791,-0.76791,-0.76791]}, - {"t":2.72317, "x":5.60731, "y":7.5188, "heading":0.0, "vx":-1.45711, "vy":-0.0077, "omega":0.0, "ax":-1.15282, "ay":-0.02576, "alpha":0.0, "fx":[-19.06012,-19.06012,-19.06012,-19.06012], "fy":[-0.42587,-0.42587,-0.42587,-0.42587]}, - {"t":2.76992, "x":5.53794, "y":7.51842, "heading":0.0, "vx":-1.511, "vy":-0.0089, "omega":0.0, "ax":-1.08615, "ay":-0.01553, "alpha":0.0, "fx":[-17.95777,-17.95777,-17.95777,-17.95777], "fy":[-0.25669,-0.25669,-0.25669,-0.25669]}, - {"t":2.81666, "x":5.46611, "y":7.51798, "heading":0.0, "vx":-1.56177, "vy":-0.00963, "omega":0.0, "ax":-1.02106, "ay":-0.01033, "alpha":0.0, "fx":[-16.88169,-16.88169,-16.88169,-16.88169], "fy":[-0.17085,-0.17085,-0.17085,-0.17085]}, - {"t":2.86341, "x":5.39199, "y":7.51752, "heading":0.0, "vx":-1.6095, "vy":-0.01011, "omega":0.0, "ax":-0.9574, "ay":-0.00787, "alpha":0.0, "fx":[-15.82909,-15.82909,-15.82909,-15.82909], "fy":[-0.1302,-0.1302,-0.1302,-0.1302]}, - {"t":2.91016, "x":5.31571, "y":7.51704, "heading":0.0, "vx":-1.65426, "vy":-0.01048, "omega":0.0, "ax":-0.895, "ay":-0.00669, "alpha":0.0, "fx":[-14.79747,-14.79747,-14.79747,-14.79747], "fy":[-0.11063,-0.11063,-0.11063,-0.11063]}, - {"t":2.9569, "x":5.2374, "y":7.51654, "heading":0.0, "vx":-1.6961, "vy":-0.01079, "omega":0.0, "ax":-0.83374, "ay":-0.00566, "alpha":0.0, "fx":[-13.7846,-13.7846,-13.7846,-13.7846], "fy":[-0.09357,-0.09357,-0.09357,-0.09357]}, - {"t":3.00365, "x":5.1572, "y":7.51603, "heading":0.0, "vx":-1.73507, "vy":-0.01106, "omega":0.0, "ax":-0.77349, "ay":-0.00408, "alpha":0.0, "fx":[-12.78847,-12.78847,-12.78847,-12.78847], "fy":[-0.06745,-0.06745,-0.06745,-0.06745]}, - {"t":3.0504, "x":5.07525, "y":7.51551, "heading":0.0, "vx":-1.77123, "vy":-0.01125, "omega":0.0, "ax":-0.71415, "ay":-0.00103, "alpha":0.0, "fx":[-11.80728,-11.80728,-11.80728,-11.80728], "fy":[-0.01704,-0.01704,-0.01704,-0.01704]}, - {"t":3.09714, "x":4.99167, "y":7.51498, "heading":0.0, "vx":-1.80461, "vy":-0.01129, "omega":0.0, "ax":-0.65561, "ay":0.00414, "alpha":0.0, "fx":[-10.83942,-10.83942,-10.83942,-10.83942], "fy":[0.06847,0.06847,0.06847,0.06847]}, - {"t":3.14389, "x":4.90659, "y":7.51446, "heading":0.0, "vx":-1.83526, "vy":-0.0111, "omega":0.0, "ax":-0.59778, "ay":0.01038, "alpha":0.0, "fx":[-9.88344,-9.88344,-9.88344,-9.88344], "fy":[0.17165,0.17165,0.17165,0.17165]}, - {"t":3.19064, "x":4.82014, "y":7.51395, "heading":0.0, "vx":-1.86321, "vy":-0.01062, "omega":0.0, "ax":-0.54061, "ay":0.01489, "alpha":0.0, "fx":[-8.93806,-8.93806,-8.93806,-8.93806], "fy":[0.24625,0.24625,0.24625,0.24625]}, - {"t":3.23738, "x":4.73246, "y":7.51347, "heading":0.0, "vx":-1.88848, "vy":-0.00992, "omega":0.0, "ax":-0.484, "ay":0.01572, "alpha":0.0, "fx":[-8.00214,-8.00214,-8.00214,-8.00214], "fy":[0.25993,0.25993,0.25993,0.25993]}, - {"t":3.28413, "x":4.64365, "y":7.51303, "heading":0.0, "vx":-1.9111, "vy":-0.00918, "omega":0.0, "ax":-0.4279, "ay":0.01429, "alpha":0.0, "fx":[-7.07465,-7.07465,-7.07465,-7.07465], "fy":[0.2363,0.2363,0.2363,0.2363]}, - {"t":3.33088, "x":4.55384, "y":7.51261, "heading":0.0, "vx":-1.93111, "vy":-0.00852, "omega":0.0, "ax":-0.37226, "ay":0.01272, "alpha":0.0, "fx":[-6.15475,-6.15475,-6.15475,-6.15475], "fy":[0.21034,0.21034,0.21034,0.21034]}, - {"t":3.37762, "x":4.46316, "y":7.51223, "heading":0.0, "vx":-1.94851, "vy":-0.00792, "omega":0.0, "ax":-0.31704, "ay":0.01152, "alpha":0.0, "fx":[-5.24176,-5.24176,-5.24176,-5.24176], "fy":[0.19047,0.19047,0.19047,0.19047]}, - {"t":3.42437, "x":4.37173, "y":7.51187, "heading":0.0, "vx":-1.96333, "vy":-0.00738, "omega":0.0, "ax":-0.26221, "ay":0.01059, "alpha":0.0, "fx":[-4.33525,-4.33525,-4.33525,-4.33525], "fy":[0.17502,0.17502,0.17502,0.17502]}, - {"t":3.47112, "x":4.27966, "y":7.51154, "heading":0.0, "vx":-1.97559, "vy":-0.00689, "omega":0.0, "ax":-0.20778, "ay":0.00979, "alpha":0.0, "fx":[-3.4353,-3.4353,-3.4353,-3.4353], "fy":[0.16185,0.16185,0.16185,0.16185]}, - {"t":3.51786, "x":4.18708, "y":7.51123, "heading":0.0, "vx":-1.9853, "vy":-0.00643, "omega":0.0, "ax":-0.15382, "ay":0.00905, "alpha":0.0, "fx":[-2.54319,-2.54319,-2.54319,-2.54319], "fy":[0.14959,0.14959,0.14959,0.14959]}, - {"t":3.56461, "x":4.09411, "y":7.51093, "heading":0.0, "vx":-1.99249, "vy":-0.00601, "omega":0.0, "ax":-0.10064, "ay":0.00831, "alpha":0.0, "fx":[-1.664,-1.664,-1.664,-1.664], "fy":[0.13739,0.13739,0.13739,0.13739]}, - {"t":3.61136, "x":4.00086, "y":7.51066, "heading":0.0, "vx":-1.99719, "vy":-0.00562, "omega":0.0, "ax":-0.04958, "ay":0.00753, "alpha":0.0, "fx":[-0.81969,-0.81969,-0.81969,-0.81969], "fy":[0.12455,0.12455,0.12455,0.12455]}, - {"t":3.6581, "x":3.90744, "y":7.51041, "heading":0.0, "vx":-1.99951, "vy":-0.00527, "omega":0.0, "ax":-0.00902, "ay":0.00665, "alpha":0.0, "fx":[-0.14911,-0.14911,-0.14911,-0.14911], "fy":[0.11,0.11,0.11,0.11]}, - {"t":3.70485, "x":3.81396, "y":7.51017, "heading":0.0, "vx":-1.99993, "vy":-0.00496, "omega":0.0, "ax":-0.00007, "ay":0.00558, "alpha":0.0, "fx":[-0.00121,-0.00121,-0.00121,-0.00121], "fy":[0.09219,0.09219,0.09219,0.09219]}, - {"t":3.7516, "x":3.72047, "y":7.50994, "heading":0.0, "vx":-1.99994, "vy":-0.0047, "omega":0.0, "ax":0.00148, "ay":0.00433, "alpha":0.0, "fx":[0.02442,0.02442,0.02442,0.02442], "fy":[0.07164,0.07164,0.07164,0.07164]}, - {"t":3.79834, "x":3.62698, "y":7.50973, "heading":0.0, "vx":-1.99987, "vy":-0.00449, "omega":0.0, "ax":0.00197, "ay":0.00283, "alpha":0.0, "fx":[0.03251,0.03251,0.03251,0.03251], "fy":[0.04686,0.04686,0.04686,0.04686]}, - {"t":3.84509, "x":3.5335, "y":7.50952, "heading":0.0, "vx":-1.99978, "vy":-0.00436, "omega":0.0, "ax":0.00261, "ay":0.00113, "alpha":0.0, "fx":[0.04312,0.04312,0.04312,0.04312], "fy":[0.0186,0.0186,0.0186,0.0186]}, - {"t":3.89184, "x":3.44002, "y":7.50932, "heading":0.0, "vx":-1.99965, "vy":-0.00431, "omega":0.0, "ax":0.0332, "ay":-0.00076, "alpha":0.0, "fx":[0.54891,0.54891,0.54891,0.54891], "fy":[-0.01255,-0.01255,-0.01255,-0.01255]}, - {"t":3.93858, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.9981, "vy":-0.00434, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.35685, "vy":2.47141, "omega":1.58001, "ax":0.00959, "ay":0.06453, "alpha":-0.04393, "fx":[-0.04874,0.36576,0.36573,-0.04874], "fy":[0.85969,0.85969,1.27411,1.27412]}, + {"t":0.03403, "x":6.08028, "y":3.87652, "heading":-1.51702, "vx":0.35718, "vy":2.47361, "omega":1.57852, "ax":-0.00009, "ay":0.00002, "alpha":-0.07582, "fx":[-0.33933,0.37496,0.33651,-0.37778], "fy":[-0.37609,-0.33765,0.37664,0.33819]}, + {"t":0.06807, "x":6.09244, "y":3.96071, "heading":-1.4633, "vx":0.35717, "vy":2.47361, "omega":1.57594, "ax":-0.0001, "ay":0.00001, "alpha":-0.10129, "fx":[-0.42541,0.52478,0.42224,-0.52795], "fy":[-0.52614,-0.4236,0.52659,0.42405]}, + {"t":0.1021, "x":6.10459, "y":4.0449, "heading":-1.40966, "vx":0.35717, "vy":2.47361, "omega":1.57249, "ax":-0.00005, "ay":0.00001, "alpha":-0.12017, "fx":[-0.46942,0.64971,0.4678,-0.65133], "fy":[-0.65041,-0.4685,0.65064,0.46873]}, + {"t":0.13614, "x":6.11675, "y":4.12909, "heading":-1.35614, "vx":0.35717, "vy":2.47361, "omega":1.5684, "ax":0.00001, "ay":0.0, "alpha":-0.13258, "fx":[-0.47776,0.74443,0.47797,-0.74421], "fy":[-0.74434,-0.47788,0.7443,0.47785]}, + {"t":0.17017, "x":6.12891, "y":4.21327, "heading":-1.30276, "vx":0.35717, "vy":2.47361, "omega":1.56389, "ax":0.00006, "ay":-0.00001, "alpha":-0.13898, "fx":[-0.45759,0.80687,0.45959,-0.80487], "fy":[-0.80602,-0.45874,0.80572,0.45844]}, + {"t":0.20421, "x":6.14106, "y":4.29746, "heading":-1.24953, "vx":0.35717, "vy":2.47361, "omega":1.55916, "ax":0.00011, "ay":-0.00002, "alpha":-0.14016, "fx":[-0.41677,0.83796,0.4204,-0.83433], "fy":[-0.83641,-0.41885,0.83588,0.41832]}, + {"t":0.23824, "x":6.15322, "y":4.38165, "heading":-1.19647, "vx":0.35717, "vy":2.47361, "omega":1.55439, "ax":0.00015, "ay":-0.00002, "alpha":-0.13717, "fx":[-0.36317,0.84141,0.36819,-0.83638], "fy":[-0.83926,-0.36604,0.83853,0.36531]}, + {"t":0.27228, "x":6.16538, "y":4.46584, "heading":-1.14356, "vx":0.35718, "vy":2.47361, "omega":1.54972, "ax":0.00019, "ay":-0.00003, "alpha":-0.13134, "fx":[-0.30411,0.82371,0.31025,-0.81757], "fy":[-0.82109,-0.30762,0.8202,0.30673]}, + {"t":0.30631, "x":6.17753, "y":4.55003, "heading":-1.09082, "vx":0.35719, "vy":2.47361, "omega":1.54525, "ax":0.00021, "ay":-0.00003, "alpha":-0.1242, "fx":[-0.24569,0.79375,0.25264,-0.7868], "fy":[-0.79077,-0.24966,0.78977,0.24866]}, + {"t":0.34035, "x":6.18969, "y":4.63422, "heading":-1.03823, "vx":0.35719, "vy":2.47361, "omega":1.54102, "ax":0.00022, "ay":-0.00003, "alpha":-0.11751, "fx":[-0.19239,0.76275,0.19982,-0.75532], "fy":[-0.75957,-0.19664,0.7585,0.19557]}, + {"t":0.37438, "x":6.20185, "y":4.71841, "heading":-0.98578, "vx":0.3572, "vy":2.4736, "omega":1.53702, "ax":0.00023, "ay":-0.00003, "alpha":-0.11318, "fx":[-0.1465,0.74377,0.15409,-0.73618], "fy":[-0.74052,-0.15084,0.73943,0.14975]}, + {"t":0.40842, "x":6.214, "y":4.8026, "heading":-0.93347, "vx":0.35721, "vy":2.4736, "omega":1.53317, "ax":0.00022, "ay":-0.00003, "alpha":-0.11338, "fx":[-0.1079,0.75182,0.11529,-0.74443], "fy":[-0.74866,-0.11212,0.74759,0.11106]}, + {"t":0.44245, "x":6.22616, "y":4.88679, "heading":-0.88129, "vx":0.35722, "vy":2.4736, "omega":1.52931, "ax":0.00021, "ay":-0.00003, "alpha":-0.12042, "fx":[-0.07348,0.80311,0.08035,-0.79624], "fy":[-0.80017,-0.07741,0.79918,0.07642]}, + {"t":0.47649, "x":6.23832, "y":4.97097, "heading":-0.82924, "vx":0.35722, "vy":2.4736, "omega":1.52521, "ax":0.00018, "ay":-0.00003, "alpha":-0.1369, "fx":[-0.03702,0.91544,0.04304,-0.90943], "fy":[-0.91286,-0.04046,0.91201,0.0396]}, + {"t":0.51052, "x":6.25048, "y":5.05516, "heading":-0.77732, "vx":0.35723, "vy":2.4736, "omega":1.52055, "ax":0.00015, "ay":-0.00002, "alpha":-0.16556, "fx":[0.01135,1.10697,-0.00648,-1.1021], "fy":[-1.10488,0.00857,1.10419,-0.00926]}, + {"t":0.54456, "x":6.26264, "y":5.13935, "heading":-0.72557, "vx":0.35723, "vy":2.4736, "omega":1.51492, "ax":0.0001, "ay":-0.00001, "alpha":-0.20949, "fx":[0.08529,1.39688,-0.08183,-1.39342], "fy":[-1.39539,0.08332,1.39491,-0.0838]}, + {"t":0.57859, "x":6.27479, "y":5.22354, "heading":-0.67401, "vx":0.35724, "vy":2.4736, "omega":1.50779, "ax":0.00006, "ay":-0.00001, "alpha":-0.27187, "fx":[0.20255,1.80349,-0.20067,-1.80162], "fy":[-1.80268,0.20148,1.80243,-0.20174]}, + {"t":0.61263, "x":6.28695, "y":5.30773, "heading":-0.6227, "vx":0.35724, "vy":2.4736, "omega":1.49853, "ax":0.00001, "ay":0.0, "alpha":-0.35622, "fx":[0.38507,2.34529,-0.38486,-2.34508], "fy":[-2.34519,0.38496,2.34518,-0.38497]}, + {"t":0.64666, "x":6.29911, "y":5.39192, "heading":-0.57169, "vx":0.35724, "vy":2.4736, "omega":1.48641, "ax":-0.00004, "ay":0.00001, "alpha":-0.46614, "fx":[0.65884,3.03842,-0.66025,-3.03983], "fy":[-3.03901,0.65966,3.03924,-0.65943]}, + {"t":0.6807, "x":6.31127, "y":5.47611, "heading":-0.5211, "vx":0.35724, "vy":2.4736, "omega":1.47055, "ax":-0.00009, "ay":0.00001, "alpha":-0.60555, "fx":[1.05393,3.89829,-1.05677,-3.90113], "fy":[-3.89949,1.05557,3.89993,-1.05513]}, + {"t":0.71473, "x":6.32343, "y":5.5603, "heading":-0.47105, "vx":0.35724, "vy":2.4736, "omega":1.44994, "ax":-0.00012, "ay":0.00002, "alpha":-0.77843, "fx":[1.60378,4.93692,-1.60772,-4.94085], "fy":[-4.93859,1.60605,4.93918,-1.60545]}, + {"t":0.74877, "x":6.33559, "y":5.64448, "heading":-0.42171, "vx":0.35723, "vy":2.4736, "omega":1.42344, "ax":-0.00014, "ay":0.00002, "alpha":-0.98913, "fx":[2.34518,6.16517,-2.34977,-6.16975], "fy":[-6.16712,2.34782,6.1678,-2.34712]}, + {"t":0.7828, "x":6.34774, "y":5.72867, "heading":-0.37326, "vx":0.35723, "vy":2.4736, "omega":1.38978, "ax":-0.00014, "ay":0.00002, "alpha":-1.24208, "fx":[3.31702,7.59043,-3.32174,-7.59513], "fy":[-7.59243,3.31975,7.59313,-3.31902]}, + {"t":0.81684, "x":6.3599, "y":5.81286, "heading":-0.32596, "vx":0.35722, "vy":2.4736, "omega":1.3475, "ax":-0.00013, "ay":0.00002, "alpha":-1.54206, "fx":[4.55998,9.21899,-4.56434,-9.22332], "fy":[-9.22083,4.56251,9.22147,-4.56182]}, + {"t":0.85087, "x":6.37206, "y":5.89705, "heading":-0.2801, "vx":0.35722, "vy":2.4736, "omega":1.29502, "ax":-0.00011, "ay":0.00002, "alpha":-1.89381, "fx":[6.11429,11.05396,-6.11795,-11.0576], "fy":[-11.05551,6.11642,11.05605,-6.11582]}, + {"t":0.88491, "x":6.38422, "y":5.98124, "heading":-0.23602, "vx":0.35721, "vy":2.4736, "omega":1.23056, "ax":-0.0001, "ay":0.00002, "alpha":-2.302, "fx":[8.0177,13.09653,-8.02086,-13.09966], "fy":[-13.09787,8.01955,13.09832,-8.01901]}, + {"t":0.91894, "x":6.39638, "y":6.06543, "heading":-0.19414, "vx":0.35721, "vy":2.4736, "omega":1.15222, "ax":-0.00016, "ay":0.00002, "alpha":-2.7705, "fx":[10.3003,15.34328,-10.3055,-15.34843], "fy":[-15.34551,10.30336,15.34619,-10.30245]}, + {"t":0.95298, "x":6.40853, "y":6.14962, "heading":-0.15492, "vx":0.35721, "vy":2.4736, "omega":1.05792, "ax":-0.00068, "ay":0.0001, "alpha":-3.30174, "fx":[12.97472,17.78176,-12.9974,-17.8042], "fy":[-17.79168,12.98806,17.79428,-12.98405]}, + {"t":0.98701, "x":6.42069, "y":6.23381, "heading":-0.11892, "vx":0.35718, "vy":2.47361, "omega":0.94555, "ax":-0.0039, "ay":0.00056, "alpha":-3.89581, "fx":[16.00368,20.365,-16.13315,-20.4934], "fy":[-20.42271,16.08059,20.43572,-16.05627]}, + {"t":1.02105, "x":6.43285, "y":6.31799, "heading":-0.08673, "vx":0.35705, "vy":2.47363, "omega":0.81295, "ax":-0.02238, "ay":0.00323, "alpha":-4.54946, "fx":[19.15147,22.8713,-19.89277,-23.60991], "fy":[-23.20978,19.59816,23.27212,-19.44703]}, + {"t":1.05508, "x":6.44498, "y":6.40219, "heading":-0.05907, "vx":0.35629, "vy":2.47374, "omega":0.65811, "ax":-0.12472, "ay":0.01785, "alpha":-5.25342, "fx":[21.21023,24.13103,-25.32641,-28.26297], "fy":[-26.07877,23.74578,26.33925,-22.82546]}, + {"t":1.08912, "x":6.45704, "y":6.48639, "heading":-0.03667, "vx":0.35204, "vy":2.47434, "omega":0.47931, "ax":-0.6681, "ay":0.09192, "alpha":-5.9187, "fx":[15.61826,17.61638,-37.57867,-39.83979], "fy":[-28.73054,29.80395,29.5205,-24.51486]}, + {"t":1.12315, "x":6.46863, "y":6.57066, "heading":-0.02035, "vx":0.3293, "vy":2.47747, "omega":0.27787, "ax":-3.13115, "ay":0.34792, "alpha":-4.96237, "fx":[-33.88957,-31.19751,-69.82477,-72.16274], "fy":[-25.80994,37.6347,29.03496,-17.85044]}, + {"t":1.15719, "x":6.47803, "y":6.65518, "heading":-0.0109, "vx":0.22274, "vy":2.48931, "omega":0.10898, "ax":-6.31307, "ay":0.29143, "alpha":-1.52102, "fx":[-102.77765,-101.6356,-106.13319,-106.96079], "fy":[-8.19795,18.46979,15.52628,-6.52469]}, + {"t":1.19122, "x":6.48195, "y":6.74007, "heading":-0.00719, "vx":0.00787, "vy":2.49923, "omega":0.05721, "ax":-7.11461, "ay":-0.32385, "alpha":-0.56784, "fx":[-117.09502,-117.56451,-118.12527,-117.73116], "fy":[-10.86865,-0.34461,-0.24762,-9.95664]}, + {"t":1.22526, "x":6.4781, "y":6.82494, "heading":-0.00524, "vx":-0.23427, "vy":2.48821, "omega":0.03788, "ax":-7.26265, "ay":-1.05365, "alpha":-0.29893, "fx":[-119.55056,-120.34365,-120.56926,-119.84282], "fy":[-20.56118,-15.0672,-14.39192,-19.66156]}, + {"t":1.25929, "x":6.46592, "y":6.90902, "heading":-0.00395, "vx":-0.48146, "vy":2.45235, "omega":0.02771, "ax":-7.20037, "ay":-1.79823, "alpha":-0.18983, "fx":[-118.49764,-119.33604,-119.57429,-118.77963], "fy":[-31.82688,-28.46509,-27.67497,-30.95712]}, + {"t":1.29333, "x":6.44536, "y":6.99144, "heading":-0.00301, "vx":-0.72652, "vy":2.39115, "omega":0.02125, "ax":-7.01736, "ay":-2.53428, "alpha":-0.13473, "fx":[-115.45883,-116.26896,-116.56915,-115.78736], "fy":[-43.42379,-41.18011,-40.39242,-42.60491]}, + {"t":1.32736, "x":6.41657, "y":7.07136, "heading":-0.00228, "vx":-0.96536, "vy":2.30489, "omega":0.01666, "ax":-6.65634, "ay":-3.41811, "alpha":-0.10263, "fx":[-109.45301,-110.23786,-110.64201,-109.87565], "fy":[-57.66714,-56.13898,-55.36401,-56.88233]}, + {"t":1.3614, "x":6.37986, "y":7.14783, "heading":-0.00172, "vx":-1.1919, "vy":2.18856, "omega":0.01317, "ax":-5.34074, "ay":-5.2615, "alpha":-0.07925, "fx":[-87.56061,-88.30309,-89.0378,-88.30173], "fy":[-87.7388,-86.9843,-86.23944,-86.99997]}, + {"t":1.39543, "x":6.3362, "y":7.21927, "heading":-0.00127, "vx":-1.37367, "vy":2.00948, "omega":0.01047, "ax":-4.3016, "ay":-6.1517, "alpha":-0.06312, "fx":[-70.44342,-70.99775,-71.79708,-71.24257], "fy":[-102.18107,-101.79247,-101.23323,-101.62839]}, + {"t":1.42946, "x":6.28696, "y":7.2841, "heading":-0.00091, "vx":-1.52008, "vy":1.80011, "omega":0.00833, "ax":-3.62654, "ay":-6.57897, "alpha":-0.05281, "fx":[-59.36903,-59.78623,-60.55045,-60.13114], "fy":[-109.09802,-108.86721,-108.44555,-108.68133]}, + {"t":1.4635, "x":6.23312, "y":7.34155, "heading":-0.00063, "vx":-1.64351, "vy":1.5762, "omega":0.00653, "ax":-3.17281, "ay":-6.81363, "alpha":-0.04592, "fx":[-51.93776,-52.26614,-52.97846,-52.64754], "fy":[-112.89467,-112.74107,-112.40902,-112.56632]}, + {"t":1.49753, "x":6.17535, "y":7.39125, "heading":-0.00041, "vx":-1.75149, "vy":1.3443, "omega":0.00497, "ax":-2.85195, "ay":-6.95693, "alpha":-0.04107, "fx":[-46.68661,-46.95602,-47.6198,-47.34786], "fy":[-115.21307,-115.10207,-114.82964,-114.9435]}, + {"t":1.53157, "x":6.11408, "y":7.43297, "heading":-0.00024, "vx":-1.84856, "vy":1.10752, "omega":0.00357, "ax":-2.61475, "ay":-7.05161, "alpha":-0.03749, "fx":[-42.80609,-43.03459,-43.65689,-43.42598], "fy":[-116.74486,-116.65967,-116.42865,-116.51612]}, + {"t":1.5656, "x":6.04965, "y":7.46658, "heading":-0.00012, "vx":-1.93755, "vy":0.86752, "omega":0.00229, "ax":-2.43298, "ay":-7.11795, "alpha":-0.03475, "fx":[-39.83283,-40.03176,-40.61931,-40.41814], "fy":[-117.81847,-117.75009,-117.54903,-117.61928]}, + {"t":1.59964, "x":5.9823, "y":7.49199, "heading":-0.00004, "vx":-2.02036, "vy":0.62526, "omega":0.00111, "ax":-2.28959, "ay":-7.16659, "alpha":-0.03259, "fx":[-37.48776,-37.66453,-38.22299,-38.04414], "fy":[-118.60577,-118.54897,-118.37034,-118.42873]}, + {"t":1.63367, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-2.09828, "vy":0.38134, "omega":0.0, "ax":-2.9525, "ay":-6.91694, "alpha":0.0, "fx":[-48.815,-48.815,-48.815,-48.815], "fy":[-114.36083,-114.36083,-114.36083,-114.36083]}, + {"t":1.67658, "x":5.81946, "y":7.51911, "heading":0.0, "vx":-2.22497, "vy":0.08455, "omega":0.0, "ax":-6.32896, "ay":-3.9668, "alpha":0.0, "fx":[-104.63953,-104.63953,-104.63953,-104.63953], "fy":[-65.58489,-65.58489,-65.58489,-65.58489]}, + {"t":1.71949, "x":5.71816, "y":7.51909, "heading":0.0, "vx":-2.49653, "vy":-0.08566, "omega":0.0, "ax":-0.0568, "ay":0.88777, "alpha":0.0, "fx":[-0.93905,-0.93905,-0.93905,-0.93905], "fy":[14.67797,14.67797,14.67797,14.67797]}, + {"t":1.7624, "x":5.61099, "y":7.51623, "heading":0.0, "vx":-2.49897, "vy":-0.04756, "omega":0.0, "ax":-0.00572, "ay":0.35819, "alpha":0.0, "fx":[-0.0945,-0.0945,-0.0945,-0.0945], "fy":[5.92215,5.92215,5.92215,5.92215]}, + {"t":1.80531, "x":5.50376, "y":7.51452, "heading":0.0, "vx":-2.49922, "vy":-0.03219, "omega":0.0, "ax":-0.00218, "ay":0.19404, "alpha":0.0, "fx":[-0.03597,-0.03597,-0.03597,-0.03597], "fy":[3.20818,3.20818,3.20818,3.20818]}, + {"t":1.84821, "x":5.39652, "y":7.51332, "heading":0.0, "vx":-2.49931, "vy":-0.02387, "omega":0.0, "ax":-0.00109, "ay":0.12968, "alpha":0.0, "fx":[-0.01808,-0.01808,-0.01808,-0.01808], "fy":[2.14407,2.14407,2.14407,2.14407]}, + {"t":1.89112, "x":5.28928, "y":7.51241, "heading":0.0, "vx":-2.49936, "vy":-0.0183, "omega":0.0, "ax":-0.00062, "ay":0.09453, "alpha":0.0, "fx":[-0.01017,-0.01017,-0.01017,-0.01017], "fy":[1.56282,1.56282,1.56282,1.56282]}, + {"t":1.93403, "x":5.18204, "y":7.51171, "heading":0.0, "vx":-2.49938, "vy":-0.01425, "omega":0.0, "ax":-0.00036, "ay":0.07156, "alpha":0.0, "fx":[-0.00602,-0.00602,-0.00602,-0.00602], "fy":[1.18305,1.18305,1.18305,1.18305]}, + {"t":1.97694, "x":5.07479, "y":7.51117, "heading":0.0, "vx":-2.4994, "vy":-0.01118, "omega":0.0, "ax":-0.00022, "ay":0.05521, "alpha":0.0, "fx":[-0.00365,-0.00365,-0.00365,-0.00365], "fy":[0.91282,0.91282,0.91282,0.91282]}, + {"t":2.01985, "x":4.96755, "y":7.51074, "heading":0.0, "vx":-2.49941, "vy":-0.00881, "omega":0.0, "ax":-0.00014, "ay":0.04305, "alpha":0.0, "fx":[-0.00224,-0.00224,-0.00224,-0.00224], "fy":[0.71179,0.71179,0.71179,0.71179]}, + {"t":2.06275, "x":4.8603, "y":7.5104, "heading":0.0, "vx":-2.49941, "vy":-0.00696, "omega":0.0, "ax":-0.00008, "ay":0.03377, "alpha":0.0, "fx":[-0.00139,-0.00139,-0.00139,-0.00139], "fy":[0.5584,0.5584,0.5584,0.5584]}, + {"t":2.10566, "x":4.75306, "y":7.51013, "heading":0.0, "vx":-2.49942, "vy":-0.00551, "omega":0.0, "ax":-0.00005, "ay":0.02659, "alpha":0.0, "fx":[-0.00087,-0.00087,-0.00087,-0.00087], "fy":[0.43956,0.43956,0.43956,0.43956]}, + {"t":2.14857, "x":4.64581, "y":7.50992, "heading":0.0, "vx":-2.49942, "vy":-0.00437, "omega":0.0, "ax":-0.00003, "ay":0.02096, "alpha":0.0, "fx":[-0.00054,-0.00054,-0.00054,-0.00054], "fy":[0.34657,0.34657,0.34657,0.34657]}, + {"t":2.19148, "x":4.53857, "y":7.50975, "heading":0.0, "vx":-2.49942, "vy":-0.00347, "omega":0.0, "ax":-0.00002, "ay":0.01653, "alpha":0.0, "fx":[-0.00034,-0.00034,-0.00034,-0.00034], "fy":[0.27334,0.27334,0.27334,0.27334]}, + {"t":2.23439, "x":4.43132, "y":7.50962, "heading":0.0, "vx":-2.49942, "vy":-0.00276, "omega":0.0, "ax":-0.00001, "ay":0.01303, "alpha":0.0, "fx":[-0.00021,-0.00021,-0.00021,-0.00021], "fy":[0.21538,0.21538,0.21538,0.21538]}, + {"t":2.27729, "x":4.32408, "y":7.50951, "heading":0.0, "vx":-2.49942, "vy":-0.0022, "omega":0.0, "ax":-0.00001, "ay":0.01024, "alpha":0.0, "fx":[-0.00013,-0.00013,-0.00013,-0.00013], "fy":[0.16931,0.16931,0.16931,0.16931]}, + {"t":2.3202, "x":4.21683, "y":7.50943, "heading":0.0, "vx":-2.49942, "vy":-0.00176, "omega":0.0, "ax":-0.00001, "ay":0.00801, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[0.1325,0.1325,0.1325,0.1325]}, + {"t":2.36311, "x":4.10958, "y":7.50936, "heading":0.0, "vx":-2.49942, "vy":-0.00142, "omega":0.0, "ax":0.0, "ay":0.00623, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.10297,0.10297,0.10297,0.10297]}, + {"t":2.40602, "x":4.00234, "y":7.50931, "heading":0.0, "vx":-2.49942, "vy":-0.00115, "omega":0.0, "ax":0.0, "ay":0.00482, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.07966,0.07966,0.07966,0.07966]}, + {"t":2.44893, "x":3.89509, "y":7.50926, "heading":0.0, "vx":-2.49942, "vy":-0.00095, "omega":0.0, "ax":0.00034, "ay":0.00409, "alpha":0.0, "fx":[0.00557,0.00557,0.00557,0.00557], "fy":[0.06756,0.06756,0.06756,0.06756]}, + {"t":2.49184, "x":3.78785, "y":7.50922, "heading":0.0, "vx":-2.49941, "vy":-0.00077, "omega":0.0, "ax":5.65619, "ay":0.00527, "alpha":0.0, "fx":[93.51624,93.51624,93.51624,93.51624], "fy":[0.08712,0.08712,0.08712,0.08712]}, + {"t":2.53474, "x":3.68581, "y":7.50919, "heading":0.0, "vx":-2.25671, "vy":-0.00054, "omega":0.0, "ax":7.4807, "ay":0.00214, "alpha":0.0, "fx":[123.68167,123.68167,123.68167,123.68167], "fy":[0.03546,0.03546,0.03546,0.03546]}, + {"t":2.57765, "x":3.59587, "y":7.50917, "heading":0.0, "vx":-1.93573, "vy":-0.00045, "omega":0.0, "ax":7.50653, "ay":0.00197, "alpha":0.0, "fx":[124.10882,124.10882,124.10882,124.10882], "fy":[0.03258,0.03258,0.03258,0.03258]}, + {"t":2.62056, "x":3.51972, "y":7.50916, "heading":0.0, "vx":-1.61364, "vy":-0.00037, "omega":0.0, "ax":7.5153, "ay":0.00185, "alpha":0.0, "fx":[124.25375,124.25375,124.25375,124.25375], "fy":[0.03065,0.03065,0.03065,0.03065]}, + {"t":2.66347, "x":3.4574, "y":7.50914, "heading":0.0, "vx":-1.29117, "vy":-0.00029, "omega":0.0, "ax":7.51971, "ay":0.00177, "alpha":0.0, "fx":[124.32669,124.32669,124.32669,124.32669], "fy":[0.02919,0.02919,0.02919,0.02919]}, + {"t":2.70638, "x":3.40892, "y":7.50913, "heading":0.0, "vx":-0.96852, "vy":-0.00021, "omega":0.0, "ax":7.52237, "ay":0.0017, "alpha":0.0, "fx":[124.3706,124.3706,124.3706,124.3706], "fy":[0.02809,0.02809,0.02809,0.02809]}, + {"t":2.74928, "x":3.37429, "y":7.50912, "heading":0.0, "vx":-0.64575, "vy":-0.00014, "omega":0.0, "ax":7.52414, "ay":0.00165, "alpha":0.0, "fx":[124.39993,124.39993,124.39993,124.39993], "fy":[0.02725,0.02725,0.02725,0.02725]}, + {"t":2.79219, "x":3.3535, "y":7.50912, "heading":0.0, "vx":-0.3229, "vy":-0.00007, "omega":0.0, "ax":7.52541, "ay":0.00161, "alpha":0.0, "fx":[124.42092,124.42092,124.42092,124.42092], "fy":[0.02661,0.02661,0.02661,0.02661]}, + {"t":2.8351, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj index 62873968..5187d5df 100644 --- a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj +++ b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj @@ -3,34 +3,46 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.521002769470215, "y":7.509117603302002, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":8.254300117492676, "y":4.509925842285156, "heading":-1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.691457271575928, "y":4.298859119415283, "heading":1.7928786648787418, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.381893634796143, "y":5.0446271896362305, "heading":1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.339680194854736, "y":6.550233840942383, "heading":1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.622054576873779, "y":7.380428314208984, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":5, "to":5, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":1, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":false}, + {"from":1, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":false}, + {"from":1, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"LNeutral.y", "val":4.509925842285156}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.691457271575928 m", "val":7.691457271575928}, "y":{"exp":"4.298859119415283 m", "val":4.298859119415283}, "heading":{"exp":"1.7928786648787418 rad", "val":1.7928786648787418}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.381893634796143 m", "val":7.381893634796143}, "y":{"exp":"5.0446271896362305 m", "val":5.0446271896362305}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.339680194854736 m", "val":7.339680194854736}, "y":{"exp":"6.550233840942383 m", "val":6.550233840942383}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"6.622054576873779 m", "val":6.622054576873779}, "y":{"exp":"7.380428314208984 m", "val":7.380428314208984}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, - {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, + {"from":5, "to":5, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":1, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":false}, + {"from":1, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":false}, + {"from":1, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -61,97 +73,133 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.68066,3.26884], + "waypoints":[0.0,0.59047,0.96264,1.56807,2.19218,3.68358], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.63968, "vy":1.89243, "omega":1.37105, "ax":-0.01708, "ay":0.05041, "alpha":-0.00859, "fx":[-0.32289,-0.24181,-0.2418,-0.32288], "fy":[0.79297,0.79298,0.87405,0.87405]}, - {"t":0.03361, "x":7.79885, "y":4.56721, "heading":-1.52471, "vx":-0.64025, "vy":1.89412, "omega":1.37076, "ax":-0.00001, "ay":0.0, "alpha":-0.01682, "fx":[-0.07575,0.08278,0.07547,-0.08306], "fy":[-0.08293,-0.07562,0.08291,0.0756]}, - {"t":0.06723, "x":7.77733, "y":4.63088, "heading":-1.47864, "vx":-0.64025, "vy":1.89412, "omega":1.37019, "ax":-0.00001, "ay":0.0, "alpha":-0.02567, "fx":[-0.10956,0.13165,0.10936,-0.13185], "fy":[-0.13179,-0.10949,0.13172,0.10943]}, - {"t":0.10084, "x":7.75581, "y":4.69455, "heading":-1.43258, "vx":-0.64025, "vy":1.89412, "omega":1.36933, "ax":-0.00001, "ay":0.0, "alpha":-0.03523, "fx":[-0.14182,0.1874,0.1416,-0.18762], "fy":[-0.18754,-0.14175,0.18747,0.14167]}, - {"t":0.13445, "x":7.73429, "y":4.75821, "heading":-1.38655, "vx":-0.64025, "vy":1.89412, "omega":1.36815, "ax":-0.00001, "ay":0.0, "alpha":-0.04555, "fx":[-0.17201,0.2505,0.17176,-0.25075], "fy":[-0.25067,-0.17193,0.25058,0.17184]}, - {"t":0.16807, "x":7.71277, "y":4.82188, "heading":-1.34056, "vx":-0.64025, "vy":1.89412, "omega":1.36662, "ax":-0.00001, "ay":0.0, "alpha":-0.05671, "fx":[-0.19956,0.32141,0.1993,-0.32167], "fy":[-0.32158,-0.19947,0.32149,0.19938]}, - {"t":0.20168, "x":7.69125, "y":4.88555, "heading":-1.29463, "vx":-0.64025, "vy":1.89412, "omega":1.36471, "ax":-0.00001, "ay":0.0, "alpha":-0.06878, "fx":[-0.22385,0.40054,0.22358,-0.40081], "fy":[-0.40072,-0.22376,0.40063,0.22367]}, - {"t":0.23529, "x":7.66973, "y":4.94922, "heading":-1.24875, "vx":-0.64025, "vy":1.89412, "omega":1.3624, "ax":-0.00001, "ay":0.0, "alpha":-0.08185, "fx":[-0.24419,0.48835,0.24393,-0.48861], "fy":[-0.48853,-0.24411,0.48844,0.24402]}, - {"t":0.26891, "x":7.64821, "y":5.01288, "heading":-1.20296, "vx":-0.64025, "vy":1.89412, "omega":1.35965, "ax":-0.00001, "ay":0.0, "alpha":-0.096, "fx":[-0.25986,0.58532,0.25961,-0.58557], "fy":[-0.58549,-0.25978,0.5854,0.25969]}, - {"t":0.30252, "x":7.62669, "y":5.07655, "heading":-1.15726, "vx":-0.64025, "vy":1.89412, "omega":1.35642, "ax":-0.00001, "ay":0.0, "alpha":-0.11135, "fx":[-0.27004,0.69201,0.26982,-0.69223], "fy":[-0.69216,-0.26997,0.69208,0.26989]}, - {"t":0.33613, "x":7.60517, "y":5.14022, "heading":-1.11166, "vx":-0.64025, "vy":1.89412, "omega":1.35268, "ax":-0.00001, "ay":0.0, "alpha":-0.12804, "fx":[-0.27388,0.80904,0.27368,-0.80924], "fy":[-0.80917,-0.27381,0.80911,0.27375]}, - {"t":0.36975, "x":7.58364, "y":5.20389, "heading":-1.0662, "vx":-0.64025, "vy":1.89412, "omega":1.34837, "ax":0.0, "ay":0.0, "alpha":-0.14621, "fx":[-0.27041,0.9372,0.27025,-0.93736], "fy":[-0.93731,-0.27035,0.93725,0.2703]}, - {"t":0.40336, "x":7.56212, "y":5.26755, "heading":-1.02087, "vx":-0.64025, "vy":1.89412, "omega":1.34346, "ax":0.0, "ay":0.0, "alpha":-0.16608, "fx":[-0.25856,1.07738,0.25845,-1.07749], "fy":[-1.07746,-0.25852,1.07742,0.25849]}, - {"t":0.43697, "x":7.5406, "y":5.33122, "heading":-0.97571, "vx":-0.64025, "vy":1.89412, "omega":1.33788, "ax":0.0, "ay":0.0, "alpha":-0.18786, "fx":[-0.23712,1.23065,0.23705,-1.23072], "fy":[-1.23069,-0.2371,1.23067,0.23708]}, - {"t":0.47059, "x":7.51908, "y":5.39489, "heading":-0.93074, "vx":-0.64025, "vy":1.89412, "omega":1.33156, "ax":0.0, "ay":0.0, "alpha":-0.21182, "fx":[-0.20469,1.39825,0.20466,-1.39828], "fy":[-1.39827,-0.20468,1.39826,0.20467]}, - {"t":0.5042, "x":7.49756, "y":5.45856, "heading":-0.88599, "vx":-0.64025, "vy":1.89412, "omega":1.32444, "ax":0.0, "ay":0.0, "alpha":-0.23827, "fx":[-0.15962,1.58162,0.15964,-1.5816], "fy":[-1.58161,-0.15963,1.58162,0.15963]}, - {"t":0.53781, "x":7.47604, "y":5.52223, "heading":-0.84147, "vx":-0.64025, "vy":1.89412, "omega":1.31643, "ax":0.0, "ay":0.0, "alpha":-0.26757, "fx":[-0.10001,1.78238,0.10007,-1.78232], "fy":[-1.78234,-0.10003,1.78236,0.10005]}, - {"t":0.57143, "x":7.45452, "y":5.58589, "heading":-0.79722, "vx":-0.64025, "vy":1.89412, "omega":1.30744, "ax":0.0, "ay":0.0, "alpha":-0.30014, "fx":[-0.02362,2.00232,0.02372,-2.00222], "fy":[-2.00225,-0.02365,2.00229,0.02369]}, - {"t":0.60504, "x":7.433, "y":5.64956, "heading":-0.75327, "vx":-0.64025, "vy":1.89412, "omega":1.29735, "ax":0.0, "ay":0.0, "alpha":-0.33643, "fx":[0.07216,2.24341,-0.07203,-2.24328], "fy":[-2.24332,0.07212,2.24337,-0.07208]}, - {"t":0.63865, "x":7.41148, "y":5.71323, "heading":-0.70966, "vx":-0.64025, "vy":1.89412, "omega":1.28604, "ax":0.0, "ay":0.0, "alpha":-0.37696, "fx":[0.19036,2.50776,-0.19021,-2.50761], "fy":[-2.50766,0.19031,2.50771,-0.19026]}, - {"t":0.67227, "x":7.38996, "y":5.7769, "heading":-0.66643, "vx":-0.64025, "vy":1.89412, "omega":1.27337, "ax":0.00001, "ay":0.0, "alpha":-0.4223, "fx":[0.33447,2.79761,-0.3343,-2.79744], "fy":[-2.7975,0.33441,2.79755,-0.33435]}, - {"t":0.70588, "x":7.36843, "y":5.84056, "heading":-0.62363, "vx":-0.64025, "vy":1.89412, "omega":1.25917, "ax":0.00001, "ay":0.0, "alpha":-0.47311, "fx":[0.50846,3.11526,-0.50829,-3.11509], "fy":[-3.11515,0.5084,3.11521,-0.50834]}, - {"t":0.73949, "x":7.34691, "y":5.90423, "heading":-0.58131, "vx":-0.64025, "vy":1.89412, "omega":1.24327, "ax":0.00001, "ay":0.0, "alpha":-0.53007, "fx":[0.71683,3.46311,-0.71667,-3.46294], "fy":[-3.46299,0.71678,3.46305,-0.71672]}, - {"t":0.77311, "x":7.32539, "y":5.9679, "heading":-0.53952, "vx":-0.64025, "vy":1.89412, "omega":1.22545, "ax":0.0, "ay":0.0, "alpha":-0.59396, "fx":[0.96463,3.84354,-0.96448,-3.84339], "fy":[-3.84344,0.96458,3.84349,-0.96453]}, - {"t":0.80672, "x":7.30387, "y":6.03157, "heading":-0.49833, "vx":-0.64025, "vy":1.89412, "omega":1.20549, "ax":0.0, "ay":0.0, "alpha":-0.6656, "fx":[1.25742,4.25898,-1.25728,-4.25884], "fy":[-4.25889,1.25737,4.25894,-1.25732]}, - {"t":0.84033, "x":7.28235, "y":6.09523, "heading":-0.45781, "vx":-0.64025, "vy":1.89412, "omega":1.18312, "ax":0.0, "ay":0.0, "alpha":-0.74591, "fx":[1.60129,4.71181,-1.60118,-4.7117], "fy":[-4.71173,1.60125,4.71177,-1.60121]}, - {"t":0.87394, "x":7.26083, "y":6.1589, "heading":-0.41804, "vx":-0.64025, "vy":1.89412, "omega":1.15804, "ax":0.0, "ay":0.0, "alpha":-0.83584, "fx":[2.00284,5.20439,-2.00275,-5.20431], "fy":[-5.20434,2.00281,5.20437,-2.00278]}, - {"t":0.90756, "x":7.23931, "y":6.22257, "heading":-0.37911, "vx":-0.64025, "vy":1.89412, "omega":1.12995, "ax":0.0, "ay":0.0, "alpha":-0.93646, "fx":[2.46912,5.7391,-2.46906,-5.73904], "fy":[-5.73906,2.4691,5.73908,-2.46908]}, - {"t":0.94117, "x":7.21779, "y":6.28624, "heading":-0.34113, "vx":-0.64025, "vy":1.89412, "omega":1.09847, "ax":0.0, "ay":0.0, "alpha":-1.04886, "fx":[3.00755,6.3183,-3.00753,-6.31827], "fy":[-6.31828,3.00755,6.31829,-3.00753]}, - {"t":0.97478, "x":7.19627, "y":6.3499, "heading":-0.30421, "vx":-0.64025, "vy":1.89412, "omega":1.06322, "ax":0.0, "ay":0.0, "alpha":-1.17424, "fx":[3.62588,6.94445,-3.62588,-6.94445], "fy":[-6.94445,3.62588,6.94445,-3.62588]}, - {"t":1.0084, "x":7.17475, "y":6.41357, "heading":-0.26847, "vx":-0.64025, "vy":1.89412, "omega":1.02375, "ax":0.0, "ay":0.0, "alpha":-1.31385, "fx":[4.332,7.62017,-4.33202,-7.62019], "fy":[-7.62018,4.33201,7.62018,-4.33201]}, - {"t":1.04201, "x":7.15322, "y":6.47724, "heading":-0.23406, "vx":-0.64025, "vy":1.89412, "omega":0.97958, "ax":0.0, "ay":0.0, "alpha":-1.469, "fx":[5.13383,8.34835,-5.13386,-8.34839], "fy":[-8.34837,5.13384,8.34836,-5.13385]}, - {"t":1.07562, "x":7.1317, "y":6.54091, "heading":-0.20113, "vx":-0.64025, "vy":1.89412, "omega":0.93021, "ax":0.0, "ay":0.0, "alpha":-1.64107, "fx":[6.03909,9.13235,-6.03913,-9.13239], "fy":[-9.13238,6.0391,9.13237,-6.03911]}, - {"t":1.10924, "x":7.11018, "y":6.60457, "heading":-0.16986, "vx":-0.64025, "vy":1.89412, "omega":0.87504, "ax":0.0, "ay":0.0, "alpha":-1.83146, "fx":[7.05504,9.97616,-7.05509,-9.97621], "fy":[-9.97619,7.05506,9.97618,-7.05507]}, - {"t":1.14285, "x":7.08866, "y":6.66824, "heading":-0.14045, "vx":-0.64025, "vy":1.89412, "omega":0.81348, "ax":0.0, "ay":0.0, "alpha":-2.0416, "fx":[8.18815,10.88469,-8.18824,-10.88478], "fy":[-10.88475,8.18818,10.88472,-8.18821]}, - {"t":1.17646, "x":7.06714, "y":6.73191, "heading":-0.11311, "vx":-0.64025, "vy":1.89412, "omega":0.74486, "ax":-0.00001, "ay":0.0, "alpha":-2.2729, "fx":[9.44357,11.86395,-9.44397,-11.86435], "fy":[-11.86421,9.4437,11.86408,-9.44383]}, - {"t":1.21008, "x":7.04562, "y":6.79558, "heading":-0.08807, "vx":-0.64025, "vy":1.89412, "omega":0.66846, "ax":-0.00009, "ay":-0.00003, "alpha":-2.52673, "fx":[10.82379,12.92066,-10.82687,-12.92368], "fy":[-12.92271,10.82484,12.92163,-10.82582]}, - {"t":1.24369, "x":7.0241, "y":6.85924, "heading":-0.0656, "vx":-0.64026, "vy":1.89412, "omega":0.58353, "ax":-0.00076, "ay":-0.00026, "alpha":-2.80438, "fx":[12.32139,14.05615,-12.34675,-14.08098], "fy":[-14.07307,12.3301,14.06405,-12.33804]}, - {"t":1.2773, "x":7.00258, "y":6.92291, "heading":-0.04599, "vx":-0.64028, "vy":1.89411, "omega":0.48926, "ax":-0.00624, "ay":-0.00211, "alpha":-3.10698, "fx":[13.86358,15.21358,-14.07241,-15.41751], "fy":[-15.35322,13.93587,15.27793,-14.00013]}, - {"t":1.31092, "x":6.98105, "y":6.98658, "heading":-0.02954, "vx":-0.64049, "vy":1.89404, "omega":0.38483, "ax":-0.05085, "ay":-0.01722, "alpha":-3.43512, "fx":[14.86744,15.84637,-16.57141,-17.50513], "fy":[-16.99056,15.46295,16.36545,-15.97667]}, - {"t":1.34453, "x":6.95949, "y":7.05023, "heading":-0.0166, "vx":-0.6422, "vy":1.89346, "omega":0.26936, "ax":-0.4078, "ay":-0.13997, "alpha":-3.7667, "fx":[10.61324,11.34203,-24.3009,-24.62381], "fy":[-20.72667,15.44422,15.55577,-19.52993]}, - {"t":1.37814, "x":6.93768, "y":7.1138, "heading":-0.00755, "vx":-0.65591, "vy":1.88876, "omega":0.14275, "ax":-2.79821, "ay":-1.05134, "alpha":-3.07524, "fx":[-32.23006,-34.76515,-60.47641,-57.58441], "fy":[-36.38244,-1.37063,-0.89698,-30.87929]}, - {"t":1.41176, "x":6.91405, "y":7.17669, "heading":-0.00275, "vx":-0.74997, "vy":1.85342, "omega":0.03938, "ax":-5.93078, "ay":-2.78989, "alpha":-0.66569, "fx":[-94.47105,-98.38514,-101.39124,-97.97721], "fy":[-52.7268,-43.19979,-39.7477,-48.83169]}, - {"t":1.44537, "x":6.88549, "y":7.23742, "heading":-0.00143, "vx":-0.94932, "vy":1.75964, "omega":0.017, "ax":-6.14888, "ay":-3.819, "alpha":-0.21227, "fx":[-100.22387,-101.91502,-103.06562,-101.44386], "fy":[-65.38671,-62.55715,-60.90521,-63.7161]}, - {"t":1.47898, "x":6.85011, "y":7.29441, "heading":-0.00086, "vx":-1.156, "vy":1.63127, "omega":0.00987, "ax":-5.75757, "ay":-4.64661, "alpha":-0.10455, "fx":[-94.33086,-95.26785,-96.04661,-95.12464], "fy":[-77.88226,-76.69772,-75.76461,-76.95316]}, - {"t":1.5126, "x":6.808, "y":7.34661, "heading":-0.00053, "vx":-1.34953, "vy":1.47508, "omega":0.00636, "ax":-5.1729, "ay":-5.37098, "alpha":-0.06389, "fx":[-84.9174,-85.50914,-86.13266,-85.54449], "fy":[-89.38518,-88.80704,-88.21428,-88.79676]}, - {"t":1.54621, "x":6.75971, "y":7.39316, "heading":-0.00031, "vx":-1.52341, "vy":1.29455, "omega":0.00421, "ax":-4.47265, "ay":-6.00057, "alpha":-0.0442, "fx":[-73.48365,-73.87812,-74.41276,-74.01858], "fy":[-99.55632,-99.25852,-98.86241,-99.16325]}, - {"t":1.57982, "x":6.70598, "y":7.43329, "heading":-0.00017, "vx":-1.67375, "vy":1.09285, "omega":0.00272, "ax":-3.68254, "ay":-6.53226, "alpha":-0.03312, "fx":[-60.51636,-60.78086,-61.25411,-60.98886], "fy":[-108.20877,-108.05757,-107.79162,-107.94475]}, - {"t":1.61344, "x":6.64764, "y":7.46633, "heading":-0.00008, "vx":-1.79753, "vy":0.87328, "omega":0.00161, "ax":-2.79887, "ay":-6.96635, "alpha":-0.02623, "fx":[-45.97768,-46.14718,-46.5727,-46.40214], "fy":[-115.29753,-115.22812,-115.05747,-115.12803]}, - {"t":1.64705, "x":6.58564, "y":7.49175, "heading":-0.00002, "vx":-1.89161, "vy":0.63912, "omega":0.00073, "ax":-1.85878, "ay":-7.27971, "alpha":-0.02163, "fx":[-30.49257,-30.58937,-30.97214,-30.87429], "fy":[-120.42014,-120.39452,-120.2969,-120.32311]}, - {"t":1.68066, "x":6.521, "y":7.50912, "heading":0.0, "vx":-1.95409, "vy":0.39442, "omega":0.0, "ax":-1.04166, "ay":-7.4324, "alpha":0.0, "fx":[-17.22222,-17.22222,-17.22222,-17.22222], "fy":[-122.88308,-122.88308,-122.88308,-122.88308]}, - {"t":1.72246, "x":6.43842, "y":7.51911, "heading":0.0, "vx":-1.99763, "vy":0.08379, "omega":0.0, "ax":0.00899, "ay":-4.28466, "alpha":0.0, "fx":[0.1486,0.1486,0.1486,0.1486], "fy":[-70.84026,-70.84026,-70.84026,-70.84026]}, - {"t":1.76425, "x":6.35494, "y":7.51887, "heading":0.0, "vx":-1.99725, "vy":-0.09528, "omega":0.0, "ax":-0.04533, "ay":1.35157, "alpha":0.0, "fx":[-0.7495,-0.7495,-0.7495,-0.7495], "fy":[22.34612,22.34612,22.34612,22.34612]}, - {"t":1.80605, "x":6.27143, "y":7.51607, "heading":0.0, "vx":-1.99915, "vy":-0.0388, "omega":0.0, "ax":-0.00462, "ay":0.28043, "alpha":0.0, "fx":[-0.07637,-0.07637,-0.07637,-0.07637], "fy":[4.63641,4.63641,4.63641,4.63641]}, - {"t":1.84784, "x":6.18787, "y":7.51469, "heading":0.0, "vx":-1.99934, "vy":-0.02708, "omega":0.0, "ax":-0.00169, "ay":0.13978, "alpha":0.0, "fx":[-0.02791,-0.02791,-0.02791,-0.02791], "fy":[2.31106,2.31106,2.31106,2.31106]}, - {"t":1.88963, "x":6.10431, "y":7.51368, "heading":0.0, "vx":-1.99941, "vy":-0.02123, "omega":0.0, "ax":-0.00094, "ay":0.09825, "alpha":0.0, "fx":[-0.01558,-0.01558,-0.01558,-0.01558], "fy":[1.62433,1.62433,1.62433,1.62433]}, - {"t":1.93143, "x":6.02075, "y":7.51288, "heading":0.0, "vx":-1.99945, "vy":-0.01713, "omega":0.0, "ax":-0.00059, "ay":0.07526, "alpha":0.0, "fx":[-0.00968,-0.00968,-0.00968,-0.00968], "fy":[1.24432,1.24432,1.24432,1.24432]}, - {"t":1.97322, "x":5.93718, "y":7.51223, "heading":0.0, "vx":-1.99947, "vy":-0.01398, "omega":0.0, "ax":-0.00038, "ay":0.05957, "alpha":0.0, "fx":[-0.00627,-0.00627,-0.00627,-0.00627], "fy":[0.98495,0.98495,0.98495,0.98495]}, - {"t":2.01502, "x":5.85361, "y":7.5117, "heading":0.0, "vx":-1.99949, "vy":-0.01149, "omega":0.0, "ax":-0.00025, "ay":0.048, "alpha":0.0, "fx":[-0.00416,-0.00416,-0.00416,-0.00416], "fy":[0.79361,0.79361,0.79361,0.79361]}, - {"t":2.05681, "x":5.77005, "y":7.51126, "heading":0.0, "vx":-1.9995, "vy":-0.00949, "omega":0.0, "ax":-0.00017, "ay":0.0391, "alpha":0.0, "fx":[-0.0028,-0.0028,-0.0028,-0.0028], "fy":[0.64648,0.64648,0.64648,0.64648]}, - {"t":2.0986, "x":5.68648, "y":7.5109, "heading":0.0, "vx":-1.99951, "vy":-0.00785, "omega":0.0, "ax":-0.00012, "ay":0.03208, "alpha":0.0, "fx":[-0.0019,-0.0019,-0.0019,-0.0019], "fy":[0.53036,0.53036,0.53036,0.53036]}, - {"t":2.1404, "x":5.60291, "y":7.5106, "heading":0.0, "vx":-1.99951, "vy":-0.00651, "omega":0.0, "ax":-0.00008, "ay":0.02644, "alpha":0.0, "fx":[-0.0013,-0.0013,-0.0013,-0.0013], "fy":[0.43714,0.43714,0.43714,0.43714]}, - {"t":2.18219, "x":5.51934, "y":7.51035, "heading":0.0, "vx":-1.99952, "vy":-0.00541, "omega":0.0, "ax":-0.00005, "ay":0.02186, "alpha":0.0, "fx":[-0.00089,-0.00089,-0.00089,-0.00089], "fy":[0.36143,0.36143,0.36143,0.36143]}, - {"t":2.22399, "x":5.43577, "y":7.51014, "heading":0.0, "vx":-1.99952, "vy":-0.00449, "omega":0.0, "ax":-0.00004, "ay":0.01811, "alpha":0.0, "fx":[-0.00062,-0.00062,-0.00062,-0.00062], "fy":[0.29948,0.29948,0.29948,0.29948]}, - {"t":2.26578, "x":5.35221, "y":7.50997, "heading":0.0, "vx":-1.99952, "vy":-0.00374, "omega":0.0, "ax":-0.00003, "ay":0.01503, "alpha":0.0, "fx":[-0.00043,-0.00043,-0.00043,-0.00043], "fy":[0.2485,0.2485,0.2485,0.2485]}, - {"t":2.30758, "x":5.26864, "y":7.50983, "heading":0.0, "vx":-1.99952, "vy":-0.00311, "omega":0.0, "ax":-0.00002, "ay":0.01248, "alpha":0.0, "fx":[-0.00029,-0.00029,-0.00029,-0.00029], "fy":[0.2064,0.2064,0.2064,0.2064]}, - {"t":2.34937, "x":5.18507, "y":7.50971, "heading":0.0, "vx":-1.99952, "vy":-0.00259, "omega":0.0, "ax":-0.00001, "ay":0.01038, "alpha":0.0, "fx":[-0.0002,-0.0002,-0.0002,-0.0002], "fy":[0.17155,0.17155,0.17155,0.17155]}, - {"t":2.39116, "x":5.1015, "y":7.50961, "heading":0.0, "vx":-1.99952, "vy":-0.00215, "omega":0.0, "ax":-0.00001, "ay":0.00863, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.14264,0.14264,0.14264,0.14264]}, - {"t":2.43296, "x":5.01793, "y":7.50953, "heading":0.0, "vx":-1.99952, "vy":-0.00179, "omega":0.0, "ax":-0.00001, "ay":0.00718, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.11864,0.11864,0.11864,0.11864]}, - {"t":2.47475, "x":4.93437, "y":7.50946, "heading":0.0, "vx":-1.99952, "vy":-0.00149, "omega":0.0, "ax":0.0, "ay":0.00597, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.09868,0.09868,0.09868,0.09868]}, - {"t":2.51655, "x":4.8508, "y":7.5094, "heading":0.0, "vx":-1.99952, "vy":-0.00124, "omega":0.0, "ax":0.0, "ay":0.00496, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.08209,0.08209,0.08209,0.08209]}, - {"t":2.55834, "x":4.76723, "y":7.50935, "heading":0.0, "vx":-1.99952, "vy":-0.00103, "omega":0.0, "ax":0.0, "ay":0.00413, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.06827,0.06827,0.06827,0.06827]}, - {"t":2.60013, "x":4.68366, "y":7.50931, "heading":0.0, "vx":-1.99952, "vy":-0.00086, "omega":0.0, "ax":0.0, "ay":0.00343, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.05677,0.05677,0.05677,0.05677]}, - {"t":2.64193, "x":4.60009, "y":7.50928, "heading":0.0, "vx":-1.99952, "vy":-0.00072, "omega":0.0, "ax":0.0, "ay":0.00285, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.04718,0.04718,0.04718,0.04718]}, - {"t":2.68372, "x":4.51652, "y":7.50925, "heading":0.0, "vx":-1.99952, "vy":-0.0006, "omega":0.0, "ax":0.0, "ay":0.00237, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03919,0.03919,0.03919,0.03919]}, - {"t":2.72552, "x":4.43296, "y":7.50923, "heading":0.0, "vx":-1.99952, "vy":-0.0005, "omega":0.0, "ax":0.0, "ay":0.00197, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03252,0.03252,0.03252,0.03252]}, - {"t":2.76731, "x":4.34939, "y":7.50921, "heading":0.0, "vx":-1.99952, "vy":-0.00042, "omega":0.0, "ax":0.0, "ay":0.00163, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.02695,0.02695,0.02695,0.02695]}, - {"t":2.80911, "x":4.26582, "y":7.50919, "heading":0.0, "vx":-1.99952, "vy":-0.00035, "omega":0.0, "ax":0.0, "ay":0.00135, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02229,0.02229,0.02229,0.02229]}, - {"t":2.8509, "x":4.18225, "y":7.50918, "heading":0.0, "vx":-1.99952, "vy":-0.00029, "omega":0.0, "ax":0.0, "ay":0.00111, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01838,0.01838,0.01838,0.01838]}, - {"t":2.89269, "x":4.09868, "y":7.50917, "heading":0.0, "vx":-1.99952, "vy":-0.00025, "omega":0.0, "ax":0.0, "ay":0.00091, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01508,0.01508,0.01508,0.01508]}, - {"t":2.93449, "x":4.01511, "y":7.50916, "heading":0.0, "vx":-1.99952, "vy":-0.00021, "omega":0.0, "ax":0.0, "ay":0.00074, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0123,0.0123,0.0123,0.0123]}, - {"t":2.97628, "x":3.93155, "y":7.50915, "heading":0.0, "vx":-1.99952, "vy":-0.00018, "omega":0.0, "ax":0.0, "ay":0.0006, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00993,0.00993,0.00993,0.00993]}, - {"t":3.01808, "x":3.84798, "y":7.50915, "heading":0.0, "vx":-1.99952, "vy":-0.00015, "omega":0.0, "ax":0.0, "ay":0.00048, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00789,0.00789,0.00789,0.00789]}, - {"t":3.05987, "x":3.76441, "y":7.50914, "heading":0.0, "vx":-1.99952, "vy":-0.00013, "omega":0.0, "ax":0.0, "ay":0.00037, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00613,0.00613,0.00613,0.00613]}, - {"t":3.10166, "x":3.68084, "y":7.50913, "heading":0.0, "vx":-1.99952, "vy":-0.00012, "omega":0.0, "ax":0.0, "ay":0.00028, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00456,0.00456,0.00456,0.00456]}, - {"t":3.14346, "x":3.59727, "y":7.50913, "heading":0.0, "vx":-1.99952, "vy":-0.00011, "omega":0.0, "ax":0.0, "ay":0.00019, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00315,0.00315,0.00315,0.00315]}, - {"t":3.18525, "x":3.5137, "y":7.50913, "heading":0.0, "vx":-1.99952, "vy":-0.0001, "omega":0.0, "ax":0.0, "ay":0.00011, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00185,0.00185,0.00185,0.00185]}, - {"t":3.22705, "x":3.43014, "y":7.50912, "heading":0.0, "vx":-1.99952, "vy":-0.00009, "omega":0.0, "ax":0.01144, "ay":0.00004, "alpha":0.0, "fx":[0.18915,0.18915,0.18915,0.18915], "fy":[0.00062,0.00062,0.00062,0.00062]}, - {"t":3.26884, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.99904, "vy":-0.00009, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.17616, "vy":-1.55467, "omega":-5.49657, "ax":-4.64392, "ay":-3.59366, "alpha":5.31947, "fx":[-76.82381,-109.11758,-85.9037,-35.27458], "fy":[-42.18441,-17.72914,-74.44237,-103.30647]}, + {"t":0.02187, "x":8.24934, "y":4.47507, "heading":-1.691, "vx":-0.27771, "vy":-1.63326, "omega":-5.38024, "ax":-6.84065, "ay":-0.30896, "alpha":1.67791, "fx":[-112.31801,-114.79568,-114.44345,-110.84071], "fy":[8.42081,9.79022,-15.57274,-23.07065]}, + {"t":0.04374, "x":8.24163, "y":4.43928, "heading":-1.80866, "vx":-0.42731, "vy":-1.64002, "omega":-5.34354, "ax":-6.91014, "ay":1.83152, "alpha":-0.03789, "fx":[-114.35384,-114.3163,-114.14247,-114.18103], "fy":[29.95138,29.95443,30.61308,30.60647]}, + {"t":0.06561, "x":8.23063, "y":4.40385, "heading":-1.92552, "vx":-0.57843, "vy":-1.59997, "omega":-5.34437, "ax":-5.99218, "ay":3.6399, "alpha":-0.36712, "fx":[-101.14311,-100.21988,-96.8965,-98.02611], "fy":[57.09989,57.79167,63.37909,62.4498]}, + {"t":0.08748, "x":8.21655, "y":4.36973, "heading":-2.0424, "vx":-0.70948, "vy":-1.52036, "omega":-5.3524, "ax":-4.47637, "ay":4.82634, "alpha":-2.64635, "fx":[-93.18766,-84.28174,-49.38468,-69.18495], "fy":[63.74773,66.43148,98.51145,90.49338]}, + {"t":0.10935, "x":8.19996, "y":4.33763, "heading":-2.15945, "vx":-0.80737, "vy":-1.41482, "omega":-5.41027, "ax":-2.04912, "ay":5.54252, "alpha":-4.93197, "fx":[-79.48983,-44.37597,20.69457,-32.34455], "fy":[75.39157,77.53251,105.71617,107.90739]}, + {"t":0.13122, "x":8.18182, "y":4.30802, "heading":-2.27777, "vx":-0.85218, "vy":-1.2936, "omega":-5.51813, "ax":-0.19621, "ay":5.50549, "alpha":-6.08536, "fx":[-66.10029,2.78618,56.76553,-6.42761], "fy":[85.45807,73.68427,92.51958,112.43655]}, + {"t":0.15308, "x":8.16313, "y":4.28104, "heading":-2.39845, "vx":-0.85647, "vy":-1.1732, "omega":-5.65121, "ax":-0.3049, "ay":5.45065, "alpha":-6.34037, "fx":[-64.43191,-16.93341,61.76261,-0.56161], "fy":[88.24983,70.4816,88.77083,112.96981]}, + {"t":0.17495, "x":8.14433, "y":4.25669, "heading":-2.52203, "vx":-0.86314, "vy":-1.054, "omega":-5.78987, "ax":-1.90363, "ay":5.67905, "alpha":-5.31588, "fx":[-70.19832,-66.84149,27.33204,-16.1867], "fy":[87.74242,72.05681,103.29197,112.48579]}, + {"t":0.19682, "x":8.125, "y":4.235, "heading":-2.64865, "vx":-0.90477, "vy":-0.92981, "omega":-5.90613, "ax":-3.71912, "ay":5.70667, "alpha":-2.06861, "fx":[-74.21909,-78.31812,-44.94993,-48.4721], "fy":[88.63442,81.06726,102.93345,104.76873]}, + {"t":0.21869, "x":8.10432, "y":4.21603, "heading":-2.77782, "vx":-0.98611, "vy":-0.80501, "omega":-5.95136, "ax":-4.28284, "ay":5.71775, "alpha":0.71053, "fx":[-66.88238,-64.83671,-74.38958,-77.13189], "fy":[97.05147,99.21554,92.46876,89.40063]}, + {"t":0.24056, "x":8.08173, "y":4.19979, "heading":-2.90797, "vx":-1.07977, "vy":-0.67996, "omega":-5.93583, "ax":-4.0863, "ay":5.86992, "alpha":2.55135, "fx":[-53.78926,-45.95474,-77.77248,-92.72585], "fy":[106.51682,111.96395,93.15694,76.56206]}, + {"t":0.26243, "x":8.05714, "y":4.18632, "heading":-3.03778, "vx":-1.16913, "vy":-0.55159, "omega":-5.88003, "ax":-2.39933, "ay":6.30762, "alpha":5.5418, "fx":[8.65807,-3.30157,-65.13584,-98.89739], "fy":[119.82634,122.54849,104.08459,70.68728]}, + {"t":0.2843, "x":8.031, "y":4.17577, "heading":3.11681, "vx":-1.22161, "vy":-0.41365, "omega":-5.75884, "ax":-0.73562, "ay":6.03965, "alpha":8.42827, "fx":[72.7053,29.38175,-49.94248,-100.79371], "fy":[97.21314,119.82207,112.90631,69.48355]}, + {"t":0.30617, "x":8.00411, "y":4.16817, "heading":2.99087, "vx":-1.23769, "vy":-0.28157, "omega":-5.57452, "ax":0.08736, "ay":5.71386, "alpha":9.71021, "fx":[96.95649,47.12318,-38.19897,-100.10336], "fy":[74.25351,114.38451,117.73555,71.50538]}, + {"t":0.32804, "x":7.97706, "y":4.16338, "heading":2.86896, "vx":-1.23578, "vy":-0.15661, "omega":-5.36216, "ax":0.62531, "ay":5.48184, "alpha":10.30403, "fx":[107.96697,59.3256,-28.12751,-97.81122], "fy":[57.78498,108.76562,120.72501,75.25907]}, + {"t":0.34991, "x":7.95018, "y":4.16126, "heading":2.7517, "vx":-1.22211, "vy":-0.03673, "omega":-5.13682, "ax":1.04432, "ay":5.30381, "alpha":10.58109, "fx":[113.9049,68.79442,-19.06315,-94.57128], "fy":[45.28653,103.17214,122.60044,79.70198]}, + {"t":0.37178, "x":7.92371, "y":4.16173, "heading":2.63936, "vx":-1.19927, "vy":0.07926, "omega":-4.90542, "ax":1.39779, "ay":5.15443, "alpha":10.68237, "fx":[117.34185,76.60118,-10.72678,-90.77527], "fy":[35.31593,97.61103,123.6884,84.26671]}, + {"t":0.39365, "x":7.89782, "y":4.16469, "heading":2.53208, "vx":-1.1687, "vy":0.19199, "omega":-4.67181, "ax":1.70652, "ay":5.023, "alpha":10.66794, "fx":[119.25837,83.2486,-2.98381,-86.6649], "fy":[27.26867,92.0783,124.17394,88.66872]}, + {"t":0.41551, "x":7.87266, "y":4.17009, "heading":2.42991, "vx":-1.13138, "vy":0.30183, "omega":-4.43851, "ax":1.97871, "ay":4.90923, "alpha":10.55884, "fx":[120.00459,89.01264,4.23994,-82.39744], "fy":[21.1373,86.57454,124.18041,92.7739]}, + {"t":0.43738, "x":7.8484, "y":4.17787, "heading":2.33285, "vx":-1.08811, "vy":0.4092, "omega":-4.20759, "ax":2.21186, "ay":4.8307, "alpha":10.32943, "fx":[119.30204,94.06435,10.99161,-78.07941], "fy":[18.04326,81.10272,123.79915,96.52744]}, + {"t":0.45925, "x":7.82513, "y":4.18797, "heading":2.24083, "vx":-1.03974, "vy":0.51484, "omega":-3.9817, "ax":2.33854, "ay":4.92478, "alpha":9.68408, "fx":[112.6131,98.51638,17.30608,-73.77909], "fy":[27.00089,75.67035,123.1022,99.92078]}, + {"t":0.48112, "x":7.80295, "y":4.20041, "heading":2.15375, "vx":-0.98859, "vy":0.62254, "omega":-3.76991, "ax":-0.59419, "ay":5.34519, "alpha":9.80423, "fx":[-95.46285,102.31956,23.20917,-69.36215], "fy":[57.78788,70.47406,122.14853,103.08716]}, + {"t":0.50299, "x":7.78119, "y":4.2153, "heading":2.07131, "vx":-1.00159, "vy":0.73943, "omega":-3.5555, "ax":-0.70062, "ay":4.9492, "alpha":11.17733, "fx":[-115.7046,105.56355,28.71286,-64.90676], "fy":[34.78903,65.54109,120.99088,105.98846]}, + {"t":0.52486, "x":7.75912, "y":4.23266, "heading":1.99355, "vx":-1.01691, "vy":0.84767, "omega":-3.31107, "ax":-0.53623, "ay":4.91556, "alpha":11.48969, "fx":[-117.1004,108.32049,33.81358,-60.4969], "fy":[35.90859,60.89852,119.68045,108.59704]}, + {"t":0.54673, "x":7.73675, "y":4.25237, "heading":1.92114, "vx":-1.02864, "vy":0.95517, "omega":-3.05979, "ax":-0.3577, "ay":4.92308, "alpha":11.64226, "fx":[-116.5374,110.63534,38.47715,-56.23086], "fy":[39.8115,56.60299,118.27619,110.89093]}, + {"t":0.5686, "x":7.71417, "y":4.27443, "heading":1.85423, "vx":-1.03646, "vy":1.06283, "omega":-2.80519, "ax":-0.18486, "ay":4.93817, "alpha":11.73202, "fx":[-115.32655,112.56322,42.70445,-52.16658], "fy":[44.19141,52.68124,116.82729,112.88011]}, + {"t":0.59047, "x":7.69146, "y":4.29886, "heading":1.79288, "vx":-1.0405, "vy":1.17083, "omega":-2.54862, "ax":0.11131, "ay":5.2957, "alpha":10.84809, "fx":[-104.79077,112.07866,46.02706,-45.95352], "fy":[65.52864,53.62077,115.54157,115.53352]}, + {"t":0.61114, "x":7.66997, "y":4.3242, "heading":1.74018, "vx":-1.0382, "vy":1.28032, "omega":-2.32432, "ax":0.23199, "ay":5.21503, "alpha":11.11546, "fx":[-105.41261,113.89875,49.6345,-42.77799], "fy":[64.58038,49.55316,114.02288,116.73286]}, + {"t":0.63182, "x":7.64855, "y":4.35179, "heading":1.69212, "vx":-1.0334, "vy":1.38815, "omega":-2.0945, "ax":0.35273, "ay":5.14139, "alpha":11.33648, "fx":[-105.57749,115.55143,53.06387,-39.7107], "fy":[64.31384,45.46152,112.44948,117.79494]}, + {"t":0.6525, "x":7.62726, "y":4.38159, "heading":1.64882, "vx":-1.02611, "vy":1.49445, "omega":-1.8601, "ax":0.47082, "ay":5.06924, "alpha":11.5296, "fx":[-105.50535,117.05394,56.33871,-36.75048], "fy":[64.38603,41.30761,110.82294,118.73142]}, + {"t":0.67317, "x":7.60614, "y":4.41357, "heading":1.61036, "vx":-1.01638, "vy":1.59927, "omega":-1.62171, "ax":0.58516, "ay":4.99437, "alpha":11.70827, "fx":[-105.33351,118.42139,59.4941,-33.88293], "fy":[64.56823,37.03733,109.13473,119.55617]}, + {"t":0.69385, "x":7.58525, "y":4.4477, "heading":1.57683, "vx":-1.00428, "vy":1.70253, "omega":-1.37963, "ax":0.69571, "ay":4.91293, "alpha":11.88336, "fx":[-105.16032,119.66483,62.58085,-31.07534], "fy":[64.68743,32.57655,107.36149,120.2849]}, + {"t":0.71453, "x":7.56464, "y":4.48396, "heading":1.5483, "vx":-0.98989, "vy":1.80411, "omega":-1.13393, "ax":0.80331, "ay":4.82053, "alpha":12.06483, "fx":[-105.06931,120.78864,65.67311,-28.26662], "fy":[64.58366,27.82392,105.45672,120.93525]}, + {"t":0.7352, "x":7.54434, "y":4.52229, "heading":1.52486, "vx":-0.97328, "vy":1.90378, "omega":-0.88447, "ax":0.90984, "ay":4.71108, "alpha":12.26319, "fx":[-105.1494,121.78582,68.88238,-25.34752], "fy":[64.06096,22.63847,103.33512,121.52711]}, + {"t":0.75588, "x":7.52441, "y":4.56266, "heading":1.50657, "vx":-0.95447, "vy":2.00119, "omega":-0.63092, "ax":1.01868, "ay":4.57457, "alpha":12.49199, "fx":[-105.525,122.62885,72.38386,-22.11831], "fy":[62.79157,16.81844,100.84079,122.08259]}, + {"t":0.77655, "x":7.5049, "y":4.60501, "heading":1.49352, "vx":-0.93341, "vy":2.09577, "omega":-0.37263, "ax":1.13559, "ay":4.39109, "alpha":12.77426, "fx":[-106.42798,123.25039,76.46784,-18.18971], "fy":[60.03283,10.06616,97.67749,122.62262]}, + {"t":0.79723, "x":7.48584, "y":4.64928, "heading":1.48582, "vx":-0.90993, "vy":2.18656, "omega":-0.10851, "ax":1.27018, "ay":4.10835, "alpha":13.17061, "fx":[-108.42322,123.50041,81.64234,-12.71754], "fy":[53.38121,1.93764,93.23959,123.14214]}, + {"t":0.81791, "x":7.4673, "y":4.69537, "heading":1.48358, "vx":-0.88367, "vy":2.27151, "omega":0.16381, "ax":1.44866, "ay":3.468, "alpha":14.00999, "fx":[-112.48645,123.05808,88.80377,-3.57033], "fy":[27.86569,-8.14172,86.18192,123.44631]}, + {"t":0.83858, "x":7.44934, "y":4.74308, "heading":1.48696, "vx":-0.85371, "vy":2.34321, "omega":0.45348, "ax":3.98348, "ay":1.50487, "alpha":12.33073, "fx":[32.43968,122.15995,96.37717,12.46571], "fy":[-85.32965,-14.59209,77.13294,122.31148]}, + {"t":0.85926, "x":7.43254, "y":4.79185, "heading":1.49634, "vx":-0.77135, "vy":2.37433, "omega":0.70844, "ax":5.86002, "ay":1.82112, "alpha":7.66096, "fx":[110.80637,121.35774,105.96235,49.41875], "fy":[-36.40286,-16.56782,62.14995,111.25828]}, + {"t":0.87993, "x":7.41784, "y":4.84133, "heading":1.51099, "vx":-0.65019, "vy":2.41198, "omega":0.86683, "ax":7.00613, "ay":1.68967, "alpha":2.07896, "fx":[119.08729,120.8508,115.03339,108.37057], "fy":[13.1938,7.6745,38.53751,52.33856]}, + {"t":0.90061, "x":7.40589, "y":4.89156, "heading":1.52891, "vx":-0.50533, "vy":2.44692, "omega":0.90982, "ax":5.79853, "ay":1.04908, "alpha":-8.30504, "fx":[109.02936,59.78224,96.16855,118.49837], "fy":[53.60742,102.85095,-61.98836,-25.09022]}, + {"t":0.92129, "x":7.39669, "y":4.94238, "heading":1.54772, "vx":-0.38544, "vy":2.46861, "omega":0.7381, "ax":1.58882, "ay":0.23625, "alpha":-17.42236, "fx":[100.47591,-42.47536,-58.07844,105.15238], "fy":[69.92238,113.51727,-105.47514,-62.3401]}, + {"t":0.94196, "x":7.38906, "y":4.99347, "heading":1.56298, "vx":-0.35259, "vy":2.47349, "omega":0.37788, "ax":0.59836, "ay":0.0583, "alpha":-18.27588, "fx":[94.76698,-73.41071,-77.19016,95.40579], "fy":[78.28635,98.11278,-95.088,-77.45539]}, + {"t":0.96264, "x":7.38189, "y":5.04463, "heading":1.5708, "vx":-0.34021, "vy":2.4747, "omega":0.0, "ax":6.36352, "ay":0.65046, "alpha":0.0, "fx":[105.21094,105.21094,105.21094,105.21094], "fy":[10.75438,10.75438,10.75438,10.75438]}, + {"t":0.9945, "x":7.37428, "y":5.12381, "heading":1.5708, "vx":-0.13744, "vy":2.49543, "omega":0.0, "ax":3.76129, "ay":0.11689, "alpha":0.0, "fx":[62.1871,62.1871,62.1871,62.1871], "fy":[1.93263,1.93263,1.93263,1.93263]}, + {"t":1.02637, "x":7.37181, "y":5.20339, "heading":1.5708, "vx":-0.01759, "vy":2.49915, "omega":0.0, "ax":0.909, "ay":0.00114, "alpha":0.0, "fx":[15.02883,15.02883,15.02883,15.02883], "fy":[0.01891,0.01891,0.01891,0.01891]}, + {"t":1.05823, "x":7.37171, "y":5.28302, "heading":1.5708, "vx":0.01137, "vy":2.49919, "omega":0.0, "ax":0.16802, "ay":-0.00094, "alpha":0.0, "fx":[2.778,2.778,2.778,2.778], "fy":[-0.01561,-0.01561,-0.01561,-0.01561]}, + {"t":1.0901, "x":7.37216, "y":5.36266, "heading":1.5708, "vx":0.01673, "vy":2.49916, "omega":0.0, "ax":0.03063, "ay":-0.00021, "alpha":0.0, "fx":[0.5064,0.5064,0.5064,0.5064], "fy":[-0.00349,-0.00349,-0.00349,-0.00349]}, + {"t":1.12196, "x":7.37271, "y":5.44229, "heading":1.5708, "vx":0.0177, "vy":2.49915, "omega":0.0, "ax":0.00558, "ay":-0.00004, "alpha":0.0, "fx":[0.0923,0.0923,0.0923,0.0923], "fy":[-0.00066,-0.00066,-0.00066,-0.00066]}, + {"t":1.15383, "x":7.37328, "y":5.52193, "heading":1.5708, "vx":0.01788, "vy":2.49915, "omega":0.0, "ax":0.00102, "ay":-0.00001, "alpha":0.0, "fx":[0.01681,0.01681,0.01681,0.01681], "fy":[-0.00012,-0.00012,-0.00012,-0.00012]}, + {"t":1.18569, "x":7.37385, "y":5.60156, "heading":1.5708, "vx":0.01791, "vy":2.49915, "omega":0.0, "ax":0.00018, "ay":0.0, "alpha":0.0, "fx":[0.00299,0.00299,0.00299,0.00299], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, + {"t":1.21756, "x":7.37442, "y":5.68119, "heading":1.5708, "vx":0.01792, "vy":2.49915, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00017,0.00017,0.00017,0.00017], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.24942, "x":7.37499, "y":5.76083, "heading":1.5708, "vx":0.01792, "vy":2.49915, "omega":0.0, "ax":-0.00012, "ay":0.0, "alpha":0.0, "fx":[-0.00201,-0.00201,-0.00201,-0.00201], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":1.28128, "x":7.37556, "y":5.84046, "heading":1.5708, "vx":0.01792, "vy":2.49915, "omega":0.0, "ax":-0.0007, "ay":0.00001, "alpha":0.0, "fx":[-0.01158,-0.01158,-0.01158,-0.01158], "fy":[0.00008,0.00008,0.00008,0.00008]}, + {"t":1.31315, "x":7.37613, "y":5.9201, "heading":1.5708, "vx":0.01789, "vy":2.49915, "omega":0.0, "ax":-0.00385, "ay":0.00003, "alpha":0.0, "fx":[-0.06367,-0.06367,-0.06367,-0.06367], "fy":[0.00045,0.00045,0.00045,0.00045]}, + {"t":1.34501, "x":7.3767, "y":5.99973, "heading":1.5708, "vx":0.01777, "vy":2.49915, "omega":0.0, "ax":-0.02113, "ay":0.00015, "alpha":0.0, "fx":[-0.34931,-0.34931,-0.34931,-0.34931], "fy":[0.00244,0.00244,0.00244,0.00244]}, + {"t":1.37688, "x":7.37725, "y":6.07937, "heading":1.5708, "vx":0.0171, "vy":2.49915, "omega":0.0, "ax":-0.11592, "ay":0.00071, "alpha":0.0, "fx":[-1.91656,-1.91656,-1.91656,-1.91656], "fy":[0.01169,0.01169,0.01169,0.01169]}, + {"t":1.40874, "x":7.37774, "y":6.159, "heading":1.5708, "vx":0.0134, "vy":2.49918, "omega":0.0, "ax":-0.63188, "ay":0.00084, "alpha":0.0, "fx":[-10.44722,-10.44722,-10.44722,-10.44722], "fy":[0.01383,0.01383,0.01383,0.01383]}, + {"t":1.44061, "x":7.37785, "y":6.23864, "heading":1.5708, "vx":-0.00673, "vy":2.4992, "omega":0.0, "ax":-2.94449, "ay":-0.06331, "alpha":0.0, "fx":[-48.68253,-48.68253,-48.68253,-48.68253], "fy":[-1.04675,-1.04675,-1.04675,-1.04675]}, + {"t":1.47247, "x":7.37614, "y":6.31824, "heading":1.5708, "vx":-0.10056, "vy":2.49719, "omega":0.0, "ax":-6.03813, "ay":-0.47765, "alpha":0.0, "fx":[-99.83099,-99.83099,-99.83099,-99.83099], "fy":[-7.89716,-7.89716,-7.89716,-7.89716]}, + {"t":1.50434, "x":7.36987, "y":6.39757, "heading":1.5708, "vx":-0.29296, "vy":2.48197, "omega":0.0, "ax":-6.90788, "ay":-1.23149, "alpha":0.0, "fx":[-114.21109,-114.21109,-114.21109,-114.21109], "fy":[-20.3608,-20.3608,-20.3608,-20.3608]}, + {"t":1.5362, "x":7.35703, "y":6.47603, "heading":1.5708, "vx":-0.51307, "vy":2.44273, "omega":0.0, "ax":-1.96375, "ay":-7.15573, "alpha":0.0, "fx":[-32.46752,-32.46752,-32.46752,-32.46752], "fy":[-118.30877,-118.30877,-118.30877,-118.30877]}, + {"t":1.56807, "x":7.33968, "y":6.55023, "heading":1.5708, "vx":-0.57565, "vy":2.21471, "omega":0.0, "ax":-0.11933, "ay":-0.58555, "alpha":-18.51434, "fx":[96.00213,-99.49098,-81.08701,76.68433], "fy":[78.89727,74.47619,-94.24661,-97.8517]}, + {"t":1.59118, "x":7.32634, "y":6.60127, "heading":1.5708, "vx":-0.57841, "vy":2.20118, "omega":-0.42796, "ax":-0.18264, "ay":-0.68966, "alpha":-18.46145, "fx":[96.80438,-102.00453,-80.79661,73.91793], "fy":[77.85171,70.95171,-94.47827,-99.93517]}, + {"t":1.6143, "x":7.31292, "y":6.65197, "heading":1.5609, "vx":-0.58263, "vy":2.18523, "omega":-0.85471, "ax":-0.25598, "ay":-0.81627, "alpha":-18.38488, "fx":[98.75685,-104.15157,-81.23956,69.7051], "fy":[75.28115,67.70641,-94.07774,-102.89285]}, + {"t":1.63741, "x":7.29939, "y":6.70226, "heading":1.54115, "vx":-0.58855, "vy":2.16637, "omega":-1.27968, "ax":-0.34139, "ay":-0.9749, "alpha":-18.27131, "fx":[101.98918,-106.12454,-82.31196,63.86975], "fy":[70.73002,64.4995,-93.11778,-106.58585]}, + {"t":1.66053, "x":7.28569, "y":6.75208, "heading":1.51157, "vx":-0.59644, "vy":2.14383, "omega":-1.70202, "ax":-0.44148, "ay":-1.18225, "alpha":-18.09652, "fx":[106.6256,-108.16133,-83.8743,56.21349], "fy":[63.356,60.92787,-91.68579,-110.78501]}, + {"t":1.68364, "x":7.27179, "y":6.80132, "heading":1.47222, "vx":-0.60664, "vy":2.1165, "omega":-2.12033, "ax":-0.56079, "ay":-1.46993, "alpha":-17.8115, "fx":[112.68149,-110.56567,-85.74812,46.54528], "fy":[51.52538,56.31487,-89.90319,-115.14938]}, + {"t":1.70676, "x":7.25761, "y":6.84985, "heading":1.42321, "vx":-0.61961, "vy":2.08252, "omega":-2.53205, "ax":-0.71283, "ay":-1.902, "alpha":-17.30357, "fx":[119.53477,-113.69714,-87.70989,34.72997], "fy":[31.88573,49.49032,-87.95076,-119.21147]}, + {"t":1.72987, "x":7.2431, "y":6.89748, "heading":1.36468, "vx":-0.63608, "vy":2.03856, "omega":-2.93202, "ax":-0.95432, "ay":-2.60625, "alpha":-16.27946, "fx":[123.40901,-117.79731,-89.48011,20.75591], "fy":[-2.26784,38.39005,-86.10046,-122.3828]}, + {"t":1.75299, "x":7.22814, "y":6.9439, "heading":1.29691, "vx":-0.65814, "vy":1.97832, "omega":-3.30833, "ax":-1.50155, "ay":-3.73081, "alpha":-14.03891, "fx":[108.79103,-122.1968,-90.70416,4.80655], "fy":[-57.60112,19.61506,-84.74976,-123.99657]}, + {"t":1.7761, "x":7.21253, "y":6.98864, "heading":1.22044, "vx":-0.69285, "vy":1.89208, "omega":-3.63284, "ax":-2.59055, "ay":-4.96152, "alpha":-10.15691, "fx":[55.47542,-123.18707,-90.90192,-12.70917], "fy":[-109.84391,-10.42492,-84.46331,-123.392]}, + {"t":1.79922, "x":7.19582, "y":7.03105, "heading":1.13646, "vx":-0.75273, "vy":1.77739, "omega":-3.86762, "ax":-3.60153, "ay":-5.72148, "alpha":-6.07012, "fx":[-4.3287,-113.48065,-89.20152,-31.17202], "fy":[-123.27574,-48.92738,-86.16735,-120.0123]}, + {"t":1.82233, "x":7.17746, "y":7.0706, "heading":1.04706, "vx":-0.83598, "vy":1.64514, "omega":-4.00793, "ax":-4.08748, "ay":-6.07545, "alpha":-2.81226, "fx":[-43.37931,-93.04052,-84.09905,-49.80176], "fy":[-115.7753,-81.47501,-91.05193,-113.49045]}, + {"t":1.84545, "x":7.15704, "y":7.10701, "heading":0.95442, "vx":-0.93047, "vy":1.5047, "omega":-4.07294, "ax":-4.27354, "ay":-6.14828, "alpha":-0.37874, "fx":[-67.61852,-73.61593,-73.5272,-67.86381], "fy":[-103.73495,-99.56808,-99.68334,-103.6224]}, + {"t":1.86856, "x":7.13439, "y":7.14015, "heading":0.86027, "vx":-1.02925, "vy":1.36258, "omega":-4.08169, "ax":-4.31923, "ay":-6.04407, "alpha":1.73043, "fx":[-83.98621,-61.46428,-55.42177,-84.77484], "fy":[-91.16493,-107.65443,-110.70468,-90.19305]}, + {"t":1.89168, "x":7.10945, "y":7.17003, "heading":0.76592, "vx":-1.12909, "vy":1.22287, "omega":-4.0417, "ax":-4.26799, "ay":-5.77954, "alpha":3.87019, "fx":[-95.86523,-55.73736,-30.62966,-100.02609], "fy":[-78.71672,-110.84477,-119.94181,-72.71966]}, + {"t":1.91479, "x":7.08221, "y":7.19675, "heading":0.67249, "vx":-1.22775, "vy":1.08928, "omega":-3.95223, "ax":-4.19113, "ay":-5.32055, "alpha":5.99951, "fx":[-104.82825,-54.28362,-5.14685,-112.91626], "fy":[-66.43162,-111.64918,-123.73795,-50.04894]}, + {"t":1.93791, "x":7.05271, "y":7.22051, "heading":0.58114, "vx":-1.32462, "vy":0.96629, "omega":-3.81355, "ax":-4.1432, "ay":-4.66038, "alpha":8.01313, "fx":[-111.65216,-55.45877,14.81108,-121.70547], "fy":[-54.2924,-111.13397,-123.04694,-19.73523]}, + {"t":1.96103, "x":7.02098, "y":7.2416, "heading":0.49299, "vx":-1.4204, "vy":0.85856, "omega":-3.62833, "ax":-4.05552, "ay":-3.7951, "alpha":10.08375, "fx":[-116.7546,-58.18165,27.75897,-121.0296], "fy":[-42.32466,-109.78232,-120.88087,22.00366]}, + {"t":1.98414, "x":6.98707, "y":7.26043, "heading":0.40912, "vx":-1.51414, "vy":0.77084, "omega":-3.39524, "ax":-3.70296, "ay":-2.77413, "alpha":12.47918, "fx":[-120.38804,-61.75009,35.19344,-97.94578], "fy":[-30.61197,-107.8548,-119.01123,74.01402]}, + {"t":2.00726, "x":6.95108, "y":7.27751, "heading":0.33063, "vx":-1.59974, "vy":0.70671, "omega":-3.10678, "ax":-2.95469, "ay":-1.94817, "alpha":14.77798, "fx":[-122.73457,-65.69166,38.96374,-45.94252], "fy":[-19.30531,-105.53248,-117.89697,113.895]}, + {"t":2.03037, "x":6.91331, "y":7.29332, "heading":0.25882, "vx":-1.66803, "vy":0.66168, "omega":-2.76518, "ax":-2.19858, "ay":-1.60493, "alpha":16.15199, "fx":[-123.96583,-69.66371,40.4854,7.74404], "fy":[-8.61014,-102.98042,-117.43535,122.88575]}, + {"t":2.05349, "x":6.87417, "y":7.30819, "heading":0.1949, "vx":-1.71885, "vy":0.62458, "omega":-2.39183, "ax":-1.71492, "ay":-1.52676, "alpha":16.77165, "fx":[-124.27634,-73.41651,40.7451,43.53381], "fy":[1.26172,-100.36214,-117.38649,115.51627]}, + {"t":2.0766, "x":6.83398, "y":7.32222, "heading":0.13961, "vx":-1.7585, "vy":0.58929, "omega":-2.00414, "ax":-1.44321, "ay":-1.51047, "alpha":17.06922, "fx":[-123.88415,-76.79312,40.39501,64.83728], "fy":[10.14782,-97.82216,-117.53985,105.32113]}, + {"t":2.09972, "x":6.79294, "y":7.33544, "heading":0.09329, "vx":-1.79186, "vy":0.55438, "omega":-1.60958, "ax":-1.28856, "ay":-1.49403, "alpha":17.24444, "fx":[-123.01218,-79.70556,39.86122,77.63933], "fy":[17.94347,-95.48105,-117.74792,96.47955]}, + {"t":2.12283, "x":6.75118, "y":7.34785, "heading":0.05608, "vx":-1.82164, "vy":0.51984, "omega":-1.21097, "ax":-1.19587, "ay":-1.46647, "alpha":17.36859, "fx":[-121.87233,-82.10604,39.43164,85.45944], "fy":[24.58706,-93.43988,-117.91355,89.783]}, + {"t":2.14595, "x":6.70875, "y":7.35948, "heading":0.02809, "vx":-1.84928, "vy":0.48594, "omega":-0.80949, "ax":-1.13686, "ay":-1.42882, "alpha":17.46773, "fx":[-120.65525,-83.96882,39.30884,90.1307], "fy":[30.04828,-91.78291,-117.97187,85.21332]}, + {"t":2.16906, "x":6.6657, "y":7.37033, "heading":0.00938, "vx":-1.87556, "vy":0.45292, "omega":-0.40572, "ax":-1.09702, "ay":-1.38402, "alpha":17.55217, "fx":[-119.5231,-85.27921,39.64041,92.61153], "fy":[34.31946,-90.57862,-117.87526,82.6042]}, + {"t":2.19218, "x":6.62205, "y":7.38043, "heading":0.0, "vx":-1.90092, "vy":0.42092, "omega":0.0, "ax":-5.26146, "ay":-5.36787, "alpha":0.0, "fx":[-86.98998,-86.98998,-86.98998,-86.98998], "fy":[-88.74929,-88.74929,-88.74929,-88.74929]}, + {"t":2.23737, "x":6.53077, "y":7.39397, "heading":0.0, "vx":-2.13871, "vy":0.17833, "omega":0.0, "ax":-6.40325, "ay":-3.88914, "alpha":0.0, "fx":[-105.86784,-105.86784,-105.86784,-105.86784], "fy":[-64.30084,-64.30084,-64.30084,-64.30084]}, + {"t":2.28257, "x":6.42757, "y":7.39806, "heading":0.0, "vx":-2.4281, "vy":0.00256, "omega":0.0, "ax":-1.56627, "ay":1.11143, "alpha":0.0, "fx":[-25.89586,-25.89586,-25.89586,-25.89586], "fy":[18.3757,18.3757,18.3757,18.3757]}, + {"t":2.32776, "x":6.31624, "y":7.39931, "heading":0.0, "vx":-2.49888, "vy":0.05279, "omega":0.0, "ax":0.00819, "ay":0.34006, "alpha":0.0, "fx":[0.13549,0.13549,0.13549,0.13549], "fy":[5.62242,5.62242,5.62242,5.62242]}, + {"t":2.37295, "x":6.20331, "y":7.40204, "heading":0.0, "vx":-2.49851, "vy":0.06816, "omega":0.0, "ax":0.00502, "ay":0.17402, "alpha":0.0, "fx":[0.08303,0.08303,0.08303,0.08303], "fy":[2.87709,2.87709,2.87709,2.87709]}, + {"t":2.41815, "x":6.0904, "y":7.4053, "heading":0.0, "vx":-2.49829, "vy":0.07603, "omega":0.0, "ax":0.00365, "ay":0.11607, "alpha":0.0, "fx":[0.06042,0.06042,0.06042,0.06042], "fy":[1.919,1.919,1.919,1.919]}, + {"t":2.46334, "x":5.9775, "y":7.40885, "heading":0.0, "vx":-2.49812, "vy":0.08127, "omega":0.0, "ax":0.00282, "ay":0.08457, "alpha":0.0, "fx":[0.04656,0.04656,0.04656,0.04656], "fy":[1.39827,1.39827,1.39827,1.39827]}, + {"t":2.50854, "x":5.8646, "y":7.41261, "heading":0.0, "vx":-2.49799, "vy":0.08509, "omega":0.0, "ax":0.00221, "ay":0.06382, "alpha":0.0, "fx":[0.03655,0.03655,0.03655,0.03655], "fy":[1.05514,1.05514,1.05514,1.05514]}, + {"t":2.55373, "x":5.75171, "y":7.41652, "heading":0.0, "vx":-2.49789, "vy":0.08798, "omega":0.0, "ax":0.00175, "ay":0.049, "alpha":0.0, "fx":[0.02889,0.02889,0.02889,0.02889], "fy":[0.81011,0.81011,0.81011,0.81011]}, + {"t":2.59892, "x":5.63882, "y":7.42055, "heading":0.0, "vx":-2.49781, "vy":0.09019, "omega":0.0, "ax":0.00138, "ay":0.03798, "alpha":0.0, "fx":[0.02289,0.02289,0.02289,0.02289], "fy":[0.62799,0.62799,0.62799,0.62799]}, + {"t":2.64412, "x":5.52593, "y":7.42467, "heading":0.0, "vx":-2.49775, "vy":0.09191, "omega":0.0, "ax":0.0011, "ay":0.02961, "alpha":0.0, "fx":[0.01815,0.01815,0.01815,0.01815], "fy":[0.48955,0.48955,0.48955,0.48955]}, + {"t":2.68931, "x":5.41305, "y":7.42885, "heading":0.0, "vx":-2.4977, "vy":0.09325, "omega":0.0, "ax":0.00087, "ay":0.02316, "alpha":0.0, "fx":[0.01438,0.01438,0.01438,0.01438], "fy":[0.3829,0.3829,0.3829,0.3829]}, + {"t":2.73451, "x":5.30017, "y":7.43309, "heading":0.0, "vx":-2.49766, "vy":0.09429, "omega":0.0, "ax":0.00069, "ay":0.01815, "alpha":0.0, "fx":[0.01138,0.01138,0.01138,0.01138], "fy":[0.30009,0.30009,0.30009,0.30009]}, + {"t":2.7797, "x":5.18729, "y":7.43737, "heading":0.0, "vx":-2.49763, "vy":0.09511, "omega":0.0, "ax":0.00054, "ay":0.01424, "alpha":0.0, "fx":[0.009,0.009,0.009,0.009], "fy":[0.23546,0.23546,0.23546,0.23546]}, + {"t":2.8249, "x":5.07441, "y":7.44168, "heading":0.0, "vx":-2.49761, "vy":0.09576, "omega":0.0, "ax":0.00043, "ay":0.01118, "alpha":0.0, "fx":[0.00711,0.00711,0.00711,0.00711], "fy":[0.18487,0.18487,0.18487,0.18487]}, + {"t":2.87009, "x":4.96154, "y":7.44602, "heading":0.0, "vx":-2.49759, "vy":0.09626, "omega":0.0, "ax":0.00034, "ay":0.00878, "alpha":0.0, "fx":[0.00561,0.00561,0.00561,0.00561], "fy":[0.14518,0.14518,0.14518,0.14518]}, + {"t":2.91528, "x":4.84866, "y":7.45038, "heading":0.0, "vx":-2.49757, "vy":0.09666, "omega":0.0, "ax":0.00027, "ay":0.0069, "alpha":0.0, "fx":[0.00442,0.00442,0.00442,0.00442], "fy":[0.11401,0.11401,0.11401,0.11401]}, + {"t":2.96048, "x":4.73579, "y":7.45475, "heading":0.0, "vx":-2.49756, "vy":0.09697, "omega":0.0, "ax":0.00021, "ay":0.00541, "alpha":0.0, "fx":[0.00348,0.00348,0.00348,0.00348], "fy":[0.08949,0.08949,0.08949,0.08949]}, + {"t":3.00567, "x":4.62291, "y":7.45914, "heading":0.0, "vx":-2.49755, "vy":0.09722, "omega":0.0, "ax":0.00017, "ay":0.00425, "alpha":0.0, "fx":[0.00273,0.00273,0.00273,0.00273], "fy":[0.07019,0.07019,0.07019,0.07019]}, + {"t":3.05087, "x":4.51004, "y":7.46354, "heading":0.0, "vx":-2.49754, "vy":0.09741, "omega":0.0, "ax":0.00013, "ay":0.00333, "alpha":0.0, "fx":[0.00215,0.00215,0.00215,0.00215], "fy":[0.05497,0.05497,0.05497,0.05497]}, + {"t":3.09606, "x":4.39716, "y":7.46795, "heading":0.0, "vx":-2.49754, "vy":0.09756, "omega":0.0, "ax":0.0001, "ay":0.0026, "alpha":0.0, "fx":[0.00168,0.00168,0.00168,0.00168], "fy":[0.04295,0.04295,0.04295,0.04295]}, + {"t":3.14125, "x":4.28429, "y":7.47236, "heading":0.0, "vx":-2.49753, "vy":0.09768, "omega":0.0, "ax":0.00008, "ay":0.00202, "alpha":0.0, "fx":[0.00131,0.00131,0.00131,0.00131], "fy":[0.03342,0.03342,0.03342,0.03342]}, + {"t":3.18645, "x":4.17141, "y":7.47677, "heading":0.0, "vx":-2.49753, "vy":0.09777, "omega":0.0, "ax":0.00006, "ay":0.00156, "alpha":0.0, "fx":[0.00101,0.00101,0.00101,0.00101], "fy":[0.02584,0.02584,0.02584,0.02584]}, + {"t":3.23164, "x":4.05854, "y":7.48119, "heading":0.0, "vx":-2.49753, "vy":0.09784, "omega":0.0, "ax":0.00005, "ay":0.0012, "alpha":0.0, "fx":[0.00078,0.00078,0.00078,0.00078], "fy":[0.01981,0.01981,0.01981,0.01981]}, + {"t":3.27684, "x":3.94567, "y":7.48562, "heading":0.0, "vx":-2.49752, "vy":0.09789, "omega":0.0, "ax":0.0001, "ay":0.00094, "alpha":0.0, "fx":[0.00172,0.00172,0.00172,0.00172], "fy":[0.01552,0.01552,0.01552,0.01552]}, + {"t":3.32203, "x":3.83279, "y":7.49004, "heading":0.0, "vx":-2.49752, "vy":0.09793, "omega":0.0, "ax":2.69888, "ay":-0.10478, "alpha":0.0, "fx":[44.62173,44.62173,44.62173,44.62173], "fy":[-1.73237,-1.73237,-1.73237,-1.73237]}, + {"t":3.36722, "x":3.72268, "y":7.49436, "heading":0.0, "vx":-2.37555, "vy":0.0932, "omega":0.0, "ax":7.47813, "ay":-0.2933, "alpha":0.0, "fx":[123.63919,123.63919,123.63919,123.63919], "fy":[-4.84934,-4.84934,-4.84934,-4.84934]}, + {"t":3.41242, "x":3.62295, "y":7.49827, "heading":0.0, "vx":-2.03758, "vy":0.07994, "omega":0.0, "ax":7.50263, "ay":-0.29431, "alpha":0.0, "fx":[124.04436,124.04436,124.04436,124.04436], "fy":[-4.8659,-4.8659,-4.8659,-4.8659]}, + {"t":3.45761, "x":3.53853, "y":7.50159, "heading":0.0, "vx":-1.6985, "vy":0.06664, "omega":0.0, "ax":7.51083, "ay":-0.29466, "alpha":0.0, "fx":[124.17992,124.17992,124.17992,124.17992], "fy":[-4.8717,-4.8717,-4.8717,-4.8717]}, + {"t":3.50281, "x":3.46944, "y":7.5043, "heading":0.0, "vx":-1.35906, "vy":0.05333, "omega":0.0, "ax":7.51494, "ay":-0.29484, "alpha":0.0, "fx":[124.24777,124.24777,124.24777,124.24777], "fy":[-4.87473,-4.87473,-4.87473,-4.87473]}, + {"t":3.548, "x":3.41569, "y":7.50641, "heading":0.0, "vx":-1.01943, "vy":0.04, "omega":0.0, "ax":7.5174, "ay":-0.29495, "alpha":0.0, "fx":[124.2885,124.2885,124.2885,124.2885], "fy":[-4.87661,-4.87661,-4.87661,-4.87661]}, + {"t":3.5932, "x":3.3773, "y":7.50791, "heading":0.0, "vx":-0.67969, "vy":0.02667, "omega":0.0, "ax":7.51904, "ay":-0.29503, "alpha":0.0, "fx":[124.31566,124.31566,124.31566,124.31566], "fy":[-4.87789,-4.87789,-4.87789,-4.87789]}, + {"t":3.63839, "x":3.35426, "y":7.50882, "heading":0.0, "vx":-0.33987, "vy":0.01334, "omega":0.0, "ax":7.52022, "ay":-0.29509, "alpha":0.0, "fx":[124.33506,124.33506,124.33506,124.33506], "fy":[-4.87881,-4.87881,-4.87881,-4.87881]}, + {"t":3.68358, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj index bfb7de2a..0aa0f406 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj @@ -3,15 +3,15 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.814759731292725, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.107110023498535, "y":6.267597198486328, "heading":-1.4382449013353842, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.814759731292725, "y":7.509117603302002, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.107110023498535, "y":6.267597198486328, "heading":-1.4382449013353842, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -19,15 +19,15 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"7.509117603302002 m", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.814759731292725 m", "val":5.814759731292725}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"6.107110023498535 m", "val":6.107110023498535}, "y":{"exp":"6.267597198486328 m", "val":6.267597198486328}, "heading":{"exp":"-1.4382449013353842 rad", "val":-1.4382449013353842}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"7.509117603302002 m", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.814759731292725 m", "val":5.814759731292725}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"6.107110023498535 m", "val":6.107110023498535}, "y":{"exp":"6.267597198486328 m", "val":6.267597198486328}, "heading":{"exp":"-1.4382449013353842 rad", "val":-1.4382449013353842}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], @@ -61,100 +61,92 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.38096,2.12494,3.36329], + "waypoints":[0.0,1.18641,1.89891,2.89057], "samples":[ - {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52564, "ay":0.00213, "alpha":0.0, "fx":[124.42468,124.42468,124.42468,124.42468], "fy":[0.03523,0.03523,0.03523,0.03523]}, - {"t":0.04603, "x":3.35455, "y":7.50912, "heading":0.0, "vx":0.34642, "vy":0.0001, "omega":0.0, "ax":7.52379, "ay":0.00216, "alpha":0.0, "fx":[124.39418,124.39418,124.39418,124.39418], "fy":[0.03567,0.03567,0.03567,0.03567]}, - {"t":0.09206, "x":3.37847, "y":7.50913, "heading":0.0, "vx":0.69276, "vy":0.0002, "omega":0.0, "ax":7.52073, "ay":0.0022, "alpha":0.0, "fx":[124.34348,124.34348,124.34348,124.34348], "fy":[0.03632,0.03632,0.03632,0.03632]}, - {"t":0.1381, "x":3.41832, "y":7.50914, "heading":0.0, "vx":1.03895, "vy":0.0003, "omega":0.0, "ax":7.51462, "ay":0.00225, "alpha":0.0, "fx":[124.24261,124.24261,124.24261,124.24261], "fy":[0.03724,0.03724,0.03724,0.03724]}, - {"t":0.18413, "x":3.47411, "y":7.50915, "heading":0.0, "vx":1.38487, "vy":0.0004, "omega":0.0, "ax":7.49658, "ay":0.00234, "alpha":0.0, "fx":[123.94421,123.94421,123.94421,123.94421], "fy":[0.03861,0.03861,0.03861,0.03861]}, - {"t":0.23016, "x":3.5458, "y":7.50918, "heading":0.0, "vx":1.72995, "vy":0.00051, "omega":0.0, "ax":5.85711, "ay":0.00336, "alpha":0.0, "fx":[96.83817,96.83817,96.83817,96.83817], "fy":[0.05548,0.05548,0.05548,0.05548]}, - {"t":0.27619, "x":3.63164, "y":7.5092, "heading":0.0, "vx":1.99956, "vy":0.00066, "omega":0.0, "ax":0.00018, "ay":0.00185, "alpha":0.0, "fx":[0.00304,0.00304,0.00304,0.00304], "fy":[0.03062,0.03062,0.03062,0.03062]}, - {"t":0.32222, "x":3.72369, "y":7.50923, "heading":0.0, "vx":1.99957, "vy":0.00075, "omega":0.0, "ax":0.0, "ay":0.00233, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.03858,0.03858,0.03858,0.03858]}, - {"t":0.36826, "x":3.81573, "y":7.50927, "heading":0.0, "vx":1.99957, "vy":0.00086, "omega":0.0, "ax":0.0, "ay":0.00301, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.04977,0.04977,0.04977,0.04977]}, - {"t":0.41429, "x":3.90777, "y":7.50931, "heading":0.0, "vx":1.99957, "vy":0.001, "omega":0.0, "ax":0.0, "ay":0.0038, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0629,0.0629,0.0629,0.0629]}, - {"t":0.46032, "x":3.99982, "y":7.50936, "heading":0.0, "vx":1.99957, "vy":0.00117, "omega":0.0, "ax":0.0, "ay":0.00474, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.07835,0.07835,0.07835,0.07835]}, - {"t":0.50635, "x":4.09186, "y":7.50942, "heading":0.0, "vx":1.99957, "vy":0.00139, "omega":0.0, "ax":0.0, "ay":0.00585, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.0967,0.0967,0.0967,0.0967]}, - {"t":0.55239, "x":4.18391, "y":7.50949, "heading":0.0, "vx":1.99957, "vy":0.00166, "omega":0.0, "ax":-0.00001, "ay":0.00718, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[0.11865,0.11865,0.11865,0.11865]}, - {"t":0.59842, "x":4.27595, "y":7.50958, "heading":0.0, "vx":1.99957, "vy":0.00199, "omega":0.0, "ax":-0.00001, "ay":0.00877, "alpha":0.0, "fx":[-0.00016,-0.00016,-0.00016,-0.00016], "fy":[0.14502,0.14502,0.14502,0.14502]}, - {"t":0.64445, "x":4.368, "y":7.50968, "heading":0.0, "vx":1.99957, "vy":0.00239, "omega":0.0, "ax":-0.00001, "ay":0.0107, "alpha":0.0, "fx":[-0.00023,-0.00023,-0.00023,-0.00023], "fy":[0.17686,0.17686,0.17686,0.17686]}, - {"t":0.69048, "x":4.46004, "y":7.5098, "heading":0.0, "vx":1.99957, "vy":0.00288, "omega":0.0, "ax":-0.00002, "ay":0.01303, "alpha":0.0, "fx":[-0.00034,-0.00034,-0.00034,-0.00034], "fy":[0.21544,0.21544,0.21544,0.21544]}, - {"t":0.73651, "x":4.55208, "y":7.50995, "heading":0.0, "vx":1.99957, "vy":0.00348, "omega":0.0, "ax":-0.00003, "ay":0.01587, "alpha":0.0, "fx":[-0.00051,-0.00051,-0.00051,-0.00051], "fy":[0.26238,0.26238,0.26238,0.26238]}, - {"t":0.78255, "x":4.64413, "y":7.51012, "heading":0.0, "vx":1.99957, "vy":0.00421, "omega":0.0, "ax":-0.00005, "ay":0.01934, "alpha":0.0, "fx":[-0.00075,-0.00075,-0.00075,-0.00075], "fy":[0.31976,0.31976,0.31976,0.31976]}, - {"t":0.82858, "x":4.73617, "y":7.51034, "heading":0.0, "vx":1.99957, "vy":0.00511, "omega":0.0, "ax":-0.00007, "ay":0.02361, "alpha":0.0, "fx":[-0.0011,-0.0011,-0.0011,-0.0011], "fy":[0.39037,0.39037,0.39037,0.39037]}, - {"t":0.87461, "x":4.82822, "y":7.5106, "heading":0.0, "vx":1.99956, "vy":0.00619, "omega":0.0, "ax":-0.0001, "ay":0.02891, "alpha":0.0, "fx":[-0.00164,-0.00164,-0.00164,-0.00164], "fy":[0.478,0.478,0.478,0.478]}, - {"t":0.92064, "x":4.92026, "y":7.51091, "heading":0.0, "vx":1.99956, "vy":0.00752, "omega":0.0, "ax":-0.00015, "ay":0.03557, "alpha":0.0, "fx":[-0.00245,-0.00245,-0.00245,-0.00245], "fy":[0.58817,0.58817,0.58817,0.58817]}, - {"t":0.96667, "x":5.0123, "y":7.5113, "heading":0.0, "vx":1.99955, "vy":0.00916, "omega":0.0, "ax":-0.00022, "ay":0.04412, "alpha":0.0, "fx":[-0.00371,-0.00371,-0.00371,-0.00371], "fy":[0.72938,0.72938,0.72938,0.72938]}, - {"t":1.01271, "x":5.10435, "y":7.51177, "heading":0.0, "vx":1.99954, "vy":0.01119, "omega":0.0, "ax":-0.00035, "ay":0.05539, "alpha":0.0, "fx":[-0.00571,-0.00571,-0.00571,-0.00571], "fy":[0.91577,0.91577,0.91577,0.91577]}, - {"t":1.05874, "x":5.19639, "y":7.51234, "heading":0.0, "vx":1.99952, "vy":0.01374, "omega":0.0, "ax":-0.00055, "ay":0.07099, "alpha":0.0, "fx":[-0.00902,-0.00902,-0.00902,-0.00902], "fy":[1.17365,1.17365,1.17365,1.17365]}, - {"t":1.10477, "x":5.28843, "y":7.51305, "heading":0.0, "vx":1.9995, "vy":0.01701, "omega":0.0, "ax":-0.00091, "ay":0.0944, "alpha":0.0, "fx":[-0.01497,-0.01497,-0.01497,-0.01497], "fy":[1.56068,1.56068,1.56068,1.56068]}, - {"t":1.1508, "x":5.38047, "y":7.51393, "heading":0.0, "vx":1.99946, "vy":0.02135, "omega":0.0, "ax":-0.00166, "ay":0.13577, "alpha":0.0, "fx":[-0.02748,-0.02748,-0.02748,-0.02748], "fy":[2.24474,2.24474,2.24474,2.24474]}, - {"t":1.19683, "x":5.47251, "y":7.51506, "heading":0.0, "vx":1.99938, "vy":0.0276, "omega":0.0, "ax":-0.004, "ay":0.24106, "alpha":0.0, "fx":[-0.06608,-0.06608,-0.06608,-0.06608], "fy":[3.98557,3.98557,3.98557,3.98557]}, - {"t":1.24287, "x":5.56454, "y":7.51658, "heading":0.0, "vx":1.9992, "vy":0.0387, "omega":0.0, "ax":-0.02534, "ay":0.6622, "alpha":0.0, "fx":[-0.41897,-0.41897,-0.41897,-0.41897], "fy":[10.94841,10.94841,10.94841,10.94841]}, - {"t":1.2889, "x":5.65654, "y":7.51907, "heading":0.0, "vx":1.99803, "vy":0.06918, "omega":0.0, "ax":-6.84321, "ay":-2.96205, "alpha":0.0, "fx":[-113.14179,-113.14179,-113.14179,-113.14179], "fy":[-48.97285,-48.97285,-48.97285,-48.97285]}, - {"t":1.33493, "x":5.74127, "y":7.51911, "heading":0.0, "vx":1.68302, "vy":-0.06717, "omega":0.0, "ax":-3.75524, "ay":-6.51548, "alpha":0.0, "fx":[-62.08697,-62.08697,-62.08697,-62.08697], "fy":[-107.72333,-107.72333,-107.72333,-107.72333]}, - {"t":1.38096, "x":5.81476, "y":7.50912, "heading":0.0, "vx":1.51016, "vy":-0.36709, "omega":0.0, "ax":-2.19248, "ay":-6.14659, "alpha":-6.94999, "fx":[7.79342,24.52074,-111.30455,-66.00674], "fy":[-124.13429,-121.56784,-55.34629,-105.44897]}, - {"t":1.40576, "x":5.85154, "y":7.49812, "heading":0.0, "vx":1.45579, "vy":-0.51952, "omega":-0.17235, "ax":-2.26302, "ay":-6.10239, "alpha":-6.98914, "fx":[7.05041,22.92625,-112.47176,-67.16706], "fy":[-124.16453,-121.81347,-52.89522,-104.70078]}, - {"t":1.43056, "x":5.88694, "y":7.48336, "heading":-0.00427, "vx":1.39967, "vy":-0.67085, "omega":-0.34568, "ax":-2.34286, "ay":-6.04429, "alpha":-7.05948, "fx":[6.01517,21.56893,-113.82873,-68.69774], "fy":[-124.20259,-121.98192,-49.85952,-103.68773]}, - {"t":1.45536, "x":5.92093, "y":7.46487, "heading":-0.01285, "vx":1.34157, "vy":-0.82075, "omega":-0.52075, "ax":-2.43332, "ay":-5.96927, "alpha":-7.16487, "fx":[4.65009,20.44733,-115.37816,-70.64397], "fy":[-124.24197,-122.07557,-46.09883,-102.35366]}, - {"t":1.48016, "x":5.95346, "y":7.44268, "heading":-0.02576, "vx":1.28122, "vy":-0.96878, "omega":-0.69843, "ax":-2.53624, "ay":-5.87314, "alpha":-7.30974, "fx":[2.9003,19.54092,-117.10738,-73.06475], "fy":[-124.2722,-122.09427,-41.42831,-100.61819]}, - {"t":1.50496, "x":5.98445, "y":7.41685, "heading":-0.04308, "vx":1.21833, "vy":-1.11443, "omega":-0.87971, "ax":-2.65409, "ay":-5.75011, "alpha":-7.49895, "fx":[0.68491,18.80149,-118.97387,-76.03743], "fy":[-124.27625,-122.0322,-35.60381,-98.36435]}, - {"t":1.52976, "x":6.01385, "y":7.38744, "heading":-0.0649, "vx":1.15251, "vy":-1.25703, "omega":-1.06568, "ax":-2.79023, "ay":-5.59201, "alpha":-7.73698, "fx":[-2.11808,18.13159,-120.8787,-79.66305], "fy":[-124.22529,-121.87085,-28.30641,-95.41832]}, - {"t":1.55456, "x":6.04157, "y":7.35455, "heading":-0.09133, "vx":1.08331, "vy":-1.39571, "omega":-1.25755, "ax":-2.94962, "ay":-5.3872, "alpha":-8.02523, "fx":[-5.69922,17.32067,-122.61983,-84.07108], "fy":[-124.06783,-121.55803,-19.13457,-91.51514]}, - {"t":1.57936, "x":6.06753, "y":7.31828, "heading":-0.12251, "vx":1.01016, "vy":-1.52931, "omega":-1.45657, "ax":-3.14221, "ay":-5.11835, "alpha":-8.35257, "fx":[-10.36951,15.79787,-123.8171,-89.41775], "fy":[-123.70529,-120.92107,-7.62844,-86.241]}, - {"t":1.60416, "x":6.09161, "y":7.27878, "heading":-0.15863, "vx":0.93224, "vy":-1.65624, "omega":-1.66371, "ax":-3.40666, "ay":-4.7525, "alpha":-8.64979, "fx":[-16.66026,11.03711,-123.81773,-95.85456], "fy":[-122.9323,-119.03156,6.60783,-78.94469]}, - {"t":1.62896, "x":6.11368, "y":7.23625, "heading":-0.19989, "vx":0.84775, "vy":-1.7741, "omega":-1.87822, "ax":-4.70772, "ay":-3.43872, "alpha":-8.00369, "fx":[-25.4816,-60.81885,-121.72376,-103.31488], "fy":[-121.28602,-60.64424,23.28928,-68.77449]}, - {"t":1.65375, "x":6.13326, "y":7.19119, "heading":-0.24647, "vx":0.73101, "vy":-1.85938, "omega":-2.0767, "ax":-3.44235, "ay":-1.27506, "alpha":-13.47478, "fx":[-30.0081,28.83953,-119.75668,-106.73051], "fy":[-120.1227,67.5198,31.46248,-63.18402]}, - {"t":1.67855, "x":6.15033, "y":7.14469, "heading":-0.29797, "vx":0.64564, "vy":-1.891, "omega":-2.41087, "ax":-3.03508, "ay":-0.97592, "alpha":-14.61248, "fx":[-35.07149,61.54777,-117.3198,-109.87778], "fy":[-118.57386,72.22446,39.10062,-57.2928]}, - {"t":1.70335, "x":6.16541, "y":7.09749, "heading":-0.35776, "vx":0.57037, "vy":-1.9152, "omega":-2.77325, "ax":-3.00498, "ay":-0.8373, "alpha":-14.71486, "fx":[-41.45361,69.98666,-114.27935,-112.98454], "fy":[-116.24307,64.71348,46.63994,-50.48384]}, - {"t":1.72815, "x":6.17863, "y":7.04974, "heading":-0.42653, "vx":0.49585, "vy":-1.93596, "omega":-3.13817, "ax":-3.29407, "ay":-0.77363, "alpha":-13.97577, "fx":[-49.73057,58.61287,-110.85881,-115.8727], "fy":[-112.52996,50.63777,53.39465,-42.66582]}, - {"t":1.75295, "x":6.18991, "y":7.00149, "heading":-0.50436, "vx":0.41416, "vy":-1.95515, "omega":-3.48475, "ax":-5.37511, "ay":-0.95204, "alpha":-8.72365, "fx":[-62.13202,-67.31779,-107.5379,-118.48826], "fy":[-105.33188,16.91766,58.32543,-32.87296]}, - {"t":1.77775, "x":6.19853, "y":6.95271, "heading":-0.59078, "vx":0.28086, "vy":-1.97876, "omega":-3.7011, "ax":-6.39102, "ay":-0.64884, "alpha":-5.86471, "fx":[-86.36943,-108.53684,-107.49575,-120.26007], "fy":[-84.00298,4.88585,54.96795,-18.76103]}, - {"t":1.80255, "x":6.20353, "y":6.90344, "heading":-0.68256, "vx":0.12237, "vy":-1.99485, "omega":-3.84654, "ax":-7.00078, "ay":-0.08641, "alpha":-0.95147, "fx":[-115.27888,-115.15535,-115.74065,-116.8132], "fy":[-13.32484,-0.23398,10.26981,-2.42536]}, - {"t":1.82735, "x":6.20441, "y":6.85394, "heading":-0.77795, "vx":-0.05125, "vy":-1.99699, "omega":-3.87013, "ax":-6.43276, "ay":0.42601, "alpha":0.01118, "fx":[-106.34866,-106.37623,-106.36276,-106.33527], "fy":[7.17196,7.03519,6.9147,7.05151]}, - {"t":1.85215, "x":6.20116, "y":6.80455, "heading":-0.87393, "vx":-0.21078, "vy":-1.98643, "omega":-3.86985, "ax":-4.62954, "ay":0.6254, "alpha":-0.00098, "fx":[-76.54327,-76.53822,-76.54122,-76.54627], "fy":[10.33105,10.33988,10.34897,10.34014]}, - {"t":1.87695, "x":6.19451, "y":6.75548, "heading":-0.9699, "vx":-0.32558, "vy":-1.97092, "omega":-3.86988, "ax":-1.39158, "ay":0.23464, "alpha":-0.38133, "fx":[-23.4961,-20.58628,-22.53607,-25.41169], "fy":[1.29209,3.42413,6.47024,4.33102]}, - {"t":1.90175, "x":6.18601, "y":6.70668, "heading":-1.06587, "vx":-0.36009, "vy":-1.9651, "omega":-3.87934, "ax":-0.32795, "ay":0.01808, "alpha":9.52195, "fx":[10.87708,-65.18182,-24.1855,56.80135], "fy":[62.08069,17.25282,-60.11308,-18.02471]}, - {"t":1.92655, "x":6.17698, "y":6.65795, "heading":-1.16208, "vx":-0.36823, "vy":-1.96465, "omega":-3.6432, "ax":0.12759, "ay":-0.02415, "alpha":17.82436, "fx":[47.46999,-110.14033,-39.94593,111.05412], "fy":[109.11358,44.42592,-112.01183,-43.12474]}, - {"t":1.95135, "x":6.16789, "y":6.60922, "heading":-1.25242, "vx":-0.36506, "vy":-1.96525, "omega":-3.20117, "ax":0.1515, "ay":-0.02806, "alpha":18.22547, "fx":[58.9613,-107.85526,-50.3981,109.31147], "fy":[106.44016,56.00287,-110.68,-53.61889]}, - {"t":1.97615, "x":6.15888, "y":6.56047, "heading":-1.33181, "vx":-0.36131, "vy":-1.96594, "omega":-2.74919, "ax":0.16456, "ay":-0.03009, "alpha":18.36571, "fx":[67.94081,-103.60334,-59.21764,105.763], "fy":[102.0793,65.37696,-107.30505,-62.14136]}, - {"t":2.00094, "x":6.14997, "y":6.51171, "heading":-1.39999, "vx":-0.35723, "vy":-1.96669, "omega":-2.29373, "ax":0.17504, "ay":-0.03161, "alpha":18.43666, "fx":[75.13919,-99.00297,-66.49489,101.93472], "fy":[97.50911,72.99948,-103.52794,-69.07085]}, - {"t":2.02574, "x":6.14117, "y":6.46293, "heading":-1.45687, "vx":-0.35288, "vy":-1.96747, "omega":-1.83652, "ax":0.18466, "ay":-0.0329, "alpha":18.47919, "fx":[80.82756,-94.61884,-72.32671,98.33005], "fy":[93.23246,79.0726,-99.90271,-74.5782]}, - {"t":2.05054, "x":6.13247, "y":6.41413, "heading":-1.50242, "vx":-0.34831, "vy":-1.96829, "omega":-1.37824, "ax":0.19399, "ay":-0.03406, "alpha":18.50731, "fx":[85.19085,-90.77557,-76.81509,95.22877], "fy":[89.53114,83.75679,-96.74539,-78.7952]}, - {"t":2.07534, "x":6.12389, "y":6.3653, "heading":-1.5366, "vx":-0.34349, "vy":-1.96914, "omega":-0.91928, "ax":0.20334, "ay":-0.03472, "alpha":18.52709, "fx":[88.3701,-87.68202,-80.05996,92.81975], "fy":[86.59318,87.19696,-94.2631,-81.82349]}, - {"t":2.10014, "x":6.11544, "y":6.31646, "heading":-1.55939, "vx":-0.33845, "vy":-1.97, "omega":-0.45982, "ax":0.21439, "ay":-0.02619, "alpha":18.54155, "fx":[90.36362,-85.30938,-82.25688,91.38078], "fy":[84.66517,89.67242,-92.49256,-83.57683]}, - {"t":2.12494, "x":6.10711, "y":6.2676, "heading":-1.5708, "vx":-0.33314, "vy":-1.97065, "omega":0.0, "ax":6.16516, "ay":-0.67501, "alpha":0.0, "fx":[101.93138,101.93138,101.93138,101.93138], "fy":[-11.16019,-11.16019,-11.16019,-11.16019]}, - {"t":2.16489, "x":6.09872, "y":6.18834, "heading":-1.5708, "vx":-0.08686, "vy":-1.99761, "omega":0.0, "ax":1.44331, "ay":-0.04194, "alpha":0.0, "fx":[23.86294,23.86294,23.86294,23.86294], "fy":[-0.69349,-0.69349,-0.69349,-0.69349]}, - {"t":2.20483, "x":6.0964, "y":6.10851, "heading":-1.5708, "vx":-0.0292, "vy":-1.99929, "omega":0.0, "ax":0.11326, "ay":-0.00153, "alpha":0.0, "fx":[1.87256,1.87256,1.87256,1.87256], "fy":[-0.02524,-0.02524,-0.02524,-0.02524]}, - {"t":2.24478, "x":6.09533, "y":6.02864, "heading":-1.5708, "vx":-0.02468, "vy":-1.99935, "omega":0.0, "ax":0.00856, "ay":-0.0001, "alpha":0.0, "fx":[0.14155,0.14155,0.14155,0.14155], "fy":[-0.00174,-0.00174,-0.00174,-0.00174]}, - {"t":2.28473, "x":6.09435, "y":5.94877, "heading":-1.5708, "vx":-0.02434, "vy":-1.99935, "omega":0.0, "ax":0.00065, "ay":-0.00001, "alpha":0.0, "fx":[0.0107,0.0107,0.0107,0.0107], "fy":[-0.00013,-0.00013,-0.00013,-0.00013]}, - {"t":2.32467, "x":6.09338, "y":5.86891, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.00005, "ay":0.0, "alpha":0.0, "fx":[0.00081,0.00081,0.00081,0.00081], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, - {"t":2.36462, "x":6.09241, "y":5.78904, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.40457, "x":6.09143, "y":5.70917, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.44451, "x":6.09046, "y":5.6293, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.48446, "x":6.08949, "y":5.54944, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.52441, "x":6.08852, "y":5.46957, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.56435, "x":6.08755, "y":5.3897, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.6043, "x":6.08658, "y":5.30984, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.64425, "x":6.08561, "y":5.22997, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.68419, "x":6.08464, "y":5.1501, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.72414, "x":6.08367, "y":5.07023, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.76409, "x":6.0827, "y":4.99037, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.80403, "x":6.08172, "y":4.9105, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.84398, "x":6.08075, "y":4.83063, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.88393, "x":6.07978, "y":4.75076, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.92387, "x":6.07881, "y":4.6709, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.96382, "x":6.07784, "y":4.59103, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.00377, "x":6.07687, "y":4.51116, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.04371, "x":6.0759, "y":4.4313, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.08366, "x":6.07493, "y":4.35143, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.12361, "x":6.07396, "y":4.27156, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.16355, "x":6.07299, "y":4.19169, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.2035, "x":6.07201, "y":4.11183, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.24345, "x":6.07104, "y":4.03196, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.28339, "x":6.07007, "y":3.95209, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.32334, "x":6.0691, "y":3.87222, "heading":-1.5708, "vx":-0.02431, "vy":-1.99935, "omega":0.0, "ax":0.00015, "ay":0.01256, "alpha":0.0, "fx":[0.00253,0.00253,0.00253,0.00253], "fy":[0.20769,0.20769,0.20769,0.20769]}, - {"t":3.36329, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":-0.0243, "vy":-1.99885, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52565, "ay":0.00113, "alpha":0.0, "fx":[124.42486,124.42486,124.42486,124.42486], "fy":[0.0186,0.0186,0.0186,0.0186]}, + {"t":0.04394, "x":3.35384, "y":7.50912, "heading":0.0, "vx":0.33068, "vy":0.00005, "omega":0.0, "ax":7.52442, "ay":0.00115, "alpha":0.0, "fx":[124.40448,124.40448,124.40448,124.40448], "fy":[0.01906,0.01906,0.01906,0.01906]}, + {"t":0.08788, "x":3.37564, "y":7.50912, "heading":0.0, "vx":0.66132, "vy":0.0001, "omega":0.0, "ax":7.52269, "ay":0.00119, "alpha":0.0, "fx":[124.37597,124.37597,124.37597,124.37597], "fy":[0.01967,0.01967,0.01967,0.01967]}, + {"t":0.13182, "x":3.41196, "y":7.50913, "heading":0.0, "vx":0.99187, "vy":0.00015, "omega":0.0, "ax":7.52011, "ay":0.00124, "alpha":0.0, "fx":[124.33325,124.33325,124.33325,124.33325], "fy":[0.02047,0.02047,0.02047,0.02047]}, + {"t":0.17576, "x":3.4628, "y":7.50914, "heading":0.0, "vx":1.32231, "vy":0.00021, "omega":0.0, "ax":7.51581, "ay":0.0013, "alpha":0.0, "fx":[124.26216,124.26216,124.26216,124.26216], "fy":[0.02151,0.02151,0.02151,0.02151]}, + {"t":0.21971, "x":3.52816, "y":7.50915, "heading":0.0, "vx":1.65256, "vy":0.00026, "omega":0.0, "ax":7.50723, "ay":0.00138, "alpha":0.0, "fx":[124.12041,124.12041,124.12041,124.12041], "fy":[0.02288,0.02288,0.02288,0.02288]}, + {"t":0.26365, "x":3.60802, "y":7.50916, "heading":0.0, "vx":1.98244, "vy":0.00032, "omega":0.0, "ax":7.48174, "ay":0.0015, "alpha":0.0, "fx":[123.69892,123.69892,123.69892,123.69892], "fy":[0.02481,0.02481,0.02481,0.02481]}, + {"t":0.30759, "x":3.70236, "y":7.50917, "heading":0.0, "vx":2.3112, "vy":0.00039, "omega":0.0, "ax":4.28363, "ay":0.00382, "alpha":0.0, "fx":[70.82316,70.82316,70.82316,70.82316], "fy":[0.06319,0.06319,0.06319,0.06319]}, + {"t":0.35153, "x":3.80805, "y":7.5092, "heading":0.0, "vx":2.49942, "vy":0.00056, "omega":0.0, "ax":0.00015, "ay":0.00282, "alpha":0.0, "fx":[0.00251,0.00251,0.00251,0.00251], "fy":[0.04659,0.04659,0.04659,0.04659]}, + {"t":0.39547, "x":3.91788, "y":7.50922, "heading":0.0, "vx":2.49943, "vy":0.00068, "omega":0.0, "ax":0.0, "ay":0.0035, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.05789,0.05789,0.05789,0.05789]}, + {"t":0.43941, "x":4.0277, "y":7.50926, "heading":0.0, "vx":2.49943, "vy":0.00084, "omega":0.0, "ax":0.0, "ay":0.00455, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.07528,0.07528,0.07528,0.07528]}, + {"t":0.48335, "x":4.13753, "y":7.5093, "heading":0.0, "vx":2.49943, "vy":0.00104, "omega":0.0, "ax":0.0, "ay":0.00588, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.09714,0.09714,0.09714,0.09714]}, + {"t":0.52729, "x":4.24736, "y":7.50935, "heading":0.0, "vx":2.49943, "vy":0.00129, "omega":0.0, "ax":0.0, "ay":0.00753, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.12451,0.12451,0.12451,0.12451]}, + {"t":0.57123, "x":4.35719, "y":7.50941, "heading":0.0, "vx":2.49943, "vy":0.00163, "omega":0.0, "ax":-0.00001, "ay":0.00961, "alpha":0.0, "fx":[-0.00012,-0.00012,-0.00012,-0.00012], "fy":[0.15891,0.15891,0.15891,0.15891]}, + {"t":0.61517, "x":4.46701, "y":7.50949, "heading":0.0, "vx":2.49943, "vy":0.00205, "omega":0.0, "ax":-0.00001, "ay":0.01224, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.20232,0.20232,0.20232,0.20232]}, + {"t":0.65912, "x":4.57684, "y":7.50959, "heading":0.0, "vx":2.49943, "vy":0.00259, "omega":0.0, "ax":-0.00002, "ay":0.01556, "alpha":0.0, "fx":[-0.0003,-0.0003,-0.0003,-0.0003], "fy":[0.25731,0.25731,0.25731,0.25731]}, + {"t":0.70306, "x":4.68667, "y":7.50972, "heading":0.0, "vx":2.49943, "vy":0.00327, "omega":0.0, "ax":-0.00003, "ay":0.01979, "alpha":0.0, "fx":[-0.00048,-0.00048,-0.00048,-0.00048], "fy":[0.32718,0.32718,0.32718,0.32718]}, + {"t":0.747, "x":4.7965, "y":7.50989, "heading":0.0, "vx":2.49943, "vy":0.00414, "omega":0.0, "ax":-0.00005, "ay":0.02518, "alpha":0.0, "fx":[-0.00078,-0.00078,-0.00078,-0.00078], "fy":[0.41634,0.41634,0.41634,0.41634]}, + {"t":0.79094, "x":4.90632, "y":7.51009, "heading":0.0, "vx":2.49942, "vy":0.00525, "omega":0.0, "ax":-0.00008, "ay":0.03211, "alpha":0.0, "fx":[-0.00126,-0.00126,-0.00126,-0.00126], "fy":[0.53089,0.53089,0.53089,0.53089]}, + {"t":0.83488, "x":5.01615, "y":7.51035, "heading":0.0, "vx":2.49942, "vy":0.00666, "omega":0.0, "ax":-0.00012, "ay":0.04117, "alpha":0.0, "fx":[-0.00206,-0.00206,-0.00206,-0.00206], "fy":[0.68075,0.68075,0.68075,0.68075]}, + {"t":0.87882, "x":5.12598, "y":7.51069, "heading":0.0, "vx":2.49942, "vy":0.00847, "omega":0.0, "ax":-0.00021, "ay":0.05411, "alpha":0.0, "fx":[-0.00346,-0.00346,-0.00346,-0.00346], "fy":[0.89467,0.89467,0.89467,0.89467]}, + {"t":0.92276, "x":5.23581, "y":7.51111, "heading":0.0, "vx":2.49941, "vy":0.01084, "omega":0.0, "ax":-0.00042, "ay":0.08313, "alpha":0.0, "fx":[-0.00697,-0.00697,-0.00697,-0.00697], "fy":[1.37437,1.37437,1.37437,1.37437]}, + {"t":0.9667, "x":5.34563, "y":7.51167, "heading":0.0, "vx":2.49939, "vy":0.0145, "omega":0.0, "ax":-0.00214, "ay":0.25386, "alpha":0.0, "fx":[-0.03531,-0.03531,-0.03531,-0.03531], "fy":[4.19723,4.19723,4.19723,4.19723]}, + {"t":1.01064, "x":5.45546, "y":7.51255, "heading":0.0, "vx":2.49929, "vy":0.02565, "omega":0.0, "ax":-3.17153, "ay":1.50305, "alpha":0.0, "fx":[-52.43632,-52.43632,-52.43632,-52.43632], "fy":[24.85067,24.85067,24.85067,24.85067]}, + {"t":1.05459, "x":5.56222, "y":7.51513, "heading":0.0, "vx":2.35993, "vy":0.0917, "omega":0.0, "ax":-7.4813, "ay":-0.05038, "alpha":0.0, "fx":[-123.69162,-123.69162,-123.69162,-123.69162], "fy":[-0.8329,-0.8329,-0.8329,-0.8329]}, + {"t":1.09853, "x":5.65869, "y":7.51911, "heading":0.0, "vx":2.0312, "vy":0.08948, "omega":0.0, "ax":-6.26766, "ay":-4.13982, "alpha":0.0, "fx":[-103.62607,-103.62607,-103.62607,-103.62607], "fy":[-68.44555,-68.44555,-68.44555,-68.44555]}, + {"t":1.14247, "x":5.74189, "y":7.51904, "heading":0.0, "vx":1.75579, "vy":-0.09243, "omega":0.0, "ax":-4.43758, "ay":-6.07464, "alpha":0.0, "fx":[-73.36851,-73.36851,-73.36851,-73.36851], "fy":[-100.43465,-100.43465,-100.43465,-100.43465]}, + {"t":1.18641, "x":5.81476, "y":7.50912, "heading":0.0, "vx":1.5608, "vy":-0.35935, "omega":0.0, "ax":-1.33741, "ay":-4.65786, "alpha":-11.86446, "fx":[14.12723,98.8038,-123.649,-77.73023], "fy":[-123.58949,-74.05087,-13.241,-97.16015]}, + {"t":1.21098, "x":5.8527, "y":7.49888, "heading":0.0, "vx":1.52794, "vy":-0.47379, "omega":-0.2915, "ax":-1.43056, "ay":-4.75168, "alpha":-11.54166, "fx":[13.02344,93.98128,-123.58203,-78.03088], "fy":[-123.69918,-79.90156,-13.73791,-96.9079]}, + {"t":1.23555, "x":5.88981, "y":7.48581, "heading":-0.00716, "vx":1.49279, "vy":-0.59053, "omega":-0.57506, "ax":-1.55037, "ay":-4.83618, "alpha":-11.22178, "fx":[11.40776,88.35825,-123.56906,-78.7287], "fy":[-123.84602,-85.94253,-13.71682,-96.32927]}, + {"t":1.26012, "x":5.92602, "y":7.46984, "heading":-0.02129, "vx":1.4547, "vy":-0.70935, "omega":-0.85077, "ax":-1.69178, "ay":-4.90434, "alpha":-10.92404, "fx":[9.27936,82.25508,-123.6064,-79.81191], "fy":[-124.00965,-91.70848,-13.20525,-95.4191]}, + {"t":1.28468, "x":5.96125, "y":7.45093, "heading":-0.04219, "vx":1.41313, "vy":-0.82985, "omega":-1.11916, "ax":-1.85055, "ay":-4.95213, "alpha":-10.65958, "fx":[6.62776,75.94113,-123.68447,-81.26809], "fy":[-124.1638,-96.94393,-12.23075,-94.16469]}, + {"t":1.30925, "x":5.99541, "y":7.42905, "heading":-0.06969, "vx":1.36767, "vy":-0.95152, "omega":-1.38106, "ax":-2.02511, "ay":-4.97862, "alpha":-10.42842, "fx":[3.42947,69.51696,-123.78884,-83.08541], "fy":[-124.27513,-101.6135,-10.8219,-92.54443]}, + {"t":1.33382, "x":6.0284, "y":7.40417, "heading":-0.10362, "vx":1.31791, "vy":-1.07384, "omega":-1.63727, "ax":-2.21731, "ay":-4.98479, "alpha":-10.22027, "fx":[-0.35655,62.87169,-123.90101,-85.25349], "fy":[-124.30064,-105.8265,-9.01037,-90.52572]}, + {"t":1.35839, "x":6.06011, "y":7.37628, "heading":-0.14385, "vx":1.26344, "vy":-1.19631, "omega":-1.88838, "ax":-2.43247, "ay":-4.97209, "alpha":-10.01665, "fx":[-4.79596,55.69103,-123.99937,-87.76437], "fy":[-124.183,-109.74375,-6.83473,-88.0618]}, + {"t":1.38296, "x":6.09042, "y":7.34539, "heading":-0.19024, "vx":1.20367, "vy":-1.31847, "omega":-2.13447, "ax":-2.67953, "ay":-4.94112, "alpha":-9.79158, "fx":[-9.99128,47.45777,-124.06046,-90.61363], "fy":[-123.84157,-113.50039,-4.34673,-85.08624]}, + {"t":1.40753, "x":6.11918, "y":7.3115, "heading":-0.24268, "vx":1.13784, "vy":-1.43986, "omega":-2.37504, "ax":-2.97239, "ay":-4.89022, "alpha":-9.50932, "fx":[-16.1044,37.39226,-124.06095,-93.80243], "fy":[-123.15509,-117.12929,-1.6213,-81.50279]}, + {"t":1.4321, "x":6.14624, "y":7.27465, "heading":-0.30104, "vx":1.06481, "vy":-1.56001, "omega":-2.60868, "ax":-3.33324, "ay":-4.8127, "alpha":-9.11756, "fx":[-23.40105,24.28413,-123.98108,-97.3414], "fy":[-121.92452,-120.41862,1.22697,-77.16558]}, + {"t":1.45667, "x":6.1714, "y":7.23487, "heading":-0.36513, "vx":0.98292, "vy":-1.67825, "omega":-2.83269, "ax":-3.79901, "ay":-4.68938, "alpha":-8.53419, "fx":[-32.34354,6.16899,-123.81051,-101.25791], "fy":[-119.78516,-122.51974,4.01608,-71.83747]}, + {"t":1.48124, "x":6.1944, "y":7.19222, "heading":-0.43473, "vx":0.88958, "vy":-1.79347, "omega":-3.04236, "ax":-4.42981, "ay":-4.46681, "alpha":-7.63069, "fx":[-43.79771,-19.99578,-123.55737,-105.60901], "fy":[-115.96834,-120.79364,6.44919,-65.09406]}, + {"t":1.5058, "x":6.21492, "y":7.14681, "heading":-0.50947, "vx":0.78074, "vy":-1.90321, "omega":-3.22984, "ax":-5.29487, "ay":-4.00233, "alpha":-6.25503, "fx":[-59.50608,-56.90681,-123.25891,-110.49803], "fy":[-108.54074,-108.11045,8.03698,-56.07473]}, + {"t":1.53037, "x":6.2325, "y":7.09884, "heading":-0.58883, "vx":0.65065, "vy":-2.00155, "omega":-3.38352, "ax":-6.34361, "ay":-3.01732, "alpha":-4.40336, "fx":[-82.84982,-97.66395,-122.97961,-116.0337], "fy":[-91.53215,-73.26979,8.00223,-42.74708]}, + {"t":1.55494, "x":6.24657, "y":7.04876, "heading":-0.67196, "vx":0.4948, "vy":-2.07568, "omega":-3.49171, "ax":-7.22093, "ay":-1.31258, "alpha":-2.03748, "fx":[-113.4146,-119.95584,-122.74922,-121.42791], "fy":[-47.3638,-24.1407,5.23598,-20.53757]}, + {"t":1.57951, "x":6.25655, "y":6.99736, "heading":-0.75774, "vx":0.31739, "vy":-2.10793, "omega":-3.54176, "ax":-7.3686, "ay":-0.59301, "alpha":-0.57865, "fx":[-121.12085,-121.76879,-122.3188,-122.1046], "fy":[-17.32159,-10.22673,-2.22099,-9.44842]}, + {"t":1.60408, "x":6.26213, "y":6.94539, "heading":-0.84476, "vx":0.13635, "vy":-2.1225, "omega":-3.55598, "ax":-7.33318, "ay":-0.43169, "alpha":0.65723, "fx":[-121.58156,-121.63898,-120.63998,-121.11005], "fy":[1.42868,-6.21176,-15.54933,-8.21687]}, + {"t":1.62865, "x":6.26326, "y":6.89312, "heading":-0.93213, "vx":-0.04382, "vy":-2.1331, "omega":-3.53983, "ax":-7.15515, "ay":-0.48972, "alpha":2.30898, "fx":[-118.32691,-121.25,-115.53307,-118.08725], "fy":[22.28238,-2.98811,-35.27189,-16.40973]}, + {"t":1.65322, "x":6.26003, "y":6.84056, "heading":-1.0191, "vx":-0.21961, "vy":-2.14513, "omega":-3.4831, "ax":-6.63053, "ay":-1.01149, "alpha":4.75002, "fx":[-110.13736,-120.63471,-104.80073,-102.92916], "fy":[43.73526,-1.61966,-58.49273,-50.51643]}, + {"t":1.67779, "x":6.25263, "y":6.78755, "heading":-1.10467, "vx":-0.38252, "vy":-2.16999, "omega":-3.3664, "ax":-5.47704, "ay":-2.17704, "alpha":7.90912, "fx":[-105.0454,-119.36459,-89.76768,-48.03994], "fy":[46.56154,-9.63978,-78.94862,-101.94887]}, + {"t":1.70236, "x":6.24158, "y":6.73358, "heading":-1.18738, "vx":-0.51708, "vy":-2.22347, "omega":-3.17208, "ax":-4.45614, "ay":-2.90285, "alpha":9.42838, "fx":[-100.52141,-116.96726,-75.19365,-2.01873], "fy":[36.44941,-20.75864,-92.73854,-114.9285]}, + {"t":1.72693, "x":6.22753, "y":6.67808, "heading":-1.26532, "vx":-0.62657, "vy":-2.29479, "omega":-2.94044, "ax":-3.5353, "ay":-3.31719, "alpha":9.95617, "fx":[-76.4993,-114.63478,-64.48715,21.81824], "fy":[23.57542,-27.76793,-100.53003,-114.65564]}, + {"t":1.75149, "x":6.21107, "y":6.62069, "heading":-1.33756, "vx":-0.71343, "vy":-2.37629, "omega":-2.69582, "ax":-0.41233, "ay":-0.6074, "alpha":17.6501, "fx":[60.67551,-111.53336,-63.55429,87.14306], "fy":[100.7447,41.75395,-101.61686,-81.05112]}, + {"t":1.77606, "x":6.19341, "y":6.56213, "heading":-1.4038, "vx":-0.72356, "vy":-2.39122, "omega":-2.26218, "ax":0.23305, "ay":-0.07964, "alpha":18.29314, "fx":[76.84801,-98.00756,-64.31235,100.88454], "fy":[95.04341,72.68884,-103.83485,-69.16405]}, + {"t":1.80063, "x":6.17571, "y":6.50335, "heading":-1.45937, "vx":-0.71783, "vy":-2.39317, "omega":-1.81274, "ax":0.35718, "ay":-0.10669, "alpha":18.39776, "fx":[85.0259,-92.8693,-67.28959,98.75471], "fy":[89.02557,80.49337,-102.9592,-73.61562]}, + {"t":1.8252, "x":6.15818, "y":6.44452, "heading":-1.50391, "vx":-0.70906, "vy":-2.39579, "omega":-1.36072, "ax":0.41786, "ay":-0.12257, "alpha":18.4416, "fx":[90.16922,-88.39727,-70.55975,96.42229], "fy":[84.3984,85.99297,-101.24039,-77.2571]}, + {"t":1.84977, "x":6.14088, "y":6.38562, "heading":-1.53734, "vx":-0.69879, "vy":-2.39881, "omega":-0.90763, "ax":0.4572, "ay":-0.13055, "alpha":18.46456, "fx":[93.59944,-84.73123,-73.18785,94.55595], "fy":[80.92685,89.95383,-99.64907,-79.86527]}, + {"t":1.87434, "x":6.12385, "y":6.32665, "heading":-1.55964, "vx":-0.68756, "vy":-2.40201, "omega":-0.45398, "ax":0.4907, "ay":-0.12179, "alpha":18.47766, "fx":[95.64981,-81.74731,-75.02913,93.5788], "fy":[78.72739,92.89741,-98.4607,-81.21878]}, + {"t":1.89891, "x":6.10711, "y":6.2676, "heading":-1.5708, "vx":-0.6755, "vy":-2.40501, "omega":0.0, "ax":7.05535, "ay":-1.61628, "alpha":0.0, "fx":[116.64928,116.64928,116.64928,116.64928], "fy":[-26.72271,-26.72271,-26.72271,-26.72271]}, + {"t":1.93564, "x":6.08706, "y":6.17818, "heading":-1.5708, "vx":-0.41637, "vy":-2.46437, "omega":0.0, "ax":6.62699, "ay":-0.78827, "alpha":0.0, "fx":[109.56697,109.56697,109.56697,109.56697], "fy":[-13.03274,-13.03274,-13.03274,-13.03274]}, + {"t":1.97236, "x":6.07624, "y":6.08713, "heading":-1.5708, "vx":-0.17297, "vy":-2.49332, "omega":0.0, "ax":3.80901, "ay":-0.15732, "alpha":0.0, "fx":[62.97599,62.97599,62.97599,62.97599], "fy":[-2.60097,-2.60097,-2.60097,-2.60097]}, + {"t":2.00909, "x":6.07245, "y":5.99545, "heading":-1.5708, "vx":-0.03307, "vy":-2.4991, "omega":0.0, "ax":0.68242, "ay":-0.00562, "alpha":0.0, "fx":[11.28282,11.28282,11.28282,11.28282], "fy":[-0.09286,-0.09286,-0.09286,-0.09286]}, + {"t":2.04582, "x":6.0717, "y":5.90366, "heading":-1.5708, "vx":-0.00801, "vy":-2.49931, "omega":0.0, "ax":0.09185, "ay":-0.00023, "alpha":0.0, "fx":[1.5186,1.5186,1.5186,1.5186], "fy":[-0.00384,-0.00384,-0.00384,-0.00384]}, + {"t":2.08255, "x":6.07147, "y":5.81186, "heading":-1.5708, "vx":-0.00463, "vy":-2.49931, "omega":0.0, "ax":0.01226, "ay":-0.00002, "alpha":0.0, "fx":[0.20275,0.20275,0.20275,0.20275], "fy":[-0.00036,-0.00036,-0.00036,-0.00036]}, + {"t":2.11928, "x":6.0713, "y":5.72007, "heading":-1.5708, "vx":-0.00418, "vy":-2.49931, "omega":0.0, "ax":0.00164, "ay":0.0, "alpha":0.0, "fx":[0.02707,0.02707,0.02707,0.02707], "fy":[-0.00004,-0.00004,-0.00004,-0.00004]}, + {"t":2.15601, "x":6.07115, "y":5.62827, "heading":-1.5708, "vx":-0.00412, "vy":-2.49931, "omega":0.0, "ax":0.00022, "ay":0.0, "alpha":0.0, "fx":[0.00361,0.00361,0.00361,0.00361], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, + {"t":2.19274, "x":6.071, "y":5.53647, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.00003, "ay":0.0, "alpha":0.0, "fx":[0.00048,0.00048,0.00048,0.00048], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.22946, "x":6.07085, "y":5.44468, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.26619, "x":6.0707, "y":5.35288, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.30292, "x":6.07055, "y":5.26109, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.33965, "x":6.0704, "y":5.16929, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.37638, "x":6.07024, "y":5.0775, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.41311, "x":6.07009, "y":4.9857, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.44983, "x":6.06994, "y":4.8939, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.48656, "x":6.06979, "y":4.80211, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.52329, "x":6.06964, "y":4.71031, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.56002, "x":6.06949, "y":4.61852, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.59675, "x":6.06934, "y":4.52672, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.63348, "x":6.06919, "y":4.43493, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.6702, "x":6.06904, "y":4.34313, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.70693, "x":6.06889, "y":4.25133, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.74366, "x":6.06873, "y":4.15954, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.78039, "x":6.06858, "y":4.06774, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.81712, "x":6.06843, "y":3.97595, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":2.85385, "x":6.06828, "y":3.88415, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.00003, "ay":0.01865, "alpha":0.0, "fx":[0.00051,0.00051,0.00051,0.00051], "fy":[0.30827,0.30827,0.30827,0.30827]}, + {"t":2.89057, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":-0.00411, "vy":-2.49863, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj index 7d6ab351..6a0928d6 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj @@ -3,28 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7803301811218262, "y":5.078708171844482, "heading":1.6207547225168395, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.7803301811218262 m", "val":1.7803301811218262}, "y":{"exp":"5.078708171844482 m", "val":5.078708171844482}, "heading":{"exp":"1.6207547225168395 rad", "val":1.6207547225168395}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LClimb.x", "val":0.5524598956108093}, "y":{"exp":"LClimb.y", "val":4.88380765914917}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slowest", "val":1.0}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ @@ -57,83 +57,79 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.48301,2.79866], + "waypoints":[0.0,1.22012,2.53641], "samples":[ - {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.05515, "vy":-1.69609, "omega":1.47516, "ax":-0.03064, "ay":-0.04917, "alpha":-0.01217, "fx":[-0.44921,-0.44921,-0.564,-0.56399], "fy":[-0.8703,-0.75552,-0.75551,-0.87029]}, - {"t":0.03224, "x":3.31254, "y":7.45441, "heading":0.04756, "vx":-1.05614, "vy":-1.69767, "omega":1.47477, "ax":-0.00001, "ay":0.00001, "alpha":-0.023, "fx":[0.11328,0.10296,-0.11377,-0.10346], "fy":[-0.10311,0.11362,0.1033,-0.11343]}, - {"t":0.06448, "x":3.27849, "y":7.39968, "heading":0.0951, "vx":-1.05614, "vy":-1.69767, "omega":1.47403, "ax":-0.00001, "ay":0.00001, "alpha":-0.03377, "fx":[0.17356,0.1433,-0.17392,-0.14366], "fy":[-0.14337,0.17385,0.14359,-0.17363]}, - {"t":0.09672, "x":3.24445, "y":7.34495, "heading":0.14263, "vx":-1.05614, "vy":-1.69767, "omega":1.47294, "ax":-0.00001, "ay":0.00001, "alpha":-0.04475, "fx":[0.23876,0.17875,-0.23913,-0.17913], "fy":[-0.17882,0.23906,0.17906,-0.23883]}, - {"t":0.12896, "x":3.2104, "y":7.29022, "heading":0.19011, "vx":-1.05614, "vy":-1.69767, "omega":1.4715, "ax":-0.00001, "ay":0.00001, "alpha":-0.05616, "fx":[0.31005,0.20991,-0.31042,-0.21029], "fy":[-0.20999,0.31035,0.21022,-0.31012]}, - {"t":0.1612, "x":3.17635, "y":7.23548, "heading":0.23755, "vx":-1.05614, "vy":-1.69767, "omega":1.46969, "ax":-0.00001, "ay":0.00001, "alpha":-0.0683, "fx":[0.38879,0.23715,-0.38916,-0.23752], "fy":[-0.23722,0.38909,0.23745,-0.38886]}, - {"t":0.19344, "x":3.1423, "y":7.18075, "heading":0.28493, "vx":-1.05614, "vy":-1.69767, "omega":1.46749, "ax":-0.00001, "ay":0.00001, "alpha":-0.08142, "fx":[0.4764,0.26047,-0.47675,-0.26082], "fy":[-0.26053,0.47668,0.26075,-0.47647]}, - {"t":0.22568, "x":3.10825, "y":7.12602, "heading":0.33225, "vx":-1.05614, "vy":-1.69767, "omega":1.46486, "ax":-0.00001, "ay":0.00001, "alpha":-0.09583, "fx":[0.57463,0.27974,-0.57495,-0.28005], "fy":[-0.2798,0.57489,0.27999,-0.57469]}, - {"t":0.25792, "x":3.0742, "y":7.07129, "heading":0.37947, "vx":-1.05614, "vy":-1.69767, "omega":1.46177, "ax":-0.00001, "ay":0.0, "alpha":-0.11179, "fx":[0.68506,0.29436,-0.68532,-0.29463], "fy":[-0.29441,0.68527,0.29457,-0.68511]}, - {"t":0.29015, "x":3.04015, "y":7.01656, "heading":0.4266, "vx":-1.05614, "vy":-1.69767, "omega":1.45817, "ax":-0.00001, "ay":0.0, "alpha":-0.12963, "fx":[0.80966,0.30358,-0.80986,-0.30379], "fy":[-0.30362,0.80982,0.30375,-0.8097]}, - {"t":0.32239, "x":3.0061, "y":6.96182, "heading":0.47361, "vx":-1.05614, "vy":-1.69767, "omega":1.45399, "ax":0.0, "ay":0.0, "alpha":-0.14962, "fx":[0.95,0.30614,-0.95015,-0.30628], "fy":[-0.30617,0.95012,0.30626,-0.95003]}, - {"t":0.35463, "x":2.97205, "y":6.90709, "heading":0.52048, "vx":-1.05614, "vy":-1.69767, "omega":1.44916, "ax":0.0, "ay":0.0, "alpha":-0.17211, "fx":[1.10818,0.30061,-1.10826,-0.30069], "fy":[-0.30062,1.10824,0.30067,-1.1082]}, - {"t":0.38687, "x":2.938, "y":6.85236, "heading":0.5672, "vx":-1.05614, "vy":-1.69767, "omega":1.44362, "ax":0.0, "ay":0.0, "alpha":-0.19738, "fx":[1.28562,0.28505,-1.28563,-0.28506], "fy":[-0.28505,1.28563,0.28505,-1.28562]}, - {"t":0.41911, "x":2.90395, "y":6.79763, "heading":0.61375, "vx":-1.05614, "vy":-1.69767, "omega":1.43725, "ax":0.0, "ay":0.0, "alpha":-0.22581, "fx":[1.48439,0.25735,-1.48433,-0.2573], "fy":[-0.25734,1.48434,0.25731,-1.48438]}, - {"t":0.45135, "x":2.8699, "y":6.7429, "heading":0.66008, "vx":-1.05614, "vy":-1.69767, "omega":1.42997, "ax":0.0, "ay":0.0, "alpha":-0.25768, "fx":[1.70571,0.21493,-1.70559,-0.21481], "fy":[-0.21491,1.70562,0.21483,-1.70569]}, - {"t":0.48359, "x":2.83585, "y":6.68817, "heading":0.70618, "vx":-1.05614, "vy":-1.69767, "omega":1.42167, "ax":0.00001, "ay":0.0, "alpha":-0.29343, "fx":[1.95157,0.15499,-1.9514,-0.15482], "fy":[-0.15496,1.95143,0.15485,-1.95154]}, - {"t":0.51583, "x":2.8018, "y":6.63343, "heading":0.75202, "vx":-1.05614, "vy":-1.69767, "omega":1.41221, "ax":0.00001, "ay":0.0, "alpha":-0.33337, "fx":[2.22297,0.07433,-2.22276,-0.07412], "fy":[-0.0743,2.2228,0.07416,-2.22293]}, - {"t":0.54807, "x":2.76776, "y":6.5787, "heading":0.79755, "vx":-1.05614, "vy":-1.69767, "omega":1.40146, "ax":0.00001, "ay":0.0, "alpha":-0.378, "fx":[2.52181,-0.03052,-2.52156,0.03076], "fy":[0.03056,2.52161,-0.03072,-2.52176]}, - {"t":0.58031, "x":2.73371, "y":6.52397, "heading":0.84273, "vx":-1.05614, "vy":-1.69767, "omega":1.38927, "ax":0.00001, "ay":0.0, "alpha":-0.42771, "fx":[2.84896,-0.16338,-2.84871,0.16363], "fy":[0.16342,2.84875,-0.16359,-2.84892]}, - {"t":0.61255, "x":2.69966, "y":6.46924, "heading":0.88752, "vx":-1.05614, "vy":-1.69767, "omega":1.37548, "ax":0.00001, "ay":0.0, "alpha":-0.48308, "fx":[3.20627,-0.32843,-3.20601,0.32869], "fy":[0.32847,3.20606,-0.32864,-3.20622]}, - {"t":0.64479, "x":2.66561, "y":6.41451, "heading":0.93186, "vx":-1.05614, "vy":-1.69767, "omega":1.35991, "ax":0.00001, "ay":0.0, "alpha":-0.54461, "fx":[3.59463,-0.53014,-3.59438,0.53039], "fy":[0.53019,3.59443,-0.53035,-3.59459]}, - {"t":0.67703, "x":2.63156, "y":6.35977, "heading":0.9757, "vx":-1.05614, "vy":-1.69767, "omega":1.34235, "ax":0.00001, "ay":0.0, "alpha":-0.61298, "fx":[4.01586,-0.77348,-4.01563,0.7737], "fy":[0.77352,4.01567,-0.77366,-4.01581]}, - {"t":0.70927, "x":2.59751, "y":6.30504, "heading":1.01898, "vx":-1.05614, "vy":-1.69767, "omega":1.32259, "ax":0.00001, "ay":0.0, "alpha":-0.68885, "fx":[4.47104,-1.06367,-4.47085,1.06386], "fy":[1.0637,4.47089,-1.06382,-4.47101]}, - {"t":0.74151, "x":2.56346, "y":6.25031, "heading":1.06162, "vx":-1.05614, "vy":-1.69767, "omega":1.30038, "ax":0.0, "ay":0.0, "alpha":-0.77304, "fx":[4.96201,-1.40649,-4.96186,1.40664], "fy":[1.40652,4.96189,-1.40661,-4.96198]}, - {"t":0.77375, "x":2.52941, "y":6.19558, "heading":1.10354, "vx":-1.05614, "vy":-1.69767, "omega":1.27546, "ax":0.0, "ay":0.0, "alpha":-0.86639, "fx":[5.4902,-1.80804,-5.49009,1.80815], "fy":[1.80806,5.49011,-1.80813,-5.49018]}, - {"t":0.80599, "x":2.49536, "y":6.14085, "heading":1.14466, "vx":-1.05614, "vy":-1.69767, "omega":1.24752, "ax":0.0, "ay":0.0, "alpha":-0.96987, "fx":[6.05747,-2.27495,-6.05741,2.27501], "fy":[2.27495,6.05742,-2.275,-6.05746]}, - {"t":0.83822, "x":2.46131, "y":6.08611, "heading":1.18488, "vx":-1.05614, "vy":-1.69767, "omega":1.21626, "ax":0.0, "ay":0.0, "alpha":-1.08451, "fx":[6.6657,-2.81417,-6.66568,2.81419], "fy":[2.81417,6.66569,-2.81419,-6.6657]}, - {"t":0.87046, "x":2.42726, "y":6.03138, "heading":1.2241, "vx":-1.05614, "vy":-1.69767, "omega":1.18129, "ax":0.0, "ay":0.0, "alpha":-1.21143, "fx":[7.31684,-3.43302,-7.31686,3.433], "fy":[3.43301,7.31685,-3.43301,-7.31685]}, - {"t":0.9027, "x":2.39321, "y":5.97665, "heading":1.26218, "vx":-1.05614, "vy":-1.69767, "omega":1.14224, "ax":0.0, "ay":0.0, "alpha":-1.35188, "fx":[8.01331,-4.13914,-8.01336,4.1391], "fy":[4.13913,8.01335,-4.13911,-8.01332]}, - {"t":0.93494, "x":2.35916, "y":5.92192, "heading":1.299, "vx":-1.05614, "vy":-1.69767, "omega":1.09865, "ax":0.0, "ay":0.0, "alpha":-1.50707, "fx":[8.7573,-4.94009,-8.75736,4.94002], "fy":[4.94008,8.75735,-4.94004,-8.75731]}, - {"t":0.96718, "x":2.32512, "y":5.86719, "heading":1.33442, "vx":-1.05614, "vy":-1.69767, "omega":1.05007, "ax":0.0, "ay":0.0, "alpha":-1.67841, "fx":[9.55195,-5.84365,-9.55203,5.84357], "fy":[5.84363,9.55202,-5.84359,-9.55197]}, - {"t":0.99942, "x":2.29107, "y":5.81245, "heading":1.36828, "vx":-1.05614, "vy":-1.69767, "omega":0.99596, "ax":0.0, "ay":0.0, "alpha":-1.86718, "fx":[10.40011,-6.85681,-10.40019,6.85672], "fy":[6.85679,10.40017,-6.85674,-10.40013]}, - {"t":1.03166, "x":2.25702, "y":5.75772, "heading":1.40039, "vx":-1.05614, "vy":-1.69767, "omega":0.93576, "ax":0.0, "ay":0.0, "alpha":-2.07481, "fx":[11.30607,-7.98638,-11.30615,7.98629], "fy":[7.98636,11.30613,-7.98631,-11.30608]}, - {"t":1.0639, "x":2.22297, "y":5.70299, "heading":1.43056, "vx":-1.05614, "vy":-1.69767, "omega":0.86887, "ax":0.0, "ay":0.0, "alpha":-2.30256, "fx":[12.27407,-9.2375,-12.2742,9.23736], "fy":[9.23747,12.27417,-9.23739,-12.27409]}, - {"t":1.09614, "x":2.18892, "y":5.64826, "heading":1.45857, "vx":-1.05614, "vy":-1.69767, "omega":0.79463, "ax":-0.00002, "ay":0.00001, "alpha":-2.55178, "fx":[13.31026,-10.61445,-13.31079,10.61392], "fy":[10.61435,13.31069,-10.61402,-13.31037]}, - {"t":1.12838, "x":2.15487, "y":5.59353, "heading":1.48419, "vx":-1.05614, "vy":-1.69767, "omega":0.71237, "ax":-0.00011, "ay":0.00007, "alpha":-2.82351, "fx":[14.42047,-12.11969,-14.42411,12.11611], "fy":[12.11906,14.42337,-12.11674,-14.42121]}, - {"t":1.16062, "x":2.12082, "y":5.5388, "heading":1.50715, "vx":-1.05614, "vy":-1.69767, "omega":0.62134, "ax":-0.00081, "ay":0.0005, "alpha":-3.11881, "fx":[15.60559,-13.76071,-15.63258,13.73443], "fy":[13.75625,15.62697,-13.73891,-15.61119]}, - {"t":1.19286, "x":2.08677, "y":5.48406, "heading":1.52718, "vx":-1.05617, "vy":-1.69765, "omega":0.52079, "ax":-0.00595, "ay":0.0037, "alpha":-3.43837, "fx":[16.81232,-15.59454,-17.01248,15.40146], "fy":[15.56272,16.97006,-15.4334,-16.85472]}, - {"t":1.2251, "x":2.05272, "y":5.42933, "heading":1.54397, "vx":-1.05636, "vy":-1.69753, "omega":0.40994, "ax":-0.04343, "ay":0.02705, "alpha":-3.78237, "fx":[17.58112,-18.05867,-19.05055,16.65623], "fy":[17.8372,18.73212,-16.88198,-17.89856]}, - {"t":1.25734, "x":2.01864, "y":5.37462, "heading":1.55719, "vx":-1.05776, "vy":-1.69666, "omega":0.288, "ax":-0.31183, "ay":0.1957, "alpha":-4.13306, "fx":[14.46957,-24.17855,-25.0809,14.16746], "fy":[22.78036,22.72676,-15.79668,-16.76825]}, - {"t":1.28958, "x":1.98437, "y":5.32002, "heading":1.56647, "vx":-1.06781, "vy":-1.69035, "omega":0.15475, "ax":-2.01482, "ay":1.32882, "alpha":-3.73193, "fx":[-15.35286,-48.06947,-52.27659,-17.54843], "fy":[42.89378,37.74481,3.39539,3.84607]}, - {"t":1.32182, "x":1.9489, "y":5.26622, "heading":1.57146, "vx":-1.13277, "vy":-1.64751, "omega":0.03443, "ax":-3.61163, "ay":5.15017, "alpha":-0.9345, "fx":[-51.42408,-62.2454,-68.10363,-57.07734], "fy":[91.2172,85.79304,78.69942,84.89025]}, - {"t":1.35406, "x":1.9105, "y":5.21578, "heading":1.57257, "vx":-1.24921, "vy":-1.48147, "omega":0.00431, "ax":3.59353, "ay":6.53431, "alpha":-0.05903, "fx":[59.60576,58.75867,59.21975,60.06945], "fy":[107.93871,108.39612,108.13371,107.67026]}, - {"t":1.38629, "x":1.8721, "y":5.17141, "heading":1.57271, "vx":-1.13335, "vy":-1.27081, "omega":0.0024, "ax":3.78373, "ay":6.46953, "alpha":-0.03236, "fx":[62.6523,62.19964,62.46361,62.91688], "fy":[106.91132,107.17351,107.01678,106.75275]}, - {"t":1.41853, "x":1.83753, "y":5.13381, "heading":1.57279, "vx":-1.01137, "vy":-1.06224, "omega":0.00136, "ax":3.84798, "ay":6.4463, "alpha":-0.02336, "fx":[63.68554,63.36177,63.55497,63.87902], "fy":[106.54207,106.73404,106.61762,106.42469]}, - {"t":1.45077, "x":1.80692, "y":5.10291, "heading":1.57283, "vx":-0.88731, "vy":-0.85441, "omega":0.00061, "ax":3.88027, "ay":6.43436, "alpha":-0.01884, "fx":[64.20572,63.9458,64.10268,64.36277], "fy":[106.35199,106.50793,106.41267,106.25611]}, - {"t":1.48301, "x":1.78033, "y":5.07871, "heading":1.57285, "vx":-0.76221, "vy":-0.64697, "omega":0.0, "ax":-3.75298, "ay":6.43771, "alpha":0.0, "fx":[-62.04961,-62.04961,-62.04961,-62.04961], "fy":[106.43743,106.43743,106.43743,106.43743]}, - {"t":1.53, "x":1.74037, "y":5.05542, "heading":1.57285, "vx":-0.93856, "vy":-0.34448, "omega":0.0, "ax":-1.08497, "ay":4.29156, "alpha":0.0, "fx":[-17.93826,-17.93826,-17.93826,-17.93826], "fy":[70.9543,70.9543,70.9543,70.9543]}, - {"t":1.57699, "x":1.69508, "y":5.04397, "heading":1.57285, "vx":-0.98953, "vy":-0.14283, "omega":0.0, "ax":-0.01236, "ay":0.08688, "alpha":0.0, "fx":[-0.20435,-0.20435,-0.20435,-0.20435], "fy":[1.43645,1.43645,1.43645,1.43645]}, - {"t":1.62397, "x":1.64857, "y":5.03735, "heading":1.57285, "vx":-0.99012, "vy":-0.13875, "omega":0.0, "ax":-0.00016, "ay":0.00113, "alpha":0.0, "fx":[-0.00263,-0.00263,-0.00263,-0.00263], "fy":[0.01875,0.01875,0.01875,0.01875]}, - {"t":1.67096, "x":1.60204, "y":5.03083, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.00024,0.00024,0.00024,0.00024]}, - {"t":1.71795, "x":1.55552, "y":5.02432, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.76494, "x":1.509, "y":5.0178, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.81192, "x":1.46247, "y":5.01128, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.85891, "x":1.41595, "y":5.00477, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.9059, "x":1.36943, "y":4.99825, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.95289, "x":1.3229, "y":4.99173, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.99987, "x":1.27638, "y":4.98521, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.04686, "x":1.22986, "y":4.9787, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.09385, "x":1.18333, "y":4.97218, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.14083, "x":1.13681, "y":4.96566, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.18782, "x":1.09029, "y":4.95915, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.23481, "x":1.04376, "y":4.95263, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.2818, "x":0.99724, "y":4.94611, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.32878, "x":0.95072, "y":4.9396, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.37577, "x":0.9042, "y":4.93308, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.42276, "x":0.85767, "y":4.92656, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.46975, "x":0.81115, "y":4.92004, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.51673, "x":0.76463, "y":4.91353, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.56372, "x":0.7181, "y":4.90701, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.61071, "x":0.67158, "y":4.90049, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":0.00006, "ay":0.00001, "alpha":0.0, "fx":[0.00093,0.00093,0.00093,0.00093], "fy":[0.00013,0.00013,0.00013,0.00013]}, - {"t":2.65769, "x":0.62506, "y":4.89398, "heading":1.57285, "vx":-0.99012, "vy":-0.1387, "omega":0.0, "ax":6.17793, "ay":0.8654, "alpha":0.0, "fx":[102.14244,102.14244,102.14244,102.14244], "fy":[14.30808,14.30808,14.30808,14.30808]}, - {"t":2.70468, "x":0.58535, "y":4.88842, "heading":1.57285, "vx":-0.69984, "vy":-0.09803, "omega":0.0, "ax":7.44275, "ay":1.04258, "alpha":0.0, "fx":[123.05419,123.05419,123.05419,123.05419], "fy":[17.23739,17.23739,17.23739,17.23739]}, - {"t":2.75167, "x":0.56069, "y":4.88496, "heading":1.57285, "vx":-0.35012, "vy":-0.04904, "omega":0.0, "ax":7.45142, "ay":1.04379, "alpha":0.0, "fx":[123.19765,123.19765,123.19765,123.19765], "fy":[17.25749,17.25749,17.25749,17.25749]}, - {"t":2.79866, "x":0.55246, "y":4.88381, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.30633, "vy":-2.12746, "omega":1.80723, "ax":-0.04874, "ay":-0.07578, "alpha":-0.02962, "fx":[-0.66617,-0.6662,-0.94568,-0.94564], "fy":[-1.39272,-1.11328,-1.11324,-1.39268]}, + {"t":0.02905, "x":3.30861, "y":7.44728, "heading":0.0525, "vx":-1.30774, "vy":-2.12966, "omega":1.80637, "ax":-0.00081, "ay":0.00049, "alpha":-0.02958, "fx":[0.13326,0.11861,-0.16013,-0.14549], "fy":[-0.12401,0.15474,0.14009,-0.13865]}, + {"t":0.0581, "x":3.27062, "y":7.38541, "heading":0.10498, "vx":-1.30777, "vy":-2.12965, "omega":1.80551, "ax":-0.00068, "ay":0.00042, "alpha":-0.01628, "fx":[0.07313,0.05703,-0.0957,-0.07961], "fy":[-0.06138,0.09136,0.07526,-0.07747]}, + {"t":0.08715, "x":3.23262, "y":7.32355, "heading":0.15743, "vx":-1.30779, "vy":-2.12964, "omega":1.80503, "ax":-0.00069, "ay":0.00042, "alpha":0.00662, "fx":[-0.04708,-0.03728,0.02442,0.01463], "fy":[0.03292,-0.02879,-0.01899,0.04271]}, + {"t":0.1162, "x":3.19463, "y":7.26168, "heading":0.20986, "vx":-1.30781, "vy":-2.12962, "omega":1.80523, "ax":-0.00069, "ay":0.00043, "alpha":0.03561, "fx":[-0.21077,-0.14078,0.18783,0.11784], "fy":[0.13636,-0.19226,-0.12226,0.20635]}, + {"t":0.14525, "x":3.15664, "y":7.19982, "heading":0.26231, "vx":-1.30783, "vy":-2.12961, "omega":1.80626, "ax":-0.00068, "ay":0.00042, "alpha":0.06733, "fx":[-0.40042,-0.23569,0.37784,0.21311], "fy":[0.23133,-0.3822,-0.21747,0.39606]}, + {"t":0.1743, "x":3.11865, "y":7.13795, "heading":0.31478, "vx":-1.30785, "vy":-2.1296, "omega":1.80822, "ax":-0.00065, "ay":0.0004, "alpha":0.09853, "fx":[-0.5966,-0.30877,0.57523,0.28739], "fy":[0.30464,-0.57935,-0.29152,0.59248]}, + {"t":0.20335, "x":3.08065, "y":7.07608, "heading":0.36731, "vx":-1.30787, "vy":-2.12959, "omega":1.81108, "ax":-0.00058, "ay":0.00036, "alpha":0.12604, "fx":[-0.77814,-0.35108,0.75884,0.33177], "fy":[0.34735,-0.76257,-0.33551,0.77441]}, + {"t":0.2324, "x":3.04266, "y":7.01422, "heading":0.41992, "vx":-1.30788, "vy":-2.12958, "omega":1.81474, "ax":-0.00049, "ay":0.0003, "alpha":0.14672, "fx":[-0.92238,-0.35801,0.90602,0.34166], "fy":[0.35485,-0.90919,-0.34482,0.91921]}, + {"t":0.26145, "x":3.00466, "y":6.95235, "heading":0.47264, "vx":-1.3079, "vy":-2.12957, "omega":1.819, "ax":-0.00038, "ay":0.00023, "alpha":0.15744, "fx":[-1.00572,-0.32947,0.99317,0.31691], "fy":[0.32703,-0.9956,-0.31935,1.00329]}, + {"t":0.2905, "x":2.96667, "y":6.89049, "heading":0.52548, "vx":-1.30791, "vy":-2.12956, "omega":1.82358, "ax":-0.00024, "ay":0.00015, "alpha":0.15517, "fx":[-1.00442,-0.27004,0.99644,0.26206], "fy":[0.26848,-0.998,-0.26361,1.00287]}, + {"t":0.31955, "x":2.92867, "y":6.82862, "heading":0.57846, "vx":-1.30792, "vy":-2.12956, "omega":1.82808, "ax":-0.00008, "ay":0.00005, "alpha":0.13696, "fx":[-0.89566,-0.18914,0.89287,0.18635], "fy":[0.18858,-0.89342,-0.18691,0.8951]}, + {"t":0.3486, "x":2.89068, "y":6.76676, "heading":0.63156, "vx":-1.30792, "vy":-2.12956, "omega":1.83206, "ax":0.00008, "ay":-0.00005, "alpha":0.10015, "fx":[-0.65887,-0.10099,0.66165,0.10377], "fy":[0.10151,-0.66114,-0.10325,0.65939]}, + {"t":0.37765, "x":2.85268, "y":6.7049, "heading":0.68479, "vx":-1.30792, "vy":-2.12956, "omega":1.83497, "ax":0.00025, "ay":-0.00016, "alpha":0.0424, "fx":[-0.27724,-0.02422,0.28562,0.0326], "fy":[0.02581,-0.28403,-0.03101,0.27883]}, + {"t":0.40671, "x":2.81469, "y":6.64303, "heading":0.73809, "vx":-1.30791, "vy":-2.12956, "omega":1.8362, "ax":0.00041, "ay":-0.00025, "alpha":-0.03815, "fx":[0.26105,0.01883,-0.24746,-0.00524], "fy":[-0.01623,0.25006,0.00784,-0.25845]}, + {"t":0.43576, "x":2.77669, "y":6.58117, "heading":0.79144, "vx":-1.3079, "vy":-2.12957, "omega":1.8351, "ax":0.00054, "ay":-0.00033, "alpha":-0.14286, "fx":[0.96206,0.00321,-0.94414,0.01472], "fy":[0.00023,0.94757,-0.01128,-0.95863]}, + {"t":0.46481, "x":2.7387, "y":6.5193, "heading":0.84475, "vx":-1.30788, "vy":-2.12958, "omega":1.83095, "ax":0.00063, "ay":-0.00039, "alpha":-0.27264, "fx":[1.82621,-0.09743,-1.8053,0.11835], "fy":[0.10144,1.80931,-0.11434,-1.8222]}, + {"t":0.49386, "x":2.7007, "y":6.45744, "heading":0.89794, "vx":-1.30786, "vy":-2.12959, "omega":1.82303, "ax":0.00067, "ay":-0.00041, "alpha":-0.42817, "fx":[2.84957,-0.30969,-2.82739,0.33189], "fy":[0.31395,2.83164,-0.32763,-2.84531]}, + {"t":0.52291, "x":2.66271, "y":6.39557, "heading":0.9509, "vx":-1.30784, "vy":-2.1296, "omega":1.81059, "ax":0.00065, "ay":-0.0004, "alpha":-0.61021, "fx":[4.0262,-0.65989,-4.00467,0.68146], "fy":[0.66402,4.0088,-0.67733,-4.02207]}, + {"t":0.55196, "x":2.62472, "y":6.33371, "heading":1.00349, "vx":-1.30782, "vy":-2.12961, "omega":1.79286, "ax":0.00058, "ay":-0.00036, "alpha":-0.8201, "fx":[5.35129,-1.17431,-5.33227,1.19338], "fy":[1.17795,5.33592,-1.18974,-5.34764]}, + {"t":0.58101, "x":2.58672, "y":6.27184, "heading":1.05558, "vx":-1.30781, "vy":-2.12962, "omega":1.76904, "ax":0.00045, "ay":-0.00028, "alpha":-1.06021, "fx":[6.82418,-1.88039,-6.80924,1.89538], "fy":[1.88324,6.81211,-1.89254,-6.82131]}, + {"t":0.61006, "x":2.54873, "y":6.20997, "heading":1.10697, "vx":-1.30779, "vy":-2.12963, "omega":1.73824, "ax":0.0003, "ay":-0.00019, "alpha":-1.33431, "fx":[8.45061,-2.8086,-8.44078,2.81847], "fy":[2.81044,8.44266,-2.81663,-8.44873]}, + {"t":0.63911, "x":2.51074, "y":6.14811, "heading":1.15746, "vx":-1.30779, "vy":-2.12964, "omega":1.69947, "ax":0.00013, "ay":-0.00008, "alpha":-1.64773, "fx":[10.24304,-3.99419,-10.23864,3.99862], "fy":[3.99498,10.23946,-3.99782,-10.24222]}, + {"t":0.66816, "x":2.47275, "y":6.08624, "heading":1.20683, "vx":-1.30778, "vy":-2.12964, "omega":1.65161, "ax":-0.00002, "ay":0.00001, "alpha":-2.00706, "fx":[12.2184,-5.47792,-12.21902,5.47729], "fy":[5.47775,12.21885,-5.47746,-12.21857]}, + {"t":0.69721, "x":2.43476, "y":6.02437, "heading":1.25481, "vx":-1.30778, "vy":-2.12964, "omega":1.5933, "ax":-0.00014, "ay":0.00008, "alpha":-2.41947, "fx":[14.39335,-7.30434,-14.39808,7.29958], "fy":[7.3034,14.39707,-7.30052,-14.39437]}, + {"t":0.72626, "x":2.39677, "y":5.96251, "heading":1.3011, "vx":-1.30779, "vy":-2.12964, "omega":1.52302, "ax":-0.00024, "ay":0.00015, "alpha":-2.89141, "fx":[16.77752,-9.51697,-16.78559,9.50891], "fy":[9.51546,16.78385,-9.51042,-16.77926]}, + {"t":0.75531, "x":2.35877, "y":5.90064, "heading":1.34534, "vx":-1.30779, "vy":-2.12963, "omega":1.43902, "ax":-0.00039, "ay":0.00023, "alpha":-3.42712, "fx":[19.36619,-12.15055,-19.37901,12.13782], "fy":[12.14829,19.3762,-12.14009,-19.369]}, + {"t":0.78436, "x":2.32078, "y":5.83877, "heading":1.38715, "vx":-1.3078, "vy":-2.12963, "omega":1.33946, "ax":-0.00087, "ay":0.00053, "alpha":-4.027, "fx":[22.13288,-15.22296,-22.16179,15.1946], "fy":[15.21827,22.15529,-15.1993,-22.13939]}, + {"t":0.81341, "x":2.28279, "y":5.77691, "heading":1.42606, "vx":-1.30783, "vy":-2.12961, "omega":1.22247, "ax":-0.00286, "ay":0.00175, "alpha":-4.68653, "fx":[25.01825,-18.73537,-25.11477,18.64246], "fy":[18.72132,25.09214,-18.65653,-25.04088]}, + {"t":0.84246, "x":2.2448, "y":5.71504, "heading":1.46157, "vx":-1.30791, "vy":-2.12956, "omega":1.08633, "ax":-0.01097, "ay":0.00674, "alpha":-5.39599, "fx":[27.89164,-22.70479,-28.26614,22.3535], "fy":[22.65754,28.17346,-22.40113,-27.98431]}, + {"t":0.87151, "x":2.2068, "y":5.65318, "heading":1.49313, "vx":-1.30823, "vy":-2.12936, "omega":0.92957, "ax":-0.04243, "ay":0.02608, "alpha":-6.14099, "fx":[30.3948,-27.30096,-31.86663,25.96653], "fy":[27.15029,31.47971,-26.12336,-30.78166]}, + {"t":0.90056, "x":2.16877, "y":5.59133, "heading":1.52014, "vx":-1.30946, "vy":-2.12861, "omega":0.75118, "ax":-0.15911, "ay":0.09811, "alpha":-6.89904, "fx":[31.33809,-33.28074,-36.96647,28.38679], "fy":[32.88126,35.39586,-28.87758,-32.91084]}, + {"t":0.92961, "x":2.13067, "y":5.52954, "heading":1.54196, "vx":-1.31409, "vy":-2.12576, "omega":0.55076, "ax":-0.57045, "ay":0.35573, "alpha":-7.57039, "fx":[26.43224,-42.94641,-46.99778,25.78609], "fy":[42.44412,41.0323,-27.4928,-32.45762]}, + {"t":0.95866, "x":2.09225, "y":5.46793, "heading":1.55796, "vx":-1.33066, "vy":-2.11542, "omega":0.33083, "ax":-1.89892, "ay":1.22977, "alpha":-7.21371, "fx":[1.56364,-59.56285,-68.35069,0.76709], "fy":[61.43403,50.21359,-12.01492,-18.30315]}, + {"t":0.98771, "x":2.05279, "y":5.407, "heading":1.56757, "vx":-1.38582, "vy":-2.0797, "omega":0.12127, "ax":-4.19677, "ay":3.28302, "alpha":-3.47068, "fx":[-45.93835,-76.66366,-90.67667,-64.26926], "fy":[80.89745,64.58444,28.95568,42.68122]}, + {"t":1.01676, "x":2.01076, "y":5.34797, "heading":1.57109, "vx":-1.50774, "vy":-1.98432, "omega":0.02045, "ax":3.42114, "ay":6.56172, "alpha":-0.2395, "fx":[57.41029,53.928,55.69048,59.22414], "fy":[108.12374,109.86353,108.9007,107.06353]}, + {"t":1.04581, "x":1.96841, "y":5.29309, "heading":1.57169, "vx":-1.40835, "vy":-1.7937, "omega":0.01349, "ax":3.69301, "ay":6.49317, "alpha":-0.12636, "fx":[61.44632,59.66099,60.6648,62.46064], "fy":[107.15465,108.14793,107.56803,106.54694]}, + {"t":1.07486, "x":1.92905, "y":5.24372, "heading":1.57208, "vx":-1.30107, "vy":-1.60507, "omega":0.00982, "ax":3.77806, "ay":6.4693, "alpha":-0.09109, "fx":[62.73022,61.45647,62.19599,63.47455], "fy":[106.81482,107.54737,107.11194,106.36487]}, + {"t":1.10391, "x":1.89285, "y":5.19982, "heading":1.57236, "vx":-1.19132, "vy":-1.41714, "omega":0.00717, "ax":3.8196, "ay":6.4572, "alpha":-0.0739, "fx":[63.36124,62.33329,62.93954,63.97044], "fy":[106.64185,107.24265,106.88228,106.2719]}, + {"t":1.13296, "x":1.85985, "y":5.16138, "heading":1.57257, "vx":-1.08036, "vy":-1.22956, "omega":0.00503, "ax":3.84423, "ay":6.44988, "alpha":-0.06374, "fx":[63.73658,62.85294,63.37897,64.26472], "fy":[106.537,107.05841,106.74393,106.21539]}, + {"t":1.16201, "x":1.83009, "y":5.12838, "heading":1.57272, "vx":-0.96868, "vy":-1.04218, "omega":0.00317, "ax":3.86053, "ay":6.44497, "alpha":-0.05702, "fx":[63.98556,63.19679,63.66925,64.45965], "fy":[106.46659,106.93497,106.65144,106.17735]}, + {"t":1.19106, "x":1.80358, "y":5.10083, "heading":1.57281, "vx":-0.85653, "vy":-0.85496, "omega":0.00152, "ax":3.87212, "ay":6.44146, "alpha":-0.05225, "fx":[64.16283,63.44117,63.87532,64.59832], "fy":[106.41602,106.84647,106.58523,106.14998]}, + {"t":1.22012, "x":1.78033, "y":5.07871, "heading":1.57285, "vx":-0.74404, "vy":-0.66783, "omega":0.0, "ax":-3.9322, "ay":6.3413, "alpha":0.0, "fx":[-65.01286,-65.01286,-65.01286,-65.01286], "fy":[104.84348,104.84348,104.84348,104.84348]}, + {"t":1.26713, "x":1.74101, "y":5.05432, "heading":1.57285, "vx":-0.9289, "vy":-0.36972, "omega":0.0, "ax":-1.29056, "ay":4.83145, "alpha":0.0, "fx":[-21.33747,-21.33747,-21.33747,-21.33747], "fy":[79.88052,79.88052,79.88052,79.88052]}, + {"t":1.31414, "x":1.69591, "y":5.04228, "heading":1.57285, "vx":-0.98957, "vy":-0.14259, "omega":0.0, "ax":-0.01619, "ay":0.11456, "alpha":0.0, "fx":[-0.26772,-0.26772,-0.26772,-0.26772], "fy":[1.89405,1.89405,1.89405,1.89405]}, + {"t":1.36115, "x":1.64937, "y":5.0357, "heading":1.57285, "vx":-0.99033, "vy":-0.13721, "omega":0.0, "ax":-0.00021, "ay":0.00149, "alpha":0.0, "fx":[-0.00342,-0.00342,-0.00342,-0.00342], "fy":[0.0247,0.0247,0.0247,0.0247]}, + {"t":1.40816, "x":1.60282, "y":5.02925, "heading":1.57285, "vx":-0.99034, "vy":-0.13714, "omega":0.0, "ax":0.0, "ay":0.00002, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.00032,0.00032,0.00032,0.00032]}, + {"t":1.45517, "x":1.55626, "y":5.02281, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.50218, "x":1.50971, "y":5.01636, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.54919, "x":1.46315, "y":5.00991, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.5962, "x":1.41659, "y":5.00347, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.64321, "x":1.37004, "y":4.99702, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.69022, "x":1.32348, "y":4.99057, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.73723, "x":1.27692, "y":4.98413, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.78424, "x":1.23037, "y":4.97768, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.83125, "x":1.18381, "y":4.97123, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.87826, "x":1.13725, "y":4.96479, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.92527, "x":1.0907, "y":4.95834, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.97228, "x":1.04414, "y":4.95189, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.01929, "x":0.99758, "y":4.94544, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.06631, "x":0.95103, "y":4.939, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.11332, "x":0.90447, "y":4.93255, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.16033, "x":0.85791, "y":4.9261, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.20734, "x":0.81136, "y":4.91966, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.25435, "x":0.7648, "y":4.91321, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.30136, "x":0.71825, "y":4.90676, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.34837, "x":0.67169, "y":4.90032, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.00006, "ay":0.00001, "alpha":0.0, "fx":[0.00092,0.00092,0.00092,0.00092], "fy":[0.00013,0.00013,0.00013,0.00013]}, + {"t":2.39538, "x":0.62513, "y":4.89387, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":6.16882, "ay":0.85421, "alpha":0.0, "fx":[101.99182,101.99182,101.99182,101.99182], "fy":[14.12302,14.12302,14.12302,14.12302]}, + {"t":2.44239, "x":0.58539, "y":4.88837, "heading":1.57285, "vx":-0.70034, "vy":-0.09698, "omega":0.0, "ax":7.4444, "ay":1.03084, "alpha":0.0, "fx":[123.08151,123.08151,123.08151,123.08151], "fy":[17.04336,17.04336,17.04336,17.04336]}, + {"t":2.4894, "x":0.5607, "y":4.88495, "heading":1.57285, "vx":-0.35037, "vy":-0.04852, "omega":0.0, "ax":7.45307, "ay":1.03204, "alpha":0.0, "fx":[123.22486,123.22486,123.22486,123.22486], "fy":[17.06321,17.06321,17.06321,17.06321]}, + {"t":2.53641, "x":0.55246, "y":4.88381, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj index ea0f4eb1..6fc242e3 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj @@ -3,16 +3,16 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.743162631988525, "y":7.509117603302002, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.366947174072266, "y":7.026499271392822, "heading":-0.7102714504381418, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.82036542892456, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.564816951751709, "y":6.902011394500732, "heading":-0.7102714504381418, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":8.254300117492676, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":8.254300117492676, "y":4.509925842285156, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -20,16 +20,16 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"7.366947174072266 m", "val":7.366947174072266}, "y":{"exp":"7.026499271392822 m", "val":7.026499271392822}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"7.564816951751709 m", "val":7.564816951751709}, "y":{"exp":"6.902011394500732 m", "val":6.902011394500732}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"LNeutral.y", "val":4.509925842285156}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], @@ -63,116 +63,109 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.3317,2.1841,2.79782,3.49519], + "waypoints":[0.0,1.12589,1.89676,2.38851,2.94528], "samples":[ - {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52561, "ay":0.00137, "alpha":0.0, "fx":[124.42428,124.42428,124.42428,124.42428], "fy":[0.02259,0.02259,0.02259,0.02259]}, - {"t":0.04439, "x":3.35399, "y":7.50912, "heading":0.0, "vx":0.33406, "vy":0.00006, "omega":0.0, "ax":7.52394, "ay":0.00139, "alpha":0.0, "fx":[124.39667,124.39667,124.39667,124.39667], "fy":[0.02294,0.02294,0.02294,0.02294]}, - {"t":0.08878, "x":3.37623, "y":7.50912, "heading":0.0, "vx":0.66805, "vy":0.00012, "omega":0.0, "ax":7.52131, "ay":0.00142, "alpha":0.0, "fx":[124.35306,124.35306,124.35306,124.35306], "fy":[0.02343,0.02343,0.02343,0.02343]}, - {"t":0.13317, "x":3.4133, "y":7.50913, "heading":0.0, "vx":1.00192, "vy":0.00019, "omega":0.0, "ax":7.51652, "ay":0.00146, "alpha":0.0, "fx":[124.27393,124.27393,124.27393,124.27393], "fy":[0.02414,0.02414,0.02414,0.02414]}, - {"t":0.17756, "x":3.46518, "y":7.50914, "heading":0.0, "vx":1.33558, "vy":0.00025, "omega":0.0, "ax":7.50516, "ay":0.00153, "alpha":0.0, "fx":[124.08607,124.08607,124.08607,124.08607], "fy":[0.02526,0.02526,0.02526,0.02526]}, - {"t":0.22195, "x":3.53186, "y":7.50915, "heading":0.0, "vx":1.66874, "vy":0.00032, "omega":0.0, "ax":7.44401, "ay":0.0017, "alpha":0.0, "fx":[123.07504,123.07504,123.07504,123.07504], "fy":[0.02817,0.02817,0.02817,0.02817]}, - {"t":0.26634, "x":3.61327, "y":7.50917, "heading":0.0, "vx":1.99918, "vy":0.00039, "omega":0.0, "ax":0.0084, "ay":0.00162, "alpha":0.0, "fx":[0.13887,0.13887,0.13887,0.13887], "fy":[0.02677,0.02677,0.02677,0.02677]}, - {"t":0.31073, "x":3.70202, "y":7.50919, "heading":0.0, "vx":1.99955, "vy":0.00047, "omega":0.0, "ax":0.0, "ay":0.00148, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.02448,0.02448,0.02448,0.02448]}, - {"t":0.35512, "x":3.79078, "y":7.50921, "heading":0.0, "vx":1.99955, "vy":0.00053, "omega":0.0, "ax":0.0, "ay":0.00188, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03109,0.03109,0.03109,0.03109]}, - {"t":0.39951, "x":3.87954, "y":7.50923, "heading":0.0, "vx":1.99955, "vy":0.00061, "omega":0.0, "ax":0.0, "ay":0.00238, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.03927,0.03927,0.03927,0.03927]}, - {"t":0.4439, "x":3.9683, "y":7.50926, "heading":0.0, "vx":1.99955, "vy":0.00072, "omega":0.0, "ax":0.0, "ay":0.00296, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.04889,0.04889,0.04889,0.04889]}, - {"t":0.48829, "x":4.05706, "y":7.5093, "heading":0.0, "vx":1.99955, "vy":0.00085, "omega":0.0, "ax":0.0, "ay":0.00365, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.06027,0.06027,0.06027,0.06027]}, - {"t":0.53268, "x":4.14582, "y":7.50934, "heading":0.0, "vx":1.99955, "vy":0.00101, "omega":0.0, "ax":0.0, "ay":0.00446, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.07382,0.07382,0.07382,0.07382]}, - {"t":0.57707, "x":4.23458, "y":7.50939, "heading":0.0, "vx":1.99955, "vy":0.00121, "omega":0.0, "ax":0.0, "ay":0.00545, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.09003,0.09003,0.09003,0.09003]}, - {"t":0.62146, "x":4.32334, "y":7.50945, "heading":0.0, "vx":1.99955, "vy":0.00145, "omega":0.0, "ax":-0.00001, "ay":0.00662, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[0.1095,0.1095,0.1095,0.1095]}, - {"t":0.66585, "x":4.4121, "y":7.50952, "heading":0.0, "vx":1.99955, "vy":0.00175, "omega":0.0, "ax":-0.00001, "ay":0.00804, "alpha":0.0, "fx":[-0.00013,-0.00013,-0.00013,-0.00013], "fy":[0.13295,0.13295,0.13295,0.13295]}, - {"t":0.71024, "x":4.50086, "y":7.50961, "heading":0.0, "vx":1.99955, "vy":0.0021, "omega":0.0, "ax":-0.00001, "ay":0.00975, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.16126,0.16126,0.16126,0.16126]}, - {"t":0.75463, "x":4.58962, "y":7.50971, "heading":0.0, "vx":1.99955, "vy":0.00254, "omega":0.0, "ax":-0.00002, "ay":0.01183, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[0.19552,0.19552,0.19552,0.19552]}, - {"t":0.79902, "x":4.67838, "y":7.50983, "heading":0.0, "vx":1.99955, "vy":0.00306, "omega":0.0, "ax":-0.00002, "ay":0.01434, "alpha":0.0, "fx":[-0.0004,-0.0004,-0.0004,-0.0004], "fy":[0.23709,0.23709,0.23709,0.23709]}, - {"t":0.84341, "x":4.76714, "y":7.50998, "heading":0.0, "vx":1.99955, "vy":0.0037, "omega":0.0, "ax":-0.00004, "ay":0.0174, "alpha":0.0, "fx":[-0.00059,-0.00059,-0.00059,-0.00059], "fy":[0.28769,0.28769,0.28769,0.28769]}, - {"t":0.8878, "x":4.8559, "y":7.51016, "heading":0.0, "vx":1.99954, "vy":0.00447, "omega":0.0, "ax":-0.00005, "ay":0.02114, "alpha":0.0, "fx":[-0.00086,-0.00086,-0.00086,-0.00086], "fy":[0.34956,0.34956,0.34956,0.34956]}, - {"t":0.93219, "x":4.94466, "y":7.51038, "heading":0.0, "vx":1.99954, "vy":0.00541, "omega":0.0, "ax":-0.00008, "ay":0.02575, "alpha":0.0, "fx":[-0.00127,-0.00127,-0.00127,-0.00127], "fy":[0.42567,0.42567,0.42567,0.42567]}, - {"t":0.97658, "x":5.03342, "y":7.51065, "heading":0.0, "vx":1.99954, "vy":0.00655, "omega":0.0, "ax":-0.00011, "ay":0.03146, "alpha":0.0, "fx":[-0.00189,-0.00189,-0.00189,-0.00189], "fy":[0.52014,0.52014,0.52014,0.52014]}, - {"t":1.02097, "x":5.12218, "y":7.51097, "heading":0.0, "vx":1.99953, "vy":0.00795, "omega":0.0, "ax":-0.00017, "ay":0.03865, "alpha":0.0, "fx":[-0.00281,-0.00281,-0.00281,-0.00281], "fy":[0.63896,0.63896,0.63896,0.63896]}, - {"t":1.06536, "x":5.21094, "y":7.51136, "heading":0.0, "vx":1.99953, "vy":0.00966, "omega":0.0, "ax":-0.00026, "ay":0.04786, "alpha":0.0, "fx":[-0.00424,-0.00424,-0.00424,-0.00424], "fy":[0.79132,0.79132,0.79132,0.79132]}, - {"t":1.10975, "x":5.2997, "y":7.51184, "heading":0.0, "vx":1.99952, "vy":0.01179, "omega":0.0, "ax":-0.00039, "ay":0.05995, "alpha":0.0, "fx":[-0.0065,-0.0065,-0.0065,-0.0065], "fy":[0.9911,0.9911,0.9911,0.9911]}, - {"t":1.15414, "x":5.38846, "y":7.51242, "heading":0.0, "vx":1.9995, "vy":0.01445, "omega":0.0, "ax":-0.0006, "ay":0.07484, "alpha":0.0, "fx":[-0.00997,-0.00997,-0.00997,-0.00997], "fy":[1.23739,1.23739,1.23739,1.23739]}, - {"t":1.19853, "x":5.47722, "y":7.51314, "heading":0.0, "vx":1.99947, "vy":0.01777, "omega":0.0, "ax":-0.00062, "ay":0.06501, "alpha":0.0, "fx":[-0.01033,-0.01033,-0.01033,-0.01033], "fy":[1.07486,1.07486,1.07486,1.07486]}, - {"t":1.24292, "x":5.56597, "y":7.51399, "heading":0.0, "vx":1.99944, "vy":0.02066, "omega":0.0, "ax":0.00238, "ay":-0.49448, "alpha":0.0, "fx":[0.03942,0.03942,0.03942,0.03942], "fy":[-8.17552,-8.17552,-8.17552,-8.17552]}, - {"t":1.28731, "x":5.65473, "y":7.51442, "heading":0.0, "vx":1.99955, "vy":-0.00129, "omega":0.0, "ax":-0.33423, "ay":-5.32145, "alpha":0.0, "fx":[-5.526,-5.526,-5.526,-5.526], "fy":[-87.98194,-87.98194,-87.98194,-87.98194]}, - {"t":1.3317, "x":5.74316, "y":7.50912, "heading":0.0, "vx":1.98471, "vy":-0.23751, "omega":0.0, "ax":-0.95401, "ay":-5.97411, "alpha":-1.5206, "fx":[-3.8239,-4.60876,-29.71498,-24.94447], "fy":[-102.77249,-97.68628,-94.27824,-100.35317]}, - {"t":1.3592, "x":5.79738, "y":7.50033, "heading":0.0, "vx":1.95848, "vy":-0.40178, "omega":-0.04181, "ax":-0.63812, "ay":-2.82422, "alpha":-4.53884, "fx":[11.94766,15.71746,-38.99844,-30.86822], "fy":[-66.50923,-29.41942,-27.08621,-63.7617]}, - {"t":1.3867, "x":5.85099, "y":7.48821, "heading":-0.00115, "vx":1.94093, "vy":-0.47944, "omega":-0.16661, "ax":-0.16337, "ay":-0.64859, "alpha":-5.44729, "fx":[22.31639,24.0639,-29.55183,-27.63281], "fy":[-36.5489,14.89582,14.66587,-35.90666]}, - {"t":1.41419, "x":5.90429, "y":7.47478, "heading":-0.00573, "vx":1.93644, "vy":-0.49727, "omega":-0.3164, "ax":-0.03459, "ay":-0.13415, "alpha":-5.10688, "fx":[23.2259,23.82886,-24.70252,-24.63954], "fy":[-26.48377,21.76546,21.96614,-26.11986]}, - {"t":1.44169, "x":5.95753, "y":7.46106, "heading":-0.01443, "vx":1.93549, "vy":-0.50096, "omega":-0.45682, "ax":-0.00704, "ay":-0.02717, "alpha":-4.70756, "fx":[21.74054,22.43878,-22.03085,-22.61401], "fy":[-22.98192,21.44216,22.07019,-22.32759]}, - {"t":1.46919, "x":6.01074, "y":7.44728, "heading":-0.02699, "vx":1.9353, "vy":-0.50171, "omega":-0.58626, "ax":-0.0014, "ay":-0.00542, "alpha":-4.32098, "fx":[19.79875,20.90875,-19.85491,-20.94548], "fy":[-21.01763,19.73824,20.83658,-19.91536]}, - {"t":1.49668, "x":6.06396, "y":7.43348, "heading":-0.04311, "vx":1.93526, "vy":-0.50186, "omega":-0.70507, "ax":-0.00028, "ay":-0.00106, "alpha":-3.95107, "fx":[17.81328,19.42154,-17.824,-19.42906], "fy":[-19.44301,17.80121,19.4076,-17.83607]}, - {"t":1.52418, "x":6.11717, "y":7.41968, "heading":-0.0625, "vx":1.93525, "vy":-0.50189, "omega":-0.81372, "ax":-0.00005, "ay":-0.0002, "alpha":-3.59862, "fx":[15.88212,18.00305,-15.88414,-18.00456], "fy":[-18.0072,15.87977,18.00041,-15.88649]}, - {"t":1.55168, "x":6.17038, "y":7.40588, "heading":-0.08487, "vx":1.93525, "vy":-0.50189, "omega":-0.91267, "ax":-0.00001, "ay":-0.00004, "alpha":-3.264, "fx":[14.0371,16.64779,-14.03748,-16.64808], "fy":[-16.64856,14.03667,16.64731,-14.03791]}, - {"t":1.57917, "x":6.2236, "y":7.39208, "heading":-0.10997, "vx":1.93525, "vy":-0.50189, "omega":-1.00242, "ax":0.0, "ay":-0.00001, "alpha":-2.94722, "fx":[12.29372,15.3455,-12.29379,-15.34556], "fy":[-15.34564,12.29365,15.34543,-12.29385]}, - {"t":1.60667, "x":6.27681, "y":7.37828, "heading":-0.13753, "vx":1.93525, "vy":-0.50189, "omega":-1.08345, "ax":0.0, "ay":0.0, "alpha":-2.64799, "fx":[10.66136,14.08664,-10.66139,-14.08666], "fy":[-14.08668,10.66135,14.08663,-10.6614]}, - {"t":1.63417, "x":6.33002, "y":7.36448, "heading":-0.16732, "vx":1.93525, "vy":-0.50189, "omega":-1.15627, "ax":0.0, "ay":0.0, "alpha":-2.36572, "fx":[9.1458,12.86319,-9.14583,-12.86322], "fy":[-12.86324,9.14578,12.86316,-9.14586]}, - {"t":1.66166, "x":6.38323, "y":7.35068, "heading":-0.19912, "vx":1.93525, "vy":-0.50189, "omega":-1.22131, "ax":0.0, "ay":0.0, "alpha":-2.09962, "fx":[7.75006,11.66858,-7.75011,-11.66863], "fy":[-11.66868,7.75001,11.66852,-7.75016]}, - {"t":1.68916, "x":6.43645, "y":7.33688, "heading":-0.2327, "vx":1.93525, "vy":-0.50189, "omega":-1.27905, "ax":0.0, "ay":-0.00001, "alpha":-1.8487, "fx":[6.47504,10.49741,-6.47512,-10.49748], "fy":[-10.49757,6.47496,10.49732,-6.47521]}, - {"t":1.71666, "x":6.48966, "y":7.32308, "heading":-0.26787, "vx":1.93525, "vy":-0.50189, "omega":-1.32988, "ax":0.0, "ay":-0.00001, "alpha":-1.61182, "fx":[5.32005,9.34517,-5.32015,-9.34526], "fy":[-9.34539,5.31992,9.34504,-5.32027]}, - {"t":1.74415, "x":6.54287, "y":7.30928, "heading":-0.30444, "vx":1.93525, "vy":-0.50189, "omega":-1.3742, "ax":0.0, "ay":-0.00001, "alpha":-1.38774, "fx":[4.28318,8.208,-4.28331,-8.20812], "fy":[-8.20827,4.28303,8.20784,-4.28346]}, - {"t":1.77165, "x":6.59609, "y":7.29548, "heading":-0.34222, "vx":1.93525, "vy":-0.50189, "omega":-1.41236, "ax":0.0, "ay":-0.00002, "alpha":-1.17512, "fx":[3.36177,7.08247,-3.36191,-7.08261], "fy":[-7.08279,3.36159,7.08228,-3.36209]}, - {"t":1.79915, "x":6.6493, "y":7.28168, "heading":-0.38106, "vx":1.93525, "vy":-0.50189, "omega":-1.44467, "ax":0.0, "ay":-0.00002, "alpha":-0.97259, "fx":[2.55266,5.96539,-2.55282,-5.96555], "fy":[-5.96577,2.55245,5.96518,-2.55304]}, - {"t":1.82664, "x":6.70251, "y":7.26787, "heading":-0.42078, "vx":1.93525, "vy":-0.50189, "omega":-1.47141, "ax":-0.00001, "ay":-0.00003, "alpha":-0.77872, "fx":[1.85249,4.85365,-1.85272,-4.85388], "fy":[-4.8542,1.85217,4.85333,-1.85304]}, - {"t":1.85414, "x":6.75572, "y":7.25407, "heading":-0.46124, "vx":1.93525, "vy":-0.5019, "omega":-1.49283, "ax":-0.00002, "ay":-0.00007, "alpha":-0.59206, "fx":[1.2578,3.74395,-1.25843,-3.74458], "fy":[-3.74546,1.25691,3.74307,-1.25931]}, - {"t":1.88164, "x":6.80894, "y":7.24027, "heading":-0.50229, "vx":1.93525, "vy":-0.5019, "omega":-1.50911, "ax":-0.00009, "ay":-0.00033, "alpha":-0.41112, "fx":[0.76476,2.63221,-0.76762,-2.63507], "fy":[-2.63914,0.76069,2.62814,-0.77169]}, - {"t":1.90913, "x":6.86215, "y":7.22647, "heading":-0.54378, "vx":1.93525, "vy":-0.50191, "omega":-1.52041, "ax":-0.00046, "ay":-0.00178, "alpha":-0.23439, "fx":[0.36653,1.51069,-0.38178,-1.52592], "fy":[-1.54767,0.34479,1.48895,-0.40352]}, - {"t":1.93663, "x":6.91536, "y":7.21267, "heading":-0.58559, "vx":1.93523, "vy":-0.50196, "omega":-1.52685, "ax":-0.00253, "ay":-0.00974, "alpha":-0.06031, "fx":[0.03809,0.35257,-0.12163,-0.43611], "fy":[-0.55532,-0.08113,0.23335,-0.24084]}, - {"t":1.96413, "x":6.96857, "y":7.19887, "heading":-0.62757, "vx":1.93516, "vy":-0.50222, "omega":-1.52851, "ax":-0.01392, "ay":-0.05356, "alpha":0.11269, "fx":[-0.34839,-0.97267,-0.11201,0.51235], "fy":[-0.14307,-1.00371,-1.62796,-0.76743]}, - {"t":1.99162, "x":7.02178, "y":7.18504, "heading":-0.6696, "vx":1.93478, "vy":-0.5037, "omega":-1.52541, "ax":-0.0772, "ay":-0.29402, "alpha":0.28534, "fx":[-1.49874,-3.16929,-1.0552,0.61755], "fy":[-2.97166,-5.08026,-6.74848,-4.64402]}, - {"t":2.01912, "x":7.07495, "y":7.17108, "heading":-0.71155, "vx":1.93266, "vy":-0.51178, "omega":-1.51757, "ax":-0.4259, "ay":-1.53964, "alpha":0.42234, "fx":[-7.32873,-9.9488,-6.76689,-4.12194], "fy":[-22.73784,-25.60154,-28.15086,-25.33173]}, - {"t":2.04662, "x":7.12793, "y":7.15642, "heading":-0.75327, "vx":1.92095, "vy":-0.55411, "omega":-1.50596, "ax":-1.54995, "ay":-4.75226, "alpha":0.24952, "fx":[-26.14372,-27.85435,-25.13439,-23.37127], "fy":[-77.48141,-78.17748,-79.65359,-78.97218]}, - {"t":2.07411, "x":7.18017, "y":7.13939, "heading":-0.79468, "vx":1.87833, "vy":-0.68479, "omega":-1.49909, "ax":-2.60789, "ay":-6.23419, "alpha":0.0893, "fx":[-43.45361,-44.04945,-42.78816,-42.17846], "fy":[-102.81661,-102.72896,-103.32852,-103.41644]}, - {"t":2.10161, "x":7.23083, "y":7.1182, "heading":-0.8359, "vx":1.80662, "vy":-0.85621, "omega":-1.49664, "ax":-3.40654, "ay":-6.35058, "alpha":0.04473, "fx":[-56.5274,-56.78112,-56.11826,-55.86026], "fy":[-104.86108,-104.76237,-105.13247,-105.23176]}, - {"t":2.12911, "x":7.27922, "y":7.09226, "heading":-0.87706, "vx":1.71295, "vy":-1.03083, "omega":-1.49541, "ax":-4.11083, "ay":-6.10387, "alpha":0.02795, "fx":[-68.10758,-68.23306,-67.82553,-67.69826], "fy":[-100.81388,-100.74298,-101.02184,-101.0933]}, - {"t":2.1566, "x":7.32476, "y":7.06161, "heading":-0.91817, "vx":1.59992, "vy":-1.19866, "omega":-1.49464, "ax":-4.78134, "ay":-5.6819, "alpha":0.01981, "fx":[-79.15734,-79.22137,-78.94728,-78.88235], "fy":[-93.8487,-93.8014,-94.03369,-94.08145]}, - {"t":2.1841, "x":7.36695, "y":7.0265, "heading":-0.95927, "vx":1.46845, "vy":-1.3549, "omega":-1.4941, "ax":-5.23171, "ay":-5.25124, "alpha":0.02056, "fx":[-86.60541,-86.65651,-86.39144,-86.33942], "fy":[-86.70932,-86.66682,-86.93256,-86.9757]}, - {"t":2.20771, "x":7.40015, "y":6.99305, "heading":-0.99454, "vx":1.34495, "vy":-1.47885, "omega":-1.49361, "ax":-5.64775, "ay":-4.7093, "alpha":0.03286, "fx":[-93.54052,-93.59655,-93.21393,-93.15581], "fy":[-77.65191,-77.60709,-78.06891,-78.11572]}, - {"t":2.23131, "x":7.43033, "y":6.95684, "heading":-1.0298, "vx":1.21164, "vy":-1.59001, "omega":-1.49284, "ax":-5.93948, "ay":-4.13957, "alpha":0.05758, "fx":[-98.46122,-98.53288,-97.94172,-97.86464], "fy":[-68.02825,-67.99735,-68.85094,-68.88865]}, - {"t":2.25491, "x":7.45727, "y":6.91815, "heading":-1.06503, "vx":1.07144, "vy":-1.68772, "omega":-1.49148, "ax":-6.04495, "ay":-3.498, "alpha":0.11621, "fx":[-100.38107,-100.52503,-99.51512,-99.35406], "fy":[-56.92203,-56.98022,-58.73176,-58.70209]}, - {"t":2.27852, "x":7.48088, "y":6.87734, "heading":-1.10024, "vx":0.92875, "vy":-1.77029, "omega":-1.48873, "ax":-5.66883, "ay":-2.71155, "alpha":0.29181, "fx":[-94.40619,-95.0767,-93.08028,-92.33792], "fy":[-42.45935,-43.00146,-47.12502,-46.73906]}, - {"t":2.30212, "x":7.50122, "y":6.8348, "heading":-1.13538, "vx":0.79494, "vy":-1.8343, "omega":-1.48184, "ax":-3.91784, "ay":-1.58326, "alpha":0.89343, "fx":[-64.50012,-69.47294,-65.21343,-59.91502], "fy":[-19.5656,-22.63633,-32.40338,-30.10192]}, - {"t":2.32573, "x":7.51889, "y":6.79106, "heading":-1.17036, "vx":0.70247, "vy":-1.87167, "omega":-1.46076, "ax":-1.3931, "ay":-0.50902, "alpha":1.66801, "fx":[-19.32428,-33.05926,-26.91258,-12.83465], "fy":[2.2834,-4.03589,-18.74719,-13.16371]}, - {"t":2.34933, "x":7.53509, "y":6.74674, "heading":-1.20484, "vx":0.66958, "vy":-1.88368, "omega":-1.42138, "ax":-0.35872, "ay":-0.12661, "alpha":1.89767, "fx":[-0.82884,-17.45419,-11.08264,5.64229], "fy":[9.54475,3.03156,-13.61089,-7.33852]}, - {"t":2.37294, "x":7.55079, "y":6.70224, "heading":-1.23839, "vx":0.66111, "vy":-1.88667, "omega":-1.37659, "ax":-0.08912, "ay":-0.03117, "alpha":2.02472, "fx":[4.43066,-13.61232,-7.38934,10.67733], "fy":[11.64866,5.3811,-12.64469,-6.44666]}, - {"t":2.39654, "x":7.56637, "y":6.65769, "heading":-1.27088, "vx":0.65901, "vy":-1.88741, "omega":-1.3288, "ax":-0.02211, "ay":-0.00772, "alpha":2.15586, "fx":[6.34465,-13.0852,-7.07842,12.35681], "fy":[12.59852,6.57923,-12.84372,-6.84436]}, - {"t":2.42015, "x":7.58192, "y":6.61314, "heading":-1.30225, "vx":0.65849, "vy":-1.88759, "omega":-1.27791, "ax":-0.00549, "ay":-0.00192, "alpha":2.29928, "fx":[7.48898,-13.4267,-7.67122,13.24563], "fy":[13.30591,7.547,-13.36643,-7.61324]}, - {"t":2.44375, "x":7.59746, "y":6.56858, "heading":-1.33241, "vx":0.65836, "vy":-1.88763, "omega":-1.22364, "ax":-0.00137, "ay":-0.00048, "alpha":2.45586, "fx":[8.49957,-14.01623,-8.5449,13.97114], "fy":[13.9862,8.51393,-14.00117,-8.53054]}, - {"t":2.46736, "x":7.613, "y":6.52403, "heading":-1.3613, "vx":0.65833, "vy":-1.88765, "omega":-1.16567, "ax":-0.00034, "ay":-0.00012, "alpha":2.62599, "fx":[9.53532,-14.69935,-9.5466,14.68811], "fy":[14.69187,9.53887,-14.69558,-9.54305]}, - {"t":2.49096, "x":7.62854, "y":6.47947, "heading":-1.38881, "vx":0.65832, "vy":-1.88765, "omega":-1.10368, "ax":-0.00009, "ay":-0.00003, "alpha":2.81002, "fx":[10.63689,-15.43806,-10.63973,15.43522], "fy":[15.43617,10.63777,-15.43711,-10.63885]}, - {"t":2.51456, "x":7.64408, "y":6.43491, "heading":-1.41486, "vx":0.65832, "vy":-1.88765, "omega":-1.03735, "ax":-0.00003, "ay":-0.00001, "alpha":3.00825, "fx":[11.81486,-16.22378,-11.81586,16.22278], "fy":[16.22311,11.81516,-16.22345,-11.81555]}, - {"t":2.53817, "x":7.65962, "y":6.39036, "heading":-1.43935, "vx":0.65832, "vy":-1.88765, "omega":-0.96634, "ax":-0.00005, "ay":-0.00002, "alpha":3.22089, "fx":[13.07124,-17.05595,-13.07287,17.05432], "fy":[17.05487,13.07173,-17.0554,-13.07237]}, - {"t":2.56177, "x":7.67516, "y":6.3458, "heading":-1.46216, "vx":0.65832, "vy":-1.88765, "omega":-0.89032, "ax":-0.00018, "ay":-0.00006, "alpha":3.44812, "fx":[14.40405,-17.93747,-14.41009,17.93138], "fy":[17.93347,14.40589,-17.93538,-14.40825]}, - {"t":2.58538, "x":7.6907, "y":6.30124, "heading":-1.48318, "vx":0.65831, "vy":-1.88765, "omega":-0.80892, "ax":-0.00072, "ay":-0.00025, "alpha":3.69, "fx":[15.8058,-18.8762,-15.82938,18.8523], "fy":[18.86059,15.81296,-18.86791,-15.82223]}, - {"t":2.60898, "x":7.70624, "y":6.25668, "heading":-1.50227, "vx":0.65829, "vy":-1.88766, "omega":-0.72182, "ax":-0.00278, "ay":-0.00097, "alpha":3.94648, "fx":[17.25364,-19.89508,-17.34461,19.8024], "fy":[19.83486,17.28099,-19.86263,-17.31728]}, - {"t":2.63259, "x":7.72178, "y":6.21213, "heading":-1.51931, "vx":0.65823, "vy":-1.88768, "omega":-0.62867, "ax":-0.01063, "ay":-0.00371, "alpha":4.21736, "fx":[18.67159,-21.07109,-19.0188,20.71513], "fy":[20.8411,18.77478,-20.94519,-18.91585]}, - {"t":2.65619, "x":7.73731, "y":6.16757, "heading":-1.53415, "vx":0.65798, "vy":-1.88777, "omega":-0.52912, "ax":-0.04033, "ay":-0.01404, "alpha":4.50214, "fx":[19.78947,-22.68008,-21.10172,21.32532], "fy":[21.81064,20.17557,-22.19574,-20.71932]}, - {"t":2.6798, "x":7.75283, "y":6.123, "heading":-1.54664, "vx":0.65703, "vy":-1.8881, "omega":-0.42285, "ax":-0.15142, "ay":-0.05253, "alpha":4.79705, "fx":[19.60877,-25.71931,-24.51755,20.61386], "fy":[22.47343,21.05433,-23.8747,-23.1272]}, - {"t":2.7034, "x":7.7683, "y":6.07842, "heading":-1.55662, "vx":0.65345, "vy":-1.88934, "omega":-0.30962, "ax":-0.56105, "ay":-0.19184, "alpha":5.0543, "fx":[14.23496,-33.60554,-32.37564,14.64186], "fy":[21.75106,19.84205,-26.72076,-27.55965]}, - {"t":2.72701, "x":7.78357, "y":6.03377, "heading":-1.56393, "vx":0.64021, "vy":-1.89387, "omega":-0.19031, "ax":-1.97461, "ay":-0.64057, "alpha":4.72187, "fx":[-12.46322,-54.86305,-52.07825,-11.18417], "fy":[14.62973,11.64068,-31.54324,-37.09079]}, - {"t":2.75061, "x":7.79813, "y":5.98889, "heading":-1.56842, "vx":0.5936, "vy":-1.90899, "omega":-0.07885, "ax":-4.78164, "ay":-1.33412, "alpha":2.41398, "fx":[-75.0064,-88.33503,-84.04211,-68.8446], "fy":[-7.16427,-5.66316,-33.75343,-41.64977]}, - {"t":2.77421, "x":7.81081, "y":5.94346, "heading":-1.57028, "vx":0.48073, "vy":-1.94048, "omega":-0.02187, "ax":-6.42544, "ay":-1.30664, "alpha":0.92665, "fx":[-106.35721,-108.71302,-106.4089,-103.45931], "fy":[-15.04957,-13.32367,-27.33983,-30.69979]}, - {"t":2.79782, "x":7.82037, "y":5.89729, "heading":-1.5708, "vx":0.32906, "vy":-1.97132, "omega":0.0, "ax":-6.55864, "ay":-0.73359, "alpha":0.0, "fx":[-108.43682,-108.43682,-108.43682,-108.43682], "fy":[-12.12869,-12.12869,-12.12869,-12.12869]}, - {"t":2.83269, "x":7.82785, "y":5.8281, "heading":-1.5708, "vx":0.10037, "vy":-1.9969, "omega":0.0, "ax":-2.90774, "ay":-0.07238, "alpha":0.0, "fx":[-48.07491,-48.07491,-48.07491,-48.07491], "fy":[-1.19674,-1.19674,-1.19674,-1.19674]}, - {"t":2.86756, "x":7.82958, "y":5.75843, "heading":-1.5708, "vx":-0.00102, "vy":-1.99943, "omega":0.0, "ax":-0.36281, "ay":0.00133, "alpha":0.0, "fx":[-5.99847,-5.99847,-5.99847,-5.99847], "fy":[0.02197,0.02197,0.02197,0.02197]}, - {"t":2.90242, "x":7.82933, "y":5.68872, "heading":-1.5708, "vx":-0.01367, "vy":-1.99938, "omega":0.0, "ax":-0.03863, "ay":0.00028, "alpha":0.0, "fx":[-0.63863,-0.63863,-0.63863,-0.63863], "fy":[0.00458,0.00458,0.00458,0.00458]}, - {"t":2.93729, "x":7.82883, "y":5.619, "heading":-1.5708, "vx":-0.01502, "vy":-1.99937, "omega":0.0, "ax":-0.0041, "ay":0.00003, "alpha":0.0, "fx":[-0.06784,-0.06784,-0.06784,-0.06784], "fy":[0.00051,0.00051,0.00051,0.00051]}, - {"t":2.97216, "x":7.8283, "y":5.54929, "heading":-1.5708, "vx":-0.01516, "vy":-1.99937, "omega":0.0, "ax":-0.00044, "ay":0.0, "alpha":0.0, "fx":[-0.00721,-0.00721,-0.00721,-0.00721], "fy":[0.00005,0.00005,0.00005,0.00005]}, - {"t":3.00703, "x":7.82777, "y":5.47957, "heading":-1.5708, "vx":-0.01517, "vy":-1.99937, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00077,-0.00077,-0.00077,-0.00077], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":3.0419, "x":7.82724, "y":5.40986, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.07677, "x":7.82672, "y":5.34014, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.11164, "x":7.82619, "y":5.27043, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.1465, "x":7.82566, "y":5.20071, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.18137, "x":7.82513, "y":5.131, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.21624, "x":7.8246, "y":5.06128, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.25111, "x":7.82407, "y":4.99157, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.28598, "x":7.82354, "y":4.92185, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.32085, "x":7.82301, "y":4.85214, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.35571, "x":7.82248, "y":4.78242, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.39058, "x":7.82195, "y":4.71271, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.42545, "x":7.82142, "y":4.64299, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":3.46032, "x":7.82089, "y":4.57328, "heading":-1.5708, "vx":-0.01518, "vy":-1.99937, "omega":0.0, "ax":0.00013, "ay":0.01649, "alpha":0.0, "fx":[0.00207,0.00207,0.00207,0.00207], "fy":[0.27268,0.27268,0.27268,0.27268]}, - {"t":3.49519, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01517, "vy":-1.99879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.5255, "ay":0.00226, "alpha":0.0, "fx":[124.42244,124.42244,124.42244,124.42244], "fy":[0.03729,0.03729,0.03729,0.03729]}, + {"t":0.0433, "x":3.35363, "y":7.50912, "heading":0.0, "vx":0.32588, "vy":0.0001, "omega":0.0, "ax":7.52425, "ay":0.00231, "alpha":0.0, "fx":[124.40168,124.40168,124.40168,124.40168], "fy":[0.03818,0.03818,0.03818,0.03818]}, + {"t":0.08661, "x":3.3748, "y":7.50913, "heading":0.0, "vx":0.65171, "vy":0.0002, "omega":0.0, "ax":7.52249, "ay":0.00238, "alpha":0.0, "fx":[124.37266,124.37266,124.37266,124.37266], "fy":[0.03937,0.03937,0.03937,0.03937]}, + {"t":0.12991, "x":3.41007, "y":7.50914, "heading":0.0, "vx":0.97746, "vy":0.0003, "omega":0.0, "ax":7.51986, "ay":0.00248, "alpha":0.0, "fx":[124.32918,124.32918,124.32918,124.32918], "fy":[0.04093,0.04093,0.04093,0.04093]}, + {"t":0.17321, "x":3.45945, "y":7.50915, "heading":0.0, "vx":1.3031, "vy":0.00041, "omega":0.0, "ax":7.51549, "ay":0.0026, "alpha":0.0, "fx":[124.2569,124.2569,124.2569,124.2569], "fy":[0.04298,0.04298,0.04298,0.04298]}, + {"t":0.21652, "x":3.52293, "y":7.50917, "heading":0.0, "vx":1.62854, "vy":0.00052, "omega":0.0, "ax":7.50679, "ay":0.00276, "alpha":0.0, "fx":[124.11302,124.11302,124.11302,124.11302], "fy":[0.04569,0.04569,0.04569,0.04569]}, + {"t":0.25982, "x":3.60049, "y":7.5092, "heading":0.0, "vx":1.95361, "vy":0.00064, "omega":0.0, "ax":7.48102, "ay":0.003, "alpha":0.0, "fx":[123.68707,123.68707,123.68707,123.68707], "fy":[0.04961,0.04961,0.04961,0.04961]}, + {"t":0.30313, "x":3.6921, "y":7.50923, "heading":0.0, "vx":2.27757, "vy":0.00077, "omega":0.0, "ax":5.12304, "ay":0.00754, "alpha":0.0, "fx":[84.70148,84.70148,84.70148,84.70148], "fy":[0.12473,0.12473,0.12473,0.12473]}, + {"t":0.34643, "x":3.79553, "y":7.50927, "heading":0.0, "vx":2.49942, "vy":0.0011, "omega":0.0, "ax":0.00024, "ay":0.00566, "alpha":0.0, "fx":[0.00393,0.00393,0.00393,0.00393], "fy":[0.09356,0.09356,0.09356,0.09356]}, + {"t":0.38973, "x":3.90376, "y":7.50932, "heading":0.0, "vx":2.49943, "vy":0.00134, "omega":0.0, "ax":0.0, "ay":0.00685, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.11329,0.11329,0.11329,0.11329]}, + {"t":0.43304, "x":4.012, "y":7.50939, "heading":0.0, "vx":2.49943, "vy":0.00164, "omega":0.0, "ax":-0.00001, "ay":0.00888, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[0.14688,0.14688,0.14688,0.14688]}, + {"t":0.47634, "x":4.12023, "y":7.50947, "heading":0.0, "vx":2.49943, "vy":0.00202, "omega":0.0, "ax":-0.00001, "ay":0.01145, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.1893,0.1893,0.1893,0.1893]}, + {"t":0.51964, "x":4.22847, "y":7.50956, "heading":0.0, "vx":2.49942, "vy":0.00252, "omega":0.0, "ax":-0.00002, "ay":0.01466, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[0.24234,0.24234,0.24234,0.24234]}, + {"t":0.56295, "x":4.3367, "y":7.50969, "heading":0.0, "vx":2.49942, "vy":0.00315, "omega":0.0, "ax":-0.00003, "ay":0.01869, "alpha":0.0, "fx":[-0.00044,-0.00044,-0.00044,-0.00044], "fy":[0.30904,0.30904,0.30904,0.30904]}, + {"t":0.60625, "x":4.44493, "y":7.50984, "heading":0.0, "vx":2.49942, "vy":0.00396, "omega":0.0, "ax":-0.00004, "ay":0.0238, "alpha":0.0, "fx":[-0.0007,-0.0007,-0.0007,-0.0007], "fy":[0.39344,0.39344,0.39344,0.39344]}, + {"t":0.64955, "x":4.55317, "y":7.51003, "heading":0.0, "vx":2.49942, "vy":0.00499, "omega":0.0, "ax":-0.00007, "ay":0.0303, "alpha":0.0, "fx":[-0.00113,-0.00113,-0.00113,-0.00113], "fy":[0.50098,0.50098,0.50098,0.50098]}, + {"t":0.69286, "x":4.6614, "y":7.51028, "heading":0.0, "vx":2.49942, "vy":0.00631, "omega":0.0, "ax":-0.00011, "ay":0.03866, "alpha":0.0, "fx":[-0.00183,-0.00183,-0.00183,-0.00183], "fy":[0.63921,0.63921,0.63921,0.63921]}, + {"t":0.73616, "x":4.76964, "y":7.51059, "heading":0.0, "vx":2.49941, "vy":0.00798, "omega":0.0, "ax":-0.00018, "ay":0.04955, "alpha":0.0, "fx":[-0.00297,-0.00297,-0.00297,-0.00297], "fy":[0.81927,0.81927,0.81927,0.81927]}, + {"t":0.77946, "x":4.87787, "y":7.51098, "heading":0.0, "vx":2.49941, "vy":0.01013, "omega":0.0, "ax":-0.00029, "ay":0.06404, "alpha":0.0, "fx":[-0.00488,-0.00488,-0.00488,-0.00488], "fy":[1.05878,1.05878,1.05878,1.05878]}, + {"t":0.82277, "x":4.9861, "y":7.51148, "heading":0.0, "vx":2.49939, "vy":0.0129, "omega":0.0, "ax":-0.00049, "ay":0.08399, "alpha":0.0, "fx":[-0.00818,-0.00818,-0.00818,-0.00818], "fy":[1.38863,1.38863,1.38863,1.38863]}, + {"t":0.86607, "x":5.09433, "y":7.51212, "heading":0.0, "vx":2.49937, "vy":0.01654, "omega":0.0, "ax":-0.00086, "ay":0.11312, "alpha":0.0, "fx":[-0.0142,-0.0142,-0.0142,-0.0142], "fy":[1.87033,1.87033,1.87033,1.87033]}, + {"t":0.90938, "x":5.20257, "y":7.51294, "heading":0.0, "vx":2.49933, "vy":0.02143, "omega":0.0, "ax":-0.00159, "ay":0.15961, "alpha":0.0, "fx":[-0.02627,-0.02627,-0.02627,-0.02627], "fy":[2.63882,2.63882,2.63882,2.63882]}, + {"t":0.95268, "x":5.31079, "y":7.51402, "heading":0.0, "vx":2.49927, "vy":0.02835, "omega":0.0, "ax":-0.00316, "ay":0.23612, "alpha":0.0, "fx":[-0.05225,-0.05225,-0.05225,-0.05225], "fy":[3.90391,3.90391,3.90391,3.90391]}, + {"t":0.99598, "x":5.41902, "y":7.51547, "heading":0.0, "vx":2.49913, "vy":0.03857, "omega":0.0, "ax":-0.00411, "ay":0.23506, "alpha":0.0, "fx":[-0.06788,-0.06788,-0.06788,-0.06788], "fy":[3.88634,3.88634,3.88634,3.88634]}, + {"t":1.03929, "x":5.52724, "y":7.51736, "heading":0.0, "vx":2.49895, "vy":0.04875, "omega":0.0, "ax":0.00091, "ay":-2.2004, "alpha":0.0, "fx":[0.01505,0.01505,0.01505,0.01505], "fy":[-36.38019,-36.38019,-36.38019,-36.38019]}, + {"t":1.08259, "x":5.63545, "y":7.5174, "heading":0.0, "vx":2.49899, "vy":-0.04654, "omega":0.0, "ax":-0.53588, "ay":-6.68826, "alpha":0.0, "fx":[-8.86001,-8.86001,-8.86001,-8.86001], "fy":[-110.57994,-110.57994,-110.57994,-110.57994]}, + {"t":1.12589, "x":5.74316, "y":7.50912, "heading":0.0, "vx":2.47578, "vy":-0.33616, "omega":0.0, "ax":-1.08566, "ay":-6.52104, "alpha":-1.8474, "fx":[-2.57007,-3.2939,-36.70536,-29.22978], "fy":[-111.94379,-108.11837,-102.68702,-108.51182]}, + {"t":1.15076, "x":5.80439, "y":7.49874, "heading":0.0, "vx":2.44879, "vy":-0.49832, "omega":-0.04594, "ax":-1.22458, "ay":-5.28539, "alpha":-3.82577, "fx":[4.88217,7.54369,-54.76473,-38.64716], "fy":[-99.97412,-83.46876,-72.02866,-94.07128]}, + {"t":1.17563, "x":5.86491, "y":7.48472, "heading":-0.00114, "vx":2.41834, "vy":-0.62975, "omega":-0.14107, "ax":-0.79306, "ay":-2.87089, "alpha":-7.17197, "fx":[19.77855,31.59315,-60.5874,-43.23242], "fy":[-79.1425,-20.48638,-16.70701,-73.52719]}, + {"t":1.20049, "x":5.9248, "y":7.46817, "heading":-0.00465, "vx":2.39862, "vy":-0.70114, "omega":-0.31942, "ax":-0.33798, "ay":-1.13153, "alpha":-8.26297, "fx":[30.71285,37.97303,-49.26875,-41.76887], "fy":[-58.15208,19.81124,18.83213,-55.32384]}, + {"t":1.22536, "x":5.98434, "y":7.45038, "heading":-0.01259, "vx":2.39021, "vy":-0.72928, "omega":-0.52489, "ax":-0.12951, "ay":-0.42115, "alpha":-7.86952, "fx":[33.42808,36.78335,-40.20514,-38.57122], "fy":[-44.80902,29.87213,30.195,-43.11044]}, + {"t":1.25023, "x":6.04374, "y":7.43212, "heading":-0.02565, "vx":2.38699, "vy":-0.73975, "omega":-0.72058, "ax":-0.04702, "ay":-0.15128, "alpha":-7.20153, "fx":[31.95569,34.44335,-34.26581,-35.24271], "fy":[-37.42136,30.66658,32.22655,-35.47646]}, + {"t":1.27509, "x":6.10308, "y":7.41368, "heading":-0.04356, "vx":2.38582, "vy":-0.74351, "omega":-0.89966, "ax":-0.01637, "ay":-0.05246, "alpha":-6.49087, "fx":[28.88249,31.76301,-29.63845,-32.08972], "fy":[-32.81531,28.41219,31.03357,-30.10008]}, + {"t":1.29996, "x":6.1624, "y":7.39517, "heading":-0.06594, "vx":2.38541, "vy":-0.74482, "omega":-1.06107, "ax":-0.00549, "ay":-0.01754, "alpha":-5.78056, "fx":[25.29477,28.94559,-25.53357,-29.06954], "fy":[-29.30238,25.12866,28.71239,-25.6988]}, + {"t":1.32483, "x":6.22172, "y":7.37665, "heading":-0.09232, "vx":2.38528, "vy":-0.74525, "omega":-1.20481, "ax":-0.00176, "ay":-0.00562, "alpha":-5.08699, "fx":[21.64714,26.08624,-21.71982,-26.13019], "fy":[-26.20203,21.59133,26.01437,-21.77554]}, + {"t":1.34969, "x":6.28103, "y":7.35811, "heading":-0.12228, "vx":2.38523, "vy":-0.74539, "omega":-1.33131, "ax":-0.00054, "ay":-0.00172, "alpha":-4.42211, "fx":[18.15043,23.24297,-18.17175,-23.25761], "fy":[-23.27881,18.13276,23.22176,-18.1894]}, + {"t":1.37456, "x":6.34034, "y":7.33958, "heading":-0.15539, "vx":2.38522, "vy":-0.74543, "omega":-1.44127, "ax":-0.00018, "ay":-0.00055, "alpha":-3.79516, "fx":[14.91395,20.45637,-14.92059,-20.46144], "fy":[-20.46793,14.90825,20.44988,-14.92629]}, + {"t":1.39943, "x":6.39966, "y":7.32104, "heading":-0.19123, "vx":2.38522, "vy":-0.74545, "omega":-1.53564, "ax":-0.0001, "ay":-0.0003, "alpha":-3.2122, "fx":[11.9955,17.7561,-11.99912,-17.75911], "fy":[-17.76257,11.99233,17.75264,-12.0023]}, + {"t":1.42429, "x":6.45897, "y":7.3025, "heading":-0.22941, "vx":2.38521, "vy":-0.74545, "omega":-1.61552, "ax":-0.00012, "ay":-0.00038, "alpha":-2.67608, "fx":[9.42071,15.16274,-9.42505,-15.16655], "fy":[-15.17085,9.41663,15.15843,-9.42913]}, + {"t":1.44916, "x":6.51828, "y":7.28397, "heading":-0.26959, "vx":2.38521, "vy":-0.74546, "omega":-1.68207, "ax":-0.00018, "ay":-0.00056, "alpha":-2.18693, "fx":[7.19347,12.68916,-7.19965,-12.69482], "fy":[-12.70116,7.18733,12.68282,-7.20579]}, + {"t":1.47403, "x":6.57759, "y":7.26543, "heading":-0.31141, "vx":2.38521, "vy":-0.74548, "omega":-1.73645, "ax":-0.00024, "ay":-0.00075, "alpha":-1.74296, "fx":[5.30356,10.34257,-5.31164,-10.35022], "fy":[-10.3587,5.29522,10.33408,-5.31997]}, + {"t":1.49889, "x":6.63691, "y":7.24689, "heading":-0.35459, "vx":2.3852, "vy":-0.7455, "omega":-1.77979, "ax":-0.00028, "ay":-0.0009, "alpha":-1.34134, "fx":[3.7323,8.12659,-3.74185,-8.13584], "fy":[-8.146,3.72223,8.11643,-3.75193]}, + {"t":1.52376, "x":6.69622, "y":7.22835, "heading":-0.39885, "vx":2.38519, "vy":-0.74552, "omega":-1.81314, "ax":-0.00031, "ay":-0.00098, "alpha":-0.9787, "fx":[2.4564,6.04262,-2.46674,-6.05279], "fy":[-6.06389,2.44534,6.03152,-2.4778]}, + {"t":1.54863, "x":6.75553, "y":7.20981, "heading":-0.44394, "vx":2.38519, "vy":-0.74554, "omega":-1.83748, "ax":-0.00032, "ay":-0.00101, "alpha":-0.65138, "fx":[1.44995,4.08962,-1.46055,-4.10015], "fy":[-4.1116,1.4385,4.07816,-1.47199]}, + {"t":1.5735, "x":6.81484, "y":7.19127, "heading":-0.48963, "vx":2.38518, "vy":-0.74557, "omega":-1.85368, "ax":-0.00034, "ay":-0.00109, "alpha":-0.35537, "fx":[0.68534,2.26222,-0.69676,-2.27362], "fy":[-2.28602,0.67294,2.24982,-0.70915]}, + {"t":1.59836, "x":6.87415, "y":7.17273, "heading":-0.53572, "vx":2.38517, "vy":-0.7456, "omega":-1.86252, "ax":-0.0005, "ay":-0.0016, "alpha":-0.08594, "fx":[0.13335,0.54724,-0.14998,-0.56387], "fy":[-0.58205,0.11517,0.52906,-0.16816]}, + {"t":1.62323, "x":6.93346, "y":7.15419, "heading":-0.58204, "vx":2.38516, "vy":-0.74564, "omega":-1.86465, "ax":-0.00119, "ay":-0.00381, "alpha":0.16264, "fx":[-0.23883,-1.08238,0.19944,1.043], "fy":[0.99978,-0.28205,-1.1256,0.15622]}, + {"t":1.6481, "x":6.99277, "y":7.13565, "heading":-0.62841, "vx":2.38513, "vy":-0.74573, "omega":-1.86061, "ax":-0.00376, "ay":-0.01202, "alpha":0.3974, "fx":[-0.47676,-2.6808,0.35229,2.55655], "fy":[2.41993,-0.6134,-2.8174,0.21563]}, + {"t":1.67296, "x":7.05208, "y":7.1171, "heading":-0.67467, "vx":2.38503, "vy":-0.74603, "omega":-1.85073, "ax":-0.01285, "ay":-0.04107, "alpha":0.62685, "fx":[-0.67514,-4.36874,0.24927,3.94449], "fy":[3.47814,-1.14168,-4.83468,-0.21763]}, + {"t":1.69783, "x":7.11139, "y":7.09854, "heading":-0.7207, "vx":2.38471, "vy":-0.74705, "omega":-1.83514, "ax":-0.04448, "ay":-0.14164, "alpha":0.86055, "fx":[-1.11028,-6.46423,-0.36506,4.99767], "fy":[3.39045,-2.71631,-8.06452,-1.97667]}, + {"t":1.7227, "x":7.17067, "y":7.07992, "heading":-0.76633, "vx":2.38361, "vy":-0.75057, "omega":-1.81374, "ax":-0.15411, "ay":-0.48513, "alpha":1.10187, "fx":[-2.71829,-9.91458,-2.39802,4.83871], "fy":[-0.67039,-8.16833,-15.31663,-7.92792]}, + {"t":1.74756, "x":7.2299, "y":7.0611, "heading":-0.81143, "vx":2.37977, "vy":-0.76264, "omega":-1.78634, "ax":-0.52183, "ay":-1.58293, "alpha":1.26256, "fx":[-8.68709,-17.34048,-8.65012,0.1674], "fy":[-17.97576,-25.82365,-34.14967,-26.73607]}, + {"t":1.77243, "x":7.28892, "y":7.04165, "heading":-0.85585, "vx":2.3668, "vy":-0.802, "omega":-1.75494, "ax":-1.40373, "ay":-3.87826, "alpha":0.92509, "fx":[-23.95712,-30.76456,-22.65171,-15.46048], "fy":[-59.3881,-62.67959,-68.71141,-65.70477]}, + {"t":1.7973, "x":7.34734, "y":7.02051, "heading":-0.89949, "vx":2.33189, "vy":-0.89844, "omega":-1.73194, "ax":-2.35038, "ay":-5.59003, "alpha":0.44493, "fx":[-39.79138,-43.24735,-38.03754,-34.36301], "fy":[-90.9657,-90.87376,-93.87851,-93.97183]}, + {"t":1.82216, "x":7.4046, "y":6.99644, "heading":-0.94256, "vx":2.27345, "vy":-1.03744, "omega":-1.72088, "ax":-3.05167, "ay":-6.12397, "alpha":0.23715, "fx":[-51.13579,-52.9348,-49.81744,-47.93061], "fy":[-100.62823,-100.09553,-101.87497,-102.40268]}, + {"t":1.84703, "x":7.46019, "y":6.96875, "heading":-0.98535, "vx":2.19756, "vy":-1.18973, "omega":-1.71498, "ax":-3.62878, "ay":-6.16433, "alpha":0.14896, "fx":[-60.49067,-61.54188,-59.52214,-58.43028], "fy":[-101.52524,-101.03893,-102.30966,-102.79651]}, + {"t":1.8719, "x":7.51371, "y":6.93726, "heading":-1.028, "vx":2.10732, "vy":-1.34301, "omega":-1.71128, "ax":-4.18906, "ay":-5.97548, "alpha":0.10493, "fx":[-69.64274,-70.29945,-68.88756,-68.2087], "fy":[-98.48081,-98.08224,-99.10833,-99.50992]}, + {"t":1.89676, "x":7.56482, "y":6.90201, "heading":-1.07055, "vx":2.00316, "vy":-1.49161, "omega":-1.70867, "ax":-4.45137, "ay":-5.72416, "alpha":0.10322, "fx":[-73.95733,-74.57686,-73.24617,-72.60557], "fy":[-94.30289,-93.89819,-94.97504,-95.38407]}, + {"t":1.91643, "x":7.60336, "y":6.87156, "heading":-1.10416, "vx":1.9156, "vy":-1.6042, "omega":-1.70664, "ax":-4.72866, "ay":-5.33888, "alpha":0.15354, "fx":[-78.7022,-79.53347,-77.68242,-76.80604], "fy":[-87.68428,-87.12214,-88.84805,-89.42548]}, + {"t":1.9361, "x":7.64012, "y":6.83898, "heading":-1.13773, "vx":1.82259, "vy":-1.70921, "omega":-1.70362, "ax":-4.87285, "ay":-4.92233, "alpha":0.24441, "fx":[-81.31807,-82.55788,-79.86457,-78.51943], "fy":[-80.3287,-79.54412,-82.41273,-83.24644]}, + {"t":1.95577, "x":7.67503, "y":6.80441, "heading":-1.17124, "vx":1.72674, "vy":-1.80603, "omega":-1.69881, "ax":-4.84418, "ay":-4.39977, "alpha":0.42443, "fx":[-81.14244,-83.25769,-79.17427,-76.78954], "fy":[-70.68665,-69.6744,-74.71566,-75.89676]}, + {"t":1.97544, "x":7.70806, "y":6.76803, "heading":-1.20466, "vx":1.63146, "vy":-1.89258, "omega":-1.69046, "ax":-4.46823, "ay":-3.67852, "alpha":0.81424, "fx":[-74.97234,-79.38008,-73.12766,-68.02079], "fy":[-56.41083,-55.64801,-64.91592,-66.29974]}, + {"t":1.99511, "x":7.73928, "y":6.73009, "heading":-1.23791, "vx":1.54357, "vy":-1.96493, "omega":-1.67444, "ax":-3.47209, "ay":-2.63288, "alpha":1.63957, "fx":[-56.56723,-67.56331,-58.87614,-46.61594], "fy":[-33.79195,-35.68692,-52.25205,-52.39143]}, + {"t":2.01478, "x":7.76897, "y":6.69093, "heading":-1.27084, "vx":1.47527, "vy":-2.01672, "omega":-1.64219, "ax":-2.00441, "ay":-1.43674, "alpha":2.76688, "fx":[-26.64327,-49.56873,-39.93729,-16.40997], "fy":[-6.79755,-14.07377,-38.98314,-35.16273]}, + {"t":2.03445, "x":7.7976, "y":6.65099, "heading":-1.30314, "vx":1.43585, "vy":-2.04498, "omega":-1.58777, "ax":-0.91864, "ay":-0.63903, "alpha":3.4681, "fx":[-4.218,-35.36384,-26.11806,4.94672], "fy":[10.12306,0.75307,-29.99123,-23.14611]}, + {"t":2.05412, "x":7.82567, "y":6.61064, "heading":-1.33437, "vx":1.41778, "vy":-2.05755, "omega":-1.51955, "ax":-0.39203, "ay":-0.26907, "alpha":3.84174, "fx":[6.83412,-28.39581,-19.71688,15.35224], "fy":[17.73571,8.69493,-25.97391,-18.2513]}, + {"t":2.07379, "x":7.85348, "y":6.57012, "heading":-1.36426, "vx":1.41007, "vy":-2.06284, "omega":-1.44399, "ax":-0.16593, "ay":-0.11324, "alpha":4.15984, "fx":[12.45093,-26.00702,-17.87719,20.45981], "fy":[21.51919,13.16736,-24.93975,-17.23596]}, + {"t":2.09346, "x":7.88118, "y":6.52952, "heading":-1.39267, "vx":1.4068, "vy":-2.06507, "omega":-1.36216, "ax":-0.07214, "ay":-0.04912, "alpha":4.49809, "fx":[15.94765,-25.85726,-18.29316,23.43168], "fy":[23.91279,16.23443,-25.37445,-18.02144]}, + {"t":2.11313, "x":7.90884, "y":6.48889, "heading":-1.41946, "vx":1.40538, "vy":-2.06603, "omega":-1.27369, "ax":-0.03589, "ay":-0.02442, "alpha":4.86874, "fx":[18.66299,-26.77637,-19.82149,25.56116], "fy":[25.81153,18.79378,-26.52554,-19.69463]}, + {"t":2.1328, "x":7.93648, "y":6.44825, "heading":-1.44451, "vx":1.40468, "vy":-2.06652, "omega":-1.17792, "ax":-0.02765, "ay":-0.0188, "alpha":5.27061, "fx":[21.09176,-28.27003,-21.97636,27.3259], "fy":[27.52844,21.18296,-28.0672,-21.88762]}, + {"t":2.15247, "x":7.9641, "y":6.4076, "heading":-1.46768, "vx":1.40413, "vy":-2.06688, "omega":-1.07425, "ax":-0.03967, "ay":-0.02695, "alpha":5.69928, "fx":[23.34725,-30.19533,-24.60267,28.82742], "fy":[29.13388,23.46374,-29.88827,-24.49145]}, + {"t":2.17214, "x":7.99171, "y":6.36694, "heading":-1.48881, "vx":1.40335, "vy":-2.06741, "omega":-0.96215, "ax":-0.07848, "ay":-0.05324, "alpha":6.1487, "fx":[25.30217,-32.65397,-27.75488,29.91655], "fy":[30.5584,25.50458,-32.00993,-27.57385]}, + {"t":2.19181, "x":8.0193, "y":6.32626, "heading":-1.50774, "vx":1.40181, "vy":-2.06846, "omega":-0.8412, "ax":-0.16718, "ay":-0.11311, "alpha":6.60907, "fx":[26.5512,-36.03586,-31.70248,30.13099], "fy":[31.58201,26.93364,-34.57642,-31.41971]}, + {"t":2.21148, "x":8.04684, "y":6.28555, "heading":-1.52428, "vx":1.39852, "vy":-2.07069, "omega":-0.71121, "ax":-0.35683, "ay":-0.24012, "alpha":7.0549, "fx":[26.16327,-41.18024,-37.00176,28.42045], "fy":[31.70527,26.95475,-37.86762,-36.67253]}, + {"t":2.23115, "x":8.07428, "y":6.24478, "heading":-1.53827, "vx":1.3915, "vy":-2.07541, "omega":-0.57244, "ax":-0.75031, "ay":-0.4992, "alpha":7.3932, "fx":[21.90684,-49.5304,-44.50361,22.50658], "fy":[29.72192,23.98362,-42.23118,-44.48855]}, + {"t":2.25082, "x":8.10151, "y":6.20386, "heading":-1.54953, "vx":1.37674, "vy":-2.08523, "omega":-0.42702, "ax":-1.53892, "ay":-1.00011, "alpha":7.27483, "fx":[7.76344,-62.56366,-54.94442,7.96982], "fy":[22.16913,15.37996,-47.72588,-55.96408]}, + {"t":2.27049, "x":8.12829, "y":6.16265, "heading":-1.55793, "vx":1.34647, "vy":-2.1049, "omega":-0.28392, "ax":-2.95613, "ay":-1.83416, "alpha":5.83869, "fx":[-28.81148,-79.03009,-68.00758,-19.65073], "fy":[0.60778,-0.39919,-53.23045,-68.27839]}, + {"t":2.29016, "x":8.1542, "y":6.12089, "heading":-1.56352, "vx":1.28833, "vy":-2.14098, "omega":-0.16908, "ax":-4.54757, "ay":-2.60962, "alpha":3.56306, "fx":[-71.50869,-93.51502,-81.86923,-53.85506], "fy":[-26.28293,-17.79824,-56.05566,-72.44727]}, + {"t":2.30983, "x":8.17866, "y":6.07827, "heading":-1.56684, "vx":1.19888, "vy":-2.19231, "omega":-0.09899, "ax":-5.57963, "ay":-2.87355, "alpha":2.10606, "fx":[-93.26372,-102.79038,-93.42819,-79.51983], "fy":[-37.93128,-29.067,-55.23522,-67.80516]}, + {"t":2.3295, "x":8.20116, "y":6.03459, "heading":-1.56879, "vx":1.08913, "vy":-2.24883, "omega":-0.05757, "ax":-6.18859, "ay":-2.79405, "alpha":1.33762, "fx":[-103.88354,-108.55306,-101.88294,-94.95538], "fy":[-39.72497,-33.22353,-51.64983,-60.18255]}, + {"t":2.34917, "x":8.22139, "y":5.98982, "heading":-1.56992, "vx":0.9674, "vy":-2.30379, "omega":-0.03126, "ax":-6.58064, "ay":-2.54833, "alpha":0.91782, "fx":[-110.14506,-112.60906,-108.02578,-104.4225], "fy":[-37.20681,-32.77273,-46.43917,-52.11182]}, + {"t":2.36884, "x":8.23915, "y":5.94401, "heading":-1.57054, "vx":0.83796, "vy":-2.35391, "omega":-0.0132, "ax":-6.86726, "ay":-2.18518, "alpha":0.67122, "fx":[-114.56485,-115.87508,-112.80732,-110.91086], "fy":[-32.05381,-29.14086,-39.7922,-43.52762]}, + {"t":2.38851, "x":8.2543, "y":5.89729, "heading":-1.5708, "vx":0.70288, "vy":-2.3969, "omega":0.0, "ax":-7.08404, "ay":-1.77729, "alpha":0.0, "fx":[-117.12361,-117.12361,-117.12361,-117.12361], "fy":[-29.38468,-29.38468,-29.38468,-29.38468]}, + {"t":2.41944, "x":8.27265, "y":5.8223, "heading":-1.5708, "vx":0.48376, "vy":-2.45187, "omega":0.0, "ax":-6.99549, "ay":-1.06542, "alpha":0.0, "fx":[-115.6596,-115.6596,-115.6596,-115.6596], "fy":[-17.61505,-17.61505,-17.61505,-17.61505]}, + {"t":2.45037, "x":8.28427, "y":5.74595, "heading":-1.5708, "vx":0.26737, "vy":-2.48483, "omega":0.0, "ax":-6.33855, "ay":-0.43129, "alpha":0.0, "fx":[-104.79797,-104.79797,-104.79797,-104.79797], "fy":[-7.13066,-7.13066,-7.13066,-7.13066]}, + {"t":2.4813, "x":8.28951, "y":5.66888, "heading":-1.5708, "vx":0.07131, "vy":-2.49817, "omega":0.0, "ax":-3.80514, "ay":-0.01911, "alpha":0.0, "fx":[-62.91213,-62.91213,-62.91213,-62.91213], "fy":[-0.31592,-0.31592,-0.31592,-0.31592]}, + {"t":2.51223, "x":8.28989, "y":5.5916, "heading":-1.5708, "vx":-0.04639, "vy":-2.49876, "omega":0.0, "ax":-0.9825, "ay":0.0242, "alpha":0.0, "fx":[-16.24406,-16.24406,-16.24406,-16.24406], "fy":[0.40018,0.40018,0.40018,0.40018]}, + {"t":2.54317, "x":8.28799, "y":5.51432, "heading":-1.5708, "vx":-0.07678, "vy":-2.49801, "omega":0.0, "ax":-0.1934, "ay":0.00618, "alpha":0.0, "fx":[-3.1976,-3.1976,-3.1976,-3.1976], "fy":[0.10211,0.10211,0.10211,0.10211]}, + {"t":2.5741, "x":8.28552, "y":5.43705, "heading":-1.5708, "vx":-0.08276, "vy":-2.49782, "omega":0.0, "ax":-0.03746, "ay":0.00125, "alpha":0.0, "fx":[-0.61938,-0.61938,-0.61938,-0.61938], "fy":[0.02067,0.02067,0.02067,0.02067]}, + {"t":2.60503, "x":8.28294, "y":5.35979, "heading":-1.5708, "vx":-0.08392, "vy":-2.49778, "omega":0.0, "ax":-0.00725, "ay":0.00024, "alpha":0.0, "fx":[-0.1199,-0.1199,-0.1199,-0.1199], "fy":[0.00403,0.00403,0.00403,0.00403]}, + {"t":2.63596, "x":8.28034, "y":5.28253, "heading":-1.5708, "vx":-0.08415, "vy":-2.49777, "omega":0.0, "ax":-0.0014, "ay":0.00005, "alpha":0.0, "fx":[-0.02321,-0.02321,-0.02321,-0.02321], "fy":[0.00078,0.00078,0.00078,0.00078]}, + {"t":2.66689, "x":8.27774, "y":5.20526, "heading":-1.5708, "vx":-0.08419, "vy":-2.49777, "omega":0.0, "ax":-0.00027, "ay":0.00001, "alpha":0.0, "fx":[-0.00449,-0.00449,-0.00449,-0.00449], "fy":[0.00015,0.00015,0.00015,0.00015]}, + {"t":2.69783, "x":8.27514, "y":5.128, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00087,-0.00087,-0.00087,-0.00087], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.72876, "x":8.27253, "y":5.05074, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":2.75969, "x":8.26993, "y":4.97348, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.79062, "x":8.26732, "y":4.89622, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.82156, "x":8.26472, "y":4.81896, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.85249, "x":8.26211, "y":4.7417, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.88342, "x":8.25951, "y":4.66444, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":2.91435, "x":8.2569, "y":4.58717, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.00089, "ay":0.0263, "alpha":0.0, "fx":[0.01466,0.01466,0.01466,0.01466], "fy":[0.43489,0.43489,0.43489,0.43489]}, + {"t":2.94528, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.08417, "vy":-2.49696, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LTrenchtoDepot.traj b/src/main/deploy/choreo/LTrenchtoDepot.traj index 7314b668..48471060 100644 --- a/src/main/deploy/choreo/LTrenchtoDepot.traj +++ b/src/main/deploy/choreo/LTrenchtoDepot.traj @@ -3,27 +3,27 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.780329942703247, "y":5.9557576179504395, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"LTrench.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"LTrench.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.780329942703247 m", "val":1.780329942703247}, "y":{"exp":"5.9557576179504395 m", "val":5.9557576179504395}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slower", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", @@ -55,58 +55,55 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.35844,2.17928], + "waypoints":[0.0,1.16693,1.98872], "samples":[ - {"t":0.0, "x":3.76206, "y":7.35707, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.08387, "ay":-4.42926, "alpha":0.0, "fx":[-100.58728,-100.58728,-100.58728,-100.58728], "fy":[-73.23087,-73.23087,-73.23087,-73.23087]}, - {"t":0.04528, "x":3.75583, "y":7.35253, "heading":3.14159, "vx":-0.27548, "vy":-0.20056, "omega":0.0, "ax":-6.08234, "ay":-4.42814, "alpha":0.0, "fx":[-100.56198,-100.56198,-100.56198,-100.56198], "fy":[-73.21245,-73.21245,-73.21245,-73.21245]}, - {"t":0.09056, "x":3.73712, "y":7.33891, "heading":3.14159, "vx":-0.5509, "vy":-0.40107, "omega":0.0, "ax":-6.0798, "ay":-4.4263, "alpha":0.0, "fx":[-100.52003,-100.52003,-100.52003,-100.52003], "fy":[-73.18191,-73.18191,-73.18191,-73.18191]}, - {"t":0.13584, "x":3.70594, "y":7.31621, "heading":3.14159, "vx":-0.8262, "vy":-0.6015, "omega":0.0, "ax":-6.07477, "ay":-4.42264, "alpha":0.0, "fx":[-100.43693,-100.43693,-100.43693,-100.43693], "fy":[-73.12141,-73.12141,-73.12141,-73.12141]}, - {"t":0.18112, "x":3.6623, "y":7.28444, "heading":3.14159, "vx":-1.10127, "vy":-0.80176, "omega":0.0, "ax":-6.06008, "ay":-4.41194, "alpha":0.0, "fx":[-100.19397,-100.19397,-100.19397,-100.19397], "fy":[-72.94453,-72.94453,-72.94453,-72.94453]}, - {"t":0.22641, "x":3.60622, "y":7.24361, "heading":3.14159, "vx":-1.37568, "vy":-1.00154, "omega":0.0, "ax":-5.31874, "ay":-3.87222, "alpha":0.0, "fx":[-87.93703,-87.93703,-87.93703,-87.93703], "fy":[-64.02107,-64.02107,-64.02107,-64.02107]}, - {"t":0.27169, "x":3.53847, "y":7.19429, "heading":3.14159, "vx":-1.61652, "vy":-1.17688, "omega":0.0, "ax":-0.0003, "ay":-0.00022, "alpha":0.0, "fx":[-0.00503,-0.00503,-0.00503,-0.00503], "fy":[-0.00366,-0.00366,-0.00366,-0.00366]}, - {"t":0.31697, "x":3.46528, "y":7.141, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.36225, "x":3.39208, "y":7.08771, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.40753, "x":3.31888, "y":7.03441, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.45281, "x":3.24568, "y":6.98112, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.49809, "x":3.17248, "y":6.92783, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.54337, "x":3.09928, "y":6.87454, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.58866, "x":3.02608, "y":6.82125, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.63394, "x":2.95289, "y":6.76796, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.67922, "x":2.87969, "y":6.71467, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.7245, "x":2.80649, "y":6.66138, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.76978, "x":2.73329, "y":6.60809, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.81506, "x":2.66009, "y":6.55479, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.86034, "x":2.58689, "y":6.5015, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.90562, "x":2.51369, "y":6.44821, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.95091, "x":2.4405, "y":6.39492, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.99619, "x":2.3673, "y":6.34163, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":1.04147, "x":2.2941, "y":6.28834, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "omega":0.0, "ax":-0.00002, "ay":0.00002, "alpha":0.0, "fx":[-0.00028,-0.00028,-0.00028,-0.00028], "fy":[0.00038,0.00038,0.00038,0.00038]}, - {"t":1.08675, "x":2.2209, "y":6.23505, "heading":3.14159, "vx":-1.61654, "vy":-1.17689, "omega":0.0, "ax":-0.00031, "ay":0.00043, "alpha":0.0, "fx":[-0.0052,-0.0052,-0.0052,-0.0052], "fy":[0.00714,0.00714,0.00714,0.00714]}, - {"t":1.13203, "x":2.1477, "y":6.18176, "heading":3.14159, "vx":-1.61655, "vy":-1.17687, "omega":0.0, "ax":-0.00586, "ay":0.00806, "alpha":0.0, "fx":[-0.09694,-0.09694,-0.09694,-0.09694], "fy":[0.13319,0.13319,0.13319,0.13319]}, - {"t":1.17731, "x":2.0745, "y":6.12848, "heading":3.14159, "vx":-1.61682, "vy":-1.17651, "omega":0.0, "ax":-0.10891, "ay":0.15033, "alpha":0.0, "fx":[-1.8006,-1.8006,-1.8006,-1.8006], "fy":[2.48549,2.48549,2.48549,2.48549]}, - {"t":1.22259, "x":2.00117, "y":6.07536, "heading":3.14159, "vx":-1.62175, "vy":-1.1697, "omega":0.0, "ax":-1.63723, "ay":2.43793, "alpha":0.0, "fx":[-27.069,-27.069,-27.069,-27.069], "fy":[40.3074,40.3074,40.3074,40.3074]}, - {"t":1.26787, "x":1.92606, "y":6.02489, "heading":3.14159, "vx":-1.69588, "vy":-1.05931, "omega":0.0, "ax":0.63782, "ay":7.10948, "alpha":0.0, "fx":[10.5454,10.5454,10.5454,10.5454], "fy":[117.54418,117.54418,117.54418,117.54418]}, - {"t":1.31316, "x":1.84992, "y":5.98421, "heading":3.14159, "vx":-1.667, "vy":-0.73738, "omega":0.0, "ax":5.74773, "ay":4.81322, "alpha":0.0, "fx":[95.02976,95.02976,95.02976,95.02976], "fy":[79.57906,79.57906,79.57906,79.57906]}, - {"t":1.35844, "x":1.78033, "y":5.95576, "heading":3.14159, "vx":-1.40674, "vy":-0.51943, "omega":0.0, "ax":-1.80662, "ay":7.1495, "alpha":0.0, "fx":[-29.86959,-29.86959,-29.86959,-29.86959], "fy":[118.20577,118.20577,118.20577,118.20577]}, - {"t":1.40164, "x":1.71787, "y":5.93999, "heading":3.14159, "vx":-1.48479, "vy":-0.21056, "omega":0.0, "ax":-0.3322, "ay":5.78537, "alpha":0.0, "fx":[-5.49234,-5.49234,-5.49234,-5.49234], "fy":[95.65208,95.65208,95.65208,95.65208]}, - {"t":1.44484, "x":1.65341, "y":5.93629, "heading":3.14159, "vx":-1.49914, "vy":0.03938, "omega":0.0, "ax":0.01721, "ay":0.51168, "alpha":0.0, "fx":[0.28449,0.28449,0.28449,0.28449], "fy":[8.45978,8.45978,8.45978,8.45978]}, - {"t":1.48804, "x":1.58866, "y":5.93847, "heading":3.14159, "vx":-1.49839, "vy":0.06149, "omega":0.0, "ax":0.00077, "ay":0.0186, "alpha":0.0, "fx":[0.0127,0.0127,0.0127,0.0127], "fy":[0.30758,0.30758,0.30758,0.30758]}, - {"t":1.53124, "x":1.52393, "y":5.94114, "heading":3.14159, "vx":-1.49836, "vy":0.06229, "omega":0.0, "ax":0.00003, "ay":0.00067, "alpha":0.0, "fx":[0.00046,0.00046,0.00046,0.00046], "fy":[0.01114,0.01114,0.01114,0.01114]}, - {"t":1.57445, "x":1.4592, "y":5.94384, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.00002, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0004,0.0004,0.0004,0.0004]}, - {"t":1.61765, "x":1.39447, "y":5.94653, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":1.66085, "x":1.32973, "y":5.94922, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.70405, "x":1.265, "y":5.95191, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.74726, "x":1.20027, "y":5.95461, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.79046, "x":1.13554, "y":5.9573, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.83366, "x":1.0708, "y":5.95999, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.87686, "x":1.00607, "y":5.96268, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.92006, "x":0.94134, "y":5.96538, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":0.00007, "ay":0.0, "alpha":0.0, "fx":[0.00112,0.00112,0.00112,0.00112], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, - {"t":1.96327, "x":0.87661, "y":5.96807, "heading":3.14159, "vx":-1.49836, "vy":0.06232, "omega":0.0, "ax":4.64223, "ay":-0.19309, "alpha":0.0, "fx":[76.75199,76.75199,76.75199,76.75199], "fy":[-3.19239,-3.19239,-3.19239,-3.19239]}, - {"t":2.00647, "x":0.81621, "y":5.97058, "heading":3.14159, "vx":-1.2978, "vy":0.05398, "omega":0.0, "ax":7.49498, "ay":-0.31174, "alpha":0.0, "fx":[123.91789,123.91789,123.91789,123.91789], "fy":[-5.15419,-5.15419,-5.15419,-5.15419]}, - {"t":2.04967, "x":0.76713, "y":5.97262, "heading":3.14159, "vx":-0.974, "vy":0.04051, "omega":0.0, "ax":7.51069, "ay":-0.3124, "alpha":0.0, "fx":[124.17755,124.17755,124.17755,124.17755], "fy":[-5.16499,-5.16499,-5.16499,-5.16499]}, - {"t":2.09287, "x":0.73206, "y":5.97408, "heading":3.14159, "vx":-0.64953, "vy":0.02702, "omega":0.0, "ax":7.51596, "ay":-0.31262, "alpha":0.0, "fx":[124.26467,124.26467,124.26467,124.26467], "fy":[-5.16861,-5.16861,-5.16861,-5.16861]}, - {"t":2.13608, "x":0.71102, "y":5.97496, "heading":3.14159, "vx":-0.32482, "vy":0.01351, "omega":0.0, "ax":7.5186, "ay":-0.31273, "alpha":0.0, "fx":[124.30832,124.30832,124.30832,124.30832], "fy":[-5.17043,-5.17043,-5.17043,-5.17043]}, - {"t":2.17928, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.76206, "y":7.35707, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.04584, "ay":-4.48109, "alpha":0.0, "fx":[-99.95858,-99.95858,-99.95858,-99.95858], "fy":[-74.08778,-74.08778,-74.08778,-74.08778]}, + {"t":0.04322, "x":3.75642, "y":7.35288, "heading":3.14159, "vx":-0.2613, "vy":-0.19367, "omega":0.0, "ax":-6.04483, "ay":-4.48033, "alpha":0.0, "fx":[-99.94179,-99.94179,-99.94179,-99.94179], "fy":[-74.07533,-74.07533,-74.07533,-74.07533]}, + {"t":0.08644, "x":3.73948, "y":7.34033, "heading":3.14159, "vx":-0.52255, "vy":-0.38731, "omega":0.0, "ax":-6.04341, "ay":-4.47928, "alpha":0.0, "fx":[-99.91831,-99.91831,-99.91831,-99.91831], "fy":[-74.05793,-74.05793,-74.05793,-74.05793]}, + {"t":0.12966, "x":3.71125, "y":7.3194, "heading":3.14159, "vx":-0.78375, "vy":-0.5809, "omega":0.0, "ax":-6.04128, "ay":-4.4777, "alpha":0.0, "fx":[-99.88314,-99.88314,-99.88314,-99.88314], "fy":[-74.03186,-74.03186,-74.03186,-74.03186]}, + {"t":0.17288, "x":3.67173, "y":7.29012, "heading":3.14159, "vx":-1.04485, "vy":-0.77443, "omega":0.0, "ax":-6.03774, "ay":-4.47508, "alpha":0.0, "fx":[-99.82468,-99.82468,-99.82468,-99.82468], "fy":[-73.98853,-73.98853,-73.98853,-73.98853]}, + {"t":0.2161, "x":3.62094, "y":7.25247, "heading":3.14159, "vx":-1.3058, "vy":-0.96784, "omega":0.0, "ax":-6.03071, "ay":-4.46987, "alpha":0.0, "fx":[-99.70835,-99.70835,-99.70835,-99.70835], "fy":[-73.90231,-73.90231,-73.90231,-73.90231]}, + {"t":0.25932, "x":3.55887, "y":7.20646, "heading":3.14159, "vx":-1.56644, "vy":-1.16103, "omega":0.0, "ax":-6.0099, "ay":-4.45444, "alpha":0.0, "fx":[-99.36426,-99.36426,-99.36426,-99.36426], "fy":[-73.64728,-73.64728,-73.64728,-73.64728]}, + {"t":0.30254, "x":3.48555, "y":7.15212, "heading":3.14159, "vx":-1.82619, "vy":-1.35354, "omega":0.0, "ax":-4.20649, "ay":-3.11779, "alpha":0.0, "fx":[-69.54779,-69.54779,-69.54779,-69.54779], "fy":[-51.54777,-51.54777,-51.54777,-51.54777]}, + {"t":0.34576, "x":3.4027, "y":7.09071, "heading":3.14159, "vx":-2.00799, "vy":-1.48829, "omega":0.0, "ax":-0.00021, "ay":-0.00015, "alpha":0.0, "fx":[-0.00345,-0.00345,-0.00345,-0.00345], "fy":[-0.00256,-0.00256,-0.00256,-0.00256]}, + {"t":0.38898, "x":3.31591, "y":7.02639, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.4322, "x":3.22913, "y":6.96206, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.47542, "x":3.14234, "y":6.89774, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.51864, "x":3.05556, "y":6.83342, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.56186, "x":2.96877, "y":6.76909, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.60508, "x":2.88199, "y":6.70477, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.64829, "x":2.7952, "y":6.64044, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.69151, "x":2.70842, "y":6.57612, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":0.73473, "x":2.62163, "y":6.5118, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":-0.00001, "ay":0.00001, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[0.00012,0.00012,0.00012,0.00012]}, + {"t":0.77795, "x":2.53485, "y":6.44747, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":-0.00006, "ay":0.00008, "alpha":0.0, "fx":[-0.00101,-0.00101,-0.00101,-0.00101], "fy":[0.00137,0.00137,0.00137,0.00137]}, + {"t":0.82117, "x":2.44806, "y":6.38315, "heading":3.14159, "vx":-2.00801, "vy":-1.4883, "omega":0.0, "ax":-0.00068, "ay":0.00092, "alpha":0.0, "fx":[-0.01126,-0.01126,-0.01126,-0.01126], "fy":[0.01519,0.01519,0.01519,0.01519]}, + {"t":0.86439, "x":2.36128, "y":6.31883, "heading":3.14159, "vx":-2.00803, "vy":-1.48826, "omega":0.0, "ax":-0.00756, "ay":0.01021, "alpha":0.0, "fx":[-0.12503,-0.12503,-0.12503,-0.12503], "fy":[0.16874,0.16874,0.16874,0.16874]}, + {"t":0.90761, "x":2.27448, "y":6.25451, "heading":3.14159, "vx":-2.00836, "vy":-1.48782, "omega":0.0, "ax":-0.08384, "ay":0.11347, "alpha":0.0, "fx":[-1.38623,-1.38623,-1.38623,-1.38623], "fy":[1.87603,1.87603,1.87603,1.87603]}, + {"t":0.95083, "x":2.1876, "y":6.19032, "heading":3.14159, "vx":-2.01199, "vy":-1.48291, "omega":0.0, "ax":-0.87707, "ay":1.22318, "alpha":0.0, "fx":[-14.50102,-14.50102,-14.50102,-14.50102], "fy":[20.22343,20.22343,20.22343,20.22343]}, + {"t":0.99405, "x":2.09983, "y":6.12737, "heading":3.14159, "vx":-2.04989, "vy":-1.43005, "omega":0.0, "ax":-2.2541, "ay":5.63453, "alpha":0.0, "fx":[-37.26806,-37.26806,-37.26806,-37.26806], "fy":[93.1582,93.1582,93.1582,93.1582]}, + {"t":1.03727, "x":2.00913, "y":6.07082, "heading":3.14159, "vx":-2.14731, "vy":-1.18652, "omega":0.0, "ax":5.85668, "ay":4.65235, "alpha":0.0, "fx":[96.831,96.831,96.831,96.831], "fy":[76.91942,76.91942,76.91942,76.91942]}, + {"t":1.08049, "x":1.92179, "y":6.02389, "heading":3.14159, "vx":-1.89419, "vy":-0.98545, "omega":0.0, "ax":5.95397, "ay":4.57113, "alpha":0.0, "fx":[98.43957,98.43957,98.43957,98.43957], "fy":[75.57648,75.57648,75.57648,75.57648]}, + {"t":1.12371, "x":1.84548, "y":5.98557, "heading":3.14159, "vx":-1.63686, "vy":-0.78789, "omega":0.0, "ax":5.98633, "ay":4.54341, "alpha":0.0, "fx":[98.97471,98.97471,98.97471,98.97471], "fy":[75.11824,75.11824,75.11824,75.11824]}, + {"t":1.16693, "x":1.78033, "y":5.95576, "heading":3.14159, "vx":-1.37813, "vy":-0.59152, "omega":0.0, "ax":-2.17858, "ay":7.0941, "alpha":0.0, "fx":[-36.01943,-36.01943,-36.01943,-36.01943], "fy":[117.28988,117.28988,117.28988,117.28988]}, + {"t":1.21018, "x":1.71869, "y":5.93681, "heading":3.14159, "vx":-1.47236, "vy":-0.28469, "omega":0.0, "ax":-0.63026, "ay":6.80827, "alpha":0.0, "fx":[-10.42035,-10.42035,-10.42035,-10.42035], "fy":[112.56411,112.56411,112.56411,112.56411]}, + {"t":1.25343, "x":1.65441, "y":5.93086, "heading":3.14159, "vx":-1.49962, "vy":0.00978, "omega":0.0, "ax":0.03693, "ay":1.39041, "alpha":0.0, "fx":[0.61053,0.61053,0.61053,0.61053], "fy":[22.98827,22.98827,22.98827,22.98827]}, + {"t":1.29669, "x":1.58959, "y":5.93259, "heading":3.14159, "vx":-1.49803, "vy":0.06992, "omega":0.0, "ax":0.00246, "ay":0.05191, "alpha":0.0, "fx":[0.0407,0.0407,0.0407,0.0407], "fy":[0.8582,0.8582,0.8582,0.8582]}, + {"t":1.33994, "x":1.5248, "y":5.93566, "heading":3.14159, "vx":-1.49792, "vy":0.07216, "omega":0.0, "ax":0.00009, "ay":0.00187, "alpha":0.0, "fx":[0.00149,0.00149,0.00149,0.00149], "fy":[0.03098,0.03098,0.03098,0.03098]}, + {"t":1.38319, "x":1.46001, "y":5.93878, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.00007, "alpha":0.0, "fx":[0.00005,0.00005,0.00005,0.00005], "fy":[0.00112,0.00112,0.00112,0.00112]}, + {"t":1.42644, "x":1.39522, "y":5.94191, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":1.46969, "x":1.33043, "y":5.94503, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.51295, "x":1.26564, "y":5.94816, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.5562, "x":1.20086, "y":5.95128, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.59945, "x":1.13607, "y":5.95441, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.6427, "x":1.07128, "y":5.95753, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.68596, "x":1.00649, "y":5.96066, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.72921, "x":0.9417, "y":5.96378, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.00007, "ay":0.0, "alpha":0.0, "fx":[0.00109,0.00109,0.00109,0.00109], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, + {"t":1.77246, "x":0.87692, "y":5.96691, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":4.60076, "ay":-0.22191, "alpha":0.0, "fx":[76.06639,76.06639,76.06639,76.06639], "fy":[-3.66892,-3.66892,-3.66892,-3.66892]}, + {"t":1.81571, "x":0.81643, "y":5.96982, "heading":3.14159, "vx":-1.29892, "vy":0.06265, "omega":0.0, "ax":7.49281, "ay":-0.3614, "alpha":0.0, "fx":[123.882,123.882,123.882,123.882], "fy":[-5.97521,-5.97521,-5.97521,-5.97521]}, + {"t":1.85896, "x":0.76726, "y":5.9722, "heading":3.14159, "vx":-0.97484, "vy":0.04702, "omega":0.0, "ax":7.50849, "ay":-0.36216, "alpha":0.0, "fx":[124.14112,124.14112,124.14112,124.14112], "fy":[-5.98771,-5.98771,-5.98771,-5.98771]}, + {"t":1.90222, "x":0.73212, "y":5.97389, "heading":3.14159, "vx":-0.65008, "vy":0.03136, "omega":0.0, "ax":7.51374, "ay":-0.36241, "alpha":0.0, "fx":[124.22804,124.22804,124.22804,124.22804], "fy":[-5.9919,-5.9919,-5.9919,-5.9919]}, + {"t":1.94547, "x":0.71103, "y":5.97491, "heading":3.14159, "vx":-0.3251, "vy":0.01568, "omega":0.0, "ax":7.51638, "ay":-0.36254, "alpha":0.0, "fx":[124.2716,124.2716,124.2716,124.2716], "fy":[-5.994,-5.994,-5.994,-5.994]}, + {"t":1.98872, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/OutposttoRClimb.traj b/src/main/deploy/choreo/OutposttoRClimb.traj index 607c98de..281ff5fe 100644 --- a/src/main/deploy/choreo/OutposttoRClimb.traj +++ b/src/main/deploy/choreo/OutposttoRClimb.traj @@ -3,24 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RClimb.x", "val":1.838799834251404}, "y":{"exp":"RClimb.y", "val":2.700927495956421}, "heading":{"exp":"RClimb.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -51,57 +51,54 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.59341], + "waypoints":[0.0,1.46647], "samples":[ - {"t":0.0, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.95478, "ay":6.39978, "alpha":0.15983, "fx":[64.96553,67.15176,65.80137,63.62578], "fy":[106.0768,104.7089,105.56643,106.88954]}, - {"t":0.0332, "x":0.44585, "y":0.447, "heading":1.5708, "vx":0.13128, "vy":0.21245, "omega":0.00531, "ax":3.95403, "ay":6.39856, "alpha":0.17094, "fx":[64.92348,67.26181,65.81773,63.49157], "fy":[106.07558,104.61145,105.5305,106.94344]}, - {"t":0.06639, "x":0.45239, "y":0.45758, "heading":1.57097, "vx":0.26254, "vy":0.42486, "omega":0.01098, "ax":3.95301, "ay":6.39692, "alpha":0.18581, "fx":[64.86744,67.40903,65.83918,63.31196], "fy":[106.07371,104.48076,105.48277,107.0153]}, - {"t":0.09959, "x":0.46328, "y":0.4752, "heading":1.57134, "vx":0.39377, "vy":0.63721, "omega":0.01715, "ax":3.95158, "ay":6.3946, "alpha":0.20672, "fx":[64.7887,67.61595,65.86886,63.05932], "fy":[106.0708,104.29638,105.41611,107.11584]}, - {"t":0.13278, "x":0.47853, "y":0.49988, "heading":1.57191, "vx":0.52494, "vy":0.84948, "omega":0.02401, "ax":3.9494, "ay":6.39107, "alpha":0.2383, "fx":[64.66952,67.92807,65.91302,62.67786], "fy":[106.06607,104.01674,105.31617,107.26648]}, - {"t":0.16598, "x":0.49813, "y":0.5316, "heading":1.5727, "vx":0.65605, "vy":1.06164, "omega":0.03192, "ax":3.94567, "ay":6.38503, "alpha":0.29152, "fx":[64.46736,68.45268,65.98622,62.03562], "fy":[106.05757,103.54248,105.14946,107.51687]}, - {"t":0.19918, "x":0.52209, "y":0.57036, "heading":1.57376, "vx":0.78703, "vy":1.2736, "omega":0.0416, "ax":3.93786, "ay":6.3724, "alpha":0.40017, "fx":[64.04824,69.518,66.13211,60.72713], "fy":[106.03877,102.56272,104.81488,108.01456]}, - {"t":0.23237, "x":0.55038, "y":0.61615, "heading":1.57514, "vx":0.91775, "vy":1.48514, "omega":0.05488, "ax":3.91136, "ay":6.32963, "alpha":0.7441, "fx":[62.65764,72.83657,66.5674,56.61143], "fy":[105.96748,99.35987,103.80203,109.47299]}, - {"t":0.26557, "x":0.583, "y":0.66894, "heading":1.57697, "vx":1.04759, "vy":1.69526, "omega":0.07958, "ax":0.10376, "ay":0.16801, "alpha":16.01647, "fx":[-75.4707,79.77877,74.84417,-72.29004], "fy":[-74.52282,-70.95719,77.49983,79.09099]}, - {"t":0.29877, "x":0.61784, "y":0.72531, "heading":1.57961, "vx":1.05104, "vy":1.70084, "omega":0.61127, "ax":0.00006, "ay":0.00003, "alpha":15.65548, "fx":[-73.20096,74.50457,73.20228,-74.5017], "fy":[-74.50331,-73.20031,74.50296,73.20293]}, - {"t":0.33196, "x":0.65273, "y":0.78177, "heading":1.5999, "vx":1.05104, "vy":1.70084, "omega":1.13097, "ax":-0.00001, "ay":0.0, "alpha":15.17261, "fx":[-69.46428,73.62977,69.46408,-73.62992], "fy":[-73.62977,-69.46423,73.62992,69.46414]}, - {"t":0.36516, "x":0.68762, "y":0.83823, "heading":1.63744, "vx":1.05104, "vy":1.70084, "omega":1.63464, "ax":0.00001, "ay":-0.00001, "alpha":14.52904, "fx":[-63.82413,72.95378,63.82461,-72.95372], "fy":[-72.95397,-63.82445,72.95353,63.82429]}, - {"t":0.39835, "x":0.72251, "y":0.89469, "heading":1.69171, "vx":1.05104, "vy":1.70084, "omega":2.11695, "ax":0.00022, "ay":-0.00014, "alpha":13.64071, "fx":[-56.11373,71.64435,56.12419,-71.64053], "fy":[-71.64631,-56.11973,71.63856,56.11819]}, - {"t":0.43155, "x":0.7574, "y":0.95115, "heading":1.76198, "vx":1.05105, "vy":1.70083, "omega":2.56977, "ax":0.00113, "ay":-0.00071, "alpha":12.37178, "fx":[-46.18375,68.40227,46.23683,-68.3806], "fy":[-68.40888,-46.21636,68.37399,46.20422]}, - {"t":0.46475, "x":0.79229, "y":1.00761, "heading":1.84729, "vx":1.05108, "vy":1.70081, "omega":2.98046, "ax":0.00418, "ay":-0.0026, "alpha":10.53422, "fx":[-34.14972,61.41995,34.33426,-61.32828], "fy":[-61.4287,-34.27354,61.31955,34.21042]}, - {"t":0.49794, "x":0.82718, "y":1.06407, "heading":1.94623, "vx":1.05122, "vy":1.70072, "omega":3.33016, "ax":0.01165, "ay":-0.00724, "alpha":8.06106, "fx":[-21.2022,49.47534,21.66892,-49.17188], "fy":[-49.45446,-21.54409,49.19298,21.32668]}, - {"t":0.53114, "x":0.86209, "y":1.12053, "heading":2.05678, "vx":1.05161, "vy":1.70048, "omega":3.59776, "ax":0.01986, "ay":-0.01233, "alpha":5.60539, "fx":[-10.66767,36.02651,11.39403,-35.43941], "fy":[-35.93871,-11.23275,35.52788,10.82793]}, - {"t":0.56433, "x":0.89701, "y":1.17697, "heading":2.17621, "vx":1.05227, "vy":1.70007, "omega":3.78383, "ax":0.01307, "ay":-0.00811, "alpha":4.20961, "fx":[-4.79883,27.83456,5.25639,-27.42773], "fy":[-27.76278,-5.16396,27.49973,4.89088]}, - {"t":0.59753, "x":0.93195, "y":1.2334, "heading":2.30182, "vx":1.0527, "vy":1.6998, "omega":3.92358, "ax":-0.01075, "ay":0.00667, "alpha":3.34855, "fx":[-1.39792,22.13558,1.03045,-22.47877], "fy":[-22.1998,-1.10082,22.41466,1.32732]}, - {"t":0.63073, "x":0.96689, "y":1.28983, "heading":2.43206, "vx":1.05235, "vy":1.70003, "omega":4.03474, "ax":-0.03327, "ay":0.0206, "alpha":1.75269, "fx":[0.33172,11.11383,-1.4404,-12.20516], "fy":[-11.3229,1.23088,11.99655,-0.54242]}, - {"t":0.66392, "x":1.0018, "y":1.34628, "heading":2.566, "vx":1.05124, "vy":1.70071, "omega":4.09292, "ax":-0.03924, "ay":0.02422, "alpha":-0.67454, "fx":[-1.58647,-5.04976,0.28776,3.75329], "fy":[4.80124,-0.53617,-4.00198,1.33872]}, - {"t":0.69712, "x":1.03668, "y":1.40275, "heading":2.70187, "vx":1.04994, "vy":1.70151, "omega":4.07053, "ax":-0.02612, "ay":0.01607, "alpha":-2.59251, "fx":[-6.29533,-16.70179,5.42518,15.84424], "fy":[16.52956,-5.58585,-16.01663,6.13582]}, - {"t":0.73032, "x":1.07152, "y":1.45924, "heading":2.837, "vx":1.04907, "vy":1.70205, "omega":3.98446, "ax":-0.0027, "ay":0.00164, "alpha":-3.10945, "fx":[-9.6392,-18.43766,9.54958,18.34843], "fy":[18.41864,-9.56591,-18.36745,9.62289]}, - {"t":0.76351, "x":1.10634, "y":1.51574, "heading":2.96927, "vx":1.04898, "vy":1.7021, "omega":3.88124, "ax":0.01425, "ay":-0.00879, "alpha":-2.60042, "fx":[-9.74779,-13.95283,10.21663,14.42611], "fy":[14.0493,-10.13303,-14.3296,9.83172]}, - {"t":0.79671, "x":1.14117, "y":1.57224, "heading":3.09811, "vx":1.04946, "vy":1.70181, "omega":3.79492, "ax":0.02083, "ay":-0.01285, "alpha":-1.69799, "fx":[-7.31152,-8.00509,7.99736,8.69695], "fy":[8.14141,-7.87019,-8.5605,7.43914]}, - {"t":0.8299, "x":1.17602, "y":1.62873, "heading":-3.0591, "vx":1.05015, "vy":1.70138, "omega":3.73855, "ax":0.02218, "ay":-0.0137, "alpha":-0.72544, "fx":[-3.3263,-2.76154,4.05888,3.49583], "fy":[2.90269,-3.91963,-3.35459,3.46576]}, - {"t":0.8631, "x":1.21089, "y":1.6852, "heading":-2.935, "vx":1.05088, "vy":1.70093, "omega":3.71447, "ax":0.02153, "ay":-0.0133, "alpha":0.21443, "fx":[1.55338,1.13849,-0.8417,-0.42663], "fy":[-1.00243,0.97762,0.56265,-1.41752]}, - {"t":0.8963, "x":1.24579, "y":1.74166, "heading":-2.81169, "vx":1.0516, "vy":1.70049, "omega":3.72159, "ax":0.01847, "ay":-0.01142, "alpha":1.05312, "fx":[6.61392,3.39728,-6.00528,-2.78436], "fy":[-3.27911,6.12052,2.90238,-6.49886]}, - {"t":0.92949, "x":1.28071, "y":1.7981, "heading":-2.68815, "vx":1.05221, "vy":1.70011, "omega":3.75655, "ax":0.00954, "ay":-0.00588, "alpha":1.56742, "fx":[10.04271,3.56692,-9.72986,-3.24888], "fy":[-3.50493,9.78897,3.31081,-9.98366]}, - {"t":0.96269, "x":1.31564, "y":1.85453, "heading":-2.56344, "vx":1.05253, "vy":1.69991, "omega":3.80858, "ax":-0.00681, "ay":0.00426, "alpha":1.13411, "fx":[7.29228,1.44381,-7.51655,-1.67002], "fy":[-1.48633,7.47485,1.62747,-7.334]}, - {"t":0.99588, "x":1.35058, "y":1.91097, "heading":-2.43701, "vx":1.0523, "vy":1.70005, "omega":3.84623, "ax":-0.01863, "ay":0.01158, "alpha":-1.14484, "fx":[-7.91978,-0.92605,7.30614,0.30737], "fy":[0.80851,-7.42216,-0.42469,7.80389]}, - {"t":1.02908, "x":1.3855, "y":1.96741, "heading":-2.30933, "vx":1.05168, "vy":1.70044, "omega":3.80822, "ax":-0.01453, "ay":0.00901, "alpha":-4.94605, "fx":[-33.18619,1.28951,32.73742,-1.8015], "fy":[-1.38488,-32.82494,1.70679,33.0989]}, - {"t":1.06228, "x":1.4204, "y":2.02386, "heading":-2.18292, "vx":1.0512, "vy":1.70074, "omega":3.64403, "ax":-0.00542, "ay":0.00336, "alpha":-8.46789, "fx":[-55.72446,9.63723,55.57223,-9.84324], "fy":[-9.66769,-55.60977,9.81297,55.68696]}, - {"t":1.09547, "x":1.4553, "y":2.08032, "heading":-2.06195, "vx":1.05102, "vy":1.70085, "omega":3.36293, "ax":-0.00071, "ay":0.00045, "alpha":-10.9612, "fx":[-69.99561,21.19493,69.97592,-21.22242], "fy":[-21.19679,-69.98268,21.22056,69.98884]}, - {"t":1.12867, "x":1.49019, "y":2.13678, "heading":-1.95031, "vx":1.051, "vy":1.70086, "omega":2.99906, "ax":0.00047, "ay":-0.00028, "alpha":-12.63977, "fx":[-77.4694,33.30361,77.48303,-33.2864], "fy":[-33.30365,-77.47682,33.28636,77.47562]}, - {"t":1.16186, "x":1.52508, "y":2.19324, "heading":-1.85075, "vx":1.05101, "vy":1.70086, "omega":2.57947, "ax":0.00045, "ay":-0.00027, "alpha":-13.79274, "fx":[-80.50635,44.56268,80.52093,-44.54779], "fy":[-44.56439,-80.5134,44.54608,80.51388]}, - {"t":1.19506, "x":1.55997, "y":2.24971, "heading":-1.76513, "vx":1.05103, "vy":1.70085, "omega":2.12161, "ax":0.00024, "ay":-0.00014, "alpha":-14.61268, "fx":[-80.94594,54.32969,80.95474,-54.32262], "fy":[-54.33135,-80.94993,54.32096,80.95076]}, - {"t":1.22826, "x":1.59486, "y":2.30617, "heading":-1.6947, "vx":1.05104, "vy":1.70084, "omega":1.63652, "ax":0.00009, "ay":-0.00005, "alpha":-15.21671, "fx":[-80.10472,62.36475,80.10836,-62.36241], "fy":[-62.36557,-80.10632,62.36159,80.10677]}, - {"t":1.26145, "x":1.62975, "y":2.36263, "heading":-1.64037, "vx":1.05104, "vy":1.70084, "omega":1.13139, "ax":-0.00004, "ay":-0.00005, "alpha":-15.67618, "fx":[-78.91502,68.63169,78.91507,-68.63421], "fy":[-68.63343,-78.91623,68.63247,78.91386]}, - {"t":1.29465, "x":1.66464, "y":2.41909, "heading":-1.60281, "vx":1.05104, "vy":1.70084, "omega":0.611, "ax":-0.10366, "ay":-0.16789, "alpha":-16.02294, "fx":[-77.63342,69.31645,78.44802,-76.98678], "fy":[-74.75416,-81.80511,71.46367,73.99268]}, - {"t":1.32785, "x":1.69947, "y":2.47546, "heading":-1.58253, "vx":1.0476, "vy":1.69526, "omega":0.0791, "ax":-3.91137, "ay":-6.32965, "alpha":-0.74346, "fx":[-66.686,-56.66286,-62.5177,-72.80687], "fy":[-103.7253,-109.448,-106.05073,-99.37941]}, - {"t":1.36104, "x":1.73209, "y":2.52825, "heading":-1.5799, "vx":0.91775, "vy":1.48514, "omega":0.05442, "ax":-3.93787, "ay":-6.37242, "alpha":-0.39857, "fx":[-66.17878,-60.76019,-63.99753,-69.48988], "fy":[-104.7852,-107.99627,-106.0696,-102.58137]}, - {"t":1.39424, "x":1.76039, "y":2.57404, "heading":-1.5781, "vx":0.78703, "vy":1.27361, "omega":0.04119, "ax":-3.94568, "ay":-6.38505, "alpha":-0.28965, "fx":[-66.01003,-62.06441,-64.44225,-68.42599], "fy":[-105.13438,-107.50035,-106.07295,-103.55999]}, - {"t":1.42743, "x":1.78434, "y":2.6128, "heading":-1.57673, "vx":0.65605, "vy":1.06165, "omega":0.03157, "ax":-3.94941, "ay":-6.39109, "alpha":-0.2363, "fx":[-65.9259,-62.7049,-64.65621,-67.90216], "fy":[-105.30802,-107.25071,-106.07428,-104.0336]}, - {"t":1.46063, "x":1.80394, "y":2.64452, "heading":-1.57568, "vx":0.52494, "vy":0.84949, "omega":0.02373, "ax":-3.95159, "ay":-6.39462, "alpha":-0.20464, "fx":[-65.87563,-63.0855,-64.78186,-67.59048], "fy":[-105.4118,-107.10044,-106.07505,-104.31287]}, - {"t":1.49383, "x":1.81919, "y":2.66919, "heading":-1.57489, "vx":0.39377, "vy":0.63721, "omega":0.01693, "ax":-3.95302, "ay":-6.39694, "alpha":-0.18368, "fx":[-65.84232,-63.33772,-64.8644,-67.38376], "fy":[-105.48075,-107.00006,-106.07563,-104.49705]}, - {"t":1.52702, "x":1.83008, "y":2.68682, "heading":-1.57433, "vx":0.26254, "vy":0.42486, "omega":0.01084, "ax":-3.95403, "ay":-6.39857, "alpha":-0.16878, "fx":[-65.81874,-63.51716,-64.92264,-67.2366], "fy":[-105.52981,-106.92824,-106.07615,-104.62766]}, - {"t":1.56022, "x":1.83662, "y":2.6974, "heading":-1.57397, "vx":0.13128, "vy":0.21245, "omega":0.00523, "ax":-3.95479, "ay":-6.39979, "alpha":-0.15764, "fx":[-65.80127,-63.65137,-64.96583,-67.12648], "fy":[-105.56644,-106.8743,-106.07665,-104.72511]}, - {"t":1.59341, "x":1.8388, "y":2.70093, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.64278, "ay":5.58808, "alpha":7.88249, "fx":[-20.93655,121.63865,77.72327,-3.64809], "fy":[122.00842,26.00134,97.18827,124.36243]}, + {"t":0.03259, "x":0.44508, "y":0.44644, "heading":1.5708, "vx":0.08612, "vy":0.18211, "omega":0.25688, "ax":2.61731, "ay":5.5728, "alpha":7.9583, "fx":[-22.58107,121.73601,77.80762,-3.86985], "fy":[121.62872,25.46932,97.10858,124.34346]}, + {"t":0.06518, "x":0.44927, "y":0.45533, "heading":1.57917, "vx":0.17142, "vy":0.36371, "omega":0.51622, "ax":2.61926, "ay":5.57585, "alpha":7.92169, "fx":[-21.5811,121.72515,77.523,-4.44534], "fy":[121.68442,25.43773,97.32118,124.3087]}, + {"t":0.09776, "x":0.45625, "y":0.47015, "heading":1.59599, "vx":0.25677, "vy":0.54542, "omega":0.77438, "ax":2.65797, "ay":5.59746, "alpha":7.75735, "fx":[-17.3194,121.60174,76.86491,-5.36592], "fy":[122.18045,25.92461,97.82354,124.25238]}, + {"t":0.13035, "x":0.46603, "y":0.49089, "heading":1.62123, "vx":0.34339, "vy":0.72783, "omega":1.02718, "ax":2.75293, "ay":5.63311, "alpha":7.44644, "fx":[-8.52441,121.3571,75.83548,-6.6064], "fy":[122.8388,26.93314,98.60067,124.16628]}, + {"t":0.16294, "x":0.47868, "y":0.5176, "heading":1.6547, "vx":0.43311, "vy":0.9114, "omega":1.26984, "ax":2.93624, "ay":5.66511, "alpha":6.98506, "fx":[6.88059,120.97992,74.44722,-8.12317], "fy":[122.54876,28.44297,99.62296,124.04054]}, + {"t":0.19553, "x":0.49435, "y":0.55031, "heading":1.69608, "vx":0.52879, "vy":1.09602, "omega":1.49747, "ax":3.24252, "ay":5.64428, "alpha":6.44856, "fx":[31.10263,120.46042,72.72922,-9.85234], "fy":[118.17193,30.39745,100.84317,123.86464]}, + {"t":0.22812, "x":0.51331, "y":0.58903, "heading":1.74488, "vx":0.63446, "vy":1.27996, "omega":1.70762, "ax":3.65497, "ay":5.48185, "alpha":6.10351, "fx":[62.88151,119.79582,70.73756,-11.69808], "fy":[104.023,32.69254,102.1914,123.62833]}, + {"t":0.26071, "x":0.53593, "y":0.63365, "heading":1.80053, "vx":0.75357, "vy":1.4586, "omega":1.90652, "ax":4.03551, "ay":5.13632, "alpha":6.30661, "fx":[92.78491,118.9922,68.57836,-13.47178], "fy":[77.62112,35.17786,103.56088,123.32436]}, + {"t":0.29329, "x":0.56263, "y":0.68391, "heading":1.86266, "vx":0.88508, "vy":1.62599, "omega":2.11204, "ax":4.24536, "ay":4.72397, "alpha":7.01004, "fx":[110.87193,118.06393,66.49197,-14.6663], "fy":[47.08213,37.62832,104.74694,122.95632]}, + {"t":0.32588, "x":0.59372, "y":0.73941, "heading":1.93149, "vx":1.02343, "vy":1.77993, "omega":2.34049, "ax":4.33528, "ay":4.36325, "alpha":7.77961, "fx":[117.582,117.06558,65.33934,-13.27877], "fy":[21.53051,39.41665,105.07473,122.53659]}, + {"t":0.35847, "x":0.62938, "y":0.79973, "heading":2.00776, "vx":1.16471, "vy":1.92212, "omega":2.59401, "ax":4.83136, "ay":3.8212, "alpha":7.53038, "fx":[116.26188,116.43382,73.44198,13.37868], "fy":[1.48997,34.96031,97.27281,118.98751]}, + {"t":0.39106, "x":0.6699, "y":0.86439, "heading":2.09229, "vx":1.32215, "vy":2.04665, "omega":2.83942, "ax":5.77873, "ay":-2.23344, "alpha":0.31933, "fx":[94.31988,96.3261,96.74574,94.77731], "fy":[-40.25072,-36.8392,-33.57249,-37.04351]}, + {"t":0.42365, "x":0.71605, "y":0.92991, "heading":2.18483, "vx":1.51047, "vy":1.97386, "omega":2.84982, "ax":3.41304, "ay":-2.51736, "alpha":4.85209, "fx":[45.79807,81.108,73.90927,24.90177], "fy":[-74.08364,-40.59524,-2.18345,-49.62028]}, + {"t":0.45624, "x":0.76709, "y":0.99289, "heading":2.2777, "vx":1.6217, "vy":1.89183, "omega":3.00794, "ax":0.41305, "ay":-0.32363, "alpha":4.9058, "fx":[4.62578,38.89814,10.078,-26.28512], "fy":[-37.7218,-8.05224,27.6099,-3.23904]}, + {"t":0.48882, "x":0.82016, "y":1.05437, "heading":2.37572, "vx":1.63516, "vy":1.88128, "omega":3.16781, "ax":-4.09152, "ay":3.36882, "alpha":1.71924, "fx":[-73.658,-56.47119,-62.98525,-77.47349], "fy":[42.41815,62.37474,67.28567,50.71438]}, + {"t":0.52141, "x":0.87127, "y":1.11747, "heading":2.47895, "vx":1.50182, "vy":1.99107, "omega":3.22384, "ax":-5.55046, "ay":3.83684, "alpha":0.76791, "fx":[-95.30245,-87.47294,-88.59147,-95.70616], "fy":[57.09953,68.33805,69.20304,59.104]}, + {"t":0.554, "x":0.91727, "y":1.18439, "heading":2.58401, "vx":1.32094, "vy":2.1161, "omega":3.24887, "ax":-5.87108, "ay":3.21134, "alpha":-0.68591, "fx":[-94.82479,-100.20133,-99.54732,-93.70337], "fy":[58.52287,48.89879,47.19137,57.7647]}, + {"t":0.58659, "x":0.9572, "y":1.25506, "heading":2.68989, "vx":1.12961, "vy":2.22075, "omega":3.22651, "ax":-4.72378, "ay":2.06708, "alpha":-1.67166, "fx":[-77.36972,-86.1586,-79.61321,-69.26013], "fy":[45.88799,26.63675,20.64973,43.52925]}, + {"t":0.61918, "x":0.9915, "y":1.32853, "heading":2.79503, "vx":0.97567, "vy":2.28812, "omega":3.17204, "ax":-0.27667, "ay":0.00132, "alpha":-4.42269, "fx":[-17.25324,-31.08937,7.77963,22.26583], "fy":[26.56667,-12.33725,-26.92018,12.77781]}, + {"t":0.65176, "x":1.02315, "y":1.40309, "heading":2.89841, "vx":0.96666, "vy":2.28816, "omega":3.02791, "ax":1.99961, "ay":-0.95079, "alpha":-4.55786, "fx":[20.35866,7.21929,46.42277,58.24103], "fy":[13.14086,-36.22936,-40.11448,0.32341]}, + {"t":0.68435, "x":1.05571, "y":1.47715, "heading":2.99708, "vx":1.03182, "vy":2.25717, "omega":2.87938, "ax":2.48183, "ay":-1.18471, "alpha":-3.53321, "fx":[30.20453,22.27412,52.08244,59.57138], "fy":[1.24429,-38.35892,-37.18088,-4.0537]}, + {"t":0.71694, "x":1.09065, "y":1.55008, "heading":3.09091, "vx":1.1127, "vy":2.21857, "omega":2.76424, "ax":2.45923, "ay":-1.25421, "alpha":-2.40195, "fx":[31.98341,28.64423,49.21273,52.79795], "fy":[-8.33398,-34.24723,-31.79812,-8.56652]}, + {"t":0.74953, "x":1.12822, "y":1.62172, "heading":-3.10219, "vx":1.19284, "vy":2.17769, "omega":2.68596, "ax":2.29825, "ay":-1.27533, "alpha":-1.38146, "fx":[32.24254,31.51786,43.62746,44.60423], "fy":[-14.93862,-29.10255,-26.8814,-13.41963]}, + {"t":0.78212, "x":1.16831, "y":1.69201, "heading":-3.01466, "vx":1.26774, "vy":2.13613, "omega":2.64094, "ax":2.15032, "ay":-1.29473, "alpha":-0.49677, "fx":[33.25264,33.38573,37.82583,37.74474], "fy":[-19.51306,-24.3789,-23.26621,-18.46688]}, + {"t":0.81471, "x":1.21077, "y":1.76093, "heading":-2.9286, "vx":1.33781, "vy":2.09394, "omega":2.62475, "ax":2.05838, "ay":-1.33597, "alpha":0.31357, "fx":[35.59825,35.2935,32.45253,32.78444], "fy":[-23.0956,-20.14822,-21.0721,-24.03669]}, + {"t":0.84729, "x":1.25546, "y":1.82846, "heading":-2.84306, "vx":1.40489, "vy":2.0504, "omega":2.63497, "ax":2.0136, "ay":-1.40166, "alpha":1.1244, "fx":[39.23007,37.43339,27.14381,29.35992], "fy":[-26.13037,-15.98238,-20.16742,-30.41696]}, + {"t":0.87988, "x":1.30231, "y":1.89453, "heading":-2.75719, "vx":1.47051, "vy":2.00473, "omega":2.67161, "ax":1.97247, "ay":-1.46484, "alpha":1.99261, "fx":[43.60966,39.24733,20.86741,26.72221], "fy":[-28.33763,-11.09183,-20.12919,-37.31668]}, + {"t":0.91247, "x":1.35128, "y":1.95909, "heading":-2.67013, "vx":1.53479, "vy":1.95699, "omega":2.73655, "ax":1.82631, "ay":-1.43062, "alpha":2.91792, "fx":[47.00564,38.57937,11.73428,23.46124], "fy":[-28.2727,-4.05402,-19.41674,-42.86906]}, + {"t":0.94506, "x":1.40227, "y":2.0221, "heading":-2.58095, "vx":1.59431, "vy":1.91037, "omega":2.83164, "ax":1.27111, "ay":-1.014, "alpha":3.70534, "fx":[43.70856,28.5573,-3.65583,15.45348], "fy":[-21.52779,8.06988,-12.63197,-40.96948]}, + {"t":0.97765, "x":1.4549, "y":2.08382, "heading":-2.48867, "vx":1.63573, "vy":1.87732, "omega":2.95239, "ax":-0.89279, "ay":0.84027, "alpha":3.21154, "fx":[6.91423,-11.89079,-35.37888,-18.68826], "fy":[11.93598,34.92072,16.45393,-7.74045]}, + {"t":1.01024, "x":1.50773, "y":2.14544, "heading":-2.39246, "vx":1.60664, "vy":1.90471, "omega":3.05705, "ax":-4.34671, "ay":3.4757, "alpha":1.09191, "fx":[-65.32161,-68.04476,-77.86778,-76.23009], "fy":[61.43112,65.37744,54.25101,48.80172]}, + {"t":1.04282, "x":1.55778, "y":2.20936, "heading":-2.29283, "vx":1.46499, "vy":2.01797, "omega":3.09263, "ax":-6.29121, "ay":2.54053, "alpha":-1.50665, "fx":[-108.49138,-109.38141,-99.36629,-98.82217], "fy":[36.29631,25.44573,49.85441,56.41821]}, + {"t":1.07541, "x":1.60218, "y":2.27647, "heading":-2.19205, "vx":1.25997, "vy":2.10076, "omega":3.04353, "ax":-3.96162, "ay":-4.55401, "alpha":-8.56984, "fx":[-105.30531,-44.02389,9.23289,-121.90047], "fy":[-64.05514,-115.05565,-120.77985,-1.28316]}, + {"t":1.108, "x":1.64114, "y":2.34251, "heading":-2.09287, "vx":1.13086, "vy":1.95236, "omega":2.76426, "ax":-3.55809, "ay":-4.93198, "alpha":-8.62297, "fx":[-99.50269,-33.36428,20.19469,-122.63736], "fy":[-73.81827,-119.27942,-121.11015,-11.96289]}, + {"t":1.14059, "x":1.6761, "y":2.40352, "heading":-2.00278, "vx":1.01491, "vy":1.79163, "omega":2.48325, "ax":-3.36236, "ay":-5.11927, "alpha":-8.50976, "fx":[-95.47456,-26.92747,22.57615,-122.53995], "fy":[-79.305,-121.12264,-121.1898,-16.93905]}, + {"t":1.17318, "x":1.70739, "y":2.45919, "heading":-1.92186, "vx":0.90534, "vy":1.6248, "omega":2.20593, "ax":-3.23642, "ay":-5.25374, "alpha":-8.33149, "fx":[-92.10939,-21.88969,22.22719,-122.26478], "fy":[-83.35518,-122.24602,-121.48714,-20.3614]}, + {"t":1.20576, "x":1.73517, "y":2.50935, "heading":-1.84997, "vx":0.79987, "vy":1.45359, "omega":1.93442, "ax":-3.1522, "ay":-5.36222, "alpha":-8.11338, "fx":[-89.17111,-17.66299,20.29206,-121.92464], "fy":[-86.58657,-122.99496,-121.95611,-23.08645]}, + {"t":1.23835, "x":1.75957, "y":2.55387, "heading":-1.78693, "vx":0.69714, "vy":1.27885, "omega":1.67002, "ax":-3.09856, "ay":-5.45241, "alpha":-7.87619, "fx":[-86.59,-14.03705,17.27524,-121.56771], "fy":[-89.22913,-123.50608,-122.50237,-25.35087]}, + {"t":1.27094, "x":1.78064, "y":2.59265, "heading":-1.73251, "vx":0.59617, "vy":1.10116, "omega":1.41335, "ax":-3.06818, "ay":-5.52679, "alpha":-7.63935, "fx":[-84.34218,-10.90933,13.56696,-121.22548], "fy":[-91.39931,-123.85373,-123.02538,-27.22904]}, + {"t":1.30353, "x":1.79844, "y":2.6256, "heading":-1.68645, "vx":0.49618, "vy":0.92106, "omega":1.1644, "ax":-3.05435, "ay":-5.58633, "alpha":-7.42048, "fx":[-82.41862,-8.21886,9.56334,-120.92141], "fy":[-93.16871,-124.08575,-123.44433,-28.74617]}, + {"t":1.33612, "x":1.81299, "y":2.65265, "heading":-1.64851, "vx":0.39665, "vy":0.73901, "omega":0.92258, "ax":-3.05025, "ay":-5.6318, "alpha":-7.23453, "fx":[-80.81546,-5.92524,5.68996,-120.67347], "fy":[-94.58641,-124.23576,-123.71897,-29.91128]}, + {"t":1.36871, "x":1.82429, "y":2.67374, "heading":-1.61844, "vx":0.29724, "vy":0.55548, "omega":0.68682, "ax":-3.04893, "ay":-5.6643, "alpha":-7.0932, "fx":[-79.53099,-4.00056,2.38942,-120.49526], "fy":[-95.68767,-124.3285,-123.85834,-30.72707]}, + {"t":1.40129, "x":1.83236, "y":2.68884, "heading":-1.59606, "vx":0.19788, "vy":0.37089, "omega":0.45566, "ax":-3.04371, "ay":-5.6852, "alpha":-7.00518, "fx":[-78.5648,-2.42593,0.09532,-120.39686], "fy":[-96.49769,-124.38256,-123.91125,-31.19226]}, + {"t":1.43388, "x":1.83719, "y":2.6979, "heading":-1.58121, "vx":0.09869, "vy":0.18562, "omega":0.22737, "ax":-3.02854, "ay":-5.69581, "alpha":-6.97718, "fx":[-77.91779,-1.18963,-0.7957,-120.3854], "fy":[-97.03339,-124.41205,-123.93824,-31.3016]}, + {"t":1.46647, "x":1.8388, "y":2.70093, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/OutposttoRPreTrench.traj b/src/main/deploy/choreo/OutposttoRPreTrench.traj index 296550de..9f103d36 100644 --- a/src/main/deploy/choreo/OutposttoRPreTrench.traj +++ b/src/main/deploy/choreo/OutposttoRPreTrench.traj @@ -10,7 +10,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":false}], "targetDt":0.05 }, "params":{ @@ -22,7 +22,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":false}], "targetDt":{ "exp":"0.05 s", "val":0.05 diff --git a/src/main/deploy/choreo/RBumptoOutpost.traj b/src/main/deploy/choreo/RBumptoOutpost.traj index 9376568b..9f418918 100644 --- a/src/main/deploy/choreo/RBumptoOutpost.traj +++ b/src/main/deploy/choreo/RBumptoOutpost.traj @@ -3,24 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.5344297885894775, "y":2.057757616043091, "heading":1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.5344297885894775, "y":2.057757616043091, "heading":1.5707963267948966, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -51,50 +51,44 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.01186], + "waypoints":[0.0,1.72882], "samples":[ - {"t":0.0, "x":3.53443, "y":2.05776, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.67127, "ay":-3.48437, "alpha":0.0, "fx":[-110.29899,-110.29899,-110.29899,-110.29899], "fy":[-57.6086,-57.6086,-57.6086,-57.6086]}, - {"t":0.04907, "x":3.5264, "y":2.05356, "heading":1.5708, "vx":-0.32736, "vy":-0.17098, "omega":0.0, "ax":-6.66979, "ay":-3.4836, "alpha":0.0, "fx":[-110.27462,-110.27462,-110.27462,-110.27462], "fy":[-57.59587,-57.59587,-57.59587,-57.59587]}, - {"t":0.09814, "x":3.5023, "y":2.04098, "heading":1.5708, "vx":-0.65464, "vy":-0.34192, "omega":0.0, "ax":-6.66734, "ay":-3.48232, "alpha":0.0, "fx":[-110.23402,-110.23402,-110.23402,-110.23402], "fy":[-57.57467,-57.57467,-57.57467,-57.57467]}, - {"t":0.14721, "x":3.46215, "y":2.02001, "heading":1.5708, "vx":-0.98181, "vy":-0.51279, "omega":0.0, "ax":-6.66243, "ay":-3.47975, "alpha":0.0, "fx":[-110.15291,-110.15291,-110.15291,-110.15291], "fy":[-57.53231,-57.53231,-57.53231,-57.53231]}, - {"t":0.19628, "x":3.40596, "y":1.99066, "heading":1.5708, "vx":-1.30873, "vy":-0.68354, "omega":0.0, "ax":-6.64776, "ay":-3.47209, "alpha":0.0, "fx":[-109.91043,-109.91043,-109.91043,-109.91043], "fy":[-57.40566,-57.40566,-57.40566,-57.40566]}, - {"t":0.24535, "x":3.33373, "y":1.95294, "heading":1.5708, "vx":-1.63493, "vy":-0.85392, "omega":0.0, "ax":-2.80147, "ay":-1.4632, "alpha":0.0, "fx":[-46.31802,-46.31802,-46.31802,-46.31802], "fy":[-24.19167,-24.19167,-24.19167,-24.19167]}, - {"t":0.29442, "x":3.25014, "y":1.90927, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":-0.00003, "ay":-0.00002, "alpha":0.0, "fx":[-0.00055,-0.00055,-0.00055,-0.00055], "fy":[-0.00029,-0.00029,-0.00029,-0.00029]}, - {"t":0.34349, "x":3.16316, "y":1.86385, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.39256, "x":3.07619, "y":1.81842, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.44163, "x":2.98922, "y":1.773, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.4907, "x":2.90225, "y":1.72757, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.53977, "x":2.81528, "y":1.68215, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.58884, "x":2.72831, "y":1.63672, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.63791, "x":2.64134, "y":1.5913, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.68698, "x":2.55437, "y":1.54587, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.73605, "x":2.46739, "y":1.50045, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.78512, "x":2.38042, "y":1.45503, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.83419, "x":2.29345, "y":1.4096, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.88326, "x":2.20648, "y":1.36418, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.93232, "x":2.11951, "y":1.31875, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.98139, "x":2.03254, "y":1.27333, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.03046, "x":1.94557, "y":1.2279, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.07953, "x":1.85859, "y":1.18248, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.1286, "x":1.77162, "y":1.13705, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.17767, "x":1.68465, "y":1.09163, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.22674, "x":1.59768, "y":1.0462, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.27581, "x":1.51071, "y":1.00078, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.32488, "x":1.42374, "y":0.95535, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.37395, "x":1.33677, "y":0.90993, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.42302, "x":1.2498, "y":0.8645, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.47209, "x":1.16282, "y":0.81908, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.52116, "x":1.07585, "y":0.77366, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.57023, "x":0.98888, "y":0.72823, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.6193, "x":0.90191, "y":0.68281, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.66837, "x":0.81494, "y":0.63738, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":0.00003, "ay":0.00002, "alpha":0.0, "fx":[0.00055,0.00055,0.00055,0.00055], "fy":[0.00029,0.00029,0.00029,0.00029]}, - {"t":1.71744, "x":0.72797, "y":0.59196, "heading":1.5708, "vx":-1.7724, "vy":-0.92572, "omega":0.0, "ax":2.80147, "ay":1.4632, "alpha":0.0, "fx":[46.31802,46.31802,46.31802,46.31802], "fy":[24.19167,24.19167,24.19167,24.19167]}, - {"t":1.76651, "x":0.64437, "y":0.54829, "heading":1.5708, "vx":-1.63493, "vy":-0.85392, "omega":0.0, "ax":6.64776, "ay":3.47209, "alpha":0.0, "fx":[109.91043,109.91043,109.91043,109.91043], "fy":[57.40566,57.40566,57.40566,57.40566]}, - {"t":1.81558, "x":0.57215, "y":0.51057, "heading":1.5708, "vx":-1.30873, "vy":-0.68354, "omega":0.0, "ax":6.66243, "ay":3.47975, "alpha":0.0, "fx":[110.15291,110.15291,110.15291,110.15291], "fy":[57.53231,57.53231,57.53231,57.53231]}, - {"t":1.86465, "x":0.51595, "y":0.48122, "heading":1.5708, "vx":-0.98181, "vy":-0.51279, "omega":0.0, "ax":6.66734, "ay":3.48232, "alpha":0.0, "fx":[110.23402,110.23402,110.23402,110.23402], "fy":[57.57467,57.57467,57.57467,57.57467]}, - {"t":1.91372, "x":0.4758, "y":0.46025, "heading":1.5708, "vx":-0.65464, "vy":-0.34192, "omega":0.0, "ax":6.66979, "ay":3.4836, "alpha":0.0, "fx":[110.27462,110.27462,110.27462,110.27462], "fy":[57.59587,57.59587,57.59587,57.59587]}, - {"t":1.96279, "x":0.45171, "y":0.44767, "heading":1.5708, "vx":-0.32736, "vy":-0.17098, "omega":0.0, "ax":6.67127, "ay":3.48437, "alpha":0.0, "fx":[110.29899,110.29899,110.29899,110.29899], "fy":[57.6086,57.6086,57.6086,57.6086]}, - {"t":2.01186, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.53443, "y":2.05776, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.67121, "ay":-3.48434, "alpha":0.0, "fx":[-110.29803,-110.29803,-110.29803,-110.29803], "fy":[-57.6081,-57.6081,-57.6081,-57.6081]}, + {"t":0.04939, "x":3.52629, "y":2.05351, "heading":1.5708, "vx":-0.32952, "vy":-0.17211, "omega":0.0, "ax":-6.67002, "ay":-3.48372, "alpha":0.0, "fx":[-110.27839,-110.27839,-110.27839,-110.27839], "fy":[-57.59784,-57.59784,-57.59784,-57.59784]}, + {"t":0.09879, "x":3.50188, "y":2.04076, "heading":1.5708, "vx":-0.65899, "vy":-0.34419, "omega":0.0, "ax":-6.66824, "ay":-3.48279, "alpha":0.0, "fx":[-110.24896,-110.24896,-110.24896,-110.24896], "fy":[-57.58247,-57.58247,-57.58247,-57.58247]}, + {"t":0.14818, "x":3.46119, "y":2.01951, "heading":1.5708, "vx":-0.98836, "vy":-0.51622, "omega":0.0, "ax":-6.66528, "ay":-3.48124, "alpha":0.0, "fx":[-110.20004,-110.20004,-110.20004,-110.20004], "fy":[-57.55692,-57.55692,-57.55692,-57.55692]}, + {"t":0.19758, "x":3.40424, "y":1.98976, "heading":1.5708, "vx":-1.31759, "vy":-0.68817, "omega":0.0, "ax":-6.65939, "ay":-3.47816, "alpha":0.0, "fx":[-110.10262,-110.10262,-110.10262,-110.10262], "fy":[-57.50604,-57.50604,-57.50604,-57.50604]}, + {"t":0.24697, "x":3.33104, "y":1.95153, "heading":1.5708, "vx":-1.64653, "vy":-0.85998, "omega":0.0, "ax":-6.64193, "ay":-3.46905, "alpha":0.0, "fx":[-109.81393,-109.81393,-109.81393,-109.81393], "fy":[-57.35526,-57.35526,-57.35526,-57.35526]}, + {"t":0.29637, "x":3.2416, "y":1.90482, "heading":1.5708, "vx":-1.97461, "vy":-1.03133, "omega":0.0, "ax":-4.87696, "ay":-2.54721, "alpha":0.0, "fx":[-80.63296,-80.63296,-80.63296,-80.63296], "fy":[-42.11419,-42.11419,-42.11419,-42.11419]}, + {"t":0.34576, "x":3.13812, "y":1.85077, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":-0.00015, "ay":-0.00008, "alpha":0.0, "fx":[-0.00254,-0.00254,-0.00254,-0.00254], "fy":[-0.00133,-0.00133,-0.00133,-0.00133]}, + {"t":0.39516, "x":3.02868, "y":1.79361, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.44455, "x":2.91925, "y":1.73645, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.49395, "x":2.80981, "y":1.67929, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.54334, "x":2.70038, "y":1.62214, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.59274, "x":2.59094, "y":1.56498, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.64213, "x":2.48151, "y":1.50782, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.69153, "x":2.37207, "y":1.45066, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.74092, "x":2.26264, "y":1.39351, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.79032, "x":2.1532, "y":1.33635, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.83971, "x":2.04377, "y":1.27919, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.88911, "x":1.93433, "y":1.22204, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.9385, "x":1.8249, "y":1.16488, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.9879, "x":1.71546, "y":1.10772, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.03729, "x":1.60603, "y":1.05056, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.08669, "x":1.49659, "y":0.99341, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.13608, "x":1.38716, "y":0.93625, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.18548, "x":1.27773, "y":0.87909, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.23487, "x":1.16829, "y":0.82193, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.28426, "x":1.05886, "y":0.76478, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.33366, "x":0.94942, "y":0.70762, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.00015, "ay":0.00008, "alpha":0.0, "fx":[0.00254,0.00254,0.00254,0.00254], "fy":[0.00133,0.00133,0.00133,0.00133]}, + {"t":1.38305, "x":0.83999, "y":0.65046, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":4.87696, "ay":2.54721, "alpha":0.0, "fx":[80.63296,80.63296,80.63296,80.63296], "fy":[42.11419,42.11419,42.11419,42.11419]}, + {"t":1.43245, "x":0.7365, "y":0.59641, "heading":1.5708, "vx":-1.97461, "vy":-1.03133, "omega":0.0, "ax":6.64193, "ay":3.46905, "alpha":0.0, "fx":[109.81393,109.81393,109.81393,109.81393], "fy":[57.35526,57.35526,57.35526,57.35526]}, + {"t":1.48184, "x":0.64707, "y":0.5497, "heading":1.5708, "vx":-1.64653, "vy":-0.85998, "omega":0.0, "ax":6.65939, "ay":3.47816, "alpha":0.0, "fx":[110.10262,110.10262,110.10262,110.10262], "fy":[57.50604,57.50604,57.50604,57.50604]}, + {"t":1.53124, "x":0.57386, "y":0.51147, "heading":1.5708, "vx":-1.31759, "vy":-0.68817, "omega":0.0, "ax":6.66528, "ay":3.48124, "alpha":0.0, "fx":[110.20004,110.20004,110.20004,110.20004], "fy":[57.55692,57.55692,57.55692,57.55692]}, + {"t":1.58063, "x":0.51691, "y":0.48172, "heading":1.5708, "vx":-0.98836, "vy":-0.51622, "omega":0.0, "ax":6.66824, "ay":3.48279, "alpha":0.0, "fx":[110.24896,110.24896,110.24896,110.24896], "fy":[57.58247,57.58247,57.58247,57.58247]}, + {"t":1.63003, "x":0.47623, "y":0.46047, "heading":1.5708, "vx":-0.65899, "vy":-0.34419, "omega":0.0, "ax":6.67002, "ay":3.48372, "alpha":0.0, "fx":[110.27839,110.27839,110.27839,110.27839], "fy":[57.59784,57.59784,57.59784,57.59784]}, + {"t":1.67942, "x":0.45181, "y":0.44772, "heading":1.5708, "vx":-0.32952, "vy":-0.17211, "omega":0.0, "ax":6.67121, "ay":3.48434, "alpha":0.0, "fx":[110.29803,110.29803,110.29803,110.29803], "fy":[57.6081,57.6081,57.6081,57.6081]}, + {"t":1.72882, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/RNeutraltoRPreTrench.traj b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj index c8277603..cef203bb 100644 --- a/src/main/deploy/choreo/RNeutraltoRPreTrench.traj +++ b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj @@ -3,14 +3,14 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.087620258331299, "y":0.7324380278587341, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.087620258331299, "y":0.7324380278587341, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -18,14 +18,14 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.087620258331299 m", "val":6.087620258331299}, "y":{"exp":"0.7324380278587341 m", "val":0.7324380278587341}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.087620258331299 m", "val":6.087620258331299}, "y":{"exp":"0.7324380278587341 m", "val":0.7324380278587341}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrench.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"6 rad / s", "val":6.0}}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], @@ -59,92 +59,83 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.68253,3.06256], + "waypoints":[0.0,1.36406,2.46808], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.94537, "vy":-1.75976, "omega":1.3141, "ax":-0.02515, "ay":-0.04676, "alpha":-0.00813, "fx":[-0.37755,-0.45421,-0.45421,-0.37754], "fy":[-0.73483,-0.73483,-0.81149,-0.81149]}, - {"t":0.03365, "x":7.78854, "y":3.49774, "heading":1.61502, "vx":-0.94622, "vy":-1.76133, "omega":1.31382, "ax":-0.00001, "ay":0.0, "alpha":-0.01515, "fx":[0.06811,-0.07468,-0.06836,0.07443], "fy":[0.07458,0.06826,-0.07453,-0.06821]}, - {"t":0.0673, "x":7.7567, "y":3.43847, "heading":1.65923, "vx":-0.94622, "vy":-1.76133, "omega":1.31331, "ax":0.0, "ay":0.0, "alpha":-0.02208, "fx":[0.09447,-0.11303,-0.09463,0.11287], "fy":[0.11299,0.09459,-0.1129,-0.09451]}, - {"t":0.10095, "x":7.72486, "y":3.3792, "heading":1.70342, "vx":-0.94622, "vy":-1.76133, "omega":1.31257, "ax":-0.00001, "ay":0.0, "alpha":-0.02906, "fx":[0.11766,-0.15409,-0.11783,0.15391], "fy":[0.15404,0.11779,-0.15395,-0.1177]}, - {"t":0.1346, "x":7.69302, "y":3.31993, "heading":1.74759, "vx":-0.94622, "vy":-1.76133, "omega":1.31159, "ax":-0.00001, "ay":0.0, "alpha":-0.03623, "fx":[0.1381,-0.19841,-0.13829,0.19822], "fy":[0.19837,0.13825,-0.19827,-0.13815]}, - {"t":0.16825, "x":7.66118, "y":3.26066, "heading":1.79173, "vx":-0.94622, "vy":-1.76133, "omega":1.31037, "ax":-0.00001, "ay":0.0, "alpha":-0.04376, "fx":[0.1561,-0.24677,-0.15629,0.24658], "fy":[0.24673,0.15625,-0.24662,-0.15614]}, - {"t":0.2019, "x":7.62933, "y":3.20139, "heading":1.83582, "vx":-0.94622, "vy":-1.76133, "omega":1.3089, "ax":-0.00001, "ay":0.0, "alpha":-0.05182, "fx":[0.17178,-0.30004,-0.17198,0.29984], "fy":[0.29999,0.17193,-0.29988,-0.17183]}, - {"t":0.23555, "x":7.59749, "y":3.14212, "heading":1.87987, "vx":-0.94622, "vy":-1.76133, "omega":1.30716, "ax":-0.00001, "ay":0.0, "alpha":-0.06057, "fx":[0.18519,-0.35922,-0.18539,0.35902], "fy":[0.35917,0.18534,-0.35907,-0.18524]}, - {"t":0.26921, "x":7.56565, "y":3.08285, "heading":1.92385, "vx":-0.94622, "vy":-1.76133, "omega":1.30512, "ax":-0.00001, "ay":0.0, "alpha":-0.07021, "fx":[0.19616,-0.42538,-0.19634,0.4252], "fy":[0.42534,0.1963,-0.42524,-0.19621]}, - {"t":0.30286, "x":7.53381, "y":3.02358, "heading":1.96777, "vx":-0.94622, "vy":-1.76133, "omega":1.30276, "ax":0.0, "ay":0.0, "alpha":-0.08092, "fx":[0.20439,-0.49975,-0.20455,0.49959], "fy":[0.49972,0.20452,-0.49963,-0.20443]}, - {"t":0.33651, "x":7.50197, "y":2.96431, "heading":2.01161, "vx":-0.94622, "vy":-1.76133, "omega":1.30003, "ax":0.0, "ay":0.0, "alpha":-0.09292, "fx":[0.20934,-0.58353,-0.20948,0.58339], "fy":[0.5835,0.20944,-0.58342,-0.20937]}, - {"t":0.37016, "x":7.47013, "y":2.90504, "heading":2.05536, "vx":-0.94622, "vy":-1.76133, "omega":1.29691, "ax":0.0, "ay":0.0, "alpha":-0.10641, "fx":[0.2103,-0.67808,-0.21042,0.67796], "fy":[0.67805,0.21039,-0.67799,-0.21033]}, - {"t":0.40381, "x":7.43829, "y":2.84577, "heading":2.099, "vx":-0.94622, "vy":-1.76133, "omega":1.29333, "ax":0.0, "ay":0.0, "alpha":-0.12161, "fx":[0.20633,-0.78467,-0.20641,0.78458], "fy":[0.78465,0.2064,-0.7846,-0.20635]}, - {"t":0.43746, "x":7.40645, "y":2.7865, "heading":2.14252, "vx":-0.94622, "vy":-1.76133, "omega":1.28923, "ax":0.0, "ay":0.0, "alpha":-0.13876, "fx":[0.19629,-0.90474,-0.19634,0.90469], "fy":[0.90473,0.19632,-0.9047,-0.1963]}, - {"t":0.47111, "x":7.37461, "y":2.72723, "heading":2.1859, "vx":-0.94622, "vy":-1.76133, "omega":1.28456, "ax":0.0, "ay":0.0, "alpha":-0.15811, "fx":[0.17876,-1.03959,-0.17877,1.03958], "fy":[1.03959,0.17877,-1.03958,-0.17876]}, - {"t":0.50476, "x":7.34277, "y":2.66796, "heading":2.22913, "vx":-0.94622, "vy":-1.76133, "omega":1.27924, "ax":0.0, "ay":0.0, "alpha":-0.17992, "fx":[0.15212,-1.19069,-0.15211,1.1907], "fy":[1.19069,0.15211,-1.1907,-0.15212]}, - {"t":0.53841, "x":7.31093, "y":2.60869, "heading":2.27218, "vx":-0.94622, "vy":-1.76133, "omega":1.27319, "ax":0.0, "ay":0.0, "alpha":-0.20447, "fx":[0.1145,-1.35934,-0.11446,1.35939], "fy":[1.35935,0.11447,-1.35937,-0.11449]}, - {"t":0.57206, "x":7.27908, "y":2.54942, "heading":2.31502, "vx":-0.94622, "vy":-1.76133, "omega":1.26631, "ax":0.0, "ay":0.0, "alpha":-0.23208, "fx":[0.06377,-1.54698,-0.06369,1.54706], "fy":[1.547,0.06371,-1.54704,-0.06375]}, - {"t":0.60571, "x":7.24724, "y":2.49015, "heading":2.35763, "vx":-0.94622, "vy":-1.76133, "omega":1.2585, "ax":0.0, "ay":0.0, "alpha":-0.26306, "fx":[-0.00247,-1.75496,0.00257,1.75506], "fy":[1.75498,-0.00255,-1.75503,0.0025]}, - {"t":0.63936, "x":7.2154, "y":2.43088, "heading":2.39998, "vx":-0.94622, "vy":-1.76133, "omega":1.24965, "ax":0.0, "ay":0.0, "alpha":-0.29778, "fx":[-0.0869,-1.98469,0.08702,1.98481], "fy":[1.98472,-0.087,-1.98478,0.08693]}, - {"t":0.67301, "x":7.18356, "y":2.37161, "heading":2.44203, "vx":-0.94622, "vy":-1.76133, "omega":1.23963, "ax":0.0, "ay":0.0, "alpha":-0.33664, "fx":[-0.19248,-2.23757,0.19261,2.2377], "fy":[2.2376,-0.19259,-2.23767,0.19251]}, - {"t":0.70666, "x":7.15172, "y":2.31234, "heading":2.48375, "vx":-0.94622, "vy":-1.76133, "omega":1.2283, "ax":0.0, "ay":0.0, "alpha":-0.38007, "fx":[-0.32249,-2.51504,0.32263,2.51517], "fy":[2.51507,-0.3226,-2.51514,0.32252]}, - {"t":0.74031, "x":7.11988, "y":2.25307, "heading":2.52508, "vx":-0.94622, "vy":-1.76133, "omega":1.21551, "ax":0.0, "ay":0.0, "alpha":-0.42858, "fx":[-0.48054,-2.81859,0.48068,2.81873], "fy":[2.81862,-0.48065,-2.8187,0.48057]}, - {"t":0.77397, "x":7.08804, "y":2.1938, "heading":2.56598, "vx":-0.94622, "vy":-1.76133, "omega":1.20109, "ax":0.0, "ay":0.0, "alpha":-0.48271, "fx":[-0.6706,-3.14976,0.67073,3.14988], "fy":[3.14979,-0.6707,-3.14986,0.67063]}, - {"t":0.80762, "x":7.0562, "y":2.13453, "heading":2.6064, "vx":-0.94622, "vy":-1.76133, "omega":1.18484, "ax":0.0, "ay":0.0, "alpha":-0.54306, "fx":[-0.89703,-3.5102,0.89715,3.51032], "fy":[3.51023,-0.89712,-3.51029,0.89706]}, - {"t":0.84127, "x":7.02436, "y":2.07526, "heading":2.64627, "vx":-0.94622, "vy":-1.76133, "omega":1.16657, "ax":0.0, "ay":0.0, "alpha":-0.61031, "fx":[-1.16458,-3.90159,1.16468,3.90169], "fy":[3.90162,-1.16466,-3.90167,1.1646]}, - {"t":0.87492, "x":6.99252, "y":2.01599, "heading":2.68553, "vx":-0.94622, "vy":-1.76133, "omega":1.14603, "ax":0.0, "ay":0.0, "alpha":-0.68523, "fx":[-1.47846,-4.32584,1.47854,4.32592], "fy":[4.32586,-1.47852,-4.3259,1.47848]}, - {"t":0.90857, "x":6.96068, "y":1.95672, "heading":2.72409, "vx":-0.94622, "vy":-1.76133, "omega":1.12297, "ax":0.0, "ay":0.0, "alpha":-0.76863, "fx":[-1.84428,-4.78484,1.84434,4.78489], "fy":[4.78485,-1.84433,-4.78488,1.84429]}, - {"t":0.94222, "x":6.92884, "y":1.89745, "heading":2.76188, "vx":-0.94622, "vy":-1.76133, "omega":1.09711, "ax":0.0, "ay":0.0, "alpha":-0.86146, "fx":[-2.26816,-5.2808,2.26819,5.28083], "fy":[5.28081,-2.26819,-5.28083,2.26817]}, - {"t":0.97587, "x":6.89699, "y":1.83818, "heading":2.7988, "vx":-0.94622, "vy":-1.76133, "omega":1.06812, "ax":0.0, "ay":0.0, "alpha":-0.96471, "fx":[-2.75657,-5.81596,2.75658,5.81597], "fy":[5.81596,-2.75658,-5.81597,2.75657]}, - {"t":1.00952, "x":6.86515, "y":1.77891, "heading":2.83474, "vx":-0.94622, "vy":-1.76133, "omega":1.03566, "ax":0.0, "ay":0.0, "alpha":-1.0795, "fx":[-3.31645,-6.39295,3.31644,6.39294], "fy":[6.39294,-3.31645,-6.39294,3.31645]}, - {"t":1.04317, "x":6.83331, "y":1.71964, "heading":2.86959, "vx":-0.94622, "vy":-1.76133, "omega":0.99933, "ax":0.0, "ay":0.0, "alpha":-1.207, "fx":[-3.95499,-7.0145,3.95496,7.01448], "fy":[7.0145,-3.95497,-7.01449,3.95498]}, - {"t":1.07682, "x":6.80147, "y":1.66037, "heading":2.90322, "vx":-0.94622, "vy":-1.76133, "omega":0.95871, "ax":0.0, "ay":0.0, "alpha":-1.34851, "fx":[-4.67965,-7.68387,4.67962,7.68384], "fy":[7.68386,-4.67963,-7.68385,4.67964]}, - {"t":1.11047, "x":6.76963, "y":1.6011, "heading":2.93548, "vx":-0.94622, "vy":-1.76133, "omega":0.91334, "ax":0.0, "ay":0.0, "alpha":-1.50535, "fx":[-5.49791,-8.40463,5.49787,8.40459], "fy":[8.40462,-5.49788,-8.4046,5.4979]}, - {"t":1.14412, "x":6.73779, "y":1.54183, "heading":2.96622, "vx":-0.94622, "vy":-1.76133, "omega":0.86268, "ax":0.0, "ay":0.0, "alpha":-1.67896, "fx":[-6.41712,-9.18105,6.41708,9.18101], "fy":[9.18104,-6.41709,-9.18102,6.41711]}, - {"t":1.17777, "x":6.70595, "y":1.48256, "heading":2.99525, "vx":-0.94622, "vy":-1.76133, "omega":0.80618, "ax":0.0, "ay":0.0, "alpha":-1.87078, "fx":[-7.44419,-10.01812,7.44413,10.01807], "fy":[10.01811,-7.44415,-10.01808,7.44417]}, - {"t":1.21142, "x":6.67411, "y":1.42329, "heading":3.02238, "vx":-0.94622, "vy":-1.76133, "omega":0.74323, "ax":0.0, "ay":0.0, "alpha":-2.08228, "fx":[-8.58527,-10.92193,8.58511,10.92178], "fy":[10.92189,-8.58515,-10.92182,8.58523]}, - {"t":1.24507, "x":6.64227, "y":1.36402, "heading":3.04739, "vx":-0.94622, "vy":-1.76133, "omega":0.67316, "ax":-0.00003, "ay":0.00002, "alpha":-2.31493, "fx":[-9.84558,-11.90018,9.84453,11.89912], "fy":[11.89992,-9.84476,-11.89938,9.84535]}, - {"t":1.27872, "x":6.61043, "y":1.30475, "heading":3.07004, "vx":-0.94622, "vy":-1.76133, "omega":0.59526, "ax":-0.00026, "ay":0.00014, "alpha":-2.57013, "fx":[-11.23111,-12.96486,11.22252,12.95614], "fy":[12.96274,-11.2244,-12.95826,11.22923]}, - {"t":1.31238, "x":6.57859, "y":1.24548, "heading":3.09007, "vx":-0.94623, "vy":-1.76133, "omega":0.50877, "ax":-0.00217, "ay":0.00117, "alpha":-2.84919, "fx":[-12.76662,-14.15182,12.69549,14.07925], "fy":[14.13395,-12.71088,-14.09711,12.75123]}, - {"t":1.34603, "x":6.54674, "y":1.18621, "heading":3.10719, "vx":-0.9463, "vy":-1.76129, "omega":0.4129, "ax":-0.0179, "ay":0.00962, "alpha":-3.1532, "fx":[-14.64681,-15.67821,14.06265,15.07825], "fy":[15.52857,-14.18717,-15.22782,14.52288]}, - {"t":1.37968, "x":6.51489, "y":1.12695, "heading":3.12108, "vx":-0.9469, "vy":-1.76096, "omega":0.30679, "ax":-0.1459, "ay":0.07872, "alpha":-3.48, "fx":[-18.43691,-19.20537,13.6957,14.29757], "fy":[17.96491,-14.70041,-15.53314,17.47451]}, - {"t":1.41333, "x":6.48294, "y":1.06774, "heading":3.13141, "vx":-0.95181, "vy":-1.75831, "omega":0.18968, "ax":-1.14063, "ay":0.63377, "alpha":-3.6243, "fx":[-34.77935,-36.55992,-2.28694,-1.80808], "fy":[26.94726,-6.41324,-7.395,28.77487]}, - {"t":1.44698, "x":6.45027, "y":1.00893, "heading":3.13779, "vx":-0.9902, "vy":-1.73699, "omega":0.06772, "ax":-4.58874, "ay":2.90172, "alpha":-1.37705, "fx":[-78.06404,-83.72967,-74.16771,-67.50911], "fy":[52.72756,37.25593,42.76874,59.14923]}, - {"t":1.48063, "x":6.41435, "y":0.95212, "heading":3.14007, "vx":-1.14461, "vy":-1.63934, "omega":0.02139, "ax":-5.53793, "ay":4.37926, "alpha":-0.3158, "fx":[-91.50087,-93.99321,-91.68096,-89.06923], "fy":[72.932,69.33499,71.88619,75.46357]}, - {"t":1.51428, "x":6.3727, "y":0.89943, "heading":3.14079, "vx":-1.33097, "vy":-1.49198, "omega":0.01076, "ax":-5.16952, "ay":5.22275, "alpha":-0.13263, "fx":[-85.50918,-86.69316,-85.43844,-84.23875], "fy":[86.3792,85.13088,86.32894,87.5608]}, - {"t":1.54793, "x":6.32498, "y":0.85218, "heading":3.14115, "vx":-1.50492, "vy":-1.31623, "omega":0.0063, "ax":-4.53388, "ay":5.89505, "alpha":-0.07465, "fx":[-75.06908,-75.73229,-74.85271,-74.18819], "fy":[97.40014,96.86761,97.53499,98.0593]}, - {"t":1.58158, "x":6.27177, "y":0.81123, "heading":3.14136, "vx":-1.65749, "vy":-1.11786, "omega":0.00378, "ax":-3.77691, "ay":6.44974, "alpha":-0.04917, "fx":[-62.58944,-62.9886,-62.30059,-61.90281], "fy":[106.55866,106.316,106.71637,106.95482]}, - {"t":1.61523, "x":6.21386, "y":0.77726, "heading":3.14149, "vx":-1.78459, "vy":-0.90082, "omega":0.00213, "ax":-2.93863, "ay":6.893, "alpha":-0.03567, "fx":[-48.74859,-48.98981,-48.42179,-48.18236], "fy":[113.89835,113.79126,114.03261,114.13753]}, - {"t":1.64888, "x":6.15214, "y":0.75085, "heading":3.14156, "vx":-1.88347, "vy":-0.66887, "omega":0.00093, "ax":-2.01821, "ay":7.22772, "alpha":-0.02761, "fx":[-33.54138,-33.67613,-33.19372,-33.0606], "fy":[119.45207,119.41216,119.5466,119.58547]}, - {"t":1.68253, "x":6.08762, "y":0.73244, "heading":3.14159, "vx":-1.95139, "vy":-0.42565, "omega":0.0, "ax":-1.06928, "ay":7.4167, "alpha":0.0, "fx":[-17.67885,-17.67885,-17.67885,-17.67885], "fy":[122.6235,122.6235,122.6235,122.6235]}, - {"t":1.72435, "x":6.00508, "y":0.72112, "heading":3.14159, "vx":-1.9961, "vy":-0.11549, "omega":0.0, "ax":-0.05813, "ay":4.26496, "alpha":0.0, "fx":[-0.96115,-0.96115,-0.96115,-0.96115], "fy":[70.51448,70.51448,70.51448,70.51448]}, - {"t":1.76617, "x":5.92155, "y":0.72002, "heading":3.14159, "vx":-1.99853, "vy":0.06287, "omega":0.0, "ax":-0.02335, "ay":-1.34219, "alpha":0.0, "fx":[-0.38613,-0.38613,-0.38613,-0.38613], "fy":[-22.19099,-22.19099,-22.19099,-22.19099]}, - {"t":1.80799, "x":5.83796, "y":0.72148, "heading":3.14159, "vx":-1.99951, "vy":0.00674, "omega":0.0, "ax":-0.00012, "ay":-0.27994, "alpha":0.0, "fx":[-0.00204,-0.00204,-0.00204,-0.00204], "fy":[-4.62843,-4.62843,-4.62843,-4.62843]}, - {"t":1.84981, "x":5.75434, "y":0.72152, "heading":3.14159, "vx":-1.99952, "vy":-0.00497, "omega":0.0, "ax":0.00055, "ay":-0.13986, "alpha":0.0, "fx":[0.00913,0.00913,0.00913,0.00913], "fy":[-2.31231,-2.31231,-2.31231,-2.31231]}, - {"t":1.89163, "x":5.67072, "y":0.72119, "heading":3.14159, "vx":-1.99949, "vy":-0.01082, "omega":0.0, "ax":0.00063, "ay":-0.0983, "alpha":0.0, "fx":[0.01047,0.01047,0.01047,0.01047], "fy":[-1.62523,-1.62523,-1.62523,-1.62523]}, - {"t":1.93345, "x":5.58711, "y":0.72065, "heading":3.14159, "vx":-1.99947, "vy":-0.01493, "omega":0.0, "ax":0.00062, "ay":-0.07528, "alpha":0.0, "fx":[0.01028,0.01028,0.01028,0.01028], "fy":[-1.24471,-1.24471,-1.24471,-1.24471]}, - {"t":1.97527, "x":5.50349, "y":0.71996, "heading":3.14159, "vx":-1.99944, "vy":-0.01808, "omega":0.0, "ax":0.00058, "ay":-0.05958, "alpha":0.0, "fx":[0.00952,0.00952,0.00952,0.00952], "fy":[-0.98505,-0.98505,-0.98505,-0.98505]}, - {"t":2.01708, "x":5.41988, "y":0.71915, "heading":3.14159, "vx":-1.99942, "vy":-0.02057, "omega":0.0, "ax":0.00052, "ay":-0.048, "alpha":0.0, "fx":[0.00856,0.00856,0.00856,0.00856], "fy":[-0.79354,-0.79354,-0.79354,-0.79354]}, - {"t":2.0589, "x":5.33626, "y":0.71825, "heading":3.14159, "vx":-1.9994, "vy":-0.02258, "omega":0.0, "ax":0.00046, "ay":-0.03909, "alpha":0.0, "fx":[0.00756,0.00756,0.00756,0.00756], "fy":[-0.6463,-0.6463,-0.6463,-0.6463]}, - {"t":2.10072, "x":5.25265, "y":0.71727, "heading":3.14159, "vx":-1.99938, "vy":-0.02421, "omega":0.0, "ax":0.0004, "ay":-0.03206, "alpha":0.0, "fx":[0.0066,0.0066,0.0066,0.0066], "fy":[-0.5301,-0.5301,-0.5301,-0.5301]}, - {"t":2.14254, "x":5.16904, "y":0.71623, "heading":3.14159, "vx":-1.99936, "vy":-0.02555, "omega":0.0, "ax":0.00034, "ay":-0.02642, "alpha":0.0, "fx":[0.0057,0.0057,0.0057,0.0057], "fy":[-0.43683,-0.43683,-0.43683,-0.43683]}, - {"t":2.18436, "x":5.08543, "y":0.71514, "heading":3.14159, "vx":-1.99934, "vy":-0.02666, "omega":0.0, "ax":0.0003, "ay":-0.02184, "alpha":0.0, "fx":[0.0049,0.0049,0.0049,0.0049], "fy":[-0.36108,-0.36108,-0.36108,-0.36108]}, - {"t":2.22618, "x":5.00182, "y":0.714, "heading":3.14159, "vx":-1.99933, "vy":-0.02757, "omega":0.0, "ax":0.00025, "ay":-0.01809, "alpha":0.0, "fx":[0.00418,0.00418,0.00418,0.00418], "fy":[-0.29909,-0.29909,-0.29909,-0.29909]}, - {"t":2.268, "x":4.91821, "y":0.71283, "heading":3.14159, "vx":-1.99932, "vy":-0.02833, "omega":0.0, "ax":0.00021, "ay":-0.015, "alpha":0.0, "fx":[0.00355,0.00355,0.00355,0.00355], "fy":[-0.24808,-0.24808,-0.24808,-0.24808]}, - {"t":2.30982, "x":4.8346, "y":0.71164, "heading":3.14159, "vx":-1.99931, "vy":-0.02895, "omega":0.0, "ax":0.00018, "ay":-0.01246, "alpha":0.0, "fx":[0.00301,0.00301,0.00301,0.00301], "fy":[-0.20594,-0.20594,-0.20594,-0.20594]}, - {"t":2.35164, "x":4.75099, "y":0.71041, "heading":3.14159, "vx":-1.99931, "vy":-0.02947, "omega":0.0, "ax":0.00015, "ay":-0.01035, "alpha":0.0, "fx":[0.00254,0.00254,0.00254,0.00254], "fy":[-0.17104,-0.17104,-0.17104,-0.17104]}, - {"t":2.39346, "x":4.66738, "y":0.70917, "heading":3.14159, "vx":-1.9993, "vy":-0.02991, "omega":0.0, "ax":0.00013, "ay":-0.00859, "alpha":0.0, "fx":[0.00214,0.00214,0.00214,0.00214], "fy":[-0.14208,-0.14208,-0.14208,-0.14208]}, - {"t":2.43527, "x":4.58377, "y":0.70791, "heading":3.14159, "vx":-1.99929, "vy":-0.03027, "omega":0.0, "ax":0.00011, "ay":-0.00714, "alpha":0.0, "fx":[0.0018,0.0018,0.0018,0.0018], "fy":[-0.118,-0.118,-0.118,-0.118]}, - {"t":2.47709, "x":4.50017, "y":0.70664, "heading":3.14159, "vx":-1.99929, "vy":-0.03056, "omega":0.0, "ax":0.00009, "ay":-0.00593, "alpha":0.0, "fx":[0.0015,0.0015,0.0015,0.0015], "fy":[-0.09796,-0.09796,-0.09796,-0.09796]}, - {"t":2.51891, "x":4.41656, "y":0.70536, "heading":3.14159, "vx":-1.99929, "vy":-0.03081, "omega":0.0, "ax":0.00008, "ay":-0.00491, "alpha":0.0, "fx":[0.00126,0.00126,0.00126,0.00126], "fy":[-0.08126,-0.08126,-0.08126,-0.08126]}, - {"t":2.56073, "x":4.33295, "y":0.70407, "heading":3.14159, "vx":-1.99928, "vy":-0.03102, "omega":0.0, "ax":0.00006, "ay":-0.00407, "alpha":0.0, "fx":[0.00105,0.00105,0.00105,0.00105], "fy":[-0.06732,-0.06732,-0.06732,-0.06732]}, - {"t":2.60255, "x":4.24934, "y":0.70277, "heading":3.14159, "vx":-1.99928, "vy":-0.03119, "omega":0.0, "ax":0.00005, "ay":-0.00337, "alpha":0.0, "fx":[0.00087,0.00087,0.00087,0.00087], "fy":[-0.05566,-0.05566,-0.05566,-0.05566]}, - {"t":2.64437, "x":4.16573, "y":0.70146, "heading":3.14159, "vx":-1.99928, "vy":-0.03133, "omega":0.0, "ax":0.00004, "ay":-0.00277, "alpha":0.0, "fx":[0.00072,0.00072,0.00072,0.00072], "fy":[-0.04588,-0.04588,-0.04588,-0.04588]}, - {"t":2.68619, "x":4.08213, "y":0.70015, "heading":3.14159, "vx":-1.99928, "vy":-0.03144, "omega":0.0, "ax":0.00004, "ay":-0.00228, "alpha":0.0, "fx":[0.00059,0.00059,0.00059,0.00059], "fy":[-0.03765,-0.03765,-0.03765,-0.03765]}, - {"t":2.72801, "x":3.99852, "y":0.69883, "heading":3.14159, "vx":-1.99927, "vy":-0.03154, "omega":0.0, "ax":0.00003, "ay":-0.00186, "alpha":0.0, "fx":[0.00048,0.00048,0.00048,0.00048], "fy":[-0.0307,-0.0307,-0.0307,-0.0307]}, - {"t":2.76983, "x":3.91491, "y":0.69751, "heading":3.14159, "vx":-1.99927, "vy":-0.03162, "omega":0.0, "ax":0.00002, "ay":-0.0015, "alpha":0.0, "fx":[0.00039,0.00039,0.00039,0.00039], "fy":[-0.02478,-0.02478,-0.02478,-0.02478]}, - {"t":2.81164, "x":3.8313, "y":0.69618, "heading":3.14159, "vx":-1.99927, "vy":-0.03168, "omega":0.0, "ax":0.00002, "ay":-0.00119, "alpha":0.0, "fx":[0.00031,0.00031,0.00031,0.00031], "fy":[-0.0197,-0.0197,-0.0197,-0.0197]}, - {"t":2.85346, "x":3.7477, "y":0.69486, "heading":3.14159, "vx":-1.99927, "vy":-0.03173, "omega":0.0, "ax":0.00001, "ay":-0.00092, "alpha":0.0, "fx":[0.00024,0.00024,0.00024,0.00024], "fy":[-0.01528,-0.01528,-0.01528,-0.01528]}, - {"t":2.89528, "x":3.66409, "y":0.69353, "heading":3.14159, "vx":-1.99927, "vy":-0.03177, "omega":0.0, "ax":0.00001, "ay":-0.00069, "alpha":0.0, "fx":[0.00018,0.00018,0.00018,0.00018], "fy":[-0.01138,-0.01138,-0.01138,-0.01138]}, - {"t":2.9371, "x":3.58048, "y":0.6922, "heading":3.14159, "vx":-1.99927, "vy":-0.0318, "omega":0.0, "ax":0.00001, "ay":-0.00048, "alpha":0.0, "fx":[0.00013,0.00013,0.00013,0.00013], "fy":[-0.00787,-0.00787,-0.00787,-0.00787]}, - {"t":2.97892, "x":3.49687, "y":0.69087, "heading":3.14159, "vx":-1.99927, "vy":-0.03182, "omega":0.0, "ax":0.0, "ay":-0.00028, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[-0.00462,-0.00462,-0.00462,-0.00462]}, - {"t":3.02074, "x":3.41327, "y":0.68954, "heading":3.14159, "vx":-1.99927, "vy":-0.03183, "omega":0.0, "ax":0.01143, "ay":0.00009, "alpha":0.0, "fx":[0.18906,0.18906,0.18906,0.18906], "fy":[0.00149,0.00149,0.00149,0.00149]}, - {"t":3.06256, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-1.99879, "vy":-0.03183, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-1.07153, "vy":-2.25504, "omega":1.69788, "ax":-0.03655, "ay":-0.07379, "alpha":-0.04048, "fx":[-0.41333,-0.7953,-0.79525,-0.4133], "fy":[-1.0291,-1.02907,-1.41097,-1.41102]}, + {"t":0.03031, "x":7.78787, "y":3.48859, "heading":1.62226, "vx":-1.07264, "vy":-2.25728, "omega":1.69666, "ax":-0.00044, "ay":0.0002, "alpha":-0.05762, "fx":[0.25018,-0.29276,-0.26479,0.27815], "fy":[0.28878,0.26081,-0.28213,-0.25417]}, + {"t":0.06062, "x":7.75535, "y":3.42017, "heading":1.67369, "vx":-1.07266, "vy":-2.25727, "omega":1.69491, "ax":-0.00034, "ay":0.00016, "alpha":-0.06273, "fx":[0.25836,-0.33039,-0.26959,0.31916], "fy":[0.32745,0.26665,-0.3221,-0.2613]}, + {"t":0.09094, "x":7.72284, "y":3.35175, "heading":1.72507, "vx":-1.07267, "vy":-2.25726, "omega":1.69301, "ax":-0.00036, "ay":0.00017, "alpha":-0.05813, "fx":[0.22281,-0.31915,-0.23487,0.30709], "fy":[0.31599,0.23171,-0.31025,-0.22597]}, + {"t":0.12125, "x":7.69032, "y":3.28332, "heading":1.77639, "vx":-1.07268, "vy":-2.25726, "omega":1.69124, "ax":-0.0004, "ay":0.00019, "alpha":-0.04616, "fx":[0.16208,-0.26428,-0.17537,0.25099], "fy":[0.2608,0.17188,-0.25448,-0.16556]}, + {"t":0.15156, "x":7.65781, "y":3.2149, "heading":1.82766, "vx":-1.07269, "vy":-2.25725, "omega":1.68985, "ax":-0.00043, "ay":0.0002, "alpha":-0.02916, "fx":[0.09105,-0.17509,-0.10519,0.16095], "fy":[0.17138,0.10148,-0.16466,-0.09475]}, + {"t":0.18187, "x":7.62529, "y":3.14648, "heading":1.87888, "vx":-1.0727, "vy":-2.25725, "omega":1.68896, "ax":-0.00044, "ay":0.00021, "alpha":-0.00947, "fx":[0.02179,-0.06338,-0.03627,0.0489], "fy":[0.05958,0.03247,-0.0527,-0.02559]}, + {"t":0.21219, "x":7.59277, "y":3.07805, "heading":1.93008, "vx":-1.07272, "vy":-2.25724, "omega":1.68867, "ax":-0.00043, "ay":0.0002, "alpha":0.01059, "fx":[-0.03634,0.0572,0.02207,-0.07147], "fy":[-0.06095,-0.02582,0.06772,0.03259]}, + {"t":0.2425, "x":7.56026, "y":3.00963, "heading":1.98126, "vx":-1.07273, "vy":-2.25723, "omega":1.689, "ax":-0.00041, "ay":0.00019, "alpha":0.0287, "fx":[-0.07687,0.17142,0.06337,-0.18492], "fy":[-0.17497,-0.06691,0.18138,0.07332]}, + {"t":0.27281, "x":7.52774, "y":2.94121, "heading":2.03246, "vx":-1.07274, "vy":-2.25723, "omega":1.68987, "ax":-0.00037, "ay":0.00017, "alpha":0.04252, "fx":[-0.09633,0.26283,0.08414,-0.27502], "fy":[-0.26603,-0.08734,0.27181,0.09313]}, + {"t":0.30312, "x":7.49522, "y":2.87279, "heading":2.08368, "vx":-1.07275, "vy":-2.25722, "omega":1.69115, "ax":-0.00031, "ay":0.00015, "alpha":0.04968, "fx":[-0.09438,0.31401,0.08403,-0.32437], "fy":[-0.31674,-0.08675,0.32164,0.09165]}, + {"t":0.33344, "x":7.46271, "y":2.80437, "heading":2.13495, "vx":-1.07276, "vy":-2.25722, "omega":1.69266, "ax":-0.00024, "ay":0.00011, "alpha":0.04779, "fx":[-0.07398,0.30707,0.06596,-0.31509], "fy":[-0.30919,-0.06807,0.31298,0.07187]}, + {"t":0.36375, "x":7.43019, "y":2.73594, "heading":2.18626, "vx":-1.07277, "vy":-2.25722, "omega":1.69411, "ax":-0.00016, "ay":0.00007, "alpha":0.03448, "fx":[-0.04153,0.22409,0.03628,-0.22934], "fy":[-0.22547,-0.03766,0.22795,0.04014]}, + {"t":0.39406, "x":7.39767, "y":2.66752, "heading":2.23761, "vx":-1.07277, "vy":-2.25721, "omega":1.69515, "ax":-0.00007, "ay":0.00003, "alpha":0.00738, "fx":[-0.0069,0.0478,0.00475,-0.04995], "fy":[-0.04837,-0.00532,0.04937,0.00632]}, + {"t":0.42437, "x":7.36515, "y":2.5991, "heading":2.28899, "vx":-1.07278, "vy":-2.25721, "omega":1.69538, "ax":0.00003, "ay":-0.00002, "alpha":-0.03579, "fx":[0.01659,-0.23765,-0.01547,0.23877], "fy":[0.23793,0.01575,-0.23849,-0.01631]}, + {"t":0.45469, "x":7.33263, "y":2.53068, "heading":2.34038, "vx":-1.07277, "vy":-2.25721, "omega":1.69429, "ax":0.00013, "ay":-0.00006, "alpha":-0.09716, "fx":[0.01243,-0.64596,-0.00806,0.65033], "fy":[0.64709,0.00919,-0.6492,-0.0113]}, + {"t":0.485, "x":7.30011, "y":2.46226, "heading":2.39174, "vx":-1.07277, "vy":-2.25722, "omega":1.69135, "ax":0.00022, "ay":-0.00011, "alpha":-0.17875, "fx":[-0.0387,-1.18808,0.04606,1.19545], "fy":[1.19,-0.04415,-1.19353,0.04062]}, + {"t":0.51531, "x":7.2676, "y":2.39384, "heading":2.44301, "vx":-1.07276, "vy":-2.25722, "omega":1.68593, "ax":0.0003, "ay":-0.00014, "alpha":-0.28238, "fx":[-0.15843,-1.87191,0.16827,1.88175], "fy":[1.87448,-0.16571,-1.87918,0.161]}, + {"t":0.54562, "x":7.23508, "y":2.32541, "heading":2.49412, "vx":-1.07275, "vy":-2.25722, "omega":1.67737, "ax":0.00035, "ay":-0.00017, "alpha":-0.40983, "fx":[-0.37014,-2.70246,0.38168,2.714], "fy":[2.70547,-0.37867,-2.71099,0.37315]}, + {"t":0.57594, "x":7.20256, "y":2.25699, "heading":2.54496, "vx":-1.07274, "vy":-2.25723, "omega":1.66495, "ax":0.00037, "ay":-0.00018, "alpha":-0.56289, "fx":[-0.69854,-3.68253,0.71084,3.69481], "fy":[3.68573,-0.70763,-3.69161,0.70174]}, + {"t":0.60625, "x":7.17004, "y":2.18857, "heading":2.59543, "vx":-1.07273, "vy":-2.25723, "omega":1.64788, "ax":0.00036, "ay":-0.00017, "alpha":-0.74363, "fx":[-1.1696,-4.81391,1.18161,4.82589], "fy":[4.81703,-1.17848,-4.82276,1.17273]}, + {"t":0.63656, "x":7.13753, "y":2.12015, "heading":2.64538, "vx":-1.07272, "vy":-2.25724, "omega":1.62534, "ax":0.00032, "ay":-0.00015, "alpha":-0.95458, "fx":[-1.81081,-6.09881,1.82149,6.10946], "fy":[6.10159,-1.81872,-6.10668,1.81358]}, + {"t":0.66687, "x":7.10501, "y":2.05172, "heading":2.69465, "vx":-1.07271, "vy":-2.25724, "omega":1.59641, "ax":0.00026, "ay":-0.00012, "alpha":-1.19899, "fx":[-2.65172,-7.54116,2.66023,7.54964], "fy":[7.54337,-2.65804,-7.54743,2.65392]}, + {"t":0.69719, "x":7.07249, "y":1.9833, "heading":2.74304, "vx":-1.0727, "vy":-2.25725, "omega":1.56006, "ax":0.00017, "ay":-0.00008, "alpha":-1.48095, "fx":[-3.72465,-9.1473,3.73043,9.15306], "fy":[9.1488,-3.72896,-9.15156,3.72612]}, + {"t":0.7275, "x":7.03998, "y":1.91488, "heading":2.79033, "vx":-1.0727, "vy":-2.25725, "omega":1.51517, "ax":0.00009, "ay":-0.00004, "alpha":-1.80532, "fx":[-5.06475,-10.92564,5.06761,10.92849], "fy":[10.92636,-5.06691,-10.92776,5.06545]}, + {"t":0.75781, "x":7.00746, "y":1.84646, "heading":2.83626, "vx":-1.0727, "vy":-2.25725, "omega":1.46045, "ax":0.0, "ay":0.0, "alpha":-2.17745, "fx":[-6.70909,-12.88496,6.70915,12.88503], "fy":[12.88494,-6.70918,-12.88505,6.70906]}, + {"t":0.78812, "x":6.97494, "y":1.77803, "heading":2.88053, "vx":-1.0727, "vy":-2.25725, "omega":1.39444, "ax":-0.00008, "ay":0.00004, "alpha":-2.60251, "fx":[-8.69389,-15.03172,8.69115,15.02899], "fy":[15.03093,-8.69188,-15.02978,8.69316]}, + {"t":0.81844, "x":6.94243, "y":1.70961, "heading":2.9228, "vx":-1.0727, "vy":-2.25725, "omega":1.31556, "ax":-0.00023, "ay":0.00011, "alpha":-3.08462, "fx":[-11.05017,-17.36721,11.04254,17.35959], "fy":[17.36505,-11.04448,-17.36175,11.04824]}, + {"t":0.84875, "x":6.90991, "y":1.64119, "heading":2.96268, "vx":-1.07271, "vy":-2.25725, "omega":1.22205, "ax":-0.00076, "ay":0.00036, "alpha":-3.62569, "fx":[-13.79982,-19.88782,13.7748,19.86263], "fy":[19.88062,-13.78087,-19.86983,13.79375]}, + {"t":0.87906, "x":6.87739, "y":1.57276, "heading":2.99972, "vx":-1.07273, "vy":-2.25724, "omega":1.11215, "ax":-0.00311, "ay":0.00148, "alpha":-4.22444, "fx":[-16.96175,-22.59853,16.85984,22.49477], "fy":[22.56816,-16.88354,-22.52514,16.93807]}, + {"t":0.90937, "x":6.84488, "y":1.50434, "heading":3.03343, "vx":-1.07282, "vy":-2.25719, "omega":0.9841, "ax":-0.01359, "ay":0.00646, "alpha":-4.87574, "fx":[-20.60476,-25.57858,20.16301,25.12154], "fy":[25.44034,-20.26082,-25.25985,20.50744]}, + {"t":0.93969, "x":6.81235, "y":1.43593, "heading":3.06326, "vx":-1.07324, "vy":-2.257, "omega":0.8363, "ax":-0.05887, "ay":0.02802, "alpha":-5.56996, "fx":[-25.08326,-29.25223,23.19094,27.25109], "fy":[28.62373,-23.58703,-27.88121,24.69764]}, + {"t":0.97, "x":6.77979, "y":1.36752, "heading":3.08861, "vx":-1.07502, "vy":-2.25615, "omega":0.66746, "ax":-0.24704, "ay":0.11821, "alpha":-6.28236, "fx":[-31.89023,-35.41042,24.06143,26.90159], "fy":[32.6456,-25.63875,-29.70306,30.51415]}, + {"t":1.00031, "x":6.74709, "y":1.29919, "heading":3.10884, "vx":-1.08251, "vy":-2.25256, "omega":0.47703, "ax":-0.98757, "ay":0.48275, "alpha":-6.78274, "fx":[-45.58527,-50.03509,14.57305,15.73535], "fy":[38.96632,-21.58218,-27.41177,41.9536]}, + {"t":1.03062, "x":6.71382, "y":1.23113, "heading":3.1233, "vx":-1.11244, "vy":-2.23793, "omega":0.27143, "ax":-3.32276, "ay":1.7473, "alpha":-4.95627, "fx":[-70.04498,-79.44658,-40.32641,-29.92891], "fy":[48.97549,2.13975,1.77415,62.66613]}, + {"t":1.06094, "x":6.67858, "y":1.16409, "heading":3.13153, "vx":-1.21316, "vy":-2.18496, "omega":0.12119, "ax":-5.39721, "ay":3.27366, "alpha":-1.76367, "fx":[-90.21618,-99.32255,-89.79348,-77.60552], "fy":[59.81851,38.47997,47.56418,70.63677]}, + {"t":1.09125, "x":6.63932, "y":1.09937, "heading":3.1352, "vx":-1.37677, "vy":-2.08573, "omega":0.06773, "ax":-5.71465, "ay":4.13486, "alpha":-0.76884, "fx":[-94.23684,-99.94766,-95.11806,-88.62869], "fy":[70.01085,60.73968,66.69858,76.00504]}, + {"t":1.12156, "x":6.59496, "y":1.03804, "heading":3.13726, "vx":-1.54999, "vy":-1.96039, "omega":0.04442, "ax":-5.51249, "ay":4.77139, "alpha":-0.43057, "fx":[-91.05324,-94.72738,-91.33932,-87.44201], "fy":[79.34961,74.67796,78.47209,83.05063]}, + {"t":1.15187, "x":6.54545, "y":0.98081, "heading":3.1386, "vx":-1.71709, "vy":-1.81576, "omega":0.03137, "ax":-5.13413, "ay":5.31409, "alpha":-0.28114, "fx":[-84.98848,-87.51421,-84.8154,-82.22148], "fy":[87.89416,85.28214,87.86602,90.39854]}, + {"t":1.18219, "x":6.49104, "y":0.92821, "heading":3.13956, "vx":-1.87272, "vy":-1.65468, "omega":0.02285, "ax":-4.6659, "ay":5.79272, "alpha":-0.20228, "fx":[-77.38652,-79.2016,-76.9081,-75.07749], "fy":[95.63797,94.09359,95.93775,97.42483]}, + {"t":1.2125, "x":6.43213, "y":0.88072, "heading":3.14025, "vx":-2.01415, "vy":-1.47909, "omega":0.01672, "ax":-4.13764, "ay":6.21437, "alpha":-0.15537, "fx":[-68.75258,-70.08595,-68.06414,-66.73535], "fy":[102.54736,101.61512,102.96261,103.85485]}, + {"t":1.24281, "x":6.36917, "y":0.83874, "heading":3.14075, "vx":-2.13958, "vy":-1.29071, "omega":0.01201, "ax":-3.56317, "ay":6.58005, "alpha":-0.12502, "fx":[-59.32776,-60.31013,-58.48902,-57.51911], "fy":[108.58266,108.02467,109.0128,109.54332]}, + {"t":1.27312, "x":6.30268, "y":0.80263, "heading":3.14112, "vx":-2.24758, "vy":-1.09126, "omega":0.00822, "ax":-2.94939, "ay":6.88928, "alpha":-0.10415, "fx":[-49.23432,-49.94629,-48.28516,-47.58832], "fy":[113.7121,113.39115,114.10399,114.4065]}, + {"t":1.30344, "x":6.2332, "y":0.77272, "heading":3.14137, "vx":-2.33699, "vy":-0.88242, "omega":0.00506, "ax":-2.29423, "ay":7.14238, "alpha":-0.08911, "fx":[-38.444,-38.93754,-37.41141,-36.93331], "fy":[117.92984,117.76092,118.25234,118.40948]}, + {"t":1.33375, "x":6.1613, "y":0.74925, "heading":3.14152, "vx":-2.40653, "vy":-0.66592, "omega":0.00236, "ax":-1.59678, "ay":7.3356, "alpha":-0.07785, "fx":[-26.94406,-27.25465,-25.8493,-25.55325], "fy":[121.16832,121.09388,121.40054,121.46818]}, + {"t":1.36406, "x":6.08762, "y":0.73244, "heading":3.14159, "vx":-2.45493, "vy":-0.44356, "omega":0.0, "ax":-1.02532, "ay":7.42707, "alpha":0.0, "fx":[-16.95211,-16.95211,-16.95211,-16.95211], "fy":[122.7951,122.7951,122.7951,122.7951]}, + {"t":1.40213, "x":5.99342, "y":0.72093, "heading":3.14159, "vx":-2.49397, "vy":-0.16082, "omega":0.0, "ax":-0.10159, "ay":6.50729, "alpha":0.0, "fx":[-1.67955,-1.67955,-1.67955,-1.67955], "fy":[107.58797,107.58797,107.58797,107.58797]}, + {"t":1.4402, "x":5.8984, "y":0.71953, "heading":3.14159, "vx":-2.49783, "vy":0.08691, "omega":0.0, "ax":-0.03908, "ay":-2.00133, "alpha":0.0, "fx":[-0.64609,-0.64609,-0.64609,-0.64609], "fy":[-33.0888,-33.0888,-33.0888,-33.0888]}, + {"t":1.47827, "x":5.80328, "y":0.72139, "heading":3.14159, "vx":-2.49932, "vy":0.01072, "omega":0.0, "ax":-0.00023, "ay":-0.50456, "alpha":0.0, "fx":[-0.00374,-0.00374,-0.00374,-0.00374], "fy":[-8.34208,-8.34208,-8.34208,-8.34208]}, + {"t":1.51634, "x":5.70813, "y":0.72143, "heading":3.14159, "vx":-2.49933, "vy":-0.00848, "omega":0.0, "ax":0.00108, "ay":-0.21464, "alpha":0.0, "fx":[0.01785,0.01785,0.01785,0.01785], "fy":[-3.5487,-3.5487,-3.5487,-3.5487]}, + {"t":1.55441, "x":5.61299, "y":0.72095, "heading":3.14159, "vx":-2.49929, "vy":-0.01666, "omega":0.0, "ax":0.00105, "ay":-0.13679, "alpha":0.0, "fx":[0.01743,0.01743,0.01743,0.01743], "fy":[-2.26157,-2.26157,-2.26157,-2.26157]}, + {"t":1.59248, "x":5.51784, "y":0.72022, "heading":3.14159, "vx":-2.49925, "vy":-0.02186, "omega":0.0, "ax":0.00096, "ay":-0.10056, "alpha":0.0, "fx":[0.01582,0.01582,0.01582,0.01582], "fy":[-1.6626,-1.6626,-1.6626,-1.6626]}, + {"t":1.63055, "x":5.4227, "y":0.71931, "heading":3.14159, "vx":-2.49921, "vy":-0.02569, "omega":0.0, "ax":0.00084, "ay":-0.07736, "alpha":0.0, "fx":[0.0139,0.0139,0.0139,0.0139], "fy":[-1.27904,-1.27904,-1.27904,-1.27904]}, + {"t":1.66862, "x":5.32755, "y":0.71828, "heading":3.14159, "vx":-2.49918, "vy":-0.02864, "omega":0.0, "ax":0.00072, "ay":-0.06062, "alpha":0.0, "fx":[0.01195,0.01195,0.01195,0.01195], "fy":[-1.00225,-1.00225,-1.00225,-1.00225]}, + {"t":1.70669, "x":5.23241, "y":0.71714, "heading":3.14159, "vx":-2.49915, "vy":-0.03094, "omega":0.0, "ax":0.00061, "ay":-0.04795, "alpha":0.0, "fx":[0.01011,0.01011,0.01011,0.01011], "fy":[-0.79285,-0.79285,-0.79285,-0.79285]}, + {"t":1.74476, "x":5.13727, "y":0.71593, "heading":3.14159, "vx":-2.49913, "vy":-0.03277, "omega":0.0, "ax":0.00051, "ay":-0.03815, "alpha":0.0, "fx":[0.00845,0.00845,0.00845,0.00845], "fy":[-0.63069,-0.63069,-0.63069,-0.63069]}, + {"t":1.78283, "x":5.04213, "y":0.71466, "heading":3.14159, "vx":-2.49911, "vy":-0.03422, "omega":0.0, "ax":0.00042, "ay":-0.03045, "alpha":0.0, "fx":[0.00701,0.00701,0.00701,0.00701], "fy":[-0.50338,-0.50338,-0.50338,-0.50338]}, + {"t":1.82089, "x":4.94699, "y":0.71333, "heading":3.14159, "vx":-2.49909, "vy":-0.03538, "omega":0.0, "ax":0.00035, "ay":-0.02435, "alpha":0.0, "fx":[0.00577,0.00577,0.00577,0.00577], "fy":[-0.40261,-0.40261,-0.40261,-0.40261]}, + {"t":1.85896, "x":4.85185, "y":0.71197, "heading":3.14159, "vx":-2.49908, "vy":-0.03631, "omega":0.0, "ax":0.00029, "ay":-0.0195, "alpha":0.0, "fx":[0.00473,0.00473,0.00473,0.00473], "fy":[-0.32241,-0.32241,-0.32241,-0.32241]}, + {"t":1.89703, "x":4.75671, "y":0.71057, "heading":3.14159, "vx":-2.49907, "vy":-0.03705, "omega":0.0, "ax":0.00023, "ay":-0.01563, "alpha":0.0, "fx":[0.00386,0.00386,0.00386,0.00386], "fy":[-0.25835,-0.25835,-0.25835,-0.25835]}, + {"t":1.9351, "x":4.66157, "y":0.70915, "heading":3.14159, "vx":-2.49906, "vy":-0.03765, "omega":0.0, "ax":0.00019, "ay":-0.01252, "alpha":0.0, "fx":[0.00314,0.00314,0.00314,0.00314], "fy":[-0.20707,-0.20707,-0.20707,-0.20707]}, + {"t":1.97317, "x":4.56644, "y":0.70771, "heading":3.14159, "vx":-2.49905, "vy":-0.03812, "omega":0.0, "ax":0.00015, "ay":-0.01004, "alpha":0.0, "fx":[0.00254,0.00254,0.00254,0.00254], "fy":[-0.16594,-0.16594,-0.16594,-0.16594]}, + {"t":2.01124, "x":4.4713, "y":0.70625, "heading":3.14159, "vx":-2.49905, "vy":-0.0385, "omega":0.0, "ax":0.00012, "ay":-0.00804, "alpha":0.0, "fx":[0.00206,0.00206,0.00206,0.00206], "fy":[-0.1329,-0.1329,-0.1329,-0.1329]}, + {"t":2.04931, "x":4.37616, "y":0.70478, "heading":3.14159, "vx":-2.49904, "vy":-0.03881, "omega":0.0, "ax":0.0001, "ay":-0.00643, "alpha":0.0, "fx":[0.00166,0.00166,0.00166,0.00166], "fy":[-0.10632,-0.10632,-0.10632,-0.10632]}, + {"t":2.08738, "x":4.28102, "y":0.70329, "heading":3.14159, "vx":-2.49904, "vy":-0.03905, "omega":0.0, "ax":0.00008, "ay":-0.00513, "alpha":0.0, "fx":[0.00133,0.00133,0.00133,0.00133], "fy":[-0.08489,-0.08489,-0.08489,-0.08489]}, + {"t":2.12545, "x":4.18589, "y":0.7018, "heading":3.14159, "vx":-2.49904, "vy":-0.03925, "omega":0.0, "ax":0.00006, "ay":-0.00409, "alpha":0.0, "fx":[0.00106,0.00106,0.00106,0.00106], "fy":[-0.06758,-0.06758,-0.06758,-0.06758]}, + {"t":2.16352, "x":4.09075, "y":0.70031, "heading":3.14159, "vx":-2.49903, "vy":-0.03941, "omega":0.0, "ax":0.00005, "ay":-0.00324, "alpha":0.0, "fx":[0.00085,0.00085,0.00085,0.00085], "fy":[-0.05353,-0.05353,-0.05353,-0.05353]}, + {"t":2.20159, "x":3.99561, "y":0.6988, "heading":3.14159, "vx":-2.49903, "vy":-0.03953, "omega":0.0, "ax":0.00004, "ay":-0.00254, "alpha":0.0, "fx":[0.00067,0.00067,0.00067,0.00067], "fy":[-0.04207,-0.04207,-0.04207,-0.04207]}, + {"t":2.23966, "x":3.90048, "y":0.6973, "heading":3.14159, "vx":-2.49903, "vy":-0.03963, "omega":0.0, "ax":0.00003, "ay":-0.00197, "alpha":0.0, "fx":[0.00052,0.00052,0.00052,0.00052], "fy":[-0.03264,-0.03264,-0.03264,-0.03264]}, + {"t":2.27773, "x":3.80534, "y":0.69579, "heading":3.14159, "vx":-2.49903, "vy":-0.0397, "omega":0.0, "ax":0.00002, "ay":-0.0015, "alpha":0.0, "fx":[0.00039,0.00039,0.00039,0.00039], "fy":[-0.02479,-0.02479,-0.02479,-0.02479]}, + {"t":2.3158, "x":3.7102, "y":0.69427, "heading":3.14159, "vx":-2.49903, "vy":-0.03976, "omega":0.0, "ax":0.00002, "ay":-0.0011, "alpha":0.0, "fx":[0.00029,0.00029,0.00029,0.00029], "fy":[-0.01814,-0.01814,-0.01814,-0.01814]}, + {"t":2.35387, "x":3.61507, "y":0.69276, "heading":3.14159, "vx":-2.49903, "vy":-0.0398, "omega":0.0, "ax":0.00001, "ay":-0.00075, "alpha":0.0, "fx":[0.0002,0.0002,0.0002,0.0002], "fy":[-0.01237,-0.01237,-0.01237,-0.01237]}, + {"t":2.39194, "x":3.51993, "y":0.69124, "heading":3.14159, "vx":-2.49903, "vy":-0.03983, "omega":0.0, "ax":0.00001, "ay":-0.00043, "alpha":0.0, "fx":[0.00013,0.00013,0.00013,0.00013], "fy":[-0.00719,-0.00719,-0.00719,-0.00719]}, + {"t":2.43001, "x":3.42479, "y":0.68973, "heading":3.14159, "vx":-2.49903, "vy":-0.03985, "omega":0.0, "ax":0.01727, "ay":0.00013, "alpha":0.0, "fx":[0.28548,0.28548,0.28548,0.28548], "fy":[0.00219,0.00219,0.00219,0.00219]}, + {"t":2.46808, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-2.49837, "vy":-0.03984, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj index ebd36cb0..6f6a5eb3 100644 --- a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj +++ b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj @@ -3,15 +3,15 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.593911647796631, "y":0.688210129737854, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -19,15 +19,15 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.593911647796631 m", "val":6.593911647796631}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], @@ -61,105 +61,95 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.52411,2.17112,3.38281], + "waypoints":[0.0,1.31318,1.91405,2.89611], "samples":[ - {"t":0.0, "x":3.32967, "y":0.68821, "heading":0.0, "vx":1.99789, "vy":-0.02939, "omega":0.0, "ax":0.03345, "ay":-0.00446, "alpha":0.0, "fx":[0.55297,0.55297,0.55297,0.55297], "fy":[-0.07377,-0.07377,-0.07377,-0.07377]}, - {"t":0.04234, "x":3.41428, "y":0.68696, "heading":0.0, "vx":1.99931, "vy":-0.02958, "omega":0.0, "ax":-0.00011, "ay":-0.00759, "alpha":0.0, "fx":[-0.00186,-0.00186,-0.00186,-0.00186], "fy":[-0.12551,-0.12551,-0.12551,-0.12551]}, - {"t":0.08467, "x":3.49893, "y":0.6857, "heading":0.0, "vx":1.9993, "vy":-0.0299, "omega":0.0, "ax":-0.0001, "ay":-0.00673, "alpha":0.0, "fx":[-0.00168,-0.00168,-0.00168,-0.00168], "fy":[-0.11128,-0.11128,-0.11128,-0.11128]}, - {"t":0.12701, "x":3.58357, "y":0.68443, "heading":0.0, "vx":1.9993, "vy":-0.03019, "omega":0.0, "ax":-0.00009, "ay":-0.00579, "alpha":0.0, "fx":[-0.00145,-0.00145,-0.00145,-0.00145], "fy":[-0.09572,-0.09572,-0.09572,-0.09572]}, - {"t":0.16935, "x":3.66821, "y":0.68315, "heading":0.0, "vx":1.9993, "vy":-0.03043, "omega":0.0, "ax":-0.00008, "ay":-0.00503, "alpha":0.0, "fx":[-0.00127,-0.00127,-0.00127,-0.00127], "fy":[-0.0831,-0.0831,-0.0831,-0.0831]}, - {"t":0.21168, "x":3.75286, "y":0.68185, "heading":0.0, "vx":1.99929, "vy":-0.03065, "omega":0.0, "ax":-0.00007, "ay":-0.00443, "alpha":0.0, "fx":[-0.00113,-0.00113,-0.00113,-0.00113], "fy":[-0.07332,-0.07332,-0.07332,-0.07332]}, - {"t":0.25402, "x":3.8375, "y":0.68055, "heading":0.0, "vx":1.99929, "vy":-0.03083, "omega":0.0, "ax":-0.00006, "ay":-0.004, "alpha":0.0, "fx":[-0.00102,-0.00102,-0.00102,-0.00102], "fy":[-0.06606,-0.06606,-0.06606,-0.06606]}, - {"t":0.29636, "x":3.92214, "y":0.67924, "heading":0.0, "vx":1.99929, "vy":-0.031, "omega":0.0, "ax":-0.00006, "ay":-0.00369, "alpha":0.0, "fx":[-0.00095,-0.00095,-0.00095,-0.00095], "fy":[-0.06108,-0.06108,-0.06108,-0.06108]}, - {"t":0.33869, "x":4.00678, "y":0.67793, "heading":0.0, "vx":1.99928, "vy":-0.03116, "omega":0.0, "ax":-0.00006, "ay":-0.00352, "alpha":0.0, "fx":[-0.00091,-0.00091,-0.00091,-0.00091], "fy":[-0.05821,-0.05821,-0.05821,-0.05821]}, - {"t":0.38103, "x":4.09143, "y":0.67661, "heading":0.0, "vx":1.99928, "vy":-0.03131, "omega":0.0, "ax":-0.00005, "ay":-0.00347, "alpha":0.0, "fx":[-0.0009,-0.0009,-0.0009,-0.0009], "fy":[-0.05736,-0.05736,-0.05736,-0.05736]}, - {"t":0.42336, "x":4.17607, "y":0.67528, "heading":0.0, "vx":1.99928, "vy":-0.03145, "omega":0.0, "ax":-0.00006, "ay":-0.00354, "alpha":0.0, "fx":[-0.00092,-0.00092,-0.00092,-0.00092], "fy":[-0.05848,-0.05848,-0.05848,-0.05848]}, - {"t":0.4657, "x":4.26071, "y":0.67394, "heading":0.0, "vx":1.99928, "vy":-0.0316, "omega":0.0, "ax":-0.00006, "ay":-0.00373, "alpha":0.0, "fx":[-0.00098,-0.00098,-0.00098,-0.00098], "fy":[-0.06163,-0.06163,-0.06163,-0.06163]}, - {"t":0.50804, "x":4.34535, "y":0.6726, "heading":0.0, "vx":1.99928, "vy":-0.03176, "omega":0.0, "ax":-0.00006, "ay":-0.00405, "alpha":0.0, "fx":[-0.00107,-0.00107,-0.00107,-0.00107], "fy":[-0.06692,-0.06692,-0.06692,-0.06692]}, - {"t":0.55037, "x":4.43, "y":0.67125, "heading":0.0, "vx":1.99927, "vy":-0.03193, "omega":0.0, "ax":-0.00007, "ay":-0.00451, "alpha":0.0, "fx":[-0.0012,-0.0012,-0.0012,-0.0012], "fy":[-0.07451,-0.07451,-0.07451,-0.07451]}, - {"t":0.59271, "x":4.51464, "y":0.6699, "heading":0.0, "vx":1.99927, "vy":-0.03212, "omega":0.0, "ax":-0.00008, "ay":-0.00512, "alpha":0.0, "fx":[-0.00137,-0.00137,-0.00137,-0.00137], "fy":[-0.08468,-0.08468,-0.08468,-0.08468]}, - {"t":0.63505, "x":4.59928, "y":0.66853, "heading":0.0, "vx":1.99927, "vy":-0.03234, "omega":0.0, "ax":-0.0001, "ay":-0.00591, "alpha":0.0, "fx":[-0.00159,-0.00159,-0.00159,-0.00159], "fy":[-0.09776,-0.09776,-0.09776,-0.09776]}, - {"t":0.67738, "x":4.68392, "y":0.66716, "heading":0.0, "vx":1.99926, "vy":-0.03259, "omega":0.0, "ax":-0.00011, "ay":-0.00691, "alpha":0.0, "fx":[-0.00187,-0.00187,-0.00187,-0.00187], "fy":[-0.1142,-0.1142,-0.1142,-0.1142]}, - {"t":0.71972, "x":4.76856, "y":0.66577, "heading":0.0, "vx":1.99926, "vy":-0.03288, "omega":0.0, "ax":-0.00013, "ay":-0.00814, "alpha":0.0, "fx":[-0.00223,-0.00223,-0.00223,-0.00223], "fy":[-0.13457,-0.13457,-0.13457,-0.13457]}, - {"t":0.76206, "x":4.8532, "y":0.66437, "heading":0.0, "vx":1.99925, "vy":-0.03323, "omega":0.0, "ax":-0.00016, "ay":-0.00965, "alpha":0.0, "fx":[-0.00267,-0.00267,-0.00267,-0.00267], "fy":[-0.15955,-0.15955,-0.15955,-0.15955]}, - {"t":0.80439, "x":4.93785, "y":0.66296, "heading":0.0, "vx":1.99924, "vy":-0.03364, "omega":0.0, "ax":-0.00019, "ay":-0.01149, "alpha":0.0, "fx":[-0.00322,-0.00322,-0.00322,-0.00322], "fy":[-0.19002,-0.19002,-0.19002,-0.19002]}, - {"t":0.84673, "x":5.02249, "y":0.66152, "heading":0.0, "vx":1.99924, "vy":-0.03412, "omega":0.0, "ax":-0.00024, "ay":-0.01373, "alpha":0.0, "fx":[-0.00391,-0.00391,-0.00391,-0.00391], "fy":[-0.22703,-0.22703,-0.22703,-0.22703]}, - {"t":0.88907, "x":5.10713, "y":0.66007, "heading":0.0, "vx":1.99923, "vy":-0.03471, "omega":0.0, "ax":-0.00029, "ay":-0.01645, "alpha":0.0, "fx":[-0.00477,-0.00477,-0.00477,-0.00477], "fy":[-0.2719,-0.2719,-0.2719,-0.2719]}, - {"t":0.9314, "x":5.19177, "y":0.65858, "heading":0.0, "vx":1.99921, "vy":-0.0354, "omega":0.0, "ax":-0.00035, "ay":-0.01974, "alpha":0.0, "fx":[-0.00585,-0.00585,-0.00585,-0.00585], "fy":[-0.3263,-0.3263,-0.3263,-0.3263]}, - {"t":0.97374, "x":5.27641, "y":0.65706, "heading":0.0, "vx":1.9992, "vy":-0.03624, "omega":0.0, "ax":-0.00044, "ay":-0.02373, "alpha":0.0, "fx":[-0.00721,-0.00721,-0.00721,-0.00721], "fy":[-0.39232,-0.39232,-0.39232,-0.39232]}, - {"t":1.01607, "x":5.36104, "y":0.65551, "heading":0.0, "vx":1.99918, "vy":-0.03724, "omega":0.0, "ax":-0.00054, "ay":-0.02859, "alpha":0.0, "fx":[-0.00895,-0.00895,-0.00895,-0.00895], "fy":[-0.47274,-0.47274,-0.47274,-0.47274]}, - {"t":1.05841, "x":5.44568, "y":0.65391, "heading":0.0, "vx":1.99916, "vy":-0.03845, "omega":0.0, "ax":-0.00068, "ay":-0.03455, "alpha":0.0, "fx":[-0.0112,-0.0112,-0.0112,-0.0112], "fy":[-0.57131,-0.57131,-0.57131,-0.57131]}, - {"t":1.10075, "x":5.53032, "y":0.65225, "heading":0.0, "vx":1.99913, "vy":-0.03991, "omega":0.0, "ax":-0.00086, "ay":-0.04194, "alpha":0.0, "fx":[-0.01415,-0.01415,-0.01415,-0.01415], "fy":[-0.69338,-0.69338,-0.69338,-0.69338]}, - {"t":1.14308, "x":5.61495, "y":0.65052, "heading":0.0, "vx":1.99909, "vy":-0.04169, "omega":0.0, "ax":-0.0011, "ay":-0.05123, "alpha":0.0, "fx":[-0.01812,-0.01812,-0.01812,-0.01812], "fy":[-0.84706,-0.84706,-0.84706,-0.84706]}, - {"t":1.18542, "x":5.69959, "y":0.64871, "heading":0.0, "vx":1.99905, "vy":-0.04386, "omega":0.0, "ax":-0.00143, "ay":-0.06324, "alpha":0.0, "fx":[-0.02364,-0.02364,-0.02364,-0.02364], "fy":[-1.04559,-1.04559,-1.04559,-1.04559]}, - {"t":1.22776, "x":5.78422, "y":0.6468, "heading":0.0, "vx":1.99899, "vy":-0.04654, "omega":0.0, "ax":-0.00192, "ay":-0.07942, "alpha":0.0, "fx":[-0.03167,-0.03167,-0.03167,-0.03167], "fy":[-1.31317,-1.31317,-1.31317,-1.31317]}, - {"t":1.27009, "x":5.86885, "y":0.64475, "heading":0.0, "vx":1.9989, "vy":-0.0499, "omega":0.0, "ax":-0.00268, "ay":-0.10299, "alpha":0.0, "fx":[-0.04436,-0.04436,-0.04436,-0.04436], "fy":[-1.70285,-1.70285,-1.70285,-1.70285]}, - {"t":1.31243, "x":5.95347, "y":0.64255, "heading":0.0, "vx":1.99879, "vy":-0.05426, "omega":0.0, "ax":-0.00414, "ay":-0.14452, "alpha":0.0, "fx":[-0.06852,-0.06852,-0.06852,-0.06852], "fy":[-2.38946,-2.38946,-2.38946,-2.38946]}, - {"t":1.35477, "x":6.03809, "y":0.64012, "heading":0.0, "vx":1.99862, "vy":-0.06038, "omega":0.0, "ax":-0.00898, "ay":-0.27135, "alpha":0.0, "fx":[-0.14843,-0.14843,-0.14843,-0.14843], "fy":[-4.48627,-4.48627,-4.48627,-4.48627]}, - {"t":1.3971, "x":6.1227, "y":0.63732, "heading":0.0, "vx":1.99824, "vy":-0.07187, "omega":0.0, "ax":-0.05448, "ay":-1.13489, "alpha":0.0, "fx":[-0.90077,-0.90077,-0.90077,-0.90077], "fy":[-18.76358,-18.76358,-18.76358,-18.76358]}, - {"t":1.43944, "x":6.20724, "y":0.63326, "heading":0.0, "vx":1.99593, "vy":-0.11991, "omega":0.0, "ax":0.07108, "ay":3.96604, "alpha":0.0, "fx":[1.17513,1.17513,1.17513,1.17513], "fy":[65.57234,65.57234,65.57234,65.57234]}, - {"t":1.48178, "x":6.29181, "y":0.63174, "heading":0.0, "vx":1.99894, "vy":0.04799, "omega":0.0, "ax":-0.77053, "ay":7.30173, "alpha":0.0, "fx":[-12.73947,-12.73947,-12.73947,-12.73947], "fy":[120.72267,120.72267,120.72267,120.72267]}, - {"t":1.52411, "x":6.37575, "y":0.64032, "heading":0.0, "vx":1.96632, "vy":0.35712, "omega":0.0, "ax":-0.31115, "ay":1.72192, "alpha":17.48934, "fx":[-72.69324,-115.74599,109.95779,57.90419], "fy":[99.83934,-41.2455,-53.6915,108.97492]}, - {"t":1.54568, "x":6.41808, "y":0.64842, "heading":0.0, "vx":1.95961, "vy":0.39426, "omega":0.37719, "ax":-0.32762, "ay":1.56286, "alpha":17.62036, "fx":[-74.04337,-114.12432,107.38217,59.11851], "fy":[98.68494,-45.15885,-58.32684,108.1583]}, - {"t":1.56725, "x":6.46027, "y":0.65729, "heading":0.00813, "vx":1.95254, "vy":0.42797, "omega":0.75721, "ax":-0.32525, "ay":1.43016, "alpha":17.71662, "fx":[-75.48708,-111.98495,105.9521,60.01008], "fy":[97.38755,-49.75721,-60.52535,107.4766]}, - {"t":1.58881, "x":6.5023, "y":0.66685, "heading":0.02447, "vx":1.94553, "vy":0.45881, "omega":1.13931, "ax":-0.31968, "ay":1.31281, "alpha":17.78551, "fx":[-77.4081,-109.26871,105.39403,60.14096], "fy":[95.61696,-54.92056,-61.04823,107.17268]}, - {"t":1.61038, "x":6.54419, "y":0.67705, "heading":0.04904, "vx":1.93863, "vy":0.48712, "omega":1.52289, "ax":-0.31225, "ay":1.20822, "alpha":17.82828, "fx":[-79.82542,-105.86397,105.61713,59.42228], "fy":[93.28001,-60.58234,-60.07736,107.28412]}, - {"t":1.63195, "x":6.58593, "y":0.68784, "heading":0.08188, "vx":1.9319, "vy":0.51318, "omega":1.90739, "ax":-0.30378, "ay":1.11548, "alpha":17.84286, "fx":[-82.7045,-101.6522,106.49117,57.77556], "fy":[90.28973,-66.62896,-57.69615,107.80629]}, - {"t":1.65351, "x":6.62752, "y":0.69916, "heading":0.12302, "vx":1.92535, "vy":0.53724, "omega":2.29221, "ax":-0.29541, "ay":1.03535, "alpha":17.82235, "fx":[-85.95677,-96.52187,107.839,55.10309], "fy":[86.55701,-72.87114,-53.906,108.6915]}, - {"t":1.67508, "x":6.66898, "y":0.71099, "heading":0.17245, "vx":1.91897, "vy":0.55957, "omega":2.67659, "ax":-0.28908, "ay":0.97147, "alpha":17.75048, "fx":[-89.40466,-90.39277,109.41808,51.26107], "fy":[82.00198,-78.99133,-48.59433,109.83048]}, - {"t":1.69665, "x":6.7103, "y":0.72329, "heading":0.23018, "vx":1.91274, "vy":0.58052, "omega":3.05941, "ax":-0.28902, "ay":0.93431, "alpha":17.58761, "fx":[-92.68447,-83.27249,110.84742,45.99587], "fy":[76.59516,-84.39964,-41.40666,111.00063]}, - {"t":1.71822, "x":6.75148, "y":0.73602, "heading":0.29616, "vx":1.90651, "vy":0.60067, "omega":3.43873, "ax":-0.30735, "ay":0.95701, "alpha":17.21667, "fx":[-94.9118,-75.43483,111.29417,38.72626], "fy":[70.50641,-87.68006,-31.22034,111.68487]}, - {"t":1.73978, "x":6.79253, "y":0.7492, "heading":0.37033, "vx":1.89988, "vy":0.62131, "omega":3.81004, "ax":-0.40062, "ay":1.19566, "alpha":16.1048, "fx":[-92.90085,-68.28806,107.25522,27.43896], "fy":[64.8507,-82.93602,-12.94229,110.10116]}, - {"t":1.76135, "x":6.83341, "y":0.76288, "heading":0.4525, "vx":1.89124, "vy":0.6471, "omega":4.15737, "ax":-1.29126, "ay":3.51055, "alpha":6.22348, "fx":[-58.23779,-51.81582,29.85238,-5.19483], "fy":[65.85115,20.64432,56.67815,88.99253]}, - {"t":1.78292, "x":6.8739, "y":0.77765, "heading":0.54216, "vx":1.86339, "vy":0.72281, "omega":4.29159, "ax":-0.79566, "ay":1.97035, "alpha":-4.27746, "fx":[17.24279,-5.7894,-40.41552,-23.6578], "fy":[28.83808,58.0073,38.56086,4.90026]}, - {"t":1.80448, "x":6.9139, "y":0.7937, "heading":0.63472, "vx":1.84623, "vy":0.76531, "omega":4.19934, "ax":-0.11657, "ay":0.2784, "alpha":-4.75536, "fx":[29.67376,2.67121,-33.11104,-6.94321], "fy":[0.13285,35.69553,9.56814,-26.98519]}, - {"t":1.82605, "x":6.95369, "y":0.81027, "heading":0.72528, "vx":1.84371, "vy":0.77131, "omega":4.09678, "ax":0.09391, "ay":-0.22633, "alpha":-3.99007, "fx":[28.05,3.26538,-25.12697,0.02235], "fy":[-5.47992,22.97465,-2.32588,-30.13665]}, - {"t":1.84762, "x":6.99348, "y":0.82685, "heading":0.81364, "vx":1.84574, "vy":0.76643, "omega":4.01073, "ax":-0.02814, "ay":0.06721, "alpha":-2.90203, "fx":[18.89916,-1.02042,-19.81024,0.07049], "fy":[1.68673,20.43611,0.5907,-18.26845]}, - {"t":1.86919, "x":7.03328, "y":0.8434, "heading":0.90014, "vx":1.84513, "vy":0.76788, "omega":3.94814, "ax":-0.6653, "ay":1.5634, "alpha":-1.77552, "fx":[1.28245,-12.03218,-23.15758,-10.09179], "fy":[27.81282,36.93947,24.33314,14.30837]}, - {"t":1.89075, "x":7.07292, "y":0.86032, "heading":0.98529, "vx":1.83078, "vy":0.8016, "omega":3.90985, "ax":-1.78279, "ay":3.86136, "alpha":-4.46175, "fx":[8.34708,-30.76699,-63.67868,-31.80412], "fy":[76.94746,84.59053,54.32665,39.50185]}, - {"t":1.91232, "x":7.11199, "y":0.87851, "heading":1.06961, "vx":1.79233, "vy":0.88487, "omega":3.81362, "ax":-1.0879, "ay":2.13494, "alpha":-14.63277, "fx":[69.0196,-37.41926,-109.41734,5.87017], "fy":[88.97299,110.0518,30.87776,-88.71095]}, - {"t":1.93389, "x":7.15039, "y":0.89809, "heading":1.15186, "vx":1.76887, "vy":0.93092, "omega":3.49804, "ax":-1.01446, "ay":1.8741, "alpha":-16.0023, "fx":[69.31146,-46.0274,-116.92482,26.55058], "fy":[95.90713,110.97712,20.43926,-103.38253]}, - {"t":1.95545, "x":7.1883, "y":0.9186, "heading":1.2273, "vx":1.74699, "vy":0.97134, "omega":3.15291, "ax":-1.05214, "ay":1.84097, "alpha":-16.34904, "fx":[62.87448,-53.63221,-119.78212,40.95772], "fy":[102.74197,109.15609,13.93524,-104.08297]}, - {"t":1.97702, "x":7.22573, "y":0.93998, "heading":1.2953, "vx":1.7243, "vy":1.01104, "omega":2.80031, "ax":-1.12177, "ay":1.86103, "alpha":-16.42863, "fx":[54.67132,-60.35474,-121.23655,52.7332], "fy":[108.55363,106.47239,9.17089,-101.11975]}, - {"t":1.99859, "x":7.26266, "y":0.96221, "heading":1.3557, "vx":1.70011, "vy":1.05118, "omega":2.44599, "ax":-1.2084, "ay":1.90042, "alpha":-16.39176, "fx":[45.95232,-66.26308,-122.07055,62.46509], "fy":[113.23258,103.45744,5.58418,-96.59231]}, - {"t":2.02015, "x":7.29905, "y":0.98533, "heading":1.40845, "vx":1.67405, "vy":1.09217, "omega":2.09247, "ax":-1.30738, "ay":1.94757, "alpha":-16.28701, "fx":[37.2322,-71.40509,-122.58407,70.29489], "fy":[116.85138,100.36564,2.95455,-91.37113]}, - {"t":2.04172, "x":7.33485, "y":1.00934, "heading":1.45358, "vx":1.64585, "vy":1.13417, "omega":1.74121, "ax":-1.41727, "ay":1.99768, "alpha":-16.13204, "fx":[28.7962,-75.81914,-122.92252,76.21597], "fy":[119.53129,97.36146,1.16402,-85.94237]}, - {"t":2.06329, "x":7.37001, "y":1.03426, "heading":1.49113, "vx":1.61528, "vy":1.17725, "omega":1.39329, "ax":-1.53947, "ay":2.0504, "alpha":-15.92694, "fx":[20.84125,-79.53355,-123.16392,80.04533], "fy":[121.40729,94.5737,0.14139,-80.52159]}, - {"t":2.08486, "x":7.40449, "y":1.06013, "heading":1.52118, "vx":1.58208, "vy":1.22147, "omega":1.04979, "ax":-1.68291, "ay":2.11422, "alpha":-15.64153, "fx":[13.52926,-82.56329,-123.35012,81.08721], "fy":[122.61862,92.11776,-0.14746,-74.76759]}, - {"t":2.10642, "x":7.43822, "y":1.08696, "heading":1.54382, "vx":1.54579, "vy":1.26707, "omega":0.71245, "ax":-1.89685, "ay":2.2408, "alpha":-15.09942, "fx":[7.01,-84.90582,-123.49984,75.9496], "fy":[123.30697,90.10752,0.30682,-65.52873]}, - {"t":2.12799, "x":7.47112, "y":1.11481, "heading":1.55919, "vx":1.50488, "vy":1.3154, "omega":0.3868, "ax":-3.13506, "ay":3.4103, "alpha":-10.91312, "fx":[1.45297,-86.51419,-123.61209,1.33994], "fy":[123.61545,88.6838,1.60876,11.628]}, - {"t":2.14956, "x":7.50285, "y":1.14397, "heading":1.56753, "vx":1.43726, "vy":1.38895, "omega":0.15144, "ax":-4.49043, "ay":4.28501, "alpha":-7.02162, "fx":[-3.67185,-87.61981,-123.67085,-82.00635], "fy":[123.66886,87.69378,3.75586,68.26553]}, - {"t":2.17112, "x":7.5328, "y":1.17493, "heading":1.5708, "vx":1.34042, "vy":1.48136, "omega":0.0, "ax":-5.89506, "ay":4.6206, "alpha":0.0, "fx":[-97.4657,-97.4657,-97.4657,-97.4657], "fy":[76.39437,76.39437,76.39437,76.39437]}, - {"t":2.21151, "x":7.58213, "y":1.23853, "heading":1.5708, "vx":1.10232, "vy":1.66799, "omega":0.0, "ax":-6.51244, "ay":3.63361, "alpha":0.0, "fx":[-107.67301,-107.67301,-107.67301,-107.67301], "fy":[60.07616,60.07616,60.07616,60.07616]}, - {"t":2.2519, "x":7.62134, "y":1.30886, "heading":1.5708, "vx":0.83928, "vy":1.81475, "omega":0.0, "ax":-6.89721, "ay":2.58734, "alpha":0.0, "fx":[-114.03464,-114.03464,-114.03464,-114.03464], "fy":[42.77766,42.77766,42.77766,42.77766]}, - {"t":2.29229, "x":7.64961, "y":1.38427, "heading":1.5708, "vx":0.56071, "vy":1.91925, "omega":0.0, "ax":-6.78243, "ay":1.47511, "alpha":0.0, "fx":[-112.13688,-112.13688,-112.13688,-112.13688], "fy":[24.38865,24.38865,24.38865,24.38865]}, - {"t":2.33268, "x":7.66673, "y":1.46299, "heading":1.5708, "vx":0.28677, "vy":1.97883, "omega":0.0, "ax":-3.24252, "ay":0.36137, "alpha":0.0, "fx":[-53.60998,-53.60998,-53.60998,-53.60998], "fy":[5.97468,5.97468,5.97468,5.97468]}, - {"t":2.37307, "x":7.67566, "y":1.54321, "heading":1.5708, "vx":0.1558, "vy":1.99342, "omega":0.0, "ax":-0.29376, "ay":0.02208, "alpha":0.0, "fx":[-4.85694,-4.85694,-4.85694,-4.85694], "fy":[0.36512,0.36512,0.36512,0.36512]}, - {"t":2.41346, "x":7.68172, "y":1.62374, "heading":1.5708, "vx":0.14394, "vy":1.99432, "omega":0.0, "ax":-0.02153, "ay":0.00155, "alpha":0.0, "fx":[-0.35603,-0.35603,-0.35603,-0.35603], "fy":[0.02561,0.02561,0.02561,0.02561]}, - {"t":2.45385, "x":7.68751, "y":1.70429, "heading":1.5708, "vx":0.14307, "vy":1.99438, "omega":0.0, "ax":-0.00151, "ay":0.00011, "alpha":0.0, "fx":[-0.02504,-0.02504,-0.02504,-0.02504], "fy":[0.00179,0.00179,0.00179,0.00179]}, - {"t":2.49424, "x":7.69329, "y":1.78484, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00089,-0.00089,-0.00089,-0.00089], "fy":[0.00006,0.00006,0.00006,0.00006]}, - {"t":2.53463, "x":7.69907, "y":1.86539, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00004, "ay":0.0, "alpha":0.0, "fx":[0.00074,0.00074,0.00074,0.00074], "fy":[-0.00006,-0.00006,-0.00006,-0.00006]}, - {"t":2.57502, "x":7.70484, "y":1.94595, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00004, "ay":0.0, "alpha":0.0, "fx":[0.00073,0.00073,0.00073,0.00073], "fy":[-0.00006,-0.00006,-0.00006,-0.00006]}, - {"t":2.61541, "x":7.71062, "y":2.0265, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00004, "ay":0.0, "alpha":0.0, "fx":[0.00062,0.00062,0.00062,0.00062], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, - {"t":2.6558, "x":7.71639, "y":2.10705, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00003, "ay":0.0, "alpha":0.0, "fx":[0.0005,0.0005,0.0005,0.0005], "fy":[-0.00004,-0.00004,-0.00004,-0.00004]}, - {"t":2.69619, "x":7.72217, "y":2.1876, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00039,0.00039,0.00039,0.00039], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]}, - {"t":2.73658, "x":7.72795, "y":2.26816, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00029,0.00029,0.00029,0.00029], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]}, - {"t":2.77697, "x":7.73372, "y":2.34871, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.0002,0.0002,0.0002,0.0002], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, - {"t":2.81736, "x":7.7395, "y":2.42926, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00011,0.00011,0.00011,0.00011], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, - {"t":2.85775, "x":7.74528, "y":2.50981, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00003,0.00003,0.00003,0.00003], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, - {"t":2.89814, "x":7.75105, "y":2.59036, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.93853, "x":7.75683, "y":2.67092, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00012,-0.00012,-0.00012,-0.00012], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":2.97892, "x":7.7626, "y":2.75147, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":3.01931, "x":7.76838, "y":2.83202, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00026,-0.00026,-0.00026,-0.00026], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":3.0597, "x":7.77416, "y":2.91257, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00032,-0.00032,-0.00032,-0.00032], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":3.10008, "x":7.77993, "y":2.99313, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00038,-0.00038,-0.00038,-0.00038], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":3.14047, "x":7.78571, "y":3.07368, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00044,-0.00044,-0.00044,-0.00044], "fy":[0.00003,0.00003,0.00003,0.00003]}, - {"t":3.18086, "x":7.79149, "y":3.15423, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00049,-0.00049,-0.00049,-0.00049], "fy":[0.00003,0.00003,0.00003,0.00003]}, - {"t":3.22125, "x":7.79726, "y":3.23478, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00055,-0.00055,-0.00055,-0.00055], "fy":[0.00004,0.00004,0.00004,0.00004]}, - {"t":3.26164, "x":7.80304, "y":3.31534, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.0006,-0.0006,-0.0006,-0.0006], "fy":[0.00004,0.00004,0.00004,0.00004]}, - {"t":3.30203, "x":7.80881, "y":3.39589, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00062,-0.00062,-0.00062,-0.00062], "fy":[0.00004,0.00004,0.00004,0.00004]}, - {"t":3.34242, "x":7.81459, "y":3.47644, "heading":1.5708, "vx":0.14301, "vy":1.99438, "omega":0.0, "ax":-0.0009, "ay":-0.01226, "alpha":0.0, "fx":[-0.01485,-0.01485,-0.01485,-0.01485], "fy":[-0.2027,-0.2027,-0.2027,-0.2027]}, - {"t":3.38281, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.14297, "vy":1.99389, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.32967, "y":0.68821, "heading":0.0, "vx":2.49748, "vy":0.00252, "omega":0.0, "ax":0.04746, "ay":-0.00591, "alpha":0.0, "fx":[0.78475,0.78475,0.78475,0.78475], "fy":[-0.09779,-0.09779,-0.09779,-0.09779]}, + {"t":0.03979, "x":3.42909, "y":0.68831, "heading":0.0, "vx":2.49937, "vy":0.00228, "omega":0.0, "ax":0.00001, "ay":-0.01147, "alpha":0.0, "fx":[0.00018,0.00018,0.00018,0.00018], "fy":[-0.18962,-0.18962,-0.18962,-0.18962]}, + {"t":0.07959, "x":3.52855, "y":0.68839, "heading":0.0, "vx":2.49937, "vy":0.00183, "omega":0.0, "ax":0.00001, "ay":-0.01008, "alpha":0.0, "fx":[0.0001,0.0001,0.0001,0.0001], "fy":[-0.16673,-0.16673,-0.16673,-0.16673]}, + {"t":0.11938, "x":3.62801, "y":0.68845, "heading":0.0, "vx":2.49937, "vy":0.00142, "omega":0.0, "ax":0.0, "ay":-0.00837, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[-0.13842,-0.13842,-0.13842,-0.13842]}, + {"t":0.15917, "x":3.72746, "y":0.6885, "heading":0.0, "vx":2.49937, "vy":0.00109, "omega":0.0, "ax":0.0, "ay":-0.00699, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[-0.11556,-0.11556,-0.11556,-0.11556]}, + {"t":0.19897, "x":3.82692, "y":0.68854, "heading":0.0, "vx":2.49937, "vy":0.00081, "omega":0.0, "ax":0.0, "ay":-0.00595, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.09839,-0.09839,-0.09839,-0.09839]}, + {"t":0.23876, "x":3.92638, "y":0.68857, "heading":0.0, "vx":2.49937, "vy":0.00058, "omega":0.0, "ax":0.0, "ay":-0.00521, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.0862,-0.0862,-0.0862,-0.0862]}, + {"t":0.27855, "x":4.02584, "y":0.68859, "heading":0.0, "vx":2.49937, "vy":0.00037, "omega":0.0, "ax":0.0, "ay":-0.00474, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.0784,-0.0784,-0.0784,-0.0784]}, + {"t":0.31835, "x":4.1253, "y":0.6886, "heading":0.0, "vx":2.49937, "vy":0.00018, "omega":0.0, "ax":0.0, "ay":-0.00451, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.07458,-0.07458,-0.07458,-0.07458]}, + {"t":0.35814, "x":4.22475, "y":0.6886, "heading":0.0, "vx":2.49937, "vy":0.0, "omega":0.0, "ax":0.0, "ay":-0.00451, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.07456,-0.07456,-0.07456,-0.07456]}, + {"t":0.39793, "x":4.32421, "y":0.6886, "heading":0.0, "vx":2.49937, "vy":-0.00018, "omega":0.0, "ax":0.0, "ay":-0.00474, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.07835,-0.07835,-0.07835,-0.07835]}, + {"t":0.43773, "x":4.42367, "y":0.68859, "heading":0.0, "vx":2.49937, "vy":-0.00037, "omega":0.0, "ax":0.0, "ay":-0.00521, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[-0.08612,-0.08612,-0.08612,-0.08612]}, + {"t":0.47752, "x":4.52313, "y":0.68857, "heading":0.0, "vx":2.49937, "vy":-0.00057, "omega":0.0, "ax":0.0, "ay":-0.00594, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[-0.09828,-0.09828,-0.09828,-0.09828]}, + {"t":0.51731, "x":4.62259, "y":0.68854, "heading":0.0, "vx":2.49937, "vy":-0.00081, "omega":0.0, "ax":0.0, "ay":-0.00698, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[-0.11543,-0.11543,-0.11543,-0.11543]}, + {"t":0.55711, "x":4.72205, "y":0.6885, "heading":0.0, "vx":2.49937, "vy":-0.00109, "omega":0.0, "ax":0.0, "ay":-0.00837, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[-0.13844,-0.13844,-0.13844,-0.13844]}, + {"t":0.5969, "x":4.8215, "y":0.68845, "heading":0.0, "vx":2.49937, "vy":-0.00142, "omega":0.0, "ax":-0.00001, "ay":-0.01019, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[-0.16846,-0.16846,-0.16846,-0.16846]}, + {"t":0.63669, "x":4.92096, "y":0.68839, "heading":0.0, "vx":2.49937, "vy":-0.00183, "omega":0.0, "ax":-0.00001, "ay":-0.01252, "alpha":0.0, "fx":[-0.00018,-0.00018,-0.00018,-0.00018], "fy":[-0.20702,-0.20702,-0.20702,-0.20702]}, + {"t":0.67649, "x":5.02042, "y":0.68831, "heading":0.0, "vx":2.49937, "vy":-0.00233, "omega":0.0, "ax":-0.00002, "ay":-0.01549, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[-0.25607,-0.25607,-0.25607,-0.25607]}, + {"t":0.71628, "x":5.11988, "y":0.6882, "heading":0.0, "vx":2.49937, "vy":-0.00294, "omega":0.0, "ax":-0.00003, "ay":-0.01924, "alpha":0.0, "fx":[-0.00043,-0.00043,-0.00043,-0.00043], "fy":[-0.31812,-0.31812,-0.31812,-0.31812]}, + {"t":0.75607, "x":5.21934, "y":0.68807, "heading":0.0, "vx":2.49937, "vy":-0.00371, "omega":0.0, "ax":-0.00004, "ay":-0.02398, "alpha":0.0, "fx":[-0.00067,-0.00067,-0.00067,-0.00067], "fy":[-0.3964,-0.3964,-0.3964,-0.3964]}, + {"t":0.79586, "x":5.31879, "y":0.6879, "heading":0.0, "vx":2.49937, "vy":-0.00466, "omega":0.0, "ax":-0.00006, "ay":-0.02995, "alpha":0.0, "fx":[-0.00104,-0.00104,-0.00104,-0.00104], "fy":[-0.49512,-0.49512,-0.49512,-0.49512]}, + {"t":0.83566, "x":5.41825, "y":0.68769, "heading":0.0, "vx":2.49936, "vy":-0.00585, "omega":0.0, "ax":-0.0001, "ay":-0.03749, "alpha":0.0, "fx":[-0.00164,-0.00164,-0.00164,-0.00164], "fy":[-0.61992,-0.61992,-0.61992,-0.61992]}, + {"t":0.87545, "x":5.51771, "y":0.68743, "heading":0.0, "vx":2.49936, "vy":-0.00735, "omega":0.0, "ax":-0.00016, "ay":-0.04709, "alpha":0.0, "fx":[-0.00258,-0.00258,-0.00258,-0.00258], "fy":[-0.77853,-0.77853,-0.77853,-0.77853]}, + {"t":0.91524, "x":5.61717, "y":0.6871, "heading":0.0, "vx":2.49935, "vy":-0.00922, "omega":0.0, "ax":-0.00025, "ay":-0.05941, "alpha":0.0, "fx":[-0.00409,-0.00409,-0.00409,-0.00409], "fy":[-0.98227,-0.98227,-0.98227,-0.98227]}, + {"t":0.95504, "x":5.71662, "y":0.68669, "heading":0.0, "vx":2.49934, "vy":-0.01158, "omega":0.0, "ax":-0.0004, "ay":-0.07554, "alpha":0.0, "fx":[-0.00654,-0.00654,-0.00654,-0.00654], "fy":[-1.24887,-1.24887,-1.24887,-1.24887]}, + {"t":0.99483, "x":5.81608, "y":0.68617, "heading":0.0, "vx":2.49933, "vy":-0.01459, "omega":0.0, "ax":-0.00064, "ay":-0.09733, "alpha":0.0, "fx":[-0.01064,-0.01064,-0.01064,-0.01064], "fy":[-1.60924,-1.60924,-1.60924,-1.60924]}, + {"t":1.03462, "x":5.91554, "y":0.68551, "heading":0.0, "vx":2.4993, "vy":-0.01846, "omega":0.0, "ax":-0.00108, "ay":-0.1285, "alpha":0.0, "fx":[-0.01787,-0.01787,-0.01787,-0.01787], "fy":[-2.12457,-2.12457,-2.12457,-2.12457]}, + {"t":1.07442, "x":6.01499, "y":0.68467, "heading":0.0, "vx":2.49926, "vy":-0.02358, "omega":0.0, "ax":-0.00192, "ay":-0.17733, "alpha":0.0, "fx":[-0.03179,-0.03179,-0.03179,-0.03179], "fy":[-2.93182,-2.93182,-2.93182,-2.93182]}, + {"t":1.11421, "x":6.11444, "y":0.68359, "heading":0.0, "vx":2.49918, "vy":-0.03063, "omega":0.0, "ax":-0.00375, "ay":-0.26144, "alpha":0.0, "fx":[-0.06197,-0.06197,-0.06197,-0.06197], "fy":[-4.32251,-4.32251,-4.32251,-4.32251]}, + {"t":1.154, "x":6.21389, "y":0.68217, "heading":0.0, "vx":2.49903, "vy":-0.04104, "omega":0.0, "ax":-0.00712, "ay":-0.36806, "alpha":0.0, "fx":[-0.11773,-0.11773,-0.11773,-0.11773], "fy":[-6.0853,-6.0853,-6.0853,-6.0853]}, + {"t":1.1938, "x":6.31333, "y":0.68024, "heading":0.0, "vx":2.49875, "vy":-0.05568, "omega":0.0, "ax":0.00823, "ay":0.5255, "alpha":0.0, "fx":[0.13604,0.13604,0.13604,0.13604], "fy":[8.68835,8.68835,8.68835,8.68835]}, + {"t":1.23359, "x":6.41277, "y":0.67844, "heading":0.0, "vx":2.49908, "vy":-0.03477, "omega":0.0, "ax":-5.02884, "ay":4.79323, "alpha":0.0, "fx":[-83.14408,-83.14408,-83.14408,-83.14408], "fy":[79.24858,79.24858,79.24858,79.24858]}, + {"t":1.27338, "x":6.50823, "y":0.68085, "heading":0.0, "vx":2.29896, "vy":0.15597, "omega":0.0, "ax":-7.33318, "ay":1.45155, "alpha":0.0, "fx":[-121.24264,-121.24264,-121.24264,-121.24264], "fy":[23.9991,23.9991,23.9991,23.9991]}, + {"t":1.31318, "x":6.59391, "y":0.68821, "heading":0.0, "vx":2.00715, "vy":0.21373, "omega":0.0, "ax":-0.69266, "ay":0.13778, "alpha":18.47318, "fx":[-95.19225,-99.31744,76.95902,71.74259], "fy":[80.02392,-74.82925,-97.6006,101.51783]}, + {"t":1.33543, "x":6.63841, "y":0.693, "heading":0.0, "vx":1.99174, "vy":0.2168, "omega":0.41111, "ax":-0.73017, "ay":0.19166, "alpha":18.44701, "fx":[-94.80392,-100.5149,77.16591,69.86422], "fy":[80.46343,-73.18401,-97.40159,102.79735]}, + {"t":1.35769, "x":6.68255, "y":0.69787, "heading":0.00915, "vx":1.97549, "vy":0.22106, "omega":0.82164, "ax":-0.77338, "ay":0.25459, "alpha":18.41281, "fx":[-94.9682,-101.323,78.50829,66.63649], "fy":[80.24646,-72.02567,-96.27763,104.89391]}, + {"t":1.37994, "x":6.72633, "y":0.70286, "heading":0.02743, "vx":1.95828, "vy":0.22673, "omega":1.23141, "ax":-0.82293, "ay":0.32963, "alpha":18.36746, "fx":[-95.62847,-101.83126,81.07629,61.96009], "fy":[79.43161,-71.26136,-94.06551,107.69522]}, + {"t":1.4022, "x":6.7697, "y":0.70798, "heading":0.05484, "vx":1.93996, "vy":0.23406, "omega":1.64017, "ax":-0.8792, "ay":0.42201, "alpha":18.30603, "fx":[-96.7,-102.15464,84.98919,55.72076], "fy":[78.09152,-70.74135,-90.46293,111.0219]}, + {"t":1.42445, "x":6.81266, "y":0.7133, "heading":0.09134, "vx":1.9204, "vy":0.24345, "omega":2.04757, "ax":-0.94211, "ay":0.5414, "alpha":18.21989, "fx":[-98.06765,-102.46033,90.41594,47.80675], "fy":[76.32769,-70.22531,-84.91701,114.61928]}, + {"t":1.4467, "x":6.85516, "y":0.71885, "heading":0.13691, "vx":1.89943, "vy":0.2555, "omega":2.45304, "ax":-1.0111, "ay":0.70727, "alpha":18.09161, "fx":[-99.58032,-103.01474,97.59393,38.13331], "fy":[74.29403,-69.31097,-76.36148,118.1531]}, + {"t":1.46896, "x":6.89718, "y":0.72471, "heading":0.1915, "vx":1.87693, "vy":0.27124, "omega":2.85567, "ax":-1.08667, "ay":0.96251, "alpha":17.87857, "fx":[-101.03794,-104.26711,106.7669,26.6728], "fy":[72.23545,-67.27027,-62.52426,121.2133]}, + {"t":1.49121, "x":6.93868, "y":0.73098, "heading":0.25505, "vx":1.85275, "vy":0.29266, "omega":3.25355, "ax":-1.1828, "ay":1.4111, "alpha":17.44933, "fx":[-102.16032,-106.98403,117.43405,13.48707], "fy":[70.55457,-62.63493,-37.92785,123.32931]}, + {"t":1.51347, "x":6.97962, "y":0.73785, "heading":0.32746, "vx":1.82642, "vy":0.32407, "omega":3.64187, "ax":-1.41645, "ay":2.30802, "alpha":16.29711, "fx":[-102.50875,-112.32103,122.3975,-1.24295], "fy":[69.93279,-52.04661,10.75295,123.99923]}, + {"t":1.53572, "x":7.01992, "y":0.74563, "heading":0.40851, "vx":1.7949, "vy":0.37543, "omega":4.00456, "ax":-2.32815, "ay":3.85877, "alpha":12.90988, "fx":[-101.27019,-120.48643,84.99916,-17.212], "fy":[71.55845,-27.19599,88.10249,122.72984]}, + {"t":1.55798, "x":7.05929, "y":0.75494, "heading":0.49763, "vx":1.74309, "vy":0.46131, "omega":4.29186, "ax":-3.68951, "ay":5.21301, "alpha":7.52961, "fx":[-96.61961,-120.53596,7.20418,-34.04967], "fy":[77.51519,25.57962,122.60328,119.058]}, + {"t":1.58023, "x":7.09717, "y":0.7665, "heading":0.59314, "vx":1.66098, "vy":0.57732, "omega":4.45943, "ax":-4.05399, "ay":6.09962, "alpha":2.63761, "fx":[-83.95614,-89.80562,-42.8531,-51.49099], "fy":[90.82688,84.48577,115.61839,112.45977]}, + {"t":1.60249, "x":7.13313, "y":0.78086, "heading":0.69238, "vx":1.57076, "vy":0.71306, "omega":4.51813, "ax":-3.79942, "ay":6.41143, "alpha":-0.9551, "fx":[-53.45005,-57.06375,-71.0538,-69.7025], "fy":[111.31603,109.66193,101.13781,101.89626]}, + {"t":1.62474, "x":7.16714, "y":0.79831, "heading":0.79293, "vx":1.48621, "vy":0.85575, "omega":4.49688, "ax":-3.37168, "ay":6.20058, "alpha":-4.46638, "fx":[-2.65026,-41.28868,-89.26569,-89.77703], "fy":[123.42498,116.77493,85.75391,84.11386]}, + {"t":1.647, "x":7.19938, "y":0.81889, "heading":0.89301, "vx":1.41117, "vy":0.99374, "omega":4.39748, "ax":-3.19998, "ay":5.2961, "alpha":-7.94019, "fx":[40.32791,-36.22935,-102.15637,-113.56861], "fy":[116.88739,118.59977,70.10905,44.65463]}, + {"t":1.66925, "x":7.22999, "y":0.84232, "heading":0.99087, "vx":1.33996, "vy":1.1116, "omega":4.22077, "ax":-2.74088, "ay":3.12052, "alpha":-13.37511, "fx":[62.21671,-36.62703,-111.50091,-95.35321], "fy":[107.10018,118.58039,54.21396,-73.52252]}, + {"t":1.69151, "x":7.25914, "y":0.86783, "heading":1.0848, "vx":1.27896, "vy":1.18105, "omega":3.92312, "ax":-1.07778, "ay":2.05715, "alpha":-16.63832, "fx":[71.4199,-39.80651,-117.99407,15.10313], "fy":[101.38112,117.62248,38.26395,-121.22044]}, + {"t":1.71376, "x":7.28733, "y":0.89462, "heading":1.17211, "vx":1.25497, "vy":1.22683, "omega":3.55284, "ax":-0.52013, "ay":1.94585, "alpha":-17.1569, "fx":[74.74182,-44.24515,-122.00135,57.10666], "fy":[99.0861,116.07786,22.67711,-109.15437]}, + {"t":1.73601, "x":7.31513, "y":0.92241, "heading":1.25118, "vx":1.2434, "vy":1.27013, "omega":3.17102, "ax":-0.33192, "ay":1.86009, "alpha":-17.39315, "fx":[75.33511,-49.08542,-123.87901,75.67792], "fy":[98.72542,114.15531,7.89459,-97.7606]}, + {"t":1.75827, "x":7.34272, "y":0.95114, "heading":1.32175, "vx":1.23601, "vy":1.31153, "omega":2.78394, "ax":-0.25411, "ay":1.76774, "alpha":-17.56242, "fx":[74.61753,-53.88056,-124.0299,86.48764], "fy":[99.3333,112.00362,-5.7648,-88.66504]}, + {"t":1.78052, "x":7.37016, "y":0.98076, "heading":1.3837, "vx":1.23036, "vy":1.35087, "omega":2.39309, "ax":-0.21629, "ay":1.67444, "alpha":-17.69756, "fx":[73.31418,-58.36884,-122.87305,93.62396], "fy":[100.34693,109.75759,-18.05934,-81.30815]}, + {"t":1.80278, "x":7.39749, "y":1.01124, "heading":1.43696, "vx":1.22554, "vy":1.38813, "omega":1.99924, "ax":-0.19333, "ay":1.5846, "alpha":-17.80905, "fx":[71.84243,-62.3915,-120.82767,98.59095], "fy":[101.44241,107.54383,-28.82854,-75.36237]}, + {"t":1.82503, "x":7.42472, "y":1.04252, "heading":1.48145, "vx":1.22124, "vy":1.4234, "omega":1.60291, "ax":-0.17518, "ay":1.50083, "alpha":-17.90202, "fx":[70.46647,-65.85162,-118.29166,102.09145], "fy":[102.43177,105.47949,-37.99128,-70.66418]}, + {"t":1.84729, "x":7.45185, "y":1.07457, "heading":1.51713, "vx":1.21734, "vy":1.4568, "omega":1.20451, "ax":-0.15784, "ay":1.42454, "alpha":-17.97977, "fx":[69.36534,-68.69038,-115.62106,104.50775], "fy":[103.20378,103.66976,-45.53384,-67.12963]}, + {"t":1.86954, "x":7.47891, "y":1.10735, "heading":1.54393, "vx":1.21383, "vy":1.4885, "omega":0.80437, "ax":-0.13996, "ay":1.3562, "alpha":-18.04484, "fx":[68.66581,-70.87195,-113.1151,106.06514], "fy":[103.68958,102.20541,-51.49144,-64.71288]}, + {"t":1.8918, "x":7.50588, "y":1.14081, "heading":1.56183, "vx":1.21072, "vy":1.51868, "omega":0.40279, "ax":-0.12135, "ay":1.29569, "alpha":-18.09931, "fx":[68.45932,-72.37334,-111.0085,106.89745], "fy":[103.84198,101.1609,-55.92784,-63.38632]}, + {"t":1.91405, "x":7.5328, "y":1.17493, "heading":1.5708, "vx":1.20801, "vy":1.54752, "omega":0.0, "ax":-1.07622, "ay":7.42886, "alpha":0.0, "fx":[-17.79361,-17.79361,-17.79361,-17.79361], "fy":[122.82465,122.82465,122.82465,122.82465]}, + {"t":1.95182, "x":7.57766, "y":1.23868, "heading":1.5708, "vx":1.16736, "vy":1.82812, "omega":0.0, "ax":-1.93067, "ay":7.23784, "alpha":0.0, "fx":[-31.9206,-31.9206,-31.9206,-31.9206], "fy":[119.66634,119.66634,119.66634,119.66634]}, + {"t":1.98959, "x":7.62037, "y":1.31289, "heading":1.5708, "vx":1.09444, "vy":2.1015, "omega":0.0, "ax":-4.58985, "ay":5.8593, "alpha":0.0, "fx":[-75.88608,-75.88608,-75.88608,-75.88608], "fy":[96.87439,96.87439,96.87439,96.87439]}, + {"t":2.02737, "x":7.65844, "y":1.39645, "heading":1.5708, "vx":0.92107, "vy":2.32281, "omega":0.0, "ax":-6.95331, "ay":2.33499, "alpha":0.0, "fx":[-114.96212,-114.96212,-114.96212,-114.96212], "fy":[38.6054,38.6054,38.6054,38.6054]}, + {"t":2.06514, "x":7.68827, "y":1.48585, "heading":1.5708, "vx":0.65844, "vy":2.41101, "omega":0.0, "ax":-6.87605, "ay":1.49076, "alpha":0.0, "fx":[-113.68485,-113.68485,-113.68485,-113.68485], "fy":[24.64739,24.64739,24.64739,24.64739]}, + {"t":2.10291, "x":7.70823, "y":1.57798, "heading":1.5708, "vx":0.39872, "vy":2.46732, "omega":0.0, "ax":-5.43034, "ay":0.64883, "alpha":0.0, "fx":[-89.78221,-89.78221,-89.78221,-89.78221], "fy":[10.72743,10.72743,10.72743,10.72743]}, + {"t":2.14068, "x":7.71942, "y":1.67164, "heading":1.5708, "vx":0.19361, "vy":2.49183, "omega":0.0, "ax":-1.42905, "ay":0.09551, "alpha":0.0, "fx":[-23.62714,-23.62714,-23.62714,-23.62714], "fy":[1.57912,1.57912,1.57912,1.57912]}, + {"t":2.17845, "x":7.72571, "y":1.76583, "heading":1.5708, "vx":0.13963, "vy":2.49543, "omega":0.0, "ax":-0.18546, "ay":0.01012, "alpha":0.0, "fx":[-3.06629,-3.06629,-3.06629,-3.06629], "fy":[0.16725,0.16725,0.16725,0.16725]}, + {"t":2.21622, "x":7.73086, "y":1.86009, "heading":1.5708, "vx":0.13262, "vy":2.49582, "omega":0.0, "ax":-0.02318, "ay":0.00123, "alpha":0.0, "fx":[-0.38321,-0.38321,-0.38321,-0.38321], "fy":[0.02028,0.02028,0.02028,0.02028]}, + {"t":2.25399, "x":7.73585, "y":1.95436, "heading":1.5708, "vx":0.13175, "vy":2.49586, "omega":0.0, "ax":-0.00288, "ay":0.00015, "alpha":0.0, "fx":[-0.04759,-0.04759,-0.04759,-0.04759], "fy":[0.0025,0.0025,0.0025,0.0025]}, + {"t":2.29177, "x":7.74082, "y":2.04863, "heading":1.5708, "vx":0.13164, "vy":2.49587, "omega":0.0, "ax":-0.00035, "ay":0.00002, "alpha":0.0, "fx":[-0.00577,-0.00577,-0.00577,-0.00577], "fy":[0.00029,0.00029,0.00029,0.00029]}, + {"t":2.32954, "x":7.7458, "y":2.14291, "heading":1.5708, "vx":0.13163, "vy":2.49587, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00069,-0.00069,-0.00069,-0.00069], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.36731, "x":7.75077, "y":2.23718, "heading":1.5708, "vx":0.13163, "vy":2.49587, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00018,-0.00018,-0.00018,-0.00018], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.40508, "x":7.75574, "y":2.33145, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00023,-0.00023,-0.00023,-0.00023], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.44285, "x":7.76071, "y":2.42572, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00035,-0.00035,-0.00035,-0.00035], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":2.48062, "x":7.76568, "y":2.52, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00047,-0.00047,-0.00047,-0.00047], "fy":[0.00002,0.00002,0.00002,0.00002]}, + {"t":2.5184, "x":7.77065, "y":2.61427, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.00002,0.00002,0.00002,0.00002]}, + {"t":2.55617, "x":7.77563, "y":2.70854, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00068,-0.00068,-0.00068,-0.00068], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.59394, "x":7.7806, "y":2.80281, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00078,-0.00078,-0.00078,-0.00078], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.63171, "x":7.78557, "y":2.89709, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00087,-0.00087,-0.00087,-0.00087], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":2.66948, "x":7.79054, "y":2.99136, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00095,-0.00095,-0.00095,-0.00095], "fy":[0.00005,0.00005,0.00005,0.00005]}, + {"t":2.70725, "x":7.79551, "y":3.08563, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00104,-0.00104,-0.00104,-0.00104], "fy":[0.00005,0.00005,0.00005,0.00005]}, + {"t":2.74502, "x":7.80048, "y":3.1799, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00111,-0.00111,-0.00111,-0.00111], "fy":[0.00005,0.00005,0.00005,0.00005]}, + {"t":2.7828, "x":7.80545, "y":3.27418, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00118,-0.00118,-0.00118,-0.00118], "fy":[0.00006,0.00006,0.00006,0.00006]}, + {"t":2.82057, "x":7.81042, "y":3.36845, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00117,-0.00117,-0.00117,-0.00117], "fy":[0.00005,0.00005,0.00005,0.00005]}, + {"t":2.85834, "x":7.8154, "y":3.46272, "heading":1.5708, "vx":0.1316, "vy":2.49587, "omega":0.0, "ax":-0.00096, "ay":-0.0176, "alpha":0.0, "fx":[-0.01591,-0.01591,-0.01591,-0.01591], "fy":[-0.29094,-0.29094,-0.29094,-0.29094]}, + {"t":2.89611, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.13157, "vy":2.4952, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj index 62daef02..c206e3e0 100644 --- a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj @@ -3,32 +3,32 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.378722190856934, "y":7.126171112060547, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.82036542892456, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.621101379394531, "y":7.239717483520508, "heading":-0.6556957522182731, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":8.254300117492676, "y":6.001461505889893, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":8.254300117492676, "y":4.509925842285156, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.994898796081543 m", "val":5.994898796081543}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"7.378722190856934 m", "val":7.378722190856934}, "y":{"exp":"7.126171112060547 m", "val":7.126171112060547}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"7.621101379394531 m", "val":7.621101379394531}, "y":{"exp":"7.239717483520508 m", "val":7.239717483520508}, "heading":{"exp":"-0.6556957522182731 rad", "val":-0.6556957522182731}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"6.001461505889893 m", "val":6.001461505889893}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"8.254300117492676 m", "val":8.254300117492676}, "y":{"exp":"4.509925842285156 m", "val":4.509925842285156}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ @@ -61,112 +61,107 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.24979,1.95917,2.62074,3.31799], + "waypoints":[0.0,1.05992,1.72201,2.28918,2.88646], "samples":[ - {"t":0.0, "x":3.76206, "y":7.35707, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52529, "ay":-0.01486, "alpha":0.0, "fx":[124.41895,124.41895,124.41895,124.41895], "fy":[-0.24565,-0.24565,-0.24565,-0.24565]}, - {"t":0.04464, "x":3.76956, "y":7.35705, "heading":0.0, "vx":0.33589, "vy":-0.00066, "omega":0.0, "ax":7.52341, "ay":-0.01485, "alpha":0.0, "fx":[124.38788,124.38788,124.38788,124.38788], "fy":[-0.24558,-0.24558,-0.24558,-0.24558]}, - {"t":0.08927, "x":3.79205, "y":7.35701, "heading":0.0, "vx":0.67171, "vy":-0.00133, "omega":0.0, "ax":7.52033, "ay":-0.01485, "alpha":0.0, "fx":[124.33692,124.33692,124.33692,124.33692], "fy":[-0.24548,-0.24548,-0.24548,-0.24548]}, - {"t":0.13391, "x":3.82952, "y":7.35693, "heading":0.0, "vx":1.00738, "vy":-0.00199, "omega":0.0, "ax":7.51434, "ay":-0.01484, "alpha":0.0, "fx":[124.23796,124.23796,124.23796,124.23796], "fy":[-0.24529,-0.24529,-0.24529,-0.24529]}, - {"t":0.17854, "x":3.88197, "y":7.35683, "heading":0.0, "vx":1.34278, "vy":-0.00265, "omega":0.0, "ax":7.49771, "ay":-0.0148, "alpha":0.0, "fx":[123.96299,123.96299,123.96299,123.96299], "fy":[-0.24475,-0.24475,-0.24475,-0.24475]}, - {"t":0.22318, "x":3.94938, "y":7.3567, "heading":0.0, "vx":1.67745, "vy":-0.00331, "omega":0.0, "ax":7.21496, "ay":-0.01424, "alpha":0.0, "fx":[119.28813,119.28813,119.28813,119.28813], "fy":[-0.23552,-0.23552,-0.23552,-0.23552]}, - {"t":0.26781, "x":4.03144, "y":7.35654, "heading":0.0, "vx":1.99949, "vy":-0.00395, "omega":0.0, "ax":0.00138, "ay":0.0, "alpha":0.0, "fx":[0.02281,0.02281,0.02281,0.02281], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, - {"t":0.31245, "x":4.12069, "y":7.35636, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.35708, "x":4.20994, "y":7.35618, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.40172, "x":4.29919, "y":7.35601, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.44635, "x":4.38844, "y":7.35583, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.49099, "x":4.47769, "y":7.35565, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.53563, "x":4.56694, "y":7.35548, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.58026, "x":4.65619, "y":7.3553, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.6249, "x":4.74544, "y":7.35513, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.66953, "x":4.83469, "y":7.35495, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.71417, "x":4.92395, "y":7.35477, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.7588, "x":5.0132, "y":7.3546, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.80344, "x":5.10245, "y":7.35442, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.84807, "x":5.1917, "y":7.35424, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.89271, "x":5.28095, "y":7.35407, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.93734, "x":5.3702, "y":7.35389, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.98198, "x":5.45945, "y":7.35372, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, - {"t":1.02662, "x":5.5487, "y":7.35354, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":-0.00002, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.0003,-0.0003,-0.0003,-0.0003]}, - {"t":1.07125, "x":5.63795, "y":7.35336, "heading":0.0, "vx":1.99955, "vy":-0.00395, "omega":0.0, "ax":0.0, "ay":-0.00032, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.00532,-0.00532,-0.00532,-0.00532]}, - {"t":1.11589, "x":5.7272, "y":7.35319, "heading":0.0, "vx":1.99955, "vy":-0.00396, "omega":0.0, "ax":-0.00001, "ay":-0.00577, "alpha":0.0, "fx":[-0.0002,-0.0002,-0.0002,-0.0002], "fy":[-0.09539,-0.09539,-0.09539,-0.09539]}, - {"t":1.16052, "x":5.81646, "y":7.353, "heading":0.0, "vx":1.99955, "vy":-0.00422, "omega":0.0, "ax":-0.00034, "ay":-0.10333, "alpha":0.0, "fx":[-0.00559,-0.00559,-0.00559,-0.00559], "fy":[-1.70847,-1.70847,-1.70847,-1.70847]}, - {"t":1.20516, "x":5.90571, "y":7.35271, "heading":0.0, "vx":1.99954, "vy":-0.00883, "omega":0.0, "ax":-0.05753, "ay":-1.75086, "alpha":0.0, "fx":[-0.95124,-0.95124,-0.95124,-0.95124], "fy":[-28.94779,-28.94779,-28.94779,-28.94779]}, - {"t":1.24979, "x":5.9949, "y":7.35057, "heading":0.0, "vx":1.99697, "vy":-0.08698, "omega":0.0, "ax":-0.162, "ay":-2.8477, "alpha":-4.86394, "fx":[20.40866,26.95202,-32.88012,-25.19425], "fy":[-66.98931,-27.86732,-27.23144,-66.24086]}, - {"t":1.27513, "x":6.04544, "y":7.34746, "heading":0.0, "vx":1.99287, "vy":-0.15913, "omega":-0.12323, "ax":-0.06532, "ay":-0.7706, "alpha":-5.78527, "fx":[25.3241,27.72043,-29.95046,-27.41391], "fy":[-39.85636,14.30302,14.17994,-39.58931]}, - {"t":1.30046, "x":6.09591, "y":7.34318, "heading":-0.00312, "vx":1.99121, "vy":-0.17865, "omega":-0.2698, "ax":-0.01726, "ay":-0.18978, "alpha":-5.49525, "fx":[25.30546,26.00719,-26.42045,-26.03352], "fy":[-29.15,22.70822,22.82869,-28.93778]}, - {"t":1.3258, "x":6.14635, "y":7.33859, "heading":-0.00996, "vx":1.99077, "vy":-0.18346, "omega":-0.40902, "ax":-0.00423, "ay":-0.04576, "alpha":-5.1169, "fx":[23.77178,24.36612,-24.02556,-24.39215], "fy":[-25.13821,23.14403,23.61675,-24.64901]}, - {"t":1.35113, "x":6.19679, "y":7.33393, "heading":-0.02032, "vx":1.99067, "vy":-0.18462, "omega":-0.53866, "ax":-0.00101, "ay":-0.01086, "alpha":-4.74512, "fx":[21.89753,22.83046,-21.95416,-22.84054], "fy":[-23.01563,21.74673,22.6552,-22.10474]}, - {"t":1.37647, "x":6.24722, "y":7.32925, "heading":-0.03397, "vx":1.99064, "vy":-0.1849, "omega":-0.65887, "ax":-0.00024, "ay":-0.00254, "alpha":-4.38653, "fx":[19.97266,21.38284,-19.98515,-21.386], "fy":[-21.42652,19.93692,21.34232,-20.02088]}, - {"t":1.4018, "x":6.29765, "y":7.32456, "heading":-0.05066, "vx":1.99063, "vy":-0.18496, "omega":-0.77001, "ax":-0.00006, "ay":-0.00059, "alpha":-4.04236, "fx":[18.07848,20.01071,-18.08122,-20.01162], "fy":[-20.02089,18.07012,20.00145,-18.08958]}, - {"t":1.42714, "x":6.34808, "y":7.31988, "heading":-0.07017, "vx":1.99063, "vy":-0.18498, "omega":-0.87242, "ax":-0.00001, "ay":-0.00014, "alpha":-3.7133, "fx":[16.24603,18.70252,-16.24664,-18.70278], "fy":[-18.70489,16.24409,18.70041,-16.24858]}, - {"t":1.45247, "x":6.39852, "y":7.31519, "heading":-0.09227, "vx":1.99063, "vy":-0.18498, "omega":-0.9665, "ax":0.0, "ay":-0.00003, "alpha":-3.39974, "fx":[14.49234,17.44791,-14.49249,-17.44799], "fy":[-17.4485,14.49187,17.44741,-14.49297]}, - {"t":1.47781, "x":6.44895, "y":7.3105, "heading":-0.11676, "vx":1.99063, "vy":-0.18498, "omega":-1.05263, "ax":0.0, "ay":-0.00001, "alpha":-3.10187, "fx":[12.82887,16.23815,-12.82893,-16.2382], "fy":[-16.23837,12.82871,16.23798,-12.82909]}, - {"t":1.50314, "x":6.49938, "y":7.30582, "heading":-0.14342, "vx":1.99063, "vy":-0.18498, "omega":-1.13122, "ax":0.0, "ay":-0.00001, "alpha":-2.81959, "fx":[11.26369,15.06617,-11.26374,-15.06621], "fy":[-15.06634,11.26356,15.06603,-11.26387]}, - {"t":1.52848, "x":6.54981, "y":7.30113, "heading":-0.17208, "vx":1.99063, "vy":-0.18498, "omega":-1.20265, "ax":0.0, "ay":-0.00001, "alpha":-2.55264, "fx":[9.80224,13.92636,-9.8023,-13.9264], "fy":[-13.92658,9.80207,13.92619,-9.80246]}, - {"t":1.55381, "x":6.60025, "y":7.29644, "heading":-0.20255, "vx":1.99063, "vy":-0.18498, "omega":-1.26732, "ax":0.0, "ay":-0.00002, "alpha":-2.30056, "fx":[8.44776,12.81439,-8.44784,-12.81445], "fy":[-12.81472,8.4475,12.81412,-8.4481]}, - {"t":1.57915, "x":6.65068, "y":7.29176, "heading":-0.23466, "vx":1.99063, "vy":-0.18498, "omega":-1.32561, "ax":0.0, "ay":-0.00004, "alpha":-2.06275, "fx":[7.2017,11.72692,-7.20184,-11.72703], "fy":[-11.72759,7.20115,11.72636,-7.20239]}, - {"t":1.60448, "x":6.70111, "y":7.28707, "heading":-0.26825, "vx":1.99063, "vy":-0.18498, "omega":-1.37787, "ax":-0.00001, "ay":-0.00012, "alpha":-1.83846, "fx":[6.06394,10.66135,-6.06434,-10.66169], "fy":[-10.66342,6.06222,10.65962,-6.06606]}, - {"t":1.62982, "x":6.75155, "y":7.28238, "heading":-0.30315, "vx":1.99063, "vy":-0.18498, "omega":-1.42444, "ax":-0.00004, "ay":-0.00047, "alpha":-1.62688, "fx":[5.03293,9.61541,-5.03449,-9.61677], "fy":[-9.62383,5.02591,9.60835,-5.0415]}, - {"t":1.65515, "x":6.80198, "y":7.2777, "heading":-0.33924, "vx":1.99063, "vy":-0.185, "omega":-1.46566, "ax":-0.0002, "ay":-0.00211, "alpha":-1.42711, "fx":[4.10496,8.58603,-4.11179,-8.59218], "fy":[-8.62383,4.07342,8.55438,-4.14332]}, - {"t":1.68049, "x":6.85241, "y":7.27301, "heading":-0.37637, "vx":1.99063, "vy":-0.18505, "omega":-1.50182, "ax":-0.0009, "ay":-0.00972, "alpha":-1.23817, "fx":[3.26985,7.56479,-3.30087,-7.59356], "fy":[-7.73936,3.12426,7.41894,-3.44642]}, - {"t":1.70582, "x":6.90284, "y":7.26832, "heading":-0.41442, "vx":1.9906, "vy":-0.1853, "omega":-1.53319, "ax":-0.00421, "ay":-0.04513, "alpha":-1.05899, "fx":[2.48996,6.51685,-2.63288,-6.65262], "fy":[-7.32879,1.81342,5.8398,-3.30887]}, - {"t":1.73116, "x":6.95327, "y":7.26361, "heading":-0.45327, "vx":1.9905, "vy":-0.18644, "omega":-1.56001, "ax":-0.01995, "ay":-0.20991, "alpha":-0.88731, "fx":[1.59734,5.27593,-2.26771,-5.9246], "fy":[-9.05702,-1.5483,2.12748,-5.40405]}, - {"t":1.75649, "x":7.0037, "y":7.25882, "heading":-0.49279, "vx":1.98999, "vy":-0.19176, "omega":-1.58249, "ax":-0.09866, "ay":-0.96193, "alpha":-0.70244, "fx":[-0.25718,2.93833,-3.03468,-6.17137], "fy":[-20.30669,-14.60587,-11.46773,-17.23554]}, - {"t":1.78183, "x":7.05408, "y":7.25365, "heading":-0.53288, "vx":1.98749, "vy":-0.21613, "omega":-1.60029, "ax":-0.4617, "ay":-3.50985, "alpha":-0.36343, "fx":[-6.78187,-4.80211,-8.52074,-10.42949], "fy":[-59.90259,-57.69656,-56.13919,-58.38148]}, - {"t":1.80716, "x":7.10429, "y":7.24705, "heading":-0.57343, "vx":1.97579, "vy":-0.30505, "omega":-1.6095, "ax":-1.17312, "ay":-6.02841, "alpha":-0.08369, "fx":[-19.07237,-18.54029,-19.72424,-20.24617], "fy":[-99.90935,-99.76115,-99.43173,-99.57924]}, - {"t":1.8325, "x":7.15397, "y":7.23739, "heading":-0.6142, "vx":1.94607, "vy":-0.45778, "omega":-1.61162, "ax":-1.89958, "ay":-6.72068, "alpha":-0.01973, "fx":[-31.30963,-31.19185,-31.50402,-31.62101], "fy":[-111.16078,-111.16832,-111.07119,-111.06361]}, - {"t":1.85783, "x":7.20266, "y":7.22363, "heading":-0.65503, "vx":1.89795, "vy":-0.62805, "omega":-1.61212, "ax":-2.59606, "ay":-6.77699, "alpha":-0.00395, "fx":[-42.89987,-42.87979,-42.94387,-42.96391], "fy":[-112.05718,-112.06211,-112.03675,-112.03182]}, - {"t":1.88317, "x":7.24991, "y":7.20555, "heading":-0.69588, "vx":1.83218, "vy":-0.79974, "omega":-1.61222, "ax":-3.26327, "ay":-6.60841, "alpha":0.0011, "fx":[-53.95963,-53.96409,-53.94648,-53.94201], "fy":[-109.25619,-109.25447,-109.26328,-109.26501]}, - {"t":1.9085, "x":7.29528, "y":7.18316, "heading":-0.73672, "vx":1.7495, "vy":-0.96717, "omega":-1.61219, "ax":-3.8989, "ay":-6.32034, "alpha":0.00296, "fx":[-64.48076,-64.48974,-64.4437,-64.4347], "fy":[-104.48503,-104.4804,-104.50897,-104.51361]}, - {"t":1.93384, "x":7.33836, "y":7.15663, "heading":-0.77757, "vx":1.65072, "vy":-1.12729, "omega":-1.61212, "ax":-4.53136, "ay":-5.92306, "alpha":0.00368, "fx":[-74.94248,-74.94966,-74.89557,-74.88836], "fy":[-97.9101,-97.90547,-97.94696,-97.95161]}, - {"t":1.95917, "x":7.37872, "y":7.12617, "heading":-0.81841, "vx":1.53592, "vy":-1.27735, "omega":-1.61202, "ax":-4.98778, "ay":-5.54134, "alpha":0.00506, "fx":[-82.49674,-82.50336,-82.4335,-82.42682], "fy":[-91.58824,-91.58359,-91.64658,-91.65128]}, - {"t":1.98368, "x":7.41486, "y":7.09321, "heading":-0.85791, "vx":1.41371, "vy":-1.41313, "omega":-1.6119, "ax":-5.47903, "ay":-5.01064, "alpha":0.00904, "fx":[-90.64145,-90.64633,-90.53308,-90.52804], "fy":[-82.78196,-82.78022,-82.90416,-82.90606]}, - {"t":2.00818, "x":7.44785, "y":7.05708, "heading":-0.8974, "vx":1.27946, "vy":-1.5359, "omega":-1.61168, "ax":-5.86909, "ay":-4.45975, "alpha":0.01648, "fx":[-97.12807,-97.12876,-96.9448,-96.94367], "fy":[-73.6089,-73.61892,-73.86074,-73.85133]}, - {"t":2.03268, "x":7.47744, "y":7.01811, "heading":-0.93689, "vx":1.13565, "vy":-1.64518, "omega":-1.61127, "ax":-6.15769, "ay":-3.85979, "alpha":0.03209, "fx":[-101.9662,-101.96033,-101.65,-101.65459], "fy":[-63.5445,-63.59343,-64.08543,-64.03889]}, - {"t":2.05718, "x":7.50342, "y":6.97664, "heading":-0.97637, "vx":0.98478, "vy":-1.73975, "omega":-1.61049, "ax":-6.2613, "ay":-3.19756, "alpha":0.07097, "fx":[-103.80593,-103.8106,-103.23788,-103.22883], "fy":[-52.22503,-52.4058,-53.50268,-53.33336]}, - {"t":2.08168, "x":7.52567, "y":6.93305, "heading":-1.01583, "vx":0.83136, "vy":-1.8181, "omega":-1.60875, "ax":-5.88191, "ay":-2.41782, "alpha":0.19537, "fx":[-97.74244,-98.01832,-96.76443,-96.46769], "fy":[-38.19427,-38.90825,-41.71946,-41.07758]}, - {"t":2.10619, "x":7.54427, "y":6.88778, "heading":-1.05525, "vx":0.68724, "vy":-1.87734, "omega":-1.60396, "ax":-4.03079, "ay":-1.35773, "alpha":0.67092, "fx":[-66.62581,-70.05093,-66.74333,-63.15095], "fy":[-17.16731,-20.22038,-27.52235,-24.88175]}, - {"t":2.13069, "x":7.5599, "y":6.84137, "heading":-1.09455, "vx":0.58847, "vy":-1.91061, "omega":-1.58752, "ax":-1.34632, "ay":-0.40205, "alpha":1.33915, "fx":[-19.85452,-30.50494,-24.80488,-13.87288], "fy":[2.15721,-3.78475,-15.25331,-9.70814]}, - {"t":2.15519, "x":7.57392, "y":6.79444, "heading":-1.13345, "vx":0.55549, "vy":-1.92046, "omega":-1.55471, "ax":-0.32106, "ay":-0.09216, "alpha":1.57837, "fx":[-1.75526,-15.17232,-8.90533,4.60008], "fy":[8.42067,2.05157,-11.40244,-5.16446]}, - {"t":2.17969, "x":7.58743, "y":6.74735, "heading":-1.17154, "vx":0.54762, "vy":-1.92272, "omega":-1.51604, "ax":-0.07412, "ay":-0.02107, "alpha":1.74512, "fx":[3.15284,-12.00474,-5.61496,9.56481], "fy":[10.44743,4.02782,-11.12498,-4.74399]}, - {"t":2.2042, "x":7.60083, "y":6.70024, "heading":-1.20869, "vx":0.5458, "vy":-1.92323, "omega":-1.47328, "ax":-0.01711, "ay":-0.00486, "alpha":1.91862, "fx":[4.97353,-11.95209,-5.54211,11.3889], "fy":[11.59311,5.17487,-11.74805,-5.34102]}, - {"t":2.2287, "x":7.6142, "y":6.65311, "heading":-1.24479, "vx":0.54538, "vy":-1.92335, "omega":-1.42627, "ax":-0.00397, "ay":-0.00112, "alpha":2.10466, "fx":[6.16012,-12.65093,-6.29188,12.52044], "fy":[12.5679,6.2066,-12.60348,-6.24541]}, - {"t":2.2532, "x":7.62756, "y":6.60598, "heading":-1.27974, "vx":0.54529, "vy":-1.92338, "omega":-1.3747, "ax":-0.00093, "ay":-0.00026, "alpha":2.30417, "fx":[7.27806,-13.54738,-7.30883,13.51691], "fy":[13.52803,7.28887,-13.53626,-7.29803]}, - {"t":2.2777, "x":7.64092, "y":6.55886, "heading":-1.31342, "vx":0.54526, "vy":-1.92339, "omega":-1.31824, "ax":-0.00022, "ay":-0.00006, "alpha":2.51773, "fx":[8.45924,-14.51323,-8.46653,14.50601], "fy":[14.50865,8.46178,-14.51059,-8.46399]}, - {"t":2.30221, "x":7.65428, "y":6.51173, "heading":-1.34572, "vx":0.54526, "vy":-1.92339, "omega":-1.25655, "ax":-0.00005, "ay":-0.00002, "alpha":2.74587, "fx":[9.73505,-15.51891,-9.73683,15.51715], "fy":[15.51779,9.73566,-15.51827,-9.73622]}, - {"t":2.32671, "x":7.66764, "y":6.4646, "heading":-1.37651, "vx":0.54526, "vy":-1.92339, "omega":-1.18927, "ax":-0.00002, "ay":-0.00001, "alpha":2.98899, "fx":[11.11269,-16.55804,-11.11322,16.55752], "fy":[16.5577,11.11286,-16.55786,-11.11304]}, - {"t":2.35121, "x":7.681, "y":6.41747, "heading":-1.40565, "vx":0.54526, "vy":-1.92339, "omega":-1.11603, "ax":-0.00002, "ay":-0.00001, "alpha":3.24741, "fx":[12.59246,-17.63019,-12.59304,17.62961], "fy":[17.62982,12.59265,-17.62998,-12.59285]}, - {"t":2.37571, "x":7.69436, "y":6.37035, "heading":-1.43299, "vx":0.54526, "vy":-1.92339, "omega":-1.03646, "ax":-0.00007, "ay":-0.00002, "alpha":3.52128, "fx":[14.17127,-18.73732,-14.17344,18.73515], "fy":[18.73596,14.17199,-18.73651,-14.17271]}, - {"t":2.40021, "x":7.70772, "y":6.32322, "heading":-1.45839, "vx":0.54526, "vy":-1.92339, "omega":-0.95018, "ax":-0.00028, "ay":-0.00008, "alpha":3.8106, "fx":[15.84214,-19.88427,-15.85128,19.87509], "fy":[19.87857,15.84521,-19.88079,-15.84822]}, - {"t":2.42472, "x":7.72108, "y":6.27609, "heading":-1.48167, "vx":0.54525, "vy":-1.92339, "omega":-0.85681, "ax":-0.00114, "ay":-0.00033, "alpha":4.11517, "fx":[17.58958,-21.08339,-17.62725,21.04535], "fy":[21.05995,17.60209,-21.06879,-17.61474]}, - {"t":2.44922, "x":7.73444, "y":6.22896, "heading":-1.50266, "vx":0.54522, "vy":-1.9234, "omega":-0.75598, "ax":-0.00466, "ay":-0.00132, "alpha":4.43458, "fx":[19.37107,-22.37364,-19.52384,22.21835], "fy":[22.27864,19.42117,-22.31337,-19.47379]}, - {"t":2.47372, "x":7.7478, "y":6.18184, "heading":-1.52119, "vx":0.54511, "vy":-1.92343, "omega":-0.64733, "ax":-0.01871, "ay":-0.0053, "alpha":4.76816, "fx":[21.04503,-23.89467,-21.65624,23.2687], "fy":[23.51487,21.24277,-23.64883,-21.4593]}, - {"t":2.49822, "x":7.76115, "y":6.13471, "heading":-1.53705, "vx":0.54465, "vy":-1.92356, "omega":-0.53049, "ax":-0.07416, "ay":-0.02096, "alpha":5.11427, "fx":[22.08914,-26.17163,-24.50197,23.67988], "fy":[24.67551,22.86217,-25.18148,-23.74243]}, - {"t":2.52273, "x":7.77447, "y":6.08757, "heading":-1.55005, "vx":0.54283, "vy":-1.92407, "omega":-0.40518, "ax":-0.28981, "ay":-0.08118, "alpha":5.45863, "fx":[20.462,-31.14545,-29.85156,21.36894], "fy":[25.37498,23.50938,-27.23082,-27.02253]}, - {"t":2.54723, "x":7.78768, "y":6.0404, "heading":-1.55997, "vx":0.53573, "vy":-1.92606, "omega":-0.27143, "ax":-1.10538, "ay":-0.29909, "alpha":5.60407, "fx":[7.41827,-45.01267,-43.25643,7.74772], "fy":[23.79963,20.33587,-30.34832,-33.5674]}, - {"t":2.57173, "x":7.80048, "y":5.99312, "heading":-1.56662, "vx":0.50865, "vy":-1.93339, "omega":-0.13412, "ax":-3.57567, "ay":-0.85486, "alpha":3.99863, "fx":[-46.64918,-75.71438,-72.02321,-42.0855], "fy":[10.29088,7.39151,-32.4482,-41.76937]}, - {"t":2.59623, "x":7.81187, "y":5.94549, "heading":-1.56991, "vx":0.42103, "vy":-1.95434, "omega":-0.03615, "ax":-6.05587, "ay":-1.0451, "alpha":1.4752, "fx":[-99.35069,-104.0406,-101.4227,-95.68343], "fy":[-6.50507,-5.43068,-26.14871,-31.03218]}, - {"t":2.62074, "x":7.82037, "y":5.89729, "heading":-1.5708, "vx":0.27265, "vy":-1.97995, "omega":0.0, "ax":-6.06662, "ay":-0.53189, "alpha":0.0, "fx":[-100.3021,-100.3021,-100.3021,-100.3021], "fy":[-8.79396,-8.79396,-8.79396,-8.79396]}, - {"t":2.6556, "x":7.82618, "y":5.82794, "heading":-1.5708, "vx":0.06115, "vy":-1.99849, "omega":0.0, "ax":-1.84146, "ay":-0.02681, "alpha":0.0, "fx":[-30.44575,-30.44575,-30.44575,-30.44575], "fy":[-0.44329,-0.44329,-0.44329,-0.44329]}, - {"t":2.69046, "x":7.8272, "y":5.75825, "heading":-1.5708, "vx":-0.00305, "vy":-1.99942, "omega":0.0, "ax":-0.20808, "ay":0.00069, "alpha":0.0, "fx":[-3.44029,-3.44029,-3.44029,-3.44029], "fy":[0.01146,0.01146,0.01146,0.01146]}, - {"t":2.72532, "x":7.82696, "y":5.68854, "heading":-1.5708, "vx":-0.0103, "vy":-1.9994, "omega":0.0, "ax":-0.02213, "ay":0.00012, "alpha":0.0, "fx":[-0.36585,-0.36585,-0.36585,-0.36585], "fy":[0.00196,0.00196,0.00196,0.00196]}, - {"t":2.76019, "x":7.82659, "y":5.61884, "heading":-1.5708, "vx":-0.01107, "vy":-1.9994, "omega":0.0, "ax":-0.00235, "ay":0.00001, "alpha":0.0, "fx":[-0.03888,-0.03888,-0.03888,-0.03888], "fy":[0.00022,0.00022,0.00022,0.00022]}, - {"t":2.79505, "x":7.8262, "y":5.54913, "heading":-1.5708, "vx":-0.01116, "vy":-1.99939, "omega":0.0, "ax":-0.00025, "ay":0.0, "alpha":0.0, "fx":[-0.00413,-0.00413,-0.00413,-0.00413], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":2.82991, "x":7.82582, "y":5.47943, "heading":-1.5708, "vx":-0.01116, "vy":-1.99939, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00044,-0.00044,-0.00044,-0.00044], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.86478, "x":7.82543, "y":5.40972, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.89964, "x":7.82504, "y":5.34002, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.9345, "x":7.82465, "y":5.27031, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.96936, "x":7.82426, "y":5.20061, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.00423, "x":7.82387, "y":5.13091, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.03909, "x":7.82348, "y":5.0612, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.07395, "x":7.82309, "y":4.9915, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.10882, "x":7.8227, "y":4.92179, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.14368, "x":7.82231, "y":4.85209, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.17854, "x":7.82192, "y":4.78238, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.21341, "x":7.82153, "y":4.71268, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":3.24827, "x":7.82114, "y":4.64297, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":3.28313, "x":7.82075, "y":4.57327, "heading":-1.5708, "vx":-0.01117, "vy":-1.99939, "omega":0.0, "ax":0.00009, "ay":0.0165, "alpha":0.0, "fx":[0.00152,0.00152,0.00152,0.00152], "fy":[0.27277,0.27277,0.27277,0.27277]}, - {"t":3.31799, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01116, "vy":-1.99882, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.76206, "y":7.35707, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.5252, "ay":-0.02557, "alpha":0.0, "fx":[124.41751,124.41751,124.41751,124.41751], "fy":[-0.42283,-0.42283,-0.42283,-0.42283]}, + {"t":0.0424, "x":3.76883, "y":7.35704, "heading":0.0, "vx":0.31904, "vy":-0.00108, "omega":0.0, "ax":7.52391, "ay":-0.02557, "alpha":0.0, "fx":[124.39614,124.39614,124.39614,124.39614], "fy":[-0.42276,-0.42276,-0.42276,-0.42276]}, + {"t":0.08479, "x":3.78912, "y":7.35698, "heading":0.0, "vx":0.63803, "vy":-0.00217, "omega":0.0, "ax":7.52211, "ay":-0.02556, "alpha":0.0, "fx":[124.36631,124.36631,124.36631,124.36631], "fy":[-0.42266,-0.42266,-0.42266,-0.42266]}, + {"t":0.12719, "x":3.82293, "y":7.35686, "heading":0.0, "vx":0.95694, "vy":-0.00325, "omega":0.0, "ax":7.51941, "ay":-0.02555, "alpha":0.0, "fx":[124.32172,124.32172,124.32172,124.32172], "fy":[-0.4225,-0.4225,-0.4225,-0.4225]}, + {"t":0.16959, "x":3.87026, "y":7.3567, "heading":0.0, "vx":1.27574, "vy":-0.00434, "omega":0.0, "ax":7.51494, "ay":-0.02554, "alpha":0.0, "fx":[124.24783,124.24783,124.24783,124.24783], "fy":[-0.42225,-0.42225,-0.42225,-0.42225]}, + {"t":0.21198, "x":3.9311, "y":7.35649, "heading":0.0, "vx":1.59435, "vy":-0.00542, "omega":0.0, "ax":7.5061, "ay":-0.02551, "alpha":0.0, "fx":[124.10168,124.10168,124.10168,124.10168], "fy":[-0.42176,-0.42176,-0.42176,-0.42176]}, + {"t":0.25438, "x":4.00544, "y":7.35624, "heading":0.0, "vx":1.91258, "vy":-0.0065, "omega":0.0, "ax":7.48036, "ay":-0.02542, "alpha":0.0, "fx":[123.67602,123.67602,123.67602,123.67602], "fy":[-0.42031,-0.42031,-0.42031,-0.42031]}, + {"t":0.29678, "x":4.09325, "y":7.35594, "heading":0.0, "vx":2.22972, "vy":-0.00758, "omega":0.0, "ax":6.36021, "ay":-0.02161, "alpha":0.0, "fx":[105.1562,105.1562,105.1562,105.1562], "fy":[-0.35737,-0.35737,-0.35737,-0.35737]}, + {"t":0.33917, "x":4.1935, "y":7.3556, "heading":0.0, "vx":2.49938, "vy":-0.00849, "omega":0.0, "ax":0.00062, "ay":0.0, "alpha":0.0, "fx":[0.01021,0.01021,0.01021,0.01021], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]}, + {"t":0.38157, "x":4.29946, "y":7.35524, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.42397, "x":4.40543, "y":7.35488, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.46636, "x":4.5114, "y":7.35452, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.50876, "x":4.61736, "y":7.35416, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.55116, "x":4.72333, "y":7.3538, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.59355, "x":4.82929, "y":7.35344, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.63595, "x":4.93526, "y":7.35308, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.67835, "x":5.04123, "y":7.35272, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.72074, "x":5.14719, "y":7.35236, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.76314, "x":5.25316, "y":7.352, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":0.80554, "x":5.35913, "y":7.35164, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00011,0.00011,0.00011,0.00011]}, + {"t":0.84793, "x":5.46509, "y":7.35128, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.00007, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00118,0.00118,0.00118,0.00118]}, + {"t":0.89033, "x":5.57106, "y":7.35092, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.00076, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[0.0126,0.0126,0.0126,0.0126]}, + {"t":0.93273, "x":5.67702, "y":7.35056, "heading":0.0, "vx":2.4994, "vy":-0.00846, "omega":0.0, "ax":0.00003, "ay":0.00813, "alpha":0.0, "fx":[0.00045,0.00045,0.00045,0.00045], "fy":[0.13445,0.13445,0.13445,0.13445]}, + {"t":0.97512, "x":5.78299, "y":7.35021, "heading":0.0, "vx":2.4994, "vy":-0.00811, "omega":0.0, "ax":0.00022, "ay":0.08676, "alpha":0.0, "fx":[0.00359,0.00359,0.00359,0.00359], "fy":[1.43438,1.43438,1.43438,1.43438]}, + {"t":1.01752, "x":5.88896, "y":7.34994, "heading":0.0, "vx":2.49941, "vy":-0.00444, "omega":0.0, "ax":-0.02721, "ay":0.91215, "alpha":0.0, "fx":[-0.44981,-0.44981,-0.44981,-0.44981], "fy":[15.081,15.081,15.081,15.081]}, + {"t":1.05992, "x":5.9949, "y":7.35057, "heading":0.0, "vx":2.49826, "vy":0.03424, "omega":0.0, "ax":-0.00133, "ay":1.06935, "alpha":-8.41295, "fx":[44.24647,36.98929,-37.03166,-44.29232], "fy":[-21.05979,56.42202,56.41181,-21.05369]}, + {"t":1.08356, "x":6.05397, "y":7.35168, "heading":0.0, "vx":2.49823, "vy":0.05952, "omega":-0.19893, "ax":-0.01103, "ay":0.42723, "alpha":-8.04183, "fx":[39.20965,36.58941,-36.94799,-39.58079], "fy":[-30.75982,44.89345,44.82031,-30.69952]}, + {"t":1.10721, "x":6.11304, "y":7.35321, "heading":-0.0047, "vx":2.49797, "vy":0.06963, "omega":-0.38909, "ax":-0.00476, "ay":0.16588, "alpha":-7.45656, "fx":[35.38884,34.84577,-34.671,-35.87816], "fy":[-32.59537,37.75077,38.04735,-32.23228]}, + {"t":1.13085, "x":6.17211, "y":7.3549, "heading":-0.0139, "vx":2.49785, "vy":0.07355, "omega":-0.56541, "ax":-0.00186, "ay":0.06257, "alpha":-6.83253, "fx":[31.89141,32.51108,-31.67623,-32.84957], "fy":[-31.64858,32.82145,33.70165,-30.73647]}, + {"t":1.1545, "x":6.23117, "y":7.35666, "heading":-0.02727, "vx":2.49781, "vy":0.07503, "omega":-0.72697, "ax":-0.0007, "ay":0.02294, "alpha":-6.20427, "fx":[28.49032,30.00322,-28.42981,-30.10974], "fy":[-29.68016,28.84229,30.43154,-28.0767]}, + {"t":1.17815, "x":6.29024, "y":7.35844, "heading":-0.04446, "vx":2.49779, "vy":0.07557, "omega":-0.87368, "ax":-0.00025, "ay":0.00815, "alpha":-5.58367, "fx":[25.15208,27.46986,-25.13646,-27.50212], "fy":[-27.35265,25.28037,27.6192,-25.00805]}, + {"t":1.20179, "x":6.3493, "y":7.36023, "heading":-0.06512, "vx":2.49779, "vy":0.07576, "omega":-1.00571, "ax":-0.00009, "ay":0.00275, "alpha":-4.97919, "fx":[21.9128,24.9637,-21.90934,-24.973], "fy":[-24.92343,21.95702,25.01325,-21.86511]}, + {"t":1.22544, "x":6.40836, "y":7.36202, "heading":-0.0889, "vx":2.49779, "vy":0.07583, "omega":-1.12345, "ax":-0.00003, "ay":0.00079, "alpha":-4.39837, "fx":[18.82543,22.50861,-18.82498,-22.51099], "fy":[-22.49695,18.83837,22.52266,-18.81204]}, + {"t":1.24908, "x":6.46743, "y":7.36381, "heading":-0.11547, "vx":2.49779, "vy":0.07585, "omega":-1.22746, "ax":-0.00001, "ay":0.00004, "alpha":-3.84771, "fx":[15.9394,20.122,-15.93957,-20.12227], "fy":[-20.12146,15.94018,20.12281,-15.93879]}, + {"t":1.27273, "x":6.52649, "y":7.36561, "heading":-0.14449, "vx":2.49779, "vy":0.07585, "omega":-1.31844, "ax":0.0, "ay":-0.00031, "alpha":-3.33241, "fx":[13.29318,17.82084,-13.29336,-17.8204], "fy":[-17.82565,13.28814,17.81558,-13.2984]}, + {"t":1.29638, "x":6.58555, "y":7.3674, "heading":-0.17567, "vx":2.49779, "vy":0.07584, "omega":-1.39724, "ax":0.00001, "ay":-0.00061, "alpha":-2.85627, "fx":[10.91222,15.62251,-10.91222,-15.62164], "fy":[-15.63201,10.90211,15.61213,-10.92233]}, + {"t":1.32002, "x":6.64461, "y":7.36919, "heading":-0.20871, "vx":2.49779, "vy":0.07583, "omega":-1.46478, "ax":0.00003, "ay":-0.00117, "alpha":-2.42161, "fx":[8.8093,13.54397,-8.80888,-13.54237], "fy":[-13.56243,8.78955,13.52391,-8.82863]}, + {"t":1.34367, "x":6.70368, "y":7.37099, "heading":-0.24335, "vx":2.49779, "vy":0.0758, "omega":-1.52204, "ax":0.00008, "ay":-0.00277, "alpha":-2.02951, "fx":[6.98609,11.60092,-6.98442,-11.59736], "fy":[-11.64464,6.93921,11.55362,-7.0313]}, + {"t":1.36732, "x":6.76274, "y":7.37278, "heading":-0.27934, "vx":2.49779, "vy":0.07573, "omega":-1.57003, "ax":0.00023, "ay":-0.00774, "alpha":-1.67985, "fx":[5.43553,9.80726,-5.42966,-9.79794], "fy":[-9.92995,5.30406,9.67521,-5.5611]}, + {"t":1.39096, "x":6.8218, "y":7.37457, "heading":-0.31646, "vx":2.49779, "vy":0.07555, "omega":-1.60975, "ax":0.0007, "ay":-0.02353, "alpha":-1.37154, "fx":[4.14544,8.17599,-4.12544,-8.14938], "fy":[-8.55032,3.74499,7.77472,-4.52575]}, + {"t":1.41461, "x":6.88087, "y":7.37635, "heading":-0.35453, "vx":2.49781, "vy":0.07499, "omega":-1.64218, "ax":0.00219, "ay":-0.07385, "alpha":-1.10248, "fx":[3.10532,6.72304,-3.03929,-6.6444], "fy":[-7.9006,1.84787,5.46423,-4.2957]}, + {"t":1.43825, "x":6.93993, "y":7.3781, "heading":-0.39336, "vx":2.49786, "vy":0.07325, "omega":-1.66825, "ax":0.0066, "ay":-0.23395, "alpha":-0.86878, "fx":[2.31974,5.47649,-2.11312,-5.24686], "fy":[-9.21305,-1.66134,1.48926,-6.08676]}, + {"t":1.4619, "x":6.999, "y":7.37977, "heading":-0.43281, "vx":2.49802, "vy":0.06771, "omega":-1.6888, "ax":0.0174, "ay":-0.73736, "alpha":-0.65837, "fx":[1.80763,4.45956,-1.25151,-3.86489], "fy":[-16.26181,-10.69846,-8.09758,-13.70666]}, + {"t":1.48555, "x":7.05807, "y":7.38116, "heading":-0.47274, "vx":2.49843, "vy":0.05028, "omega":-1.70436, "ax":0.02132, "ay":-2.1652, "alpha":-0.42294, "fx":[1.27649,3.27181,-0.59437,-2.54394], "fy":[-38.24871,-35.00919,-33.3249,-36.6102]}, + {"t":1.50919, "x":7.11716, "y":7.38175, "heading":-0.51304, "vx":2.49893, "vy":-0.00092, "omega":-1.71437, "ax":-0.10064, "ay":-4.56632, "alpha":-0.15914, "fx":[-1.26094,-0.26624,-2.07519,-3.05327], "fy":[-76.14819,-75.33339,-74.84483,-75.66172]}, + {"t":1.53284, "x":7.17622, "y":7.38045, "heading":-0.55358, "vx":2.49655, "vy":-0.1089, "omega":-1.71813, "ax":-0.45048, "ay":-6.16502, "alpha":-0.03735, "fx":[-7.32927,-7.04912,-7.56752,-7.84606], "fy":[-102.01572,-101.93353,-101.84261,-101.92427]}, + {"t":1.55648, "x":7.23513, "y":7.37615, "heading":-0.59421, "vx":2.4859, "vy":-0.25468, "omega":-1.71901, "ax":-0.92041, "ay":-6.79242, "alpha":-0.00301, "fx":[-15.20635,-15.18293,-15.22876,-15.25217], "fy":[-112.30695,-112.3057,-112.2973,-112.29855]}, + {"t":1.58013, "x":7.29365, "y":7.36823, "heading":-0.63485, "vx":2.46414, "vy":-0.41529, "omega":-1.71908, "ax":-1.42617, "ay":-6.99966, "alpha":0.00728, "fx":[-23.60971,-23.66464,-23.5493,-23.49428], "fy":[-115.71768,-115.71287,-115.73936,-115.74414]}, + {"t":1.60378, "x":7.35152, "y":7.35645, "heading":-0.6755, "vx":2.43041, "vy":-0.5808, "omega":-1.71891, "ax":-1.93862, "ay":-7.02211, "alpha":0.01064, "fx":[-32.09996,-32.17544,-32.00416,-31.92845], "fy":[-116.08208,-116.06739,-116.1174,-116.13204]}, + {"t":1.62742, "x":7.40845, "y":7.34075, "heading":-0.71615, "vx":2.38457, "vy":-0.74685, "omega":-1.71866, "ax":-2.44685, "ay":-6.94384, "alpha":0.0117, "fx":[-40.51102,-40.58739,-40.39895,-40.32229], "fy":[-114.78238,-114.76028,-114.82867,-114.85075]}, + {"t":1.65107, "x":7.46415, "y":7.32115, "heading":-0.75679, "vx":2.32671, "vy":-0.91105, "omega":-1.71838, "ax":-2.94541, "ay":-6.79818, "alpha":0.01189, "fx":[-48.75765,-48.82793,-48.63815,-48.56755], "fy":[-112.36893,-112.34217,-112.42583,-112.45259]}, + {"t":1.67472, "x":7.51834, "y":7.29771, "heading":-0.79742, "vx":2.25707, "vy":-1.0718, "omega":-1.7181, "ax":-3.43216, "ay":-6.59957, "alpha":0.01176, "fx":[-56.80669,-56.86849,-56.68438,-56.62224], "fy":[-109.07987,-109.05062,-109.14741,-109.1767]}, + {"t":1.69836, "x":7.57075, "y":7.27052, "heading":-0.83805, "vx":2.17591, "vy":-1.22785, "omega":-1.71782, "ax":-3.95181, "ay":-6.32605, "alpha":0.0115, "fx":[-65.39886,-65.45008,-65.27542,-65.22389], "fy":[-104.55129,-104.52164,-104.6315,-104.66123]}, + {"t":1.72201, "x":7.6211, "y":7.23972, "heading":-0.87867, "vx":2.08246, "vy":-1.37744, "omega":-1.71755, "ax":-4.25612, "ay":-6.11882, "alpha":0.01283, "fx":[-70.436,-70.48985,-70.30089,-70.24665], "fy":[-101.11624,-101.0817,-101.21403,-101.2487]}, + {"t":1.74382, "x":7.66552, "y":7.20821, "heading":-0.91614, "vx":1.98962, "vy":-1.51092, "omega":-1.71727, "ax":-4.67883, "ay":-5.77682, "alpha":0.01789, "fx":[-77.45137,-77.51407,-77.26334,-77.1999], "fy":[-95.43102,-95.38563,-95.59015,-95.63589]}, + {"t":1.76564, "x":7.70781, "y":7.17388, "heading":-0.9536, "vx":1.88755, "vy":-1.63693, "omega":-1.71688, "ax":-5.027, "ay":-5.43871, "alpha":0.0255, "fx":[-83.24489,-83.32109,-82.98295,-82.9053], "fy":[-89.79287,-89.73291,-90.04795,-90.10876]}, + {"t":1.78745, "x":7.74779, "y":7.13688, "heading":-0.99105, "vx":1.77789, "vy":-1.75558, "omega":-1.71632, "ax":-5.33797, "ay":-5.07409, "alpha":0.03745, "fx":[-88.44066,-88.53572,-88.07078,-87.97278], "fy":[-83.68383,-83.60566,-84.09931,-84.17964]}, + {"t":1.80927, "x":7.7853, "y":7.09737, "heading":-1.02849, "vx":1.66145, "vy":-1.86626, "omega":-1.71551, "ax":-5.60261, "ay":-4.68, "alpha":0.05726, "fx":[-92.89804,-93.02258,-92.36589,-92.23501], "fy":[-77.0273,-76.92796,-77.72292,-77.82791]}, + {"t":1.83108, "x":7.82021, "y":7.05555, "heading":-1.06591, "vx":1.53923, "vy":-1.96836, "omega":-1.71426, "ax":-5.80029, "ay":-4.25176, "alpha":0.09247, "fx":[-96.29377,-96.47372,-95.51112,-95.31636], "fy":[-69.6853,-69.56736,-70.89931,-71.03315]}, + {"t":1.85289, "x":7.85241, "y":7.0116, "heading":-1.10331, "vx":1.4127, "vy":-2.06111, "omega":-1.71224, "ax":-5.8862, "ay":-3.77736, "alpha":0.16113, "fx":[-97.91362,-98.22728,-96.74401,-96.39176], "fy":[-61.3158,-61.20853,-63.5649,-63.72201]}, + {"t":1.87471, "x":7.88182, "y":6.96574, "heading":-1.14066, "vx":1.2843, "vy":-2.14351, "omega":-1.70873, "ax":-5.75176, "ay":-3.22601, "alpha":0.31191, "fx":[-95.96608,-96.71257,-94.28388,-93.42281], "fy":[-51.03504,-51.09363,-55.54977,-55.67004]}, + {"t":1.89652, "x":7.90847, "y":6.91821, "heading":-1.17793, "vx":1.15883, "vy":-2.21388, "omega":-1.70192, "ax":-5.12656, "ay":-2.52317, "alpha":0.68684, "fx":[-85.64419,-88.21464,-84.05999,-81.11974], "fy":[-36.61877,-37.59828,-46.46162,-46.18815]}, + {"t":1.91834, "x":7.93253, "y":6.86932, "heading":-1.21506, "vx":1.04699, "vy":-2.26892, "omega":-1.68694, "ax":-3.58771, "ay":-1.58188, "alpha":1.5709, "fx":[-57.88153,-67.7545,-61.18722,-50.44579], "fy":[-15.21474,-19.61788,-36.0253,-33.75752]}, + {"t":1.94015, "x":7.95452, "y":6.81944, "heading":-1.25186, "vx":0.96873, "vy":-2.30343, "omega":-1.65267, "ax":-1.69776, "ay":-0.69811, "alpha":2.61434, "fx":[-21.39273,-43.13273,-35.09008,-12.6635], "fy":[4.98403,-3.30807,-26.86336,-20.98156]}, + {"t":1.96197, "x":7.97524, "y":6.76903, "heading":-1.28791, "vx":0.93169, "vy":-2.31866, "omega":-1.59564, "ax":-0.64735, "ay":-0.25785, "alpha":3.14887, "fx":[-0.82219,-28.99083,-20.70996,7.71151], "fy":[14.53133,5.70502,-22.40987,-14.87927]}, + {"t":1.98378, "x":7.99541, "y":6.71839, "heading":-1.32272, "vx":0.91757, "vy":-2.32428, "omega":-1.52695, "ax":-0.23674, "ay":-0.09316, "alpha":3.50331, "fx":[8.00479,-23.96657,-15.8692,16.17448], "fy":[18.69436,10.30154,-21.48075,-13.67649]}, + {"t":2.00559, "x":8.01537, "y":6.66766, "heading":-1.35603, "vx":0.91241, "vy":-2.32631, "omega":-1.45053, "ax":-0.08673, "ay":-0.03398, "alpha":3.86201, "fx":[12.47621,-23.11254,-15.35159,20.25198], "fy":[21.18859,13.29391,-22.18073,-14.54932]}, + {"t":2.02741, "x":8.03526, "y":6.61691, "heading":-1.38767, "vx":0.91052, "vy":-2.32706, "omega":-1.36628, "ax":-0.03306, "ay":-0.01294, "alpha":4.25574, "fx":[15.53791,-23.94352,-16.6307,22.84991], "fy":[23.21368,15.84113,-23.58047,-16.32994]}, + {"t":2.04922, "x":8.05511, "y":6.56614, "heading":-1.41748, "vx":0.9098, "vy":-2.32734, "omega":-1.27344, "ax":-0.01582, "ay":-0.00619, "alpha":4.68632, "fx":[18.2117,-25.48753,-18.73248,24.96206], "fy":[25.14019,18.35238,-25.30957,-18.59242]}, + {"t":2.07104, "x":8.07495, "y":6.51537, "heading":-1.44526, "vx":0.90945, "vy":-2.32747, "omega":-1.17121, "ax":-0.0155, "ay":-0.00606, "alpha":5.15038, "fx":[20.80984,-27.40683,-21.31713,26.88936], "fy":[27.06877,20.94282,-27.22761,-21.1848]}, + {"t":2.09285, "x":8.09479, "y":6.4646, "heading":-1.47081, "vx":0.90911, "vy":-2.32761, "omega":-1.05886, "ax":-0.03046, "ay":-0.0119, "alpha":5.64281, "fx":[23.33406,-29.65639,-24.32431,28.63225], "fy":[28.99668,23.58517,-29.29279,-24.07595]}, + {"t":2.11467, "x":8.11461, "y":6.41382, "heading":-1.4939, "vx":0.90845, "vy":-2.32787, "omega":-0.93577, "ax":-0.07324, "ay":-0.02856, "alpha":6.15691, "fx":[25.54393,-32.43082,-27.9045,29.94804], "fy":[30.85804,26.12256,-31.52629,-27.34289]}, + {"t":2.13648, "x":8.13441, "y":6.36303, "heading":-1.51432, "vx":0.90685, "vy":-2.32849, "omega":-0.80146, "ax":-0.17915, "ay":-0.0696, "alpha":6.68153, "fx":[26.80501,-36.3053,-32.52242,30.1746], "fy":[32.50165,28.17343,-34.01597,-31.26233]}, + {"t":2.1583, "x":8.15415, "y":6.31222, "heading":-1.5318, "vx":0.90294, "vy":-2.33001, "omega":-0.6557, "ax":-0.43131, "ay":-0.16615, "alpha":7.18246, "fx":[25.55758,-42.56429,-39.18563,27.66805], "fy":[33.57913,28.87013,-36.90473,-36.53243]}, + {"t":2.18011, "x":8.17375, "y":6.26135, "heading":-1.5461, "vx":0.89353, "vy":-2.33363, "omega":-0.49902, "ax":-1.01428, "ay":-0.38286, "alpha":7.50236, "fx":[17.59671,-53.46351,-49.5309,18.31982], "fy":[33.06837,26.34252,-40.21546,-44.51524]}, + {"t":2.20192, "x":8.193, "y":6.21035, "heading":-1.55699, "vx":0.87141, "vy":-2.34198, "omega":-0.33536, "ax":-2.29102, "ay":-0.82473, "alpha":6.95908, "fx":[-9.29657,-70.74142,-64.73315,-6.74294], "fy":[26.69299,17.61285,-43.26303,-55.58521]}, + {"t":2.22374, "x":8.21146, "y":6.15907, "heading":-1.56431, "vx":0.82143, "vy":-2.35997, "omega":-0.18356, "ax":-4.34174, "ay":-1.4145, "alpha":4.58386, "fx":[-62.88151,-90.51287,-83.07386,-50.66734], "fy":[6.13001,3.55936,-43.35979,-59.87563]}, + {"t":2.24555, "x":8.22835, "y":6.10725, "heading":-1.56831, "vx":0.72672, "vy":-2.39083, "omega":-0.08356, "ax":-5.85805, "ay":-1.61144, "alpha":2.43742, "fx":[-96.72044,-104.88927,-98.95922,-86.84628], "fy":[-9.99733,-7.43672,-38.89265,-50.24413]}, + {"t":2.26737, "x":8.24281, "y":6.05471, "heading":-1.57013, "vx":0.59893, "vy":-2.42598, "omega":-0.03039, "ax":-6.6143, "ay":-1.39133, "alpha":1.39318, "fx":[-110.14509,-112.88402,-109.32299,-105.07638], "fy":[-12.70273,-10.50755,-31.38847,-37.41503]}, + {"t":2.28918, "x":8.2543, "y":6.00146, "heading":-1.5708, "vx":0.45464, "vy":-2.45633, "omega":0.0, "ax":-6.84218, "ay":-0.99725, "alpha":0.0, "fx":[-113.12483,-113.12483,-113.12483,-113.12483], "fy":[-16.488,-16.488,-16.488,-16.488]}, + {"t":2.32062, "x":8.26521, "y":5.92375, "heading":-1.5708, "vx":0.23955, "vy":-2.48768, "omega":0.0, "ax":-5.68056, "ay":-0.34272, "alpha":0.0, "fx":[-93.91926,-93.91926,-93.91926,-93.91926], "fy":[-5.66633,-5.66633,-5.66633,-5.66633]}, + {"t":2.35205, "x":8.26994, "y":5.84538, "heading":-1.5708, "vx":0.06098, "vy":-2.49846, "omega":0.0, "ax":-2.39097, "ay":-0.02245, "alpha":0.0, "fx":[-39.53088,-39.53088,-39.53088,-39.53088], "fy":[-0.37118,-0.37118,-0.37118,-0.37118]}, + {"t":2.38349, "x":8.27067, "y":5.76683, "heading":-1.5708, "vx":-0.01418, "vy":-2.49916, "omega":0.0, "ax":-0.49719, "ay":0.00437, "alpha":0.0, "fx":[-8.22021,-8.22021,-8.22021,-8.22021], "fy":[0.07228,0.07228,0.07228,0.07228]}, + {"t":2.41492, "x":8.26998, "y":5.68827, "heading":-1.5708, "vx":-0.02981, "vy":-2.49902, "omega":0.0, "ax":-0.09352, "ay":0.00117, "alpha":0.0, "fx":[-1.54615,-1.54615,-1.54615,-1.54615], "fy":[0.01935,0.01935,0.01935,0.01935]}, + {"t":2.44636, "x":8.269, "y":5.60971, "heading":-1.5708, "vx":-0.03275, "vy":-2.49899, "omega":0.0, "ax":-0.01752, "ay":0.00023, "alpha":0.0, "fx":[-0.28962,-0.28962,-0.28962,-0.28962], "fy":[0.00383,0.00383,0.00383,0.00383]}, + {"t":2.4778, "x":8.26796, "y":5.53115, "heading":-1.5708, "vx":-0.0333, "vy":-2.49898, "omega":0.0, "ax":-0.00328, "ay":0.00004, "alpha":0.0, "fx":[-0.05424,-0.05424,-0.05424,-0.05424], "fy":[0.00072,0.00072,0.00072,0.00072]}, + {"t":2.50923, "x":8.26691, "y":5.4526, "heading":-1.5708, "vx":-0.0334, "vy":-2.49898, "omega":0.0, "ax":-0.00061, "ay":0.00001, "alpha":0.0, "fx":[-0.01016,-0.01016,-0.01016,-0.01016], "fy":[0.00014,0.00014,0.00014,0.00014]}, + {"t":2.54067, "x":8.26586, "y":5.37404, "heading":-1.5708, "vx":-0.03342, "vy":-2.49898, "omega":0.0, "ax":-0.00012, "ay":0.0, "alpha":0.0, "fx":[-0.0019,-0.0019,-0.0019,-0.0019], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.5721, "x":8.26481, "y":5.29548, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00036,-0.00036,-0.00036,-0.00036], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.60354, "x":8.26376, "y":5.21693, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.63497, "x":8.26271, "y":5.13837, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.66641, "x":8.26166, "y":5.05981, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.69785, "x":8.2606, "y":4.98126, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.72928, "x":8.25955, "y":4.9027, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.76072, "x":8.2585, "y":4.82414, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.79215, "x":8.25745, "y":4.74558, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.82359, "x":8.2564, "y":4.66703, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":2.85502, "x":8.25535, "y":4.58847, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.00034, "ay":0.02547, "alpha":0.0, "fx":[0.00563,0.00563,0.00563,0.00563], "fy":[0.42116,0.42116,0.42116,0.42116]}, + {"t":2.88646, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.03342, "vy":-2.49818, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 6875019f..703dddf5 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -7,8 +7,8 @@ "slow":{ "dimension":"LinVel", "var":{ - "exp":"2 m / s", - "val":2.0 + "exp":"2.7 m / s", + "val":2.7 } }, "slowaccel":{ @@ -86,7 +86,7 @@ "val":3.792367458343506 }, "heading":{ - "exp":"LNeutral.heading", + "exp":"-90 deg", "val":-1.5707963267948966 } }, @@ -106,12 +106,12 @@ }, "LNeutral":{ "x":{ - "exp":"7.8203654289245605 m", - "val":7.82036542892456 + "exp":"8.254300117492676 m", + "val":8.254300117492676 }, "y":{ - "exp":"4.503572463989258 m", - "val":4.503572463989258 + "exp":"4.509925842285156 m", + "val":4.509925842285156 }, "heading":{ "exp":"-1.5707963267948966 rad", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 589ee098..2b86b025 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -242,8 +242,9 @@ public Command scorePath(Path path, AutoRoutine routine) { public Command scoreAtEndPath(Path path, AutoRoutine routine) { return Commands.sequence( - stopIntaking(), + startIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), + stopIntaking(), startScoring(), swerve.stop().repeatedly().withTimeout(5), stopScoring()); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b20f8903..5f1c4d47 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -794,6 +794,7 @@ private void addAutos() { autoChooser.addOption("Right Bump Outpost Climb", autos.getRightBumpOutpostClimbAuto()); autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto()); autoChooser.addOption("Left Neutral Score Twice", autos.getLeftNeutralScoreTwice()); + autoChooser.addOption("Left Neutral Outpost Score", autos.getLeftNeutralOutpostScore()); autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid()); autoChooser.addOption("Hood Sysid", shooter.runHoodSysid()); diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index 8d1aae9d..7f3ad33d 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -20,7 +20,7 @@ /** Spindexer = Spinning Indexer. !! COMP !! */ public class SpindexerSubsystem extends SubsystemBase implements Indexer { - public static final double SPINNER_GEAR_RATIO = 67.0 / 12.0; + public static final double SPINNER_GEAR_RATIO = 67.0 / 15.0; public static final double KICKER_GEAR_RATIO = 24.0 / 18.0; // i don't really know if i should be using the sushi or the stealth wheels but the sushi wheels // are 1" in diameter and the stealth wheels are 3" in diameter @@ -82,8 +82,10 @@ public Command kick(DoubleSupplier flywheelSpeedSupplier) { Logger.recordOutput("Indexer/Kicker/Adjusted speed", kickerSpeed); // spinnerIO.setRollerVelocity(spinnerSpeed - 1); // kickerIO.setRollerVelocity(kickerSpeed - 5); - spinnerIO.setRollerVelocity(60); - kickerIO.setRollerVelocity(25); + // spinnerIO.setRollerVelocity(60); + // kickerIO.setRollerVelocity(25); + spinnerIO.setRollerVoltage(12); + kickerIO.setRollerVoltage(12); }) // .withTimeout(3), // this.run( @@ -140,7 +142,7 @@ public static TalonFXConfiguration getIndexerConfig() { config.Slot0.kD = 0; config.CurrentLimits.StatorCurrentLimit = 80.0; - config.CurrentLimits.StatorCurrentLimitEnable = false; + config.CurrentLimits.StatorCurrentLimitEnable = true; config.CurrentLimits.SupplyCurrentLimit = 40.0; config.CurrentLimits.SupplyCurrentLimitEnable = true; config.CurrentLimits.SupplyCurrentLowerLimit = 40.0; diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 85eef58f..69fa5010 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -245,15 +245,17 @@ public Command feed( Supplier shotParamsSupplier, Supplier feedTarget, Supplier robotPoseSupplier) { - return this.run( - () -> { - Logger.recordOutput("Robot/Feed Target", feedTarget.get()); - hoodIO.setHoodPosition(shotParamsSupplier.get().shotData().hoodAngle()); - // flywheelIO.setTorqueCurrentVel(shotDataSupplier.get().flywheelVelocityRotPerSec()); - flywheelIO.setMotionProfiledFlywheelVelocity( - shotParamsSupplier.get().shotData().flywheelVelocityRotPerSec()); - turretIO.setTurretPosition(shotParamsSupplier.get().turretAngle()); - }); + return resetTurretToCalculatedPosition() + .andThen( + this.run( + () -> { + Logger.recordOutput("Robot/Feed Target", feedTarget.get()); + hoodIO.setHoodPosition(shotParamsSupplier.get().shotData().hoodAngle()); + // flywheelIO.setTorqueCurrentVel(shotDataSupplier.get().flywheelVelocityRotPerSec()); + flywheelIO.setMotionProfiledFlywheelVelocity( + shotParamsSupplier.get().shotData().flywheelVelocityRotPerSec()); + turretIO.setTurretPosition(shotParamsSupplier.get().turretAngle()); + })); } @Override @@ -274,7 +276,6 @@ public Command rest( // chassisSpeedsSupplier.get())); // } else { if (inScoringArea.getAsBoolean()) { - turretIO.setTurretPosition( NewAutoAim.getParametersMechA( robotPoseSupplier.get(), From 52498445bad68d24b82c502fde41bcca0a14314d Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 19:04:41 -0700 Subject: [PATCH 09/11] make turret deadzone thing use new aa --- src/main/deploy/choreo/DepottoLPreTrench.traj | 192 ++++++------- .../deploy/choreo/LCleanuptoLPreTrench.traj | 164 ++++++----- .../deploy/choreo/LNeutraltoLPreTrench.traj | 257 +++++++++--------- .../deploy/choreo/LPreTrenchtoLCleanup.traj | 178 ++++++------ .../deploy/choreo/LPreTrenchtoLClimb.traj | 149 +++++----- .../deploy/choreo/LPreTrenchtoLNeutral.traj | 212 +++++++-------- src/main/deploy/choreo/LTrenchtoDepot.traj | 101 ++++--- src/main/deploy/choreo/OutposttoRClimb.traj | 98 ++++--- .../deploy/choreo/OutposttoRPreTrench.traj | 2 +- src/main/deploy/choreo/RBumptoOutpost.traj | 78 +++--- .../deploy/choreo/RNeutraltoRPreTrench.traj | 160 ++++++----- .../deploy/choreo/RPreTrenchtoRNeutral.traj | 184 +++++++------ .../choreo/StartingLTrenchtoLNeutral.traj | 205 +++++++------- src/main/java/frc/robot/Superstructure.java | 2 +- 14 files changed, 982 insertions(+), 1000 deletions(-) diff --git a/src/main/deploy/choreo/DepottoLPreTrench.traj b/src/main/deploy/choreo/DepottoLPreTrench.traj index c12a2e38..b5cc7f81 100644 --- a/src/main/deploy/choreo/DepottoLPreTrench.traj +++ b/src/main/deploy/choreo/DepottoLPreTrench.traj @@ -11,7 +11,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, @@ -57,102 +57,102 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.40459,1.34153,2.14528], + "waypoints":[0.0,0.4044,1.34142,2.12095], "samples":[ - {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.42941, "ay":-0.00077, "alpha":2.1057, "fx":[123.31607,123.319,122.35244,122.34712], "fy":[-16.48119,16.45927,22.28229,-22.31151]}, - {"t":0.03372, "x":0.70822, "y":5.97525, "heading":3.14159, "vx":0.25049, "vy":-0.00003, "omega":0.07099, "ax":7.45037, "ay":-0.00152, "alpha":1.84084, "fx":[123.51447,123.5197,122.84795,122.83906], "fy":[-14.78692,14.74311,19.26991,-19.32659]}, - {"t":0.06743, "x":0.7209, "y":5.97525, "heading":-3.1392, "vx":0.50168, "vy":-0.00008, "omega":0.13306, "ax":7.47173, "ay":-0.00242, "alpha":1.52416, "fx":[123.73651,123.73705,123.33972,123.32019], "fy":[-12.59677,12.59069,15.68339,-15.8375]}, - {"t":0.10115, "x":0.74206, "y":5.97524, "heading":-3.13471, "vx":0.75359, "vy":-0.00016, "omega":0.18445, "ax":7.4922, "ay":-0.00357, "alpha":1.13751, "fx":[123.96886,123.96591,123.78874,123.76382], "fy":[-9.72068,9.75554,11.39967,-11.6709]}, - {"t":0.13486, "x":0.77173, "y":5.97523, "heading":-3.12849, "vx":1.0062, "vy":-0.00028, "omega":0.2228, "ax":7.50899, "ay":-0.00507, "alpha":0.65175, "fx":[124.17659,124.17631,124.13105,124.11411], "fy":[-5.82213,5.82201,6.25414,-6.58904]}, - {"t":0.16858, "x":0.80992, "y":5.97522, "heading":-3.12098, "vx":1.25936, "vy":-0.00045, "omega":0.24477, "ax":7.51568, "ay":-0.00704, "alpha":0.01527, "fx":[124.26028,124.26053,124.25987,124.25961], "fy":[-0.25677,0.03029,0.02443,-0.2633]}, - {"t":0.20229, "x":0.85665, "y":5.9752, "heading":-3.11273, "vx":1.51276, "vy":-0.00069, "omega":0.24529, "ax":7.49565, "ay":-0.00973, "alpha":-0.87712, "fx":[123.89815,123.84252,123.99334,123.98186], "fy":[8.34592,-9.15689,-7.59246,7.75964]}, - {"t":0.23601, "x":0.91192, "y":5.97517, "heading":-3.10446, "vx":1.76548, "vy":-0.00102, "omega":0.21572, "ax":7.3963, "ay":-0.01258, "alpha":-2.28691, "fx":[121.82344,121.45135,123.01395,122.85668], "fy":[23.33152,-25.24142,-17.00934,18.08702]}, - {"t":0.26972, "x":0.97564, "y":5.97513, "heading":-3.09719, "vx":2.01485, "vy":-0.00144, "omega":0.13861, "ax":6.99009, "ay":-0.00068, "alpha":-5.0412, "fx":[111.38114,110.06969,120.75357,120.07689], "fy":[53.95067,-56.67275,-28.77604,31.4533]}, - {"t":0.30344, "x":1.04755, "y":5.97508, "heading":-3.09251, "vx":2.25052, "vy":-0.00146, "omega":-0.03136, "ax":5.16323, "ay":0.10015, "alpha":-11.4363, "fx":[53.66845,57.40557,116.18005,114.21002], "fy":[111.03785,-109.31854,-43.55823,48.46216]}, - {"t":0.33715, "x":1.12636, "y":5.97509, "heading":-3.09357, "vx":2.4246, "vy":0.00191, "omega":-0.41694, "ax":1.84434, "ay":0.02086, "alpha":-17.513, "fx":[-51.29657,-37.49823,107.48413,103.28362], "fy":[112.41341,-117.79868,-61.85986,68.6247]}, - {"t":0.37087, "x":1.20916, "y":5.97517, "heading":-3.10763, "vx":2.48679, "vy":0.00262, "omega":-1.0074, "ax":0.14094, "ay":-0.01431, "alpha":-18.57151, "fx":[-88.548,-81.79584,92.42703,87.23803], "fy":[86.70212,-93.10533,-82.60842,88.06501]}, - {"t":0.40459, "x":1.29308, "y":5.97525, "heading":3.14159, "vx":2.49154, "vy":0.00213, "omega":-1.63354, "ax":-1.18334, "ay":-0.0575, "alpha":-17.53775, "fx":[-99.58606,-98.01078,58.61112,60.72708], "fy":[68.36161,-70.7047,-103.66898,102.20932]}, - {"t":0.42541, "x":1.3447, "y":5.97528, "heading":3.10758, "vx":2.4669, "vy":0.00094, "omega":-1.99869, "ax":-6.43617, "ay":-0.41582, "alpha":-0.0166, "fx":[-106.44025,-106.42698,-106.38369,-106.39704], "fy":[-6.7282,-6.99777,-7.02202,-6.75188]}, - {"t":0.44623, "x":1.39467, "y":5.97521, "heading":3.06597, "vx":2.33289, "vy":-0.00772, "omega":-1.99904, "ax":-6.34, "ay":-0.3902, "alpha":-0.00001, "fx":[-104.82203,-104.82203,-104.82199,-104.822], "fy":[-6.45122,-6.45143,-6.45146,-6.45124]}, - {"t":0.46705, "x":1.44187, "y":5.97496, "heading":3.02434, "vx":2.20089, "vy":-0.01584, "omega":-1.99904, "ax":-6.25402, "ay":-0.35335, "alpha":-0.00001, "fx":[-103.40042,-103.40041,-103.4004,-103.4004], "fy":[-5.8421,-5.84218,-5.84219,-5.84211]}, - {"t":0.48787, "x":1.48633, "y":5.97456, "heading":2.98272, "vx":2.07068, "vy":-0.0232, "omega":-1.99904, "ax":-6.16906, "ay":-0.30855, "alpha":0.0, "fx":[-101.99587,-101.99587,-101.99586,-101.99586], "fy":[-5.1014,-5.10145,-5.10147,-5.10141]}, - {"t":0.50869, "x":1.52811, "y":5.97401, "heading":2.9411, "vx":1.94223, "vy":-0.02963, "omega":-1.99904, "ax":-6.08166, "ay":-0.25651, "alpha":0.0, "fx":[-100.55072,-100.55072,-100.55071,-100.55071], "fy":[-4.2409,-4.24094,-4.24095,-4.24091]}, - {"t":0.52951, "x":1.56723, "y":5.97333, "heading":2.89948, "vx":1.81561, "vy":-0.03497, "omega":-1.99904, "ax":-5.98963, "ay":-0.19718, "alpha":0.0, "fx":[-99.02926,-99.02926,-99.02925,-99.02925], "fy":[-3.26007,-3.2601,-3.26011,-3.26008]}, - {"t":0.55033, "x":1.60374, "y":5.97256, "heading":2.85786, "vx":1.6909, "vy":-0.03907, "omega":-1.99904, "ax":-5.89122, "ay":-0.13019, "alpha":0.0, "fx":[-97.40219,-97.40219,-97.40219,-97.40219], "fy":[-2.15241,-2.15243,-2.15244,-2.15242]}, - {"t":0.57115, "x":1.63766, "y":5.97172, "heading":2.81624, "vx":1.56824, "vy":-0.04178, "omega":-1.99904, "ax":-5.78471, "ay":-0.05488, "alpha":0.0, "fx":[-95.6411,-95.64111,-95.6411,-95.6411], "fy":[-0.90741,-0.90743,-0.90743,-0.90742]}, - {"t":0.59197, "x":1.66906, "y":5.97084, "heading":2.77461, "vx":1.44779, "vy":-0.04293, "omega":-1.99904, "ax":-5.66825, "ay":0.02956, "alpha":0.0, "fx":[-93.71561,-93.71561,-93.7156,-93.7156], "fy":[0.48879,0.48878,0.48877,0.48878]}, - {"t":0.61279, "x":1.69798, "y":5.96995, "heading":2.73299, "vx":1.32978, "vy":-0.04231, "omega":-1.99904, "ax":-5.53976, "ay":0.12419, "alpha":0.0, "fx":[-91.59129,-91.59129,-91.59129,-91.59129], "fy":[2.05324,2.05323,2.05322,2.05323]}, - {"t":0.63362, "x":1.72447, "y":5.9691, "heading":2.69137, "vx":1.21443, "vy":-0.03972, "omega":-1.99904, "ax":-5.39681, "ay":0.23021, "alpha":0.0, "fx":[-89.22791,-89.22791,-89.22791,-89.22791], "fy":[3.80616,3.80615,3.80615,3.80616]}, - {"t":0.65444, "x":1.74858, "y":5.96832, "heading":2.64975, "vx":1.10207, "vy":-0.03493, "omega":-1.99904, "ax":-5.2365, "ay":0.34905, "alpha":0.0, "fx":[-86.57742,-86.57743,-86.57742,-86.57742], "fy":[5.77095,5.77094,5.77094,5.77095]}, - {"t":0.67526, "x":1.77039, "y":5.96767, "heading":2.60813, "vx":0.99304, "vy":-0.02766, "omega":-1.99904, "ax":-5.05532, "ay":0.48229, "alpha":0.0, "fx":[-83.58185,-83.58185,-83.58185,-83.58185], "fy":[7.97393,7.97392,7.97392,7.97392]}, - {"t":0.69608, "x":1.78997, "y":5.9672, "heading":2.56651, "vx":0.88778, "vy":-0.01762, "omega":-1.99904, "ax":-4.84902, "ay":0.63167, "alpha":0.0, "fx":[-80.17095,-80.17095,-80.17095,-80.17095], "fy":[10.44364,10.44364,10.44364,10.44364]}, - {"t":0.7169, "x":1.80741, "y":5.96697, "heading":2.52488, "vx":0.78682, "vy":-0.00447, "omega":-1.99904, "ax":-4.61247, "ay":0.79894, "alpha":0.0, "fx":[-76.25993,-76.25994,-76.25993,-76.25993], "fy":[13.20926,13.20926,13.20925,13.20926]}, - {"t":0.73772, "x":1.82279, "y":5.96705, "heading":2.48326, "vx":0.69079, "vy":0.01216, "omega":-1.99904, "ax":-4.33956, "ay":0.98572, "alpha":0.0, "fx":[-71.74787,-71.74787,-71.74787,-71.74787], "fy":[16.29732,16.29732,16.29732,16.29732]}, - {"t":0.75854, "x":1.83623, "y":5.96752, "heading":2.44164, "vx":0.60043, "vy":0.03269, "omega":-1.99904, "ax":-4.02325, "ay":1.19309, "alpha":0.0, "fx":[-66.5182,-66.5182,-66.5182,-66.5182], "fy":[19.72593,19.72593,19.72593,19.72593]}, - {"t":0.77936, "x":1.84786, "y":5.96845, "heading":2.40002, "vx":0.51666, "vy":0.05753, "omega":-1.99904, "ax":-3.65587, "ay":1.42107, "alpha":0.0, "fx":[-60.44409,-60.44409,-60.44409,-60.44409], "fy":[23.49512,23.49512,23.49512,23.49512]}, - {"t":0.80018, "x":1.85782, "y":5.96996, "heading":2.3584, "vx":0.44055, "vy":0.08712, "omega":-1.99904, "ax":-3.23, "ay":1.66769, "alpha":0.0, "fx":[-53.40307,-53.40307,-53.40307,-53.40307], "fy":[27.5727,27.5727,27.5727,27.5727]}, - {"t":0.821, "x":1.8663, "y":5.97214, "heading":2.31677, "vx":0.37329, "vy":0.12184, "omega":-1.99904, "ax":-2.74029, "ay":1.92803, "alpha":0.0, "fx":[-45.30645,-45.30645,-45.30645,-45.30645], "fy":[31.87692,31.87692,31.87692,31.87692]}, - {"t":0.84182, "x":1.87348, "y":5.97509, "heading":2.27515, "vx":0.31624, "vy":0.16198, "omega":-1.99904, "ax":-2.18625, "ay":2.19328, "alpha":0.0, "fx":[-36.14617,-36.14617,-36.14617,-36.14617], "fy":[36.26254,36.26254,36.26254,36.26254]}, - {"t":0.86265, "x":1.87959, "y":5.97894, "heading":2.23353, "vx":0.27072, "vy":0.20765, "omega":-1.99904, "ax":-1.57555, "ay":2.451, "alpha":0.0, "fx":[-26.04929,-26.04929,-26.04929,-26.04929], "fy":[40.52347,40.52347,40.52347,40.52347]}, - {"t":0.88347, "x":1.88488, "y":5.98379, "heading":2.19191, "vx":0.23792, "vy":0.25868, "omega":-1.99904, "ax":-0.92599, "ay":2.68706, "alpha":0.0, "fx":[-15.3098,-15.3098,-15.3098,-15.30981], "fy":[44.42635,44.42635,44.42635,44.42635]}, - {"t":0.90429, "x":1.88963, "y":5.98976, "heading":2.15029, "vx":0.21864, "vy":0.31463, "omega":-1.99904, "ax":-0.26361, "ay":2.88942, "alpha":0.0, "fx":[-4.3584,-4.3584,-4.3584,-4.3584], "fy":[47.77206,47.77206,47.77206,47.77206]}, - {"t":0.92511, "x":1.89413, "y":5.99694, "heading":2.10867, "vx":0.21315, "vy":0.37479, "omega":-1.99904, "ax":0.38326, "ay":3.05163, "alpha":0.0, "fx":[6.33655,6.33655,6.33655,6.33655], "fy":[50.45386,50.45387,50.45387,50.45387]}, - {"t":0.94593, "x":1.89865, "y":6.0054, "heading":2.06704, "vx":0.22113, "vy":0.43833, "omega":-1.99904, "ax":0.99106, "ay":3.17387, "alpha":0.0, "fx":[16.38558,16.38558,16.38558,16.38558], "fy":[52.47499,52.47499,52.47499,52.47499]}, - {"t":0.96675, "x":1.90347, "y":6.01522, "heading":2.02542, "vx":0.24176, "vy":0.50441, "omega":-1.99904, "ax":1.54514, "ay":3.26131, "alpha":0.0, "fx":[25.54654,25.54654,25.54654,25.54654], "fy":[53.92063,53.92063,53.92063,53.92063]}, - {"t":0.98757, "x":1.90884, "y":6.02643, "heading":1.9838, "vx":0.27393, "vy":0.57231, "omega":-1.99904, "ax":2.03981, "ay":3.32128, "alpha":0.0, "fx":[33.72511,33.72512,33.72511,33.72511], "fy":[54.91211,54.91211,54.91211,54.91211]}, - {"t":1.00839, "x":1.91498, "y":6.03906, "heading":1.94218, "vx":0.3164, "vy":0.64146, "omega":-1.99904, "ax":2.47588, "ay":3.36109, "alpha":0.0, "fx":[40.93477,40.93477,40.93477,40.93477], "fy":[55.57043,55.57043,55.57043,55.57043]}, - {"t":1.02921, "x":1.92211, "y":6.05315, "heading":1.90056, "vx":0.36795, "vy":0.71144, "omega":-1.99904, "ax":2.85785, "ay":3.38695, "alpha":0.0, "fx":[47.25011,47.25011,47.25011,47.25011], "fy":[55.9979,55.9979,55.9979,55.9979]}, - {"t":1.05003, "x":1.93039, "y":6.06869, "heading":1.85894, "vx":0.42746, "vy":0.78196, "omega":-1.99904, "ax":3.19179, "ay":3.40362, "alpha":0.0, "fx":[52.77134,52.77135,52.77134,52.77134], "fy":[56.27354,56.27353,56.27354,56.27354]}, - {"t":1.07085, "x":1.93998, "y":6.08571, "heading":1.81731, "vx":0.49391, "vy":0.85283, "omega":-1.99904, "ax":3.48402, "ay":3.41462, "alpha":0.0, "fx":[57.60277,57.60277,57.60277,57.60277], "fy":[56.45537,56.45537,56.45538,56.45538]}, - {"t":1.09167, "x":1.95102, "y":6.10421, "heading":1.77569, "vx":0.56645, "vy":0.92393, "omega":-1.99904, "ax":3.74041, "ay":3.42246, "alpha":0.0, "fx":[61.84182,61.84182,61.84182,61.84181], "fy":[56.58504,56.58504,56.58505,56.58505]}, - {"t":1.1125, "x":1.96362, "y":6.12419, "heading":1.73407, "vx":0.64433, "vy":0.99518, "omega":-1.99904, "ax":3.96618, "ay":3.42895, "alpha":0.0, "fx":[65.57465,65.57466,65.57465,65.57465], "fy":[56.6923,56.69229,56.6923,56.6923]}, - {"t":1.13332, "x":1.9779, "y":6.14565, "heading":1.69245, "vx":0.72691, "vy":1.06658, "omega":-1.99904, "ax":4.16581, "ay":3.43539, "alpha":0.0, "fx":[68.87525,68.87526,68.87525,68.87525], "fy":[56.79878,56.79878,56.79879,56.79879]}, - {"t":1.15414, "x":1.99394, "y":6.1686, "heading":1.65083, "vx":0.81365, "vy":1.13811, "omega":-1.99904, "ax":4.34308, "ay":3.44278, "alpha":0.0, "fx":[71.80611,71.80612,71.80611,71.80611], "fy":[56.92097,56.92097,56.92098,56.92098]}, - {"t":1.17496, "x":2.01182, "y":6.19305, "heading":1.6092, "vx":0.90407, "vy":1.20979, "omega":-1.99904, "ax":4.50116, "ay":3.45194, "alpha":0.0, "fx":[74.41962,74.41963,74.41963,74.41962], "fy":[57.07246,57.07246,57.07247,57.07248]}, - {"t":1.19578, "x":2.03162, "y":6.21898, "heading":1.56758, "vx":0.99779, "vy":1.28166, "omega":-1.99904, "ax":4.64268, "ay":3.46364, "alpha":0.0, "fx":[76.75956,76.75957,76.75956,76.75955], "fy":[57.26594,57.26593,57.26595,57.26596]}, - {"t":1.2166, "x":2.0534, "y":6.24642, "heading":1.52596, "vx":1.09446, "vy":1.35378, "omega":-1.99904, "ax":4.76988, "ay":3.47872, "alpha":0.0, "fx":[78.86246,78.86248,78.86246,78.86245], "fy":[57.51519,57.51517,57.5152,57.51521]}, - {"t":1.23742, "x":2.07722, "y":6.27536, "heading":1.48434, "vx":1.19377, "vy":1.42621, "omega":-1.99904, "ax":4.88458, "ay":3.49823, "alpha":0.0, "fx":[80.75891,80.75894,80.75892,80.7589], "fy":[57.8378,57.83778,57.83781,57.83783]}, - {"t":1.25824, "x":2.10313, "y":6.30581, "heading":1.44272, "vx":1.29547, "vy":1.49904, "omega":-1.99904, "ax":4.98835, "ay":3.52376, "alpha":0.0, "fx":[82.47463,82.47466,82.47464,82.47461], "fy":[58.25995,58.25992,58.25996,58.26]}, - {"t":1.27906, "x":2.13119, "y":6.33779, "heading":1.4011, "vx":1.39933, "vy":1.57241, "omega":-1.99904, "ax":5.08252, "ay":3.55809, "alpha":0.00001, "fx":[84.03146,84.03151,84.03148,84.03143], "fy":[58.82753,58.82747,58.82754,58.8276]}, - {"t":1.29988, "x":2.16143, "y":6.3713, "heading":1.35947, "vx":1.50515, "vy":1.64649, "omega":-1.99904, "ax":5.16824, "ay":3.60729, "alpha":0.00013, "fx":[85.4485,85.44958,85.44899,85.44791], "fy":[59.64084,59.63973,59.64105,59.64216]}, - {"t":1.3207, "x":2.19388, "y":6.40636, "heading":1.31785, "vx":1.61276, "vy":1.7216, "omega":-1.99904, "ax":5.24414, "ay":3.68988, "alpha":0.38719, "fx":[85.93048,89.19839,87.50382,84.18179], "fy":[60.91794,57.31642,61.14498,64.64653]}, - {"t":1.34153, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.72195, "vy":1.79843, "omega":-1.99098, "ax":2.08359, "ay":-1.49426, "alpha":-0.19886, "fx":[35.64327,33.97612,33.25292,34.92354], "fy":[-23.93287,-23.55566,-25.48679,-25.84555]}, - {"t":1.36385, "x":2.26756, "y":6.48279, "heading":1.23178, "vx":1.76847, "vy":1.76506, "omega":-1.99542, "ax":0.75481, "ay":-0.76316, "alpha":-0.00026, "fx":[12.48123,12.47889,12.47802,12.48036], "fy":[-12.61685,-12.61606,-12.61844,-12.61922]}, - {"t":1.38618, "x":2.30724, "y":6.522, "heading":1.18723, "vx":1.78532, "vy":1.74803, "omega":-1.99542, "ax":0.2902, "ay":-0.29748, "alpha":-0.00003, "fx":[4.79819,4.79795,4.79785,4.79809], "fy":[-4.9183,-4.91821,-4.91845,-4.91854]}, - {"t":1.4085, "x":2.34717, "y":6.56096, "heading":1.14268, "vx":1.7918, "vy":1.74138, "omega":-1.99542, "ax":0.11059, "ay":-0.11395, "alpha":-0.00003, "fx":[1.82867,1.82843,1.82832,1.82856], "fy":[-1.88387,-1.88376,-1.884,-1.88411]}, - {"t":1.43083, "x":2.3872, "y":6.59981, "heading":1.09813, "vx":1.79427, "vy":1.73884, "omega":-1.99542, "ax":0.04252, "ay":-0.04389, "alpha":-0.00003, "fx":[0.70311,0.70288,0.70277,0.70299], "fy":[-0.72553,-0.72542,-0.72564,-0.72576]}, - {"t":1.45316, "x":2.42727, "y":6.63862, "heading":1.05358, "vx":1.79522, "vy":1.73786, "omega":-1.99542, "ax":0.01684, "ay":-0.01739, "alpha":-0.00002, "fx":[0.27855,0.27834,0.27823,0.27843], "fy":[-0.28746,-0.28734,-0.28754,-0.28766]}, - {"t":1.47548, "x":2.46736, "y":6.67742, "heading":1.00903, "vx":1.79559, "vy":1.73747, "omega":-1.99542, "ax":0.00722, "ay":-0.00746, "alpha":-0.00002, "fx":[0.11959,0.11942,0.11931,0.11948], "fy":[-0.12331,-0.1232,-0.12337,-0.12348]}, - {"t":1.49781, "x":2.50745, "y":6.7162, "heading":0.96448, "vx":1.79575, "vy":1.73731, "omega":-1.99542, "ax":0.00369, "ay":-0.00381, "alpha":-0.00002, "fx":[0.0611,0.06096,0.06087,0.061], "fy":[-0.06292,-0.06282,-0.06296,-0.06306]}, - {"t":1.52014, "x":2.54754, "y":6.75499, "heading":0.91992, "vx":1.79584, "vy":1.73722, "omega":-1.99542, "ax":0.00244, "ay":-0.00252, "alpha":-0.00001, "fx":[0.04051,0.04041,0.04033,0.04044], "fy":[-0.0417,-0.04162,-0.04173,-0.0418]}, - {"t":1.54246, "x":2.58763, "y":6.79378, "heading":0.87537, "vx":1.79589, "vy":1.73716, "omega":-1.99543, "ax":0.00208, "ay":-0.00214, "alpha":-0.00001, "fx":[0.03441,0.03435,0.03429,0.03436], "fy":[-0.03546,-0.0354,-0.03547,-0.03553]}, - {"t":1.56479, "x":2.62773, "y":6.83256, "heading":0.83082, "vx":1.79594, "vy":1.73712, "omega":-1.99543, "ax":0.0021, "ay":-0.00217, "alpha":0.0, "fx":[0.03481,0.03478,0.03475,0.03478], "fy":[-0.03593,-0.0359,-0.03594,-0.03597]}, - {"t":1.58712, "x":2.66783, "y":6.87134, "heading":0.78627, "vx":1.79598, "vy":1.73707, "omega":-1.99543, "ax":0.00248, "ay":-0.00257, "alpha":0.0, "fx":[0.04107,0.04107,0.04107,0.04107], "fy":[-0.04247,-0.04247,-0.04247,-0.04247]}, - {"t":1.60944, "x":2.70793, "y":6.91013, "heading":0.74172, "vx":1.79604, "vy":1.73701, "omega":-1.99543, "ax":0.00359, "ay":-0.00371, "alpha":0.0, "fx":[0.05928,0.05931,0.05935,0.05932], "fy":[-0.06136,-0.0614,-0.06137,-0.06133]}, - {"t":1.63177, "x":2.74803, "y":6.94891, "heading":0.69717, "vx":1.79612, "vy":1.73693, "omega":-1.99543, "ax":0.00656, "ay":-0.00679, "alpha":0.00001, "fx":[0.10841,0.10847,0.10854,0.10848], "fy":[-0.11223,-0.1123,-0.11224,-0.11218]}, - {"t":1.65409, "x":2.78813, "y":6.98768, "heading":0.65262, "vx":1.79627, "vy":1.73678, "omega":-1.99543, "ax":0.01449, "ay":-0.015, "alpha":0.00001, "fx":[0.23952,0.23959,0.2397,0.23962], "fy":[-0.24793,-0.24803,-0.24795,-0.24785]}, - {"t":1.67642, "x":2.82824, "y":7.02646, "heading":0.60807, "vx":1.79659, "vy":1.73644, "omega":-1.99542, "ax":0.03553, "ay":-0.03678, "alpha":0.00002, "fx":[0.58731,0.5874,0.58754,0.58744], "fy":[-0.60813,-0.60827,-0.60817,-0.60804]}, - {"t":1.69875, "x":2.86836, "y":7.06522, "heading":0.56352, "vx":1.79738, "vy":1.73562, "omega":-1.99542, "ax":0.09107, "ay":-0.09443, "alpha":0.00002, "fx":[1.50556,1.50567,1.50584,1.50573], "fy":[-1.56121,-1.56138,-1.56127,-1.56111]}, - {"t":1.72107, "x":2.90851, "y":7.10394, "heading":0.51897, "vx":1.79942, "vy":1.73351, "omega":-1.99542, "ax":0.23676, "ay":-0.24653, "alpha":0.00002, "fx":[3.91431,3.91442,3.91461,3.9145], "fy":[-4.07592,-4.07611,-4.076,-4.07581]}, - {"t":1.7434, "x":2.94874, "y":7.14258, "heading":0.47442, "vx":1.8047, "vy":1.72801, "omega":-1.99542, "ax":0.60808, "ay":-0.64478, "alpha":0.00037, "fx":[10.0514,10.05293,10.05603,10.05449], "fy":[-10.65966,-10.6627,-10.66109,-10.65804]}, - {"t":1.76573, "x":2.98919, "y":7.181, "heading":0.42987, "vx":1.81828, "vy":1.71361, "omega":-1.99542, "ax":-1.63148, "ay":-3.79618, "alpha":0.19205, "fx":[-28.52085,-27.25028,-25.42662,-26.69797], "fy":[-62.15011,-63.61718,-63.38172,-61.9069]}, - {"t":1.78805, "x":3.02938, "y":7.21832, "heading":0.38532, "vx":1.78185, "vy":1.62886, "omega":-1.99113, "ax":-4.98773, "ay":-4.97508, "alpha":3.40179, "fx":[-106.17963,-76.61713,-48.42469,-98.63601], "fy":[-58.40019,-94.39197,-110.09689,-66.13192]}, - {"t":1.81038, "x":3.06792, "y":7.25344, "heading":0.34086, "vx":1.6705, "vy":1.51778, "omega":-1.91518, "ax":-4.98523, "ay":-4.68793, "alpha":5.14877, "fx":[-114.45236,-76.55652,-28.601,-110.08222], "fy":[-44.9498,-96.52915,-119.04165,-49.5097]}, - {"t":1.83271, "x":3.10397, "y":7.28616, "heading":0.2981, "vx":1.55919, "vy":1.41312, "omega":-1.80022, "ax":-4.9939, "ay":-4.52864, "alpha":5.73721, "fx":[-117.22367,-77.66546,-21.68049,-113.69592], "fy":[-38.89666,-96.26093,-121.25739,-43.08113]}, - {"t":1.85503, "x":3.13754, "y":7.31658, "heading":0.25791, "vx":1.4477, "vy":1.31201, "omega":-1.67213, "ax":-5.00958, "ay":-4.4469, "alpha":5.95113, "fx":[-118.74426,-79.0009,-18.77976,-114.77755], "fy":[-34.91284,-95.46623,-122.11771,-41.59327]}, - {"t":1.87736, "x":3.16861, "y":7.34477, "heading":0.22058, "vx":1.33585, "vy":1.21272, "omega":-1.53927, "ax":-5.02487, "ay":-4.41075, "alpha":6.00231, "fx":[-119.76169,-80.345,-17.5392,-114.66772], "fy":[-31.84789,-94.51342,-122.52469,-42.81365]}, - {"t":1.89969, "x":3.19718, "y":7.37074, "heading":0.18621, "vx":1.22366, "vy":1.11425, "omega":-1.40526, "ax":-5.03581, "ay":-4.4037, "alpha":5.97548, "fx":[-120.51135,-81.62459,-17.09721,-113.8038], "fy":[-29.31239,-93.52658,-122.73295,-45.66118]}, - {"t":1.92201, "x":3.22325, "y":7.39452, "heading":0.15484, "vx":1.11123, "vy":1.01593, "omega":-1.27184, "ax":-5.04038, "ay":-4.41593, "alpha":5.91297, "fx":[-121.09298,-82.81079,-17.0677,-112.36798], "fy":[-27.13794,-92.56049,-122.83934,-49.50418]}, - {"t":1.94434, "x":3.2468, "y":7.4161, "heading":0.12644, "vx":0.9987, "vy":0.91734, "omega":-1.13983, "ax":-5.03786, "ay":-4.4407, "alpha":5.83882, "fx":[-121.55755,-83.89182,-17.25302,-110.47043], "fy":[-25.23956,-91.64369,-122.88878,-53.90828]}, - {"t":1.96666, "x":3.26784, "y":7.43548, "heading":0.10099, "vx":0.88622, "vy":0.81819, "omega":-1.00947, "ax":-5.02849, "ay":-4.47289, "alpha":5.7674, "fx":[-121.93481,-84.86339,-17.54221,-108.21246], "fy":[-23.56964,-90.79287,-122.90537,-58.54103]}, - {"t":1.98899, "x":3.28637, "y":7.45263, "heading":0.07846, "vx":0.77395, "vy":0.71833, "omega":-0.8807, "ax":-5.01326, "ay":-4.50841, "alpha":5.70686, "fx":[-122.2438,-85.72461,-17.86856,-105.7085], "fy":[-22.09954,-90.0187,-122.90355,-63.13631]}, - {"t":2.01132, "x":3.30241, "y":7.46754, "heading":0.05879, "vx":0.66203, "vy":0.61767, "omega":-0.75329, "ax":-4.99372, "ay":-4.54404, "alpha":5.66099, "fx":[-122.49766,-86.47613,-18.1897,-103.08974], "fy":[-20.81116,-89.32858,-122.89274,-67.48212]}, - {"t":2.03364, "x":3.31594, "y":7.4802, "heading":0.04197, "vx":0.55053, "vy":0.51622, "omega":-0.6269, "ax":-4.97175, "ay":-4.57733, "alpha":5.63042, "fx":[-122.70589,-87.11913,-18.47732,-100.4985], "fy":[-19.69268,-88.72795,-122.87952,-71.41567]}, - {"t":2.05597, "x":3.32699, "y":7.49059, "heading":0.02798, "vx":0.43953, "vy":0.41403, "omega":-0.50119, "ax":-4.94937, "ay":-4.60649, "alpha":5.61363, "fx":[-122.87562,-87.65482,-18.71155,-98.07875], "fy":[-18.73613,-88.22109,-122.86872,-74.81871]}, - {"t":2.0783, "x":3.33557, "y":7.49868, "heading":0.01679, "vx":0.32903, "vy":0.31118, "omega":-0.37586, "ax":-4.92851, "ay":-4.63034, "alpha":5.60785, "fx":[-123.01234,-88.08424,-18.87775,-95.96644], "fy":[-17.93601,-87.81148,-122.86401,-77.61042]}, - {"t":2.10062, "x":3.34169, "y":7.50448, "heading":0.0084, "vx":0.219, "vy":0.2078, "omega":-0.25066, "ax":-4.91088, "ay":-4.6481, "alpha":5.60995, "fx":[-123.12033,-88.40811,-18.96455,-94.28199], "fy":[-17.28829,-87.50199,-122.86823,-79.73798]}, - {"t":2.12295, "x":3.34536, "y":7.50796, "heading":0.0028, "vx":0.10935, "vy":0.10402, "omega":-0.12541, "ax":-4.89792, "ay":-4.65926, "alpha":5.61702, "fx":[-123.20289,-88.62679,-18.96269,-93.12561], "fy":[-16.78983,-87.29498,-122.88357,-81.16597]}, - {"t":2.14528, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.4225, "ay":0.00457, "alpha":2.18283, "fx":[123.26222,123.24453,122.16914,122.20195], "fy":[-16.88365,17.01245,23.26107,-23.08785]}, + {"t":0.0337, "x":0.70821, "y":5.97525, "heading":3.14159, "vx":0.25014, "vy":0.00015, "omega":0.07356, "ax":7.44631, "ay":0.00294, "alpha":1.89286, "fx":[123.48163,123.47131,122.74078,122.75856], "fy":[-15.06521,15.14966,19.93917,-19.82924]}, + {"t":0.0674, "x":0.72087, "y":5.97526, "heading":-3.13911, "vx":0.50108, "vy":0.00025, "omega":0.13735, "ax":7.47018, "ay":0.00096, "alpha":1.54875, "fx":[123.72507,123.71501,123.2976,123.29338], "fy":[-12.71923,12.81596,16.0161,-16.04964]}, + {"t":0.1011, "x":0.742, "y":5.97527, "heading":-3.13448, "vx":0.75282, "vy":0.00029, "omega":0.18954, "ax":7.49256, "ay":-0.00155, "alpha":1.13219, "fx":[123.97613,123.96808,123.79286,123.77439], "fy":[-9.64722,9.74749,11.3768,-11.57964]}, + {"t":0.1348, "x":0.77163, "y":5.97527, "heading":-3.1281, "vx":1.00532, "vy":0.00023, "omega":0.2277, "ax":7.51022, "ay":-0.00477, "alpha":0.61384, "fx":[124.19361,124.19315,124.15363,124.13846], "fy":[-5.49919,5.50336,5.87376,-6.19345]}, + {"t":0.1685, "x":0.80977, "y":5.97528, "heading":-3.12042, "vx":1.25841, "vy":0.00007, "omega":0.24838, "ax":7.51593, "ay":-0.009, "alpha":-0.05826, "fx":[124.26366,124.26228,124.26493,124.26608], "fy":[0.38956,-0.71185,-0.6825,0.40927]}, + {"t":0.2022, "x":0.85645, "y":5.97528, "heading":-3.11205, "vx":1.5117, "vy":-0.00023, "omega":0.24642, "ax":7.49168, "ay":-0.01475, "alpha":-0.99002, "fx":[123.82845,123.74514,123.94329,123.93607], "fy":[9.41201,-10.47361,-8.53528,8.62147]}, + {"t":0.2359, "x":0.91164, "y":5.97526, "heading":-3.10375, "vx":1.76417, "vy":-0.00073, "omega":0.21306, "ax":7.38213, "ay":-0.02151, "alpha":-2.44156, "fx":[121.53286,121.03622,122.89157,122.74712], "fy":[24.87251,-27.23222,-17.99419,18.93125]}, + {"t":0.2696, "x":0.97529, "y":5.97522, "heading":-3.09657, "vx":2.01294, "vy":-0.00145, "omega":0.13078, "ax":6.96226, "ay":-0.01286, "alpha":-5.19578, "fx":[110.73421,109.08904,120.62056,119.99689], "fy":[55.35507,-58.62555,-29.44209,31.86198]}, + {"t":0.3033, "x":1.04708, "y":5.97517, "heading":-3.09216, "vx":2.24757, "vy":-0.00189, "omega":-0.04432, "ax":5.25649, "ay":0.08683, "alpha":-11.19915, "fx":[56.98964,59.76678,116.31377,114.56119], "fy":[109.48158,-108.15524,-43.31374,47.72974]}, + {"t":0.337, "x":1.1258, "y":5.97515, "heading":-3.09366, "vx":2.42471, "vy":0.00104, "omega":-0.42173, "ax":2.13979, "ay":0.02364, "alpha":-17.18129, "fx":[-43.21571,-28.92168,108.60331,105.04616], "fy":[115.79786,-120.24489,-59.98717,65.99732]}, + {"t":0.3707, "x":1.20873, "y":5.9752, "heading":-3.10787, "vx":2.49683, "vy":0.00184, "omega":-1.00074, "ax":0.36085, "ay":-0.0291, "alpha":-18.5411, "fx":[-84.95242,-77.18296,95.12832,90.87143], "fy":[90.24719,-96.98932,-79.57958,84.39728]}, + {"t":0.4044, "x":1.29308, "y":5.97525, "heading":3.14159, "vx":2.50899, "vy":0.00086, "omega":-1.62557, "ax":-0.86686, "ay":-0.10578, "alpha":-17.91013, "fx":[-98.30985,-95.33191,66.22527,70.08771], "fy":[71.52366,-75.59396,-100.89311,97.96784]}, + {"t":0.42522, "x":1.34514, "y":5.97524, "heading":3.10774, "vx":2.49094, "vy":-0.00135, "omega":-1.99851, "ax":-6.52985, "ay":-0.88024, "alpha":-0.02546, "fx":[-108.01637,-107.97004,-107.90526,-107.95194], "fy":[-14.31462,-14.72951,-14.79292,-14.37673]}, + {"t":0.44604, "x":1.39559, "y":5.97502, "heading":3.06613, "vx":2.35497, "vy":-0.01968, "omega":-1.99904, "ax":-6.46681, "ay":-0.84561, "alpha":-0.00002, "fx":[-106.91859,-106.91856,-106.91851,-106.91854], "fy":[-13.98062,-13.98091,-13.98096,-13.98067]}, + {"t":0.46687, "x":1.44322, "y":5.97443, "heading":3.0245, "vx":2.22031, "vy":-0.03728, "omega":-1.99904, "ax":-6.40454, "ay":-0.80058, "alpha":-0.00001, "fx":[-105.88908,-105.88907,-105.88905,-105.88906], "fy":[-13.23632,-13.23641,-13.23643,-13.23634]}, + {"t":0.48769, "x":1.48807, "y":5.97348, "heading":2.98288, "vx":2.08695, "vy":-0.05395, "omega":-1.99904, "ax":-6.34054, "ay":-0.74635, "alpha":0.0, "fx":[-104.83098,-104.83097,-104.83096,-104.83097], "fy":[-12.33967,-12.33974,-12.33975,-12.33969]}, + {"t":0.50851, "x":1.53015, "y":5.9722, "heading":2.94125, "vx":1.95492, "vy":-0.0695, "omega":-1.99904, "ax":-6.27309, "ay":-0.68305, "alpha":0.0, "fx":[-103.71581,-103.71581,-103.7158,-103.7158], "fy":[-11.29319,-11.29324,-11.29325,-11.29321]}, + {"t":0.52934, "x":1.5695, "y":5.9706, "heading":2.89963, "vx":1.8243, "vy":-0.08372, "omega":-1.99904, "ax":-6.2007, "ay":-0.61031, "alpha":0.0, "fx":[-102.51897,-102.51897,-102.51896,-102.51897], "fy":[-10.09043,-10.09047,-10.09048,-10.09044]}, + {"t":0.55016, "x":1.60614, "y":5.96872, "heading":2.858, "vx":1.69518, "vy":-0.09643, "omega":-1.99904, "ax":-6.12188, "ay":-0.52734, "alpha":0.0, "fx":[-101.2157,-101.2157,-101.21569,-101.21569], "fy":[-8.71877,-8.7188,-8.71881,-8.71878]}, + {"t":0.57098, "x":1.64011, "y":5.9666, "heading":2.81638, "vx":1.56771, "vy":-0.10741, "omega":-1.99904, "ax":-6.03496, "ay":-0.43308, "alpha":0.0, "fx":[-99.77864,-99.77864,-99.77863,-99.77863], "fy":[-7.16024,-7.16026,-7.16027,-7.16025]}, + {"t":0.5918, "x":1.67145, "y":5.96427, "heading":2.77475, "vx":1.44204, "vy":-0.11643, "omega":-1.99904, "ax":-5.93801, "ay":-0.3261, "alpha":0.0, "fx":[-98.17582,-98.17583,-98.17582,-98.17582], "fy":[-5.39156,-5.39157,-5.39158,-5.39156]}, + {"t":0.61263, "x":1.70019, "y":5.96178, "heading":2.73312, "vx":1.3184, "vy":-0.12322, "omega":-1.99904, "ax":-5.8287, "ay":-0.20466, "alpha":0.0, "fx":[-96.36849,-96.36849,-96.36849,-96.36849], "fy":[-3.38373,-3.38374,-3.38375,-3.38374]}, + {"t":0.63345, "x":1.72638, "y":5.95917, "heading":2.6915, "vx":1.19703, "vy":-0.12748, "omega":-1.99904, "ax":-5.7041, "ay":-0.06662, "alpha":0.0, "fx":[-94.30848,-94.30848,-94.30848,-94.30848], "fy":[-1.10147,-1.10148,-1.10149,-1.10148]}, + {"t":0.65427, "x":1.75006, "y":5.9565, "heading":2.64987, "vx":1.07825, "vy":-0.12886, "omega":-1.99904, "ax":-5.56055, "ay":0.09057, "alpha":0.0, "fx":[-91.93497,-91.93497,-91.93497,-91.93497], "fy":[1.49747,1.49746,1.49746,1.49747]}, + {"t":0.67509, "x":1.77131, "y":5.95383, "heading":2.60825, "vx":0.96247, "vy":-0.12698, "omega":-1.99904, "ax":-5.39332, "ay":0.26992, "alpha":0.0, "fx":[-89.17021,-89.17021,-89.17021,-89.17021], "fy":[4.4627,4.4627,4.46269,4.4627]}, + {"t":0.69592, "x":1.79018, "y":5.95125, "heading":2.56662, "vx":0.85016, "vy":-0.12136, "omega":-1.99904, "ax":-5.19639, "ay":0.47484, "alpha":0.0, "fx":[-85.9142,-85.9142,-85.9142,-85.9142], "fy":[7.85075,7.85074,7.85074,7.85075]}, + {"t":0.71674, "x":1.80676, "y":5.94882, "heading":2.525, "vx":0.74196, "vy":-0.11147, "omega":-1.99904, "ax":-4.96196, "ay":0.70903, "alpha":0.0, "fx":[-82.03835,-82.03835,-82.03835,-82.03835], "fy":[11.72276,11.72276,11.72275,11.72276]}, + {"t":0.73756, "x":1.82113, "y":5.94666, "heading":2.48337, "vx":0.63864, "vy":-0.09671, "omega":-1.99904, "ax":-4.68016, "ay":0.9761, "alpha":0.0, "fx":[-77.37917,-77.37917,-77.37917,-77.37917], "fy":[16.13832,16.13832,16.13832,16.13832]}, + {"t":0.75839, "x":1.83342, "y":5.94485, "heading":2.44175, "vx":0.54118, "vy":-0.07638, "omega":-1.99904, "ax":-4.33878, "ay":1.27875, "alpha":0.0, "fx":[-71.73494,-71.73494,-71.73494,-71.73494], "fy":[21.1421,21.1421,21.1421,21.1421]}, + {"t":0.77921, "x":1.84374, "y":5.94354, "heading":2.40012, "vx":0.45084, "vy":-0.04975, "omega":-1.99904, "ax":-3.92373, "ay":1.61725, "alpha":0.0, "fx":[-64.8728,-64.8728,-64.8728,-64.8728], "fy":[26.73869,26.73869,26.73869,26.73869]}, + {"t":0.80003, "x":1.85228, "y":5.94286, "heading":2.35849, "vx":0.36913, "vy":-0.01608, "omega":-1.99904, "ax":-3.42097, "ay":1.98701, "alpha":0.0, "fx":[-56.56034,-56.56034,-56.56034,-56.56034], "fy":[32.85214,32.85214,32.85214,32.85214]}, + {"t":0.82085, "x":1.85923, "y":5.94295, "heading":2.31687, "vx":0.2979, "vy":0.0253, "omega":-1.99904, "ax":-2.82102, "ay":2.37555, "alpha":0.0, "fx":[-46.64116,-46.64116,-46.64116,-46.64116], "fy":[39.27603,39.27603,39.27603,39.27603]}, + {"t":0.84168, "x":1.86482, "y":5.94399, "heading":2.27524, "vx":0.23916, "vy":0.07476, "omega":-1.99904, "ax":-2.12661, "ay":2.76072, "alpha":0.0, "fx":[-35.1602,-35.1602,-35.1602,-35.1602], "fy":[45.64427,45.64427,45.64427,45.64427]}, + {"t":0.8625, "x":1.86934, "y":5.94615, "heading":2.23362, "vx":0.19488, "vy":0.13225, "omega":-1.99904, "ax":-1.36011, "ay":3.11361, "alpha":0.0, "fx":[-22.48737,-22.48737,-22.48737,-22.48737], "fy":[51.47877,51.47877,51.47877,51.47877]}, + {"t":0.88332, "x":1.8731, "y":5.94958, "heading":2.19199, "vx":0.16656, "vy":0.19708, "omega":-1.99904, "ax":-0.56349, "ay":3.40772, "alpha":0.0, "fx":[-9.31638,-9.31638,-9.31638,-9.31638], "fy":[56.34138,56.34138,56.34138,56.34138]}, + {"t":0.90415, "x":1.87645, "y":5.95442, "heading":2.15037, "vx":0.15482, "vy":0.26804, "omega":-1.99904, "ax":0.2139, "ay":3.62937, "alpha":0.0, "fx":[3.53649,3.53649,3.53649,3.53649], "fy":[60.00604,60.00604,60.00604,60.00604]}, + {"t":0.92497, "x":1.87972, "y":5.96079, "heading":2.10874, "vx":0.15928, "vy":0.34361, "omega":-1.99904, "ax":0.93208, "ay":3.78086, "alpha":0.0, "fx":[15.41055,15.41055,15.41055,15.41054], "fy":[62.51063,62.51063,62.51063,62.51063]}, + {"t":0.94579, "x":1.88323, "y":5.96876, "heading":2.06712, "vx":0.17869, "vy":0.42234, "omega":-1.99904, "ax":1.56954, "ay":3.87501, "alpha":0.0, "fx":[25.94993,25.94993,25.94993,25.94993], "fy":[64.06725,64.06725,64.06725,64.06725]}, + {"t":0.96661, "x":1.8873, "y":5.9784, "heading":2.02549, "vx":0.21137, "vy":0.50303, "omega":-1.99904, "ax":2.12151, "ay":3.92754, "alpha":0.0, "fx":[35.07585,35.07585,35.07585,35.07585], "fy":[64.93583,64.93583,64.93584,64.93584]}, + {"t":0.98744, "x":1.89216, "y":5.98972, "heading":1.98386, "vx":0.25554, "vy":0.58481, "omega":-1.99904, "ax":2.59349, "ay":3.95228, "alpha":0.0, "fx":[42.87925,42.87926,42.87926,42.87925], "fy":[65.34478,65.34478,65.34478,65.34478]}, + {"t":1.00826, "x":1.89804, "y":6.00276, "heading":1.94224, "vx":0.30955, "vy":0.66711, "omega":-1.99904, "ax":2.99538, "ay":3.95958, "alpha":0.0, "fx":[49.5239,49.52391,49.5239,49.5239], "fy":[65.46555,65.46555,65.46555,65.46555]}, + {"t":1.02908, "x":1.90514, "y":6.01751, "heading":1.90061, "vx":0.37192, "vy":0.74956, "omega":-1.99904, "ax":3.33792, "ay":3.95662, "alpha":0.0, "fx":[55.18736,55.18736,55.18736,55.18735], "fy":[65.41656,65.41655,65.41656,65.41656]}, + {"t":1.0499, "x":1.9136, "y":6.03397, "heading":1.85899, "vx":0.44142, "vy":0.83195, "omega":-1.99904, "ax":3.63102, "ay":3.94812, "alpha":0.0, "fx":[60.0333,60.0333,60.0333,60.03329], "fy":[65.27601,65.27601,65.27602,65.27602]}, + {"t":1.07073, "x":1.92358, "y":6.05215, "heading":1.81736, "vx":0.51703, "vy":0.91416, "omega":-1.99904, "ax":3.88316, "ay":3.93714, "alpha":0.0, "fx":[64.20203,64.20204,64.20203,64.20203], "fy":[65.09443,65.09443,65.09444,65.09444]}, + {"t":1.09155, "x":1.93519, "y":6.07204, "heading":1.77574, "vx":0.59789, "vy":0.99614, "omega":-1.99904, "ax":4.10136, "ay":3.92563, "alpha":0.0, "fx":[67.80964,67.80965,67.80965,67.80964], "fy":[64.90419,64.90419,64.9042,64.9042]}, + {"t":1.11237, "x":1.94853, "y":6.09363, "heading":1.73411, "vx":0.68329, "vy":1.07788, "omega":-1.99904, "ax":4.29134, "ay":3.91487, "alpha":0.0, "fx":[70.95056,70.95056,70.95056,70.95055], "fy":[64.7262,64.7262,64.72621,64.72621]}, + {"t":1.1332, "x":1.96369, "y":6.11693, "heading":1.69249, "vx":0.77265, "vy":1.1594, "omega":-1.99904, "ax":4.4577, "ay":3.90568, "alpha":0.0, "fx":[73.70105,73.70106,73.70105,73.70104], "fy":[64.57436,64.57435,64.57436,64.57437]}, + {"t":1.15402, "x":1.98074, "y":6.14192, "heading":1.65086, "vx":0.86547, "vy":1.24073, "omega":-1.99904, "ax":4.60416, "ay":3.89868, "alpha":0.0, "fx":[76.12264,76.12265,76.12265,76.12263], "fy":[64.45855,64.45855,64.45856,64.45857]}, + {"t":1.17484, "x":1.99976, "y":6.1686, "heading":1.60923, "vx":0.96134, "vy":1.32191, "omega":-1.99904, "ax":4.73374, "ay":3.89434, "alpha":0.0, "fx":[78.26497,78.26499,78.26497,78.26496], "fy":[64.3868,64.38679,64.38681,64.38682]}, + {"t":1.19566, "x":2.02081, "y":6.19697, "heading":1.56761, "vx":1.05991, "vy":1.403, "omega":-1.99904, "ax":4.84885, "ay":3.89313, "alpha":0.0, "fx":[80.16814,80.16816,80.16815,80.16813], "fy":[64.36688,64.36686,64.36689,64.36691]}, + {"t":1.21649, "x":2.04393, "y":6.22703, "heading":1.52598, "vx":1.16088, "vy":1.48407, "omega":-1.99904, "ax":4.95145, "ay":3.89562, "alpha":0.0, "fx":[81.86455,81.86458,81.86455,81.86453], "fy":[64.40804,64.40802,64.40805,64.40808]}, + {"t":1.23731, "x":2.06917, "y":6.25877, "heading":1.48436, "vx":1.26398, "vy":1.56518, "omega":-1.99904, "ax":5.04312, "ay":3.90259, "alpha":0.00001, "fx":[83.38019,83.38023,83.3802,83.38016], "fy":[64.52317,64.52314,64.52319,64.52323]}, + {"t":1.25813, "x":2.09659, "y":6.29221, "heading":1.44273, "vx":1.36899, "vy":1.64645, "omega":-1.99904, "ax":5.1251, "ay":3.91526, "alpha":0.00001, "fx":[84.73557,84.73564,84.73559,84.73552], "fy":[64.73276,64.7327,64.73278,64.73284]}, + {"t":1.27895, "x":2.1262, "y":6.32734, "heading":1.40111, "vx":1.47571, "vy":1.72797, "omega":-1.99904, "ax":5.19831, "ay":3.93589, "alpha":0.00001, "fx":[85.94591,85.94603,85.94596,85.94584], "fy":[65.07372,65.0736,65.07374,65.07386]}, + {"t":1.29978, "x":2.15806, "y":6.36418, "heading":1.35948, "vx":1.58395, "vy":1.80993, "omega":-1.99904, "ax":5.26328, "ay":3.96927, "alpha":0.00016, "fx":[87.01985,87.02122,87.0204,87.01904], "fy":[65.62561,65.62418,65.62569,65.62713]}, + {"t":1.3206, "x":2.19218, "y":6.40273, "heading":1.31786, "vx":1.69355, "vy":1.89258, "omega":-1.99904, "ax":5.31804, "ay":4.02886, "alpha":0.30898, "fx":[87.32495,90.08286,88.54236,85.75212], "fy":[66.70583,63.64555,66.55952,69.5331]}, + {"t":1.34142, "x":2.2286, "y":6.44301, "heading":1.27623, "vx":1.80429, "vy":1.97647, "omega":-1.9926, "ax":2.98227, "ay":-1.39514, "alpha":-0.16774, "fx":[50.24906,48.99057,48.36211,49.62691], "fy":[-22.33448,-22.0312,-23.80808,-24.09214]}, + {"t":1.36308, "x":2.26837, "y":6.48548, "heading":1.23308, "vx":1.86886, "vy":1.94626, "omega":-1.99623, "ax":1.16603, "ay":-1.13249, "alpha":-0.00043, "fx":[19.28109,19.27728,19.27574,19.27955], "fy":[-18.72254,-18.72136,-18.7253,-18.72648]}, + {"t":1.38473, "x":2.30911, "y":6.52736, "heading":1.18986, "vx":1.89411, "vy":1.92174, "omega":-1.99624, "ax":0.52733, "ay":-0.5226, "alpha":-0.00029, "fx":[8.72033,8.71779,8.71675,8.71928], "fy":[-8.63962,-8.63862,-8.64118,-8.64217]}, + {"t":1.40638, "x":2.35025, "y":6.56885, "heading":1.14663, "vx":1.90553, "vy":1.91042, "omega":-1.99625, "ax":0.23593, "ay":-0.23574, "alpha":-0.00027, "fx":[3.90234,3.90004,3.89899,3.90129], "fy":[-3.89688,-3.89584,-3.89815,-3.89918]}, + {"t":1.42804, "x":2.39156, "y":6.61016, "heading":1.10341, "vx":1.91064, "vy":1.90532, "omega":-1.99626, "ax":0.10897, "ay":-0.10923, "alpha":-0.00023, "fx":[1.80315,1.80122,1.80025,1.80217], "fy":[-1.80546,-1.80448,-1.80641,-1.80739]}, + {"t":1.44969, "x":2.43296, "y":6.65139, "heading":1.06018, "vx":1.913, "vy":1.90295, "omega":-1.99626, "ax":0.05418, "ay":-0.05435, "alpha":-0.00019, "fx":[0.89707,0.89552,0.89466,0.8962], "fy":[-0.89832,-0.89745,-0.899,-0.89987]}, + {"t":1.47134, "x":2.4744, "y":6.69258, "heading":1.01696, "vx":1.91417, "vy":1.90178, "omega":-1.99626, "ax":0.03068, "ay":-0.03077, "alpha":-0.00015, "fx":[0.50815,0.50695,0.50621,0.50741], "fy":[-0.50846,-0.50772,-0.50891,-0.50965]}, + {"t":1.493, "x":2.51585, "y":6.73375, "heading":0.97373, "vx":1.91484, "vy":1.90111, "omega":-1.99627, "ax":0.02082, "ay":-0.02088, "alpha":-0.00011, "fx":[0.34493,0.34404,0.34344,0.34433], "fy":[-0.34509,-0.34448,-0.34538,-0.34598]}, + {"t":1.51465, "x":2.55732, "y":6.77491, "heading":0.9305, "vx":1.91529, "vy":1.90066, "omega":-1.99627, "ax":0.01721, "ay":-0.01727, "alpha":-0.00008, "fx":[0.28501,0.28438,0.28392,0.28454], "fy":[-0.28553,-0.28506,-0.28569,-0.28616]}, + {"t":1.5363, "x":2.5988, "y":6.81607, "heading":0.88728, "vx":1.91566, "vy":1.90029, "omega":-1.99627, "ax":0.01712, "ay":-0.01722, "alpha":-0.00005, "fx":[0.28348,0.28309,0.28276,0.28316], "fy":[-0.28472,-0.2844,-0.2848,-0.28512]}, + {"t":1.55796, "x":2.64028, "y":6.85721, "heading":0.84405, "vx":1.91603, "vy":1.89991, "omega":-1.99627, "ax":0.0205, "ay":-0.02066, "alpha":-0.00003, "fx":[0.33919,0.339,0.33883,0.33902], "fy":[-0.34161,-0.34145,-0.34163,-0.3418]}, + {"t":1.57961, "x":2.68177, "y":6.89835, "heading":0.80082, "vx":1.91647, "vy":1.89946, "omega":-1.99627, "ax":0.02985, "ay":-0.03013, "alpha":0.0, "fx":[0.49357,0.49356,0.49356,0.49356], "fy":[-0.49817,-0.49816,-0.49817,-0.49817]}, + {"t":1.60126, "x":2.72328, "y":6.93947, "heading":0.7576, "vx":1.91712, "vy":1.89881, "omega":-1.99627, "ax":0.05209, "ay":-0.05264, "alpha":0.00003, "fx":[0.86104,0.8612,0.86138,0.86121], "fy":[-0.87039,-0.87056,-0.8704,-0.87023]}, + {"t":1.62292, "x":2.7648, "y":6.98057, "heading":0.71437, "vx":1.91825, "vy":1.89767, "omega":-1.99627, "ax":0.10362, "ay":-0.10491, "alpha":0.00005, "fx":[1.71285,1.71316,1.71352,1.71321], "fy":[-1.73451,-1.73488,-1.73456,-1.7342]}, + {"t":1.64457, "x":2.80637, "y":7.02164, "heading":0.67115, "vx":1.92049, "vy":1.8954, "omega":-1.99627, "ax":0.22207, "ay":-0.22565, "alpha":0.00008, "fx":[3.67114,3.67158,3.67214,3.6717], "fy":[-3.73076,-3.73131,-3.73087,-3.73031]}, + {"t":1.66623, "x":2.848, "y":7.06263, "heading":0.62792, "vx":1.9253, "vy":1.89051, "omega":-1.99627, "ax":0.49054, "ay":-0.5025, "alpha":0.00009, "fx":[8.10975,8.11027,8.11098,8.11047], "fy":[-8.3079,-8.30861,-8.30809,-8.30738]}, + {"t":1.68788, "x":2.88981, "y":7.10345, "heading":0.58469, "vx":1.93592, "vy":1.87963, "omega":-1.99627, "ax":1.06191, "ay":-1.11526, "alpha":0.00009, "fx":[17.55644,17.55689,17.55762,17.55718], "fy":[-18.43903,-18.43972,-18.43922,-18.43853]}, + {"t":1.70953, "x":2.93198, "y":7.14388, "heading":0.54147, "vx":1.95892, "vy":1.85548, "omega":-1.99627, "ax":-1.13066, "ay":-4.31861, "alpha":-0.00072, "fx":[-18.68751,-18.69304,-18.7,-18.69446], "fy":[-71.40306,-71.39845,-71.39987,-71.40448]}, + {"t":1.73119, "x":2.97413, "y":7.18305, "heading":0.49824, "vx":1.93443, "vy":1.76197, "omega":-1.99628, "ax":-4.94523, "ay":-5.28835, "alpha":0.00108, "fx":[-81.77086,-81.75738,-81.75234,-81.76582], "fy":[-87.4263,-87.43924,-87.44294,-87.43]}, + {"t":1.75284, "x":3.01486, "y":7.21996, "heading":0.45501, "vx":1.82735, "vy":1.64746, "omega":-1.99626, "ax":-5.13909, "ay":-5.29897, "alpha":0.05024, "fx":[-85.39622,-84.77574,-84.5347,-85.16049], "fy":[-87.2009,-87.81303,-88.02059,-87.40627]}, + {"t":1.77449, "x":3.05322, "y":7.25439, "heading":0.41179, "vx":1.71607, "vy":1.53272, "omega":-1.99517, "ax":-5.19648, "ay":-5.29056, "alpha":0.84612, "fx":[-92.89167,-83.26409,-78.19643,-89.31037], "fy":[-80.51062,-90.52279,-94.69549,-84.15553]}, + {"t":1.79615, "x":3.08916, "y":7.28634, "heading":0.36859, "vx":1.60355, "vy":1.41816, "omega":-1.97685, "ax":-5.13228, "ay":-5.16561, "alpha":2.84627, "fx":[-105.83179,-79.22064,-56.02344,-98.34108], "fy":[-63.53299,-94.82385,-109.71792,-73.54636]}, + {"t":1.8178, "x":3.12268, "y":7.31584, "heading":0.32578, "vx":1.49242, "vy":1.30631, "omega":-1.91522, "ax":-5.0489, "ay":-4.95975, "alpha":4.26828, "fx":[-112.60957,-77.96579,-37.92634,-105.40079], "fy":[-51.23265,-96.21808,-117.51912,-63.03698]}, + {"t":1.83945, "x":3.15381, "y":7.34296, "heading":0.28431, "vx":1.3831, "vy":1.19891, "omega":-1.82279, "ax":-4.99898, "ay":-4.74652, "alpha":5.19298, "fx":[-116.39289,-78.10719,-25.919,-110.18253], "fy":[-42.42285,-96.30757,-120.95524,-54.21933]}, + {"t":1.86111, "x":3.18259, "y":7.36781, "heading":0.24484, "vx":1.27485, "vy":1.09613, "omega":-1.71035, "ax":-4.97663, "ay":-4.55591, "alpha":5.79955, "fx":[-118.76296,-78.87365,-18.22028,-113.26629], "fy":[-35.63057,-95.8121,-122.50711,-47.34973]}, + {"t":1.88276, "x":3.20903, "y":7.39048, "heading":0.20781, "vx":1.16709, "vy":0.99748, "omega":-1.58477, "ax":-4.97031, "ay":-4.39671, "alpha":6.19998, "fx":[-120.36505,-79.91488,-13.27472,-115.15038], "fy":[-30.09331,-95.03695,-123.25416,-42.38677]}, + {"t":1.90441, "x":3.23313, "y":7.41105, "heading":0.17349, "vx":1.05946, "vy":0.90228, "omega":-1.45052, "ax":-4.97167, "ay":-4.27007, "alpha":6.46115, "fx":[-121.49881,-81.05549,-10.06706,-116.1742], "fy":[-25.40959,-94.13372,-123.64207,-39.21068]}, + {"t":1.92607, "x":3.25491, "y":7.42958, "heading":0.14208, "vx":0.95181, "vy":0.80982, "omega":-1.31061, "ax":-4.97513, "ay":-4.17491, "alpha":6.62461, "fx":[-122.32188,-82.2002,-7.96198,-116.54037], "fy":[-21.35426,-93.18798,-123.86042,-37.69956]}, + {"t":1.94772, "x":3.27435, "y":7.44614, "heading":0.1137, "vx":0.84408, "vy":0.71942, "omega":-1.16717, "ax":-4.97661, "ay":-4.10976, "alpha":6.71775, "fx":[-122.92625,-83.29428,-6.55733,-116.34432], "fy":[-17.7936,-92.2529,-123.9938,-37.75336]}, + {"t":1.96937, "x":3.29146, "y":7.46075, "heading":0.08843, "vx":0.73632, "vy":0.63043, "omega":-1.0217, "ax":-4.9727, "ay":-4.07334, "alpha":6.75998, "fx":[-123.37042,-84.30521,-5.59238,-115.59537], "fy":[-14.64467,-91.36389,-124.08202,-39.29485]}, + {"t":1.99103, "x":3.30624, "y":7.47345, "heading":0.0663, "vx":0.62864, "vy":0.54222, "omega":-0.87533, "ax":-4.96011, "ay":-4.06453, "alpha":6.76641, "fx":[-123.69433,-85.2133,-4.8939,-114.22922], "fy":[-11.85457,-90.54575,-124.14491,-42.25759]}, + {"t":2.01268, "x":3.31869, "y":7.48424, "heading":0.04735, "vx":0.52124, "vy":0.45421, "omega":-0.72881, "ax":-4.93537, "ay":-4.08203, "alpha":6.75031, "fx":[-123.92688,-86.00654,-4.34447,-112.11662], "fy":[-9.38934,-89.8165,-124.19296,-46.56136]}, + {"t":2.03433, "x":3.32882, "y":7.49312, "heading":0.03157, "vx":0.41437, "vy":0.36582, "omega":-0.58264, "ax":-4.89474, "ay":-4.12373, "alpha":6.72511, "fx":[-124.08998,-86.67759,-3.86328,-109.07708], "fy":[-7.22762,-89.18953,-124.23197,-52.06853]}, + {"t":2.05599, "x":3.33665, "y":7.50007, "heading":0.01895, "vx":0.30839, "vy":0.27653, "omega":-0.43702, "ax":-4.83465, "ay":-4.18549, "alpha":6.70604, "fx":[-124.20088,-87.2219,-3.39418,-104.91681], "fy":[-5.35681,-88.67502,-124.2652,-58.50529]}, + {"t":2.07764, "x":3.34219, "y":7.50508, "heading":0.00949, "vx":0.2037, "vy":0.1859, "omega":-0.29181, "ax":-4.75314, "ay":-4.25891, "alpha":6.7116, "fx":[-124.27348,-87.63647,-2.89767,-99.53511], "fy":[-3.77039,-88.28081,-124.29442,-65.31186]}, + {"t":2.09929, "x":3.34549, "y":7.5081, "heading":0.00317, "vx":0.10078, "vy":0.09368, "omega":-0.14648, "ax":-4.65407, "ay":-4.32627, "alpha":6.76487, "fx":[-124.31909,-87.9189,-2.34466,-93.20881], "fy":[-2.46545,-88.01315,-124.32037,-71.31338]}, + {"t":2.12095, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj index 9d82b8c6..bfa9a052 100644 --- a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj +++ b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj @@ -3,14 +3,14 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, @@ -19,8 +19,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -61,85 +61,83 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.63367,2.8351], + "waypoints":[0.0,1.5383,2.68279], "samples":[ - {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.35685, "vy":2.47141, "omega":1.58001, "ax":0.00959, "ay":0.06453, "alpha":-0.04393, "fx":[-0.04874,0.36576,0.36573,-0.04874], "fy":[0.85969,0.85969,1.27411,1.27412]}, - {"t":0.03403, "x":6.08028, "y":3.87652, "heading":-1.51702, "vx":0.35718, "vy":2.47361, "omega":1.57852, "ax":-0.00009, "ay":0.00002, "alpha":-0.07582, "fx":[-0.33933,0.37496,0.33651,-0.37778], "fy":[-0.37609,-0.33765,0.37664,0.33819]}, - {"t":0.06807, "x":6.09244, "y":3.96071, "heading":-1.4633, "vx":0.35717, "vy":2.47361, "omega":1.57594, "ax":-0.0001, "ay":0.00001, "alpha":-0.10129, "fx":[-0.42541,0.52478,0.42224,-0.52795], "fy":[-0.52614,-0.4236,0.52659,0.42405]}, - {"t":0.1021, "x":6.10459, "y":4.0449, "heading":-1.40966, "vx":0.35717, "vy":2.47361, "omega":1.57249, "ax":-0.00005, "ay":0.00001, "alpha":-0.12017, "fx":[-0.46942,0.64971,0.4678,-0.65133], "fy":[-0.65041,-0.4685,0.65064,0.46873]}, - {"t":0.13614, "x":6.11675, "y":4.12909, "heading":-1.35614, "vx":0.35717, "vy":2.47361, "omega":1.5684, "ax":0.00001, "ay":0.0, "alpha":-0.13258, "fx":[-0.47776,0.74443,0.47797,-0.74421], "fy":[-0.74434,-0.47788,0.7443,0.47785]}, - {"t":0.17017, "x":6.12891, "y":4.21327, "heading":-1.30276, "vx":0.35717, "vy":2.47361, "omega":1.56389, "ax":0.00006, "ay":-0.00001, "alpha":-0.13898, "fx":[-0.45759,0.80687,0.45959,-0.80487], "fy":[-0.80602,-0.45874,0.80572,0.45844]}, - {"t":0.20421, "x":6.14106, "y":4.29746, "heading":-1.24953, "vx":0.35717, "vy":2.47361, "omega":1.55916, "ax":0.00011, "ay":-0.00002, "alpha":-0.14016, "fx":[-0.41677,0.83796,0.4204,-0.83433], "fy":[-0.83641,-0.41885,0.83588,0.41832]}, - {"t":0.23824, "x":6.15322, "y":4.38165, "heading":-1.19647, "vx":0.35717, "vy":2.47361, "omega":1.55439, "ax":0.00015, "ay":-0.00002, "alpha":-0.13717, "fx":[-0.36317,0.84141,0.36819,-0.83638], "fy":[-0.83926,-0.36604,0.83853,0.36531]}, - {"t":0.27228, "x":6.16538, "y":4.46584, "heading":-1.14356, "vx":0.35718, "vy":2.47361, "omega":1.54972, "ax":0.00019, "ay":-0.00003, "alpha":-0.13134, "fx":[-0.30411,0.82371,0.31025,-0.81757], "fy":[-0.82109,-0.30762,0.8202,0.30673]}, - {"t":0.30631, "x":6.17753, "y":4.55003, "heading":-1.09082, "vx":0.35719, "vy":2.47361, "omega":1.54525, "ax":0.00021, "ay":-0.00003, "alpha":-0.1242, "fx":[-0.24569,0.79375,0.25264,-0.7868], "fy":[-0.79077,-0.24966,0.78977,0.24866]}, - {"t":0.34035, "x":6.18969, "y":4.63422, "heading":-1.03823, "vx":0.35719, "vy":2.47361, "omega":1.54102, "ax":0.00022, "ay":-0.00003, "alpha":-0.11751, "fx":[-0.19239,0.76275,0.19982,-0.75532], "fy":[-0.75957,-0.19664,0.7585,0.19557]}, - {"t":0.37438, "x":6.20185, "y":4.71841, "heading":-0.98578, "vx":0.3572, "vy":2.4736, "omega":1.53702, "ax":0.00023, "ay":-0.00003, "alpha":-0.11318, "fx":[-0.1465,0.74377,0.15409,-0.73618], "fy":[-0.74052,-0.15084,0.73943,0.14975]}, - {"t":0.40842, "x":6.214, "y":4.8026, "heading":-0.93347, "vx":0.35721, "vy":2.4736, "omega":1.53317, "ax":0.00022, "ay":-0.00003, "alpha":-0.11338, "fx":[-0.1079,0.75182,0.11529,-0.74443], "fy":[-0.74866,-0.11212,0.74759,0.11106]}, - {"t":0.44245, "x":6.22616, "y":4.88679, "heading":-0.88129, "vx":0.35722, "vy":2.4736, "omega":1.52931, "ax":0.00021, "ay":-0.00003, "alpha":-0.12042, "fx":[-0.07348,0.80311,0.08035,-0.79624], "fy":[-0.80017,-0.07741,0.79918,0.07642]}, - {"t":0.47649, "x":6.23832, "y":4.97097, "heading":-0.82924, "vx":0.35722, "vy":2.4736, "omega":1.52521, "ax":0.00018, "ay":-0.00003, "alpha":-0.1369, "fx":[-0.03702,0.91544,0.04304,-0.90943], "fy":[-0.91286,-0.04046,0.91201,0.0396]}, - {"t":0.51052, "x":6.25048, "y":5.05516, "heading":-0.77732, "vx":0.35723, "vy":2.4736, "omega":1.52055, "ax":0.00015, "ay":-0.00002, "alpha":-0.16556, "fx":[0.01135,1.10697,-0.00648,-1.1021], "fy":[-1.10488,0.00857,1.10419,-0.00926]}, - {"t":0.54456, "x":6.26264, "y":5.13935, "heading":-0.72557, "vx":0.35723, "vy":2.4736, "omega":1.51492, "ax":0.0001, "ay":-0.00001, "alpha":-0.20949, "fx":[0.08529,1.39688,-0.08183,-1.39342], "fy":[-1.39539,0.08332,1.39491,-0.0838]}, - {"t":0.57859, "x":6.27479, "y":5.22354, "heading":-0.67401, "vx":0.35724, "vy":2.4736, "omega":1.50779, "ax":0.00006, "ay":-0.00001, "alpha":-0.27187, "fx":[0.20255,1.80349,-0.20067,-1.80162], "fy":[-1.80268,0.20148,1.80243,-0.20174]}, - {"t":0.61263, "x":6.28695, "y":5.30773, "heading":-0.6227, "vx":0.35724, "vy":2.4736, "omega":1.49853, "ax":0.00001, "ay":0.0, "alpha":-0.35622, "fx":[0.38507,2.34529,-0.38486,-2.34508], "fy":[-2.34519,0.38496,2.34518,-0.38497]}, - {"t":0.64666, "x":6.29911, "y":5.39192, "heading":-0.57169, "vx":0.35724, "vy":2.4736, "omega":1.48641, "ax":-0.00004, "ay":0.00001, "alpha":-0.46614, "fx":[0.65884,3.03842,-0.66025,-3.03983], "fy":[-3.03901,0.65966,3.03924,-0.65943]}, - {"t":0.6807, "x":6.31127, "y":5.47611, "heading":-0.5211, "vx":0.35724, "vy":2.4736, "omega":1.47055, "ax":-0.00009, "ay":0.00001, "alpha":-0.60555, "fx":[1.05393,3.89829,-1.05677,-3.90113], "fy":[-3.89949,1.05557,3.89993,-1.05513]}, - {"t":0.71473, "x":6.32343, "y":5.5603, "heading":-0.47105, "vx":0.35724, "vy":2.4736, "omega":1.44994, "ax":-0.00012, "ay":0.00002, "alpha":-0.77843, "fx":[1.60378,4.93692,-1.60772,-4.94085], "fy":[-4.93859,1.60605,4.93918,-1.60545]}, - {"t":0.74877, "x":6.33559, "y":5.64448, "heading":-0.42171, "vx":0.35723, "vy":2.4736, "omega":1.42344, "ax":-0.00014, "ay":0.00002, "alpha":-0.98913, "fx":[2.34518,6.16517,-2.34977,-6.16975], "fy":[-6.16712,2.34782,6.1678,-2.34712]}, - {"t":0.7828, "x":6.34774, "y":5.72867, "heading":-0.37326, "vx":0.35723, "vy":2.4736, "omega":1.38978, "ax":-0.00014, "ay":0.00002, "alpha":-1.24208, "fx":[3.31702,7.59043,-3.32174,-7.59513], "fy":[-7.59243,3.31975,7.59313,-3.31902]}, - {"t":0.81684, "x":6.3599, "y":5.81286, "heading":-0.32596, "vx":0.35722, "vy":2.4736, "omega":1.3475, "ax":-0.00013, "ay":0.00002, "alpha":-1.54206, "fx":[4.55998,9.21899,-4.56434,-9.22332], "fy":[-9.22083,4.56251,9.22147,-4.56182]}, - {"t":0.85087, "x":6.37206, "y":5.89705, "heading":-0.2801, "vx":0.35722, "vy":2.4736, "omega":1.29502, "ax":-0.00011, "ay":0.00002, "alpha":-1.89381, "fx":[6.11429,11.05396,-6.11795,-11.0576], "fy":[-11.05551,6.11642,11.05605,-6.11582]}, - {"t":0.88491, "x":6.38422, "y":5.98124, "heading":-0.23602, "vx":0.35721, "vy":2.4736, "omega":1.23056, "ax":-0.0001, "ay":0.00002, "alpha":-2.302, "fx":[8.0177,13.09653,-8.02086,-13.09966], "fy":[-13.09787,8.01955,13.09832,-8.01901]}, - {"t":0.91894, "x":6.39638, "y":6.06543, "heading":-0.19414, "vx":0.35721, "vy":2.4736, "omega":1.15222, "ax":-0.00016, "ay":0.00002, "alpha":-2.7705, "fx":[10.3003,15.34328,-10.3055,-15.34843], "fy":[-15.34551,10.30336,15.34619,-10.30245]}, - {"t":0.95298, "x":6.40853, "y":6.14962, "heading":-0.15492, "vx":0.35721, "vy":2.4736, "omega":1.05792, "ax":-0.00068, "ay":0.0001, "alpha":-3.30174, "fx":[12.97472,17.78176,-12.9974,-17.8042], "fy":[-17.79168,12.98806,17.79428,-12.98405]}, - {"t":0.98701, "x":6.42069, "y":6.23381, "heading":-0.11892, "vx":0.35718, "vy":2.47361, "omega":0.94555, "ax":-0.0039, "ay":0.00056, "alpha":-3.89581, "fx":[16.00368,20.365,-16.13315,-20.4934], "fy":[-20.42271,16.08059,20.43572,-16.05627]}, - {"t":1.02105, "x":6.43285, "y":6.31799, "heading":-0.08673, "vx":0.35705, "vy":2.47363, "omega":0.81295, "ax":-0.02238, "ay":0.00323, "alpha":-4.54946, "fx":[19.15147,22.8713,-19.89277,-23.60991], "fy":[-23.20978,19.59816,23.27212,-19.44703]}, - {"t":1.05508, "x":6.44498, "y":6.40219, "heading":-0.05907, "vx":0.35629, "vy":2.47374, "omega":0.65811, "ax":-0.12472, "ay":0.01785, "alpha":-5.25342, "fx":[21.21023,24.13103,-25.32641,-28.26297], "fy":[-26.07877,23.74578,26.33925,-22.82546]}, - {"t":1.08912, "x":6.45704, "y":6.48639, "heading":-0.03667, "vx":0.35204, "vy":2.47434, "omega":0.47931, "ax":-0.6681, "ay":0.09192, "alpha":-5.9187, "fx":[15.61826,17.61638,-37.57867,-39.83979], "fy":[-28.73054,29.80395,29.5205,-24.51486]}, - {"t":1.12315, "x":6.46863, "y":6.57066, "heading":-0.02035, "vx":0.3293, "vy":2.47747, "omega":0.27787, "ax":-3.13115, "ay":0.34792, "alpha":-4.96237, "fx":[-33.88957,-31.19751,-69.82477,-72.16274], "fy":[-25.80994,37.6347,29.03496,-17.85044]}, - {"t":1.15719, "x":6.47803, "y":6.65518, "heading":-0.0109, "vx":0.22274, "vy":2.48931, "omega":0.10898, "ax":-6.31307, "ay":0.29143, "alpha":-1.52102, "fx":[-102.77765,-101.6356,-106.13319,-106.96079], "fy":[-8.19795,18.46979,15.52628,-6.52469]}, - {"t":1.19122, "x":6.48195, "y":6.74007, "heading":-0.00719, "vx":0.00787, "vy":2.49923, "omega":0.05721, "ax":-7.11461, "ay":-0.32385, "alpha":-0.56784, "fx":[-117.09502,-117.56451,-118.12527,-117.73116], "fy":[-10.86865,-0.34461,-0.24762,-9.95664]}, - {"t":1.22526, "x":6.4781, "y":6.82494, "heading":-0.00524, "vx":-0.23427, "vy":2.48821, "omega":0.03788, "ax":-7.26265, "ay":-1.05365, "alpha":-0.29893, "fx":[-119.55056,-120.34365,-120.56926,-119.84282], "fy":[-20.56118,-15.0672,-14.39192,-19.66156]}, - {"t":1.25929, "x":6.46592, "y":6.90902, "heading":-0.00395, "vx":-0.48146, "vy":2.45235, "omega":0.02771, "ax":-7.20037, "ay":-1.79823, "alpha":-0.18983, "fx":[-118.49764,-119.33604,-119.57429,-118.77963], "fy":[-31.82688,-28.46509,-27.67497,-30.95712]}, - {"t":1.29333, "x":6.44536, "y":6.99144, "heading":-0.00301, "vx":-0.72652, "vy":2.39115, "omega":0.02125, "ax":-7.01736, "ay":-2.53428, "alpha":-0.13473, "fx":[-115.45883,-116.26896,-116.56915,-115.78736], "fy":[-43.42379,-41.18011,-40.39242,-42.60491]}, - {"t":1.32736, "x":6.41657, "y":7.07136, "heading":-0.00228, "vx":-0.96536, "vy":2.30489, "omega":0.01666, "ax":-6.65634, "ay":-3.41811, "alpha":-0.10263, "fx":[-109.45301,-110.23786,-110.64201,-109.87565], "fy":[-57.66714,-56.13898,-55.36401,-56.88233]}, - {"t":1.3614, "x":6.37986, "y":7.14783, "heading":-0.00172, "vx":-1.1919, "vy":2.18856, "omega":0.01317, "ax":-5.34074, "ay":-5.2615, "alpha":-0.07925, "fx":[-87.56061,-88.30309,-89.0378,-88.30173], "fy":[-87.7388,-86.9843,-86.23944,-86.99997]}, - {"t":1.39543, "x":6.3362, "y":7.21927, "heading":-0.00127, "vx":-1.37367, "vy":2.00948, "omega":0.01047, "ax":-4.3016, "ay":-6.1517, "alpha":-0.06312, "fx":[-70.44342,-70.99775,-71.79708,-71.24257], "fy":[-102.18107,-101.79247,-101.23323,-101.62839]}, - {"t":1.42946, "x":6.28696, "y":7.2841, "heading":-0.00091, "vx":-1.52008, "vy":1.80011, "omega":0.00833, "ax":-3.62654, "ay":-6.57897, "alpha":-0.05281, "fx":[-59.36903,-59.78623,-60.55045,-60.13114], "fy":[-109.09802,-108.86721,-108.44555,-108.68133]}, - {"t":1.4635, "x":6.23312, "y":7.34155, "heading":-0.00063, "vx":-1.64351, "vy":1.5762, "omega":0.00653, "ax":-3.17281, "ay":-6.81363, "alpha":-0.04592, "fx":[-51.93776,-52.26614,-52.97846,-52.64754], "fy":[-112.89467,-112.74107,-112.40902,-112.56632]}, - {"t":1.49753, "x":6.17535, "y":7.39125, "heading":-0.00041, "vx":-1.75149, "vy":1.3443, "omega":0.00497, "ax":-2.85195, "ay":-6.95693, "alpha":-0.04107, "fx":[-46.68661,-46.95602,-47.6198,-47.34786], "fy":[-115.21307,-115.10207,-114.82964,-114.9435]}, - {"t":1.53157, "x":6.11408, "y":7.43297, "heading":-0.00024, "vx":-1.84856, "vy":1.10752, "omega":0.00357, "ax":-2.61475, "ay":-7.05161, "alpha":-0.03749, "fx":[-42.80609,-43.03459,-43.65689,-43.42598], "fy":[-116.74486,-116.65967,-116.42865,-116.51612]}, - {"t":1.5656, "x":6.04965, "y":7.46658, "heading":-0.00012, "vx":-1.93755, "vy":0.86752, "omega":0.00229, "ax":-2.43298, "ay":-7.11795, "alpha":-0.03475, "fx":[-39.83283,-40.03176,-40.61931,-40.41814], "fy":[-117.81847,-117.75009,-117.54903,-117.61928]}, - {"t":1.59964, "x":5.9823, "y":7.49199, "heading":-0.00004, "vx":-2.02036, "vy":0.62526, "omega":0.00111, "ax":-2.28959, "ay":-7.16659, "alpha":-0.03259, "fx":[-37.48776,-37.66453,-38.22299,-38.04414], "fy":[-118.60577,-118.54897,-118.37034,-118.42873]}, - {"t":1.63367, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-2.09828, "vy":0.38134, "omega":0.0, "ax":-2.9525, "ay":-6.91694, "alpha":0.0, "fx":[-48.815,-48.815,-48.815,-48.815], "fy":[-114.36083,-114.36083,-114.36083,-114.36083]}, - {"t":1.67658, "x":5.81946, "y":7.51911, "heading":0.0, "vx":-2.22497, "vy":0.08455, "omega":0.0, "ax":-6.32896, "ay":-3.9668, "alpha":0.0, "fx":[-104.63953,-104.63953,-104.63953,-104.63953], "fy":[-65.58489,-65.58489,-65.58489,-65.58489]}, - {"t":1.71949, "x":5.71816, "y":7.51909, "heading":0.0, "vx":-2.49653, "vy":-0.08566, "omega":0.0, "ax":-0.0568, "ay":0.88777, "alpha":0.0, "fx":[-0.93905,-0.93905,-0.93905,-0.93905], "fy":[14.67797,14.67797,14.67797,14.67797]}, - {"t":1.7624, "x":5.61099, "y":7.51623, "heading":0.0, "vx":-2.49897, "vy":-0.04756, "omega":0.0, "ax":-0.00572, "ay":0.35819, "alpha":0.0, "fx":[-0.0945,-0.0945,-0.0945,-0.0945], "fy":[5.92215,5.92215,5.92215,5.92215]}, - {"t":1.80531, "x":5.50376, "y":7.51452, "heading":0.0, "vx":-2.49922, "vy":-0.03219, "omega":0.0, "ax":-0.00218, "ay":0.19404, "alpha":0.0, "fx":[-0.03597,-0.03597,-0.03597,-0.03597], "fy":[3.20818,3.20818,3.20818,3.20818]}, - {"t":1.84821, "x":5.39652, "y":7.51332, "heading":0.0, "vx":-2.49931, "vy":-0.02387, "omega":0.0, "ax":-0.00109, "ay":0.12968, "alpha":0.0, "fx":[-0.01808,-0.01808,-0.01808,-0.01808], "fy":[2.14407,2.14407,2.14407,2.14407]}, - {"t":1.89112, "x":5.28928, "y":7.51241, "heading":0.0, "vx":-2.49936, "vy":-0.0183, "omega":0.0, "ax":-0.00062, "ay":0.09453, "alpha":0.0, "fx":[-0.01017,-0.01017,-0.01017,-0.01017], "fy":[1.56282,1.56282,1.56282,1.56282]}, - {"t":1.93403, "x":5.18204, "y":7.51171, "heading":0.0, "vx":-2.49938, "vy":-0.01425, "omega":0.0, "ax":-0.00036, "ay":0.07156, "alpha":0.0, "fx":[-0.00602,-0.00602,-0.00602,-0.00602], "fy":[1.18305,1.18305,1.18305,1.18305]}, - {"t":1.97694, "x":5.07479, "y":7.51117, "heading":0.0, "vx":-2.4994, "vy":-0.01118, "omega":0.0, "ax":-0.00022, "ay":0.05521, "alpha":0.0, "fx":[-0.00365,-0.00365,-0.00365,-0.00365], "fy":[0.91282,0.91282,0.91282,0.91282]}, - {"t":2.01985, "x":4.96755, "y":7.51074, "heading":0.0, "vx":-2.49941, "vy":-0.00881, "omega":0.0, "ax":-0.00014, "ay":0.04305, "alpha":0.0, "fx":[-0.00224,-0.00224,-0.00224,-0.00224], "fy":[0.71179,0.71179,0.71179,0.71179]}, - {"t":2.06275, "x":4.8603, "y":7.5104, "heading":0.0, "vx":-2.49941, "vy":-0.00696, "omega":0.0, "ax":-0.00008, "ay":0.03377, "alpha":0.0, "fx":[-0.00139,-0.00139,-0.00139,-0.00139], "fy":[0.5584,0.5584,0.5584,0.5584]}, - {"t":2.10566, "x":4.75306, "y":7.51013, "heading":0.0, "vx":-2.49942, "vy":-0.00551, "omega":0.0, "ax":-0.00005, "ay":0.02659, "alpha":0.0, "fx":[-0.00087,-0.00087,-0.00087,-0.00087], "fy":[0.43956,0.43956,0.43956,0.43956]}, - {"t":2.14857, "x":4.64581, "y":7.50992, "heading":0.0, "vx":-2.49942, "vy":-0.00437, "omega":0.0, "ax":-0.00003, "ay":0.02096, "alpha":0.0, "fx":[-0.00054,-0.00054,-0.00054,-0.00054], "fy":[0.34657,0.34657,0.34657,0.34657]}, - {"t":2.19148, "x":4.53857, "y":7.50975, "heading":0.0, "vx":-2.49942, "vy":-0.00347, "omega":0.0, "ax":-0.00002, "ay":0.01653, "alpha":0.0, "fx":[-0.00034,-0.00034,-0.00034,-0.00034], "fy":[0.27334,0.27334,0.27334,0.27334]}, - {"t":2.23439, "x":4.43132, "y":7.50962, "heading":0.0, "vx":-2.49942, "vy":-0.00276, "omega":0.0, "ax":-0.00001, "ay":0.01303, "alpha":0.0, "fx":[-0.00021,-0.00021,-0.00021,-0.00021], "fy":[0.21538,0.21538,0.21538,0.21538]}, - {"t":2.27729, "x":4.32408, "y":7.50951, "heading":0.0, "vx":-2.49942, "vy":-0.0022, "omega":0.0, "ax":-0.00001, "ay":0.01024, "alpha":0.0, "fx":[-0.00013,-0.00013,-0.00013,-0.00013], "fy":[0.16931,0.16931,0.16931,0.16931]}, - {"t":2.3202, "x":4.21683, "y":7.50943, "heading":0.0, "vx":-2.49942, "vy":-0.00176, "omega":0.0, "ax":-0.00001, "ay":0.00801, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[0.1325,0.1325,0.1325,0.1325]}, - {"t":2.36311, "x":4.10958, "y":7.50936, "heading":0.0, "vx":-2.49942, "vy":-0.00142, "omega":0.0, "ax":0.0, "ay":0.00623, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.10297,0.10297,0.10297,0.10297]}, - {"t":2.40602, "x":4.00234, "y":7.50931, "heading":0.0, "vx":-2.49942, "vy":-0.00115, "omega":0.0, "ax":0.0, "ay":0.00482, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.07966,0.07966,0.07966,0.07966]}, - {"t":2.44893, "x":3.89509, "y":7.50926, "heading":0.0, "vx":-2.49942, "vy":-0.00095, "omega":0.0, "ax":0.00034, "ay":0.00409, "alpha":0.0, "fx":[0.00557,0.00557,0.00557,0.00557], "fy":[0.06756,0.06756,0.06756,0.06756]}, - {"t":2.49184, "x":3.78785, "y":7.50922, "heading":0.0, "vx":-2.49941, "vy":-0.00077, "omega":0.0, "ax":5.65619, "ay":0.00527, "alpha":0.0, "fx":[93.51624,93.51624,93.51624,93.51624], "fy":[0.08712,0.08712,0.08712,0.08712]}, - {"t":2.53474, "x":3.68581, "y":7.50919, "heading":0.0, "vx":-2.25671, "vy":-0.00054, "omega":0.0, "ax":7.4807, "ay":0.00214, "alpha":0.0, "fx":[123.68167,123.68167,123.68167,123.68167], "fy":[0.03546,0.03546,0.03546,0.03546]}, - {"t":2.57765, "x":3.59587, "y":7.50917, "heading":0.0, "vx":-1.93573, "vy":-0.00045, "omega":0.0, "ax":7.50653, "ay":0.00197, "alpha":0.0, "fx":[124.10882,124.10882,124.10882,124.10882], "fy":[0.03258,0.03258,0.03258,0.03258]}, - {"t":2.62056, "x":3.51972, "y":7.50916, "heading":0.0, "vx":-1.61364, "vy":-0.00037, "omega":0.0, "ax":7.5153, "ay":0.00185, "alpha":0.0, "fx":[124.25375,124.25375,124.25375,124.25375], "fy":[0.03065,0.03065,0.03065,0.03065]}, - {"t":2.66347, "x":3.4574, "y":7.50914, "heading":0.0, "vx":-1.29117, "vy":-0.00029, "omega":0.0, "ax":7.51971, "ay":0.00177, "alpha":0.0, "fx":[124.32669,124.32669,124.32669,124.32669], "fy":[0.02919,0.02919,0.02919,0.02919]}, - {"t":2.70638, "x":3.40892, "y":7.50913, "heading":0.0, "vx":-0.96852, "vy":-0.00021, "omega":0.0, "ax":7.52237, "ay":0.0017, "alpha":0.0, "fx":[124.3706,124.3706,124.3706,124.3706], "fy":[0.02809,0.02809,0.02809,0.02809]}, - {"t":2.74928, "x":3.37429, "y":7.50912, "heading":0.0, "vx":-0.64575, "vy":-0.00014, "omega":0.0, "ax":7.52414, "ay":0.00165, "alpha":0.0, "fx":[124.39993,124.39993,124.39993,124.39993], "fy":[0.02725,0.02725,0.02725,0.02725]}, - {"t":2.79219, "x":3.3535, "y":7.50912, "heading":0.0, "vx":-0.3229, "vy":-0.00007, "omega":0.0, "ax":7.52541, "ay":0.00161, "alpha":0.0, "fx":[124.42092,124.42092,124.42092,124.42092], "fy":[0.02661,0.02661,0.02661,0.02661]}, - {"t":2.8351, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.44774, "vy":2.65923, "omega":1.71362, "ax":0.0151, "ay":0.07529, "alpha":-0.20222, "fx":[-0.7045,1.20395,1.20358,-0.70429], "fy":[0.29094,0.29092,2.19866,2.19879]}, + {"t":0.03273, "x":6.08279, "y":3.87944, "heading":-1.51471, "vx":0.44824, "vy":2.66169, "omega":1.707, "ax":-0.00023, "ay":0.00004, "alpha":-0.32553, "fx":[-1.45095,1.6156,1.44343,-1.62312], "fy":[-1.61864,-1.44647,1.62008,1.44791]}, + {"t":0.06546, "x":6.09746, "y":3.96656, "heading":-1.45884, "vx":0.44823, "vy":2.66169, "omega":1.69634, "ax":-0.00027, "ay":0.00004, "alpha":-0.40027, "fx":[-1.66997,2.08296,1.66103,-2.09189], "fy":[-2.0867,-1.66478,2.08816,1.66622]}, + {"t":0.09819, "x":6.11213, "y":4.05368, "heading":-1.40332, "vx":0.44822, "vy":2.66169, "omega":1.68324, "ax":0.00013, "ay":-0.00002, "alpha":-0.43313, "fx":[-1.67198,2.35744,1.67622,-2.35319], "fy":[-2.35569,-1.67448,2.35494,1.67372]}, + {"t":0.13092, "x":6.1268, "y":4.14079, "heading":-1.34823, "vx":0.44823, "vy":2.66169, "omega":1.66907, "ax":0.00054, "ay":-0.00009, "alpha":-0.43196, "fx":[-1.52879,2.44625,1.54663,-2.42842], "fy":[-2.43886,-1.53922,2.43582,1.53619]}, + {"t":0.16365, "x":6.14147, "y":4.22791, "heading":-1.2936, "vx":0.44824, "vy":2.66169, "omega":1.65493, "ax":0.00088, "ay":-0.00015, "alpha":-0.4047, "fx":[-1.29932,2.37324,1.32832,-2.34426], "fy":[-2.36121,-1.31627,2.3563,1.31137]}, + {"t":0.19638, "x":6.15615, "y":4.31503, "heading":-1.23943, "vx":0.44827, "vy":2.66168, "omega":1.64168, "ax":0.00113, "ay":-0.00019, "alpha":-0.35853, "fx":[-1.03042,2.16832,1.0678,-2.13095], "fy":[-2.1528,-1.05226,2.14648,1.04596]}, + {"t":0.22911, "x":6.17082, "y":4.40214, "heading":-1.1857, "vx":0.44831, "vy":2.66168, "omega":1.62995, "ax":0.00131, "ay":-0.00022, "alpha":-0.29942, "fx":[-0.75678,1.86132,0.80012,-1.818], "fy":[-1.84332,-0.7821,1.836,0.7748]}, + {"t":0.26184, "x":6.18549, "y":4.48926, "heading":-1.13235, "vx":0.44835, "vy":2.66167, "omega":1.62015, "ax":0.00143, "ay":-0.00024, "alpha":-0.23207, "fx":[-0.5028,1.47965,0.55012,-1.43234], "fy":[-1.45999,-0.53045,1.45201,0.52248]}, + {"t":0.29457, "x":6.20017, "y":4.57638, "heading":-1.07933, "vx":0.4484, "vy":2.66166, "omega":1.61255, "ax":0.0015, "ay":-0.00025, "alpha":-0.16003, "fx":[-0.28444,1.04677,0.3342,-0.99702], "fy":[-1.02609,-0.31351,1.0177,0.30513]}, + {"t":0.3273, "x":6.21484, "y":4.66349, "heading":-1.02655, "vx":0.44845, "vy":2.66165, "omega":1.60732, "ax":0.00154, "ay":-0.00026, "alpha":-0.08615, "fx":[-0.11181,0.58362,0.16273,-0.53269], "fy":[-0.56244,-0.14156,0.55387,0.13298]}, + {"t":0.36003, "x":6.22952, "y":4.75061, "heading":-0.97394, "vx":0.4485, "vy":2.66165, "omega":1.6045, "ax":0.00154, "ay":-0.00026, "alpha":-0.01277, "fx":[0.00953,0.10921,0.04147,-0.05821], "fy":[-0.08801,-0.02027,0.07942,0.01168]}, + {"t":0.39276, "x":6.2442, "y":4.83772, "heading":-0.92143, "vx":0.44855, "vy":2.66164, "omega":1.60408, "ax":0.00151, "ay":-0.00025, "alpha":0.05762, "fx":[0.07711,-0.35588,-0.02714,0.40585], "fy":[0.37666,0.04792,-0.38507,-0.05633]}, + {"t":0.42549, "x":6.25888, "y":4.92484, "heading":-0.86892, "vx":0.4486, "vy":2.66163, "omega":1.60596, "ax":0.00144, "ay":-0.00024, "alpha":0.12214, "fx":[0.09184,-0.78819,-0.04413,0.83588], "fy":[0.80802,0.06397,-0.81605,-0.072]}, + {"t":0.45822, "x":6.27357, "y":5.01195, "heading":-0.81636, "vx":0.44865, "vy":2.66162, "omega":1.60996, "ax":0.00133, "ay":-0.00022, "alpha":0.17669, "fx":[0.05843,-1.15631,-0.01455,1.20019], "fy":[1.17456,0.0328,-1.18194,-0.04018]}, + {"t":0.49095, "x":6.28825, "y":5.09907, "heading":-0.76367, "vx":0.44869, "vy":2.66161, "omega":1.61574, "ax":0.00115, "ay":-0.00019, "alpha":0.21565, "fx":[-0.01222,-1.41934,0.0503,1.45741], "fy":[1.43518,-0.03446,-1.44157,0.02807]}, + {"t":0.52368, "x":6.30294, "y":5.18618, "heading":-0.71078, "vx":0.44873, "vy":2.66161, "omega":1.6228, "ax":0.0009, "ay":-0.00015, "alpha":0.23081, "fx":[-0.09992,-1.52073,0.12967,1.55047], "fy":[1.53311,-0.11728,-1.53808,0.11231]}, + {"t":0.55641, "x":6.31763, "y":5.27329, "heading":-0.65767, "vx":0.44876, "vy":2.6616, "omega":1.63036, "ax":0.00056, "ay":-0.00009, "alpha":0.2112, "fx":[-0.17026,-1.38834,0.18872,1.4068], "fy":[1.39605,-0.18101,-1.3991,0.17796]}, + {"t":0.58914, "x":6.33231, "y":5.36041, "heading":-0.60431, "vx":0.44877, "vy":2.6616, "omega":1.63727, "ax":0.00013, "ay":-0.00002, "alpha":0.14208, "fx":[-0.16865,-0.93033,0.1728,0.93447], "fy":[0.93209,-0.17103,-0.93271,0.17042]}, + {"t":0.62187, "x":6.347, "y":5.44752, "heading":-0.55072, "vx":0.44878, "vy":2.6616, "omega":1.64192, "ax":-0.00038, "ay":0.00007, "alpha":0.00558, "fx":[-0.01488,-0.04241,0.00242,0.02996], "fy":[0.03729,-0.00755,-0.03508,0.00976]}, + {"t":0.6546, "x":6.36169, "y":5.53463, "heading":-0.49698, "vx":0.44877, "vy":2.6616, "omega":1.6421, "ax":-0.00089, "ay":0.00015, "alpha":-0.21929, "fx":[0.40141,1.38787,-0.43083,-1.41727], "fy":[-1.40002,0.41867,1.40512,-0.41357]}, + {"t":0.68733, "x":6.37638, "y":5.62175, "heading":-0.44324, "vx":0.44874, "vy":2.66161, "omega":1.63492, "ax":-0.00132, "ay":0.00023, "alpha":-0.55421, "fx":[1.21879,3.46136,-1.26241,-3.50493], "fy":[-3.4794,1.24437,3.48689,-1.23683]}, + {"t":0.72006, "x":6.39106, "y":5.70886, "heading":-0.38973, "vx":0.44869, "vy":2.66161, "omega":1.61679, "ax":-0.00156, "ay":0.00027, "alpha":-1.02031, "fx":[2.5978,6.25539,-2.64949,-6.30691], "fy":[-6.27677,2.62816,6.28553,-2.61914]}, + {"t":0.75279, "x":6.40575, "y":5.79598, "heading":-0.33681, "vx":0.44864, "vy":2.66162, "omega":1.58339, "ax":-0.00158, "ay":0.00027, "alpha":-1.63466, "fx":[4.70366,9.80083,-4.75597,-9.85275], "fy":[-9.82247,4.7345,9.83112,-4.72514]}, + {"t":0.78552, "x":6.42043, "y":5.88309, "heading":-0.28498, "vx":0.44859, "vy":2.66163, "omega":1.52989, "ax":-0.00156, "ay":0.00027, "alpha":-2.40852, "fx":[7.68359,14.07274,-7.73555,-14.12402], "fy":[-14.09431,7.71444,14.10245,-7.70469]}, + {"t":0.81825, "x":6.43511, "y":5.97021, "heading":-0.23491, "vx":0.44854, "vy":2.66164, "omega":1.45106, "ax":-0.00252, "ay":0.00043, "alpha":-3.34221, "fx":[11.62199,18.96251,-11.70622,-19.04514], "fy":[-18.99796,11.67257,19.00969,-11.65565]}, + {"t":0.85098, "x":6.44979, "y":6.05732, "heading":-0.18742, "vx":0.44846, "vy":2.66165, "omega":1.34167, "ax":-0.00874, "ay":0.00148, "alpha":-4.41986, "fx":[16.45454,24.22788,-16.74689,-24.51348], "fy":[-24.35429,16.6333,24.38717,-16.56827]}, + {"t":0.88371, "x":6.46447, "y":6.14444, "heading":-0.14351, "vx":0.44817, "vy":2.6617, "omega":1.19701, "ax":-0.03807, "ay":0.00641, "alpha":-5.60342, "fx":[21.74497,29.31993,-23.01756,-30.56493], "fy":[-29.89479,22.54607,29.99252,-22.21997]}, + {"t":0.91644, "x":6.47912, "y":6.23156, "heading":-0.10433, "vx":0.44693, "vy":2.66191, "omega":1.01361, "ax":-0.16114, "ay":0.0269, "alpha":-6.83102, "fx":[25.99476,32.74384,-31.35457,-38.04083], "fy":[-35.33687,29.52034,35.50343,-27.90808]}, + {"t":0.94916, "x":6.49366, "y":6.3187, "heading":-0.07115, "vx":0.44165, "vy":2.66279, "omega":0.79003, "ax":-0.63517, "ay":0.10281, "alpha":-7.95733, "fx":[23.93954,29.31586,-44.8849,-50.37643], "fy":[-40.62062,38.77663,40.14026,-31.49737]}, + {"t":0.98189, "x":6.50777, "y":6.4059, "heading":-0.04529, "vx":0.42086, "vy":2.66616, "omega":0.52959, "ax":-2.30887, "ay":0.33101, "alpha":-7.89717, "fx":[-7.23714,-2.55182,-69.05331,-73.85187], "fy":[-44.08533,52.61948,40.61721,-27.26057]}, + {"t":1.01462, "x":6.52031, "y":6.49334, "heading":-0.02796, "vx":0.34529, "vy":2.67699, "omega":0.27112, "ax":-5.53215, "ay":0.5245, "alpha":-3.81572, "fx":[-85.78399,-80.25105,-98.39482,-101.432], "fy":[-23.46974,42.41513,29.98889,-14.24707]}, + {"t":1.04735, "x":6.52865, "y":6.58124, "heading":-0.01909, "vx":0.16423, "vy":2.69416, "omega":0.14623, "ax":-6.8743, "ay":0.1312, "alpha":-1.47874, "fx":[-112.71117,-112.17623,-114.64935,-115.08681], "fy":[-11.86864,16.16052,13.6524,-9.26773]}, + {"t":1.08008, "x":6.53034, "y":6.66949, "heading":-0.0143, "vx":-0.06077, "vy":2.69845, "omega":0.09783, "ax":-7.21861, "ay":-0.48117, "alpha":-0.77316, "fx":[-118.52154,-119.51865,-120.06627,-119.28742], "fy":[-15.84459,-1.14558,-0.83365,-13.99784]}, + {"t":1.11281, "x":6.52449, "y":6.75755, "heading":-0.0111, "vx":-0.29703, "vy":2.6827, "omega":0.07252, "ax":-7.27841, "ay":-1.13879, "alpha":-0.48879, "fx":[-119.40058,-120.8432,-121.17609,-119.92909], "fy":[-24.09171,-15.00278,-13.86113,-22.35709]}, + {"t":1.14554, "x":6.51087, "y":6.84475, "heading":-0.00873, "vx":-0.53525, "vy":2.64543, "omega":0.05652, "ax":-7.20608, "ay":-1.80237, "alpha":-0.34628, "fx":[-118.11907,-119.68535,-120.09016,-118.67083], "fy":[-33.66574,-27.47816,-26.06454,-31.98883]}, + {"t":1.17827, "x":6.48949, "y":6.93037, "heading":-0.00688, "vx":-0.77111, "vy":2.58644, "omega":0.04519, "ax":-7.03454, "ay":-2.48577, "alpha":-0.26401, "fx":[-115.21204,-116.79787,-117.34449,-115.86648], "fy":[-44.10116,-39.65929,-38.15617,-42.47668]}, + {"t":1.211, "x":6.46048, "y":7.01369, "heading":-0.0054, "vx":-1.00135, "vy":2.50508, "omega":0.03655, "ax":-6.20799, "ay":-4.17521, "alpha":-0.20725, "fx":[-101.11271,-102.92854,-104.13061,-102.38573], "fy":[-71.26898,-68.59276,-66.79504,-69.46538]}, + {"t":1.24373, "x":6.42438, "y":7.09344, "heading":-0.0042, "vx":-1.20453, "vy":2.36843, "omega":0.02977, "ax":-4.94972, "ay":-5.6294, "alpha":-0.16214, "fx":[-80.2193,-81.72273,-83.44443,-81.95749], "fy":[-94.48371,-93.1712,-91.64595,-92.99258]}, + {"t":1.27646, "x":6.38231, "y":7.16795, "heading":-0.00323, "vx":-1.36654, "vy":2.18418, "omega":0.02446, "ax":-4.106, "ay":-6.2822, "alpha":-0.13281, "fx":[-66.44274,-67.57388,-69.3322,-68.1964], "fy":[-104.8048,-104.06974,-102.91288,-103.67809]}, + {"t":1.30919, "x":6.33538, "y":7.23607, "heading":-0.00243, "vx":-1.50092, "vy":1.97856, "omega":0.02011, "ax":-3.55205, "ay":-6.61771, "alpha":-0.11377, "fx":[-57.45504,-58.33477,-60.00553,-59.11493], "fy":[-110.09379,-109.62385,-108.72175,-109.21477]}, + {"t":1.34192, "x":6.28435, "y":7.29728, "heading":-0.00177, "vx":-1.61718, "vy":1.76197, "omega":0.01639, "ax":-3.17071, "ay":-6.81291, "alpha":-0.10074, "fx":[-51.28502,-51.99968,-53.56666,-52.8397], "fy":[-113.16859,-112.83736,-112.10414,-112.45319]}, + {"t":1.37465, "x":6.22973, "y":7.3513, "heading":-0.00123, "vx":-1.72096, "vy":1.53898, "omega":0.01309, "ax":-2.89515, "ay":-6.93748, "alpha":-0.09136, "fx":[-46.83249,-47.43471,-48.90736,-48.29291], "fy":[-115.13084,-114.88045,-114.26279,-114.52737]}, + {"t":1.40738, "x":6.17185, "y":7.39796, "heading":-0.0008, "vx":-1.81572, "vy":1.31192, "omega":0.0101, "ax":-2.68781, "ay":-7.02261, "alpha":-0.08432, "fx":[-43.48451,-44.00678,-45.39882,-44.86485], "fy":[-116.47224,-116.27305,-115.73773,-115.9486]}, + {"t":1.44011, "x":6.11098, "y":7.43714, "heading":-0.00047, "vx":-1.90369, "vy":1.08207, "omega":0.00734, "ax":-2.52661, "ay":-7.08389, "alpha":-0.07886, "fx":[-40.88266,-41.34584,-42.66997,-42.19573], "fy":[-117.43808,-117.27344,-116.79903,-116.97354]}, + {"t":1.47284, "x":6.04732, "y":7.46876, "heading":-0.00023, "vx":-1.98638, "vy":0.85022, "omega":0.00476, "ax":-2.39793, "ay":-7.1298, "alpha":-0.07451, "fx":[-38.80628,-39.22433,-40.49117,-40.06267], "fy":[-118.16202,-118.0219,-117.59398,-117.74264]}, + {"t":1.50557, "x":5.98102, "y":7.49277, "heading":-0.00008, "vx":-2.06487, "vy":0.61686, "omega":0.00232, "ax":-2.29299, "ay":-7.16531, "alpha":-0.07096, "fx":[-37.11309,-37.49572,-38.7139,-38.3214], "fy":[-118.72217,-118.60016,-118.20869,-118.33822]}, + {"t":1.5383, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-2.13992, "vy":0.38234, "omega":0.0, "ax":-2.95989, "ay":-6.91443, "alpha":0.0, "fx":[-48.93723,-48.93723,-48.93723,-48.93723], "fy":[-114.31931,-114.31931,-114.31931,-114.31931]}, + {"t":1.58069, "x":5.81884, "y":7.51911, "heading":0.0, "vx":-2.26538, "vy":0.08925, "omega":0.0, "ax":-6.17597, "ay":-4.2274, "alpha":0.0, "fx":[-102.11011,-102.11011,-102.11011,-102.11011], "fy":[-69.89343,-69.89343,-69.89343,-69.89343]}, + {"t":1.62308, "x":5.71727, "y":7.5191, "heading":0.0, "vx":-2.52717, "vy":-0.08995, "omega":0.0, "ax":-4.05004, "ay":0.88629, "alpha":0.0, "fx":[-66.96115,-66.96115,-66.96115,-66.96115], "fy":[14.65337,14.65337,14.65337,14.65337]}, + {"t":1.66547, "x":5.60651, "y":7.51608, "heading":0.0, "vx":-2.69885, "vy":-0.05238, "omega":0.0, "ax":-0.00727, "ay":0.44549, "alpha":0.0, "fx":[-0.12022,-0.12022,-0.12022,-0.12022], "fy":[7.36556,7.36556,7.36556,7.36556]}, + {"t":1.70786, "x":5.4921, "y":7.51426, "heading":0.0, "vx":-2.69916, "vy":-0.0335, "omega":0.0, "ax":-0.00234, "ay":0.21882, "alpha":0.0, "fx":[-0.03867,-0.03867,-0.03867,-0.03867], "fy":[3.6178,3.6178,3.6178,3.6178]}, + {"t":1.75024, "x":5.37768, "y":7.51304, "heading":0.0, "vx":-2.69926, "vy":-0.02422, "omega":0.0, "ax":-0.00111, "ay":0.14104, "alpha":0.0, "fx":[-0.01834,-0.01834,-0.01834,-0.01834], "fy":[2.3319,2.3319,2.3319,2.3319]}, + {"t":1.79263, "x":5.26326, "y":7.51214, "heading":0.0, "vx":-2.6993, "vy":-0.01824, "omega":0.0, "ax":-0.0006, "ay":0.101, "alpha":0.0, "fx":[-0.00996,-0.00996,-0.00996,-0.00996], "fy":[1.66987,1.66987,1.66987,1.66987]}, + {"t":1.83502, "x":5.14884, "y":7.51146, "heading":0.0, "vx":-2.69933, "vy":-0.01396, "omega":0.0, "ax":-0.00034, "ay":0.07534, "alpha":0.0, "fx":[-0.0057,-0.0057,-0.0057,-0.0057], "fy":[1.2456,1.2456,1.2456,1.2456]}, + {"t":1.87741, "x":5.03442, "y":7.51093, "heading":0.0, "vx":-2.69934, "vy":-0.01077, "omega":0.0, "ax":-0.0002, "ay":0.05726, "alpha":0.0, "fx":[-0.00335,-0.00335,-0.00335,-0.00335], "fy":[0.94668,0.94668,0.94668,0.94668]}, + {"t":1.9198, "x":4.92, "y":7.51053, "heading":0.0, "vx":-2.69935, "vy":-0.00834, "omega":0.0, "ax":-0.00012, "ay":0.04394, "alpha":0.0, "fx":[-0.00199,-0.00199,-0.00199,-0.00199], "fy":[0.72652,0.72652,0.72652,0.72652]}, + {"t":1.96219, "x":4.80558, "y":7.51021, "heading":0.0, "vx":-2.69936, "vy":-0.00648, "omega":0.0, "ax":-0.00007, "ay":0.0339, "alpha":0.0, "fx":[-0.0012,-0.0012,-0.0012,-0.0012], "fy":[0.56046,0.56046,0.56046,0.56046]}, + {"t":2.00458, "x":4.69116, "y":7.50997, "heading":0.0, "vx":-2.69936, "vy":-0.00504, "omega":0.0, "ax":-0.00004, "ay":0.02622, "alpha":0.0, "fx":[-0.00072,-0.00072,-0.00072,-0.00072], "fy":[0.43348,0.43348,0.43348,0.43348]}, + {"t":2.04697, "x":4.57674, "y":7.50978, "heading":0.0, "vx":-2.69936, "vy":-0.00393, "omega":0.0, "ax":-0.00003, "ay":0.02029, "alpha":0.0, "fx":[-0.00043,-0.00043,-0.00043,-0.00043], "fy":[0.33553,0.33553,0.33553,0.33553]}, + {"t":2.08935, "x":4.46231, "y":7.50963, "heading":0.0, "vx":-2.69936, "vy":-0.00307, "omega":0.0, "ax":-0.00002, "ay":0.0157, "alpha":0.0, "fx":[-0.00026,-0.00026,-0.00026,-0.00026], "fy":[0.2595,0.2595,0.2595,0.2595]}, + {"t":2.13174, "x":4.34789, "y":7.50951, "heading":0.0, "vx":-2.69936, "vy":-0.0024, "omega":0.0, "ax":-0.00001, "ay":0.01211, "alpha":0.0, "fx":[-0.00016,-0.00016,-0.00016,-0.00016], "fy":[0.20019,0.20019,0.20019,0.20019]}, + {"t":2.17413, "x":4.23347, "y":7.50942, "heading":0.0, "vx":-2.69936, "vy":-0.00189, "omega":0.0, "ax":-0.00001, "ay":0.0093, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.15373,0.15373,0.15373,0.15373]}, + {"t":2.21652, "x":4.11905, "y":7.50935, "heading":0.0, "vx":-2.69936, "vy":-0.0015, "omega":0.0, "ax":0.0, "ay":0.00712, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.11771,0.11771,0.11771,0.11771]}, + {"t":2.25891, "x":4.00462, "y":7.50929, "heading":0.0, "vx":-2.69936, "vy":-0.00119, "omega":0.0, "ax":0.00015, "ay":0.00577, "alpha":0.0, "fx":[0.0024,0.0024,0.0024,0.0024], "fy":[0.09541,0.09541,0.09541,0.09541]}, + {"t":2.3013, "x":3.8902, "y":7.50925, "heading":0.0, "vx":-2.69936, "vy":-0.00095, "omega":0.0, "ax":3.5787, "ay":0.00766, "alpha":0.0, "fx":[59.16831,59.16831,59.16831,59.16831], "fy":[0.1266,0.1266,0.1266,0.1266]}, + {"t":2.34369, "x":3.779, "y":7.50922, "heading":0.0, "vx":-2.54766, "vy":-0.00062, "omega":0.0, "ax":7.47374, "ay":0.00235, "alpha":0.0, "fx":[123.56664,123.56664,123.56664,123.56664], "fy":[0.03878,0.03878,0.03878,0.03878]}, + {"t":2.38607, "x":3.67772, "y":7.50919, "heading":0.0, "vx":-2.23086, "vy":-0.00053, "omega":0.0, "ax":7.50324, "ay":0.00212, "alpha":0.0, "fx":[124.05444,124.05444,124.05444,124.05444], "fy":[0.03498,0.03498,0.03498,0.03498]}, + {"t":2.42846, "x":3.5899, "y":7.50917, "heading":0.0, "vx":-1.91281, "vy":-0.00044, "omega":0.0, "ax":7.51315, "ay":0.00195, "alpha":0.0, "fx":[124.21825,124.21825,124.21825,124.21825], "fy":[0.03229,0.03229,0.03229,0.03229]}, + {"t":2.47085, "x":3.51556, "y":7.50915, "heading":0.0, "vx":-1.59434, "vy":-0.00035, "omega":0.0, "ax":7.51812, "ay":0.00183, "alpha":0.0, "fx":[124.30036,124.30036,124.30036,124.30036], "fy":[0.0302,0.0302,0.0302,0.0302]}, + {"t":2.51324, "x":3.45474, "y":7.50914, "heading":0.0, "vx":-1.27565, "vy":-0.00028, "omega":0.0, "ax":7.5211, "ay":0.00173, "alpha":0.0, "fx":[124.34969,124.34969,124.34969,124.34969], "fy":[0.02855,0.02855,0.02855,0.02855]}, + {"t":2.55563, "x":3.40742, "y":7.50913, "heading":0.0, "vx":-0.95685, "vy":-0.0002, "omega":0.0, "ax":7.52309, "ay":0.00165, "alpha":0.0, "fx":[124.38259,124.38259,124.38259,124.38259], "fy":[0.02726,0.02726,0.02726,0.02726]}, + {"t":2.59802, "x":3.37362, "y":7.50912, "heading":0.0, "vx":-0.63795, "vy":-0.00013, "omega":0.0, "ax":7.52451, "ay":0.00159, "alpha":0.0, "fx":[124.40611,124.40611,124.40611,124.40611], "fy":[0.02624,0.02624,0.02624,0.02624]}, + {"t":2.64041, "x":3.35334, "y":7.50912, "heading":0.0, "vx":-0.319, "vy":-0.00007, "omega":0.0, "ax":7.52558, "ay":0.00154, "alpha":0.0, "fx":[124.42374,124.42374,124.42374,124.42374], "fy":[0.02545,0.02545,0.02545,0.02545]}, + {"t":2.68279, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj index 5187d5df..6a908e3b 100644 --- a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj +++ b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj @@ -7,13 +7,13 @@ {"x":7.691457271575928, "y":4.298859119415283, "heading":1.7928786648787418, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.381893634796143, "y":5.0446271896362305, "heading":1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.339680194854736, "y":6.550233840942383, "heading":1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.622054576873779, "y":7.380428314208984, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.622054576873779, "y":7.380428314208984, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":5, "to":5, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, @@ -29,7 +29,7 @@ {"x":{"exp":"7.691457271575928 m", "val":7.691457271575928}, "y":{"exp":"4.298859119415283 m", "val":4.298859119415283}, "heading":{"exp":"1.7928786648787418 rad", "val":1.7928786648787418}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.381893634796143 m", "val":7.381893634796143}, "y":{"exp":"5.0446271896362305 m", "val":5.0446271896362305}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.339680194854736 m", "val":7.339680194854736}, "y":{"exp":"6.550233840942383 m", "val":6.550233840942383}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"6.622054576873779 m", "val":6.622054576873779}, "y":{"exp":"7.380428314208984 m", "val":7.380428314208984}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"6.622054576873779 m", "val":6.622054576873779}, "y":{"exp":"7.380428314208984 m", "val":7.380428314208984}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -73,133 +73,132 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.59047,0.96264,1.56807,2.19218,3.68358], + "waypoints":[0.0,0.595,0.95704,1.52077,2.14432,3.5599], "samples":[ - {"t":0.0, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.17616, "vy":-1.55467, "omega":-5.49657, "ax":-4.64392, "ay":-3.59366, "alpha":5.31947, "fx":[-76.82381,-109.11758,-85.9037,-35.27458], "fy":[-42.18441,-17.72914,-74.44237,-103.30647]}, - {"t":0.02187, "x":8.24934, "y":4.47507, "heading":-1.691, "vx":-0.27771, "vy":-1.63326, "omega":-5.38024, "ax":-6.84065, "ay":-0.30896, "alpha":1.67791, "fx":[-112.31801,-114.79568,-114.44345,-110.84071], "fy":[8.42081,9.79022,-15.57274,-23.07065]}, - {"t":0.04374, "x":8.24163, "y":4.43928, "heading":-1.80866, "vx":-0.42731, "vy":-1.64002, "omega":-5.34354, "ax":-6.91014, "ay":1.83152, "alpha":-0.03789, "fx":[-114.35384,-114.3163,-114.14247,-114.18103], "fy":[29.95138,29.95443,30.61308,30.60647]}, - {"t":0.06561, "x":8.23063, "y":4.40385, "heading":-1.92552, "vx":-0.57843, "vy":-1.59997, "omega":-5.34437, "ax":-5.99218, "ay":3.6399, "alpha":-0.36712, "fx":[-101.14311,-100.21988,-96.8965,-98.02611], "fy":[57.09989,57.79167,63.37909,62.4498]}, - {"t":0.08748, "x":8.21655, "y":4.36973, "heading":-2.0424, "vx":-0.70948, "vy":-1.52036, "omega":-5.3524, "ax":-4.47637, "ay":4.82634, "alpha":-2.64635, "fx":[-93.18766,-84.28174,-49.38468,-69.18495], "fy":[63.74773,66.43148,98.51145,90.49338]}, - {"t":0.10935, "x":8.19996, "y":4.33763, "heading":-2.15945, "vx":-0.80737, "vy":-1.41482, "omega":-5.41027, "ax":-2.04912, "ay":5.54252, "alpha":-4.93197, "fx":[-79.48983,-44.37597,20.69457,-32.34455], "fy":[75.39157,77.53251,105.71617,107.90739]}, - {"t":0.13122, "x":8.18182, "y":4.30802, "heading":-2.27777, "vx":-0.85218, "vy":-1.2936, "omega":-5.51813, "ax":-0.19621, "ay":5.50549, "alpha":-6.08536, "fx":[-66.10029,2.78618,56.76553,-6.42761], "fy":[85.45807,73.68427,92.51958,112.43655]}, - {"t":0.15308, "x":8.16313, "y":4.28104, "heading":-2.39845, "vx":-0.85647, "vy":-1.1732, "omega":-5.65121, "ax":-0.3049, "ay":5.45065, "alpha":-6.34037, "fx":[-64.43191,-16.93341,61.76261,-0.56161], "fy":[88.24983,70.4816,88.77083,112.96981]}, - {"t":0.17495, "x":8.14433, "y":4.25669, "heading":-2.52203, "vx":-0.86314, "vy":-1.054, "omega":-5.78987, "ax":-1.90363, "ay":5.67905, "alpha":-5.31588, "fx":[-70.19832,-66.84149,27.33204,-16.1867], "fy":[87.74242,72.05681,103.29197,112.48579]}, - {"t":0.19682, "x":8.125, "y":4.235, "heading":-2.64865, "vx":-0.90477, "vy":-0.92981, "omega":-5.90613, "ax":-3.71912, "ay":5.70667, "alpha":-2.06861, "fx":[-74.21909,-78.31812,-44.94993,-48.4721], "fy":[88.63442,81.06726,102.93345,104.76873]}, - {"t":0.21869, "x":8.10432, "y":4.21603, "heading":-2.77782, "vx":-0.98611, "vy":-0.80501, "omega":-5.95136, "ax":-4.28284, "ay":5.71775, "alpha":0.71053, "fx":[-66.88238,-64.83671,-74.38958,-77.13189], "fy":[97.05147,99.21554,92.46876,89.40063]}, - {"t":0.24056, "x":8.08173, "y":4.19979, "heading":-2.90797, "vx":-1.07977, "vy":-0.67996, "omega":-5.93583, "ax":-4.0863, "ay":5.86992, "alpha":2.55135, "fx":[-53.78926,-45.95474,-77.77248,-92.72585], "fy":[106.51682,111.96395,93.15694,76.56206]}, - {"t":0.26243, "x":8.05714, "y":4.18632, "heading":-3.03778, "vx":-1.16913, "vy":-0.55159, "omega":-5.88003, "ax":-2.39933, "ay":6.30762, "alpha":5.5418, "fx":[8.65807,-3.30157,-65.13584,-98.89739], "fy":[119.82634,122.54849,104.08459,70.68728]}, - {"t":0.2843, "x":8.031, "y":4.17577, "heading":3.11681, "vx":-1.22161, "vy":-0.41365, "omega":-5.75884, "ax":-0.73562, "ay":6.03965, "alpha":8.42827, "fx":[72.7053,29.38175,-49.94248,-100.79371], "fy":[97.21314,119.82207,112.90631,69.48355]}, - {"t":0.30617, "x":8.00411, "y":4.16817, "heading":2.99087, "vx":-1.23769, "vy":-0.28157, "omega":-5.57452, "ax":0.08736, "ay":5.71386, "alpha":9.71021, "fx":[96.95649,47.12318,-38.19897,-100.10336], "fy":[74.25351,114.38451,117.73555,71.50538]}, - {"t":0.32804, "x":7.97706, "y":4.16338, "heading":2.86896, "vx":-1.23578, "vy":-0.15661, "omega":-5.36216, "ax":0.62531, "ay":5.48184, "alpha":10.30403, "fx":[107.96697,59.3256,-28.12751,-97.81122], "fy":[57.78498,108.76562,120.72501,75.25907]}, - {"t":0.34991, "x":7.95018, "y":4.16126, "heading":2.7517, "vx":-1.22211, "vy":-0.03673, "omega":-5.13682, "ax":1.04432, "ay":5.30381, "alpha":10.58109, "fx":[113.9049,68.79442,-19.06315,-94.57128], "fy":[45.28653,103.17214,122.60044,79.70198]}, - {"t":0.37178, "x":7.92371, "y":4.16173, "heading":2.63936, "vx":-1.19927, "vy":0.07926, "omega":-4.90542, "ax":1.39779, "ay":5.15443, "alpha":10.68237, "fx":[117.34185,76.60118,-10.72678,-90.77527], "fy":[35.31593,97.61103,123.6884,84.26671]}, - {"t":0.39365, "x":7.89782, "y":4.16469, "heading":2.53208, "vx":-1.1687, "vy":0.19199, "omega":-4.67181, "ax":1.70652, "ay":5.023, "alpha":10.66794, "fx":[119.25837,83.2486,-2.98381,-86.6649], "fy":[27.26867,92.0783,124.17394,88.66872]}, - {"t":0.41551, "x":7.87266, "y":4.17009, "heading":2.42991, "vx":-1.13138, "vy":0.30183, "omega":-4.43851, "ax":1.97871, "ay":4.90923, "alpha":10.55884, "fx":[120.00459,89.01264,4.23994,-82.39744], "fy":[21.1373,86.57454,124.18041,92.7739]}, - {"t":0.43738, "x":7.8484, "y":4.17787, "heading":2.33285, "vx":-1.08811, "vy":0.4092, "omega":-4.20759, "ax":2.21186, "ay":4.8307, "alpha":10.32943, "fx":[119.30204,94.06435,10.99161,-78.07941], "fy":[18.04326,81.10272,123.79915,96.52744]}, - {"t":0.45925, "x":7.82513, "y":4.18797, "heading":2.24083, "vx":-1.03974, "vy":0.51484, "omega":-3.9817, "ax":2.33854, "ay":4.92478, "alpha":9.68408, "fx":[112.6131,98.51638,17.30608,-73.77909], "fy":[27.00089,75.67035,123.1022,99.92078]}, - {"t":0.48112, "x":7.80295, "y":4.20041, "heading":2.15375, "vx":-0.98859, "vy":0.62254, "omega":-3.76991, "ax":-0.59419, "ay":5.34519, "alpha":9.80423, "fx":[-95.46285,102.31956,23.20917,-69.36215], "fy":[57.78788,70.47406,122.14853,103.08716]}, - {"t":0.50299, "x":7.78119, "y":4.2153, "heading":2.07131, "vx":-1.00159, "vy":0.73943, "omega":-3.5555, "ax":-0.70062, "ay":4.9492, "alpha":11.17733, "fx":[-115.7046,105.56355,28.71286,-64.90676], "fy":[34.78903,65.54109,120.99088,105.98846]}, - {"t":0.52486, "x":7.75912, "y":4.23266, "heading":1.99355, "vx":-1.01691, "vy":0.84767, "omega":-3.31107, "ax":-0.53623, "ay":4.91556, "alpha":11.48969, "fx":[-117.1004,108.32049,33.81358,-60.4969], "fy":[35.90859,60.89852,119.68045,108.59704]}, - {"t":0.54673, "x":7.73675, "y":4.25237, "heading":1.92114, "vx":-1.02864, "vy":0.95517, "omega":-3.05979, "ax":-0.3577, "ay":4.92308, "alpha":11.64226, "fx":[-116.5374,110.63534,38.47715,-56.23086], "fy":[39.8115,56.60299,118.27619,110.89093]}, - {"t":0.5686, "x":7.71417, "y":4.27443, "heading":1.85423, "vx":-1.03646, "vy":1.06283, "omega":-2.80519, "ax":-0.18486, "ay":4.93817, "alpha":11.73202, "fx":[-115.32655,112.56322,42.70445,-52.16658], "fy":[44.19141,52.68124,116.82729,112.88011]}, - {"t":0.59047, "x":7.69146, "y":4.29886, "heading":1.79288, "vx":-1.0405, "vy":1.17083, "omega":-2.54862, "ax":0.11131, "ay":5.2957, "alpha":10.84809, "fx":[-104.79077,112.07866,46.02706,-45.95352], "fy":[65.52864,53.62077,115.54157,115.53352]}, - {"t":0.61114, "x":7.66997, "y":4.3242, "heading":1.74018, "vx":-1.0382, "vy":1.28032, "omega":-2.32432, "ax":0.23199, "ay":5.21503, "alpha":11.11546, "fx":[-105.41261,113.89875,49.6345,-42.77799], "fy":[64.58038,49.55316,114.02288,116.73286]}, - {"t":0.63182, "x":7.64855, "y":4.35179, "heading":1.69212, "vx":-1.0334, "vy":1.38815, "omega":-2.0945, "ax":0.35273, "ay":5.14139, "alpha":11.33648, "fx":[-105.57749,115.55143,53.06387,-39.7107], "fy":[64.31384,45.46152,112.44948,117.79494]}, - {"t":0.6525, "x":7.62726, "y":4.38159, "heading":1.64882, "vx":-1.02611, "vy":1.49445, "omega":-1.8601, "ax":0.47082, "ay":5.06924, "alpha":11.5296, "fx":[-105.50535,117.05394,56.33871,-36.75048], "fy":[64.38603,41.30761,110.82294,118.73142]}, - {"t":0.67317, "x":7.60614, "y":4.41357, "heading":1.61036, "vx":-1.01638, "vy":1.59927, "omega":-1.62171, "ax":0.58516, "ay":4.99437, "alpha":11.70827, "fx":[-105.33351,118.42139,59.4941,-33.88293], "fy":[64.56823,37.03733,109.13473,119.55617]}, - {"t":0.69385, "x":7.58525, "y":4.4477, "heading":1.57683, "vx":-1.00428, "vy":1.70253, "omega":-1.37963, "ax":0.69571, "ay":4.91293, "alpha":11.88336, "fx":[-105.16032,119.66483,62.58085,-31.07534], "fy":[64.68743,32.57655,107.36149,120.2849]}, - {"t":0.71453, "x":7.56464, "y":4.48396, "heading":1.5483, "vx":-0.98989, "vy":1.80411, "omega":-1.13393, "ax":0.80331, "ay":4.82053, "alpha":12.06483, "fx":[-105.06931,120.78864,65.67311,-28.26662], "fy":[64.58366,27.82392,105.45672,120.93525]}, - {"t":0.7352, "x":7.54434, "y":4.52229, "heading":1.52486, "vx":-0.97328, "vy":1.90378, "omega":-0.88447, "ax":0.90984, "ay":4.71108, "alpha":12.26319, "fx":[-105.1494,121.78582,68.88238,-25.34752], "fy":[64.06096,22.63847,103.33512,121.52711]}, - {"t":0.75588, "x":7.52441, "y":4.56266, "heading":1.50657, "vx":-0.95447, "vy":2.00119, "omega":-0.63092, "ax":1.01868, "ay":4.57457, "alpha":12.49199, "fx":[-105.525,122.62885,72.38386,-22.11831], "fy":[62.79157,16.81844,100.84079,122.08259]}, - {"t":0.77655, "x":7.5049, "y":4.60501, "heading":1.49352, "vx":-0.93341, "vy":2.09577, "omega":-0.37263, "ax":1.13559, "ay":4.39109, "alpha":12.77426, "fx":[-106.42798,123.25039,76.46784,-18.18971], "fy":[60.03283,10.06616,97.67749,122.62262]}, - {"t":0.79723, "x":7.48584, "y":4.64928, "heading":1.48582, "vx":-0.90993, "vy":2.18656, "omega":-0.10851, "ax":1.27018, "ay":4.10835, "alpha":13.17061, "fx":[-108.42322,123.50041,81.64234,-12.71754], "fy":[53.38121,1.93764,93.23959,123.14214]}, - {"t":0.81791, "x":7.4673, "y":4.69537, "heading":1.48358, "vx":-0.88367, "vy":2.27151, "omega":0.16381, "ax":1.44866, "ay":3.468, "alpha":14.00999, "fx":[-112.48645,123.05808,88.80377,-3.57033], "fy":[27.86569,-8.14172,86.18192,123.44631]}, - {"t":0.83858, "x":7.44934, "y":4.74308, "heading":1.48696, "vx":-0.85371, "vy":2.34321, "omega":0.45348, "ax":3.98348, "ay":1.50487, "alpha":12.33073, "fx":[32.43968,122.15995,96.37717,12.46571], "fy":[-85.32965,-14.59209,77.13294,122.31148]}, - {"t":0.85926, "x":7.43254, "y":4.79185, "heading":1.49634, "vx":-0.77135, "vy":2.37433, "omega":0.70844, "ax":5.86002, "ay":1.82112, "alpha":7.66096, "fx":[110.80637,121.35774,105.96235,49.41875], "fy":[-36.40286,-16.56782,62.14995,111.25828]}, - {"t":0.87993, "x":7.41784, "y":4.84133, "heading":1.51099, "vx":-0.65019, "vy":2.41198, "omega":0.86683, "ax":7.00613, "ay":1.68967, "alpha":2.07896, "fx":[119.08729,120.8508,115.03339,108.37057], "fy":[13.1938,7.6745,38.53751,52.33856]}, - {"t":0.90061, "x":7.40589, "y":4.89156, "heading":1.52891, "vx":-0.50533, "vy":2.44692, "omega":0.90982, "ax":5.79853, "ay":1.04908, "alpha":-8.30504, "fx":[109.02936,59.78224,96.16855,118.49837], "fy":[53.60742,102.85095,-61.98836,-25.09022]}, - {"t":0.92129, "x":7.39669, "y":4.94238, "heading":1.54772, "vx":-0.38544, "vy":2.46861, "omega":0.7381, "ax":1.58882, "ay":0.23625, "alpha":-17.42236, "fx":[100.47591,-42.47536,-58.07844,105.15238], "fy":[69.92238,113.51727,-105.47514,-62.3401]}, - {"t":0.94196, "x":7.38906, "y":4.99347, "heading":1.56298, "vx":-0.35259, "vy":2.47349, "omega":0.37788, "ax":0.59836, "ay":0.0583, "alpha":-18.27588, "fx":[94.76698,-73.41071,-77.19016,95.40579], "fy":[78.28635,98.11278,-95.088,-77.45539]}, - {"t":0.96264, "x":7.38189, "y":5.04463, "heading":1.5708, "vx":-0.34021, "vy":2.4747, "omega":0.0, "ax":6.36352, "ay":0.65046, "alpha":0.0, "fx":[105.21094,105.21094,105.21094,105.21094], "fy":[10.75438,10.75438,10.75438,10.75438]}, - {"t":0.9945, "x":7.37428, "y":5.12381, "heading":1.5708, "vx":-0.13744, "vy":2.49543, "omega":0.0, "ax":3.76129, "ay":0.11689, "alpha":0.0, "fx":[62.1871,62.1871,62.1871,62.1871], "fy":[1.93263,1.93263,1.93263,1.93263]}, - {"t":1.02637, "x":7.37181, "y":5.20339, "heading":1.5708, "vx":-0.01759, "vy":2.49915, "omega":0.0, "ax":0.909, "ay":0.00114, "alpha":0.0, "fx":[15.02883,15.02883,15.02883,15.02883], "fy":[0.01891,0.01891,0.01891,0.01891]}, - {"t":1.05823, "x":7.37171, "y":5.28302, "heading":1.5708, "vx":0.01137, "vy":2.49919, "omega":0.0, "ax":0.16802, "ay":-0.00094, "alpha":0.0, "fx":[2.778,2.778,2.778,2.778], "fy":[-0.01561,-0.01561,-0.01561,-0.01561]}, - {"t":1.0901, "x":7.37216, "y":5.36266, "heading":1.5708, "vx":0.01673, "vy":2.49916, "omega":0.0, "ax":0.03063, "ay":-0.00021, "alpha":0.0, "fx":[0.5064,0.5064,0.5064,0.5064], "fy":[-0.00349,-0.00349,-0.00349,-0.00349]}, - {"t":1.12196, "x":7.37271, "y":5.44229, "heading":1.5708, "vx":0.0177, "vy":2.49915, "omega":0.0, "ax":0.00558, "ay":-0.00004, "alpha":0.0, "fx":[0.0923,0.0923,0.0923,0.0923], "fy":[-0.00066,-0.00066,-0.00066,-0.00066]}, - {"t":1.15383, "x":7.37328, "y":5.52193, "heading":1.5708, "vx":0.01788, "vy":2.49915, "omega":0.0, "ax":0.00102, "ay":-0.00001, "alpha":0.0, "fx":[0.01681,0.01681,0.01681,0.01681], "fy":[-0.00012,-0.00012,-0.00012,-0.00012]}, - {"t":1.18569, "x":7.37385, "y":5.60156, "heading":1.5708, "vx":0.01791, "vy":2.49915, "omega":0.0, "ax":0.00018, "ay":0.0, "alpha":0.0, "fx":[0.00299,0.00299,0.00299,0.00299], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, - {"t":1.21756, "x":7.37442, "y":5.68119, "heading":1.5708, "vx":0.01792, "vy":2.49915, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00017,0.00017,0.00017,0.00017], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.24942, "x":7.37499, "y":5.76083, "heading":1.5708, "vx":0.01792, "vy":2.49915, "omega":0.0, "ax":-0.00012, "ay":0.0, "alpha":0.0, "fx":[-0.00201,-0.00201,-0.00201,-0.00201], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":1.28128, "x":7.37556, "y":5.84046, "heading":1.5708, "vx":0.01792, "vy":2.49915, "omega":0.0, "ax":-0.0007, "ay":0.00001, "alpha":0.0, "fx":[-0.01158,-0.01158,-0.01158,-0.01158], "fy":[0.00008,0.00008,0.00008,0.00008]}, - {"t":1.31315, "x":7.37613, "y":5.9201, "heading":1.5708, "vx":0.01789, "vy":2.49915, "omega":0.0, "ax":-0.00385, "ay":0.00003, "alpha":0.0, "fx":[-0.06367,-0.06367,-0.06367,-0.06367], "fy":[0.00045,0.00045,0.00045,0.00045]}, - {"t":1.34501, "x":7.3767, "y":5.99973, "heading":1.5708, "vx":0.01777, "vy":2.49915, "omega":0.0, "ax":-0.02113, "ay":0.00015, "alpha":0.0, "fx":[-0.34931,-0.34931,-0.34931,-0.34931], "fy":[0.00244,0.00244,0.00244,0.00244]}, - {"t":1.37688, "x":7.37725, "y":6.07937, "heading":1.5708, "vx":0.0171, "vy":2.49915, "omega":0.0, "ax":-0.11592, "ay":0.00071, "alpha":0.0, "fx":[-1.91656,-1.91656,-1.91656,-1.91656], "fy":[0.01169,0.01169,0.01169,0.01169]}, - {"t":1.40874, "x":7.37774, "y":6.159, "heading":1.5708, "vx":0.0134, "vy":2.49918, "omega":0.0, "ax":-0.63188, "ay":0.00084, "alpha":0.0, "fx":[-10.44722,-10.44722,-10.44722,-10.44722], "fy":[0.01383,0.01383,0.01383,0.01383]}, - {"t":1.44061, "x":7.37785, "y":6.23864, "heading":1.5708, "vx":-0.00673, "vy":2.4992, "omega":0.0, "ax":-2.94449, "ay":-0.06331, "alpha":0.0, "fx":[-48.68253,-48.68253,-48.68253,-48.68253], "fy":[-1.04675,-1.04675,-1.04675,-1.04675]}, - {"t":1.47247, "x":7.37614, "y":6.31824, "heading":1.5708, "vx":-0.10056, "vy":2.49719, "omega":0.0, "ax":-6.03813, "ay":-0.47765, "alpha":0.0, "fx":[-99.83099,-99.83099,-99.83099,-99.83099], "fy":[-7.89716,-7.89716,-7.89716,-7.89716]}, - {"t":1.50434, "x":7.36987, "y":6.39757, "heading":1.5708, "vx":-0.29296, "vy":2.48197, "omega":0.0, "ax":-6.90788, "ay":-1.23149, "alpha":0.0, "fx":[-114.21109,-114.21109,-114.21109,-114.21109], "fy":[-20.3608,-20.3608,-20.3608,-20.3608]}, - {"t":1.5362, "x":7.35703, "y":6.47603, "heading":1.5708, "vx":-0.51307, "vy":2.44273, "omega":0.0, "ax":-1.96375, "ay":-7.15573, "alpha":0.0, "fx":[-32.46752,-32.46752,-32.46752,-32.46752], "fy":[-118.30877,-118.30877,-118.30877,-118.30877]}, - {"t":1.56807, "x":7.33968, "y":6.55023, "heading":1.5708, "vx":-0.57565, "vy":2.21471, "omega":0.0, "ax":-0.11933, "ay":-0.58555, "alpha":-18.51434, "fx":[96.00213,-99.49098,-81.08701,76.68433], "fy":[78.89727,74.47619,-94.24661,-97.8517]}, - {"t":1.59118, "x":7.32634, "y":6.60127, "heading":1.5708, "vx":-0.57841, "vy":2.20118, "omega":-0.42796, "ax":-0.18264, "ay":-0.68966, "alpha":-18.46145, "fx":[96.80438,-102.00453,-80.79661,73.91793], "fy":[77.85171,70.95171,-94.47827,-99.93517]}, - {"t":1.6143, "x":7.31292, "y":6.65197, "heading":1.5609, "vx":-0.58263, "vy":2.18523, "omega":-0.85471, "ax":-0.25598, "ay":-0.81627, "alpha":-18.38488, "fx":[98.75685,-104.15157,-81.23956,69.7051], "fy":[75.28115,67.70641,-94.07774,-102.89285]}, - {"t":1.63741, "x":7.29939, "y":6.70226, "heading":1.54115, "vx":-0.58855, "vy":2.16637, "omega":-1.27968, "ax":-0.34139, "ay":-0.9749, "alpha":-18.27131, "fx":[101.98918,-106.12454,-82.31196,63.86975], "fy":[70.73002,64.4995,-93.11778,-106.58585]}, - {"t":1.66053, "x":7.28569, "y":6.75208, "heading":1.51157, "vx":-0.59644, "vy":2.14383, "omega":-1.70202, "ax":-0.44148, "ay":-1.18225, "alpha":-18.09652, "fx":[106.6256,-108.16133,-83.8743,56.21349], "fy":[63.356,60.92787,-91.68579,-110.78501]}, - {"t":1.68364, "x":7.27179, "y":6.80132, "heading":1.47222, "vx":-0.60664, "vy":2.1165, "omega":-2.12033, "ax":-0.56079, "ay":-1.46993, "alpha":-17.8115, "fx":[112.68149,-110.56567,-85.74812,46.54528], "fy":[51.52538,56.31487,-89.90319,-115.14938]}, - {"t":1.70676, "x":7.25761, "y":6.84985, "heading":1.42321, "vx":-0.61961, "vy":2.08252, "omega":-2.53205, "ax":-0.71283, "ay":-1.902, "alpha":-17.30357, "fx":[119.53477,-113.69714,-87.70989,34.72997], "fy":[31.88573,49.49032,-87.95076,-119.21147]}, - {"t":1.72987, "x":7.2431, "y":6.89748, "heading":1.36468, "vx":-0.63608, "vy":2.03856, "omega":-2.93202, "ax":-0.95432, "ay":-2.60625, "alpha":-16.27946, "fx":[123.40901,-117.79731,-89.48011,20.75591], "fy":[-2.26784,38.39005,-86.10046,-122.3828]}, - {"t":1.75299, "x":7.22814, "y":6.9439, "heading":1.29691, "vx":-0.65814, "vy":1.97832, "omega":-3.30833, "ax":-1.50155, "ay":-3.73081, "alpha":-14.03891, "fx":[108.79103,-122.1968,-90.70416,4.80655], "fy":[-57.60112,19.61506,-84.74976,-123.99657]}, - {"t":1.7761, "x":7.21253, "y":6.98864, "heading":1.22044, "vx":-0.69285, "vy":1.89208, "omega":-3.63284, "ax":-2.59055, "ay":-4.96152, "alpha":-10.15691, "fx":[55.47542,-123.18707,-90.90192,-12.70917], "fy":[-109.84391,-10.42492,-84.46331,-123.392]}, - {"t":1.79922, "x":7.19582, "y":7.03105, "heading":1.13646, "vx":-0.75273, "vy":1.77739, "omega":-3.86762, "ax":-3.60153, "ay":-5.72148, "alpha":-6.07012, "fx":[-4.3287,-113.48065,-89.20152,-31.17202], "fy":[-123.27574,-48.92738,-86.16735,-120.0123]}, - {"t":1.82233, "x":7.17746, "y":7.0706, "heading":1.04706, "vx":-0.83598, "vy":1.64514, "omega":-4.00793, "ax":-4.08748, "ay":-6.07545, "alpha":-2.81226, "fx":[-43.37931,-93.04052,-84.09905,-49.80176], "fy":[-115.7753,-81.47501,-91.05193,-113.49045]}, - {"t":1.84545, "x":7.15704, "y":7.10701, "heading":0.95442, "vx":-0.93047, "vy":1.5047, "omega":-4.07294, "ax":-4.27354, "ay":-6.14828, "alpha":-0.37874, "fx":[-67.61852,-73.61593,-73.5272,-67.86381], "fy":[-103.73495,-99.56808,-99.68334,-103.6224]}, - {"t":1.86856, "x":7.13439, "y":7.14015, "heading":0.86027, "vx":-1.02925, "vy":1.36258, "omega":-4.08169, "ax":-4.31923, "ay":-6.04407, "alpha":1.73043, "fx":[-83.98621,-61.46428,-55.42177,-84.77484], "fy":[-91.16493,-107.65443,-110.70468,-90.19305]}, - {"t":1.89168, "x":7.10945, "y":7.17003, "heading":0.76592, "vx":-1.12909, "vy":1.22287, "omega":-4.0417, "ax":-4.26799, "ay":-5.77954, "alpha":3.87019, "fx":[-95.86523,-55.73736,-30.62966,-100.02609], "fy":[-78.71672,-110.84477,-119.94181,-72.71966]}, - {"t":1.91479, "x":7.08221, "y":7.19675, "heading":0.67249, "vx":-1.22775, "vy":1.08928, "omega":-3.95223, "ax":-4.19113, "ay":-5.32055, "alpha":5.99951, "fx":[-104.82825,-54.28362,-5.14685,-112.91626], "fy":[-66.43162,-111.64918,-123.73795,-50.04894]}, - {"t":1.93791, "x":7.05271, "y":7.22051, "heading":0.58114, "vx":-1.32462, "vy":0.96629, "omega":-3.81355, "ax":-4.1432, "ay":-4.66038, "alpha":8.01313, "fx":[-111.65216,-55.45877,14.81108,-121.70547], "fy":[-54.2924,-111.13397,-123.04694,-19.73523]}, - {"t":1.96103, "x":7.02098, "y":7.2416, "heading":0.49299, "vx":-1.4204, "vy":0.85856, "omega":-3.62833, "ax":-4.05552, "ay":-3.7951, "alpha":10.08375, "fx":[-116.7546,-58.18165,27.75897,-121.0296], "fy":[-42.32466,-109.78232,-120.88087,22.00366]}, - {"t":1.98414, "x":6.98707, "y":7.26043, "heading":0.40912, "vx":-1.51414, "vy":0.77084, "omega":-3.39524, "ax":-3.70296, "ay":-2.77413, "alpha":12.47918, "fx":[-120.38804,-61.75009,35.19344,-97.94578], "fy":[-30.61197,-107.8548,-119.01123,74.01402]}, - {"t":2.00726, "x":6.95108, "y":7.27751, "heading":0.33063, "vx":-1.59974, "vy":0.70671, "omega":-3.10678, "ax":-2.95469, "ay":-1.94817, "alpha":14.77798, "fx":[-122.73457,-65.69166,38.96374,-45.94252], "fy":[-19.30531,-105.53248,-117.89697,113.895]}, - {"t":2.03037, "x":6.91331, "y":7.29332, "heading":0.25882, "vx":-1.66803, "vy":0.66168, "omega":-2.76518, "ax":-2.19858, "ay":-1.60493, "alpha":16.15199, "fx":[-123.96583,-69.66371,40.4854,7.74404], "fy":[-8.61014,-102.98042,-117.43535,122.88575]}, - {"t":2.05349, "x":6.87417, "y":7.30819, "heading":0.1949, "vx":-1.71885, "vy":0.62458, "omega":-2.39183, "ax":-1.71492, "ay":-1.52676, "alpha":16.77165, "fx":[-124.27634,-73.41651,40.7451,43.53381], "fy":[1.26172,-100.36214,-117.38649,115.51627]}, - {"t":2.0766, "x":6.83398, "y":7.32222, "heading":0.13961, "vx":-1.7585, "vy":0.58929, "omega":-2.00414, "ax":-1.44321, "ay":-1.51047, "alpha":17.06922, "fx":[-123.88415,-76.79312,40.39501,64.83728], "fy":[10.14782,-97.82216,-117.53985,105.32113]}, - {"t":2.09972, "x":6.79294, "y":7.33544, "heading":0.09329, "vx":-1.79186, "vy":0.55438, "omega":-1.60958, "ax":-1.28856, "ay":-1.49403, "alpha":17.24444, "fx":[-123.01218,-79.70556,39.86122,77.63933], "fy":[17.94347,-95.48105,-117.74792,96.47955]}, - {"t":2.12283, "x":6.75118, "y":7.34785, "heading":0.05608, "vx":-1.82164, "vy":0.51984, "omega":-1.21097, "ax":-1.19587, "ay":-1.46647, "alpha":17.36859, "fx":[-121.87233,-82.10604,39.43164,85.45944], "fy":[24.58706,-93.43988,-117.91355,89.783]}, - {"t":2.14595, "x":6.70875, "y":7.35948, "heading":0.02809, "vx":-1.84928, "vy":0.48594, "omega":-0.80949, "ax":-1.13686, "ay":-1.42882, "alpha":17.46773, "fx":[-120.65525,-83.96882,39.30884,90.1307], "fy":[30.04828,-91.78291,-117.97187,85.21332]}, - {"t":2.16906, "x":6.6657, "y":7.37033, "heading":0.00938, "vx":-1.87556, "vy":0.45292, "omega":-0.40572, "ax":-1.09702, "ay":-1.38402, "alpha":17.55217, "fx":[-119.5231,-85.27921,39.64041,92.61153], "fy":[34.31946,-90.57862,-117.87526,82.6042]}, - {"t":2.19218, "x":6.62205, "y":7.38043, "heading":0.0, "vx":-1.90092, "vy":0.42092, "omega":0.0, "ax":-5.26146, "ay":-5.36787, "alpha":0.0, "fx":[-86.98998,-86.98998,-86.98998,-86.98998], "fy":[-88.74929,-88.74929,-88.74929,-88.74929]}, - {"t":2.23737, "x":6.53077, "y":7.39397, "heading":0.0, "vx":-2.13871, "vy":0.17833, "omega":0.0, "ax":-6.40325, "ay":-3.88914, "alpha":0.0, "fx":[-105.86784,-105.86784,-105.86784,-105.86784], "fy":[-64.30084,-64.30084,-64.30084,-64.30084]}, - {"t":2.28257, "x":6.42757, "y":7.39806, "heading":0.0, "vx":-2.4281, "vy":0.00256, "omega":0.0, "ax":-1.56627, "ay":1.11143, "alpha":0.0, "fx":[-25.89586,-25.89586,-25.89586,-25.89586], "fy":[18.3757,18.3757,18.3757,18.3757]}, - {"t":2.32776, "x":6.31624, "y":7.39931, "heading":0.0, "vx":-2.49888, "vy":0.05279, "omega":0.0, "ax":0.00819, "ay":0.34006, "alpha":0.0, "fx":[0.13549,0.13549,0.13549,0.13549], "fy":[5.62242,5.62242,5.62242,5.62242]}, - {"t":2.37295, "x":6.20331, "y":7.40204, "heading":0.0, "vx":-2.49851, "vy":0.06816, "omega":0.0, "ax":0.00502, "ay":0.17402, "alpha":0.0, "fx":[0.08303,0.08303,0.08303,0.08303], "fy":[2.87709,2.87709,2.87709,2.87709]}, - {"t":2.41815, "x":6.0904, "y":7.4053, "heading":0.0, "vx":-2.49829, "vy":0.07603, "omega":0.0, "ax":0.00365, "ay":0.11607, "alpha":0.0, "fx":[0.06042,0.06042,0.06042,0.06042], "fy":[1.919,1.919,1.919,1.919]}, - {"t":2.46334, "x":5.9775, "y":7.40885, "heading":0.0, "vx":-2.49812, "vy":0.08127, "omega":0.0, "ax":0.00282, "ay":0.08457, "alpha":0.0, "fx":[0.04656,0.04656,0.04656,0.04656], "fy":[1.39827,1.39827,1.39827,1.39827]}, - {"t":2.50854, "x":5.8646, "y":7.41261, "heading":0.0, "vx":-2.49799, "vy":0.08509, "omega":0.0, "ax":0.00221, "ay":0.06382, "alpha":0.0, "fx":[0.03655,0.03655,0.03655,0.03655], "fy":[1.05514,1.05514,1.05514,1.05514]}, - {"t":2.55373, "x":5.75171, "y":7.41652, "heading":0.0, "vx":-2.49789, "vy":0.08798, "omega":0.0, "ax":0.00175, "ay":0.049, "alpha":0.0, "fx":[0.02889,0.02889,0.02889,0.02889], "fy":[0.81011,0.81011,0.81011,0.81011]}, - {"t":2.59892, "x":5.63882, "y":7.42055, "heading":0.0, "vx":-2.49781, "vy":0.09019, "omega":0.0, "ax":0.00138, "ay":0.03798, "alpha":0.0, "fx":[0.02289,0.02289,0.02289,0.02289], "fy":[0.62799,0.62799,0.62799,0.62799]}, - {"t":2.64412, "x":5.52593, "y":7.42467, "heading":0.0, "vx":-2.49775, "vy":0.09191, "omega":0.0, "ax":0.0011, "ay":0.02961, "alpha":0.0, "fx":[0.01815,0.01815,0.01815,0.01815], "fy":[0.48955,0.48955,0.48955,0.48955]}, - {"t":2.68931, "x":5.41305, "y":7.42885, "heading":0.0, "vx":-2.4977, "vy":0.09325, "omega":0.0, "ax":0.00087, "ay":0.02316, "alpha":0.0, "fx":[0.01438,0.01438,0.01438,0.01438], "fy":[0.3829,0.3829,0.3829,0.3829]}, - {"t":2.73451, "x":5.30017, "y":7.43309, "heading":0.0, "vx":-2.49766, "vy":0.09429, "omega":0.0, "ax":0.00069, "ay":0.01815, "alpha":0.0, "fx":[0.01138,0.01138,0.01138,0.01138], "fy":[0.30009,0.30009,0.30009,0.30009]}, - {"t":2.7797, "x":5.18729, "y":7.43737, "heading":0.0, "vx":-2.49763, "vy":0.09511, "omega":0.0, "ax":0.00054, "ay":0.01424, "alpha":0.0, "fx":[0.009,0.009,0.009,0.009], "fy":[0.23546,0.23546,0.23546,0.23546]}, - {"t":2.8249, "x":5.07441, "y":7.44168, "heading":0.0, "vx":-2.49761, "vy":0.09576, "omega":0.0, "ax":0.00043, "ay":0.01118, "alpha":0.0, "fx":[0.00711,0.00711,0.00711,0.00711], "fy":[0.18487,0.18487,0.18487,0.18487]}, - {"t":2.87009, "x":4.96154, "y":7.44602, "heading":0.0, "vx":-2.49759, "vy":0.09626, "omega":0.0, "ax":0.00034, "ay":0.00878, "alpha":0.0, "fx":[0.00561,0.00561,0.00561,0.00561], "fy":[0.14518,0.14518,0.14518,0.14518]}, - {"t":2.91528, "x":4.84866, "y":7.45038, "heading":0.0, "vx":-2.49757, "vy":0.09666, "omega":0.0, "ax":0.00027, "ay":0.0069, "alpha":0.0, "fx":[0.00442,0.00442,0.00442,0.00442], "fy":[0.11401,0.11401,0.11401,0.11401]}, - {"t":2.96048, "x":4.73579, "y":7.45475, "heading":0.0, "vx":-2.49756, "vy":0.09697, "omega":0.0, "ax":0.00021, "ay":0.00541, "alpha":0.0, "fx":[0.00348,0.00348,0.00348,0.00348], "fy":[0.08949,0.08949,0.08949,0.08949]}, - {"t":3.00567, "x":4.62291, "y":7.45914, "heading":0.0, "vx":-2.49755, "vy":0.09722, "omega":0.0, "ax":0.00017, "ay":0.00425, "alpha":0.0, "fx":[0.00273,0.00273,0.00273,0.00273], "fy":[0.07019,0.07019,0.07019,0.07019]}, - {"t":3.05087, "x":4.51004, "y":7.46354, "heading":0.0, "vx":-2.49754, "vy":0.09741, "omega":0.0, "ax":0.00013, "ay":0.00333, "alpha":0.0, "fx":[0.00215,0.00215,0.00215,0.00215], "fy":[0.05497,0.05497,0.05497,0.05497]}, - {"t":3.09606, "x":4.39716, "y":7.46795, "heading":0.0, "vx":-2.49754, "vy":0.09756, "omega":0.0, "ax":0.0001, "ay":0.0026, "alpha":0.0, "fx":[0.00168,0.00168,0.00168,0.00168], "fy":[0.04295,0.04295,0.04295,0.04295]}, - {"t":3.14125, "x":4.28429, "y":7.47236, "heading":0.0, "vx":-2.49753, "vy":0.09768, "omega":0.0, "ax":0.00008, "ay":0.00202, "alpha":0.0, "fx":[0.00131,0.00131,0.00131,0.00131], "fy":[0.03342,0.03342,0.03342,0.03342]}, - {"t":3.18645, "x":4.17141, "y":7.47677, "heading":0.0, "vx":-2.49753, "vy":0.09777, "omega":0.0, "ax":0.00006, "ay":0.00156, "alpha":0.0, "fx":[0.00101,0.00101,0.00101,0.00101], "fy":[0.02584,0.02584,0.02584,0.02584]}, - {"t":3.23164, "x":4.05854, "y":7.48119, "heading":0.0, "vx":-2.49753, "vy":0.09784, "omega":0.0, "ax":0.00005, "ay":0.0012, "alpha":0.0, "fx":[0.00078,0.00078,0.00078,0.00078], "fy":[0.01981,0.01981,0.01981,0.01981]}, - {"t":3.27684, "x":3.94567, "y":7.48562, "heading":0.0, "vx":-2.49752, "vy":0.09789, "omega":0.0, "ax":0.0001, "ay":0.00094, "alpha":0.0, "fx":[0.00172,0.00172,0.00172,0.00172], "fy":[0.01552,0.01552,0.01552,0.01552]}, - {"t":3.32203, "x":3.83279, "y":7.49004, "heading":0.0, "vx":-2.49752, "vy":0.09793, "omega":0.0, "ax":2.69888, "ay":-0.10478, "alpha":0.0, "fx":[44.62173,44.62173,44.62173,44.62173], "fy":[-1.73237,-1.73237,-1.73237,-1.73237]}, - {"t":3.36722, "x":3.72268, "y":7.49436, "heading":0.0, "vx":-2.37555, "vy":0.0932, "omega":0.0, "ax":7.47813, "ay":-0.2933, "alpha":0.0, "fx":[123.63919,123.63919,123.63919,123.63919], "fy":[-4.84934,-4.84934,-4.84934,-4.84934]}, - {"t":3.41242, "x":3.62295, "y":7.49827, "heading":0.0, "vx":-2.03758, "vy":0.07994, "omega":0.0, "ax":7.50263, "ay":-0.29431, "alpha":0.0, "fx":[124.04436,124.04436,124.04436,124.04436], "fy":[-4.8659,-4.8659,-4.8659,-4.8659]}, - {"t":3.45761, "x":3.53853, "y":7.50159, "heading":0.0, "vx":-1.6985, "vy":0.06664, "omega":0.0, "ax":7.51083, "ay":-0.29466, "alpha":0.0, "fx":[124.17992,124.17992,124.17992,124.17992], "fy":[-4.8717,-4.8717,-4.8717,-4.8717]}, - {"t":3.50281, "x":3.46944, "y":7.5043, "heading":0.0, "vx":-1.35906, "vy":0.05333, "omega":0.0, "ax":7.51494, "ay":-0.29484, "alpha":0.0, "fx":[124.24777,124.24777,124.24777,124.24777], "fy":[-4.87473,-4.87473,-4.87473,-4.87473]}, - {"t":3.548, "x":3.41569, "y":7.50641, "heading":0.0, "vx":-1.01943, "vy":0.04, "omega":0.0, "ax":7.5174, "ay":-0.29495, "alpha":0.0, "fx":[124.2885,124.2885,124.2885,124.2885], "fy":[-4.87661,-4.87661,-4.87661,-4.87661]}, - {"t":3.5932, "x":3.3773, "y":7.50791, "heading":0.0, "vx":-0.67969, "vy":0.02667, "omega":0.0, "ax":7.51904, "ay":-0.29503, "alpha":0.0, "fx":[124.31566,124.31566,124.31566,124.31566], "fy":[-4.87789,-4.87789,-4.87789,-4.87789]}, - {"t":3.63839, "x":3.35426, "y":7.50882, "heading":0.0, "vx":-0.33987, "vy":0.01334, "omega":0.0, "ax":7.52022, "ay":-0.29509, "alpha":0.0, "fx":[124.33506,124.33506,124.33506,124.33506], "fy":[-4.87881,-4.87881,-4.87881,-4.87881]}, - {"t":3.68358, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.1684, "vy":-1.55835, "omega":-5.49796, "ax":-4.7095, "ay":-3.5645, "alpha":5.26331, "fx":[-78.72272,-109.43554,-86.53037,-36.76837], "fy":[-41.27378,-17.51132,-73.96733,-102.98151]}, + {"t":0.02204, "x":8.24945, "y":4.47472, "heading":-1.69196, "vx":-0.27219, "vy":-1.63691, "omega":-5.38197, "ax":-6.87194, "ay":-0.26887, "alpha":1.57201, "fx":[-112.86226,-115.09247,-114.84744,-111.665], "fy":[8.26374,9.61334,-14.42385,-21.23451]}, + {"t":0.04407, "x":8.24178, "y":4.43858, "heading":-1.81056, "vx":-0.42363, "vy":-1.64283, "omega":-5.34733, "ax":-6.85938, "ay":2.02402, "alpha":0.18769, "fx":[-112.82354,-113.05073,-113.98001,-113.7821], "fy":[35.15069,35.00515,31.82009,31.87995]}, + {"t":0.06611, "x":8.23078, "y":4.40287, "heading":-1.9284, "vx":-0.57479, "vy":-1.59823, "omega":-5.34319, "ax":-5.94799, "ay":3.65703, "alpha":-0.4507, "fx":[-100.89507,-99.75253,-95.63145,-97.08397], "fy":[56.7266,57.53322,64.37627,63.21727]}, + {"t":0.08815, "x":8.21667, "y":4.36854, "heading":-2.04615, "vx":-0.70587, "vy":-1.51764, "omega":-5.35312, "ax":-4.3115, "ay":4.87026, "alpha":-2.86615, "fx":[-92.36524,-82.17201,-44.02591,-66.57239], "fy":[63.76409,66.46288,100.04789,91.81345]}, + {"t":0.11019, "x":8.20006, "y":4.33627, "heading":-2.16412, "vx":-0.80088, "vy":-1.41031, "omega":-5.41629, "ax":-1.78469, "ay":5.52917, "alpha":-5.11445, "fx":[-77.80498,-37.38309,26.24468,-29.08456], "fy":[75.99165,77.24114,104.03755,108.39455]}, + {"t":0.13222, "x":8.18198, "y":4.30654, "heading":-2.28348, "vx":-0.84021, "vy":-1.28846, "omega":-5.52899, "ax":-0.05855, "ay":5.45021, "alpha":-6.1777, "fx":[-64.801,7.09338,58.55984,-4.72412], "fy":[85.73149,71.50614,91.00753,112.19764]}, + {"t":0.15426, "x":8.16345, "y":4.27947, "heading":-2.40532, "vx":-0.8415, "vy":-1.16836, "omega":-5.66513, "ax":-0.45058, "ay":5.43056, "alpha":-6.32658, "fx":[-65.0856,-22.84934,59.87323,-1.73658], "fy":[87.57071,69.55233,89.34008,112.68018]}, + {"t":0.1763, "x":8.1448, "y":4.25504, "heading":-2.53016, "vx":-0.85143, "vy":-1.04868, "omega":-5.80455, "ax":-2.23774, "ay":5.65281, "alpha":-4.98988, "fx":[-72.10564,-71.4672,16.79144,-21.20889], "fy":[86.41327,70.75118,105.1585,111.51854]}, + {"t":0.19833, "x":8.12549, "y":4.2333, "heading":-2.65808, "vx":-0.90074, "vy":-0.92411, "omega":-5.91452, "ax":-3.97707, "ay":5.62584, "alpha":-1.53081, "fx":[-74.86344,-78.20144,-54.64398,-55.30945], "fy":[88.4075,82.69842,99.39385,101.5582]}, + {"t":0.22037, "x":8.10468, "y":4.2143, "heading":-2.78842, "vx":-0.98838, "vy":-0.80013, "omega":-5.94825, "ax":-4.38244, "ay":5.65501, "alpha":1.07872, "fx":[-66.68502,-63.47499,-77.49668,-82.17027], "fy":[97.42806,100.67425,90.61855,85.26639]}, + {"t":0.24241, "x":8.08183, "y":4.19804, "heading":-2.9195, "vx":-1.08496, "vy":-0.67551, "omega":-5.92448, "ax":-4.06286, "ay":5.85874, "alpha":2.87515, "fx":[-51.55076,-43.09322,-78.42598,-95.62214], "fy":[107.75673,113.38552,92.96963,73.34853]}, + {"t":0.26445, "x":8.05693, "y":4.18458, "heading":-3.05006, "vx":-1.17449, "vy":-0.5464, "omega":-5.86112, "ax":-1.99127, "ay":6.26493, "alpha":6.39064, "fx":[27.07125,4.6044,-62.82577,-100.53982], "fy":[117.27819,122.72293,105.70294,68.61963]}, + {"t":0.28648, "x":8.03057, "y":4.17406, "heading":3.10396, "vx":-1.21838, "vy":-0.40834, "omega":-5.72029, "ax":-0.56251, "ay":5.9331, "alpha":8.87917, "fx":[80.13282,32.92375,-48.48708,-101.77059], "fy":[91.47603,118.99549,113.62967,68.27696]}, + {"t":0.30852, "x":8.00358, "y":4.1665, "heading":2.97791, "vx":-1.23077, "vy":-0.27759, "omega":-5.52461, "ax":0.17339, "ay":5.63638, "alpha":9.9515, "fx":[100.11895,49.14272,-37.14911,-100.6455], "fy":[70.14543,113.58762,118.12137,70.90091]}, + {"t":0.33056, "x":7.9765, "y":4.16175, "heading":2.85616, "vx":-1.22695, "vy":-0.15338, "omega":-5.30531, "ax":0.67819, "ay":5.42553, "alpha":10.44908, "fx":[109.58815,60.66278,-27.30432,-98.09562], "fy":[54.80654,108.0631,120.94603,74.9952]}, + {"t":0.35259, "x":7.94963, "y":4.15969, "heading":2.73924, "vx":-1.21201, "vy":-0.03382, "omega":-5.07504, "ax":1.081, "ay":5.26015, "alpha":10.67491, "fx":[114.8343,69.75656,-18.39262,-94.70764], "fy":[42.98395,102.55185,122.72533,79.61246]}, + {"t":0.37463, "x":7.92318, "y":4.16022, "heading":2.6274, "vx":-1.18818, "vy":0.0821, "omega":-4.8398, "ax":1.42471, "ay":5.11849, "alpha":10.74578, "fx":[117.90138,77.32642,-10.17454,-90.8316], "fy":[33.43688,97.05952,123.75181,84.25659]}, + {"t":0.39667, "x":7.89734, "y":4.16327, "heading":2.52075, "vx":-1.15679, "vy":0.1949, "omega":-4.60299, "ax":1.72646, "ay":4.99193, "alpha":10.71225, "fx":[119.58606,83.80928,-2.53247,-86.68563], "fy":[25.66631,91.58663,124.19704,88.68495]}, + {"t":0.41871, "x":7.87227, "y":4.16878, "heading":2.41931, "vx":-1.11874, "vy":0.30491, "omega":-4.36692, "ax":1.99261, "ay":4.8815, "alpha":10.59083, "fx":[120.14115,89.45143,4.5998,-82.41337], "fy":[19.73011,86.13704,124.17817,92.78692]}, + {"t":0.44074, "x":7.8481, "y":4.17669, "heading":2.32308, "vx":-1.07483, "vy":0.41248, "omega":-4.13353, "ax":2.21773, "ay":4.80785, "alpha":10.34848, "fx":[119.10537,94.40884,11.2654,-78.1129], "fy":[16.94094,80.71577,123.78334,96.52117]}, + {"t":0.46278, "x":7.82495, "y":4.18694, "heading":2.23199, "vx":-1.02596, "vy":0.51843, "omega":-3.90548, "ax":2.28346, "ay":4.97523, "alpha":9.54429, "fx":[108.57698,98.78293,17.49708,-73.8432], "fy":[30.72293,75.33529,123.0827,99.88976]}, + {"t":0.48482, "x":7.8029, "y":4.19958, "heading":2.14592, "vx":-0.97564, "vy":0.62807, "omega":-3.69515, "ax":-0.78394, "ay":5.07388, "alpha":10.59116, "fx":[-108.21233,102.51391,23.3173,-69.46378], "fy":[40.18513,70.20353,122.13444,103.0318]}, + {"t":0.50685, "x":7.78121, "y":4.21465, "heading":2.06449, "vx":-0.99291, "vy":0.73989, "omega":-3.46175, "ax":-0.72512, "ay":4.88547, "alpha":11.37433, "fx":[-117.33968,105.69799,28.74206,-65.05534], "fy":[30.86102,65.33607,120.98969,105.90803]}, + {"t":0.52889, "x":7.75915, "y":4.23214, "heading":1.9882, "vx":-1.00889, "vy":0.84755, "omega":-3.2111, "ax":-0.55227, "ay":4.87997, "alpha":11.60535, "fx":[-117.93171,108.39132,33.74051,-60.72372], "fy":[33.76117,60.78429,119.70623,108.47925]}, + {"t":0.55093, "x":7.73678, "y":4.252, "heading":1.91744, "vx":-1.02106, "vy":0.95509, "omega":-2.95535, "ax":-0.37466, "ay":4.89746, "alpha":11.72644, "fx":[-117.16894,110.64758,38.29541,-56.55153], "fy":[38.22127,56.59114,118.33986,110.73521]}, + {"t":0.57297, "x":7.71419, "y":4.27424, "heading":1.85231, "vx":-1.02932, "vy":1.06301, "omega":-2.69693, "ax":-0.20509, "ay":4.91779, "alpha":11.79853, "fx":[-115.90226,112.52222,42.41001,-52.59329], "fy":[42.82376,52.78125,116.93883,112.6883]}, + {"t":0.595, "x":7.69146, "y":4.29886, "heading":1.79288, "vx":-1.03384, "vy":1.17139, "omega":-2.43692, "ax":0.07841, "ay":5.28061, "alpha":10.90441, "fx":[-105.65087,111.87793,45.51413,-46.55598], "fy":[64.16249,54.02931,115.74321,115.2913]}, + {"t":0.61512, "x":7.67068, "y":4.32349, "heading":1.74386, "vx":-1.03226, "vy":1.2776, "omega":-2.2176, "ax":0.19415, "ay":5.23093, "alpha":11.08702, "fx":[-105.6066,113.35475,48.68048,-43.58897], "fy":[64.29679,50.77863,114.43289,116.4327]}, + {"t":0.63523, "x":7.64996, "y":4.35024, "heading":1.69926, "vx":-1.02836, "vy":1.38281, "omega":-1.9946, "ax":0.30765, "ay":5.18933, "alpha":11.22578, "fx":[-105.1978,114.66169,51.63272,-40.75084], "fy":[64.97679,47.65806,113.11435,117.44078]}, + {"t":0.65534, "x":7.62933, "y":4.37911, "heading":1.65914, "vx":-1.02217, "vy":1.48719, "omega":-1.76881, "ax":0.41733, "ay":5.15251, "alpha":11.33291, "fx":[-104.55976,115.81728,54.38451,-38.04241], "fy":[65.9704,44.65975,111.79707,118.32736]}, + {"t":0.67546, "x":7.60886, "y":4.41006, "heading":1.62357, "vx":-1.01377, "vy":1.59082, "omega":-1.54087, "ax":0.52282, "ay":5.11848, "alpha":11.41623, "fx":[-103.7648,116.83995,56.95601,-35.45497], "fy":[67.1453,41.76814,110.48491,119.10571]}, + {"t":0.69557, "x":7.58858, "y":4.44309, "heading":1.59257, "vx":-1.00326, "vy":1.69377, "omega":-1.31125, "ax":0.62467, "ay":5.08601, "alpha":11.48061, "fx":[-102.84462,117.74789,59.37567,-32.96723], "fy":[68.43362,38.95848,109.17425,119.79042]}, + {"t":0.71568, "x":7.56852, "y":4.47819, "heading":1.5662, "vx":-0.99069, "vy":1.79607, "omega":-1.08034, "ax":0.7244, "ay":5.0543, "alpha":11.52849, "fx":[-101.79542,118.55896,61.68375,-30.53977], "fy":[69.81771,36.19393,107.85075,120.39744]}, + {"t":0.7358, "x":7.54874, "y":4.51534, "heading":1.54447, "vx":-0.97612, "vy":1.89773, "omega":-0.84846, "ax":0.82493, "ay":5.02286, "alpha":11.55948, "fx":[-100.56924,119.29079,63.93878,-28.10449], "fy":[71.3319,33.42031,106.48361,120.9446]}, + {"t":0.75591, "x":7.52928, "y":4.55452, "heading":1.52741, "vx":-0.95953, "vy":1.99875, "omega":-0.61596, "ax":0.9315, "ay":4.99153, "alpha":11.56882, "fx":[-99.04335,119.96094,66.22979,-25.54379], "fy":[73.08515,30.55636,105.01456,121.45244]}, + {"t":0.77602, "x":7.51017, "y":4.59573, "heading":1.51502, "vx":-0.9408, "vy":2.09915, "omega":-0.38327, "ax":1.05403, "ay":4.96092, "alpha":11.54274, "fx":[-96.93386,120.58662,68.70038,-22.6463], "fy":[75.32881,27.47555,103.33494,121.9451]}, + {"t":0.79614, "x":7.49146, "y":4.63896, "heading":1.50731, "vx":-0.9196, "vy":2.19893, "omega":-0.15111, "ax":1.21359, "ay":4.93408, "alpha":11.44396, "fx":[-93.52113,121.18288,71.59965,-19.00217], "fy":[78.65745,23.97045,101.23336,122.4482]}, + {"t":0.81625, "x":7.47321, "y":4.68418, "heading":1.50427, "vx":-0.89519, "vy":2.29817, "omega":0.07907, "ax":1.46585, "ay":4.92364, "alpha":11.15536, "fx":[-86.49497,121.75431,75.40087,-13.71784], "fy":[84.7145,19.67902,98.25913,122.9664]}, + {"t":0.83636, "x":7.4555, "y":4.7314, "heading":1.50586, "vx":-0.8657, "vy":2.3972, "omega":0.30344, "ax":2.04293, "ay":4.98539, "alpha":10.14908, "fx":[-63.80308,122.26244,81.11039,-4.46319], "fy":[99.16625,13.92445,93.2969,123.31473]}, + {"t":0.85648, "x":7.4385, "y":4.78063, "heading":1.51196, "vx":-0.82461, "vy":2.49748, "omega":0.50757, "ax":4.57788, "ay":4.432, "alpha":6.39852, "fx":[72.45796,122.49123,91.11424,16.68892], "fy":[83.29712,5.39923,82.8993,121.50946]}, + {"t":0.87659, "x":7.42284, "y":4.83176, "heading":1.52217, "vx":-0.73254, "vy":2.58662, "omega":0.63627, "ax":6.47292, "ay":2.15509, "alpha":4.8464, "fx":[118.43779,121.71669,108.86155,79.06252], "fy":[-0.56163,-3.52355,55.36094,91.24818]}, + {"t":0.8967, "x":7.40941, "y":4.88422, "heading":1.53497, "vx":-0.60234, "vy":2.62996, "omega":0.73375, "ax":6.97532, "ay":1.42895, "alpha":-2.47289, "fx":[114.88013,107.34144,118.60234,120.48013], "fy":[37.10398,52.11983,3.91609,1.36199]}, + {"t":0.91682, "x":7.39871, "y":4.9374, "heading":1.54973, "vx":-0.46205, "vy":2.6587, "omega":0.68401, "ax":2.62433, "ay":0.41297, "alpha":-15.93261, "fx":[101.47571,-12.37014,-28.01248,112.46383], "fy":[67.76082,119.56331,-113.56611,-46.44677]}, + {"t":0.93693, "x":7.38995, "y":4.99096, "heading":1.56348, "vx":-0.40926, "vy":2.66701, "omega":0.36355, "ax":0.88262, "ay":0.10511, "alpha":-18.07504, "fx":[96.70317,-65.74614,-71.40576,98.81985], "fy":[75.44552,102.76297,-98.71367,-72.54365]}, + {"t":0.95704, "x":7.38189, "y":5.04463, "heading":1.5708, "vx":-0.39151, "vy":2.66913, "omega":0.0, "ax":6.66795, "ay":0.77497, "alpha":0.0, "fx":[110.2442,110.2442,110.2442,110.2442], "fy":[12.81285,12.81285,12.81285,12.81285]}, + {"t":0.98671, "x":7.37321, "y":5.12416, "heading":1.5708, "vx":-0.19367, "vy":2.69212, "omega":0.0, "ax":5.35093, "ay":0.2272, "alpha":0.0, "fx":[88.46923,88.46923,88.46923,88.46923], "fy":[3.75632,3.75632,3.75632,3.75632]}, + {"t":1.01638, "x":7.36982, "y":5.20414, "heading":1.5708, "vx":-0.03491, "vy":2.69886, "omega":0.0, "ax":2.40081, "ay":-0.00057, "alpha":0.0, "fx":[39.69366,39.69366,39.69366,39.69366], "fy":[-0.00936,-0.00936,-0.00936,-0.00936]}, + {"t":1.04605, "x":7.36984, "y":5.28421, "heading":1.5708, "vx":0.03632, "vy":2.69884, "omega":0.0, "ax":0.61802, "ay":-0.01041, "alpha":0.0, "fx":[10.21805,10.21805,10.21805,10.21805], "fy":[-0.17214,-0.17214,-0.17214,-0.17214]}, + {"t":1.07572, "x":7.37119, "y":5.36428, "heading":1.5708, "vx":0.05466, "vy":2.69853, "omega":0.0, "ax":0.1443, "ay":-0.00304, "alpha":0.0, "fx":[2.38571,2.38571,2.38571,2.38571], "fy":[-0.05021,-0.05021,-0.05021,-0.05021]}, + {"t":1.10539, "x":7.37288, "y":5.44434, "heading":1.5708, "vx":0.05894, "vy":2.69844, "omega":0.0, "ax":0.03348, "ay":-0.00074, "alpha":0.0, "fx":[0.55346,0.55346,0.55346,0.55346], "fy":[-0.01219,-0.01219,-0.01219,-0.01219]}, + {"t":1.13506, "x":7.37464, "y":5.52441, "heading":1.5708, "vx":0.05993, "vy":2.69842, "omega":0.0, "ax":0.00773, "ay":-0.00017, "alpha":0.0, "fx":[0.12784,0.12784,0.12784,0.12784], "fy":[-0.00284,-0.00284,-0.00284,-0.00284]}, + {"t":1.16473, "x":7.37642, "y":5.60447, "heading":1.5708, "vx":0.06016, "vy":2.69842, "omega":0.0, "ax":0.00165, "ay":-0.00004, "alpha":0.0, "fx":[0.02728,0.02728,0.02728,0.02728], "fy":[-0.00061,-0.00061,-0.00061,-0.00061]}, + {"t":1.1944, "x":7.37821, "y":5.68453, "heading":1.5708, "vx":0.06021, "vy":2.69842, "omega":0.0, "ax":-0.00024, "ay":0.00001, "alpha":0.0, "fx":[-0.00391,-0.00391,-0.00391,-0.00391], "fy":[0.00009,0.00009,0.00009,0.00009]}, + {"t":1.22407, "x":7.37999, "y":5.76459, "heading":1.5708, "vx":0.0602, "vy":2.69842, "omega":0.0, "ax":-0.00272, "ay":0.00006, "alpha":0.0, "fx":[-0.04505,-0.04505,-0.04505,-0.04505], "fy":[0.001,0.001,0.001,0.001]}, + {"t":1.25374, "x":7.38178, "y":5.84465, "heading":1.5708, "vx":0.06012, "vy":2.69842, "omega":0.0, "ax":-0.01214, "ay":0.00027, "alpha":0.0, "fx":[-0.20075,-0.20075,-0.20075,-0.20075], "fy":[0.00446,0.00446,0.00446,0.00446]}, + {"t":1.28341, "x":7.38356, "y":5.92472, "heading":1.5708, "vx":0.05976, "vy":2.69843, "omega":0.0, "ax":-0.05243, "ay":0.00115, "alpha":0.0, "fx":[-0.8669,-0.8669,-0.8669,-0.8669], "fy":[0.01895,0.01895,0.01895,0.01895]}, + {"t":1.31308, "x":7.38531, "y":6.00478, "heading":1.5708, "vx":0.05821, "vy":2.69846, "omega":0.0, "ax":-0.22587, "ay":0.00459, "alpha":0.0, "fx":[-3.73438,-3.73438,-3.73438,-3.73438], "fy":[0.0759,0.0759,0.0759,0.0759]}, + {"t":1.34275, "x":7.38694, "y":6.08484, "heading":1.5708, "vx":0.0515, "vy":2.6986, "omega":0.0, "ax":-0.95843, "ay":0.01323, "alpha":0.0, "fx":[-15.84609,-15.84609,-15.84609,-15.84609], "fy":[0.21871,0.21871,0.21871,0.21871]}, + {"t":1.37242, "x":7.38804, "y":6.16492, "heading":1.5708, "vx":0.02307, "vy":2.69899, "omega":0.0, "ax":-3.34159, "ay":-0.03293, "alpha":0.0, "fx":[-55.24793,-55.24793,-55.24793,-55.24793], "fy":[-0.54439,-0.54439,-0.54439,-0.54439]}, + {"t":1.40209, "x":7.38725, "y":6.24498, "heading":1.5708, "vx":-0.07608, "vy":2.69801, "omega":0.0, "ax":-5.94141, "ay":-0.36276, "alpha":0.0, "fx":[-98.23194,-98.23194,-98.23194,-98.23194], "fy":[-5.99771,-5.99771,-5.99771,-5.99771]}, + {"t":1.43176, "x":7.38238, "y":6.32487, "heading":1.5708, "vx":-0.25236, "vy":2.68725, "omega":0.0, "ax":-6.83316, "ay":-0.93609, "alpha":0.0, "fx":[-112.97558,-112.97558,-112.97558,-112.97558], "fy":[-15.47673,-15.47673,-15.47673,-15.47673]}, + {"t":1.46143, "x":7.37189, "y":6.40419, "heading":1.5708, "vx":-0.4551, "vy":2.65947, "omega":0.0, "ax":-3.44413, "ay":-6.47676, "alpha":0.0, "fx":[-56.94325,-56.94325,-56.94325,-56.94325], "fy":[-107.08307,-107.08307,-107.08307,-107.08307]}, + {"t":1.4911, "x":7.35687, "y":6.48024, "heading":1.5708, "vx":-0.55728, "vy":2.46731, "omega":0.0, "ax":-1.48634, "ay":-7.30537, "alpha":0.0, "fx":[-24.57433,-24.57433,-24.57433,-24.57433], "fy":[-120.78294,-120.78294,-120.78294,-120.78294]}, + {"t":1.52077, "x":7.33968, "y":6.55023, "heading":1.5708, "vx":-0.60138, "vy":2.25056, "omega":0.0, "ax":-0.12856, "ay":-0.74261, "alpha":-18.44735, "fx":[98.57647,-102.1816,-79.22007,74.3228], "fy":[75.65502,70.74272,-95.83692,-99.67244]}, + {"t":1.54387, "x":7.32576, "y":6.60201, "heading":1.5708, "vx":-0.60435, "vy":2.23341, "omega":-0.42603, "ax":-0.18535, "ay":-0.8492, "alpha":-18.3835, "fx":[99.52409,-104.56304,-78.91335,71.69423], "fy":[74.34279,67.12854,-96.07341,-101.55903]}, + {"t":1.56696, "x":7.31175, "y":6.65336, "heading":1.56096, "vx":-0.60863, "vy":2.2138, "omega":-0.85059, "ax":-0.25086, "ay":-0.97922, "alpha":-18.29389, "fx":[101.62004,-106.57423,-79.32713,67.69074], "fy":[71.3701,63.83107,-95.71343,-104.24752]}, + {"t":1.59006, "x":7.29763, "y":6.70423, "heading":1.54131, "vx":-0.61443, "vy":2.19118, "omega":-1.27308, "ax":-0.32708, "ay":-1.14285, "alpha":-18.1642, "fx":[104.96264,-108.39876,-80.3636,62.16843], "fy":[66.24224,60.60755,-94.82321,-107.60734]}, + {"t":1.61315, "x":7.28335, "y":6.75453, "heading":1.51191, "vx":-0.62198, "vy":2.16479, "omega":-1.69257, "ax":-0.41707, "ay":-1.35755, "alpha":-17.96833, "fx":[109.59931,-110.25747,-81.89134,54.96689], "fy":[58.0751,57.05776,-93.48149,-111.43107]}, + {"t":1.63625, "x":7.26888, "y":6.80416, "heading":1.47282, "vx":-0.63161, "vy":2.13344, "omega":-2.10754, "ax":-0.52722, "ay":-1.65511, "alpha":-17.65417, "fx":[115.36664,-112.42538,-83.74146,45.93291], "fy":[45.23924,52.51892,-91.79731,-115.41944]}, + {"t":1.65934, "x":7.25415, "y":6.85299, "heading":1.42415, "vx":-0.64379, "vy":2.09521, "omega":-2.51525, "ax":-0.6758, "ay":-2.09539, "alpha":-17.10674, "fx":[121.26926,-115.21816,-85.70099,34.95696], "fy":[24.66879,45.86061,-89.93359,-119.17171]}, + {"t":1.68243, "x":7.2391, "y":6.90082, "heading":1.36606, "vx":-0.6594, "vy":2.04682, "omega":-2.91032, "ax":-0.92395, "ay":-2.78322, "alpha":-16.05507, "fx":[123.20169,-118.82603,-87.50167,22.02185], "fy":[-8.8545,35.11707,-88.137,-122.19009]}, + {"t":1.70553, "x":7.22362, "y":6.94735, "heading":1.29885, "vx":-0.68073, "vy":1.98255, "omega":-3.2811, "ax":-1.44653, "ay":-3.81272, "alpha":-13.95044, "fx":[108.47462,-122.59153,-88.8004,7.25296], "fy":[-58.55192,17.08261,-86.77185,-123.9082]}, + {"t":1.72862, "x":7.20752, "y":6.99212, "heading":1.22308, "vx":-0.71414, "vy":1.89449, "omega":-3.60328, "ax":-2.39348, "ay":-4.95512, "alpha":-10.46662, "fx":[62.98683,-123.08796,-89.13102,-9.0574], "fy":[-105.89386,-11.69885,-86.36224,-123.74588]}, + {"t":1.75172, "x":7.19039, "y":7.03455, "heading":1.13986, "vx":-0.76942, "vy":1.78006, "omega":-3.845, "ax":-3.33049, "ay":-5.76304, "alpha":-6.5449, "fx":[7.31706,-113.45359,-87.66729,-26.45376], "fy":[-123.18999,-49.0063,-87.76244,-121.17298]}, + {"t":1.77481, "x":7.17173, "y":7.07412, "heading":1.05106, "vx":-0.84633, "vy":1.64696, "omega":-3.99615, "ax":-3.84469, "ay":-6.17238, "alpha":-3.2343, "fx":[-33.85999,-93.09097,-82.97689,-44.33628], "fy":[-118.91531,-81.40819,-92.11107,-115.76843]}, + {"t":1.79791, "x":7.15116, "y":7.11051, "heading":0.95877, "vx":-0.93512, "vy":1.50441, "omega":-4.07085, "ax":-4.07329, "ay":-6.27303, "alpha":-0.74013, "fx":[-60.9747,-73.23565,-73.0605,-62.11109], "fy":[-107.7647,-99.83423,-100.05803,-107.20187]}, + {"t":1.821, "x":7.12848, "y":7.14358, "heading":0.86476, "vx":-1.02919, "vy":1.35954, "omega":-4.08794, "ax":-4.16171, "ay":-6.1812, "alpha":1.38701, "fx":[-79.57947,-60.60753,-55.74857,-79.29377], "fy":[-95.02021,-108.12628,-110.56347,-95.07608]}, + {"t":1.8441, "x":7.1036, "y":7.17333, "heading":0.77035, "vx":-1.12531, "vy":1.21679, "omega":-4.05591, "ax":-4.14997, "ay":-5.92439, "alpha":3.53833, "fx":[-93.06781,-54.60414,-31.33295,-95.44835], "fy":[-81.98645,-111.3965,-119.76977,-78.64939]}, + {"t":1.86719, "x":7.0765, "y":7.19985, "heading":0.67668, "vx":-1.22115, "vy":1.07997, "omega":-3.97419, "ax":-4.10521, "ay":-5.46224, "alpha":5.71775, "fx":[-103.17291,-53.06441,-5.34726,-109.90837], "fy":[-68.95366,-112.22452,-123.72823,-56.33178]}, + {"t":1.89028, "x":7.04721, "y":7.22334, "heading":0.5849, "vx":-1.31596, "vy":0.95382, "omega":-3.84215, "ax":-4.08663, "ay":-4.76978, "alpha":7.83493, "fx":[-110.79254,-54.28798,15.55363,-120.73724], "fy":[-56.00265,-111.70258,-122.94888,-24.78952]}, + {"t":1.91338, "x":7.01572, "y":7.24409, "heading":0.49617, "vx":-1.41033, "vy":0.84367, "omega":-3.6612, "ax":-4.01232, "ay":-3.82249, "alpha":10.10149, "fx":[-116.42155,-57.14609,29.3016,-121.08366], "fy":[-43.20592,-110.31788,-120.5087,21.23658]}, + {"t":1.93647, "x":6.98208, "y":7.26256, "heading":0.41161, "vx":-1.503, "vy":0.75539, "omega":-3.42791, "ax":-3.59784, "ay":-2.69823, "alpha":12.77933, "fx":[-120.36195,-60.90109,37.2418,-93.91719], "fy":[-30.68198,-108.33016,-118.37922,78.94752]}, + {"t":1.95957, "x":6.94641, "y":7.27928, "heading":0.33245, "vx":-1.58609, "vy":0.69307, "omega":-3.13278, "ax":-2.77149, "ay":-1.88109, "alpha":15.12876, "fx":[-122.8337,-65.05121,41.28695,-36.69112], "fy":[-18.61827,-105.9227,-117.09746,117.23459]}, + {"t":1.98266, "x":6.90904, "y":7.29479, "heading":0.2601, "vx":-1.65009, "vy":0.64963, "omega":-2.78339, "ax":-2.04909, "ay":-1.58391, "alpha":16.36075, "fx":[-124.04683,-69.227,42.95088,14.80899], "fy":[-7.25244,-103.26916,-116.55083,122.32228]}, + {"t":2.00576, "x":6.87039, "y":7.30937, "heading":0.19582, "vx":-1.69741, "vy":0.61305, "omega":-2.40555, "ax":-1.62172, "ay":-1.50497, "alpha":16.90274, "fx":[-124.23704,-73.16492,43.28542,46.86617], "fy":[3.18764,-100.5407,-116.46893,114.29246]}, + {"t":2.02885, "x":6.83076, "y":7.32312, "heading":0.14026, "vx":-1.73487, "vy":0.5783, "omega":-2.01519, "ax":-1.38461, "ay":-1.46944, "alpha":17.17909, "fx":[-123.66098,-76.7058,42.97355,65.82355], "fy":[12.54028,-97.88594,-116.61752,104.78378]}, + {"t":2.05195, "x":6.79032, "y":7.33609, "heading":0.09372, "vx":-1.76684, "vy":0.54436, "omega":-1.61845, "ax":-1.24749, "ay":-1.43344, "alpha":17.3525, "fx":[-122.57412,-79.76118,42.45906,77.37505], "fy":[20.70732,-95.43015,-116.83239,96.7566]}, + {"t":2.07504, "x":6.74919, "y":7.34828, "heading":0.05634, "vx":-1.79565, "vy":0.51126, "omega":-1.2177, "ax":-1.16297, "ay":-1.39031, "alpha":17.47935, "fx":[-121.21473,-82.28315,42.04191,84.54433], "fy":[27.637,-93.27975,-117.00471,90.70101]}, + {"t":2.09813, "x":6.70741, "y":7.35971, "heading":0.02822, "vx":-1.82251, "vy":0.47915, "omega":-0.81402, "ax":-1.1073, "ay":-1.34131, "alpha":17.58102, "fx":[-119.79366,-84.24651,41.93324,88.87713], "fy":[33.31138,-91.52411,-117.06142,86.56844]}, + {"t":2.12123, "x":6.66502, "y":7.37042, "heading":0.00942, "vx":-1.84809, "vy":0.44817, "omega":-0.408, "ax":-1.06833, "ay":-1.28876, "alpha":17.6666, "fx":[-118.48749,-85.63756,42.28684,91.18534], "fy":[37.73619,-90.23615,-116.94889,84.21841]}, + {"t":2.14432, "x":6.62205, "y":7.38043, "heading":0.0, "vx":-1.87276, "vy":0.41841, "omega":0.0, "ax":-5.24788, "ay":-5.37981, "alpha":0.0, "fx":[-86.76558,-86.76558,-86.76558,-86.76558], "fy":[-88.94684,-88.94684,-88.94684,-88.94684]}, + {"t":2.18856, "x":6.53407, "y":7.39367, "heading":0.0, "vx":-2.10491, "vy":0.18042, "omega":0.0, "ax":-6.35843, "ay":-3.96275, "alpha":0.0, "fx":[-105.12665,-105.12665,-105.12665,-105.12665], "fy":[-65.51796,-65.51796,-65.51796,-65.51796]}, + {"t":2.2328, "x":6.43474, "y":7.39778, "heading":0.0, "vx":-2.38618, "vy":0.00512, "omega":0.0, "ax":-7.07157, "ay":0.76929, "alpha":0.0, "fx":[-116.91733,-116.91733,-116.91733,-116.91733], "fy":[12.71909,12.71909,12.71909,12.71909]}, + {"t":2.27703, "x":6.32226, "y":7.39876, "heading":0.0, "vx":-2.69901, "vy":0.03915, "omega":0.0, "ax":0.01592, "ay":0.84048, "alpha":0.0, "fx":[0.26324,0.26324,0.26324,0.26324], "fy":[13.89602,13.89602,13.89602,13.89602]}, + {"t":2.32127, "x":6.20288, "y":7.40131, "heading":0.0, "vx":-2.6983, "vy":0.07633, "omega":0.0, "ax":0.00651, "ay":0.21659, "alpha":0.0, "fx":[0.10767,0.10767,0.10767,0.10767], "fy":[3.58104,3.58104,3.58104,3.58104]}, + {"t":2.36551, "x":6.08353, "y":7.4049, "heading":0.0, "vx":-2.69801, "vy":0.08591, "omega":0.0, "ax":0.00377, "ay":0.11491, "alpha":0.0, "fx":[0.06229,0.06229,0.06229,0.06229], "fy":[1.89981,1.89981,1.89981,1.89981]}, + {"t":2.40974, "x":5.96418, "y":7.40881, "heading":0.0, "vx":-2.69785, "vy":0.091, "omega":0.0, "ax":0.00277, "ay":0.08043, "alpha":0.0, "fx":[0.04573,0.04573,0.04573,0.04573], "fy":[1.32984,1.32984,1.32984,1.32984]}, + {"t":2.45398, "x":5.84484, "y":7.41292, "heading":0.0, "vx":-2.69773, "vy":0.09456, "omega":0.0, "ax":0.00213, "ay":0.06002, "alpha":0.0, "fx":[0.03527,0.03527,0.03527,0.03527], "fy":[0.99226,0.99226,0.99226,0.99226]}, + {"t":2.49822, "x":5.7255, "y":7.41716, "heading":0.0, "vx":-2.69763, "vy":0.09721, "omega":0.0, "ax":0.00166, "ay":0.04559, "alpha":0.0, "fx":[0.02745,0.02745,0.02745,0.02745], "fy":[0.75382,0.75382,0.75382,0.75382]}, + {"t":2.54245, "x":5.60617, "y":7.4215, "heading":0.0, "vx":-2.69756, "vy":0.09923, "omega":0.0, "ax":0.00129, "ay":0.0349, "alpha":0.0, "fx":[0.02139,0.02139,0.02139,0.02139], "fy":[0.57703,0.57703,0.57703,0.57703]}, + {"t":2.58669, "x":5.48684, "y":7.42593, "heading":0.0, "vx":-2.6975, "vy":0.10077, "omega":0.0, "ax":0.00101, "ay":0.02682, "alpha":0.0, "fx":[0.01666,0.01666,0.01666,0.01666], "fy":[0.44346,0.44346,0.44346,0.44346]}, + {"t":2.63093, "x":5.36751, "y":7.43041, "heading":0.0, "vx":-2.69746, "vy":0.10196, "omega":0.0, "ax":0.00078, "ay":0.02066, "alpha":0.0, "fx":[0.01297,0.01297,0.01297,0.01297], "fy":[0.34159,0.34159,0.34159,0.34159]}, + {"t":2.67516, "x":5.24818, "y":7.43494, "heading":0.0, "vx":-2.69742, "vy":0.10287, "omega":0.0, "ax":0.00061, "ay":0.01593, "alpha":0.0, "fx":[0.01008,0.01008,0.01008,0.01008], "fy":[0.26345,0.26345,0.26345,0.26345]}, + {"t":2.7194, "x":5.12886, "y":7.43951, "heading":0.0, "vx":-2.69739, "vy":0.10358, "omega":0.0, "ax":0.00047, "ay":0.0123, "alpha":0.0, "fx":[0.00783,0.00783,0.00783,0.00783], "fy":[0.20332,0.20332,0.20332,0.20332]}, + {"t":2.76364, "x":5.00953, "y":7.4441, "heading":0.0, "vx":-2.69737, "vy":0.10412, "omega":0.0, "ax":0.00037, "ay":0.00949, "alpha":0.0, "fx":[0.00607,0.00607,0.00607,0.00607], "fy":[0.15696,0.15696,0.15696,0.15696]}, + {"t":2.80788, "x":4.89021, "y":7.44872, "heading":0.0, "vx":-2.69736, "vy":0.10454, "omega":0.0, "ax":0.00028, "ay":0.00733, "alpha":0.0, "fx":[0.0047,0.0047,0.0047,0.0047], "fy":[0.12116,0.12116,0.12116,0.12116]}, + {"t":2.85211, "x":4.77089, "y":7.45335, "heading":0.0, "vx":-2.69734, "vy":0.10487, "omega":0.0, "ax":0.00022, "ay":0.00565, "alpha":0.0, "fx":[0.00364,0.00364,0.00364,0.00364], "fy":[0.09349,0.09349,0.09349,0.09349]}, + {"t":2.89635, "x":4.65157, "y":7.45799, "heading":0.0, "vx":-2.69733, "vy":0.10512, "omega":0.0, "ax":0.00017, "ay":0.00436, "alpha":0.0, "fx":[0.00281,0.00281,0.00281,0.00281], "fy":[0.07207,0.07207,0.07207,0.07207]}, + {"t":2.94059, "x":4.53225, "y":7.46265, "heading":0.0, "vx":-2.69733, "vy":0.10531, "omega":0.0, "ax":0.00013, "ay":0.00336, "alpha":0.0, "fx":[0.00217,0.00217,0.00217,0.00217], "fy":[0.05548,0.05548,0.05548,0.05548]}, + {"t":2.98482, "x":4.41292, "y":7.46731, "heading":0.0, "vx":-2.69732, "vy":0.10546, "omega":0.0, "ax":0.0001, "ay":0.00258, "alpha":0.0, "fx":[0.00167,0.00167,0.00167,0.00167], "fy":[0.04258,0.04258,0.04258,0.04258]}, + {"t":3.02906, "x":4.2936, "y":7.47198, "heading":0.0, "vx":-2.69732, "vy":0.10557, "omega":0.0, "ax":0.00008, "ay":0.00197, "alpha":0.0, "fx":[0.00127,0.00127,0.00127,0.00127], "fy":[0.03254,0.03254,0.03254,0.03254]}, + {"t":3.0733, "x":4.17428, "y":7.47665, "heading":0.0, "vx":-2.69731, "vy":0.10566, "omega":0.0, "ax":0.00006, "ay":0.0015, "alpha":0.0, "fx":[0.00097,0.00097,0.00097,0.00097], "fy":[0.02476,0.02476,0.02476,0.02476]}, + {"t":3.11753, "x":4.05496, "y":7.48132, "heading":0.0, "vx":-2.69731, "vy":0.10572, "omega":0.0, "ax":0.00007, "ay":0.00118, "alpha":0.0, "fx":[0.00118,0.00118,0.00118,0.00118], "fy":[0.0195,0.0195,0.0195,0.0195]}, + {"t":3.16177, "x":3.93564, "y":7.486, "heading":0.0, "vx":-2.69731, "vy":0.10578, "omega":0.0, "ax":0.90871, "ay":-0.03418, "alpha":0.0, "fx":[15.02408,15.02408,15.02408,15.02408], "fy":[-0.56506,-0.56506,-0.56506,-0.56506]}, + {"t":3.20601, "x":3.81721, "y":7.49065, "heading":0.0, "vx":-2.65711, "vy":0.10426, "omega":0.0, "ax":7.47092, "ay":-0.29305, "alpha":0.0, "fx":[123.52003,123.52003,123.52003,123.52003], "fy":[-4.84509,-4.84509,-4.84509,-4.84509]}, + {"t":3.25024, "x":3.70698, "y":7.49497, "heading":0.0, "vx":-2.32662, "vy":0.0913, "omega":0.0, "ax":7.49921, "ay":-0.29421, "alpha":0.0, "fx":[123.9878,123.9878,123.9878,123.9878], "fy":[-4.86426,-4.86426,-4.86426,-4.86426]}, + {"t":3.29448, "x":3.61139, "y":7.49872, "heading":0.0, "vx":-1.99488, "vy":0.07829, "omega":0.0, "ax":7.5086, "ay":-0.29461, "alpha":0.0, "fx":[124.14293,124.14293,124.14293,124.14293], "fy":[-4.87093,-4.87093,-4.87093,-4.87093]}, + {"t":3.33872, "x":3.53049, "y":7.5019, "heading":0.0, "vx":-1.66272, "vy":0.06525, "omega":0.0, "ax":7.51328, "ay":-0.29482, "alpha":0.0, "fx":[124.22031,124.22031,124.22031,124.22031], "fy":[-4.87442,-4.87442,-4.87442,-4.87442]}, + {"t":3.38295, "x":3.46429, "y":7.5045, "heading":0.0, "vx":-1.33036, "vy":0.05221, "omega":0.0, "ax":7.51608, "ay":-0.29495, "alpha":0.0, "fx":[124.26666,124.26666,124.26666,124.26666], "fy":[-4.8766,-4.8766,-4.8766,-4.8766]}, + {"t":3.42719, "x":3.4128, "y":7.50652, "heading":0.0, "vx":-0.99787, "vy":0.03916, "omega":0.0, "ax":7.51795, "ay":-0.29504, "alpha":0.0, "fx":[124.29753,124.29753,124.29753,124.29753], "fy":[-4.87809,-4.87809,-4.87809,-4.87809]}, + {"t":3.47143, "x":3.37601, "y":7.50796, "heading":0.0, "vx":-0.6653, "vy":0.02611, "omega":0.0, "ax":7.51928, "ay":-0.29511, "alpha":0.0, "fx":[124.31957,124.31957,124.31957,124.31957], "fy":[-4.87917,-4.87917,-4.87917,-4.87917]}, + {"t":3.51566, "x":3.35394, "y":7.50883, "heading":0.0, "vx":-0.33267, "vy":0.01306, "omega":0.0, "ax":7.52028, "ay":-0.29516, "alpha":0.0, "fx":[124.33608,124.33608,124.33608,124.33608], "fy":[-4.87999,-4.87999,-4.87999,-4.87999]}, + {"t":3.5599, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj index 0aa0f406..69cd018c 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj @@ -3,15 +3,15 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.814759731292725, "y":7.509117603302002, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.107110023498535, "y":6.267597198486328, "heading":-1.4382449013353842, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.107110023498535, "y":6.267597198486328, "heading":-1.4382449013353842, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -19,9 +19,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"7.509117603302002 m", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"7.509117603302002 m", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.814759731292725 m", "val":5.814759731292725}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"6.107110023498535 m", "val":6.107110023498535}, "y":{"exp":"6.267597198486328 m", "val":6.267597198486328}, "heading":{"exp":"-1.4382449013353842 rad", "val":-1.4382449013353842}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"6.107110023498535 m", "val":6.107110023498535}, "y":{"exp":"6.267597198486328 m", "val":6.267597198486328}, "heading":{"exp":"-1.4382449013353842 rad", "val":-1.4382449013353842}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -61,92 +61,90 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.18641,1.89891,2.89057], + "waypoints":[0.0,1.13469,1.84167,2.75994], "samples":[ - {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52565, "ay":0.00113, "alpha":0.0, "fx":[124.42486,124.42486,124.42486,124.42486], "fy":[0.0186,0.0186,0.0186,0.0186]}, - {"t":0.04394, "x":3.35384, "y":7.50912, "heading":0.0, "vx":0.33068, "vy":0.00005, "omega":0.0, "ax":7.52442, "ay":0.00115, "alpha":0.0, "fx":[124.40448,124.40448,124.40448,124.40448], "fy":[0.01906,0.01906,0.01906,0.01906]}, - {"t":0.08788, "x":3.37564, "y":7.50912, "heading":0.0, "vx":0.66132, "vy":0.0001, "omega":0.0, "ax":7.52269, "ay":0.00119, "alpha":0.0, "fx":[124.37597,124.37597,124.37597,124.37597], "fy":[0.01967,0.01967,0.01967,0.01967]}, - {"t":0.13182, "x":3.41196, "y":7.50913, "heading":0.0, "vx":0.99187, "vy":0.00015, "omega":0.0, "ax":7.52011, "ay":0.00124, "alpha":0.0, "fx":[124.33325,124.33325,124.33325,124.33325], "fy":[0.02047,0.02047,0.02047,0.02047]}, - {"t":0.17576, "x":3.4628, "y":7.50914, "heading":0.0, "vx":1.32231, "vy":0.00021, "omega":0.0, "ax":7.51581, "ay":0.0013, "alpha":0.0, "fx":[124.26216,124.26216,124.26216,124.26216], "fy":[0.02151,0.02151,0.02151,0.02151]}, - {"t":0.21971, "x":3.52816, "y":7.50915, "heading":0.0, "vx":1.65256, "vy":0.00026, "omega":0.0, "ax":7.50723, "ay":0.00138, "alpha":0.0, "fx":[124.12041,124.12041,124.12041,124.12041], "fy":[0.02288,0.02288,0.02288,0.02288]}, - {"t":0.26365, "x":3.60802, "y":7.50916, "heading":0.0, "vx":1.98244, "vy":0.00032, "omega":0.0, "ax":7.48174, "ay":0.0015, "alpha":0.0, "fx":[123.69892,123.69892,123.69892,123.69892], "fy":[0.02481,0.02481,0.02481,0.02481]}, - {"t":0.30759, "x":3.70236, "y":7.50917, "heading":0.0, "vx":2.3112, "vy":0.00039, "omega":0.0, "ax":4.28363, "ay":0.00382, "alpha":0.0, "fx":[70.82316,70.82316,70.82316,70.82316], "fy":[0.06319,0.06319,0.06319,0.06319]}, - {"t":0.35153, "x":3.80805, "y":7.5092, "heading":0.0, "vx":2.49942, "vy":0.00056, "omega":0.0, "ax":0.00015, "ay":0.00282, "alpha":0.0, "fx":[0.00251,0.00251,0.00251,0.00251], "fy":[0.04659,0.04659,0.04659,0.04659]}, - {"t":0.39547, "x":3.91788, "y":7.50922, "heading":0.0, "vx":2.49943, "vy":0.00068, "omega":0.0, "ax":0.0, "ay":0.0035, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.05789,0.05789,0.05789,0.05789]}, - {"t":0.43941, "x":4.0277, "y":7.50926, "heading":0.0, "vx":2.49943, "vy":0.00084, "omega":0.0, "ax":0.0, "ay":0.00455, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.07528,0.07528,0.07528,0.07528]}, - {"t":0.48335, "x":4.13753, "y":7.5093, "heading":0.0, "vx":2.49943, "vy":0.00104, "omega":0.0, "ax":0.0, "ay":0.00588, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.09714,0.09714,0.09714,0.09714]}, - {"t":0.52729, "x":4.24736, "y":7.50935, "heading":0.0, "vx":2.49943, "vy":0.00129, "omega":0.0, "ax":0.0, "ay":0.00753, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.12451,0.12451,0.12451,0.12451]}, - {"t":0.57123, "x":4.35719, "y":7.50941, "heading":0.0, "vx":2.49943, "vy":0.00163, "omega":0.0, "ax":-0.00001, "ay":0.00961, "alpha":0.0, "fx":[-0.00012,-0.00012,-0.00012,-0.00012], "fy":[0.15891,0.15891,0.15891,0.15891]}, - {"t":0.61517, "x":4.46701, "y":7.50949, "heading":0.0, "vx":2.49943, "vy":0.00205, "omega":0.0, "ax":-0.00001, "ay":0.01224, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.20232,0.20232,0.20232,0.20232]}, - {"t":0.65912, "x":4.57684, "y":7.50959, "heading":0.0, "vx":2.49943, "vy":0.00259, "omega":0.0, "ax":-0.00002, "ay":0.01556, "alpha":0.0, "fx":[-0.0003,-0.0003,-0.0003,-0.0003], "fy":[0.25731,0.25731,0.25731,0.25731]}, - {"t":0.70306, "x":4.68667, "y":7.50972, "heading":0.0, "vx":2.49943, "vy":0.00327, "omega":0.0, "ax":-0.00003, "ay":0.01979, "alpha":0.0, "fx":[-0.00048,-0.00048,-0.00048,-0.00048], "fy":[0.32718,0.32718,0.32718,0.32718]}, - {"t":0.747, "x":4.7965, "y":7.50989, "heading":0.0, "vx":2.49943, "vy":0.00414, "omega":0.0, "ax":-0.00005, "ay":0.02518, "alpha":0.0, "fx":[-0.00078,-0.00078,-0.00078,-0.00078], "fy":[0.41634,0.41634,0.41634,0.41634]}, - {"t":0.79094, "x":4.90632, "y":7.51009, "heading":0.0, "vx":2.49942, "vy":0.00525, "omega":0.0, "ax":-0.00008, "ay":0.03211, "alpha":0.0, "fx":[-0.00126,-0.00126,-0.00126,-0.00126], "fy":[0.53089,0.53089,0.53089,0.53089]}, - {"t":0.83488, "x":5.01615, "y":7.51035, "heading":0.0, "vx":2.49942, "vy":0.00666, "omega":0.0, "ax":-0.00012, "ay":0.04117, "alpha":0.0, "fx":[-0.00206,-0.00206,-0.00206,-0.00206], "fy":[0.68075,0.68075,0.68075,0.68075]}, - {"t":0.87882, "x":5.12598, "y":7.51069, "heading":0.0, "vx":2.49942, "vy":0.00847, "omega":0.0, "ax":-0.00021, "ay":0.05411, "alpha":0.0, "fx":[-0.00346,-0.00346,-0.00346,-0.00346], "fy":[0.89467,0.89467,0.89467,0.89467]}, - {"t":0.92276, "x":5.23581, "y":7.51111, "heading":0.0, "vx":2.49941, "vy":0.01084, "omega":0.0, "ax":-0.00042, "ay":0.08313, "alpha":0.0, "fx":[-0.00697,-0.00697,-0.00697,-0.00697], "fy":[1.37437,1.37437,1.37437,1.37437]}, - {"t":0.9667, "x":5.34563, "y":7.51167, "heading":0.0, "vx":2.49939, "vy":0.0145, "omega":0.0, "ax":-0.00214, "ay":0.25386, "alpha":0.0, "fx":[-0.03531,-0.03531,-0.03531,-0.03531], "fy":[4.19723,4.19723,4.19723,4.19723]}, - {"t":1.01064, "x":5.45546, "y":7.51255, "heading":0.0, "vx":2.49929, "vy":0.02565, "omega":0.0, "ax":-3.17153, "ay":1.50305, "alpha":0.0, "fx":[-52.43632,-52.43632,-52.43632,-52.43632], "fy":[24.85067,24.85067,24.85067,24.85067]}, - {"t":1.05459, "x":5.56222, "y":7.51513, "heading":0.0, "vx":2.35993, "vy":0.0917, "omega":0.0, "ax":-7.4813, "ay":-0.05038, "alpha":0.0, "fx":[-123.69162,-123.69162,-123.69162,-123.69162], "fy":[-0.8329,-0.8329,-0.8329,-0.8329]}, - {"t":1.09853, "x":5.65869, "y":7.51911, "heading":0.0, "vx":2.0312, "vy":0.08948, "omega":0.0, "ax":-6.26766, "ay":-4.13982, "alpha":0.0, "fx":[-103.62607,-103.62607,-103.62607,-103.62607], "fy":[-68.44555,-68.44555,-68.44555,-68.44555]}, - {"t":1.14247, "x":5.74189, "y":7.51904, "heading":0.0, "vx":1.75579, "vy":-0.09243, "omega":0.0, "ax":-4.43758, "ay":-6.07464, "alpha":0.0, "fx":[-73.36851,-73.36851,-73.36851,-73.36851], "fy":[-100.43465,-100.43465,-100.43465,-100.43465]}, - {"t":1.18641, "x":5.81476, "y":7.50912, "heading":0.0, "vx":1.5608, "vy":-0.35935, "omega":0.0, "ax":-1.33741, "ay":-4.65786, "alpha":-11.86446, "fx":[14.12723,98.8038,-123.649,-77.73023], "fy":[-123.58949,-74.05087,-13.241,-97.16015]}, - {"t":1.21098, "x":5.8527, "y":7.49888, "heading":0.0, "vx":1.52794, "vy":-0.47379, "omega":-0.2915, "ax":-1.43056, "ay":-4.75168, "alpha":-11.54166, "fx":[13.02344,93.98128,-123.58203,-78.03088], "fy":[-123.69918,-79.90156,-13.73791,-96.9079]}, - {"t":1.23555, "x":5.88981, "y":7.48581, "heading":-0.00716, "vx":1.49279, "vy":-0.59053, "omega":-0.57506, "ax":-1.55037, "ay":-4.83618, "alpha":-11.22178, "fx":[11.40776,88.35825,-123.56906,-78.7287], "fy":[-123.84602,-85.94253,-13.71682,-96.32927]}, - {"t":1.26012, "x":5.92602, "y":7.46984, "heading":-0.02129, "vx":1.4547, "vy":-0.70935, "omega":-0.85077, "ax":-1.69178, "ay":-4.90434, "alpha":-10.92404, "fx":[9.27936,82.25508,-123.6064,-79.81191], "fy":[-124.00965,-91.70848,-13.20525,-95.4191]}, - {"t":1.28468, "x":5.96125, "y":7.45093, "heading":-0.04219, "vx":1.41313, "vy":-0.82985, "omega":-1.11916, "ax":-1.85055, "ay":-4.95213, "alpha":-10.65958, "fx":[6.62776,75.94113,-123.68447,-81.26809], "fy":[-124.1638,-96.94393,-12.23075,-94.16469]}, - {"t":1.30925, "x":5.99541, "y":7.42905, "heading":-0.06969, "vx":1.36767, "vy":-0.95152, "omega":-1.38106, "ax":-2.02511, "ay":-4.97862, "alpha":-10.42842, "fx":[3.42947,69.51696,-123.78884,-83.08541], "fy":[-124.27513,-101.6135,-10.8219,-92.54443]}, - {"t":1.33382, "x":6.0284, "y":7.40417, "heading":-0.10362, "vx":1.31791, "vy":-1.07384, "omega":-1.63727, "ax":-2.21731, "ay":-4.98479, "alpha":-10.22027, "fx":[-0.35655,62.87169,-123.90101,-85.25349], "fy":[-124.30064,-105.8265,-9.01037,-90.52572]}, - {"t":1.35839, "x":6.06011, "y":7.37628, "heading":-0.14385, "vx":1.26344, "vy":-1.19631, "omega":-1.88838, "ax":-2.43247, "ay":-4.97209, "alpha":-10.01665, "fx":[-4.79596,55.69103,-123.99937,-87.76437], "fy":[-124.183,-109.74375,-6.83473,-88.0618]}, - {"t":1.38296, "x":6.09042, "y":7.34539, "heading":-0.19024, "vx":1.20367, "vy":-1.31847, "omega":-2.13447, "ax":-2.67953, "ay":-4.94112, "alpha":-9.79158, "fx":[-9.99128,47.45777,-124.06046,-90.61363], "fy":[-123.84157,-113.50039,-4.34673,-85.08624]}, - {"t":1.40753, "x":6.11918, "y":7.3115, "heading":-0.24268, "vx":1.13784, "vy":-1.43986, "omega":-2.37504, "ax":-2.97239, "ay":-4.89022, "alpha":-9.50932, "fx":[-16.1044,37.39226,-124.06095,-93.80243], "fy":[-123.15509,-117.12929,-1.6213,-81.50279]}, - {"t":1.4321, "x":6.14624, "y":7.27465, "heading":-0.30104, "vx":1.06481, "vy":-1.56001, "omega":-2.60868, "ax":-3.33324, "ay":-4.8127, "alpha":-9.11756, "fx":[-23.40105,24.28413,-123.98108,-97.3414], "fy":[-121.92452,-120.41862,1.22697,-77.16558]}, - {"t":1.45667, "x":6.1714, "y":7.23487, "heading":-0.36513, "vx":0.98292, "vy":-1.67825, "omega":-2.83269, "ax":-3.79901, "ay":-4.68938, "alpha":-8.53419, "fx":[-32.34354,6.16899,-123.81051,-101.25791], "fy":[-119.78516,-122.51974,4.01608,-71.83747]}, - {"t":1.48124, "x":6.1944, "y":7.19222, "heading":-0.43473, "vx":0.88958, "vy":-1.79347, "omega":-3.04236, "ax":-4.42981, "ay":-4.46681, "alpha":-7.63069, "fx":[-43.79771,-19.99578,-123.55737,-105.60901], "fy":[-115.96834,-120.79364,6.44919,-65.09406]}, - {"t":1.5058, "x":6.21492, "y":7.14681, "heading":-0.50947, "vx":0.78074, "vy":-1.90321, "omega":-3.22984, "ax":-5.29487, "ay":-4.00233, "alpha":-6.25503, "fx":[-59.50608,-56.90681,-123.25891,-110.49803], "fy":[-108.54074,-108.11045,8.03698,-56.07473]}, - {"t":1.53037, "x":6.2325, "y":7.09884, "heading":-0.58883, "vx":0.65065, "vy":-2.00155, "omega":-3.38352, "ax":-6.34361, "ay":-3.01732, "alpha":-4.40336, "fx":[-82.84982,-97.66395,-122.97961,-116.0337], "fy":[-91.53215,-73.26979,8.00223,-42.74708]}, - {"t":1.55494, "x":6.24657, "y":7.04876, "heading":-0.67196, "vx":0.4948, "vy":-2.07568, "omega":-3.49171, "ax":-7.22093, "ay":-1.31258, "alpha":-2.03748, "fx":[-113.4146,-119.95584,-122.74922,-121.42791], "fy":[-47.3638,-24.1407,5.23598,-20.53757]}, - {"t":1.57951, "x":6.25655, "y":6.99736, "heading":-0.75774, "vx":0.31739, "vy":-2.10793, "omega":-3.54176, "ax":-7.3686, "ay":-0.59301, "alpha":-0.57865, "fx":[-121.12085,-121.76879,-122.3188,-122.1046], "fy":[-17.32159,-10.22673,-2.22099,-9.44842]}, - {"t":1.60408, "x":6.26213, "y":6.94539, "heading":-0.84476, "vx":0.13635, "vy":-2.1225, "omega":-3.55598, "ax":-7.33318, "ay":-0.43169, "alpha":0.65723, "fx":[-121.58156,-121.63898,-120.63998,-121.11005], "fy":[1.42868,-6.21176,-15.54933,-8.21687]}, - {"t":1.62865, "x":6.26326, "y":6.89312, "heading":-0.93213, "vx":-0.04382, "vy":-2.1331, "omega":-3.53983, "ax":-7.15515, "ay":-0.48972, "alpha":2.30898, "fx":[-118.32691,-121.25,-115.53307,-118.08725], "fy":[22.28238,-2.98811,-35.27189,-16.40973]}, - {"t":1.65322, "x":6.26003, "y":6.84056, "heading":-1.0191, "vx":-0.21961, "vy":-2.14513, "omega":-3.4831, "ax":-6.63053, "ay":-1.01149, "alpha":4.75002, "fx":[-110.13736,-120.63471,-104.80073,-102.92916], "fy":[43.73526,-1.61966,-58.49273,-50.51643]}, - {"t":1.67779, "x":6.25263, "y":6.78755, "heading":-1.10467, "vx":-0.38252, "vy":-2.16999, "omega":-3.3664, "ax":-5.47704, "ay":-2.17704, "alpha":7.90912, "fx":[-105.0454,-119.36459,-89.76768,-48.03994], "fy":[46.56154,-9.63978,-78.94862,-101.94887]}, - {"t":1.70236, "x":6.24158, "y":6.73358, "heading":-1.18738, "vx":-0.51708, "vy":-2.22347, "omega":-3.17208, "ax":-4.45614, "ay":-2.90285, "alpha":9.42838, "fx":[-100.52141,-116.96726,-75.19365,-2.01873], "fy":[36.44941,-20.75864,-92.73854,-114.9285]}, - {"t":1.72693, "x":6.22753, "y":6.67808, "heading":-1.26532, "vx":-0.62657, "vy":-2.29479, "omega":-2.94044, "ax":-3.5353, "ay":-3.31719, "alpha":9.95617, "fx":[-76.4993,-114.63478,-64.48715,21.81824], "fy":[23.57542,-27.76793,-100.53003,-114.65564]}, - {"t":1.75149, "x":6.21107, "y":6.62069, "heading":-1.33756, "vx":-0.71343, "vy":-2.37629, "omega":-2.69582, "ax":-0.41233, "ay":-0.6074, "alpha":17.6501, "fx":[60.67551,-111.53336,-63.55429,87.14306], "fy":[100.7447,41.75395,-101.61686,-81.05112]}, - {"t":1.77606, "x":6.19341, "y":6.56213, "heading":-1.4038, "vx":-0.72356, "vy":-2.39122, "omega":-2.26218, "ax":0.23305, "ay":-0.07964, "alpha":18.29314, "fx":[76.84801,-98.00756,-64.31235,100.88454], "fy":[95.04341,72.68884,-103.83485,-69.16405]}, - {"t":1.80063, "x":6.17571, "y":6.50335, "heading":-1.45937, "vx":-0.71783, "vy":-2.39317, "omega":-1.81274, "ax":0.35718, "ay":-0.10669, "alpha":18.39776, "fx":[85.0259,-92.8693,-67.28959,98.75471], "fy":[89.02557,80.49337,-102.9592,-73.61562]}, - {"t":1.8252, "x":6.15818, "y":6.44452, "heading":-1.50391, "vx":-0.70906, "vy":-2.39579, "omega":-1.36072, "ax":0.41786, "ay":-0.12257, "alpha":18.4416, "fx":[90.16922,-88.39727,-70.55975,96.42229], "fy":[84.3984,85.99297,-101.24039,-77.2571]}, - {"t":1.84977, "x":6.14088, "y":6.38562, "heading":-1.53734, "vx":-0.69879, "vy":-2.39881, "omega":-0.90763, "ax":0.4572, "ay":-0.13055, "alpha":18.46456, "fx":[93.59944,-84.73123,-73.18785,94.55595], "fy":[80.92685,89.95383,-99.64907,-79.86527]}, - {"t":1.87434, "x":6.12385, "y":6.32665, "heading":-1.55964, "vx":-0.68756, "vy":-2.40201, "omega":-0.45398, "ax":0.4907, "ay":-0.12179, "alpha":18.47766, "fx":[95.64981,-81.74731,-75.02913,93.5788], "fy":[78.72739,92.89741,-98.4607,-81.21878]}, - {"t":1.89891, "x":6.10711, "y":6.2676, "heading":-1.5708, "vx":-0.6755, "vy":-2.40501, "omega":0.0, "ax":7.05535, "ay":-1.61628, "alpha":0.0, "fx":[116.64928,116.64928,116.64928,116.64928], "fy":[-26.72271,-26.72271,-26.72271,-26.72271]}, - {"t":1.93564, "x":6.08706, "y":6.17818, "heading":-1.5708, "vx":-0.41637, "vy":-2.46437, "omega":0.0, "ax":6.62699, "ay":-0.78827, "alpha":0.0, "fx":[109.56697,109.56697,109.56697,109.56697], "fy":[-13.03274,-13.03274,-13.03274,-13.03274]}, - {"t":1.97236, "x":6.07624, "y":6.08713, "heading":-1.5708, "vx":-0.17297, "vy":-2.49332, "omega":0.0, "ax":3.80901, "ay":-0.15732, "alpha":0.0, "fx":[62.97599,62.97599,62.97599,62.97599], "fy":[-2.60097,-2.60097,-2.60097,-2.60097]}, - {"t":2.00909, "x":6.07245, "y":5.99545, "heading":-1.5708, "vx":-0.03307, "vy":-2.4991, "omega":0.0, "ax":0.68242, "ay":-0.00562, "alpha":0.0, "fx":[11.28282,11.28282,11.28282,11.28282], "fy":[-0.09286,-0.09286,-0.09286,-0.09286]}, - {"t":2.04582, "x":6.0717, "y":5.90366, "heading":-1.5708, "vx":-0.00801, "vy":-2.49931, "omega":0.0, "ax":0.09185, "ay":-0.00023, "alpha":0.0, "fx":[1.5186,1.5186,1.5186,1.5186], "fy":[-0.00384,-0.00384,-0.00384,-0.00384]}, - {"t":2.08255, "x":6.07147, "y":5.81186, "heading":-1.5708, "vx":-0.00463, "vy":-2.49931, "omega":0.0, "ax":0.01226, "ay":-0.00002, "alpha":0.0, "fx":[0.20275,0.20275,0.20275,0.20275], "fy":[-0.00036,-0.00036,-0.00036,-0.00036]}, - {"t":2.11928, "x":6.0713, "y":5.72007, "heading":-1.5708, "vx":-0.00418, "vy":-2.49931, "omega":0.0, "ax":0.00164, "ay":0.0, "alpha":0.0, "fx":[0.02707,0.02707,0.02707,0.02707], "fy":[-0.00004,-0.00004,-0.00004,-0.00004]}, - {"t":2.15601, "x":6.07115, "y":5.62827, "heading":-1.5708, "vx":-0.00412, "vy":-2.49931, "omega":0.0, "ax":0.00022, "ay":0.0, "alpha":0.0, "fx":[0.00361,0.00361,0.00361,0.00361], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, - {"t":2.19274, "x":6.071, "y":5.53647, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.00003, "ay":0.0, "alpha":0.0, "fx":[0.00048,0.00048,0.00048,0.00048], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.22946, "x":6.07085, "y":5.44468, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.26619, "x":6.0707, "y":5.35288, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.30292, "x":6.07055, "y":5.26109, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.33965, "x":6.0704, "y":5.16929, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.37638, "x":6.07024, "y":5.0775, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.41311, "x":6.07009, "y":4.9857, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.44983, "x":6.06994, "y":4.8939, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.48656, "x":6.06979, "y":4.80211, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.52329, "x":6.06964, "y":4.71031, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.56002, "x":6.06949, "y":4.61852, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.59675, "x":6.06934, "y":4.52672, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.63348, "x":6.06919, "y":4.43493, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.6702, "x":6.06904, "y":4.34313, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.70693, "x":6.06889, "y":4.25133, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.74366, "x":6.06873, "y":4.15954, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.78039, "x":6.06858, "y":4.06774, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.81712, "x":6.06843, "y":3.97595, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":2.85385, "x":6.06828, "y":3.88415, "heading":-1.5708, "vx":-0.00411, "vy":-2.49931, "omega":0.0, "ax":0.00003, "ay":0.01865, "alpha":0.0, "fx":[0.00051,0.00051,0.00051,0.00051], "fy":[0.30827,0.30827,0.30827,0.30827]}, - {"t":2.89057, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":-0.00411, "vy":-2.49863, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52584, "ay":0.0009, "alpha":0.0, "fx":[124.42805,124.42805,124.42805,124.42805], "fy":[0.01491,0.01491,0.01491,0.01491]}, + {"t":0.04364, "x":3.35374, "y":7.50912, "heading":0.0, "vx":0.32844, "vy":0.00004, "omega":0.0, "ax":7.52481, "ay":0.00093, "alpha":0.0, "fx":[124.411,124.411,124.411,124.411], "fy":[0.01541,0.01541,0.01541,0.01541]}, + {"t":0.08728, "x":3.37524, "y":7.50912, "heading":0.0, "vx":0.65684, "vy":0.00008, "omega":0.0, "ax":7.52343, "ay":0.00097, "alpha":0.0, "fx":[124.38826,124.38826,124.38826,124.38826], "fy":[0.01604,0.01604,0.01604,0.01604]}, + {"t":0.13093, "x":3.41107, "y":7.50913, "heading":0.0, "vx":0.98518, "vy":0.00012, "omega":0.0, "ax":7.52151, "ay":0.00102, "alpha":0.0, "fx":[124.35642,124.35642,124.35642,124.35642], "fy":[0.01686,0.01686,0.01686,0.01686]}, + {"t":0.17457, "x":3.46123, "y":7.50913, "heading":0.0, "vx":1.31343, "vy":0.00017, "omega":0.0, "ax":7.51862, "ay":0.00108, "alpha":0.0, "fx":[124.30865,124.30865,124.30865,124.30865], "fy":[0.0179,0.0179,0.0179,0.0179]}, + {"t":0.21821, "x":3.52571, "y":7.50914, "heading":0.0, "vx":1.64156, "vy":0.00021, "omega":0.0, "ax":7.5138, "ay":0.00116, "alpha":0.0, "fx":[124.22901,124.22901,124.22901,124.22901], "fy":[0.01921,0.01921,0.01921,0.01921]}, + {"t":0.26185, "x":3.60451, "y":7.50915, "heading":0.0, "vx":1.96948, "vy":0.00026, "omega":0.0, "ax":7.50417, "ay":0.00126, "alpha":0.0, "fx":[124.06973,124.06973,124.06973,124.06973], "fy":[0.02089,0.02089,0.02089,0.02089]}, + {"t":0.30549, "x":3.69761, "y":7.50916, "heading":0.0, "vx":2.29697, "vy":0.00032, "omega":0.0, "ax":7.47529, "ay":0.0014, "alpha":0.0, "fx":[123.59229,123.59229,123.59229,123.59229], "fy":[0.02321,0.02321,0.02321,0.02321]}, + {"t":0.34914, "x":3.80497, "y":7.50918, "heading":0.0, "vx":2.62321, "vy":0.00038, "omega":0.0, "ax":1.74502, "ay":0.00459, "alpha":0.0, "fx":[28.85114,28.85114,28.85114,28.85114], "fy":[0.07595,0.07595,0.07595,0.07595]}, + {"t":0.39278, "x":3.92112, "y":7.5092, "heading":0.0, "vx":2.69937, "vy":0.00058, "omega":0.0, "ax":0.00005, "ay":0.00351, "alpha":0.0, "fx":[0.00088,0.00088,0.00088,0.00088], "fy":[0.05796,0.05796,0.05796,0.05796]}, + {"t":0.43642, "x":4.03892, "y":7.50923, "heading":0.0, "vx":2.69937, "vy":0.00073, "omega":0.0, "ax":0.0, "ay":0.00443, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.07327,0.07327,0.07327,0.07327]}, + {"t":0.48006, "x":4.15673, "y":7.50926, "heading":0.0, "vx":2.69937, "vy":0.00093, "omega":0.0, "ax":0.0, "ay":0.00582, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.09625,0.09625,0.09625,0.09625]}, + {"t":0.5237, "x":4.27453, "y":7.50931, "heading":0.0, "vx":2.69937, "vy":0.00118, "omega":0.0, "ax":0.0, "ay":0.00762, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.12592,0.12592,0.12592,0.12592]}, + {"t":0.56735, "x":4.39234, "y":7.50937, "heading":0.0, "vx":2.69937, "vy":0.00151, "omega":0.0, "ax":-0.00001, "ay":0.00992, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[0.16401,0.16401,0.16401,0.16401]}, + {"t":0.61099, "x":4.51015, "y":7.50945, "heading":0.0, "vx":2.69937, "vy":0.00195, "omega":0.0, "ax":-0.00001, "ay":0.01289, "alpha":0.0, "fx":[-0.00018,-0.00018,-0.00018,-0.00018], "fy":[0.21306,0.21306,0.21306,0.21306]}, + {"t":0.65463, "x":4.62795, "y":7.50954, "heading":0.0, "vx":2.69937, "vy":0.00251, "omega":0.0, "ax":-0.00002, "ay":0.01672, "alpha":0.0, "fx":[-0.00029,-0.00029,-0.00029,-0.00029], "fy":[0.27647,0.27647,0.27647,0.27647]}, + {"t":0.69827, "x":4.74576, "y":7.50967, "heading":0.0, "vx":2.69937, "vy":0.00324, "omega":0.0, "ax":-0.00003, "ay":0.0217, "alpha":0.0, "fx":[-0.00049,-0.00049,-0.00049,-0.00049], "fy":[0.35884,0.35884,0.35884,0.35884]}, + {"t":0.74191, "x":4.86356, "y":7.50983, "heading":0.0, "vx":2.69937, "vy":0.00419, "omega":0.0, "ax":-0.00005, "ay":0.02829, "alpha":0.0, "fx":[-0.00083,-0.00083,-0.00083,-0.00083], "fy":[0.46769,0.46769,0.46769,0.46769]}, + {"t":0.78556, "x":4.98137, "y":7.51004, "heading":0.0, "vx":2.69936, "vy":0.00542, "omega":0.0, "ax":-0.00009, "ay":0.03785, "alpha":0.0, "fx":[-0.00145,-0.00145,-0.00145,-0.00145], "fy":[0.62577,0.62577,0.62577,0.62577]}, + {"t":0.8292, "x":5.09917, "y":7.51031, "heading":0.0, "vx":2.69936, "vy":0.00707, "omega":0.0, "ax":-0.00018, "ay":0.05954, "alpha":0.0, "fx":[-0.00305,-0.00305,-0.00305,-0.00305], "fy":[0.98435,0.98435,0.98435,0.98435]}, + {"t":0.87284, "x":5.21698, "y":7.51068, "heading":0.0, "vx":2.69935, "vy":0.00967, "omega":0.0, "ax":-0.00088, "ay":0.17563, "alpha":0.0, "fx":[-0.01455,-0.01455,-0.01455,-0.01455], "fy":[2.90385,2.90385,2.90385,2.90385]}, + {"t":0.91648, "x":5.33478, "y":7.51127, "heading":0.0, "vx":2.69931, "vy":0.01734, "omega":0.0, "ax":-0.04493, "ay":1.14322, "alpha":0.0, "fx":[-0.74282,-0.74282,-0.74282,-0.74282], "fy":[18.90142,18.90142,18.90142,18.90142]}, + {"t":0.96012, "x":5.45254, "y":7.51311, "heading":0.0, "vx":2.69735, "vy":0.06723, "omega":0.0, "ax":-7.4448, "ay":0.05461, "alpha":0.0, "fx":[-123.08824,-123.08824,-123.08824,-123.08824], "fy":[0.90297,0.90297,0.90297,0.90297]}, + {"t":1.00377, "x":5.56317, "y":7.5161, "heading":0.0, "vx":2.37245, "vy":0.06961, "omega":0.0, "ax":-7.4981, "ay":-0.02954, "alpha":0.0, "fx":[-123.96938,-123.96938,-123.96938,-123.96938], "fy":[-0.48834,-0.48834,-0.48834,-0.48834]}, + {"t":1.04741, "x":5.65957, "y":7.51911, "heading":0.0, "vx":2.04522, "vy":0.06832, "omega":0.0, "ax":-6.56734, "ay":-3.65114, "alpha":0.0, "fx":[-108.58077,-108.58077,-108.58077,-108.58077], "fy":[-60.36591,-60.36591,-60.36591,-60.36591]}, + {"t":1.09105, "x":5.74257, "y":7.51861, "heading":0.0, "vx":1.7586, "vy":-0.09102, "omega":0.0, "ax":-4.79168, "ay":-5.79958, "alpha":0.0, "fx":[-79.22292,-79.22292,-79.22292,-79.22292], "fy":[-95.88708,-95.88708,-95.88708,-95.88708]}, + {"t":1.13469, "x":5.81476, "y":7.50912, "heading":0.0, "vx":1.54948, "vy":-0.34413, "omega":0.0, "ax":-1.1647, "ay":-4.10238, "alpha":-13.19921, "fx":[13.41633,114.2057,-124.19708,-80.4511], "fy":[-123.66701,-46.27559,-6.44152,-94.92151]}, + {"t":1.15907, "x":5.85219, "y":7.49951, "heading":0.0, "vx":1.52109, "vy":-0.44414, "omega":-0.32178, "ax":-1.25564, "ay":-4.25527, "alpha":-12.77707, "fx":[12.1128,109.70491,-124.14153,-80.71613], "fy":[-123.79027,-55.70565,-7.23556,-94.68558]}, + {"t":1.18345, "x":5.8889, "y":7.48742, "heading":-0.00784, "vx":1.49048, "vy":-0.54787, "omega":-0.63327, "ax":-1.39733, "ay":-4.42654, "alpha":-12.26862, "fx":[10.22425,102.87849,-124.11261,-81.40054], "fy":[-123.94843,-67.22507,-7.48435,-94.08569]}, + {"t":1.20783, "x":5.92482, "y":7.47275, "heading":-0.02328, "vx":1.45642, "vy":-0.65579, "omega":-0.93236, "ax":-1.58602, "ay":-4.59047, "alpha":-11.72491, "fx":[7.76139,93.94332,-124.11049,-82.48371], "fy":[-124.11376,-79.11425,-7.23384,-93.1235]}, + {"t":1.23221, "x":5.95985, "y":7.45539, "heading":-0.04601, "vx":1.41775, "vy":-0.7677, "omega":-1.2182, "ax":-1.80876, "ay":-4.72427, "alpha":-11.20418, "fx":[4.72868,83.72012,-124.12868,-83.94025], "fy":[-124.2516,-89.84729,-6.5384,-91.79633]}, + {"t":1.25659, "x":5.99388, "y":7.43528, "heading":-0.07571, "vx":1.37365, "vy":-0.88287, "omega":-1.49134, "ax":-2.05183, "ay":-4.81771, "alpha":-10.74107, "fx":[1.12035,73.0822,-124.1561,-85.74195], "fy":[-124.31995,-98.73509,-5.46216,-90.0962]}, + {"t":1.28096, "x":6.02676, "y":7.41232, "heading":-0.11207, "vx":1.32363, "vy":-1.00032, "omega":-1.75319, "ax":-2.30843, "ay":-4.87185, "alpha":-10.33722, "fx":[-3.08439,62.45822,-124.17923,-87.8598], "fy":[-124.26764,-105.83601,-4.08153,-88.00848]}, + {"t":1.30534, "x":6.05834, "y":7.38649, "heading":-0.15481, "vx":1.26736, "vy":-1.11909, "omega":-2.0052, "ax":-2.57988, "ay":-4.89232, "alpha":-9.97098, "fx":[-7.92718,51.75941,-124.18455,-90.26507], "fy":[-124.03034,-111.5154,-2.49145,-85.51044]}, + {"t":1.32972, "x":6.08847, "y":7.35775, "heading":-0.20369, "vx":1.20446, "vy":-1.23835, "omega":-2.24828, "ax":-2.87352, "ay":-4.8843, "alpha":-9.60872, "fx":[-13.47861,40.53241,-124.16117,-92.9295], "fy":[-123.52296,-116.10749,-0.81705,-82.56982]}, + {"t":1.3541, "x":6.11698, "y":7.32611, "heading":-0.2585, "vx":1.13441, "vy":-1.35743, "omega":-2.48253, "ax":-3.20099, "ay":-4.84996, "alpha":-9.20955, "fx":[-19.85206,28.08722,-124.10393,-95.82493], "fy":[-122.62568,-119.745,0.76723,-79.14251]}, + {"t":1.37848, "x":6.14368, "y":7.29158, "heading":-0.31902, "vx":1.05637, "vy":-1.47566, "omega":-2.70704, "ax":-3.57816, "ay":-4.78659, "alpha":-8.72395, "fx":[-27.22945,13.53174,-124.01653,-98.92326], "fy":[-121.15631,-122.23865,2.00761,-75.16783]}, + {"t":1.40286, "x":6.16837, "y":7.25418, "heading":-0.38502, "vx":0.96914, "vy":-1.59235, "omega":-2.91972, "ax":-4.02606, "ay":-4.68324, "alpha":-8.08875, "fx":[-35.91159,-4.2379,-123.91186,-102.19723], "fy":[-118.81108,-122.87501,2.52448,-70.55843]}, + {"t":1.42724, "x":6.1908, "y":7.21397, "heading":-0.4562, "vx":0.87099, "vy":-1.70652, "omega":-3.11691, "ax":-4.57052, "ay":-4.5131, "alpha":-7.22218, "fx":[-46.41994,-26.4218,-123.80078,-105.62303], "fy":[-115.02325,-120.01243,1.74432,-65.17727]}, + {"t":1.45161, "x":6.21068, "y":7.17102, "heading":-0.53218, "vx":0.75957, "vy":-1.81655, "omega":-3.29298, "ax":-5.23374, "ay":-4.21952, "alpha":-6.02765, "fx":[-59.70284,-53.59299,-123.64459,-109.18653], "fy":[-108.58122,-110.50936,-1.18074,-58.78164]}, + {"t":1.47599, "x":6.22764, "y":7.12549, "heading":-0.61246, "vx":0.63198, "vy":-1.91941, "omega":-3.43993, "ax":-6.00485, "ay":-3.7002, "alpha":-4.41392, "fx":[-77.47695,-83.53154,-123.22099,-112.89398], "fy":[-96.44555,-90.00468,-7.38726,-50.87081]}, + {"t":1.50037, "x":6.24126, "y":7.07759, "heading":-0.69632, "vx":0.48559, "vy":-2.00962, "omega":-3.54753, "ax":-6.79126, "ay":-2.79952, "alpha":-2.24463, "fx":[-101.66977,-108.82635,-121.87803,-116.75738], "fy":[-69.87619,-57.0555,-17.97074,-40.2405]}, + {"t":1.52475, "x":6.25108, "y":7.02777, "heading":-0.7828, "vx":0.32003, "vy":-2.07787, "omega":-3.60225, "ax":-7.27726, "ay":-1.46827, "alpha":0.70252, "fx":[-121.95339,-120.92285,-118.43251,-119.96391], "fy":[-15.22129,-22.67654,-33.01015,-26.19395]}, + {"t":1.54913, "x":6.25672, "y":6.97668, "heading":-0.87062, "vx":0.14262, "vy":-2.11366, "omega":-3.58513, "ax":-7.14057, "ay":-1.27998, "alpha":2.68791, "fx":[-121.58497,-122.14287,-111.46653,-117.03822], "fy":[14.71722,-14.34148,-51.38571,-33.63987]}, + {"t":1.57351, "x":6.25807, "y":6.92477, "heading":-0.95802, "vx":-0.03146, "vy":-2.14487, "omega":-3.5196, "ax":-6.66713, "ay":-1.6557, "alpha":4.93582, "fx":[-116.37582,-122.36544,-101.41348,-100.76784], "fy":[36.29658,-11.241,-68.94113,-65.61205]}, + {"t":1.59789, "x":6.25533, "y":6.87199, "heading":-1.04383, "vx":-0.194, "vy":-2.18523, "omega":-3.39927, "ax":-5.76887, "ay":-2.43034, "alpha":7.58578, "fx":[-113.21969,-121.84286,-90.38485,-56.06947], "fy":[42.70207,-14.70257,-82.85011,-105.87714]}, + {"t":1.62227, "x":6.24888, "y":6.81799, "heading":-1.1267, "vx":-0.33463, "vy":-2.24448, "omega":-3.21434, "ax":-5.00564, "ay":-2.9429, "alpha":9.12431, "fx":[-113.12198,-120.74403,-80.54491,-16.63107], "fy":[38.38701,-21.03477,-92.50584,-119.47168]}, + {"t":1.64664, "x":6.23924, "y":6.7624, "heading":-1.20506, "vx":-0.45666, "vy":-2.31622, "omega":-2.9919, "ax":-4.48788, "ay":-3.17504, "alpha":9.79921, "fx":[-111.0582,-119.81443,-73.04574,7.11821], "fy":[34.9225,-25.13737,-98.62653,-121.13604]}, + {"t":1.67102, "x":6.22677, "y":6.70499, "heading":-1.278, "vx":-0.56607, "vy":-2.39363, "omega":-2.75301, "ax":-4.06886, "ay":-3.28567, "alpha":10.09594, "fx":[-102.55506,-119.26064,-67.92512,20.65159], "fy":[32.22897,-27.11046,-102.3174,-120.09511]}, + {"t":1.6954, "x":6.21176, "y":6.64566, "heading":-1.34511, "vx":-0.66526, "vy":-2.47373, "omega":-2.50688, "ax":-2.08424, "ay":-4.05418, "alpha":10.90588, "fx":[17.90403,-118.92026,-64.68809,27.86552], "fy":[-16.52414,-28.10609,-104.48542,-119.00233]}, + {"t":1.71978, "x":6.19492, "y":6.58415, "heading":-1.40622, "vx":-0.71608, "vy":-2.57256, "omega":-2.24101, "ax":-0.52984, "ay":-0.95535, "alpha":17.9611, "fx":[74.70167,-116.23926,-69.33153,75.82905], "fy":[95.99486,38.76335,-101.55946,-96.3794]}, + {"t":1.74416, "x":6.17731, "y":6.52115, "heading":-1.46086, "vx":-0.72899, "vy":-2.59585, "omega":-1.80315, "ax":0.04754, "ay":-0.09775, "alpha":18.45998, "fx":[79.52148,-97.07507,-74.53015,95.22785], "fy":[94.05567,75.77405,-98.10013,-78.19441]}, + {"t":1.76854, "x":6.15955, "y":6.45784, "heading":-1.50482, "vx":-0.72783, "vy":-2.59823, "omega":-1.35312, "ax":0.2392, "ay":-0.07115, "alpha":18.4948, "fx":[86.71608,-90.45137,-75.48162,95.03604], "fy":[88.01286,84.03206,-97.74836,-79.002]}, + {"t":1.79292, "x":6.14188, "y":6.39448, "heading":-1.5378, "vx":-0.722, "vy":-2.59997, "omega":-0.90224, "ax":0.34507, "ay":-0.09355, "alpha":18.50409, "fx":[91.54426,-86.12714,-76.32401,93.72758], "fy":[83.29669,88.73326,-97.34386,-80.87313]}, + {"t":1.81729, "x":6.12438, "y":6.33106, "heading":-1.5598, "vx":-0.71359, "vy":-2.60225, "omega":-0.45113, "ax":0.42169, "ay":-0.0955, "alpha":18.50527, "fx":[94.40624,-82.64241,-77.00232,93.12648], "fy":[80.25562,92.17369,-96.97692,-81.76829]}, + {"t":1.84167, "x":6.10711, "y":6.2676, "heading":-1.5708, "vx":-0.70331, "vy":-2.60458, "omega":0.0, "ax":7.04498, "ay":-1.58814, "alpha":0.0, "fx":[116.47778,116.47778,116.47778,116.47778], "fy":[-26.25743,-26.25743,-26.25743,-26.25743]}, + {"t":1.87699, "x":6.08666, "y":6.17462, "heading":-1.5708, "vx":-0.4545, "vy":-2.66067, "omega":0.0, "ax":6.69289, "ay":-0.84184, "alpha":0.0, "fx":[110.65657,110.65657,110.65657,110.65657], "fy":[-13.91852,-13.91852,-13.91852,-13.91852]}, + {"t":1.91231, "x":6.07479, "y":6.08012, "heading":-1.5708, "vx":-0.21812, "vy":-2.6904, "omega":0.0, "ax":4.67442, "ay":-0.23535, "alpha":0.0, "fx":[77.28423,77.28423,77.28423,77.28423], "fy":[-3.89121,-3.89121,-3.89121,-3.89121]}, + {"t":1.94763, "x":6.07, "y":5.98496, "heading":-1.5708, "vx":-0.05303, "vy":-2.69871, "omega":0.0, "ax":1.23393, "ay":-0.0143, "alpha":0.0, "fx":[20.40113,20.40113,20.40113,20.40113], "fy":[-0.23644,-0.23644,-0.23644,-0.23644]}, + {"t":1.98294, "x":6.0689, "y":5.88964, "heading":-1.5708, "vx":-0.00945, "vy":-2.69922, "omega":0.0, "ax":0.207, "ay":-0.00044, "alpha":0.0, "fx":[3.42239,3.42239,3.42239,3.42239], "fy":[-0.00736,-0.00736,-0.00736,-0.00736]}, + {"t":2.01826, "x":6.06869, "y":5.79431, "heading":-1.5708, "vx":-0.00214, "vy":-2.69923, "omega":0.0, "ax":0.03383, "ay":-0.00002, "alpha":0.0, "fx":[0.55924,0.55924,0.55924,0.55924], "fy":[-0.00032,-0.00032,-0.00032,-0.00032]}, + {"t":2.05358, "x":6.06864, "y":5.69898, "heading":-1.5708, "vx":-0.00094, "vy":-2.69923, "omega":0.0, "ax":0.00552, "ay":0.0, "alpha":0.0, "fx":[0.09132,0.09132,0.09132,0.09132], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]}, + {"t":2.0889, "x":6.06861, "y":5.60364, "heading":-1.5708, "vx":-0.00075, "vy":-2.69923, "omega":0.0, "ax":0.0009, "ay":0.0, "alpha":0.0, "fx":[0.01491,0.01491,0.01491,0.01491], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.12422, "x":6.06858, "y":5.50831, "heading":-1.5708, "vx":-0.00072, "vy":-2.69923, "omega":0.0, "ax":0.00015, "ay":0.0, "alpha":0.0, "fx":[0.00243,0.00243,0.00243,0.00243], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.15953, "x":6.06856, "y":5.41298, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.0004,0.0004,0.0004,0.0004], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.19485, "x":6.06853, "y":5.31765, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.23017, "x":6.06851, "y":5.22232, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.26549, "x":6.06848, "y":5.12699, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.30081, "x":6.06846, "y":5.03166, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.33612, "x":6.06843, "y":4.93633, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.37144, "x":6.06841, "y":4.841, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.40676, "x":6.06838, "y":4.74566, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.44208, "x":6.06836, "y":4.65033, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.47739, "x":6.06833, "y":4.555, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.51271, "x":6.06831, "y":4.45967, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.54803, "x":6.06828, "y":4.36434, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.58335, "x":6.06826, "y":4.26901, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.61867, "x":6.06823, "y":4.17368, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.65398, "x":6.06821, "y":4.07835, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.6893, "x":6.06818, "y":3.98302, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00002,0.00002,0.00002,0.00002]}, + {"t":2.72462, "x":6.06816, "y":3.88768, "heading":-1.5708, "vx":-0.00071, "vy":-2.69923, "omega":0.0, "ax":0.00001, "ay":0.02184, "alpha":0.0, "fx":[0.00009,0.00009,0.00009,0.00009], "fy":[0.36116,0.36116,0.36116,0.36116]}, + {"t":2.75994, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":-0.00071, "vy":-2.69846, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj index 6a0928d6..5dbd04b9 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj @@ -3,21 +3,21 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7803301811218262, "y":5.078708171844482, "heading":1.6207547225168395, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.7803301811218262 m", "val":1.7803301811218262}, "y":{"exp":"5.078708171844482 m", "val":5.078708171844482}, "heading":{"exp":"1.6207547225168395 rad", "val":1.6207547225168395}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LClimb.x", "val":0.5524598956108093}, "y":{"exp":"LClimb.y", "val":4.88380765914917}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -57,79 +57,78 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.22012,2.53641], + "waypoints":[0.0,1.14599,2.46241], "samples":[ - {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.30633, "vy":-2.12746, "omega":1.80723, "ax":-0.04874, "ay":-0.07578, "alpha":-0.02962, "fx":[-0.66617,-0.6662,-0.94568,-0.94564], "fy":[-1.39272,-1.11328,-1.11324,-1.39268]}, - {"t":0.02905, "x":3.30861, "y":7.44728, "heading":0.0525, "vx":-1.30774, "vy":-2.12966, "omega":1.80637, "ax":-0.00081, "ay":0.00049, "alpha":-0.02958, "fx":[0.13326,0.11861,-0.16013,-0.14549], "fy":[-0.12401,0.15474,0.14009,-0.13865]}, - {"t":0.0581, "x":3.27062, "y":7.38541, "heading":0.10498, "vx":-1.30777, "vy":-2.12965, "omega":1.80551, "ax":-0.00068, "ay":0.00042, "alpha":-0.01628, "fx":[0.07313,0.05703,-0.0957,-0.07961], "fy":[-0.06138,0.09136,0.07526,-0.07747]}, - {"t":0.08715, "x":3.23262, "y":7.32355, "heading":0.15743, "vx":-1.30779, "vy":-2.12964, "omega":1.80503, "ax":-0.00069, "ay":0.00042, "alpha":0.00662, "fx":[-0.04708,-0.03728,0.02442,0.01463], "fy":[0.03292,-0.02879,-0.01899,0.04271]}, - {"t":0.1162, "x":3.19463, "y":7.26168, "heading":0.20986, "vx":-1.30781, "vy":-2.12962, "omega":1.80523, "ax":-0.00069, "ay":0.00043, "alpha":0.03561, "fx":[-0.21077,-0.14078,0.18783,0.11784], "fy":[0.13636,-0.19226,-0.12226,0.20635]}, - {"t":0.14525, "x":3.15664, "y":7.19982, "heading":0.26231, "vx":-1.30783, "vy":-2.12961, "omega":1.80626, "ax":-0.00068, "ay":0.00042, "alpha":0.06733, "fx":[-0.40042,-0.23569,0.37784,0.21311], "fy":[0.23133,-0.3822,-0.21747,0.39606]}, - {"t":0.1743, "x":3.11865, "y":7.13795, "heading":0.31478, "vx":-1.30785, "vy":-2.1296, "omega":1.80822, "ax":-0.00065, "ay":0.0004, "alpha":0.09853, "fx":[-0.5966,-0.30877,0.57523,0.28739], "fy":[0.30464,-0.57935,-0.29152,0.59248]}, - {"t":0.20335, "x":3.08065, "y":7.07608, "heading":0.36731, "vx":-1.30787, "vy":-2.12959, "omega":1.81108, "ax":-0.00058, "ay":0.00036, "alpha":0.12604, "fx":[-0.77814,-0.35108,0.75884,0.33177], "fy":[0.34735,-0.76257,-0.33551,0.77441]}, - {"t":0.2324, "x":3.04266, "y":7.01422, "heading":0.41992, "vx":-1.30788, "vy":-2.12958, "omega":1.81474, "ax":-0.00049, "ay":0.0003, "alpha":0.14672, "fx":[-0.92238,-0.35801,0.90602,0.34166], "fy":[0.35485,-0.90919,-0.34482,0.91921]}, - {"t":0.26145, "x":3.00466, "y":6.95235, "heading":0.47264, "vx":-1.3079, "vy":-2.12957, "omega":1.819, "ax":-0.00038, "ay":0.00023, "alpha":0.15744, "fx":[-1.00572,-0.32947,0.99317,0.31691], "fy":[0.32703,-0.9956,-0.31935,1.00329]}, - {"t":0.2905, "x":2.96667, "y":6.89049, "heading":0.52548, "vx":-1.30791, "vy":-2.12956, "omega":1.82358, "ax":-0.00024, "ay":0.00015, "alpha":0.15517, "fx":[-1.00442,-0.27004,0.99644,0.26206], "fy":[0.26848,-0.998,-0.26361,1.00287]}, - {"t":0.31955, "x":2.92867, "y":6.82862, "heading":0.57846, "vx":-1.30792, "vy":-2.12956, "omega":1.82808, "ax":-0.00008, "ay":0.00005, "alpha":0.13696, "fx":[-0.89566,-0.18914,0.89287,0.18635], "fy":[0.18858,-0.89342,-0.18691,0.8951]}, - {"t":0.3486, "x":2.89068, "y":6.76676, "heading":0.63156, "vx":-1.30792, "vy":-2.12956, "omega":1.83206, "ax":0.00008, "ay":-0.00005, "alpha":0.10015, "fx":[-0.65887,-0.10099,0.66165,0.10377], "fy":[0.10151,-0.66114,-0.10325,0.65939]}, - {"t":0.37765, "x":2.85268, "y":6.7049, "heading":0.68479, "vx":-1.30792, "vy":-2.12956, "omega":1.83497, "ax":0.00025, "ay":-0.00016, "alpha":0.0424, "fx":[-0.27724,-0.02422,0.28562,0.0326], "fy":[0.02581,-0.28403,-0.03101,0.27883]}, - {"t":0.40671, "x":2.81469, "y":6.64303, "heading":0.73809, "vx":-1.30791, "vy":-2.12956, "omega":1.8362, "ax":0.00041, "ay":-0.00025, "alpha":-0.03815, "fx":[0.26105,0.01883,-0.24746,-0.00524], "fy":[-0.01623,0.25006,0.00784,-0.25845]}, - {"t":0.43576, "x":2.77669, "y":6.58117, "heading":0.79144, "vx":-1.3079, "vy":-2.12957, "omega":1.8351, "ax":0.00054, "ay":-0.00033, "alpha":-0.14286, "fx":[0.96206,0.00321,-0.94414,0.01472], "fy":[0.00023,0.94757,-0.01128,-0.95863]}, - {"t":0.46481, "x":2.7387, "y":6.5193, "heading":0.84475, "vx":-1.30788, "vy":-2.12958, "omega":1.83095, "ax":0.00063, "ay":-0.00039, "alpha":-0.27264, "fx":[1.82621,-0.09743,-1.8053,0.11835], "fy":[0.10144,1.80931,-0.11434,-1.8222]}, - {"t":0.49386, "x":2.7007, "y":6.45744, "heading":0.89794, "vx":-1.30786, "vy":-2.12959, "omega":1.82303, "ax":0.00067, "ay":-0.00041, "alpha":-0.42817, "fx":[2.84957,-0.30969,-2.82739,0.33189], "fy":[0.31395,2.83164,-0.32763,-2.84531]}, - {"t":0.52291, "x":2.66271, "y":6.39557, "heading":0.9509, "vx":-1.30784, "vy":-2.1296, "omega":1.81059, "ax":0.00065, "ay":-0.0004, "alpha":-0.61021, "fx":[4.0262,-0.65989,-4.00467,0.68146], "fy":[0.66402,4.0088,-0.67733,-4.02207]}, - {"t":0.55196, "x":2.62472, "y":6.33371, "heading":1.00349, "vx":-1.30782, "vy":-2.12961, "omega":1.79286, "ax":0.00058, "ay":-0.00036, "alpha":-0.8201, "fx":[5.35129,-1.17431,-5.33227,1.19338], "fy":[1.17795,5.33592,-1.18974,-5.34764]}, - {"t":0.58101, "x":2.58672, "y":6.27184, "heading":1.05558, "vx":-1.30781, "vy":-2.12962, "omega":1.76904, "ax":0.00045, "ay":-0.00028, "alpha":-1.06021, "fx":[6.82418,-1.88039,-6.80924,1.89538], "fy":[1.88324,6.81211,-1.89254,-6.82131]}, - {"t":0.61006, "x":2.54873, "y":6.20997, "heading":1.10697, "vx":-1.30779, "vy":-2.12963, "omega":1.73824, "ax":0.0003, "ay":-0.00019, "alpha":-1.33431, "fx":[8.45061,-2.8086,-8.44078,2.81847], "fy":[2.81044,8.44266,-2.81663,-8.44873]}, - {"t":0.63911, "x":2.51074, "y":6.14811, "heading":1.15746, "vx":-1.30779, "vy":-2.12964, "omega":1.69947, "ax":0.00013, "ay":-0.00008, "alpha":-1.64773, "fx":[10.24304,-3.99419,-10.23864,3.99862], "fy":[3.99498,10.23946,-3.99782,-10.24222]}, - {"t":0.66816, "x":2.47275, "y":6.08624, "heading":1.20683, "vx":-1.30778, "vy":-2.12964, "omega":1.65161, "ax":-0.00002, "ay":0.00001, "alpha":-2.00706, "fx":[12.2184,-5.47792,-12.21902,5.47729], "fy":[5.47775,12.21885,-5.47746,-12.21857]}, - {"t":0.69721, "x":2.43476, "y":6.02437, "heading":1.25481, "vx":-1.30778, "vy":-2.12964, "omega":1.5933, "ax":-0.00014, "ay":0.00008, "alpha":-2.41947, "fx":[14.39335,-7.30434,-14.39808,7.29958], "fy":[7.3034,14.39707,-7.30052,-14.39437]}, - {"t":0.72626, "x":2.39677, "y":5.96251, "heading":1.3011, "vx":-1.30779, "vy":-2.12964, "omega":1.52302, "ax":-0.00024, "ay":0.00015, "alpha":-2.89141, "fx":[16.77752,-9.51697,-16.78559,9.50891], "fy":[9.51546,16.78385,-9.51042,-16.77926]}, - {"t":0.75531, "x":2.35877, "y":5.90064, "heading":1.34534, "vx":-1.30779, "vy":-2.12963, "omega":1.43902, "ax":-0.00039, "ay":0.00023, "alpha":-3.42712, "fx":[19.36619,-12.15055,-19.37901,12.13782], "fy":[12.14829,19.3762,-12.14009,-19.369]}, - {"t":0.78436, "x":2.32078, "y":5.83877, "heading":1.38715, "vx":-1.3078, "vy":-2.12963, "omega":1.33946, "ax":-0.00087, "ay":0.00053, "alpha":-4.027, "fx":[22.13288,-15.22296,-22.16179,15.1946], "fy":[15.21827,22.15529,-15.1993,-22.13939]}, - {"t":0.81341, "x":2.28279, "y":5.77691, "heading":1.42606, "vx":-1.30783, "vy":-2.12961, "omega":1.22247, "ax":-0.00286, "ay":0.00175, "alpha":-4.68653, "fx":[25.01825,-18.73537,-25.11477,18.64246], "fy":[18.72132,25.09214,-18.65653,-25.04088]}, - {"t":0.84246, "x":2.2448, "y":5.71504, "heading":1.46157, "vx":-1.30791, "vy":-2.12956, "omega":1.08633, "ax":-0.01097, "ay":0.00674, "alpha":-5.39599, "fx":[27.89164,-22.70479,-28.26614,22.3535], "fy":[22.65754,28.17346,-22.40113,-27.98431]}, - {"t":0.87151, "x":2.2068, "y":5.65318, "heading":1.49313, "vx":-1.30823, "vy":-2.12936, "omega":0.92957, "ax":-0.04243, "ay":0.02608, "alpha":-6.14099, "fx":[30.3948,-27.30096,-31.86663,25.96653], "fy":[27.15029,31.47971,-26.12336,-30.78166]}, - {"t":0.90056, "x":2.16877, "y":5.59133, "heading":1.52014, "vx":-1.30946, "vy":-2.12861, "omega":0.75118, "ax":-0.15911, "ay":0.09811, "alpha":-6.89904, "fx":[31.33809,-33.28074,-36.96647,28.38679], "fy":[32.88126,35.39586,-28.87758,-32.91084]}, - {"t":0.92961, "x":2.13067, "y":5.52954, "heading":1.54196, "vx":-1.31409, "vy":-2.12576, "omega":0.55076, "ax":-0.57045, "ay":0.35573, "alpha":-7.57039, "fx":[26.43224,-42.94641,-46.99778,25.78609], "fy":[42.44412,41.0323,-27.4928,-32.45762]}, - {"t":0.95866, "x":2.09225, "y":5.46793, "heading":1.55796, "vx":-1.33066, "vy":-2.11542, "omega":0.33083, "ax":-1.89892, "ay":1.22977, "alpha":-7.21371, "fx":[1.56364,-59.56285,-68.35069,0.76709], "fy":[61.43403,50.21359,-12.01492,-18.30315]}, - {"t":0.98771, "x":2.05279, "y":5.407, "heading":1.56757, "vx":-1.38582, "vy":-2.0797, "omega":0.12127, "ax":-4.19677, "ay":3.28302, "alpha":-3.47068, "fx":[-45.93835,-76.66366,-90.67667,-64.26926], "fy":[80.89745,64.58444,28.95568,42.68122]}, - {"t":1.01676, "x":2.01076, "y":5.34797, "heading":1.57109, "vx":-1.50774, "vy":-1.98432, "omega":0.02045, "ax":3.42114, "ay":6.56172, "alpha":-0.2395, "fx":[57.41029,53.928,55.69048,59.22414], "fy":[108.12374,109.86353,108.9007,107.06353]}, - {"t":1.04581, "x":1.96841, "y":5.29309, "heading":1.57169, "vx":-1.40835, "vy":-1.7937, "omega":0.01349, "ax":3.69301, "ay":6.49317, "alpha":-0.12636, "fx":[61.44632,59.66099,60.6648,62.46064], "fy":[107.15465,108.14793,107.56803,106.54694]}, - {"t":1.07486, "x":1.92905, "y":5.24372, "heading":1.57208, "vx":-1.30107, "vy":-1.60507, "omega":0.00982, "ax":3.77806, "ay":6.4693, "alpha":-0.09109, "fx":[62.73022,61.45647,62.19599,63.47455], "fy":[106.81482,107.54737,107.11194,106.36487]}, - {"t":1.10391, "x":1.89285, "y":5.19982, "heading":1.57236, "vx":-1.19132, "vy":-1.41714, "omega":0.00717, "ax":3.8196, "ay":6.4572, "alpha":-0.0739, "fx":[63.36124,62.33329,62.93954,63.97044], "fy":[106.64185,107.24265,106.88228,106.2719]}, - {"t":1.13296, "x":1.85985, "y":5.16138, "heading":1.57257, "vx":-1.08036, "vy":-1.22956, "omega":0.00503, "ax":3.84423, "ay":6.44988, "alpha":-0.06374, "fx":[63.73658,62.85294,63.37897,64.26472], "fy":[106.537,107.05841,106.74393,106.21539]}, - {"t":1.16201, "x":1.83009, "y":5.12838, "heading":1.57272, "vx":-0.96868, "vy":-1.04218, "omega":0.00317, "ax":3.86053, "ay":6.44497, "alpha":-0.05702, "fx":[63.98556,63.19679,63.66925,64.45965], "fy":[106.46659,106.93497,106.65144,106.17735]}, - {"t":1.19106, "x":1.80358, "y":5.10083, "heading":1.57281, "vx":-0.85653, "vy":-0.85496, "omega":0.00152, "ax":3.87212, "ay":6.44146, "alpha":-0.05225, "fx":[64.16283,63.44117,63.87532,64.59832], "fy":[106.41602,106.84647,106.58523,106.14998]}, - {"t":1.22012, "x":1.78033, "y":5.07871, "heading":1.57285, "vx":-0.74404, "vy":-0.66783, "omega":0.0, "ax":-3.9322, "ay":6.3413, "alpha":0.0, "fx":[-65.01286,-65.01286,-65.01286,-65.01286], "fy":[104.84348,104.84348,104.84348,104.84348]}, - {"t":1.26713, "x":1.74101, "y":5.05432, "heading":1.57285, "vx":-0.9289, "vy":-0.36972, "omega":0.0, "ax":-1.29056, "ay":4.83145, "alpha":0.0, "fx":[-21.33747,-21.33747,-21.33747,-21.33747], "fy":[79.88052,79.88052,79.88052,79.88052]}, - {"t":1.31414, "x":1.69591, "y":5.04228, "heading":1.57285, "vx":-0.98957, "vy":-0.14259, "omega":0.0, "ax":-0.01619, "ay":0.11456, "alpha":0.0, "fx":[-0.26772,-0.26772,-0.26772,-0.26772], "fy":[1.89405,1.89405,1.89405,1.89405]}, - {"t":1.36115, "x":1.64937, "y":5.0357, "heading":1.57285, "vx":-0.99033, "vy":-0.13721, "omega":0.0, "ax":-0.00021, "ay":0.00149, "alpha":0.0, "fx":[-0.00342,-0.00342,-0.00342,-0.00342], "fy":[0.0247,0.0247,0.0247,0.0247]}, - {"t":1.40816, "x":1.60282, "y":5.02925, "heading":1.57285, "vx":-0.99034, "vy":-0.13714, "omega":0.0, "ax":0.0, "ay":0.00002, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.00032,0.00032,0.00032,0.00032]}, - {"t":1.45517, "x":1.55626, "y":5.02281, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.50218, "x":1.50971, "y":5.01636, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.54919, "x":1.46315, "y":5.00991, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.5962, "x":1.41659, "y":5.00347, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.64321, "x":1.37004, "y":4.99702, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.69022, "x":1.32348, "y":4.99057, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.73723, "x":1.27692, "y":4.98413, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.78424, "x":1.23037, "y":4.97768, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.83125, "x":1.18381, "y":4.97123, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.87826, "x":1.13725, "y":4.96479, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.92527, "x":1.0907, "y":4.95834, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.97228, "x":1.04414, "y":4.95189, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.01929, "x":0.99758, "y":4.94544, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.06631, "x":0.95103, "y":4.939, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.11332, "x":0.90447, "y":4.93255, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.16033, "x":0.85791, "y":4.9261, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.20734, "x":0.81136, "y":4.91966, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.25435, "x":0.7648, "y":4.91321, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.30136, "x":0.71825, "y":4.90676, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.34837, "x":0.67169, "y":4.90032, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":0.00006, "ay":0.00001, "alpha":0.0, "fx":[0.00092,0.00092,0.00092,0.00092], "fy":[0.00013,0.00013,0.00013,0.00013]}, - {"t":2.39538, "x":0.62513, "y":4.89387, "heading":1.57285, "vx":-0.99034, "vy":-0.13713, "omega":0.0, "ax":6.16882, "ay":0.85421, "alpha":0.0, "fx":[101.99182,101.99182,101.99182,101.99182], "fy":[14.12302,14.12302,14.12302,14.12302]}, - {"t":2.44239, "x":0.58539, "y":4.88837, "heading":1.57285, "vx":-0.70034, "vy":-0.09698, "omega":0.0, "ax":7.4444, "ay":1.03084, "alpha":0.0, "fx":[123.08151,123.08151,123.08151,123.08151], "fy":[17.04336,17.04336,17.04336,17.04336]}, - {"t":2.4894, "x":0.5607, "y":4.88495, "heading":1.57285, "vx":-0.35037, "vy":-0.04852, "omega":0.0, "ax":7.45307, "ay":1.03204, "alpha":0.0, "fx":[123.22486,123.22486,123.22486,123.22486], "fy":[17.06321,17.06321,17.06321,17.06321]}, - {"t":2.53641, "x":0.55246, "y":4.88381, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":-1.40523, "vy":-2.30086, "omega":1.81505, "ax":-0.06533, "ay":-0.08494, "alpha":-0.2148, "fx":[-0.06667,-0.06669,-2.09382,-2.09305], "fy":[-2.41796,-0.39113,-0.39102,-2.41728]}, + {"t":0.02795, "x":3.30727, "y":7.44477, "heading":0.05073, "vx":-1.40705, "vy":-2.30324, "omega":1.80904, "ax":-0.00556, "ay":0.00338, "alpha":-0.2279, "fx":[1.0364,0.92734,-1.22014,-1.11112], "fy":[-0.96339,1.18414,1.07507,-1.0724]}, + {"t":0.0559, "x":3.26794, "y":7.3804, "heading":0.1013, "vx":-1.40721, "vy":-2.30314, "omega":1.80267, "ax":-0.00469, "ay":0.00287, "alpha":-0.18147, "fx":[0.86081,0.68765,-1.01573,-0.8426], "fy":[-0.71776,0.98566,0.8125,-0.89089]}, + {"t":0.08385, "x":3.22861, "y":7.31602, "heading":0.15168, "vx":-1.40734, "vy":-2.30306, "omega":1.7976, "ax":-0.00457, "ay":0.00279, "alpha":-0.10266, "fx":[0.47637,0.33001,-0.62744,-0.48109], "fy":[-0.35937,0.59809,0.45173,-0.50572]}, + {"t":0.1118, "x":3.18927, "y":7.25165, "heading":0.20193, "vx":-1.40747, "vy":-2.30298, "omega":1.79473, "ax":-0.00457, "ay":0.0028, "alpha":-0.00652, "fx":[-0.03927,-0.05162,-0.11192,-0.09958], "fy":[0.02223,0.08254,0.07019,0.00989]}, + {"t":0.13975, "x":3.14993, "y":7.18728, "heading":0.25209, "vx":-1.4076, "vy":-2.30291, "omega":1.79455, "ax":-0.00456, "ay":0.00279, "alpha":0.09899, "fx":[-0.64416,-0.4112,0.4933,0.26033], "fy":[0.38187,-0.52262,-0.28965,0.61485]}, + {"t":0.16771, "x":3.11058, "y":7.12291, "heading":0.30225, "vx":-1.40772, "vy":-2.30283, "omega":1.79731, "ax":-0.00451, "ay":0.00276, "alpha":0.20991, "fx":[-1.31479,-0.72525,1.16554,0.57597], "fy":[0.69623,-1.19453,-0.60499,1.28579]}, + {"t":0.19566, "x":3.07123, "y":7.05855, "heading":0.35249, "vx":-1.40785, "vy":-2.30275, "omega":1.80318, "ax":-0.00442, "ay":0.0027, "alpha":0.32422, "fx":[-2.03655,-0.98051,1.89051,0.83437], "fy":[0.95209,-1.91886,-0.86279,2.0082]}, + {"t":0.22361, "x":3.03188, "y":6.99419, "heading":0.40289, "vx":-1.40797, "vy":-2.30267, "omega":1.81224, "ax":-0.00426, "ay":0.0026, "alpha":0.4406, "fx":[-2.79742,-1.16762,2.6567,1.02671], "fy":[1.1402,-2.684,-1.05412,2.77012]}, + {"t":0.25156, "x":2.99253, "y":6.92982, "heading":0.45354, "vx":-1.40809, "vy":-2.3026, "omega":1.82456, "ax":-0.00401, "ay":0.00245, "alpha":0.55747, "fx":[-3.58242,-1.27799,3.45011,1.14541], "fy":[1.25218,-3.47577,-1.17122,3.55676]}, + {"t":0.27951, "x":2.95317, "y":6.86547, "heading":0.50454, "vx":-1.4082, "vy":-2.30253, "omega":1.84014, "ax":-0.00361, "ay":0.00221, "alpha":0.67209, "fx":[-4.36786,-1.30264,4.24865,1.18307], "fy":[1.27935,-4.27176,-1.20636,4.34475]}, + {"t":0.30746, "x":2.9138, "y":6.80111, "heading":0.55598, "vx":-1.40831, "vy":-2.30247, "omega":1.85893, "ax":-0.003, "ay":0.00184, "alpha":0.77961, "fx":[-5.1145,-1.23261,5.01537,1.13307], "fy":[1.2132,-5.03459,-1.15248,5.09528]}, + {"t":0.33541, "x":2.87444, "y":6.73675, "heading":0.60793, "vx":-1.40839, "vy":-2.30242, "omega":1.88072, "ax":-0.00209, "ay":0.00128, "alpha":0.87183, "fx":[-5.75969,-1.06152,5.69062,0.9921], "fy":[1.04796,-5.70404,-1.00566,5.74627]}, + {"t":0.36336, "x":2.83507, "y":6.6724, "heading":0.6605, "vx":-1.40845, "vy":-2.30238, "omega":1.90509, "ax":-0.00078, "ay":0.00048, "alpha":0.93622, "fx":[-6.21033,-0.79109,6.18447,0.76508], "fy":[0.78596,-6.18955,-0.77021,6.20525]}, + {"t":0.39131, "x":2.7957, "y":6.60804, "heading":0.71375, "vx":-1.40847, "vy":-2.30237, "omega":1.93125, "ax":0.00099, "ay":-0.00061, "alpha":0.95536, "fx":[-6.3411,-0.43986,6.37374,0.47269], "fy":[0.44614,-6.36751,-0.46641,6.34733]}, + {"t":0.41926, "x":2.75634, "y":6.54369, "heading":0.76773, "vx":-1.40844, "vy":-2.30239, "omega":1.95796, "ax":0.00319, "ay":-0.00196, "alpha":0.90824, "fx":[-6.00582,-0.05413,6.11114,0.15997], "fy":[0.07455,-6.09083,-0.13954,6.02613]}, + {"t":0.44722, "x":2.71697, "y":6.47934, "heading":0.82246, "vx":-1.40835, "vy":-2.30244, "omega":1.98334, "ax":0.00561, "ay":-0.00344, "alpha":0.77439, "fx":[-5.07019,0.28437,5.25549,-0.09846], "fy":[-0.24844,-5.21964,0.13441,5.10605]}, + {"t":0.47517, "x":2.67761, "y":6.41498, "heading":0.87789, "vx":-1.4082, "vy":-2.30254, "omega":2.00499, "ax":0.00783, "ay":-0.0048, "alpha":0.54117, "fx":[-3.46565,0.46307,3.72445,-0.20388], "fy":[-0.4129,-3.6743,0.25407,3.51581]}, + {"t":0.50312, "x":2.63825, "y":6.35062, "heading":0.93394, "vx":-1.40798, "vy":-2.30267, "omega":2.02011, "ax":0.0093, "ay":-0.00569, "alpha":0.21169, "fx":[-1.24302,0.36281,1.55055,-0.05521], "fy":[-0.30316,-1.49089,0.11488,1.30268]}, + {"t":0.53107, "x":2.5989, "y":6.28626, "heading":0.9904, "vx":-1.40772, "vy":-2.30283, "omega":2.02603, "ax":0.00952, "ay":-0.00582, "alpha":-0.1929, "fx":[1.41739,-0.10459,-1.10265,0.41938], "fy":[0.16572,1.16378,-0.35826,-1.35626]}, + {"t":0.55902, "x":2.55956, "y":6.22189, "heading":1.04703, "vx":-1.40745, "vy":-2.303, "omega":2.02064, "ax":0.00824, "ay":-0.00504, "alpha":-0.64246, "fx":[4.27654,-0.97232,-4.00422,1.245], "fy":[1.02521,4.05725,-1.19214,-4.22351]}, + {"t":0.58697, "x":2.52022, "y":6.15751, "heading":1.10351, "vx":-1.40722, "vy":-2.30314, "omega":2.00268, "ax":0.0056, "ay":-0.00343, "alpha":-1.11787, "fx":[7.17634,-2.23983,-6.99129,2.42547], "fy":[2.27561,7.02749,-2.38971,-7.14014]}, + {"t":0.61492, "x":2.48089, "y":6.09314, "heading":1.15949, "vx":-1.40706, "vy":-2.30323, "omega":1.97144, "ax":0.00211, "ay":-0.0013, "alpha":-1.63323, "fx":[10.17755,-3.94671,-10.10782,4.01677], "fy":[3.95992,10.12147,-4.00356,-10.1639]}, + {"t":0.64287, "x":2.44156, "y":6.02876, "heading":1.21459, "vx":-1.40701, "vy":-2.30327, "omega":1.92579, "ax":-0.00155, "ay":0.00092, "alpha":-2.24729, "fx":[13.60771,-6.26478,-13.65872,6.21348], "fy":[6.25485,13.64808,-6.22342,-13.61835]}, + {"t":0.67082, "x":2.40223, "y":5.96438, "heading":1.26842, "vx":-1.40705, "vy":-2.30324, "omega":1.86297, "ax":-0.00495, "ay":0.003, "alpha":-3.05206, "fx":[17.95086,-9.53934,-18.11439,9.37518], "fy":[9.50938,18.07961,-9.4052,-17.98564]}, + {"t":0.69877, "x":2.3629, "y":5.9, "heading":1.32049, "vx":-1.40719, "vy":-2.30316, "omega":1.77766, "ax":-0.00909, "ay":0.00552, "alpha":-4.12827, "fx":[23.54176,-14.19412,-23.84308,13.89434], "fy":[14.14411,23.77502,-13.94457,-23.60982]}, + {"t":0.72673, "x":2.32357, "y":5.83563, "heading":1.37018, "vx":-1.40744, "vy":-2.303, "omega":1.66228, "ax":-0.019, "ay":0.01157, "alpha":-5.47737, "fx":[30.15196,-20.48136,-30.78937,19.86235], "fy":[20.39515,30.63073,-19.94979,-30.31068]}, + {"t":0.75468, "x":2.28422, "y":5.77126, "heading":1.41664, "vx":-1.40797, "vy":-2.30268, "omega":1.50918, "ax":-0.04932, "ay":0.03014, "alpha":-6.98749, "fx":[36.78669,-28.29239,-38.48127,26.72519], "fy":[28.14217,38.00297,-26.88536,-37.26633]}, + {"t":0.78263, "x":2.24485, "y":5.70691, "heading":1.45882, "vx":-1.40935, "vy":-2.30184, "omega":1.31387, "ax":-0.13527, "ay":0.08295, "alpha":-8.48673, "fx":[41.8443,-37.35452,-46.66402,33.22827], "fy":[37.21752,45.12267,-33.44765,-43.40682]}, + {"t":0.81058, "x":2.2054, "y":5.64261, "heading":1.49555, "vx":-1.41313, "vy":-2.29952, "omega":1.07666, "ax":-0.35396, "ay":0.21856, "alpha":-9.81442, "fx":[43.00046,-47.65897,-56.18108,37.43106], "fy":[48.18953,51.57676,-37.47007,-47.84225]}, + {"t":0.83853, "x":2.16576, "y":5.57842, "heading":1.52564, "vx":-1.42303, "vy":-2.29341, "omega":0.80234, "ax":-0.86193, "ay":0.54116, "alpha":-10.7398, "fx":[35.81323,-59.34017,-69.1583,35.68288], "fy":[62.95764,57.39012,-35.22783,-49.33129]}, + {"t":0.86648, "x":2.12565, "y":5.51453, "heading":1.54806, "vx":-1.44712, "vy":-2.27829, "omega":0.50215, "ax":-1.95797, "ay":1.27841, "alpha":-10.3891, "fx":[12.39902,-71.206,-86.42734,15.74652], "fy":[82.10363,63.22721,-20.41392,-40.37055]}, + {"t":0.89443, "x":2.08444, "y":5.45135, "heading":1.5621, "vx":-1.50184, "vy":-2.24255, "omega":0.21176, "ax":-2.76308, "ay":4.39056, "alpha":-5.7867, "fx":[-7.28348,-65.42159,-92.64674,-17.38094], "fy":[102.79397,84.93633,35.82352,66.81062]}, + {"t":0.92238, "x":2.04138, "y":5.39038, "heading":1.56802, "vx":-1.57907, "vy":-2.11983, "omega":0.05002, "ax":3.41187, "ay":6.55707, "alpha":-0.51316, "fx":[58.22008,50.81061,54.47933,62.12981], "fy":[107.68302,111.29224,109.36216,105.30659]}, + {"t":0.95033, "x":1.99858, "y":5.33369, "heading":1.56942, "vx":-1.48371, "vy":-1.93656, "omega":0.03567, "ax":3.66575, "ay":6.49981, "alpha":-0.29542, "fx":[61.52858,57.35262,59.65609,63.89252], "fy":[107.01426,109.28268,107.99025,105.56986]}, + {"t":0.97828, "x":1.95854, "y":5.2821, "heading":1.57041, "vx":-1.38125, "vy":-1.75488, "omega":0.02742, "ax":3.75194, "ay":6.47774, "alpha":-0.2216, "fx":[62.68986,59.5857,61.36002,64.49423], "fy":[106.75597,108.50516,107.48564,105.65044]}, + {"t":1.00624, "x":1.9214, "y":5.23558, "heading":1.57118, "vx":-1.27638, "vy":-1.57382, "omega":0.02122, "ax":3.79533, "ay":6.46609, "alpha":-0.18451, "fx":[63.28235,60.71091,62.20767,64.79848], "fy":[106.61908,108.09502,107.22437,105.68868]}, + {"t":1.03419, "x":1.8872, "y":5.19412, "heading":1.57177, "vx":-1.17029, "vy":-1.39309, "omega":0.01607, "ax":3.82147, "ay":6.4589, "alpha":-0.16219, "fx":[63.64196,61.3888,62.71496,64.98238], "fy":[106.53418,107.84185,107.06464,105.71075]}, + {"t":1.06214, "x":1.85599, "y":5.1577, "heading":1.57222, "vx":-1.06348, "vy":-1.21255, "omega":0.01153, "ax":3.83894, "ay":6.45401, "alpha":-0.1473, "fx":[63.88357,61.84194,63.05265,65.10567], "fy":[106.47629,107.67002,106.95687,105.72501]}, + {"t":1.09009, "x":1.82776, "y":5.12633, "heading":1.57255, "vx":-0.95618, "vy":-1.03216, "omega":0.00742, "ax":3.85145, "ay":6.45047, "alpha":-0.13665, "fx":[64.05718,62.16624,63.2936,65.1941], "fy":[106.43424,107.54574,106.87927,105.73494]}, + {"t":1.11804, "x":1.80254, "y":5.1, "heading":1.57275, "vx":-0.84853, "vy":-0.85186, "omega":0.0036, "ax":3.86085, "ay":6.44779, "alpha":-0.12866, "fx":[64.18803,62.40984,63.47415,65.26064], "fy":[106.40226,107.45165,106.82074,105.74224]}, + {"t":1.14599, "x":1.78033, "y":5.07871, "heading":1.57285, "vx":-0.74061, "vy":-0.67164, "omega":0.0, "ax":-3.96509, "ay":6.32265, "alpha":0.0, "fx":[-65.55653,-65.55653,-65.55653,-65.55653], "fy":[104.5351,104.5351,104.5351,104.5351]}, + {"t":1.19301, "x":1.74113, "y":5.05412, "heading":1.57285, "vx":-0.92703, "vy":-0.37438, "omega":0.0, "ax":-1.33013, "ay":4.92977, "alpha":0.0, "fx":[-21.99171,-21.99171,-21.99171,-21.99171], "fy":[81.50599,81.50599,81.50599,81.50599]}, + {"t":1.24002, "x":1.69607, "y":5.04197, "heading":1.57285, "vx":-0.98957, "vy":-0.14261, "omega":0.0, "ax":-0.01708, "ay":0.12095, "alpha":0.0, "fx":[-0.28238,-0.28238,-0.28238,-0.28238], "fy":[1.99978,1.99978,1.99978,1.99978]}, + {"t":1.28704, "x":1.64953, "y":5.03539, "heading":1.57285, "vx":-0.99037, "vy":-0.13692, "omega":0.0, "ax":-0.00022, "ay":0.00158, "alpha":0.0, "fx":[-0.0036,-0.0036,-0.0036,-0.0036], "fy":[0.02607,0.02607,0.02607,0.02607]}, + {"t":1.33405, "x":1.60297, "y":5.02896, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.00002, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.00034,0.00034,0.00034,0.00034]}, + {"t":1.38107, "x":1.5564, "y":5.02253, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.42808, "x":1.50984, "y":5.01609, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.4751, "x":1.46328, "y":5.00966, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.52211, "x":1.41672, "y":5.00322, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.56913, "x":1.37015, "y":4.99679, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.61614, "x":1.32359, "y":4.99036, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.66316, "x":1.27703, "y":4.98392, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.71017, "x":1.23046, "y":4.97749, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.75719, "x":1.1839, "y":4.97106, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.8042, "x":1.13734, "y":4.96462, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.85122, "x":1.09078, "y":4.95819, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.89823, "x":1.04421, "y":4.95175, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.94525, "x":0.99765, "y":4.94532, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.99226, "x":0.95109, "y":4.93889, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.03928, "x":0.90452, "y":4.93245, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.08629, "x":0.85796, "y":4.92602, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.13331, "x":0.8114, "y":4.91959, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.18032, "x":0.76484, "y":4.91315, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.22734, "x":0.71827, "y":4.90672, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.27435, "x":0.67171, "y":4.90028, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":0.00006, "ay":0.00001, "alpha":0.0, "fx":[0.00091,0.00091,0.00091,0.00091], "fy":[0.00013,0.00013,0.00013,0.00013]}, + {"t":2.32137, "x":0.62515, "y":4.89385, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "omega":0.0, "ax":6.16704, "ay":0.85212, "alpha":0.0, "fx":[101.96232,101.96232,101.96232,101.96232], "fy":[14.08843,14.08843,14.08843,14.08843]}, + {"t":2.36838, "x":0.5854, "y":4.88836, "heading":1.57285, "vx":-0.70043, "vy":-0.09678, "omega":0.0, "ax":7.4447, "ay":1.02866, "alpha":0.0, "fx":[123.08656,123.08656,123.08656,123.08656], "fy":[17.00723,17.00723,17.00723,17.00723]}, + {"t":2.4154, "x":0.5607, "y":4.88495, "heading":1.57285, "vx":-0.35042, "vy":-0.04842, "omega":0.0, "ax":7.45337, "ay":1.02985, "alpha":0.0, "fx":[123.22989,123.22989,123.22989,123.22989], "fy":[17.02703,17.02703,17.02703,17.02703]}, + {"t":2.46241, "x":0.55246, "y":4.88381, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj index 6fc242e3..b7309781 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.743162631988525, "y":7.509117603302002, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.743162631988525, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.564816951751709, "y":6.902011394500732, "heading":-0.7102714504381418, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":8.254300117492676, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":8.254300117492676, "y":4.509925842285156, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -12,7 +12,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -20,8 +20,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"7.564816951751709 m", "val":7.564816951751709}, "y":{"exp":"6.902011394500732 m", "val":6.902011394500732}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"LNeutral.y", "val":4.509925842285156}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -63,109 +63,107 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.12589,1.89676,2.38851,2.94528], + "waypoints":[0.0,1.06815,1.78234,2.23838,2.75419], "samples":[ - {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.5255, "ay":0.00226, "alpha":0.0, "fx":[124.42244,124.42244,124.42244,124.42244], "fy":[0.03729,0.03729,0.03729,0.03729]}, - {"t":0.0433, "x":3.35363, "y":7.50912, "heading":0.0, "vx":0.32588, "vy":0.0001, "omega":0.0, "ax":7.52425, "ay":0.00231, "alpha":0.0, "fx":[124.40168,124.40168,124.40168,124.40168], "fy":[0.03818,0.03818,0.03818,0.03818]}, - {"t":0.08661, "x":3.3748, "y":7.50913, "heading":0.0, "vx":0.65171, "vy":0.0002, "omega":0.0, "ax":7.52249, "ay":0.00238, "alpha":0.0, "fx":[124.37266,124.37266,124.37266,124.37266], "fy":[0.03937,0.03937,0.03937,0.03937]}, - {"t":0.12991, "x":3.41007, "y":7.50914, "heading":0.0, "vx":0.97746, "vy":0.0003, "omega":0.0, "ax":7.51986, "ay":0.00248, "alpha":0.0, "fx":[124.32918,124.32918,124.32918,124.32918], "fy":[0.04093,0.04093,0.04093,0.04093]}, - {"t":0.17321, "x":3.45945, "y":7.50915, "heading":0.0, "vx":1.3031, "vy":0.00041, "omega":0.0, "ax":7.51549, "ay":0.0026, "alpha":0.0, "fx":[124.2569,124.2569,124.2569,124.2569], "fy":[0.04298,0.04298,0.04298,0.04298]}, - {"t":0.21652, "x":3.52293, "y":7.50917, "heading":0.0, "vx":1.62854, "vy":0.00052, "omega":0.0, "ax":7.50679, "ay":0.00276, "alpha":0.0, "fx":[124.11302,124.11302,124.11302,124.11302], "fy":[0.04569,0.04569,0.04569,0.04569]}, - {"t":0.25982, "x":3.60049, "y":7.5092, "heading":0.0, "vx":1.95361, "vy":0.00064, "omega":0.0, "ax":7.48102, "ay":0.003, "alpha":0.0, "fx":[123.68707,123.68707,123.68707,123.68707], "fy":[0.04961,0.04961,0.04961,0.04961]}, - {"t":0.30313, "x":3.6921, "y":7.50923, "heading":0.0, "vx":2.27757, "vy":0.00077, "omega":0.0, "ax":5.12304, "ay":0.00754, "alpha":0.0, "fx":[84.70148,84.70148,84.70148,84.70148], "fy":[0.12473,0.12473,0.12473,0.12473]}, - {"t":0.34643, "x":3.79553, "y":7.50927, "heading":0.0, "vx":2.49942, "vy":0.0011, "omega":0.0, "ax":0.00024, "ay":0.00566, "alpha":0.0, "fx":[0.00393,0.00393,0.00393,0.00393], "fy":[0.09356,0.09356,0.09356,0.09356]}, - {"t":0.38973, "x":3.90376, "y":7.50932, "heading":0.0, "vx":2.49943, "vy":0.00134, "omega":0.0, "ax":0.0, "ay":0.00685, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.11329,0.11329,0.11329,0.11329]}, - {"t":0.43304, "x":4.012, "y":7.50939, "heading":0.0, "vx":2.49943, "vy":0.00164, "omega":0.0, "ax":-0.00001, "ay":0.00888, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[0.14688,0.14688,0.14688,0.14688]}, - {"t":0.47634, "x":4.12023, "y":7.50947, "heading":0.0, "vx":2.49943, "vy":0.00202, "omega":0.0, "ax":-0.00001, "ay":0.01145, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.1893,0.1893,0.1893,0.1893]}, - {"t":0.51964, "x":4.22847, "y":7.50956, "heading":0.0, "vx":2.49942, "vy":0.00252, "omega":0.0, "ax":-0.00002, "ay":0.01466, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[0.24234,0.24234,0.24234,0.24234]}, - {"t":0.56295, "x":4.3367, "y":7.50969, "heading":0.0, "vx":2.49942, "vy":0.00315, "omega":0.0, "ax":-0.00003, "ay":0.01869, "alpha":0.0, "fx":[-0.00044,-0.00044,-0.00044,-0.00044], "fy":[0.30904,0.30904,0.30904,0.30904]}, - {"t":0.60625, "x":4.44493, "y":7.50984, "heading":0.0, "vx":2.49942, "vy":0.00396, "omega":0.0, "ax":-0.00004, "ay":0.0238, "alpha":0.0, "fx":[-0.0007,-0.0007,-0.0007,-0.0007], "fy":[0.39344,0.39344,0.39344,0.39344]}, - {"t":0.64955, "x":4.55317, "y":7.51003, "heading":0.0, "vx":2.49942, "vy":0.00499, "omega":0.0, "ax":-0.00007, "ay":0.0303, "alpha":0.0, "fx":[-0.00113,-0.00113,-0.00113,-0.00113], "fy":[0.50098,0.50098,0.50098,0.50098]}, - {"t":0.69286, "x":4.6614, "y":7.51028, "heading":0.0, "vx":2.49942, "vy":0.00631, "omega":0.0, "ax":-0.00011, "ay":0.03866, "alpha":0.0, "fx":[-0.00183,-0.00183,-0.00183,-0.00183], "fy":[0.63921,0.63921,0.63921,0.63921]}, - {"t":0.73616, "x":4.76964, "y":7.51059, "heading":0.0, "vx":2.49941, "vy":0.00798, "omega":0.0, "ax":-0.00018, "ay":0.04955, "alpha":0.0, "fx":[-0.00297,-0.00297,-0.00297,-0.00297], "fy":[0.81927,0.81927,0.81927,0.81927]}, - {"t":0.77946, "x":4.87787, "y":7.51098, "heading":0.0, "vx":2.49941, "vy":0.01013, "omega":0.0, "ax":-0.00029, "ay":0.06404, "alpha":0.0, "fx":[-0.00488,-0.00488,-0.00488,-0.00488], "fy":[1.05878,1.05878,1.05878,1.05878]}, - {"t":0.82277, "x":4.9861, "y":7.51148, "heading":0.0, "vx":2.49939, "vy":0.0129, "omega":0.0, "ax":-0.00049, "ay":0.08399, "alpha":0.0, "fx":[-0.00818,-0.00818,-0.00818,-0.00818], "fy":[1.38863,1.38863,1.38863,1.38863]}, - {"t":0.86607, "x":5.09433, "y":7.51212, "heading":0.0, "vx":2.49937, "vy":0.01654, "omega":0.0, "ax":-0.00086, "ay":0.11312, "alpha":0.0, "fx":[-0.0142,-0.0142,-0.0142,-0.0142], "fy":[1.87033,1.87033,1.87033,1.87033]}, - {"t":0.90938, "x":5.20257, "y":7.51294, "heading":0.0, "vx":2.49933, "vy":0.02143, "omega":0.0, "ax":-0.00159, "ay":0.15961, "alpha":0.0, "fx":[-0.02627,-0.02627,-0.02627,-0.02627], "fy":[2.63882,2.63882,2.63882,2.63882]}, - {"t":0.95268, "x":5.31079, "y":7.51402, "heading":0.0, "vx":2.49927, "vy":0.02835, "omega":0.0, "ax":-0.00316, "ay":0.23612, "alpha":0.0, "fx":[-0.05225,-0.05225,-0.05225,-0.05225], "fy":[3.90391,3.90391,3.90391,3.90391]}, - {"t":0.99598, "x":5.41902, "y":7.51547, "heading":0.0, "vx":2.49913, "vy":0.03857, "omega":0.0, "ax":-0.00411, "ay":0.23506, "alpha":0.0, "fx":[-0.06788,-0.06788,-0.06788,-0.06788], "fy":[3.88634,3.88634,3.88634,3.88634]}, - {"t":1.03929, "x":5.52724, "y":7.51736, "heading":0.0, "vx":2.49895, "vy":0.04875, "omega":0.0, "ax":0.00091, "ay":-2.2004, "alpha":0.0, "fx":[0.01505,0.01505,0.01505,0.01505], "fy":[-36.38019,-36.38019,-36.38019,-36.38019]}, - {"t":1.08259, "x":5.63545, "y":7.5174, "heading":0.0, "vx":2.49899, "vy":-0.04654, "omega":0.0, "ax":-0.53588, "ay":-6.68826, "alpha":0.0, "fx":[-8.86001,-8.86001,-8.86001,-8.86001], "fy":[-110.57994,-110.57994,-110.57994,-110.57994]}, - {"t":1.12589, "x":5.74316, "y":7.50912, "heading":0.0, "vx":2.47578, "vy":-0.33616, "omega":0.0, "ax":-1.08566, "ay":-6.52104, "alpha":-1.8474, "fx":[-2.57007,-3.2939,-36.70536,-29.22978], "fy":[-111.94379,-108.11837,-102.68702,-108.51182]}, - {"t":1.15076, "x":5.80439, "y":7.49874, "heading":0.0, "vx":2.44879, "vy":-0.49832, "omega":-0.04594, "ax":-1.22458, "ay":-5.28539, "alpha":-3.82577, "fx":[4.88217,7.54369,-54.76473,-38.64716], "fy":[-99.97412,-83.46876,-72.02866,-94.07128]}, - {"t":1.17563, "x":5.86491, "y":7.48472, "heading":-0.00114, "vx":2.41834, "vy":-0.62975, "omega":-0.14107, "ax":-0.79306, "ay":-2.87089, "alpha":-7.17197, "fx":[19.77855,31.59315,-60.5874,-43.23242], "fy":[-79.1425,-20.48638,-16.70701,-73.52719]}, - {"t":1.20049, "x":5.9248, "y":7.46817, "heading":-0.00465, "vx":2.39862, "vy":-0.70114, "omega":-0.31942, "ax":-0.33798, "ay":-1.13153, "alpha":-8.26297, "fx":[30.71285,37.97303,-49.26875,-41.76887], "fy":[-58.15208,19.81124,18.83213,-55.32384]}, - {"t":1.22536, "x":5.98434, "y":7.45038, "heading":-0.01259, "vx":2.39021, "vy":-0.72928, "omega":-0.52489, "ax":-0.12951, "ay":-0.42115, "alpha":-7.86952, "fx":[33.42808,36.78335,-40.20514,-38.57122], "fy":[-44.80902,29.87213,30.195,-43.11044]}, - {"t":1.25023, "x":6.04374, "y":7.43212, "heading":-0.02565, "vx":2.38699, "vy":-0.73975, "omega":-0.72058, "ax":-0.04702, "ay":-0.15128, "alpha":-7.20153, "fx":[31.95569,34.44335,-34.26581,-35.24271], "fy":[-37.42136,30.66658,32.22655,-35.47646]}, - {"t":1.27509, "x":6.10308, "y":7.41368, "heading":-0.04356, "vx":2.38582, "vy":-0.74351, "omega":-0.89966, "ax":-0.01637, "ay":-0.05246, "alpha":-6.49087, "fx":[28.88249,31.76301,-29.63845,-32.08972], "fy":[-32.81531,28.41219,31.03357,-30.10008]}, - {"t":1.29996, "x":6.1624, "y":7.39517, "heading":-0.06594, "vx":2.38541, "vy":-0.74482, "omega":-1.06107, "ax":-0.00549, "ay":-0.01754, "alpha":-5.78056, "fx":[25.29477,28.94559,-25.53357,-29.06954], "fy":[-29.30238,25.12866,28.71239,-25.6988]}, - {"t":1.32483, "x":6.22172, "y":7.37665, "heading":-0.09232, "vx":2.38528, "vy":-0.74525, "omega":-1.20481, "ax":-0.00176, "ay":-0.00562, "alpha":-5.08699, "fx":[21.64714,26.08624,-21.71982,-26.13019], "fy":[-26.20203,21.59133,26.01437,-21.77554]}, - {"t":1.34969, "x":6.28103, "y":7.35811, "heading":-0.12228, "vx":2.38523, "vy":-0.74539, "omega":-1.33131, "ax":-0.00054, "ay":-0.00172, "alpha":-4.42211, "fx":[18.15043,23.24297,-18.17175,-23.25761], "fy":[-23.27881,18.13276,23.22176,-18.1894]}, - {"t":1.37456, "x":6.34034, "y":7.33958, "heading":-0.15539, "vx":2.38522, "vy":-0.74543, "omega":-1.44127, "ax":-0.00018, "ay":-0.00055, "alpha":-3.79516, "fx":[14.91395,20.45637,-14.92059,-20.46144], "fy":[-20.46793,14.90825,20.44988,-14.92629]}, - {"t":1.39943, "x":6.39966, "y":7.32104, "heading":-0.19123, "vx":2.38522, "vy":-0.74545, "omega":-1.53564, "ax":-0.0001, "ay":-0.0003, "alpha":-3.2122, "fx":[11.9955,17.7561,-11.99912,-17.75911], "fy":[-17.76257,11.99233,17.75264,-12.0023]}, - {"t":1.42429, "x":6.45897, "y":7.3025, "heading":-0.22941, "vx":2.38521, "vy":-0.74545, "omega":-1.61552, "ax":-0.00012, "ay":-0.00038, "alpha":-2.67608, "fx":[9.42071,15.16274,-9.42505,-15.16655], "fy":[-15.17085,9.41663,15.15843,-9.42913]}, - {"t":1.44916, "x":6.51828, "y":7.28397, "heading":-0.26959, "vx":2.38521, "vy":-0.74546, "omega":-1.68207, "ax":-0.00018, "ay":-0.00056, "alpha":-2.18693, "fx":[7.19347,12.68916,-7.19965,-12.69482], "fy":[-12.70116,7.18733,12.68282,-7.20579]}, - {"t":1.47403, "x":6.57759, "y":7.26543, "heading":-0.31141, "vx":2.38521, "vy":-0.74548, "omega":-1.73645, "ax":-0.00024, "ay":-0.00075, "alpha":-1.74296, "fx":[5.30356,10.34257,-5.31164,-10.35022], "fy":[-10.3587,5.29522,10.33408,-5.31997]}, - {"t":1.49889, "x":6.63691, "y":7.24689, "heading":-0.35459, "vx":2.3852, "vy":-0.7455, "omega":-1.77979, "ax":-0.00028, "ay":-0.0009, "alpha":-1.34134, "fx":[3.7323,8.12659,-3.74185,-8.13584], "fy":[-8.146,3.72223,8.11643,-3.75193]}, - {"t":1.52376, "x":6.69622, "y":7.22835, "heading":-0.39885, "vx":2.38519, "vy":-0.74552, "omega":-1.81314, "ax":-0.00031, "ay":-0.00098, "alpha":-0.9787, "fx":[2.4564,6.04262,-2.46674,-6.05279], "fy":[-6.06389,2.44534,6.03152,-2.4778]}, - {"t":1.54863, "x":6.75553, "y":7.20981, "heading":-0.44394, "vx":2.38519, "vy":-0.74554, "omega":-1.83748, "ax":-0.00032, "ay":-0.00101, "alpha":-0.65138, "fx":[1.44995,4.08962,-1.46055,-4.10015], "fy":[-4.1116,1.4385,4.07816,-1.47199]}, - {"t":1.5735, "x":6.81484, "y":7.19127, "heading":-0.48963, "vx":2.38518, "vy":-0.74557, "omega":-1.85368, "ax":-0.00034, "ay":-0.00109, "alpha":-0.35537, "fx":[0.68534,2.26222,-0.69676,-2.27362], "fy":[-2.28602,0.67294,2.24982,-0.70915]}, - {"t":1.59836, "x":6.87415, "y":7.17273, "heading":-0.53572, "vx":2.38517, "vy":-0.7456, "omega":-1.86252, "ax":-0.0005, "ay":-0.0016, "alpha":-0.08594, "fx":[0.13335,0.54724,-0.14998,-0.56387], "fy":[-0.58205,0.11517,0.52906,-0.16816]}, - {"t":1.62323, "x":6.93346, "y":7.15419, "heading":-0.58204, "vx":2.38516, "vy":-0.74564, "omega":-1.86465, "ax":-0.00119, "ay":-0.00381, "alpha":0.16264, "fx":[-0.23883,-1.08238,0.19944,1.043], "fy":[0.99978,-0.28205,-1.1256,0.15622]}, - {"t":1.6481, "x":6.99277, "y":7.13565, "heading":-0.62841, "vx":2.38513, "vy":-0.74573, "omega":-1.86061, "ax":-0.00376, "ay":-0.01202, "alpha":0.3974, "fx":[-0.47676,-2.6808,0.35229,2.55655], "fy":[2.41993,-0.6134,-2.8174,0.21563]}, - {"t":1.67296, "x":7.05208, "y":7.1171, "heading":-0.67467, "vx":2.38503, "vy":-0.74603, "omega":-1.85073, "ax":-0.01285, "ay":-0.04107, "alpha":0.62685, "fx":[-0.67514,-4.36874,0.24927,3.94449], "fy":[3.47814,-1.14168,-4.83468,-0.21763]}, - {"t":1.69783, "x":7.11139, "y":7.09854, "heading":-0.7207, "vx":2.38471, "vy":-0.74705, "omega":-1.83514, "ax":-0.04448, "ay":-0.14164, "alpha":0.86055, "fx":[-1.11028,-6.46423,-0.36506,4.99767], "fy":[3.39045,-2.71631,-8.06452,-1.97667]}, - {"t":1.7227, "x":7.17067, "y":7.07992, "heading":-0.76633, "vx":2.38361, "vy":-0.75057, "omega":-1.81374, "ax":-0.15411, "ay":-0.48513, "alpha":1.10187, "fx":[-2.71829,-9.91458,-2.39802,4.83871], "fy":[-0.67039,-8.16833,-15.31663,-7.92792]}, - {"t":1.74756, "x":7.2299, "y":7.0611, "heading":-0.81143, "vx":2.37977, "vy":-0.76264, "omega":-1.78634, "ax":-0.52183, "ay":-1.58293, "alpha":1.26256, "fx":[-8.68709,-17.34048,-8.65012,0.1674], "fy":[-17.97576,-25.82365,-34.14967,-26.73607]}, - {"t":1.77243, "x":7.28892, "y":7.04165, "heading":-0.85585, "vx":2.3668, "vy":-0.802, "omega":-1.75494, "ax":-1.40373, "ay":-3.87826, "alpha":0.92509, "fx":[-23.95712,-30.76456,-22.65171,-15.46048], "fy":[-59.3881,-62.67959,-68.71141,-65.70477]}, - {"t":1.7973, "x":7.34734, "y":7.02051, "heading":-0.89949, "vx":2.33189, "vy":-0.89844, "omega":-1.73194, "ax":-2.35038, "ay":-5.59003, "alpha":0.44493, "fx":[-39.79138,-43.24735,-38.03754,-34.36301], "fy":[-90.9657,-90.87376,-93.87851,-93.97183]}, - {"t":1.82216, "x":7.4046, "y":6.99644, "heading":-0.94256, "vx":2.27345, "vy":-1.03744, "omega":-1.72088, "ax":-3.05167, "ay":-6.12397, "alpha":0.23715, "fx":[-51.13579,-52.9348,-49.81744,-47.93061], "fy":[-100.62823,-100.09553,-101.87497,-102.40268]}, - {"t":1.84703, "x":7.46019, "y":6.96875, "heading":-0.98535, "vx":2.19756, "vy":-1.18973, "omega":-1.71498, "ax":-3.62878, "ay":-6.16433, "alpha":0.14896, "fx":[-60.49067,-61.54188,-59.52214,-58.43028], "fy":[-101.52524,-101.03893,-102.30966,-102.79651]}, - {"t":1.8719, "x":7.51371, "y":6.93726, "heading":-1.028, "vx":2.10732, "vy":-1.34301, "omega":-1.71128, "ax":-4.18906, "ay":-5.97548, "alpha":0.10493, "fx":[-69.64274,-70.29945,-68.88756,-68.2087], "fy":[-98.48081,-98.08224,-99.10833,-99.50992]}, - {"t":1.89676, "x":7.56482, "y":6.90201, "heading":-1.07055, "vx":2.00316, "vy":-1.49161, "omega":-1.70867, "ax":-4.45137, "ay":-5.72416, "alpha":0.10322, "fx":[-73.95733,-74.57686,-73.24617,-72.60557], "fy":[-94.30289,-93.89819,-94.97504,-95.38407]}, - {"t":1.91643, "x":7.60336, "y":6.87156, "heading":-1.10416, "vx":1.9156, "vy":-1.6042, "omega":-1.70664, "ax":-4.72866, "ay":-5.33888, "alpha":0.15354, "fx":[-78.7022,-79.53347,-77.68242,-76.80604], "fy":[-87.68428,-87.12214,-88.84805,-89.42548]}, - {"t":1.9361, "x":7.64012, "y":6.83898, "heading":-1.13773, "vx":1.82259, "vy":-1.70921, "omega":-1.70362, "ax":-4.87285, "ay":-4.92233, "alpha":0.24441, "fx":[-81.31807,-82.55788,-79.86457,-78.51943], "fy":[-80.3287,-79.54412,-82.41273,-83.24644]}, - {"t":1.95577, "x":7.67503, "y":6.80441, "heading":-1.17124, "vx":1.72674, "vy":-1.80603, "omega":-1.69881, "ax":-4.84418, "ay":-4.39977, "alpha":0.42443, "fx":[-81.14244,-83.25769,-79.17427,-76.78954], "fy":[-70.68665,-69.6744,-74.71566,-75.89676]}, - {"t":1.97544, "x":7.70806, "y":6.76803, "heading":-1.20466, "vx":1.63146, "vy":-1.89258, "omega":-1.69046, "ax":-4.46823, "ay":-3.67852, "alpha":0.81424, "fx":[-74.97234,-79.38008,-73.12766,-68.02079], "fy":[-56.41083,-55.64801,-64.91592,-66.29974]}, - {"t":1.99511, "x":7.73928, "y":6.73009, "heading":-1.23791, "vx":1.54357, "vy":-1.96493, "omega":-1.67444, "ax":-3.47209, "ay":-2.63288, "alpha":1.63957, "fx":[-56.56723,-67.56331,-58.87614,-46.61594], "fy":[-33.79195,-35.68692,-52.25205,-52.39143]}, - {"t":2.01478, "x":7.76897, "y":6.69093, "heading":-1.27084, "vx":1.47527, "vy":-2.01672, "omega":-1.64219, "ax":-2.00441, "ay":-1.43674, "alpha":2.76688, "fx":[-26.64327,-49.56873,-39.93729,-16.40997], "fy":[-6.79755,-14.07377,-38.98314,-35.16273]}, - {"t":2.03445, "x":7.7976, "y":6.65099, "heading":-1.30314, "vx":1.43585, "vy":-2.04498, "omega":-1.58777, "ax":-0.91864, "ay":-0.63903, "alpha":3.4681, "fx":[-4.218,-35.36384,-26.11806,4.94672], "fy":[10.12306,0.75307,-29.99123,-23.14611]}, - {"t":2.05412, "x":7.82567, "y":6.61064, "heading":-1.33437, "vx":1.41778, "vy":-2.05755, "omega":-1.51955, "ax":-0.39203, "ay":-0.26907, "alpha":3.84174, "fx":[6.83412,-28.39581,-19.71688,15.35224], "fy":[17.73571,8.69493,-25.97391,-18.2513]}, - {"t":2.07379, "x":7.85348, "y":6.57012, "heading":-1.36426, "vx":1.41007, "vy":-2.06284, "omega":-1.44399, "ax":-0.16593, "ay":-0.11324, "alpha":4.15984, "fx":[12.45093,-26.00702,-17.87719,20.45981], "fy":[21.51919,13.16736,-24.93975,-17.23596]}, - {"t":2.09346, "x":7.88118, "y":6.52952, "heading":-1.39267, "vx":1.4068, "vy":-2.06507, "omega":-1.36216, "ax":-0.07214, "ay":-0.04912, "alpha":4.49809, "fx":[15.94765,-25.85726,-18.29316,23.43168], "fy":[23.91279,16.23443,-25.37445,-18.02144]}, - {"t":2.11313, "x":7.90884, "y":6.48889, "heading":-1.41946, "vx":1.40538, "vy":-2.06603, "omega":-1.27369, "ax":-0.03589, "ay":-0.02442, "alpha":4.86874, "fx":[18.66299,-26.77637,-19.82149,25.56116], "fy":[25.81153,18.79378,-26.52554,-19.69463]}, - {"t":2.1328, "x":7.93648, "y":6.44825, "heading":-1.44451, "vx":1.40468, "vy":-2.06652, "omega":-1.17792, "ax":-0.02765, "ay":-0.0188, "alpha":5.27061, "fx":[21.09176,-28.27003,-21.97636,27.3259], "fy":[27.52844,21.18296,-28.0672,-21.88762]}, - {"t":2.15247, "x":7.9641, "y":6.4076, "heading":-1.46768, "vx":1.40413, "vy":-2.06688, "omega":-1.07425, "ax":-0.03967, "ay":-0.02695, "alpha":5.69928, "fx":[23.34725,-30.19533,-24.60267,28.82742], "fy":[29.13388,23.46374,-29.88827,-24.49145]}, - {"t":2.17214, "x":7.99171, "y":6.36694, "heading":-1.48881, "vx":1.40335, "vy":-2.06741, "omega":-0.96215, "ax":-0.07848, "ay":-0.05324, "alpha":6.1487, "fx":[25.30217,-32.65397,-27.75488,29.91655], "fy":[30.5584,25.50458,-32.00993,-27.57385]}, - {"t":2.19181, "x":8.0193, "y":6.32626, "heading":-1.50774, "vx":1.40181, "vy":-2.06846, "omega":-0.8412, "ax":-0.16718, "ay":-0.11311, "alpha":6.60907, "fx":[26.5512,-36.03586,-31.70248,30.13099], "fy":[31.58201,26.93364,-34.57642,-31.41971]}, - {"t":2.21148, "x":8.04684, "y":6.28555, "heading":-1.52428, "vx":1.39852, "vy":-2.07069, "omega":-0.71121, "ax":-0.35683, "ay":-0.24012, "alpha":7.0549, "fx":[26.16327,-41.18024,-37.00176,28.42045], "fy":[31.70527,26.95475,-37.86762,-36.67253]}, - {"t":2.23115, "x":8.07428, "y":6.24478, "heading":-1.53827, "vx":1.3915, "vy":-2.07541, "omega":-0.57244, "ax":-0.75031, "ay":-0.4992, "alpha":7.3932, "fx":[21.90684,-49.5304,-44.50361,22.50658], "fy":[29.72192,23.98362,-42.23118,-44.48855]}, - {"t":2.25082, "x":8.10151, "y":6.20386, "heading":-1.54953, "vx":1.37674, "vy":-2.08523, "omega":-0.42702, "ax":-1.53892, "ay":-1.00011, "alpha":7.27483, "fx":[7.76344,-62.56366,-54.94442,7.96982], "fy":[22.16913,15.37996,-47.72588,-55.96408]}, - {"t":2.27049, "x":8.12829, "y":6.16265, "heading":-1.55793, "vx":1.34647, "vy":-2.1049, "omega":-0.28392, "ax":-2.95613, "ay":-1.83416, "alpha":5.83869, "fx":[-28.81148,-79.03009,-68.00758,-19.65073], "fy":[0.60778,-0.39919,-53.23045,-68.27839]}, - {"t":2.29016, "x":8.1542, "y":6.12089, "heading":-1.56352, "vx":1.28833, "vy":-2.14098, "omega":-0.16908, "ax":-4.54757, "ay":-2.60962, "alpha":3.56306, "fx":[-71.50869,-93.51502,-81.86923,-53.85506], "fy":[-26.28293,-17.79824,-56.05566,-72.44727]}, - {"t":2.30983, "x":8.17866, "y":6.07827, "heading":-1.56684, "vx":1.19888, "vy":-2.19231, "omega":-0.09899, "ax":-5.57963, "ay":-2.87355, "alpha":2.10606, "fx":[-93.26372,-102.79038,-93.42819,-79.51983], "fy":[-37.93128,-29.067,-55.23522,-67.80516]}, - {"t":2.3295, "x":8.20116, "y":6.03459, "heading":-1.56879, "vx":1.08913, "vy":-2.24883, "omega":-0.05757, "ax":-6.18859, "ay":-2.79405, "alpha":1.33762, "fx":[-103.88354,-108.55306,-101.88294,-94.95538], "fy":[-39.72497,-33.22353,-51.64983,-60.18255]}, - {"t":2.34917, "x":8.22139, "y":5.98982, "heading":-1.56992, "vx":0.9674, "vy":-2.30379, "omega":-0.03126, "ax":-6.58064, "ay":-2.54833, "alpha":0.91782, "fx":[-110.14506,-112.60906,-108.02578,-104.4225], "fy":[-37.20681,-32.77273,-46.43917,-52.11182]}, - {"t":2.36884, "x":8.23915, "y":5.94401, "heading":-1.57054, "vx":0.83796, "vy":-2.35391, "omega":-0.0132, "ax":-6.86726, "ay":-2.18518, "alpha":0.67122, "fx":[-114.56485,-115.87508,-112.80732,-110.91086], "fy":[-32.05381,-29.14086,-39.7922,-43.52762]}, - {"t":2.38851, "x":8.2543, "y":5.89729, "heading":-1.5708, "vx":0.70288, "vy":-2.3969, "omega":0.0, "ax":-7.08404, "ay":-1.77729, "alpha":0.0, "fx":[-117.12361,-117.12361,-117.12361,-117.12361], "fy":[-29.38468,-29.38468,-29.38468,-29.38468]}, - {"t":2.41944, "x":8.27265, "y":5.8223, "heading":-1.5708, "vx":0.48376, "vy":-2.45187, "omega":0.0, "ax":-6.99549, "ay":-1.06542, "alpha":0.0, "fx":[-115.6596,-115.6596,-115.6596,-115.6596], "fy":[-17.61505,-17.61505,-17.61505,-17.61505]}, - {"t":2.45037, "x":8.28427, "y":5.74595, "heading":-1.5708, "vx":0.26737, "vy":-2.48483, "omega":0.0, "ax":-6.33855, "ay":-0.43129, "alpha":0.0, "fx":[-104.79797,-104.79797,-104.79797,-104.79797], "fy":[-7.13066,-7.13066,-7.13066,-7.13066]}, - {"t":2.4813, "x":8.28951, "y":5.66888, "heading":-1.5708, "vx":0.07131, "vy":-2.49817, "omega":0.0, "ax":-3.80514, "ay":-0.01911, "alpha":0.0, "fx":[-62.91213,-62.91213,-62.91213,-62.91213], "fy":[-0.31592,-0.31592,-0.31592,-0.31592]}, - {"t":2.51223, "x":8.28989, "y":5.5916, "heading":-1.5708, "vx":-0.04639, "vy":-2.49876, "omega":0.0, "ax":-0.9825, "ay":0.0242, "alpha":0.0, "fx":[-16.24406,-16.24406,-16.24406,-16.24406], "fy":[0.40018,0.40018,0.40018,0.40018]}, - {"t":2.54317, "x":8.28799, "y":5.51432, "heading":-1.5708, "vx":-0.07678, "vy":-2.49801, "omega":0.0, "ax":-0.1934, "ay":0.00618, "alpha":0.0, "fx":[-3.1976,-3.1976,-3.1976,-3.1976], "fy":[0.10211,0.10211,0.10211,0.10211]}, - {"t":2.5741, "x":8.28552, "y":5.43705, "heading":-1.5708, "vx":-0.08276, "vy":-2.49782, "omega":0.0, "ax":-0.03746, "ay":0.00125, "alpha":0.0, "fx":[-0.61938,-0.61938,-0.61938,-0.61938], "fy":[0.02067,0.02067,0.02067,0.02067]}, - {"t":2.60503, "x":8.28294, "y":5.35979, "heading":-1.5708, "vx":-0.08392, "vy":-2.49778, "omega":0.0, "ax":-0.00725, "ay":0.00024, "alpha":0.0, "fx":[-0.1199,-0.1199,-0.1199,-0.1199], "fy":[0.00403,0.00403,0.00403,0.00403]}, - {"t":2.63596, "x":8.28034, "y":5.28253, "heading":-1.5708, "vx":-0.08415, "vy":-2.49777, "omega":0.0, "ax":-0.0014, "ay":0.00005, "alpha":0.0, "fx":[-0.02321,-0.02321,-0.02321,-0.02321], "fy":[0.00078,0.00078,0.00078,0.00078]}, - {"t":2.66689, "x":8.27774, "y":5.20526, "heading":-1.5708, "vx":-0.08419, "vy":-2.49777, "omega":0.0, "ax":-0.00027, "ay":0.00001, "alpha":0.0, "fx":[-0.00449,-0.00449,-0.00449,-0.00449], "fy":[0.00015,0.00015,0.00015,0.00015]}, - {"t":2.69783, "x":8.27514, "y":5.128, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00087,-0.00087,-0.00087,-0.00087], "fy":[0.00003,0.00003,0.00003,0.00003]}, - {"t":2.72876, "x":8.27253, "y":5.05074, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":2.75969, "x":8.26993, "y":4.97348, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.79062, "x":8.26732, "y":4.89622, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.82156, "x":8.26472, "y":4.81896, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.85249, "x":8.26211, "y":4.7417, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.88342, "x":8.25951, "y":4.66444, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00004,0.00004,0.00004,0.00004]}, - {"t":2.91435, "x":8.2569, "y":4.58717, "heading":-1.5708, "vx":-0.0842, "vy":-2.49777, "omega":0.0, "ax":0.00089, "ay":0.0263, "alpha":0.0, "fx":[0.01466,0.01466,0.01466,0.01466], "fy":[0.43489,0.43489,0.43489,0.43489]}, - {"t":2.94528, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.08417, "vy":-2.49696, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52563, "ay":0.00236, "alpha":0.0, "fx":[124.4246,124.4246,124.4246,124.4246], "fy":[0.039,0.039,0.039,0.039]}, + {"t":0.04273, "x":3.35345, "y":7.50912, "heading":0.0, "vx":0.32154, "vy":0.0001, "omega":0.0, "ax":7.52457, "ay":0.00243, "alpha":0.0, "fx":[124.40707,124.40707,124.40707,124.40707], "fy":[0.04024,0.04024,0.04024,0.04024]}, + {"t":0.08545, "x":3.37405, "y":7.50913, "heading":0.0, "vx":0.64303, "vy":0.0002, "omega":0.0, "ax":7.52316, "ay":0.00253, "alpha":0.0, "fx":[124.38371,124.38371,124.38371,124.38371], "fy":[0.04183,0.04183,0.04183,0.04183]}, + {"t":0.12818, "x":3.40839, "y":7.50914, "heading":0.0, "vx":0.96447, "vy":0.00031, "omega":0.0, "ax":7.52118, "ay":0.00265, "alpha":0.0, "fx":[124.35101,124.35101,124.35101,124.35101], "fy":[0.04386,0.04386,0.04386,0.04386]}, + {"t":0.1709, "x":3.45647, "y":7.50915, "heading":0.0, "vx":1.28582, "vy":0.00043, "omega":0.0, "ax":7.51822, "ay":0.00281, "alpha":0.0, "fx":[124.30198,124.30198,124.30198,124.30198], "fy":[0.04644,0.04644,0.04644,0.04644]}, + {"t":0.21363, "x":3.51827, "y":7.50917, "heading":0.0, "vx":1.60704, "vy":0.00055, "omega":0.0, "ax":7.51328, "ay":0.00301, "alpha":0.0, "fx":[124.22034,124.22034,124.22034,124.22034], "fy":[0.04971,0.04971,0.04971,0.04971]}, + {"t":0.25636, "x":3.59379, "y":7.5092, "heading":0.0, "vx":1.92805, "vy":0.00067, "omega":0.0, "ax":7.50342, "ay":0.00326, "alpha":0.0, "fx":[124.05734,124.05734,124.05734,124.05734], "fy":[0.05389,0.05389,0.05389,0.05389]}, + {"t":0.29908, "x":3.68301, "y":7.50923, "heading":0.0, "vx":2.24865, "vy":0.00081, "omega":0.0, "ax":7.47401, "ay":0.00362, "alpha":0.0, "fx":[123.57113,123.57113,123.57113,123.57113], "fy":[0.05978,0.05978,0.05978,0.05978]}, + {"t":0.34181, "x":3.78591, "y":7.50927, "heading":0.0, "vx":2.56798, "vy":0.00097, "omega":0.0, "ax":3.07492, "ay":0.01187, "alpha":0.0, "fx":[50.83899,50.83899,50.83899,50.83899], "fy":[0.19631,0.19631,0.19631,0.19631]}, + {"t":0.38453, "x":3.89844, "y":7.50932, "heading":0.0, "vx":2.69936, "vy":0.00148, "omega":0.0, "ax":0.00011, "ay":0.00894, "alpha":0.0, "fx":[0.00182,0.00182,0.00182,0.00182], "fy":[0.14784,0.14784,0.14784,0.14784]}, + {"t":0.42726, "x":4.01377, "y":7.50939, "heading":0.0, "vx":2.69936, "vy":0.00186, "omega":0.0, "ax":-0.00001, "ay":0.01114, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.18417,0.18417,0.18417,0.18417]}, + {"t":0.46999, "x":4.1291, "y":7.50948, "heading":0.0, "vx":2.69936, "vy":0.00233, "omega":0.0, "ax":-0.00001, "ay":0.01459, "alpha":0.0, "fx":[-0.00024,-0.00024,-0.00024,-0.00024], "fy":[0.24118,0.24118,0.24118,0.24118]}, + {"t":0.51271, "x":4.24444, "y":7.5096, "heading":0.0, "vx":2.69936, "vy":0.00296, "omega":0.0, "ax":-0.00002, "ay":0.01905, "alpha":0.0, "fx":[-0.00039,-0.00039,-0.00039,-0.00039], "fy":[0.31488,0.31488,0.31488,0.31488]}, + {"t":0.55544, "x":4.35977, "y":7.50974, "heading":0.0, "vx":2.69936, "vy":0.00377, "omega":0.0, "ax":-0.00004, "ay":0.02477, "alpha":0.0, "fx":[-0.00065,-0.00065,-0.00065,-0.00065], "fy":[0.40955,0.40955,0.40955,0.40955]}, + {"t":0.59816, "x":4.4751, "y":7.50992, "heading":0.0, "vx":2.69936, "vy":0.00483, "omega":0.0, "ax":-0.00007, "ay":0.03218, "alpha":0.0, "fx":[-0.00109,-0.00109,-0.00109,-0.00109], "fy":[0.53197,0.53197,0.53197,0.53197]}, + {"t":0.64089, "x":4.59043, "y":7.51016, "heading":0.0, "vx":2.69936, "vy":0.0062, "omega":0.0, "ax":-0.00011, "ay":0.04184, "alpha":0.0, "fx":[-0.00182,-0.00182,-0.00182,-0.00182], "fy":[0.69176,0.69176,0.69176,0.69176]}, + {"t":0.68362, "x":4.70577, "y":7.51046, "heading":0.0, "vx":2.69935, "vy":0.00799, "omega":0.0, "ax":-0.00019, "ay":0.05463, "alpha":0.0, "fx":[-0.00306,-0.00306,-0.00306,-0.00306], "fy":[0.9032,0.9032,0.9032,0.9032]}, + {"t":0.72634, "x":4.8211, "y":7.51085, "heading":0.0, "vx":2.69935, "vy":0.01033, "omega":0.0, "ax":-0.00032, "ay":0.07192, "alpha":0.0, "fx":[-0.00522,-0.00522,-0.00522,-0.00522], "fy":[1.18917,1.18917,1.18917,1.18917]}, + {"t":0.76907, "x":4.93643, "y":7.51136, "heading":0.0, "vx":2.69933, "vy":0.0134, "omega":0.0, "ax":-0.00055, "ay":0.09621, "alpha":0.0, "fx":[-0.00911,-0.00911,-0.00911,-0.00911], "fy":[1.59073,1.59073,1.59073,1.59073]}, + {"t":0.81179, "x":5.05176, "y":7.51202, "heading":0.0, "vx":2.69931, "vy":0.01751, "omega":0.0, "ax":-0.001, "ay":0.13265, "alpha":0.0, "fx":[-0.01652,-0.01652,-0.01652,-0.01652], "fy":[2.19311,2.19311,2.19311,2.19311]}, + {"t":0.85452, "x":5.16709, "y":7.51289, "heading":0.0, "vx":2.69927, "vy":0.02318, "omega":0.0, "ax":-0.00196, "ay":0.19337, "alpha":0.0, "fx":[-0.03234,-0.03234,-0.03234,-0.03234], "fy":[3.19712,3.19712,3.19712,3.19712]}, + {"t":0.89725, "x":5.28242, "y":7.51406, "heading":0.0, "vx":2.69918, "vy":0.03144, "omega":0.0, "ax":-0.00425, "ay":0.30269, "alpha":0.0, "fx":[-0.07026,-0.07026,-0.07026,-0.07026], "fy":[5.00445,5.00445,5.00445,5.00445]}, + {"t":0.93997, "x":5.39774, "y":7.51568, "heading":0.0, "vx":2.699, "vy":0.04437, "omega":0.0, "ax":-0.00712, "ay":0.36811, "alpha":0.0, "fx":[-0.11776,-0.11776,-0.11776,-0.11776], "fy":[6.08619,6.08619,6.08619,6.08619]}, + {"t":0.9827, "x":5.51305, "y":7.51791, "heading":0.0, "vx":2.6987, "vy":0.0601, "omega":0.0, "ax":-0.00017, "ay":-2.81675, "alpha":0.0, "fx":[-0.00288,-0.00288,-0.00288,-0.00288], "fy":[-46.57056,-46.57056,-46.57056,-46.57056]}, + {"t":1.02542, "x":5.62836, "y":7.5179, "heading":0.0, "vx":2.69869, "vy":-0.06025, "omega":0.0, "ax":-0.54535, "ay":-6.80686, "alpha":0.0, "fx":[-9.01654,-9.01654,-9.01654,-9.01654], "fy":[-112.54077,-112.54077,-112.54077,-112.54077]}, + {"t":1.06815, "x":5.74316, "y":7.50912, "heading":0.0, "vx":2.67539, "vy":-0.35108, "omega":0.0, "ax":-1.02025, "ay":-6.48088, "alpha":-3.00899, "fx":[5.928,8.83678,-48.24033,-33.99745], "fy":[-113.5751,-107.66419,-98.35956,-109.00602]}, + {"t":1.09196, "x":5.80657, "y":7.49892, "heading":0.0, "vx":2.6511, "vy":-0.50537, "omega":-0.07163, "ax":-1.17414, "ay":-5.43427, "alpha":-5.20356, "fx":[12.17218,22.31189,-68.53626,-43.59812], "fy":[-105.88291,-86.03644,-68.77521,-98.69399]}, + {"t":1.11576, "x":5.86935, "y":7.48535, "heading":-0.00171, "vx":2.62315, "vy":-0.63474, "omega":-0.19551, "ax":-0.90098, "ay":-3.48214, "alpha":-8.57267, "fx":[22.94372,45.82673,-78.08976,-50.2661], "fy":[-93.25474,-30.37478,-21.5743,-85.08291]}, + {"t":1.13957, "x":5.93154, "y":7.46925, "heading":-0.00636, "vx":2.6017, "vy":-0.71763, "omega":-0.3996, "ax":-0.50322, "ay":-1.76832, "alpha":-10.27216, "fx":[34.22061,52.17991,-68.67683,-51.00372], "fy":[-77.52614,17.12183,15.19277,-71.73382]}, + {"t":1.16338, "x":5.99333, "y":7.45167, "heading":-0.01587, "vx":2.58972, "vy":-0.75973, "omega":-0.64414, "ax":-0.25717, "ay":-0.86382, "alpha":-10.10879, "fx":[39.2822,49.06498,-56.24309,-49.11168], "fy":[-63.15857,32.84403,32.47048,-59.28384]}, + {"t":1.18718, "x":6.05491, "y":7.43334, "heading":-0.03121, "vx":2.5836, "vy":-0.7803, "omega":-0.88479, "ax":-0.12371, "ay":-0.40677, "alpha":-9.28176, "fx":[38.84115,44.89775,-46.31468,-45.60535], "fy":[-52.13435,35.89058,37.8921,-48.54938]}, + {"t":1.21099, "x":6.11638, "y":7.41465, "heading":-0.05227, "vx":2.58065, "vy":-0.78998, "omega":-1.10576, "ax":-0.05584, "ay":-0.18177, "alpha":-8.20679, "fx":[35.15319,40.37753,-38.19224,-41.03126], "fy":[-43.78886,33.71868,37.54538,-39.4964]}, + {"t":1.2348, "x":6.1778, "y":7.39579, "heading":-0.0786, "vx":2.57932, "vy":-0.79431, "omega":-1.30114, "ax":-0.02352, "ay":-0.07618, "alpha":-7.02229, "fx":[29.85608,35.42486,-31.00314,-35.83338], "fy":[-36.91007,29.18656,34.33828,-31.65263]}, + {"t":1.2586, "x":6.2392, "y":7.37686, "heading":-0.10957, "vx":2.57876, "vy":-0.79612, "omega":-1.46831, "ax":-0.00921, "ay":-0.0297, "alpha":-5.80795, "fx":[24.03754,30.12866,-24.44121,-30.33398], "fy":[-30.72578,23.75118,29.73574,-24.72502]}, + {"t":1.28241, "x":6.30059, "y":7.3579, "heading":-0.14453, "vx":2.57854, "vy":-0.79683, "omega":-1.60658, "ax":-0.00349, "ay":-0.01117, "alpha":-4.63492, "fx":[18.4188,24.74087,-18.55798,-24.83236], "fy":[-24.97137,18.30376,24.60174,-18.67273]}, + {"t":1.30621, "x":6.36197, "y":7.33892, "heading":-0.18277, "vx":2.57846, "vy":-0.79709, "omega":-1.71692, "ax":-0.00168, "ay":-0.00532, "alpha":-3.55991, "fx":[13.43074,19.54228,-13.49293,-19.59108], "fy":[-19.65448,13.3736,19.47886,-13.55002]}, + {"t":1.33002, "x":6.42336, "y":7.31995, "heading":-0.22365, "vx":2.57842, "vy":-0.79722, "omega":-1.80167, "ax":-0.00154, "ay":-0.0049, "alpha":-2.61231, "fx":[9.25635,14.72611,-9.3107,-14.77387], "fy":[-14.83082,9.2022,14.66914,-9.36482]}, + {"t":1.35383, "x":6.48474, "y":7.30097, "heading":-0.26654, "vx":2.57838, "vy":-0.79734, "omega":-1.86386, "ax":-0.00199, "ay":-0.00637, "alpha":-1.79615, "fx":[5.9084,10.37406,-5.97632,-10.438], "fy":[-10.51113,5.83677,10.30091,-6.04792]}, + {"t":1.37763, "x":6.54612, "y":7.28198, "heading":-0.31091, "vx":2.57833, "vy":-0.79749, "omega":-1.90662, "ax":-0.00247, "ay":-0.00791, "alpha":-1.10365, "fx":[3.32283,6.50934,-3.40533,-6.59001], "fy":[-6.68031,3.23312,6.41902,-3.49501]}, + {"t":1.40144, "x":6.6075, "y":7.26299, "heading":-0.3563, "vx":2.57828, "vy":-0.79768, "omega":-1.93289, "ax":-0.0027, "ay":-0.00866, "alpha":-0.52735, "fx":[1.41907,3.15481,-1.50848,-3.24378], "fy":[-3.34237,1.32058,3.0562,-1.60695]}, + {"t":1.42525, "x":6.66888, "y":7.244, "heading":-0.40232, "vx":2.57821, "vy":-0.79788, "omega":-1.94545, "ax":-0.00262, "ay":-0.0084, "alpha":-0.06353, "fx":[0.11514,0.34985,-0.20173,-0.43643], "fy":[-0.53209,0.01948,0.25419,-0.29738]}, + {"t":1.44905, "x":6.73026, "y":7.22501, "heading":-0.44863, "vx":2.57815, "vy":-0.79808, "omega":-1.94696, "ax":-0.00233, "ay":-0.00748, "alpha":0.29091, "fx":[-0.67988,-1.8703,0.60277,1.79329], "fy":[1.7082,-0.76494,-1.95538,0.5177]}, + {"t":1.47286, "x":6.79163, "y":7.206, "heading":-0.49498, "vx":2.57809, "vy":-0.79826, "omega":-1.94003, "ax":-0.00211, "ay":-0.00677, "alpha":0.54274, "fx":[-1.07183,-3.50411,1.0019,3.43449], "fy":[3.35743,-1.14885,-3.58116,0.92487]}, + {"t":1.49667, "x":6.85301, "y":7.187, "heading":-0.54116, "vx":2.57804, "vy":-0.79842, "omega":-1.92711, "ax":-0.00258, "ay":-0.00829, "alpha":0.70426, "fx":[-1.17896,-4.60159,1.09337,4.51657], "fy":[4.42212,-1.2734,-4.69603,0.99891]}, + {"t":1.52047, "x":6.91438, "y":7.16799, "heading":-0.58704, "vx":2.57798, "vy":-0.79862, "omega":-1.91035, "ax":-0.00532, "ay":-0.01715, "alpha":0.79242, "fx":[-1.13016,-5.27071,0.95344,5.09536], "fy":[4.89979,-1.32578,-5.4662,0.75773]}, + {"t":1.54428, "x":6.97575, "y":7.14897, "heading":-0.63252, "vx":2.57786, "vy":-0.79903, "omega":-1.89148, "ax":-0.01483, "ay":-0.04779, "alpha":0.82677, "fx":[-1.08622,-5.69597,0.59406,5.2075], "fy":[4.66265,-1.6312,-6.24011,0.04841]}, + {"t":1.56809, "x":7.03712, "y":7.12994, "heading":-0.67755, "vx":2.5775, "vy":-0.80016, "omega":-1.8718, "ax":-0.04433, "ay":-0.14247, "alpha":0.82789, "fx":[-1.33135,-6.22348,-0.13946,4.76228], "fy":[3.13825,-2.95289,-7.84098,-1.76668]}, + {"t":1.59189, "x":7.09847, "y":7.11085, "heading":-0.72211, "vx":2.57645, "vy":-0.80356, "omega":-1.85209, "ax":-0.13347, "ay":-0.42501, "alpha":0.81535, "fx":[-2.56861,-7.64448,-1.8568,3.2428], "fy":[-1.60026,-7.37179,-12.4283,-6.70746]}, + {"t":1.6157, "x":7.15977, "y":7.0916, "heading":-0.7662, "vx":2.57327, "vy":-0.81367, "omega":-1.83268, "ax":-0.39663, "ay":-1.22986, "alpha":0.78757, "fx":[-6.7659,-11.91964,-6.37832,-1.16659], "fy":[-15.17011,-20.37531,-25.43068,-20.35933]}, + {"t":1.6395, "x":7.22091, "y":7.07188, "heading":-0.80983, "vx":2.56383, "vy":-0.84295, "omega":-1.81393, "ax":-1.04363, "ay":-3.02891, "alpha":0.63464, "fx":[-17.6403,-22.06975,-16.93155,-12.37791], "fy":[-46.42068,-49.55612,-53.66016,-50.67617]}, + {"t":1.66331, "x":7.28165, "y":7.05095, "heading":-0.85302, "vx":2.53898, "vy":-0.91506, "omega":-1.79882, "ax":-1.92603, "ay":-4.97305, "alpha":0.36443, "fx":[-32.46702,-35.19513,-31.2777,-28.43601], "fy":[-80.74352,-81.30582,-83.68778,-83.14945]}, + {"t":1.68712, "x":7.34155, "y":7.02776, "heading":-0.89584, "vx":2.49313, "vy":-1.03345, "omega":-1.79015, "ax":-2.64391, "ay":-5.89547, "alpha":0.21089, "fx":[-44.26575,-45.86549,-43.19056,-41.5299], "fy":[-96.84367,-96.62499,-98.10175,-98.31943]}, + {"t":1.71092, "x":7.40016, "y":7.00148, "heading":-0.93846, "vx":2.43019, "vy":-1.1738, "omega":-1.78512, "ax":-3.21361, "ay":-6.16092, "alpha":0.14309, "fx":[-53.58275,-54.62778,-52.6986,-51.61893], "fy":[-101.47877,-101.12811,-102.24392,-102.59404]}, + {"t":1.73473, "x":7.4571, "y":6.97179, "heading":-0.98095, "vx":2.35368, "vy":-1.32047, "omega":-1.78172, "ax":-3.70964, "ay":-6.1436, "alpha":0.10983, "fx":[-61.71365,-62.46434,-60.96391,-60.19043], "fy":[-101.27388,-100.91556,-101.87522,-102.23463]}, + {"t":1.75854, "x":7.51208, "y":6.93862, "heading":-1.02337, "vx":2.26537, "vy":-1.46673, "omega":-1.7791, "ax":-4.21602, "ay":-5.95499, "alpha":0.09129, "fx":[-70.04493,-70.60441,-69.37406,-68.79766], "fy":[-98.17538,-97.83457,-98.73612,-99.07958]}, + {"t":1.78234, "x":7.56482, "y":6.90201, "heading":-1.06572, "vx":2.165, "vy":-1.6085, "omega":-1.77693, "ax":-4.4067, "ay":-5.74476, "alpha":0.08481, "fx":[-73.15252,-73.66784,-72.57026,-72.04078], "fy":[-94.70599,-94.37714,-95.25381,-95.58545]}, + {"t":1.80058, "x":7.60358, "y":6.87171, "heading":-1.09814, "vx":2.08462, "vy":-1.71329, "omega":-1.77538, "ax":-4.66317, "ay":-5.40787, "alpha":0.1136, "fx":[-77.4814,-78.11575,-76.72739,-76.0683], "fy":[-88.99016,-88.56937,-89.82741,-90.2559]}, + {"t":1.81883, "x":7.64083, "y":6.83956, "heading":-1.13052, "vx":1.99955, "vy":-1.81194, "omega":-1.77331, "ax":-4.81029, "ay":-5.06567, "alpha":0.16293, "fx":[-80.03713,-80.90287,-79.04805,-78.13448], "fy":[-83.08626,-82.52809,-84.40968,-84.98754]}, + {"t":1.83707, "x":7.6765, "y":6.80567, "heading":-1.16287, "vx":1.91181, "vy":-1.90434, "omega":-1.77034, "ax":-4.85654, "ay":-4.66065, "alpha":0.25261, "fx":[-80.97066,-82.2803,-79.67164,-78.25887], "fy":[-75.92003,-75.17945,-78.16593,-78.96109]}, + {"t":1.85531, "x":7.71057, "y":6.77015, "heading":-1.19516, "vx":1.82322, "vy":-1.98936, "omega":-1.76573, "ax":-4.72703, "ay":-4.15215, "alpha":0.42677, "fx":[-78.99054,-81.25499,-77.43856,-74.93234], "fy":[-66.54434,-65.64997,-70.67104,-71.73176]}, + {"t":1.87355, "x":7.74304, "y":6.73317, "heading":-1.22737, "vx":1.73699, "vy":-2.0651, "omega":-1.75795, "ax":-4.28578, "ay":-3.47133, "alpha":0.78262, "fx":[-71.49442,-76.08404,-70.50088,-65.3554], "fy":[-53.17677,-52.57892,-61.34035,-62.47637]}, + {"t":1.89179, "x":7.77401, "y":6.69493, "heading":-1.25944, "vx":1.65881, "vy":-2.12842, "omega":-1.74367, "ax":-3.37991, "ay":-2.55763, "alpha":1.47634, "fx":[-54.68614,-65.02168,-57.53017,-46.28832], "fy":[-33.71323,-35.14837,-50.07382,-50.21055]}, + {"t":1.91003, "x":7.80371, "y":6.65568, "heading":-1.29125, "vx":1.59716, "vy":-2.17507, "omega":-1.71674, "ax":-2.15137, "ay":-1.55048, "alpha":2.47278, "fx":[-29.72005,-50.20185,-41.66887,-20.68764], "fy":[-10.78161,-16.38383,-39.02944,-36.34394]}, + {"t":1.92827, "x":7.83248, "y":6.61574, "heading":-1.32256, "vx":1.55791, "vy":-2.20336, "omega":-1.67163, "ax":-1.14546, "ay":-0.80194, "alpha":3.36775, "fx":[-8.16044,-38.37717,-29.64349,0.42729], "fy":[6.68613,-1.74827,-31.73349,-26.23948]}, + {"t":1.94652, "x":7.86071, "y":6.57542, "heading":-1.35306, "vx":1.53702, "vy":-2.21799, "omega":-1.6102, "ax":-0.57363, "ay":-0.3956, "alpha":4.09288, "fx":[5.05712,-32.61571,-23.85807,13.48024], "fy":[17.00217,7.82031,-28.99671,-21.98842]}, + {"t":1.96476, "x":7.88865, "y":6.53489, "heading":-1.38243, "vx":1.52656, "vy":-2.2252, "omega":-1.53554, "ax":-0.29793, "ay":-0.20393, "alpha":4.80432, "fx":[13.11093,-31.52559,-22.79072,21.50225], "fy":[23.51482,14.33166,-29.48813,-21.84482]}, + {"t":1.983, "x":7.91645, "y":6.49427, "heading":-1.41044, "vx":1.52112, "vy":-2.22892, "omega":-1.4479, "ax":-0.18494, "ay":-0.12607, "alpha":5.56396, "fx":[18.72275,-33.25159,-24.65891,26.95723], "fy":[28.33214,19.34959,-31.86903,-24.15025]}, + {"t":2.00124, "x":7.94417, "y":6.45359, "heading":-1.43685, "vx":1.51775, "vy":-2.23122, "omega":-1.34641, "ax":-0.16765, "ay":-0.11393, "alpha":6.36743, "fx":[23.0852,-36.67892,-28.37783,30.88444], "fy":[32.26539,23.53203,-35.29519,-28.03692]}, + {"t":2.01948, "x":7.97183, "y":6.41287, "heading":-1.46141, "vx":1.51469, "vy":-2.2333, "omega":-1.23026, "ax":-0.2244, "ay":-0.15194, "alpha":7.18579, "fx":[26.47807,-41.34853,-33.41297,33.44331], "fy":[35.50327,26.91736,-39.29401,-33.17522]}, + {"t":2.03772, "x":7.99942, "y":6.3721, "heading":-1.48385, "vx":1.5106, "vy":-2.23607, "omega":-1.09918, "ax":-0.36285, "ay":-0.24438, "alpha":7.97719, "fx":[28.61729,-47.27506,-39.55524,34.21663], "fy":[37.93434,29.11443,-43.60831,-39.60254]}, + {"t":2.05596, "x":8.02691, "y":6.33127, "heading":-1.5039, "vx":1.50398, "vy":-2.24053, "omega":-0.95366, "ax":-0.61429, "ay":-0.41016, "alpha":8.67651, "fx":[28.67336,-54.79294,-46.74165,32.23615], "fy":[39.21609,29.35912,-48.0722,-47.62817]}, + {"t":2.07421, "x":8.05425, "y":6.29033, "heading":-1.5213, "vx":1.49277, "vy":-2.24801, "omega":-0.79539, "ax":-1.03483, "ay":-0.68097, "alpha":9.15449, "fx":[24.85153,-64.27831,-54.86627,25.85576], "fy":[38.55233,26.53315,-52.51092,-57.60959]}, + {"t":2.09245, "x":8.0813, "y":6.24921, "heading":-1.53581, "vx":1.47389, "vy":-2.26043, "omega":-0.6284, "ax":-1.71332, "ay":-1.1004, "alpha":9.12135, "fx":[12.93233,-75.55728,-63.59022,12.90688], "fy":[33.69683,19.40945,-56.68467,-69.1953]}, + {"t":2.11069, "x":8.1079, "y":6.2078, "heading":-1.54727, "vx":1.44264, "vy":-2.28051, "omega":-0.46202, "ax":-2.78263, "ay":-1.71718, "alpha":7.99963, "fx":[-16.42242,-87.25581,-72.48562,-7.86172], "fy":[18.46039,7.85849,-60.05596,-79.82623]}, + {"t":2.12893, "x":8.13376, "y":6.16591, "heading":-1.5557, "vx":1.39188, "vy":-2.31183, "omega":-0.31609, "ax":-4.13288, "ay":-2.39754, "alpha":5.77708, "fx":[-59.64383,-97.35274,-81.68412,-34.64231], "fy":[-7.78682,-4.94941,-61.18764,-84.63417]}, + {"t":2.14717, "x":8.15846, "y":6.12334, "heading":-1.56147, "vx":1.31649, "vy":-2.35556, "omega":-0.21071, "ax":-5.17555, "ay":-2.75844, "alpha":3.93976, "fx":[-86.76164,-104.62953,-90.40536,-60.48206], "fy":[-25.35903,-15.44303,-59.85745,-81.76659]}, + {"t":2.16541, "x":8.18161, "y":6.07992, "heading":-1.56531, "vx":1.22208, "vy":-2.40588, "omega":-0.13884, "ax":-5.84688, "ay":-2.8091, "alpha":2.77338, "fx":[-99.90608,-109.3948,-97.6788,-79.69658], "fy":[-32.18832,-22.11176,-56.8911,-74.58504]}, + {"t":2.18365, "x":8.20293, "y":6.03556, "heading":-1.56784, "vx":1.11543, "vy":-2.45712, "omega":-0.08825, "ax":-6.29249, "ay":-2.68101, "alpha":2.03802, "fx":[-107.18181,-112.68668,-103.52712,-92.75066], "fy":[-33.2872,-25.05111,-52.76341,-66.20356]}, + {"t":2.2019, "x":8.22223, "y":5.99029, "heading":-1.56945, "vx":1.00064, "vy":-2.50603, "omega":-0.05108, "ax":-6.60784, "ay":-2.45457, "alpha":1.56083, "fx":[-111.87309,-115.20337,-108.23194,-101.6932], "fy":[-31.4533,-25.19377,-47.84442,-57.83879]}, + {"t":2.22014, "x":8.23939, "y":5.94417, "heading":-1.57038, "vx":0.88011, "vy":-2.5508, "omega":-0.02261, "ax":-6.85665, "ay":-2.12895, "alpha":1.23923, "fx":[-115.4158,-117.39547,-112.27983,-108.36513], "fy":[-27.20925,-22.7513,-41.77701,-49.05771]}, + {"t":2.23838, "x":8.2543, "y":5.89729, "heading":-1.5708, "vx":0.75503, "vy":-2.58964, "omega":0.0, "ax":-7.07462, "ay":-1.82268, "alpha":0.0, "fx":[-116.9678,-116.9678,-116.9678,-116.9678], "fy":[-30.13512,-30.13512,-30.13512,-30.13512]}, + {"t":2.26703, "x":8.27303, "y":5.82233, "heading":-1.5708, "vx":0.5523, "vy":-2.64187, "omega":0.0, "ax":-7.03827, "ay":-1.19635, "alpha":0.0, "fx":[-116.36679,-116.36679,-116.36679,-116.36679], "fy":[-19.77974,-19.77974,-19.77974,-19.77974]}, + {"t":2.29569, "x":8.28597, "y":5.74613, "heading":-1.5708, "vx":0.35062, "vy":-2.67615, "omega":0.0, "ax":-6.70136, "ay":-0.63609, "alpha":0.0, "fx":[-110.79653,-110.79653,-110.79653,-110.79653], "fy":[-10.5167,-10.5167,-10.5167,-10.5167]}, + {"t":2.32435, "x":8.29326, "y":5.66919, "heading":-1.5708, "vx":0.15858, "vy":-2.69438, "omega":0.0, "ax":-5.52728, "ay":-0.16303, "alpha":0.0, "fx":[-91.38492,-91.38492,-91.38492,-91.38492], "fy":[-2.69548,-2.69548,-2.69548,-2.69548]}, + {"t":2.353, "x":8.29554, "y":5.59191, "heading":-1.5708, "vx":0.00019, "vy":-2.69905, "omega":0.0, "ax":-2.77724, "ay":0.04068, "alpha":0.0, "fx":[-45.91741,-45.91741,-45.91741,-45.91741], "fy":[0.67253,0.67253,0.67253,0.67253]}, + {"t":2.38166, "x":8.2944, "y":5.51458, "heading":-1.5708, "vx":-0.07939, "vy":-2.69789, "omega":0.0, "ax":-0.79092, "ay":0.02659, "alpha":0.0, "fx":[-13.0766,-13.0766,-13.0766,-13.0766], "fy":[0.43965,0.43965,0.43965,0.43965]}, + {"t":2.41031, "x":8.2918, "y":5.43728, "heading":-1.5708, "vx":-0.10206, "vy":-2.69712, "omega":0.0, "ax":-0.19775, "ay":0.00769, "alpha":0.0, "fx":[-3.26948,-3.26948,-3.26948,-3.26948], "fy":[0.12714,0.12714,0.12714,0.12714]}, + {"t":2.43897, "x":8.2888, "y":5.36, "heading":-1.5708, "vx":-0.10772, "vy":-2.6969, "omega":0.0, "ax":-0.04895, "ay":0.00197, "alpha":0.0, "fx":[-0.80934,-0.80934,-0.80934,-0.80934], "fy":[0.03254,0.03254,0.03254,0.03254]}, + {"t":2.46763, "x":8.28569, "y":5.28271, "heading":-1.5708, "vx":-0.10913, "vy":-2.69685, "omega":0.0, "ax":-0.01211, "ay":0.00049, "alpha":0.0, "fx":[-0.20023,-0.20023,-0.20023,-0.20023], "fy":[0.00811,0.00811,0.00811,0.00811]}, + {"t":2.49628, "x":8.28256, "y":5.20543, "heading":-1.5708, "vx":-0.10947, "vy":-2.69683, "omega":0.0, "ax":-0.003, "ay":0.00012, "alpha":0.0, "fx":[-0.04953,-0.04953,-0.04953,-0.04953], "fy":[0.00201,0.00201,0.00201,0.00201]}, + {"t":2.52494, "x":8.27942, "y":5.12815, "heading":-1.5708, "vx":-0.10956, "vy":-2.69683, "omega":0.0, "ax":-0.00074, "ay":0.00003, "alpha":0.0, "fx":[-0.01225,-0.01225,-0.01225,-0.01225], "fy":[0.0005,0.0005,0.0005,0.0005]}, + {"t":2.55359, "x":8.27628, "y":5.05087, "heading":-1.5708, "vx":-0.10958, "vy":-2.69683, "omega":0.0, "ax":-0.00018, "ay":0.00001, "alpha":0.0, "fx":[-0.00303,-0.00303,-0.00303,-0.00303], "fy":[0.00012,0.00012,0.00012,0.00012]}, + {"t":2.58225, "x":8.27314, "y":4.97359, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00075,-0.00075,-0.00075,-0.00075], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.61091, "x":8.27, "y":4.89631, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":2.63956, "x":8.26686, "y":4.81903, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.66822, "x":8.26372, "y":4.74175, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.69687, "x":8.26058, "y":4.66447, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00008,0.00008,0.00008,0.00008]}, + {"t":2.72553, "x":8.25744, "y":4.58719, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.00135, "ay":0.03322, "alpha":0.0, "fx":[0.02232,0.02232,0.02232,0.02232], "fy":[0.54929,0.54929,0.54929,0.54929]}, + {"t":2.75419, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.10955, "vy":-2.69588, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LTrenchtoDepot.traj b/src/main/deploy/choreo/LTrenchtoDepot.traj index 48471060..149fc0f6 100644 --- a/src/main/deploy/choreo/LTrenchtoDepot.traj +++ b/src/main/deploy/choreo/LTrenchtoDepot.traj @@ -3,20 +3,20 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.780329942703247, "y":5.9557576179504395, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"LTrench.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"LTrench.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.780329942703247 m", "val":1.780329942703247}, "y":{"exp":"5.9557576179504395 m", "val":5.9557576179504395}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -55,55 +55,54 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.16693,1.98872], + "waypoints":[0.0,1.1174,1.93916], "samples":[ - {"t":0.0, "x":3.76206, "y":7.35707, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.04584, "ay":-4.48109, "alpha":0.0, "fx":[-99.95858,-99.95858,-99.95858,-99.95858], "fy":[-74.08778,-74.08778,-74.08778,-74.08778]}, - {"t":0.04322, "x":3.75642, "y":7.35288, "heading":3.14159, "vx":-0.2613, "vy":-0.19367, "omega":0.0, "ax":-6.04483, "ay":-4.48033, "alpha":0.0, "fx":[-99.94179,-99.94179,-99.94179,-99.94179], "fy":[-74.07533,-74.07533,-74.07533,-74.07533]}, - {"t":0.08644, "x":3.73948, "y":7.34033, "heading":3.14159, "vx":-0.52255, "vy":-0.38731, "omega":0.0, "ax":-6.04341, "ay":-4.47928, "alpha":0.0, "fx":[-99.91831,-99.91831,-99.91831,-99.91831], "fy":[-74.05793,-74.05793,-74.05793,-74.05793]}, - {"t":0.12966, "x":3.71125, "y":7.3194, "heading":3.14159, "vx":-0.78375, "vy":-0.5809, "omega":0.0, "ax":-6.04128, "ay":-4.4777, "alpha":0.0, "fx":[-99.88314,-99.88314,-99.88314,-99.88314], "fy":[-74.03186,-74.03186,-74.03186,-74.03186]}, - {"t":0.17288, "x":3.67173, "y":7.29012, "heading":3.14159, "vx":-1.04485, "vy":-0.77443, "omega":0.0, "ax":-6.03774, "ay":-4.47508, "alpha":0.0, "fx":[-99.82468,-99.82468,-99.82468,-99.82468], "fy":[-73.98853,-73.98853,-73.98853,-73.98853]}, - {"t":0.2161, "x":3.62094, "y":7.25247, "heading":3.14159, "vx":-1.3058, "vy":-0.96784, "omega":0.0, "ax":-6.03071, "ay":-4.46987, "alpha":0.0, "fx":[-99.70835,-99.70835,-99.70835,-99.70835], "fy":[-73.90231,-73.90231,-73.90231,-73.90231]}, - {"t":0.25932, "x":3.55887, "y":7.20646, "heading":3.14159, "vx":-1.56644, "vy":-1.16103, "omega":0.0, "ax":-6.0099, "ay":-4.45444, "alpha":0.0, "fx":[-99.36426,-99.36426,-99.36426,-99.36426], "fy":[-73.64728,-73.64728,-73.64728,-73.64728]}, - {"t":0.30254, "x":3.48555, "y":7.15212, "heading":3.14159, "vx":-1.82619, "vy":-1.35354, "omega":0.0, "ax":-4.20649, "ay":-3.11779, "alpha":0.0, "fx":[-69.54779,-69.54779,-69.54779,-69.54779], "fy":[-51.54777,-51.54777,-51.54777,-51.54777]}, - {"t":0.34576, "x":3.4027, "y":7.09071, "heading":3.14159, "vx":-2.00799, "vy":-1.48829, "omega":0.0, "ax":-0.00021, "ay":-0.00015, "alpha":0.0, "fx":[-0.00345,-0.00345,-0.00345,-0.00345], "fy":[-0.00256,-0.00256,-0.00256,-0.00256]}, - {"t":0.38898, "x":3.31591, "y":7.02639, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.4322, "x":3.22913, "y":6.96206, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.47542, "x":3.14234, "y":6.89774, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.51864, "x":3.05556, "y":6.83342, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.56186, "x":2.96877, "y":6.76909, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.60508, "x":2.88199, "y":6.70477, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.64829, "x":2.7952, "y":6.64044, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.69151, "x":2.70842, "y":6.57612, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":0.73473, "x":2.62163, "y":6.5118, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":-0.00001, "ay":0.00001, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[0.00012,0.00012,0.00012,0.00012]}, - {"t":0.77795, "x":2.53485, "y":6.44747, "heading":3.14159, "vx":-2.008, "vy":-1.4883, "omega":0.0, "ax":-0.00006, "ay":0.00008, "alpha":0.0, "fx":[-0.00101,-0.00101,-0.00101,-0.00101], "fy":[0.00137,0.00137,0.00137,0.00137]}, - {"t":0.82117, "x":2.44806, "y":6.38315, "heading":3.14159, "vx":-2.00801, "vy":-1.4883, "omega":0.0, "ax":-0.00068, "ay":0.00092, "alpha":0.0, "fx":[-0.01126,-0.01126,-0.01126,-0.01126], "fy":[0.01519,0.01519,0.01519,0.01519]}, - {"t":0.86439, "x":2.36128, "y":6.31883, "heading":3.14159, "vx":-2.00803, "vy":-1.48826, "omega":0.0, "ax":-0.00756, "ay":0.01021, "alpha":0.0, "fx":[-0.12503,-0.12503,-0.12503,-0.12503], "fy":[0.16874,0.16874,0.16874,0.16874]}, - {"t":0.90761, "x":2.27448, "y":6.25451, "heading":3.14159, "vx":-2.00836, "vy":-1.48782, "omega":0.0, "ax":-0.08384, "ay":0.11347, "alpha":0.0, "fx":[-1.38623,-1.38623,-1.38623,-1.38623], "fy":[1.87603,1.87603,1.87603,1.87603]}, - {"t":0.95083, "x":2.1876, "y":6.19032, "heading":3.14159, "vx":-2.01199, "vy":-1.48291, "omega":0.0, "ax":-0.87707, "ay":1.22318, "alpha":0.0, "fx":[-14.50102,-14.50102,-14.50102,-14.50102], "fy":[20.22343,20.22343,20.22343,20.22343]}, - {"t":0.99405, "x":2.09983, "y":6.12737, "heading":3.14159, "vx":-2.04989, "vy":-1.43005, "omega":0.0, "ax":-2.2541, "ay":5.63453, "alpha":0.0, "fx":[-37.26806,-37.26806,-37.26806,-37.26806], "fy":[93.1582,93.1582,93.1582,93.1582]}, - {"t":1.03727, "x":2.00913, "y":6.07082, "heading":3.14159, "vx":-2.14731, "vy":-1.18652, "omega":0.0, "ax":5.85668, "ay":4.65235, "alpha":0.0, "fx":[96.831,96.831,96.831,96.831], "fy":[76.91942,76.91942,76.91942,76.91942]}, - {"t":1.08049, "x":1.92179, "y":6.02389, "heading":3.14159, "vx":-1.89419, "vy":-0.98545, "omega":0.0, "ax":5.95397, "ay":4.57113, "alpha":0.0, "fx":[98.43957,98.43957,98.43957,98.43957], "fy":[75.57648,75.57648,75.57648,75.57648]}, - {"t":1.12371, "x":1.84548, "y":5.98557, "heading":3.14159, "vx":-1.63686, "vy":-0.78789, "omega":0.0, "ax":5.98633, "ay":4.54341, "alpha":0.0, "fx":[98.97471,98.97471,98.97471,98.97471], "fy":[75.11824,75.11824,75.11824,75.11824]}, - {"t":1.16693, "x":1.78033, "y":5.95576, "heading":3.14159, "vx":-1.37813, "vy":-0.59152, "omega":0.0, "ax":-2.17858, "ay":7.0941, "alpha":0.0, "fx":[-36.01943,-36.01943,-36.01943,-36.01943], "fy":[117.28988,117.28988,117.28988,117.28988]}, - {"t":1.21018, "x":1.71869, "y":5.93681, "heading":3.14159, "vx":-1.47236, "vy":-0.28469, "omega":0.0, "ax":-0.63026, "ay":6.80827, "alpha":0.0, "fx":[-10.42035,-10.42035,-10.42035,-10.42035], "fy":[112.56411,112.56411,112.56411,112.56411]}, - {"t":1.25343, "x":1.65441, "y":5.93086, "heading":3.14159, "vx":-1.49962, "vy":0.00978, "omega":0.0, "ax":0.03693, "ay":1.39041, "alpha":0.0, "fx":[0.61053,0.61053,0.61053,0.61053], "fy":[22.98827,22.98827,22.98827,22.98827]}, - {"t":1.29669, "x":1.58959, "y":5.93259, "heading":3.14159, "vx":-1.49803, "vy":0.06992, "omega":0.0, "ax":0.00246, "ay":0.05191, "alpha":0.0, "fx":[0.0407,0.0407,0.0407,0.0407], "fy":[0.8582,0.8582,0.8582,0.8582]}, - {"t":1.33994, "x":1.5248, "y":5.93566, "heading":3.14159, "vx":-1.49792, "vy":0.07216, "omega":0.0, "ax":0.00009, "ay":0.00187, "alpha":0.0, "fx":[0.00149,0.00149,0.00149,0.00149], "fy":[0.03098,0.03098,0.03098,0.03098]}, - {"t":1.38319, "x":1.46001, "y":5.93878, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.00007, "alpha":0.0, "fx":[0.00005,0.00005,0.00005,0.00005], "fy":[0.00112,0.00112,0.00112,0.00112]}, - {"t":1.42644, "x":1.39522, "y":5.94191, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00004,0.00004,0.00004,0.00004]}, - {"t":1.46969, "x":1.33043, "y":5.94503, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.51295, "x":1.26564, "y":5.94816, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.5562, "x":1.20086, "y":5.95128, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.59945, "x":1.13607, "y":5.95441, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.6427, "x":1.07128, "y":5.95753, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.68596, "x":1.00649, "y":5.96066, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.72921, "x":0.9417, "y":5.96378, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":0.00007, "ay":0.0, "alpha":0.0, "fx":[0.00109,0.00109,0.00109,0.00109], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, - {"t":1.77246, "x":0.87692, "y":5.96691, "heading":3.14159, "vx":-1.49791, "vy":0.07225, "omega":0.0, "ax":4.60076, "ay":-0.22191, "alpha":0.0, "fx":[76.06639,76.06639,76.06639,76.06639], "fy":[-3.66892,-3.66892,-3.66892,-3.66892]}, - {"t":1.81571, "x":0.81643, "y":5.96982, "heading":3.14159, "vx":-1.29892, "vy":0.06265, "omega":0.0, "ax":7.49281, "ay":-0.3614, "alpha":0.0, "fx":[123.882,123.882,123.882,123.882], "fy":[-5.97521,-5.97521,-5.97521,-5.97521]}, - {"t":1.85896, "x":0.76726, "y":5.9722, "heading":3.14159, "vx":-0.97484, "vy":0.04702, "omega":0.0, "ax":7.50849, "ay":-0.36216, "alpha":0.0, "fx":[124.14112,124.14112,124.14112,124.14112], "fy":[-5.98771,-5.98771,-5.98771,-5.98771]}, - {"t":1.90222, "x":0.73212, "y":5.97389, "heading":3.14159, "vx":-0.65008, "vy":0.03136, "omega":0.0, "ax":7.51374, "ay":-0.36241, "alpha":0.0, "fx":[124.22804,124.22804,124.22804,124.22804], "fy":[-5.9919,-5.9919,-5.9919,-5.9919]}, - {"t":1.94547, "x":0.71103, "y":5.97491, "heading":3.14159, "vx":-0.3251, "vy":0.01568, "omega":0.0, "ax":7.51638, "ay":-0.36254, "alpha":0.0, "fx":[124.2716,124.2716,124.2716,124.2716], "fy":[-5.994,-5.994,-5.994,-5.994]}, - {"t":1.98872, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.76206, "y":7.35707, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.03836, "ay":-4.49165, "alpha":0.0, "fx":[-99.83484,-99.83484,-99.83484,-99.83484], "fy":[-74.26251,-74.26251,-74.26251,-74.26251]}, + {"t":0.04298, "x":3.75649, "y":7.35292, "heading":3.14159, "vx":-0.25951, "vy":-0.19304, "omega":0.0, "ax":-6.03752, "ay":-4.49103, "alpha":0.0, "fx":[-99.82097,-99.82097,-99.82097,-99.82097], "fy":[-74.2522,-74.2522,-74.2522,-74.2522]}, + {"t":0.08595, "x":3.73976, "y":7.34048, "heading":3.14159, "vx":-0.51898, "vy":-0.38605, "omega":0.0, "ax":-6.0364, "ay":-4.4902, "alpha":0.0, "fx":[-99.80249,-99.80249,-99.80249,-99.80249], "fy":[-74.23845,-74.23845,-74.23845,-74.23845]}, + {"t":0.12893, "x":3.71188, "y":7.31974, "heading":3.14159, "vx":-0.77841, "vy":-0.57902, "omega":0.0, "ax":-6.03484, "ay":-4.48904, "alpha":0.0, "fx":[-99.77661,-99.77661,-99.77661,-99.77661], "fy":[-74.2192,-74.2192,-74.2192,-74.2192]}, + {"t":0.17191, "x":3.67285, "y":7.29071, "heading":3.14159, "vx":-1.03776, "vy":-0.77195, "omega":0.0, "ax":-6.03249, "ay":-4.48729, "alpha":0.0, "fx":[-99.73781,-99.73781,-99.73781,-99.73781], "fy":[-74.19034,-74.19034,-74.19034,-74.19034]}, + {"t":0.21488, "x":3.62268, "y":7.25339, "heading":3.14159, "vx":-1.29702, "vy":-0.96479, "omega":0.0, "ax":-6.02858, "ay":-4.48438, "alpha":0.0, "fx":[-99.67317,-99.67317,-99.67317,-99.67317], "fy":[-74.14225,-74.14225,-74.14225,-74.14225]}, + {"t":0.25786, "x":3.56137, "y":7.20778, "heading":3.14159, "vx":-1.55611, "vy":-1.15752, "omega":0.0, "ax":-6.02077, "ay":-4.47857, "alpha":0.0, "fx":[-99.54406,-99.54406,-99.54406,-99.54406], "fy":[-74.04622,-74.04622,-74.04622,-74.04622]}, + {"t":0.30084, "x":3.48894, "y":7.1539, "heading":3.14159, "vx":-1.81486, "vy":-1.34999, "omega":0.0, "ax":-5.99745, "ay":-4.46122, "alpha":0.0, "fx":[-99.15846,-99.15846,-99.15846,-99.15846], "fy":[-73.75938,-73.75938,-73.75938,-73.75938]}, + {"t":0.34381, "x":3.4054, "y":7.09176, "heading":3.14159, "vx":-2.07261, "vy":-1.54172, "omega":0.0, "ax":-2.1698, "ay":-1.61401, "alpha":0.0, "fx":[-35.87428,-35.87428,-35.87428,-35.87428], "fy":[-26.68521,-26.68521,-26.68521,-26.68521]}, + {"t":0.38679, "x":3.31432, "y":7.02401, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":-0.00008, "ay":-0.00006, "alpha":0.0, "fx":[-0.00125,-0.00125,-0.00125,-0.00125], "fy":[-0.00093,-0.00093,-0.00093,-0.00093]}, + {"t":0.42977, "x":3.22124, "y":6.95477, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.47274, "x":3.12816, "y":6.88554, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.51572, "x":3.03508, "y":6.8163, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.5587, "x":2.942, "y":6.74706, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.60167, "x":2.84891, "y":6.67782, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":0.64465, "x":2.75583, "y":6.60858, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.00007,0.00007,0.00007,0.00007]}, + {"t":0.68763, "x":2.66275, "y":6.53934, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":-0.00003, "ay":0.00004, "alpha":0.0, "fx":[-0.00052,-0.00052,-0.00052,-0.00052], "fy":[0.0007,0.0007,0.0007,0.0007]}, + {"t":0.73061, "x":2.56967, "y":6.4701, "heading":3.14159, "vx":-2.16587, "vy":-1.61109, "omega":0.0, "ax":-0.0003, "ay":0.00041, "alpha":0.0, "fx":[-0.00502,-0.00502,-0.00502,-0.00502], "fy":[0.00675,0.00675,0.00675,0.00675]}, + {"t":0.77358, "x":2.47658, "y":6.40086, "heading":3.14159, "vx":-2.16588, "vy":-1.61107, "omega":0.0, "ax":-0.00292, "ay":0.00393, "alpha":0.0, "fx":[-0.04835,-0.04835,-0.04835,-0.04835], "fy":[0.06501,0.06501,0.06501,0.06501]}, + {"t":0.81656, "x":2.3835, "y":6.33162, "heading":3.14159, "vx":-2.16601, "vy":-1.6109, "omega":0.0, "ax":-0.02813, "ay":0.03785, "alpha":0.0, "fx":[-0.46502,-0.46502,-0.46502,-0.46502], "fy":[0.62576,0.62576,0.62576,0.62576]}, + {"t":0.85954, "x":2.29039, "y":6.26243, "heading":3.14159, "vx":-2.16722, "vy":-1.60927, "omega":0.0, "ax":-0.26825, "ay":0.36399, "alpha":0.0, "fx":[-4.43509,-4.43509,-4.43509,-4.43509], "fy":[6.01801,6.01801,6.01801,6.01801]}, + {"t":0.90251, "x":2.197, "y":6.1936, "heading":3.14159, "vx":-2.17875, "vy":-1.59363, "omega":0.0, "ax":-1.95522, "ay":2.83645, "alpha":0.0, "fx":[-32.32655,-32.32655,-32.32655,-32.32655], "fy":[46.89624,46.89624,46.89624,46.89624]}, + {"t":0.94549, "x":2.10156, "y":6.12773, "heading":3.14159, "vx":-2.26278, "vy":-1.47173, "omega":0.0, "ax":3.01925, "ay":6.44344, "alpha":0.0, "fx":[49.91862,49.91862,49.91862,49.91862], "fy":[106.53229,106.53229,106.53229,106.53229]}, + {"t":0.98847, "x":2.0071, "y":6.07043, "heading":3.14159, "vx":-2.13302, "vy":-1.19481, "omega":0.0, "ax":5.73269, "ay":4.80629, "alpha":0.0, "fx":[94.78113,94.78113,94.78113,94.78113], "fy":[79.46452,79.46452,79.46452,79.46452]}, + {"t":1.03144, "x":1.92072, "y":6.02352, "heading":3.14159, "vx":-1.88665, "vy":-0.98825, "omega":0.0, "ax":5.88079, "ay":4.66349, "alpha":0.0, "fx":[97.2297,97.2297,97.2297,97.2297], "fy":[77.1035,77.1035,77.1035,77.1035]}, + {"t":1.07442, "x":1.84507, "y":5.98536, "heading":3.14159, "vx":-1.63391, "vy":-0.78783, "omega":0.0, "ax":5.93327, "ay":4.61096, "alpha":0.0, "fx":[98.09729,98.09729,98.09729,98.09729], "fy":[76.23502,76.23502,76.23502,76.23502]}, + {"t":1.1174, "x":1.78033, "y":5.95576, "heading":3.14159, "vx":-1.37892, "vy":-0.58967, "omega":0.0, "ax":-2.16917, "ay":7.09592, "alpha":0.0, "fx":[-35.86387,-35.86387,-35.86387,-35.86387], "fy":[117.32003,117.32003,117.32003,117.32003]}, + {"t":1.16065, "x":1.71866, "y":5.93689, "heading":3.14159, "vx":-1.47273, "vy":-0.28276, "omega":0.0, "ax":-0.6215, "ay":6.79245, "alpha":0.0, "fx":[-10.27556,-10.27556,-10.27556,-10.27556], "fy":[112.30259,112.30259,112.30259,112.30259]}, + {"t":1.2039, "x":1.65438, "y":5.93101, "heading":3.14159, "vx":-1.49961, "vy":0.01101, "omega":0.0, "ax":0.03648, "ay":1.35665, "alpha":0.0, "fx":[0.6032,0.6032,0.6032,0.6032], "fy":[22.43017,22.43017,22.43017,22.43017]}, + {"t":1.24715, "x":1.58956, "y":5.93276, "heading":3.14159, "vx":-1.49804, "vy":0.06969, "omega":0.0, "ax":0.00239, "ay":0.05057, "alpha":0.0, "fx":[0.0395,0.0395,0.0395,0.0395], "fy":[0.83606,0.83606,0.83606,0.83606]}, + {"t":1.2904, "x":1.52477, "y":5.93582, "heading":3.14159, "vx":-1.49793, "vy":0.07188, "omega":0.0, "ax":0.00009, "ay":0.00183, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[0.03018,0.03018,0.03018,0.03018]}, + {"t":1.33365, "x":1.45998, "y":5.93893, "heading":3.14159, "vx":-1.49793, "vy":0.07195, "omega":0.0, "ax":0.0, "ay":0.00007, "alpha":0.0, "fx":[0.00005,0.00005,0.00005,0.00005], "fy":[0.00109,0.00109,0.00109,0.00109]}, + {"t":1.3769, "x":1.3952, "y":5.94204, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":1.42015, "x":1.33041, "y":5.94516, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.4634, "x":1.26563, "y":5.94827, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.50665, "x":1.20084, "y":5.95138, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.5499, "x":1.13605, "y":5.95449, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.59315, "x":1.07127, "y":5.9576, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.6364, "x":1.00648, "y":5.96072, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.67965, "x":0.94169, "y":5.96383, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":0.00007, "ay":0.0, "alpha":0.0, "fx":[0.00109,0.00109,0.00109,0.00109], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, + {"t":1.7229, "x":0.87691, "y":5.96694, "heading":3.14159, "vx":-1.49793, "vy":0.07196, "omega":0.0, "ax":4.60197, "ay":-0.22107, "alpha":0.0, "fx":[76.08646,76.08646,76.08646,76.08646], "fy":[-3.65506,-3.65506,-3.65506,-3.65506]}, + {"t":1.76615, "x":0.81643, "y":5.96985, "heading":3.14159, "vx":-1.29889, "vy":0.0624, "omega":0.0, "ax":7.49288, "ay":-0.35994, "alpha":0.0, "fx":[123.88313,123.88313,123.88313,123.88313], "fy":[-5.95113,-5.95113,-5.95113,-5.95113]}, + {"t":1.80941, "x":0.76726, "y":5.97221, "heading":3.14159, "vx":-0.97482, "vy":0.04683, "omega":0.0, "ax":7.50856, "ay":-0.3607, "alpha":0.0, "fx":[124.14227,124.14227,124.14227,124.14227], "fy":[-5.96358,-5.96358,-5.96358,-5.96358]}, + {"t":1.85266, "x":0.73212, "y":5.9739, "heading":3.14159, "vx":-0.65007, "vy":0.03123, "omega":0.0, "ax":7.51381, "ay":-0.36095, "alpha":0.0, "fx":[124.22919,124.22919,124.22919,124.22919], "fy":[-5.96775,-5.96775,-5.96775,-5.96775]}, + {"t":1.89591, "x":0.71103, "y":5.97491, "heading":3.14159, "vx":-0.32509, "vy":0.01562, "omega":0.0, "ax":7.51645, "ay":-0.36108, "alpha":0.0, "fx":[124.27276,124.27276,124.27276,124.27276], "fy":[-5.96984,-5.96984,-5.96984,-5.96984]}, + {"t":1.93916, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/OutposttoRClimb.traj b/src/main/deploy/choreo/OutposttoRClimb.traj index 281ff5fe..4b968b93 100644 --- a/src/main/deploy/choreo/OutposttoRClimb.traj +++ b/src/main/deploy/choreo/OutposttoRClimb.traj @@ -3,18 +3,18 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RClimb.x", "val":1.838799834251404}, "y":{"exp":"RClimb.y", "val":2.700927495956421}, "heading":{"exp":"RClimb.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -51,54 +51,52 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.46647], + "waypoints":[0.0,1.46548], "samples":[ - {"t":0.0, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.64278, "ay":5.58808, "alpha":7.88249, "fx":[-20.93655,121.63865,77.72327,-3.64809], "fy":[122.00842,26.00134,97.18827,124.36243]}, - {"t":0.03259, "x":0.44508, "y":0.44644, "heading":1.5708, "vx":0.08612, "vy":0.18211, "omega":0.25688, "ax":2.61731, "ay":5.5728, "alpha":7.9583, "fx":[-22.58107,121.73601,77.80762,-3.86985], "fy":[121.62872,25.46932,97.10858,124.34346]}, - {"t":0.06518, "x":0.44927, "y":0.45533, "heading":1.57917, "vx":0.17142, "vy":0.36371, "omega":0.51622, "ax":2.61926, "ay":5.57585, "alpha":7.92169, "fx":[-21.5811,121.72515,77.523,-4.44534], "fy":[121.68442,25.43773,97.32118,124.3087]}, - {"t":0.09776, "x":0.45625, "y":0.47015, "heading":1.59599, "vx":0.25677, "vy":0.54542, "omega":0.77438, "ax":2.65797, "ay":5.59746, "alpha":7.75735, "fx":[-17.3194,121.60174,76.86491,-5.36592], "fy":[122.18045,25.92461,97.82354,124.25238]}, - {"t":0.13035, "x":0.46603, "y":0.49089, "heading":1.62123, "vx":0.34339, "vy":0.72783, "omega":1.02718, "ax":2.75293, "ay":5.63311, "alpha":7.44644, "fx":[-8.52441,121.3571,75.83548,-6.6064], "fy":[122.8388,26.93314,98.60067,124.16628]}, - {"t":0.16294, "x":0.47868, "y":0.5176, "heading":1.6547, "vx":0.43311, "vy":0.9114, "omega":1.26984, "ax":2.93624, "ay":5.66511, "alpha":6.98506, "fx":[6.88059,120.97992,74.44722,-8.12317], "fy":[122.54876,28.44297,99.62296,124.04054]}, - {"t":0.19553, "x":0.49435, "y":0.55031, "heading":1.69608, "vx":0.52879, "vy":1.09602, "omega":1.49747, "ax":3.24252, "ay":5.64428, "alpha":6.44856, "fx":[31.10263,120.46042,72.72922,-9.85234], "fy":[118.17193,30.39745,100.84317,123.86464]}, - {"t":0.22812, "x":0.51331, "y":0.58903, "heading":1.74488, "vx":0.63446, "vy":1.27996, "omega":1.70762, "ax":3.65497, "ay":5.48185, "alpha":6.10351, "fx":[62.88151,119.79582,70.73756,-11.69808], "fy":[104.023,32.69254,102.1914,123.62833]}, - {"t":0.26071, "x":0.53593, "y":0.63365, "heading":1.80053, "vx":0.75357, "vy":1.4586, "omega":1.90652, "ax":4.03551, "ay":5.13632, "alpha":6.30661, "fx":[92.78491,118.9922,68.57836,-13.47178], "fy":[77.62112,35.17786,103.56088,123.32436]}, - {"t":0.29329, "x":0.56263, "y":0.68391, "heading":1.86266, "vx":0.88508, "vy":1.62599, "omega":2.11204, "ax":4.24536, "ay":4.72397, "alpha":7.01004, "fx":[110.87193,118.06393,66.49197,-14.6663], "fy":[47.08213,37.62832,104.74694,122.95632]}, - {"t":0.32588, "x":0.59372, "y":0.73941, "heading":1.93149, "vx":1.02343, "vy":1.77993, "omega":2.34049, "ax":4.33528, "ay":4.36325, "alpha":7.77961, "fx":[117.582,117.06558,65.33934,-13.27877], "fy":[21.53051,39.41665,105.07473,122.53659]}, - {"t":0.35847, "x":0.62938, "y":0.79973, "heading":2.00776, "vx":1.16471, "vy":1.92212, "omega":2.59401, "ax":4.83136, "ay":3.8212, "alpha":7.53038, "fx":[116.26188,116.43382,73.44198,13.37868], "fy":[1.48997,34.96031,97.27281,118.98751]}, - {"t":0.39106, "x":0.6699, "y":0.86439, "heading":2.09229, "vx":1.32215, "vy":2.04665, "omega":2.83942, "ax":5.77873, "ay":-2.23344, "alpha":0.31933, "fx":[94.31988,96.3261,96.74574,94.77731], "fy":[-40.25072,-36.8392,-33.57249,-37.04351]}, - {"t":0.42365, "x":0.71605, "y":0.92991, "heading":2.18483, "vx":1.51047, "vy":1.97386, "omega":2.84982, "ax":3.41304, "ay":-2.51736, "alpha":4.85209, "fx":[45.79807,81.108,73.90927,24.90177], "fy":[-74.08364,-40.59524,-2.18345,-49.62028]}, - {"t":0.45624, "x":0.76709, "y":0.99289, "heading":2.2777, "vx":1.6217, "vy":1.89183, "omega":3.00794, "ax":0.41305, "ay":-0.32363, "alpha":4.9058, "fx":[4.62578,38.89814,10.078,-26.28512], "fy":[-37.7218,-8.05224,27.6099,-3.23904]}, - {"t":0.48882, "x":0.82016, "y":1.05437, "heading":2.37572, "vx":1.63516, "vy":1.88128, "omega":3.16781, "ax":-4.09152, "ay":3.36882, "alpha":1.71924, "fx":[-73.658,-56.47119,-62.98525,-77.47349], "fy":[42.41815,62.37474,67.28567,50.71438]}, - {"t":0.52141, "x":0.87127, "y":1.11747, "heading":2.47895, "vx":1.50182, "vy":1.99107, "omega":3.22384, "ax":-5.55046, "ay":3.83684, "alpha":0.76791, "fx":[-95.30245,-87.47294,-88.59147,-95.70616], "fy":[57.09953,68.33805,69.20304,59.104]}, - {"t":0.554, "x":0.91727, "y":1.18439, "heading":2.58401, "vx":1.32094, "vy":2.1161, "omega":3.24887, "ax":-5.87108, "ay":3.21134, "alpha":-0.68591, "fx":[-94.82479,-100.20133,-99.54732,-93.70337], "fy":[58.52287,48.89879,47.19137,57.7647]}, - {"t":0.58659, "x":0.9572, "y":1.25506, "heading":2.68989, "vx":1.12961, "vy":2.22075, "omega":3.22651, "ax":-4.72378, "ay":2.06708, "alpha":-1.67166, "fx":[-77.36972,-86.1586,-79.61321,-69.26013], "fy":[45.88799,26.63675,20.64973,43.52925]}, - {"t":0.61918, "x":0.9915, "y":1.32853, "heading":2.79503, "vx":0.97567, "vy":2.28812, "omega":3.17204, "ax":-0.27667, "ay":0.00132, "alpha":-4.42269, "fx":[-17.25324,-31.08937,7.77963,22.26583], "fy":[26.56667,-12.33725,-26.92018,12.77781]}, - {"t":0.65176, "x":1.02315, "y":1.40309, "heading":2.89841, "vx":0.96666, "vy":2.28816, "omega":3.02791, "ax":1.99961, "ay":-0.95079, "alpha":-4.55786, "fx":[20.35866,7.21929,46.42277,58.24103], "fy":[13.14086,-36.22936,-40.11448,0.32341]}, - {"t":0.68435, "x":1.05571, "y":1.47715, "heading":2.99708, "vx":1.03182, "vy":2.25717, "omega":2.87938, "ax":2.48183, "ay":-1.18471, "alpha":-3.53321, "fx":[30.20453,22.27412,52.08244,59.57138], "fy":[1.24429,-38.35892,-37.18088,-4.0537]}, - {"t":0.71694, "x":1.09065, "y":1.55008, "heading":3.09091, "vx":1.1127, "vy":2.21857, "omega":2.76424, "ax":2.45923, "ay":-1.25421, "alpha":-2.40195, "fx":[31.98341,28.64423,49.21273,52.79795], "fy":[-8.33398,-34.24723,-31.79812,-8.56652]}, - {"t":0.74953, "x":1.12822, "y":1.62172, "heading":-3.10219, "vx":1.19284, "vy":2.17769, "omega":2.68596, "ax":2.29825, "ay":-1.27533, "alpha":-1.38146, "fx":[32.24254,31.51786,43.62746,44.60423], "fy":[-14.93862,-29.10255,-26.8814,-13.41963]}, - {"t":0.78212, "x":1.16831, "y":1.69201, "heading":-3.01466, "vx":1.26774, "vy":2.13613, "omega":2.64094, "ax":2.15032, "ay":-1.29473, "alpha":-0.49677, "fx":[33.25264,33.38573,37.82583,37.74474], "fy":[-19.51306,-24.3789,-23.26621,-18.46688]}, - {"t":0.81471, "x":1.21077, "y":1.76093, "heading":-2.9286, "vx":1.33781, "vy":2.09394, "omega":2.62475, "ax":2.05838, "ay":-1.33597, "alpha":0.31357, "fx":[35.59825,35.2935,32.45253,32.78444], "fy":[-23.0956,-20.14822,-21.0721,-24.03669]}, - {"t":0.84729, "x":1.25546, "y":1.82846, "heading":-2.84306, "vx":1.40489, "vy":2.0504, "omega":2.63497, "ax":2.0136, "ay":-1.40166, "alpha":1.1244, "fx":[39.23007,37.43339,27.14381,29.35992], "fy":[-26.13037,-15.98238,-20.16742,-30.41696]}, - {"t":0.87988, "x":1.30231, "y":1.89453, "heading":-2.75719, "vx":1.47051, "vy":2.00473, "omega":2.67161, "ax":1.97247, "ay":-1.46484, "alpha":1.99261, "fx":[43.60966,39.24733,20.86741,26.72221], "fy":[-28.33763,-11.09183,-20.12919,-37.31668]}, - {"t":0.91247, "x":1.35128, "y":1.95909, "heading":-2.67013, "vx":1.53479, "vy":1.95699, "omega":2.73655, "ax":1.82631, "ay":-1.43062, "alpha":2.91792, "fx":[47.00564,38.57937,11.73428,23.46124], "fy":[-28.2727,-4.05402,-19.41674,-42.86906]}, - {"t":0.94506, "x":1.40227, "y":2.0221, "heading":-2.58095, "vx":1.59431, "vy":1.91037, "omega":2.83164, "ax":1.27111, "ay":-1.014, "alpha":3.70534, "fx":[43.70856,28.5573,-3.65583,15.45348], "fy":[-21.52779,8.06988,-12.63197,-40.96948]}, - {"t":0.97765, "x":1.4549, "y":2.08382, "heading":-2.48867, "vx":1.63573, "vy":1.87732, "omega":2.95239, "ax":-0.89279, "ay":0.84027, "alpha":3.21154, "fx":[6.91423,-11.89079,-35.37888,-18.68826], "fy":[11.93598,34.92072,16.45393,-7.74045]}, - {"t":1.01024, "x":1.50773, "y":2.14544, "heading":-2.39246, "vx":1.60664, "vy":1.90471, "omega":3.05705, "ax":-4.34671, "ay":3.4757, "alpha":1.09191, "fx":[-65.32161,-68.04476,-77.86778,-76.23009], "fy":[61.43112,65.37744,54.25101,48.80172]}, - {"t":1.04282, "x":1.55778, "y":2.20936, "heading":-2.29283, "vx":1.46499, "vy":2.01797, "omega":3.09263, "ax":-6.29121, "ay":2.54053, "alpha":-1.50665, "fx":[-108.49138,-109.38141,-99.36629,-98.82217], "fy":[36.29631,25.44573,49.85441,56.41821]}, - {"t":1.07541, "x":1.60218, "y":2.27647, "heading":-2.19205, "vx":1.25997, "vy":2.10076, "omega":3.04353, "ax":-3.96162, "ay":-4.55401, "alpha":-8.56984, "fx":[-105.30531,-44.02389,9.23289,-121.90047], "fy":[-64.05514,-115.05565,-120.77985,-1.28316]}, - {"t":1.108, "x":1.64114, "y":2.34251, "heading":-2.09287, "vx":1.13086, "vy":1.95236, "omega":2.76426, "ax":-3.55809, "ay":-4.93198, "alpha":-8.62297, "fx":[-99.50269,-33.36428,20.19469,-122.63736], "fy":[-73.81827,-119.27942,-121.11015,-11.96289]}, - {"t":1.14059, "x":1.6761, "y":2.40352, "heading":-2.00278, "vx":1.01491, "vy":1.79163, "omega":2.48325, "ax":-3.36236, "ay":-5.11927, "alpha":-8.50976, "fx":[-95.47456,-26.92747,22.57615,-122.53995], "fy":[-79.305,-121.12264,-121.1898,-16.93905]}, - {"t":1.17318, "x":1.70739, "y":2.45919, "heading":-1.92186, "vx":0.90534, "vy":1.6248, "omega":2.20593, "ax":-3.23642, "ay":-5.25374, "alpha":-8.33149, "fx":[-92.10939,-21.88969,22.22719,-122.26478], "fy":[-83.35518,-122.24602,-121.48714,-20.3614]}, - {"t":1.20576, "x":1.73517, "y":2.50935, "heading":-1.84997, "vx":0.79987, "vy":1.45359, "omega":1.93442, "ax":-3.1522, "ay":-5.36222, "alpha":-8.11338, "fx":[-89.17111,-17.66299,20.29206,-121.92464], "fy":[-86.58657,-122.99496,-121.95611,-23.08645]}, - {"t":1.23835, "x":1.75957, "y":2.55387, "heading":-1.78693, "vx":0.69714, "vy":1.27885, "omega":1.67002, "ax":-3.09856, "ay":-5.45241, "alpha":-7.87619, "fx":[-86.59,-14.03705,17.27524,-121.56771], "fy":[-89.22913,-123.50608,-122.50237,-25.35087]}, - {"t":1.27094, "x":1.78064, "y":2.59265, "heading":-1.73251, "vx":0.59617, "vy":1.10116, "omega":1.41335, "ax":-3.06818, "ay":-5.52679, "alpha":-7.63935, "fx":[-84.34218,-10.90933,13.56696,-121.22548], "fy":[-91.39931,-123.85373,-123.02538,-27.22904]}, - {"t":1.30353, "x":1.79844, "y":2.6256, "heading":-1.68645, "vx":0.49618, "vy":0.92106, "omega":1.1644, "ax":-3.05435, "ay":-5.58633, "alpha":-7.42048, "fx":[-82.41862,-8.21886,9.56334,-120.92141], "fy":[-93.16871,-124.08575,-123.44433,-28.74617]}, - {"t":1.33612, "x":1.81299, "y":2.65265, "heading":-1.64851, "vx":0.39665, "vy":0.73901, "omega":0.92258, "ax":-3.05025, "ay":-5.6318, "alpha":-7.23453, "fx":[-80.81546,-5.92524,5.68996,-120.67347], "fy":[-94.58641,-124.23576,-123.71897,-29.91128]}, - {"t":1.36871, "x":1.82429, "y":2.67374, "heading":-1.61844, "vx":0.29724, "vy":0.55548, "omega":0.68682, "ax":-3.04893, "ay":-5.6643, "alpha":-7.0932, "fx":[-79.53099,-4.00056,2.38942,-120.49526], "fy":[-95.68767,-124.3285,-123.85834,-30.72707]}, - {"t":1.40129, "x":1.83236, "y":2.68884, "heading":-1.59606, "vx":0.19788, "vy":0.37089, "omega":0.45566, "ax":-3.04371, "ay":-5.6852, "alpha":-7.00518, "fx":[-78.5648,-2.42593,0.09532,-120.39686], "fy":[-96.49769,-124.38256,-123.91125,-31.19226]}, - {"t":1.43388, "x":1.83719, "y":2.6979, "heading":-1.58121, "vx":0.09869, "vy":0.18562, "omega":0.22737, "ax":-3.02854, "ay":-5.69581, "alpha":-6.97718, "fx":[-77.91779,-1.18963,-0.7957,-120.3854], "fy":[-97.03339,-124.41205,-123.93824,-31.3016]}, - {"t":1.46647, "x":1.8388, "y":2.70093, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.38696, "ay":5.46215, "alpha":8.59481, "fx":[-37.09177,122.41834,78.2303,-5.69788], "fy":[118.05191,22.09829,96.78903,124.29333]}, + {"t":0.03408, "x":0.44506, "y":0.44664, "heading":1.5708, "vx":0.08135, "vy":0.18616, "omega":0.29292, "ax":2.35249, "ay":5.43926, "alpha":8.69917, "fx":[-39.32276,122.50689,78.32587,-5.93109], "fy":[117.22838,21.51971,96.69991,124.27054]}, + {"t":0.06816, "x":0.4492, "y":0.45615, "heading":1.58078, "vx":0.16153, "vy":0.37153, "omega":0.5894, "ax":2.35069, "ay":5.44612, "alpha":8.65207, "fx":[-38.39243,122.47598,77.97072,-6.59436], "fy":[117.37796,21.60051,96.97209,124.22184]}, + {"t":0.10224, "x":0.45607, "y":0.47197, "heading":1.60087, "vx":0.24164, "vy":0.55714, "omega":0.88427, "ax":2.39771, "ay":5.4859, "alpha":8.42108, "fx":[-33.23508,122.31817,77.1579,-7.67151], "fy":[118.69201,22.36893,97.6021,124.13999]}, + {"t":0.13632, "x":0.4657, "y":0.49415, "heading":1.631, "vx":0.32336, "vy":0.74411, "omega":1.17127, "ax":2.53429, "ay":5.55606, "alpha":7.95045, "fx":[-21.18692,122.01754,75.89068,-9.11933], "fy":[121.03041,23.82994,98.56768,124.01522]}, + {"t":0.17041, "x":0.47819, "y":0.52273, "heading":1.67092, "vx":0.40973, "vy":0.93346, "omega":1.44223, "ax":2.84001, "ay":5.62245, "alpha":7.20308, "fx":[2.9454,121.55354,74.18938,-10.8675], "fy":[122.22633,25.94637,99.82411,123.83708]}, + {"t":0.20449, "x":0.4938, "y":0.55781, "heading":1.72007, "vx":0.50652, "vy":1.12508, "omega":1.68771, "ax":3.38836, "ay":5.54583, "alpha":6.41309, "fx":[43.89489,120.91122,72.10279,-12.82417], "fy":[113.26183,28.6095,101.29953,123.59587]}, + {"t":0.23857, "x":0.51303, "y":0.59938, "heading":1.77759, "vx":0.622, "vy":1.31409, "omega":1.90628, "ax":3.98385, "ay":5.14505, "alpha":6.36793, "fx":[88.49404,120.08882,69.72501,-14.84096], "fy":[82.44109,31.64472,102.88875,123.28671]}, + {"t":0.27265, "x":0.53654, "y":0.64715, "heading":1.84256, "vx":0.75777, "vy":1.48944, "omega":2.1233, "ax":4.26629, "ay":4.63932, "alpha":7.1702, "fx":[112.37729,119.08621,67.23119,-16.54907], "fy":[44.57928,34.87514,104.43449,122.92689]}, + {"t":0.30673, "x":0.56485, "y":0.7006, "heading":1.91492, "vx":0.90317, "vy":1.64755, "omega":2.36767, "ax":4.31448, "ay":4.31508, "alpha":7.983, "fx":[119.26706,117.89275,65.03548,-16.86237], "fy":[19.06604,38.09253,105.6195,122.59412]}, + {"t":0.34081, "x":0.59813, "y":0.75926, "heading":1.99562, "vx":1.05021, "vy":1.79461, "omega":2.63974, "ax":4.39968, "ay":4.16208, "alpha":8.23658, "fx":[119.71104,116.52609,65.07372,-10.34377], "fy":[7.28999,40.49021,105.03219,122.44145]}, + {"t":0.37489, "x":0.63648, "y":0.82284, "heading":2.08558, "vx":1.20016, "vy":1.93646, "omega":2.92045, "ax":6.85835, "ay":1.23134, "alpha":0.49638, "fx":[114.14494,114.30506,112.60322,112.5153], "fy":[14.7501,17.9314,25.72019,23.03136]}, + {"t":0.40897, "x":0.68137, "y":0.88955, "heading":2.18511, "vx":1.4339, "vy":1.97842, "omega":2.93737, "ax":5.92557, "ay":-0.3928, "alpha":-3.48283, "fx":[100.20492,91.06485,92.90088,107.70984], "fy":[29.68672,-0.24634,-44.96383,-10.45415]}, + {"t":0.44305, "x":0.73368, "y":0.95675, "heading":2.28522, "vx":1.63584, "vy":1.96504, "omega":2.81867, "ax":3.39871, "ay":1.25431, "alpha":-3.87953, "fx":[55.40155,32.84569,59.96387,76.55868], "fy":[48.51794,29.11937,-10.9731,16.28795]}, + {"t":0.47713, "x":0.7914, "y":1.02445, "heading":2.38129, "vx":1.75168, "vy":2.00778, "omega":2.68645, "ax":-3.13866, "ay":3.41395, "alpha":-0.30436, "fx":[-51.19909,-53.9861,-52.62734,-49.75887], "fy":[58.37163,55.64755,54.47925,57.27928]}, + {"t":0.51122, "x":0.84928, "y":1.09486, "heading":2.47284, "vx":1.64471, "vy":2.12414, "omega":2.67608, "ax":-5.27914, "ay":3.73416, "alpha":0.4434, "fx":[-89.11919,-84.7687,-85.55955,-89.68205], "fy":[58.23205,64.29498,65.07081,59.35606]}, + {"t":0.5453, "x":0.90227, "y":1.16942, "heading":2.56405, "vx":1.46479, "vy":2.2514, "omega":2.69119, "ax":-5.95742, "ay":3.03555, "alpha":1.0401, "fx":[-102.25256,-93.70298,-95.19458,-102.8366], "fy":[40.63059,57.161,58.64379,44.31677]}, + {"t":0.57938, "x":0.94873, "y":1.24791, "heading":2.65577, "vx":1.26175, "vy":2.35485, "omega":2.72664, "ax":-5.67753, "ay":1.17709, "alpha":3.21437, "fx":[-95.62477,-82.65551,-92.68142,-104.51458], "fy":[-13.96597,38.44989,45.43491,7.92671]}, + {"t":0.61346, "x":0.98843, "y":1.32885, "heading":2.74869, "vx":1.06826, "vy":2.39497, "omega":2.83619, "ax":-3.67121, "ay":-1.65219, "alpha":5.56358, "fx":[-44.54533,-32.47463,-80.99097,-84.78016], "fy":[-70.26773,-16.97422,14.80928,-36.83314]}, + {"t":0.64754, "x":1.02271, "y":1.40952, "heading":2.84535, "vx":0.94314, "vy":2.33866, "omega":3.0258, "ax":-0.94245, "ay":-3.14827, "alpha":4.49208, "fx":[0.19189,17.16094,-38.31487,-41.36578], "fy":[-74.6331,-44.19126,-27.35068,-62.0318]}, + {"t":0.68162, "x":1.0543, "y":1.48739, "heading":2.94847, "vx":0.91102, "vy":2.23137, "omega":3.17889, "ax":1.50388, "ay":-3.05254, "alpha":1.06652, "fx":[28.29405,32.2255,21.25726,17.68052], "fy":[-54.9542,-46.08672,-45.88993,-54.94539]}, + {"t":0.7157, "x":1.08622, "y":1.56167, "heading":3.05681, "vx":0.96227, "vy":2.12733, "omega":3.21524, "ax":2.89954, "ay":-2.19774, "alpha":-1.80362, "fx":[42.7501,37.5854,53.16756,58.25434], "fy":[-27.89152,-46.97198,-44.06496,-26.4163]}, + {"t":0.74978, "x":1.1207, "y":1.63289, "heading":-3.11679, "vx":1.06109, "vy":2.05243, "omega":3.15377, "ax":3.45158, "ay":-1.34789, "alpha":-3.22768, "fx":[46.7804,42.29239,67.55929,71.63409], "fy":[-5.39563,-44.55104,-35.85753,-3.33666]}, + {"t":0.78386, "x":1.15887, "y":1.70206, "heading":-3.00931, "vx":1.17873, "vy":2.00649, "omega":3.04377, "ax":3.57721, "ay":-0.69494, "alpha":-3.73377, "fx":[44.81345,45.79168,73.19161,72.77749], "fy":[8.02458,-39.0267,-26.18819,11.2316]}, + {"t":0.81794, "x":1.20112, "y":1.77004, "heading":-2.90557, "vx":1.30064, "vy":1.98281, "omega":2.91652, "ax":3.46339, "ay":-0.25551, "alpha":-3.66321, "fx":[40.70569,47.03517,72.95955,68.34642], "fy":[13.10575,-31.80818,-17.17268,18.97726]}, + {"t":0.85203, "x":1.24746, "y":1.83747, "heading":-2.80618, "vx":1.41868, "vy":1.9741, "omega":2.79167, "ax":3.2006, "ay":-0.03372, "alpha":-3.12177, "fx":[37.02621,45.95149,67.83575,60.85398], "fy":[11.58726,-23.93439,-10.02144,20.13865]}, + {"t":0.88611, "x":1.29767, "y":1.90473, "heading":-2.71103, "vx":1.52776, "vy":1.97295, "omega":2.68528, "ax":2.8301, "ay":-0.01854, "alpha":-2.10929, "fx":[35.15507,42.86146,57.86649,51.28227], "fy":[5.72816,-15.77,-5.46469,14.28019]}, + {"t":0.92019, "x":1.35138, "y":1.97195, "heading":-2.61952, "vx":1.62421, "vy":1.97232, "omega":2.61339, "ax":2.28332, "ay":-0.11522, "alpha":-0.60847, "fx":[34.17365,36.78133,41.27641,38.77314], "fy":[-0.76799,-6.21221,-3.00323,2.36318]}, + {"t":0.95427, "x":1.40806, "y":2.03911, "heading":-2.53045, "vx":1.70203, "vy":1.96839, "omega":2.59266, "ax":0.96745, "ay":0.01258, "alpha":1.61313, "fx":[26.3175,17.93118,5.46029,14.27208], "fy":[-1.65139,10.93462,2.15329,-10.60483]}, + {"t":0.98835, "x":1.46663, "y":2.1062, "heading":-2.44209, "vx":1.735, "vy":1.96882, "omega":2.64763, "ax":-2.84886, "ay":1.21906, "alpha":4.69736, "fx":[-16.99151,-43.2985,-72.67435,-55.44162], "fy":[22.75996,53.34112,20.46721,-15.94741]}, + {"t":1.02243, "x":1.5241, "y":2.17401, "heading":-2.35185, "vx":1.63791, "vy":2.01037, "omega":2.80773, "ax":-5.47664, "ay":2.38944, "alpha":4.73674, "fx":[-70.10033,-79.56744,-108.0134,-104.50937], "fy":[64.48086,76.25972,29.47298,-12.19113]}, + {"t":1.05651, "x":1.57675, "y":2.24391, "heading":-2.25616, "vx":1.45126, "vy":2.0918, "omega":2.96916, "ax":-6.69684, "ay":-2.35515, "alpha":-2.31525, "fx":[-115.29392,-101.18353,-107.67551,-118.73436], "fy":[-34.38859,-63.96689,-47.46087,-9.93877]}, + {"t":1.09059, "x":1.62232, "y":2.31383, "heading":-2.15497, "vx":1.22302, "vy":2.01154, "omega":2.89025, "ax":-4.22392, "ay":-4.80049, "alpha":-7.38407, "fx":[-103.51163,-45.92525,-7.96792,-121.93897], "fy":[-67.51121,-114.66165,-121.77064,-13.5308]}, + {"t":1.12467, "x":1.66155, "y":2.3796, "heading":-2.05647, "vx":1.07907, "vy":1.84793, "omega":2.6386, "ax":-3.68782, "ay":-5.02833, "alpha":-8.09893, "fx":[-98.62461,-33.92503,11.18594,-122.52555], "fy":[-75.18556,-119.24124,-122.53147,-15.58426]}, + {"t":1.15875, "x":1.69618, "y":2.43966, "heading":-1.96654, "vx":0.95338, "vy":1.67656, "omega":2.36258, "ax":-3.42893, "ay":-5.16245, "alpha":-8.24004, "fx":[-94.813,-26.586,17.21431,-122.58368], "fy":[-80.19938,-121.26473,-122.19641,-17.75153]}, + {"t":1.19284, "x":1.72668, "y":2.4938, "heading":-1.88602, "vx":0.83652, "vy":1.50062, "omega":2.08175, "ax":-3.26727, "ay":-5.27173, "alpha":-8.18604, "fx":[-91.50611,-20.94393,18.80582,-122.4327], "fy":[-84.08411,-122.4566,-122.14043,-19.95803]}, + {"t":1.22692, "x":1.75329, "y":2.54188, "heading":-1.81508, "vx":0.72517, "vy":1.32095, "omega":1.80276, "ax":-3.16044, "ay":-5.36582, "alpha":-8.04034, "fx":[-88.58664,-16.28676,18.04841,-122.18712], "fy":[-87.23236,-123.21847,-122.3561,-22.05487]}, + {"t":1.261, "x":1.77617, "y":2.58378, "heading":-1.75364, "vx":0.61746, "vy":1.13808, "omega":1.52874, "ax":-3.09131, "ay":-5.44621, "alpha":-7.85336, "fx":[-86.02703,-12.34697,15.84314,-121.90909], "fy":[-89.80864,-123.71343,-122.72461,-23.93167]}, + {"t":1.29508, "x":1.79542, "y":2.61941, "heading":-1.70154, "vx":0.5121, "vy":0.95247, "omega":1.26108, "ax":-3.04899, "ay":-5.51266, "alpha":-7.65885, "fx":[-83.82275,-8.99361,12.81508,-121.64012], "fy":[-91.90529,-124.03011,-123.12109,-25.51657]}, + {"t":1.32916, "x":1.8111, "y":2.64867, "heading":-1.65856, "vx":0.40819, "vy":0.76459, "omega":1.00006, "ax":-3.02398, "ay":-5.56483, "alpha":-7.48274, "fx":[-81.97518,-6.15083,9.54879,-121.41024], "fy":[-93.5835,-124.22493,-123.45029,-26.76437]}, + {"t":1.36324, "x":1.82326, "y":2.67149, "heading":-1.62447, "vx":0.30513, "vy":0.57494, "omega":0.74504, "ax":-3.0068, "ay":-5.60286, "alpha":-7.34567, "fx":[-80.48695,-3.77051,6.64817,-121.2416], "fy":[-94.88693,-124.33711,-123.66833,-27.64596]}, + {"t":1.39732, "x":1.83191, "y":2.68783, "heading":-1.59908, "vx":0.20266, "vy":0.38399, "omega":0.4947, "ax":-2.98793, "ay":-5.62746, "alpha":-7.26401, "fx":[-79.36103,-1.82142,4.72975,-121.15029], "fy":[-95.84684,-124.39516,-123.78284,-28.14022]}, + {"t":1.4314, "x":1.83708, "y":2.69765, "heading":-1.58222, "vx":0.10082, "vy":0.1922, "omega":0.24713, "ax":-2.95835, "ay":-5.6394, "alpha":-7.25129, "fx":[-78.60103,-0.28423,4.3862,-121.14756], "fy":[-96.4843,-124.42029,-123.82241,-28.22793]}, + {"t":1.46548, "x":1.8388, "y":2.70093, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/OutposttoRPreTrench.traj b/src/main/deploy/choreo/OutposttoRPreTrench.traj index 9f103d36..a0d4e77b 100644 --- a/src/main/deploy/choreo/OutposttoRPreTrench.traj +++ b/src/main/deploy/choreo/OutposttoRPreTrench.traj @@ -10,7 +10,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":false}], "targetDt":0.05 }, "params":{ diff --git a/src/main/deploy/choreo/RBumptoOutpost.traj b/src/main/deploy/choreo/RBumptoOutpost.traj index 9f418918..d35466bb 100644 --- a/src/main/deploy/choreo/RBumptoOutpost.traj +++ b/src/main/deploy/choreo/RBumptoOutpost.traj @@ -3,18 +3,18 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.5344297885894775, "y":2.057757616043091, "heading":1.5707963267948966, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.5344297885894775, "y":2.057757616043091, "heading":1.5707963267948966, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -51,44 +51,42 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.72882], + "waypoints":[0.0,1.65158], "samples":[ - {"t":0.0, "x":3.53443, "y":2.05776, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.67121, "ay":-3.48434, "alpha":0.0, "fx":[-110.29803,-110.29803,-110.29803,-110.29803], "fy":[-57.6081,-57.6081,-57.6081,-57.6081]}, - {"t":0.04939, "x":3.52629, "y":2.05351, "heading":1.5708, "vx":-0.32952, "vy":-0.17211, "omega":0.0, "ax":-6.67002, "ay":-3.48372, "alpha":0.0, "fx":[-110.27839,-110.27839,-110.27839,-110.27839], "fy":[-57.59784,-57.59784,-57.59784,-57.59784]}, - {"t":0.09879, "x":3.50188, "y":2.04076, "heading":1.5708, "vx":-0.65899, "vy":-0.34419, "omega":0.0, "ax":-6.66824, "ay":-3.48279, "alpha":0.0, "fx":[-110.24896,-110.24896,-110.24896,-110.24896], "fy":[-57.58247,-57.58247,-57.58247,-57.58247]}, - {"t":0.14818, "x":3.46119, "y":2.01951, "heading":1.5708, "vx":-0.98836, "vy":-0.51622, "omega":0.0, "ax":-6.66528, "ay":-3.48124, "alpha":0.0, "fx":[-110.20004,-110.20004,-110.20004,-110.20004], "fy":[-57.55692,-57.55692,-57.55692,-57.55692]}, - {"t":0.19758, "x":3.40424, "y":1.98976, "heading":1.5708, "vx":-1.31759, "vy":-0.68817, "omega":0.0, "ax":-6.65939, "ay":-3.47816, "alpha":0.0, "fx":[-110.10262,-110.10262,-110.10262,-110.10262], "fy":[-57.50604,-57.50604,-57.50604,-57.50604]}, - {"t":0.24697, "x":3.33104, "y":1.95153, "heading":1.5708, "vx":-1.64653, "vy":-0.85998, "omega":0.0, "ax":-6.64193, "ay":-3.46905, "alpha":0.0, "fx":[-109.81393,-109.81393,-109.81393,-109.81393], "fy":[-57.35526,-57.35526,-57.35526,-57.35526]}, - {"t":0.29637, "x":3.2416, "y":1.90482, "heading":1.5708, "vx":-1.97461, "vy":-1.03133, "omega":0.0, "ax":-4.87696, "ay":-2.54721, "alpha":0.0, "fx":[-80.63296,-80.63296,-80.63296,-80.63296], "fy":[-42.11419,-42.11419,-42.11419,-42.11419]}, - {"t":0.34576, "x":3.13812, "y":1.85077, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":-0.00015, "ay":-0.00008, "alpha":0.0, "fx":[-0.00254,-0.00254,-0.00254,-0.00254], "fy":[-0.00133,-0.00133,-0.00133,-0.00133]}, - {"t":0.39516, "x":3.02868, "y":1.79361, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.44455, "x":2.91925, "y":1.73645, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.49395, "x":2.80981, "y":1.67929, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.54334, "x":2.70038, "y":1.62214, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.59274, "x":2.59094, "y":1.56498, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.64213, "x":2.48151, "y":1.50782, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.69153, "x":2.37207, "y":1.45066, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.74092, "x":2.26264, "y":1.39351, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.79032, "x":2.1532, "y":1.33635, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.83971, "x":2.04377, "y":1.27919, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.88911, "x":1.93433, "y":1.22204, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.9385, "x":1.8249, "y":1.16488, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.9879, "x":1.71546, "y":1.10772, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.03729, "x":1.60603, "y":1.05056, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.08669, "x":1.49659, "y":0.99341, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.13608, "x":1.38716, "y":0.93625, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.18548, "x":1.27773, "y":0.87909, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.23487, "x":1.16829, "y":0.82193, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.28426, "x":1.05886, "y":0.76478, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.33366, "x":0.94942, "y":0.70762, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":0.00015, "ay":0.00008, "alpha":0.0, "fx":[0.00254,0.00254,0.00254,0.00254], "fy":[0.00133,0.00133,0.00133,0.00133]}, - {"t":1.38305, "x":0.83999, "y":0.65046, "heading":1.5708, "vx":-2.21551, "vy":-1.15715, "omega":0.0, "ax":4.87696, "ay":2.54721, "alpha":0.0, "fx":[80.63296,80.63296,80.63296,80.63296], "fy":[42.11419,42.11419,42.11419,42.11419]}, - {"t":1.43245, "x":0.7365, "y":0.59641, "heading":1.5708, "vx":-1.97461, "vy":-1.03133, "omega":0.0, "ax":6.64193, "ay":3.46905, "alpha":0.0, "fx":[109.81393,109.81393,109.81393,109.81393], "fy":[57.35526,57.35526,57.35526,57.35526]}, - {"t":1.48184, "x":0.64707, "y":0.5497, "heading":1.5708, "vx":-1.64653, "vy":-0.85998, "omega":0.0, "ax":6.65939, "ay":3.47816, "alpha":0.0, "fx":[110.10262,110.10262,110.10262,110.10262], "fy":[57.50604,57.50604,57.50604,57.50604]}, - {"t":1.53124, "x":0.57386, "y":0.51147, "heading":1.5708, "vx":-1.31759, "vy":-0.68817, "omega":0.0, "ax":6.66528, "ay":3.48124, "alpha":0.0, "fx":[110.20004,110.20004,110.20004,110.20004], "fy":[57.55692,57.55692,57.55692,57.55692]}, - {"t":1.58063, "x":0.51691, "y":0.48172, "heading":1.5708, "vx":-0.98836, "vy":-0.51622, "omega":0.0, "ax":6.66824, "ay":3.48279, "alpha":0.0, "fx":[110.24896,110.24896,110.24896,110.24896], "fy":[57.58247,57.58247,57.58247,57.58247]}, - {"t":1.63003, "x":0.47623, "y":0.46047, "heading":1.5708, "vx":-0.65899, "vy":-0.34419, "omega":0.0, "ax":6.67002, "ay":3.48372, "alpha":0.0, "fx":[110.27839,110.27839,110.27839,110.27839], "fy":[57.59784,57.59784,57.59784,57.59784]}, - {"t":1.67942, "x":0.45181, "y":0.44772, "heading":1.5708, "vx":-0.32952, "vy":-0.17211, "omega":0.0, "ax":6.67121, "ay":3.48434, "alpha":0.0, "fx":[110.29803,110.29803,110.29803,110.29803], "fy":[57.6081,57.6081,57.6081,57.6081]}, - {"t":1.72882, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.53443, "y":2.05776, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.6716, "ay":-3.48454, "alpha":0.0, "fx":[-110.30448,-110.30448,-110.30448,-110.30448], "fy":[-57.61147,-57.61147,-57.61147,-57.61147]}, + {"t":0.05005, "x":3.52607, "y":2.05339, "heading":1.5708, "vx":-0.3339, "vy":-0.17439, "omega":0.0, "ax":-6.67067, "ay":-3.48406, "alpha":0.0, "fx":[-110.28911,-110.28911,-110.28911,-110.28911], "fy":[-57.60344,-57.60344,-57.60344,-57.60344]}, + {"t":0.1001, "x":3.50101, "y":2.0403, "heading":1.5708, "vx":-0.66775, "vy":-0.34876, "omega":0.0, "ax":-6.66937, "ay":-3.48338, "alpha":0.0, "fx":[-110.26759,-110.26759,-110.26759,-110.26759], "fy":[-57.5922,-57.5922,-57.5922,-57.5922]}, + {"t":0.15014, "x":3.45924, "y":2.01848, "heading":1.5708, "vx":-1.00154, "vy":-0.5231, "omega":0.0, "ax":-6.66741, "ay":-3.48236, "alpha":0.0, "fx":[-110.23529,-110.23529,-110.23529,-110.23529], "fy":[-57.57533,-57.57533,-57.57533,-57.57533]}, + {"t":0.20019, "x":3.40076, "y":1.98794, "heading":1.5708, "vx":-1.33523, "vy":-0.69738, "omega":0.0, "ax":-6.66416, "ay":-3.48065, "alpha":0.0, "fx":[-110.18144,-110.18144,-110.18144,-110.18144], "fy":[-57.5472,-57.5472,-57.5472,-57.5472]}, + {"t":0.25024, "x":3.32559, "y":1.94868, "heading":1.5708, "vx":-1.66876, "vy":-0.87158, "omega":0.0, "ax":-6.65764, "ay":-3.47725, "alpha":0.0, "fx":[-110.07363,-110.07363,-110.07363,-110.07363], "fy":[-57.4909,-57.4909,-57.4909,-57.4909]}, + {"t":0.30029, "x":3.23373, "y":1.90071, "heading":1.5708, "vx":-2.00196, "vy":-1.04561, "omega":0.0, "ax":-6.63805, "ay":-3.46702, "alpha":0.0, "fx":[-109.74985,-109.74985,-109.74985,-109.74985], "fy":[-57.32179,-57.32179,-57.32179,-57.32179]}, + {"t":0.35033, "x":3.12523, "y":1.84403, "heading":1.5708, "vx":-2.33418, "vy":-1.21913, "omega":0.0, "ax":-1.17025, "ay":-0.61121, "alpha":0.0, "fx":[-19.34819,-19.34819,-19.34819,-19.34819], "fy":[-10.10546,-10.10546,-10.10546,-10.10546]}, + {"t":0.40038, "x":3.00694, "y":1.78225, "heading":1.5708, "vx":-2.39274, "vy":-1.24972, "omega":0.0, "ax":-0.00002, "ay":-0.00001, "alpha":0.0, "fx":[-0.00034,-0.00034,-0.00034,-0.00034], "fy":[-0.00018,-0.00018,-0.00018,-0.00018]}, + {"t":0.45043, "x":2.88719, "y":1.71971, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.50048, "x":2.76744, "y":1.65716, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.55053, "x":2.64769, "y":1.59462, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.60057, "x":2.52793, "y":1.53207, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.65062, "x":2.40818, "y":1.46952, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.70067, "x":2.28843, "y":1.40698, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.75072, "x":2.16868, "y":1.34443, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.80077, "x":2.04893, "y":1.28189, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.85081, "x":1.92918, "y":1.21934, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.90086, "x":1.80942, "y":1.1568, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.95091, "x":1.68967, "y":1.09425, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.00096, "x":1.56992, "y":1.0317, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.051, "x":1.45017, "y":0.96916, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.10105, "x":1.33042, "y":0.90661, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.1511, "x":1.21067, "y":0.84407, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.20115, "x":1.09091, "y":0.78152, "heading":1.5708, "vx":-2.39275, "vy":-1.24972, "omega":0.0, "ax":0.00002, "ay":0.00001, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.00018,0.00018,0.00018,0.00018]}, + {"t":1.2512, "x":0.97116, "y":0.71898, "heading":1.5708, "vx":-2.39274, "vy":-1.24972, "omega":0.0, "ax":1.17025, "ay":0.61121, "alpha":0.0, "fx":[19.34819,19.34819,19.34819,19.34819], "fy":[10.10546,10.10546,10.10546,10.10546]}, + {"t":1.30124, "x":0.85288, "y":0.6572, "heading":1.5708, "vx":-2.33418, "vy":-1.21913, "omega":0.0, "ax":6.63805, "ay":3.46702, "alpha":0.0, "fx":[109.74985,109.74985,109.74985,109.74985], "fy":[57.32179,57.32179,57.32179,57.32179]}, + {"t":1.35129, "x":0.74437, "y":0.60052, "heading":1.5708, "vx":-2.00196, "vy":-1.04561, "omega":0.0, "ax":6.65764, "ay":3.47725, "alpha":0.0, "fx":[110.07363,110.07363,110.07363,110.07363], "fy":[57.4909,57.4909,57.4909,57.4909]}, + {"t":1.40134, "x":0.65251, "y":0.55255, "heading":1.5708, "vx":-1.66876, "vy":-0.87158, "omega":0.0, "ax":6.66416, "ay":3.48065, "alpha":0.0, "fx":[110.18144,110.18144,110.18144,110.18144], "fy":[57.5472,57.5472,57.5472,57.5472]}, + {"t":1.45139, "x":0.57734, "y":0.51329, "heading":1.5708, "vx":-1.33523, "vy":-0.69738, "omega":0.0, "ax":6.66741, "ay":3.48236, "alpha":0.0, "fx":[110.23529,110.23529,110.23529,110.23529], "fy":[57.57533,57.57533,57.57533,57.57533]}, + {"t":1.50144, "x":0.51887, "y":0.48274, "heading":1.5708, "vx":-1.00154, "vy":-0.5231, "omega":0.0, "ax":6.66937, "ay":3.48338, "alpha":0.0, "fx":[110.26759,110.26759,110.26759,110.26759], "fy":[57.5922,57.5922,57.5922,57.5922]}, + {"t":1.55148, "x":0.47709, "y":0.46093, "heading":1.5708, "vx":-0.66775, "vy":-0.34876, "omega":0.0, "ax":6.67067, "ay":3.48406, "alpha":0.0, "fx":[110.28911,110.28911,110.28911,110.28911], "fy":[57.60344,57.60344,57.60344,57.60344]}, + {"t":1.60153, "x":0.45203, "y":0.44784, "heading":1.5708, "vx":-0.3339, "vy":-0.17439, "omega":0.0, "ax":6.6716, "ay":3.48454, "alpha":0.0, "fx":[110.30448,110.30448,110.30448,110.30448], "fy":[57.61147,57.61147,57.61147,57.61147]}, + {"t":1.65158, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/RNeutraltoRPreTrench.traj b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj index cef203bb..aca9a561 100644 --- a/src/main/deploy/choreo/RNeutraltoRPreTrench.traj +++ b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj @@ -3,14 +3,14 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.087620258331299, "y":0.7324380278587341, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.087620258331299, "y":0.7324380278587341, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -18,8 +18,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.087620258331299 m", "val":6.087620258331299}, "y":{"exp":"0.7324380278587341 m", "val":0.7324380278587341}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.087620258331299 m", "val":6.087620258331299}, "y":{"exp":"0.7324380278587341 m", "val":0.7324380278587341}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrench.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -59,83 +59,81 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.36406,2.46808], + "waypoints":[0.0,1.27192,2.29416], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-1.07153, "vy":-2.25504, "omega":1.69788, "ax":-0.03655, "ay":-0.07379, "alpha":-0.04048, "fx":[-0.41333,-0.7953,-0.79525,-0.4133], "fy":[-1.0291,-1.02907,-1.41097,-1.41102]}, - {"t":0.03031, "x":7.78787, "y":3.48859, "heading":1.62226, "vx":-1.07264, "vy":-2.25728, "omega":1.69666, "ax":-0.00044, "ay":0.0002, "alpha":-0.05762, "fx":[0.25018,-0.29276,-0.26479,0.27815], "fy":[0.28878,0.26081,-0.28213,-0.25417]}, - {"t":0.06062, "x":7.75535, "y":3.42017, "heading":1.67369, "vx":-1.07266, "vy":-2.25727, "omega":1.69491, "ax":-0.00034, "ay":0.00016, "alpha":-0.06273, "fx":[0.25836,-0.33039,-0.26959,0.31916], "fy":[0.32745,0.26665,-0.3221,-0.2613]}, - {"t":0.09094, "x":7.72284, "y":3.35175, "heading":1.72507, "vx":-1.07267, "vy":-2.25726, "omega":1.69301, "ax":-0.00036, "ay":0.00017, "alpha":-0.05813, "fx":[0.22281,-0.31915,-0.23487,0.30709], "fy":[0.31599,0.23171,-0.31025,-0.22597]}, - {"t":0.12125, "x":7.69032, "y":3.28332, "heading":1.77639, "vx":-1.07268, "vy":-2.25726, "omega":1.69124, "ax":-0.0004, "ay":0.00019, "alpha":-0.04616, "fx":[0.16208,-0.26428,-0.17537,0.25099], "fy":[0.2608,0.17188,-0.25448,-0.16556]}, - {"t":0.15156, "x":7.65781, "y":3.2149, "heading":1.82766, "vx":-1.07269, "vy":-2.25725, "omega":1.68985, "ax":-0.00043, "ay":0.0002, "alpha":-0.02916, "fx":[0.09105,-0.17509,-0.10519,0.16095], "fy":[0.17138,0.10148,-0.16466,-0.09475]}, - {"t":0.18187, "x":7.62529, "y":3.14648, "heading":1.87888, "vx":-1.0727, "vy":-2.25725, "omega":1.68896, "ax":-0.00044, "ay":0.00021, "alpha":-0.00947, "fx":[0.02179,-0.06338,-0.03627,0.0489], "fy":[0.05958,0.03247,-0.0527,-0.02559]}, - {"t":0.21219, "x":7.59277, "y":3.07805, "heading":1.93008, "vx":-1.07272, "vy":-2.25724, "omega":1.68867, "ax":-0.00043, "ay":0.0002, "alpha":0.01059, "fx":[-0.03634,0.0572,0.02207,-0.07147], "fy":[-0.06095,-0.02582,0.06772,0.03259]}, - {"t":0.2425, "x":7.56026, "y":3.00963, "heading":1.98126, "vx":-1.07273, "vy":-2.25723, "omega":1.689, "ax":-0.00041, "ay":0.00019, "alpha":0.0287, "fx":[-0.07687,0.17142,0.06337,-0.18492], "fy":[-0.17497,-0.06691,0.18138,0.07332]}, - {"t":0.27281, "x":7.52774, "y":2.94121, "heading":2.03246, "vx":-1.07274, "vy":-2.25723, "omega":1.68987, "ax":-0.00037, "ay":0.00017, "alpha":0.04252, "fx":[-0.09633,0.26283,0.08414,-0.27502], "fy":[-0.26603,-0.08734,0.27181,0.09313]}, - {"t":0.30312, "x":7.49522, "y":2.87279, "heading":2.08368, "vx":-1.07275, "vy":-2.25722, "omega":1.69115, "ax":-0.00031, "ay":0.00015, "alpha":0.04968, "fx":[-0.09438,0.31401,0.08403,-0.32437], "fy":[-0.31674,-0.08675,0.32164,0.09165]}, - {"t":0.33344, "x":7.46271, "y":2.80437, "heading":2.13495, "vx":-1.07276, "vy":-2.25722, "omega":1.69266, "ax":-0.00024, "ay":0.00011, "alpha":0.04779, "fx":[-0.07398,0.30707,0.06596,-0.31509], "fy":[-0.30919,-0.06807,0.31298,0.07187]}, - {"t":0.36375, "x":7.43019, "y":2.73594, "heading":2.18626, "vx":-1.07277, "vy":-2.25722, "omega":1.69411, "ax":-0.00016, "ay":0.00007, "alpha":0.03448, "fx":[-0.04153,0.22409,0.03628,-0.22934], "fy":[-0.22547,-0.03766,0.22795,0.04014]}, - {"t":0.39406, "x":7.39767, "y":2.66752, "heading":2.23761, "vx":-1.07277, "vy":-2.25721, "omega":1.69515, "ax":-0.00007, "ay":0.00003, "alpha":0.00738, "fx":[-0.0069,0.0478,0.00475,-0.04995], "fy":[-0.04837,-0.00532,0.04937,0.00632]}, - {"t":0.42437, "x":7.36515, "y":2.5991, "heading":2.28899, "vx":-1.07278, "vy":-2.25721, "omega":1.69538, "ax":0.00003, "ay":-0.00002, "alpha":-0.03579, "fx":[0.01659,-0.23765,-0.01547,0.23877], "fy":[0.23793,0.01575,-0.23849,-0.01631]}, - {"t":0.45469, "x":7.33263, "y":2.53068, "heading":2.34038, "vx":-1.07277, "vy":-2.25721, "omega":1.69429, "ax":0.00013, "ay":-0.00006, "alpha":-0.09716, "fx":[0.01243,-0.64596,-0.00806,0.65033], "fy":[0.64709,0.00919,-0.6492,-0.0113]}, - {"t":0.485, "x":7.30011, "y":2.46226, "heading":2.39174, "vx":-1.07277, "vy":-2.25722, "omega":1.69135, "ax":0.00022, "ay":-0.00011, "alpha":-0.17875, "fx":[-0.0387,-1.18808,0.04606,1.19545], "fy":[1.19,-0.04415,-1.19353,0.04062]}, - {"t":0.51531, "x":7.2676, "y":2.39384, "heading":2.44301, "vx":-1.07276, "vy":-2.25722, "omega":1.68593, "ax":0.0003, "ay":-0.00014, "alpha":-0.28238, "fx":[-0.15843,-1.87191,0.16827,1.88175], "fy":[1.87448,-0.16571,-1.87918,0.161]}, - {"t":0.54562, "x":7.23508, "y":2.32541, "heading":2.49412, "vx":-1.07275, "vy":-2.25722, "omega":1.67737, "ax":0.00035, "ay":-0.00017, "alpha":-0.40983, "fx":[-0.37014,-2.70246,0.38168,2.714], "fy":[2.70547,-0.37867,-2.71099,0.37315]}, - {"t":0.57594, "x":7.20256, "y":2.25699, "heading":2.54496, "vx":-1.07274, "vy":-2.25723, "omega":1.66495, "ax":0.00037, "ay":-0.00018, "alpha":-0.56289, "fx":[-0.69854,-3.68253,0.71084,3.69481], "fy":[3.68573,-0.70763,-3.69161,0.70174]}, - {"t":0.60625, "x":7.17004, "y":2.18857, "heading":2.59543, "vx":-1.07273, "vy":-2.25723, "omega":1.64788, "ax":0.00036, "ay":-0.00017, "alpha":-0.74363, "fx":[-1.1696,-4.81391,1.18161,4.82589], "fy":[4.81703,-1.17848,-4.82276,1.17273]}, - {"t":0.63656, "x":7.13753, "y":2.12015, "heading":2.64538, "vx":-1.07272, "vy":-2.25724, "omega":1.62534, "ax":0.00032, "ay":-0.00015, "alpha":-0.95458, "fx":[-1.81081,-6.09881,1.82149,6.10946], "fy":[6.10159,-1.81872,-6.10668,1.81358]}, - {"t":0.66687, "x":7.10501, "y":2.05172, "heading":2.69465, "vx":-1.07271, "vy":-2.25724, "omega":1.59641, "ax":0.00026, "ay":-0.00012, "alpha":-1.19899, "fx":[-2.65172,-7.54116,2.66023,7.54964], "fy":[7.54337,-2.65804,-7.54743,2.65392]}, - {"t":0.69719, "x":7.07249, "y":1.9833, "heading":2.74304, "vx":-1.0727, "vy":-2.25725, "omega":1.56006, "ax":0.00017, "ay":-0.00008, "alpha":-1.48095, "fx":[-3.72465,-9.1473,3.73043,9.15306], "fy":[9.1488,-3.72896,-9.15156,3.72612]}, - {"t":0.7275, "x":7.03998, "y":1.91488, "heading":2.79033, "vx":-1.0727, "vy":-2.25725, "omega":1.51517, "ax":0.00009, "ay":-0.00004, "alpha":-1.80532, "fx":[-5.06475,-10.92564,5.06761,10.92849], "fy":[10.92636,-5.06691,-10.92776,5.06545]}, - {"t":0.75781, "x":7.00746, "y":1.84646, "heading":2.83626, "vx":-1.0727, "vy":-2.25725, "omega":1.46045, "ax":0.0, "ay":0.0, "alpha":-2.17745, "fx":[-6.70909,-12.88496,6.70915,12.88503], "fy":[12.88494,-6.70918,-12.88505,6.70906]}, - {"t":0.78812, "x":6.97494, "y":1.77803, "heading":2.88053, "vx":-1.0727, "vy":-2.25725, "omega":1.39444, "ax":-0.00008, "ay":0.00004, "alpha":-2.60251, "fx":[-8.69389,-15.03172,8.69115,15.02899], "fy":[15.03093,-8.69188,-15.02978,8.69316]}, - {"t":0.81844, "x":6.94243, "y":1.70961, "heading":2.9228, "vx":-1.0727, "vy":-2.25725, "omega":1.31556, "ax":-0.00023, "ay":0.00011, "alpha":-3.08462, "fx":[-11.05017,-17.36721,11.04254,17.35959], "fy":[17.36505,-11.04448,-17.36175,11.04824]}, - {"t":0.84875, "x":6.90991, "y":1.64119, "heading":2.96268, "vx":-1.07271, "vy":-2.25725, "omega":1.22205, "ax":-0.00076, "ay":0.00036, "alpha":-3.62569, "fx":[-13.79982,-19.88782,13.7748,19.86263], "fy":[19.88062,-13.78087,-19.86983,13.79375]}, - {"t":0.87906, "x":6.87739, "y":1.57276, "heading":2.99972, "vx":-1.07273, "vy":-2.25724, "omega":1.11215, "ax":-0.00311, "ay":0.00148, "alpha":-4.22444, "fx":[-16.96175,-22.59853,16.85984,22.49477], "fy":[22.56816,-16.88354,-22.52514,16.93807]}, - {"t":0.90937, "x":6.84488, "y":1.50434, "heading":3.03343, "vx":-1.07282, "vy":-2.25719, "omega":0.9841, "ax":-0.01359, "ay":0.00646, "alpha":-4.87574, "fx":[-20.60476,-25.57858,20.16301,25.12154], "fy":[25.44034,-20.26082,-25.25985,20.50744]}, - {"t":0.93969, "x":6.81235, "y":1.43593, "heading":3.06326, "vx":-1.07324, "vy":-2.257, "omega":0.8363, "ax":-0.05887, "ay":0.02802, "alpha":-5.56996, "fx":[-25.08326,-29.25223,23.19094,27.25109], "fy":[28.62373,-23.58703,-27.88121,24.69764]}, - {"t":0.97, "x":6.77979, "y":1.36752, "heading":3.08861, "vx":-1.07502, "vy":-2.25615, "omega":0.66746, "ax":-0.24704, "ay":0.11821, "alpha":-6.28236, "fx":[-31.89023,-35.41042,24.06143,26.90159], "fy":[32.6456,-25.63875,-29.70306,30.51415]}, - {"t":1.00031, "x":6.74709, "y":1.29919, "heading":3.10884, "vx":-1.08251, "vy":-2.25256, "omega":0.47703, "ax":-0.98757, "ay":0.48275, "alpha":-6.78274, "fx":[-45.58527,-50.03509,14.57305,15.73535], "fy":[38.96632,-21.58218,-27.41177,41.9536]}, - {"t":1.03062, "x":6.71382, "y":1.23113, "heading":3.1233, "vx":-1.11244, "vy":-2.23793, "omega":0.27143, "ax":-3.32276, "ay":1.7473, "alpha":-4.95627, "fx":[-70.04498,-79.44658,-40.32641,-29.92891], "fy":[48.97549,2.13975,1.77415,62.66613]}, - {"t":1.06094, "x":6.67858, "y":1.16409, "heading":3.13153, "vx":-1.21316, "vy":-2.18496, "omega":0.12119, "ax":-5.39721, "ay":3.27366, "alpha":-1.76367, "fx":[-90.21618,-99.32255,-89.79348,-77.60552], "fy":[59.81851,38.47997,47.56418,70.63677]}, - {"t":1.09125, "x":6.63932, "y":1.09937, "heading":3.1352, "vx":-1.37677, "vy":-2.08573, "omega":0.06773, "ax":-5.71465, "ay":4.13486, "alpha":-0.76884, "fx":[-94.23684,-99.94766,-95.11806,-88.62869], "fy":[70.01085,60.73968,66.69858,76.00504]}, - {"t":1.12156, "x":6.59496, "y":1.03804, "heading":3.13726, "vx":-1.54999, "vy":-1.96039, "omega":0.04442, "ax":-5.51249, "ay":4.77139, "alpha":-0.43057, "fx":[-91.05324,-94.72738,-91.33932,-87.44201], "fy":[79.34961,74.67796,78.47209,83.05063]}, - {"t":1.15187, "x":6.54545, "y":0.98081, "heading":3.1386, "vx":-1.71709, "vy":-1.81576, "omega":0.03137, "ax":-5.13413, "ay":5.31409, "alpha":-0.28114, "fx":[-84.98848,-87.51421,-84.8154,-82.22148], "fy":[87.89416,85.28214,87.86602,90.39854]}, - {"t":1.18219, "x":6.49104, "y":0.92821, "heading":3.13956, "vx":-1.87272, "vy":-1.65468, "omega":0.02285, "ax":-4.6659, "ay":5.79272, "alpha":-0.20228, "fx":[-77.38652,-79.2016,-76.9081,-75.07749], "fy":[95.63797,94.09359,95.93775,97.42483]}, - {"t":1.2125, "x":6.43213, "y":0.88072, "heading":3.14025, "vx":-2.01415, "vy":-1.47909, "omega":0.01672, "ax":-4.13764, "ay":6.21437, "alpha":-0.15537, "fx":[-68.75258,-70.08595,-68.06414,-66.73535], "fy":[102.54736,101.61512,102.96261,103.85485]}, - {"t":1.24281, "x":6.36917, "y":0.83874, "heading":3.14075, "vx":-2.13958, "vy":-1.29071, "omega":0.01201, "ax":-3.56317, "ay":6.58005, "alpha":-0.12502, "fx":[-59.32776,-60.31013,-58.48902,-57.51911], "fy":[108.58266,108.02467,109.0128,109.54332]}, - {"t":1.27312, "x":6.30268, "y":0.80263, "heading":3.14112, "vx":-2.24758, "vy":-1.09126, "omega":0.00822, "ax":-2.94939, "ay":6.88928, "alpha":-0.10415, "fx":[-49.23432,-49.94629,-48.28516,-47.58832], "fy":[113.7121,113.39115,114.10399,114.4065]}, - {"t":1.30344, "x":6.2332, "y":0.77272, "heading":3.14137, "vx":-2.33699, "vy":-0.88242, "omega":0.00506, "ax":-2.29423, "ay":7.14238, "alpha":-0.08911, "fx":[-38.444,-38.93754,-37.41141,-36.93331], "fy":[117.92984,117.76092,118.25234,118.40948]}, - {"t":1.33375, "x":6.1613, "y":0.74925, "heading":3.14152, "vx":-2.40653, "vy":-0.66592, "omega":0.00236, "ax":-1.59678, "ay":7.3356, "alpha":-0.07785, "fx":[-26.94406,-27.25465,-25.8493,-25.55325], "fy":[121.16832,121.09388,121.40054,121.46818]}, - {"t":1.36406, "x":6.08762, "y":0.73244, "heading":3.14159, "vx":-2.45493, "vy":-0.44356, "omega":0.0, "ax":-1.02532, "ay":7.42707, "alpha":0.0, "fx":[-16.95211,-16.95211,-16.95211,-16.95211], "fy":[122.7951,122.7951,122.7951,122.7951]}, - {"t":1.40213, "x":5.99342, "y":0.72093, "heading":3.14159, "vx":-2.49397, "vy":-0.16082, "omega":0.0, "ax":-0.10159, "ay":6.50729, "alpha":0.0, "fx":[-1.67955,-1.67955,-1.67955,-1.67955], "fy":[107.58797,107.58797,107.58797,107.58797]}, - {"t":1.4402, "x":5.8984, "y":0.71953, "heading":3.14159, "vx":-2.49783, "vy":0.08691, "omega":0.0, "ax":-0.03908, "ay":-2.00133, "alpha":0.0, "fx":[-0.64609,-0.64609,-0.64609,-0.64609], "fy":[-33.0888,-33.0888,-33.0888,-33.0888]}, - {"t":1.47827, "x":5.80328, "y":0.72139, "heading":3.14159, "vx":-2.49932, "vy":0.01072, "omega":0.0, "ax":-0.00023, "ay":-0.50456, "alpha":0.0, "fx":[-0.00374,-0.00374,-0.00374,-0.00374], "fy":[-8.34208,-8.34208,-8.34208,-8.34208]}, - {"t":1.51634, "x":5.70813, "y":0.72143, "heading":3.14159, "vx":-2.49933, "vy":-0.00848, "omega":0.0, "ax":0.00108, "ay":-0.21464, "alpha":0.0, "fx":[0.01785,0.01785,0.01785,0.01785], "fy":[-3.5487,-3.5487,-3.5487,-3.5487]}, - {"t":1.55441, "x":5.61299, "y":0.72095, "heading":3.14159, "vx":-2.49929, "vy":-0.01666, "omega":0.0, "ax":0.00105, "ay":-0.13679, "alpha":0.0, "fx":[0.01743,0.01743,0.01743,0.01743], "fy":[-2.26157,-2.26157,-2.26157,-2.26157]}, - {"t":1.59248, "x":5.51784, "y":0.72022, "heading":3.14159, "vx":-2.49925, "vy":-0.02186, "omega":0.0, "ax":0.00096, "ay":-0.10056, "alpha":0.0, "fx":[0.01582,0.01582,0.01582,0.01582], "fy":[-1.6626,-1.6626,-1.6626,-1.6626]}, - {"t":1.63055, "x":5.4227, "y":0.71931, "heading":3.14159, "vx":-2.49921, "vy":-0.02569, "omega":0.0, "ax":0.00084, "ay":-0.07736, "alpha":0.0, "fx":[0.0139,0.0139,0.0139,0.0139], "fy":[-1.27904,-1.27904,-1.27904,-1.27904]}, - {"t":1.66862, "x":5.32755, "y":0.71828, "heading":3.14159, "vx":-2.49918, "vy":-0.02864, "omega":0.0, "ax":0.00072, "ay":-0.06062, "alpha":0.0, "fx":[0.01195,0.01195,0.01195,0.01195], "fy":[-1.00225,-1.00225,-1.00225,-1.00225]}, - {"t":1.70669, "x":5.23241, "y":0.71714, "heading":3.14159, "vx":-2.49915, "vy":-0.03094, "omega":0.0, "ax":0.00061, "ay":-0.04795, "alpha":0.0, "fx":[0.01011,0.01011,0.01011,0.01011], "fy":[-0.79285,-0.79285,-0.79285,-0.79285]}, - {"t":1.74476, "x":5.13727, "y":0.71593, "heading":3.14159, "vx":-2.49913, "vy":-0.03277, "omega":0.0, "ax":0.00051, "ay":-0.03815, "alpha":0.0, "fx":[0.00845,0.00845,0.00845,0.00845], "fy":[-0.63069,-0.63069,-0.63069,-0.63069]}, - {"t":1.78283, "x":5.04213, "y":0.71466, "heading":3.14159, "vx":-2.49911, "vy":-0.03422, "omega":0.0, "ax":0.00042, "ay":-0.03045, "alpha":0.0, "fx":[0.00701,0.00701,0.00701,0.00701], "fy":[-0.50338,-0.50338,-0.50338,-0.50338]}, - {"t":1.82089, "x":4.94699, "y":0.71333, "heading":3.14159, "vx":-2.49909, "vy":-0.03538, "omega":0.0, "ax":0.00035, "ay":-0.02435, "alpha":0.0, "fx":[0.00577,0.00577,0.00577,0.00577], "fy":[-0.40261,-0.40261,-0.40261,-0.40261]}, - {"t":1.85896, "x":4.85185, "y":0.71197, "heading":3.14159, "vx":-2.49908, "vy":-0.03631, "omega":0.0, "ax":0.00029, "ay":-0.0195, "alpha":0.0, "fx":[0.00473,0.00473,0.00473,0.00473], "fy":[-0.32241,-0.32241,-0.32241,-0.32241]}, - {"t":1.89703, "x":4.75671, "y":0.71057, "heading":3.14159, "vx":-2.49907, "vy":-0.03705, "omega":0.0, "ax":0.00023, "ay":-0.01563, "alpha":0.0, "fx":[0.00386,0.00386,0.00386,0.00386], "fy":[-0.25835,-0.25835,-0.25835,-0.25835]}, - {"t":1.9351, "x":4.66157, "y":0.70915, "heading":3.14159, "vx":-2.49906, "vy":-0.03765, "omega":0.0, "ax":0.00019, "ay":-0.01252, "alpha":0.0, "fx":[0.00314,0.00314,0.00314,0.00314], "fy":[-0.20707,-0.20707,-0.20707,-0.20707]}, - {"t":1.97317, "x":4.56644, "y":0.70771, "heading":3.14159, "vx":-2.49905, "vy":-0.03812, "omega":0.0, "ax":0.00015, "ay":-0.01004, "alpha":0.0, "fx":[0.00254,0.00254,0.00254,0.00254], "fy":[-0.16594,-0.16594,-0.16594,-0.16594]}, - {"t":2.01124, "x":4.4713, "y":0.70625, "heading":3.14159, "vx":-2.49905, "vy":-0.0385, "omega":0.0, "ax":0.00012, "ay":-0.00804, "alpha":0.0, "fx":[0.00206,0.00206,0.00206,0.00206], "fy":[-0.1329,-0.1329,-0.1329,-0.1329]}, - {"t":2.04931, "x":4.37616, "y":0.70478, "heading":3.14159, "vx":-2.49904, "vy":-0.03881, "omega":0.0, "ax":0.0001, "ay":-0.00643, "alpha":0.0, "fx":[0.00166,0.00166,0.00166,0.00166], "fy":[-0.10632,-0.10632,-0.10632,-0.10632]}, - {"t":2.08738, "x":4.28102, "y":0.70329, "heading":3.14159, "vx":-2.49904, "vy":-0.03905, "omega":0.0, "ax":0.00008, "ay":-0.00513, "alpha":0.0, "fx":[0.00133,0.00133,0.00133,0.00133], "fy":[-0.08489,-0.08489,-0.08489,-0.08489]}, - {"t":2.12545, "x":4.18589, "y":0.7018, "heading":3.14159, "vx":-2.49904, "vy":-0.03925, "omega":0.0, "ax":0.00006, "ay":-0.00409, "alpha":0.0, "fx":[0.00106,0.00106,0.00106,0.00106], "fy":[-0.06758,-0.06758,-0.06758,-0.06758]}, - {"t":2.16352, "x":4.09075, "y":0.70031, "heading":3.14159, "vx":-2.49903, "vy":-0.03941, "omega":0.0, "ax":0.00005, "ay":-0.00324, "alpha":0.0, "fx":[0.00085,0.00085,0.00085,0.00085], "fy":[-0.05353,-0.05353,-0.05353,-0.05353]}, - {"t":2.20159, "x":3.99561, "y":0.6988, "heading":3.14159, "vx":-2.49903, "vy":-0.03953, "omega":0.0, "ax":0.00004, "ay":-0.00254, "alpha":0.0, "fx":[0.00067,0.00067,0.00067,0.00067], "fy":[-0.04207,-0.04207,-0.04207,-0.04207]}, - {"t":2.23966, "x":3.90048, "y":0.6973, "heading":3.14159, "vx":-2.49903, "vy":-0.03963, "omega":0.0, "ax":0.00003, "ay":-0.00197, "alpha":0.0, "fx":[0.00052,0.00052,0.00052,0.00052], "fy":[-0.03264,-0.03264,-0.03264,-0.03264]}, - {"t":2.27773, "x":3.80534, "y":0.69579, "heading":3.14159, "vx":-2.49903, "vy":-0.0397, "omega":0.0, "ax":0.00002, "ay":-0.0015, "alpha":0.0, "fx":[0.00039,0.00039,0.00039,0.00039], "fy":[-0.02479,-0.02479,-0.02479,-0.02479]}, - {"t":2.3158, "x":3.7102, "y":0.69427, "heading":3.14159, "vx":-2.49903, "vy":-0.03976, "omega":0.0, "ax":0.00002, "ay":-0.0011, "alpha":0.0, "fx":[0.00029,0.00029,0.00029,0.00029], "fy":[-0.01814,-0.01814,-0.01814,-0.01814]}, - {"t":2.35387, "x":3.61507, "y":0.69276, "heading":3.14159, "vx":-2.49903, "vy":-0.0398, "omega":0.0, "ax":0.00001, "ay":-0.00075, "alpha":0.0, "fx":[0.0002,0.0002,0.0002,0.0002], "fy":[-0.01237,-0.01237,-0.01237,-0.01237]}, - {"t":2.39194, "x":3.51993, "y":0.69124, "heading":3.14159, "vx":-2.49903, "vy":-0.03983, "omega":0.0, "ax":0.00001, "ay":-0.00043, "alpha":0.0, "fx":[0.00013,0.00013,0.00013,0.00013], "fy":[-0.00719,-0.00719,-0.00719,-0.00719]}, - {"t":2.43001, "x":3.42479, "y":0.68973, "heading":3.14159, "vx":-2.49903, "vy":-0.03985, "omega":0.0, "ax":0.01727, "ay":0.00013, "alpha":0.0, "fx":[0.28548,0.28548,0.28548,0.28548], "fy":[0.00219,0.00219,0.00219,0.00219]}, - {"t":2.46808, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-2.49837, "vy":-0.03984, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-1.08959, "vy":-2.46622, "omega":1.78298, "ax":-0.04859, "ay":-0.08675, "alpha":-0.25072, "fx":[0.3796,-1.98671,-1.98584,0.37943], "fy":[-0.25168,-0.25162,-2.61669,-2.61733]}, + {"t":0.02891, "x":7.78885, "y":3.48566, "heading":1.62234, "vx":-1.09099, "vy":-2.46873, "omega":1.77573, "ax":-0.00358, "ay":0.00157, "alpha":-0.33345, "fx":[1.4307,-1.71122,-1.54916,1.5928], "fy":[1.67801,1.51589,-1.62601,-1.46396]}, + {"t":0.05781, "x":7.75731, "y":3.41429, "heading":1.67367, "vx":-1.0911, "vy":-2.46869, "omega":1.76609, "ax":-0.0028, "ay":0.00124, "alpha":-0.34288, "fx":[1.39663,-1.82138,-1.48918,1.72887], "fy":[1.79564,1.46339,-1.75461,-1.42242]}, + {"t":0.08672, "x":7.72577, "y":3.34293, "heading":1.72472, "vx":-1.09118, "vy":-2.46865, "omega":1.75618, "ax":-0.00288, "ay":0.00128, "alpha":-0.30604, "fx":[1.15764,-1.69569,-1.253,1.60037], "fy":[1.66914,1.22641,-1.62691,-1.18423]}, + {"t":0.11563, "x":7.69422, "y":3.27157, "heading":1.77549, "vx":-1.09126, "vy":-2.46861, "omega":1.74733, "ax":-0.00306, "ay":0.00136, "alpha":-0.24117, "fx":[0.83205,-1.39588,-0.93337,1.29458], "fy":[1.36765,0.90512,-1.32281,-0.86031]}, + {"t":0.14454, "x":7.66268, "y":3.20021, "heading":1.826, "vx":-1.09135, "vy":-2.46857, "omega":1.74036, "ax":-0.00319, "ay":0.00141, "alpha":-0.15994, "fx":[0.48682,-0.97334,-0.5924,0.86778], "fy":[0.94391,0.56296,-0.89721,-0.51627]}, + {"t":0.17344, "x":7.63113, "y":3.12885, "heading":1.87631, "vx":-1.09144, "vy":-2.46853, "omega":1.73574, "ax":-0.00326, "ay":0.00144, "alpha":-0.06944, "fx":[0.16001,-0.46485,-0.26778,0.35708], "fy":[0.4348,0.23773,-0.38714,-0.19006]}, + {"t":0.20235, "x":7.59958, "y":3.05749, "heading":1.92648, "vx":-1.09154, "vy":-2.46849, "omega":1.73373, "ax":-0.00328, "ay":0.00145, "alpha":0.02616, "fx":[-0.12687,0.10453,0.01857,-0.21283], "fy":[-0.13474,-0.04877,0.18263,0.09667]}, + {"t":0.23126, "x":7.56802, "y":2.98614, "heading":1.9766, "vx":-1.09163, "vy":-2.46845, "omega":1.73449, "ax":-0.00325, "ay":0.00144, "alpha":0.12444, "fx":[-0.36133,0.7174,0.25392,-0.82481], "fy":[-0.74735,-0.28388,0.79485,0.33138]}, + {"t":0.26016, "x":7.53646, "y":2.91478, "heading":2.02674, "vx":-1.09172, "vy":-2.46841, "omega":1.73809, "ax":-0.00318, "ay":0.00141, "alpha":0.22376, "fx":[-0.53553,1.35999,0.43041,-1.46508], "fy":[-1.38929,-0.45973,1.43578,0.50621]}, + {"t":0.28907, "x":7.5049, "y":2.84343, "heading":2.07698, "vx":-1.09182, "vy":-2.46837, "omega":1.74455, "ax":-0.00306, "ay":0.00135, "alpha":0.32262, "fx":[-0.64376,2.01854,0.54265,-2.11958], "fy":[-2.04671,-0.57085,2.09141,0.61555]}, + {"t":0.31798, "x":7.47334, "y":2.77207, "heading":2.12741, "vx":-1.0919, "vy":-2.46833, "omega":1.75388, "ax":-0.00286, "ay":0.00127, "alpha":0.41903, "fx":[-0.68141,2.67543,0.58663,-2.7701], "fy":[-2.70182,-0.61308,2.74371,0.65496]}, + {"t":0.34689, "x":7.44178, "y":2.70072, "heading":2.17811, "vx":-1.09199, "vy":-2.46829, "omega":1.76599, "ax":-0.00257, "ay":0.00114, "alpha":0.50983, "fx":[-0.6451,3.3051,0.55996,-3.39009], "fy":[-3.3288,-0.58373,3.3664,0.62133]}, + {"t":0.37579, "x":7.41021, "y":2.62937, "heading":2.22916, "vx":-1.09206, "vy":-2.46826, "omega":1.78073, "ax":-0.00214, "ay":0.00095, "alpha":0.59001, "fx":[-0.53412,3.86924,0.46327,-3.93995], "fy":[-3.88897,-0.48305,3.92022,0.51434]}, + {"t":0.4047, "x":7.37864, "y":2.55802, "heading":2.28064, "vx":-1.09212, "vy":-2.46823, "omega":1.79779, "ax":-0.00152, "ay":0.00067, "alpha":0.65195, "fx":[-0.35349,4.31201,0.30316,-4.36222], "fy":[-4.32604,-0.31723,4.34819,0.33942]}, + {"t":0.43361, "x":7.34707, "y":2.48667, "heading":2.33261, "vx":-1.09217, "vy":-2.46821, "omega":1.81663, "ax":-0.00067, "ay":0.00029, "alpha":0.68474, "fx":[-0.11879,4.55604,0.09671,-4.57806], "fy":[-4.56223,-0.10291,4.57187,0.11258]}, + {"t":0.46251, "x":7.3155, "y":2.41532, "heading":2.38512, "vx":-1.09219, "vy":-2.4682, "omega":1.83643, "ax":0.00044, "ay":-0.0002, "alpha":0.67402, "fx":[0.13732,4.50214,-0.12279,-4.48765], "fy":[-4.49817,0.12677,4.49161,-0.13334]}, + {"t":0.49142, "x":7.28393, "y":2.34397, "heading":2.43821, "vx":-1.09217, "vy":-2.46821, "omega":1.85591, "ax":0.00176, "ay":-0.00078, "alpha":0.6026, "fx":[0.3584,4.03579,-0.30029,-3.9778], "fy":[-4.01971,0.31639,3.99388,-0.3423]}, + {"t":0.52033, "x":7.25235, "y":2.27262, "heading":2.49186, "vx":-1.09212, "vy":-2.46823, "omega":1.87333, "ax":0.00315, "ay":-0.0014, "alpha":0.45258, "fx":[0.46039,3.04364,-0.35633,-2.93968], "fy":[-3.01476,0.38522,2.96856,-0.4315]}, + {"t":0.54924, "x":7.22079, "y":2.20127, "heading":2.54601, "vx":-1.09203, "vy":-2.46827, "omega":1.88641, "ax":0.00436, "ay":-0.00194, "alpha":0.20851, "fx":[0.33459,1.43821,-0.19033,-1.29398], "fy":[-1.39812,0.23043,1.33407,-0.2945]}, + {"t":0.57814, "x":7.18922, "y":2.12992, "heading":2.60054, "vx":-1.09191, "vy":-2.46833, "omega":1.89244, "ax":0.00509, "ay":-0.00226, "alpha":-0.13954, "fx":[-0.14105,-0.81914,0.30938,0.98746], "fy":[0.86595,-0.26258,-0.94065,0.18786]}, + {"t":0.60705, "x":7.15766, "y":2.05857, "heading":2.65524, "vx":-1.09176, "vy":-2.46839, "omega":1.88841, "ax":0.00505, "ay":-0.00224, "alpha":-0.59575, "fx":[-1.0875,-3.71485,1.25444,3.88158], "fy":[3.76127,-1.20808,-3.83517,1.13387]}, + {"t":0.63596, "x":7.1261, "y":1.98721, "heading":2.70983, "vx":-1.09161, "vy":-2.46846, "omega":1.87118, "ax":0.0041, "ay":-0.00182, "alpha":-1.16323, "fx":[-2.61967,-7.21268,2.75552,7.34804], "fy":[7.25048,-2.718,-7.31024,2.6572]}, + {"t":0.66487, "x":7.09455, "y":1.91586, "heading":2.76392, "vx":-1.09149, "vy":-2.46851, "omega":1.83756, "ax":0.00235, "ay":-0.00105, "alpha":-1.85203, "fx":[-4.86044,-11.30434,4.93847,11.38181], "fy":[11.32608,-4.91725,-11.36007,4.88167]}, + {"t":0.69377, "x":7.063, "y":1.8445, "heading":2.81704, "vx":-1.09143, "vy":-2.46854, "omega":1.78402, "ax":-0.00008, "ay":0.00002, "alpha":-2.68368, "fx":[-7.96353,-16.03785,7.96095,16.03532], "fy":[16.03686,-7.96192,-16.03631,7.96257]}, + {"t":0.72268, "x":7.03145, "y":1.77314, "heading":2.86861, "vx":-1.09143, "vy":-2.46854, "omega":1.70644, "ax":-0.00388, "ay":0.0017, "alpha":-3.6824, "fx":[-12.10965,-21.47589,11.98058,21.34828], "fy":[21.43744,-12.01438,-21.38674,12.07588]}, + {"t":0.75159, "x":6.99989, "y":1.70178, "heading":2.91794, "vx":-1.09154, "vy":-2.46849, "omega":1.6, "ax":-0.01314, "ay":0.00579, "alpha":-4.85061, "fx":[-17.45544,-27.60495,17.01989,27.17147], "fy":[27.46799,-17.12614,-27.30856,17.34965]}, + {"t":0.78049, "x":6.96833, "y":1.63043, "heading":2.96419, "vx":-1.09192, "vy":-2.46832, "omega":1.45978, "ax":-0.04229, "ay":0.0187, "alpha":-6.14506, "fx":[-24.11136,-34.35421,22.72315,32.94564], "fy":[33.87734,-23.02847,-33.42436,23.81216]}, + {"t":0.8094, "x":6.93675, "y":1.55908, "heading":3.00639, "vx":-1.09314, "vy":-2.46778, "omega":1.28214, "ax":-0.13398, "ay":0.05945, "alpha":-7.47776, "fx":[-32.33977,-41.97489,28.02335,37.43099], "fy":[40.31464,-28.8503,-39.11792,31.58554]}, + {"t":0.83831, "x":6.9051, "y":1.48777, "heading":3.04345, "vx":-1.09702, "vy":-2.46606, "omega":1.06598, "ax":-0.40122, "ay":0.17961, "alpha":-8.72197, "fx":[-43.02169,-51.87807,30.44862,37.91665], "fy":[46.48625,-32.58134,-43.63973,41.61289]}, + {"t":0.86722, "x":6.87322, "y":1.41656, "heading":3.07427, "vx":-1.10861, "vy":-2.46087, "omega":0.81385, "ax":-1.11897, "ay":0.51303, "alpha":-9.53742, "fx":[-57.49503,-67.10064,23.2644,27.32982], "fy":[52.11665,-29.72386,-45.27105,56.80693]}, + {"t":0.89612, "x":6.8407, "y":1.34564, "heading":3.0978, "vx":-1.14096, "vy":-2.44604, "omega":0.53815, "ax":-2.88411, "ay":1.40623, "alpha":-8.23717, "fx":[-74.35722,-88.03872,-19.5723,-8.76858], "fy":[57.41354,-12.24669,-29.33376,77.16598]}, + {"t":0.92503, "x":6.80652, "y":1.27552, "heading":3.11335, "vx":-1.22433, "vy":-2.40539, "omega":0.30004, "ax":-5.10352, "ay":2.8018, "alpha":-3.97311, "fx":[-89.13518,-103.96857,-85.69052,-58.72099], "fy":[60.95055,16.5786,25.57446,82.18967]}, + {"t":0.95394, "x":6.76899, "y":1.20715, "heading":3.12202, "vx":-1.37186, "vy":-2.3244, "omega":0.18519, "ax":-5.75456, "ay":3.68778, "alpha":-1.94855, "fx":[-95.0451,-106.90583,-97.73267,-80.88717], "fy":[66.56794,42.35638,54.5024,80.46026]}, + {"t":0.98284, "x":6.72693, "y":1.1415, "heading":3.12738, "vx":-1.53821, "vy":-2.2178, "omega":0.12886, "ax":-5.73719, "ay":4.31674, "alpha":-1.15047, "fx":[-94.45297,-103.21955,-96.17532,-85.57444], "fy":[73.62054,59.84988,69.14664,82.86489]}, + {"t":1.01175, "x":6.68007, "y":1.0792, "heading":3.1311, "vx":-1.70405, "vy":-2.09301, "omega":0.0956, "ax":-5.49313, "ay":4.84531, "alpha":-0.77309, "fx":[-90.71171,-97.28558,-91.29226,-83.99186], "fy":[80.92247,72.52941,79.45919,87.52758]}, + {"t":1.04066, "x":6.62851, "y":1.02072, "heading":3.13387, "vx":-1.86285, "vy":-1.95295, "omega":0.07326, "ax":-5.14391, "ay":5.31533, "alpha":-0.56643, "fx":[-85.25461,-90.31209,-84.98177,-79.63787], "fy":[88.00809,82.63423,87.9122,92.96796]}, + {"t":1.06957, "x":6.57252, "y":0.96648, "heading":3.13598, "vx":-2.01154, "vy":-1.7993, "omega":0.05688, "ax":-4.73061, "ay":5.7388, "alpha":-0.44061, "fx":[-78.68687,-82.64892,-77.78475,-73.73264], "fy":[94.66806,91.13171,95.22741,98.50117]}, + {"t":1.09847, "x":6.51239, "y":0.91687, "heading":3.13763, "vx":-2.14829, "vy":-1.6334, "omega":0.04415, "ax":-4.27078, "ay":6.119, "alpha":-0.35785, "fx":[-71.29966,-74.42916,-69.9194,-66.79437], "fy":[100.78989,98.44188,101.64905,103.79138]}, + {"t":1.12738, "x":6.44851, "y":0.87221, "heading":3.13891, "vx":-2.27175, "vy":-1.45652, "omega":0.0338, "ax":-3.77359, "ay":6.4563, "alpha":-0.30019, "fx":[-63.25458,-65.72255,-61.50071,-59.08416], "fy":[106.30316,104.75632,107.26478,108.65486]}, + {"t":1.15629, "x":6.38126, "y":0.8328, "heading":3.13988, "vx":-2.38083, "vy":-1.26989, "omega":0.02512, "ax":-3.2441, "ay":6.75029, "alpha":-0.25819, "fx":[-54.64349,-56.5663,-52.59184,-50.7431], "fy":[111.16219,110.16929,112.10721,112.98362]}, + {"t":1.18519, "x":6.31108, "y":0.79891, "heading":3.14061, "vx":-2.47461, "vy":-1.07476, "omega":0.01766, "ax":-2.68302, "ay":7.00084, "alpha":-0.22652, "fx":[-45.48529,-46.94461,-43.19223,-41.81641], "fy":[115.34329,114.73772,116.19443,116.71639]}, + {"t":1.2141, "x":6.23843, "y":0.77077, "heading":3.14112, "vx":-2.55217, "vy":-0.87238, "omega":0.01111, "ax":-2.09193, "ay":7.20575, "alpha":-0.20195, "fx":[-35.80952,-36.86535,-33.3215,-32.35084], "fy":[118.79861,118.46074,119.50156,119.78267]}, + {"t":1.24301, "x":6.16378, "y":0.74856, "heading":3.14144, "vx":-2.61264, "vy":-0.66408, "omega":0.00527, "ax":-1.50994, "ay":7.35435, "alpha":-0.18248, "fx":[-26.25389,-26.96849,-23.63454,-23.00133], "fy":[121.33978,121.17181,121.86358,121.99595]}, + {"t":1.27192, "x":6.08762, "y":0.73244, "heading":3.14159, "vx":-2.65629, "vy":-0.45149, "omega":0.0, "ax":-1.00049, "ay":7.44051, "alpha":0.0, "fx":[-16.54155,-16.54155,-16.54155,-16.54155], "fy":[123.01724,123.01724,123.01724,123.01724]}, + {"t":1.30842, "x":5.98998, "y":0.72091, "heading":3.14159, "vx":-2.69281, "vy":-0.17985, "omega":0.0, "ax":-0.13358, "ay":7.44233, "alpha":0.0, "fx":[-2.20847,-2.20847,-2.20847,-2.20847], "fy":[123.04738,123.04738,123.04738,123.04738]}, + {"t":1.34493, "x":5.89158, "y":0.71931, "heading":3.14159, "vx":-2.69769, "vy":0.09186, "omega":0.0, "ax":-0.04181, "ay":-2.12638, "alpha":0.0, "fx":[-0.69119,-0.69119,-0.69119,-0.69119], "fy":[-35.15646,-35.15646,-35.15646,-35.15646]}, + {"t":1.38144, "x":5.79306, "y":0.72124, "heading":3.14159, "vx":-2.69922, "vy":0.01423, "omega":0.0, "ax":-0.00065, "ay":-0.62687, "alpha":0.0, "fx":[-0.01071,-0.01071,-0.01071,-0.01071], "fy":[-10.36434,-10.36434,-10.36434,-10.36434]}, + {"t":1.41795, "x":5.69451, "y":0.72135, "heading":3.14159, "vx":-2.69924, "vy":-0.00866, "omega":0.0, "ax":0.00133, "ay":-0.26599, "alpha":0.0, "fx":[0.02202,0.02202,0.02202,0.02202], "fy":[-4.39766,-4.39766,-4.39766,-4.39766]}, + {"t":1.45446, "x":5.59597, "y":0.72085, "heading":3.14159, "vx":-2.69919, "vy":-0.01837, "omega":0.0, "ax":0.00128, "ay":-0.16189, "alpha":0.0, "fx":[0.02115,0.02115,0.02115,0.02115], "fy":[-2.67654,-2.67654,-2.67654,-2.67654]}, + {"t":1.49097, "x":5.49743, "y":0.72007, "heading":3.14159, "vx":-2.69915, "vy":-0.02428, "omega":0.0, "ax":0.00113, "ay":-0.11566, "alpha":0.0, "fx":[0.0187,0.0187,0.0187,0.0187], "fy":[-1.91221,-1.91221,-1.91221,-1.91221]}, + {"t":1.52748, "x":5.39889, "y":0.71911, "heading":3.14159, "vx":-2.6991, "vy":-0.0285, "omega":0.0, "ax":0.00098, "ay":-0.08744, "alpha":0.0, "fx":[0.01612,0.01612,0.01612,0.01612], "fy":[-1.44564,-1.44564,-1.44564,-1.44564]}, + {"t":1.56398, "x":5.30035, "y":0.71801, "heading":3.14159, "vx":-2.69907, "vy":-0.03169, "omega":0.0, "ax":0.00082, "ay":-0.06756, "alpha":0.0, "fx":[0.01363,0.01363,0.01363,0.01363], "fy":[-1.11704,-1.11704,-1.11704,-1.11704]}, + {"t":1.60049, "x":5.20181, "y":0.71681, "heading":3.14159, "vx":-2.69904, "vy":-0.03416, "omega":0.0, "ax":0.00069, "ay":-0.05274, "alpha":0.0, "fx":[0.01135,0.01135,0.01135,0.01135], "fy":[-0.87197,-0.87197,-0.87197,-0.87197]}, + {"t":1.637, "x":5.10327, "y":0.71553, "heading":3.14159, "vx":-2.69901, "vy":-0.03608, "omega":0.0, "ax":0.00057, "ay":-0.0414, "alpha":0.0, "fx":[0.00934,0.00934,0.00934,0.00934], "fy":[-0.68441,-0.68441,-0.68441,-0.68441]}, + {"t":1.67351, "x":5.00473, "y":0.71418, "heading":3.14159, "vx":-2.69899, "vy":-0.0376, "omega":0.0, "ax":0.00046, "ay":-0.03259, "alpha":0.0, "fx":[0.00763,0.00763,0.00763,0.00763], "fy":[-0.5389,-0.5389,-0.5389,-0.5389]}, + {"t":1.71002, "x":4.9062, "y":0.71279, "heading":3.14159, "vx":-2.69898, "vy":-0.03879, "omega":0.0, "ax":0.00037, "ay":-0.02571, "alpha":0.0, "fx":[0.00618,0.00618,0.00618,0.00618], "fy":[-0.42511,-0.42511,-0.42511,-0.42511]}, + {"t":1.74653, "x":4.80766, "y":0.71136, "heading":3.14159, "vx":-2.69896, "vy":-0.03972, "omega":0.0, "ax":0.0003, "ay":-0.0203, "alpha":0.0, "fx":[0.00499,0.00499,0.00499,0.00499], "fy":[-0.3357,-0.3357,-0.3357,-0.3357]}, + {"t":1.78304, "x":4.70913, "y":0.70989, "heading":3.14159, "vx":-2.69895, "vy":-0.04047, "omega":0.0, "ax":0.00024, "ay":-0.01604, "alpha":0.0, "fx":[0.00401,0.00401,0.00401,0.00401], "fy":[-0.26523,-0.26523,-0.26523,-0.26523]}, + {"t":1.81954, "x":4.61059, "y":0.7084, "heading":3.14159, "vx":-2.69894, "vy":-0.04105, "omega":0.0, "ax":0.00019, "ay":-0.01267, "alpha":0.0, "fx":[0.00321,0.00321,0.00321,0.00321], "fy":[-0.20956,-0.20956,-0.20956,-0.20956]}, + {"t":1.85605, "x":4.51206, "y":0.7069, "heading":3.14159, "vx":-2.69894, "vy":-0.04151, "omega":0.0, "ax":0.00015, "ay":-0.01001, "alpha":0.0, "fx":[0.00256,0.00256,0.00256,0.00256], "fy":[-0.16552,-0.16552,-0.16552,-0.16552]}, + {"t":1.89256, "x":4.41352, "y":0.70537, "heading":3.14159, "vx":-2.69893, "vy":-0.04188, "omega":0.0, "ax":0.00012, "ay":-0.0079, "alpha":0.0, "fx":[0.00203,0.00203,0.00203,0.00203], "fy":[-0.13062,-0.13062,-0.13062,-0.13062]}, + {"t":1.92907, "x":4.31499, "y":0.70384, "heading":3.14159, "vx":-2.69892, "vy":-0.04217, "omega":0.0, "ax":0.0001, "ay":-0.00622, "alpha":0.0, "fx":[0.00161,0.00161,0.00161,0.00161], "fy":[-0.10292,-0.10292,-0.10292,-0.10292]}, + {"t":1.96558, "x":4.21646, "y":0.7023, "heading":3.14159, "vx":-2.69892, "vy":-0.04239, "omega":0.0, "ax":0.00008, "ay":-0.00489, "alpha":0.0, "fx":[0.00127,0.00127,0.00127,0.00127], "fy":[-0.08088,-0.08088,-0.08088,-0.08088]}, + {"t":2.00209, "x":4.11792, "y":0.70075, "heading":3.14159, "vx":-2.69892, "vy":-0.04257, "omega":0.0, "ax":0.00006, "ay":-0.00383, "alpha":0.0, "fx":[0.001,0.001,0.001,0.001], "fy":[-0.06329,-0.06329,-0.06329,-0.06329]}, + {"t":2.0386, "x":4.01939, "y":0.69919, "heading":3.14159, "vx":-2.69892, "vy":-0.04271, "omega":0.0, "ax":0.00005, "ay":-0.00297, "alpha":0.0, "fx":[0.00078,0.00078,0.00078,0.00078], "fy":[-0.04917,-0.04917,-0.04917,-0.04917]}, + {"t":2.0751, "x":3.92086, "y":0.69763, "heading":3.14159, "vx":-2.69891, "vy":-0.04282, "omega":0.0, "ax":0.00004, "ay":-0.00228, "alpha":0.0, "fx":[0.0006,0.0006,0.0006,0.0006], "fy":[-0.03776,-0.03776,-0.03776,-0.03776]}, + {"t":2.11161, "x":3.82232, "y":0.69606, "heading":3.14159, "vx":-2.69891, "vy":-0.04291, "omega":0.0, "ax":0.00003, "ay":-0.00172, "alpha":0.0, "fx":[0.00045,0.00045,0.00045,0.00045], "fy":[-0.02841,-0.02841,-0.02841,-0.02841]}, + {"t":2.14812, "x":3.72379, "y":0.69449, "heading":3.14159, "vx":-2.69891, "vy":-0.04297, "omega":0.0, "ax":0.00002, "ay":-0.00125, "alpha":0.0, "fx":[0.00033,0.00033,0.00033,0.00033], "fy":[-0.02063,-0.02063,-0.02063,-0.02063]}, + {"t":2.18463, "x":3.62526, "y":0.69292, "heading":3.14159, "vx":-2.69891, "vy":-0.04301, "omega":0.0, "ax":0.00001, "ay":-0.00085, "alpha":0.0, "fx":[0.00022,0.00022,0.00022,0.00022], "fy":[-0.01397,-0.01397,-0.01397,-0.01397]}, + {"t":2.22114, "x":3.52672, "y":0.69135, "heading":3.14159, "vx":-2.69891, "vy":-0.04304, "omega":0.0, "ax":0.00001, "ay":-0.00049, "alpha":0.0, "fx":[0.00015,0.00015,0.00015,0.00015], "fy":[-0.00809,-0.00809,-0.00809,-0.00809]}, + {"t":2.25765, "x":3.42819, "y":0.68978, "heading":3.14159, "vx":-2.69891, "vy":-0.04306, "omega":0.0, "ax":0.02055, "ay":0.00017, "alpha":0.0, "fx":[0.33968,0.33968,0.33968,0.33968], "fy":[0.00277,0.00277,0.00277,0.00277]}, + {"t":2.29416, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-2.69816, "vy":-0.04306, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj index 6f6a5eb3..c2d61b0b 100644 --- a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj +++ b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj @@ -3,15 +3,15 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.593911647796631, "y":0.688210129737854, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], @@ -19,9 +19,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.593911647796631 m", "val":6.593911647796631}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -61,95 +61,93 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.31318,1.91405,2.89611], + "waypoints":[0.0,1.21899,1.82499,2.74133], "samples":[ - {"t":0.0, "x":3.32967, "y":0.68821, "heading":0.0, "vx":2.49748, "vy":0.00252, "omega":0.0, "ax":0.04746, "ay":-0.00591, "alpha":0.0, "fx":[0.78475,0.78475,0.78475,0.78475], "fy":[-0.09779,-0.09779,-0.09779,-0.09779]}, - {"t":0.03979, "x":3.42909, "y":0.68831, "heading":0.0, "vx":2.49937, "vy":0.00228, "omega":0.0, "ax":0.00001, "ay":-0.01147, "alpha":0.0, "fx":[0.00018,0.00018,0.00018,0.00018], "fy":[-0.18962,-0.18962,-0.18962,-0.18962]}, - {"t":0.07959, "x":3.52855, "y":0.68839, "heading":0.0, "vx":2.49937, "vy":0.00183, "omega":0.0, "ax":0.00001, "ay":-0.01008, "alpha":0.0, "fx":[0.0001,0.0001,0.0001,0.0001], "fy":[-0.16673,-0.16673,-0.16673,-0.16673]}, - {"t":0.11938, "x":3.62801, "y":0.68845, "heading":0.0, "vx":2.49937, "vy":0.00142, "omega":0.0, "ax":0.0, "ay":-0.00837, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[-0.13842,-0.13842,-0.13842,-0.13842]}, - {"t":0.15917, "x":3.72746, "y":0.6885, "heading":0.0, "vx":2.49937, "vy":0.00109, "omega":0.0, "ax":0.0, "ay":-0.00699, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[-0.11556,-0.11556,-0.11556,-0.11556]}, - {"t":0.19897, "x":3.82692, "y":0.68854, "heading":0.0, "vx":2.49937, "vy":0.00081, "omega":0.0, "ax":0.0, "ay":-0.00595, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.09839,-0.09839,-0.09839,-0.09839]}, - {"t":0.23876, "x":3.92638, "y":0.68857, "heading":0.0, "vx":2.49937, "vy":0.00058, "omega":0.0, "ax":0.0, "ay":-0.00521, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.0862,-0.0862,-0.0862,-0.0862]}, - {"t":0.27855, "x":4.02584, "y":0.68859, "heading":0.0, "vx":2.49937, "vy":0.00037, "omega":0.0, "ax":0.0, "ay":-0.00474, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.0784,-0.0784,-0.0784,-0.0784]}, - {"t":0.31835, "x":4.1253, "y":0.6886, "heading":0.0, "vx":2.49937, "vy":0.00018, "omega":0.0, "ax":0.0, "ay":-0.00451, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.07458,-0.07458,-0.07458,-0.07458]}, - {"t":0.35814, "x":4.22475, "y":0.6886, "heading":0.0, "vx":2.49937, "vy":0.0, "omega":0.0, "ax":0.0, "ay":-0.00451, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.07456,-0.07456,-0.07456,-0.07456]}, - {"t":0.39793, "x":4.32421, "y":0.6886, "heading":0.0, "vx":2.49937, "vy":-0.00018, "omega":0.0, "ax":0.0, "ay":-0.00474, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.07835,-0.07835,-0.07835,-0.07835]}, - {"t":0.43773, "x":4.42367, "y":0.68859, "heading":0.0, "vx":2.49937, "vy":-0.00037, "omega":0.0, "ax":0.0, "ay":-0.00521, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[-0.08612,-0.08612,-0.08612,-0.08612]}, - {"t":0.47752, "x":4.52313, "y":0.68857, "heading":0.0, "vx":2.49937, "vy":-0.00057, "omega":0.0, "ax":0.0, "ay":-0.00594, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[-0.09828,-0.09828,-0.09828,-0.09828]}, - {"t":0.51731, "x":4.62259, "y":0.68854, "heading":0.0, "vx":2.49937, "vy":-0.00081, "omega":0.0, "ax":0.0, "ay":-0.00698, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[-0.11543,-0.11543,-0.11543,-0.11543]}, - {"t":0.55711, "x":4.72205, "y":0.6885, "heading":0.0, "vx":2.49937, "vy":-0.00109, "omega":0.0, "ax":0.0, "ay":-0.00837, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[-0.13844,-0.13844,-0.13844,-0.13844]}, - {"t":0.5969, "x":4.8215, "y":0.68845, "heading":0.0, "vx":2.49937, "vy":-0.00142, "omega":0.0, "ax":-0.00001, "ay":-0.01019, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[-0.16846,-0.16846,-0.16846,-0.16846]}, - {"t":0.63669, "x":4.92096, "y":0.68839, "heading":0.0, "vx":2.49937, "vy":-0.00183, "omega":0.0, "ax":-0.00001, "ay":-0.01252, "alpha":0.0, "fx":[-0.00018,-0.00018,-0.00018,-0.00018], "fy":[-0.20702,-0.20702,-0.20702,-0.20702]}, - {"t":0.67649, "x":5.02042, "y":0.68831, "heading":0.0, "vx":2.49937, "vy":-0.00233, "omega":0.0, "ax":-0.00002, "ay":-0.01549, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[-0.25607,-0.25607,-0.25607,-0.25607]}, - {"t":0.71628, "x":5.11988, "y":0.6882, "heading":0.0, "vx":2.49937, "vy":-0.00294, "omega":0.0, "ax":-0.00003, "ay":-0.01924, "alpha":0.0, "fx":[-0.00043,-0.00043,-0.00043,-0.00043], "fy":[-0.31812,-0.31812,-0.31812,-0.31812]}, - {"t":0.75607, "x":5.21934, "y":0.68807, "heading":0.0, "vx":2.49937, "vy":-0.00371, "omega":0.0, "ax":-0.00004, "ay":-0.02398, "alpha":0.0, "fx":[-0.00067,-0.00067,-0.00067,-0.00067], "fy":[-0.3964,-0.3964,-0.3964,-0.3964]}, - {"t":0.79586, "x":5.31879, "y":0.6879, "heading":0.0, "vx":2.49937, "vy":-0.00466, "omega":0.0, "ax":-0.00006, "ay":-0.02995, "alpha":0.0, "fx":[-0.00104,-0.00104,-0.00104,-0.00104], "fy":[-0.49512,-0.49512,-0.49512,-0.49512]}, - {"t":0.83566, "x":5.41825, "y":0.68769, "heading":0.0, "vx":2.49936, "vy":-0.00585, "omega":0.0, "ax":-0.0001, "ay":-0.03749, "alpha":0.0, "fx":[-0.00164,-0.00164,-0.00164,-0.00164], "fy":[-0.61992,-0.61992,-0.61992,-0.61992]}, - {"t":0.87545, "x":5.51771, "y":0.68743, "heading":0.0, "vx":2.49936, "vy":-0.00735, "omega":0.0, "ax":-0.00016, "ay":-0.04709, "alpha":0.0, "fx":[-0.00258,-0.00258,-0.00258,-0.00258], "fy":[-0.77853,-0.77853,-0.77853,-0.77853]}, - {"t":0.91524, "x":5.61717, "y":0.6871, "heading":0.0, "vx":2.49935, "vy":-0.00922, "omega":0.0, "ax":-0.00025, "ay":-0.05941, "alpha":0.0, "fx":[-0.00409,-0.00409,-0.00409,-0.00409], "fy":[-0.98227,-0.98227,-0.98227,-0.98227]}, - {"t":0.95504, "x":5.71662, "y":0.68669, "heading":0.0, "vx":2.49934, "vy":-0.01158, "omega":0.0, "ax":-0.0004, "ay":-0.07554, "alpha":0.0, "fx":[-0.00654,-0.00654,-0.00654,-0.00654], "fy":[-1.24887,-1.24887,-1.24887,-1.24887]}, - {"t":0.99483, "x":5.81608, "y":0.68617, "heading":0.0, "vx":2.49933, "vy":-0.01459, "omega":0.0, "ax":-0.00064, "ay":-0.09733, "alpha":0.0, "fx":[-0.01064,-0.01064,-0.01064,-0.01064], "fy":[-1.60924,-1.60924,-1.60924,-1.60924]}, - {"t":1.03462, "x":5.91554, "y":0.68551, "heading":0.0, "vx":2.4993, "vy":-0.01846, "omega":0.0, "ax":-0.00108, "ay":-0.1285, "alpha":0.0, "fx":[-0.01787,-0.01787,-0.01787,-0.01787], "fy":[-2.12457,-2.12457,-2.12457,-2.12457]}, - {"t":1.07442, "x":6.01499, "y":0.68467, "heading":0.0, "vx":2.49926, "vy":-0.02358, "omega":0.0, "ax":-0.00192, "ay":-0.17733, "alpha":0.0, "fx":[-0.03179,-0.03179,-0.03179,-0.03179], "fy":[-2.93182,-2.93182,-2.93182,-2.93182]}, - {"t":1.11421, "x":6.11444, "y":0.68359, "heading":0.0, "vx":2.49918, "vy":-0.03063, "omega":0.0, "ax":-0.00375, "ay":-0.26144, "alpha":0.0, "fx":[-0.06197,-0.06197,-0.06197,-0.06197], "fy":[-4.32251,-4.32251,-4.32251,-4.32251]}, - {"t":1.154, "x":6.21389, "y":0.68217, "heading":0.0, "vx":2.49903, "vy":-0.04104, "omega":0.0, "ax":-0.00712, "ay":-0.36806, "alpha":0.0, "fx":[-0.11773,-0.11773,-0.11773,-0.11773], "fy":[-6.0853,-6.0853,-6.0853,-6.0853]}, - {"t":1.1938, "x":6.31333, "y":0.68024, "heading":0.0, "vx":2.49875, "vy":-0.05568, "omega":0.0, "ax":0.00823, "ay":0.5255, "alpha":0.0, "fx":[0.13604,0.13604,0.13604,0.13604], "fy":[8.68835,8.68835,8.68835,8.68835]}, - {"t":1.23359, "x":6.41277, "y":0.67844, "heading":0.0, "vx":2.49908, "vy":-0.03477, "omega":0.0, "ax":-5.02884, "ay":4.79323, "alpha":0.0, "fx":[-83.14408,-83.14408,-83.14408,-83.14408], "fy":[79.24858,79.24858,79.24858,79.24858]}, - {"t":1.27338, "x":6.50823, "y":0.68085, "heading":0.0, "vx":2.29896, "vy":0.15597, "omega":0.0, "ax":-7.33318, "ay":1.45155, "alpha":0.0, "fx":[-121.24264,-121.24264,-121.24264,-121.24264], "fy":[23.9991,23.9991,23.9991,23.9991]}, - {"t":1.31318, "x":6.59391, "y":0.68821, "heading":0.0, "vx":2.00715, "vy":0.21373, "omega":0.0, "ax":-0.69266, "ay":0.13778, "alpha":18.47318, "fx":[-95.19225,-99.31744,76.95902,71.74259], "fy":[80.02392,-74.82925,-97.6006,101.51783]}, - {"t":1.33543, "x":6.63841, "y":0.693, "heading":0.0, "vx":1.99174, "vy":0.2168, "omega":0.41111, "ax":-0.73017, "ay":0.19166, "alpha":18.44701, "fx":[-94.80392,-100.5149,77.16591,69.86422], "fy":[80.46343,-73.18401,-97.40159,102.79735]}, - {"t":1.35769, "x":6.68255, "y":0.69787, "heading":0.00915, "vx":1.97549, "vy":0.22106, "omega":0.82164, "ax":-0.77338, "ay":0.25459, "alpha":18.41281, "fx":[-94.9682,-101.323,78.50829,66.63649], "fy":[80.24646,-72.02567,-96.27763,104.89391]}, - {"t":1.37994, "x":6.72633, "y":0.70286, "heading":0.02743, "vx":1.95828, "vy":0.22673, "omega":1.23141, "ax":-0.82293, "ay":0.32963, "alpha":18.36746, "fx":[-95.62847,-101.83126,81.07629,61.96009], "fy":[79.43161,-71.26136,-94.06551,107.69522]}, - {"t":1.4022, "x":6.7697, "y":0.70798, "heading":0.05484, "vx":1.93996, "vy":0.23406, "omega":1.64017, "ax":-0.8792, "ay":0.42201, "alpha":18.30603, "fx":[-96.7,-102.15464,84.98919,55.72076], "fy":[78.09152,-70.74135,-90.46293,111.0219]}, - {"t":1.42445, "x":6.81266, "y":0.7133, "heading":0.09134, "vx":1.9204, "vy":0.24345, "omega":2.04757, "ax":-0.94211, "ay":0.5414, "alpha":18.21989, "fx":[-98.06765,-102.46033,90.41594,47.80675], "fy":[76.32769,-70.22531,-84.91701,114.61928]}, - {"t":1.4467, "x":6.85516, "y":0.71885, "heading":0.13691, "vx":1.89943, "vy":0.2555, "omega":2.45304, "ax":-1.0111, "ay":0.70727, "alpha":18.09161, "fx":[-99.58032,-103.01474,97.59393,38.13331], "fy":[74.29403,-69.31097,-76.36148,118.1531]}, - {"t":1.46896, "x":6.89718, "y":0.72471, "heading":0.1915, "vx":1.87693, "vy":0.27124, "omega":2.85567, "ax":-1.08667, "ay":0.96251, "alpha":17.87857, "fx":[-101.03794,-104.26711,106.7669,26.6728], "fy":[72.23545,-67.27027,-62.52426,121.2133]}, - {"t":1.49121, "x":6.93868, "y":0.73098, "heading":0.25505, "vx":1.85275, "vy":0.29266, "omega":3.25355, "ax":-1.1828, "ay":1.4111, "alpha":17.44933, "fx":[-102.16032,-106.98403,117.43405,13.48707], "fy":[70.55457,-62.63493,-37.92785,123.32931]}, - {"t":1.51347, "x":6.97962, "y":0.73785, "heading":0.32746, "vx":1.82642, "vy":0.32407, "omega":3.64187, "ax":-1.41645, "ay":2.30802, "alpha":16.29711, "fx":[-102.50875,-112.32103,122.3975,-1.24295], "fy":[69.93279,-52.04661,10.75295,123.99923]}, - {"t":1.53572, "x":7.01992, "y":0.74563, "heading":0.40851, "vx":1.7949, "vy":0.37543, "omega":4.00456, "ax":-2.32815, "ay":3.85877, "alpha":12.90988, "fx":[-101.27019,-120.48643,84.99916,-17.212], "fy":[71.55845,-27.19599,88.10249,122.72984]}, - {"t":1.55798, "x":7.05929, "y":0.75494, "heading":0.49763, "vx":1.74309, "vy":0.46131, "omega":4.29186, "ax":-3.68951, "ay":5.21301, "alpha":7.52961, "fx":[-96.61961,-120.53596,7.20418,-34.04967], "fy":[77.51519,25.57962,122.60328,119.058]}, - {"t":1.58023, "x":7.09717, "y":0.7665, "heading":0.59314, "vx":1.66098, "vy":0.57732, "omega":4.45943, "ax":-4.05399, "ay":6.09962, "alpha":2.63761, "fx":[-83.95614,-89.80562,-42.8531,-51.49099], "fy":[90.82688,84.48577,115.61839,112.45977]}, - {"t":1.60249, "x":7.13313, "y":0.78086, "heading":0.69238, "vx":1.57076, "vy":0.71306, "omega":4.51813, "ax":-3.79942, "ay":6.41143, "alpha":-0.9551, "fx":[-53.45005,-57.06375,-71.0538,-69.7025], "fy":[111.31603,109.66193,101.13781,101.89626]}, - {"t":1.62474, "x":7.16714, "y":0.79831, "heading":0.79293, "vx":1.48621, "vy":0.85575, "omega":4.49688, "ax":-3.37168, "ay":6.20058, "alpha":-4.46638, "fx":[-2.65026,-41.28868,-89.26569,-89.77703], "fy":[123.42498,116.77493,85.75391,84.11386]}, - {"t":1.647, "x":7.19938, "y":0.81889, "heading":0.89301, "vx":1.41117, "vy":0.99374, "omega":4.39748, "ax":-3.19998, "ay":5.2961, "alpha":-7.94019, "fx":[40.32791,-36.22935,-102.15637,-113.56861], "fy":[116.88739,118.59977,70.10905,44.65463]}, - {"t":1.66925, "x":7.22999, "y":0.84232, "heading":0.99087, "vx":1.33996, "vy":1.1116, "omega":4.22077, "ax":-2.74088, "ay":3.12052, "alpha":-13.37511, "fx":[62.21671,-36.62703,-111.50091,-95.35321], "fy":[107.10018,118.58039,54.21396,-73.52252]}, - {"t":1.69151, "x":7.25914, "y":0.86783, "heading":1.0848, "vx":1.27896, "vy":1.18105, "omega":3.92312, "ax":-1.07778, "ay":2.05715, "alpha":-16.63832, "fx":[71.4199,-39.80651,-117.99407,15.10313], "fy":[101.38112,117.62248,38.26395,-121.22044]}, - {"t":1.71376, "x":7.28733, "y":0.89462, "heading":1.17211, "vx":1.25497, "vy":1.22683, "omega":3.55284, "ax":-0.52013, "ay":1.94585, "alpha":-17.1569, "fx":[74.74182,-44.24515,-122.00135,57.10666], "fy":[99.0861,116.07786,22.67711,-109.15437]}, - {"t":1.73601, "x":7.31513, "y":0.92241, "heading":1.25118, "vx":1.2434, "vy":1.27013, "omega":3.17102, "ax":-0.33192, "ay":1.86009, "alpha":-17.39315, "fx":[75.33511,-49.08542,-123.87901,75.67792], "fy":[98.72542,114.15531,7.89459,-97.7606]}, - {"t":1.75827, "x":7.34272, "y":0.95114, "heading":1.32175, "vx":1.23601, "vy":1.31153, "omega":2.78394, "ax":-0.25411, "ay":1.76774, "alpha":-17.56242, "fx":[74.61753,-53.88056,-124.0299,86.48764], "fy":[99.3333,112.00362,-5.7648,-88.66504]}, - {"t":1.78052, "x":7.37016, "y":0.98076, "heading":1.3837, "vx":1.23036, "vy":1.35087, "omega":2.39309, "ax":-0.21629, "ay":1.67444, "alpha":-17.69756, "fx":[73.31418,-58.36884,-122.87305,93.62396], "fy":[100.34693,109.75759,-18.05934,-81.30815]}, - {"t":1.80278, "x":7.39749, "y":1.01124, "heading":1.43696, "vx":1.22554, "vy":1.38813, "omega":1.99924, "ax":-0.19333, "ay":1.5846, "alpha":-17.80905, "fx":[71.84243,-62.3915,-120.82767,98.59095], "fy":[101.44241,107.54383,-28.82854,-75.36237]}, - {"t":1.82503, "x":7.42472, "y":1.04252, "heading":1.48145, "vx":1.22124, "vy":1.4234, "omega":1.60291, "ax":-0.17518, "ay":1.50083, "alpha":-17.90202, "fx":[70.46647,-65.85162,-118.29166,102.09145], "fy":[102.43177,105.47949,-37.99128,-70.66418]}, - {"t":1.84729, "x":7.45185, "y":1.07457, "heading":1.51713, "vx":1.21734, "vy":1.4568, "omega":1.20451, "ax":-0.15784, "ay":1.42454, "alpha":-17.97977, "fx":[69.36534,-68.69038,-115.62106,104.50775], "fy":[103.20378,103.66976,-45.53384,-67.12963]}, - {"t":1.86954, "x":7.47891, "y":1.10735, "heading":1.54393, "vx":1.21383, "vy":1.4885, "omega":0.80437, "ax":-0.13996, "ay":1.3562, "alpha":-18.04484, "fx":[68.66581,-70.87195,-113.1151,106.06514], "fy":[103.68958,102.20541,-51.49144,-64.71288]}, - {"t":1.8918, "x":7.50588, "y":1.14081, "heading":1.56183, "vx":1.21072, "vy":1.51868, "omega":0.40279, "ax":-0.12135, "ay":1.29569, "alpha":-18.09931, "fx":[68.45932,-72.37334,-111.0085,106.89745], "fy":[103.84198,101.1609,-55.92784,-63.38632]}, - {"t":1.91405, "x":7.5328, "y":1.17493, "heading":1.5708, "vx":1.20801, "vy":1.54752, "omega":0.0, "ax":-1.07622, "ay":7.42886, "alpha":0.0, "fx":[-17.79361,-17.79361,-17.79361,-17.79361], "fy":[122.82465,122.82465,122.82465,122.82465]}, - {"t":1.95182, "x":7.57766, "y":1.23868, "heading":1.5708, "vx":1.16736, "vy":1.82812, "omega":0.0, "ax":-1.93067, "ay":7.23784, "alpha":0.0, "fx":[-31.9206,-31.9206,-31.9206,-31.9206], "fy":[119.66634,119.66634,119.66634,119.66634]}, - {"t":1.98959, "x":7.62037, "y":1.31289, "heading":1.5708, "vx":1.09444, "vy":2.1015, "omega":0.0, "ax":-4.58985, "ay":5.8593, "alpha":0.0, "fx":[-75.88608,-75.88608,-75.88608,-75.88608], "fy":[96.87439,96.87439,96.87439,96.87439]}, - {"t":2.02737, "x":7.65844, "y":1.39645, "heading":1.5708, "vx":0.92107, "vy":2.32281, "omega":0.0, "ax":-6.95331, "ay":2.33499, "alpha":0.0, "fx":[-114.96212,-114.96212,-114.96212,-114.96212], "fy":[38.6054,38.6054,38.6054,38.6054]}, - {"t":2.06514, "x":7.68827, "y":1.48585, "heading":1.5708, "vx":0.65844, "vy":2.41101, "omega":0.0, "ax":-6.87605, "ay":1.49076, "alpha":0.0, "fx":[-113.68485,-113.68485,-113.68485,-113.68485], "fy":[24.64739,24.64739,24.64739,24.64739]}, - {"t":2.10291, "x":7.70823, "y":1.57798, "heading":1.5708, "vx":0.39872, "vy":2.46732, "omega":0.0, "ax":-5.43034, "ay":0.64883, "alpha":0.0, "fx":[-89.78221,-89.78221,-89.78221,-89.78221], "fy":[10.72743,10.72743,10.72743,10.72743]}, - {"t":2.14068, "x":7.71942, "y":1.67164, "heading":1.5708, "vx":0.19361, "vy":2.49183, "omega":0.0, "ax":-1.42905, "ay":0.09551, "alpha":0.0, "fx":[-23.62714,-23.62714,-23.62714,-23.62714], "fy":[1.57912,1.57912,1.57912,1.57912]}, - {"t":2.17845, "x":7.72571, "y":1.76583, "heading":1.5708, "vx":0.13963, "vy":2.49543, "omega":0.0, "ax":-0.18546, "ay":0.01012, "alpha":0.0, "fx":[-3.06629,-3.06629,-3.06629,-3.06629], "fy":[0.16725,0.16725,0.16725,0.16725]}, - {"t":2.21622, "x":7.73086, "y":1.86009, "heading":1.5708, "vx":0.13262, "vy":2.49582, "omega":0.0, "ax":-0.02318, "ay":0.00123, "alpha":0.0, "fx":[-0.38321,-0.38321,-0.38321,-0.38321], "fy":[0.02028,0.02028,0.02028,0.02028]}, - {"t":2.25399, "x":7.73585, "y":1.95436, "heading":1.5708, "vx":0.13175, "vy":2.49586, "omega":0.0, "ax":-0.00288, "ay":0.00015, "alpha":0.0, "fx":[-0.04759,-0.04759,-0.04759,-0.04759], "fy":[0.0025,0.0025,0.0025,0.0025]}, - {"t":2.29177, "x":7.74082, "y":2.04863, "heading":1.5708, "vx":0.13164, "vy":2.49587, "omega":0.0, "ax":-0.00035, "ay":0.00002, "alpha":0.0, "fx":[-0.00577,-0.00577,-0.00577,-0.00577], "fy":[0.00029,0.00029,0.00029,0.00029]}, - {"t":2.32954, "x":7.7458, "y":2.14291, "heading":1.5708, "vx":0.13163, "vy":2.49587, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00069,-0.00069,-0.00069,-0.00069], "fy":[0.00003,0.00003,0.00003,0.00003]}, - {"t":2.36731, "x":7.75077, "y":2.23718, "heading":1.5708, "vx":0.13163, "vy":2.49587, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00018,-0.00018,-0.00018,-0.00018], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.40508, "x":7.75574, "y":2.33145, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00023,-0.00023,-0.00023,-0.00023], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.44285, "x":7.76071, "y":2.42572, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00035,-0.00035,-0.00035,-0.00035], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":2.48062, "x":7.76568, "y":2.52, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00047,-0.00047,-0.00047,-0.00047], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":2.5184, "x":7.77065, "y":2.61427, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":2.55617, "x":7.77563, "y":2.70854, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00068,-0.00068,-0.00068,-0.00068], "fy":[0.00003,0.00003,0.00003,0.00003]}, - {"t":2.59394, "x":7.7806, "y":2.80281, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00078,-0.00078,-0.00078,-0.00078], "fy":[0.00003,0.00003,0.00003,0.00003]}, - {"t":2.63171, "x":7.78557, "y":2.89709, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00087,-0.00087,-0.00087,-0.00087], "fy":[0.00004,0.00004,0.00004,0.00004]}, - {"t":2.66948, "x":7.79054, "y":2.99136, "heading":1.5708, "vx":0.13162, "vy":2.49587, "omega":0.0, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00095,-0.00095,-0.00095,-0.00095], "fy":[0.00005,0.00005,0.00005,0.00005]}, - {"t":2.70725, "x":7.79551, "y":3.08563, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00104,-0.00104,-0.00104,-0.00104], "fy":[0.00005,0.00005,0.00005,0.00005]}, - {"t":2.74502, "x":7.80048, "y":3.1799, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00111,-0.00111,-0.00111,-0.00111], "fy":[0.00005,0.00005,0.00005,0.00005]}, - {"t":2.7828, "x":7.80545, "y":3.27418, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00118,-0.00118,-0.00118,-0.00118], "fy":[0.00006,0.00006,0.00006,0.00006]}, - {"t":2.82057, "x":7.81042, "y":3.36845, "heading":1.5708, "vx":0.13161, "vy":2.49587, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00117,-0.00117,-0.00117,-0.00117], "fy":[0.00005,0.00005,0.00005,0.00005]}, - {"t":2.85834, "x":7.8154, "y":3.46272, "heading":1.5708, "vx":0.1316, "vy":2.49587, "omega":0.0, "ax":-0.00096, "ay":-0.0176, "alpha":0.0, "fx":[-0.01591,-0.01591,-0.01591,-0.01591], "fy":[-0.29094,-0.29094,-0.29094,-0.29094]}, - {"t":2.89611, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.13157, "vy":2.4952, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.32967, "y":0.68821, "heading":0.0, "vx":2.69715, "vy":0.00275, "omega":0.0, "ax":0.05623, "ay":-0.00688, "alpha":0.0, "fx":[0.92967,0.92967,0.92967,0.92967], "fy":[-0.11367,-0.11367,-0.11367,-0.11367]}, + {"t":0.03809, "x":3.43245, "y":0.68831, "heading":0.0, "vx":2.69929, "vy":0.00249, "omega":0.0, "ax":0.00001, "ay":-0.01346, "alpha":0.0, "fx":[0.00022,0.00022,0.00022,0.00022], "fy":[-0.22257,-0.22257,-0.22257,-0.22257]}, + {"t":0.07619, "x":3.53528, "y":0.6884, "heading":0.0, "vx":2.69929, "vy":0.00198, "omega":0.0, "ax":0.00001, "ay":-0.01194, "alpha":0.0, "fx":[0.00012,0.00012,0.00012,0.00012], "fy":[-0.19743,-0.19743,-0.19743,-0.19743]}, + {"t":0.11428, "x":3.6381, "y":0.68846, "heading":0.0, "vx":2.69929, "vy":0.00152, "omega":0.0, "ax":0.0, "ay":-0.00986, "alpha":0.0, "fx":[0.00007,0.00007,0.00007,0.00007], "fy":[-0.163,-0.163,-0.163,-0.163]}, + {"t":0.15237, "x":3.74093, "y":0.68851, "heading":0.0, "vx":2.69929, "vy":0.00115, "omega":0.0, "ax":0.0, "ay":-0.00816, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[-0.13497,-0.13497,-0.13497,-0.13497]}, + {"t":0.19047, "x":3.84375, "y":0.68855, "heading":0.0, "vx":2.69929, "vy":0.00084, "omega":0.0, "ax":0.0, "ay":-0.00691, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.11425,-0.11425,-0.11425,-0.11425]}, + {"t":0.22856, "x":3.94658, "y":0.68858, "heading":0.0, "vx":2.69929, "vy":0.00057, "omega":0.0, "ax":0.0, "ay":-0.00605, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.1,-0.1,-0.1,-0.1]}, + {"t":0.26665, "x":4.0494, "y":0.68859, "heading":0.0, "vx":2.69929, "vy":0.00034, "omega":0.0, "ax":0.0, "ay":-0.00553, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.09148,-0.09148,-0.09148,-0.09148]}, + {"t":0.30475, "x":4.15223, "y":0.6886, "heading":0.0, "vx":2.69929, "vy":0.00013, "omega":0.0, "ax":0.0, "ay":-0.00533, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.08819,-0.08819,-0.08819,-0.08819]}, + {"t":0.34284, "x":4.25505, "y":0.6886, "heading":0.0, "vx":2.69929, "vy":-0.00007, "omega":0.0, "ax":0.0, "ay":-0.00544, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.08997,-0.08997,-0.08997,-0.08997]}, + {"t":0.38093, "x":4.35788, "y":0.6886, "heading":0.0, "vx":2.69929, "vy":-0.00028, "omega":0.0, "ax":0.0, "ay":-0.00586, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[-0.09691,-0.09691,-0.09691,-0.09691]}, + {"t":0.41903, "x":4.4607, "y":0.68858, "heading":0.0, "vx":2.69929, "vy":-0.0005, "omega":0.0, "ax":0.0, "ay":-0.00662, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[-0.1094,-0.1094,-0.1094,-0.1094]}, + {"t":0.45712, "x":4.56353, "y":0.68856, "heading":0.0, "vx":2.69929, "vy":-0.00075, "omega":0.0, "ax":0.0, "ay":-0.00775, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[-0.12816,-0.12816,-0.12816,-0.12816]}, + {"t":0.49521, "x":4.66635, "y":0.68853, "heading":0.0, "vx":2.69929, "vy":-0.00105, "omega":0.0, "ax":0.0, "ay":-0.00933, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[-0.15425,-0.15425,-0.15425,-0.15425]}, + {"t":0.53331, "x":4.76918, "y":0.68848, "heading":0.0, "vx":2.69929, "vy":-0.0014, "omega":0.0, "ax":-0.00001, "ay":-0.01144, "alpha":0.0, "fx":[-0.00012,-0.00012,-0.00012,-0.00012], "fy":[-0.18914,-0.18914,-0.18914,-0.18914]}, + {"t":0.5714, "x":4.872, "y":0.68842, "heading":0.0, "vx":2.69929, "vy":-0.00184, "omega":0.0, "ax":-0.00001, "ay":-0.0142, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[-0.23482,-0.23482,-0.23482,-0.23482]}, + {"t":0.60949, "x":4.97483, "y":0.68834, "heading":0.0, "vx":2.69929, "vy":-0.00238, "omega":0.0, "ax":-0.00002, "ay":-0.01778, "alpha":0.0, "fx":[-0.0003,-0.0003,-0.0003,-0.0003], "fy":[-0.2939,-0.2939,-0.2939,-0.2939]}, + {"t":0.64759, "x":5.07765, "y":0.68823, "heading":0.0, "vx":2.69929, "vy":-0.00306, "omega":0.0, "ax":-0.00003, "ay":-0.02236, "alpha":0.0, "fx":[-0.00048,-0.00048,-0.00048,-0.00048], "fy":[-0.36976,-0.36976,-0.36976,-0.36976]}, + {"t":0.68568, "x":5.18048, "y":0.6881, "heading":0.0, "vx":2.69929, "vy":-0.00391, "omega":0.0, "ax":-0.00005, "ay":-0.02824, "alpha":0.0, "fx":[-0.00077,-0.00077,-0.00077,-0.00077], "fy":[-0.46685,-0.46685,-0.46685,-0.46685]}, + {"t":0.72377, "x":5.2833, "y":0.68793, "heading":0.0, "vx":2.69928, "vy":-0.00499, "omega":0.0, "ax":-0.00008, "ay":-0.03575, "alpha":0.0, "fx":[-0.00124,-0.00124,-0.00124,-0.00124], "fy":[-0.59103,-0.59103,-0.59103,-0.59103]}, + {"t":0.76187, "x":5.38613, "y":0.68771, "heading":0.0, "vx":2.69928, "vy":-0.00635, "omega":0.0, "ax":-0.00012, "ay":-0.04538, "alpha":0.0, "fx":[-0.00201,-0.00201,-0.00201,-0.00201], "fy":[-0.75025,-0.75025,-0.75025,-0.75025]}, + {"t":0.79996, "x":5.48895, "y":0.68744, "heading":0.0, "vx":2.69928, "vy":-0.00808, "omega":0.0, "ax":-0.0002, "ay":-0.0578, "alpha":0.0, "fx":[-0.00325,-0.00325,-0.00325,-0.00325], "fy":[-0.9557,-0.9557,-0.9557,-0.9557]}, + {"t":0.83805, "x":5.59178, "y":0.68709, "heading":0.0, "vx":2.69927, "vy":-0.01028, "omega":0.0, "ax":-0.00032, "ay":-0.07404, "alpha":0.0, "fx":[-0.0053,-0.0053,-0.0053,-0.0053], "fy":[-1.22421,-1.22421,-1.22421,-1.22421]}, + {"t":0.87615, "x":5.6946, "y":0.68664, "heading":0.0, "vx":2.69926, "vy":-0.0131, "omega":0.0, "ax":-0.00053, "ay":-0.09579, "alpha":0.0, "fx":[-0.00876,-0.00876,-0.00876,-0.00876], "fy":[-1.58366,-1.58366,-1.58366,-1.58366]}, + {"t":0.91424, "x":5.79743, "y":0.68608, "heading":0.0, "vx":2.69924, "vy":-0.01675, "omega":0.0, "ax":-0.0009, "ay":-0.12624, "alpha":0.0, "fx":[-0.01481,-0.01481,-0.01481,-0.01481], "fy":[-2.08721,-2.08721,-2.08721,-2.08721]}, + {"t":0.95233, "x":5.90025, "y":0.68535, "heading":0.0, "vx":2.6992, "vy":-0.02156, "omega":0.0, "ax":-0.00159, "ay":-0.17285, "alpha":0.0, "fx":[-0.02631,-0.02631,-0.02631,-0.02631], "fy":[-2.85785,-2.85785,-2.85785,-2.85785]}, + {"t":0.99043, "x":6.00307, "y":0.6844, "heading":0.0, "vx":2.69914, "vy":-0.02814, "omega":0.0, "ax":-0.00314, "ay":-0.25693, "alpha":0.0, "fx":[-0.05198,-0.05198,-0.05198,-0.05198], "fy":[-4.24792,-4.24792,-4.24792,-4.24792]}, + {"t":1.02852, "x":6.10589, "y":0.68314, "heading":0.0, "vx":2.69902, "vy":-0.03793, "omega":0.0, "ax":-0.00771, "ay":-0.44784, "alpha":0.0, "fx":[-0.12744,-0.12744,-0.12744,-0.12744], "fy":[-7.4043,-7.4043,-7.4043,-7.4043]}, + {"t":1.06661, "x":6.20869, "y":0.68137, "heading":0.0, "vx":2.69873, "vy":-0.05499, "omega":0.0, "ax":-0.0241, "ay":-0.89856, "alpha":0.0, "fx":[-0.3985,-0.3985,-0.3985,-0.3985], "fy":[-14.85631,-14.85631,-14.85631,-14.85631]}, + {"t":1.10471, "x":6.31148, "y":0.67863, "heading":0.0, "vx":2.69781, "vy":-0.08922, "omega":0.0, "ax":-1.22896, "ay":4.53551, "alpha":0.0, "fx":[-20.3189,-20.3189,-20.3189,-20.3189], "fy":[74.98757,74.98757,74.98757,74.98757]}, + {"t":1.1428, "x":6.41336, "y":0.67852, "heading":0.0, "vx":2.65099, "vy":0.08356, "omega":0.0, "ax":-7.37387, "ay":1.12232, "alpha":0.0, "fx":[-121.91552,-121.91552,-121.91552,-121.91552], "fy":[18.55581,18.55581,18.55581,18.55581]}, + {"t":1.1809, "x":6.50899, "y":0.68251, "heading":0.0, "vx":2.3701, "vy":0.12631, "omega":0.0, "ax":-7.39642, "ay":1.2181, "alpha":0.0, "fx":[-122.28835,-122.28835,-122.28835,-122.28835], "fy":[20.13936,20.13936,20.13936,20.13936]}, + {"t":1.21899, "x":6.59391, "y":0.68821, "heading":0.0, "vx":2.08834, "vy":0.17271, "omega":0.0, "ax":-0.95347, "ay":0.16098, "alpha":18.33494, "fx":[-97.41879,-102.17519,71.46132,65.07585], "fy":[77.3227,-70.9039,-101.69033,105.91756]}, + {"t":1.24143, "x":6.64054, "y":0.69213, "heading":0.0, "vx":2.06694, "vy":0.17632, "omega":0.41152, "ax":-1.00096, "ay":0.21618, "alpha":18.29528, "fx":[-97.04341,-103.40782,71.44292,62.81127], "fy":[77.77462,-69.0662,-101.6673,107.25547]}, + {"t":1.26388, "x":6.68668, "y":0.69614, "heading":0.00924, "vx":2.04448, "vy":0.18117, "omega":0.82215, "ax":-1.05506, "ay":0.2793, "alpha":18.24506, "fx":[-97.17932,-104.30311,72.63195,59.07534], "fy":[77.58352,-67.67264,-100.77487,109.3353]}, + {"t":1.28632, "x":6.7323, "y":0.70028, "heading":0.02769, "vx":2.0208, "vy":0.18744, "omega":1.23165, "ax":-1.11591, "ay":0.35312, "alpha":18.18095, "fx":[-97.77156,-104.95493,75.14494,53.78234], "fy":[76.81124,-66.61496,-98.8529,112.00952]}, + {"t":1.30877, "x":6.77738, "y":0.70457, "heading":0.05533, "vx":1.99575, "vy":0.19537, "omega":1.63971, "ax":-1.18273, "ay":0.44279, "alpha":18.09806, "fx":[-98.73871,-105.48276,79.15437,46.84852], "fy":[75.53479,-65.72226,-95.58469,115.05585]}, + {"t":1.33121, "x":6.82187, "y":0.70907, "heading":0.09214, "vx":1.96921, "vy":0.20531, "omega":2.04592, "ax":-1.25313, "ay":0.55888, "alpha":17.98822, "fx":[-99.97118,-106.05603,84.93706,38.21563], "fy":[73.8604,-64.72291,-90.35194,118.17556]}, + {"t":1.35366, "x":6.86576, "y":0.71382, "heading":0.13806, "vx":1.94108, "vy":0.21785, "omega":2.44965, "ax":-1.32196, "ay":0.72464, "alpha":17.8345, "fx":[-101.32655,-106.93404,92.95453,27.87967], "fy":[71.94547,-63.16619,-81.85647,121.00029]}, + {"t":1.3761, "x":6.90899, "y":0.71889, "heading":0.19304, "vx":1.91141, "vy":0.23412, "omega":2.84994, "ax":-1.38096, "ay":0.99678, "alpha":17.59049, "fx":[-102.61819,-108.52679,103.89586,15.92084], "fy":[70.03411,-60.25054,-66.97406,123.11101]}, + {"t":1.39854, "x":6.95154, "y":0.72439, "heading":0.257, "vx":1.88041, "vy":0.25649, "omega":3.24475, "ax":-1.43611, "ay":1.53312, "alpha":17.07488, "fx":[-103.58798,-111.45688,117.53922,2.53022], "fy":[68.51711,-54.42064,-36.77594,124.0707]}, + {"t":1.42099, "x":6.99339, "y":0.73054, "heading":0.32983, "vx":1.84818, "vy":0.2909, "omega":3.62799, "ax":-1.7257, "ay":2.7419, "alpha":15.362, "fx":[-103.83937,-116.41099,118.09575,-11.97235], "fy":[68.03629,-42.39341,32.21897,123.47045]}, + {"t":1.44343, "x":7.03443, "y":0.73776, "heading":0.41126, "vx":1.80945, "vy":0.35244, "omega":3.97278, "ax":-3.06277, "ay":4.31383, "alpha":10.86353, "fx":[-102.65384,-122.48632,49.77366,-27.18609], "fy":[69.67931,-17.17797,111.81435,120.97447]}, + {"t":1.46588, "x":7.07427, "y":0.74675, "heading":0.50042, "vx":1.74071, "vy":0.44926, "omega":4.21661, "ax":-4.22253, "ay":5.18502, "alpha":6.33205, "fx":[-98.47269,-119.89828,-18.16221,-42.71852], "fy":[75.29918,29.55615,121.73055,116.31908]}, + {"t":1.48832, "x":7.11228, "y":0.75814, "heading":0.59506, "vx":1.64593, "vy":0.56564, "omega":4.35873, "ax":-4.42976, "ay":5.87468, "alpha":2.40857, "fx":[-87.55382,-93.85392,-53.27561,-58.27306], "fy":[87.54887,80.31225,111.41776,109.23562]}, + {"t":1.51077, "x":7.14811, "y":0.77232, "heading":0.69289, "vx":1.54651, "vy":0.69749, "omega":4.41279, "ax":-4.14639, "ay":6.21348, "alpha":-0.72648, "fx":[-61.99844,-63.88043,-74.46841,-73.86915], "fy":[106.98377,105.97729,98.81449,99.14558]}, + {"t":1.53321, "x":7.18177, "y":0.78954, "heading":0.79194, "vx":1.45345, "vy":0.83695, "omega":4.39648, "ax":-3.68141, "ay":6.15498, "alpha":-3.85458, "fx":[-17.01587,-46.89992,-89.4613,-90.08846], "fy":[122.41287,114.71058,85.68212,84.24668]}, + {"t":1.55566, "x":7.21347, "y":0.80987, "heading":0.89061, "vx":1.37082, "vy":0.97509, "omega":4.30997, "ax":-3.3575, "ay":5.55797, "alpha":-6.9344, "fx":[27.32928,-40.04781,-100.90844,-108.41743], "fy":[120.66299,117.41286,72.00845,57.4852]}, + {"t":1.5781, "x":7.24339, "y":0.83316, "heading":0.98735, "vx":1.29546, "vy":1.09984, "omega":4.15433, "ax":-3.25233, "ay":4.06831, "alpha":-10.78975, "fx":[53.30973,-38.90591,-109.78855,-119.70401], "fy":[111.8433,117.88673,57.71,-18.38709]}, + {"t":1.60055, "x":7.27165, "y":0.85887, "heading":1.08059, "vx":1.22246, "vy":1.19115, "omega":3.91216, "ax":-1.53081, "ay":2.18514, "alpha":-16.08934, "fx":[65.41795,-40.8815,-116.41559,-9.35879], "fy":[105.38493,117.28012,42.93594,-121.08968]}, + {"t":1.62299, "x":7.2987, "y":0.88615, "heading":1.1684, "vx":1.18811, "vy":1.2402, "omega":3.55104, "ax":-0.58993, "ay":2.06712, "alpha":-16.93545, "fx":[70.46102,-44.46718,-120.91446,55.90654], "fy":[102.20033,116.01513,28.02316,-109.53202]}, + {"t":1.64543, "x":7.32522, "y":0.91451, "heading":1.2481, "vx":1.17486, "vy":1.28659, "omega":3.17093, "ax":-0.32637, "ay":2.01737, "alpha":-17.18545, "fx":[72.14664,-48.67855,-123.41573,78.36337], "fy":[101.10115,114.34818,13.49413,-95.52692]}, + {"t":1.66788, "x":7.3515, "y":0.9439, "heading":1.31927, "vx":1.16754, "vy":1.33187, "omega":2.78521, "ax":-0.2295, "ay":1.9365, "alpha":-17.36795, "fx":[72.18583,-53.00448,-124.17876,89.81996], "fy":[101.13371,112.43712,-0.25401,-85.24887]}, + {"t":1.69032, "x":7.37765, "y":0.97428, "heading":1.38178, "vx":1.16239, "vy":1.37533, "omega":2.3954, "ax":-0.18655, "ay":1.84262, "alpha":-17.5207, "fx":[71.44399,-57.14395,-123.533,96.89551], "fy":[101.7042,110.41456,-12.89228,-77.36739]}, + {"t":1.71277, "x":7.40369, "y":1.00561, "heading":1.43554, "vx":1.1582, "vy":1.41669, "omega":2.00215, "ax":-0.16203, "ay":1.74632, "alpha":-17.65098, "fx":[70.41007,-60.90864,-121.85332,101.63619], "fy":[102.45726,108.40325,-24.16691,-71.20271]}, + {"t":1.73521, "x":7.42965, "y":1.03785, "heading":1.48048, "vx":1.15456, "vy":1.45589, "omega":1.60598, "ax":-0.14253, "ay":1.65344, "alpha":-17.76193, "fx":[69.38701,-64.17827,-119.53067,104.89558], "fy":[103.18004,106.5173,-33.9106,-66.4387]}, + {"t":1.75766, "x":7.45552, "y":1.07094, "heading":1.51653, "vx":1.15137, "vy":1.493, "omega":1.20733, "ax":-0.12302, "ay":1.56719, "alpha":-17.85584, "fx":[68.5763,-66.87509,-116.94016,107.10329], "fy":[103.74253,104.8602,-42.04021,-62.91847]}, + {"t":1.7801, "x":7.48134, "y":1.10484, "heading":1.54363, "vx":1.1486, "vy":1.52817, "omega":0.80656, "ax":-0.10198, "ay":1.48916, "alpha":-17.93481, "fx":[68.11845,-68.94783,-114.41405,108.49919], "fy":[104.06176,103.52248,-48.54212,-60.55848]}, + {"t":1.80255, "x":7.50709, "y":1.13952, "heading":1.56173, "vx":1.14632, "vy":1.5616, "omega":0.40402, "ax":-0.07939, "ay":1.41982, "alpha":-18.00087, "fx":[68.11383,-70.36087,-112.22374,109.22015], "fy":[104.07989,102.57932,-53.45052,-59.31088]}, + {"t":1.82499, "x":7.5328, "y":1.17493, "heading":1.5708, "vx":1.14453, "vy":1.59346, "omega":0.0, "ax":-0.61992, "ay":7.48334, "alpha":0.0, "fx":[-10.24938,-10.24938,-10.24938,-10.24938], "fy":[123.72536,123.72536,123.72536,123.72536]}, + {"t":1.86164, "x":7.57433, "y":1.23836, "heading":1.5708, "vx":1.12181, "vy":1.86775, "omega":0.0, "ax":-1.02542, "ay":7.42843, "alpha":0.0, "fx":[-16.95374,-16.95374,-16.95374,-16.95374], "fy":[122.81754,122.81754,122.81754,122.81754]}, + {"t":1.8983, "x":7.61476, "y":1.31181, "heading":1.5708, "vx":1.08423, "vy":2.14003, "omega":0.0, "ax":-1.98547, "ay":7.20644, "alpha":0.0, "fx":[-32.8266,-32.8266,-32.8266,-32.8266], "fy":[119.14731,119.14731,119.14731,119.14731]}, + {"t":1.93495, "x":7.65317, "y":1.39509, "heading":1.5708, "vx":1.01145, "vy":2.40417, "omega":0.0, "ax":-5.68628, "ay":4.70944, "alpha":0.0, "fx":[-94.01372,-94.01372,-94.01372,-94.01372], "fy":[77.8632,77.8632,77.8632,77.8632]}, + {"t":1.9716, "x":7.68642, "y":1.48637, "heading":1.5708, "vx":0.80303, "vy":2.57679, "omega":0.0, "ax":-6.97358, "ay":1.81034, "alpha":0.0, "fx":[-115.29727,-115.29727,-115.29727,-115.29727], "fy":[29.93113,29.93113,29.93113,29.93113]}, + {"t":2.00826, "x":7.71117, "y":1.58204, "heading":1.5708, "vx":0.54742, "vy":2.64315, "omega":0.0, "ax":-6.53943, "ay":1.05067, "alpha":0.0, "fx":[-108.11931,-108.11931,-108.11931,-108.11931], "fy":[17.37125,17.37125,17.37125,17.37125]}, + {"t":2.04491, "x":7.72684, "y":1.67963, "heading":1.5708, "vx":0.30773, "vy":2.68166, "omega":0.0, "ax":-3.95209, "ay":0.34607, "alpha":0.0, "fx":[-65.3417,-65.3417,-65.3417,-65.3417], "fy":[5.72179,5.72179,5.72179,5.72179]}, + {"t":2.08157, "x":7.73547, "y":1.77815, "heading":1.5708, "vx":0.16287, "vy":2.69434, "omega":0.0, "ax":-0.82183, "ay":0.04508, "alpha":0.0, "fx":[-13.58772,-13.58772,-13.58772,-13.58772], "fy":[0.74533,0.74533,0.74533,0.74533]}, + {"t":2.11822, "x":7.74089, "y":1.87694, "heading":1.5708, "vx":0.13275, "vy":2.696, "omega":0.0, "ax":-0.12519, "ay":0.00606, "alpha":0.0, "fx":[-2.06976,-2.06976,-2.06976,-2.06976], "fy":[0.10014,0.10014,0.10014,0.10014]}, + {"t":2.15487, "x":7.74567, "y":1.97576, "heading":1.5708, "vx":0.12816, "vy":2.69622, "omega":0.0, "ax":-0.01884, "ay":0.00089, "alpha":0.0, "fx":[-0.31149,-0.31149,-0.31149,-0.31149], "fy":[0.01475,0.01475,0.01475,0.01475]}, + {"t":2.19153, "x":7.75035, "y":2.07459, "heading":1.5708, "vx":0.12747, "vy":2.69625, "omega":0.0, "ax":-0.00284, "ay":0.00013, "alpha":0.0, "fx":[-0.04694,-0.04694,-0.04694,-0.04694], "fy":[0.0022,0.0022,0.0022,0.0022]}, + {"t":2.22818, "x":7.75502, "y":2.17341, "heading":1.5708, "vx":0.12736, "vy":2.69625, "omega":0.0, "ax":-0.00044, "ay":0.00002, "alpha":0.0, "fx":[-0.00727,-0.00727,-0.00727,-0.00727], "fy":[0.00033,0.00033,0.00033,0.00033]}, + {"t":2.26483, "x":7.75969, "y":2.27224, "heading":1.5708, "vx":0.12735, "vy":2.69626, "omega":0.0, "ax":-0.00009, "ay":0.0, "alpha":0.0, "fx":[-0.00144,-0.00144,-0.00144,-0.00144], "fy":[0.00006,0.00006,0.00006,0.00006]}, + {"t":2.30149, "x":7.76436, "y":2.37107, "heading":1.5708, "vx":0.12735, "vy":2.69626, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00069,-0.00069,-0.00069,-0.00069], "fy":[0.00002,0.00002,0.00002,0.00002]}, + {"t":2.33814, "x":7.76903, "y":2.4699, "heading":1.5708, "vx":0.12734, "vy":2.69626, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00069,-0.00069,-0.00069,-0.00069], "fy":[0.00002,0.00002,0.00002,0.00002]}, + {"t":2.37479, "x":7.77369, "y":2.56872, "heading":1.5708, "vx":0.12734, "vy":2.69626, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.0008,-0.0008,-0.0008,-0.0008], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.41145, "x":7.77836, "y":2.66755, "heading":1.5708, "vx":0.12734, "vy":2.69626, "omega":0.0, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00091,-0.00091,-0.00091,-0.00091], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.4481, "x":7.78303, "y":2.76638, "heading":1.5708, "vx":0.12734, "vy":2.69626, "omega":0.0, "ax":-0.00006, "ay":0.0, "alpha":0.0, "fx":[-0.00103,-0.00103,-0.00103,-0.00103], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":2.48475, "x":7.7877, "y":2.8652, "heading":1.5708, "vx":0.12734, "vy":2.69626, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00113,-0.00113,-0.00113,-0.00113], "fy":[0.00005,0.00005,0.00005,0.00005]}, + {"t":2.52141, "x":7.79236, "y":2.96403, "heading":1.5708, "vx":0.12733, "vy":2.69626, "omega":0.0, "ax":-0.00007, "ay":0.0, "alpha":0.0, "fx":[-0.00123,-0.00123,-0.00123,-0.00123], "fy":[0.00005,0.00005,0.00005,0.00005]}, + {"t":2.55806, "x":7.79703, "y":3.06286, "heading":1.5708, "vx":0.12733, "vy":2.69626, "omega":0.0, "ax":-0.00008, "ay":0.0, "alpha":0.0, "fx":[-0.00132,-0.00132,-0.00132,-0.00132], "fy":[0.00006,0.00006,0.00006,0.00006]}, + {"t":2.59472, "x":7.8017, "y":3.16169, "heading":1.5708, "vx":0.12733, "vy":2.69626, "omega":0.0, "ax":-0.00009, "ay":0.0, "alpha":0.0, "fx":[-0.00141,-0.00141,-0.00141,-0.00141], "fy":[0.00006,0.00006,0.00006,0.00006]}, + {"t":2.63137, "x":7.80637, "y":3.26051, "heading":1.5708, "vx":0.12733, "vy":2.69626, "omega":0.0, "ax":-0.00009, "ay":0.0, "alpha":0.0, "fx":[-0.00148,-0.00148,-0.00148,-0.00148], "fy":[0.00007,0.00007,0.00007,0.00007]}, + {"t":2.66802, "x":7.81103, "y":3.35934, "heading":1.5708, "vx":0.12732, "vy":2.69626, "omega":0.0, "ax":-0.00009, "ay":0.0, "alpha":0.0, "fx":[-0.00144,-0.00144,-0.00144,-0.00144], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":2.70468, "x":7.8157, "y":3.45817, "heading":1.5708, "vx":0.12732, "vy":2.69626, "omega":0.0, "ax":-0.001, "ay":-0.02025, "alpha":0.0, "fx":[-0.01649,-0.01649,-0.01649,-0.01649], "fy":[-0.33478,-0.33478,-0.33478,-0.33478]}, + {"t":2.74133, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.12728, "vy":2.69551, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj index c206e3e0..201abfca 100644 --- a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.621101379394531, "y":7.239717483520508, "heading":-0.6556957522182731, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":8.254300117492676, "y":6.001461505889893, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, @@ -12,14 +12,14 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.994898796081543 m", "val":5.994898796081543}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"7.621101379394531 m", "val":7.621101379394531}, "y":{"exp":"7.239717483520508 m", "val":7.239717483520508}, "heading":{"exp":"-0.6556957522182731 rad", "val":-0.6556957522182731}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"6.001461505889893 m", "val":6.001461505889893}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, @@ -61,107 +61,106 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.05992,1.72201,2.28918,2.88646], + "waypoints":[0.0,1.00729,1.62253,2.14986,2.70289], "samples":[ - {"t":0.0, "x":3.76206, "y":7.35707, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.5252, "ay":-0.02557, "alpha":0.0, "fx":[124.41751,124.41751,124.41751,124.41751], "fy":[-0.42283,-0.42283,-0.42283,-0.42283]}, - {"t":0.0424, "x":3.76883, "y":7.35704, "heading":0.0, "vx":0.31904, "vy":-0.00108, "omega":0.0, "ax":7.52391, "ay":-0.02557, "alpha":0.0, "fx":[124.39614,124.39614,124.39614,124.39614], "fy":[-0.42276,-0.42276,-0.42276,-0.42276]}, - {"t":0.08479, "x":3.78912, "y":7.35698, "heading":0.0, "vx":0.63803, "vy":-0.00217, "omega":0.0, "ax":7.52211, "ay":-0.02556, "alpha":0.0, "fx":[124.36631,124.36631,124.36631,124.36631], "fy":[-0.42266,-0.42266,-0.42266,-0.42266]}, - {"t":0.12719, "x":3.82293, "y":7.35686, "heading":0.0, "vx":0.95694, "vy":-0.00325, "omega":0.0, "ax":7.51941, "ay":-0.02555, "alpha":0.0, "fx":[124.32172,124.32172,124.32172,124.32172], "fy":[-0.4225,-0.4225,-0.4225,-0.4225]}, - {"t":0.16959, "x":3.87026, "y":7.3567, "heading":0.0, "vx":1.27574, "vy":-0.00434, "omega":0.0, "ax":7.51494, "ay":-0.02554, "alpha":0.0, "fx":[124.24783,124.24783,124.24783,124.24783], "fy":[-0.42225,-0.42225,-0.42225,-0.42225]}, - {"t":0.21198, "x":3.9311, "y":7.35649, "heading":0.0, "vx":1.59435, "vy":-0.00542, "omega":0.0, "ax":7.5061, "ay":-0.02551, "alpha":0.0, "fx":[124.10168,124.10168,124.10168,124.10168], "fy":[-0.42176,-0.42176,-0.42176,-0.42176]}, - {"t":0.25438, "x":4.00544, "y":7.35624, "heading":0.0, "vx":1.91258, "vy":-0.0065, "omega":0.0, "ax":7.48036, "ay":-0.02542, "alpha":0.0, "fx":[123.67602,123.67602,123.67602,123.67602], "fy":[-0.42031,-0.42031,-0.42031,-0.42031]}, - {"t":0.29678, "x":4.09325, "y":7.35594, "heading":0.0, "vx":2.22972, "vy":-0.00758, "omega":0.0, "ax":6.36021, "ay":-0.02161, "alpha":0.0, "fx":[105.1562,105.1562,105.1562,105.1562], "fy":[-0.35737,-0.35737,-0.35737,-0.35737]}, - {"t":0.33917, "x":4.1935, "y":7.3556, "heading":0.0, "vx":2.49938, "vy":-0.00849, "omega":0.0, "ax":0.00062, "ay":0.0, "alpha":0.0, "fx":[0.01021,0.01021,0.01021,0.01021], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]}, - {"t":0.38157, "x":4.29946, "y":7.35524, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.42397, "x":4.40543, "y":7.35488, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.46636, "x":4.5114, "y":7.35452, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.50876, "x":4.61736, "y":7.35416, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.55116, "x":4.72333, "y":7.3538, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.59355, "x":4.82929, "y":7.35344, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.63595, "x":4.93526, "y":7.35308, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.67835, "x":5.04123, "y":7.35272, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.72074, "x":5.14719, "y":7.35236, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.76314, "x":5.25316, "y":7.352, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, - {"t":0.80554, "x":5.35913, "y":7.35164, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00011,0.00011,0.00011,0.00011]}, - {"t":0.84793, "x":5.46509, "y":7.35128, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.00007, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00118,0.00118,0.00118,0.00118]}, - {"t":0.89033, "x":5.57106, "y":7.35092, "heading":0.0, "vx":2.4994, "vy":-0.00849, "omega":0.0, "ax":0.0, "ay":0.00076, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[0.0126,0.0126,0.0126,0.0126]}, - {"t":0.93273, "x":5.67702, "y":7.35056, "heading":0.0, "vx":2.4994, "vy":-0.00846, "omega":0.0, "ax":0.00003, "ay":0.00813, "alpha":0.0, "fx":[0.00045,0.00045,0.00045,0.00045], "fy":[0.13445,0.13445,0.13445,0.13445]}, - {"t":0.97512, "x":5.78299, "y":7.35021, "heading":0.0, "vx":2.4994, "vy":-0.00811, "omega":0.0, "ax":0.00022, "ay":0.08676, "alpha":0.0, "fx":[0.00359,0.00359,0.00359,0.00359], "fy":[1.43438,1.43438,1.43438,1.43438]}, - {"t":1.01752, "x":5.88896, "y":7.34994, "heading":0.0, "vx":2.49941, "vy":-0.00444, "omega":0.0, "ax":-0.02721, "ay":0.91215, "alpha":0.0, "fx":[-0.44981,-0.44981,-0.44981,-0.44981], "fy":[15.081,15.081,15.081,15.081]}, - {"t":1.05992, "x":5.9949, "y":7.35057, "heading":0.0, "vx":2.49826, "vy":0.03424, "omega":0.0, "ax":-0.00133, "ay":1.06935, "alpha":-8.41295, "fx":[44.24647,36.98929,-37.03166,-44.29232], "fy":[-21.05979,56.42202,56.41181,-21.05369]}, - {"t":1.08356, "x":6.05397, "y":7.35168, "heading":0.0, "vx":2.49823, "vy":0.05952, "omega":-0.19893, "ax":-0.01103, "ay":0.42723, "alpha":-8.04183, "fx":[39.20965,36.58941,-36.94799,-39.58079], "fy":[-30.75982,44.89345,44.82031,-30.69952]}, - {"t":1.10721, "x":6.11304, "y":7.35321, "heading":-0.0047, "vx":2.49797, "vy":0.06963, "omega":-0.38909, "ax":-0.00476, "ay":0.16588, "alpha":-7.45656, "fx":[35.38884,34.84577,-34.671,-35.87816], "fy":[-32.59537,37.75077,38.04735,-32.23228]}, - {"t":1.13085, "x":6.17211, "y":7.3549, "heading":-0.0139, "vx":2.49785, "vy":0.07355, "omega":-0.56541, "ax":-0.00186, "ay":0.06257, "alpha":-6.83253, "fx":[31.89141,32.51108,-31.67623,-32.84957], "fy":[-31.64858,32.82145,33.70165,-30.73647]}, - {"t":1.1545, "x":6.23117, "y":7.35666, "heading":-0.02727, "vx":2.49781, "vy":0.07503, "omega":-0.72697, "ax":-0.0007, "ay":0.02294, "alpha":-6.20427, "fx":[28.49032,30.00322,-28.42981,-30.10974], "fy":[-29.68016,28.84229,30.43154,-28.0767]}, - {"t":1.17815, "x":6.29024, "y":7.35844, "heading":-0.04446, "vx":2.49779, "vy":0.07557, "omega":-0.87368, "ax":-0.00025, "ay":0.00815, "alpha":-5.58367, "fx":[25.15208,27.46986,-25.13646,-27.50212], "fy":[-27.35265,25.28037,27.6192,-25.00805]}, - {"t":1.20179, "x":6.3493, "y":7.36023, "heading":-0.06512, "vx":2.49779, "vy":0.07576, "omega":-1.00571, "ax":-0.00009, "ay":0.00275, "alpha":-4.97919, "fx":[21.9128,24.9637,-21.90934,-24.973], "fy":[-24.92343,21.95702,25.01325,-21.86511]}, - {"t":1.22544, "x":6.40836, "y":7.36202, "heading":-0.0889, "vx":2.49779, "vy":0.07583, "omega":-1.12345, "ax":-0.00003, "ay":0.00079, "alpha":-4.39837, "fx":[18.82543,22.50861,-18.82498,-22.51099], "fy":[-22.49695,18.83837,22.52266,-18.81204]}, - {"t":1.24908, "x":6.46743, "y":7.36381, "heading":-0.11547, "vx":2.49779, "vy":0.07585, "omega":-1.22746, "ax":-0.00001, "ay":0.00004, "alpha":-3.84771, "fx":[15.9394,20.122,-15.93957,-20.12227], "fy":[-20.12146,15.94018,20.12281,-15.93879]}, - {"t":1.27273, "x":6.52649, "y":7.36561, "heading":-0.14449, "vx":2.49779, "vy":0.07585, "omega":-1.31844, "ax":0.0, "ay":-0.00031, "alpha":-3.33241, "fx":[13.29318,17.82084,-13.29336,-17.8204], "fy":[-17.82565,13.28814,17.81558,-13.2984]}, - {"t":1.29638, "x":6.58555, "y":7.3674, "heading":-0.17567, "vx":2.49779, "vy":0.07584, "omega":-1.39724, "ax":0.00001, "ay":-0.00061, "alpha":-2.85627, "fx":[10.91222,15.62251,-10.91222,-15.62164], "fy":[-15.63201,10.90211,15.61213,-10.92233]}, - {"t":1.32002, "x":6.64461, "y":7.36919, "heading":-0.20871, "vx":2.49779, "vy":0.07583, "omega":-1.46478, "ax":0.00003, "ay":-0.00117, "alpha":-2.42161, "fx":[8.8093,13.54397,-8.80888,-13.54237], "fy":[-13.56243,8.78955,13.52391,-8.82863]}, - {"t":1.34367, "x":6.70368, "y":7.37099, "heading":-0.24335, "vx":2.49779, "vy":0.0758, "omega":-1.52204, "ax":0.00008, "ay":-0.00277, "alpha":-2.02951, "fx":[6.98609,11.60092,-6.98442,-11.59736], "fy":[-11.64464,6.93921,11.55362,-7.0313]}, - {"t":1.36732, "x":6.76274, "y":7.37278, "heading":-0.27934, "vx":2.49779, "vy":0.07573, "omega":-1.57003, "ax":0.00023, "ay":-0.00774, "alpha":-1.67985, "fx":[5.43553,9.80726,-5.42966,-9.79794], "fy":[-9.92995,5.30406,9.67521,-5.5611]}, - {"t":1.39096, "x":6.8218, "y":7.37457, "heading":-0.31646, "vx":2.49779, "vy":0.07555, "omega":-1.60975, "ax":0.0007, "ay":-0.02353, "alpha":-1.37154, "fx":[4.14544,8.17599,-4.12544,-8.14938], "fy":[-8.55032,3.74499,7.77472,-4.52575]}, - {"t":1.41461, "x":6.88087, "y":7.37635, "heading":-0.35453, "vx":2.49781, "vy":0.07499, "omega":-1.64218, "ax":0.00219, "ay":-0.07385, "alpha":-1.10248, "fx":[3.10532,6.72304,-3.03929,-6.6444], "fy":[-7.9006,1.84787,5.46423,-4.2957]}, - {"t":1.43825, "x":6.93993, "y":7.3781, "heading":-0.39336, "vx":2.49786, "vy":0.07325, "omega":-1.66825, "ax":0.0066, "ay":-0.23395, "alpha":-0.86878, "fx":[2.31974,5.47649,-2.11312,-5.24686], "fy":[-9.21305,-1.66134,1.48926,-6.08676]}, - {"t":1.4619, "x":6.999, "y":7.37977, "heading":-0.43281, "vx":2.49802, "vy":0.06771, "omega":-1.6888, "ax":0.0174, "ay":-0.73736, "alpha":-0.65837, "fx":[1.80763,4.45956,-1.25151,-3.86489], "fy":[-16.26181,-10.69846,-8.09758,-13.70666]}, - {"t":1.48555, "x":7.05807, "y":7.38116, "heading":-0.47274, "vx":2.49843, "vy":0.05028, "omega":-1.70436, "ax":0.02132, "ay":-2.1652, "alpha":-0.42294, "fx":[1.27649,3.27181,-0.59437,-2.54394], "fy":[-38.24871,-35.00919,-33.3249,-36.6102]}, - {"t":1.50919, "x":7.11716, "y":7.38175, "heading":-0.51304, "vx":2.49893, "vy":-0.00092, "omega":-1.71437, "ax":-0.10064, "ay":-4.56632, "alpha":-0.15914, "fx":[-1.26094,-0.26624,-2.07519,-3.05327], "fy":[-76.14819,-75.33339,-74.84483,-75.66172]}, - {"t":1.53284, "x":7.17622, "y":7.38045, "heading":-0.55358, "vx":2.49655, "vy":-0.1089, "omega":-1.71813, "ax":-0.45048, "ay":-6.16502, "alpha":-0.03735, "fx":[-7.32927,-7.04912,-7.56752,-7.84606], "fy":[-102.01572,-101.93353,-101.84261,-101.92427]}, - {"t":1.55648, "x":7.23513, "y":7.37615, "heading":-0.59421, "vx":2.4859, "vy":-0.25468, "omega":-1.71901, "ax":-0.92041, "ay":-6.79242, "alpha":-0.00301, "fx":[-15.20635,-15.18293,-15.22876,-15.25217], "fy":[-112.30695,-112.3057,-112.2973,-112.29855]}, - {"t":1.58013, "x":7.29365, "y":7.36823, "heading":-0.63485, "vx":2.46414, "vy":-0.41529, "omega":-1.71908, "ax":-1.42617, "ay":-6.99966, "alpha":0.00728, "fx":[-23.60971,-23.66464,-23.5493,-23.49428], "fy":[-115.71768,-115.71287,-115.73936,-115.74414]}, - {"t":1.60378, "x":7.35152, "y":7.35645, "heading":-0.6755, "vx":2.43041, "vy":-0.5808, "omega":-1.71891, "ax":-1.93862, "ay":-7.02211, "alpha":0.01064, "fx":[-32.09996,-32.17544,-32.00416,-31.92845], "fy":[-116.08208,-116.06739,-116.1174,-116.13204]}, - {"t":1.62742, "x":7.40845, "y":7.34075, "heading":-0.71615, "vx":2.38457, "vy":-0.74685, "omega":-1.71866, "ax":-2.44685, "ay":-6.94384, "alpha":0.0117, "fx":[-40.51102,-40.58739,-40.39895,-40.32229], "fy":[-114.78238,-114.76028,-114.82867,-114.85075]}, - {"t":1.65107, "x":7.46415, "y":7.32115, "heading":-0.75679, "vx":2.32671, "vy":-0.91105, "omega":-1.71838, "ax":-2.94541, "ay":-6.79818, "alpha":0.01189, "fx":[-48.75765,-48.82793,-48.63815,-48.56755], "fy":[-112.36893,-112.34217,-112.42583,-112.45259]}, - {"t":1.67472, "x":7.51834, "y":7.29771, "heading":-0.79742, "vx":2.25707, "vy":-1.0718, "omega":-1.7181, "ax":-3.43216, "ay":-6.59957, "alpha":0.01176, "fx":[-56.80669,-56.86849,-56.68438,-56.62224], "fy":[-109.07987,-109.05062,-109.14741,-109.1767]}, - {"t":1.69836, "x":7.57075, "y":7.27052, "heading":-0.83805, "vx":2.17591, "vy":-1.22785, "omega":-1.71782, "ax":-3.95181, "ay":-6.32605, "alpha":0.0115, "fx":[-65.39886,-65.45008,-65.27542,-65.22389], "fy":[-104.55129,-104.52164,-104.6315,-104.66123]}, - {"t":1.72201, "x":7.6211, "y":7.23972, "heading":-0.87867, "vx":2.08246, "vy":-1.37744, "omega":-1.71755, "ax":-4.25612, "ay":-6.11882, "alpha":0.01283, "fx":[-70.436,-70.48985,-70.30089,-70.24665], "fy":[-101.11624,-101.0817,-101.21403,-101.2487]}, - {"t":1.74382, "x":7.66552, "y":7.20821, "heading":-0.91614, "vx":1.98962, "vy":-1.51092, "omega":-1.71727, "ax":-4.67883, "ay":-5.77682, "alpha":0.01789, "fx":[-77.45137,-77.51407,-77.26334,-77.1999], "fy":[-95.43102,-95.38563,-95.59015,-95.63589]}, - {"t":1.76564, "x":7.70781, "y":7.17388, "heading":-0.9536, "vx":1.88755, "vy":-1.63693, "omega":-1.71688, "ax":-5.027, "ay":-5.43871, "alpha":0.0255, "fx":[-83.24489,-83.32109,-82.98295,-82.9053], "fy":[-89.79287,-89.73291,-90.04795,-90.10876]}, - {"t":1.78745, "x":7.74779, "y":7.13688, "heading":-0.99105, "vx":1.77789, "vy":-1.75558, "omega":-1.71632, "ax":-5.33797, "ay":-5.07409, "alpha":0.03745, "fx":[-88.44066,-88.53572,-88.07078,-87.97278], "fy":[-83.68383,-83.60566,-84.09931,-84.17964]}, - {"t":1.80927, "x":7.7853, "y":7.09737, "heading":-1.02849, "vx":1.66145, "vy":-1.86626, "omega":-1.71551, "ax":-5.60261, "ay":-4.68, "alpha":0.05726, "fx":[-92.89804,-93.02258,-92.36589,-92.23501], "fy":[-77.0273,-76.92796,-77.72292,-77.82791]}, - {"t":1.83108, "x":7.82021, "y":7.05555, "heading":-1.06591, "vx":1.53923, "vy":-1.96836, "omega":-1.71426, "ax":-5.80029, "ay":-4.25176, "alpha":0.09247, "fx":[-96.29377,-96.47372,-95.51112,-95.31636], "fy":[-69.6853,-69.56736,-70.89931,-71.03315]}, - {"t":1.85289, "x":7.85241, "y":7.0116, "heading":-1.10331, "vx":1.4127, "vy":-2.06111, "omega":-1.71224, "ax":-5.8862, "ay":-3.77736, "alpha":0.16113, "fx":[-97.91362,-98.22728,-96.74401,-96.39176], "fy":[-61.3158,-61.20853,-63.5649,-63.72201]}, - {"t":1.87471, "x":7.88182, "y":6.96574, "heading":-1.14066, "vx":1.2843, "vy":-2.14351, "omega":-1.70873, "ax":-5.75176, "ay":-3.22601, "alpha":0.31191, "fx":[-95.96608,-96.71257,-94.28388,-93.42281], "fy":[-51.03504,-51.09363,-55.54977,-55.67004]}, - {"t":1.89652, "x":7.90847, "y":6.91821, "heading":-1.17793, "vx":1.15883, "vy":-2.21388, "omega":-1.70192, "ax":-5.12656, "ay":-2.52317, "alpha":0.68684, "fx":[-85.64419,-88.21464,-84.05999,-81.11974], "fy":[-36.61877,-37.59828,-46.46162,-46.18815]}, - {"t":1.91834, "x":7.93253, "y":6.86932, "heading":-1.21506, "vx":1.04699, "vy":-2.26892, "omega":-1.68694, "ax":-3.58771, "ay":-1.58188, "alpha":1.5709, "fx":[-57.88153,-67.7545,-61.18722,-50.44579], "fy":[-15.21474,-19.61788,-36.0253,-33.75752]}, - {"t":1.94015, "x":7.95452, "y":6.81944, "heading":-1.25186, "vx":0.96873, "vy":-2.30343, "omega":-1.65267, "ax":-1.69776, "ay":-0.69811, "alpha":2.61434, "fx":[-21.39273,-43.13273,-35.09008,-12.6635], "fy":[4.98403,-3.30807,-26.86336,-20.98156]}, - {"t":1.96197, "x":7.97524, "y":6.76903, "heading":-1.28791, "vx":0.93169, "vy":-2.31866, "omega":-1.59564, "ax":-0.64735, "ay":-0.25785, "alpha":3.14887, "fx":[-0.82219,-28.99083,-20.70996,7.71151], "fy":[14.53133,5.70502,-22.40987,-14.87927]}, - {"t":1.98378, "x":7.99541, "y":6.71839, "heading":-1.32272, "vx":0.91757, "vy":-2.32428, "omega":-1.52695, "ax":-0.23674, "ay":-0.09316, "alpha":3.50331, "fx":[8.00479,-23.96657,-15.8692,16.17448], "fy":[18.69436,10.30154,-21.48075,-13.67649]}, - {"t":2.00559, "x":8.01537, "y":6.66766, "heading":-1.35603, "vx":0.91241, "vy":-2.32631, "omega":-1.45053, "ax":-0.08673, "ay":-0.03398, "alpha":3.86201, "fx":[12.47621,-23.11254,-15.35159,20.25198], "fy":[21.18859,13.29391,-22.18073,-14.54932]}, - {"t":2.02741, "x":8.03526, "y":6.61691, "heading":-1.38767, "vx":0.91052, "vy":-2.32706, "omega":-1.36628, "ax":-0.03306, "ay":-0.01294, "alpha":4.25574, "fx":[15.53791,-23.94352,-16.6307,22.84991], "fy":[23.21368,15.84113,-23.58047,-16.32994]}, - {"t":2.04922, "x":8.05511, "y":6.56614, "heading":-1.41748, "vx":0.9098, "vy":-2.32734, "omega":-1.27344, "ax":-0.01582, "ay":-0.00619, "alpha":4.68632, "fx":[18.2117,-25.48753,-18.73248,24.96206], "fy":[25.14019,18.35238,-25.30957,-18.59242]}, - {"t":2.07104, "x":8.07495, "y":6.51537, "heading":-1.44526, "vx":0.90945, "vy":-2.32747, "omega":-1.17121, "ax":-0.0155, "ay":-0.00606, "alpha":5.15038, "fx":[20.80984,-27.40683,-21.31713,26.88936], "fy":[27.06877,20.94282,-27.22761,-21.1848]}, - {"t":2.09285, "x":8.09479, "y":6.4646, "heading":-1.47081, "vx":0.90911, "vy":-2.32761, "omega":-1.05886, "ax":-0.03046, "ay":-0.0119, "alpha":5.64281, "fx":[23.33406,-29.65639,-24.32431,28.63225], "fy":[28.99668,23.58517,-29.29279,-24.07595]}, - {"t":2.11467, "x":8.11461, "y":6.41382, "heading":-1.4939, "vx":0.90845, "vy":-2.32787, "omega":-0.93577, "ax":-0.07324, "ay":-0.02856, "alpha":6.15691, "fx":[25.54393,-32.43082,-27.9045,29.94804], "fy":[30.85804,26.12256,-31.52629,-27.34289]}, - {"t":2.13648, "x":8.13441, "y":6.36303, "heading":-1.51432, "vx":0.90685, "vy":-2.32849, "omega":-0.80146, "ax":-0.17915, "ay":-0.0696, "alpha":6.68153, "fx":[26.80501,-36.3053,-32.52242,30.1746], "fy":[32.50165,28.17343,-34.01597,-31.26233]}, - {"t":2.1583, "x":8.15415, "y":6.31222, "heading":-1.5318, "vx":0.90294, "vy":-2.33001, "omega":-0.6557, "ax":-0.43131, "ay":-0.16615, "alpha":7.18246, "fx":[25.55758,-42.56429,-39.18563,27.66805], "fy":[33.57913,28.87013,-36.90473,-36.53243]}, - {"t":2.18011, "x":8.17375, "y":6.26135, "heading":-1.5461, "vx":0.89353, "vy":-2.33363, "omega":-0.49902, "ax":-1.01428, "ay":-0.38286, "alpha":7.50236, "fx":[17.59671,-53.46351,-49.5309,18.31982], "fy":[33.06837,26.34252,-40.21546,-44.51524]}, - {"t":2.20192, "x":8.193, "y":6.21035, "heading":-1.55699, "vx":0.87141, "vy":-2.34198, "omega":-0.33536, "ax":-2.29102, "ay":-0.82473, "alpha":6.95908, "fx":[-9.29657,-70.74142,-64.73315,-6.74294], "fy":[26.69299,17.61285,-43.26303,-55.58521]}, - {"t":2.22374, "x":8.21146, "y":6.15907, "heading":-1.56431, "vx":0.82143, "vy":-2.35997, "omega":-0.18356, "ax":-4.34174, "ay":-1.4145, "alpha":4.58386, "fx":[-62.88151,-90.51287,-83.07386,-50.66734], "fy":[6.13001,3.55936,-43.35979,-59.87563]}, - {"t":2.24555, "x":8.22835, "y":6.10725, "heading":-1.56831, "vx":0.72672, "vy":-2.39083, "omega":-0.08356, "ax":-5.85805, "ay":-1.61144, "alpha":2.43742, "fx":[-96.72044,-104.88927,-98.95922,-86.84628], "fy":[-9.99733,-7.43672,-38.89265,-50.24413]}, - {"t":2.26737, "x":8.24281, "y":6.05471, "heading":-1.57013, "vx":0.59893, "vy":-2.42598, "omega":-0.03039, "ax":-6.6143, "ay":-1.39133, "alpha":1.39318, "fx":[-110.14509,-112.88402,-109.32299,-105.07638], "fy":[-12.70273,-10.50755,-31.38847,-37.41503]}, - {"t":2.28918, "x":8.2543, "y":6.00146, "heading":-1.5708, "vx":0.45464, "vy":-2.45633, "omega":0.0, "ax":-6.84218, "ay":-0.99725, "alpha":0.0, "fx":[-113.12483,-113.12483,-113.12483,-113.12483], "fy":[-16.488,-16.488,-16.488,-16.488]}, - {"t":2.32062, "x":8.26521, "y":5.92375, "heading":-1.5708, "vx":0.23955, "vy":-2.48768, "omega":0.0, "ax":-5.68056, "ay":-0.34272, "alpha":0.0, "fx":[-93.91926,-93.91926,-93.91926,-93.91926], "fy":[-5.66633,-5.66633,-5.66633,-5.66633]}, - {"t":2.35205, "x":8.26994, "y":5.84538, "heading":-1.5708, "vx":0.06098, "vy":-2.49846, "omega":0.0, "ax":-2.39097, "ay":-0.02245, "alpha":0.0, "fx":[-39.53088,-39.53088,-39.53088,-39.53088], "fy":[-0.37118,-0.37118,-0.37118,-0.37118]}, - {"t":2.38349, "x":8.27067, "y":5.76683, "heading":-1.5708, "vx":-0.01418, "vy":-2.49916, "omega":0.0, "ax":-0.49719, "ay":0.00437, "alpha":0.0, "fx":[-8.22021,-8.22021,-8.22021,-8.22021], "fy":[0.07228,0.07228,0.07228,0.07228]}, - {"t":2.41492, "x":8.26998, "y":5.68827, "heading":-1.5708, "vx":-0.02981, "vy":-2.49902, "omega":0.0, "ax":-0.09352, "ay":0.00117, "alpha":0.0, "fx":[-1.54615,-1.54615,-1.54615,-1.54615], "fy":[0.01935,0.01935,0.01935,0.01935]}, - {"t":2.44636, "x":8.269, "y":5.60971, "heading":-1.5708, "vx":-0.03275, "vy":-2.49899, "omega":0.0, "ax":-0.01752, "ay":0.00023, "alpha":0.0, "fx":[-0.28962,-0.28962,-0.28962,-0.28962], "fy":[0.00383,0.00383,0.00383,0.00383]}, - {"t":2.4778, "x":8.26796, "y":5.53115, "heading":-1.5708, "vx":-0.0333, "vy":-2.49898, "omega":0.0, "ax":-0.00328, "ay":0.00004, "alpha":0.0, "fx":[-0.05424,-0.05424,-0.05424,-0.05424], "fy":[0.00072,0.00072,0.00072,0.00072]}, - {"t":2.50923, "x":8.26691, "y":5.4526, "heading":-1.5708, "vx":-0.0334, "vy":-2.49898, "omega":0.0, "ax":-0.00061, "ay":0.00001, "alpha":0.0, "fx":[-0.01016,-0.01016,-0.01016,-0.01016], "fy":[0.00014,0.00014,0.00014,0.00014]}, - {"t":2.54067, "x":8.26586, "y":5.37404, "heading":-1.5708, "vx":-0.03342, "vy":-2.49898, "omega":0.0, "ax":-0.00012, "ay":0.0, "alpha":0.0, "fx":[-0.0019,-0.0019,-0.0019,-0.0019], "fy":[0.00003,0.00003,0.00003,0.00003]}, - {"t":2.5721, "x":8.26481, "y":5.29548, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00036,-0.00036,-0.00036,-0.00036], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.60354, "x":8.26376, "y":5.21693, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.63497, "x":8.26271, "y":5.13837, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.66641, "x":8.26166, "y":5.05981, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.69785, "x":8.2606, "y":4.98126, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.72928, "x":8.25955, "y":4.9027, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.76072, "x":8.2585, "y":4.82414, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.79215, "x":8.25745, "y":4.74558, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":2.82359, "x":8.2564, "y":4.66703, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00004,0.00004,0.00004,0.00004]}, - {"t":2.85502, "x":8.25535, "y":4.58847, "heading":-1.5708, "vx":-0.03343, "vy":-2.49898, "omega":0.0, "ax":0.00034, "ay":0.02547, "alpha":0.0, "fx":[0.00563,0.00563,0.00563,0.00563], "fy":[0.42116,0.42116,0.42116,0.42116]}, - {"t":2.88646, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.03342, "vy":-2.49818, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":3.76206, "y":7.35707, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52536, "ay":-0.03009, "alpha":0.0, "fx":[124.42002,124.42002,124.42002,124.42002], "fy":[-0.49751,-0.49751,-0.49751,-0.49751]}, + {"t":0.04197, "x":3.76869, "y":7.35704, "heading":0.0, "vx":0.31584, "vy":-0.00126, "omega":0.0, "ax":7.52427, "ay":-0.03009, "alpha":0.0, "fx":[124.402,124.402,124.402,124.402], "fy":[-0.49744,-0.49744,-0.49744,-0.49744]}, + {"t":0.08394, "x":3.78858, "y":7.35696, "heading":0.0, "vx":0.63164, "vy":-0.00253, "omega":0.0, "ax":7.52281, "ay":-0.03008, "alpha":0.0, "fx":[124.37799,124.37799,124.37799,124.37799], "fy":[-0.49735,-0.49735,-0.49735,-0.49735]}, + {"t":0.12591, "x":3.82171, "y":7.35683, "heading":0.0, "vx":0.94738, "vy":-0.00379, "omega":0.0, "ax":7.52078, "ay":-0.03007, "alpha":0.0, "fx":[124.34439,124.34439,124.34439,124.34439], "fy":[-0.49721,-0.49721,-0.49721,-0.49721]}, + {"t":0.16788, "x":3.8681, "y":7.35664, "heading":0.0, "vx":1.26303, "vy":-0.00505, "omega":0.0, "ax":7.51774, "ay":-0.03006, "alpha":0.0, "fx":[124.29404,124.29404,124.29404,124.29404], "fy":[-0.49701,-0.49701,-0.49701,-0.49701]}, + {"t":0.20985, "x":3.92773, "y":7.35641, "heading":0.0, "vx":1.57855, "vy":-0.00631, "omega":0.0, "ax":7.51267, "ay":-0.03004, "alpha":0.0, "fx":[124.21028,124.21028,124.21028,124.21028], "fy":[-0.49668,-0.49668,-0.49668,-0.49668]}, + {"t":0.25182, "x":4.0006, "y":7.35611, "heading":0.0, "vx":1.89386, "vy":-0.00757, "omega":0.0, "ax":7.50257, "ay":-0.03, "alpha":0.0, "fx":[124.04334,124.04334,124.04334,124.04334], "fy":[-0.49601,-0.49601,-0.49601,-0.49601]}, + {"t":0.29379, "x":4.08669, "y":7.35577, "heading":0.0, "vx":2.20875, "vy":-0.00883, "omega":0.0, "ax":7.47259, "ay":-0.02988, "alpha":0.0, "fx":[123.54756,123.54756,123.54756,123.54756], "fy":[-0.49403,-0.49403,-0.49403,-0.49403]}, + {"t":0.33576, "x":4.18598, "y":7.35537, "heading":0.0, "vx":2.52238, "vy":-0.01009, "omega":0.0, "ax":4.21601, "ay":-0.01686, "alpha":0.0, "fx":[69.70518,69.70518,69.70518,69.70518], "fy":[-0.27873,-0.27873,-0.27873,-0.27873]}, + {"t":0.37773, "x":4.29556, "y":7.35493, "heading":0.0, "vx":2.69933, "vy":-0.01079, "omega":0.0, "ax":0.00021, "ay":0.0, "alpha":0.0, "fx":[0.0034,0.0034,0.0034,0.0034], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, + {"t":0.41971, "x":4.40885, "y":7.35448, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.46168, "x":4.52214, "y":7.35403, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.50365, "x":4.63543, "y":7.35358, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.54562, "x":4.74873, "y":7.35312, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.58759, "x":4.86202, "y":7.35267, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.62956, "x":4.97531, "y":7.35222, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.67153, "x":5.0886, "y":7.35176, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":0.7135, "x":5.2019, "y":7.35131, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00006,0.00006,0.00006,0.00006]}, + {"t":0.75547, "x":5.31519, "y":7.35086, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.00003, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00055,0.00055,0.00055,0.00055]}, + {"t":0.79744, "x":5.42848, "y":7.3504, "heading":0.0, "vx":2.69934, "vy":-0.01079, "omega":0.0, "ax":0.0, "ay":0.0003, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.00498,0.00498,0.00498,0.00498]}, + {"t":0.83941, "x":5.54177, "y":7.34995, "heading":0.0, "vx":2.69934, "vy":-0.01078, "omega":0.0, "ax":0.00001, "ay":0.00274, "alpha":0.0, "fx":[0.00018,0.00018,0.00018,0.00018], "fy":[0.04537,0.04537,0.04537,0.04537]}, + {"t":0.88138, "x":5.65507, "y":7.3495, "heading":0.0, "vx":2.69934, "vy":-0.01066, "omega":0.0, "ax":0.00009, "ay":0.025, "alpha":0.0, "fx":[0.00155,0.00155,0.00155,0.00155], "fy":[0.41328,0.41328,0.41328,0.41328]}, + {"t":0.92335, "x":5.76836, "y":7.34908, "heading":0.0, "vx":2.69934, "vy":-0.00962, "omega":0.0, "ax":0.00041, "ay":0.22751, "alpha":0.0, "fx":[0.00671,0.00671,0.00671,0.00671], "fy":[3.76144,3.76144,3.76144,3.76144]}, + {"t":0.96532, "x":5.88165, "y":7.34887, "heading":0.0, "vx":2.69936, "vy":-0.00007, "omega":0.0, "ax":-0.05414, "ay":1.93588, "alpha":0.0, "fx":[-0.89509,-0.89509,-0.89509,-0.89509], "fy":[32.00675,32.00675,32.00675,32.00675]}, + {"t":1.00729, "x":5.9949, "y":7.35057, "heading":0.0, "vx":2.69708, "vy":0.08118, "omega":0.0, "ax":-0.04318, "ay":1.72015, "alpha":-10.11084, "fx":[58.50696,41.61284,-43.00054,-59.97497], "fy":[-16.29739,73.28765,72.83755,-16.06788]}, + {"t":1.02927, "x":6.05415, "y":7.35277, "heading":0.0, "vx":2.69614, "vy":0.11898, "omega":-0.22216, "ax":-0.04245, "ay":0.88931, "alpha":-9.99437, "fx":[51.49862,43.06225,-44.43556,-52.93269], "fy":[-31.78365,61.23022,60.8069,-31.4402]}, + {"t":1.05124, "x":6.11338, "y":7.3556, "heading":-0.00488, "vx":2.6952, "vy":0.13852, "omega":-0.44177, "ax":-0.02395, "ay":0.44979, "alpha":-9.38276, "fx":[45.72235,42.4044,-42.75377,-46.957], "fy":[-36.9574,51.40961,51.59673,-36.3025]}, + {"t":1.07321, "x":6.1726, "y":7.35876, "heading":-0.01459, "vx":2.69468, "vy":0.1484, "omega":-0.64793, "ax":-0.01233, "ay":0.22012, "alpha":-8.5855, "fx":[40.51188,40.15962,-39.38275,-42.1045], "fy":[-37.47175,43.57192,44.61975,-36.16239]}, + {"t":1.09518, "x":6.2318, "y":7.36207, "heading":-0.02883, "vx":2.69441, "vy":0.15324, "omega":-0.83658, "ax":-0.00595, "ay":0.10358, "alpha":-7.70095, "fx":[35.46648,36.98141,-35.08331,-37.75826], "fy":[-35.67404,37.00583,39.03216,-33.51375]}, + {"t":1.11716, "x":6.29101, "y":7.36546, "heading":-0.04721, "vx":2.69428, "vy":0.15552, "omega":-1.00579, "ax":-0.00271, "ay":0.04647, "alpha":-6.76927, "fx":[30.44813,33.26225,-30.33778,-33.55193], "fy":[-32.65134,31.17406,34.15702,-29.60682]}, + {"t":1.13913, "x":6.35021, "y":7.36889, "heading":-0.06931, "vx":2.69422, "vy":0.15654, "omega":-1.15453, "ax":-0.00115, "ay":0.01932, "alpha":-5.81991, "fx":[25.50004,29.2418,-25.47699,-29.34072], "fy":[-28.97754,25.81369,29.60413,-25.16265]}, + {"t":1.1611, "x":6.40941, "y":7.37233, "heading":-0.09468, "vx":2.69419, "vy":0.15696, "omega":-1.28241, "ax":-0.00041, "ay":0.00654, "alpha":-4.88355, "fx":[20.75769,25.09915,-20.75676,-25.12694], "fy":[-25.00668,20.86721,25.21932,-20.64719]}, + {"t":1.18308, "x":6.4686, "y":7.37578, "heading":-0.12285, "vx":2.69418, "vy":0.15711, "omega":-1.38972, "ax":-0.00003, "ay":0.00012, "alpha":-3.99213, "fx":[16.38269,20.9983,-16.38362,-20.99956], "fy":[-20.99696,16.38522,21.0009,-16.38109]}, + {"t":1.20505, "x":6.5278, "y":7.37924, "heading":-0.15339, "vx":2.69418, "vy":0.15711, "omega":-1.47743, "ax":0.00022, "ay":-0.00426, "alpha":-3.17542, "fx":[12.51722,17.09864,-12.5137,-17.08748], "fy":[-17.16275,12.44432,17.02335,-12.58659]}, + {"t":1.22702, "x":6.587, "y":7.38269, "heading":-0.18585, "vx":2.69419, "vy":0.15701, "omega":-1.54721, "ax":0.00055, "ay":-0.00997, "alpha":-2.45755, "fx":[9.25818,13.54803,-9.24506,-13.5245], "fy":[-13.69985,9.08558,13.37257,-9.4176]}, + {"t":1.24899, "x":6.6462, "y":7.38614, "heading":-0.21985, "vx":2.6942, "vy":0.1568, "omega":-1.60121, "ax":0.00127, "ay":-0.02234, "alpha":-1.85509, "fx":[6.65014,10.47369,-6.61449,-10.42519], "fy":[-10.81693,6.26104,10.08156,-7.00338]}, + {"t":1.27097, "x":6.7054, "y":7.38958, "heading":-0.25503, "vx":2.69423, "vy":0.1563, "omega":-1.64197, "ax":0.0031, "ay":-0.05403, "alpha":-1.37705, "fx":[4.69458,7.98074,-4.60038,-7.87011], "fy":[-8.81525,3.75117,7.03387,-5.543]}, + {"t":1.29294, "x":6.7646, "y":7.393, "heading":-0.29111, "vx":2.69429, "vy":0.15512, "omega":-1.67222, "ax":0.00783, "ay":-0.13786, "alpha":-1.02626, "fx":[3.373,6.16447,-3.12503,-5.89434], "fy":[-8.30033,0.96389,3.74998,-5.53068]}, + {"t":1.31491, "x":6.8238, "y":7.39637, "heading":-0.32785, "vx":2.69447, "vy":0.15209, "omega":-1.69477, "ax":0.01976, "ay":-0.35985, "alpha":-0.80054, "fx":[2.68183,5.13795,-2.04522,-4.46805], "fy":[-10.72251,-3.60149,-1.16234,-8.31173]}, + {"t":1.33688, "x":6.88301, "y":7.39963, "heading":-0.36509, "vx":2.6949, "vy":0.14418, "omega":-1.71236, "ax":0.04648, "ay":-0.93639, "alpha":-0.68605, "fx":[2.6435,5.02928,-1.13678,-3.46229], "fy":[-19.57938,-13.65072,-11.35625,-17.34092]}, + {"t":1.35886, "x":6.94224, "y":7.40257, "heading":-0.40272, "vx":2.69592, "vy":0.12361, "omega":-1.72744, "ax":0.08308, "ay":-2.27457, "alpha":-0.61104, "fx":[2.98101,5.53803,-0.29155,-2.73296], "fy":[-41.01238,-36.22003,-34.15671,-39.03699]}, + {"t":1.38083, "x":7.0015, "y":7.40474, "heading":-0.44068, "vx":2.69775, "vy":0.07363, "omega":-1.74087, "ax":0.04174, "ay":-4.30637, "alpha":-0.43863, "fx":[1.95329,4.38223,-0.63797,-2.93714], "fy":[-73.04212,-70.52104,-69.34562,-71.88774]}, + {"t":1.4028, "x":7.06078, "y":7.40531, "heading":-0.47893, "vx":2.69866, "vy":-0.021, "omega":-1.7505, "ax":-0.18527, "ay":-5.84521, "alpha":-0.25986, "fx":[-2.18096,-0.41733,-3.9834,-5.67123], "fy":[-97.32474,-96.49134,-95.96741,-96.78247]}, + {"t":1.42478, "x":7.12004, "y":7.40344, "heading":-0.51739, "vx":2.69459, "vy":-0.14943, "omega":-1.75621, "ax":-0.54542, "ay":-6.59655, "alpha":-0.15855, "fx":[-8.40398,-7.24701,-9.64986,-10.76958], "fy":[-109.34552,-109.12305,-108.78812,-108.9981]}, + {"t":1.44675, "x":7.17911, "y":7.39857, "heading":-0.55598, "vx":2.68261, "vy":-0.29438, "omega":-1.7597, "ax":-0.96098, "ay":-6.92165, "alpha":-0.10401, "fx":[-15.44617,-14.68543,-16.34003,-17.0819], "fy":[-114.59335,-114.56846,-114.2869,-114.30598]}, + {"t":1.46872, "x":7.23782, "y":7.39043, "heading":-0.59464, "vx":2.66149, "vy":-0.44646, "omega":-1.76198, "ax":-1.39607, "ay":-7.04205, "alpha":-0.07201, "fx":[-22.75333,-22.24316,-23.41536,-23.91545], "fy":[-116.53718,-116.57753,-116.32269,-116.2799]}, + {"t":1.49069, "x":7.29597, "y":7.37892, "heading":-0.63336, "vx":2.63082, "vy":-0.6012, "omega":-1.76356, "ax":-1.83605, "ay":-7.05216, "alpha":-0.05152, "fx":[-30.108,-29.76127,-30.60729,-30.94845], "fy":[-116.68264,-116.74177,-116.51076,-116.45073]}, + {"t":1.51267, "x":7.35333, "y":7.364, "heading":-0.67211, "vx":2.59047, "vy":-0.75615, "omega":-1.7647, "ax":-2.27412, "ay":-6.99282, "alpha":-0.03747, "fx":[-37.4105,-37.17426,-37.78898,-38.02211], "fy":[-115.68826,-115.74804,-115.54261,-115.48259]}, + {"t":1.53464, "x":7.4097, "y":7.3457, "heading":-0.71089, "vx":2.54051, "vy":-0.9098, "omega":-1.76552, "ax":-2.70639, "ay":-6.88326, "alpha":-0.02731, "fx":[-44.60388,-44.44442,-44.88873,-45.04646], "fy":[-113.86639,-113.91934,-113.74169,-113.68875]}, + {"t":1.55661, "x":7.46487, "y":7.32405, "heading":-0.74968, "vx":2.48104, "vy":-1.06105, "omega":-1.76612, "ax":-3.13034, "ay":-6.73339, "alpha":-0.01966, "fx":[-51.65054,-51.54538,-51.86052,-51.96476], "fy":[-111.37864,-111.42184,-111.2737,-111.23059]}, + {"t":1.57859, "x":7.51863, "y":7.29911, "heading":-0.78849, "vx":2.41226, "vy":-1.209, "omega":-1.76655, "ax":-3.54704, "ay":-6.54716, "alpha":-0.01372, "fx":[-58.57035,-58.50401,-58.7193,-58.78519], "fy":[-108.28949,-108.32212,-108.2046,-108.17205]}, + {"t":1.60056, "x":7.57078, "y":7.27096, "heading":-0.8273, "vx":2.33432, "vy":-1.35286, "omega":-1.76685, "ax":-4.00663, "ay":-6.29455, "alpha":-0.00897, "fx":[-66.19384,-66.15647,-66.29307,-66.33025], "fy":[-104.10339,-104.12531,-104.0379,-104.01604]}, + {"t":1.62253, "x":7.6211, "y":7.23972, "heading":-0.86612, "vx":2.24628, "vy":-1.49117, "omega":-1.76705, "ax":-4.22971, "ay":-6.14037, "alpha":-0.00762, "fx":[-69.89088,-69.85955,-69.97258,-70.00377], "fy":[-101.55068,-101.57052,-101.49223,-101.47243]}, + {"t":1.64281, "x":7.66579, "y":7.20821, "heading":-0.90196, "vx":2.16049, "vy":-1.61571, "omega":-1.7672, "ax":-4.61085, "ay":-5.84065, "alpha":-0.00722, "fx":[-76.19474,-76.16924,-76.27177,-76.29715], "fy":[-96.59774,-96.61581,-96.5344,-96.51638]}, + {"t":1.6631, "x":7.70866, "y":7.17424, "heading":-0.93781, "vx":2.06698, "vy":-1.73417, "omega":-1.76735, "ax":-4.9217, "ay":-5.55499, "alpha":-0.00591, "fx":[-81.34175,-81.3233,-81.40343,-81.42181], "fy":[-91.87171,-91.88591,-91.81446,-91.8003]}, + {"t":1.68338, "x":7.74957, "y":7.13792, "heading":-0.97365, "vx":1.96716, "vy":-1.84683, "omega":-1.76747, "ax":-5.20566, "ay":-5.25223, "alpha":-0.00309, "fx":[-86.05189,-86.04336,-86.08314,-86.09165], "fy":[-86.8538,-86.86078,-86.82108,-86.8141]}, + {"t":1.70366, "x":7.7884, "y":7.09939, "heading":-1.0095, "vx":1.86157, "vy":-1.95336, "omega":-1.76753, "ax":-5.46162, "ay":-4.92966, "alpha":0.00228, "fx":[-90.31042,-90.31598,-90.28838,-90.28281], "fy":[-81.49123,-81.48652,-81.51736,-81.52208]}, + {"t":1.72394, "x":7.82503, "y":7.05876, "heading":-1.04535, "vx":1.7508, "vy":-2.05334, "omega":-1.76749, "ax":-5.68273, "ay":-4.5863, "alpha":0.01216, "fx":[-94.0104,-94.03696,-93.89978,-93.87294], "fy":[-75.75253,-75.73045,-75.90215,-75.92449]}, + {"t":1.74422, "x":7.85937, "y":7.01617, "heading":-1.0812, "vx":1.63555, "vy":-2.14636, "omega":-1.76724, "ax":-5.85689, "ay":-4.21994, "alpha":0.03045, "fx":[-96.96225,-97.02359,-96.70775,-96.6448], "fy":[-69.5705,-69.5249,-69.9689,-70.01624]}, + {"t":1.7645, "x":7.89134, "y":6.97177, "heading":-1.11704, "vx":1.51676, "vy":-2.23195, "omega":-1.76662, "ax":-5.96143, "ay":-3.82551, "alpha":0.06543, "fx":[-98.8066,-98.93625,-98.3227,-98.18643], "fy":[-62.79632,-62.72479,-63.69734,-63.77716]}, + {"t":1.78479, "x":7.92088, "y":6.92571, "heading":-1.15287, "vx":1.39585, "vy":-2.30954, "omega":-1.7653, "ax":-5.95018, "ay":-3.39183, "alpha":0.13638, "fx":[-98.79791,-99.09493,-97.9684,-97.6469], "fy":[-55.09536,-55.01909,-57.04388,-57.15599]}, + {"t":1.80507, "x":7.94796, "y":6.87817, "heading":-1.18867, "vx":1.27516, "vy":-2.37833, "omega":-1.76253, "ax":-5.72373, "ay":-2.89447, "alpha":0.29214, "fx":[-95.26557,-96.07997,-94.04472,-93.14174], "fy":[-45.70088,-45.75407,-49.93385,-50.03355]}, + {"t":1.82535, "x":7.97265, "y":6.82934, "heading":-1.22442, "vx":1.15908, "vy":-2.43704, "omega":-1.75661, "ax":-5.07697, "ay":-2.28625, "alpha":0.66017, "fx":[-84.45276,-87.17297,-83.57916,-80.55457], "fy":[-32.97583,-33.77956,-42.30694,-42.13601]}, + {"t":1.84563, "x":7.99511, "y":6.77944, "heading":-1.26005, "vx":1.05611, "vy":-2.48341, "omega":-1.74322, "ax":-3.75546, "ay":-1.53019, "alpha":1.48245, "fx":[-60.48387,-69.78808,-64.07071,-54.02006], "fy":[-15.08114,-18.56581,-34.51181,-33.03878]}, + {"t":1.86591, "x":8.01576, "y":6.72876, "heading":-1.29541, "vx":0.97994, "vy":-2.51444, "omega":-1.71315, "ax":-2.08887, "ay":-0.79405, "alpha":2.65945, "fx":[-27.55983,-49.29484,-41.89536,-19.39452], "fy":[3.67837,-3.7633,-28.36917,-24.05958]}, + {"t":1.8862, "x":8.03521, "y":6.6776, "heading":-1.33015, "vx":0.93757, "vy":-2.53055, "omega":-1.65921, "ax":-0.95636, "ay":-0.35023, "alpha":3.60234, "fx":[-3.874,-36.11903,-27.93287,4.67812], "fy":[15.54991,6.45853,-25.873,-19.29756]}, + {"t":1.90648, "x":8.05402, "y":6.6262, "heading":-1.3638, "vx":0.91817, "vy":-2.53765, "omega":-1.58615, "ax":-0.42097, "ay":-0.15156, "alpha":4.36398, "fx":[8.82734,-31.27286,-22.8057,17.41063], "fy":[22.31425,13.10696,-26.51764,-18.92669]}, + {"t":1.92676, "x":8.07256, "y":6.5747, "heading":-1.39597, "vx":0.90964, "vy":-2.54073, "omega":-1.49764, "ax":-0.19903, "ay":-0.07112, "alpha":5.12558, "fx":[16.2869,-31.29596,-22.87189,24.71866], "fy":[27.11492,18.19287,-28.93947,-21.07145]}, + {"t":1.94704, "x":8.09097, "y":6.52315, "heading":-1.42635, "vx":0.9056, "vy":-2.54217, "omega":-1.39368, "ax":-0.12561, "ay":-0.04471, "alpha":5.92825, "fx":[21.57252,-33.7849,-25.70272,29.60784], "fy":[31.18872,22.70062,-32.22318,-24.62315]}, + {"t":1.96732, "x":8.10931, "y":6.47158, "heading":-1.45461, "vx":0.90305, "vy":-2.54307, "omega":-1.27344, "ax":-0.13734, "ay":-0.04872, "alpha":6.75965, "fx":[25.72435,-37.66823,-30.19756,33.05871], "fy":[34.88607,26.87419,-35.86888,-29.11325]}, + {"t":1.98761, "x":8.1276, "y":6.42, "heading":-1.48044, "vx":0.90027, "vy":-2.54406, "omega":-1.13634, "ax":-0.22614, "ay":-0.07982, "alpha":7.5907, "fx":[28.74705,-42.71295,-36.01935,35.02945], "fy":[38.24538,30.51398,-39.59003,-34.44843]}, + {"t":2.00789, "x":8.14581, "y":6.36838, "heading":-1.50349, "vx":0.89568, "vy":-2.54568, "omega":-0.98239, "ax":-0.42167, "ay":-0.14759, "alpha":8.3774, "fx":[29.91069,-49.25644,-43.26826,34.72726], "fy":[41.20498,33.05804,-43.16956,-40.85409]}, + {"t":2.02817, "x":8.16389, "y":6.31672, "heading":-1.52341, "vx":0.88713, "vy":-2.54867, "omega":-0.81248, "ax":-0.79255, "ay":-0.27309, "alpha":9.03083, "fx":[27.47087,-58.00415,-52.23709,30.35581], "fy":[43.6198,33.53648,-46.33862,-48.87803]}, + {"t":2.04845, "x":8.18172, "y":6.26497, "heading":-1.53989, "vx":0.87105, "vy":-2.55421, "omega":-0.62932, "ax":-1.46309, "ay":-0.48951, "alpha":9.31733, "fx":[17.35549,-69.52124,-63.01106,18.41697], "fy":[44.83341,30.5527,-48.71559,-59.04388]}, + {"t":2.06873, "x":8.19909, "y":6.21307, "heading":-1.55266, "vx":0.84138, "vy":-2.56414, "omega":-0.44034, "ax":-2.63491, "ay":-0.83422, "alpha":8.63486, "fx":[-10.10067,-83.15424,-75.01132,-5.99024], "fy":[41.31347,22.93383,-49.79512,-69.62235]}, + {"t":2.08902, "x":8.21561, "y":6.16089, "heading":-1.56159, "vx":0.78794, "vy":-2.58106, "omega":-0.26521, "ax":-4.30962, "ay":-1.23617, "alpha":6.39225, "fx":[-58.55987,-96.30207,-87.55939,-42.58978], "fy":[25.43375,12.90261,-47.85888,-72.22995]}, + {"t":2.1093, "x":8.2307, "y":6.10828, "heading":-1.56697, "vx":0.70053, "vy":-2.60613, "omega":-0.13556, "ax":-5.66409, "ay":-1.38933, "alpha":4.06002, "fx":[-92.46274,-106.29648,-99.00478,-76.82344], "fy":[7.99037,4.6626,-42.41687,-62.11755]}, + {"t":2.12958, "x":8.24375, "y":6.05514, "heading":-1.56972, "vx":0.58565, "vy":-2.63431, "omega":-0.05322, "ax":-6.43649, "ay":-1.2209, "alpha":2.62391, "fx":[-107.28261,-112.67484,-107.69796,-98.0137], "fy":[0.96426,0.63845,-34.93709,-47.40864]}, + {"t":2.14986, "x":8.2543, "y":6.00146, "heading":-1.5708, "vx":0.45511, "vy":-2.65907, "omega":0.0, "ax":-6.76948, "ay":-0.94872, "alpha":0.0, "fx":[-111.92288,-111.92288,-111.92288,-111.92288], "fy":[-15.68553,-15.68553,-15.68553,-15.68553]}, + {"t":2.17897, "x":8.26468, "y":5.92366, "heading":-1.5708, "vx":0.25807, "vy":-2.68669, "omega":0.0, "ax":-5.7949, "ay":-0.37437, "alpha":0.0, "fx":[-95.80965,-95.80965,-95.80965,-95.80965], "fy":[-6.18961,-6.18961,-6.18961,-6.18961]}, + {"t":2.20808, "x":8.26974, "y":5.8453, "heading":-1.5708, "vx":0.0894, "vy":-2.69758, "omega":0.0, "ax":-3.15682, "ay":-0.05094, "alpha":0.0, "fx":[-52.19316,-52.19316,-52.19316,-52.19316], "fy":[-0.84222,-0.84222,-0.84222,-0.84222]}, + {"t":2.23718, "x":8.271, "y":5.76677, "heading":-1.5708, "vx":-0.00248, "vy":-2.69907, "omega":0.0, "ax":-0.91488, "ay":0.00534, "alpha":0.0, "fx":[-15.1261,-15.1261,-15.1261,-15.1261], "fy":[0.08834,0.08834,0.08834,0.08834]}, + {"t":2.26629, "x":8.27054, "y":5.68821, "heading":-1.5708, "vx":-0.02911, "vy":-2.69891, "omega":0.0, "ax":-0.22314, "ay":0.00267, "alpha":0.0, "fx":[-3.6893,-3.6893,-3.6893,-3.6893], "fy":[0.04422,0.04422,0.04422,0.04422]}, + {"t":2.29539, "x":8.2696, "y":5.60965, "heading":-1.5708, "vx":-0.03561, "vy":-2.69883, "omega":0.0, "ax":-0.05369, "ay":0.00072, "alpha":0.0, "fx":[-0.88769,-0.88769,-0.88769,-0.88769], "fy":[0.01197,0.01197,0.01197,0.01197]}, + {"t":2.3245, "x":8.26854, "y":5.5311, "heading":-1.5708, "vx":-0.03717, "vy":-2.69881, "omega":0.0, "ax":-0.01291, "ay":0.00018, "alpha":0.0, "fx":[-0.21342,-0.21342,-0.21342,-0.21342], "fy":[0.00295,0.00295,0.00295,0.00295]}, + {"t":2.35361, "x":8.26745, "y":5.45255, "heading":-1.5708, "vx":-0.03755, "vy":-2.69881, "omega":0.0, "ax":-0.0031, "ay":0.00004, "alpha":0.0, "fx":[-0.05131,-0.05131,-0.05131,-0.05131], "fy":[0.00071,0.00071,0.00071,0.00071]}, + {"t":2.38271, "x":8.26636, "y":5.37399, "heading":-1.5708, "vx":-0.03764, "vy":-2.69881, "omega":0.0, "ax":-0.00075, "ay":0.00001, "alpha":0.0, "fx":[-0.01233,-0.01233,-0.01233,-0.01233], "fy":[0.00017,0.00017,0.00017,0.00017]}, + {"t":2.41182, "x":8.26526, "y":5.29544, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":-0.00018, "ay":0.0, "alpha":0.0, "fx":[-0.00297,-0.00297,-0.00297,-0.00297], "fy":[0.00004,0.00004,0.00004,0.00004]}, + {"t":2.44093, "x":8.26417, "y":5.21689, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":-0.00004, "ay":0.0, "alpha":0.0, "fx":[-0.00071,-0.00071,-0.00071,-0.00071], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":2.47003, "x":8.26307, "y":5.13833, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.49914, "x":8.26197, "y":5.05978, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.52825, "x":8.26088, "y":4.98123, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.55735, "x":8.25978, "y":4.90268, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.58646, "x":8.25869, "y":4.82412, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.61557, "x":8.25759, "y":4.74557, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.64467, "x":8.25649, "y":4.66702, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00008,0.00008,0.00008,0.00008]}, + {"t":2.67378, "x":8.2554, "y":4.58847, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.00045, "ay":0.03221, "alpha":0.0, "fx":[0.00743,0.00743,0.00743,0.00743], "fy":[0.53258,0.53258,0.53258,0.53258]}, + {"t":2.70289, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.03765, "vy":-2.69787, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index a7b2ddeb..d1d22ed6 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -345,7 +345,7 @@ private void addTransitions() { bindTransition( SuperState.SCORE_FLOW, SuperState.SPIN_UP_SCORE_FLOW, - new Trigger(AutoAim::targetInTurretDeadzone)); + new Trigger(NewAutoAim::targetInTurretDeadzone)); bindTransition( SuperState.SPIN_UP_SCORE_FLOW, From 845773a28d51739a617b1128f3c9d2808f60d40f Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 19:53:21 -0700 Subject: [PATCH 10/11] tweaks to agitate and stuff --- .../deploy/choreo/LCleanuptoLPreTrench.traj | 183 ++++++++++-------- .../subsystems/intake/SlapdownSubsystem.java | 36 ++-- .../subsystems/shooter/TurretSubsystem.java | 3 +- 3 files changed, 117 insertions(+), 105 deletions(-) diff --git a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj index bfa9a052..9d541d7c 100644 --- a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj +++ b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj @@ -3,7 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.535889625549316, "y":6.891277313232422, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -11,15 +12,16 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, - {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + {"from":3, "to":3, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.535889625549316 m", "val":6.535889625549316}, "y":{"exp":"6.891277313232422 m", "val":6.891277313232422}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -27,10 +29,10 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, - {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + {"from":3, "to":3, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -61,83 +63,92 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.5383,2.68279], + "waypoints":[0.0,1.16641,1.5428,2.68308], "samples":[ - {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.44774, "vy":2.65923, "omega":1.71362, "ax":0.0151, "ay":0.07529, "alpha":-0.20222, "fx":[-0.7045,1.20395,1.20358,-0.70429], "fy":[0.29094,0.29092,2.19866,2.19879]}, - {"t":0.03273, "x":6.08279, "y":3.87944, "heading":-1.51471, "vx":0.44824, "vy":2.66169, "omega":1.707, "ax":-0.00023, "ay":0.00004, "alpha":-0.32553, "fx":[-1.45095,1.6156,1.44343,-1.62312], "fy":[-1.61864,-1.44647,1.62008,1.44791]}, - {"t":0.06546, "x":6.09746, "y":3.96656, "heading":-1.45884, "vx":0.44823, "vy":2.66169, "omega":1.69634, "ax":-0.00027, "ay":0.00004, "alpha":-0.40027, "fx":[-1.66997,2.08296,1.66103,-2.09189], "fy":[-2.0867,-1.66478,2.08816,1.66622]}, - {"t":0.09819, "x":6.11213, "y":4.05368, "heading":-1.40332, "vx":0.44822, "vy":2.66169, "omega":1.68324, "ax":0.00013, "ay":-0.00002, "alpha":-0.43313, "fx":[-1.67198,2.35744,1.67622,-2.35319], "fy":[-2.35569,-1.67448,2.35494,1.67372]}, - {"t":0.13092, "x":6.1268, "y":4.14079, "heading":-1.34823, "vx":0.44823, "vy":2.66169, "omega":1.66907, "ax":0.00054, "ay":-0.00009, "alpha":-0.43196, "fx":[-1.52879,2.44625,1.54663,-2.42842], "fy":[-2.43886,-1.53922,2.43582,1.53619]}, - {"t":0.16365, "x":6.14147, "y":4.22791, "heading":-1.2936, "vx":0.44824, "vy":2.66169, "omega":1.65493, "ax":0.00088, "ay":-0.00015, "alpha":-0.4047, "fx":[-1.29932,2.37324,1.32832,-2.34426], "fy":[-2.36121,-1.31627,2.3563,1.31137]}, - {"t":0.19638, "x":6.15615, "y":4.31503, "heading":-1.23943, "vx":0.44827, "vy":2.66168, "omega":1.64168, "ax":0.00113, "ay":-0.00019, "alpha":-0.35853, "fx":[-1.03042,2.16832,1.0678,-2.13095], "fy":[-2.1528,-1.05226,2.14648,1.04596]}, - {"t":0.22911, "x":6.17082, "y":4.40214, "heading":-1.1857, "vx":0.44831, "vy":2.66168, "omega":1.62995, "ax":0.00131, "ay":-0.00022, "alpha":-0.29942, "fx":[-0.75678,1.86132,0.80012,-1.818], "fy":[-1.84332,-0.7821,1.836,0.7748]}, - {"t":0.26184, "x":6.18549, "y":4.48926, "heading":-1.13235, "vx":0.44835, "vy":2.66167, "omega":1.62015, "ax":0.00143, "ay":-0.00024, "alpha":-0.23207, "fx":[-0.5028,1.47965,0.55012,-1.43234], "fy":[-1.45999,-0.53045,1.45201,0.52248]}, - {"t":0.29457, "x":6.20017, "y":4.57638, "heading":-1.07933, "vx":0.4484, "vy":2.66166, "omega":1.61255, "ax":0.0015, "ay":-0.00025, "alpha":-0.16003, "fx":[-0.28444,1.04677,0.3342,-0.99702], "fy":[-1.02609,-0.31351,1.0177,0.30513]}, - {"t":0.3273, "x":6.21484, "y":4.66349, "heading":-1.02655, "vx":0.44845, "vy":2.66165, "omega":1.60732, "ax":0.00154, "ay":-0.00026, "alpha":-0.08615, "fx":[-0.11181,0.58362,0.16273,-0.53269], "fy":[-0.56244,-0.14156,0.55387,0.13298]}, - {"t":0.36003, "x":6.22952, "y":4.75061, "heading":-0.97394, "vx":0.4485, "vy":2.66165, "omega":1.6045, "ax":0.00154, "ay":-0.00026, "alpha":-0.01277, "fx":[0.00953,0.10921,0.04147,-0.05821], "fy":[-0.08801,-0.02027,0.07942,0.01168]}, - {"t":0.39276, "x":6.2442, "y":4.83772, "heading":-0.92143, "vx":0.44855, "vy":2.66164, "omega":1.60408, "ax":0.00151, "ay":-0.00025, "alpha":0.05762, "fx":[0.07711,-0.35588,-0.02714,0.40585], "fy":[0.37666,0.04792,-0.38507,-0.05633]}, - {"t":0.42549, "x":6.25888, "y":4.92484, "heading":-0.86892, "vx":0.4486, "vy":2.66163, "omega":1.60596, "ax":0.00144, "ay":-0.00024, "alpha":0.12214, "fx":[0.09184,-0.78819,-0.04413,0.83588], "fy":[0.80802,0.06397,-0.81605,-0.072]}, - {"t":0.45822, "x":6.27357, "y":5.01195, "heading":-0.81636, "vx":0.44865, "vy":2.66162, "omega":1.60996, "ax":0.00133, "ay":-0.00022, "alpha":0.17669, "fx":[0.05843,-1.15631,-0.01455,1.20019], "fy":[1.17456,0.0328,-1.18194,-0.04018]}, - {"t":0.49095, "x":6.28825, "y":5.09907, "heading":-0.76367, "vx":0.44869, "vy":2.66161, "omega":1.61574, "ax":0.00115, "ay":-0.00019, "alpha":0.21565, "fx":[-0.01222,-1.41934,0.0503,1.45741], "fy":[1.43518,-0.03446,-1.44157,0.02807]}, - {"t":0.52368, "x":6.30294, "y":5.18618, "heading":-0.71078, "vx":0.44873, "vy":2.66161, "omega":1.6228, "ax":0.0009, "ay":-0.00015, "alpha":0.23081, "fx":[-0.09992,-1.52073,0.12967,1.55047], "fy":[1.53311,-0.11728,-1.53808,0.11231]}, - {"t":0.55641, "x":6.31763, "y":5.27329, "heading":-0.65767, "vx":0.44876, "vy":2.6616, "omega":1.63036, "ax":0.00056, "ay":-0.00009, "alpha":0.2112, "fx":[-0.17026,-1.38834,0.18872,1.4068], "fy":[1.39605,-0.18101,-1.3991,0.17796]}, - {"t":0.58914, "x":6.33231, "y":5.36041, "heading":-0.60431, "vx":0.44877, "vy":2.6616, "omega":1.63727, "ax":0.00013, "ay":-0.00002, "alpha":0.14208, "fx":[-0.16865,-0.93033,0.1728,0.93447], "fy":[0.93209,-0.17103,-0.93271,0.17042]}, - {"t":0.62187, "x":6.347, "y":5.44752, "heading":-0.55072, "vx":0.44878, "vy":2.6616, "omega":1.64192, "ax":-0.00038, "ay":0.00007, "alpha":0.00558, "fx":[-0.01488,-0.04241,0.00242,0.02996], "fy":[0.03729,-0.00755,-0.03508,0.00976]}, - {"t":0.6546, "x":6.36169, "y":5.53463, "heading":-0.49698, "vx":0.44877, "vy":2.6616, "omega":1.6421, "ax":-0.00089, "ay":0.00015, "alpha":-0.21929, "fx":[0.40141,1.38787,-0.43083,-1.41727], "fy":[-1.40002,0.41867,1.40512,-0.41357]}, - {"t":0.68733, "x":6.37638, "y":5.62175, "heading":-0.44324, "vx":0.44874, "vy":2.66161, "omega":1.63492, "ax":-0.00132, "ay":0.00023, "alpha":-0.55421, "fx":[1.21879,3.46136,-1.26241,-3.50493], "fy":[-3.4794,1.24437,3.48689,-1.23683]}, - {"t":0.72006, "x":6.39106, "y":5.70886, "heading":-0.38973, "vx":0.44869, "vy":2.66161, "omega":1.61679, "ax":-0.00156, "ay":0.00027, "alpha":-1.02031, "fx":[2.5978,6.25539,-2.64949,-6.30691], "fy":[-6.27677,2.62816,6.28553,-2.61914]}, - {"t":0.75279, "x":6.40575, "y":5.79598, "heading":-0.33681, "vx":0.44864, "vy":2.66162, "omega":1.58339, "ax":-0.00158, "ay":0.00027, "alpha":-1.63466, "fx":[4.70366,9.80083,-4.75597,-9.85275], "fy":[-9.82247,4.7345,9.83112,-4.72514]}, - {"t":0.78552, "x":6.42043, "y":5.88309, "heading":-0.28498, "vx":0.44859, "vy":2.66163, "omega":1.52989, "ax":-0.00156, "ay":0.00027, "alpha":-2.40852, "fx":[7.68359,14.07274,-7.73555,-14.12402], "fy":[-14.09431,7.71444,14.10245,-7.70469]}, - {"t":0.81825, "x":6.43511, "y":5.97021, "heading":-0.23491, "vx":0.44854, "vy":2.66164, "omega":1.45106, "ax":-0.00252, "ay":0.00043, "alpha":-3.34221, "fx":[11.62199,18.96251,-11.70622,-19.04514], "fy":[-18.99796,11.67257,19.00969,-11.65565]}, - {"t":0.85098, "x":6.44979, "y":6.05732, "heading":-0.18742, "vx":0.44846, "vy":2.66165, "omega":1.34167, "ax":-0.00874, "ay":0.00148, "alpha":-4.41986, "fx":[16.45454,24.22788,-16.74689,-24.51348], "fy":[-24.35429,16.6333,24.38717,-16.56827]}, - {"t":0.88371, "x":6.46447, "y":6.14444, "heading":-0.14351, "vx":0.44817, "vy":2.6617, "omega":1.19701, "ax":-0.03807, "ay":0.00641, "alpha":-5.60342, "fx":[21.74497,29.31993,-23.01756,-30.56493], "fy":[-29.89479,22.54607,29.99252,-22.21997]}, - {"t":0.91644, "x":6.47912, "y":6.23156, "heading":-0.10433, "vx":0.44693, "vy":2.66191, "omega":1.01361, "ax":-0.16114, "ay":0.0269, "alpha":-6.83102, "fx":[25.99476,32.74384,-31.35457,-38.04083], "fy":[-35.33687,29.52034,35.50343,-27.90808]}, - {"t":0.94916, "x":6.49366, "y":6.3187, "heading":-0.07115, "vx":0.44165, "vy":2.66279, "omega":0.79003, "ax":-0.63517, "ay":0.10281, "alpha":-7.95733, "fx":[23.93954,29.31586,-44.8849,-50.37643], "fy":[-40.62062,38.77663,40.14026,-31.49737]}, - {"t":0.98189, "x":6.50777, "y":6.4059, "heading":-0.04529, "vx":0.42086, "vy":2.66616, "omega":0.52959, "ax":-2.30887, "ay":0.33101, "alpha":-7.89717, "fx":[-7.23714,-2.55182,-69.05331,-73.85187], "fy":[-44.08533,52.61948,40.61721,-27.26057]}, - {"t":1.01462, "x":6.52031, "y":6.49334, "heading":-0.02796, "vx":0.34529, "vy":2.67699, "omega":0.27112, "ax":-5.53215, "ay":0.5245, "alpha":-3.81572, "fx":[-85.78399,-80.25105,-98.39482,-101.432], "fy":[-23.46974,42.41513,29.98889,-14.24707]}, - {"t":1.04735, "x":6.52865, "y":6.58124, "heading":-0.01909, "vx":0.16423, "vy":2.69416, "omega":0.14623, "ax":-6.8743, "ay":0.1312, "alpha":-1.47874, "fx":[-112.71117,-112.17623,-114.64935,-115.08681], "fy":[-11.86864,16.16052,13.6524,-9.26773]}, - {"t":1.08008, "x":6.53034, "y":6.66949, "heading":-0.0143, "vx":-0.06077, "vy":2.69845, "omega":0.09783, "ax":-7.21861, "ay":-0.48117, "alpha":-0.77316, "fx":[-118.52154,-119.51865,-120.06627,-119.28742], "fy":[-15.84459,-1.14558,-0.83365,-13.99784]}, - {"t":1.11281, "x":6.52449, "y":6.75755, "heading":-0.0111, "vx":-0.29703, "vy":2.6827, "omega":0.07252, "ax":-7.27841, "ay":-1.13879, "alpha":-0.48879, "fx":[-119.40058,-120.8432,-121.17609,-119.92909], "fy":[-24.09171,-15.00278,-13.86113,-22.35709]}, - {"t":1.14554, "x":6.51087, "y":6.84475, "heading":-0.00873, "vx":-0.53525, "vy":2.64543, "omega":0.05652, "ax":-7.20608, "ay":-1.80237, "alpha":-0.34628, "fx":[-118.11907,-119.68535,-120.09016,-118.67083], "fy":[-33.66574,-27.47816,-26.06454,-31.98883]}, - {"t":1.17827, "x":6.48949, "y":6.93037, "heading":-0.00688, "vx":-0.77111, "vy":2.58644, "omega":0.04519, "ax":-7.03454, "ay":-2.48577, "alpha":-0.26401, "fx":[-115.21204,-116.79787,-117.34449,-115.86648], "fy":[-44.10116,-39.65929,-38.15617,-42.47668]}, - {"t":1.211, "x":6.46048, "y":7.01369, "heading":-0.0054, "vx":-1.00135, "vy":2.50508, "omega":0.03655, "ax":-6.20799, "ay":-4.17521, "alpha":-0.20725, "fx":[-101.11271,-102.92854,-104.13061,-102.38573], "fy":[-71.26898,-68.59276,-66.79504,-69.46538]}, - {"t":1.24373, "x":6.42438, "y":7.09344, "heading":-0.0042, "vx":-1.20453, "vy":2.36843, "omega":0.02977, "ax":-4.94972, "ay":-5.6294, "alpha":-0.16214, "fx":[-80.2193,-81.72273,-83.44443,-81.95749], "fy":[-94.48371,-93.1712,-91.64595,-92.99258]}, - {"t":1.27646, "x":6.38231, "y":7.16795, "heading":-0.00323, "vx":-1.36654, "vy":2.18418, "omega":0.02446, "ax":-4.106, "ay":-6.2822, "alpha":-0.13281, "fx":[-66.44274,-67.57388,-69.3322,-68.1964], "fy":[-104.8048,-104.06974,-102.91288,-103.67809]}, - {"t":1.30919, "x":6.33538, "y":7.23607, "heading":-0.00243, "vx":-1.50092, "vy":1.97856, "omega":0.02011, "ax":-3.55205, "ay":-6.61771, "alpha":-0.11377, "fx":[-57.45504,-58.33477,-60.00553,-59.11493], "fy":[-110.09379,-109.62385,-108.72175,-109.21477]}, - {"t":1.34192, "x":6.28435, "y":7.29728, "heading":-0.00177, "vx":-1.61718, "vy":1.76197, "omega":0.01639, "ax":-3.17071, "ay":-6.81291, "alpha":-0.10074, "fx":[-51.28502,-51.99968,-53.56666,-52.8397], "fy":[-113.16859,-112.83736,-112.10414,-112.45319]}, - {"t":1.37465, "x":6.22973, "y":7.3513, "heading":-0.00123, "vx":-1.72096, "vy":1.53898, "omega":0.01309, "ax":-2.89515, "ay":-6.93748, "alpha":-0.09136, "fx":[-46.83249,-47.43471,-48.90736,-48.29291], "fy":[-115.13084,-114.88045,-114.26279,-114.52737]}, - {"t":1.40738, "x":6.17185, "y":7.39796, "heading":-0.0008, "vx":-1.81572, "vy":1.31192, "omega":0.0101, "ax":-2.68781, "ay":-7.02261, "alpha":-0.08432, "fx":[-43.48451,-44.00678,-45.39882,-44.86485], "fy":[-116.47224,-116.27305,-115.73773,-115.9486]}, - {"t":1.44011, "x":6.11098, "y":7.43714, "heading":-0.00047, "vx":-1.90369, "vy":1.08207, "omega":0.00734, "ax":-2.52661, "ay":-7.08389, "alpha":-0.07886, "fx":[-40.88266,-41.34584,-42.66997,-42.19573], "fy":[-117.43808,-117.27344,-116.79903,-116.97354]}, - {"t":1.47284, "x":6.04732, "y":7.46876, "heading":-0.00023, "vx":-1.98638, "vy":0.85022, "omega":0.00476, "ax":-2.39793, "ay":-7.1298, "alpha":-0.07451, "fx":[-38.80628,-39.22433,-40.49117,-40.06267], "fy":[-118.16202,-118.0219,-117.59398,-117.74264]}, - {"t":1.50557, "x":5.98102, "y":7.49277, "heading":-0.00008, "vx":-2.06487, "vy":0.61686, "omega":0.00232, "ax":-2.29299, "ay":-7.16531, "alpha":-0.07096, "fx":[-37.11309,-37.49572,-38.7139,-38.3214], "fy":[-118.72217,-118.60016,-118.20869,-118.33822]}, - {"t":1.5383, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-2.13992, "vy":0.38234, "omega":0.0, "ax":-2.95989, "ay":-6.91443, "alpha":0.0, "fx":[-48.93723,-48.93723,-48.93723,-48.93723], "fy":[-114.31931,-114.31931,-114.31931,-114.31931]}, - {"t":1.58069, "x":5.81884, "y":7.51911, "heading":0.0, "vx":-2.26538, "vy":0.08925, "omega":0.0, "ax":-6.17597, "ay":-4.2274, "alpha":0.0, "fx":[-102.11011,-102.11011,-102.11011,-102.11011], "fy":[-69.89343,-69.89343,-69.89343,-69.89343]}, - {"t":1.62308, "x":5.71727, "y":7.5191, "heading":0.0, "vx":-2.52717, "vy":-0.08995, "omega":0.0, "ax":-4.05004, "ay":0.88629, "alpha":0.0, "fx":[-66.96115,-66.96115,-66.96115,-66.96115], "fy":[14.65337,14.65337,14.65337,14.65337]}, - {"t":1.66547, "x":5.60651, "y":7.51608, "heading":0.0, "vx":-2.69885, "vy":-0.05238, "omega":0.0, "ax":-0.00727, "ay":0.44549, "alpha":0.0, "fx":[-0.12022,-0.12022,-0.12022,-0.12022], "fy":[7.36556,7.36556,7.36556,7.36556]}, - {"t":1.70786, "x":5.4921, "y":7.51426, "heading":0.0, "vx":-2.69916, "vy":-0.0335, "omega":0.0, "ax":-0.00234, "ay":0.21882, "alpha":0.0, "fx":[-0.03867,-0.03867,-0.03867,-0.03867], "fy":[3.6178,3.6178,3.6178,3.6178]}, - {"t":1.75024, "x":5.37768, "y":7.51304, "heading":0.0, "vx":-2.69926, "vy":-0.02422, "omega":0.0, "ax":-0.00111, "ay":0.14104, "alpha":0.0, "fx":[-0.01834,-0.01834,-0.01834,-0.01834], "fy":[2.3319,2.3319,2.3319,2.3319]}, - {"t":1.79263, "x":5.26326, "y":7.51214, "heading":0.0, "vx":-2.6993, "vy":-0.01824, "omega":0.0, "ax":-0.0006, "ay":0.101, "alpha":0.0, "fx":[-0.00996,-0.00996,-0.00996,-0.00996], "fy":[1.66987,1.66987,1.66987,1.66987]}, - {"t":1.83502, "x":5.14884, "y":7.51146, "heading":0.0, "vx":-2.69933, "vy":-0.01396, "omega":0.0, "ax":-0.00034, "ay":0.07534, "alpha":0.0, "fx":[-0.0057,-0.0057,-0.0057,-0.0057], "fy":[1.2456,1.2456,1.2456,1.2456]}, - {"t":1.87741, "x":5.03442, "y":7.51093, "heading":0.0, "vx":-2.69934, "vy":-0.01077, "omega":0.0, "ax":-0.0002, "ay":0.05726, "alpha":0.0, "fx":[-0.00335,-0.00335,-0.00335,-0.00335], "fy":[0.94668,0.94668,0.94668,0.94668]}, - {"t":1.9198, "x":4.92, "y":7.51053, "heading":0.0, "vx":-2.69935, "vy":-0.00834, "omega":0.0, "ax":-0.00012, "ay":0.04394, "alpha":0.0, "fx":[-0.00199,-0.00199,-0.00199,-0.00199], "fy":[0.72652,0.72652,0.72652,0.72652]}, - {"t":1.96219, "x":4.80558, "y":7.51021, "heading":0.0, "vx":-2.69936, "vy":-0.00648, "omega":0.0, "ax":-0.00007, "ay":0.0339, "alpha":0.0, "fx":[-0.0012,-0.0012,-0.0012,-0.0012], "fy":[0.56046,0.56046,0.56046,0.56046]}, - {"t":2.00458, "x":4.69116, "y":7.50997, "heading":0.0, "vx":-2.69936, "vy":-0.00504, "omega":0.0, "ax":-0.00004, "ay":0.02622, "alpha":0.0, "fx":[-0.00072,-0.00072,-0.00072,-0.00072], "fy":[0.43348,0.43348,0.43348,0.43348]}, - {"t":2.04697, "x":4.57674, "y":7.50978, "heading":0.0, "vx":-2.69936, "vy":-0.00393, "omega":0.0, "ax":-0.00003, "ay":0.02029, "alpha":0.0, "fx":[-0.00043,-0.00043,-0.00043,-0.00043], "fy":[0.33553,0.33553,0.33553,0.33553]}, - {"t":2.08935, "x":4.46231, "y":7.50963, "heading":0.0, "vx":-2.69936, "vy":-0.00307, "omega":0.0, "ax":-0.00002, "ay":0.0157, "alpha":0.0, "fx":[-0.00026,-0.00026,-0.00026,-0.00026], "fy":[0.2595,0.2595,0.2595,0.2595]}, - {"t":2.13174, "x":4.34789, "y":7.50951, "heading":0.0, "vx":-2.69936, "vy":-0.0024, "omega":0.0, "ax":-0.00001, "ay":0.01211, "alpha":0.0, "fx":[-0.00016,-0.00016,-0.00016,-0.00016], "fy":[0.20019,0.20019,0.20019,0.20019]}, - {"t":2.17413, "x":4.23347, "y":7.50942, "heading":0.0, "vx":-2.69936, "vy":-0.00189, "omega":0.0, "ax":-0.00001, "ay":0.0093, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.15373,0.15373,0.15373,0.15373]}, - {"t":2.21652, "x":4.11905, "y":7.50935, "heading":0.0, "vx":-2.69936, "vy":-0.0015, "omega":0.0, "ax":0.0, "ay":0.00712, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.11771,0.11771,0.11771,0.11771]}, - {"t":2.25891, "x":4.00462, "y":7.50929, "heading":0.0, "vx":-2.69936, "vy":-0.00119, "omega":0.0, "ax":0.00015, "ay":0.00577, "alpha":0.0, "fx":[0.0024,0.0024,0.0024,0.0024], "fy":[0.09541,0.09541,0.09541,0.09541]}, - {"t":2.3013, "x":3.8902, "y":7.50925, "heading":0.0, "vx":-2.69936, "vy":-0.00095, "omega":0.0, "ax":3.5787, "ay":0.00766, "alpha":0.0, "fx":[59.16831,59.16831,59.16831,59.16831], "fy":[0.1266,0.1266,0.1266,0.1266]}, - {"t":2.34369, "x":3.779, "y":7.50922, "heading":0.0, "vx":-2.54766, "vy":-0.00062, "omega":0.0, "ax":7.47374, "ay":0.00235, "alpha":0.0, "fx":[123.56664,123.56664,123.56664,123.56664], "fy":[0.03878,0.03878,0.03878,0.03878]}, - {"t":2.38607, "x":3.67772, "y":7.50919, "heading":0.0, "vx":-2.23086, "vy":-0.00053, "omega":0.0, "ax":7.50324, "ay":0.00212, "alpha":0.0, "fx":[124.05444,124.05444,124.05444,124.05444], "fy":[0.03498,0.03498,0.03498,0.03498]}, - {"t":2.42846, "x":3.5899, "y":7.50917, "heading":0.0, "vx":-1.91281, "vy":-0.00044, "omega":0.0, "ax":7.51315, "ay":0.00195, "alpha":0.0, "fx":[124.21825,124.21825,124.21825,124.21825], "fy":[0.03229,0.03229,0.03229,0.03229]}, - {"t":2.47085, "x":3.51556, "y":7.50915, "heading":0.0, "vx":-1.59434, "vy":-0.00035, "omega":0.0, "ax":7.51812, "ay":0.00183, "alpha":0.0, "fx":[124.30036,124.30036,124.30036,124.30036], "fy":[0.0302,0.0302,0.0302,0.0302]}, - {"t":2.51324, "x":3.45474, "y":7.50914, "heading":0.0, "vx":-1.27565, "vy":-0.00028, "omega":0.0, "ax":7.5211, "ay":0.00173, "alpha":0.0, "fx":[124.34969,124.34969,124.34969,124.34969], "fy":[0.02855,0.02855,0.02855,0.02855]}, - {"t":2.55563, "x":3.40742, "y":7.50913, "heading":0.0, "vx":-0.95685, "vy":-0.0002, "omega":0.0, "ax":7.52309, "ay":0.00165, "alpha":0.0, "fx":[124.38259,124.38259,124.38259,124.38259], "fy":[0.02726,0.02726,0.02726,0.02726]}, - {"t":2.59802, "x":3.37362, "y":7.50912, "heading":0.0, "vx":-0.63795, "vy":-0.00013, "omega":0.0, "ax":7.52451, "ay":0.00159, "alpha":0.0, "fx":[124.40611,124.40611,124.40611,124.40611], "fy":[0.02624,0.02624,0.02624,0.02624]}, - {"t":2.64041, "x":3.35334, "y":7.50912, "heading":0.0, "vx":-0.319, "vy":-0.00007, "omega":0.0, "ax":7.52558, "ay":0.00154, "alpha":0.0, "fx":[124.42374,124.42374,124.42374,124.42374], "fy":[0.02545,0.02545,0.02545,0.02545]}, - {"t":2.68279, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.49244, "vy":2.6507, "omega":1.74261, "ax":0.02287, "ay":0.10439, "alpha":-0.20429, "fx":[-0.5859,1.34235,1.34177,-0.58565], "fy":[0.76243,0.76236,2.68939,2.68964]}, + {"t":0.02777, "x":6.08181, "y":3.86602, "heading":-1.5224, "vx":0.49307, "vy":2.6536, "omega":1.73694, "ax":0.0001, "ay":0.0, "alpha":-0.32988, "fx":[-1.47743,1.6314,1.48083,-1.628], "fy":[-1.62975,-1.47918,1.62964,1.47907]}, + {"t":0.05554, "x":6.09551, "y":3.93972, "heading":-1.47416, "vx":0.49307, "vy":2.6536, "omega":1.72777, "ax":-0.00025, "ay":0.00004, "alpha":-0.41048, "fx":[-1.74475,2.1101,1.73643,-2.11841], "fy":[-2.11353,-1.73986,2.11498,1.74131]}, + {"t":0.08332, "x":6.1092, "y":4.01341, "heading":-1.42618, "vx":0.49307, "vy":2.6536, "omega":1.71638, "ax":0.00011, "ay":-0.00002, "alpha":-0.4524, "fx":[-1.80256,2.42133,1.8062,-2.4177], "fy":[-2.41989,-1.80475,2.41914,1.804]}, + {"t":0.11109, "x":6.12289, "y":4.08711, "heading":-1.37851, "vx":0.49307, "vy":2.6536, "omega":1.70381, "ax":0.00059, "ay":-0.00011, "alpha":-0.4625, "fx":[-1.715,2.56831,1.73441,-2.54891], "fy":[-2.56044,-1.72653,2.55677,1.72287]}, + {"t":0.13886, "x":6.13659, "y":4.1608, "heading":-1.3312, "vx":0.49309, "vy":2.6536, "omega":1.69097, "ax":0.00102, "ay":-0.00019, "alpha":-0.44751, "fx":[-1.53302,2.56867,1.56667,-2.53505], "fy":[-2.55501,-1.55298,2.5487,1.5467]}, + {"t":0.16663, "x":6.15028, "y":4.2345, "heading":-1.28423, "vx":0.49311, "vy":2.65359, "omega":1.67854, "ax":0.00136, "ay":-0.00025, "alpha":-0.41361, "fx":[-1.29758,2.44571,1.34268,-2.40064], "fy":[-2.42739,-1.32433,2.41896,1.31594]}, + {"t":0.1944, "x":6.16398, "y":4.30819, "heading":-1.23762, "vx":0.49315, "vy":2.65358, "omega":1.66705, "ax":0.00163, "ay":-0.0003, "alpha":-0.36597, "fx":[-1.03999,2.22303,1.09379,-2.16927], "fy":[-2.20117,-1.07189,2.19114,1.06189]}, + {"t":0.22217, "x":6.17767, "y":4.38189, "heading":-1.19132, "vx":0.4932, "vy":2.65357, "omega":1.65689, "ax":0.00182, "ay":-0.00034, "alpha":-0.30883, "fx":[-0.78354,1.92301,0.84364,-1.86293], "fy":[-1.89857,-0.81918,1.88738,0.80801]}, + {"t":0.24995, "x":6.19137, "y":4.45558, "heading":-1.14531, "vx":0.49325, "vy":2.65357, "omega":1.64831, "ax":0.00195, "ay":-0.00036, "alpha":-0.24539, "fx":[-0.54436,1.5645,0.60884,-1.50004], "fy":[-1.53827,-0.58259,1.52627,0.5706]}, + {"t":0.27772, "x":6.20507, "y":4.52927, "heading":-1.09953, "vx":0.4933, "vy":2.65356, "omega":1.6415, "ax":0.00204, "ay":-0.00038, "alpha":-0.17818, "fx":[-0.33366,1.16424,0.40098,-1.09693], "fy":[-1.13685,-0.37358,1.12433,0.36107]}, + {"t":0.30549, "x":6.21877, "y":4.60297, "heading":-1.05394, "vx":0.49336, "vy":2.65354, "omega":1.63655, "ax":0.00208, "ay":-0.00039, "alpha":-0.10898, "fx":[-0.15846,0.73547,0.22738,-0.66656], "fy":[-0.70742,-0.19932,0.69461,0.18651]}, + {"t":0.33326, "x":6.23247, "y":4.67666, "heading":-1.00849, "vx":0.49342, "vy":2.65353, "omega":1.63352, "ax":0.0021, "ay":-0.00039, "alpha":-0.0394, "fx":[-0.02344,0.29109,0.09289,-0.22164], "fy":[-0.26282,-0.06462,0.24991,0.05171]}, + {"t":0.36103, "x":6.24618, "y":4.75035, "heading":-0.96313, "vx":0.49347, "vy":2.65352, "omega":1.63243, "ax":0.00209, "ay":-0.00039, "alpha":0.02929, "fx":[0.06904,-0.15787,-0.00006,0.22685], "fy":[0.18595,0.02814,-0.19877,-0.04096]}, + {"t":0.3888, "x":6.25988, "y":4.82405, "heading":-0.91779, "vx":0.49353, "vy":2.65351, "omega":1.63324, "ax":0.00204, "ay":-0.00038, "alpha":0.09548, "fx":[0.11782,-0.59772,-0.05036,0.66518], "fy":[0.62519,0.07782,-0.63772,-0.09036]}, + {"t":0.41658, "x":6.27359, "y":4.89774, "heading":-0.87244, "vx":0.49359, "vy":2.6535, "omega":1.63589, "ax":0.00196, "ay":-0.00036, "alpha":0.15747, "fx":[0.12368,-1.01424,-0.05896,1.07895], "fy":[1.04059,0.08531,-1.05261,-0.09733]}, + {"t":0.44435, "x":6.2873, "y":4.97143, "heading":-0.827, "vx":0.49364, "vy":2.65349, "omega":1.64027, "ax":0.00183, "ay":-0.00034, "alpha":0.21256, "fx":[0.08922,-1.38667,-0.02875,1.44712], "fy":[1.41128,0.05337,-1.4225,-0.06459]}, + {"t":0.47212, "x":6.30101, "y":5.04512, "heading":-0.78145, "vx":0.49369, "vy":2.65348, "omega":1.64617, "ax":0.00164, "ay":-0.0003, "alpha":0.25746, "fx":[0.02036,-1.69049,0.03392,1.74476], "fy":[1.7126,-0.01181,-1.72266,0.00175]}, + {"t":0.49989, "x":6.31472, "y":5.11881, "heading":-0.73573, "vx":0.49374, "vy":2.65347, "omega":1.65332, "ax":0.00138, "ay":-0.00026, "alpha":0.2871, "fx":[-0.07225,-1.89026,0.11793,1.93591], "fy":[1.90887,-0.09932,-1.91731,0.09087]}, + {"t":0.52766, "x":6.32843, "y":5.19251, "heading":-0.68982, "vx":0.49378, "vy":2.65347, "omega":1.66129, "ax":0.00103, "ay":-0.00019, "alpha":0.29518, "fx":[-0.17087,-1.94325,0.20501,1.97738], "fy":[1.95718,-0.19108,-1.96345,0.1848]}, + {"t":0.55543, "x":6.34215, "y":5.2662, "heading":-0.64368, "vx":0.49381, "vy":2.65346, "omega":1.66949, "ax":0.00059, "ay":-0.00011, "alpha":0.27291, "fx":[-0.24749,-1.79279,0.26685,1.81214], "fy":[1.80072,-0.25892,-1.80422,0.25541]}, + {"t":0.58321, "x":6.35586, "y":5.33989, "heading":-0.59732, "vx":0.49382, "vy":2.65346, "omega":1.67707, "ax":0.00004, "ay":0.0, "alpha":0.20979, "fx":[-0.26099,-1.37423,0.2624,1.37564], "fy":[1.37487,-0.26176,-1.375,0.26163]}, + {"t":0.61098, "x":6.36957, "y":5.41358, "heading":-0.55074, "vx":0.49382, "vy":2.65346, "omega":1.68289, "ax":-0.00057, "ay":0.00011, "alpha":0.0929, "fx":[-0.15355,-0.61223,0.13466,0.59334], "fy":[0.60462,-0.14227,-0.60094,0.14595]}, + {"t":0.63875, "x":6.38329, "y":5.48727, "heading":-0.504, "vx":0.49381, "vy":2.65346, "omega":1.68547, "ax":-0.0012, "ay":0.00023, "alpha":-0.09183, "fx":[0.15028,0.56873,-0.18996,-0.6084], "fy":[-0.58477,0.17391,0.59235,-0.16633]}, + {"t":0.66652, "x":6.397, "y":5.56096, "heading":-0.4572, "vx":0.49377, "vy":2.65347, "omega":1.68292, "ax":-0.00176, "ay":0.00033, "alpha":-0.35937, "fx":[0.74376,2.24054,-0.80187,-2.29862], "fy":[-2.26406,0.77835,2.2751,-0.76728]}, + {"t":0.69429, "x":6.41071, "y":5.63465, "heading":-0.41046, "vx":0.49373, "vy":2.65348, "omega":1.67294, "ax":-0.00214, "ay":0.00041, "alpha":-0.72378, "fx":[1.73289,4.45795,-1.80381,-4.52874], "fy":[-4.48666,1.77513,4.50003,-1.76158]}, + {"t":0.72206, "x":6.42442, "y":5.70834, "heading":-0.364, "vx":0.49367, "vy":2.65349, "omega":1.65284, "ax":-0.00229, "ay":0.00043, "alpha":-1.19758, "fx":[3.23021,7.25309,-3.30594,-7.3285], "fy":[-7.28375,3.2754,7.29785,-3.26075]}, + {"t":0.74984, "x":6.43813, "y":5.78204, "heading":-0.3181, "vx":0.4936, "vy":2.6535, "omega":1.61958, "ax":-0.00222, "ay":0.00042, "alpha":-1.79008, "fx":[5.34299,10.62572,-5.41676,-10.69889], "fy":[-10.65561,5.38719,10.669,-5.37256]}, + {"t":0.77761, "x":6.45184, "y":5.85573, "heading":-0.27312, "vx":0.49354, "vy":2.65351, "omega":1.56987, "ax":-0.00227, "ay":0.00043, "alpha":-2.50645, "fx":[8.15877,14.53818,-8.23421,-14.61265], "fy":[-14.56891,8.2043,14.58193,-8.18868]}, + {"t":0.80538, "x":6.46555, "y":5.92942, "heading":-0.22952, "vx":0.49348, "vy":2.65352, "omega":1.50026, "ax":-0.00349, "ay":0.00066, "alpha":-3.34511, "fx":[11.71832,18.90002,-11.83463,-19.01429], "fy":[-18.94806,11.78924,18.96626,-11.76374]}, + {"t":0.83315, "x":6.47925, "y":6.00312, "heading":-0.18785, "vx":0.49338, "vy":2.65354, "omega":1.40736, "ax":-0.00922, "ay":0.00173, "alpha":-4.29429, "fx":[15.96459,23.53452,-16.27261,-23.83629], "fy":[-23.66499,16.15532,23.70594,-16.08206]}, + {"t":0.86092, "x":6.49295, "y":6.07681, "heading":-0.14877, "vx":0.49313, "vy":2.65359, "omega":1.2881, "ax":-0.02982, "ay":0.00555, "alpha":-5.32891, "fx":[20.63705,28.09911,-21.63247,-29.07597], "fy":[-28.53713,21.26823,28.63938,-21.00345]}, + {"t":0.88869, "x":6.50663, "y":6.15051, "heading":-0.113, "vx":0.4923, "vy":2.65374, "omega":1.14011, "ax":-0.09627, "ay":0.01782, "alpha":-6.40977, "fx":[25.02916,31.86721,-28.22896,-35.03411], "fy":[-33.35573,27.12788,33.56357,-26.15718]}, + {"t":0.91647, "x":6.52027, "y":6.22421, "heading":-0.08133, "vx":0.48962, "vy":2.65424, "omega":0.9621, "ax":-0.29585, "ay":0.05411, "alpha":-7.47783, "fx":[27.34179,33.06937,-37.0969,-42.87988], "fy":[-37.98212,34.06194,38.17447,-30.67576]}, + {"t":0.94424, "x":6.53375, "y":6.29795, "heading":-0.05461, "vx":0.48141, "vy":2.65574, "omega":0.75443, "ax":-0.85905, "ay":0.15174, "alpha":-8.36107, "fx":[22.49203,26.65451,-50.56142,-55.39763], "fy":[-42.45141,43.34289,41.66058,-32.51677]}, + {"t":0.97201, "x":6.54679, "y":6.37176, "heading":-0.03366, "vx":0.45755, "vy":2.65996, "omega":0.52223, "ax":-2.35296, "ay":0.37503, "alpha":-8.13628, "fx":[-6.64285,-2.84965,-70.71577,-75.40184], "fy":[-44.89152,55.7584,41.75543,-27.82005]}, + {"t":0.99978, "x":6.55859, "y":6.44577, "heading":-0.01916, "vx":0.3922, "vy":2.67037, "omega":0.29627, "ax":-5.00252, "ay":0.60242, "alpha":-4.87929, "fx":[-73.46712,-65.96969,-93.78329,-97.61572], "fy":[-29.18426,51.5095,34.45673,-16.94183]}, + {"t":1.02755, "x":6.56755, "y":6.52017, "heading":-0.01093, "vx":0.25328, "vy":2.6871, "omega":0.16076, "ax":-6.52693, "ay":0.3936, "alpha":-2.24373, "fx":[-106.39805,-103.89165,-109.92064,-111.44041], "fy":[-13.80403,28.19069,21.62391,-9.98002]}, + {"t":1.05532, "x":6.57207, "y":6.59495, "heading":-0.00647, "vx":0.07201, "vy":2.69803, "omega":0.09845, "ax":-7.05421, "ay":-0.06897, "alpha":-1.22544, "fx":[-115.76714,-116.00349,-117.44934,-117.30128], "fy":[-13.04817,10.43865,8.91457,-10.86616]}, + {"t":1.0831, "x":6.57135, "y":6.66985, "heading":-0.00373, "vx":-0.1239, "vy":2.69612, "omega":0.06442, "ax":-7.23583, "ay":-0.60573, "alpha":-0.78237, "fx":[-118.67562,-119.9489,-120.4596,-119.44827], "fy":[-18.05828,-3.14937,-2.7586,-16.09322]}, + {"t":1.11087, "x":6.56512, "y":6.74449, "heading":-0.00194, "vx":-0.32485, "vy":2.6793, "omega":0.04269, "ax":-7.26716, "ay":-1.16458, "alpha":-0.55387, "fx":[-119.06044,-120.74601,-121.11724,-119.68112], "fy":[-25.20693,-14.87036,-13.68294,-23.25752]}, + {"t":1.13864, "x":6.55329, "y":6.81845, "heading":-0.00076, "vx":-0.52667, "vy":2.64695, "omega":0.02731, "ax":-7.19954, "ay":-1.76905, "alpha":-0.42032, "fx":[-117.80724,-119.69416,-120.15408,-118.47712], "fy":[-33.92023,-26.35671,-24.77355,-31.94316]}, + {"t":1.16641, "x":6.53589, "y":6.89128, "heading":0.0, "vx":-0.72661, "vy":2.59782, "omega":0.01564, "ax":-7.09946, "ay":-2.23291, "alpha":-0.27262, "fx":[-116.37619,-117.86726,-118.32787,-116.94304], "fy":[-39.98695,-35.28381,-33.92074,-38.47907]}, + {"t":1.1933, "x":6.51379, "y":6.96031, "heading":0.00042, "vx":-0.91748, "vy":2.53779, "omega":0.00831, "ax":-6.89795, "ay":-2.84701, "alpha":-0.18201, "fx":[-113.17757,-114.39415,-114.8888,-113.72708], "fy":[-49.13267,-46.19588,-45.03331,-47.9214]}, + {"t":1.22018, "x":6.48663, "y":7.02751, "heading":0.00064, "vx":-1.10293, "vy":2.46125, "omega":0.00341, "ax":-6.27016, "ay":-4.07347, "alpha":-0.11935, "fx":[-102.81694,-103.84318,-104.50563,-103.50344], "fy":[-68.64458,-67.06502,-66.05437,-67.63004]}, + {"t":1.24707, "x":6.45471, "y":7.09221, "heading":0.00074, "vx":-1.2715, "vy":2.35174, "omega":0.0002, "ax":-5.31461, "ay":-5.27633, "alpha":-0.0745, "fx":[-87.17101,-87.86906,-88.56368,-87.87122], "fy":[-87.93588,-87.23008,-86.53317,-87.24433]}, + {"t":1.27395, "x":6.41861, "y":7.15353, "heading":0.00074, "vx":-1.41439, "vy":2.20988, "omega":-0.0018, "ax":-4.55427, "ay":-5.95581, "alpha":-0.04409, "fx":[-74.8368,-75.23511,-75.75859,-75.36073], "fy":[-98.82227,-98.51544,-98.11648,-98.42628]}, + {"t":1.30084, "x":6.37894, "y":7.21079, "heading":0.00069, "vx":-1.53683, "vy":2.04976, "omega":-0.00298, "ax":-3.99151, "ay":-6.35394, "alpha":-0.02329, "fx":[-65.73792,-65.93446,-66.24882,-66.05208], "fy":[-105.21299,-105.08822,-104.89141,-105.01712]}, + {"t":1.32772, "x":6.33618, "y":7.2636, "heading":0.00061, "vx":-1.64414, "vy":1.87894, "omega":-0.00361, "ax":-3.57241, "ay":-6.60372, "alpha":-0.00853, "fx":[-58.96859,-59.03557,-59.15982,-59.09278], "fy":[-109.23409,-109.19737,-109.13039,-109.16724]}, + {"t":1.35461, "x":6.29068, "y":7.31173, "heading":0.00052, "vx":-1.74018, "vy":1.7014, "omega":-0.00384, "ax":-3.25302, "ay":-6.77046, "alpha":0.00235, "fx":[-53.81025,-53.79302,-53.75709,-53.77431], "fy":[-111.92622,-111.93463,-111.95183,-111.94343]}, + {"t":1.38149, "x":6.24272, "y":7.35502, "heading":0.00041, "vx":-1.82764, "vy":1.51937, "omega":-0.00378, "ax":-3.0035, "ay":-6.8876, "alpha":0.01065, "fx":[-49.7791,-49.70569,-49.53729,-49.61055], "fy":[-113.82278,-113.85537,-113.92852,-113.89613]}, + {"t":1.40838, "x":6.1925, "y":7.39338, "heading":0.00031, "vx":-1.90839, "vy":1.3342, "omega":-0.00349, "ax":-2.80407, "ay":-6.97337, "alpha":0.01716, "fx":[-46.55596,-46.44404,-46.16603,-46.27749], "fy":[-115.21509,-115.26098,-115.37232,-115.32693]}, + {"t":1.43526, "x":6.14018, "y":7.42673, "heading":0.00022, "vx":-1.98377, "vy":1.14672, "omega":-0.00303, "ax":-2.64148, "ay":-7.03834, "alpha":0.0224, "fx":[-43.92717,-43.78819,-43.41881,-43.55694], "fy":[-116.27204,-116.32531,-116.46337,-116.41091]}, + {"t":1.46215, "x":6.08589, "y":7.45502, "heading":0.00014, "vx":-2.05479, "vy":0.9575, "omega":-0.00243, "ax":-2.50666, "ay":-7.08892, "alpha":0.02669, "fx":[-41.74632,-41.5879,-41.1416,-41.29874], "fy":[-117.09678,-117.15407,-117.31121,-117.25505]}, + {"t":1.48903, "x":6.02974, "y":7.4782, "heading":0.00007, "vx":-2.12218, "vy":0.76691, "omega":-0.00171, "ax":-2.39321, "ay":-7.12923, "alpha":0.03027, "fx":[-39.91055,-39.73791,-39.22622,-39.39713], "fy":[-117.75518,-117.81452,-117.98555,-117.92762]}, + {"t":1.51591, "x":5.97182, "y":7.49624, "heading":0.00002, "vx":-2.18652, "vy":0.57525, "omega":-0.0009, "ax":-2.29655, "ay":-7.16197, "alpha":0.0333, "fx":[-38.34591,-38.1627,-37.59486,-37.7759], "fy":[-118.29092,-118.35114,-118.53243,-118.47387]}, + {"t":1.5428, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-2.24826, "vy":0.3827, "omega":0.0, "ax":-2.95612, "ay":-6.91583, "alpha":0.0, "fx":[-48.87489,-48.87489,-48.87489,-48.87489], "fy":[-114.34249,-114.34249,-114.34249,-114.34249]}, + {"t":1.58503, "x":5.81462, "y":7.51911, "heading":0.0, "vx":-2.37311, "vy":0.09062, "omega":0.0, "ax":-6.11908, "ay":-4.30802, "alpha":0.0, "fx":[-101.16949,-101.16949,-101.16949,-101.16949], "fy":[-71.22632,-71.22632,-71.22632,-71.22632]}, + {"t":1.62726, "x":5.70894, "y":7.5191, "heading":0.0, "vx":-2.63153, "vy":-0.09131, "omega":0.0, "ax":-1.59454, "ay":0.95029, "alpha":0.0, "fx":[-26.3632,-26.3632,-26.3632,-26.3632], "fy":[15.71158,15.71158,15.71158,15.71158]}, + {"t":1.6695, "x":5.59639, "y":7.51609, "heading":0.0, "vx":-2.69887, "vy":-0.05118, "omega":0.0, "ax":-0.00656, "ay":0.41362, "alpha":0.0, "fx":[-0.10843,-0.10843,-0.10843,-0.10843], "fy":[6.83861,6.83861,6.83861,6.83861]}, + {"t":1.71173, "x":5.4824, "y":7.5143, "heading":0.0, "vx":-2.69915, "vy":-0.03371, "omega":0.0, "ax":-0.00236, "ay":0.21853, "alpha":0.0, "fx":[-0.03894,-0.03894,-0.03894,-0.03894], "fy":[3.61309,3.61309,3.61309,3.61309]}, + {"t":1.75396, "x":5.36841, "y":7.51307, "heading":0.0, "vx":-2.69925, "vy":-0.02448, "omega":0.0, "ax":-0.00114, "ay":0.14295, "alpha":0.0, "fx":[-0.01879,-0.01879,-0.01879,-0.01879], "fy":[2.36346,2.36346,2.36346,2.36346]}, + {"t":1.79619, "x":5.25441, "y":7.51216, "heading":0.0, "vx":-2.6993, "vy":-0.01845, "omega":0.0, "ax":-0.00062, "ay":0.10253, "alpha":0.0, "fx":[-0.01022,-0.01022,-0.01022,-0.01022], "fy":[1.69513,1.69513,1.69513,1.69513]}, + {"t":1.83843, "x":5.14041, "y":7.51147, "heading":0.0, "vx":-2.69932, "vy":-0.01412, "omega":0.0, "ax":-0.00035, "ay":0.07646, "alpha":0.0, "fx":[-0.00585,-0.00585,-0.00585,-0.00585], "fy":[1.26418,1.26418,1.26418,1.26418]}, + {"t":1.88066, "x":5.02641, "y":7.51095, "heading":0.0, "vx":-2.69934, "vy":-0.01089, "omega":0.0, "ax":-0.00021, "ay":0.0581, "alpha":0.0, "fx":[-0.00344,-0.00344,-0.00344,-0.00344], "fy":[0.96059,0.96059,0.96059,0.96059]}, + {"t":1.92289, "x":4.91241, "y":7.51054, "heading":0.0, "vx":-2.69935, "vy":-0.00843, "omega":0.0, "ax":-0.00012, "ay":0.04458, "alpha":0.0, "fx":[-0.00205,-0.00205,-0.00205,-0.00205], "fy":[0.73712,0.73712,0.73712,0.73712]}, + {"t":1.96512, "x":4.79841, "y":7.51022, "heading":0.0, "vx":-2.69935, "vy":-0.00655, "omega":0.0, "ax":-0.00007, "ay":0.03439, "alpha":0.0, "fx":[-0.00123,-0.00123,-0.00123,-0.00123], "fy":[0.56863,0.56863,0.56863,0.56863]}, + {"t":2.00736, "x":4.68441, "y":7.50998, "heading":0.0, "vx":-2.69936, "vy":-0.0051, "omega":0.0, "ax":-0.00004, "ay":0.0266, "alpha":0.0, "fx":[-0.00074,-0.00074,-0.00074,-0.00074], "fy":[0.43982,0.43982,0.43982,0.43982]}, + {"t":2.04959, "x":4.57041, "y":7.50978, "heading":0.0, "vx":-2.69936, "vy":-0.00397, "omega":0.0, "ax":-0.00003, "ay":0.02059, "alpha":0.0, "fx":[-0.00045,-0.00045,-0.00045,-0.00045], "fy":[0.34045,0.34045,0.34045,0.34045]}, + {"t":2.09182, "x":4.45641, "y":7.50963, "heading":0.0, "vx":-2.69936, "vy":-0.0031, "omega":0.0, "ax":-0.00002, "ay":0.01593, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[0.26332,0.26332,0.26332,0.26332]}, + {"t":2.13405, "x":4.34241, "y":7.50952, "heading":0.0, "vx":-2.69936, "vy":-0.00243, "omega":0.0, "ax":-0.00001, "ay":0.01229, "alpha":0.0, "fx":[-0.00016,-0.00016,-0.00016,-0.00016], "fy":[0.20315,0.20315,0.20315,0.20315]}, + {"t":2.17629, "x":4.22841, "y":7.50943, "heading":0.0, "vx":-2.69936, "vy":-0.00191, "omega":0.0, "ax":-0.00001, "ay":0.00944, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.15601,0.15601,0.15601,0.15601]}, + {"t":2.21852, "x":4.11441, "y":7.50935, "heading":0.0, "vx":-2.69936, "vy":-0.00151, "omega":0.0, "ax":0.0, "ay":0.00723, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.1195,0.1195,0.1195,0.1195]}, + {"t":2.26075, "x":4.00041, "y":7.5093, "heading":0.0, "vx":-2.69936, "vy":-0.00121, "omega":0.0, "ax":0.00016, "ay":0.00589, "alpha":0.0, "fx":[0.00273,0.00273,0.00273,0.00273], "fy":[0.09733,0.09733,0.09733,0.09733]}, + {"t":2.30298, "x":3.88641, "y":7.50925, "heading":0.0, "vx":-2.69935, "vy":-0.00096, "omega":0.0, "ax":3.81549, "ay":0.00777, "alpha":0.0, "fx":[63.0831,63.0831,63.0831,63.0831], "fy":[0.12854,0.12854,0.12854,0.12854]}, + {"t":2.34522, "x":3.77581, "y":7.50922, "heading":0.0, "vx":-2.53822, "vy":-0.00063, "omega":0.0, "ax":7.47324, "ay":0.00238, "alpha":0.0, "fx":[123.55835,123.55835,123.55835,123.55835], "fy":[0.0394,0.0394,0.0394,0.0394]}, + {"t":2.38745, "x":3.67528, "y":7.50919, "heading":0.0, "vx":-2.2226, "vy":-0.00053, "omega":0.0, "ax":7.50297, "ay":0.00215, "alpha":0.0, "fx":[124.04992,124.04992,124.04992,124.04992], "fy":[0.03551,0.03551,0.03551,0.03551]}, + {"t":2.42968, "x":3.5881, "y":7.50917, "heading":0.0, "vx":-1.90573, "vy":-0.00044, "omega":0.0, "ax":7.51296, "ay":0.00198, "alpha":0.0, "fx":[124.21516,124.21516,124.21516,124.21516], "fy":[0.03279,0.03279,0.03279,0.03279]}, + {"t":2.47191, "x":3.51432, "y":7.50915, "heading":0.0, "vx":-1.58844, "vy":-0.00036, "omega":0.0, "ax":7.51798, "ay":0.00185, "alpha":0.0, "fx":[124.29801,124.29801,124.29801,124.29801], "fy":[0.03067,0.03067,0.03067,0.03067]}, + {"t":2.51415, "x":3.45394, "y":7.50914, "heading":0.0, "vx":-1.27094, "vy":-0.00028, "omega":0.0, "ax":7.52099, "ay":0.00175, "alpha":0.0, "fx":[124.34779,124.34779,124.34779,124.34779], "fy":[0.029,0.029,0.029,0.029]}, + {"t":2.55638, "x":3.40697, "y":7.50913, "heading":0.0, "vx":-0.95331, "vy":-0.0002, "omega":0.0, "ax":7.523, "ay":0.00167, "alpha":0.0, "fx":[124.381,124.381,124.381,124.381], "fy":[0.02768,0.02768,0.02768,0.02768]}, + {"t":2.59861, "x":3.37342, "y":7.50912, "heading":0.0, "vx":-0.6356, "vy":-0.00013, "omega":0.0, "ax":7.52443, "ay":0.00161, "alpha":0.0, "fx":[124.40474,124.40474,124.40474,124.40474], "fy":[0.02665,0.02665,0.02665,0.02665]}, + {"t":2.64084, "x":3.35329, "y":7.50912, "heading":0.0, "vx":-0.31782, "vy":-0.00007, "omega":0.0, "ax":7.52551, "ay":0.00156, "alpha":0.0, "fx":[124.42254,124.42254,124.42254,124.42254], "fy":[0.02585,0.02585,0.02585,0.02585]}, + {"t":2.68308, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 4832f206..8004ac6f 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -92,22 +92,22 @@ public void simulationPeriodic() { @Override public Command agitate() { return Commands.sequence( - this.run( - () -> { - // maybe needs to go slower but idrk how to do that rn - pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION); - rollerIO.setRollerVelocity(10.0); - }) - // .until(atExtensionTrigger), - // this.run( - // () -> { - // pivotIO.setMotorPositionSetpoint( - // PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40))); - // rollerIO.setRollerVelocity(10.0); - // }) - // .until(atExtensionTrigger)) - // .repeatedly(); - ); + this.run( + () -> { + // maybe needs to go slower but idrk how to do that rn + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + rollerIO.setRollerVelocity(30.0); + }) + .until(atExtensionTrigger), + this.run( + () -> { + pivotIO.setMotorPositionSetpoint( + PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40))); + rollerIO.setRollerVelocity(30.0); + }) + .until(atExtensionTrigger)) + .repeatedly(); + // ); } @Override @@ -191,7 +191,7 @@ public Rotation2d getPositionSetpoint() { } public boolean atExtension() { - return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 5); + return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 10); } public static TalonFXConfiguration getPivotConfig() { @@ -220,7 +220,7 @@ public static TalonFXConfiguration getPivotConfig() { config.CurrentLimits.SupplyCurrentLimitEnable = true; // TODO: TUNE - config.MotionMagic.MotionMagicCruiseVelocity = 3; + config.MotionMagic.MotionMagicCruiseVelocity = .5; config.MotionMagic.MotionMagicAcceleration = 10; return config; diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 69fa5010..2a77bbd5 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -365,7 +365,8 @@ public Command resetTurretToPosition(Rotation2d rot) { /** sets the motor encoder to the position calculated from the encoders */ public Command resetTurretToCalculatedPosition() { - return resetTurretToPosition(getCalculatedTurretRotations()); + return Commands.print("Rezeroing turret") + .andThen(resetTurretToPosition(getCalculatedTurretRotations())); } @Override From 2ee0f15aadf3ac6ff80d84182e263fb4bbf5ce39 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 20:18:45 -0700 Subject: [PATCH 11/11] slow down thing --- .../deploy/choreo/LCleanuptoLPreTrench.traj | 181 +++++++++--------- src/main/deploy/choreo/rebuiltChoreo.chor | 7 + 2 files changed, 99 insertions(+), 89 deletions(-) diff --git a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj index 9d541d7c..57696505 100644 --- a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj +++ b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj @@ -4,7 +4,7 @@ "snapshot":{ "waypoints":[ {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.535889625549316, "y":6.891277313232422, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.535889625549316, "y":6.891277313232422, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -15,13 +15,14 @@ {"from":3, "to":3, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.535889625549316 m", "val":6.535889625549316}, "y":{"exp":"6.891277313232422 m", "val":6.891277313232422}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.535889625549316 m", "val":6.535889625549316}, "y":{"exp":"6.891277313232422 m", "val":6.891277313232422}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -32,7 +33,8 @@ {"from":3, "to":3, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slowish", "val":2.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -63,92 +65,93 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.16641,1.5428,2.68308], + "waypoints":[0.0,1.17928,1.63948,2.78537], "samples":[ - {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.49244, "vy":2.6507, "omega":1.74261, "ax":0.02287, "ay":0.10439, "alpha":-0.20429, "fx":[-0.5859,1.34235,1.34177,-0.58565], "fy":[0.76243,0.76236,2.68939,2.68964]}, - {"t":0.02777, "x":6.08181, "y":3.86602, "heading":-1.5224, "vx":0.49307, "vy":2.6536, "omega":1.73694, "ax":0.0001, "ay":0.0, "alpha":-0.32988, "fx":[-1.47743,1.6314,1.48083,-1.628], "fy":[-1.62975,-1.47918,1.62964,1.47907]}, - {"t":0.05554, "x":6.09551, "y":3.93972, "heading":-1.47416, "vx":0.49307, "vy":2.6536, "omega":1.72777, "ax":-0.00025, "ay":0.00004, "alpha":-0.41048, "fx":[-1.74475,2.1101,1.73643,-2.11841], "fy":[-2.11353,-1.73986,2.11498,1.74131]}, - {"t":0.08332, "x":6.1092, "y":4.01341, "heading":-1.42618, "vx":0.49307, "vy":2.6536, "omega":1.71638, "ax":0.00011, "ay":-0.00002, "alpha":-0.4524, "fx":[-1.80256,2.42133,1.8062,-2.4177], "fy":[-2.41989,-1.80475,2.41914,1.804]}, - {"t":0.11109, "x":6.12289, "y":4.08711, "heading":-1.37851, "vx":0.49307, "vy":2.6536, "omega":1.70381, "ax":0.00059, "ay":-0.00011, "alpha":-0.4625, "fx":[-1.715,2.56831,1.73441,-2.54891], "fy":[-2.56044,-1.72653,2.55677,1.72287]}, - {"t":0.13886, "x":6.13659, "y":4.1608, "heading":-1.3312, "vx":0.49309, "vy":2.6536, "omega":1.69097, "ax":0.00102, "ay":-0.00019, "alpha":-0.44751, "fx":[-1.53302,2.56867,1.56667,-2.53505], "fy":[-2.55501,-1.55298,2.5487,1.5467]}, - {"t":0.16663, "x":6.15028, "y":4.2345, "heading":-1.28423, "vx":0.49311, "vy":2.65359, "omega":1.67854, "ax":0.00136, "ay":-0.00025, "alpha":-0.41361, "fx":[-1.29758,2.44571,1.34268,-2.40064], "fy":[-2.42739,-1.32433,2.41896,1.31594]}, - {"t":0.1944, "x":6.16398, "y":4.30819, "heading":-1.23762, "vx":0.49315, "vy":2.65358, "omega":1.66705, "ax":0.00163, "ay":-0.0003, "alpha":-0.36597, "fx":[-1.03999,2.22303,1.09379,-2.16927], "fy":[-2.20117,-1.07189,2.19114,1.06189]}, - {"t":0.22217, "x":6.17767, "y":4.38189, "heading":-1.19132, "vx":0.4932, "vy":2.65357, "omega":1.65689, "ax":0.00182, "ay":-0.00034, "alpha":-0.30883, "fx":[-0.78354,1.92301,0.84364,-1.86293], "fy":[-1.89857,-0.81918,1.88738,0.80801]}, - {"t":0.24995, "x":6.19137, "y":4.45558, "heading":-1.14531, "vx":0.49325, "vy":2.65357, "omega":1.64831, "ax":0.00195, "ay":-0.00036, "alpha":-0.24539, "fx":[-0.54436,1.5645,0.60884,-1.50004], "fy":[-1.53827,-0.58259,1.52627,0.5706]}, - {"t":0.27772, "x":6.20507, "y":4.52927, "heading":-1.09953, "vx":0.4933, "vy":2.65356, "omega":1.6415, "ax":0.00204, "ay":-0.00038, "alpha":-0.17818, "fx":[-0.33366,1.16424,0.40098,-1.09693], "fy":[-1.13685,-0.37358,1.12433,0.36107]}, - {"t":0.30549, "x":6.21877, "y":4.60297, "heading":-1.05394, "vx":0.49336, "vy":2.65354, "omega":1.63655, "ax":0.00208, "ay":-0.00039, "alpha":-0.10898, "fx":[-0.15846,0.73547,0.22738,-0.66656], "fy":[-0.70742,-0.19932,0.69461,0.18651]}, - {"t":0.33326, "x":6.23247, "y":4.67666, "heading":-1.00849, "vx":0.49342, "vy":2.65353, "omega":1.63352, "ax":0.0021, "ay":-0.00039, "alpha":-0.0394, "fx":[-0.02344,0.29109,0.09289,-0.22164], "fy":[-0.26282,-0.06462,0.24991,0.05171]}, - {"t":0.36103, "x":6.24618, "y":4.75035, "heading":-0.96313, "vx":0.49347, "vy":2.65352, "omega":1.63243, "ax":0.00209, "ay":-0.00039, "alpha":0.02929, "fx":[0.06904,-0.15787,-0.00006,0.22685], "fy":[0.18595,0.02814,-0.19877,-0.04096]}, - {"t":0.3888, "x":6.25988, "y":4.82405, "heading":-0.91779, "vx":0.49353, "vy":2.65351, "omega":1.63324, "ax":0.00204, "ay":-0.00038, "alpha":0.09548, "fx":[0.11782,-0.59772,-0.05036,0.66518], "fy":[0.62519,0.07782,-0.63772,-0.09036]}, - {"t":0.41658, "x":6.27359, "y":4.89774, "heading":-0.87244, "vx":0.49359, "vy":2.6535, "omega":1.63589, "ax":0.00196, "ay":-0.00036, "alpha":0.15747, "fx":[0.12368,-1.01424,-0.05896,1.07895], "fy":[1.04059,0.08531,-1.05261,-0.09733]}, - {"t":0.44435, "x":6.2873, "y":4.97143, "heading":-0.827, "vx":0.49364, "vy":2.65349, "omega":1.64027, "ax":0.00183, "ay":-0.00034, "alpha":0.21256, "fx":[0.08922,-1.38667,-0.02875,1.44712], "fy":[1.41128,0.05337,-1.4225,-0.06459]}, - {"t":0.47212, "x":6.30101, "y":5.04512, "heading":-0.78145, "vx":0.49369, "vy":2.65348, "omega":1.64617, "ax":0.00164, "ay":-0.0003, "alpha":0.25746, "fx":[0.02036,-1.69049,0.03392,1.74476], "fy":[1.7126,-0.01181,-1.72266,0.00175]}, - {"t":0.49989, "x":6.31472, "y":5.11881, "heading":-0.73573, "vx":0.49374, "vy":2.65347, "omega":1.65332, "ax":0.00138, "ay":-0.00026, "alpha":0.2871, "fx":[-0.07225,-1.89026,0.11793,1.93591], "fy":[1.90887,-0.09932,-1.91731,0.09087]}, - {"t":0.52766, "x":6.32843, "y":5.19251, "heading":-0.68982, "vx":0.49378, "vy":2.65347, "omega":1.66129, "ax":0.00103, "ay":-0.00019, "alpha":0.29518, "fx":[-0.17087,-1.94325,0.20501,1.97738], "fy":[1.95718,-0.19108,-1.96345,0.1848]}, - {"t":0.55543, "x":6.34215, "y":5.2662, "heading":-0.64368, "vx":0.49381, "vy":2.65346, "omega":1.66949, "ax":0.00059, "ay":-0.00011, "alpha":0.27291, "fx":[-0.24749,-1.79279,0.26685,1.81214], "fy":[1.80072,-0.25892,-1.80422,0.25541]}, - {"t":0.58321, "x":6.35586, "y":5.33989, "heading":-0.59732, "vx":0.49382, "vy":2.65346, "omega":1.67707, "ax":0.00004, "ay":0.0, "alpha":0.20979, "fx":[-0.26099,-1.37423,0.2624,1.37564], "fy":[1.37487,-0.26176,-1.375,0.26163]}, - {"t":0.61098, "x":6.36957, "y":5.41358, "heading":-0.55074, "vx":0.49382, "vy":2.65346, "omega":1.68289, "ax":-0.00057, "ay":0.00011, "alpha":0.0929, "fx":[-0.15355,-0.61223,0.13466,0.59334], "fy":[0.60462,-0.14227,-0.60094,0.14595]}, - {"t":0.63875, "x":6.38329, "y":5.48727, "heading":-0.504, "vx":0.49381, "vy":2.65346, "omega":1.68547, "ax":-0.0012, "ay":0.00023, "alpha":-0.09183, "fx":[0.15028,0.56873,-0.18996,-0.6084], "fy":[-0.58477,0.17391,0.59235,-0.16633]}, - {"t":0.66652, "x":6.397, "y":5.56096, "heading":-0.4572, "vx":0.49377, "vy":2.65347, "omega":1.68292, "ax":-0.00176, "ay":0.00033, "alpha":-0.35937, "fx":[0.74376,2.24054,-0.80187,-2.29862], "fy":[-2.26406,0.77835,2.2751,-0.76728]}, - {"t":0.69429, "x":6.41071, "y":5.63465, "heading":-0.41046, "vx":0.49373, "vy":2.65348, "omega":1.67294, "ax":-0.00214, "ay":0.00041, "alpha":-0.72378, "fx":[1.73289,4.45795,-1.80381,-4.52874], "fy":[-4.48666,1.77513,4.50003,-1.76158]}, - {"t":0.72206, "x":6.42442, "y":5.70834, "heading":-0.364, "vx":0.49367, "vy":2.65349, "omega":1.65284, "ax":-0.00229, "ay":0.00043, "alpha":-1.19758, "fx":[3.23021,7.25309,-3.30594,-7.3285], "fy":[-7.28375,3.2754,7.29785,-3.26075]}, - {"t":0.74984, "x":6.43813, "y":5.78204, "heading":-0.3181, "vx":0.4936, "vy":2.6535, "omega":1.61958, "ax":-0.00222, "ay":0.00042, "alpha":-1.79008, "fx":[5.34299,10.62572,-5.41676,-10.69889], "fy":[-10.65561,5.38719,10.669,-5.37256]}, - {"t":0.77761, "x":6.45184, "y":5.85573, "heading":-0.27312, "vx":0.49354, "vy":2.65351, "omega":1.56987, "ax":-0.00227, "ay":0.00043, "alpha":-2.50645, "fx":[8.15877,14.53818,-8.23421,-14.61265], "fy":[-14.56891,8.2043,14.58193,-8.18868]}, - {"t":0.80538, "x":6.46555, "y":5.92942, "heading":-0.22952, "vx":0.49348, "vy":2.65352, "omega":1.50026, "ax":-0.00349, "ay":0.00066, "alpha":-3.34511, "fx":[11.71832,18.90002,-11.83463,-19.01429], "fy":[-18.94806,11.78924,18.96626,-11.76374]}, - {"t":0.83315, "x":6.47925, "y":6.00312, "heading":-0.18785, "vx":0.49338, "vy":2.65354, "omega":1.40736, "ax":-0.00922, "ay":0.00173, "alpha":-4.29429, "fx":[15.96459,23.53452,-16.27261,-23.83629], "fy":[-23.66499,16.15532,23.70594,-16.08206]}, - {"t":0.86092, "x":6.49295, "y":6.07681, "heading":-0.14877, "vx":0.49313, "vy":2.65359, "omega":1.2881, "ax":-0.02982, "ay":0.00555, "alpha":-5.32891, "fx":[20.63705,28.09911,-21.63247,-29.07597], "fy":[-28.53713,21.26823,28.63938,-21.00345]}, - {"t":0.88869, "x":6.50663, "y":6.15051, "heading":-0.113, "vx":0.4923, "vy":2.65374, "omega":1.14011, "ax":-0.09627, "ay":0.01782, "alpha":-6.40977, "fx":[25.02916,31.86721,-28.22896,-35.03411], "fy":[-33.35573,27.12788,33.56357,-26.15718]}, - {"t":0.91647, "x":6.52027, "y":6.22421, "heading":-0.08133, "vx":0.48962, "vy":2.65424, "omega":0.9621, "ax":-0.29585, "ay":0.05411, "alpha":-7.47783, "fx":[27.34179,33.06937,-37.0969,-42.87988], "fy":[-37.98212,34.06194,38.17447,-30.67576]}, - {"t":0.94424, "x":6.53375, "y":6.29795, "heading":-0.05461, "vx":0.48141, "vy":2.65574, "omega":0.75443, "ax":-0.85905, "ay":0.15174, "alpha":-8.36107, "fx":[22.49203,26.65451,-50.56142,-55.39763], "fy":[-42.45141,43.34289,41.66058,-32.51677]}, - {"t":0.97201, "x":6.54679, "y":6.37176, "heading":-0.03366, "vx":0.45755, "vy":2.65996, "omega":0.52223, "ax":-2.35296, "ay":0.37503, "alpha":-8.13628, "fx":[-6.64285,-2.84965,-70.71577,-75.40184], "fy":[-44.89152,55.7584,41.75543,-27.82005]}, - {"t":0.99978, "x":6.55859, "y":6.44577, "heading":-0.01916, "vx":0.3922, "vy":2.67037, "omega":0.29627, "ax":-5.00252, "ay":0.60242, "alpha":-4.87929, "fx":[-73.46712,-65.96969,-93.78329,-97.61572], "fy":[-29.18426,51.5095,34.45673,-16.94183]}, - {"t":1.02755, "x":6.56755, "y":6.52017, "heading":-0.01093, "vx":0.25328, "vy":2.6871, "omega":0.16076, "ax":-6.52693, "ay":0.3936, "alpha":-2.24373, "fx":[-106.39805,-103.89165,-109.92064,-111.44041], "fy":[-13.80403,28.19069,21.62391,-9.98002]}, - {"t":1.05532, "x":6.57207, "y":6.59495, "heading":-0.00647, "vx":0.07201, "vy":2.69803, "omega":0.09845, "ax":-7.05421, "ay":-0.06897, "alpha":-1.22544, "fx":[-115.76714,-116.00349,-117.44934,-117.30128], "fy":[-13.04817,10.43865,8.91457,-10.86616]}, - {"t":1.0831, "x":6.57135, "y":6.66985, "heading":-0.00373, "vx":-0.1239, "vy":2.69612, "omega":0.06442, "ax":-7.23583, "ay":-0.60573, "alpha":-0.78237, "fx":[-118.67562,-119.9489,-120.4596,-119.44827], "fy":[-18.05828,-3.14937,-2.7586,-16.09322]}, - {"t":1.11087, "x":6.56512, "y":6.74449, "heading":-0.00194, "vx":-0.32485, "vy":2.6793, "omega":0.04269, "ax":-7.26716, "ay":-1.16458, "alpha":-0.55387, "fx":[-119.06044,-120.74601,-121.11724,-119.68112], "fy":[-25.20693,-14.87036,-13.68294,-23.25752]}, - {"t":1.13864, "x":6.55329, "y":6.81845, "heading":-0.00076, "vx":-0.52667, "vy":2.64695, "omega":0.02731, "ax":-7.19954, "ay":-1.76905, "alpha":-0.42032, "fx":[-117.80724,-119.69416,-120.15408,-118.47712], "fy":[-33.92023,-26.35671,-24.77355,-31.94316]}, - {"t":1.16641, "x":6.53589, "y":6.89128, "heading":0.0, "vx":-0.72661, "vy":2.59782, "omega":0.01564, "ax":-7.09946, "ay":-2.23291, "alpha":-0.27262, "fx":[-116.37619,-117.86726,-118.32787,-116.94304], "fy":[-39.98695,-35.28381,-33.92074,-38.47907]}, - {"t":1.1933, "x":6.51379, "y":6.96031, "heading":0.00042, "vx":-0.91748, "vy":2.53779, "omega":0.00831, "ax":-6.89795, "ay":-2.84701, "alpha":-0.18201, "fx":[-113.17757,-114.39415,-114.8888,-113.72708], "fy":[-49.13267,-46.19588,-45.03331,-47.9214]}, - {"t":1.22018, "x":6.48663, "y":7.02751, "heading":0.00064, "vx":-1.10293, "vy":2.46125, "omega":0.00341, "ax":-6.27016, "ay":-4.07347, "alpha":-0.11935, "fx":[-102.81694,-103.84318,-104.50563,-103.50344], "fy":[-68.64458,-67.06502,-66.05437,-67.63004]}, - {"t":1.24707, "x":6.45471, "y":7.09221, "heading":0.00074, "vx":-1.2715, "vy":2.35174, "omega":0.0002, "ax":-5.31461, "ay":-5.27633, "alpha":-0.0745, "fx":[-87.17101,-87.86906,-88.56368,-87.87122], "fy":[-87.93588,-87.23008,-86.53317,-87.24433]}, - {"t":1.27395, "x":6.41861, "y":7.15353, "heading":0.00074, "vx":-1.41439, "vy":2.20988, "omega":-0.0018, "ax":-4.55427, "ay":-5.95581, "alpha":-0.04409, "fx":[-74.8368,-75.23511,-75.75859,-75.36073], "fy":[-98.82227,-98.51544,-98.11648,-98.42628]}, - {"t":1.30084, "x":6.37894, "y":7.21079, "heading":0.00069, "vx":-1.53683, "vy":2.04976, "omega":-0.00298, "ax":-3.99151, "ay":-6.35394, "alpha":-0.02329, "fx":[-65.73792,-65.93446,-66.24882,-66.05208], "fy":[-105.21299,-105.08822,-104.89141,-105.01712]}, - {"t":1.32772, "x":6.33618, "y":7.2636, "heading":0.00061, "vx":-1.64414, "vy":1.87894, "omega":-0.00361, "ax":-3.57241, "ay":-6.60372, "alpha":-0.00853, "fx":[-58.96859,-59.03557,-59.15982,-59.09278], "fy":[-109.23409,-109.19737,-109.13039,-109.16724]}, - {"t":1.35461, "x":6.29068, "y":7.31173, "heading":0.00052, "vx":-1.74018, "vy":1.7014, "omega":-0.00384, "ax":-3.25302, "ay":-6.77046, "alpha":0.00235, "fx":[-53.81025,-53.79302,-53.75709,-53.77431], "fy":[-111.92622,-111.93463,-111.95183,-111.94343]}, - {"t":1.38149, "x":6.24272, "y":7.35502, "heading":0.00041, "vx":-1.82764, "vy":1.51937, "omega":-0.00378, "ax":-3.0035, "ay":-6.8876, "alpha":0.01065, "fx":[-49.7791,-49.70569,-49.53729,-49.61055], "fy":[-113.82278,-113.85537,-113.92852,-113.89613]}, - {"t":1.40838, "x":6.1925, "y":7.39338, "heading":0.00031, "vx":-1.90839, "vy":1.3342, "omega":-0.00349, "ax":-2.80407, "ay":-6.97337, "alpha":0.01716, "fx":[-46.55596,-46.44404,-46.16603,-46.27749], "fy":[-115.21509,-115.26098,-115.37232,-115.32693]}, - {"t":1.43526, "x":6.14018, "y":7.42673, "heading":0.00022, "vx":-1.98377, "vy":1.14672, "omega":-0.00303, "ax":-2.64148, "ay":-7.03834, "alpha":0.0224, "fx":[-43.92717,-43.78819,-43.41881,-43.55694], "fy":[-116.27204,-116.32531,-116.46337,-116.41091]}, - {"t":1.46215, "x":6.08589, "y":7.45502, "heading":0.00014, "vx":-2.05479, "vy":0.9575, "omega":-0.00243, "ax":-2.50666, "ay":-7.08892, "alpha":0.02669, "fx":[-41.74632,-41.5879,-41.1416,-41.29874], "fy":[-117.09678,-117.15407,-117.31121,-117.25505]}, - {"t":1.48903, "x":6.02974, "y":7.4782, "heading":0.00007, "vx":-2.12218, "vy":0.76691, "omega":-0.00171, "ax":-2.39321, "ay":-7.12923, "alpha":0.03027, "fx":[-39.91055,-39.73791,-39.22622,-39.39713], "fy":[-117.75518,-117.81452,-117.98555,-117.92762]}, - {"t":1.51591, "x":5.97182, "y":7.49624, "heading":0.00002, "vx":-2.18652, "vy":0.57525, "omega":-0.0009, "ax":-2.29655, "ay":-7.16197, "alpha":0.0333, "fx":[-38.34591,-38.1627,-37.59486,-37.7759], "fy":[-118.29092,-118.35114,-118.53243,-118.47387]}, - {"t":1.5428, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-2.24826, "vy":0.3827, "omega":0.0, "ax":-2.95612, "ay":-6.91583, "alpha":0.0, "fx":[-48.87489,-48.87489,-48.87489,-48.87489], "fy":[-114.34249,-114.34249,-114.34249,-114.34249]}, - {"t":1.58503, "x":5.81462, "y":7.51911, "heading":0.0, "vx":-2.37311, "vy":0.09062, "omega":0.0, "ax":-6.11908, "ay":-4.30802, "alpha":0.0, "fx":[-101.16949,-101.16949,-101.16949,-101.16949], "fy":[-71.22632,-71.22632,-71.22632,-71.22632]}, - {"t":1.62726, "x":5.70894, "y":7.5191, "heading":0.0, "vx":-2.63153, "vy":-0.09131, "omega":0.0, "ax":-1.59454, "ay":0.95029, "alpha":0.0, "fx":[-26.3632,-26.3632,-26.3632,-26.3632], "fy":[15.71158,15.71158,15.71158,15.71158]}, - {"t":1.6695, "x":5.59639, "y":7.51609, "heading":0.0, "vx":-2.69887, "vy":-0.05118, "omega":0.0, "ax":-0.00656, "ay":0.41362, "alpha":0.0, "fx":[-0.10843,-0.10843,-0.10843,-0.10843], "fy":[6.83861,6.83861,6.83861,6.83861]}, - {"t":1.71173, "x":5.4824, "y":7.5143, "heading":0.0, "vx":-2.69915, "vy":-0.03371, "omega":0.0, "ax":-0.00236, "ay":0.21853, "alpha":0.0, "fx":[-0.03894,-0.03894,-0.03894,-0.03894], "fy":[3.61309,3.61309,3.61309,3.61309]}, - {"t":1.75396, "x":5.36841, "y":7.51307, "heading":0.0, "vx":-2.69925, "vy":-0.02448, "omega":0.0, "ax":-0.00114, "ay":0.14295, "alpha":0.0, "fx":[-0.01879,-0.01879,-0.01879,-0.01879], "fy":[2.36346,2.36346,2.36346,2.36346]}, - {"t":1.79619, "x":5.25441, "y":7.51216, "heading":0.0, "vx":-2.6993, "vy":-0.01845, "omega":0.0, "ax":-0.00062, "ay":0.10253, "alpha":0.0, "fx":[-0.01022,-0.01022,-0.01022,-0.01022], "fy":[1.69513,1.69513,1.69513,1.69513]}, - {"t":1.83843, "x":5.14041, "y":7.51147, "heading":0.0, "vx":-2.69932, "vy":-0.01412, "omega":0.0, "ax":-0.00035, "ay":0.07646, "alpha":0.0, "fx":[-0.00585,-0.00585,-0.00585,-0.00585], "fy":[1.26418,1.26418,1.26418,1.26418]}, - {"t":1.88066, "x":5.02641, "y":7.51095, "heading":0.0, "vx":-2.69934, "vy":-0.01089, "omega":0.0, "ax":-0.00021, "ay":0.0581, "alpha":0.0, "fx":[-0.00344,-0.00344,-0.00344,-0.00344], "fy":[0.96059,0.96059,0.96059,0.96059]}, - {"t":1.92289, "x":4.91241, "y":7.51054, "heading":0.0, "vx":-2.69935, "vy":-0.00843, "omega":0.0, "ax":-0.00012, "ay":0.04458, "alpha":0.0, "fx":[-0.00205,-0.00205,-0.00205,-0.00205], "fy":[0.73712,0.73712,0.73712,0.73712]}, - {"t":1.96512, "x":4.79841, "y":7.51022, "heading":0.0, "vx":-2.69935, "vy":-0.00655, "omega":0.0, "ax":-0.00007, "ay":0.03439, "alpha":0.0, "fx":[-0.00123,-0.00123,-0.00123,-0.00123], "fy":[0.56863,0.56863,0.56863,0.56863]}, - {"t":2.00736, "x":4.68441, "y":7.50998, "heading":0.0, "vx":-2.69936, "vy":-0.0051, "omega":0.0, "ax":-0.00004, "ay":0.0266, "alpha":0.0, "fx":[-0.00074,-0.00074,-0.00074,-0.00074], "fy":[0.43982,0.43982,0.43982,0.43982]}, - {"t":2.04959, "x":4.57041, "y":7.50978, "heading":0.0, "vx":-2.69936, "vy":-0.00397, "omega":0.0, "ax":-0.00003, "ay":0.02059, "alpha":0.0, "fx":[-0.00045,-0.00045,-0.00045,-0.00045], "fy":[0.34045,0.34045,0.34045,0.34045]}, - {"t":2.09182, "x":4.45641, "y":7.50963, "heading":0.0, "vx":-2.69936, "vy":-0.0031, "omega":0.0, "ax":-0.00002, "ay":0.01593, "alpha":0.0, "fx":[-0.00027,-0.00027,-0.00027,-0.00027], "fy":[0.26332,0.26332,0.26332,0.26332]}, - {"t":2.13405, "x":4.34241, "y":7.50952, "heading":0.0, "vx":-2.69936, "vy":-0.00243, "omega":0.0, "ax":-0.00001, "ay":0.01229, "alpha":0.0, "fx":[-0.00016,-0.00016,-0.00016,-0.00016], "fy":[0.20315,0.20315,0.20315,0.20315]}, - {"t":2.17629, "x":4.22841, "y":7.50943, "heading":0.0, "vx":-2.69936, "vy":-0.00191, "omega":0.0, "ax":-0.00001, "ay":0.00944, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.15601,0.15601,0.15601,0.15601]}, - {"t":2.21852, "x":4.11441, "y":7.50935, "heading":0.0, "vx":-2.69936, "vy":-0.00151, "omega":0.0, "ax":0.0, "ay":0.00723, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.1195,0.1195,0.1195,0.1195]}, - {"t":2.26075, "x":4.00041, "y":7.5093, "heading":0.0, "vx":-2.69936, "vy":-0.00121, "omega":0.0, "ax":0.00016, "ay":0.00589, "alpha":0.0, "fx":[0.00273,0.00273,0.00273,0.00273], "fy":[0.09733,0.09733,0.09733,0.09733]}, - {"t":2.30298, "x":3.88641, "y":7.50925, "heading":0.0, "vx":-2.69935, "vy":-0.00096, "omega":0.0, "ax":3.81549, "ay":0.00777, "alpha":0.0, "fx":[63.0831,63.0831,63.0831,63.0831], "fy":[0.12854,0.12854,0.12854,0.12854]}, - {"t":2.34522, "x":3.77581, "y":7.50922, "heading":0.0, "vx":-2.53822, "vy":-0.00063, "omega":0.0, "ax":7.47324, "ay":0.00238, "alpha":0.0, "fx":[123.55835,123.55835,123.55835,123.55835], "fy":[0.0394,0.0394,0.0394,0.0394]}, - {"t":2.38745, "x":3.67528, "y":7.50919, "heading":0.0, "vx":-2.2226, "vy":-0.00053, "omega":0.0, "ax":7.50297, "ay":0.00215, "alpha":0.0, "fx":[124.04992,124.04992,124.04992,124.04992], "fy":[0.03551,0.03551,0.03551,0.03551]}, - {"t":2.42968, "x":3.5881, "y":7.50917, "heading":0.0, "vx":-1.90573, "vy":-0.00044, "omega":0.0, "ax":7.51296, "ay":0.00198, "alpha":0.0, "fx":[124.21516,124.21516,124.21516,124.21516], "fy":[0.03279,0.03279,0.03279,0.03279]}, - {"t":2.47191, "x":3.51432, "y":7.50915, "heading":0.0, "vx":-1.58844, "vy":-0.00036, "omega":0.0, "ax":7.51798, "ay":0.00185, "alpha":0.0, "fx":[124.29801,124.29801,124.29801,124.29801], "fy":[0.03067,0.03067,0.03067,0.03067]}, - {"t":2.51415, "x":3.45394, "y":7.50914, "heading":0.0, "vx":-1.27094, "vy":-0.00028, "omega":0.0, "ax":7.52099, "ay":0.00175, "alpha":0.0, "fx":[124.34779,124.34779,124.34779,124.34779], "fy":[0.029,0.029,0.029,0.029]}, - {"t":2.55638, "x":3.40697, "y":7.50913, "heading":0.0, "vx":-0.95331, "vy":-0.0002, "omega":0.0, "ax":7.523, "ay":0.00167, "alpha":0.0, "fx":[124.381,124.381,124.381,124.381], "fy":[0.02768,0.02768,0.02768,0.02768]}, - {"t":2.59861, "x":3.37342, "y":7.50912, "heading":0.0, "vx":-0.6356, "vy":-0.00013, "omega":0.0, "ax":7.52443, "ay":0.00161, "alpha":0.0, "fx":[124.40474,124.40474,124.40474,124.40474], "fy":[0.02665,0.02665,0.02665,0.02665]}, - {"t":2.64084, "x":3.35329, "y":7.50912, "heading":0.0, "vx":-0.31782, "vy":-0.00007, "omega":0.0, "ax":7.52551, "ay":0.00156, "alpha":0.0, "fx":[124.42254,124.42254,124.42254,124.42254], "fy":[0.02585,0.02585,0.02585,0.02585]}, - {"t":2.68308, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":6.06813, "y":3.79237, "heading":-1.5708, "vx":0.48848, "vy":2.65148, "omega":1.70212, "ax":0.02171, "ay":0.10208, "alpha":-0.17809, "fx":[-0.48139,1.19951,1.19908,-0.48121], "fy":[0.84779,0.84772,2.52766,2.52786]}, + {"t":0.02808, "x":6.08185, "y":3.86686, "heading":-1.523, "vx":0.48909, "vy":2.65435, "omega":1.69712, "ax":0.00005, "ay":0.00001, "alpha":-0.28925, "fx":[-1.29707,1.42895,1.29856,-1.42745], "fy":[-1.42809,-1.2977,1.42831,1.29793]}, + {"t":0.05616, "x":6.09559, "y":3.94139, "heading":-1.47535, "vx":0.48909, "vy":2.65435, "omega":1.689, "ax":-0.00027, "ay":0.00005, "alpha":-0.36272, "fx":[-1.54467,1.86201,1.53587,-1.87081], "fy":[-1.86563,-1.5395,1.86718,1.54104]}, + {"t":0.08423, "x":6.10932, "y":4.01591, "heading":-1.42793, "vx":0.48908, "vy":2.65435, "omega":1.67882, "ax":0.00002, "ay":-0.00001, "alpha":-0.4032, "fx":[-1.61151,2.15398,1.61232,-2.15317], "fy":[-2.15369,-1.61202,2.15347,1.61181]}, + {"t":0.11231, "x":6.12305, "y":4.09044, "heading":-1.38079, "vx":0.48908, "vy":2.65435, "omega":1.6675, "ax":0.00042, "ay":-0.00008, "alpha":-0.41595, "fx":[-1.54943,2.30446,1.56326,-2.29064], "fy":[-2.29885,-1.55764,2.29625,1.55505]}, + {"t":0.14039, "x":6.13679, "y":4.16497, "heading":-1.33397, "vx":0.4891, "vy":2.65435, "omega":1.65582, "ax":0.00078, "ay":-0.00014, "alpha":-0.40629, "fx":[-1.40058,2.32577,1.42639,-2.29997], "fy":[-2.31527,-1.41588,2.31047,1.4111]}, + {"t":0.16847, "x":6.15052, "y":4.2395, "heading":-1.28748, "vx":0.48912, "vy":2.65434, "omega":1.64441, "ax":0.00108, "ay":-0.0002, "alpha":-0.37922, "fx":[-1.19974,2.23561,1.23541,-2.19997], "fy":[-2.22109,-1.22087,2.21448,1.21428]}, + {"t":0.19655, "x":6.16425, "y":4.31403, "heading":-1.24131, "vx":0.48915, "vy":2.65434, "omega":1.63376, "ax":0.00131, "ay":-0.00024, "alpha":-0.33916, "fx":[-0.97459,2.0533,1.0179,-2.01001], "fy":[-2.03566,-1.00024,2.02765,0.99225]}, + {"t":0.22463, "x":6.17799, "y":4.38856, "heading":-1.19543, "vx":0.48919, "vy":2.65433, "omega":1.62424, "ax":0.00148, "ay":-0.00027, "alpha":-0.28979, "fx":[-0.74622,1.79762,0.79523,-1.74863], "fy":[-1.77765,-0.77524,1.7686,0.76621]}, + {"t":0.2527, "x":6.19172, "y":4.46309, "heading":-1.14983, "vx":0.48923, "vy":2.65432, "omega":1.6161, "ax":0.0016, "ay":-0.0003, "alpha":-0.23408, "fx":[-0.53009,1.48567,0.58314,-1.43262], "fy":[-1.46404,-0.56151,1.45425,0.55173]}, + {"t":0.28078, "x":6.20546, "y":4.53762, "heading":-1.10445, "vx":0.48927, "vy":2.65431, "omega":1.60953, "ax":0.00169, "ay":-0.00031, "alpha":-0.17439, "fx":[-0.33706,1.13263,0.39282,-1.07688], "fy":[-1.10989,-0.37008,1.09961,0.3598]}, + {"t":0.30886, "x":6.2192, "y":4.61215, "heading":-1.05926, "vx":0.48932, "vy":2.6543, "omega":1.60463, "ax":0.00173, "ay":-0.00032, "alpha":-0.1126, "fx":[-0.1745,0.75193,0.23185,-0.69458], "fy":[-0.72854,-0.20846,0.71797,0.19789]}, + {"t":0.33694, "x":6.23294, "y":4.68667, "heading":-1.0142, "vx":0.48937, "vy":2.6543, "omega":1.60147, "ax":0.00175, "ay":-0.00032, "alpha":-0.05033, "fx":[-0.04717,0.35599,0.10514,-0.29803], "fy":[-0.33235,-0.0815,0.32167,0.07081]}, + {"t":0.36502, "x":6.24668, "y":4.7612, "heading":-0.96924, "vx":0.48942, "vy":2.65429, "omega":1.60006, "ax":0.00174, "ay":-0.00032, "alpha":0.01094, "fx":[0.04218,-0.04295,0.01549,0.10062], "fy":[0.06647,0.00804,-0.0771,-0.01866]}, + {"t":0.39309, "x":6.26042, "y":4.83573, "heading":-0.92431, "vx":0.48947, "vy":2.65428, "omega":1.60036, "ax":0.00171, "ay":-0.00031, "alpha":0.06958, "fx":[0.09249,-0.43155,-0.03607,0.48797], "fy":[0.45457,0.05908,-0.46496,-0.06948]}, + {"t":0.42117, "x":6.27417, "y":4.91026, "heading":-0.87937, "vx":0.48951, "vy":2.65427, "omega":1.60232, "ax":0.00164, "ay":-0.0003, "alpha":0.12363, "fx":[0.10445,-0.79415,-0.05035,0.84824], "fy":[0.81622,0.07242,-0.82618,-0.08238]}, + {"t":0.44925, "x":6.28791, "y":4.98478, "heading":-0.83438, "vx":0.48956, "vy":2.65426, "omega":1.60579, "ax":0.00153, "ay":-0.00028, "alpha":0.17052, "fx":[0.08094,-1.11107,-0.03047,1.16154], "fy":[1.13166,0.05106,-1.14095,-0.06035]}, + {"t":0.47733, "x":6.30166, "y":5.05931, "heading":-0.7893, "vx":0.4896, "vy":2.65425, "omega":1.61058, "ax":0.00137, "ay":-0.00025, "alpha":0.20682, "fx":[0.028,-1.35718,0.01724,1.4024], "fy":[1.37564,0.00122,-1.38394,-0.00953]}, + {"t":0.50541, "x":6.31541, "y":5.13384, "heading":-0.74407, "vx":0.48964, "vy":2.65425, "omega":1.61638, "ax":0.00115, "ay":-0.00021, "alpha":0.22787, "fx":[-0.04379,-1.49997,0.08182,1.53799], "fy":[1.5155,-0.06629,-1.52246,0.05932]}, + {"t":0.53349, "x":6.32916, "y":5.20836, "heading":-0.69869, "vx":0.48967, "vy":2.65424, "omega":1.62278, "ax":0.00086, "ay":-0.00016, "alpha":0.2276, "fx":[-0.11724,-1.49847,0.14575,1.52697], "fy":[1.51013,-0.13409,-1.51532,0.1289]}, + {"t":0.56156, "x":6.3429, "y":5.28289, "heading":-0.65312, "vx":0.4897, "vy":2.65423, "omega":1.62917, "ax":0.0005, "ay":-0.00009, "alpha":0.19815, "fx":[-0.16612,-1.30217,0.18259,1.31863], "fy":[1.30893,-0.17583,-1.31187,0.17288]}, + {"t":0.58964, "x":6.35665, "y":5.35741, "heading":-0.60738, "vx":0.48971, "vy":2.65423, "omega":1.63474, "ax":0.00006, "ay":-0.00001, "alpha":0.12988, "fx":[-0.15242,-0.85181,0.15446,0.85385], "fy":[0.8527,-0.15358,-0.85296,0.15331]}, + {"t":0.61772, "x":6.3704, "y":5.43194, "heading":-0.56148, "vx":0.48971, "vy":2.65423, "omega":1.63838, "ax":-0.00043, "ay":0.00008, "alpha":0.01141, "fx":[-0.02395,-0.08127,0.00986,0.06718], "fy":[0.0756,-0.01553,-0.07285,0.01828]}, + {"t":0.6458, "x":6.38415, "y":5.50647, "heading":-0.51548, "vx":0.4897, "vy":2.65423, "omega":1.6387, "ax":-0.00092, "ay":0.00018, "alpha":-0.16995, "fx":[0.28708,1.07753,-0.31761,-1.10805], "fy":[-1.08989,0.30525,1.09569,-0.29944]}, + {"t":0.67388, "x":6.3979, "y":5.58099, "heading":-0.46946, "vx":0.48968, "vy":2.65424, "omega":1.63393, "ax":-0.00137, "ay":0.00026, "alpha":-0.42755, "fx":[0.86367,2.68867,-0.90884,-2.73381], "fy":[-2.70698,0.89053,2.7155,-0.88198]}, + {"t":0.70195, "x":6.41165, "y":5.65552, "heading":-0.42359, "vx":0.48964, "vy":2.65425, "omega":1.62193, "ax":-0.00168, "ay":0.00032, "alpha":-0.77437, "fx":[1.80085,4.804,-1.85656,-4.8596], "fy":[-4.82659,1.834,4.83702,-1.82341]}, + {"t":0.73003, "x":6.4254, "y":5.73004, "heading":-0.37805, "vx":0.48959, "vy":2.65426, "omega":1.60018, "ax":-0.00184, "ay":0.00035, "alpha":-1.22216, "fx":[3.19991,7.45626,-3.2608,-7.51686], "fy":[-7.48093,3.2362,7.49219,-3.22451]}, + {"t":0.75811, "x":6.43915, "y":5.80457, "heading":-0.33312, "vx":0.48954, "vy":2.65427, "omega":1.56587, "ax":-0.00191, "ay":0.00036, "alpha":-1.78025, "fx":[5.15887,10.65151,-5.22222,-10.71432], "fy":[-10.67721,5.19677,10.68862,-5.18432]}, + {"t":0.78619, "x":6.45289, "y":5.8791, "heading":-0.28915, "vx":0.48949, "vy":2.65428, "omega":1.51588, "ax":-0.00233, "ay":0.00044, "alpha":-2.45433, "fx":[7.75746,14.36082,-7.83518,-14.43751], "fy":[-14.39251,7.80423,14.40583,-7.78841]}, + {"t":0.81427, "x":6.46663, "y":5.95363, "heading":-0.24659, "vx":0.48942, "vy":2.65429, "omega":1.44697, "ax":-0.00469, "ay":0.00088, "alpha":-3.24423, "fx":[11.02773,18.50078,-11.18425,-18.65441], "fy":[-18.5654,11.12275,18.58981,-11.08927]}, + {"t":0.84235, "x":6.48037, "y":6.02815, "heading":-0.20596, "vx":0.48929, "vy":2.65431, "omega":1.35588, "ax":-0.01427, "ay":0.00264, "alpha":-4.14093, "fx":[14.88843,22.88378,-15.36565,-23.35029], "fy":[-23.085,15.18237,23.14932,-15.07206]}, + {"t":0.87042, "x":6.49411, "y":6.10268, "heading":-0.16789, "vx":0.48889, "vy":2.65439, "omega":1.23961, "ax":-0.04844, "ay":0.00892, "alpha":-5.12358, "fx":[18.98036,27.07735,-20.6009,-28.66033], "fy":[-27.78375,20.00132,27.95746,-19.58513]}, + {"t":0.8985, "x":6.50782, "y":6.17722, "heading":-0.13308, "vx":0.48753, "vy":2.65464, "omega":1.09575, "ax":-0.16153, "ay":0.02953, "alpha":-6.15601, "fx":[22.21727,29.98041,-27.60889,-35.27119], "fy":[-32.45587,25.73139,32.84391,-24.16638]}, + {"t":0.92658, "x":6.52144, "y":6.25177, "heading":-0.10231, "vx":0.48299, "vy":2.65547, "omega":0.9229, "ax":-0.51318, "ay":0.09191, "alpha":-7.15403, "fx":[21.39,28.42528,-38.43406,-45.3199], "fy":[-36.91699,33.12795,37.41802,-27.5507]}, + {"t":0.95466, "x":6.5348, "y":6.32636, "heading":-0.0764, "vx":0.46858, "vy":2.65805, "omega":0.72202, "ax":-1.53873, "ay":0.25838, "alpha":-7.67401, "fx":[5.81465,12.02332,-56.75629,-62.84367], "fy":[-40.50541,44.07071,40.13549,-26.61339]}, + {"t":0.98274, "x":6.54735, "y":6.4011, "heading":-0.05613, "vx":0.42538, "vy":2.6653, "omega":0.50655, "ax":-3.96959, "ay":0.54877, "alpha":-5.75263, "fx":[-50.1862,-42.36306,-82.46654,-87.50804], "fy":[-33.41731,50.9737,36.78933,-18.05338]}, + {"t":1.01081, "x":6.55773, "y":6.47615, "heading":-0.0419, "vx":0.31392, "vy":2.68071, "omega":0.34503, "ax":-6.13514, "ay":0.51938, "alpha":-2.60578, "fx":[-99.10093,-95.27804,-104.4467,-106.91451], "fy":[-14.40245,32.46456,25.33862,-9.05189]}, + {"t":1.03889, "x":6.56412, "y":6.55163, "heading":-0.03222, "vx":0.14166, "vy":2.69529, "omega":0.27186, "ax":-6.92535, "ay":0.08668, "alpha":-1.30252, "fx":[-113.67168,-113.36402,-115.32061,-115.64336], "fy":[-11.10671,13.51403,11.95465,-8.62931]}, + {"t":1.06697, "x":6.56537, "y":6.62734, "heading":-0.02458, "vx":-0.0528, "vy":2.69773, "omega":0.23529, "ax":-5.12718, "ay":-5.19926, "alpha":-0.55879, "fx":[-79.56587,-84.51196,-89.85468,-85.14728], "fy":[-90.96605,-86.0458,-80.79828,-86.03627]}, + {"t":1.09505, "x":6.56187, "y":6.70104, "heading":-0.01798, "vx":-0.19676, "vy":2.55174, "omega":0.2196, "ax":-2.94822, "ay":-6.83364, "alpha":-0.24703, "fx":[-46.014,-47.55354,-51.51868,-49.89094], "fy":[-114.16275,-113.47386,-111.75366,-112.54415]}, + {"t":1.12313, "x":6.55518, "y":6.76999, "heading":-0.01181, "vx":-0.27954, "vy":2.35987, "omega":0.21267, "ax":-2.3474, "ay":-7.09997, "alpha":-0.16672, "fx":[-36.96485,-37.82824,-40.68337,-39.76625], "fy":[-117.99938,-117.70248,-116.75389,-117.092]}, + {"t":1.15121, "x":6.54641, "y":6.83345, "heading":-0.00584, "vx":-0.34545, "vy":2.16051, "omega":0.20798, "ax":-2.07639, "ay":-7.20015, "alpha":-0.13126, "fx":[-32.87971,-33.50057,-35.79835,-35.14105], "fy":[-119.463,-119.27746,-118.61183,-118.821]}, + {"t":1.17928, "x":6.53589, "y":6.89128, "heading":0.0, "vx":-0.40375, "vy":1.95834, "omega":0.2043, "ax":-7.19146, "ay":-1.92753, "alpha":-0.27524, "fx":[-118.04026,-119.35834,-119.71024,-118.48945], "fy":[-34.93987,-30.06478,-28.87946,-33.59103]}, + {"t":1.20996, "x":6.52012, "y":6.95045, "heading":0.00627, "vx":-0.62438, "vy":1.89921, "omega":0.19585, "ax":-6.87456, "ay":-2.69829, "alpha":-0.39365, "fx":[-111.83941,-114.39891,-115.3593,-113.0428], "fy":[-49.03784,-42.56984,-40.308,-46.53221]}, + {"t":1.24064, "x":6.49773, "y":7.00745, "heading":0.01228, "vx":-0.8353, "vy":1.81642, "omega":0.18378, "ax":-6.39681, "ay":-3.38234, "alpha":-0.65013, "fx":[-101.78576,-106.85194,-109.40029,-105.00717], "fy":[-62.98205,-53.40941,-49.05214,-58.24336]}, + {"t":1.27132, "x":6.46909, "y":7.06159, "heading":0.01791, "vx":-1.03155, "vy":1.71265, "omega":0.16383, "ax":-5.5712, "ay":-3.75943, "alpha":-1.39956, "fx":[-81.9826,-93.18639,-101.06981,-92.20567], "fy":[-75.67678,-58.00137,-48.96228,-65.9846]}, + {"t":1.302, "x":6.43482, "y":7.11236, "heading":0.02294, "vx":-1.20247, "vy":1.59731, "omega":0.12089, "ax":-3.28213, "ay":-2.64102, "alpha":-4.34079, "fx":[-28.88436,-41.92641,-79.47003,-66.77863], "fy":[-72.41671,-25.0679,-18.11077,-59.06538]}, + {"t":1.33268, "x":6.39638, "y":7.16012, "heading":0.02665, "vx":-1.30317, "vy":1.51629, "omega":-0.01228, "ax":-0.75103, "ay":-0.6555, "alpha":-5.24963, "fx":[12.49834,12.02308,-38.8494,-35.34028], "fy":[-36.33872,15.31519,12.67995,-35.00706]}, + {"t":1.36336, "x":6.35605, "y":7.20633, "heading":0.02627, "vx":-1.32621, "vy":1.49618, "omega":-0.17334, "ax":-0.17078, "ay":-0.15191, "alpha":-2.36555, "fx":[8.59571,8.06553,-14.3184,-13.63716], "fy":[-13.43269,8.97632,8.31477,-13.90506]}, + {"t":1.39404, "x":6.31528, "y":7.25217, "heading":0.02096, "vx":-1.33145, "vy":1.49152, "omega":-0.24592, "ax":-0.33012, "ay":-0.29672, "alpha":1.07311, "fx":[-10.65565,-10.37847,-0.29084,-0.50703], "fy":[0.05034,-10.03968,-9.89914,0.26506]}, + {"t":1.42472, "x":6.27427, "y":7.29779, "heading":0.01341, "vx":-1.34158, "vy":1.48241, "omega":-0.21299, "ax":-1.7648, "ay":-1.65791, "alpha":3.55305, "fx":[-48.277,-43.32339,-11.41639,-13.69604], "fy":[-9.98757,-42.13734,-46.48079,-11.03815]}, + {"t":1.4554, "x":6.23228, "y":7.34249, "heading":0.00688, "vx":-1.39572, "vy":1.43155, "omega":-0.10399, "ax":-4.12924, "ay":-4.41838, "alpha":1.66924, "fx":[-81.39648,-71.51808,-54.77819,-65.38974], "fy":[-60.15557,-75.88394,-85.34318,-70.82168]}, + {"t":1.48608, "x":6.18752, "y":7.38433, "heading":0.00369, "vx":-1.52241, "vy":1.29599, "omega":-0.05277, "ax":-4.29432, "ay":-5.64103, "alpha":0.68913, "fx":[-77.7846,-72.23434,-64.18494,-69.79548], "fy":[-87.84864,-93.13181,-98.38417,-93.69801]}, + {"t":1.51676, "x":6.13879, "y":7.42143, "heading":0.00207, "vx":-1.65416, "vy":1.12293, "omega":-0.03163, "ax":-3.77085, "ay":-6.29323, "alpha":0.3953, "fx":[-66.62561,-63.4576,-58.10411,-61.19297], "fy":[-101.39237,-103.58589,-106.57812,-104.63892]}, + {"t":1.54744, "x":6.08627, "y":7.45292, "heading":0.0011, "vx":-1.76985, "vy":0.92985, "omega":-0.0195, "ax":-3.07024, "ay":-6.75947, "alpha":0.26975, "fx":[-53.80149,-51.89162,-47.76696,-49.58666], "fy":[-110.3356,-111.31713,-113.11773,-112.25844]}, + {"t":1.57812, "x":6.03052, "y":7.47827, "heading":0.0005, "vx":-1.86404, "vy":0.72247, "omega":-0.01123, "ax":-2.29003, "ay":-7.10401, "alpha":0.20313, "fx":[-40.15342,-39.0139,-35.6102,-36.67051], "fy":[-116.69425,-117.11428,-118.18311,-117.82353]}, + {"t":1.6088, "x":5.97226, "y":7.49709, "heading":0.00015, "vx":-1.9343, "vy":0.50452, "omega":-0.005, "ax":-1.4934, "ay":-7.3348, "alpha":0.16283, "fx":[-26.46994,-25.84438,-22.94438,-23.50534], "fy":[-120.89568,-121.05003,-121.62929,-121.50284]}, + {"t":1.63948, "x":5.91221, "y":7.50912, "heading":0.0, "vx":-1.98012, "vy":0.27949, "omega":0.0, "ax":-6.29866, "ay":-4.08615, "alpha":0.0, "fx":[-104.13855,-104.13855,-104.13855,-104.13855], "fy":[-67.55807,-67.55807,-67.55807,-67.55807]}, + {"t":1.68192, "x":5.8225, "y":7.5173, "heading":0.0, "vx":-2.24744, "vy":0.10607, "omega":0.0, "ax":-6.84362, "ay":-3.01585, "alpha":0.0, "fx":[-113.14861,-113.14861,-113.14861,-113.14861], "fy":[-49.86244,-49.86244,-49.86244,-49.86244]}, + {"t":1.72436, "x":5.72096, "y":7.51908, "heading":0.0, "vx":-2.53788, "vy":-0.02192, "omega":0.0, "ax":-3.78995, "ay":-0.85678, "alpha":0.0, "fx":[-62.66089,-62.66089,-62.66089,-62.66089], "fy":[-14.16551,-14.16551,-14.16551,-14.16551]}, + {"t":1.7668, "x":5.60983, "y":7.51738, "heading":0.0, "vx":-2.69873, "vy":-0.05829, "omega":0.0, "ax":-0.00761, "ay":0.40396, "alpha":0.0, "fx":[-0.12574,-0.12574,-0.12574,-0.12574], "fy":[6.6789,6.6789,6.6789,6.6789]}, + {"t":1.80924, "x":5.49529, "y":7.51527, "heading":0.0, "vx":-2.69905, "vy":-0.04114, "omega":0.0, "ax":-0.00361, "ay":0.2762, "alpha":0.0, "fx":[-0.05968,-0.05968,-0.05968,-0.05968], "fy":[4.56649,4.56649,4.56649,4.56649]}, + {"t":1.85168, "x":5.38074, "y":7.51378, "heading":0.0, "vx":-2.6992, "vy":-0.02942, "omega":0.0, "ax":-0.00169, "ay":0.17822, "alpha":0.0, "fx":[-0.02798,-0.02798,-0.02798,-0.02798], "fy":[2.94666,2.94666,2.94666,2.94666]}, + {"t":1.89412, "x":5.26619, "y":7.51269, "heading":0.0, "vx":-2.69927, "vy":-0.02186, "omega":0.0, "ax":-0.00088, "ay":0.12416, "alpha":0.0, "fx":[-0.01462,-0.01462,-0.01462,-0.01462], "fy":[2.05282,2.05282,2.05282,2.05282]}, + {"t":1.93656, "x":5.15163, "y":7.51187, "heading":0.0, "vx":-2.69931, "vy":-0.01659, "omega":0.0, "ax":-0.00049, "ay":0.09091, "alpha":0.0, "fx":[-0.00816,-0.00816,-0.00816,-0.00816], "fy":[1.50313,1.50313,1.50313,1.50313]}, + {"t":1.97901, "x":5.03707, "y":7.51125, "heading":0.0, "vx":-2.69933, "vy":-0.01273, "omega":0.0, "ax":-0.00029, "ay":0.06835, "alpha":0.0, "fx":[-0.00472,-0.00472,-0.00472,-0.00472], "fy":[1.13012,1.13012,1.13012,1.13012]}, + {"t":2.02145, "x":4.92251, "y":7.51077, "heading":0.0, "vx":-2.69934, "vy":-0.00983, "omega":0.0, "ax":-0.00017, "ay":0.05212, "alpha":0.0, "fx":[-0.00278,-0.00278,-0.00278,-0.00278], "fy":[0.86171,0.86171,0.86171,0.86171]}, + {"t":2.06389, "x":4.80795, "y":7.5104, "heading":0.0, "vx":-2.69935, "vy":-0.00762, "omega":0.0, "ax":-0.0001, "ay":0.04004, "alpha":0.0, "fx":[-0.00166,-0.00166,-0.00166,-0.00166], "fy":[0.66206,0.66206,0.66206,0.66206]}, + {"t":2.10633, "x":4.69338, "y":7.51011, "heading":0.0, "vx":-2.69936, "vy":-0.00592, "omega":0.0, "ax":-0.00006, "ay":0.03089, "alpha":0.0, "fx":[-0.001,-0.001,-0.001,-0.001], "fy":[0.51067,0.51067,0.51067,0.51067]}, + {"t":2.14877, "x":4.57882, "y":7.50989, "heading":0.0, "vx":-2.69936, "vy":-0.00461, "omega":0.0, "ax":-0.00004, "ay":0.02386, "alpha":0.0, "fx":[-0.0006,-0.0006,-0.0006,-0.0006], "fy":[0.39451,0.39451,0.39451,0.39451]}, + {"t":2.19121, "x":4.46426, "y":7.50972, "heading":0.0, "vx":-2.69936, "vy":-0.00359, "omega":0.0, "ax":-0.00002, "ay":0.01843, "alpha":0.0, "fx":[-0.00036,-0.00036,-0.00036,-0.00036], "fy":[0.30467,0.30467,0.30467,0.30467]}, + {"t":2.23365, "x":4.3497, "y":7.50958, "heading":0.0, "vx":-2.69936, "vy":-0.00281, "omega":0.0, "ax":-0.00001, "ay":0.0142, "alpha":0.0, "fx":[-0.00022,-0.00022,-0.00022,-0.00022], "fy":[0.23477,0.23477,0.23477,0.23477]}, + {"t":2.27609, "x":4.23514, "y":7.50947, "heading":0.0, "vx":-2.69936, "vy":-0.00221, "omega":0.0, "ax":-0.00001, "ay":0.01089, "alpha":0.0, "fx":[-0.00013,-0.00013,-0.00013,-0.00013], "fy":[0.18011,0.18011,0.18011,0.18011]}, + {"t":2.31853, "x":4.12058, "y":7.50939, "heading":0.0, "vx":-2.69936, "vy":-0.00175, "omega":0.0, "ax":0.0, "ay":0.00833, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[0.13779,0.13779,0.13779,0.13779]}, + {"t":2.36097, "x":4.00602, "y":7.50932, "heading":0.0, "vx":-2.69936, "vy":-0.00139, "omega":0.0, "ax":0.00014, "ay":0.00674, "alpha":0.0, "fx":[0.00232,0.00232,0.00232,0.00232], "fy":[0.11146,0.11146,0.11146,0.11146]}, + {"t":2.40341, "x":3.89145, "y":7.50927, "heading":0.0, "vx":-2.69936, "vy":-0.00111, "omega":0.0, "ax":3.50172, "ay":0.00894, "alpha":0.0, "fx":[57.8955,57.8955,57.8955,57.8955], "fy":[0.14776,0.14776,0.14776,0.14776]}, + {"t":2.44585, "x":3.78005, "y":7.50923, "heading":0.0, "vx":-2.55074, "vy":-0.00073, "omega":0.0, "ax":7.47354, "ay":0.00273, "alpha":0.0, "fx":[123.56327,123.56327,123.56327,123.56327], "fy":[0.04511,0.04511,0.04511,0.04511]}, + {"t":2.48829, "x":3.67852, "y":7.5092, "heading":0.0, "vx":-2.23356, "vy":-0.00061, "omega":0.0, "ax":7.50315, "ay":0.00246, "alpha":0.0, "fx":[124.05284,124.05284,124.05284,124.05284], "fy":[0.04067,0.04067,0.04067,0.04067]}, + {"t":2.53073, "x":3.59049, "y":7.50918, "heading":0.0, "vx":-1.91513, "vy":-0.00051, "omega":0.0, "ax":7.51309, "ay":0.00227, "alpha":0.0, "fx":[124.21721,124.21721,124.21721,124.21721], "fy":[0.03753,0.03753,0.03753,0.03753]}, + {"t":2.57317, "x":3.51598, "y":7.50916, "heading":0.0, "vx":-1.59627, "vy":-0.00041, "omega":0.0, "ax":7.51807, "ay":0.00212, "alpha":0.0, "fx":[124.29959,124.29959,124.29959,124.29959], "fy":[0.03509,0.03509,0.03509,0.03509]}, + {"t":2.61561, "x":3.455, "y":7.50914, "heading":0.0, "vx":-1.2772, "vy":-0.00032, "omega":0.0, "ax":7.52106, "ay":0.00201, "alpha":0.0, "fx":[124.34907,124.34907,124.34907,124.34907], "fy":[0.03316,0.03316,0.03316,0.03316]}, + {"t":2.65805, "x":3.40757, "y":7.50913, "heading":0.0, "vx":-0.95801, "vy":-0.00024, "omega":0.0, "ax":7.52306, "ay":0.00191, "alpha":0.0, "fx":[124.38208,124.38208,124.38208,124.38208], "fy":[0.03164,0.03164,0.03164,0.03164]}, + {"t":2.70049, "x":3.37369, "y":7.50912, "heading":0.0, "vx":-0.63873, "vy":-0.00015, "omega":0.0, "ax":7.52449, "ay":0.00184, "alpha":0.0, "fx":[124.40567,124.40567,124.40567,124.40567], "fy":[0.03046,0.03046,0.03046,0.03046]}, + {"t":2.74293, "x":3.35335, "y":7.50912, "heading":0.0, "vx":-0.31939, "vy":-0.00008, "omega":0.0, "ax":7.52556, "ay":0.00179, "alpha":0.0, "fx":[124.42336,124.42336,124.42336,124.42336], "fy":[0.02953,0.02953,0.02953,0.02953]}, + {"t":2.78537, "x":3.34658, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 703dddf5..32f96143 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -31,6 +31,13 @@ "exp":"1 m / s", "val":1.0 } + }, + "slowish":{ + "dimension":"LinVel", + "var":{ + "exp":"2 m / s", + "val":2.0 + } } }, "poses":{