diff --git a/src/main/deploy/choreo/BlueLeftNeutralZone.traj b/src/main/deploy/choreo/BlueLeftNeutralZone.traj index d4ababc..9ffe221 100644 --- a/src/main/deploy/choreo/BlueLeftNeutralZone.traj +++ b/src/main/deploy/choreo/BlueLeftNeutralZone.traj @@ -9,10 +9,10 @@ {"x":7.685800075531006, "y":6.650362491607666, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.812464714050293, "y":4.707732677459717, "heading":-1.5707963267948966, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.058018684387207, "y":4.29621696472168, "heading":-2.356193041775537, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.28985595703125, "y":4.29621696472168, "heading":1.69515114307497, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.168719291687012, "y":6.115270137786865, "heading":0.9826006471400308, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.015511989593506, "y":7.5, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.55, "y":7.5, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.28985595703125, "y":4.29621696472168, "heading":1.69515114307497, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.212356090545654, "y":6.104437828063965, "heading":1.7126927697559444, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.015511989593506, "y":7.5, "heading":-3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.0, "y":7.5, "heading":3.141592653589793, "intervals":22, "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}, @@ -39,10 +39,10 @@ {"x":{"exp":"7.685800075531006 m", "val":7.685800075531006}, "y":{"exp":"6.650362491607666 m", "val":6.650362491607666}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.812464714050293 m", "val":7.812464714050293}, "y":{"exp":"4.707732677459717 m", "val":4.707732677459717}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.058018684387207 m", "val":7.058018684387207}, "y":{"exp":"4.29621696472168 m", "val":4.29621696472168}, "heading":{"exp":"-2.356193041775537 rad", "val":-2.356193041775537}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.28985595703125 m", "val":6.28985595703125}, "y":{"exp":"4.29621696472168 m", "val":4.29621696472168}, "heading":{"exp":"1.69515114307497 rad", "val":1.69515114307497}, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.168719291687012 m", "val":6.168719291687012}, "y":{"exp":"6.115270137786865 m", "val":6.115270137786865}, "heading":{"exp":"0.9826006471400308 rad", "val":0.9826006471400308}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.015511989593506 m", "val":6.015511989593506}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"-0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.55 m", "val":4.55}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"6.28985595703125 m", "val":6.28985595703125}, "y":{"exp":"4.29621696472168 m", "val":4.29621696472168}, "heading":{"exp":"1.69515114307497 rad", "val":1.69515114307497}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.212356090545654 m", "val":6.212356090545654}, "y":{"exp":"6.104437828063965 m", "val":6.104437828063965}, "heading":{"exp":"1.7126927697559444 rad", "val":1.7126927697559444}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.015511989593506 m", "val":6.015511989593506}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"-180 deg", "val":-3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":22, "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}, @@ -89,14 +89,14 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.07519,1.88426,2.35083,3.04236,3.63727,4.14991,5.57563,6.54171,7.59017], + "waypoints":[0.0,1.07519,1.88426,2.35083,3.04238,3.63715,4.16067,5.3802,6.35438,7.76958], "samples":[ {"t":0.0, "x":4.0, "y":7.5, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":10.81914, "ay":0.00566, "alpha":0.00001, "fx":[153.35866,153.35866,153.35866,153.35866], "fy":[0.08032,0.08021,0.08021,0.08032]}, - {"t":0.04675, "x":4.01182, "y":7.50001, "heading":0.0, "vx":0.50577, "vy":0.00026, "omega":0.0, "ax":10.80697, "ay":0.00569, "alpha":0.00001, "fx":[153.18626,153.18626,153.18626,153.18626], "fy":[0.08073,0.08062,0.08062,0.08073]}, + {"t":0.04675, "x":4.01182, "y":7.50001, "heading":0.0, "vx":0.50577, "vy":0.00026, "omega":0.0, "ax":10.80697, "ay":0.00569, "alpha":0.00001, "fx":[153.18626,153.18626,153.18626,153.18626], "fy":[0.08072,0.08062,0.08062,0.08072]}, {"t":0.09349, "x":4.04727, "y":7.50002, "heading":0.0, "vx":1.01096, "vy":0.00053, "omega":0.0, "ax":10.45396, "ay":0.00582, "alpha":0.00003, "fx":[148.18245,148.18245,148.18246,148.18246], "fy":[0.08262,0.08231,0.08231,0.08262]}, {"t":0.14024, "x":4.10596, "y":7.50006, "heading":0.0, "vx":1.49966, "vy":0.0008, "omega":0.0, "ax":0.00051, "ay":0.00075, "alpha":0.00001, "fx":[0.00717,0.00717,0.00722,0.00722], "fy":[0.01068,0.01063,0.01063,0.01068]}, {"t":0.18699, "x":4.17606, "y":7.50009, "heading":0.0, "vx":1.49968, "vy":0.00084, "omega":0.0, "ax":0.0, "ay":0.00108, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.01535,0.01535,0.01535,0.01535]}, - {"t":0.23374, "x":4.24617, "y":7.50013, "heading":0.0, "vx":1.49968, "vy":0.00089, "omega":0.0, "ax":0.0, "ay":0.00148, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.02095,0.02095,0.02095,0.02095]}, + {"t":0.23374, "x":4.24617, "y":7.50013, "heading":0.0, "vx":1.49968, "vy":0.00089, "omega":0.0, "ax":0.0, "ay":0.00148, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.02094,0.02094,0.02094,0.02094]}, {"t":0.28048, "x":4.31627, "y":7.50018, "heading":0.0, "vx":1.49968, "vy":0.00096, "omega":0.0, "ax":0.0, "ay":0.0019, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.02698,0.02698,0.02698,0.02698]}, {"t":0.32723, "x":4.38638, "y":7.50022, "heading":0.0, "vx":1.49968, "vy":0.00105, "omega":0.0, "ax":0.0, "ay":0.00237, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.03358,0.03358,0.03358,0.03358]}, {"t":0.37398, "x":4.45649, "y":7.50028, "heading":0.0, "vx":1.49968, "vy":0.00116, "omega":0.0, "ax":0.0, "ay":0.00288, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.04089,0.04089,0.04089,0.04089]}, @@ -105,241 +105,217 @@ {"t":0.51422, "x":4.66681, "y":7.50047, "heading":0.0, "vx":1.49968, "vy":0.00165, "omega":0.0, "ax":-0.00001, "ay":0.00485, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[0.0687,0.0687,0.0687,0.0687]}, {"t":0.56097, "x":4.73691, "y":7.50055, "heading":0.0, "vx":1.49968, "vy":0.00187, "omega":0.0, "ax":-0.00001, "ay":0.00569, "alpha":0.0, "fx":[-0.00011,-0.00011,-0.00011,-0.00011], "fy":[0.08061,0.08061,0.08061,0.08061]}, {"t":0.60772, "x":4.80702, "y":7.50065, "heading":0.0, "vx":1.49968, "vy":0.00214, "omega":0.0, "ax":-0.00001, "ay":0.00665, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.09425,0.09425,0.09425,0.09425]}, - {"t":0.65446, "x":4.87713, "y":7.50075, "heading":0.0, "vx":1.49968, "vy":0.00245, "omega":0.0, "ax":-0.00001, "ay":0.00776, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.10996,0.10996,0.10996,0.10996]}, - {"t":0.70121, "x":4.94723, "y":7.50088, "heading":0.0, "vx":1.49968, "vy":0.00281, "omega":0.0, "ax":-0.00002, "ay":0.00904, "alpha":0.0, "fx":[-0.00026,-0.00026,-0.00026,-0.00026], "fy":[0.1281,0.1281,0.1281,0.1281]}, - {"t":0.74796, "x":5.01734, "y":7.50102, "heading":0.0, "vx":1.49968, "vy":0.00323, "omega":0.0, "ax":-0.00002, "ay":0.01052, "alpha":0.0, "fx":[-0.00035,-0.00035,-0.00035,-0.00035], "fy":[0.14914,0.14914,0.14913,0.14913]}, - {"t":0.79471, "x":5.08744, "y":7.50118, "heading":0.0, "vx":1.49968, "vy":0.00373, "omega":0.0, "ax":-0.00003, "ay":0.01225, "alpha":0.0, "fx":[-0.00046,-0.00046,-0.00046,-0.00046], "fy":[0.17365,0.17365,0.17365,0.17365]}, - {"t":0.84145, "x":5.15755, "y":7.50137, "heading":0.0, "vx":1.49968, "vy":0.0043, "omega":0.0, "ax":-0.00004, "ay":0.01428, "alpha":0.0, "fx":[-0.00062,-0.00063,-0.00063,-0.00062], "fy":[0.20235,0.20235,0.20235,0.20235]}, - {"t":0.8882, "x":5.22766, "y":7.50158, "heading":0.0, "vx":1.49968, "vy":0.00497, "omega":0.0, "ax":-0.00006, "ay":0.01665, "alpha":0.0, "fx":[-0.00084,-0.00084,-0.00084,-0.00084], "fy":[0.23608,0.23608,0.23608,0.23608]}, + {"t":0.65446, "x":4.87713, "y":7.50075, "heading":0.0, "vx":1.49968, "vy":0.00245, "omega":0.0, "ax":-0.00001, "ay":0.00776, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.10995,0.10995,0.10995,0.10995]}, + {"t":0.70121, "x":4.94723, "y":7.50088, "heading":0.0, "vx":1.49968, "vy":0.00281, "omega":0.0, "ax":-0.00002, "ay":0.00904, "alpha":0.0, "fx":[-0.00026,-0.00026,-0.00026,-0.00026], "fy":[0.12809,0.12809,0.12809,0.12809]}, + {"t":0.74796, "x":5.01734, "y":7.50102, "heading":0.0, "vx":1.49968, "vy":0.00323, "omega":0.0, "ax":-0.00002, "ay":0.01052, "alpha":0.0, "fx":[-0.00035,-0.00035,-0.00035,-0.00035], "fy":[0.14913,0.14913,0.14913,0.14913]}, + {"t":0.79471, "x":5.08744, "y":7.50118, "heading":0.0, "vx":1.49968, "vy":0.00373, "omega":0.0, "ax":-0.00003, "ay":0.01225, "alpha":0.0, "fx":[-0.00046,-0.00046,-0.00046,-0.00046], "fy":[0.17364,0.17364,0.17364,0.17364]}, + {"t":0.84145, "x":5.15755, "y":7.50137, "heading":0.0, "vx":1.49968, "vy":0.0043, "omega":0.0, "ax":-0.00004, "ay":0.01428, "alpha":0.0, "fx":[-0.00062,-0.00062,-0.00062,-0.00062], "fy":[0.20235,0.20235,0.20235,0.20235]}, + {"t":0.8882, "x":5.22766, "y":7.50158, "heading":0.0, "vx":1.49968, "vy":0.00497, "omega":0.0, "ax":-0.00006, "ay":0.01665, "alpha":0.0, "fx":[-0.00084,-0.00084,-0.00084,-0.00084], "fy":[0.23607,0.23607,0.23607,0.23607]}, {"t":0.93495, "x":5.29776, "y":7.50183, "heading":0.0, "vx":1.49967, "vy":0.00574, "omega":0.0, "ax":-0.00008, "ay":0.01895, "alpha":-0.00001, "fx":[-0.00107,-0.00107,-0.00114,-0.00114], "fy":[0.26862,0.26869,0.26869,0.26862]}, - {"t":0.9817, "x":5.36787, "y":7.50212, "heading":0.0, "vx":1.49967, "vy":0.00663, "omega":0.0, "ax":0.00006, "ay":-0.01498, "alpha":-0.00117, "fx":[0.00403,0.00403,-0.00226,-0.00226], "fy":[-0.21552,-0.20923,-0.20922,-0.21552]}, - {"t":1.02844, "x":5.43797, "y":7.50242, "heading":0.0, "vx":1.49967, "vy":0.00593, "omega":-0.00005, "ax":-0.09508, "ay":-2.4664, "alpha":-0.09658, "fx":[-1.07375,-1.07562,-1.62213,-1.61942], "fy":[-35.20727,-34.71633,-34.71408,-35.205]}, - {"t":1.07519, "x":5.50798, "y":7.5, "heading":0.0, "vx":1.49523, "vy":-0.10937, "omega":-0.00457, "ax":-0.64986, "ay":-5.22013, "alpha":-3.19601, "fx":[1.23686,1.44383,-20.82598,-18.70108], "fy":[-81.07161,-67.90484,-66.87077,-80.1293]}, - {"t":1.10516, "x":5.55249, "y":7.49438, "heading":-0.00014, "vx":1.47576, "vy":-0.26579, "omega":-0.10034, "ax":-0.06462, "ay":-0.35161, "alpha":-4.60186, "fx":[11.39044,11.53976,-13.38705,-13.20683], "fy":[-17.33399,7.34374,7.33774,-17.28342]}, - {"t":1.13512, "x":5.59668, "y":7.48626, "heading":-0.00314, "vx":1.47382, "vy":-0.27633, "omega":-0.23823, "ax":-0.00346, "ay":-0.01844, "alpha":-4.21825, "fx":[11.23034,11.31907,-11.34297,-11.40265], "fy":[-11.62266,11.02474,11.09735,-11.54482]}, - {"t":1.16509, "x":5.64084, "y":7.47797, "heading":-0.01028, "vx":1.47372, "vy":-0.27688, "omega":-0.36464, "ax":-0.00018, "ay":-0.00098, "alpha":-3.859, "fx":[10.24521,10.46588,-10.25216,-10.46937], "fy":[-10.48175,10.23511,10.45367,-10.26259]}, - {"t":1.19505, "x":5.685, "y":7.46967, "heading":-0.02121, "vx":1.47371, "vy":-0.27691, "omega":-0.48027, "ax":-0.00001, "ay":-0.00005, "alpha":-3.54107, "fx":[9.29753,9.70848,-9.29788,-9.70861], "fy":[-9.70923,9.29713,9.70792,-9.29841]}, - {"t":1.22502, "x":5.72916, "y":7.46137, "heading":-0.0356, "vx":1.47371, "vy":-0.27691, "omega":-0.58638, "ax":0.0, "ay":0.0, "alpha":-3.26225, "fx":[8.43506,9.06736,-8.435,-9.06745], "fy":[-9.06745,8.43499,9.06737,-8.43509]}, - {"t":1.25498, "x":5.77333, "y":7.45308, "heading":-0.05317, "vx":1.47371, "vy":-0.27691, "omega":-0.68414, "ax":0.0, "ay":0.0, "alpha":-3.01996, "fx":[7.65901,8.53064,-7.65896,-8.5307], "fy":[-8.53068,7.65898,8.53067,-7.659]}, - {"t":1.28495, "x":5.81749, "y":7.44478, "heading":-0.07367, "vx":1.47371, "vy":-0.27691, "omega":-0.77463, "ax":0.0, "ay":0.0, "alpha":-2.81189, "fx":[6.96621,8.0881,-6.96619,-8.08813], "fy":[-8.08812,6.9662,8.08812,-6.9662]}, - {"t":1.31491, "x":5.86165, "y":7.43648, "heading":-0.09688, "vx":1.47371, "vy":-0.27691, "omega":-0.85889, "ax":0.0, "ay":0.0, "alpha":-2.63601, "fx":[6.35205,7.73231,-6.35204,-7.73232], "fy":[-7.73232,6.35205,7.73232,-6.35204]}, - {"t":1.34488, "x":5.90581, "y":7.42818, "heading":-0.12262, "vx":1.47371, "vy":-0.27691, "omega":-0.93788, "ax":0.0, "ay":0.0, "alpha":-2.49058, "fx":[5.81099,7.4582,-5.81099,-7.45821], "fy":[-7.45821,5.81099,7.45821,-5.81099]}, - {"t":1.37484, "x":5.94997, "y":7.41988, "heading":-0.15072, "vx":1.47371, "vy":-0.27691, "omega":-1.01251, "ax":0.0, "ay":0.0, "alpha":-2.37414, "fx":[5.33681,7.26276,-5.33681,-7.26276], "fy":[-7.26276,5.33681,7.26276,-5.33681]}, - {"t":1.40481, "x":5.99413, "y":7.41159, "heading":-0.18107, "vx":1.47371, "vy":-0.27691, "omega":-1.08365, "ax":0.0, "ay":0.0, "alpha":-2.28552, "fx":[4.92268,7.14463,-4.92268,-7.14463], "fy":[-7.14463,4.92268,7.14463,-4.92268]}, - {"t":1.43478, "x":6.03829, "y":7.40329, "heading":-0.21354, "vx":1.47371, "vy":-0.27691, "omega":-1.15214, "ax":0.0, "ay":0.0, "alpha":-2.22387, "fx":[4.56125,7.10402,-4.56125,-7.10402], "fy":[-7.10402,4.56125,7.10402,-4.56125]}, - {"t":1.46474, "x":6.08245, "y":7.39499, "heading":-0.24806, "vx":1.47371, "vy":-0.27691, "omega":-1.21878, "ax":0.0, "ay":0.0, "alpha":-2.18859, "fx":[4.24454,7.14228,-4.24454,-7.14228], "fy":[-7.14228,4.24454,7.14228,-4.24454]}, - {"t":1.49471, "x":6.12661, "y":7.38669, "heading":-0.28458, "vx":1.47371, "vy":-0.27691, "omega":-1.28436, "ax":0.0, "ay":0.0, "alpha":-2.1794, "fx":[3.96393,7.26205,-3.96393,-7.26205], "fy":[-7.26205,3.96392,7.26205,-3.96393]}, - {"t":1.52467, "x":6.17077, "y":7.3784, "heading":-0.32307, "vx":1.47371, "vy":-0.27691, "omega":-1.34967, "ax":0.0, "ay":0.0, "alpha":-2.1963, "fx":[3.7099,7.46674,-3.7099,-7.46674], "fy":[-7.46674,3.7099,7.46674,-3.7099]}, - {"t":1.55464, "x":6.21493, "y":7.3701, "heading":-0.36351, "vx":1.47371, "vy":-0.27691, "omega":-1.41548, "ax":0.0, "ay":0.0, "alpha":-2.23959, "fx":[3.47196,7.76073,-3.47196,-7.76073], "fy":[-7.76073,3.47196,7.76072,-3.47197]}, - {"t":1.5846, "x":6.25909, "y":7.3618, "heading":-0.40593, "vx":1.47371, "vy":-0.27691, "omega":-1.48259, "ax":0.0, "ay":0.0, "alpha":-2.30991, "fx":[3.23831,8.14905,-3.23832,-8.14905], "fy":[-8.14905,3.23831,8.14904,-3.23832]}, - {"t":1.61457, "x":6.30325, "y":7.3535, "heading":-0.45035, "vx":1.47371, "vy":-0.27691, "omega":-1.55181, "ax":0.0, "ay":0.0, "alpha":-2.4082, "fx":[2.99555,8.63731,-2.99556,-8.63731], "fy":[-8.63731,2.99555,8.63731,-2.99556]}, - {"t":1.64453, "x":6.34741, "y":7.34521, "heading":-0.49685, "vx":1.47371, "vy":-0.27691, "omega":-1.62397, "ax":0.0, "ay":0.0, "alpha":-2.53575, "fx":[2.7283,9.2315,-2.7283,-9.2315], "fy":[-9.2315,2.7283,9.2315,-2.72831]}, - {"t":1.6745, "x":6.39157, "y":7.33691, "heading":-0.54552, "vx":1.47371, "vy":-0.27691, "omega":-1.69995, "ax":0.0, "ay":0.0, "alpha":-2.69418, "fx":[2.41869,9.93756,-2.41869,-9.93756], "fy":[-9.93755,2.41869,9.93756,-2.41869]}, - {"t":1.70446, "x":6.43573, "y":7.32861, "heading":-0.59646, "vx":1.47371, "vy":-0.27691, "omega":-1.78069, "ax":0.0, "ay":0.0, "alpha":-2.88554, "fx":[2.04593,10.76136,-2.04591,-10.76137], "fy":[-10.76134,2.04596,10.76139,-2.04588]}, - {"t":1.73443, "x":6.47989, "y":7.32031, "heading":-0.64982, "vx":1.47371, "vy":-0.27691, "omega":-1.86715, "ax":0.00001, "ay":0.00003, "alpha":-3.11223, "fx":[1.5857,11.70786,-1.58543,-11.70776], "fy":[-11.70741,1.58614,11.70822,-1.58499]}, - {"t":1.7644, "x":6.52405, "y":7.31201, "heading":-0.70577, "vx":1.47371, "vy":-0.27691, "omega":-1.96041, "ax":0.00014, "ay":0.00076, "alpha":-3.37712, "fx":[1.01115,12.78238,-1.00674,-12.77866], "fy":[-12.77015,1.02024,12.79081,-0.99761]}, - {"t":1.79436, "x":6.56821, "y":7.30372, "heading":-0.76451, "vx":1.47371, "vy":-0.27689, "omega":-2.06161, "ax":0.0027, "ay":0.01439, "alpha":-3.68324, "fx":[0.32158,14.0175,-0.24336,-13.9425], "fy":[-13.77858,0.4897,14.17945,-0.07439]}, - {"t":1.82433, "x":6.61237, "y":7.29543, "heading":-0.82629, "vx":1.47379, "vy":-0.27645, "omega":-2.17198, "ax":0.051, "ay":0.2762, "alpha":-4.02582, "fx":[0.10054,16.00458,1.35432,-14.56767], "fy":[-11.38411,3.32264,19.12274,4.59875]}, - {"t":1.85429, "x":6.65656, "y":7.28727, "heading":-0.89137, "vx":1.47532, "vy":-0.26818, "omega":-2.29261, "ax":0.6141, "ay":4.4396, "alpha":-3.20007, "fx":[7.76042,22.77164,9.64289,-5.35581], "fy":[52.58772,61.54847,72.78033,64.80483]}, - {"t":1.88426, "x":6.70104, "y":7.28122, "heading":-0.96007, "vx":1.49372, "vy":-0.13514, "omega":-2.38851, "ax":10.75978, "ay":-0.84356, "alpha":0.24306, "fx":[152.65554,152.53011,152.36811,152.51559], "fy":[-10.13429,-11.77847,-13.7835,-12.13259]}, - {"t":1.90759, "x":6.73882, "y":7.27784, "heading":-1.01579, "vx":1.74474, "vy":-0.15482, "omega":-2.38284, "ax":10.72262, "ay":-1.14019, "alpha":0.5978, "fx":[152.43404,152.06405,151.47999,151.98399], "fy":[-11.71633,-15.58847,-20.63346,-16.70963]}, - {"t":1.93091, "x":6.78244, "y":7.27392, "heading":-1.07138, "vx":1.99488, "vy":-0.18142, "omega":-2.36889, "ax":10.64881, "ay":-1.58084, "alpha":1.1262, "fx":[152.07041,151.19233,149.57763,150.93699], "fy":[-14.12699,-21.18671,-30.78403,-23.53466]}, - {"t":1.95424, "x":6.83187, "y":7.26926, "heading":-1.12664, "vx":2.24331, "vy":-0.2183, "omega":-2.34262, "ax":10.48015, "ay":-2.29707, "alpha":1.98821, "fx":[151.38555,149.23377,144.96091,148.63432], "fy":[-18.15387,-30.57656,-47.17422,-34.33708]}, - {"t":1.97757, "x":6.88706, "y":7.26354, "heading":-1.18129, "vx":2.4878, "vy":-0.27189, "omega":-2.29623, "ax":9.99754, "ay":-3.62459, "alpha":3.58723, "fx":[149.76616,143.06561,131.32303,142.69644], "fy":[-25.92688,-50.17838,-76.4752,-52.93024]}, - {"t":2.0009, "x":6.94782, "y":7.25621, "heading":-1.23486, "vx":2.72103, "vy":-0.35645, "omega":-2.21255, "ax":7.98111, "ay":-6.49827, "alpha":7.22412, "fx":[143.75489,103.21169,81.98631,123.56838], "fy":[-45.60476,-108.04684,-127.0282,-87.76588]}, - {"t":2.02423, "x":7.01347, "y":7.24613, "heading":-1.28648, "vx":2.90722, "vy":-0.50804, "omega":-2.04402, "ax":0.08128, "ay":-9.30143, "alpha":14.25216, "fx":[75.68324,-95.47075,-31.60894,56.00501], "fy":[-125.03193,-114.69362,-147.71314,-139.94359]}, - {"t":2.04756, "x":7.08131, "y":7.23174, "heading":-1.33416, "vx":2.90911, "vy":-0.72504, "omega":-1.71153, "ax":-2.7467, "ay":-9.49675, "alpha":10.45562, "fx":[-5.50609,-112.17327,-57.34634,19.29021], "fy":[-147.61394,-100.55211,-140.34737,-149.94345]}, - {"t":2.07089, "x":7.14843, "y":7.21224, "heading":-1.37409, "vx":2.84504, "vy":-0.94658, "omega":-1.46762, "ax":-3.59221, "ay":-9.50464, "alpha":8.72641, "fx":[-29.62593,-111.03313,-64.51507,1.49917], "fy":[-146.73601,-102.85236,-137.64441,-151.67111]}, - {"t":2.09422, "x":7.21382, "y":7.18757, "heading":-1.40833, "vx":2.76123, "vy":-1.16832, "omega":-1.26404, "ax":-4.41652, "ay":-9.3468, "alpha":7.43704, "fx":[-49.91991,-112.16594,-72.3307,-15.99592], "fy":[-142.34172,-102.36959,-134.04222,-151.20136]}, - {"t":2.11754, "x":7.27704, "y":7.15778, "heading":-1.43782, "vx":2.6582, "vy":-1.38637, "omega":-1.09054, "ax":-5.23134, "ay":-9.05235, "alpha":6.46023, "fx":[-67.70146,-115.16721,-80.69406,-33.04934], "fy":[-135.58832,-99.53835,-129.44381,-148.68894]}, - {"t":2.14087, "x":7.33763, "y":7.12297, "heading":-1.46326, "vx":2.53616, "vy":-1.59755, "omega":-0.93983, "ax":-6.20952, "ay":-8.51267, "alpha":5.69607, "fx":[-87.22373,-121.23083,-91.35906,-52.26008], "fy":[-124.50567,-92.50479,-122.36365,-143.2863]}, - {"t":2.1642, "x":7.3951, "y":7.08339, "heading":-1.48518, "vx":2.3913, "vy":-1.79614, "omega":-0.80695, "ax":-7.59894, "ay":-7.38576, "alpha":5.07759, "fx":[-112.79534,-132.05515,-107.35241,-78.64964], "fy":[-102.42493,-76.69385,-108.79496,-130.85206]}, - {"t":2.18753, "x":7.44882, "y":7.03947, "heading":-1.50401, "vx":2.21403, "vy":-1.96844, "omega":-0.68849, "ax":-8.57191, "ay":-6.30613, "alpha":4.57087, "fx":[-128.37011,-139.27722,-119.38501,-98.98672], "fy":[-82.53049,-63.00934,-95.6092,-116.40273]}, - {"t":2.21086, "x":7.49814, "y":6.99184, "heading":-1.52007, "vx":2.01405, "vy":-2.11555, "omega":-0.58186, "ax":-9.1749, "ay":-5.45627, "alpha":4.15311, "fx":[-136.8021,-143.52552,-127.35496,-112.52524], "fy":[-68.03674,-52.94142,-84.85467,-103.53269]}, - {"t":2.23419, "x":7.54263, "y":6.941, "heading":-1.53365, "vx":1.80001, "vy":-2.24284, "omega":-0.48497, "ax":-9.56128, "ay":-4.80114, "alpha":3.81512, "fx":[-141.65992,-146.15048,-132.74028,-121.56495], "fy":[-57.57096,-45.46866,-76.28677,-92.89348]}, - {"t":2.25752, "x":7.58202, "y":6.88737, "heading":-1.54496, "vx":1.57696, "vy":-2.35484, "omega":-0.39597, "ax":-9.82062, "ay":-4.29091, "alpha":3.54324, "fx":[-144.66625,-147.86488,-136.50781,-127.78107], "fy":[-49.81586,-39.77807,-69.43433,-84.26203]}, - {"t":2.28085, "x":7.61614, "y":6.83127, "heading":-1.5542, "vx":1.34786, "vy":-2.45495, "omega":-0.31331, "ax":-10.00231, "ay":-3.88655, "alpha":3.32327, "fx":[-146.64471,-149.03904,-139.2341,-132.20349], "fy":[-43.89199,-35.33388,-63.89146,-77.24648]}, - {"t":2.30418, "x":7.64486, "y":6.77294, "heading":-1.56151, "vx":1.11452, "vy":-2.54562, "omega":-0.23578, "ax":-10.13436, "ay":-3.5603, "alpha":3.14333, "fx":[-148.01385,-149.87518,-141.26651,-135.45291], "fy":[-39.23845,-31.78672,-59.35018,-71.49004]}, - {"t":2.3275, "x":7.6681, "y":6.71258, "heading":-1.56701, "vx":0.87809, "vy":-2.62867, "omega":-0.16245, "ax":-10.23335, "ay":-3.29269, "alpha":2.99426, "fx":[-149.00082,-150.48982,-142.82052,-137.90986], "fy":[-35.49333,-28.90427,-55.58426,-66.71069]}, - {"t":2.35083, "x":7.6858, "y":6.65036, "heading":-1.5708, "vx":0.63936, "vy":-2.70549, "omega":-0.0926, "ax":-10.06077, "ay":-3.934, "alpha":0.59081, "fx":[-143.29052,-144.06859,-142.00322,-141.07352], "fy":[-54.05086,-51.98619,-57.40287,-59.61388]}, - {"t":2.38723, "x":7.70241, "y":6.54929, "heading":-1.57417, "vx":0.27319, "vy":-2.84867, "omega":-0.0711, "ax":-5.19558, "ay":-4.10259, "alpha":2.14959, "fx":[-70.44728,-80.96406,-76.90146,-66.27179], "fy":[-53.92994,-49.86935,-62.22193,-66.59198]}, - {"t":2.42363, "x":7.70891, "y":6.44289, "heading":-1.57675, "vx":0.08409, "vy":-2.99799, "omega":0.00714, "ax":1.59503, "ay":0.06, "alpha":0.08264, "fx":[22.82753,22.39255,22.39072,22.82571], "fy":[1.07501,1.0784,0.62586,0.62285]}, - {"t":2.46002, "x":7.71303, "y":6.33381, "heading":-1.57649, "vx":0.14214, "vy":-2.99581, "omega":0.01015, "ax":0.55478, "ay":0.0282, "alpha":0.00149, "fx":[7.8679,7.85995,7.85984,7.86778], "fy":[0.40364,0.40377,0.39575,0.39562]}, - {"t":2.49642, "x":7.71857, "y":6.22479, "heading":-1.57613, "vx":0.16233, "vy":-2.99478, "omega":0.0102, "ax":0.30307, "ay":0.01699, "alpha":0.00003, "fx":[4.29607,4.29593,4.29583,4.29597], "fy":[0.24083,0.24093,0.24079,0.24069]}, - {"t":2.53281, "x":7.72468, "y":6.11581, "heading":-1.57575, "vx":0.17336, "vy":-2.99416, "omega":0.0102, "ax":0.21717, "ay":0.01286, "alpha":0.0, "fx":[3.07839,3.07839,3.0783,3.0783], "fy":[0.18228,0.18236,0.18236,0.18227]}, - {"t":2.56921, "x":7.73113, "y":6.00684, "heading":-1.57538, "vx":0.18127, "vy":-2.99369, "omega":0.0102, "ax":0.17648, "ay":0.01088, "alpha":0.0, "fx":[2.50157,2.50157,2.50151,2.50151], "fy":[0.15413,0.1542,0.1542,0.15413]}, - {"t":2.60561, "x":7.73784, "y":5.89789, "heading":-1.57501, "vx":0.18769, "vy":-2.9933, "omega":0.0102, "ax":0.15724, "ay":0.01001, "alpha":0.0, "fx":[2.22891,2.22891,2.22886,2.22886], "fy":[0.14187,0.14192,0.14192,0.14187]}, - {"t":2.642, "x":7.74478, "y":5.78895, "heading":-1.57464, "vx":0.19341, "vy":-2.99293, "omega":0.0102, "ax":0.15298, "ay":0.01003, "alpha":0.0, "fx":[2.16854,2.16854,2.1685,2.1685], "fy":[0.14214,0.14218,0.14218,0.14215]}, - {"t":2.6784, "x":7.75192, "y":5.68002, "heading":-1.57427, "vx":0.19898, "vy":-2.99257, "omega":0.0102, "ax":0.16248, "ay":0.01096, "alpha":0.0, "fx":[2.30313,2.30313,2.30311,2.30311], "fy":[0.15541,0.15543,0.15543,0.15541]}, - {"t":2.7148, "x":7.75927, "y":5.57111, "heading":-1.5739, "vx":0.20489, "vy":-2.99217, "omega":0.0102, "ax":0.18804, "ay":0.01309, "alpha":0.0, "fx":[2.66548,2.66548,2.66547,2.66547], "fy":[0.18558,0.18559,0.18559,0.18558]}, - {"t":2.75119, "x":7.76685, "y":5.46222, "heading":-1.57353, "vx":0.21174, "vy":-2.99169, "omega":0.0102, "ax":0.23708, "ay":0.01712, "alpha":0.0, "fx":[3.36062,3.36062,3.36061,3.36061], "fy":[0.24271,0.24272,0.24272,0.24271]}, - {"t":2.78759, "x":7.77471, "y":5.35334, "heading":-1.57315, "vx":0.22037, "vy":-2.99107, "omega":0.0102, "ax":0.32464, "ay":0.02456, "alpha":-0.00001, "fx":[4.6017,4.60174,4.60174,4.6017], "fy":[0.34814,0.34814,0.34818,0.34818]}, - {"t":2.82399, "x":7.78295, "y":5.24449, "heading":-1.57278, "vx":0.23218, "vy":-2.99018, "omega":0.0102, "ax":0.41745, "ay":0.03351, "alpha":-0.00043, "fx":[5.91612,5.91841,5.91841,5.91613], "fy":[0.47386,0.47385,0.47614,0.47615]}, - {"t":2.86038, "x":7.79168, "y":5.13568, "heading":-1.57241, "vx":0.24738, "vy":-2.98896, "omega":0.01019, "ax":-0.55295, "ay":0.82334, "alpha":-0.02428, "fx":[-7.90387,-7.77312,-7.77204,-7.90278], "fy":[11.6054,11.60605,11.73601,11.73535]}, - {"t":2.89678, "x":7.80031, "y":5.02744, "heading":-1.57204, "vx":0.22725, "vy":-2.95899, "omega":0.0093, "ax":-1.07358, "ay":10.68603, "alpha":-0.01202, "fx":[-15.2875,-15.16081,-15.14809,-15.27467], "fy":[151.46443,151.47705,151.47942,151.46682]}, - {"t":2.93317, "x":7.80787, "y":4.92682, "heading":-1.5717, "vx":0.18818, "vy":-2.57006, "omega":0.00886, "ax":-1.37391, "ay":10.69862, "alpha":-0.01459, "fx":[-19.56143,-19.40791,-19.38823,-19.5416], "fy":[151.63903,151.65867,151.66184,151.64224]}, - {"t":2.96957, "x":7.81381, "y":4.84037, "heading":-1.57138, "vx":0.13817, "vy":-2.18067, "omega":0.00833, "ax":-3.74839, "ay":10.13186, "alpha":-0.017, "fx":[-53.24227,-53.08204,-53.02292,-53.18302], "fy":[143.57601,143.63514,143.65747,143.59845]}, - {"t":3.00597, "x":7.81636, "y":4.76771, "heading":-1.57108, "vx":0.00174, "vy":-1.8119, "omega":0.00771, "ax":-5.97683, "ay":9.01031, "alpha":-0.01845, "fx":[-84.8343,-84.69691,-84.60597,-84.74335], "fy":[127.64319,127.73416,127.79477,127.70395]}, - {"t":3.04236, "x":7.81246, "y":4.70773, "heading":-1.5708, "vx":-0.21579, "vy":-1.48396, "omega":0.00704, "ax":-10.45935, "ay":2.67397, "alpha":-0.00135, "fx":[-148.26094,-148.26001,-148.25656,-148.25749], "fy":[37.89446,37.89791,37.91145,37.908]}, - {"t":3.07069, "x":7.80215, "y":4.66677, "heading":-1.5706, "vx":-0.51209, "vy":-1.40821, "omega":0.00701, "ax":-9.709, "ay":4.67267, "alpha":-0.00601, "fx":[-137.64138,-137.62903,-137.60408,-137.61644], "fy":[66.19541,66.22036,66.27253,66.24757]}, - {"t":3.09902, "x":7.78375, "y":4.62875, "heading":-1.5704, "vx":-0.78714, "vy":-1.27584, "omega":0.00684, "ax":-8.51619, "ay":6.52208, "alpha":-0.01826, "fx":[-120.79788,-120.72493,-120.63208,-120.70516], "fy":[92.34098,92.43385,92.5569,92.46405]}, - {"t":3.12735, "x":7.75804, "y":4.59522, "heading":-1.5702, "vx":-1.02839, "vy":-1.09107, "omega":0.00632, "ax":-6.93369, "ay":7.98217, "alpha":-0.06294, "fx":[-98.63406,-98.2512,-97.93236,-98.31579], "fy":[112.83923,113.15882,113.45087,113.13255]}, - {"t":3.15568, "x":7.72612, "y":4.56752, "heading":-1.57003, "vx":-1.22482, "vy":-0.86495, "omega":0.00453, "ax":-4.78198, "ay":8.26203, "alpha":-0.41917, "fx":[-70.10835,-66.97175,-65.47285,-68.58102], "fy":[115.6509,117.19522,118.54644,117.05649]}, - {"t":3.18401, "x":7.6895, "y":4.54633, "heading":-1.5699, "vx":-1.36028, "vy":-0.63089, "omega":-0.00734, "ax":-1.0058, "ay":2.31098, "alpha":-3.56648, "fx":[-24.88229,-4.46496,-4.1164,-23.56449], "fy":[23.20214,23.95137,42.43061,41.44618]}, - {"t":3.21234, "x":7.65056, "y":4.52938, "heading":-1.57011, "vx":-1.38878, "vy":-0.56543, "omega":-0.10837, "ax":-0.06047, "ay":0.14917, "alpha":-4.77593, "fx":[-13.76267,12.0269,11.93624,-13.62903], "fy":[-10.68543,-10.68885,14.9588,14.87312]}, - {"t":3.24067, "x":7.6112, "y":4.51343, "heading":-1.57318, "vx":-1.39049, "vy":-0.5612, "omega":-0.24367, "ax":-0.00368, "ay":0.00912, "alpha":-5.57786, "fx":[-15.0766,14.89114,14.94958,-14.97275], "fy":[-14.79755,-14.88983,15.06551,15.13892]}, - {"t":3.269, "x":7.57181, "y":4.49753, "heading":-1.58008, "vx":-1.3906, "vy":-0.56094, "omega":-0.40169, "ax":-0.00023, "ay":0.00057, "alpha":-6.40337, "fx":[-17.35861,17.02027,17.3479,-17.02252], "fy":[-17.0127,-17.34822,17.03049,17.36253]}, - {"t":3.29732, "x":7.53241, "y":4.48164, "heading":-1.59146, "vx":-1.3906, "vy":-0.56093, "omega":-0.58309, "ax":-0.00001, "ay":0.00003, "alpha":-7.27351, "fx":[-19.93206,19.1075,19.93199,-19.10815], "fy":[-19.10755,-19.93214,19.10827,19.93322]}, - {"t":3.32565, "x":7.49302, "y":4.46575, "heading":-1.60798, "vx":-1.3906, "vy":-0.56093, "omega":-0.78914, "ax":0.0, "ay":0.0, "alpha":-8.19184, "fx":[-22.80196,21.14465,22.8031,-21.14586], "fy":[-21.14554,-22.80234,21.14502,22.80304]}, - {"t":3.35398, "x":7.45362, "y":4.44986, "heading":-1.63033, "vx":-1.3906, "vy":-0.56092, "omega":-1.0212, "ax":0.0, "ay":0.0, "alpha":-9.16005, "fx":[-26.02055,23.0666,26.02167,-23.06772], "fy":[-23.06748,-26.02082,23.06685,26.02148]}, - {"t":3.38231, "x":7.41423, "y":4.43397, "heading":-1.65926, "vx":-1.3906, "vy":-0.56092, "omega":-1.2807, "ax":0.0, "ay":0.0, "alpha":-10.179, "fx":[-29.6456,24.78422,29.64656,-24.78519], "fy":[-24.78502,-29.64578,24.78439,29.64642]}, - {"t":3.41064, "x":7.37483, "y":4.41808, "heading":-1.69554, "vx":-1.3906, "vy":-0.56092, "omega":-1.56906, "ax":0.0, "ay":0.0, "alpha":-11.24851, "fx":[-33.73316,26.18124,33.73397,-26.18206], "fy":[-26.18196,-33.73328,26.18135,33.73393]}, - {"t":3.43897, "x":7.33544, "y":4.40219, "heading":-1.73999, "vx":-1.3906, "vy":-0.56092, "omega":-1.88772, "ax":0.0, "ay":0.0, "alpha":-12.36738, "fx":[-38.33145,27.10919,38.33156,-27.1094], "fy":[-27.10934,-38.33144,27.10929,38.33174]}, - {"t":3.4673, "x":7.29605, "y":4.3863, "heading":-1.79347, "vx":-1.3906, "vy":-0.56092, "omega":-2.23807, "ax":-0.00002, "ay":0.00005, "alpha":-13.53339, "fx":[-43.47215,27.38272,43.46882,-27.38059], "fy":[-27.37944,-43.47147,27.38398,43.46995]}, - {"t":3.49563, "x":7.25665, "y":4.37041, "heading":-1.85687, "vx":-1.3906, "vy":-0.56092, "omega":-2.62146, "ax":-0.00031, "ay":0.00076, "alpha":-14.74346, "fx":[-49.16172,26.77369,49.14027,-26.76958], "fy":[-26.7517,-49.1497,26.79177,49.15269]}, - {"t":3.52396, "x":7.21726, "y":4.35452, "heading":-1.93113, "vx":-1.39061, "vy":-0.5609, "omega":-3.03912, "ax":-0.00397, "ay":0.00984, "alpha":-15.9933, "fx":[-55.40635,24.97771,55.24322,-25.03962], "fy":[-24.81855,-55.23446,25.19966,55.41149]}, - {"t":3.55228, "x":7.17786, "y":4.33863, "heading":-2.01723, "vx":-1.39072, "vy":-0.56062, "omega":-3.4922, "ax":-0.0479, "ay":0.11925, "alpha":-17.27107, "fx":[-62.65236,21.2125,61.04752,-22.3237], "fy":[-19.68512,-60.55187,23.87791,63.12058]}, - {"t":3.58061, "x":7.13844, "y":4.3228, "heading":-2.11616, "vx":-1.39208, "vy":-0.55724, "omega":-3.98147, "ax":-0.52649, "ay":1.37019, "alpha":-18.00942, "fx":[-74.77224,8.60402,59.06211,-22.74544], "fy":[6.65702,-50.48664,40.17334,81.34474]}, - {"t":3.60894, "x":7.0988, "y":4.30756, "heading":-2.22895, "vx":-1.407, "vy":-0.51843, "omega":-4.49165, "ax":-2.29023, "ay":8.32893, "alpha":-5.29239, "fx":[-62.9592,-36.5479,0.425,-30.77165], "fy":[110.00412,110.38832,125.00692,126.84283]}, - {"t":3.63727, "x":7.05802, "y":4.29622, "heading":-2.35619, "vx":-1.47188, "vy":-0.28248, "omega":-4.64158, "ax":-1.18712, "ay":9.12061, "alpha":-2.59996, "fx":[-33.31191,-18.98126,0.22087,-15.23619], "fy":[127.21673,126.56934,130.82757,132.51646]}, - {"t":3.65778, "x":7.02759, "y":4.29234, "heading":-2.45137, "vx":-1.49622, "vy":-0.09546, "omega":-4.6949, "ax":-0.1471, "ay":4.1826, "alpha":-9.57726, "fx":[-42.01578,-7.6202,39.70263,1.59299], "fy":[63.92481,25.67285,58.8695,88.68251]}, - {"t":3.67828, "x":6.99688, "y":4.29126, "heading":-2.54764, "vx":-1.49923, "vy":-0.00969, "omega":-4.89128, "ax":-0.00109, "ay":0.72936, "alpha":-10.66386, "fx":[-39.66291,-8.16056,40.26488,7.49671], "fy":[18.69323,-29.88659,3.41526,49.13214]}, - {"t":3.69879, "x":6.96613, "y":4.29122, "heading":-2.64794, "vx":-1.49926, "vy":0.00527, "omega":-5.10995, "ax":0.00046, "ay":0.10842, "alpha":-8.89477, "fx":[-32.27463,-9.8313,32.42852,9.70358], "fy":[11.37821,-30.86671,-8.10233,33.73799]}, - {"t":3.71929, "x":6.93539, "y":4.29135, "heading":-2.75272, "vx":-1.49925, "vy":0.00749, "omega":-5.29234, "ax":0.00008, "ay":0.01602, "alpha":-6.98324, "fx":[-24.42128,-10.29958,24.4557,10.26984], "fy":[10.52265,-24.21846,-10.03815,24.64239]}, - {"t":3.7398, "x":6.90465, "y":4.29151, "heading":-2.86124, "vx":-1.49925, "vy":0.00782, "omega":-5.43553, "ax":0.00001, "ay":0.00246, "alpha":-5.04797, "fx":[-16.7465,-9.31317,16.754,9.30644], "fy":[9.34652,-16.71673,-9.2724,16.78225]}, - {"t":3.7603, "x":6.8739, "y":4.29167, "heading":-2.9727, "vx":-1.49925, "vy":0.00787, "omega":-5.53905, "ax":0.0, "ay":0.00046, "alpha":-3.10518, "fx":[-9.59964,-6.84085,9.60083,6.83982], "fy":[6.84703,-9.59399,-6.83375,9.60654]}, - {"t":3.78081, "x":6.84316, "y":4.29183, "heading":-3.08628, "vx":-1.49925, "vy":0.00788, "omega":-5.60272, "ax":0.0, "ay":0.00023, "alpha":-1.16045, "fx":[-3.27507,-2.94628,3.27514,2.94629], "fy":[2.94947,-3.2719,-2.94307,3.27829]}, - {"t":3.80131, "x":6.81242, "y":4.29199, "heading":3.08202, "vx":-1.49925, "vy":0.00788, "omega":-5.62651, "ax":0.0, "ay":0.00019, "alpha":0.78336, "fx":[1.96367,2.23331,-1.96375,-2.23317], "fy":[-2.23054,1.96647,2.23604,-1.96103]}, - {"t":3.82182, "x":6.78168, "y":4.29215, "heading":2.96664, "vx":-1.49925, "vy":0.00789, "omega":-5.61045, "ax":0.0, "ay":0.00011, "alpha":2.72532, "fx":[5.89617,8.50142,-5.89649,-8.50108], "fy":[-8.49965,5.89787,8.50298,-5.89487]}, - {"t":3.84233, "x":6.75093, "y":4.29231, "heading":2.8516, "vx":-1.49925, "vy":0.00789, "omega":-5.55457, "ax":0.0, "ay":0.0, "alpha":4.66403, "fx":[8.35339,15.61151,-8.35414,-15.6108], "fy":[-15.61094,8.35348,15.61149,-8.35411]}, - {"t":3.86283, "x":6.72019, "y":4.29248, "heading":2.7377, "vx":-1.49925, "vy":0.00789, "omega":-5.45893, "ax":0.0, "ay":-0.00009, "alpha":6.59723, "fx":[9.22939,23.28233,-9.23062,-23.28117], "fy":[-23.28237,9.228,23.28127,-9.23208]}, - {"t":3.88334, "x":6.68945, "y":4.29264, "heading":2.62576, "vx":-1.49925, "vy":0.00789, "omega":-5.32365, "ax":0.0, "ay":-0.00013, "alpha":8.51903, "fx":[8.48709,31.20717,-8.48855,-31.20581], "fy":[-31.20697,8.48456,31.20624,-8.49116]}, - {"t":3.90384, "x":6.65871, "y":4.2928, "heading":2.5166, "vx":-1.49925, "vy":0.00788, "omega":-5.14896, "ax":0.0, "ay":-0.00012, "alpha":10.41895, "fx":[6.16571,39.06955,-6.16682,-39.06854], "fy":[-39.06859,6.16235,39.06992,-6.17031]}, - {"t":3.92435, "x":6.62796, "y":4.29296, "heading":2.41101, "vx":-1.49925, "vy":0.00788, "omega":-4.93532, "ax":0.0, "ay":-0.00008, "alpha":12.28197, "fx":[2.38475,46.56396,-2.38479,-46.56401], "fy":[-46.5626,2.38083,46.56614,-2.38875]}, - {"t":3.94485, "x":6.59722, "y":4.29312, "heading":2.30981, "vx":-1.49925, "vy":0.00788, "omega":-4.68347, "ax":0.0, "ay":-0.00004, "alpha":14.09029, "fx":[-2.65939,53.42287,2.66048,-53.42404], "fy":[-53.42226,-2.66306,53.42591,2.6574]}, - {"t":3.96536, "x":6.56648, "y":4.29328, "heading":2.21378, "vx":-1.49925, "vy":0.00788, "omega":-4.39454, "ax":0.0, "ay":0.0, "alpha":15.82654, "fx":[-8.70739,59.44591,8.70782,-59.4464], "fy":[-59.44735,-8.70872,59.44697,8.70898]}, - {"t":3.98586, "x":6.53574, "y":4.29344, "heading":2.12367, "vx":-1.49925, "vy":0.00788, "omega":-4.07001, "ax":0.0, "ay":0.00006, "alpha":17.47578, "fx":[-15.46068,64.51726,15.45548,-64.5121], "fy":[-64.52061,-15.45517,64.51194,15.4672]}, - {"t":4.00637, "x":6.50499, "y":4.29361, "heading":2.04021, "vx":-1.49925, "vy":0.00788, "omega":-3.71166, "ax":0.0, "ay":0.00038, "alpha":19.02754, "fx":[-22.60952,68.61429,22.58961,-68.59432], "fy":[-68.61411,-22.58633,68.59896,22.6228]}, - {"t":4.02687, "x":6.47425, "y":4.29377, "heading":1.9641, "vx":-1.49925, "vy":0.00789, "omega":-3.32149, "ax":0.00001, "ay":0.00203, "alpha":20.47575, "fx":[-29.86068,71.80166,29.80908,-71.7495], "fy":[-71.77265,-29.78386,71.7806,29.89094]}, - {"t":4.04738, "x":6.44351, "y":4.29393, "heading":1.89599, "vx":-1.49925, "vy":0.00793, "omega":-2.90163, "ax":0.00005, "ay":0.00986, "alpha":21.81875, "fx":[-36.96995,74.23098,36.83519,-74.09326], "fy":[-74.06432,-36.69607,74.24245,37.07672]}, - {"t":4.06789, "x":6.41276, "y":4.2941, "heading":1.83649, "vx":-1.49924, "vy":0.00813, "omega":-2.45423, "ax":0.00026, "ay":0.04463, "alpha":23.05783, "fx":[-43.81447,76.18284,43.36559,-75.71949], "fy":[-75.40804,-42.74617,76.40467,44.27988]}, - {"t":4.08839, "x":6.38202, "y":4.29427, "heading":1.78617, "vx":-1.49924, "vy":0.00905, "omega":-1.98141, "ax":0.00141, "ay":0.19223, "alpha":24.18832, "fx":[-50.66885,78.31688,48.81987,-76.38774], "fy":[-74.89962,-46.31274,79.46735,52.64447]}, - {"t":4.1089, "x":6.35128, "y":4.2945, "heading":1.74554, "vx":-1.49921, "vy":0.01299, "omega":-1.48542, "ax":0.0113, "ay":0.79665, "alpha":25.05349, "fx":[-59.29837,82.67163,51.39987,-74.13225], "fy":[-67.59932,-41.01464,87.08968,66.69386]}, - {"t":4.1294, "x":6.32054, "y":4.29493, "heading":1.71508, "vx":-1.49898, "vy":0.02932, "omega":-0.97169, "ax":0.25461, "ay":3.25727, "alpha":23.024, "fx":[-70.05697,93.54046,48.90579,-57.95307], "fy":[-21.04968,3.57219,105.29107,96.87025]}, - {"t":4.14991, "x":6.28986, "y":4.29622, "heading":1.69515, "vx":-1.49376, "vy":0.09612, "omega":-0.49957, "ax":5.83241, "ay":6.65764, "alpha":-0.00915, "fx":[82.67811,82.62915,82.66808,82.71703], "fy":[94.38133,94.408,94.35947,94.3328]}, - {"t":4.17328, "x":6.25654, "y":4.30028, "heading":1.68347, "vx":-1.35744, "vy":0.25172, "omega":-0.49979, "ax":5.4008, "ay":6.64689, "alpha":0.0, "fx":[76.55507,76.55507,76.55507,76.55507], "fy":[94.21815,94.21815,94.21815,94.21815]}, - {"t":4.19665, "x":6.22628, "y":4.30798, "heading":1.67179, "vx":-1.23121, "vy":0.40708, "omega":-0.49979, "ax":5.2073, "ay":6.43009, "alpha":0.0, "fx":[73.81228,73.81228,73.81228,73.81228], "fy":[91.14502,91.14502,91.14502,91.14502]}, - {"t":4.22003, "x":6.19893, "y":4.31925, "heading":1.66011, "vx":-1.1095, "vy":0.55736, "omega":-0.49979, "ax":5.09118, "ay":6.10111, "alpha":0.0, "fx":[72.16623,72.16623,72.16623,72.16623], "fy":[86.48181,86.48181,86.48181,86.48181]}, - {"t":4.2434, "x":6.17439, "y":4.33394, "heading":1.64843, "vx":-0.99051, "vy":0.69996, "omega":-0.49979, "ax":5.00143, "ay":5.67496, "alpha":0.0, "fx":[70.89406,70.89406,70.89406,70.89406], "fy":[80.44124,80.44124,80.44124,80.44124]}, - {"t":4.26677, "x":6.1526, "y":4.35185, "heading":1.63675, "vx":-0.87361, "vy":0.8326, "omega":-0.49979, "ax":4.90719, "ay":5.15227, "alpha":0.0, "fx":[69.55826,69.55826,69.55826,69.55826], "fy":[73.03219,73.03219,73.03219,73.03219]}, - {"t":4.29014, "x":6.13353, "y":4.37272, "heading":1.62507, "vx":-0.75892, "vy":0.95302, "omega":-0.49979, "ax":4.78083, "ay":4.53416, "alpha":0.0, "fx":[67.76714,67.76714,67.76714,67.76714], "fy":[64.27071,64.27071,64.27071,64.27071]}, - {"t":4.31352, "x":6.11709, "y":4.39624, "heading":1.61339, "vx":-0.64718, "vy":1.059, "omega":-0.49979, "ax":4.59447, "ay":3.83255, "alpha":0.0, "fx":[65.1255,65.1255,65.1255,65.1255], "fy":[54.32544,54.32544,54.32544,54.32544]}, - {"t":4.33689, "x":6.10322, "y":4.42203, "heading":1.60171, "vx":-0.53979, "vy":1.14857, "omega":-0.49979, "ax":4.3244, "ay":3.07979, "alpha":0.0, "fx":[61.29729,61.29729,61.29729,61.29729], "fy":[43.65532,43.65532,43.65532,43.65532]}, - {"t":4.36026, "x":6.09179, "y":4.44972, "heading":1.59003, "vx":-0.43872, "vy":1.22056, "omega":-0.49979, "ax":3.96218, "ay":2.33209, "alpha":0.0, "fx":[56.16297,56.16297,56.16297,56.16297], "fy":[33.0568,33.0568,33.0568,33.0568]}, - {"t":4.38363, "x":6.08262, "y":4.47888, "heading":1.57834, "vx":-0.34612, "vy":1.27506, "omega":-0.49979, "ax":3.52433, "ay":1.65662, "alpha":0.0, "fx":[49.95654,49.95654,49.95654,49.95654], "fy":[23.48213,23.48213,23.48213,23.48213]}, - {"t":4.40701, "x":6.07549, "y":4.50914, "heading":1.56666, "vx":-0.26374, "vy":1.31378, "omega":-0.49979, "ax":3.04844, "ay":1.10518, "alpha":0.0, "fx":[43.21086,43.21086,43.21086,43.21086], "fy":[15.66562,15.66562,15.66562,15.66562]}, - {"t":4.43038, "x":6.07016, "y":4.54015, "heading":1.55498, "vx":-0.19249, "vy":1.33961, "omega":-0.49979, "ax":2.57666, "ay":0.69543, "alpha":0.0, "fx":[36.52361,36.52361,36.52361,36.52361], "fy":[9.85758,9.85758,9.85758,9.85758]}, - {"t":4.45375, "x":6.06636, "y":4.57165, "heading":1.5433, "vx":-0.13227, "vy":1.35587, "omega":-0.49979, "ax":2.14078, "ay":0.41386, "alpha":0.0, "fx":[30.34504,30.34504,30.34504,30.34504], "fy":[5.86641,5.86641,5.86641,5.86641]}, - {"t":4.47712, "x":6.06386, "y":4.60345, "heading":1.53162, "vx":-0.08223, "vy":1.36554, "omega":-0.49979, "ax":1.75747, "ay":0.23178, "alpha":0.0, "fx":[24.9117,24.9117,24.9117,24.9117], "fy":[3.28549,3.28549,3.28549,3.28549]}, - {"t":4.5005, "x":6.06241, "y":4.63543, "heading":1.51994, "vx":-0.04116, "vy":1.37096, "omega":-0.49979, "ax":1.43127, "ay":0.11948, "alpha":0.0, "fx":[20.28785,20.28785,20.28785,20.28785], "fy":[1.69366,1.69366,1.69366,1.69366]}, - {"t":4.52387, "x":6.06184, "y":4.6675, "heading":1.50826, "vx":-0.00771, "vy":1.37375, "omega":-0.49979, "ax":1.15946, "ay":0.05297, "alpha":0.0, "fx":[16.43514,16.43514,16.43514,16.43514], "fy":[0.75077,0.75077,0.75077,0.75077]}, - {"t":4.54724, "x":6.06198, "y":4.69963, "heading":1.49658, "vx":0.01939, "vy":1.37499, "omega":-0.49979, "ax":0.93601, "ay":0.01519, "alpha":0.0, "fx":[13.26766,13.26766,13.26766,13.26766], "fy":[0.21526,0.21526,0.21526,0.21526]}, - {"t":4.57061, "x":6.06269, "y":4.73177, "heading":1.48489, "vx":0.04127, "vy":1.37534, "omega":-0.49979, "ax":0.75386, "ay":-0.00511, "alpha":0.0, "fx":[10.68578,10.68578,10.68578,10.68578], "fy":[-0.0725,-0.0725,-0.0725,-0.0725]}, - {"t":4.59399, "x":6.06386, "y":4.76391, "heading":1.47321, "vx":0.05889, "vy":1.37522, "omega":-0.49979, "ax":0.60618, "ay":-0.01506, "alpha":0.0, "fx":[8.59252,8.59252,8.59252,8.59252], "fy":[-0.21343,-0.21343,-0.21343,-0.21343]}, - {"t":4.61736, "x":6.0654, "y":4.79605, "heading":1.46153, "vx":0.07306, "vy":1.37487, "omega":-0.49979, "ax":0.48688, "ay":-0.01903, "alpha":0.0, "fx":[6.90144,6.90144,6.90144,6.90144], "fy":[-0.26971,-0.26971,-0.26971,-0.26971]}, - {"t":4.64073, "x":6.06724, "y":4.82818, "heading":1.44985, "vx":0.08444, "vy":1.37443, "omega":-0.49979, "ax":0.39072, "ay":-0.01968, "alpha":0.0, "fx":[5.53834,5.53834,5.53834,5.53834], "fy":[-0.27902,-0.27902,-0.27902,-0.27902]}, - {"t":4.6641, "x":6.06932, "y":4.8603, "heading":1.43817, "vx":0.09357, "vy":1.37397, "omega":-0.49979, "ax":0.31332, "ay":-0.01861, "alpha":0.0, "fx":[4.44125,4.44125,4.44125,4.44125], "fy":[-0.26373,-0.26373,-0.26373,-0.26373]}, - {"t":4.68748, "x":6.07159, "y":4.8924, "heading":1.42649, "vx":0.10089, "vy":1.37353, "omega":-0.49979, "ax":0.25109, "ay":-0.01672, "alpha":0.0, "fx":[3.5592,3.5592,3.5592,3.5592], "fy":[-0.23696,-0.23696,-0.23696,-0.23696]}, - {"t":4.71085, "x":6.07402, "y":4.9245, "heading":1.41481, "vx":0.10676, "vy":1.37314, "omega":-0.49979, "ax":0.20109, "ay":-0.01455, "alpha":0.0, "fx":[2.85046,2.85046,2.85046,2.85046], "fy":[-0.20617,-0.20617,-0.20617,-0.20617]}, - {"t":4.73422, "x":6.07657, "y":4.95659, "heading":1.40313, "vx":0.11146, "vy":1.3728, "omega":-0.49979, "ax":0.16094, "ay":-0.01238, "alpha":0.0, "fx":[2.28125,2.28125,2.28125,2.28125], "fy":[-0.17552,-0.17552,-0.17552,-0.17552]}, - {"t":4.75759, "x":6.07922, "y":4.98868, "heading":1.39144, "vx":0.11522, "vy":1.37251, "omega":-0.49979, "ax":0.12868, "ay":-0.01037, "alpha":0.0, "fx":[1.82408,1.82408,1.82408,1.82408], "fy":[-0.14704,-0.14704,-0.14704,-0.14704]}, - {"t":4.78097, "x":6.08195, "y":5.02075, "heading":1.37976, "vx":0.11823, "vy":1.37227, "omega":-0.49979, "ax":0.10277, "ay":-0.00859, "alpha":0.0, "fx":[1.45672,1.45672,1.45672,1.45672], "fy":[-0.1217,-0.1217,-0.1217,-0.1217]}, - {"t":4.80434, "x":6.08474, "y":5.05282, "heading":1.36808, "vx":0.12063, "vy":1.37207, "omega":-0.49979, "ax":0.08193, "ay":-0.00704, "alpha":0.0, "fx":[1.1613,1.1613,1.1613,1.1613], "fy":[-0.09973,-0.09973,-0.09973,-0.09973]}, - {"t":4.82771, "x":6.08758, "y":5.08489, "heading":1.3564, "vx":0.12255, "vy":1.3719, "omega":-0.49979, "ax":0.06515, "ay":-0.00571, "alpha":0.0, "fx":[0.92343,0.92343,0.92343,0.92343], "fy":[-0.08099,-0.08099,-0.08099,-0.08099]}, - {"t":4.85108, "x":6.09046, "y":5.11695, "heading":1.34472, "vx":0.12407, "vy":1.37177, "omega":-0.49979, "ax":0.0516, "ay":-0.0046, "alpha":0.0, "fx":[0.73137,0.73137,0.73137,0.73137], "fy":[-0.06516,-0.06516,-0.06516,-0.06516]}, - {"t":4.87446, "x":6.09338, "y":5.14901, "heading":1.33304, "vx":0.12528, "vy":1.37166, "omega":-0.49979, "ax":0.04061, "ay":-0.00366, "alpha":0.0, "fx":[0.57559,0.57559,0.57559,0.57559], "fy":[-0.05192,-0.05192,-0.05192,-0.05192]}, - {"t":4.89783, "x":6.09632, "y":5.18107, "heading":1.32136, "vx":0.12623, "vy":1.37158, "omega":-0.49979, "ax":0.03163, "ay":-0.00288, "alpha":0.0, "fx":[0.44829,0.44829,0.44829,0.44829], "fy":[-0.04082,-0.04082,-0.04082,-0.04082]}, - {"t":4.9212, "x":6.09928, "y":5.21313, "heading":1.30968, "vx":0.12696, "vy":1.37151, "omega":-0.49979, "ax":0.02421, "ay":-0.00222, "alpha":0.0, "fx":[0.34321,0.34321,0.34321,0.34321], "fy":[-0.03148,-0.03148,-0.03148,-0.03148]}, - {"t":4.94457, "x":6.10225, "y":5.24518, "heading":1.29799, "vx":0.12753, "vy":1.37146, "omega":-0.49979, "ax":0.018, "ay":-0.00166, "alpha":0.0, "fx":[0.25516,0.25516,0.25516,0.25516], "fy":[-0.02351,-0.02351,-0.02351,-0.02351]}, - {"t":4.96795, "x":6.10524, "y":5.27724, "heading":1.28631, "vx":0.12795, "vy":1.37142, "omega":-0.49979, "ax":0.01267, "ay":-0.00117, "alpha":0.0, "fx":[0.17966,0.17966,0.17966,0.17966], "fy":[-0.0166,-0.0166,-0.0166,-0.0166]}, - {"t":4.99132, "x":6.10823, "y":5.30929, "heading":1.27463, "vx":0.12825, "vy":1.37139, "omega":-0.49979, "ax":0.00796, "ay":-0.00074, "alpha":0.0, "fx":[0.1129,0.1129,0.1129,0.1129], "fy":[-0.01043,-0.01043,-0.01043,-0.01043]}, - {"t":5.01469, "x":6.11123, "y":5.34134, "heading":1.26295, "vx":0.12843, "vy":1.37137, "omega":-0.49979, "ax":0.00363, "ay":-0.00034, "alpha":0.0, "fx":[0.05152,0.05152,0.05152,0.05152], "fy":[-0.00475,-0.00475,-0.00475,-0.00475]}, - {"t":5.03806, "x":6.11423, "y":5.3734, "heading":1.25127, "vx":0.12852, "vy":1.37137, "omega":-0.49979, "ax":-0.00053, "ay":0.00005, "alpha":0.0, "fx":[-0.00752,-0.00752,-0.00752,-0.00752], "fy":[0.00074,0.00074,0.00074,0.00074]}, - {"t":5.06144, "x":6.11724, "y":5.40545, "heading":1.23959, "vx":0.12851, "vy":1.37137, "omega":-0.49979, "ax":-0.00474, "ay":0.00044, "alpha":0.0, "fx":[-0.06725,-0.06725,-0.06725,-0.06725], "fy":[0.00628,0.00628,0.00628,0.00628]}, - {"t":5.08481, "x":6.12024, "y":5.4375, "heading":1.22791, "vx":0.1284, "vy":1.37138, "omega":-0.49979, "ax":-0.00922, "ay":0.00086, "alpha":0.0, "fx":[-0.13067,-0.13067,-0.13067,-0.13067], "fy":[0.01214,0.01214,0.01214,0.01214]}, - {"t":5.10818, "x":6.12324, "y":5.46955, "heading":1.21623, "vx":0.12818, "vy":1.3714, "omega":-0.49979, "ax":-0.01418, "ay":0.00131, "alpha":0.0, "fx":[-0.20094,-0.20094,-0.20094,-0.20094], "fy":[0.01857,0.01857,0.01857,0.01857]}, - {"t":5.13155, "x":6.12623, "y":5.50161, "heading":1.20454, "vx":0.12785, "vy":1.37143, "omega":-0.49979, "ax":-0.01986, "ay":0.00183, "alpha":0.0, "fx":[-0.28156,-0.28156,-0.28156,-0.28156], "fy":[0.02592,0.02592,0.02592,0.02592]}, - {"t":5.15493, "x":6.12921, "y":5.53366, "heading":1.19286, "vx":0.12738, "vy":1.37147, "omega":-0.49979, "ax":-0.02656, "ay":0.00243, "alpha":0.0, "fx":[-0.37652,-0.37652,-0.37652,-0.37652], "fy":[0.03449,0.03449,0.03449,0.03449]}, - {"t":5.1783, "x":6.13218, "y":5.56572, "heading":1.18118, "vx":0.12676, "vy":1.37153, "omega":-0.49979, "ax":-0.03461, "ay":0.00315, "alpha":0.0, "fx":[-0.49053,-0.49053,-0.49053,-0.49053], "fy":[0.04469,0.04469,0.04469,0.04469]}, - {"t":5.20167, "x":6.13513, "y":5.59777, "heading":1.1695, "vx":0.12595, "vy":1.3716, "omega":-0.49979, "ax":-0.04439, "ay":0.00402, "alpha":0.0, "fx":[-0.6292,-0.6292,-0.6292,-0.6292], "fy":[0.057,0.057,0.057,0.057]}, - {"t":5.22504, "x":6.13807, "y":5.62983, "heading":1.15782, "vx":0.12492, "vy":1.3717, "omega":-0.49979, "ax":-0.05638, "ay":0.00509, "alpha":0.0, "fx":[-0.79923,-0.79923,-0.79923,-0.79923], "fy":[0.07208,0.07208,0.07208,0.07208]}, - {"t":5.24842, "x":6.14097, "y":5.66189, "heading":1.14614, "vx":0.1236, "vy":1.37181, "omega":-0.49979, "ax":-0.07117, "ay":0.0064, "alpha":0.0, "fx":[-1.00884,-1.00884,-1.00884,-1.00884], "fy":[0.09069,0.09069,0.09069,0.09069]}, - {"t":5.27179, "x":6.14384, "y":5.69396, "heading":1.13446, "vx":0.12194, "vy":1.37196, "omega":-0.49979, "ax":-0.08946, "ay":0.00805, "alpha":0.0, "fx":[-1.26807,-1.26807,-1.26807,-1.26807], "fy":[0.11408,0.11408,0.11408,0.11408]}, - {"t":5.29516, "x":6.14666, "y":5.72603, "heading":1.12278, "vx":0.11985, "vy":1.37215, "omega":-0.49979, "ax":-0.11211, "ay":0.01016, "alpha":0.0, "fx":[-1.58911,-1.58911,-1.58911,-1.58911], "fy":[0.14408,0.14408,0.14408,0.14408]}, - {"t":5.31853, "x":6.14944, "y":5.7581, "heading":1.11109, "vx":0.11722, "vy":1.37239, "omega":-0.49979, "ax":-0.14017, "ay":0.01298, "alpha":0.0, "fx":[-1.98693,-1.98693,-1.98693,-1.98693], "fy":[0.18393,0.18393,0.18393,0.18393]}, - {"t":5.34191, "x":6.15214, "y":5.79018, "heading":1.09941, "vx":0.11395, "vy":1.37269, "omega":-0.49979, "ax":-0.17495, "ay":0.01691, "alpha":0.0, "fx":[-2.47986,-2.47986,-2.47986,-2.47986], "fy":[0.23973,0.23973,0.23973,0.23973]}, - {"t":5.36528, "x":6.15475, "y":5.82227, "heading":1.08773, "vx":0.10986, "vy":1.37309, "omega":-0.49979, "ax":-0.21799, "ay":0.02284, "alpha":0.0, "fx":[-3.08992,-3.08992,-3.08992,-3.08992], "fy":[0.32377,0.32377,0.32377,0.32377]}, - {"t":5.38865, "x":6.15726, "y":5.85437, "heading":1.07605, "vx":0.10476, "vy":1.37362, "omega":-0.49979, "ax":-0.27117, "ay":0.03255, "alpha":0.0, "fx":[-3.84372,-3.84372,-3.84372,-3.84372], "fy":[0.46142,0.46142,0.46142,0.46142]}, - {"t":5.41202, "x":6.15964, "y":5.88648, "heading":1.06437, "vx":0.09843, "vy":1.37438, "omega":-0.49979, "ax":-0.33669, "ay":0.04981, "alpha":0.0, "fx":[-4.77247,-4.77247,-4.77247,-4.77247], "fy":[0.70607,0.70607,0.70607,0.70607]}, - {"t":5.4354, "x":6.16184, "y":5.91862, "heading":1.05269, "vx":0.09056, "vy":1.37555, "omega":-0.49979, "ax":-0.41708, "ay":0.08261, "alpha":0.0, "fx":[-5.912,-5.912,-5.912,-5.912], "fy":[1.17094,1.17094,1.17094,1.17094]}, - {"t":5.45877, "x":6.16385, "y":5.95079, "heading":1.04101, "vx":0.08081, "vy":1.37748, "omega":-0.49979, "ax":-0.51514, "ay":0.14807, "alpha":0.0, "fx":[-7.30193,-7.30193,-7.30193,-7.30193], "fy":[2.09881,2.09881,2.09881,2.09881]}, - {"t":5.48214, "x":6.16559, "y":5.98302, "heading":1.02933, "vx":0.06877, "vy":1.38094, "omega":-0.49979, "ax":-0.63371, "ay":0.28376, "alpha":0.0, "fx":[-8.98262,-8.98262,-8.98262,-8.98262], "fy":[4.02221,4.02221,4.02221,4.02221]}, - {"t":5.50551, "x":6.16703, "y":6.01538, "heading":1.01764, "vx":0.05396, "vy":1.38757, "omega":-0.49979, "ax":-0.77491, "ay":0.57698, "alpha":0.0, "fx":[-10.98413,-10.98413,-10.98413,-10.98413], "fy":[8.17849,8.17849,8.17849,8.17849]}, - {"t":5.52889, "x":6.16808, "y":6.04797, "heading":1.00596, "vx":0.03585, "vy":1.40106, "omega":-0.49979, "ax":-0.93562, "ay":1.25755, "alpha":0.0, "fx":[-13.26218,-13.26216,-13.26214,-13.26216], "fy":[17.82551,17.8255,17.82552,17.82553]}, - {"t":5.55226, "x":6.16866, "y":6.08106, "heading":0.99428, "vx":0.01398, "vy":1.43045, "omega":-0.49978, "ax":-0.98021, "ay":2.85853, "alpha":8.78119, "fx":[-48.55887,-7.97474,20.68125,-19.72453], "fy":[34.21793,8.27643,50.09832,69.48304]}, - {"t":5.57563, "x":6.16872, "y":6.11527, "heading":0.9826, "vx":-0.00893, "vy":1.49726, "omega":-0.29455, "ax":-0.13709, "ay":0.06693, "alpha":-7.75442, "fx":[26.98161,-7.75599,-30.73864,3.74008], "fy":[6.82757,29.73077,-4.74751,-28.01613]}, - {"t":5.60894, "x":6.16835, "y":6.16519, "heading":0.97279, "vx":-0.0135, "vy":1.49949, "omega":-0.55287, "ax":-0.00558, "ay":-0.00005, "alpha":-6.78349, "fx":[25.2271,-4.88169,-25.37411,4.71207], "fy":[4.79834,25.29818,-4.79554,-25.30379]}, - {"t":5.64226, "x":6.16789, "y":6.21514, "heading":0.95437, "vx":-0.01368, "vy":1.49949, "omega":-0.77885, "ax":-0.00023, "ay":0.0, "alpha":-5.87495, "fx":[21.98289,-3.75061,-21.9882,3.74307], "fy":[3.747,21.98532,-3.74668,-21.98575]}, - {"t":5.67557, "x":6.16744, "y":6.26509, "heading":0.92842, "vx":-0.01369, "vy":1.49949, "omega":-0.97456, "ax":-0.00001, "ay":0.0, "alpha":-5.03329, "fx":[18.91347,-2.71518,-18.91363,2.71487], "fy":[2.71503,18.91354,-2.71502,-18.91356]}, - {"t":5.70888, "x":6.16698, "y":6.31504, "heading":0.89596, "vx":-0.01369, "vy":1.49949, "omega":-1.14224, "ax":0.0, "ay":0.0, "alpha":-4.23744, "fx":[15.98945,-1.76143,-15.98949,1.76145], "fy":[1.76144,15.98947,-1.76144,-15.98947]}, - {"t":5.7422, "x":6.16652, "y":6.365, "heading":0.85791, "vx":-0.01369, "vy":1.49949, "omega":-1.2834, "ax":0.0, "ay":0.0, "alpha":-3.53358, "fx":[13.38025,-0.9537,-13.38027,0.95371], "fy":[0.95371,13.38026,-0.95371,-13.38026]}, - {"t":5.77551, "x":6.16607, "y":6.41495, "heading":0.81515, "vx":-0.01369, "vy":1.49949, "omega":-1.40111, "ax":0.0, "ay":0.0, "alpha":-2.79562, "fx":[10.60863,-0.29571,-10.60864,0.29571], "fy":[0.29571,10.60863,-0.29571,-10.60863]}, - {"t":5.80882, "x":6.16561, "y":6.4649, "heading":0.76848, "vx":-0.01369, "vy":1.49949, "omega":-1.49424, "ax":0.0, "ay":0.0, "alpha":-2.24428, "fx":[8.51815,0.1672,-8.51815,-0.1672], "fy":[-0.1672,8.51815,0.1672,-8.51815]}, - {"t":5.84214, "x":6.16516, "y":6.51485, "heading":0.7187, "vx":-0.01369, "vy":1.49949, "omega":-1.56901, "ax":0.0, "ay":0.0, "alpha":-1.53126, "fx":[5.79883,0.40549,-5.79884,-0.4055], "fy":[-0.40549,5.79883,0.40549,-5.79883]}, - {"t":5.87545, "x":6.1647, "y":6.56481, "heading":0.66643, "vx":-0.01369, "vy":1.49949, "omega":-1.62002, "ax":0.0, "ay":0.0, "alpha":-1.10853, "fx":[4.17606,0.51957,-4.17607,-0.51958], "fy":[-0.51957,4.17606,0.51957,-4.17606]}, - {"t":5.90876, "x":6.16424, "y":6.61476, "heading":0.61246, "vx":-0.01369, "vy":1.49949, "omega":-1.65695, "ax":0.0, "ay":0.0, "alpha":-0.49715, "fx":[1.85771,0.33281,-1.85772,-0.33282], "fy":[-0.33282,1.85772,0.33282,-1.85772]}, - {"t":5.94208, "x":6.16379, "y":6.66471, "heading":0.55727, "vx":-0.01369, "vy":1.49949, "omega":-1.67351, "ax":0.0, "ay":0.0, "alpha":-0.07365, "fx":[0.27062,0.07067,-0.27063,-0.07068], "fy":[-0.07067,0.27062,0.07067,-0.27063]}, - {"t":5.97539, "x":6.16333, "y":6.71466, "heading":0.50152, "vx":-0.01369, "vy":1.49949, "omega":-1.67596, "ax":0.0, "ay":0.0, "alpha":0.27934, "fx":[-1.01705,-0.30023,1.01704,0.30022], "fy":[0.30022,-1.01704,-0.30023,1.01704]}, - {"t":6.0087, "x":6.16288, "y":6.76462, "heading":0.44568, "vx":-0.01369, "vy":1.49949, "omega":-1.66666, "ax":0.0, "ay":0.0, "alpha":0.93178, "fx":[-3.32968,-1.19394,3.32966,1.19393], "fy":[1.19393,-3.32967,-1.19393,3.32967]}, - {"t":6.04202, "x":6.16242, "y":6.81457, "heading":0.39016, "vx":-0.01369, "vy":1.49949, "omega":-1.63562, "ax":0.0, "ay":0.0, "alpha":1.00664, "fx":[-3.52081,-1.48577,3.5208,1.48576], "fy":[1.48576,-3.5208,-1.48576,3.5208]}, - {"t":6.07533, "x":6.16196, "y":6.86452, "heading":0.33568, "vx":-0.01369, "vy":1.49949, "omega":-1.60208, "ax":0.0, "ay":0.0, "alpha":2.05607, "fx":[-7.00713,-3.43876,7.00711,3.43874], "fy":[3.43875,-7.00712,-3.43875,7.00712]}, - {"t":6.10864, "x":6.16151, "y":6.91447, "heading":0.2823, "vx":-0.01369, "vy":1.49949, "omega":-1.53359, "ax":0.0, "ay":0.0, "alpha":2.1333, "fx":[-7.07492,-3.9411,7.07489,3.94109], "fy":[3.9411,-7.07491,-3.94109,7.0749]}, - {"t":6.14195, "x":6.16105, "y":6.96443, "heading":0.23122, "vx":-0.01369, "vy":1.49949, "omega":-1.46252, "ax":0.0, "ay":0.0, "alpha":3.44774, "fx":[-11.08459,-6.96017,11.08454,6.96018], "fy":[6.9602,-11.08459,-6.96015,11.08454]}, - {"t":6.17527, "x":6.1606, "y":7.01438, "heading":0.1825, "vx":-0.01369, "vy":1.49949, "omega":-1.34767, "ax":0.0, "ay":0.0, "alpha":3.91856, "fx":[-12.20993,-8.49766,12.20982,8.49769], "fy":[8.49774,-12.20994,-8.4976,12.2098]}, - {"t":6.20858, "x":6.16014, "y":7.06433, "heading":0.1376, "vx":-0.01369, "vy":1.49949, "omega":-1.21713, "ax":-0.00001, "ay":0.0, "alpha":5.1108, "fx":[-15.41507,-11.78208,15.41471,11.78192], "fy":[11.78206,-15.41493,-11.78183,15.4147]}, - {"t":6.24189, "x":6.15968, "y":7.11428, "heading":0.09705, "vx":-0.01369, "vy":1.49949, "omega":-1.04687, "ax":-0.00019, "ay":0.0, "alpha":6.08814, "fx":[-17.80371,-14.74395,17.79834,14.73837], "fy":[14.7402,-17.80006,-14.74128,17.80103]}, - {"t":6.27521, "x":6.15923, "y":7.16424, "heading":0.06218, "vx":-0.0137, "vy":1.49949, "omega":-0.84406, "ax":-0.00462, "ay":-0.00004, "alpha":7.07987, "fx":[-20.17429,-17.89929,20.04529,17.76617], "fy":[17.82221,-20.10045,-17.84049,20.11631]}, - {"t":6.30852, "x":6.15877, "y":7.21419, "heading":0.03406, "vx":-0.01385, "vy":1.49949, "omega":-0.6082, "ax":-0.10994, "ay":-0.00115, "alpha":8.30919, "fx":[-24.56459,-23.10013,21.4601,19.97104], "fy":[21.4516,-22.96212,-21.69185,23.1371]}, - {"t":6.34183, "x":6.15825, "y":7.26414, "heading":0.0138, "vx":-0.01752, "vy":1.49945, "omega":-0.3314, "ax":-2.49421, "ay":-0.09846, "alpha":8.47646, "fx":[-57.21908,-56.44102,-13.47723,-14.28211], "fy":[20.97018,-24.20203,-26.64499,24.29396]}, - {"t":6.37515, "x":6.15628, "y":7.31404, "heading":0.00276, "vx":-0.10061, "vy":1.49617, "omega":-0.04902, "ax":-9.81785, "ay":-1.76927, "alpha":1.00022, "fx":[-140.46968,-138.97446,-137.76691,-139.45162], "fy":[-19.627,-28.97736,-30.80757,-20.90425]}, - {"t":6.40846, "x":6.14748, "y":7.3629, "heading":0.00113, "vx":-0.42767, "vy":1.43723, "omega":-0.0157, "ax":-9.79589, "ay":-4.23926, "alpha":0.20784, "fx":[-139.43165,-138.65006,-138.26804,-139.06813], "fy":[-58.77073,-60.62211,-61.41782,-59.5515]}, - {"t":6.44177, "x":6.1278, "y":7.40843, "heading":0.0006, "vx":-0.754, "vy":1.296, "omega":-0.00878, "ax":-8.58245, "ay":-6.50287, "alpha":0.09449, "fx":[-122.08051,-121.59916,-121.2261,-121.71103], "fy":[-91.61366,-92.25721,-92.73949,-92.09644]}, - {"t":6.47509, "x":6.09792, "y":7.44799, "heading":0.00031, "vx":-1.03991, "vy":1.07937, "omega":-0.00563, "ax":-6.47571, "ay":-8.63958, "alpha":0.05691, "fx":[-92.13272,-91.84118,-91.45046,-91.74216], "fy":[-122.2077,-122.42877,-122.71954,-122.49979]}, - {"t":6.5084, "x":6.05968, "y":7.47915, "heading":0.00012, "vx":-1.25563, "vy":0.79156, "omega":-0.00373, "ax":-4.21499, "ay":-9.95409, "alpha":0.03981, "fx":[-60.00401,-59.85076,-59.48914,-59.64181], "fy":[-140.98743,-141.05337,-141.20592,-141.14069]}, - {"t":6.54171, "x":6.01551, "y":7.5, "heading":0.0, "vx":-1.39605, "vy":0.45996, "omega":-0.00241, "ax":-2.26758, "ay":-10.56308, "alpha":0.01814, "fx":[-32.25524,-32.21532,-32.02956,-32.06927], "fy":[-149.70469,-149.71369,-149.75345,-149.74455]}, - {"t":6.5873, "x":5.94952, "y":7.50999, "heading":-0.00011, "vx":-1.49942, "vy":-0.02156, "omega":-0.00158, "ax":0.00504, "ay":-0.35752, "alpha":0.04031, "fx":[-0.03686,-0.03688,0.17984,0.17988], "fy":[-4.95969,-5.17575,-5.17576,-4.95969]}, - {"t":6.63288, "x":5.88117, "y":7.50864, "heading":-0.00018, "vx":-1.49919, "vy":-0.03786, "omega":0.00026, "ax":-0.00506, "ay":0.2331, "alpha":-0.00017, "fx":[-0.07124,-0.07124,-0.07217,-0.07217], "fy":[3.30367,3.3046,3.3046,3.30367]}, - {"t":6.67847, "x":5.81282, "y":7.50715, "heading":-0.00017, "vx":-1.49942, "vy":-0.02723, "omega":0.00025, "ax":-0.002, "ay":0.12267, "alpha":-0.00035, "fx":[-0.0274,-0.02739,-0.02927,-0.02927], "fy":[1.73788,1.73975,1.73975,1.73788]}, - {"t":6.72405, "x":5.74447, "y":7.50604, "heading":-0.00016, "vx":-1.49951, "vy":-0.02164, "omega":0.00023, "ax":-0.0011, "ay":0.08326, "alpha":-0.00027, "fx":[-0.01482,-0.01482,-0.01625,-0.01625], "fy":[1.17947,1.1809,1.1809,1.17947]}, - {"t":6.76964, "x":5.67611, "y":7.50514, "heading":-0.00015, "vx":-1.49956, "vy":-0.01784, "omega":0.00022, "ax":-0.00069, "ay":0.06262, "alpha":-0.0002, "fx":[-0.00918,-0.00917,-0.01026,-0.01026], "fy":[0.88708,0.88816,0.88817,0.88708]}, - {"t":6.81522, "x":5.60776, "y":7.50439, "heading":-0.00014, "vx":-1.49959, "vy":-0.01499, "omega":0.00021, "ax":-0.00046, "ay":0.04945, "alpha":-0.00015, "fx":[-0.00607,-0.00607,-0.00688,-0.00689], "fy":[0.70056,0.70137,0.70137,0.70056]}, - {"t":6.86081, "x":5.5394, "y":7.50376, "heading":-0.00013, "vx":-1.49961, "vy":-0.01274, "omega":0.00021, "ax":-0.00032, "ay":0.04014, "alpha":-0.00011, "fx":[-0.00418,-0.00418,-0.00479,-0.00479], "fy":[0.56861,0.56922,0.56922,0.56861]}, - {"t":6.90639, "x":5.47104, "y":7.50322, "heading":-0.00012, "vx":-1.49962, "vy":-0.01091, "omega":0.0002, "ax":-0.00022, "ay":0.03312, "alpha":-0.00008, "fx":[-0.00296,-0.00295,-0.0034,-0.0034], "fy":[0.46918,0.46962,0.46962,0.46918]}, - {"t":6.95198, "x":5.40267, "y":7.50276, "heading":-0.00011, "vx":-1.49964, "vy":-0.0094, "omega":0.0002, "ax":-0.00016, "ay":0.02759, "alpha":-0.00006, "fx":[-0.00213,-0.00213,-0.00245,-0.00245], "fy":[0.39098,0.3913,0.3913,0.39098]}, - {"t":6.99756, "x":5.33431, "y":7.50236, "heading":-0.0001, "vx":-1.49964, "vy":-0.00814, "omega":0.00019, "ax":-0.00012, "ay":0.02312, "alpha":-0.00004, "fx":[-0.00155,-0.00155,-0.00177,-0.00177], "fy":[0.32759,0.32781,0.32781,0.32759]}, - {"t":7.04315, "x":5.26595, "y":7.50201, "heading":-0.00009, "vx":-1.49965, "vy":-0.00709, "omega":0.00019, "ax":-0.00009, "ay":0.01941, "alpha":-0.00003, "fx":[-0.00115,-0.00115,-0.00129,-0.00129], "fy":[0.27503,0.27516,0.27516,0.27503]}, - {"t":7.08874, "x":5.19759, "y":7.50171, "heading":-0.00008, "vx":-1.49965, "vy":-0.0062, "omega":0.00019, "ax":-0.00006, "ay":0.01627, "alpha":-0.00001, "fx":[-0.00086,-0.00086,-0.00093,-0.00093], "fy":[0.23064,0.23071,0.23071,0.23064]}, - {"t":7.13432, "x":5.12923, "y":7.50144, "heading":-0.00007, "vx":-1.49965, "vy":-0.00546, "omega":0.00019, "ax":-0.00005, "ay":0.01359, "alpha":0.0, "fx":[-0.00066,-0.00066,-0.00066,-0.00066], "fy":[0.19258,0.19259,0.19259,0.19258]}, - {"t":7.17991, "x":5.06086, "y":7.50121, "heading":-0.00007, "vx":-1.49966, "vy":-0.00484, "omega":0.00019, "ax":-0.00003, "ay":0.01125, "alpha":0.00001, "fx":[-0.00052,-0.00052,-0.00046,-0.00046], "fy":[0.1595,0.15944,0.15944,0.1595]}, - {"t":7.22549, "x":4.9925, "y":7.501, "heading":-0.00006, "vx":-1.49966, "vy":-0.00433, "omega":0.00019, "ax":-0.00003, "ay":0.00919, "alpha":0.00002, "fx":[-0.00042,-0.00042,-0.00029,-0.00029], "fy":[0.13036,0.13023,0.13023,0.13036]}, - {"t":7.27108, "x":4.92414, "y":7.50081, "heading":-0.00005, "vx":-1.49966, "vy":-0.00391, "omega":0.00019, "ax":-0.00002, "ay":0.00735, "alpha":0.00004, "fx":[-0.00036,-0.00036,-0.00016,-0.00016], "fy":[0.10432,0.10412,0.10412,0.10432]}, - {"t":7.31666, "x":4.85578, "y":7.50064, "heading":-0.00004, "vx":-1.49966, "vy":-0.00357, "omega":0.00019, "ax":-0.00001, "ay":0.00568, "alpha":0.00006, "fx":[-0.00034,-0.00034,-0.00003,-0.00003], "fy":[0.08072,0.08042,0.08042,0.08072]}, - {"t":7.36225, "x":4.78742, "y":7.50048, "heading":-0.00003, "vx":-1.49966, "vy":-0.00331, "omega":0.0002, "ax":-0.00001, "ay":0.00415, "alpha":0.00007, "fx":[-0.00028,-0.00028,0.00007,0.00007], "fy":[0.05905,0.0587,0.0587,0.05905]}, - {"t":7.40783, "x":4.71905, "y":7.50034, "heading":-0.00002, "vx":-1.49966, "vy":-0.00312, "omega":0.0002, "ax":0.45603, "ay":0.00421, "alpha":-0.00161, "fx":[6.46847,6.46847,6.45985,6.45986], "fy":[0.05542,0.06406,0.06406,0.05542]}, - {"t":7.45342, "x":4.65116, "y":7.5002, "heading":-0.00001, "vx":-1.47887, "vy":-0.00293, "omega":0.00013, "ax":10.80228, "ay":0.02163, "alpha":-0.00075, "fx":[153.1198,153.11979,153.11978,153.1198], "fy":[0.30259,0.31059,0.31061,0.3026]}, - {"t":7.499, "x":4.59497, "y":7.50009, "heading":-0.00001, "vx":-0.98645, "vy":-0.00195, "omega":0.00009, "ax":10.81732, "ay":0.02141, "alpha":-0.00092, "fx":[153.33288,153.33286,153.33285,153.33287], "fy":[0.29855,0.30836,0.30838,0.29857]}, - {"t":7.54459, "x":4.56124, "y":7.50002, "heading":0.0, "vx":-0.49334, "vy":-0.00097, "omega":0.00005, "ax":10.82228, "ay":0.02127, "alpha":-0.00111, "fx":[153.40327,153.40325,153.40324,153.40327], "fy":[0.29557,0.30753,0.30755,0.29559]}, - {"t":7.59017, "x":4.55, "y":7.5, "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":0.9817, "x":5.36787, "y":7.50212, "heading":0.0, "vx":1.49967, "vy":0.00663, "omega":0.0, "ax":0.00006, "ay":-0.01498, "alpha":-0.00117, "fx":[0.00403,0.00403,-0.00226,-0.00226], "fy":[-0.21554,-0.20924,-0.20924,-0.21554]}, + {"t":1.02844, "x":5.43797, "y":7.50242, "heading":0.0, "vx":1.49967, "vy":0.00593, "omega":-0.00005, "ax":-0.09508, "ay":-2.46634, "alpha":-0.09656, "fx":[-1.07423,-1.07588,-1.62154,-1.61904], "fy":[-35.2066,-34.71502,-34.71296,-35.20452]}, + {"t":1.07519, "x":5.50798, "y":7.5, "heading":0.0, "vx":1.49523, "vy":-0.10936, "omega":-0.00457, "ax":-0.64989, "ay":-5.22036, "alpha":-3.16479, "fx":[1.16514,1.29823,-20.68137,-18.63009], "fy":[-81.01005,-67.96517,-66.93558,-80.07838]}, + {"t":1.10516, "x":5.55249, "y":7.49438, "heading":-0.00014, "vx":1.47575, "vy":-0.26579, "omega":-0.0994, "ax":-0.06459, "ay":-0.35145, "alpha":-4.62003, "fx":[11.43678,11.56106,-13.3979,-13.26197], "fy":[-17.38873,7.41269,7.40162,-17.35243]}, + {"t":1.13512, "x":5.59668, "y":7.48626, "heading":-0.00312, "vx":1.47382, "vy":-0.27633, "omega":-0.23784, "ax":-0.00347, "ay":-0.01847, "alpha":-4.2239, "fx":[11.25099,11.32733,-11.35499,-11.41989], "fy":[-11.63591,11.04159,11.11123,-11.56421]}, + {"t":1.16509, "x":5.64084, "y":7.47797, "heading":-0.01024, "vx":1.47372, "vy":-0.27688, "omega":-0.36441, "ax":-0.00018, "ay":-0.00097, "alpha":-3.86299, "fx":[10.26007,10.47273,-10.26547,-10.47763], "fy":[-10.4889,10.24909,10.46146,-10.27645]}, + {"t":1.19505, "x":5.685, "y":7.46967, "heading":-0.02116, "vx":1.47371, "vy":-0.27691, "omega":-0.48017, "ax":-0.00001, "ay":-0.00005, "alpha":-3.54409, "fx":[9.30991,9.71254,-9.31019,-9.7128], "fy":[-9.71339,9.30933,9.71196,-9.31076]}, + {"t":1.22502, "x":5.72916, "y":7.46137, "heading":-0.03555, "vx":1.47371, "vy":-0.27691, "omega":-0.58637, "ax":0.0, "ay":0.0, "alpha":-3.2644, "fx":[8.4457,9.06861,-8.44571,-9.06862], "fy":[-9.06865,8.44567,9.06858,-8.44574]}, + {"t":1.25498, "x":5.77332, "y":7.45308, "heading":-0.05312, "vx":1.47371, "vy":-0.27691, "omega":-0.68419, "ax":0.0, "ay":0.0, "alpha":-3.02132, "fx":[7.66814,8.52939,-7.66814,-8.52939], "fy":[-8.52939,7.66814,8.52938,-7.66814]}, + {"t":1.28495, "x":5.81749, "y":7.44478, "heading":-0.07362, "vx":1.47371, "vy":-0.27691, "omega":-0.77472, "ax":0.0, "ay":0.0, "alpha":-2.81256, "fx":[6.97402,8.0847,-6.97402,-8.0847], "fy":[-8.0847,6.97402,8.0847,-6.97402]}, + {"t":1.31491, "x":5.86165, "y":7.43648, "heading":-0.09684, "vx":1.47371, "vy":-0.27691, "omega":-0.859, "ax":0.0, "ay":0.0, "alpha":-2.63607, "fx":[6.35875,7.72708,-6.35875,-7.72708], "fy":[-7.72708,6.35875,7.72708,-6.35875]}, + {"t":1.34488, "x":5.90581, "y":7.42818, "heading":-0.12258, "vx":1.47371, "vy":-0.27691, "omega":-0.93799, "ax":0.0, "ay":0.0, "alpha":-2.49012, "fx":[5.81684,7.45144,-5.81684,-7.45144], "fy":[-7.45144,5.81684,7.45144,-5.81684]}, + {"t":1.37484, "x":5.94997, "y":7.41988, "heading":-0.15069, "vx":1.47371, "vy":-0.27691, "omega":-1.01261, "ax":0.0, "ay":0.0, "alpha":-2.37326, "fx":[5.34208,7.25474,-5.34208,-7.25474], "fy":[-7.25474,5.34208,7.25474,-5.34208]}, + {"t":1.40481, "x":5.99413, "y":7.41159, "heading":-0.18103, "vx":1.47371, "vy":-0.27691, "omega":-1.08373, "ax":0.0, "ay":0.0, "alpha":-2.28432, "fx":[4.92766,7.13565,-4.92766,-7.13565], "fy":[-7.13565,4.92766,7.13565,-4.92766]}, + {"t":1.43478, "x":6.03829, "y":7.40329, "heading":-0.2135, "vx":1.47371, "vy":-0.27691, "omega":-1.15218, "ax":0.0, "ay":0.0, "alpha":-2.22243, "fx":[4.56623,7.09433,-4.56623,-7.09433], "fy":[-7.09433,4.56623,7.09433,-4.56623]}, + {"t":1.46474, "x":6.08245, "y":7.39499, "heading":-0.24803, "vx":1.47371, "vy":-0.27691, "omega":-1.21877, "ax":0.0, "ay":0.0, "alpha":-2.18702, "fx":[4.24981,7.13224,-4.24981,-7.13225], "fy":[-7.13225,4.24981,7.13224,-4.24981]}, + {"t":1.49471, "x":6.12661, "y":7.38669, "heading":-0.28455, "vx":1.47371, "vy":-0.27691, "omega":-1.28431, "ax":0.0, "ay":0.0, "alpha":-2.17781, "fx":[3.96977,7.25199,-3.96977,-7.25199], "fy":[-7.25199,3.96977,7.25199,-3.96977]}, + {"t":1.52467, "x":6.17077, "y":7.3784, "heading":-0.32303, "vx":1.47371, "vy":-0.27691, "omega":-1.34957, "ax":0.0, "ay":0.0, "alpha":-2.19482, "fx":[3.71661,7.45714,-3.71661,-7.45714], "fy":[-7.45714,3.71661,7.45714,-3.71661]}, + {"t":1.55464, "x":6.21493, "y":7.3701, "heading":-0.36348, "vx":1.47371, "vy":-0.27691, "omega":-1.41534, "ax":0.0, "ay":0.0, "alpha":-2.23838, "fx":[3.47979,7.75215,-3.47979,-7.75215], "fy":[-7.75215,3.47979,7.75215,-3.47979]}, + {"t":1.5846, "x":6.25909, "y":7.3618, "heading":-0.40589, "vx":1.47371, "vy":-0.27691, "omega":-1.48241, "ax":0.0, "ay":0.0, "alpha":-2.30912, "fx":[3.24748,8.14218,-3.24748,-8.14218], "fy":[-8.14218,3.24748,8.14218,-3.24748]}, + {"t":1.61457, "x":6.30325, "y":7.3535, "heading":-0.45031, "vx":1.47371, "vy":-0.27691, "omega":-1.5516, "ax":0.0, "ay":0.0, "alpha":-2.40804, "fx":[3.0062,8.63298,-3.0062,-8.63298], "fy":[-8.63298,3.0062,8.63298,-3.0062]}, + {"t":1.64453, "x":6.34741, "y":7.34521, "heading":-0.4968, "vx":1.47371, "vy":-0.27691, "omega":-1.62376, "ax":0.0, "ay":0.0, "alpha":-2.53645, "fx":[2.74044,9.23067,-2.74044,-9.23067], "fy":[-9.23067,2.74044,9.23067,-2.74045]}, + {"t":1.6745, "x":6.39157, "y":7.33691, "heading":-0.54546, "vx":1.47371, "vy":-0.27691, "omega":-1.69977, "ax":0.0, "ay":0.0, "alpha":-2.69602, "fx":[2.43221,9.94147,-2.43221,-9.94147], "fy":[-9.94147,2.43221,9.94147,-2.43221]}, + {"t":1.70446, "x":6.43573, "y":7.32861, "heading":-0.59639, "vx":1.47371, "vy":-0.27691, "omega":-1.78055, "ax":0.0, "ay":0.0, "alpha":-2.88885, "fx":[2.06044,10.77136,-2.06043,-10.77135], "fy":[-10.77133,2.06047,10.77138,-2.06041]}, + {"t":1.73443, "x":6.47989, "y":7.32031, "heading":-0.64975, "vx":1.47371, "vy":-0.27691, "omega":-1.86712, "ax":0.00001, "ay":0.00004, "alpha":-3.11739, "fx":[1.60051,11.72564,-1.6003,-11.72544], "fy":[-11.72499,1.60096,11.72609,-1.59985]}, + {"t":1.7644, "x":6.52405, "y":7.31201, "heading":-0.7057, "vx":1.47371, "vy":-0.27691, "omega":-1.96053, "ax":0.00014, "ay":0.00075, "alpha":-3.38458, "fx":[1.02499,12.80975,-1.02094,-12.8058], "fy":[-12.79719,1.03368,12.81835,-1.01224]}, + {"t":1.79436, "x":6.56821, "y":7.30372, "heading":-0.76444, "vx":1.47371, "vy":-0.27689, "omega":-2.06195, "ax":0.00271, "ay":0.01442, "alpha":-3.69378, "fx":[0.33257,14.0573,-0.25503,-13.98132], "fy":[-13.81651,0.49992,14.22202,-0.08764]}, + {"t":1.82433, "x":6.61237, "y":7.29543, "heading":-0.82623, "vx":1.47379, "vy":-0.27645, "omega":-2.17264, "ax":0.05097, "ay":0.27605, "alpha":-4.04355, "fx":[0.10325,16.06536,1.34992,-14.62831], "fy":[-11.4545,3.32243,19.20127,4.58231]}, + {"t":1.85429, "x":6.65656, "y":7.28727, "heading":-0.89134, "vx":1.47532, "vy":-0.26818, "omega":-2.29381, "ax":0.61415, "ay":4.43993, "alpha":-3.15997, "fx":[7.78108,22.63368,9.62899,-5.22226], "fy":[52.79414,61.53555,72.65331,64.75695]}, + {"t":1.88426, "x":6.70104, "y":7.28122, "heading":-0.96007, "vx":1.49373, "vy":-0.13514, "omega":-2.3885, "ax":10.75978, "ay":-0.84352, "alpha":0.24307, "fx":[152.65558,152.53015,152.36816,152.51563], "fy":[-10.13372,-11.77794,-13.78304,-12.13208]}, + {"t":1.90759, "x":6.73882, "y":7.27784, "heading":-1.01579, "vx":1.74474, "vy":-0.15482, "omega":-2.38283, "ax":10.72262, "ay":-1.14017, "alpha":0.59781, "fx":[152.43407,152.06409,151.48002,151.98403], "fy":[-11.7159,-15.58811,-20.63322,-16.70932]}, + {"t":1.93091, "x":6.78244, "y":7.27392, "heading":-1.07138, "vx":1.99488, "vy":-0.18142, "omega":-2.36888, "ax":10.64881, "ay":-1.58084, "alpha":1.12622, "fx":[152.07043,151.19235,149.57761,150.937], "fy":[-14.12675,-21.18661,-30.78413,-23.53461]}, + {"t":1.95424, "x":6.83187, "y":7.26926, "heading":-1.12664, "vx":2.24331, "vy":-0.21829, "omega":-2.34261, "ax":10.48014, "ay":-2.2971, "alpha":1.98825, "fx":[151.38555,149.2337,144.96072,148.63424], "fy":[-18.15396,-30.57691,-47.17482,-34.33741]}, + {"t":1.97757, "x":6.88706, "y":7.26354, "heading":-1.18129, "vx":2.4878, "vy":-0.27188, "omega":-2.29622, "ax":9.99752, "ay":-3.62466, "alpha":3.58727, "fx":[149.76606,143.06519,131.32232,142.69614], "fy":[-25.92753,-50.17962,-76.47645,-52.9311]}, + {"t":2.0009, "x":6.94782, "y":7.25621, "heading":-1.23486, "vx":2.72103, "vy":-0.35644, "omega":-2.21254, "ax":7.98102, "ay":-6.49838, "alpha":7.22415, "fx":[143.75435,103.20938,81.98486,123.56755], "fy":[-45.60659,-108.04917,-127.0292,-87.76711]}, + {"t":2.02423, "x":7.01347, "y":7.24613, "heading":-1.28648, "vx":2.90722, "vy":-0.50804, "omega":-2.04401, "ax":0.08134, "ay":-9.30151, "alpha":14.2518, "fx":[75.68219,-95.46796,-31.60759,56.00503], "fy":[-125.03314,-114.69615,-147.71352,-139.9437]}, + {"t":2.04756, "x":7.08131, "y":7.23174, "heading":-1.33416, "vx":2.90911, "vy":-0.72503, "omega":-1.71153, "ax":-2.74671, "ay":-9.49679, "alpha":10.45543, "fx":[-5.5073,-112.17221,-57.34598,19.28951], "fy":[-147.61422,-100.55345,-140.34759,-149.94362]}, + {"t":2.07089, "x":7.14843, "y":7.21224, "heading":-1.37409, "vx":2.84504, "vy":-0.94658, "omega":-1.46761, "ax":-3.59222, "ay":-9.50466, "alpha":8.72628, "fx":[-29.62673,-111.03245,-64.51489,1.49853], "fy":[-146.73603,-102.85321,-137.64455,-151.67118]}, + {"t":2.09422, "x":7.21382, "y":7.18758, "heading":-1.40833, "vx":2.76123, "vy":-1.16832, "omega":-1.26404, "ax":-4.41653, "ay":-9.34681, "alpha":7.43695, "fx":[-49.92043,-112.16553,-72.33062,-15.99645], "fy":[-142.34165,-102.37012,-134.0423,-151.20135]}, + {"t":2.11755, "x":7.27704, "y":7.15778, "heading":-1.43782, "vx":2.6582, "vy":-1.38637, "omega":-1.09055, "ax":-5.23136, "ay":-9.05235, "alpha":6.46018, "fx":[-67.7019,-115.16704,-80.69409,-33.04982], "fy":[-135.58817,-99.53861,-129.44382,-148.68887]}, + {"t":2.14087, "x":7.33763, "y":7.12297, "heading":-1.46326, "vx":2.53616, "vy":-1.59755, "omega":-0.93984, "ax":-6.20958, "ay":-8.51263, "alpha":5.69604, "fx":[-87.22505,-121.23126,-91.35967,-52.26121], "fy":[-124.5048,-92.50427,-122.36322,-143.28591]}, + {"t":2.1642, "x":7.3951, "y":7.08339, "heading":-1.48518, "vx":2.3913, "vy":-1.79614, "omega":-0.80695, "ax":-7.59899, "ay":-7.38571, "alpha":5.07757, "fx":[-112.79635,-132.05556,-107.35302,-78.6507], "fy":[-102.42386,-76.69318,-108.79439,-130.85144]}, + {"t":2.18753, "x":7.44882, "y":7.03947, "heading":-1.50401, "vx":2.21402, "vy":-1.96844, "omega":-0.6885, "ax":-8.57192, "ay":-6.30612, "alpha":4.57086, "fx":[-128.37034,-139.27731,-119.38516,-98.98703], "fy":[-82.53018,-63.0092,-95.60904,-116.40249]}, + {"t":2.21086, "x":7.49814, "y":6.99184, "heading":-1.52007, "vx":2.01405, "vy":-2.11555, "omega":-0.58187, "ax":-9.17489, "ay":-5.45629, "alpha":4.15311, "fx":[-136.80199,-143.52544,-127.35484,-112.52508], "fy":[-68.037,-52.94166,-84.85487,-103.53288]}, + {"t":2.23419, "x":7.54263, "y":6.941, "heading":-1.53364, "vx":1.80001, "vy":-2.24284, "omega":-0.48498, "ax":-9.56126, "ay":-4.80117, "alpha":3.81513, "fx":[-141.65968,-146.15033,-132.74002,-121.56454], "fy":[-57.57159,-45.46915,-76.28724,-92.89403]}, + {"t":2.25752, "x":7.58202, "y":6.88737, "heading":-1.54496, "vx":1.57696, "vy":-2.35485, "omega":-0.39598, "ax":-9.8206, "ay":-4.29096, "alpha":3.54326, "fx":[-144.66596,-147.86471,-136.50747,-127.78054], "fy":[-49.81673,-39.77873,-69.43501,-84.26285]}, + {"t":2.28085, "x":7.61614, "y":6.83127, "heading":-1.5542, "vx":1.34785, "vy":-2.45495, "omega":-0.31332, "ax":-10.00228, "ay":-3.88662, "alpha":3.32329, "fx":[-146.64441,-149.03886,-139.23373,-132.20291], "fy":[-43.89302,-35.33467,-63.89229,-77.2475]}, + {"t":2.30418, "x":7.64486, "y":6.77294, "heading":-1.56151, "vx":1.11451, "vy":-2.54562, "omega":-0.23579, "ax":-10.13433, "ay":-3.56037, "alpha":3.14335, "fx":[-148.01355,-149.87499,-141.26611,-135.45229], "fy":[-39.23959,-31.7876,-59.35112,-71.49121]}, + {"t":2.3275, "x":7.6681, "y":6.71258, "heading":-1.56701, "vx":0.87809, "vy":-2.62868, "omega":-0.16246, "ax":-10.23332, "ay":-3.29277, "alpha":2.99428, "fx":[-149.00053,-150.48964,-142.82012,-137.90925], "fy":[-35.49454,-28.90521,-55.5853,-66.71197]}, + {"t":2.35083, "x":7.6858, "y":6.65036, "heading":-1.5708, "vx":0.63936, "vy":-2.70549, "omega":-0.09261, "ax":-10.06073, "ay":-3.9341, "alpha":0.58973, "fx":[-143.28874,-144.06557,-142.00381,-141.07592], "fy":[-54.05566,-51.99459,-57.4014,-59.60827]}, + {"t":2.38723, "x":7.70241, "y":6.54928, "heading":-1.57417, "vx":0.27317, "vy":-2.84869, "omega":-0.07114, "ax":-5.19491, "ay":-4.10204, "alpha":2.13688, "fx":[-70.48797,-80.91136,-76.85195,-66.29539], "fy":[-53.93591,-49.90074,-62.20064,-66.54445]}, + {"t":2.42363, "x":7.70891, "y":6.44288, "heading":-1.57676, "vx":0.08409, "vy":-2.99799, "omega":0.00663, "ax":1.59506, "ay":0.06001, "alpha":0.08226, "fx":[22.82652,22.39449,22.39263,22.82467], "fy":[1.07438,1.07798,0.62664,0.62342]}, + {"t":2.46003, "x":7.71303, "y":6.3338, "heading":-1.57651, "vx":0.14215, "vy":-2.99581, "omega":0.00963, "ax":0.55415, "ay":0.02817, "alpha":0.00149, "fx":[7.85893,7.85097,7.85092,7.85889], "fy":[0.40322,0.40326,0.39526,0.39521]}, + {"t":2.49642, "x":7.71857, "y":6.22478, "heading":-1.57616, "vx":0.16232, "vy":-2.99478, "omega":0.00968, "ax":0.30346, "ay":0.01701, "alpha":0.00003, "fx":[4.30161,4.30147,4.30147,4.30161], "fy":[0.24118,0.24118,0.24104,0.24104]}, + {"t":2.53282, "x":7.72468, "y":6.11579, "heading":-1.57581, "vx":0.17336, "vy":-2.99416, "omega":0.00968, "ax":0.21701, "ay":0.01285, "alpha":0.0, "fx":[3.0761,3.07609,3.07609,3.0761], "fy":[0.18219,0.18219,0.18218,0.18218]}, + {"t":2.56922, "x":7.73113, "y":6.00682, "heading":-1.57546, "vx":0.18126, "vy":-2.99369, "omega":0.00968, "ax":0.17641, "ay":0.01087, "alpha":0.0, "fx":[2.50063,2.50063,2.50063,2.50063], "fy":[0.1541,0.1541,0.1541,0.1541]}, + {"t":2.60562, "x":7.73784, "y":5.89786, "heading":-1.57511, "vx":0.18768, "vy":-2.9933, "omega":0.00968, "ax":0.15721, "ay":0.01001, "alpha":0.0, "fx":[2.22842,2.22842,2.22842,2.22842], "fy":[0.14186,0.14186,0.14186,0.14186]}, + {"t":2.64201, "x":7.74478, "y":5.78892, "heading":-1.57475, "vx":0.19341, "vy":-2.99293, "omega":0.00968, "ax":0.15292, "ay":0.01002, "alpha":0.0, "fx":[2.16761,2.16761,2.16761,2.16761], "fy":[0.1421,0.1421,0.1421,0.1421]}, + {"t":2.67841, "x":7.75192, "y":5.67999, "heading":-1.5744, "vx":0.19897, "vy":-2.99257, "omega":0.00968, "ax":0.16238, "ay":0.01096, "alpha":0.0, "fx":[2.30165,2.30165,2.30165,2.30165], "fy":[0.15531,0.15531,0.15531,0.15531]}, + {"t":2.71481, "x":7.75927, "y":5.57108, "heading":-1.57405, "vx":0.20488, "vy":-2.99217, "omega":0.00968, "ax":0.18791, "ay":0.01308, "alpha":0.0, "fx":[2.66355,2.66355,2.66355,2.66355], "fy":[0.18544,0.18544,0.18544,0.18544]}, + {"t":2.75121, "x":7.76685, "y":5.46218, "heading":-1.5737, "vx":0.21172, "vy":-2.99169, "omega":0.00968, "ax":0.23694, "ay":0.01711, "alpha":0.0, "fx":[3.35853,3.35853,3.35853,3.35853], "fy":[0.24254,0.24254,0.24254,0.24254]}, + {"t":2.7876, "x":7.77471, "y":5.3533, "heading":-1.57334, "vx":0.22034, "vy":-2.99107, "omega":0.00968, "ax":0.32402, "ay":0.02451, "alpha":0.0, "fx":[4.59294,4.59293,4.59293,4.59294], "fy":[0.34745,0.34745,0.34744,0.34744]}, + {"t":2.824, "x":7.78295, "y":5.24445, "heading":-1.57299, "vx":0.23214, "vy":-2.99018, "omega":0.00968, "ax":0.41699, "ay":0.03347, "alpha":0.00014, "fx":[5.91109,5.91032,5.91032,5.91109], "fy":[0.47476,0.47476,0.47399,0.47398]}, + {"t":2.8604, "x":7.79167, "y":5.13564, "heading":-1.57264, "vx":0.24732, "vy":-2.98896, "omega":0.00969, "ax":-0.55162, "ay":0.83383, "alpha":0.00819, "fx":[-7.79681,-7.84095,-7.84138,-7.79724], "fy":[11.84146,11.84119,11.79735,11.79761]}, + {"t":2.89679, "x":7.80031, "y":5.0274, "heading":-1.57229, "vx":0.22724, "vy":-2.95861, "omega":0.00999, "ax":-1.07242, "ay":10.68618, "alpha":0.00405, "fx":[-15.17776,-15.22047,-15.22479,-15.18207], "fy":[151.47664,151.47239,151.47158,151.47584]}, + {"t":2.93319, "x":7.80787, "y":4.92679, "heading":-1.57192, "vx":0.1882, "vy":-2.56966, "omega":0.01013, "ax":-1.36831, "ay":10.69935, "alpha":0.00491, "fx":[-19.36624,-19.41793,-19.42458,-19.37287], "fy":[151.6646,151.65801,151.65694,151.66353]}, + {"t":2.96959, "x":7.81382, "y":4.84035, "heading":-1.57155, "vx":0.1384, "vy":-2.18023, "omega":0.01031, "ax":-3.75277, "ay":10.13026, "alpha":0.00573, "fx":[-53.15762,-53.21154,-53.23152,-53.17757], "fy":[143.60771,143.5878,143.58023,143.60016]}, + {"t":3.00599, "x":7.81637, "y":4.7677, "heading":-1.57118, "vx":0.00181, "vy":-1.81152, "omega":0.01052, "ax":-5.99054, "ay":9.00123, "alpha":0.00622, "fx":[-84.87603,-84.92222,-84.95291,-84.90672], "fy":[127.61587,127.58522,127.56466,127.59533]}, + {"t":3.04238, "x":7.81246, "y":4.70773, "heading":-1.5708, "vx":-0.21623, "vy":-1.4839, "omega":0.01075, "ax":-10.45861, "ay":2.67733, "alpha":0.04351, "fx":[-148.17736,-148.20778,-148.31895,-148.28916], "fy":[38.22507,38.11303,37.6765,37.78743]}, + {"t":3.07071, "x":7.80215, "y":4.66678, "heading":-1.57049, "vx":-0.51244, "vy":-1.40807, "omega":0.01198, "ax":-9.70834, "ay":4.67465, "alpha":0.05635, "fx":[-137.43803,-137.55469,-137.78795,-137.67275], "fy":[66.62394,66.38931,65.90064,66.13435]}, + {"t":3.09903, "x":7.78374, "y":4.62878, "heading":-1.57015, "vx":-0.7874, "vy":-1.27567, "omega":0.01358, "ax":-8.51561, "ay":6.52404, "alpha":0.08158, "fx":[-120.3356,-120.66334,-121.07658,-120.75145], "fy":[92.95891,92.54401,91.99429,92.40959]}, + {"t":3.12735, "x":7.75802, "y":4.59526, "heading":-1.56977, "vx":-1.02857, "vy":-1.0909, "omega":0.01589, "ax":-6.93432, "ay":7.98562, "alpha":0.14637, "fx":[-97.47532,-98.36846,-99.10769,-98.21764], "fy":[113.90377,113.16481,112.48139,113.22723]}, + {"t":3.15567, "x":7.72611, "y":4.56757, "heading":-1.56932, "vx":-1.22497, "vy":-0.86473, "omega":0.02003, "ax":-4.79502, "ay":8.2936, "alpha":0.46945, "fx":[-65.37253,-68.86125,-70.58183,-67.0574], "fy":[119.16521,117.4885,115.92003,117.66565]}, + {"t":3.18399, "x":7.68949, "y":4.5464, "heading":-1.56875, "vx":-1.36077, "vy":-0.62984, "omega":0.03333, "ax":-1.03367, "ay":2.38485, "alpha":1.39879, "fx":[-10.63966,-18.36588,-18.74427,-10.85813], "fy":[37.58766,37.23466,30.04523,30.35109]}, + {"t":3.21232, "x":7.65054, "y":4.52952, "heading":-1.56781, "vx":-1.39005, "vy":-0.5623, "omega":0.07294, "ax":-0.06163, "ay":0.15304, "alpha":-0.68693, "fx":[-2.71326,0.9765,0.96481,-2.72243], "fy":[0.32007,0.33119,4.01894,4.00683]}, + {"t":3.24064, "x":7.61115, "y":4.51366, "heading":-1.56574, "vx":-1.39179, "vy":-0.55796, "omega":0.05349, "ax":-0.00366, "ay":0.00914, "alpha":-2.93823, "fx":[-7.89981,7.87572,7.79461,-7.97817], "fy":[-7.79715,-7.71793,8.05674,7.97645]}, + {"t":3.26896, "x":7.57173, "y":4.49786, "heading":-1.56423, "vx":-1.3919, "vy":-0.5577, "omega":-0.02973, "ax":-0.00022, "ay":0.00055, "alpha":-5.16495, "fx":[-13.77625,13.9522,13.76976,-13.95818], "fy":[-13.94736,-13.76527,13.96303,13.78074]}, + {"t":3.29728, "x":7.53231, "y":4.48206, "heading":-1.56507, "vx":-1.3919, "vy":-0.55769, "omega":-0.17601, "ax":-0.00001, "ay":0.00003, "alpha":-7.34973, "fx":[-19.61591,19.84156,19.6155,-19.84191], "fy":[-19.84125,-19.61523,19.84222,19.61617]}, + {"t":3.3256, "x":7.49288, "y":4.46627, "heading":-1.57005, "vx":-1.3919, "vy":-0.55769, "omega":-0.38417, "ax":0.0, "ay":0.0, "alpha":-9.47653, "fx":[-25.41916,25.45696,25.41913,-25.45698], "fy":[-25.45694,-25.41911,25.457,25.41917]}, + {"t":3.35393, "x":7.45346, "y":4.45047, "heading":-1.58093, "vx":-1.3919, "vy":-0.55769, "omega":-0.65256, "ax":0.0, "ay":0.0, "alpha":-11.5316, "fx":[-31.26674,30.63919,31.26674,-30.63919], "fy":[-30.63919,-31.26674,30.63919,31.26675]}, + {"t":3.38225, "x":7.41404, "y":4.43468, "heading":-1.59941, "vx":-1.3919, "vy":-0.55769, "omega":-0.97916, "ax":0.0, "ay":0.0, "alpha":-13.50409, "fx":[-37.27178,35.19725,37.27178,-35.19725], "fy":[-35.19724,-37.27177,35.19725,37.27178]}, + {"t":3.41057, "x":7.37462, "y":4.41889, "heading":-1.62715, "vx":-1.3919, "vy":-0.55769, "omega":-1.36162, "ax":0.0, "ay":0.0, "alpha":-15.38639, "fx":[-43.56266,38.91035,43.56264,-38.91035], "fy":[-38.91033,-43.56263,38.91037,43.56267]}, + {"t":3.43889, "x":7.3352, "y":4.40309, "heading":-1.66571, "vx":-1.3919, "vy":-0.55769, "omega":-1.79739, "ax":0.0, "ay":0.00001, "alpha":-17.17434, "fx":[-50.26316,41.52484,50.26301,-41.5249], "fy":[-41.52471,-50.26296,41.52503,50.26321]}, + {"t":3.46721, "x":7.29578, "y":4.3873, "heading":-1.71662, "vx":-1.3919, "vy":-0.55769, "omega":-2.2838, "ax":-0.00004, "ay":0.0001, "alpha":-18.86714, "fx":[-57.46782,42.74874,57.46614,-42.74936], "fy":[-42.7474,-57.46574,42.75071,57.46821]}, + {"t":3.49554, "x":7.25636, "y":4.3715, "heading":-1.7813, "vx":-1.3919, "vy":-0.55768, "omega":-2.81816, "ax":-0.00042, "ay":0.00105, "alpha":-20.46724, "fx":[-65.21664,42.24496,65.19896,-42.25119], "fy":[-42.23019,-65.19583,42.26596,65.21977]}, + {"t":3.52386, "x":7.21693, "y":4.35571, "heading":-1.86111, "vx":-1.39192, "vy":-0.55765, "omega":-3.39783, "ax":-0.00413, "ay":0.01032, "alpha":-21.98007, "fx":[-73.50735,39.61111,73.33701,-39.67498], "fy":[-39.45866,-73.31405,39.82738,73.53019]}, + {"t":3.55218, "x":7.17751, "y":4.33992, "heading":-1.95735, "vx":-1.39203, "vy":-0.55736, "omega":-4.02035, "ax":-0.0376, "ay":0.09416, "alpha":-23.4112, "fx":[-82.62755,34.17709,81.17103,-34.85219], "fy":[-32.74017,-81.00196,36.28962,82.79132]}, + {"t":3.5805, "x":7.13807, "y":4.32417, "heading":-2.07121, "vx":-1.3931, "vy":-0.5547, "omega":-4.6834, "ax":-0.31038, "ay":0.79834, "alpha":-24.55593, "fx":[-94.74971,22.53488,84.20216,-29.58563], "fy":[-10.67522,-82.48791,42.02758,96.40057]}, + {"t":3.60882, "x":7.09849, "y":4.30878, "heading":-2.20385, "vx":-1.40189, "vy":-0.53209, "omega":-5.37887, "ax":-1.91432, "ay":6.25195, "alpha":-14.10232, "fx":[-91.32327,-33.23247,44.59639,-28.58087], "fy":[77.22927,46.7392,106.87926,123.63194]}, + {"t":3.63715, "x":7.05802, "y":4.29622, "heading":-2.35619, "vx":-1.45611, "vy":-0.35502, "omega":-5.77827, "ax":-1.48919, "ay":7.91904, "alpha":-6.83783, "fx":[-58.2704,-29.0441,20.08862,-17.20958], "fy":[106.92777,99.93973,116.72283,125.41197]}, + {"t":3.65809, "x":7.0272, "y":4.29052, "heading":-2.4772, "vx":-1.48729, "vy":-0.18918, "omega":-5.92146, "ax":-0.26102, "ay":2.36414, "alpha":-16.0877, "fx":[-64.09458,-14.42217,60.64478,3.07251], "fy":[44.20415,-29.88167,31.88043,87.8414]}, + {"t":3.67903, "x":6.996, "y":4.28708, "heading":-2.6012, "vx":-1.49276, "vy":-0.13968, "omega":-6.25836, "ax":-0.03815, "ay":0.42111, "alpha":-14.09163, "fx":[-52.0932,-13.96092,51.81085,12.08013], "fy":[19.50652,-46.4796,-6.35523,57.20506]}, + {"t":3.69997, "x":6.96473, "y":4.28424, "heading":-2.73225, "vx":-1.49356, "vy":-0.13086, "omega":-6.55345, "ax":-0.00583, "ay":0.0669, "alpha":-10.30157, "fx":[-36.41188,-14.49179,36.33855,14.23467], "fy":[15.351,-35.46582,-13.37178,37.28]}, + {"t":3.72091, "x":6.93345, "y":4.28152, "heading":-2.86949, "vx":-1.49368, "vy":-0.12946, "omega":-6.76917, "ax":-0.00091, "ay":0.01053, "alpha":-6.05792, "fx":[-20.04341,-11.30867,20.02363,11.27683], "fy":[11.44347,-19.88571,-11.14197,20.18126]}, + {"t":3.74185, "x":6.90217, "y":4.27881, "heading":-3.01124, "vx":-1.4937, "vy":-0.12924, "omega":-6.89603, "ax":-0.00023, "ay":0.00261, "alpha":-1.53576, "fx":[-4.6265,-3.55491,4.62022,3.54842], "fy":[3.58866,-4.58639,-3.51468,4.66033]}, + {"t":3.76279, "x":6.87089, "y":4.2761, "heading":3.12753, "vx":-1.4937, "vy":-0.12918, "omega":-6.92819, "ax":-0.00009, "ay":0.00106, "alpha":3.05005, "fx":[8.07019,8.30024,-8.07262,-8.30301], "fy":[-8.28663,8.08642,8.31661,-8.05639]}, + {"t":3.78373, "x":6.83961, "y":4.2734, "heading":2.98245, "vx":-1.4937, "vy":-0.12916, "omega":-6.86432, "ax":0.0, "ay":0.0, "alpha":7.47256, "fx":[16.6265,22.98402,-16.62655,-22.98408], "fy":[-22.984,16.62658,22.9841,-16.62648]}, + {"t":3.80467, "x":6.80833, "y":4.27069, "heading":2.8387, "vx":-1.4937, "vy":-0.12916, "omega":-6.70784, "ax":0.00005, "ay":-0.00064, "alpha":11.56406, "fx":[20.36972,38.88905,-20.36937,-38.8864], "fy":[-38.89635,20.35997,38.87909,-20.37912]}, + {"t":3.82561, "x":6.77705, "y":4.26799, "heading":2.69823, "vx":-1.4937, "vy":-0.12917, "omega":-6.46568, "ax":0.00006, "ay":-0.00069, "alpha":15.22817, "fx":[19.3898,54.46214,-19.38979,-54.45895], "fy":[-54.46923,19.3788,54.45185,-19.40079]}, + {"t":3.84656, "x":6.74577, "y":4.26528, "heading":2.56284, "vx":-1.4937, "vy":-0.12919, "omega":-6.14678, "ax":0.00003, "ay":-0.0004, "alpha":18.42211, "fx":[14.34877,68.44716,-14.34866,-68.44549], "fy":[-68.4509,14.3419,68.44174,-14.35554]}, + {"t":3.8675, "x":6.71449, "y":4.26258, "heading":2.43412, "vx":-1.4937, "vy":-0.1292, "omega":-5.76101, "ax":0.0, "ay":0.0, "alpha":21.14799, "fx":[6.24938,80.03851,-6.2495,-80.03858], "fy":[-80.03852,6.24949,80.03857,-6.24939]}, + {"t":3.88844, "x":6.68321, "y":4.25987, "heading":2.31348, "vx":-1.4937, "vy":-0.1292, "omega":-5.31815, "ax":-0.00007, "ay":0.00075, "alpha":23.44359, "fx":[-3.80227,88.91518,3.79911,-88.91584], "fy":[-88.90841,-3.78653,88.92261,3.81486]}, + {"t":3.90938, "x":6.65193, "y":4.25717, "heading":2.20211, "vx":-1.4937, "vy":-0.12918, "omega":-4.82721, "ax":-0.00028, "ay":0.00322, "alpha":25.36605, "fx":[-14.78997,95.15684,14.76816,-95.15092], "fy":[-95.12488,-14.71682,95.18287,14.8413]}, + {"t":3.93032, "x":6.62066, "y":4.25446, "heading":2.10102, "vx":-1.49371, "vy":-0.12911, "omega":-4.29602, "ax":-0.00107, "ay":0.01232, "alpha":26.9766, "fx":[-25.90833,99.12145,25.79048,-99.06402], "fy":[-98.98253,-25.60997,99.20284,26.08835]}, + {"t":3.95126, "x":6.58938, "y":4.25176, "heading":2.01106, "vx":-1.49373, "vy":-0.12886, "omega":-3.73111, "ax":-0.00381, "ay":0.04434, "alpha":28.33102, "fx":[-36.65978,101.37139,36.11815,-101.0459], "fy":[-100.8,-35.53563,101.61518,37.23433]}, + {"t":3.9722, "x":6.55809, "y":4.24907, "heading":1.93293, "vx":-1.49381, "vy":-0.12793, "omega":-3.13783, "ax":-0.01272, "ay":0.15036, "alpha":29.47147, "fx":[-47.07183,102.7464,44.88955,-101.28515], "fy":[-100.54404,-43.1178,103.45051,48.73641]}, + {"t":3.99314, "x":6.52681, "y":4.24643, "heading":1.86722, "vx":-1.49408, "vy":-0.12478, "omega":-2.52066, "ax":-0.03873, "ay":0.48367, "alpha":30.37969, "fx":[-58.40166,104.77022,50.54801,-99.11265], "fy":[-96.73066,-45.1118,106.63546,62.6306]}, + {"t":4.01408, "x":6.49551, "y":4.24392, "heading":1.81443, "vx":-1.49489, "vy":-0.11465, "omega":-1.88448, "ax":-0.09953, "ay":1.50871, "alpha":30.55019, "fx":[-75.2017,110.42841,50.25096,-91.12111], "fy":[-81.47106,-30.64927,114.28671,83.37595]}, + {"t":4.03502, "x":6.46419, "y":4.24185, "heading":1.77497, "vx":-1.49697, "vy":-0.08306, "omega":-1.24473, "ax":-0.10365, "ay":4.89228, "alpha":24.8987, "fx":[-98.05284,113.4537,44.83569,-66.11361], "fy":[-0.78115,36.58689,126.74847,114.83316]}, + {"t":4.05597, "x":6.43282, "y":4.24118, "heading":1.7489, "vx":-1.49914, "vy":0.01939, "omega":-0.72333, "ax":0.74572, "ay":9.40887, "alpha":8.69158, "fx":[-29.51921,66.95456,33.43485,-28.58846], "fy":[131.59228,121.5826,140.04425,140.25505]}, + {"t":4.07691, "x":6.40159, "y":4.24365, "heading":1.73375, "vx":-1.48353, "vy":0.21642, "omega":-0.54132, "ax":2.24595, "ay":10.14499, "alpha":3.47165, "fx":[20.35725,55.64396,40.65955,10.6823], "fy":[146.08238,137.27566,143.45591,148.39738]}, + {"t":4.09785, "x":6.37101, "y":4.25041, "heading":1.72242, "vx":-1.43649, "vy":0.42887, "omega":-0.46862, "ax":3.79368, "ay":9.92461, "alpha":1.8761, "fx":[49.97428,66.53941,57.15219,41.43216], "fy":[142.15559,135.41818,139.92845,145.21361]}, + {"t":4.11879, "x":6.34176, "y":4.26157, "heading":1.71261, "vx":-1.35705, "vy":0.6367, "omega":-0.42933, "ax":5.27658, "ay":9.32292, "alpha":1.20053, "fx":[73.74034,82.56907,75.85438,67.01337], "fy":[132.7849,127.58742,131.80057,136.42787]}, + {"t":4.13973, "x":6.3145, "y":4.27694, "heading":1.70362, "vx":-1.24655, "vy":0.83193, "omega":-0.40419, "ax":6.6539, "ay":8.44835, "alpha":0.85337, "fx":[94.40835,99.32877,94.31504,89.21766], "fy":[119.71058,115.72275,119.89563,123.6842]}, + {"t":4.16067, "x":6.28986, "y":4.29622, "heading":1.69515, "vx":-1.10721, "vy":1.00885, "omega":-0.38632, "ax":8.40109, "ay":6.76442, "alpha":0.49546, "fx":[119.64042,121.34429,118.58356,116.76527], "fy":[95.20034,93.05024,96.56132,98.72428]}, + {"t":4.20423, "x":6.2496, "y":4.34657, "heading":1.67833, "vx":-0.74131, "vy":1.30347, "omega":-0.36474, "ax":9.98684, "ay":3.77785, "alpha":0.83066, "fx":[142.6709,143.43474,140.58463,139.5542], "fy":[50.48248,48.64832,56.43343,58.63649]}, + {"t":4.24778, "x":6.22679, "y":4.40693, "heading":1.66244, "vx":-0.30634, "vy":1.46802, "omega":-0.32856, "ax":6.68238, "ay":0.72467, "alpha":5.70268, "fx":[87.74332,105.97019,102.24175,82.92911], "fy":[-14.05818,-7.59884,29.51493,33.23009]}, + {"t":4.29133, "x":6.21978, "y":4.47155, "heading":1.64813, "vx":-0.01529, "vy":1.49958, "omega":-0.08018, "ax":0.20755, "ay":0.0015, "alpha":2.67061, "fx":[-3.64712,10.63854,9.53497,-4.75822], "fy":[-7.69548,-6.56212,7.71248,6.62989]}, + {"t":4.33489, "x":6.21931, "y":4.53687, "heading":1.64464, "vx":-0.00625, "vy":1.49964, "omega":0.03614, "ax":0.00375, "ay":0.00002, "alpha":0.53479, "fx":[-1.27262,1.59065,1.37884,-1.48443], "fy":[-1.53733,-1.3255,1.53775,1.32596]}, + {"t":4.37844, "x":6.21904, "y":4.60219, "heading":1.64621, "vx":-0.00608, "vy":1.49964, "omega":0.05943, "ax":0.00007, "ay":0.0, "alpha":0.10535, "fx":[-0.25974,0.30426,0.26164,-0.30236], "fy":[-0.3033,-0.26069,0.30331,0.2607]}, + {"t":4.422, "x":6.21878, "y":4.6675, "heading":1.6488, "vx":-0.00608, "vy":1.49964, "omega":0.06402, "ax":0.0, "ay":0.0, "alpha":0.0207, "fx":[-0.05104,0.05973,0.05107,-0.0597], "fy":[-0.05971,-0.05106,0.05971,0.05106]}, + {"t":4.46555, "x":6.21851, "y":4.73282, "heading":1.65159, "vx":-0.00608, "vy":1.49964, "omega":0.06492, "ax":0.0, "ay":0.0, "alpha":0.00406, "fx":[-0.00999,0.01175,0.00999,-0.01175], "fy":[-0.01175,-0.00999,0.01175,0.00999]}, + {"t":4.50911, "x":6.21825, "y":4.79814, "heading":1.65441, "vx":-0.00608, "vy":1.49964, "omega":0.0651, "ax":0.0, "ay":0.0, "alpha":0.0008, "fx":[-0.00195,0.00231,0.00195,-0.00231], "fy":[-0.00231,-0.00195,0.00231,0.00195]}, + {"t":4.55266, "x":6.21798, "y":4.86345, "heading":1.65725, "vx":-0.00608, "vy":1.49964, "omega":0.06513, "ax":0.0, "ay":0.0, "alpha":0.00016, "fx":[-0.00038,0.00046,0.00038,-0.00046], "fy":[-0.00046,-0.00038,0.00046,0.00038]}, + {"t":4.59622, "x":6.21772, "y":4.92877, "heading":1.66009, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[-0.00007,0.00009,0.00007,-0.00009], "fy":[-0.00009,-0.00007,0.00009,0.00007]}, + {"t":4.63977, "x":6.21745, "y":4.99408, "heading":1.66292, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[-0.00001,0.00002,0.00001,-0.00002], "fy":[-0.00002,-0.00001,0.00002,0.00001]}, + {"t":4.68333, "x":6.21719, "y":5.0594, "heading":1.66576, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.72688, "x":6.21692, "y":5.12472, "heading":1.6686, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.77044, "x":6.21666, "y":5.19003, "heading":1.67144, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.81399, "x":6.2164, "y":5.25535, "heading":1.67427, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.85754, "x":6.21613, "y":5.32067, "heading":1.67711, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.9011, "x":6.21587, "y":5.38598, "heading":1.67995, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.94465, "x":6.2156, "y":5.4513, "heading":1.68278, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.98821, "x":6.21534, "y":5.51662, "heading":1.68562, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[-0.00001,0.00002,0.00001,-0.00002], "fy":[-0.00002,-0.00001,0.00002,0.00001]}, + {"t":5.03176, "x":6.21507, "y":5.58193, "heading":1.68846, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[-0.00007,0.00009,0.00007,-0.00009], "fy":[-0.00009,-0.00007,0.00009,0.00007]}, + {"t":5.07532, "x":6.21481, "y":5.64725, "heading":1.6913, "vx":-0.00608, "vy":1.49964, "omega":0.06514, "ax":0.0, "ay":0.0, "alpha":0.00015, "fx":[-0.00036,0.00045,0.00036,-0.00045], "fy":[-0.00045,-0.00036,0.00045,0.00036]}, + {"t":5.11887, "x":6.21454, "y":5.71257, "heading":1.69413, "vx":-0.00608, "vy":1.49964, "omega":0.06515, "ax":0.0, "ay":0.0, "alpha":0.00078, "fx":[-0.00181,0.00232,0.00181,-0.00232], "fy":[-0.00232,-0.00181,0.00232,0.00181]}, + {"t":5.16243, "x":6.21428, "y":5.77788, "heading":1.69697, "vx":-0.00608, "vy":1.49964, "omega":0.06518, "ax":0.0, "ay":0.0, "alpha":0.00395, "fx":[-0.00919,0.01185,0.00918,-0.01185], "fy":[-0.01185,-0.00918,0.01185,0.00918]}, + {"t":5.20598, "x":6.21401, "y":5.8432, "heading":1.69981, "vx":-0.00608, "vy":1.49964, "omega":0.06535, "ax":0.0, "ay":0.0, "alpha":0.02012, "fx":[-0.04667,0.06047,0.04657,-0.06057], "fy":[-0.06052,-0.04662,0.06052,0.04662]}, + {"t":5.24954, "x":6.21375, "y":5.90851, "heading":1.70266, "vx":-0.00608, "vy":1.49964, "omega":0.06623, "ax":-0.00019, "ay":0.0, "alpha":0.10258, "fx":[-0.2395,0.30644,0.23403,-0.31191], "fy":[-0.30919,-0.23678,0.30916,0.23676]}, + {"t":5.29309, "x":6.21348, "y":5.97383, "heading":1.70554, "vx":-0.00609, "vy":1.49964, "omega":0.0707, "ax":-0.01078, "ay":-0.00005, "alpha":0.52429, "fx":[-1.35832,1.43092,1.05278,-1.73643], "fy":[-1.5843,-1.20623,1.58306,1.20489]}, + {"t":5.33665, "x":6.21321, "y":6.03915, "heading":1.70862, "vx":-0.00656, "vy":1.49964, "omega":0.09353, "ax":-0.59518, "ay":-0.0274, "alpha":2.69642, "fx":[-14.59906,-0.28715,-2.29108,-16.56904], "fy":[-8.53845,-6.62108,7.83504,5.77101]}, + {"t":5.3802, "x":6.21236, "y":6.10444, "heading":1.71269, "vx":-0.03248, "vy":1.49845, "omega":0.21097, "ax":-1.0288, "ay":-0.0104, "alpha":11.9633, "fx":[-41.87507,21.76392,12.0342,-50.25503], "fy":[-35.56373,-28.92984,37.74382,26.15987]}, + {"t":5.41163, "x":6.21083, "y":6.15152, "heading":1.71932, "vx":-0.06481, "vy":1.49812, "omega":0.58692, "ax":-0.05503, "ay":-0.00241, "alpha":10.88512, "fx":[-25.36696,32.45474,23.77866,-33.98637], "fy":[-33.20161,-24.66333,33.24273,24.48547]}, + {"t":5.44305, "x":6.20876, "y":6.1986, "heading":1.73777, "vx":-0.06654, "vy":1.49805, "omega":0.92899, "ax":-0.00284, "ay":-0.00013, "alpha":9.65644, "fx":[-21.29344,29.82891,21.21169,-29.90805], "fy":[-29.86807,-21.25656,29.86889,21.24858]}, + {"t":5.47448, "x":6.20667, "y":6.24567, "heading":1.76696, "vx":-0.06663, "vy":1.49804, "omega":1.23244, "ax":-0.00014, "ay":-0.00001, "alpha":8.4814, "fx":[-17.8948,26.76564,17.89071,-26.76962], "fy":[-26.76764,-17.89293,26.76762,17.89258]}, + {"t":5.5059, "x":6.20458, "y":6.29275, "heading":1.80569, "vx":-0.06663, "vy":1.49804, "omega":1.49897, "ax":-0.00001, "ay":0.0, "alpha":7.3641, "fx":[-14.6242,23.8254,14.62399,-23.8256], "fy":[-23.8255,-14.62411,23.8255,14.62409]}, + {"t":5.53733, "x":6.20248, "y":6.33983, "heading":1.85279, "vx":-0.06663, "vy":1.49804, "omega":1.73038, "ax":0.0, "ay":0.0, "alpha":6.30546, "fx":[-11.5473,20.96741,11.54728,-20.96743], "fy":[-20.96742,-11.54729,20.96742,11.54729]}, + {"t":5.56875, "x":6.20039, "y":6.3869, "heading":1.90717, "vx":-0.06663, "vy":1.49804, "omega":1.92853, "ax":0.0, "ay":0.0, "alpha":5.30388, "fx":[-8.74015,18.1387,8.74013,-18.13872], "fy":[-18.13871,-8.74014,18.13871,8.74014]}, + {"t":5.60018, "x":6.1983, "y":6.43398, "heading":1.96778, "vx":-0.06663, "vy":1.49804, "omega":2.09521, "ax":0.0, "ay":0.0, "alpha":4.35548, "fx":[-6.26196,15.30263,6.26194,-15.30264], "fy":[-15.30263,-6.26195,15.30263,6.26195]}, + {"t":5.6316, "x":6.1962, "y":6.48105, "heading":2.03362, "vx":-0.06663, "vy":1.49804, "omega":2.23208, "ax":0.0, "ay":0.0, "alpha":3.45448, "fx":[-4.15726,12.43752,4.15726,-12.43753], "fy":[-12.43753,-4.15726,12.43753,4.15726]}, + {"t":5.66303, "x":6.19411, "y":6.52813, "heading":2.10376, "vx":-0.06663, "vy":1.49804, "omega":2.34064, "ax":0.0, "ay":0.0, "alpha":2.59358, "fx":[-2.45909,9.53375,2.45909,-9.53375], "fy":[-9.53375,-2.45909,9.53375,2.45909]}, + {"t":5.69445, "x":6.19201, "y":6.57521, "heading":2.17732, "vx":-0.06663, "vy":1.49804, "omega":2.42214, "ax":0.0, "ay":0.0, "alpha":1.7643, "fx":[-1.19168,6.59078,1.19169,-6.59076], "fy":[-6.59077,-1.19169,6.59077,1.19169]}, + {"t":5.72588, "x":6.18992, "y":6.62228, "heading":2.25343, "vx":-0.06663, "vy":1.49804, "omega":2.47758, "ax":0.0, "ay":0.0, "alpha":0.95728, "fx":[-0.37278,3.61487,0.3728,-3.61485], "fy":[-3.61486,-0.37279,3.61486,0.37279]}, + {"t":5.7573, "x":6.18783, "y":6.66936, "heading":2.33129, "vx":-0.06663, "vy":1.49804, "omega":2.50767, "ax":0.0, "ay":0.0, "alpha":0.16261, "fx":[-0.01536,0.6171,0.01539,-0.61708], "fy":[-0.61709,-0.01537,0.61709,0.01537]}, + {"t":5.78873, "x":6.18573, "y":6.71643, "heading":2.41009, "vx":-0.06663, "vy":1.49804, "omega":2.51278, "ax":0.0, "ay":0.0, "alpha":-0.62993, "fx":[-0.12881,-2.38788,0.12884,2.3879], "fy":[2.38789,-0.12883,-2.38789,0.12883]}, + {"t":5.82015, "x":6.18364, "y":6.76351, "heading":2.48906, "vx":-0.06663, "vy":1.49804, "omega":2.49298, "ax":0.0, "ay":0.0, "alpha":-1.43063, "fx":[-0.71944,-5.38308,0.71946,5.3831], "fy":[5.38309,-0.71945,-5.38309,0.71945]}, + {"t":5.85158, "x":6.18154, "y":6.81059, "heading":2.5674, "vx":-0.06663, "vy":1.49804, "omega":2.44802, "ax":0.0, "ay":0.0, "alpha":-2.24954, "fx":[-1.79024,-8.34996,1.79025,8.34997], "fy":[8.34997,-1.79025,-8.34997,1.79025]}, + {"t":5.883, "x":6.17945, "y":6.85766, "heading":2.64433, "vx":-0.06663, "vy":1.49804, "omega":2.37733, "ax":0.0, "ay":0.0, "alpha":-3.09632, "fx":[-3.34012,-11.2697,3.34012,11.2697], "fy":[11.2697,-3.34012,-11.2697,3.34012]}, + {"t":5.91443, "x":6.17736, "y":6.90474, "heading":2.71904, "vx":-0.06663, "vy":1.49804, "omega":2.28003, "ax":0.0, "ay":0.0, "alpha":-3.97983, "fx":[-5.3624,-14.1246,5.36239,14.12459], "fy":[14.1246,-5.3624,-14.1246,5.3624]}, + {"t":5.94585, "x":6.17526, "y":6.95181, "heading":2.79069, "vx":-0.06663, "vy":1.49804, "omega":2.15496, "ax":0.0, "ay":0.0, "alpha":-4.90793, "fx":[-7.84292,-16.90038,7.84291,16.90037], "fy":[16.90037,-7.84291,-16.90037,7.84291]}, + {"t":5.97728, "x":6.17317, "y":6.99889, "heading":2.8584, "vx":-0.06663, "vy":1.49804, "omega":2.00073, "ax":0.0, "ay":0.0, "alpha":-5.88707, "fx":[-10.75779,-19.58896,10.75777,19.58895], "fy":[19.58896,-10.75778,-19.58896,10.75778]}, + {"t":6.0087, "x":6.17107, "y":7.04597, "heading":2.92128, "vx":-0.06663, "vy":1.49804, "omega":1.81573, "ax":0.0, "ay":0.0, "alpha":-6.92194, "fx":[-14.07105,-22.19219,14.07099,22.19214], "fy":[22.19217,-14.07102,-22.19217,14.07102]}, + {"t":6.04013, "x":6.16898, "y":7.09304, "heading":2.97834, "vx":-0.06663, "vy":1.49804, "omega":1.59821, "ax":-0.00003, "ay":0.0, "alpha":-8.0151, "fx":[-17.73262,-24.72638,17.73171,24.72549], "fy":[24.7259,-17.73217,-24.72597,17.73216]}, + {"t":6.07155, "x":6.16689, "y":7.14012, "heading":3.02856, "vx":-0.06664, "vy":1.49804, "omega":1.34633, "ax":-0.00063, "ay":-0.00003, "alpha":-9.16671, "fx":[-21.68308,-27.23362,21.66491,27.21595], "fy":[27.22394,-21.67395,-27.22563,21.67404]}, + {"t":6.10298, "x":6.16479, "y":7.18719, "heading":3.07087, "vx":-0.06666, "vy":1.49804, "omega":1.05827, "ax":-0.01241, "ay":-0.00055, "alpha":-10.37424, "fx":[-25.98838,-29.9198,25.63227,29.57225], "fy":[29.72688,-25.80686,-29.76535,25.81393]}, + {"t":6.1344, "x":6.16269, "y":7.23427, "heading":3.10413, "vx":-0.06705, "vy":1.49802, "omega":0.73226, "ax":-0.23604, "ay":-0.01115, "alpha":-11.62244, "fx":[-33.37266,-35.64004,26.61384,29.01578], "fy":[31.92964,-29.9059,-32.79507,30.13894]}, + {"t":6.16583, "x":6.16047, "y":7.28134, "heading":3.12714, "vx":-0.07446, "vy":1.49767, "omega":0.36702, "ax":-3.97101, "ay":-0.36448, "alpha":-10.09842, "fx":[-80.04193,-79.23956,-32.79541,-33.07532], "fy":[22.77644,-31.21704,-40.83192,28.60675]}, + {"t":6.19725, "x":6.15617, "y":7.32822, "heading":3.13867, "vx":-0.19925, "vy":1.48622, "omega":0.04968, "ax":-9.90999, "ay":-2.43082, "alpha":-0.96188, "fx":[-142.02337,-140.02977,-138.79381,-141.04015], "fy":[-28.90173,-37.87053,-40.26033,-30.79233]}, + {"t":6.22868, "x":6.14501, "y":7.37373, "heading":3.14023, "vx":-0.51067, "vy":1.40983, "omega":0.01945, "ax":-9.56867, "ay":-4.74157, "alpha":-0.25732, "fx":[-136.44485,-135.39201,-134.80756,-135.89012], "fy":[-65.58279,-67.7672,-68.84731,-66.64508]}, + {"t":6.2601, "x":6.12424, "y":7.41569, "heading":3.14084, "vx":-0.81137, "vy":1.26083, "omega":0.01137, "ax":-8.32791, "ay":-6.8212, "alpha":-0.12439, "fx":[-118.63704,-117.99367,-117.45244,-118.10152], "fy":[-95.96616,-96.76428,-97.41061,-96.61427]}, + {"t":6.29153, "x":6.09463, "y":7.45194, "heading":3.1412, "vx":-1.07307, "vy":1.04647, "omega":0.00746, "ax":-6.45692, "ay":-8.64986, "alpha":-0.07695, "fx":[-91.98683,-91.59385,-91.06378,-91.45701], "fy":[-122.26424,-122.5618,-122.95401,-122.65889]}, + {"t":6.32295, "x":6.05772, "y":7.48056, "heading":3.14143, "vx":-1.27598, "vy":0.77465, "omega":0.00504, "ax":-4.27325, "ay":-9.92656, "alpha":-0.05455, "fx":[-60.92502,-60.71279,-60.22005,-60.43119], "fy":[-140.55422,-140.64736,-140.85846,-140.76666]}, + {"t":6.35438, "x":6.01551, "y":7.5, "heading":-3.14159, "vx":-1.41027, "vy":0.46271, "omega":0.00333, "ax":-1.88345, "ay":-10.63732, "alpha":-0.02486, "fx":[-26.84942,-26.80363,-26.54568,-26.59106], "fy":[-150.75425,-150.76312,-150.80863,-150.79991]}, + {"t":6.40155, "x":5.94689, "y":7.50999, "heading":-3.14144, "vx":-1.49912, "vy":-0.03909, "omega":0.00215, "ax":-0.00411, "ay":0.11825, "alpha":-0.04971, "fx":[-0.19171,-0.19167,0.07526,0.07521], "fy":[1.80955,1.54268,1.54273,1.80959]}, + {"t":6.44872, "x":5.87617, "y":7.50828, "heading":-3.14133, "vx":-1.49931, "vy":-0.03351, "omega":-0.00019, "ax":-0.00357, "ay":0.18369, "alpha":-0.00027, "fx":[-0.05139,-0.05139,-0.04994,-0.04994], "fy":[2.60452,2.60307,2.60307,2.60452]}, + {"t":6.4959, "x":5.80543, "y":7.5069, "heading":-3.14134, "vx":-1.49948, "vy":-0.02485, "omega":-0.00021, "ax":-0.00156, "ay":0.10449, "alpha":0.0, "fx":[-0.02211,-0.02211,-0.0221,-0.0221], "fy":[1.48118,1.48117,1.48117,1.48118]}, + {"t":6.54307, "x":5.7347, "y":7.50585, "heading":-3.14135, "vx":-1.49955, "vy":-0.01992, "omega":-0.00021, "ax":-0.00089, "ay":0.07323, "alpha":0.0, "fx":[-0.01259,-0.01259,-0.01259,-0.01259], "fy":[1.03806,1.03806,1.03806,1.03806]}, + {"t":6.59024, "x":5.66396, "y":7.50499, "heading":-3.14136, "vx":-1.4996, "vy":-0.01647, "omega":-0.00021, "ax":-0.00056, "ay":0.05593, "alpha":0.0, "fx":[-0.00801,-0.00801,-0.00801,-0.00801], "fy":[0.79282,0.79282,0.79282,0.79282]}, + {"t":6.63742, "x":5.59322, "y":7.50427, "heading":-3.14137, "vx":-1.49962, "vy":-0.01383, "omega":-0.00021, "ax":-0.00038, "ay":0.04461, "alpha":0.0, "fx":[-0.00539,-0.00539,-0.00539,-0.00539], "fy":[0.63238,0.63238,0.63238,0.63238]}, + {"t":6.68459, "x":5.52247, "y":7.50367, "heading":-3.14138, "vx":-1.49964, "vy":-0.01172, "omega":-0.00021, "ax":-0.00026, "ay":0.0365, "alpha":0.0, "fx":[-0.00375,-0.00375,-0.00375,-0.00375], "fy":[0.51743,0.51743,0.51743,0.51743]}, + {"t":6.73176, "x":5.45173, "y":7.50316, "heading":-3.14139, "vx":-1.49965, "vy":-0.01, "omega":-0.00021, "ax":-0.00019, "ay":0.03036, "alpha":0.0, "fx":[-0.00266,-0.00266,-0.00266,-0.00266], "fy":[0.43029,0.43029,0.43029,0.43029]}, + {"t":6.77894, "x":5.38098, "y":7.50272, "heading":-3.1414, "vx":-1.49966, "vy":-0.00857, "omega":-0.00021, "ax":-0.00014, "ay":0.02552, "alpha":0.0, "fx":[-0.00192,-0.00192,-0.00192,-0.00192], "fy":[0.3617,0.3617,0.3617,0.3617]}, + {"t":6.82611, "x":5.31024, "y":7.50235, "heading":-3.14141, "vx":-1.49967, "vy":-0.00736, "omega":-0.00021, "ax":-0.0001, "ay":0.02161, "alpha":0.0, "fx":[-0.0014,-0.0014,-0.0014,-0.0014], "fy":[0.30626,0.30626,0.30626,0.30626]}, + {"t":6.87328, "x":5.2395, "y":7.50202, "heading":-3.14142, "vx":-1.49967, "vy":-0.00635, "omega":-0.00021, "ax":-0.00007, "ay":0.01838, "alpha":0.0, "fx":[-0.00103,-0.00103,-0.00103,-0.00103], "fy":[0.2606,0.2606,0.2606,0.2606]}, + {"t":6.92046, "x":5.16875, "y":7.50174, "heading":-3.14143, "vx":-1.49968, "vy":-0.00548, "omega":-0.00021, "ax":-0.00005, "ay":0.01569, "alpha":0.0, "fx":[-0.00076,-0.00076,-0.00076,-0.00076], "fy":[0.22247,0.22247,0.22247,0.22247]}, + {"t":6.96763, "x":5.09801, "y":7.5015, "heading":-3.14144, "vx":-1.49968, "vy":-0.00474, "omega":-0.00021, "ax":-0.00004, "ay":0.01343, "alpha":0.0, "fx":[-0.00056,-0.00056,-0.00056,-0.00056], "fy":[0.1903,0.1903,0.1903,0.1903]}, + {"t":7.0148, "x":5.02726, "y":7.50129, "heading":-3.14145, "vx":-1.49968, "vy":-0.0041, "omega":-0.00021, "ax":-0.00003, "ay":0.01149, "alpha":0.0, "fx":[-0.00042,-0.00042,-0.00042,-0.00042], "fy":[0.16293,0.16293,0.16293,0.16293]}, + {"t":7.06198, "x":4.95652, "y":7.50111, "heading":-3.14146, "vx":-1.49968, "vy":-0.00356, "omega":-0.00021, "ax":-0.00002, "ay":0.00984, "alpha":0.0, "fx":[-0.00031,-0.00031,-0.00031,-0.00031], "fy":[0.1395,0.1395,0.1395,0.1395]}, + {"t":7.10915, "x":4.88577, "y":7.50096, "heading":-3.14147, "vx":-1.49968, "vy":-0.0031, "omega":-0.00021, "ax":-0.00002, "ay":0.00842, "alpha":0.0, "fx":[-0.00023,-0.00023,-0.00023,-0.00023], "fy":[0.11934,0.11934,0.11934,0.11934]}, + {"t":7.15632, "x":4.81503, "y":7.50082, "heading":-3.14148, "vx":-1.49968, "vy":-0.0027, "omega":-0.00021, "ax":-0.00001, "ay":0.00719, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.10189,0.10189,0.10189,0.10189]}, + {"t":7.2035, "x":4.74428, "y":7.5007, "heading":-3.14149, "vx":-1.49968, "vy":-0.00236, "omega":-0.00021, "ax":-0.00001, "ay":0.00612, "alpha":0.0, "fx":[-0.00013,-0.00013,-0.00013,-0.00013], "fy":[0.08671,0.08671,0.08671,0.08671]}, + {"t":7.25067, "x":4.67354, "y":7.50059, "heading":-3.1415, "vx":-1.49968, "vy":-0.00207, "omega":-0.00021, "ax":-0.00001, "ay":0.00518, "alpha":0.0, "fx":[-0.0001,-0.0001,-0.0001,-0.0001], "fy":[0.07345,0.07345,0.07345,0.07345]}, + {"t":7.29784, "x":4.60279, "y":7.5005, "heading":-3.14151, "vx":-1.49969, "vy":-0.00183, "omega":-0.00021, "ax":-0.00001, "ay":0.00436, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.06179,0.06179,0.06179,0.06179]}, + {"t":7.34502, "x":4.53204, "y":7.50042, "heading":-3.14152, "vx":-1.49969, "vy":-0.00162, "omega":-0.00021, "ax":0.0, "ay":0.00363, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.05146,0.05146,0.05146,0.05146]}, + {"t":7.39219, "x":4.4613, "y":7.50035, "heading":-3.14153, "vx":-1.49969, "vy":-0.00145, "omega":-0.00021, "ax":0.0, "ay":0.00298, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.04224,0.04224,0.04224,0.04224]}, + {"t":7.43936, "x":4.39055, "y":7.50028, "heading":-3.14154, "vx":-1.49969, "vy":-0.00131, "omega":-0.00021, "ax":0.0, "ay":0.00239, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.03392,0.03392,0.03392,0.03392]}, + {"t":7.48654, "x":4.31981, "y":7.50022, "heading":-3.14155, "vx":-1.49969, "vy":-0.0012, "omega":-0.00021, "ax":0.0, "ay":0.00186, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.02633,0.02633,0.02633,0.02633]}, + {"t":7.53371, "x":4.24906, "y":7.50017, "heading":-3.14156, "vx":-1.49969, "vy":-0.00111, "omega":-0.00021, "ax":0.0, "ay":0.00136, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00002,-0.00002], "fy":[0.0193,0.01931,0.01931,0.0193]}, + {"t":7.58088, "x":4.17832, "y":7.50012, "heading":-3.14157, "vx":-1.49969, "vy":-0.00105, "omega":-0.00021, "ax":0.00027, "ay":0.00093, "alpha":0.00017, "fx":[0.00423,0.00423,0.00332,0.00332], "fy":[0.01266,0.01357,0.01357,0.01266]}, + {"t":7.62806, "x":4.10757, "y":7.50007, "heading":-3.14158, "vx":-1.49967, "vy":-0.001, "omega":-0.0002, "ax":10.16496, "ay":0.00711, "alpha":0.00198, "fx":[144.08656,144.08654,144.08527,144.08529], "fy":[0.09077,0.11077,0.11078,0.09078]}, + {"t":7.67523, "x":4.04814, "y":7.50003, "heading":-3.14159, "vx":-1.02016, "vy":-0.00067, "omega":-0.0001, "ax":10.80656, "ay":0.00709, "alpha":0.001, "fx":[153.18038,153.18038,153.18035,153.18036], "fy":[0.0951,0.10582,0.10582,0.09511]}, + {"t":7.7224, "x":4.01204, "y":7.50001, "heading":-3.14159, "vx":-0.51037, "vy":-0.00033, "omega":-0.00006, "ax":10.81911, "ay":0.00706, "alpha":0.0012, "fx":[153.35833,153.35832,153.3583,153.35831], "fy":[0.09357,0.10645,0.10646,0.09358]}, + {"t":7.76958, "x":4.0, "y":7.5, "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/BlueLeftToDepot.traj b/src/main/deploy/choreo/BlueLeftToDepot.traj index 5fcfb2a..c522ffe 100644 --- a/src/main/deploy/choreo/BlueLeftToDepot.traj +++ b/src/main/deploy/choreo/BlueLeftToDepot.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.55, "y":7.5, "heading":0.0, "intervals":75, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.0, "y":7.5, "heading":3.141592653589793, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.055975437164306, "y":5.960587501525879, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8786110877990723, "y":5.947208404541016, "heading":3.141592653589793, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8786110877990723, "y":5.947208404541016, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -20,7 +20,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"BLTransition.x", "val":4.55}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"BLTransition.heading", "val":0.0}, "intervals":75, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"BLTransition.x", "val":4.0}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"BLTransition.heading", "val":3.141592653589793}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.0559754371643066 m", "val":2.055975437164306}, "y":{"exp":"5.960587501525879 m", "val":5.960587501525879}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.8786110877990723 m", "val":0.8786110877990723}, "y":{"exp":"5.947208404541016 m", "val":5.947208404541016}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.8786110877990723 m", "val":0.8786110877990723}, "y":{"exp":"5.947208404541016 m", "val":5.947208404541016}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -63,130 +63,107 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,2.98057,4.20707,4.20707,4.91671], + "waypoints":[0.0,2.5289,3.75603,3.75603,4.46563], "samples":[ - {"t":0.0, "x":4.55, "y":7.5, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.19508, "ay":-5.70193, "alpha":0.00644, "fx":[-130.36314,-130.33223,-130.31297,-130.34389], "fy":[-80.783,-80.83294,-80.86386,-80.81392]}, - {"t":0.03974, "x":4.54274, "y":7.4955, "heading":0.0, "vx":-0.36542, "vy":-0.2266, "omega":0.00026, "ax":-9.18433, "ay":-5.69526, "alpha":0.01147, "fx":[-130.23026,-130.1754,-130.14104,-130.19596], "fy":[-80.65708,-80.74589,-80.80079,-80.71197]}, - {"t":0.07948, "x":4.52096, "y":7.48199, "heading":0.00001, "vx":-0.73042, "vy":-0.45294, "omega":0.00071, "ax":-3.00023, "ay":-1.86046, "alpha":3.43872, "fx":[-52.2859,-50.3534,-32.97024,-34.5006], "fy":[-16.11368,-34.90903,-37.17243,-17.29109]}, - {"t":0.11922, "x":4.48957, "y":7.46253, "heading":0.00004, "vx":-0.84965, "vy":-0.52687, "omega":0.13737, "ax":-0.00001, "ay":-0.00001, "alpha":3.72141, "fx":[-9.98999,-9.98922,9.98974,9.98897], "fy":[9.989,-9.98996,-9.98919,9.98977]}, - {"t":0.15896, "x":4.4558, "y":7.44159, "heading":0.0055, "vx":-0.84965, "vy":-0.52687, "omega":0.28526, "ax":0.0, "ay":0.0, "alpha":3.257, "fx":[-8.79077,-8.69464,8.79077,8.69464], "fy":[8.69464,-8.79077,-8.69464,8.79077]}, - {"t":0.1987, "x":4.42204, "y":7.42065, "heading":0.01683, "vx":-0.84965, "vy":-0.52687, "omega":0.4147, "ax":0.0, "ay":0.0, "alpha":2.84859, "fx":[-7.77418,-7.51674,7.77418,7.51674], "fy":[7.51674,-7.77418,-7.51674,7.77418]}, - {"t":0.23845, "x":4.38827, "y":7.39971, "heading":0.03331, "vx":-0.84965, "vy":-0.52687, "omega":0.5279, "ax":0.0, "ay":0.0, "alpha":2.48999, "fx":[-6.90285,-6.45758,6.90285,6.45758], "fy":[6.45758,-6.90285,-6.45758,6.90285]}, - {"t":0.27819, "x":4.3545, "y":7.37877, "heading":0.05429, "vx":-0.84965, "vy":-0.52687, "omega":0.62686, "ax":0.0, "ay":0.0, "alpha":2.1755, "fx":[-6.14804,-5.51422,6.14804,5.51422], "fy":[5.51422,-6.14804,-5.51422,6.14804]}, - {"t":0.31793, "x":4.32074, "y":7.35783, "heading":0.07921, "vx":-0.84965, "vy":-0.52687, "omega":0.71332, "ax":0.0, "ay":0.0, "alpha":1.89997, "fx":[-5.4877,-4.68061,5.4877,4.68061], "fy":[4.68061,-5.4877,-4.68061,5.4877]}, - {"t":0.35767, "x":4.28697, "y":7.33689, "heading":0.10755, "vx":-0.84965, "vy":-0.52687, "omega":0.78882, "ax":0.0, "ay":0.0, "alpha":1.65879, "fx":[-4.90499,-3.94902,4.90499,3.94902], "fy":[3.94902,-4.90499,-3.94902,4.90499]}, - {"t":0.39741, "x":4.25321, "y":7.31596, "heading":0.1389, "vx":-0.84965, "vy":-0.52687, "omega":0.85474, "ax":0.0, "ay":0.0, "alpha":1.44781, "fx":[-4.38707,-3.31087,4.38707,3.31087], "fy":[3.31087,-4.38707,-3.31087,4.38707]}, - {"t":0.43715, "x":4.21944, "y":7.29502, "heading":0.17287, "vx":-0.84965, "vy":-0.52687, "omega":0.91228, "ax":0.0, "ay":0.0, "alpha":1.26336, "fx":[-3.92405,-2.75738,3.92405,2.75738], "fy":[2.75738,-3.92405,-2.75738,3.92405]}, - {"t":0.47689, "x":4.18567, "y":7.27408, "heading":0.20913, "vx":-0.84965, "vy":-0.52687, "omega":0.96249, "ax":0.0, "ay":0.0, "alpha":1.10216, "fx":[-3.50831,-2.27989,3.50831,2.27989], "fy":[2.27989,-3.50831,-2.27989,3.50831]}, - {"t":0.51663, "x":4.15191, "y":7.25314, "heading":0.24738, "vx":-0.84965, "vy":-0.52687, "omega":1.00629, "ax":0.0, "ay":0.0, "alpha":0.96134, "fx":[-3.13388,-1.87012,3.13388,1.87012], "fy":[1.87012,-3.13388,-1.87012,3.13388]}, - {"t":0.55637, "x":4.11814, "y":7.2322, "heading":0.28737, "vx":-0.84965, "vy":-0.52687, "omega":1.04449, "ax":0.0, "ay":0.0, "alpha":0.83836, "fx":[-2.79599,-1.52031,2.79599,1.52031], "fy":[1.52031,-2.79599,-1.52031,2.79599]}, - {"t":0.59611, "x":4.08438, "y":7.21126, "heading":0.32888, "vx":-0.84965, "vy":-0.52687, "omega":1.07781, "ax":0.0, "ay":0.0, "alpha":0.73098, "fx":[-2.49077,-1.22328,2.49077,1.22328], "fy":[1.22328,-2.49077,-1.22328,2.49077]}, - {"t":0.63586, "x":4.05061, "y":7.19033, "heading":0.37171, "vx":-0.84965, "vy":-0.52687, "omega":1.10686, "ax":0.0, "ay":0.0, "alpha":0.63724, "fx":[-2.21502,-0.97244,2.21502,0.97244], "fy":[0.97244,-2.21502,-0.97244,2.21502]}, - {"t":0.6756, "x":4.01685, "y":7.16939, "heading":0.4157, "vx":-0.84965, "vy":-0.52687, "omega":1.13219, "ax":0.0, "ay":0.0, "alpha":0.5554, "fx":[-1.96597,-0.76185,1.96597,0.76185], "fy":[0.76185,-1.96597,-0.76185,1.96597]}, - {"t":0.71534, "x":3.98308, "y":7.14845, "heading":0.46069, "vx":-0.84965, "vy":-0.52687, "omega":1.15426, "ax":0.0, "ay":0.0, "alpha":0.48397, "fx":[-1.74125,-0.58614,1.74125,0.58614], "fy":[0.58614,-1.74125,-0.58614,1.74125]}, - {"t":0.75508, "x":3.94931, "y":7.12751, "heading":0.50656, "vx":-0.84965, "vy":-0.52687, "omega":1.17349, "ax":0.0, "ay":0.0, "alpha":0.42162, "fx":[-1.53873,-0.44053,1.53873,0.44053], "fy":[0.44053,-1.53873,-0.44053,1.53873]}, - {"t":0.79482, "x":3.91555, "y":7.10657, "heading":0.5532, "vx":-0.84965, "vy":-0.52687, "omega":1.19025, "ax":0.0, "ay":0.0, "alpha":0.36718, "fx":[-1.35649,-0.32076,1.35649,0.32076], "fy":[0.32076,-1.35649,-0.32076,1.35649]}, - {"t":0.83456, "x":3.88178, "y":7.08563, "heading":0.6005, "vx":-0.84965, "vy":-0.52687, "omega":1.20484, "ax":0.0, "ay":0.0, "alpha":0.31965, "fx":[-1.19277,-0.22309,1.19277,0.22309], "fy":[0.22309,-1.19277,-0.22309,1.19277]}, - {"t":0.8743, "x":3.84802, "y":7.0647, "heading":0.64838, "vx":-0.84965, "vy":-0.52687, "omega":1.21754, "ax":0.0, "ay":0.0, "alpha":0.27813, "fx":[-1.04595,-0.14422,1.04595,0.14422], "fy":[0.14422,-1.04595,-0.14422,1.04595]}, - {"t":0.91404, "x":3.81425, "y":7.04376, "heading":0.69677, "vx":-0.84965, "vy":-0.52687, "omega":1.2286, "ax":0.0, "ay":0.0, "alpha":0.24185, "fx":[-0.91453,-0.08127,0.91453,0.08127], "fy":[0.08127,-0.91453,-0.08127,0.91453]}, - {"t":0.95378, "x":3.78048, "y":7.02282, "heading":0.74559, "vx":-0.84965, "vy":-0.52687, "omega":1.23821, "ax":0.0, "ay":0.0, "alpha":0.21014, "fx":[-0.79709,-0.03174,0.79709,0.03174], "fy":[0.03174,-0.79709,-0.03174,0.79709]}, - {"t":0.99352, "x":3.74672, "y":7.00188, "heading":0.7948, "vx":-0.84965, "vy":-0.52687, "omega":1.24656, "ax":0.0, "ay":0.0, "alpha":0.18238, "fx":[-0.69233,0.00651,0.69233,-0.00651], "fy":[-0.00651,-0.69233,0.00651,0.69233]}, - {"t":1.03327, "x":3.71295, "y":6.98094, "heading":0.84434, "vx":-0.84965, "vy":-0.52687, "omega":1.25381, "ax":0.0, "ay":0.0, "alpha":0.15807, "fx":[-0.59902,0.03535,0.59902,-0.03535], "fy":[-0.03535,-0.59902,0.03535,0.59902]}, - {"t":1.07301, "x":3.67919, "y":6.96, "heading":0.89417, "vx":-0.84965, "vy":-0.52687, "omega":1.26009, "ax":0.0, "ay":0.0, "alpha":0.13674, "fx":[-0.51604,0.05635,0.51604,-0.05635], "fy":[-0.05635,-0.51604,0.05635,0.51604]}, - {"t":1.11275, "x":3.64542, "y":6.93906, "heading":0.94425, "vx":-0.84965, "vy":-0.52687, "omega":1.26552, "ax":0.0, "ay":0.0, "alpha":0.118, "fx":[-0.44231,0.07086,0.44231,-0.07086], "fy":[-0.07086,-0.44231,0.07086,0.44231]}, - {"t":1.15249, "x":3.61165, "y":6.91813, "heading":0.99454, "vx":-0.84965, "vy":-0.52687, "omega":1.27021, "ax":0.0, "ay":0.0, "alpha":0.10149, "fx":[-0.37687,0.07999,0.37687,-0.07999], "fy":[-0.07999,-0.37687,0.07999,0.37687]}, - {"t":1.19223, "x":3.57789, "y":6.89719, "heading":1.04502, "vx":-0.84965, "vy":-0.52687, "omega":1.27425, "ax":0.0, "ay":0.0, "alpha":0.0869, "fx":[-0.31882,0.08468,0.31882,-0.08468], "fy":[-0.08468,-0.31882,0.08468,0.31882]}, - {"t":1.23197, "x":3.54412, "y":6.87625, "heading":1.09566, "vx":-0.84965, "vy":-0.52687, "omega":1.2777, "ax":0.0, "ay":0.0, "alpha":0.07395, "fx":[-0.26731,0.08571,0.26731,-0.08571], "fy":[-0.08571,-0.26731,0.08571,0.26731]}, - {"t":1.27171, "x":3.51036, "y":6.85531, "heading":1.14644, "vx":-0.84965, "vy":-0.52687, "omega":1.28064, "ax":0.0, "ay":0.0, "alpha":0.0624, "fx":[-0.2216,0.08368,0.2216,-0.08368], "fy":[-0.08368,-0.2216,0.08368,0.2216]}, - {"t":1.31145, "x":3.47659, "y":6.83437, "heading":1.19733, "vx":-0.84965, "vy":-0.52687, "omega":1.28312, "ax":0.0, "ay":0.0, "alpha":0.05203, "fx":[-0.181,0.07908,0.181,-0.07908], "fy":[-0.07908,-0.181,0.07908,0.181]}, - {"t":1.35119, "x":3.44283, "y":6.81343, "heading":1.24832, "vx":-0.84965, "vy":-0.52687, "omega":1.28519, "ax":0.0, "ay":0.0, "alpha":0.04265, "fx":[-0.14486,0.0723,0.14486,-0.0723], "fy":[-0.0723,-0.14486,0.0723,0.14486]}, - {"t":1.39093, "x":3.40906, "y":6.7925, "heading":1.2994, "vx":-0.84965, "vy":-0.52687, "omega":1.28688, "ax":0.0, "ay":0.0, "alpha":0.03407, "fx":[-0.11263,0.06359,0.11263,-0.06359], "fy":[-0.06359,-0.11263,0.06359,0.11263]}, - {"t":1.43068, "x":3.37529, "y":6.77156, "heading":1.35054, "vx":-0.84965, "vy":-0.52687, "omega":1.28823, "ax":0.0, "ay":0.0, "alpha":0.02614, "fx":[-0.08381,0.05315,0.08381,-0.05315], "fy":[-0.05315,-0.08381,0.05315,0.08381]}, - {"t":1.47042, "x":3.34153, "y":6.75062, "heading":1.40173, "vx":-0.84965, "vy":-0.52687, "omega":1.28927, "ax":0.0, "ay":0.0, "alpha":0.01871, "fx":[-0.05794,0.04105,0.05794,-0.04105], "fy":[-0.04105,-0.05794,0.04105,0.05794]}, - {"t":1.51016, "x":3.30776, "y":6.72968, "heading":1.45297, "vx":-0.84965, "vy":-0.52687, "omega":1.29002, "ax":0.0, "ay":0.0, "alpha":0.01162, "fx":[-0.03465,0.02731,0.03465,-0.02731], "fy":[-0.02731,-0.03465,0.02731,0.03465]}, - {"t":1.5499, "x":3.274, "y":6.70874, "heading":1.50424, "vx":-0.84965, "vy":-0.52687, "omega":1.29048, "ax":0.0, "ay":0.0, "alpha":0.00476, "fx":[-0.01359,0.01189,0.01359,-0.01189], "fy":[-0.01189,-0.01359,0.01189,0.01359]}, - {"t":1.58964, "x":3.24023, "y":6.6878, "heading":1.55552, "vx":-0.84965, "vy":-0.52687, "omega":1.29067, "ax":0.0, "ay":0.0, "alpha":-0.00202, "fx":[0.0055,-0.00533,-0.0055,0.00533], "fy":[0.00533,0.0055,-0.00533,-0.0055]}, - {"t":1.62938, "x":3.20646, "y":6.66687, "heading":1.60681, "vx":-0.84965, "vy":-0.52687, "omega":1.29059, "ax":0.0, "ay":0.0, "alpha":-0.00883, "fx":[0.02284,-0.02455,-0.02284,0.02455], "fy":[0.02455,0.02284,-0.02455,-0.02284]}, - {"t":1.66912, "x":3.1727, "y":6.64593, "heading":1.6581, "vx":-0.84965, "vy":-0.52687, "omega":1.29024, "ax":0.0, "ay":0.0, "alpha":-0.01582, "fx":[0.03859,-0.04599,-0.03859,0.04599], "fy":[0.04599,0.03859,-0.04599,-0.03859]}, - {"t":1.70886, "x":3.13893, "y":6.62499, "heading":1.70938, "vx":-0.84965, "vy":-0.52687, "omega":1.28961, "ax":0.0, "ay":0.0, "alpha":-0.0231, "fx":[0.05285,-0.06998,-0.05285,0.06998], "fy":[0.06998,0.05285,-0.06998,-0.05285]}, - {"t":1.7486, "x":3.10517, "y":6.60405, "heading":1.76063, "vx":-0.84965, "vy":-0.52687, "omega":1.28869, "ax":0.0, "ay":0.0, "alpha":-0.03082, "fx":[0.06564,-0.09687,-0.06564,0.09687], "fy":[0.09687,0.06564,-0.09687,-0.06564]}, - {"t":1.78834, "x":3.0714, "y":6.58311, "heading":1.81184, "vx":-0.84965, "vy":-0.52687, "omega":1.28747, "ax":0.0, "ay":0.0, "alpha":-0.03913, "fx":[0.07693,-0.12708,-0.07693,0.12708], "fy":[0.12708,0.07693,-0.12708,-0.07693]}, - {"t":1.82809, "x":3.03764, "y":6.56217, "heading":1.86301, "vx":-0.84965, "vy":-0.52687, "omega":1.28591, "ax":0.0, "ay":0.0, "alpha":-0.04818, "fx":[0.08659,-0.16111,-0.08659,0.16111], "fy":[0.16111,0.08659,-0.16111,-0.08659]}, - {"t":1.86783, "x":3.00387, "y":6.54123, "heading":1.91411, "vx":-0.84965, "vy":-0.52687, "omega":1.284, "ax":0.0, "ay":0.0, "alpha":-0.05814, "fx":[0.09443,-0.1995,-0.09443,0.1995], "fy":[0.1995,0.09443,-0.1995,-0.09443]}, - {"t":1.90757, "x":2.9701, "y":6.5203, "heading":1.96514, "vx":-0.84965, "vy":-0.52687, "omega":1.28168, "ax":0.0, "ay":0.0, "alpha":-0.06921, "fx":[0.10014,-0.24289,-0.10014,0.24289], "fy":[0.24289,0.10014,-0.24289,-0.10014]}, - {"t":1.94731, "x":2.93634, "y":6.49936, "heading":2.01607, "vx":-0.84965, "vy":-0.52687, "omega":1.27893, "ax":0.0, "ay":0.0, "alpha":-0.08158, "fx":[0.10331,-0.29195,-0.10331,0.29195], "fy":[0.29195,0.10331,-0.29195,-0.10331]}, - {"t":1.98705, "x":2.90257, "y":6.47842, "heading":2.0669, "vx":-0.84965, "vy":-0.52687, "omega":1.27569, "ax":0.0, "ay":0.0, "alpha":-0.09549, "fx":[0.10341,-0.34744,-0.10341,0.34744], "fy":[0.34744,0.10341,-0.34744,-0.10341]}, - {"t":2.02679, "x":2.86881, "y":6.45748, "heading":2.1176, "vx":-0.84965, "vy":-0.52687, "omega":1.2719, "ax":0.0, "ay":0.0, "alpha":-0.11121, "fx":[0.09978,-0.41022,-0.09978,0.41022], "fy":[0.41022,0.09978,-0.41022,-0.09978]}, - {"t":2.06653, "x":2.83504, "y":6.43654, "heading":2.16814, "vx":-0.84965, "vy":-0.52687, "omega":1.26748, "ax":0.0, "ay":0.0, "alpha":-0.12903, "fx":[0.09157,-0.48119,-0.09157,0.48119], "fy":[0.48119,0.09157,-0.48119,-0.09157]}, - {"t":2.10627, "x":2.80127, "y":6.4156, "heading":2.21852, "vx":-0.84965, "vy":-0.52687, "omega":1.26235, "ax":0.0, "ay":0.0, "alpha":-0.14929, "fx":[0.07778,-0.56136,-0.07778,0.56136], "fy":[0.56136,0.07778,-0.56136,-0.07778]}, - {"t":2.14601, "x":2.76751, "y":6.39467, "heading":2.26868, "vx":-0.84965, "vy":-0.52687, "omega":1.25642, "ax":0.0, "ay":0.0, "alpha":-0.17236, "fx":[0.05719,-0.65181,-0.05719,0.65181], "fy":[0.65181,0.05719,-0.65181,-0.05719]}, - {"t":2.18575, "x":2.73374, "y":6.37373, "heading":2.31861, "vx":-0.84965, "vy":-0.52687, "omega":1.24957, "ax":0.0, "ay":0.0, "alpha":-0.19869, "fx":[0.02834,-0.75372,-0.02834,0.75372], "fy":[0.75372,0.02834,-0.75372,-0.02834]}, - {"t":2.2255, "x":2.69998, "y":6.35279, "heading":2.36827, "vx":-0.84965, "vy":-0.52687, "omega":1.24167, "ax":0.0, "ay":0.0, "alpha":-0.22876, "fx":[-0.01049,-0.86835,0.01049,0.86835], "fy":[0.86835,-0.01049,-0.86835,0.01049]}, - {"t":2.26524, "x":2.66621, "y":6.33185, "heading":2.41762, "vx":-0.84965, "vy":-0.52687, "omega":1.23258, "ax":0.0, "ay":0.0, "alpha":-0.26314, "fx":[-0.06132,-0.99705,0.06132,0.99705], "fy":[0.99705,-0.06132,-0.99705,0.06132]}, - {"t":2.30498, "x":2.63244, "y":6.31091, "heading":2.4666, "vx":-0.84965, "vy":-0.52687, "omega":1.22212, "ax":0.0, "ay":0.0, "alpha":-0.30248, "fx":[-0.12652,-1.14129,0.12652,1.14129], "fy":[1.14129,-0.12652,-1.14129,0.12652]}, - {"t":2.34472, "x":2.59868, "y":6.28997, "heading":2.51517, "vx":-0.84965, "vy":-0.52687, "omega":1.2101, "ax":0.0, "ay":0.0, "alpha":-0.34751, "fx":[-0.20884,-1.3026,0.20884,1.3026], "fy":[1.3026,-0.20884,-1.3026,0.20884]}, - {"t":2.38446, "x":2.56491, "y":6.26904, "heading":2.56326, "vx":-0.84965, "vy":-0.52687, "omega":1.19629, "ax":0.0, "ay":0.0, "alpha":-0.39908, "fx":[-0.31147,-1.48263,0.31147,1.48263], "fy":[1.48263,-0.31147,-1.48263,0.31147]}, - {"t":2.4242, "x":2.53115, "y":6.2481, "heading":2.6108, "vx":-0.84965, "vy":-0.52687, "omega":1.18043, "ax":0.0, "ay":0.0, "alpha":-0.45815, "fx":[-0.43805,-1.68315,0.43805,1.68315], "fy":[1.68315,-0.43805,-1.68315,0.43805]}, - {"t":2.46394, "x":2.49738, "y":6.22716, "heading":2.65771, "vx":-0.84965, "vy":-0.52687, "omega":1.16222, "ax":0.0, "ay":0.0, "alpha":-0.52581, "fx":[-0.59278,-1.90603,0.59278,1.90603], "fy":[1.90603,-0.59278,-1.90603,0.59278]}, - {"t":2.50368, "x":2.46362, "y":6.20622, "heading":2.7039, "vx":-0.84965, "vy":-0.52687, "omega":1.14133, "ax":0.0, "ay":0.0, "alpha":-0.60332, "fx":[-0.78042,-2.15328,0.78042,2.15328], "fy":[2.15328,-0.78042,-2.15328,0.78042]}, - {"t":2.54342, "x":2.42985, "y":6.18528, "heading":2.74926, "vx":-0.84965, "vy":-0.52687, "omega":1.11735, "ax":0.0, "ay":0.0, "alpha":-0.69213, "fx":[-1.00637,-2.42709,1.00637,2.42709], "fy":[2.42709,-1.00637,-2.42709,1.00637]}, - {"t":2.58316, "x":2.39608, "y":6.16434, "heading":2.79366, "vx":-0.84965, "vy":-0.52687, "omega":1.08985, "ax":0.0, "ay":0.0, "alpha":-0.79385, "fx":[-1.27672,-2.72983,1.27672,2.72983], "fy":[2.72983,-1.27672,-2.72983,1.27672]}, - {"t":2.62291, "x":2.36232, "y":6.1434, "heading":2.83698, "vx":-0.84965, "vy":-0.52687, "omega":1.0583, "ax":0.0, "ay":0.0, "alpha":-0.91037, "fx":[-1.59828,-3.06417,1.59828,3.06417], "fy":[3.06417,-1.59828,-3.06417,1.59828]}, - {"t":2.66265, "x":2.32855, "y":6.12247, "heading":2.87903, "vx":-0.84965, "vy":-0.52687, "omega":1.02212, "ax":0.0, "ay":0.0, "alpha":-1.0438, "fx":[-1.97863,-3.43312,1.97863,3.43312], "fy":[3.43312,-1.97863,-3.43312,1.97863]}, - {"t":2.70239, "x":2.29479, "y":6.10153, "heading":2.91965, "vx":-0.84965, "vy":-0.52687, "omega":0.98064, "ax":0.0, "ay":0.0, "alpha":-1.19656, "fx":[-2.42615,-3.84019,2.42615,3.84019], "fy":[3.84019,-2.42615,-3.84019,2.42615]}, - {"t":2.74213, "x":2.26102, "y":6.08059, "heading":2.95863, "vx":-0.84965, "vy":-0.52687, "omega":0.93308, "ax":0.0, "ay":0.0, "alpha":-1.37139, "fx":[-2.95001,-4.2896,2.95001,4.2896], "fy":[4.2896,-2.95001,-4.2896,2.95001]}, - {"t":2.78187, "x":2.22725, "y":6.05965, "heading":2.99571, "vx":-0.84965, "vy":-0.52687, "omega":0.87858, "ax":0.0, "ay":0.0, "alpha":-1.5714, "fx":[-3.56014,-4.78651,3.56014,4.78651], "fy":[4.78651,-3.56014,-4.78651,3.56014]}, - {"t":2.82161, "x":2.19349, "y":6.03871, "heading":3.03062, "vx":-0.84965, "vy":-0.52687, "omega":0.81613, "ax":-0.00001, "ay":0.00001, "alpha":-1.80009, "fx":[-4.26731,-5.33753,4.26707,5.33728], "fy":[5.3376,-4.26699,-5.33721,4.26739]}, - {"t":2.86135, "x":2.15972, "y":6.01777, "heading":3.06306, "vx":-0.84965, "vy":-0.52687, "omega":0.7446, "ax":-0.00081, "ay":0.0013, "alpha":-2.06142, "fx":[-5.09373,-5.96208,5.07091,5.93909], "fy":[5.96902,-5.06381,-5.93215,5.10083]}, - {"t":2.90109, "x":2.12596, "y":5.99684, "heading":3.09265, "vx":-0.84968, "vy":-0.52682, "omega":0.66267, "ax":-0.07509, "ay":0.12189, "alpha":-2.35899, "fx":[-7.07319,-7.7058,4.9555,5.56614], "fy":[8.35662,-4.28355,-4.90952,7.74735]}, - {"t":2.94083, "x":2.09213, "y":5.976, "heading":3.11898, "vx":-0.85266, "vy":-0.52198, "omega":0.56893, "ax":-2.87287, "ay":6.75507, "alpha":-1.00328, "fx":[-43.22844,-45.27676,-38.10589,-36.27801], "fy":[96.78463,93.01932,94.77456,98.42767]}, - {"t":2.98057, "x":2.05598, "y":5.96059, "heading":3.14159, "vx":-0.96684, "vy":-0.25352, "omega":0.52905, "ax":-0.69842, "ay":5.29418, "alpha":-1.6767, "fx":[-15.01994,-15.89597,-4.46726,-4.21631], "fy":[78.21179,71.3085,71.89182,78.76258]}, - {"t":3.02775, "x":2.00959, "y":5.95452, "heading":-3.11664, "vx":-0.99978, "vy":-0.00378, "omega":0.44996, "ax":-0.00012, "ay":0.04487, "alpha":-2.3369, "fx":[-6.42733,-6.11849,6.42807,6.11074], "fy":[6.75046,-5.79162,-5.47834,7.06334]}, - {"t":3.07492, "x":1.96243, "y":5.95439, "heading":-3.09541, "vx":-0.99979, "vy":-0.00167, "omega":0.33972, "ax":0.0, "ay":0.00029, "alpha":-1.98446, "fx":[-5.56718,-5.07535,5.56719,5.07532], "fy":[5.07942,-5.5631,-5.07125,5.57127]}, - {"t":3.12209, "x":1.91526, "y":5.95431, "heading":-3.07938, "vx":-0.99979, "vy":-0.00165, "omega":0.24611, "ax":0.0, "ay":0.0, "alpha":-1.68179, "fx":[-4.78639,-4.22508,4.78639,4.22507], "fy":[4.2251,-4.78636,-4.22505,4.78641]}, - {"t":3.16927, "x":1.8681, "y":5.95423, "heading":-3.06777, "vx":-0.99979, "vy":-0.00165, "omega":0.16677, "ax":0.0, "ay":0.0, "alpha":-1.42158, "fx":[-4.08702,-3.52415,4.08702,3.52415], "fy":[3.52415,-4.08702,-3.52415,4.08702]}, - {"t":3.21644, "x":1.82094, "y":5.95416, "heading":-3.05991, "vx":-0.99979, "vy":-0.00165, "omega":0.09972, "ax":0.0, "ay":0.0, "alpha":-1.1974, "fx":[-3.46577,-2.94124,3.46577,2.94124], "fy":[2.94124,-3.46577,-2.94124,3.46577]}, - {"t":3.26361, "x":1.77378, "y":5.95408, "heading":-3.0552, "vx":-0.99979, "vy":-0.00165, "omega":0.04323, "ax":0.0, "ay":0.0, "alpha":-1.00368, "fx":[-2.9166,-2.45168,2.9166,2.45168], "fy":[2.45168,-2.9166,-2.45168,2.9166]}, - {"t":3.31078, "x":1.72661, "y":5.954, "heading":-3.05316, "vx":-0.99979, "vy":-0.00165, "omega":-0.00412, "ax":0.0, "ay":0.0, "alpha":-0.83553, "fx":[-2.43213,-2.03599,2.43213,2.03599], "fy":[2.03599,-2.43213,-2.03599,2.43213]}, - {"t":3.35796, "x":1.67945, "y":5.95392, "heading":-3.05336, "vx":-0.99979, "vy":-0.00165, "omega":-0.04353, "ax":0.0, "ay":0.0, "alpha":-0.6887, "fx":[-2.00442,-1.6786,2.00442,1.6786], "fy":[1.6786,-2.00442,-1.6786,2.00442]}, - {"t":3.40513, "x":1.63229, "y":5.95384, "heading":-3.05541, "vx":-0.99979, "vy":-0.00165, "omega":-0.07602, "ax":0.0, "ay":0.0, "alpha":-0.55949, "fx":[-1.62554,-1.367,1.62554,1.367], "fy":[1.367,-1.62554,-1.367,1.62554]}, - {"t":3.4523, "x":1.58513, "y":5.95377, "heading":-3.059, "vx":-0.99979, "vy":-0.00165, "omega":-0.10241, "ax":0.0, "ay":0.0, "alpha":-0.44459, "fx":[-1.2878,-1.09089,1.2878,1.09089], "fy":[1.09089,-1.2878,-1.09089,1.2878]}, - {"t":3.49947, "x":1.53796, "y":5.95369, "heading":-3.06383, "vx":-0.99979, "vy":-0.00165, "omega":-0.12338, "ax":0.0, "ay":0.0, "alpha":-0.34107, "fx":[-0.9839,-0.84165,0.9839,0.84165], "fy":[0.84165,-0.9839,-0.84165,0.9839]}, - {"t":3.54665, "x":1.4908, "y":5.95361, "heading":-3.06965, "vx":-0.99979, "vy":-0.00165, "omega":-0.13947, "ax":0.0, "ay":0.0, "alpha":-0.24629, "fx":[-0.70694,-0.61189,0.70694,0.61189], "fy":[0.61189,-0.70694,-0.61189,0.70694]}, - {"t":3.59382, "x":1.44364, "y":5.95353, "heading":-3.07623, "vx":-0.99979, "vy":-0.00165, "omega":-0.15109, "ax":0.0, "ay":0.0, "alpha":-0.15783, "fx":[-0.45042,-0.39508,0.45042,0.39508], "fy":[0.39508,-0.45042,-0.39508,0.45042]}, - {"t":3.64099, "x":1.39647, "y":5.95345, "heading":-3.08336, "vx":-0.99979, "vy":-0.00165, "omega":-0.15854, "ax":0.0, "ay":0.0, "alpha":-0.07341, "fx":[-0.20818,-0.18525,0.20818,0.18525], "fy":[0.18525,-0.20818,-0.18525,0.20818]}, - {"t":3.68817, "x":1.34931, "y":5.95338, "heading":-3.09083, "vx":-0.99979, "vy":-0.00165, "omega":-0.162, "ax":0.0, "ay":0.0, "alpha":0.00913, "fx":[0.02572,0.02323,-0.02572,-0.02323], "fy":[-0.02323,0.02572,0.02323,-0.02572]}, - {"t":3.73534, "x":1.30215, "y":5.9533, "heading":-3.09848, "vx":-0.99979, "vy":-0.00165, "omega":-0.16157, "ax":0.0, "ay":0.0, "alpha":0.0919, "fx":[0.25709,0.23583,-0.25709,-0.23583], "fy":[-0.23583,0.25709,0.23583,-0.25709]}, - {"t":3.78251, "x":1.25499, "y":5.95322, "heading":-3.1061, "vx":-0.99979, "vy":-0.00165, "omega":-0.15723, "ax":0.0, "ay":0.0, "alpha":0.17703, "fx":[0.49176,0.45803,-0.49176,-0.45803], "fy":[-0.45803,0.49176,0.45803,-0.49176]}, - {"t":3.82968, "x":1.20782, "y":5.95314, "heading":-3.11351, "vx":-0.99979, "vy":-0.00165, "omega":-0.14888, "ax":0.0, "ay":0.0, "alpha":0.26669, "fx":[0.7357,0.69551,-0.7357,-0.69551], "fy":[-0.69551,0.7357,0.69551,-0.7357]}, - {"t":3.87686, "x":1.16066, "y":5.95307, "heading":-3.12054, "vx":-0.99979, "vy":-0.00165, "omega":-0.1363, "ax":0.0, "ay":0.0, "alpha":0.36319, "fx":[0.99524,0.95419,-0.99524,-0.95419], "fy":[-0.95419,0.99524,0.95419,-0.99524]}, - {"t":3.92403, "x":1.1135, "y":5.95299, "heading":-3.12697, "vx":-0.99979, "vy":-0.00165, "omega":-0.11917, "ax":0.0, "ay":0.0, "alpha":0.469, "fx":[1.27722,1.2404,-1.27722,-1.2404], "fy":[-1.2404,1.27722,1.24039,-1.27722]}, - {"t":3.9712, "x":1.06634, "y":5.95291, "heading":-3.13259, "vx":-0.99979, "vy":-0.00165, "omega":-0.09704, "ax":0.0, "ay":-0.00003, "alpha":0.58681, "fx":[1.58931,1.56095,-1.58931,-1.56094], "fy":[-1.56132,1.58894,1.56057,-1.58968]}, - {"t":4.01838, "x":1.01917, "y":5.95283, "heading":-3.13717, "vx":-0.99979, "vy":-0.00165, "omega":-0.06936, "ax":0.00001, "ay":-0.00411, "alpha":0.71964, "fx":[1.94035,1.92329,-1.94018,-1.92305], "fy":[-1.98144,1.88199,1.86489,-1.99854]}, - {"t":4.06555, "x":0.97201, "y":5.95275, "heading":-3.14044, "vx":-0.99979, "vy":-0.00185, "omega":-0.03542, "ax":0.01392, "ay":-0.64116, "alpha":0.86477, "fx":[2.52488,2.52855,-2.1387,-2.12569], "fy":[-11.39841,-6.77219,-6.77808,-11.40461]}, - {"t":4.11272, "x":0.92486, "y":5.95195, "heading":3.14108, "vx":-0.99913, "vy":-0.03209, "omega":0.00538, "ax":10.77768, "ay":-0.47176, "alpha":0.00427, "fx":[152.77018,152.77216,152.77189,152.7699], "fy":[-6.70894,-6.66339,-6.66535,-6.71091]}, - {"t":4.15989, "x":0.88972, "y":5.94991, "heading":3.14133, "vx":-0.49072, "vy":-0.05435, "omega":0.00558, "ax":10.81871, "ay":-0.12384, "alpha":0.00143, "fx":[153.35257,153.35275,153.35273,153.35255], "fy":[-1.76304,-1.74767,-1.74784,-1.76321]}, - {"t":4.20707, "x":0.87861, "y":5.94721, "heading":3.14159, "vx":0.01963, "vy":-0.06019, "omega":0.00565, "ax":10.81575, "ay":-0.13342, "alpha":0.0222, "fx":[153.30944,153.31237,153.31199,153.30906], "fy":[-2.00859,-1.7708,-1.77355,-2.01171]}, - {"t":4.24255, "x":0.88612, "y":5.94499, "heading":-3.14139, "vx":0.4034, "vy":-0.06492, "omega":0.00643, "ax":10.80034, "ay":-0.12563, "alpha":0.03874, "fx":[153.09049,153.09529,153.09405,153.08923], "fy":[-1.98537,-1.57125,-1.57558,-1.99083]}, - {"t":4.27803, "x":0.90723, "y":5.94261, "heading":-3.14116, "vx":0.78662, "vy":-0.06938, "omega":0.00781, "ax":6.00309, "ay":1.54854, "alpha":5.63293, "fx":[97.9188,93.76723,71.59276,77.09074], "fy":[2.18506,37.29954,45.5819,2.73441]}, - {"t":4.31351, "x":0.93892, "y":5.94112, "heading":-3.14089, "vx":0.99962, "vy":-0.01443, "omega":0.20768, "ax":0.00056, "ay":0.03749, "alpha":9.18891, "fx":[24.71902,24.62933,-24.64841,-24.66843], "fy":[-24.11639,25.21407,25.18016,-24.15209]}, - {"t":4.34899, "x":0.97439, "y":5.94063, "heading":-3.13352, "vx":0.99964, "vy":-0.0131, "omega":0.53372, "ax":0.00001, "ay":0.0006, "alpha":7.6804, "fx":[20.78291,20.44935,-20.78207,-20.44974], "fy":[-20.44097,20.79105,20.45812,-20.77393]}, - {"t":4.38448, "x":1.00986, "y":5.94017, "heading":-3.11458, "vx":0.99964, "vy":-0.01308, "omega":0.80624, "ax":0.0, "ay":0.00001, "alpha":6.20897, "fx":[17.11095,16.21064,-17.11094,-16.21064], "fy":[-16.21051,17.11108,16.21077,-17.11081]}, - {"t":4.41996, "x":1.04533, "y":5.9397, "heading":-3.08597, "vx":0.99964, "vy":-0.01308, "omega":1.02654, "ax":0.0, "ay":0.0, "alpha":4.77433, "fx":[13.50847,12.08359,-13.50847,-12.08359], "fy":[-12.08359,13.50847,12.08359,-13.50846]}, - {"t":4.45544, "x":1.08079, "y":5.93924, "heading":-3.04955, "vx":0.99964, "vy":-0.01308, "omega":1.19595, "ax":0.0, "ay":0.0, "alpha":3.37245, "fx":[9.84649,8.18236,-9.84649,-8.18236], "fy":[-8.18236,9.84649,8.18236,-9.84649]}, - {"t":4.49092, "x":1.11626, "y":5.93877, "heading":-3.00712, "vx":0.99964, "vy":-0.01308, "omega":1.31561, "ax":0.0, "ay":0.0, "alpha":1.9962, "fx":[6.02849,4.59165,-6.02849,-4.59165], "fy":[-4.59165,6.02849,4.59165,-6.02849]}, - {"t":4.52641, "x":1.15173, "y":5.93831, "heading":-2.96043, "vx":0.99964, "vy":-0.01308, "omega":1.38644, "ax":0.0, "ay":0.0, "alpha":0.63615, "fx":[1.98734,1.37202,-1.98734,-1.37202], "fy":[-1.37202,1.98734,1.37202,-1.98734]}, - {"t":4.56189, "x":1.1872, "y":5.93785, "heading":-2.91124, "vx":0.99964, "vy":-0.01308, "omega":1.40901, "ax":0.0, "ay":0.0, "alpha":-0.71858, "fx":[-2.31837,-1.43755,2.31837,1.43755], "fy":[1.43755,-2.31837,-1.43755,2.31837]}, - {"t":4.59737, "x":1.22267, "y":5.93738, "heading":-2.86125, "vx":0.99964, "vy":-0.01308, "omega":1.38351, "ax":0.0, "ay":0.0, "alpha":-2.07932, "fx":[-6.90801,-3.8193,6.90801,3.8193], "fy":[3.8193,-6.90801,-3.8193,6.90801]}, - {"t":4.63285, "x":1.25814, "y":5.93692, "heading":-2.81216, "vx":0.99964, "vy":-0.01308, "omega":1.30973, "ax":0.0, "ay":0.0, "alpha":-3.45687, "fx":[-11.78232,-5.77839,11.78232,5.77839], "fy":[5.77839,-11.78232,-5.77839,11.78232]}, - {"t":4.66833, "x":1.29361, "y":5.93645, "heading":-2.76568, "vx":0.99964, "vy":-0.01308, "omega":1.18708, "ax":0.0, "ay":0.0, "alpha":-4.86056, "fx":[-16.92619,-7.34638,16.92619,7.34638], "fy":[7.34638,-16.92619,-7.34638,16.92619]}, - {"t":4.70382, "x":1.32908, "y":5.93599, "heading":-2.72356, "vx":0.99964, "vy":-0.01308, "omega":1.01461, "ax":0.0, "ay":0.0, "alpha":-6.29735, "fx":[-22.31092,-8.58614,22.31092,8.58614], "fy":[8.58614,-22.31092,-8.58614,22.31092]}, - {"t":4.7393, "x":1.36455, "y":5.93552, "heading":-2.68756, "vx":0.99964, "vy":-0.01308, "omega":0.79117, "ax":0.0, "ay":0.0, "alpha":-7.77108, "fx":[-27.89573,-9.59768,27.89573,9.59768], "fy":[9.59769,-27.89572,-9.59766,27.89574]}, - {"t":4.77478, "x":1.40002, "y":5.93506, "heading":-2.65949, "vx":0.99964, "vy":-0.01308, "omega":0.51544, "ax":-0.00004, "ay":0.00007, "alpha":-9.28199, "fx":[-33.62865,-10.52467,33.62749,10.52329], "fy":[10.52493,-33.62716,-10.52303,33.62897]}, - {"t":4.81026, "x":1.43549, "y":5.9346, "heading":-2.6412, "vx":0.99964, "vy":-0.01308, "omega":0.18609, "ax":-6.55713, "ay":0.08571, "alpha":-5.18326, "fx":[-104.80418,-96.80672,-80.83022,-89.34198], "fy":[7.72656,-23.40252,-7.46526,28.0009]}, - {"t":4.84574, "x":1.46683, "y":5.93419, "heading":-2.6346, "vx":0.76697, "vy":-0.01004, "omega":0.00218, "ax":-10.80018, "ay":0.14137, "alpha":-0.03905, "fx":[-153.08983,-153.09374,-153.09023,-153.08583], "fy":[2.08125,1.71876,1.92621,2.28927]}, - {"t":4.88123, "x":1.48724, "y":5.93392, "heading":-2.63452, "vx":0.38376, "vy":-0.00502, "omega":0.00079, "ax":-10.81566, "ay":0.14156, "alpha":-0.02237, "fx":[-153.30905,-153.31152,-153.30974,-153.30711], "fy":[2.05096,1.84299,1.96207,2.17023]}, - {"t":4.91671, "x":1.49405, "y":5.93383, "heading":-2.63449, "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":4.0, "y":7.5, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-8.45728, "ay":-6.74185, "alpha":0.0, "fx":[-119.87998,-119.87999,-119.88,-119.87999], "fy":[-95.56414,-95.56413,-95.56412,-95.56413]}, + {"t":0.04863, "x":3.99, "y":7.49203, "heading":3.14159, "vx":-0.4113, "vy":-0.32787, "omega":0.0, "ax":-7.61803, "ay":-6.07283, "alpha":0.00008, "fx":[-107.98342,-107.98378,-107.98415,-107.98379], "fy":[-86.08134,-86.0808,-86.08045,-86.08098]}, + {"t":0.09727, "x":3.96099, "y":7.4689, "heading":-3.14159, "vx":-0.78179, "vy":-0.62321, "omega":0.0, "ax":-0.00005, "ay":-0.00004, "alpha":0.00067, "fx":[0.00112,0.00112,-0.0025,-0.0025], "fy":[-0.00236,0.00126,0.00126,-0.00236]}, + {"t":0.1459, "x":3.92297, "y":7.43859, "heading":-3.14159, "vx":-0.78179, "vy":-0.62322, "omega":0.00004, "ax":0.0, "ay":0.0, "alpha":0.00057, "fx":[0.00153,0.00153,-0.00153,-0.00153], "fy":[-0.00153,0.00153,0.00153,-0.00153]}, + {"t":0.19453, "x":3.88495, "y":7.40828, "heading":-3.14159, "vx":-0.78179, "vy":-0.62322, "omega":0.00006, "ax":0.0, "ay":0.0, "alpha":0.00048, "fx":[0.0013,0.0013,-0.0013,-0.0013], "fy":[-0.0013,0.0013,0.0013,-0.0013]}, + {"t":0.24316, "x":3.84693, "y":7.37797, "heading":-3.14159, "vx":-0.78179, "vy":-0.62322, "omega":0.00009, "ax":0.0, "ay":0.0, "alpha":0.00041, "fx":[0.0011,0.0011,-0.0011,-0.0011], "fy":[-0.0011,0.0011,0.0011,-0.0011]}, + {"t":0.2918, "x":3.8089, "y":7.34767, "heading":-3.14158, "vx":-0.78179, "vy":-0.62322, "omega":0.00011, "ax":0.0, "ay":0.0, "alpha":0.00035, "fx":[0.00093,0.00093,-0.00093,-0.00093], "fy":[-0.00093,0.00093,0.00093,-0.00093]}, + {"t":0.34043, "x":3.77088, "y":7.31736, "heading":-3.14158, "vx":-0.78179, "vy":-0.62322, "omega":0.00012, "ax":0.0, "ay":0.0, "alpha":0.00029, "fx":[0.00079,0.00079,-0.00079,-0.00079], "fy":[-0.00079,0.00079,0.00079,-0.00079]}, + {"t":0.38906, "x":3.73286, "y":7.28705, "heading":-3.14157, "vx":-0.78179, "vy":-0.62322, "omega":0.00014, "ax":0.0, "ay":0.0, "alpha":0.00025, "fx":[0.00066,0.00066,-0.00066,-0.00066], "fy":[-0.00066,0.00066,0.00066,-0.00066]}, + {"t":0.4377, "x":3.69484, "y":7.25674, "heading":-3.14157, "vx":-0.78179, "vy":-0.62322, "omega":0.00015, "ax":0.0, "ay":0.0, "alpha":0.00021, "fx":[0.00056,0.00056,-0.00056,-0.00056], "fy":[-0.00056,0.00056,0.00056,-0.00056]}, + {"t":0.48633, "x":3.65682, "y":7.22643, "heading":-3.14156, "vx":-0.78179, "vy":-0.62322, "omega":0.00016, "ax":0.0, "ay":0.0, "alpha":0.00017, "fx":[0.00047,0.00047,-0.00047,-0.00047], "fy":[-0.00047,0.00047,0.00047,-0.00047]}, + {"t":0.53496, "x":3.6188, "y":7.19612, "heading":-3.14155, "vx":-0.78179, "vy":-0.62322, "omega":0.00017, "ax":0.0, "ay":0.0, "alpha":0.00015, "fx":[0.00039,0.00039,-0.00039,-0.00039], "fy":[-0.00039,0.00039,0.00039,-0.00039]}, + {"t":0.58359, "x":3.58078, "y":7.16581, "heading":-3.14154, "vx":-0.78179, "vy":-0.62322, "omega":0.00018, "ax":0.0, "ay":0.0, "alpha":0.00012, "fx":[0.00033,0.00033,-0.00033,-0.00033], "fy":[-0.00033,0.00033,0.00033,-0.00033]}, + {"t":0.63223, "x":3.54276, "y":7.1355, "heading":-3.14153, "vx":-0.78179, "vy":-0.62322, "omega":0.00018, "ax":0.0, "ay":0.0, "alpha":0.0001, "fx":[0.00027,0.00027,-0.00027,-0.00027], "fy":[-0.00027,0.00027,0.00027,-0.00027]}, + {"t":0.68086, "x":3.50474, "y":7.1052, "heading":-3.14152, "vx":-0.78179, "vy":-0.62322, "omega":0.00019, "ax":0.0, "ay":0.0, "alpha":0.00008, "fx":[0.00022,0.00022,-0.00022,-0.00022], "fy":[-0.00022,0.00022,0.00022,-0.00022]}, + {"t":0.72949, "x":3.46672, "y":7.07489, "heading":-3.14152, "vx":-0.78179, "vy":-0.62322, "omega":0.00019, "ax":0.0, "ay":0.0, "alpha":0.00006, "fx":[0.00017,0.00017,-0.00017,-0.00017], "fy":[-0.00017,0.00017,0.00017,-0.00017]}, + {"t":0.77812, "x":3.4287, "y":7.04458, "heading":-3.14151, "vx":-0.78179, "vy":-0.62322, "omega":0.00019, "ax":0.0, "ay":0.0, "alpha":0.00005, "fx":[0.00014,0.00014,-0.00014,-0.00014], "fy":[-0.00014,0.00014,0.00014,-0.00014]}, + {"t":0.82676, "x":3.39068, "y":7.01427, "heading":-3.1415, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":0.00004, "fx":[0.0001,0.0001,-0.0001,-0.0001], "fy":[-0.0001,0.0001,0.0001,-0.0001]}, + {"t":0.87539, "x":3.35266, "y":6.98396, "heading":-3.14149, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[0.00007,0.00007,-0.00007,-0.00007], "fy":[-0.00007,0.00007,0.00007,-0.00007]}, + {"t":0.92402, "x":3.31464, "y":6.95365, "heading":-3.14148, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[0.00004,0.00004,-0.00004,-0.00004], "fy":[-0.00004,0.00004,0.00004,-0.00004]}, + {"t":0.97266, "x":3.27662, "y":6.92334, "heading":-3.14147, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "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":1.02129, "x":3.2386, "y":6.89304, "heading":-3.14146, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":-0.00001, "fx":[-0.00002,-0.00002,0.00002,0.00002], "fy":[0.00002,-0.00002,-0.00002,0.00002]}, + {"t":1.06992, "x":3.20057, "y":6.86273, "heading":-3.14145, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":-0.00002, "fx":[-0.00005,-0.00005,0.00005,0.00005], "fy":[0.00005,-0.00005,-0.00005,0.00005]}, + {"t":1.11855, "x":3.16255, "y":6.83242, "heading":-3.14144, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":-0.00003, "fx":[-0.00009,-0.00009,0.00009,0.00009], "fy":[0.00009,-0.00009,-0.00009,0.00009]}, + {"t":1.16719, "x":3.12453, "y":6.80211, "heading":-3.14143, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":-0.00004, "fx":[-0.00012,-0.00012,0.00012,0.00012], "fy":[0.00012,-0.00012,-0.00012,0.00012]}, + {"t":1.21582, "x":3.08651, "y":6.7718, "heading":-3.14142, "vx":-0.78179, "vy":-0.62322, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":-0.00006, "fx":[-0.00016,-0.00016,0.00016,0.00016], "fy":[0.00016,-0.00016,-0.00016,0.00016]}, + {"t":1.26445, "x":3.04849, "y":6.74149, "heading":-3.14141, "vx":-0.78179, "vy":-0.62322, "omega":0.00019, "ax":0.0, "ay":0.0, "alpha":-0.00007, "fx":[-0.0002,-0.0002,0.0002,0.0002], "fy":[0.0002,-0.0002,-0.0002,0.0002]}, + {"t":1.31309, "x":3.01047, "y":6.71118, "heading":-3.1414, "vx":-0.78179, "vy":-0.62322, "omega":0.00019, "ax":0.0, "ay":0.0, "alpha":-0.00009, "fx":[-0.00025,-0.00025,0.00025,0.00025], "fy":[0.00025,-0.00025,-0.00025,0.00025]}, + {"t":1.36172, "x":2.97245, "y":6.68087, "heading":-3.14139, "vx":-0.78179, "vy":-0.62322, "omega":0.00018, "ax":0.0, "ay":0.0, "alpha":-0.00011, "fx":[-0.0003,-0.0003,0.0003,0.0003], "fy":[0.0003,-0.0003,-0.0003,0.0003]}, + {"t":1.41035, "x":2.93443, "y":6.65057, "heading":-3.14138, "vx":-0.78179, "vy":-0.62322, "omega":0.00018, "ax":0.0, "ay":0.0, "alpha":-0.00014, "fx":[-0.00036,-0.00036,0.00036,0.00036], "fy":[0.00036,-0.00036,-0.00036,0.00036]}, + {"t":1.45898, "x":2.89641, "y":6.62026, "heading":-3.14137, "vx":-0.78179, "vy":-0.62322, "omega":0.00017, "ax":0.0, "ay":0.0, "alpha":-0.00016, "fx":[-0.00044,-0.00044,0.00044,0.00044], "fy":[0.00044,-0.00044,-0.00044,0.00044]}, + {"t":1.50762, "x":2.85839, "y":6.58995, "heading":-3.14136, "vx":-0.78179, "vy":-0.62322, "omega":0.00016, "ax":0.0, "ay":0.0, "alpha":-0.00019, "fx":[-0.00052,-0.00052,0.00052,0.00052], "fy":[0.00052,-0.00052,-0.00052,0.00052]}, + {"t":1.55625, "x":2.82037, "y":6.55964, "heading":-3.14136, "vx":-0.78179, "vy":-0.62322, "omega":0.00016, "ax":0.0, "ay":0.0, "alpha":-0.00023, "fx":[-0.00062,-0.00062,0.00062,0.00062], "fy":[0.00062,-0.00062,-0.00062,0.00062]}, + {"t":1.60488, "x":2.78235, "y":6.52933, "heading":-3.14135, "vx":-0.78179, "vy":-0.62322, "omega":0.00014, "ax":0.0, "ay":0.0, "alpha":-0.00027, "fx":[-0.00073,-0.00073,0.00073,0.00073], "fy":[0.00073,-0.00073,-0.00073,0.00073]}, + {"t":1.65351, "x":2.74433, "y":6.49902, "heading":-3.14134, "vx":-0.78179, "vy":-0.62322, "omega":0.00013, "ax":0.0, "ay":0.0, "alpha":-0.00032, "fx":[-0.00087,-0.00087,0.00087,0.00087], "fy":[0.00087,-0.00087,-0.00087,0.00087]}, + {"t":1.70215, "x":2.70631, "y":6.46871, "heading":-3.14134, "vx":-0.78179, "vy":-0.62322, "omega":0.00012, "ax":0.0, "ay":0.0, "alpha":-0.00038, "fx":[-0.00103,-0.00103,0.00103,0.00103], "fy":[0.00103,-0.00103,-0.00103,0.00103]}, + {"t":1.75078, "x":2.66829, "y":6.4384, "heading":-3.14133, "vx":-0.78179, "vy":-0.62322, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":-0.00045, "fx":[-0.00121,-0.00121,0.00121,0.00121], "fy":[0.00121,-0.00121,-0.00121,0.00121]}, + {"t":1.79941, "x":2.63027, "y":6.4081, "heading":-3.14133, "vx":-0.78179, "vy":-0.62322, "omega":0.00007, "ax":0.0, "ay":0.0, "alpha":-0.00053, "fx":[-0.00143,-0.00143,0.00143,0.00143], "fy":[0.00143,-0.00143,-0.00143,0.00143]}, + {"t":1.84805, "x":2.59225, "y":6.37779, "heading":-3.14132, "vx":-0.78179, "vy":-0.62322, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":-0.00063, "fx":[-0.00169,-0.00169,0.00169,0.00169], "fy":[0.00169,-0.00169,-0.00169,0.00169]}, + {"t":1.89668, "x":2.55422, "y":6.34748, "heading":-3.14132, "vx":-0.78179, "vy":-0.62322, "omega":0.00002, "ax":0.0, "ay":0.0, "alpha":-0.00074, "fx":[-0.002,-0.002,0.002,0.002], "fy":[0.002,-0.002,-0.002,0.002]}, + {"t":1.94531, "x":2.5162, "y":6.31717, "heading":-3.14132, "vx":-0.78179, "vy":-0.62322, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":-0.00088, "fx":[-0.00236,-0.00236,0.00236,0.00236], "fy":[0.00236,-0.00236,-0.00236,0.00236]}, + {"t":1.99394, "x":2.47818, "y":6.28686, "heading":-3.14132, "vx":-0.78179, "vy":-0.62322, "omega":-0.00006, "ax":0.0, "ay":0.0, "alpha":-0.00104, "fx":[-0.00278,-0.00278,0.00278,0.00278], "fy":[0.00278,-0.00278,-0.00278,0.00278]}, + {"t":2.04258, "x":2.44016, "y":6.25655, "heading":-3.14132, "vx":-0.78179, "vy":-0.62322, "omega":-0.00011, "ax":0.0, "ay":0.0, "alpha":-0.00122, "fx":[-0.00328,-0.00328,0.00328,0.00328], "fy":[0.00328,-0.00328,-0.00328,0.00328]}, + {"t":2.09121, "x":2.40214, "y":6.22624, "heading":-3.14133, "vx":-0.78179, "vy":-0.62322, "omega":-0.00017, "ax":0.0, "ay":0.0, "alpha":-0.00144, "fx":[-0.00387,-0.00387,0.00387,0.00387], "fy":[0.00387,-0.00387,-0.00387,0.00387]}, + {"t":2.13984, "x":2.36412, "y":6.19594, "heading":-3.14134, "vx":-0.78179, "vy":-0.62322, "omega":-0.00024, "ax":0.0, "ay":0.0, "alpha":-0.0017, "fx":[-0.00456,-0.00456,0.00456,0.00456], "fy":[0.00456,-0.00456,-0.00456,0.00456]}, + {"t":2.18848, "x":2.3261, "y":6.16563, "heading":-3.14135, "vx":-0.78179, "vy":-0.62322, "omega":-0.00032, "ax":0.0, "ay":0.0, "alpha":-0.002, "fx":[-0.00538,-0.00538,0.00538,0.00538], "fy":[0.00538,-0.00538,-0.00538,0.00538]}, + {"t":2.23711, "x":2.28808, "y":6.13532, "heading":-3.14136, "vx":-0.78179, "vy":-0.62322, "omega":-0.00042, "ax":0.0, "ay":0.0, "alpha":-0.00236, "fx":[-0.00635,-0.00634,0.00635,0.00634], "fy":[0.00634,-0.00635,-0.00634,0.00635]}, + {"t":2.28574, "x":2.25006, "y":6.10501, "heading":-3.14138, "vx":-0.78179, "vy":-0.62322, "omega":-0.00054, "ax":0.0, "ay":0.0, "alpha":-0.00279, "fx":[-0.00749,-0.00748,0.00748,0.00748], "fy":[0.00748,-0.00748,-0.00748,0.00749]}, + {"t":2.33437, "x":2.21204, "y":6.0747, "heading":-3.14141, "vx":-0.78179, "vy":-0.62322, "omega":-0.00067, "ax":0.0, "ay":0.0, "alpha":-0.00329, "fx":[-0.00885,-0.00884,0.00881,0.00881], "fy":[0.00885,-0.0088,-0.0088,0.00885]}, + {"t":2.38301, "x":2.17402, "y":6.04439, "heading":-3.14144, "vx":-0.78179, "vy":-0.62322, "omega":-0.00083, "ax":-0.00023, "ay":0.00028, "alpha":-0.00388, "fx":[-0.01361,-0.01361,0.00721,0.0072], "fy":[0.01442,-0.00639,-0.00639,0.01443]}, + {"t":2.43164, "x":2.136, "y":6.01408, "heading":-3.14148, "vx":-0.7818, "vy":-0.6232, "omega":-0.00102, "ax":-0.03883, "ay":0.04887, "alpha":-0.00457, "fx":[-0.56273,-0.56272,-0.53817,-0.53818], "fy":[0.70501,0.68046,0.68047,0.70501]}, + {"t":2.48027, "x":2.09793, "y":5.98383, "heading":-3.14153, "vx":-0.78369, "vy":-0.62082, "omega":-0.00124, "ax":-3.2491, "ay":5.87434, "alpha":-0.0024, "fx":[-46.06086,-46.06505,-46.04953,-46.04534], "fy":[83.27038,83.26012,83.26432,83.27457]}, + {"t":2.5289, "x":2.05598, "y":5.96059, "heading":3.14159, "vx":-0.9417, "vy":-0.33514, "omega":-0.00136, "ax":-1.23057, "ay":7.01797, "alpha":-0.00171, "fx":[-17.44888,-17.45023,-17.4373,-17.43595], "fy":[99.48006,99.47461,99.47597,99.48142]}, + {"t":2.5761, "x":2.01016, "y":5.95259, "heading":3.14153, "vx":-0.99978, "vy":-0.00391, "omega":-0.00144, "ax":-0.00016, "ay":0.07885, "alpha":-0.00346, "fx":[-0.01161,-0.01161,0.00694,0.00695], "fy":[1.12699,1.10843,1.10843,1.12699]}, + {"t":2.6233, "x":1.96297, "y":5.95249, "heading":3.14146, "vx":-0.99979, "vy":-0.00019, "omega":-0.0016, "ax":0.0, "ay":0.0005, "alpha":-0.00268, "fx":[-0.00719,-0.00719,0.00719,0.00719], "fy":[0.01431,-0.00007,-0.00007,0.01431]}, + {"t":2.6705, "x":1.91579, "y":5.95248, "heading":3.14138, "vx":-0.99979, "vy":-0.00017, "omega":-0.00173, "ax":0.0, "ay":0.0, "alpha":-0.00197, "fx":[-0.00529,-0.00529,0.00529,0.00529], "fy":[0.00534,-0.00524,-0.00525,0.00533]}, + {"t":2.71769, "x":1.8686, "y":5.95247, "heading":3.1413, "vx":-0.99979, "vy":-0.00017, "omega":-0.00182, "ax":0.0, "ay":0.0, "alpha":-0.00131, "fx":[-0.00352,-0.00352,0.00352,0.00352], "fy":[0.00352,-0.00352,-0.00352,0.00352]}, + {"t":2.76489, "x":1.82141, "y":5.95247, "heading":3.14122, "vx":-0.99979, "vy":-0.00017, "omega":-0.00188, "ax":0.0, "ay":0.0, "alpha":-0.00069, "fx":[-0.00185,-0.00185,0.00185,0.00185], "fy":[0.00185,-0.00185,-0.00185,0.00185]}, + {"t":2.81209, "x":1.77422, "y":5.95246, "heading":3.14113, "vx":-0.99979, "vy":-0.00017, "omega":-0.00192, "ax":0.0, "ay":0.0, "alpha":-0.00008, "fx":[-0.00022,-0.00022,0.00022,0.00022], "fy":[0.00022,-0.00022,-0.00022,0.00022]}, + {"t":2.85928, "x":1.72704, "y":5.95245, "heading":3.14104, "vx":-0.99979, "vy":-0.00017, "omega":-0.00192, "ax":0.0, "ay":0.0, "alpha":0.00052, "fx":[0.0014,0.00141,-0.0014,-0.00141], "fy":[-0.00141,0.0014,0.00141,-0.0014]}, + {"t":2.90648, "x":1.67985, "y":5.95244, "heading":3.14095, "vx":-0.99979, "vy":-0.00017, "omega":-0.0019, "ax":0.0, "ay":0.0, "alpha":0.00114, "fx":[0.00306,0.00307,-0.00306,-0.00307], "fy":[-0.00307,0.00306,0.00307,-0.00306]}, + {"t":2.95368, "x":1.63266, "y":5.95243, "heading":3.14086, "vx":-0.99979, "vy":-0.00017, "omega":-0.00184, "ax":0.0, "ay":0.0, "alpha":0.00179, "fx":[0.0048,0.00481,-0.0048,-0.00481], "fy":[-0.00481,0.0048,0.00481,-0.0048]}, + {"t":3.00087, "x":1.58548, "y":5.95243, "heading":3.14077, "vx":-0.99979, "vy":-0.00017, "omega":-0.00176, "ax":0.0, "ay":0.0, "alpha":0.00248, "fx":[0.00666,0.00667,-0.00666,-0.00667], "fy":[-0.00667,0.00666,0.00667,-0.00666]}, + {"t":3.04807, "x":1.53829, "y":5.95242, "heading":3.14069, "vx":-0.99979, "vy":-0.00017, "omega":-0.00164, "ax":0.0, "ay":0.0, "alpha":0.00324, "fx":[0.00869,0.0087,-0.00869,-0.0087], "fy":[-0.0087,0.00869,0.0087,-0.00869]}, + {"t":3.09527, "x":1.4911, "y":5.95241, "heading":3.14061, "vx":-0.99979, "vy":-0.00017, "omega":-0.00149, "ax":0.0, "ay":0.0, "alpha":0.00408, "fx":[0.01094,0.01096,-0.01094,-0.01096], "fy":[-0.01096,0.01094,0.01096,-0.01094]}, + {"t":3.14247, "x":1.44391, "y":5.9524, "heading":3.14054, "vx":-0.99979, "vy":-0.00017, "omega":-0.00129, "ax":0.0, "ay":0.0, "alpha":0.00503, "fx":[0.01348,0.0135,-0.01348,-0.0135], "fy":[-0.0135,0.01348,0.0135,-0.01348]}, + {"t":3.18966, "x":1.39673, "y":5.95239, "heading":3.14048, "vx":-0.99979, "vy":-0.00017, "omega":-0.00106, "ax":0.0, "ay":0.0, "alpha":0.0061, "fx":[0.01636,0.01639,-0.01636,-0.01639], "fy":[-0.01639,0.01636,0.01639,-0.01636]}, + {"t":3.23686, "x":1.34954, "y":5.95239, "heading":3.14043, "vx":-0.99979, "vy":-0.00017, "omega":-0.00077, "ax":0.0, "ay":0.0, "alpha":0.00733, "fx":[0.01965,0.0197,-0.01965,-0.0197], "fy":[-0.0197,0.01965,0.0197,-0.01965]}, + {"t":3.28406, "x":1.30235, "y":5.95238, "heading":3.14039, "vx":-0.99979, "vy":-0.00017, "omega":-0.00042, "ax":0.0, "ay":0.0, "alpha":0.00875, "fx":[0.02346,0.02351,-0.02346,-0.02351], "fy":[-0.02351,0.02346,0.02351,-0.02346]}, + {"t":3.33125, "x":1.25517, "y":5.95237, "heading":3.14037, "vx":-0.99979, "vy":-0.00017, "omega":-0.00001, "ax":0.0, "ay":0.0, "alpha":0.01039, "fx":[0.02787,0.02793,-0.02787,-0.02793], "fy":[-0.02793,0.02787,0.02793,-0.02787]}, + {"t":3.37845, "x":1.20798, "y":5.95236, "heading":3.14037, "vx":-0.99979, "vy":-0.00017, "omega":0.00048, "ax":0.0, "ay":0.0, "alpha":0.0123, "fx":[0.03299,0.03307,-0.03299,-0.03307], "fy":[-0.03307,0.03299,0.03307,-0.03299]}, + {"t":3.42565, "x":1.16079, "y":5.95236, "heading":3.1404, "vx":-0.99979, "vy":-0.00017, "omega":0.00106, "ax":0.0, "ay":0.0, "alpha":0.01453, "fx":[0.03896,0.03905,-0.03896,-0.03905], "fy":[-0.03905,0.03896,0.03905,-0.03896]}, + {"t":3.47284, "x":1.11361, "y":5.95235, "heading":3.14045, "vx":-0.99979, "vy":-0.00017, "omega":0.00175, "ax":0.0, "ay":0.0, "alpha":0.01713, "fx":[0.04593,0.04604,-0.04593,-0.04604], "fy":[-0.04604,0.04593,0.04603,-0.04593]}, + {"t":3.52004, "x":1.06642, "y":5.95234, "heading":3.14053, "vx":-0.99979, "vy":-0.00017, "omega":0.00255, "ax":0.0, "ay":-0.00002, "alpha":0.02017, "fx":[0.05409,0.0542,-0.05409,-0.0542], "fy":[-0.05455,0.05374,0.05385,-0.05443]}, + {"t":3.56724, "x":1.01923, "y":5.95233, "heading":3.14065, "vx":-0.99979, "vy":-0.00017, "omega":0.00351, "ax":0.0, "ay":-0.00386, "alpha":0.02373, "fx":[0.06365,0.06377,-0.06362,-0.06374], "fy":[-0.11847,0.00891,0.00903,-0.11835]}, + {"t":3.61444, "x":0.97204, "y":5.95232, "heading":3.14081, "vx":-0.99979, "vy":-0.00035, "omega":0.00463, "ax":0.01183, "ay":-0.60412, "alpha":0.02772, "fx":[0.24223,0.24237,0.09307,0.09295], "fy":[-8.63749,-8.48913,-8.48903,-8.63739]}, + {"t":3.66163, "x":0.92487, "y":5.95163, "heading":3.14103, "vx":-0.99923, "vy":-0.02886, "omega":0.00594, "ax":10.77786, "ay":-0.46373, "alpha":0.00013, "fx":[152.77361,152.77367,152.77366,152.7736], "fy":[-6.57392,-6.57248,-6.57254,-6.57398]}, + {"t":3.70883, "x":0.88971, "y":5.94975, "heading":3.14131, "vx":-0.49055, "vy":-0.05075, "omega":0.00594, "ax":10.81861, "ay":-0.13244, "alpha":0.00004, "fx":[153.35122,153.35122,153.35122,153.35122], "fy":[-1.87752,-1.87704,-1.87705,-1.87752]}, + {"t":3.75603, "x":0.87861, "y":5.94721, "heading":3.14159, "vx":0.02006, "vy":-0.057, "omega":0.00594, "ax":10.81568, "ay":-0.13889, "alpha":0.02217, "fx":[153.30838,153.31142,153.31104,153.30799], "fy":[-2.08593,-1.84839,-1.85126,-2.08916]}, + {"t":3.79151, "x":0.88613, "y":5.9451, "heading":-3.14138, "vx":0.4038, "vy":-0.06193, "omega":0.00673, "ax":10.80027, "ay":-0.13152, "alpha":0.03869, "fx":[153.08931,153.09433,153.09309,153.08805], "fy":[-2.0686,-1.65494,-1.6595,-2.07428]}, + {"t":3.82699, "x":0.90726, "y":5.94282, "heading":-3.14114, "vx":0.787, "vy":-0.06659, "omega":0.0081, "ax":5.99239, "ay":1.45926, "alpha":5.66869, "fx":[97.70567,93.778,71.53558,76.74347], "fy":[0.94052,36.25756,44.37559,1.16486]}, + {"t":3.86247, "x":0.93895, "y":5.94137, "heading":-3.14086, "vx":0.99961, "vy":-0.01482, "omega":0.20923, "ax":0.00054, "ay":0.03534, "alpha":9.17729, "fx":[24.6867,24.59879,-24.61979,-24.63503], "fy":[-24.11502,25.15317,25.11773,-24.15219]}, + {"t":3.89795, "x":0.97442, "y":5.94087, "heading":-3.13343, "vx":0.99963, "vy":-0.01357, "omega":0.53484, "ax":0.00001, "ay":0.00057, "alpha":7.66995, "fx":[20.75636,20.41974,-20.75556,-20.42011], "fy":[-20.41184,20.76402,20.42801,-20.74789]}, + {"t":3.93343, "x":1.00988, "y":5.94039, "heading":-3.11446, "vx":0.99963, "vy":-0.01355, "omega":0.80698, "ax":0.0, "ay":0.00001, "alpha":6.19978, "fx":[17.08765,16.18451,-17.08764,-16.18452], "fy":[-16.18439,17.08777,16.18464,-17.08752]}, + {"t":3.96891, "x":1.04535, "y":5.93991, "heading":-3.08582, "vx":0.99963, "vy":-0.01355, "omega":1.02695, "ax":0.0, "ay":0.0, "alpha":4.76645, "fx":[13.48799,12.06163,-13.48799,-12.06163], "fy":[-12.06163,13.48799,12.06163,-13.48798]}, + {"t":4.00439, "x":1.08082, "y":5.93943, "heading":-3.04939, "vx":0.99963, "vy":-0.01355, "omega":1.19606, "ax":0.0, "ay":0.0, "alpha":3.3659, "fx":[9.82869,8.16487,-9.82869,-8.16487], "fy":[-8.16487,9.82869,8.16487,-9.82869]}, + {"t":4.03987, "x":1.11629, "y":5.93895, "heading":-3.00695, "vx":0.99963, "vy":-0.01355, "omega":1.31549, "ax":0.0, "ay":0.0, "alpha":1.99097, "fx":[6.01345,4.57863,-6.01345,-4.57863], "fy":[-4.57863,6.01345,4.57863,-6.01345]}, + {"t":4.07535, "x":1.15175, "y":5.93847, "heading":-2.96028, "vx":0.99963, "vy":-0.01355, "omega":1.38613, "ax":0.0, "ay":0.0, "alpha":0.63222, "fx":[1.97529,1.36324,-1.97529,-1.36324], "fy":[-1.36324,1.97529,1.36324,-1.97529]}, + {"t":4.11083, "x":1.18722, "y":5.93799, "heading":-2.9111, "vx":0.99963, "vy":-0.01355, "omega":1.40856, "ax":0.0, "ay":0.0, "alpha":-0.72123, "fx":[-2.32712,-1.44251,2.32712,1.44251], "fy":[1.44251,-2.32712,-1.44251,2.32712]}, + {"t":4.14631, "x":1.22269, "y":5.93751, "heading":-2.86112, "vx":0.99963, "vy":-0.01355, "omega":1.38297, "ax":0.0, "ay":0.0, "alpha":-2.08072, "fx":[-6.91314,-3.821,6.91314,3.821], "fy":[3.821,-6.91314,-3.821,6.91314]}, + {"t":4.18179, "x":1.25816, "y":5.93703, "heading":-2.81205, "vx":0.99963, "vy":-0.01355, "omega":1.30914, "ax":0.0, "ay":0.0, "alpha":-3.45705, "fx":[-11.78354,-5.77747,11.78354,5.77747], "fy":[5.77747,-11.78354,-5.77747,11.78354]}, + {"t":4.21727, "x":1.29362, "y":5.93655, "heading":-2.7656, "vx":0.99963, "vy":-0.01355, "omega":1.18649, "ax":0.0, "ay":0.0, "alpha":-4.85957, "fx":[-16.92332,-7.34351,16.92332,7.34351], "fy":[7.34351,-16.92332,-7.34351,16.92332]}, + {"t":4.25275, "x":1.32909, "y":5.93606, "heading":-2.72351, "vx":0.99963, "vy":-0.01355, "omega":1.01407, "ax":0.0, "ay":0.0, "alpha":-6.29522, "fx":[-22.30388,-8.58195,22.30388,8.58195], "fy":[8.58195,-22.30388,-8.58195,22.30388]}, + {"t":4.28823, "x":1.36456, "y":5.93558, "heading":-2.68753, "vx":0.99963, "vy":-0.01355, "omega":0.79071, "ax":0.0, "ay":0.0, "alpha":-7.76787, "fx":[-27.88457,-9.59269,27.88458,9.59269], "fy":[9.59271,-27.88456,-9.59268,27.88459]}, + {"t":4.32371, "x":1.40002, "y":5.9351, "heading":-2.65947, "vx":0.99963, "vy":-0.01355, "omega":0.5151, "ax":-0.00004, "ay":0.00007, "alpha":-9.27778, "fx":[-33.6136,-10.51925,33.61244,10.51787], "fy":[10.51951,-33.61211,-10.51762,33.61392]}, + {"t":4.35919, "x":1.43549, "y":5.93462, "heading":-2.6412, "vx":0.99963, "vy":-0.01354, "omega":0.18592, "ax":-6.55847, "ay":0.08876, "alpha":-5.1788, "fx":[-104.8092,-96.827,-80.86533,-89.35769], "fy":[7.76018,-23.34521,-7.40609,28.02395]}, + {"t":4.39467, "x":1.46683, "y":5.9342, "heading":-2.6346, "vx":0.76693, "vy":-0.01039, "omega":0.00218, "ax":-10.8001, "ay":0.14637, "alpha":-0.03903, "fx":[-153.0888,-153.09287,-153.08926,-153.08469], "fy":[2.15194,1.7897,1.99722,2.36003]}, + {"t":4.43015, "x":1.48724, "y":5.93392, "heading":-2.63452, "vx":0.38374, "vy":-0.0052, "omega":0.00079, "ax":-10.81559, "ay":0.14656, "alpha":-0.02236, "fx":[-153.30805,-153.31062,-153.30878,-153.30606], "fy":[2.12182,1.914,2.03312,2.24113]}, + {"t":4.46563, "x":1.49405, "y":5.93383, "heading":-2.63449, "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/BlueLeftTransitionToNZ.traj b/src/main/deploy/choreo/BlueLeftTransitionToNZ.traj index 4b1d0ba..aabbed4 100644 --- a/src/main/deploy/choreo/BlueLeftTransitionToNZ.traj +++ b/src/main/deploy/choreo/BlueLeftTransitionToNZ.traj @@ -3,15 +3,15 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.55, "y":7.5, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.639349937438965, "y":7.5, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.977860450744629, "y":6.588814735412598, "heading":-1.6142478069017354, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.700897216796875, "y":5.2347731590271, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.1317291259765625, "y":4.7270073890686035, "heading":-0.40489214249137245, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.162647247314453, "y":5.188612461090088, "heading":0.8124181601768855, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.408836841583252, "y":6.342625617980957, "heading":1.6421037129255154, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.0549397468566895, "y":7.311996936798096, "heading":3.017237897426998, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.224050045013428, "y":7.496638774871826, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.0, "y":7.5, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.118804454803467, "y":7.5, "heading":3.141592653589793, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.977860450744629, "y":6.588814735412598, "heading":-1.6142478069017354, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.700897216796875, "y":5.2347731590271, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.1317291259765625, "y":4.7270073890686035, "heading":-0.40489214249137245, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.162647247314453, "y":5.188612461090088, "heading":0.8124181601768855, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.408836841583252, "y":6.342625617980957, "heading":1.6421037129255154, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.0549397468566895, "y":7.311996936798096, "heading":3.017237897426998, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.224050045013428, "y":7.496638774871826, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.8, "y":7.5, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,15 +30,15 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"BLTransition.x", "val":4.55}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"BLTransition.heading", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.639349937438965 m", "val":5.639349937438965}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.977860450744629 m", "val":5.977860450744629}, "y":{"exp":"6.588814735412598 m", "val":6.588814735412598}, "heading":{"exp":"-1.6142478069017354 rad", "val":-1.6142478069017354}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.700897216796875 m", "val":5.700897216796875}, "y":{"exp":"5.2347731590271 m", "val":5.2347731590271}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.1317291259765625 m", "val":6.1317291259765625}, "y":{"exp":"4.7270073890686035 m", "val":4.7270073890686035}, "heading":{"exp":"-0.40489214249137245 rad", "val":-0.40489214249137245}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.162647247314453 m", "val":7.162647247314453}, "y":{"exp":"5.188612461090088 m", "val":5.188612461090088}, "heading":{"exp":"0.8124181601768855 rad", "val":0.8124181601768855}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.408836841583252 m", "val":7.408836841583252}, "y":{"exp":"6.342625617980957 m", "val":6.342625617980957}, "heading":{"exp":"1.6421037129255154 rad", "val":1.6421037129255154}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.0549397468566895 m", "val":7.0549397468566895}, "y":{"exp":"7.311996936798096 m", "val":7.311996936798096}, "heading":{"exp":"3.017237897426998 rad", "val":3.017237897426998}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.224050045013428 m", "val":6.224050045013428}, "y":{"exp":"7.496638774871826 m", "val":7.496638774871826}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"BLTransition.x", "val":4.0}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"BLTransition.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.118804454803467 m", "val":6.118804454803467}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.977860450744629 m", "val":5.977860450744629}, "y":{"exp":"6.588814735412598 m", "val":6.588814735412598}, "heading":{"exp":"-1.6142478069017354 rad", "val":-1.6142478069017354}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.700897216796875 m", "val":5.700897216796875}, "y":{"exp":"5.2347731590271 m", "val":5.2347731590271}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.1317291259765625 m", "val":6.1317291259765625}, "y":{"exp":"4.7270073890686035 m", "val":4.7270073890686035}, "heading":{"exp":"-0.40489214249137245 rad", "val":-0.40489214249137245}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.162647247314453 m", "val":7.162647247314453}, "y":{"exp":"5.188612461090088 m", "val":5.188612461090088}, "heading":{"exp":"0.8124181601768855 rad", "val":0.8124181601768855}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.408836841583252 m", "val":7.408836841583252}, "y":{"exp":"6.342625617980957 m", "val":6.342625617980957}, "heading":{"exp":"1.6421037129255154 rad", "val":1.6421037129255154}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.0549397468566895 m", "val":7.0549397468566895}, "y":{"exp":"7.311996936798096 m", "val":7.311996936798096}, "heading":{"exp":"3.017237897426998 rad", "val":3.017237897426998}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.224050045013428 m", "val":6.224050045013428}, "y":{"exp":"7.496638774871826 m", "val":7.496638774871826}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.8 m", "val":3.8}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -83,214 +83,212 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.65674,1.35396,1.91951,2.27334,2.74722,3.22335,3.64633,4.00067,5.32447], + "waypoints":[0.0,1.15264,1.81551,2.37775,2.70659,3.17449,3.6506,4.07119,4.42275,5.72771], "samples":[ - {"t":0.0, "x":4.55, "y":7.5, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.01727, "ay":0.0135, "alpha":0.00075, "fx":[153.38117,153.38118,153.38119,153.38118], "fy":[0.23357,0.22556,0.22555,0.23356]}, - {"t":0.04105, "x":4.5576, "y":7.50001, "heading":0.0, "vx":0.37012, "vy":0.00055, "omega":0.00003, "ax":9.01489, "ay":0.01365, "alpha":0.00065, "fx":[153.34071,153.34072,153.34073,153.34072], "fy":[0.23572,0.2288,0.22879,0.23571]}, - {"t":0.08209, "x":4.58038, "y":7.50005, "heading":0.0, "vx":0.74015, "vy":0.00111, "omega":0.00006, "ax":9.01093, "ay":0.01388, "alpha":0.00055, "fx":[153.27331,153.27332,153.27333,153.27332], "fy":[0.23914,0.2332,0.23319,0.23913]}, - {"t":0.12314, "x":4.61835, "y":7.5001, "heading":0.0, "vx":1.11001, "vy":0.00168, "omega":0.00008, "ax":9.00302, "ay":0.01421, "alpha":0.00047, "fx":[153.1387,153.13871,153.13872,153.13872], "fy":[0.24423,0.23915,0.23915,0.24422]}, - {"t":0.16418, "x":4.6715, "y":7.50018, "heading":0.00001, "vx":1.47955, "vy":0.00227, "omega":0.0001, "ax":8.97937, "ay":0.01466, "alpha":0.0004, "fx":[152.73648,152.73648,152.73651,152.7365], "fy":[0.25154,0.24722,0.24722,0.25153]}, - {"t":0.20523, "x":4.73979, "y":7.50029, "heading":0.00001, "vx":1.84812, "vy":0.00287, "omega":0.00012, "ax":3.68826, "ay":0.01583, "alpha":0.00107, "fx":[62.73378,62.73379,62.73857,62.73856], "fy":[0.27259,0.2659,0.26589,0.27259]}, - {"t":0.24628, "x":4.81876, "y":7.50042, "heading":0.00002, "vx":1.99951, "vy":0.00352, "omega":0.00016, "ax":0.00004, "ay":0.00998, "alpha":0.00002, "fx":[0.00068,0.00068,0.00079,0.00079], "fy":[0.16986,0.16975,0.16975,0.16986]}, - {"t":0.28732, "x":4.90083, "y":7.50057, "heading":0.00002, "vx":1.99951, "vy":0.00393, "omega":0.00016, "ax":-0.00003, "ay":0.01299, "alpha":0.0, "fx":[-0.00046,-0.00046,-0.00046,-0.00046], "fy":[0.22095,0.22094,0.22094,0.22095]}, - {"t":0.32837, "x":4.9829, "y":7.50075, "heading":0.00003, "vx":1.99951, "vy":0.00446, "omega":0.00016, "ax":-0.00004, "ay":0.01666, "alpha":0.0, "fx":[-0.00068,-0.00068,-0.00068,-0.00068], "fy":[0.28339,0.28339,0.28339,0.28339]}, - {"t":0.36941, "x":5.06497, "y":7.50094, "heading":0.00004, "vx":1.9995, "vy":0.00515, "omega":0.00016, "ax":-0.00006, "ay":0.02095, "alpha":0.0, "fx":[-0.00099,-0.00099,-0.00099,-0.00099], "fy":[0.3564,0.3564,0.3564,0.3564]}, - {"t":0.41046, "x":5.14704, "y":7.50117, "heading":0.00004, "vx":1.9995, "vy":0.00601, "omega":0.00016, "ax":-0.00009, "ay":0.02604, "alpha":0.0, "fx":[-0.00145,-0.00145,-0.00145,-0.00145], "fy":[0.44294,0.44294,0.44294,0.44294]}, - {"t":0.45151, "x":5.22912, "y":7.50144, "heading":0.00005, "vx":1.9995, "vy":0.00707, "omega":0.00016, "ax":-0.00012, "ay":0.03214, "alpha":0.0, "fx":[-0.00211,-0.00211,-0.00211,-0.00211], "fy":[0.54675,0.54675,0.54675,0.54675]}, - {"t":0.49255, "x":5.31119, "y":7.50176, "heading":0.00006, "vx":1.99949, "vy":0.00839, "omega":0.00016, "ax":-0.00018, "ay":0.03907, "alpha":-0.00001, "fx":[-0.00303,-0.00303,-0.00308,-0.00308], "fy":[0.66461,0.66466,0.66466,0.66461]}, - {"t":0.5336, "x":5.39326, "y":7.50214, "heading":0.00006, "vx":1.99949, "vy":0.01, "omega":0.00016, "ax":-0.0002, "ay":0.03702, "alpha":-0.00066, "fx":[-0.0016,-0.0016,-0.00517,-0.00517], "fy":[0.628,0.63157,0.63157,0.628]}, - {"t":0.57464, "x":5.47533, "y":7.50258, "heading":0.00007, "vx":1.99948, "vy":0.01152, "omega":0.00013, "ax":0.00069, "ay":-0.17228, "alpha":-0.04709, "fx":[0.1381,0.1381,-0.1148,-0.11478], "fy":[-3.05682,-2.80411,-2.80413,-3.05684]}, - {"t":0.61569, "x":5.5574, "y":7.5029, "heading":0.00007, "vx":1.99951, "vy":0.00445, "omega":-0.0018, "ax":-0.14521, "ay":-3.66435, "alpha":-2.38292, "fx":[4.81302,5.14949,-10.25559,-9.58702], "fy":[-67.75382,-57.07119,-56.90452,-67.58897]}, - {"t":0.65674, "x":5.63935, "y":7.5, "heading":0.0, "vx":1.99355, "vy":-0.14596, "omega":-0.09961, "ax":-0.07321, "ay":-0.04807, "alpha":-40.32995, "fx":[106.18292,107.82777,-110.29965,-108.69188], "fy":[-110.3131,108.69648,106.20175,-107.85548]}, - {"t":0.67724, "x":5.68022, "y":7.497, "heading":-0.00204, "vx":1.99204, "vy":-0.14695, "omega":-0.92664, "ax":-0.1334, "ay":-0.08836, "alpha":-40.218, "fx":[103.91477,107.41098,-111.44643,-108.95559], "fy":[-111.91413,108.52903,104.43285,-107.05944]}, - {"t":0.69775, "x":5.72104, "y":7.49396, "heading":-0.02105, "vx":1.98931, "vy":-0.14876, "omega":-1.75138, "ax":-1.48998, "ay":-0.892, "alpha":-36.44099, "fx":[51.47742,88.48604,-130.52629,-110.81384], "fy":[-134.73297,106.50382,63.72595,-96.18722]}, - {"t":0.71826, "x":5.76152, "y":7.49073, "heading":-0.05696, "vx":1.95875, "vy":-0.16705, "omega":-2.49867, "ax":-6.3271, "ay":-4.28995, "alpha":-0.00599, "fx":[-107.59978,-107.61984,-107.64466,-107.6246], "fy":[-73.00238,-72.96294,-72.93921,-72.97865]}, - {"t":0.73876, "x":5.80036, "y":7.4864, "heading":-0.1082, "vx":1.82901, "vy":-0.25502, "omega":-2.49879, "ax":-6.25358, "ay":-4.28044, "alpha":0.0, "fx":[-106.37153,-106.37154,-106.37154,-106.37154], "fy":[-72.8091,-72.80909,-72.80908,-72.80909]}, - {"t":0.75927, "x":5.83655, "y":7.48027, "heading":-0.15944, "vx":1.70077, "vy":-0.3428, "omega":-2.49879, "ax":-6.18008, "ay":-4.26517, "alpha":0.0, "fx":[-105.12131,-105.12132,-105.12132,-105.12132], "fy":[-72.54933,-72.54933,-72.54933,-72.54933]}, - {"t":0.77978, "x":5.87013, "y":7.47234, "heading":-0.21068, "vx":1.57403, "vy":-0.43027, "omega":-2.49879, "ax":-6.10508, "ay":-4.24507, "alpha":0.0, "fx":[-103.84561,-103.84561,-103.84561,-103.84561], "fy":[-72.20751,-72.20751,-72.2075,-72.20751]}, - {"t":0.80028, "x":5.90112, "y":7.46263, "heading":-0.26193, "vx":1.44884, "vy":-0.51732, "omega":-2.49879, "ax":-6.02738, "ay":-4.22069, "alpha":0.0, "fx":[-102.52404,-102.52404,-102.52404,-102.52404], "fy":[-71.79278,-71.79278,-71.79278,-71.79278]}, - {"t":0.82079, "x":5.92956, "y":7.45113, "heading":-0.31317, "vx":1.32524, "vy":-0.60387, "omega":-2.49879, "ax":-5.94594, "ay":-4.19234, "alpha":0.0, "fx":[-101.1387,-101.1387,-101.1387,-101.1387], "fy":[-71.31048,-71.31047,-71.31047,-71.31047]}, - {"t":0.8413, "x":5.95549, "y":7.43787, "heading":-0.36441, "vx":1.2033, "vy":-0.68984, "omega":-2.49879, "ax":-5.85974, "ay":-4.16018, "alpha":0.0, "fx":[-99.67244,-99.67244,-99.67244,-99.67244], "fy":[-70.76353,-70.76353,-70.76353,-70.76353]}, - {"t":0.8618, "x":5.97893, "y":7.42284, "heading":-0.41565, "vx":1.08314, "vy":-0.77515, "omega":-2.49879, "ax":-5.76775, "ay":-4.12431, "alpha":0.0, "fx":[-98.10777,-98.10777,-98.10777,-98.10777], "fy":[-70.1534,-70.1534,-70.1534,-70.1534]}, - {"t":0.88231, "x":5.99993, "y":7.40608, "heading":-0.46689, "vx":0.96486, "vy":-0.85973, "omega":-2.49879, "ax":-5.66889, "ay":-4.08476, "alpha":0.0, "fx":[-96.42614,-96.42614,-96.42614,-96.42614], "fy":[-69.48053,-69.48053,-69.48053,-69.48053]}, - {"t":0.90282, "x":6.01853, "y":7.38759, "heading":-0.51814, "vx":0.84861, "vy":-0.94349, "omega":-2.49879, "ax":-5.56195, "ay":-4.0415, "alpha":0.0, "fx":[-94.60726,-94.60726,-94.60726,-94.60726], "fy":[-68.74476,-68.74476,-68.74476,-68.74476]}, - {"t":0.92332, "x":6.03476, "y":7.36739, "heading":-0.56938, "vx":0.73456, "vy":-1.02637, "omega":-2.49879, "ax":-5.44563, "ay":-3.99452, "alpha":0.0, "fx":[-92.62853,-92.62853,-92.62853,-92.62853], "fy":[-67.94566,-67.94566,-67.94566,-67.94566]}, - {"t":0.94383, "x":6.04868, "y":7.34551, "heading":-0.62062, "vx":0.62288, "vy":-1.10829, "omega":-2.49879, "ax":-5.3184, "ay":-3.94379, "alpha":0.0, "fx":[-90.46446,-90.46446,-90.46446,-90.46446], "fy":[-67.08282,-67.08282,-67.08282,-67.08282]}, - {"t":0.96434, "x":6.06033, "y":7.32195, "heading":-0.67186, "vx":0.51382, "vy":-1.18916, "omega":-2.49879, "ax":-5.17858, "ay":-3.88932, "alpha":0.0, "fx":[-88.08612,-88.08612,-88.08612,-88.08612], "fy":[-66.15627,-66.15627,-66.15627,-66.15627]}, - {"t":0.98484, "x":6.06978, "y":7.29675, "heading":-0.7231, "vx":0.40763, "vy":-1.26892, "omega":-2.49879, "ax":-5.02422, "ay":-3.83116, "alpha":0.0, "fx":[-85.46058,-85.46058,-85.46058,-85.46058], "fy":[-65.16692,-65.16692,-65.16692,-65.16692]}, - {"t":1.00535, "x":6.07708, "y":7.26992, "heading":-0.77435, "vx":0.30459, "vy":-1.34748, "omega":-2.49879, "ax":-4.85313, "ay":-3.76945, "alpha":0.0, "fx":[-82.55042,-82.55042,-82.55042,-82.55042], "fy":[-64.11725,-64.11725,-64.11725,-64.11725]}, - {"t":1.02586, "x":6.08231, "y":7.2415, "heading":-0.82559, "vx":0.20507, "vy":-1.42478, "omega":-2.49879, "ax":-4.66283, "ay":-3.70449, "alpha":0.0, "fx":[-79.31345,-79.31345,-79.31345,-79.31345], "fy":[-63.01223,-63.01223,-63.01224,-63.01224]}, - {"t":1.04636, "x":6.08553, "y":7.2115, "heading":-0.87683, "vx":0.10945, "vy":-1.50075, "omega":-2.49879, "ax":-4.45056, "ay":-3.63679, "alpha":0.0, "fx":[-75.70269,-75.7027,-75.70269,-75.70269], "fy":[-61.86071,-61.86071,-61.86071,-61.86071]}, - {"t":1.06687, "x":6.08684, "y":7.17996, "heading":-0.92807, "vx":0.01819, "vy":-1.57533, "omega":-2.49879, "ax":-4.2133, "ay":-3.56721, "alpha":0.0, "fx":[-71.66711,-71.66711,-71.6671,-71.6671], "fy":[-60.67726,-60.67726,-60.67726,-60.67726]}, - {"t":1.08738, "x":6.08633, "y":7.1469, "heading":-0.97931, "vx":-0.06821, "vy":-1.64848, "omega":-2.49879, "ax":-3.94794, "ay":-3.49712, "alpha":0.0, "fx":[-67.15334,-67.15334,-67.15334,-67.15334], "fy":[-59.48503,-59.48503,-59.48503,-59.48503]}, - {"t":1.10788, "x":6.0841, "y":7.11236, "heading":-1.03055, "vx":-0.14917, "vy":-1.72019, "omega":-2.49879, "ax":-3.65141, "ay":-3.42861, "alpha":0.0, "fx":[-62.10943,-62.10943,-62.10943,-62.10943], "fy":[-58.31976,-58.31976,-58.31976,-58.31976]}, - {"t":1.12839, "x":6.08027, "y":7.07637, "heading":-1.0818, "vx":-0.22405, "vy":-1.7905, "omega":-2.49879, "ax":-3.32112, "ay":-3.36488, "alpha":0.0, "fx":[-56.49122,-56.49122,-56.49122,-56.49122], "fy":[-57.23565,-57.23566,-57.23566,-57.23566]}, - {"t":1.1489, "x":6.07498, "y":7.03894, "heading":-1.13304, "vx":-0.29216, "vy":-1.85951, "omega":-2.49879, "ax":-2.95554, "ay":-3.31069, "alpha":0.0, "fx":[-50.27295,-50.27295,-50.27295,-50.27295], "fy":[-56.31393,-56.31393,-56.31394,-56.31394]}, - {"t":1.1694, "x":6.06837, "y":7.00011, "heading":-1.18428, "vx":-0.35276, "vy":-1.9274, "omega":-2.49879, "ax":-2.55518, "ay":-3.27315, "alpha":0.0, "fx":[-43.46295,-43.46295,-43.46295,-43.46294], "fy":[-55.67542,-55.67542,-55.67542,-55.67542]}, - {"t":1.18991, "x":6.0606, "y":6.9599, "heading":-1.23552, "vx":-0.40516, "vy":-1.99452, "omega":-2.49879, "ax":-2.1238, "ay":-3.26283, "alpha":0.0, "fx":[-36.12523,-36.12523,-36.12523,-36.12522], "fy":[-55.49976,-55.49976,-55.49977,-55.49977]}, - {"t":1.21042, "x":6.05184, "y":6.91831, "heading":-1.28676, "vx":-0.44872, "vy":-2.06143, "omega":-2.49879, "ax":-1.67005, "ay":-3.29558, "alpha":0.0, "fx":[-28.40712,-28.40712,-28.40712,-28.40712], "fy":[-56.05686,-56.05686,-56.05686,-56.05686]}, - {"t":1.23092, "x":6.04229, "y":6.87535, "heading":-1.33801, "vx":-0.48296, "vy":-2.12901, "omega":-2.49879, "ax":-1.20963, "ay":-3.39606, "alpha":0.0, "fx":[-20.57554,-20.57555,-20.57554,-20.57554], "fy":[-57.76596,-57.76596,-57.76596,-57.76596]}, - {"t":1.25143, "x":6.03213, "y":6.83098, "heading":-1.38925, "vx":-0.50777, "vy":-2.19865, "omega":-2.49879, "ax":-0.76906, "ay":-3.60577, "alpha":0.0, "fx":[-13.08155,-13.08156,-13.08156,-13.08155], "fy":[-61.33316,-61.33316,-61.33317,-61.33317]}, - {"t":1.27194, "x":6.02156, "y":6.78513, "heading":-1.44049, "vx":-0.52354, "vy":-2.27259, "omega":-2.49879, "ax":-0.39743, "ay":-4.00845, "alpha":0.00054, "fx":[-6.75875,-6.76217,-6.7616,-6.75818], "fy":[-68.18127,-68.18147,-68.18379,-68.1836]}, - {"t":1.29244, "x":6.01074, "y":6.73768, "heading":-1.49173, "vx":-0.53169, "vy":-2.35479, "omega":-2.49878, "ax":-0.14181, "ay":-3.69386, "alpha":17.00702, "fx":[59.48846,-71.67247,-40.67041,43.20559], "fy":[-21.65173,-29.36047,-101.71996,-98.59388]}, - {"t":1.31295, "x":5.9998, "y":6.68862, "heading":-1.54297, "vx":-0.5346, "vy":-2.43054, "omega":-2.15002, "ax":-0.0207, "ay":-0.14111, "alpha":40.2024, "fx":[106.928,-113.61549,-102.93771,108.21682], "fy":[108.91648,101.93208,-112.75732,-107.69192]}, - {"t":1.33346, "x":5.98884, "y":6.63875, "heading":-1.58706, "vx":-0.53502, "vy":-2.43344, "omega":-1.3256, "ax":-0.02378, "ay":-0.13962, "alpha":40.319, "fx":[111.99969,-109.27317,-108.06699,103.72274], "fy":[104.36119,107.21729,-108.46021,-112.61804]}, - {"t":1.35396, "x":5.97786, "y":6.58881, "heading":-1.61425, "vx":-0.53551, "vy":-2.4363, "omega":-0.49879, "ax":0.90707, "ay":-0.3552, "alpha":12.23103, "fx":[49.92481,-15.83283,-18.26906,45.89284], "fy":[24.38682,29.77362,-39.37909,-38.94862]}, - {"t":1.38373, "x":5.96232, "y":6.51614, "heading":-1.62909, "vx":-0.50851, "vy":-2.44687, "omega":-0.13473, "ax":0.15991, "ay":-0.03309, "alpha":4.19662, "fx":[14.62273,-7.86738,-9.17737,13.30234], "fy":[10.00172,11.37158,-11.18693,-12.4376]}, - {"t":1.4135, "x":5.94726, "y":6.44329, "heading":-1.6331, "vx":-0.50375, "vy":-2.44786, "omega":-0.00981, "ax":-0.00415, "ay":0.00085, "alpha":1.34437, "fx":[3.7558,-3.44765,-3.89708,3.30639], "fy":[3.39164,3.8409,-3.3624,-3.81198]}, - {"t":1.44326, "x":5.93226, "y":6.37043, "heading":-1.6334, "vx":-0.50387, "vy":-2.44783, "omega":0.0302, "ax":-0.03535, "ay":0.00728, "alpha":0.42366, "fx":[0.60487,-1.66513,-1.80745,0.46258], "fy":[1.18787,1.33002,-0.93993,-1.08234]}, - {"t":1.47303, "x":5.91725, "y":6.29757, "heading":-1.6325, "vx":-0.50493, "vy":-2.44762, "omega":0.04281, "ax":-0.0453, "ay":0.00936, "alpha":0.1329, "fx":[-0.39253,-1.10464,-1.14864,-0.43653], "fy":[0.49327,0.53725,-0.17488,-0.21889]}, - {"t":1.50279, "x":5.9022, "y":6.22472, "heading":-1.63122, "vx":-0.50627, "vy":-2.44734, "omega":0.04677, "ax":-0.05336, "ay":0.01106, "alpha":0.04169, "fx":[-0.7892,-1.0126,-1.02611,-0.80272], "fy":[0.29302,0.30653,0.08312,0.06961]}, - {"t":1.53256, "x":5.8871, "y":6.15188, "heading":-1.62983, "vx":-0.50786, "vy":-2.44701, "omega":0.04801, "ax":-0.06309, "ay":0.01312, "alpha":0.01326, "fx":[-1.03544,-1.10652,-1.11073,-1.03964], "fy":[0.25658,0.26078,0.1897,0.1855]}, - {"t":1.56232, "x":5.87196, "y":6.07905, "heading":-1.6284, "vx":-0.50974, "vy":-2.44662, "omega":0.04841, "ax":-0.07558, "ay":0.01578, "alpha":0.00483, "fx":[-1.27196,-1.29787,-1.29936,-1.27345], "fy":[0.28069,0.28218,0.25627,0.25477]}, - {"t":1.59209, "x":5.85675, "y":6.00623, "heading":-1.62696, "vx":-0.51199, "vy":-2.44615, "omega":0.04855, "ax":-0.09183, "ay":0.01927, "alpha":0.00369, "fx":[-1.55151,-1.57131,-1.57242,-1.55262], "fy":[0.33718,0.33829,0.31849,0.31738]}, - {"t":1.62186, "x":5.84147, "y":5.93343, "heading":-1.62552, "vx":-0.51472, "vy":-2.44557, "omega":0.04866, "ax":-0.11327, "ay":0.02392, "alpha":0.00813, "fx":[-1.90374,-1.94729,-1.94968,-1.90613], "fy":[0.42749,0.42987,0.38631,0.38393]}, - {"t":1.65162, "x":5.8261, "y":5.86064, "heading":-1.62407, "vx":-0.5181, "vy":-2.44486, "omega":0.0489, "ax":-0.14241, "ay":0.03031, "alpha":0.0248, "fx":[-2.35234,-2.48529,-2.49239,-2.35944], "fy":[0.57848,0.58556,0.45255,0.44547]}, - {"t":1.68139, "x":5.81062, "y":5.78789, "heading":-1.62261, "vx":-0.52233, "vy":-2.44396, "omega":0.04964, "ax":-0.18383, "ay":0.0395, "alpha":0.07888, "fx":[-2.90445,-3.32718,-3.34918,-2.92645], "fy":[0.87254,0.89439,0.47134,0.44945]}, - {"t":1.71115, "x":5.79499, "y":5.71516, "heading":-1.62113, "vx":-0.52781, "vy":-2.44278, "omega":0.05199, "ax":-0.24542, "ay":0.05341, "alpha":0.25196, "fx":[-3.46526,-4.81521,-4.8837,-3.53367], "fy":[1.55078,1.61813,0.26652,0.19851]}, - {"t":1.74092, "x":5.77917, "y":5.64247, "heading":-1.61959, "vx":-0.53511, "vy":-2.44119, "omega":0.05949, "ax":-0.33172, "ay":0.07341, "alpha":0.80658, "fx":[-3.37625,-7.69512,-7.90917,-3.58921], "fy":[3.312,3.51631,-0.80991,-1.02336]}, - {"t":1.77068, "x":5.76309, "y":5.56984, "heading":-1.61782, "vx":-0.54498, "vy":-2.43901, "omega":0.0835, "ax":-0.35182, "ay":0.07942, "alpha":2.60468, "fx":[1.31905,-12.62205,-13.29426,0.65963], "fy":[8.04622,8.64443,-5.2939,-5.99315]}, - {"t":1.80045, "x":5.74672, "y":5.49727, "heading":-1.61533, "vx":-0.55546, "vy":-2.43664, "omega":0.16103, "ax":0.66432, "ay":0.04306, "alpha":8.54723, "fx":[35.02038,-10.41362,-12.572,33.16472], "fy":[22.24005,25.32267,-21.77922,-22.8537]}, - {"t":1.83021, "x":5.73048, "y":5.42477, "heading":-1.61054, "vx":-0.53568, "vy":-2.43536, "omega":0.41544, "ax":2.21418, "ay":8.61093, "alpha":1.04649, "fx":[41.6372,31.48357,33.35616,44.1731], "fy":[145.59196,148.08881,147.51421,144.68291]}, - {"t":1.85998, "x":5.71551, "y":5.35609, "heading":-1.59817, "vx":-0.46978, "vy":-2.17905, "omega":0.44659, "ax":7.20635, "ay":5.35327, "alpha":0.89197, "fx":[122.20426,118.50616,123.10735,126.49375], "fy":[91.73676,96.41025,90.40731,85.67632]}, - {"t":1.88975, "x":5.70472, "y":5.2936, "heading":-1.58488, "vx":-0.25527, "vy":-2.01971, "omega":0.47314, "ax":8.51777, "ay":2.91397, "alpha":0.88185, "fx":[144.05406,142.84196,145.87499,146.76855], "fy":[52.18389,55.36268,46.76503,43.95145]}, - {"t":1.91951, "x":5.7009, "y":5.23477, "heading":-1.5708, "vx":-0.00174, "vy":-1.93297, "omega":0.49939, "ax":6.70243, "ay":1.2519, "alpha":21.42223, "fx":[133.50311,58.04739,114.32371,150.15158], "fy":[75.33095,141.6331,-101.08347,-30.7025]}, - {"t":1.9372, "x":5.70192, "y":5.20077, "heading":-1.56196, "vx":0.11684, "vy":-1.91083, "omega":0.87838, "ax":6.79372, "ay":1.40654, "alpha":20.74163, "fx":[132.7752,58.88292,119.8746,150.70413], "fy":[76.58243,141.26703,-94.36507,-27.78509]}, - {"t":1.95489, "x":5.70505, "y":5.16719, "heading":-1.54642, "vx":0.23703, "vy":-1.88594, "omega":1.24532, "ax":6.87428, "ay":1.5871, "alpha":20.0691, "fx":[131.75935,59.43522,125.22341,151.30039], "fy":[78.29115,141.01076,-87.08273,-24.23464]}, - {"t":1.97259, "x":5.71031, "y":5.13407, "heading":-1.52439, "vx":0.35864, "vy":-1.85786, "omega":1.60037, "ax":6.94288, "ay":1.79152, "alpha":19.40411, "fx":[130.45129,59.7847,130.25434,151.89512], "fy":[80.42365,140.83385,-79.31169,-20.05283]}, - {"t":1.99028, "x":5.71775, "y":5.10148, "heading":-1.49608, "vx":0.48147, "vy":-1.82617, "omega":1.94366, "ax":6.99897, "ay":2.01824, "alpha":18.73975, "fx":[128.84461,60.02132,134.8996,152.43643], "fy":[82.94304,140.69943,-71.08584,-15.23756]}, - {"t":2.00797, "x":5.72736, "y":5.06949, "heading":-1.46169, "vx":0.60529, "vy":-1.79046, "omega":2.27519, "ax":7.04254, "ay":2.26633, "alpha":18.06324, "fx":[126.93223,60.24679,139.12208,152.86515], "fy":[85.80849,140.56433,-62.39086,-9.78339]}, - {"t":2.02566, "x":5.73917, "y":5.03817, "heading":-1.42144, "vx":0.72988, "vy":-1.75037, "omega":2.59475, "ax":7.07378, "ay":2.53538, "alpha":17.35683, "fx":[124.70816,60.57583,142.89431,153.11391], "fy":[88.97472,140.37883,-53.1668,-3.68227]}, - {"t":2.04335, "x":5.75319, "y":5.0076, "heading":-1.37554, "vx":0.85503, "vy":-1.70552, "omega":2.90181, "ax":7.09285, "ay":2.82539, "alpha":16.599, "fx":[122.16974,61.13552,146.17809,153.10571], "fy":[92.39123,140.08643,-43.31706,3.07568]}, - {"t":2.06104, "x":5.76943, "y":4.97787, "heading":-1.3242, "vx":0.98051, "vy":-1.65553, "omega":3.19547, "ax":7.09948, "ay":3.13652, "alpha":15.7658, "fx":[119.3203,62.06088,148.90683,152.75221], "fy":[96.00154,139.62384,-32.72086,10.50105]}, - {"t":2.07873, "x":5.78788, "y":4.94907, "heading":-1.26767, "vx":1.10611, "vy":-1.60004, "omega":3.47439, "ax":7.09269, "ay":3.46892, "alpha":14.83263, "fx":[116.17247,63.48398,150.97083,151.95143], "fy":[99.74239,138.92234,-21.24745,18.60401]}, - {"t":2.09643, "x":5.80856, "y":4.92131, "heading":-1.2062, "vx":1.23159, "vy":-1.53867, "omega":3.7368, "ax":7.07031, "ay":3.82247, "alpha":13.7767, "fx":[112.75218,65.51366,152.20529,150.58469], "fy":[103.54326,137.91258,-8.77205,27.393]}, - {"t":2.11412, "x":5.83146, "y":4.89469, "heading":-1.14009, "vx":1.35667, "vy":-1.47105, "omega":3.98053, "ax":7.02835, "ay":4.19673, "alpha":12.5804, "fx":[109.10345,68.20419,152.38085,148.51253], "fy":[107.32589,136.53599,4.80534,36.87325]}, - {"t":2.13181, "x":5.85656, "y":4.86932, "heading":-1.06967, "vx":1.48101, "vy":-1.3968, "omega":4.20309, "ax":6.96038, "ay":4.59078, "alpha":11.23534, "fx":[105.29395,71.51549,151.19795,145.56874], "fy":[111.00418,134.76676,19.53581,47.04492]}, - {"t":2.1495, "x":5.88385, "y":4.84532, "heading":-0.99531, "vx":1.60415, "vy":-1.31558, "omega":4.40186, "ax":6.85694, "ay":5.00331, "alpha":9.74571, "fx":[101.42139,75.2767,148.28823,141.55173], "fy":[114.48419,132.64469,35.39025,57.90058]}, - {"t":2.16719, "x":5.9133, "y":4.82283, "heading":-0.91744, "vx":1.72546, "vy":-1.22707, "omega":4.57427, "ax":6.70551, "ay":5.4324, "alpha":8.12833, "fx":[97.62062,79.1741,143.2291,136.21155], "fy":[117.66388,130.31015,52.21975,69.42052]}, - {"t":2.18488, "x":5.94488, "y":4.80198, "heading":-0.83651, "vx":1.84409, "vy":-1.13096, "omega":4.71807, "ax":6.49137, "ay":5.87497, "alpha":6.40731, "fx":[94.07086,82.78361,135.58057,129.23062], "fy":[120.43224,128.01905,69.71108,81.56357]}, - {"t":2.20257, "x":5.97852, "y":4.78289, "heading":-0.75304, "vx":1.95893, "vy":-1.02703, "omega":4.83143, "ax":6.1994, "ay":6.32544, "alpha":4.60313, "fx":[91.00227,85.64774,124.95379,120.19634], "fy":[122.66667,126.11316,87.3484,94.24765]}, - {"t":2.22026, "x":6.01414, "y":4.76571, "heading":-0.66757, "vx":2.0686, "vy":-0.91512, "omega":4.91286, "ax":5.81647, "ay":6.77381, "alpha":2.71982, "fx":[88.69928,87.36681,111.1142,108.56556], "fy":[124.22742,124.94184,104.4039,107.30944]}, - {"t":2.23796, "x":6.05165, "y":4.75058, "heading":-0.58065, "vx":2.17151, "vy":-0.79528, "omega":4.96098, "ax":5.33362, "ay":7.20359, "alpha":0.73482, "fx":[87.49589,87.6647,94.1036,93.62932], "fy":[124.948,124.76501,119.98709,120.42395]}, - {"t":2.25565, "x":6.0909, "y":4.73763, "heading":-0.49289, "vx":2.26586, "vy":-0.66784, "omega":4.97398, "ax":4.7476, "ay":7.59019, "alpha":-1.40632, "fx":[87.75576,86.41319,74.34014,74.51186], "fy":[124.62065,125.68114,133.17171,132.95457]}, - {"t":2.27334, "x":6.13173, "y":4.72701, "heading":-0.40489, "vx":2.34986, "vy":-0.53356, "omega":4.9491, "ax":3.98861, "ay":8.01276, "alpha":-1.50131, "fx":[75.70661,74.25407,60.69826,60.72156], "fy":[132.27082,133.21958,139.91128,139.77717]}, - {"t":2.29308, "x":6.1789, "y":4.71803, "heading":-0.30717, "vx":2.42861, "vy":-0.37535, "omega":4.91946, "ax":2.67091, "ay":8.52155, "alpha":-1.76654, "fx":[54.84608,53.89176,37.10203,35.88548], "fy":[141.87688,142.41835,147.68511,147.81604]}, - {"t":2.31283, "x":6.22738, "y":4.71228, "heading":-0.21004, "vx":2.48135, "vy":-0.20709, "omega":4.88458, "ax":0.82285, "ay":8.86514, "alpha":-2.09014, "fx":[24.4052,25.43343,5.13195,1.01489], "fy":[149.73107,149.81176,151.89178,151.73909]}, - {"t":2.33257, "x":6.27653, "y":4.70992, "heading":-0.11359, "vx":2.4976, "vy":-0.03205, "omega":4.84331, "ax":-0.17135, "ay":8.8664, "alpha":-2.47207, "fx":[9.3428,10.60909,-13.07276,-18.53781], "fy":[150.9076,151.19488,151.03924,150.11804]}, - {"t":2.35232, "x":6.32582, "y":4.71102, "heading":-0.01796, "vx":2.49421, "vy":0.14302, "omega":4.7945, "ax":-0.80425, "ay":8.77939, "alpha":-2.99542, "fx":[1.71579,1.90872,-26.05033,-32.29414], "fy":[150.45275,151.02573,148.82027,147.04114]}, - {"t":2.37206, "x":6.37491, "y":4.71555, "heading":0.07671, "vx":2.47833, "vy":0.31637, "omega":4.73535, "ax":-1.39975, "ay":8.62164, "alpha":-3.75251, "fx":[-3.85766,-5.62525,-39.16831,-46.58643], "fy":[149.28361,150.17738,145.14434,142.00094]}, - {"t":2.39181, "x":6.42357, "y":4.72348, "heading":0.17021, "vx":2.45069, "vy":0.48661, "omega":4.66126, "ax":-1.95642, "ay":8.37138, "alpha":-4.90932, "fx":[-6.3766,-11.79879,-52.77164,-62.16556], "fy":[147.35378,148.70612,139.59245,133.92664]}, - {"t":2.41155, "x":6.47158, "y":4.73472, "heading":0.26225, "vx":2.41206, "vy":0.6519, "omega":4.56432, "ax":-2.43898, "ay":7.97952, "alpha":-6.79965, "fx":[-3.27694,-16.0042,-66.93087,-79.73344], "fy":[144.25114,146.63874,131.51722,120.51063]}, - {"t":2.4313, "x":6.51873, "y":4.74915, "heading":0.35237, "vx":2.36391, "vy":0.80946, "omega":4.43006, "ax":-2.76266, "ay":7.32573, "alpha":-10.11007, "fx":[10.53763,-17.50001,-81.42595,-99.5799], "fy":[138.05563,143.95489,120.02592,96.39769]}, - {"t":2.45104, "x":6.56487, "y":4.76656, "heading":0.43984, "vx":2.30936, "vy":0.95411, "omega":4.23044, "ax":-2.73139, "ay":6.1461, "alpha":-15.89385, "fx":[41.80992,-15.66037,-95.0756,-116.91463], "fy":[121.77567,140.5874,104.58358,51.22706]}, - {"t":2.47079, "x":6.60993, "y":4.7866, "heading":0.52337, "vx":2.25543, "vy":1.07546, "omega":3.91661, "ax":-2.15479, "ay":4.30682, "alpha":-23.36898, "fx":[81.27172,-10.84184,-105.53838,-111.50117], "fy":[87.38447,136.53608,86.42069,-17.31034]}, - {"t":2.49054, "x":6.65405, "y":4.80867, "heading":0.60071, "vx":2.21288, "vy":1.1605, "omega":3.45519, "ax":-1.40029, "ay":2.59641, "alpha":-28.19928, "fx":[102.20728,-7.53305,-112.83675,-77.11189], "fy":[52.55352,131.6058,65.955,-73.45739]}, - {"t":2.51028, "x":6.69747, "y":4.83209, "heading":0.66893, "vx":2.18523, "vy":1.21177, "omega":2.89839, "ax":-0.88479, "ay":1.56945, "alpha":-29.60899, "fx":[108.00573,-6.68173,-116.03198,-45.49235], "fy":[31.33127,126.01998,45.81367,-96.38131]}, - {"t":2.53003, "x":6.74044, "y":4.85632, "heading":0.72616, "vx":2.16776, "vy":1.24276, "omega":2.31375, "ax":-0.58994, "ay":1.01816, "alpha":-29.3436, "fx":[107.45099,-7.09505,-114.9333,-25.56131], "fy":[21.62381,120.13924,29.77,-102.25863]}, - {"t":2.54977, "x":6.78313, "y":4.88106, "heading":0.77185, "vx":2.15611, "vy":1.26286, "omega":1.73436, "ax":-0.46009, "ay":0.77916, "alpha":-28.24516, "fx":[103.32716,-8.94023,-111.00229,-14.6884], "fy":[19.51454,114.18243,19.66134,-100.34547]}, - {"t":2.56952, "x":6.82561, "y":4.90615, "heading":0.80609, "vx":2.14703, "vy":1.27824, "omega":1.17665, "ax":-0.50899, "ay":0.8474, "alpha":-26.47479, "fx":[95.25026,-12.72012,-105.63031,-11.53096], "fy":[24.21901,108.64728,17.19327,-92.40331]}, - {"t":2.58926, "x":6.86791, "y":4.93155, "heading":0.82932, "vx":2.13698, "vy":1.29498, "omega":0.65391, "ax":-0.87417, "ay":1.42128, "alpha":-23.52878, "fx":[78.99537,-19.75245,-99.79055,-18.93003], "fy":[39.7392,104.83688,25.46533,-73.33908]}, - {"t":2.60901, "x":6.90993, "y":4.9574, "heading":0.84224, "vx":2.11972, "vy":1.32304, "omega":0.18933, "ax":-1.98941, "ay":3.08621, "alpha":-16.80476, "fx":[39.51727,-32.89086,-93.82407,-48.1595], "fy":[73.67428,104.86371,48.2517,-16.80735]}, - {"t":2.62875, "x":6.9514, "y":4.98412, "heading":0.84597, "vx":2.08043, "vy":1.38398, "omega":-0.14249, "ax":-3.68578, "ay":5.2463, "alpha":-6.77999, "fx":[-28.71832,-55.25004,-89.90025,-76.90733], "fy":[104.38189,107.96978,78.3242,66.27638]}, - {"t":2.6485, "x":6.99176, "y":5.01247, "heading":0.84316, "vx":2.00766, "vy":1.48757, "omega":-0.27636, "ax":-4.80826, "ay":6.08799, "alpha":-2.0562, "fx":[-71.86867,-77.18255,-90.75223,-87.34504], "fy":[109.7877,109.41133,97.90151,97.11937]}, - {"t":2.66824, "x":7.03046, "y":5.04303, "heading":0.8377, "vx":1.91272, "vy":1.60778, "omega":-0.31696, "ax":-5.56347, "ay":6.19041, "alpha":-0.44001, "fx":[-92.716,-93.34257,-96.50141,-95.9722], "fy":[106.80443,106.72228,103.82611,103.83528]}, - {"t":2.68799, "x":7.06714, "y":5.07599, "heading":0.83145, "vx":1.80287, "vy":1.73001, "omega":-0.32565, "ax":-6.15709, "ay":5.99129, "alpha":0.1484, "fx":[-105.30007,-105.21736,-104.15538,-104.24884], "fy":[101.37668,101.35438,102.44892,102.4608]}, - {"t":2.70773, "x":7.10154, "y":5.11131, "heading":0.82502, "vx":1.68129, "vy":1.8483, "omega":-0.32272, "ax":-6.66268, "ay":5.64701, "alpha":0.37655, "fx":[-114.57655,-114.61652,-112.05355,-112.07476], "fy":[94.6894,94.43926,97.45782,97.62963]}, - {"t":2.72748, "x":7.13344, "y":5.14891, "heading":0.81864, "vx":1.54974, "vy":1.95981, "omega":-0.31528, "ax":-7.14611, "ay":5.16543, "alpha":0.46404, "fx":[-122.82199,-123.12491,-120.24817,-120.01786], "fy":[86.2242,85.59519,89.56651,90.06374]}, - {"t":2.74722, "x":7.16265, "y":5.18861, "heading":0.81242, "vx":1.40864, "vy":2.0618, "omega":-0.30612, "ax":-7.42441, "ay":4.77103, "alpha":0.45655, "fx":[-127.3592,-127.77798,-125.18845,-124.82296], "fy":[79.61482,78.7414,82.75853,83.50072]}, - {"t":2.76792, "x":7.19022, "y":5.23232, "heading":0.80608, "vx":1.25494, "vy":2.16056, "omega":-0.29667, "ax":-7.70668, "ay":4.11556, "alpha":0.64188, "fx":[-132.28146,-132.973,-129.86837,-129.2311], "fy":[68.09309,66.27584,72.04148,73.60736]}, - {"t":2.78862, "x":7.21454, "y":5.27792, "heading":0.79994, "vx":1.09541, "vy":2.24576, "omega":-0.28338, "ax":-7.83779, "ay":3.48662, "alpha":0.97126, "fx":[-134.80571,-135.77313,-131.817,-130.87819], "fy":[56.87312,53.29719,62.00033,65.0551]}, - {"t":2.80933, "x":7.23554, "y":5.32516, "heading":0.79407, "vx":0.93316, "vy":2.31794, "omega":-0.26327, "ax":-7.76425, "ay":2.82275, "alpha":1.62799, "fx":[-134.33845,-135.33113,-129.85162,-128.74949], "fy":[44.88075,37.59616,51.75155,57.82845]}, - {"t":2.83003, "x":7.25319, "y":5.37375, "heading":0.78862, "vx":0.77243, "vy":2.37637, "omega":-0.22957, "ax":-7.23952, "ay":2.10659, "alpha":3.13071, "fx":[-128.18009,-127.38877,-118.3525,-118.64715], "fy":[31.97839,16.20042,41.24013,53.91075]}, - {"t":2.85073, "x":7.26763, "y":5.42339, "heading":0.78387, "vx":0.62256, "vy":2.41998, "omega":-0.16476, "ax":-5.63158, "ay":1.30629, "alpha":6.83749, "fx":[-112.01277,-100.7468,-78.63949,-91.767], "fy":[18.81012,-14.70158,29.01654,55.75318]}, - {"t":2.87143, "x":7.27931, "y":5.47377, "heading":0.78046, "vx":0.50598, "vy":2.44702, "omega":-0.02322, "ax":-2.8657, "ay":0.55664, "alpha":12.41286, "fx":[-88.73037,-54.35372,-1.62861,-50.26638], "fy":[8.8077,-42.4357,12.5506,58.95031]}, - {"t":2.89213, "x":7.28917, "y":5.52455, "heading":0.77998, "vx":0.44666, "vy":2.45854, "omega":0.23374, "ax":-1.10915, "ay":0.19618, "alpha":14.41102, "fx":[-70.72559,-21.79982,37.63531,-20.57538], "fy":[3.7286,-52.31649,3.78767,58.14834]}, - {"t":2.91283, "x":7.29818, "y":5.57548, "heading":0.78482, "vx":0.4237, "vy":2.46261, "omega":0.53206, "ax":-0.40928, "ay":0.06969, "alpha":14.6358, "fx":[-61.54367,-7.9454,49.4357,-7.79343], "fy":[1.32909,-54.60122,1.35255,56.66154]}, - {"t":2.93353, "x":7.30687, "y":5.62648, "heading":0.79583, "vx":0.41523, "vy":2.46405, "omega":0.83504, "ax":-0.14966, "ay":0.02512, "alpha":14.64139, "fx":[-57.78277,-2.3039,53.35575,-3.4517], "fy":[-0.09568,-55.22385,1.07632,55.95249]}, - {"t":2.95423, "x":7.31543, "y":5.67749, "heading":0.81312, "vx":0.41213, "vy":2.46457, "omega":1.13813, "ax":-0.05481, "ay":0.00915, "alpha":14.69099, "fx":[-56.55798,0.49095,54.9367,-2.59887], "fy":[-1.36367,-55.62155,1.72962,55.87821]}, - {"t":2.97493, "x":7.32395, "y":5.72851, "heading":0.83668, "vx":0.41099, "vy":2.46476, "omega":1.44225, "ax":-0.02076, "ay":0.00346, "alpha":14.82335, "fx":[-56.50512,2.48479,55.89156,-3.28385], "fy":[-2.81305,-56.1526,2.95613,56.24481]}, - {"t":2.99564, "x":7.33245, "y":5.77953, "heading":0.86654, "vx":0.41056, "vy":2.46483, "omega":1.74911, "ax":-0.0098, "ay":0.00163, "alpha":15.04653, "fx":[-57.07628,4.44064,56.78726,-4.81822], "fy":[-4.59428,-56.91165,4.66471,56.95205]}, - {"t":3.01634, "x":7.34095, "y":5.83056, "heading":0.90274, "vx":0.41036, "vy":2.46486, "omega":2.06059, "ax":-0.00965, "ay":0.0016, "alpha":15.36478, "fx":[-58.06867,6.64263,57.78476,-7.01498], "fy":[-6.7923,-57.90887,6.86546,57.94471]}, - {"t":3.03704, "x":7.34944, "y":5.88159, "heading":0.9454, "vx":0.41016, "vy":2.4649, "omega":2.37866, "ax":-0.0198, "ay":0.00329, "alpha":15.78214, "fx":[-59.4376,9.16234,58.85609,-9.92781], "fy":[-9.4653,-59.11546,9.62559,59.1789]}, - {"t":3.05774, "x":7.35793, "y":5.93261, "heading":0.99464, "vx":0.40975, "vy":2.46496, "omega":2.70537, "ax":-0.05024, "ay":0.00834, "alpha":16.30252, "fx":[-61.27384,11.88189,59.79967,-13.82601], "fy":[-12.63741,-60.47467,13.0759,60.60329]}, - {"t":3.07844, "x":7.3664, "y":5.98364, "heading":1.05065, "vx":0.40871, "vy":2.46514, "omega":3.04285, "ax":-0.13016, "ay":0.0215, "alpha":16.92699, "fx":[-63.91537,14.31872,60.09132,-19.35062], "fy":[-16.23853,-61.90466,17.47294,62.13307]}, - {"t":3.09914, "x":7.37483, "y":6.03468, "heading":1.11364, "vx":0.40602, "vy":2.46558, "omega":3.39325, "ax":-0.33269, "ay":0.0543, "alpha":17.63564, "fx":[-68.23576,15.10101,58.40489,-27.90618], "fy":[-19.9414,-63.30131,23.382,63.55503]}, - {"t":3.11984, "x":7.38317, "y":6.08573, "heading":1.18388, "vx":0.39913, "vy":2.46671, "omega":3.75833, "ax":-0.83271, "ay":0.13173, "alpha":18.27584, "fx":[-76.0641,10.5348,51.08502,-42.2124], "fy":[-22.83022,-64.47173,32.11922,64.14525]}, - {"t":3.14054, "x":7.39125, "y":6.13682, "heading":1.26168, "vx":0.38189, "vy":2.46943, "omega":4.13666, "ax":-2.03171, "ay":0.29644, "alpha":17.96387, "fx":[-89.87784,-9.33008,26.63025,-65.65742], "fy":[-23.15848,-64.16761,45.93718,61.55808]}, - {"t":3.16124, "x":7.39872, "y":6.188, "heading":1.34731, "vx":0.33983, "vy":2.47557, "omega":4.50853, "ax":-4.50264, "ay":0.53186, "alpha":13.69592, "fx":[-109.42126,-60.47221,-39.9402,-96.52096], "fy":[-19.39446,-53.50432,57.29477,51.79145]}, - {"t":3.18194, "x":7.40479, "y":6.23937, "heading":1.44065, "vx":0.24662, "vy":2.48658, "omega":4.79205, "ax":-6.92064, "ay":0.48516, "alpha":7.13102, "fx":[-127.84533,-112.61863,-107.09731,-123.31093], "fy":[-14.27745,-29.49017,41.63715,35.13994]}, - {"t":3.20265, "x":7.40842, "y":6.29094, "heading":1.53985, "vx":0.10336, "vy":2.49662, "omega":4.93967, "ax":-8.01824, "ay":-0.00578, "alpha":3.75376, "fx":[-138.68531,-134.17856,-134.19041,-138.49774], "fy":[-15.45762,-20.62028,19.3361,16.3483]}, - {"t":3.22335, "x":7.40884, "y":6.34263, "heading":1.6421, "vx":-0.06263, "vy":2.4965, "omega":5.01738, "ax":-7.95142, "ay":-0.3528, "alpha":2.735, "fx":[-136.3063,-132.96141,-134.24968,-137.48826], "fy":[-18.33694,-19.66708,8.49855,5.50115]}, - {"t":3.24097, "x":7.4065, "y":6.38657, "heading":1.73053, "vx":-0.20277, "vy":2.49029, "omega":5.06558, "ax":-7.13821, "ay":-0.76232, "alpha":3.56067, "fx":[-123.14367,-116.03747,-119.93482,-126.55981], "fy":[-28.08558,-28.73931,5.1581,-0.20042]}, - {"t":3.2586, "x":7.40182, "y":6.43034, "heading":1.81981, "vx":-0.32857, "vy":2.47685, "omega":5.12834, "ax":-5.62266, "ay":-0.86048, "alpha":4.27823, "fx":[-99.38001,-85.75252,-92.35962,-105.06721], "fy":[-31.41646,-29.23468,5.03406,-2.92932]}, - {"t":3.27622, "x":7.39515, "y":6.47386, "heading":1.91019, "vx":-0.42767, "vy":2.46168, "omega":5.20374, "ax":-3.46511, "ay":-0.64629, "alpha":3.0699, "fx":[-62.79903,-49.51363,-55.34207,-68.10738], "fy":[-22.36043,-17.68653,1.09508,-5.02122]}, - {"t":3.29384, "x":7.38708, "y":6.51714, "heading":2.0019, "vx":-0.48874, "vy":2.45029, "omega":5.25784, "ax":-1.64847, "ay":-0.33895, "alpha":-1.40214, "fx":[-26.34094,-32.87856,-29.77879,-23.16202], "fy":[-0.61075,-3.81965,-10.86307,-7.76842]}, - {"t":3.31147, "x":7.37821, "y":6.56028, "heading":2.09457, "vx":-0.51779, "vy":2.44432, "omega":5.23313, "ax":-0.70036, "ay":-0.15019, "alpha":-6.84523, "fx":[-5.55646,-36.63872,-18.78115,13.3243], "fy":[22.90325,4.03956,-27.54003,-9.62148]}, - {"t":3.32909, "x":7.36897, "y":6.60333, "heading":2.1868, "vx":-0.53013, "vy":2.44167, "omega":5.11249, "ax":-0.34146, "ay":-0.07454, "alpha":-11.81536, "fx":[1.27966,-49.54467,-13.7563,38.78907], "fy":[43.25571,6.07013,-45.25669,-9.14109]}, - {"t":3.34672, "x":7.35958, "y":6.64635, "heading":2.2769, "vx":-0.53615, "vy":2.44036, "omega":4.90425, "ax":-0.27134, "ay":-0.05985, "alpha":-16.11667, "fx":[-0.50134,-64.87829,-10.12342,57.04131], "fy":[60.27794,3.58752,-61.7624,-6.17549]}, - {"t":3.36434, "x":7.35008, "y":6.68935, "heading":2.36334, "vx":-0.54093, "vy":2.4393, "omega":4.62021, "ax":-0.36167, "ay":-0.08066, "alpha":-19.71157, "fx":[-8.21248,-79.47406,-7.01516,70.09411], "fy":[73.80474,-2.148,-75.93627,-1.20877]}, - {"t":3.38197, "x":7.3405, "y":6.73233, "heading":2.44476, "vx":-0.54731, "vy":2.43788, "omega":4.27281, "ax":-0.58485, "ay":-0.13258, "alpha":-22.58323, "fx":[-20.82703,-92.11637,-5.38804,78.53876], "fy":[83.35737,-9.84978,-87.56635,5.03844]}, - {"t":3.39959, "x":7.33076, "y":6.77528, "heading":2.52007, "vx":-0.55761, "vy":2.43555, "omega":3.8748, "ax":-0.96218, "ay":-0.22382, "alpha":-24.69992, "fx":[-38.02837,-102.64605,-7.0255,82.2345], "fy":[88.17281,-18.28627,-96.98982,11.87479]}, - {"t":3.41721, "x":7.32078, "y":6.81817, "heading":2.58836, "vx":-0.57457, "vy":2.4316, "omega":3.43948, "ax":-1.54091, "ay":-0.37329, "alpha":-25.90155, "fx":[-59.38119,-111.33547,-14.01079,79.88571], "fy":[87.0068,-26.48968,-104.53406,18.61852]}, - {"t":3.43484, "x":7.31042, "y":6.86096, "heading":2.64898, "vx":-0.60173, "vy":2.42502, "omega":2.98298, "ax":-2.3965, "ay":-0.61715, "alpha":-25.68341, "fx":[-83.33248,-118.43358,-27.87952,66.59052], "fy":[78.30199,-34.07823,-109.88277,23.66851]}, - {"t":3.45246, "x":7.29944, "y":6.90361, "heading":2.70155, "vx":-0.64397, "vy":2.41415, "omega":2.53033, "ax":-3.77271, "ay":-1.06276, "alpha":-22.42865, "fx":[-106.69249,-123.96589,-47.80879,21.77625], "fy":[61.28915,-41.25314,-111.86535,19.5204]}, - {"t":3.47009, "x":7.2875, "y":6.94599, "heading":2.74614, "vx":-0.71046, "vy":2.39542, "omega":2.13505, "ax":-5.83307, "ay":-1.86875, "alpha":-14.69752, "fx":[-125.41137,-128.28549,-70.69648,-72.48198], "fy":[38.49799,-47.2699,-108.95062,-9.42524]}, - {"t":3.48771, "x":7.27408, "y":6.98792, "heading":2.78377, "vx":-0.81326, "vy":2.36248, "omega":1.87601, "ax":-6.96292, "ay":-2.60463, "alpha":-9.73692, "fx":[-137.31584,-131.18066,-90.71935,-114.53318], "fy":[13.33937,-53.03993,-102.87567,-34.63956]}, - {"t":3.50533, "x":7.25866, "y":7.02915, "heading":2.81684, "vx":-0.93598, "vy":2.31658, "omega":1.70441, "ax":-7.39233, "ay":-3.23682, "alpha":-6.97329, "fx":[-142.37949,-131.97327,-102.81102,-125.8017], "fy":[-10.46905,-59.88888,-98.59655,-51.27488]}, - {"t":3.52296, "x":7.24102, "y":7.06947, "heading":2.84687, "vx":-1.06626, "vy":2.25953, "omega":1.58151, "ax":-7.49337, "ay":-3.81512, "alpha":-5.23033, "fx":[-142.65393,-130.94814,-108.46255,-127.77558], "fy":[-30.75364,-67.37012,-97.52225,-63.93055]}, - {"t":3.54058, "x":7.22106, "y":7.1087, "heading":2.87475, "vx":-1.19832, "vy":2.19229, "omega":1.48933, "ax":-7.41753, "ay":-4.35646, "alpha":-4.07679, "fx":[-140.10463,-128.50583,-110.00693,-126.06269], "fy":[-47.68192,-75.10309,-99.04162,-74.58176]}, - {"t":3.55821, "x":7.19879, "y":7.14666, "heading":2.901, "vx":-1.32905, "vy":2.11551, "omega":1.41748, "ax":-7.23472, "ay":-4.86808, "alpha":-3.28438, "fx":[-135.87791,-124.95216,-108.95449,-122.45772], "fy":[-62.03156,-82.86,-102.26525,-84.06145]}, - {"t":3.57583, "x":7.17424, "y":7.18319, "heading":2.92598, "vx":-1.45656, "vy":2.02972, "omega":1.35959, "ax":-6.97951, "ay":-5.35297, "alpha":-2.72055, "fx":[-130.55834,-120.49612,-106.15843,-117.66468], "fy":[-74.47401,-90.49526,-106.50654,-92.73382]}, - {"t":3.59346, "x":7.14749, "y":7.21813, "heading":2.94994, "vx":-1.57957, "vy":1.93537, "omega":1.31165, "ax":-6.67005, "ay":-5.81217, "alpha":-2.30623, "fx":[-124.44038,-115.27668,-102.10008,-112.00547], "fy":[-85.47421,-97.9118,-111.30119,-100.76645]}, - {"t":3.61108, "x":7.11861, "y":7.25134, "heading":2.97306, "vx":-1.69712, "vy":1.83294, "omega":1.271, "ax":-6.31381, "ay":-6.24856, "alpha":-1.993, "fx":[-117.63462,-109.34472,-97.01177,-105.59304], "fy":[-95.38698,-105.08541,-116.38327,-108.28939]}, - {"t":3.6287, "x":7.08772, "y":7.28267, "heading":2.99546, "vx":-1.8084, "vy":1.72281, "omega":1.23588, "ax":-5.87287, "ay":-6.69953, "alpha":-1.74995, "fx":[-109.52001,-102.08051,-90.29016,-97.69235], "fy":[-105.12089,-112.57335,-122.11215,-116.02222]}, - {"t":3.64633, "x":7.05494, "y":7.312, "heading":3.01724, "vx":-1.9119, "vy":1.60474, "omega":1.20504, "ax":-5.54077, "ay":-7.00269, "alpha":-1.64259, "fx":[-103.66651,-96.59619,-84.92064,-91.8046], "fy":[-111.32796,-117.67728,-126.27518,-121.1747]}, - {"t":3.66847, "x":7.01124, "y":7.34582, "heading":3.04392, "vx":-2.03461, "vy":1.44966, "omega":1.16866, "ax":-4.88436, "ay":-7.441, "alpha":-1.91513, "fx":[-94.64819,-86.61055,-71.85842,-79.2088], "fy":[-118.55423,-124.782,-133.71613,-129.22491]}, - {"t":3.69062, "x":6.96498, "y":7.3761, "heading":3.06981, "vx":-2.14278, "vy":1.28486, "omega":1.12624, "ax":-4.25849, "ay":-7.76624, "alpha":-2.29224, "fx":[-86.75795,-77.47322,-58.86976,-66.64213], "fy":[-123.67168,-130.05333,-139.32599,-135.35525]}, - {"t":3.71277, "x":6.91648, "y":7.40265, "heading":3.09475, "vx":-2.23709, "vy":1.11287, "omega":1.07548, "ax":-3.60799, "ay":-8.01134, "alpha":-2.8422, "fx":[-79.52378,-68.54899,-44.74712,-52.66384], "fy":[-127.2399,-134.08231,-143.59585,-140.16418]}, - {"t":3.73491, "x":6.86606, "y":7.42533, "heading":3.11857, "vx":-2.31699, "vy":0.93545, "omega":1.01254, "ax":-2.93487, "ay":-8.14935, "alpha":-3.6987, "fx":[-73.76537,-60.25998,-29.16086,-36.49914], "fy":[-128.61177,-136.59828,-146.14299,-143.11968]}, - {"t":3.75706, "x":6.81402, "y":7.44405, "heading":3.14099, "vx":-2.38199, "vy":0.75497, "omega":0.93062, "ax":-2.24424, "ay":-8.1132, "alpha":-5.15535, "fx":[-71.15289,-53.38275,-11.68008,-16.47977], "fy":[-126.14294,-137.02381,-146.14832,-142.6978]}, - {"t":3.77921, "x":6.76072, "y":7.45878, "heading":-3.12158, "vx":-2.43169, "vy":0.57529, "omega":0.81645, "ax":-1.54512, "ay":-7.71773, "alpha":-7.92025, "fx":[-74.90997,-49.23724,7.94711,11.07203], "fy":[-115.18867,-134.1409,-141.92666,-133.84906]}, - {"t":3.80135, "x":6.70649, "y":7.46963, "heading":-3.1035, "vx":-2.46591, "vy":0.40437, "omega":0.64105, "ax":-0.86819, "ay":-6.4507, "alpha":-13.41836, "fx":[-87.5007,-49.37847,28.1387,49.66965], "fy":[-83.44385,-125.64795,-130.71739,-99.08899]}, - {"t":3.8235, "x":6.65166, "y":7.477, "heading":-3.08931, "vx":-2.48514, "vy":0.26152, "omega":0.34388, "ax":-0.34908, "ay":-3.99652, "alpha":-19.96015, "fx":[-90.84859,-50.8018,44.35469,73.54495], "fy":[-27.65454,-109.88635,-110.54255,-23.83544]}, - {"t":3.84565, "x":6.59654, "y":7.48181, "heading":-3.08169, "vx":-2.49287, "vy":0.17301, "omega":-0.09816, "ax":-0.12203, "ay":-2.01851, "alpha":-19.73375, "fx":[-69.46352,-46.65753,48.87473,58.94344], "fy":[11.14587,-85.86043,-82.36188,19.73916]}, - {"t":3.86779, "x":6.5413, "y":7.48515, "heading":-3.08387, "vx":-2.49557, "vy":0.1283, "omega":-0.53519, "ax":-0.04512, "ay":-0.95648, "alpha":-12.00298, "fx":[-36.64217,-30.00055,32.25134,31.32128], "fy":[13.46238,-49.64848,-46.44783,17.55589]}, - {"t":3.88994, "x":6.48603, "y":7.48776, "heading":-3.09572, "vx":-2.49657, "vy":0.10712, "omega":-0.80102, "ax":-0.01831, "ay":-0.44755, "alpha":2.44206, "fx":[6.52799,5.9779,-7.20621,-6.54574], "fy":[-13.85003,-0.7781,-1.38256,-14.43995]}, - {"t":3.91208, "x":6.43073, "y":7.49002, "heading":-3.11346, "vx":-2.49698, "vy":0.09721, "omega":-0.74693, "ax":-0.01209, "ay":-0.3975, "alpha":15.6195, "fx":[41.97469,41.62235,-44.39854,-40.0209], "fy":[-47.48998,36.32012,33.79363,-49.66931]}, - {"t":3.93423, "x":6.37543, "y":7.49207, "heading":-3.13, "vx":-2.49724, "vy":0.08841, "omega":-0.40102, "ax":4.78087, "ay":-0.74914, "alpha":14.78734, "fx":[107.26408,112.25001,56.85256,48.91859], "fy":[-49.21033,28.19813,48.25468,-78.21335]}, - {"t":3.95638, "x":6.3213, "y":7.49385, "heading":-3.13888, "vx":-2.39136, "vy":0.07182, "omega":-0.07353, "ax":8.8162, "ay":-0.40288, "alpha":1.10993, "fx":[149.86926,150.34851,150.09317,149.53329], "fy":[-12.17126,-0.98655,-1.0972,-13.15641]}, - {"t":3.97852, "x":6.2705, "y":7.49534, "heading":-3.14051, "vx":-2.19612, "vy":0.06289, "omega":-0.04895, "ax":8.91573, "ay":-0.38, "alpha":0.74747, "fx":[151.54982,151.86625,151.77553,151.42431], "fy":[-10.15013,-2.43582,-2.57386,-10.69485]}, - {"t":4.00067, "x":6.22405, "y":7.49664, "heading":3.14159, "vx":-1.99867, "vy":0.05448, "omega":-0.0324, "ax":-0.01962, "ay":-1.11188, "alpha":0.72896, "fx":[1.64756,1.65794,-2.32744,-2.31288], "fy":[-20.84105,-16.9867,-16.9848,-20.83876]}, - {"t":4.04632, "x":6.13279, "y":7.49797, "heading":3.14011, "vx":-1.99956, "vy":0.00372, "omega":0.00088, "ax":-0.00006, "ay":-0.04265, "alpha":0.00861, "fx":[0.02209,0.02215,-0.02409,-0.02416], "fy":[-0.74856,-0.70232,-0.70225,-0.74849]}, - {"t":4.09197, "x":6.04152, "y":7.49809, "heading":3.14015, "vx":-1.99957, "vy":0.00178, "omega":0.00127, "ax":0.0, "ay":-0.00161, "alpha":0.0001, "fx":[0.00024,0.00024,-0.00029,-0.00029], "fy":[-0.02765,-0.02712,-0.02712,-0.02765]}, - {"t":4.13761, "x":5.95024, "y":7.49817, "heading":3.14021, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":-0.00006, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00104,-0.00103,-0.00103,-0.00104]}, - {"t":4.18326, "x":5.85896, "y":7.49825, "heading":3.14027, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "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":4.22891, "x":5.76769, "y":7.49833, "heading":3.14033, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.27456, "x":5.67641, "y":7.4984, "heading":3.14039, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.32021, "x":5.58513, "y":7.49848, "heading":3.14044, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.36586, "x":5.49386, "y":7.49856, "heading":3.1405, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.4115, "x":5.40258, "y":7.49864, "heading":3.14056, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.45715, "x":5.3113, "y":7.49872, "heading":3.14062, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.5028, "x":5.22002, "y":7.49879, "heading":3.14068, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.54845, "x":5.12875, "y":7.49887, "heading":3.14074, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.5941, "x":5.03747, "y":7.49895, "heading":3.14079, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.63975, "x":4.94619, "y":7.49903, "heading":3.14085, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.68539, "x":4.85492, "y":7.4991, "heading":3.14091, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.73104, "x":4.76364, "y":7.49918, "heading":3.14097, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.77669, "x":4.67236, "y":7.49926, "heading":3.14103, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.82234, "x":4.58109, "y":7.49934, "heading":3.14108, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.86799, "x":4.48981, "y":7.49941, "heading":3.14114, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.91364, "x":4.39853, "y":7.49949, "heading":3.1412, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":4.95928, "x":4.30726, "y":7.49957, "heading":3.14126, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.00493, "x":4.21598, "y":7.49965, "heading":3.14132, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":-0.00001, "fx":[-0.00002,-0.00002,0.00002,0.00002], "fy":[0.00002,-0.00002,-0.00002,0.00002]}, - {"t":5.05058, "x":4.1247, "y":7.49972, "heading":3.14138, "vx":-1.99957, "vy":0.0017, "omega":0.00127, "ax":0.00027, "ay":0.0, "alpha":-0.00069, "fx":[0.00279,0.00279,0.0065,0.0065], "fy":[0.00185,-0.00186,-0.00186,0.00185]}, - {"t":5.09623, "x":4.03342, "y":7.4998, "heading":3.14143, "vx":-1.99955, "vy":0.0017, "omega":0.00124, "ax":7.77371, "ay":-0.00661, "alpha":-0.00895, "fx":[132.22245,132.22239,132.23479,132.23486], "fy":[-0.0706,-0.15426,-0.15419,-0.07057]}, - {"t":5.14188, "x":3.95025, "y":7.49987, "heading":3.14149, "vx":-1.6447, "vy":0.0014, "omega":0.00083, "ax":8.98994, "ay":-0.00764, "alpha":-0.00361, "fx":[152.91626,152.91622,152.91638,152.91641], "fy":[-0.11069,-0.14932,-0.14929,-0.11066]}, - {"t":5.18753, "x":3.88454, "y":7.49993, "heading":3.14153, "vx":-1.23432, "vy":0.00105, "omega":0.00067, "ax":9.0081, "ay":-0.00766, "alpha":-0.00417, "fx":[153.22522,153.22518,153.22527,153.22531], "fy":[-0.1079,-0.15264,-0.15259,-0.10787]}, - {"t":5.23317, "x":3.83758, "y":7.49997, "heading":3.14156, "vx":-0.82312, "vy":0.0007, "omega":0.00048, "ax":9.01427, "ay":-0.00766, "alpha":-0.00486, "fx":[153.33022,153.33018,153.33025,153.3303], "fy":[-0.10431,-0.15642,-0.15636,-0.10427]}, - {"t":5.27882, "x":3.8094, "y":7.49999, "heading":3.14158, "vx":-0.41163, "vy":0.00035, "omega":0.00026, "ax":9.01738, "ay":-0.00767, "alpha":-0.00564, "fx":[153.38311,153.38306,153.38312,153.38317], "fy":[-0.10018,-0.16064,-0.16058,-0.10014]}, - {"t":5.32447, "x":3.8, "y":7.5, "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":4.0, "y":7.5, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":10.82242, "ay":0.00542, "alpha":-0.00128, "fx":[153.40528,153.40529,153.4053,153.40529], "fy":[0.08374,0.07002,0.07001,0.08374]}, + {"t":0.04611, "x":4.0115, "y":7.50001, "heading":3.14159, "vx":0.49897, "vy":0.00025, "omega":-0.00006, "ax":10.8191, "ay":0.00549, "alpha":-0.00112, "fx":[153.35817,153.35818,153.35819,153.35818], "fy":[0.08392,0.07186,0.07185,0.08391]}, + {"t":0.09221, "x":4.04601, "y":7.50002, "heading":3.14159, "vx":0.9978, "vy":0.0005, "omega":-0.00011, "ax":10.81233, "ay":0.00561, "alpha":-0.00099, "fx":[153.26226,153.26226,153.26228,153.26228], "fy":[0.08477,0.07417,0.07417,0.08476]}, + {"t":0.13832, "x":4.1035, "y":7.50005, "heading":3.14158, "vx":1.4963, "vy":0.00076, "omega":-0.00016, "ax":10.79104, "ay":0.00578, "alpha":-0.00088, "fx":[152.96043,152.96043,152.96047,152.96046], "fy":[0.08665,0.07719,0.07719,0.08665]}, + {"t":0.18442, "x":4.18396, "y":7.50009, "heading":3.14158, "vx":1.99383, "vy":0.00103, "omega":-0.0002, "ax":0.12422, "ay":0.00288, "alpha":-0.00261, "fx":[1.75381,1.75381,1.76784,1.76784], "fy":[0.0479,0.03386,0.03386,0.0479]}, + {"t":0.23053, "x":4.27602, "y":7.50014, "heading":3.14157, "vx":1.99956, "vy":0.00116, "omega":-0.00032, "ax":0.0, "ay":0.00306, "alpha":-0.00003, "fx":[-0.00009,-0.00009,0.00006,0.00006], "fy":[0.04351,0.04335,0.04335,0.04351]}, + {"t":0.27663, "x":4.36821, "y":7.5002, "heading":3.14155, "vx":1.99956, "vy":0.0013, "omega":-0.00032, "ax":0.0, "ay":0.00412, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.05834,0.05834,0.05834,0.05834]}, + {"t":0.32274, "x":4.4604, "y":7.50027, "heading":3.14154, "vx":1.99956, "vy":0.00149, "omega":-0.00032, "ax":0.0, "ay":0.00534, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.07575,0.07575,0.07575,0.07575]}, + {"t":0.36884, "x":4.55259, "y":7.50034, "heading":3.14152, "vx":1.99956, "vy":0.00174, "omega":-0.00032, "ax":-0.00001, "ay":0.00678, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[0.09607,0.09607,0.09607,0.09607]}, + {"t":0.41495, "x":4.64478, "y":7.50043, "heading":3.14151, "vx":1.99956, "vy":0.00205, "omega":-0.00032, "ax":-0.00001, "ay":0.00847, "alpha":0.0, "fx":[-0.00013,-0.00013,-0.00013,-0.00013], "fy":[0.12009,0.12009,0.12009,0.12009]}, + {"t":0.46106, "x":4.73697, "y":7.50053, "heading":3.1415, "vx":1.99956, "vy":0.00244, "omega":-0.00032, "ax":-0.00001, "ay":0.0105, "alpha":0.0, "fx":[-0.0002,-0.0002,-0.0002,-0.0002], "fy":[0.14878,0.14878,0.14878,0.14878]}, + {"t":0.50716, "x":4.82916, "y":7.50065, "heading":3.14148, "vx":1.99956, "vy":0.00293, "omega":-0.00032, "ax":-0.00002, "ay":0.01293, "alpha":0.0, "fx":[-0.0003,-0.0003,-0.0003,-0.0003], "fy":[0.18332,0.18332,0.18332,0.18332]}, + {"t":0.55327, "x":4.92135, "y":7.5008, "heading":3.14147, "vx":1.99956, "vy":0.00352, "omega":-0.00032, "ax":-0.00003, "ay":0.01589, "alpha":0.0, "fx":[-0.00044,-0.00044,-0.00044,-0.00044], "fy":[0.22519,0.22519,0.22519,0.22519]}, + {"t":0.59937, "x":5.01355, "y":7.50098, "heading":3.14145, "vx":1.99955, "vy":0.00425, "omega":-0.00032, "ax":-0.00005, "ay":0.01949, "alpha":0.0, "fx":[-0.00065,-0.00065,-0.00065,-0.00065], "fy":[0.27629,0.27629,0.27629,0.27629]}, + {"t":0.64548, "x":5.10574, "y":7.5012, "heading":3.14144, "vx":1.99955, "vy":0.00515, "omega":-0.00032, "ax":-0.00007, "ay":0.02393, "alpha":0.0, "fx":[-0.00097,-0.00097,-0.00097,-0.00097], "fy":[0.33915,0.33915,0.33915,0.33915]}, + {"t":0.69158, "x":5.19793, "y":7.50146, "heading":3.14142, "vx":1.99955, "vy":0.00626, "omega":-0.00032, "ax":-0.0001, "ay":0.02943, "alpha":0.0, "fx":[-0.00145,-0.00145,-0.00145,-0.00145], "fy":[0.41721,0.41721,0.41721,0.41721]}, + {"t":0.73769, "x":5.29012, "y":7.50178, "heading":3.14141, "vx":1.99954, "vy":0.00761, "omega":-0.00032, "ax":-0.00015, "ay":0.03637, "alpha":0.0, "fx":[-0.00218,-0.00218,-0.00218,-0.00218], "fy":[0.5155,0.5155,0.5155,0.5155]}, + {"t":0.78379, "x":5.38231, "y":7.50217, "heading":3.14139, "vx":1.99954, "vy":0.00929, "omega":-0.00032, "ax":-0.00023, "ay":0.04527, "alpha":0.0, "fx":[-0.00332,-0.00332,-0.00332,-0.00332], "fy":[0.64172,0.64172,0.64172,0.64172]}, + {"t":0.8299, "x":5.4745, "y":7.50265, "heading":3.14138, "vx":1.99953, "vy":0.01138, "omega":-0.00032, "ax":-0.00036, "ay":0.05706, "alpha":0.0, "fx":[-0.00513,-0.00513,-0.00513,-0.00513], "fy":[0.80876,0.80876,0.80876,0.80876]}, + {"t":0.87601, "x":5.56669, "y":7.50323, "heading":3.14136, "vx":1.99951, "vy":0.01401, "omega":-0.00032, "ax":-0.00058, "ay":0.07341, "alpha":0.0, "fx":[-0.00817,-0.00817,-0.00817,-0.00817], "fy":[1.0406,1.0406,1.0406,1.0406]}, + {"t":0.92211, "x":5.65887, "y":7.50396, "heading":3.14135, "vx":1.99948, "vy":0.01739, "omega":-0.00032, "ax":-0.00096, "ay":0.098, "alpha":0.0, "fx":[-0.01365,-0.01365,-0.01365,-0.01365], "fy":[1.38908,1.38908,1.38908,1.38908]}, + {"t":0.96822, "x":5.75106, "y":7.50486, "heading":3.14133, "vx":1.99944, "vy":0.02191, "omega":-0.00032, "ax":-0.00177, "ay":0.14044, "alpha":0.00002, "fx":[-0.02498,-0.02498,-0.02508,-0.02508], "fy":[1.99065,1.99075,1.99075,1.99065]}, + {"t":1.01432, "x":5.84324, "y":7.50602, "heading":3.14132, "vx":1.99936, "vy":0.02839, "omega":-0.00032, "ax":-0.00366, "ay":0.21883, "alpha":0.00165, "fx":[-0.04743,-0.04742,-0.05629,-0.05629], "fy":[3.09749,3.10635,3.10635,3.0975]}, + {"t":1.06043, "x":5.93542, "y":7.50756, "heading":3.1413, "vx":1.99919, "vy":0.03848, "omega":-0.00024, "ax":0.006, "ay":-0.41691, "alpha":0.14639, "fx":[0.47833,0.47875,-0.30851,-0.30862], "fy":[-6.30203,-5.51726,-5.51706,-6.30184]}, + {"t":1.10653, "x":6.0276, "y":7.50889, "heading":3.14129, "vx":1.99947, "vy":0.01925, "omega":0.00651, "ax":-0.92488, "ay":-9.204, "alpha":2.01973, "fx":[-3.59364,-4.04966,-23.71375,-21.08262], "fy":[-132.71854,-129.79196,-128.02726,-131.3205]}, + {"t":1.15264, "x":6.1188, "y":7.5, "heading":3.14159, "vx":1.95682, "vy":-0.4051, "omega":0.09963, "ax":-0.4253, "ay":-0.16506, "alpha":40.27387, "fx":[99.33317,104.26697,-116.06979,-111.6446], "fy":[-116.56438,112.14593,99.94974,-104.89021]}, + {"t":1.17402, "x":6.16055, "y":7.4913, "heading":-3.13946, "vx":1.94773, "vy":-0.40863, "omega":0.96081, "ax":-0.73933, "ay":-0.28011, "alpha":40.04762, "fx":[92.11089,100.26591,-120.9647,-113.33162], "fy":[-121.9276,115.22286,93.50162,-102.67879]}, + {"t":1.19541, "x":6.20203, "y":7.4825, "heading":-3.11892, "vx":1.93192, "vy":-0.41462, "omega":1.81715, "ax":-4.88733, "ay":-0.91428, "alpha":31.86294, "fx":[0.5842,-9.2958,-145.25493,-123.14057], "fy":[-149.55813,144.57259,41.03828,-87.8914]}, + {"t":1.21679, "x":6.24222, "y":7.47342, "heading":-3.08006, "vx":1.82741, "vy":-0.43417, "omega":2.49847, "ax":-9.72856, "ay":-3.83733, "alpha":0.01539, "fx":[-137.86144,-137.91558,-137.9386,-137.88455], "fy":[-54.48624,-54.34431,-54.30042,-54.44225]}, + {"t":1.23817, "x":6.27907, "y":7.46326, "heading":-3.02664, "vx":1.61939, "vy":-0.51623, "omega":2.4988, "ax":-9.70715, "ay":-3.82791, "alpha":0.00001, "fx":[-137.59649,-137.59652,-137.59653,-137.5965], "fy":[-54.25976,-54.25969,-54.25968,-54.25975]}, + {"t":1.25955, "x":6.31148, "y":7.45135, "heading":-2.9732, "vx":1.41182, "vy":-0.59808, "omega":2.4988, "ax":-9.68407, "ay":-3.81507, "alpha":0.0, "fx":[-137.26941,-137.26941,-137.26941,-137.26941], "fy":[-54.0777,-54.07769,-54.07769,-54.0777]}, + {"t":1.28094, "x":6.33946, "y":7.43769, "heading":-2.91977, "vx":1.20474, "vy":-0.67966, "omega":2.4988, "ax":-9.65862, "ay":-3.79895, "alpha":0.0, "fx":[-136.90869,-136.9087,-136.9087,-136.90869], "fy":[-53.84925,-53.84925,-53.84925,-53.84925]}, + {"t":1.30232, "x":6.36301, "y":7.42229, "heading":-2.86634, "vx":0.99821, "vy":-0.76089, "omega":2.4988, "ax":-9.63004, "ay":-3.77942, "alpha":0.0, "fx":[-136.50354,-136.50354,-136.50354,-136.50354], "fy":[-53.57239,-53.57239,-53.57239,-53.57239]}, + {"t":1.3237, "x":6.38215, "y":7.40515, "heading":-2.81291, "vx":0.79229, "vy":-0.8417, "omega":2.4988, "ax":-9.59741, "ay":-3.75612, "alpha":0.0, "fx":[-136.04097,-136.04097,-136.04097,-136.04097], "fy":[-53.24207,-53.24206,-53.24206,-53.24207]}, + {"t":1.34509, "x":6.3969, "y":7.38629, "heading":-2.75948, "vx":0.58707, "vy":-0.92202, "omega":2.4988, "ax":-9.55955, "ay":-3.72847, "alpha":0.0, "fx":[-135.5044,-135.5044,-135.5044,-135.5044], "fy":[-52.85016,-52.85016,-52.85016,-52.85016]}, + {"t":1.36647, "x":6.40727, "y":7.36573, "heading":-2.70604, "vx":0.38266, "vy":-1.00175, "omega":2.4988, "ax":-9.51492, "ay":-3.69565, "alpha":0.0, "fx":[-134.87168,-134.87168,-134.87168,-134.87168], "fy":[-52.38495,-52.38495,-52.38495,-52.38495]}, + {"t":1.38785, "x":6.41328, "y":7.34346, "heading":-2.65261, "vx":0.1792, "vy":-1.08077, "omega":2.4988, "ax":-9.46133, "ay":-3.65649, "alpha":0.0, "fx":[-134.11211,-134.11211,-134.11211,-134.11211], "fy":[-51.82986,-51.82986,-51.82986,-51.82986]}, + {"t":1.40924, "x":6.41494, "y":7.31952, "heading":-2.59918, "vx":-0.02311, "vy":-1.15896, "omega":2.4988, "ax":-9.39569, "ay":-3.60934, "alpha":0.0, "fx":[-133.18168,-133.18168,-133.18168,-133.18168], "fy":[-51.16147,-51.16147,-51.16147,-51.16147]}, + {"t":1.43062, "x":6.4123, "y":7.29391, "heading":-2.54575, "vx":-0.22402, "vy":-1.23614, "omega":2.4988, "ax":-9.31337, "ay":-3.55181, "alpha":0.0, "fx":[-132.01476,-132.01476,-132.01476,-132.01476], "fy":[-50.34605,-50.34605,-50.34605,-50.34605]}, + {"t":1.452, "x":6.40538, "y":7.26666, "heading":-2.49232, "vx":-0.42317, "vy":-1.31209, "omega":2.4988, "ax":-9.20715, "ay":-3.48039, "alpha":0.0, "fx":[-130.50915,-130.50915,-130.50915,-130.50915], "fy":[-49.33373,-49.33373,-49.33373,-49.33373]}, + {"t":1.47339, "x":6.39423, "y":7.23781, "heading":-2.43888, "vx":-0.62005, "vy":-1.38651, "omega":2.4988, "ax":-9.0652, "ay":-3.38969, "alpha":0.0, "fx":[-128.497,-128.497,-128.497,-128.497], "fy":[-48.04804,-48.04804,-48.04804,-48.04804]}, + {"t":1.49477, "x":6.3789, "y":7.20739, "heading":-2.38545, "vx":-0.81389, "vy":-1.45899, "omega":2.4988, "ax":-8.86674, "ay":-3.27105, "alpha":0.0, "fx":[-125.68389,-125.68388,-125.68388,-125.68389], "fy":[-46.36642,-46.36643,-46.36643,-46.36642]}, + {"t":1.51615, "x":6.35947, "y":7.17544, "heading":-2.33202, "vx":-1.00349, "vy":-1.52893, "omega":2.4988, "ax":-8.57216, "ay":-3.1099, "alpha":0.0, "fx":[-121.50832,-121.50831,-121.50831,-121.50832], "fy":[-44.08207,-44.08208,-44.08208,-44.08207]}, + {"t":1.53753, "x":6.33605, "y":7.14204, "heading":-2.27859, "vx":-1.18678, "vy":-1.59543, "omega":2.4988, "ax":-8.09727, "ay":-2.8803, "alpha":0.0, "fx":[-114.77691,-114.77691,-114.77691,-114.77691], "fy":[-40.82752,-40.82753,-40.82752,-40.82752]}, + {"t":1.55892, "x":6.30882, "y":7.10727, "heading":-2.22516, "vx":-1.35993, "vy":-1.65702, "omega":2.4988, "ax":-7.23697, "ay":-2.53573, "alpha":0.0, "fx":[-102.58228,-102.58227,-102.58227,-102.58227], "fy":[-35.94332,-35.94333,-35.94332,-35.94331]}, + {"t":1.5803, "x":6.27809, "y":7.07125, "heading":-2.17172, "vx":-1.51468, "vy":-1.71124, "omega":2.4988, "ax":-5.42855, "ay":-2.01934, "alpha":0.0, "fx":[-76.94839,-76.94839,-76.94839,-76.94839], "fy":[-28.62363,-28.62363,-28.62363,-28.62362]}, + {"t":1.60168, "x":6.24446, "y":7.0342, "heading":-2.11829, "vx":-1.63076, "vy":-1.75442, "omega":2.4988, "ax":-1.70977, "ay":-1.61127, "alpha":0.0, "fx":[-24.23564,-24.23563,-24.23563,-24.23563], "fy":[-22.83942,-22.83942,-22.83942,-22.83942]}, + {"t":1.62307, "x":6.2092, "y":6.99632, "heading":-2.06486, "vx":-1.66732, "vy":-1.78888, "omega":2.4988, "ax":1.95396, "ay":-2.36721, "alpha":0.0, "fx":[27.69695,27.69695,27.69695,27.69695], "fy":[-33.55469,-33.55469,-33.55469,-33.55469]}, + {"t":1.64445, "x":6.17399, "y":6.95752, "heading":-2.01143, "vx":-1.62553, "vy":-1.8395, "omega":2.4988, "ax":4.08041, "ay":-3.39232, "alpha":0.0, "fx":[57.83883,57.83883,57.83883,57.83883], "fy":[-48.08538,-48.08538,-48.08538,-48.08538]}, + {"t":1.66583, "x":6.14017, "y":6.91741, "heading":-1.95799, "vx":-1.53828, "vy":-1.91204, "omega":2.4988, "ax":5.46963, "ay":-3.95941, "alpha":0.0, "fx":[77.53075,77.53075,77.53075,77.53075], "fy":[-56.12372,-56.12372,-56.12372,-56.12372]}, + {"t":1.68722, "x":6.10852, "y":6.87562, "heading":-1.90456, "vx":-1.42133, "vy":-1.9967, "omega":2.4988, "ax":6.48524, "ay":-4.15079, "alpha":0.0, "fx":[91.92676,91.92676,91.92676,91.92676], "fy":[-58.8365,-58.8365,-58.8365,-58.8365]}, + {"t":1.7086, "x":6.07961, "y":6.83198, "heading":-1.85113, "vx":-1.28265, "vy":-2.08546, "omega":2.4988, "ax":7.23155, "ay":-4.17312, "alpha":0.0, "fx":[102.50546,102.50546,102.50546,102.50546], "fy":[-59.15295,-59.15295,-59.15295,-59.15295]}, + {"t":1.72998, "x":6.05384, "y":6.78643, "heading":-1.7977, "vx":-1.12802, "vy":-2.17469, "omega":2.4988, "ax":7.72242, "ay":-4.24712, "alpha":-0.00116, "fx":[109.45974,109.46287,109.46716,109.46403], "fy":[-60.20711,-60.20561,-60.19661,-60.19811]}, + {"t":1.75137, "x":6.03149, "y":6.73896, "heading":-1.74427, "vx":-0.96289, "vy":-2.26551, "omega":2.49878, "ax":7.02523, "ay":-4.04427, "alpha":-13.00567, "fx":[47.74872,105.30798,134.85063,110.41629], "fy":[-119.44212,-89.41519,-16.6402,-3.80864]}, + {"t":1.77275, "x":6.0125, "y":6.68959, "heading":-1.69083, "vx":-0.81267, "vy":-2.35199, "omega":2.22068, "ax":0.14505, "ay":-0.21327, "alpha":-40.20393, "fx":[-115.53917,93.92671,124.49125,-94.65476], "fy":[-99.8599,-120.45541,88.43979,119.78313]}, + {"t":1.79413, "x":5.99516, "y":6.63925, "heading":-1.64335, "vx":-0.80957, "vy":-2.35655, "omega":1.36099, "ax":0.06113, "ay":-0.19717, "alpha":-40.32093, "fx":[-112.33101,98.4336,119.30961,-101.94595], "fy":[-104.06827,-117.31001,95.9675,114.2315]}, + {"t":1.81551, "x":5.97786, "y":6.58881, "heading":-1.61425, "vx":-0.80826, "vy":-2.36076, "omega":0.49881, "ax":8.20995, "ay":-2.45696, "alpha":-6.78935, "fx":[99.14097,119.83104,129.7483,116.7761], "fy":[-71.46844,-54.10124,-6.85986,-6.87795]}, + {"t":1.84675, "x":5.95662, "y":6.51388, "heading":-1.59867, "vx":-0.55182, "vy":-2.43751, "omega":0.28674, "ax":2.52101, "ay":-0.52832, "alpha":-7.29056, "fx":[16.3964,53.20293,55.27948,18.0599], "fy":[-29.15572,-27.05872,11.74476,14.51429]}, + {"t":1.87798, "x":5.94061, "y":6.43748, "heading":-1.58971, "vx":-0.47307, "vy":-2.45401, "omega":0.05902, "ax":0.02533, "ay":-0.00488, "alpha":-2.53675, "fx":[-6.57771,7.03825,7.2963,-6.32054], "fy":[-6.75009,-7.0048,6.6089,6.8693]}, + {"t":1.90922, "x":5.92585, "y":6.36083, "heading":-1.58787, "vx":-0.47228, "vy":-2.45416, "omega":-0.02022, "ax":-0.2183, "ay":0.04233, "alpha":-0.76245, "fx":[-5.17528,-1.08384,-1.0137,-5.10444], "fy":[-1.41148,-1.48294,2.61359,2.68063]}, + {"t":1.94046, "x":5.91099, "y":6.28419, "heading":-1.5885, "vx":-0.4791, "vy":-2.45284, "omega":-0.04403, "ax":-0.19957, "ay":0.03924, "alpha":-0.22693, "fx":[-3.44855,-2.23083,-2.20913,-3.4268], "fy":[-0.04217,-0.06376,1.15492,1.17615]}, + {"t":1.97169, "x":5.89593, "y":6.2076, "heading":-1.58987, "vx":-0.48534, "vy":-2.45161, "omega":-0.05112, "ax":-0.16989, "ay":0.03382, "alpha":-0.06726, "fx":[-2.59212,-2.23116,-2.22424,-2.5852], "fy":[0.30232,0.29545,0.6566,0.66344]}, + {"t":2.00293, "x":5.88069, "y":6.13104, "heading":-1.59147, "vx":-0.49064, "vy":-2.45056, "omega":-0.05322, "ax":-0.15044, "ay":0.03027, "alpha":-0.01969, "fx":[-2.18645,-2.08077,-2.07858,-2.18425], "fy":[0.37733,0.37515,0.48086,0.48304]}, + {"t":2.03416, "x":5.86529, "y":6.05451, "heading":-1.59313, "vx":-0.49534, "vy":-2.44961, "omega":-0.05384, "ax":-0.1404, "ay":0.02852, "alpha":-0.005, "fx":[-2.0039,-1.97706,-1.97646,-2.0033], "fy":[0.39117,0.39057,0.41742,0.41802]}, + {"t":2.0654, "x":5.84975, "y":5.97801, "heading":-1.59481, "vx":-0.49973, "vy":-2.44872, "omega":-0.05399, "ax":-0.13839, "ay":0.02837, "alpha":0.00133, "fx":[-1.95803,-1.96519,-1.96536,-1.9582], "fy":[0.40564,0.40581,0.39864,0.39847]}, + {"t":2.09663, "x":5.83407, "y":5.90153, "heading":-1.5965, "vx":-0.50405, "vy":-2.44783, "omega":-0.05395, "ax":-0.14414, "ay":0.02982, "alpha":0.0099, "fx":[-2.01591,-2.06903,-2.0704,-2.01728], "fy":[0.44856,0.44993,0.39679,0.39543]}, + {"t":2.12787, "x":5.81825, "y":5.82509, "heading":-1.59819, "vx":-0.50855, "vy":-2.4469, "omega":-0.05364, "ax":-0.15862, "ay":0.03313, "alpha":0.035, "fx":[-2.15195,-2.33976,-2.34492,-2.15712], "fy":[0.56105,0.56618,0.3783,0.37317]}, + {"t":2.1591, "x":5.80229, "y":5.74868, "heading":-1.59986, "vx":-0.51351, "vy":-2.44587, "omega":-0.05255, "ax":-0.18492, "ay":0.03905, "alpha":0.11851, "fx":[-2.29397,-2.92974,-2.94831,-2.31253], "fy":[0.86242,0.88079,0.24469,0.22623]}, + {"t":2.19034, "x":5.78616, "y":5.6723, "heading":-1.6015, "vx":-0.51928, "vy":-2.44465, "omega":-0.04885, "ax":-0.2321, "ay":0.04966, "alpha":0.39904, "fx":[-2.18675,-4.32701,-4.39327,-2.25282], "fy":[1.74269,1.80743,-0.33418,-0.40021]}, + {"t":2.22157, "x":5.76983, "y":5.59596, "heading":-1.60303, "vx":-0.52653, "vy":-2.4431, "omega":-0.03638, "ax":-0.3362, "ay":0.07321, "alpha":1.33476, "fx":[-1.07171,-8.22558,-8.46087,-1.30385], "fy":[4.51334,4.73098,-2.4273,-2.66596]}, + {"t":2.25281, "x":5.75322, "y":5.51969, "heading":-1.60417, "vx":-0.53703, "vy":-2.44081, "omega":0.00531, "ax":-0.68118, "ay":0.15327, "alpha":4.35549, "fx":[2.37608,-20.86963,-21.7214,1.59261], "fy":[13.64502,14.16028,-9.07258,-10.04267]}, + {"t":2.28404, "x":5.73611, "y":5.44352, "heading":-1.604, "vx":-0.55831, "vy":-2.43602, "omega":0.14135, "ax":-0.8082, "ay":4.44616, "alpha":9.82598, "fx":[17.49377,-35.92125,-48.49708,21.10049], "fy":[85.93405,84.07172,40.4136,41.67368]}, + {"t":2.31528, "x":5.71828, "y":5.3696, "heading":-1.59958, "vx":-0.58355, "vy":-2.29714, "omega":0.44827, "ax":9.57892, "ay":4.90907, "alpha":0.80383, "fx":[135.11027,133.03811,136.59506,138.37219], "fy":[71.07677,74.79594,68.02408,64.44264]}, + {"t":2.34651, "x":5.70472, "y":5.30024, "heading":-1.58558, "vx":-0.28435, "vy":-2.14381, "omega":0.47338, "ax":10.36165, "ay":3.05736, "alpha":0.83364, "fx":[146.12158,145.21772,147.75679,148.39941], "fy":[46.06781,48.78389,40.42283,38.07492]}, + {"t":2.37775, "x":5.7009, "y":5.23477, "heading":-1.5708, "vx":0.0393, "vy":-2.04831, "omega":0.49942, "ax":7.55009, "ay":1.16509, "alpha":23.81048, "fx":[133.37916,49.61864,96.04911,149.03607], "fy":[75.53743,144.77876,-118.55221,-35.70441]}, + {"t":2.39506, "x":5.70271, "y":5.1995, "heading":-1.56215, "vx":0.16997, "vy":-2.02815, "omega":0.91152, "ax":7.64762, "ay":1.31953, "alpha":23.27763, "fx":[132.56475,49.84509,101.5645,149.63844], "fy":[76.92956,144.6761,-113.77854,-33.01126]}, + {"t":2.41236, "x":5.7068, "y":5.16459, "heading":-1.54638, "vx":0.30233, "vy":-2.00531, "omega":1.31439, "ax":7.73867, "ay":1.51219, "alpha":22.73116, "fx":[131.41143,49.64419,107.38946,150.33004], "fy":[78.85279,144.71523,-108.21806,-29.61025]}, + {"t":2.42967, "x":5.71319, "y":5.13011, "heading":-1.52363, "vx":0.43626, "vy":-1.97914, "omega":1.70781, "ax":7.82082, "ay":1.7429, "alpha":22.17, "fx":[129.90178,49.08409,113.38262,151.06429], "fy":[81.28234,144.87064,-101.84689,-25.48544]}, + {"t":2.44698, "x":5.72191, "y":5.09612, "heading":-1.49407, "vx":0.57162, "vy":-1.94897, "omega":2.09151, "ax":7.89202, "ay":2.01185, "alpha":21.5879, "fx":[128.01314,48.24498,119.42771,151.7844], "fy":[84.18909,145.1105,-94.61557,-20.61391]}, + {"t":2.46429, "x":5.73298, "y":5.06269, "heading":-1.45787, "vx":0.70821, "vy":-1.91415, "omega":2.46514, "ax":7.95061, "ay":2.31988, "alpha":20.97268, "fx":[125.71859,47.22372,125.42812,152.42158], "fy":[87.53894,145.39732,-86.43579,-14.96536]}, + {"t":2.48159, "x":5.74643, "y":5.02991, "heading":-1.41521, "vx":0.84581, "vy":-1.874, "omega":2.82812, "ax":7.99504, "ay":2.66862, "alpha":20.30574, "fx":[122.98824,46.13881,131.29164,152.8924], "fy":[91.29194,145.68868,-77.17048,-8.50166]}, + {"t":2.4989, "x":5.76227, "y":4.99787, "heading":-1.36626, "vx":0.98419, "vy":-1.82781, "omega":3.17956, "ax":8.02355, "ay":3.06061, "alpha":19.56192, "fx":[119.79104,45.13499,136.90676,153.09493], "fy":[95.40107,145.93759,-66.62853,-1.17624]}, + {"t":2.51621, "x":5.7805, "y":4.9667, "heading":-1.31123, "vx":1.12305, "vy":-1.77484, "omega":3.51812, "ax":8.0336, "ay":3.49927, "alpha":18.70961, "fx":[116.09723,44.38565,142.11155,152.90306], "fy":[99.81092,146.09271,-54.56459,7.06643]}, + {"t":2.53352, "x":5.80114, "y":4.9365, "heading":-1.25034, "vx":1.26209, "vy":-1.71428, "omega":3.84194, "ax":8.02101, "ay":3.98877, "alpha":17.7113, "fx":[111.88169,44.08944,146.65423,152.15829], "fy":[104.45617,146.09834,-40.6865,16.29154]}, + {"t":2.55082, "x":5.82419, "y":4.90743, "heading":-1.18385, "vx":1.40092, "vy":-1.64524, "omega":4.14847, "ax":7.97871, "ay":4.53363, "alpha":16.52525, "fx":[107.12866,44.45501,150.14409,150.65744], "fy":[109.26012,145.89477,-24.67666,26.57445]}, + {"t":2.56813, "x":5.84963, "y":4.87964, "heading":-1.11205, "vx":1.53901, "vy":-1.56678, "omega":4.43448, "ax":7.89486, "ay":5.13789, "alpha":15.1095, "fx":[101.83826,45.66532,151.99381,148.13391], "fy":[114.13334,145.42159,-6.24162,38.0001]}, + {"t":2.58544, "x":5.87745, "y":4.85329, "heading":-1.0353, "vx":1.67565, "vy":-1.47786, "omega":4.69599, "ax":7.75046, "ay":5.80342, "alpha":13.42953, "fx":[96.03562,47.81408,151.36537,144.22856], "fy":[118.97278,144.62948,14.78698,50.6594]}, + {"t":2.60275, "x":5.90761, "y":4.82858, "heading":-0.95402, "vx":1.80979, "vy":-1.37741, "omega":4.92842, "ax":7.517, "ay":6.52708, "alpha":11.46986, "fx":[89.78385,50.8192,147.15949,138.44436], "fy":[123.66133,143.50885,38.27243,64.63664]}, + {"t":2.62005, "x":5.94006, "y":4.80572, "heading":-0.86873, "vx":1.93989, "vy":-1.26445, "omega":5.12693, "ax":7.15641, "ay":7.29629, "alpha":9.24606, "fx":[83.20291,54.34713,138.13407,130.0774], "fy":[128.06804,142.13682,63.51355,79.97428]}, + {"t":2.63736, "x":5.9747, "y":4.78493, "heading":-0.77999, "vx":2.06374, "vy":-1.13817, "omega":5.28695, "ax":6.62619, "ay":8.08399, "alpha":6.80702, "fx":[76.49865,57.81412,123.26417,118.12157], "fy":[132.04812,140.71899,89.0048,96.58242]}, + {"t":2.65467, "x":6.01142, "y":4.76644, "heading":-0.68849, "vx":2.17843, "vy":-0.99826, "omega":5.40477, "ax":5.89178, "ay":8.84512, "alpha":4.21348, "fx":[70.01246,60.5191,102.35011,101.17689], "fy":[135.4392,139.57164,112.47457,114.02426]}, + {"t":2.67198, "x":6.05, "y":4.75049, "heading":-0.59495, "vx":2.2804, "vy":-0.84517, "omega":5.47769, "ax":4.94364, "ay":9.51658, "alpha":1.48949, "fx":[64.32339,61.88889,76.56954,77.5178], "fy":[138.04041,139.0029,131.46684,131.07063]}, + {"t":2.68928, "x":6.09021, "y":4.73728, "heading":-0.50014, "vx":2.36596, "vy":-0.68046, "omega":5.50347, "ax":3.82133, "ay":10.01706, "alpha":-1.42374, "fx":[60.53359,61.78962,48.50158,45.84083], "fy":[139.51384,139.1131,144.30131,145.02951]}, + {"t":2.70659, "x":6.13173, "y":4.72701, "heading":-0.40489, "vx":2.4321, "vy":-0.5071, "omega":5.47883, "ax":2.3557, "ay":10.45907, "alpha":-1.53246, "fx":[40.14627,42.24312,27.45233,23.72406], "fy":[146.70681,146.26843,149.77363,150.27018]}, + {"t":2.72693, "x":6.18169, "y":4.71886, "heading":-0.29343, "vx":2.48002, "vy":-0.29432, "omega":5.44765, "ax":0.83753, "ay":10.65229, "alpha":-1.85766, "fx":[19.94424,22.9472,4.95419,-0.35861], "fy":[150.3223,150.12603,151.82888,151.69748]}, + {"t":2.74728, "x":6.23232, "y":4.71507, "heading":-0.18261, "vx":2.49706, "vy":-0.07762, "omega":5.40986, "ax":-0.1206, "ay":10.62882, "alpha":-2.32496, "fx":[8.87256,11.71402,-10.5061,-16.91829], "fy":[150.67569,150.87129,151.01811,150.0786]}, + {"t":2.76762, "x":6.28309, "y":4.71569, "heading":-0.07255, "vx":2.4946, "vy":0.13861, "omega":5.36256, "ax":-1.02921, "ay":10.48485, "alpha":-3.05076, "fx":[-0.05782,2.05656,-26.12926,-34.22479], "fy":[149.76266,150.46866,148.28504,145.96444]}, + {"t":2.78796, "x":6.33363, "y":4.72068, "heading":0.03654, "vx":2.47367, "vy":0.35191, "omega":5.3005, "ax":-1.88621, "ay":10.18571, "alpha":-4.27264, "fx":[-5.47374,-5.50834,-42.46209,-53.5022], "fy":[147.50902,149.01078,143.08271,137.91726]}, + {"t":2.80831, "x":6.38356, "y":4.72995, "heading":0.14437, "vx":2.43529, "vy":0.55912, "omega":5.21358, "ax":-2.6242, "ay":9.62947, "alpha":-6.56373, "fx":[-3.06642,-9.60899,-59.77766,-76.33675], "fy":[143.13855,146.47951,134.32016,122.04334]}, + {"t":2.82865, "x":6.43256, "y":4.74332, "heading":0.25043, "vx":2.38191, "vy":0.75502, "omega":5.08005, "ax":-3.03756, "ay":8.49222, "alpha":-11.4029, "fx":[18.16639,-8.67632,-78.02558,-103.69148], "fy":[131.74813,142.63042,120.14244,86.97999]}, + {"t":2.84899, "x":6.48039, "y":4.76043, "heading":0.35378, "vx":2.32011, "vy":0.92778, "omega":4.84807, "ax":-2.60655, "ay":6.04559, "alpha":-20.60559, "fx":[69.46698,-2.84166,-94.98978,-119.42459], "fy":[91.83077,137.10538,99.52577,14.31718]}, + {"t":2.86934, "x":6.52705, "y":4.78056, "heading":0.45241, "vx":2.26709, "vy":1.05077, "omega":4.42888, "ax":-1.539, "ay":3.19884, "alpha":-27.95312, "fx":[104.3835,5.3886,-105.61672,-91.41501], "fy":[34.67613,130.50559,76.77597,-60.58638]}, + {"t":2.88968, "x":6.57285, "y":4.8026, "heading":0.54251, "vx":2.23578, "vy":1.11585, "omega":3.86022, "ax":-0.81443, "ay":1.60252, "alpha":-29.81622, "fx":[110.49067,8.94679,-111.17399,-54.44075], "fy":[7.74636,123.6783,53.49722,-94.06029]}, + {"t":2.91003, "x":6.61817, "y":4.82563, "heading":0.62104, "vx":2.21921, "vy":1.14845, "omega":3.25365, "ax":-0.42669, "ay":0.81706, "alpha":-29.51078, "fx":[109.63796,8.43524,-111.6837,-30.58228], "fy":[-0.80192,117.17208,33.5342,-103.57776]}, + {"t":2.93037, "x":6.66322, "y":4.84916, "heading":0.68723, "vx":2.21053, "vy":1.16507, "omega":2.6533, "ax":-0.21934, "ay":0.41428, "alpha":-28.45262, "fx":[106.47298,5.68025,-108.54071,-16.04912], "fy":[-1.88923,110.80087,18.73064,-104.15307]}, + {"t":2.95071, "x":6.70815, "y":4.87295, "heading":0.7412, "vx":2.20607, "vy":1.1735, "omega":2.07447, "ax":-0.11365, "ay":0.21316, "alpha":-26.98112, "fx":[101.54916,2.14586,-103.1054,-7.03339], "fy":[-0.16355,104.07023,8.75791,-100.57888]}, + {"t":2.97106, "x":6.75301, "y":4.89687, "heading":0.78341, "vx":2.20376, "vy":1.17783, "omega":1.52558, "ax":-0.07139, "ay":0.13337, "alpha":-25.11851, "fx":[94.73684,-1.19367,-95.97418,-1.61653], "fy":[2.44962,96.51728,2.78651,-94.1912]}, + {"t":2.9914, "x":6.79782, "y":4.92085, "heading":0.81444, "vx":2.2023, "vy":1.18055, "omega":1.01458, "ax":-0.08616, "ay":0.16044, "alpha":-22.76404, "fx":[85.50604,-4.04945,-87.25951,0.91799], "fy":[5.55101,87.91104,0.48036,-84.84564]}, + {"t":3.01174, "x":6.84261, "y":4.9449, "heading":0.83508, "vx":2.20055, "vy":1.18381, "omega":0.55148, "ax":-0.21023, "ay":0.38911, "alpha":-19.71156, "fx":[72.35705,-7.15114,-77.16423,0.03841], "fy":[10.72466,78.85672,3.04998,-70.56937]}, + {"t":3.03209, "x":6.88733, "y":4.96907, "heading":0.8463, "vx":2.19627, "vy":1.19173, "omega":0.15048, "ax":-0.6892, "ay":1.25263, "alpha":-15.38759, "fx":[50.02794,-13.54448,-67.26715,-8.29337], "fy":[24.89041,73.04854,15.96804,-42.88398]}, + {"t":3.05243, "x":6.93187, "y":4.99357, "heading":0.84936, "vx":2.18225, "vy":1.21721, "omega":-0.16256, "ax":-2.2829, "ay":3.92038, "alpha":-7.73953, "fx":[1.04962,-31.21268,-62.76091,-36.51437], "fy":[63.48539,80.55415,51.19422,27.04808]}, + {"t":3.07277, "x":6.97579, "y":5.01914, "heading":0.84606, "vx":2.13581, "vy":1.29696, "omega":-0.32001, "ax":-4.46986, "ay":6.83609, "alpha":-1.26282, "fx":[-57.19702,-61.35635,-69.24822,-65.63528], "fy":[99.68168,100.3758,94.25661,93.28557]}, + {"t":3.09312, "x":7.01832, "y":5.04694, "heading":0.83955, "vx":2.04488, "vy":1.43603, "omega":-0.3457, "ax":-5.87211, "ay":7.69509, "alpha":0.27106, "fx":[-84.51351,-83.96882,-81.93966,-82.52089], "fy":[108.24579,108.30295,109.91626,109.83901]}, + {"t":3.11346, "x":7.0587, "y":5.07775, "heading":0.83251, "vx":1.92542, "vy":1.59258, "omega":-0.34018, "ax":-6.84927, "ay":7.60703, "alpha":0.5327, "fx":[-99.34234,-98.81389,-94.75628,-95.43459], "fy":[105.97646,106.05278,109.73559,109.54671]}, + {"t":3.1338, "x":7.09645, "y":5.11172, "heading":0.82559, "vx":1.78608, "vy":1.74733, "omega":-0.32935, "ax":-7.64292, "ay":7.16649, "alpha":0.54608, "fx":[-110.32508,-110.22764,-106.27594,-106.51774], "fy":[99.59972,99.42726,103.64271,103.6635]}, + {"t":3.15415, "x":7.13121, "y":5.14875, "heading":0.81889, "vx":1.6306, "vy":1.89312, "omega":-0.31824, "ax":-8.36579, "ay":6.50772, "alpha":0.50835, "fx":[-120.09284,-120.34769,-117.02369,-116.86833], "fy":[90.41448,89.88405,94.15334,94.52977]}, + {"t":3.17449, "x":7.16265, "y":5.18861, "heading":0.81242, "vx":1.46041, "vy":2.02551, "omega":-0.3079, "ax":-8.8428, "ay":5.86277, "alpha":0.49176, "fx":[-126.54172,-126.97799,-124.11385,-123.74454], "fy":[81.42301,80.54704,84.85983,85.58363]}, + {"t":3.19613, "x":7.19218, "y":5.23382, "heading":0.80575, "vx":1.26904, "vy":2.15239, "omega":-0.29725, "ax":-9.25804, "ay":4.91133, "alpha":0.74325, "fx":[-132.59829,-133.40482,-129.82743,-129.09133], "fy":[67.42559,65.27655,71.97647,73.78929]}, + {"t":3.21777, "x":7.21748, "y":5.28155, "heading":0.79932, "vx":1.06868, "vy":2.25868, "omega":-0.28117, "ax":-9.40568, "ay":3.95427, "alpha":1.26882, "fx":[-135.19198,-136.34502,-131.44922,-130.30668], "fy":[53.0907,48.07744,59.4363,63.59912]}, + {"t":3.23941, "x":7.2384, "y":5.33136, "heading":0.79324, "vx":0.86513, "vy":2.34425, "omega":-0.25371, "ax":-9.02569, "ay":2.91707, "alpha":2.60746, "fx":[-131.81166,-132.21443,-124.24005,-123.48171], "fy":[37.34899,24.68818,46.65089,56.70711]}, + {"t":3.26106, "x":7.25501, "y":5.38277, "heading":0.78775, "vx":0.66981, "vy":2.40738, "omega":-0.19728, "ax":-7.04819, "ay":1.72496, "alpha":6.72116, "fx":[-115.20995,-105.23234,-83.92965,-95.25372], "fy":[20.45518,-12.85497,32.28281,57.92038]}, + {"t":3.2827, "x":7.26786, "y":5.43527, "heading":0.78348, "vx":0.51728, "vy":2.44471, "omega":-0.05183, "ax":-3.00237, "ay":0.59394, "alpha":13.52123, "fx":[-87.15713,-48.20568,9.97737,-44.84616], "fy":[7.91048,-46.87852,11.33881,61.305]}, + {"t":3.30434, "x":7.27835, "y":5.48832, "heading":0.78236, "vx":0.4523, "vy":2.45757, "omega":0.24079, "ax":-0.90495, "ay":0.16284, "alpha":14.82445, "fx":[-67.16366,-14.8551,44.90769,-14.19895], "fy":[2.6275,-54.5163,2.60368,58.51803]}, + {"t":3.32598, "x":7.28792, "y":5.54154, "heading":0.78757, "vx":0.43272, "vy":2.46109, "omega":0.56161, "ax":-0.26033, "ay":0.04547, "alpha":14.48027, "fx":[-58.16825,-4.0556,51.73197,-4.26877], "fy":[0.59748,-54.43017,0.86112,55.54945]}, + {"t":3.34762, "x":7.29723, "y":5.59481, "heading":0.79972, "vx":0.42708, "vy":2.46207, "omega":0.87498, "ax":-0.07375, "ay":0.01277, "alpha":14.05346, "fx":[-54.26261,-0.40783,52.42292,-1.93392], "fy":[-0.55865,-53.19043,0.9715,53.50146]}, + {"t":3.36926, "x":7.30645, "y":5.6481, "heading":0.81866, "vx":0.42549, "vy":2.46235, "omega":1.17911, "ax":-0.02067, "ay":0.00357, "alpha":13.6978, "fx":[-52.2307,1.40277,51.71088,-2.0552], "fy":[-1.67053,-51.92847,1.78777,52.0136]}, + {"t":3.3909, "x":7.31566, "y":5.70139, "heading":0.84417, "vx":0.42504, "vy":2.46243, "omega":1.47555, "ax":-0.00577, "ay":0.00099, "alpha":13.43194, "fx":[-50.97545,2.90459,50.82929,-3.08587], "fy":[-2.97854,-50.89089,3.01195,50.91389]}, + {"t":3.41254, "x":7.32485, "y":5.75468, "heading":0.87611, "vx":0.42491, "vy":2.46245, "omega":1.76623, "ax":-0.00174, "ay":0.0003, "alpha":13.26378, "fx":[-50.16713,4.5339,50.12293,-4.58819], "fy":[-4.5559,-50.14174,4.56619,50.14833]}, + {"t":3.43418, "x":7.33405, "y":5.80797, "heading":0.91433, "vx":0.42488, "vy":2.46246, "omega":2.05327, "ax":-0.00107, "ay":0.00018, "alpha":13.20067, "fx":[-49.71025,6.42642,49.68278,-6.45988], "fy":[-6.43988,-49.69461,6.44642,49.69843]}, + {"t":3.45583, "x":7.34324, "y":5.86126, "heading":0.95876, "vx":0.42485, "vy":2.46246, "omega":2.33895, "ax":-0.0026, "ay":0.00045, "alpha":13.25037, "fx":[-49.58051,8.6365,49.51371,-8.71727], "fy":[-8.66858,-49.54278,8.68519,49.55145]}, + {"t":3.47747, "x":7.35244, "y":5.91455, "heading":1.00938, "vx":0.4248, "vy":2.46247, "omega":2.6257, "ax":-0.00928, "ay":0.0016, "alpha":13.42118, "fx":[-49.79644,11.17313,49.55729,-11.46019], "fy":[-11.28556,-49.6628,11.34787,49.69103]}, + {"t":3.49911, "x":7.36163, "y":5.96784, "heading":1.0662, "vx":0.4246, "vy":2.4625, "omega":2.91615, "ax":-0.03362, "ay":0.00579, "alpha":13.72188, "fx":[-50.48561,13.91772,49.61529,-14.95363], "fy":[-14.31719,-50.00629,14.55566,50.09595]}, + {"t":3.52075, "x":7.37081, "y":6.02113, "heading":1.12931, "vx":0.42387, "vy":2.46263, "omega":3.21311, "ax":-0.12001, "ay":0.02058, "alpha":14.15966, "fx":[-52.16365,16.27944,49.0382,-19.95827], "fy":[-17.6778,-50.47791,18.58138,50.74145]}, + {"t":3.54239, "x":7.37995, "y":6.07443, "heading":1.19885, "vx":0.42127, "vy":2.46307, "omega":3.51954, "ax":-0.42109, "ay":0.07121, "alpha":14.71371, "fx":[-56.62676,15.96327,45.56025,-28.77232], "fy":[-20.83325,-50.8694,24.19739,51.54278]}, + {"t":3.56403, "x":7.38897, "y":6.12775, "heading":1.27502, "vx":0.41216, "vy":2.46462, "omega":3.83796, "ax":-1.44361, "ay":0.23198, "alpha":15.02378, "fx":[-68.93205,4.27737,30.35094,-47.54733], "fy":[-21.8191,-50.36551,33.66785,51.66998]}, + {"t":3.58567, "x":7.39755, "y":6.18114, "heading":1.35807, "vx":0.38092, "vy":2.46964, "omega":4.1631, "ax":-4.50727, "ay":0.60435, "alpha":12.10792, "fx":[-95.64241,-46.7122,-29.40343,-83.80003], "fy":[-16.65084,-41.72462,46.42972,46.21154]}, + {"t":3.60731, "x":7.40474, "y":6.23473, "heading":1.44817, "vx":0.28337, "vy":2.48272, "omega":4.42513, "ax":-8.34904, "ay":0.64639, "alpha":5.13599, "fx":[-125.62134,-114.91644,-110.72953,-122.11513], "fy":[-8.3901,-16.99249,32.58327,29.44922]}, + {"t":3.62896, "x":7.40892, "y":6.28861, "heading":1.54393, "vx":0.10269, "vy":2.4967, "omega":4.53627, "ax":-9.83784, "ay":-0.07871, "alpha":2.19569, "fx":[-140.47619,-138.31702,-138.47497,-140.52793], "fy":[-10.74626,-12.94674,9.99477,9.23556]}, + {"t":3.6506, "x":7.40884, "y":6.34263, "heading":1.6421, "vx":-0.11021, "vy":2.495, "omega":4.58379, "ax":-9.7626, "ay":-0.73488, "alpha":1.64317, "fx":[-138.63216,-136.93684,-138.19741,-139.76357], "fy":[-18.01909,-18.78195,-1.98974,-2.87626]}, + {"t":3.66971, "x":7.40495, "y":6.39019, "heading":1.72974, "vx":-0.29685, "vy":2.48095, "omega":4.61521, "ax":-8.56041, "ay":-1.312, "alpha":2.67448, "fx":[-122.2344,-116.85355,-120.70665,-125.57233], "fy":[-29.82571,-30.60105,-5.64816,-8.31442]}, + {"t":3.68883, "x":7.39771, "y":6.43738, "heading":1.81797, "vx":-0.46051, "vy":2.45587, "omega":4.66634, "ax":-5.82664, "ay":-1.23018, "alpha":4.32931, "fx":[-87.2267,-71.08319,-78.50465,-93.55056], "fy":[-33.20454,-31.15501,0.7535,-6.14415]}, + {"t":3.70795, "x":7.38784, "y":6.48411, "heading":1.90718, "vx":-0.5719, "vy":2.43235, "omega":4.7491, "ax":-2.47548, "ay":-0.60749, "alpha":3.76995, "fx":[-40.78623,-22.54347,-29.64502,-47.38269], "fy":[-21.67306,-15.76978,5.05805,-2.05935]}, + {"t":3.72707, "x":7.37645, "y":6.5305, "heading":1.99797, "vx":-0.61923, "vy":2.42074, "omega":4.82118, "ax":-0.7986, "ay":-0.20696, "alpha":0.41357, "fx":[-11.86419,-9.85485,-10.77714,-12.78374], "fy":[-4.4089,-3.49207,-1.45639,-2.37729]}, + {"t":3.74619, "x":7.36447, "y":6.57674, "heading":2.09014, "vx":-0.63449, "vy":2.41678, "omega":4.82908, "ax":-0.24075, "ay":-0.06345, "alpha":-3.31562, "fx":[-0.12468,-15.53521,-6.73392,8.74334], "fy":[11.26608,2.39786,-13.03113,-4.23034]}, + {"t":3.7653, "x":7.35229, "y":6.62293, "heading":2.18247, "vx":-0.6391, "vy":2.41557, "omega":4.7657, "ax":-0.07324, "ay":-0.01939, "alpha":-6.9327, "fx":[3.48434,-26.93304,-5.6124,24.90868], "fy":[25.66583,4.25726,-26.17959,-4.84293]}, + {"t":3.78442, "x":7.34006, "y":6.66911, "heading":2.27358, "vx":-0.6405, "vy":2.4152, "omega":4.63316, "ax":-0.02973, "ay":-0.00787, "alpha":-10.38555, "fx":[2.80577,-39.68623,-3.70105,38.89573], "fy":[39.19163,3.13036,-39.3912,-3.37725]}, + {"t":3.80354, "x":7.32781, "y":6.71528, "heading":2.36215, "vx":-0.64107, "vy":2.41504, "omega":4.43461, "ax":-0.03472, "ay":-0.0092, "alpha":-13.63176, "fx":[-0.85682,-52.18382,-0.23965,51.31165], "fy":[51.63209,-0.45259,-51.86473,0.16334]}, + {"t":3.82266, "x":7.31555, "y":6.76145, "heading":2.44693, "vx":-0.64173, "vy":2.41487, "omega":4.174, "ax":-0.08129, "ay":-0.02161, "alpha":-16.61146, "fx":[-7.06854,-63.75115,4.36297,61.84749], "fy":[62.51232,-6.03459,-63.09354,5.39034]}, + {"t":3.84178, "x":7.30327, "y":6.80761, "heading":2.52673, "vx":-0.64328, "vy":2.41446, "omega":3.85642, "ax":-0.20161, "ay":-0.05387, "alpha":-19.26781, "fx":[-15.94767,-74.26303,8.89457,69.88489], "fy":[71.27603,-13.1158,-72.91029,11.69548]}, + {"t":3.86089, "x":7.29093, "y":6.85376, "heading":2.60046, "vx":-0.64714, "vy":2.41343, "omega":3.48806, "ax":-0.47526, "ay":-0.12839, "alpha":-21.5428, "fx":[-28.45821,-84.12278,11.13659,74.49756], "fy":[77.1372,-21.13886,-81.65582,18.37795]}, + {"t":3.88001, "x":7.27847, "y":6.89988, "heading":2.66714, "vx":-0.65622, "vy":2.41097, "omega":3.07621, "ax":-1.05981, "ay":-0.29328, "alpha":-23.26027, "fx":[-46.77352,-94.12652,7.17775,73.632], "fy":[78.33413,-29.45864,-90.16952,24.66537]}, + {"t":3.89913, "x":7.26573, "y":6.94592, "heading":2.72595, "vx":-0.67649, "vy":2.40536, "omega":2.63152, "ax":-2.24106, "ay":-0.65208, "alpha":-23.63977, "fx":[-73.2392,-104.82263,-9.34296,60.33882], "fy":[70.61647,-37.51672,-98.77582,28.70384]}, + {"t":3.91825, "x":7.25239, "y":6.99178, "heading":2.77626, "vx":-0.71933, "vy":2.3929, "omega":2.17958, "ax":-4.63608, "ay":-1.48868, "alpha":-19.39676, "fx":[-104.85252,-115.34827,-42.73641,0.07567], "fy":[47.70156,-45.49943,-103.73803,17.12922]}, + {"t":3.93737, "x":7.23779, "y":7.03726, "heading":2.81793, "vx":-0.80796, "vy":2.36444, "omega":1.80875, "ax":-7.65814, "ay":-2.88883, "alpha":-10.22094, "fx":[-129.13815,-124.28594,-82.08929,-98.69564], "fy":[13.01484,-52.44553,-98.24105,-26.1222]}, + {"t":3.95648, "x":7.22094, "y":7.08193, "heading":2.85251, "vx":-0.95437, "vy":2.30921, "omega":1.61335, "ax":-8.73524, "ay":-3.99424, "alpha":-5.73491, "fx":[-138.46064,-128.5387,-105.09749,-123.18275], "fy":[-21.05673,-61.21837,-91.85701,-52.33735]}, + {"t":3.9756, "x":7.2011, "y":7.12535, "heading":2.88335, "vx":-1.12137, "vy":2.23285, "omega":1.50371, "ax":-8.90211, "ay":-4.91703, "alpha":-3.60438, "fx":[-137.84627,-128.08033,-112.73577,-126.07863], "fy":[-46.68947,-71.32548,-91.94695,-68.82883]}, + {"t":3.99472, "x":7.17804, "y":7.16714, "heading":2.9121, "vx":-1.29156, "vy":2.13884, "omega":1.4348, "ax":-8.7022, "ay":-5.74625, "alpha":-2.48249, "fx":[-132.97714,-124.5508,-112.95406,-122.92418], "fy":[-65.91843,-81.69864,-96.33061,-81.85924]}, + {"t":4.01384, "x":7.15176, "y":7.20698, "heading":2.93953, "vx":-1.45793, "vy":2.02899, "omega":1.38734, "ax":-8.31785, "ay":-6.5105, "alpha":-1.83395, "fx":[-126.07105,-119.00131,-109.40929,-117.13257], "fy":[-81.33424,-91.85736,-102.73192,-93.21544]}, + {"t":4.03295, "x":7.12236, "y":7.24458, "heading":2.96605, "vx":-1.61695, "vy":1.90452, "omega":1.35228, "ax":-7.81676, "ay":-7.21925, "alpha":-1.42797, "fx":[-117.88514,-111.97627,-103.5981,-109.74316], "fy":[-94.3608,-101.5738,-109.9213,-103.46884]}, + {"t":4.05207, "x":7.09002, "y":7.27967, "heading":2.99191, "vx":-1.76639, "vy":1.7665, "omega":1.32498, "ax":-7.1818, "ay":-7.9167, "alpha":-1.15678, "fx":[-108.07457,-103.14733,-95.51856,-100.46093], "fy":[-106.34096,-111.28939,-117.80328,-113.43566]}, + {"t":4.07119, "x":7.05494, "y":7.312, "heading":3.01724, "vx":-1.90369, "vy":1.61515, "omega":1.30286, "ax":-6.57693, "ay":-8.45395, "alpha":-1.08167, "fx":[-99.44815,-94.83719,-87.05318,-91.56714], "fy":[-114.84193,-118.80375,-124.55158,-121.13357]}, + {"t":4.09463, "x":7.00852, "y":7.34753, "heading":3.04777, "vx":-2.05783, "vy":1.41702, "omega":1.27751, "ax":-5.60403, "ay":-9.06384, "alpha":-1.39341, "fx":[-87.89882,-82.2523,-71.19389,-76.39795], "fy":[-123.00979,-127.07827,-133.48938,-130.33354]}, + {"t":4.11806, "x":6.95875, "y":7.37825, "heading":3.07771, "vx":-2.18917, "vy":1.20459, "omega":1.24486, "ax":-4.6283, "ay":-9.48597, "alpha":-1.91859, "fx":[-77.614,-70.37824,-54.24267,-60.18515], "fy":[-128.17043,-132.74181,-139.95042,-136.98304]}, + {"t":4.1415, "x":6.90617, "y":7.40388, "heading":3.10689, "vx":-2.29765, "vy":0.98226, "omega":1.19989, "ax":-3.60034, "ay":-9.68931, "alpha":-2.92423, "fx":[-69.49398,-59.39734,-34.4823,-40.76231], "fy":[-129.49037,-135.58347,-143.64825,-140.65257]}, + {"t":4.16494, "x":6.85133, "y":7.42424, "heading":3.13501, "vx":-2.38203, "vy":0.75517, "omega":1.13135, "ax":-2.52125, "ay":-9.42428, "alpha":-5.25092, "fx":[-68.01134,-51.39859,-9.95838,-13.58401], "fy":[-121.75637,-133.5395,-142.07094,-136.9809]}, + {"t":4.18838, "x":6.79481, "y":7.43935, "heading":-3.12166, "vx":-2.44112, "vy":0.53429, "omega":1.00829, "ax":-1.3822, "ay":-7.63128, "alpha":-11.86539, "fx":[-82.53598,-50.58295,20.17841,34.5711], "fy":[-82.66216,-121.5088,-128.39519,-100.12004]}, + {"t":4.21181, "x":6.73722, "y":7.44978, "heading":-3.09803, "vx":-2.47352, "vy":0.35544, "omega":0.7302, "ax":-0.445, "ay":-3.50779, "alpha":-20.84306, "fx":[-84.7461,-52.97586,45.37343,67.11763], "fy":[-3.74828,-98.59299,-99.41057,2.86337]}, + {"t":4.23525, "x":6.67912, "y":7.45714, "heading":-3.08091, "vx":-2.48395, "vy":0.27322, "omega":0.24169, "ax":-0.12758, "ay":-1.22446, "alpha":-20.20391, "fx":[-64.34547,-49.18854,52.20059,54.09995], "fy":[31.76415,-72.97761,-68.3556,40.14329]}, + {"t":4.25869, "x":6.62087, "y":7.46321, "heading":-3.07525, "vx":-2.48694, "vy":0.24453, "omega":-0.23183, "ax":-0.03775, "ay":-0.3913, "alpha":-15.18252, "fx":[-44.73261,-37.78495,42.13183,38.24541], "fy":[32.18734,-48.67107,-43.63526,37.93251]}, + {"t":4.28213, "x":6.56257, "y":7.46883, "heading":-3.08068, "vx":-2.48782, "vy":0.23535, "omega":-0.58767, "ax":-0.01207, "ay":-0.12844, "alpha":-7.48338, "fx":[-21.50913,-18.93993,21.04456,18.71999], "fy":[16.99142,-23.07722,-20.65953,19.46263]}, + {"t":4.30556, "x":6.50426, "y":7.47431, "heading":-3.09445, "vx":-2.4881, "vy":0.23234, "omega":-0.76306, "ax":-0.01303, "ay":-0.14053, "alpha":2.13723, "fx":[5.81198,5.28184,-6.19231,-5.64022], "fy":[-7.45253,4.00891,3.46661,-7.99069]}, + {"t":4.329, "x":6.44594, "y":7.47972, "heading":-3.11234, "vx":-2.48841, "vy":0.22905, "omega":-0.71296, "ax":-0.04374, "ay":-0.48765, "alpha":11.10382, "fx":[29.60052,28.87438,-31.87677,-29.07805], "fy":[-35.85578,23.75616,21.87847,-37.42791]}, + {"t":4.35244, "x":6.38761, "y":7.48496, "heading":-3.12905, "vx":-2.48943, "vy":0.21762, "omega":-0.45272, "ax":-0.05552, "ay":-1.66829, "alpha":17.1208, "fx":[42.75397,50.11593,-52.90983,-43.10796], "fy":[-68.02529,21.8002,20.27757,-68.64279]}, + {"t":4.37587, "x":6.32925, "y":7.4896, "heading":-3.13966, "vx":-2.49074, "vy":0.17852, "omega":-0.05146, "ax":10.46632, "ay":-1.24328, "alpha":0.86948, "fx":[148.05831,149.03327,148.71745,147.6211], "fy":[-21.45059,-12.74651,-13.54045,-22.75497]}, + {"t":4.39931, "x":6.27375, "y":7.49344, "heading":-3.14086, "vx":-2.24543, "vy":0.14938, "omega":-0.03108, "ax":10.66211, "ay":-1.10122, "alpha":0.44251, "fx":[150.95208,151.41313,151.32821,150.83827], "fy":[-17.6617,-13.07902,-13.48813,-18.2094]}, + {"t":4.42275, "x":6.22405, "y":7.49664, "heading":3.14159, "vx":-1.99554, "vy":0.12357, "omega":-0.02071, "ax":-0.08645, "ay":-2.57491, "alpha":0.45669, "fx":[0.06939,0.06992,-2.53011,-2.51098], "fy":[-37.66012,-35.34653,-35.33742,-37.65062]}, + {"t":4.46935, "x":6.13095, "y":7.4996, "heading":3.14063, "vx":-1.99957, "vy":0.00357, "omega":0.00057, "ax":-0.00007, "ay":-0.06893, "alpha":0.00563, "fx":[0.01413,0.01416,-0.01606,-0.01609], "fy":[-0.99213,-0.96191,-0.96188,-0.9921]}, + {"t":4.51596, "x":6.03776, "y":7.49969, "heading":3.14065, "vx":-1.99958, "vy":0.00036, "omega":0.00084, "ax":0.0, "ay":-0.00174, "alpha":0.00006, "fx":[0.00016,0.00016,-0.00017,-0.00017], "fy":[-0.02483,-0.0245,-0.0245,-0.02483]}, + {"t":4.56257, "x":5.94457, "y":7.49971, "heading":3.14069, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":-0.00004, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00062,-0.00062,-0.00062,-0.00062]}, + {"t":4.60917, "x":5.85138, "y":7.49972, "heading":3.14073, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "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":4.65578, "x":5.75819, "y":7.49973, "heading":3.14077, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.70238, "x":5.66499, "y":7.49975, "heading":3.14081, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.74899, "x":5.5718, "y":7.49976, "heading":3.14085, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.79559, "x":5.47861, "y":7.49977, "heading":3.14089, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.8422, "x":5.38542, "y":7.49978, "heading":3.14093, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.88881, "x":5.29223, "y":7.4998, "heading":3.14097, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.93541, "x":5.19903, "y":7.49981, "heading":3.14101, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":4.98202, "x":5.10584, "y":7.49982, "heading":3.14105, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.02862, "x":5.01265, "y":7.49983, "heading":3.14108, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.07523, "x":4.91946, "y":7.49985, "heading":3.14112, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.12183, "x":4.82627, "y":7.49986, "heading":3.14116, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.16844, "x":4.73308, "y":7.49987, "heading":3.1412, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.21505, "x":4.63988, "y":7.49989, "heading":3.14124, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.26165, "x":4.54669, "y":7.4999, "heading":3.14128, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.30826, "x":4.4535, "y":7.49991, "heading":3.14132, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.35486, "x":4.36031, "y":7.49992, "heading":3.14136, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.40147, "x":4.26712, "y":7.49994, "heading":3.1414, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.44807, "x":4.17392, "y":7.49995, "heading":3.14144, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":-0.00002, "fx":[-0.00006,-0.00006,0.00006,0.00006], "fy":[0.00006,-0.00006,-0.00006,0.00006]}, + {"t":5.49468, "x":4.08073, "y":7.49996, "heading":3.14148, "vx":-1.99958, "vy":0.00027, "omega":0.00084, "ax":0.00099, "ay":0.0, "alpha":-0.00207, "fx":[0.00849,0.00849,0.01958,0.01958], "fy":[0.00555,-0.00555,-0.00555,0.00555]}, + {"t":5.54129, "x":3.98754, "y":7.49997, "heading":3.14152, "vx":-1.99953, "vy":0.00027, "omega":0.00074, "ax":10.46869, "ay":-0.00143, "alpha":-0.00641, "fx":[148.39008,148.39007,148.39234,148.39235], "fy":[0.01305,-0.0535,-0.05348,0.01304]}, + {"t":5.58789, "x":3.90572, "y":7.49999, "heading":3.14155, "vx":-1.51163, "vy":0.00021, "omega":0.00044, "ax":10.7991, "ay":-0.00147, "alpha":-0.00288, "fx":[153.07462,153.07462,153.07471,153.07472], "fy":[-0.00543,-0.0363,-0.03629,-0.00543]}, + {"t":5.6345, "x":3.847, "y":7.49999, "heading":3.14157, "vx":-1.00833, "vy":0.00014, "omega":0.00031, "ax":10.81485, "ay":-0.00147, "alpha":-0.00313, "fx":[153.29787,153.29786,153.29791,153.29792], "fy":[-0.00413,-0.03766,-0.03765,-0.00413]}, + {"t":5.6811, "x":3.81175, "y":7.5, "heading":3.14159, "vx":-0.50429, "vy":0.00007, "omega":0.00016, "ax":10.82043, "ay":-0.00147, "alpha":-0.00351, "fx":[153.37707,153.37706,153.3771,153.37711], "fy":[-0.00206,-0.03975,-0.03974,-0.00206]}, + {"t":5.72771, "x":3.8, "y":7.5, "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/RedLeftNeutralZone.traj b/src/main/deploy/choreo/RedLeftNeutralZone.traj index 72613a4..5469afa 100644 --- a/src/main/deploy/choreo/RedLeftNeutralZone.traj +++ b/src/main/deploy/choreo/RedLeftNeutralZone.traj @@ -3,17 +3,17 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":12.0, "y":0.6, "heading":-3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":11.008570671081545, "y":0.6, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.472244262695312, "y":0.7846152186393738, "heading":2.270688520429359, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.75, "y":1.5, "heading":1.5707963267948966, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.75, "y":3.624074459075928, "heading":1.5707963267948966, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.609416961669922, "y":3.994438648223877, "heading":0.902506670681148, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.37757968902588, "y":3.816115140914917, "heading":-0.785397749563989, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.35014533996582, "y":2.8147599697113037, "heading":-1.8313983339004272, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.15810489654541, "y":1.2235654592514038, "heading":-2.6047337361194796, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.39129638671875, "y":0.6, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":12.5, "y":0.6, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":12.0, "y":0.6, "heading":-3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.008570671081545, "y":0.6, "heading":3.141592653589793, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.472244262695312, "y":0.7846152186393738, "heading":2.270688520429359, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.75, "y":1.5, "heading":1.5707963267948966, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.75, "y":3.624074459075928, "heading":1.5707963267948966, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.609416961669922, "y":3.994438648223877, "heading":0.902506670681148, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.37757968902588, "y":3.816115140914917, "heading":-0.785397749563989, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.35014533996582, "y":2.8147599697113037, "heading":-1.8313983339004272, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.036293983459473, "y":1.4151438474655151, "heading":-0.7454583828700428, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.39129638671875, "y":0.6, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":13.0, "y":0.6, "heading":0.0, "intervals":17, "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}, @@ -30,17 +30,17 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"12 m", "val":12.0}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"-180 deg", "val":-3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"11.008570671081543 m", "val":11.008570671081545}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.472244262695312 m", "val":9.472244262695312}, "y":{"exp":"0.7846152186393738 m", "val":0.7846152186393738}, "heading":{"exp":"2.270688520429359 rad", "val":2.270688520429359}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.75 m", "val":8.75}, "y":{"exp":"1.5 m", "val":1.5}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.75 m", "val":8.75}, "y":{"exp":"3.6240744590759277 m", "val":3.624074459075928}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.609416961669922 m", "val":9.609416961669922}, "y":{"exp":"3.994438648223877 m", "val":3.994438648223877}, "heading":{"exp":"0.9025066706811479 rad", "val":0.902506670681148}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.377579689025879 m", "val":10.37757968902588}, "y":{"exp":"3.816115140914917 m", "val":3.816115140914917}, "heading":{"exp":"-0.785397749563989 rad", "val":-0.785397749563989}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.35014533996582 m", "val":10.35014533996582}, "y":{"exp":"2.8147599697113037 m", "val":2.8147599697113037}, "heading":{"exp":"-1.8313983339004274 rad", "val":-1.8313983339004272}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.15810489654541 m", "val":10.15810489654541}, "y":{"exp":"1.2235654592514038 m", "val":1.2235654592514038}, "heading":{"exp":"-2.6047337361194796 rad", "val":-2.6047337361194796}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.39129638671875 m", "val":10.39129638671875}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"12.5 m", "val":12.5}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"12 m", "val":12.0}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"-180 deg", "val":-3.141592653589793}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"11.008570671081543 m", "val":11.008570671081545}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.472244262695312 m", "val":9.472244262695312}, "y":{"exp":"0.7846152186393738 m", "val":0.7846152186393738}, "heading":{"exp":"2.270688520429359 rad", "val":2.270688520429359}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.75 m", "val":8.75}, "y":{"exp":"1.5 m", "val":1.5}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.75 m", "val":8.75}, "y":{"exp":"3.6240744590759277 m", "val":3.624074459075928}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.609416961669922 m", "val":9.609416961669922}, "y":{"exp":"3.994438648223877 m", "val":3.994438648223877}, "heading":{"exp":"0.9025066706811479 rad", "val":0.902506670681148}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.377579689025879 m", "val":10.37757968902588}, "y":{"exp":"3.816115140914917 m", "val":3.816115140914917}, "heading":{"exp":"-0.785397749563989 rad", "val":-0.785397749563989}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.35014533996582 m", "val":10.35014533996582}, "y":{"exp":"2.8147599697113037 m", "val":2.8147599697113037}, "heading":{"exp":"-1.8313983339004274 rad", "val":-1.8313983339004272}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.036293983459473 m", "val":10.036293983459473}, "y":{"exp":"1.4151438474655151 m", "val":1.4151438474655151}, "heading":{"exp":"-0.7454583828700428 rad", "val":-0.7454583828700428}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.39129638671875 m", "val":10.39129638671875}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"13 m", "val":13.0}, "y":{"exp":"0.6 m", "val":0.6}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "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}, @@ -83,266 +83,264 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.74528,1.77828,2.46354,3.54756,4.19663,4.73343,5.41211,6.48107,6.9541,8.44613], + "waypoints":[0.0,0.73071,1.76361,2.44794,3.5282,4.17249,4.70741,5.3842,6.34144,6.9512,8.76195], "samples":[ - {"t":0.0, "x":12.0, "y":0.6, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.01664, "ay":-0.00826, "alpha":0.00242, "fx":[-153.37045,-153.37047,-153.3705,-153.37048], "fy":[-0.15347,-0.12756,-0.12754,-0.15344]}, - {"t":0.04384, "x":11.99134, "y":0.59999, "heading":-3.14159, "vx":-0.39529, "vy":-0.00036, "omega":0.00011, "ax":-9.0116, "ay":-0.0083, "alpha":0.0031, "fx":[-153.28471,-153.28474,-153.28479,-153.28476], "fy":[-0.15779,-0.12458,-0.12455,-0.15775]}, - {"t":0.08768, "x":11.96535, "y":0.59997, "heading":-3.14159, "vx":-0.79036, "vy":-0.00073, "omega":0.00024, "ax":-8.99664, "ay":-0.00836, "alpha":0.00513, "fx":[-153.03015,-153.0302,-153.03038,-153.03033], "fy":[-0.16972,-0.11485,-0.11481,-0.16966]}, - {"t":0.13152, "x":11.92205, "y":0.59993, "heading":-3.14158, "vx":-1.18477, "vy":-0.00109, "omega":0.00047, "ax":-7.18278, "ay":-0.00778, "alpha":0.27511, "fx":[-121.90513,-121.90719,-122.44898,-122.44698], "fy":[-1.34857,1.08196,1.06549,-1.32812]}, - {"t":0.17536, "x":11.86321, "y":0.59987, "heading":-3.14156, "vx":-1.49966, "vy":-0.00143, "omega":0.01253, "ax":-0.00011, "ay":-0.00164, "alpha":0.92463, "fx":[2.48016,2.48001,-2.48403,-2.48382], "fy":[-2.50984,2.45418,2.454,-2.51001]}, - {"t":0.2192, "x":11.79746, "y":0.59981, "heading":-3.14101, "vx":-1.49966, "vy":-0.00151, "omega":0.05306, "ax":0.0, "ay":-0.00227, "alpha":0.64797, "fx":[1.7404,1.73839,-1.74034,-1.73829], "fy":[-1.77701,1.7017,1.69966,-1.77904]}, - {"t":0.26304, "x":11.73172, "y":0.59974, "heading":-3.13868, "vx":-1.49966, "vy":-0.00161, "omega":0.08147, "ax":0.0, "ay":-0.00299, "alpha":0.38716, "fx":[1.04235,1.0363,-1.04224,-1.03618], "fy":[-1.08704,0.9915,0.98545,-1.09309]}, - {"t":0.30688, "x":11.66597, "y":0.59967, "heading":-3.13511, "vx":-1.49966, "vy":-0.00174, "omega":0.09844, "ax":0.0, "ay":-0.00376, "alpha":0.13585, "fx":[0.3671,0.36238,-0.36695,-0.36222], "fy":[-0.42624,0.30308,0.29835,-0.43097]}, - {"t":0.35072, "x":11.60023, "y":0.59959, "heading":-3.13079, "vx":-1.49966, "vy":-0.0019, "omega":0.1044, "ax":0.00001, "ay":-0.00461, "alpha":-0.11213, "fx":[-0.30411,-0.29761,0.30432,0.29782], "fy":[0.21935,-0.38258,-0.37608,0.22585]}, - {"t":0.39456, "x":11.53448, "y":0.5995, "heading":-3.12622, "vx":-1.49966, "vy":-0.0021, "omega":0.09948, "ax":0.00001, "ay":-0.00555, "alpha":-0.36286, "fx":[-0.98875,-0.95878,0.98901,0.95908], "fy":[0.86457,-1.08324,-1.05329,0.89452]}, - {"t":0.4384, "x":11.46874, "y":0.5994, "heading":-3.12186, "vx":-1.49966, "vy":-0.00235, "omega":0.08358, "ax":0.00001, "ay":-0.0066, "alpha":-0.62248, "fx":[-1.70343,-1.63743,1.70375,1.63785], "fy":[1.52537,-1.81585,-1.7499,1.59133]}, - {"t":0.48224, "x":11.40299, "y":0.59929, "heading":-3.11819, "vx":-1.49966, "vy":-0.00264, "omega":0.05629, "ax":0.00001, "ay":-0.00779, "alpha":-0.89735, "fx":[-2.46429,-2.35144,2.46465,2.35206], "fy":[2.21928,-2.59693,-2.48421,2.332]}, - {"t":0.52608, "x":11.33725, "y":0.59917, "heading":-3.11572, "vx":-1.49966, "vy":-0.00298, "omega":0.01695, "ax":0.00002, "ay":-0.00914, "alpha":-1.19412, "fx":[-3.28706,-3.12097,3.28745,3.1219], "fy":[2.96602,-3.44265,-3.27685,3.13185]}, - {"t":0.56992, "x":11.2715, "y":0.59903, "heading":-3.11498, "vx":-1.49966, "vy":-0.00338, "omega":-0.0354, "ax":0.00003, "ay":-0.01065, "alpha":-1.51996, "fx":[-4.18701,-3.96938,4.18737,3.97076], "fy":[3.78883,-4.36838,-4.15129,4.00598]}, - {"t":0.61376, "x":11.20576, "y":0.59887, "heading":-3.11653, "vx":-1.49966, "vy":-0.00384, "omega":-0.10204, "ax":0.00003, "ay":-0.01138, "alpha":-1.88261, "fx":[-5.17847,-4.92439,5.17869,4.92628], "fy":[4.73167,-5.37217,-5.11897,4.98495]}, - {"t":0.6576, "x":11.14001, "y":0.59869, "heading":-3.12101, "vx":-1.49966, "vy":-0.00434, "omega":-0.18457, "ax":-0.00007, "ay":0.0288, "alpha":-2.29052, "fx":[-6.27345,-6.02347,6.27418,6.01791], "fy":[6.51044,-5.78393,-5.53069,6.76344]}, - {"t":0.70144, "x":11.07427, "y":0.59853, "heading":-3.1291, "vx":-1.49966, "vy":-0.00308, "omega":-0.28499, "ax":0.04753, "ay":1.67021, "alpha":-2.57156, "fx":[-6.31457,-6.34697,8.16857,7.72664], "fy":[35.01038,21.66914,21.81941,35.1403]}, - {"t":0.74528, "x":11.00857, "y":0.6, "heading":3.14159, "vx":-1.49758, "vy":0.07014, "omega":-0.39773, "ax":0.20614, "ay":2.79858, "alpha":-1.49967, "fx":[-0.88966,-0.91916,8.04555,7.7891], "fy":[51.30203,44.01784,43.90759,51.18479]}, - {"t":0.77756, "x":10.96033, "y":0.60372, "heading":3.12875, "vx":-1.49092, "vy":0.16048, "omega":-0.44614, "ax":0.01974, "ay":0.18014, "alpha":-1.62663, "fx":[-3.97127,-4.09261,4.65286,4.75432], "fy":[7.48522,-1.24423,-1.35624,7.37155]}, - {"t":0.80984, "x":10.91222, "y":0.609, "heading":3.11435, "vx":-1.49029, "vy":0.1663, "omega":-0.49865, "ax":0.00118, "ay":0.01052, "alpha":-1.45771, "fx":[-3.78472,-3.99835,3.82517,4.03786], "fy":[4.19704,-3.62601,-3.83915,3.98385]}, - {"t":0.84212, "x":10.86411, "y":0.61437, "heading":3.09825, "vx":-1.49025, "vy":0.16664, "omega":-0.5457, "ax":0.00007, "ay":0.00061, "alpha":-1.307, "fx":[-3.35193,-3.65595,3.35429,3.65827], "fy":[3.66755,-3.34267,-3.64667,3.36355]}, - {"t":0.8744, "x":10.816, "y":0.61975, "heading":3.08064, "vx":-1.49025, "vy":0.16666, "omega":-0.58789, "ax":0.0, "ay":0.00004, "alpha":-1.17383, "fx":[-2.95308,-3.33696,2.95321,3.3371], "fy":[3.33764,-2.95253,-3.33642,2.95375]}, - {"t":0.90668, "x":10.76789, "y":0.62513, "heading":3.06166, "vx":-1.49025, "vy":0.16666, "omega":-0.62579, "ax":0.0, "ay":0.0, "alpha":-1.05647, "fx":[-2.60042,-3.0533,2.60043,3.05331], "fy":[3.05334,-2.60039,-3.05327,2.60046]}, - {"t":0.93897, "x":10.71979, "y":0.63051, "heading":3.04146, "vx":-1.49025, "vy":0.16666, "omega":-0.65989, "ax":0.0, "ay":0.0, "alpha":-0.95339, "fx":[-2.29055,-2.80222,2.29055,2.80222], "fy":[2.80222,-2.29055,-2.80222,2.29056]}, - {"t":0.97125, "x":10.67168, "y":0.63589, "heading":3.02016, "vx":-1.49025, "vy":0.16666, "omega":-0.69067, "ax":0.0, "ay":0.0, "alpha":-0.86321, "fx":[-2.01939,-2.58077,2.01939,2.58077], "fy":[2.58077,-2.01939,-2.58077,2.01939]}, - {"t":1.00353, "x":10.62357, "y":0.64127, "heading":2.99786, "vx":-1.49025, "vy":0.16666, "omega":-0.71853, "ax":0.0, "ay":0.0, "alpha":-0.78475, "fx":[-1.78307,-2.38653,1.78307,2.38653], "fy":[2.38653,-1.78307,-2.38653,1.78307]}, - {"t":1.03581, "x":10.57547, "y":0.64665, "heading":2.97467, "vx":-1.49025, "vy":0.16666, "omega":-0.74387, "ax":0.0, "ay":0.0, "alpha":-0.71695, "fx":[-1.57801,-2.21754,1.57801,2.21754], "fy":[2.21754,-1.57801,-2.21754,1.57801]}, - {"t":1.06809, "x":10.52736, "y":0.65203, "heading":2.95065, "vx":-1.49025, "vy":0.16666, "omega":-0.76701, "ax":0.0, "ay":0.0, "alpha":-0.65891, "fx":[-1.40091,-2.07225,1.40091,2.07225], "fy":[2.07225,-1.40091,-2.07225,1.40091]}, - {"t":1.10037, "x":10.47925, "y":0.65741, "heading":2.92589, "vx":-1.49025, "vy":0.16666, "omega":-0.78828, "ax":0.0, "ay":0.0, "alpha":-0.60985, "fx":[-1.24873,-1.94948,1.24873,1.94948], "fy":[1.94949,-1.24873,-1.94948,1.24873]}, - {"t":1.13265, "x":10.43114, "y":0.66279, "heading":2.90045, "vx":-1.49025, "vy":0.16666, "omega":-0.80797, "ax":0.0, "ay":0.0, "alpha":-0.56912, "fx":[-1.11866,-1.84834,1.11866,1.84834], "fy":[1.84834,-1.11866,-1.84834,1.11866]}, - {"t":1.16493, "x":10.38304, "y":0.66817, "heading":2.87436, "vx":-1.49025, "vy":0.16666, "omega":-0.82634, "ax":0.0, "ay":0.0, "alpha":-0.53617, "fx":[-1.00811,-1.7682,1.00811,1.7682], "fy":[1.7682,-1.00811,-1.7682,1.00811]}, - {"t":1.19722, "x":10.33493, "y":0.67355, "heading":2.84769, "vx":-1.49025, "vy":0.16666, "omega":-0.84365, "ax":0.0, "ay":0.0, "alpha":-0.51054, "fx":[-0.91469,-1.70871,0.91469,1.70871], "fy":[1.70871,-0.91469,-1.70871,0.91469]}, - {"t":1.2295, "x":10.28682, "y":0.67893, "heading":2.82046, "vx":-1.49025, "vy":0.16666, "omega":-0.86013, "ax":0.0, "ay":0.0, "alpha":-0.49192, "fx":[-0.83616,-1.66975,0.83616,1.66975], "fy":[1.66975,-0.83616,-1.66975,0.83616]}, - {"t":1.26178, "x":10.23872, "y":0.68431, "heading":2.79269, "vx":-1.49025, "vy":0.16666, "omega":-0.87601, "ax":0.0, "ay":0.0, "alpha":-0.48003, "fx":[-0.7704,-1.65143,0.7704,1.65143], "fy":[1.65143,-0.7704,-1.65143,0.7704]}, - {"t":1.29406, "x":10.19061, "y":0.68969, "heading":2.76441, "vx":-1.49025, "vy":0.16666, "omega":-0.8915, "ax":0.0, "ay":0.0, "alpha":-0.47473, "fx":[-0.71541,-1.65408,0.71541,1.65408], "fy":[1.65408,-0.71541,-1.65408,0.71541]}, - {"t":1.32634, "x":10.1425, "y":0.69507, "heading":2.73563, "vx":-1.49025, "vy":0.16666, "omega":-0.90683, "ax":0.0, "ay":0.0, "alpha":-0.47594, "fx":[-0.66923,-1.67827,0.66923,1.67827], "fy":[1.67827,-0.66923,-1.67827,0.66923]}, - {"t":1.35862, "x":10.0944, "y":0.70045, "heading":2.70636, "vx":-1.49025, "vy":0.16666, "omega":-0.92219, "ax":0.0, "ay":0.0, "alpha":-0.4837, "fx":[-0.62992,-1.7248,0.62992,1.7248], "fy":[1.7248,-0.62992,-1.7248,0.62992]}, - {"t":1.3909, "x":10.04629, "y":0.70583, "heading":2.67659, "vx":-1.49025, "vy":0.16666, "omega":-0.93781, "ax":0.0, "ay":0.0, "alpha":-0.49811, "fx":[-0.59553,-1.7947,0.59553,1.7947], "fy":[1.7947,-0.59553,-1.7947,0.59553]}, - {"t":1.42318, "x":9.99818, "y":0.71121, "heading":2.64631, "vx":-1.49025, "vy":0.16666, "omega":-0.95389, "ax":0.0, "ay":0.0, "alpha":-0.51937, "fx":[-0.56403,-1.88926,0.56403,1.88926], "fy":[1.88926,-0.56403,-1.88926,0.56403]}, - {"t":1.45547, "x":9.95007, "y":0.71659, "heading":2.61552, "vx":-1.49025, "vy":0.16666, "omega":-0.97065, "ax":0.0, "ay":0.0, "alpha":-0.54779, "fx":[-0.53326,-2.01,0.53326,2.01], "fy":[2.01,-0.53326,-2.01,0.53326]}, - {"t":1.48775, "x":9.90197, "y":0.72197, "heading":2.58419, "vx":-1.49025, "vy":0.16666, "omega":-0.98834, "ax":0.0, "ay":0.0, "alpha":-0.58376, "fx":[-0.50089,-2.15874,0.50089,2.15874], "fy":[2.15874,-0.50089,-2.15874,0.50089]}, - {"t":1.52003, "x":9.85386, "y":0.72735, "heading":2.55228, "vx":-1.49025, "vy":0.16666, "omega":-1.00718, "ax":0.0, "ay":0.0, "alpha":-0.62779, "fx":[-0.46433,-2.33755,0.46433,2.33755], "fy":[2.33755,-0.46433,-2.33754,0.46434]}, - {"t":1.55231, "x":9.80575, "y":0.73273, "heading":2.51977, "vx":-1.49025, "vy":0.16666, "omega":-1.02745, "ax":0.0, "ay":0.00001, "alpha":-0.68048, "fx":[-0.42066,-2.54876,0.42069,2.54878], "fy":[2.54887,-0.42057,-2.54867,0.42078]}, - {"t":1.58459, "x":9.75765, "y":0.73811, "heading":2.4866, "vx":-1.49025, "vy":0.16666, "omega":-1.04941, "ax":0.00001, "ay":0.0001, "alpha":-0.74258, "fx":[-0.36638,-2.79486,0.36677,2.79525], "fy":[2.79679,-0.36484,-2.79332,0.36832]}, - {"t":1.61687, "x":9.70954, "y":0.74349, "heading":2.45273, "vx":-1.49025, "vy":0.16666, "omega":-1.07339, "ax":0.0002, "ay":0.00175, "alpha":-0.81495, "fx":[-0.29484,-3.07599,0.30152,3.08265], "fy":[3.10912,-0.26836,-3.04952,0.328]}, - {"t":1.64915, "x":9.66143, "y":0.74887, "heading":2.41808, "vx":-1.49024, "vy":0.16672, "omega":-1.09969, "ax":0.00337, "ay":0.03008, "alpha":-0.89858, "fx":[-0.1535,-3.34738,0.26843,3.46207], "fy":[3.916,0.3009,-2.8933,0.72279]}, - {"t":1.68143, "x":9.61333, "y":0.75427, "heading":2.38258, "vx":-1.49013, "vy":0.16769, "omega":-1.1287, "ax":0.06076, "ay":0.51404, "alpha":-0.9882, "fx":[0.93227,-2.72937,1.13657,4.7946], "fy":[12.47672,8.65302,5.00032,8.84455]}, - {"t":1.71372, "x":9.56526, "y":0.75995, "heading":2.34614, "vx":-1.48817, "vy":0.18428, "omega":-1.1606, "ax":1.00912, "ay":5.45293, "alpha":-0.49941, "fx":[16.9409,14.59214,17.40169,19.72476], "fy":[93.97574,93.0233,91.52534,92.48664]}, - {"t":1.746, "x":9.51774, "y":0.76874, "heading":2.30867, "vx":-1.45559, "vy":0.36031, "omega":-1.17672, "ax":2.86288, "ay":8.14789, "alpha":-0.05403, "fx":[48.59645,48.33963,48.79766,49.05319], "fy":[138.64643,138.71335,138.54046,138.47318]}, - {"t":1.77828, "x":9.47224, "y":0.78462, "heading":2.27069, "vx":-1.36318, "vy":0.62334, "omega":-1.17847, "ax":4.20698, "ay":7.53803, "alpha":-0.04028, "fx":[71.46052,71.32366,71.65904,71.79501], "fy":[128.28874,128.34514,128.15066,128.09438]}, - {"t":1.80683, "x":9.43504, "y":0.80549, "heading":2.23704, "vx":-1.24306, "vy":0.83856, "omega":-1.17962, "ax":4.1385, "ay":5.35576, "alpha":-0.203, "fx":[70.08642,69.4678,70.7098,71.31483], "fy":[91.70456,91.59688,90.49094,90.60715]}, - {"t":1.83538, "x":9.40123, "y":0.83161, "heading":2.20336, "vx":-1.12489, "vy":0.99148, "omega":-1.18541, "ax":0.82713, "ay":0.91654, "alpha":-0.52832, "fx":[14.33984,12.07594,13.80178,16.05933], "fy":[17.55953,15.93488,13.614,15.25161]}, - {"t":1.86394, "x":9.36945, "y":0.86029, "heading":2.16951, "vx":-1.10128, "vy":1.01765, "omega":-1.2005, "ax":0.0686, "ay":0.0741, "alpha":-0.3783, "fx":[1.43331,-0.24438,0.90057,2.57804], "fy":[2.67133,1.52721,-0.15091,0.99377]}, - {"t":1.89249, "x":9.33803, "y":0.88938, "heading":2.13524, "vx":-1.09932, "vy":1.01977, "omega":-1.2113, "ax":0.00551, "ay":0.00594, "alpha":-0.21244, "fx":[0.27052,-0.6931,-0.08298,0.88063], "fy":[0.88793,0.27782,-0.6858,-0.07568]}, - {"t":1.92104, "x":9.30665, "y":0.9185, "heading":2.10065, "vx":-1.09916, "vy":1.01994, "omega":-1.21737, "ax":0.00044, "ay":0.00048, "alpha":-0.0488, "fx":[0.05435,-0.1717,-0.0393,0.18675], "fy":[0.18733,0.05493,-0.17111,-0.03871]}, - {"t":1.94959, "x":9.27527, "y":0.94762, "heading":2.06589, "vx":-1.09915, "vy":1.01995, "omega":-1.21876, "ax":0.00004, "ay":0.00004, "alpha":0.11432, "fx":[-0.12362,0.41642,0.12483,-0.41521], "fy":[-0.41516,-0.12357,0.41647,0.12487]}, - {"t":1.97815, "x":9.24388, "y":0.97674, "heading":2.03109, "vx":-1.09915, "vy":1.01995, "omega":-1.21549, "ax":0.0, "ay":0.0, "alpha":0.27867, "fx":[-0.33784,1.00251,0.33794,-1.00241], "fy":[-1.00241,-0.33784,1.00251,0.33794]}, - {"t":2.0067, "x":9.2125, "y":1.00587, "heading":1.99639, "vx":-1.09915, "vy":1.01995, "omega":-1.20754, "ax":0.0, "ay":0.0, "alpha":0.44603, "fx":[-0.59617,1.5848,0.59618,-1.58479], "fy":[-1.58479,-0.59617,1.5848,0.59618]}, - {"t":2.03525, "x":9.18112, "y":1.03499, "heading":1.96191, "vx":-1.09915, "vy":1.01995, "omega":-1.1948, "ax":0.0, "ay":0.0, "alpha":0.61822, "fx":[-0.90155,2.16682,0.90155,-2.16682], "fy":[-2.16682,-0.90155,2.16682,0.90155]}, - {"t":2.0638, "x":9.14973, "y":1.06411, "heading":1.9278, "vx":-1.09915, "vy":1.01995, "omega":-1.17715, "ax":0.0, "ay":0.0, "alpha":0.79709, "fx":[-1.257,2.75246,1.257,-2.75246], "fy":[-2.75246,-1.257,2.75246,1.257]}, - {"t":2.09235, "x":9.11835, "y":1.09323, "heading":1.89419, "vx":-1.09915, "vy":1.01995, "omega":-1.15439, "ax":0.0, "ay":0.0, "alpha":0.98454, "fx":[-1.66598,3.34566,1.66598,-3.34566], "fy":[-3.34566,-1.66598,3.34566,1.66598]}, - {"t":2.12091, "x":9.08697, "y":1.12235, "heading":1.86122, "vx":-1.09915, "vy":1.01995, "omega":-1.12628, "ax":0.0, "ay":0.0, "alpha":1.18256, "fx":[-2.13241,3.95045,2.13241,-3.95045], "fy":[-3.95045,-2.13241,3.95045,2.13241]}, - {"t":2.14946, "x":9.05558, "y":1.15148, "heading":1.82907, "vx":-1.09915, "vy":1.01995, "omega":-1.09252, "ax":0.0, "ay":0.0, "alpha":1.39322, "fx":[-2.66062,4.571,2.66062,-4.571], "fy":[-4.571,-2.66062,4.571,2.66062]}, - {"t":2.17801, "x":9.0242, "y":1.1806, "heading":1.79787, "vx":-1.09915, "vy":1.01995, "omega":-1.05274, "ax":0.0, "ay":0.0, "alpha":1.6187, "fx":[-3.25532,5.2118,3.25537,-5.21175], "fy":[-5.21175,-3.25532,5.2118,3.25537]}, - {"t":2.20656, "x":8.99282, "y":1.20972, "heading":1.76781, "vx":-1.09915, "vy":1.01995, "omega":-1.00652, "ax":0.00002, "ay":0.00002, "alpha":1.86128, "fx":[-3.9213,5.87793,3.92193,-5.87731], "fy":[-5.87729,-3.92128,5.87796,3.92195]}, - {"t":2.23512, "x":8.96143, "y":1.23884, "heading":1.73908, "vx":-1.09914, "vy":1.01995, "omega":-0.95338, "ax":0.00023, "ay":0.00025, "alpha":2.12338, "fx":[-4.66082,6.57785,4.66854,-6.5701], "fy":[-6.56982,-4.66049,6.57813,4.66886]}, - {"t":2.26367, "x":8.93005, "y":1.26797, "heading":1.71185, "vx":-1.09914, "vy":1.01996, "omega":-0.89275, "ax":0.00282, "ay":0.00304, "alpha":2.40755, "fx":[-5.44207,7.3551,5.53765,-7.25901], "fy":[-7.25563,-5.43802,7.35847,5.54172]}, - {"t":2.29222, "x":8.89867, "y":1.29709, "heading":1.68636, "vx":-1.09906, "vy":1.02005, "omega":-0.82401, "ax":0.03485, "ay":0.03751, "alpha":2.71631, "fx":[-5.81121,8.6788,6.99238,-7.48888], "fy":[-7.4486,-5.76096,8.71819,7.0436]}, - {"t":2.32077, "x":8.8673, "y":1.32623, "heading":1.66284, "vx":-1.09806, "vy":1.02112, "omega":-0.74645, "ax":0.43094, "ay":0.45786, "alpha":3.02371, "fx":[-0.0008,16.23043,14.59164,-1.50085], "fy":[-1.05047,0.45945,16.53131,15.212]}, - {"t":2.34933, "x":8.83612, "y":1.35557, "heading":1.64152, "vx":-1.08576, "vy":1.03419, "omega":-0.66012, "ax":3.77871, "ay":3.59151, "alpha":1.71371, "fx":[61.72787,70.51354,66.83949,58.01794], "fy":[57.46111,55.16943,64.62506,67.10667]}, - {"t":2.37788, "x":8.80666, "y":1.38656, "heading":1.62268, "vx":-0.97787, "vy":1.13674, "omega":-0.61118, "ax":6.84154, "ay":4.98386, "alpha":0.24632, "fx":[116.50242,117.39836,116.25414,115.33579], "fy":[84.41522,83.39895,85.13115,86.15113]}, - {"t":2.40643, "x":8.78153, "y":1.42105, "heading":1.60523, "vx":-0.78253, "vy":1.27904, "omega":-0.60415, "ax":7.90705, "ay":3.96116, "alpha":0.08665, "fx":[134.58692,134.77064,134.4081,134.22103], "fy":[67.17155,66.84051,67.58376,67.91708]}, - {"t":2.43498, "x":8.76241, "y":1.45919, "heading":1.58798, "vx":-0.55676, "vy":1.39214, "omega":-0.60168, "ax":8.54775, "ay":2.61329, "alpha":0.04558, "fx":[145.44069,145.48379,145.34924,145.30539], "fy":[44.29137,44.16541,44.61068,44.73776]}, - {"t":2.46354, "x":8.75, "y":1.5, "heading":1.5708, "vx":-0.3127, "vy":1.46675, "omega":-0.60038, "ax":3.72193, "ay":8.18075, "alpha":0.02615, "fx":[63.24547,63.47742,63.37238,63.14066], "fy":[139.18027,139.07519,139.1243,139.22907]}, - {"t":2.50523, "x":8.7402, "y":1.56826, "heading":1.54576, "vx":-0.15752, "vy":1.80784, "omega":-0.59929, "ax":7.40097, "ay":4.45989, "alpha":0.22852, "fx":[126.01842,126.7344,125.7685,125.03196], "fy":[75.5155,74.48071,76.20473,77.24486]}, - {"t":2.54692, "x":8.74006, "y":1.64751, "heading":1.52078, "vx":0.15105, "vy":1.99378, "omega":-0.58976, "ax":-2.80413, "ay":0.13073, "alpha":3.62402, "fx":[-56.97327,-39.47625,-38.37862,-55.96148], "fy":[-7.57369,-9.30247,12.85931,12.91176]}, - {"t":2.58862, "x":8.74392, "y":1.73076, "heading":1.49619, "vx":0.03413, "vy":1.99923, "omega":-0.43866, "ax":-0.29648, "ay":0.00415, "alpha":3.70443, "fx":[-15.68356,4.1159,5.60875,-14.21347], "fy":[-9.07289,-10.64012,9.29786,10.69725]}, - {"t":2.63031, "x":8.74509, "y":1.81411, "heading":1.4779, "vx":0.02177, "vy":1.99941, "omega":-0.28421, "ax":-0.1165, "ay":0.00113, "alpha":3.12423, "fx":[-11.10636,5.58728,7.14712,-9.5548], "fy":[-7.54283,-9.12222,7.60446,9.13727]}, - {"t":2.672, "x":8.74589, "y":1.89748, "heading":1.46605, "vx":0.01692, "vy":1.99945, "omega":-0.15395, "ax":-0.08522, "ay":0.00065, "alpha":2.61534, "fx":[-9.16366,4.79653,6.26689,-7.69816], "fy":[-6.23158,-7.7116,6.2654,7.72167]}, - {"t":2.71369, "x":8.74653, "y":1.98084, "heading":1.45963, "vx":0.01336, "vy":1.99948, "omega":-0.04491, "ax":-0.06882, "ay":0.00041, "alpha":2.17245, "fx":[-7.612,3.97701,5.27225,-6.31965], "fy":[-5.13866,-6.43919,5.15922,6.44655]}, - {"t":2.75539, "x":8.74702, "y":2.0642, "heading":1.45776, "vx":0.01049, "vy":1.9995, "omega":0.04566, "ax":-0.05755, "ay":0.00027, "alpha":1.78483, "fx":[-6.27918,3.24057,4.32221,-5.19922], "fy":[-4.21383,-5.29843,4.22665,5.30381]}, - {"t":2.79708, "x":8.74741, "y":2.14757, "heading":1.45966, "vx":0.00809, "vy":1.99951, "omega":0.12008, "ax":-0.04949, "ay":0.00017, "alpha":1.4434, "fx":[-5.1218,2.57882,3.43868,-4.26287], "fy":[-3.41703,-4.27857,3.42507,4.28242]}, - {"t":2.83877, "x":8.74771, "y":2.23094, "heading":1.46467, "vx":0.00603, "vy":1.99952, "omega":0.18026, "ax":-0.04377, "ay":0.00011, "alpha":1.13936, "fx":[-4.10946,1.97257,2.62075,-3.46177], "fy":[-2.71482,-3.36394,2.71978,3.36659]}, - {"t":2.88047, "x":8.74792, "y":2.3143, "heading":1.47219, "vx":0.00421, "vy":1.99952, "omega":0.22776, "ax":-0.0399, "ay":0.00007, "alpha":0.86511, "fx":[-3.21817,1.40354,1.86092,-2.76104], "fy":[-2.08092,-2.5388,2.08382,2.54048]}, - {"t":2.92216, "x":8.74806, "y":2.39767, "heading":1.48168, "vx":0.00254, "vy":1.99952, "omega":0.26383, "ax":-0.03761, "ay":0.00003, "alpha":0.61357, "fx":[-2.42666,0.85419,1.1474,-2.13356], "fy":[-1.49322,-1.78668,1.49463,1.78751]}, - {"t":2.96385, "x":8.74813, "y":2.48103, "heading":1.49268, "vx":0.00097, "vy":1.99952, "omega":0.28941, "ax":-0.03673, "ay":0.0, "alpha":0.37808, "fx":[-1.7158,0.30773,0.46614,-1.55742], "fy":[-0.93249,-1.09099,0.93272,1.09101]}, - {"t":3.00555, "x":8.74814, "y":2.5644, "heading":1.50475, "vx":-0.00056, "vy":1.99952, "omega":0.30518, "ax":-0.03723, "ay":-0.00002, "alpha":0.15266, "fx":[-1.06924,-0.25147,-0.19737,-1.01515], "fy":[-0.38227,-0.43638,0.38144,0.43552]}, - {"t":3.04724, "x":8.74809, "y":2.64777, "heading":1.51747, "vx":-0.00211, "vy":1.99952, "omega":0.31154, "ax":-0.03913, "ay":-0.00006, "alpha":-0.06887, "fx":[-0.47112,-0.84035,-0.86006,-0.49083], "fy":[0.17379,0.1935,-0.17574,-0.19545]}, - {"t":3.08893, "x":8.74796, "y":2.73113, "heading":1.53046, "vx":-0.00374, "vy":1.99952, "omega":0.30867, "ax":-0.04255, "ay":-0.0001, "alpha":-0.29207, "fx":[0.09121,-1.47549,-1.53871,0.02797], "fy":[0.75012,0.81328,-0.7534,-0.81671]}, - {"t":3.13063, "x":8.74777, "y":2.8145, "heading":1.54333, "vx":-0.00552, "vy":1.99952, "omega":0.29649, "ax":-0.04773, "ay":-0.00016, "alpha":-0.5231, "fx":[0.63031,-2.17693,-2.25404,0.55317], "fy":[1.36262,1.43948,-1.36763,-1.44503]}, - {"t":3.17232, "x":8.7475, "y":2.89787, "heading":1.55569, "vx":-0.00751, "vy":1.99951, "omega":0.27468, "ax":-0.05509, "ay":-0.00024, "alpha":-0.76775, "fx":[1.15465,-2.96652,-3.02875,1.09237], "fy":[2.02588,2.08747,-2.03331,-2.09625]}, - {"t":3.21401, "x":8.74714, "y":2.98123, "heading":1.56714, "vx":-0.0098, "vy":1.9995, "omega":0.24267, "ax":-0.06536, "ay":-0.00036, "alpha":-1.03266, "fx":[1.67024,-3.87343,-3.89366,1.64998], "fy":[2.75651,2.77531,-2.76747,-2.78917]}, - {"t":3.25571, "x":8.74667, "y":3.0646, "heading":1.57726, "vx":-0.01253, "vy":1.99949, "omega":0.19962, "ax":-0.07988, "ay":-0.00057, "alpha":-1.32443, "fx":[2.17308,-4.93658,-4.89062,2.21908], "fy":[3.5702,3.52132,-3.58657,-3.54351]}, - {"t":3.2974, "x":8.74608, "y":3.14796, "heading":1.58559, "vx":-0.01586, "vy":1.99946, "omega":0.1444, "ax":-0.10156, "ay":-0.00091, "alpha":-1.65067, "fx":[2.63686,-6.22281,-6.09188,2.76803], "fy":[4.48389,4.34709,-4.50919,-4.3839]}, - {"t":3.33909, "x":8.74533, "y":3.23132, "heading":1.59161, "vx":-0.02009, "vy":1.99942, "omega":0.07558, "ax":-0.14002, "ay":-0.00161, "alpha":-2.01924, "fx":[2.92313,-7.91215,-7.68694,3.14906], "fy":[5.51174,5.27431,-5.55468,-5.34099]}, - {"t":3.38078, "x":8.74437, "y":3.31469, "heading":1.59476, "vx":-0.02593, "vy":1.99936, "omega":-0.00861, "ax":-0.27324, "ay":-0.00432, "alpha":-2.43678, "fx":[1.72814,-11.33718,-11.02475,2.04274], "fy":[6.64527,6.29818,-6.75854,-6.47897]}, - {"t":3.42248, "x":8.74305, "y":3.39804, "heading":1.5944, "vx":-0.03732, "vy":1.99918, "omega":-0.11021, "ax":-1.60244, "ay":-0.05789, "alpha":-2.74616, "fx":[-20.30789,-34.57661,-34.20981,-19.93378], "fy":[6.91051,6.3258,-8.62067,-8.5545]}, - {"t":3.46417, "x":8.74011, "y":3.48134, "heading":1.5898, "vx":-0.10413, "vy":1.99676, "omega":-0.2247, "ax":4.8863, "ay":-7.1197, "alpha":-0.15516, "fx":[84.02026,82.89911,82.20976,83.32943], "fy":[-120.46828,-121.19477,-121.7353,-121.01821]}, - {"t":3.50586, "x":8.74001, "y":3.55841, "heading":1.58043, "vx":0.09959, "vy":1.69992, "omega":-0.23117, "ax":6.71602, "ay":-5.98984, "alpha":-0.01247, "fx":[114.30033,114.24034,114.17477,114.23481], "fy":[-101.81513,-101.88198,-101.95587,-101.88905]}, - {"t":3.54756, "x":8.75, "y":3.62407, "heading":1.5708, "vx":0.3796, "vy":1.45018, "omega":-0.23169, "ax":8.46982, "ay":-3.03366, "alpha":-0.00947, "fx":[144.09113,144.07932,144.04723,144.05907], "fy":[-51.54071,-51.57276,-51.66268,-51.63058]}, - {"t":3.57578, "x":8.76409, "y":3.66379, "heading":1.56426, "vx":0.61863, "vy":1.36457, "omega":-0.23196, "ax":7.85161, "ay":-4.36539, "alpha":-0.01408, "fx":[133.60337,133.56776,133.50388,133.53959], "fy":[-74.16484,-74.22766,-74.34319,-74.28034]}, - {"t":3.604, "x":8.78467, "y":3.70056, "heading":1.55771, "vx":0.84021, "vy":1.24138, "omega":-0.23236, "ax":6.97511, "ay":-5.62139, "alpha":-0.02304, "fx":[118.75277,118.65663,118.53622,118.63256], "fy":[-95.48418,-95.60128,-95.75238,-95.63533]}, - {"t":3.63222, "x":8.81116, "y":3.73336, "heading":1.55115, "vx":1.03705, "vy":1.08274, "omega":-0.23301, "ax":5.89296, "ay":-6.67072, "alpha":-0.04386, "fx":[100.48323,100.22424,99.99174,100.2511], "fy":[-113.24961,-113.47297,-113.68431,-113.46154]}, - {"t":3.66044, "x":8.84277, "y":3.76126, "heading":1.54458, "vx":1.20335, "vy":0.89449, "omega":-0.23424, "ax":4.61337, "ay":-7.40321, "alpha":-0.11009, "fx":[79.14133,78.31992,77.80321,78.6237], "fy":[-125.50172,-125.99034,-126.34866,-125.86489]}, - {"t":3.68866, "x":8.87857, "y":3.78355, "heading":1.53797, "vx":1.33354, "vy":0.68556, "omega":-0.23735, "ax":3.01357, "ay":-7.07849, "alpha":-0.52472, "fx":[54.17726,49.9549,48.38019,52.52737], "fy":[-118.94714,-120.41271,-121.8222,-120.43022]}, - {"t":3.71688, "x":8.9174, "y":3.80008, "heading":1.53127, "vx":1.41859, "vy":0.4858, "omega":-0.25216, "ax":0.69605, "ay":-2.18497, "alpha":-2.98346, "fx":[21.07817,3.85341,2.9987,19.42813], "fy":[-29.63276,-29.51629,-44.80496,-44.70878]}, - {"t":3.7451, "x":8.95771, "y":3.81292, "heading":1.52415, "vx":1.43823, "vy":0.42414, "omega":-0.33635, "ax":0.05749, "ay":-0.19631, "alpha":-3.51847, "fx":[10.88379,-8.04198,-8.87919,9.94867], "fy":[5.64388,6.53852,-12.34179,-13.19765]}, - {"t":3.77332, "x":8.99832, "y":3.82481, "heading":1.51466, "vx":1.43985, "vy":0.4186, "omega":-0.43565, "ax":0.00478, "ay":-0.01646, "alpha":-3.68702, "fx":[10.52046,-9.24719,-10.35329,9.40541], "fy":[9.04538,10.15774,-9.60718,-10.71581]}, - {"t":3.80154, "x":9.03896, "y":3.83662, "heading":1.50237, "vx":1.43999, "vy":0.41814, "omega":-0.5397, "ax":0.0004, "ay":-0.00138, "alpha":-3.88861, "fx":[11.13458,-9.69353,-11.12054,9.70675], "fy":[9.67657,11.10418,-9.72371,-11.15094]}, - {"t":3.82976, "x":9.0796, "y":3.84842, "heading":1.48714, "vx":1.44, "vy":0.4181, "omega":-0.64944, "ax":0.00003, "ay":-0.00012, "alpha":-4.12876, "fx":[11.97087,-10.11752,-11.96968,10.11863], "fy":[10.11609,11.96831,-10.12006,-11.97224]}, - {"t":3.85798, "x":9.12023, "y":3.86022, "heading":1.46881, "vx":1.44, "vy":0.4181, "omega":-0.76595, "ax":0.0, "ay":-0.00001, "alpha":-4.40942, "fx":[12.97991,-10.56972,-12.97981,10.56981], "fy":[10.5696,12.97969,-10.56993,-12.98002]}, - {"t":3.8862, "x":9.16087, "y":3.87201, "heading":1.44719, "vx":1.44, "vy":0.4181, "omega":-0.89039, "ax":0.0, "ay":0.0, "alpha":-4.73315, "fx":[14.17479,-11.04198,-14.17478,11.04199], "fy":[11.04197,14.17477,-11.042,-14.1748]}, - {"t":3.91443, "x":9.20151, "y":3.88381, "heading":1.42207, "vx":1.44, "vy":0.4181, "omega":-1.02396, "ax":0.0, "ay":0.0, "alpha":-5.10255, "fx":[15.57532,-11.51607,-15.57532,11.51607], "fy":[11.51607,15.57532,-11.51607,-15.57533]}, - {"t":3.94265, "x":9.24215, "y":3.89561, "heading":1.39317, "vx":1.44, "vy":0.4181, "omega":-1.16796, "ax":0.0, "ay":0.0, "alpha":-5.52064, "fx":[17.20448,-11.96756,-17.20448,11.96757], "fy":[11.96756,17.20447,-11.96757,-17.20448]}, - {"t":3.97087, "x":9.28278, "y":3.90741, "heading":1.36021, "vx":1.44, "vy":0.4181, "omega":-1.32376, "ax":0.0, "ay":0.0, "alpha":-5.99067, "fx":[19.08709,-12.36418,-19.08708,12.36419], "fy":[12.36416,19.08706,-12.36422,-19.08711]}, - {"t":3.99909, "x":9.32342, "y":3.91921, "heading":1.32285, "vx":1.44, "vy":0.4181, "omega":-1.49282, "ax":0.00001, "ay":-0.00002, "alpha":-6.51597, "fx":[21.24866,-12.6635,-21.24846,12.66367], "fy":[12.66327,21.24825,-12.66391,-21.24887]}, - {"t":4.02731, "x":9.36406, "y":3.93101, "heading":1.28072, "vx":1.44, "vy":0.4181, "omega":-1.6767, "ax":0.00006, "ay":-0.00021, "alpha":-7.10028, "fx":[23.71573,-12.81082,-23.7135,12.81275], "fy":[12.80812,23.71113,-12.81545,-23.7181]}, - {"t":4.05553, "x":9.4047, "y":3.94281, "heading":1.23341, "vx":1.44, "vy":0.41809, "omega":-1.87708, "ax":0.00069, "ay":-0.00238, "alpha":-7.74709, "fx":[26.51985,-12.72849,-26.49454,12.75025], "fy":[12.69757,26.46792,-12.78118,-26.54646]}, - {"t":4.08375, "x":9.44534, "y":3.95461, "heading":1.18043, "vx":1.44002, "vy":0.41802, "omega":-2.0957, "ax":0.00775, "ay":-0.02671, "alpha":-8.46011, "fx":[29.78492,-12.23795,-29.50126,12.48135], "fy":[11.88727,29.20628,-12.83216,-30.07883]}, - {"t":4.11197, "x":9.48598, "y":3.96639, "heading":1.12129, "vx":1.44024, "vy":0.41727, "omega":-2.33445, "ax":0.08455, "ay":-0.29504, "alpha":-9.2229, "fx":[34.63119,-10.19916,-31.54738,12.86826], "fy":[6.27853,28.25293,-16.81571,-37.79023]}, - {"t":4.14019, "x":9.52665, "y":3.97805, "heading":1.05541, "vx":1.44263, "vy":0.40894, "omega":-2.59473, "ax":0.74705, "ay":-2.9568, "alpha":-8.10519, "fx":[45.92905,4.72501,-19.59626,19.77033], "fy":[-42.78196,-22.35983,-60.59109,-75.44428]}, - {"t":4.16841, "x":9.56766, "y":3.98841, "heading":0.98219, "vx":1.46371, "vy":0.3255, "omega":-2.82346, "ax":1.11969, "ay":-7.93728, "alpha":-1.38842, "fx":[28.37794,18.34183,9.74799,19.71494], "fy":[-133.52071,-134.09959,-136.27915,-136.14378]}, - {"t":4.19663, "x":9.60942, "y":3.99444, "heading":0.90251, "vx":1.49531, "vy":0.1015, "omega":-2.86265, "ax":0.10633, "ay":-8.05209, "alpha":-0.91215, "fx":[8.01842,1.1276,-4.35054,2.43935], "fy":[-136.76104,-136.3174,-137.07253,-137.70377]}, - {"t":4.2181, "x":9.64155, "y":3.99476, "heading":0.84104, "vx":1.49759, "vy":-0.07139, "omega":-2.88223, "ax":-0.46145, "ay":-5.35092, "alpha":-3.32506, "fx":[9.29892,-9.81767,-24.5429,-6.33462], "fy":[-91.41008,-82.63869,-90.81738,-99.2046]}, - {"t":4.23958, "x":9.6736, "y":3.992, "heading":0.77915, "vx":1.48768, "vy":-0.18628, "omega":-2.95363, "ax":-0.17614, "ay":-1.30684, "alpha":-5.76442, "fx":[19.3725,-3.04409,-25.24252,-3.07048], "fy":[-22.91416,-0.34544,-22.39593,-43.26039]}, - {"t":4.26105, "x":9.7055, "y":3.98769, "heading":0.71573, "vx":1.4839, "vy":-0.21434, "omega":-3.0774, "ax":-0.03182, "ay":-0.2179, "alpha":-5.15195, "fx":[18.98031,0.81716,-20.06219,-1.90051], "fy":[-5.13094,15.85394,-2.40313,-23.14533]}, - {"t":4.28252, "x":9.73735, "y":3.98304, "heading":0.64966, "vx":1.48322, "vy":-0.21902, "omega":-3.18802, "ax":-0.00524, "ay":-0.0354, "alpha":-4.33062, "fx":[16.19903,2.13648,-16.3789,-2.31289], "fy":[-2.83379,15.69329,1.61574,-16.88364]}, - {"t":4.30399, "x":9.7692, "y":3.97833, "heading":0.58121, "vx":1.4831, "vy":-0.21978, "omega":-3.28101, "ax":-0.00085, "ay":-0.0057, "alpha":-3.52672, "fx":[13.09545,2.70063,-13.12459,-2.729], "fy":[-2.8125,13.01376,2.61713,-13.20626]}, - {"t":4.32546, "x":9.80105, "y":3.97361, "heading":0.51076, "vx":1.48309, "vy":-0.2199, "omega":-3.35673, "ax":-0.00013, "ay":-0.00091, "alpha":-2.74277, "fx":[10.01958,2.82153,-10.02422,-2.82606], "fy":[-2.8393,10.00653,2.80829,-10.03727]}, - {"t":4.34693, "x":9.83289, "y":3.96889, "heading":0.43868, "vx":1.48308, "vy":-0.21992, "omega":-3.41562, "ax":-0.00002, "ay":-0.00014, "alpha":-1.97514, "fx":[7.05148,2.54757,-7.0522,-2.54827], "fy":[-2.5503,7.04947,2.54554,-7.05422]}, - {"t":4.36841, "x":9.86473, "y":3.96417, "heading":0.36534, "vx":1.48308, "vy":-0.21993, "omega":-3.45803, "ax":0.0, "ay":-0.00002, "alpha":-1.21955, "fx":[4.22715,1.88799,-4.22725,-1.88809], "fy":[-1.88837,4.22687,1.88771,-4.22753]}, - {"t":4.38988, "x":9.89658, "y":3.95944, "heading":0.29109, "vx":1.48308, "vy":-0.21993, "omega":-3.48422, "ax":0.0, "ay":0.0, "alpha":-0.47144, "fx":[1.57544,0.84905,-1.57546,-0.84907], "fy":[-0.84912,1.5754,0.84901,-1.5755]}, - {"t":4.41135, "x":9.92842, "y":3.95472, "heading":0.21628, "vx":1.48308, "vy":-0.21993, "omega":-3.49434, "ax":0.0, "ay":0.0, "alpha":0.27399, "fx":[-0.87619,-0.56053,0.87617,0.56051], "fy":[0.56044,-0.87625,-0.56059,0.87611]}, - {"t":4.43282, "x":9.96027, "y":3.95, "heading":0.14125, "vx":1.48308, "vy":-0.21993, "omega":-3.48846, "ax":0.0, "ay":-0.00001, "alpha":1.02152, "fx":[-3.10085,-2.32878,3.10079,2.32872], "fy":[2.32855,-3.10103,-2.32896,3.10061]}, - {"t":4.45429, "x":9.99211, "y":3.94528, "heading":0.06635, "vx":1.48308, "vy":-0.21993, "omega":-3.46652, "ax":-0.00001, "ay":-0.00005, "alpha":1.77586, "fx":[-5.07266,-4.44058,5.07242,4.44034], "fy":[4.43963,-5.07337,-4.44129,5.07171]}, - {"t":4.47576, "x":10.02396, "y":3.94056, "heading":-0.00809, "vx":1.48308, "vy":-0.21993, "omega":-3.42839, "ax":-0.00004, "ay":-0.00027, "alpha":2.54146, "fx":[-6.76741,-6.8777,6.76603,6.8764], "fy":[6.87251,-6.77126,-6.88159,6.76219]}, - {"t":4.49724, "x":10.0558, "y":3.93583, "heading":-0.0817, "vx":1.48308, "vy":-0.21993, "omega":-3.37382, "ax":-0.00024, "ay":-0.00162, "alpha":3.32247, "fx":[-8.16529,-9.62058,8.15672,9.61277], "fy":[9.58906,-8.18863,-9.6443,8.13338]}, - {"t":4.51871, "x":10.08764, "y":3.93111, "heading":-0.15414, "vx":1.48308, "vy":-0.21997, "omega":-3.30248, "ax":-0.00149, "ay":-0.01005, "alpha":4.12255, "fx":[-9.26319,-12.65768,9.20891,12.6105], "fy":[12.46341,-9.40725,-12.80472,9.06478]}, - {"t":4.54018, "x":10.11949, "y":3.92639, "heading":-0.22505, "vx":1.48304, "vy":-0.22018, "omega":-3.21397, "ax":-0.00923, "ay":-0.06196, "alpha":4.94438, "fx":[-10.14867,-16.04178,9.80436,15.75829], "fy":[14.84971,-11.03376,-16.948,8.91651]}, - {"t":4.56165, "x":10.15133, "y":3.92164, "heading":-0.29406, "vx":1.48285, "vy":-0.22151, "omega":-3.1078, "ax":-0.05756, "ay":-0.37816, "alpha":5.77145, "fx":[-11.46536,-20.20383,9.26679,18.48639], "fy":[12.9139,-16.79643,-25.66693,3.8197]}, - {"t":4.58312, "x":10.18316, "y":3.9168, "heading":-0.36079, "vx":1.48161, "vy":-0.22963, "omega":-2.98388, "ax":-0.37097, "ay":-2.16696, "alpha":5.93676, "fx":[-17.29328,-27.05697,3.20093,15.90879], "fy":[-16.89437,-45.5718,-56.06308,-28.90808]}, - {"t":4.6046, "x":10.21488, "y":3.91137, "heading":-0.42486, "vx":1.47365, "vy":-0.27616, "omega":-2.85641, "ax":-1.51999, "ay":-6.41696, "alpha":2.3583, "fx":[-33.07738,-36.92162,-19.69662,-13.72294], "fy":[-103.91653,-108.905,-114.19925,-109.58188]}, - {"t":4.62607, "x":10.24617, "y":3.90396, "heading":-0.48619, "vx":1.44101, "vy":-0.41395, "omega":-2.80577, "ax":-2.77207, "ay":-7.84741, "alpha":0.71345, "fx":[-49.93746,-50.9482,-44.52033,-43.20262], "fy":[-132.16267,-132.38882,-134.76838,-134.60917]}, - {"t":4.64754, "x":10.27648, "y":3.89326, "heading":-0.54644, "vx":1.38149, "vy":-0.58244, "omega":-2.79045, "ax":-3.88907, "ay":-7.81232, "alpha":0.33183, "fx":[-67.54854,-67.82529,-64.79094,-64.44328], "fy":[-132.1215,-132.11017,-133.63501,-133.67488]}, - {"t":4.66901, "x":10.30524, "y":3.87896, "heading":-0.60635, "vx":1.29798, "vy":-0.75019, "omega":-2.78332, "ax":-4.91877, "ay":-7.37463, "alpha":0.19656, "fx":[-84.50856,-84.54894,-82.83691,-82.773], "fy":[-124.85613,-124.87415,-126.01716,-126.01425]}, - {"t":4.69048, "x":10.33198, "y":3.86115, "heading":-0.66611, "vx":1.19237, "vy":-0.90853, "omega":-2.7791, "ax":-5.86054, "ay":-6.73194, "alpha":0.13367, "fx":[-100.24487,-100.19697,-99.13205,-99.17053], "fy":[-114.01169,-114.07505,-115.00063,-114.94633]}, - {"t":4.71195, "x":10.35623, "y":3.84009, "heading":-0.72579, "vx":1.06653, "vy":-1.05308, "omega":-2.77623, "ax":-6.72948, "ay":-5.91186, "alpha":0.09917, "fx":[-114.85412,-114.77181,-114.08104,-114.15935], "fy":[-100.11227,-100.21888,-101.00301,-100.90227]}, - {"t":4.73343, "x":10.37758, "y":3.81612, "heading":-0.7854, "vx":0.92204, "vy":-1.18002, "omega":-2.7741, "ax":-7.44284, "ay":-5.00182, "alpha":0.09646, "fx":[-126.93577,-126.8296,-126.2666,-126.37027], "fy":[-84.57526,-84.74636,-85.58063,-85.41555]}, - {"t":4.75953, "x":10.39911, "y":3.78361, "heading":-0.85781, "vx":0.72776, "vy":-1.31058, "omega":-2.77159, "ax":-8.11758, "ay":-3.72186, "alpha":0.14616, "fx":[-138.47398,-138.30695,-137.68227,-137.84752], "fy":[-62.42726,-62.83503,-64.1814,-63.78738]}, - {"t":4.78563, "x":10.41534, "y":3.74813, "heading":-0.93016, "vx":0.51586, "vy":-1.40773, "omega":-2.76777, "ax":-8.51029, "ay":-2.39752, "alpha":0.26001, "fx":[-145.21953,-145.00773,-144.29316,-144.51015], "fy":[-39.06675,-40.04277,-42.47597,-41.53906]}, - {"t":4.81174, "x":10.42591, "y":3.71057, "heading":-1.00241, "vx":0.29372, "vy":-1.47032, "omega":-2.76098, "ax":-8.48291, "ay":-1.04778, "alpha":0.62646, "fx":[-144.71336,-144.72361,-143.83521,-143.89526], "fy":[-13.54824,-16.40105,-22.00842,-19.33193]}, - {"t":4.83784, "x":10.43069, "y":3.67183, "heading":-1.07448, "vx":0.07229, "vy":-1.49767, "omega":-2.74463, "ax":-6.71022, "ay":0.06802, "alpha":2.96559, "fx":[-112.41218,-119.0727,-115.58212,-109.48896], "fy":[18.42183,5.58591,-15.09844,-4.2812]}, - {"t":4.86394, "x":10.43029, "y":3.63276, "heading":-1.14612, "vx":-0.10287, "vy":-1.49589, "omega":-2.66722, "ax":-1.50094, "ay":0.12295, "alpha":8.59384, "fx":[-15.09544,-54.39245,-37.67181,5.03747], "fy":[34.12168,13.14163,-28.53904,-10.35866]}, - {"t":4.89004, "x":10.42709, "y":3.59375, "heading":-1.21574, "vx":-0.14205, "vy":-1.49268, "omega":-2.44289, "ax":-0.16737, "ay":0.01617, "alpha":8.28082, "fx":[10.17786,-31.32011,-16.04447,25.79933], "fy":[28.93732,13.30978,-28.22112,-12.92556]}, - {"t":4.91615, "x":10.42333, "y":3.5548, "heading":-1.27951, "vx":-0.14642, "vy":-1.49226, "omega":-2.22674, "ax":-0.01805, "ay":0.00177, "alpha":7.56651, "fx":[13.30841,-25.58857,-13.93616,24.98801], "fy":[25.32708,13.64415,-25.24993,-13.60058]}, - {"t":4.94225, "x":10.4195, "y":3.51584, "heading":-1.33763, "vx":-0.14689, "vy":-1.49221, "omega":-2.02923, "ax":-0.00192, "ay":0.00019, "alpha":6.90143, "fx":[13.71063,-22.33707,-13.77714,22.27261], "fy":[22.30887,13.7463,-22.30081,-13.74147]}, - {"t":4.96835, "x":10.41566, "y":3.47689, "heading":-1.3906, "vx":-0.14694, "vy":-1.49221, "omega":-1.84908, "ax":-0.0002, "ay":0.00002, "alpha":6.28739, "fx":[13.57586,-19.63234,-13.58285,19.62549], "fy":[19.62933,13.57962,-19.6285,-13.57909]}, - {"t":4.99446, "x":10.41183, "y":3.43794, "heading":-1.43887, "vx":-0.14695, "vy":-1.49221, "omega":-1.68496, "ax":-0.00002, "ay":0.0, "alpha":5.72136, "fx":[13.20388,-17.24516,-13.20462,17.24443], "fy":[17.24483,13.20428,-17.24475,-13.20422]}, - {"t":5.02056, "x":10.40799, "y":3.39899, "heading":-1.48285, "vx":-0.14695, "vy":-1.49221, "omega":-1.53562, "ax":0.0, "ay":0.0, "alpha":5.19988, "fx":[12.6782,-15.13021,-12.67828,15.13013], "fy":[15.13018,12.67825,-15.13017,-12.67824]}, - {"t":5.04666, "x":10.40416, "y":3.36004, "heading":-1.52294, "vx":-0.14695, "vy":-1.49221, "omega":-1.39988, "ax":0.0, "ay":0.0, "alpha":4.71968, "fx":[12.04851,-13.26076,-12.04852,13.26075], "fy":[13.26076,12.04852,-13.26076,-12.04852]}, - {"t":5.07277, "x":10.40032, "y":3.32109, "heading":-1.55948, "vx":-0.14695, "vy":-1.49221, "omega":-1.27668, "ax":0.0, "ay":0.0, "alpha":4.27764, "fx":[11.35188,-11.61182,-11.35188,11.61181], "fy":[11.61181,11.35188,-11.61182,-11.35188]}, - {"t":5.09887, "x":10.39648, "y":3.28214, "heading":-1.5928, "vx":-0.14695, "vy":-1.49221, "omega":-1.16502, "ax":0.0, "ay":0.0, "alpha":3.87049, "fx":[10.61576,-10.15852,-10.61576,10.15852], "fy":[10.15852,10.61576,-10.15852,-10.61576]}, - {"t":5.12497, "x":10.39265, "y":3.24319, "heading":-1.62321, "vx":-0.14695, "vy":-1.49221, "omega":-1.06399, "ax":0.0, "ay":0.0, "alpha":3.49552, "fx":[9.86183,-8.87861,-9.86183,8.87861], "fy":[8.87861,9.86183,-8.87861,-9.86183]}, - {"t":5.15108, "x":10.38881, "y":3.20423, "heading":-1.65099, "vx":-0.14695, "vy":-1.49221, "omega":-0.97275, "ax":0.0, "ay":0.0, "alpha":3.14958, "fx":[9.10457,-7.75008,-9.10457,7.75008], "fy":[7.75008,9.10457,-7.75008,-9.10457]}, - {"t":5.17718, "x":10.38498, "y":3.16528, "heading":-1.67638, "vx":-0.14695, "vy":-1.49221, "omega":-0.89053, "ax":0.0, "ay":0.0, "alpha":2.83035, "fx":[8.35594,-6.75457,-8.35594,6.75457], "fy":[6.75457,8.35594,-6.75457,-8.35594]}, - {"t":5.20328, "x":10.38114, "y":3.12633, "heading":-1.69963, "vx":-0.14695, "vy":-1.49221, "omega":-0.81665, "ax":0.0, "ay":0.0, "alpha":2.53493, "fx":[7.6224,-5.874,-7.6224,5.87399], "fy":[5.874,7.6224,-5.874,-7.6224]}, - {"t":5.22938, "x":10.3773, "y":3.08738, "heading":-1.72094, "vx":-0.14695, "vy":-1.49221, "omega":-0.75048, "ax":0.0, "ay":0.0, "alpha":2.26129, "fx":[6.9097,-5.09379,-6.90973,5.09376], "fy":[5.09378,6.90971,-5.09377,-6.90971]}, - {"t":5.25549, "x":10.37347, "y":3.04843, "heading":-1.74053, "vx":-0.14695, "vy":-1.49221, "omega":-0.69146, "ax":-0.00001, "ay":0.0, "alpha":2.00689, "fx":[6.2196,-4.39983,-6.21984,4.39959], "fy":[4.39972,6.21973,-4.3997,-6.21971]}, - {"t":5.28159, "x":10.36963, "y":3.00948, "heading":-1.75858, "vx":-0.14695, "vy":-1.49221, "omega":-0.63907, "ax":-0.00007, "ay":0.00001, "alpha":1.76984, "fx":[5.55303,-3.78157,-5.55537,3.77923], "fy":[3.78052,5.55431,-3.78028,-5.55408]}, - {"t":5.30769, "x":10.3658, "y":2.97053, "heading":-1.77526, "vx":-0.14695, "vy":-1.49221, "omega":-0.59287, "ax":-0.00068, "ay":0.00007, "alpha":1.54799, "fx":[4.90082,-3.23666,-4.92408,3.21339], "fy":[3.22619,4.91358,-3.22386,-4.91132]}, - {"t":5.3338, "x":10.36196, "y":2.93158, "heading":-1.79074, "vx":-0.14697, "vy":-1.49221, "omega":-0.55247, "ax":-0.00679, "ay":0.00067, "alpha":1.33956, "fx":[4.17819,-2.84029,-4.40923,2.60907], "fy":[2.7362,4.30498,-2.71318,-4.28244]}, - {"t":5.3599, "x":10.35812, "y":2.89262, "heading":-1.80516, "vx":-0.14714, "vy":-1.49219, "omega":-0.5175, "ax":-0.06753, "ay":0.0067, "alpha":1.14261, "fx":[2.54709,-3.41978,-4.84363,1.12191], "fy":[2.38601,3.80882,-2.15636,-3.58261]}, - {"t":5.386, "x":10.35426, "y":2.85368, "heading":-1.81867, "vx":-0.14891, "vy":-1.49201, "omega":-0.48767, "ax":-0.66563, "ay":0.08773, "alpha":0.94532, "fx":[-8.25132,-13.14763,-14.38876,-9.50128], "fy":[3.34981,4.5828,-0.35353,-1.60998]}, - {"t":5.41211, "x":10.35015, "y":2.81476, "heading":-1.8314, "vx":-0.16628, "vy":-1.48972, "omega":-0.463, "ax":-0.49666, "ay":0.04066, "alpha":1.00906, "fx":[-5.13979,-10.3622,-11.75199,-6.53849], "fy":[2.62305,4.01089,-1.23036,-2.63736]}, - {"t":5.4445, "x":10.3445, "y":2.76652, "heading":-1.8464, "vx":-0.18237, "vy":-1.48841, "omega":-0.43031, "ax":-0.02863, "ay":0.00352, "alpha":0.85821, "fx":[2.35677,-2.07693,-3.33054,1.10279], "fy":[1.64992,2.90332,-1.52989,-2.78409]}, - {"t":5.47689, "x":10.33858, "y":2.71831, "heading":-1.86034, "vx":-0.1833, "vy":-1.48829, "omega":-0.40251, "ax":-0.00165, "ay":0.0002, "alpha":0.71279, "fx":[2.3519,-1.31556,-2.40812,1.25932], "fy":[1.29091,2.38346,-1.28397,-2.37655]}, - {"t":5.50929, "x":10.33264, "y":2.6701, "heading":-1.87337, "vx":-0.18335, "vy":-1.48829, "omega":-0.37942, "ax":-0.0001, "ay":0.00001, "alpha":0.57699, "fx":[1.93835,-1.01856,-1.9416,1.01531], "fy":[1.01714,1.94017,-1.01674,-1.93977]}, - {"t":5.54168, "x":10.3267, "y":2.62189, "heading":-1.88566, "vx":-0.18335, "vy":-1.48829, "omega":-0.36073, "ax":-0.00001, "ay":0.0, "alpha":0.44894, "fx":[1.51898,-0.77274,-1.51916,0.77256], "fy":[0.77266,1.51908,-0.77264,-1.51906]}, - {"t":5.57407, "x":10.32076, "y":2.57368, "heading":-1.89735, "vx":-0.18335, "vy":-1.48828, "omega":-0.34619, "ax":0.0, "ay":0.0, "alpha":0.327, "fx":[1.11295,-0.54982,-1.11296,0.54981], "fy":[0.54981,1.11295,-0.54981,-1.11295]}, - {"t":5.60646, "x":10.31482, "y":2.52547, "heading":-1.90856, "vx":-0.18335, "vy":-1.48828, "omega":-0.3356, "ax":0.0, "ay":0.0, "alpha":0.20942, "fx":[0.71666,-0.3441,-0.71666,0.3441], "fy":[0.3441,0.71666,-0.3441,-0.71666]}, - {"t":5.63886, "x":10.30888, "y":2.47726, "heading":-1.91943, "vx":-0.18335, "vy":-1.48828, "omega":-0.32881, "ax":0.0, "ay":0.0, "alpha":0.09474, "fx":[0.32588,-0.15213,-0.32588,0.15213], "fy":[0.15213,0.32588,-0.15213,-0.32588]}, - {"t":5.67125, "x":10.30294, "y":2.42905, "heading":-1.93009, "vx":-0.18335, "vy":-1.48828, "omega":-0.32574, "ax":0.0, "ay":0.0, "alpha":-0.01876, "fx":[-0.06483,0.02943,0.06483,-0.02943], "fy":[-0.02943,-0.06483,0.02943,0.06483]}, - {"t":5.70364, "x":10.297, "y":2.38084, "heading":-1.94064, "vx":-0.18335, "vy":-1.48828, "omega":-0.32635, "ax":0.0, "ay":0.0, "alpha":-0.13239, "fx":[-0.45981,0.20289,0.45981,-0.20289], "fy":[-0.20289,-0.45981,0.20289,0.45981]}, - {"t":5.73604, "x":10.29106, "y":2.33263, "heading":-1.95121, "vx":-0.18335, "vy":-1.48828, "omega":-0.33064, "ax":0.0, "ay":0.0, "alpha":-0.24794, "fx":[-0.8651,0.37086,0.8651,-0.37086], "fy":[-0.37086,-0.8651,0.37086,0.8651]}, - {"t":5.76843, "x":10.28512, "y":2.28442, "heading":-1.96192, "vx":-0.18335, "vy":-1.48828, "omega":-0.33867, "ax":0.0, "ay":0.0, "alpha":-0.3667, "fx":[-1.28526,0.53475,1.28526,-0.53475], "fy":[-0.53475,-1.28526,0.53475,1.28526]}, - {"t":5.80082, "x":10.27918, "y":2.23621, "heading":-1.97289, "vx":-0.18335, "vy":-1.48828, "omega":-0.35055, "ax":0.0, "ay":0.0, "alpha":-0.49057, "fx":[-1.72715,0.69648,1.72715,-0.69648], "fy":[-0.69648,-1.72715,0.69648,1.72715]}, - {"t":5.83321, "x":10.27324, "y":2.188, "heading":-1.98425, "vx":-0.18335, "vy":-1.48828, "omega":-0.36644, "ax":0.0, "ay":0.0, "alpha":-0.62089, "fx":[-2.19585,0.85662,2.19585,-0.85662], "fy":[-0.85662,-2.19585,0.85662,2.19585]}, - {"t":5.86561, "x":10.2673, "y":2.13979, "heading":-1.99612, "vx":-0.18335, "vy":-1.48828, "omega":-0.38655, "ax":0.0, "ay":0.0, "alpha":-0.75976, "fx":[-2.69925,1.01625,2.69925,-1.01625], "fy":[-1.01625,-2.69925,1.01625,2.69925]}, - {"t":5.898, "x":10.26136, "y":2.09158, "heading":-2.00864, "vx":-0.18335, "vy":-1.48828, "omega":-0.41116, "ax":0.0, "ay":0.0, "alpha":-0.90871, "fx":[-3.24339,1.17497,3.24339,-1.17497], "fy":[-1.17497,-3.24339,1.17497,3.24339]}, - {"t":5.93039, "x":10.25543, "y":2.04337, "heading":-2.02196, "vx":-0.18335, "vy":-1.48828, "omega":-0.4406, "ax":0.0, "ay":0.0, "alpha":-1.07007, "fx":[-3.83741,1.33262,3.83741,-1.33262], "fy":[-1.33262,-3.83741,1.33262,3.83742]}, - {"t":5.96279, "x":10.24949, "y":1.99516, "heading":-2.03623, "vx":-0.18335, "vy":-1.48828, "omega":-0.47526, "ax":0.0, "ay":0.0, "alpha":-1.24569, "fx":[-4.48888,1.48741,4.48888,-1.48741], "fy":[-1.48741,-4.48888,1.48741,4.48888]}, - {"t":5.99518, "x":10.24355, "y":1.94695, "heading":-2.05162, "vx":-0.18335, "vy":-1.48828, "omega":-0.51561, "ax":0.0, "ay":0.0, "alpha":-1.43819, "fx":[-5.20838,1.63727,5.20838,-1.63727], "fy":[-1.63727,-5.20838,1.63727,5.20838]}, - {"t":6.02757, "x":10.23761, "y":1.89874, "heading":-2.06833, "vx":-0.18335, "vy":-1.48828, "omega":-0.5622, "ax":0.0, "ay":0.0, "alpha":-1.6499, "fx":[-6.00562,1.77823,6.00562,-1.77823], "fy":[-1.77823,-6.00562,1.77823,6.00562]}, - {"t":6.05997, "x":10.23167, "y":1.85053, "heading":-2.08654, "vx":-0.18335, "vy":-1.48828, "omega":-0.61565, "ax":0.0, "ay":0.0, "alpha":-1.88377, "fx":[-6.89275,1.9051,6.89275,-1.9051], "fy":[-1.9051,-6.89275,1.9051,6.89275]}, - {"t":6.09236, "x":10.22573, "y":1.80232, "heading":-2.10648, "vx":-0.18335, "vy":-1.48828, "omega":-0.67667, "ax":0.0, "ay":0.0, "alpha":-2.14281, "fx":[-7.88223,2.01028,7.88223,-2.01028], "fy":[-2.01028,-7.88223,2.01028,7.88223]}, - {"t":6.12475, "x":10.21979, "y":1.75411, "heading":-2.1284, "vx":-0.18335, "vy":-1.48828, "omega":-0.74608, "ax":0.0, "ay":0.0, "alpha":-2.43034, "fx":[-8.98775,2.08355,8.98775,-2.08355], "fy":[-2.08355,-8.98775,2.08355,8.98775]}, - {"t":6.15714, "x":10.21385, "y":1.7059, "heading":-2.15257, "vx":-0.18335, "vy":-1.48828, "omega":-0.82481, "ax":0.0, "ay":0.0, "alpha":-2.75021, "fx":[-10.22467,2.11131,10.22467,-2.11131], "fy":[-2.11131,-10.22467,2.11131,10.22467]}, - {"t":6.18954, "x":10.20791, "y":1.65769, "heading":-2.17928, "vx":-0.18335, "vy":-1.48828, "omega":-0.91389, "ax":0.0, "ay":0.0, "alpha":-3.10623, "fx":[-11.60784,2.07525,11.60784,-2.07525], "fy":[-2.07525,-11.60784,2.07525,11.60784]}, - {"t":6.22193, "x":10.20197, "y":1.60948, "heading":-2.20889, "vx":-0.18335, "vy":-1.48828, "omega":-1.01451, "ax":0.0, "ay":0.0, "alpha":-3.50315, "fx":[-13.15467,1.95192,13.15467,-1.95192], "fy":[-1.95192,-13.15467,1.95192,13.15467]}, - {"t":6.25432, "x":10.19603, "y":1.56127, "heading":-2.24175, "vx":-0.18335, "vy":-1.48828, "omega":-1.12799, "ax":0.0, "ay":0.0, "alpha":-3.94539, "fx":[-14.87955,1.71036,14.87956,-1.71035], "fy":[-1.71036,-14.87956,1.71035,14.87956]}, - {"t":6.28672, "x":10.19009, "y":1.51306, "heading":-2.27829, "vx":-0.18335, "vy":-1.48828, "omega":-1.25579, "ax":0.00001, "ay":0.0, "alpha":-4.43863, "fx":[-16.79874,1.31148,16.79895,-1.31127], "fy":[-1.31139,-16.79886,1.31136,16.79883]}, - {"t":6.31911, "x":10.18415, "y":1.46486, "heading":-2.31897, "vx":-0.18335, "vy":-1.48829, "omega":-1.39957, "ax":0.00011, "ay":-0.00001, "alpha":-4.98799, "fx":[-18.92055,0.70656,18.9241,-0.7029], "fy":[-0.70496,-18.92254,0.70451,18.92211]}, - {"t":6.3515, "x":10.17821, "y":1.41665, "heading":-2.36431, "vx":-0.18335, "vy":-1.48829, "omega":-1.56115, "ax":0.00178, "ay":-0.00022, "alpha":-5.59986, "fx":[-21.22789,-0.14163,21.28713,0.20318], "fy":[0.16862,-21.26117,-0.17619,21.25385]}, - {"t":6.38389, "x":10.17228, "y":1.36844, "heading":-2.41488, "vx":-0.18329, "vy":-1.48829, "omega":-1.74254, "ax":0.02945, "ay":-0.00362, "alpha":-6.27998, "fx":[-23.31003,-0.88505,24.28763,1.91133], "fy":[1.3365,-23.86077,-1.45969,23.73783]}, - {"t":6.41629, "x":10.16635, "y":1.32022, "heading":-2.47132, "vx":-0.18234, "vy":-1.48841, "omega":-1.94597, "ax":0.48232, "ay":-0.05651, "alpha":-6.99597, "fx":[-18.35202,5.38867,34.27335,11.50685], "fy":[2.10907,-27.44098,-3.97595,25.46298]}, - {"t":6.44868, "x":10.1607, "y":1.27198, "heading":-2.53436, "vx":-0.16672, "vy":-1.49024, "omega":-2.17259, "ax":5.34713, "ay":-0.26816, "alpha":-3.8316, "fx":[81.60148,88.85912,100.11988,93.23236], "fy":[-1.25,-24.20872,-7.3004,14.51379]}, - {"t":6.48107, "x":10.1581, "y":1.22357, "heading":-2.60473, "vx":0.00649, "vy":-1.49893, "omega":-2.29671, "ax":6.41547, "ay":0.35238, "alpha":-1.3038, "fx":[106.68701,108.77375,111.58632,109.45443], "fy":[8.19468,-1.24764,3.9899,13.03872]}, - {"t":6.50597, "x":10.16025, "y":1.18636, "heading":-2.66191, "vx":0.16621, "vy":-1.49015, "omega":-2.32917, "ax":1.45284, "ay":0.1799, "alpha":-1.62603, "fx":[18.93575,22.96792,30.43319,26.51278], "fy":[5.03148,-2.99226,1.14474,9.05642]}, - {"t":6.53087, "x":10.16484, "y":1.14931, "heading":-2.7199, "vx":0.20238, "vy":-1.48567, "omega":-2.36965, "ax":0.16859, "ay":0.02321, "alpha":0.54701, "fx":[4.8074,3.60622,0.92711,2.12966], "fy":[-0.34402,2.33567,1.1343,-1.54699]}, - {"t":6.55576, "x":10.16993, "y":1.11233, "heading":-2.77889, "vx":0.20658, "vy":-1.4851, "omega":-2.35603, "ax":0.019, "ay":0.00265, "alpha":2.80379, "fx":[10.02918,4.69031,-9.38464,-4.04229], "fy":[-4.32006,9.75068,4.41267,-9.66329]}, - {"t":6.58066, "x":10.17508, "y":1.07536, "heading":-2.83755, "vx":0.20705, "vy":-1.48503, "omega":-2.28623, "ax":0.00216, "ay":0.0003, "alpha":5.03361, "fx":[16.9737,8.88388,-16.90086,-8.81], "fy":[-8.84132,16.94188,8.85257,-16.93268]}, - {"t":6.60555, "x":10.18024, "y":1.03839, "heading":-2.89447, "vx":0.20711, "vy":-1.48502, "omega":-2.16091, "ax":0.0003, "ay":0.00004, "alpha":7.21773, "fx":[23.5305,14.05187,-23.52046,-14.0416], "fy":[-14.04588,23.52604,14.0476,-23.52493]}, - {"t":6.63045, "x":10.18539, "y":1.00142, "heading":-2.94827, "vx":0.20712, "vy":-1.48502, "omega":-1.98122, "ax":0.00045, "ay":0.00006, "alpha":9.3365, "fx":[29.41787,19.78798,-29.40282,-19.77253], "fy":[-19.7788,29.41101,19.78171,-29.40968]}, - {"t":6.65535, "x":10.19055, "y":0.96445, "heading":-2.99759, "vx":0.20713, "vy":-1.48502, "omega":-1.74878, "ax":0.00325, "ay":0.00045, "alpha":11.3746, "fx":[34.65331,25.89136,-34.54407,-25.7795], "fy":[-25.82337,34.60205,25.84752,-34.59536]}, - {"t":6.68024, "x":10.19571, "y":0.92748, "heading":-3.04113, "vx":0.20721, "vy":-1.48501, "omega":-1.46559, "ax":0.02396, "ay":0.00335, "alpha":13.31845, "fx":[39.56094,32.3951,-38.75141,-31.5745], "fy":[-31.88398,39.16907,32.08694,-39.14425]}, - {"t":6.70514, "x":10.20087, "y":0.89051, "heading":-3.07762, "vx":0.2078, "vy":-1.48493, "omega":-1.13402, "ax":0.16794, "ay":0.02374, "alpha":15.14998, "fx":[46.03209,40.81738,-40.309,-35.1143], "fy":[-37.19401,43.19696,38.81142,-43.19889]}, - {"t":6.73003, "x":10.2061, "y":0.85355, "heading":-3.10585, "vx":0.21198, "vy":-1.48434, "omega":-0.75684, "ax":1.11148, "ay":0.16937, "alpha":16.45152, "fx":[64.19202,60.34891,-25.93188,-22.98508], "fy":[-37.3736,46.06821,49.49628,-46.6669]}, - {"t":6.75493, "x":10.21172, "y":0.81664, "heading":-3.12469, "vx":0.23966, "vy":-1.48012, "omega":-0.34726, "ax":5.48, "ay":1.15141, "alpha":9.27445, "fx":[112.32264,106.01636,71.90306,82.61085], "fy":[-10.7223,44.84278,61.95333,-17.73297]}, - {"t":6.77983, "x":10.21939, "y":0.78015, "heading":-3.13334, "vx":0.37609, "vy":-1.45145, "omega":-0.11637, "ax":7.91061, "ay":2.64799, "alpha":2.01733, "fx":[138.75213,133.76207,129.72289,135.99153], "fy":[33.68536,51.04632,57.29591,38.13853]}, - {"t":6.80472, "x":10.2312, "y":0.74484, "heading":-3.13623, "vx":0.57303, "vy":-1.38553, "omega":-0.06614, "ax":7.84549, "ay":3.94047, "alpha":0.80718, "fx":[135.96387,132.80233,130.79467,134.23751], "fy":[62.04552,68.75894,72.09339,65.20734]}, - {"t":6.82962, "x":10.2479, "y":0.71156, "heading":-3.13788, "vx":0.76835, "vy":-1.28743, "omega":-0.04605, "ax":7.28324, "ay":5.11968, "alpha":0.44677, "fx":[125.76614,123.60586,121.9639,124.20759], "fy":[84.39499,87.59031,89.77506,86.57677]}, - {"t":6.85451, "x":10.26929, "y":0.6811, "heading":-3.13903, "vx":0.94967, "vy":-1.15997, "omega":-0.03493, "ax":6.4778, "ay":6.17915, "alpha":0.29317, "fx":[111.70295,110.16503,108.65568,110.21846], "fy":[103.50422,105.16468,106.69735,105.056]}, - {"t":6.87941, "x":10.29494, "y":0.65414, "heading":-3.1399, "vx":1.11095, "vy":-1.00613, "omega":-0.02763, "ax":5.47885, "ay":7.11107, "alpha":0.21316, "fx":[94.45695,93.36171,91.92899,93.02735], "fy":[119.9775,120.84411,121.92811,121.07948]}, - {"t":6.90431, "x":10.32429, "y":0.63129, "heading":-3.14058, "vx":1.24735, "vy":-0.82909, "omega":-0.02232, "ax":4.23936, "ay":7.92865, "alpha":0.16575, "fx":[73.16921,72.43069,71.05431,71.78682], "fy":[134.29387,134.7006,135.42799,135.03405]}, - {"t":6.9292, "x":10.35666, "y":0.61311, "heading":-3.14114, "vx":1.35289, "vy":-0.6317, "omega":-0.01819, "ax":3.08134, "ay":8.4555, "alpha":0.13543, "fx":[53.28765,52.81795,51.542,52.00336], "fy":[143.50418,143.68209,144.14315,143.97294]}, - {"t":6.9541, "x":10.3913, "y":0.6, "heading":3.14159, "vx":1.4296, "vy":-0.42119, "omega":-0.01482, "ax":1.50109, "ay":8.87418, "alpha":0.07147, "fx":[25.96869,25.84152,25.09935,25.22308], "fy":[150.87258,150.89666,151.0215,150.99864]}, - {"t":7.00072, "x":10.45959, "y":0.59001, "heading":3.1409, "vx":1.49959, "vy":-0.00742, "omega":-0.01149, "ax":-0.01158, "ay":1.08785, "alpha":0.26367, "fx":[0.52116,0.521,-0.91352,-0.91655], "fy":[17.80621,19.20123,19.20174,17.80676]}, - {"t":7.04735, "x":10.52949, "y":0.59084, "heading":3.14037, "vx":1.49905, "vy":0.0433, "omega":0.0008, "ax":0.00762, "ay":-0.31846, "alpha":0.00298, "fx":[0.1376,0.13762,0.12158,0.12156], "fy":[-5.42496,-5.40896,-5.40894,-5.42494]}, - {"t":7.09398, "x":10.5994, "y":0.59252, "heading":3.1404, "vx":1.49941, "vy":0.02845, "omega":0.00094, "ax":0.00227, "ay":-0.13478, "alpha":0.00003, "fx":[0.03878,0.03878,0.0386,0.0386], "fy":[-2.29273,-2.29255,-2.29255,-2.29273]}, - {"t":7.1406, "x":10.66931, "y":0.5937, "heading":3.14045, "vx":1.49952, "vy":0.02217, "omega":0.00094, "ax":0.00117, "ay":-0.08691, "alpha":0.0, "fx":[0.01985,0.01985,0.01985,0.01985], "fy":[-1.47831,-1.47831,-1.47831,-1.47831]}, - {"t":7.18723, "x":10.73923, "y":0.59464, "heading":3.14049, "vx":1.49957, "vy":0.01811, "omega":0.00094, "ax":0.00071, "ay":-0.06426, "alpha":0.0, "fx":[0.01211,0.01211,0.01211,0.01211], "fy":[-1.0931,-1.0931,-1.0931,-1.0931]}, - {"t":7.23386, "x":10.80915, "y":0.59541, "heading":3.14054, "vx":1.4996, "vy":0.01512, "omega":0.00094, "ax":0.00047, "ay":-0.0504, "alpha":0.0, "fx":[0.00797,0.00797,0.00797,0.00797], "fy":[-0.85726,-0.85726,-0.85726,-0.85726]}, - {"t":7.28048, "x":10.87907, "y":0.59606, "heading":3.14058, "vx":1.49963, "vy":0.01277, "omega":0.00094, "ax":0.00032, "ay":-0.04082, "alpha":0.0, "fx":[0.00547,0.00547,0.00547,0.00547], "fy":[-0.69442,-0.69442,-0.69442,-0.69442]}, - {"t":7.32711, "x":10.94899, "y":0.59661, "heading":3.14062, "vx":1.49964, "vy":0.01086, "omega":0.00094, "ax":0.00023, "ay":-0.03374, "alpha":0.0, "fx":[0.00386,0.00386,0.00386,0.00386], "fy":[-0.57383,-0.57383,-0.57383,-0.57383]}, - {"t":7.37373, "x":11.01891, "y":0.59708, "heading":3.14067, "vx":1.49965, "vy":0.00929, "omega":0.00094, "ax":0.00016, "ay":-0.02824, "alpha":0.0, "fx":[0.00276,0.00276,0.00276,0.00276], "fy":[-0.4804,-0.4804,-0.4804,-0.4804]}, - {"t":7.42036, "x":11.08884, "y":0.59748, "heading":3.14071, "vx":1.49966, "vy":0.00797, "omega":0.00094, "ax":0.00012, "ay":-0.02385, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[-0.40574,-0.40574,-0.40574,-0.40574]}, - {"t":7.46699, "x":11.15876, "y":0.59783, "heading":3.14076, "vx":1.49966, "vy":0.00686, "omega":0.00094, "ax":0.00009, "ay":-0.02027, "alpha":0.0, "fx":[0.00147,0.00147,0.00147,0.00147], "fy":[-0.34476,-0.34476,-0.34476,-0.34476]}, - {"t":7.51361, "x":11.22868, "y":0.59813, "heading":3.1408, "vx":1.49967, "vy":0.00592, "omega":0.00094, "ax":0.00006, "ay":-0.01729, "alpha":0.0, "fx":[0.00108,0.00108,0.00108,0.00108], "fy":[-0.29416,-0.29416,-0.29416,-0.29416]}, - {"t":7.56024, "x":11.29861, "y":0.59838, "heading":3.14084, "vx":1.49967, "vy":0.00511, "omega":0.00094, "ax":0.00005, "ay":-0.0148, "alpha":0.0, "fx":[0.0008,0.0008,0.0008,0.0008], "fy":[-0.25168,-0.25168,-0.25168,-0.25168]}, - {"t":7.60686, "x":11.36853, "y":0.59861, "heading":3.14089, "vx":1.49967, "vy":0.00442, "omega":0.00094, "ax":0.00003, "ay":-0.01268, "alpha":0.0, "fx":[0.00059,0.00059,0.00059,0.00059], "fy":[-0.2157,-0.2157,-0.2157,-0.2157]}, - {"t":7.65349, "x":11.43846, "y":0.5988, "heading":3.14093, "vx":1.49967, "vy":0.00383, "omega":0.00094, "ax":0.00003, "ay":-0.01088, "alpha":0.0, "fx":[0.00044,0.00044,0.00044,0.00044], "fy":[-0.18501,-0.18501,-0.18501,-0.18501]}, - {"t":7.70012, "x":11.50838, "y":0.59897, "heading":3.14098, "vx":1.49968, "vy":0.00332, "omega":0.00094, "ax":0.00002, "ay":-0.00933, "alpha":0.0, "fx":[0.00033,0.00033,0.00033,0.00033], "fy":[-0.1587,-0.1587,-0.1587,-0.1587]}, - {"t":7.74674, "x":11.5783, "y":0.59911, "heading":3.14102, "vx":1.49968, "vy":0.00289, "omega":0.00094, "ax":0.00001, "ay":-0.008, "alpha":0.0, "fx":[0.00024,0.00024,0.00024,0.00024], "fy":[-0.13604,-0.13604,-0.13604,-0.13604]}, - {"t":7.79337, "x":11.64823, "y":0.59924, "heading":3.14106, "vx":1.49968, "vy":0.00251, "omega":0.00094, "ax":0.00001, "ay":-0.00684, "alpha":0.0, "fx":[0.00018,0.00018,0.00018,0.00018], "fy":[-0.11643,-0.11643,-0.11643,-0.11643]}, - {"t":7.83999, "x":11.71815, "y":0.59935, "heading":3.14111, "vx":1.49968, "vy":0.00219, "omega":0.00094, "ax":0.00001, "ay":-0.00584, "alpha":0.0, "fx":[0.00014,0.00014,0.00014,0.00014], "fy":[-0.09939,-0.09939,-0.09939,-0.09939]}, - {"t":7.88662, "x":11.78808, "y":0.59944, "heading":3.14115, "vx":1.49968, "vy":0.00192, "omega":0.00094, "ax":0.00001, "ay":-0.00497, "alpha":0.0, "fx":[0.0001,0.0001,0.0001,0.0001], "fy":[-0.08452,-0.08452,-0.08452,-0.08452]}, - {"t":7.93325, "x":11.858, "y":0.59953, "heading":3.1412, "vx":1.49968, "vy":0.00169, "omega":0.00094, "ax":0.0, "ay":-0.0042, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[-0.07148,-0.07148,-0.07148,-0.07148]}, - {"t":7.97987, "x":11.92793, "y":0.5996, "heading":3.14124, "vx":1.49968, "vy":0.00149, "omega":0.00094, "ax":0.0, "ay":-0.00353, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[-0.05997,-0.05997,-0.05997,-0.05997]}, - {"t":8.0265, "x":11.99785, "y":0.59967, "heading":3.14128, "vx":1.49968, "vy":0.00133, "omega":0.00094, "ax":0.0, "ay":-0.00292, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[-0.04974,-0.04974,-0.04974,-0.04974]}, - {"t":8.07313, "x":12.06777, "y":0.59973, "heading":3.14133, "vx":1.49968, "vy":0.00119, "omega":0.00094, "ax":0.0, "ay":-0.00239, "alpha":0.0, "fx":[0.00003,0.00003,0.00003,0.00003], "fy":[-0.04058,-0.04058,-0.04058,-0.04058]}, - {"t":8.11975, "x":12.1377, "y":0.59978, "heading":3.14137, "vx":1.49968, "vy":0.00108, "omega":0.00094, "ax":0.0, "ay":-0.0019, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.03227,-0.03227,-0.03227,-0.03227]}, - {"t":8.16638, "x":12.20762, "y":0.59983, "heading":3.14142, "vx":1.49968, "vy":0.00099, "omega":0.00094, "ax":0.0, "ay":-0.00145, "alpha":0.0, "fx":[0.00001,0.00001,0.00002,0.00002], "fy":[-0.02464,-0.02465,-0.02465,-0.02464]}, - {"t":8.213, "x":12.27755, "y":0.59987, "heading":3.14146, "vx":1.49968, "vy":0.00093, "omega":0.00094, "ax":-0.00003, "ay":-0.00104, "alpha":-0.00022, "fx":[-0.00118,-0.00118,0.0,0.0], "fy":[-0.01707,-0.01826,-0.01826,-0.01707]}, - {"t":8.25963, "x":12.34747, "y":0.59991, "heading":3.1415, "vx":1.49968, "vy":0.00088, "omega":0.00093, "ax":-5.13365, "ay":-0.00367, "alpha":-0.01025, "fx":[-87.34057,-87.34055,-87.30333,-87.30336], "fy":[-0.02595,-0.09874,-0.09879,-0.02597]}, - {"t":8.30626, "x":12.41181, "y":0.59995, "heading":3.14155, "vx":1.26032, "vy":0.00071, "omega":0.00046, "ax":-8.99948, "ay":-0.0051, "alpha":-0.00288, "fx":[-153.07856,-153.07854,-153.07845,-153.07846], "fy":[-0.07122,-0.10209,-0.10212,-0.07124]}, - {"t":8.35288, "x":12.4608, "y":0.59998, "heading":3.14157, "vx":0.8407, "vy":0.00047, "omega":0.00032, "ax":-9.0131, "ay":-0.00505, "alpha":-0.00325, "fx":[-153.31027,-153.31025,-153.31019,-153.31021], "fy":[-0.0685,-0.10333,-0.10336,-0.06852]}, - {"t":8.39951, "x":12.4902, "y":0.59999, "heading":3.14158, "vx":0.42046, "vy":0.00023, "omega":0.00017, "ax":-9.01766, "ay":-0.00502, "alpha":-0.00366, "fx":[-153.38781,-153.38779,-153.38775,-153.38777], "fy":[-0.06581,-0.10511,-0.10514,-0.06583]}, - {"t":8.44613, "x":12.5, "y":0.6, "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":12.0, "y":0.6, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-10.82225, "ay":-0.01035, "alpha":0.00176, "fx":[-153.40278,-153.4028,-153.40282,-153.4028], "fy":[-0.1562,-0.13729,-0.13728,-0.15618]}, + {"t":0.04567, "x":11.98871, "y":0.59999, "heading":-3.14159, "vx":-0.49425, "vy":-0.00047, "omega":0.00008, "ax":-10.81725, "ay":-0.01042, "alpha":0.00222, "fx":[-153.33195,-153.33197,-153.33201,-153.33198], "fy":[-0.1596,-0.13578,-0.13576,-0.15957]}, + {"t":0.09134, "x":11.95486, "y":0.59996, "heading":-3.14159, "vx":-0.98827, "vy":-0.00095, "omega":0.00018, "ax":-10.8021, "ay":-0.01053, "alpha":0.00361, "fx":[-153.11717,-153.11721,-153.11731,-153.11728], "fy":[-0.1686,-0.12989,-0.12986,-0.16855]}, + {"t":0.13701, "x":11.89846, "y":0.5999, "heading":-3.14158, "vx":-1.48159, "vy":-0.00143, "omega":0.00035, "ax":-0.39567, "ay":-0.00201, "alpha":0.98557, "fx":[-2.96645,-2.96656,-8.25072,-8.25056], "fy":[-2.68092,2.62402,2.61735,-2.67424]}, + {"t":0.18268, "x":11.83039, "y":0.59984, "heading":-3.14156, "vx":-1.49966, "vy":-0.00152, "omega":0.04536, "ax":0.0, "ay":-0.00204, "alpha":0.70285, "fx":[1.88672,1.88663,-1.88672,-1.88659], "fy":[-1.91549,1.85784,1.85774,-1.91559]}, + {"t":0.22835, "x":11.7619, "y":0.59976, "heading":-3.13949, "vx":-1.49966, "vy":-0.00161, "omega":0.07746, "ax":0.0, "ay":-0.00278, "alpha":0.43616, "fx":[1.17328,1.16837,-1.1732,-1.16827], "fy":[-1.20778,1.13378,1.12886,-1.2127]}, + {"t":0.27402, "x":11.69341, "y":0.59969, "heading":-3.13596, "vx":-1.49966, "vy":-0.00174, "omega":0.09738, "ax":0.0, "ay":-0.0036, "alpha":0.18107, "fx":[0.48885,0.48337,-0.48873,-0.48325], "fy":[-0.53428,0.43782,0.43235,-0.53976]}, + {"t":0.31969, "x":11.62492, "y":0.5996, "heading":-3.13151, "vx":-1.49966, "vy":-0.00191, "omega":0.10564, "ax":0.00001, "ay":-0.00449, "alpha":-0.06919, "fx":[-0.18749,-0.18375,0.18766,0.18392], "fy":[0.12025,-0.25116,-0.24741,0.124]}, + {"t":0.36536, "x":11.55643, "y":0.59951, "heading":-3.12668, "vx":-1.49966, "vy":-0.00211, "omega":0.10249, "ax":0.00001, "ay":-0.00547, "alpha":-0.32129, "fx":[-0.87509,-0.84936,0.87531,0.84961], "fy":[0.7719,-0.95278,-0.92707,0.79762]}, + {"t":0.41103, "x":11.48794, "y":0.59941, "heading":-3.122, "vx":-1.49966, "vy":-0.00236, "omega":0.08781, "ax":0.00001, "ay":-0.00658, "alpha":-0.58194, "fx":[-1.59229,-1.53105,1.59256,1.5314], "fy":[1.43792,-1.68572,-1.62453,1.49912]}, + {"t":0.45669, "x":11.41945, "y":0.5993, "heading":-3.11799, "vx":-1.49966, "vy":-0.00266, "omega":0.06124, "ax":0.00001, "ay":-0.00784, "alpha":-0.85807, "fx":[-2.3569,-2.2481,2.35722,2.24862], "fy":[2.13725,-2.46816,-2.35946,2.24596]}, + {"t":0.50236, "x":11.35097, "y":0.59917, "heading":-3.1152, "vx":-1.49966, "vy":-0.00302, "omega":0.02205, "ax":0.00002, "ay":-0.00927, "alpha":-1.15697, "fx":[-3.18639,-3.02224,3.18674,3.02302], "fy":[2.89119,-3.31798,-3.15405,3.05514]}, + {"t":0.54803, "x":11.28248, "y":0.59902, "heading":-3.11419, "vx":-1.49966, "vy":-0.00344, "omega":-0.03079, "ax":0.00003, "ay":-0.01091, "alpha":-1.48645, "fx":[-4.09776,-3.87869,4.09811,3.87987], "fy":[3.72457,-4.25261,-4.03398,3.94325]}, + {"t":0.5937, "x":11.21399, "y":0.59885, "heading":-3.1156, "vx":-1.49966, "vy":-0.00394, "omega":-0.09868, "ax":0.00003, "ay":-0.01238, "alpha":-1.85503, "fx":[-5.10715,-4.84754,5.1074,4.84927], "fy":[4.67287,-5.28274,-5.02391,4.93178]}, + {"t":0.63937, "x":11.1455, "y":0.59866, "heading":-3.1201, "vx":-1.49966, "vy":-0.00451, "omega":-0.18339, "ax":-0.00004, "ay":0.01258, "alpha":-2.27212, "fx":[-6.22869,-5.9677,6.22882,5.96557], "fy":[6.14502,-6.05038,-5.78821,6.4071]}, + {"t":0.68504, "x":11.07701, "y":0.59846, "heading":-3.12848, "vx":-1.49966, "vy":-0.00393, "omega":-0.28716, "ax":0.04646, "ay":1.64522, "alpha":-2.62462, "fx":[-6.55223,-6.54583,8.07006,7.66239], "fy":[30.12584,16.35275,16.5247,30.27886]}, + {"t":0.73071, "x":11.00857, "y":0.6, "heading":3.14159, "vx":-1.49754, "vy":0.0712, "omega":-0.40703, "ax":0.21116, "ay":2.80003, "alpha":-1.56661, "fx":[-1.47066,-1.51303,7.58374,7.37269], "fy":[43.66006,35.80406,35.7245,43.57062]}, + {"t":0.76403, "x":10.95879, "y":0.60393, "heading":3.12803, "vx":-1.4905, "vy":0.1645, "omega":-0.45922, "ax":0.01283, "ay":0.11495, "alpha":-1.59618, "fx":[-4.04228,-4.16338,4.41123,4.52215], "fy":[5.97162,-2.5964,-2.71239,5.85478]}, + {"t":0.79735, "x":10.90914, "y":0.60947, "heading":3.11273, "vx":-1.49007, "vy":0.16833, "omega":-0.51241, "ax":0.0005, "ay":0.00442, "alpha":-1.42392, "fx":[-3.70322,-3.92399,3.71753,3.93799], "fy":[3.99363,-3.64774,-3.86834,3.77301]}, + {"t":0.83067, "x":10.85949, "y":0.61508, "heading":3.09566, "vx":-1.49006, "vy":0.16848, "omega":-0.55985, "ax":0.00002, "ay":0.00017, "alpha":-1.27162, "fx":[-3.25281,-3.5663,3.25336,3.56684], "fy":[3.56898,-3.25068,-3.56417,3.25549]}, + {"t":0.86399, "x":10.80984, "y":0.6207, "heading":3.077, "vx":-1.49005, "vy":0.16848, "omega":-0.60222, "ax":0.0, "ay":0.00001, "alpha":-1.13752, "fx":[-2.85,-3.24417,2.85002,3.24419], "fy":[3.24427,-2.84992,-3.24409,2.8501]}, + {"t":0.89731, "x":10.76019, "y":0.62631, "heading":3.05694, "vx":-1.49005, "vy":0.16848, "omega":-0.64012, "ax":0.0, "ay":0.0, "alpha":-1.01975, "fx":[-2.49609,-2.959,2.49609,2.959], "fy":[2.95901,-2.49609,-2.959,2.4961]}, + {"t":0.93063, "x":10.71055, "y":0.63192, "heading":3.03561, "vx":-1.49005, "vy":0.16848, "omega":-0.6741, "ax":0.0, "ay":0.0, "alpha":-0.91668, "fx":[-2.18655,-2.70716,2.18655,2.70716], "fy":[2.70716,-2.18655,-2.70716,2.18655]}, + {"t":0.96395, "x":10.6609, "y":0.63754, "heading":3.01315, "vx":-1.49005, "vy":0.16848, "omega":-0.70464, "ax":0.0, "ay":0.0, "alpha":-0.82684, "fx":[-1.91692,-2.48551,1.91692,2.48551], "fy":[2.48551,-1.91692,-2.48551,1.91692]}, + {"t":0.99727, "x":10.61125, "y":0.64315, "heading":2.98967, "vx":-1.49005, "vy":0.16848, "omega":-0.73219, "ax":0.0, "ay":0.0, "alpha":-0.74896, "fx":[-1.68303,-2.29154,1.68303,2.29154], "fy":[2.29154,-1.68303,-2.29154,1.68303]}, + {"t":1.03059, "x":10.5616, "y":0.64877, "heading":2.96527, "vx":-1.49005, "vy":0.16848, "omega":-0.75715, "ax":0.0, "ay":0.0, "alpha":-0.68193, "fx":[-1.48105,-2.12322,1.48105,2.12322], "fy":[2.12322,-1.48105,-2.12322,1.48105]}, + {"t":1.0639, "x":10.51195, "y":0.65438, "heading":2.94005, "vx":-1.49005, "vy":0.16848, "omega":-0.77987, "ax":0.0, "ay":0.0, "alpha":-0.6248, "fx":[-1.30747,-1.97895,1.30747,1.97895], "fy":[1.97895,-1.30747,-1.97895,1.30747]}, + {"t":1.09722, "x":10.46231, "y":0.65999, "heading":2.91406, "vx":-1.49005, "vy":0.16848, "omega":-0.80069, "ax":0.0, "ay":0.0, "alpha":-0.57675, "fx":[-1.15905,-1.8575,1.15905,1.8575], "fy":[1.8575,-1.15905,-1.8575,1.15905]}, + {"t":1.13054, "x":10.41266, "y":0.66561, "heading":2.88738, "vx":-1.49005, "vy":0.16848, "omega":-0.8199, "ax":0.0, "ay":0.0, "alpha":-0.53709, "fx":[-1.03282,-1.75795,1.03282,1.75795], "fy":[1.75795,-1.03282,-1.75795,1.03282]}, + {"t":1.16386, "x":10.36301, "y":0.67122, "heading":2.86006, "vx":-1.49005, "vy":0.16848, "omega":-0.8378, "ax":0.0, "ay":0.0, "alpha":-0.50526, "fx":[-0.92607,-1.67968,0.92607,1.67968], "fy":[1.67968,-0.92607,-1.67968,0.92607]}, + {"t":1.19718, "x":10.31336, "y":0.67683, "heading":2.83215, "vx":-1.49005, "vy":0.16848, "omega":-0.85463, "ax":0.0, "ay":0.0, "alpha":-0.48079, "fx":[-0.83627,-1.62232,0.83627,1.62232], "fy":[1.62232,-0.83627,-1.62232,0.83627]}, + {"t":1.2305, "x":10.26372, "y":0.68245, "heading":2.80367, "vx":-1.49005, "vy":0.16848, "omega":-0.87065, "ax":0.0, "ay":0.0, "alpha":-0.46334, "fx":[-0.76109,-1.58576,0.76109,1.58576], "fy":[1.58576,-0.76109,-1.58576,0.76109]}, + {"t":1.26382, "x":10.21407, "y":0.68806, "heading":2.77466, "vx":-1.49005, "vy":0.16848, "omega":-0.88609, "ax":0.0, "ay":0.0, "alpha":-0.45267, "fx":[-0.6983,-1.57014,0.6983,1.57014], "fy":[1.57014,-0.6983,-1.57014,0.6983]}, + {"t":1.29714, "x":10.16442, "y":0.69367, "heading":2.74514, "vx":-1.49005, "vy":0.16848, "omega":-0.90117, "ax":0.0, "ay":0.0, "alpha":-0.44861, "fx":[-0.64581,-1.57582,0.64581,1.57582], "fy":[1.57582,-0.64581,-1.57582,0.64581]}, + {"t":1.33046, "x":10.11477, "y":0.69929, "heading":2.71511, "vx":-1.49005, "vy":0.16848, "omega":-0.91612, "ax":0.0, "ay":0.0, "alpha":-0.45112, "fx":[-0.60155,-1.60341,0.60155,1.60341], "fy":[1.60341,-0.60155,-1.60341,0.60155]}, + {"t":1.36378, "x":10.06513, "y":0.7049, "heading":2.68459, "vx":-1.49005, "vy":0.16848, "omega":-0.93115, "ax":0.0, "ay":0.0, "alpha":-0.46024, "fx":[-0.5635,-1.65378,0.5635,1.65378], "fy":[1.65378,-0.5635,-1.65378,0.5635]}, + {"t":1.3971, "x":10.01548, "y":0.71052, "heading":2.65356, "vx":-1.49005, "vy":0.16848, "omega":-0.94649, "ax":0.0, "ay":0.0, "alpha":-0.4761, "fx":[-0.52957,-1.72805,0.52957,1.72805], "fy":[1.72805,-0.52957,-1.72805,0.52957]}, + {"t":1.43042, "x":9.96583, "y":0.71613, "heading":2.62203, "vx":-1.49005, "vy":0.16848, "omega":-0.96235, "ax":0.0, "ay":0.0, "alpha":-0.49895, "fx":[-0.49761,-1.82758,0.49761,1.82758], "fy":[1.82758,-0.49761,-1.82758,0.49761]}, + {"t":1.46374, "x":9.91618, "y":0.72174, "heading":2.58996, "vx":-1.49005, "vy":0.16848, "omega":-0.97898, "ax":0.0, "ay":0.0, "alpha":-0.52912, "fx":[-0.46529,-1.95402,0.46529,1.95402], "fy":[1.95402,-0.46529,-1.95402,0.46529]}, + {"t":1.49706, "x":9.86654, "y":0.72736, "heading":2.55734, "vx":-1.49005, "vy":0.16848, "omega":-0.99661, "ax":0.0, "ay":0.0, "alpha":-0.56707, "fx":[-0.4301,-2.10932,0.4301,2.10932], "fy":[2.10932,-0.4301,-2.10932,0.4301]}, + {"t":1.53038, "x":9.81689, "y":0.73297, "heading":2.52414, "vx":-1.49005, "vy":0.16848, "omega":-1.0155, "ax":0.0, "ay":0.0, "alpha":-0.61336, "fx":[-0.38921,-2.29568,0.38921,2.29568], "fy":[2.29569,-0.38921,-2.29568,0.38922]}, + {"t":1.56369, "x":9.76724, "y":0.73858, "heading":2.4903, "vx":-1.49005, "vy":0.16848, "omega":-1.03594, "ax":0.0, "ay":0.00001, "alpha":-0.66868, "fx":[-0.33939,-2.51563,0.33942,2.51566], "fy":[2.51578,-0.33927,-2.51551,0.33954]}, + {"t":1.59701, "x":9.71759, "y":0.7442, "heading":2.45579, "vx":-1.49005, "vy":0.16848, "omega":-1.05822, "ax":0.00003, "ay":0.00025, "alpha":-0.73384, "fx":[-0.27658,-2.77162,0.27739,2.77242], "fy":[2.77559,-0.27341,-2.76845,0.28056]}, + {"t":1.63033, "x":9.66795, "y":0.74981, "heading":2.42053, "vx":-1.49005, "vy":0.16849, "omega":-1.08267, "ax":0.00074, "ay":0.00657, "alpha":-0.80983, "fx":[-0.18709,-3.0574,0.20819,3.07846], "fy":[3.16102,-0.10447,-2.97483,0.29081]}, + {"t":1.66365, "x":9.6183, "y":0.75543, "heading":2.38445, "vx":-1.49003, "vy":0.16871, "omega":-1.10965, "ax":0.01971, "ay":0.17116, "alpha":-0.89731, "fx":[0.18319,-3.12662,0.37612,3.68511], "fy":[5.82923,2.33138,-0.97916,2.52342]}, + {"t":1.69697, "x":9.56866, "y":0.76115, "heading":2.34748, "vx":-1.48937, "vy":0.17441, "omega":-1.13955, "ax":0.62324, "ay":3.85998, "alpha":-0.76874, "fx":[8.74785,5.54976,8.93017,12.10941], "fy":[57.25772,54.86939,52.14463,54.58552]}, + {"t":1.73029, "x":9.51938, "y":0.7691, "heading":2.30951, "vx":-1.46861, "vy":0.30303, "omega":-1.16516, "ax":3.23055, "ay":9.76065, "alpha":-0.05799, "fx":[45.69214,45.4075,45.89313,46.17637], "fy":[138.41041,138.47583,138.29962,138.23375]}, + {"t":1.76361, "x":9.47224, "y":0.78462, "heading":2.27069, "vx":-1.36097, "vy":0.62824, "omega":-1.16709, "ax":5.23787, "ay":8.87366, "alpha":-0.04098, "fx":[74.14212,74.01204,74.34955,74.4787], "fy":[125.85869,125.91236,125.70528,125.65178]}, + {"t":1.79336, "x":9.43407, "y":0.80724, "heading":2.23596, "vx":-1.20512, "vy":0.89227, "omega":-1.16831, "ax":3.47744, "ay":4.20137, "alpha":-0.38654, "fx":[49.11893,47.71667,49.47589,50.8559], "fy":[60.89146,60.08972,58.20349,59.02885]}, + {"t":1.82312, "x":9.39975, "y":0.83564, "heading":2.2012, "vx":-1.10165, "vy":1.01727, "omega":-1.17981, "ax":0.25971, "ay":0.27914, "alpha":-0.48065, "fx":[3.96118,1.87779,3.40225,5.48434], "fy":[5.75835,4.24136,2.15384,3.6736]}, + {"t":1.85287, "x":9.36709, "y":0.86603, "heading":2.1661, "vx":-1.09393, "vy":1.02558, "omega":-1.19412, "ax":0.01365, "ay":0.01456, "alpha":-0.32035, "fx":[0.4233,-1.00071,-0.03627,1.3877], "fy":[1.40051,0.43613,-0.9879,-0.02346]}, + {"t":1.88262, "x":9.33455, "y":0.89656, "heading":2.13057, "vx":-1.09352, "vy":1.02601, "omega":-1.20365, "ax":0.00071, "ay":0.00076, "alpha":-0.16264, "fx":[0.14824,-0.59164,-0.12801,0.61187], "fy":[0.61254,0.14891,-0.59097,-0.12734]}, + {"t":1.91238, "x":9.30201, "y":0.92708, "heading":2.09476, "vx":-1.0935, "vy":1.02604, "omega":-1.20849, "ax":0.00004, "ay":0.00004, "alpha":-0.00685, "fx":[0.00725,-0.02457,-0.00619,0.02563], "fy":[0.02567,0.00728,-0.02454,-0.00615]}, + {"t":1.94213, "x":9.26947, "y":0.95761, "heading":2.0588, "vx":-1.0935, "vy":1.02604, "omega":-1.20869, "ax":0.0, "ay":0.0, "alpha":0.14886, "fx":[-0.16557,0.54033,0.16562,-0.54027], "fy":[-0.54027,-0.16556,0.54033,0.16562]}, + {"t":1.97189, "x":9.23694, "y":0.98814, "heading":2.02284, "vx":-1.0935, "vy":1.02604, "omega":-1.20426, "ax":0.0, "ay":0.0, "alpha":0.30632, "fx":[-0.3805,1.09883,0.38051,-1.09883], "fy":[-1.09883,-0.3805,1.09883,0.38051]}, + {"t":2.00164, "x":9.2044, "y":1.01867, "heading":1.987, "vx":-1.0935, "vy":1.02604, "omega":-1.19515, "ax":0.0, "ay":0.0, "alpha":0.46738, "fx":[-0.64026,1.65471,0.64026,-1.65471], "fy":[-1.65471,-0.64026,1.65471,0.64026]}, + {"t":2.03139, "x":9.17187, "y":1.0492, "heading":1.95144, "vx":-1.0935, "vy":1.02604, "omega":-1.18124, "ax":0.0, "ay":0.0, "alpha":0.63393, "fx":[-0.94766,2.21208,0.94766,-2.21208], "fy":[-2.21208,-0.94766,2.21208,0.94766]}, + {"t":2.06115, "x":9.13933, "y":1.07973, "heading":1.9163, "vx":-1.0935, "vy":1.02604, "omega":-1.16238, "ax":0.0, "ay":0.0, "alpha":0.80792, "fx":[-1.30608,2.77504,1.30608,-2.77504], "fy":[-2.77504,-1.30608,2.77504,1.30608]}, + {"t":2.0909, "x":9.1068, "y":1.11025, "heading":1.88171, "vx":-1.0935, "vy":1.02604, "omega":-1.13834, "ax":0.0, "ay":0.0, "alpha":0.99136, "fx":[-1.71942,3.34768,1.71942,-3.34768], "fy":[-3.34768,-1.71942,3.34768,1.71942]}, + {"t":2.12065, "x":9.07426, "y":1.14078, "heading":1.84784, "vx":-1.0935, "vy":1.02604, "omega":-1.10884, "ax":0.0, "ay":0.0, "alpha":1.18637, "fx":[-2.19212,3.93421,2.19212,-3.93421], "fy":[-3.93421,-2.19212,3.93421,2.19212]}, + {"t":2.15041, "x":9.04173, "y":1.17131, "heading":1.81485, "vx":-1.0935, "vy":1.02604, "omega":-1.07354, "ax":0.0, "ay":0.0, "alpha":1.39515, "fx":[-2.72911,4.53901,2.72911,-4.53901], "fy":[-4.53901,-2.72911,4.53901,2.72911]}, + {"t":2.18016, "x":9.00919, "y":1.20184, "heading":1.78291, "vx":-1.0935, "vy":1.02604, "omega":-1.03203, "ax":0.0, "ay":0.0, "alpha":1.62005, "fx":[-3.33574,5.1668,3.33575,-5.16679], "fy":[-5.16679,-3.33574,5.1668,3.33575]}, + {"t":2.20992, "x":8.97665, "y":1.23237, "heading":1.7522, "vx":-1.0935, "vy":1.02604, "omega":-0.98383, "ax":0.00001, "ay":0.00001, "alpha":1.86354, "fx":[-4.01768,5.82283,4.01786,-5.82266], "fy":[-5.82265,-4.01768,5.82284,4.01786]}, + {"t":2.23967, "x":8.94412, "y":1.2629, "heading":1.72293, "vx":-1.0935, "vy":1.02604, "omega":-0.92838, "ax":0.00012, "ay":0.00012, "alpha":2.12826, "fx":[-4.7795,6.51439,4.78282,-6.51106], "fy":[-6.51096,-4.77938,6.51449,4.78294]}, + {"t":2.26942, "x":8.91158, "y":1.29342, "heading":1.69531, "vx":-1.09349, "vy":1.02604, "omega":-0.86506, "ax":0.00223, "ay":0.00238, "alpha":2.41699, "fx":[-5.60051,7.2752,5.66353,-7.21182], "fy":[-7.20997,-5.59821,7.27704,5.66584]}, + {"t":2.29918, "x":8.87905, "y":1.32395, "heading":1.66957, "vx":-1.09343, "vy":1.02611, "omega":-0.79315, "ax":0.04233, "ay":0.04505, "alpha":2.73254, "fx":[-5.97803,8.62515,7.17338,-7.42051], "fy":[-7.38706,-5.93437,8.65767,7.21803]}, + {"t":2.32893, "x":8.84653, "y":1.3545, "heading":1.64597, "vx":-1.09217, "vy":1.02745, "omega":-0.71184, "ax":0.80274, "ay":0.83385, "alpha":3.00941, "fx":[3.97128,20.18103,18.68002,2.68252], "fy":[3.17466,4.34653,20.32462,19.43263]}, + {"t":2.35868, "x":8.81439, "y":1.38544, "heading":1.62479, "vx":-1.06828, "vy":1.05226, "omega":-0.6223, "ax":6.46272, "ay":5.53625, "alpha":0.82252, "fx":[91.16508,94.95582,92.10498,88.2041], "fy":[77.1983,74.77901,79.74397,82.17909]}, + {"t":2.38844, "x":8.78547, "y":1.4192, "heading":1.60627, "vx":-0.87599, "vy":1.21699, "omega":-0.59783, "ax":9.14084, "ay":5.22169, "alpha":0.1107, "fx":[129.6717,129.96088,129.46936,129.17481], "fy":[73.79349,73.34277,74.23751,74.69084]}, + {"t":2.41819, "x":8.76345, "y":1.45772, "heading":1.58849, "vx":-0.60402, "vy":1.37235, "omega":-0.59454, "ax":10.21416, "ay":3.26143, "alpha":0.0436, "fx":[144.82788,144.87234,144.73896,144.69379], "fy":[46.08085,45.95589,46.3787,46.50465]}, + {"t":2.44794, "x":8.75, "y":1.5, "heading":1.5708, "vx":-0.30011, "vy":1.46939, "omega":-0.59324, "ax":3.26049, "ay":10.28706, "alpha":0.02067, "fx":[46.14782,46.34888,46.28534,46.0845], "fy":[145.83786,145.77435,145.79537,145.85871]}, + {"t":2.49115, "x":8.74008, "y":1.5731, "heading":1.54516, "vx":-0.15923, "vy":1.9139, "omega":-0.59235, "ax":7.42156, "ay":1.83088, "alpha":1.57079, "fx":[103.79836,108.43471,106.72625,101.8361], "fy":[20.82741,18.97945,30.67524,33.32695]}, + {"t":2.53437, "x":8.74012, "y":1.65751, "heading":1.51957, "vx":0.16146, "vy":1.99301, "omega":-0.52447, "ax":-3.04425, "ay":0.14593, "alpha":3.35721, "fx":[-51.9114,-35.37871,-34.35786,-50.95814], "fy":[-6.8986,-8.39804,11.67623,11.89427]}, + {"t":2.57758, "x":8.74426, "y":1.74376, "heading":1.4969, "vx":0.02992, "vy":1.99931, "omega":-0.37941, "ax":-0.23438, "ay":0.00291, "alpha":3.29569, "fx":[-12.79067,4.84015,6.15193,-11.49079], "fy":[-8.11024,-9.46058,8.23661,9.49946]}, + {"t":2.62079, "x":8.74533, "y":1.83015, "heading":1.48051, "vx":0.01979, "vy":1.99944, "omega":-0.237, "ax":-0.10122, "ay":0.00089, "alpha":2.75639, "fx":[-9.46901,5.26524,6.60168,-8.13713], "fy":[-6.68319,-8.03067,6.72159,8.04279]}, + {"t":2.664, "x":8.74609, "y":1.91655, "heading":1.47027, "vx":0.01542, "vy":1.99948, "omega":-0.11789, "ax":-0.07713, "ay":0.00053, "alpha":2.28947, "fx":[-7.82369,4.40363,5.63846,-6.59157], "fy":[-5.48721,-6.72767,5.50912,6.73583]}, + {"t":2.70721, "x":8.74669, "y":2.00295, "heading":1.46518, "vx":0.01208, "vy":1.9995, "omega":-0.01896, "ax":-0.06302, "ay":0.00034, "alpha":1.88523, "fx":[-6.4586,3.60499,4.67277,-5.39241], "fy":[-4.49232,-5.56317,4.5057,5.56895]}, + {"t":2.75042, "x":8.74715, "y":2.08935, "heading":1.46436, "vx":0.00936, "vy":1.99952, "omega":0.0625, "ax":-0.05319, "ay":0.00022, "alpha":1.53316, "fx":[-5.2831,2.90067,3.77555,-4.40911], "fy":[-3.65091,-4.52751,3.65923,4.53158]}, + {"t":2.79363, "x":8.74751, "y":2.17575, "heading":1.46706, "vx":0.00706, "vy":1.99953, "omega":0.12875, "ax":-0.04624, "ay":0.00014, "alpha":1.22384, "fx":[-4.26299,2.2717,2.95232,-3.58285], "fy":[-2.92481,-3.60638,2.92996,3.60918]}, + {"t":2.83684, "x":8.74777, "y":2.26215, "heading":1.47262, "vx":0.00507, "vy":1.99953, "omega":0.18163, "ax":-0.04146, "ay":0.00009, "alpha":0.94884, "fx":[-3.37192,1.69733,2.19675,-2.87274], "fy":[-2.28356,-2.7835,2.28664,2.78532]}, + {"t":2.88005, "x":8.74795, "y":2.34855, "heading":1.48047, "vx":0.00327, "vy":1.99954, "omega":0.22263, "ax":-0.03844, "ay":0.00005, "alpha":0.70054, "fx":[-2.58732,1.15822,1.49753,-2.24812], "fy":[-1.70239,-2.04197,1.70404,2.04298]}, + {"t":2.92326, "x":8.74805, "y":2.43495, "heading":1.49009, "vx":0.00161, "vy":1.99954, "omega":0.2529, "ax":-0.03698, "ay":0.00002, "alpha":0.47203, "fx":[-1.88925,0.63662,0.84094,-1.68497], "fy":[-1.16054,-1.36499,1.1611,1.36527]}, + {"t":2.96647, "x":8.74809, "y":2.52135, "heading":1.50102, "vx":0.00001, "vy":1.99954, "omega":0.2733, "ax":-0.03697, "ay":-0.00001, "alpha":0.25687, "fx":[-1.2599,0.11579,0.21195,-1.16375], "fy":[-0.63997,-0.73617,0.6396,0.73572]}, + {"t":3.00968, "x":8.74806, "y":2.60775, "heading":1.51282, "vx":-0.00158, "vy":1.99954, "omega":0.2844, "ax":-0.0384, "ay":-0.00005, "alpha":0.04899, "fx":[-0.68325,-0.42066,-0.40542,-0.66801], "fy":[-0.12433,-0.13958,0.12302,0.13826]}, + {"t":3.05289, "x":8.74795, "y":2.69415, "heading":1.52511, "vx":-0.00324, "vy":1.99954, "omega":0.28651, "ax":-0.04139, "ay":-0.00009, "alpha":-0.1575, "fx":[-0.145,-0.98964,-1.02825,-0.18361], "fy":[0.40182,0.44042,-0.40423,-0.44286]}, + {"t":3.0961, "x":8.74777, "y":2.78055, "heading":1.53749, "vx":-0.00503, "vy":1.99953, "omega":0.27971, "ax":-0.04613, "ay":-0.00014, "alpha":-0.36845, "fx":[0.36748,-1.60945,-1.6753,0.30161], "fy":[0.95365,1.0194,-0.95748,-1.02345]}, + {"t":3.13931, "x":8.74751, "y":2.86695, "heading":1.54958, "vx":-0.00702, "vy":1.99953, "omega":0.26379, "ax":-0.05304, "ay":-0.00022, "alpha":-0.58982, "fx":[0.86467,-2.3011,-2.36826,0.79748], "fy":[1.54646,1.61331,-1.55228,-1.61978]}, + {"t":3.18252, "x":8.74716, "y":2.95335, "heading":1.56098, "vx":-0.00932, "vy":1.99952, "omega":0.2383, "ax":-0.0628, "ay":-0.00034, "alpha":-0.82786, "fx":[1.35373,-3.09042,-3.13403,1.31008], "fy":[2.19602,2.23891,-2.20477,-2.24916]}, + {"t":3.22573, "x":8.7467, "y":3.03975, "heading":1.57128, "vx":-0.01203, "vy":1.9995, "omega":0.20253, "ax":-0.0767, "ay":-0.00052, "alpha":-1.08922, "fx":[1.835,-4.01236,-4.00954,1.8378], "fy":[2.91872,2.91434,-2.93202,-2.9308]}, + {"t":3.26894, "x":8.74611, "y":3.12615, "heading":1.58003, "vx":-0.01534, "vy":1.99948, "omega":0.15546, "ax":-0.09743, "ay":-0.00085, "alpha":-1.38114, "fx":[2.2916,-5.12228,-5.05386,2.36008], "fy":[3.73134,3.65968,-3.75221,-3.687]}, + {"t":3.31215, "x":8.74535, "y":3.21255, "heading":1.58674, "vx":-0.01955, "vy":1.99944, "omega":0.09578, "ax":-0.13247, "ay":-0.00148, "alpha":-1.71151, "fx":[2.64189,-6.54393,-6.39753,2.78857], "fy":[4.64994,4.49669,-4.6853,-4.54551]}, + {"t":3.35536, "x":8.74438, "y":3.29895, "heading":1.59088, "vx":-0.02528, "vy":1.99938, "omega":0.02183, "ax":-0.23273, "ay":-0.00353, "alpha":-2.08835, "fx":[2.1904,-9.0133,-8.7885,2.41608], "fy":[5.67864,5.4359,-5.76103,-5.55349]}, + {"t":3.39857, "x":8.74307, "y":3.38534, "heading":1.59183, "vx":-0.03533, "vy":1.99923, "omega":-0.06841, "ax":-1.32823, "ay":-0.0426, "alpha":-2.45148, "fx":[-12.4909,-25.44894,-25.16527,-12.20405], "fy":[6.27894,5.87023,-7.34616,-7.21836]}, + {"t":3.44178, "x":8.74031, "y":3.47168, "heading":1.58887, "vx":-0.09273, "vy":1.99739, "omega":-0.17434, "ax":3.97619, "ay":-4.49043, "alpha":-1.61047, "fx":[62.1398,53.04497,50.6645,59.59697], "fy":[-58.12859,-60.89741,-69.18123,-66.39581]}, + {"t":3.48499, "x":8.74001, "y":3.5538, "heading":1.58134, "vx":0.07909, "vy":1.80335, "omega":-0.24393, "ax":7.03731, "ay":-8.19231, "alpha":-0.01071, "fx":[99.81351,99.74681,99.69099,99.75771], "fy":[-116.07136,-116.1284,-116.17666,-116.11966]}, + {"t":3.5282, "x":8.75, "y":3.62407, "heading":1.5708, "vx":0.38317, "vy":1.44936, "omega":-0.24439, "ax":10.08086, "ay":-3.85742, "alpha":-0.00896, "fx":[142.91602,142.9035,142.8716,142.88416], "fy":[-54.6203,-54.65216,-54.73582,-54.70393]}, + {"t":3.55749, "x":8.76554, "y":3.66487, "heading":1.56364, "vx":0.6784, "vy":1.33639, "omega":-0.24465, "ax":9.04561, "ay":-5.84315, "alpha":-0.01527, "fx":[128.28054,128.23244,128.15817,128.20637], "fy":[-82.73083,-82.80387,-82.91973,-82.84667]}, + {"t":3.58677, "x":8.78929, "y":3.7015, "heading":1.55647, "vx":0.9433, "vy":1.16527, "omega":-0.2451, "ax":7.57503, "ay":-7.56453, "alpha":-0.03163, "fx":[107.54192,107.37489,107.20651,107.37381], "fy":[-107.05744,-107.22094,-107.3932,-107.22993]}, + {"t":3.61606, "x":8.82016, "y":3.73238, "heading":1.5493, "vx":1.16515, "vy":0.94374, "omega":-0.24603, "ax":5.72017, "ay":-8.75558, "alpha":-0.09714, "fx":[81.66585,80.95859,80.49833,81.20514], "fy":[-123.72052,-124.16044,-124.49428,-124.05806]}, + {"t":3.64535, "x":8.85674, "y":3.75626, "heading":1.54209, "vx":1.33267, "vy":0.68732, "omega":-0.24887, "ax":2.97765, "ay":-7.00706, "alpha":-0.9648, "fx":[46.72878,39.72374,37.79071,44.58695], "fy":[-96.69375,-98.4985,-101.89303,-100.20838]}, + {"t":3.67463, "x":8.89704, "y":3.77339, "heading":1.5348, "vx":1.41987, "vy":0.48212, "omega":-0.27713, "ax":0.25716, "ay":-0.77765, "alpha":-2.90132, "fx":[11.8261,-3.9204,-4.42518,11.10027], "fy":[-3.54993,-3.00006,-18.54034,-19.0019]}, + {"t":3.70392, "x":8.93874, "y":3.78717, "heading":1.52669, "vx":1.4274, "vy":0.45934, "omega":-0.36209, "ax":0.01387, "ay":-0.04318, "alpha":-3.06049, "fx":[8.76987,-7.65185,-8.36976,8.03837], "fy":[7.23158,7.95879,-8.45853,-9.18]}, + {"t":3.7332, "x":8.98055, "y":3.80061, "heading":1.51608, "vx":1.42781, "vy":0.45808, "omega":-0.45172, "ax":0.00076, "ay":-0.00238, "alpha":-3.2198, "fx":[9.11374,-8.14678,-9.09168,8.16801], "fy":[8.12357,9.06907,-8.19122,-9.13635]}, + {"t":3.76249, "x":9.02236, "y":3.81402, "heading":1.50285, "vx":1.42783, "vy":0.45801, "omega":-0.54602, "ax":0.00004, "ay":-0.00013, "alpha":-3.41378, "fx":[9.7653,-8.51984,-9.76408,8.52101], "fy":[8.51856,9.76283,-8.52229,-9.76654]}, + {"t":3.79178, "x":9.06418, "y":3.82743, "heading":1.48686, "vx":1.42783, "vy":0.458, "omega":-0.64599, "ax":0.0, "ay":-0.00001, "alpha":-3.64448, "fx":[10.56872,-8.92834,-10.56865,8.9284], "fy":[8.92827,10.56858,-8.92847,-10.56879]}, + {"t":3.82106, "x":9.10599, "y":3.84085, "heading":1.46794, "vx":1.42783, "vy":0.458, "omega":-0.75272, "ax":0.0, "ay":0.0, "alpha":-3.91418, "fx":[11.53014,-9.37263,-11.53014,9.37263], "fy":[9.37263,11.53014,-9.37264,-11.53015]}, + {"t":3.85035, "x":9.14781, "y":3.85426, "heading":1.4459, "vx":1.42783, "vy":0.458, "omega":-0.86735, "ax":0.0, "ay":0.0, "alpha":-4.22547, "fx":[12.66714,-9.84122,-12.66714,9.84122], "fy":[9.84122,12.66714,-9.84122,-12.66714]}, + {"t":3.87963, "x":9.18962, "y":3.86767, "heading":1.4205, "vx":1.42783, "vy":0.458, "omega":-0.9911, "ax":0.0, "ay":0.0, "alpha":-4.58132, "fx":[14.00046,-10.31772,-14.00046,10.31772], "fy":[10.31772,14.00046,-10.31773,-14.00046]}, + {"t":3.90892, "x":9.23144, "y":3.88109, "heading":1.39147, "vx":1.42783, "vy":0.458, "omega":-1.12527, "ax":0.0, "ay":0.0, "alpha":-4.98497, "fx":[15.55343,-10.77997,-15.55343,10.77997], "fy":[10.77997,15.55343,-10.77998,-15.55343]}, + {"t":3.9382, "x":9.27325, "y":3.8945, "heading":1.35852, "vx":1.42783, "vy":0.458, "omega":-1.27126, "ax":0.0, "ay":0.0, "alpha":-5.44001, "fx":[17.35158,-11.19837,-17.35158,11.19837], "fy":[11.19837,17.35158,-11.19837,-17.35158]}, + {"t":3.96749, "x":9.31507, "y":3.90791, "heading":1.32129, "vx":1.42783, "vy":0.458, "omega":-1.43057, "ax":0.0, "ay":0.0, "alpha":-5.95029, "fx":[19.42193,-11.53386,-19.42192,11.53387], "fy":[11.53384,19.4219,-11.53389,-19.42195]}, + {"t":3.99678, "x":9.35688, "y":3.92132, "heading":1.27939, "vx":1.42783, "vy":0.458, "omega":-1.60483, "ax":0.00001, "ay":-0.00003, "alpha":-6.51987, "fx":[21.79184,-11.73539,-21.79156,11.73564], "fy":[11.7351,21.7913,-11.73593,-21.7921]}, + {"t":4.02606, "x":9.3987, "y":3.93474, "heading":1.2324, "vx":1.42783, "vy":0.458, "omega":-1.79577, "ax":0.00016, "ay":-0.0005, "alpha":-7.153, "fx":[24.48872,-11.73556,-24.48395,11.73981], "fy":[11.73046,24.4795,-11.74491,-24.49318]}, + {"t":4.05535, "x":9.44051, "y":3.94815, "heading":1.1798, "vx":1.42783, "vy":0.45799, "omega":-2.00525, "ax":0.00272, "ay":-0.00849, "alpha":-7.85398, "fx":[27.56708,-11.42044,-27.48548,11.49324], "fy":[11.33224,27.41011,-11.58146,-27.64237]}, + {"t":4.08463, "x":9.48233, "y":3.96156, "heading":1.12108, "vx":1.42791, "vy":0.45774, "omega":-2.23526, "ax":0.04571, "ay":-0.14333, "alpha":-8.62393, "fx":[31.59862,-10.16934,-30.23396,11.39646], "fy":[8.66362,28.96472,-12.90806,-32.84667]}, + {"t":4.11392, "x":9.52417, "y":3.9749, "heading":1.05562, "vx":1.42925, "vy":0.45354, "omega":-2.48782, "ax":0.67318, "ay":-2.30846, "alpha":-8.62303, "fx":[42.77892,0.89262,-23.02542,17.52258], "fy":[-24.86579,-1.2257,-43.18564,-61.61009]}, + {"t":4.1432, "x":9.56631, "y":3.9872, "heading":0.98276, "vx":1.44897, "vy":0.38594, "omega":-2.74035, "ax":1.56638, "ay":-9.46627, "alpha":-1.32846, "fx":[31.07662,21.72709,13.33223,22.67626], "fy":[-132.57749,-133.26345,-135.58863,-135.2989]}, + {"t":4.17249, "x":9.60942, "y":3.99444, "heading":0.90251, "vx":1.49484, "vy":0.10871, "omega":-2.77926, "ax":0.02321, "ay":-9.76339, "alpha":-0.78049, "fx":[5.68534,-0.30952,-4.98511,0.92502], "fy":[-138.28121,-137.8796,-138.43489,-138.97915]}, + {"t":4.19478, "x":9.64274, "y":3.99444, "heading":0.84056, "vx":1.49536, "vy":-0.1089, "omega":-2.79665, "ax":-0.59837, "ay":-5.30501, "alpha":-3.99454, "fx":[10.41116,-10.64051,-26.83318,-6.86468], "fy":[-75.66352,-63.24663,-75.31685,-86.56175]}, + {"t":4.21707, "x":9.67592, "y":3.99069, "heading":0.77823, "vx":1.48202, "vy":-0.22714, "omega":-2.88569, "ax":-0.12376, "ay":-0.77722, "alpha":-5.64679, "fx":[19.81521,-1.66748,-23.2598,-1.90483], "fy":[-11.41766,10.52941,-11.04035,-32.13884]}, + {"t":4.23936, "x":9.70892, "y":3.98544, "heading":0.71391, "vx":1.47926, "vy":-0.24446, "omega":-3.01155, "ax":-0.0147, "ay":-0.0886, "alpha":-4.93306, "fx":[18.47228,1.12845,-18.8883,-1.5461], "fy":[-2.61283,17.44089,0.06304,-19.9149]}, + {"t":4.26164, "x":9.74189, "y":3.97997, "heading":0.64679, "vx":1.47893, "vy":-0.24644, "omega":-3.1215, "ax":-0.00166, "ay":-0.00998, "alpha":-4.19124, "fx":[15.73448,2.17495,-15.78198,-2.22175], "fy":[-2.3413,15.61832,2.05541,-15.89808]}, + {"t":4.28393, "x":9.77485, "y":3.97447, "heading":0.57721, "vx":1.4789, "vy":-0.24666, "omega":-3.21491, "ax":-0.00019, "ay":-0.00111, "alpha":-3.47545, "fx":[12.90598,2.72428,-12.91129,-2.72948], "fy":[-2.74274,12.89301,2.71102,-12.92426]}, + {"t":4.30622, "x":9.80781, "y":3.96897, "heading":0.50556, "vx":1.47889, "vy":-0.24669, "omega":-3.29237, "ax":-0.00002, "ay":-0.00012, "alpha":-2.78296, "fx":[10.15344,2.91771,-10.15401,-2.91826], "fy":[-2.91966,10.15206,2.91631,-10.15539]}, + {"t":4.32851, "x":9.84078, "y":3.96347, "heading":0.43218, "vx":1.47889, "vy":-0.24669, "omega":-3.3544, "ax":0.0, "ay":-0.00001, "alpha":-2.10988, "fx":[7.51505,2.77066,-7.51509,-2.7707], "fy":[-2.7708,7.51496,2.77057,-7.51519]}, + {"t":4.3508, "x":9.87374, "y":3.95798, "heading":0.35741, "vx":1.47889, "vy":-0.24669, "omega":-3.40143, "ax":0.0, "ay":0.0, "alpha":-1.45189, "fx":[5.01456,2.28757,-5.01455,-2.28756], "fy":[-2.28754,5.01459,2.2876,-5.01452]}, + {"t":4.37309, "x":9.9067, "y":3.95248, "heading":0.2816, "vx":1.47889, "vy":-0.24669, "omega":-3.43379, "ax":0.0, "ay":0.0, "alpha":-0.80439, "fx":[2.67422,1.47415,-2.67422,-1.47415], "fy":[-1.47414,2.67424,1.47417,-2.67421]}, + {"t":4.39538, "x":9.93966, "y":3.94698, "heading":0.20507, "vx":1.47889, "vy":-0.24669, "omega":-3.45172, "ax":0.0, "ay":0.0, "alpha":-0.16259, "fx":[0.51617,0.33842,-0.51618,-0.33843], "fy":[-0.33845,0.51615,0.3384,-0.5162]}, + {"t":4.41766, "x":9.97263, "y":3.94148, "heading":0.12813, "vx":1.47889, "vy":-0.24669, "omega":-3.45534, "ax":0.0, "ay":0.0, "alpha":0.47833, "fx":[-1.43754,-1.1094,1.43751,1.10938], "fy":[1.10932,-1.43759,-1.10946,1.43746]}, + {"t":4.43995, "x":10.00559, "y":3.93598, "heading":0.05112, "vx":1.47889, "vy":-0.24669, "omega":-3.44468, "ax":0.0, "ay":-0.00001, "alpha":1.12316, "fx":[-3.16505,-2.85695,3.16501,2.85691], "fy":[2.8568,-3.16515,-2.85705,3.1649]}, + {"t":4.46224, "x":10.03855, "y":3.93048, "heading":-0.02566, "vx":1.47889, "vy":-0.24669, "omega":-3.41965, "ax":0.0, "ay":-0.00003, "alpha":1.77659, "fx":[-4.64508,-4.88978,4.64495,4.88965], "fy":[4.88932,-4.64541,-4.89011,4.64462]}, + {"t":4.48453, "x":10.07151, "y":3.92499, "heading":-0.10188, "vx":1.47889, "vy":-0.24669, "omega":-3.38005, "ax":-0.00003, "ay":-0.00019, "alpha":2.44312, "fx":[-5.85761,-7.19153,5.85669,7.19064], "fy":[7.18836,-5.85988,-7.19381,5.85443]}, + {"t":4.50682, "x":10.10447, "y":3.91949, "heading":-0.17721, "vx":1.47889, "vy":-0.24669, "omega":-3.3256, "ax":-0.00028, "ay":-0.00167, "alpha":3.12701, "fx":[-6.7868,-9.74599,6.7786,9.73836], "fy":[9.71847,-6.80645,-9.76587,6.75895]}, + {"t":4.52911, "x":10.13744, "y":3.91399, "heading":-0.25134, "vx":1.47889, "vy":-0.24673, "omega":-3.2559, "ax":-0.0025, "ay":-0.01496, "alpha":3.83215, "fx":[-7.4425,-12.55542,7.36805,12.48828], "fy":[12.31044,-7.61788,-12.73318,7.19257]}, + {"t":4.55139, "x":10.1704, "y":3.90848, "heading":-0.32391, "vx":1.47883, "vy":-0.24707, "omega":-3.17049, "ax":-0.02239, "ay":-0.13317, "alpha":4.56069, "fx":[-8.0503,-15.79979,7.37244,15.20831], "fy":[13.62383,-9.60638,-17.37671,5.80841]}, + {"t":4.57368, "x":10.20335, "y":3.90295, "heading":-0.39457, "vx":1.47833, "vy":-0.25003, "omega":-3.06884, "ax":-0.20724, "ay":-1.16289, "alpha":5.19678, "fx":[-10.84674,-21.11795,4.51228,15.70212], "fy":[1.74257,-23.99095,-34.39883,-9.28738]}, + {"t":4.59597, "x":10.23625, "y":3.89708, "heading":-0.46297, "vx":1.47371, "vy":-0.27595, "omega":-2.95301, "ax":-1.5485, "ay":-6.47618, "alpha":2.79376, "fx":[-28.72668,-34.26931,-16.24441,-8.55806], "fy":[-84.40441,-92.46004,-98.90451,-91.42408]}, + {"t":4.61826, "x":10.26871, "y":3.88932, "heading":-0.52879, "vx":1.4392, "vy":-0.4203, "omega":-2.89074, "ax":-3.51445, "ay":-9.3712, "alpha":0.55968, "fx":[-51.90334,-52.8433,-47.82342,-46.69591], "fy":[-131.78824,-131.88411,-133.86066,-133.80516]}, + {"t":4.64055, "x":10.29992, "y":3.87763, "heading":-0.59322, "vx":1.36087, "vy":-0.62917, "omega":-2.87826, "ax":-5.16216, "ay":-9.18792, "alpha":0.2186, "fx":[-74.07508,-74.25224,-72.28499,-72.07734], "fy":[-129.69138,-129.66211,-130.77471,-130.81813]}, + {"t":4.66284, "x":10.32897, "y":3.86132, "heading":-0.65737, "vx":1.24581, "vy":-0.83395, "omega":-2.87339, "ax":-6.63791, "ay":-8.3739, "alpha":0.12022, "fx":[-94.59287,-94.58668,-93.59276,-93.59076], "fy":[-118.28901,-118.31614,-119.10364,-119.08317]}, + {"t":4.68513, "x":10.35509, "y":3.84066, "heading":-0.72141, "vx":1.09786, "vy":-1.02059, "omega":-2.87071, "ax":-7.95681, "ay":-7.22033, "alpha":0.07882, "fx":[-113.0962,-113.03659,-112.47678,-112.53375], "fy":[-101.99975,-102.07591,-102.69131,-102.61881]}, + {"t":4.70741, "x":10.37758, "y":3.81612, "heading":-0.7854, "vx":0.92052, "vy":-1.18152, "omega":-2.86896, "ax":-9.08467, "ay":-5.76232, "alpha":0.07841, "fx":[-129.03894,-128.94518,-128.50777,-128.60014], "fy":[-81.25571,-81.41489,-82.10126,-81.94607]}, + {"t":4.73561, "x":10.39993, "y":3.78051, "heading":-0.8663, "vx":0.66433, "vy":-1.34402, "omega":-2.86675, "ax":-10.00027, "ay":-3.75227, "alpha":0.14843, "fx":[-142.09833,-141.93095,-141.40432,-141.57201], "fy":[-52.24041,-52.75275,-54.12795,-53.62897]}, + {"t":4.76381, "x":10.41468, "y":3.74111, "heading":-0.94714, "vx":0.38233, "vy":-1.44983, "omega":-2.86256, "ax":-10.23856, "ay":-1.65605, "alpha":0.42127, "fx":[-145.54352,-145.41671,-144.69865,-144.85772], "fy":[-20.57708,-22.55578,-26.33132,-24.43224]}, + {"t":4.79201, "x":10.42139, "y":3.69957, "heading":-1.02786, "vx":0.09361, "vy":-1.49653, "omega":-2.85068, "ax":-6.931, "ay":0.01856, "alpha":3.63616, "fx":[-96.24594,-106.16833,-100.26315,-90.30342], "fy":[19.62294,4.46737,-18.06073,-4.97753]}, + {"t":4.82021, "x":10.42128, "y":3.65738, "heading":-1.10825, "vx":-0.10184, "vy":-1.49601, "omega":-2.74814, "ax":-0.71815, "ay":0.05375, "alpha":7.72165, "fx":[-1.21653,-37.55208,-19.76048,17.81092], "fy":[28.87895,9.88909,-26.95199,-8.76823]}, + {"t":4.84841, "x":10.41812, "y":3.61521, "heading":-1.18575, "vx":-0.12209, "vy":-1.49449, "omega":-2.5304, "ax":-0.04649, "ay":0.00382, "alpha":7.15615, "fx":[9.91309,-25.66093,-11.26212,24.37427], "fy":[25.0863,10.62837,-24.95078,-10.54742]}, + {"t":4.87661, "x":10.41466, "y":3.57307, "heading":-1.2571, "vx":-0.1234, "vy":-1.49438, "omega":-2.3286, "ax":-0.00297, "ay":0.00025, "alpha":6.59457, "fx":[11.3329,-22.34183,-11.41857,22.25911], "fy":[22.30481,11.37836,-22.29614,-11.37311]}, + {"t":4.90481, "x":10.41118, "y":3.53093, "heading":-1.32277, "vx":-0.12349, "vy":-1.49437, "omega":-2.14263, "ax":-0.00019, "ay":0.00002, "alpha":6.0978, "fx":[11.8465,-19.88856,-11.85192,19.88327], "fy":[19.88619,11.84938,-19.88564,-11.84904]}, + {"t":4.93301, "x":10.4077, "y":3.48879, "heading":-1.38319, "vx":-0.12349, "vy":-1.49437, "omega":-1.97068, "ax":-0.00001, "ay":0.0, "alpha":5.66191, "fx":[12.09689,-17.76652,-12.09725,17.76617], "fy":[17.76636,12.09708,-17.76633,-12.09706]}, + {"t":4.96121, "x":10.40421, "y":3.44665, "heading":-1.43876, "vx":-0.12349, "vy":-1.49437, "omega":-1.81102, "ax":0.0, "ay":0.0, "alpha":5.28303, "fx":[12.19091,-15.92496,-12.19094,15.92493], "fy":[15.92494,12.19092,-15.92494,-12.19092]}, + {"t":4.98941, "x":10.40073, "y":3.40451, "heading":-1.48983, "vx":-0.12349, "vy":-1.49437, "omega":-1.66204, "ax":0.0, "ay":0.0, "alpha":4.95771, "fx":[12.18816,-14.34082,-12.18817,14.34081], "fy":[14.34081,12.18816,-14.34081,-12.18816]}, + {"t":5.01761, "x":10.39725, "y":3.36237, "heading":-1.5367, "vx":-0.12349, "vy":-1.49437, "omega":-1.52223, "ax":0.0, "ay":0.0, "alpha":4.68285, "fx":[12.13445,-12.99151,-12.13445,12.99151], "fy":[12.99151,12.13445,-12.99151,-12.13445]}, + {"t":5.04581, "x":10.39377, "y":3.32023, "heading":-1.57963, "vx":-0.12349, "vy":-1.49437, "omega":-1.39018, "ax":0.0, "ay":0.0, "alpha":4.4558, "fx":[12.06594,-11.85474,-12.06594,11.85474], "fy":[11.85474,12.06594,-11.85474,-12.06594]}, + {"t":5.07401, "x":10.39028, "y":3.27809, "heading":-1.61883, "vx":-0.12349, "vy":-1.49437, "omega":-1.26453, "ax":0.0, "ay":0.0, "alpha":4.27429, "fx":[12.01123,-10.90947,-12.01123,10.90947], "fy":[10.90947,12.01123,-10.90947,-12.01123]}, + {"t":5.10221, "x":10.3868, "y":3.23595, "heading":-1.65449, "vx":-0.12349, "vy":-1.49437, "omega":-1.144, "ax":0.0, "ay":0.0, "alpha":4.13647, "fx":[11.99293,-10.13657,-11.99293,10.13657], "fy":[10.13657,11.99293,-10.13657,-11.99293]}, + {"t":5.13041, "x":10.38332, "y":3.1938, "heading":-1.68675, "vx":-0.12349, "vy":-1.49437, "omega":-1.02735, "ax":0.0, "ay":0.0, "alpha":4.04087, "fx":[12.02906,-9.51927,-12.02906,9.51927], "fy":[9.51927,12.02906,-9.51927,-12.02906]}, + {"t":5.15861, "x":10.37984, "y":3.15166, "heading":-1.71572, "vx":-0.12349, "vy":-1.49437, "omega":-0.9134, "ax":0.0, "ay":0.0, "alpha":3.98642, "fx":[12.13403,-9.04332,-12.13403,9.04332], "fy":[9.04332,12.13403,-9.04332,-12.13403]}, + {"t":5.1868, "x":10.37635, "y":3.10952, "heading":-1.74148, "vx":-0.12349, "vy":-1.49437, "omega":-0.80099, "ax":0.0, "ay":0.0, "alpha":3.97244, "fx":[12.31954,-8.6972,-12.31955,8.69719], "fy":[8.6972,12.31954,-8.6972,-12.31954]}, + {"t":5.215, "x":10.37287, "y":3.06738, "heading":-1.76406, "vx":-0.12349, "vy":-1.49437, "omega":-0.68896, "ax":0.0, "ay":0.0, "alpha":3.9986, "fx":[12.59518,-8.47222,-12.59528,8.47211], "fy":[8.47217,12.59523,-8.47216,-12.59523]}, + {"t":5.2432, "x":10.36939, "y":3.02524, "heading":-1.78349, "vx":-0.12349, "vy":-1.49437, "omega":-0.57621, "ax":-0.00006, "ay":0.00001, "alpha":4.06495, "fx":[12.96826,-8.36323,-12.96999,8.36149], "fy":[8.36244,12.96919,-8.36228,-12.96906]}, + {"t":5.2714, "x":10.36591, "y":2.9831, "heading":-1.79974, "vx":-0.12349, "vy":-1.49437, "omega":-0.46158, "ax":-0.001, "ay":0.00008, "alpha":4.17188, "fx":[13.43391,-8.37911,-13.46203,8.35077], "fy":[8.36625,13.449,-8.36363,-13.44695]}, + {"t":5.2996, "x":10.36242, "y":2.94096, "heading":-1.81276, "vx":-0.12352, "vy":-1.49437, "omega":-0.34393, "ax":-0.01616, "ay":0.00134, "alpha":4.32011, "fx":[13.80929,-8.71025,-14.2654,8.25004], "fy":[8.50159,14.05396,-8.45881,-14.02085]}, + {"t":5.3278, "x":10.35893, "y":2.89882, "heading":-1.82245, "vx":-0.12398, "vy":-1.49433, "omega":-0.22211, "ax":-0.26163, "ay":0.02236, "alpha":4.50554, "fx":[11.02761,-12.4223,-18.40711,4.96787], "fy":[9.06765,15.00732,-8.34923,-14.45789]}, + {"t":5.356, "x":10.35533, "y":2.85669, "heading":-1.82872, "vx":-0.13136, "vy":-1.4937, "omega":-0.09505, "ax":-3.73427, "ay":0.47887, "alpha":3.73429, "fx":[-41.75662,-58.99027,-63.82783,-47.15469], "fy":[15.6255,19.76953,-1.09466,-7.14874]}, + {"t":5.3842, "x":10.35015, "y":2.81476, "heading":-1.8314, "vx":-0.23666, "vy":-1.4802, "omega":0.01025, "ax":-3.0823, "ay":0.58201, "alpha":4.07723, "fx":[-30.96667,-50.56008,-56.13565,-37.10124], "fy":[17.49866,21.9885,-0.06775,-6.41987]}, + {"t":5.41611, "x":10.34102, "y":2.76783, "heading":-1.83107, "vx":-0.33501, "vy":-1.46163, "omega":0.14035, "ax":-0.14698, "ay":0.03393, "alpha":4.32049, "fx":[12.11345,-10.31016,-16.26611,6.12924], "fy":[8.72943,14.651,-7.72068,-13.73571]}, + {"t":5.44802, "x":10.33026, "y":2.72121, "heading":-1.82659, "vx":-0.3397, "vy":-1.46055, "omega":0.27821, "ax":-0.00649, "ay":0.00151, "alpha":3.88338, "fx":[12.63089,-7.53974,-12.81427,7.35539], "fy":[7.4698,12.74314,-7.42535,-12.70203]}, + {"t":5.47992, "x":10.31942, "y":2.6746, "heading":-1.81772, "vx":-0.33991, "vy":-1.4605, "omega":0.40212, "ax":-0.00029, "ay":0.00007, "alpha":3.49184, "fx":[11.3759,-6.802,-11.38396,6.79391], "fy":[6.79893,11.38084,-6.79698,-11.37902]}, + {"t":5.51183, "x":10.30857, "y":2.628, "heading":-1.80489, "vx":-0.33992, "vy":-1.4605, "omega":0.51353, "ax":-0.00001, "ay":0.0, "alpha":3.14357, "fx":[10.16538,-6.25106,-10.16573,6.25071], "fy":[6.25093,10.16559,-6.25084,-10.16551]}, + {"t":5.54374, "x":10.29773, "y":2.5814, "heading":-1.7885, "vx":-0.33992, "vy":-1.4605, "omega":0.61384, "ax":0.0, "ay":0.0, "alpha":2.8349, "fx":[9.07377,-5.78655,-9.07378,5.78654], "fy":[5.78655,9.07378,-5.78654,-9.07377]}, + {"t":5.57565, "x":10.28688, "y":2.5348, "heading":-1.76891, "vx":-0.33992, "vy":-1.4605, "omega":0.7043, "ax":0.0, "ay":0.0, "alpha":2.56242, "fx":[8.09762,-5.38999,-8.09762,5.38999], "fy":[5.38999,8.09762,-5.38999,-8.09762]}, + {"t":5.60756, "x":10.27603, "y":2.4882, "heading":-1.74644, "vx":-0.33992, "vy":-1.4605, "omega":0.78606, "ax":0.0, "ay":0.0, "alpha":2.32304, "fx":[7.2295,-5.05019,-7.2295,5.05019], "fy":[5.05019,7.2295,-5.05019,-7.2295]}, + {"t":5.63947, "x":10.26519, "y":2.4416, "heading":-1.72136, "vx":-0.33992, "vy":-1.4605, "omega":0.86018, "ax":0.0, "ay":0.0, "alpha":2.11397, "fx":[6.46155,-4.75924,-6.46154,4.75924], "fy":[4.75924,6.46155,-4.75924,-6.46154]}, + {"t":5.67137, "x":10.25434, "y":2.39499, "heading":-1.69391, "vx":-0.33992, "vy":-1.4605, "omega":0.92763, "ax":0.0, "ay":0.0, "alpha":1.93273, "fx":[5.78592,-4.51169,-5.78592,4.51169], "fy":[4.51169,5.78592,-4.51169,-5.78592]}, + {"t":5.70328, "x":10.2435, "y":2.34839, "heading":-1.66431, "vx":-0.33992, "vy":-1.4605, "omega":0.9893, "ax":0.0, "ay":0.0, "alpha":1.77712, "fx":[5.19498,-4.30407,-5.19498,4.30407], "fy":[4.30407,5.19498,-4.30407,-5.19498]}, + {"t":5.73519, "x":10.23265, "y":2.30179, "heading":-1.63275, "vx":-0.33992, "vy":-1.4605, "omega":1.04601, "ax":0.0, "ay":0.0, "alpha":1.64522, "fx":[4.68125,-4.13442,-4.68125,4.13443], "fy":[4.13442,4.68125,-4.13442,-4.68125]}, + {"t":5.7671, "x":10.2218, "y":2.25519, "heading":-1.59937, "vx":-0.33992, "vy":-1.4605, "omega":1.0985, "ax":0.0, "ay":0.0, "alpha":1.53542, "fx":[4.23764,-4.00214,-4.23764,4.00214], "fy":[4.00214,4.23764,-4.00214,-4.23764]}, + {"t":5.79901, "x":10.21096, "y":2.20859, "heading":-1.56432, "vx":-0.33992, "vy":-1.4605, "omega":1.1475, "ax":0.0, "ay":0.0, "alpha":1.44633, "fx":[3.85719,-3.90749,-3.85719,3.90749], "fy":[3.90749,3.85719,-3.90749,-3.85719]}, + {"t":5.83091, "x":10.20011, "y":2.16199, "heading":-1.5277, "vx":-0.33992, "vy":-1.4605, "omega":1.19365, "ax":0.0, "ay":0.0, "alpha":1.37686, "fx":[3.53329,-3.85173,-3.53329,3.85173], "fy":[3.85173,3.53329,-3.85173,-3.53329]}, + {"t":5.86282, "x":10.18927, "y":2.11538, "heading":-1.48962, "vx":-0.33992, "vy":-1.4605, "omega":1.23758, "ax":0.0, "ay":0.0, "alpha":1.32612, "fx":[3.25936,-3.83668,-3.25936,3.83668], "fy":[3.83668,3.25936,-3.83668,-3.25936]}, + {"t":5.89473, "x":10.17842, "y":2.06878, "heading":-1.45013, "vx":-0.33992, "vy":-1.4605, "omega":1.27989, "ax":0.0, "ay":0.0, "alpha":1.29353, "fx":[3.02902,-3.86497,-3.02902,3.86497], "fy":[3.86497,3.02902,-3.86497,-3.02902]}, + {"t":5.92664, "x":10.16757, "y":2.02218, "heading":-1.40929, "vx":-0.33992, "vy":-1.4605, "omega":1.32117, "ax":0.0, "ay":0.0, "alpha":1.27866, "fx":[2.83572,-3.9396,-2.83572,3.9396], "fy":[3.9396,2.83572,-3.9396,-2.83572]}, + {"t":5.95855, "x":10.15673, "y":1.97558, "heading":-1.36713, "vx":-0.33992, "vy":-1.4605, "omega":1.36197, "ax":0.0, "ay":0.0, "alpha":1.28141, "fx":[2.67291,-4.06433,-2.67291,4.06433], "fy":[4.06433,2.67291,-4.06433,-2.67291]}, + {"t":5.99045, "x":10.14588, "y":1.92898, "heading":-1.32368, "vx":-0.33992, "vy":-1.4605, "omega":1.40285, "ax":0.0, "ay":0.0, "alpha":1.30184, "fx":[2.53358,-4.24321,-2.53358,4.24321], "fy":[4.24321,2.53358,-4.24321,-2.53358]}, + {"t":6.02236, "x":10.13504, "y":1.88238, "heading":-1.27891, "vx":-0.33992, "vy":-1.4605, "omega":1.44439, "ax":0.0, "ay":0.0, "alpha":1.34032, "fx":[2.41037,-4.48097,-2.41037,4.48097], "fy":[4.48097,2.41037,-4.48097,-2.41037]}, + {"t":6.05427, "x":10.12419, "y":1.83577, "heading":-1.23283, "vx":-0.33992, "vy":-1.4605, "omega":1.48716, "ax":0.0, "ay":0.0, "alpha":1.39741, "fx":[2.29513,-4.78266,-2.29513,4.78266], "fy":[4.78266,2.29513,-4.78266,-2.29513]}, + {"t":6.08618, "x":10.11334, "y":1.78917, "heading":-1.18537, "vx":-0.33992, "vy":-1.4605, "omega":1.53175, "ax":0.0, "ay":0.0, "alpha":1.47398, "fx":[2.17887,-5.15388,-2.17887,5.15388], "fy":[5.15388,2.17887,-5.15388,-2.17887]}, + {"t":6.11809, "x":10.1025, "y":1.74257, "heading":-1.1365, "vx":-0.33992, "vy":-1.4605, "omega":1.57878, "ax":0.0, "ay":0.0, "alpha":1.57115, "fx":[2.05135,-5.60055,-2.05134,5.60056], "fy":[5.60055,2.05134,-5.60055,-2.05135]}, + {"t":6.14999, "x":10.09165, "y":1.69597, "heading":-1.08612, "vx":-0.33992, "vy":-1.4605, "omega":1.62891, "ax":0.00001, "ay":0.0, "alpha":1.69033, "fx":[1.90089,-6.12871,-1.90059,6.12901], "fy":[6.12882,1.90071,-6.12889,-1.90078]}, + {"t":6.1819, "x":10.0808, "y":1.64937, "heading":-1.03415, "vx":-0.33992, "vy":-1.4605, "omega":1.68285, "ax":0.00025, "ay":-0.00006, "alpha":1.83327, "fx":[1.71684,-6.74178,-1.70987,6.74872], "fy":[6.74444,1.71255,-6.74607,-1.71416]}, + {"t":6.21381, "x":10.06996, "y":1.60277, "heading":-0.98045, "vx":-0.33991, "vy":-1.4605, "omega":1.74134, "ax":0.00565, "ay":-0.00132, "alpha":2.002, "fx":[1.55336,-7.37596,-1.39268,7.53585], "fy":[7.43723,1.4544,-7.47459,-1.49163]}, + {"t":6.24572, "x":10.05912, "y":1.55616, "heading":-0.92489, "vx":-0.33973, "vy":-1.46054, "omega":1.80522, "ax":0.13017, "ay":-0.03008, "alpha":2.19836, "fx":[3.01149,-6.42357,0.69005,10.10275], "fy":[7.83886,0.73381,-8.69226,-1.58605]}, + {"t":6.27763, "x":10.04834, "y":1.50955, "heading":-0.86729, "vx":-0.33557, "vy":-1.4615, "omega":1.87537, "ax":2.80795, "ay":-0.55516, "alpha":2.11113, "fx":[40.717,32.25414,39.06655,47.17043], "fy":[0.65691,-7.39309,-16.37663,-8.36396]}, + {"t":6.30953, "x":10.03906, "y":1.46263, "heading":-0.80745, "vx":-0.24598, "vy":-1.47921, "omega":1.94273, "ax":9.97636, "ay":-0.56338, "alpha":0.21711, "fx":[141.49122,141.29017,141.32774,141.5412], "fy":[-6.46257,-8.03184,-9.50751,-7.94102]}, + {"t":6.34144, "x":10.03629, "y":1.41514, "heading":-0.74546, "vx":0.07235, "vy":-1.49719, "omega":1.94966, "ax":9.96811, "ay":1.40097, "alpha":0.12559, "fx":[141.17795,141.22015,141.41121,141.37295], "fy":[20.7341,19.93762,18.98141,19.7805]}, + {"t":6.36916, "x":10.04213, "y":1.37419, "heading":-0.69142, "vx":0.34863, "vy":-1.45836, "omega":1.95314, "ax":4.35765, "ay":1.23641, "alpha":0.76498, "fx":[61.28473,59.31877,62.27955,64.19142], "fy":[20.86574,17.48451,14.17345,17.57938]}, + {"t":6.39687, "x":10.05346, "y":1.33424, "heading":-0.63729, "vx":0.4694, "vy":-1.42409, "omega":1.97434, "ax":0.32912, "ay":0.10965, "alpha":0.47152, "fx":[4.40086,2.89578,4.9309,6.43332], "fy":[3.32622,1.29097,-0.21779,1.81752]}, + {"t":6.42459, "x":10.0666, "y":1.29481, "heading":-0.58257, "vx":0.47852, "vy":-1.42105, "omega":1.98741, "ax":0.0208, "ay":0.00701, "alpha":-0.13948, "fx":[0.40156,0.81352,0.18824,-0.22373], "fy":[-0.41926,0.20603,0.618,-0.00729]}, + {"t":6.45231, "x":10.07987, "y":1.25543, "heading":-0.52748, "vx":0.4791, "vy":-1.42086, "omega":1.98355, "ax":0.00131, "ay":0.00044, "alpha":-0.75278, "fx":[0.74754,2.78181,-0.71026,-2.74456], "fy":[-2.7569,0.73518,2.76947,-0.72262]}, + {"t":6.48002, "x":10.09315, "y":1.21605, "heading":-0.47251, "vx":0.47914, "vy":-1.42085, "omega":1.96268, "ax":0.00008, "ay":0.00003, "alpha":-1.37334, "fx":[1.60594,4.96153,-1.60358,-4.95918], "fy":[-4.95996,1.60515,4.96075,-1.60436]}, + {"t":6.50774, "x":10.10643, "y":1.17667, "heading":-0.41811, "vx":0.47914, "vy":-1.42085, "omega":1.92462, "ax":0.00001, "ay":0.0, "alpha":-2.007, "fx":[2.73594,7.11092,-2.7358,-7.11078], "fy":[-7.11082,2.73589,7.11087,-2.73585]}, + {"t":6.53546, "x":10.11971, "y":1.13729, "heading":-0.36477, "vx":0.47914, "vy":-1.42085, "omega":1.86899, "ax":0.0, "ay":0.0, "alpha":-2.65946, "fx":[4.12251,9.21584,-4.12251,-9.21583], "fy":[-9.21583,4.12251,9.21584,-4.12251]}, + {"t":6.56317, "x":10.13299, "y":1.09791, "heading":-0.31297, "vx":0.47914, "vy":-1.42085, "omega":1.79528, "ax":0.0, "ay":0.0, "alpha":-3.3362, "fx":[5.7632,11.27765,-5.7632,-11.27765], "fy":[-11.27765,5.7632,11.27764,-5.7632]}, + {"t":6.59089, "x":10.14627, "y":1.05853, "heading":-0.26321, "vx":0.47914, "vy":-1.42085, "omega":1.70281, "ax":0.0, "ay":0.0, "alpha":-4.04235, "fx":[7.65406,13.30047,-7.65405,-13.30047], "fy":[-13.30047,7.65405,13.30047,-7.65406]}, + {"t":6.6186, "x":10.15955, "y":1.01915, "heading":-0.21601, "vx":0.47914, "vy":-1.42085, "omega":1.59078, "ax":0.0, "ay":0.0, "alpha":-4.78262, "fx":[9.78806,15.29144,-9.78806,-15.29143], "fy":[-15.29144,9.78806,15.29144,-9.78806]}, + {"t":6.64632, "x":10.17283, "y":0.97977, "heading":-0.17192, "vx":0.47914, "vy":-1.42085, "omega":1.45822, "ax":0.0, "ay":0.0, "alpha":-5.56116, "fx":[12.15406,17.26175,-12.15403,-17.26172], "fy":[-17.26173,12.15405,17.26174,-12.15404]}, + {"t":6.67404, "x":10.18611, "y":0.94039, "heading":-0.13151, "vx":0.47914, "vy":-1.42085, "omega":1.30409, "ax":0.00002, "ay":0.00001, "alpha":-6.3814, "fx":[14.73586,19.22825,-14.7354,-19.2278], "fy":[-19.22794,14.7357,19.22811,-14.73556]}, + {"t":6.70175, "x":10.19939, "y":0.90101, "heading":-0.09536, "vx":0.47914, "vy":-1.42085, "omega":1.12722, "ax":0.00024, "ay":0.00008, "alpha":-7.24588, "fx":[17.51333,21.21727,-17.50642,-21.21059], "fy":[-21.21268,17.51092,21.21518,-17.50883]}, + {"t":6.72947, "x":10.21267, "y":0.86163, "heading":-0.06412, "vx":0.47915, "vy":-1.42084, "omega":0.92639, "ax":0.00352, "ay":0.00119, "alpha":-8.15612, "fx":[20.49667,23.30055,-20.39492,-23.20257], "fy":[-23.23279,20.4607,23.27034,-20.43089]}, + {"t":6.75718, "x":10.22595, "y":0.82225, "heading":-0.03844, "vx":0.47924, "vy":-1.42081, "omega":0.70034, "ax":0.05085, "ay":0.01718, "alpha":-9.11208, "fx":[24.23732,26.08662,-22.76549,-24.67537], "fy":[-25.10357,23.7097,25.66172,-23.29378]}, + {"t":6.7849, "x":10.23925, "y":0.78287, "heading":-0.01903, "vx":0.48065, "vy":-1.42033, "omega":0.44779, "ax":0.71473, "ay":0.24748, "alpha":-10.02164, "fx":[36.70942,37.13096,-15.9812,-17.33466], "fy":[-23.46221,29.31828,31.70522,-23.5296]}, + {"t":6.81262, "x":10.25285, "y":0.7436, "heading":-0.00662, "vx":0.50046, "vy":-1.41347, "omega":0.17003, "ax":6.33878, "ay":2.71087, "alpha":-4.9194, "fx":[102.6737,96.03504,75.99764,84.69641], "fy":[19.00958,50.26399,60.40337,24.02681]}, + {"t":6.84033, "x":10.26916, "y":0.70547, "heading":-0.00191, "vx":0.67615, "vy":-1.33834, "omega":0.03368, "ax":8.74778, "ay":5.53102, "alpha":-0.60748, "fx":[126.29976,123.68493,121.62292,124.38322], "fy":[74.79424,79.30986,82.02521,77.47405]}, + {"t":6.86805, "x":10.29126, "y":0.6705, "heading":-0.00098, "vx":0.9186, "vy":-1.18504, "omega":0.01684, "ax":7.74579, "ay":7.34303, "alpha":-0.21768, "fx":[110.91203,109.78673,108.6708,109.80948], "fy":[102.9019,104.13511,105.26425,104.04127]}, + {"t":6.89576, "x":10.31969, "y":0.64048, "heading":-0.00051, "vx":1.13329, "vy":-0.98152, "omega":0.01081, "ax":6.18626, "ay":8.79668, "alpha":-0.11626, "fx":[88.39432,87.81572,86.98323,87.56172], "fy":[124.19192,124.61061,125.18694,124.77399]}, + {"t":6.92348, "x":10.35348, "y":0.61665, "heading":-0.00021, "vx":1.30475, "vy":-0.73771, "omega":0.00759, "ax":4.31443, "ay":9.88493, "alpha":-0.07532, "fx":[61.64194,61.34712,60.67109,60.96389], "fy":[139.90305,140.03605,140.32876,140.19832]}, + {"t":6.9512, "x":10.3913, "y":0.6, "heading":0.0, "vx":1.42432, "vy":-0.46374, "omega":0.0055, "ax":1.5671, "ay":10.66833, "alpha":-0.03636, "fx":[22.43161,22.37552,21.99546,22.05064], "fy":[151.18811,151.19819,151.25369,151.24388]}, + {"t":6.99885, "x":10.46095, "y":0.59001, "heading":0.00026, "vx":1.499, "vy":0.04462, "omega":0.00377, "ax":0.00711, "ay":-0.25565, "alpha":-0.08383, "fx":[0.32601,0.32594,-0.1244,-0.12427], "fy":[-3.84863,-3.39882,-3.39895,-3.84876]}, + {"t":7.0465, "x":10.53238, "y":0.59185, "heading":0.00044, "vx":1.49934, "vy":0.03244, "omega":-0.00023, "ax":0.00326, "ay":-0.17249, "alpha":-0.00088, "fx":[0.04856,0.04856,0.04381,0.04381], "fy":[-2.4474,-2.44265,-2.44265,-2.4474]}, + {"t":7.09415, "x":10.60383, "y":0.5932, "heading":0.00043, "vx":1.49949, "vy":0.02422, "omega":-0.00027, "ax":0.00145, "ay":-0.09991, "alpha":-0.00001, "fx":[0.02064,0.02064,0.02059,0.02059], "fy":[-1.41617,-1.41612,-1.41612,-1.41617]}, + {"t":7.1418, "x":10.67529, "y":0.59424, "heading":0.00042, "vx":1.49956, "vy":0.01946, "omega":-0.00027, "ax":0.00084, "ay":-0.07066, "alpha":0.0, "fx":[0.01187,0.01187,0.01187,0.01187], "fy":[-1.00157,-1.00157,-1.00157,-1.00157]}, + {"t":7.18945, "x":10.74674, "y":0.59509, "heading":0.0004, "vx":1.4996, "vy":0.01609, "omega":-0.00027, "ax":0.00053, "ay":-0.05419, "alpha":0.0, "fx":[0.00758,0.00758,0.00758,0.00758], "fy":[-0.76814,-0.76814,-0.76814,-0.76814]}, + {"t":7.2371, "x":10.8182, "y":0.59579, "heading":0.00039, "vx":1.49963, "vy":0.01351, "omega":-0.00027, "ax":0.00036, "ay":-0.04332, "alpha":0.0, "fx":[0.00511,0.00511,0.00511,0.00511], "fy":[-0.6141,-0.6141,-0.6141,-0.6141]}, + {"t":7.28476, "x":10.88966, "y":0.59639, "heading":0.00038, "vx":1.49964, "vy":0.01144, "omega":-0.00027, "ax":0.00025, "ay":-0.0355, "alpha":0.0, "fx":[0.00355,0.00355,0.00355,0.00355], "fy":[-0.5032,-0.5032,-0.5032,-0.5032]}, + {"t":7.33241, "x":10.96112, "y":0.59689, "heading":0.00037, "vx":1.49966, "vy":0.00975, "omega":-0.00027, "ax":0.00018, "ay":-0.02955, "alpha":0.0, "fx":[0.00253,0.00253,0.00253,0.00253], "fy":[-0.41889,-0.41889,-0.41889,-0.41889]}, + {"t":7.38006, "x":11.03258, "y":0.59732, "heading":0.00035, "vx":1.49967, "vy":0.00834, "omega":-0.00027, "ax":0.00013, "ay":-0.02486, "alpha":0.0, "fx":[0.00182,0.00182,0.00182,0.00182], "fy":[-0.35243,-0.35243,-0.35243,-0.35243]}, + {"t":7.42771, "x":11.10405, "y":0.59769, "heading":0.00034, "vx":1.49967, "vy":0.00716, "omega":-0.00027, "ax":0.00009, "ay":-0.02107, "alpha":0.0, "fx":[0.00133,0.00133,0.00133,0.00133], "fy":[-0.2987,-0.2987,-0.2987,-0.2987]}, + {"t":7.47536, "x":11.17551, "y":0.59801, "heading":0.00033, "vx":1.49968, "vy":0.00615, "omega":-0.00027, "ax":0.00007, "ay":-0.01795, "alpha":0.0, "fx":[0.00097,0.00097,0.00097,0.00097], "fy":[-0.25448,-0.25448,-0.25448,-0.25448]}, + {"t":7.52301, "x":11.24697, "y":0.59828, "heading":0.00031, "vx":1.49968, "vy":0.0053, "omega":-0.00027, "ax":0.00005, "ay":-0.01535, "alpha":0.0, "fx":[0.00072,0.00072,0.00072,0.00072], "fy":[-0.21761,-0.21761,-0.21761,-0.21761]}, + {"t":7.57066, "x":11.31843, "y":0.59852, "heading":0.0003, "vx":1.49968, "vy":0.00457, "omega":-0.00027, "ax":0.00004, "ay":-0.01316, "alpha":0.0, "fx":[0.00053,0.00053,0.00053,0.00053], "fy":[-0.18657,-0.18657,-0.18657,-0.18657]}, + {"t":7.61832, "x":11.38989, "y":0.59872, "heading":0.00029, "vx":1.49968, "vy":0.00394, "omega":-0.00027, "ax":0.00003, "ay":-0.01131, "alpha":0.0, "fx":[0.00039,0.00039,0.00039,0.00039], "fy":[-0.16026,-0.16026,-0.16026,-0.16026]}, + {"t":7.66597, "x":11.46135, "y":0.59889, "heading":0.00028, "vx":1.49968, "vy":0.0034, "omega":-0.00027, "ax":0.00002, "ay":-0.00972, "alpha":0.0, "fx":[0.00029,0.00029,0.00029,0.00029], "fy":[-0.13784,-0.13784,-0.13784,-0.13784]}, + {"t":7.71362, "x":11.53282, "y":0.59905, "heading":0.00026, "vx":1.49969, "vy":0.00294, "omega":-0.00027, "ax":0.00002, "ay":-0.00837, "alpha":0.0, "fx":[0.00022,0.00022,0.00022,0.00022], "fy":[-0.11867,-0.11867,-0.11867,-0.11867]}, + {"t":7.76127, "x":11.60428, "y":0.59918, "heading":0.00025, "vx":1.49969, "vy":0.00254, "omega":-0.00027, "ax":0.00001, "ay":-0.00721, "alpha":0.0, "fx":[0.00016,0.00016,0.00016,0.00016], "fy":[-0.10222,-0.10222,-0.10222,-0.10222]}, + {"t":7.80892, "x":11.67574, "y":0.59929, "heading":0.00024, "vx":1.49969, "vy":0.0022, "omega":-0.00027, "ax":0.00001, "ay":-0.00621, "alpha":0.0, "fx":[0.00012,0.00012,0.00012,0.00012], "fy":[-0.08807,-0.08807,-0.08807,-0.08807]}, + {"t":7.85657, "x":11.7472, "y":0.59939, "heading":0.00022, "vx":1.49969, "vy":0.0019, "omega":-0.00027, "ax":0.00001, "ay":-0.00535, "alpha":0.0, "fx":[0.00009,0.00009,0.00009,0.00009], "fy":[-0.07588,-0.07588,-0.07588,-0.07588]}, + {"t":7.90422, "x":11.81866, "y":0.59947, "heading":0.00021, "vx":1.49969, "vy":0.00164, "omega":-0.00027, "ax":0.0, "ay":-0.00461, "alpha":0.0, "fx":[0.00007,0.00007,0.00007,0.00007], "fy":[-0.06536,-0.06536,-0.06536,-0.06536]}, + {"t":7.95187, "x":11.89013, "y":0.59954, "heading":0.0002, "vx":1.49969, "vy":0.00142, "omega":-0.00027, "ax":0.0, "ay":-0.00397, "alpha":0.0, "fx":[0.00005,0.00005,0.00005,0.00005], "fy":[-0.05627,-0.05627,-0.05627,-0.05627]}, + {"t":7.99953, "x":11.96159, "y":0.59961, "heading":0.00019, "vx":1.49969, "vy":0.00123, "omega":-0.00027, "ax":0.0, "ay":-0.00341, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[-0.04839,-0.04839,-0.04839,-0.04839]}, + {"t":8.04718, "x":12.03305, "y":0.59966, "heading":0.00017, "vx":1.49969, "vy":0.00107, "omega":-0.00027, "ax":0.0, "ay":-0.00293, "alpha":0.0, "fx":[0.00003,0.00003,0.00003,0.00003], "fy":[-0.04157,-0.04157,-0.04157,-0.04157]}, + {"t":8.09483, "x":12.10451, "y":0.59971, "heading":0.00016, "vx":1.49969, "vy":0.00093, "omega":-0.00027, "ax":0.0, "ay":-0.00251, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.03564,-0.03564,-0.03564,-0.03564]}, + {"t":8.14248, "x":12.17598, "y":0.59975, "heading":0.00015, "vx":1.49969, "vy":0.00081, "omega":-0.00027, "ax":0.0, "ay":-0.00215, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.03047,-0.03047,-0.03047,-0.03047]}, + {"t":8.19013, "x":12.24744, "y":0.59979, "heading":0.00013, "vx":1.49969, "vy":0.00071, "omega":-0.00027, "ax":0.0, "ay":-0.00183, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.02596,-0.02596,-0.02596,-0.02596]}, + {"t":8.23778, "x":12.3189, "y":0.59982, "heading":0.00012, "vx":1.49969, "vy":0.00062, "omega":-0.00027, "ax":0.0, "ay":-0.00155, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.022,-0.022,-0.022,-0.022]}, + {"t":8.28543, "x":12.39036, "y":0.59985, "heading":0.00011, "vx":1.49969, "vy":0.00055, "omega":-0.00027, "ax":0.0, "ay":-0.00131, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.01851,-0.01851,-0.01851,-0.01851]}, + {"t":8.33309, "x":12.46182, "y":0.59987, "heading":0.0001, "vx":1.49969, "vy":0.00049, "omega":-0.00027, "ax":0.0, "ay":-0.00109, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.01542,-0.01542,-0.01542,-0.01542]}, + {"t":8.38074, "x":12.53329, "y":0.59989, "heading":0.00008, "vx":1.49969, "vy":0.00044, "omega":-0.00027, "ax":0.0, "ay":-0.00089, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.01266,-0.01266,-0.01266,-0.01266]}, + {"t":8.42839, "x":12.60475, "y":0.59991, "heading":0.00007, "vx":1.49969, "vy":0.00039, "omega":-0.00027, "ax":0.0, "ay":-0.00072, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.01017,-0.01017,-0.01017,-0.01017]}, + {"t":8.47604, "x":12.67621, "y":0.59993, "heading":0.00006, "vx":1.49969, "vy":0.00036, "omega":-0.00027, "ax":0.0, "ay":-0.00056, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.0079,-0.0079,-0.0079,-0.0079]}, + {"t":8.52369, "x":12.74767, "y":0.59995, "heading":0.00004, "vx":1.49969, "vy":0.00033, "omega":-0.00027, "ax":0.0, "ay":-0.00041, "alpha":0.0, "fx":[-0.00001,-0.00001,0.00001,0.00001], "fy":[-0.00578,-0.0058,-0.0058,-0.00578]}, + {"t":8.57134, "x":12.81914, "y":0.59996, "heading":0.00003, "vx":1.49969, "vy":0.00031, "omega":-0.00027, "ax":-0.00017, "ay":-0.00027, "alpha":0.00038, "fx":[-0.00341,-0.00341,-0.00139,-0.00139], "fy":[-0.00288,-0.00491,-0.00491,-0.00288]}, + {"t":8.61899, "x":12.8906, "y":0.59998, "heading":0.00002, "vx":1.49968, "vy":0.0003, "omega":-0.00025, "ax":-9.84601, "ay":-0.00206, "alpha":0.0034, "fx":[-139.56637,-139.56637,-139.56319,-139.5632], "fy":[-0.0126,-0.04593,-0.04594,-0.0126]}, + {"t":8.66664, "x":12.95088, "y":0.59999, "heading":0.00001, "vx":1.0305, "vy":0.0002, "omega":-0.00009, "ax":-10.80668, "ay":-0.00211, "alpha":0.00091, "fx":[-153.18209,-153.18209,-153.18207,-153.18207], "fy":[-0.02505,-0.03481,-0.03482,-0.02505]}, + {"t":8.7143, "x":12.98772, "y":0.6, "heading":0.0, "vx":0.51555, "vy":0.0001, "omega":-0.00005, "ax":-10.81926, "ay":-0.0021, "alpha":0.00098, "fx":[-153.36038,-153.36038,-153.36037,-153.36037], "fy":[-0.02455,-0.03507,-0.03507,-0.02455]}, + {"t":8.76195, "x":13.0, "y":0.6, "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/RedLeftToDepot.traj b/src/main/deploy/choreo/RedLeftToDepot.traj index bfc3944..4f2a204 100644 --- a/src/main/deploy/choreo/RedLeftToDepot.traj +++ b/src/main/deploy/choreo/RedLeftToDepot.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":12.5, "y":0.6, "heading":3.141592653589793, "intervals":65, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":13.0, "y":0.6, "heading":0.0, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":14.445059776306152, "y":2.0672576427459717, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":15.71607780456543, "y":2.0672576427459717, "heading":0.0, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":15.71607780456543, "y":2.0672576427459717, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -20,7 +20,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RLTransition.x", "val":12.5}, "y":{"exp":"RLTransition.y", "val":0.6}, "heading":{"exp":"RLTransition.heading", "val":3.141592653589793}, "intervals":65, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RLTransition.x", "val":13.0}, "y":{"exp":"RLTransition.y", "val":0.6}, "heading":{"exp":"RLTransition.heading", "val":0.0}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"14.445059776306152 m", "val":14.445059776306152}, "y":{"exp":"2.0672576427459717 m", "val":2.0672576427459717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"15.71607780456543 m", "val":15.71607780456543}, "y":{"exp":"2.0672576427459717 m", "val":2.0672576427459717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"15.71607780456543 m", "val":15.71607780456543}, "y":{"exp":"2.0672576427459717 m", "val":2.0672576427459717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -63,133 +63,112 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,2.48638,3.80681,3.80681,4.99856], + "waypoints":[0.0,2.1087,3.43006,3.43006,4.62173], "samples":[ - {"t":0.0, "x":12.5, "y":0.6, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":8.61774, "ay":6.54025, "alpha":0.0088, "fx":[122.1943,122.14895,122.11439,122.15977], "fy":[92.65389,92.71379,92.75915,92.69926]}, - {"t":0.03825, "x":12.5063, "y":0.60478, "heading":3.14159, "vx":0.32965, "vy":0.25018, "omega":0.00034, "ax":8.60689, "ay":6.53203, "alpha":0.01572, "fx":[122.07201,121.99117,121.9293,122.01024], "fy":[92.49595,92.60297,92.68385,92.57685]}, - {"t":0.0765, "x":12.52521, "y":0.61913, "heading":-3.14158, "vx":0.65888, "vy":0.50004, "omega":0.00094, "ax":3.59429, "ay":2.72781, "alpha":3.82273, "fx":[62.54292,58.91096,39.60629,42.73282], "fy":[26.56681,47.41039,51.41006,29.27694]}, - {"t":0.11476, "x":12.55304, "y":0.64026, "heading":-3.14154, "vx":0.79636, "vy":0.60438, "omega":0.14716, "ax":0.00001, "ay":0.00001, "alpha":4.76622, "fx":[12.79489,12.79364,-12.79452,-12.79328], "fy":[-12.79328,12.79488,12.79364,-12.79453]}, - {"t":0.15301, "x":12.58351, "y":0.66338, "heading":-3.13591, "vx":0.79636, "vy":0.60438, "omega":0.32948, "ax":0.0, "ay":0.0, "alpha":4.19645, "fx":[11.3284,11.20048,-11.3284,-11.20048], "fy":[-11.20048,11.3284,11.20048,-11.3284]}, - {"t":0.19126, "x":12.61397, "y":0.68649, "heading":-3.12331, "vx":0.79636, "vy":0.60438, "omega":0.49, "ax":0.0, "ay":0.0, "alpha":3.69095, "fx":[10.08717,9.72494,-10.08717,-9.72494], "fy":[-9.72494,10.08717,9.72494,-10.08717]}, - {"t":0.22951, "x":12.64443, "y":0.70961, "heading":-3.10457, "vx":0.79636, "vy":0.60438, "omega":0.63119, "ax":0.0, "ay":0.0, "alpha":3.2435, "fx":[9.02293,8.37835,-9.02293,-8.37835], "fy":[-8.37835,9.02293,8.37835,-9.02293]}, - {"t":0.26776, "x":12.67489, "y":0.73273, "heading":-3.08042, "vx":0.79636, "vy":0.60438, "omega":0.75526, "ax":0.0, "ay":0.0, "alpha":2.84817, "fx":[8.09849,7.16373,-8.09849,-7.16373], "fy":[-7.16373,8.09849,7.16373,-8.09849]}, - {"t":0.30602, "x":12.70536, "y":0.75585, "heading":-3.05153, "vx":0.79636, "vy":0.60438, "omega":0.86421, "ax":0.0, "ay":0.0, "alpha":2.49942, "fx":[7.28549,6.07865,-7.28549,-6.07865], "fy":[-6.07865,7.28549,6.07865,-7.28549]}, - {"t":0.34427, "x":12.73582, "y":0.77897, "heading":-3.01848, "vx":0.79636, "vy":0.60438, "omega":0.95982, "ax":0.0, "ay":0.0, "alpha":2.19216, "fx":[6.56257,5.11726,-6.56257,-5.11726], "fy":[-5.11726,6.56257,5.11726,-6.56257]}, - {"t":0.38252, "x":12.76628, "y":0.80209, "heading":-2.98176, "vx":0.79636, "vy":0.60438, "omega":1.04367, "ax":0.0, "ay":0.0, "alpha":1.92172, "fx":[5.91376,4.27177,-5.91376,-4.27177], "fy":[-4.27177,5.91376,4.27177,-5.91376]}, - {"t":0.42077, "x":12.79674, "y":0.82521, "heading":-2.94184, "vx":0.79636, "vy":0.60438, "omega":1.11718, "ax":0.0, "ay":0.0, "alpha":1.68389, "fx":[5.32716,3.5333,-5.32716,-3.5333], "fy":[-3.5333,5.32716,3.5333,-5.32716]}, - {"t":0.45902, "x":12.82721, "y":0.84833, "heading":-2.8991, "vx":0.79636, "vy":0.60438, "omega":1.18159, "ax":0.0, "ay":0.0, "alpha":1.47489, "fx":[4.7939,2.89258,-4.7939,-2.89258], "fy":[-2.89258,4.7939,2.89258,-4.7939]}, - {"t":0.49728, "x":12.85767, "y":0.87145, "heading":-2.85391, "vx":0.79636, "vy":0.60438, "omega":1.23801, "ax":0.0, "ay":0.0, "alpha":1.29128, "fx":[4.30725,2.34027,-4.30725,-2.34027], "fy":[-2.34027,4.30725,2.34027,-4.30725]}, - {"t":0.53553, "x":12.88813, "y":0.89456, "heading":-2.80655, "vx":0.79636, "vy":0.60438, "omega":1.2874, "ax":0.0, "ay":0.0, "alpha":1.13007, "fx":[3.86224,1.86735,-3.86224,-1.86735], "fy":[-1.86735,3.86224,1.86735,-3.86224]}, - {"t":0.57378, "x":12.91859, "y":0.91768, "heading":-2.7573, "vx":0.79636, "vy":0.60438, "omega":1.33063, "ax":0.0, "ay":0.0, "alpha":0.98853, "fx":[3.45482,1.46518,-3.45482,-1.46518], "fy":[-1.46518,3.45482,1.46518,-3.45482]}, - {"t":0.61203, "x":12.94906, "y":0.9408, "heading":-2.7064, "vx":0.79636, "vy":0.60438, "omega":1.36844, "ax":0.0, "ay":0.0, "alpha":0.86429, "fx":[3.08187,1.12569,-3.08187,-1.12569], "fy":[-1.12569,3.08187,1.12569,-3.08187]}, - {"t":0.65028, "x":12.97952, "y":0.96392, "heading":-2.65406, "vx":0.79636, "vy":0.60438, "omega":1.4015, "ax":0.0, "ay":0.0, "alpha":0.75517, "fx":[2.74056,0.84134,-2.74056,-0.84134], "fy":[-0.84134,2.74056,0.84134,-2.74056]}, - {"t":0.68853, "x":13.00998, "y":0.98704, "heading":-2.60045, "vx":0.79636, "vy":0.60438, "omega":1.43039, "ax":0.0, "ay":0.0, "alpha":0.6594, "fx":[2.42892,0.60535,-2.42892,-0.60535], "fy":[-0.60535,2.42892,0.60535,-2.42892]}, - {"t":0.72679, "x":13.04044, "y":1.01016, "heading":-2.54573, "vx":0.79636, "vy":0.60438, "omega":1.45561, "ax":0.0, "ay":0.0, "alpha":0.57523, "fx":[2.14459,0.41141,-2.14459,-0.41141], "fy":[-0.41141,2.14459,0.41141,-2.14459]}, - {"t":0.76504, "x":13.07091, "y":1.03328, "heading":-2.49005, "vx":0.79636, "vy":0.60438, "omega":1.47762, "ax":0.0, "ay":0.0, "alpha":0.50125, "fx":[1.88584,0.25395,-1.88584,-0.25395], "fy":[-0.25395,1.88584,0.25395,-1.88584]}, - {"t":0.80329, "x":13.10137, "y":1.0564, "heading":-2.43353, "vx":0.79636, "vy":0.60438, "omega":1.49679, "ax":0.0, "ay":0.0, "alpha":0.43613, "fx":[1.65068,0.12791,-1.65068,-0.12791], "fy":[-0.12791,1.65068,0.12791,-1.65068]}, - {"t":0.84154, "x":13.13183, "y":1.07952, "heading":-2.37628, "vx":0.79636, "vy":0.60438, "omega":1.51348, "ax":0.0, "ay":0.0, "alpha":0.37877, "fx":[1.43759,0.02887,-1.43759,-0.02887], "fy":[-0.02887,1.43759,0.02887,-1.43759]}, - {"t":0.87979, "x":13.16229, "y":1.10263, "heading":-2.31838, "vx":0.79636, "vy":0.60438, "omega":1.52796, "ax":0.0, "ay":0.0, "alpha":0.32812, "fx":[1.24473,-0.04709,-1.24473,0.04709], "fy":[0.04709,1.24473,-0.04709,-1.24473]}, - {"t":0.91805, "x":13.19276, "y":1.12575, "heading":-2.25994, "vx":0.79636, "vy":0.60438, "omega":1.54052, "ax":0.0, "ay":0.0, "alpha":0.28332, "fx":[1.07057,-0.10338,-1.07057,0.10338], "fy":[0.10338,1.07057,-0.10338,-1.07057]}, - {"t":0.9563, "x":13.22322, "y":1.14887, "heading":-2.20101, "vx":0.79636, "vy":0.60438, "omega":1.55135, "ax":0.0, "ay":0.0, "alpha":0.24356, "fx":[0.91347,-0.14291,-0.91347,0.14291], "fy":[0.14291,0.91347,-0.14291,-0.91347]}, - {"t":0.99455, "x":13.25368, "y":1.17199, "heading":-2.14167, "vx":0.79636, "vy":0.60438, "omega":1.56067, "ax":0.0, "ay":0.0, "alpha":0.20812, "fx":[0.77195,-0.1682,-0.77195,0.1682], "fy":[0.1682,0.77195,-0.1682,-0.77195]}, - {"t":1.0328, "x":13.28414, "y":1.19511, "heading":-2.08197, "vx":0.79636, "vy":0.60438, "omega":1.56863, "ax":0.0, "ay":0.0, "alpha":0.17636, "fx":[0.64449,-0.18131,-0.64449,0.18131], "fy":[0.18131,0.64449,-0.18131,-0.64449]}, - {"t":1.07105, "x":13.31461, "y":1.21823, "heading":-2.02196, "vx":0.79636, "vy":0.60438, "omega":1.57538, "ax":0.0, "ay":0.0, "alpha":0.14777, "fx":[0.52992,-0.18402,-0.52992,0.18402], "fy":[0.18402,0.52992,-0.18402,-0.52992]}, - {"t":1.10931, "x":13.34507, "y":1.24135, "heading":-1.9617, "vx":0.79636, "vy":0.60438, "omega":1.58103, "ax":0.0, "ay":0.0, "alpha":0.12181, "fx":[0.42689,-0.17773,-0.42689,0.17773], "fy":[0.17773,0.42689,-0.17773,-0.42689]}, - {"t":1.14756, "x":13.37553, "y":1.26447, "heading":-1.90123, "vx":0.79636, "vy":0.60438, "omega":1.58569, "ax":0.0, "ay":0.0, "alpha":0.098, "fx":[0.3342,-0.16349,-0.3342,0.16349], "fy":[0.16349,0.3342,-0.16349,-0.3342]}, - {"t":1.18581, "x":13.40599, "y":1.28759, "heading":-1.84057, "vx":0.79636, "vy":0.60438, "omega":1.58944, "ax":0.0, "ay":0.0, "alpha":0.07596, "fx":[0.25085,-0.14218,-0.25085,0.14218], "fy":[0.14218,0.25085,-0.14218,-0.25085]}, - {"t":1.22406, "x":13.43646, "y":1.3107, "heading":-1.77977, "vx":0.79636, "vy":0.60438, "omega":1.59234, "ax":0.0, "ay":0.0, "alpha":0.05526, "fx":[0.17587,-0.11433,-0.17587,0.11433], "fy":[0.11433,0.17587,-0.11433,-0.17587]}, - {"t":1.26231, "x":13.46692, "y":1.33382, "heading":-1.71886, "vx":0.79636, "vy":0.60438, "omega":1.59446, "ax":0.0, "ay":0.0, "alpha":0.03558, "fx":[0.10855,-0.08037,-0.10855,0.08037], "fy":[0.08037,0.10855,-0.08037,-0.10855]}, - {"t":1.30057, "x":13.49738, "y":1.35694, "heading":-1.65787, "vx":0.79636, "vy":0.60438, "omega":1.59582, "ax":0.0, "ay":0.0, "alpha":0.01651, "fx":[0.048,-0.04029,-0.048,0.04029], "fy":[0.04029,0.048,-0.04029,-0.048]}, - {"t":1.33882, "x":13.52784, "y":1.38006, "heading":-1.59683, "vx":0.79636, "vy":0.60438, "omega":1.59645, "ax":0.0, "ay":0.0, "alpha":-0.00225, "fx":[-0.0062,0.00588,0.0062,-0.00588], "fy":[-0.00588,-0.0062,0.00588,0.0062]}, - {"t":1.37707, "x":13.55831, "y":1.40318, "heading":-1.53576, "vx":0.79636, "vy":0.60438, "omega":1.59636, "ax":0.0, "ay":0.0, "alpha":-0.02107, "fx":[-0.05455,0.05852,0.05455,-0.05852], "fy":[-0.05852,-0.05455,0.05852,0.05455]}, - {"t":1.41532, "x":13.58877, "y":1.4263, "heading":-1.47469, "vx":0.79636, "vy":0.60438, "omega":1.59556, "ax":0.0, "ay":0.0, "alpha":-0.04026, "fx":[-0.09721,0.11795,0.09721,-0.11795], "fy":[-0.11795,-0.09721,0.11795,0.09721]}, - {"t":1.45357, "x":13.61923, "y":1.44942, "heading":-1.41366, "vx":0.79636, "vy":0.60438, "omega":1.59402, "ax":0.0, "ay":0.0, "alpha":-0.06018, "fx":[-0.13427,0.18483,0.13427,-0.18483], "fy":[-0.18483,-0.13427,0.18483,0.13427]}, - {"t":1.49183, "x":13.64969, "y":1.47254, "heading":-1.35269, "vx":0.79636, "vy":0.60438, "omega":1.59171, "ax":0.0, "ay":0.0, "alpha":-0.08117, "fx":[-0.16558,0.25987,0.16558,-0.25987], "fy":[-0.25987,-0.16558,0.25987,0.16558]}, - {"t":1.53008, "x":13.68016, "y":1.49566, "heading":-1.2918, "vx":0.79636, "vy":0.60438, "omega":1.58861, "ax":0.0, "ay":0.0, "alpha":-0.10364, "fx":[-0.19083,0.34405,0.19083,-0.34405], "fy":[-0.34405,-0.19083,0.34405,0.19083]}, - {"t":1.56833, "x":13.71062, "y":1.51877, "heading":-1.23103, "vx":0.79636, "vy":0.60438, "omega":1.58465, "ax":0.0, "ay":0.0, "alpha":-0.12795, "fx":[-0.20937,0.4383,0.20937,-0.4383], "fy":[-0.4383,-0.20937,0.4383,0.20937]}, - {"t":1.60658, "x":13.74108, "y":1.54189, "heading":-1.17042, "vx":0.79636, "vy":0.60438, "omega":1.57975, "ax":0.0, "ay":0.0, "alpha":-0.15456, "fx":[-0.22037,0.5438,0.22037,-0.5438], "fy":[-0.5438,-0.22037,0.5438,0.22037]}, - {"t":1.64483, "x":13.77154, "y":1.56501, "heading":-1.10999, "vx":0.79636, "vy":0.60438, "omega":1.57384, "ax":0.0, "ay":0.0, "alpha":-0.18393, "fx":[-0.22268,0.66179,0.22268,-0.66179], "fy":[-0.66179,-0.22268,0.66179,0.22268]}, - {"t":1.68309, "x":13.80201, "y":1.58813, "heading":-1.04979, "vx":0.79636, "vy":0.60438, "omega":1.5668, "ax":0.0, "ay":0.0, "alpha":-0.21657, "fx":[-0.21484,0.79359,0.21484,-0.79359], "fy":[-0.79359,-0.21484,0.79359,0.21484]}, - {"t":1.72134, "x":13.83247, "y":1.61125, "heading":-0.98985, "vx":0.79636, "vy":0.60438, "omega":1.55852, "ax":0.0, "ay":0.0, "alpha":-0.25306, "fx":[-0.19505,0.94066,0.19505,-0.94066], "fy":[-0.94066,-0.19505,0.94066,0.19505]}, - {"t":1.75959, "x":13.86293, "y":1.63437, "heading":-0.93024, "vx":0.79636, "vy":0.60438, "omega":1.54884, "ax":0.0, "ay":0.0, "alpha":-0.2941, "fx":[-0.16114,1.10477,0.16114,-1.10477], "fy":[-1.10477,-0.16114,1.10477,0.16114]}, - {"t":1.79784, "x":13.89339, "y":1.65749, "heading":-0.87099, "vx":0.79636, "vy":0.60438, "omega":1.53759, "ax":0.0, "ay":0.0, "alpha":-0.34036, "fx":[-0.11045,1.28735,0.11045,-1.28735], "fy":[-1.28735,-0.11045,1.28735,0.11045]}, - {"t":1.83609, "x":13.92386, "y":1.68061, "heading":-0.81218, "vx":0.79636, "vy":0.60438, "omega":1.52457, "ax":0.0, "ay":0.0, "alpha":-0.3927, "fx":[-0.03991,1.49024,0.03991,-1.49024], "fy":[-1.49024,-0.03991,1.49024,0.03991]}, - {"t":1.87435, "x":13.95432, "y":1.70373, "heading":-0.75386, "vx":0.79636, "vy":0.60438, "omega":1.50955, "ax":0.0, "ay":0.0, "alpha":-0.45201, "fx":[0.05412,1.71508,-0.05412,-1.71508], "fy":[-1.71508,0.05412,1.71508,-0.05412]}, - {"t":1.9126, "x":13.98478, "y":1.72684, "heading":-0.69611, "vx":0.79636, "vy":0.60438, "omega":1.49226, "ax":0.0, "ay":0.0, "alpha":-0.51933, "fx":[0.17579,1.96365,-0.17579,-1.96365], "fy":[-1.96365,0.17579,1.96365,-0.17579]}, - {"t":1.95085, "x":14.01524, "y":1.74996, "heading":-0.63903, "vx":0.79636, "vy":0.60438, "omega":1.47239, "ax":0.0, "ay":0.0, "alpha":-0.59585, "fx":[0.3299,2.23778,-0.3299,-2.23778], "fy":[-2.23778,0.3299,2.23778,-0.3299]}, - {"t":1.9891, "x":14.04571, "y":1.77308, "heading":-0.58271, "vx":0.79636, "vy":0.60438, "omega":1.4496, "ax":0.0, "ay":0.0, "alpha":-0.6829, "fx":[0.52186,2.53935,-0.52186,-2.53935], "fy":[-2.53935,0.52186,2.53935,-0.52186]}, - {"t":2.02735, "x":14.07617, "y":1.7962, "heading":-0.52726, "vx":0.79636, "vy":0.60438, "omega":1.42348, "ax":0.0, "ay":0.0, "alpha":-0.78198, "fx":[0.75782,2.8702,-0.75782,-2.8702], "fy":[-2.8702,0.75782,2.8702,-0.75782]}, - {"t":2.0656, "x":14.10663, "y":1.81932, "heading":-0.47281, "vx":0.79636, "vy":0.60438, "omega":1.39356, "ax":0.0, "ay":0.0, "alpha":-0.89481, "fx":[1.04462,3.23228,-1.04462,-3.23228], "fy":[-3.23228,1.04462,3.23228,-1.04462]}, - {"t":2.10386, "x":14.13709, "y":1.84244, "heading":-0.4195, "vx":0.79636, "vy":0.60438, "omega":1.35934, "ax":0.0, "ay":0.0, "alpha":-1.02334, "fx":[1.38992,3.62764,-1.38992,-3.62764], "fy":[-3.62764,1.38992,3.62764,-1.38992]}, - {"t":2.14211, "x":14.16756, "y":1.86556, "heading":-0.36751, "vx":0.79636, "vy":0.60438, "omega":1.32019, "ax":0.0, "ay":0.0, "alpha":-1.16973, "fx":[1.80213,4.05842,-1.80213,-4.05842], "fy":[-4.05842,1.80213,4.05842,-1.80213]}, - {"t":2.18036, "x":14.19802, "y":1.88868, "heading":-0.31701, "vx":0.79636, "vy":0.60438, "omega":1.27545, "ax":0.0, "ay":0.0, "alpha":-1.33647, "fx":[2.29046,4.52709,-2.29046,-4.52709], "fy":[-4.52709,2.29046,4.52709,-2.29046]}, - {"t":2.21861, "x":14.22848, "y":1.9118, "heading":-0.26822, "vx":0.79636, "vy":0.60438, "omega":1.22432, "ax":0.0, "ay":0.0, "alpha":-1.52636, "fx":[2.86491,5.03655,-2.86491,-5.03655], "fy":[-5.03655,2.86491,5.03655,-2.86491]}, - {"t":2.25686, "x":14.25894, "y":1.93491, "heading":-0.22139, "vx":0.79636, "vy":0.60438, "omega":1.16594, "ax":0.0, "ay":0.0, "alpha":-1.74249, "fx":[3.53619,5.59034,-3.53619,-5.59034], "fy":[-5.59034,3.53619,5.59034,-3.53619]}, - {"t":2.29512, "x":14.28941, "y":1.95803, "heading":-0.17679, "vx":0.79636, "vy":0.60438, "omega":1.09928, "ax":0.0, "ay":0.0, "alpha":-1.98839, "fx":[4.31561,6.19298,-4.31561,-6.19297], "fy":[-6.19298,4.3156,6.19297,-4.31562]}, - {"t":2.33337, "x":14.31987, "y":1.98115, "heading":-0.13474, "vx":0.79636, "vy":0.60438, "omega":1.02322, "ax":0.00003, "ay":-0.00004, "alpha":-2.26795, "fx":[5.21534,6.8509,-5.21456,-6.85012], "fy":[-6.85102,5.21443,6.85,-5.21546]}, - {"t":2.37162, "x":14.35033, "y":2.00427, "heading":-0.0956, "vx":0.79637, "vy":0.60438, "omega":0.93647, "ax":0.0023, "ay":-0.00303, "alpha":-2.58549, "fx":[6.27862,7.60383,-6.2137,-7.53831], "fy":[-7.61388,6.20302,7.52826,-6.2893]}, - {"t":2.40987, "x":14.3808, "y":2.02739, "heading":-0.05977, "vx":0.79645, "vy":0.60427, "omega":0.83757, "ax":0.18987, "ay":-0.25346, "alpha":-2.94079, "fx":[10.07767,11.06805,-4.72911,-5.65098], "fy":[-11.91996,3.80423,4.76712,-11.02244]}, - {"t":2.44812, "x":14.4114, "y":2.05032, "heading":-0.02774, "vx":0.80372, "vy":0.59457, "omega":0.72508, "ax":3.98482, "ay":-7.93087, "alpha":-0.66295, "fx":[57.90077,59.99781,55.02345,53.01375], "fy":[-112.60744,-110.37063,-112.28081,-114.41381]}, - {"t":2.48638, "x":14.44506, "y":2.06726, "heading":0.0, "vx":0.95614, "vy":0.2912, "omega":0.69972, "ax":0.92544, "ay":-6.20785, "alpha":-1.77503, "fx":[18.73358,20.09376,7.06762,6.57681], "fy":[-90.78589,-84.26998,-85.25217,-91.67136]}, - {"t":2.53353, "x":14.49118, "y":2.07409, "heading":0.033, "vx":0.99979, "vy":-0.00155, "omega":0.61601, "ax":-0.00018, "ay":-0.06032, "alpha":-3.02858, "fx":[8.38644,7.85956,-8.40104,-7.85503], "fy":[-8.71218,7.53849,7.00143,-9.24792]}, - {"t":2.58069, "x":14.53833, "y":2.07395, "heading":0.06205, "vx":0.99978, "vy":-0.0044, "omega":0.47319, "ax":0.0, "ay":-0.00039, "alpha":-2.57762, "fx":[7.33486,6.47682,-7.33495,-6.47682], "fy":[-6.48237,7.32936,6.47127,-7.34046]}, - {"t":2.62785, "x":14.58547, "y":2.07374, "heading":0.08436, "vx":0.99978, "vy":-0.00441, "omega":0.35163, "ax":0.0, "ay":0.0, "alpha":-2.19033, "fx":[6.35406,5.36321,-6.35406,-5.36321], "fy":[-5.36325,6.35402,5.36317,-6.3541]}, - {"t":2.67501, "x":14.63262, "y":2.07353, "heading":0.10095, "vx":0.99978, "vy":-0.00441, "omega":0.24834, "ax":0.0, "ay":0.0, "alpha":-1.85775, "fx":[5.46394,4.45887,-5.46394,-4.45887], "fy":[-4.45887,5.46394,4.45887,-5.46394]}, - {"t":2.72217, "x":14.67977, "y":2.07332, "heading":0.11266, "vx":0.99978, "vy":-0.00441, "omega":0.16073, "ax":0.0, "ay":0.0, "alpha":-1.57187, "fx":[4.66701,3.71833,-4.66701,-3.71833], "fy":[-3.71833,4.66701,3.71833,-4.66701]}, - {"t":2.76933, "x":14.72692, "y":2.07311, "heading":0.12024, "vx":0.99978, "vy":-0.00441, "omega":0.08661, "ax":0.0, "ay":0.0, "alpha":-1.32571, "fx":[3.9598,3.10611,-3.9598,-3.10611], "fy":[-3.10611,3.9598,3.10611,-3.9598]}, - {"t":2.81648, "x":14.77407, "y":2.07291, "heading":0.12432, "vx":0.99978, "vy":-0.00441, "omega":0.02409, "ax":0.0, "ay":0.0, "alpha":-1.11317, "fx":[3.33559,2.59453,-3.33559,-2.59453], "fy":[-2.59453,3.33559,2.59453,-3.33559]}, - {"t":2.86364, "x":14.82121, "y":2.0727, "heading":0.12546, "vx":0.99978, "vy":-0.00441, "omega":-0.02841, "ax":0.0, "ay":0.0, "alpha":-0.92895, "fx":[2.78601,2.16198,-2.78601,-2.16198], "fy":[-2.16198,2.78601,2.16198,-2.78601]}, - {"t":2.9108, "x":14.86836, "y":2.07249, "heading":0.12412, "vx":0.99978, "vy":-0.00441, "omega":-0.07221, "ax":0.0, "ay":0.0, "alpha":-0.7684, "fx":[2.30211,1.79141,-2.30211,-1.79141], "fy":[-1.79141,2.30211,1.79141,-2.30211]}, - {"t":2.95796, "x":14.91551, "y":2.07228, "heading":0.12071, "vx":0.99978, "vy":-0.00441, "omega":-0.10845, "ax":0.0, "ay":0.0, "alpha":-0.62746, "fx":[1.87488,1.46923,-1.87488,-1.46923], "fy":[-1.46923,1.87488,1.46923,-1.87488]}, - {"t":3.00512, "x":14.96266, "y":2.07207, "heading":0.1156, "vx":0.99978, "vy":-0.00441, "omega":-0.13804, "ax":0.0, "ay":0.0, "alpha":-0.50257, "fx":[1.49566,1.18445,-1.49566,-1.18445], "fy":[-1.18445,1.49566,1.18445,-1.49566]}, - {"t":3.05228, "x":15.00981, "y":2.07187, "heading":0.10909, "vx":0.99978, "vy":-0.00441, "omega":-0.16174, "ax":0.0, "ay":0.0, "alpha":-0.39054, "fx":[1.15622,0.92796,-1.15622,-0.92796], "fy":[-0.92796,1.15622,0.92796,-1.15622]}, - {"t":3.09943, "x":15.05695, "y":2.07166, "heading":0.10146, "vx":0.99978, "vy":-0.00441, "omega":-0.18016, "ax":0.0, "ay":0.0, "alpha":-0.2885, "fx":[0.84889,0.69201,-0.84889,-0.69201], "fy":[-0.69201,0.84889,0.69201,-0.84889]}, - {"t":3.14659, "x":15.1041, "y":2.07145, "heading":0.09296, "vx":0.99978, "vy":-0.00441, "omega":-0.19376, "ax":0.0, "ay":0.0, "alpha":-0.19386, "fx":[0.56644,0.46983,-0.56644,-0.46983], "fy":[-0.46983,0.56644,0.46983,-0.56644]}, - {"t":3.19375, "x":15.15125, "y":2.07124, "heading":0.08383, "vx":0.99978, "vy":-0.00441, "omega":-0.20291, "ax":0.0, "ay":0.0, "alpha":-0.10419, "fx":[0.30211,0.25527,-0.30211,-0.25527], "fy":[-0.25527,0.30211,0.25527,-0.30211]}, - {"t":3.24091, "x":15.1984, "y":2.07103, "heading":0.07426, "vx":0.99978, "vy":-0.00441, "omega":-0.20782, "ax":0.0, "ay":0.0, "alpha":-0.01718, "fx":[0.04942,0.04258,-0.04942,-0.04258], "fy":[-0.04258,0.04942,0.04258,-0.04942]}, - {"t":3.28807, "x":15.24554, "y":2.07082, "heading":0.06446, "vx":0.99978, "vy":-0.00441, "omega":-0.20863, "ax":0.0, "ay":0.0, "alpha":0.06938, "fx":[-0.19784,-0.17385,0.19784,0.17385], "fy":[0.17385,-0.19784,-0.17385,0.19784]}, - {"t":3.33523, "x":15.29269, "y":2.07062, "heading":0.05462, "vx":0.99978, "vy":-0.00441, "omega":-0.20536, "ax":0.0, "ay":0.0, "alpha":0.15772, "fx":[-0.44585,-0.39963,0.44585,0.39963], "fy":[0.39963,-0.44585,-0.39963,0.44585]}, - {"t":3.38238, "x":15.33984, "y":2.07041, "heading":0.04493, "vx":0.99978, "vy":-0.00441, "omega":-0.19792, "ax":0.0, "ay":0.0, "alpha":0.2501, "fx":[-0.70083,-0.64052,0.70083,0.64052], "fy":[0.64052,-0.70083,-0.64052,0.70083]}, - {"t":3.42954, "x":15.38699, "y":2.0702, "heading":0.0356, "vx":0.99978, "vy":-0.00441, "omega":-0.18612, "ax":0.0, "ay":0.0, "alpha":0.34889, "fx":[-0.96928,-0.90261,0.96928,0.90261], "fy":[0.90261,-0.96928,-0.90261,0.96928]}, - {"t":3.4767, "x":15.43414, "y":2.06999, "heading":0.02682, "vx":0.99978, "vy":-0.00441, "omega":-0.16967, "ax":0.0, "ay":0.0, "alpha":0.45662, "fx":[-1.25814,-1.19239,1.25814,1.19239], "fy":[1.19239,-1.25814,-1.19239,1.25814]}, - {"t":3.52386, "x":15.48128, "y":2.06978, "heading":0.01882, "vx":0.99978, "vy":-0.00441, "omega":-0.14814, "ax":0.0, "ay":0.0, "alpha":0.57603, "fx":[-1.57508,-1.51688,1.57508,1.51688], "fy":[1.51688,-1.57508,-1.51688,1.57508]}, - {"t":3.57102, "x":15.52843, "y":2.06958, "heading":0.01184, "vx":0.99978, "vy":-0.00441, "omega":-0.12097, "ax":0.0, "ay":-0.00001, "alpha":0.71017, "fx":[-1.92877,-1.88364,1.92877,1.88364], "fy":[1.88352,-1.92889,-1.88376,1.92865]}, - {"t":3.61818, "x":15.57558, "y":2.06937, "heading":0.00613, "vx":0.99978, "vy":-0.00441, "omega":-0.08748, "ax":-0.00001, "ay":-0.00131, "alpha":0.86246, "fx":[-2.32936,-2.30095,2.32918,2.3008], "fy":[2.28227,-2.34788,-2.31949,2.31066]}, - {"t":3.66533, "x":15.62273, "y":2.06916, "heading":0.00201, "vx":0.99978, "vy":-0.00448, "omega":-0.04681, "ax":-0.00707, "ay":-0.20414, "alpha":1.036, "fx":[-2.88967,-2.87458,2.68552,2.67802], "fy":[-0.11925,-5.67905,-5.66818,-0.10809]}, - {"t":3.71249, "x":15.66987, "y":2.06872, "heading":-0.0002, "vx":0.99944, "vy":-0.0141, "omega":0.00205, "ax":-10.79847, "ay":-0.04468, "alpha":0.00385, "fx":[-153.06589,-153.06572,-153.06559,-153.06576], "fy":[-0.61258,-0.65376,-0.65394,-0.61275]}, - {"t":3.75965, "x":15.70499, "y":2.068, "heading":-0.0001, "vx":0.49021, "vy":-0.01621, "omega":0.00223, "ax":-10.82043, "ay":0.01546, "alpha":0.00156, "fx":[-153.377,-153.37702,-153.37701,-153.37698], "fy":[0.22754,0.21083,0.21085,0.22757]}, - {"t":3.80681, "x":15.71608, "y":2.06726, "heading":0.0, "vx":-0.02007, "vy":-0.01548, "omega":0.0023, "ax":-10.81861, "ay":0.01609, "alpha":0.00946, "fx":[-153.35116,-153.35131,-153.35118,-153.35103], "fy":[0.27867,0.17726,0.17738,0.27886]}, - {"t":3.84525, "x":15.70731, "y":2.06667, "heading":0.00009, "vx":-0.43597, "vy":-0.01486, "omega":0.00266, "ax":-10.80509, "ay":0.01733, "alpha":0.01679, "fx":[-153.15963,-153.15991,-153.15946,-153.15918], "fy":[0.33538,0.15563,0.15583,0.33579]}, - {"t":3.8837, "x":15.68257, "y":2.06612, "heading":0.00019, "vx":-0.85136, "vy":-0.0142, "omega":0.00331, "ax":-3.85978, "ay":0.3991, "alpha":4.46302, "fx":[-64.8532,-65.49409,-44.54409,-43.95474], "fy":[18.10946,-7.40285,-8.27948,20.20124]}, - {"t":3.92214, "x":15.64699, "y":2.06586, "heading":0.00032, "vx":-0.99974, "vy":0.00115, "omega":0.17488, "ax":-0.00001, "ay":0.00546, "alpha":5.01702, "fx":[-13.47051,-13.46432,13.47268,13.46173], "fy":[13.54043,-13.39417,-13.38561,13.549]}, - {"t":3.96058, "x":15.60855, "y":2.06591, "heading":0.00704, "vx":-0.99974, "vy":0.00136, "omega":0.36775, "ax":0.0, "ay":0.00007, "alpha":4.35851, "fx":[-11.78173,-11.61699,11.78175,11.61697], "fy":[11.61792,-11.7808,-11.61605,11.78267]}, - {"t":3.99903, "x":15.57012, "y":2.06597, "heading":0.02118, "vx":-0.99974, "vy":0.00136, "omega":0.53531, "ax":0.0, "ay":0.0, "alpha":3.76569, "fx":[-10.32014,-9.892,10.32014,9.892], "fy":[9.89201,-10.32012,-9.89199,10.32015]}, - {"t":4.03747, "x":15.53169, "y":2.06602, "heading":0.04176, "vx":-0.99974, "vy":0.00136, "omega":0.68008, "ax":0.0, "ay":0.0, "alpha":3.23147, "fx":[-9.02885,-8.30462,9.02885,8.30462], "fy":[8.30462,-9.02885,-8.30462,9.02885]}, - {"t":4.07591, "x":15.49325, "y":2.06607, "heading":0.0679, "vx":-0.99974, "vy":0.00136, "omega":0.8043, "ax":0.0, "ay":0.0, "alpha":2.74883, "fx":[-7.8624,-6.8611,7.8624,6.8611], "fy":[6.8611,-7.8624,-6.8611,7.8624]}, - {"t":4.11436, "x":15.45482, "y":2.06612, "heading":0.09882, "vx":-0.99974, "vy":0.00136, "omega":0.90998, "ax":0.0, "ay":0.0, "alpha":2.31101, "fx":[-6.78527,-5.56118,6.78527,5.56118], "fy":[5.56118,-6.78527,-5.56118,6.78527]}, - {"t":4.1528, "x":15.41639, "y":2.06617, "heading":0.13381, "vx":-0.99974, "vy":0.00136, "omega":0.99882, "ax":0.0, "ay":0.0, "alpha":1.91149, "fx":[-5.76971,-4.40068,5.76971,4.40068], "fy":[4.40068,-5.76971,-4.40068,5.76971]}, - {"t":4.19124, "x":15.37795, "y":2.06623, "heading":0.1722, "vx":-0.99974, "vy":0.00136, "omega":1.07231, "ax":0.0, "ay":0.0, "alpha":1.54409, "fx":[-4.79376,-3.37329,4.79376,3.37329], "fy":[3.37329,-4.79376,-3.37329,4.79376]}, - {"t":4.22969, "x":15.33952, "y":2.06628, "heading":0.21343, "vx":-0.99974, "vy":0.00136, "omega":1.13167, "ax":0.0, "ay":0.0, "alpha":1.2029, "fx":[-3.83963,-2.47177,3.83963,2.47177], "fy":[2.47177,-3.83963,-2.47178,3.83963]}, - {"t":4.26813, "x":15.30109, "y":2.06633, "heading":0.25693, "vx":-0.99974, "vy":0.00136, "omega":1.17791, "ax":0.0, "ay":0.0, "alpha":0.88229, "fx":[-2.89246,-1.68879,2.89246,1.68879], "fy":[1.68879,-2.89246,-1.68879,2.89246]}, - {"t":4.30657, "x":15.26265, "y":2.06638, "heading":0.30221, "vx":-0.99974, "vy":0.00136, "omega":1.21183, "ax":0.0, "ay":0.0, "alpha":0.57688, "fx":[-1.93926,-1.01746,1.93926,1.01746], "fy":[1.01746,-1.93926,-1.01746,1.93926]}, - {"t":4.34502, "x":15.22422, "y":2.06644, "heading":0.3488, "vx":-0.99974, "vy":0.00136, "omega":1.23401, "ax":0.0, "ay":0.0, "alpha":0.28145, "fx":[-0.96821,-0.45179,0.96821,0.45179], "fy":[0.45179,-0.96821,-0.45179,0.96821]}, - {"t":4.38346, "x":15.18579, "y":2.06649, "heading":0.39624, "vx":-0.99974, "vy":0.00136, "omega":1.24483, "ax":0.0, "ay":0.0, "alpha":-0.00911, "fx":[0.032,0.01312,-0.032,-0.01312], "fy":[-0.01312,0.032,0.01312,-0.032]}, - {"t":4.4219, "x":15.14735, "y":2.06654, "heading":0.4441, "vx":-0.99974, "vy":0.00136, "omega":1.24448, "ax":0.0, "ay":0.0, "alpha":-0.29983, "fx":[1.07255,0.38097,-1.07255,-0.38097], "fy":[-0.38097,1.07255,0.38097,-1.07255]}, - {"t":4.46035, "x":15.10892, "y":2.06659, "heading":0.49194, "vx":-0.99974, "vy":0.00136, "omega":1.23295, "ax":0.0, "ay":0.0, "alpha":-0.59573, "fx":[2.16484,0.65418,-2.16484,-0.65418], "fy":[-0.65418,2.16484,0.65418,-2.16484]}, - {"t":4.49879, "x":15.07049, "y":2.06664, "heading":0.53934, "vx":-0.99974, "vy":0.00136, "omega":1.21005, "ax":0.0, "ay":0.0, "alpha":-0.90194, "fx":[3.32081,0.83402,-3.32081,-0.83402], "fy":[-0.83402,3.32081,0.83402,-3.32081]}, - {"t":4.53723, "x":15.03205, "y":2.0667, "heading":0.58586, "vx":-0.99974, "vy":0.00136, "omega":1.17537, "ax":0.0, "ay":0.0, "alpha":-1.22366, "fx":[4.55311,0.92079,-4.55311,-0.92079], "fy":[-0.92079,4.55311,0.92079,-4.55311]}, - {"t":4.57568, "x":14.99362, "y":2.06675, "heading":0.63104, "vx":-0.99974, "vy":0.00136, "omega":1.12833, "ax":0.0, "ay":0.0, "alpha":-1.56633, "fx":[5.8754,0.91418,-5.8754,-0.91418], "fy":[-0.91418,5.8754,0.91418,-5.8754]}, - {"t":4.61412, "x":14.95519, "y":2.0668, "heading":0.67442, "vx":-0.99974, "vy":0.00136, "omega":1.06812, "ax":0.0, "ay":0.0, "alpha":-1.93556, "fx":[7.30259,0.81379,-7.30259,-0.81379], "fy":[-0.81379,7.30259,0.81379,-7.30259]}, - {"t":4.65256, "x":14.91675, "y":2.06685, "heading":0.71548, "vx":-0.99974, "vy":0.00136, "omega":0.99371, "ax":0.0, "ay":0.0, "alpha":-2.33729, "fx":[8.85117,0.61987,-8.85117,-0.61987], "fy":[-0.61987,8.85117,0.61987,-8.85117]}, - {"t":4.69101, "x":14.87832, "y":2.06691, "heading":0.75368, "vx":-0.99974, "vy":0.00136, "omega":0.90385, "ax":0.0, "ay":0.0, "alpha":-2.77774, "fx":[10.53956,0.3344,-10.53956,-0.3344], "fy":[-0.3344,10.53956,0.3344,-10.53956]}, - {"t":4.72945, "x":14.83989, "y":2.06696, "heading":0.78843, "vx":-0.99974, "vy":0.00136, "omega":0.79707, "ax":0.0, "ay":0.0, "alpha":-3.26341, "fx":[12.38851,-0.03754,-12.38851,0.03754], "fy":[0.03754,12.38851,-0.03754,-12.38851]}, - {"t":4.76789, "x":14.80145, "y":2.06701, "heading":0.81907, "vx":-0.99974, "vy":0.00136, "omega":0.67161, "ax":0.0, "ay":0.0, "alpha":-3.80111, "fx":[14.42161,-0.48579,-14.42161,0.48579], "fy":[0.48579,14.42161,-0.48579,-14.42161]}, - {"t":4.80634, "x":14.76302, "y":2.06706, "heading":0.84489, "vx":-0.99974, "vy":0.00136, "omega":0.52548, "ax":0.0, "ay":0.0, "alpha":-4.39784, "fx":[16.66559,-0.99263,-16.66559,0.99263], "fy":[0.99263,16.66559,-0.99263,-16.66559]}, - {"t":4.84478, "x":14.72459, "y":2.06711, "heading":0.86509, "vx":-0.99974, "vy":0.00136, "omega":0.35642, "ax":0.00002, "ay":0.0, "alpha":-5.06072, "fx":[19.15081,-1.52916,-19.15034,1.52964], "fy":[1.52943,19.1506,-1.52937,-19.15054]}, - {"t":4.88322, "x":14.68615, "y":2.06717, "heading":0.87879, "vx":-0.99974, "vy":0.00136, "omega":0.16186, "ax":4.38172, "ay":-0.00596, "alpha":-4.18402, "fx":[75.0253,61.24814,48.45953,63.70635], "fy":[1.51789,18.40489,-1.97716,-18.2834]}, - {"t":4.92167, "x":14.65096, "y":2.06721, "heading":0.88502, "vx":-0.83129, "vy":0.00113, "omega":0.00102, "ax":10.80511, "ay":-0.01468, "alpha":-0.01691, "fx":[153.16019,153.15994,153.15952,153.15966], "fy":[-0.19521,-0.08065,-0.22103,-0.33554]}, - {"t":4.96011, "x":14.62698, "y":2.06725, "heading":0.88505, "vx":-0.4159, "vy":0.00057, "omega":0.00037, "ax":10.81861, "ay":-0.0147, "alpha":-0.00952, "fx":[153.35136,153.35134,153.35116,153.35116], "fy":[-0.20109,-0.13652,-0.21566,-0.28022]}, - {"t":4.99856, "x":14.61899, "y":2.06726, "heading":0.88507, "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":13.0, "y":0.6, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.55335, "ay":7.74064, "alpha":0.0, "fx":[107.06696,107.06696,107.06696,107.06696], "fy":[109.72179,109.72179,109.72178,109.72179]}, + {"t":0.04792, "x":13.00867, "y":0.60889, "heading":0.0, "vx":0.36199, "vy":0.37097, "omega":0.0, "ax":7.01627, "ay":7.19025, "alpha":0.00003, "fx":[99.4538,99.45394,99.45412,99.45397], "fy":[101.92017,101.92,101.91986,101.92002]}, + {"t":0.09585, "x":13.03408, "y":0.63493, "heading":0.0, "vx":0.69825, "vy":0.71556, "omega":0.0, "ax":0.00006, "ay":0.00007, "alpha":0.00036, "fx":[-0.00005,-0.00005,0.00189,0.00189], "fy":[0.00191,-0.00003,-0.00003,0.00191]}, + {"t":0.14377, "x":13.06754, "y":0.66922, "heading":0.0, "vx":0.69825, "vy":0.71556, "omega":0.00002, "ax":0.0, "ay":0.0, "alpha":0.00031, "fx":[-0.00082,-0.00082,0.00082,0.00082], "fy":[0.00082,-0.00082,-0.00082,0.00082]}, + {"t":0.1917, "x":13.10101, "y":0.70351, "heading":0.0, "vx":0.69825, "vy":0.71556, "omega":0.00003, "ax":0.0, "ay":0.0, "alpha":0.00026, "fx":[-0.0007,-0.0007,0.0007,0.0007], "fy":[0.0007,-0.0007,-0.0007,0.0007]}, + {"t":0.23962, "x":13.13447, "y":0.73781, "heading":0.0, "vx":0.69825, "vy":0.71556, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":0.00022, "fx":[-0.00059,-0.00059,0.00059,0.00059], "fy":[0.00059,-0.00059,-0.00059,0.00059]}, + {"t":0.28755, "x":13.16793, "y":0.7721, "heading":0.0, "vx":0.69825, "vy":0.71556, "omega":0.00006, "ax":0.0, "ay":0.0, "alpha":0.00018, "fx":[-0.0005,-0.0005,0.0005,0.0005], "fy":[0.0005,-0.0005,-0.0005,0.0005]}, + {"t":0.33547, "x":13.2014, "y":0.80639, "heading":0.00001, "vx":0.69825, "vy":0.71556, "omega":0.00007, "ax":0.0, "ay":0.0, "alpha":0.00016, "fx":[-0.00042,-0.00042,0.00042,0.00042], "fy":[0.00042,-0.00042,-0.00042,0.00042]}, + {"t":0.3834, "x":13.23486, "y":0.84069, "heading":0.00001, "vx":0.69825, "vy":0.71556, "omega":0.00007, "ax":0.0, "ay":0.0, "alpha":0.00013, "fx":[-0.00035,-0.00035,0.00035,0.00035], "fy":[0.00035,-0.00035,-0.00035,0.00035]}, + {"t":0.43132, "x":13.26833, "y":0.87498, "heading":0.00001, "vx":0.69825, "vy":0.71556, "omega":0.00008, "ax":0.0, "ay":0.0, "alpha":0.00011, "fx":[-0.00029,-0.00029,0.00029,0.00029], "fy":[0.00029,-0.00029,-0.00029,0.00029]}, + {"t":0.47925, "x":13.30179, "y":0.90927, "heading":0.00002, "vx":0.69825, "vy":0.71556, "omega":0.00008, "ax":0.0, "ay":0.0, "alpha":0.00009, "fx":[-0.00024,-0.00024,0.00024,0.00024], "fy":[0.00024,-0.00024,-0.00024,0.00024]}, + {"t":0.52717, "x":13.33525, "y":0.94357, "heading":0.00002, "vx":0.69825, "vy":0.71556, "omega":0.00009, "ax":0.0, "ay":0.0, "alpha":0.00007, "fx":[-0.00019,-0.00019,0.00019,0.00019], "fy":[0.00019,-0.00019,-0.00019,0.00019]}, + {"t":0.5751, "x":13.36872, "y":0.97786, "heading":0.00003, "vx":0.69825, "vy":0.71556, "omega":0.00009, "ax":0.0, "ay":0.0, "alpha":0.00006, "fx":[-0.00015,-0.00015,0.00015,0.00015], "fy":[0.00015,-0.00015,-0.00015,0.00015]}, + {"t":0.62302, "x":13.40218, "y":1.01215, "heading":0.00003, "vx":0.69825, "vy":0.71556, "omega":0.00009, "ax":0.0, "ay":0.0, "alpha":0.00004, "fx":[-0.00012,-0.00012,0.00012,0.00012], "fy":[0.00012,-0.00012,-0.00012,0.00012]}, + {"t":0.67095, "x":13.43564, "y":1.04645, "heading":0.00004, "vx":0.69825, "vy":0.71556, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[-0.00008,-0.00008,0.00008,0.00008], "fy":[0.00008,-0.00008,-0.00008,0.00008]}, + {"t":0.71887, "x":13.46911, "y":1.08074, "heading":0.00004, "vx":0.69825, "vy":0.71556, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[-0.00005,-0.00005,0.00005,0.00005], "fy":[0.00005,-0.00005,-0.00005,0.00005]}, + {"t":0.7668, "x":13.50257, "y":1.11503, "heading":0.00004, "vx":0.69825, "vy":0.71556, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[-0.00002,-0.00002,0.00002,0.00002], "fy":[0.00002,-0.00002,-0.00002,0.00002]}, + {"t":0.81472, "x":13.53603, "y":1.14933, "heading":0.00005, "vx":0.69825, "vy":0.71556, "omega":0.0001, "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":0.86265, "x":13.5695, "y":1.18362, "heading":0.00005, "vx":0.69825, "vy":0.71556, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":-0.00001, "fx":[0.00004,0.00004,-0.00004,-0.00004], "fy":[-0.00004,0.00004,0.00004,-0.00004]}, + {"t":0.91057, "x":13.60296, "y":1.21791, "heading":0.00006, "vx":0.69825, "vy":0.71556, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":-0.00002, "fx":[0.00007,0.00007,-0.00007,-0.00007], "fy":[-0.00007,0.00007,0.00007,-0.00007]}, + {"t":0.9585, "x":13.63643, "y":1.25221, "heading":0.00006, "vx":0.69825, "vy":0.71556, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":-0.00004, "fx":[0.0001,0.0001,-0.0001,-0.0001], "fy":[-0.0001,0.0001,0.0001,-0.0001]}, + {"t":1.00642, "x":13.66989, "y":1.2865, "heading":0.00007, "vx":0.69825, "vy":0.71556, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":-0.00005, "fx":[0.00013,0.00013,-0.00013,-0.00013], "fy":[-0.00013,0.00013,0.00013,-0.00013]}, + {"t":1.05435, "x":13.70335, "y":1.32079, "heading":0.00007, "vx":0.69825, "vy":0.71556, "omega":0.00009, "ax":0.0, "ay":0.0, "alpha":-0.00006, "fx":[0.00017,0.00017,-0.00017,-0.00017], "fy":[-0.00017,0.00017,0.00017,-0.00017]}, + {"t":1.10227, "x":13.73682, "y":1.35509, "heading":0.00008, "vx":0.69825, "vy":0.71556, "omega":0.00009, "ax":0.0, "ay":0.0, "alpha":-0.00008, "fx":[0.00021,0.00021,-0.00021,-0.00021], "fy":[-0.00021,0.00021,0.00021,-0.00021]}, + {"t":1.1502, "x":13.77028, "y":1.38938, "heading":0.00008, "vx":0.69825, "vy":0.71556, "omega":0.00009, "ax":0.0, "ay":0.0, "alpha":-0.0001, "fx":[0.00026,0.00026,-0.00026,-0.00026], "fy":[-0.00026,0.00026,0.00026,-0.00026]}, + {"t":1.19812, "x":13.80374, "y":1.42367, "heading":0.00009, "vx":0.69825, "vy":0.71556, "omega":0.00008, "ax":0.0, "ay":0.0, "alpha":-0.00012, "fx":[0.00031,0.00031,-0.00031,-0.00031], "fy":[-0.00031,0.00031,0.00031,-0.00031]}, + {"t":1.24605, "x":13.83721, "y":1.45797, "heading":0.00009, "vx":0.69825, "vy":0.71556, "omega":0.00008, "ax":0.0, "ay":0.0, "alpha":-0.00014, "fx":[0.00038,0.00038,-0.00038,-0.00038], "fy":[-0.00038,0.00038,0.00038,-0.00038]}, + {"t":1.29397, "x":13.87067, "y":1.49226, "heading":0.00009, "vx":0.69825, "vy":0.71556, "omega":0.00007, "ax":0.0, "ay":0.0, "alpha":-0.00017, "fx":[0.00045,0.00045,-0.00045,-0.00045], "fy":[-0.00045,0.00045,0.00045,-0.00045]}, + {"t":1.3419, "x":13.90413, "y":1.52655, "heading":0.0001, "vx":0.69825, "vy":0.71556, "omega":0.00006, "ax":0.0, "ay":0.0, "alpha":-0.0002, "fx":[0.00053,0.00053,-0.00053,-0.00053], "fy":[-0.00053,0.00053,0.00053,-0.00053]}, + {"t":1.38982, "x":13.9376, "y":1.56085, "heading":0.0001, "vx":0.69825, "vy":0.71556, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":-0.00024, "fx":[0.00063,0.00063,-0.00063,-0.00063], "fy":[-0.00063,0.00063,0.00063,-0.00063]}, + {"t":1.43775, "x":13.97106, "y":1.59514, "heading":0.0001, "vx":0.69825, "vy":0.71556, "omega":0.00004, "ax":0.0, "ay":0.0, "alpha":-0.00028, "fx":[0.00075,0.00075,-0.00075,-0.00075], "fy":[-0.00075,0.00075,0.00075,-0.00075]}, + {"t":1.48567, "x":14.00452, "y":1.62943, "heading":0.0001, "vx":0.69825, "vy":0.71556, "omega":0.00003, "ax":0.0, "ay":0.0, "alpha":-0.00033, "fx":[0.00088,0.00088,-0.00088,-0.00088], "fy":[-0.00088,0.00088,0.00088,-0.00088]}, + {"t":1.5336, "x":14.03799, "y":1.66373, "heading":0.00011, "vx":0.69825, "vy":0.71556, "omega":0.00001, "ax":0.0, "ay":0.0, "alpha":-0.00039, "fx":[0.00104,0.00104,-0.00104,-0.00104], "fy":[-0.00104,0.00104,0.00104,-0.00104]}, + {"t":1.58152, "x":14.07145, "y":1.69802, "heading":0.00011, "vx":0.69825, "vy":0.71556, "omega":-0.00001, "ax":0.0, "ay":0.0, "alpha":-0.00046, "fx":[0.00123,0.00123,-0.00123,-0.00123], "fy":[-0.00123,0.00123,0.00123,-0.00123]}, + {"t":1.62945, "x":14.10492, "y":1.73231, "heading":0.00011, "vx":0.69825, "vy":0.71556, "omega":-0.00003, "ax":0.0, "ay":0.0, "alpha":-0.00054, "fx":[0.00145,0.00145,-0.00145,-0.00145], "fy":[-0.00145,0.00145,0.00145,-0.00145]}, + {"t":1.67737, "x":14.13838, "y":1.76661, "heading":0.0001, "vx":0.69825, "vy":0.71556, "omega":-0.00005, "ax":0.0, "ay":0.0, "alpha":-0.00063, "fx":[0.0017,0.0017,-0.0017,-0.0017], "fy":[-0.0017,0.0017,0.0017,-0.0017]}, + {"t":1.7253, "x":14.17184, "y":1.8009, "heading":0.0001, "vx":0.69825, "vy":0.71556, "omega":-0.00008, "ax":0.0, "ay":0.0, "alpha":-0.00075, "fx":[0.002,0.002,-0.002,-0.002], "fy":[-0.002,0.002,0.002,-0.002]}, + {"t":1.77322, "x":14.20531, "y":1.83519, "heading":0.0001, "vx":0.69825, "vy":0.71556, "omega":-0.00012, "ax":0.0, "ay":0.0, "alpha":-0.00088, "fx":[0.00236,0.00236,-0.00236,-0.00236], "fy":[-0.00236,0.00236,0.00236,-0.00236]}, + {"t":1.82115, "x":14.23877, "y":1.86949, "heading":0.00009, "vx":0.69825, "vy":0.71556, "omega":-0.00016, "ax":0.0, "ay":0.0, "alpha":-0.00103, "fx":[0.00278,0.00278,-0.00278,-0.00278], "fy":[-0.00278,0.00278,0.00278,-0.00278]}, + {"t":1.86907, "x":14.27223, "y":1.90378, "heading":0.00008, "vx":0.69825, "vy":0.71556, "omega":-0.00021, "ax":0.0, "ay":0.0, "alpha":-0.00122, "fx":[0.00327,0.00327,-0.00327,-0.00327], "fy":[-0.00327,0.00327,0.00327,-0.00327]}, + {"t":1.917, "x":14.3057, "y":1.93807, "heading":0.00007, "vx":0.69825, "vy":0.71556, "omega":-0.00027, "ax":0.0, "ay":0.0, "alpha":-0.00143, "fx":[0.00389,0.00388,-0.0038,-0.0038], "fy":[-0.00388,0.0038,0.0038,-0.00388]}, + {"t":1.96492, "x":14.33916, "y":1.97237, "heading":0.00006, "vx":0.69825, "vy":0.71556, "omega":-0.00034, "ax":0.00048, "ay":-0.00047, "alpha":-0.00169, "fx":[0.01129,0.01128,0.00224,0.00224], "fy":[-0.01112,-0.00207,-0.00208,-0.01112]}, + {"t":2.01285, "x":14.37263, "y":2.00666, "heading":0.00004, "vx":0.69827, "vy":0.71554, "omega":-0.00042, "ax":0.07861, "ay":-0.07713, "alpha":-0.00198, "fx":[1.11965,1.11965,1.10901,1.10901], "fy":[-1.09861,-1.08796,-1.08797,-1.09861]}, + {"t":2.06077, "x":14.40618, "y":2.04086, "heading":0.00002, "vx":0.70204, "vy":0.71185, "omega":-0.00051, "ax":4.55783, "ay":-6.72325, "alpha":-0.00065, "fx":[64.6073,64.60914,64.6049,64.60306], "fy":[-95.30093,-95.29815,-95.29999,-95.30276]}, + {"t":2.1087, "x":14.44506, "y":2.06726, "heading":0.0, "vx":0.92047, "vy":0.38963, "omega":-0.00055, "ax":1.68066, "ay":-8.24919, "alpha":-0.00048, "fx":[23.82468,23.82529,23.82131,23.82071], "fy":[-116.9306,-116.92946,-116.93007,-116.9312]}, + {"t":2.15589, "x":14.49037, "y":2.07646, "heading":-0.00003, "vx":0.99979, "vy":0.00034, "omega":-0.00057, "ax":-0.00037, "ay":-0.13338, "alpha":-0.00157, "fx":[-0.001,-0.001,-0.00944,-0.00944], "fy":[-1.89481,-1.88638,-1.88638,-1.89481]}, + {"t":2.20308, "x":14.53755, "y":2.07633, "heading":-0.00005, "vx":0.99977, "vy":-0.00595, "omega":-0.00064, "ax":-0.00001, "ay":-0.00085, "alpha":-0.00126, "fx":[0.0033,0.0033,-0.00344,-0.00344], "fy":[-0.01547,-0.00874,-0.00874,-0.01547]}, + {"t":2.25027, "x":14.58473, "y":2.07605, "heading":-0.00008, "vx":0.99977, "vy":-0.00599, "omega":-0.0007, "ax":0.0, "ay":-0.00001, "alpha":-0.00097, "fx":[0.00261,0.00261,-0.00261,-0.00261], "fy":[-0.00268,0.00253,0.00253,-0.00268]}, + {"t":2.29746, "x":14.63191, "y":2.07576, "heading":-0.00012, "vx":0.99977, "vy":-0.00599, "omega":-0.00075, "ax":0.0, "ay":0.0, "alpha":-0.00071, "fx":[0.00191,0.00191,-0.00191,-0.00191], "fy":[-0.00191,0.00191,0.00191,-0.00191]}, + {"t":2.34465, "x":14.67909, "y":2.07548, "heading":-0.00015, "vx":0.99977, "vy":-0.00599, "omega":-0.00078, "ax":0.0, "ay":0.0, "alpha":-0.00047, "fx":[0.00126,0.00126,-0.00126,-0.00126], "fy":[-0.00126,0.00126,0.00126,-0.00126]}, + {"t":2.39184, "x":14.72627, "y":2.0752, "heading":-0.00019, "vx":0.99977, "vy":-0.00599, "omega":-0.0008, "ax":0.0, "ay":0.0, "alpha":-0.00024, "fx":[0.00065,0.00065,-0.00065,-0.00065], "fy":[-0.00065,0.00065,0.00065,-0.00065]}, + {"t":2.43904, "x":14.77345, "y":2.07491, "heading":-0.00023, "vx":0.99977, "vy":-0.00599, "omega":-0.00082, "ax":0.0, "ay":0.0, "alpha":-0.00002, "fx":[0.00005,0.00005,-0.00005,-0.00005], "fy":[-0.00005,0.00005,0.00005,-0.00005]}, + {"t":2.48623, "x":14.82063, "y":2.07463, "heading":-0.00026, "vx":0.99977, "vy":-0.00599, "omega":-0.00082, "ax":0.0, "ay":0.0, "alpha":0.0002, "fx":[-0.00054,-0.00054,0.00054,0.00054], "fy":[0.00054,-0.00054,-0.00054,0.00054]}, + {"t":2.53342, "x":14.86781, "y":2.07435, "heading":-0.0003, "vx":0.99977, "vy":-0.00599, "omega":-0.00081, "ax":0.0, "ay":0.0, "alpha":0.00043, "fx":[-0.00115,-0.00115,0.00115,0.00115], "fy":[0.00115,-0.00115,-0.00115,0.00115]}, + {"t":2.58061, "x":14.915, "y":2.07407, "heading":-0.00034, "vx":0.99977, "vy":-0.00599, "omega":-0.00079, "ax":0.0, "ay":0.0, "alpha":0.00067, "fx":[-0.00179,-0.00179,0.00179,0.00179], "fy":[0.00179,-0.00179,-0.00179,0.00179]}, + {"t":2.6278, "x":14.96218, "y":2.07378, "heading":-0.00038, "vx":0.99977, "vy":-0.00599, "omega":-0.00075, "ax":0.0, "ay":0.0, "alpha":0.00092, "fx":[-0.00248,-0.00248,0.00248,0.00248], "fy":[0.00248,-0.00248,-0.00248,0.00248]}, + {"t":2.67499, "x":15.00936, "y":2.0735, "heading":-0.00041, "vx":0.99977, "vy":-0.00599, "omega":-0.00071, "ax":0.0, "ay":0.0, "alpha":0.0012, "fx":[-0.00323,-0.00323,0.00323,0.00323], "fy":[0.00323,-0.00323,-0.00323,0.00323]}, + {"t":2.72218, "x":15.05654, "y":2.07322, "heading":-0.00045, "vx":0.99977, "vy":-0.00599, "omega":-0.00065, "ax":0.0, "ay":0.0, "alpha":0.00151, "fx":[-0.00406,-0.00406,0.00406,0.00406], "fy":[0.00406,-0.00406,-0.00406,0.00406]}, + {"t":2.76938, "x":15.10372, "y":2.07294, "heading":-0.00048, "vx":0.99977, "vy":-0.00599, "omega":-0.00058, "ax":0.0, "ay":0.0, "alpha":0.00186, "fx":[-0.00499,-0.005,0.00499,0.005], "fy":[0.005,-0.00499,-0.005,0.00499]}, + {"t":2.81657, "x":15.1509, "y":2.07265, "heading":-0.00051, "vx":0.99977, "vy":-0.00599, "omega":-0.0005, "ax":0.0, "ay":0.0, "alpha":0.00226, "fx":[-0.00606,-0.00606,0.00606,0.00606], "fy":[0.00606,-0.00606,-0.00606,0.00606]}, + {"t":2.86376, "x":15.19808, "y":2.07237, "heading":-0.00053, "vx":0.99977, "vy":-0.00599, "omega":-0.00039, "ax":0.0, "ay":0.0, "alpha":0.00271, "fx":[-0.00728,-0.00729,0.00728,0.00729], "fy":[0.00729,-0.00728,-0.00729,0.00728]}, + {"t":2.91095, "x":15.24526, "y":2.07209, "heading":-0.00055, "vx":0.99977, "vy":-0.00599, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.00324, "fx":[-0.00868,-0.00869,0.00868,0.00869], "fy":[0.00869,-0.00868,-0.00869,0.00868]}, + {"t":2.95814, "x":15.29244, "y":2.0718, "heading":-0.00056, "vx":0.99977, "vy":-0.00599, "omega":-0.00011, "ax":0.0, "ay":0.0, "alpha":0.00384, "fx":[-0.01031,-0.01033,0.01031,0.01033], "fy":[0.01033,-0.01031,-0.01033,0.01031]}, + {"t":3.00533, "x":15.33962, "y":2.07152, "heading":-0.00056, "vx":0.99977, "vy":-0.00599, "omega":0.00007, "ax":0.0, "ay":0.0, "alpha":0.00455, "fx":[-0.01221,-0.01222,0.01221,0.01222], "fy":[0.01222,-0.01221,-0.01222,0.01221]}, + {"t":3.05252, "x":15.3868, "y":2.07124, "heading":-0.00056, "vx":0.99977, "vy":-0.00599, "omega":0.00029, "ax":0.0, "ay":0.0, "alpha":0.00537, "fx":[-0.01442,-0.01443,0.01442,0.01443], "fy":[0.01443,-0.01442,-0.01443,0.01442]}, + {"t":3.09972, "x":15.43398, "y":2.07096, "heading":-0.00055, "vx":0.99977, "vy":-0.00599, "omega":0.00054, "ax":0.0, "ay":0.0, "alpha":0.00633, "fx":[-0.01699,-0.01701,0.01699,0.01701], "fy":[0.01701,-0.01699,-0.01701,0.01699]}, + {"t":3.14691, "x":15.48116, "y":2.07067, "heading":-0.00052, "vx":0.99977, "vy":-0.00599, "omega":0.00084, "ax":0.0, "ay":0.0, "alpha":0.00746, "fx":[-0.02001,-0.02003,0.02001,0.02003], "fy":[0.02003,-0.02001,-0.02003,0.02001]}, + {"t":3.1941, "x":15.52834, "y":2.07039, "heading":-0.00048, "vx":0.99977, "vy":-0.00599, "omega":0.00119, "ax":0.0, "ay":-0.00001, "alpha":0.00877, "fx":[-0.02354,-0.02356,0.02354,0.02356], "fy":[0.0234,-0.0237,-0.02372,0.02338]}, + {"t":3.24129, "x":15.57552, "y":2.07011, "heading":-0.00043, "vx":0.99977, "vy":-0.00599, "omega":0.00161, "ax":-0.00001, "ay":-0.00176, "alpha":0.01031, "fx":[-0.02782,-0.02785,0.02752,0.02755], "fy":[0.00281,-0.05255,-0.05258,0.00279]}, + {"t":3.28848, "x":15.6227, "y":2.06982, "heading":-0.00035, "vx":0.99977, "vy":-0.00607, "omega":0.00209, "ax":-0.00853, "ay":-0.27397, "alpha":0.0121, "fx":[-0.15339,-0.15341,-0.0884,-0.08838], "fy":[-3.85098,-3.91591,-3.91594,-3.851]}, + {"t":3.33567, "x":15.66988, "y":2.06923, "heading":-0.00025, "vx":0.99937, "vy":-0.019, "omega":0.00266, "ax":-10.79826, "ay":-0.06094, "alpha":0.00004, "fx":[-153.06273,-153.06273,-153.06273,-153.06273], "fy":[-0.86353,-0.86401,-0.86401,-0.86353]}, + {"t":3.38286, "x":15.70501, "y":2.06827, "heading":-0.00013, "vx":0.48978, "vy":-0.02188, "omega":0.00267, "ax":-10.82042, "ay":0.02105, "alpha":0.00002, "fx":[-153.37687,-153.37687,-153.37687,-153.37687], "fy":[0.29853,0.29834,0.29834,0.29853]}, + {"t":3.43006, "x":15.71608, "y":2.06726, "heading":0.0, "vx":-0.02085, "vy":-0.02089, "omega":0.00267, "ax":-10.81859, "ay":0.02171, "alpha":0.00946, "fx":[-153.35096,-153.35116,-153.35103,-153.35083], "fy":[0.35827,0.25687,0.25704,0.35851]}, + {"t":3.4685, "x":15.70728, "y":2.06647, "heading":0.0001, "vx":-0.43673, "vy":-0.02005, "omega":0.00303, "ax":-10.80507, "ay":0.02338, "alpha":0.01679, "fx":[-153.15934,-153.15973,-153.15928,-153.15889], "fy":[0.42112,0.24138,0.24168,0.42163]}, + {"t":3.50694, "x":15.68251, "y":2.06572, "heading":0.00022, "vx":-0.85209, "vy":-0.01915, "omega":0.00368, "ax":-3.84102, "ay":0.53845, "alpha":4.46259, "fx":[-64.50357,-65.36624,-44.35105,-43.5613], "fy":[19.96091,-5.51075,-6.16185,22.24132]}, + {"t":3.54538, "x":15.64692, "y":2.06538, "heading":0.00036, "vx":-0.99974, "vy":0.00155, "omega":0.17522, "ax":0.0, "ay":0.00737, "alpha":5.01569, "fx":[-13.46702,-13.46053,13.47018,13.45726], "fy":[13.56334,-13.36413,-13.35443,13.57304]}, + {"t":3.58382, "x":15.60849, "y":2.06544, "heading":0.0071, "vx":-0.99974, "vy":0.00183, "omega":0.36803, "ax":0.0, "ay":0.00009, "alpha":4.35736, "fx":[-11.77925,-11.61328,11.77928,11.61326], "fy":[11.61453,-11.778,-11.612,11.78053]}, + {"t":3.62226, "x":15.57006, "y":2.06551, "heading":0.02124, "vx":-0.99974, "vy":0.00183, "omega":0.53553, "ax":0.0, "ay":0.0, "alpha":3.76469, "fx":[-10.31804,-9.88872,10.31804,9.88872], "fy":[9.88873,-10.31803,-9.8887,10.31806]}, + {"t":3.6607, "x":15.53163, "y":2.06558, "heading":0.04183, "vx":-0.99974, "vy":0.00183, "omega":0.68025, "ax":0.0, "ay":0.0, "alpha":3.2306, "fx":[-9.02703,-8.30175,9.02703,8.30175], "fy":[8.30175,-9.02703,-8.30175,9.02703]}, + {"t":3.69914, "x":15.49319, "y":2.06566, "heading":0.06798, "vx":-0.99974, "vy":0.00183, "omega":0.80444, "ax":0.0, "ay":0.0, "alpha":2.74808, "fx":[-7.86078,-6.85862,7.86078,6.85862], "fy":[6.85862,-7.86078,-6.85862,7.86078]}, + {"t":3.73758, "x":15.45476, "y":2.06573, "heading":0.0989, "vx":-0.99974, "vy":0.00183, "omega":0.91008, "ax":0.0, "ay":0.0, "alpha":2.31036, "fx":[-6.7838,-5.55907,6.7838,5.55907], "fy":[5.55907,-6.7838,-5.55907,6.7838]}, + {"t":3.77603, "x":15.41633, "y":2.0658, "heading":0.13389, "vx":-0.99974, "vy":0.00183, "omega":0.99889, "ax":0.0, "ay":0.0, "alpha":1.91092, "fx":[-5.76836,-4.3989,5.76836,4.3989], "fy":[4.3989,-5.76836,-4.3989,5.76836]}, + {"t":3.81447, "x":15.3779, "y":2.06587, "heading":0.17229, "vx":-0.99974, "vy":0.00183, "omega":1.07235, "ax":0.0, "ay":0.0, "alpha":1.54359, "fx":[-4.7925,-3.37182,4.7925,3.37182], "fy":[3.37182,-4.7925,-3.37182,4.7925]}, + {"t":3.85291, "x":15.33947, "y":2.06594, "heading":0.21351, "vx":-0.99974, "vy":0.00183, "omega":1.13169, "ax":0.0, "ay":0.0, "alpha":1.20246, "fx":[-3.83844,-2.47057,3.83844,2.47057], "fy":[2.47057,-3.83844,-2.47057,3.83844]}, + {"t":3.89135, "x":15.30104, "y":2.06601, "heading":0.25701, "vx":-0.99974, "vy":0.00183, "omega":1.17791, "ax":0.0, "ay":0.0, "alpha":0.88191, "fx":[-2.89133,-1.68783,2.89133,1.68783], "fy":[1.68783,-2.89133,-1.68783,2.89133]}, + {"t":3.92979, "x":15.26261, "y":2.06608, "heading":0.30229, "vx":-0.99974, "vy":0.00183, "omega":1.21181, "ax":0.0, "ay":0.0, "alpha":0.57654, "fx":[-1.9382,-1.01671,1.9382,1.01671], "fy":[1.01671,-1.9382,-1.01671,1.9382]}, + {"t":3.96823, "x":15.22418, "y":2.06615, "heading":0.34887, "vx":-0.99974, "vy":0.00183, "omega":1.23397, "ax":0.0, "ay":0.0, "alpha":0.28114, "fx":[-0.96719,-0.45124,0.96719,0.45124], "fy":[0.45124,-0.96719,-0.45124,0.96719]}, + {"t":4.00667, "x":15.18575, "y":2.06622, "heading":0.39631, "vx":-0.99974, "vy":0.00183, "omega":1.24478, "ax":0.0, "ay":0.0, "alpha":-0.00939, "fx":[0.03297,0.01352,-0.03297,-0.01352], "fy":[-0.01352,0.03297,0.01352,-0.03297]}, + {"t":4.04511, "x":15.14732, "y":2.06629, "heading":0.44416, "vx":-0.99974, "vy":0.00183, "omega":1.24442, "ax":0.0, "ay":0.0, "alpha":-0.30008, "fx":[1.07347,0.38122,-1.07347,-0.38122], "fy":[-0.38122,1.07347,0.38122,-1.07347]}, + {"t":4.08355, "x":15.10889, "y":2.06636, "heading":0.492, "vx":-0.99974, "vy":0.00183, "omega":1.23289, "ax":0.0, "ay":0.0, "alpha":-0.59596, "fx":[2.16572,0.65431,-2.16572,-0.65431], "fy":[-0.65431,2.16572,0.65431,-2.16572]}, + {"t":4.12199, "x":15.07045, "y":2.06643, "heading":0.53939, "vx":-0.99974, "vy":0.00183, "omega":1.20998, "ax":0.0, "ay":0.0, "alpha":-0.90215, "fx":[3.32163,0.83404,-3.32163,-0.83404], "fy":[-0.83404,3.32163,0.83404,-3.32163]}, + {"t":4.16044, "x":15.03202, "y":2.0665, "heading":0.5859, "vx":-0.99974, "vy":0.00183, "omega":1.1753, "ax":0.0, "ay":0.0, "alpha":-1.22386, "fx":[4.55388,0.92072,-4.55388,-0.92072], "fy":[-0.92072,4.55388,0.92072,-4.55388]}, + {"t":4.19888, "x":14.99359, "y":2.06657, "heading":0.63108, "vx":-0.99974, "vy":0.00183, "omega":1.12825, "ax":0.0, "ay":0.0, "alpha":-1.5665, "fx":[5.87611,0.91404,-5.87611,-0.91404], "fy":[-0.91404,5.87611,0.91404,-5.87611]}, + {"t":4.23732, "x":14.95516, "y":2.06664, "heading":0.67445, "vx":-0.99974, "vy":0.00183, "omega":1.06803, "ax":0.0, "ay":0.0, "alpha":-1.93572, "fx":[7.30323,0.81359,-7.30323,-0.81359], "fy":[-0.81359,7.30323,0.81359,-7.30323]}, + {"t":4.27576, "x":14.91673, "y":2.06671, "heading":0.71551, "vx":-0.99974, "vy":0.00183, "omega":0.99362, "ax":0.0, "ay":0.0, "alpha":-2.33744, "fx":[8.85174,0.61964,-8.85174,-0.61964], "fy":[-0.61964,8.85174,0.61964,-8.85174]}, + {"t":4.3142, "x":14.8783, "y":2.06678, "heading":0.75371, "vx":-0.99974, "vy":0.00183, "omega":0.90377, "ax":0.0, "ay":0.0, "alpha":-2.77786, "fx":[10.54003,0.33415,-10.54003,-0.33415], "fy":[-0.33415,10.54003,0.33415,-10.54003]}, + {"t":4.35264, "x":14.83987, "y":2.06685, "heading":0.78845, "vx":-0.99974, "vy":0.00183, "omega":0.79698, "ax":0.0, "ay":0.0, "alpha":-3.26351, "fx":[12.38888,-0.03778,-12.38888,0.03778], "fy":[0.03778,12.38888,-0.03778,-12.38888]}, + {"t":4.39108, "x":14.80144, "y":2.06692, "heading":0.81908, "vx":-0.99974, "vy":0.00183, "omega":0.67153, "ax":0.0, "ay":0.0, "alpha":-3.80117, "fx":[14.42186,-0.48601,-14.42186,0.48601], "fy":[0.48601,14.42186,-0.48601,-14.42186]}, + {"t":4.42952, "x":14.76301, "y":2.06699, "heading":0.8449, "vx":-0.99974, "vy":0.00183, "omega":0.52541, "ax":0.0, "ay":0.0, "alpha":-4.39788, "fx":[16.6657,-0.9928,-16.6657,0.9928], "fy":[0.9928,16.6657,-0.9928,-16.6657]}, + {"t":4.46796, "x":14.72458, "y":2.06706, "heading":0.8651, "vx":-0.99974, "vy":0.00183, "omega":0.35635, "ax":0.00002, "ay":0.0, "alpha":-5.06071, "fx":[19.15075,-1.52926,-19.15028,1.52975], "fy":[1.52953,19.15055,-1.52947,-19.15049]}, + {"t":4.5064, "x":14.68614, "y":2.06713, "heading":0.8788, "vx":-0.99974, "vy":0.00183, "omega":0.16181, "ax":4.38334, "ay":-0.00804, "alpha":-4.18294, "fx":[75.04343,61.27382,48.48793,63.72621], "fy":[1.49013,18.37288,-2.00951,-18.30932]}, + {"t":4.54485, "x":14.65095, "y":2.0672, "heading":0.88502, "vx":-0.83124, "vy":0.00152, "omega":0.00102, "ax":10.80509, "ay":-0.01981, "alpha":-0.01692, "fx":[153.16001,153.15982,153.15933,153.15942], "fy":[-0.2678,-0.15329,-0.29375,-0.40821]}, + {"t":4.58329, "x":14.62698, "y":2.06724, "heading":0.88505, "vx":-0.41588, "vy":0.00076, "omega":0.00037, "ax":10.8186, "ay":-0.01983, "alpha":-0.00953, "fx":[153.35122,153.35122,153.35101,153.35098], "fy":[-0.2738,-0.20926,-0.28844,-0.35297]}, + {"t":4.62173, "x":14.61899, "y":2.06726, "heading":0.88507, "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/RedLeftTransitionToNZ.traj b/src/main/deploy/choreo/RedLeftTransitionToNZ.traj index b2769af..f1146df 100644 --- a/src/main/deploy/choreo/RedLeftTransitionToNZ.traj +++ b/src/main/deploy/choreo/RedLeftTransitionToNZ.traj @@ -3,13 +3,13 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":12.5, "y":0.6, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.717007637023926, "y":0.6, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.6554594039917, "y":1.5880911350250244, "heading":1.4559216554214165, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.793941497802734, "y":3.265256881713867, "heading":1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.11691951751709, "y":3.72686219215393, "heading":2.289626463540021, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.101387977600098, "y":4.126920223236084, "heading":-2.6532587497381335, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.839811325073242, "y":2.495914936065674, "heading":-1.0040670636979956, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":12.5, "y":0.6, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.3, "y":0.6, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.6554594039917, "y":1.5880911350250244, "heading":1.4559216554214165, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.793941497802734, "y":3.265256881713867, "heading":1.5707963267948966, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.11691951751709, "y":3.72686219215393, "heading":2.289626463540021, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.101387977600098, "y":4.126920223236084, "heading":-2.6532587497381335, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.839811325073242, "y":2.495914936065674, "heading":-1.0040670636979956, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":9.763021469116213, "y":0.6187200546264648, "heading":0.0, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":12.8, "y":0.6, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -29,13 +29,13 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"12.5 m", "val":12.5}, "y":{"exp":"RLTransition.y", "val":0.6}, "heading":{"exp":"RLTransition.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.717007637023926 m", "val":10.717007637023926}, "y":{"exp":"RLTransition.y", "val":0.6}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.6554594039917 m", "val":10.6554594039917}, "y":{"exp":"1.5880911350250244 m", "val":1.5880911350250244}, "heading":{"exp":"1.4559216554214165 rad", "val":1.4559216554214165}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.793941497802734 m", "val":10.793941497802734}, "y":{"exp":"3.265256881713867 m", "val":3.265256881713867}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.11691951751709 m", "val":10.11691951751709}, "y":{"exp":"3.7268621921539307 m", "val":3.72686219215393}, "heading":{"exp":"2.289626463540021 rad", "val":2.289626463540021}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.101387977600098 m", "val":9.101387977600098}, "y":{"exp":"4.126920223236084 m", "val":4.126920223236084}, "heading":{"exp":"-2.6532587497381335 rad", "val":-2.6532587497381335}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.839811325073242 m", "val":8.839811325073242}, "y":{"exp":"2.495914936065674 m", "val":2.495914936065674}, "heading":{"exp":"-1.0040670636979956 rad", "val":-1.0040670636979956}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"12.5 m", "val":12.5}, "y":{"exp":"RLTransition.y", "val":0.6}, "heading":{"exp":"RLTransition.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.3 m", "val":10.3}, "y":{"exp":"RLTransition.y", "val":0.6}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.6554594039917 m", "val":10.6554594039917}, "y":{"exp":"1.5880911350250244 m", "val":1.5880911350250244}, "heading":{"exp":"1.4559216554214165 rad", "val":1.4559216554214165}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.793941497802734 m", "val":10.793941497802734}, "y":{"exp":"3.265256881713867 m", "val":3.265256881713867}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.11691951751709 m", "val":10.11691951751709}, "y":{"exp":"3.7268621921539307 m", "val":3.72686219215393}, "heading":{"exp":"2.289626463540021 rad", "val":2.289626463540021}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.101387977600098 m", "val":9.101387977600098}, "y":{"exp":"4.126920223236084 m", "val":4.126920223236084}, "heading":{"exp":"-2.6532587497381335 rad", "val":-2.6532587497381335}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.839811325073242 m", "val":8.839811325073242}, "y":{"exp":"2.495914936065674 m", "val":2.495914936065674}, "heading":{"exp":"-1.0040670636979956 rad", "val":-1.0040670636979956}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"9.763021469116211 m", "val":9.763021469116213}, "y":{"exp":"0.6187200546264648 m", "val":0.6187200546264648}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"12.8 m", "val":12.8}, "y":{"exp":"RLTransition.y", "val":0.6}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -81,232 +81,223 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.00325,1.72919,2.422,2.82018,3.29374,4.02448,4.87669,6.5169], + "waypoints":[0.0,1.20609,1.84405,2.52745,2.90288,3.37091,4.07917,4.92896,6.54822], "samples":[ - {"t":0.0, "x":12.5, "y":0.6, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.01823, "ay":-0.00686, "alpha":0.0011, "fx":[-153.39749,-153.3975,-153.39751,-153.3975], "fy":[-0.12267,-0.11081,-0.11081,-0.12266]}, - {"t":0.04362, "x":12.49142, "y":0.59999, "heading":3.14159, "vx":-0.39337, "vy":-0.0003, "omega":0.00005, "ax":-9.01608, "ay":-0.00695, "alpha":0.00095, "fx":[-153.36094,-153.36095,-153.36096,-153.36095], "fy":[-0.12342,-0.11319,-0.11318,-0.12341]}, - {"t":0.08724, "x":12.46568, "y":0.59997, "heading":-3.14159, "vx":-0.78665, "vy":-0.0006, "omega":0.00009, "ax":-9.01249, "ay":-0.00709, "alpha":0.00082, "fx":[-153.29994,-153.29995,-153.29996,-153.29995], "fy":[-0.12496,-0.11619,-0.11618,-0.12495]}, - {"t":0.13086, "x":12.4228, "y":0.59994, "heading":-3.14159, "vx":-1.17977, "vy":-0.00091, "omega":0.00013, "ax":-9.00531, "ay":-0.00728, "alpha":0.0007, "fx":[-153.17766,-153.17767,-153.17769,-153.17768], "fy":[-0.12751,-0.12004,-0.12003,-0.12751]}, - {"t":0.17448, "x":12.36277, "y":0.59989, "heading":-3.14158, "vx":-1.57257, "vy":-0.00123, "omega":0.00016, "ax":-8.98362, "ay":-0.00754, "alpha":0.00059, "fx":[-152.80879,-152.80879,-152.80882,-152.80882], "fy":[-0.13141,-0.12506,-0.12506,-0.13141]}, - {"t":0.2181, "x":12.28563, "y":0.59983, "heading":-3.14157, "vx":-1.96443, "vy":-0.00156, "omega":0.00018, "ax":-0.80472, "ay":-0.00624, "alpha":0.00155, "fx":[-13.68398,-13.68398,-13.69225,-13.69225], "fy":[-0.11032,-0.10192,-0.10192,-0.11032]}, - {"t":0.26172, "x":12.19918, "y":0.59976, "heading":-3.14157, "vx":-1.99953, "vy":-0.00183, "omega":0.00025, "ax":0.0, "ay":-0.00537, "alpha":0.00002, "fx":[-0.00001,-0.00001,-0.00012,-0.00012], "fy":[-0.09136,-0.09126,-0.09126,-0.09136]}, - {"t":0.30534, "x":12.11196, "y":0.59967, "heading":-3.14156, "vx":-1.99953, "vy":-0.00206, "omega":0.00025, "ax":0.00001, "ay":-0.007, "alpha":0.0, "fx":[0.00013,0.00013,0.00013,0.00013], "fy":[-0.11899,-0.11899,-0.11899,-0.11899]}, - {"t":0.34896, "x":12.02474, "y":0.59958, "heading":-3.14154, "vx":-1.99953, "vy":-0.00237, "omega":0.00025, "ax":0.00001, "ay":-0.00895, "alpha":0.0, "fx":[0.0002,0.0002,0.0002,0.0002], "fy":[-0.15225,-0.15225,-0.15225,-0.15225]}, - {"t":0.39257, "x":11.93752, "y":0.59947, "heading":-3.14153, "vx":-1.99953, "vy":-0.00276, "omega":0.00025, "ax":0.00002, "ay":-0.01124, "alpha":0.0, "fx":[0.00029,0.00029,0.00029,0.00029], "fy":[-0.19118,-0.19118,-0.19118,-0.19118]}, - {"t":0.43619, "x":11.8503, "y":0.59933, "heading":-3.14152, "vx":-1.99953, "vy":-0.00325, "omega":0.00025, "ax":0.00002, "ay":-0.01395, "alpha":0.0, "fx":[0.00042,0.00042,0.00042,0.00042], "fy":[-0.23727,-0.23727,-0.23727,-0.23727]}, - {"t":0.47981, "x":11.76308, "y":0.59918, "heading":-3.14151, "vx":-1.99953, "vy":-0.00386, "omega":0.00025, "ax":0.00004, "ay":-0.01719, "alpha":0.0, "fx":[0.00062,0.00062,0.00062,0.00062], "fy":[-0.29239,-0.29239,-0.29239,-0.29239]}, - {"t":0.52343, "x":11.67587, "y":0.599, "heading":-3.1415, "vx":-1.99953, "vy":-0.00461, "omega":0.00025, "ax":0.00005, "ay":-0.0211, "alpha":0.0, "fx":[0.00091,0.00091,0.00091,0.00091], "fy":[-0.35895,-0.35895,-0.35895,-0.35895]}, - {"t":0.56705, "x":11.58865, "y":0.59877, "heading":-3.14149, "vx":-1.99953, "vy":-0.00553, "omega":0.00025, "ax":0.00008, "ay":-0.02587, "alpha":0.0, "fx":[0.00134,0.00134,0.00134,0.00134], "fy":[-0.4401,-0.4401,-0.4401,-0.4401]}, - {"t":0.61067, "x":11.50143, "y":0.59851, "heading":-3.14148, "vx":-1.99952, "vy":-0.00666, "omega":0.00025, "ax":0.00012, "ay":-0.03175, "alpha":0.0, "fx":[0.00199,0.00199,0.00199,0.00199], "fy":[-0.54014,-0.54014,-0.54014,-0.54014]}, - {"t":0.65429, "x":11.41421, "y":0.59819, "heading":-3.14147, "vx":-1.99952, "vy":-0.00804, "omega":0.00025, "ax":0.00017, "ay":-0.03911, "alpha":0.0, "fx":[0.00296,0.00296,0.00296,0.00296], "fy":[-0.66529,-0.66529,-0.66529,-0.66529]}, - {"t":0.69791, "x":11.327, "y":0.5978, "heading":-3.14146, "vx":-1.99951, "vy":-0.00975, "omega":0.00025, "ax":0.00026, "ay":-0.04851, "alpha":0.0, "fx":[0.00446,0.00446,0.00446,0.00446], "fy":[-0.82507,-0.82507,-0.82507,-0.82507]}, - {"t":0.74153, "x":11.23978, "y":0.59733, "heading":-3.14145, "vx":-1.9995, "vy":-0.01186, "omega":0.00025, "ax":0.0004, "ay":-0.06086, "alpha":0.0, "fx":[0.00683,0.00683,0.00683,0.00683], "fy":[-1.03527,-1.03527,-1.03527,-1.03527]}, - {"t":0.78515, "x":11.15256, "y":0.59675, "heading":-3.14144, "vx":-1.99948, "vy":-0.01452, "omega":0.00025, "ax":0.00063, "ay":-0.07784, "alpha":0.0, "fx":[0.01074,0.01074,0.01074,0.01074], "fy":[-1.32404,-1.32404,-1.32404,-1.32404]}, - {"t":0.82877, "x":11.06535, "y":0.59605, "heading":-3.14142, "vx":-1.99945, "vy":-0.01791, "omega":0.00025, "ax":0.00102, "ay":-0.10167, "alpha":-0.00002, "fx":[0.01736,0.01736,0.01745,0.01745], "fy":[-1.7293,-1.72939,-1.72939,-1.7293]}, - {"t":0.87239, "x":10.97813, "y":0.59517, "heading":-3.14141, "vx":-1.99941, "vy":-0.02235, "omega":0.00025, "ax":0.00135, "ay":-0.10952, "alpha":-0.00137, "fx":[0.01936,0.01936,0.02673,0.02672], "fy":[-1.85924,-1.8666,-1.8666,-1.85924]}, - {"t":0.91601, "x":10.89092, "y":0.59409, "heading":-3.1414, "vx":-1.99935, "vy":-0.02713, "omega":0.00019, "ax":-0.00419, "ay":0.58531, "alpha":-0.10857, "fx":[-0.36386,-0.36393,0.22155,0.22133], "fy":[10.24601,9.66564,9.66578,10.24616]}, - {"t":0.95963, "x":10.80371, "y":0.59346, "heading":-3.14139, "vx":-1.99953, "vy":-0.0016, "omega":-0.00455, "ax":0.54684, "ay":6.94601, "alpha":-2.17959, "fx":[0.01045,0.0157,19.66439,17.51587], "fy":[121.04934,116.34458,115.12873,120.07565]}, - {"t":1.00325, "x":10.71701, "y":0.6, "heading":3.14159, "vx":-1.97568, "vy":0.30138, "omega":-0.09962, "ax":0.21933, "ay":0.09069, "alpha":-40.31095, "fx":[-102.78222,-105.96115,113.31819,110.34813], "fy":[113.50634,-110.52674,-103.01388,106.20441]}, - {"t":1.02399, "x":10.67608, "y":0.60627, "heading":3.13953, "vx":-1.97113, "vy":0.30327, "omega":-0.93572, "ax":0.38869, "ay":0.16021, "alpha":-40.15964, "fx":[-97.73992,-103.99067,116.44463,111.7322], "fy":[117.40266,-111.84061,-98.96039,104.2988]}, - {"t":1.04473, "x":10.63528, "y":0.6126, "heading":3.12012, "vx":-1.96307, "vy":0.30659, "omega":-1.76868, "ax":2.79919, "ay":0.67254, "alpha":-35.1884, "fx":[-21.19822,-49.44587,139.40796,121.68994], "fy":[146.79351,-134.58847,-54.69271,88.24644]}, - {"t":1.06547, "x":10.59516, "y":0.6191, "heading":3.08343, "vx":-1.90501, "vy":0.32054, "omega":-2.49853, "ax":7.83583, "ay":3.33011, "alpha":-0.01221, "fx":[133.25125,133.29174,133.3192,133.27876], "fy":[56.72004,56.61659,56.56852,56.67193]}, - {"t":1.08621, "x":10.55734, "y":0.62646, "heading":3.03161, "vx":-1.74248, "vy":0.38961, "omega":-2.49879, "ax":7.80285, "ay":3.34085, "alpha":0.0, "fx":[132.72424,132.72425,132.72426,132.72425], "fy":[56.82695,56.82692,56.8269,56.82693]}, - {"t":1.10695, "x":10.52287, "y":0.63526, "heading":2.97978, "vx":-1.58064, "vy":0.4589, "omega":-2.49879, "ax":7.76786, "ay":3.35036, "alpha":0.0, "fx":[132.12908,132.12908,132.12909,132.12908], "fy":[56.98873,56.98873,56.98872,56.98873]}, - {"t":1.12769, "x":10.49176, "y":0.6455, "heading":2.92795, "vx":-1.41953, "vy":0.52839, "omega":-2.49879, "ax":7.73016, "ay":3.3592, "alpha":0.0, "fx":[131.48785,131.48785,131.48785,131.48785], "fy":[57.13911,57.13911,57.13911,57.13911]}, - {"t":1.14843, "x":10.46398, "y":0.65718, "heading":2.87613, "vx":-1.25919, "vy":0.59807, "omega":-2.49879, "ax":7.68906, "ay":3.36776, "alpha":0.0, "fx":[130.78867,130.78867,130.78867,130.78867], "fy":[57.28468,57.28468,57.28467,57.28468]}, - {"t":1.16918, "x":10.43952, "y":0.67031, "heading":2.8243, "vx":-1.09971, "vy":0.66792, "omega":-2.49879, "ax":7.64378, "ay":3.37635, "alpha":0.0, "fx":[130.01845,130.01845,130.01845,130.01845], "fy":[57.43078,57.43078,57.43077,57.43078]}, - {"t":1.18992, "x":10.41835, "y":0.68489, "heading":2.77247, "vx":-0.94117, "vy":0.73795, "omega":-2.49879, "ax":7.59342, "ay":3.38526, "alpha":0.0, "fx":[129.1619,129.1619,129.1619,129.1619], "fy":[57.58231,57.58231,57.58231,57.58231]}, - {"t":1.21066, "x":10.40046, "y":0.70093, "heading":2.72064, "vx":-0.78367, "vy":0.80816, "omega":-2.49879, "ax":7.5369, "ay":3.39478, "alpha":0.0, "fx":[128.20046,128.20046,128.20046,128.20046], "fy":[57.74428,57.74428,57.74428,57.74428]}, - {"t":1.2314, "x":10.38583, "y":0.71842, "heading":2.66881, "vx":-0.62735, "vy":0.87858, "omega":-2.49879, "ax":7.47285, "ay":3.40525, "alpha":0.0, "fx":[127.11099,127.11099,127.11099,127.11099], "fy":[57.92224,57.92224,57.92224,57.92224]}, - {"t":1.25214, "x":10.37442, "y":0.73737, "heading":2.61699, "vx":-0.47235, "vy":0.9492, "omega":-2.49879, "ax":7.39954, "ay":3.41703, "alpha":0.0, "fx":[125.86403,125.86403,125.86403,125.86403], "fy":[58.12278,58.12278,58.12278,58.12278]}, - {"t":1.27288, "x":10.36622, "y":0.7578, "heading":2.56516, "vx":-0.31888, "vy":1.02008, "omega":-2.49879, "ax":7.31472, "ay":3.43063, "alpha":0.0, "fx":[124.42123,124.42123,124.42123,124.42123], "fy":[58.35401,58.35401,58.35401,58.35401]}, - {"t":1.29362, "x":10.36118, "y":0.77969, "heading":2.51333, "vx":-0.16716, "vy":1.09123, "omega":-2.49879, "ax":7.21539, "ay":3.44664, "alpha":0.0, "fx":[122.73168,122.73168,122.73168,122.73168], "fy":[58.62636,58.62636,58.62636,58.62636]}, - {"t":1.31437, "x":10.35926, "y":0.80307, "heading":2.4615, "vx":-0.0175, "vy":1.16272, "omega":-2.49879, "ax":7.09749, "ay":3.46587, "alpha":0.0, "fx":[120.72632,120.72632,120.72631,120.72631], "fy":[58.9535,58.9535,58.9535,58.9535]}, - {"t":1.33511, "x":10.36043, "y":0.82793, "heading":2.40967, "vx":0.12971, "vy":1.23461, "omega":-2.49879, "ax":6.95538, "ay":3.4894, "alpha":0.0, "fx":[118.30911,118.30911,118.30911,118.30911], "fy":[59.35373,59.35373,59.35374,59.35373]}, - {"t":1.35585, "x":10.36461, "y":0.85429, "heading":2.35785, "vx":0.27397, "vy":1.30698, "omega":-2.49879, "ax":6.78101, "ay":3.51869, "alpha":0.0, "fx":[115.343,115.343,115.343,115.343], "fy":[59.85198,59.85198,59.85198,59.85198]}, - {"t":1.37659, "x":10.37175, "y":0.88215, "heading":2.30602, "vx":0.41462, "vy":1.37997, "omega":-2.49879, "ax":6.56251, "ay":3.55575, "alpha":0.0, "fx":[111.62635,111.62635,111.62634,111.62634], "fy":[60.4823,60.48231,60.48231,60.48231]}, - {"t":1.39733, "x":10.38177, "y":0.91154, "heading":2.25419, "vx":0.55073, "vy":1.45372, "omega":-2.49879, "ax":6.28185, "ay":3.60329, "alpha":0.0, "fx":[106.8524,106.8524,106.8524,106.8524], "fy":[61.29094,61.29094,61.29094,61.29094]}, - {"t":1.41807, "x":10.39454, "y":0.94247, "heading":2.20236, "vx":0.68103, "vy":1.52845, "omega":-2.49879, "ax":5.91058, "ay":3.66483, "alpha":0.0, "fx":[100.53724,100.53724,100.53724,100.53724], "fy":[62.33768,62.33768,62.33769,62.33769]}, - {"t":1.43881, "x":10.40994, "y":0.97496, "heading":2.15053, "vx":0.80362, "vy":1.60447, "omega":-2.49879, "ax":5.4022, "ay":3.74419, "alpha":0.0, "fx":[91.88991,91.88991,91.88991,91.88991], "fy":[63.68761,63.68762,63.68762,63.68762]}, - {"t":1.45955, "x":10.42777, "y":1.00904, "heading":2.09871, "vx":0.91567, "vy":1.68213, "omega":-2.49879, "ax":4.67899, "ay":3.84265, "alpha":0.0, "fx":[79.58831,79.58831,79.58831,79.5883], "fy":[65.36237,65.36237,65.36238,65.36238]}, - {"t":1.4803, "x":10.44776, "y":1.04476, "heading":2.04688, "vx":1.01272, "vy":1.76183, "omega":-2.49879, "ax":3.61517, "ay":3.94769, "alpha":0.0, "fx":[61.49303,61.49303,61.49303,61.49303], "fy":[67.14902,67.14902,67.14903,67.14903]}, - {"t":1.50104, "x":10.46955, "y":1.08215, "heading":1.99505, "vx":1.0877, "vy":1.84371, "omega":-2.49879, "ax":2.05278, "ay":4.00092, "alpha":0.0, "fx":[34.91727,34.91728,34.91728,34.91727], "fy":[68.05444,68.05444,68.05445,68.05445]}, - {"t":1.52178, "x":10.49255, "y":1.12125, "heading":1.94322, "vx":1.13028, "vy":1.92669, "omega":-2.49879, "ax":-0.00372, "ay":3.8728, "alpha":0.0, "fx":[-0.06329,-0.06328,-0.06328,-0.06329], "fy":[65.87522,65.87522,65.87522,65.87522]}, - {"t":1.54252, "x":10.51599, "y":1.16205, "heading":1.89139, "vx":1.1302, "vy":2.00702, "omega":-2.49879, "ax":-2.07432, "ay":3.52522, "alpha":0.0, "fx":[-35.28351,-35.28351,-35.28351,-35.28351], "fy":[59.96294,59.96294,59.96294,59.96294]}, - {"t":1.56326, "x":10.53899, "y":1.20443, "heading":1.83957, "vx":1.08717, "vy":2.08014, "omega":-2.49879, "ax":-3.64604, "ay":3.16026, "alpha":0.0, "fx":[-62.01818,-62.01818,-62.01818,-62.01818], "fy":[53.75506,53.75506,53.75506,53.75506]}, - {"t":1.584, "x":10.56075, "y":1.24826, "heading":1.78774, "vx":1.01155, "vy":2.14568, "omega":-2.49879, "ax":-4.70183, "ay":2.92561, "alpha":0.0, "fx":[-79.97671,-79.97671,-79.97671,-79.97671], "fy":[49.76385,49.76385,49.76385,49.76385]}, - {"t":1.60474, "x":10.58072, "y":1.29339, "heading":1.73591, "vx":0.91403, "vy":2.20636, "omega":-2.49879, "ax":-5.40772, "ay":2.83086, "alpha":0.0, "fx":[-91.98385,-91.98385,-91.98385,-91.98385], "fy":[48.15207,48.15208,48.15208,48.15208]}, - {"t":1.62548, "x":10.59852, "y":1.33976, "heading":1.68408, "vx":0.80187, "vy":2.26508, "omega":-2.49879, "ax":-5.88065, "ay":2.8707, "alpha":0.0, "fx":[-100.02819,-100.02818,-100.02818,-100.02819], "fy":[48.82977,48.82977,48.82977,48.82977]}, - {"t":1.64623, "x":10.61388, "y":1.38736, "heading":1.63225, "vx":0.67989, "vy":2.32462, "omega":-2.49879, "ax":-6.16142, "ay":3.0984, "alpha":0.0012, "fx":[-104.80751,-104.80313,-104.80038,-104.80475], "fy":[52.69697,52.70052,52.70899,52.70545]}, - {"t":1.66697, "x":10.62666, "y":1.43624, "heading":1.58043, "vx":0.5521, "vy":2.38889, "omega":-2.49876, "ax":-5.09815, "ay":2.85581, "alpha":15.90477, "fx":[-130.7169,-75.01939,-33.61663,-107.51922], "fy":[-3.1136,-5.8508,121.25592,82.01441]}, - {"t":1.68771, "x":10.63702, "y":1.48641, "heading":1.5286, "vx":0.44636, "vy":2.44812, "omega":-2.16888, "ax":-0.09594, "ay":0.15564, "alpha":40.20045, "fx":[-116.45881,104.17415,108.25403,-102.49672], "fy":[-98.71333,-111.55973,107.66659,113.19625]}, - {"t":1.70845, "x":10.64625, "y":1.53722, "heading":1.48361, "vx":0.44437, "vy":2.45135, "omega":-1.33507, "ax":-0.0451, "ay":0.1436, "alpha":40.31939, "fx":[-120.28364,99.95084,114.23422,-96.97004], "fy":[-94.71445,-115.95785,101.94585,118.49682]}, - {"t":1.72919, "x":10.65546, "y":1.58809, "heading":1.45592, "vx":0.44343, "vy":2.45433, "omega":-0.49879, "ax":-6.33996, "ay":1.09653, "alpha":9.59445, "fx":[-125.25362,-102.39835,-87.35872,-116.35315], "fy":[-10.82098,-28.17973,64.68612,48.92117]}, - {"t":1.7569, "x":10.66531, "y":1.65653, "heading":1.4421, "vx":0.26774, "vy":2.48471, "omega":-0.23291, "ax":-2.6884, "ay":0.24917, "alpha":9.25648, "fx":[-71.03242,-27.1046,-19.68315,-65.09573], "fy":[-17.12533,-28.2989,30.72545,31.65211]}, - {"t":1.78462, "x":10.6717, "y":1.72548, "heading":1.43564, "vx":0.19323, "vy":2.49162, "omega":0.02361, "ax":-0.41729, "ay":0.03139, "alpha":3.80153, "fx":[-18.55046,1.60388,4.37899,-15.82401], "fy":[-8.16326,-11.03604,9.35494,11.98032]}, - {"t":1.81233, "x":10.6769, "y":1.79454, "heading":1.4363, "vx":0.18167, "vy":2.49249, "omega":0.12896, "ax":0.08955, "ay":-0.00657, "alpha":1.14801, "fx":[-1.94382,4.16364,4.98961,-1.11689], "fy":[-2.75388,-3.5779,2.52788,3.35673]}, - {"t":1.84004, "x":10.68196, "y":1.86361, "heading":1.43987, "vx":0.18415, "vy":2.49231, "omega":0.16078, "ax":0.15552, "ay":-0.01163, "alpha":0.32926, "fx":[1.65386,3.40593,3.63664,1.8847], "fy":[-0.95908,-1.1895,0.56321,0.79432]}, - {"t":1.86775, "x":10.68713, "y":1.93268, "heading":1.44433, "vx":0.18846, "vy":2.49198, "omega":0.1699, "ax":0.14526, "ay":-0.0111, "alpha":0.0932, "fx":[2.19109,2.68735,2.75046,2.25421], "fy":[-0.40558,-0.46867,0.02782,0.09096]}, - {"t":1.89547, "x":10.69241, "y":2.00173, "heading":1.44904, "vx":0.19249, "vy":2.49168, "omega":0.17248, "ax":0.1273, "ay":-0.00993, "alpha":0.02628, "fx":[2.0868,2.22683,2.24397,2.10394], "fy":[-0.2303,-0.24744,-0.10735,-0.09021]}, - {"t":1.92318, "x":10.69779, "y":2.07078, "heading":1.45382, "vx":0.19601, "vy":2.4914, "omega":0.17321, "ax":0.11292, "ay":-0.00896, "alpha":0.0074, "fx":[1.89873,1.9382,1.94284,1.90337], "fy":[-0.16976,-0.17439,-0.13492,-0.13028]}, - {"t":1.95089, "x":10.70326, "y":2.13982, "heading":1.45862, "vx":0.19914, "vy":2.49115, "omega":0.17342, "ax":0.10323, "ay":-0.00831, "alpha":0.00209, "fx":[1.7497,1.76082,1.76208,1.75095], "fy":[-0.14632,-0.14757,-0.13644,-0.13519]}, - {"t":1.9786, "x":10.70882, "y":2.20885, "heading":1.46342, "vx":0.202, "vy":2.49092, "omega":0.17348, "ax":0.09786, "ay":-0.00799, "alpha":0.00059, "fx":[1.66286,1.66602,1.66636,1.6632], "fy":[-0.13731,-0.13765,-0.1345,-0.13416]}, - {"t":2.00632, "x":10.71446, "y":2.27788, "heading":1.46823, "vx":0.20472, "vy":2.4907, "omega":0.17349, "ax":0.09649, "ay":-0.00798, "alpha":0.00018, "fx":[1.6408,1.64176,1.64186,1.6409], "fy":[-0.13622,-0.13632,-0.13536,-0.13526]}, - {"t":2.03403, "x":10.72017, "y":2.3469, "heading":1.47304, "vx":0.20739, "vy":2.49048, "omega":0.1735, "ax":0.09904, "ay":-0.0083, "alpha":0.0001, "fx":[1.68431,1.68484,1.68489,1.68436], "fy":[-0.14145,-0.1415,-0.14098,-0.14093]}, - {"t":2.06174, "x":10.72595, "y":2.41591, "heading":1.47785, "vx":0.21013, "vy":2.49025, "omega":0.1735, "ax":0.10569, "ay":-0.00898, "alpha":0.0002, "fx":[1.79718,1.79824,1.79834,1.79728], "fy":[-0.15324,-0.15334,-0.15228,-0.15219]}, - {"t":2.08945, "x":10.73182, "y":2.48492, "heading":1.48265, "vx":0.21306, "vy":2.49, "omega":0.1735, "ax":0.117, "ay":-0.01009, "alpha":0.00066, "fx":[1.98815,1.99167,1.99199,1.98847], "fy":[-0.17319,-0.1735,-0.16998,-0.16967]}, - {"t":2.11716, "x":10.73777, "y":2.55392, "heading":1.48746, "vx":0.21631, "vy":2.48972, "omega":0.17352, "ax":0.13401, "ay":-0.01174, "alpha":0.00233, "fx":[2.2727,2.28515,2.28619,2.27374], "fy":[-0.20545,-0.20649,-0.19404,-0.193]}, - {"t":2.14488, "x":10.74381, "y":2.62291, "heading":1.49227, "vx":0.22002, "vy":2.4894, "omega":0.17359, "ax":0.15863, "ay":-0.01416, "alpha":0.00826, "fx":[2.6744,2.7186,2.72209,2.67788], "fy":[-0.26125,-0.26473,-0.22049,-0.21702]}, - {"t":2.17259, "x":10.74997, "y":2.69189, "heading":1.49708, "vx":0.22442, "vy":2.489, "omega":0.17382, "ax":0.19421, "ay":-0.01772, "alpha":0.02935, "fx":[3.21908,3.37614,3.38775,3.23069], "fy":[-0.37424,-0.38584,-0.22863,-0.21703]}, - {"t":2.2003, "x":10.75626, "y":2.76086, "heading":1.5019, "vx":0.2298, "vy":2.48851, "omega":0.17463, "ax":0.2459, "ay":-0.02305, "alpha":0.10433, "fx":[3.88417,4.44253,4.48114,3.92278], "fy":[-0.65237,-0.69082,-0.13169,-0.09312]}, - {"t":2.22801, "x":10.76273, "y":2.82981, "heading":1.50674, "vx":0.23661, "vy":2.48787, "omega":0.17752, "ax":0.31535, "ay":-0.03055, "alpha":0.37219, "fx":[4.3041,6.29574,6.42394,4.43236], "fy":[-1.45454,-1.58122,0.41436,0.54287]}, - {"t":2.25573, "x":10.76941, "y":2.89875, "heading":1.51166, "vx":0.24535, "vy":2.48703, "omega":0.18784, "ax":0.35086, "ay":-0.0353, "alpha":1.34775, "fx":[2.14736,9.35961,9.78857,2.57681], "fy":[-4.01108,-4.42384,2.79672,3.23615]}, - {"t":2.28344, "x":10.77634, "y":2.96766, "heading":1.51686, "vx":0.25507, "vy":2.48605, "omega":0.22518, "ax":-0.08998, "ay":-0.00096, "alpha":5.15878, "fx":[-16.10031,11.54644,13.04515,-14.61343], "fy":[-13.07412,-14.61674,13.09079,14.53452]}, - {"t":2.31115, "x":10.78337, "y":3.03655, "heading":1.5231, "vx":0.25258, "vy":2.48602, "omega":0.36815, "ax":-1.3035, "ay":-8.37559, "alpha":1.99164, "fx":[-30.48657,-11.96853,-12.617,-33.61637], "fy":[-141.94768,-144.58492,-143.2998,-140.03322]}, - {"t":2.33886, "x":10.78987, "y":3.10223, "heading":1.53331, "vx":0.21646, "vy":2.25392, "omega":0.42334, "ax":-1.26258, "ay":-8.82628, "alpha":1.06968, "fx":[-26.28618,-15.51946,-16.26733,-27.83131], "fy":[-149.54579,-151.03084,-150.81884,-149.13427]}, - {"t":2.36658, "x":10.79539, "y":3.1613, "heading":1.54504, "vx":0.18147, "vy":2.00932, "omega":0.45298, "ax":-7.15271, "ay":-5.43614, "alpha":0.84984, "fx":[-121.33023,-117.7289,-122.13993,-125.46322], "fy":[-93.0617,-97.53245,-91.90478,-87.36992]}, - {"t":2.39429, "x":10.79767, "y":3.2149, "heading":1.55759, "vx":-0.01675, "vy":1.85867, "omega":0.47653, "ax":-8.49803, "ay":-2.98537, "alpha":0.7705, "fx":[-143.806,-142.72581,-145.41542,-146.24876], "fy":[-53.03604,-55.84029,-48.38849,-45.85656]}, - {"t":2.422, "x":10.79394, "y":3.26526, "heading":1.5708, "vx":-0.25225, "vy":1.77594, "omega":0.49789, "ax":-8.53439, "ay":-2.54846, "alpha":4.31482, "fx":[-142.65059,-134.95124,-150.98363,-152.08491], "fy":[-56.09543,-72.53076,-25.77314,-18.99469]}, - {"t":2.44191, "x":10.78723, "y":3.30011, "heading":1.58071, "vx":-0.42216, "vy":1.7252, "omega":0.58379, "ax":-8.51294, "ay":-2.60077, "alpha":4.39955, "fx":[-142.16439,-134.17976,-150.87957,-151.98675], "fy":[-57.26394,-73.89206,-26.1957,-19.60174]}, - {"t":2.46182, "x":10.77714, "y":3.33394, "heading":1.59233, "vx":-0.59164, "vy":1.67342, "omega":0.67138, "ax":-8.48732, "ay":-2.66174, "alpha":4.49907, "fx":[-141.58234,-133.25902,-150.75779,-151.86809], "fy":[-58.62866,-75.47532,-26.67996,-20.31814]}, - {"t":2.48173, "x":10.76368, "y":3.36673, "heading":1.6057, "vx":-0.76061, "vy":1.62043, "omega":0.76095, "ax":-8.45624, "ay":-2.73368, "alpha":4.61735, "fx":[-140.8786,-132.14028,-150.61082,-151.72311], "fy":[-60.23183,-77.34231,-27.25466,-21.16749]}, - {"t":2.50164, "x":10.74686, "y":3.39845, "heading":1.62085, "vx":-0.92897, "vy":1.56601, "omega":0.85287, "ax":-8.41783, "ay":-2.81975, "alpha":4.75993, "fx":[-140.01632,-130.75224,-150.42758,-151.54345], "fy":[-62.13113,-79.57841,-27.96089,-22.18243]}, - {"t":2.52154, "x":10.72669, "y":3.42906, "heading":1.63783, "vx":-1.09655, "vy":1.50987, "omega":0.94764, "ax":-8.36927, "ay":-2.92452, "alpha":4.93474, "fx":[-138.94124,-128.98676,-150.19088,-151.31665], "fy":[-64.40723,-82.30465,-28.85953,-23.40935]}, - {"t":2.54145, "x":10.7032, "y":3.45854, "heading":1.65669, "vx":-1.26317, "vy":1.45165, "omega":1.04588, "ax":-8.30612, "ay":-3.05465, "alpha":5.15358, "fx":[-137.5704,-126.67272,-149.87274,-151.02331], "fy":[-67.17631,-85.69723,-30.04457,-24.91651]}, - {"t":2.56136, "x":10.67641, "y":3.48684, "heading":1.67751, "vx":-1.42854, "vy":1.39083, "omega":1.14848, "ax":-8.22107, "ay":-3.22036, "alpha":5.43457, "fx":[-135.77091,-123.5252,-149.42442,-150.63173], "fy":[-70.61128,-90.0201,-31.66926,-26.80888]}, - {"t":2.58127, "x":10.64634, "y":3.51389, "heading":1.70038, "vx":-1.59221, "vy":1.32672, "omega":1.25668, "ax":-8.10121, "ay":-3.43799, "alpha":5.8068, "fx":[-133.31762,-119.03977,-148.75346,-150.08646], "fy":[-74.9794,-95.67924,-34.00135,-29.25661]}, - {"t":2.60118, "x":10.61304, "y":3.53962, "heading":1.7254, "vx":-1.75349, "vy":1.25827, "omega":1.37228, "ax":-7.92197, "ay":-3.73505, "alpha":6.31871, "fx":[-129.80164,-112.25524,-147.66273,-149.28199], "fy":[-80.7116,-103.30779,-37.55393,-32.55493]}, - {"t":2.62109, "x":10.57656, "y":3.56393, "heading":1.75272, "vx":-1.91121, "vy":1.18391, "omega":1.49808, "ax":-7.63154, "ay":-4.16077, "alpha":7.05178, "fx":[-124.41309,-101.1792,-145.6556,-147.99344], "fy":[-88.53262,-113.8538,-43.44427,-37.26323]}, - {"t":2.641, "x":10.53699, "y":3.58668, "heading":1.78254, "vx":-2.06314, "vy":1.10108, "omega":1.63847, "ax":-7.10619, "ay":-4.80903, "alpha":8.1245, "fx":[-115.36928,-81.35511,-141.11326,-145.65938], "fy":[-99.68679,-128.34069,-54.60169,-44.57186]}, - {"t":2.66091, "x":10.49451, "y":3.60765, "heading":1.81516, "vx":-2.20462, "vy":1.00534, "omega":1.80022, "ax":-5.99412, "ay":-5.87355, "alpha":9.51793, "fx":[-98.31055,-43.175,-125.82195,-140.52559], "fy":[-116.07156,-145.15034,-81.00427,-57.40368]}, - {"t":2.68081, "x":10.44943, "y":3.6265, "heading":1.851, "vx":-2.32395, "vy":0.8884, "omega":1.98971, "ax":-3.12676, "ay":-7.44003, "alpha":11.33324, "fx":[-66.07489,18.65375,-37.85746,-127.46271], "fy":[-136.36476,-149.71883,-139.81211,-80.31509]}, - {"t":2.70072, "x":10.40255, "y":3.64271, "heading":1.89062, "vx":-2.3862, "vy":0.74028, "omega":2.21534, "ax":-1.95552, "ay":-6.99, "alpha":15.55745, "fx":[-59.75555,43.32039,16.39357,-133.00996], "fy":[-138.26092,-143.23662,-126.4535,-67.64072]}, - {"t":2.72063, "x":10.35465, "y":3.65606, "heading":1.93472, "vx":-2.42514, "vy":0.60112, "omega":2.52507, "ax":-0.64603, "ay":-2.72492, "alpha":34.07125, "fx":[-55.72676,80.26202,74.72894,-143.21932], "fy":[-137.72352,-123.09332,105.66474,-30.24831]}, - {"t":2.74054, "x":10.30624, "y":3.66749, "heading":1.98499, "vx":-2.438, "vy":0.54687, "omega":3.20338, "ax":0.22414, "ay":0.98723, "alpha":36.78472, "fx":[-55.24384,140.1082,48.75638,-118.37042], "fy":[-126.77914,-20.02358,135.19597,78.7767]}, - {"t":2.76045, "x":10.25775, "y":3.67857, "heading":2.04877, "vx":-2.43353, "vy":0.56652, "omega":3.93572, "ax":2.14283, "ay":7.98075, "alpha":7.03389, "fx":[33.16881,84.45411,40.05031,-11.8778], "fy":[136.87486,118.74098,141.94313,145.44197]}, - {"t":2.78036, "x":10.20973, "y":3.69143, "heading":2.12712, "vx":-2.39087, "vy":0.72541, "omega":4.07575, "ax":2.84839, "ay":8.30082, "alpha":0.55202, "fx":[48.82286,52.27196,48.11451,44.59168], "fy":[140.97294,139.86924,141.45634,142.47963]}, - {"t":2.80027, "x":10.16269, "y":3.70752, "heading":2.20826, "vx":-2.33417, "vy":0.89067, "omega":4.08674, "ax":3.52036, "ay":8.11896, "alpha":-1.70957, "fx":[57.25851,48.23546,63.16225,70.86511], "fy":[139.72834,142.82238,136.66803,133.18614]}, - {"t":2.82018, "x":10.11692, "y":3.72686, "heading":2.28963, "vx":-2.26408, "vy":1.05231, "omega":4.05271, "ax":3.93402, "ay":7.93502, "alpha":-1.56257, "fx":[63.32918,56.90151,71.19705,76.23826], "fy":[137.13948,139.65865,132.79583,130.29561]}, - {"t":2.83991, "x":10.07301, "y":3.74917, "heading":2.36959, "vx":-2.18646, "vy":1.20888, "omega":4.02188, "ax":4.51302, "ay":7.54546, "alpha":-2.01759, "fx":[70.82508,65.14085,83.96701,87.12794], "fy":[132.4698,134.84106,123.82474,122.24891]}, - {"t":2.85964, "x":10.03075, "y":3.77449, "heading":2.44895, "vx":-2.09741, "vy":1.35776, "omega":3.98207, "ax":4.9613, "ay":7.1235, "alpha":-2.7614, "fx":[75.19403,70.36775,95.80418,96.19523], "fy":[128.47411,130.11265,112.56332,113.52463]}, - {"t":2.87937, "x":9.99033, "y":3.80267, "heading":2.52753, "vx":-1.99951, "vy":1.49832, "omega":3.92758, "ax":5.296, "ay":6.60055, "alpha":-4.12272, "fx":[75.95079,71.99231,108.21617,104.17473], "fy":[125.2609,125.01169,95.70461,103.11662]}, - {"t":2.8991, "x":9.9519, "y":3.83352, "heading":2.60502, "vx":-1.89501, "vy":1.62857, "omega":3.84623, "ax":5.34976, "ay":5.84711, "alpha":-7.10522, "fx":[69.13604,63.62443,120.85012,110.38123], "fy":[123.8164,118.8072,65.10059,90.10615]}, - {"t":2.91883, "x":9.91555, "y":3.86679, "heading":2.68092, "vx":-1.78945, "vy":1.74394, "omega":3.70603, "ax":4.1138, "ay":4.03579, "alpha":-16.47622, "fx":[43.61588,1.54228,120.78701,113.95282], "fy":[123.43181,89.26959,-8.51451,70.40332]}, - {"t":2.93857, "x":9.88104, "y":3.90199, "heading":2.75404, "vx":-1.70828, "vy":1.82357, "omega":3.38092, "ax":-0.37098, "ay":-0.34932, "alpha":-29.19043, "fx":[-54.04846,-104.14894,32.41537,100.54114], "fy":[95.84948,-48.38923,-108.09675,36.86887]}, - {"t":2.9583, "x":9.84727, "y":3.9379, "heading":2.82076, "vx":-1.7156, "vy":1.81668, "omega":2.80494, "ax":-4.75569, "ay":-4.738, "alpha":-11.40341, "fx":[-123.6856,-106.99121,-47.70072,-45.1945], "fy":[-23.76193,-82.65125,-122.82384,-93.13096]}, - {"t":2.97803, "x":9.81249, "y":3.97283, "heading":2.8761, "vx":-1.80943, "vy":1.72319, "omega":2.57993, "ax":-5.43381, "ay":-6.09002, "alpha":-4.66523, "fx":[-115.06141,-101.55657,-71.41669,-81.67552], "fy":[-80.21741,-100.79365,-122.64876,-110.69849]}, - {"t":2.99776, "x":9.77573, "y":4.00565, "heading":2.92701, "vx":-1.91665, "vy":1.60302, "omega":2.48788, "ax":-5.26422, "ay":-6.74976, "alpha":-2.48814, "fx":[-102.94112,-94.54108,-76.73062,-83.95864], "fy":[-103.43529,-112.48027,-124.80489,-118.52549]}, - {"t":3.01749, "x":9.73688, "y":4.03596, "heading":2.9761, "vx":-2.02053, "vy":1.46984, "omega":2.43878, "ax":-4.88646, "ay":-7.23591, "alpha":-1.50019, "fx":[-91.73016,-86.37835,-74.77802,-79.58293], "fy":[-116.92684,-121.454,-128.71343,-125.22869]}, - {"t":3.03723, "x":9.69606, "y":4.06356, "heading":3.02422, "vx":-2.11695, "vy":1.32706, "omega":2.40918, "ax":-4.41762, "ay":-7.6361, "alpha":-0.97372, "fx":[-80.99301,-77.46269,-69.43499,-72.67922], "fy":[-126.36018,-128.78998,-133.19654,-131.2047]}, - {"t":3.05696, "x":9.65343, "y":4.08825, "heading":3.07176, "vx":-2.20411, "vy":1.17639, "omega":2.38997, "ax":-3.89535, "ay":-7.97533, "alpha":-0.66339, "fx":[-70.38081,-67.99093,-62.21632,-64.44701], "fy":[-133.57735,-134.92708,-137.64031,-136.48778]}, - {"t":3.07669, "x":9.60918, "y":4.10991, "heading":3.11892, "vx":-2.28098, "vy":1.01902, "omega":2.37688, "ax":-3.33417, "ay":-8.26328, "alpha":-0.46706, "fx":[-59.68697,-58.04348,-53.78539,-55.33698], "fy":[-139.32168,-140.07754,-141.74414,-141.08073]}, - {"t":3.09642, "x":9.56352, "y":4.12841, "heading":-3.11737, "vx":-2.34676, "vy":0.85597, "omega":2.36766, "ax":-2.70137, "ay":-8.51621, "alpha":-0.33609, "fx":[-48.12315,-46.99885,-43.8032,-44.87264], "fy":[-144.15003,-144.5564,-145.5446,-145.1819]}, - {"t":3.11615, "x":9.51669, "y":4.14364, "heading":-3.07065, "vx":-2.40007, "vy":0.68793, "omega":2.36103, "ax":-1.64819, "ay":-8.7986, "alpha":-0.24426, "fx":[-29.60311,-28.94159,-26.48541,-27.11115], "fy":[-149.35733,-149.50812,-149.95728,-149.824]}, - {"t":3.13588, "x":9.46901, "y":4.15551, "heading":-3.02406, "vx":-2.43259, "vy":0.51432, "omega":2.35621, "ax":-0.29681, "ay":-8.96012, "alpha":-0.17677, "fx":[-6.1267,-5.83342,-3.98161,-4.25292], "fy":[-152.367,-152.39125,-152.44897,-152.42884]}, - {"t":3.15562, "x":9.42096, "y":4.16391, "heading":-2.97757, "vx":-2.43845, "vy":0.33752, "omega":2.35272, "ax":0.74344, "ay":-8.94442, "alpha":-0.12749, "fx":[11.91141,12.0279,13.37388,13.26933], "fy":[-152.19931,-152.19791,-152.08492,-152.08629]}, - {"t":3.17535, "x":9.37299, "y":4.16883, "heading":-2.93114, "vx":-2.42378, "vy":0.16103, "omega":2.35021, "ax":1.49935, "ay":-8.85698, "alpha":-0.09146, "fx":[24.99971,25.04476,26.00431,25.96541], "fy":[-150.73766,-150.73499,-150.57222,-150.57411]}, - {"t":3.19508, "x":9.32545, "y":4.17028, "heading":-2.88477, "vx":-2.39419, "vy":-0.01374, "omega":2.3484, "ax":2.05684, "ay":-8.75041, "alpha":-0.06457, "fx":[34.64056,34.66019,35.33055,35.31396], "fy":[-148.92171,-148.92012,-148.76243,-148.76339]}, - {"t":3.21481, "x":9.27861, "y":4.16831, "heading":-2.83843, "vx":-2.35361, "vy":-0.1864, "omega":2.34713, "ax":2.47892, "ay":-8.6451, "alpha":-0.04401, "fx":[41.93356,41.94556,42.3973,42.3867], "fy":[-147.11637,-147.11475,-146.98516,-146.9864]}, - {"t":3.23454, "x":9.23265, "y":4.16295, "heading":-2.79212, "vx":-2.30469, "vy":-0.35698, "omega":2.34626, "ax":2.80693, "ay":-8.54808, "alpha":-0.0279, "fx":[47.59854,47.60825,47.89145,47.88229], "fy":[-145.44796,-145.44582,-145.35278,-145.35476]}, - {"t":3.25428, "x":9.18772, "y":4.15424, "heading":-2.74582, "vx":-2.24931, "vy":-0.52565, "omega":2.34571, "ax":3.06785, "ay":-8.46109, "alpha":-0.01498, "fx":[52.10414,52.11161,52.26212,52.25482], "fy":[-143.94914,-143.94694,-143.89234,-143.89449]}, - {"t":3.27401, "x":9.14394, "y":4.14222, "heading":-2.69954, "vx":-2.18877, "vy":-0.69261, "omega":2.34542, "ax":3.27959, "ay":-8.38391, "alpha":-0.00443, "fx":[55.76137,55.76448,55.80851,55.80541], "fy":[-142.61702,-142.61595,-142.59871,-142.59979]}, - {"t":3.29374, "x":9.10139, "y":4.12692, "heading":-2.65326, "vx":-2.12406, "vy":-0.85804, "omega":2.34533, "ax":3.48153, "ay":-8.30685, "alpha":-0.00457, "fx":[59.19534,59.19951,59.24444,59.24028], "fy":[-141.30732,-141.30569,-141.28685,-141.28847]}, - {"t":3.3181, "x":9.05068, "y":4.10356, "heading":-2.59613, "vx":-2.03926, "vy":-1.06037, "omega":2.34522, "ax":3.7487, "ay":-8.18696, "alpha":-0.00525, "fx":[63.73592,63.74191,63.79264,63.78667], "fy":[-139.27075,-139.26816,-139.24491,-139.24749]}, - {"t":3.34246, "x":9.00212, "y":4.0753, "heading":-2.53901, "vx":-1.94795, "vy":-1.25979, "omega":2.34509, "ax":4.08694, "ay":-8.01982, "alpha":-0.00608, "fx":[69.4851,69.49278,69.55025,69.54259], "fy":[-136.43144,-136.42773,-136.39842,-136.40212]}, - {"t":3.36681, "x":8.95589, "y":4.04223, "heading":-2.48189, "vx":-1.8484, "vy":-1.45514, "omega":2.34494, "ax":4.5253, "ay":-7.77598, "alpha":-0.00711, "fx":[76.93707,76.94591,77.01102,77.00222], "fy":[-132.28854,-132.28369,-132.24576,-132.25059]}, - {"t":3.39117, "x":8.91221, "y":4.00448, "heading":-2.42477, "vx":-1.73817, "vy":-1.64454, "omega":2.34477, "ax":5.10702, "ay":-7.39994, "alpha":-0.00839, "fx":[86.82796,86.83649,86.90981,86.90133], "fy":[-125.89898,-125.89353,-125.84287,-125.8483]}, - {"t":3.41553, "x":8.87138, "y":3.96223, "heading":-2.36765, "vx":-1.61377, "vy":-1.82479, "omega":2.34456, "ax":5.89026, "ay":-6.78247, "alpha":-0.01002, "fx":[100.1488,100.15393,100.23461,100.22954], "fy":[-115.40487,-115.4011,-115.331,-115.33471]}, - {"t":3.43989, "x":8.83382, "y":3.91577, "heading":-2.31055, "vx":-1.4703, "vy":-1.99, "omega":2.34432, "ax":6.90914, "ay":-5.72362, "alpha":-0.01212, "fx":[117.48294,117.47963,117.56203,117.56541], "fy":[-97.40419,-97.40942,-97.31002,-97.3047]}, - {"t":3.46424, "x":8.80006, "y":3.8656, "heading":-2.25344, "vx":-1.30201, "vy":-2.12941, "omega":2.34402, "ax":7.79025, "ay":-4.41991, "alpha":-0.01473, "fx":[132.47758,132.46581,132.54234,132.55416], "fy":[-75.23713,-75.26028,-75.12583,-75.10253]}, - {"t":3.4886, "x":8.77066, "y":3.81242, "heading":-2.19635, "vx":-1.11225, "vy":-2.23707, "omega":2.34367, "ax":8.16195, "ay":-3.63568, "alpha":-0.0183, "fx":[138.80075,138.78632,138.86415,138.87862], "fy":[-61.9102,-61.94731,-61.77366,-61.73632]}, - {"t":3.51296, "x":8.74598, "y":3.75685, "heading":-2.13926, "vx":-0.91345, "vy":-2.32563, "omega":2.34322, "ax":8.41668, "ay":-2.89712, "alpha":-0.02368, "fx":[143.13323,143.11731,143.19741,143.21336], "fy":[-49.36607,-49.42265,-49.19262,-49.13567]}, - {"t":3.53732, "x":8.72623, "y":3.69934, "heading":-2.08218, "vx":-0.70843, "vy":-2.3962, "omega":2.34264, "ax":8.58121, "ay":-2.14351, "alpha":-0.0324, "fx":[145.93076,145.91547,145.99696,146.01222], "fy":[-36.57554,-36.66396,-36.34567,-36.25657]}, - {"t":3.56168, "x":8.71152, "y":3.64034, "heading":-2.02512, "vx":-0.49941, "vy":-2.44841, "omega":2.34185, "ax":8.63061, "ay":-1.38313, "alpha":-0.04797, "fx":[146.76815,146.76024,146.8405,146.84821], "fy":[-23.68935,-23.83453,-23.3646,-23.21802]}, - {"t":3.58603, "x":8.70192, "y":3.58029, "heading":-1.96808, "vx":-0.28919, "vy":-2.4821, "omega":2.34068, "ax":8.49733, "ay":-0.63551, "alpha":-0.07997, "fx":[144.4888,144.51339,144.58604,144.56057], "fy":[-11.0641,-11.32236,-10.55737,-10.29561]}, - {"t":3.61039, "x":8.69739, "y":3.51965, "heading":-1.91107, "vx":-0.08221, "vy":-2.49758, "omega":2.33874, "ax":7.96338, "ay":0.04611, "alpha":-0.16046, "fx":[135.33618,135.51705,135.57529,135.39079], "fy":[0.32001,-0.19271,1.24294,1.76731]}, - {"t":3.63475, "x":8.69775, "y":3.45882, "heading":-1.8541, "vx":0.11176, "vy":-2.49646, "omega":2.33483, "ax":6.26013, "ay":0.4721, "alpha":-0.41307, "fx":[105.82244,106.9746,107.14738,105.98752], "fy":[7.00195,5.95614,9.034,10.1292]}, - {"t":3.65911, "x":8.70233, "y":3.39816, "heading":-1.79723, "vx":0.26424, "vy":-2.48496, "omega":2.32477, "ax":2.80862, "ay":0.33779, "alpha":-0.89734, "fx":[45.19482,49.48349,50.33588,46.08104], "fy":[3.81256,2.56143,7.63643,8.97232]}, - {"t":3.68347, "x":8.7096, "y":3.33773, "heading":-1.7406, "vx":0.33266, "vy":-2.47673, "omega":2.30291, "ax":0.75479, "ay":0.10422, "alpha":-0.99894, "fx":[9.76467,15.02292,15.90568,10.66153], "fy":[-0.43319,-1.34168,3.96463,4.90141]}, - {"t":3.70782, "x":8.71793, "y":3.27743, "heading":-1.68451, "vx":0.35104, "vy":-2.47419, "omega":2.27858, "ax":0.18512, "ay":0.02644, "alpha":-0.94899, "fx":[0.3297,5.39078,5.96669,0.90814], "fy":[-1.79449,-2.3701,2.69056,3.27273]}, - {"t":3.73218, "x":8.72654, "y":3.21717, "heading":-1.62901, "vx":0.35555, "vy":-2.47355, "omega":2.25546, "ax":0.04514, "ay":0.0065, "alpha":-0.90171, "fx":[-1.78936,3.04349,3.32482,-1.50763], "fy":[-2.16549,-2.44635,2.38581,2.66819]}, - {"t":3.75654, "x":8.73521, "y":3.15692, "heading":-1.57407, "vx":0.35665, "vy":-2.47339, "omega":2.2335, "ax":0.01103, "ay":0.00159, "alpha":-0.86762, "fx":[-2.14895,2.50901,2.52418,-2.13373], "fy":[-2.2944,-2.30943,2.34835,2.36373]}, - {"t":3.7809, "x":8.7439, "y":3.09668, "heading":-1.51966, "vx":0.35692, "vy":-2.47335, "omega":2.21236, "ax":0.00277, "ay":0.0004, "alpha":-0.84718, "fx":[-2.10777,2.43449,2.20199,-2.34027], "fy":[-2.38061,-2.14806,2.39416,2.1617]}, - {"t":3.80526, "x":8.75259, "y":3.03643, "heading":-1.46577, "vx":0.35699, "vy":-2.47334, "omega":2.19173, "ax":0.00096, "ay":0.00014, "alpha":-0.83926, "fx":[-1.98786,2.49301,2.02066,-2.46021], "fy":[-2.47425,-2.00189,2.47897,2.00663]}, - {"t":3.82961, "x":8.76129, "y":2.97619, "heading":-1.41239, "vx":0.35701, "vy":-2.47334, "omega":2.17129, "ax":0.00138, "ay":0.0002, "alpha":-0.844, "fx":[-1.85638,2.61802,1.90323,-2.57117], "fy":[-2.59123,-1.87641,2.59796,1.88319]}, - {"t":3.85397, "x":8.76999, "y":2.91594, "heading":-1.3595, "vx":0.35704, "vy":-2.47333, "omega":2.15073, "ax":0.00498, "ay":0.00072, "alpha":-0.86077, "fx":[-1.68983,2.82856,1.85938,-2.65905], "fy":[-2.73161,-1.76233,2.75601,1.78688]}, - {"t":3.87833, "x":8.77868, "y":2.8557, "heading":-1.30711, "vx":0.35716, "vy":-2.47331, "omega":2.12976, "ax":0.02025, "ay":0.00293, "alpha":-0.88996, "fx":[-1.33911,3.27347,2.02829,-2.58454], "fy":[-2.8794,-1.63378,2.97866,1.73367]}, - {"t":3.90269, "x":8.78739, "y":2.79545, "heading":-1.25524, "vx":0.35766, "vy":-2.47324, "omega":2.10808, "ax":0.08303, "ay":0.01204, "alpha":-0.93139, "fx":[-0.18784,4.56443,3.0133,-1.74039], "fy":[-2.9487,-1.3955,3.35703,1.8065]}, - {"t":3.92705, "x":8.79613, "y":2.73521, "heading":-1.20389, "vx":0.35968, "vy":-2.47295, "omega":2.0854, "ax":0.34011, "ay":0.05005, "alpha":-0.98332, "fx":[4.27364,9.18987,7.30049,2.37661], "fy":[-2.56637,-0.66627,4.26333,2.37475]}, - {"t":3.9514, "x":8.80499, "y":2.67499, "heading":-1.15309, "vx":0.36796, "vy":-2.47173, "omega":2.06145, "ax":1.36217, "ay":0.21218, "alpha":-1.00635, "fx":[21.86134,26.65693,24.49615,19.66581], "fy":[-0.03695,2.19156,7.2318,5.04986]}, - {"t":3.97576, "x":8.81436, "y":2.61485, "heading":-1.10288, "vx":0.40114, "vy":-2.46656, "omega":2.03693, "ax":4.30233, "ay":0.79443, "alpha":-0.70445, "fx":[72.75181,75.22588,73.62884,71.11928], "fy":[10.46301,12.30379,16.51862,14.76671]}, - {"t":4.00012, "x":8.8254, "y":2.555, "heading":-1.05326, "vx":0.50594, "vy":-2.44721, "omega":2.01977, "ax":7.02628, "ay":1.75228, "alpha":-0.26675, "fx":[119.69495,120.01695,119.33629,119.01161], "fy":[28.34789,29.09795,31.24855,30.52885]}, - {"t":4.02448, "x":8.83981, "y":2.49591, "heading":-1.00407, "vx":0.67709, "vy":-2.40453, "omega":2.01328, "ax":6.90954, "ay":2.20692, "alpha":-0.28477, "fx":[117.81455,118.11575,117.24694,116.94002], "fy":[36.00753,36.7948,39.05301,38.30069]}, - {"t":4.05197, "x":8.86104, "y":2.43065, "heading":-0.94872, "vx":0.86703, "vy":-2.34386, "omega":2.00545, "ax":3.42787, "ay":1.34743, "alpha":-0.90152, "fx":[58.22056,61.31627,58.43206,55.25942], "fy":[19.16752,21.93865,26.61776,23.95366]}, - {"t":4.07946, "x":8.88617, "y":2.36672, "heading":-0.89359, "vx":0.96127, "vy":-2.30682, "omega":1.98067, "ax":0.78167, "ay":0.33001, "alpha":-1.19593, "fx":[12.84763,17.77467,13.76481,8.79708], "fy":[1.06774,5.09887,10.14399,6.14263]}, - {"t":4.10695, "x":8.91289, "y":2.30343, "heading":-0.83914, "vx":0.98276, "vy":-2.29775, "omega":1.94779, "ax":0.15163, "ay":0.06502, "alpha":-1.19333, "fx":[2.33918,7.09969,2.82354,-1.94549], "fy":[-3.41985,0.86261,5.62927,1.3516]}, - {"t":4.13444, "x":8.93996, "y":2.24029, "heading":-0.78559, "vx":0.98692, "vy":-2.29596, "omega":1.91498, "ax":0.02922, "ay":0.01257, "alpha":-1.19175, "fx":[0.49663,5.02069,0.49832,-4.02747], "fy":[-4.31059,0.21301,4.73773,0.21487]}, - {"t":4.16193, "x":8.9671, "y":2.17718, "heading":-0.73295, "vx":0.98773, "vy":-2.29561, "omega":1.88222, "ax":0.00563, "ay":0.00242, "alpha":-1.20989, "fx":[0.33661,4.68232,-0.14496,-4.49103], "fy":[-4.54551,0.282,4.62785,-0.19956]}, - {"t":4.18942, "x":8.99426, "y":2.11407, "heading":-0.68121, "vx":0.98788, "vy":-2.29555, "omega":1.84896, "ax":0.00108, "ay":0.00047, "alpha":-1.24899, "fx":[0.51152,4.73408,-0.47471,-4.69734], "fy":[-4.7078,0.50103,4.72362,-0.4852]}, - {"t":4.21691, "x":9.02142, "y":2.05096, "heading":-0.63038, "vx":0.98791, "vy":-2.29553, "omega":1.81462, "ax":0.0002, "ay":0.00009, "alpha":-1.30938, "fx":[0.77095,4.91455,-0.764,-4.90762], "fy":[-4.90959,0.76897,4.91258,-0.76598]}, - {"t":4.2444, "x":9.04858, "y":1.98786, "heading":-0.58049, "vx":0.98792, "vy":-2.29553, "omega":1.77863, "ax":0.00004, "ay":0.00002, "alpha":-1.39246, "fx":[1.07618,5.1761,-1.07498,-5.1749], "fy":[-5.17525,1.07583,5.17576,-1.07532]}, - {"t":4.27189, "x":9.07573, "y":1.92475, "heading":-0.5316, "vx":0.98792, "vy":-2.29553, "omega":1.74035, "ax":0.0, "ay":0.0, "alpha":-1.49913, "fx":[1.42898,5.50873,-1.42888,-5.50863], "fy":[-5.50866,1.42894,5.5087,-1.42891]}, - {"t":4.29938, "x":9.10289, "y":1.86165, "heading":-0.48375, "vx":0.98792, "vy":-2.29553, "omega":1.69914, "ax":0.0, "ay":0.0, "alpha":-1.63159, "fx":[1.84008,5.91415,-1.84017,-5.91425], "fy":[-5.91422,1.8401,5.91418,-1.84015]}, - {"t":4.32687, "x":9.13005, "y":1.79854, "heading":-0.43704, "vx":0.98792, "vy":-2.29553, "omega":1.65428, "ax":0.0, "ay":0.0, "alpha":-1.79135, "fx":[2.32126,6.39183,-2.32137,-6.39193], "fy":[-6.39191,2.32129,6.39185,-2.32134]}, - {"t":4.35436, "x":9.15721, "y":1.73543, "heading":-0.39157, "vx":0.98792, "vy":-2.29553, "omega":1.60504, "ax":0.0, "ay":0.0, "alpha":-1.98144, "fx":[2.88634,6.94607,-2.88643,-6.94616], "fy":[-6.94614,2.88637,6.9461,-2.88641]}, - {"t":4.38186, "x":9.18437, "y":1.67233, "heading":-0.34744, "vx":0.98792, "vy":-2.29553, "omega":1.55057, "ax":0.0, "ay":0.0, "alpha":-2.20402, "fx":[3.54828,7.57721,-3.54834,-7.57726], "fy":[-7.57725,3.54829,7.57722,-3.54832]}, - {"t":4.40935, "x":9.21153, "y":1.60922, "heading":-0.30482, "vx":0.98792, "vy":-2.29553, "omega":1.48998, "ax":0.0, "ay":0.0, "alpha":-2.46283, "fx":[4.32217,8.29037,-4.32219,-8.29039], "fy":[-8.29039,4.32217,8.29037,-4.32219]}, - {"t":4.43684, "x":9.23869, "y":1.54612, "heading":-0.26385, "vx":0.98792, "vy":-2.29553, "omega":1.42227, "ax":0.0, "ay":0.0, "alpha":-2.76085, "fx":[5.22171,9.08738,-5.22166,-9.08733], "fy":[-9.08734,5.2217,9.08736,-5.22168]}, - {"t":4.46433, "x":9.26584, "y":1.48301, "heading":-0.22476, "vx":0.98792, "vy":-2.29553, "omega":1.34637, "ax":0.00001, "ay":0.0, "alpha":-3.10234, "fx":[6.26239,9.97438,-6.26209,-9.97409], "fy":[-9.97417,6.2623,9.97429,-6.26218]}, - {"t":4.49182, "x":9.293, "y":1.41991, "heading":-0.18774, "vx":0.98792, "vy":-2.29553, "omega":1.26109, "ax":0.00004, "ay":0.00002, "alpha":-3.4912, "fx":[7.45842,10.95669,-7.45697,-10.95525], "fy":[-10.95566,7.458,10.95629,-7.45739]}, - {"t":4.51931, "x":9.32016, "y":1.3568, "heading":-0.15307, "vx":0.98792, "vy":-2.29553, "omega":1.16511, "ax":0.00021, "ay":0.00009, "alpha":-3.93195, "fx":[8.82552,12.04421,-8.81817,-12.03696], "fy":[-12.03899,8.82339,12.04218,-8.82031]}, - {"t":4.5468, "x":9.34732, "y":1.29369, "heading":-0.12105, "vx":0.98793, "vy":-2.29553, "omega":1.05702, "ax":0.00109, "ay":0.00047, "alpha":-4.42933, "fx":[10.38574,13.25687,-10.34832,-13.22005], "fy":[-13.23028,10.37482,13.24664,-10.35924]}, - {"t":4.57429, "x":9.37448, "y":1.23059, "heading":-0.09199, "vx":0.98796, "vy":-2.29552, "omega":0.93526, "ax":0.00554, "ay":0.00238, "alpha":-4.98776, "fx":[12.19733,14.65534,-12.00721,-14.46871], "fy":[-14.52021,12.1415,14.60389,-12.06304]}, - {"t":4.60178, "x":9.40164, "y":1.16748, "heading":-0.06628, "vx":0.98811, "vy":-2.29545, "omega":0.79814, "ax":0.02795, "ay":0.01204, "alpha":-5.61222, "fx":[14.51473,16.49973,-13.55366,-15.55918], "fy":[-15.81666,14.23034,16.24327,-13.838]}, - {"t":4.62927, "x":9.42881, "y":1.10439, "heading":-0.04433, "vx":0.98888, "vy":-2.29512, "omega":0.64386, "ax":0.13996, "ay":0.06044, "alpha":-6.30349, "fx":[18.56488,19.99804,-13.74351,-15.29655], "fy":[-16.57706,17.12658,18.74413,-15.18113]}, - {"t":4.65676, "x":9.45605, "y":1.04131, "heading":-0.02663, "vx":0.99272, "vy":-2.29346, "omega":0.47057, "ax":0.68953, "ay":0.30187, "alpha":-6.98123, "fx":[30.12967,30.61795,-6.34144,-7.49148], "fy":[-13.93506,23.02769,24.88434,-13.43817]}, - {"t":4.68425, "x":9.4836, "y":0.97838, "heading":-0.0137, "vx":1.01168, "vy":-2.28516, "omega":0.27865, "ax":2.98303, "ay":1.38584, "alpha":-6.11196, "fx":[67.34295,64.13739,34.54802,36.9333], "fy":[5.05729,38.50474,44.26242,6.46622]}, - {"t":4.71174, "x":9.51254, "y":0.91608, "heading":-0.00604, "vx":1.09369, "vy":-2.24706, "omega":0.11063, "ax":6.21315, "ay":3.32852, "alpha":-2.21341, "fx":[112.39008,106.87181,98.48548,104.98846], "fy":[45.86615,61.28719,67.81926,51.49609]}, - {"t":4.73923, "x":9.54496, "y":0.85557, "heading":-0.003, "vx":1.26449, "vy":-2.15556, "omega":0.04978, "ax":6.9843, "ay":4.54107, "alpha":-0.82178, "fx":[121.90534,118.59274,115.57965,119.12573], "fy":[72.5671,78.46679,81.94503,75.99008]}, - {"t":4.76672, "x":9.58236, "y":0.79803, "heading":-0.00163, "vx":1.45649, "vy":-2.03072, "omega":0.02719, "ax":6.79499, "ay":5.43217, "alpha":-0.41939, "fx":[117.48181,115.47428,113.65003,115.71749], "fy":[90.01969,92.73536,94.77283,92.07096]}, - {"t":4.79422, "x":9.62497, "y":0.74425, "heading":-0.00088, "vx":1.64329, "vy":-1.88139, "omega":0.01566, "ax":2.24986, "ay":8.5824, "alpha":-0.21481, "fx":[39.61058,39.05285,36.9414,37.47289], "fy":[145.61613,145.80559,146.34484,146.17043]}, - {"t":4.82171, "x":9.67099, "y":0.69577, "heading":-0.00045, "vx":1.70514, "vy":-1.64545, "omega":0.00975, "ax":-0.89214, "ay":8.90665, "alpha":-0.11385, "fx":[-14.63242,-14.51729,-15.71294,-15.8373], "fy":[151.54856,151.56982,151.45155,151.42842]}, - {"t":4.8492, "x":9.71753, "y":0.65391, "heading":-0.00018, "vx":1.68062, "vy":-1.4006, "omega":0.00662, "ax":-1.87509, "ay":8.78012, "alpha":-0.0791, "fx":[-31.57565,-31.40588,-32.21197,-32.38569], "fy":[149.413,149.45334,149.28265,149.2405]}, - {"t":4.87669, "x":9.76302, "y":0.61872, "heading":0.0, "vx":1.62907, "vy":-1.15923, "omega":0.00445, "ax":4.40611, "ay":7.81748, "alpha":-0.0434, "fx":[75.22143,75.02426,74.67218,74.869], "fy":[132.81749,132.93169,133.12825,133.01492]}, - {"t":4.92355, "x":9.8442, "y":0.57298, "heading":0.00021, "vx":1.83555, "vy":-0.79288, "omega":0.00242, "ax":2.65689, "ay":8.48117, "alpha":-0.03447, "fx":[45.41058,45.30785,44.97575,45.07788], "fy":[144.19209,144.23006,144.33219,144.29466]}, - {"t":4.97041, "x":9.93314, "y":0.54514, "heading":0.00032, "vx":1.96006, "vy":-0.39542, "omega":0.0008, "ax":0.84103, "ay":8.01488, "alpha":-0.02064, "fx":[14.4135,14.39498,14.19787,14.21615], "fy":[136.30947,136.33392,136.35222,136.32782]}, - {"t":5.01728, "x":10.02592, "y":0.53541, "heading":0.00036, "vx":1.99948, "vy":-0.01982, "omega":-0.00017, "ax":-0.00884, "ay":1.39037, "alpha":-0.00199, "fx":[-0.14486,-0.14487,-0.15579,-0.15579], "fy":[23.64464,23.65506,23.65505,23.64463]}, - {"t":5.06414, "x":10.11961, "y":0.536, "heading":0.00035, "vx":1.99906, "vy":0.04534, "omega":-0.00026, "ax":-0.00117, "ay":0.05015, "alpha":-0.00002, "fx":[-0.01978,-0.01978,-0.01991,-0.01991], "fy":[0.85297,0.85309,0.85309,0.85297]}, - {"t":5.111, "x":10.21329, "y":0.53818, "heading":0.00034, "vx":1.99901, "vy":0.04769, "omega":-0.00026, "ax":-0.00004, "ay":0.00177, "alpha":0.0, "fx":[-0.00072,-0.00072,-0.00072,-0.00072], "fy":[0.03005,0.03005,0.03005,0.03005]}, - {"t":5.15787, "x":10.30697, "y":0.54042, "heading":0.00033, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.00006, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.00106,0.00106,0.00106,0.00106]}, - {"t":5.20473, "x":10.40065, "y":0.54266, "heading":0.00031, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "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":5.25159, "x":10.49433, "y":0.5449, "heading":0.0003, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.29846, "x":10.58801, "y":0.54714, "heading":0.00029, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.34532, "x":10.68169, "y":0.54938, "heading":0.00028, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.39218, "x":10.77537, "y":0.55161, "heading":0.00027, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.43905, "x":10.86905, "y":0.55385, "heading":0.00025, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.48591, "x":10.96273, "y":0.55609, "heading":0.00024, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.53277, "x":11.05641, "y":0.55833, "heading":0.00023, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.57964, "x":11.15009, "y":0.56057, "heading":0.00022, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.6265, "x":11.24377, "y":0.56281, "heading":0.0002, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.67336, "x":11.33745, "y":0.56505, "heading":0.00019, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.72023, "x":11.43113, "y":0.56729, "heading":0.00018, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.76709, "x":11.52481, "y":0.56952, "heading":0.00017, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.81395, "x":11.61849, "y":0.57176, "heading":0.00016, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.86082, "x":11.71217, "y":0.574, "heading":0.00014, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.90768, "x":11.80585, "y":0.57624, "heading":0.00013, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":5.95454, "x":11.89953, "y":0.57848, "heading":0.00012, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":6.0014, "x":11.99321, "y":0.58072, "heading":0.00011, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":6.04827, "x":12.08689, "y":0.58296, "heading":0.00009, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":6.09513, "x":12.18057, "y":0.5852, "heading":0.00008, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":6.14199, "x":12.27425, "y":0.58744, "heading":0.00007, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":6.18886, "x":12.36793, "y":0.58967, "heading":0.00006, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":6.23572, "x":12.46161, "y":0.59191, "heading":0.00005, "vx":1.99901, "vy":0.04777, "omega":-0.00026, "ax":-0.00012, "ay":0.0, "alpha":0.00007, "fx":[-0.00218,-0.00218,-0.00181,-0.00181], "fy":[0.00013,-0.00023,-0.00023,0.00013]}, - {"t":6.28258, "x":12.55529, "y":0.59415, "heading":0.00003, "vx":1.999, "vy":0.04777, "omega":-0.00026, "ax":-6.63375, "ay":-0.15854, "alpha":0.00186, "fx":[-112.84068,-112.84043,-112.83583,-112.83608], "fy":[-2.68887,-2.70426,-2.70452,-2.68913]}, - {"t":6.32945, "x":12.64168, "y":0.59622, "heading":0.00002, "vx":1.68812, "vy":0.04034, "omega":-0.00017, "ax":-8.98857, "ay":-0.21482, "alpha":0.00071, "fx":[-152.89314,-152.89295,-152.89292,-152.8931], "fy":[-3.65006,-3.65766,-3.65784,-3.65024]}, - {"t":6.37631, "x":12.71092, "y":0.59787, "heading":0.00001, "vx":1.26689, "vy":0.03028, "omega":-0.00014, "ax":-9.00627, "ay":-0.21524, "alpha":0.00083, "fx":[-153.19427,-153.19406,-153.19404,-153.19425], "fy":[-3.6566,-3.66549,-3.6657,-3.65681]}, - {"t":6.42317, "x":12.76041, "y":0.59905, "heading":0.00001, "vx":0.84482, "vy":0.02019, "omega":-0.0001, "ax":-9.01223, "ay":-0.21538, "alpha":0.00097, "fx":[-153.29561,-153.29536,-153.29534,-153.29559], "fy":[-3.65825,-3.66864,-3.66889,-3.6585]}, - {"t":6.47004, "x":12.7901, "y":0.59976, "heading":0.0, "vx":0.42248, "vy":0.0101, "omega":-0.00005, "ax":-9.01522, "ay":-0.21545, "alpha":0.00113, "fx":[-153.34647,-153.34618,-153.34616,-153.34645], "fy":[-3.6586,-3.67068,-3.67097,-3.65889]}, - {"t":6.5169, "x":12.8, "y":0.6, "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":12.5, "y":0.6, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-10.82077, "ay":-0.00497, "alpha":-0.01321, "fx":[-153.38176,-153.38182,-153.38197,-153.38191], "fy":[-0.14139,0.00034,0.00034,-0.14126]}, + {"t":0.04639, "x":12.48836, "y":0.59999, "heading":0.0, "vx":-0.50196, "vy":-0.00023, "omega":-0.00061, "ax":-10.81564, "ay":-0.00504, "alpha":-0.01182, "fx":[-153.30894,-153.309,-153.30919,-153.30913], "fy":[-0.13482,-0.00799,-0.00799,-0.13471]}, + {"t":0.09278, "x":12.45344, "y":0.59998, "heading":-0.00003, "vx":-1.00367, "vy":-0.00046, "omega":-0.00116, "ax":-10.80207, "ay":-0.00515, "alpha":-0.01106, "fx":[-153.11653,-153.11659,-153.11692,-153.11686], "fy":[-0.13233,-0.01383,-0.01382,-0.13222]}, + {"t":0.13916, "x":12.39525, "y":0.59995, "heading":-0.00008, "vx":-1.50476, "vy":-0.0007, "omega":-0.00167, "ax":-10.66425, "ay":-0.00566, "alpha":-0.01845, "fx":[-151.16163,-151.16173,-151.16477,-151.16467], "fy":[-0.17796,0.01726,0.01725,-0.17771]}, + {"t":0.18555, "x":12.31398, "y":0.59991, "heading":-0.00016, "vx":-1.99946, "vy":-0.00097, "omega":-0.00253, "ax":-0.00253, "ay":-0.00228, "alpha":-0.01309, "fx":[-0.00072,-0.00071,-0.07099,-0.071], "fy":[-0.06752,0.00276,0.00277,-0.06751]}, + {"t":0.23194, "x":12.22122, "y":0.59987, "heading":-0.00028, "vx":-1.99957, "vy":-0.00107, "omega":-0.00314, "ax":0.0, "ay":-0.00275, "alpha":-0.00014, "fx":[0.00041,0.00041,-0.00037,-0.00037], "fy":[-0.03932,-0.03854,-0.03854,-0.03932]}, + {"t":0.27833, "x":12.12847, "y":0.59981, "heading":-0.00042, "vx":-1.99957, "vy":-0.0012, "omega":-0.00314, "ax":0.0, "ay":-0.00369, "alpha":0.0, "fx":[0.00004,0.00004,0.00003,0.00003], "fy":[-0.05235,-0.05234,-0.05234,-0.05235]}, + {"t":0.32472, "x":12.03571, "y":0.59975, "heading":-0.00057, "vx":-1.99957, "vy":-0.00137, "omega":-0.00314, "ax":0.0, "ay":-0.00479, "alpha":0.0, "fx":[0.00005,0.00005,0.00005,0.00005], "fy":[-0.06784,-0.06784,-0.06784,-0.06784]}, + {"t":0.37111, "x":11.94295, "y":0.59968, "heading":-0.00071, "vx":-1.99957, "vy":-0.00159, "omega":-0.00314, "ax":0.00001, "ay":-0.00606, "alpha":0.0, "fx":[0.00007,0.00007,0.00007,0.00007], "fy":[-0.08587,-0.08587,-0.08587,-0.08587]}, + {"t":0.41749, "x":11.8502, "y":0.5996, "heading":-0.00086, "vx":-1.99957, "vy":-0.00187, "omega":-0.00314, "ax":0.00001, "ay":-0.00756, "alpha":0.0, "fx":[0.00011,0.00011,0.00011,0.00011], "fy":[-0.10712,-0.10712,-0.10712,-0.10712]}, + {"t":0.46388, "x":11.75744, "y":0.59951, "heading":-0.00101, "vx":-1.99957, "vy":-0.00222, "omega":-0.00314, "ax":0.00001, "ay":-0.00934, "alpha":0.0, "fx":[0.00016,0.00016,0.00016,0.00016], "fy":[-0.13241,-0.13241,-0.13241,-0.13241]}, + {"t":0.51027, "x":11.66468, "y":0.5994, "heading":-0.00115, "vx":-1.99957, "vy":-0.00266, "omega":-0.00314, "ax":0.00002, "ay":-0.01148, "alpha":0.0, "fx":[0.00024,0.00024,0.00024,0.00024], "fy":[-0.16275,-0.16275,-0.16275,-0.16275]}, + {"t":0.55666, "x":11.57193, "y":0.59926, "heading":-0.0013, "vx":-1.99957, "vy":-0.00319, "omega":-0.00314, "ax":0.00002, "ay":-0.01407, "alpha":0.0, "fx":[0.00035,0.00035,0.00035,0.00035], "fy":[-0.19939,-0.19939,-0.19939,-0.19939]}, + {"t":0.60305, "x":11.47917, "y":0.5991, "heading":-0.00144, "vx":-1.99957, "vy":-0.00384, "omega":-0.00314, "ax":0.00004, "ay":-0.01721, "alpha":0.0, "fx":[0.00052,0.00052,0.00052,0.00052], "fy":[-0.24391,-0.24391,-0.24391,-0.24391]}, + {"t":0.64943, "x":11.38641, "y":0.5989, "heading":-0.00159, "vx":-1.99957, "vy":-0.00464, "omega":-0.00314, "ax":0.00005, "ay":-0.02105, "alpha":0.0, "fx":[0.00077,0.00077,0.00077,0.00077], "fy":[-0.29836,-0.29836,-0.29836,-0.29836]}, + {"t":0.69582, "x":11.29366, "y":0.59866, "heading":-0.00174, "vx":-1.99957, "vy":-0.00562, "omega":-0.00314, "ax":0.00008, "ay":-0.02579, "alpha":0.0, "fx":[0.00114,0.00114,0.00114,0.00114], "fy":[-0.36551,-0.36551,-0.36551,-0.36551]}, + {"t":0.74221, "x":11.2009, "y":0.59837, "heading":-0.00188, "vx":-1.99956, "vy":-0.00681, "omega":-0.00314, "ax":0.00012, "ay":-0.03169, "alpha":0.0, "fx":[0.0017,0.0017,0.0017,0.0017], "fy":[-0.44927,-0.44927,-0.44927,-0.44927]}, + {"t":0.7886, "x":11.10815, "y":0.59802, "heading":-0.00203, "vx":-1.99956, "vy":-0.00828, "omega":-0.00314, "ax":0.00018, "ay":-0.03918, "alpha":0.0, "fx":[0.00255,0.00255,0.00255,0.00255], "fy":[-0.55541,-0.55541,-0.55541,-0.55541]}, + {"t":0.83499, "x":11.01539, "y":0.5976, "heading":-0.00217, "vx":-1.99955, "vy":-0.0101, "omega":-0.00314, "ax":0.00027, "ay":-0.0489, "alpha":0.0, "fx":[0.00389,0.00389,0.00389,0.00389], "fy":[-0.69315,-0.69315,-0.69315,-0.69315]}, + {"t":0.88138, "x":10.92263, "y":0.59708, "heading":-0.00232, "vx":-1.99954, "vy":-0.01237, "omega":-0.00314, "ax":0.00043, "ay":-0.06198, "alpha":0.0, "fx":[0.00607,0.00607,0.00607,0.00607], "fy":[-0.87857,-0.87857,-0.87857,-0.87857]}, + {"t":0.92776, "x":10.82988, "y":0.59644, "heading":-0.00246, "vx":-1.99952, "vy":-0.01525, "omega":-0.00314, "ax":0.00069, "ay":-0.08068, "alpha":0.0, "fx":[0.00979,0.00979,0.00979,0.00979], "fy":[-1.14365,-1.14365,-1.14365,-1.14365]}, + {"t":0.97415, "x":10.73713, "y":0.59564, "heading":-0.00261, "vx":-1.99949, "vy":-0.01899, "omega":-0.00314, "ax":0.0012, "ay":-0.11102, "alpha":0.0, "fx":[0.01696,0.01696,0.01698,0.01698], "fy":[-1.57369,-1.57372,-1.57372,-1.57369]}, + {"t":1.02054, "x":10.64438, "y":0.59464, "heading":-0.00276, "vx":-1.99943, "vy":-0.02414, "omega":-0.00314, "ax":0.00283, "ay":-0.19691, "alpha":0.0004, "fx":[0.03901,0.039,0.04113,0.04113], "fy":[-2.79013,-2.79225,-2.79226,-2.79014]}, + {"t":1.06693, "x":10.55163, "y":0.59331, "heading":-0.0029, "vx":-1.9993, "vy":-0.03327, "omega":-0.00313, "ax":0.04531, "ay":-1.38387, "alpha":0.03452, "fx":[0.5484,0.54769,0.736,0.73677], "fy":[-19.52478,-19.70708,-19.70741,-19.52511]}, + {"t":1.11332, "x":10.45893, "y":0.59028, "heading":-0.00305, "vx":-1.9972, "vy":-0.09747, "omega":-0.00152, "ax":5.07952, "ay":3.96238, "alpha":1.48198, "fx":[66.99656,69.72679,76.98049,74.30033], "fy":[61.89747,53.18339,50.51444,59.06768]}, + {"t":1.1597, "x":10.37175, "y":0.59002, "heading":-0.00312, "vx":-1.76157, "vy":0.08634, "omega":0.06722, "ax":9.25983, "ay":5.55382, "alpha":0.6989, "fx":[128.55375,131.9522,133.84562,130.67202], "fy":[83.14143,77.61143,74.33812,79.80505]}, + {"t":1.20609, "x":10.3, "y":0.6, "heading":0.0, "vx":-1.33202, "vy":0.34397, "omega":0.09964, "ax":2.17364, "ay":1.3788, "alpha":37.98561, "fx":[-42.46715,-92.14275,144.70239,113.15079], "fy":[147.24127,-122.00587,-50.53704,103.47812]}, + {"t":1.22736, "x":10.27217, "y":0.60763, "heading":0.00212, "vx":-1.2858, "vy":0.37329, "omega":0.90742, "ax":2.82648, "ay":1.51275, "alpha":36.63268, "fx":[-25.07371,-77.22953,148.74448,113.8172], "fy":[151.09048,-131.3013,-36.68668,102.66874]}, + {"t":1.24862, "x":10.24546, "y":0.61591, "heading":0.02142, "vx":-1.22569, "vy":0.40546, "omega":1.68643, "ax":5.91577, "ay":1.91486, "alpha":28.09701, "fx":[4.56804,64.09471,152.6462,114.10939], "fy":[152.94714,-134.92413,-11.67216,102.22006]}, + {"t":1.26989, "x":10.22073, "y":0.62496, "heading":0.05728, "vx":-1.09989, "vy":0.44618, "omega":2.28392, "ax":8.16885, "ay":5.98818, "alpha":9.74672, "fx":[61.33257,136.88073,149.28515,115.66774], "fy":[139.96267,66.21361,33.1349,100.21315]}, + {"t":1.29115, "x":10.19919, "y":0.6358, "heading":0.10585, "vx":-0.92618, "vy":0.57352, "omega":2.49119, "ax":8.60962, "ay":6.47673, "alpha":0.33181, "fx":[120.56274,122.40919,123.48993,121.69522], "fy":[93.74842,91.30758,89.86862,92.29998]}, + {"t":1.31242, "x":10.18144, "y":0.64946, "heading":0.15882, "vx":-0.74309, "vy":0.71125, "omega":2.49824, "ax":8.62921, "ay":6.44319, "alpha":0.002, "fx":[122.30827,122.31957,122.32559,122.3143], "fy":[91.34225,91.32703,91.31915,91.33436]}, + {"t":1.33369, "x":10.16759, "y":0.66605, "heading":0.21195, "vx":-0.55959, "vy":0.84827, "omega":2.49828, "ax":8.6518, "ay":6.40243, "alpha":0.00001, "fx":[122.63718,122.63725,122.63727,122.63721], "fy":[90.75298,90.75289,90.75286,90.75294]}, + {"t":1.35495, "x":10.15765, "y":0.68553, "heading":0.26508, "vx":-0.3756, "vy":0.98442, "omega":2.49829, "ax":8.67907, "ay":6.35268, "alpha":0.0, "fx":[123.02382,123.02382,123.02382,123.02382], "fy":[90.04773,90.04773,90.04773,90.04773]}, + {"t":1.37622, "x":10.15162, "y":0.7079, "heading":0.3182, "vx":-0.19104, "vy":1.11951, "omega":2.49829, "ax":8.71261, "ay":6.29065, "alpha":0.0, "fx":[123.49913,123.49912,123.49912,123.49913], "fy":[89.16843,89.16844,89.16844,89.16844]}, + {"t":1.39748, "x":10.14953, "y":0.73313, "heading":0.37133, "vx":-0.00576, "vy":1.25328, "omega":2.49828, "ax":8.75479, "ay":6.2112, "alpha":0.0, "fx":[124.09705,124.09705,124.09704,124.09705], "fy":[88.04222,88.04223,88.04223,88.04222]}, + {"t":1.41875, "x":10.15139, "y":0.76119, "heading":0.42446, "vx":0.18041, "vy":1.38537, "omega":2.49828, "ax":8.8094, "ay":6.10585, "alpha":0.0, "fx":[124.8712,124.8712,124.87119,124.8712], "fy":[86.54901,86.54902,86.54902,86.54901]}, + {"t":1.44001, "x":10.15722, "y":0.79203, "heading":0.47758, "vx":0.36775, "vy":1.51521, "omega":2.49828, "ax":8.88279, "ay":5.95961, "alpha":0.0, "fx":[125.91137,125.91136,125.91136,125.91137], "fy":[84.47605,84.47607,84.47607,84.47605]}, + {"t":1.46128, "x":10.16705, "y":0.8256, "heading":0.53071, "vx":0.55664, "vy":1.64194, "omega":2.49828, "ax":8.98632, "ay":5.74317, "alpha":0.0, "fx":[127.37901,127.379,127.379,127.37901], "fy":[81.40804,81.40805,81.40805,81.40804]}, + {"t":1.48254, "x":10.18091, "y":0.86181, "heading":0.58384, "vx":0.74774, "vy":1.76407, "omega":2.49828, "ax":9.14236, "ay":5.39094, "alpha":0.0, "fx":[129.59085,129.59084,129.59084,129.59085], "fy":[76.41528,76.41531,76.4153,76.41528]}, + {"t":1.50381, "x":10.19888, "y":0.90055, "heading":0.63696, "vx":0.94215, "vy":1.87871, "omega":2.49828, "ax":9.39856, "ay":4.72209, "alpha":0.0, "fx":[133.2224,133.22239,133.22239,133.22241], "fy":[66.9345,66.93453,66.93452,66.93449]}, + {"t":1.52507, "x":10.22104, "y":0.94156, "heading":0.69009, "vx":1.14202, "vy":1.97913, "omega":2.49828, "ax":9.83347, "ay":3.02957, "alpha":0.0, "fx":[139.38714,139.38713,139.38714,139.38715], "fy":[42.94339,42.94342,42.9434,42.94338]}, + {"t":1.54634, "x":10.24755, "y":0.98434, "heading":0.74322, "vx":1.35113, "vy":2.04355, "omega":2.49828, "ax":8.80727, "ay":-3.69949, "alpha":0.0, "fx":[124.84098,124.84098,124.84098,124.84098], "fy":[-52.43936,-52.43935,-52.43936,-52.43937]}, + {"t":1.5676, "x":10.27828, "y":1.02696, "heading":0.79634, "vx":1.53842, "vy":1.96488, "omega":2.49828, "ax":6.59498, "ay":-5.52452, "alpha":0.0, "fx":[93.48224,93.48224,93.48224,93.48224], "fy":[-78.30877,-78.30877,-78.30877,-78.30877]}, + {"t":1.58887, "x":10.31248, "y":1.06749, "heading":0.84947, "vx":1.67866, "vy":1.8474, "omega":2.49828, "ax":4.88706, "ay":-4.7011, "alpha":0.0, "fx":[69.27294,69.27294,69.27294,69.27294], "fy":[-66.63699,-66.63699,-66.63699,-66.63699]}, + {"t":1.61013, "x":10.34928, "y":1.10571, "heading":0.9026, "vx":1.78259, "vy":1.74743, "omega":2.49828, "ax":2.36634, "ay":-2.48404, "alpha":0.0, "fx":[33.54228,33.54228,33.54228,33.54228], "fy":[-35.21074,-35.21074,-35.21074,-35.21074]}, + {"t":1.6314, "x":10.38773, "y":1.14231, "heading":0.95572, "vx":1.83291, "vy":1.69461, "omega":2.49828, "ax":-0.73067, "ay":0.78266, "alpha":0.0, "fx":[-10.35704,-10.35704,-10.35704,-10.35704], "fy":[11.09403,11.09403,11.09403,11.09403]}, + {"t":1.65267, "x":10.42654, "y":1.17853, "heading":1.00885, "vx":1.81737, "vy":1.71125, "omega":2.49828, "ax":-3.64273, "ay":3.69848, "alpha":0.0, "fx":[-51.63487,-51.63487,-51.63487,-51.63487], "fy":[52.42503,52.42503,52.42503,52.42503]}, + {"t":1.67393, "x":10.46436, "y":1.21575, "heading":1.06198, "vx":1.73991, "vy":1.7899, "omega":2.49828, "ax":-5.7603, "ay":5.2338, "alpha":0.0, "fx":[-81.65087,-81.65087,-81.65087,-81.65087], "fy":[74.18789,74.18789,74.18789,74.18789]}, + {"t":1.6952, "x":10.50006, "y":1.255, "heading":1.11511, "vx":1.61741, "vy":1.9012, "omega":2.49828, "ax":-7.1594, "ay":5.61808, "alpha":0.0, "fx":[-101.48278,-101.48278,-101.48278,-101.48278], "fy":[79.63489,79.63489,79.6349,79.6349]}, + {"t":1.71646, "x":10.53284, "y":1.2967, "heading":1.16823, "vx":1.46517, "vy":2.02067, "omega":2.49828, "ax":-8.14342, "ay":5.38902, "alpha":0.0, "fx":[-115.4311,-115.4311,-115.4311,-115.4311], "fy":[76.38813,76.38813,76.38813,76.38813]}, + {"t":1.73773, "x":10.56215, "y":1.34089, "heading":1.22136, "vx":1.29199, "vy":2.13527, "omega":2.49828, "ax":-8.88732, "ay":4.84792, "alpha":-0.00001, "fx":[-125.97566,-125.97567,-125.97571,-125.9757], "fy":[68.71815,68.71814,68.71806,68.71807]}, + {"t":1.75899, "x":10.58762, "y":1.38739, "heading":1.27449, "vx":1.103, "vy":2.23836, "omega":2.49828, "ax":-9.46517, "ay":4.14304, "alpha":-0.01305, "fx":[-134.13418,-134.14617,-134.19875,-134.1868], "fy":[58.7935,58.78175,58.6598,58.67146]}, + {"t":1.78026, "x":10.60893, "y":1.43593, "heading":1.32761, "vx":0.90172, "vy":2.32647, "omega":2.49801, "ax":-8.69604, "ay":2.99246, "alpha":-14.62537, "fx":[-79.55664,-123.85749,-149.91338,-139.72941], "fy":[123.3794,84.73638,2.42698,-40.87324]}, + {"t":1.80152, "x":10.62614, "y":1.48608, "heading":1.38073, "vx":0.7168, "vy":2.3901, "omega":2.18699, "ax":-1.41969, "ay":0.43542, "alpha":-39.4204, "fx":[101.90475,-101.53778,-139.46526,58.60327], "fy":[113.18332,113.99538,-62.01125,-140.47983]}, + {"t":1.82279, "x":10.64106, "y":1.537, "heading":1.42724, "vx":0.68661, "vy":2.39936, "omega":1.34871, "ax":-0.90481, "ay":0.2912, "alpha":-39.98687, "fx":[106.77809,-101.79251,-133.29426,77.00671], "fy":[109.46051,114.28238,-75.16301,-132.06913]}, + {"t":1.84405, "x":10.65546, "y":1.58809, "heading":1.45592, "vx":0.66737, "vy":2.40555, "omega":0.49837, "ax":-10.30381, "ay":2.29536, "alpha":-2.39628, "fx":[-142.43119,-144.30761,-149.05412,-148.42319], "fy":[46.79586,42.5734,20.16094,20.61468]}, + {"t":1.87253, "x":10.67029, "y":1.65752, "heading":1.47011, "vx":0.37397, "vy":2.47091, "omega":0.43014, "ax":-9.7567, "ay":0.92545, "alpha":-3.13522, "fx":[-135.15403,-138.54707,-141.17746,-138.3169], "fy":[29.54195,27.06156,-0.347,-3.78414]}, + {"t":1.901, "x":10.67698, "y":1.72825, "heading":1.48236, "vx":0.09615, "vy":2.49727, "omega":0.34086, "ax":1.64496, "ay":-0.07878, "alpha":-6.37886, "fx":[41.41392,8.25602,5.07539,38.52226], "fy":[14.24949,18.439,-17.6599,-19.49512]}, + {"t":1.92948, "x":10.68038, "y":1.79933, "heading":1.49207, "vx":0.14299, "vy":2.49502, "omega":0.15923, "ax":0.708, "ay":-0.04345, "alpha":-2.04378, "fx":[15.91142,5.0251,4.15513,15.0513], "fy":[4.42077,5.33297,-5.70385,-6.5134]}, + {"t":1.95795, "x":10.68474, "y":1.87036, "heading":1.4966, "vx":0.16315, "vy":2.49378, "omega":0.10103, "ax":0.38376, "ay":-0.02595, "alpha":-0.65213, "fx":[7.31296,3.82617,3.56615,7.05339], "fy":[1.249,1.51109,-1.98757,-2.244]}, + {"t":1.98643, "x":10.68954, "y":1.94136, "heading":1.49948, "vx":0.17408, "vy":2.49305, "omega":0.08246, "ax":0.26189, "ay":-0.01868, "alpha":-0.20906, "fx":[4.31168,3.19282,3.11277,4.23167], "fy":[0.25523,0.33537,-0.78503,-0.86476]}, + {"t":2.0149, "x":10.69461, "y":2.01234, "heading":1.50183, "vx":0.18153, "vy":2.49251, "omega":0.07651, "ax":0.20077, "ay":-0.01485, "alpha":-0.06717, "fx":[3.03815,2.67852,2.65366,3.01328], "fy":[-0.04305,-0.0182,-0.37808,-0.40291]}, + {"t":2.04338, "x":10.69986, "y":2.08331, "heading":1.504, "vx":0.18725, "vy":2.49209, "omega":0.0746, "ax":0.16368, "ay":-0.01245, "alpha":-0.02159, "fx":[2.38179,2.26615,2.25841,2.37405], "fy":[-0.12253,-0.1148,-0.2305,-0.23823]}, + {"t":2.07185, "x":10.70525, "y":2.15426, "heading":1.50613, "vx":0.19191, "vy":2.49174, "omega":0.07398, "ax":0.1393, "ay":-0.01084, "alpha":-0.00694, "fx":[1.9944,1.95723,1.95482,1.99199], "fy":[-0.13628,-0.13387,-0.17105,-0.17346]}, + {"t":2.10033, "x":10.71078, "y":2.22521, "heading":1.50823, "vx":0.19588, "vy":2.49143, "omega":0.07378, "ax":0.12322, "ay":-0.00978, "alpha":-0.00221, "fx":[1.75294,1.74107,1.74033,1.75219], "fy":[-0.133,-0.13225,-0.14412,-0.14487]}, + {"t":2.1288, "x":10.7164, "y":2.29615, "heading":1.51034, "vx":0.19939, "vy":2.49115, "omega":0.07372, "ax":0.11335, "ay":-0.00915, "alpha":-0.00066, "fx":[1.60865,1.60511,1.6049,1.60843], "fy":[-0.12799,-0.12777,-0.13131,-0.13153]}, + {"t":2.15728, "x":10.72213, "y":2.36708, "heading":1.51243, "vx":0.20261, "vy":2.49089, "omega":0.0737, "ax":0.10868, "ay":-0.00891, "alpha":-0.00005, "fx":[1.54061,1.54033,1.54031,1.54059], "fy":[-0.12614,-0.12612,-0.1264,-0.12642]}, + {"t":2.18575, "x":10.72794, "y":2.438, "heading":1.51453, "vx":0.20571, "vy":2.49064, "omega":0.0737, "ax":0.10875, "ay":-0.00905, "alpha":0.00048, "fx":[1.54019,1.54278,1.54292,1.54034], "fy":[-0.1295,-0.12965,-0.12707,-0.12692]}, + {"t":2.21422, "x":10.73384, "y":2.50892, "heading":1.51663, "vx":0.2088, "vy":2.49038, "omega":0.07371, "ax":0.11359, "ay":-0.0096, "alpha":0.00171, "fx":[1.60533,1.61447,1.61497,1.60582], "fy":[-0.14038,-0.14087,-0.13173,-0.13123]}, + {"t":2.2427, "x":10.73983, "y":2.57983, "heading":1.51873, "vx":0.21204, "vy":2.4901, "omega":0.07376, "ax":0.12364, "ay":-0.01062, "alpha":0.00537, "fx":[1.73744,1.76623,1.76773,1.73894], "fy":[-0.16413,-0.16563,-0.13683,-0.13533]}, + {"t":2.27117, "x":10.74592, "y":2.65073, "heading":1.52083, "vx":0.21556, "vy":2.4898, "omega":0.07391, "ax":0.13996, "ay":-0.01223, "alpha":0.01673, "fx":[1.93676,2.02643,2.03092,1.94125], "fy":[-0.21596,-0.22044,-0.13075,-0.12626]}, + {"t":2.29965, "x":10.75212, "y":2.72162, "heading":1.52294, "vx":0.21955, "vy":2.48945, "omega":0.07439, "ax":0.1647, "ay":-0.01468, "alpha":0.05203, "fx":[2.18848,2.46743,2.4808,2.20185], "fy":[-0.34097,-0.35432,-0.07524,-0.06188]}, + {"t":2.32812, "x":10.75843, "y":2.7925, "heading":1.52505, "vx":0.22423, "vy":2.48904, "omega":0.07587, "ax":0.20277, "ay":-0.0185, "alpha":0.16195, "fx":[2.42023,3.28847,3.32826,2.46003], "fy":[-0.6769,-0.71652,0.15223,0.19203]}, + {"t":2.3566, "x":10.7649, "y":2.86337, "heading":1.52721, "vx":0.23001, "vy":2.48851, "omega":0.08048, "ax":0.26819, "ay":-0.0252, "alpha":0.50515, "fx":[2.38854,5.09625,5.21465,2.50693], "fy":[-1.6544,-1.77112,0.93872,1.05782]}, + {"t":2.38507, "x":10.77156, "y":2.93422, "heading":1.52951, "vx":0.23765, "vy":2.48779, "omega":0.09487, "ax":0.41485, "ay":-0.04062, "alpha":1.58572, "fx":[1.45721,9.95038,10.30397,1.81028], "fy":[-4.66935,-5.00064,3.49955,3.86722]}, + {"t":2.41355, "x":10.77849, "y":3.00504, "heading":1.53221, "vx":0.24946, "vy":2.48663, "omega":0.14002, "ax":0.87623, "ay":-0.09363, "alpha":5.04874, "fx":[-1.56514,25.33001,26.41594,-0.49946], "fy":[-14.64722,-15.27138,11.60132,13.00834]}, + {"t":2.44202, "x":10.78595, "y":3.07581, "heading":1.53619, "vx":0.27441, "vy":2.48397, "omega":0.28378, "ax":0.32953, "ay":-7.94033, "alpha":6.00595, "fx":[-17.81382,24.29337,34.39458,-22.19024], "fy":[-120.37758,-119.84279,-104.26156,-105.72724]}, + {"t":2.4705, "x":10.7939, "y":3.14332, "heading":1.54428, "vx":0.28379, "vy":2.25787, "omega":0.4548, "ax":-9.7843, "ay":-4.5001, "alpha":0.76495, "fx":[-138.00609,-136.32823,-139.50667,-140.91921], "fy":[-65.4499,-68.79128,-62.04092,-58.86907]}, + {"t":2.49897, "x":10.79801, "y":3.20579, "heading":1.55723, "vx":0.00519, "vy":2.12973, "omega":0.47658, "ax":-10.4115, "ay":-2.89824, "alpha":0.74296, "fx":[-146.9167,-146.19904,-148.34421,-148.86209], "fy":[-43.61148,-45.91127,-38.39998,-36.40484]}, + {"t":2.52745, "x":10.79394, "y":3.26526, "heading":1.5708, "vx":-0.29128, "vy":2.0472, "omega":0.49774, "ax":-10.33547, "ay":-2.70528, "alpha":4.37868, "fx":[-144.14511,-137.33216,-151.93385,-152.60014], "fy":[-52.09759,-67.87153,-19.2664,-14.15153]}, + {"t":2.5483, "x":10.78562, "y":3.30737, "heading":1.58118, "vx":-0.50685, "vy":1.99078, "omega":0.58906, "ax":-10.27864, "ay":-2.87017, "alpha":4.5413, "fx":[-143.1529,-135.56944,-151.65018,-152.41651], "fy":[-54.6915,-71.24739,-21.06552,-15.73123]}, + {"t":2.56916, "x":10.77281, "y":3.34827, "heading":1.59346, "vx":-0.72123, "vy":1.93092, "omega":0.68378, "ax":-10.20482, "ay":-3.0712, "alpha":4.73965, "fx":[-141.8825,-133.28582,-151.26664,-152.16888], "fy":[-57.82328,-75.34048,-23.30217,-17.66839]}, + {"t":2.59002, "x":10.75555, "y":3.38787, "heading":1.60773, "vx":-0.93408, "vy":1.86686, "omega":0.78264, "ax":-10.10598, "ay":-3.32117, "alpha":4.98591, "fx":[-140.21602,-130.2343,-150.7243,-151.82486], "fy":[-61.6577,-80.39212,-26.17254,-20.08488]}, + {"t":2.61088, "x":10.73387, "y":3.42609, "heading":1.62405, "vx":-1.14486, "vy":1.79759, "omega":0.88663, "ax":-9.96853, "ay":-3.63938, "alpha":5.2978, "fx":[-137.96252,-126.00223,-149.91288,-151.32861], "fy":[-66.43425,-86.74722,-29.99941,-23.16865]}, + {"t":2.63173, "x":10.70782, "y":3.46279, "heading":1.64254, "vx":-1.35277, "vy":1.72168, "omega":0.99713, "ax":-9.76816, "ay":-4.05612, "alpha":5.7009, "fx":[-134.79675,-119.86501,-148.6064,-150.57706], "fy":[-72.50961,-94.89479,-35.34967,-27.2239]}, + {"t":2.65259, "x":10.67748, "y":3.49781, "heading":1.66334, "vx":-1.55651, "vy":1.63708, "omega":1.11603, "ax":-9.45804, "ay":-4.62064, "alpha":6.22999, "fx":[-130.13115,-110.48562,-146.28185,-149.36327], "fy":[-80.4241,-105.48401,-43.30421,-32.77349]}, + {"t":2.67345, "x":10.64296, "y":3.53095, "heading":1.68662, "vx":-1.75378, "vy":1.54071, "omega":1.24597, "ax":-8.93997, "ay":-5.41555, "alpha":6.91942, "fx":[-122.83475,-95.31697,-141.51221,-147.22387], "fy":[-90.98721,-119.14892,-56.13833,-40.78229]}, + {"t":2.6943, "x":10.60444, "y":3.56191, "heading":1.7126, "vx":-1.94024, "vy":1.42775, "omega":1.39029, "ax":-7.98558, "ay":-6.57741, "alpha":7.74777, "fx":[-110.61959,-69.73927,-129.44501,-142.97063], "fy":[-105.26613,-135.463,-79.04444,-53.15936]}, + {"t":2.71516, "x":10.56223, "y":3.59026, "heading":1.7416, "vx":-2.1068, "vy":1.29057, "omega":1.55189, "ax":-6.02855, "ay":-8.22877, "alpha":8.6526, "fx":[-89.3268,-28.53787,-90.66339,-133.285], "fy":[-123.56739,-149.41154,-120.24395,-73.34067]}, + {"t":2.73602, "x":10.51698, "y":3.61539, "heading":1.77397, "vx":-2.23254, "vy":1.11894, "omega":1.73236, "ax":-4.13968, "ay":-9.06051, "alpha":10.17776, "fx":[-72.03181,3.90871,-40.89492,-125.69802], "fy":[-134.04266,-151.73467,-143.25214,-84.69289]}, + {"t":2.75688, "x":10.46951, "y":3.63675, "heading":1.8101, "vx":-2.31888, "vy":0.92996, "omega":1.94464, "ax":-3.21589, "ay":-9.02761, "alpha":12.1948, "fx":[-65.45118,22.48264,-11.68706,-127.68256], "fy":[-136.89212,-149.53964,-145.11347,-80.31146]}, + {"t":2.77773, "x":10.42045, "y":3.65419, "heading":1.85066, "vx":-2.38596, "vy":0.74167, "omega":2.19899, "ax":-2.30431, "ay":-8.49176, "alpha":15.62379, "fx":[-62.47499,39.54384,26.0942,-133.81495], "fy":[-137.51184,-144.96296,-131.74233,-67.25779]}, + {"t":2.79859, "x":10.37018, "y":3.66781, "heading":1.89653, "vx":-2.43402, "vy":0.56455, "omega":2.52486, "ax":-0.96142, "ay":-4.55735, "alpha":30.43281, "fx":[-61.89804,59.58617,89.18314,-141.38305], "fy":[-136.39737,-135.95746,57.96516,-44.00801]}, + {"t":2.81945, "x":10.31921, "y":3.67859, "heading":1.94919, "vx":-2.45407, "vy":0.4695, "omega":3.1596, "ax":-0.37493, "ay":-2.02991, "alpha":36.37188, "fx":[-51.26572,105.43597,68.41132,-143.83972], "fy":[-137.17538,-99.40412,119.82314,1.66233]}, + {"t":2.84031, "x":10.26794, "y":3.68794, "heading":2.01509, "vx":-2.46189, "vy":0.42716, "omega":3.91822, "ax":0.61509, "ay":3.2736, "alpha":32.16462, "fx":[-55.05717,134.53795,43.21598,-87.82197], "fy":[-98.1459,36.95096,137.03355,109.77121]}, + {"t":2.86116, "x":10.21672, "y":3.69757, "heading":2.09681, "vx":-2.44906, "vy":0.49544, "omega":4.58909, "ax":2.45563, "ay":9.91471, "alpha":3.17764, "fx":[34.25633,56.88827,35.6138,12.47357], "fy":[140.18463,134.2568,142.39688,145.31631]}, + {"t":2.88202, "x":10.16618, "y":3.71006, "heading":2.19253, "vx":-2.39784, "vy":0.70223, "omega":4.65536, "ax":3.46372, "ay":9.92979, "alpha":-1.67721, "fx":[47.42472,37.32524,51.23496,60.40451], "fy":[141.93557,144.5473,139.87665,136.65035]}, + {"t":2.90288, "x":10.11692, "y":3.72686, "heading":2.28963, "vx":-2.3256, "vy":0.90934, "omega":4.62038, "ax":4.17927, "ay":9.65808, "alpha":-1.49103, "fx":[56.23866,49.39817,62.81346,68.51048], "fy":[138.67566,140.87386,135.19249,132.86167]}, + {"t":2.92323, "x":10.07046, "y":3.74737, "heading":2.38365, "vx":-2.24056, "vy":1.10588, "omega":4.59004, "ax":4.95414, "ay":9.06416, "alpha":-2.21022, "fx":[64.14786,57.19308,77.74292,81.81124], "fy":[132.76122,134.91201,123.83524,122.42103]}, + {"t":2.94358, "x":10.02589, "y":3.77175, "heading":2.47705, "vx":-2.13974, "vy":1.29032, "omega":4.54506, "ax":5.44802, "ay":8.26577, "alpha":-3.71439, "fx":[66.07935,58.16737,91.9975,92.65314], "fy":[126.87259,127.61674,105.40045,108.7713]}, + {"t":2.96392, "x":9.98348, "y":3.79971, "heading":2.56954, "vx":-2.02888, "vy":1.45852, "omega":4.46948, "ax":5.3567, "ay":6.91919, "alpha":-7.41516, "fx":[57.15485,42.70126,104.29028,99.57328], "fy":[120.74196,114.51793,67.25899,89.79282]}, + {"t":2.98427, "x":9.9433, "y":3.83083, "heading":2.66049, "vx":-1.91988, "vy":1.59932, "omega":4.31859, "ax":3.72004, "ay":4.26285, "alpha":-15.62045, "fx":[31.37442,-14.54002,95.56154,98.52694], "fy":[111.50192,67.38689,-4.05307,66.86376]}, + {"t":3.00462, "x":9.90501, "y":3.86425, "heading":2.74837, "vx":-1.84418, "vy":1.68607, "omega":4.00073, "ax":1.55396, "ay":1.66843, "alpha":-21.08894, "fx":[-3.15787,-61.1463,64.38236,88.03003], "fy":[96.45783,-2.69942,-50.58621,51.42598]}, + {"t":3.02497, "x":9.8678, "y":3.89891, "heading":2.82978, "vx":-1.81256, "vy":1.72002, "omega":3.57159, "ax":0.44281, "ay":0.46421, "alpha":-21.13924, "fx":[-28.09524,-67.63754,45.55799,75.28164], "fy":[78.28825,-30.12377,-64.46173,42.61768]}, + {"t":3.04532, "x":9.83101, "y":3.93401, "heading":2.90246, "vx":-1.80355, "vy":1.72946, "omega":3.14142, "ax":-0.33863, "ay":-0.35455, "alpha":-19.83882, "fx":[-45.63391,-67.55746,32.82979,61.16154], "fy":[58.85507,-43.57763,-69.83555,34.4555]}, + {"t":3.06567, "x":9.79424, "y":3.96913, "heading":2.96638, "vx":-1.81044, "vy":1.72225, "omega":2.73772, "ax":-1.63067, "ay":-1.74806, "alpha":-17.0521, "fx":[-67.50274,-70.52113,10.79832,34.76836], "fy":[26.89425,-57.766,-80.23909,11.99742]}, + {"t":3.08602, "x":9.75706, "y":4.00381, "heading":3.02209, "vx":-1.84362, "vy":1.68668, "omega":2.39073, "ax":-4.161, "ay":-4.79183, "alpha":-8.94099, "fx":[-91.52806,-78.63496,-30.77947,-34.98247], "fy":[-34.858,-79.57892,-99.21404,-58.0414]}, + {"t":3.10637, "x":9.71868, "y":4.03714, "heading":3.07074, "vx":-1.92829, "vy":1.58917, "omega":2.20878, "ax":-5.50076, "ay":-7.20235, "alpha":-3.09263, "fx":[-93.22778,-83.15492,-63.08873,-72.41641], "fy":[-89.03072,-102.89969,-113.95365,-102.48253]}, + {"t":3.12672, "x":9.6783, "y":4.06799, "heading":3.11569, "vx":-2.04023, "vy":1.44261, "omega":2.14585, "ax":-5.4386, "ay":-8.40196, "alpha":-1.22787, "fx":[-84.09712,-79.1144,-70.1724,-74.97945], "fy":[-114.25733,-118.67865,-123.6622,-119.78494]}, + {"t":3.14707, "x":9.63566, "y":4.0956, "heading":-3.12383, "vx":-2.1509, "vy":1.27164, "omega":2.12087, "ax":-4.89549, "ay":-9.14875, "alpha":-0.56794, "fx":[-72.89192,-70.45274,-65.92415,-68.30109], "fy":[-127.72878,-129.33195,-131.56841,-130.09651]}, + {"t":3.16742, "x":9.59088, "y":4.11959, "heading":-3.08067, "vx":-2.25052, "vy":1.08547, "omega":2.10931, "ax":-4.16494, "ay":-9.68982, "alpha":-0.28746, "fx":[-60.89064,-59.66424,-57.19514,-58.39821], "fy":[-136.52868,-137.14596,-138.15594,-137.57304]}, + {"t":3.18776, "x":9.54422, "y":4.13967, "heading":-3.03775, "vx":-2.33527, "vy":0.88829, "omega":2.10346, "ax":-3.34067, "ay":-10.09988, "alpha":-0.15038, "fx":[-48.34869,-47.73423,-46.36191,-46.96792], "fy":[-142.82502,-143.05892,-143.49734,-143.27246]}, + {"t":3.20811, "x":9.49601, "y":4.15565, "heading":-2.99495, "vx":-2.40325, "vy":0.68277, "omega":2.1004, "ax":-2.46037, "ay":-10.40471, "alpha":-0.07634, "fx":[-35.38651,-35.09622,-34.36509,-34.65271], "fy":[-147.35992,-147.43938,-147.60752,-147.53016]}, + {"t":3.22846, "x":9.44659, "y":4.16739, "heading":-2.95221, "vx":-2.45331, "vy":0.47104, "omega":2.09885, "ax":-1.54205, "ay":-10.61424, "alpha":-0.03335, "fx":[-22.08139,-21.96663,-21.63518,-21.74933], "fy":[-150.42078,-150.44093,-150.48779,-150.46799]}, + {"t":3.24881, "x":9.39635, "y":4.17478, "heading":-2.9095, "vx":-2.48469, "vy":0.25505, "omega":2.09817, "ax":-0.58077, "ay":-10.73284, "alpha":-0.00702, "fx":[-8.27865,-8.25759,-8.18596,-8.207], "fy":[-152.13268,-152.13438,-152.13809,-152.1364]}, + {"t":3.26916, "x":9.34567, "y":4.17775, "heading":-2.8668, "vx":-2.49651, "vy":0.03665, "omega":2.09802, "ax":0.52828, "ay":-10.75168, "alpha":0.00978, "fx":[7.55063,7.52732,7.42575,7.44913], "fy":[-152.39974,-152.40025,-152.40538,-152.40488]}, + {"t":3.28951, "x":9.29498, "y":4.17627, "heading":-2.82411, "vx":-2.48576, "vy":-0.18214, "omega":2.09822, "ax":1.805, "ay":-10.62429, "alpha":0.02075, "fx":[25.70976,25.67724,25.46102,25.49384], "fy":[-150.57616,-150.58056,-150.61745,-150.61304]}, + {"t":3.30986, "x":9.24477, "y":4.17036, "heading":-2.78141, "vx":-2.44903, "vy":-0.39834, "omega":2.09865, "ax":2.86901, "ay":-10.39687, "alpha":0.02804, "fx":[40.82458,40.79828,40.51028,40.53715], "fy":[-147.33044,-147.33639,-147.41596,-147.40991]}, + {"t":3.33021, "x":9.19553, "y":4.1601, "heading":-2.73871, "vx":-2.39065, "vy":-0.6099, "omega":2.09922, "ax":3.66184, "ay":-10.152, "alpha":0.03302, "fx":[52.08099,52.0621,51.73,51.74966], "fy":[-143.8396,-143.84506,-143.9649,-143.95922]}, + {"t":3.35056, "x":9.14764, "y":4.14559, "heading":-2.69599, "vx":-2.31613, "vy":-0.81649, "omega":2.09989, "ax":4.25125, "ay":-9.9253, "alpha":0.03656, "fx":[60.44749,60.43274,60.07295,60.08862], "fy":[-140.60923,-140.6142,-140.76834,-140.76302]}, + {"t":3.37091, "x":9.10139, "y":4.12692, "heading":-2.65326, "vx":-2.22963, "vy":-1.01846, "omega":2.10063, "ax":4.75652, "ay":-9.70034, "alpha":0.03493, "fx":[67.59581,67.5849,67.24877,67.26051], "fy":[-137.41554,-137.41982,-137.58465,-137.58001]}, + {"t":3.3962, "x":9.04651, "y":4.09805, "heading":-2.60012, "vx":-2.10931, "vy":-1.26383, "omega":2.10152, "ax":5.50072, "ay":-9.29206, "alpha":0.03916, "fx":[78.15307,78.15038,77.78918,77.79286], "fy":[-131.60599,-131.60605,-131.81988,-131.81924]}, + {"t":3.4215, "x":8.99492, "y":4.06311, "heading":-2.54697, "vx":-1.97017, "vy":-1.49887, "omega":2.10251, "ax":6.49644, "ay":-8.61556, "alpha":0.04496, "fx":[92.26765,92.28685,91.90272,91.88467], "fy":[-121.98742,-121.97057,-122.26014,-122.27603]}, + {"t":3.44679, "x":8.94716, "y":4.02244, "heading":-2.49378, "vx":-1.80584, "vy":-1.7168, "omega":2.10364, "ax":7.68555, "ay":-7.55805, "alpha":0.05293, "fx":[109.10899,109.16531,108.77207,108.71694], "fy":[-106.9649,-106.90352,-107.30303,-107.36278]}, + {"t":3.47209, "x":8.90394, "y":3.9766, "heading":-2.44057, "vx":-1.61143, "vy":-1.90798, "omega":2.10498, "ax":8.56848, "ay":-6.5133, "alpha":0.06401, "fx":[121.61456,121.70185,121.29718,121.21105], "fy":[-92.12061,-91.99819,-92.5295,-92.64934]}, + {"t":3.49738, "x":8.86592, "y":3.92625, "heading":-2.38732, "vx":-1.39469, "vy":-2.07274, "omega":2.1066, "ax":9.21499, "ay":-5.51181, "alpha":0.08048, "fx":[130.7752,130.88997,130.46479,130.35105], "fy":[-77.87921,-77.67206,-78.3801,-78.58313]}, + {"t":3.52268, "x":8.83359, "y":3.87206, "heading":-2.33404, "vx":-1.1616, "vy":-2.21216, "omega":2.10864, "ax":9.72093, "ay":-4.45857, "alpha":0.10693, "fx":[137.94618,138.08853,137.63739,137.49549], "fy":[-62.88635,-62.54011,-63.5154,-63.85461]}, + {"t":3.54797, "x":8.80731, "y":3.81468, "heading":-2.2807, "vx":-0.91571, "vy":-2.32494, "omega":2.11134, "ax":10.06873, "ay":-3.35765, "alpha":0.15397, "fx":[142.88293,143.04708,142.56161,142.39587], "fy":[-47.1834,-46.58553,-48.01102,-48.5955]}, + {"t":3.57327, "x":8.78737, "y":3.75479, "heading":-2.22729, "vx":-0.66102, "vy":-2.40987, "omega":2.11524, "ax":10.1958, "ay":-2.22788, "alpha":0.25143, "fx":[144.72089,144.86796,144.32992,144.17345], "fy":[-30.99457,-29.87436,-32.18017,-33.26966]}, + {"t":3.59856, "x":8.77391, "y":3.69312, "heading":-2.17379, "vx":-0.40312, "vy":-2.46622, "omega":2.1216, "ax":9.88061, "ay":-1.10959, "alpha":0.50906, "fx":[140.4713,140.33614,139.66224,139.7517], "fy":[-14.75814,-12.30784,-16.74688,-19.10012]}, + {"t":3.62386, "x":8.76688, "y":3.63038, "heading":-2.12012, "vx":-0.15319, "vy":-2.49429, "omega":2.13447, "ax":8.05158, "ay":-0.16623, "alpha":1.48375, "fx":[116.64446,113.62797,111.67985,114.56461], "fy":[-0.29574,6.22933,-4.65272,-10.70585]}, + {"t":3.64915, "x":8.76558, "y":3.56724, "heading":-2.06613, "vx":0.05048, "vy":-2.4985, "omega":2.17201, "ax":3.11268, "ay":0.11189, "alpha":3.70477, "fx":[56.24004,40.5992,31.52028,48.1265], "fy":[5.66952,16.38127,-2.90512,-12.80163]}, + {"t":3.67445, "x":8.76785, "y":3.50407, "heading":-2.01119, "vx":0.12921, "vy":-2.49567, "omega":2.26572, "ax":0.61121, "ay":0.03354, "alpha":3.66083, "fx":[21.64313,4.03125,-4.42892,13.40968], "fy":[5.14399,13.63842,-4.27776,-12.60306]}, + {"t":3.69974, "x":8.77132, "y":3.44096, "heading":-1.95388, "vx":0.14467, "vy":-2.49482, "omega":2.35832, "ax":0.1106, "ay":0.00648, "alpha":3.0547, "fx":[12.23035,-2.9659,-9.10819,6.1144], "fy":[4.62655,10.76944,-4.45514,-10.57368]}, + {"t":3.72504, "x":8.77501, "y":3.37785, "heading":-1.89422, "vx":0.14747, "vy":-2.49465, "omega":2.43559, "ax":0.01987, "ay":0.00118, "alpha":2.47244, "fx":[8.68303,-3.90096,-8.12097,4.46577], "fy":[4.19927,8.41955,-4.1675,-8.38457]}, + {"t":3.75033, "x":8.77875, "y":3.31475, "heading":-1.83262, "vx":0.14797, "vy":-2.49462, "omega":2.49813, "ax":0.00357, "ay":0.00021, "alpha":1.92753, "fx":[6.38756,-3.60788,-6.28656,3.70913], "fy":[3.66141,6.34016,-3.6556,-6.33396]}, + {"t":3.77563, "x":8.78249, "y":3.25165, "heading":-1.76943, "vx":0.14806, "vy":-2.49462, "omega":2.54689, "ax":0.00066, "ay":0.00004, "alpha":1.41248, "fx":[4.47448,-2.9595,-4.45589,2.97812], "fy":[2.96936,4.46575,-2.96827,-4.46462]}, + {"t":3.80092, "x":8.78624, "y":3.18855, "heading":-1.705, "vx":0.14808, "vy":-2.49462, "omega":2.58261, "ax":0.00015, "ay":0.00001, "alpha":0.91937, "fx":[2.77802,-2.11337,-2.77381,2.11758], "fy":[2.1156,2.77604,-2.11535,-2.77579]}, + {"t":3.82622, "x":8.78998, "y":3.12545, "heading":-1.63968, "vx":0.14809, "vy":-2.49462, "omega":2.60587, "ax":0.00007, "ay":0.0, "alpha":0.44035, "fx":[1.26164,-1.09683,-1.25955,1.09892], "fy":[1.09794,1.26066,-1.09781,-1.26053]}, + {"t":3.85151, "x":8.79373, "y":3.06234, "heading":-1.57376, "vx":0.14809, "vy":-2.49462, "omega":2.61701, "ax":0.00011, "ay":0.00001, "alpha":-0.03211, "fx":[-0.08493,0.08746,0.08797,-0.08442], "fy":[-0.08585,-0.08636,0.08603,0.08654]}, + {"t":3.87681, "x":8.79748, "y":2.99924, "heading":-1.50756, "vx":0.14809, "vy":-2.49462, "omega":2.6162, "ax":0.00035, "ay":0.00002, "alpha":-0.50551, "fx":[-1.26346,1.44502,1.27352,-1.43496], "fy":[-1.43969,-1.26819,1.44029,1.26879]}, + {"t":3.9021, "x":8.80122, "y":2.93614, "heading":-1.44139, "vx":0.1481, "vy":-2.49462, "omega":2.60341, "ax":0.00176, "ay":0.0001, "alpha":-0.98719, "fx":[-2.26087,2.99469,2.31075,-2.94482], "fy":[-2.96829,-2.28432,2.97122,2.2873]}, + {"t":3.9274, "x":8.80497, "y":2.87304, "heading":-1.37553, "vx":0.14814, "vy":-2.49461, "omega":2.57844, "ax":0.00966, "ay":0.00057, "alpha":-1.48465, "fx":[-2.99933,4.81961,3.27325,-4.54593], "fy":[-4.67482,-3.12799,4.69074,3.14461]}, + {"t":3.95269, "x":8.80872, "y":2.80994, "heading":-1.31031, "vx":0.14839, "vy":-2.4946, "omega":2.54088, "ax":0.05386, "ay":0.00322, "alpha":-2.00535, "fx":[-3.05067,7.35023,4.57916,-5.82509], "fy":[-6.54403,-3.76784,6.63189,3.86244]}, + {"t":3.97799, "x":8.81249, "y":2.74684, "heading":-1.24604, "vx":0.14975, "vy":-2.49452, "omega":2.49016, "ax":0.30008, "ay":0.01847, "alpha":-2.55346, "fx":[-0.04187,12.92104,8.56776,-4.43275], "fy":[-8.44158,-4.03712,8.93702,4.58913]}, + {"t":4.00328, "x":8.81637, "y":2.68375, "heading":-1.18305, "vx":0.15734, "vy":-2.49405, "omega":2.42557, "ax":1.63115, "ay":0.1165, "alpha":-3.00877, "fx":[18.91189,33.35224,27.48684,12.73382], "fy":[-9.20111,-2.80736,12.30301,6.31104]}, + {"t":4.02858, "x":8.82087, "y":2.6207, "heading":-1.1217, "vx":0.1986, "vy":-2.4911, "omega":2.34946, "ax":6.16317, "ay":0.68695, "alpha":-1.924, "fx":[86.26253,92.18343,88.55049,82.44928], "fy":[0.61703,6.25096,18.45353,13.62776]}, + {"t":4.05387, "x":8.82787, "y":2.5579, "heading":-1.06227, "vx":0.3545, "vy":-2.47373, "omega":2.30079, "ax":9.29693, "ay":1.82786, "alpha":-0.59789, "fx":[132.22982,132.60133,131.32847,130.96744], "fy":[22.31712,24.25971,29.41543,27.64564]}, + {"t":4.07917, "x":8.83981, "y":2.49591, "heading":-1.00407, "vx":0.58966, "vy":-2.42749, "omega":2.28567, "ax":9.09143, "ay":2.69578, "alpha":-0.59973, "fx":[129.62312,129.8668,128.12079,127.86471], "fy":[34.72315,36.51699,41.61044,39.99773]}, + {"t":4.10749, "x":8.86016, "y":2.42823, "heading":-0.93932, "vx":0.84719, "vy":-2.35113, "omega":2.26868, "ax":4.8596, "ay":1.91519, "alpha":-2.51055, "fx":[69.32717,76.77587,68.76666,60.66512], "fy":[16.10447,24.19608,37.66124,30.62774]}, + {"t":4.13582, "x":8.88611, "y":2.3624, "heading":-0.87506, "vx":0.98485, "vy":-2.29688, "omega":2.19757, "ax":0.87094, "ay":0.37898, "alpha":-3.5397, "fx":[11.3093,25.58177,13.55096,-1.0608], "fy":[-8.13212,4.14487,18.75917,6.71604]}, + {"t":4.16415, "x":8.91436, "y":2.29749, "heading":-0.81281, "vx":1.00952, "vy":-2.28614, "omega":2.0973, "ax":0.12318, "ay":0.05451, "alpha":-3.23688, "fx":[1.42169,14.01725,2.09231,-10.54681], "fy":[-11.51738,0.43998,13.05154,1.1164]}, + {"t":4.19247, "x":8.943, "y":2.23276, "heading":-0.7534, "vx":1.01301, "vy":-2.2846, "omega":2.00561, "ax":0.01729, "ay":0.00767, "alpha":-2.94176, "fx":[0.60374,11.40554,-0.11088,-10.91801], "fy":[-11.05361,0.46646,11.27004,-0.24807]}, + {"t":4.2208, "x":8.9717, "y":2.16804, "heading":-0.69659, "vx":1.0135, "vy":-2.28438, "omega":1.92228, "ax":0.00242, "ay":0.00107, "alpha":-2.6995, "fx":[0.94337,10.24156,-0.87451,-10.17335], "fy":[-10.19229,0.92418,10.22262,-0.8937]}, + {"t":4.24913, "x":9.00041, "y":2.10334, "heading":-0.64214, "vx":1.01357, "vy":-2.28435, "omega":1.84581, "ax":0.00033, "ay":0.00015, "alpha":-2.50679, "fx":[1.3634,9.42349,-1.35393,-9.4141], "fy":[-9.41671,1.36076,9.42088,-1.35657]}, + {"t":4.27745, "x":9.02913, "y":2.03863, "heading":-0.58985, "vx":1.01358, "vy":-2.28435, "omega":1.7748, "ax":0.00004, "ay":0.00002, "alpha":-2.35936, "fx":[1.74091,8.78651,-1.73972,-8.78533], "fy":[-8.78566,1.74058,8.78618,-1.74006]}, + {"t":4.30578, "x":9.05784, "y":1.97392, "heading":-0.53958, "vx":1.01358, "vy":-2.28435, "omega":1.70797, "ax":0.0, "ay":0.0, "alpha":-2.25465, "fx":[2.08291,8.30183,-2.08286,-8.30177], "fy":[-8.30179,2.0829,8.30181,-2.08288]}, + {"t":4.33411, "x":9.08655, "y":1.90921, "heading":-0.49119, "vx":1.01358, "vy":-2.28435, "omega":1.6441, "ax":0.0, "ay":0.0, "alpha":-2.19016, "fx":[2.41092,7.95703,-2.411,-7.95711], "fy":[-7.95709,2.41094,7.95705,-2.41098]}, + {"t":4.36243, "x":9.11526, "y":1.8445, "heading":-0.44462, "vx":1.01358, "vy":-2.28435, "omega":1.58206, "ax":0.0, "ay":0.0, "alpha":-2.16464, "fx":[2.74637,7.74485,-2.74644,-7.74493], "fy":[-7.74491,2.74638,7.74487,-2.74642]}, + {"t":4.39076, "x":9.14397, "y":1.7798, "heading":-0.39981, "vx":1.01358, "vy":-2.28435, "omega":1.52075, "ax":0.0, "ay":0.0, "alpha":-2.17718, "fx":[3.10849,7.65815,-3.10854,-7.65821], "fy":[-7.6582,3.1085,7.65817,-3.10853]}, + {"t":4.41909, "x":9.17268, "y":1.71509, "heading":-0.35673, "vx":1.01358, "vy":-2.28435, "omega":1.45907, "ax":0.0, "ay":0.0, "alpha":-2.22765, "fx":[3.51505,7.69146,-3.51509,-7.6915], "fy":[-7.69149,3.51506,7.69147,-3.51508]}, + {"t":4.44741, "x":9.20139, "y":1.65038, "heading":-0.3154, "vx":1.01358, "vy":-2.28435, "omega":1.39597, "ax":0.0, "ay":0.0, "alpha":-2.31655, "fx":[3.98269,7.84053,-3.98271,-7.84055], "fy":[-7.84055,3.98269,7.84053,-3.9827]}, + {"t":4.47574, "x":9.2301, "y":1.58567, "heading":-0.27586, "vx":1.01358, "vy":-2.28435, "omega":1.33035, "ax":0.0, "ay":0.0, "alpha":-2.44481, "fx":[4.52704,8.10201,-4.52705,-8.10201], "fy":[-8.10201,4.52704,8.10201,-4.52705]}, + {"t":4.50407, "x":9.25881, "y":1.52097, "heading":-0.23817, "vx":1.01358, "vy":-2.28435, "omega":1.2611, "ax":0.0, "ay":0.0, "alpha":-2.61417, "fx":[5.16362,8.47477,-5.16362,-8.47477], "fy":[-8.47477,5.16362,8.47477,-5.16362]}, + {"t":4.53239, "x":9.28753, "y":1.45626, "heading":-0.20245, "vx":1.01358, "vy":-2.28435, "omega":1.18705, "ax":0.0, "ay":0.0, "alpha":-2.82664, "fx":[5.90703,8.95832,-5.90701,-8.9583], "fy":[-8.9583,5.90702,8.95831,-5.90702]}, + {"t":4.56072, "x":9.31624, "y":1.39155, "heading":-0.16883, "vx":1.01358, "vy":-2.28435, "omega":1.10698, "ax":0.0, "ay":0.0, "alpha":-3.08511, "fx":[6.77226,9.55524,-6.77217,-9.55514], "fy":[-9.55517,6.77223,9.55521,-6.7722]}, + {"t":4.58905, "x":9.34495, "y":1.32684, "heading":-0.13747, "vx":1.01358, "vy":-2.28435, "omega":1.01959, "ax":0.00002, "ay":0.00001, "alpha":-3.39258, "fx":[7.77322,10.26912,-7.77262,-10.26852], "fy":[-10.26869,7.77305,10.26895,-7.77279]}, + {"t":4.61737, "x":9.37366, "y":1.26213, "heading":-0.10859, "vx":1.01358, "vy":-2.28435, "omega":0.92349, "ax":0.00015, "ay":0.00006, "alpha":-3.75297, "fx":[8.92515,11.10867,-8.92099,-11.10456], "fy":[-11.10569,8.92397,11.10755,-8.92217]}, + {"t":4.6457, "x":9.40237, "y":1.19743, "heading":-0.08243, "vx":1.01358, "vy":-2.28434, "omega":0.81718, "ax":0.00103, "ay":0.00046, "alpha":-4.17019, "fx":[10.24912,12.09224,-10.21982,-12.06331], "fy":[-12.07118,10.24078,12.08438,-10.22815]}, + {"t":4.67403, "x":9.43108, "y":1.13272, "heading":-0.05928, "vx":1.01361, "vy":-2.28433, "omega":0.69905, "ax":0.00723, "ay":0.00321, "alpha":-4.64891, "fx":[11.82119,13.29831,-11.6147,-13.09485], "fy":[-13.14985,11.76215,13.24335,-11.67374]}, + {"t":4.70235, "x":9.4598, "y":1.06801, "heading":-0.03948, "vx":1.01382, "vy":-2.28424, "omega":0.56737, "ax":0.05064, "ay":0.02249, "alpha":-5.19347, "fx":[14.10387,15.19141,-12.65597,-13.7682], "fy":[-14.15059,13.68732,14.81104,-13.07241]}, + {"t":4.73068, "x":9.48854, "y":1.00332, "heading":-0.02341, "vx":1.01525, "vy":-2.2836, "omega":0.42025, "ax":0.3516, "ay":0.15724, "alpha":-5.79524, "fx":[20.22301,20.82274,-10.15498,-10.95539], "fy":[-13.6143,17.31573,18.27197,-13.05812]}, + {"t":4.75901, "x":9.51744, "y":0.93869, "heading":-0.0115, "vx":1.02521, "vy":-2.27915, "omega":0.25609, "ax":2.29444, "ay":1.07203, "alpha":-5.84145, "fx":[48.3423,46.95892,17.18644,17.60515], "fy":[-1.18241,29.96934,32.88479,-0.88867]}, + {"t":4.78733, "x":9.5474, "y":0.87456, "heading":-0.00425, "vx":1.0902, "vy":-2.24878, "omega":0.09062, "ax":7.13092, "ay":3.87235, "alpha":-2.08599, "fx":[107.41578,102.53308,94.37037,99.99702], "fy":[45.12923,59.35326,65.03326,50.043]}, + {"t":4.81566, "x":9.58114, "y":0.81242, "heading":-0.00168, "vx":1.2922, "vy":-2.13909, "omega":0.03154, "ax":8.33216, "ay":5.71281, "alpha":-0.58075, "fx":[120.41273,117.94411,115.74122,118.32732], "fy":[77.66766,81.75162,84.29533,80.1962]}, + {"t":4.84399, "x":9.62109, "y":0.75412, "heading":-0.00079, "vx":1.52822, "vy":-1.97727, "omega":0.01509, "ax":7.11595, "ay":7.76342, "alpha":-0.25991, "fx":[102.27574,100.96897,99.45195,100.77081], "fy":[108.74237,110.03185,111.33717,110.06716]}, + {"t":4.87231, "x":9.66723, "y":0.70122, "heading":-0.00036, "vx":1.72979, "vy":-1.75736, "omega":0.00772, "ax":-0.98486, "ay":10.68352, "alpha":-0.09695, "fx":[-13.49405,-13.4037,-14.42283,-14.5199], "fy":[151.47409,151.49199,151.39927,151.38012]}, + {"t":4.90064, "x":9.71583, "y":0.65573, "heading":-0.00014, "vx":1.70189, "vy":-1.45473, "omega":0.00498, "ax":-2.54678, "ay":10.4695, "alpha":-0.05837, "fx":[-35.87637,-35.73489,-36.32264,-36.46617], "fy":[148.45512,148.49255,148.35068,148.31216]}, + {"t":4.92896, "x":9.76302, "y":0.61872, "heading":0.0, "vx":1.62975, "vy":-1.15816, "omega":0.00332, "ax":5.09554, "ay":9.47873, "alpha":-0.03282, "fx":[72.43675,72.29158,72.01958,72.16452], "fy":[134.24589,134.3264,134.47121,134.39119]}, + {"t":4.97523, "x":9.84387, "y":0.57528, "heading":0.00015, "vx":1.86549, "vy":-0.71964, "omega":0.0018, "ax":2.57265, "ay":10.26409, "alpha":-0.02914, "fx":[36.6461,36.57541,36.2876,36.35781], "fy":[145.44331,145.46826,145.53853,145.51385]}, + {"t":5.02149, "x":9.93293, "y":0.55297, "heading":0.00024, "vx":1.98452, "vy":-0.24478, "omega":0.00046, "ax":0.32129, "ay":5.88153, "alpha":-0.01365, "fx":[4.60288,4.60047,4.50568,4.50804], "fy":[83.34221,83.39396,83.3963,83.34456]}, + {"t":5.06776, "x":10.02509, "y":0.54794, "heading":0.00026, "vx":1.99938, "vy":0.02733, "omega":-0.00017, "ax":-0.00353, "ay":0.21803, "alpha":-0.00028, "fx":[-0.04924,-0.04924,-0.05074,-0.05074], "fy":[3.08971,3.09121,3.09121,3.08971]}, + {"t":5.11402, "x":10.11759, "y":0.54944, "heading":0.00025, "vx":1.99922, "vy":0.03742, "omega":-0.00019, "ax":-0.00011, "ay":0.0057, "alpha":0.0, "fx":[-0.00151,-0.00151,-0.00153,-0.00153], "fy":[0.08079,0.0808,0.0808,0.08079]}, + {"t":5.16029, "x":10.21008, "y":0.55118, "heading":0.00024, "vx":1.99921, "vy":0.03768, "omega":-0.00019, "ax":0.0, "ay":0.00015, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.00211,0.00211,0.00211,0.00211]}, + {"t":5.20655, "x":10.30257, "y":0.55292, "heading":0.00023, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "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":5.25282, "x":10.39506, "y":0.55467, "heading":0.00022, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.29908, "x":10.48755, "y":0.55641, "heading":0.00022, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.34534, "x":10.58005, "y":0.55815, "heading":0.00021, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.39161, "x":10.67254, "y":0.5599, "heading":0.0002, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.43787, "x":10.76503, "y":0.56164, "heading":0.00019, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.48414, "x":10.85752, "y":0.56338, "heading":0.00018, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.5304, "x":10.95002, "y":0.56513, "heading":0.00017, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.57667, "x":11.04251, "y":0.56687, "heading":0.00016, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.62293, "x":11.135, "y":0.56861, "heading":0.00015, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.66919, "x":11.22749, "y":0.57036, "heading":0.00015, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.71546, "x":11.31998, "y":0.5721, "heading":0.00014, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.76172, "x":11.41248, "y":0.57384, "heading":0.00013, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.80799, "x":11.50497, "y":0.57559, "heading":0.00012, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.85425, "x":11.59746, "y":0.57733, "heading":0.00011, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.90052, "x":11.68995, "y":0.57907, "heading":0.0001, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.94678, "x":11.78245, "y":0.58082, "heading":0.00009, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":5.99304, "x":11.87494, "y":0.58256, "heading":0.00008, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":6.03931, "x":11.96743, "y":0.58431, "heading":0.00008, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":6.08557, "x":12.05992, "y":0.58605, "heading":0.00007, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":6.13184, "x":12.15241, "y":0.58779, "heading":0.00006, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":6.1781, "x":12.24491, "y":0.58954, "heading":0.00005, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":6.22437, "x":12.3374, "y":0.59128, "heading":0.00004, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":6.27063, "x":12.42989, "y":0.59302, "heading":0.00003, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[-0.00004,-0.00004,0.00004,0.00004], "fy":[0.00004,-0.00004,-0.00004,0.00004]}, + {"t":6.31689, "x":12.52238, "y":0.59477, "heading":0.00002, "vx":1.99921, "vy":0.03769, "omega":-0.00019, "ax":-0.01087, "ay":-0.0002, "alpha":0.00123, "fx":[-0.15736,-0.15736,-0.15073,-0.15073], "fy":[0.00041,-0.00622,-0.00622,0.00041]}, + {"t":6.36316, "x":12.61486, "y":0.59651, "heading":0.00002, "vx":1.99871, "vy":0.03768, "omega":-0.00013, "ax":-10.76087, "ay":-0.20285, "alpha":0.00071, "fx":[-152.53284,-152.5327,-152.53265,-152.53279], "fy":[-2.87149,-2.87907,-2.87921,-2.87163]}, + {"t":6.40942, "x":12.69582, "y":0.59804, "heading":0.00001, "vx":1.50087, "vy":0.02829, "omega":-0.0001, "ax":-10.80592, "ay":-0.2037, "alpha":0.00063, "fx":[-153.17147,-153.17134,-153.17132,-153.17145], "fy":[-2.88393,-2.89072,-2.89085,-2.88406]}, + {"t":6.45569, "x":12.75369, "y":0.59913, "heading":0.0, "vx":1.00094, "vy":0.01887, "omega":-0.00007, "ax":-10.8155, "ay":-0.20388, "alpha":0.00069, "fx":[-153.30722,-153.30708,-153.30707,-153.30721], "fy":[-2.88616,-2.89359,-2.89373,-2.8863]}, + {"t":6.50195, "x":12.78842, "y":0.59978, "heading":0.0, "vx":0.50056, "vy":0.00944, "omega":-0.00004, "ax":-10.81967, "ay":-0.20396, "alpha":0.00078, "fx":[-153.36627,-153.36611,-153.3661,-153.36625], "fy":[-2.88681,-2.89516,-2.89531,-2.88697]}, + {"t":6.54822, "x":12.8, "y":0.6, "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/Rho.chor b/src/main/deploy/choreo/Rho.chor index c73b9c8..bfb1cea 100644 --- a/src/main/deploy/choreo/Rho.chor +++ b/src/main/deploy/choreo/Rho.chor @@ -7,16 +7,16 @@ "poses":{ "BLTransition":{ "x":{ - "exp":"4.55 m", - "val":4.55 + "exp":"4 m", + "val":4.0 }, "y":{ "exp":"7.5 m", "val":7.5 }, "heading":{ - "exp":"0 deg", - "val":0.0 + "exp":"180 deg", + "val":3.141592653589793 } }, "BRTransition":{ @@ -35,16 +35,16 @@ }, "RLTransition":{ "x":{ - "exp":"12.5 m", - "val":12.5 + "exp":"13 m", + "val":13.0 }, "y":{ "exp":"0.6 m", "val":0.6 }, "heading":{ - "exp":"180 deg", - "val":3.141592653589793 + "exp":"0 deg", + "val":0.0 } }, "RRTransition":{ diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 89e6db5..983e60d 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -101,8 +101,8 @@ public static final class CAN2 { public static final int kicker = 17; // Intake - public static final int intakeRollerLeader = 22; - public static final int intakeRollerFollower = 23; + public static final int intakeRollerLower = 22; + public static final int intakeRollerUpper = 23; } public static final class CANHD { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 54fd724..08319bf 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -265,7 +265,13 @@ public Robot() { intake.setDefaultCommand(intake.getDefaultCommand()); // hopper.setDefaultCommand(hopper.getDefaultCommand()); launcher.setDefaultCommand( - Commands.startEnd(launcher::stop, () -> {}, launcher).withName("Stop")); + launcher + .initializeHoodCommand() + .andThen( + new RunCommand( + () -> launcher.aim(GameState.getTarget(drive.getPose()).getTranslation()), + launcher) + .withName("Aim at hub"))); } /** This function is called periodically during all modes. */ @@ -329,14 +335,6 @@ public void disabledPeriodic() { @Override public void autonomousInit() { drive.setDefaultCommand(Commands.runOnce(drive::stop, drive).withName("Stop")); - launcher.setDefaultCommand( - launcher - .initializeHoodCommand() - .andThen( - new RunCommand( - () -> launcher.aim(GameState.getTarget(drive.getPose()).getTranslation()), - launcher) - .withName("Aim at hub"))); autoSelector.scheduleAuto(); leds.clear(); } @@ -351,8 +349,6 @@ public void autonomousPeriodic() { /** This function is called once when teleop mode is enabled. */ @Override public void teleopInit() { - launcher.setDefaultCommand( - Commands.startEnd(launcher::stop, () -> {}, launcher).withName("Stop")); autoSelector.cancelAuto(); ControllerSelector.getInstance().scan(true); leds.clear(); @@ -671,17 +667,17 @@ private Command createDesaturateAndShootCommand(DriverController driver) { driver::getYTranslationInput, // launcher::desaturateTurret, () -> { - if (launcher.turretDesaturated()) { + if (launcher.isTurretDesaturated()) { return driver.getRotationInput(); } else { - return launcher.desaturateTurret(); + return launcher.getTurretDesaturationDelta(); } }, driver::getFieldRelativeInput, allianceSelector::fieldRotated) .withName("Desaturate turret"), Commands.sequence( - Commands.waitUntil(launcher::turretDesaturated), + Commands.waitUntil(launcher::isTurretDesaturated), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withName("Advance"))); } } diff --git a/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java b/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java index 4df46e8..2da3add 100644 --- a/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java +++ b/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java @@ -3,6 +3,7 @@ import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.commands.DriveCommands; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.feeder.Feeder; import frc.robot.subsystems.intake.Intake; @@ -54,20 +55,20 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( blueLeftNeutralZone.resetOdometry(), - Commands.startEnd(launcher::desaturateTurret, () -> {}, launcher).withTimeout(0.5), + DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) + .withTimeout(1.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( - blueLeftNeutralZone.cmd(), - Commands.sequence( - Commands.waitSeconds(2), intake.getDeployCommand().withTimeout(8.0))))); + blueLeftNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); blueLeftNeutralZone .done() .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(launcher::desaturateTurret, () -> {}, launcher).withTimeout(0.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( blueLeftTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); @@ -76,7 +77,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java index d06bca6..123efdb 100644 --- a/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java @@ -60,8 +60,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(launcher::desaturateTurret, () -> {}, launcher).withTimeout(0.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( blueLeftTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); @@ -70,7 +70,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/auto/B_RightTrenchAuto.java b/src/main/java/frc/robot/auto/B_RightTrenchAuto.java index 817c9b4..16f0b84 100644 --- a/src/main/java/frc/robot/auto/B_RightTrenchAuto.java +++ b/src/main/java/frc/robot/auto/B_RightTrenchAuto.java @@ -3,6 +3,7 @@ import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.commands.DriveCommands; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.feeder.Feeder; import frc.robot.subsystems.intake.Intake; @@ -54,7 +55,10 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( blueRightNeutralZone.resetOdometry(), + DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) + .withTimeout(1.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( blueRightNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); @@ -64,6 +68,7 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( Commands.runOnce(drive::stop, drive), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( blueRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); @@ -72,7 +77,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java index 1a05333..d368a63 100644 --- a/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java @@ -60,6 +60,7 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( Commands.runOnce(drive::stop, drive), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( blueRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); @@ -68,7 +69,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java b/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java index 0f9e061..abb7896 100644 --- a/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java +++ b/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java @@ -3,6 +3,7 @@ import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.commands.DriveCommands; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.feeder.Feeder; import frc.robot.subsystems.intake.Intake; @@ -54,20 +55,20 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( redLeftNeutralZone.resetOdometry(), - Commands.startEnd(launcher::desaturateTurret, () -> {}, launcher).withTimeout(0.5), + DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) + .withTimeout(1.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( - redLeftNeutralZone.cmd(), - Commands.sequence( - Commands.waitSeconds(2.0), intake.getDeployCommand().withTimeout(8.0))))); + redLeftNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); redLeftNeutralZone .done() .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(launcher::desaturateTurret, () -> {}, launcher).withTimeout(0.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( redLeftTransitionToNZ.cmd(), Commands.sequence( @@ -78,7 +79,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java index 30c5cd3..2152d06 100644 --- a/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java @@ -59,8 +59,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(launcher::desaturateTurret, () -> {}, launcher).withTimeout(0.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( redLeftTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); @@ -69,7 +69,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_RightTrenchAuto.java b/src/main/java/frc/robot/auto/R_RightTrenchAuto.java index 9b71ba9..d0682cb 100644 --- a/src/main/java/frc/robot/auto/R_RightTrenchAuto.java +++ b/src/main/java/frc/robot/auto/R_RightTrenchAuto.java @@ -3,6 +3,7 @@ import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.commands.DriveCommands; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.feeder.Feeder; import frc.robot.subsystems.intake.Intake; @@ -54,7 +55,10 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( redRightNeutralZone.resetOdometry(), + DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) + .withTimeout(1.5), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( redRightNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); @@ -64,6 +68,7 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( Commands.runOnce(drive::stop, drive), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( redRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); @@ -72,7 +77,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java index b6acdb9..e8d9ca3 100644 --- a/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java @@ -61,6 +61,7 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( Commands.runOnce(drive::stop, drive), Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder), Commands.parallel( redRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); @@ -69,7 +70,8 @@ public AutoRoutine getAutoRoutine() { .onTrue( Commands.sequence( Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0))); + Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), + Commands.runOnce(feeder::stop, feeder))); return routine; } diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index 91920fe..729196b 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -65,6 +65,12 @@ private static Translation2d getLinearVelocityFromJoysticks(double x, double y) .getTranslation(); } + public static final Command getChassisAimingCommand( + Drive drive, DoubleSupplier desaturationSupplier) { + return DriveCommands.joystickDrive( + drive, () -> 0, () -> 0, desaturationSupplier, () -> true, () -> false); + } + /** * Field relative drive command using two joysticks (controlling linear and angular velocities). */ diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 4ab0f99..af95c17 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -250,7 +250,7 @@ public void runVelocity(ChassisSpeeds speeds) { Logger.recordOutput("SwerveStates/Setpoints", states); // 2: Desaturate (apply wheel limits FIRST) - SwerveDriveKinematics.desaturateWheelSpeeds(states, maxDriveSpeed.in(MetersPerSecond)); + SwerveDriveKinematics.desaturateWheelSpeeds(states, drivetrainSpeedLimit.in(MetersPerSecond)); // 3: Reconstruct the ACTUAL chassis speeds after limiting ChassisSpeeds limitedSpeeds = kinematics.toChassisSpeeds(states); @@ -263,7 +263,8 @@ public void runVelocity(ChassisSpeeds speeds) { // (Optional but usually unnecessary) // desaturate again for safety - SwerveDriveKinematics.desaturateWheelSpeeds(finalStates, maxDriveSpeed.in(MetersPerSecond)); + SwerveDriveKinematics.desaturateWheelSpeeds( + finalStates, drivetrainSpeedLimit.in(MetersPerSecond)); // 6: Send to modules for (int i = 0; i < 4; i++) { diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java index 57745b1..1caed35 100644 --- a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java +++ b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java @@ -52,6 +52,8 @@ public class DriveConstants { + public static final String zeroRotationKey = "ZeroRotation"; + // Robot physical dimensions public static final Distance wheelBase = Inches.of(22.5); public static final Distance trackWidth = Inches.of(19.5); @@ -65,9 +67,25 @@ public class DriveConstants { public static final Distance driveBaseRadius = Meters.of(Translation2d.kZero.getDistance(moduleTranslations[0])); + // Drive motor configuration + public static final Distance wheelRadius = Inches.of(2); + public static final double wheelRadiusMeters = wheelRadius.in(Meters); + public static final double driveMotorReduction = + (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); // SDS MK4 L2 + public static final DCMotor driveGearbox = DCMotor.getKrakenX60(1); + public static final LinearVelocity drivetrainSpeedLimit = + MetersPerSecond.of( + 0.9 + * (wheelRadius.in(Meters) * 2.0 * Math.PI) + * KrakenX60Constants.kFreeSpeed.in(RotationsPerSecond) + / driveMotorReduction); + // Chassis movement limits - public static final LinearVelocity maxChassisVelocity = MetersPerSecond.of(3.0); - public static final LinearAcceleration maxChassisAcceleration = MetersPerSecondPerSecond.of(2.5); + private static final LinearVelocity driverSpeedLimit = MetersPerSecond.of(5); + public static final LinearVelocity maxChassisVelocity = + MetersPerSecond.of( + Math.min(drivetrainSpeedLimit.in(MetersPerSecond), driverSpeedLimit.in(MetersPerSecond))); + public static final LinearAcceleration maxChassisAcceleration = MetersPerSecondPerSecond.of(3.0); public static final AngularVelocity maxChassisAngularVelocity = RadiansPerSecond.of(maxChassisVelocity.in(MetersPerSecond) / driveBaseRadius.in(Meters)); @@ -81,21 +99,6 @@ public class DriveConstants { maxChassisAngularVelocity.in(RadiansPerSecond), maxChassisAngularAcceleration.in(RadiansPerSecondPerSecond)); - public static final String zeroRotationKey = "ZeroRotation"; - - // Drive motor configuration - public static final Distance wheelRadius = Inches.of(2); - public static final double wheelRadiusMeters = wheelRadius.in(Meters); - public static final double driveMotorReduction = - (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); // SDS MK4 L2 - public static final DCMotor driveGearbox = DCMotor.getKrakenX60(1); - public static final LinearVelocity maxDriveSpeed = - MetersPerSecond.of( - 0.9 - * (wheelRadius.in(Meters) * 2.0 * Math.PI) - * KrakenX60Constants.kFreeSpeed.in(RotationsPerSecond) - / driveMotorReduction); - // Turn motor configuration public static final boolean turnInverted = false; public static final double turnMotorReduction = (32.0 / 15.0) * (60.0 / 10.0); // SDS MK4 @@ -116,7 +119,7 @@ public class DriveConstants { robotMOI.in(KilogramSquareMeters), new ModuleConfig( wheelRadius.in(Meters), - maxDriveSpeed.in(MetersPerSecond), + drivetrainSpeedLimit.in(MetersPerSecond), wheelCOF, driveGearbox.withReduction(driveMotorReduction), KrakenX60Constants.kDefaultSupplyCurrentLimit, @@ -202,7 +205,7 @@ public class DriveConstants { .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) .withSlipCurrent(kSlipCurrent) - .withSpeedAt12Volts(maxDriveSpeed) + .withSpeedAt12Volts(drivetrainSpeedLimit) .withDriveMotorType(kDriveMotorType) .withSteerMotorType(kSteerMotorType) .withFeedbackSource(kSteerFeedbackType) diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index f315879..5748940 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -85,7 +85,7 @@ public Command getDeployCommand() { Commands.runOnce(this::deployArm, this), this.idle().withTimeout(0.5), Commands.startEnd( - () -> intakeRollerIO.setVelocity(MetersPerSecond.of(5.0)), () -> {}, this)) + () -> intakeRollerIO.setVelocity(MetersPerSecond.of(6.0)), () -> {}, this)) .withName("Intake"); } @@ -94,7 +94,7 @@ public Command getReverseCommand() { Commands.runOnce(this::deployArm, this), this.idle().withTimeout(0.5), Commands.startEnd( - () -> intakeRollerIO.setVelocity(MetersPerSecond.of(-4)), () -> {}, this)) + () -> intakeRollerIO.setVelocity(MetersPerSecond.of(-4.0)), () -> {}, this)) .withName("Reverse"); } } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index 6e57de5..392fbf0 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -26,6 +26,6 @@ public class IntakeRoller { public static final double maxJerk = 40000.0; // simulation - public static final DCMotor gearbox = DCMotor.getKrakenX60(1); + public static final DCMotor gearbox = DCMotor.getKrakenX60(2); } } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeRollerIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeRollerIO.java index 87f9f25..24c003f 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeRollerIO.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeRollerIO.java @@ -8,9 +8,12 @@ public interface IntakeRollerIO { @AutoLog public static class IntakeRollerIOInputs { public boolean connected = false; - public double velocityMetersPerSec = 0.0; - public double appliedVolts = 0.0; - public double currentAmps = 0.0; + public double lowerVelocityMetersPerSec = 0.0; + public double lowerAppliedVolts = 0.0; + public double lowerCurrentAmps = 0.0; + public double upperVelocityMetersPerSec = 0.0; + public double upperAppliedVolts = 0.0; + public double upperCurrentAmps = 0.0; } public default void updateInputs(IntakeRollerIOInputs inputs) {} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOSimTalonFX.java b/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOSimTalonFX.java index 283c8b7..9a74312 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOSimTalonFX.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOSimTalonFX.java @@ -7,10 +7,12 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.MotorAlignmentValue; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.sim.ChassisReference; import com.ctre.phoenix6.sim.TalonFXSimState.MotorType; @@ -30,7 +32,7 @@ public class IntakeRollerIOSimTalonFX implements IntakeRollerIO { private final DCMotorSim intakeRollerSim; private final TalonFX intakeMotorLeader; - // private final TalonFX intakeMotorFollower; + private final TalonFX intakeMotorFollower; private final TalonFXConfiguration config; private final Debouncer connectedDebounce = new Debouncer(0.5, Debouncer.DebounceType.kFalling); @@ -45,14 +47,14 @@ public class IntakeRollerIOSimTalonFX implements IntakeRollerIO { private final StatusSignal intakeCurrent; public IntakeRollerIOSimTalonFX() { - intakeMotorLeader = new TalonFX(CAN2.intakeRollerLeader, CAN2.bus); - // intakeMotorFollower = new TalonFX(CAN2.intakeRollerFollower, CAN2.bus); + intakeMotorLeader = new TalonFX(CAN2.intakeRollerLower, CAN2.bus); + intakeMotorFollower = new TalonFX(CAN2.intakeRollerUpper, CAN2.bus); config = new TalonFXConfiguration(); config.MotorOutput.withInverted(InvertedValue.CounterClockwise_Positive) .withNeutralMode(NeutralModeValue.Brake); config.Slot0 = velocityVoltageGains; tryUntilOk(5, () -> intakeMotorLeader.getConfigurator().apply(config, 0.25)); - // tryUntilOk(5, () -> intakeMotorFollower.getConfigurator().apply(config, 0.25)); + tryUntilOk(5, () -> intakeMotorFollower.getConfigurator().apply(config, 0.25)); var intakeMotorSim = intakeMotorLeader.getSimState(); intakeMotorSim.Orientation = ChassisReference.Clockwise_Positive; @@ -69,8 +71,8 @@ public IntakeRollerIOSimTalonFX() { BaseStatusSignal.setUpdateFrequencyForAll( 50.0, intakeVelocity, intakeAppliedVolts, intakeCurrent); - // intakeMotorFollower.setControl( - // new Follower(CAN2.intakeRollerLeader, MotorAlignmentValue.Opposed)); + intakeMotorFollower.setControl( + new Follower(CAN2.intakeRollerLower, MotorAlignmentValue.Opposed)); } @Override @@ -88,9 +90,9 @@ public void updateInputs(IntakeRollerIOInputs inputs) { intakeRollerSim.getAngularPositionRotations() * motorReduction); intakeMotorSim.setRotorVelocity(intakeRollerSim.getAngularVelocity().times(motorReduction)); - inputs.appliedVolts = intakeAppliedVolts.getValueAsDouble(); - inputs.currentAmps = intakeCurrent.getValueAsDouble(); - inputs.velocityMetersPerSec = + inputs.lowerAppliedVolts = intakeAppliedVolts.getValueAsDouble(); + inputs.lowerCurrentAmps = intakeCurrent.getValueAsDouble(); + inputs.lowerVelocityMetersPerSec = intakeVelocity.getValue().in(RadiansPerSecond) * rollerRadius.in(Meters) / motorReduction; } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOTalonFX.java b/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOTalonFX.java index e9d126f..8d94d34 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeRollerIOTalonFX.java @@ -11,6 +11,7 @@ import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.math.filter.Debouncer; import edu.wpi.first.math.trajectory.TrapezoidProfile; @@ -22,8 +23,8 @@ import frc.robot.Constants.CANBusPorts.CAN2; public class IntakeRollerIOTalonFX implements IntakeRollerIO { - private final TalonFX intakeMotorLeader; - // private final TalonFX intakeMotorFollower; + private final TalonFX intakeMotorLower; + private final TalonFX intakeMotorUpper; private final TalonFXConfiguration config; private final Debouncer connectedDebounce = new Debouncer(0.5, Debouncer.DebounceType.kFalling); @@ -38,66 +39,91 @@ public class IntakeRollerIOTalonFX implements IntakeRollerIO { new TrapezoidProfile(new TrapezoidProfile.Constraints(maxAcceleration, maxJerk)); // Inputs from intake motor - private final StatusSignal intakeVelocity; - private final StatusSignal intakeAcceleration; - private final StatusSignal intakeAppliedVolts /*, followerAppliedVolts*/; - private final StatusSignal intakeCurrent /*, followerCurrent*/; + private final StatusSignal lowerVelocity, upperVelocity; + private final StatusSignal lowerAcceleration, upperAcceleration; + private final StatusSignal lowerAppliedVolts, upperAppliedVolts; + private final StatusSignal lowerCurrent, upperCurrent; + private final StatusSignal lowerDutyCycle, upperDutyCycle; + private final StatusSignal lowerTorqueCurrent, upperTorqueCurrent; public IntakeRollerIOTalonFX() { - intakeMotorLeader = new TalonFX(CAN2.intakeRollerLeader, CAN2.bus); - // intakeMotorFollower = new TalonFX(CAN2.intakeRollerFollower, CAN2.bus); + intakeMotorLower = new TalonFX(CAN2.intakeRollerLower, CAN2.bus); + intakeMotorUpper = new TalonFX(CAN2.intakeRollerUpper, CAN2.bus); config = new TalonFXConfiguration(); + config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; config.MotorOutput.withNeutralMode(NeutralModeValue.Brake); config.Slot0 = velocityVoltageGains; config.Slot1 = velocityTorqueCurrentGains; - tryUntilOk(5, () -> intakeMotorLeader.getConfigurator().apply(config, 0.25)); // -1 tryUntilOkay - - intakeVelocity = intakeMotorLeader.getVelocity(); - intakeAcceleration = intakeMotorLeader.getAcceleration(); - intakeAppliedVolts = intakeMotorLeader.getMotorVoltage(); - intakeCurrent = intakeMotorLeader.getSupplyCurrent(); - - // followerAppliedVolts = intakeMotorFollower.getMotorVoltage(); - // followerCurrent = intakeMotorFollower.getSupplyCurrent(); + tryUntilOk(5, () -> intakeMotorLower.getConfigurator().apply(config, 0.25)); // -1 tryUntilOkay + tryUntilOk(5, () -> intakeMotorUpper.getConfigurator().apply(config, 0.25)); // -1 tryUntilOkay + + lowerVelocity = intakeMotorLower.getVelocity(); + lowerAcceleration = intakeMotorLower.getAcceleration(); + lowerAppliedVolts = intakeMotorLower.getMotorVoltage(); + lowerCurrent = intakeMotorLower.getSupplyCurrent(); + lowerDutyCycle = intakeMotorLower.getDutyCycle(); + lowerTorqueCurrent = intakeMotorLower.getTorqueCurrent(); + + upperVelocity = intakeMotorUpper.getVelocity(); + upperAcceleration = intakeMotorUpper.getAcceleration(); + upperAppliedVolts = intakeMotorUpper.getMotorVoltage(); + upperCurrent = intakeMotorUpper.getSupplyCurrent(); + upperDutyCycle = intakeMotorUpper.getDutyCycle(); + upperTorqueCurrent = intakeMotorUpper.getTorqueCurrent(); BaseStatusSignal.setUpdateFrequencyForAll( - 50.0, intakeVelocity, intakeAcceleration, intakeAppliedVolts, intakeCurrent); - // followerAppliedVolts, - // followerCurrent); - - // intakeMotorFollower.setControl( - // new Follower(CAN2.intakeRollerLeader, MotorAlignmentValue.Opposed)); + 50.0, + lowerVelocity, + lowerAcceleration, + lowerAppliedVolts, + lowerCurrent, + lowerDutyCycle, + lowerTorqueCurrent, + upperAcceleration, + upperVelocity, + upperAppliedVolts, + upperCurrent, + upperDutyCycle, + upperTorqueCurrent); } @Override public void updateInputs(IntakeRollerIOInputs inputs) { - // No explicit refresh - Phoenix 6 auto-updates signals at configured frequency (50Hz) - // This avoids blocking CAN calls in the main loop inputs.connected = connectedDebounce.calculate( BaseStatusSignal.refreshAll( - intakeVelocity, intakeAcceleration, intakeAppliedVolts, intakeCurrent) - // followerAppliedVolts, - // followerCurrent) + lowerVelocity, + lowerAcceleration, + lowerAppliedVolts, + lowerCurrent, + lowerDutyCycle, + lowerTorqueCurrent, + upperAcceleration, + upperVelocity, + upperAppliedVolts, + upperCurrent, + upperDutyCycle, + upperTorqueCurrent) .isOK()); - inputs.appliedVolts = intakeAppliedVolts.getValueAsDouble(); - inputs.currentAmps = intakeCurrent.getValueAsDouble(); - inputs.velocityMetersPerSec = - intakeVelocity.getValue().in(RadiansPerSecond) * rollerRadius.in(Meters) / motorReduction; - - // Follower data goes into inputs struct to be logged via processInputs() - // instead of recordOutput() which can block for 10-30ms - // inputs.followerAppliedVolts = followerAppliedVolts.getValueAsDouble(); - // inputs.followerCurrentAmps = followerCurrent.getValueAsDouble(); + inputs.lowerAppliedVolts = lowerAppliedVolts.getValueAsDouble(); + inputs.lowerCurrentAmps = lowerCurrent.getValueAsDouble(); + inputs.lowerVelocityMetersPerSec = + lowerVelocity.getValue().in(RadiansPerSecond) * rollerRadius.in(Meters) / motorReduction; + inputs.upperAppliedVolts = upperAppliedVolts.getValueAsDouble(); + inputs.upperCurrentAmps = upperCurrent.getValueAsDouble(); + inputs.upperVelocityMetersPerSec = + upperVelocity.getValue().in(RadiansPerSecond) * rollerRadius.in(Meters) / motorReduction; } @Override public void setOpenLoop(Voltage volts) { if (volts.in(Volts) < 1e-6) { - intakeMotorLeader.setControl(brake); + intakeMotorLower.setControl(brake); + intakeMotorUpper.setControl(brake); } else { - intakeMotorLeader.setControl(voltageRequest.withOutput(volts)); + intakeMotorLower.setControl(voltageRequest.withOutput(volts)); + intakeMotorUpper.setControl(voltageRequest.withOutput(volts)); } } @@ -117,6 +143,7 @@ public void setVelocity(LinearVelocity tangentialVelocity) { // velocityTorqueCurrentRequest.Velocity = setpoint.position; // velocityTorqueCurrentRequest.Acceleration = setpoint.velocity; - intakeMotorLeader.setControl(velocityTorqueCurrentRequest.withVelocity(angularVelocity)); + intakeMotorLower.setControl(velocityTorqueCurrentRequest.withVelocity(angularVelocity)); + intakeMotorUpper.setControl(velocityTorqueCurrentRequest.withVelocity(angularVelocity)); } } diff --git a/src/main/java/frc/robot/subsystems/launcher/Launcher.java b/src/main/java/frc/robot/subsystems/launcher/Launcher.java index b339d7a..3408fc0 100644 --- a/src/main/java/frc/robot/subsystems/launcher/Launcher.java +++ b/src/main/java/frc/robot/subsystems/launcher/Launcher.java @@ -2,7 +2,6 @@ import static edu.wpi.first.units.Units.*; import static frc.robot.subsystems.launcher.LauncherConstants.*; -import static frc.robot.subsystems.launcher.LauncherConstants.FlywheelConstants.*; import static frc.robot.subsystems.launcher.LauncherConstants.HoodConstants.ballToHoodOffset; import static frc.robot.subsystems.launcher.LauncherConstants.TurretConstants.*; @@ -11,7 +10,6 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.util.Units; @@ -23,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.Robot; +import frc.robot.subsystems.launcher.LauncherConstants.FlywheelConstants.FlywheelScaling; import java.util.ArrayList; import java.util.function.Supplier; import org.littletonrobotics.junction.AutoLogOutput; @@ -294,11 +293,11 @@ public Rotation2d getHorizontalAimAngle() { return horizontalAimAngle; } - public double desaturateTurret() { + public double getTurretDesaturationDelta() { return headingController.calculate(-turretInputs.oversaturationLessMargin, 0); } - public boolean turretDesaturated() { + public boolean isTurretDesaturated() { // return headingController.atSetpoint(); return Math.abs(turretInputs.oversaturation) < Units.degreesToRadians(8); } @@ -358,12 +357,16 @@ private Translation3d getV0Nominal(Translation3d d, Rotation2d impactAngle, Stri double dz = d.getZ(); double denominator = 2 * (dz + dr * impactAngle.getTan()); - if (denominator <= 0) { + if (denominator < 1e-6) { Logger.recordOutput("Launcher/" + key + "/Reachable", false); // log(d, v0, key); return v0nominalLast; } double v_0r = dr * Math.sqrt(g / denominator); + if (v_0r < 1e-6) { + Logger.recordOutput("Launcher/" + key + "/Reachable", false); + return v0nominalLast; + } double v_0z = (g * dr) / v_0r - v_0r * impactAngle.getTan(); double v_0x = v_0r * d.toTranslation2d().getAngle().getCos(); @@ -393,7 +396,7 @@ private Translation3d getV0Replanned(Translation3d d, double v_flywheel, String double v_sq = v_flywheel * v_flywheel; double discriminant = v_sq * v_sq - g * (g * dr * dr + 2 * dz * v_sq); - if (discriminant < 0) { + if (discriminant < 1e-6) { // Unreachable target at this speed Logger.recordOutput("Launcher/" + key + "/Reachable", false); // log(d, v0, key); @@ -454,9 +457,9 @@ private void log(Translation3d d, Translation3d v, String key) { Logger.recordOutput("Launcher/" + key + "/HorizontalLaunchAngleDegrees", 0.0); Logger.recordOutput("Launcher/" + key + "/TravelTime", 0.0); } else { - Logger.recordOutput( - "Launcher/" + key + "/VerticalLaunchAngleDegrees", - new Translation2d(v_r, v_z).getAngle().getDegrees()); + // Logger.recordOutput( + // "Launcher/" + key + "/VerticalLaunchAngleDegrees", + // new Translation2d(v_r, v_z).getAngle().getDegrees()); Logger.recordOutput( "Launcher/" + key + "/HorizontalLaunchAngleDegrees", v.toTranslation2d().getAngle().getDegrees()); diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java index 26c2b7b..5c74da3 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java @@ -81,7 +81,7 @@ public class VisionConstants { public static final double fieldXLenMeters = frc.game.Field.field_x_len.in(Meters); public static final double fieldYLenMeters = frc.game.Field.field_y_len.in(Meters); public static Distance maxTravelDistance = - DriveConstants.maxDriveSpeed.times(Seconds.of(Robot.defaultPeriodSecs)); + DriveConstants.drivetrainSpeedLimit.times(Seconds.of(Robot.defaultPeriodSecs)); // Standard deviation baselines public static double linearStdDevBaseline = 0.02; // Meters