From 104e61eb69bdd67610ba11d22a3ec78e5811aef9 Mon Sep 17 00:00:00 2001 From: Isaac Hoekstra <122327870+PotatoBoyH4@users.noreply.github.com> Date: Wed, 9 Apr 2025 21:00:15 -0400 Subject: [PATCH 1/5] created algae stealing autons they need testing --- src/main/deploy/choreo/2025-project.chor | 14 ++ src/main/deploy/choreo/OppBargeToOppG.traj | 74 +++++++++ src/main/deploy/choreo/OppEToOppbarge.traj | 116 ++++++++++++++ src/main/deploy/choreo/OppGToOppBarge.traj | 88 ++++++++++ src/main/deploy/choreo/StartToOppE.traj | 151 ++++++++++++++++++ src/main/deploy/choreo/bargeToOppE.traj | 137 ++++++++++++++++ .../commands/auton/StealAlgaeImmediately.java | 101 ++++++++++++ .../auton/StealOneAlgeaAutonCommand.java | 135 ++++++++++++++++ .../commands/auton/WaitForElevBelowBarge.java | 21 +++ .../robot/constants/ElevatorConstants.java | 1 + 10 files changed, 838 insertions(+) create mode 100644 src/main/deploy/choreo/OppBargeToOppG.traj create mode 100644 src/main/deploy/choreo/OppEToOppbarge.traj create mode 100644 src/main/deploy/choreo/OppGToOppBarge.traj create mode 100644 src/main/deploy/choreo/StartToOppE.traj create mode 100644 src/main/deploy/choreo/bargeToOppE.traj create mode 100644 src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java create mode 100644 src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java create mode 100644 src/main/java/frc/robot/commands/auton/WaitForElevBelowBarge.java diff --git a/src/main/deploy/choreo/2025-project.chor b/src/main/deploy/choreo/2025-project.chor index d79a4eaa..f4070d7e 100644 --- a/src/main/deploy/choreo/2025-project.chor +++ b/src/main/deploy/choreo/2025-project.chor @@ -4,6 +4,20 @@ "type":"Swerve", "variables":{ "expressions":{ + "FieldMaxX":{ + "dimension":"Length", + "var":{ + "exp":"17.526 m", + "val":17.526 + } + }, + "FieldMaxY":{ + "dimension":"Length", + "var":{ + "exp":"8.0518 m", + "val":8.0518 + } + }, "endEffectorOffset":{ "dimension":"Number", "var":{ diff --git a/src/main/deploy/choreo/OppBargeToOppG.traj b/src/main/deploy/choreo/OppBargeToOppG.traj new file mode 100644 index 00000000..8a94cae4 --- /dev/null +++ b/src/main/deploy/choreo/OppBargeToOppG.traj @@ -0,0 +1,74 @@ +{ + "name":"OppBargeToOppG", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":9.94136617279053, "y":5.08871412277, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.058967590332031, "y":4.449285507202148, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"FieldMaxX - barge.x", "val":9.94136617279053}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"11.058967590332031 m", "val":11.058967590332031}, "y":{"exp":"4.449285507202148 m", "val":4.449285507202148}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.75251,1.0839], + "samples":[ + {"t":0.0, "x":9.94137, "y":5.08871, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.61094, "ay":-1.50121, "alpha":53.99127, "fx":[148.12097,188.95774,-113.43855,-49.54783], "fy":[-133.1435,62.75589,163.0945,-192.80439]}, + {"t":0.02787, "x":9.94238, "y":5.08813, "heading":3.14159, "vx":0.07277, "vy":-0.04184, "omega":1.50479, "ax":2.65063, "ay":-1.55075, "alpha":53.80108, "fx":[147.77752,189.65634,-113.30499,-47.38976], "fy":[-133.44684,60.38624,162.92808,-193.26834]}, + {"t":0.05574, "x":9.94544, "y":5.08636, "heading":-3.09965, "vx":0.14664, "vy":-0.08506, "omega":3.00427, "ax":2.60327, "ay":-1.68731, "alpha":53.59652, "fx":[150.70062,188.95984,-128.53294,-37.54633], "fy":[-130.00656,62.14291,150.66072,-195.30358]}, + {"t":0.08361, "x":9.95054, "y":5.08334, "heading":-3.01592, "vx":0.2192, "vy":-0.13209, "omega":4.49806, "ax":2.45789, "ay":-2.12476, "alpha":53.01056, "fx":[156.01376,187.64916,-160.58265,-19.19312], "fy":[-123.31429,65.2156,114.16835,-197.74462]}, + {"t":0.11148, "x":9.9576, "y":5.07883, "heading":-2.89056, "vx":0.2877, "vy":-0.19131, "omega":5.97551, "ax":2.55594, "ay":-4.20833, "alpha":47.92689, "fx":[160.77518,189.95872,-191.794,11.48534], "fy":[-116.25894,55.34955,-21.89013,-197.80363]}, + {"t":0.13935, "x":9.96661, "y":5.07186, "heading":-2.72401, "vx":0.35894, "vy":-0.3086, "omega":7.31128, "ax":6.26116, "ay":-9.68983, "alpha":-4.63069, "fx":[86.92039,85.74875,118.46756,126.34568], "fy":[-172.07089,-174.12962,-153.93205,-145.9664]}, + {"t":0.16723, "x":9.97905, "y":5.0595, "heading":-2.52024, "vx":0.53344, "vy":-0.57866, "omega":7.18221, "ax":9.15356, "ay":-5.35183, "alpha":-15.36605, "fx":[122.19471,119.03834,178.88369,190.22521], "fy":[-136.94732,-151.29224,-73.85155,5.24158]}, + {"t":0.1951, "x":9.99747, "y":5.04129, "heading":-2.32007, "vx":0.78856, "vy":-0.72782, "omega":6.75395, "ax":10.38174, "ay":1.76893, "alpha":-14.20576, "fx":[169.24251,177.33773,190.64121,155.01316], "fy":[51.05219,-65.02189,22.28053,109.63775]}, + {"t":0.22297, "x":10.02348, "y":5.02169, "heading":-2.13183, "vx":1.07791, "vy":-0.67852, "omega":6.35802, "ax":8.92989, "ay":4.94555, "alpha":-11.78247, "fx":[129.09025,177.32788,168.20951,120.80033], "fy":[105.15409,14.11067,75.0454,135.44985]}, + {"t":0.25084, "x":10.05699, "y":5.0047, "heading":-1.95462, "vx":1.3268, "vy":-0.54068, "omega":6.02963, "ax":3.85571, "ay":7.46177, "alpha":-3.48243, "fx":[51.30938,75.37022,75.93646,54.47525], "fy":[125.8304,114.25763,123.64124,133.80712]}, + {"t":0.27871, "x":10.09547, "y":4.99253, "heading":-1.78657, "vx":1.43426, "vy":-0.33272, "omega":5.93257, "ax":-4.64186, "ay":-3.63459, "alpha":-5.08623, "fx":[-88.768,-65.36445,-65.33105,-90.047], "fy":[-67.0891,-78.41419,-54.02221,-42.82193]}, + {"t":0.30658, "x":10.13364, "y":4.98185, "heading":-1.62123, "vx":1.30489, "vy":-0.43402, "omega":5.79082, "ax":-3.34585, "ay":-8.84427, "alpha":-9.8784, "fx":[-79.33639,-18.04277,-21.8856,-103.83026], "fy":[-151.60509,-167.58668,-149.3062,-121.22091]}, + {"t":0.33445, "x":10.16871, "y":4.96632, "heading":-1.45983, "vx":1.21163, "vy":-0.68051, "omega":5.5155, "ax":-1.42762, "ay":-9.85724, "alpha":-10.02945, "fx":[-48.72629,17.36959,14.7234,-78.55749], "fy":[-171.03725,-175.36441,-161.9424,-148.91749]}, + {"t":0.36232, "x":10.20192, "y":4.94352, "heading":-1.30611, "vx":1.17184, "vy":-0.95524, "omega":5.23597, "ax":0.72636, "ay":-9.96521, "alpha":-10.57958, "fx":[-14.38337,54.28924,55.09303,-46.56638], "fy":[-178.22423,-169.11308,-154.81887,-162.30492]}, + {"t":0.39019, "x":10.23486, "y":4.91303, "heading":-1.16018, "vx":1.19209, "vy":-1.23298, "omega":4.9411, "ax":3.34721, "ay":-9.14307, "alpha":-12.19662, "fx":[26.26416,97.18308,105.72199,-5.98361], "fy":[-175.28264,-147.72027,-122.82119,-163.81838]}, + {"t":0.41806, "x":10.26939, "y":4.87511, "heading":-1.02246, "vx":1.28538, "vy":-1.48781, "omega":4.60117, "ax":6.59054, "ay":-6.52772, "alpha":-14.50155, "fx":[79.88166,144.90446,155.67848,58.97988], "fy":[-154.16338,-99.3264,-43.46373,-138.30244]}, + {"t":0.44593, "x":10.30777, "y":4.83111, "heading":-0.89423, "vx":1.46906, "vy":-1.66974, "omega":4.197, "ax":9.31248, "ay":-0.53008, "alpha":-13.67365, "fx":[146.13508,176.50914,157.54984,140.74412], "fy":[-85.85301,-13.39119,65.31448,-1.41494]}, + {"t":0.47381, "x":10.35233, "y":4.78437, "heading":-0.77725, "vx":1.72861, "vy":-1.68452, "omega":3.8159, "ax":8.86762, "ay":4.24778, "alpha":-9.30544, "fx":[165.06042,165.37541,132.92781,127.91219], "fy":[20.04396,58.51814,110.80221,93.8695]}, + {"t":0.50168, "x":10.40396, "y":4.73907, "heading":-0.6709, "vx":1.97576, "vy":-1.56613, "omega":3.55655, "ax":6.68509, "ay":6.22624, "alpha":-4.53593, "fx":[122.99198,124.42133,101.66077,96.67454], "fy":[85.5285,97.66393,119.88455,112.07692]}, + {"t":0.52955, "x":10.46162, "y":4.69784, "heading":-0.57177, "vx":2.16208, "vy":-1.3926, "omega":3.43013, "ax":3.21263, "ay":8.10666, "alpha":3.17637, "fx":[47.00976,38.99554,61.27122,66.93519], "fy":[142.34394,137.77945,127.53817,132.87486]}, + {"t":0.55742, "x":10.52313, "y":4.66217, "heading":-0.47617, "vx":2.25162, "vy":-1.16666, "omega":3.51866, "ax":1.30787, "ay":8.42556, "alpha":5.40628, "fx":[11.98394,-5.0391,34.5956,45.66584], "fy":[150.39321,140.27725,130.31038,140.81952]}, + {"t":0.58529, "x":10.58639, "y":4.63293, "heading":-0.37811, "vx":2.28807, "vy":-0.93183, "omega":3.66934, "ax":3.38156, "ay":-0.17417, "alpha":-13.48191, "fx":[74.3675,94.35322,41.57533,15.17992], "fy":[-46.00133,15.08991,45.24606,-25.94822]}, + {"t":0.61316, "x":10.65147, "y":4.60689, "heading":-0.27584, "vx":2.38232, "vy":-0.93668, "omega":3.29359, "ax":5.71774, "ay":-5.05174, "alpha":-23.48039, "fx":[108.71717,165.87284,103.27227,3.3855], "fy":[-137.1614,-36.66339,-1.76877,-161.24701]}, + {"t":0.64103, "x":10.72009, "y":4.57882, "heading":-0.18404, "vx":2.54167, "vy":-1.07748, "omega":2.63917, "ax":8.08492, "ay":-3.48037, "alpha":-24.26362, "fx":[145.98753,184.91948,151.09595,57.08402], "fy":[-115.86327,-2.63213,52.81751,-166.38633]}, + {"t":0.6689, "x":10.79407, "y":4.54744, "heading":-0.11049, "vx":2.76701, "vy":-1.17448, "omega":1.96292, "ax":9.41703, "ay":-1.18925, "alpha":-23.45474, "fx":[173.49174,187.68419,148.95512,117.77829], "fy":[-80.36039,36.18977,103.79767,-138.92392]}, + {"t":0.69677, "x":10.87485, "y":4.51424, "heading":-0.05578, "vx":3.02947, "vy":-1.20763, "omega":1.30921, "ax":9.86401, "ay":1.0594, "alpha":-22.14258, "fx":[188.41497,181.38402,127.27045,160.64357], "fy":[-46.11667,69.83636,141.04876,-94.12987]}, + {"t":0.72464, "x":10.96311, "y":4.481, "heading":-0.01929, "vx":3.30439, "vy":-1.1781, "omega":0.69208, "ax":9.67926, "ay":2.88721, "alpha":-21.51119, "fx":[194.65203,171.07973,97.89081,181.77173], "fy":[-20.27379,96.04383,167.40014,-50.65666]}, + {"t":0.75251, "x":11.05897, "y":4.44929, "heading":0.0, "vx":3.57416, "vy":-1.09763, "omega":0.09254, "ax":-3.22369, "ay":11.1403, "alpha":-2.46144, "fx":[-45.46007,-40.50516,-61.01133,-67.97306], "fy":[187.81413,189.63915,184.23501,181.12519]}, + {"t":0.78565, "x":11.17564, "y":4.41903, "heading":0.00307, "vx":3.46733, "vy":-0.72846, "omega":0.01097, "ax":-10.83558, "ay":4.78148, "alpha":-0.59985, "fx":[-181.20764,-179.0432,-180.09095,-182.15407], "fy":[78.32756,83.21274,81.04346,76.23646]}, + {"t":0.81879, "x":11.28459, "y":4.39751, "heading":0.00343, "vx":3.10826, "vy":-0.57001, "omega":-0.00891, "ax":-11.45894, "ay":3.19718, "alpha":-0.21366, "fx":[-191.20303,-190.66542,-190.83226,-191.35958], "fy":[52.60138,54.52904,53.98143,52.06992]}, + {"t":0.85193, "x":11.3813, "y":4.38038, "heading":0.00314, "vx":2.72853, "vy":-0.46406, "omega":-0.01599, "ax":-11.63508, "ay":2.57599, "alpha":-0.06603, "fx":[-194.00244,-193.86736,-193.9004,-194.03464], "fy":[42.70308,43.31456,43.17702,42.56726]}, + {"t":0.88507, "x":11.46533, "y":4.36642, "heading":0.00261, "vx":2.34296, "vy":-0.3787, "omega":-0.01817, "ax":-11.7136, "ay":2.24814, "alpha":0.01114, "fx":[-195.25225,-195.2722,-195.26802,-195.24805], "fy":[37.51735,37.41308,37.4333,37.53761]}, + {"t":0.91821, "x":11.53654, "y":4.3551, "heading":0.002, "vx":1.9548, "vy":-0.3042, "omega":-0.01781, "ax":-11.75714, "ay":2.04612, "alpha":0.05845, "fx":[-195.94724,-196.04268,-196.02481,-195.92884], "fy":[34.33464,33.78414,33.88026,34.43221]}, + {"t":0.95134, "x":11.59486, "y":4.34614, "heading":0.00141, "vx":1.56518, "vy":-0.23639, "omega":-0.01587, "ax":-11.78455, "ay":1.90931, "alpha":0.09039, "fx":[-196.38608,-196.52394,-196.50024,-196.36119], "fy":[32.18467,31.3302,31.46813,32.32613]}, + {"t":0.98448, "x":11.64026, "y":4.33936, "heading":0.00089, "vx":1.17466, "vy":-0.17312, "omega":-0.01287, "ax":-11.80331, "ay":1.81058, "alpha":0.1134, "fx":[-196.68703,-196.85113,-196.82477,-196.65888], "fy":[30.63577,29.56119,29.72435,30.80454]}, + {"t":1.01762, "x":11.67271, "y":4.33462, "heading":0.00046, "vx":0.78352, "vy":-0.11312, "omega":-0.00912, "ax":-11.8169, "ay":1.73599, "alpha":0.13076, "fx":[-196.90572,-197.08721,-197.05961,-196.87584], "fy":[29.46713,28.22593,28.40538,29.65409]}, + {"t":1.05076, "x":11.69218, "y":4.33182, "heading":0.00016, "vx":0.39193, "vy":-0.05559, "omega":-0.00478, "ax":-11.82719, "ay":1.67767, "alpha":0.14431, "fx":[-197.07157,-197.26519,-197.23705,-197.04074], "fy":[28.55415,27.18248,27.37306,28.75394]}, + {"t":1.0839, "x":11.69868, "y":4.3309, "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/OppEToOppbarge.traj b/src/main/deploy/choreo/OppEToOppbarge.traj new file mode 100644 index 00000000..1b1ba00e --- /dev/null +++ b/src/main/deploy/choreo/OppEToOppbarge.traj @@ -0,0 +1,116 @@ +{ + "name":"OppEToOppbarge", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.687749862670898, "y":5.166319847106934, "heading":-2.864219521109, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.94136617279053, "y":5.08871412277, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":3.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.687749862670898 m", "val":10.687749862670898}, "y":{"exp":"5.166319847106934 m", "val":5.166319847106934}, "heading":{"exp":"-2.8642195211090002 rad", "val":-2.864219521109}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - barge.x", "val":9.94136617279053}, "y":{"exp":"barge.y", "val":5.08871412277}, "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}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"3 m / s ^ 2", "val":3.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.93943,1.64696], + "samples":[ + {"t":0.0, "x":12.63181, "y":5.33714, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.73752, "ay":-1.00548, "alpha":-51.95986, "fx":[-130.54896,150.38277,-71.80143,-197.24314], "fy":[-150.24279,-129.39265,185.50777,27.08445]}, + {"t":0.02042, "x":12.63104, "y":5.33693, "heading":-1.0472, "vx":-0.07633, "vy":-0.02053, "omega":-1.06115, "ax":-5.72174, "ay":-1.67249, "alpha":-44.50198, "fx":[-152.21052,72.18128,-104.82916,-196.65642], "fy":[-127.79541,-182.00094,168.64675,29.63092]}, + {"t":0.04084, "x":12.62828, "y":5.33616, "heading":-1.06887, "vx":-0.19318, "vy":-0.05469, "omega":-1.96999, "ax":-5.97389, "ay":-0.40904, "alpha":-1.40431, "fx":[-98.5882,-101.5203,-102.42622,-95.79251], "fy":[-15.55643,-15.50915,8.20776,-4.41648]}, + {"t":0.06127, "x":12.62309, "y":5.33496, "heading":-1.1091, "vx":-0.31518, "vy":-0.06304, "omega":-1.99867, "ax":-5.97341, "ay":-0.40748, "alpha":-0.00001, "fx":[-99.37042,-100.05281,-99.55295,-99.31904], "fy":[-7.06174,-7.05513,-6.40216,-6.65112]}, + {"t":0.08169, "x":12.61541, "y":5.33359, "heading":-1.14992, "vx":-0.43717, "vy":-0.07137, "omega":-1.99867, "ax":-5.97287, "ay":-0.40585, "alpha":0.0, "fx":[-99.49151,-99.71338,-99.64213,-99.41252], "fy":[-6.91489,-6.83333,-6.60397,-6.70908]}, + {"t":0.10211, "x":12.60524, "y":5.33205, "heading":-1.19074, "vx":-0.55916, "vy":-0.07965, "omega":-1.99867, "ax":-5.97229, "ay":-0.40386, "alpha":0.0, "fx":[-99.42516,-99.93573,-99.36099,-99.499], "fy":[-6.92497,-6.77759,-6.56659,-6.65916]}, + {"t":0.12253, "x":12.59257, "y":5.33034, "heading":-1.23155, "vx":-0.68112, "vy":-0.0879, "omega":-1.99867, "ax":-5.97163, "ay":-0.40184, "alpha":0.0, "fx":[-99.54139,-99.54705,-99.54783,-99.54066], "fy":[-6.70267,-6.69962,-6.69434,-6.69723]}, + {"t":0.14296, "x":12.57742, "y":5.32846, "heading":-1.27237, "vx":-0.80308, "vy":-0.09611, "omega":-1.99867, "ax":-5.97091, "ay":-0.39937, "alpha":0.0, "fx":[-99.39172,-99.98496,-99.29643,-99.45556], "fy":[-6.86976,-6.72212,-6.47607,-6.56115]}, + {"t":0.16338, "x":12.55977, "y":5.32641, "heading":-1.31319, "vx":-0.92502, "vy":-0.10427, "omega":-1.99867, "ax":-5.97008, "ay":-0.39682, "alpha":0.0, "fx":[-99.51283,-99.52612,-99.52486,-99.50941], "fy":[-6.61354,-6.63332,-6.60515,-6.60706]}, + {"t":0.1838, "x":12.53963, "y":5.3242, "heading":-1.35401, "vx":-1.04694, "vy":-0.11237, "omega":-1.99867, "ax":-5.96915, "ay":-0.39367, "alpha":0.0, "fx":[-99.34216,-100.05722,-99.21354,-99.39839], "fy":[-6.79788,-6.65523,-6.36314,-6.43317]}, + {"t":0.20422, "x":12.51701, "y":5.32182, "heading":-1.39483, "vx":-1.16885, "vy":-0.12041, "omega":-1.99867, "ax":-5.96807, "ay":-0.39035, "alpha":0.0, "fx":[-99.47721,-99.4945,-99.49378,-99.47363], "fy":[-6.49464,-6.54279,-6.49544,-6.49522]}, + {"t":0.22465, "x":12.49189, "y":5.31928, "heading":-1.43564, "vx":-1.29073, "vy":-0.12838, "omega":-1.99867, "ax":-5.96683, "ay":-0.38621, "alpha":0.0, "fx":[-99.28179,-100.13718,-99.11072,-99.3272], "fy":[-6.68768,-6.56298,-6.22832,-6.27308]}, + {"t":0.24507, "x":12.46429, "y":5.31658, "heading":-1.47646, "vx":-1.41259, "vy":-0.13627, "omega":-1.99867, "ax":-5.96537, "ay":-0.38173, "alpha":0.0, "fx":[-99.43407,-99.44665,-99.44731,-99.43106], "fy":[-6.33304,-6.41173,-6.3554,-6.35264]}, + {"t":0.26549, "x":12.4342, "y":5.31372, "heading":-1.51728, "vx":-1.53442, "vy":-0.14406, "omega":-1.99867, "ax":-5.96365, "ay":-0.37603, "alpha":0.0, "fx":[-99.21996,-100.18615,-98.99185,-99.24668], "fy":[-6.49821,-6.42283,-6.07084,-6.08091]}, + {"t":0.28591, "x":12.40161, "y":5.3107, "heading":-1.5581, "vx":-1.65621, "vy":-0.15174, "omega":-1.99867, "ax":-5.96155, "ay":-0.36964, "alpha":0.0, "fx":[-99.37085,-99.38209,-99.38365,-99.3681], "fy":[-6.11394,-6.22349,-6.15548,-6.1538]}, + {"t":0.30634, "x":12.36655, "y":5.30752, "heading":-1.59891, "vx":-1.77796, "vy":-0.15929, "omega":-1.99867, "ax":-5.959, "ay":-0.3613, "alpha":0.0, "fx":[-99.09071,-100.36578,-98.78013,-99.09812], "fy":[-6.2839,-6.2183,-5.80901,-5.77954]}, + {"t":0.32676, "x":12.32899, "y":5.30419, "heading":-1.63973, "vx":-1.89966, "vy":-0.16667, "omega":-1.99867, "ax":-5.95575, "ay":-0.3515, "alpha":0.00001, "fx":[-99.27099,-99.28725,-99.29046,-99.26954], "fy":[-5.79787,-5.93484,-5.85083,-5.85394]}, + {"t":0.34718, "x":12.28896, "y":5.30071, "heading":-1.68055, "vx":-2.02129, "vy":-0.17385, "omega":-1.99867, "ax":-5.95158, "ay":-0.33821, "alpha":0.00001, "fx":[-98.91455,-100.51017,-98.5245,-98.89087], "fy":[-5.90243,-5.87431,-5.42523,-5.34908]}, + {"t":0.3676, "x":12.24644, "y":5.29709, "heading":-1.72137, "vx":-2.14283, "vy":-0.18076, "omega":-1.99867, "ax":-5.94591, "ay":-0.32135, "alpha":0.00001, "fx":[-99.10105,-99.12615,-99.13217,-99.10255], "fy":[-5.2832,-5.44661,-5.34342,-5.35391]}, + {"t":0.38803, "x":12.20143, "y":5.29334, "heading":-1.76219, "vx":-2.26426, "vy":-0.18732, "omega":-1.99867, "ax":-5.93789, "ay":-0.29721, "alpha":0.00001, "fx":[-98.58373,-100.78808,-98.04524,-98.50989], "fy":[-5.22919,-5.26015,-4.73247,-4.59567]}, + {"t":0.40845, "x":12.15395, "y":5.28945, "heading":-1.803, "vx":-2.38553, "vy":-0.19339, "omega":-1.99867, "ax":-5.92558, "ay":-0.262, "alpha":0.00002, "fx":[-98.75797,-98.7881,-98.79702,-98.76317], "fy":[-4.29024,-4.4603,-4.35025,-4.36912]}, + {"t":0.42887, "x":12.104, "y":5.28544, "heading":-1.84382, "vx":-2.50655, "vy":-0.19874, "omega":-1.99867, "ax":-5.90432, "ay":-0.20929, "alpha":0.00003, "fx":[-97.87651,-100.89431,-97.18407,-97.73372], "fy":[-3.75323,-3.8733,-3.26542,-3.06286]}, + {"t":0.44929, "x":12.05158, "y":5.28134, "heading":-1.88464, "vx":-2.62713, "vy":-0.20301, "omega":-1.99867, "ax":-5.86033, "ay":-0.10503, "alpha":0.00008, "fx":[-97.6888,-97.68929,-97.68985,-97.68747], "fy":[-1.71859,-1.77651,-1.74693,-1.76128]}, + {"t":0.46972, "x":11.9967, "y":5.27717, "heading":-1.92546, "vx":-2.74681, "vy":-0.20516, "omega":-1.99867, "ax":-5.72329, "ay":0.05269, "alpha":0.0003, "fx":[-94.88573,-97.70089,-94.30106,-94.7304], "fy":[0.72016,0.56684,1.02302,1.20342]}, + {"t":0.49014, "x":11.93941, "y":5.27299, "heading":-1.96627, "vx":-2.86369, "vy":-0.20408, "omega":-1.99866, "ax":-3.02227, "ay":0.63282, "alpha":0.00572, "fx":[-50.47128,-50.34262,-50.28872,-50.41666], "fy":[10.40271,10.82651,10.4623,10.50386]}, + {"t":0.51056, "x":11.8803, "y":5.26896, "heading":-2.00709, "vx":-2.92541, "vy":-0.19116, "omega":-1.99854, "ax":0.25448, "ay":0.42963, "alpha":0.00118, "fx":[4.21187,4.37864,4.17719,4.20071], "fy":[7.16809,7.18343,7.1541,7.14112]}, + {"t":0.53098, "x":11.82061, "y":5.26514, "heading":-2.04791, "vx":-2.92022, "vy":-0.18239, "omega":-1.99852, "ax":0.27924, "ay":0.22944, "alpha":-0.00005, "fx":[4.5874,4.67617,4.7222,4.63345], "fy":[3.74149,3.96992,3.77563,3.81133]}, + {"t":0.55141, "x":11.76103, "y":5.26147, "heading":-2.08872, "vx":-2.91451, "vy":-0.1777, "omega":-1.99852, "ax":0.25857, "ay":-0.09193, "alpha":0.00001, "fx":[4.05522,5.31394,3.87992,3.99166], "fy":[-1.50868,-1.44522,-1.55623,-1.61944]}, + {"t":0.57183, "x":11.70156, "y":5.25782, "heading":-2.12954, "vx":-2.90923, "vy":-0.17958, "omega":-1.99852, "ax":0.2298, "ay":-0.40047, "alpha":0.00002, "fx":[3.87223,3.82109,3.78902,3.84015], "fy":[-6.60656,-6.77732,-6.63519,-6.68344]}, + {"t":0.59225, "x":11.6422, "y":5.25407, "heading":-2.17035, "vx":-2.90454, "vy":-0.18776, "omega":-1.99852, "ax":0.17719, "ay":-0.47912, "alpha":-0.00002, "fx":[2.8559,3.32078,2.80331,2.83452], "fy":[-7.98328,-7.96809,-7.99016,-8.00529]}, + {"t":0.61267, "x":11.58291, "y":5.25013, "heading":-2.21117, "vx":-2.90092, "vy":-0.19754, "omega":-1.99852, "ax":0.1314, "ay":-0.72628, "alpha":0.00004, "fx":[2.31244,2.17251,2.06836,2.20824], "fy":[-11.95831,-12.36317,-11.99673,-12.1088]}, + {"t":0.6331, "x":11.5237, "y":5.24595, "heading":-2.25198, "vx":-2.89824, "vy":-0.21237, "omega":-1.99852, "ax":0.06519, "ay":-0.67886, "alpha":-0.00002, "fx":[1.06996,1.14368,1.06508,1.06778], "fy":[-11.31607,-11.31486,-11.31637,-11.31758]}, + {"t":0.65352, "x":11.46452, "y":5.24147, "heading":-2.29279, "vx":-2.89691, "vy":-0.22624, "omega":-1.99852, "ax":0.00798, "ay":-0.83101, "alpha":0.00003, "fx":[0.28923,0.12302,-0.02304,0.14318], "fy":[-13.68897,-14.16371,-13.70844,-13.84934]}, + {"t":0.67394, "x":11.40536, "y":5.23668, "heading":-2.33361, "vx":-2.89674, "vy":-0.24321, "omega":-1.99852, "ax":-0.06508, "ay":-0.69732, "alpha":0.0, "fx":[-1.02182,-1.28898,-1.01161,-1.01672], "fy":[-11.62391,-11.62203,-11.62418,-11.62604]}, + {"t":0.69436, "x":11.34619, "y":5.23156, "heading":-2.37442, "vx":-2.89807, "vy":-0.25745, "omega":-1.99852, "ax":-0.12935, "ay":-0.72868, "alpha":0.0, "fx":[-2.00401,-2.15375,-2.30859,-2.15878], "fy":[-12.00766,-12.44038,-12.00342,-12.1357]}, + {"t":0.71479, "x":11.28698, "y":5.22615, "heading":-2.41524, "vx":-2.90072, "vy":-0.27233, "omega":-1.99852, "ax":-0.20441, "ay":-0.53464, "alpha":0.00002, "fx":[-3.11336,-4.2475,-3.14094,-3.12769], "fy":[-8.9132,-8.89271,-8.91116,-8.93152]}, + {"t":0.73521, "x":11.22769, "y":5.22048, "heading":-2.45605, "vx":-2.90489, "vy":-0.28325, "omega":-1.99852, "ax":-0.2679, "ay":-0.42036, "alpha":-0.00012, "fx":[-4.36347,-4.45578,-4.56797,-4.47563], "fy":[-6.91989,-7.20759,-6.90321,-6.99782]}, + {"t":0.75563, "x":11.16831, "y":5.21461, "heading":-2.49687, "vx":-2.91036, "vy":-0.29183, "omega":-1.99852, "ax":-0.37926, "ay":-0.159, "alpha":0.0013, "fx":[-5.9902,-7.18522,-6.07463,-6.03803], "fy":[-2.65696,-2.60318,-2.64408,-2.69745]}, + {"t":0.77605, "x":11.1088, "y":5.20861, "heading":-2.53768, "vx":-2.91811, "vy":-0.29508, "omega":-1.99849, "ax":-0.12418, "ay":0.11293, "alpha":-0.00491, "fx":[-2.09088,-2.07401,-2.04922,-2.06612], "fy":[1.87526,1.88679,1.85855,1.90932]}, + {"t":0.79648, "x":11.04918, "y":5.20261, "heading":-2.5785, "vx":-2.92064, "vy":-0.29277, "omega":-1.99859, "ax":4.51414, "ay":0.49588, "alpha":-0.00334, "fx":[74.36113,77.37615,74.69293,74.56394], "fy":[8.30796,8.09477,8.2326,8.42873]}, + {"t":0.8169, "x":10.99047, "y":5.19674, "heading":-2.61931, "vx":-2.82845, "vy":-0.28265, "omega":-1.99866, "ax":5.74285, "ay":0.62422, "alpha":-0.00017, "fx":[95.66229,95.71074,95.80035,95.74875], "fy":[10.33819,10.58968,10.26891,10.4252]}, + {"t":0.83732, "x":10.93391, "y":5.19109, "heading":-2.66013, "vx":-2.71117, "vy":-0.2699, "omega":-1.99867, "ax":5.85032, "ay":0.55054, "alpha":-0.00006, "fx":[96.24529,100.47044,96.77934,96.5933], "fy":[9.29053,8.84596,9.10259,9.46993]}, + {"t":0.85774, "x":10.87976, "y":5.1857, "heading":-2.70095, "vx":-2.59169, "vy":-0.25866, "omega":-1.99867, "ax":5.88995, "ay":0.54313, "alpha":-0.00002, "fx":[98.11359,98.15388,98.25482,98.20846], "fy":[8.99172,9.26463,8.89078,9.06791]}, + {"t":0.87817, "x":10.82806, "y":5.18053, "heading":-2.74177, "vx":-2.4714, "vy":-0.24756, "omega":-1.99867, "ax":5.9127, "ay":0.51659, "alpha":-0.00002, "fx":[97.69471,100.61979,98.01404,97.91918], "fy":[8.75881,8.24526,8.5168,8.92415]}, + {"t":0.89859, "x":10.77882, "y":5.17558, "heading":-2.78258, "vx":-2.35065, "vy":-0.23701, "omega":-1.99867, "ax":5.92615, "ay":0.50761, "alpha":0.00034, "fx":[98.2115,98.50733,99.32967,99.0955], "fy":[8.26587,9.05793,8.67109,7.85145]}, + {"t":0.91901, "x":10.73205, "y":5.17085, "heading":-2.8234, "vx":-2.22963, "vy":-0.22665, "omega":-1.99866, "ax":5.93536, "ay":0.49617, "alpha":17.92235, "fx":[140.7551,122.17665,50.62566,82.20091], "fy":[-20.0279,64.5715,53.24362,-64.70373]}, + {"t":0.93943, "x":10.68775, "y":5.16632, "heading":-2.86422, "vx":-2.10841, "vy":-0.21651, "omega":-1.63264, "ax":2.9499, "ay":0.2679, "alpha":11.53007, "fx":[82.01586,68.02789,15.16648,31.4831], "fy":[-14.68645,39.38937,25.81929,-32.65909]}, + {"t":0.96774, "x":10.62926, "y":5.1603, "heading":-2.91043, "vx":-2.02493, "vy":-0.20893, "omega":-1.30633, "ax":2.97487, "ay":0.2879, "alpha":8.76918, "fx":[73.92998,64.57984,23.88648,35.96249], "fy":[-11.08486,30.77335,22.3531,-22.84526]}, + {"t":0.99604, "x":10.57314, "y":5.1545, "heading":-2.9474, "vx":-1.94073, "vy":-0.20078, "omega":-1.05815, "ax":2.97738, "ay":0.29563, "alpha":6.81389, "fx":[68.1233,61.93939,30.83841,37.62514], "fy":[-8.41111,24.92721,19.18974,-15.99393]}, + {"t":1.02434, "x":10.51941, "y":5.14894, "heading":-2.97734, "vx":-1.85647, "vy":-0.19242, "omega":-0.86531, "ax":2.97876, "ay":0.2999, "alpha":5.33304, "fx":[63.91223,59.57624,34.66973,40.45962], "fy":[-5.887,20.3222,16.58031,-11.01867]}, + {"t":1.05264, "x":10.46806, "y":5.14361, "heading":-3.00183, "vx":-1.77217, "vy":-0.18393, "omega":-0.71438, "ax":2.97962, "ay":0.3026, "alpha":4.21642, "fx":[60.73482,57.80593,38.5262,41.60871], "fy":[-3.99548,17.09708,14.41838,-7.34325]}, + {"t":1.08094, "x":10.4191, "y":5.13853, "heading":-3.02205, "vx":-1.68784, "vy":-0.17537, "omega":-0.59505, "ax":2.98022, "ay":0.30447, "alpha":3.33616, "fx":[58.31971,56.21785,40.55942,43.61846], "fy":[-2.23985,14.4464,12.69873,-4.60404]}, + {"t":1.10924, "x":10.37253, "y":5.13369, "heading":-3.03889, "vx":-1.6035, "vy":-0.16675, "omega":-0.50063, "ax":2.98066, "ay":0.30584, "alpha":2.68129, "fx":[56.53567,55.08773,42.81698,44.30411], "fy":[-0.98422,12.60917,11.29438,-2.52683]}, + {"t":1.13754, "x":10.32834, "y":5.12909, "heading":-3.05306, "vx":-1.51914, "vy":-0.15809, "omega":-0.42475, "ax":2.98099, "ay":0.30688, "alpha":2.14065, "fx":[55.09133,54.02872,43.93528,45.71129], "fy":[0.19577,11.02918,10.18523,-0.94786]}, + {"t":1.16584, "x":10.28654, "y":5.12474, "heading":-3.06508, "vx":-1.43477, "vy":-0.14941, "omega":-0.36416, "ax":2.98125, "ay":0.3077, "alpha":1.74841, "fx":[54.06644,53.32159,45.32113,46.07492], "fy":[1.00986,9.95335,9.27902,0.27484]}, + {"t":1.19414, "x":10.24713, "y":5.12063, "heading":-3.07539, "vx":-1.3504, "vy":-0.1407, "omega":-0.31468, "ax":2.98146, "ay":0.30837, "alpha":1.40784, "fx":[53.17168,52.61435,45.94317,47.06898], "fy":[1.79831,8.98238,8.56638,1.2144]}, + {"t":1.22245, "x":10.21011, "y":5.11677, "heading":-3.08429, "vx":-1.26602, "vy":-0.13197, "omega":-0.27484, "ax":2.98164, "ay":0.30892, "alpha":1.17121, "fx":[52.57826,52.18063,46.82611,47.2248], "fy":[2.31405,8.34407,7.98515,1.95489]}, + {"t":1.25075, "x":10.17547, "y":5.11316, "heading":-3.09207, "vx":-1.18164, "vy":-0.12323, "omega":-0.24169, "ax":2.98178, "ay":0.30938, "alpha":0.95408, "fx":[52.01148,51.70761,47.16268,47.93778], "fy":[2.83624,7.73867,7.53195,2.52199]}, + {"t":1.27905, "x":10.14322, "y":5.1098, "heading":-3.09891, "vx":-1.09725, "vy":-0.11448, "omega":-0.21469, "ax":2.98191, "ay":0.30977, "alpha":0.81401, "fx":[51.67519,51.45341,47.73914,47.96012], "fy":[3.15101,7.36675,7.16507,2.97216]}, + {"t":1.30735, "x":10.11336, "y":5.10668, "heading":-3.10499, "vx":-1.01286, "vy":-0.10571, "omega":-0.19165, "ax":2.98201, "ay":0.31011, "alpha":0.67682, "fx":[51.315,51.14096,47.90155,48.4775], "fy":[3.48876,6.99041,6.88844,3.30995]}, + {"t":1.33565, "x":10.08589, "y":5.10382, "heading":-3.11041, "vx":-0.92846, "vy":-0.09693, "omega":-0.1725, "ax":2.98211, "ay":0.3104, "alpha":0.60002, "fx":[51.14161,51.00953,48.27957,48.41052], "fy":[3.66459,6.78777,6.67061,3.57422]}, + {"t":1.36395, "x":10.06081, "y":5.1012, "heading":-3.11529, "vx":-0.84407, "vy":-0.08815, "omega":-0.15551, "ax":2.98219, "ay":0.31066, "alpha":0.51844, "fx":[50.92128,50.81369,48.32753,48.7842], "fy":[3.86744,6.56778,6.52024,3.75896]}, + {"t":1.39225, "x":10.03812, "y":5.09883, "heading":-3.11969, "vx":-0.75967, "vy":-0.07935, "omega":-0.14084, "ax":2.98226, "ay":0.31089, "alpha":0.48684, "fx":[50.85965,50.77249,48.56666,48.65274], "fy":[3.93821,6.48444,6.41435,3.89267]}, + {"t":1.42055, "x":10.01781, "y":5.09671, "heading":-3.12368, "vx":-0.67527, "vy":-0.07056, "omega":-0.12706, "ax":2.98233, "ay":0.3111, "alpha":0.44785, "fx":[50.744,50.66908,48.53005,48.91272], "fy":[4.03403,6.38042,6.36438,3.96447]}, + {"t":1.44886, "x":9.99989, "y":5.09483, "heading":-3.12727, "vx":-0.59086, "vy":-0.06175, "omega":-0.11439, "ax":2.98239, "ay":0.31128, "alpha":0.45269, "fx":[50.76894,50.70263,48.66144,48.72671], "fy":[4.01567,6.3915,6.35335,3.995]}, + {"t":1.47716, "x":9.98437, "y":5.09321, "heading":-3.13051, "vx":-0.50646, "vy":-0.05294, "omega":-0.10158, "ax":2.98244, "ay":0.31144, "alpha":0.45102, "fx":[50.74274,50.68216,48.55153,48.88678], "fy":[4.01484,6.38655,6.39474,3.97041]}, + {"t":1.50546, "x":9.97123, "y":5.09184, "heading":-3.13339, "vx":-0.42205, "vy":-0.04413, "omega":-0.08881, "ax":2.98248, "ay":0.31159, "alpha":0.49039, "fx":[50.84718,50.78832,48.58662,48.64425], "fy":[3.90898,6.48581,6.47662,3.90509]}, + {"t":1.53376, "x":9.96048, "y":5.09071, "heading":-3.1359, "vx":-0.33764, "vy":-0.03531, "omega":-0.07493, "ax":2.98253, "ay":0.31173, "alpha":0.52667, "fx":[50.90995,50.85304,48.40104,48.70523], "fy":[3.80838,6.57908,6.61477,3.78331]}, + {"t":1.56206, "x":9.95212, "y":5.08984, "heading":-3.13802, "vx":-0.25323, "vy":-0.02649, "omega":-0.06003, "ax":2.98257, "ay":0.31185, "alpha":0.60462, "fx":[51.10223,51.04273,48.33463,48.39231], "fy":[3.6034,6.77537,6.80212,3.61298]}, + {"t":1.59036, "x":9.94614, "y":5.08921, "heading":-3.13972, "vx":-0.16882, "vy":-0.01766, "omega":-0.04292, "ax":2.9826, "ay":0.31197, "alpha":0.69523, "fx":[51.30696,51.2444,48.13138,48.19155], "fy":[3.36404,7.00362,7.0552,3.37872]}, + {"t":1.61866, "x":9.94256, "y":5.08884, "heading":-3.14093, "vx":-0.08441, "vy":-0.00883, "omega":-0.02324, "ax":2.98264, "ay":0.31208, "alpha":0.82124, "fx":[51.53482,51.67494,47.8011,47.86566], "fy":[3.07539,7.26505,7.36757,3.10067]}, + {"t":1.64696, "x":9.94137, "y":5.08871, "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/OppGToOppBarge.traj b/src/main/deploy/choreo/OppGToOppBarge.traj new file mode 100644 index 00000000..5c8a4ffa --- /dev/null +++ b/src/main/deploy/choreo/OppGToOppBarge.traj @@ -0,0 +1,88 @@ +{ + "name":"OppGToOppBarge", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.333887100219728, "y":4.521003246307373, "heading":-0.9827950870986544, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.47326946258545, "y":5.011077404022217, "heading":-3.0750240485246456, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.94136617279053, "y":5.08871412277, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"11.333887100219727 m", "val":11.333887100219728}, "y":{"exp":"4.521003246307373 m", "val":4.521003246307373}, "heading":{"exp":"-0.9827950870986543 rad", "val":-0.9827950870986544}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.47326946258545 m", "val":10.47326946258545}, "y":{"exp":"5.011077404022217 m", "val":5.011077404022217}, "heading":{"exp":"-3.0750240485246456 rad", "val":-3.0750240485246456}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - barge.x", "val":9.94136617279053}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.3065,0.79386,1.09572], + "samples":[ + {"t":0.0, "x":11.69868, "y":4.3309, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.56851, "ay":1.95943, "alpha":-36.44427, "fx":[-119.54369,-28.61858,-159.43921,-197.05242], "fy":[-157.31526,196.88303,119.28317,-28.20004]}, + {"t":0.02043, "x":11.6971, "y":4.33131, "heading":0.0, "vx":-0.15465, "vy":0.04004, "omega":-0.74467, "ax":-7.8466, "ay":2.19011, "alpha":-34.67992, "fx":[-134.77112,-31.73368,-159.32042,-197.37085], "fy":[-144.14369,196.35333,119.38856,-25.56556]}, + {"t":0.04087, "x":11.6923, "y":4.33258, "heading":-0.01522, "vx":-0.31498, "vy":0.08479, "omega":-1.45329, "ax":-8.10301, "ay":2.5215, "alpha":-32.84622, "fx":[-150.37063,-33.81418,-158.25187,-197.8566], "fy":[-127.51157,195.93563,120.73447,-21.02977]}, + {"t":0.0613, "x":11.68417, "y":4.33484, "heading":-0.04491, "vx":-0.48055, "vy":0.13631, "omega":-2.12444, "ax":-8.31935, "ay":2.93923, "alpha":-31.01113, "fx":[-164.63804,-35.42147,-156.27832,-198.38024], "fy":[-108.25895,195.55476,123.19227,-14.50604]}, + {"t":0.08173, "x":11.67262, "y":4.33824, "heading":-0.08832, "vx":-0.65054, "vy":0.19637, "omega":-2.7581, "ax":-8.49844, "ay":3.44315, "alpha":-29.08487, "fx":[-177.04871,-37.42509,-153.44056,-198.7452], "fy":[-86.29197,195.04411,126.59443,-5.76403]}, + {"t":0.10217, "x":11.65755, "y":4.34297, "heading":-0.14468, "vx":-0.82419, "vy":0.26672, "omega":-3.35239, "ax":-8.65763, "ay":4.05765, "alpha":-26.78456, "fx":[-187.51985,-41.31699,-149.80576,-198.63138], "fy":[-59.92203,194.0545,130.71372,5.71034]}, + {"t":0.1226, "x":11.6389, "y":4.34927, "heading":-0.21318, "vx":-1.00109, "vy":0.34963, "omega":-3.89969, "ax":-8.81688, "ay":4.83573, "alpha":-23.57401, "fx":[-195.04615,-49.89316,-145.54293,-197.41031], "fy":[-25.55935,191.7134,135.19657,21.08641]}, + {"t":0.14303, "x":11.6166, "y":4.35742, "heading":-0.29286, "vx":-1.18125, "vy":0.44844, "omega":-4.38138, "ax":-8.97393, "ay":5.85576, "alpha":-18.47921, "fx":[-195.22172,-68.59378,-141.15193,-193.39701], "fy":[22.37468,185.32335,139.34049,43.41222]}, + {"t":0.16347, "x":11.59059, "y":4.36781, "heading":-0.38238, "vx":-1.36461, "vy":0.56809, "omega":-4.75897, "ax":-8.98769, "ay":7.1647, "alpha":-9.72658, "fx":[-175.44503,-106.13442,-138.46724,-179.23496], "fy":[88.03022,165.79,141.01483,82.89329]}, + {"t":0.1839, "x":11.56084, "y":4.38091, "heading":-0.47963, "vx":-1.54826, "vy":0.71449, "omega":-4.95771, "ax":-7.71037, "ay":8.53257, "alpha":8.11245, "fx":[-117.57076,-160.01525,-150.39671,-86.12977], "fy":[157.26385,113.27989,123.15321,175.2385]}, + {"t":0.20433, "x":11.52759, "y":4.39729, "heading":-0.58093, "vx":-1.70581, "vy":0.88884, "omega":-4.79195, "ax":-6.26484, "ay":7.15306, "alpha":25.25478, "fx":[-85.99312,-175.63251,-183.84568,27.7435], "fy":[175.74429,84.93877,25.47117,190.79834]}, + {"t":0.22476, "x":11.49143, "y":4.41695, "heading":-0.67884, "vx":-1.83382, "vy":1.035, "omega":-4.27591, "ax":-6.21644, "ay":7.04032, "alpha":24.92606, "fx":[-82.50853,-170.88073,-180.36944,19.25871], "fy":[174.62953,88.84122,19.41442,186.54984]}, + {"t":0.2452, "x":11.45266, "y":4.43957, "heading":-0.76621, "vx":-1.96084, "vy":1.17885, "omega":-3.76659, "ax":-5.21918, "ay":7.35286, "alpha":22.46614, "fx":[-64.9252,-153.44687,-155.81017,26.17724], "fy":[173.58143,101.72656,43.25561,171.71111]}, + {"t":0.26563, "x":11.4115, "y":4.46519, "heading":-0.84318, "vx":-2.06748, "vy":1.3291, "omega":-3.30754, "ax":7.90761, "ay":3.30951, "alpha":-10.66471, "fx":[144.77862,154.78067,122.28046,105.42432], "fy":[1.20384,43.09848,98.28719,78.08194]}, + {"t":0.28606, "x":11.37091, "y":4.49304, "heading":-0.91076, "vx":-1.90591, "vy":1.39672, "omega":-3.52545, "ax":9.20883, "ay":-2.74865, "alpha":-18.9264, "fx":[126.9862,185.60345,170.7328,130.70476], "fy":[-136.6181,-38.1887,70.95783,-79.42601]}, + {"t":0.3065, "x":11.33389, "y":4.521, "heading":-0.9828, "vx":-1.71774, "vy":1.34056, "omega":-3.91218, "ax":8.76234, "ay":-4.09421, "alpha":-18.98055, "fx":[112.36,180.24153,178.63396,113.02076], "fy":[-149.63657,-59.03784,46.99635,-111.31576]}, + {"t":0.32769, "x":11.29946, "y":4.54849, "heading":-1.06569, "vx":-1.53207, "vy":1.2538, "omega":-4.31437, "ax":7.34855, "ay":-6.21588, "alpha":-18.55347, "fx":[83.94434,161.86736,179.083,65.09249], "fy":[-164.83068,-93.56008,-7.05875,-149.01375]}, + {"t":0.34888, "x":11.26864, "y":4.57366, "heading":-1.15711, "vx":-1.37636, "vy":1.12209, "omega":-4.70752, "ax":5.31228, "ay":-7.95252, "alpha":-17.38243, "fx":[48.32784,132.74426,158.48692,14.65368], "fy":[-175.61613,-126.34668,-65.38554,-162.91024]}, + {"t":0.37007, "x":11.24067, "y":4.59565, "heading":-1.25686, "vx":-1.26379, "vy":0.95358, "omega":-5.07584, "ax":2.53603, "ay":-9.12547, "alpha":-15.18949, "fx":[5.83003,90.32737,108.35019,-35.40996], "fy":[-178.11602,-153.25197,-118.53941,-158.56135]}, + {"t":0.39126, "x":11.21446, "y":4.61381, "heading":-1.36442, "vx":-1.21005, "vy":0.76021, "omega":-5.39771, "ax":-1.00929, "ay":-9.28684, "alpha":-11.38759, "fx":[-41.14435,29.60066,22.3119,-78.06555], "fy":[-166.94003,-166.59651,-146.74015,-138.95181]}, + {"t":0.41245, "x":11.18859, "y":4.62783, "heading":-1.4788, "vx":-1.23144, "vy":0.56342, "omega":-5.63901, "ax":-4.99258, "ay":-7.56625, "alpha":-5.1473, "fx":[-89.83771,-60.71136,-76.30553,-106.0408], "fy":[-131.17404,-141.59085,-122.12766,-109.61048]}, + {"t":0.43364, "x":11.16138, "y":4.63807, "heading":-1.59829, "vx":-1.33723, "vy":0.4031, "omega":-5.74808, "ax":-8.1009, "ay":-2.08264, "alpha":4.73973, "fx":[-131.29446,-143.90604,-139.5014,-125.45075], "fy":[-20.2735,-16.33243,-46.92201,-55.33859]}, + {"t":0.45483, "x":11.13122, "y":4.64615, "heading":-1.72009, "vx":-1.50889, "vy":0.35897, "omega":-5.64764, "ax":-6.23544, "ay":5.78221, "alpha":10.95837, "fx":[-60.92838,-112.08535,-141.90296,-100.8504], "fy":[135.9113,115.97714,60.05646,73.6019]}, + {"t":0.47602, "x":11.09785, "y":4.65505, "heading":-1.83976, "vx":-1.64101, "vy":0.48149, "omega":-5.41544, "ax":-1.64136, "ay":9.50574, "alpha":9.20548, "fx":[15.89304,-43.80691,-78.633,-2.8958], "fy":[168.98218,167.41153,143.7895,153.64108]}, + {"t":0.4972, "x":11.06271, "y":4.66739, "heading":-1.95451, "vx":-1.67579, "vy":0.68291, "omega":-5.22038, "ax":1.13414, "ay":9.85865, "alpha":6.9397, "fx":[50.43639,2.86496,-19.46939,41.79054], "fy":[164.10037,173.27342,164.16332,155.81901]}, + {"t":0.51839, "x":11.02745, "y":4.68407, "heading":-2.06513, "vx":-1.65176, "vy":0.89182, "omega":-5.07333, "ax":3.31519, "ay":9.12617, "alpha":4.31442, "fx":[73.46737,44.15167,34.32763,69.10388], "fy":[148.66326,160.62065,156.34087,142.89053]}, + {"t":0.53958, "x":10.9932, "y":4.70502, "heading":-2.17263, "vx":-1.58151, "vy":1.0852, "omega":-4.9819, "ax":5.39996, "ay":7.76007, "alpha":1.02111, "fx":[93.78177,87.27367,86.11748,92.88636], "fy":[127.87974,132.39406,130.92488,126.22795]}, + {"t":0.56077, "x":10.9609, "y":4.72976, "heading":-2.2782, "vx":-1.46709, "vy":1.24963, "omega":-4.96027, "ax":6.35533, "ay":6.34639, "alpha":-0.14803, "fx":[105.45378,106.2676,106.4247,105.61504], "fy":[106.03913,105.25903,105.54547,106.32116]}, + {"t":0.58196, "x":10.93124, "y":4.75766, "heading":-2.3833, "vx":-1.33242, "vy":1.38411, "omega":-4.9634, "ax":-1.64207, "ay":2.2294, "alpha":14.59498, "fx":[25.52615,-25.27842,-76.21233,-33.52558], "fy":[40.78202,84.52479,38.06522,-14.71996]}, + {"t":0.60315, "x":10.90264, "y":4.78749, "heading":-2.48848, "vx":-1.36722, "vy":1.43135, "omega":-4.65414, "ax":-7.80102, "ay":-2.78201, "alpha":19.91981, "fx":[-77.10885,-146.08647,-172.13921,-124.82243], "fy":[-103.40776,58.00329,-24.02837,-116.06592]}, + {"t":0.62434, "x":10.87191, "y":4.8172, "heading":-2.5871, "vx":-1.53252, "vy":1.3724, "omega":-4.23204, "ax":-8.96002, "ay":-2.85728, "alpha":19.2033, "fx":[-106.89997,-163.05839,-183.91969,-143.55868], "fy":[-120.96871,61.12631,-16.93877,-113.73693]}, + {"t":0.64553, "x":10.83743, "y":4.84564, "heading":-2.67677, "vx":-1.72238, "vy":1.31186, "omega":-3.82513, "ax":-9.54424, "ay":-2.56825, "alpha":18.52404, "fx":[-123.60021,-168.94106,-188.63714,-155.21303], "fy":[-122.18766,64.4838,-7.65018,-105.89199]}, + {"t":0.66672, "x":10.79879, "y":4.87286, "heading":-2.75782, "vx":-1.92462, "vy":1.25743, "omega":-3.43261, "ax":-9.88068, "ay":-2.37937, "alpha":18.00977, "fx":[-132.45128,-172.7946,-190.99834,-162.58032], "fy":[-122.76525,64.32009,-0.93001,-99.27641]}, + {"t":0.68791, "x":10.75579, "y":4.89897, "heading":-2.83056, "vx":-2.13399, "vy":1.20702, "omega":-3.05099, "ax":-10.06623, "ay":-2.39343, "alpha":17.66089, "fx":[-135.30152,-176.71312,-192.42357,-166.75843], "fy":[-126.20089,59.85933,2.3625,-95.61009]}, + {"t":0.7091, "x":10.70831, "y":4.92401, "heading":-2.89521, "vx":-2.34729, "vy":1.1563, "omega":-2.67676, "ax":-10.13647, "ay":-2.62675, "alpha":17.46769, "fx":[-132.99272,-181.01677,-193.48503,-168.38611], "fy":[-133.15863,51.05966,2.31669,-95.36418]}, + {"t":0.73029, "x":10.6563, "y":4.94792, "heading":-2.95193, "vx":-2.56208, "vy":1.10064, "omega":-2.30663, "ax":-10.09874, "ay":-3.0536, "alpha":17.42893, "fx":[-125.88628,-185.25134,-194.35514,-167.87203], "fy":[-143.12929,38.31814,-0.45375,-98.34318]}, + {"t":0.75148, "x":10.59974, "y":4.97056, "heading":-3.00081, "vx":-2.77607, "vy":1.03594, "omega":-1.93731, "ax":-9.94876, "ay":-3.61988, "alpha":17.56134, "fx":[-114.17545,-188.63534,-195.02742,-165.52596], "fy":[-155.00348,22.45519,-4.91977,-103.89852]}, + {"t":0.77267, "x":10.53868, "y":4.99169, "heading":-3.04186, "vx":-2.98688, "vy":0.95923, "omega":-1.56519, "ax":-9.44674, "ay":-4.19756, "alpha":19.79572, "fx":[-85.74907,-189.00576,-195.65615,-159.47928], "fy":[-174.10093,15.29586,-6.72357,-114.3568]}, + {"t":0.79386, "x":10.47327, "y":5.01108, "heading":-3.07502, "vx":-3.18705, "vy":0.87029, "omega":-1.14572, "ax":0.26045, "ay":-9.90462, "alpha":23.40355, "fx":[66.13386,128.01906,-124.21149,-52.5752], "fy":[-184.10682,-141.76513,-146.04834,-188.50084]}, + {"t":0.8213, "x":10.38591, "y":5.03123, "heading":-3.10646, "vx":-3.17991, "vy":0.59849, "omega":-0.50349, "ax":10.0932, "ay":-5.69215, "alpha":7.73236, "fx":[166.64922,189.75439,178.07462,138.51669], "fy":[-105.6121,-52.84373,-81.46485,-139.62096]}, + {"t":0.84874, "x":10.30245, "y":5.04551, "heading":-3.12028, "vx":-2.90293, "vy":0.44228, "omega":-0.2913, "ax":11.30994, "ay":-3.43311, "alpha":3.89336, "fx":[186.15384,194.718,192.69435,180.5588], "fy":[-67.69805,-35.99074,-44.35011,-80.87441]}, + {"t":0.87619, "x":10.22705, "y":5.05635, "heading":-3.12828, "vx":-2.59257, "vy":0.34807, "omega":-0.18446, "ax":11.61397, "ay":-2.50813, "alpha":2.3417, "fx":[192.14783,196.28314,195.5638,190.40209], "fy":[-49.62304,-29.11445,-32.92707,-55.57243]}, + {"t":0.90363, "x":10.16027, "y":5.06496, "heading":-3.13334, "vx":-2.27386, "vy":0.27925, "omega":-0.1202, "ax":11.73478, "ay":-2.01958, "alpha":1.53942, "fx":[194.72378,197.0242,196.68623,194.01823], "fy":[-39.35747,-25.38231,-27.47502,-42.44666]}, + {"t":0.93107, "x":10.10229, "y":5.07186, "heading":-3.13664, "vx":-1.95184, "vy":0.22383, "omega":-0.07796, "ax":11.79596, "ay":-1.7197, "alpha":1.05267, "fx":[196.07106,197.45095,197.26886,195.74103], "fy":[-32.79472,-23.03857,-24.29676,-34.53647]}, + {"t":0.95851, "x":10.05317, "y":5.07736, "heading":-3.13878, "vx":-1.62814, "vy":0.17663, "omega":-0.04907, "ax":11.83178, "ay":-1.51742, "alpha":0.72649, "fx":[196.86986,197.72669,197.62162,196.70236], "fy":[-28.2528,-21.42993,-22.21894,-29.27701]}, + {"t":0.98595, "x":10.01295, "y":5.08164, "heading":-3.14012, "vx":-1.30345, "vy":0.13499, "omega":-0.02914, "ax":11.85487, "ay":-1.37193, "alpha":0.49283, "fx":[197.38613,197.91886,197.85686,197.29811], "fy":[-24.92857,-20.25773,-20.75532,-25.53581]}, + {"t":1.01339, "x":9.98164, "y":5.08482, "heading":-3.14092, "vx":-0.97814, "vy":0.09735, "omega":-0.01561, "ax":11.87079, "ay":-1.26232, "alpha":0.31727, "fx":[197.74142,198.06016,198.02444,197.69577], "fy":[-22.39288,-19.36596,-19.66872,-22.74148]}, + {"t":1.04084, "x":9.95927, "y":5.08702, "heading":-3.14135, "vx":-0.65238, "vy":0.06271, "omega":-0.00691, "ax":11.88235, "ay":-1.17681, "alpha":0.18055, "fx":[197.99785,198.16825,198.14968,197.97627], "fy":[-20.39632,-18.66509,-18.82994,-20.57611]}, + {"t":1.06828, "x":9.94584, "y":5.0883, "heading":-3.14154, "vx":-0.32631, "vy":0.03041, "omega":-0.00195, "ax":11.89106, "ay":-1.10826, "alpha":0.07109, "fx":[198.18996,198.25353,198.24675,198.18274], "fy":[-18.78432,-18.10003,-18.16269,-18.8493]}, + {"t":1.09572, "x":9.94137, "y":5.08871, "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/StartToOppE.traj b/src/main/deploy/choreo/StartToOppE.traj new file mode 100644 index 00000000..9f54502c --- /dev/null +++ b/src/main/deploy/choreo/StartToOppE.traj @@ -0,0 +1,151 @@ +{ + "name":"StartToOppE", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.1, "y":5.07, "heading":3.14159, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.788101196289062, "y":5.668493747711182, "heading":-0.9034901014083804, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"start.x", "val":7.1}, "y":{"exp":"start.y", "val":5.07}, "heading":{"exp":"start.heading", "val":3.14159}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"11.788101196289062 m", "val":11.788101196289062}, "y":{"exp":"5.668493747711182 m", "val":5.668493747711182}, "heading":{"exp":"-0.9034901014083804 rad", "val":-0.9034901014083804}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.73973,1.10666,1.85075,2.40194], + "samples":[ + {"t":0.0, "x":7.1, "y":5.07, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.84699, "ay":1.99864, "alpha":-54.61096, "fx":[-62.39818,-143.72901,189.58153,139.69961], "fy":[189.00289,-137.03518,-60.59603,141.89384]}, + {"t":0.02312, "x":7.10049, "y":5.07053, "heading":3.14159, "vx":0.0427, "vy":0.0462, "omega":-1.26242, "ax":1.88952, "ay":2.04684, "alpha":-54.42711, "fx":[-60.16234,-143.73656,190.23146,139.65703], "fy":[189.65634,-136.75208,-58.29165,141.86696]}, + {"t":0.04623, "x":7.10199, "y":5.07215, "heading":3.11241, "vx":0.08638, "vy":0.09352, "omega":-2.5206, "ax":1.9044, "ay":2.16835, "alpha":-54.14465, "fx":[-52.85803,-152.14917,189.75559,142.23355], "fy":[191.72383,-126.85919,-59.46373,139.18019]}, + {"t":0.06935, "x":7.10449, "y":5.07489, "heading":3.05414, "vx":0.1304, "vy":0.14364, "omega":-3.77224, "ax":1.91449, "ay":2.4328, "alpha":-53.58042, "fx":[-39.71556,-168.27203,188.4845,147.15731], "fy":[194.72417,-103.50704,-62.79254,133.78961]}, + {"t":0.09247, "x":7.10802, "y":5.07886, "heading":2.96694, "vx":0.17466, "vy":0.19988, "omega":-5.01084, "ax":1.99255, "ay":3.06973, "alpha":-52.0618, "fx":[-19.26864,-188.85296,187.32855,153.6522], "fy":[197.53173,-53.75229,-65.02325,125.92778]}, + {"t":0.11558, "x":7.11259, "y":5.0843, "heading":2.8511, "vx":0.22072, "vy":0.27084, "omega":-6.21434, "ax":2.65693, "ay":4.64725, "alpha":-46.53516, "fx":[12.69151,-185.19329,189.28239,160.37836], "fy":[197.35939,51.68071,-55.39763,116.227]}, + {"t":0.1387, "x":7.1184, "y":5.0918, "heading":2.70745, "vx":0.28214, "vy":0.37827, "omega":-7.29008, "ax":4.121, "ay":4.23803, "alpha":-12.4939, "fx":[51.2734,22.34526,108.2559,92.90582], "fy":[112.42467,70.78668,22.71168,76.66091]}, + {"t":0.16182, "x":7.12602, "y":5.10168, "heading":2.53893, "vx":0.3774, "vy":0.47624, "omega":-7.57889, "ax":5.69389, "ay":1.59788, "alpha":6.87517, "fx":[100.86413,116.53313,90.74061,71.52002], "fy":[2.19683,31.18179,50.12388,23.04074]}, + {"t":0.18493, "x":7.13627, "y":5.11312, "heading":2.36373, "vx":0.50902, "vy":0.51318, "omega":-7.41996, "ax":5.91154, "ay":-0.23863, "alpha":9.83152, "fx":[104.28486,126.45519,95.94828,67.48179], "fy":[-43.94109,-3.62446,32.48582,-0.83182]}, + {"t":0.20805, "x":7.14961, "y":5.12492, "heading":2.1922, "vx":0.64568, "vy":0.50766, "omega":-7.19269, "ax":5.58857, "ay":1.81362, "alpha":16.37821, "fx":[97.05625,141.41237,96.87486,37.29189], "fy":[-33.10209,20.72448,87.32064,45.98538]}, + {"t":0.23117, "x":7.16603, "y":5.13714, "heading":2.02593, "vx":0.77487, "vy":0.54959, "omega":-6.81408, "ax":4.23529, "ay":4.06033, "alpha":19.32409, "fx":[62.65451,132.60402,82.74121,4.40128], "fy":[-1.3996,46.53761,127.12228,98.47472]}, + {"t":0.25428, "x":7.18508, "y":5.15093, "heading":1.86841, "vx":0.87277, "vy":0.64345, "omega":-6.36737, "ax":3.28214, "ay":4.89024, "alpha":17.69585, "fx":[37.11034,112.38097,72.98222,-3.62661], "fy":[21.89557,56.33298,130.39025,117.45325]}, + {"t":0.2774, "x":7.20613, "y":5.16711, "heading":1.72122, "vx":0.94865, "vy":0.75649, "omega":-5.9583, "ax":3.10336, "ay":5.02627, "alpha":15.31835, "fx":[27.26966,101.39658,73.92305,4.3371], "fy":[40.32137,53.13925,121.91459,119.76707]}, + {"t":0.30052, "x":7.22889, "y":5.18594, "heading":1.58348, "vx":1.02039, "vy":0.87269, "omega":-5.60419, "ax":3.4649, "ay":4.79813, "alpha":13.4288, "fx":[31.42318,98.09412,81.71133,19.80419], "fy":[43.34203,50.27521,110.22145,116.09112]}, + {"t":0.32363, "x":7.2534, "y":5.20739, "heading":1.45393, "vx":1.10048, "vy":0.9836, "omega":-5.29376, "ax":4.07746, "ay":4.30123, "alpha":12.06577, "fx":[39.15799,100.97617,93.42808,38.31526], "fy":[46.44086,37.81169,95.18627,107.35915]}, + {"t":0.34675, "x":7.27993, "y":5.23128, "heading":1.33156, "vx":1.19474, "vy":1.08303, "omega":-5.01484, "ax":4.72985, "ay":3.58314, "alpha":11.03118, "fx":[50.72065,104.73034,104.56092,55.36511], "fy":[37.27126,27.09377,78.57459,95.97724]}, + {"t":0.36987, "x":7.30881, "y":5.25727, "heading":1.21563, "vx":1.30408, "vy":1.16586, "omega":-4.75984, "ax":5.31667, "ay":2.65095, "alpha":10.15469, "fx":[59.8002,108.04443,114.10666,72.55423], "fy":[29.05385,9.70823,58.46115,79.53708]}, + {"t":0.39298, "x":7.34038, "y":5.28493, "heading":1.1056, "vx":1.42698, "vy":1.22714, "omega":-4.5251, "ax":5.72318, "ay":1.61979, "alpha":9.31748, "fx":[68.74588,109.23392,120.09802,83.53292], "fy":[13.84295,-5.55275,37.88399,61.83032]}, + {"t":0.4161, "x":7.3749, "y":5.31373, "heading":1.001, "vx":1.55928, "vy":1.26459, "omega":-4.30971, "ax":5.92531, "ay":0.59253, "alpha":8.49893, "fx":[72.79203,107.05557,121.81799,93.42267], "fy":[1.20624,-21.80597,17.6778,42.43057]}, + {"t":0.43922, "x":7.41252, "y":5.34312, "heading":0.90137, "vx":1.69626, "vy":1.27829, "omega":-4.11324, "ax":5.95033, "ay":-0.35963, "alpha":7.72457, "fx":[76.07222,103.50187,120.79353,96.38893], "fy":[-12.41996,-35.58396,-0.59696,24.62147]}, + {"t":0.46233, "x":7.45333, "y":5.37258, "heading":0.80629, "vx":1.83381, "vy":1.26997, "omega":-3.93468, "ax":5.8457, "ay":-1.19571, "alpha":7.03479, "fx":[75.20066,97.90525,117.25714,99.41687], "fy":[-24.39828,-46.74274,-16.58754,8.00104]}, + {"t":0.48545, "x":7.49728, "y":5.40162, "heading":0.71533, "vx":1.96894, "vy":1.24233, "omega":-3.77205, "ax":5.65829, "ay":-1.90835, "alpha":6.45534, "fx":[74.74587,92.32469,112.72846,97.48487], "fy":[-33.71176,-57.18908,-30.20345,-6.14062]}, + {"t":0.50857, "x":7.54431, "y":5.42982, "heading":0.62813, "vx":2.09974, "vy":1.19822, "omega":-3.62283, "ax":5.42483, "ay":-2.50519, "alpha":5.99967, "fx":[71.45553,86.12777,107.61116,96.52297], "fy":[-43.0994,-64.24623,-41.5714,-18.12422]}, + {"t":0.53168, "x":7.5943, "y":5.45685, "heading":0.54438, "vx":2.22515, "vy":1.1403, "omega":-3.48414, "ax":5.17067, "ay":-3.00125, "alpha":5.67131, "fx":[69.44982,80.07146,101.93299,93.31614], "fy":[-48.86124,-72.11627,-51.17051,-27.96955]}, + {"t":0.5548, "x":7.64712, "y":5.48241, "heading":0.46384, "vx":2.34468, "vy":1.07093, "omega":-3.35303, "ax":4.91451, "ay":-3.40918, "alpha":5.54326, "fx":[64.51863,74.60064,96.5418,92.02906], "fy":[-56.15873,-76.37539,-59.84131,-34.94199]}, + {"t":0.57792, "x":7.70263, "y":5.50626, "heading":0.38633, "vx":2.45828, "vy":0.99212, "omega":-3.22489, "ax":4.71801, "ay":-3.67929, "alpha":9.79883, "fx":[49.08574,63.29006,105.63704,96.57525], "fy":[-54.19118,-96.01602,-68.83941,-26.28121]}, + {"t":0.60103, "x":7.76072, "y":5.52821, "heading":0.31178, "vx":2.56735, "vy":0.90706, "omega":-2.99838, "ax":4.68292, "ay":-3.72523, "alpha":10.37417, "fx":[47.38946,59.6772,104.4091,100.77265], "fy":[-53.27495,-97.70121,-72.41365,-25.00138]}, + {"t":0.62415, "x":7.82132, "y":5.54818, "heading":0.24247, "vx":2.6756, "vy":0.82095, "omega":-2.75856, "ax":4.66147, "ay":-3.7536, "alpha":10.48277, "fx":[48.8767,56.09798,102.35409,103.48941], "fy":[-50.89469,-98.63828,-74.47328,-26.27647]}, + {"t":0.64727, "x":7.88441, "y":5.56616, "heading":0.1787, "vx":2.78336, "vy":0.73418, "omega":-2.51623, "ax":4.64798, "ay":-3.77197, "alpha":10.62564, "fx":[48.76764,53.91419,99.95498,107.28182], "fy":[-50.02352,-99.06505,-75.57297,-26.8459]}, + {"t":0.67038, "x":7.95, "y":5.58212, "heading":0.12053, "vx":2.8908, "vy":0.64698, "omega":-2.2706, "ax":4.63767, "ay":-3.78633, "alpha":14.21689, "fx":[31.26737,49.30792,101.19543,127.46043], "fy":[-46.31772,-112.49882,-75.7445,-17.90405]}, + {"t":0.6935, "x":8.01806, "y":5.59606, "heading":0.06805, "vx":2.99801, "vy":0.55946, "omega":-1.94196, "ax":3.8248, "ay":-4.59902, "alpha":40.67814, "fx":[-94.52279,5.50761,147.2165,196.82907], "fy":[8.04008,-197.38217,-132.40878,15.09707]}, + {"t":0.71662, "x":8.08839, "y":5.60777, "heading":0.02315, "vx":3.08643, "vy":0.45314, "omega":-1.00161, "ax":2.16902, "ay":-5.56227, "alpha":43.32861, "fx":[-182.86563,-8.74576,137.86361,198.37413], "fy":[-31.06722,-198.26809,-143.09535,1.54936]}, + {"t":0.73973, "x":8.16032, "y":5.61676, "heading":0.0, "vx":3.13657, "vy":0.32456, "omega":0.0, "ax":2.87015, "ay":-5.23086, "alpha":0.0, "fx":[48.05863,47.90836,47.73729,47.67164], "fy":[-87.03088,-87.95627,-86.71451,-87.08185]}, + {"t":0.76012, "x":8.22485, "y":5.62229, "heading":0.0, "vx":3.19508, "vy":0.21793, "omega":0.0, "ax":2.76445, "ay":-5.29349, "alpha":0.0, "fx":[45.74395,45.96674,46.12188,46.49593], "fy":[-89.20547,-88.01274,-88.0136,-87.72801]}, + {"t":0.7805, "x":8.29055, "y":5.62563, "heading":0.0, "vx":3.25143, "vy":0.11003, "omega":0.0, "ax":2.25503, "ay":-5.46843, "alpha":0.0, "fx":[37.96692,37.77507,37.3492,37.26989], "fy":[-90.84302,-92.64783,-90.22591,-90.90783]}, + {"t":0.80089, "x":8.3573, "y":5.62674, "heading":0.0, "vx":3.2974, "vy":-0.00144, "omega":0.0, "ax":0.01361, "ay":-3.23568, "alpha":0.0, "fx":[0.46267,0.56111,1.46894,-1.58497], "fy":[-54.05931,-54.22316,-54.22112,-53.24514]}, + {"t":0.82127, "x":8.42452, "y":5.62603, "heading":0.0, "vx":3.29767, "vy":-0.0674, "omega":0.0, "ax":-0.02157, "ay":-0.92576, "alpha":0.0, "fx":[-0.3404,-0.34559,-0.37508,-0.37693], "fy":[-15.41466,-15.53793,-15.35894,-15.41619]}, + {"t":0.84166, "x":8.49174, "y":5.62447, "heading":0.0, "vx":3.29723, "vy":-0.08627, "omega":0.0, "ax":0.00508, "ay":0.19974, "alpha":0.0, "fx":[0.0863,0.08572,0.00317,0.16384], "fy":[3.41751,3.32815,3.32852,3.24417]}, + {"t":0.86204, "x":8.55895, "y":5.62275, "heading":0.0, "vx":3.29734, "vy":-0.0822, "omega":0.0, "ax":0.01342, "ay":0.58028, "alpha":0.0, "fx":[0.18559,0.18541,0.26206,0.26199], "fy":[9.63481,9.86399,9.55861,9.63474]}, + {"t":0.88243, "x":8.62617, "y":5.6212, "heading":0.0, "vx":3.29761, "vy":-0.07037, "omega":0.0, "ax":0.01197, "ay":0.61654, "alpha":0.0, "fx":[0.16936,0.16946,-0.04128,0.50087], "fy":[10.39721,10.30752,10.30777,10.09731]}, + {"t":0.90281, "x":8.69339, "y":5.61989, "heading":0.0, "vx":3.29785, "vy":-0.05781, "omega":0.0, "ax":0.00822, "ay":0.51543, "alpha":0.0, "fx":[0.10881,0.10867,0.16534,0.16528], "fy":[8.56375,8.73796,8.50263,8.5637]}, + {"t":0.92319, "x":8.76062, "y":5.61882, "heading":0.0, "vx":3.29802, "vy":-0.0473, "omega":0.0, "ax":0.00492, "ay":0.37405, "alpha":0.0, "fx":[0.02579,0.02582,-0.15813,0.43488], "fy":[6.2496,6.29148,6.29147,6.10821]}, + {"t":0.94358, "x":8.82785, "y":5.61793, "heading":0.0, "vx":3.29812, "vy":-0.03967, "omega":0.0, "ax":0.00278, "ay":0.24691, "alpha":0.0, "fx":[0.04089,0.04088,0.05192,0.05192], "fy":[4.11029,4.14698,4.09567,4.11028]}, + {"t":0.96396, "x":8.89508, "y":5.61717, "heading":0.0, "vx":3.29818, "vy":-0.03464, "omega":0.0, "ax":0.00166, "ay":0.1664, "alpha":0.0, "fx":[-0.0556,-0.0556,-0.21217,0.43412], "fy":[2.6803,2.85718,2.85715,2.70088]}, + {"t":0.98435, "x":8.96231, "y":5.6165, "heading":0.0, "vx":3.29821, "vy":-0.03125, "omega":0.0, "ax":0.00144, "ay":0.16026, "alpha":0.0, "fx":[0.0319,0.03191,0.01608,0.01609], "fy":[2.67934,2.63571,2.69134,2.67934]}, + {"t":1.00473, "x":9.02954, "y":5.6159, "heading":0.0, "vx":3.29824, "vy":-0.02798, "omega":0.0, "ax":0.00199, "ay":0.25847, "alpha":0.0, "fx":[-0.02652,-0.02653,-0.12298,0.30861], "fy":[4.22589,4.36833,4.36831,4.27207]}, + {"t":1.02512, "x":9.09678, "y":5.61538, "heading":0.0, "vx":3.29828, "vy":-0.02271, "omega":0.0, "ax":0.00266, "ay":0.5, "alpha":0.0, "fx":[0.0446,0.0446,0.04404,0.04404], "fy":[8.33498,8.34212,8.32671,8.33498]}, + {"t":1.0455, "x":9.16401, "y":5.61502, "heading":0.0, "vx":3.29834, "vy":-0.01252, "omega":0.0, "ax":0.00081, "ay":0.93331, "alpha":0.0, "fx":[0.03928,0.03929,0.0258,-0.05066], "fy":[15.64879,15.53203,15.53203,15.51871]}, + {"t":1.06589, "x":9.23125, "y":5.61496, "heading":0.0, "vx":3.29835, "vy":0.0065, "omega":0.0, "ax":-0.01128, "ay":1.60785, "alpha":0.0, "fx":[-0.22115,-0.22035,-0.1555,-0.15522], "fy":[26.76929,26.98264,26.68697,26.76953]}, + {"t":1.08627, "x":9.29848, "y":5.61543, "heading":0.0, "vx":3.29812, "vy":0.03928, "omega":0.0, "ax":-0.12984, "ay":2.54247, "alpha":0.0, "fx":[-2.16091,-2.16718,-2.41954,-1.90996], "fy":[42.63839,42.38163,42.38115,42.12581]}, + {"t":1.10666, "x":9.36568, "y":5.61676, "heading":0.0, "vx":3.29548, "vy":0.09111, "omega":0.0, "ax":0.05979, "ay":0.21231, "alpha":-56.89606, "fx":[143.12292,136.27189,-134.2699,-141.13845], "fy":[-133.86461,141.02869,142.87521,-135.88306]}, + {"t":1.1292, "x":9.44001, "y":5.61887, "heading":0.0, "vx":3.29683, "vy":0.09589, "omega":-1.28291, "ax":-0.73918, "ay":-0.12049, "alpha":-7.83052, "fx":[8.80488,5.63722,-29.73756,-33.9914], "fy":[-20.8667,17.24619,15.92866,-20.34239]}, + {"t":1.15175, "x":9.51416, "y":5.621, "heading":-0.02893, "vx":3.28016, "vy":0.09318, "omega":-1.45948, "ax":-0.1471, "ay":0.07403, "alpha":1.07067, "fx":[-5.00793,-5.53669,0.4152,0.32123], "fy":[3.79948,-1.16342,-1.15074,3.4507]}, + {"t":1.1743, "x":9.58808, "y":5.62312, "heading":-0.06184, "vx":3.27684, "vy":0.09485, "omega":-1.43534, "ax":0.11329, "ay":0.21518, "alpha":1.70224, "fx":[-1.92205,-2.5974,5.74121,6.33242], "fy":[7.95145,-0.22777,-0.84194,7.46606]}, + {"t":1.19685, "x":9.662, "y":5.62531, "heading":-0.0942, "vx":3.2794, "vy":0.0997, "omega":-1.39695, "ax":0.00782, "ay":0.32914, "alpha":1.31103, "fx":[-2.81373,-3.45869,3.102,3.69164], "fy":[8.87393,2.64404,2.14449,8.28427]}, + {"t":1.2194, "x":9.73595, "y":5.62764, "heading":-0.1257, "vx":3.27957, "vy":0.10712, "omega":-1.36739, "ax":-0.0294, "ay":0.42337, "alpha":1.12264, "fx":[-2.88454,-3.52771,1.90058,2.55123], "fy":[10.10509,4.66059,4.02755,9.43631]}, + {"t":1.24195, "x":9.80989, "y":5.63017, "heading":-0.15653, "vx":3.27891, "vy":0.11667, "omega":-1.34208, "ax":-0.04263, "ay":0.49597, "alpha":1.00415, "fx":[-2.82061,-3.52333,1.40466,2.09655], "fy":[10.98452,6.28372,5.49711,10.30479]}, + {"t":1.26449, "x":9.88381, "y":5.63292, "heading":-0.18679, "vx":3.27795, "vy":0.12785, "omega":-1.31944, "ax":-0.04146, "ay":0.55345, "alpha":0.92866, "fx":[-2.50979,-3.25635,1.18218,1.8197], "fy":[11.96558,7.33214,6.58799,11.01759]}, + {"t":1.28704, "x":9.95771, "y":5.63595, "heading":-0.21655, "vx":3.27701, "vy":0.14033, "omega":-1.2985, "ax":-0.03631, "ay":0.5954, "alpha":0.86663, "fx":[-2.28943,-3.13197,1.08057,1.92003], "fy":[12.35768,8.45691,7.35775,11.5281]}, + {"t":1.30959, "x":10.03159, "y":5.63926, "heading":-0.24582, "vx":3.27619, "vy":0.15375, "omega":-1.27896, "ax":-0.0286, "ay":0.62683, "alpha":0.81452, "fx":[-1.90801,-2.77911,1.01846,1.76136], "fy":[13.05906,8.89416,8.02418,11.81811]}, + {"t":1.33214, "x":10.10546, "y":5.64289, "heading":-0.27466, "vx":3.27555, "vy":0.16789, "omega":-1.26059, "ax":-0.03089, "ay":0.6502, "alpha":0.7419, "fx":[-1.83128,-2.77036,0.80183,1.73985], "fy":[12.98022,9.83417,8.49127,12.04862]}, + {"t":1.35469, "x":10.17931, "y":5.64684, "heading":-0.30309, "vx":3.27485, "vy":0.18255, "omega":-1.24386, "ax":-0.03003, "ay":0.66513, "alpha":0.68086, "fx":[-1.55135,-2.45163,0.62554,1.3748], "fy":[13.45491,9.87278,8.97312,12.04884]}, + {"t":1.37724, "x":10.25314, "y":5.65112, "heading":-0.33113, "vx":3.27418, "vy":0.19755, "omega":-1.22851, "ax":-0.03479, "ay":0.67732, "alpha":0.6111, "fx":[-1.56058,-2.51207,0.40097,1.35219], "fy":[13.08298,10.70597,9.23567,12.13772]}, + {"t":1.39978, "x":10.32696, "y":5.65575, "heading":-0.35883, "vx":3.27339, "vy":0.21282, "omega":-1.21473, "ax":-0.04024, "ay":0.68104, "alpha":0.54247, "fx":[-1.38558,-2.22615,0.13491,0.79384], "fy":[13.40754,10.44084,9.60083,11.96115]}, + {"t":1.42233, "x":10.40076, "y":5.66072, "heading":-0.38622, "vx":3.27248, "vy":0.22818, "omega":-1.2025, "ax":-0.04143, "ay":0.68192, "alpha":0.4878, "fx":[-1.39019,-2.29122,0.00894,0.91006], "fy":[12.80164,11.12703,9.63016,11.91011]}, + {"t":1.44488, "x":10.47454, "y":5.66604, "heading":-0.41334, "vx":3.27155, "vy":0.24355, "omega":-1.1915, "ax":-0.05133, "ay":0.66817, "alpha":0.41227, "fx":[-1.30016,-2.02027,-0.30981,0.20737], "fy":[12.85293,10.47611,9.75701,11.46653]}, + {"t":1.46743, "x":10.5483, "y":5.6717, "heading":-0.44021, "vx":3.27039, "vy":0.25862, "omega":-1.1822, "ax":-0.04457, "ay":0.6419, "alpha":0.37599, "fx":[-1.2165,-2.02238,-0.26965,0.53652], "fy":[11.7912,10.71677,9.2894,11.00349]}, + {"t":1.48998, "x":10.62203, "y":5.6777, "heading":-0.46686, "vx":3.26939, "vy":0.27309, "omega":-1.17372, "ax":-0.05515, "ay":0.58224, "alpha":0.29283, "fx":[-1.15902,-1.71834,-0.57657,-0.2232], "fy":[11.0577,9.2465,8.68945,9.82924]}, + {"t":1.51253, "x":10.69573, "y":5.684, "heading":-0.49333, "vx":3.26814, "vy":0.28622, "omega":-1.16712, "ax":-0.0344, "ay":0.48369, "alpha":0.27451, "fx":[-0.86894,-1.54332,-0.27814,0.39674], "fy":[8.83447,8.23213,6.99158,8.19328]}, + {"t":1.53507, "x":10.76941, "y":5.69058, "heading":-0.51964, "vx":3.26737, "vy":0.29713, "omega":-1.16093, "ax":-0.03249, "ay":0.31002, "alpha":0.19534, "fx":[-0.64887,-1.05435,-0.34068,-0.12257], "fy":[6.157,4.8686,4.46806,5.17803]}, + {"t":1.55762, "x":10.84308, "y":5.69736, "heading":-0.54582, "vx":3.26664, "vy":0.30412, "omega":-1.15653, "ax":0.00729, "ay":0.04262, "alpha":0.18286, "fx":[-0.03902,-0.55229,0.28154,0.79561], "fy":[1.20427,0.89014,0.00205,0.74551]}, + {"t":1.58017, "x":10.91674, "y":5.70423, "heading":-0.5719, "vx":3.2668, "vy":0.30508, "omega":-1.1524, "ax":0.04491, "ay":-0.38023, "alpha":0.13567, "fx":[0.70112,0.36433,0.87326,1.05584], "fy":[-5.68727,-6.50494,-6.83255,-6.32839]}, + {"t":1.60272, "x":10.99041, "y":5.71101, "heading":-0.59788, "vx":3.26781, "vy":0.2965, "omega":-1.14935, "ax":0.08087, "ay":-0.99639, "alpha":0.05971, "fx":[1.3103,1.09673,1.38508,1.60021], "fy":[-16.45949,-16.60264,-16.77803,-16.59689]}, + {"t":1.62527, "x":11.06412, "y":5.71744, "heading":-0.6238, "vx":3.26964, "vy":0.27404, "omega":-1.148, "ax":0.12533, "ay":-1.89652, "alpha":-0.00817, "fx":[2.13397,2.05491,2.1402,2.02789], "fy":[-31.72187,-31.56152,-31.63066,-31.54216]}, + {"t":1.64782, "x":11.13787, "y":5.72314, "heading":-0.64969, "vx":3.27246, "vy":0.23127, "omega":-1.14818, "ax":0.02032, "ay":-3.12181, "alpha":-0.37047, "fx":[0.5232,1.59478,0.15168,-0.91509], "fy":[-53.18406,-52.3673,-50.55099,-52.05407]}, + {"t":1.67036, "x":11.21167, "y":5.72756, "heading":-0.67558, "vx":3.27292, "vy":0.16088, "omega":-1.15654, "ax":-0.20258, "ay":-4.6258, "alpha":-0.83585, "fx":[-2.93921,-0.77582,-3.51243,-6.28046], "fy":[-80.39077,-76.55268,-74.43074,-77.06514]}, + {"t":1.69291, "x":11.28541, "y":5.73001, "heading":-0.70165, "vx":3.26835, "vy":0.05658, "omega":-1.17538, "ax":-0.56959, "ay":-5.51866, "alpha":-1.32676, "fx":[-9.06473,-4.784,-9.9383,-14.19219], "fy":[-96.08606,-92.73917,-87.16265,-91.98548]}, + {"t":1.71546, "x":11.35897, "y":5.72988, "heading":-0.72816, "vx":3.25551, "vy":-0.06786, "omega":-1.2053, "ax":-1.0023, "ay":-5.65402, "alpha":-1.82629, "fx":[-16.03643,-10.60966,-16.88036,-23.30489], "fy":[-100.84331,-93.63083,-88.41433,-94.11042]}, + {"t":1.73801, "x":11.43212, "y":5.72692, "heading":-0.75533, "vx":3.23291, "vy":-0.19535, "omega":-1.24648, "ax":-1.20837, "ay":-5.70816, "alpha":-1.77426, "fx":[-19.80437,-13.534,-20.53697,-26.69663], "fy":[-100.20211,-96.94501,-88.86311,-94.59895]}, + {"t":1.76056, "x":11.50471, "y":5.72106, "heading":-0.78344, "vx":3.20566, "vy":-0.32406, "omega":-1.28649, "ax":-1.39371, "ay":-5.71835, "alpha":-1.6605, "fx":[-22.72788,-17.68831,-23.27072,-29.24272], "fy":[-101.56313,-94.94731,-90.24283,-94.53544]}, + {"t":1.78311, "x":11.57664, "y":5.7123, "heading":-0.81245, "vx":3.17424, "vy":-0.453, "omega":-1.32393, "ax":-1.43332, "ay":-5.74003, "alpha":-1.19288, "fx":[-23.76569,-18.90294,-24.15006,-28.75244], "fy":[-98.36816,-97.75493,-91.84921,-94.76184]}, + {"t":1.80565, "x":11.64784, "y":5.70063, "heading":-0.8423, "vx":3.14192, "vy":-0.58242, "omega":-1.35083, "ax":-1.39799, "ay":-5.76905, "alpha":-0.53418, "fx":[-23.38702,-22.43705,-23.37568,-24.01538], "fy":[-99.151,-95.88519,-93.3357,-96.29738]}, + {"t":1.8282, "x":11.71833, "y":5.68603, "heading":-0.87276, "vx":3.11039, "vy":-0.71251, "omega":-1.36287, "ax":-1.44503, "ay":-5.77115, "alpha":16.06331, "fx":[-28.55375,-82.23282,-24.20194,38.6365], "fy":[-41.13499,-90.68272,-140.9064,-112.08522]}, + {"t":1.85075, "x":11.7881, "y":5.66849, "heading":-0.90349, "vx":3.07781, "vy":-0.84264, "omega":-1.00067, "ax":-4.62393, "ay":-3.72535, "alpha":10.7407, "fx":[-80.2818,-112.32794,-77.54311,-38.16164], "fy":[-22.95103,-54.7835,-95.71832,-74.946]}, + {"t":1.87976, "x":11.87544, "y":5.64248, "heading":-0.93252, "vx":2.94367, "vy":-0.95071, "omega":-0.68908, "ax":-5.88596, "ay":-1.05136, "alpha":6.04389, "fx":[-98.14833,-115.42868,-98.94308,-79.94427], "fy":[7.10086,-12.37056,-39.55347,-25.27937]}, + {"t":1.90877, "x":11.95836, "y":5.61446, "heading":-0.95251, "vx":2.77292, "vy":-0.98121, "omega":-0.51375, "ax":-5.97819, "ay":0.29791, "alpha":3.83095, "fx":[-98.64587,-109.77528,-101.14339,-89.04991], "fy":[20.4436,8.82588,-10.65154,1.24593]}, + {"t":1.93778, "x":12.03629, "y":5.58612, "heading":-0.96741, "vx":2.59949, "vy":-0.97257, "omega":-0.40261, "ax":-5.90673, "ay":0.99079, "alpha":2.582, "fx":[-96.92775,-105.07899,-99.96375,-91.87885], "fy":[27.65608,18.0302,5.90242,14.47518]}, + {"t":1.96679, "x":12.10921, "y":5.55832, "heading":-0.97909, "vx":2.42814, "vy":-0.94382, "omega":-0.32771, "ax":-5.82643, "ay":1.39662, "alpha":1.73422, "fx":[-95.86564,-101.57324,-98.46875,-92.58733], "fy":[30.31543,24.75177,15.99361,22.06292]}, + {"t":1.9958, "x":12.1772, "y":5.53153, "heading":-0.9886, "vx":2.25912, "vy":-0.90331, "omega":-0.2774, "ax":-5.75865, "ay":1.65938, "alpha":1.25456, "fx":[-94.74686,-99.11912,-96.9938,-93.11566], "fy":[33.27246,28.20609,22.38731,26.77855]}, + {"t":2.02481, "x":12.24032, "y":5.50602, "heading":-0.99665, "vx":2.09206, "vy":-0.85517, "omega":-0.24101, "ax":-5.70387, "ay":1.84229, "alpha":0.92933, "fx":[-94.20354,-97.42766,-96.00823,-92.68364], "fy":[34.38754,31.60208,26.7464,30.10416]}, + {"t":2.05382, "x":12.29861, "y":5.48199, "heading":-1.00364, "vx":1.92659, "vy":-0.80172, "omega":-0.21405, "ax":-5.65958, "ay":1.97653, "alpha":0.69977, "fx":[-93.34607,-96.0601,-94.9123,-93.0516], "fy":[36.26282,33.26849,29.95921,32.30037]}, + {"t":2.08283, "x":12.35211, "y":5.45956, "heading":-1.00985, "vx":1.76241, "vy":-0.74439, "omega":-0.19375, "ax":-5.62337, "ay":2.07905, "alpha":0.59587, "fx":[-93.10082,-95.23523,-94.41539,-92.20407], "fy":[37.00137,35.20892,32.12128,34.29574]}, + {"t":2.11184, "x":12.40088, "y":5.43884, "heading":-1.01547, "vx":1.59927, "vy":-0.68407, "omega":-0.17646, "ax":-5.59335, "ay":2.15984, "alpha":0.50528, "fx":[-92.41757,-94.46344,-93.69415,-92.37874], "fy":[38.46579,36.21358,33.87757,35.45726]}, + {"t":2.14085, "x":12.44492, "y":5.41991, "heading":-1.02059, "vx":1.43701, "vy":-0.62142, "omega":-0.1618, "ax":-5.56813, "ay":2.2251, "alpha":0.46535, "fx":[-92.29262,-93.98281,-93.40021,-91.5968], "fy":[38.86466,37.59039,35.11439,36.7958]}, + {"t":2.16986, "x":12.48426, "y":5.40282, "heading":-1.02528, "vx":1.27548, "vy":-0.55687, "omega":-0.1483, "ax":-5.54669, "ay":2.27888, "alpha":0.45254, "fx":[-91.69918,-93.60054,-92.92518,-91.61753], "fy":[40.12517,38.13552,36.131,37.55978]}, + {"t":2.19887, "x":12.51893, "y":5.38762, "heading":-1.02958, "vx":1.11457, "vy":-0.49076, "omega":-0.13518, "ax":-5.52825, "ay":2.32396, "alpha":0.46703, "fx":[-91.58461,-93.33851,-92.76788,-90.92181], "fy":[40.56018,39.11104,36.79592,38.49016]}, + {"t":2.22788, "x":12.54894, "y":5.37436, "heading":-1.03351, "vx":0.9542, "vy":-0.42334, "omega":-0.12163, "ax":-5.51223, "ay":2.36228, "alpha":0.50985, "fx":[-91.045,-93.1845,-92.48528,-90.8303], "fy":[41.70027,39.5167,37.30783,38.98756]}, + {"t":2.25689, "x":12.5743, "y":5.36308, "heading":-1.03703, "vx":0.79429, "vy":-0.35481, "omega":-0.10684, "ax":-5.4982, "ay":2.39525, "alpha":0.55303, "fx":[-90.93748,-93.06395,-92.41331,-90.19493], "fy":[42.1173,40.26842,37.65278,39.67235]}, + {"t":2.2859, "x":12.59503, "y":5.35379, "heading":-1.04013, "vx":0.63479, "vy":-0.28532, "omega":-0.09079, "ax":-5.48582, "ay":2.42392, "alpha":0.62625, "fx":[-90.43904,-93.06955,-92.24927,-90.02599], "fy":[43.11625,40.60631,37.86538,40.03408]}, + {"t":2.31491, "x":12.61113, "y":5.34653, "heading":-1.04277, "vx":0.47564, "vy":-0.21501, "omega":-0.07263, "ax":-5.47481, "ay":2.44905, "alpha":0.7128, "fx":[-90.2997,-93.08117,-92.28029,-89.3887], "fy":[43.66494,41.20497,37.904,40.52424]}, + {"t":2.34392, "x":12.62263, "y":5.34133, "heading":-1.04487, "vx":0.31682, "vy":-0.14396, "omega":-0.05195, "ax":-5.46496, "ay":2.47129, "alpha":0.8206, "fx":[-89.9697,-93.19974,-92.28348,-88.93999], "fy":[44.47935,41.58328,37.84601,40.87229]}, + {"t":2.37293, "x":12.62952, "y":5.33819, "heading":-1.04638, "vx":0.15828, "vy":-0.07227, "omega":-0.02814, "ax":-5.45609, "ay":2.4911, "alpha":0.97007, "fx":[-89.55404,-93.63404,-92.27467,-88.33886], "fy":[45.37375,41.76228,37.69483,41.27092]}, + {"t":2.40194, "x":12.63181, "y":5.33714, "heading":-1.0472, "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/bargeToOppE.traj b/src/main/deploy/choreo/bargeToOppE.traj new file mode 100644 index 00000000..b3873a29 --- /dev/null +++ b/src/main/deploy/choreo/bargeToOppE.traj @@ -0,0 +1,137 @@ +{ + "name":"bargeToOppE", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.58463382720947, "y":5.08871412277, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.869606971740724, "y":5.709586143493652, "heading":-0.5538539145382533, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"barge.x", "val":7.58463382720947}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"11.869606971740723 m", "val":11.869606971740724}, "y":{"exp":"5.709586143493652 m", "val":5.709586143493652}, "heading":{"exp":"-0.5538539145382533 rad", "val":-0.5538539145382533}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.57679,1.18026,1.99079,2.52479], + "samples":[ + {"t":0.0, "x":7.58463, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.27566, "ay":5.54814, "alpha":-0.00395, "fx":[37.98719,37.8282,37.96019,37.96096], "fy":[92.43892,92.59557,92.46555,92.43939]}, + {"t":0.03845, "x":7.58632, "y":5.09282, "heading":0.0, "vx":0.0875, "vy":0.21334, "omega":-0.00015, "ax":2.44539, "ay":5.47703, "alpha":-0.00587, "fx":[40.81004,40.69445,40.77186,40.77725], "fy":[91.25751,91.38875,91.28963,91.2619]}, + {"t":0.07691, "x":7.59149, "y":5.10507, "heading":-0.00001, "vx":0.18154, "vy":0.42395, "omega":-0.00038, "ax":2.65939, "ay":5.37608, "alpha":0.0062, "fx":[44.25209,44.38163,44.33903,44.35043], "fy":[89.7016,89.59548,89.60534,89.56421]}, + {"t":0.11536, "x":7.60044, "y":5.12534, "heading":-0.00002, "vx":0.2838, "vy":0.63067, "omega":-0.00014, "ax":2.93719, "ay":5.22909, "alpha":-0.00844, "fx":[49.03422,48.86308,48.966,48.98304], "fy":[87.10484,87.28306,87.15776,87.11986]}, + {"t":0.15381, "x":7.61352, "y":5.15346, "heading":-0.00003, "vx":0.39674, "vy":0.83174, "omega":-0.00046, "ax":3.30798, "ay":5.00222, "alpha":0.01365, "fx":[55.00933,55.19357,55.1345,55.23207], "fy":[83.5634,83.34788,83.37008,83.25678]}, + {"t":0.19226, "x":7.63122, "y":5.18914, "heading":-0.00004, "vx":0.52394, "vy":1.02409, "omega":0.00006, "ax":3.8155, "ay":4.62591, "alpha":-0.01192, "fx":[63.70565,63.44739,63.61378,63.6437], "fy":[77.01355,77.29467,77.09689,77.04136]}, + {"t":0.23072, "x":7.65419, "y":5.23194, "heading":-0.00004, "vx":0.67066, "vy":1.20197, "omega":-0.0004, "ax":4.51194, "ay":3.94821, "alpha":0.03035, "fx":[74.96207,75.22461,75.16266,75.49841], "fy":[66.16668,65.76792,65.80331,65.52146]}, + {"t":0.26917, "x":7.68331, "y":5.28108, "heading":-0.00006, "vx":0.84415, "vy":1.35379, "omega":0.00077, "ax":5.37715, "ay":2.64907, "alpha":-0.02187, "fx":[89.72451,89.49206,89.64033,89.68121], "fy":[44.01102,44.41605,44.16714,44.04101]}, + {"t":0.30762, "x":7.71975, "y":5.33509, "heading":-0.00003, "vx":1.05092, "vy":1.45565, "omega":-0.00007, "ax":5.98394, "ay":0.33248, "alpha":0.0155, "fx":[99.66683,99.68253,99.65064,99.99777], "fy":[5.74382,5.53917,5.54392,5.34213]}, + {"t":0.34607, "x":7.76458, "y":5.39131, "heading":-0.00003, "vx":1.28101, "vy":1.46844, "omega":0.00052, "ax":5.46791, "ay":-2.45385, "alpha":-0.02423, "fx":[91.15506,91.14657,91.1649,91.12327], "fy":[-41.00243,-40.6658,-40.91385,-41.03573]}, + {"t":0.38453, "x":7.81788, "y":5.44596, "heading":-0.00001, "vx":1.49127, "vy":1.37408, "omega":-0.00041, "ax":4.16091, "ay":-4.31514, "alpha":0.01417, "fx":[69.10306,69.36967,69.31651,69.65224], "fy":[-72.36644,-71.85696,-71.89574,-71.60616]}, + {"t":0.42298, "x":7.8783, "y":5.49561, "heading":-0.00003, "vx":1.65127, "vy":1.20815, "omega":0.00014, "ax":2.99775, "ay":-5.19244, "alpha":0.00851, "fx":[50.02602,49.86337,50.01434,49.98018], "fy":[-86.52502,-86.59987,-86.5413,-86.55541]}, + {"t":0.46143, "x":7.94401, "y":5.53823, "heading":-0.00002, "vx":1.76654, "vy":1.00849, "omega":0.00047, "ax":2.17756, "ay":-5.58718, "alpha":-0.01615, "fx":[36.24689,36.40951,36.37808,36.16097], "fy":[-93.35118,-93.07616,-93.09646,-93.01875]}, + {"t":0.49988, "x":8.01355, "y":5.57288, "heading":0.0, "vx":1.85027, "vy":0.79365, "omega":-0.00016, "ax":1.61169, "ay":-5.77653, "alpha":0.00944, "fx":[26.8865,26.81301,26.89099,26.8738], "fy":[-96.25515,-96.34289,-96.30019,-96.26936]}, + {"t":0.53834, "x":8.08589, "y":5.59912, "heading":-0.00001, "vx":1.91224, "vy":0.57152, "omega":0.00021, "ax":1.20969, "ay":-5.87433, "alpha":-0.00538, "fx":[20.15603,20.22354,20.21642,20.0639], "fy":[-97.97853,-97.91577,-97.92598,-97.86887]}, + {"t":0.57679, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.95876, "vy":0.34564, "omega":0.0, "ax":0.98737, "ay":-5.91087, "alpha":0.0, "fx":[16.55856,16.43258,16.44033,16.40431], "fy":[-98.47957,-98.64612,-98.48994,-98.50999]}, + {"t":0.60855, "x":8.22303, "y":5.62475, "heading":0.0, "vx":1.99012, "vy":0.1579, "omega":0.0, "ax":0.28109, "ay":-5.98237, "alpha":0.0, "fx":[4.43477,4.61948,4.61959,5.06904], "fy":[-99.95408,-99.58296,-99.54635,-99.80961]}, + {"t":0.64031, "x":8.28638, "y":5.62675, "heading":0.0, "vx":1.99905, "vy":-0.03211, "omega":0.0, "ax":-0.01808, "ay":-0.86852, "alpha":0.0, "fx":[-0.26955,-0.27458,-0.32973,-0.33154], "fy":[-14.44738,-14.66274,-14.35159,-14.44982]}, + {"t":0.67207, "x":8.34986, "y":5.62529, "heading":0.0, "vx":1.99847, "vy":-0.0597, "omega":0.0, "ax":0.01167, "ay":0.44324, "alpha":0.0, "fx":[0.23511,0.23497,0.44137,-0.13307], "fy":[7.3036,7.34826,7.34806,7.55451]}, + {"t":0.70384, "x":8.41335, "y":5.62362, "heading":0.0, "vx":1.99885, "vy":-0.04562, "omega":0.0, "ax":0.00604, "ay":0.29526, "alpha":0.0, "fx":[0.1329,0.13277,0.0687,0.06865], "fy":[4.95405,4.76595,5.01374,4.95396]}, + {"t":0.7356, "x":8.47684, "y":5.62232, "heading":0.0, "vx":1.99904, "vy":-0.03624, "omega":0.0, "ax":0.00272, "ay":0.1615, "alpha":0.0, "fx":[0.06428,0.06466,0.1535,-0.10111], "fy":[2.66043,2.67291,2.67291,2.76193]}, + {"t":0.76736, "x":8.54033, "y":5.62125, "heading":0.0, "vx":1.99912, "vy":-0.03111, "omega":0.0, "ax":0.00161, "ay":0.10974, "alpha":0.0, "fx":[0.02219,0.02214,0.03157,0.03155], "fy":[1.82467,1.86325,1.80484,1.82464]}, + {"t":0.79912, "x":8.60383, "y":5.62032, "heading":0.0, "vx":1.99918, "vy":-0.02763, "omega":0.0, "ax":0.00113, "ay":0.0862, "alpha":0.0, "fx":[0.04917,0.04919,0.03274,-0.05563], "fy":[1.54423,1.40655,1.40655,1.39013]}, + {"t":0.83088, "x":8.66732, "y":5.61949, "heading":0.0, "vx":1.99921, "vy":-0.02489, "omega":0.0, "ax":0.00079, "ay":0.06604, "alpha":0.0, "fx":[-0.00756,-0.00756,0.03381,0.03381], "fy":[1.08022,1.20896,1.03422,1.08022]}, + {"t":0.86265, "x":8.73082, "y":5.61873, "heading":0.0, "vx":1.99924, "vy":-0.02279, "omega":0.0, "ax":0.0005, "ay":0.04523, "alpha":0.0, "fx":[0.02997,0.02997,0.0027,-0.02936], "fy":[0.84614,0.73226,0.73226,0.70498]}, + {"t":0.89441, "x":8.79432, "y":5.61803, "heading":0.0, "vx":1.99925, "vy":-0.02135, "omega":0.0, "ax":0.00027, "ay":0.02618, "alpha":0.0, "fx":[-0.00569,-0.00569,0.01483,0.01483], "fy":[0.42612,0.48731,0.40595,0.42612]}, + {"t":0.92617, "x":8.85782, "y":5.61736, "heading":0.0, "vx":1.99926, "vy":-0.02052, "omega":0.0, "ax":0.00011, "ay":0.01111, "alpha":0.0, "fx":[0.00702,0.00702,0.00946,-0.01596], "fy":[0.19817,0.18007,0.18007,0.18251]}, + {"t":0.95793, "x":8.92132, "y":5.61672, "heading":0.0, "vx":1.99926, "vy":-0.02017, "omega":0.0, "ax":-0.00002, "ay":-0.00177, "alpha":0.0, "fx":[0.00279,0.00279,-0.00338,-0.00338], "fy":[-0.02641,-0.04726,-0.01791,-0.02641]}, + {"t":0.98969, "x":8.98482, "y":5.61607, "heading":0.0, "vx":1.99926, "vy":-0.02023, "omega":0.0, "ax":-0.00021, "ay":-0.02053, "alpha":0.0, "fx":[-0.00149,-0.00149,0.02766,-0.03874], "fy":[-0.36528,-0.34425,-0.34425,-0.31513]}, + {"t":1.02145, "x":9.04833, "y":5.61542, "heading":0.0, "vx":1.99926, "vy":-0.02088, "omega":0.0, "ax":-0.00062, "ay":-0.05713, "alpha":0.0, "fx":[-0.00415,-0.00415,-0.01661,-0.01661], "fy":[-0.94617,-0.98222,-0.93504,-0.94617]}, + {"t":1.05322, "x":9.11182, "y":5.61473, "heading":0.0, "vx":1.99924, "vy":-0.02269, "omega":0.0, "ax":-0.00106, "ay":-0.0878, "alpha":0.0, "fx":[0.00209,0.00208,0.06544,-0.14013], "fy":[-1.46775,-1.48329,-1.48328,-1.41995]}, + {"t":1.08498, "x":9.17532, "y":5.61396, "heading":0.0, "vx":1.9992, "vy":-0.02548, "omega":0.0, "ax":0.00141, "ay":0.11929, "alpha":0.0, "fx":[0.03196,0.03194,0.01497,0.01495], "fy":[1.997,1.95699,2.00301,1.99698]}, + {"t":1.11674, "x":9.23882, "y":5.61322, "heading":0.0, "vx":1.99925, "vy":-0.02169, "omega":0.0, "ax":-0.00181, "ay":1.51364, "alpha":0.0, "fx":[0.03681,0.03819,0.01173,-0.20728], "fy":[25.45995,25.16397,25.164,25.13857]}, + {"t":1.1485, "x":9.30232, "y":5.61329, "heading":0.0, "vx":1.99919, "vy":0.02638, "omega":0.0, "ax":-0.26974, "ay":5.21358, "alpha":0.0, "fx":[-4.72678,-4.72783,-4.26495,-4.26602], "fy":[86.6774,88.00958,86.26788,86.67642]}, + {"t":1.18026, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.99062, "vy":0.19198, "omega":0.0, "ax":5.9474, "ay":0.67301, "alpha":-42.8693, "fx":[183.13301,166.62102,17.80062,29.00665], "fy":[-63.17865,99.83462,188.72154,-180.50239]}, + {"t":1.2041, "x":9.41483, "y":5.62153, "heading":0.0, "vx":2.1324, "vy":0.20802, "omega":-1.02196, "ax":5.95301, "ay":0.6805, "alpha":-41.47372, "fx":[179.58671,165.37968,19.58308,32.38576], "fy":[-64.44666,96.6886,183.49744,-170.36492]}, + {"t":1.22794, "x":9.46735, "y":5.62668, "heading":-0.02436, "vx":2.27432, "vy":0.22424, "omega":-2.01066, "ax":5.95001, "ay":0.69648, "alpha":-35.62479, "fx":[168.08798,162.34305,31.80351,34.50082], "fy":[-68.93237,84.03759,154.1501,-122.81521]}, + {"t":1.25178, "x":9.52326, "y":5.63222, "heading":-0.07229, "vx":2.41616, "vy":0.24085, "omega":-2.85992, "ax":5.94852, "ay":0.69563, "alpha":-6.97352, "fx":[111.93528,109.81333,86.77755,88.10946], "fy":[-10.41449,27.9906,39.59604,-10.78857]}, + {"t":1.27562, "x":9.58255, "y":5.63816, "heading":-0.14047, "vx":2.55797, "vy":0.25743, "omega":-3.02616, "ax":5.94524, "ay":0.70374, "alpha":17.25501, "fx":[66.86201,57.86962,133.16016,138.52545], "fy":[68.15573,-30.2749,-39.48615,48.52926]}, + {"t":1.29946, "x":9.64522, "y":5.6445, "heading":-0.21261, "vx":2.6997, "vy":0.27421, "omega":-2.61481, "ax":5.94059, "ay":0.71379, "alpha":16.49003, "fx":[72.00229,57.31519,130.37271,136.41676], "fy":[71.55005,-26.81663,-38.22352,41.08401]}, + {"t":1.3233, "x":9.71127, "y":5.65124, "heading":-0.27495, "vx":2.84131, "vy":0.29122, "omega":-2.22171, "ax":5.93338, "ay":0.72494, "alpha":15.65075, "fx":[75.68321,60.08945,125.63943,134.21409], "fy":[71.68398,-22.02004,-39.57426,38.2482]}, + {"t":1.34714, "x":9.78069, "y":5.65839, "heading":-0.32791, "vx":2.98276, "vy":0.3085, "omega":-1.84861, "ax":5.91929, "ay":0.7411, "alpha":15.03671, "fx":[78.26194,55.85312,124.30443,136.26716], "fy":[67.01795,-14.07753,-37.25267,33.72741]}, + {"t":1.37098, "x":9.85348, "y":5.66595, "heading":-0.37198, "vx":3.12387, "vy":0.32617, "omega":-1.49015, "ax":5.87426, "ay":0.78632, "alpha":14.35761, "fx":[78.15541,57.59434,119.88933,136.04521], "fy":[64.86293,-9.37906,-35.85739,32.80372]}, + {"t":1.39482, "x":9.92961, "y":5.67395, "heading":-0.4075, "vx":3.26391, "vy":0.34492, "omega":-1.14788, "ax":0.59446, "ay":0.88673, "alpha":2.12574, "fx":[7.01103,3.66394,13.55124,15.41096], "fy":[22.45555,9.74589,8.66943,18.25435]}, + {"t":1.41865, "x":10.00759, "y":5.68242, "heading":-0.43487, "vx":3.27808, "vy":0.36606, "omega":-1.0972, "ax":-0.06568, "ay":0.58018, "alpha":0.28297, "fx":[-2.18692,-1.76982,-0.3685,-0.0542], "fy":[10.45594,9.33465,8.91986,9.97452]}, + {"t":1.44249, "x":10.08572, "y":5.69132, "heading":-0.46102, "vx":3.27651, "vy":0.37989, "omega":-1.09046, "ax":-0.02569, "ay":0.21996, "alpha":0.2208, "fx":[-0.49967,-0.52905,-0.34442,-0.33973], "fy":[4.88981,3.3742,2.20057,4.20173]}, + {"t":1.46633, "x":10.16382, "y":5.70043, "heading":-0.48702, "vx":3.2759, "vy":0.38513, "omega":-1.08519, "ax":-0.02541, "ay":0.21499, "alpha":0.1824, "fx":[-1.02479,-1.37867,-0.00134,0.71066], "fy":[3.68226,3.53058,3.48903,3.63297]}, + {"t":1.49017, "x":10.24191, "y":5.70968, "heading":-0.51289, "vx":3.27529, "vy":0.39025, "omega":-1.08085, "ax":-0.009, "ay":0.07496, "alpha":0.14668, "fx":[-0.10173,0.01913,-0.19945,-0.31772], "fy":[2.35376,0.96839,0.06978,1.60619]}, + {"t":1.51401, "x":10.31998, "y":5.719, "heading":-0.53866, "vx":3.27508, "vy":0.39204, "omega":-1.07735, "ax":-0.01234, "ay":0.10311, "alpha":0.11968, "fx":[-0.52648,-0.96845,0.0253,0.64688], "fy":[1.69117,1.71544,1.74687,1.72154]}, + {"t":1.53785, "x":10.39806, "y":5.72838, "heading":-0.56434, "vx":3.27478, "vy":0.3945, "omega":-1.0745, "ax":-0.01139, "ay":0.09399, "alpha":0.09106, "fx":[-0.14031,-0.00047,-0.24025,-0.37832], "fy":[2.33428,1.51313,0.69567,1.724]}, + {"t":1.56169, "x":10.47612, "y":5.73781, "heading":-0.58995, "vx":3.27451, "vy":0.39674, "omega":-1.07232, "ax":-0.00597, "ay":0.04942, "alpha":0.06336, "fx":[-0.23693,-0.6111,0.01359,0.43604], "fy":[0.72374,0.84151,0.92374,0.80626]}, + {"t":1.58553, "x":10.55418, "y":5.74728, "heading":-0.61552, "vx":3.27437, "vy":0.39792, "omega":-1.07081, "ax":-0.0177, "ay":0.14497, "alpha":0.03705, "fx":[-0.25406,-0.10268,-0.33597,-0.48719], "fy":[2.84981,2.38439,1.95017,2.48205]}, + {"t":1.60937, "x":10.63223, "y":5.75681, "heading":-0.64104, "vx":3.27395, "vy":0.40137, "omega":-1.06993, "ax":0.01094, "ay":-0.08973, "alpha":0.01032, "fx":[0.15208,-0.02913,0.21636,0.39024], "fy":[-1.63519,-1.47307,-1.35666,-1.51842]}, + {"t":1.63321, "x":10.71028, "y":5.76635, "heading":-0.66655, "vx":3.27421, "vy":0.39924, "omega":-1.06969, "ax":-0.00109, "ay":0.00949, "alpha":-0.01524, "fx":[0.00843,0.15194,-0.04429,-0.1886], "fy":[0.24982,0.05925,0.13038,0.19345]}, + {"t":1.65704, "x":10.78834, "y":5.77587, "heading":-0.69205, "vx":3.27418, "vy":0.39946, "omega":-1.07005, "ax":0.06898, "ay":-0.57623, "alpha":-0.03129, "fx":[1.1758,1.22606,1.14404,1.0538], "fy":[-9.73294,-9.58916,-9.47824,-9.62171]}, + {"t":1.68088, "x":10.86641, "y":5.78523, "heading":-0.71756, "vx":3.27583, "vy":0.38572, "omega":-1.07079, "ax":0.09343, "ay":-0.81329, "alpha":-0.04414, "fx":[1.5649,1.62562,1.55114,1.48789], "fy":[-13.70163,-13.84362,-13.20589,-13.47752]}, + {"t":1.70472, "x":10.94453, "y":5.79419, "heading":-0.74309, "vx":3.27806, "vy":0.36634, "omega":-1.07185, "ax":0.20461, "ay":-1.95759, "alpha":-0.0309, "fx":[3.45953,3.61048,3.41389,3.15941], "fy":[-32.61868,-32.62872,-32.64584,-32.63498]}, + {"t":1.72856, "x":11.02273, "y":5.80237, "heading":-0.76864, "vx":3.28293, "vy":0.31967, "omega":-1.07258, "ax":0.28545, "ay":-3.35716, "alpha":-0.00131, "fx":[4.75224,4.50724,4.76593,5.00784], "fy":[-56.16968,-56.11308,-55.6475,-55.9188]}, + {"t":1.7524, "x":11.10108, "y":5.80904, "heading":-0.79421, "vx":3.28974, "vy":0.23964, "omega":-1.07261, "ax":0.26832, "ay":-4.8718, "alpha":0.02915, "fx":[4.51989,4.5583,4.49608,4.31684], "fy":[-80.88959,-81.20797,-81.53238,-81.21256]}, + {"t":1.77624, "x":11.17958, "y":5.81336, "heading":-0.81978, "vx":3.29613, "vy":0.1235, "omega":-1.07192, "ax":0.09577, "ay":-5.59682, "alpha":0.04078, "fx":[1.60797,1.19877,1.5832,1.99573], "fy":[-94.20968,-91.06215,-93.87148,-94.0417]}, + {"t":1.80008, "x":11.25818, "y":5.81472, "heading":-0.84533, "vx":3.29842, "vy":-0.00992, "omega":-1.07095, "ax":-0.13905, "ay":-5.7789, "alpha":0.03095, "fx":[-2.22978,-2.35389,-2.22999,-2.45803], "fy":[-96.06579,-96.3261,-96.59627,-96.33805]}, + {"t":1.82392, "x":11.33677, "y":5.81284, "heading":-0.87086, "vx":3.2951, "vy":-0.14769, "omega":-1.07021, "ax":-0.38784, "ay":-5.85098, "alpha":0.02021, "fx":[-6.43609,-6.44634,-6.53405,-6.44384], "fy":[-96.73276,-99.2241,-97.1934,-96.98203]}, + {"t":1.84776, "x":11.41521, "y":5.80766, "heading":-0.89637, "vx":3.28586, "vy":-0.28717, "omega":-1.06973, "ax":-0.64145, "ay":-5.87283, "alpha":0.00682, "fx":[-10.53658,-10.7342,-10.80262,-10.69729], "fy":[-97.84947,-97.9768,-97.88899,-97.87367]}, + {"t":1.8716, "x":11.49336, "y":5.79914, "heading":-0.92188, "vx":3.27057, "vy":-0.42717, "omega":-1.06957, "ax":-0.89735, "ay":-5.86528, "alpha":-0.01079, "fx":[-14.90723,-13.48428,-15.13195,-16.31001], "fy":[-96.41916,-97.94703,-99.11042,-97.6091]}, + {"t":1.89544, "x":11.57108, "y":5.78729, "heading":-0.94737, "vx":3.24917, "vy":-0.56699, "omega":-1.06982, "ax":-1.20733, "ay":-5.8261, "alpha":-0.17042, "fx":[-19.60717,-19.55974,-21.04211,-20.29374], "fy":[-97.83248,-97.58821,-96.04866,-97.00387]}, + {"t":1.91927, "x":11.64819, "y":5.77212, "heading":-0.97288, "vx":3.22039, "vy":-0.70588, "omega":-1.07389, "ax":-2.70554, "ay":-5.31292, "alpha":-3.17801, "fx":[-48.41536,-33.62127,-42.45189,-55.91138], "fy":[-97.98506,-91.04641,-77.47027,-87.75337]}, + {"t":1.94311, "x":11.72419, "y":5.75378, "heading":-0.99848, "vx":3.1559, "vy":-0.83254, "omega":-1.14965, "ax":-4.26157, "ay":-4.18549, "alpha":10.71938, "fx":[-77.8922,-106.0436,-71.97771,-28.23977], "fy":[-30.55746,-56.95641,-96.97706,-94.58965]}, + {"t":1.96695, "x":11.79821, "y":5.73275, "heading":-1.02588, "vx":3.0543, "vy":-0.93232, "omega":-0.89411, "ax":-4.99358, "ay":-3.29002, "alpha":37.50601, "fx":[-108.26673,-183.01946,-100.68268,59.00634], "fy":[106.41146,-23.21531,-154.88957,-147.67861]}, + {"t":1.99079, "x":11.86961, "y":5.70959, "heading":-1.0472, "vx":2.93526, "vy":-1.01075, "omega":0.0, "ax":-5.60847, "ay":-2.06849, "alpha":0.0, "fx":[-93.55059,-93.37114,-93.49575,-93.54485], "fy":[-34.64902,-33.96025,-34.64864,-34.66482]}, + {"t":2.02417, "x":11.96445, "y":5.6747, "heading":-1.0472, "vx":2.74808, "vy":-1.07978, "omega":0.0, "ax":-5.96381, "ay":-0.56897, "alpha":0.0, "fx":[-99.3931,-99.16861,-99.1779,-99.91561], "fy":[-8.94143,-9.72347,-9.81799,-9.45516]}, + {"t":2.05754, "x":12.05284, "y":5.63835, "heading":-1.0472, "vx":2.54904, "vy":-1.09877, "omega":0.0, "ax":-5.97504, "ay":0.45802, "alpha":0.0, "fx":[-99.60041,-99.59706,-99.59496,-99.61207], "fy":[7.48619,7.93476,7.5743,7.54443]}, + {"t":2.09092, "x":12.13459, "y":5.60193, "heading":-1.0472, "vx":2.34962, "vy":-1.08348, "omega":0.0, "ax":-5.88324, "ay":1.14611, "alpha":0.0, "fx":[-97.85739,-97.99062,-97.95938,-98.4759], "fy":[19.34785,19.14263,18.92743,19.00256]}, + {"t":2.12429, "x":12.20973, "y":5.56641, "heading":-1.0472, "vx":2.15327, "vy":-1.04523, "omega":0.0, "ax":-5.77137, "ay":1.62131, "alpha":0.0, "fx":[-96.24439,-96.1189,-96.23759,-96.22319], "fy":[26.85415,27.46549,26.90454,26.88142]}, + {"t":2.15767, "x":12.27838, "y":5.53242, "heading":-1.0472, "vx":1.96065, "vy":-0.99112, "omega":0.0, "ax":-5.66513, "ay":1.96271, "alpha":0.0, "fx":[-94.29923,-94.17395,-94.34979,-94.91691], "fy":[33.38613,32.47219,32.69977,32.31152]}, + {"t":2.19104, "x":12.34066, "y":5.50044, "heading":-1.0472, "vx":1.77157, "vy":-0.92562, "omega":0.0, "ax":-5.57104, "ay":2.2172, "alpha":0.0, "fx":[-92.90993,-92.75956,-92.90258,-92.89443], "fy":[36.801,37.40373,36.82305,36.81074]}, + {"t":2.22442, "x":12.39669, "y":5.47078, "heading":-1.0472, "vx":1.58564, "vy":-0.85162, "omega":0.0, "ax":-5.48954, "ay":2.41302, "alpha":0.0, "fx":[-91.37308,-91.34827,-91.45884,-91.85186], "fy":[40.65331,40.12005,40.23516,39.88698]}, + {"t":2.25779, "x":12.44655, "y":5.4437, "heading":-1.0472, "vx":1.40243, "vy":-0.77108, "omega":0.0, "ax":-5.41927, "ay":2.56777, "alpha":0.0, "fx":[-90.36785,-90.25231,-90.36826,-90.35826], "fy":[42.719,43.0735,42.71026,42.7111]}, + {"t":2.29117, "x":12.49034, "y":5.4194, "heading":-1.0472, "vx":1.22156, "vy":-0.68538, "omega":0.0, "ax":-5.35856, "ay":2.69283, "alpha":0.0, "fx":[-89.21898,-89.2414,-89.29711,-89.54069], "fy":[45.14769,44.82104,44.90837,44.67532]}, + {"t":2.32454, "x":12.52812, "y":5.39802, "heading":-1.0472, "vx":1.04272, "vy":-0.59551, "omega":0.0, "ax":-5.30582, "ay":2.79581, "alpha":0.0, "fx":[-88.46187,-88.3989,-88.46721,-88.45421], "fy":[46.58477,46.69802,46.56471,46.57183]}, + {"t":2.35792, "x":12.55997, "y":5.37971, "heading":-1.0472, "vx":0.86563, "vy":-0.5022, "omega":0.0, "ax":-5.25975, "ay":2.88199, "alpha":0.0, "fx":[-87.58619,-87.62516,-87.65985,-87.83862], "fy":[48.21092,48.01726,48.05274,47.88462]}, + {"t":2.39129, "x":12.58593, "y":5.36455, "heading":-1.0472, "vx":0.69009, "vy":-0.40601, "omega":0.0, "ax":-5.21922, "ay":2.9551, "alpha":0.0, "fx":[-87.00906,-86.98031,-87.01493,-87.00351], "fy":[49.26741,49.26786,49.24887,49.25632]}, + {"t":2.42467, "x":12.60605, "y":5.35264, "heading":-1.0472, "vx":0.5159, "vy":-0.30739, "omega":0.0, "ax":-5.18336, "ay":3.01787, "alpha":0.0, "fx":[-86.33062,-86.3652,-86.39348,-86.52733], "fy":[50.4285,50.29781,50.31317,50.18599]}, + {"t":2.45804, "x":12.62039, "y":5.34407, "heading":-1.0472, "vx":0.3429, "vy":-0.20667, "omega":0.0, "ax":-5.15143, "ay":3.07231, "alpha":0.0, "fx":[-85.87289,-85.86754,-85.87862,-85.86873], "fy":[51.23823,51.16658,51.22188,51.2289]}, + {"t":2.49142, "x":12.62896, "y":5.33888, "heading":-1.0472, "vx":0.17098, "vy":-0.10413, "omega":0.0, "ax":-5.12285, "ay":3.11996, "alpha":0.0, "fx":[-85.38751,-85.48191,-85.33817,-85.37434], "fy":[52.00142,51.9368,52.07299,52.02183]}, + {"t":2.52479, "x":12.63181, "y":5.33714, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java b/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java new file mode 100644 index 00000000..8dee1070 --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java @@ -0,0 +1,101 @@ +package frc.robot.commands.auton; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.robot.commands.drive.PrepOdomForAutoCommand; +import frc.robot.subsystems.algae.AlgaeSubsystem; +import frc.robot.subsystems.biscuit.BiscuitSubsystem; +import frc.robot.subsystems.coral.CoralSubsystem; +import frc.robot.subsystems.drive.DriveSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoreSide; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; +import frc.robot.subsystems.tagAlign.TagAlignSubsystem; +import frc.robot.subsystems.vision.VisionSubsystem; +import java.util.ArrayList; +import java.util.List; + +public class StealAlgaeImmediately extends SequentialCommandGroup implements AutoCommandInterface { + + private DriveSubsystem driveSubsystem; + private DriveAlgaeAutonServoCommand firstPath; + private DriveBargeAutonCommand secondPath; + private CoralSubsystem coralSubsystem; + private RobotStateSubsystem robotStateSubsystem; + private VisionSubsystem visionSubsystem; + private List postOffsets = new ArrayList<>(); + + public StealAlgaeImmediately( + DriveSubsystem driveSubsystem, + RobotStateSubsystem robotStateSubsystem, + AlgaeSubsystem algaeSubsystem, + BiscuitSubsystem biscuitSubsystem, + CoralSubsystem coralSubsystem, + ElevatorSubsystem elevatorSubsystem, + TagAlignSubsystem tagAlignSubsystem, + VisionSubsystem visionSubsystem, + String firstPathName, + String secondPathName, + List postOffsets, + Pose2d startPose) { + addRequirements( + driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); + this.driveSubsystem = driveSubsystem; + this.coralSubsystem = coralSubsystem; + this.robotStateSubsystem = robotStateSubsystem; + this.visionSubsystem = visionSubsystem; + this.postOffsets = postOffsets; + + firstPath = + new DriveAlgaeAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + firstPathName, + true, + true, + true, + postOffsets.get(0)); + + secondPath = + new DriveBargeAutonCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + secondPathName, + true, + false); + + addCommands( + new SequentialCommandGroup( + new PrepOdomForAutoCommand( + robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), + // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), + firstPath, + secondPath + // score Barge + )); + } + + @Override + public void reassignAlliance() { + firstPath.reassignAlliance(); + driveSubsystem.teleResetGyro(); + coralSubsystem.setAutoPreload(); + robotStateSubsystem.setIsAutoPlacing(false); + robotStateSubsystem.setScoringLevel(ScoringLevel.L4); + robotStateSubsystem.setGetAlgaeOnCycle(false); + // robotStateSubsystem.setIsAuto(true); + robotStateSubsystem.setScoreSide(ScoreSide.RIGHT); + visionSubsystem.setVisionUpdating(true); + // pathHandler.reassignAlliance(); + } +} diff --git a/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java new file mode 100644 index 00000000..c4510a43 --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java @@ -0,0 +1,135 @@ +package frc.robot.commands.auton; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.robot.commands.drive.PrepOdomForAutoCommand; +import frc.robot.subsystems.algae.AlgaeSubsystem; +import frc.robot.subsystems.biscuit.BiscuitSubsystem; +import frc.robot.subsystems.coral.CoralSubsystem; +import frc.robot.subsystems.drive.DriveSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoreSide; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; +import frc.robot.subsystems.tagAlign.TagAlignSubsystem; +import frc.robot.subsystems.vision.VisionSubsystem; +import java.util.ArrayList; +import java.util.List; + +public class StealOneAlgeaAutonCommand extends SequentialCommandGroup + implements AutoCommandInterface { + + private DriveSubsystem driveSubsystem; + private DriveAlgaeAutonServoCommand firstPath; + private DriveBargeAutonCommand secondPath; + private DriveAlgaeAutonServoCommand thirdPath; + private DriveBargeAutonCommand fourthPath; + private CoralSubsystem coralSubsystem; + private RobotStateSubsystem robotStateSubsystem; + private VisionSubsystem visionSubsystem; + private List postOffsets = new ArrayList<>(); + + public StealOneAlgeaAutonCommand( + DriveSubsystem driveSubsystem, + RobotStateSubsystem robotStateSubsystem, + AlgaeSubsystem algaeSubsystem, + BiscuitSubsystem biscuitSubsystem, + CoralSubsystem coralSubsystem, + ElevatorSubsystem elevatorSubsystem, + TagAlignSubsystem tagAlignSubsystem, + VisionSubsystem visionSubsystem, + String firstPathName, + String secondPathName, + String thirdPathName, + String fourthPathName, + List postOffsets, + Pose2d startPose) { + addRequirements( + driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); + this.driveSubsystem = driveSubsystem; + this.coralSubsystem = coralSubsystem; + this.robotStateSubsystem = robotStateSubsystem; + this.visionSubsystem = visionSubsystem; + this.postOffsets = postOffsets; + + firstPath = + new DriveAlgaeAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + firstPathName, + true, + true, + true, + postOffsets.get(0)); + + secondPath = + new DriveBargeAutonCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + secondPathName, + true, + false); + + thirdPath = + new DriveAlgaeAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + thirdPathName, + false, + true, + false, + postOffsets.get(1)); + + fourthPath = + new DriveBargeAutonCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + fourthPathName, + true, + false); + + addCommands( + new SequentialCommandGroup( + new PrepOdomForAutoCommand( + robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), + // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), + firstPath, + new PlaceCoralAutonCommand(robotStateSubsystem, coralSubsystem), + secondPath, + // score Barge + new WaitForElevBelowBarge(elevatorSubsystem), + thirdPath, + fourthPath)); + } + + @Override + public void reassignAlliance() { + firstPath.reassignAlliance(); + driveSubsystem.teleResetGyro(); + coralSubsystem.setAutoPreload(); + robotStateSubsystem.setIsAutoPlacing(false); + robotStateSubsystem.setScoringLevel(ScoringLevel.L4); + robotStateSubsystem.setGetAlgaeOnCycle(false); + // robotStateSubsystem.setIsAuto(true); + robotStateSubsystem.setScoreSide(ScoreSide.RIGHT); + visionSubsystem.setVisionUpdating(true); + // pathHandler.reassignAlliance(); + } +} diff --git a/src/main/java/frc/robot/commands/auton/WaitForElevBelowBarge.java b/src/main/java/frc/robot/commands/auton/WaitForElevBelowBarge.java new file mode 100644 index 00000000..8ce504e9 --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/WaitForElevBelowBarge.java @@ -0,0 +1,21 @@ +package frc.robot.commands.auton; + +import static edu.wpi.first.units.Units.Rotations; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.constants.ElevatorConstants; +import frc.robot.subsystems.elevator.ElevatorSubsystem; + +public class WaitForElevBelowBarge extends Command { + private ElevatorSubsystem elevatorSubsystem; + + public WaitForElevBelowBarge(ElevatorSubsystem elevatorSubsystem) { + this.elevatorSubsystem = elevatorSubsystem; + } + + @Override + public boolean isFinished() { + return elevatorSubsystem.getPosition().in(Rotations) + < ElevatorConstants.kUnderBargeSafeThreshold.in(Rotations); + } +} diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java index c24dc644..1fdcb213 100644 --- a/src/main/java/frc/robot/constants/ElevatorConstants.java +++ b/src/main/java/frc/robot/constants/ElevatorConstants.java @@ -74,6 +74,7 @@ public class ElevatorConstants { // Min elevator height before biscuit movement public static final Angle kBiscuitSafeThreshold = Rotations.of(5); + public static final Angle kUnderBargeSafeThreshold = Rotations.of(2.3676757); public static TalonFXConfiguration getBothFXConfig() { TalonFXConfiguration fxConfig = new TalonFXConfiguration(); From 938ed8240741c223c9f2ca542ae86389f3f84539 Mon Sep 17 00:00:00 2001 From: Isaac Hoekstra <122327870+PotatoBoyH4@users.noreply.github.com> Date: Thu, 10 Apr 2025 19:31:37 -0400 Subject: [PATCH 2/5] fixed a problem with the recent merge --- src/main/java/frc/robot/subsystems/algae/AlgaeIOFX.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/algae/AlgaeIOFX.java b/src/main/java/frc/robot/subsystems/algae/AlgaeIOFX.java index d1da4292..4d2abce3 100644 --- a/src/main/java/frc/robot/subsystems/algae/AlgaeIOFX.java +++ b/src/main/java/frc/robot/subsystems/algae/AlgaeIOFX.java @@ -52,8 +52,6 @@ public AlgaeIOFX() { revLimitSwitch = talonFXS.getReverseLimit(); curVelocity = talonFXS.getVelocity(); statorCurrent = talonFXS.getStatorCurrent(); - inputs.isCoralBeamBroken = revLimitSwitch.getValue().value == 1; - inputs.statorCurrent = statorCurrent.getValueAsDouble(); } @Override From 0f352d359829a5ad20041e21c8c6e28bd3b2e4b3 Mon Sep 17 00:00:00 2001 From: Isaac Hoekstra <122327870+PotatoBoyH4@users.noreply.github.com> Date: Thu, 10 Apr 2025 20:03:53 -0400 Subject: [PATCH 3/5] added some extra paths also put the first auton on a button --- src/main/deploy/choreo/StartToOppG.traj | 136 ++++++++++++++++++ src/main/deploy/choreo/bargeToOppG.traj | 124 ++++++++++++++++ src/main/java/frc/robot/RobotContainer.java | 21 ++- .../auton/StealOneAlgeaAutonCommand.java | 9 +- 4 files changed, 280 insertions(+), 10 deletions(-) create mode 100644 src/main/deploy/choreo/StartToOppG.traj create mode 100644 src/main/deploy/choreo/bargeToOppG.traj diff --git a/src/main/deploy/choreo/StartToOppG.traj b/src/main/deploy/choreo/StartToOppG.traj new file mode 100644 index 00000000..a3768e34 --- /dev/null +++ b/src/main/deploy/choreo/StartToOppG.traj @@ -0,0 +1,136 @@ +{ + "name":"StartToOppG", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.1, "y":5.07, "heading":3.14159, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":10.99120807647705, "y":4.528883934020996, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"start.x", "val":7.1}, "y":{"exp":"start.y", "val":5.07}, "heading":{"exp":"start.heading", "val":3.14159}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"10.99120807647705 m", "val":10.99120807647705}, "y":{"exp":"4.528883934020996 m", "val":4.528883934020996}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.73973,1.11022,1.74785,2.2571], + "samples":[ + {"t":0.0, "x":7.1, "y":5.07, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.84774, "ay":1.99837, "alpha":-54.61016, "fx":[-62.3807,-143.70502,189.58389,139.70564], "fy":[189.00863,-137.06011,-60.58868,141.88789]}, + {"t":0.02312, "x":7.10049, "y":5.07053, "heading":3.14159, "vx":0.04271, "vy":0.0462, "omega":-1.2624, "ax":1.89038, "ay":2.04654, "alpha":-54.42615, "fx":[-60.14251,-143.70812,190.23431,139.66305], "fy":[189.66259,-136.78167,-58.28236,141.86103]}, + {"t":0.04623, "x":7.10199, "y":5.07215, "heading":3.11241, "vx":0.08641, "vy":0.0935, "omega":-2.52054, "ax":1.90533, "ay":2.16765, "alpha":-54.14427, "fx":[-52.83757,-152.1296,189.75398,142.2569], "fy":[191.72943,-126.88198,-59.46891,139.15632]}, + {"t":0.06935, "x":7.10449, "y":5.07489, "heading":3.05414, "vx":0.13046, "vy":0.14361, "omega":-3.77216, "ax":1.91563, "ay":2.43223, "alpha":-53.57931, "fx":[-39.68722,-168.23547,188.49118,147.16197], "fy":[194.7299,-103.56521,-62.77252,133.78447]}, + {"t":0.09247, "x":7.10802, "y":5.07886, "heading":2.96694, "vx":0.17474, "vy":0.19984, "omega":-5.01073, "ax":1.9931, "ay":3.07187, "alpha":-52.05568, "fx":[-19.23928,-188.87436,187.35142,153.65846], "fy":[197.5344,-53.67014,-64.95765,125.92005]}, + {"t":0.11558, "x":7.11259, "y":5.0843, "heading":2.85111, "vx":0.22081, "vy":0.27085, "omega":-6.21408, "ax":2.65762, "ay":4.6451, "alpha":-46.53878, "fx":[12.77942,-185.28174,189.33836,160.36875], "fy":[197.35407,51.33759,-55.20623,116.24064]}, + {"t":0.1387, "x":7.11841, "y":5.0918, "heading":2.70746, "vx":0.28225, "vy":0.37823, "omega":-7.28989, "ax":4.11622, "ay":4.2427, "alpha":-12.4995, "fx":[50.86069,22.21598,107.65113,93.73413], "fy":[112.132,69.40055,23.99218,77.3706]}, + {"t":0.16182, "x":7.12603, "y":5.10168, "heading":2.53895, "vx":0.3774, "vy":0.4763, "omega":-7.57884, "ax":5.69441, "ay":1.59617, "alpha":6.87505, "fx":[101.02538,117.03097,90.2584,71.37758], "fy":[2.79584,29.99638,50.24595,23.39128]}, + {"t":0.18493, "x":7.13628, "y":5.11312, "heading":2.36375, "vx":0.50904, "vy":0.5132, "omega":-7.41991, "ax":5.91143, "ay":-0.2422, "alpha":9.82253, "fx":[104.63812,127.09095,95.25642,67.17702], "fy":[-42.40995,-4.57882,32.94218,-2.10271]}, + {"t":0.20805, "x":7.14962, "y":5.12491, "heading":2.19223, "vx":0.64569, "vy":0.5076, "omega":-7.19285, "ax":5.59011, "ay":1.80912, "alpha":16.37129, "fx":[97.17248,141.3683,96.83909,37.35798], "fy":[-33.48292,20.97214,86.99245,46.14673]}, + {"t":0.23117, "x":7.16604, "y":5.13713, "heading":2.02596, "vx":0.77491, "vy":0.54942, "omega":-6.8144, "ax":4.23454, "ay":4.06115, "alpha":19.3268, "fx":[62.32899,132.70077,82.7186,4.60283], "fy":[-1.31162,46.4173,127.209,98.47479]}, + {"t":0.25428, "x":7.18509, "y":5.15092, "heading":1.86843, "vx":0.8728, "vy":0.6433, "omega":-6.36763, "ax":3.28628, "ay":4.88752, "alpha":17.69897, "fx":[36.88469,112.48115,73.51107,-3.75393], "fy":[22.07385,56.38258,130.05474,117.37894]}, + {"t":0.2774, "x":7.20614, "y":5.16709, "heading":1.72123, "vx":0.94877, "vy":0.75628, "omega":-5.95849, "ax":3.10444, "ay":5.02561, "alpha":15.3213, "fx":[27.09849,101.46985,74.10301,4.32664], "fy":[40.25297,53.38149,121.83246,119.63134]}, + {"t":0.30051, "x":7.2289, "y":5.18592, "heading":1.58349, "vx":1.02053, "vy":0.87246, "omega":-5.60432, "ax":3.46267, "ay":4.79972, "alpha":13.42926, "fx":[31.06215,97.98505,81.99085,19.8464], "fy":[44.52161,49.36793,109.9205,116.22607]}, + {"t":0.32363, "x":7.25342, "y":5.20737, "heading":1.45394, "vx":1.10057, "vy":0.98341, "omega":-5.29388, "ax":4.07557, "ay":4.30301, "alpha":12.066, "fx":[39.18134,100.84088,93.43614,38.29295], "fy":[45.71093,38.45718,95.3079,107.44047]}, + {"t":0.34675, "x":7.27995, "y":5.23125, "heading":1.33157, "vx":1.19479, "vy":1.08288, "omega":-5.01496, "ax":4.72751, "ay":3.58618, "alpha":11.0313, "fx":[50.52624,104.54261,104.56657,55.58611], "fy":[38.46597,26.25003,78.36885,96.03493]}, + {"t":0.36986, "x":7.30883, "y":5.25724, "heading":1.21564, "vx":1.30407, "vy":1.16578, "omega":-4.75995, "ax":5.31586, "ay":2.65255, "alpha":10.15512, "fx":[60.20991,108.18826,114.29724,71.75607], "fy":[28.54033,10.22518,58.51433,79.58723]}, + {"t":0.39298, "x":7.3404, "y":5.2849, "heading":1.1056, "vx":1.42696, "vy":1.2271, "omega":-4.5252, "ax":5.72259, "ay":1.62183, "alpha":9.31836, "fx":[68.79142,109.08753,119.91703,83.77519], "fy":[14.72142,-6.23134,37.81659,61.83365]}, + {"t":0.4161, "x":7.37491, "y":5.3137, "heading":1.001, "vx":1.55924, "vy":1.26459, "omega":-4.30979, "ax":5.92511, "ay":0.5943, "alpha":8.4999, "fx":[73.53518,107.57491,122.39206,91.5731], "fy":[1.43341,-21.63912,17.47758,42.35493]}, + {"t":0.43921, "x":7.41254, "y":5.34309, "heading":0.90137, "vx":1.69621, "vy":1.27833, "omega":-4.1133, "ax":5.95039, "ay":-0.35834, "alpha":7.72536, "fx":[76.06034,103.40564,120.72897,96.56571], "fy":[-12.01423,-35.6979,-0.86286,24.68133]}, + {"t":0.46233, "x":7.45334, "y":5.37255, "heading":0.80628, "vx":1.83376, "vy":1.27005, "omega":-3.93472, "ax":5.84584, "ay":-1.19495, "alpha":7.03509, "fx":[75.84767,98.36135,117.85556,97.72455], "fy":[-23.85003,-46.82183,-16.95437,7.94896]}, + {"t":0.48545, "x":7.49729, "y":5.40159, "heading":0.71533, "vx":1.9689, "vy":1.24242, "omega":-3.77209, "ax":5.6584, "ay":-1.90797, "alpha":6.45524, "fx":[74.86903,92.14197,112.58032,97.70023], "fy":[-33.28328,-57.2436,-30.67627,-6.0163]}, + {"t":0.50856, "x":7.54432, "y":5.4298, "heading":0.62813, "vx":2.0997, "vy":1.19832, "omega":-3.62287, "ax":5.42485, "ay":-2.50513, "alpha":5.99906, "fx":[71.76384,86.05706,107.66164,96.23584], "fy":[-42.12893,-64.4324,-42.19638,-18.27972]}, + {"t":0.53168, "x":7.59431, "y":5.45683, "heading":0.54438, "vx":2.2251, "vy":1.14041, "omega":-3.48419, "ax":5.17054, "ay":-3.00145, "alpha":5.67021, "fx":[69.55192,79.76693,101.83077,93.61222], "fy":[-48.31896,-71.80466,-52.04285,-27.9646]}, + {"t":0.5548, "x":7.64712, "y":5.48239, "heading":0.46384, "vx":2.34463, "vy":1.07102, "omega":-3.35312, "ax":4.91432, "ay":-3.40944, "alpha":5.54285, "fx":[65.58992,74.00394,97.06051,91.02279], "fy":[-54.25017,-77.41212,-59.76637,-35.90644]}, + {"t":0.57791, "x":7.70264, "y":5.50624, "heading":0.38633, "vx":2.45823, "vy":0.99221, "omega":-3.22499, "ax":4.71831, "ay":-3.67889, "alpha":9.80542, "fx":[50.47025,62.66612,104.77252,96.69888], "fy":[-52.1569,-96.46276,-70.44939,-26.2324]}, + {"t":0.60103, "x":7.76072, "y":5.52819, "heading":0.31178, "vx":2.5673, "vy":0.90717, "omega":-2.99832, "ax":4.68327, "ay":-3.72477, "alpha":10.37454, "fx":[48.55002,58.92692,104.75232,100.04247], "fy":[-51.30437,-98.27739,-72.80414,-25.97486]}, + {"t":0.62415, "x":7.82132, "y":5.54817, "heading":0.24247, "vx":2.67556, "vy":0.82106, "omega":-2.7585, "ax":4.66174, "ay":-3.75325, "alpha":10.48284, "fx":[46.881,55.51765,104.25469,104.18276], "fy":[-52.40973,-97.48982,-72.60798,-27.75193]}, + {"t":0.64726, "x":7.88442, "y":5.56614, "heading":0.1787, "vx":2.78332, "vy":0.7343, "omega":-2.51617, "ax":4.64847, "ay":-3.77136, "alpha":10.62643, "fx":[48.9405,53.80205,100.19486,107.01338], "fy":[-49.16025,-98.81082,-76.03747,-27.45839]}, + {"t":0.67038, "x":7.95, "y":5.58211, "heading":0.12053, "vx":2.89078, "vy":0.64712, "omega":-2.27052, "ax":4.63843, "ay":-3.78539, "alpha":14.21194, "fx":[33.6666,48.53305,99.84677,127.23531], "fy":[-41.15262,-113.22392,-77.3327,-20.69309]}, + {"t":0.6935, "x":8.01806, "y":5.59606, "heading":0.06805, "vx":2.99801, "vy":0.55962, "omega":-1.94199, "ax":3.8251, "ay":-4.59874, "alpha":40.6778, "fx":[-94.43773,5.47125,147.18128,196.83572], "fy":[8.18946,-197.38398,-132.44808,15.00722]}, + {"t":0.71661, "x":8.08839, "y":5.60777, "heading":0.02316, "vx":3.08643, "vy":0.45331, "omega":-1.00167, "ax":2.16784, "ay":-5.56269, "alpha":43.33118, "fx":[-182.91784,-8.76849,137.85967,198.37407], "fy":[-31.09836,-198.26708,-143.09914,1.55525]}, + {"t":0.73973, "x":8.16032, "y":5.61676, "heading":0.0, "vx":3.13654, "vy":0.32472, "omega":0.0, "ax":2.86785, "ay":-5.23243, "alpha":0.0, "fx":[47.87738,47.76498,47.8099,47.77032], "fy":[-87.1837,-87.30662,-87.16868,-87.22946]}, + {"t":0.76031, "x":8.22548, "y":5.62233, "heading":0.0, "vx":3.19557, "vy":0.21702, "omega":0.0, "ax":2.75386, "ay":-5.29916, "alpha":0.0, "fx":[45.78066,45.95734,46.36615,45.51766], "fy":[-88.77841,-88.32609,-88.26998,-87.96346]}, + {"t":0.78089, "x":8.29184, "y":5.62568, "heading":0.0, "vx":3.25225, "vy":0.10795, "omega":0.0, "ax":2.19788, "ay":-5.49067, "alpha":0.0, "fx":[36.7546,36.52326,36.68146,36.59095], "fy":[-91.48554,-91.63835,-91.41802,-91.56538]}, + {"t":0.80148, "x":8.35925, "y":5.62674, "heading":0.0, "vx":3.29749, "vy":-0.00507, "omega":0.0, "ax":0.01547, "ay":-2.71353, "alpha":0.0, "fx":[0.25539,0.36554,0.79062,-0.38027], "fy":[-45.52139,-45.29763,-45.27399,-44.83965]}, + {"t":0.82206, "x":8.42712, "y":5.62606, "heading":0.0, "vx":3.29781, "vy":-0.06092, "omega":0.0, "ax":-0.00925, "ay":-0.46351, "alpha":0.0, "fx":[-0.1229,-0.12823,-0.18217,-0.18381], "fy":[-7.69687,-7.87194,-7.6384,-7.69862]}, + {"t":0.84264, "x":8.495, "y":5.6247, "heading":0.0, "vx":3.29762, "vy":-0.07046, "omega":0.0, "ax":0.01202, "ay":0.6192, "alpha":0.0, "fx":[0.16209,0.16204,-0.07768,0.55492], "fy":[10.44665,10.36013,10.36011,10.12047]}, + {"t":0.86323, "x":8.56288, "y":5.62339, "heading":0.0, "vx":3.29787, "vy":-0.05772, "omega":0.0, "ax":0.01427, "ay":0.98923, "alpha":0.0, "fx":[0.15726,0.1571,0.31868,0.3186], "fy":[16.40925,16.89994,16.24138,16.40915]}, + {"t":0.88381, "x":8.63076, "y":5.62241, "heading":0.0, "vx":3.29816, "vy":-0.03735, "omega":0.0, "ax":0.00849, "ay":1.05957, "alpha":0.0, "fx":[0.17779,0.17829,-0.13015,0.34025], "fy":[18.07673,17.62602,17.6261,17.32137]}, + {"t":0.90439, "x":8.69865, "y":5.62186, "heading":0.0, "vx":3.29834, "vy":-0.01555, "omega":0.0, "ax":0.00155, "ay":1.02986, "alpha":0.0, "fx":[-0.06968,-0.06985,0.12159,0.12147], "fy":[17.07165,17.64419,16.88166,17.07162]}, + {"t":0.92498, "x":8.76654, "y":5.62176, "heading":0.0, "vx":3.29837, "vy":0.00565, "omega":0.0, "ax":-0.00466, "ay":0.97855, "alpha":0.0, "fx":[0.0018,0.00196,-0.19744,-0.11701], "fy":[16.74358,16.2325,16.23247,16.0396]}, + {"t":0.94556, "x":8.83443, "y":5.62208, "heading":0.0, "vx":3.29827, "vy":0.02579, "omega":0.0, "ax":-0.0096, "ay":0.90182, "alpha":0.0, "fx":[-0.23021,-0.22981,-0.09014,-0.09006], "fy":[14.96284,15.38954,14.8161,14.96298]}, + {"t":0.96614, "x":8.90231, "y":5.62281, "heading":0.0, "vx":3.29807, "vy":0.04436, "omega":0.0, "ax":-0.01113, "ay":0.71112, "alpha":0.0, "fx":[-0.12098,-0.1214,-0.14585,-0.35385], "fy":[12.06914,11.78983,11.78953,11.76755]}, + {"t":0.98672, "x":8.9702, "y":5.62387, "heading":0.0, "vx":3.29785, "vy":0.05899, "omega":0.0, "ax":-0.00365, "ay":0.19553, "alpha":0.0, "fx":[-0.02508,-0.0271,-0.09542,-0.096], "fy":[3.29442,3.10427,3.3449,3.29401]}, + {"t":1.00731, "x":9.03808, "y":5.62513, "heading":0.0, "vx":3.29777, "vy":0.06302, "omega":0.0, "ax":-0.06412, "ay":-1.11549, "alpha":0.0, "fx":[-1.31506,-1.33338,-1.34956,-0.27745], "fy":[-19.36726,-18.33507,-18.34361,-18.33285]}, + {"t":1.02789, "x":9.10594, "y":5.62619, "heading":0.0, "vx":3.29645, "vy":0.04006, "omega":0.0, "ax":-5.70824, "ay":-1.21752, "alpha":0.0, "fx":[-95.07315,-94.8619,-95.37103,-95.30845], "fy":[-20.14107,-21.17004,-19.79316,-20.07771]}, + {"t":1.04847, "x":9.17258, "y":5.62675, "heading":0.0, "vx":3.17896, "vy":0.015, "omega":0.0, "ax":-2.07373, "ay":-5.61062, "alpha":0.0, "fx":[-34.69733,-34.91638,-34.94093,-33.71779], "fy":[-94.04235,-93.25919,-93.31614,-93.48798]}, + {"t":1.06906, "x":9.23758, "y":5.62587, "heading":0.0, "vx":3.13627, "vy":-0.10049, "omega":0.0, "ax":-1.22596, "ay":-5.86677, "alpha":0.0, "fx":[-20.39973,-20.21095,-20.58914,-20.54454], "fy":[-97.68819,-98.20336,-97.65061,-97.64277]}, + {"t":1.08964, "x":9.30187, "y":5.62256, "heading":0.0, "vx":3.11104, "vy":-0.22124, "omega":0.0, "ax":-1.03911, "ay":-5.90534, "alpha":0.0, "fx":[-17.35841,-17.42457,-17.31479,-17.1884], "fy":[-98.50226,-98.35586,-98.38254,-98.51592]}, + {"t":1.11022, "x":9.36568, "y":5.61676, "heading":0.0, "vx":3.08965, "vy":-0.34279, "omega":0.0, "ax":-1.02073, "ay":-5.9074, "alpha":-0.00456, "fx":[-17.00197,-16.98371,-17.03943,-17.03514], "fy":[-98.47568,-98.49139,-98.45575,-98.4714]}, + {"t":1.13795, "x":9.45095, "y":5.60498, "heading":0.0, "vx":3.06135, "vy":-0.50656, "omega":-0.00013, "ax":-1.09136, "ay":-5.89713, "alpha":-0.004, "fx":[-18.15269,-18.18592,-18.21011,-18.221], "fy":[-98.29919,-98.30844,-98.30342,-98.29803]}, + {"t":1.16567, "x":9.5354, "y":5.58868, "heading":0.0, "vx":3.0311, "vy":-0.67005, "omega":-0.00024, "ax":-1.17371, "ay":-5.88105, "alpha":-0.00268, "fx":[-19.52227,-19.5945,-19.5769,-19.5668], "fy":[-98.04482,-98.0257,-98.03009,-98.03619]}, + {"t":1.19339, "x":9.61897, "y":5.56784, "heading":-0.00001, "vx":2.99856, "vy":-0.83308, "omega":-0.00031, "ax":-1.27144, "ay":-5.8604, "alpha":-0.01264, "fx":[-21.11436,-21.17696,-21.25769,-21.22829], "fy":[-97.74517,-97.68418,-97.6701,-97.66071]}, + {"t":1.22111, "x":9.70161, "y":5.54249, "heading":-0.00002, "vx":2.96331, "vy":-0.99555, "omega":-0.00066, "ax":-1.38913, "ay":-5.83327, "alpha":0.03208, "fx":[-23.27524,-22.4843,-23.4455,-23.41966], "fy":[-96.81779,-98.58633,-96.75452,-96.79242]}, + {"t":1.24884, "x":9.78323, "y":5.51265, "heading":-0.00004, "vx":2.9248, "vy":-1.15727, "omega":0.00023, "ax":-1.53323, "ay":-5.79662, "alpha":-0.02992, "fx":[-25.38913,-25.59854,-25.61023,-25.63483], "fy":[-96.94639,-96.54961,-96.54142,-96.47012]}, + {"t":1.27656, "x":9.86373, "y":5.47834, "heading":-0.00003, "vx":2.8823, "vy":-1.31796, "omega":-0.0006, "ax":-1.71322, "ay":-5.74544, "alpha":0.02112, "fx":[-28.62634,-28.47516,-28.57087,-28.56197], "fy":[-95.66095,-96.0721,-95.6967,-95.66509]}, + {"t":1.30428, "x":9.94297, "y":5.4396, "heading":-0.00005, "vx":2.8348, "vy":-1.47724, "omega":-0.00002, "ax":-1.94327, "ay":-5.67104, "alpha":-0.03388, "fx":[-32.14253,-32.45998,-32.29202,-32.67886], "fy":[-94.97325,-94.44848,-94.47259,-94.23948]}, + {"t":1.332, "x":10.02081, "y":5.39646, "heading":-0.00005, "vx":2.78093, "vy":-1.63446, "omega":-0.00096, "ax":-2.24514, "ay":-5.55745, "alpha":0.02812, "fx":[-37.57927,-37.23779,-37.43521,-37.44959], "fy":[-92.47503,-93.02152,-92.56643,-92.4974]}, + {"t":1.35973, "x":10.09705, "y":5.34902, "heading":-0.00007, "vx":2.71869, "vy":-1.78853, "omega":-0.00018, "ax":-2.65097, "ay":-5.37431, "alpha":-0.03132, "fx":[-43.90232,-44.23639,-44.04516,-44.57743], "fy":[-89.98704,-89.53552,-89.5758,-89.25049]}, + {"t":1.38745, "x":10.1714, "y":5.29737, "heading":-0.00008, "vx":2.6452, "vy":-1.93752, "omega":-0.00104, "ax":-3.19741, "ay":-5.06614, "alpha":-0.01157, "fx":[-53.38348,-53.28149,-53.25382,-53.27818], "fy":[-84.52428,-84.11113,-84.61007,-84.55532]}, + {"t":1.41517, "x":10.2435, "y":5.24171, "heading":-0.00011, "vx":2.55655, "vy":-2.07797, "omega":-0.00137, "ax":-3.79529, "ay":-4.63172, "alpha":0.05022, "fx":[-63.39156,-63.36716,-63.31997,-62.98393], "fy":[-76.95644,-77.32619,-77.35274,-77.19905]}, + {"t":1.4429, "x":10.31292, "y":5.18232, "heading":-0.00015, "vx":2.45134, "vy":-2.20637, "omega":0.00003, "ax":-4.1029, "ay":-4.35549, "alpha":-0.03358, "fx":[-68.44565,-68.28275,-68.41571,-68.42932], "fy":[-72.72872,-72.19698,-72.74224,-72.74804]}, + {"t":1.47062, "x":10.3793, "y":5.11948, "heading":-0.00015, "vx":2.33759, "vy":-2.32712, "omega":-0.0009, "ax":-4.31604, "ay":-4.13147, "alpha":0.06418, "fx":[-72.17799,-72.35248,-72.3453,-70.90933], "fy":[-69.05698,-68.85433,-68.87217,-68.69511]}, + {"t":1.49834, "x":10.44244, "y":5.05338, "heading":-0.00017, "vx":2.21794, "vy":-2.44165, "omega":0.00088, "ax":-4.4979, "ay":-3.89106, "alpha":0.0008, "fx":[-74.96872,-74.83874,-75.05398,-75.04979], "fy":[-64.78499,-65.20002,-64.68012,-64.78308]}, + {"t":1.52606, "x":10.5022, "y":4.98419, "heading":-0.00015, "vx":2.09325, "vy":-2.54952, "omega":0.0009, "ax":0.19675, "ay":0.20098, "alpha":-0.00679, "fx":[3.1486,3.14993,2.9967,3.82353], "fy":[3.01821,3.51317,3.51448,3.35542]}, + {"t":1.55379, "x":10.56031, "y":4.91359, "heading":-0.00012, "vx":2.0987, "vy":-2.54395, "omega":0.00071, "ax":2.50116, "ay":5.40212, "alpha":0.0095, "fx":[41.77098,41.65639,41.66944,41.67606], "fy":[90.11519,89.7504,90.2176,90.11978]}, + {"t":1.58151, "x":10.61945, "y":4.84514, "heading":-0.0001, "vx":2.16804, "vy":-2.39419, "omega":0.00097, "ax":1.18907, "ay":5.86054, "alpha":-0.00541, "fx":[19.75649,19.8634,19.70415,19.96058], "fy":[97.76199,97.72424,97.73566,97.54763]}, + {"t":1.60923, "x":10.68001, "y":4.78102, "heading":-0.00007, "vx":2.20101, "vy":-2.23172, "omega":0.00082, "ax":0.80321, "ay":5.93328, "alpha":0.0084, "fx":[13.42814,13.43301,13.34594,13.34956], "fy":[98.98605,98.58935,99.05592,98.98855]}, + {"t":1.63695, "x":10.74134, "y":4.72143, "heading":-0.00005, "vx":2.22327, "vy":-2.06723, "omega":0.00106, "ax":0.62104, "ay":5.95856, "alpha":-0.03001, "fx":[10.38371,10.39922,10.34106,10.28558], "fy":[99.05681,99.43215,99.43464,99.38161]}, + {"t":1.66468, "x":10.80321, "y":4.66641, "heading":-0.00002, "vx":2.24049, "vy":-1.90204, "omega":0.00022, "ax":0.51525, "ay":5.97061, "alpha":-0.01151, "fx":[8.59743,8.53351,8.61316,8.61205], "fy":[99.44852,99.7646,99.44905,99.44667]}, + {"t":1.6924, "x":10.86552, "y":4.61598, "heading":-0.00002, "vx":2.25477, "vy":-1.73652, "omega":-0.0001, "ax":0.44584, "ay":5.97747, "alpha":0.02815, "fx":[7.32716,7.39377,7.40642,7.6004], "fy":[99.84363,99.57624,99.57564,99.57085]}, + {"t":1.72012, "x":10.9282, "y":4.57013, "heading":-0.00002, "vx":2.26713, "vy":-1.57081, "omega":0.00069, "ax":0.39689, "ay":5.98182, "alpha":0.0004, "fx":[6.57329,6.59917,6.646,6.64547], "fy":[99.68736,99.84214,99.64144,99.685]}, + {"t":1.74785, "x":10.99121, "y":4.52888, "heading":0.0, "vx":2.27814, "vy":-1.40498, "omega":0.0007, "ax":-0.10064, "ay":5.99172, "alpha":-0.00099, "fx":[-1.73908,-1.70372,-1.63535,-1.63225], "fy":[99.82972,100.08685,99.76874,99.83137]}, + {"t":1.78422, "x":11.07401, "y":4.48174, "heading":0.00003, "vx":2.27448, "vy":-1.18703, "omega":0.00066, "ax":-1.16422, "ay":5.88192, "alpha":-0.00023, "fx":[-19.2199,-19.39285,-19.3024,-19.71287], "fy":[98.34897,97.94458,97.95402,97.94775]}, + {"t":1.8206, "x":11.15597, "y":4.44245, "heading":0.00005, "vx":2.23213, "vy":-0.97307, "omega":0.00065, "ax":-2.29274, "ay":5.54024, "alpha":-0.01239, "fx":[-38.28629,-38.16939,-38.21811,-38.20194], "fy":[92.27464,92.6159,92.22876,92.29303]}, + {"t":1.85697, "x":11.23565, "y":4.41072, "heading":0.00007, "vx":2.14873, "vy":-0.77154, "omega":0.0002, "ax":-3.35645, "ay":4.96845, "alpha":-0.03939, "fx":[-55.5332,-55.8694,-55.77398,-56.62538], "fy":[83.25828,82.7486,82.78013,82.49978]}, + {"t":1.89335, "x":11.31159, "y":4.38595, "heading":0.00008, "vx":2.02663, "vy":-0.59081, "omega":-0.00123, "ax":-4.2384, "ay":4.2414, "alpha":-0.00569, "fx":[-70.69328,-70.632,-70.6564,-70.62691], "fy":[70.64788,70.88709,70.59335,70.67984]}, + {"t":1.92972, "x":11.38251, "y":4.36726, "heading":0.00004, "vx":1.87246, "vy":-0.43653, "omega":-0.00144, "ax":-4.89121, "ay":3.46886, "alpha":-0.01546, "fx":[-81.29979,-81.4966,-81.41897,-81.92092], "fy":[58.23622,57.73795,57.78923,57.53333]}, + {"t":1.9661, "x":11.44738, "y":4.35368, "heading":-0.00002, "vx":1.69454, "vy":-0.31035, "omega":-0.002, "ax":-5.33494, "ay":2.73845, "alpha":0.01522, "fx":[-88.92871,-88.98716,-88.9251,-88.88234], "fy":[45.67535,45.63578,45.56764,45.71615]}, + {"t":2.00247, "x":11.5055, "y":4.3442, "heading":-0.00009, "vx":1.50048, "vy":-0.21073, "omega":-0.00145, "ax":-5.6196, "ay":2.09392, "alpha":0.01533, "fx":[-93.61063,-93.67879,-93.69298,-93.72195], "fy":[35.06617,34.79232,34.80478,34.95504]}, + {"t":2.03885, "x":11.55636, "y":4.33792, "heading":-0.00014, "vx":1.29606, "vy":-0.13457, "omega":-0.00089, "ax":-5.79481, "ay":1.54532, "alpha":0.01605, "fx":[-96.60491,-96.63591,-96.57859,-96.56749], "fy":[25.79551,25.62685,25.78359,25.83295]}, + {"t":2.07523, "x":11.59967, "y":4.33405, "heading":-0.00017, "vx":1.08527, "vy":-0.07835, "omega":-0.00031, "ax":-5.89852, "ay":1.08552, "alpha":0.02182, "fx":[-98.37282,-98.38502,-98.37147,-98.17255], "fy":[18.08834,18.02926,18.05539,18.20764]}, + {"t":2.1116, "x":11.63524, "y":4.33191, "heading":-0.00019, "vx":0.87071, "vy":-0.03887, "omega":0.00049, "ax":-5.95662, "ay":0.70152, "alpha":0.02635, "fx":[-99.30311,-99.33576,-99.27715,-99.26026], "fy":[11.78212,11.5212,11.66085,11.81189]}, + {"t":2.14798, "x":11.66298, "y":4.33096, "heading":-0.00017, "vx":0.65404, "vy":-0.01335, "omega":0.00145, "ax":-5.98594, "ay":0.37985, "alpha":-0.01651, "fx":[-99.67705,-99.68067,-99.62423,-100.14913], "fy":[6.35165,6.29559,6.32114,6.3591]}, + {"t":2.18435, "x":11.68281, "y":4.33073, "heading":-0.00012, "vx":0.4363, "vy":0.00047, "omega":0.00085, "ax":-5.99716, "ay":0.10872, "alpha":0.04059, "fx":[-100.00167,-100.0181,-99.93556,-99.92376], "fy":[1.95856,1.63266,1.67667,1.98113]}, + {"t":2.22073, "x":11.69471, "y":4.33082, "heading":-0.00008, "vx":0.21815, "vy":0.00442, "omega":0.00232, "ax":-5.99705, "ay":-0.12159, "alpha":-0.06385, "fx":[-100.54879,-98.412,-100.45793,-100.45334], "fy":[-1.85757,-2.13678,-2.27033,-1.84283]}, + {"t":2.2571, "x":11.69868, "y":4.3309, "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/bargeToOppG.traj b/src/main/deploy/choreo/bargeToOppG.traj new file mode 100644 index 00000000..b2051e54 --- /dev/null +++ b/src/main/deploy/choreo/bargeToOppG.traj @@ -0,0 +1,124 @@ +{ + "name":"bargeToOppG", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.58463382720947, "y":5.08871412277, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":10.99120807647705, "y":4.491031169891357, "heading":-0.5538539145382533, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"barge.x", "val":7.58463382720947}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"10.99120807647705 m", "val":10.99120807647705}, "y":{"exp":"4.491031169891357 m", "val":4.491031169891357}, "heading":{"exp":"-0.5538539145382533 rad", "val":-0.5538539145382533}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.57679,1.18053,1.86282,2.36072], + "samples":[ + {"t":0.0, "x":7.58463, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.27599, "ay":5.54801, "alpha":-0.01311, "fx":[38.00998,37.76122,37.98915,37.99806], "fy":[92.36132,92.82022,92.38071,92.36821]}, + {"t":0.03845, "x":7.58632, "y":5.09282, "heading":0.0, "vx":0.08752, "vy":0.21333, "omega":-0.0005, "ax":2.44567, "ay":5.4769, "alpha":-0.01381, "fx":[40.86113,40.54749,40.83115,40.83287], "fy":[91.16184,91.67919,91.1777,91.17054]}, + {"t":0.0769, "x":7.59149, "y":5.10507, "heading":-0.00002, "vx":0.18156, "vy":0.42393, "omega":-0.00104, "ax":2.65962, "ay":5.37596, "alpha":0.03425, "fx":[44.11454,44.5608,44.48621,44.17705], "fy":[90.04566,89.434,89.45581,89.52354]}, + {"t":0.11536, "x":7.60044, "y":5.12534, "heading":-0.00006, "vx":0.28383, "vy":0.63065, "omega":0.00028, "ax":2.93735, "ay":5.229, "alpha":-0.01655, "fx":[48.97809,49.05316,48.90708,48.91854], "fy":[87.1269,87.20786,87.1803,87.14455]}, + {"t":0.15381, "x":7.61352, "y":5.15346, "heading":-0.00005, "vx":0.39678, "vy":0.83172, "omega":-0.00035, "ax":3.30804, "ay":5.00218, "alpha":0.0213, "fx":[55.08676,55.30349,55.20343,54.97988], "fy":[83.60688,83.21244,83.24432,83.47178]}, + {"t":0.19226, "x":7.63123, "y":5.18914, "heading":-0.00006, "vx":0.52398, "vy":1.02406, "omega":0.00046, "ax":3.81544, "ay":4.62596, "alpha":-0.02733, "fx":[63.67301,63.57108,63.56783,63.59414], "fy":[76.98566,77.35741,77.09279,77.01428]}, + {"t":0.23071, "x":7.65419, "y":5.23194, "heading":-0.00004, "vx":0.67069, "vy":1.20194, "omega":-0.00059, "ax":4.51173, "ay":3.94846, "alpha":0.03968, "fx":[74.93243,75.1769,75.06085,75.66335], "fy":[66.25529,65.75652,65.80223,65.46156]}, + {"t":0.26917, "x":7.68332, "y":5.28107, "heading":-0.00007, "vx":0.84418, "vy":1.35377, "omega":0.00094, "ax":5.37688, "ay":2.64963, "alpha":-0.04455, "fx":[89.73674,89.49317,89.62939,89.66042], "fy":[43.92281,44.70945,44.09073,43.94954]}, + {"t":0.30762, "x":7.71975, "y":5.33509, "heading":-0.00003, "vx":1.05093, "vy":1.45566, "omega":-0.00077, "ax":5.9839, "ay":0.33323, "alpha":0.02212, "fx":[99.60323,99.61763,99.52427,100.24979], "fy":[5.71453,5.58228,5.58846,5.33393]}, + {"t":0.34607, "x":7.76459, "y":5.39131, "heading":-0.00006, "vx":1.28102, "vy":1.46847, "omega":0.00008, "ax":5.46804, "ay":-2.45355, "alpha":-0.00964, "fx":[91.19037,91.17729,91.13175,91.0992], "fy":[-40.89823,-41.02229,-40.75118,-40.92624]}, + {"t":0.38452, "x":7.81789, "y":5.44596, "heading":-0.00006, "vx":1.49128, "vy":1.37412, "omega":-0.00029, "ax":4.16073, "ay":-4.31531, "alpha":0.02966, "fx":[69.03335,69.25741,69.11029,70.02867], "fy":[-72.30357,-71.8438,-71.88924,-71.69988]}, + {"t":0.42298, "x":7.87831, "y":5.49561, "heading":-0.00007, "vx":1.65127, "vy":1.20819, "omega":0.00085, "ax":2.99727, "ay":-5.19271, "alpha":-0.02254, "fx":[50.00534,50.06149,49.90435,49.88104], "fy":[-86.58561,-86.52395,-86.51715,-86.61311]}, + {"t":0.46143, "x":7.94402, "y":5.53823, "heading":-0.00004, "vx":1.76653, "vy":1.00852, "omega":-0.00002, "ax":2.17693, "ay":-5.58743, "alpha":0.00671, "fx":[36.21272,36.22969,36.08649,36.62431], "fy":[-93.19328,-93.09531,-93.11538,-93.155]}, + {"t":0.49988, "x":8.01356, "y":5.57288, "heading":-0.00004, "vx":1.85023, "vy":0.79367, "omega":0.00024, "ax":1.61099, "ay":-5.77672, "alpha":0.01242, "fx":[26.97837,26.7383,26.85752,26.84328], "fy":[-96.22335,-96.5706,-96.14861,-96.23807]}, + {"t":0.53833, "x":8.08589, "y":5.59912, "heading":-0.00003, "vx":1.91218, "vy":0.57154, "omega":0.00072, "ax":1.20896, "ay":-5.87448, "alpha":-0.01863, "fx":[20.02147,20.19774,20.06514,20.32667], "fy":[-98.23545,-97.78652,-97.79533,-97.88189]}, + {"t":0.57679, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.95867, "vy":0.34565, "omega":0.0, "ax":0.98759, "ay":-5.91084, "alpha":0.0, "fx":[16.56846,16.51881,16.38441,16.37867], "fy":[-98.43978,-98.85337,-98.37039,-98.45979]}, + {"t":0.60856, "x":8.22305, "y":5.62476, "heading":0.0, "vx":1.99005, "vy":0.15783, "omega":0.0, "ax":0.28305, "ay":-5.98228, "alpha":0.0, "fx":[4.65165,4.75942,5.42704,4.0349], "fy":[-100.17473,-99.72693,-99.69102,-99.29408]}, + {"t":0.64034, "x":8.28643, "y":5.62675, "heading":0.0, "vx":1.99904, "vy":-0.03226, "omega":0.0, "ax":-0.01082, "ay":-0.60659, "alpha":0.0, "fx":[-0.38469,-0.38869,0.02659,0.02539], "fy":[-10.31739,-9.13797,-10.67233,-10.31827]}, + {"t":0.67211, "x":8.34995, "y":5.62542, "heading":0.0, "vx":1.9987, "vy":-0.05154, "omega":0.0, "ax":0.01028, "ay":0.46579, "alpha":0.0, "fx":[0.23666,0.23594,0.53596,-0.32308], "fy":[7.65933,7.69984,7.69915,7.99938]}, + {"t":0.70389, "x":8.41346, "y":5.62402, "heading":0.0, "vx":1.99903, "vy":-0.03674, "omega":0.0, "ax":0.00522, "ay":0.33161, "alpha":0.0, "fx":[0.21128,0.21133,-0.03734,-0.03733], "fy":[5.65207,4.90192,5.90496,5.6521]}, + {"t":0.73566, "x":8.47699, "y":5.62302, "heading":0.0, "vx":1.99919, "vy":-0.0262, "omega":0.0, "ax":0.00268, "ay":0.23983, "alpha":0.0, "fx":[0.02266,0.02286,0.30496,-0.17145], "fy":[3.64992,4.01992,4.01991,4.30192]}, + {"t":0.76744, "x":8.54051, "y":5.62231, "heading":0.0, "vx":1.99928, "vy":-0.01858, "omega":0.0, "ax":0.00149, "ay":0.19113, "alpha":0.0, "fx":[0.05428,0.05426,-0.00475,-0.00476], "fy":[3.21553,3.06615,3.24686,3.21554]}, + {"t":0.79922, "x":8.60404, "y":5.62181, "heading":0.0, "vx":1.99932, "vy":-0.0125, "omega":0.0, "ax":0.00082, "ay":0.16579, "alpha":0.0, "fx":[0.05978,0.05985,0.09834,-0.16341], "fy":[2.86366,2.71746,2.71746,2.75596]}, + {"t":0.83099, "x":8.66757, "y":5.6215, "heading":0.0, "vx":1.99935, "vy":-0.00724, "omega":0.0, "ax":0.00037, "ay":0.15298, "alpha":0.0, "fx":[-0.01855,-0.01855,0.03081,0.03081], "fy":[2.5255,2.69458,2.45515,2.52551]}, + {"t":0.86277, "x":8.73111, "y":5.62135, "heading":0.0, "vx":1.99936, "vy":-0.00237, "omega":0.0, "ax":0.0, "ay":0.14894, "alpha":0.0, "fx":[0.05027,0.05028,0.01935,-0.11987], "fy":[2.66449,2.4325,2.4325,2.40158]}, + {"t":0.89454, "x":8.79464, "y":5.62135, "heading":0.0, "vx":1.99936, "vy":0.00236, "omega":0.0, "ax":-0.00037, "ay":0.15297, "alpha":0.0, "fx":[-0.02957,-0.02956,0.01736,0.01735], "fy":[2.52642,2.6867,2.45998,2.52642]}, + {"t":0.92632, "x":8.85817, "y":5.6215, "heading":0.0, "vx":1.99935, "vy":0.00722, "omega":0.0, "ax":-0.00082, "ay":0.16572, "alpha":0.0, "fx":[0.00579,0.0058,-0.0036,-0.06243], "fy":[2.82994,2.74304,2.74304,2.73375]}, + {"t":0.9581, "x":8.9217, "y":5.62181, "heading":0.0, "vx":1.99932, "vy":0.01248, "omega":0.0, "ax":-0.00148, "ay":0.19093, "alpha":0.0, "fx":[0.00397,0.004,-0.05338,-0.05337], "fy":[3.21132,3.06326,3.24468,3.21133]}, + {"t":0.98987, "x":8.98523, "y":5.6223, "heading":0.0, "vx":1.99928, "vy":0.01855, "omega":0.0, "ax":-0.00268, "ay":0.23974, "alpha":0.0, "fx":[-0.12248,-0.1225,0.0261,0.04014], "fy":[3.61383,4.07415,4.07413,4.22323]}, + {"t":1.02165, "x":9.04876, "y":5.62302, "heading":0.0, "vx":1.99919, "vy":0.02617, "omega":0.0, "ax":-0.0052, "ay":0.33098, "alpha":0.0, "fx":[0.02935,0.02944,-0.20283,-0.2028], "fy":[5.63338,4.92928,5.87308,5.6334]}, + {"t":1.05342, "x":9.11228, "y":5.62401, "heading":0.0, "vx":1.99903, "vy":0.03669, "omega":0.0, "ax":-0.01025, "ay":0.46516, "alpha":0.0, "fx":[-0.21691,-0.21681,-0.15011,-0.09979], "fy":[7.54957,7.79986,7.79987,7.86634]}, + {"t":1.0852, "x":9.1758, "y":5.62541, "heading":0.0, "vx":1.9987, "vy":0.05147, "omega":0.0, "ax":0.01151, "ay":-0.59377, "alpha":0.0, "fx":[0.0149,0.01363,0.36964,0.36945], "fy":[-10.0754,-9.07034,-10.37023,-10.07573]}, + {"t":1.11698, "x":9.23931, "y":5.62675, "heading":0.0, "vx":1.99907, "vy":0.0326, "omega":0.0, "ax":-0.20288, "ay":-5.98175, "alpha":0.0, "fx":[-3.53497,-3.57891,-3.21946,-3.19413], "fy":[-100.35487,-99.53281,-99.54277,-99.42099]}, + {"t":1.14875, "x":9.30273, "y":5.62477, "heading":0.0, "vx":1.99262, "vy":-0.15748, "omega":0.0, "ax":-0.7256, "ay":-5.95109, "alpha":0.0, "fx":[-12.07352,-12.03788,-12.1383,-12.13159], "fy":[-99.16375,-99.34675,-99.13614,-99.16065]}, + {"t":1.18053, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.96956, "vy":-0.34658, "omega":0.0, "ax":2.30618, "ay":-5.53174, "alpha":-0.02215, "fx":[38.56545,38.53628,38.35924,38.31093], "fy":[-92.18562,-92.34537,-92.07751,-92.23724]}, + {"t":1.21019, "x":9.42513, "y":5.60404, "heading":0.0, "vx":2.03798, "vy":-0.51068, "omega":-0.00066, "ax":2.26782, "ay":-5.55087, "alpha":0.01654, "fx":[37.63722,37.70846,37.44663,38.42174], "fy":[-92.70392,-92.45664,-92.50369,-92.45681]}, + {"t":1.23986, "x":9.48658, "y":5.58645, "heading":-0.00002, "vx":2.10525, "vy":-0.67534, "omega":-0.00017, "ax":2.21851, "ay":-5.5703, "alpha":-0.03167, "fx":[37.07773,37.11098,36.89156,36.8456], "fy":[-92.87271,-92.85122,-92.77449,-92.91853]}, + {"t":1.26952, "x":9.55001, "y":5.56397, "heading":-0.00002, "vx":2.17106, "vy":-0.84059, "omega":-0.00111, "ax":2.15733, "ay":-5.59371, "alpha":0.00251, "fx":[35.98318,35.7949,35.51797,36.55048], "fy":[-93.43108,-93.16066,-93.20743,-93.17849]}, + {"t":1.29919, "x":9.61536, "y":5.53657, "heading":-0.00006, "vx":2.23506, "vy":-1.00652, "omega":-0.00103, "ax":2.07667, "ay":-5.62341, "alpha":0.06111, "fx":[34.90786,34.26739,34.67324,34.62015], "fy":[-93.44432,-94.68248,-93.333,-93.49868]}, + {"t":1.32885, "x":9.68258, "y":5.50424, "heading":-0.00009, "vx":2.29666, "vy":-1.17334, "omega":0.00078, "ax":1.96933, "ay":-5.66092, "alpha":0.00389, "fx":[32.54095,32.75849,32.45155,33.56016], "fy":[-94.81586,-94.18139,-94.23003,-94.23211]}, + {"t":1.35852, "x":9.75158, "y":5.46694, "heading":-0.00006, "vx":2.35508, "vy":-1.34127, "omega":0.0009, "ax":1.81573, "ay":-5.71068, "alpha":0.00902, "fx":[30.39403,30.22744,30.24344,30.20473], "fy":[-95.09165,-95.56237,-95.00062,-95.12235]}, + {"t":1.38818, "x":9.82224, "y":5.42464, "heading":-0.00004, "vx":2.40895, "vy":-1.51068, "omega":0.00116, "ax":1.58362, "ay":-5.77732, "alpha":0.01531, "fx":[26.04539,26.23787,26.07697,27.23224], "fy":[-96.85643,-96.11336,-96.13309,-96.11771]}, + {"t":1.41785, "x":9.8944, "y":5.37728, "heading":0.0, "vx":2.45593, "vy":-1.68206, "omega":0.00162, "ax":1.18678, "ay":-5.86837, "alpha":0.0398, "fx":[19.87057,19.71239,19.78168,19.76771], "fy":[-97.61505,-98.47932,-97.57096,-97.62634]}, + {"t":1.44751, "x":9.96777, "y":5.3248, "heading":0.00004, "vx":2.49113, "vy":-1.85615, "omega":0.0028, "ax":0.39329, "ay":-5.96789, "alpha":-0.04323, "fx":[6.41291,6.48719,6.46508,6.8584], "fy":[-100.44348,-99.16481,-99.16622,-99.15318]}, + {"t":1.47718, "x":10.04185, "y":5.26711, "heading":0.00013, "vx":2.5028, "vy":-2.03318, "omega":0.00152, "ax":-1.65837, "ay":-5.73055, "alpha":0.04108, "fx":[-27.6012,-27.59851,-27.69539,-27.68194], "fy":[-95.28687,-96.31047,-95.22957,-95.27543]}, + {"t":1.50684, "x":10.11536, "y":5.20428, "heading":0.00017, "vx":2.4536, "vy":-2.20318, "omega":0.00274, "ax":-4.05459, "ay":-4.33941, "alpha":-0.09543, "fx":[-67.46217,-67.50574,-67.66841,-67.71588], "fy":[-72.91632,-71.9937,-71.95655,-72.47677]}, + {"t":1.53651, "x":10.18636, "y":5.13701, "heading":0.00025, "vx":2.33332, "vy":-2.33191, "omega":-0.0001, "ax":-4.258, "ay":-4.04324, "alpha":0.18319, "fx":[-71.01706,-70.78966,-71.05865,-71.0502], "fy":[-66.43502,-70.34586,-66.387,-66.42784]}, + {"t":1.56617, "x":10.25371, "y":5.06605, "heading":0.00025, "vx":2.20701, "vy":-2.45185, "omega":0.00534, "ax":-2.36084, "ay":-2.06622, "alpha":-0.3355, "fx":[-38.46953,-38.47805,-38.04738,-42.42133], "fy":[-37.14542,-33.68776,-33.68935,-33.24893]}, + {"t":1.59584, "x":10.31814, "y":4.99241, "heading":0.00041, "vx":2.13698, "vy":-2.51314, "omega":-0.00461, "ax":4.3217, "ay":3.87525, "alpha":-0.11949, "fx":[71.88076,71.82081,72.23682,72.2242], "fy":[63.83335,67.2743,63.46572,63.82092]}, + {"t":1.6255, "x":10.38343, "y":4.91956, "heading":0.00027, "vx":2.26518, "vy":-2.39819, "omega":-0.00816, "ax":4.19528, "ay":4.18154, "alpha":0.2215, "fx":[69.39853,69.4186,69.64951,71.26672], "fy":[71.11627,69.16707,69.13282,69.40066]}, + {"t":1.65517, "x":10.45248, "y":4.85026, "heading":0.00003, "vx":2.38963, "vy":-2.27414, "omega":-0.00159, "ax":3.98581, "ay":4.42455, "alpha":-0.03777, "fx":[66.38684,66.25405,66.58293,66.54215], "fy":[73.46824,74.85609,73.26402,73.43182]}, + {"t":1.68483, "x":10.52512, "y":4.78475, "heading":-0.00002, "vx":2.50787, "vy":-2.14289, "omega":-0.00271, "ax":3.63458, "ay":4.73563, "alpha":0.08111, "fx":[60.48496,60.9269,61.01878,59.91605], "fy":[79.76989,78.43706,78.41573,79.14014]}, + {"t":1.7145, "x":10.60111, "y":4.72326, "heading":-0.0001, "vx":2.61569, "vy":-2.0024, "omega":-0.0003, "ax":1.47873, "ay":5.7938, "alpha":-0.05474, "fx":[24.72958,24.49259,24.68792,24.68862], "fy":[96.27355,97.47692,96.29326,96.27563]}, + {"t":1.74416, "x":10.67936, "y":4.66641, "heading":-0.00011, "vx":2.65956, "vy":-1.83053, "omega":-0.00193, "ax":0.01996, "ay":5.98598, "alpha":0.17779, "fx":[-0.48492,-0.48199,-0.77197,3.06948], "fy":[100.21266,99.73264,99.73469,99.45349]}, + {"t":1.77383, "x":10.75826, "y":4.61474, "heading":-0.00016, "vx":2.66015, "vy":-1.65296, "omega":0.00335, "ax":-0.73269, "ay":5.94466, "alpha":-0.04941, "fx":[-12.19132,-12.10938,-12.27541,-12.27827], "fy":[98.91905,99.59762,98.94639,98.9153]}, + {"t":1.80349, "x":10.83685, "y":4.56832, "heading":-0.00006, "vx":2.63841, "vy":-1.47661, "omega":0.00188, "ax":-1.1692, "ay":5.87666, "alpha":-0.05419, "fx":[-19.07368,-19.14074,-19.13122,-20.61437], "fy":[98.36634,97.84364,97.84079,97.79352]}, + {"t":1.83316, "x":10.91461, "y":4.5271, "heading":-0.00001, "vx":2.60373, "vy":-1.30228, "omega":0.00027, "ax":-1.4513, "ay":5.81492, "alpha":-0.00926, "fx":[-24.24242,-24.15011,-24.18836,-24.18897], "fy":[96.88313,97.1312,96.83031,96.88286]}, + {"t":1.86282, "x":10.99121, "y":4.49103, "heading":0.0, "vx":2.56068, "vy":-1.12978, "omega":0.0, "ax":-2.14797, "ay":5.59134, "alpha":0.0, "fx":[-35.94687,-35.78186,-35.78045,-35.71329], "fy":[93.12281,93.53791,92.98956,93.16966]}, + {"t":1.89839, "x":11.08092, "y":4.45439, "heading":0.0, "vx":2.48429, "vy":-0.93093, "omega":0.0, "ax":-3.23536, "ay":5.04705, "alpha":0.0, "fx":[-53.6154,-53.89828,-53.38787,-54.8258], "fy":[84.58494,83.90906,84.00487,84.02897]}, + {"t":1.93395, "x":11.16722, "y":4.42447, "heading":0.0, "vx":2.36922, "vy":-0.75144, "omega":0.0, "ax":-4.10497, "ay":4.3696, "alpha":0.0, "fx":[-68.47968,-68.39771,-68.44012,-68.3939], "fy":[72.80907,72.97002,72.7298,72.84739]}, + {"t":1.96951, "x":11.24889, "y":4.40051, "heading":0.0, "vx":2.22323, "vy":-0.59604, "omega":0.0, "ax":-4.73859, "ay":3.67351, "alpha":0.0, "fx":[-78.7258,-78.98269,-78.70389,-79.54799], "fy":[61.71787,61.04817,61.15136,61.02504]}, + {"t":2.00508, "x":11.32496, "y":4.38164, "heading":0.0, "vx":2.05471, "vy":-0.46539, "omega":0.0, "ax":-5.17456, "ay":3.02948, "alpha":0.0, "fx":[-86.29549,-86.25911,-86.24636,-86.22893], "fy":[50.47059,50.65093,50.38872,50.48976]}, + {"t":2.04064, "x":11.39476, "y":4.367, "heading":0.0, "vx":1.87068, "vy":-0.35765, "omega":0.0, "ax":-5.46523, "ay":2.46772, "alpha":0.0, "fx":[-90.94594,-91.06188,-90.95228,-91.45126], "fy":[41.48009,41.00628,41.06729,40.9892]}, + {"t":2.07621, "x":11.45783, "y":4.35584, "heading":0.0, "vx":1.67632, "vy":-0.26989, "omega":0.0, "ax":-5.65678, "ay":1.99082, "alpha":0.0, "fx":[-94.319,-94.30964,-94.27831,-94.27618], "fy":[33.16528,33.29278,33.11625,33.16961]}, + {"t":2.11177, "x":11.51387, "y":4.3475, "heading":0.0, "vx":1.47514, "vy":-0.19909, "omega":0.0, "ax":-5.78253, "ay":1.59007, "alpha":0.0, "fx":[-96.3184,-96.23824,-96.5139,-96.49772], "fy":[25.97666,26.44379,26.34018,27.26229]}, + {"t":2.14733, "x":11.56268, "y":4.34143, "heading":0.0, "vx":1.26949, "vy":-0.14254, "omega":0.0, "ax":-5.86498, "ay":1.25344, "alpha":0.0, "fx":[-97.77791,-97.78027,-97.75132,-97.75592], "fy":[20.88083,20.92428,20.88957,20.88209]}, + {"t":2.1829, "x":11.60411, "y":4.33715, "heading":0.0, "vx":1.06091, "vy":-0.09796, "omega":0.0, "ax":-5.91875, "ay":0.96955, "alpha":0.0, "fx":[-98.6627,-98.65588,-98.65034,-98.68226], "fy":[16.15444,16.16136,16.15537,16.17632]}, + {"t":2.21846, "x":11.6381, "y":4.33428, "heading":0.0, "vx":0.85041, "vy":-0.06348, "omega":0.0, "ax":-5.95342, "ay":0.72849, "alpha":0.0, "fx":[-99.24072,-99.24435,-99.23741,-99.24023], "fy":[12.14253,12.12213,12.1688,12.14099]}, + {"t":2.25403, "x":11.66458, "y":4.33248, "heading":0.0, "vx":0.63868, "vy":-0.03757, "omega":0.0, "ax":-5.97521, "ay":0.52221, "alpha":0.0, "fx":[-99.52512,-99.53649,-99.47989,-99.87429], "fy":[8.78344,8.62008,8.64348,8.77268]}, + {"t":2.28959, "x":11.68352, "y":4.33148, "heading":0.0, "vx":0.42618, "vy":-0.019, "omega":0.0, "ax":-5.98824, "ay":0.34439, "alpha":0.0, "fx":[-99.81576,-99.81717,-99.82515,-99.82604], "fy":[5.74574,5.69874,5.77374,5.74499]}, + {"t":2.32515, "x":11.69489, "y":4.33102, "heading":0.0, "vx":0.21322, "vy":-0.00675, "omega":0.0, "ax":-5.99525, "ay":0.18986, "alpha":0.0, "fx":[-100.43014,-99.3244,-100.00142,-99.99584], "fy":[3.20359,3.14045,3.0678,3.24737]}, + {"t":2.36072, "x":11.69868, "y":4.3309, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9665ad68..17965d6c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,6 +6,7 @@ import static edu.wpi.first.units.Units.Rotations; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj.DriverStation.Alliance; @@ -26,7 +27,7 @@ import frc.robot.commands.algae.ProcessorAlgaeCommand; import frc.robot.commands.auton.NonProcessorShallowAutonCommand; import frc.robot.commands.auton.ProcessorShallowAutonCommand; -import frc.robot.commands.auton.TestAutonCommand; +import frc.robot.commands.auton.StealOneAlgeaAutonCommand; import frc.robot.commands.auton.ToggleVirtualSwitchCommand; import frc.robot.commands.biscuit.HoldBiscuitCommand; import frc.robot.commands.biscuit.JogBiscuitCommand; @@ -158,7 +159,7 @@ public class RobotContainer { private NonProcessorShallowAutonCommand nonProcessorShallowAutonCommand; private ProcessorShallowAutonCommand processorShallowAutonCommand; - private TestAutonCommand testAutonCommand; + private StealOneAlgeaAutonCommand testAutonCommand; private Alliance alliance = Alliance.Blue; private SuppliedValueWidget allianceColor; @@ -240,7 +241,21 @@ public RobotContainer() { visionSubsystem, pathHandler); - testAutonCommand = new TestAutonCommand(driveSubsystem, robotStateSubsystem, elevatorSubsystem); + testAutonCommand = + new StealOneAlgeaAutonCommand( + driveSubsystem, + robotStateSubsystem, + algaeSubsystem, + biscuitSubsystem, + coralSubsystem, + elevatorSubsystem, + tagAlignSubsystem, + visionSubsystem, + "startBargeToG", + "GToBarge", + "bargeToOppE", + "OppEToOppbarge", + new Pose2d(7.1, 5.07, Rotation2d.fromRadians(3.14159))); configureTelemetry(); configureDriverBindings(); diff --git a/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java index c4510a43..f3498053 100644 --- a/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java +++ b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java @@ -14,8 +14,6 @@ import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; import frc.robot.subsystems.tagAlign.TagAlignSubsystem; import frc.robot.subsystems.vision.VisionSubsystem; -import java.util.ArrayList; -import java.util.List; public class StealOneAlgeaAutonCommand extends SequentialCommandGroup implements AutoCommandInterface { @@ -28,7 +26,6 @@ public class StealOneAlgeaAutonCommand extends SequentialCommandGroup private CoralSubsystem coralSubsystem; private RobotStateSubsystem robotStateSubsystem; private VisionSubsystem visionSubsystem; - private List postOffsets = new ArrayList<>(); public StealOneAlgeaAutonCommand( DriveSubsystem driveSubsystem, @@ -43,7 +40,6 @@ public StealOneAlgeaAutonCommand( String secondPathName, String thirdPathName, String fourthPathName, - List postOffsets, Pose2d startPose) { addRequirements( driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); @@ -51,7 +47,6 @@ public StealOneAlgeaAutonCommand( this.coralSubsystem = coralSubsystem; this.robotStateSubsystem = robotStateSubsystem; this.visionSubsystem = visionSubsystem; - this.postOffsets = postOffsets; firstPath = new DriveAlgaeAutonServoCommand( @@ -65,7 +60,7 @@ public StealOneAlgeaAutonCommand( true, true, true, - postOffsets.get(0)); + 0.0); secondPath = new DriveBargeAutonCommand( @@ -91,7 +86,7 @@ public StealOneAlgeaAutonCommand( false, true, false, - postOffsets.get(1)); + 0.0); fourthPath = new DriveBargeAutonCommand( From c793cd6229a9a94ff600a5a452c45a55b6ccc073 Mon Sep 17 00:00:00 2001 From: Isaac Hoekstra <122327870+PotatoBoyH4@users.noreply.github.com> Date: Thu, 10 Apr 2025 21:04:32 -0400 Subject: [PATCH 4/5] filled out my routines with davids commands --- build.gradle | 2 +- .../commands/auton/StealAlgaeImmediately.java | 10 ++++++---- .../commands/auton/StealOneAlgeaAutonCommand.java | 14 ++++++++++---- .../AutoScoreAlgaeCommand.java | 0 4 files changed, 17 insertions(+), 9 deletions(-) rename src/main/java/frc/robot/commands/{auton => robotState}/AutoScoreAlgaeCommand.java (100%) diff --git a/build.gradle b/build.gradle index 67c46df9..8fa4c073 100644 --- a/build.gradle +++ b/build.gradle @@ -81,7 +81,7 @@ dependencies { implementation 'ch.qos.logback:logback-classic:1.3.5' //logging implementation("com.opencsv:opencsv:5.6") - implementation 'org.strykeforce:wallEYE:25.1.1' + implementation 'org.strykeforce:wallEYE:25.1.0' implementation 'net.jafama:jafama:2.3.2' //fastMath } diff --git a/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java b/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java index 8dee1070..c483eb46 100644 --- a/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java +++ b/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java @@ -4,6 +4,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc.robot.commands.drive.PrepOdomForAutoCommand; +import frc.robot.commands.robotState.AutoScoreAlgaeCommand; import frc.robot.subsystems.algae.AlgaeSubsystem; import frc.robot.subsystems.biscuit.BiscuitSubsystem; import frc.robot.subsystems.coral.CoralSubsystem; @@ -60,7 +61,8 @@ public StealAlgaeImmediately( true, true, true, - postOffsets.get(0)); + postOffsets.get(0), + null); secondPath = new DriveBargeAutonCommand( @@ -80,9 +82,9 @@ public StealAlgaeImmediately( robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), firstPath, - secondPath - // score Barge - )); + secondPath, + new AutoScoreAlgaeCommand( + robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem))); } @Override diff --git a/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java index f3498053..6fdf7cf5 100644 --- a/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java +++ b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java @@ -4,6 +4,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc.robot.commands.drive.PrepOdomForAutoCommand; +import frc.robot.commands.robotState.AutoScoreAlgaeCommand; import frc.robot.subsystems.algae.AlgaeSubsystem; import frc.robot.subsystems.biscuit.BiscuitSubsystem; import frc.robot.subsystems.coral.CoralSubsystem; @@ -60,7 +61,8 @@ public StealOneAlgeaAutonCommand( true, true, true, - 0.0); + 0.0, + ScoringLevel.L2); secondPath = new DriveBargeAutonCommand( @@ -86,7 +88,8 @@ public StealOneAlgeaAutonCommand( false, true, false, - 0.0); + 0.0, + ScoringLevel.L2); fourthPath = new DriveBargeAutonCommand( @@ -108,10 +111,13 @@ public StealOneAlgeaAutonCommand( firstPath, new PlaceCoralAutonCommand(robotStateSubsystem, coralSubsystem), secondPath, - // score Barge + new AutoScoreAlgaeCommand( + robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem), new WaitForElevBelowBarge(elevatorSubsystem), thirdPath, - fourthPath)); + fourthPath, + new AutoScoreAlgaeCommand( + robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem))); } @Override diff --git a/src/main/java/frc/robot/commands/auton/AutoScoreAlgaeCommand.java b/src/main/java/frc/robot/commands/robotState/AutoScoreAlgaeCommand.java similarity index 100% rename from src/main/java/frc/robot/commands/auton/AutoScoreAlgaeCommand.java rename to src/main/java/frc/robot/commands/robotState/AutoScoreAlgaeCommand.java From 2e4b54538602d4b0c9a19b755350c53d18d3497c Mon Sep 17 00:00:00 2001 From: Isaac Hoekstra <122327870+PotatoBoyH4@users.noreply.github.com> Date: Fri, 11 Apr 2025 21:25:07 -0400 Subject: [PATCH 5/5] stuff --- src/main/deploy/choreo/EToBarge.traj | 4 +- src/main/deploy/choreo/GToBarge.traj | 167 ++++++------ src/main/deploy/choreo/HToBarge.traj | 138 +++++----- src/main/deploy/choreo/HToOppE.traj | 208 +++++++++++++++ src/main/deploy/choreo/IToBarge.traj | 137 +++++----- src/main/deploy/choreo/OppBargeToOppG.traj | 123 +++++---- src/main/deploy/choreo/OppEToOppbarge.traj | 155 +++++------ src/main/deploy/choreo/OppGToOppBarge.traj | 111 ++++---- src/main/deploy/choreo/StartToOppE.traj | 151 ----------- src/main/deploy/choreo/StartToOppG.traj | 136 ---------- src/main/deploy/choreo/bargeToE.traj | 164 ++++++------ src/main/deploy/choreo/bargeToI.traj | 110 ++++---- src/main/deploy/choreo/bargeToOppE.traj | 252 +++++++++++------- src/main/deploy/choreo/bargeToOppG.traj | 180 +++++++------ src/main/deploy/choreo/startBargeToG.traj | 50 ++-- src/main/deploy/choreo/startBargeToOppE.traj | 195 ++++++++++++++ src/main/deploy/choreo/startBargeToOppG.traj | 167 ++++++++++++ src/main/deploy/choreo/startHToH.traj | 72 +++-- src/main/deploy/choreo/startToJSlow.traj | 145 +++++----- src/main/java/frc/robot/RobotContainer.java | 3 +- .../DriveAlgaeWaitAutonServoCommand.java | 217 +++++++++++++++ .../commands/auton/StealAlgaeImmediately.java | 16 +- .../auton/StealOneAlgeaAutonCommand.java | 12 +- ...StealOneAlgeaNoSuperCycleAutonCommand.java | 121 +++++++++ .../frc/robot/subsystems/auto/AutoSwitch.java | 54 ++++ 25 files changed, 1935 insertions(+), 1153 deletions(-) create mode 100644 src/main/deploy/choreo/HToOppE.traj delete mode 100644 src/main/deploy/choreo/StartToOppE.traj delete mode 100644 src/main/deploy/choreo/StartToOppG.traj create mode 100644 src/main/deploy/choreo/startBargeToOppE.traj create mode 100644 src/main/deploy/choreo/startBargeToOppG.traj create mode 100644 src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java create mode 100644 src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java diff --git a/src/main/deploy/choreo/EToBarge.traj b/src/main/deploy/choreo/EToBarge.traj index 127d656e..1c16ea8d 100644 --- a/src/main/deploy/choreo/EToBarge.traj +++ b/src/main/deploy/choreo/EToBarge.traj @@ -24,8 +24,8 @@ {"x":{"exp":"E.x", "val":4.894185251845}, "y":{"exp":"E.y", "val":2.7146580097364}, "heading":{"exp":"E.heading", "val":2.0943951023931953}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.291215419769287 m", "val":5.291215419769287}, "y":{"exp":"2.6243345737457275 m", "val":2.6243345737457275}, "heading":{"exp":"E.heading", "val":2.0943951023931953}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.961971282958984 m", "val":5.961971282958984}, "y":{"exp":"3.038506269454956 m", "val":3.038506269454956}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"5.08871412 m", "val":5.08871412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"barge.x", "val":7.75}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"5.08871412 m", "val":5.08871412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":26, "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}, diff --git a/src/main/deploy/choreo/GToBarge.traj b/src/main/deploy/choreo/GToBarge.traj index 25aa8db2..7b78c94d 100644 --- a/src/main/deploy/choreo/GToBarge.traj +++ b/src/main/deploy/choreo/GToBarge.traj @@ -5,8 +5,8 @@ "waypoints":[ {"x":5.827323, "y":3.7209, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.988579750061035, "y":3.788569688796997, "heading":-3.077120915522429, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.0, "y":5.08871412, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.75, "y":5.08871412277, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.0, "y":5.08871412, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":11, "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}, @@ -22,8 +22,8 @@ "waypoints":[ {"x":{"exp":"G.x", "val":5.827323}, "y":{"exp":"G.y", "val":3.7209}, "heading":{"exp":"G.heading", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.988579750061035 m", "val":5.988579750061035}, "y":{"exp":"3.788569688796997 m", "val":3.788569688796997}, "heading":{"exp":"-3.077120915522429 rad", "val":-3.077120915522429}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"5.08871412 m", "val":5.08871412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"barge.x", "val":7.75}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"5.08871412 m", "val":5.08871412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":11, "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}, @@ -40,87 +40,86 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.26516,1.30754,1.85832], + "waypoints":[0.0,0.26504,1.30729,1.83898], "samples":[ - {"t":0.0, "x":5.82732, "y":3.7209, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.67747, "ay":1.75544, "alpha":-11.89648, "fx":[50.30464,55.12524,106.14494,100.31006], "fy":[67.38827,-3.44098,-3.40614,56.50797]}, - {"t":0.02652, "x":5.82897, "y":3.72152, "heading":3.14159, "vx":0.12403, "vy":0.04655, "omega":-0.31544, "ax":4.67056, "ay":1.77866, "alpha":-6.58723, "fx":[62.39862,65.29676,93.52008,90.2085], "fy":[49.93375,12.42637,10.72249,45.51498]}, - {"t":0.05303, "x":5.8339, "y":3.72338, "heading":3.13323, "vx":0.24787, "vy":0.09371, "omega":-0.49011, "ax":4.65924, "ay":1.80727, "alpha":-1.35412, "fx":[74.47133,75.10815,80.73656,80.35288], "fy":[34.36523,26.66836,26.15061,33.32132]}, - {"t":0.07955, "x":5.84211, "y":3.7265, "heading":3.12023, "vx":0.37141, "vy":0.14163, "omega":-0.52602, "ax":4.64407, "ay":1.84482, "alpha":3.92392, "fx":[86.6524,84.82298,68.2697,69.9124], "fy":[19.08184,40.19782,42.88149,20.84793]}, - {"t":0.10606, "x":5.85359, "y":3.7309, "heading":3.10629, "vx":0.49455, "vy":0.19055, "omega":-0.42197, "ax":4.62271, "ay":1.89625, "alpha":9.13383, "fx":[98.60325,94.91995,55.57512,59.13518], "fy":[5.33502,51.21932,61.51447,8.36953]}, - {"t":0.13258, "x":5.86833, "y":3.73662, "heading":3.0951, "vx":0.61713, "vy":0.24083, "omega":-0.17978, "ax":4.59047, "ay":1.97099, "alpha":14.25534, "fx":[111.00327,104.77239,43.74011,46.56763], "fy":[-6.66639,62.32683,79.40558,-3.6439]}, - {"t":0.15909, "x":5.88631, "y":3.7437, "heading":3.09033, "vx":0.73885, "vy":0.29309, "omega":0.19821, "ax":4.53642, "ay":2.08932, "alpha":19.34622, "fx":[123.09795,113.65229,31.38929,34.34004], "fy":[-17.66788,73.09618,99.33782,-15.45406]}, - {"t":0.18561, "x":5.90749, "y":3.7522, "heading":3.09558, "vx":0.85914, "vy":0.34849, "omega":0.71119, "ax":4.42831, "ay":2.30449, "alpha":24.12211, "fx":[135.79141,121.17639,19.70617,18.59749], "fy":[-23.72993,83.83571,118.4263,-24.8731]}, - {"t":0.21213, "x":5.93183, "y":3.76226, "heading":3.11444, "vx":0.97656, "vy":0.4096, "omega":1.35081, "ax":4.11983, "ay":2.80892, "alpha":28.42622, "fx":[149.03505,124.74647,7.26652,-6.34597], "fy":[-22.2936,98.40425,135.48398,-24.30141]}, - {"t":0.23864, "x":5.95917, "y":3.7741, "heading":-3.13292, "vx":1.0858, "vy":0.48408, "omega":2.10455, "ax":1.75786, "ay":4.63867, "alpha":33.65151, "fx":[151.83956,97.63622,-41.44857,-90.81631], "fy":[9.62984,137.60161,154.03373,8.0327]}, - {"t":0.26516, "x":5.98858, "y":3.78857, "heading":-3.07712, "vx":1.13241, "vy":0.60707, "omega":2.99685, "ax":-3.48419, "ay":3.41689, "alpha":0.07955, "fx":[-56.92393,-57.7024,-56.9818,-60.71101], "fy":[58.03298,57.11592,56.05893,56.62403]}, - {"t":0.2852, "x":6.01058, "y":3.80143, "heading":-3.01705, "vx":1.06256, "vy":0.67557, "omega":2.99844, "ax":-3.51673, "ay":3.46382, "alpha":0.0, "fx":[-57.7649,-58.08492,-59.40012,-59.23907], "fy":[58.75328,57.55,56.40245,58.2548]}, - {"t":0.30525, "x":6.03117, "y":3.81566, "heading":-2.95694, "vx":0.99207, "vy":0.745, "omega":2.99844, "ax":-3.50521, "ay":3.46996, "alpha":0.0, "fx":[-58.08937,-59.76251,-57.82425,-58.04422], "fy":[57.48934,58.25409,58.27615,57.3507]}, - {"t":0.3253, "x":6.05036, "y":3.83129, "heading":-2.89683, "vx":0.9218, "vy":0.81456, "omega":2.99844, "ax":-3.49186, "ay":3.47714, "alpha":0.0, "fx":[-58.23476,-58.20222,-58.24664,-58.14701], "fy":[57.95135,58.33087,57.51738,58.04908]}, - {"t":0.34534, "x":6.06813, "y":3.84832, "heading":-2.83673, "vx":0.85181, "vy":0.88426, "omega":2.99844, "ax":-3.477, "ay":3.48499, "alpha":0.0, "fx":[-57.27971,-59.33365,-57.64733,-57.57866], "fy":[57.99184,58.26212,58.26232,57.8559]}, - {"t":0.36539, "x":6.08451, "y":3.86675, "heading":-2.77662, "vx":0.78211, "vy":0.95412, "omega":2.99844, "ax":-3.45872, "ay":3.49504, "alpha":0.0, "fx":[-57.91796,-57.70076,-57.45979,-57.54224], "fy":[58.06395,58.85999,57.87296,58.24555]}, - {"t":0.38543, "x":6.09949, "y":3.88658, "heading":-2.71652, "vx":0.71278, "vy":1.02418, "omega":2.99844, "ax":-3.43887, "ay":3.50536, "alpha":0.0, "fx":[-56.57721,-58.85715,-56.98994,-56.87297], "fy":[58.40043,58.54121,58.53293,58.2563]}, - {"t":0.40548, "x":6.11309, "y":3.90781, "heading":-2.65641, "vx":0.64384, "vy":1.09445, "omega":2.99844, "ax":-3.41196, "ay":3.52071, "alpha":0.0, "fx":[-57.22629,-56.90612,-56.59367,-56.77683], "fy":[58.41466,59.38942,58.27639,58.67398]}, - {"t":0.42552, "x":6.12531, "y":3.93046, "heading":-2.5963, "vx":0.57545, "vy":1.16503, "omega":2.99844, "ax":-3.39076, "ay":3.52854, "alpha":0.0, "fx":[-55.94163,-57.8285,-56.20581,-56.11352], "fy":[58.82455,58.86157,58.8724,58.7176]}, - {"t":0.44557, "x":6.13616, "y":3.95452, "heading":-2.5362, "vx":0.50748, "vy":1.23576, "omega":2.99844, "ax":-3.35364, "ay":3.5484, "alpha":0.0, "fx":[-56.28834,-55.90333,-55.58297,-55.83977], "fy":[58.82552,59.87305,58.75834,59.14391]}, - {"t":0.46562, "x":6.14566, "y":3.98, "heading":-2.47609, "vx":0.44025, "vy":1.30689, "omega":2.99844, "ax":-3.31397, "ay":3.56731, "alpha":0.0, "fx":[-54.76813,-56.43516,-54.91298,-54.8527], "fy":[59.48499,59.46303,59.49513,59.41848]}, - {"t":0.48566, "x":6.15382, "y":4.00692, "heading":-2.41599, "vx":0.37382, "vy":1.3784, "omega":2.99844, "ax":-3.24755, "ay":3.60438, "alpha":0.0, "fx":[-54.48863,-54.0999,-53.83552,-54.11607], "fy":[59.75597,60.72948,59.76952,60.07821]}, - {"t":0.50571, "x":6.16066, "y":4.03527, "heading":-2.35588, "vx":0.30872, "vy":1.45065, "omega":2.99844, "ax":-3.18886, "ay":3.62797, "alpha":0.0, "fx":[-52.84102,-54.05247,-52.87507,-52.85831], "fy":[60.49394,60.4421,60.49346,60.47654]}, - {"t":0.52575, "x":6.16621, "y":4.06508, "heading":-2.29577, "vx":0.2448, "vy":1.52338, "omega":2.99844, "ax":-3.04862, "ay":3.70679, "alpha":-0.00001, "fx":[-51.08861,-50.765,-50.58765,-50.83458], "fy":[61.50915,62.29354,61.57474,61.78451]}, - {"t":0.5458, "x":6.17051, "y":4.09636, "heading":-2.23567, "vx":0.18368, "vy":1.59768, "omega":2.99844, "ax":-2.96157, "ay":3.72601, "alpha":0.0, "fx":[-49.07711,-50.32022,-49.02271,-49.0519], "fy":[62.11833,62.04985,62.12729,62.14797]}, - {"t":0.56584, "x":6.17359, "y":4.12914, "heading":-2.17556, "vx":0.12432, "vy":1.67237, "omega":2.99844, "ax":-2.60648, "ay":3.90249, "alpha":-0.00001, "fx":[-43.83594,-43.35324,-43.08871,-43.51748], "fy":[64.59038,65.8387,64.74903,65.03267]}, - {"t":0.58589, "x":6.17556, "y":4.16345, "heading":-2.11546, "vx":0.07207, "vy":1.7506, "omega":2.99844, "ax":-2.47175, "ay":3.8722, "alpha":-0.00001, "fx":[-40.984,-42.0284,-40.86204,-40.93678], "fy":[64.537,64.47349,64.56863,64.61185]}, - {"t":0.60594, "x":6.17651, "y":4.19932, "heading":-2.05535, "vx":0.02252, "vy":1.82822, "omega":2.99844, "ax":-1.40243, "ay":4.11732, "alpha":-0.00001, "fx":[-23.80199,-23.2388,-22.96222,-23.50829], "fy":[68.03933,69.59732,68.30718,68.59097]}, - {"t":0.62598, "x":6.17668, "y":4.23679, "heading":-1.99524, "vx":-0.00559, "vy":1.91076, "omega":2.99844, "ax":-0.1352, "ay":2.86046, "alpha":-0.00002, "fx":[-2.2472,-2.27745,-2.24416,-2.24628], "fy":[47.68095,47.67857,47.684,47.68641]}, - {"t":0.64603, "x":6.17654, "y":4.27567, "heading":-1.93514, "vx":-0.0083, "vy":1.9681, "omega":2.99844, "ax":1.36986, "ay":1.80573, "alpha":0.00002, "fx":[22.67481,22.9059,22.99627,22.76283], "fy":[29.83321,30.52072,29.97894,30.06968]}, - {"t":0.66607, "x":6.17665, "y":4.31548, "heading":-1.87503, "vx":0.01916, "vy":2.00429, "omega":2.99844, "ax":3.53246, "ay":0.23146, "alpha":-0.00002, "fx":[58.6295,60.1031,58.26268,58.54227], "fy":[3.95146,4.03334,3.76697,3.68183]}, - {"t":0.68612, "x":6.17774, "y":4.35571, "heading":-1.81493, "vx":0.08997, "vy":2.00893, "omega":2.99844, "ax":3.97114, "ay":-1.37877, "alpha":0.00001, "fx":[66.34062,66.10934,66.05511,66.28277], "fy":[-22.69297,-23.43258,-22.87479,-22.9336]}, - {"t":0.70616, "x":6.18034, "y":4.3957, "heading":-1.75482, "vx":0.16957, "vy":1.98129, "omega":2.99844, "ax":4.28926, "ay":-1.65071, "alpha":0.00001, "fx":[71.2228,72.88773,70.7453,71.14406], "fy":[-27.35786,-27.26403,-27.68784,-27.75671]}, - {"t":0.72621, "x":6.1846, "y":4.43509, "heading":-1.69471, "vx":0.25555, "vy":1.9482, "omega":2.99844, "ax":4.10876, "ay":-2.28166, "alpha":0.0, "fx":[68.67318,68.34182,68.32084,68.62826], "fy":[-37.59245,-38.73065,-37.88948,-37.92411]}, - {"t":0.74626, "x":6.19055, "y":4.47368, "heading":-1.63461, "vx":0.33792, "vy":1.90247, "omega":2.99844, "ax":4.12879, "ay":-2.36783, "alpha":0.0, "fx":[68.60118,69.96627,68.16823,68.56439], "fy":[-39.29312,-39.22477,-39.67653,-39.68804]}, - {"t":0.7663, "x":6.19816, "y":4.51134, "heading":-1.5745, "vx":0.42068, "vy":1.855, "omega":2.99844, "ax":4.04387, "ay":-2.58877, "alpha":0.0, "fx":[67.54606,67.2627,67.29393,67.53462], "fy":[-42.74957,-43.81769,-43.02825,-43.01902]}, - {"t":0.78635, "x":6.2074, "y":4.54801, "heading":-1.5144, "vx":0.50174, "vy":1.80311, "omega":2.99844, "ax":4.03132, "ay":-2.66071, "alpha":0.0, "fx":[66.94974,68.43639,66.45985,66.95477], "fy":[-44.09981,-44.05437,-44.65593,-44.60083]}, - {"t":0.80639, "x":6.21827, "y":4.58362, "heading":-1.45429, "vx":0.58256, "vy":1.74977, "omega":2.99844, "ax":3.99335, "ay":-2.75656, "alpha":0.0, "fx":[66.72524,66.35255,66.44852,66.74287], "fy":[-45.38879,-46.94659,-45.75989,-45.7066]}, - {"t":0.82644, "x":6.23075, "y":4.61814, "heading":-1.39419, "vx":0.66261, "vy":1.69451, "omega":2.99844, "ax":3.97787, "ay":-2.80792, "alpha":0.0, "fx":[66.00789,67.69614,65.44748,66.08519], "fy":[-46.44882,-46.46046,-47.23647,-47.08114]}, - {"t":0.84648, "x":6.24483, "y":4.65154, "heading":-1.33408, "vx":0.74234, "vy":1.63823, "omega":2.99844, "ax":3.95701, "ay":-2.86058, "alpha":0.0, "fx":[66.10549,65.71462,65.87297,66.15296], "fy":[-47.03841,-48.93014,-47.43052,-47.33913]}, - {"t":0.86653, "x":6.26051, "y":4.68381, "heading":-1.27397, "vx":0.82167, "vy":1.58089, "omega":2.99844, "ax":3.9467, "ay":-2.89332, "alpha":0.0, "fx":[65.43985,67.22107,64.88106,65.61661], "fy":[-47.78023,-47.88415,-48.76469,-48.49181]}, - {"t":0.88658, "x":6.27777, "y":4.71492, "heading":-1.21387, "vx":0.90078, "vy":1.52289, "omega":2.99844, "ax":3.93045, "ay":-2.93077, "alpha":0.0, "fx":[65.63445,65.26894,65.47165,65.69961], "fy":[-48.17428,-50.29778,-48.52766,-48.4185]}, - {"t":0.90662, "x":6.29662, "y":4.74485, "heading":-1.15376, "vx":0.97957, "vy":1.46414, "omega":2.99844, "ax":3.92167, "ay":-2.95528, "alpha":0.0, "fx":[65.01221,66.64582,64.56456,65.26685], "fy":[-48.79801,-48.97667,-49.81779,-49.45968]}, - {"t":0.92667, "x":6.31704, "y":4.77361, "heading":-1.09366, "vx":1.05818, "vy":1.4049, "omega":2.99844, "ax":3.91147, "ay":-2.97972, "alpha":0.0, "fx":[65.27644,65.00515,65.1991,65.32854], "fy":[-49.09683,-51.02972,-49.32013,-49.23545]}, - {"t":0.94671, "x":6.33904, "y":4.80117, "heading":-1.03355, "vx":1.13659, "vy":1.34517, "omega":2.99844, "ax":3.90321, "ay":-2.99987, "alpha":0.0, "fx":[64.71711,66.11608,64.41163,65.01401], "fy":[-49.58033,-49.7981,-50.5221,-50.12531]}, - {"t":0.96676, "x":6.36261, "y":4.82754, "heading":-0.97344, "vx":1.21483, "vy":1.28503, "omega":2.99844, "ax":3.89576, "ay":-3.01774, "alpha":0.0, "fx":[64.98724,64.80148,64.9652,65.00782], "fy":[-49.86228,-51.49071,-49.95215,-49.91207]}, - {"t":0.9868, "x":6.38774, "y":4.85269, "heading":-0.91334, "vx":1.29293, "vy":1.22454, "omega":2.99844, "ax":3.88916, "ay":-3.03337, "alpha":0.0, "fx":[64.48489,65.72419,64.30256,64.80983], "fy":[-50.17572,-50.42279,-51.04126,-50.61981]}, - {"t":1.00685, "x":6.41444, "y":4.87663, "heading":-0.85323, "vx":1.37089, "vy":1.16373, "omega":2.99844, "ax":3.88351, "ay":-3.04696, "alpha":0.0, "fx":[64.77086,64.64617,64.77234,64.75557], "fy":[-50.45478,-51.8241,-50.43899,-50.44746]}, - {"t":1.0269, "x":6.4427, "y":4.89934, "heading":-0.79313, "vx":1.44873, "vy":1.10265, "omega":2.99844, "ax":3.87884, "ay":-3.05852, "alpha":0.0, "fx":[64.3155,65.42026,64.24136,64.65665], "fy":[-50.64313,-50.90206,-51.40547,-50.98565]}, - {"t":1.04694, "x":6.47252, "y":4.92083, "heading":-0.73302, "vx":1.52649, "vy":1.04134, "omega":2.99844, "ax":3.87419, "ay":-3.06948, "alpha":0.0, "fx":[64.61371,64.53057,64.61639,64.56311], "fy":[-50.92636,-52.018,-50.8344,-50.88849]}, - {"t":1.06699, "x":6.5039, "y":4.94109, "heading":-0.67291, "vx":1.60415, "vy":0.97981, "omega":2.99844, "ax":3.8708, "ay":-3.07831, "alpha":-0.00001, "fx":[64.16462,65.22419,64.18081,64.5278], "fy":[-51.00529,-51.27865,-51.69911,-51.27297]}, - {"t":1.08703, "x":6.53683, "y":4.96011, "heading":-0.61281, "vx":1.68174, "vy":0.91811, "omega":2.99844, "ax":3.86804, "ay":-3.08594, "alpha":-0.00001, "fx":[64.51718,64.46159,64.50397,64.43041], "fy":[-51.24399,-52.2317,-51.09621,-51.19254]}, - {"t":1.10708, "x":6.57132, "y":4.9779, "heading":-0.5527, "vx":1.75928, "vy":0.85625, "omega":2.99844, "ax":3.86581, "ay":-3.0925, "alpha":-0.00001, "fx":[64.10448,65.02454,64.192,64.44357], "fy":[-51.31122,-51.55402,-51.8543,-51.48235]}, - {"t":1.12712, "x":6.60737, "y":4.99444, "heading":-0.4926, "vx":1.83677, "vy":0.79426, "omega":2.99844, "ax":3.86413, "ay":-3.09806, "alpha":-0.00001, "fx":[64.47116,64.43324,64.41435,64.33388], "fy":[-51.47897,-52.32185,-51.33005,-51.44212]}, - {"t":1.14717, "x":6.64496, "y":5.00974, "heading":-0.43249, "vx":1.91423, "vy":0.73215, "omega":2.99844, "ax":3.86332, "ay":-3.10225, "alpha":-0.00002, "fx":[64.06642,64.8447,64.25186,64.43579], "fy":[-51.58974,-51.72818,-51.89667,-51.63743]}, - {"t":1.16722, "x":6.68411, "y":5.02379, "heading":-0.37238, "vx":1.99168, "vy":0.66997, "omega":2.99844, "ax":3.8632, "ay":-3.10535, "alpha":-0.00002, "fx":[64.54995,64.53756,64.3053,64.19812], "fy":[-51.49889,-52.3224,-51.63128,-51.60597]}, - {"t":1.18726, "x":6.72481, "y":5.0366, "heading":-0.31228, "vx":2.06912, "vy":0.60772, "omega":2.99844, "ax":3.86419, "ay":-3.10684, "alpha":-0.00003, "fx":[63.84647,64.55255,64.61675,64.64106], "fy":[-52.00173,-51.67748,-51.61441,-51.86478]}, - {"t":1.20731, "x":6.76706, "y":5.04815, "heading":-0.25217, "vx":2.14658, "vy":0.54544, "omega":2.99844, "ax":3.86589, "ay":-3.10729, "alpha":-0.00003, "fx":[64.74117,64.80515,64.39308,63.83047], "fy":[-50.67436,-52.24147,-51.91955,-52.35243]}, - {"t":1.22735, "x":6.81087, "y":5.05846, "heading":-0.19207, "vx":2.22407, "vy":0.48315, "omega":2.99844, "ax":3.8685, "ay":-3.10642, "alpha":-0.00131, "fx":[63.34344,65.3661,65.35957,63.87478], "fy":[-50.83001,-51.18403,-52.14492,-52.97093]}, - {"t":1.2474, "x":6.85623, "y":5.06753, "heading":-0.13196, "vx":2.30162, "vy":0.42088, "omega":2.99841, "ax":3.87908, "ay":-3.09422, "alpha":-32.66993, "fx":[112.14977,158.17032,2.72847,-14.39871], "fy":[-123.10905,-2.85682,72.5157,-152.86653]}, - {"t":1.26744, "x":6.90315, "y":5.07534, "heading":-0.07185, "vx":2.37938, "vy":0.35885, "omega":2.34352, "ax":2.06655, "ay":-1.40497, "alpha":-55.00118, "fx":[138.06259,187.64776,-107.44077,-80.47609], "fy":[-142.82611,64.658,165.77426,-181.28709]}, - {"t":1.28749, "x":6.95126, "y":5.08225, "heading":-0.02488, "vx":2.4208, "vy":0.33069, "omega":1.24098, "ax":1.06432, "ay":-0.82724, "alpha":-56.99563, "fx":[140.66851,170.30691,-131.17139,-108.83714], "fy":[-140.68812,102.70435,149.24355,-166.41875]}, - {"t":1.30754, "x":7.0, "y":5.08871, "heading":0.0, "vx":2.44214, "vy":0.31411, "omega":0.09846, "ax":2.42523, "ay":-4.30485, "alpha":-3.00996, "fx":[47.07011,48.84555,33.68406,32.10964], "fy":[-78.05909,-64.80961,-64.45073,-79.71969]}, - {"t":1.34196, "x":7.0855, "y":5.09698, "heading":0.00339, "vx":2.52562, "vy":0.16592, "omega":-0.00515, "ax":-3.71671, "ay":-3.30529, "alpha":-0.04434, "fx":[-61.14056,-61.01542,-59.75499,-65.91232], "fy":[-54.41873,-55.74812,-55.76016,-54.46315]}, - {"t":1.37638, "x":7.17024, "y":5.10073, "heading":0.00321, "vx":2.39768, "vy":0.05214, "omega":-0.00668, "ax":-4.79142, "ay":-1.38292, "alpha":-0.00049, "fx":[-80.21826,-80.25292,-79.50204,-79.50971], "fy":[-23.40948,-21.25201,-24.12335,-23.42557]}, - {"t":1.41081, "x":7.24994, "y":5.1017, "heading":0.00298, "vx":2.23274, "vy":0.00453, "omega":-0.00669, "ax":-4.94044, "ay":-0.71358, "alpha":0.00268, "fx":[-81.99291,-81.94091,-82.19831,-83.28697], "fy":[-10.50876,-12.29191,-12.30126,-12.47821]}, - {"t":1.44523, "x":7.32388, "y":5.10144, "heading":0.00275, "vx":2.06267, "vy":-0.02003, "omega":-0.0066, "ax":-4.97818, "ay":-0.39662, "alpha":-0.00355, "fx":[-83.1091,-83.11854,-82.85251,-82.85511], "fy":[-6.75596,-5.90799,-7.02204,-6.76018]}, - {"t":1.47966, "x":7.39193, "y":5.10051, "heading":0.00252, "vx":1.8913, "vy":-0.03369, "omega":-0.00672, "ax":-4.99066, "ay":-0.21399, "alpha":0.00235, "fx":[-82.97043,-82.9508,-82.9174,-83.92919], "fy":[-3.11818,-3.79313,-3.82601,-3.53124]}, - {"t":1.51408, "x":7.45408, "y":5.09923, "heading":0.00229, "vx":1.71951, "vy":-0.04105, "omega":-0.00664, "ax":-4.99517, "ay":-0.09568, "alpha":-0.00115, "fx":[-83.30513,-83.30871,-83.22648,-83.22831], "fy":[-1.63902,-1.34365,-1.75599,-1.64112]}, - {"t":1.5485, "x":7.51031, "y":5.09776, "heading":0.00206, "vx":1.54755, "vy":-0.04435, "omega":-0.00668, "ax":-4.99666, "ay":-0.01293, "alpha":0.00042, "fx":[-83.16927,-83.16593,-83.16395,-83.66877], "fy":[0.01069,-0.33956,-0.3441,-0.18926]}, - {"t":1.58293, "x":7.56062, "y":5.09622, "heading":0.00183, "vx":1.37555, "vy":-0.04479, "omega":-0.00667, "ax":-4.99688, "ay":0.04815, "alpha":-0.00005, "fx":[-83.29863,-83.29802,-83.29312,-83.29285], "fy":[0.79965,0.84418,0.76673,0.79971]}, - {"t":1.61735, "x":7.60502, "y":5.09471, "heading":0.0016, "vx":1.20354, "vy":-0.04313, "omega":-0.00667, "ax":-4.99655, "ay":0.09506, "alpha":-0.00029, "fx":[-83.23394,-83.23726,-83.18549,-83.50343], "fy":[1.61662,1.53072,1.53262,1.65817]}, - {"t":1.65177, "x":7.64349, "y":5.09328, "heading":0.00138, "vx":1.03154, "vy":-0.03986, "omega":-0.00668, "ax":-4.99597, "ay":0.13221, "alpha":0.00053, "fx":[-83.25914,-83.25905,-83.30184,-83.30146], "fy":[2.22756,2.09832,2.26181,2.22777]}, - {"t":1.6862, "x":7.67603, "y":5.09199, "heading":0.00115, "vx":0.85955, "vy":-0.03531, "omega":-0.00666, "ax":-4.99529, "ay":0.16236, "alpha":-0.00075, "fx":[-83.24811,-83.25196,-83.17014,-83.40638], "fy":[2.62089,2.68909,2.69311,2.82261]}, - {"t":1.72062, "x":7.70266, "y":5.09087, "heading":0.00092, "vx":0.6876, "vy":-0.02972, "omega":-0.00669, "ax":-4.9946, "ay":0.1873, "alpha":0.00093, "fx":[-83.22279,-83.22406,-83.29168,-83.29174], "fy":[3.16099,2.93719,3.23018,3.16076]}, - {"t":1.75505, "x":7.72337, "y":5.08996, "heading":0.00069, "vx":0.51566, "vy":-0.02327, "omega":-0.00666, "ax":-4.99392, "ay":0.20829, "alpha":-0.00096, "fx":[-83.24874,-83.25097,-83.14446,-83.3407], "fy":[3.29468,3.47804,3.48299,3.63273]}, - {"t":1.78947, "x":7.73817, "y":5.08928, "heading":0.00046, "vx":0.34375, "vy":-0.0161, "omega":-0.00669, "ax":-4.99327, "ay":0.22619, "alpha":0.00342, "fx":[-83.1944,-83.19721,-83.27485,-83.27503], "fy":[3.82688,3.52364,3.90484,3.82641]}, - {"t":1.82389, "x":7.74704, "y":5.08886, "heading":0.00023, "vx":0.17187, "vy":-0.00832, "omega":-0.00657, "ax":-4.99265, "ay":0.24163, "alpha":0.1909, "fx":[-83.59907,-83.7074,-82.80589,-82.78827], "fy":[4.51826,3.51192,3.54052,4.54093]}, - {"t":1.85832, "x":7.75, "y":5.08871, "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":5.82732, "y":3.7209, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.67029, "ay":1.77446, "alpha":-11.89625, "fx":[50.31659,54.73121,106.03111,100.32692], "fy":[67.37948,-2.86281,-3.20537,57.0061]}, + {"t":0.0265, "x":5.82896, "y":3.72152, "heading":3.14159, "vx":0.12378, "vy":0.04703, "omega":-0.3153, "ax":4.66419, "ay":1.79531, "alpha":-6.57325, "fx":[62.4051,65.07931,93.347,90.16748], "fy":[49.95528,12.79179,11.04678,45.91392]}, + {"t":0.05301, "x":5.83388, "y":3.7234, "heading":3.13324, "vx":0.2474, "vy":0.09461, "omega":-0.48952, "ax":4.65394, "ay":1.82088, "alpha":-1.34307, "fx":[74.41335,75.02407,80.53451,80.34354], "fy":[34.56526,26.90342,26.44307,33.50124]}, + {"t":0.07951, "x":5.84207, "y":3.72655, "heading":3.12026, "vx":0.37075, "vy":0.14287, "omega":-0.52511, "ax":4.64025, "ay":1.85441, "alpha":3.93369, "fx":[86.57199,84.79147,68.23735,69.80207], "fy":[19.22905,40.49516,42.98505,20.93938]}, + {"t":0.10602, "x":5.85353, "y":3.73099, "heading":3.10634, "vx":0.49373, "vy":0.19202, "omega":-0.42085, "ax":4.62106, "ay":1.90029, "alpha":9.11067, "fx":[98.42979,94.9991,55.53688,59.15763], "fy":[5.49597,51.0882,61.58661,8.53677]}, + {"t":0.13252, "x":5.86824, "y":3.73674, "heading":3.09519, "vx":0.61621, "vy":0.24239, "omega":-0.17938, "ax":4.59225, "ay":1.96688, "alpha":14.18347, "fx":[111.13904,105.068,43.75507,46.23997], "fy":[-6.31845,62.16909,78.35661,-3.05967]}, + {"t":0.15902, "x":5.88618, "y":3.74386, "heading":3.09044, "vx":0.73792, "vy":0.29452, "omega":0.19653, "ax":4.54435, "ay":2.07208, "alpha":19.30583, "fx":[123.34062,114.06139,31.32678,34.27962], "fy":[-17.85275,72.87817,98.20411,-15.06713]}, + {"t":0.18553, "x":5.90734, "y":3.75239, "heading":3.09564, "vx":0.85837, "vy":0.34944, "omega":0.70822, "ax":4.44976, "ay":2.26294, "alpha":24.22136, "fx":[136.5442,122.09697,19.85185,18.20839], "fy":[-24.85349,83.15446,117.69614,-25.10877]}, + {"t":0.21203, "x":5.93165, "y":3.76245, "heading":3.11442, "vx":0.9763, "vy":0.40941, "omega":1.35018, "ax":4.18598, "ay":2.70965, "alpha":28.58368, "fx":[149.97571,126.21938,8.75695,-5.83872], "fy":[-23.0925,97.03189,134.88358,-28.14842]}, + {"t":0.23854, "x":5.959, "y":3.77425, "heading":-3.13299, "vx":1.08725, "vy":0.48123, "omega":2.10776, "ax":2.18008, "ay":4.45518, "alpha":33.54571, "fx":[156.52491,105.97359,-34.74842,-82.38657], "fy":[6.63705,132.16208,153.40644,4.85736]}, + {"t":0.26504, "x":5.98858, "y":3.78857, "heading":-3.07712, "vx":1.14503, "vy":0.59931, "omega":2.99686, "ax":-3.38489, "ay":3.49336, "alpha":0.07933, "fx":[-54.40443,-55.70127,-55.04773,-60.54458], "fy":[60.00732,57.88934,56.65029,58.38379]}, + {"t":0.28508, "x":6.01085, "y":3.80128, "heading":-3.01705, "vx":1.07719, "vy":0.66933, "omega":2.99845, "ax":-3.42159, "ay":3.5461, "alpha":0.0, "fx":[-56.14394,-56.35981,-57.73849,-57.90294], "fy":[60.27427,59.07075,57.44046,59.66177]}, + {"t":0.30513, "x":6.03175, "y":3.81541, "heading":-2.95696, "vx":1.00861, "vy":0.7404, "omega":2.99845, "ax":-3.41017, "ay":3.55102, "alpha":0.0, "fx":[-56.58106,-58.25943,-56.12935,-56.41394], "fy":[58.7911,59.70887,59.67626,58.59911]}, + {"t":0.32517, "x":6.05128, "y":3.83096, "heading":-2.89686, "vx":0.94026, "vy":0.81158, "omega":2.99845, "ax":-3.39657, "ay":3.55717, "alpha":0.0, "fx":[-56.6249,-56.60224,-56.6893,-56.56016], "fy":[59.2987,59.77382,58.67446,59.43819]}, + {"t":0.34521, "x":6.06945, "y":3.84795, "heading":-2.83676, "vx":0.87218, "vy":0.88288, "omega":2.99845, "ax":-3.38207, "ay":3.56326, "alpha":0.0, "fx":[-55.70802,-57.82099,-56.02085,-55.95981], "fy":[59.26762,59.6111,59.59076,59.12213]}, + {"t":0.36526, "x":6.08625, "y":3.86636, "heading":-2.77666, "vx":0.80439, "vy":0.9543, "omega":2.99845, "ax":-3.36316, "ay":3.57225, "alpha":0.0, "fx":[-56.3658,-56.13087,-55.82671,-55.92555], "fy":[59.31679,60.28253,59.05627,59.53516]}, + {"t":0.3853, "x":6.1017, "y":3.8862, "heading":-2.71656, "vx":0.73698, "vy":1.02589, "omega":2.99845, "ax":-3.34784, "ay":3.57654, "alpha":0.0, "fx":[-55.17316,-57.12389,-55.5146,-55.41592], "fy":[59.58634,59.71897,59.70849,59.46286]}, + {"t":0.40534, "x":6.1158, "y":3.90748, "heading":-2.65646, "vx":0.66988, "vy":1.09758, "omega":2.99845, "ax":-3.32195, "ay":3.58863, "alpha":0.0, "fx":[-55.73267,-55.41603,-55.08021,-55.27261], "fy":[59.54071,60.54963,59.3871,59.80521]}, + {"t":0.42539, "x":6.12855, "y":3.9302, "heading":-2.59636, "vx":0.6033, "vy":1.16951, "omega":2.99845, "ax":-3.29724, "ay":3.59766, "alpha":0.0, "fx":[-54.41344,-56.21175,-54.65754,-54.57081], "fy":[59.97206,60.01915,60.02062,59.87331]}, + {"t":0.44543, "x":6.13998, "y":3.95437, "heading":-2.53627, "vx":0.53721, "vy":1.24162, "omega":2.99845, "ax":-3.25809, "ay":3.61626, "alpha":0.0, "fx":[-54.73357,-54.32349,-53.94685,-54.2394], "fy":[59.92325,61.09288,59.83452,60.27473]}, + {"t":0.46547, "x":6.1501, "y":3.97998, "heading":-2.47617, "vx":0.47191, "vy":1.3141, "omega":2.99845, "ax":-3.222, "ay":3.62873, "alpha":0.0, "fx":[-53.26978,-54.82509,-53.39812,-53.34406], "fy":[60.5042,60.49291,60.51539,60.44408]}, + {"t":0.48552, "x":6.15891, "y":4.00705, "heading":-2.41607, "vx":0.40733, "vy":1.38683, "omega":2.99845, "ax":-3.15134, "ay":3.66464, "alpha":0.0, "fx":[-52.9223,-52.50374,-52.18968,-52.50975], "fy":[60.72151,61.81878,60.72408,61.08674]}, + {"t":0.50556, "x":6.16644, "y":4.03558, "heading":-2.35597, "vx":0.34416, "vy":1.46028, "omega":2.99845, "ax":-3.10195, "ay":3.67583, "alpha":0.0, "fx":[-51.434,-52.49349,-51.45823,-51.44612], "fy":[61.28801,61.24819,61.28844,61.27266]}, + {"t":0.5256, "x":6.17271, "y":4.06559, "heading":-2.29587, "vx":0.28199, "vy":1.53396, "omega":2.99845, "ax":-2.95342, "ay":3.75305, "alpha":-0.00001, "fx":[-49.55897,-49.17796,-48.94042,-49.25104], "fy":[62.21417,63.18729,62.28459,62.56018]}, + {"t":0.54565, "x":6.17777, "y":4.09708, "heading":-2.23577, "vx":0.2228, "vy":1.60918, "omega":2.99845, "ax":-2.8957, "ay":3.74325, "alpha":0.0, "fx":[-48.06075,-48.95973,-48.01841,-48.04115], "fy":[62.40383,62.35512,62.41036,62.42315]}, + {"t":0.56569, "x":6.18166, "y":4.13009, "heading":-2.17567, "vx":0.16476, "vy":1.68421, "omega":2.99845, "ax":-2.52028, "ay":3.91961, "alpha":-0.00001, "fx":[-42.3189,-41.9366,-41.72555,-42.06626], "fy":[64.96722,65.96513,65.09451,65.32504]}, + {"t":0.58573, "x":6.18445, "y":4.16463, "heading":-2.11558, "vx":0.11424, "vy":1.76277, "omega":2.99845, "ax":-2.48107, "ay":3.8181, "alpha":-0.00001, "fx":[-41.22284,-41.87305,-41.14457,-41.19253], "fy":[63.63968,63.60055,63.65901,63.68461]}, + {"t":0.60577, "x":6.18624, "y":4.20073, "heading":-2.05548, "vx":0.06451, "vy":1.83929, "omega":2.99845, "ax":-1.42777, "ay":4.05459, "alpha":-0.00001, "fx":[-24.08081,-23.70765,-23.52627,-23.88653], "fy":[67.19401,68.22566,67.37253,67.5604]}, + {"t":0.62582, "x":6.18725, "y":4.23841, "heading":-1.99538, "vx":0.0359, "vy":1.92056, "omega":2.99845, "ax":-0.42865, "ay":2.79121, "alpha":-0.00002, "fx":[-7.13712,-7.18079,-7.12909,-7.13467], "fy":[46.5265,46.52395,46.52981,46.53234]}, + {"t":0.64586, "x":6.18788, "y":4.27747, "heading":-1.93528, "vx":0.0273, "vy":1.97651, "omega":2.99845, "ax":0.96762, "ay":1.90807, "alpha":0.00002, "fx":[16.01603,16.18036,16.24436,16.0785], "fy":[31.61716,32.10464,31.72034,31.7843]}, + {"t":0.6659, "x":6.18863, "y":4.31747, "heading":-1.87518, "vx":0.0467, "vy":2.01475, "omega":2.99845, "ax":2.97212, "ay":0.38488, "alpha":-0.00001, "fx":[49.42412,50.1218,49.24731,49.3821], "fy":[6.45936,6.49727,6.37317,6.33323]}, + {"t":0.68595, "x":6.19016, "y":4.35793, "heading":-1.81508, "vx":0.10627, "vy":2.02246, "omega":2.99845, "ax":3.44492, "ay":-1.21895, "alpha":0.0, "fx":[57.47802,57.39304,57.37279,57.45667], "fy":[-20.20737,-20.48863,-20.27885,-20.30222]}, + {"t":0.70599, "x":6.19298, "y":4.39822, "heading":-1.75498, "vx":0.17532, "vy":1.99803, "omega":2.99845, "ax":4.22, "ay":-1.55997, "alpha":0.00001, "fx":[70.15915,71.28752,69.82968,70.10541], "fy":[-25.89653,-25.83571,-26.11825,-26.16516]}, + {"t":0.72603, "x":6.19734, "y":4.43795, "heading":-1.69489, "vx":0.2599, "vy":1.96677, "omega":2.99845, "ax":3.97876, "ay":-2.37691, "alpha":0.0, "fx":[66.44348,66.22651,66.21206,66.4141], "fy":[-39.32601,-40.08418,-39.52675,-39.55062]}, + {"t":0.74608, "x":6.20335, "y":4.47689, "heading":-1.63479, "vx":0.33965, "vy":1.91913, "omega":2.99845, "ax":4.0649, "ay":-2.38042, "alpha":0.0, "fx":[67.55522,68.81601,67.14625,67.52243], "fy":[-39.51594,-39.45922,-39.86706,-39.87929]}, + {"t":0.76612, "x":6.21098, "y":4.51488, "heading":-1.57469, "vx":0.42112, "vy":1.87141, "omega":2.99845, "ax":3.94647, "ay":-2.66767, "alpha":0.0, "fx":[65.93125,65.63155,65.65924,65.92074], "fy":[-44.02945,-45.18652,-44.33369,-44.32569]}, + {"t":0.78616, "x":6.22021, "y":4.55185, "heading":-1.51459, "vx":0.50022, "vy":1.81795, "omega":2.99845, "ax":3.95285, "ay":-2.72081, "alpha":0.0, "fx":[65.67262,66.99215,65.22243,65.68115], "fy":[-45.13101,-45.09872,-45.61774,-45.57117]}, + {"t":0.80621, "x":6.23103, "y":4.58775, "heading":-1.45449, "vx":0.57945, "vy":1.76341, "omega":2.99845, "ax":3.90418, "ay":-2.83668, "alpha":0.0, "fx":[65.22065,64.8917,64.97341,65.23741], "fy":[-46.77184,-48.18823,-47.11627,-47.06827]}, + {"t":0.82625, "x":6.24343, "y":4.62252, "heading":-1.39439, "vx":0.6577, "vy":1.70655, "omega":2.99845, "ax":3.89386, "ay":-2.88487, "alpha":0.0, "fx":[64.60308,66.31625,64.02525,64.6907], "fy":[-47.72331,-47.75142,-48.51769,-48.36545]}, + {"t":0.84629, "x":6.25739, "y":4.65615, "heading":-1.33429, "vx":0.73575, "vy":1.64873, "omega":2.99845, "ax":3.86984, "ay":-2.94429, "alpha":0.0, "fx":[64.64592,64.27365,64.41918,64.69444], "fy":[-48.44284,-50.29858,-48.8339,-48.74442]}, + {"t":0.86634, "x":6.27292, "y":4.6886, "heading":-1.2742, "vx":0.81331, "vy":1.58972, "omega":2.99845, "ax":3.85854, "ay":-2.98048, "alpha":0.0, "fx":[63.99158,65.65863,63.46252,64.16724], "fy":[-49.26099,-49.37041,-50.17601,-49.92514]}, + {"t":0.88638, "x":6.28999, "y":4.71986, "heading":-1.2141, "vx":0.89065, "vy":1.52998, "omega":2.99845, "ax":3.84391, "ay":-3.01722, "alpha":0.0, "fx":[64.18096,63.85083,64.03088,64.24191], "fy":[-49.66175,-51.63088,-49.99619,-49.89342]}, + {"t":0.90642, "x":6.30862, "y":4.74992, "heading":-1.154, "vx":0.96769, "vy":1.46951, "omega":2.99845, "ax":3.8363, "ay":-3.04161, "alpha":0.0, "fx":[63.54856,65.34339,63.05852,63.84697], "fy":[-50.18691,-50.4083,-51.29825,-50.91532]}, + {"t":0.92647, "x":6.32878, "y":4.77877, "heading":-1.0939, "vx":1.04458, "vy":1.40854, "omega":2.99845, "ax":3.82395, "ay":-3.06972, "alpha":0.0, "fx":[63.82012,63.53794,63.73266,63.88302], "fy":[-50.52432,-52.68333,-50.78703,-50.68865]}, + {"t":0.94651, "x":6.35049, "y":4.80638, "heading":-1.0338, "vx":1.12123, "vy":1.34702, "omega":2.99845, "ax":3.81735, "ay":-3.08864, "alpha":0.0, "fx":[63.23574,64.80798,62.90187,63.58815], "fy":[-51.00272,-51.27363,-52.05067,-51.6174]}, + {"t":0.96655, "x":6.37373, "y":4.83276, "heading":-0.9737, "vx":1.19774, "vy":1.28511, "omega":2.99845, "ax":3.80922, "ay":-3.10803, "alpha":0.0, "fx":[63.54599,63.35287,63.5184,63.57443], "fy":[-51.29056,-53.17863,-51.4108,-51.35745]}, + {"t":0.9866, "x":6.3985, "y":4.85789, "heading":-0.9136, "vx":1.27409, "vy":1.22281, "omega":2.99845, "ax":3.80295, "ay":-3.12386, "alpha":0.0, "fx":[62.98906,64.41025,62.79095,63.38291], "fy":[-51.62671,-51.92953,-52.60208,-52.13437]}, + {"t":1.00664, "x":6.4248, "y":4.88178, "heading":-0.85351, "vx":1.35031, "vy":1.1602, "omega":2.99845, "ax":3.797, "ay":-3.13833, "alpha":0.0, "fx":[63.33008,63.20219,63.32884,63.31578], "fy":[-51.91109,-53.52939,-51.90791,-51.90916]}, + {"t":1.02668, "x":6.45263, "y":4.9044, "heading":-0.79341, "vx":1.42642, "vy":1.0973, "omega":2.99845, "ax":3.79202, "ay":-3.15075, "alpha":0.0, "fx":[62.7818,64.14396,62.70167,63.21713], "fy":[-52.10118,-52.43447,-53.02661,-52.5236]}, + {"t":1.04673, "x":6.48198, "y":4.92576, "heading":-0.73331, "vx":1.50242, "vy":1.03415, "omega":2.99845, "ax":3.7877, "ay":-3.16171, "alpha":0.0, "fx":[63.17552,63.09017,63.17486,63.11619], "fy":[-52.39035,-53.7909,-52.28903,-52.34676]}, + {"t":1.06677, "x":6.51285, "y":4.94585, "heading":-0.67321, "vx":1.57834, "vy":0.97078, "omega":2.99845, "ax":3.78447, "ay":-3.17076, "alpha":-0.00001, "fx":[62.65144,63.92223,62.6751,63.09249], "fy":[-52.48487,-52.81763,-53.31064,-52.80677]}, + {"t":1.08681, "x":6.54525, "y":4.96467, "heading":-0.61311, "vx":1.65419, "vy":0.90723, "omega":2.99845, "ax":3.78115, "ay":-3.17942, "alpha":-0.00001, "fx":[63.07645,63.01784,63.05515,62.97068], "fy":[-52.75848,-53.94932,-52.59158,-52.69844]}, + {"t":1.10686, "x":6.57916, "y":4.98222, "heading":-0.55301, "vx":1.72998, "vy":0.8435, "omega":2.99845, "ax":3.77917, "ay":-3.18605, "alpha":-0.00001, "fx":[62.54059,63.78216,62.65921,63.00592], "fy":[-52.79158,-53.11165,-53.51764,-53.01881]}, + {"t":1.1269, "x":6.6146, "y":4.99848, "heading":-0.49291, "vx":1.80573, "vy":0.77964, "omega":2.99845, "ax":3.77738, "ay":-3.19211, "alpha":-0.00001, "fx":[63.03883,63.00403,62.95854,62.86676], "fy":[-53.01316,-53.97878,-52.87323,-52.97843]}, + {"t":1.14694, "x":6.65155, "y":5.01347, "heading":-0.43282, "vx":1.88144, "vy":0.71566, "omega":2.99845, "ax":3.77676, "ay":-3.19643, "alpha":-0.00001, "fx":[62.50874,63.52882,62.77041,63.01923], "fy":[-53.13223,-53.30292,-53.50448,-53.1919]}, + {"t":1.16699, "x":6.69002, "y":5.02717, "heading":-0.37272, "vx":1.95713, "vy":0.65159, "omega":2.99845, "ax":3.77677, "ay":-3.19975, "alpha":-0.00002, "fx":[63.15641,63.17042,62.82544,62.6755], "fy":[-52.97355,-54.05329,-53.20507,-53.12124]}, + {"t":1.18703, "x":6.73, "y":5.03959, "heading":-0.31262, "vx":2.03283, "vy":0.58746, "omega":2.99845, "ax":3.77758, "ay":-3.20188, "alpha":-0.00002, "fx":[62.26571,63.17024,63.19749,63.2481], "fy":[-53.5827,-53.17282,-53.21024,-53.52918]}, + {"t":1.20707, "x":6.7715, "y":5.05072, "heading":-0.25252, "vx":2.10855, "vy":0.52329, "omega":2.99845, "ax":3.779, "ay":-3.20308, "alpha":-0.00002, "fx":[63.05884,63.29444,63.2208,62.40209], "fy":[-52.10243,-53.8042,-53.25699,-54.4113]}, + {"t":1.22711, "x":6.81453, "y":5.06057, "heading":-0.19242, "vx":2.18429, "vy":0.45909, "omega":2.99845, "ax":3.78145, "ay":-3.20285, "alpha":-0.00122, "fx":[61.544,64.52819,64.0608,62.00682], "fy":[-51.64167,-52.70066,-54.08548,-55.13236]}, + {"t":1.24716, "x":6.85907, "y":5.06912, "heading":-0.13232, "vx":2.26008, "vy":0.39489, "omega":2.99842, "ax":3.79073, "ay":-3.19295, "alpha":-31.89819, "fx":[110.55894,156.05055,0.24575,-14.09646], "fy":[-122.1219,-4.40487,64.53277,-150.90587]}, + {"t":1.2672, "x":6.90513, "y":5.0764, "heading":-0.07223, "vx":2.33606, "vy":0.33089, "omega":2.35908, "ax":1.7385, "ay":-1.32146, "alpha":-55.61304, "fx":[136.23225,185.03286,-114.62203,-90.72312], "fy":[-144.53452,71.72004,161.08256,-176.38055]}, + {"t":1.28724, "x":6.9523, "y":5.08276, "heading":-0.02494, "vx":2.37091, "vy":0.30441, "omega":1.24441, "ax":0.90487, "ay":-0.75223, "alpha":-57.17381, "fx":[139.65404,167.64653,-133.09671,-113.86883], "fy":[-141.68186,106.98075,147.56438,-163.02055]}, + {"t":1.30729, "x":7.0, "y":5.08871, "heading":0.0, "vx":2.38904, "vy":0.28933, "omega":0.09847, "ax":1.67362, "ay":-4.63821, "alpha":-2.93987, "fx":[34.59019,36.09116,21.10368,19.80869], "fy":[-83.51111,-70.79578,-70.08474,-84.87527]}, + {"t":1.34273, "x":7.08573, "y":5.09606, "heading":0.00349, "vx":2.44837, "vy":0.12492, "omega":-0.00574, "ax":-4.29182, "ay":-2.52236, "alpha":-0.03886, "fx":[-70.68644,-70.54611,-69.49671,-75.44103], "fy":[-40.93639,-42.76889,-42.78909,-41.69202]}, + {"t":1.37818, "x":7.16982, "y":5.0989, "heading":0.00329, "vx":2.29624, "vy":0.03552, "omega":-0.00712, "ax":-4.87694, "ay":-1.05154, "alpha":-0.00118, "fx":[-81.56447,-81.51425,-81.06103,-81.04511], "fy":[-17.77866,-16.28468,-18.27813,-17.7733]}, + {"t":1.41363, "x":7.24815, "y":5.0995, "heading":0.00303, "vx":2.12337, "vy":-0.00176, "omega":-0.00716, "ax":-4.96326, "ay":-0.54256, "alpha":0.00183, "fx":[-82.38116,-82.38854,-82.23748,-83.93329], "fy":[-8.39683,-9.37116,-9.43388,-8.97475]}, + {"t":1.44907, "x":7.3203, "y":5.09909, "heading":0.00278, "vx":1.94744, "vy":-0.02099, "omega":-0.00709, "ax":-4.98603, "ay":-0.29397, "alpha":-0.00252, "fx":[-83.22973,-83.24425,-82.99014,-82.99503], "fy":[-5.03103,-4.23102,-5.30235,-5.03715]}, + {"t":1.48452, "x":7.38619, "y":5.09817, "heading":0.00253, "vx":1.77071, "vy":-0.03141, "omega":-0.00718, "ax":-4.99361, "ay":-0.14775, "alpha":0.00186, "fx":[-82.93019,-82.89773,-82.8646,-84.27171], "fy":[-1.80626,-2.781,-2.81627,-2.44838]}, + {"t":1.51996, "x":7.44582, "y":5.09696, "heading":0.00227, "vx":1.59371, "vy":-0.03665, "omega":-0.00712, "ax":-4.99625, "ay":-0.0517, "alpha":-0.00099, "fx":[-83.33231,-83.33645,-83.23479,-83.23687], "fy":[-0.9144,-0.54381,-1.07231,-0.9169]}, + {"t":1.55541, "x":7.49917, "y":5.09563, "heading":0.00202, "vx":1.41661, "vy":-0.03848, "omega":-0.00715, "ax":-4.997, "ay":0.01615, "alpha":0.00038, "fx":[-83.14144,-83.14004,-83.10721,-83.80199], "fy":[0.54401,0.11215,0.10911,0.3114]}, + {"t":1.59086, "x":7.54625, "y":5.09427, "heading":0.00177, "vx":1.23949, "vy":-0.03791, "omega":-0.00714, "ax":-4.99697, "ay":0.0666, "alpha":-0.00007, "fx":[-83.3011,-83.29973,-83.29403,-83.2934], "fy":[1.10624,1.16326,1.06435,1.10674]}, + {"t":1.6263, "x":7.58704, "y":5.09297, "heading":0.00152, "vx":1.06236, "vy":-0.03554, "omega":-0.00714, "ax":-4.99659, "ay":0.10557, "alpha":-0.00024, "fx":[-83.21167,-83.21761,-83.14705,-83.5868], "fy":[1.82929,1.68317,1.68683,1.83995]}, + {"t":1.66175, "x":7.62156, "y":5.09178, "heading":0.00126, "vx":0.88526, "vy":-0.0318, "omega":-0.00715, "ax":-4.99608, "ay":0.13658, "alpha":0.00041, "fx":[-83.25877,-83.25841,-83.30606,-83.30545], "fy":[2.30193,2.16438,2.33784,2.30242]}, + {"t":1.69719, "x":7.6498, "y":5.09074, "heading":0.00101, "vx":0.70817, "vy":-0.02696, "omega":-0.00714, "ax":-4.99551, "ay":0.16182, "alpha":-0.00043, "fx":[-83.241,-83.24621,-83.13576,-83.46817], "fy":[2.60356,2.66758,2.67365,2.84538]}, + {"t":1.73264, "x":7.67176, "y":5.08988, "heading":0.00076, "vx":0.53109, "vy":-0.02123, "omega":-0.00715, "ax":-4.99495, "ay":0.18279, "alpha":0.00025, "fx":[-83.21963,-83.22163,-83.30599,-83.30627], "fy":[3.0911,2.82493,3.18123,3.09059]}, + {"t":1.76808, "x":7.68745, "y":5.08925, "heading":0.0005, "vx":0.35404, "vy":-0.01475, "omega":-0.00714, "ax":-4.9944, "ay":0.20046, "alpha":0.00268, "fx":[-83.21338,-83.21603,-83.29384,-83.29398], "fy":[3.39444,3.10495,3.47312,3.39401]}, + {"t":1.80353, "x":7.69686, "y":5.08885, "heading":0.00025, "vx":0.17701, "vy":-0.00764, "omega":-0.00705, "ax":-4.99389, "ay":0.21557, "alpha":0.19881, "fx":[-83.62457,-83.78884,-82.79258,-82.77691], "fy":[4.09067,3.06938,3.10295,4.11105]}, + {"t":1.83898, "x":7.7, "y":5.08871, "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/HToBarge.traj b/src/main/deploy/choreo/HToBarge.traj index 5e78013e..22906c60 100644 --- a/src/main/deploy/choreo/HToBarge.traj +++ b/src/main/deploy/choreo/HToBarge.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.827323, "y":4.0509, "heading":3.141592653589793, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.58463382720947, "y":5.08871412277, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":5.827323, "y":4.0509, "heading":3.141592653589793, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"H.x", "val":5.827323}, "y":{"exp":"H.y", "val":4.0509}, "heading":{"exp":"H.heading", "val":3.141592653589793}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"barge.x", "val":7.75}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"H.x", "val":5.827323}, "y":{"exp":"H.y", "val":4.0509}, "heading":{"exp":"H.heading", "val":3.141592653589793}, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,71 +30,73 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,2.37576], + "waypoints":[0.0,2.47606], "samples":[ - {"t":0.0, "x":5.82732, "y":4.0509, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.58166, "ay":1.52477, "alpha":9.2621, "fx":[66.00707,63.41176,20.76279,21.95822], "fy":[1.90634,46.81558,50.89239,2.05432]}, - {"t":0.03832, "x":5.82922, "y":4.05202, "heading":-3.14159, "vx":0.09893, "vy":0.05843, "omega":0.35491, "ax":2.58231, "ay":1.52509, "alpha":7.24976, "fx":[61.03224,59.03401,25.43155,26.6854], "fy":[6.82975,42.27177,45.21888,7.36973]}, - {"t":0.07664, "x":5.8349, "y":4.05538, "heading":-3.12799, "vx":0.19788, "vy":0.11687, "omega":0.63271, "ax":2.58212, "ay":1.52509, "alpha":5.59944, "fx":[57.46362,55.42415,28.94091,30.34229], "fy":[11.419,38.61318,39.96653,11.69104]}, - {"t":0.11496, "x":5.84438, "y":4.06098, "heading":-3.10375, "vx":0.29682, "vy":0.17531, "omega":0.84728, "ax":2.58199, "ay":1.52487, "alpha":4.26248, "fx":[53.68202,52.11616,31.61019,34.75378], "fy":[14.68058,35.96425,36.62516,14.40517]}, - {"t":0.15327, "x":5.85765, "y":4.06881, "heading":-3.07128, "vx":0.39576, "vy":0.23374, "omega":1.01061, "ax":2.58159, "ay":1.52488, "alpha":3.27939, "fx":[51.69267,49.794,34.39943,36.24925], "fy":[17.51295,33.01687,34.31584,16.8306]}, - {"t":0.19159, "x":5.87471, "y":4.07889, "heading":-3.03256, "vx":0.49468, "vy":0.29217, "omega":1.13627, "ax":2.58118, "ay":1.52447, "alpha":2.18967, "fx":[48.1797,47.00043,37.52917,39.39881], "fy":[19.89139,31.81972,31.07165,18.86585]}, - {"t":0.22991, "x":5.89556, "y":4.0912, "heading":-2.98902, "vx":0.59359, "vy":0.35058, "omega":1.22018, "ax":2.57965, "ay":1.52485, "alpha":1.82109, "fx":[47.92859,46.22186,38.09765,39.75777], "fy":[21.29714,30.72605,29.47018,20.18099]}, - {"t":0.26823, "x":5.9202, "y":4.10576, "heading":-2.94226, "vx":0.69244, "vy":0.40901, "omega":1.28996, "ax":2.57873, "ay":1.5198, "alpha":1.32176, "fx":[46.80792,45.64626,38.98981,40.50049], "fy":[22.76216,28.8964,27.95595,21.72305]}, - {"t":0.30655, "x":5.94863, "y":4.12255, "heading":-2.89283, "vx":0.79125, "vy":0.46725, "omega":1.3406, "ax":1.81656, "ay":1.07206, "alpha":0.95754, "fx":[33.06741,31.84719,27.49789,28.71239], "fy":[16.09173,20.70599,19.72956,14.95588]}, - {"t":0.34487, "x":5.98028, "y":4.14124, "heading":-2.84146, "vx":0.86086, "vy":0.50833, "omega":1.3773, "ax":0.00125, "ay":-0.00201, "alpha":0.75757, "fx":[2.25018,1.54134,-2.41031,-1.29815], "fy":[-1.19559,2.17234,1.13056,-2.24152]}, - {"t":0.38319, "x":6.01327, "y":4.16071, "heading":-2.78868, "vx":0.86091, "vy":0.50825, "omega":1.40633, "ax":-0.00313, "ay":0.00529, "alpha":0.55156, "fx":[1.66468,0.73469,-1.76894,-0.83886], "fy":[-0.69671,1.75391,0.97759,-1.6819]}, - {"t":0.42151, "x":6.04626, "y":4.18019, "heading":-2.7348, "vx":0.86079, "vy":0.50846, "omega":1.42746, "ax":0.00213, "ay":-0.00361, "alpha":0.42128, "fx":[1.53287,0.36664,-1.30823,-0.44901], "fy":[-0.58505,1.27114,0.46461,-1.39158]}, - {"t":0.45982, "x":6.07924, "y":4.19967, "heading":-2.6801, "vx":0.86087, "vy":0.50832, "omega":1.4436, "ax":-0.00144, "ay":0.00244, "alpha":0.32544, "fx":[1.00593,0.31801,-1.05397,-0.36606], "fy":[-0.32316,1.13365,0.41148,-1.0593]}, - {"t":0.49814, "x":6.11223, "y":4.21915, "heading":-2.62478, "vx":0.86081, "vy":0.50841, "omega":1.45607, "ax":0.00087, "ay":-0.00148, "alpha":0.2456, "fx":[0.89764,0.15747,-0.80898,-0.18798], "fy":[-0.2403,0.76978,0.19108,-0.819]}, - {"t":0.53646, "x":6.14521, "y":4.23863, "heading":-2.56899, "vx":0.86085, "vy":0.50836, "omega":1.46548, "ax":-0.00054, "ay":0.00092, "alpha":0.18816, "fx":[0.60189,0.12067,-0.61991,-0.1387], "fy":[-0.12435,0.67159,0.15576,-0.64199]}, - {"t":0.57478, "x":6.1782, "y":4.25811, "heading":-2.51283, "vx":0.86083, "vy":0.50839, "omega":1.47269, "ax":0.0002, "ay":-0.00034, "alpha":0.14279, "fx":[0.51762,0.05599,-0.49394,-0.06641], "fy":[-0.07786,0.46328,0.06664,-0.4745]}, - {"t":0.6131, "x":6.21119, "y":4.2776, "heading":-2.4564, "vx":0.86083, "vy":0.50838, "omega":1.47817, "ax":-0.00011, "ay":0.00018, "alpha":0.10961, "fx":[0.35743,0.03294,-0.36095,-0.03646], "fy":[-0.03681,0.39739,0.03866,-0.38732]}, - {"t":0.65142, "x":6.24417, "y":4.29708, "heading":-2.39976, "vx":0.86083, "vy":0.50838, "omega":1.48237, "ax":0.00001, "ay":-0.00002, "alpha":0.08316, "fx":[0.30109,0.00286,-0.29445,-0.00861], "fy":[-0.01124,0.27451,0.0105,-0.27526]}, - {"t":0.68974, "x":6.27716, "y":4.31656, "heading":-2.34296, "vx":0.86083, "vy":0.50838, "omega":1.48555, "ax":0.0, "ay":-0.00001, "alpha":0.06434, "fx":[0.21006,-0.00359,-0.2099,0.00375], "fy":[0.00118,0.23554,-0.00655,-0.23074]}, - {"t":0.72805, "x":6.31014, "y":4.33604, "heading":-2.28603, "vx":0.86083, "vy":0.50838, "omega":1.48802, "ax":-0.00002, "ay":0.00004, "alpha":0.04879, "fx":[0.17597,-0.01875,-0.1732,0.01434], "fy":[0.01267,0.16098,-0.01128,-0.15959]}, - {"t":0.76637, "x":6.34313, "y":4.35552, "heading":-2.22901, "vx":0.86083, "vy":0.50838, "omega":1.48989, "ax":0.00003, "ay":-0.00004, "alpha":0.03806, "fx":[0.12249,-0.01576,-0.12164,0.01661], "fy":[0.01465,0.13942,-0.02059,-0.13639]}, - {"t":0.80469, "x":6.37612, "y":4.375, "heading":-2.17192, "vx":0.86083, "vy":0.50838, "omega":1.49135, "ax":-0.00003, "ay":0.00005, "alpha":0.02885, "fx":[0.10271,-0.02374,-0.10105,0.02028], "fy":[0.01854,0.0936,-0.01701,-0.09207]}, - {"t":0.84301, "x":6.4091, "y":4.39448, "heading":-2.11478, "vx":0.86083, "vy":0.50838, "omega":1.49245, "ax":0.00003, "ay":-0.00005, "alpha":0.02264, "fx":[0.0708,-0.01724,-0.06988,0.01816], "fy":[0.01691,0.08213,-0.02204,-0.08013]}, - {"t":0.88133, "x":6.44209, "y":4.41396, "heading":-2.05759, "vx":0.86083, "vy":0.50838, "omega":1.49332, "ax":-0.00002, "ay":0.00004, "alpha":0.01711, "fx":[0.05943,-0.02162,-0.0583,0.01899], "fy":[0.01729,0.05373,-0.01602,-0.05246]}, - {"t":0.91965, "x":6.47507, "y":4.43344, "heading":-2.00036, "vx":0.86083, "vy":0.50838, "omega":1.49398, "ax":0.00003, "ay":-0.00004, "alpha":0.01343, "fx":[0.04019,-0.0146,-0.03934,0.01545], "fy":[0.01464,0.04777,-0.01884,-0.04647]}, - {"t":0.95797, "x":6.50806, "y":4.45292, "heading":-1.94312, "vx":0.86083, "vy":0.50838, "omega":1.49449, "ax":-0.00002, "ay":0.00003, "alpha":0.01002, "fx":[0.03349,-0.01705,-0.03274,0.01509], "fy":[0.01362,0.02997,-0.0126,-0.02895]}, - {"t":0.99629, "x":6.54105, "y":4.4724, "heading":-1.88585, "vx":0.86083, "vy":0.50838, "omega":1.49487, "ax":0.00002, "ay":-0.00004, "alpha":0.00773, "fx":[0.02177,-0.01063,-0.02099,0.01141], "fy":[0.01075,0.02679,-0.01422,-0.02598]}, - {"t":1.0346, "x":6.57403, "y":4.49188, "heading":-1.82857, "vx":0.86083, "vy":0.50838, "omega":1.49517, "ax":-0.00002, "ay":0.00003, "alpha":0.0055, "fx":[0.01743,-0.01185,-0.01698,0.01037], "fy":[0.00929,0.01543,-0.00841,-0.01456]}, - {"t":1.07292, "x":6.60702, "y":4.51136, "heading":-1.77128, "vx":0.86083, "vy":0.50838, "omega":1.49538, "ax":0.00002, "ay":-0.00004, "alpha":0.00393, "fx":[0.01018,-0.00621,-0.00945,0.00695], "fy":[0.00618,0.01345,-0.00916,-0.01295]}, - {"t":1.11124, "x":6.64, "y":4.53084, "heading":-1.71397, "vx":0.86083, "vy":0.50838, "omega":1.49553, "ax":-0.00001, "ay":0.00002, "alpha":0.00228, "fx":[0.00678,-0.00633,-0.00656,0.00515], "fy":[0.0046,0.00593,-0.00377,-0.00511]}, - {"t":1.14956, "x":6.67299, "y":4.55032, "heading":-1.65667, "vx":0.86083, "vy":0.50838, "omega":1.49562, "ax":0.00002, "ay":-0.00004, "alpha":0.001, "fx":[0.00217,-0.0012,-0.00146,0.00192], "fy":[0.00078,0.00422,-0.00353,-0.00389]}, - {"t":1.18788, "x":6.70597, "y":4.5698, "heading":-1.59936, "vx":0.86083, "vy":0.50838, "omega":1.49566, "ax":-0.00001, "ay":0.00003, "alpha":-0.00048, "fx":[-0.00117,0.00004,0.00123,-0.00109], "fy":[-0.00097,-0.00107,0.00181,0.00191]}, - {"t":1.2262, "x":6.73896, "y":4.58928, "heading":-1.54205, "vx":0.86083, "vy":0.50838, "omega":1.49564, "ax":0.00002, "ay":-0.00004, "alpha":-0.0018, "fx":[-0.00422,0.0052,0.00494,-0.00448], "fy":[-0.00631,-0.003,0.00357,0.0033]}, - {"t":1.26452, "x":6.77195, "y":4.60877, "heading":-1.48474, "vx":0.86083, "vy":0.50838, "omega":1.49557, "ax":-0.00002, "ay":0.00003, "alpha":-0.00345, "fx":[-0.00803,0.00846,0.00802,-0.00953], "fy":[-0.00851,-0.0071,0.00943,0.00801]}, - {"t":1.30283, "x":6.80493, "y":4.62825, "heading":-1.42743, "vx":0.86083, "vy":0.50838, "omega":1.49544, "ax":0.00002, "ay":-0.00004, "alpha":-0.00515, "fx":[-0.01014,0.01443,0.01091,-0.01366], "fy":[-0.01666,-0.00946,0.01366,0.00986]}, - {"t":1.34115, "x":6.83792, "y":4.64773, "heading":-1.37012, "vx":0.86083, "vy":0.50838, "omega":1.49524, "ax":-0.00002, "ay":0.00003, "alpha":-0.00734, "fx":[-0.01471,0.0209,0.01473,-0.02217], "fy":[-0.01986,-0.01301,0.02092,0.01407]}, - {"t":1.37947, "x":6.8709, "y":4.66721, "heading":-1.31283, "vx":0.86083, "vy":0.50838, "omega":1.49496, "ax":0.00003, "ay":-0.00004, "alpha":-0.00985, "fx":[-0.01619,0.02884,0.01705,-0.02799], "fy":[-0.03282,-0.01571,0.02927,0.01637]}, - {"t":1.41779, "x":6.90389, "y":4.68669, "heading":-1.25554, "vx":0.86083, "vy":0.50838, "omega":1.49458, "ax":-0.00002, "ay":0.00004, "alpha":-0.01309, "fx":[-0.02155,0.04057,0.02167,-0.04228], "fy":[-0.038,-0.01908,0.03934,0.02043]}, - {"t":1.45611, "x":6.93688, "y":4.70617, "heading":-1.19827, "vx":0.86083, "vy":0.50838, "omega":1.49408, "ax":0.00003, "ay":-0.00005, "alpha":-0.01708, "fx":[-0.02237,0.05235,0.02336,-0.05136], "fy":[-0.05909,-0.02161,0.05457,0.02278]}, - {"t":1.49443, "x":6.96986, "y":4.72565, "heading":-1.14102, "vx":0.86083, "vy":0.50838, "omega":1.49343, "ax":-0.00003, "ay":0.00006, "alpha":-0.02221, "fx":[-0.02816,0.07294,0.02836,-0.07545], "fy":[-0.06796,-0.02483,0.06991,0.02679]}, - {"t":1.53275, "x":7.00285, "y":4.74513, "heading":-1.0838, "vx":0.86083, "vy":0.50838, "omega":1.49257, "ax":0.00003, "ay":-0.00006, "alpha":-0.02885, "fx":[-0.02773,0.0917,0.02889,-0.09055], "fy":[-0.10285,-0.02581,0.0968,0.02795]}, - {"t":1.57107, "x":7.03583, "y":4.76461, "heading":-1.0266, "vx":0.86083, "vy":0.50838, "omega":1.49147, "ax":-0.00006, "ay":0.0001, "alpha":-0.03736, "fx":[-0.03269,0.12757,0.0327,-0.13147], "fy":[-0.11847,-0.02828,0.12177,0.03157]}, - {"t":1.60938, "x":7.06882, "y":4.78409, "heading":-0.96945, "vx":0.86083, "vy":0.50838, "omega":1.49004, "ax":0.00004, "ay":-0.00007, "alpha":-0.04872, "fx":[-0.02919,0.15878,0.03066,-0.15731], "fy":[-0.17716,-0.02455,0.16845,0.02828]}, - {"t":1.6477, "x":7.10181, "y":4.80357, "heading":-0.91235, "vx":0.86083, "vy":0.50838, "omega":1.48817, "ax":-0.00011, "ay":0.00018, "alpha":-0.06333, "fx":[-0.03023,0.2217,0.02893,-0.22763], "fy":[-0.20479,-0.02413,0.21092,0.03025]}, - {"t":1.68602, "x":7.13479, "y":4.82305, "heading":-0.85533, "vx":0.86083, "vy":0.50839, "omega":1.48574, "ax":0.0001, "ay":-0.00016, "alpha":-0.08306, "fx":[-0.01839,0.27489,0.02163,-0.27165], "fy":[-0.30585,-0.00914,0.29018,0.01383]}, - {"t":1.72434, "x":7.16778, "y":4.84253, "heading":-0.7984, "vx":0.86083, "vy":0.50838, "omega":1.48256, "ax":-0.00021, "ay":0.00036, "alpha":-0.10901, "fx":[-0.00982,0.38807,0.00243,-0.39493], "fy":[-0.35324,0.00021,0.36531,0.01185]}, - {"t":1.76266, "x":7.20076, "y":4.86201, "heading":-0.74159, "vx":0.86082, "vy":0.5084, "omega":1.47838, "ax":0.00038, "ay":-0.00064, "alpha":-0.14338, "fx":[0.02548,0.47865,-0.01289,-0.46607], "fy":[-0.5334,0.03786,0.49385,-0.04094]}, - {"t":1.80098, "x":7.23375, "y":4.88149, "heading":-0.68494, "vx":0.86084, "vy":0.50837, "omega":1.47289, "ax":-0.00049, "ay":0.00083, "alpha":-0.19148, "fx":[0.04874,0.69325,-0.08355,-0.69109], "fy":[-0.60682,0.07436,0.63444,-0.04673]}, - {"t":1.8393, "x":7.26673, "y":4.90097, "heading":-0.6285, "vx":0.86082, "vy":0.5084, "omega":1.46555, "ax":0.00118, "ay":-0.002, "alpha":-0.25027, "fx":[0.146,0.83506,-0.10664,-0.7957], "fy":[-0.93159,0.14852,0.83536,-0.18558]}, - {"t":1.87761, "x":7.29972, "y":4.92045, "heading":-0.57234, "vx":0.86086, "vy":0.50833, "omega":1.45596, "ax":-0.00149, "ay":0.00252, "alpha":-0.3419, "fx":[0.18074,1.25461,-0.31314,-1.22136], "fy":[-1.02684,0.26968,1.11078,-0.18573]}, - {"t":1.91593, "x":7.33271, "y":4.93993, "heading":-0.51655, "vx":0.86081, "vy":0.50842, "omega":1.44286, "ax":0.00138, "ay":-0.00234, "alpha":-0.43962, "fx":[0.40445,1.4245,-0.35843,-1.37846], "fy":[-1.56818,0.43017,1.45238,-0.47027]}, - {"t":1.95425, "x":7.36569, "y":4.95941, "heading":-0.46126, "vx":0.86086, "vy":0.50833, "omega":1.42602, "ax":-0.00196, "ay":0.00332, "alpha":-0.58901, "fx":[0.59532,2.01728,-0.71674,-2.02653], "fy":[-1.77748,0.66501,1.88807,-0.55428]}, - {"t":1.99257, "x":7.39868, "y":4.97889, "heading":-0.40662, "vx":0.86078, "vy":0.50846, "omega":1.40345, "ax":0.00009, "ay":-0.00025, "alpha":-0.77257, "fx":[0.95027,2.39424,-0.94924,-2.38912], "fy":[-2.5574,0.96241,2.57734,-0.99921]}, - {"t":2.03089, "x":7.43166, "y":4.99838, "heading":-0.35284, "vx":0.86079, "vy":0.50845, "omega":1.37384, "ax":-1.81378, "ay":-1.07511, "alpha":-0.97813, "fx":[-28.53463,-27.41735,-31.65959,-33.32798], "fy":[-21.04475,-16.55954,-14.80923,-19.27242]}, - {"t":2.06921, "x":7.46332, "y":5.01707, "heading":-0.3002, "vx":0.79129, "vy":0.46725, "omega":1.33636, "ax":-2.57749, "ay":-1.5219, "alpha":-1.34889, "fx":[-40.77766,-39.13099,-45.19012,-46.76351], "fy":[-29.77385,-23.37218,-20.87776,-27.45328]}, - {"t":2.10753, "x":7.49174, "y":5.03386, "heading":-0.24899, "vx":0.69252, "vy":0.40894, "omega":1.28467, "ax":-2.58067, "ay":-1.52311, "alpha":-1.47208, "fx":[-41.1839,-39.73771,-44.71133,-46.44144], "fy":[-30.95411,-22.28862,-19.84046,-28.47515]}, - {"t":2.14585, "x":7.51639, "y":5.04841, "heading":-0.19976, "vx":0.59363, "vy":0.35057, "omega":1.22827, "ax":-2.58113, "ay":-1.52456, "alpha":-2.46619, "fx":[-38.14894,-36.30218,-47.95776,-49.69579], "fy":[-33.7804,-21.24388,-17.88647,-28.74367]}, - {"t":2.18416, "x":7.53724, "y":5.06073, "heading":-0.1527, "vx":0.49473, "vy":0.29215, "omega":1.13376, "ax":-2.58174, "ay":-1.52463, "alpha":-3.15464, "fx":[-35.6542,-36.17622,-49.39729,-50.91773], "fy":[-35.28379,-18.80587,-15.75331,-31.81621]}, - {"t":2.22248, "x":7.5543, "y":5.0708, "heading":-0.10925, "vx":0.3958, "vy":0.23373, "omega":1.01288, "ax":-2.58206, "ay":-1.52474, "alpha":-4.27306, "fx":[-33.48111,-31.91046,-52.89119,-53.88427], "fy":[-37.57387,-16.80188,-13.3789,-33.91225]}, - {"t":2.2608, "x":7.56757, "y":5.07864, "heading":-0.07044, "vx":0.29686, "vy":0.17531, "omega":0.84915, "ax":-2.58222, "ay":-1.52492, "alpha":-5.61271, "fx":[-29.82739,-30.09013,-56.03099,-56.22899], "fy":[-41.63542,-12.58549,-9.85182,-37.60595]}, - {"t":2.29912, "x":7.57705, "y":5.08424, "heading":-0.0379, "vx":0.19791, "vy":0.11687, "omega":0.63407, "ax":-2.58237, "ay":-1.52498, "alpha":-7.28116, "fx":[-25.78491,-25.54586,-60.96719,-59.88976], "fy":[-45.5528,-8.48207,-6.25032,-41.3973]}, - {"t":2.33744, "x":7.58274, "y":5.08759, "heading":-0.01361, "vx":0.09896, "vy":0.05844, "omega":0.35507, "ax":-2.58246, "ay":-1.52506, "alpha":-9.26622, "fx":[-20.79165,-21.4452,-66.08445,-63.87235], "fy":[-50.99733,-2.61838,-1.83289,-46.23967]}, - {"t":2.37576, "x":7.58463, "y":5.08871, "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":5.82732, "y":4.0509, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.62253, "ay":1.45339, "alpha":8.81663, "fx":[65.40103,63.11913,22.5829,23.76237], "fy":[1.76578,44.73276,48.51771,1.89319]}, + {"t":0.03869, "x":5.82929, "y":4.05199, "heading":-3.14159, "vx":0.10146, "vy":0.05623, "omega":0.3411, "ax":2.62316, "ay":1.45374, "alpha":6.87873, "fx":[60.65991,58.89633,27.07639,28.27434], "fy":[6.53563,40.32513,43.04439,7.02733]}, + {"t":0.07738, "x":5.83517, "y":4.05525, "heading":-3.1284, "vx":0.20295, "vy":0.11247, "omega":0.60723, "ax":2.62297, "ay":1.45374, "alpha":5.29993, "fx":[57.2955,55.4493,30.41977,31.73014], "fy":[10.94721,36.76293,38.02653,11.19615]}, + {"t":0.11607, "x":5.84499, "y":4.06069, "heading":-3.1049, "vx":0.30443, "vy":0.16872, "omega":0.81227, "ax":2.62286, "ay":1.4535, "alpha":4.0151, "fx":[53.64336,52.28996,32.91107,36.04256], "fy":[14.07198,34.21244,34.81758,13.81432]}, + {"t":0.15475, "x":5.85873, "y":4.06831, "heading":-3.07348, "vx":0.4059, "vy":0.22495, "omega":0.96761, "ax":2.62243, "ay":1.45358, "alpha":3.07479, "fx":[51.79418,50.07761,35.64975,37.33695], "fy":[16.79769,31.35392,32.59081,16.17951]}, + {"t":0.19344, "x":5.8764, "y":4.0781, "heading":-3.03604, "vx":0.50736, "vy":0.28119, "omega":1.08657, "ax":2.62188, "ay":1.45342, "alpha":2.14844, "fx":[48.92367,47.80788,36.84026,41.25032], "fy":[19.01974,30.18284,29.62564,18.0831]}, + {"t":0.23213, "x":5.89799, "y":4.09006, "heading":-2.99401, "vx":0.60879, "vy":0.33742, "omega":1.16969, "ax":2.62094, "ay":1.45283, "alpha":1.68739, "fx":[48.24206,46.71546,39.1554,40.64646], "fy":[20.38753,29.07555,28.0233,19.38585]}, + {"t":0.27082, "x":5.9235, "y":4.1042, "heading":-2.94875, "vx":0.71019, "vy":0.39362, "omega":1.23497, "ax":2.61841, "ay":1.45057, "alpha":1.22334, "fx":[47.1969,46.0551,39.99262,41.34561], "fy":[21.7663,27.49048,26.63629,20.82812]}, + {"t":0.30951, "x":5.95294, "y":4.12052, "heading":-2.90097, "vx":0.8115, "vy":0.44974, "omega":1.2823, "ax":1.62846, "ay":0.89827, "alpha":0.89074, "fx":[29.73461,28.64294,24.55863,25.64659], "fy":[13.31429,17.56692,16.73216,12.28176]}, + {"t":0.3482, "x":5.98555, "y":4.13859, "heading":-2.85136, "vx":0.8745, "vy":0.4845, "omega":1.31676, "ax":-0.00123, "ay":0.0023, "alpha":0.71544, "fx":[1.95923,1.65151,-2.3457,-1.34718], "fy":[-1.06269,2.08096,1.14072,-2.00592]}, + {"t":0.38688, "x":6.01938, "y":4.15734, "heading":-2.80042, "vx":0.87445, "vy":0.48459, "omega":1.34444, "ax":-0.00154, "ay":0.00278, "alpha":0.51357, "fx":[1.56222,0.72491,-1.61363,-0.77626], "fy":[-0.70597,1.59451,0.88847,-1.59164]}, + {"t":0.42557, "x":6.05321, "y":4.17609, "heading":-2.74841, "vx":0.87439, "vy":0.48469, "omega":1.36431, "ax":0.00219, "ay":-0.00395, "alpha":0.3905, "fx":[1.4219,0.35096,-1.19932,-0.42746], "fy":[-0.57052,1.16453,0.43871,-1.29633]}, + {"t":0.46426, "x":6.08704, "y":4.19484, "heading":-2.69562, "vx":0.87448, "vy":0.48454, "omega":1.37942, "ax":-0.00119, "ay":0.00215, "alpha":0.30189, "fx":[0.93126,0.31252,-0.97106,-0.35233], "fy":[-0.31727,1.04372,0.39532,-0.9781]}, + {"t":0.50295, "x":6.12087, "y":4.21358, "heading":-2.64225, "vx":0.87443, "vy":0.48462, "omega":1.3911, "ax":0.00067, "ay":-0.0012, "alpha":0.22762, "fx":[0.82338,0.1619,-0.74905,-0.19176], "fy":[-0.23306,0.71334,0.19294,-0.75345]}, + {"t":0.54164, "x":6.15471, "y":4.23233, "heading":-2.58844, "vx":0.87445, "vy":0.48458, "omega":1.3999, "ax":-0.00051, "ay":0.00092, "alpha":0.17362, "fx":[0.55566,0.12278,-0.57272,-0.13984], "fy":[-0.12312,0.61262,0.15984,-0.58778]}, + {"t":0.58033, "x":6.18854, "y":4.25108, "heading":-2.53428, "vx":0.87443, "vy":0.48461, "omega":1.40662, "ax":0.00019, "ay":-0.00033, "alpha":0.13234, "fx":[0.4758,0.06689,-0.45718,-0.07314], "fy":[-0.0819,0.42781,0.07076,-0.43896]}, + {"t":0.61901, "x":6.22237, "y":4.26983, "heading":-2.47986, "vx":0.87444, "vy":0.4846, "omega":1.41174, "ax":-0.00012, "ay":0.00021, "alpha":0.10095, "fx":[0.33064,0.03809,-0.33448,-0.04193], "fy":[-0.03946,0.36082,0.04727,-0.35478]}, + {"t":0.6577, "x":6.2562, "y":4.28858, "heading":-2.42524, "vx":0.87444, "vy":0.48461, "omega":1.41565, "ax":0.00005, "ay":-0.0001, "alpha":0.07719, "fx":[0.27832,0.01384,-0.27308,-0.01545], "fy":[-0.01822,0.25342,0.01494,-0.2567]}, + {"t":0.69639, "x":6.29003, "y":4.30733, "heading":-2.37047, "vx":0.87444, "vy":0.4846, "omega":1.41863, "ax":-0.00002, "ay":0.00004, "alpha":0.05927, "fx":[0.19516,0.00159,-0.19585,-0.00228], "fy":[-0.00202,0.21379,0.00239,-0.21167]}, + {"t":0.73508, "x":6.32386, "y":4.32607, "heading":-2.31558, "vx":0.87444, "vy":0.4846, "omega":1.42093, "ax":0.00002, "ay":-0.00003, "alpha":0.04545, "fx":[0.16395,-0.00956,-0.16173,0.0084], "fy":[0.00631,0.14935,-0.00726,-0.1503]}, + {"t":0.77377, "x":6.35769, "y":4.34482, "heading":-2.26061, "vx":0.87444, "vy":0.4846, "omega":1.42268, "ax":0.0, "ay":0.00001, "alpha":0.03516, "fx":[0.11466,-0.01166,-0.11482,0.0115], "fy":[0.01215,0.12695,-0.01297,-0.12555]}, + {"t":0.81246, "x":6.39152, "y":4.36357, "heading":-2.20557, "vx":0.87444, "vy":0.4846, "omega":1.42404, "ax":0.0, "ay":-0.00001, "alpha":0.02707, "fx":[0.09684,-0.01679,-0.09553,0.01572], "fy":[0.01369,0.08772,-0.01392,-0.08795]}, + {"t":0.85114, "x":6.42535, "y":4.38232, "heading":-2.15048, "vx":0.87444, "vy":0.4846, "omega":1.42509, "ax":0.0, "ay":0.0, "alpha":0.02107, "fx":[0.0671,-0.01444,-0.06717,0.01437], "fy":[0.0154,0.07533,-0.01622,-0.07428]}, + {"t":0.88983, "x":6.45918, "y":4.40107, "heading":-2.09534, "vx":0.87444, "vy":0.4846, "omega":1.42591, "ax":0.0, "ay":0.0, "alpha":0.01627, "fx":[0.05711,-0.01678,-0.05622,0.0159], "fy":[0.01399,0.05121,-0.01401,-0.05122]}, + {"t":0.92852, "x":6.49301, "y":4.41982, "heading":-2.04018, "vx":0.87444, "vy":0.4846, "omega":1.42654, "ax":0.0, "ay":0.0, "alpha":0.01269, "fx":[0.03892,-0.013,-0.03892,0.013], "fy":[0.01409,0.04443,-0.0148,-0.04369]}, + {"t":0.96721, "x":6.52684, "y":4.43856, "heading":-1.98498, "vx":0.87444, "vy":0.4846, "omega":1.42703, "ax":0.0, "ay":0.0, "alpha":0.00977, "fx":[0.03327,-0.01404,-0.03267,0.01336], "fy":[0.0117,0.02942,-0.01163,-0.02935]}, + {"t":1.0059, "x":6.56067, "y":4.45731, "heading":-1.92978, "vx":0.87444, "vy":0.4846, "omega":1.42741, "ax":0.0, "ay":0.0, "alpha":0.00756, "fx":[0.02197,-0.01012,-0.02191,0.01018], "fy":[0.01112,0.02564,-0.01181,-0.02518]}, + {"t":1.04459, "x":6.5945, "y":4.47606, "heading":-1.87455, "vx":0.87444, "vy":0.4846, "omega":1.4277, "ax":0.0, "ay":0.0, "alpha":0.00569, "fx":[0.01857,-0.01046,-0.01821,0.00994], "fy":[0.00861,0.01614,-0.00847,-0.016]}, + {"t":1.08327, "x":6.62833, "y":4.49481, "heading":-1.81932, "vx":0.87444, "vy":0.4846, "omega":1.42792, "ax":0.0, "ay":-0.00001, "alpha":0.00423, "fx":[0.01144,-0.0068,-0.01129,0.00694], "fy":[0.00758,0.01383,-0.00834,-0.01357]}, + {"t":1.12196, "x":6.66217, "y":4.51356, "heading":-1.76407, "vx":0.87444, "vy":0.4846, "omega":1.42808, "ax":0.0, "ay":0.00001, "alpha":0.00291, "fx":[0.009,-0.00659,-0.00883,0.00617], "fy":[0.00524,0.00763,-0.00503,-0.00741]}, + {"t":1.16065, "x":6.696, "y":4.53231, "heading":-1.70882, "vx":0.87444, "vy":0.4846, "omega":1.42819, "ax":0.00001, "ay":-0.00001, "alpha":0.00181, "fx":[0.0044,-0.00318,-0.00417,0.00341], "fy":[0.0036,0.00588,-0.00453,-0.00577]}, + {"t":1.19934, "x":6.72983, "y":4.55106, "heading":-1.65357, "vx":0.87444, "vy":0.4846, "omega":1.42826, "ax":0.0, "ay":0.00001, "alpha":0.00072, "fx":[0.00218,-0.00225,-0.00213,0.00188], "fy":[0.00143,0.00163,-0.00115,-0.00134]}, + {"t":1.23803, "x":6.76366, "y":4.5698, "heading":-1.59831, "vx":0.87444, "vy":0.4846, "omega":1.42829, "ax":0.00001, "ay":-0.00002, "alpha":-0.00028, "fx":[-0.00088,0.00113,0.0012,-0.0008], "fy":[-0.00122,-0.00009,0.00005,0.0001]}, + {"t":1.27672, "x":6.79749, "y":4.58855, "heading":-1.54305, "vx":0.87444, "vy":0.4846, "omega":1.42828, "ax":-0.00001, "ay":0.00001, "alpha":-0.0014, "fx":[-0.00335,0.00317,0.00334,-0.00353], "fy":[-0.00341,-0.00323,0.00373,0.00355]}, + {"t":1.3154, "x":6.83132, "y":4.6073, "heading":-1.48779, "vx":0.87444, "vy":0.4846, "omega":1.42823, "ax":0.00001, "ay":-0.00002, "alpha":-0.00253, "fx":[-0.00544,0.00688,0.00587,-0.00645], "fy":[-0.0077,-0.00521,0.00622,0.00516]}, + {"t":1.35409, "x":6.86515, "y":4.62605, "heading":-1.43254, "vx":0.87444, "vy":0.4846, "omega":1.42813, "ax":-0.00001, "ay":0.00001, "alpha":-0.0039, "fx":[-0.00842,0.01073,0.00844,-0.01112], "fy":[-0.01027,-0.00774,0.01059,0.00806]}, + {"t":1.39278, "x":6.89898, "y":4.6448, "heading":-1.37729, "vx":0.87444, "vy":0.4846, "omega":1.42798, "ax":0.00002, "ay":-0.00003, "alpha":-0.00541, "fx":[-0.00989,0.01534,0.01044,-0.01479], "fy":[-0.01723,-0.0101,0.01532,0.01002]}, + {"t":1.43147, "x":6.93281, "y":4.66355, "heading":-1.32204, "vx":0.87444, "vy":0.4846, "omega":1.42777, "ax":0.0, "ay":0.00001, "alpha":-0.00733, "fx":[-0.01349,0.02215,0.01363,-0.02263], "fy":[-0.02073,-0.01233,0.02102,0.01262]}, + {"t":1.47016, "x":6.96664, "y":4.6823, "heading":-1.2668, "vx":0.87444, "vy":0.4846, "omega":1.42749, "ax":0.00002, "ay":-0.00004, "alpha":-0.0096, "fx":[-0.01447,0.02856,0.01517,-0.02786], "fy":[-0.03204,-0.01498,0.02957,0.01494]}, + {"t":1.50885, "x":7.00047, "y":4.70104, "heading":-1.21158, "vx":0.87444, "vy":0.4846, "omega":1.42711, "ax":0.0, "ay":0.00001, "alpha":-0.0125, "fx":[-0.01862,0.0403,0.01896,-0.04096], "fy":[-0.03744,-0.01704,0.03773,0.01733]}, + {"t":1.54753, "x":7.0343, "y":4.71979, "heading":-1.15636, "vx":0.87444, "vy":0.4846, "omega":1.42663, "ax":0.00003, "ay":-0.00005, "alpha":-0.01613, "fx":[-0.01903,0.05006,0.01991,-0.04918], "fy":[-0.05598,-0.01959,0.05273,0.01968]}, + {"t":1.58622, "x":7.06813, "y":4.73854, "heading":-1.10117, "vx":0.87444, "vy":0.4846, "omega":1.42601, "ax":-0.00001, "ay":0.00001, "alpha":-0.02078, "fx":[-0.02329,0.07014,0.02381,-0.07118], "fy":[-0.06497,-0.02129,0.06544,0.02176]}, + {"t":1.62491, "x":7.10196, "y":4.75729, "heading":-1.046, "vx":0.87444, "vy":0.4846, "omega":1.4252, "ax":0.00003, "ay":-0.00006, "alpha":-0.02684, "fx":[-0.02257,0.08598,0.02361,-0.08494], "fy":[-0.09574,-0.02261,0.09148,0.02311]}, + {"t":1.6636, "x":7.13579, "y":4.77604, "heading":-0.99086, "vx":0.87444, "vy":0.4846, "omega":1.42416, "ax":-0.00002, "ay":0.00003, "alpha":-0.03464, "fx":[-0.02566,0.12055,0.02613,-0.1223], "fy":[-0.11138,-0.02314,0.11254,0.0243]}, + {"t":1.70229, "x":7.16963, "y":4.79479, "heading":-0.93576, "vx":0.87444, "vy":0.4846, "omega":1.42282, "ax":0.00004, "ay":-0.00006, "alpha":-0.04503, "fx":[-0.02213,0.14727,0.02332,-0.14608], "fy":[-0.16321,-0.02055,0.15753,0.02192]}, + {"t":1.74098, "x":7.20346, "y":4.81353, "heading":-0.88071, "vx":0.87444, "vy":0.4846, "omega":1.42108, "ax":-0.00005, "ay":0.00009, "alpha":-0.05854, "fx":[-0.02098,0.20751,0.02037,-0.21033], "fy":[-0.19077,-0.01748,0.19387,0.02059]}, + {"t":1.77966, "x":7.23729, "y":4.83228, "heading":-0.82574, "vx":0.87444, "vy":0.4846, "omega":1.41882, "ax":0.00006, "ay":-0.00011, "alpha":-0.07665, "fx":[-0.00998,0.25344,0.01207,-0.25136], "fy":[-0.27998,-0.00529,0.27056,0.00716]}, + {"t":1.81835, "x":7.27112, "y":4.85103, "heading":-0.77084, "vx":0.87444, "vy":0.4846, "omega":1.41585, "ax":-0.00013, "ay":0.00024, "alpha":-0.1008, "fx":[0.00125,0.36142,-0.00729,-0.36407], "fy":[-0.32761,0.00766,0.33546,0.00019]}, + {"t":1.85704, "x":7.30495, "y":4.86978, "heading":-0.71607, "vx":0.87444, "vy":0.4846, "omega":1.41195, "ax":0.00025, "ay":-0.00044, "alpha":-0.13247, "fx":[0.03294,0.43993,-0.02473,-0.43172], "fy":[-0.48641,0.03946,0.46143,-0.04413]}, + {"t":1.89573, "x":7.33878, "y":4.88853, "heading":-0.66144, "vx":0.87445, "vy":0.48459, "omega":1.40683, "ax":-0.00035, "ay":0.00063, "alpha":-0.17749, "fx":[0.06038,0.64497,-0.09128,-0.63726], "fy":[-0.56234,0.07995,0.58328,-0.05902]}, + {"t":1.93442, "x":7.37261, "y":4.90728, "heading":-0.60701, "vx":0.87444, "vy":0.48461, "omega":1.39996, "ax":0.00085, "ay":-0.00154, "alpha":-0.23179, "fx":[0.14753,0.76742,-0.1191,-0.73899], "fy":[-0.84955,0.14262,0.78272,-0.17844]}, + {"t":1.97311, "x":7.40644, "y":4.92602, "heading":-0.55285, "vx":0.87447, "vy":0.48455, "omega":1.39099, "ax":-0.00112, "ay":0.00202, "alpha":-0.31844, "fx":[0.1899,1.17478,-0.31065,-1.12871], "fy":[-0.95467,0.26451,1.02207,-0.1971]}, + {"t":2.01179, "x":7.44027, "y":4.94477, "heading":-0.49904, "vx":0.87442, "vy":0.48463, "omega":1.37867, "ax":0.00112, "ay":-0.00202, "alpha":-0.40833, "fx":[0.39649,1.31661,-0.3592,-1.27932], "fy":[-1.43856,0.39251,1.35944,-0.44805]}, + {"t":2.05048, "x":7.4741, "y":4.96352, "heading":-0.4457, "vx":0.87447, "vy":0.48455, "omega":1.36287, "ax":-0.00179, "ay":0.00322, "alpha":-0.55664, "fx":[0.55687,1.95443,-0.72356,-1.90681], "fy":[-1.64569,0.64872,1.75311,-0.54118]}, + {"t":2.08917, "x":7.50793, "y":4.98227, "heading":-0.39297, "vx":0.8744, "vy":0.48468, "omega":1.34134, "ax":-0.00077, "ay":0.00132, "alpha":-0.72219, "fx":[0.90355,2.2114,-0.93081,-2.23554], "fy":[-2.35232,0.96465,2.4191,-0.94358]}, + {"t":2.12786, "x":7.54176, "y":5.00102, "heading":-0.34108, "vx":0.87437, "vy":0.48473, "omega":1.3134, "ax":-1.62398, "ay":-0.90465, "alpha":-0.9217, "fx":[-25.45788,-24.40517,-28.44629,-29.97433], "fy":[-17.9928,-13.75774,-12.17657,-16.39323]}, + {"t":2.16655, "x":7.57437, "y":5.0191, "heading":-0.29026, "vx":0.81154, "vy":0.44973, "omega":1.27774, "ax":-2.61808, "ay":-1.45115, "alpha":-1.26358, "fx":[-41.5701,-40.08444,-45.74472,-47.16959], "fy":[-28.3123,-22.19765,-20.03713,-26.21283]}, + {"t":2.20524, "x":7.60381, "y":5.03541, "heading":-0.24083, "vx":0.71025, "vy":0.39359, "omega":1.22885, "ax":-2.62122, "ay":-1.45233, "alpha":-1.35094, "fx":[-42.07493,-40.80022,-45.16756,-46.73549], "fy":[-29.40031,-21.24409,-19.03396,-27.15989]}, + {"t":2.24393, "x":7.62933, "y":5.04955, "heading":-0.19329, "vx":0.60884, "vy":0.3374, "omega":1.17659, "ax":-2.62199, "ay":-1.45324, "alpha":-2.37253, "fx":[-39.14414,-37.47077,-48.36589,-49.8482], "fy":[-31.63844,-19.80281,-16.79119,-28.66649]}, + {"t":2.28261, "x":7.65092, "y":5.06152, "heading":-0.14777, "vx":0.5074, "vy":0.28117, "omega":1.0848, "ax":-2.62262, "ay":-1.45324, "alpha":-2.96237, "fx":[-36.7086,-37.42037,-49.67765,-51.06454], "fy":[-33.49859,-17.92668,-15.14815,-30.32563]}, + {"t":2.3213, "x":7.66859, "y":5.07131, "heading":-0.1058, "vx":0.40593, "vy":0.22495, "omega":0.97019, "ax":-2.6229, "ay":-1.45341, "alpha":-4.03166, "fx":[-34.68661,-33.27518,-53.00465,-53.92382], "fy":[-35.67878,-16.02994,-12.88439,-32.31724]}, + {"t":2.35999, "x":7.68233, "y":5.07892, "heading":-0.06826, "vx":0.30446, "vy":0.16872, "omega":0.81421, "ax":-2.62305, "ay":-1.4536, "alpha":-5.30901, "fx":[-31.16544,-31.63906,-55.94724,-56.14818], "fy":[-39.58256,-11.98887,-9.4855,-35.86649]}, + {"t":2.39868, "x":7.69215, "y":5.08436, "heading":-0.03676, "vx":0.20298, "vy":0.11248, "omega":0.60881, "ax":-2.62318, "ay":-1.45369, "alpha":-6.91264, "fx":[-27.34966,-27.18028,-60.66734,-59.71147], "fy":[-43.3333,-8.08421,-6.01709,-39.49466]}, + {"t":2.43737, "x":7.69804, "y":5.08763, "heading":-0.01321, "vx":0.10149, "vy":0.05624, "omega":0.34138, "ax":-2.62328, "ay":-1.45375, "alpha":-8.82372, "fx":[-22.57813,-23.25902,-65.52604,-63.55241], "fy":[-48.60911,-2.43029,-1.71364,-44.18021]}, + {"t":2.47606, "x":7.7, "y":5.08871, "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/HToOppE.traj b/src/main/deploy/choreo/HToOppE.traj new file mode 100644 index 00000000..0e982ce2 --- /dev/null +++ b/src/main/deploy/choreo/HToOppE.traj @@ -0,0 +1,208 @@ +{ + "name":"HToOppE", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":5.827323, "y":4.0509, "heading":3.141592653589793, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.47006893157959, "y":5.786170482635498, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":12.055767059326172, "y":5.666640281677246, "heading":-0.9034901014083804, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":4.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"H.x", "val":5.827323}, "y":{"exp":"H.y", "val":4.0509}, "heading":{"exp":"H.heading", "val":3.141592653589793}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"11.47006893157959 m", "val":11.47006893157959}, "y":{"exp":"5.786170482635498 m", "val":5.786170482635498}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"12.055767059326172 m", "val":12.055767059326172}, "y":{"exp":"5.666640281677246 m", "val":5.666640281677246}, "heading":{"exp":"-0.9034901014083804 rad", "val":-0.9034901014083804}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"4 rad / s", "val":4.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,1.22512,1.82846,2.51826,2.82159,3.97529], + "samples":[ + {"t":0.0, "x":5.82732, "y":4.0509, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.02221, "ay":3.25354, "alpha":41.42014, "fx":[198.93149,141.07699,-0.00967,-5.12776], "fy":[-0.90738,140.44115,198.93155,-121.5254]}, + {"t":0.02552, "x":5.82896, "y":4.05196, "heading":3.14159, "vx":0.12818, "vy":0.08304, "omega":1.05718, "ax":4.89633, "ay":3.4556, "alpha":41.09144, "fx":[198.71106,141.00492,-0.07594,-13.16215], "fy":[-1.0842,140.29264,198.71064,-107.50608]}, + {"t":0.05105, "x":5.83383, "y":4.0552, "heading":-3.11461, "vx":0.25315, "vy":0.17124, "omega":2.10596, "ax":4.80513, "ay":3.5826, "alpha":40.89356, "fx":[198.05497,137.27371,-5.42839,-9.50373], "fy":[3.07137,143.3183,197.99063,-105.49912]}, + {"t":0.07657, "x":5.84185, "y":4.06074, "heading":-3.06086, "vx":0.3758, "vy":0.26268, "omega":3.1497, "ax":4.69645, "ay":3.72488, "alpha":33.16687, "fx":[174.75436,125.31205,-9.07466,22.15884], "fy":[-3.24032,129.94664,171.41416,-49.75293]}, + {"t":0.10209, "x":5.85297, "y":4.06866, "heading":-2.98047, "vx":0.49566, "vy":0.35775, "omega":3.99623, "ax":4.68947, "ay":3.73274, "alpha":0.00743, "fx":[79.28639,75.13273,76.72663,81.53878], "fy":[59.38614,60.42003,66.04791,63.03786]}, + {"t":0.12762, "x":5.86715, "y":4.07901, "heading":-2.87847, "vx":0.61536, "vy":0.45302, "omega":3.99642, "ax":4.68372, "ay":3.73872, "alpha":-0.00004, "fx":[78.09054,77.99743,77.87813,78.33516], "fy":[61.98846,61.99325,62.81892,62.48986]}, + {"t":0.15314, "x":5.88438, "y":4.09179, "heading":-2.77647, "vx":0.7349, "vy":0.54845, "omega":3.99642, "ax":4.67637, "ay":3.74633, "alpha":-0.00003, "fx":[77.99755,77.86031,77.91357,78.03983], "fy":[62.25397,62.37516,62.6243,62.54486]}, + {"t":0.17866, "x":5.90466, "y":4.10701, "heading":-2.67447, "vx":0.85426, "vy":0.64406, "omega":3.99642, "ax":4.66663, "ay":3.75638, "alpha":-0.00004, "fx":[77.72687,77.97669,77.70657,77.75193], "fy":[62.58279,62.53026,62.69364,62.66168]}, + {"t":0.20419, "x":5.92799, "y":4.12467, "heading":-2.57247, "vx":0.97336, "vy":0.73994, "omega":3.99642, "ax":4.65312, "ay":3.77025, "alpha":-0.00005, "fx":[77.52928,77.51419,77.6504,77.56713], "fy":[62.81035,62.99507,62.74012,62.84764]}, + {"t":0.22971, "x":5.95435, "y":4.14478, "heading":-2.47047, "vx":1.09213, "vy":0.83617, "omega":3.99641, "ax":4.63317, "ay":3.79055, "alpha":-0.00008, "fx":[77.17215,77.52322,77.12777,77.1076], "fy":[63.24813,63.1191,63.17568,63.20393]}, + {"t":0.25523, "x":5.98373, "y":4.16736, "heading":-2.36846, "vx":1.21038, "vy":0.93292, "omega":3.99641, "ax":4.60059, "ay":3.82329, "alpha":-0.00013, "fx":[76.47477,76.76184,76.76001,76.76216], "fy":[64.03884,63.759,63.66095,63.47091]}, + {"t":0.28076, "x":6.01612, "y":4.19241, "heading":-2.26646, "vx":1.3278, "vy":1.0305, "omega":3.99641, "ax":4.53808, "ay":3.88471, "alpha":-0.00027, "fx":[75.77353,76.11236,75.3672,75.33725], "fy":[64.83521,64.55429,64.73185,64.90388]}, + {"t":0.30628, "x":6.05149, "y":4.21998, "heading":-2.16446, "vx":1.44363, "vy":1.12965, "omega":3.9964, "ax":4.37106, "ay":4.04, "alpha":-0.00121, "fx":[72.82758,73.12131,72.88507,72.61965], "fy":[67.59485,67.4634,66.85166,67.46971]}, + {"t":0.3318, "x":6.08976, "y":4.25013, "heading":-2.06246, "vx":1.55519, "vy":1.23276, "omega":3.99637, "ax":2.91298, "ay":4.96643, "alpha":-3.64172, "fx":[37.0952,54.18077,59.74073,43.21514], "fy":[82.32726,69.54987,83.68555,95.58952]}, + {"t":0.35733, "x":6.1304, "y":4.28321, "heading":-1.96046, "vx":1.62954, "vy":1.35952, "omega":3.90342, "ax":4.22922, "ay":3.68013, "alpha":-15.00158, "fx":[23.68803,100.02831,110.40547,47.87431], "fy":[48.67973,8.69913,74.72106,113.28416]}, + {"t":0.38285, "x":6.17337, "y":4.31911, "heading":-1.86083, "vx":1.73748, "vy":1.45345, "omega":3.52053, "ax":4.98513, "ay":2.42992, "alpha":-13.67157, "fx":[43.6269,112.42336,116.67903,59.66934], "fy":[22.75093,-5.83326,56.84161,88.26329]}, + {"t":0.40837, "x":6.21934, "y":4.357, "heading":-1.77098, "vx":1.86472, "vy":1.51547, "omega":3.17159, "ax":5.20227, "ay":1.72938, "alpha":-12.18952, "fx":[54.99456,113.46622,115.10418,63.31264], "fy":[7.36347,-10.56208,47.70382,70.80619]}, + {"t":0.4339, "x":6.26863, "y":4.39624, "heading":-1.69003, "vx":1.9975, "vy":1.55961, "omega":2.86047, "ax":5.16, "ay":1.54074, "alpha":-11.2377, "fx":[58.13247,112.75411,110.95987,62.21245], "fy":[2.52922,-7.97967,45.89883,62.28535]}, + {"t":0.45942, "x":6.32129, "y":4.43655, "heading":-1.61702, "vx":2.1292, "vy":1.59894, "omega":2.57365, "ax":4.94561, "ay":1.32669, "alpha":-10.21175, "fx":[59.1491,106.88123,104.52628,59.20717], "fy":[-1.97849,-6.56696,43.64413,53.36278]}, + {"t":0.48494, "x":6.37725, "y":4.47779, "heading":-1.55133, "vx":2.25543, "vy":1.6328, "omega":2.31301, "ax":4.55783, "ay":1.35565, "alpha":-9.43508, "fx":[54.78689,100.565,95.66134,52.89417], "fy":[-0.90282,-1.53631,44.20774,48.62386]}, + {"t":0.51047, "x":6.4363, "y":4.51991, "heading":-1.49229, "vx":2.37176, "vy":1.6674, "omega":2.0722, "ax":3.79235, "ay":1.0891, "alpha":-7.67074, "fx":[47.1579,83.2087,79.00298,43.49706], "fy":[-2.26772,-0.21882,37.39162,37.71426]}, + {"t":0.53599, "x":6.49807, "y":4.56282, "heading":-1.4394, "vx":2.46855, "vy":1.6952, "omega":1.87642, "ax":3.06635, "ay":0.89823, "alpha":-6.12489, "fx":[38.48522,68.13774,63.23494,34.60018], "fy":[-1.75834,1.61699,31.12719,28.90649]}, + {"t":0.56151, "x":6.56207, "y":4.60638, "heading":-1.39151, "vx":2.54681, "vy":1.71812, "omega":1.72009, "ax":2.26283, "ay":0.54224, "alpha":-4.16515, "fx":[29.77831,49.33652,45.6442,26.1224], "fy":[-2.73461,0.30929,20.66505,17.91577]}, + {"t":0.58703, "x":6.62781, "y":4.65041, "heading":-1.34761, "vx":2.60457, "vy":1.73196, "omega":1.61378, "ax":1.69899, "ay":0.24708, "alpha":-2.69072, "fx":[23.34482,36.15472,33.31477,20.47132], "fy":[-3.66982,-0.88071,11.8233,9.20235]}, + {"t":0.61256, "x":6.69484, "y":4.69469, "heading":-1.30642, "vx":2.64793, "vy":1.73827, "omega":1.54511, "ax":1.18578, "ay":-0.04281, "alpha":-1.25367, "fx":[17.72847,23.35185,21.80405,16.18124], "fy":[-4.38418,-3.3014,3.17228,1.6585]}, + {"t":0.63808, "x":6.76281, "y":4.73905, "heading":-1.26699, "vx":2.6782, "vy":1.73717, "omega":1.51311, "ax":0.99269, "ay":-0.17411, "alpha":-0.63094, "fx":[15.54672,18.43454,17.69637,14.51291], "fy":[-4.78427,-3.85949,-1.02517,-1.94028]}, + {"t":0.6636, "x":6.83149, "y":4.78333, "heading":-1.22837, "vx":2.70353, "vy":1.73273, "omega":1.497, "ax":0.6817, "ay":-0.30631, "alpha":0.27599, "fx":[11.84632,10.36448,10.88076,12.36279], "fy":[-4.16864,-5.09471,-5.78884,-5.37223]}, + {"t":0.68913, "x":6.90072, "y":4.82745, "heading":-1.19016, "vx":2.72093, "vy":1.72491, "omega":1.50405, "ax":0.68109, "ay":-0.13565, "alpha":0.10038, "fx":[11.49812,11.01855,11.2882,11.60908], "fy":[-1.91705,-2.10321,-2.60593,-2.41837]}, + {"t":0.71465, "x":6.97039, "y":4.87143, "heading":-1.15177, "vx":2.73832, "vy":1.72145, "omega":1.50661, "ax":0.34417, "ay":0.00838, "alpha":0.67101, "fx":[6.54784,3.52071,4.92362,7.95652], "fy":[2.29683,0.85832,-1.97857,-0.61782]}, + {"t":0.74017, "x":7.04039, "y":4.91537, "heading":-1.11332, "vx":2.7471, "vy":1.72166, "omega":1.52374, "ax":0.22662, "ay":0.53278, "alpha":0.1399, "fx":[3.90098,3.17904,3.70455,4.32613], "fy":[9.27211,8.9387,8.48908,8.82492]}, + {"t":0.7657, "x":7.11058, "y":4.95949, "heading":-1.07442, "vx":2.75289, "vy":1.73526, "omega":1.52731, "ax":-0.38949, "ay":1.22984, "alpha":0.30567, "fx":[-6.35322,-7.39862,-6.65237,-5.56646], "fy":[21.25447,21.4688,19.19345,20.0868]}, + {"t":0.79122, "x":7.18071, "y":5.00418, "heading":-1.03544, "vx":2.74294, "vy":1.76665, "omega":1.53511, "ax":-1.00822, "ay":2.03324, "alpha":0.17352, "fx":[-16.7013,-17.95094,-16.59803,-15.97604], "fy":[34.19624,33.72277,33.59082,34.06293]}, + {"t":0.81674, "x":7.25039, "y":5.04993, "heading":-0.99626, "vx":2.71721, "vy":1.81855, "omega":1.53954, "ax":-2.04561, "ay":3.20255, "alpha":0.01478, "fx":[-34.40158,-34.06295,-33.84999,-34.08313], "fy":[52.48122,55.46099,52.6789,52.91876]}, + {"t":0.84227, "x":7.31908, "y":5.09739, "heading":-0.95697, "vx":2.665, "vy":1.90029, "omega":1.53992, "ax":-3.39746, "ay":3.07537, "alpha":2.71823, "fx":[-54.81243,-67.04099,-57.37883,-47.30379], "fy":[60.03681,52.10446,42.50813,50.41005]}, + {"t":0.86779, "x":7.38599, "y":5.14689, "heading":-0.91766, "vx":2.57829, "vy":1.97878, "omega":1.60929, "ax":-4.26413, "ay":2.69527, "alpha":4.70531, "fx":[-69.3766,-86.98616,-72.97766,-54.98327], "fy":[60.3925,48.21462,28.18764,42.92049]}, + {"t":0.89331, "x":7.45041, "y":5.19828, "heading":-0.87659, "vx":2.46945, "vy":2.04757, "omega":1.72939, "ax":-5.15367, "ay":-0.53709, "alpha":10.95997, "fx":[-83.3977,-124.74571,-87.08355,-48.40953], "fy":[28.3701,-6.37816,-46.08166,-11.72273]}, + {"t":0.91884, "x":7.51176, "y":5.25036, "heading":-0.83245, "vx":2.33791, "vy":2.03386, "omega":2.00912, "ax":-3.6121, "ay":-4.11792, "alpha":11.47668, "fx":[-61.4731,-100.07873,-59.69737,-19.59841], "fy":[-28.94011,-68.41495,-106.72239,-70.49751]}, + {"t":0.94436, "x":7.57025, "y":5.30093, "heading":-0.78117, "vx":2.24572, "vy":1.92876, "omega":2.30204, "ax":-2.34994, "ay":-5.24104, "alpha":9.17087, "fx":[-42.53904,-72.77981,-35.76083,-5.60991], "fy":[-57.16207,-87.93023,-116.30252,-88.0674]}, + {"t":0.96988, "x":7.62681, "y":5.34845, "heading":-0.72242, "vx":2.18574, "vy":1.79499, "omega":2.53612, "ax":-1.40493, "ay":-5.6743, "alpha":7.06897, "fx":[-28.70302,-49.28434,-19.1082,3.41755], "fy":[-71.7516,-97.1517,-115.79879,-93.64917]}, + {"t":0.99541, "x":7.68214, "y":5.39242, "heading":-0.65769, "vx":2.14988, "vy":1.65017, "omega":2.71654, "ax":-0.8674, "ay":-5.83023, "alpha":5.92512, "fx":[-20.97352,-36.60313,-9.1198,8.85957], "fy":[-79.18429,-99.65438,-114.01135,-95.89819]}, + {"t":1.02093, "x":7.73673, "y":5.43264, "heading":-0.58835, "vx":2.12775, "vy":1.50136, "omega":2.86777, "ax":-0.58319, "ay":-5.8932, "alpha":5.52087, "fx":[-17.9127,-30.06572,-3.18189,12.27454], "fy":[-81.90915,-101.97054,-113.00449,-96.06273]}, + {"t":1.04645, "x":7.79084, "y":5.46904, "heading":-0.51516, "vx":2.11286, "vy":1.35095, "omega":3.00868, "ax":-0.38006, "ay":-5.92691, "alpha":5.49845, "fx":[-16.52808,-26.10608,1.55829,15.73397], "fy":[-83.20707,-102.67773,-113.15012,-96.15991]}, + {"t":1.07198, "x":7.84465, "y":5.50159, "heading":-0.43836, "vx":2.10316, "vy":1.19967, "omega":3.14902, "ax":-0.26382, "ay":-5.94468, "alpha":5.86818, "fx":[-17.10415,-24.63364,5.43955,18.70742], "fy":[-82.76033,-105.0268,-113.60081,-94.99179]}, + {"t":1.0975, "x":7.89824, "y":5.53027, "heading":-0.35799, "vx":2.09643, "vy":1.04794, "omega":3.29879, "ax":-0.17914, "ay":-5.9559, "alpha":6.54068, "fx":[-18.60396,-24.34729,9.02239,21.98418], "fy":[-81.38832,-106.32056,-115.73028,-93.68852]}, + {"t":1.12302, "x":7.95169, "y":5.55508, "heading":-0.2738, "vx":2.09185, "vy":0.89593, "omega":3.46573, "ax":-0.13954, "ay":-5.96289, "alpha":4.23134, "fx":[-7.24144,-12.81022,-0.25621,11.00383], "fy":[-84.99904,-110.34344,-112.53293,-89.71842]}, + {"t":1.14855, "x":8.00503, "y":5.576, "heading":-0.18534, "vx":2.08829, "vy":0.74374, "omega":3.57373, "ax":-1.5821, "ay":-5.72781, "alpha":-45.05422, "fx":[33.49789,186.47283,-195.69135,-129.77106], "fy":[-195.14485,-58.60889,21.52102,-149.68674]}, + {"t":1.17407, "x":8.05782, "y":5.59312, "heading":-0.09413, "vx":2.04791, "vy":0.59755, "omega":2.4238, "ax":-1.59554, "ay":-5.58676, "alpha":-45.43986, "fx":[30.04742,192.72337,-198.03053,-131.12767], "fy":[-196.3872,-38.35676,11.63698,-149.40745]}, + {"t":1.19959, "x":8.10957, "y":5.60655, "heading":-0.03226, "vx":2.00719, "vy":0.45495, "omega":1.26402, "ax":-1.4825, "ay":-4.31531, "alpha":-49.52442, "fx":[37.28126,193.47022,-197.85747,-131.7442], "fy":[-195.34909,37.86187,18.87107,-149.12072]}, + {"t":1.22512, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.96935, "vy":0.34481, "omega":0.0, "ax":0.74821, "ay":-5.91288, "alpha":0.0, "fx":[12.55462,12.5486,12.39458,12.3912], "fy":[-98.48466,-98.97088,-98.31751,-98.48629]}, + {"t":1.25687, "x":8.22323, "y":5.62473, "heading":0.0, "vx":1.99311, "vy":0.15705, "omega":0.0, "ax":0.18917, "ay":-5.93125, "alpha":0.0, "fx":[2.99335,3.00208,3.39229,3.22552], "fy":[-99.62966,-98.71734,-98.71368,-98.42374]}, + {"t":1.28863, "x":8.28662, "y":5.62672, "heading":0.0, "vx":1.99912, "vy":-0.0313, "omega":0.0, "ax":-0.0192, "ay":-0.86221, "alpha":0.0, "fx":[-0.33446,-0.33429,-0.30578,-0.3057], "fy":[-14.38692,-14.31989,-14.39665,-14.38689]}, + {"t":1.32038, "x":8.35009, "y":5.62529, "heading":0.0, "vx":1.99851, "vy":-0.05868, "omega":0.0, "ax":0.01054, "ay":0.40293, "alpha":0.0, "fx":[0.23687,0.23687,0.15296,0.07575], "fy":[6.98421,6.65534,6.65534,6.57148]}, + {"t":1.35214, "x":8.41356, "y":5.62363, "heading":0.0, "vx":1.99884, "vy":-0.04588, "omega":0.0, "ax":0.00601, "ay":0.29145, "alpha":0.0, "fx":[0.08792,0.08787,0.1126,0.11258], "fy":[4.84598,4.92971,4.81162,4.84596]}, + {"t":1.38389, "x":8.47703, "y":5.62232, "heading":0.0, "vx":1.99903, "vy":-0.03663, "omega":0.0, "ax":0.00284, "ay":0.16709, "alpha":0.0, "fx":[0.05174,0.05178,0.07161,0.01415], "fy":[2.77863,2.78089,2.7809,2.80093]}, + {"t":1.41565, "x":8.54051, "y":5.62125, "heading":0.0, "vx":1.99912, "vy":-0.03132, "omega":0.0, "ax":0.00167, "ay":0.11343, "alpha":0.0, "fx":[0.03612,0.03611,0.0197,0.0197], "fy":[1.89898,1.85991,1.90522,1.89898]}, + {"t":1.4474, "x":8.604, "y":5.62031, "heading":0.0, "vx":1.99918, "vy":-0.02772, "omega":0.0, "ax":0.00114, "ay":0.08685, "alpha":0.0, "fx":[0.02166,0.02167,0.04123,-0.00828], "fy":[1.436,1.44518,1.44518,1.46474]}, + {"t":1.47916, "x":8.66748, "y":5.61947, "heading":0.0, "vx":1.99921, "vy":-0.02496, "omega":0.0, "ax":0.00078, "ay":0.06478, "alpha":0.0, "fx":[0.01417,0.01417,0.01167,0.01167], "fy":[1.08102,1.07721,1.07984,1.08102]}, + {"t":1.51091, "x":8.73097, "y":5.61871, "heading":0.0, "vx":1.99924, "vy":-0.0229, "omega":0.0, "ax":0.00048, "ay":0.04321, "alpha":0.0, "fx":[0.01873,0.01873,0.0285,-0.03394], "fy":[0.74277,0.70964,0.70964,0.71941]}, + {"t":1.54267, "x":8.79445, "y":5.61801, "heading":0.0, "vx":1.99925, "vy":-0.02153, "omega":0.0, "ax":0.00025, "ay":0.02373, "alpha":0.0, "fx":[-0.00246,-0.00246,0.01083,0.01083], "fy":[0.38887,0.42645,0.37787,0.38887]}, + {"t":1.57442, "x":8.85794, "y":5.61733, "heading":0.0, "vx":1.99926, "vy":-0.02078, "omega":0.0, "ax":0.00009, "ay":0.0083, "alpha":0.0, "fx":[0.0227,0.0227,0.03148,-0.07117], "fy":[0.19333,0.11701,0.11701,0.12577]}, + {"t":1.60618, "x":8.92143, "y":5.61668, "heading":0.0, "vx":1.99926, "vy":-0.02052, "omega":0.0, "ax":-0.00004, "ay":-0.00407, "alpha":0.0, "fx":[-0.01152,-0.01152,0.01012,0.01012], "fy":[-0.07868,-0.0204,-0.09367,-0.07868]}, + {"t":1.63793, "x":8.98491, "y":5.61602, "heading":0.0, "vx":1.99926, "vy":-0.02064, "omega":0.0, "ax":-0.00021, "ay":-0.02018, "alpha":0.0, "fx":[0.02558,0.02558,0.05991,-0.12518], "fy":[-0.28339,-0.36558,-0.36558,-0.33133]}, + {"t":1.66969, "x":9.0484, "y":5.61536, "heading":0.0, "vx":1.99926, "vy":-0.02129, "omega":0.0, "ax":-0.00058, "ay":-0.05267, "alpha":0.0, "fx":[-0.00725,-0.00725,-0.01217,-0.01217], "fy":[-0.87545,-0.89686,-0.86389,-0.87545]}, + {"t":1.70144, "x":9.11188, "y":5.61466, "heading":0.0, "vx":1.99924, "vy":-0.02296, "omega":0.0, "ax":-0.00101, "ay":-0.08312, "alpha":0.0, "fx":[-0.01857,-0.01857,0.06953,-0.09969], "fy":[-1.47897,-1.3839,-1.3839,-1.29582]}, + {"t":1.7332, "x":9.17537, "y":5.61389, "heading":0.0, "vx":1.99921, "vy":-0.0256, "omega":0.0, "ax":0.0014, "ay":0.11802, "alpha":0.0, "fx":[0.06011,0.06008,-0.01341,-0.01342], "fy":[2.00414,1.79013,2.07113,2.00413]}, + {"t":1.76495, "x":9.23886, "y":5.61313, "heading":0.0, "vx":1.99925, "vy":-0.02185, "omega":0.0, "ax":-0.00233, "ay":1.56139, "alpha":0.0, "fx":[-0.02881,-0.0279,-0.1428,0.04411], "fy":[26.16503,26.01706,26.01707,25.91108]}, + {"t":1.79671, "x":9.30234, "y":5.61323, "heading":0.0, "vx":1.99918, "vy":0.02773, "omega":0.0, "ax":-0.27756, "ay":5.25862, "alpha":0.0, "fx":[-4.81643,-4.81626,-4.43697,-4.43752], "fy":[87.46923,88.57767,87.11877,87.46901]}, + {"t":1.82846, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.99036, "vy":0.19472, "omega":0.0, "ax":5.94346, "ay":0.71204, "alpha":-21.62462, "fx":[142.34817,137.20951,55.03946,61.70143], "fy":[-41.64872,60.55567,92.42108,-63.8508]}, + {"t":1.85145, "x":9.41302, "y":5.62142, "heading":0.0, "vx":2.12702, "vy":0.21109, "omega":-0.49722, "ax":5.94945, "ay":0.71363, "alpha":-16.93183, "fx":[133.45371,129.20525,64.53045,69.50834], "fy":[-32.88909,51.76584,72.64963,-43.9429]}, + {"t":1.87445, "x":9.4635, "y":5.62647, "heading":-0.01143, "vx":2.26382, "vy":0.2275, "omega":-0.88654, "ax":5.94819, "ay":0.71457, "alpha":-11.94257, "fx":[123.60428,120.75492,74.52726,77.7275], "fy":[-21.51621,40.87417,53.22082,-24.93291]}, + {"t":1.89744, "x":9.51712, "y":5.63189, "heading":-0.03182, "vx":2.40059, "vy":0.24393, "omega":-1.16113, "ax":5.94652, "ay":0.71571, "alpha":-6.91353, "fx":[113.15398,111.83031,85.0271,86.49136], "fy":[-8.95481,29.12743,35.30695,-7.75721]}, + {"t":1.92043, "x":9.57389, "y":5.63768, "heading":-0.05852, "vx":2.53732, "vy":0.26039, "omega":-1.3201, "ax":5.94418, "ay":0.71731, "alpha":-2.14297, "fx":[103.22737,102.90226,94.93462,95.28237], "fy":[4.94522,17.34799,19.44548,6.0902]}, + {"t":1.94343, "x":9.63381, "y":5.64386, "heading":-0.08887, "vx":2.67399, "vy":0.27688, "omega":-1.36937, "ax":5.94065, "ay":0.71978, "alpha":1.77816, "fx":[95.3125,94.95476,102.5109,103.33286], "fy":[17.23894,7.80998,6.73159,16.21305]}, + {"t":1.96642, "x":9.69686, "y":5.65042, "heading":-0.12035, "vx":2.81059, "vy":0.29343, "omega":-1.32849, "ax":5.93475, "ay":0.72376, "alpha":4.69906, "fx":[89.80191,88.52718,108.25292,109.13558], "fy":[27.56789,1.01111,-2.79051,22.47074]}, + {"t":1.98941, "x":9.76305, "y":5.65735, "heading":-0.1509, "vx":2.94704, "vy":0.31007, "omega":-1.22044, "ax":5.92286, "ay":0.73181, "alpha":6.50786, "fx":[86.5527,83.88658,110.91608,113.56975], "fy":[34.2635,-2.87456,-8.35899,25.76542]}, + {"t":2.01241, "x":9.83238, "y":5.66468, "heading":-0.17896, "vx":3.08323, "vy":0.3269, "omega":-1.0708, "ax":5.88697, "ay":0.75442, "alpha":6.95202, "fx":[85.51277,81.47203,111.44056,114.10655], "fy":[36.26617,-2.71953,-9.54167,26.29804]}, + {"t":2.0354, "x":9.90483, "y":5.67239, "heading":-0.20358, "vx":3.21859, "vy":0.34425, "omega":-0.91095, "ax":2.57561, "ay":1.07394, "alpha":6.16893, "fx":[31.38999,26.14171,55.02126,59.18347], "fy":[37.08144,5.70988,-0.51441,29.33154]}, + {"t":2.05839, "x":9.97952, "y":5.68059, "heading":-0.22453, "vx":3.27781, "vy":0.36894, "omega":-0.76911, "ax":-0.04973, "ay":0.44915, "alpha":3.52768, "fx":[-7.33782,-10.99402,5.76473,9.25136], "fy":[17.83487,0.82374,-2.76658,14.05622]}, + {"t":2.08139, "x":10.05487, "y":5.68919, "heading":-0.24221, "vx":3.27667, "vy":0.37927, "omega":-0.688, "ax":-0.0272, "ay":0.23364, "alpha":1.57021, "fx":[-3.1189,-4.94846,2.90599,3.34762], "fy":[8.75188,0.8793,-0.94924,6.89683]}, + {"t":2.10438, "x":10.1302, "y":5.69798, "heading":-0.25803, "vx":3.27604, "vy":0.38464, "omega":-0.65189, "ax":-0.01368, "ay":0.11607, "alpha":0.62558, "fx":[-1.2213,-1.87347,0.7661,1.41649], "fy":[3.97502,0.74179,-0.1405,3.16296]}, + {"t":2.12737, "x":10.20553, "y":5.70685, "heading":-0.27302, "vx":3.27573, "vy":0.38731, "omega":-0.63751, "ax":-0.00667, "ay":0.0565, "alpha":0.24117, "fx":[-0.45096,-0.7702,0.48312,0.29309], "fy":[1.8214,0.44327,0.12419,1.37825]}, + {"t":2.15037, "x":10.28085, "y":5.71577, "heading":-0.28768, "vx":3.27557, "vy":0.38861, "omega":-0.63196, "ax":-0.00436, "ay":0.03658, "alpha":0.08973, "fx":[-0.17424,-0.24116,0.02879,0.09598], "fy":[0.96785,0.50471,0.16818,0.79864]}, + {"t":2.17336, "x":10.35616, "y":5.72472, "heading":-0.30221, "vx":3.27547, "vy":0.38945, "omega":-0.6299, "ax":-0.00438, "ay":0.03692, "alpha":0.02641, "fx":[-0.05173,-0.08309,0.0683,-0.22583], "fy":[0.89083,0.49422,0.46304,0.61389]}, + {"t":2.19635, "x":10.43147, "y":5.73368, "heading":-0.3167, "vx":3.27537, "vy":0.3903, "omega":-0.62929, "ax":-0.00411, "ay":0.03444, "alpha":0.0858, "fx":[-0.19271,-0.30446,0.05543,0.16739], "fy":[0.84547,0.62892,0.14333,0.67883]}, + {"t":2.21935, "x":10.50678, "y":5.74266, "heading":-0.33116, "vx":3.27528, "vy":0.39109, "omega":-0.62732, "ax":-0.00228, "ay":0.01901, "alpha":0.02022, "fx":[-0.04558,-0.01249,-0.03087,-0.06298], "fy":[0.58813,0.21037,0.24278,0.2266]}, + {"t":2.24234, "x":10.58209, "y":5.75166, "heading":-0.34559, "vx":3.27523, "vy":0.39153, "omega":-0.62686, "ax":0.00642, "ay":-0.0536, "alpha":0.17561, "fx":[-0.14907,-0.43777,0.36245,0.65221], "fy":[-0.37053,-0.86338,-1.6376,-0.70212]}, + {"t":2.26533, "x":10.6574, "y":5.76065, "heading":-0.36, "vx":3.27537, "vy":0.39029, "omega":-0.62282, "ax":0.02506, "ay":-0.21189, "alpha":0.01909, "fx":[0.34217,0.45344,0.31995,0.55525], "fy":[-3.32498,-3.63474,-3.52581,-3.64321]}, + {"t":2.28833, "x":10.73272, "y":5.76957, "heading":-0.37432, "vx":3.27595, "vy":0.38542, "omega":-0.62238, "ax":0.0638, "ay":-0.55103, "alpha":0.25989, "fx":[0.69489,0.22069,1.43056,1.90802], "fy":[-8.41528,-9.33867,-10.11127,-8.87634]}, + {"t":2.31132, "x":10.80806, "y":5.77828, "heading":-0.38863, "vx":3.27742, "vy":0.37275, "omega":-0.6164, "ax":0.12789, "ay":-1.16727, "alpha":-0.12434, "fx":[2.13334,2.58137,1.86727,1.94552], "fy":[-19.95986,-19.36337,-18.93712,-19.5712]}, + {"t":2.33431, "x":10.88345, "y":5.78655, "heading":-0.40281, "vx":3.28036, "vy":0.34591, "omega":-0.61926, "ax":0.21716, "ay":-2.22642, "alpha":0.0362, "fx":[3.51428,3.46629,3.72269,3.77625], "fy":[-37.0409,-37.56361,-36.92662,-36.92251]}, + {"t":2.3573, "x":10.95894, "y":5.79391, "heading":-0.41705, "vx":3.28535, "vy":0.29472, "omega":-0.61843, "ax":0.29191, "ay":-3.83251, "alpha":-0.99193, "fx":[5.6756,8.03338,3.47799,2.27695], "fy":[-67.83322,-62.67366,-60.5071,-64.53014]}, + {"t":2.3803, "x":11.03455, "y":5.79968, "heading":-0.43126, "vx":3.29206, "vy":0.2066, "omega":-0.64124, "ax":0.23244, "ay":-5.24496, "alpha":-1.73739, "fx":[5.9885,9.95339,1.6583,-2.10159], "fy":[-92.52263,-87.05512,-81.31689,-88.82931]}, + {"t":2.40329, "x":11.11031, "y":5.80304, "heading":-0.44601, "vx":3.29741, "vy":0.086, "omega":-0.68119, "ax":0.01886, "ay":-5.63871, "alpha":-4.03912, "fx":[5.1602,14.21566,-6.53069,-11.5876], "fy":[-107.42368,-90.761,-80.61246,-97.18123]}, + {"t":2.42628, "x":11.18613, "y":5.80353, "heading":-0.46167, "vx":3.29784, "vy":-0.04365, "omega":-0.77406, "ax":-3.18537, "ay":-4.87956, "alpha":-6.38329, "fx":[-43.7831,-32.46188,-64.09777,-72.05184], "fy":[-102.89305,-78.60225,-58.73552,-85.12901]}, + {"t":2.44928, "x":11.26112, "y":5.80123, "heading":-0.47947, "vx":3.2246, "vy":-0.15585, "omega":-0.92083, "ax":-5.5652, "ay":-2.10229, "alpha":-8.12259, "fx":[-82.68552,-68.38476,-104.51455,-115.49215], "fy":[-65.11485,-30.28464,-4.82534,-39.95165]}, + {"t":2.47227, "x":11.33379, "y":5.79709, "heading":-0.50064, "vx":3.09664, "vy":-0.20419, "omega":-1.1076, "ax":-5.77753, "ay":-1.50964, "alpha":-8.47205, "fx":[-87.10686,-71.78754,-107.61029,-118.73024], "fy":[-58.00555,-19.66751,7.49279,-30.47965]}, + {"t":2.49526, "x":11.40347, "y":5.792, "heading":-0.52611, "vx":2.96379, "vy":-0.2389, "omega":-1.30239, "ax":-5.84384, "ay":-1.27034, "alpha":-7.79523, "fx":[-89.8722,-74.6849,-106.488,-118.61099], "fy":[-51.38459,-16.51929,8.93693,-25.73712]}, + {"t":2.51826, "x":11.47007, "y":5.78617, "heading":-0.55606, "vx":2.82942, "vy":-0.26811, "omega":-1.48163, "ax":-5.84727, "ay":-1.12772, "alpha":-6.41294, "fx":[-92.12939,-78.45932,-104.0858,-115.21031], "fy":[-43.69983,-15.10005,5.81726,-22.21172]}, + {"t":2.53422, "x":11.5145, "y":5.78175, "heading":-0.57971, "vx":2.73607, "vy":-0.28611, "omega":-1.58401, "ax":-5.89152, "ay":-1.02922, "alpha":-6.32556, "fx":[-93.41145,-79.83227,-103.87807,-115.71331], "fy":[-42.168,-14.09949,7.56821,-19.92689]}, + {"t":2.55019, "x":11.55743, "y":5.77705, "heading":-0.605, "vx":2.64201, "vy":-0.30254, "omega":-1.685, "ax":-5.90703, "ay":-0.95162, "alpha":-6.19025, "fx":[-94.36617,-80.42668,-103.71675,-115.35973], "fy":[-40.52174,-13.35557,8.63726,-18.2121]}, + {"t":2.56615, "x":11.59885, "y":5.7721, "heading":-0.6319, "vx":2.54771, "vy":-0.31774, "omega":-1.78383, "ax":-5.91835, "ay":-0.89129, "alpha":-5.57584, "fx":[-95.43297,-82.27714,-102.5365,-114.3779], "fy":[-36.8216,-13.1457,7.16607,-16.62842]}, + {"t":2.58212, "x":11.63877, "y":5.76691, "heading":-0.66038, "vx":2.45322, "vy":-0.33197, "omega":-1.87285, "ax":-5.92699, "ay":-0.8428, "alpha":-4.90395, "fx":[-96.44984,-84.42613,-101.89448,-112.42972], "fy":[-33.6793,-12.7182,5.40806,-15.20651]}, + {"t":2.59808, "x":11.67718, "y":5.7615, "heading":-0.69028, "vx":2.3586, "vy":-0.34542, "omega":-1.95114, "ax":-5.93373, "ay":-0.80321, "alpha":-3.76922, "fx":[-97.33222,-87.78093,-100.61548,-109.9212], "fy":[-28.19815,-12.82968,1.40345,-13.9323]}, + {"t":2.61405, "x":11.71408, "y":5.75589, "heading":-0.72143, "vx":2.26387, "vy":-0.35825, "omega":-2.01132, "ax":-5.93916, "ay":-0.77009, "alpha":-2.56278, "fx":[-98.23144,-91.32429,-99.99178,-106.46429], "fy":[-22.95232,-12.4451,-2.86889,-13.08169]}, + {"t":2.63001, "x":11.74947, "y":5.75007, "heading":-0.75354, "vx":2.16905, "vy":-0.37054, "omega":-2.05223, "ax":-5.9436, "ay":-0.74211, "alpha":-0.94558, "fx":[-98.95127,-95.77405,-99.28363,-102.29876], "fy":[-15.50847,-12.34594,-9.01932,-12.60842]}, + {"t":2.64598, "x":11.78334, "y":5.74406, "heading":-0.7863, "vx":2.07416, "vy":-0.38239, "omega":-2.06733, "ax":-5.9473, "ay":-0.71805, "alpha":0.73037, "fx":[-99.33601,-100.72352,-98.94849,-97.54668], "fy":[-8.57114,-11.33128,-15.45514,-12.52031]}, + {"t":2.66194, "x":11.8157, "y":5.73786, "heading":-0.81931, "vx":1.97921, "vy":-0.39385, "omega":-2.05567, "ax":-5.95043, "ay":-0.69721, "alpha":2.7392, "fx":[-99.40417,-106.23126,-98.9335,-92.19428], "fy":[0.33384,-10.46204,-23.31427,-13.04591]}, + {"t":2.67791, "x":11.84654, "y":5.73148, "heading":-0.85213, "vx":1.88421, "vy":-0.40498, "omega":-2.01194, "ax":-5.95311, "ay":-0.67895, "alpha":4.82577, "fx":[-99.49411,-111.92999,-99.6047,-85.91288], "fy":[9.03979,-8.80153,-31.19497,-14.31429]}, + {"t":2.69387, "x":11.87586, "y":5.72493, "heading":-0.88425, "vx":1.78917, "vy":-0.41582, "omega":-1.93489, "ax":-5.95542, "ay":-0.66281, "alpha":7.11911, "fx":[-99.10518,-117.95263,-100.75429,-79.28404], "fy":[18.98328,-6.99726,-39.80819,-16.37281]}, + {"t":2.70984, "x":11.90366, "y":5.71821, "heading":-0.91514, "vx":1.69409, "vy":-0.4264, "omega":-1.82124, "ax":-5.95744, "ay":-0.64849, "alpha":9.4539, "fx":[-98.65636,-123.93705,-102.34165,-72.29566], "fy":[28.95939,-4.6509,-48.36193,-19.18683]}, + {"t":2.7258, "x":11.92995, "y":5.71132, "heading":-0.94422, "vx":1.59898, "vy":-0.43676, "omega":-1.6703, "ax":-5.95922, "ay":-0.63562, "alpha":11.83671, "fx":[-97.75543,-129.85742,-104.38492,-65.35173], "fy":[39.44936,-2.1675,-56.80972,-22.85439]}, + {"t":2.74177, "x":11.95472, "y":5.70427, "heading":-0.97088, "vx":1.50384, "vy":-0.4469, "omega":-1.48133, "ax":-5.96079, "ay":-0.62411, "alpha":14.22052, "fx":[-97.07984,-135.60747,-106.80958,-57.9574], "fy":[49.87853,0.54461,-64.74131,-27.29618]}, + {"t":2.75773, "x":11.97797, "y":5.69705, "heading":-0.99453, "vx":1.40867, "vy":-0.45687, "omega":-1.2543, "ax":-5.9622, "ay":-0.61363, "alpha":16.49714, "fx":[-95.98078,-140.97894,-109.56368,-51.02477], "fy":[60.17142,3.25385,-71.69848,-32.64264]}, + {"t":2.7737, "x":11.9997, "y":5.68968, "heading":-1.01456, "vx":1.31349, "vy":-0.46666, "omega":-0.99092, "ax":-5.96345, "ay":-0.60421, "alpha":18.70058, "fx":[-95.24106,-146.02822,-112.28934,-44.07309], "fy":[70.12361,5.93271,-78.19581,-38.14791]}, + {"t":2.78966, "x":12.01991, "y":5.68215, "heading":-1.03038, "vx":1.21828, "vy":-0.47631, "omega":-0.69237, "ax":-5.96459, "ay":-0.59555, "alpha":20.73863, "fx":[-94.16865,-150.58916,-114.90215,-38.04749], "fy":[79.70236,8.55501,-83.90456,-44.06295]}, + {"t":2.80563, "x":12.0386, "y":5.67447, "heading":-1.04143, "vx":1.12306, "vy":-0.48582, "omega":-0.36127, "ax":-5.96561, "ay":-0.58774, "alpha":22.62896, "fx":[-93.78621,-154.78243,-117.52843,-31.67817], "fy":[88.35865,10.83032,-88.72867,-49.64999]}, + {"t":2.82159, "x":12.05577, "y":5.66664, "heading":-1.0472, "vx":1.02781, "vy":-0.4952, "omega":0.0, "ax":-0.99523, "ay":-0.02324, "alpha":0.0, "fx":[-16.58914,-16.5933,-16.5909,-16.58674], "fy":[-0.36986,-0.42782,-0.37713,-0.37447]}, + {"t":2.85655, "x":12.09109, "y":5.64931, "heading":-1.0472, "vx":0.99302, "vy":-0.49601, "omega":0.0, "ax":-0.99383, "ay":0.09209, "alpha":0.0, "fx":[-16.50693,-16.57003,-16.53372,-16.65604], "fy":[1.56374,1.55585,1.49217,1.52874]}, + {"t":2.89151, "x":12.1252, "y":5.63203, "heading":-1.0472, "vx":0.95828, "vy":-0.4928, "omega":0.0, "ax":-0.98276, "ay":0.17575, "alpha":0.0, "fx":[-16.3819,-16.38311,-16.38243,-16.38117], "fy":[2.93312,2.9212,2.93217,2.93251]}, + {"t":2.92647, "x":12.1581, "y":5.61491, "heading":-1.0472, "vx":0.92392, "vy":-0.48665, "omega":0.0, "ax":-0.96979, "ay":0.23796, "alpha":0.0, "fx":[-16.11792,-16.16334,-16.13739,-16.2452], "fy":[4.00241,3.97656,3.93103,3.95688]}, + {"t":2.96143, "x":12.18981, "y":5.59804, "heading":-1.0472, "vx":0.89001, "vy":-0.47833, "omega":0.0, "ax":-0.95705, "ay":0.28549, "alpha":0.0, "fx":[-15.95361,-15.95355,-15.95363,-15.95354], "fy":[4.75707,4.76255,4.75834,4.75787]}, + {"t":2.9964, "x":12.22034, "y":5.58149, "heading":-1.0472, "vx":0.85655, "vy":-0.46835, "omega":0.0, "ax":-0.94529, "ay":0.32272, "alpha":0.0, "fx":[-15.71852,-15.75225,-15.7331,-15.82597], "fy":[5.41593,5.38365,5.35006,5.36892]}, + {"t":3.03136, "x":12.24971, "y":5.56532, "heading":-1.0472, "vx":0.82351, "vy":-0.45707, "omega":0.0, "ax":-0.93469, "ay":0.35255, "alpha":0.0, "fx":[-15.581,-15.58013,-15.5807,-15.58136], "fy":[5.87182,5.88779,5.87436,5.87342]}, + {"t":3.06632, "x":12.27793, "y":5.54955, "heading":-1.0472, "vx":0.79083, "vy":-0.44474, "omega":0.0, "ax":-0.92523, "ay":0.37691, "alpha":0.0, "fx":[-15.39135,-15.41678,-15.40243,-15.48214], "fy":[6.31763,6.28342,6.25824,6.27223]}, + {"t":3.10128, "x":12.30501, "y":5.53423, "heading":-1.0472, "vx":0.75848, "vy":-0.43157, "omega":0.0, "ax":-0.91682, "ay":0.39713, "alpha":0.0, "fx":[-15.28319,-15.28189,-15.28271,-15.28376], "fy":[6.6135,6.63452,6.61661,6.61546]}, + {"t":3.13624, "x":12.33097, "y":5.51939, "heading":-1.0472, "vx":0.72643, "vy":-0.41768, "omega":0.0, "ax":-0.90932, "ay":0.41417, "alpha":0.0, "fx":[-15.13126,-15.15108,-15.13995,-15.20935], "fy":[6.93664,6.90257,6.88305,6.89379]}, + {"t":3.1712, "x":12.35581, "y":5.50504, "heading":-1.0472, "vx":0.69464, "vy":-0.4032, "omega":0.0, "ax":-0.90262, "ay":0.4287, "alpha":0.0, "fx":[-15.04663,-15.04502,-15.04603,-15.04738], "fy":[7.13861,7.1634,7.14215,7.14084]}, + {"t":3.20616, "x":12.37954, "y":5.4912, "heading":-1.0472, "vx":0.66309, "vy":-0.38821, "omega":0.0, "ax":-0.89662, "ay":0.44123, "alpha":0.0, "fx":[-14.92364,-14.9391,-14.93048,-14.99148], "fy":[7.38582,7.35226,7.33712,7.34535]}, + {"t":3.24112, "x":12.40217, "y":5.4779, "heading":-1.0472, "vx":0.63174, "vy":-0.37279, "omega":0.0, "ax":-0.89121, "ay":0.45214, "alpha":0.0, "fx":[-14.85649,-14.85475,-14.85583,-14.85731], "fy":[7.52904,7.55504,7.53266,7.53132]}, + {"t":3.27608, "x":12.42371, "y":5.46515, "heading":-1.0472, "vx":0.60058, "vy":-0.35698, "omega":0.0, "ax":-0.88633, "ay":0.46172, "alpha":0.0, "fx":[-14.75547,-14.76752,-14.76085,-14.81497], "fy":[7.72563,7.6928,7.68108,7.68737]}, + {"t":3.31104, "x":12.44417, "y":5.45295, "heading":-1.0472, "vx":0.5696, "vy":-0.34084, "omega":0.0, "ax":-0.8819, "ay":0.4702, "alpha":0.0, "fx":[-14.70129,-14.69942,-14.70058,-14.70219], "fy":[7.82965,7.85704,7.8334,7.83201]}, + {"t":3.346, "x":12.46354, "y":5.44132, "heading":-1.0472, "vx":0.53876, "vy":-0.3244, "omega":0.0, "ax":-0.87787, "ay":0.47775, "alpha":0.0, "fx":[-14.61715,-14.62636,-14.62131,-14.66974], "fy":[7.99136,7.95911,7.95022,7.9549]}, + {"t":3.38096, "x":12.48184, "y":5.43027, "heading":-1.0472, "vx":0.50807, "vy":-0.3077, "omega":0.0, "ax":-0.87418, "ay":0.48452, "alpha":0.0, "fx":[-14.57264,-14.57069,-14.57189,-14.57359], "fy":[8.06811,8.0963,8.07192,8.07051]}, + {"t":3.41592, "x":12.49907, "y":5.41981, "heading":-1.0472, "vx":0.47751, "vy":-0.29076, "omega":0.0, "ax":-0.8708, "ay":0.49062, "alpha":0.0, "fx":[-14.50159,-14.50862,-14.50481,-14.54847], "fy":[8.20442,8.17302,8.1663,8.16976]}, + {"t":3.45088, "x":12.51523, "y":5.40994, "heading":-1.0472, "vx":0.44707, "vy":-0.27361, "omega":0.0, "ax":-0.86769, "ay":0.49614, "alpha":0.0, "fx":[-14.46449,-14.46247,-14.46371,-14.46549], "fy":[8.26165,8.29055,8.26552,8.26408]}, + {"t":3.48584, "x":12.53033, "y":5.40068, "heading":-1.0472, "vx":0.41673, "vy":-0.25626, "omega":0.0, "ax":-0.86483, "ay":0.50117, "alpha":0.0, "fx":[-14.40383,-14.40896,-14.40623,-14.44584], "fy":[8.3791,8.34834,8.34352,8.34591]}, + {"t":3.5208, "x":12.54437, "y":5.39203, "heading":-1.0472, "vx":0.3865, "vy":-0.23874, "omega":0.0, "ax":-0.86217, "ay":0.50576, "alpha":0.0, "fx":[-14.37242,-14.37037,-14.37163,-14.37344], "fy":[8.42192,8.45097,8.42577,8.42435]}, + {"t":3.55576, "x":12.55736, "y":5.38399, "heading":-1.0472, "vx":0.35636, "vy":-0.22106, "omega":0.0, "ax":-0.85971, "ay":0.50997, "alpha":0.0, "fx":[-14.32005,-14.32373,-14.32182,-14.35799], "fy":[8.52467,8.49476,8.49137,8.49295]}, + {"t":3.59072, "x":12.56929, "y":5.37657, "heading":-1.0472, "vx":0.3263, "vy":-0.20323, "omega":0.0, "ax":-0.85742, "ay":0.51384, "alpha":0.0, "fx":[-14.29316,-14.29107,-14.29235,-14.29421], "fy":[8.55659,8.58604,8.56047,8.55903]}, + {"t":3.62568, "x":12.58018, "y":5.36978, "heading":-1.0472, "vx":0.29632, "vy":-0.18527, "omega":0.0, "ax":-0.85528, "ay":0.51742, "alpha":0.0, "fx":[-14.24769,-14.24988,-14.24882,-14.28194], "fy":[8.6481,8.61854,8.61664,8.61739]}, + {"t":3.66064, "x":12.59001, "y":5.36362, "heading":-1.0472, "vx":0.26642, "vy":-0.16718, "omega":0.0, "ax":-0.85328, "ay":0.52073, "alpha":0.0, "fx":[-14.22426,-14.22214,-14.22343,-14.22533], "fy":[8.67139,8.70108,8.67528,8.67384]}, + {"t":3.6956, "x":12.59881, "y":5.3581, "heading":-1.0472, "vx":0.23659, "vy":-0.14897, "omega":0.0, "ax":-0.85141, "ay":0.52381, "alpha":0.0, "fx":[-14.18439,-14.18548,-14.18504,-14.21555], "fy":[8.75375,8.72483,8.72402,8.72416]}, + {"t":3.73056, "x":12.60656, "y":5.35321, "heading":-1.0472, "vx":0.20683, "vy":-0.13066, "omega":0.0, "ax":-0.84966, "ay":0.52668, "alpha":0.0, "fx":[-14.16383,-14.1617,-14.163,-14.16491], "fy":[8.77045,8.80012,8.77432,8.77289]}, + {"t":3.76552, "x":12.61327, "y":5.34896, "heading":-1.0472, "vx":0.17712, "vy":-0.11225, "omega":0.0, "ax":-0.84801, "ay":0.52935, "alpha":0.0, "fx":[-14.12868,-14.12876,-14.1289,-14.15708], "fy":[8.84532,8.81693,8.81712,8.8167]}, + {"t":3.80049, "x":12.61894, "y":5.34536, "heading":-1.0472, "vx":0.14748, "vy":-0.09374, "omega":0.0, "ax":-0.84645, "ay":0.53185, "alpha":0.0, "fx":[-14.11043,-14.10828,-14.10958,-14.11152], "fy":[8.8567,8.88645,8.86056,8.85913]}, + {"t":3.83545, "x":12.62358, "y":5.34241, "heading":-1.0472, "vx":0.11788, "vy":-0.07515, "omega":0.0, "ax":-0.84499, "ay":0.5342, "alpha":0.0, "fx":[-14.07933,-14.07841,-14.07911,-14.1052], "fy":[8.92552,8.89742,8.89861,8.89763]}, + {"t":3.87041, "x":12.62719, "y":5.34011, "heading":-1.0472, "vx":0.08834, "vy":-0.05647, "omega":0.0, "ax":-0.8436, "ay":0.5364, "alpha":0.0, "fx":[-14.0629,-14.06073,-14.06205,-14.06401], "fy":[8.93246,8.96236,8.93632,8.9349]}, + {"t":3.90537, "x":12.62976, "y":5.33846, "heading":-1.0472, "vx":0.05885, "vy":-0.03772, "omega":0.0, "ax":-0.84229, "ay":0.53847, "alpha":0.0, "fx":[-14.04104,-14.03887,-14.04019,-14.04216], "fy":[8.96702,8.99692,8.97087,8.96945]}, + {"t":3.94033, "x":12.6313, "y":5.33747, "heading":-1.0472, "vx":0.0294, "vy":-0.01889, "omega":0.0, "ax":-0.84105, "ay":0.54043, "alpha":0.0, "fx":[-14.01621,-14.02984,-14.01297,-14.0204], "fy":[9.00472,9.00745,9.01268,9.00969]}, + {"t":3.97529, "x":12.63181, "y":5.33714, "heading":-1.0472, "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/IToBarge.traj b/src/main/deploy/choreo/IToBarge.traj index 6707c5ef..b837a7bd 100644 --- a/src/main/deploy/choreo/IToBarge.traj +++ b/src/main/deploy/choreo/IToBarge.traj @@ -5,8 +5,8 @@ "waypoints":[ {"x":5.422460748154253, "y":5.032141990263579, "heading":4.1887902047863905, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.914801597595215, "y":5.08453893661499, "heading":-1.865941683513847, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.0, "y":5.08871412, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.75, "y":5.08871412277, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.0, "y":5.08871412, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":12, "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}, @@ -21,8 +21,8 @@ "waypoints":[ {"x":{"exp":"I.x", "val":5.422460748154253}, "y":{"exp":"I.y", "val":5.032141990263579}, "heading":{"exp":"I.heading", "val":4.1887902047863905}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.914801597595215 m", "val":5.914801597595215}, "y":{"exp":"5.08453893661499 m", "val":5.08453893661499}, "heading":{"exp":"-1.865941683513847 rad", "val":-1.865941683513847}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"5.08871412 m", "val":5.08871412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"barge.x", "val":7.75}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"5.08871412 m", "val":5.08871412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":12, "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}, @@ -38,72 +38,71 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.44544,0.93245,1.48036], + "waypoints":[0.0,0.44543,0.93324,1.46256], "samples":[ - {"t":0.0, "x":5.42246, "y":5.03214, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.95927, "ay":0.60529, "alpha":-5.88385, "fx":[65.33498,88.37345,99.02362,77.94222], "fy":[4.58195,-11.96698,15.09835,32.64631]}, - {"t":0.0262, "x":5.42416, "y":5.03235, "heading":-2.0944, "vx":0.12994, "vy":0.01586, "omega":-0.15417, "ax":4.96169, "ay":0.60058, "alpha":-4.21176, "fx":[70.45515,86.68283,94.47595,79.2219], "fy":[6.12173,-5.88059,13.65655,26.14813]}, - {"t":0.0524, "x":5.42927, "y":5.03297, "heading":-2.09843, "vx":0.25995, "vy":0.0316, "omega":-0.26453, "ax":4.96222, "ay":0.59495, "alpha":-2.62596, "fx":[75.06258,85.179,90.17231,80.45736], "fy":[7.58488,0.03782,12.15888,19.88848]}, - {"t":0.07861, "x":5.43779, "y":5.034, "heading":-2.10537, "vx":0.38997, "vy":0.04719, "omega":-0.33333, "ax":4.96282, "ay":0.58846, "alpha":-1.0634, "fx":[79.59519,83.6622,85.82509,81.82901], "fy":[8.90472,5.82927,10.71501,13.78842]}, - {"t":0.10481, "x":5.44971, "y":5.03544, "heading":-2.1141, "vx":0.52001, "vy":0.0626, "omega":-0.36119, "ax":4.96351, "ay":0.58092, "alpha":0.49816, "fx":[84.16581,82.36699,81.37328,83.05148], "fy":[10.0886,11.63538,9.2836,7.72695]}, - {"t":0.13101, "x":5.46504, "y":5.03728, "heading":-2.12356, "vx":0.65006, "vy":0.07783, "omega":-0.34814, "ax":4.96431, "ay":0.57204, "alpha":2.02281, "fx":[88.36516,81.1986,77.03997,84.40708], "fy":[11.13215,17.454,7.88518,1.67111]}, - {"t":0.15721, "x":5.48377, "y":5.03952, "heading":-2.13269, "vx":0.78014, "vy":0.09281, "omega":-0.29514, "ax":4.96525, "ay":0.56143, "alpha":3.61767, "fx":[92.97168,80.11171,72.35615,85.63349], "fy":[12.06628,23.42734,6.48233,-4.54078]}, - {"t":0.18341, "x":5.50592, "y":5.04214, "heading":-2.14042, "vx":0.91024, "vy":0.10752, "omega":-0.20035, "ax":4.96635, "ay":0.54854, "alpha":5.22331, "fx":[97.30874,79.26923,67.53049,87.03811], "fy":[12.89133,29.54695,5.05648,-10.91886]}, - {"t":0.20962, "x":5.53147, "y":5.04515, "heading":-2.14567, "vx":1.04036, "vy":0.1219, "omega":-0.06349, "ax":4.96767, "ay":0.53254, "alpha":6.98715, "fx":[102.28102,78.41154,61.8993,88.64294], "fy":[13.65627,36.03942,3.45272,-17.6397]}, - {"t":0.23582, "x":5.56044, "y":5.04852, "heading":-2.14733, "vx":1.17053, "vy":0.13585, "omega":0.11959, "ax":4.96928, "ay":0.51216, "alpha":8.76393, "fx":[106.95738,77.65946,56.5598,90.16548], "fy":[14.53065,42.83072,1.57718,-24.78874]}, - {"t":0.26202, "x":5.59282, "y":5.05226, "heading":-2.1442, "vx":1.30073, "vy":0.14927, "omega":0.34922, "ax":4.97128, "ay":0.48528, "alpha":10.81004, "fx":[112.48253,76.75805,49.82491,92.40962], "fy":[15.46502,50.30265,-0.94167,-32.4683]}, - {"t":0.28822, "x":5.6286, "y":5.05634, "heading":-2.13505, "vx":1.43099, "vy":0.16199, "omega":0.63247, "ax":4.97378, "ay":0.44828, "alpha":12.91392, "fx":[117.85493,75.93092,43.17208,94.68432], "fy":[16.72853,58.04106,-4.17739,-40.70162]}, - {"t":0.31442, "x":5.66781, "y":5.06074, "heading":-2.11848, "vx":1.56131, "vy":0.17373, "omega":0.97084, "ax":4.97696, "ay":0.39404, "alpha":15.37598, "fx":[124.13416,74.59165,35.03762,98.09063], "fy":[18.11074,66.97773,-9.26963,-49.54525]}, - {"t":0.34063, "x":5.71042, "y":5.06542, "heading":-2.09304, "vx":1.69172, "vy":0.18406, "omega":1.37372, "ax":4.98082, "ay":0.30699, "alpha":18.02095, "fx":[130.51676,73.3958,26.22825,101.97052], "fy":[20.18931,76.04274,-16.5956,-59.16711]}, - {"t":0.36683, "x":5.75646, "y":5.07035, "heading":-2.05704, "vx":1.82223, "vy":0.1921, "omega":1.84591, "ax":4.98395, "ay":0.1446, "alpha":21.07911, "fx":[137.85766,71.13627,16.68431,106.64178], "fy":[22.15487,86.25658,-29.06637,-69.7035]}, - {"t":0.39303, "x":5.80592, "y":5.07543, "heading":-2.00868, "vx":1.95282, "vy":0.19589, "omega":2.39823, "ax":4.96856, "ay":-0.26171, "alpha":24.847, "fx":[146.34316,69.01437,3.19836,112.73804], "fy":[22.51293,95.233,-52.54622,-82.65013]}, - {"t":0.41923, "x":5.85879, "y":5.08048, "heading":-1.94584, "vx":2.08301, "vy":0.18903, "omega":3.04927, "ax":4.17057, "ay":-2.59672, "alpha":30.2313, "fx":[158.05742,42.47504,-26.47812,104.03109], "fy":[-8.41893,73.86035,-116.69975,-121.88569]}, - {"t":0.44544, "x":5.9148, "y":5.08454, "heading":-1.86594, "vx":2.19228, "vy":0.12099, "omega":3.84139, "ax":0.00212, "ay":-4.4483, "alpha":6.80098, "fx":[21.72012,-11.50376,-20.91504,10.83973], "fy":[-63.97194,-53.66533,-84.75515,-94.21147]}, - {"t":0.46167, "x":5.95039, "y":5.08592, "heading":-1.80358, "vx":2.19232, "vy":0.04878, "omega":3.9518, "ax":-0.19252, "ay":-4.46142, "alpha":8.56026, "fx":[23.55321,-20.82682,-28.454,12.8908], "fy":[-59.05438,-51.12832,-88.71027,-98.58578]}, - {"t":0.4779, "x":5.98596, "y":5.08612, "heading":-1.73943, "vx":2.18919, "vy":-0.02365, "omega":4.09076, "ax":-0.40118, "ay":-1.12112, "alpha":8.20936, "fx":[15.99591,-22.96997,-29.28028,9.50465], "fy":[-1.78329,4.44694,-35.28836,-42.12921]}, - {"t":0.49414, "x":6.02144, "y":5.08559, "heading":-1.67302, "vx":2.18268, "vy":-0.04185, "omega":4.22403, "ax":-0.89572, "ay":4.14546, "alpha":6.2028, "fx":[1.51633,-28.51755,-31.69362,-1.03014], "fy":[82.33706,85.66644,55.45159,52.95613]}, - {"t":0.51037, "x":6.05676, "y":5.08546, "heading":-1.60445, "vx":2.16814, "vy":0.02545, "omega":4.32473, "ax":-0.84602, "ay":4.62904, "alpha":5.67131, "fx":[0.22748,-27.49201,-29.01317,-0.13304], "fy":[90.94057,90.34358,63.63021,63.74145]}, - {"t":0.5266, "x":6.09184, "y":5.08648, "heading":-1.53424, "vx":2.1544, "vy":0.1006, "omega":4.4168, "ax":-1.11921, "ay":4.68251, "alpha":0.11973, "fx":[-18.89061,-18.71972,-18.44417,-18.57198], "fy":[77.97314,79.46606,77.27691,77.50492]}, - {"t":0.54284, "x":6.12667, "y":5.08873, "heading":-1.46254, "vx":2.13623, "vy":0.17661, "omega":4.41874, "ax":-1.81587, "ay":4.3846, "alpha":-0.93896, "fx":[-32.29666,-28.10576,-28.26318,-32.41282], "fy":[70.37948,70.84121,75.86603,75.27009]}, - {"t":0.55907, "x":6.16111, "y":5.09217, "heading":-1.39081, "vx":2.10676, "vy":0.24779, "omega":4.4035, "ax":-2.49476, "ay":3.88814, "alpha":0.44698, "fx":[-41.08411,-42.42954,-42.15312,-40.67928], "fy":[65.60254,67.08,63.10662,63.4644]}, - {"t":0.57531, "x":6.19498, "y":5.09671, "heading":-1.31932, "vx":2.06626, "vy":0.31091, "omega":4.41075, "ax":-3.62641, "ay":2.43009, "alpha":2.72691, "fx":[-55.202,-69.90752,-64.66621,-52.02644], "fy":[48.13151,44.70152,32.98546,36.215]}, - {"t":0.59154, "x":6.22805, "y":5.10208, "heading":-1.24772, "vx":2.00739, "vy":0.35036, "omega":4.45502, "ax":-3.14027, "ay":0.26958, "alpha":1.28673, "fx":[-50.47305,-55.92728,-54.19566,-48.79115], "fy":[8.57744,7.03072,0.17533,2.19149]}, - {"t":0.60777, "x":6.26022, "y":5.1078, "heading":-1.17539, "vx":1.95641, "vy":0.35474, "omega":4.47591, "ax":-2.59451, "ay":-2.2505, "alpha":0.2528, "fx":[-42.36277,-45.32528,-43.16588,-42.14295], "fy":[-37.39672,-37.43435,-37.54927,-37.6785]}, - {"t":0.62401, "x":6.29164, "y":5.11326, "heading":-1.10273, "vx":1.91429, "vy":0.3182, "omega":4.48001, "ax":-0.88555, "ay":-3.95195, "alpha":-2.88559, "fx":[-17.74847,-4.83234,-11.62774,-24.83834], "fy":[-74.22087,-69.76643,-56.66654,-62.8544]}, - {"t":0.64024, "x":6.3226, "y":5.11791, "heading":-1.03, "vx":1.89991, "vy":0.25405, "omega":4.43317, "ax":0.06197, "ay":-4.30032, "alpha":-3.79381, "fx":[-1.97506,13.65106,4.1291,-11.67339], "fy":[-84.37008,-74.65776,-58.78193,-68.92702]}, - {"t":0.65648, "x":6.35345, "y":5.12146, "heading":-0.95804, "vx":1.90092, "vy":0.18424, "omega":4.37158, "ax":1.04296, "ay":-4.33593, "alpha":-4.75761, "fx":[14.4936,34.02102,20.60379,0.42399], "fy":[-87.23743,-75.57985,-56.35392,-69.94007]}, - {"t":0.67271, "x":6.38445, "y":5.12388, "heading":-0.88707, "vx":1.91785, "vy":0.11385, "omega":4.29435, "ax":1.8138, "ay":-4.16763, "alpha":-5.2933, "fx":[27.93336,48.82278,32.2283,11.95605], "fy":[-87.20092,-70.66019,-51.41605,-68.61263]}, - {"t":0.68894, "x":6.41582, "y":5.12518, "heading":-0.81736, "vx":1.94729, "vy":0.04619, "omega":4.20842, "ax":2.36704, "ay":-3.9406, "alpha":-5.43851, "fx":[38.52532,58.35101,40.81949,20.13376], "fy":[-83.5462,-66.36752,-46.89145,-65.94678]}, - {"t":0.70518, "x":6.44774, "y":5.12541, "heading":-0.74904, "vx":1.98572, "vy":-0.01778, "omega":4.12013, "ax":2.96923, "ay":-3.56088, "alpha":-5.83066, "fx":[49.36476,69.96177,49.23688,29.41891], "fy":[-79.01413,-57.7025,-39.32017,-61.39566]}, - {"t":0.72141, "x":6.48037, "y":5.12466, "heading":-0.68215, "vx":2.03392, "vy":-0.07559, "omega":4.02547, "ax":3.38294, "ay":-3.20537, "alpha":-5.92584, "fx":[57.94111,76.40928,55.32356,35.8938], "fy":[-73.32935,-51.07203,-32.62803,-56.69829]}, - {"t":0.73764, "x":6.51383, "y":5.12301, "heading":-0.6168, "vx":2.08884, "vy":-0.12762, "omega":3.92927, "ax":3.84164, "ay":-2.67673, "alpha":-6.28856, "fx":[66.6318,85.38543,61.15486,42.98108], "fy":[-65.82981,-40.00955,-22.93926,-49.70087]}, - {"t":0.75388, "x":6.54825, "y":5.12058, "heading":-0.55301, "vx":2.15121, "vy":-0.17108, "omega":3.82719, "ax":4.16517, "ay":-2.17203, "alpha":-6.4895, "fx":[73.93255,90.35597,65.47184,47.96528], "fy":[-58.06432,-30.54639,-13.47498,-42.74086]}, - {"t":0.77011, "x":6.58372, "y":5.11752, "heading":-0.49088, "vx":2.21882, "vy":-0.20634, "omega":3.72184, "ax":4.46145, "ay":-1.51896, "alpha":-6.81045, "fx":[80.21453,96.01641,68.49656,52.75311], "fy":[-48.19096,-17.66355,-1.80715,-33.61972]}, - {"t":0.78635, "x":6.62033, "y":5.11397, "heading":-0.43046, "vx":2.29125, "vy":-0.23099, "omega":3.61128, "ax":4.64794, "ay":-0.86273, "alpha":-7.039, "fx":[85.49683,98.79073,70.14429,55.48419], "fy":[-37.67103,-5.39337,9.76647,-24.22733]}, - {"t":0.80258, "x":6.65814, "y":5.11011, "heading":-0.37184, "vx":2.3667, "vy":-0.245, "omega":3.49701, "ax":4.74105, "ay":-0.13287, "alpha":-7.22481, "fx":[88.41212,100.07796,69.87844,57.75542], "fy":[-26.04967,8.38056,22.49947,-13.68989]}, - {"t":0.81881, "x":6.69718, "y":5.10611, "heading":-0.31507, "vx":2.44367, "vy":-0.24716, "omega":3.37972, "ax":4.72098, "ay":0.60509, "alpha":-7.29815, "fx":[90.20645,98.97967,68.02068,57.57922], "fy":[-13.27831,21.9167,34.34493,-2.637]}, - {"t":0.83505, "x":6.73748, "y":5.10218, "heading":-0.2602, "vx":2.52031, "vy":-0.23733, "omega":3.26124, "ax":4.59075, "ay":1.32518, "alpha":-7.24168, "fx":[89.2203,95.86757,64.34499,56.66939], "fy":[-0.46608,34.59733,45.96311,8.26641]}, - {"t":0.85128, "x":6.779, "y":5.0985, "heading":-0.20726, "vx":2.59483, "vy":-0.21582, "omega":3.14368, "ax":4.35431, "ay":2.0129, "alpha":-7.03746, "fx":[86.23967,89.3718,60.02986,54.69537], "fy":[12.0448,47.02967,57.10734,18.03455]}, - {"t":0.86752, "x":6.82169, "y":5.09526, "heading":-0.15623, "vx":2.66552, "vy":-0.18314, "omega":3.02944, "ax":4.04457, "ay":2.61625, "alpha":-6.79555, "fx":[83.38467,79.159,55.88747,51.25292], "fy":[26.25644,53.87755,71.50713,22.80544]}, - {"t":0.88375, "x":6.8655, "y":5.09263, "heading":-0.10705, "vx":2.73118, "vy":-0.14067, "omega":2.91912, "ax":3.30006, "ay":3.41251, "alpha":-39.02699, "fx":[170.35873,133.38222,-15.21373,-68.48555], "fy":[-31.97389,123.48069,175.65371,-39.62074]}, - {"t":0.89998, "x":6.91027, "y":5.0908, "heading":-0.05966, "vx":2.78475, "vy":-0.08527, "omega":2.28556, "ax":-1.0167, "ay":1.4989, "alpha":-55.20108, "fx":[134.43184,102.21457,-125.96393,-178.47406], "fy":[-138.12422,166.21117,149.98024,-78.12318]}, - {"t":0.91622, "x":6.95534, "y":5.08961, "heading":-0.02256, "vx":2.76825, "vy":-0.06094, "omega":1.38943, "ax":-2.14808, "ay":0.69302, "alpha":-55.15081, "fx":[100.77247,82.56794,-151.56707,-175.00341], "fy":[-167.83586,178.49985,126.67308,-91.12804]}, - {"t":0.93245, "x":7.0, "y":5.08871, "heading":0.0, "vx":2.73338, "vy":-0.04969, "omega":0.49412, "ax":-4.89768, "ay":0.76972, "alpha":-12.06232, "fx":[-55.4109,-54.03933,-107.27789,-109.83999], "fy":[-20.27761,48.12582,41.20178,-17.72648]}, - {"t":0.9667, "x":7.09073, "y":5.08746, "heading":0.01692, "vx":2.56566, "vy":-0.02333, "omega":0.08106, "ax":-4.97526, "ay":0.36517, "alpha":-2.78699, "fx":[-77.0243,-76.98511,-89.05674,-88.67491], "fy":[-1.45142,14.09926,13.35514,-1.65431]}, - {"t":1.00094, "x":7.17567, "y":5.08688, "heading":0.0197, "vx":2.39528, "vy":-0.01083, "omega":-0.01438, "ax":-4.98766, "ay":0.21411, "alpha":-0.7014, "fx":[-81.61354,-81.63533,-84.66961,-84.64907], "fy":[1.71458,5.55147,5.3826,1.62773]}, - {"t":1.03518, "x":7.25477, "y":5.08663, "heading":0.0192, "vx":2.22448, "vy":-0.0035, "omega":-0.0384, "ax":-4.99228, "ay":0.13562, "alpha":-0.16506, "fx":[-82.74771,-82.75895,-83.35694,-84.0121], "fy":[1.94733,2.61219,2.59182,1.89182]}, - {"t":1.06943, "x":7.32802, "y":5.08659, "heading":0.01789, "vx":2.05353, "vy":0.00115, "omega":-0.04405, "ax":-4.9945, "ay":0.08758, "alpha":-0.03488, "fx":[-83.19133,-83.19257,-83.32041,-83.31927], "fy":[1.35684,1.59812,1.53285,1.35158]}, - {"t":1.10367, "x":7.39542, "y":5.08668, "heading":0.01638, "vx":1.88249, "vy":0.00415, "omega":-0.04525, "ax":-4.99573, "ay":0.05515, "alpha":0.00916, "fx":[-83.21676,-83.2189,-83.09099,-83.57926], "fy":[1.01047,0.81997,0.81633,1.03062]}, - {"t":1.13792, "x":7.45695, "y":5.08686, "heading":0.01483, "vx":1.71142, "vy":0.00604, "omega":-0.04493, "ax":-4.99649, "ay":0.0318, "alpha":0.00728, "fx":[-83.31029,-83.30966,-83.26791,-83.26862], "fy":[0.54522,0.50999,0.52098,0.54408]}, - {"t":1.17216, "x":7.51263, "y":5.08708, "heading":0.01329, "vx":1.54032, "vy":0.00713, "omega":-0.04468, "ax":-4.99699, "ay":0.01418, "alpha":0.0106, "fx":[-83.29406,-83.29716,-83.23293,-83.36568], "fy":[0.28244,0.18665,0.17997,0.29633]}, - {"t":1.20641, "x":7.56244, "y":5.08734, "heading":0.01176, "vx":1.3692, "vy":0.00761, "omega":-0.04432, "ax":-4.99734, "ay":0.00041, "alpha":-0.0013, "fx":[-83.30495,-83.30507,-83.30155,-83.30143], "fy":[-0.0005,0.01173,0.01825,-0.00186]}, - {"t":1.24065, "x":7.6064, "y":5.0876, "heading":0.01024, "vx":1.19807, "vy":0.00763, "omega":-0.04436, "ax":-4.99759, "ay":-0.01064, "alpha":0.00359, "fx":[-83.31209,-83.31528,-83.31632,-83.28607], "fy":[-0.16925,-0.18551,-0.19181,-0.16266]}, - {"t":1.27489, "x":7.6445, "y":5.08785, "heading":0.00873, "vx":1.02693, "vy":0.00726, "omega":-0.04424, "ax":-4.99778, "ay":-0.0197, "alpha":-0.0078, "fx":[-83.30543,-83.30587,-83.31572,-83.31527], "fy":[-0.36102,-0.29756,-0.29316,-0.36199]}, - {"t":1.30914, "x":7.67673, "y":5.08809, "heading":0.00721, "vx":0.85578, "vy":0.00659, "omega":-0.04451, "ax":-4.99792, "ay":-0.02727, "alpha":-0.0027, "fx":[-83.50092,-83.50501,-82.72349,-83.5225], "fy":[-0.65692,-0.24852,-0.2517,-0.66147]}, - {"t":1.34338, "x":7.70311, "y":5.0883, "heading":0.00569, "vx":0.68463, "vy":0.00565, "omega":-0.0446, "ax":-4.99804, "ay":-0.03369, "alpha":0.00475, "fx":[-83.33563,-83.33559,-83.29411,-83.29415], "fy":[-0.55943,-0.56474,-0.56331,-0.55916]}, - {"t":1.37763, "x":7.72362, "y":5.08847, "heading":0.00416, "vx":0.51348, "vy":0.0045, "omega":-0.04444, "ax":-4.99813, "ay":-0.0392, "alpha":0.05417, "fx":[-83.51735,-83.51623,-83.39347,-82.83849], "fy":[-0.58116,-0.71881,-0.71624,-0.59785]}, - {"t":1.41187, "x":7.73828, "y":5.0886, "heading":0.00264, "vx":0.34232, "vy":0.00316, "omega":-0.04258, "ax":-4.9982, "ay":-0.04399, "alpha":0.23784, "fx":[-83.81244,-83.80729,-82.82279,-82.82795], "fy":[-0.06852,-1.40244,-1.39633,-0.06564]}, - {"t":1.44612, "x":7.74707, "y":5.08869, "heading":0.00118, "vx":0.17116, "vy":0.00165, "omega":-0.03444, "ax":-4.99826, "ay":-0.04818, "alpha":1.00566, "fx":[-85.56053,-85.20721,-81.24461,-81.26218], "fy":[2.01016,-3.60946,-3.66224,2.04925]}, - {"t":1.48036, "x":7.75, "y":5.08871, "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":5.42246, "y":5.03214, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.95916, "ay":0.60614, "alpha":-5.8745, "fx":[65.25452,88.37764,99.09226,77.94292], "fy":[4.62617,-11.82357,15.09461,32.5192]}, + {"t":0.0262, "x":5.42416, "y":5.03235, "heading":-2.0944, "vx":0.12994, "vy":0.01588, "omega":-0.15392, "ax":4.9616, "ay":0.60133, "alpha":-4.20705, "fx":[70.38985,86.68632,94.5326,79.22103], "fy":[6.15556,-5.78251,13.65794,26.06466]}, + {"t":0.0524, "x":5.42927, "y":5.03297, "heading":-2.09843, "vx":0.25994, "vy":0.03164, "omega":-0.26415, "ax":4.96214, "ay":0.59558, "alpha":-2.62157, "fx":[75.01904,85.17733,90.19959,80.47028], "fy":[7.6102,0.10598,12.16327,19.83258]}, + {"t":0.0786, "x":5.43778, "y":5.03401, "heading":-2.10535, "vx":0.38996, "vy":0.04724, "omega":-0.33284, "ax":4.96276, "ay":0.58896, "alpha":-1.06373, "fx":[79.55695,83.66518,85.86093,81.82455], "fy":[8.9156,5.87327,10.71859,13.76298]}, + {"t":0.10481, "x":5.44971, "y":5.03545, "heading":-2.11407, "vx":0.51999, "vy":0.06267, "omega":-0.36071, "ax":4.96347, "ay":0.58126, "alpha":0.50003, "fx":[84.16329,82.36046,81.36522,83.066], "fy":[10.10013,11.64572,9.28815,7.72324]}, + {"t":0.13101, "x":5.46503, "y":5.03729, "heading":-2.12352, "vx":0.65004, "vy":0.0779, "omega":-0.34761, "ax":4.9643, "ay":0.5722, "alpha":2.01959, "fx":[88.35873,81.19997,77.04608,84.40489], "fy":[11.13309,17.44215,7.88659,1.69133]}, + {"t":0.15721, "x":5.48377, "y":5.03953, "heading":-2.13263, "vx":0.78011, "vy":0.0929, "omega":-0.29469, "ax":4.96525, "ay":0.56138, "alpha":3.61569, "fx":[92.99271,80.09055,72.33398,85.65631], "fy":[12.07802,23.38,6.4767,-4.50291]}, + {"t":0.18341, "x":5.50591, "y":5.04215, "heading":-2.14035, "vx":0.91021, "vy":0.10761, "omega":-0.19996, "ax":4.96638, "ay":0.54824, "alpha":5.21777, "fx":[97.3319,79.2682,67.50591,87.04299], "fy":[12.89261,29.47646,5.04634,-10.85965]}, + {"t":0.20961, "x":5.53147, "y":5.04516, "heading":-2.14559, "vx":1.04033, "vy":0.12197, "omega":-0.06324, "ax":4.96774, "ay":0.53193, "alpha":6.98519, "fx":[102.33793,78.38358,61.82543,88.6925], "fy":[13.67224,35.93128,3.42916,-17.56447]}, + {"t":0.23581, "x":5.56043, "y":5.04854, "heading":-2.14725, "vx":1.1705, "vy":0.13591, "omega":0.11978, "ax":4.96939, "ay":0.51118, "alpha":8.7556, "fx":[107.00251,77.6581,56.50837,90.18033], "fy":[14.5384,42.6969,1.54595,-24.69702]}, + {"t":0.26202, "x":5.59281, "y":5.05227, "heading":-2.14411, "vx":1.3007, "vy":0.1493, "omega":0.34919, "ax":4.97143, "ay":0.48382, "alpha":10.80935, "fx":[112.56253,76.70417,49.71148,92.50707], "fy":[15.48744,50.14393,-0.9963,-32.37462]}, + {"t":0.28822, "x":5.62859, "y":5.05635, "heading":-2.13496, "vx":1.43096, "vy":0.16198, "omega":0.63241, "ax":4.97398, "ay":0.44621, "alpha":12.90523, "fx":[117.91192,75.93023,43.09786,94.7157], "fy":[16.73431,57.8569,-4.22686,-40.61208]}, + {"t":0.31442, "x":5.66779, "y":5.06075, "heading":-2.11839, "vx":1.56129, "vy":0.17367, "omega":0.97055, "ax":4.97721, "ay":0.39114, "alpha":15.37739, "fx":[124.22203,74.51631,34.91037,98.22228], "fy":[18.10003,66.79077,-9.33754,-49.47287]}, + {"t":0.34062, "x":5.71041, "y":5.06543, "heading":-2.09296, "vx":1.6917, "vy":0.18392, "omega":1.37346, "ax":4.98111, "ay":0.30297, "alpha":18.01736, "fx":[130.56792,73.41515,26.12956,102.01822], "fy":[20.1783,75.8246,-16.63195,-59.16956]}, + {"t":0.36682, "x":5.75645, "y":5.07036, "heading":-2.05697, "vx":1.82221, "vy":0.19186, "omega":1.84554, "ax":4.98421, "ay":0.13916, "alpha":21.07239, "fx":[137.88043,71.08361,16.68203,106.69119], "fy":[22.09023,86.04375,-29.07536,-69.77991]}, + {"t":0.39302, "x":5.8059, "y":5.07543, "heading":-2.00862, "vx":1.95281, "vy":0.1955, "omega":2.39767, "ax":4.96863, "ay":-0.26696, "alpha":24.80567, "fx":[146.25654,69.03577,3.29763,112.70845], "fy":[22.38125,94.87205,-52.31092,-82.74265]}, + {"t":0.41922, "x":5.85877, "y":5.08046, "heading":-1.94579, "vx":2.08299, "vy":0.18851, "omega":3.04762, "ax":4.22527, "ay":-2.51493, "alpha":30.13418, "fx":[157.52767,45.27797,-25.81089,104.73844], "fy":[-6.9932,75.64956,-115.85347,-120.49375]}, + {"t":0.44543, "x":5.9148, "y":5.08454, "heading":-1.86594, "vx":2.1937, "vy":0.12261, "omega":3.83718, "ax":0.42005, "ay":-4.44056, "alpha":5.81446, "fx":[25.54086,-2.50786,-11.07552,16.05059], "fy":[-65.21316,-56.47107,-83.32893,-91.07505]}, + {"t":0.46169, "x":5.95053, "y":5.08595, "heading":-1.80355, "vx":2.20053, "vy":0.05041, "omega":3.93173, "ax":0.38475, "ay":-4.47027, "alpha":7.15813, "fx":[29.02336,-8.23193,-14.99033,19.85301], "fy":[-61.63662,-55.34392,-86.65142,-94.43727]}, + {"t":0.47795, "x":5.98636, "y":5.08617, "heading":-1.73962, "vx":2.20679, "vy":-0.02228, "omega":4.04812, "ax":0.43345, "ay":-1.37511, "alpha":6.32408, "fx":[24.64107,-4.95819,-10.40383,19.62285], "fy":[-9.84739,-5.04916,-35.87519,-40.91773]}, + {"t":0.49421, "x":6.0223, "y":5.08563, "heading":-1.67379, "vx":2.21383, "vy":-0.04464, "omega":4.15095, "ax":-0.46392, "ay":4.15185, "alpha":5.12032, "fx":[5.78093,-19.09231,-21.46854,3.84677], "fy":[79.94486,83.03698,57.92614,55.92962]}, + {"t":0.51047, "x":6.05824, "y":5.08545, "heading":-1.60629, "vx":2.20629, "vy":0.02287, "omega":4.23421, "ax":-0.67309, "ay":4.64505, "alpha":5.18478, "fx":[1.97573,-23.718,-24.84498,1.707], "fy":[89.83741,89.42204,65.19402,65.26925]}, + {"t":0.52673, "x":6.09402, "y":5.08644, "heading":-1.53744, "vx":2.19535, "vy":0.0984, "omega":4.31852, "ax":-1.03609, "ay":4.69734, "alpha":0.37124, "fx":[-16.96509,-17.90977,-17.60149,-16.60813], "fy":[78.77631,80.49067,76.83471,77.10795]}, + {"t":0.54299, "x":6.12959, "y":5.08866, "heading":-1.46722, "vx":2.1785, "vy":0.17478, "omega":4.32456, "ax":-1.75082, "ay":4.40757, "alpha":-0.95902, "fx":[-31.20899,-27.05396,-27.15871,-31.31992], "fy":[70.65152,71.12529,76.35332,75.75805]}, + {"t":0.55925, "x":6.16478, "y":5.09208, "heading":-1.3969, "vx":2.15003, "vy":0.24645, "omega":4.30896, "ax":-2.45984, "ay":3.91086, "alpha":0.4927, "fx":[-40.44023,-41.89994,-41.63223,-40.04478], "fy":[66.11604,67.66074,63.30049,63.69142]}, + {"t":0.57551, "x":6.19941, "y":5.09661, "heading":-1.32684, "vx":2.11003, "vy":0.31004, "omega":4.31698, "ax":-3.59758, "ay":2.53192, "alpha":2.80743, "fx":[-54.52729,-69.51516,-64.49011,-51.34747], "fy":[50.07804,46.58507,34.43573,37.72491]}, + {"t":0.59177, "x":6.23325, "y":5.10199, "heading":-1.25664, "vx":2.05153, "vy":0.35121, "omega":4.36263, "ax":-3.38569, "ay":0.57054, "alpha":2.02199, "fx":[-53.39542,-62.23129,-59.4674,-50.657], "fy":[15.77375,13.34666,2.92374,5.99844]}, + {"t":0.60803, "x":6.26616, "y":5.10777, "heading":-1.1857, "vx":1.99648, "vy":0.36049, "omega":4.3955, "ax":-3.00143, "ay":-1.98584, "alpha":1.25257, "fx":[-47.79986,-55.38371,-51.22072,-45.72544], "fy":[-29.86946,-31.68053,-36.26693,-34.59524]}, + {"t":0.62429, "x":6.29823, "y":5.11337, "heading":-1.11423, "vx":1.94767, "vy":0.3282, "omega":4.41587, "ax":-1.3672, "ay":-3.76562, "alpha":-1.8379, "fx":[-24.70139,-16.29871,-20.79016,-29.37172], "fy":[-67.82264,-65.40222,-57.04257,-60.81719]}, + {"t":0.64055, "x":6.32972, "y":5.11821, "heading":-1.04242, "vx":1.92544, "vy":0.26697, "omega":4.38599, "ax":-0.52114, "ay":-4.2148, "alpha":-2.60031, "fx":[-10.63333,-0.3612,-6.47694,-17.27687], "fy":[-79.14466,-72.44143,-61.22222,-68.2265]}, + {"t":0.65681, "x":6.36096, "y":5.12199, "heading":-0.9711, "vx":1.91697, "vy":0.19843, "omega":4.3437, "ax":0.54329, "ay":-4.37655, "alpha":-3.81446, "fx":[6.68549,22.54007,11.6373,-4.63704], "fy":[-84.71218,-75.95093,-60.31181,-70.84482]}, + {"t":0.67307, "x":6.3922, "y":5.12464, "heading":-0.90047, "vx":1.9258, "vy":0.12727, "omega":4.28168, "ax":1.30631, "ay":-4.30194, "alpha":-4.34508, "fx":[19.87215,36.99883,23.45917,6.77228], "fy":[-86.27224,-72.91785,-56.90828,-70.74697]}, + {"t":0.68933, "x":6.42369, "y":5.12614, "heading":-0.83085, "vx":1.94705, "vy":0.05732, "omega":4.21103, "ax":1.91616, "ay":-4.12616, "alpha":-4.60573, "fx":[31.0713,48.12573,33.09719,15.47163], "fy":[-83.67842,-69.82066,-52.96362,-68.66187]}, + {"t":0.7056, "x":6.4556, "y":5.12653, "heading":-0.76238, "vx":1.9782, "vy":-0.00978, "omega":4.13613, "ax":2.56666, "ay":-3.80362, "alpha":-5.07103, "fx":[42.57071,60.80718,42.57273,25.18916], "fy":[-80.36347,-62.21721,-46.1659,-64.87156]}, + {"t":0.72186, "x":6.4881, "y":5.12587, "heading":-0.69512, "vx":2.01994, "vy":-0.07162, "omega":4.05368, "ax":3.02157, "ay":-3.48262, "alpha":-5.20803, "fx":[51.60789,68.20096,49.45227,32.2112], "fy":[-75.34096,-56.47317,-39.85561,-60.54501]}, + {"t":0.73812, "x":6.52135, "y":5.12424, "heading":-0.62921, "vx":2.06907, "vy":-0.12825, "omega":3.96899, "ax":3.56294, "ay":-2.9591, "alpha":-5.69846, "fx":[61.56957,79.16223,56.77264,40.06531], "fy":[-68.31963,-45.40176,-29.99288,-53.59308]}, + {"t":0.75438, "x":6.55546, "y":5.12177, "heading":-0.56467, "vx":2.12701, "vy":-0.17637, "omega":3.87633, "ax":3.9377, "ay":-2.46121, "alpha":-5.94957, "fx":[69.59957,85.13609,62.06153,45.76104], "fy":[-60.89878,-36.27438,-20.29296,-46.64256]}, + {"t":0.77064, "x":6.59057, "y":5.11857, "heading":-0.50164, "vx":2.19103, "vy":-0.21639, "omega":3.77959, "ax":4.31996, "ay":-1.74211, "alpha":-6.41318, "fx":[77.32231,92.88644,66.4754,51.36269], "fy":[-50.36515,-22.07483,-7.22877,-36.49166]}, + {"t":0.7869, "x":6.62677, "y":5.11482, "heading":-0.44018, "vx":2.26128, "vy":-0.24472, "omega":3.67531, "ax":4.5581, "ay":-1.02301, "alpha":-6.71324, "fx":[83.48571,96.65743,69.02569,54.75647], "fy":[-39.1449,-8.79415,5.81444,-26.08749]}, + {"t":0.80316, "x":6.66414, "y":5.11071, "heading":-0.38042, "vx":2.3354, "vy":-0.26135, "omega":3.56614, "ax":4.68545, "ay":-0.16632, "alpha":-6.95722, "fx":[86.9906,98.85661,69.23324,57.33616], "fy":[-25.57822,7.19175,20.72645,-13.42959]}, + {"t":0.81942, "x":6.70274, "y":5.10644, "heading":-0.32243, "vx":2.41158, "vy":-0.26406, "omega":3.45302, "ax":4.65597, "ay":0.70293, "alpha":-7.00401, "fx":[88.7498,97.44188,67.25121,57.00837], "fy":[-10.55307,22.88113,34.64741,-0.10533]}, + {"t":0.83568, "x":6.74257, "y":5.10224, "heading":-0.26628, "vx":2.48729, "vy":-0.25263, "omega":3.33913, "ax":4.47076, "ay":1.55612, "alpha":-6.82853, "fx":[86.62722,93.35672,62.74306,55.37463], "fy":[4.98635,37.42179,47.96562,13.38544]}, + {"t":0.85194, "x":6.7836, "y":5.09833, "heading":-0.21199, "vx":2.55999, "vy":-0.22732, "omega":3.22809, "ax":4.13514, "ay":2.35824, "alpha":-6.40354, "fx":[81.56769,84.11084,57.40916,52.63584], "fy":[19.7201,51.69001,60.58082,25.25184]}, + {"t":0.8682, "x":6.82577, "y":5.09495, "heading":-0.1595, "vx":2.62723, "vy":-0.18898, "omega":3.12397, "ax":3.70891, "ay":3.02983, "alpha":-6.00291, "fx":[77.29548,71.56658,51.63167,46.80947], "fy":[35.59103,59.05571,75.02074,32.35549]}, + {"t":0.88446, "x":6.86899, "y":5.09228, "heading":-0.1087, "vx":2.68754, "vy":-0.13971, "omega":3.02636, "ax":1.40509, "ay":4.09158, "alpha":-46.15406, "fx":[179.723,121.27142,-45.61593,-161.68953], "fy":[-34.19445,145.96031,182.72383,-21.67118]}, + {"t":0.90072, "x":6.91287, "y":5.09055, "heading":-0.05949, "vx":2.71039, "vy":-0.07318, "omega":2.27587, "ax":-1.72208, "ay":1.18224, "alpha":-54.93597, "fx":[112.11846,90.476,-137.47075,-179.94884], "fy":[-157.4156,173.1637,140.2963,-77.21502]}, + {"t":0.91698, "x":6.95672, "y":5.08951, "heading":-0.02248, "vx":2.68238, "vy":-0.05396, "omega":1.38258, "ax":-2.52259, "ay":0.59565, "alpha":-54.61077, "fx":[88.54129,74.693,-155.43127,-176.00435], "fy":[-174.84452,182.06947,122.19486,-89.70324]}, + {"t":0.93324, "x":7.0, "y":5.08871, "heading":0.0, "vx":2.64137, "vy":-0.04427, "omega":0.49458, "ax":-4.91782, "ay":0.67239, "alpha":-11.87668, "fx":[-56.31904,-55.03844,-107.1525,-109.40109], "fy":[-21.77399,45.99305,39.51707,-18.90242]}, + {"t":0.96853, "x":7.09015, "y":5.08757, "heading":0.01745, "vx":2.46783, "vy":-0.02054, "omega":0.07547, "ax":-4.9794, "ay":0.32414, "alpha":-2.69833, "fx":[-77.26753,-77.25705,-88.86842,-88.62391], "fy":[-1.95106,13.15184,12.45047,-2.03824]}, + {"t":1.00382, "x":7.17413, "y":5.08705, "heading":0.02012, "vx":2.29211, "vy":-0.00911, "omega":-0.01974, "ax":-4.98946, "ay":0.18965, "alpha":-0.63902, "fx":[-81.77719,-81.80118,-84.56603,-84.54326], "fy":[1.4737,4.98385,4.79645,1.39182]}, + {"t":1.03911, "x":7.25191, "y":5.08684, "heading":0.01942, "vx":2.11604, "vy":-0.00241, "omega":-0.04229, "ax":-4.9933, "ay":0.11871, "alpha":-0.13517, "fx":[-82.7958,-82.80754,-83.21711,-84.1231], "fy":[1.77311,2.21687,2.19736,1.72803]}, + {"t":1.07439, "x":7.32347, "y":5.08683, "heading":0.01793, "vx":1.93984, "vy":0.00178, "omega":-0.04706, "ax":-4.99516, "ay":0.0749, "alpha":-0.02299, "fx":[-83.22538,-83.22775,-83.30848,-83.30624], "fy":[1.18084,1.35591,1.28367,1.17395]}, + {"t":1.10968, "x":7.38881, "y":5.08694, "heading":0.01627, "vx":1.76357, "vy":0.00442, "omega":-0.04788, "ax":-4.99621, "ay":0.04517, "alpha":0.01028, "fx":[-83.2254,-83.22912,-83.08828,-83.59478], "fy":[0.85707,0.65126,0.64442,0.8594]}, + {"t":1.14497, "x":7.44794, "y":5.08713, "heading":0.01458, "vx":1.58727, "vy":0.00601, "omega":-0.04751, "ax":-4.99685, "ay":0.02368, "alpha":0.00576, "fx":[-83.31018,-83.31078,-83.28012,-83.27957], "fy":[0.40899,0.38252,0.38142,0.40604]}, + {"t":1.18026, "x":7.50084, "y":5.08735, "heading":0.0129, "vx":1.41094, "vy":0.00685, "omega":-0.04731, "ax":-4.99728, "ay":0.00742, "alpha":0.00939, "fx":[-83.29046,-83.29468,-83.23877,-83.38522], "fy":[0.17555,0.07278,0.06452,0.18168]}, + {"t":1.21555, "x":7.54751, "y":5.0876, "heading":0.01123, "vx":1.23459, "vy":0.00711, "omega":-0.04698, "ax":-4.99758, "ay":-0.00532, "alpha":-0.00431, "fx":[-83.30138,-83.30208,-83.3131,-83.3124], "fy":[-0.1031,-0.07339,-0.0729,-0.10514]}, + {"t":1.25083, "x":7.58797, "y":5.08785, "heading":0.00957, "vx":1.05824, "vy":0.00692, "omega":-0.04713, "ax":-4.99779, "ay":-0.01556, "alpha":-0.00146, "fx":[-83.31761,-83.32109,-83.34158,-83.26307], "fy":[-0.27427,-0.24083,-0.24701,-0.27526]}, + {"t":1.28612, "x":7.6222, "y":5.08808, "heading":0.00791, "vx":0.88188, "vy":0.00637, "omega":-0.04718, "ax":-4.99796, "ay":-0.02397, "alpha":-0.00719, "fx":[-83.29296,-83.29348,-83.33409,-83.33357], "fy":[-0.41379,-0.38457,-0.38516,-0.41486]}, + {"t":1.32141, "x":7.65021, "y":5.08829, "heading":0.00624, "vx":0.70551, "vy":0.00553, "omega":-0.04744, "ax":-4.99808, "ay":-0.03101, "alpha":0.0128, "fx":[-83.12721,-83.12592,-83.04541,-83.96384], "fy":[-0.26572,-0.76549,-0.76821,-0.26811]}, + {"t":1.3567, "x":7.67199, "y":5.08847, "heading":0.00457, "vx":0.52913, "vy":0.00443, "omega":-0.04698, "ax":-4.99818, "ay":-0.03698, "alpha":0.04453, "fx":[-83.40117,-83.39979,-83.23327,-83.23467], "fy":[-0.48309,-0.74993,-0.75008,-0.48249]}, + {"t":1.39199, "x":7.68755, "y":5.0886, "heading":0.00291, "vx":0.35276, "vy":0.00313, "omega":-0.04541, "ax":-4.99826, "ay":-0.04211, "alpha":0.23488, "fx":[-83.79732,-83.79169,-82.83971,-82.84537], "fy":[-0.03553,-1.3725,-1.36732,-0.03227]}, + {"t":1.42727, "x":7.69689, "y":5.08869, "heading":0.00131, "vx":0.17638, "vy":0.00164, "omega":-0.03712, "ax":-4.99832, "ay":-0.04656, "alpha":1.05204, "fx":[-85.11989,-85.47521,-81.3308,-81.35243], "fy":[2.35478,-3.88524,-3.95943,2.38521]}, + {"t":1.46256, "x":7.7, "y":5.08871, "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/OppBargeToOppG.traj b/src/main/deploy/choreo/OppBargeToOppG.traj index 8a94cae4..667d0999 100644 --- a/src/main/deploy/choreo/OppBargeToOppG.traj +++ b/src/main/deploy/choreo/OppBargeToOppG.traj @@ -3,24 +3,26 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":9.94136617279053, "y":5.08871412277, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":11.058967590332031, "y":4.449285507202148, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.826, "y":5.08871412277, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.958967590332032, "y":4.449285507202148, "heading":1.0534404506460873, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FieldMaxX - barge.x", "val":9.94136617279053}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"11.058967590332031 m", "val":11.058967590332031}, "y":{"exp":"4.449285507202148 m", "val":4.449285507202148}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - barge.x", "val":9.826}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.958967590332032 m", "val":10.958967590332032}, "y":{"exp":"4.449285507202148 m", "val":4.449285507202148}, "heading":{"exp":"1.0534404506460873 rad", "val":1.0534404506460873}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -28,46 +30,77 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.75251,1.0839], + "waypoints":[0.0,0.66398,1.8885], "samples":[ - {"t":0.0, "x":9.94137, "y":5.08871, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.61094, "ay":-1.50121, "alpha":53.99127, "fx":[148.12097,188.95774,-113.43855,-49.54783], "fy":[-133.1435,62.75589,163.0945,-192.80439]}, - {"t":0.02787, "x":9.94238, "y":5.08813, "heading":3.14159, "vx":0.07277, "vy":-0.04184, "omega":1.50479, "ax":2.65063, "ay":-1.55075, "alpha":53.80108, "fx":[147.77752,189.65634,-113.30499,-47.38976], "fy":[-133.44684,60.38624,162.92808,-193.26834]}, - {"t":0.05574, "x":9.94544, "y":5.08636, "heading":-3.09965, "vx":0.14664, "vy":-0.08506, "omega":3.00427, "ax":2.60327, "ay":-1.68731, "alpha":53.59652, "fx":[150.70062,188.95984,-128.53294,-37.54633], "fy":[-130.00656,62.14291,150.66072,-195.30358]}, - {"t":0.08361, "x":9.95054, "y":5.08334, "heading":-3.01592, "vx":0.2192, "vy":-0.13209, "omega":4.49806, "ax":2.45789, "ay":-2.12476, "alpha":53.01056, "fx":[156.01376,187.64916,-160.58265,-19.19312], "fy":[-123.31429,65.2156,114.16835,-197.74462]}, - {"t":0.11148, "x":9.9576, "y":5.07883, "heading":-2.89056, "vx":0.2877, "vy":-0.19131, "omega":5.97551, "ax":2.55594, "ay":-4.20833, "alpha":47.92689, "fx":[160.77518,189.95872,-191.794,11.48534], "fy":[-116.25894,55.34955,-21.89013,-197.80363]}, - {"t":0.13935, "x":9.96661, "y":5.07186, "heading":-2.72401, "vx":0.35894, "vy":-0.3086, "omega":7.31128, "ax":6.26116, "ay":-9.68983, "alpha":-4.63069, "fx":[86.92039,85.74875,118.46756,126.34568], "fy":[-172.07089,-174.12962,-153.93205,-145.9664]}, - {"t":0.16723, "x":9.97905, "y":5.0595, "heading":-2.52024, "vx":0.53344, "vy":-0.57866, "omega":7.18221, "ax":9.15356, "ay":-5.35183, "alpha":-15.36605, "fx":[122.19471,119.03834,178.88369,190.22521], "fy":[-136.94732,-151.29224,-73.85155,5.24158]}, - {"t":0.1951, "x":9.99747, "y":5.04129, "heading":-2.32007, "vx":0.78856, "vy":-0.72782, "omega":6.75395, "ax":10.38174, "ay":1.76893, "alpha":-14.20576, "fx":[169.24251,177.33773,190.64121,155.01316], "fy":[51.05219,-65.02189,22.28053,109.63775]}, - {"t":0.22297, "x":10.02348, "y":5.02169, "heading":-2.13183, "vx":1.07791, "vy":-0.67852, "omega":6.35802, "ax":8.92989, "ay":4.94555, "alpha":-11.78247, "fx":[129.09025,177.32788,168.20951,120.80033], "fy":[105.15409,14.11067,75.0454,135.44985]}, - {"t":0.25084, "x":10.05699, "y":5.0047, "heading":-1.95462, "vx":1.3268, "vy":-0.54068, "omega":6.02963, "ax":3.85571, "ay":7.46177, "alpha":-3.48243, "fx":[51.30938,75.37022,75.93646,54.47525], "fy":[125.8304,114.25763,123.64124,133.80712]}, - {"t":0.27871, "x":10.09547, "y":4.99253, "heading":-1.78657, "vx":1.43426, "vy":-0.33272, "omega":5.93257, "ax":-4.64186, "ay":-3.63459, "alpha":-5.08623, "fx":[-88.768,-65.36445,-65.33105,-90.047], "fy":[-67.0891,-78.41419,-54.02221,-42.82193]}, - {"t":0.30658, "x":10.13364, "y":4.98185, "heading":-1.62123, "vx":1.30489, "vy":-0.43402, "omega":5.79082, "ax":-3.34585, "ay":-8.84427, "alpha":-9.8784, "fx":[-79.33639,-18.04277,-21.8856,-103.83026], "fy":[-151.60509,-167.58668,-149.3062,-121.22091]}, - {"t":0.33445, "x":10.16871, "y":4.96632, "heading":-1.45983, "vx":1.21163, "vy":-0.68051, "omega":5.5155, "ax":-1.42762, "ay":-9.85724, "alpha":-10.02945, "fx":[-48.72629,17.36959,14.7234,-78.55749], "fy":[-171.03725,-175.36441,-161.9424,-148.91749]}, - {"t":0.36232, "x":10.20192, "y":4.94352, "heading":-1.30611, "vx":1.17184, "vy":-0.95524, "omega":5.23597, "ax":0.72636, "ay":-9.96521, "alpha":-10.57958, "fx":[-14.38337,54.28924,55.09303,-46.56638], "fy":[-178.22423,-169.11308,-154.81887,-162.30492]}, - {"t":0.39019, "x":10.23486, "y":4.91303, "heading":-1.16018, "vx":1.19209, "vy":-1.23298, "omega":4.9411, "ax":3.34721, "ay":-9.14307, "alpha":-12.19662, "fx":[26.26416,97.18308,105.72199,-5.98361], "fy":[-175.28264,-147.72027,-122.82119,-163.81838]}, - {"t":0.41806, "x":10.26939, "y":4.87511, "heading":-1.02246, "vx":1.28538, "vy":-1.48781, "omega":4.60117, "ax":6.59054, "ay":-6.52772, "alpha":-14.50155, "fx":[79.88166,144.90446,155.67848,58.97988], "fy":[-154.16338,-99.3264,-43.46373,-138.30244]}, - {"t":0.44593, "x":10.30777, "y":4.83111, "heading":-0.89423, "vx":1.46906, "vy":-1.66974, "omega":4.197, "ax":9.31248, "ay":-0.53008, "alpha":-13.67365, "fx":[146.13508,176.50914,157.54984,140.74412], "fy":[-85.85301,-13.39119,65.31448,-1.41494]}, - {"t":0.47381, "x":10.35233, "y":4.78437, "heading":-0.77725, "vx":1.72861, "vy":-1.68452, "omega":3.8159, "ax":8.86762, "ay":4.24778, "alpha":-9.30544, "fx":[165.06042,165.37541,132.92781,127.91219], "fy":[20.04396,58.51814,110.80221,93.8695]}, - {"t":0.50168, "x":10.40396, "y":4.73907, "heading":-0.6709, "vx":1.97576, "vy":-1.56613, "omega":3.55655, "ax":6.68509, "ay":6.22624, "alpha":-4.53593, "fx":[122.99198,124.42133,101.66077,96.67454], "fy":[85.5285,97.66393,119.88455,112.07692]}, - {"t":0.52955, "x":10.46162, "y":4.69784, "heading":-0.57177, "vx":2.16208, "vy":-1.3926, "omega":3.43013, "ax":3.21263, "ay":8.10666, "alpha":3.17637, "fx":[47.00976,38.99554,61.27122,66.93519], "fy":[142.34394,137.77945,127.53817,132.87486]}, - {"t":0.55742, "x":10.52313, "y":4.66217, "heading":-0.47617, "vx":2.25162, "vy":-1.16666, "omega":3.51866, "ax":1.30787, "ay":8.42556, "alpha":5.40628, "fx":[11.98394,-5.0391,34.5956,45.66584], "fy":[150.39321,140.27725,130.31038,140.81952]}, - {"t":0.58529, "x":10.58639, "y":4.63293, "heading":-0.37811, "vx":2.28807, "vy":-0.93183, "omega":3.66934, "ax":3.38156, "ay":-0.17417, "alpha":-13.48191, "fx":[74.3675,94.35322,41.57533,15.17992], "fy":[-46.00133,15.08991,45.24606,-25.94822]}, - {"t":0.61316, "x":10.65147, "y":4.60689, "heading":-0.27584, "vx":2.38232, "vy":-0.93668, "omega":3.29359, "ax":5.71774, "ay":-5.05174, "alpha":-23.48039, "fx":[108.71717,165.87284,103.27227,3.3855], "fy":[-137.1614,-36.66339,-1.76877,-161.24701]}, - {"t":0.64103, "x":10.72009, "y":4.57882, "heading":-0.18404, "vx":2.54167, "vy":-1.07748, "omega":2.63917, "ax":8.08492, "ay":-3.48037, "alpha":-24.26362, "fx":[145.98753,184.91948,151.09595,57.08402], "fy":[-115.86327,-2.63213,52.81751,-166.38633]}, - {"t":0.6689, "x":10.79407, "y":4.54744, "heading":-0.11049, "vx":2.76701, "vy":-1.17448, "omega":1.96292, "ax":9.41703, "ay":-1.18925, "alpha":-23.45474, "fx":[173.49174,187.68419,148.95512,117.77829], "fy":[-80.36039,36.18977,103.79767,-138.92392]}, - {"t":0.69677, "x":10.87485, "y":4.51424, "heading":-0.05578, "vx":3.02947, "vy":-1.20763, "omega":1.30921, "ax":9.86401, "ay":1.0594, "alpha":-22.14258, "fx":[188.41497,181.38402,127.27045,160.64357], "fy":[-46.11667,69.83636,141.04876,-94.12987]}, - {"t":0.72464, "x":10.96311, "y":4.481, "heading":-0.01929, "vx":3.30439, "vy":-1.1781, "omega":0.69208, "ax":9.67926, "ay":2.88721, "alpha":-21.51119, "fx":[194.65203,171.07973,97.89081,181.77173], "fy":[-20.27379,96.04383,167.40014,-50.65666]}, - {"t":0.75251, "x":11.05897, "y":4.44929, "heading":0.0, "vx":3.57416, "vy":-1.09763, "omega":0.09254, "ax":-3.22369, "ay":11.1403, "alpha":-2.46144, "fx":[-45.46007,-40.50516,-61.01133,-67.97306], "fy":[187.81413,189.63915,184.23501,181.12519]}, - {"t":0.78565, "x":11.17564, "y":4.41903, "heading":0.00307, "vx":3.46733, "vy":-0.72846, "omega":0.01097, "ax":-10.83558, "ay":4.78148, "alpha":-0.59985, "fx":[-181.20764,-179.0432,-180.09095,-182.15407], "fy":[78.32756,83.21274,81.04346,76.23646]}, - {"t":0.81879, "x":11.28459, "y":4.39751, "heading":0.00343, "vx":3.10826, "vy":-0.57001, "omega":-0.00891, "ax":-11.45894, "ay":3.19718, "alpha":-0.21366, "fx":[-191.20303,-190.66542,-190.83226,-191.35958], "fy":[52.60138,54.52904,53.98143,52.06992]}, - {"t":0.85193, "x":11.3813, "y":4.38038, "heading":0.00314, "vx":2.72853, "vy":-0.46406, "omega":-0.01599, "ax":-11.63508, "ay":2.57599, "alpha":-0.06603, "fx":[-194.00244,-193.86736,-193.9004,-194.03464], "fy":[42.70308,43.31456,43.17702,42.56726]}, - {"t":0.88507, "x":11.46533, "y":4.36642, "heading":0.00261, "vx":2.34296, "vy":-0.3787, "omega":-0.01817, "ax":-11.7136, "ay":2.24814, "alpha":0.01114, "fx":[-195.25225,-195.2722,-195.26802,-195.24805], "fy":[37.51735,37.41308,37.4333,37.53761]}, - {"t":0.91821, "x":11.53654, "y":4.3551, "heading":0.002, "vx":1.9548, "vy":-0.3042, "omega":-0.01781, "ax":-11.75714, "ay":2.04612, "alpha":0.05845, "fx":[-195.94724,-196.04268,-196.02481,-195.92884], "fy":[34.33464,33.78414,33.88026,34.43221]}, - {"t":0.95134, "x":11.59486, "y":4.34614, "heading":0.00141, "vx":1.56518, "vy":-0.23639, "omega":-0.01587, "ax":-11.78455, "ay":1.90931, "alpha":0.09039, "fx":[-196.38608,-196.52394,-196.50024,-196.36119], "fy":[32.18467,31.3302,31.46813,32.32613]}, - {"t":0.98448, "x":11.64026, "y":4.33936, "heading":0.00089, "vx":1.17466, "vy":-0.17312, "omega":-0.01287, "ax":-11.80331, "ay":1.81058, "alpha":0.1134, "fx":[-196.68703,-196.85113,-196.82477,-196.65888], "fy":[30.63577,29.56119,29.72435,30.80454]}, - {"t":1.01762, "x":11.67271, "y":4.33462, "heading":0.00046, "vx":0.78352, "vy":-0.11312, "omega":-0.00912, "ax":-11.8169, "ay":1.73599, "alpha":0.13076, "fx":[-196.90572,-197.08721,-197.05961,-196.87584], "fy":[29.46713,28.22593,28.40538,29.65409]}, - {"t":1.05076, "x":11.69218, "y":4.33182, "heading":0.00016, "vx":0.39193, "vy":-0.05559, "omega":-0.00478, "ax":-11.82719, "ay":1.67767, "alpha":0.14431, "fx":[-197.07157,-197.26519,-197.23705,-197.04074], "fy":[28.55415,27.18248,27.37306,28.75394]}, - {"t":1.0839, "x":11.69868, "y":4.3309, "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":9.826, "y":5.08871, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.96008, "ay":-1.56652, "alpha":-47.17883, "fx":[-14.43164,-2.40097,150.44109,197.12036], "fy":[197.00808,-199.06127,-130.53944,28.1399]}, + {"t":0.02656, "x":9.82775, "y":5.08816, "heading":3.14159, "vx":0.13174, "vy":-0.04161, "omega":-1.25304, "ax":5.55676, "ay":-1.66775, "alpha":-44.84832, "fx":[19.97268,2.70248,150.09696,197.74224], "fy":[195.71476,-199.00605,-130.88274,22.97192]}, + {"t":0.05312, "x":9.83321, "y":5.08647, "heading":3.10831, "vx":0.27932, "vy":-0.0859, "omega":-2.44418, "ax":6.73365, "ay":-2.24782, "alpha":-39.31745, "fx":[97.53381,5.52511,147.32887,198.59899], "fy":[170.08653,-198.86947,-133.92002,12.82252]}, + {"t":0.07968, "x":9.843, "y":5.08339, "heading":3.0434, "vx":0.45816, "vy":-0.1456, "omega":-3.48843, "ax":7.75994, "ay":-3.58542, "alpha":-32.04061, "fx":[167.9009,8.32457,142.2818,198.91069], "fy":[101.49674,-198.64772,-139.16866,-2.74926]}, + {"t":0.10624, "x":9.85791, "y":5.07826, "heading":2.95075, "vx":0.66426, "vy":-0.24083, "omega":-4.3394, "ax":8.16049, "ay":-5.18526, "alpha":-25.62305, "fx":[195.33054,16.17305,135.40136,197.22094], "fy":[22.91611,-197.95271,-145.71058,-24.99589]}, + {"t":0.1328, "x":9.87843, "y":5.07004, "heading":2.83549, "vx":0.881, "vy":-0.37854, "omega":-5.01994, "ax":8.21963, "ay":-6.87661, "alpha":-18.37108, "fx":[189.37392,40.83275,127.99787,189.86454], "fy":[-54.50215,-193.98658,-151.95201,-58.07835]}, + {"t":0.15936, "x":9.90473, "y":5.05756, "heading":2.70217, "vx":1.09931, "vy":-0.56118, "omega":-5.50786, "ax":8.05104, "ay":-8.53298, "alpha":-6.10513, "fx":[149.42199,103.18492,125.4268,158.79391], "fy":[-128.99381,-168.59013,-153.24695,-118.13215]}, + {"t":0.18592, "x":9.93676, "y":5.03964, "heading":2.55588, "vx":1.31314, "vy":-0.78781, "omega":-5.67001, "ax":6.06961, "ay":-7.94066, "alpha":23.1413, "fx":[80.50434,172.72672,183.58971,-32.111], "fy":[-180.61459,-95.66402,-59.22724,-193.96216]}, + {"t":0.21247, "x":9.97378, "y":5.01592, "heading":2.40529, "vx":1.47434, "vy":-0.99871, "omega":-5.05539, "ax":6.61412, "ay":-6.86481, "alpha":26.90399, "fx":[85.92301,176.79519,193.89812,-15.59958], "fy":[-177.51736,-87.21955,1.21092,-194.20659]}, + {"t":0.23903, "x":10.01527, "y":4.98697, "heading":2.27102, "vx":1.65001, "vy":-1.18104, "omega":-4.34084, "ax":7.17439, "ay":-6.27587, "alpha":26.37894, "fx":[91.86597,179.46597,192.39175,14.65118], "fy":[-173.74082,-80.64581,27.00689,-191.08304]}, + {"t":0.26559, "x":10.06162, "y":4.95339, "heading":2.15573, "vx":1.84056, "vy":-1.34772, "omega":-3.64023, "ax":7.58301, "ay":-5.74697, "alpha":25.15931, "fx":[93.09758,180.9567,188.79498,42.77135], "fy":[-172.07721,-75.97189,45.16989,-180.31762]}, + {"t":0.29215, "x":10.11318, "y":4.91557, "heading":2.05905, "vx":2.04196, "vy":-1.50036, "omega":-2.97202, "ax":7.90441, "ay":-5.17968, "alpha":23.79278, "fx":[89.51777,180.81112,185.08165,71.64057], "fy":[-172.55577,-74.42555,56.41299,-154.80257]}, + {"t":0.31871, "x":10.1702, "y":4.8739, "heading":1.98012, "vx":2.25189, "vy":-1.63792, "omega":-2.3401, "ax":8.34915, "ay":-4.2153, "alpha":22.44721, "fx":[85.03266,178.8367,183.0594,109.77641], "fy":[-172.54168,-75.8576,58.00833,-90.67737]}, + {"t":0.34527, "x":10.23296, "y":4.82891, "heading":1.91797, "vx":2.47364, "vy":-1.74988, "omega":-1.74391, "ax":8.57783, "ay":-3.53028, "alpha":21.37538, "fx":[87.41563,175.00604,182.35442,127.1772], "fy":[-166.67148,-77.76076,48.04102,-39.00082]}, + {"t":0.37183, "x":10.30168, "y":4.78119, "heading":1.87165, "vx":2.70146, "vy":-1.84364, "omega":-1.1762, "ax":8.33352, "ay":-2.73005, "alpha":19.5938, "fx":[104.6436,168.5363,174.07216,108.41078], "fy":[-140.11656,-70.10669,34.8483,-6.65944]}, + {"t":0.39839, "x":10.37637, "y":4.73126, "heading":1.84041, "vx":2.92279, "vy":-1.91615, "omega":-0.6558, "ax":-1.03738, "ay":4.83649, "alpha":-7.93049, "fx":[-3.62486,-42.16404,-32.26013,8.8787], "fy":[103.19156,92.01253,57.46543,69.81828]}, + {"t":0.42495, "x":10.45363, "y":4.68207, "heading":1.82299, "vx":2.89524, "vy":-1.7877, "omega":-0.86643, "ax":-6.25971, "ay":6.63592, "alpha":-20.18629, "fx":[-49.89247,-145.50006,-177.57745,-44.41531], "fy":[175.6108,115.63929,19.88306,131.33756]}, + {"t":0.45151, "x":10.52832, "y":4.63693, "heading":1.79998, "vx":2.72899, "vy":-1.61145, "omega":-1.40256, "ax":-6.4889, "ay":7.05356, "alpha":-21.17981, "fx":[-46.08572,-150.34084,-188.30421,-47.93685], "fy":[184.78749,119.95543,9.744,155.83077]}, + {"t":0.47807, "x":10.59851, "y":4.59662, "heading":1.76273, "vx":2.55665, "vy":-1.42411, "omega":-1.96508, "ax":-6.36115, "ay":7.36158, "alpha":-21.63323, "fx":[-39.31243,-149.07882,-191.87914,-43.8791], "fy":[189.30154,125.18531,10.4647,165.90454]}, + {"t":0.50463, "x":10.66417, "y":4.56139, "heading":1.71054, "vx":2.3877, "vy":-1.22859, "omega":-2.53965, "ax":-6.13425, "ay":7.53492, "alpha":-22.23316, "fx":[-29.75776,-146.22008,-193.81565,-39.2262], "fy":[192.52332,130.3455,10.43825,169.10719]}, + {"t":0.53119, "x":10.72542, "y":4.53142, "heading":1.64309, "vx":2.22478, "vy":-1.02847, "omega":-3.13015, "ax":-5.91312, "ay":7.46347, "alpha":-23.26384, "fx":[-16.73794,-142.80406,-195.22793,-39.5058], "fy":[194.9579,135.18035,6.99896,160.51292]}, + {"t":0.55775, "x":10.78242, "y":4.50674, "heading":1.55995, "vx":2.06773, "vy":-0.83025, "omega":-3.74802, "ax":-6.79032, "ay":5.94044, "alpha":-25.35902, "fx":[-4.50977,-139.48828,-196.21898,-112.54819], "fy":[196.1417,139.31867,4.16558,56.47149]}, + {"t":0.58431, "x":10.83495, "y":4.48678, "heading":1.46041, "vx":1.88738, "vy":-0.67247, "omega":-4.42154, "ax":-7.83896, "ay":4.49731, "alpha":-27.88447, "fx":[-10.74227,-138.69162,-196.60179,-176.65135], "fy":[196.09919,140.56287,11.24364,-48.03386]}, + {"t":0.61086, "x":10.88231, "y":4.47051, "heading":1.34297, "vx":1.67918, "vy":-0.55303, "omega":-5.16213, "ax":-8.7766, "ay":5.22112, "alpha":-21.72906, "fx":[-53.31663,-143.10884,-195.37231,-193.40888], "fy":[189.04784,136.34135,28.1493,-5.40424]}, + {"t":0.63742, "x":10.92381, "y":4.45766, "heading":1.20587, "vx":1.44608, "vy":-0.41436, "omega":-5.73924, "ax":-9.21523, "ay":7.45737, "alpha":0.78948, "fx":[-156.60007,-155.17004,-150.52008,-152.16369], "fy":[120.62282,122.353,128.06374,126.20374]}, + {"t":0.66398, "x":10.95897, "y":4.44929, "heading":1.05344, "vx":1.20133, "vy":-0.21629, "omega":-5.71827, "ax":-0.87447, "ay":0.43251, "alpha":33.61154, "fx":[-123.31738,12.60216,99.31385,-46.90645], "fy":[-20.22892,-108.78418,42.72587,115.12636]}, + {"t":0.69246, "x":10.99282, "y":4.4433, "heading":0.8906, "vx":1.17643, "vy":-0.20398, "omega":-4.76112, "ax":-0.94333, "ay":0.31044, "alpha":27.99604, "fx":[-108.44043,-8.34346,82.81384,-28.92906], "fy":[-4.32139,-92.64287,18.30847,99.35517]}, + {"t":0.72094, "x":11.02594, "y":4.43762, "heading":0.75502, "vx":1.14957, "vy":-0.19514, "omega":-3.96387, "ax":-0.96094, "ay":0.25895, "alpha":23.40936, "fx":[-94.02924,-19.89592,66.4692,-16.61792], "fy":[6.01007,-77.28959,3.86418,84.68154]}, + {"t":0.74941, "x":11.05829, "y":4.43217, "heading":0.64214, "vx":1.1222, "vy":-0.18776, "omega":-3.29724, "ax":-0.96911, "ay":0.23139, "alpha":19.46, "fx":[-80.87239,-26.25443,51.79265,-9.28435], "fy":[11.97154,-62.88005,-4.19255,70.52951]}, + {"t":0.77789, "x":11.08985, "y":4.42691, "heading":0.54824, "vx":1.09461, "vy":-0.18117, "omega":-2.74308, "ax":-0.97376, "ay":0.21426, "alpha":16.19306, "fx":[-69.37289,-29.14179,39.08632,-5.4999], "fy":[15.0979,-51.08362,-8.31057,58.5829]}, + {"t":0.80637, "x":11.12063, "y":4.42184, "heading":0.47013, "vx":1.06688, "vy":-0.17507, "omega":-2.28195, "ax":-0.97673, "ay":0.2026, "alpha":13.31105, "fx":[-59.41236,-30.08061,28.26595,-3.89979], "fy":[16.0413,-40.50785,-9.76218,47.73778]}, + {"t":0.83485, "x":11.15061, "y":4.41694, "heading":0.40515, "vx":1.03906, "vy":-0.1693, "omega":-1.90289, "ax":-0.9788, "ay":0.19415, "alpha":11.07148, "fx":[-51.54298,-29.7796,19.8784,-3.82028], "fy":[15.96512,-32.5961,-9.93118,39.50784]}, + {"t":0.86332, "x":11.17981, "y":4.4122, "heading":0.35096, "vx":1.01119, "vy":-0.16377, "omega":-1.58761, "ax":-0.98031, "ay":0.18775, "alpha":9.04037, "fx":[-44.62831,-28.82524,12.53653,-4.44831], "fy":[15.05059,-25.48335,-9.15215,32.10369]}, + {"t":0.8918, "x":11.20821, "y":4.40761, "heading":0.30575, "vx":0.98327, "vy":-0.15843, "omega":-1.33017, "ax":-0.98147, "ay":0.18273, "alpha":7.50329, "fx":[-39.4904,-27.54956,7.19191,-5.59425], "fy":[13.86931,-20.32423,-8.04653,26.68564]}, + {"t":0.92028, "x":11.23581, "y":4.40317, "heading":0.26787, "vx":0.95532, "vy":-0.15322, "omega":-1.1165, "ax":-0.98238, "ay":0.17869, "alpha":6.16213, "fx":[-35.00044,-26.28164,2.50316,-6.72402], "fy":[12.63869,-15.87771,-6.89285,22.04678]}, + {"t":0.94875, "x":11.26261, "y":4.39888, "heading":0.23607, "vx":0.92735, "vy":-0.14813, "omega":-0.94102, "ax":-0.98311, "ay":0.17537, "alpha":5.03285, "fx":[-31.48734,-24.77035,-1.1054,-8.18883], "fy":[11.15822,-12.31002,-5.44184,18.28716]}, + {"t":0.97723, "x":11.28862, "y":4.39473, "heading":0.20928, "vx":0.89935, "vy":-0.14314, "omega":-0.7977, "ax":-0.98372, "ay":0.17259, "alpha":4.23914, "fx":[-28.82382,-23.81694,-3.85496,-9.09658], "fy":[10.23237,-9.80218,-4.59471,15.6728]}, + {"t":1.00571, "x":11.31384, "y":4.39073, "heading":0.18656, "vx":0.87134, "vy":-0.13823, "omega":-0.67698, "ax":-0.98422, "ay":0.17024, "alpha":3.33804, "fx":[-26.20725,-22.30211,-6.52679,-10.58999], "fy":[8.7279,-7.09649,-3.10649,12.82612]}, + {"t":1.03418, "x":11.33825, "y":4.38686, "heading":0.16728, "vx":0.84331, "vy":-0.13338, "omega":-0.58192, "ax":-0.98466, "ay":0.16821, "alpha":2.93917, "fx":[-24.81836,-21.78669,-7.95099,-11.09888], "fy":[8.22291,-5.8984,-2.67582,11.56719]}, + {"t":1.06266, "x":11.36187, "y":4.38313, "heading":0.15071, "vx":0.81527, "vy":-0.12859, "omega":-0.49822, "ax":-0.98503, "ay":0.16645, "alpha":2.19903, "fx":[-22.76577,-20.41425,-10.03919,-12.46046], "fy":[6.84926,-3.72545,-1.32086,9.29552]}, + {"t":1.09114, "x":11.38468, "y":4.37953, "heading":0.13652, "vx":0.78722, "vy":-0.12385, "omega":-0.4356, "ax":-0.98535, "ay":0.1649, "alpha":2.03984, "fx":[-22.16112,-20.20354,-10.65973,-12.67681], "fy":[6.63106,-3.31095,-1.16182,8.83722]}, + {"t":1.11962, "x":11.4067, "y":4.37607, "heading":0.12412, "vx":0.75916, "vy":-0.11915, "omega":-0.37751, "ax":-0.98563, "ay":0.16354, "alpha":1.45431, "fx":[-20.56143,-19.10995,-12.28327,-13.76544], "fy":[5.52295,-1.5642,-0.07916,7.02493]}, + {"t":1.14809, "x":11.42792, "y":4.37275, "heading":0.11337, "vx":0.73109, "vy":-0.11449, "omega":-0.3361, "ax":-0.98588, "ay":0.16232, "alpha":1.4052, "fx":[-20.35932,-19.00332,-12.49434,-13.87982], "fy":[5.39721,-1.54203,0.00471,6.96358]}, + {"t":1.17657, "x":11.44834, "y":4.36955, "heading":0.1038, "vx":0.70302, "vy":-0.10987, "omega":-0.29608, "ax":-0.98611, "ay":0.16124, "alpha":0.97859, "fx":[-19.16783,-18.27575,-13.7012,-14.60689], "fy":[4.63798,-0.18449,0.73333,5.56406]}, + {"t":1.20505, "x":11.46796, "y":4.36649, "heading":0.09537, "vx":0.67494, "vy":-0.10528, "omega":-0.26821, "ax":-0.98631, "ay":0.16025, "alpha":0.95412, "fx":[-19.11966,-18.12179,-13.75655,-14.76702], "fy":[4.46506,-0.30355,0.87774,5.64621]}, + {"t":1.23352, "x":11.48678, "y":4.36356, "heading":0.08773, "vx":0.64685, "vy":-0.10072, "omega":-0.24104, "ax":-0.98649, "ay":0.15937, "alpha":0.67692, "fx":[-18.2885,-17.76295,-14.59712,-15.12847], "fy":[4.05897,0.70023,1.25159,4.6154]}, + {"t":1.262, "x":11.5048, "y":4.36075, "heading":0.08086, "vx":0.61876, "vy":-0.09618, "omega":-0.22177, "ax":-0.98665, "ay":0.15856, "alpha":0.6357, "fx":[-18.26045,-17.50354,-14.63183,-15.39211], "fy":[3.78897,0.57819,1.50121,4.70389]}, + {"t":1.29048, "x":11.52202, "y":4.35808, "heading":0.07455, "vx":0.59066, "vy":-0.09166, "omega":-0.20366, "ax":-0.9868, "ay":0.15782, "alpha":0.48283, "fx":[-17.72748,-17.44224,-15.17081,-15.45731], "fy":[3.67272,1.27391,1.58688,3.98946]}, + {"t":1.31895, "x":11.53844, "y":4.35553, "heading":0.06875, "vx":0.56256, "vy":-0.08717, "omega":-0.18991, "ax":-0.98693, "ay":0.15714, "alpha":0.41577, "fx":[-17.66514,-17.09819,-15.23866,-15.80491], "fy":[3.32752,1.21053,1.91592,4.02379]}, + {"t":1.34743, "x":11.55406, "y":4.35311, "heading":0.06334, "vx":0.53445, "vy":-0.08269, "omega":-0.17807, "ax":-0.98706, "ay":0.15652, "alpha":0.35409, "fx":[-17.36228,-17.22656,-15.54642,-15.67995], "fy":[3.4039,1.64955,1.81259,3.57009]}, + {"t":1.37591, "x":11.56888, "y":4.35082, "heading":0.05827, "vx":0.50634, "vy":-0.07824, "omega":-0.16799, "ax":-0.98717, "ay":0.15594, "alpha":0.27028, "fx":[-17.25938,-16.8588,-15.65283,-16.05186], "fy":[3.03997,1.6582,2.16258,3.53691]}, + {"t":1.40439, "x":11.5829, "y":4.34866, "heading":0.05348, "vx":0.47823, "vy":-0.0738, "omega":-0.16029, "ax":-0.98728, "ay":0.1554, "alpha":0.26663, "fx":[-17.12028,-17.07037,-15.79719,-15.8421], "fy":[3.21171,1.89435,1.96794,3.28802]}, + {"t":1.43286, "x":11.59612, "y":4.34662, "heading":0.04892, "vx":0.45012, "vy":-0.06937, "omega":-0.1527, "ax":-0.98738, "ay":0.15491, "alpha":0.1819, "fx":[-16.99703,-16.74333,-15.92166,-16.17448], "fy":[2.88624,1.95983,2.28071,3.20214]}, + {"t":1.46134, "x":11.60853, "y":4.34471, "heading":0.04457, "vx":0.422, "vy":-0.06496, "omega":-0.14752, "ax":-0.98747, "ay":0.15444, "alpha":0.20865, "fx":[-16.96176,-16.95867,-15.96284,-15.95931], "fy":[3.07958,2.04647,2.06827,3.10376]}, + {"t":1.48982, "x":11.62015, "y":4.34292, "heading":0.04037, "vx":0.39388, "vy":-0.06056, "omega":-0.14158, "ax":-0.98755, "ay":0.15401, "alpha":0.13811, "fx":[-16.85012,-16.71762,-16.07403,-16.20648], "fy":[2.83063,2.13846,2.30541,2.99477]}, + {"t":1.51829, "x":11.63097, "y":4.34126, "heading":0.03634, "vx":0.36576, "vy":-0.05618, "omega":-0.13765, "ax":-0.98763, "ay":0.15361, "alpha":0.17622, "fx":[-16.87024,-16.89314,-16.06055,-16.02962], "fy":[3.00539,2.12411,2.11468,2.99814]}, + {"t":1.54677, "x":11.64098, "y":4.33972, "heading":0.03242, "vx":0.33763, "vy":-0.0518, "omega":-0.13263, "ax":-0.98771, "ay":0.15323, "alpha":0.13061, "fx":[-16.80234,-16.75899,-16.12683,-16.17035], "fy":[2.84701,2.20863,2.2621,2.89929]}, + {"t":1.57525, "x":11.6502, "y":4.33831, "heading":0.02864, "vx":0.30951, "vy":-0.04744, "omega":-0.12891, "ax":-0.98778, "ay":0.15287, "alpha":0.17083, "fx":[-16.84591,-16.88562,-16.09001,-16.04162], "fy":[2.99559,2.12978,2.09993,2.96797]}, + {"t":1.60372, "x":11.65861, "y":4.33702, "heading":0.02497, "vx":0.28138, "vy":-0.04308, "omega":-0.12404, "ax":-0.98784, "ay":0.15254, "alpha":0.15577, "fx":[-16.84688,-16.85925,-16.08704,-16.07436], "fy":[2.92395,2.17805,2.1612,2.90769]}, + {"t":1.6322, "x":11.66622, "y":4.33585, "heading":0.02144, "vx":0.25325, "vy":-0.03874, "omega":-0.11961, "ax":-0.98791, "ay":0.15222, "alpha":0.19819, "fx":[-16.90324,-16.95258,-16.03726,-15.97858], "fy":[3.06371,2.05186,2.00993,3.02429]}, + {"t":1.66068, "x":11.67303, "y":4.33481, "heading":0.01803, "vx":0.22511, "vy":-0.03441, "omega":-0.11396, "ax":-0.98796, "ay":0.15192, "alpha":0.21593, "fx":[-16.98849,-17.02711,-15.94991,-15.91003], "fy":[3.06903,2.04297,1.99453,3.02332]}, + {"t":1.68916, "x":11.67904, "y":4.33389, "heading":0.01479, "vx":0.19698, "vy":-0.03008, "omega":-0.10782, "ax":-0.98802, "ay":0.15164, "alpha":0.26855, "fx":[-17.0689,-17.11908,-15.87533,-15.81588], "fy":[3.23276,1.86501,1.82123,3.19199]}, + {"t":1.71763, "x":11.68425, "y":4.3331, "heading":0.01172, "vx":0.16884, "vy":-0.02576, "omega":-0.10017, "ax":-0.98807, "ay":0.15137, "alpha":0.32116, "fx":[-17.24846,-17.29094,-15.69394,-15.64933], "fy":[3.3114,1.78297,1.73192,3.26682]}, + {"t":1.74611, "x":11.68866, "y":4.33243, "heading":0.00886, "vx":0.14071, "vy":-0.02145, "omega":-0.09102, "ax":-0.98812, "ay":0.15112, "alpha":0.39797, "fx":[-17.38337,-17.42332,-15.56397,-15.51529], "fy":[3.54084,1.52891,1.49536,3.51103]}, + {"t":1.77459, "x":11.69227, "y":4.33188, "heading":0.00627, "vx":0.11257, "vy":-0.01715, "omega":-0.07969, "ax":-0.98817, "ay":0.15087, "alpha":0.49169, "fx":[-17.67133,-17.70379,-15.27433,-15.23963], "fy":[3.70593,1.35312,1.31741,3.68355]}, + {"t":1.80306, "x":11.69507, "y":4.33145, "heading":0.004, "vx":0.08443, "vy":-0.01285, "omega":-0.06569, "ax":-0.98821, "ay":0.15064, "alpha":0.61142, "fx":[-17.90545,-17.9278,-15.04422,-15.01457], "fy":[4.05004,0.98378,0.96973,4.04113]}, + {"t":1.83154, "x":11.69707, "y":4.33114, "heading":0.00213, "vx":0.05629, "vy":-0.00856, "omega":-0.04828, "ax":-0.98825, "ay":0.15043, "alpha":0.76096, "fx":[-18.33268,-18.35185,-14.61514,-14.5952], "fy":[4.33995,0.67816,0.66138,4.35057]}, + {"t":1.86002, "x":11.69828, "y":4.33096, "heading":0.00076, "vx":0.02814, "vy":-0.00428, "omega":-0.02661, "ax":-0.98829, "ay":0.15022, "alpha":0.93433, "fx":[-18.72271,-18.74086,-14.22854,-14.20544], "fy":[4.78209,0.21599,0.20554,4.81251]}, + {"t":1.8885, "x":11.69868, "y":4.3309, "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/OppEToOppbarge.traj b/src/main/deploy/choreo/OppEToOppbarge.traj index 1b1ba00e..c09d1c12 100644 --- a/src/main/deploy/choreo/OppEToOppbarge.traj +++ b/src/main/deploy/choreo/OppEToOppbarge.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.687749862670898, "y":5.166319847106934, "heading":-2.864219521109, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.94136617279053, "y":5.08871412277, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":10.687749862670898, "y":5.166319847106934, "heading":-2.864219521109, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.826, "y":5.08871412277, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -19,8 +19,8 @@ "params":{ "waypoints":[ {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.687749862670898 m", "val":10.687749862670898}, "y":{"exp":"5.166319847106934 m", "val":5.166319847106934}, "heading":{"exp":"-2.8642195211090002 rad", "val":-2.864219521109}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FieldMaxX - barge.x", "val":9.94136617279053}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"10.687749862670898 m", "val":10.687749862670898}, "y":{"exp":"5.166319847106934 m", "val":5.166319847106934}, "heading":{"exp":"-2.8642195211090002 rad", "val":-2.864219521109}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - barge.x", "val":9.826}, "y":{"exp":"barge.y", "val":5.08871412277}, "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}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -36,80 +36,81 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.93943,1.64696], + "waypoints":[0.0,0.93839,1.69813], "samples":[ - {"t":0.0, "x":12.63181, "y":5.33714, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.73752, "ay":-1.00548, "alpha":-51.95986, "fx":[-130.54896,150.38277,-71.80143,-197.24314], "fy":[-150.24279,-129.39265,185.50777,27.08445]}, - {"t":0.02042, "x":12.63104, "y":5.33693, "heading":-1.0472, "vx":-0.07633, "vy":-0.02053, "omega":-1.06115, "ax":-5.72174, "ay":-1.67249, "alpha":-44.50198, "fx":[-152.21052,72.18128,-104.82916,-196.65642], "fy":[-127.79541,-182.00094,168.64675,29.63092]}, - {"t":0.04084, "x":12.62828, "y":5.33616, "heading":-1.06887, "vx":-0.19318, "vy":-0.05469, "omega":-1.96999, "ax":-5.97389, "ay":-0.40904, "alpha":-1.40431, "fx":[-98.5882,-101.5203,-102.42622,-95.79251], "fy":[-15.55643,-15.50915,8.20776,-4.41648]}, - {"t":0.06127, "x":12.62309, "y":5.33496, "heading":-1.1091, "vx":-0.31518, "vy":-0.06304, "omega":-1.99867, "ax":-5.97341, "ay":-0.40748, "alpha":-0.00001, "fx":[-99.37042,-100.05281,-99.55295,-99.31904], "fy":[-7.06174,-7.05513,-6.40216,-6.65112]}, - {"t":0.08169, "x":12.61541, "y":5.33359, "heading":-1.14992, "vx":-0.43717, "vy":-0.07137, "omega":-1.99867, "ax":-5.97287, "ay":-0.40585, "alpha":0.0, "fx":[-99.49151,-99.71338,-99.64213,-99.41252], "fy":[-6.91489,-6.83333,-6.60397,-6.70908]}, - {"t":0.10211, "x":12.60524, "y":5.33205, "heading":-1.19074, "vx":-0.55916, "vy":-0.07965, "omega":-1.99867, "ax":-5.97229, "ay":-0.40386, "alpha":0.0, "fx":[-99.42516,-99.93573,-99.36099,-99.499], "fy":[-6.92497,-6.77759,-6.56659,-6.65916]}, - {"t":0.12253, "x":12.59257, "y":5.33034, "heading":-1.23155, "vx":-0.68112, "vy":-0.0879, "omega":-1.99867, "ax":-5.97163, "ay":-0.40184, "alpha":0.0, "fx":[-99.54139,-99.54705,-99.54783,-99.54066], "fy":[-6.70267,-6.69962,-6.69434,-6.69723]}, - {"t":0.14296, "x":12.57742, "y":5.32846, "heading":-1.27237, "vx":-0.80308, "vy":-0.09611, "omega":-1.99867, "ax":-5.97091, "ay":-0.39937, "alpha":0.0, "fx":[-99.39172,-99.98496,-99.29643,-99.45556], "fy":[-6.86976,-6.72212,-6.47607,-6.56115]}, - {"t":0.16338, "x":12.55977, "y":5.32641, "heading":-1.31319, "vx":-0.92502, "vy":-0.10427, "omega":-1.99867, "ax":-5.97008, "ay":-0.39682, "alpha":0.0, "fx":[-99.51283,-99.52612,-99.52486,-99.50941], "fy":[-6.61354,-6.63332,-6.60515,-6.60706]}, - {"t":0.1838, "x":12.53963, "y":5.3242, "heading":-1.35401, "vx":-1.04694, "vy":-0.11237, "omega":-1.99867, "ax":-5.96915, "ay":-0.39367, "alpha":0.0, "fx":[-99.34216,-100.05722,-99.21354,-99.39839], "fy":[-6.79788,-6.65523,-6.36314,-6.43317]}, - {"t":0.20422, "x":12.51701, "y":5.32182, "heading":-1.39483, "vx":-1.16885, "vy":-0.12041, "omega":-1.99867, "ax":-5.96807, "ay":-0.39035, "alpha":0.0, "fx":[-99.47721,-99.4945,-99.49378,-99.47363], "fy":[-6.49464,-6.54279,-6.49544,-6.49522]}, - {"t":0.22465, "x":12.49189, "y":5.31928, "heading":-1.43564, "vx":-1.29073, "vy":-0.12838, "omega":-1.99867, "ax":-5.96683, "ay":-0.38621, "alpha":0.0, "fx":[-99.28179,-100.13718,-99.11072,-99.3272], "fy":[-6.68768,-6.56298,-6.22832,-6.27308]}, - {"t":0.24507, "x":12.46429, "y":5.31658, "heading":-1.47646, "vx":-1.41259, "vy":-0.13627, "omega":-1.99867, "ax":-5.96537, "ay":-0.38173, "alpha":0.0, "fx":[-99.43407,-99.44665,-99.44731,-99.43106], "fy":[-6.33304,-6.41173,-6.3554,-6.35264]}, - {"t":0.26549, "x":12.4342, "y":5.31372, "heading":-1.51728, "vx":-1.53442, "vy":-0.14406, "omega":-1.99867, "ax":-5.96365, "ay":-0.37603, "alpha":0.0, "fx":[-99.21996,-100.18615,-98.99185,-99.24668], "fy":[-6.49821,-6.42283,-6.07084,-6.08091]}, - {"t":0.28591, "x":12.40161, "y":5.3107, "heading":-1.5581, "vx":-1.65621, "vy":-0.15174, "omega":-1.99867, "ax":-5.96155, "ay":-0.36964, "alpha":0.0, "fx":[-99.37085,-99.38209,-99.38365,-99.3681], "fy":[-6.11394,-6.22349,-6.15548,-6.1538]}, - {"t":0.30634, "x":12.36655, "y":5.30752, "heading":-1.59891, "vx":-1.77796, "vy":-0.15929, "omega":-1.99867, "ax":-5.959, "ay":-0.3613, "alpha":0.0, "fx":[-99.09071,-100.36578,-98.78013,-99.09812], "fy":[-6.2839,-6.2183,-5.80901,-5.77954]}, - {"t":0.32676, "x":12.32899, "y":5.30419, "heading":-1.63973, "vx":-1.89966, "vy":-0.16667, "omega":-1.99867, "ax":-5.95575, "ay":-0.3515, "alpha":0.00001, "fx":[-99.27099,-99.28725,-99.29046,-99.26954], "fy":[-5.79787,-5.93484,-5.85083,-5.85394]}, - {"t":0.34718, "x":12.28896, "y":5.30071, "heading":-1.68055, "vx":-2.02129, "vy":-0.17385, "omega":-1.99867, "ax":-5.95158, "ay":-0.33821, "alpha":0.00001, "fx":[-98.91455,-100.51017,-98.5245,-98.89087], "fy":[-5.90243,-5.87431,-5.42523,-5.34908]}, - {"t":0.3676, "x":12.24644, "y":5.29709, "heading":-1.72137, "vx":-2.14283, "vy":-0.18076, "omega":-1.99867, "ax":-5.94591, "ay":-0.32135, "alpha":0.00001, "fx":[-99.10105,-99.12615,-99.13217,-99.10255], "fy":[-5.2832,-5.44661,-5.34342,-5.35391]}, - {"t":0.38803, "x":12.20143, "y":5.29334, "heading":-1.76219, "vx":-2.26426, "vy":-0.18732, "omega":-1.99867, "ax":-5.93789, "ay":-0.29721, "alpha":0.00001, "fx":[-98.58373,-100.78808,-98.04524,-98.50989], "fy":[-5.22919,-5.26015,-4.73247,-4.59567]}, - {"t":0.40845, "x":12.15395, "y":5.28945, "heading":-1.803, "vx":-2.38553, "vy":-0.19339, "omega":-1.99867, "ax":-5.92558, "ay":-0.262, "alpha":0.00002, "fx":[-98.75797,-98.7881,-98.79702,-98.76317], "fy":[-4.29024,-4.4603,-4.35025,-4.36912]}, - {"t":0.42887, "x":12.104, "y":5.28544, "heading":-1.84382, "vx":-2.50655, "vy":-0.19874, "omega":-1.99867, "ax":-5.90432, "ay":-0.20929, "alpha":0.00003, "fx":[-97.87651,-100.89431,-97.18407,-97.73372], "fy":[-3.75323,-3.8733,-3.26542,-3.06286]}, - {"t":0.44929, "x":12.05158, "y":5.28134, "heading":-1.88464, "vx":-2.62713, "vy":-0.20301, "omega":-1.99867, "ax":-5.86033, "ay":-0.10503, "alpha":0.00008, "fx":[-97.6888,-97.68929,-97.68985,-97.68747], "fy":[-1.71859,-1.77651,-1.74693,-1.76128]}, - {"t":0.46972, "x":11.9967, "y":5.27717, "heading":-1.92546, "vx":-2.74681, "vy":-0.20516, "omega":-1.99867, "ax":-5.72329, "ay":0.05269, "alpha":0.0003, "fx":[-94.88573,-97.70089,-94.30106,-94.7304], "fy":[0.72016,0.56684,1.02302,1.20342]}, - {"t":0.49014, "x":11.93941, "y":5.27299, "heading":-1.96627, "vx":-2.86369, "vy":-0.20408, "omega":-1.99866, "ax":-3.02227, "ay":0.63282, "alpha":0.00572, "fx":[-50.47128,-50.34262,-50.28872,-50.41666], "fy":[10.40271,10.82651,10.4623,10.50386]}, - {"t":0.51056, "x":11.8803, "y":5.26896, "heading":-2.00709, "vx":-2.92541, "vy":-0.19116, "omega":-1.99854, "ax":0.25448, "ay":0.42963, "alpha":0.00118, "fx":[4.21187,4.37864,4.17719,4.20071], "fy":[7.16809,7.18343,7.1541,7.14112]}, - {"t":0.53098, "x":11.82061, "y":5.26514, "heading":-2.04791, "vx":-2.92022, "vy":-0.18239, "omega":-1.99852, "ax":0.27924, "ay":0.22944, "alpha":-0.00005, "fx":[4.5874,4.67617,4.7222,4.63345], "fy":[3.74149,3.96992,3.77563,3.81133]}, - {"t":0.55141, "x":11.76103, "y":5.26147, "heading":-2.08872, "vx":-2.91451, "vy":-0.1777, "omega":-1.99852, "ax":0.25857, "ay":-0.09193, "alpha":0.00001, "fx":[4.05522,5.31394,3.87992,3.99166], "fy":[-1.50868,-1.44522,-1.55623,-1.61944]}, - {"t":0.57183, "x":11.70156, "y":5.25782, "heading":-2.12954, "vx":-2.90923, "vy":-0.17958, "omega":-1.99852, "ax":0.2298, "ay":-0.40047, "alpha":0.00002, "fx":[3.87223,3.82109,3.78902,3.84015], "fy":[-6.60656,-6.77732,-6.63519,-6.68344]}, - {"t":0.59225, "x":11.6422, "y":5.25407, "heading":-2.17035, "vx":-2.90454, "vy":-0.18776, "omega":-1.99852, "ax":0.17719, "ay":-0.47912, "alpha":-0.00002, "fx":[2.8559,3.32078,2.80331,2.83452], "fy":[-7.98328,-7.96809,-7.99016,-8.00529]}, - {"t":0.61267, "x":11.58291, "y":5.25013, "heading":-2.21117, "vx":-2.90092, "vy":-0.19754, "omega":-1.99852, "ax":0.1314, "ay":-0.72628, "alpha":0.00004, "fx":[2.31244,2.17251,2.06836,2.20824], "fy":[-11.95831,-12.36317,-11.99673,-12.1088]}, - {"t":0.6331, "x":11.5237, "y":5.24595, "heading":-2.25198, "vx":-2.89824, "vy":-0.21237, "omega":-1.99852, "ax":0.06519, "ay":-0.67886, "alpha":-0.00002, "fx":[1.06996,1.14368,1.06508,1.06778], "fy":[-11.31607,-11.31486,-11.31637,-11.31758]}, - {"t":0.65352, "x":11.46452, "y":5.24147, "heading":-2.29279, "vx":-2.89691, "vy":-0.22624, "omega":-1.99852, "ax":0.00798, "ay":-0.83101, "alpha":0.00003, "fx":[0.28923,0.12302,-0.02304,0.14318], "fy":[-13.68897,-14.16371,-13.70844,-13.84934]}, - {"t":0.67394, "x":11.40536, "y":5.23668, "heading":-2.33361, "vx":-2.89674, "vy":-0.24321, "omega":-1.99852, "ax":-0.06508, "ay":-0.69732, "alpha":0.0, "fx":[-1.02182,-1.28898,-1.01161,-1.01672], "fy":[-11.62391,-11.62203,-11.62418,-11.62604]}, - {"t":0.69436, "x":11.34619, "y":5.23156, "heading":-2.37442, "vx":-2.89807, "vy":-0.25745, "omega":-1.99852, "ax":-0.12935, "ay":-0.72868, "alpha":0.0, "fx":[-2.00401,-2.15375,-2.30859,-2.15878], "fy":[-12.00766,-12.44038,-12.00342,-12.1357]}, - {"t":0.71479, "x":11.28698, "y":5.22615, "heading":-2.41524, "vx":-2.90072, "vy":-0.27233, "omega":-1.99852, "ax":-0.20441, "ay":-0.53464, "alpha":0.00002, "fx":[-3.11336,-4.2475,-3.14094,-3.12769], "fy":[-8.9132,-8.89271,-8.91116,-8.93152]}, - {"t":0.73521, "x":11.22769, "y":5.22048, "heading":-2.45605, "vx":-2.90489, "vy":-0.28325, "omega":-1.99852, "ax":-0.2679, "ay":-0.42036, "alpha":-0.00012, "fx":[-4.36347,-4.45578,-4.56797,-4.47563], "fy":[-6.91989,-7.20759,-6.90321,-6.99782]}, - {"t":0.75563, "x":11.16831, "y":5.21461, "heading":-2.49687, "vx":-2.91036, "vy":-0.29183, "omega":-1.99852, "ax":-0.37926, "ay":-0.159, "alpha":0.0013, "fx":[-5.9902,-7.18522,-6.07463,-6.03803], "fy":[-2.65696,-2.60318,-2.64408,-2.69745]}, - {"t":0.77605, "x":11.1088, "y":5.20861, "heading":-2.53768, "vx":-2.91811, "vy":-0.29508, "omega":-1.99849, "ax":-0.12418, "ay":0.11293, "alpha":-0.00491, "fx":[-2.09088,-2.07401,-2.04922,-2.06612], "fy":[1.87526,1.88679,1.85855,1.90932]}, - {"t":0.79648, "x":11.04918, "y":5.20261, "heading":-2.5785, "vx":-2.92064, "vy":-0.29277, "omega":-1.99859, "ax":4.51414, "ay":0.49588, "alpha":-0.00334, "fx":[74.36113,77.37615,74.69293,74.56394], "fy":[8.30796,8.09477,8.2326,8.42873]}, - {"t":0.8169, "x":10.99047, "y":5.19674, "heading":-2.61931, "vx":-2.82845, "vy":-0.28265, "omega":-1.99866, "ax":5.74285, "ay":0.62422, "alpha":-0.00017, "fx":[95.66229,95.71074,95.80035,95.74875], "fy":[10.33819,10.58968,10.26891,10.4252]}, - {"t":0.83732, "x":10.93391, "y":5.19109, "heading":-2.66013, "vx":-2.71117, "vy":-0.2699, "omega":-1.99867, "ax":5.85032, "ay":0.55054, "alpha":-0.00006, "fx":[96.24529,100.47044,96.77934,96.5933], "fy":[9.29053,8.84596,9.10259,9.46993]}, - {"t":0.85774, "x":10.87976, "y":5.1857, "heading":-2.70095, "vx":-2.59169, "vy":-0.25866, "omega":-1.99867, "ax":5.88995, "ay":0.54313, "alpha":-0.00002, "fx":[98.11359,98.15388,98.25482,98.20846], "fy":[8.99172,9.26463,8.89078,9.06791]}, - {"t":0.87817, "x":10.82806, "y":5.18053, "heading":-2.74177, "vx":-2.4714, "vy":-0.24756, "omega":-1.99867, "ax":5.9127, "ay":0.51659, "alpha":-0.00002, "fx":[97.69471,100.61979,98.01404,97.91918], "fy":[8.75881,8.24526,8.5168,8.92415]}, - {"t":0.89859, "x":10.77882, "y":5.17558, "heading":-2.78258, "vx":-2.35065, "vy":-0.23701, "omega":-1.99867, "ax":5.92615, "ay":0.50761, "alpha":0.00034, "fx":[98.2115,98.50733,99.32967,99.0955], "fy":[8.26587,9.05793,8.67109,7.85145]}, - {"t":0.91901, "x":10.73205, "y":5.17085, "heading":-2.8234, "vx":-2.22963, "vy":-0.22665, "omega":-1.99866, "ax":5.93536, "ay":0.49617, "alpha":17.92235, "fx":[140.7551,122.17665,50.62566,82.20091], "fy":[-20.0279,64.5715,53.24362,-64.70373]}, - {"t":0.93943, "x":10.68775, "y":5.16632, "heading":-2.86422, "vx":-2.10841, "vy":-0.21651, "omega":-1.63264, "ax":2.9499, "ay":0.2679, "alpha":11.53007, "fx":[82.01586,68.02789,15.16648,31.4831], "fy":[-14.68645,39.38937,25.81929,-32.65909]}, - {"t":0.96774, "x":10.62926, "y":5.1603, "heading":-2.91043, "vx":-2.02493, "vy":-0.20893, "omega":-1.30633, "ax":2.97487, "ay":0.2879, "alpha":8.76918, "fx":[73.92998,64.57984,23.88648,35.96249], "fy":[-11.08486,30.77335,22.3531,-22.84526]}, - {"t":0.99604, "x":10.57314, "y":5.1545, "heading":-2.9474, "vx":-1.94073, "vy":-0.20078, "omega":-1.05815, "ax":2.97738, "ay":0.29563, "alpha":6.81389, "fx":[68.1233,61.93939,30.83841,37.62514], "fy":[-8.41111,24.92721,19.18974,-15.99393]}, - {"t":1.02434, "x":10.51941, "y":5.14894, "heading":-2.97734, "vx":-1.85647, "vy":-0.19242, "omega":-0.86531, "ax":2.97876, "ay":0.2999, "alpha":5.33304, "fx":[63.91223,59.57624,34.66973,40.45962], "fy":[-5.887,20.3222,16.58031,-11.01867]}, - {"t":1.05264, "x":10.46806, "y":5.14361, "heading":-3.00183, "vx":-1.77217, "vy":-0.18393, "omega":-0.71438, "ax":2.97962, "ay":0.3026, "alpha":4.21642, "fx":[60.73482,57.80593,38.5262,41.60871], "fy":[-3.99548,17.09708,14.41838,-7.34325]}, - {"t":1.08094, "x":10.4191, "y":5.13853, "heading":-3.02205, "vx":-1.68784, "vy":-0.17537, "omega":-0.59505, "ax":2.98022, "ay":0.30447, "alpha":3.33616, "fx":[58.31971,56.21785,40.55942,43.61846], "fy":[-2.23985,14.4464,12.69873,-4.60404]}, - {"t":1.10924, "x":10.37253, "y":5.13369, "heading":-3.03889, "vx":-1.6035, "vy":-0.16675, "omega":-0.50063, "ax":2.98066, "ay":0.30584, "alpha":2.68129, "fx":[56.53567,55.08773,42.81698,44.30411], "fy":[-0.98422,12.60917,11.29438,-2.52683]}, - {"t":1.13754, "x":10.32834, "y":5.12909, "heading":-3.05306, "vx":-1.51914, "vy":-0.15809, "omega":-0.42475, "ax":2.98099, "ay":0.30688, "alpha":2.14065, "fx":[55.09133,54.02872,43.93528,45.71129], "fy":[0.19577,11.02918,10.18523,-0.94786]}, - {"t":1.16584, "x":10.28654, "y":5.12474, "heading":-3.06508, "vx":-1.43477, "vy":-0.14941, "omega":-0.36416, "ax":2.98125, "ay":0.3077, "alpha":1.74841, "fx":[54.06644,53.32159,45.32113,46.07492], "fy":[1.00986,9.95335,9.27902,0.27484]}, - {"t":1.19414, "x":10.24713, "y":5.12063, "heading":-3.07539, "vx":-1.3504, "vy":-0.1407, "omega":-0.31468, "ax":2.98146, "ay":0.30837, "alpha":1.40784, "fx":[53.17168,52.61435,45.94317,47.06898], "fy":[1.79831,8.98238,8.56638,1.2144]}, - {"t":1.22245, "x":10.21011, "y":5.11677, "heading":-3.08429, "vx":-1.26602, "vy":-0.13197, "omega":-0.27484, "ax":2.98164, "ay":0.30892, "alpha":1.17121, "fx":[52.57826,52.18063,46.82611,47.2248], "fy":[2.31405,8.34407,7.98515,1.95489]}, - {"t":1.25075, "x":10.17547, "y":5.11316, "heading":-3.09207, "vx":-1.18164, "vy":-0.12323, "omega":-0.24169, "ax":2.98178, "ay":0.30938, "alpha":0.95408, "fx":[52.01148,51.70761,47.16268,47.93778], "fy":[2.83624,7.73867,7.53195,2.52199]}, - {"t":1.27905, "x":10.14322, "y":5.1098, "heading":-3.09891, "vx":-1.09725, "vy":-0.11448, "omega":-0.21469, "ax":2.98191, "ay":0.30977, "alpha":0.81401, "fx":[51.67519,51.45341,47.73914,47.96012], "fy":[3.15101,7.36675,7.16507,2.97216]}, - {"t":1.30735, "x":10.11336, "y":5.10668, "heading":-3.10499, "vx":-1.01286, "vy":-0.10571, "omega":-0.19165, "ax":2.98201, "ay":0.31011, "alpha":0.67682, "fx":[51.315,51.14096,47.90155,48.4775], "fy":[3.48876,6.99041,6.88844,3.30995]}, - {"t":1.33565, "x":10.08589, "y":5.10382, "heading":-3.11041, "vx":-0.92846, "vy":-0.09693, "omega":-0.1725, "ax":2.98211, "ay":0.3104, "alpha":0.60002, "fx":[51.14161,51.00953,48.27957,48.41052], "fy":[3.66459,6.78777,6.67061,3.57422]}, - {"t":1.36395, "x":10.06081, "y":5.1012, "heading":-3.11529, "vx":-0.84407, "vy":-0.08815, "omega":-0.15551, "ax":2.98219, "ay":0.31066, "alpha":0.51844, "fx":[50.92128,50.81369,48.32753,48.7842], "fy":[3.86744,6.56778,6.52024,3.75896]}, - {"t":1.39225, "x":10.03812, "y":5.09883, "heading":-3.11969, "vx":-0.75967, "vy":-0.07935, "omega":-0.14084, "ax":2.98226, "ay":0.31089, "alpha":0.48684, "fx":[50.85965,50.77249,48.56666,48.65274], "fy":[3.93821,6.48444,6.41435,3.89267]}, - {"t":1.42055, "x":10.01781, "y":5.09671, "heading":-3.12368, "vx":-0.67527, "vy":-0.07056, "omega":-0.12706, "ax":2.98233, "ay":0.3111, "alpha":0.44785, "fx":[50.744,50.66908,48.53005,48.91272], "fy":[4.03403,6.38042,6.36438,3.96447]}, - {"t":1.44886, "x":9.99989, "y":5.09483, "heading":-3.12727, "vx":-0.59086, "vy":-0.06175, "omega":-0.11439, "ax":2.98239, "ay":0.31128, "alpha":0.45269, "fx":[50.76894,50.70263,48.66144,48.72671], "fy":[4.01567,6.3915,6.35335,3.995]}, - {"t":1.47716, "x":9.98437, "y":5.09321, "heading":-3.13051, "vx":-0.50646, "vy":-0.05294, "omega":-0.10158, "ax":2.98244, "ay":0.31144, "alpha":0.45102, "fx":[50.74274,50.68216,48.55153,48.88678], "fy":[4.01484,6.38655,6.39474,3.97041]}, - {"t":1.50546, "x":9.97123, "y":5.09184, "heading":-3.13339, "vx":-0.42205, "vy":-0.04413, "omega":-0.08881, "ax":2.98248, "ay":0.31159, "alpha":0.49039, "fx":[50.84718,50.78832,48.58662,48.64425], "fy":[3.90898,6.48581,6.47662,3.90509]}, - {"t":1.53376, "x":9.96048, "y":5.09071, "heading":-3.1359, "vx":-0.33764, "vy":-0.03531, "omega":-0.07493, "ax":2.98253, "ay":0.31173, "alpha":0.52667, "fx":[50.90995,50.85304,48.40104,48.70523], "fy":[3.80838,6.57908,6.61477,3.78331]}, - {"t":1.56206, "x":9.95212, "y":5.08984, "heading":-3.13802, "vx":-0.25323, "vy":-0.02649, "omega":-0.06003, "ax":2.98257, "ay":0.31185, "alpha":0.60462, "fx":[51.10223,51.04273,48.33463,48.39231], "fy":[3.6034,6.77537,6.80212,3.61298]}, - {"t":1.59036, "x":9.94614, "y":5.08921, "heading":-3.13972, "vx":-0.16882, "vy":-0.01766, "omega":-0.04292, "ax":2.9826, "ay":0.31197, "alpha":0.69523, "fx":[51.30696,51.2444,48.13138,48.19155], "fy":[3.36404,7.00362,7.0552,3.37872]}, - {"t":1.61866, "x":9.94256, "y":5.08884, "heading":-3.14093, "vx":-0.08441, "vy":-0.00883, "omega":-0.02324, "ax":2.98264, "ay":0.31208, "alpha":0.82124, "fx":[51.53482,51.67494,47.8011,47.86566], "fy":[3.07539,7.26505,7.36757,3.10067]}, - {"t":1.64696, "x":9.94137, "y":5.08871, "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":12.63181, "y":5.33714, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.5815, "ay":-0.48008, "alpha":-54.95768, "fx":[-113.15872,173.81349,-36.39012,-196.3939], "fy":[-163.53734,-95.58569,195.36742,31.7447]}, + {"t":0.0204, "x":12.63128, "y":5.33704, "heading":-1.0472, "vx":-0.05266, "vy":-0.00979, "omega":-1.12112, "ax":-5.84702, "ay":-1.17728, "alpha":-43.01302, "fx":[-158.13421,64.86486,-102.63891,-193.95976], "fy":[-117.44467,-166.27889,167.69816,37.52676]}, + {"t":0.0408, "x":12.62899, "y":5.3366, "heading":-1.07007, "vx":-0.17194, "vy":-0.03381, "omega":-1.99858, "ax":-5.95911, "ay":-0.45555, "alpha":-0.01503, "fx":[-97.3794,-104.35161,-102.52483,-93.08643], "fy":[-10.69231,-13.36205,0.33058,-6.65154]}, + {"t":0.0612, "x":12.62424, "y":5.33581, "heading":-1.11084, "vx":-0.2935, "vy":-0.0431, "omega":-1.99888, "ax":-5.95802, "ay":-0.45503, "alpha":0.0, "fx":[-99.13258,-99.76206,-99.28788,-99.08686], "fy":[-7.86954,-7.76085,-7.24025,-7.46972]}, + {"t":0.0816, "x":12.61701, "y":5.33484, "heading":-1.15162, "vx":-0.41505, "vy":-0.05239, "omega":-1.99888, "ax":-5.95688, "ay":-0.45364, "alpha":0.0, "fx":[-99.25809,-99.38276,-99.33889,-99.21347], "fy":[-7.59949,-7.67628,-7.46335,-7.50905]}, + {"t":0.102, "x":12.60731, "y":5.33368, "heading":-1.19239, "vx":-0.53656, "vy":-0.06164, "omega":-1.99888, "ax":-5.95557, "ay":-0.45278, "alpha":0.0, "fx":[-99.17273,-99.59843,-99.09396,-99.24056], "fy":[-7.69857,-7.58684,-7.41736,-7.48777]}, + {"t":0.1224, "x":12.59512, "y":5.33232, "heading":-1.23317, "vx":-0.65806, "vy":-0.07088, "omega":-1.99888, "ax":-5.95415, "ay":-0.4512, "alpha":0.0, "fx":[-99.24721,-99.26425,-99.25927,-99.24083], "fy":[-7.48254,-7.60177,-7.50337,-7.49761]}, + {"t":0.1428, "x":12.58046, "y":5.33078, "heading":-1.27395, "vx":-0.77952, "vy":-0.08008, "omega":-1.99888, "ax":-5.95253, "ay":-0.45, "alpha":0.0, "fx":[-99.10797,-99.61975,-99.00693,-99.16889], "fy":[-7.67633,-7.5566,-7.35125,-7.421]}, + {"t":0.1632, "x":12.56332, "y":5.32906, "heading":-1.31472, "vx":-0.90095, "vy":-0.08926, "omega":-1.99888, "ax":-5.95075, "ay":-0.44816, "alpha":0.0, "fx":[-99.18708,-99.21075,-99.20606,-99.18063], "fy":[-7.4264,-7.55868,-7.45109,-7.44605]}, + {"t":0.1836, "x":12.5437, "y":5.32714, "heading":-1.3555, "vx":-1.02234, "vy":-0.0984, "omega":-1.99888, "ax":-5.9487, "ay":-0.44646, "alpha":0.0, "fx":[-99.03413,-99.62038,-98.9084,-99.08481], "fy":[-7.62721,-7.51641,-7.2852,-7.34024]}, + {"t":0.204, "x":12.52161, "y":5.32504, "heading":-1.39628, "vx":-1.1437, "vy":-0.10751, "omega":-1.99888, "ax":-5.94637, "ay":-0.44425, "alpha":0.0, "fx":[-99.1111,-99.13958,-99.13638,-99.10568], "fy":[-7.35252,-7.50245,-7.38587,-7.38115]}, + {"t":0.2244, "x":12.49704, "y":5.32276, "heading":-1.43705, "vx":-1.265, "vy":-0.11657, "omega":-1.99888, "ax":-5.94369, "ay":-0.44178, "alpha":0.0, "fx":[-98.93714,-99.62685,-98.77301,-98.97676], "fy":[-7.55661,-7.4608,-7.20216,-7.23738]}, + {"t":0.2448, "x":12.47, "y":5.32029, "heading":-1.47783, "vx":-1.38625, "vy":-0.12559, "omega":-1.99888, "ax":-5.94055, "ay":-0.43908, "alpha":0.0, "fx":[-99.01314,-99.04122,-99.04045,-99.0094], "fy":[-7.25102,-7.42546,-7.30214,-7.29819]}, + {"t":0.2652, "x":12.44048, "y":5.31763, "heading":-1.51861, "vx":-1.50744, "vy":-0.13454, "omega":-1.99888, "ax":-5.93686, "ay":-0.43554, "alpha":0.0, "fx":[-98.84543,-99.49243,-98.65748,-98.86329], "fy":[-7.4043,-7.3568,-7.13633,-7.14379]}, + {"t":0.2856, "x":12.40849, "y":5.3148, "heading":-1.55938, "vx":-1.62855, "vy":-0.14343, "omega":-1.99888, "ax":-5.93241, "ay":-0.4319, "alpha":0.0, "fx":[-98.87591,-98.9051,-98.90645,-98.87402], "fy":[-7.11971,-7.31146,-7.18382,-7.18357]}, + {"t":0.306, "x":12.37404, "y":5.31178, "heading":-1.60016, "vx":-1.74956, "vy":-0.15224, "omega":-1.99888, "ax":-5.92707, "ay":-0.4262, "alpha":0.0, "fx":[-98.67621,-99.39731,-98.45769,-98.67423], "fy":[-7.23148,-7.21621,-6.9905,-6.98019]}, + {"t":0.3264, "x":12.33711, "y":5.30859, "heading":-1.64094, "vx":-1.87048, "vy":-0.16093, "omega":-1.99888, "ax":-5.92025, "ay":-0.42137, "alpha":0.0, "fx":[-98.66914,-98.7039,-98.70798,-98.66998], "fy":[-6.93547,-7.14197,-7.00631,-7.01218]}, + {"t":0.3468, "x":12.29772, "y":5.30522, "heading":-1.68171, "vx":-1.99125, "vy":-0.16953, "omega":-1.99888, "ax":-5.91176, "ay":-0.41205, "alpha":0.0, "fx":[-98.36308,-99.42469,-98.05834,-98.33866], "fy":[-7.0234,-7.02471,-6.7342,-6.69239]}, + {"t":0.3672, "x":12.25587, "y":5.30167, "heading":-1.72249, "vx":-2.11185, "vy":-0.17793, "omega":-1.99888, "ax":-5.90017, "ay":-0.40473, "alpha":0.00001, "fx":[-98.32816,-98.37125,-98.37927,-98.33323], "fy":[-6.65045,-6.87251,-6.72484,-6.7389]}, + {"t":0.38759, "x":12.21156, "y":5.29796, "heading":-1.76327, "vx":-2.23221, "vy":-0.18619, "omega":-1.99888, "ax":-5.88469, "ay":-0.38655, "alpha":0.00001, "fx":[-97.81475,-99.43003,-97.38381,-97.75093], "fy":[-6.62531,-6.66738,-6.28529,-6.19614]}, + {"t":0.40799, "x":12.1648, "y":5.29408, "heading":-1.80404, "vx":-2.35225, "vy":-0.19408, "omega":-1.99888, "ax":-5.86077, "ay":-0.37687, "alpha":0.00001, "fx":[-97.68012,-97.70635,-97.71315,-97.68505], "fy":[-6.21609,-6.36136,-6.26739,-6.28381]}, + {"t":0.42839, "x":12.1156, "y":5.29004, "heading":-1.84482, "vx":-2.47181, "vy":-0.20176, "omega":-1.99888, "ax":-5.82371, "ay":-0.33897, "alpha":0.00002, "fx":[-96.79503,-98.38055,-96.4204,-96.71755], "fy":[-5.78598,-5.8492,-5.53542,-5.43152]}, + {"t":0.44879, "x":12.06396, "y":5.28586, "heading":-1.8856, "vx":-2.59061, "vy":-0.20868, "omega":-1.99888, "ax":-5.75131, "ay":-0.32178, "alpha":0.00004, "fx":[-95.86478,-95.87565,-95.87895,-95.86715], "fy":[-5.32436,-5.40482,-5.35551,-5.37109]}, + {"t":0.46919, "x":12.00992, "y":5.28153, "heading":-1.92637, "vx":-2.70794, "vy":-0.21524, "omega":-1.99888, "ax":-5.55752, "ay":-0.23426, "alpha":0.00012, "fx":[-92.2775,-94.26031,-91.86055,-92.1664], "fy":[-4.01525,-4.12233,-3.80434,-3.67791]}, + {"t":0.48959, "x":11.95352, "y":5.27709, "heading":-1.96715, "vx":-2.82131, "vy":-0.22002, "omega":-1.99888, "ax":-3.46457, "ay":-0.06538, "alpha":0.00052, "fx":[-57.76033,-57.75017,-57.74503,-57.7551], "fy":[-1.08626,-1.07844,-1.09417,-1.10025]}, + {"t":0.50999, "x":11.89525, "y":5.27259, "heading":-2.00793, "vx":-2.89199, "vy":-0.22136, "omega":-1.99887, "ax":-0.84645, "ay":0.04635, "alpha":0.00162, "fx":[-14.03935,-14.38736,-13.98932,-14.0233], "fy":[0.76244,0.74731,0.7819,0.79867]}, + {"t":0.53039, "x":11.83607, "y":5.26809, "heading":-2.0487, "vx":-2.90925, "vy":-0.22041, "omega":-1.99883, "ax":0.15602, "ay":0.11524, "alpha":0.00064, "fx":[2.58443,2.6056,2.61704,2.59586], "fy":[1.90291,1.95984,1.90793,1.91327]}, + {"t":0.55079, "x":11.77676, "y":5.26361, "heading":-2.08948, "vx":-2.90607, "vy":-0.21806, "omega":-1.99882, "ax":0.34494, "ay":-0.08095, "alpha":-0.0006, "fx":[5.7169,5.87032,5.70133,5.71142], "fy":[-1.34686,-1.34036,-1.35182,-1.35822]}, + {"t":0.57119, "x":11.71755, "y":5.25915, "heading":-2.13025, "vx":-2.89903, "vy":-0.21971, "omega":-1.99883, "ax":0.1928, "ay":-0.21957, "alpha":0.00001, "fx":[3.23731,3.20835,3.19034,3.21929], "fy":[-3.62325,-3.71578,-3.63812,-3.66306]}, + {"t":0.59159, "x":11.65845, "y":5.25462, "heading":-2.17103, "vx":-2.8951, "vy":-0.22419, "omega":-1.99883, "ax":0.13821, "ay":-0.28268, "alpha":0.00003, "fx":[2.22149,2.606,2.18258,2.20571], "fy":[-4.70874,-4.6944,-4.71538,-4.72971]}, + {"t":0.61199, "x":11.59942, "y":5.24999, "heading":-2.2118, "vx":-2.89228, "vy":-0.22996, "omega":-1.99883, "ax":0.08574, "ay":-0.4002, "alpha":0.00004, "fx":[1.48004,1.42191,1.37861,1.43674], "fy":[-6.60846,-6.77835,-6.62486,-6.67288]}, + {"t":0.63239, "x":11.54043, "y":5.24521, "heading":-2.25258, "vx":-2.89053, "vy":-0.23812, "omega":-1.99883, "ax":0.03352, "ay":-0.38689, "alpha":0.0, "fx":[0.52885,0.65939,0.52131,0.52546], "fy":[-6.44893,-6.44609,-6.44958,-6.45242]}, + {"t":0.65279, "x":11.48147, "y":5.24028, "heading":-2.29336, "vx":-2.88985, "vy":-0.24601, "omega":-1.99883, "ax":-0.02731, "ay":-0.45408, "alpha":0.00001, "fx":[-0.38677,-0.4596,-0.5237,-0.45086], "fy":[-7.49652,-7.70667,-7.5052,-7.56878]}, + {"t":0.67319, "x":11.42252, "y":5.23516, "heading":-2.33413, "vx":-2.89041, "vy":-0.25528, "omega":-1.99883, "ax":-0.08608, "ay":-0.39011, "alpha":-0.00001, "fx":[-1.3764,-1.61744,-1.37173,-1.37411], "fy":[-6.503,-6.50341,-6.50298,-6.50255]}, + {"t":0.69359, "x":11.36354, "y":5.22987, "heading":-2.37491, "vx":-2.89216, "vy":-0.26323, "omega":-1.99883, "ax":-0.14792, "ay":-0.39603, "alpha":-0.00002, "fx":[-2.39807,-2.46457,-2.53347,-2.46695], "fy":[-6.53841,-6.73375,-6.53634,-6.59801]}, + {"t":0.71399, "x":11.30451, "y":5.22442, "heading":-2.41568, "vx":-2.89518, "vy":-0.27131, "omega":-1.99883, "ax":-0.20503, "ay":-0.28979, "alpha":-0.00005, "fx":[-3.26598,-3.85028,-3.28081,-3.27378], "fy":[-4.83124,-4.82133,-4.83019,-4.84009]}, + {"t":0.73439, "x":11.2454, "y":5.21883, "heading":-2.45646, "vx":-2.89936, "vy":-0.27722, "omega":-1.99883, "ax":-0.27443, "ay":-0.22983, "alpha":-0.00002, "fx":[-4.53298,-4.57054,-4.61638,-4.57882], "fy":[-3.79687,-3.91109,-3.79066,-3.82598]}, + {"t":0.75479, "x":11.1862, "y":5.21312, "heading":-2.49723, "vx":-2.90496, "vy":-0.28191, "omega":-1.99883, "ax":-0.44533, "ay":-0.08019, "alpha":0.00059, "fx":[-7.33116,-7.66566,-7.35309,-7.34361], "fy":[-1.33886,-1.32104,-1.3345,-1.35244]}, + {"t":0.77519, "x":11.12685, "y":5.20736, "heading":-2.53801, "vx":-2.91405, "vy":-0.28355, "omega":-1.99882, "ax":-0.34357, "ay":0.04587, "alpha":-0.00033, "fx":[-5.73052,-5.72762,-5.72371,-5.72661], "fy":[0.75934,0.7745,0.75345,0.77103]}, + {"t":0.79559, "x":11.06733, "y":5.20158, "heading":-2.57878, "vx":-2.92105, "vy":-0.28261, "omega":-1.99883, "ax":0.41294, "ay":0.25988, "alpha":-0.00168, "fx":[6.83648,6.96618,6.87273,6.85855], "fy":[4.3342,4.32592,4.3311,4.33708]}, + {"t":0.81599, "x":11.00783, "y":5.19587, "heading":-2.61956, "vx":-2.91263, "vy":-0.27731, "omega":-1.99886, "ax":3.12012, "ay":0.50762, "alpha":-0.00067, "fx":[51.95257,51.99532,52.06982,52.02611], "fy":[8.41076,8.60167,8.3623,8.4726]}, + {"t":0.83639, "x":10.94906, "y":5.19032, "heading":-2.66034, "vx":-2.84898, "vy":-0.26696, "omega":-1.99888, "ax":5.39111, "ay":0.60959, "alpha":-0.00014, "fx":[89.15833,91.48427,89.46646,89.3595], "fy":[10.21918,9.98975,10.11815,10.31889]}, + {"t":0.85679, "x":10.89206, "y":5.185, "heading":-2.70111, "vx":-2.739, "vy":-0.25452, "omega":-1.99888, "ax":5.69813, "ay":0.675, "alpha":-0.00004, "fx":[94.90636,94.95428,95.06562,95.01412], "fy":[11.19741,11.43219,11.14488,11.23317]}, + {"t":0.87719, "x":10.83737, "y":5.17995, "heading":-2.74189, "vx":-2.62276, "vy":-0.24075, "omega":-1.99888, "ax":5.79304, "ay":0.58529, "alpha":-0.00002, "fx":[96.08037,97.85399,96.18105,96.15322], "fy":[9.86069,9.48586,9.67761,10.00177]}, + {"t":0.89759, "x":10.78507, "y":5.17516, "heading":-2.78267, "vx":-2.50459, "vy":-0.22881, "omega":-1.99888, "ax":5.83512, "ay":0.60686, "alpha":0.00024, "fx":[96.88617,97.06858,97.63794,97.4819], "fy":[9.98636,10.51904,10.25925,9.69986]}, + {"t":0.91799, "x":10.73519, "y":5.17062, "heading":-2.82344, "vx":-2.38555, "vy":-0.21643, "omega":-1.99888, "ax":5.86413, "ay":0.5663, "alpha":18.6351, "fx":[142.19376,123.58806,45.56092,79.66626], "fy":[-19.04498,65.82536,56.02498,-65.04587]}, + {"t":0.93839, "x":10.68775, "y":5.16632, "heading":-2.86422, "vx":-2.26593, "vy":-0.20488, "omega":-1.61872, "ax":2.92701, "ay":0.27696, "alpha":12.06761, "fx":[83.3165,68.65568,12.96329,30.23196], "fy":[-15.27212,40.91295,26.93841,-34.11188]}, + {"t":0.96761, "x":10.62279, "y":5.16045, "heading":-2.91152, "vx":-2.1804, "vy":-0.19679, "omega":-1.2661, "ax":2.9732, "ay":0.27372, "alpha":8.84905, "fx":[74.06629,64.74297,23.73634,35.7014], "fy":[-11.48917,30.73722,22.37037,-23.36741]}, + {"t":0.99683, "x":10.56034, "y":5.15482, "heading":-2.94852, "vx":-2.09352, "vy":-0.18879, "omega":-1.00752, "ax":2.97829, "ay":0.2718, "alpha":6.70679, "fx":[67.86118,61.83026,31.11575,37.77938], "fy":[-8.5786,24.1175,18.60652,-16.02253]}, + {"t":1.02605, "x":10.50044, "y":5.14942, "heading":-2.97796, "vx":-2.00649, "vy":-0.18085, "omega":-0.81154, "ax":2.98077, "ay":0.27086, "alpha":5.10159, "fx":[63.27346,59.17349,35.39947,40.90584], "fy":[-5.94947,19.20572,15.63051,-10.8264]}, + {"t":1.05527, "x":10.44308, "y":5.14425, "heading":-3.00167, "vx":-1.91939, "vy":-0.17293, "omega":-0.66247, "ax":2.98225, "ay":0.27031, "alpha":3.9533, "fx":[60.102,57.3702,39.24646,42.13174], "fy":[-3.94917,15.77846,13.28332,-7.08904]}, + {"t":1.08449, "x":10.38827, "y":5.13931, "heading":-3.02103, "vx":-1.83224, "vy":-0.16503, "omega":-0.54695, "ax":2.98322, "ay":0.26994, "alpha":3.04721, "fx":[57.59825,55.68224,41.42541,44.2094], "fy":[-2.19906,13.09955,11.46222,-4.3637]}, + {"t":1.11371, "x":10.336, "y":5.1346, "heading":-3.03701, "vx":-1.74507, "vy":-0.15714, "omega":-0.45791, "ax":2.98391, "ay":0.26968, "alpha":2.4044, "fx":[55.89911,54.59031,43.56192,44.91007], "fy":[-0.93367,11.22635,10.02975,-2.34077]}, + {"t":1.14293, "x":10.28628, "y":5.13013, "heading":-3.05039, "vx":-1.65788, "vy":-0.14926, "omega":-0.38765, "ax":2.98443, "ay":0.26948, "alpha":1.87281, "fx":[54.46453,53.52032,44.71975,46.29126], "fy":[0.18658,9.70282,8.91603,-0.83681]}, + {"t":1.17215, "x":10.23911, "y":5.12588, "heading":-3.06172, "vx":-1.57067, "vy":-0.14139, "omega":-0.33292, "ax":2.98483, "ay":0.26933, "alpha":1.50348, "fx":[53.52864,52.87018,45.9777,46.64605], "fy":[0.97036,8.64492,8.03512,0.30817]}, + {"t":1.20138, "x":10.19449, "y":5.12186, "heading":-3.07145, "vx":-1.48345, "vy":-0.13352, "omega":-0.28899, "ax":2.98515, "ay":0.26921, "alpha":1.18168, "fx":[52.67364,52.18727,46.6048,47.57817], "fy":[1.68902,7.74154,7.35061,1.16933]}, + {"t":1.2306, "x":10.15242, "y":5.11808, "heading":-3.07989, "vx":-1.39622, "vy":-0.12565, "omega":-0.25446, "ax":2.98541, "ay":0.26911, "alpha":0.96737, "fx":[52.15283,51.80759,47.37672,47.72416], "fy":[2.16287,7.13235,6.8096,1.83911]}, + {"t":1.25982, "x":10.11289, "y":5.11452, "heading":-3.08733, "vx":-1.30899, "vy":-0.11779, "omega":-0.22619, "ax":2.98563, "ay":0.26903, "alpha":0.76979, "fx":[51.62928,51.36846,47.70964,48.3684], "fy":[2.61695,6.58987,6.39126,2.34039]}, + {"t":1.28904, "x":10.07592, "y":5.11119, "heading":-3.09394, "vx":-1.22174, "vy":-0.10993, "omega":-0.2037, "ax":2.98581, "ay":0.26896, "alpha":0.64795, "fx":[51.34795,51.15879,48.19603,48.38525], "fy":[2.89569,6.24324,6.06257,2.73233]}, + {"t":1.31826, "x":10.04149, "y":5.1081, "heading":-3.09989, "vx":-1.1345, "vy":-0.10207, "omega":-0.18477, "ax":2.98597, "ay":0.2689, "alpha":0.52781, "fx":[51.02655,50.87962,48.3556,48.83673], "fy":[3.1761,5.91887,5.81647,3.01844]}, + {"t":1.34748, "x":10.00962, "y":5.10523, "heading":-3.10529, "vx":-1.04724, "vy":-0.09421, "omega":-0.16934, "ax":2.9861, "ay":0.26885, "alpha":0.46458, "fx":[50.8916,50.7814,48.6624,48.77216], "fy":[3.32333,5.73503,5.63003,3.23806]}, + {"t":1.3767, "x":9.98029, "y":5.10259, "heading":-3.11024, "vx":-0.95999, "vy":-0.08635, "omega":-0.15577, "ax":2.98622, "ay":0.26881, "alpha":0.39661, "fx":[50.70352,50.61396,48.71068,49.08733], "fy":[3.4818,5.55533,5.50232,3.38401]}, + {"t":1.40592, "x":9.95351, "y":5.10018, "heading":-3.11479, "vx":-0.87273, "vy":-0.0785, "omega":-0.14418, "ax":2.98633, "ay":0.26877, "alpha":0.37406, "fx":[50.66583,50.59462,48.89568,48.96636], "fy":[3.5322,5.48375,5.41907,3.4858]}, + {"t":1.43514, "x":9.92929, "y":5.098, "heading":-3.119, "vx":-0.78546, "vy":-0.07065, "omega":-0.13325, "ax":2.98642, "ay":0.26873, "alpha":0.34522, "fx":[50.57594,50.51386,48.86269,49.17621], "fy":[3.59546,5.40902,5.38314,3.53085]}, + {"t":1.46436, "x":9.90761, "y":5.09605, "heading":-3.1229, "vx":-0.6982, "vy":-0.06279, "omega":-0.12316, "ax":2.9865, "ay":0.2687, "alpha":0.35465, "fx":[50.61127,50.55755,48.95617,49.00927], "fy":[3.56602,5.42568,5.38449,3.54017]}, + {"t":1.49358, "x":9.88848, "y":5.09433, "heading":-3.12649, "vx":-0.61093, "vy":-0.05494, "omega":-0.1128, "ax":2.98658, "ay":0.26867, "alpha":0.3599, "fx":[50.60567,50.55495,48.85242,49.12622], "fy":[3.54425,5.43833,5.43128,3.50062]}, + {"t":1.52281, "x":9.87191, "y":5.09284, "heading":-3.12979, "vx":-0.52366, "vy":-0.04709, "omega":-0.10228, "ax":2.98665, "ay":0.26865, "alpha":0.39896, "fx":[50.70564,50.65788,48.86658,48.91367], "fy":[3.43743,5.53544,5.51516,3.42473]}, + {"t":1.55203, "x":9.85788, "y":5.09158, "heading":-3.13278, "vx":-0.43639, "vy":-0.03924, "omega":-0.09062, "ax":2.98671, "ay":0.26862, "alpha":0.43929, "fx":[50.78598,50.73776,48.68804,48.9361], "fy":[3.32893,5.6353,5.64843,3.29856]}, + {"t":1.58125, "x":9.8464, "y":5.09055, "heading":-3.13543, "vx":-0.34911, "vy":-0.03139, "omega":-0.07779, "ax":2.98676, "ay":0.2686, "alpha":0.51128, "fx":[50.95522,50.90701,48.62108,48.66832], "fy":[3.13121,5.82149,5.82725,3.12985]}, + {"t":1.61047, "x":9.83748, "y":5.08975, "heading":-3.1377, "vx":-0.26184, "vy":-0.02354, "omega":-0.06285, "ax":2.98681, "ay":0.26858, "alpha":0.59357, "fx":[51.13694,51.08607,48.35035,48.5817], "fy":[2.91688,6.02363,6.06665,2.90136]}, + {"t":1.63969, "x":9.8311, "y":5.08917, "heading":-3.13954, "vx":-0.17456, "vy":-0.01569, "omega":-0.0455, "ax":2.98686, "ay":0.26856, "alpha":0.70733, "fx":[51.39419,51.3408,48.18583,48.2374], "fy":[2.60541,6.32131,6.36657,2.61401]}, + {"t":1.66891, "x":9.82728, "y":5.08883, "heading":-3.14087, "vx":-0.08728, "vy":-0.00785, "omega":-0.02483, "ax":2.98691, "ay":0.26855, "alpha":0.84987, "fx":[51.70995,51.81079,47.79262,47.84778], "fy":[2.29805,6.60194,6.68966,2.31658]}, + {"t":1.69813, "x":9.826, "y":5.08871, "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/OppGToOppBarge.traj b/src/main/deploy/choreo/OppGToOppBarge.traj index 5c8a4ffa..234436b5 100644 --- a/src/main/deploy/choreo/OppGToOppBarge.traj +++ b/src/main/deploy/choreo/OppGToOppBarge.traj @@ -5,8 +5,8 @@ "waypoints":[ {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":11.333887100219728, "y":4.521003246307373, "heading":-0.9827950870986544, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.47326946258545, "y":5.011077404022217, "heading":-3.0750240485246456, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.94136617279053, "y":5.08871412277, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":10.47326946258545, "y":5.011077404022217, "heading":-3.0750240485246456, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.826, "y":5.08871412277, "heading":3.141592653589793, "intervals":27, "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}, @@ -17,8 +17,8 @@ "waypoints":[ {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"11.333887100219727 m", "val":11.333887100219728}, "y":{"exp":"4.521003246307373 m", "val":4.521003246307373}, "heading":{"exp":"-0.9827950870986543 rad", "val":-0.9827950870986544}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.47326946258545 m", "val":10.47326946258545}, "y":{"exp":"5.011077404022217 m", "val":5.011077404022217}, "heading":{"exp":"-3.0750240485246456 rad", "val":-3.0750240485246456}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FieldMaxX - barge.x", "val":9.94136617279053}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"10.47326946258545 m", "val":10.47326946258545}, "y":{"exp":"5.011077404022217 m", "val":5.011077404022217}, "heading":{"exp":"-3.0750240485246456 rad", "val":-3.0750240485246456}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - barge.x", "val":9.826}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":27, "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}, @@ -30,58 +30,59 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.3065,0.79386,1.09572], + "waypoints":[0.0,0.30677,0.79439,1.12781], "samples":[ - {"t":0.0, "x":11.69868, "y":4.3309, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.56851, "ay":1.95943, "alpha":-36.44427, "fx":[-119.54369,-28.61858,-159.43921,-197.05242], "fy":[-157.31526,196.88303,119.28317,-28.20004]}, - {"t":0.02043, "x":11.6971, "y":4.33131, "heading":0.0, "vx":-0.15465, "vy":0.04004, "omega":-0.74467, "ax":-7.8466, "ay":2.19011, "alpha":-34.67992, "fx":[-134.77112,-31.73368,-159.32042,-197.37085], "fy":[-144.14369,196.35333,119.38856,-25.56556]}, - {"t":0.04087, "x":11.6923, "y":4.33258, "heading":-0.01522, "vx":-0.31498, "vy":0.08479, "omega":-1.45329, "ax":-8.10301, "ay":2.5215, "alpha":-32.84622, "fx":[-150.37063,-33.81418,-158.25187,-197.8566], "fy":[-127.51157,195.93563,120.73447,-21.02977]}, - {"t":0.0613, "x":11.68417, "y":4.33484, "heading":-0.04491, "vx":-0.48055, "vy":0.13631, "omega":-2.12444, "ax":-8.31935, "ay":2.93923, "alpha":-31.01113, "fx":[-164.63804,-35.42147,-156.27832,-198.38024], "fy":[-108.25895,195.55476,123.19227,-14.50604]}, - {"t":0.08173, "x":11.67262, "y":4.33824, "heading":-0.08832, "vx":-0.65054, "vy":0.19637, "omega":-2.7581, "ax":-8.49844, "ay":3.44315, "alpha":-29.08487, "fx":[-177.04871,-37.42509,-153.44056,-198.7452], "fy":[-86.29197,195.04411,126.59443,-5.76403]}, - {"t":0.10217, "x":11.65755, "y":4.34297, "heading":-0.14468, "vx":-0.82419, "vy":0.26672, "omega":-3.35239, "ax":-8.65763, "ay":4.05765, "alpha":-26.78456, "fx":[-187.51985,-41.31699,-149.80576,-198.63138], "fy":[-59.92203,194.0545,130.71372,5.71034]}, - {"t":0.1226, "x":11.6389, "y":4.34927, "heading":-0.21318, "vx":-1.00109, "vy":0.34963, "omega":-3.89969, "ax":-8.81688, "ay":4.83573, "alpha":-23.57401, "fx":[-195.04615,-49.89316,-145.54293,-197.41031], "fy":[-25.55935,191.7134,135.19657,21.08641]}, - {"t":0.14303, "x":11.6166, "y":4.35742, "heading":-0.29286, "vx":-1.18125, "vy":0.44844, "omega":-4.38138, "ax":-8.97393, "ay":5.85576, "alpha":-18.47921, "fx":[-195.22172,-68.59378,-141.15193,-193.39701], "fy":[22.37468,185.32335,139.34049,43.41222]}, - {"t":0.16347, "x":11.59059, "y":4.36781, "heading":-0.38238, "vx":-1.36461, "vy":0.56809, "omega":-4.75897, "ax":-8.98769, "ay":7.1647, "alpha":-9.72658, "fx":[-175.44503,-106.13442,-138.46724,-179.23496], "fy":[88.03022,165.79,141.01483,82.89329]}, - {"t":0.1839, "x":11.56084, "y":4.38091, "heading":-0.47963, "vx":-1.54826, "vy":0.71449, "omega":-4.95771, "ax":-7.71037, "ay":8.53257, "alpha":8.11245, "fx":[-117.57076,-160.01525,-150.39671,-86.12977], "fy":[157.26385,113.27989,123.15321,175.2385]}, - {"t":0.20433, "x":11.52759, "y":4.39729, "heading":-0.58093, "vx":-1.70581, "vy":0.88884, "omega":-4.79195, "ax":-6.26484, "ay":7.15306, "alpha":25.25478, "fx":[-85.99312,-175.63251,-183.84568,27.7435], "fy":[175.74429,84.93877,25.47117,190.79834]}, - {"t":0.22476, "x":11.49143, "y":4.41695, "heading":-0.67884, "vx":-1.83382, "vy":1.035, "omega":-4.27591, "ax":-6.21644, "ay":7.04032, "alpha":24.92606, "fx":[-82.50853,-170.88073,-180.36944,19.25871], "fy":[174.62953,88.84122,19.41442,186.54984]}, - {"t":0.2452, "x":11.45266, "y":4.43957, "heading":-0.76621, "vx":-1.96084, "vy":1.17885, "omega":-3.76659, "ax":-5.21918, "ay":7.35286, "alpha":22.46614, "fx":[-64.9252,-153.44687,-155.81017,26.17724], "fy":[173.58143,101.72656,43.25561,171.71111]}, - {"t":0.26563, "x":11.4115, "y":4.46519, "heading":-0.84318, "vx":-2.06748, "vy":1.3291, "omega":-3.30754, "ax":7.90761, "ay":3.30951, "alpha":-10.66471, "fx":[144.77862,154.78067,122.28046,105.42432], "fy":[1.20384,43.09848,98.28719,78.08194]}, - {"t":0.28606, "x":11.37091, "y":4.49304, "heading":-0.91076, "vx":-1.90591, "vy":1.39672, "omega":-3.52545, "ax":9.20883, "ay":-2.74865, "alpha":-18.9264, "fx":[126.9862,185.60345,170.7328,130.70476], "fy":[-136.6181,-38.1887,70.95783,-79.42601]}, - {"t":0.3065, "x":11.33389, "y":4.521, "heading":-0.9828, "vx":-1.71774, "vy":1.34056, "omega":-3.91218, "ax":8.76234, "ay":-4.09421, "alpha":-18.98055, "fx":[112.36,180.24153,178.63396,113.02076], "fy":[-149.63657,-59.03784,46.99635,-111.31576]}, - {"t":0.32769, "x":11.29946, "y":4.54849, "heading":-1.06569, "vx":-1.53207, "vy":1.2538, "omega":-4.31437, "ax":7.34855, "ay":-6.21588, "alpha":-18.55347, "fx":[83.94434,161.86736,179.083,65.09249], "fy":[-164.83068,-93.56008,-7.05875,-149.01375]}, - {"t":0.34888, "x":11.26864, "y":4.57366, "heading":-1.15711, "vx":-1.37636, "vy":1.12209, "omega":-4.70752, "ax":5.31228, "ay":-7.95252, "alpha":-17.38243, "fx":[48.32784,132.74426,158.48692,14.65368], "fy":[-175.61613,-126.34668,-65.38554,-162.91024]}, - {"t":0.37007, "x":11.24067, "y":4.59565, "heading":-1.25686, "vx":-1.26379, "vy":0.95358, "omega":-5.07584, "ax":2.53603, "ay":-9.12547, "alpha":-15.18949, "fx":[5.83003,90.32737,108.35019,-35.40996], "fy":[-178.11602,-153.25197,-118.53941,-158.56135]}, - {"t":0.39126, "x":11.21446, "y":4.61381, "heading":-1.36442, "vx":-1.21005, "vy":0.76021, "omega":-5.39771, "ax":-1.00929, "ay":-9.28684, "alpha":-11.38759, "fx":[-41.14435,29.60066,22.3119,-78.06555], "fy":[-166.94003,-166.59651,-146.74015,-138.95181]}, - {"t":0.41245, "x":11.18859, "y":4.62783, "heading":-1.4788, "vx":-1.23144, "vy":0.56342, "omega":-5.63901, "ax":-4.99258, "ay":-7.56625, "alpha":-5.1473, "fx":[-89.83771,-60.71136,-76.30553,-106.0408], "fy":[-131.17404,-141.59085,-122.12766,-109.61048]}, - {"t":0.43364, "x":11.16138, "y":4.63807, "heading":-1.59829, "vx":-1.33723, "vy":0.4031, "omega":-5.74808, "ax":-8.1009, "ay":-2.08264, "alpha":4.73973, "fx":[-131.29446,-143.90604,-139.5014,-125.45075], "fy":[-20.2735,-16.33243,-46.92201,-55.33859]}, - {"t":0.45483, "x":11.13122, "y":4.64615, "heading":-1.72009, "vx":-1.50889, "vy":0.35897, "omega":-5.64764, "ax":-6.23544, "ay":5.78221, "alpha":10.95837, "fx":[-60.92838,-112.08535,-141.90296,-100.8504], "fy":[135.9113,115.97714,60.05646,73.6019]}, - {"t":0.47602, "x":11.09785, "y":4.65505, "heading":-1.83976, "vx":-1.64101, "vy":0.48149, "omega":-5.41544, "ax":-1.64136, "ay":9.50574, "alpha":9.20548, "fx":[15.89304,-43.80691,-78.633,-2.8958], "fy":[168.98218,167.41153,143.7895,153.64108]}, - {"t":0.4972, "x":11.06271, "y":4.66739, "heading":-1.95451, "vx":-1.67579, "vy":0.68291, "omega":-5.22038, "ax":1.13414, "ay":9.85865, "alpha":6.9397, "fx":[50.43639,2.86496,-19.46939,41.79054], "fy":[164.10037,173.27342,164.16332,155.81901]}, - {"t":0.51839, "x":11.02745, "y":4.68407, "heading":-2.06513, "vx":-1.65176, "vy":0.89182, "omega":-5.07333, "ax":3.31519, "ay":9.12617, "alpha":4.31442, "fx":[73.46737,44.15167,34.32763,69.10388], "fy":[148.66326,160.62065,156.34087,142.89053]}, - {"t":0.53958, "x":10.9932, "y":4.70502, "heading":-2.17263, "vx":-1.58151, "vy":1.0852, "omega":-4.9819, "ax":5.39996, "ay":7.76007, "alpha":1.02111, "fx":[93.78177,87.27367,86.11748,92.88636], "fy":[127.87974,132.39406,130.92488,126.22795]}, - {"t":0.56077, "x":10.9609, "y":4.72976, "heading":-2.2782, "vx":-1.46709, "vy":1.24963, "omega":-4.96027, "ax":6.35533, "ay":6.34639, "alpha":-0.14803, "fx":[105.45378,106.2676,106.4247,105.61504], "fy":[106.03913,105.25903,105.54547,106.32116]}, - {"t":0.58196, "x":10.93124, "y":4.75766, "heading":-2.3833, "vx":-1.33242, "vy":1.38411, "omega":-4.9634, "ax":-1.64207, "ay":2.2294, "alpha":14.59498, "fx":[25.52615,-25.27842,-76.21233,-33.52558], "fy":[40.78202,84.52479,38.06522,-14.71996]}, - {"t":0.60315, "x":10.90264, "y":4.78749, "heading":-2.48848, "vx":-1.36722, "vy":1.43135, "omega":-4.65414, "ax":-7.80102, "ay":-2.78201, "alpha":19.91981, "fx":[-77.10885,-146.08647,-172.13921,-124.82243], "fy":[-103.40776,58.00329,-24.02837,-116.06592]}, - {"t":0.62434, "x":10.87191, "y":4.8172, "heading":-2.5871, "vx":-1.53252, "vy":1.3724, "omega":-4.23204, "ax":-8.96002, "ay":-2.85728, "alpha":19.2033, "fx":[-106.89997,-163.05839,-183.91969,-143.55868], "fy":[-120.96871,61.12631,-16.93877,-113.73693]}, - {"t":0.64553, "x":10.83743, "y":4.84564, "heading":-2.67677, "vx":-1.72238, "vy":1.31186, "omega":-3.82513, "ax":-9.54424, "ay":-2.56825, "alpha":18.52404, "fx":[-123.60021,-168.94106,-188.63714,-155.21303], "fy":[-122.18766,64.4838,-7.65018,-105.89199]}, - {"t":0.66672, "x":10.79879, "y":4.87286, "heading":-2.75782, "vx":-1.92462, "vy":1.25743, "omega":-3.43261, "ax":-9.88068, "ay":-2.37937, "alpha":18.00977, "fx":[-132.45128,-172.7946,-190.99834,-162.58032], "fy":[-122.76525,64.32009,-0.93001,-99.27641]}, - {"t":0.68791, "x":10.75579, "y":4.89897, "heading":-2.83056, "vx":-2.13399, "vy":1.20702, "omega":-3.05099, "ax":-10.06623, "ay":-2.39343, "alpha":17.66089, "fx":[-135.30152,-176.71312,-192.42357,-166.75843], "fy":[-126.20089,59.85933,2.3625,-95.61009]}, - {"t":0.7091, "x":10.70831, "y":4.92401, "heading":-2.89521, "vx":-2.34729, "vy":1.1563, "omega":-2.67676, "ax":-10.13647, "ay":-2.62675, "alpha":17.46769, "fx":[-132.99272,-181.01677,-193.48503,-168.38611], "fy":[-133.15863,51.05966,2.31669,-95.36418]}, - {"t":0.73029, "x":10.6563, "y":4.94792, "heading":-2.95193, "vx":-2.56208, "vy":1.10064, "omega":-2.30663, "ax":-10.09874, "ay":-3.0536, "alpha":17.42893, "fx":[-125.88628,-185.25134,-194.35514,-167.87203], "fy":[-143.12929,38.31814,-0.45375,-98.34318]}, - {"t":0.75148, "x":10.59974, "y":4.97056, "heading":-3.00081, "vx":-2.77607, "vy":1.03594, "omega":-1.93731, "ax":-9.94876, "ay":-3.61988, "alpha":17.56134, "fx":[-114.17545,-188.63534,-195.02742,-165.52596], "fy":[-155.00348,22.45519,-4.91977,-103.89852]}, - {"t":0.77267, "x":10.53868, "y":4.99169, "heading":-3.04186, "vx":-2.98688, "vy":0.95923, "omega":-1.56519, "ax":-9.44674, "ay":-4.19756, "alpha":19.79572, "fx":[-85.74907,-189.00576,-195.65615,-159.47928], "fy":[-174.10093,15.29586,-6.72357,-114.3568]}, - {"t":0.79386, "x":10.47327, "y":5.01108, "heading":-3.07502, "vx":-3.18705, "vy":0.87029, "omega":-1.14572, "ax":0.26045, "ay":-9.90462, "alpha":23.40355, "fx":[66.13386,128.01906,-124.21149,-52.5752], "fy":[-184.10682,-141.76513,-146.04834,-188.50084]}, - {"t":0.8213, "x":10.38591, "y":5.03123, "heading":-3.10646, "vx":-3.17991, "vy":0.59849, "omega":-0.50349, "ax":10.0932, "ay":-5.69215, "alpha":7.73236, "fx":[166.64922,189.75439,178.07462,138.51669], "fy":[-105.6121,-52.84373,-81.46485,-139.62096]}, - {"t":0.84874, "x":10.30245, "y":5.04551, "heading":-3.12028, "vx":-2.90293, "vy":0.44228, "omega":-0.2913, "ax":11.30994, "ay":-3.43311, "alpha":3.89336, "fx":[186.15384,194.718,192.69435,180.5588], "fy":[-67.69805,-35.99074,-44.35011,-80.87441]}, - {"t":0.87619, "x":10.22705, "y":5.05635, "heading":-3.12828, "vx":-2.59257, "vy":0.34807, "omega":-0.18446, "ax":11.61397, "ay":-2.50813, "alpha":2.3417, "fx":[192.14783,196.28314,195.5638,190.40209], "fy":[-49.62304,-29.11445,-32.92707,-55.57243]}, - {"t":0.90363, "x":10.16027, "y":5.06496, "heading":-3.13334, "vx":-2.27386, "vy":0.27925, "omega":-0.1202, "ax":11.73478, "ay":-2.01958, "alpha":1.53942, "fx":[194.72378,197.0242,196.68623,194.01823], "fy":[-39.35747,-25.38231,-27.47502,-42.44666]}, - {"t":0.93107, "x":10.10229, "y":5.07186, "heading":-3.13664, "vx":-1.95184, "vy":0.22383, "omega":-0.07796, "ax":11.79596, "ay":-1.7197, "alpha":1.05267, "fx":[196.07106,197.45095,197.26886,195.74103], "fy":[-32.79472,-23.03857,-24.29676,-34.53647]}, - {"t":0.95851, "x":10.05317, "y":5.07736, "heading":-3.13878, "vx":-1.62814, "vy":0.17663, "omega":-0.04907, "ax":11.83178, "ay":-1.51742, "alpha":0.72649, "fx":[196.86986,197.72669,197.62162,196.70236], "fy":[-28.2528,-21.42993,-22.21894,-29.27701]}, - {"t":0.98595, "x":10.01295, "y":5.08164, "heading":-3.14012, "vx":-1.30345, "vy":0.13499, "omega":-0.02914, "ax":11.85487, "ay":-1.37193, "alpha":0.49283, "fx":[197.38613,197.91886,197.85686,197.29811], "fy":[-24.92857,-20.25773,-20.75532,-25.53581]}, - {"t":1.01339, "x":9.98164, "y":5.08482, "heading":-3.14092, "vx":-0.97814, "vy":0.09735, "omega":-0.01561, "ax":11.87079, "ay":-1.26232, "alpha":0.31727, "fx":[197.74142,198.06016,198.02444,197.69577], "fy":[-22.39288,-19.36596,-19.66872,-22.74148]}, - {"t":1.04084, "x":9.95927, "y":5.08702, "heading":-3.14135, "vx":-0.65238, "vy":0.06271, "omega":-0.00691, "ax":11.88235, "ay":-1.17681, "alpha":0.18055, "fx":[197.99785,198.16825,198.14968,197.97627], "fy":[-20.39632,-18.66509,-18.82994,-20.57611]}, - {"t":1.06828, "x":9.94584, "y":5.0883, "heading":-3.14154, "vx":-0.32631, "vy":0.03041, "omega":-0.00195, "ax":11.89106, "ay":-1.10826, "alpha":0.07109, "fx":[198.18996,198.25353,198.24675,198.18274], "fy":[-18.78432,-18.10003,-18.16269,-18.8493]}, - {"t":1.09572, "x":9.94137, "y":5.08871, "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":11.69868, "y":4.3309, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.64651, "ay":1.98617, "alpha":-36.04913, "fx":[-122.88069,-30.09616,-159.82774,-197.04998], "fy":[-154.76678,196.66105,118.76195,-28.22204]}, + {"t":0.02045, "x":11.69708, "y":4.33132, "heading":0.0, "vx":-0.15638, "vy":0.04062, "omega":-0.73725, "ax":-7.91136, "ay":2.21277, "alpha":-34.3421, "fx":[-137.29655,-33.14697,-159.70876,-197.36174], "fy":[-141.80121,196.11798,118.8684,-25.64173]}, + {"t":0.0409, "x":11.69223, "y":4.33261, "heading":-0.01508, "vx":-0.31818, "vy":0.08587, "omega":-1.43959, "ax":-8.15259, "ay":2.53431, "alpha":-32.59, "fx":[-151.92816,-35.17625,-158.65432,-197.8403], "fy":[-125.72565,195.69371,120.20486,-21.19007]}, + {"t":0.06135, "x":11.68401, "y":4.3349, "heading":-0.04452, "vx":-0.48491, "vy":0.1377, "omega":-2.1061, "ax":-8.35563, "ay":2.93822, "alpha":-30.84213, "fx":[-165.33984,-36.73082,-156.70606,-198.36089], "fy":[-107.26448,195.31072,122.64726,-14.77854]}, + {"t":0.08181, "x":11.67235, "y":4.33833, "heading":-0.08759, "vx":-0.65579, "vy":0.19779, "omega":-2.73686, "ax":-8.52505, "ay":3.42663, "alpha":-28.99761, "fx":[-177.1432,-38.65719,-153.90002,-198.73346], "fy":[-86.17909,194.80074,126.03473,-6.17553]}, + {"t":0.10226, "x":11.65715, "y":4.34309, "heading":-0.14356, "vx":-0.83014, "vy":0.26787, "omega":-3.3299, "ax":-8.67825, "ay":4.02534, "alpha":-26.77263, "fx":[-187.29678,-42.40951,-150.29548,-198.64744], "fy":[-60.69398,193.81476,130.14906,5.13239]}, + {"t":0.12271, "x":11.63836, "y":4.34941, "heading":-0.21167, "vx":-1.00762, "vy":0.3502, "omega":-3.87744, "ax":-8.83496, "ay":4.78882, "alpha":-23.63427, "fx":[-194.84118,-50.71964,-146.04632,-197.49107], "fy":[-27.14256,191.49038,134.65024,20.31103]}, + {"t":0.14316, "x":11.61591, "y":4.35757, "heading":-0.29096, "vx":-1.18831, "vy":0.44813, "omega":-4.36079, "ax":-8.99253, "ay":5.80046, "alpha":-18.60622, "fx":[-195.43385,-68.93664,-141.61699,-193.61683], "fy":[20.30896,185.18424,138.86264,42.4076]}, + {"t":0.16361, "x":11.58972, "y":4.36795, "heading":-0.38015, "vx":-1.37222, "vy":0.56676, "omega":-4.74131, "ax":-9.00562, "ay":7.12247, "alpha":-9.88873, "fx":[-176.15175,-105.8358,-138.73317,-179.75703], "fy":[86.50478,165.94685,140.73731,81.72365]}, + {"t":0.18406, "x":11.55978, "y":4.38103, "heading":-0.47711, "vx":-1.5564, "vy":0.71243, "omega":-4.94355, "ax":-7.6892, "ay":8.54654, "alpha":8.09243, "fx":[-117.36153,-159.74974,-149.82879,-85.76087], "fy":[157.33952,113.52506,123.67373,175.32858]}, + {"t":0.20451, "x":11.52634, "y":4.39739, "heading":-0.57822, "vx":-1.71365, "vy":0.88721, "omega":-4.77805, "ax":-6.19277, "ay":7.2166, "alpha":25.08967, "fx":[-84.88902,-174.97574,-182.49768,29.44067], "fy":[176.13298,85.87586,28.81022,190.36991]}, + {"t":0.22496, "x":11.49, "y":4.41704, "heading":-0.67593, "vx":-1.8403, "vy":1.0348, "omega":-4.26493, "ax":-6.01527, "ay":7.20236, "alpha":24.57254, "fx":[-79.1792,-168.65509,-177.19013,23.93792], "fy":[175.68958,91.80222,27.25944,185.48807]}, + {"t":0.24542, "x":11.4511, "y":4.43971, "heading":-0.76316, "vx":-1.96332, "vy":1.1821, "omega":-3.76239, "ax":-4.13788, "ay":7.95373, "alpha":20.61863, "fx":[-49.72627,-140.02764,-129.09532,42.94356], "fy":[175.95895,113.72977,74.22583,166.42507]}, + {"t":0.26587, "x":11.41008, "y":4.46555, "heading":-0.8401, "vx":-2.04795, "vy":1.34476, "omega":-3.34071, "ax":8.95102, "ay":1.63754, "alpha":-14.46191, "fx":[155.01153,174.33562,140.94444,126.54494], "fy":[-55.48958,16.54134,95.01144,53.12501]}, + {"t":0.28632, "x":11.37007, "y":4.49339, "heading":-0.90842, "vx":-1.86489, "vy":1.37825, "omega":-3.63648, "ax":9.33978, "ay":-2.76147, "alpha":-19.01615, "fx":[128.20464,187.30644,171.97574,135.27159], "fy":[-138.19624,-37.62589,73.81934,-82.12684]}, + {"t":0.30677, "x":11.33389, "y":4.521, "heading":-0.9828, "vx":-1.67387, "vy":1.32178, "omega":-4.02538, "ax":8.91402, "ay":-4.04743, "alpha":-19.06022, "fx":[113.90483,182.17009,179.96654,118.32834], "fy":[-150.73251,-57.9263,50.8044,-112.02062]}, + {"t":0.32797, "x":11.3004, "y":4.54812, "heading":-1.06814, "vx":-1.48489, "vy":1.23597, "omega":-4.42948, "ax":7.57101, "ay":-6.14838, "alpha":-18.78639, "fx":[86.46709,165.03276,182.4806,70.83992], "fy":[-165.90922,-91.93336,-1.42384,-150.69599]}, + {"t":0.34917, "x":11.27062, "y":4.57294, "heading":-1.16205, "vx":-1.32437, "vy":1.10562, "omega":-4.82777, "ax":5.64447, "ay":-7.88951, "alpha":-17.90314, "fx":[51.98144,137.88276,166.12998,20.36851], "fy":[-177.19079,-124.59053,-58.23583,-166.04037]}, + {"t":0.37037, "x":11.24381, "y":4.59461, "heading":-1.2644, "vx":-1.2047, "vy":0.93835, "omega":-5.20734, "ax":3.03314, "ay":-9.11647, "alpha":-16.20442, "fx":[10.64028,98.69377,123.6021,-30.69196], "fy":[-180.9175,-152.11616,-111.71303,-163.12184]}, + {"t":0.39157, "x":11.21895, "y":4.61245, "heading":-1.3748, "vx":-1.1404, "vy":0.74507, "omega":-5.55089, "ax":-0.34208, "ay":-9.44238, "alpha":-13.11778, "fx":[-35.89634,43.50867,46.19524,-76.61697], "fy":[-171.90996,-168.21382,-146.24843,-143.22782]}, + {"t":0.41278, "x":11.1947, "y":4.62613, "heading":-1.49249, "vx":-1.14765, "vy":0.54488, "omega":-5.829, "ax":-4.43918, "ay":-7.96697, "alpha":-7.28819, "fx":[-85.25111,-42.16832,-60.80109,-107.77577], "fy":[-139.11544,-152.31164,-129.18425,-110.61118]}, + {"t":0.43398, "x":11.16937, "y":4.63589, "heading":-1.61607, "vx":-1.24177, "vy":0.37597, "omega":-5.98352, "ax":-8.03539, "ay":-1.80495, "alpha":4.25656, "fx":[-130.02811,-141.55474,-138.35841,-125.84284], "fy":[-17.19082,-13.57818,-41.17325,-48.40828]}, + {"t":0.45518, "x":11.14124, "y":4.64345, "heading":-1.74293, "vx":-1.41213, "vy":0.33771, "omega":-5.89328, "ax":-5.30646, "ay":6.90352, "alpha":10.78034, "fx":[-41.9105,-98.26082,-132.60714,-81.04581], "fy":[148.4258,131.13325,80.8552,99.89922]}, + {"t":0.47638, "x":11.11011, "y":4.65216, "heading":-1.86787, "vx":-1.52463, "vy":0.48407, "omega":-5.66472, "ax":-1.05956, "ay":9.71744, "alpha":8.97465, "fx":[24.57709,-34.53829,-68.54394,7.85578], "fy":[169.72029,170.89151,150.67228,156.65592]}, + {"t":0.49758, "x":11.07754, "y":4.66461, "heading":-1.98797, "vx":-1.54709, "vy":0.69009, "omega":-5.47445, "ax":1.28041, "ay":9.81549, "alpha":7.26433, "fx":[54.53004,5.42804,-19.16397,44.58104], "fy":[162.73176,173.32368,164.08313,154.33949]}, + {"t":0.51878, "x":11.04503, "y":4.68145, "heading":-2.10403, "vx":-1.51995, "vy":0.89819, "omega":-5.32044, "ax":3.25023, "ay":9.16136, "alpha":5.27498, "fx":[76.80563,41.88573,27.5634,70.46445], "fy":[148.2147,162.74462,158.15433,141.74825]}, + {"t":0.53998, "x":11.01354, "y":4.70255, "heading":-2.21683, "vx":-1.45104, "vy":1.09242, "omega":-5.2086, "ax":4.75189, "ay":8.21206, "alpha":3.78367, "fx":[94.20379,70.72715,62.32354,89.59274], "fy":[131.6129,146.27745,143.11791,126.55628]}, + {"t":0.56118, "x":10.98384, "y":4.72755, "heading":-2.32726, "vx":-1.35029, "vy":1.26652, "omega":-5.12838, "ax":2.68368, "ay":7.1553, "alpha":9.82109, "fx":[84.94208,36.98383,-2.13475,59.15165], "fy":[112.59744,141.98788,128.62494,93.89122]}, + {"t":0.58238, "x":10.95582, "y":4.75601, "heading":-2.43599, "vx":-1.2934, "vy":1.41822, "omega":-4.92017, "ax":-7.33675, "ay":-0.90829, "alpha":22.78135, "fx":[-63.32805,-127.07772,-172.23528,-126.55914], "fy":[-48.6879,96.43278,-2.4663,-105.84142]}, + {"t":0.60359, "x":10.92675, "y":4.78588, "heading":-2.5403, "vx":-1.44894, "vy":1.39897, "omega":-4.43718, "ax":-8.85431, "ay":-2.37146, "alpha":20.9077, "fx":[-105.20003,-156.62413,-185.32435,-143.24009], "fy":[-114.19136,81.44373,-10.74207,-114.63454]}, + {"t":0.62479, "x":10.89404, "y":4.815, "heading":-2.63437, "vx":-1.63666, "vy":1.34869, "omega":-3.99391, "ax":-9.51426, "ay":-2.27517, "alpha":19.72575, "fx":[-124.52914,-164.87936,-189.83435,-155.14976], "fy":[-119.8477,79.55329,-3.97597,-107.4337]}, + {"t":0.64599, "x":10.8572, "y":4.84309, "heading":-2.71905, "vx":-1.83838, "vy":1.30045, "omega":-3.5757, "ax":-9.89384, "ay":-2.06805, "alpha":18.94859, "fx":[-135.38863,-169.05515,-191.97113,-163.28749], "fy":[-119.76204,78.54783,2.99002,-99.66957]}, + {"t":0.66719, "x":10.816, "y":4.87019, "heading":-2.79486, "vx":-2.04814, "vy":1.25661, "omega":-3.17397, "ax":-10.11549, "ay":-1.98205, "alpha":18.46348, "fx":[-140.28542,-172.63902,-193.15286,-168.40392], "fy":[-121.21521,75.50285,7.65992,-94.10703]}, + {"t":0.68839, "x":10.77031, "y":4.89639, "heading":-2.86215, "vx":-2.2626, "vy":1.21459, "omega":-2.78252, "ax":-10.22787, "ay":-2.07411, "alpha":18.21405, "fx":[-140.34266,-176.5423,-193.99626,-171.09349], "fy":[-125.86539,69.61419,9.53775,-91.58451]}, + {"t":0.70959, "x":10.72004, "y":4.92167, "heading":-2.92114, "vx":-2.47944, "vy":1.17061, "omega":-2.39637, "ax":-10.24881, "ay":-2.3447, "alpha":18.16893, "fx":[-136.06536,-180.77793,-194.75155,-171.77581], "fy":[-133.73984,60.80223,8.80273,-92.20528]}, + {"t":0.73079, "x":10.66517, "y":4.94597, "heading":-2.97195, "vx":-2.69672, "vy":1.1209, "omega":-2.01117, "ax":-10.18031, "ay":-2.76436, "alpha":18.31206, "fx":[-127.66404,-184.94348,-195.4574,-170.73859], "fy":[-144.12778,49.41769,6.01758,-95.62953]}, + {"t":0.75199, "x":10.60571, "y":4.96911, "heading":-3.01459, "vx":-2.91256, "vy":1.0623, "omega":-1.62293, "ax":-10.0196, "ay":-3.28389, "alpha":18.63862, "fx":[-115.31774,-188.49399,-196.06182,-168.21397], "fy":[-155.92055,36.17036,2.011,-101.22429]}, + {"t":0.77319, "x":10.5417, "y":4.99089, "heading":-3.04899, "vx":-3.12498, "vy":0.99267, "omega":-1.22777, "ax":-9.70805, "ay":-3.82808, "alpha":19.63514, "fx":[-96.37748,-190.4633,-196.5376,-163.93593], "fy":[-169.59111,24.87322,-1.51913,-109.01176]}, + {"t":0.79439, "x":10.47327, "y":5.01108, "heading":-3.07502, "vx":-3.33081, "vy":0.91151, "omega":-0.81148, "ax":-6.16071, "ay":-9.35881, "alpha":11.3387, "fx":[-41.64858,-90.80289,-163.58205,-114.75105], "fy":[-190.7182,-168.58306,-105.78924,-158.93721]}, + {"t":0.82218, "x":10.37834, "y":5.03279, "heading":-3.09757, "vx":-3.50198, "vy":0.65148, "omega":-0.49644, "ax":8.35613, "ay":-7.97891, "alpha":6.86858, "fx":[142.46903,169.48472,139.55383,105.66317], "fy":[-134.90586,-97.51039,-135.03334,-164.56872]}, + {"t":0.84996, "x":10.28427, "y":5.04781, "heading":-3.11136, "vx":-3.26981, "vy":0.42979, "omega":-0.30559, "ax":11.12951, "ay":-3.95074, "alpha":3.22461, "fx":[183.43331,191.71871,188.95559,177.98656], "fy":[-73.63097,-47.73912,-56.67596,-85.38179]}, + {"t":0.87775, "x":10.19771, "y":5.05823, "heading":-3.11986, "vx":-2.96057, "vy":0.32001, "omega":-0.216, "ax":11.59778, "ay":-2.54951, "alpha":1.97177, "fx":[192.08965,195.67522,194.94305,190.60956], "fy":[-49.0089,-31.65632,-35.24434,-54.08661]}, + {"t":0.90553, "x":10.11993, "y":5.06614, "heading":-3.12586, "vx":-2.63833, "vy":0.24918, "omega":-0.16121, "ax":11.75136, "ay":-1.88345, "alpha":1.38614, "fx":[195.13807,197.08079,196.78378,194.5556], "fy":[-36.58052,-23.92622,-25.80496,-39.27318]}, + {"t":0.93332, "x":10.05116, "y":5.07233, "heading":-3.13034, "vx":-2.31182, "vy":0.19684, "omega":-0.1227, "ax":11.82094, "ay":-1.49874, "alpha":1.05111, "fx":[196.55733,197.75766,197.60768,196.27467], "fy":[-29.18337,-19.40574,-20.53893,-30.80532]}, + {"t":0.9611, "x":9.99149, "y":5.07722, "heading":-3.13375, "vx":-1.98337, "vy":0.1552, "omega":-0.09349, "ax":11.85875, "ay":-1.24913, "alpha":0.83492, "fx":[197.33715,198.14375,198.05727,197.18063], "fy":[-24.29739,-16.44382,-17.1897,-25.35875]}, + {"t":0.98889, "x":9.94096, "y":5.08105, "heading":-3.13634, "vx":-1.65388, "vy":0.12049, "omega":-0.0703, "ax":11.88184, "ay":-1.07436, "alpha":0.68407, "fx":[197.81476,198.38896,198.33447,197.71988], "fy":[-20.83548,-14.35399,-14.87519,-21.57132]}, + {"t":1.01667, "x":9.89959, "y":5.08399, "heading":-3.1383, "vx":-1.32374, "vy":0.09064, "omega":-0.05129, "ax":11.89711, "ay":-0.94525, "alpha":0.57289, "fx":[198.13048,198.55668,198.52007,198.06904], "fy":[-18.25643,-12.80081,-13.18146,-18.78892]}, + {"t":1.04446, "x":9.8674, "y":5.08614, "heading":-3.13972, "vx":-0.99318, "vy":0.06438, "omega":-0.03537, "ax":11.90782, "ay":-0.84603, "alpha":0.48759, "fx":[198.35131,198.67775,198.65194,198.30947], "fy":[-16.26165,-11.60116,-11.88895,-16.66006]}, + {"t":1.07224, "x":9.8444, "y":5.0876, "heading":-3.1407, "vx":-0.66232, "vy":0.04087, "omega":-0.02182, "ax":11.91568, "ay":-0.76742, "alpha":0.42008, "fx":[198.51263,198.76882,198.74991,198.48298], "fy":[-14.67323,-10.6467,-10.87054,-14.97951]}, + {"t":1.10003, "x":9.8306, "y":5.08844, "heading":-3.14131, "vx":-0.33124, "vy":0.01955, "omega":-0.01015, "ax":11.92164, "ay":-0.70361, "alpha":0.36533, "fx":[198.6346,198.83955,198.82528,198.61289], "fy":[-13.37873,-9.86925,-10.04758,-13.61959]}, + {"t":1.12781, "x":9.826, "y":5.08871, "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/StartToOppE.traj b/src/main/deploy/choreo/StartToOppE.traj deleted file mode 100644 index 9f54502c..00000000 --- a/src/main/deploy/choreo/StartToOppE.traj +++ /dev/null @@ -1,151 +0,0 @@ -{ - "name":"StartToOppE", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":7.1, "y":5.07, "heading":3.14159, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":11.788101196289062, "y":5.668493747711182, "heading":-0.9034901014083804, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"start.x", "val":7.1}, "y":{"exp":"start.y", "val":5.07}, "heading":{"exp":"start.heading", "val":3.14159}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"11.788101196289062 m", "val":11.788101196289062}, "y":{"exp":"5.668493747711182 m", "val":5.668493747711182}, "heading":{"exp":"-0.9034901014083804 rad", "val":-0.9034901014083804}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "sampleType":"Swerve", - "waypoints":[0.0,0.73973,1.10666,1.85075,2.40194], - "samples":[ - {"t":0.0, "x":7.1, "y":5.07, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.84699, "ay":1.99864, "alpha":-54.61096, "fx":[-62.39818,-143.72901,189.58153,139.69961], "fy":[189.00289,-137.03518,-60.59603,141.89384]}, - {"t":0.02312, "x":7.10049, "y":5.07053, "heading":3.14159, "vx":0.0427, "vy":0.0462, "omega":-1.26242, "ax":1.88952, "ay":2.04684, "alpha":-54.42711, "fx":[-60.16234,-143.73656,190.23146,139.65703], "fy":[189.65634,-136.75208,-58.29165,141.86696]}, - {"t":0.04623, "x":7.10199, "y":5.07215, "heading":3.11241, "vx":0.08638, "vy":0.09352, "omega":-2.5206, "ax":1.9044, "ay":2.16835, "alpha":-54.14465, "fx":[-52.85803,-152.14917,189.75559,142.23355], "fy":[191.72383,-126.85919,-59.46373,139.18019]}, - {"t":0.06935, "x":7.10449, "y":5.07489, "heading":3.05414, "vx":0.1304, "vy":0.14364, "omega":-3.77224, "ax":1.91449, "ay":2.4328, "alpha":-53.58042, "fx":[-39.71556,-168.27203,188.4845,147.15731], "fy":[194.72417,-103.50704,-62.79254,133.78961]}, - {"t":0.09247, "x":7.10802, "y":5.07886, "heading":2.96694, "vx":0.17466, "vy":0.19988, "omega":-5.01084, "ax":1.99255, "ay":3.06973, "alpha":-52.0618, "fx":[-19.26864,-188.85296,187.32855,153.6522], "fy":[197.53173,-53.75229,-65.02325,125.92778]}, - {"t":0.11558, "x":7.11259, "y":5.0843, "heading":2.8511, "vx":0.22072, "vy":0.27084, "omega":-6.21434, "ax":2.65693, "ay":4.64725, "alpha":-46.53516, "fx":[12.69151,-185.19329,189.28239,160.37836], "fy":[197.35939,51.68071,-55.39763,116.227]}, - {"t":0.1387, "x":7.1184, "y":5.0918, "heading":2.70745, "vx":0.28214, "vy":0.37827, "omega":-7.29008, "ax":4.121, "ay":4.23803, "alpha":-12.4939, "fx":[51.2734,22.34526,108.2559,92.90582], "fy":[112.42467,70.78668,22.71168,76.66091]}, - {"t":0.16182, "x":7.12602, "y":5.10168, "heading":2.53893, "vx":0.3774, "vy":0.47624, "omega":-7.57889, "ax":5.69389, "ay":1.59788, "alpha":6.87517, "fx":[100.86413,116.53313,90.74061,71.52002], "fy":[2.19683,31.18179,50.12388,23.04074]}, - {"t":0.18493, "x":7.13627, "y":5.11312, "heading":2.36373, "vx":0.50902, "vy":0.51318, "omega":-7.41996, "ax":5.91154, "ay":-0.23863, "alpha":9.83152, "fx":[104.28486,126.45519,95.94828,67.48179], "fy":[-43.94109,-3.62446,32.48582,-0.83182]}, - {"t":0.20805, "x":7.14961, "y":5.12492, "heading":2.1922, "vx":0.64568, "vy":0.50766, "omega":-7.19269, "ax":5.58857, "ay":1.81362, "alpha":16.37821, "fx":[97.05625,141.41237,96.87486,37.29189], "fy":[-33.10209,20.72448,87.32064,45.98538]}, - {"t":0.23117, "x":7.16603, "y":5.13714, "heading":2.02593, "vx":0.77487, "vy":0.54959, "omega":-6.81408, "ax":4.23529, "ay":4.06033, "alpha":19.32409, "fx":[62.65451,132.60402,82.74121,4.40128], "fy":[-1.3996,46.53761,127.12228,98.47472]}, - {"t":0.25428, "x":7.18508, "y":5.15093, "heading":1.86841, "vx":0.87277, "vy":0.64345, "omega":-6.36737, "ax":3.28214, "ay":4.89024, "alpha":17.69585, "fx":[37.11034,112.38097,72.98222,-3.62661], "fy":[21.89557,56.33298,130.39025,117.45325]}, - {"t":0.2774, "x":7.20613, "y":5.16711, "heading":1.72122, "vx":0.94865, "vy":0.75649, "omega":-5.9583, "ax":3.10336, "ay":5.02627, "alpha":15.31835, "fx":[27.26966,101.39658,73.92305,4.3371], "fy":[40.32137,53.13925,121.91459,119.76707]}, - {"t":0.30052, "x":7.22889, "y":5.18594, "heading":1.58348, "vx":1.02039, "vy":0.87269, "omega":-5.60419, "ax":3.4649, "ay":4.79813, "alpha":13.4288, "fx":[31.42318,98.09412,81.71133,19.80419], "fy":[43.34203,50.27521,110.22145,116.09112]}, - {"t":0.32363, "x":7.2534, "y":5.20739, "heading":1.45393, "vx":1.10048, "vy":0.9836, "omega":-5.29376, "ax":4.07746, "ay":4.30123, "alpha":12.06577, "fx":[39.15799,100.97617,93.42808,38.31526], "fy":[46.44086,37.81169,95.18627,107.35915]}, - {"t":0.34675, "x":7.27993, "y":5.23128, "heading":1.33156, "vx":1.19474, "vy":1.08303, "omega":-5.01484, "ax":4.72985, "ay":3.58314, "alpha":11.03118, "fx":[50.72065,104.73034,104.56092,55.36511], "fy":[37.27126,27.09377,78.57459,95.97724]}, - {"t":0.36987, "x":7.30881, "y":5.25727, "heading":1.21563, "vx":1.30408, "vy":1.16586, "omega":-4.75984, "ax":5.31667, "ay":2.65095, "alpha":10.15469, "fx":[59.8002,108.04443,114.10666,72.55423], "fy":[29.05385,9.70823,58.46115,79.53708]}, - {"t":0.39298, "x":7.34038, "y":5.28493, "heading":1.1056, "vx":1.42698, "vy":1.22714, "omega":-4.5251, "ax":5.72318, "ay":1.61979, "alpha":9.31748, "fx":[68.74588,109.23392,120.09802,83.53292], "fy":[13.84295,-5.55275,37.88399,61.83032]}, - {"t":0.4161, "x":7.3749, "y":5.31373, "heading":1.001, "vx":1.55928, "vy":1.26459, "omega":-4.30971, "ax":5.92531, "ay":0.59253, "alpha":8.49893, "fx":[72.79203,107.05557,121.81799,93.42267], "fy":[1.20624,-21.80597,17.6778,42.43057]}, - {"t":0.43922, "x":7.41252, "y":5.34312, "heading":0.90137, "vx":1.69626, "vy":1.27829, "omega":-4.11324, "ax":5.95033, "ay":-0.35963, "alpha":7.72457, "fx":[76.07222,103.50187,120.79353,96.38893], "fy":[-12.41996,-35.58396,-0.59696,24.62147]}, - {"t":0.46233, "x":7.45333, "y":5.37258, "heading":0.80629, "vx":1.83381, "vy":1.26997, "omega":-3.93468, "ax":5.8457, "ay":-1.19571, "alpha":7.03479, "fx":[75.20066,97.90525,117.25714,99.41687], "fy":[-24.39828,-46.74274,-16.58754,8.00104]}, - {"t":0.48545, "x":7.49728, "y":5.40162, "heading":0.71533, "vx":1.96894, "vy":1.24233, "omega":-3.77205, "ax":5.65829, "ay":-1.90835, "alpha":6.45534, "fx":[74.74587,92.32469,112.72846,97.48487], "fy":[-33.71176,-57.18908,-30.20345,-6.14062]}, - {"t":0.50857, "x":7.54431, "y":5.42982, "heading":0.62813, "vx":2.09974, "vy":1.19822, "omega":-3.62283, "ax":5.42483, "ay":-2.50519, "alpha":5.99967, "fx":[71.45553,86.12777,107.61116,96.52297], "fy":[-43.0994,-64.24623,-41.5714,-18.12422]}, - {"t":0.53168, "x":7.5943, "y":5.45685, "heading":0.54438, "vx":2.22515, "vy":1.1403, "omega":-3.48414, "ax":5.17067, "ay":-3.00125, "alpha":5.67131, "fx":[69.44982,80.07146,101.93299,93.31614], "fy":[-48.86124,-72.11627,-51.17051,-27.96955]}, - {"t":0.5548, "x":7.64712, "y":5.48241, "heading":0.46384, "vx":2.34468, "vy":1.07093, "omega":-3.35303, "ax":4.91451, "ay":-3.40918, "alpha":5.54326, "fx":[64.51863,74.60064,96.5418,92.02906], "fy":[-56.15873,-76.37539,-59.84131,-34.94199]}, - {"t":0.57792, "x":7.70263, "y":5.50626, "heading":0.38633, "vx":2.45828, "vy":0.99212, "omega":-3.22489, "ax":4.71801, "ay":-3.67929, "alpha":9.79883, "fx":[49.08574,63.29006,105.63704,96.57525], "fy":[-54.19118,-96.01602,-68.83941,-26.28121]}, - {"t":0.60103, "x":7.76072, "y":5.52821, "heading":0.31178, "vx":2.56735, "vy":0.90706, "omega":-2.99838, "ax":4.68292, "ay":-3.72523, "alpha":10.37417, "fx":[47.38946,59.6772,104.4091,100.77265], "fy":[-53.27495,-97.70121,-72.41365,-25.00138]}, - {"t":0.62415, "x":7.82132, "y":5.54818, "heading":0.24247, "vx":2.6756, "vy":0.82095, "omega":-2.75856, "ax":4.66147, "ay":-3.7536, "alpha":10.48277, "fx":[48.8767,56.09798,102.35409,103.48941], "fy":[-50.89469,-98.63828,-74.47328,-26.27647]}, - {"t":0.64727, "x":7.88441, "y":5.56616, "heading":0.1787, "vx":2.78336, "vy":0.73418, "omega":-2.51623, "ax":4.64798, "ay":-3.77197, "alpha":10.62564, "fx":[48.76764,53.91419,99.95498,107.28182], "fy":[-50.02352,-99.06505,-75.57297,-26.8459]}, - {"t":0.67038, "x":7.95, "y":5.58212, "heading":0.12053, "vx":2.8908, "vy":0.64698, "omega":-2.2706, "ax":4.63767, "ay":-3.78633, "alpha":14.21689, "fx":[31.26737,49.30792,101.19543,127.46043], "fy":[-46.31772,-112.49882,-75.7445,-17.90405]}, - {"t":0.6935, "x":8.01806, "y":5.59606, "heading":0.06805, "vx":2.99801, "vy":0.55946, "omega":-1.94196, "ax":3.8248, "ay":-4.59902, "alpha":40.67814, "fx":[-94.52279,5.50761,147.2165,196.82907], "fy":[8.04008,-197.38217,-132.40878,15.09707]}, - {"t":0.71662, "x":8.08839, "y":5.60777, "heading":0.02315, "vx":3.08643, "vy":0.45314, "omega":-1.00161, "ax":2.16902, "ay":-5.56227, "alpha":43.32861, "fx":[-182.86563,-8.74576,137.86361,198.37413], "fy":[-31.06722,-198.26809,-143.09535,1.54936]}, - {"t":0.73973, "x":8.16032, "y":5.61676, "heading":0.0, "vx":3.13657, "vy":0.32456, "omega":0.0, "ax":2.87015, "ay":-5.23086, "alpha":0.0, "fx":[48.05863,47.90836,47.73729,47.67164], "fy":[-87.03088,-87.95627,-86.71451,-87.08185]}, - {"t":0.76012, "x":8.22485, "y":5.62229, "heading":0.0, "vx":3.19508, "vy":0.21793, "omega":0.0, "ax":2.76445, "ay":-5.29349, "alpha":0.0, "fx":[45.74395,45.96674,46.12188,46.49593], "fy":[-89.20547,-88.01274,-88.0136,-87.72801]}, - {"t":0.7805, "x":8.29055, "y":5.62563, "heading":0.0, "vx":3.25143, "vy":0.11003, "omega":0.0, "ax":2.25503, "ay":-5.46843, "alpha":0.0, "fx":[37.96692,37.77507,37.3492,37.26989], "fy":[-90.84302,-92.64783,-90.22591,-90.90783]}, - {"t":0.80089, "x":8.3573, "y":5.62674, "heading":0.0, "vx":3.2974, "vy":-0.00144, "omega":0.0, "ax":0.01361, "ay":-3.23568, "alpha":0.0, "fx":[0.46267,0.56111,1.46894,-1.58497], "fy":[-54.05931,-54.22316,-54.22112,-53.24514]}, - {"t":0.82127, "x":8.42452, "y":5.62603, "heading":0.0, "vx":3.29767, "vy":-0.0674, "omega":0.0, "ax":-0.02157, "ay":-0.92576, "alpha":0.0, "fx":[-0.3404,-0.34559,-0.37508,-0.37693], "fy":[-15.41466,-15.53793,-15.35894,-15.41619]}, - {"t":0.84166, "x":8.49174, "y":5.62447, "heading":0.0, "vx":3.29723, "vy":-0.08627, "omega":0.0, "ax":0.00508, "ay":0.19974, "alpha":0.0, "fx":[0.0863,0.08572,0.00317,0.16384], "fy":[3.41751,3.32815,3.32852,3.24417]}, - {"t":0.86204, "x":8.55895, "y":5.62275, "heading":0.0, "vx":3.29734, "vy":-0.0822, "omega":0.0, "ax":0.01342, "ay":0.58028, "alpha":0.0, "fx":[0.18559,0.18541,0.26206,0.26199], "fy":[9.63481,9.86399,9.55861,9.63474]}, - {"t":0.88243, "x":8.62617, "y":5.6212, "heading":0.0, "vx":3.29761, "vy":-0.07037, "omega":0.0, "ax":0.01197, "ay":0.61654, "alpha":0.0, "fx":[0.16936,0.16946,-0.04128,0.50087], "fy":[10.39721,10.30752,10.30777,10.09731]}, - {"t":0.90281, "x":8.69339, "y":5.61989, "heading":0.0, "vx":3.29785, "vy":-0.05781, "omega":0.0, "ax":0.00822, "ay":0.51543, "alpha":0.0, "fx":[0.10881,0.10867,0.16534,0.16528], "fy":[8.56375,8.73796,8.50263,8.5637]}, - {"t":0.92319, "x":8.76062, "y":5.61882, "heading":0.0, "vx":3.29802, "vy":-0.0473, "omega":0.0, "ax":0.00492, "ay":0.37405, "alpha":0.0, "fx":[0.02579,0.02582,-0.15813,0.43488], "fy":[6.2496,6.29148,6.29147,6.10821]}, - {"t":0.94358, "x":8.82785, "y":5.61793, "heading":0.0, "vx":3.29812, "vy":-0.03967, "omega":0.0, "ax":0.00278, "ay":0.24691, "alpha":0.0, "fx":[0.04089,0.04088,0.05192,0.05192], "fy":[4.11029,4.14698,4.09567,4.11028]}, - {"t":0.96396, "x":8.89508, "y":5.61717, "heading":0.0, "vx":3.29818, "vy":-0.03464, "omega":0.0, "ax":0.00166, "ay":0.1664, "alpha":0.0, "fx":[-0.0556,-0.0556,-0.21217,0.43412], "fy":[2.6803,2.85718,2.85715,2.70088]}, - {"t":0.98435, "x":8.96231, "y":5.6165, "heading":0.0, "vx":3.29821, "vy":-0.03125, "omega":0.0, "ax":0.00144, "ay":0.16026, "alpha":0.0, "fx":[0.0319,0.03191,0.01608,0.01609], "fy":[2.67934,2.63571,2.69134,2.67934]}, - {"t":1.00473, "x":9.02954, "y":5.6159, "heading":0.0, "vx":3.29824, "vy":-0.02798, "omega":0.0, "ax":0.00199, "ay":0.25847, "alpha":0.0, "fx":[-0.02652,-0.02653,-0.12298,0.30861], "fy":[4.22589,4.36833,4.36831,4.27207]}, - {"t":1.02512, "x":9.09678, "y":5.61538, "heading":0.0, "vx":3.29828, "vy":-0.02271, "omega":0.0, "ax":0.00266, "ay":0.5, "alpha":0.0, "fx":[0.0446,0.0446,0.04404,0.04404], "fy":[8.33498,8.34212,8.32671,8.33498]}, - {"t":1.0455, "x":9.16401, "y":5.61502, "heading":0.0, "vx":3.29834, "vy":-0.01252, "omega":0.0, "ax":0.00081, "ay":0.93331, "alpha":0.0, "fx":[0.03928,0.03929,0.0258,-0.05066], "fy":[15.64879,15.53203,15.53203,15.51871]}, - {"t":1.06589, "x":9.23125, "y":5.61496, "heading":0.0, "vx":3.29835, "vy":0.0065, "omega":0.0, "ax":-0.01128, "ay":1.60785, "alpha":0.0, "fx":[-0.22115,-0.22035,-0.1555,-0.15522], "fy":[26.76929,26.98264,26.68697,26.76953]}, - {"t":1.08627, "x":9.29848, "y":5.61543, "heading":0.0, "vx":3.29812, "vy":0.03928, "omega":0.0, "ax":-0.12984, "ay":2.54247, "alpha":0.0, "fx":[-2.16091,-2.16718,-2.41954,-1.90996], "fy":[42.63839,42.38163,42.38115,42.12581]}, - {"t":1.10666, "x":9.36568, "y":5.61676, "heading":0.0, "vx":3.29548, "vy":0.09111, "omega":0.0, "ax":0.05979, "ay":0.21231, "alpha":-56.89606, "fx":[143.12292,136.27189,-134.2699,-141.13845], "fy":[-133.86461,141.02869,142.87521,-135.88306]}, - {"t":1.1292, "x":9.44001, "y":5.61887, "heading":0.0, "vx":3.29683, "vy":0.09589, "omega":-1.28291, "ax":-0.73918, "ay":-0.12049, "alpha":-7.83052, "fx":[8.80488,5.63722,-29.73756,-33.9914], "fy":[-20.8667,17.24619,15.92866,-20.34239]}, - {"t":1.15175, "x":9.51416, "y":5.621, "heading":-0.02893, "vx":3.28016, "vy":0.09318, "omega":-1.45948, "ax":-0.1471, "ay":0.07403, "alpha":1.07067, "fx":[-5.00793,-5.53669,0.4152,0.32123], "fy":[3.79948,-1.16342,-1.15074,3.4507]}, - {"t":1.1743, "x":9.58808, "y":5.62312, "heading":-0.06184, "vx":3.27684, "vy":0.09485, "omega":-1.43534, "ax":0.11329, "ay":0.21518, "alpha":1.70224, "fx":[-1.92205,-2.5974,5.74121,6.33242], "fy":[7.95145,-0.22777,-0.84194,7.46606]}, - {"t":1.19685, "x":9.662, "y":5.62531, "heading":-0.0942, "vx":3.2794, "vy":0.0997, "omega":-1.39695, "ax":0.00782, "ay":0.32914, "alpha":1.31103, "fx":[-2.81373,-3.45869,3.102,3.69164], "fy":[8.87393,2.64404,2.14449,8.28427]}, - {"t":1.2194, "x":9.73595, "y":5.62764, "heading":-0.1257, "vx":3.27957, "vy":0.10712, "omega":-1.36739, "ax":-0.0294, "ay":0.42337, "alpha":1.12264, "fx":[-2.88454,-3.52771,1.90058,2.55123], "fy":[10.10509,4.66059,4.02755,9.43631]}, - {"t":1.24195, "x":9.80989, "y":5.63017, "heading":-0.15653, "vx":3.27891, "vy":0.11667, "omega":-1.34208, "ax":-0.04263, "ay":0.49597, "alpha":1.00415, "fx":[-2.82061,-3.52333,1.40466,2.09655], "fy":[10.98452,6.28372,5.49711,10.30479]}, - {"t":1.26449, "x":9.88381, "y":5.63292, "heading":-0.18679, "vx":3.27795, "vy":0.12785, "omega":-1.31944, "ax":-0.04146, "ay":0.55345, "alpha":0.92866, "fx":[-2.50979,-3.25635,1.18218,1.8197], "fy":[11.96558,7.33214,6.58799,11.01759]}, - {"t":1.28704, "x":9.95771, "y":5.63595, "heading":-0.21655, "vx":3.27701, "vy":0.14033, "omega":-1.2985, "ax":-0.03631, "ay":0.5954, "alpha":0.86663, "fx":[-2.28943,-3.13197,1.08057,1.92003], "fy":[12.35768,8.45691,7.35775,11.5281]}, - {"t":1.30959, "x":10.03159, "y":5.63926, "heading":-0.24582, "vx":3.27619, "vy":0.15375, "omega":-1.27896, "ax":-0.0286, "ay":0.62683, "alpha":0.81452, "fx":[-1.90801,-2.77911,1.01846,1.76136], "fy":[13.05906,8.89416,8.02418,11.81811]}, - {"t":1.33214, "x":10.10546, "y":5.64289, "heading":-0.27466, "vx":3.27555, "vy":0.16789, "omega":-1.26059, "ax":-0.03089, "ay":0.6502, "alpha":0.7419, "fx":[-1.83128,-2.77036,0.80183,1.73985], "fy":[12.98022,9.83417,8.49127,12.04862]}, - {"t":1.35469, "x":10.17931, "y":5.64684, "heading":-0.30309, "vx":3.27485, "vy":0.18255, "omega":-1.24386, "ax":-0.03003, "ay":0.66513, "alpha":0.68086, "fx":[-1.55135,-2.45163,0.62554,1.3748], "fy":[13.45491,9.87278,8.97312,12.04884]}, - {"t":1.37724, "x":10.25314, "y":5.65112, "heading":-0.33113, "vx":3.27418, "vy":0.19755, "omega":-1.22851, "ax":-0.03479, "ay":0.67732, "alpha":0.6111, "fx":[-1.56058,-2.51207,0.40097,1.35219], "fy":[13.08298,10.70597,9.23567,12.13772]}, - {"t":1.39978, "x":10.32696, "y":5.65575, "heading":-0.35883, "vx":3.27339, "vy":0.21282, "omega":-1.21473, "ax":-0.04024, "ay":0.68104, "alpha":0.54247, "fx":[-1.38558,-2.22615,0.13491,0.79384], "fy":[13.40754,10.44084,9.60083,11.96115]}, - {"t":1.42233, "x":10.40076, "y":5.66072, "heading":-0.38622, "vx":3.27248, "vy":0.22818, "omega":-1.2025, "ax":-0.04143, "ay":0.68192, "alpha":0.4878, "fx":[-1.39019,-2.29122,0.00894,0.91006], "fy":[12.80164,11.12703,9.63016,11.91011]}, - {"t":1.44488, "x":10.47454, "y":5.66604, "heading":-0.41334, "vx":3.27155, "vy":0.24355, "omega":-1.1915, "ax":-0.05133, "ay":0.66817, "alpha":0.41227, "fx":[-1.30016,-2.02027,-0.30981,0.20737], "fy":[12.85293,10.47611,9.75701,11.46653]}, - {"t":1.46743, "x":10.5483, "y":5.6717, "heading":-0.44021, "vx":3.27039, "vy":0.25862, "omega":-1.1822, "ax":-0.04457, "ay":0.6419, "alpha":0.37599, "fx":[-1.2165,-2.02238,-0.26965,0.53652], "fy":[11.7912,10.71677,9.2894,11.00349]}, - {"t":1.48998, "x":10.62203, "y":5.6777, "heading":-0.46686, "vx":3.26939, "vy":0.27309, "omega":-1.17372, "ax":-0.05515, "ay":0.58224, "alpha":0.29283, "fx":[-1.15902,-1.71834,-0.57657,-0.2232], "fy":[11.0577,9.2465,8.68945,9.82924]}, - {"t":1.51253, "x":10.69573, "y":5.684, "heading":-0.49333, "vx":3.26814, "vy":0.28622, "omega":-1.16712, "ax":-0.0344, "ay":0.48369, "alpha":0.27451, "fx":[-0.86894,-1.54332,-0.27814,0.39674], "fy":[8.83447,8.23213,6.99158,8.19328]}, - {"t":1.53507, "x":10.76941, "y":5.69058, "heading":-0.51964, "vx":3.26737, "vy":0.29713, "omega":-1.16093, "ax":-0.03249, "ay":0.31002, "alpha":0.19534, "fx":[-0.64887,-1.05435,-0.34068,-0.12257], "fy":[6.157,4.8686,4.46806,5.17803]}, - {"t":1.55762, "x":10.84308, "y":5.69736, "heading":-0.54582, "vx":3.26664, "vy":0.30412, "omega":-1.15653, "ax":0.00729, "ay":0.04262, "alpha":0.18286, "fx":[-0.03902,-0.55229,0.28154,0.79561], "fy":[1.20427,0.89014,0.00205,0.74551]}, - {"t":1.58017, "x":10.91674, "y":5.70423, "heading":-0.5719, "vx":3.2668, "vy":0.30508, "omega":-1.1524, "ax":0.04491, "ay":-0.38023, "alpha":0.13567, "fx":[0.70112,0.36433,0.87326,1.05584], "fy":[-5.68727,-6.50494,-6.83255,-6.32839]}, - {"t":1.60272, "x":10.99041, "y":5.71101, "heading":-0.59788, "vx":3.26781, "vy":0.2965, "omega":-1.14935, "ax":0.08087, "ay":-0.99639, "alpha":0.05971, "fx":[1.3103,1.09673,1.38508,1.60021], "fy":[-16.45949,-16.60264,-16.77803,-16.59689]}, - {"t":1.62527, "x":11.06412, "y":5.71744, "heading":-0.6238, "vx":3.26964, "vy":0.27404, "omega":-1.148, "ax":0.12533, "ay":-1.89652, "alpha":-0.00817, "fx":[2.13397,2.05491,2.1402,2.02789], "fy":[-31.72187,-31.56152,-31.63066,-31.54216]}, - {"t":1.64782, "x":11.13787, "y":5.72314, "heading":-0.64969, "vx":3.27246, "vy":0.23127, "omega":-1.14818, "ax":0.02032, "ay":-3.12181, "alpha":-0.37047, "fx":[0.5232,1.59478,0.15168,-0.91509], "fy":[-53.18406,-52.3673,-50.55099,-52.05407]}, - {"t":1.67036, "x":11.21167, "y":5.72756, "heading":-0.67558, "vx":3.27292, "vy":0.16088, "omega":-1.15654, "ax":-0.20258, "ay":-4.6258, "alpha":-0.83585, "fx":[-2.93921,-0.77582,-3.51243,-6.28046], "fy":[-80.39077,-76.55268,-74.43074,-77.06514]}, - {"t":1.69291, "x":11.28541, "y":5.73001, "heading":-0.70165, "vx":3.26835, "vy":0.05658, "omega":-1.17538, "ax":-0.56959, "ay":-5.51866, "alpha":-1.32676, "fx":[-9.06473,-4.784,-9.9383,-14.19219], "fy":[-96.08606,-92.73917,-87.16265,-91.98548]}, - {"t":1.71546, "x":11.35897, "y":5.72988, "heading":-0.72816, "vx":3.25551, "vy":-0.06786, "omega":-1.2053, "ax":-1.0023, "ay":-5.65402, "alpha":-1.82629, "fx":[-16.03643,-10.60966,-16.88036,-23.30489], "fy":[-100.84331,-93.63083,-88.41433,-94.11042]}, - {"t":1.73801, "x":11.43212, "y":5.72692, "heading":-0.75533, "vx":3.23291, "vy":-0.19535, "omega":-1.24648, "ax":-1.20837, "ay":-5.70816, "alpha":-1.77426, "fx":[-19.80437,-13.534,-20.53697,-26.69663], "fy":[-100.20211,-96.94501,-88.86311,-94.59895]}, - {"t":1.76056, "x":11.50471, "y":5.72106, "heading":-0.78344, "vx":3.20566, "vy":-0.32406, "omega":-1.28649, "ax":-1.39371, "ay":-5.71835, "alpha":-1.6605, "fx":[-22.72788,-17.68831,-23.27072,-29.24272], "fy":[-101.56313,-94.94731,-90.24283,-94.53544]}, - {"t":1.78311, "x":11.57664, "y":5.7123, "heading":-0.81245, "vx":3.17424, "vy":-0.453, "omega":-1.32393, "ax":-1.43332, "ay":-5.74003, "alpha":-1.19288, "fx":[-23.76569,-18.90294,-24.15006,-28.75244], "fy":[-98.36816,-97.75493,-91.84921,-94.76184]}, - {"t":1.80565, "x":11.64784, "y":5.70063, "heading":-0.8423, "vx":3.14192, "vy":-0.58242, "omega":-1.35083, "ax":-1.39799, "ay":-5.76905, "alpha":-0.53418, "fx":[-23.38702,-22.43705,-23.37568,-24.01538], "fy":[-99.151,-95.88519,-93.3357,-96.29738]}, - {"t":1.8282, "x":11.71833, "y":5.68603, "heading":-0.87276, "vx":3.11039, "vy":-0.71251, "omega":-1.36287, "ax":-1.44503, "ay":-5.77115, "alpha":16.06331, "fx":[-28.55375,-82.23282,-24.20194,38.6365], "fy":[-41.13499,-90.68272,-140.9064,-112.08522]}, - {"t":1.85075, "x":11.7881, "y":5.66849, "heading":-0.90349, "vx":3.07781, "vy":-0.84264, "omega":-1.00067, "ax":-4.62393, "ay":-3.72535, "alpha":10.7407, "fx":[-80.2818,-112.32794,-77.54311,-38.16164], "fy":[-22.95103,-54.7835,-95.71832,-74.946]}, - {"t":1.87976, "x":11.87544, "y":5.64248, "heading":-0.93252, "vx":2.94367, "vy":-0.95071, "omega":-0.68908, "ax":-5.88596, "ay":-1.05136, "alpha":6.04389, "fx":[-98.14833,-115.42868,-98.94308,-79.94427], "fy":[7.10086,-12.37056,-39.55347,-25.27937]}, - {"t":1.90877, "x":11.95836, "y":5.61446, "heading":-0.95251, "vx":2.77292, "vy":-0.98121, "omega":-0.51375, "ax":-5.97819, "ay":0.29791, "alpha":3.83095, "fx":[-98.64587,-109.77528,-101.14339,-89.04991], "fy":[20.4436,8.82588,-10.65154,1.24593]}, - {"t":1.93778, "x":12.03629, "y":5.58612, "heading":-0.96741, "vx":2.59949, "vy":-0.97257, "omega":-0.40261, "ax":-5.90673, "ay":0.99079, "alpha":2.582, "fx":[-96.92775,-105.07899,-99.96375,-91.87885], "fy":[27.65608,18.0302,5.90242,14.47518]}, - {"t":1.96679, "x":12.10921, "y":5.55832, "heading":-0.97909, "vx":2.42814, "vy":-0.94382, "omega":-0.32771, "ax":-5.82643, "ay":1.39662, "alpha":1.73422, "fx":[-95.86564,-101.57324,-98.46875,-92.58733], "fy":[30.31543,24.75177,15.99361,22.06292]}, - {"t":1.9958, "x":12.1772, "y":5.53153, "heading":-0.9886, "vx":2.25912, "vy":-0.90331, "omega":-0.2774, "ax":-5.75865, "ay":1.65938, "alpha":1.25456, "fx":[-94.74686,-99.11912,-96.9938,-93.11566], "fy":[33.27246,28.20609,22.38731,26.77855]}, - {"t":2.02481, "x":12.24032, "y":5.50602, "heading":-0.99665, "vx":2.09206, "vy":-0.85517, "omega":-0.24101, "ax":-5.70387, "ay":1.84229, "alpha":0.92933, "fx":[-94.20354,-97.42766,-96.00823,-92.68364], "fy":[34.38754,31.60208,26.7464,30.10416]}, - {"t":2.05382, "x":12.29861, "y":5.48199, "heading":-1.00364, "vx":1.92659, "vy":-0.80172, "omega":-0.21405, "ax":-5.65958, "ay":1.97653, "alpha":0.69977, "fx":[-93.34607,-96.0601,-94.9123,-93.0516], "fy":[36.26282,33.26849,29.95921,32.30037]}, - {"t":2.08283, "x":12.35211, "y":5.45956, "heading":-1.00985, "vx":1.76241, "vy":-0.74439, "omega":-0.19375, "ax":-5.62337, "ay":2.07905, "alpha":0.59587, "fx":[-93.10082,-95.23523,-94.41539,-92.20407], "fy":[37.00137,35.20892,32.12128,34.29574]}, - {"t":2.11184, "x":12.40088, "y":5.43884, "heading":-1.01547, "vx":1.59927, "vy":-0.68407, "omega":-0.17646, "ax":-5.59335, "ay":2.15984, "alpha":0.50528, "fx":[-92.41757,-94.46344,-93.69415,-92.37874], "fy":[38.46579,36.21358,33.87757,35.45726]}, - {"t":2.14085, "x":12.44492, "y":5.41991, "heading":-1.02059, "vx":1.43701, "vy":-0.62142, "omega":-0.1618, "ax":-5.56813, "ay":2.2251, "alpha":0.46535, "fx":[-92.29262,-93.98281,-93.40021,-91.5968], "fy":[38.86466,37.59039,35.11439,36.7958]}, - {"t":2.16986, "x":12.48426, "y":5.40282, "heading":-1.02528, "vx":1.27548, "vy":-0.55687, "omega":-0.1483, "ax":-5.54669, "ay":2.27888, "alpha":0.45254, "fx":[-91.69918,-93.60054,-92.92518,-91.61753], "fy":[40.12517,38.13552,36.131,37.55978]}, - {"t":2.19887, "x":12.51893, "y":5.38762, "heading":-1.02958, "vx":1.11457, "vy":-0.49076, "omega":-0.13518, "ax":-5.52825, "ay":2.32396, "alpha":0.46703, "fx":[-91.58461,-93.33851,-92.76788,-90.92181], "fy":[40.56018,39.11104,36.79592,38.49016]}, - {"t":2.22788, "x":12.54894, "y":5.37436, "heading":-1.03351, "vx":0.9542, "vy":-0.42334, "omega":-0.12163, "ax":-5.51223, "ay":2.36228, "alpha":0.50985, "fx":[-91.045,-93.1845,-92.48528,-90.8303], "fy":[41.70027,39.5167,37.30783,38.98756]}, - {"t":2.25689, "x":12.5743, "y":5.36308, "heading":-1.03703, "vx":0.79429, "vy":-0.35481, "omega":-0.10684, "ax":-5.4982, "ay":2.39525, "alpha":0.55303, "fx":[-90.93748,-93.06395,-92.41331,-90.19493], "fy":[42.1173,40.26842,37.65278,39.67235]}, - {"t":2.2859, "x":12.59503, "y":5.35379, "heading":-1.04013, "vx":0.63479, "vy":-0.28532, "omega":-0.09079, "ax":-5.48582, "ay":2.42392, "alpha":0.62625, "fx":[-90.43904,-93.06955,-92.24927,-90.02599], "fy":[43.11625,40.60631,37.86538,40.03408]}, - {"t":2.31491, "x":12.61113, "y":5.34653, "heading":-1.04277, "vx":0.47564, "vy":-0.21501, "omega":-0.07263, "ax":-5.47481, "ay":2.44905, "alpha":0.7128, "fx":[-90.2997,-93.08117,-92.28029,-89.3887], "fy":[43.66494,41.20497,37.904,40.52424]}, - {"t":2.34392, "x":12.62263, "y":5.34133, "heading":-1.04487, "vx":0.31682, "vy":-0.14396, "omega":-0.05195, "ax":-5.46496, "ay":2.47129, "alpha":0.8206, "fx":[-89.9697,-93.19974,-92.28348,-88.93999], "fy":[44.47935,41.58328,37.84601,40.87229]}, - {"t":2.37293, "x":12.62952, "y":5.33819, "heading":-1.04638, "vx":0.15828, "vy":-0.07227, "omega":-0.02814, "ax":-5.45609, "ay":2.4911, "alpha":0.97007, "fx":[-89.55404,-93.63404,-92.27467,-88.33886], "fy":[45.37375,41.76228,37.69483,41.27092]}, - {"t":2.40194, "x":12.63181, "y":5.33714, "heading":-1.0472, "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/StartToOppG.traj b/src/main/deploy/choreo/StartToOppG.traj deleted file mode 100644 index a3768e34..00000000 --- a/src/main/deploy/choreo/StartToOppG.traj +++ /dev/null @@ -1,136 +0,0 @@ -{ - "name":"StartToOppG", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":7.1, "y":5.07, "heading":3.14159, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":10.99120807647705, "y":4.528883934020996, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"start.x", "val":7.1}, "y":{"exp":"start.y", "val":5.07}, "heading":{"exp":"start.heading", "val":3.14159}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"10.99120807647705 m", "val":10.99120807647705}, "y":{"exp":"4.528883934020996 m", "val":4.528883934020996}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "sampleType":"Swerve", - "waypoints":[0.0,0.73973,1.11022,1.74785,2.2571], - "samples":[ - {"t":0.0, "x":7.1, "y":5.07, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.84774, "ay":1.99837, "alpha":-54.61016, "fx":[-62.3807,-143.70502,189.58389,139.70564], "fy":[189.00863,-137.06011,-60.58868,141.88789]}, - {"t":0.02312, "x":7.10049, "y":5.07053, "heading":3.14159, "vx":0.04271, "vy":0.0462, "omega":-1.2624, "ax":1.89038, "ay":2.04654, "alpha":-54.42615, "fx":[-60.14251,-143.70812,190.23431,139.66305], "fy":[189.66259,-136.78167,-58.28236,141.86103]}, - {"t":0.04623, "x":7.10199, "y":5.07215, "heading":3.11241, "vx":0.08641, "vy":0.0935, "omega":-2.52054, "ax":1.90533, "ay":2.16765, "alpha":-54.14427, "fx":[-52.83757,-152.1296,189.75398,142.2569], "fy":[191.72943,-126.88198,-59.46891,139.15632]}, - {"t":0.06935, "x":7.10449, "y":5.07489, "heading":3.05414, "vx":0.13046, "vy":0.14361, "omega":-3.77216, "ax":1.91563, "ay":2.43223, "alpha":-53.57931, "fx":[-39.68722,-168.23547,188.49118,147.16197], "fy":[194.7299,-103.56521,-62.77252,133.78447]}, - {"t":0.09247, "x":7.10802, "y":5.07886, "heading":2.96694, "vx":0.17474, "vy":0.19984, "omega":-5.01073, "ax":1.9931, "ay":3.07187, "alpha":-52.05568, "fx":[-19.23928,-188.87436,187.35142,153.65846], "fy":[197.5344,-53.67014,-64.95765,125.92005]}, - {"t":0.11558, "x":7.11259, "y":5.0843, "heading":2.85111, "vx":0.22081, "vy":0.27085, "omega":-6.21408, "ax":2.65762, "ay":4.6451, "alpha":-46.53878, "fx":[12.77942,-185.28174,189.33836,160.36875], "fy":[197.35407,51.33759,-55.20623,116.24064]}, - {"t":0.1387, "x":7.11841, "y":5.0918, "heading":2.70746, "vx":0.28225, "vy":0.37823, "omega":-7.28989, "ax":4.11622, "ay":4.2427, "alpha":-12.4995, "fx":[50.86069,22.21598,107.65113,93.73413], "fy":[112.132,69.40055,23.99218,77.3706]}, - {"t":0.16182, "x":7.12603, "y":5.10168, "heading":2.53895, "vx":0.3774, "vy":0.4763, "omega":-7.57884, "ax":5.69441, "ay":1.59617, "alpha":6.87505, "fx":[101.02538,117.03097,90.2584,71.37758], "fy":[2.79584,29.99638,50.24595,23.39128]}, - {"t":0.18493, "x":7.13628, "y":5.11312, "heading":2.36375, "vx":0.50904, "vy":0.5132, "omega":-7.41991, "ax":5.91143, "ay":-0.2422, "alpha":9.82253, "fx":[104.63812,127.09095,95.25642,67.17702], "fy":[-42.40995,-4.57882,32.94218,-2.10271]}, - {"t":0.20805, "x":7.14962, "y":5.12491, "heading":2.19223, "vx":0.64569, "vy":0.5076, "omega":-7.19285, "ax":5.59011, "ay":1.80912, "alpha":16.37129, "fx":[97.17248,141.3683,96.83909,37.35798], "fy":[-33.48292,20.97214,86.99245,46.14673]}, - {"t":0.23117, "x":7.16604, "y":5.13713, "heading":2.02596, "vx":0.77491, "vy":0.54942, "omega":-6.8144, "ax":4.23454, "ay":4.06115, "alpha":19.3268, "fx":[62.32899,132.70077,82.7186,4.60283], "fy":[-1.31162,46.4173,127.209,98.47479]}, - {"t":0.25428, "x":7.18509, "y":5.15092, "heading":1.86843, "vx":0.8728, "vy":0.6433, "omega":-6.36763, "ax":3.28628, "ay":4.88752, "alpha":17.69897, "fx":[36.88469,112.48115,73.51107,-3.75393], "fy":[22.07385,56.38258,130.05474,117.37894]}, - {"t":0.2774, "x":7.20614, "y":5.16709, "heading":1.72123, "vx":0.94877, "vy":0.75628, "omega":-5.95849, "ax":3.10444, "ay":5.02561, "alpha":15.3213, "fx":[27.09849,101.46985,74.10301,4.32664], "fy":[40.25297,53.38149,121.83246,119.63134]}, - {"t":0.30051, "x":7.2289, "y":5.18592, "heading":1.58349, "vx":1.02053, "vy":0.87246, "omega":-5.60432, "ax":3.46267, "ay":4.79972, "alpha":13.42926, "fx":[31.06215,97.98505,81.99085,19.8464], "fy":[44.52161,49.36793,109.9205,116.22607]}, - {"t":0.32363, "x":7.25342, "y":5.20737, "heading":1.45394, "vx":1.10057, "vy":0.98341, "omega":-5.29388, "ax":4.07557, "ay":4.30301, "alpha":12.066, "fx":[39.18134,100.84088,93.43614,38.29295], "fy":[45.71093,38.45718,95.3079,107.44047]}, - {"t":0.34675, "x":7.27995, "y":5.23125, "heading":1.33157, "vx":1.19479, "vy":1.08288, "omega":-5.01496, "ax":4.72751, "ay":3.58618, "alpha":11.0313, "fx":[50.52624,104.54261,104.56657,55.58611], "fy":[38.46597,26.25003,78.36885,96.03493]}, - {"t":0.36986, "x":7.30883, "y":5.25724, "heading":1.21564, "vx":1.30407, "vy":1.16578, "omega":-4.75995, "ax":5.31586, "ay":2.65255, "alpha":10.15512, "fx":[60.20991,108.18826,114.29724,71.75607], "fy":[28.54033,10.22518,58.51433,79.58723]}, - {"t":0.39298, "x":7.3404, "y":5.2849, "heading":1.1056, "vx":1.42696, "vy":1.2271, "omega":-4.5252, "ax":5.72259, "ay":1.62183, "alpha":9.31836, "fx":[68.79142,109.08753,119.91703,83.77519], "fy":[14.72142,-6.23134,37.81659,61.83365]}, - {"t":0.4161, "x":7.37491, "y":5.3137, "heading":1.001, "vx":1.55924, "vy":1.26459, "omega":-4.30979, "ax":5.92511, "ay":0.5943, "alpha":8.4999, "fx":[73.53518,107.57491,122.39206,91.5731], "fy":[1.43341,-21.63912,17.47758,42.35493]}, - {"t":0.43921, "x":7.41254, "y":5.34309, "heading":0.90137, "vx":1.69621, "vy":1.27833, "omega":-4.1133, "ax":5.95039, "ay":-0.35834, "alpha":7.72536, "fx":[76.06034,103.40564,120.72897,96.56571], "fy":[-12.01423,-35.6979,-0.86286,24.68133]}, - {"t":0.46233, "x":7.45334, "y":5.37255, "heading":0.80628, "vx":1.83376, "vy":1.27005, "omega":-3.93472, "ax":5.84584, "ay":-1.19495, "alpha":7.03509, "fx":[75.84767,98.36135,117.85556,97.72455], "fy":[-23.85003,-46.82183,-16.95437,7.94896]}, - {"t":0.48545, "x":7.49729, "y":5.40159, "heading":0.71533, "vx":1.9689, "vy":1.24242, "omega":-3.77209, "ax":5.6584, "ay":-1.90797, "alpha":6.45524, "fx":[74.86903,92.14197,112.58032,97.70023], "fy":[-33.28328,-57.2436,-30.67627,-6.0163]}, - {"t":0.50856, "x":7.54432, "y":5.4298, "heading":0.62813, "vx":2.0997, "vy":1.19832, "omega":-3.62287, "ax":5.42485, "ay":-2.50513, "alpha":5.99906, "fx":[71.76384,86.05706,107.66164,96.23584], "fy":[-42.12893,-64.4324,-42.19638,-18.27972]}, - {"t":0.53168, "x":7.59431, "y":5.45683, "heading":0.54438, "vx":2.2251, "vy":1.14041, "omega":-3.48419, "ax":5.17054, "ay":-3.00145, "alpha":5.67021, "fx":[69.55192,79.76693,101.83077,93.61222], "fy":[-48.31896,-71.80466,-52.04285,-27.9646]}, - {"t":0.5548, "x":7.64712, "y":5.48239, "heading":0.46384, "vx":2.34463, "vy":1.07102, "omega":-3.35312, "ax":4.91432, "ay":-3.40944, "alpha":5.54285, "fx":[65.58992,74.00394,97.06051,91.02279], "fy":[-54.25017,-77.41212,-59.76637,-35.90644]}, - {"t":0.57791, "x":7.70264, "y":5.50624, "heading":0.38633, "vx":2.45823, "vy":0.99221, "omega":-3.22499, "ax":4.71831, "ay":-3.67889, "alpha":9.80542, "fx":[50.47025,62.66612,104.77252,96.69888], "fy":[-52.1569,-96.46276,-70.44939,-26.2324]}, - {"t":0.60103, "x":7.76072, "y":5.52819, "heading":0.31178, "vx":2.5673, "vy":0.90717, "omega":-2.99832, "ax":4.68327, "ay":-3.72477, "alpha":10.37454, "fx":[48.55002,58.92692,104.75232,100.04247], "fy":[-51.30437,-98.27739,-72.80414,-25.97486]}, - {"t":0.62415, "x":7.82132, "y":5.54817, "heading":0.24247, "vx":2.67556, "vy":0.82106, "omega":-2.7585, "ax":4.66174, "ay":-3.75325, "alpha":10.48284, "fx":[46.881,55.51765,104.25469,104.18276], "fy":[-52.40973,-97.48982,-72.60798,-27.75193]}, - {"t":0.64726, "x":7.88442, "y":5.56614, "heading":0.1787, "vx":2.78332, "vy":0.7343, "omega":-2.51617, "ax":4.64847, "ay":-3.77136, "alpha":10.62643, "fx":[48.9405,53.80205,100.19486,107.01338], "fy":[-49.16025,-98.81082,-76.03747,-27.45839]}, - {"t":0.67038, "x":7.95, "y":5.58211, "heading":0.12053, "vx":2.89078, "vy":0.64712, "omega":-2.27052, "ax":4.63843, "ay":-3.78539, "alpha":14.21194, "fx":[33.6666,48.53305,99.84677,127.23531], "fy":[-41.15262,-113.22392,-77.3327,-20.69309]}, - {"t":0.6935, "x":8.01806, "y":5.59606, "heading":0.06805, "vx":2.99801, "vy":0.55962, "omega":-1.94199, "ax":3.8251, "ay":-4.59874, "alpha":40.6778, "fx":[-94.43773,5.47125,147.18128,196.83572], "fy":[8.18946,-197.38398,-132.44808,15.00722]}, - {"t":0.71661, "x":8.08839, "y":5.60777, "heading":0.02316, "vx":3.08643, "vy":0.45331, "omega":-1.00167, "ax":2.16784, "ay":-5.56269, "alpha":43.33118, "fx":[-182.91784,-8.76849,137.85967,198.37407], "fy":[-31.09836,-198.26708,-143.09914,1.55525]}, - {"t":0.73973, "x":8.16032, "y":5.61676, "heading":0.0, "vx":3.13654, "vy":0.32472, "omega":0.0, "ax":2.86785, "ay":-5.23243, "alpha":0.0, "fx":[47.87738,47.76498,47.8099,47.77032], "fy":[-87.1837,-87.30662,-87.16868,-87.22946]}, - {"t":0.76031, "x":8.22548, "y":5.62233, "heading":0.0, "vx":3.19557, "vy":0.21702, "omega":0.0, "ax":2.75386, "ay":-5.29916, "alpha":0.0, "fx":[45.78066,45.95734,46.36615,45.51766], "fy":[-88.77841,-88.32609,-88.26998,-87.96346]}, - {"t":0.78089, "x":8.29184, "y":5.62568, "heading":0.0, "vx":3.25225, "vy":0.10795, "omega":0.0, "ax":2.19788, "ay":-5.49067, "alpha":0.0, "fx":[36.7546,36.52326,36.68146,36.59095], "fy":[-91.48554,-91.63835,-91.41802,-91.56538]}, - {"t":0.80148, "x":8.35925, "y":5.62674, "heading":0.0, "vx":3.29749, "vy":-0.00507, "omega":0.0, "ax":0.01547, "ay":-2.71353, "alpha":0.0, "fx":[0.25539,0.36554,0.79062,-0.38027], "fy":[-45.52139,-45.29763,-45.27399,-44.83965]}, - {"t":0.82206, "x":8.42712, "y":5.62606, "heading":0.0, "vx":3.29781, "vy":-0.06092, "omega":0.0, "ax":-0.00925, "ay":-0.46351, "alpha":0.0, "fx":[-0.1229,-0.12823,-0.18217,-0.18381], "fy":[-7.69687,-7.87194,-7.6384,-7.69862]}, - {"t":0.84264, "x":8.495, "y":5.6247, "heading":0.0, "vx":3.29762, "vy":-0.07046, "omega":0.0, "ax":0.01202, "ay":0.6192, "alpha":0.0, "fx":[0.16209,0.16204,-0.07768,0.55492], "fy":[10.44665,10.36013,10.36011,10.12047]}, - {"t":0.86323, "x":8.56288, "y":5.62339, "heading":0.0, "vx":3.29787, "vy":-0.05772, "omega":0.0, "ax":0.01427, "ay":0.98923, "alpha":0.0, "fx":[0.15726,0.1571,0.31868,0.3186], "fy":[16.40925,16.89994,16.24138,16.40915]}, - {"t":0.88381, "x":8.63076, "y":5.62241, "heading":0.0, "vx":3.29816, "vy":-0.03735, "omega":0.0, "ax":0.00849, "ay":1.05957, "alpha":0.0, "fx":[0.17779,0.17829,-0.13015,0.34025], "fy":[18.07673,17.62602,17.6261,17.32137]}, - {"t":0.90439, "x":8.69865, "y":5.62186, "heading":0.0, "vx":3.29834, "vy":-0.01555, "omega":0.0, "ax":0.00155, "ay":1.02986, "alpha":0.0, "fx":[-0.06968,-0.06985,0.12159,0.12147], "fy":[17.07165,17.64419,16.88166,17.07162]}, - {"t":0.92498, "x":8.76654, "y":5.62176, "heading":0.0, "vx":3.29837, "vy":0.00565, "omega":0.0, "ax":-0.00466, "ay":0.97855, "alpha":0.0, "fx":[0.0018,0.00196,-0.19744,-0.11701], "fy":[16.74358,16.2325,16.23247,16.0396]}, - {"t":0.94556, "x":8.83443, "y":5.62208, "heading":0.0, "vx":3.29827, "vy":0.02579, "omega":0.0, "ax":-0.0096, "ay":0.90182, "alpha":0.0, "fx":[-0.23021,-0.22981,-0.09014,-0.09006], "fy":[14.96284,15.38954,14.8161,14.96298]}, - {"t":0.96614, "x":8.90231, "y":5.62281, "heading":0.0, "vx":3.29807, "vy":0.04436, "omega":0.0, "ax":-0.01113, "ay":0.71112, "alpha":0.0, "fx":[-0.12098,-0.1214,-0.14585,-0.35385], "fy":[12.06914,11.78983,11.78953,11.76755]}, - {"t":0.98672, "x":8.9702, "y":5.62387, "heading":0.0, "vx":3.29785, "vy":0.05899, "omega":0.0, "ax":-0.00365, "ay":0.19553, "alpha":0.0, "fx":[-0.02508,-0.0271,-0.09542,-0.096], "fy":[3.29442,3.10427,3.3449,3.29401]}, - {"t":1.00731, "x":9.03808, "y":5.62513, "heading":0.0, "vx":3.29777, "vy":0.06302, "omega":0.0, "ax":-0.06412, "ay":-1.11549, "alpha":0.0, "fx":[-1.31506,-1.33338,-1.34956,-0.27745], "fy":[-19.36726,-18.33507,-18.34361,-18.33285]}, - {"t":1.02789, "x":9.10594, "y":5.62619, "heading":0.0, "vx":3.29645, "vy":0.04006, "omega":0.0, "ax":-5.70824, "ay":-1.21752, "alpha":0.0, "fx":[-95.07315,-94.8619,-95.37103,-95.30845], "fy":[-20.14107,-21.17004,-19.79316,-20.07771]}, - {"t":1.04847, "x":9.17258, "y":5.62675, "heading":0.0, "vx":3.17896, "vy":0.015, "omega":0.0, "ax":-2.07373, "ay":-5.61062, "alpha":0.0, "fx":[-34.69733,-34.91638,-34.94093,-33.71779], "fy":[-94.04235,-93.25919,-93.31614,-93.48798]}, - {"t":1.06906, "x":9.23758, "y":5.62587, "heading":0.0, "vx":3.13627, "vy":-0.10049, "omega":0.0, "ax":-1.22596, "ay":-5.86677, "alpha":0.0, "fx":[-20.39973,-20.21095,-20.58914,-20.54454], "fy":[-97.68819,-98.20336,-97.65061,-97.64277]}, - {"t":1.08964, "x":9.30187, "y":5.62256, "heading":0.0, "vx":3.11104, "vy":-0.22124, "omega":0.0, "ax":-1.03911, "ay":-5.90534, "alpha":0.0, "fx":[-17.35841,-17.42457,-17.31479,-17.1884], "fy":[-98.50226,-98.35586,-98.38254,-98.51592]}, - {"t":1.11022, "x":9.36568, "y":5.61676, "heading":0.0, "vx":3.08965, "vy":-0.34279, "omega":0.0, "ax":-1.02073, "ay":-5.9074, "alpha":-0.00456, "fx":[-17.00197,-16.98371,-17.03943,-17.03514], "fy":[-98.47568,-98.49139,-98.45575,-98.4714]}, - {"t":1.13795, "x":9.45095, "y":5.60498, "heading":0.0, "vx":3.06135, "vy":-0.50656, "omega":-0.00013, "ax":-1.09136, "ay":-5.89713, "alpha":-0.004, "fx":[-18.15269,-18.18592,-18.21011,-18.221], "fy":[-98.29919,-98.30844,-98.30342,-98.29803]}, - {"t":1.16567, "x":9.5354, "y":5.58868, "heading":0.0, "vx":3.0311, "vy":-0.67005, "omega":-0.00024, "ax":-1.17371, "ay":-5.88105, "alpha":-0.00268, "fx":[-19.52227,-19.5945,-19.5769,-19.5668], "fy":[-98.04482,-98.0257,-98.03009,-98.03619]}, - {"t":1.19339, "x":9.61897, "y":5.56784, "heading":-0.00001, "vx":2.99856, "vy":-0.83308, "omega":-0.00031, "ax":-1.27144, "ay":-5.8604, "alpha":-0.01264, "fx":[-21.11436,-21.17696,-21.25769,-21.22829], "fy":[-97.74517,-97.68418,-97.6701,-97.66071]}, - {"t":1.22111, "x":9.70161, "y":5.54249, "heading":-0.00002, "vx":2.96331, "vy":-0.99555, "omega":-0.00066, "ax":-1.38913, "ay":-5.83327, "alpha":0.03208, "fx":[-23.27524,-22.4843,-23.4455,-23.41966], "fy":[-96.81779,-98.58633,-96.75452,-96.79242]}, - {"t":1.24884, "x":9.78323, "y":5.51265, "heading":-0.00004, "vx":2.9248, "vy":-1.15727, "omega":0.00023, "ax":-1.53323, "ay":-5.79662, "alpha":-0.02992, "fx":[-25.38913,-25.59854,-25.61023,-25.63483], "fy":[-96.94639,-96.54961,-96.54142,-96.47012]}, - {"t":1.27656, "x":9.86373, "y":5.47834, "heading":-0.00003, "vx":2.8823, "vy":-1.31796, "omega":-0.0006, "ax":-1.71322, "ay":-5.74544, "alpha":0.02112, "fx":[-28.62634,-28.47516,-28.57087,-28.56197], "fy":[-95.66095,-96.0721,-95.6967,-95.66509]}, - {"t":1.30428, "x":9.94297, "y":5.4396, "heading":-0.00005, "vx":2.8348, "vy":-1.47724, "omega":-0.00002, "ax":-1.94327, "ay":-5.67104, "alpha":-0.03388, "fx":[-32.14253,-32.45998,-32.29202,-32.67886], "fy":[-94.97325,-94.44848,-94.47259,-94.23948]}, - {"t":1.332, "x":10.02081, "y":5.39646, "heading":-0.00005, "vx":2.78093, "vy":-1.63446, "omega":-0.00096, "ax":-2.24514, "ay":-5.55745, "alpha":0.02812, "fx":[-37.57927,-37.23779,-37.43521,-37.44959], "fy":[-92.47503,-93.02152,-92.56643,-92.4974]}, - {"t":1.35973, "x":10.09705, "y":5.34902, "heading":-0.00007, "vx":2.71869, "vy":-1.78853, "omega":-0.00018, "ax":-2.65097, "ay":-5.37431, "alpha":-0.03132, "fx":[-43.90232,-44.23639,-44.04516,-44.57743], "fy":[-89.98704,-89.53552,-89.5758,-89.25049]}, - {"t":1.38745, "x":10.1714, "y":5.29737, "heading":-0.00008, "vx":2.6452, "vy":-1.93752, "omega":-0.00104, "ax":-3.19741, "ay":-5.06614, "alpha":-0.01157, "fx":[-53.38348,-53.28149,-53.25382,-53.27818], "fy":[-84.52428,-84.11113,-84.61007,-84.55532]}, - {"t":1.41517, "x":10.2435, "y":5.24171, "heading":-0.00011, "vx":2.55655, "vy":-2.07797, "omega":-0.00137, "ax":-3.79529, "ay":-4.63172, "alpha":0.05022, "fx":[-63.39156,-63.36716,-63.31997,-62.98393], "fy":[-76.95644,-77.32619,-77.35274,-77.19905]}, - {"t":1.4429, "x":10.31292, "y":5.18232, "heading":-0.00015, "vx":2.45134, "vy":-2.20637, "omega":0.00003, "ax":-4.1029, "ay":-4.35549, "alpha":-0.03358, "fx":[-68.44565,-68.28275,-68.41571,-68.42932], "fy":[-72.72872,-72.19698,-72.74224,-72.74804]}, - {"t":1.47062, "x":10.3793, "y":5.11948, "heading":-0.00015, "vx":2.33759, "vy":-2.32712, "omega":-0.0009, "ax":-4.31604, "ay":-4.13147, "alpha":0.06418, "fx":[-72.17799,-72.35248,-72.3453,-70.90933], "fy":[-69.05698,-68.85433,-68.87217,-68.69511]}, - {"t":1.49834, "x":10.44244, "y":5.05338, "heading":-0.00017, "vx":2.21794, "vy":-2.44165, "omega":0.00088, "ax":-4.4979, "ay":-3.89106, "alpha":0.0008, "fx":[-74.96872,-74.83874,-75.05398,-75.04979], "fy":[-64.78499,-65.20002,-64.68012,-64.78308]}, - {"t":1.52606, "x":10.5022, "y":4.98419, "heading":-0.00015, "vx":2.09325, "vy":-2.54952, "omega":0.0009, "ax":0.19675, "ay":0.20098, "alpha":-0.00679, "fx":[3.1486,3.14993,2.9967,3.82353], "fy":[3.01821,3.51317,3.51448,3.35542]}, - {"t":1.55379, "x":10.56031, "y":4.91359, "heading":-0.00012, "vx":2.0987, "vy":-2.54395, "omega":0.00071, "ax":2.50116, "ay":5.40212, "alpha":0.0095, "fx":[41.77098,41.65639,41.66944,41.67606], "fy":[90.11519,89.7504,90.2176,90.11978]}, - {"t":1.58151, "x":10.61945, "y":4.84514, "heading":-0.0001, "vx":2.16804, "vy":-2.39419, "omega":0.00097, "ax":1.18907, "ay":5.86054, "alpha":-0.00541, "fx":[19.75649,19.8634,19.70415,19.96058], "fy":[97.76199,97.72424,97.73566,97.54763]}, - {"t":1.60923, "x":10.68001, "y":4.78102, "heading":-0.00007, "vx":2.20101, "vy":-2.23172, "omega":0.00082, "ax":0.80321, "ay":5.93328, "alpha":0.0084, "fx":[13.42814,13.43301,13.34594,13.34956], "fy":[98.98605,98.58935,99.05592,98.98855]}, - {"t":1.63695, "x":10.74134, "y":4.72143, "heading":-0.00005, "vx":2.22327, "vy":-2.06723, "omega":0.00106, "ax":0.62104, "ay":5.95856, "alpha":-0.03001, "fx":[10.38371,10.39922,10.34106,10.28558], "fy":[99.05681,99.43215,99.43464,99.38161]}, - {"t":1.66468, "x":10.80321, "y":4.66641, "heading":-0.00002, "vx":2.24049, "vy":-1.90204, "omega":0.00022, "ax":0.51525, "ay":5.97061, "alpha":-0.01151, "fx":[8.59743,8.53351,8.61316,8.61205], "fy":[99.44852,99.7646,99.44905,99.44667]}, - {"t":1.6924, "x":10.86552, "y":4.61598, "heading":-0.00002, "vx":2.25477, "vy":-1.73652, "omega":-0.0001, "ax":0.44584, "ay":5.97747, "alpha":0.02815, "fx":[7.32716,7.39377,7.40642,7.6004], "fy":[99.84363,99.57624,99.57564,99.57085]}, - {"t":1.72012, "x":10.9282, "y":4.57013, "heading":-0.00002, "vx":2.26713, "vy":-1.57081, "omega":0.00069, "ax":0.39689, "ay":5.98182, "alpha":0.0004, "fx":[6.57329,6.59917,6.646,6.64547], "fy":[99.68736,99.84214,99.64144,99.685]}, - {"t":1.74785, "x":10.99121, "y":4.52888, "heading":0.0, "vx":2.27814, "vy":-1.40498, "omega":0.0007, "ax":-0.10064, "ay":5.99172, "alpha":-0.00099, "fx":[-1.73908,-1.70372,-1.63535,-1.63225], "fy":[99.82972,100.08685,99.76874,99.83137]}, - {"t":1.78422, "x":11.07401, "y":4.48174, "heading":0.00003, "vx":2.27448, "vy":-1.18703, "omega":0.00066, "ax":-1.16422, "ay":5.88192, "alpha":-0.00023, "fx":[-19.2199,-19.39285,-19.3024,-19.71287], "fy":[98.34897,97.94458,97.95402,97.94775]}, - {"t":1.8206, "x":11.15597, "y":4.44245, "heading":0.00005, "vx":2.23213, "vy":-0.97307, "omega":0.00065, "ax":-2.29274, "ay":5.54024, "alpha":-0.01239, "fx":[-38.28629,-38.16939,-38.21811,-38.20194], "fy":[92.27464,92.6159,92.22876,92.29303]}, - {"t":1.85697, "x":11.23565, "y":4.41072, "heading":0.00007, "vx":2.14873, "vy":-0.77154, "omega":0.0002, "ax":-3.35645, "ay":4.96845, "alpha":-0.03939, "fx":[-55.5332,-55.8694,-55.77398,-56.62538], "fy":[83.25828,82.7486,82.78013,82.49978]}, - {"t":1.89335, "x":11.31159, "y":4.38595, "heading":0.00008, "vx":2.02663, "vy":-0.59081, "omega":-0.00123, "ax":-4.2384, "ay":4.2414, "alpha":-0.00569, "fx":[-70.69328,-70.632,-70.6564,-70.62691], "fy":[70.64788,70.88709,70.59335,70.67984]}, - {"t":1.92972, "x":11.38251, "y":4.36726, "heading":0.00004, "vx":1.87246, "vy":-0.43653, "omega":-0.00144, "ax":-4.89121, "ay":3.46886, "alpha":-0.01546, "fx":[-81.29979,-81.4966,-81.41897,-81.92092], "fy":[58.23622,57.73795,57.78923,57.53333]}, - {"t":1.9661, "x":11.44738, "y":4.35368, "heading":-0.00002, "vx":1.69454, "vy":-0.31035, "omega":-0.002, "ax":-5.33494, "ay":2.73845, "alpha":0.01522, "fx":[-88.92871,-88.98716,-88.9251,-88.88234], "fy":[45.67535,45.63578,45.56764,45.71615]}, - {"t":2.00247, "x":11.5055, "y":4.3442, "heading":-0.00009, "vx":1.50048, "vy":-0.21073, "omega":-0.00145, "ax":-5.6196, "ay":2.09392, "alpha":0.01533, "fx":[-93.61063,-93.67879,-93.69298,-93.72195], "fy":[35.06617,34.79232,34.80478,34.95504]}, - {"t":2.03885, "x":11.55636, "y":4.33792, "heading":-0.00014, "vx":1.29606, "vy":-0.13457, "omega":-0.00089, "ax":-5.79481, "ay":1.54532, "alpha":0.01605, "fx":[-96.60491,-96.63591,-96.57859,-96.56749], "fy":[25.79551,25.62685,25.78359,25.83295]}, - {"t":2.07523, "x":11.59967, "y":4.33405, "heading":-0.00017, "vx":1.08527, "vy":-0.07835, "omega":-0.00031, "ax":-5.89852, "ay":1.08552, "alpha":0.02182, "fx":[-98.37282,-98.38502,-98.37147,-98.17255], "fy":[18.08834,18.02926,18.05539,18.20764]}, - {"t":2.1116, "x":11.63524, "y":4.33191, "heading":-0.00019, "vx":0.87071, "vy":-0.03887, "omega":0.00049, "ax":-5.95662, "ay":0.70152, "alpha":0.02635, "fx":[-99.30311,-99.33576,-99.27715,-99.26026], "fy":[11.78212,11.5212,11.66085,11.81189]}, - {"t":2.14798, "x":11.66298, "y":4.33096, "heading":-0.00017, "vx":0.65404, "vy":-0.01335, "omega":0.00145, "ax":-5.98594, "ay":0.37985, "alpha":-0.01651, "fx":[-99.67705,-99.68067,-99.62423,-100.14913], "fy":[6.35165,6.29559,6.32114,6.3591]}, - {"t":2.18435, "x":11.68281, "y":4.33073, "heading":-0.00012, "vx":0.4363, "vy":0.00047, "omega":0.00085, "ax":-5.99716, "ay":0.10872, "alpha":0.04059, "fx":[-100.00167,-100.0181,-99.93556,-99.92376], "fy":[1.95856,1.63266,1.67667,1.98113]}, - {"t":2.22073, "x":11.69471, "y":4.33082, "heading":-0.00008, "vx":0.21815, "vy":0.00442, "omega":0.00232, "ax":-5.99705, "ay":-0.12159, "alpha":-0.06385, "fx":[-100.54879,-98.412,-100.45793,-100.45334], "fy":[-1.85757,-2.13678,-2.27033,-1.84283]}, - {"t":2.2571, "x":11.69868, "y":4.3309, "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/bargeToE.traj b/src/main/deploy/choreo/bargeToE.traj index cd7a643f..0f8e6fc5 100644 --- a/src/main/deploy/choreo/bargeToE.traj +++ b/src/main/deploy/choreo/bargeToE.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.75, "y":5.08871412277, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.0428056716918945, "y":4.1523942947387695, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.720584392547607, "y":2.3204445838928223, "heading":1.9756880474756875, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.894185251845, "y":2.7146580097364, "heading":2.0943951023931953, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -20,7 +20,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"barge.x", "val":7.75}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.0428056716918945 m", "val":7.0428056716918945}, "y":{"exp":"4.1523942947387695 m", "val":4.1523942947387695}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.720584392547607 m", "val":5.720584392547607}, "y":{"exp":"2.3204445838928223 m", "val":2.3204445838928223}, "heading":{"exp":"1.9756880474756875 rad", "val":1.9756880474756875}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"E.x", "val":4.894185251845}, "y":{"exp":"E.y", "val":2.7146580097364}, "heading":{"exp":"E.heading", "val":2.0943951023931953}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -40,87 +40,87 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.68707,1.53133,2.21746], + "waypoints":[0.0,0.678,1.52315,2.20764], "samples":[ - {"t":0.0, "x":7.75, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.30104, "ay":-3.75144, "alpha":-0.00364, "fx":[-55.01524,-54.97396,-55.06542,-55.0527], "fy":[-62.52611,-62.63802,-62.46042,-62.51431]}, - {"t":0.03435, "x":7.74805, "y":5.0865, "heading":0.0, "vx":-0.1134, "vy":-0.12887, "omega":-0.00013, "ax":-3.28045, "ay":-3.77134, "alpha":0.00144, "fx":[-54.68939,-54.66445,-54.69349,-54.68702], "fy":[-62.85562,-62.9207,-62.83943,-62.84971]}, - {"t":0.06871, "x":7.74222, "y":5.07985, "heading":0.0, "vx":-0.2261, "vy":-0.25843, "omega":-0.00008, "ax":-3.25649, "ay":-3.79194, "alpha":-0.00051, "fx":[-54.25765,-54.28106,-54.22319,-54.37442], "fy":[-63.23796,-63.21494,-63.2292,-63.15731]}, - {"t":0.10306, "x":7.73253, "y":5.06873, "heading":-0.00001, "vx":-0.33797, "vy":-0.3887, "omega":-0.00009, "ax":-3.22973, "ay":-3.81464, "alpha":0.0005, "fx":[-53.83675,-53.80414,-53.85956,-53.85191], "fy":[-63.57188,-63.67493,-63.54158,-63.56424]}, - {"t":0.13741, "x":7.71902, "y":5.05313, "heading":-0.00001, "vx":-0.44892, "vy":-0.51974, "omega":-0.00008, "ax":-3.19965, "ay":-3.83977, "alpha":-0.00088, "fx":[-53.31068,-53.33984,-53.26472,-53.43148], "fy":[-64.06982,-64.00404,-64.02442,-63.93015]}, - {"t":0.17177, "x":7.70171, "y":5.03301, "heading":-0.00001, "vx":-0.55884, "vy":-0.65165, "omega":-0.00011, "ax":-3.16561, "ay":-3.86773, "alpha":0.0009, "fx":[-52.76477,-52.7187,-52.80236,-52.79122], "fy":[-64.44657,-64.60646,-64.4039,-64.43606]}, - {"t":0.20612, "x":7.68064, "y":5.00834, "heading":-0.00002, "vx":-0.66759, "vy":-0.78452, "omega":-0.00008, "ax":-3.12678, "ay":-3.89903, "alpha":-0.00096, "fx":[-52.0938,-52.13632,-52.02978,-52.22797], "fy":[-65.1085,-64.98244,-65.01187,-64.8768]}, - {"t":0.24047, "x":7.65586, "y":4.97909, "heading":-0.00002, "vx":-0.775, "vy":-0.91847, "omega":-0.00011, "ax":-3.0821, "ay":-3.93426, "alpha":0.00113, "fx":[-51.36786,-51.30944,-51.42268,-51.40849], "fy":[-65.54471,-65.76373,-65.48859,-65.53165]}, - {"t":0.27483, "x":7.62742, "y":4.94521, "heading":-0.00002, "vx":-0.88088, "vy":-1.05362, "omega":-0.00007, "ax":-3.03016, "ay":-3.97419, "alpha":-0.00114, "fx":[-50.48777,-50.54124,-50.41206,-50.60395], "fy":[-66.41827,-66.22066,-66.25735,-66.095]}, - {"t":0.30918, "x":7.59537, "y":4.90667, "heading":-0.00002, "vx":-0.98498, "vy":-1.19015, "omega":-0.00011, "ax":-2.96908, "ay":-4.01978, "alpha":0.00131, "fx":[-49.4794,-49.40777,-49.5517,-49.53374], "fy":[-66.95952,-67.23649,-66.89099,-66.9442]}, - {"t":0.34353, "x":7.55978, "y":4.86342, "heading":-0.00003, "vx":-1.08698, "vy":-1.32824, "omega":-0.00006, "ax":-2.89631, "ay":-4.07225, "alpha":-0.00144, "fx":[-48.26462,-48.32057,-48.18589,-48.34913], "fy":[-68.0797,-67.8444,-67.88126,-67.72412]}, - {"t":0.37789, "x":7.52073, "y":4.81538, "heading":-0.00003, "vx":-1.18647, "vy":-1.46813, "omega":-0.00011, "ax":-2.80823, "ay":-4.13315, "alpha":0.0012, "fx":[-46.79209,-46.73025,-46.8708,-46.85415], "fy":[-68.84741,-69.12696,-68.78116,-68.83477]}, - {"t":0.41224, "x":7.47831, "y":4.76251, "heading":-0.00003, "vx":-1.28295, "vy":-1.61012, "omega":-0.00007, "ax":-2.69972, "ay":-4.20443, "alpha":-0.00196, "fx":[-45.00868,-45.0361,-44.96257,-45.00503], "fy":[-70.24087,-70.04759,-70.06647,-69.9886]}, - {"t":0.44659, "x":7.43265, "y":4.70472, "heading":-0.00004, "vx":-1.37569, "vy":-1.75456, "omega":-0.00014, "ax":-2.56301, "ay":-4.28868, "alpha":0.00188, "fx":[-42.71274,-42.75768,-42.7091,-42.71681], "fy":[-71.48649,-71.46882,-71.5076,-71.49773]}, - {"t":0.48095, "x":7.38388, "y":4.64191, "heading":-0.00004, "vx":-1.46374, "vy":-1.90189, "omega":-0.00007, "ax":-2.38646, "ay":-4.38879, "alpha":0.0, "fx":[-39.87904,-39.70673,-40.20367,-39.33512], "fy":[-72.83116,-73.24712,-73.04757,-73.51048]}, - {"t":0.5153, "x":7.33218, "y":4.57398, "heading":-0.00004, "vx":-1.54572, "vy":-2.05266, "omega":-0.00007, "ax":-2.15105, "ay":-4.50813, "alpha":0.0046, "fx":[-35.87136,-36.03246,-35.74483,-35.77937], "fy":[-75.20205,-74.81532,-75.33643,-75.23966]}, - {"t":0.54965, "x":7.27781, "y":4.50081, "heading":-0.00005, "vx":-1.61962, "vy":-2.20753, "omega":0.00008, "ax":-1.82581, "ay":-4.64847, "alpha":-0.00646, "fx":[-30.45282,-30.36536,-30.56312,-30.36044], "fy":[-77.39683,-77.49601,-77.46918,-77.58883]}, - {"t":0.58401, "x":7.2211, "y":4.42223, "heading":-0.00004, "vx":-1.68234, "vy":-2.36722, "omega":-0.00014, "ax":-1.35684, "ay":-4.80516, "alpha":-0.02026, "fx":[-22.59755,-22.7069,-22.57328,-22.59408], "fy":[-80.21746,-79.69523,-80.23831,-80.24783]}, - {"t":0.61836, "x":7.1625, "y":4.33807, "heading":-0.00005, "vx":-1.72895, "vy":-2.53229, "omega":-0.00083, "ax":-0.65291, "ay":-4.94865, "alpha":0.09, "fx":[-10.98275,-10.98706,-10.26074,-11.30455], "fy":[-82.1379,-82.82129,-82.83654,-82.17099]}, - {"t":0.65271, "x":7.10272, "y":4.24816, "heading":-0.00008, "vx":-1.75138, "vy":-2.70229, "omega":0.00226, "ax":0.42255, "ay":-4.97168, "alpha":2.59591, "fx":[0.37739,0.12703,13.5952,14.0752], "fy":[-77.20029,-89.111,-88.34406,-76.84694]}, - {"t":0.68707, "x":7.04281, "y":4.15239, "heading":0.0, "vx":-1.73686, "vy":-2.87309, "omega":0.09144, "ax":1.3283, "ay":-4.7786, "alpha":32.48814, "fx":[-73.5574,-53.54249,90.11903,125.54962], "fy":[-8.08894,-158.93925,-145.45923,-6.14077]}, - {"t":0.70928, "x":7.00454, "y":4.08738, "heading":0.00203, "vx":-1.70735, "vy":-2.97925, "omega":0.81324, "ax":1.48311, "ay":-4.74942, "alpha":-8.00129, "fx":[45.31954,43.90777,3.48384,6.18009], "fy":[-98.69916,-61.95088,-58.23029,-97.80193]}, - {"t":0.7315, "x":6.96698, "y":4.02002, "heading":0.0201, "vx":-1.6744, "vy":-3.08477, "omega":0.63547, "ax":1.64339, "ay":-4.68947, "alpha":-7.95934, "fx":[46.43972,47.18813,8.30361,7.64677], "fy":[-95.96286,-57.6314,-60.04306,-99.04781]}, - {"t":0.75372, "x":6.93018, "y":3.95033, "heading":0.03422, "vx":-1.63789, "vy":-3.18896, "omega":0.45863, "ax":1.92315, "ay":-4.57024, "alpha":-7.6337, "fx":[51.00226,51.92743,12.57233,12.73004], "fy":[-91.90619,-57.74387,-59.11318,-95.97147]}, - {"t":0.77594, "x":6.89427, "y":3.87835, "heading":0.04441, "vx":-1.59516, "vy":-3.2905, "omega":0.28903, "ax":2.43763, "ay":-4.2943, "alpha":-6.76669, "fx":[56.97707,57.55398,23.52858,24.4767], "fy":[-85.90549,-53.55709,-57.06684,-89.80622]}, - {"t":0.79815, "x":6.85943, "y":3.80418, "heading":0.05083, "vx":-1.54101, "vy":-3.38591, "omega":0.1387, "ax":3.32932, "ay":-3.58238, "alpha":-4.63929, "fx":[67.52572,66.43791,43.37557,44.6537], "fy":[-69.27646,-48.09884,-49.21621,-72.27448]}, - {"t":0.82037, "x":6.82601, "y":3.72807, "heading":0.05391, "vx":-1.46704, "vy":-3.4655, "omega":0.03562, "ax":4.2688, "ay":-2.14108, "alpha":-0.87241, "fx":[72.2372,74.13044,68.91076,69.3573], "fy":[-37.57051,-33.09747,-33.82292,-38.27243]}, - {"t":0.84259, "x":6.79447, "y":3.65055, "heading":0.0547, "vx":-1.37219, "vy":-3.51307, "omega":0.01624, "ax":2.13607, "ay":-0.13949, "alpha":1.5331, "fx":[31.52033,31.84273,39.69748,39.36881], "fy":[1.18343,-6.48718,-5.21455,1.21713]}, - {"t":0.8648, "x":6.76451, "y":3.57246, "heading":0.05506, "vx":-1.32474, "vy":-3.51617, "omega":0.0503, "ax":-0.5379, "ay":4.77287, "alpha":10.38027, "fx":[-37.28095,-32.54712,20.17372,13.7881], "fy":[101.7054,52.71038,57.60521,106.225]}, - {"t":0.88702, "x":6.73495, "y":3.49552, "heading":0.05618, "vx":-1.33669, "vy":-3.41013, "omega":0.28092, "ax":-0.67095, "ay":4.87682, "alpha":10.24584, "fx":[-39.79652,-35.93758,18.46279,12.53365], "fy":[101.62524,56.52091,59.99506,107.03589]}, - {"t":0.90924, "x":6.70509, "y":3.42096, "heading":0.06242, "vx":-1.35159, "vy":-3.30178, "omega":0.50856, "ax":-0.65843, "ay":4.90862, "alpha":10.02823, "fx":[-41.06655,-33.857,21.47944,9.54132], "fy":[99.86706,55.47845,64.38347,107.56804]}, - {"t":0.93146, "x":6.67489, "y":3.34882, "heading":0.07372, "vx":-1.36622, "vy":-3.19272, "omega":0.73136, "ax":-0.65579, "ay":4.92257, "alpha":9.75748, "fx":[-39.60319,-34.83081,19.91212,10.79497], "fy":[98.66957,57.66865,64.79577,107.09335]}, - {"t":0.95367, "x":6.64438, "y":3.2791, "heading":0.08997, "vx":-1.38079, "vy":-3.08335, "omega":0.94815, "ax":-0.65586, "ay":4.93021, "alpha":9.48706, "fx":[-42.13143,-30.97065,22.9727,6.39757], "fy":[96.68768,56.31582,68.77582,106.95748]}, - {"t":0.97589, "x":6.61354, "y":3.21181, "heading":0.11103, "vx":-1.39536, "vy":-2.97382, "omega":1.15892, "ax":-0.66763, "ay":4.93355, "alpha":9.236, "fx":[-40.16016,-32.22931,20.26513,7.60805], "fy":[95.82048,57.65207,68.80816,106.67887]}, - {"t":0.99811, "x":6.58237, "y":3.14696, "heading":0.13678, "vx":-1.4102, "vy":-2.86421, "omega":1.36412, "ax":-0.67835, "ay":4.9355, "alpha":9.04193, "fx":[-44.04932,-26.48002,23.05045,2.24759], "fy":[94.19964,56.19342,71.94537,106.75099]}, - {"t":1.02033, "x":6.55088, "y":3.08454, "heading":0.16709, "vx":-1.42527, "vy":-2.75455, "omega":1.56501, "ax":-0.69112, "ay":4.93623, "alpha":8.92088, "fx":[-41.76906,-29.08977,20.78274,3.99339], "fy":[93.25011,56.61259,72.61353,106.66207]}, - {"t":1.04254, "x":6.51904, "y":3.02456, "heading":0.20186, "vx":-1.44062, "vy":-2.64488, "omega":1.76321, "ax":-0.70297, "ay":4.93647, "alpha":8.89391, "fx":[-45.99976,-22.92834,23.37578,-1.32033], "fy":[92.09629,55.51158,74.48618,107.0602]}, - {"t":1.06476, "x":6.48686, "y":2.96701, "heading":0.24103, "vx":-1.45624, "vy":-2.53521, "omega":1.96081, "ax":-0.71571, "ay":4.93615, "alpha":8.97828, "fx":[-44.76162,-25.88831,22.24057,0.68717], "fy":[90.66874,54.7816,76.17986,107.50255]}, - {"t":1.08698, "x":6.45433, "y":2.91191, "heading":0.2846, "vx":-1.47214, "vy":-2.42554, "omega":2.16028, "ax":-0.72658, "ay":4.93578, "alpha":9.1971, "fx":[-48.85568,-20.09115,24.51804,-4.01801], "fy":[90.44039,53.80376,76.45223,108.41163]}, - {"t":1.1092, "x":6.42144, "y":2.85924, "heading":0.33259, "vx":-1.48829, "vy":-2.31588, "omega":2.36462, "ax":-0.73669, "ay":4.93528, "alpha":9.57516, "fx":[-49.05633,-22.9261,25.19923,-2.33769], "fy":[88.88552,52.01299,78.70111,109.47532]}, - {"t":1.13141, "x":6.38819, "y":2.809, "heading":0.38513, "vx":-1.50465, "vy":-2.20623, "omega":2.57735, "ax":-0.74459, "ay":4.93493, "alpha":10.14497, "fx":[-53.03442,-18.78414,27.92845,-5.7574], "fy":[89.09026,50.50321,78.26058,111.19777]}, - {"t":1.15363, "x":6.35458, "y":2.7612, "heading":0.44239, "vx":-1.5212, "vy":-2.09659, "omega":2.80275, "ax":-0.75067, "ay":4.93472, "alpha":10.94898, "fx":[-55.47104,-20.35826,30.61252,-4.83657], "fy":[87.18615,46.92829,81.49285,113.43047]}, - {"t":1.17585, "x":6.3206, "y":2.71584, "heading":0.50466, "vx":-1.53787, "vy":-1.98695, "omega":3.04601, "ax":-0.75376, "ay":4.93486, "alpha":12.04342, "fx":[-60.1078,-17.71984,34.55371,-6.98558], "fy":[87.82208,43.75946,80.81446,116.65101]}, - {"t":1.19807, "x":6.28624, "y":2.67291, "heading":0.57234, "vx":-1.55462, "vy":-1.87731, "omega":3.31358, "ax":-0.7539, "ay":4.93537, "alpha":13.50392, "fx":[-65.52397,-16.98283,39.97298,-7.7349], "fy":[85.22036,38.18349,84.75841,120.9186]}, - {"t":1.22028, "x":6.25152, "y":2.63242, "heading":0.64596, "vx":-1.57137, "vy":-1.76766, "omega":3.6136, "ax":-0.75003, "ay":4.93642, "alpha":15.41971, "fx":[-71.35516,-13.41728,45.02193,-10.25978], "fy":[85.66544,31.25612,83.5831,128.64637]}, - {"t":1.2425, "x":6.21642, "y":2.59437, "heading":0.72624, "vx":-1.58803, "vy":-1.65799, "omega":3.95619, "ax":-0.74155, "ay":4.93811, "alpha":9.75975, "fx":[-50.47448,-7.39775,23.7816,-15.35474], "fy":[78.66896,51.14029,86.92511,112.52961]}, - {"t":1.26472, "x":6.18096, "y":2.55875, "heading":0.81414, "vx":-1.60451, "vy":-1.54828, "omega":4.17302, "ax":-0.79012, "ay":4.93104, "alpha":-3.19379, "fx":[-2.27179,-8.93576,-24.51238,-16.96376], "fy":[81.1478,93.26716,83.1741,71.20312]}, - {"t":1.28693, "x":6.14511, "y":2.52557, "heading":0.90685, "vx":-1.62206, "vy":-1.43872, "omega":4.10206, "ax":-0.8385, "ay":4.92344, "alpha":-1.61476, "fx":[-8.15759,-10.17112,-19.97275,-17.60831], "fy":[79.54997,88.35571,84.07971,76.3004]}, - {"t":1.30915, "x":6.10887, "y":2.49482, "heading":0.99799, "vx":-1.64069, "vy":-1.32933, "omega":4.06619, "ax":-0.88061, "ay":4.91644, "alpha":-0.19713, "fx":[-13.58595,-12.56813,-15.90167,-16.66174], "fy":[81.33133,82.77333,82.54979,81.16424]}, - {"t":1.33137, "x":6.0722, "y":2.4665, "heading":1.08833, "vx":-1.66026, "vy":-1.2201, "omega":4.06181, "ax":-0.91732, "ay":4.91003, "alpha":1.13058, "fx":[-19.51717,-11.28196,-11.40306,-18.9629], "fy":[78.62269,80.07641,84.71817,83.97429]}, - {"t":1.35359, "x":6.03509, "y":2.4406, "heading":1.17857, "vx":-1.68064, "vy":-1.11102, "omega":4.08693, "ax":-0.94936, "ay":4.90422, "alpha":2.44916, "fx":[-24.5729,-11.51792,-7.38128,-19.82914], "fy":[78.18016,75.2379,85.49335,88.09226]}, - {"t":1.3758, "x":5.99751, "y":2.41713, "heading":1.26937, "vx":-1.70173, "vy":-1.00206, "omega":4.14134, "ax":-0.9773, "ay":4.89897, "alpha":3.83354, "fx":[-29.99966,-8.30157,-3.40726,-23.45591], "fy":[74.84138,72.6892,88.52124,90.60211]}, - {"t":1.39802, "x":5.95946, "y":2.39608, "heading":1.36138, "vx":-1.72344, "vy":-0.89321, "omega":4.22651, "ax":-1.00158, "ay":4.89429, "alpha":5.36075, "fx":[-35.1483,-5.70567,0.74364,-26.67314], "fy":[71.9983,68.44947,91.67715,94.21664]}, - {"t":1.42024, "x":5.92093, "y":2.37744, "heading":1.45528, "vx":-1.7457, "vy":-0.78448, "omega":4.34561, "ax":-1.02239, "ay":4.89018, "alpha":7.12017, "fx":[-40.64736,0.40203,4.28132,-32.20722], "fy":[67.10259,65.70819,96.32235,96.93471]}, - {"t":1.44246, "x":5.88189, "y":2.36122, "heading":1.55183, "vx":-1.76841, "vy":-0.67583, "omega":4.50381, "ax":-1.03991, "ay":4.88667, "alpha":9.22175, "fx":[-44.77872,6.5413,7.4948,-38.59684], "fy":[60.42684,61.39215,102.87446,101.14004]}, - {"t":1.46467, "x":5.84234, "y":2.34741, "heading":1.65189, "vx":-1.79151, "vy":-0.56726, "omega":4.70869, "ax":-1.05401, "ay":4.88381, "alpha":11.78416, "fx":[-46.59024,14.56203,10.40116,-48.6524], "fy":[51.6166,56.80427,111.08902,106.13312]}, - {"t":1.48689, "x":5.80228, "y":2.33601, "heading":1.75651, "vx":-1.81493, "vy":-0.45876, "omega":4.9705, "ax":-1.06225, "ay":4.88218, "alpha":-3.40928, "fx":[-10.36948,-28.80025,-31.19616,-0.46318], "fy":[87.46412,82.62842,73.86773,81.57386]}, - {"t":1.50911, "x":5.7617, "y":2.32702, "heading":1.86694, "vx":-1.83853, "vy":-0.35029, "omega":4.89476, "ax":-1.06826, "ay":4.88105, "alpha":-29.12721, "fx":[25.78607,-99.30209,-95.31541,97.6021], "fy":[154.76864,119.94234,-3.40558,54.15344]}, - {"t":1.53133, "x":5.72058, "y":2.32044, "heading":1.97569, "vx":-1.86227, "vy":-0.24184, "omega":4.24763, "ax":-0.94504, "ay":4.9052, "alpha":-30.03281, "fx":[20.67378,-104.66537,-85.40096,106.37917], "fy":[159.00729,116.47865,-11.93452,63.51766]}, - {"t":1.56563, "x":5.65614, "y":2.31503, "heading":2.12141, "vx":-1.89469, "vy":-0.07356, "omega":3.2173, "ax":-0.72396, "ay":4.94467, "alpha":-25.2583, "fx":[9.58269,-96.73883,-51.01473,89.89874], "fy":[150.34222,103.94707,0.6938,74.7179]}, - {"t":1.59994, "x":5.59071, "y":2.31542, "heading":2.23178, "vx":-1.91952, "vy":0.09607, "omega":2.35077, "ax":-0.43, "ay":4.97844, "alpha":-21.20675, "fx":[4.55908,-83.6738,-27.2642,77.70706], "fy":[141.29138,96.36884,14.27901,80.01375]}, - {"t":1.63425, "x":5.52461, "y":2.32165, "heading":2.31243, "vx":-1.93428, "vy":0.26687, "omega":1.62324, "ax":-0.02749, "ay":4.99637, "alpha":-17.54668, "fx":[5.10627,-66.61497,-9.03064,68.70607], "fy":[132.42516,91.68735,26.82691,82.20863]}, - {"t":1.66855, "x":5.45823, "y":2.33374, "heading":2.36812, "vx":-1.93522, "vy":0.43828, "omega":1.02127, "ax":0.54305, "ay":4.96612, "alpha":-14.37439, "fx":[10.15096,-46.5438,7.88023,64.72211], "fy":[123.61284,89.09814,36.72876,81.69131]}, - {"t":1.70286, "x":5.39216, "y":2.3517, "heading":2.40316, "vx":-1.91659, "vy":0.60865, "omega":0.52813, "ax":1.36974, "ay":4.80327, "alpha":-11.66737, "fx":[21.71956,-22.30026,24.89853,67.01391], "fy":[114.27571,85.37959,42.49215,78.12544]}, - {"t":1.73717, "x":5.32722, "y":2.37541, "heading":2.42127, "vx":-1.8696, "vy":0.77343, "omega":0.12786, "ax":2.53194, "ay":4.3041, "alpha":-9.35397, "fx":[39.37861,7.08988,46.76535,75.59132], "fy":[100.83934,77.02453,40.1637,68.9618]}, - {"t":1.77147, "x":5.26457, "y":2.40447, "heading":2.42566, "vx":-1.78274, "vy":0.92109, "omega":-0.19304, "ax":3.87959, "ay":3.14256, "alpha":-7.4791, "fx":[62.3585,38.63727,68.24021,89.44732], "fy":[78.07015,56.51278,25.51671,49.44]}, - {"t":1.80578, "x":5.20569, "y":2.43792, "heading":2.41904, "vx":-1.64964, "vy":1.0289, "omega":-0.44962, "ax":4.8076, "ay":1.34711, "alpha":-5.89369, "fx":[79.10874,61.56769,81.93252,97.95243], "fy":[45.00611,23.7694,0.04288,21.00421]}, - {"t":1.84009, "x":5.15193, "y":2.47401, "heading":2.40361, "vx":-1.48471, "vy":1.07512, "omega":-0.65182, "ax":4.98114, "ay":-0.35489, "alpha":-4.58937, "fx":[83.84073,68.7352,82.76949,96.78758], "fy":[11.60132,-5.33253,-23.73225,-6.19969]}, - {"t":1.87439, "x":5.10392, "y":2.51069, "heading":2.38125, "vx":-1.31382, "vy":1.06294, "omega":-0.80926, "ax":4.75531, "ay":-1.52844, "alpha":-3.40161, "fx":[80.62951,68.80053,78.18072,89.46448], "fy":[-12.31261,-25.66769,-38.57724,-25.35569]}, - {"t":1.9087, "x":5.06165, "y":2.54626, "heading":2.35349, "vx":-1.15068, "vy":1.01051, "omega":-0.92596, "ax":4.45306, "ay":-2.26466, "alpha":-2.27033, "fx":[75.54037,67.05587,73.03758,81.28741], "fy":[-29.17252,-38.01408,-46.2113,-37.60511]}, - {"t":1.94301, "x":5.02479, "y":2.57959, "heading":2.32172, "vx":-0.99791, "vy":0.93281, "omega":-1.00385, "ax":4.18198, "ay":-2.73428, "alpha":-1.09989, "fx":[70.49267,66.20719,68.95798,73.18883], "fy":[-41.50173,-45.67039,-49.63372,-45.51093]}, - {"t":1.97731, "x":4.99302, "y":2.60998, "heading":2.28728, "vx":-0.85444, "vy":0.83901, "omega":-1.04158, "ax":3.9596, "ay":-3.04828, "alpha":0.07677, "fx":[65.88835,66.23267,66.00373,65.89367], "fy":[-51.21425,-50.80737,-50.50678,-50.72534]}, - {"t":2.01162, "x":4.96603, "y":2.63697, "heading":2.25155, "vx":-0.7186, "vy":0.73443, "omega":-1.03895, "ax":3.78029, "ay":-3.2686, "alpha":1.32057, "fx":[61.86553,67.26297,64.22941,58.70471], "fy":[-59.14804,-54.74795,-49.70491,-54.34329]}, - {"t":2.04593, "x":4.94361, "y":2.66024, "heading":2.21591, "vx":-0.58891, "vy":0.6223, "omega":-0.99364, "ax":3.63505, "ay":-3.42985, "alpha":2.66487, "fx":[57.97611,69.20053,63.33455,51.86669], "fy":[-66.60535,-57.61043,-47.74411,-56.73591]}, - {"t":2.08023, "x":4.92554, "y":2.67958, "heading":2.18182, "vx":-0.4642, "vy":0.50463, "omega":-0.90222, "ax":3.51604, "ay":-3.55209, "alpha":4.08129, "fx":[54.3461,71.70243,63.38445,45.0098], "fy":[-73.2357,-60.47712,-44.81087,-58.32264]}, - {"t":2.11454, "x":4.91169, "y":2.6948, "heading":2.15087, "vx":-0.34358, "vy":0.38277, "omega":-0.76221, "ax":3.41725, "ay":-3.64749, "alpha":5.6644, "fx":[50.71771,75.14109,64.0736,37.92352], "fy":[-80.12248,-62.70571,-41.13595,-59.24371]}, - {"t":2.14885, "x":4.90191, "y":2.70578, "heading":2.12472, "vx":-0.22635, "vy":0.25764, "omega":-0.56788, "ax":3.3342, "ay":-3.72379, "alpha":7.3426, "fx":[47.09204,78.83555,65.74333,30.6469], "fy":[-86.62371,-65.33323,-36.60578,-59.73228]}, - {"t":2.18315, "x":4.89611, "y":2.71243, "heading":2.10524, "vx":-0.11196, "vy":0.12989, "omega":-0.31598, "ax":3.26354, "ay":-3.78605, "alpha":9.21043, "fx":[43.57745,83.522,67.71212,22.79495], "fy":[-93.56319,-67.3605,-31.32954,-60.19301]}, - {"t":2.21746, "x":4.89419, "y":2.71466, "heading":2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.7, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.1335, "ay":-3.89243, "alpha":-0.00326, "fx":[-52.21429,-52.14643,-52.29555,-52.2795], "fy":[-64.85655,-65.06931,-64.77583,-64.83785]}, + {"t":0.0339, "x":7.6982, "y":5.08648, "heading":0.0, "vx":-0.10623, "vy":-0.13195, "omega":-0.00011, "ax":-3.11473, "ay":-3.9093, "alpha":0.00112, "fx":[-51.92013,-51.87642,-51.94848,-51.93936], "fy":[-65.14296,-65.27498,-65.11372,-65.13264]}, + {"t":0.0678, "x":7.69281, "y":5.07976, "heading":0.0, "vx":-0.21182, "vy":-0.26448, "omega":-0.00007, "ax":-3.09288, "ay":-3.92651, "alpha":-0.00048, "fx":[-51.51639,-51.55346,-51.4377,-51.71945], "fy":[-65.53791,-65.45741,-65.48748,-65.32902]}, + {"t":0.1017, "x":7.68385, "y":5.06854, "heading":-0.00001, "vx":-0.31666, "vy":-0.39759, "omega":-0.00009, "ax":-3.06849, "ay":-3.94548, "alpha":0.00041, "fx":[-51.14325,-51.08772,-51.19047,-51.17938], "fy":[-65.73877,-65.91704,-65.69486,-65.7262]}, + {"t":0.1356, "x":7.67135, "y":5.05279, "heading":-0.00001, "vx":-0.42069, "vy":-0.53134, "omega":-0.00007, "ax":-3.04114, "ay":-3.96647, "alpha":-0.00065, "fx":[-50.65686,-50.70891,-50.56826,-50.84333], "fy":[-66.25704,-66.10916,-66.14556,-65.96455]}, + {"t":0.1695, "x":7.65534, "y":5.0325, "heading":-0.00001, "vx":-0.52378, "vy":-0.6658, "omega":-0.0001, "ax":-3.01023, "ay":-3.98983, "alpha":0.00071, "fx":[-50.16781,-50.09409,-50.23455,-50.22001], "fy":[-66.46531,-66.71419,-66.4061,-66.44856]}, + {"t":0.2034, "x":7.63586, "y":5.00764, "heading":-0.00002, "vx":-0.62583, "vy":-0.80106, "omega":-0.00007, "ax":-2.97506, "ay":-4.01596, "alpha":-0.00073, "fx":[-49.55458,-49.61799,-49.44289,-49.75586], "fy":[-67.13658,-66.92467,-66.96963,-66.74576]}, + {"t":0.2373, "x":7.61293, "y":4.97817, "heading":-0.00002, "vx":-0.72668, "vy":-0.9372, "omega":-0.0001, "ax":-2.93467, "ay":-4.04539, "alpha":0.00082, "fx":[-48.90188,-48.79847,-48.99893,-48.97882], "fy":[-67.37322,-67.7258,-67.29026,-67.34952]}, + {"t":0.2712, "x":7.58661, "y":4.94408, "heading":-0.00002, "vx":-0.82617, "vy":-1.07434, "omega":-0.00007, "ax":-2.88784, "ay":-4.07875, "alpha":-0.00087, "fx":[-48.09678,-48.17742,-47.95401,-48.3271], "fy":[-68.24707,-67.96048,-68.01601,-67.73939]}, + {"t":0.3051, "x":7.55695, "y":4.90531, "heading":-0.00002, "vx":-0.92407, "vy":-1.21261, "omega":-0.0001, "ax":-2.83292, "ay":-4.11684, "alpha":0.001, "fx":[-47.19878,-47.08205,-47.31752,-47.29501], "fy":[-68.55154,-68.97363,-68.45352,-68.52438]}, + {"t":0.339, "x":7.52399, "y":4.86184, "heading":-0.00003, "vx":-1.0201, "vy":-1.35217, "omega":-0.00007, "ax":-2.76766, "ay":-4.16071, "alpha":-0.00099, "fx":[-46.09939,-46.24906,-45.87892,-46.31496], "fy":[-69.71404,-69.26865,-69.35864,-69.08701]}, + {"t":0.3729, "x":7.48782, "y":4.81361, "heading":-0.00003, "vx":-1.11393, "vy":-1.49322, "omega":-0.0001, "ax":-2.68895, "ay":-4.21169, "alpha":0.00094, "fx":[-44.78488,-44.63092,-44.95361,-44.92436], "fy":[-70.10506,-70.67956,-69.97425,-70.06829]}, + {"t":0.4068, "x":7.44851, "y":4.76057, "heading":-0.00003, "vx":-1.20508, "vy":-1.636, "omega":-0.00007, "ax":-2.59225, "ay":-4.2715, "alpha":-0.00146, "fx":[-43.18423,-43.39488,-42.88068,-43.38614], "fy":[-71.73361,-71.06225,-71.17505,-70.8443]}, + {"t":0.4407, "x":7.40617, "y":4.70265, "heading":-0.00003, "vx":-1.29296, "vy":-1.7808, "omega":-0.00012, "ax":-2.47094, "ay":-4.34233, "alpha":0.00097, "fx":[-41.15754,-41.04654,-41.29382,-41.25959], "fy":[-72.30465,-72.79767,-72.15548,-72.28029]}, + {"t":0.4746, "x":7.36092, "y":4.63979, "heading":-0.00004, "vx":-1.37673, "vy":-1.92801, "omega":-0.00008, "ax":-2.31462, "ay":-4.42705, "alpha":-0.00035, "fx":[-38.55939,-38.6836,-38.29781,-38.79377], "fy":[-74.26859,-73.721,-73.79346,-73.40413]}, + {"t":0.5085, "x":7.31292, "y":4.57189, "heading":-0.00004, "vx":-1.45519, "vy":-2.07808, "omega":-0.0001, "ax":-2.10704, "ay":-4.52881, "alpha":0.004, "fx":[-35.08536,-34.99283,-35.22269,-35.19228], "fy":[-75.39934,-75.93288,-75.26058,-75.37932]}, + {"t":0.5424, "x":7.26238, "y":4.49884, "heading":-0.00004, "vx":-1.52662, "vy":-2.23161, "omega":0.00004, "ax":-1.82003, "ay":-4.65065, "alpha":-0.00309, "fx":[-30.32852,-30.37474,-30.06715,-30.58573], "fy":[-77.87638,-77.47833,-77.51452,-77.22699]}, + {"t":0.5763, "x":7.20958, "y":4.42051, "heading":-0.00004, "vx":-1.58832, "vy":-2.38927, "omega":-0.00006, "ax":-1.40544, "ay":-4.79103, "alpha":-0.01736, "fx":[-23.3113,-23.25732,-23.58192,-23.56141], "fy":[-79.80962,-80.3009,-79.54575,-79.80059]}, + {"t":0.6102, "x":7.15493, "y":4.33676, "heading":-0.00005, "vx":-1.63596, "vy":-2.55168, "omega":-0.00065, "ax":-0.77305, "ay":-4.93105, "alpha":0.07801, "fx":[-13.13957,-13.14704,-12.24488,-13.01422], "fy":[-82.54214,-82.31093,-82.33177,-81.60812]}, + {"t":0.6441, "x":7.09902, "y":4.24743, "heading":-0.00007, "vx":-1.66217, "vy":-2.71885, "omega":0.00199, "ax":0.22833, "ay":-4.98381, "alpha":2.65237, "fx":[-2.81115,-3.03144,10.36562,10.70142], "fy":[-76.99363,-90.02036,-88.517,-76.77958]}, + {"t":0.678, "x":7.04281, "y":4.15239, "heading":0.0, "vx":-1.65443, "vy":-2.8878, "omega":0.09191, "ax":1.1187, "ay":-4.82882, "alpha":35.19606, "fx":[-88.02907,-62.61355,92.08462,133.15065], "fy":[-3.55947,-164.03096,-151.86473,-2.521]}, + {"t":0.70024, "x":7.00629, "y":4.08697, "heading":0.00204, "vx":-1.62955, "vy":-2.9952, "omega":0.87469, "ax":1.26699, "ay":-4.80946, "alpha":-8.58571, "fx":[43.16112,42.12748,-2.06456,1.25623], "fy":[-100.66069,-62.34059,-57.4158,-100.26878]}, + {"t":0.72248, "x":6.97036, "y":4.01917, "heading":0.0215, "vx":-1.60137, "vy":-3.10216, "omega":0.68374, "ax":1.4066, "ay":-4.76264, "alpha":-8.58527, "fx":[43.67134,45.905,2.15578,2.05717], "fy":[-98.4518,-57.91198,-59.92979,-101.27044]}, + {"t":0.74472, "x":6.93509, "y":3.949, "heading":0.0367, "vx":-1.57009, "vy":-3.20809, "omega":0.4928, "ax":1.66473, "ay":-4.6649, "alpha":-8.30471, "fx":[48.32118,49.49906,6.52255,6.65832], "fy":[-95.27486,-58.63114,-58.30098,-98.83954]}, + {"t":0.76697, "x":6.90058, "y":3.87649, "heading":0.04767, "vx":-1.53306, "vy":-3.31184, "omega":0.3081, "ax":2.16751, "ay":-4.42383, "alpha":-7.51393, "fx":[54.31988,55.3253,17.08632,17.79418], "fy":[-89.90412,-54.4222,-57.31331,-93.33301]}, + {"t":0.78921, "x":6.86702, "y":3.80174, "heading":0.05452, "vx":-1.48485, "vy":-3.41023, "omega":0.14098, "ax":3.23425, "ay":-3.61961, "alpha":-5.00123, "fx":[66.6817,66.11251,41.02654,41.8325], "fy":[-71.16023,-48.71299,-48.22028,-73.25484]}, + {"t":0.81145, "x":6.8348, "y":3.725, "heading":0.05765, "vx":-1.41292, "vy":-3.49073, "omega":0.02975, "ax":4.1697, "ay":-1.89507, "alpha":-0.58596, "fx":[69.85493,72.68916,67.73508,67.74858], "fy":[-32.66509,-30.3987,-30.51908,-32.77645]}, + {"t":0.83369, "x":6.8044, "y":3.64689, "heading":0.05831, "vx":-1.32018, "vy":-3.53288, "omega":0.01672, "ax":0.30828, "ay":1.1638, "alpha":2.90228, "fx":[-2.67255,-1.48789,12.96054,11.7552], "fy":[25.74431,12.21446,12.82305,26.81815]}, + {"t":0.85593, "x":6.77512, "y":3.56861, "heading":0.05869, "vx":-1.31333, "vy":-3.50699, "omega":0.08127, "ax":-1.20821, "ay":4.69361, "alpha":9.58619, "fx":[-44.87513,-42.97782,5.76649,1.52521], "fy":[99.08823,53.50395,57.41688,102.95167]}, + {"t":0.87817, "x":6.74561, "y":3.49177, "heading":0.06049, "vx":-1.3402, "vy":-3.40261, "omega":0.29447, "ax":-0.90563, "ay":4.84509, "alpha":9.91407, "fx":[-41.86522,-38.97043,12.6817,7.7681], "fy":[101.08912,56.67187,59.21577,106.0844]}, + {"t":0.90041, "x":6.71558, "y":3.41729, "heading":0.06704, "vx":-1.36034, "vy":-3.29485, "omega":0.51497, "ax":-0.78761, "ay":4.89162, "alpha":9.82345, "fx":[-39.60985,-38.0567,16.02574,9.12482], "fy":[100.46821,56.44767,62.83445,106.41345]}, + {"t":0.92265, "x":6.68513, "y":3.34522, "heading":0.0785, "vx":-1.37786, "vy":-3.18605, "omega":0.73345, "ax":-0.73641, "ay":4.91199, "alpha":9.61491, "fx":[-38.96709,-36.19427,16.42982,9.62941], "fy":[99.71665,58.12884,63.13564,106.54079]}, + {"t":0.94489, "x":6.6543, "y":3.27558, "heading":0.09481, "vx":-1.39424, "vy":-3.07681, "omega":0.94729, "ax":-0.71262, "ay":4.9227, "alpha":9.38012, "fx":[-38.82325,-34.96732,17.76634,8.50779], "fy":[98.41078,57.5644,66.19968,106.06164]}, + {"t":0.96713, "x":6.62312, "y":3.20836, "heading":0.11588, "vx":-1.41009, "vy":-2.96732, "omega":1.15591, "ax":-0.70523, "ay":4.92848, "alpha":9.16057, "fx":[-38.44805,-34.1856,17.34361,8.26693], "fy":[97.55341,59.30437,65.93626,105.82736]}, + {"t":0.98937, "x":6.59158, "y":3.14359, "heading":0.14159, "vx":-1.42577, "vy":-2.85771, "omega":1.35965, "ax":-0.70471, "ay":4.93186, "alpha":8.98878, "fx":[-38.96185,-32.89526,18.44901,6.41972], "fy":[96.23422,58.08595,68.9849,105.54167]}, + {"t":1.01161, "x":6.5597, "y":3.08125, "heading":0.17183, "vx":-1.44144, "vy":-2.74802, "omega":1.55957, "ax":-0.70849, "ay":4.93376, "alpha":8.88732, "fx":[-39.02872,-32.15442,17.95782,5.98439], "fy":[95.63149,58.8857,68.66358,105.79286]}, + {"t":1.03385, "x":6.52746, "y":3.02135, "heading":0.20651, "vx":-1.4572, "vy":-2.63829, "omega":1.75723, "ax":-0.71443, "ay":4.93478, "alpha":8.87663, "fx":[-40.41177,-30.89973,19.59979,4.075], "fy":[94.33238,57.61502,71.31098,105.78351]}, + {"t":1.0561, "x":6.49488, "y":2.96389, "heading":0.24559, "vx":-1.47309, "vy":-2.52854, "omega":1.95465, "ax":-0.72179, "ay":4.9352, "alpha":8.97629, "fx":[-41.04747,-30.38843,19.68717,3.62138], "fy":[93.88042,57.26772,71.20077,106.72081]}, + {"t":1.07834, "x":6.46193, "y":2.90888, "heading":0.28907, "vx":-1.48914, "vy":-2.41877, "omega":2.15429, "ax":-0.72903, "ay":4.93534, "alpha":9.20942, "fx":[-43.42129,-29.04424,21.99523,1.86008], "fy":[92.77466,55.69432,73.32434,107.28582]}, + {"t":1.10058, "x":6.42863, "y":2.8563, "heading":0.33698, "vx":-1.50536, "vy":-2.30901, "omega":2.35912, "ax":-0.73574, "ay":4.93534, "alpha":9.60212, "fx":[-44.97017,-28.79412,23.38853,1.3183], "fy":[92.23504,53.93497,73.86659,109.04256]}, + {"t":1.12282, "x":6.39497, "y":2.80617, "heading":0.38945, "vx":-1.52172, "vy":-2.19924, "omega":2.57267, "ax":-0.74118, "ay":4.93536, "alpha":10.18791, "fx":[-48.4424,-27.45897,26.64096,-0.16039], "fy":[91.43264,51.65687,75.40983,110.58114]}, + {"t":1.14506, "x":6.36094, "y":2.75848, "heading":0.44667, "vx":-1.53821, "vy":-2.08948, "omega":2.79926, "ax":-0.74481, "ay":4.93553, "alpha":11.01053, "fx":[-51.62633,-27.04648,30.07869,-1.06805], "fy":[90.57358,48.13539,77.0505,113.33197]}, + {"t":1.1673, "x":6.32655, "y":2.71323, "heading":0.50892, "vx":-1.55477, "vy":-1.97971, "omega":3.04414, "ax":-0.74599, "ay":4.93596, "alpha":12.12788, "fx":[-56.76535,-25.34356,34.87807,-2.51054], "fy":[89.89034,44.29341,78.36676,116.56963]}, + {"t":1.18954, "x":6.29179, "y":2.67042, "heading":0.57663, "vx":-1.57136, "vy":-1.86993, "omega":3.31388, "ax":-0.74406, "ay":4.93678, "alpha":13.61782, "fx":[-62.58768,-23.63303,40.83661,-4.22817], "fy":[88.31485,38.48319,81.17891,121.19793]}, + {"t":1.21178, "x":6.25665, "y":2.63005, "heading":0.65033, "vx":-1.58791, "vy":-1.76013, "omega":3.61675, "ax":-0.73842, "ay":4.93809, "alpha":15.56623, "fx":[-69.79257,-19.43094,46.44759,-6.46034], "fy":[87.10832,31.51674,81.47801,129.15911]}, + {"t":1.23402, "x":6.22115, "y":2.59212, "heading":0.73077, "vx":-1.60433, "vy":-1.6503, "omega":3.96295, "ax":-0.7272, "ay":4.94017, "alpha":7.82821, "fx":[-42.18375,-12.44051,18.09923,-11.96318], "fy":[81.78456,57.52912,84.70567,105.38172]}, + {"t":1.25626, "x":6.18529, "y":2.55664, "heading":0.81891, "vx":-1.62051, "vy":-1.54043, "omega":4.13706, "ax":-0.77796, "ay":4.9329, "alpha":-2.98201, "fx":[-3.11656,-12.5575,-22.91691,-13.28173], "fy":[82.40084,92.84516,82.14342,71.52688]}, + {"t":1.2785, "x":6.14906, "y":2.5236, "heading":0.91092, "vx":-1.63781, "vy":-1.43072, "omega":4.07074, "ax":-0.82621, "ay":4.92545, "alpha":-1.44185, "fx":[-9.56893,-13.26013,-18.15924,-14.10184], "fy":[81.43769,88.39583,81.7685,76.81784]}, + {"t":1.30074, "x":6.11243, "y":2.493, "heading":1.00146, "vx":-1.65619, "vy":-1.32117, "omega":4.03867, "ax":-0.86818, "ay":4.91859, "alpha":-0.0601, "fx":[-14.6552,-14.03297,-14.3081,-14.89261], "fy":[81.84472,82.70856,82.15051,81.25809]}, + {"t":1.32298, "x":6.07538, "y":2.46483, "heading":1.09128, "vx":-1.6755, "vy":-1.21178, "omega":4.03733, "ax":-0.90471, "ay":4.91231, "alpha":1.24155, "fx":[-20.14785,-12.91557,-10.17317,-17.08804], "fy":[79.80622,79.31431,83.69205,84.73097]}, + {"t":1.34523, "x":6.03789, "y":2.4391, "heading":1.18107, "vx":-1.69562, "vy":-1.10252, "omega":4.06495, "ax":-0.93659, "ay":4.90661, "alpha":2.54142, "fx":[-25.00424,-11.47138,-6.41016,-19.5643], "fy":[78.23726,75.24694,85.49784,88.18156]}, + {"t":1.36747, "x":5.99995, "y":2.41579, "heading":1.27148, "vx":-1.71645, "vy":-0.9934, "omega":4.12147, "ax":-0.96435, "ay":4.90148, "alpha":3.91276, "fx":[-30.11097,-8.48331,-2.68055,-23.02629], "fy":[75.0917,72.27322,88.32825,91.12832]}, + {"t":1.38971, "x":5.96153, "y":2.39491, "heading":1.36315, "vx":-1.7379, "vy":-0.88438, "omega":4.20849, "ax":-0.98844, "ay":4.89691, "alpha":5.43194, "fx":[-34.71016,-4.91867,0.72937,-27.0078], "fy":[71.74844,68.23398,92.04362,94.49031]}, + {"t":1.41195, "x":5.92264, "y":2.37645, "heading":1.45675, "vx":-1.75988, "vy":-0.77547, "omega":4.3293, "ax":-1.00906, "ay":4.8929, "alpha":7.18828, "fx":[-40.1713,1.0347,4.292,-32.43736], "fy":[66.83688,65.52031,96.60395,97.28821]}, + {"t":1.43419, "x":5.88325, "y":2.36041, "heading":1.55303, "vx":-1.78232, "vy":-0.66665, "omega":4.48918, "ax":-1.02633, "ay":4.88949, "alpha":9.29227, "fx":[-43.81366,7.7514,6.50056,-38.87218], "fy":[60.02043,60.93755,103.41902,101.64491]}, + {"t":1.45643, "x":5.84335, "y":2.34679, "heading":1.65288, "vx":-1.80515, "vy":-0.5579, "omega":4.69584, "ax":-1.04016, "ay":4.88674, "alpha":11.8606, "fx":[-45.85878,15.23147,9.37588,-48.10439], "fy":[50.89253,56.13615,111.84057,106.96887]}, + {"t":1.47867, "x":5.80295, "y":2.33559, "heading":1.75732, "vx":-1.82828, "vy":-0.44922, "omega":4.95963, "ax":-1.04758, "ay":4.88531, "alpha":-4.52965, "fx":[-8.13334,-30.99477,-34.87427,4.15202], "fy":[90.09394,84.59623,71.13957,79.91307]}, + {"t":1.50091, "x":5.76203, "y":2.32681, "heading":1.86762, "vx":-1.85158, "vy":-0.34057, "omega":4.85889, "ax":-1.05373, "ay":4.88417, "alpha":-29.06437, "fx":[25.99873,-99.26289,-94.25348,97.25716], "fy":[154.75757,120.08555,-3.04062,53.86439]}, + {"t":1.52315, "x":5.72058, "y":2.32044, "heading":1.97569, "vx":-1.87502, "vy":-0.23194, "omega":4.21248, "ax":-0.92684, "ay":4.9086, "alpha":-29.82139, "fx":[20.67032,-104.20292,-84.18373,105.91648], "fy":[158.41498,116.31769,-10.8099,63.37333]}, + {"t":1.55738, "x":5.65587, "y":2.31538, "heading":2.11986, "vx":-1.90674, "vy":-0.06395, "omega":3.19186, "ax":-0.70007, "ay":4.94807, "alpha":-25.13063, "fx":[9.88153,-95.90109,-50.97001,90.31016], "fy":[149.8025,104.21613,1.83107,74.07794]}, + {"t":1.5916, "x":5.5902, "y":2.31609, "heading":2.2291, "vx":-1.9307, "vy":0.1054, "omega":2.33179, "ax":-0.39841, "ay":4.98102, "alpha":-21.04917, "fx":[5.14828,-82.83387,-26.38405,77.50474], "fy":[140.94026,96.47777,15.1395,79.56757]}, + {"t":1.62582, "x":5.52389, "y":2.32261, "heading":2.3089, "vx":-1.94433, "vy":0.27587, "omega":1.6114, "ax":0.01515, "ay":4.99636, "alpha":-17.48578, "fx":[5.94897,-66.21692,-8.12055,69.39897], "fy":[132.21068,91.49341,27.80649,81.63716]}, + {"t":1.66005, "x":5.45736, "y":2.33498, "heading":2.36405, "vx":-1.94381, "vy":0.44687, "omega":1.01296, "ax":0.60114, "ay":4.95935, "alpha":-14.27106, "fx":[11.19559,-45.16292,8.87421,65.17623], "fy":[123.34848,89.06045,37.00503,81.2659]}, + {"t":1.69427, "x":5.39119, "y":2.35318, "heading":2.39872, "vx":-1.92324, "vy":0.61659, "omega":0.52455, "ax":1.44777, "ay":4.78025, "alpha":-11.53156, "fx":[23.11418,-21.09668,26.02417,68.49288], "fy":[113.7219,84.10034,44.12273,76.79284]}, + {"t":1.7285, "x":5.32621, "y":2.37708, "heading":2.41667, "vx":-1.87369, "vy":0.78019, "omega":0.12989, "ax":2.62471, "ay":4.24809, "alpha":-9.1567, "fx":[41.22506,8.959,47.78475,77.04189], "fy":[99.4454,75.42297,41.06209,67.32396]}, + {"t":1.76272, "x":5.26363, "y":2.40627, "heading":2.42111, "vx":-1.78386, "vy":0.92558, "omega":-0.18349, "ax":3.95515, "ay":3.04689, "alpha":-7.62847, "fx":[63.47872,39.56053,69.50854,91.17393], "fy":[77.14713,54.81795,23.38592,47.80994]}, + {"t":1.79695, "x":5.20489, "y":2.43973, "heading":2.41483, "vx":-1.6485, "vy":1.02986, "omega":-0.44457, "ax":4.83283, "ay":1.2538, "alpha":-5.91471, "fx":[79.65475,61.99959,82.26383,98.3259], "fy":[43.35249,22.65785,-1.97064,19.56147]}, + {"t":1.83117, "x":5.1513, "y":2.47571, "heading":2.39962, "vx":-1.4831, "vy":1.07277, "omega":-0.647, "ax":4.97712, "ay":-0.40829, "alpha":-4.50513, "fx":[82.79781,70.65469,81.79353,96.61881], "fy":[11.25412,-6.50217,-24.96831,-7.00796]}, + {"t":1.86539, "x":5.10346, "y":2.51219, "heading":2.37748, "vx":-1.31276, "vy":1.0588, "omega":-0.80118, "ax":4.74852, "ay":-1.54957, "alpha":-3.38032, "fx":[80.45605,68.68285,78.13718,89.34635], "fy":[-12.70917,-26.43096,-38.65341,-25.52876]}, + {"t":1.89962, "x":5.06131, "y":2.54752, "heading":2.35006, "vx":-1.15025, "vy":1.00576, "omega":-0.91687, "ax":4.45095, "ay":-2.26886, "alpha":-2.2677, "fx":[75.22654,66.93138,72.9486,81.67423], "fy":[-29.70458,-38.01919,-46.19194,-37.36773]}, + {"t":1.93384, "x":5.02455, "y":2.58061, "heading":2.31868, "vx":-0.99792, "vy":0.92811, "omega":-0.99448, "ax":4.18449, "ay":-2.73048, "alpha":-1.07608, "fx":[70.49727,66.25679,69.08037,73.17953], "fy":[-41.46391,-45.90885,-49.34358,-45.3465]}, + {"t":1.96807, "x":4.99285, "y":2.61078, "heading":2.28464, "vx":-0.85471, "vy":0.83467, "omega":-1.03131, "ax":3.96543, "ay":-3.04072, "alpha":0.09819, "fx":[65.87013,66.34622,66.09588,66.09475], "fy":[-51.35478,-50.62099,-50.27506,-50.49825]}, + {"t":2.00229, "x":4.96592, "y":2.63756, "heading":2.24935, "vx":-0.71899, "vy":0.7306, "omega":-1.02795, "ax":3.78832, "ay":-3.2593, "alpha":1.32932, "fx":[62.02411,67.40817,64.37454,58.79104], "fy":[-58.96071,-54.74443,-49.47691,-54.14206]}, + {"t":2.03651, "x":4.94353, "y":2.66066, "heading":2.21417, "vx":-0.58934, "vy":0.61905, "omega":-0.98245, "ax":3.64452, "ay":-3.41978, "alpha":2.65393, "fx":[58.139,69.33954,63.38466,52.14634], "fy":[-66.49104,-57.41832,-47.63652,-56.47876]}, + {"t":2.07074, "x":4.9255, "y":2.67984, "heading":2.18054, "vx":-0.46461, "vy":0.50201, "omega":-0.89162, "ax":3.52645, "ay":-3.54175, "alpha":4.05743, "fx":[54.61206,71.84945,63.45609,45.21912], "fy":[-72.93216,-60.36846,-44.7684,-58.08836]}, + {"t":2.10496, "x":4.91166, "y":2.69495, "heading":2.15003, "vx":-0.34392, "vy":0.3808, "omega":-0.75276, "ax":3.42827, "ay":-3.63713, "alpha":5.60377, "fx":[50.96054,75.12641,64.04441,38.45938], "fy":[-79.86073,-62.57701,-41.1622,-58.91721]}, + {"t":2.13919, "x":4.9019, "y":2.70585, "heading":2.12426, "vx":-0.22659, "vy":0.25632, "omega":-0.56098, "ax":3.34561, "ay":-3.71353, "alpha":7.28175, "fx":[47.40417,78.89873,65.69899,31.07685], "fy":[-86.27788,-65.2041,-36.71554,-59.41383]}, + {"t":2.17341, "x":4.8961, "y":2.71245, "heading":2.10506, "vx":-0.11209, "vy":0.12923, "omega":-0.31176, "ax":3.2752, "ay":-3.77596, "alpha":9.10947, "fx":[43.84632,83.36457,67.5568,23.61619], "fy":[-93.22569,-67.31513,-31.42843,-59.80453]}, + {"t":2.20764, "x":4.89419, "y":2.71466, "heading":2.0944, "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/bargeToI.traj b/src/main/deploy/choreo/bargeToI.traj index 8fdd2795..3709a396 100644 --- a/src/main/deploy/choreo/bargeToI.traj +++ b/src/main/deploy/choreo/bargeToI.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.662505149841309, "y":4.9957709312438965, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.696349143981934, "y":5.30683708190918, "heading":-1.8760194001518105, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.422460748154253, "y":5.032141990263579, "heading":4.1887902047863905, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -18,7 +18,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"barge.x", "val":7.75}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.696349143981934 m", "val":5.696349143981934}, "y":{"exp":"5.30683708190918 m", "val":5.30683708190918}, "heading":{"exp":"-1.8760194001518105 rad", "val":-1.8760194001518105}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"I.x", "val":5.422460748154253}, "y":{"exp":"I.y", "val":5.032141990263579}, "heading":{"exp":"I.heading", "val":4.1887902047863905}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -36,60 +36,60 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.06533,1.47773], + "waypoints":[0.0,1.06537,1.47543], "samples":[ - {"t":0.0, "x":7.66251, "y":4.99577, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.56973, "ay":2.02063, "alpha":-22.69394, "fx":[-31.84975,-23.78004,-117.45647,-131.61459], "fy":[-35.5802,110.76566,80.94236,-21.39616]}, - {"t":0.02959, "x":7.6605, "y":4.99666, "heading":0.0, "vx":-0.13523, "vy":0.0598, "omega":-0.67157, "ax":-4.57833, "ay":2.00517, "alpha":-19.68835, "fx":[-38.2863,-30.33793,-112.26709,-124.38289], "fy":[-24.70572,99.65647,74.96637,-16.21602]}, - {"t":0.05919, "x":7.6545, "y":4.9993, "heading":-0.01987, "vx":-0.27071, "vy":0.11913, "omega":-1.2542, "ax":-4.58602, "ay":1.98727, "alpha":-16.54176, "fx":[-45.7447,-36.51357,-106.17568,-117.35337], "fy":[-14.92115,87.12614,69.57354,-9.27118]}, - {"t":0.08878, "x":7.64448, "y":5.0037, "heading":-0.05699, "vx":-0.40643, "vy":0.17794, "omega":-1.74371, "ax":-4.59449, "ay":1.96735, "alpha":-13.44843, "fx":[-53.21102,-42.85675,-99.77923,-110.50492], "fy":[-6.78181,75.09592,64.1543,-1.28962]}, - {"t":0.11837, "x":7.63044, "y":5.00983, "heading":-0.10859, "vx":-0.54239, "vy":0.23616, "omega":-2.14169, "ax":-4.60386, "ay":1.94502, "alpha":-10.25725, "fx":[-60.48458,-49.75882,-93.2858,-103.44734], "fy":[1.73771,62.49575,58.4076,7.049]}, - {"t":0.14796, "x":7.61237, "y":5.01767, "heading":-0.17197, "vx":-0.67863, "vy":0.29372, "omega":-2.44523, "ax":-4.61426, "ay":1.91987, "alpha":-7.39766, "fx":[-66.58038,-56.51944,-87.78129,-96.78868], "fy":[9.15308,52.23277,52.06758,14.56015]}, - {"t":0.17756, "x":7.59027, "y":5.0272, "heading":-0.24433, "vx":-0.81518, "vy":0.35053, "omega":-2.66414, "ax":-4.62588, "ay":1.8913, "alpha":-4.51912, "fx":[-71.55628,-64.23793,-82.88167,-89.76882], "fy":[17.20127,42.20912,45.10616,21.59194]}, - {"t":0.20715, "x":7.56412, "y":5.0384, "heading":-0.32317, "vx":-0.95207, "vy":0.4065, "omega":-2.79787, "ax":-4.63893, "ay":1.8586, "alpha":-2.32984, "fx":[-75.13651,-70.21177,-79.88569,-84.08087], "fy":[23.45056,36.1634,38.11136,26.20272]}, - {"t":0.23674, "x":7.53392, "y":5.05124, "heading":-0.40596, "vx":-1.08935, "vy":0.4615, "omega":-2.86682, "ax":-4.6537, "ay":1.82076, "alpha":0.10064, "fx":[-77.49545,-77.70788,-77.64495,-77.45132], "fy":[30.88156,29.62052,30.06956,30.83338]}, - {"t":0.26633, "x":7.49964, "y":5.0657, "heading":-0.4908, "vx":-1.22706, "vy":0.51538, "omega":-2.86384, "ax":-4.6705, "ay":1.77657, "alpha":1.49658, "fx":[-78.80374,-81.95304,-77.18597,-73.47734], "fy":[35.23574,27.72125,23.84984,31.65114]}, - {"t":0.29593, "x":7.46129, "y":5.08173, "heading":-0.57555, "vx":-1.36527, "vy":0.56796, "omega":-2.81955, "ax":-4.6898, "ay":1.72418, "alpha":3.45539, "fx":[-79.1778,-88.185,-77.53564,-67.80861], "fy":[41.47716,24.12036,15.59108,33.77656]}, - {"t":0.32552, "x":7.41883, "y":5.09929, "heading":-0.65899, "vx":-1.50406, "vy":0.61898, "omega":-2.7173, "ax":-4.71212, "ay":1.66124, "alpha":4.22027, "fx":[-79.07572,-90.79742,-78.64783,-65.6743], "fy":[43.69089,24.64682,11.11068,31.31973]}, - {"t":0.35511, "x":7.37226, "y":5.11833, "heading":-0.7394, "vx":-1.6435, "vy":0.66814, "omega":-2.59241, "ax":-4.73821, "ay":1.58406, "alpha":5.64147, "fx":[-78.36784,-95.21299,-80.64333,-61.71044], "fy":[47.94094,22.77437,3.91804,30.98869]}, - {"t":0.3847, "x":7.32155, "y":5.1388, "heading":-0.81611, "vx":-1.78372, "vy":0.71502, "omega":-2.42547, "ax":-4.76884, "ay":1.48767, "alpha":6.02256, "fx":[-77.80124,-96.68104,-82.44856,-61.04597], "fy":[48.08005,23.94139,0.77699,26.39668]}, - {"t":0.4143, "x":7.26667, "y":5.16061, "heading":-0.88789, "vx":-1.92484, "vy":0.75904, "omega":-2.24724, "ax":-4.80517, "ay":1.36346, "alpha":6.80953, "fx":[-76.90696,-99.23768,-84.79828,-59.4569], "fy":[49.31774,22.58606,-4.48576,23.49519]}, - {"t":0.44389, "x":7.20761, "y":5.18367, "heading":-0.95439, "vx":-2.06704, "vy":0.79939, "omega":-2.04573, "ax":-4.84804, "ay":1.19878, "alpha":6.99462, "fx":[-76.68971,-99.99733,-86.78739,-59.78368], "fy":[47.33198,22.63504,-7.61973,17.58519]}, - {"t":0.47348, "x":7.14432, "y":5.20785, "heading":-1.01493, "vx":-2.2105, "vy":0.83486, "omega":-1.83874, "ax":-4.89788, "ay":0.96969, "alpha":6.69963, "fx":[-75.62373,-101.49666,-88.86251,-60.59804], "fy":[46.33128,7.90131,-6.5843,17.00898]}, - {"t":0.50307, "x":7.07676, "y":5.23298, "heading":-1.06934, "vx":-2.35544, "vy":0.86356, "omega":-1.64048, "ax":-4.95092, "ay":0.63404, "alpha":6.87588, "fx":[-77.28037,-100.244,-89.8173,-62.77637], "fy":[37.72163,16.87267,-15.96526,3.64765]}, - {"t":0.53267, "x":7.00489, "y":5.25881, "heading":-1.11789, "vx":-2.50195, "vy":0.88232, "omega":-1.43701, "ax":-4.98791, "ay":0.102, "alpha":6.29261, "fx":[-78.67835,-98.7341,-89.39723,-65.77479], "fy":[21.12273,19.45068,-23.74763,-10.02479]}, - {"t":0.56226, "x":6.92866, "y":5.28497, "heading":-1.16041, "vx":-2.64956, "vy":0.88534, "omega":-1.25079, "ax":-4.91901, "ay":-0.80916, "alpha":5.459, "fx":[-78.19548,-96.32161,-87.44442,-66.02889], "fy":[7.24892,-5.60164,-32.91023,-22.69029]}, - {"t":0.59185, "x":6.8481, "y":5.31081, "heading":-1.19743, "vx":-2.79512, "vy":0.8614, "omega":-1.08925, "ax":-4.31904, "ay":-2.47775, "alpha":3.7316, "fx":[-68.52078,-83.77821,-75.21849,-60.4678], "fy":[-31.73998,-30.78097,-53.60266,-49.08797]}, - {"t":0.62144, "x":6.7635, "y":5.33522, "heading":-1.22966, "vx":-2.92294, "vy":0.78807, "omega":-0.97882, "ax":-2.24924, "ay":-4.43798, "alpha":1.3444, "fx":[-37.03995,-41.42159,-39.36205,-32.15136], "fy":[-69.89606,-71.80614,-77.87388,-76.33981]}, - {"t":0.65104, "x":6.67602, "y":5.3566, "heading":-1.25863, "vx":-2.9895, "vy":0.65674, "omega":-0.93904, "ax":0.58984, "ay":-4.94481, "alpha":-1.2644, "fx":[7.05484,14.5898,12.59052,5.0944], "fy":[-86.75132,-81.79006,-79.65239,-81.51635]}, - {"t":0.68063, "x":6.58781, "y":5.37387, "heading":-1.28642, "vx":-2.97204, "vy":0.51041, "omega":-0.97645, "ax":2.16924, "ay":-4.48885, "alpha":-2.86725, "fx":[29.52785,45.52962,42.00798,27.5751], "fy":[-83.28256,-78.0083,-66.70406,-71.31303]}, - {"t":0.71022, "x":6.50081, "y":5.38701, "heading":-1.31531, "vx":-2.90785, "vy":0.37758, "omega":-1.0613, "ax":2.9171, "ay":-4.04754, "alpha":-4.15685, "fx":[39.51557,59.57221,58.8561,36.56307], "fy":[-80.38429,-72.75101,-54.5238,-62.22318]}, - {"t":0.73981, "x":6.41603, "y":5.39641, "heading":-1.34672, "vx":-2.82152, "vy":0.2578, "omega":-1.18431, "ax":3.32066, "ay":-3.72672, "alpha":-4.2516, "fx":[46.34781,63.02657,67.28856,44.75221], "fy":[-75.95582,-69.89127,-47.45943,-55.18373]}, - {"t":0.76941, "x":6.33399, "y":5.4024, "heading":-1.38177, "vx":-2.72326, "vy":0.14752, "omega":-1.31013, "ax":3.56011, "ay":-3.50088, "alpha":-4.75921, "fx":[48.18089,71.06415,71.27296,46.86312], "fy":[-73.66383,-64.94018,-43.62254,-51.2055]}, - {"t":0.799, "x":6.25496, "y":5.40524, "heading":-1.42054, "vx":-2.6179, "vy":0.04392, "omega":-1.45097, "ax":3.71744, "ay":-3.33496, "alpha":-4.41633, "fx":[51.45632,71.7437,73.29354,51.37807], "fy":[-69.69294,-63.04141,-41.73575,-47.89895]}, - {"t":0.82859, "x":6.17912, "y":5.40508, "heading":-1.46347, "vx":-2.5079, "vy":-0.05477, "omega":-1.58166, "ax":3.8273, "ay":-3.20953, "alpha":-3.98775, "fx":[53.78761,72.77364,74.18374,54.45211], "fy":[-66.03409,-60.2231,-41.5076,-46.24032]}, - {"t":0.85818, "x":6.10658, "y":5.40205, "heading":-1.51028, "vx":-2.39464, "vy":-0.14975, "omega":-1.69967, "ax":3.90813, "ay":-3.11158, "alpha":-3.16625, "fx":[57.10486,71.34022,73.67725,58.46413], "fy":[-61.64928,-58.17712,-42.29926,-45.34852]}, - {"t":0.88778, "x":6.03743, "y":5.39625, "heading":-1.56058, "vx":-2.27898, "vy":-0.24183, "omega":-1.79336, "ax":3.96982, "ay":-3.03328, "alpha":-2.07745, "fx":[60.51723,70.45445,71.87356,61.85447], "fy":[-56.74959,-54.63177,-44.66574,-46.2059]}, - {"t":0.91737, "x":5.97172, "y":5.38777, "heading":-1.61365, "vx":-2.16151, "vy":-0.3316, "omega":-1.85484, "ax":4.01847, "ay":-2.96917, "alpha":-0.64665, "fx":[65.35481,67.72745,68.96983,65.89195], "fy":[-51.4018,-51.14135,-47.55649,-47.87883]}, - {"t":0.94696, "x":5.90952, "y":5.37666, "heading":-1.66854, "vx":-2.04259, "vy":-0.41946, "omega":-1.87398, "ax":4.05769, "ay":-2.9159, "alpha":1.16589, "fx":[70.93351,65.86755,64.31406,69.44365], "fy":[-45.59986,-45.4442,-51.81734,-51.5651]}, - {"t":0.97655, "x":5.85085, "y":5.36297, "heading":-1.72399, "vx":-1.92251, "vy":-0.50575, "omega":-1.83947, "ax":4.08999, "ay":-2.87088, "alpha":3.41094, "fx":[78.32525,62.62547,58.39425,73.36768], "fy":[-39.37115,-38.79332,-56.75099,-56.5093]}, - {"t":1.00615, "x":5.79575, "y":5.34674, "heading":-1.77843, "vx":-1.80148, "vy":-0.59071, "omega":-1.73854, "ax":4.11701, "ay":-2.8324, "alpha":6.05483, "fx":[86.8023,60.62716,50.28331,76.80138], "fy":[-33.46513,-29.65906,-62.49161,-63.24324]}, - {"t":1.03574, "x":5.74424, "y":5.32802, "heading":-1.82987, "vx":-1.67965, "vy":-0.67452, "omega":-1.55936, "ax":4.13998, "ay":-2.79907, "alpha":9.17427, "fx":[96.70697,58.16544,41.03264,80.14062], "fy":[-27.61836,-18.08928,-69.37586,-71.55318]}, - {"t":1.06533, "x":5.69635, "y":5.30684, "heading":-1.87602, "vx":-1.55713, "vy":-0.75736, "omega":-1.28787, "ax":4.28154, "ay":-2.57145, "alpha":7.03114, "fx":[92.55188,64.34009,49.55332,79.03976], "fy":[-29.17002,-20.16098,-58.89055,-63.23763]}, - {"t":1.09283, "x":5.65516, "y":5.28504, "heading":-1.91143, "vx":-1.43942, "vy":-0.82805, "omega":-1.09456, "ax":4.54906, "ay":-2.06773, "alpha":5.73464, "fx":[92.7761,70.70037,58.66244,81.1837], "fy":[-23.76283,-14.97029,-46.69407,-52.4448]}, - {"t":1.12032, "x":5.6173, "y":5.2615, "heading":-1.94152, "vx":-1.31435, "vy":-0.8849, "omega":-0.9369, "ax":4.78514, "ay":-1.43856, "alpha":4.79526, "fx":[93.30134,75.56295,65.76703,84.43236], "fy":[-15.57533,-7.02569,-33.40479,-39.91478]}, - {"t":1.14781, "x":5.58297, "y":5.23662, "heading":-1.96728, "vx":-1.1828, "vy":-0.92445, "omega":-0.80506, "ax":4.94943, "ay":-0.68411, "alpha":4.01405, "fx":[93.56164,78.84965,71.3276,86.27991], "fy":[-5.33117,3.59066,-18.2975,-25.57716]}, - {"t":1.1753, "x":5.55233, "y":5.21095, "heading":-1.98941, "vx":-1.04672, "vy":-0.94326, "omega":-0.6947, "ax":4.99357, "ay":0.16682, "alpha":3.40194, "fx":[92.32413,79.69201,73.87814,87.06753], "fy":[7.5146,15.48181,-2.1388,-9.73444]}, - {"t":1.2028, "x":5.52544, "y":5.18508, "heading":-2.00851, "vx":-0.90943, "vy":-0.93867, "omega":-0.60117, "ax":4.88465, "ay":1.05049, "alpha":2.95085, "fx":[89.37059,77.95641,73.39409,84.97811], "fy":[20.54927,28.87667,14.1334,6.48517]}, - {"t":1.23029, "x":5.50228, "y":5.15967, "heading":-2.02504, "vx":-0.77514, "vy":-0.90979, "omega":-0.52005, "ax":4.62678, "ay":1.88603, "alpha":2.56279, "fx":[84.15871,73.7037,69.86582,80.77678], "fy":[33.8467,40.85023,29.23159,21.82852]}, - {"t":1.25778, "x":5.48272, "y":5.13537, "heading":-2.03934, "vx":-0.64794, "vy":-0.85794, "omega":-0.44959, "ax":4.26158, "ay":2.60864, "alpha":2.31228, "fx":[77.75657,67.7762,64.30867,74.31221], "fy":[44.85969,52.05026,41.95967,35.06975]}, - {"t":1.28528, "x":5.46651, "y":5.11277, "heading":-2.0517, "vx":-0.53077, "vy":-0.78622, "omega":-0.38602, "ax":3.84554, "ay":3.19065, "alpha":2.10294, "fx":[70.42627,60.96751,57.55686,67.46245], "fy":[54.48913,60.41141,52.15797,45.68764]}, - {"t":1.31277, "x":5.45337, "y":5.09236, "heading":-2.06231, "vx":-0.42505, "vy":-0.6985, "omega":-0.3282, "ax":3.42632, "ay":3.63748, "alpha":1.98896, "fx":[63.56084,54.18579,50.76055,59.95314], "fy":[61.3183,67.51556,59.81791,53.88829]}, - {"t":1.34026, "x":5.44298, "y":5.07453, "heading":-2.07133, "vx":-0.33085, "vy":-0.59849, "omega":-0.27352, "ax":3.03317, "ay":3.97156, "alpha":1.9013, "fx":[56.80065,47.75235,44.08927,53.60335], "fy":[67.15617,72.24964,65.56058,59.84949]}, - {"t":1.36776, "x":5.43503, "y":5.05958, "heading":-2.07885, "vx":-0.24746, "vy":-0.4893, "omega":-0.22124, "ax":2.67919, "ay":4.21872, "alpha":1.90752, "fx":[51.22723,41.94055,38.12531,47.35028], "fy":[70.94416,76.50222,69.66246,64.18715]}, - {"t":1.39525, "x":5.42924, "y":5.04772, "heading":-2.08494, "vx":-0.1738, "vy":-0.37332, "omega":-0.1688, "ax":2.36733, "ay":4.40153, "alpha":1.93941, "fx":[46.1516,36.68931,32.58493,42.42321], "fy":[74.22869,79.34994,72.70215,67.2046]}, - {"t":1.42274, "x":5.42536, "y":5.03912, "heading":-2.08958, "vx":-0.10871, "vy":-0.25231, "omega":-0.11548, "ax":2.09532, "ay":4.53753, "alpha":2.02559, "fx":[42.04267,32.1054,27.61883,37.94503], "fy":[76.53947,81.77972,74.91998,69.31434]}, - {"t":1.45023, "x":5.42316, "y":5.0339, "heading":-2.09275, "vx":-0.0511, "vy":-0.12756, "omega":-0.05979, "ax":1.85882, "ay":4.6396, "alpha":2.17476, "fx":[38.80876,27.88555,23.07315,34.17488], "fy":[78.2457,83.85305,76.54805,70.71295]}, - {"t":1.47773, "x":5.42246, "y":5.03214, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.7, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.68191, "ay":1.74503, "alpha":-23.09013, "fx":[-33.73351,-25.92126,-119.99476,-132.53097], "fy":[-44.1234,108.72988,77.93456,-26.18547]}, + {"t":0.02959, "x":7.69795, "y":5.08948, "heading":0.0, "vx":-0.13855, "vy":0.05164, "omega":-0.68332, "ax":-4.68929, "ay":1.72985, "alpha":-20.0511, "fx":[-40.06773,-32.39973,-114.74796,-125.45741], "fy":[-32.66553,97.22512,71.89642,-21.11262]}, + {"t":0.05919, "x":7.6918, "y":5.09176, "heading":-0.02022, "vx":-0.27733, "vy":0.10283, "omega":-1.27671, "ax":-4.69559, "ay":1.71241, "alpha":-16.90538, "fx":[-47.47447,-38.35906,-108.59314,-118.66608], "fy":[-22.70441,84.56312,66.42645,-14.10488]}, + {"t":0.08878, "x":7.68153, "y":5.09556, "heading":-0.058, "vx":-0.41629, "vy":0.15351, "omega":-1.777, "ax":-4.70252, "ay":1.69298, "alpha":-13.69611, "fx":[-54.83405,-44.8551,-101.99785,-111.86776], "fy":[-13.49312,71.6581,60.85901,-6.13919]}, + {"t":0.11837, "x":7.66715, "y":5.10084, "heading":-0.11059, "vx":-0.55545, "vy":0.20361, "omega":-2.18232, "ax":-4.71014, "ay":1.67129, "alpha":-10.4645, "fx":[-62.14185,-51.57385,-95.38467,-104.96299], "fy":[-4.56341,58.8074,54.87536,2.31937]}, + {"t":0.14797, "x":7.64865, "y":5.1076, "heading":-0.17518, "vx":-0.69484, "vy":0.25307, "omega":-2.492, "ax":-4.7186, "ay":1.64688, "alpha":-7.44336, "fx":[-68.16987,-58.85849,-89.47159,-98.12698], "fy":[3.68942,47.64027,48.3903,10.09106]}, + {"t":0.17756, "x":7.62602, "y":5.11581, "heading":-0.24892, "vx":-0.83448, "vy":0.30181, "omega":-2.71228, "ax":-4.728, "ay":1.61924, "alpha":-4.66533, "fx":[-73.26707,-65.82774,-84.72142,-91.43751], "fy":[11.54464,38.62539,40.94836,16.84953]}, + {"t":0.20716, "x":7.59926, "y":5.12545, "heading":-0.32919, "vx":-0.9744, "vy":0.34973, "omega":-2.85034, "ax":-4.73851, "ay":1.58767, "alpha":-2.15903, "fx":[-76.74843,-72.9446,-81.19248,-85.06946], "fy":[19.09648,30.95825,33.61865,22.18958]}, + {"t":0.23675, "x":7.56835, "y":5.1365, "heading":-0.41354, "vx":-1.11463, "vy":0.39671, "omega":-2.91424, "ax":-4.75036, "ay":1.55126, "alpha":-0.02008, "fx":[-79.18191,-79.14572,-79.19925,-79.21774], "fy":[25.75266,26.01227,25.88294,25.78688]}, + {"t":0.26634, "x":7.53328, "y":5.14891, "heading":-0.49978, "vx":-1.25521, "vy":0.44262, "omega":-2.91483, "ax":-4.76374, "ay":1.50891, "alpha":1.82385, "fx":[-80.34991,-84.86023,-78.42425,-74.00266], "fy":[31.71479,22.62235,18.47256,27.8015]}, + {"t":0.29594, "x":7.49405, "y":5.16267, "heading":-0.58604, "vx":-1.39619, "vy":0.48728, "omega":-2.86086, "ax":-4.77903, "ay":1.45887, "alpha":3.35955, "fx":[-80.71291,-89.44554,-78.92433,-69.57355], "fy":[36.82,20.96539,11.29735,28.19172]}, + {"t":0.32553, "x":7.45064, "y":5.17773, "heading":-0.67071, "vx":-1.53762, "vy":0.53045, "omega":-2.76143, "ax":-4.79652, "ay":1.39916, "alpha":4.58694, "fx":[-80.41457,-93.49246,-79.9568,-65.95889], "fy":[40.60949,20.12751,5.39849,27.1578]}, + {"t":0.35512, "x":7.40303, "y":5.19404, "heading":-0.75243, "vx":-1.67957, "vy":0.57186, "omega":-2.62569, "ax":-4.81679, "ay":1.32626, "alpha":5.59975, "fx":[-79.64569,-96.3475,-81.86007,-63.32123], "fy":[43.72558,20.15846,-0.34854,24.89664]}, + {"t":0.38472, "x":7.35122, "y":5.21155, "heading":-0.83013, "vx":-1.82211, "vy":0.6111, "omega":-2.45997, "ax":-4.84026, "ay":1.23599, "alpha":6.24665, "fx":[-78.45263,-98.6724,-83.30966,-62.3043], "fy":[45.17129,20.23501,-4.43685,21.444]}, + {"t":0.41431, "x":7.29518, "y":5.23017, "heading":-0.90293, "vx":-1.96535, "vy":0.64768, "omega":-2.27511, "ax":-4.86774, "ay":1.12025, "alpha":6.84284, "fx":[-77.81675,-100.19979,-85.81729,-60.73746], "fy":[45.57215,20.31302,-8.59941,17.41055]}, + {"t":0.44391, "x":7.23488, "y":5.24983, "heading":-0.97026, "vx":-2.10941, "vy":0.68083, "omega":-2.07261, "ax":-4.89921, "ay":0.96948, "alpha":7.07823, "fx":[-77.3681,-101.13972,-87.70322,-60.45862], "fy":[43.80091,19.78592,-11.41729,12.47337]}, + {"t":0.4735, "x":7.17031, "y":5.2704, "heading":-1.0316, "vx":-2.25439, "vy":0.70952, "omega":-1.86314, "ax":-4.93507, "ay":0.75949, "alpha":7.17084, "fx":[-76.76684,-101.64438,-89.11672,-61.53281], "fy":[40.81331,18.14542,-14.92979,6.61241]}, + {"t":0.50309, "x":7.10144, "y":5.29173, "heading":-1.08673, "vx":-2.40044, "vy":0.732, "omega":-1.65092, "ax":-4.9702, "ay":0.46279, "alpha":7.04908, "fx":[-76.7685,-102.11986,-90.10688,-62.40783], "fy":[34.86848,14.65976,-18.28878,-0.38119]}, + {"t":0.53269, "x":7.02822, "y":5.3136, "heading":-1.13559, "vx":-2.54753, "vy":0.7457, "omega":-1.44232, "ax":-4.98949, "ay":-0.00348, "alpha":6.559, "fx":[-77.15624,-100.71318,-90.0448,-64.77566], "fy":[25.2632,7.67052,-24.21594,-8.9497]}, + {"t":0.56228, "x":6.95065, "y":5.33567, "heading":-1.17827, "vx":-2.69518, "vy":0.74559, "omega":-1.24821, "ax":-4.92396, "ay":-0.7841, "alpha":5.77296, "fx":[-76.68548,-98.36439,-87.88668,-65.38335], "fy":[7.88762,-4.23494,-32.70336,-23.23153]}, + {"t":0.59187, "x":6.86873, "y":5.35739, "heading":-1.21521, "vx":-2.8409, "vy":0.72239, "omega":-1.07737, "ax":-4.46271, "ay":-2.21091, "alpha":4.20632, "fx":[-70.43828,-87.12366,-78.61721,-61.38587], "fy":[-22.77414,-29.65793,-50.00778,-44.97935]}, + {"t":0.62147, "x":6.7827, "y":5.3778, "heading":-1.2471, "vx":-2.97297, "vy":0.65696, "omega":-0.95289, "ax":-2.66479, "ay":-4.20093, "alpha":1.99763, "fx":[-41.66211,-51.8986,-46.60521,-37.51734], "fy":[-64.78001,-66.5776,-75.21258,-73.53992]}, + {"t":0.65106, "x":6.69356, "y":5.3954, "heading":-1.2753, "vx":-3.05183, "vy":0.53264, "omega":-0.89377, "ax":0.34776, "ay":-4.9655, "alpha":-0.78405, "fx":[4.32197,8.45159,7.27738,3.13673], "fy":[-84.7623,-83.99767,-80.64611,-81.68419]}, + {"t":0.68065, "x":6.60339, "y":5.40899, "heading":-1.30175, "vx":-3.04154, "vy":0.38569, "omega":-0.91697, "ax":2.20297, "ay":-4.47067, "alpha":-2.7578, "fx":[30.84903,45.36621,42.64764,28.02664], "fy":[-82.47997,-77.80425,-66.53945,-71.27231]}, + {"t":0.71025, "x":6.51435, "y":5.41844, "heading":-1.32888, "vx":-2.97634, "vy":0.25339, "omega":-0.99859, "ax":3.05394, "ay":-3.94411, "alpha":-3.9655, "fx":[42.21446,61.64489,60.26414,39.50725], "fy":[-77.83794,-71.13958,-53.44707,-60.56136]}, + {"t":0.73984, "x":6.4276, "y":5.42422, "heading":-1.35843, "vx":-2.88597, "vy":0.13667, "omega":-1.11594, "ax":3.49349, "ay":-3.56435, "alpha":-4.59452, "fx":[47.91512,70.342,69.07713,45.60488], "fy":[-73.85308,-65.69087,-45.08523,-53.03462]}, + {"t":0.76944, "x":6.34373, "y":5.4267, "heading":-1.39146, "vx":-2.78258, "vy":0.03118, "omega":-1.25191, "ax":3.74069, "ay":-3.30658, "alpha":-4.78163, "fx":[51.33977,73.84566,74.03898,50.19784], "fy":[-70.40727,-62.51512,-40.03586,-47.51799]}, + {"t":0.79903, "x":6.26302, "y":5.42618, "heading":-1.42851, "vx":-2.67188, "vy":-0.06667, "omega":-1.39342, "ax":3.90145, "ay":-3.11719, "alpha":-4.65792, "fx":[53.95351,76.05169,76.52548,53.6104], "fy":[-66.74741,-59.53231,-37.52707,-44.04145]}, + {"t":0.82862, "x":6.18566, "y":5.42284, "heading":-1.46974, "vx":-2.55642, "vy":-0.15892, "omega":-1.53126, "ax":4.00971, "ay":-2.9781, "alpha":-4.17855, "fx":[56.42495,76.16342,77.43428,57.33723], "fy":[-63.1198,-56.69892,-36.93349,-41.82172]}, + {"t":0.85822, "x":6.11176, "y":5.41683, "heading":-1.51506, "vx":-2.43776, "vy":-0.24705, "omega":-1.65492, "ax":4.0884, "ay":-2.87027, "alpha":-3.37903, "fx":[59.67175,75.20809,76.60316,61.1237], "fy":[-58.33191,-54.71515,-37.69796,-40.63888]}, + {"t":0.88781, "x":6.04141, "y":5.40826, "heading":-1.56404, "vx":-2.31677, "vy":-0.33199, "omega":-1.75492, "ax":4.14737, "ay":-2.7853, "alpha":-2.35024, "fx":[62.94304,73.6641,75.42408,64.50765], "fy":[-53.35945,-51.5752,-39.59763,-41.18628]}, + {"t":0.9174, "x":5.97466, "y":5.39722, "heading":-1.61597, "vx":-2.19403, "vy":-0.41442, "omega":-1.82447, "ax":4.19348, "ay":-2.71615, "alpha":-0.93697, "fx":[67.32697,71.83076,72.31057,68.14498], "fy":[-47.93999,-47.40694,-42.6881,-43.07255]}, + {"t":0.947, "x":5.91157, "y":5.38376, "heading":-1.66996, "vx":-2.06993, "vy":-0.4948, "omega":-1.8522, "ax":4.23022, "ay":-2.6592, "alpha":0.90869, "fx":[73.09029,69.03706,67.95335,71.9824], "fy":[-41.79738,-42.08512,-46.84804,-46.58006]}, + {"t":0.97659, "x":5.85216, "y":5.36796, "heading":-1.72478, "vx":-1.94475, "vy":-0.5735, "omega":-1.82531, "ax":4.26037, "ay":-2.61118, "alpha":3.1982, "fx":[80.19131,66.55963,61.62614,75.69605], "fy":[-35.42209,-34.72356,-52.09969,-51.86294]}, + {"t":1.00618, "x":5.79648, "y":5.34984, "heading":-1.77879, "vx":-1.81867, "vy":-0.65077, "omega":-1.73066, "ax":4.28536, "ay":-2.57043, "alpha":5.94557, "fx":[88.85611,63.74166,53.74785,79.3937], "fy":[-29.06964,-25.3403,-58.11441,-58.86686]}, + {"t":1.03578, "x":5.74453, "y":5.32946, "heading":-1.83001, "vx":-1.69185, "vy":-0.72684, "omega":-1.55471, "ax":4.30655, "ay":-2.53517, "alpha":9.16995, "fx":[98.70642,61.84191,43.80714,82.79686], "fy":[-23.10215,-13.0555,-65.3477,-67.53485]}, + {"t":1.06537, "x":5.69635, "y":5.30684, "heading":-1.87602, "vx":-1.5644, "vy":-0.80186, "omega":-1.28334, "ax":4.43839, "ay":-2.28975, "alpha":6.99446, "fx":[94.49863,67.146,52.64297,81.6556], "fy":[-24.2854,-15.1747,-54.60352,-58.61218]}, + {"t":1.09271, "x":5.65524, "y":5.28406, "heading":-1.9111, "vx":-1.44307, "vy":-0.86446, "omega":-1.09213, "ax":4.67841, "ay":-1.75537, "alpha":5.69122, "fx":[94.16154,72.69467,61.11595,83.97493], "fy":[-18.6595,-9.68156,-41.45972,-47.24407]}, + {"t":1.12005, "x":5.61754, "y":5.25977, "heading":-1.94096, "vx":-1.31517, "vy":-0.91245, "omega":-0.93655, "ax":4.87222, "ay":-1.10825, "alpha":4.74128, "fx":[94.2158,76.92314,67.75576,85.9753], "fy":[-10.30353,-1.27432,-27.84856,-34.46974]}, + {"t":1.14738, "x":5.58341, "y":5.23442, "heading":-1.96656, "vx":-1.18198, "vy":-0.94274, "omega":-0.80694, "ax":4.98351, "ay":-0.36013, "alpha":3.99782, "fx":[93.62965,79.09209,72.06988,87.4994], "fy":[0.08605,8.96725,-12.80102,-20.26491]}, + {"t":1.17472, "x":5.55296, "y":5.20851, "heading":-1.98862, "vx":-1.04575, "vy":-0.95259, "omega":-0.69765, "ax":4.97587, "ay":0.45268, "alpha":3.38412, "fx":[91.78358,79.22761,73.88309,86.88737], "fy":[11.95036,20.5149,2.7776,-5.05918]}, + {"t":1.20206, "x":5.52623, "y":5.18264, "heading":-2.00769, "vx":-0.90972, "vy":-0.94021, "omega":-0.60514, "ax":4.83205, "ay":1.27107, "alpha":2.93404, "fx":[88.18843,76.85198,72.56464,84.58675], "fy":[24.35184,32.35346,17.93149,10.11598]}, + {"t":1.22939, "x":5.50317, "y":5.15741, "heading":-2.02423, "vx":-0.77763, "vy":-0.90546, "omega":-0.52493, "ax":4.56587, "ay":2.02934, "alpha":2.56831, "fx":[83.13681,72.54798,68.96681,79.79161], "fy":[35.72341,43.63157,31.69419,24.26358]}, + {"t":1.25673, "x":5.48361, "y":5.13342, "heading":-2.03858, "vx":-0.65281, "vy":-0.84999, "omega":-0.45472, "ax":4.21603, "ay":2.68183, "alpha":2.27038, "fx":[76.79551,66.98076,63.38569,73.95509], "fy":[46.12631,52.77568,43.49794,36.41902]}, + {"t":1.28407, "x":5.46734, "y":5.11118, "heading":-2.05101, "vx":-0.53756, "vy":-0.77668, "omega":-0.39265, "ax":3.82811, "ay":3.21167, "alpha":2.12147, "fx":[70.11676,60.59518,57.36125,67.17792], "fy":[54.65944,61.09462,52.39964,45.99459]}, + {"t":1.3114, "x":5.45408, "y":5.09115, "heading":-2.06175, "vx":-0.43291, "vy":-0.68888, "omega":-0.33466, "ax":3.43969, "ay":3.62493, "alpha":2.00088, "fx":[63.4464,54.28958,50.92598,60.69012], "fy":[61.53618,67.18617,59.52777,53.45309]}, + {"t":1.33874, "x":5.44353, "y":5.07367, "heading":-2.0709, "vx":-0.33888, "vy":-0.58978, "omega":-0.27996, "ax":3.07368, "ay":3.94035, "alpha":1.9549, "fx":[57.521,48.26587,44.80254,54.35741], "fy":[66.46042,72.23285,64.91548,59.12611]}, + {"t":1.36608, "x":5.43541, "y":5.05902, "heading":-2.07855, "vx":-0.25485, "vy":-0.48207, "omega":-0.22652, "ax":2.74093, "ay":4.1789, "alpha":1.94248, "fx":[52.07789,42.81354,39.03932,48.82948], "fy":[70.58348,75.85789,68.94726,63.25237]}, + {"t":1.39342, "x":5.42947, "y":5.04741, "heading":-2.08474, "vx":-0.17993, "vy":-0.36783, "omega":-0.17342, "ax":2.44468, "ay":4.35906, "alpha":2.00483, "fx":[47.56173,37.82886,33.76577,43.84989], "fy":[73.39679,79.04701,71.95909,66.25073]}, + {"t":1.42075, "x":5.42547, "y":5.03898, "heading":-2.08948, "vx":-0.1131, "vy":-0.24866, "omega":-0.11861, "ax":2.18339, "ay":4.49581, "alpha":2.10408, "fx":[43.6878,33.41089,28.90093,39.58433], "fy":[75.72539,81.49825,74.21114,68.33752]}, + {"t":1.44809, "x":5.42319, "y":5.03386, "heading":-2.09273, "vx":-0.05341, "vy":-0.12576, "omega":-0.06109, "ax":1.95371, "ay":4.60044, "alpha":2.23481, "fx":[40.51193,29.44767,24.41906,35.89107], "fy":[77.57815,83.42521,75.93178,69.81335]}, + {"t":1.47543, "x":5.42246, "y":5.03214, "heading":-2.0944, "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/bargeToOppE.traj b/src/main/deploy/choreo/bargeToOppE.traj index b3873a29..2dcd1c19 100644 --- a/src/main/deploy/choreo/bargeToOppE.traj +++ b/src/main/deploy/choreo/bargeToOppE.traj @@ -3,40 +3,44 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.58463382720947, "y":5.08871412277, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":11.869606971740724, "y":5.709586143493652, "heading":-0.5538539145382533, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.51699161529541, "y":5.808125972747803, "heading":0.0, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":12.02427864074707, "y":5.681303977966309, "heading":-0.5538539145382533, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":3, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"barge.x", "val":7.58463382720947}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"11.869606971740723 m", "val":11.869606971740724}, "y":{"exp":"5.709586143493652 m", "val":5.709586143493652}, "heading":{"exp":"-0.5538539145382533 rad", "val":-0.5538539145382533}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"11.51699161529541 m", "val":11.51699161529541}, "y":{"exp":"5.808125972747803 m", "val":5.808125972747803}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"12.02427864074707 m", "val":12.02427864074707}, "y":{"exp":"5.681303977966309 m", "val":5.681303977966309}, "heading":{"exp":"-0.5538539145382533 rad", "val":-0.5538539145382533}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":3, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -44,93 +48,141 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.57679,1.18026,1.99079,2.52479], + "waypoints":[0.0,0.5681,1.17828,1.96654,2.36941,3.56348], "samples":[ - {"t":0.0, "x":7.58463, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.27566, "ay":5.54814, "alpha":-0.00395, "fx":[37.98719,37.8282,37.96019,37.96096], "fy":[92.43892,92.59557,92.46555,92.43939]}, - {"t":0.03845, "x":7.58632, "y":5.09282, "heading":0.0, "vx":0.0875, "vy":0.21334, "omega":-0.00015, "ax":2.44539, "ay":5.47703, "alpha":-0.00587, "fx":[40.81004,40.69445,40.77186,40.77725], "fy":[91.25751,91.38875,91.28963,91.2619]}, - {"t":0.07691, "x":7.59149, "y":5.10507, "heading":-0.00001, "vx":0.18154, "vy":0.42395, "omega":-0.00038, "ax":2.65939, "ay":5.37608, "alpha":0.0062, "fx":[44.25209,44.38163,44.33903,44.35043], "fy":[89.7016,89.59548,89.60534,89.56421]}, - {"t":0.11536, "x":7.60044, "y":5.12534, "heading":-0.00002, "vx":0.2838, "vy":0.63067, "omega":-0.00014, "ax":2.93719, "ay":5.22909, "alpha":-0.00844, "fx":[49.03422,48.86308,48.966,48.98304], "fy":[87.10484,87.28306,87.15776,87.11986]}, - {"t":0.15381, "x":7.61352, "y":5.15346, "heading":-0.00003, "vx":0.39674, "vy":0.83174, "omega":-0.00046, "ax":3.30798, "ay":5.00222, "alpha":0.01365, "fx":[55.00933,55.19357,55.1345,55.23207], "fy":[83.5634,83.34788,83.37008,83.25678]}, - {"t":0.19226, "x":7.63122, "y":5.18914, "heading":-0.00004, "vx":0.52394, "vy":1.02409, "omega":0.00006, "ax":3.8155, "ay":4.62591, "alpha":-0.01192, "fx":[63.70565,63.44739,63.61378,63.6437], "fy":[77.01355,77.29467,77.09689,77.04136]}, - {"t":0.23072, "x":7.65419, "y":5.23194, "heading":-0.00004, "vx":0.67066, "vy":1.20197, "omega":-0.0004, "ax":4.51194, "ay":3.94821, "alpha":0.03035, "fx":[74.96207,75.22461,75.16266,75.49841], "fy":[66.16668,65.76792,65.80331,65.52146]}, - {"t":0.26917, "x":7.68331, "y":5.28108, "heading":-0.00006, "vx":0.84415, "vy":1.35379, "omega":0.00077, "ax":5.37715, "ay":2.64907, "alpha":-0.02187, "fx":[89.72451,89.49206,89.64033,89.68121], "fy":[44.01102,44.41605,44.16714,44.04101]}, - {"t":0.30762, "x":7.71975, "y":5.33509, "heading":-0.00003, "vx":1.05092, "vy":1.45565, "omega":-0.00007, "ax":5.98394, "ay":0.33248, "alpha":0.0155, "fx":[99.66683,99.68253,99.65064,99.99777], "fy":[5.74382,5.53917,5.54392,5.34213]}, - {"t":0.34607, "x":7.76458, "y":5.39131, "heading":-0.00003, "vx":1.28101, "vy":1.46844, "omega":0.00052, "ax":5.46791, "ay":-2.45385, "alpha":-0.02423, "fx":[91.15506,91.14657,91.1649,91.12327], "fy":[-41.00243,-40.6658,-40.91385,-41.03573]}, - {"t":0.38453, "x":7.81788, "y":5.44596, "heading":-0.00001, "vx":1.49127, "vy":1.37408, "omega":-0.00041, "ax":4.16091, "ay":-4.31514, "alpha":0.01417, "fx":[69.10306,69.36967,69.31651,69.65224], "fy":[-72.36644,-71.85696,-71.89574,-71.60616]}, - {"t":0.42298, "x":7.8783, "y":5.49561, "heading":-0.00003, "vx":1.65127, "vy":1.20815, "omega":0.00014, "ax":2.99775, "ay":-5.19244, "alpha":0.00851, "fx":[50.02602,49.86337,50.01434,49.98018], "fy":[-86.52502,-86.59987,-86.5413,-86.55541]}, - {"t":0.46143, "x":7.94401, "y":5.53823, "heading":-0.00002, "vx":1.76654, "vy":1.00849, "omega":0.00047, "ax":2.17756, "ay":-5.58718, "alpha":-0.01615, "fx":[36.24689,36.40951,36.37808,36.16097], "fy":[-93.35118,-93.07616,-93.09646,-93.01875]}, - {"t":0.49988, "x":8.01355, "y":5.57288, "heading":0.0, "vx":1.85027, "vy":0.79365, "omega":-0.00016, "ax":1.61169, "ay":-5.77653, "alpha":0.00944, "fx":[26.8865,26.81301,26.89099,26.8738], "fy":[-96.25515,-96.34289,-96.30019,-96.26936]}, - {"t":0.53834, "x":8.08589, "y":5.59912, "heading":-0.00001, "vx":1.91224, "vy":0.57152, "omega":0.00021, "ax":1.20969, "ay":-5.87433, "alpha":-0.00538, "fx":[20.15603,20.22354,20.21642,20.0639], "fy":[-97.97853,-97.91577,-97.92598,-97.86887]}, - {"t":0.57679, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.95876, "vy":0.34564, "omega":0.0, "ax":0.98737, "ay":-5.91087, "alpha":0.0, "fx":[16.55856,16.43258,16.44033,16.40431], "fy":[-98.47957,-98.64612,-98.48994,-98.50999]}, - {"t":0.60855, "x":8.22303, "y":5.62475, "heading":0.0, "vx":1.99012, "vy":0.1579, "omega":0.0, "ax":0.28109, "ay":-5.98237, "alpha":0.0, "fx":[4.43477,4.61948,4.61959,5.06904], "fy":[-99.95408,-99.58296,-99.54635,-99.80961]}, - {"t":0.64031, "x":8.28638, "y":5.62675, "heading":0.0, "vx":1.99905, "vy":-0.03211, "omega":0.0, "ax":-0.01808, "ay":-0.86852, "alpha":0.0, "fx":[-0.26955,-0.27458,-0.32973,-0.33154], "fy":[-14.44738,-14.66274,-14.35159,-14.44982]}, - {"t":0.67207, "x":8.34986, "y":5.62529, "heading":0.0, "vx":1.99847, "vy":-0.0597, "omega":0.0, "ax":0.01167, "ay":0.44324, "alpha":0.0, "fx":[0.23511,0.23497,0.44137,-0.13307], "fy":[7.3036,7.34826,7.34806,7.55451]}, - {"t":0.70384, "x":8.41335, "y":5.62362, "heading":0.0, "vx":1.99885, "vy":-0.04562, "omega":0.0, "ax":0.00604, "ay":0.29526, "alpha":0.0, "fx":[0.1329,0.13277,0.0687,0.06865], "fy":[4.95405,4.76595,5.01374,4.95396]}, - {"t":0.7356, "x":8.47684, "y":5.62232, "heading":0.0, "vx":1.99904, "vy":-0.03624, "omega":0.0, "ax":0.00272, "ay":0.1615, "alpha":0.0, "fx":[0.06428,0.06466,0.1535,-0.10111], "fy":[2.66043,2.67291,2.67291,2.76193]}, - {"t":0.76736, "x":8.54033, "y":5.62125, "heading":0.0, "vx":1.99912, "vy":-0.03111, "omega":0.0, "ax":0.00161, "ay":0.10974, "alpha":0.0, "fx":[0.02219,0.02214,0.03157,0.03155], "fy":[1.82467,1.86325,1.80484,1.82464]}, - {"t":0.79912, "x":8.60383, "y":5.62032, "heading":0.0, "vx":1.99918, "vy":-0.02763, "omega":0.0, "ax":0.00113, "ay":0.0862, "alpha":0.0, "fx":[0.04917,0.04919,0.03274,-0.05563], "fy":[1.54423,1.40655,1.40655,1.39013]}, - {"t":0.83088, "x":8.66732, "y":5.61949, "heading":0.0, "vx":1.99921, "vy":-0.02489, "omega":0.0, "ax":0.00079, "ay":0.06604, "alpha":0.0, "fx":[-0.00756,-0.00756,0.03381,0.03381], "fy":[1.08022,1.20896,1.03422,1.08022]}, - {"t":0.86265, "x":8.73082, "y":5.61873, "heading":0.0, "vx":1.99924, "vy":-0.02279, "omega":0.0, "ax":0.0005, "ay":0.04523, "alpha":0.0, "fx":[0.02997,0.02997,0.0027,-0.02936], "fy":[0.84614,0.73226,0.73226,0.70498]}, - {"t":0.89441, "x":8.79432, "y":5.61803, "heading":0.0, "vx":1.99925, "vy":-0.02135, "omega":0.0, "ax":0.00027, "ay":0.02618, "alpha":0.0, "fx":[-0.00569,-0.00569,0.01483,0.01483], "fy":[0.42612,0.48731,0.40595,0.42612]}, - {"t":0.92617, "x":8.85782, "y":5.61736, "heading":0.0, "vx":1.99926, "vy":-0.02052, "omega":0.0, "ax":0.00011, "ay":0.01111, "alpha":0.0, "fx":[0.00702,0.00702,0.00946,-0.01596], "fy":[0.19817,0.18007,0.18007,0.18251]}, - {"t":0.95793, "x":8.92132, "y":5.61672, "heading":0.0, "vx":1.99926, "vy":-0.02017, "omega":0.0, "ax":-0.00002, "ay":-0.00177, "alpha":0.0, "fx":[0.00279,0.00279,-0.00338,-0.00338], "fy":[-0.02641,-0.04726,-0.01791,-0.02641]}, - {"t":0.98969, "x":8.98482, "y":5.61607, "heading":0.0, "vx":1.99926, "vy":-0.02023, "omega":0.0, "ax":-0.00021, "ay":-0.02053, "alpha":0.0, "fx":[-0.00149,-0.00149,0.02766,-0.03874], "fy":[-0.36528,-0.34425,-0.34425,-0.31513]}, - {"t":1.02145, "x":9.04833, "y":5.61542, "heading":0.0, "vx":1.99926, "vy":-0.02088, "omega":0.0, "ax":-0.00062, "ay":-0.05713, "alpha":0.0, "fx":[-0.00415,-0.00415,-0.01661,-0.01661], "fy":[-0.94617,-0.98222,-0.93504,-0.94617]}, - {"t":1.05322, "x":9.11182, "y":5.61473, "heading":0.0, "vx":1.99924, "vy":-0.02269, "omega":0.0, "ax":-0.00106, "ay":-0.0878, "alpha":0.0, "fx":[0.00209,0.00208,0.06544,-0.14013], "fy":[-1.46775,-1.48329,-1.48328,-1.41995]}, - {"t":1.08498, "x":9.17532, "y":5.61396, "heading":0.0, "vx":1.9992, "vy":-0.02548, "omega":0.0, "ax":0.00141, "ay":0.11929, "alpha":0.0, "fx":[0.03196,0.03194,0.01497,0.01495], "fy":[1.997,1.95699,2.00301,1.99698]}, - {"t":1.11674, "x":9.23882, "y":5.61322, "heading":0.0, "vx":1.99925, "vy":-0.02169, "omega":0.0, "ax":-0.00181, "ay":1.51364, "alpha":0.0, "fx":[0.03681,0.03819,0.01173,-0.20728], "fy":[25.45995,25.16397,25.164,25.13857]}, - {"t":1.1485, "x":9.30232, "y":5.61329, "heading":0.0, "vx":1.99919, "vy":0.02638, "omega":0.0, "ax":-0.26974, "ay":5.21358, "alpha":0.0, "fx":[-4.72678,-4.72783,-4.26495,-4.26602], "fy":[86.6774,88.00958,86.26788,86.67642]}, - {"t":1.18026, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.99062, "vy":0.19198, "omega":0.0, "ax":5.9474, "ay":0.67301, "alpha":-42.8693, "fx":[183.13301,166.62102,17.80062,29.00665], "fy":[-63.17865,99.83462,188.72154,-180.50239]}, - {"t":1.2041, "x":9.41483, "y":5.62153, "heading":0.0, "vx":2.1324, "vy":0.20802, "omega":-1.02196, "ax":5.95301, "ay":0.6805, "alpha":-41.47372, "fx":[179.58671,165.37968,19.58308,32.38576], "fy":[-64.44666,96.6886,183.49744,-170.36492]}, - {"t":1.22794, "x":9.46735, "y":5.62668, "heading":-0.02436, "vx":2.27432, "vy":0.22424, "omega":-2.01066, "ax":5.95001, "ay":0.69648, "alpha":-35.62479, "fx":[168.08798,162.34305,31.80351,34.50082], "fy":[-68.93237,84.03759,154.1501,-122.81521]}, - {"t":1.25178, "x":9.52326, "y":5.63222, "heading":-0.07229, "vx":2.41616, "vy":0.24085, "omega":-2.85992, "ax":5.94852, "ay":0.69563, "alpha":-6.97352, "fx":[111.93528,109.81333,86.77755,88.10946], "fy":[-10.41449,27.9906,39.59604,-10.78857]}, - {"t":1.27562, "x":9.58255, "y":5.63816, "heading":-0.14047, "vx":2.55797, "vy":0.25743, "omega":-3.02616, "ax":5.94524, "ay":0.70374, "alpha":17.25501, "fx":[66.86201,57.86962,133.16016,138.52545], "fy":[68.15573,-30.2749,-39.48615,48.52926]}, - {"t":1.29946, "x":9.64522, "y":5.6445, "heading":-0.21261, "vx":2.6997, "vy":0.27421, "omega":-2.61481, "ax":5.94059, "ay":0.71379, "alpha":16.49003, "fx":[72.00229,57.31519,130.37271,136.41676], "fy":[71.55005,-26.81663,-38.22352,41.08401]}, - {"t":1.3233, "x":9.71127, "y":5.65124, "heading":-0.27495, "vx":2.84131, "vy":0.29122, "omega":-2.22171, "ax":5.93338, "ay":0.72494, "alpha":15.65075, "fx":[75.68321,60.08945,125.63943,134.21409], "fy":[71.68398,-22.02004,-39.57426,38.2482]}, - {"t":1.34714, "x":9.78069, "y":5.65839, "heading":-0.32791, "vx":2.98276, "vy":0.3085, "omega":-1.84861, "ax":5.91929, "ay":0.7411, "alpha":15.03671, "fx":[78.26194,55.85312,124.30443,136.26716], "fy":[67.01795,-14.07753,-37.25267,33.72741]}, - {"t":1.37098, "x":9.85348, "y":5.66595, "heading":-0.37198, "vx":3.12387, "vy":0.32617, "omega":-1.49015, "ax":5.87426, "ay":0.78632, "alpha":14.35761, "fx":[78.15541,57.59434,119.88933,136.04521], "fy":[64.86293,-9.37906,-35.85739,32.80372]}, - {"t":1.39482, "x":9.92961, "y":5.67395, "heading":-0.4075, "vx":3.26391, "vy":0.34492, "omega":-1.14788, "ax":0.59446, "ay":0.88673, "alpha":2.12574, "fx":[7.01103,3.66394,13.55124,15.41096], "fy":[22.45555,9.74589,8.66943,18.25435]}, - {"t":1.41865, "x":10.00759, "y":5.68242, "heading":-0.43487, "vx":3.27808, "vy":0.36606, "omega":-1.0972, "ax":-0.06568, "ay":0.58018, "alpha":0.28297, "fx":[-2.18692,-1.76982,-0.3685,-0.0542], "fy":[10.45594,9.33465,8.91986,9.97452]}, - {"t":1.44249, "x":10.08572, "y":5.69132, "heading":-0.46102, "vx":3.27651, "vy":0.37989, "omega":-1.09046, "ax":-0.02569, "ay":0.21996, "alpha":0.2208, "fx":[-0.49967,-0.52905,-0.34442,-0.33973], "fy":[4.88981,3.3742,2.20057,4.20173]}, - {"t":1.46633, "x":10.16382, "y":5.70043, "heading":-0.48702, "vx":3.2759, "vy":0.38513, "omega":-1.08519, "ax":-0.02541, "ay":0.21499, "alpha":0.1824, "fx":[-1.02479,-1.37867,-0.00134,0.71066], "fy":[3.68226,3.53058,3.48903,3.63297]}, - {"t":1.49017, "x":10.24191, "y":5.70968, "heading":-0.51289, "vx":3.27529, "vy":0.39025, "omega":-1.08085, "ax":-0.009, "ay":0.07496, "alpha":0.14668, "fx":[-0.10173,0.01913,-0.19945,-0.31772], "fy":[2.35376,0.96839,0.06978,1.60619]}, - {"t":1.51401, "x":10.31998, "y":5.719, "heading":-0.53866, "vx":3.27508, "vy":0.39204, "omega":-1.07735, "ax":-0.01234, "ay":0.10311, "alpha":0.11968, "fx":[-0.52648,-0.96845,0.0253,0.64688], "fy":[1.69117,1.71544,1.74687,1.72154]}, - {"t":1.53785, "x":10.39806, "y":5.72838, "heading":-0.56434, "vx":3.27478, "vy":0.3945, "omega":-1.0745, "ax":-0.01139, "ay":0.09399, "alpha":0.09106, "fx":[-0.14031,-0.00047,-0.24025,-0.37832], "fy":[2.33428,1.51313,0.69567,1.724]}, - {"t":1.56169, "x":10.47612, "y":5.73781, "heading":-0.58995, "vx":3.27451, "vy":0.39674, "omega":-1.07232, "ax":-0.00597, "ay":0.04942, "alpha":0.06336, "fx":[-0.23693,-0.6111,0.01359,0.43604], "fy":[0.72374,0.84151,0.92374,0.80626]}, - {"t":1.58553, "x":10.55418, "y":5.74728, "heading":-0.61552, "vx":3.27437, "vy":0.39792, "omega":-1.07081, "ax":-0.0177, "ay":0.14497, "alpha":0.03705, "fx":[-0.25406,-0.10268,-0.33597,-0.48719], "fy":[2.84981,2.38439,1.95017,2.48205]}, - {"t":1.60937, "x":10.63223, "y":5.75681, "heading":-0.64104, "vx":3.27395, "vy":0.40137, "omega":-1.06993, "ax":0.01094, "ay":-0.08973, "alpha":0.01032, "fx":[0.15208,-0.02913,0.21636,0.39024], "fy":[-1.63519,-1.47307,-1.35666,-1.51842]}, - {"t":1.63321, "x":10.71028, "y":5.76635, "heading":-0.66655, "vx":3.27421, "vy":0.39924, "omega":-1.06969, "ax":-0.00109, "ay":0.00949, "alpha":-0.01524, "fx":[0.00843,0.15194,-0.04429,-0.1886], "fy":[0.24982,0.05925,0.13038,0.19345]}, - {"t":1.65704, "x":10.78834, "y":5.77587, "heading":-0.69205, "vx":3.27418, "vy":0.39946, "omega":-1.07005, "ax":0.06898, "ay":-0.57623, "alpha":-0.03129, "fx":[1.1758,1.22606,1.14404,1.0538], "fy":[-9.73294,-9.58916,-9.47824,-9.62171]}, - {"t":1.68088, "x":10.86641, "y":5.78523, "heading":-0.71756, "vx":3.27583, "vy":0.38572, "omega":-1.07079, "ax":0.09343, "ay":-0.81329, "alpha":-0.04414, "fx":[1.5649,1.62562,1.55114,1.48789], "fy":[-13.70163,-13.84362,-13.20589,-13.47752]}, - {"t":1.70472, "x":10.94453, "y":5.79419, "heading":-0.74309, "vx":3.27806, "vy":0.36634, "omega":-1.07185, "ax":0.20461, "ay":-1.95759, "alpha":-0.0309, "fx":[3.45953,3.61048,3.41389,3.15941], "fy":[-32.61868,-32.62872,-32.64584,-32.63498]}, - {"t":1.72856, "x":11.02273, "y":5.80237, "heading":-0.76864, "vx":3.28293, "vy":0.31967, "omega":-1.07258, "ax":0.28545, "ay":-3.35716, "alpha":-0.00131, "fx":[4.75224,4.50724,4.76593,5.00784], "fy":[-56.16968,-56.11308,-55.6475,-55.9188]}, - {"t":1.7524, "x":11.10108, "y":5.80904, "heading":-0.79421, "vx":3.28974, "vy":0.23964, "omega":-1.07261, "ax":0.26832, "ay":-4.8718, "alpha":0.02915, "fx":[4.51989,4.5583,4.49608,4.31684], "fy":[-80.88959,-81.20797,-81.53238,-81.21256]}, - {"t":1.77624, "x":11.17958, "y":5.81336, "heading":-0.81978, "vx":3.29613, "vy":0.1235, "omega":-1.07192, "ax":0.09577, "ay":-5.59682, "alpha":0.04078, "fx":[1.60797,1.19877,1.5832,1.99573], "fy":[-94.20968,-91.06215,-93.87148,-94.0417]}, - {"t":1.80008, "x":11.25818, "y":5.81472, "heading":-0.84533, "vx":3.29842, "vy":-0.00992, "omega":-1.07095, "ax":-0.13905, "ay":-5.7789, "alpha":0.03095, "fx":[-2.22978,-2.35389,-2.22999,-2.45803], "fy":[-96.06579,-96.3261,-96.59627,-96.33805]}, - {"t":1.82392, "x":11.33677, "y":5.81284, "heading":-0.87086, "vx":3.2951, "vy":-0.14769, "omega":-1.07021, "ax":-0.38784, "ay":-5.85098, "alpha":0.02021, "fx":[-6.43609,-6.44634,-6.53405,-6.44384], "fy":[-96.73276,-99.2241,-97.1934,-96.98203]}, - {"t":1.84776, "x":11.41521, "y":5.80766, "heading":-0.89637, "vx":3.28586, "vy":-0.28717, "omega":-1.06973, "ax":-0.64145, "ay":-5.87283, "alpha":0.00682, "fx":[-10.53658,-10.7342,-10.80262,-10.69729], "fy":[-97.84947,-97.9768,-97.88899,-97.87367]}, - {"t":1.8716, "x":11.49336, "y":5.79914, "heading":-0.92188, "vx":3.27057, "vy":-0.42717, "omega":-1.06957, "ax":-0.89735, "ay":-5.86528, "alpha":-0.01079, "fx":[-14.90723,-13.48428,-15.13195,-16.31001], "fy":[-96.41916,-97.94703,-99.11042,-97.6091]}, - {"t":1.89544, "x":11.57108, "y":5.78729, "heading":-0.94737, "vx":3.24917, "vy":-0.56699, "omega":-1.06982, "ax":-1.20733, "ay":-5.8261, "alpha":-0.17042, "fx":[-19.60717,-19.55974,-21.04211,-20.29374], "fy":[-97.83248,-97.58821,-96.04866,-97.00387]}, - {"t":1.91927, "x":11.64819, "y":5.77212, "heading":-0.97288, "vx":3.22039, "vy":-0.70588, "omega":-1.07389, "ax":-2.70554, "ay":-5.31292, "alpha":-3.17801, "fx":[-48.41536,-33.62127,-42.45189,-55.91138], "fy":[-97.98506,-91.04641,-77.47027,-87.75337]}, - {"t":1.94311, "x":11.72419, "y":5.75378, "heading":-0.99848, "vx":3.1559, "vy":-0.83254, "omega":-1.14965, "ax":-4.26157, "ay":-4.18549, "alpha":10.71938, "fx":[-77.8922,-106.0436,-71.97771,-28.23977], "fy":[-30.55746,-56.95641,-96.97706,-94.58965]}, - {"t":1.96695, "x":11.79821, "y":5.73275, "heading":-1.02588, "vx":3.0543, "vy":-0.93232, "omega":-0.89411, "ax":-4.99358, "ay":-3.29002, "alpha":37.50601, "fx":[-108.26673,-183.01946,-100.68268,59.00634], "fy":[106.41146,-23.21531,-154.88957,-147.67861]}, - {"t":1.99079, "x":11.86961, "y":5.70959, "heading":-1.0472, "vx":2.93526, "vy":-1.01075, "omega":0.0, "ax":-5.60847, "ay":-2.06849, "alpha":0.0, "fx":[-93.55059,-93.37114,-93.49575,-93.54485], "fy":[-34.64902,-33.96025,-34.64864,-34.66482]}, - {"t":2.02417, "x":11.96445, "y":5.6747, "heading":-1.0472, "vx":2.74808, "vy":-1.07978, "omega":0.0, "ax":-5.96381, "ay":-0.56897, "alpha":0.0, "fx":[-99.3931,-99.16861,-99.1779,-99.91561], "fy":[-8.94143,-9.72347,-9.81799,-9.45516]}, - {"t":2.05754, "x":12.05284, "y":5.63835, "heading":-1.0472, "vx":2.54904, "vy":-1.09877, "omega":0.0, "ax":-5.97504, "ay":0.45802, "alpha":0.0, "fx":[-99.60041,-99.59706,-99.59496,-99.61207], "fy":[7.48619,7.93476,7.5743,7.54443]}, - {"t":2.09092, "x":12.13459, "y":5.60193, "heading":-1.0472, "vx":2.34962, "vy":-1.08348, "omega":0.0, "ax":-5.88324, "ay":1.14611, "alpha":0.0, "fx":[-97.85739,-97.99062,-97.95938,-98.4759], "fy":[19.34785,19.14263,18.92743,19.00256]}, - {"t":2.12429, "x":12.20973, "y":5.56641, "heading":-1.0472, "vx":2.15327, "vy":-1.04523, "omega":0.0, "ax":-5.77137, "ay":1.62131, "alpha":0.0, "fx":[-96.24439,-96.1189,-96.23759,-96.22319], "fy":[26.85415,27.46549,26.90454,26.88142]}, - {"t":2.15767, "x":12.27838, "y":5.53242, "heading":-1.0472, "vx":1.96065, "vy":-0.99112, "omega":0.0, "ax":-5.66513, "ay":1.96271, "alpha":0.0, "fx":[-94.29923,-94.17395,-94.34979,-94.91691], "fy":[33.38613,32.47219,32.69977,32.31152]}, - {"t":2.19104, "x":12.34066, "y":5.50044, "heading":-1.0472, "vx":1.77157, "vy":-0.92562, "omega":0.0, "ax":-5.57104, "ay":2.2172, "alpha":0.0, "fx":[-92.90993,-92.75956,-92.90258,-92.89443], "fy":[36.801,37.40373,36.82305,36.81074]}, - {"t":2.22442, "x":12.39669, "y":5.47078, "heading":-1.0472, "vx":1.58564, "vy":-0.85162, "omega":0.0, "ax":-5.48954, "ay":2.41302, "alpha":0.0, "fx":[-91.37308,-91.34827,-91.45884,-91.85186], "fy":[40.65331,40.12005,40.23516,39.88698]}, - {"t":2.25779, "x":12.44655, "y":5.4437, "heading":-1.0472, "vx":1.40243, "vy":-0.77108, "omega":0.0, "ax":-5.41927, "ay":2.56777, "alpha":0.0, "fx":[-90.36785,-90.25231,-90.36826,-90.35826], "fy":[42.719,43.0735,42.71026,42.7111]}, - {"t":2.29117, "x":12.49034, "y":5.4194, "heading":-1.0472, "vx":1.22156, "vy":-0.68538, "omega":0.0, "ax":-5.35856, "ay":2.69283, "alpha":0.0, "fx":[-89.21898,-89.2414,-89.29711,-89.54069], "fy":[45.14769,44.82104,44.90837,44.67532]}, - {"t":2.32454, "x":12.52812, "y":5.39802, "heading":-1.0472, "vx":1.04272, "vy":-0.59551, "omega":0.0, "ax":-5.30582, "ay":2.79581, "alpha":0.0, "fx":[-88.46187,-88.3989,-88.46721,-88.45421], "fy":[46.58477,46.69802,46.56471,46.57183]}, - {"t":2.35792, "x":12.55997, "y":5.37971, "heading":-1.0472, "vx":0.86563, "vy":-0.5022, "omega":0.0, "ax":-5.25975, "ay":2.88199, "alpha":0.0, "fx":[-87.58619,-87.62516,-87.65985,-87.83862], "fy":[48.21092,48.01726,48.05274,47.88462]}, - {"t":2.39129, "x":12.58593, "y":5.36455, "heading":-1.0472, "vx":0.69009, "vy":-0.40601, "omega":0.0, "ax":-5.21922, "ay":2.9551, "alpha":0.0, "fx":[-87.00906,-86.98031,-87.01493,-87.00351], "fy":[49.26741,49.26786,49.24887,49.25632]}, - {"t":2.42467, "x":12.60605, "y":5.35264, "heading":-1.0472, "vx":0.5159, "vy":-0.30739, "omega":0.0, "ax":-5.18336, "ay":3.01787, "alpha":0.0, "fx":[-86.33062,-86.3652,-86.39348,-86.52733], "fy":[50.4285,50.29781,50.31317,50.18599]}, - {"t":2.45804, "x":12.62039, "y":5.34407, "heading":-1.0472, "vx":0.3429, "vy":-0.20667, "omega":0.0, "ax":-5.15143, "ay":3.07231, "alpha":0.0, "fx":[-85.87289,-85.86754,-85.87862,-85.86873], "fy":[51.23823,51.16658,51.22188,51.2289]}, - {"t":2.49142, "x":12.62896, "y":5.33888, "heading":-1.0472, "vx":0.17098, "vy":-0.10413, "omega":0.0, "ax":-5.12285, "ay":3.11996, "alpha":0.0, "fx":[-85.38751,-85.48191,-85.33817,-85.37434], "fy":[52.00142,51.9368,52.07299,52.02183]}, - {"t":2.52479, "x":12.63181, "y":5.33714, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.7, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.23562, "ay":5.86817, "alpha":-0.00506, "fx":[20.59574,20.50084,20.65159,20.6409], "fy":[97.75048,98.06288,97.7236,97.74145]}, + {"t":0.04058, "x":7.70102, "y":5.09355, "heading":0.0, "vx":0.05014, "vy":0.23812, "omega":-0.00021, "ax":1.44988, "ay":5.82031, "alpha":-0.00475, "fx":[24.18038,24.06439,24.21997,24.21056], "fy":[96.95631,97.24464,96.9382,96.94822]}, + {"t":0.08116, "x":7.70425, "y":5.108, "heading":-0.00001, "vx":0.10897, "vy":0.47431, "omega":-0.0004, "ax":1.73716, "ay":5.74078, "alpha":0.03123, "fx":[28.80246,28.97262,28.99902,29.05642], "fy":[95.95899,95.61762,95.6106,95.59728]}, + {"t":0.12174, "x":7.7101, "y":5.13197, "heading":-0.00002, "vx":0.17947, "vy":0.70726, "omega":0.00087, "ax":2.13935, "ay":5.60286, "alpha":-0.00405, "fx":[35.67171,35.57922,35.70335,35.69379], "fy":[93.34483,93.58063,93.32606,93.33667]}, + {"t":0.16232, "x":7.71914, "y":5.16529, "heading":0.00001, "vx":0.26628, "vy":0.93462, "omega":0.0007, "ax":2.7298, "ay":5.3394, "alpha":-0.02267, "fx":[45.68844,45.65047,45.68404,44.99499], "fy":[88.94233,88.95687,88.94441,89.17722]}, + {"t":0.20289, "x":7.73219, "y":5.20761, "heading":0.00004, "vx":0.37705, "vy":1.15128, "omega":-0.00022, "ax":3.62991, "ay":4.77208, "alpha":0.01773, "fx":[60.39711,60.78725,60.4319,60.41919], "fy":[79.72346,79.06637,79.69076,79.71226]}, + {"t":0.24347, "x":7.75048, "y":5.25825, "heading":0.00003, "vx":0.52435, "vy":1.34493, "omega":0.0005, "ax":4.92454, "ay":3.41771, "alpha":-0.00582, "fx":[82.17144,82.09645,82.13145,81.95946], "fy":[56.81569,56.9663,56.94508,57.15926]}, + {"t":0.28405, "x":7.77582, "y":5.31564, "heading":0.00005, "vx":0.72418, "vy":1.48362, "omega":0.00027, "ax":5.96739, "ay":0.5558, "alpha":0.00711, "fx":[99.46216,99.46374,99.48628,99.48192], "fy":[9.29094,9.26942,9.21248,9.28714]}, + {"t":0.32463, "x":7.81012, "y":5.37631, "heading":0.00006, "vx":0.96633, "vy":1.50617, "omega":0.00056, "ax":5.38503, "ay":-2.63233, "alpha":0.01653, "fx":[89.79659,89.70934,89.75353,89.80431], "fy":[-43.69625,-43.95858,-43.93603,-43.92813]}, + {"t":0.36521, "x":7.85376, "y":5.43526, "heading":0.00008, "vx":1.18485, "vy":1.39935, "omega":0.00123, "ax":4.12925, "ay":-4.34681, "alpha":-0.03044, "fx":[68.73928,69.01124,68.77299,68.80718], "fy":[-72.58074,-72.08231,-72.62498,-72.54915]}, + {"t":0.40579, "x":7.90524, "y":5.48846, "heading":0.00013, "vx":1.35241, "vy":1.22297, "omega":-0.00001, "ax":3.17927, "ay":-5.08439, "alpha":-0.0428, "fx":[53.16643,53.13247,53.21513,52.47334], "fy":[-84.6867,-84.71248,-84.68439,-84.93355]}, + {"t":0.44637, "x":7.96274, "y":5.5339, "heading":0.00013, "vx":1.48142, "vy":1.01665, "omega":-0.00174, "ax":2.54948, "ay":-5.4284, "alpha":0.02156, "fx":[42.51449,42.39937,42.53421,42.54627], "fy":[-90.43126,-90.6679,-90.43653,-90.41985]}, + {"t":0.48695, "x":8.02495, "y":5.57069, "heading":0.00006, "vx":1.58488, "vy":0.79637, "omega":-0.00087, "ax":2.12222, "ay":-5.60977, "alpha":0.00448, "fx":[35.20603,35.35961,35.36739,35.57247], "fy":[-93.7586,-93.44294,-93.4378,-93.40904]}, + {"t":0.52753, "x":8.09101, "y":5.59839, "heading":0.00003, "vx":1.67099, "vy":0.56873, "omega":-0.00069, "ax":1.81893, "ay":-5.71567, "alpha":0.01695, "fx":[30.36362,30.23386,30.34316,30.3422], "fy":[-95.21658,-95.47908,-95.19718,-95.21734]}, + {"t":0.5681, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.7448, "vy":0.33679, "omega":0.0, "ax":1.8041, "ay":-5.71622, "alpha":0.0, "fx":[29.97514,30.11432,30.07718,30.1271], "fy":[-95.33671,-95.15799,-95.35801,-95.29412]}, + {"t":0.60022, "x":8.21728, "y":5.62463, "heading":0.0, "vx":1.80274, "vy":0.15322, "omega":0.0, "ax":2.55937, "ay":-5.41761, "alpha":0.0, "fx":[42.84642,42.63873,42.82957,42.3393], "fy":[-90.08847,-90.39999,-90.37598,-90.37123]}, + {"t":0.63233, "x":8.27649, "y":5.62675, "heading":0.0, "vx":1.88493, "vy":-0.02076, "omega":0.0, "ax":3.53294, "ay":-1.30092, "alpha":0.0, "fx":[58.86552,58.85294,58.9272,58.92389], "fy":[-21.71656,-21.52279,-21.78226,-21.72112]}, + {"t":0.66445, "x":8.33885, "y":5.62542, "heading":0.0, "vx":1.99839, "vy":-0.06254, "omega":0.0, "ax":0.0107, "ay":0.37065, "alpha":0.0, "fx":[0.32114,0.321,0.55624,-0.48494], "fy":[6.37019,6.03603,6.03557,6.27226]}, + {"t":0.69656, "x":8.40303, "y":5.6236, "heading":0.0, "vx":1.99874, "vy":-0.05064, "omega":0.0, "ax":0.0078, "ay":0.34573, "alpha":0.0, "fx":[0.14347,0.14361,0.11644,0.11648], "fy":[5.7767,5.69345,5.80585,5.77676]}, + {"t":0.72868, "x":8.46722, "y":5.62215, "heading":0.0, "vx":1.99899, "vy":-0.03953, "omega":0.0, "ax":0.00319, "ay":0.17394, "alpha":0.0, "fx":[0.01961,0.01962,0.04625,0.12754], "fy":[2.77158,2.93321,2.93319,2.96027]}, + {"t":0.76079, "x":8.53142, "y":5.62097, "heading":0.0, "vx":1.99909, "vy":-0.03395, "omega":0.0, "ax":0.00133, "ay":0.08127, "alpha":0.0, "fx":[0.04707,0.04706,-0.00285,-0.00285], "fy":[1.3797,1.23348,1.42611,1.3797]}, + {"t":0.7929, "x":8.59562, "y":5.61992, "heading":0.0, "vx":1.99913, "vy":-0.03134, "omega":0.0, "ax":0.00074, "ay":0.04839, "alpha":0.0, "fx":[-0.0365,-0.03651,-0.03761,0.15995], "fy":[0.66114,0.8555,0.8555,0.85451]}, + {"t":0.82502, "x":8.65982, "y":5.61894, "heading":0.0, "vx":1.99916, "vy":-0.02978, "omega":0.0, "ax":0.00052, "ay":0.03538, "alpha":0.0, "fx":[0.0297,0.0297,-0.01247,-0.01247], "fy":[0.61093,0.48612,0.65141,0.61093]}, + {"t":0.85713, "x":8.72402, "y":5.618, "heading":0.0, "vx":1.99917, "vy":-0.02865, "omega":0.0, "ax":0.00036, "ay":0.02521, "alpha":0.0, "fx":[0.00667,0.00667,0.06031,-0.0499], "fy":[0.36871,0.41943,0.41943,0.47308]}, + {"t":0.88925, "x":8.78823, "y":5.6171, "heading":0.0, "vx":1.99918, "vy":-0.02784, "omega":0.0, "ax":0.00016, "ay":0.01144, "alpha":0.0, "fx":[0.00438,0.00438,0.00089,0.00089], "fy":[0.1924,0.18004,0.19777,0.1924]}, + {"t":0.92136, "x":8.85243, "y":5.61621, "heading":0.0, "vx":1.99919, "vy":-0.02747, "omega":0.0, "ax":-0.00014, "ay":-0.0099, "alpha":0.0, "fx":[0.02105,0.02105,0.03609,-0.08731], "fy":[-0.11,-0.18832,-0.18832,-0.17331]}, + {"t":0.95348, "x":8.91663, "y":5.61532, "heading":0.0, "vx":1.99918, "vy":-0.02779, "omega":0.0, "ax":-0.00068, "ay":-0.04787, "alpha":0.0, "fx":[-0.02611,-0.02611,0.00331,0.00331], "fy":[-0.81273,-0.72918,-0.83742,-0.81273]}, + {"t":0.98559, "x":8.98083, "y":5.6144, "heading":0.0, "vx":1.99916, "vy":-0.02933, "omega":0.0, "ax":-0.00176, "ay":-0.11327, "alpha":0.0, "fx":[0.00651,0.00651,0.03171,-0.16232], "fy":[-1.80555,-1.92414,-1.92414,-1.89911]}, + {"t":1.01771, "x":9.04503, "y":5.6134, "heading":0.0, "vx":1.99911, "vy":-0.03296, "omega":0.0, "ax":-0.00342, "ay":-0.18966, "alpha":0.0, "fx":[-0.06048,-0.06047,-0.05344,-0.05344], "fy":[-3.16508,-3.149,-3.16708,-3.16507]}, + {"t":1.04982, "x":9.10923, "y":5.61225, "heading":0.0, "vx":1.999, "vy":-0.03905, "omega":0.0, "ax":-0.00264, "ay":-0.12825, "alpha":0.0, "fx":[-0.01104,-0.01105,0.07505,-0.22882], "fy":[-2.12513,-2.17076,-2.17076,-2.08472]}, + {"t":1.08193, "x":9.17343, "y":5.61093, "heading":0.0, "vx":1.99891, "vy":-0.04317, "omega":0.0, "ax":0.0105, "ay":0.63755, "alpha":0.0, "fx":[0.14036,0.14035,0.20977,0.20977], "fy":[10.59295,10.79937,10.52535,10.59294]}, + {"t":1.11405, "x":9.23763, "y":5.60987, "heading":0.0, "vx":1.99925, "vy":-0.0227, "omega":0.0, "ax":-0.05808, "ay":3.48386, "alpha":0.0, "fx":[-0.68374,-0.68437,-0.98806,-1.51666], "fy":[59.22339,57.79023,57.79008,57.49352]}, + {"t":1.14616, "x":9.3018, "y":5.61094, "heading":0.0, "vx":1.99738, "vy":0.08918, "omega":0.0, "ax":-0.50729, "ay":5.73584, "alpha":0.0, "fx":[-8.74247,-8.72928,-8.17845,-8.17514], "fy":[95.33235,96.93167,94.85491,95.33607]}, + {"t":1.17828, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.98109, "vy":0.27339, "omega":0.0, "ax":5.89286, "ay":1.06234, "alpha":-9.80532, "fx":[119.48924,115.62791,76.95113,80.85658], "fy":[-10.08942,41.46542,50.81126,-11.3527]}, + {"t":1.20455, "x":9.41977, "y":5.62431, "heading":0.0, "vx":2.13593, "vy":0.3013, "omega":-0.25764, "ax":5.89763, "ay":1.06516, "alpha":-6.92163, "fx":[113.26096,110.40666,83.40222,86.1729], "fy":[-2.98686,35.23399,40.65525,-1.87939]}, + {"t":1.23083, "x":9.47793, "y":5.63259, "heading":-0.00677, "vx":2.29089, "vy":0.32929, "omega":-0.43951, "ax":5.89601, "ay":1.06754, "alpha":-4.28879, "fx":[107.60061,105.92108,88.93896,90.67406], "fy":[4.88987,28.42028,31.99061,5.88087]}, + {"t":1.2571, "x":9.54016, "y":5.64161, "heading":-0.01832, "vx":2.44581, "vy":0.35734, "omega":-0.5522, "ax":5.89363, "ay":1.07143, "alpha":-2.07939, "fx":[102.59084,101.8061,93.67992,94.89933], "fy":[10.95222,23.30847,24.75371,12.42676]}, + {"t":1.28338, "x":9.60646, "y":5.65137, "heading":-0.03283, "vx":2.60067, "vy":0.38549, "omega":-0.60684, "ax":5.89031, "ay":1.07587, "alpha":-0.12935, "fx":[98.40326,98.29015,97.96158,98.09937], "fy":[17.38769,18.0512,18.75191,17.54646]}, + {"t":1.30965, "x":9.67683, "y":5.66187, "heading":-0.04877, "vx":2.75544, "vy":0.41376, "omega":-0.61024, "ax":5.88458, "ay":1.0841, "alpha":1.30361, "fx":[95.14757,95.30985,100.74302,101.17176], "fy":[21.79787,14.93664,14.25675,21.29465]}, + {"t":1.33593, "x":9.75126, "y":5.67312, "heading":-0.06481, "vx":2.91006, "vy":0.44225, "omega":-0.57598, "ax":5.87185, "ay":1.10661, "alpha":2.3211, "fx":[92.85266,93.0537,102.95697,102.66012], "fy":[25.74083,12.76477,11.41492,23.8663]}, + {"t":1.36221, "x":9.82975, "y":5.68512, "heading":-0.07994, "vx":3.06435, "vy":0.47132, "omega":-0.51499, "ax":5.83476, "ay":1.1627, "alpha":2.87075, "fx":[90.81176,90.8066,102.62576,104.80634], "fy":[28.34463,12.84766,11.05079,25.28321]}, + {"t":1.38848, "x":9.91228, "y":5.69791, "heading":-0.09347, "vx":3.21766, "vy":0.50187, "omega":-0.43956, "ax":1.36849, "ay":1.5881, "alpha":2.63688, "fx":[16.76895,15.85862,28.92817,29.69243], "fy":[33.51877,21.0505,19.32396,31.99854]}, + {"t":1.41476, "x":9.9973, "y":5.71164, "heading":-0.10502, "vx":3.25362, "vy":0.5436, "omega":-0.37028, "ax":-0.14694, "ay":0.86279, "alpha":1.5063, "fx":[-5.58172,-6.28762,1.30464,0.76723], "fy":[18.68953,10.8938,10.18245,17.76357]}, + {"t":1.44103, "x":10.08274, "y":5.72622, "heading":-0.11475, "vx":3.24976, "vy":0.56627, "omega":-0.3307, "ax":-0.07752, "ay":0.44047, "alpha":0.78722, "fx":[-3.06253,-3.42568,0.47863,0.84054], "fy":[9.37692,5.68766,5.26728,9.03788]}, + {"t":1.46731, "x":10.1681, "y":5.74125, "heading":-0.12344, "vx":3.24772, "vy":0.57784, "omega":-0.31002, "ax":-0.01516, "ay":0.0844, "alpha":0.33015, "fx":[-0.97455,-1.08756,0.63104,0.42027], "fy":[2.26664,0.62285,0.51019,2.22767]}, + {"t":1.49358, "x":10.25343, "y":5.75647, "heading":-0.13159, "vx":3.24732, "vy":0.58006, "omega":-0.30134, "ax":0.05151, "ay":-0.28925, "alpha":0.08502, "fx":[0.63436,0.66833,1.08295,1.04906], "fy":[-4.62949,-5.19966,-4.89359,-4.56405]}, + {"t":1.51986, "x":10.33878, "y":5.77161, "heading":-0.1395, "vx":3.24868, "vy":0.57246, "omega":-0.29911, "ax":0.14027, "ay":-0.81237, "alpha":-0.19629, "fx":[2.60907,2.84249,2.02732,1.87394], "fy":[-14.43844,-13.12574,-12.89682,-13.70621]}, + {"t":1.54613, "x":10.42418, "y":5.78637, "heading":-0.14736, "vx":3.25236, "vy":0.55112, "omega":-0.30426, "ax":0.2627, "ay":-1.61369, "alpha":-0.44813, "fx":[5.28122,5.68482,3.47499,3.07508], "fy":[-28.14336,-26.60589,-25.18867,-27.66004]}, + {"t":1.57241, "x":10.50973, "y":5.80029, "heading":-0.15536, "vx":3.25926, "vy":0.50872, "omega":-0.31604, "ax":0.41184, "ay":-2.85224, "alpha":-1.21061, "fx":[8.96384,10.04915,4.44086,4.00659], "fy":[-51.98237,-44.92323,-43.91718,-49.35887]}, + {"t":1.59869, "x":10.59551, "y":5.81268, "heading":-0.16366, "vx":3.27009, "vy":0.43377, "omega":-0.34785, "ax":0.52196, "ay":-4.58895, "alpha":-2.16595, "fx":[13.28745,15.33159,4.01267,2.17136], "fy":[-82.12275,-74.16073,-69.52814,-80.17098]}, + {"t":1.62496, "x":10.68162, "y":5.82249, "heading":-0.1728, "vx":3.2838, "vy":0.31319, "omega":-0.40476, "ax":0.15874, "ay":-5.64429, "alpha":-3.83739, "fx":[10.13236,12.91213,-6.58847,-5.87179], "fy":[-107.10123,-86.78969,-82.37033,-100.08928]}, + {"t":1.65124, "x":10.76796, "y":5.82877, "heading":-0.18344, "vx":3.28797, "vy":0.16489, "omega":-0.50559, "ax":-5.52538, "ay":-2.18858, "alpha":-4.92297, "fx":[-81.7436,-80.14163,-103.10303,-103.43347], "fy":[-53.22363,-28.65065,-19.69908,-44.35691]}, + {"t":1.67751, "x":10.85244, "y":5.83235, "heading":-0.19672, "vx":3.14279, "vy":0.10738, "omega":-0.63494, "ax":-5.75714, "ay":-1.59382, "alpha":-5.73003, "fx":[-84.84898,-82.56526,-107.31284,-109.1481], "fy":[-47.2557,-16.05635,-7.1277,-35.83331]}, + {"t":1.70379, "x":10.93303, "y":5.83462, "heading":-0.21341, "vx":2.99152, "vy":0.0655, "omega":-0.7855, "ax":-5.81459, "ay":-1.40923, "alpha":-5.96262, "fx":[-85.91183,-83.18199,-108.56902,-110.04273], "fy":[-45.40392,-12.345,-2.75462,-33.46122]}, + {"t":1.73006, "x":11.00963, "y":5.83585, "heading":-0.23405, "vx":2.83873, "vy":0.02847, "omega":-0.94217, "ax":-5.84043, "ay":-1.31832, "alpha":-5.94374, "fx":[-86.86928,-83.31054,-108.31061,-110.93841], "fy":[-43.83276,-11.34517,-1.03395,-31.69136]}, + {"t":1.75634, "x":11.0822, "y":5.83615, "heading":-0.2588, "vx":2.68527, "vy":-0.00616, "omega":-1.09835, "ax":-5.85492, "ay":-1.26486, "alpha":-5.71862, "fx":[-88.01795,-84.135,-107.77687,-110.46494], "fy":[-42.75428,-10.64701,-0.78558,-30.1516]}, + {"t":1.78261, "x":11.15074, "y":5.83555, "heading":-0.28766, "vx":2.53143, "vy":-0.0394, "omega":-1.24861, "ax":-5.86437, "ay":-1.22869, "alpha":-5.17697, "fx":[-89.52679,-85.13491,-106.51109,-109.8524], "fy":[-39.88264,-12.09371,-1.5328,-28.41734]}, + {"t":1.80889, "x":11.21523, "y":5.83409, "heading":-0.32047, "vx":2.37734, "vy":-0.07168, "omega":-1.38464, "ax":-5.87082, "ay":-1.20358, "alpha":-4.56185, "fx":[-90.97057,-86.7484,-105.18273,-108.55337], "fy":[-37.73707,-12.48246,-3.44135,-26.59124]}, + {"t":1.83517, "x":11.27567, "y":5.83179, "heading":-0.35685, "vx":2.22308, "vy":-0.10331, "omega":-1.5045, "ax":-5.87557, "ay":-1.18477, "alpha":-3.57808, "fx":[-92.88383,-88.82507,-103.37658,-106.68614], "fy":[-33.12692,-14.86163,-6.15521,-24.85461]}, + {"t":1.86144, "x":11.33205, "y":5.82867, "heading":-0.39638, "vx":2.0687, "vy":-0.13444, "omega":-1.59852, "ax":-5.87926, "ay":-1.16994, "alpha":-2.5986, "fx":[-94.5196,-91.46648,-101.62435,-104.40701], "fy":[-29.74373,-15.47999,-9.93065,-22.85468]}, + {"t":1.88772, "x":11.38438, "y":5.82473, "heading":-0.43838, "vx":1.91422, "vy":-0.16518, "omega":-1.6668, "ax":-5.88215, "ay":-1.15817, "alpha":-1.20498, "fx":[-96.55451,-94.77805,-99.76421,-101.1139], "fy":[-23.47205,-17.82057,-14.59023,-21.34164]}, + {"t":1.91399, "x":11.43265, "y":5.81999, "heading":-0.48218, "vx":1.75966, "vy":-0.19561, "omega":-1.69846, "ax":-5.8845, "ay":-1.14856, "alpha":0.16447, "fx":[-98.20529,-98.53173,-97.93636,-97.69384], "fy":[-18.39999,-18.12354,-20.34876,-19.71127]}, + {"t":1.94027, "x":11.47685, "y":5.81445, "heading":-0.52681, "vx":1.60505, "vy":-0.22579, "omega":-1.69414, "ax":-5.88643, "ay":-1.14061, "alpha":1.92136, "fx":[-100.00509,-103.00124,-96.52395,-92.96569], "fy":[-10.62323,-19.76672,-26.80541,-18.85814]}, + {"t":1.96654, "x":11.51699, "y":5.80813, "heading":-0.57132, "vx":1.45038, "vy":-0.25576, "omega":-1.64365, "ax":-0.9632, "ay":-0.19637, "alpha":1.17287, "fx":[-16.61227,-20.04549,-15.50747,-12.05918], "fy":[0.77813,-3.70369,-7.33978,-2.82815]}, + {"t":1.97805, "x":11.53362, "y":5.80517, "heading":-0.59024, "vx":1.43929, "vy":-0.25802, "omega":-1.63015, "ax":-0.96834, "ay":-0.21594, "alpha":1.15623, "fx":[-16.54449,-20.0938,-15.73767,-12.19092], "fy":[0.42181,-3.99886,-7.59871,-3.22255]}, + {"t":1.98956, "x":11.55013, "y":5.80218, "heading":-0.60901, "vx":1.42814, "vy":-0.26051, "omega":-1.61684, "ax":-0.96537, "ay":-0.23124, "alpha":1.13955, "fx":[-16.51764,-19.95922,-15.67551,-12.21671], "fy":[0.10909,-4.16622,-7.83079,-3.53096]}, + {"t":2.00107, "x":11.5665, "y":5.79917, "heading":-0.62762, "vx":1.41703, "vy":-0.26317, "omega":-1.60373, "ax":-0.9626, "ay":-0.24448, "alpha":1.15959, "fx":[-16.35239,-20.0182,-15.75399,-12.06004], "fy":[-0.05149,-4.36414,-8.08403,-3.80194]}, + {"t":2.01258, "x":11.58275, "y":5.79613, "heading":-0.64608, "vx":1.40595, "vy":-0.26598, "omega":-1.59038, "ax":-0.96004, "ay":-0.25604, "alpha":1.16737, "fx":[-16.32532,-19.96013,-15.69099,-12.03691], "fy":[-0.19013,-4.48602,-8.35464,-4.04154]}, + {"t":2.0241, "x":11.59887, "y":5.79305, "heading":-0.66438, "vx":1.3949, "vy":-0.26893, "omega":-1.57694, "ax":-0.95766, "ay":-0.26622, "alpha":1.21829, "fx":[-16.17518,-20.13868,-15.75913,-11.78164], "fy":[-0.20236,-4.63276,-8.65602,-4.25966]}, + {"t":2.03561, "x":11.61486, "y":5.78993, "heading":-0.68253, "vx":1.38388, "vy":-0.27199, "omega":-1.56292, "ax":-0.95545, "ay":-0.27524, "alpha":1.25344, "fx":[-16.15452,-20.17462,-15.71093,-11.66753], "fy":[-0.20193,-4.71118,-8.98195,-4.45739]}, + {"t":2.04712, "x":11.63072, "y":5.78678, "heading":-0.70052, "vx":1.37288, "vy":-0.27516, "omega":-1.54849, "ax":-0.95341, "ay":-0.28329, "alpha":1.33661, "fx":[-16.01375,-20.47385,-15.78982,-11.29392], "fy":[-0.07992,-4.81798,-9.34589,-4.64571]}, + {"t":2.05863, "x":11.64646, "y":5.7836, "heading":-0.71835, "vx":1.36191, "vy":-0.27842, "omega":-1.53311, "ax":-0.95151, "ay":-0.29053, "alpha":1.39865, "fx":[-15.98467,-20.60489,-15.75269,-11.10269], "fy":[0.0497,-4.85717,-9.74138,-4.82284]}, + {"t":2.07014, "x":11.66208, "y":5.78037, "heading":-0.73599, "vx":1.35095, "vy":-0.28177, "omega":-1.51701, "ax":-0.94975, "ay":-0.29705, "alpha":1.51165, "fx":[-15.8354,-21.01283,-15.84784,-10.63145], "fy":[0.29366,-4.92332,-10.17903,-4.9983]}, + {"t":2.08165, "x":11.67756, "y":5.77711, "heading":-0.75346, "vx":1.34002, "vy":-0.28519, "omega":-1.49961, "ax":-0.94811, "ay":-0.30298, "alpha":1.60541, "fx":[-15.79559,-21.25738,-15.83324,-10.33207], "fy":[0.55399,-4.92579,-10.65706,-5.17295]}, + {"t":2.09316, "x":11.69293, "y":5.77381, "heading":-0.77072, "vx":1.32911, "vy":-0.28867, "omega":-1.48113, "ax":-0.94659, "ay":-0.30837, "alpha":1.7498, "fx":[-15.62939,-21.77025,-15.95652,-9.76031], "fy":[0.92574,-4.95058,-11.18276,-5.35397]}, + {"t":2.10467, "x":11.70816, "y":5.77047, "heading":-0.78776, "vx":1.31821, "vy":-0.29222, "omega":-1.46099, "ax":-0.94516, "ay":-0.31331, "alpha":1.87756, "fx":[-15.5672,-22.14277,-15.97005,-9.34141], "fy":[1.30872,-4.90818,-11.75263,-5.53855]}, + {"t":2.11618, "x":11.72327, "y":5.76708, "heading":-0.80458, "vx":1.30733, "vy":-0.29583, "omega":-1.43937, "ax":-0.94383, "ay":-0.31784, "alpha":2.05302, "fx":[-15.37128,-22.75174,-16.1263,-8.68322], "fy":[1.81132,-4.88961,-12.37682,-5.73772]}, + {"t":2.12769, "x":11.73826, "y":5.76366, "heading":-0.82115, "vx":1.29647, "vy":-0.29949, "omega":-1.41574, "ax":-0.94258, "ay":-0.32201, "alpha":2.22042, "fx":[-15.27924,-23.27589,-16.18143,-8.11272], "fy":[2.32196,-4.79885,-13.04954,-5.94476]}, + {"t":2.1392, "x":11.75312, "y":5.76019, "heading":-0.83745, "vx":1.28562, "vy":-0.30319, "omega":-1.39019, "ax":-0.94141, "ay":-0.32587, "alpha":2.42756, "fx":[-15.04716,-23.9773,-16.37895,-7.36772], "fy":[2.95153,-4.72663,-13.7815,-6.17192]}, + {"t":2.15071, "x":11.76785, "y":5.75668, "heading":-0.85345, "vx":1.27478, "vy":-0.30694, "omega":-1.36224, "ax":-0.9403, "ay":-0.32945, "alpha":2.64069, "fx":[-14.91122,-24.67559,-16.48661,-6.62427], "fy":[3.60602,-4.58328,-14.57267,-6.41709]}, + {"t":2.16222, "x":11.78247, "y":5.75312, "heading":-0.86913, "vx":1.26396, "vy":-0.31074, "omega":-1.33185, "ax":-0.93927, "ay":-0.33277, "alpha":2.88248, "fx":[-14.63719,-25.46553,-16.73134,-5.79446], "fy":[4.38494,-4.45605,-15.42936,-6.68831]}, + {"t":2.17373, "x":11.79695, "y":5.74952, "heading":-0.88446, "vx":1.25315, "vy":-0.31457, "omega":-1.29867, "ax":-0.93829, "ay":-0.33587, "alpha":3.14647, "fx":[-14.44249,-26.36488,-16.90556,-4.85043], "fy":[5.17995,-4.2477,-16.34844,-6.97914]}, + {"t":2.18524, "x":11.81131, "y":5.74588, "heading":-0.89941, "vx":1.24235, "vy":-0.31843, "omega":-1.26245, "ax":-0.93737, "ay":-0.33877, "alpha":3.42421, "fx":[-14.12208,-27.23982,-17.20139,-3.93849], "fy":[6.11274,-4.05646,-17.34151,-7.30312]}, + {"t":2.19675, "x":11.82555, "y":5.74219, "heading":-0.91394, "vx":1.23156, "vy":-0.32233, "omega":-1.22304, "ax":-0.93649, "ay":-0.34148, "alpha":3.74726, "fx":[-13.8527,-28.37088,-17.45854,-2.76145], "fy":[7.06784,-3.77593,-18.40676,-7.65411]}, + {"t":2.20826, "x":11.83967, "y":5.73846, "heading":-0.92801, "vx":1.22078, "vy":-0.32626, "omega":-1.1799, "ax":-0.93567, "ay":-0.34402, "alpha":4.06259, "fx":[-13.4805,-29.32552,-17.80431,-1.77809], "fy":[8.17002,-3.51559,-19.55175,-8.04118]}, + {"t":2.21977, "x":11.85366, "y":5.73468, "heading":-0.9416, "vx":1.21001, "vy":-0.33022, "omega":-1.13314, "ax":-0.93488, "ay":-0.34641, "alpha":4.45385, "fx":[-13.12274,-30.72505,-18.16519,-0.32317], "fy":[9.30121,-3.15733,-20.77942,-8.46219]}, + {"t":2.23128, "x":11.86752, "y":5.73086, "heading":-0.95464, "vx":1.19925, "vy":-0.33421, "omega":-1.08188, "ax":-0.93414, "ay":-0.34866, "alpha":4.81039, "fx":[-12.70055,-31.76023,-18.5619,0.73618], "fy":[10.59141,-2.81994,-22.09569,-8.92357]}, + {"t":2.24279, "x":11.88126, "y":5.72699, "heading":-0.96709, "vx":1.1885, "vy":-0.33822, "omega":-1.02651, "ax":-0.93343, "ay":-0.35078, "alpha":5.27841, "fx":[-12.2361,-33.46345,-19.04325,2.50345], "fy":[11.91586,-2.37774,-23.5043,-9.42305]}, + {"t":2.2543, "x":11.89488, "y":5.72307, "heading":-0.97891, "vx":1.17775, "vy":-0.34226, "omega":-0.96575, "ax":-0.93276, "ay":-0.35278, "alpha":5.67911, "fx":[-11.7655,-34.57928,-19.48561,3.63596], "fy":[13.41314,-1.95712,-25.01221,-9.96678]}, + {"t":2.26581, "x":11.90838, "y":5.71911, "heading":-0.99002, "vx":1.16702, "vy":-0.34632, "omega":-0.90038, "ax":-0.93212, "ay":-0.35468, "alpha":6.23438, "fx":[-11.18104,-36.62703,-20.10649,5.76289], "fy":[14.95465,-1.428,-26.62392,-10.55216]}, + {"t":2.27733, "x":11.92175, "y":5.7151, "heading":-1.00039, "vx":1.15629, "vy":-0.3504, "omega":-0.82862, "ax":-0.9315, "ay":-0.35648, "alpha":6.68271, "fx":[-10.66572,-37.82578,-20.58395,6.9646], "fy":[16.68494,-0.92189,-28.34771,-11.18472]}, + {"t":2.28884, "x":11.935, "y":5.71104, "heading":-1.00993, "vx":1.14557, "vy":-0.35451, "omega":-0.7517, "ax":-0.93092, "ay":-0.35819, "alpha":7.33628, "fx":[-9.95372,-40.26187,-21.36196,9.50563], "fy":[18.46749,-0.3045,-30.18698,-11.8591]}, + {"t":2.30035, "x":11.94812, "y":5.70694, "heading":-1.01858, "vx":1.13485, "vy":-0.35863, "omega":-0.66725, "ax":-0.93036, "ay":-0.35981, "alpha":7.83723, "fx":[-9.40575,-41.55414,-21.86303,10.78826], "fy":[20.45874,0.28445,-32.15289,-12.58158]}, + {"t":2.31186, "x":11.96112, "y":5.70278, "heading":-1.02626, "vx":1.12414, "vy":-0.36277, "omega":-0.57704, "ax":-0.92983, "ay":-0.36135, "alpha":8.59938, "fx":[-8.5625,-44.41911,-22.80616,13.7887], "fy":[22.51427,0.98063,-34.24703,-13.34195]}, + {"t":2.32337, "x":11.974, "y":5.69858, "heading":-1.0329, "vx":1.11344, "vy":-0.36693, "omega":-0.47806, "ax":-0.92932, "ay":-0.36282, "alpha":9.15838, "fx":[-7.99718,-45.82007,-23.31131,15.16362], "fy":[24.79884,1.64658,-36.48659,-14.15098]}, + {"t":2.33488, "x":11.98675, "y":5.69434, "heading":-1.0384, "vx":1.10274, "vy":-0.37111, "omega":-0.37264, "ax":-0.92883, "ay":-0.36422, "alpha":10.03945, "fx":[-7.03397,-49.15439,-24.41975,18.67583], "fy":[27.16137,2.40658,-38.86688,-14.9866]}, + {"t":2.34639, "x":11.99938, "y":5.69004, "heading":-1.04269, "vx":1.09205, "vy":-0.3753, "omega":-0.25709, "ax":-0.92835, "ay":-0.36556, "alpha":10.66309, "fx":[-6.47472,-50.68894,-24.90338,20.16613], "fy":[29.77672,3.13082,-41.41399,-15.86838]}, + {"t":2.3579, "x":12.01189, "y":5.6857, "heading":-1.04565, "vx":1.08136, "vy":-0.37951, "omega":-0.13435, "ax":-0.9279, "ay":-0.36684, "alpha":11.6718, "fx":[-5.42097,-54.526,-26.16073,24.23686], "fy":[32.48549,3.92532,-44.11467,-16.75618]}, + {"t":2.36941, "x":12.02428, "y":5.6813, "heading":-1.0472, "vx":1.07068, "vy":-0.38373, "omega":0.0, "ax":-0.93998, "ay":-0.337, "alpha":0.0, "fx":[-15.67026,-15.6644,-15.66762,-15.674], "fy":[-5.64517,-5.55452,-5.63323,-5.63757]}, + {"t":2.40453, "x":12.0613, "y":5.66762, "heading":-1.0472, "vx":1.03767, "vy":-0.39557, "omega":0.0, "ax":-0.9606, "ay":-0.27536, "alpha":0.0, "fx":[-16.07979,-15.99605,-16.04484,-15.93036], "fy":[-4.59157,-4.62995,-4.54472,-4.59456]}, + {"t":2.43965, "x":12.09715, "y":5.65356, "heading":-1.0472, "vx":1.00394, "vy":-0.40524, "omega":0.0, "ax":-0.97618, "ay":-0.21369, "alpha":0.0, "fx":[-16.27359,-16.26828,-16.27125,-16.27688], "fy":[-3.58643,-3.50649,-3.57602,-3.57981]}, + {"t":2.47477, "x":12.13181, "y":5.63919, "heading":-1.0472, "vx":0.96965, "vy":-0.41274, "omega":0.0, "ax":-0.98753, "ay":-0.15299, "alpha":0.0, "fx":[-16.53214,-16.45068,-16.49803,-16.36574], "fy":[-2.5673,-2.58389,-2.50079,-2.54923]}, + {"t":2.50989, "x":12.16525, "y":5.6246, "heading":-1.0472, "vx":0.93497, "vy":-0.41811, "omega":0.0, "ax":-0.9949, "ay":-0.09392, "alpha":0.0, "fx":[-16.58531,-16.58156,-16.58369,-16.58754], "fy":[-1.58215,-1.52734,-1.57508,-1.57767]}, + {"t":2.54501, "x":12.19747, "y":5.60986, "heading":-1.0472, "vx":0.90003, "vy":-0.42141, "omega":0.0, "ax":-0.99865, "ay":-0.03701, "alpha":0.0, "fx":[-16.71925,-16.64232,-16.68688,-16.53988], "fy":[-0.64967,-0.64319,-0.56473,-0.61024]}, + {"t":2.58013, "x":12.22847, "y":5.59504, "heading":-1.0472, "vx":0.86496, "vy":-0.42271, "omega":0.0, "ax":-0.99921, "ay":0.01732, "alpha":0.0, "fx":[-16.65668,-16.65479,-16.65588,-16.65778], "fy":[0.28064,0.30746,0.28405,0.2828]}, + {"t":2.61525, "x":12.25823, "y":5.5802, "heading":-1.0472, "vx":0.82987, "vy":-0.4221, "omega":0.0, "ax":-0.997, "ay":0.0688, "alpha":0.0, "fx":[-16.69189,-16.62127,-16.66198,-16.50307], "fy":[1.09872,1.12887,1.20075,1.15934]}, + {"t":2.65037, "x":12.28676, "y":5.56542, "heading":-1.0472, "vx":0.79485, "vy":-0.41969, "omega":0.0, "ax":-0.99249, "ay":0.11728, "alpha":0.0, "fx":[-16.54425,-16.54437,-16.5443,-16.5442], "fy":[1.95559,1.95349,1.95526,1.95538]}, + {"t":2.68549, "x":12.31406, "y":5.55076, "heading":-1.0472, "vx":0.76, "vy":-0.41557, "omega":0.0, "ax":-0.98608, "ay":0.16268, "alpha":0.0, "fx":[-16.5086,-16.44548,-16.48166,-16.31426], "fy":[2.64942,2.70209,2.76607,2.72954]}, + {"t":2.72061, "x":12.34014, "y":5.53626, "heading":-1.0472, "vx":0.72536, "vy":-0.40986, "omega":0.0, "ax":-0.97817, "ay":0.20503, "alpha":0.0, "fx":[-16.30519,-16.30728,-16.30603,-16.30407], "fy":[3.42674,3.3972,3.42292,3.42433]}, + {"t":2.75573, "x":12.36502, "y":5.52199, "heading":-1.0472, "vx":0.69101, "vy":-0.40266, "omega":0.0, "ax":-0.9691, "ay":0.24442, "alpha":0.0, "fx":[-16.22243,-16.16796,-16.19898,-16.0283], "fy":[4.00057,4.07266,4.12754,4.09655]}, + {"t":2.79085, "x":12.38869, "y":5.508, "heading":-1.0472, "vx":0.65698, "vy":-0.39407, "omega":0.0, "ax":-0.95916, "ay":0.28096, "alpha":0.0, "fx":[-15.98793,-15.99177,-15.98946,-15.98593], "fy":[4.69941,4.64655,4.69264,4.69514]}, + {"t":2.82597, "x":12.41117, "y":5.49434, "heading":-1.0472, "vx":0.62329, "vy":-0.3842, "omega":0.0, "ax":-0.94861, "ay":0.3148, "alpha":0.0, "fx":[-15.87691,-15.83083,-15.85685,-15.68695], "fy":[5.16579,5.25276,5.29882,5.27317]}, + {"t":2.86109, "x":12.43247, "y":5.48104, "heading":-1.0472, "vx":0.58998, "vy":-0.37315, "omega":0.0, "ax":-0.93765, "ay":0.34612, "alpha":0.0, "fx":[-15.62908,-15.63438,-15.63117,-15.62637], "fy":[5.79142,5.71954,5.78228,5.78565]}, + {"t":2.8962, "x":12.45261, "y":5.46815, "heading":-1.0472, "vx":0.55705, "vy":-0.36099, "omega":0.0, "ax":-0.92646, "ay":0.37509, "alpha":0.0, "fx":[-15.50333,-15.46517,-15.48651,-15.31985], "fy":[6.16506,6.26349,6.30128,6.2806]}, + {"t":2.93132, "x":12.47161, "y":5.4557, "heading":-1.0472, "vx":0.52451, "vy":-0.34782, "omega":0.0, "ax":-0.91518, "ay":0.40188, "alpha":0.0, "fx":[-15.25415,-15.26065,-15.25668,-15.25086], "fy":[6.72548,6.63832,6.71445,6.71853]}, + {"t":2.96644, "x":12.48946, "y":5.44373, "heading":-1.0472, "vx":0.49237, "vy":-0.33371, "omega":0.0, "ax":-0.90391, "ay":0.42667, "alpha":0.0, "fx":[-15.12235,-15.09163,-15.1086,-14.94816], "fy":[7.02185,7.12783,7.15788,7.1418]}, + {"t":3.00156, "x":12.5062, "y":5.43228, "heading":-1.0472, "vx":0.46062, "vy":-0.31872, "omega":0.0, "ax":-0.89273, "ay":0.44961, "alpha":0.0, "fx":[-14.87981,-14.88715,-14.88265,-14.87615], "fy":[7.52411,7.42666,7.51183,7.51638]}, + {"t":3.03668, "x":12.52182, "y":5.42136, "heading":-1.0472, "vx":0.42927, "vy":-0.30293, "omega":0.0, "ax":-0.88173, "ay":0.47086, "alpha":0.0, "fx":[-14.74777,-14.72345,-14.73669,-14.58389], "fy":[7.7577,7.86785,7.89127,7.8791]}, + {"t":3.0718, "x":12.53635, "y":5.41101, "heading":-1.0472, "vx":0.39831, "vy":-0.28639, "omega":0.0, "ax":-0.87093, "ay":0.49056, "alpha":0.0, "fx":[-14.51626,-14.52424,-14.51933,-14.51231], "fy":[8.20911,8.10388,8.19589,8.20079]}, + {"t":3.10692, "x":12.54981, "y":5.40126, "heading":-1.0472, "vx":0.36772, "vy":-0.26917, "omega":0.0, "ax":-0.86039, "ay":0.50885, "alpha":0.0, "fx":[-14.38714,-14.36904,-14.37867,-14.23434], "fy":[8.39104,8.50414,8.52118,8.51273]}, + {"t":3.14204, "x":12.56219, "y":5.39212, "heading":-1.0472, "vx":0.3375, "vy":-0.2513, "omega":0.0, "ax":-0.85012, "ay":0.52584, "alpha":0.0, "fx":[-14.1693,-14.17767,-14.1725,-14.1652], "fy":[8.79857,8.68893,8.78483,8.78992]}, + {"t":3.17716, "x":12.57352, "y":5.38362, "heading":-1.0472, "vx":0.30765, "vy":-0.23283, "omega":0.0, "ax":-0.84015, "ay":0.54166, "alpha":0.0, "fx":[-14.04538,-14.03207,-14.03893,-13.90334], "fy":[8.93965,9.05275,9.0649,9.05928]}, + {"t":3.21228, "x":12.5838, "y":5.37577, "heading":-1.0472, "vx":0.27814, "vy":-0.21381, "omega":0.0, "ax":-0.83048, "ay":0.55639, "alpha":0.0, "fx":[-13.84182,-13.85045,-13.84511,-13.83762], "fy":[9.30857,9.19603,9.2945,9.29972]}, + {"t":3.2474, "x":12.59306, "y":5.36861, "heading":-1.0472, "vx":0.24897, "vy":-0.19427, "omega":0.0, "ax":-0.82112, "ay":0.57013, "alpha":0.0, "fx":[-13.72369,-13.71507,-13.71925,-13.59283], "fy":[9.41647,9.52892,9.53631,9.53341]}, + {"t":3.28252, "x":12.6013, "y":5.36214, "heading":-1.0472, "vx":0.22014, "vy":-0.17424, "omega":0.0, "ax":-0.81207, "ay":0.58297, "alpha":0.0, "fx":[-13.53488,-13.54362,-13.5382,-13.53064], "fy":[9.75193,9.63836,9.73775,9.74302]}, + {"t":3.31764, "x":12.60853, "y":5.35638, "heading":-1.0472, "vx":0.19162, "vy":-0.15377, "omega":0.0, "ax":-0.80333, "ay":0.59497, "alpha":0.0, "fx":[-13.42314,-13.41826,-13.4203,-13.3026], "fy":[9.83343,9.94391,9.94755,9.94679]}, + {"t":3.35276, "x":12.61476, "y":5.35134, "heading":-1.0472, "vx":0.1634, "vy":-0.13287, "omega":0.0, "ax":-0.79489, "ay":0.60622, "alpha":0.0, "fx":[-13.24839,-13.25718,-13.25172,-13.24414], "fy":[10.13967,10.02572,10.12546,10.13074]}, + {"t":3.38788, "x":12.62001, "y":5.34705, "heading":-1.0472, "vx":0.13549, "vy":-0.11158, "omega":0.0, "ax":-0.78674, "ay":0.61677, "alpha":0.0, "fx":[-13.14299,-13.14147,-13.1416,-13.03224], "fy":[10.19965,10.30787,10.30813,10.30927]}, + {"t":3.423, "x":12.62428, "y":5.34351, "heading":-1.0472, "vx":0.10786, "vy":-0.08992, "omega":0.0, "ax":-0.77888, "ay":0.62667, "alpha":0.0, "fx":[-12.98164,-12.99038,-12.98494,-12.97744], "fy":[10.48031,10.36742,10.46625,10.47147]}, + {"t":3.45812, "x":12.62759, "y":5.34074, "heading":-1.0472, "vx":0.0805, "vy":-0.06791, "omega":0.0, "ax":-0.77131, "ay":0.63599, "alpha":0.0, "fx":[-12.88219,-12.8838,-12.88216,-12.78099], "fy":[10.52312,10.62876,10.62591,10.62879]}, + {"t":3.49324, "x":12.62994, "y":5.33875, "heading":-1.0472, "vx":0.05342, "vy":-0.04558, "omega":0.0, "ax":-0.764, "ay":0.64476, "alpha":0.0, "fx":[-12.73354,-12.74221,-12.73681,-12.72938], "fy":[10.78146,10.66965,10.76756,10.77273]}, + {"t":3.52836, "x":12.63135, "y":5.33754, "heading":-1.0472, "vx":0.02658, "vy":-0.02293, "omega":0.0, "ax":-0.75695, "ay":0.65303, "alpha":0.0, "fx":[-12.63389,-12.57397,-12.64633,-12.61793], "fy":[10.90429,10.89129,10.86652,10.88063]}, + {"t":3.56348, "x":12.63181, "y":5.33714, "heading":-1.0472, "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/bargeToOppG.traj b/src/main/deploy/choreo/bargeToOppG.traj index b2051e54..ee625079 100644 --- a/src/main/deploy/choreo/bargeToOppG.traj +++ b/src/main/deploy/choreo/bargeToOppG.traj @@ -3,10 +3,10 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.58463382720947, "y":5.08871412277, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":10.99120807647705, "y":4.491031169891357, "heading":-0.5538539145382533, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":10.99120807647705, "y":4.491031169891357, "heading":-0.5538539145382533, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,15 +17,16 @@ {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"barge.x", "val":7.58463382720947}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"10.99120807647705 m", "val":10.99120807647705}, "y":{"exp":"4.491031169891357 m", "val":4.491031169891357}, "heading":{"exp":"-0.5538539145382533 rad", "val":-0.5538539145382533}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"10.99120807647705 m", "val":10.99120807647705}, "y":{"exp":"4.491031169891357 m", "val":4.491031169891357}, "heading":{"exp":"-0.5538539145382533 rad", "val":-0.5538539145382533}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -36,7 +37,8 @@ {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -44,80 +46,100 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.57679,1.18053,1.86282,2.36072], + "waypoints":[0.0,0.56807,1.17841,1.97478,3.18209], "samples":[ - {"t":0.0, "x":7.58463, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.27599, "ay":5.54801, "alpha":-0.01311, "fx":[38.00998,37.76122,37.98915,37.99806], "fy":[92.36132,92.82022,92.38071,92.36821]}, - {"t":0.03845, "x":7.58632, "y":5.09282, "heading":0.0, "vx":0.08752, "vy":0.21333, "omega":-0.0005, "ax":2.44567, "ay":5.4769, "alpha":-0.01381, "fx":[40.86113,40.54749,40.83115,40.83287], "fy":[91.16184,91.67919,91.1777,91.17054]}, - {"t":0.0769, "x":7.59149, "y":5.10507, "heading":-0.00002, "vx":0.18156, "vy":0.42393, "omega":-0.00104, "ax":2.65962, "ay":5.37596, "alpha":0.03425, "fx":[44.11454,44.5608,44.48621,44.17705], "fy":[90.04566,89.434,89.45581,89.52354]}, - {"t":0.11536, "x":7.60044, "y":5.12534, "heading":-0.00006, "vx":0.28383, "vy":0.63065, "omega":0.00028, "ax":2.93735, "ay":5.229, "alpha":-0.01655, "fx":[48.97809,49.05316,48.90708,48.91854], "fy":[87.1269,87.20786,87.1803,87.14455]}, - {"t":0.15381, "x":7.61352, "y":5.15346, "heading":-0.00005, "vx":0.39678, "vy":0.83172, "omega":-0.00035, "ax":3.30804, "ay":5.00218, "alpha":0.0213, "fx":[55.08676,55.30349,55.20343,54.97988], "fy":[83.60688,83.21244,83.24432,83.47178]}, - {"t":0.19226, "x":7.63123, "y":5.18914, "heading":-0.00006, "vx":0.52398, "vy":1.02406, "omega":0.00046, "ax":3.81544, "ay":4.62596, "alpha":-0.02733, "fx":[63.67301,63.57108,63.56783,63.59414], "fy":[76.98566,77.35741,77.09279,77.01428]}, - {"t":0.23071, "x":7.65419, "y":5.23194, "heading":-0.00004, "vx":0.67069, "vy":1.20194, "omega":-0.00059, "ax":4.51173, "ay":3.94846, "alpha":0.03968, "fx":[74.93243,75.1769,75.06085,75.66335], "fy":[66.25529,65.75652,65.80223,65.46156]}, - {"t":0.26917, "x":7.68332, "y":5.28107, "heading":-0.00007, "vx":0.84418, "vy":1.35377, "omega":0.00094, "ax":5.37688, "ay":2.64963, "alpha":-0.04455, "fx":[89.73674,89.49317,89.62939,89.66042], "fy":[43.92281,44.70945,44.09073,43.94954]}, - {"t":0.30762, "x":7.71975, "y":5.33509, "heading":-0.00003, "vx":1.05093, "vy":1.45566, "omega":-0.00077, "ax":5.9839, "ay":0.33323, "alpha":0.02212, "fx":[99.60323,99.61763,99.52427,100.24979], "fy":[5.71453,5.58228,5.58846,5.33393]}, - {"t":0.34607, "x":7.76459, "y":5.39131, "heading":-0.00006, "vx":1.28102, "vy":1.46847, "omega":0.00008, "ax":5.46804, "ay":-2.45355, "alpha":-0.00964, "fx":[91.19037,91.17729,91.13175,91.0992], "fy":[-40.89823,-41.02229,-40.75118,-40.92624]}, - {"t":0.38452, "x":7.81789, "y":5.44596, "heading":-0.00006, "vx":1.49128, "vy":1.37412, "omega":-0.00029, "ax":4.16073, "ay":-4.31531, "alpha":0.02966, "fx":[69.03335,69.25741,69.11029,70.02867], "fy":[-72.30357,-71.8438,-71.88924,-71.69988]}, - {"t":0.42298, "x":7.87831, "y":5.49561, "heading":-0.00007, "vx":1.65127, "vy":1.20819, "omega":0.00085, "ax":2.99727, "ay":-5.19271, "alpha":-0.02254, "fx":[50.00534,50.06149,49.90435,49.88104], "fy":[-86.58561,-86.52395,-86.51715,-86.61311]}, - {"t":0.46143, "x":7.94402, "y":5.53823, "heading":-0.00004, "vx":1.76653, "vy":1.00852, "omega":-0.00002, "ax":2.17693, "ay":-5.58743, "alpha":0.00671, "fx":[36.21272,36.22969,36.08649,36.62431], "fy":[-93.19328,-93.09531,-93.11538,-93.155]}, - {"t":0.49988, "x":8.01356, "y":5.57288, "heading":-0.00004, "vx":1.85023, "vy":0.79367, "omega":0.00024, "ax":1.61099, "ay":-5.77672, "alpha":0.01242, "fx":[26.97837,26.7383,26.85752,26.84328], "fy":[-96.22335,-96.5706,-96.14861,-96.23807]}, - {"t":0.53833, "x":8.08589, "y":5.59912, "heading":-0.00003, "vx":1.91218, "vy":0.57154, "omega":0.00072, "ax":1.20896, "ay":-5.87448, "alpha":-0.01863, "fx":[20.02147,20.19774,20.06514,20.32667], "fy":[-98.23545,-97.78652,-97.79533,-97.88189]}, - {"t":0.57679, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.95867, "vy":0.34565, "omega":0.0, "ax":0.98759, "ay":-5.91084, "alpha":0.0, "fx":[16.56846,16.51881,16.38441,16.37867], "fy":[-98.43978,-98.85337,-98.37039,-98.45979]}, - {"t":0.60856, "x":8.22305, "y":5.62476, "heading":0.0, "vx":1.99005, "vy":0.15783, "omega":0.0, "ax":0.28305, "ay":-5.98228, "alpha":0.0, "fx":[4.65165,4.75942,5.42704,4.0349], "fy":[-100.17473,-99.72693,-99.69102,-99.29408]}, - {"t":0.64034, "x":8.28643, "y":5.62675, "heading":0.0, "vx":1.99904, "vy":-0.03226, "omega":0.0, "ax":-0.01082, "ay":-0.60659, "alpha":0.0, "fx":[-0.38469,-0.38869,0.02659,0.02539], "fy":[-10.31739,-9.13797,-10.67233,-10.31827]}, - {"t":0.67211, "x":8.34995, "y":5.62542, "heading":0.0, "vx":1.9987, "vy":-0.05154, "omega":0.0, "ax":0.01028, "ay":0.46579, "alpha":0.0, "fx":[0.23666,0.23594,0.53596,-0.32308], "fy":[7.65933,7.69984,7.69915,7.99938]}, - {"t":0.70389, "x":8.41346, "y":5.62402, "heading":0.0, "vx":1.99903, "vy":-0.03674, "omega":0.0, "ax":0.00522, "ay":0.33161, "alpha":0.0, "fx":[0.21128,0.21133,-0.03734,-0.03733], "fy":[5.65207,4.90192,5.90496,5.6521]}, - {"t":0.73566, "x":8.47699, "y":5.62302, "heading":0.0, "vx":1.99919, "vy":-0.0262, "omega":0.0, "ax":0.00268, "ay":0.23983, "alpha":0.0, "fx":[0.02266,0.02286,0.30496,-0.17145], "fy":[3.64992,4.01992,4.01991,4.30192]}, - {"t":0.76744, "x":8.54051, "y":5.62231, "heading":0.0, "vx":1.99928, "vy":-0.01858, "omega":0.0, "ax":0.00149, "ay":0.19113, "alpha":0.0, "fx":[0.05428,0.05426,-0.00475,-0.00476], "fy":[3.21553,3.06615,3.24686,3.21554]}, - {"t":0.79922, "x":8.60404, "y":5.62181, "heading":0.0, "vx":1.99932, "vy":-0.0125, "omega":0.0, "ax":0.00082, "ay":0.16579, "alpha":0.0, "fx":[0.05978,0.05985,0.09834,-0.16341], "fy":[2.86366,2.71746,2.71746,2.75596]}, - {"t":0.83099, "x":8.66757, "y":5.6215, "heading":0.0, "vx":1.99935, "vy":-0.00724, "omega":0.0, "ax":0.00037, "ay":0.15298, "alpha":0.0, "fx":[-0.01855,-0.01855,0.03081,0.03081], "fy":[2.5255,2.69458,2.45515,2.52551]}, - {"t":0.86277, "x":8.73111, "y":5.62135, "heading":0.0, "vx":1.99936, "vy":-0.00237, "omega":0.0, "ax":0.0, "ay":0.14894, "alpha":0.0, "fx":[0.05027,0.05028,0.01935,-0.11987], "fy":[2.66449,2.4325,2.4325,2.40158]}, - {"t":0.89454, "x":8.79464, "y":5.62135, "heading":0.0, "vx":1.99936, "vy":0.00236, "omega":0.0, "ax":-0.00037, "ay":0.15297, "alpha":0.0, "fx":[-0.02957,-0.02956,0.01736,0.01735], "fy":[2.52642,2.6867,2.45998,2.52642]}, - {"t":0.92632, "x":8.85817, "y":5.6215, "heading":0.0, "vx":1.99935, "vy":0.00722, "omega":0.0, "ax":-0.00082, "ay":0.16572, "alpha":0.0, "fx":[0.00579,0.0058,-0.0036,-0.06243], "fy":[2.82994,2.74304,2.74304,2.73375]}, - {"t":0.9581, "x":8.9217, "y":5.62181, "heading":0.0, "vx":1.99932, "vy":0.01248, "omega":0.0, "ax":-0.00148, "ay":0.19093, "alpha":0.0, "fx":[0.00397,0.004,-0.05338,-0.05337], "fy":[3.21132,3.06326,3.24468,3.21133]}, - {"t":0.98987, "x":8.98523, "y":5.6223, "heading":0.0, "vx":1.99928, "vy":0.01855, "omega":0.0, "ax":-0.00268, "ay":0.23974, "alpha":0.0, "fx":[-0.12248,-0.1225,0.0261,0.04014], "fy":[3.61383,4.07415,4.07413,4.22323]}, - {"t":1.02165, "x":9.04876, "y":5.62302, "heading":0.0, "vx":1.99919, "vy":0.02617, "omega":0.0, "ax":-0.0052, "ay":0.33098, "alpha":0.0, "fx":[0.02935,0.02944,-0.20283,-0.2028], "fy":[5.63338,4.92928,5.87308,5.6334]}, - {"t":1.05342, "x":9.11228, "y":5.62401, "heading":0.0, "vx":1.99903, "vy":0.03669, "omega":0.0, "ax":-0.01025, "ay":0.46516, "alpha":0.0, "fx":[-0.21691,-0.21681,-0.15011,-0.09979], "fy":[7.54957,7.79986,7.79987,7.86634]}, - {"t":1.0852, "x":9.1758, "y":5.62541, "heading":0.0, "vx":1.9987, "vy":0.05147, "omega":0.0, "ax":0.01151, "ay":-0.59377, "alpha":0.0, "fx":[0.0149,0.01363,0.36964,0.36945], "fy":[-10.0754,-9.07034,-10.37023,-10.07573]}, - {"t":1.11698, "x":9.23931, "y":5.62675, "heading":0.0, "vx":1.99907, "vy":0.0326, "omega":0.0, "ax":-0.20288, "ay":-5.98175, "alpha":0.0, "fx":[-3.53497,-3.57891,-3.21946,-3.19413], "fy":[-100.35487,-99.53281,-99.54277,-99.42099]}, - {"t":1.14875, "x":9.30273, "y":5.62477, "heading":0.0, "vx":1.99262, "vy":-0.15748, "omega":0.0, "ax":-0.7256, "ay":-5.95109, "alpha":0.0, "fx":[-12.07352,-12.03788,-12.1383,-12.13159], "fy":[-99.16375,-99.34675,-99.13614,-99.16065]}, - {"t":1.18053, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.96956, "vy":-0.34658, "omega":0.0, "ax":2.30618, "ay":-5.53174, "alpha":-0.02215, "fx":[38.56545,38.53628,38.35924,38.31093], "fy":[-92.18562,-92.34537,-92.07751,-92.23724]}, - {"t":1.21019, "x":9.42513, "y":5.60404, "heading":0.0, "vx":2.03798, "vy":-0.51068, "omega":-0.00066, "ax":2.26782, "ay":-5.55087, "alpha":0.01654, "fx":[37.63722,37.70846,37.44663,38.42174], "fy":[-92.70392,-92.45664,-92.50369,-92.45681]}, - {"t":1.23986, "x":9.48658, "y":5.58645, "heading":-0.00002, "vx":2.10525, "vy":-0.67534, "omega":-0.00017, "ax":2.21851, "ay":-5.5703, "alpha":-0.03167, "fx":[37.07773,37.11098,36.89156,36.8456], "fy":[-92.87271,-92.85122,-92.77449,-92.91853]}, - {"t":1.26952, "x":9.55001, "y":5.56397, "heading":-0.00002, "vx":2.17106, "vy":-0.84059, "omega":-0.00111, "ax":2.15733, "ay":-5.59371, "alpha":0.00251, "fx":[35.98318,35.7949,35.51797,36.55048], "fy":[-93.43108,-93.16066,-93.20743,-93.17849]}, - {"t":1.29919, "x":9.61536, "y":5.53657, "heading":-0.00006, "vx":2.23506, "vy":-1.00652, "omega":-0.00103, "ax":2.07667, "ay":-5.62341, "alpha":0.06111, "fx":[34.90786,34.26739,34.67324,34.62015], "fy":[-93.44432,-94.68248,-93.333,-93.49868]}, - {"t":1.32885, "x":9.68258, "y":5.50424, "heading":-0.00009, "vx":2.29666, "vy":-1.17334, "omega":0.00078, "ax":1.96933, "ay":-5.66092, "alpha":0.00389, "fx":[32.54095,32.75849,32.45155,33.56016], "fy":[-94.81586,-94.18139,-94.23003,-94.23211]}, - {"t":1.35852, "x":9.75158, "y":5.46694, "heading":-0.00006, "vx":2.35508, "vy":-1.34127, "omega":0.0009, "ax":1.81573, "ay":-5.71068, "alpha":0.00902, "fx":[30.39403,30.22744,30.24344,30.20473], "fy":[-95.09165,-95.56237,-95.00062,-95.12235]}, - {"t":1.38818, "x":9.82224, "y":5.42464, "heading":-0.00004, "vx":2.40895, "vy":-1.51068, "omega":0.00116, "ax":1.58362, "ay":-5.77732, "alpha":0.01531, "fx":[26.04539,26.23787,26.07697,27.23224], "fy":[-96.85643,-96.11336,-96.13309,-96.11771]}, - {"t":1.41785, "x":9.8944, "y":5.37728, "heading":0.0, "vx":2.45593, "vy":-1.68206, "omega":0.00162, "ax":1.18678, "ay":-5.86837, "alpha":0.0398, "fx":[19.87057,19.71239,19.78168,19.76771], "fy":[-97.61505,-98.47932,-97.57096,-97.62634]}, - {"t":1.44751, "x":9.96777, "y":5.3248, "heading":0.00004, "vx":2.49113, "vy":-1.85615, "omega":0.0028, "ax":0.39329, "ay":-5.96789, "alpha":-0.04323, "fx":[6.41291,6.48719,6.46508,6.8584], "fy":[-100.44348,-99.16481,-99.16622,-99.15318]}, - {"t":1.47718, "x":10.04185, "y":5.26711, "heading":0.00013, "vx":2.5028, "vy":-2.03318, "omega":0.00152, "ax":-1.65837, "ay":-5.73055, "alpha":0.04108, "fx":[-27.6012,-27.59851,-27.69539,-27.68194], "fy":[-95.28687,-96.31047,-95.22957,-95.27543]}, - {"t":1.50684, "x":10.11536, "y":5.20428, "heading":0.00017, "vx":2.4536, "vy":-2.20318, "omega":0.00274, "ax":-4.05459, "ay":-4.33941, "alpha":-0.09543, "fx":[-67.46217,-67.50574,-67.66841,-67.71588], "fy":[-72.91632,-71.9937,-71.95655,-72.47677]}, - {"t":1.53651, "x":10.18636, "y":5.13701, "heading":0.00025, "vx":2.33332, "vy":-2.33191, "omega":-0.0001, "ax":-4.258, "ay":-4.04324, "alpha":0.18319, "fx":[-71.01706,-70.78966,-71.05865,-71.0502], "fy":[-66.43502,-70.34586,-66.387,-66.42784]}, - {"t":1.56617, "x":10.25371, "y":5.06605, "heading":0.00025, "vx":2.20701, "vy":-2.45185, "omega":0.00534, "ax":-2.36084, "ay":-2.06622, "alpha":-0.3355, "fx":[-38.46953,-38.47805,-38.04738,-42.42133], "fy":[-37.14542,-33.68776,-33.68935,-33.24893]}, - {"t":1.59584, "x":10.31814, "y":4.99241, "heading":0.00041, "vx":2.13698, "vy":-2.51314, "omega":-0.00461, "ax":4.3217, "ay":3.87525, "alpha":-0.11949, "fx":[71.88076,71.82081,72.23682,72.2242], "fy":[63.83335,67.2743,63.46572,63.82092]}, - {"t":1.6255, "x":10.38343, "y":4.91956, "heading":0.00027, "vx":2.26518, "vy":-2.39819, "omega":-0.00816, "ax":4.19528, "ay":4.18154, "alpha":0.2215, "fx":[69.39853,69.4186,69.64951,71.26672], "fy":[71.11627,69.16707,69.13282,69.40066]}, - {"t":1.65517, "x":10.45248, "y":4.85026, "heading":0.00003, "vx":2.38963, "vy":-2.27414, "omega":-0.00159, "ax":3.98581, "ay":4.42455, "alpha":-0.03777, "fx":[66.38684,66.25405,66.58293,66.54215], "fy":[73.46824,74.85609,73.26402,73.43182]}, - {"t":1.68483, "x":10.52512, "y":4.78475, "heading":-0.00002, "vx":2.50787, "vy":-2.14289, "omega":-0.00271, "ax":3.63458, "ay":4.73563, "alpha":0.08111, "fx":[60.48496,60.9269,61.01878,59.91605], "fy":[79.76989,78.43706,78.41573,79.14014]}, - {"t":1.7145, "x":10.60111, "y":4.72326, "heading":-0.0001, "vx":2.61569, "vy":-2.0024, "omega":-0.0003, "ax":1.47873, "ay":5.7938, "alpha":-0.05474, "fx":[24.72958,24.49259,24.68792,24.68862], "fy":[96.27355,97.47692,96.29326,96.27563]}, - {"t":1.74416, "x":10.67936, "y":4.66641, "heading":-0.00011, "vx":2.65956, "vy":-1.83053, "omega":-0.00193, "ax":0.01996, "ay":5.98598, "alpha":0.17779, "fx":[-0.48492,-0.48199,-0.77197,3.06948], "fy":[100.21266,99.73264,99.73469,99.45349]}, - {"t":1.77383, "x":10.75826, "y":4.61474, "heading":-0.00016, "vx":2.66015, "vy":-1.65296, "omega":0.00335, "ax":-0.73269, "ay":5.94466, "alpha":-0.04941, "fx":[-12.19132,-12.10938,-12.27541,-12.27827], "fy":[98.91905,99.59762,98.94639,98.9153]}, - {"t":1.80349, "x":10.83685, "y":4.56832, "heading":-0.00006, "vx":2.63841, "vy":-1.47661, "omega":0.00188, "ax":-1.1692, "ay":5.87666, "alpha":-0.05419, "fx":[-19.07368,-19.14074,-19.13122,-20.61437], "fy":[98.36634,97.84364,97.84079,97.79352]}, - {"t":1.83316, "x":10.91461, "y":4.5271, "heading":-0.00001, "vx":2.60373, "vy":-1.30228, "omega":0.00027, "ax":-1.4513, "ay":5.81492, "alpha":-0.00926, "fx":[-24.24242,-24.15011,-24.18836,-24.18897], "fy":[96.88313,97.1312,96.83031,96.88286]}, - {"t":1.86282, "x":10.99121, "y":4.49103, "heading":0.0, "vx":2.56068, "vy":-1.12978, "omega":0.0, "ax":-2.14797, "ay":5.59134, "alpha":0.0, "fx":[-35.94687,-35.78186,-35.78045,-35.71329], "fy":[93.12281,93.53791,92.98956,93.16966]}, - {"t":1.89839, "x":11.08092, "y":4.45439, "heading":0.0, "vx":2.48429, "vy":-0.93093, "omega":0.0, "ax":-3.23536, "ay":5.04705, "alpha":0.0, "fx":[-53.6154,-53.89828,-53.38787,-54.8258], "fy":[84.58494,83.90906,84.00487,84.02897]}, - {"t":1.93395, "x":11.16722, "y":4.42447, "heading":0.0, "vx":2.36922, "vy":-0.75144, "omega":0.0, "ax":-4.10497, "ay":4.3696, "alpha":0.0, "fx":[-68.47968,-68.39771,-68.44012,-68.3939], "fy":[72.80907,72.97002,72.7298,72.84739]}, - {"t":1.96951, "x":11.24889, "y":4.40051, "heading":0.0, "vx":2.22323, "vy":-0.59604, "omega":0.0, "ax":-4.73859, "ay":3.67351, "alpha":0.0, "fx":[-78.7258,-78.98269,-78.70389,-79.54799], "fy":[61.71787,61.04817,61.15136,61.02504]}, - {"t":2.00508, "x":11.32496, "y":4.38164, "heading":0.0, "vx":2.05471, "vy":-0.46539, "omega":0.0, "ax":-5.17456, "ay":3.02948, "alpha":0.0, "fx":[-86.29549,-86.25911,-86.24636,-86.22893], "fy":[50.47059,50.65093,50.38872,50.48976]}, - {"t":2.04064, "x":11.39476, "y":4.367, "heading":0.0, "vx":1.87068, "vy":-0.35765, "omega":0.0, "ax":-5.46523, "ay":2.46772, "alpha":0.0, "fx":[-90.94594,-91.06188,-90.95228,-91.45126], "fy":[41.48009,41.00628,41.06729,40.9892]}, - {"t":2.07621, "x":11.45783, "y":4.35584, "heading":0.0, "vx":1.67632, "vy":-0.26989, "omega":0.0, "ax":-5.65678, "ay":1.99082, "alpha":0.0, "fx":[-94.319,-94.30964,-94.27831,-94.27618], "fy":[33.16528,33.29278,33.11625,33.16961]}, - {"t":2.11177, "x":11.51387, "y":4.3475, "heading":0.0, "vx":1.47514, "vy":-0.19909, "omega":0.0, "ax":-5.78253, "ay":1.59007, "alpha":0.0, "fx":[-96.3184,-96.23824,-96.5139,-96.49772], "fy":[25.97666,26.44379,26.34018,27.26229]}, - {"t":2.14733, "x":11.56268, "y":4.34143, "heading":0.0, "vx":1.26949, "vy":-0.14254, "omega":0.0, "ax":-5.86498, "ay":1.25344, "alpha":0.0, "fx":[-97.77791,-97.78027,-97.75132,-97.75592], "fy":[20.88083,20.92428,20.88957,20.88209]}, - {"t":2.1829, "x":11.60411, "y":4.33715, "heading":0.0, "vx":1.06091, "vy":-0.09796, "omega":0.0, "ax":-5.91875, "ay":0.96955, "alpha":0.0, "fx":[-98.6627,-98.65588,-98.65034,-98.68226], "fy":[16.15444,16.16136,16.15537,16.17632]}, - {"t":2.21846, "x":11.6381, "y":4.33428, "heading":0.0, "vx":0.85041, "vy":-0.06348, "omega":0.0, "ax":-5.95342, "ay":0.72849, "alpha":0.0, "fx":[-99.24072,-99.24435,-99.23741,-99.24023], "fy":[12.14253,12.12213,12.1688,12.14099]}, - {"t":2.25403, "x":11.66458, "y":4.33248, "heading":0.0, "vx":0.63868, "vy":-0.03757, "omega":0.0, "ax":-5.97521, "ay":0.52221, "alpha":0.0, "fx":[-99.52512,-99.53649,-99.47989,-99.87429], "fy":[8.78344,8.62008,8.64348,8.77268]}, - {"t":2.28959, "x":11.68352, "y":4.33148, "heading":0.0, "vx":0.42618, "vy":-0.019, "omega":0.0, "ax":-5.98824, "ay":0.34439, "alpha":0.0, "fx":[-99.81576,-99.81717,-99.82515,-99.82604], "fy":[5.74574,5.69874,5.77374,5.74499]}, - {"t":2.32515, "x":11.69489, "y":4.33102, "heading":0.0, "vx":0.21322, "vy":-0.00675, "omega":0.0, "ax":-5.99525, "ay":0.18986, "alpha":0.0, "fx":[-100.43014,-99.3244,-100.00142,-99.99584], "fy":[3.20359,3.14045,3.0678,3.24737]}, - {"t":2.36072, "x":11.69868, "y":4.3309, "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":7.7, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.23837, "ay":5.86759, "alpha":-0.0095, "fx":[20.65429,20.55758,20.68246,20.67806], "fy":[97.72849,98.07402,97.71269,97.72455]}, + {"t":0.04058, "x":7.70102, "y":5.09354, "heading":0.0, "vx":0.05025, "vy":0.23809, "omega":-0.00039, "ax":1.45228, "ay":5.81972, "alpha":-0.00801, "fx":[24.22707,24.1495,24.23019,24.2287], "fy":[96.95291,97.19072,96.95215,96.95165]}, + {"t":0.08115, "x":7.70425, "y":5.108, "heading":-0.00002, "vx":0.10918, "vy":0.47423, "omega":-0.00071, "ax":1.73908, "ay":5.7402, "alpha":0.01094, "fx":[28.95177,29.06856,29.04578,28.89266], "fy":[95.89539,95.61119,95.61409,95.62501]}, + {"t":0.12173, "x":7.71012, "y":5.13196, "heading":-0.00004, "vx":0.17974, "vy":0.70715, "omega":-0.00027, "ax":2.14054, "ay":5.60241, "alpha":-0.01808, "fx":[35.74339,35.59433,35.69036,35.69895], "fy":[93.28451,93.65806,93.32292,93.29257]}, + {"t":0.16231, "x":7.71917, "y":5.16527, "heading":-0.00006, "vx":0.2666, "vy":0.93447, "omega":-0.001, "ax":2.72991, "ay":5.33934, "alpha":0.02989, "fx":[45.34279,45.5447,45.47563,45.66198], "fy":[89.34049,88.91361,88.92894,88.83416]}, + {"t":0.20288, "x":7.73224, "y":5.20758, "heading":-0.0001, "vx":0.37737, "vy":1.15113, "omega":0.00021, "ax":3.62845, "ay":4.77319, "alpha":-0.03148, "fx":[60.60079,60.31412,60.49955,60.5234], "fy":[79.37463,80.0259,79.46832,79.39825]}, + {"t":0.24346, "x":7.75054, "y":5.25822, "heading":-0.00009, "vx":0.5246, "vy":1.3448, "omega":-0.00106, "ax":4.92179, "ay":3.42167, "alpha":0.04802, "fx":[81.72462,81.91649,81.82721,82.707], "fy":[57.5843,57.01077,57.04326,56.51205]}, + {"t":0.28404, "x":7.77587, "y":5.31561, "heading":-0.00013, "vx":0.72431, "vy":1.48364, "omega":0.00088, "ax":5.96682, "ay":0.56177, "alpha":-0.03647, "fx":[99.50514,99.48213,99.43022,99.43887], "fy":[9.21314,9.62541,9.39977,9.21968]}, + {"t":0.32461, "x":7.81018, "y":5.37627, "heading":-0.00009, "vx":0.96642, "vy":1.50644, "omega":-0.0006, "ax":5.38578, "ay":-2.63079, "alpha":0.01982, "fx":[89.48707,89.64643,89.5469,90.43293], "fy":[-44.409,-43.72184,-43.75602,-43.52912]}, + {"t":0.36519, "x":7.85382, "y":5.43523, "heading":-0.00012, "vx":1.18496, "vy":1.39969, "omega":0.00021, "ax":4.12773, "ay":-4.34825, "alpha":0.01016, "fx":[68.89719,68.73672,68.81816,68.77702], "fy":[-72.40306,-72.76168,-72.32312,-72.44512]}, + {"t":0.40576, "x":7.9053, "y":5.48844, "heading":-0.00011, "vx":1.35244, "vy":1.22325, "omega":0.00062, "ax":3.17605, "ay":-5.08639, "alpha":0.00638, "fx":[52.70435,52.91866,52.78228,53.36749], "fy":[-85.14105,-84.66987,-84.70433,-84.6356]}, + {"t":0.44634, "x":7.96279, "y":5.53389, "heading":-0.00009, "vx":1.48132, "vy":1.01687, "omega":0.00088, "ax":2.54546, "ay":-5.43029, "alpha":-0.00412, "fx":[42.5129,42.42376,42.41131,42.3783], "fy":[-90.48784,-90.64947,-90.42447,-90.51931]}, + {"t":0.48692, "x":8.025, "y":5.57068, "heading":-0.00005, "vx":1.5846, "vy":0.79652, "omega":0.00071, "ax":2.11779, "ay":-5.61144, "alpha":-0.00513, "fx":[35.18854,35.30814,35.16489,35.54839], "fy":[-93.74797,-93.44817,-93.4735,-93.49026]}, + {"t":0.52749, "x":8.09104, "y":5.59838, "heading":-0.00002, "vx":1.67054, "vy":0.56883, "omega":0.0005, "ax":1.81431, "ay":-5.71714, "alpha":-0.01242, "fx":[30.31994,30.28089,30.2006,30.17311], "fy":[-95.29306,-95.36944,-95.22714,-95.3184]}, + {"t":0.56807, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.74415, "vy":0.33685, "omega":0.0, "ax":1.79954, "ay":-5.71766, "alpha":0.0, "fx":[30.15816,29.99995,29.9406,29.89115], "fy":[-95.205,-95.6904,-95.09396,-95.25299]}, + {"t":0.60019, "x":8.21727, "y":5.62463, "heading":0.0, "vx":1.80196, "vy":0.15318, "omega":0.0, "ax":2.55568, "ay":-5.41934, "alpha":0.0, "fx":[42.17588,42.5791,42.66103,42.99162], "fy":[-91.06994,-90.13237,-90.09444,-90.05455]}, + {"t":0.63232, "x":8.27648, "y":5.62675, "heading":0.0, "vx":1.88406, "vy":-0.02091, "omega":0.0, "ax":3.56816, "ay":-0.98309, "alpha":0.0, "fx":[59.31146,59.22619,59.70836,59.6723], "fy":[-16.58306,-15.45272,-16.90109,-16.61377]}, + {"t":0.66444, "x":8.33884, "y":5.62557, "heading":0.0, "vx":1.99868, "vy":-0.05249, "omega":0.0, "ax":0.0107, "ay":0.46462, "alpha":0.0, "fx":[0.40053,0.39994,0.72309,-0.81031], "fy":[8.08794,7.52309,7.52299,7.84583]}, + {"t":0.69656, "x":8.40305, "y":5.62413, "heading":0.0, "vx":1.99902, "vy":-0.03756, "omega":0.0, "ax":0.00542, "ay":0.33712, "alpha":0.0, "fx":[0.20236,0.20208,-0.02151,-0.02162], "fy":[5.73157,5.0605,5.95484,5.73135]}, + {"t":0.72869, "x":8.46727, "y":5.6231, "heading":0.0, "vx":1.9992, "vy":-0.02673, "omega":0.0, "ax":0.00276, "ay":0.24171, "alpha":0.0, "fx":[0.01859,0.0195,0.35989,-0.21384], "fy":[3.60777,4.05623,4.05621,4.39671]}, + {"t":0.76081, "x":8.53149, "y":5.62236, "heading":0.0, "vx":1.99928, "vy":-0.01897, "omega":0.0, "ax":0.00152, "ay":0.19113, "alpha":0.0, "fx":[0.07477,0.0747,-0.02407,-0.0241], "fy":[3.23553,2.95259,3.32077,3.23547]}, + {"t":0.79293, "x":8.59571, "y":5.62185, "heading":0.0, "vx":1.99933, "vy":-0.01283, "omega":0.0, "ax":0.00084, "ay":0.1647, "alpha":0.0, "fx":[0.03531,0.03537,0.086,-0.10076], "fy":[2.75895,2.72419,2.72419,2.77486]}, + {"t":0.82506, "x":8.65994, "y":5.62152, "heading":0.0, "vx":1.99936, "vy":-0.00754, "omega":0.0, "ax":0.00039, "ay":0.15131, "alpha":0.0, "fx":[-0.0135,-0.0135,0.02638,0.02638], "fy":[2.5024,2.63479,2.44975,2.5024]}, + {"t":0.85718, "x":8.72416, "y":5.62136, "heading":0.0, "vx":1.99937, "vy":-0.00268, "omega":0.0, "ax":0.00002, "ay":0.14675, "alpha":0.0, "fx":[0.03936,0.03936,-0.00825,-0.06891], "fy":[2.61071,2.40723,2.40723,2.35962]}, + {"t":0.8893, "x":8.78839, "y":5.62135, "heading":0.0, "vx":1.99937, "vy":0.00204, "omega":0.0, "ax":-0.00033, "ay":0.15018, "alpha":0.0, "fx":[-0.02764,-0.02764,0.0165,0.0165], "fy":[2.48129,2.62654,2.42434,2.48129]}, + {"t":0.92143, "x":8.85261, "y":5.62149, "heading":0.0, "vx":1.99936, "vy":0.00686, "omega":0.0, "ax":-0.00077, "ay":0.16213, "alpha":0.0, "fx":[-0.0061,-0.00609,-0.00695,-0.03203], "fy":[2.72347,2.69587,2.69587,2.69507]}, + {"t":0.95355, "x":8.91684, "y":5.6218, "heading":0.0, "vx":1.99934, "vy":0.01207, "omega":0.0, "ax":-0.0014, "ay":0.18621, "alpha":0.0, "fx":[0.01577,0.01577,-0.06253,-0.06253], "fy":[3.14323,2.92123,3.20862,3.14322]}, + {"t":0.98567, "x":8.98106, "y":5.62228, "heading":0.0, "vx":1.99929, "vy":0.01805, "omega":0.0, "ax":-0.00254, "ay":0.23312, "alpha":0.0, "fx":[-0.12456,-0.12456,0.0531,0.0266], "fy":[3.46139,3.96819,3.96819,4.14617]}, + {"t":1.01779, "x":9.04529, "y":5.62298, "heading":0.0, "vx":1.99921, "vy":0.02554, "omega":0.0, "ax":-0.00492, "ay":0.3205, "alpha":0.0, "fx":[0.0262,0.02624,-0.1902,-0.19019], "fy":[5.45079,4.79675,5.672,5.4508]}, + {"t":1.04992, "x":9.1095, "y":5.62397, "heading":0.0, "vx":1.99905, "vy":0.03584, "omega":0.0, "ax":-0.00989, "ay":0.45783, "alpha":0.0, "fx":[-0.15634,-0.15641,-0.11555,-0.23103], "fy":[7.61641,7.62342,7.6234,7.66422]}, + {"t":1.08204, "x":9.17372, "y":5.62535, "heading":0.0, "vx":1.99874, "vy":0.05054, "omega":0.0, "ax":0.00882, "ay":-0.44168, "alpha":0.0, "fx":[-0.06324,-0.06436,0.35793,0.35772], "fy":[-7.57325,-6.341,-7.96269,-7.57371]}, + {"t":1.11416, "x":9.23793, "y":5.62675, "heading":0.0, "vx":1.99902, "vy":0.03636, "omega":0.0, "ax":-0.19142, "ay":-5.98061, "alpha":0.0, "fx":[-3.35949,-3.3835,-2.84619,-3.17458], "fy":[-100.48648,-99.50845,-99.51812,-99.2623]}, + {"t":1.14629, "x":9.30204, "y":5.62483, "heading":0.0, "vx":1.99287, "vy":-0.15576, "omega":0.0, "ax":-0.72701, "ay":-5.95044, "alpha":0.0, "fx":[-12.04575,-12.0091,-12.21441,-12.20646], "fy":[-99.10272,-99.5307,-99.03432,-99.09628]}, + {"t":1.17841, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.96952, "vy":-0.34691, "omega":0.0, "ax":2.67766, "ay":-5.36244, "alpha":-0.02617, "fx":[44.81164,44.67996,44.55153,44.49782], "fy":[-89.38031,-89.55575,-89.18921,-89.43217]}, + {"t":1.21304, "x":9.43548, "y":5.60153, "heading":0.0, "vx":2.06223, "vy":-0.53258, "omega":-0.00091, "ax":2.6287, "ay":-5.38961, "alpha":0.01589, "fx":[43.55464,43.71803,43.36029,44.644], "fy":[-90.15723,-89.7084,-89.76512,-89.73829]}, + {"t":1.24766, "x":9.50846, "y":5.57986, "heading":-0.00003, "vx":2.15325, "vy":-0.71919, "omega":-0.00036, "ax":2.56449, "ay":-5.41989, "alpha":-0.03732, "fx":[42.91258,42.82662,42.65229,42.60359], "fy":[-90.38451,-90.37613,-90.196,-90.43135]}, + {"t":1.28228, "x":9.58456, "y":5.55171, "heading":-0.00004, "vx":2.24204, "vy":-0.90686, "omega":-0.00165, "ax":2.47601, "ay":-5.46012, "alpha":0.02276, "fx":[40.91689,41.11734,40.77618,42.28498], "fy":[-91.44912,-90.84884,-90.89448,-90.87779]}, + {"t":1.31691, "x":9.66367, "y":5.51704, "heading":-0.0001, "vx":2.32777, "vy":-1.09591, "omega":-0.00086, "ax":2.3531, "ay":-5.51314, "alpha":-0.02109, "fx":[39.4115,39.24045,39.14485,39.10349], "fy":[-91.88324,-92.10544,-91.69364,-91.92303]}, + {"t":1.35153, "x":9.74568, "y":5.47579, "heading":-0.00013, "vx":2.40925, "vy":-1.2868, "omega":-0.00159, "ax":2.16005, "ay":-5.59, "alpha":0.03016, "fx":[35.53307,35.77033,35.46282,37.26152], "fy":[-93.79086,-92.9586,-92.99006,-92.99121]}, + {"t":1.38616, "x":9.83039, "y":5.42788, "heading":-0.00019, "vx":2.48404, "vy":-1.48035, "omega":-0.00055, "ax":1.83452, "ay":-5.70249, "alpha":0.00825, "fx":[30.77487,30.53462,30.51975,30.49319], "fy":[-94.93072,-95.59026,-94.75414,-94.95625]}, + {"t":1.42078, "x":9.9175, "y":5.37321, "heading":-0.0002, "vx":2.54756, "vy":-1.6778, "omega":-0.00026, "ax":1.14836, "ay":-5.8741, "alpha":-0.00814, "fx":[18.75164,18.90045,18.71376,20.20475], "fy":[-98.91,-97.5585,-97.56583,-97.63926]}, + {"t":1.45541, "x":10.0064, "y":5.31159, "heading":-0.00021, "vx":2.58732, "vy":-1.88119, "omega":-0.00054, "ax":-0.94187, "ay":-5.8973, "alpha":0.08662, "fx":[-15.64976,-15.52198,-15.8178,-15.81256], "fy":[-97.77079,-100.04384,-97.63964,-97.76609]}, + {"t":1.49003, "x":10.09542, "y":5.24292, "heading":-0.00023, "vx":2.55471, "vy":-2.08538, "omega":0.00246, "ax":-3.8746, "ay":-4.5085, "alpha":-0.27362, "fx":[-63.53579,-63.83021,-63.63741,-67.34767], "fy":[-76.84595,-74.71465,-74.73916,-74.31813]}, + {"t":1.52466, "x":10.18155, "y":5.16801, "heading":-0.00015, "vx":2.42055, "vy":-2.24149, "omega":-0.00702, "ax":-4.11701, "ay":-4.18145, "alpha":0.19317, "fx":[-68.6703,-68.49279,-68.67225,-68.67897], "fy":[-68.71169,-72.66407,-68.71746,-68.71765]}, + {"t":1.55928, "x":10.26289, "y":5.0879, "heading":-0.00039, "vx":2.278, "vy":-2.38627, "omega":-0.00033, "ax":0.02368, "ay":1.39339, "alpha":0.2427, "fx":[-0.19553,-0.20506,-0.0407,2.02034], "fy":[24.82518,22.63955,22.64161,22.80241]}, + {"t":1.59391, "x":10.34178, "y":5.00611, "heading":-0.0004, "vx":2.27882, "vy":-2.33802, "omega":0.00808, "ax":-2.8887, "ay":5.2266, "alpha":-0.16839, "fx":[-48.44592,-47.85568,-48.18704,-48.1242], "fy":[86.2789,89.84314,86.04291,86.33493]}, + {"t":1.62853, "x":10.41896, "y":4.92829, "heading":-0.00012, "vx":2.1788, "vy":-2.15705, "omega":0.00224, "ax":-3.03593, "ay":5.15916, "alpha":0.00085, "fx":[-49.8067,-50.49216,-50.23428,-51.89699], "fy":[87.4655,85.5139,85.56308,85.46042]}, + {"t":1.66316, "x":10.49258, "y":4.85669, "heading":-0.00004, "vx":2.07368, "vy":-1.97842, "omega":0.00227, "ax":-3.02069, "ay":5.17352, "alpha":-0.055, "fx":[-50.59405,-50.0858,-50.4001,-50.33355], "fy":[85.95648,87.19109,85.798,86.01489]}, + {"t":1.69778, "x":10.56257, "y":4.79129, "heading":0.00003, "vx":1.96909, "vy":-1.79929, "omega":0.00037, "ax":-3.03853, "ay":5.16576, "alpha":0.00892, "fx":[-50.16317,-50.65411,-50.40807,-51.37776], "fy":[86.99733,85.79679,85.85337,85.79514]}, + {"t":1.73241, "x":10.62892, "y":4.73209, "heading":0.00005, "vx":1.86388, "vy":-1.62042, "omega":0.00068, "ax":-3.04004, "ay":5.16647, "alpha":-0.02914, "fx":[-50.85215,-50.51298,-50.69587,-50.64305], "fy":[85.94766,86.69846,85.84369,86.00061]}, + {"t":1.76703, "x":10.69164, "y":4.67908, "heading":0.00007, "vx":1.75862, "vy":-1.44154, "omega":-0.00033, "ax":-3.04553, "ay":5.16431, "alpha":0.00356, "fx":[-50.39329,-50.79491,-50.57485,-51.30705], "fy":[86.68511,85.86765,85.92382,85.86945]}, + {"t":1.80165, "x":10.7507, "y":4.63226, "heading":0.00006, "vx":1.65317, "vy":-1.26272, "omega":-0.00021, "ax":-3.04712, "ay":5.16413, "alpha":-0.01181, "fx":[-50.91621,-50.71098,-50.79802,-50.75058], "fy":[85.98299,86.41623,85.90535,86.0299]}, + {"t":1.83628, "x":10.80612, "y":4.59164, "heading":0.00005, "vx":1.54767, "vy":-1.08392, "omega":-0.00062, "ax":-3.04969, "ay":5.16319, "alpha":0.00768, "fx":[-50.60185,-50.8659,-50.71005,-51.16942], "fy":[86.50695,85.90656,85.9484,85.90938]}, + {"t":1.8709, "x":10.85788, "y":4.5572, "heading":0.00003, "vx":1.44207, "vy":-0.90514, "omega":-0.00035, "ax":-3.05092, "ay":5.1629, "alpha":-0.00381, "fx":[-50.9448,-50.82486,-50.85213,-50.80775], "fy":[85.99563,86.28439,85.93371,86.03847]}, + {"t":1.90553, "x":10.90598, "y":4.52895, "heading":0.00002, "vx":1.33644, "vy":-0.72638, "omega":-0.00048, "ax":-3.05245, "ay":5.16235, "alpha":0.01201, "fx":[-50.72725,-50.92798,-50.78798,-51.08809], "fy":[86.39864,85.9196,85.96077,85.93664]}, + {"t":1.94015, "x":10.95042, "y":4.5069, "heading":0.0, "vx":1.23075, "vy":-0.54764, "omega":-0.00007, "ax":-3.05334, "ay":5.16211, "alpha":0.0019, "fx":[-50.96671,-50.89776,-50.88591,-50.84059], "fy":[86.00315,86.2022,85.94812,86.04619]}, + {"t":1.97478, "x":10.99121, "y":4.49103, "heading":0.0, "vx":1.12503, "vy":-0.3689, "omega":0.0, "ax":-0.57799, "ay":0.81058, "alpha":0.0, "fx":[-9.47828,-9.88767,-9.58638,-9.58689], "fy":[13.46405,13.55922,13.56097,13.46346]}, + {"t":2.00927, "x":11.02967, "y":4.47879, "heading":0.0, "vx":1.10509, "vy":-0.34094, "omega":0.0, "ax":-0.6879, "ay":0.7231, "alpha":0.0, "fx":[-11.50629,-11.50465,-11.42871,-11.42814], "fy":[12.01501,12.25794,11.92667,12.01551]}, + {"t":2.04377, "x":11.06738, "y":4.46746, "heading":0.0, "vx":1.08136, "vy":-0.316, "omega":0.0, "ax":-0.76256, "ay":0.64424, "alpha":0.0, "fx":[-12.60266,-12.88399,-12.67957,-12.68007], "fy":[10.70778,10.77017,10.77181,10.70719]}, + {"t":2.07826, "x":11.10423, "y":4.45694, "heading":0.0, "vx":1.05506, "vy":-0.29377, "omega":0.0, "ax":-0.8145, "ay":0.57753, "alpha":0.0, "fx":[-13.60464,-13.60358,-13.55059,-13.55021], "fy":[9.60019,9.76963,9.5385,9.60053]}, + {"t":2.11276, "x":11.14014, "y":4.44715, "heading":0.0, "vx":1.02696, "vy":-0.27385, "omega":0.0, "ax":-0.85142, "ay":0.52188, "alpha":0.0, "fx":[-14.0935,-14.34964,-14.16375,-14.16419], "fy":[8.67095,8.7276,8.72899,8.67045]}, + {"t":2.14725, "x":11.17506, "y":4.43802, "heading":0.0, "vx":0.99759, "vy":-0.25585, "omega":0.0, "ax":-0.87834, "ay":0.47547, "alpha":0.0, "fx":[-14.66104,-14.66038,-14.62234,-14.6221], "fy":[7.9065,8.0279,7.86228,7.90671]}, + {"t":2.18175, "x":11.20895, "y":4.42947, "heading":0.0, "vx":0.96729, "vy":-0.23945, "omega":0.0, "ax":-0.89844, "ay":0.43655, "alpha":0.0, "fx":[-14.88851,-15.11575,-14.9509,-14.95125], "fy":[7.25178,7.30207,7.30319,7.25137]}, + {"t":2.21624, "x":11.24178, "y":4.42147, "heading":0.0, "vx":0.9363, "vy":-0.22439, "omega":0.0, "ax":-0.9138, "ay":0.40365, "alpha":0.0, "fx":[-15.24703,-15.2466,-15.21858,-15.21842], "fy":[6.71438,6.8037,6.68184,6.71453]}, + {"t":2.25074, "x":11.27353, "y":4.41397, "heading":0.0, "vx":0.90478, "vy":-0.21047, "omega":0.0, "ax":-0.92578, "ay":0.37558, "alpha":0.0, "fx":[-15.35432,-15.55549,-15.40956,-15.40984], "fy":[6.23835,6.28294,6.28384,6.23802]}, + {"t":2.28523, "x":11.30419, "y":4.40694, "heading":0.0, "vx":0.87284, "vy":-0.19751, "omega":0.0, "ax":-0.93529, "ay":0.35143, "alpha":0.0, "fx":[-15.60156,-15.60127,-15.5803,-15.5802], "fy":[5.84755,5.91439,5.82315,5.84765]}, + {"t":2.31972, "x":11.33374, "y":4.40033, "heading":0.0, "vx":0.84058, "vy":-0.18539, "omega":0.0, "ax":-0.94296, "ay":0.33047, "alpha":0.0, "fx":[-15.64925,-15.82858,-15.69847,-15.69871], "fy":[5.48878,5.52861,5.52933,5.48851]}, + {"t":2.35422, "x":11.36218, "y":4.39413, "heading":0.0, "vx":0.80806, "vy":-0.17399, "omega":0.0, "ax":-0.94925, "ay":0.31214, "alpha":0.0, "fx":[-15.83169,-15.83148,-15.81541,-15.81533], "fy":[5.19504,5.24633,5.17626,5.19511]}, + {"t":2.38871, "x":11.38949, "y":4.38832, "heading":0.0, "vx":0.77531, "vy":-0.16322, "omega":0.0, "ax":-0.95446, "ay":0.29598, "alpha":0.0, "fx":[-15.84784,-16.00907,-15.89207,-15.89227], "fy":[4.91589,4.95176,4.95236,4.91567]}, + {"t":2.42321, "x":11.41566, "y":4.38286, "heading":0.0, "vx":0.74239, "vy":-0.15301, "omega":0.0, "ax":-0.95882, "ay":0.28166, "alpha":0.0, "fx":[-15.98944,-15.98929,-15.97696,-15.9769], "fy":[4.68883,4.72828,4.67429,4.68888]}, + {"t":2.4577, "x":11.4407, "y":4.37775, "heading":0.0, "vx":0.70931, "vy":-0.1433, "omega":0.0, "ax":-0.96253, "ay":0.26887, "alpha":0.0, "fx":[-15.98828,-16.13431,-16.02835,-16.02851], "fy":[4.46558,4.4981,4.4986,4.46539]}, + {"t":2.4922, "x":11.46459, "y":4.37297, "heading":0.0, "vx":0.67611, "vy":-0.13402, "omega":0.0, "ax":-0.96569, "ay":0.25739, "alpha":0.0, "fx":[-16.10248,-16.10236,-16.09289,-16.09285], "fy":[4.28583,4.31624,4.27455,4.28587]}, + {"t":2.52669, "x":11.48734, "y":4.3685, "heading":0.0, "vx":0.6428, "vy":-0.12514, "omega":0.0, "ax":-0.96842, "ay":0.24704, "alpha":0.0, "fx":[-16.09151,-16.22486,-16.12807,-16.12822], "fy":[4.10312,4.13287,4.13329,4.10296]}, + {"t":2.56119, "x":11.50894, "y":4.36433, "heading":0.0, "vx":0.60939, "vy":-0.11662, "omega":0.0, "ax":-0.9708, "ay":0.23766, "alpha":0.0, "fx":[-16.18639,-16.18631,-16.17911,-16.17908], "fy":[3.95802,3.98129,3.94928,3.95805]}, + {"t":2.59568, "x":11.52938, "y":4.36045, "heading":0.0, "vx":0.57591, "vy":-0.10842, "omega":0.0, "ax":-0.97287, "ay":0.22912, "alpha":0.0, "fx":[-16.16986,-16.29243,-16.20346,-16.20358], "fy":[3.80555,3.83293,3.83329,3.80541]}, + {"t":2.63018, "x":11.54867, "y":4.35685, "heading":0.0, "vx":0.54235, "vy":-0.10052, "omega":0.0, "ax":-0.9747, "ay":0.22131, "alpha":0.0, "fx":[-16.25054,-16.25048,-16.24512,-16.2451], "fy":[3.68647,3.70395,3.67982,3.6865]}, + {"t":2.66467, "x":11.5668, "y":4.35351, "heading":0.0, "vx":0.50873, "vy":-0.09289, "omega":0.0, "ax":-0.97632, "ay":0.21415, "alpha":0.0, "fx":[-16.2309,-16.34426,-16.26196,-16.26207], "fy":[3.55711,3.58246,3.58278,3.557]}, + {"t":2.69917, "x":11.58377, "y":4.35043, "heading":0.0, "vx":0.47505, "vy":-0.0855, "omega":0.0, "ax":-0.97776, "ay":0.20756, "alpha":0.0, "fx":[-16.30081,-16.30076,-16.29689,-16.29687], "fy":[3.45803,3.47085,3.45304,3.45805]}, + {"t":2.73366, "x":11.59957, "y":4.34761, "heading":0.0, "vx":0.44132, "vy":-0.07834, "omega":0.0, "ax":-0.97905, "ay":0.20148, "alpha":0.0, "fx":[-16.27953,-16.38491,-16.30839,-16.30849], "fy":[3.34672,3.37031,3.37059,3.34662]}, + {"t":2.76815, "x":11.61421, "y":4.34503, "heading":0.0, "vx":0.40755, "vy":-0.07139, "omega":0.0, "ax":-0.98021, "ay":0.19584, "alpha":0.0, "fx":[-16.34099,-16.34095,-16.33835,-16.33833], "fy":[3.26331,3.27216,3.25973,3.26332]}, + {"t":2.80265, "x":11.62769, "y":4.34268, "heading":0.0, "vx":0.37374, "vy":-0.06463, "omega":0.0, "ax":-0.98126, "ay":0.19061, "alpha":0.0, "fx":[-16.319,-16.41742,-16.34594,-16.34602], "fy":[3.16634,3.18839,3.18864,3.16625]}, + {"t":2.83714, "x":11.63999, "y":4.34056, "heading":0.0, "vx":0.33989, "vy":-0.05806, "omega":0.0, "ax":-0.98221, "ay":0.18574, "alpha":0.0, "fx":[-16.37369,-16.37366,-16.37212,-16.37211], "fy":[3.09542,3.10094,3.09302,3.09543]}, + {"t":2.87164, "x":11.65113, "y":4.33867, "heading":0.0, "vx":0.30601, "vy":-0.05165, "omega":0.0, "ax":-0.98307, "ay":0.18119, "alpha":0.0, "fx":[-16.35155,-16.44385,-16.3768,-16.37688], "fy":[3.01003,3.03074,3.03096,3.00995]}, + {"t":2.90613, "x":11.6611, "y":4.337, "heading":0.0, "vx":0.2721, "vy":-0.0454, "omega":0.0, "ax":-0.98385, "ay":0.17694, "alpha":0.0, "fx":[-16.40071,-16.40069,-16.40007,-16.40006], "fy":[2.94921,2.95188,2.94784,2.94922]}, + {"t":2.94063, "x":11.66991, "y":4.33554, "heading":0.0, "vx":0.23816, "vy":-0.0393, "omega":0.0, "ax":-0.98457, "ay":0.17296, "alpha":0.0, "fx":[-16.37876,-16.46566,-16.40253,-16.4026], "fy":[2.87331,2.89282,2.89303,2.87324]}, + {"t":2.97512, "x":11.67753, "y":4.33428, "heading":0.0, "vx":0.2042, "vy":-0.03333, "omega":0.0, "ax":-0.98524, "ay":0.16921, "alpha":0.0, "fx":[-16.42333,-16.42331,-16.42349,-16.42348], "fy":[2.82079,2.82096,2.82029,2.82079]}, + {"t":3.00962, "x":11.68399, "y":4.33323, "heading":0.0, "vx":0.17021, "vy":-0.02749, "omega":0.0, "ax":-0.98584, "ay":0.16569, "alpha":0.0, "fx":[-16.4018,-16.48387,-16.42424,-16.4243], "fy":[2.75275,2.77119,2.77138,2.75268]}, + {"t":3.04411, "x":11.68928, "y":4.33238, "heading":0.0, "vx":0.13621, "vy":-0.02178, "omega":0.0, "ax":-0.98641, "ay":0.16237, "alpha":0.0, "fx":[-16.44249,-16.44248,-16.44335,-16.44334], "fy":[2.70709,2.70511,2.70736,2.7071]}, + {"t":3.07861, "x":11.69339, "y":4.33173, "heading":0.0, "vx":0.10218, "vy":-0.01618, "omega":0.0, "ax":-0.98693, "ay":0.15924, "alpha":0.0, "fx":[-16.42151,-16.49926,-16.44275,-16.44281], "fy":[2.64565,2.66313,2.6633,2.64559]}, + {"t":3.1131, "x":11.69633, "y":4.33127, "heading":0.0, "vx":0.06814, "vy":-0.01068, "omega":0.0, "ax":-0.98741, "ay":0.15627, "alpha":0.0, "fx":[-16.45889,-16.45888,-16.46036,-16.46036], "fy":[2.60575,2.60186,2.6067,2.60575]}, + {"t":3.1476, "x":11.69809, "y":4.33099, "heading":0.0, "vx":0.03408, "vy":-0.00529, "omega":0.0, "ax":-0.98786, "ay":0.15347, "alpha":0.0, "fx":[-16.45857,-16.45863,-16.43867,-16.51251], "fy":[2.56374,2.54971,2.54976,2.5697]}, + {"t":3.18209, "x":11.69868, "y":4.3309, "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/startBargeToG.traj b/src/main/deploy/choreo/startBargeToG.traj index 452203dd..6e517f64 100644 --- a/src/main/deploy/choreo/startBargeToG.traj +++ b/src/main/deploy/choreo/startBargeToG.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1, "y":3.72, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1008875, "y":3.7209, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.827323, "y":3.7209, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"startBarge.x", "val":7.1}, "y":{"exp":"startBarge.y", "val":3.72}, "heading":{"exp":"startBarge.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"startG.x", "val":7.1008875}, "y":{"exp":"startG.y", "val":3.7209}, "heading":{"exp":"startG.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"G.x", "val":5.827323}, "y":{"exp":"G.y", "val":3.7209}, "heading":{"exp":"G.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -32,30 +32,30 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.01039], + "waypoints":[0.0,1.01074], "samples":[ - {"t":0.0, "x":7.1, "y":3.72, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.99782, "ay":0.00353, "alpha":0.00895, "fx":[-83.37363,-83.14221,-83.36465,-83.36464], "fy":[0.06869,0.04929,0.04893,0.06864]}, - {"t":0.04811, "x":7.09422, "y":3.72, "heading":3.14159, "vx":-0.24046, "vy":0.00017, "omega":0.00043, "ax":-4.99879, "ay":0.00353, "alpha":-0.00406, "fx":[-83.31647,-83.36233,-83.31543,-83.31541], "fy":[0.06672,0.05127,0.05097,0.06667]}, - {"t":0.09623, "x":7.07686, "y":3.72002, "heading":-3.14157, "vx":-0.48097, "vy":0.00034, "omega":0.00024, "ax":-4.99864, "ay":0.00354, "alpha":-0.00298, "fx":[-83.32431,-83.32434,-83.32547,-83.32544], "fy":[0.07407,0.04351,0.04427,0.07405]}, - {"t":0.14434, "x":7.04793, "y":3.72004, "heading":-3.14156, "vx":-0.72148, "vy":0.00051, "omega":0.00009, "ax":-4.99844, "ay":0.00353, "alpha":0.00065, "fx":[-83.33398,-83.28568,-83.33348,-83.33343], "fy":[0.06756,0.05044,0.0501,0.06748]}, - {"t":0.19245, "x":7.00743, "y":3.72007, "heading":-3.14156, "vx":-0.96197, "vy":0.00068, "omega":0.00012, "ax":-4.99818, "ay":0.00354, "alpha":-0.00438, "fx":[-83.31974,-83.31976,-83.3149,-83.31487], "fy":[0.0779,0.03921,0.04109,0.07792]}, - {"t":0.24057, "x":6.95537, "y":3.7201, "heading":-3.14155, "vx":-1.20245, "vy":0.00085, "omega":-0.00009, "ax":-4.99782, "ay":0.00353, "alpha":0.00952, "fx":[-83.395,-83.09705,-83.3765,-83.37648], "fy":[0.07773,0.04008,0.03997,0.07776]}, - {"t":0.28868, "x":6.89173, "y":3.72015, "heading":-3.14155, "vx":-1.44291, "vy":0.00102, "omega":0.00037, "ax":-4.99727, "ay":0.00354, "alpha":-0.00844, "fx":[-83.31044,-83.31045,-83.2939,-83.29389], "fy":[0.09186,0.02542,0.02709,0.09197]}, - {"t":0.3368, "x":6.81652, "y":3.7202, "heading":-3.14154, "vx":-1.68335, "vy":0.00119, "omega":-0.00004, "ax":-4.99637, "ay":0.00353, "alpha":0.01918, "fx":[-83.44653,-82.87793,-83.41181,-83.41179], "fy":[0.09008,0.02716,0.02763,0.09018]}, - {"t":0.38491, "x":6.72974, "y":3.72026, "heading":-3.14154, "vx":-1.92374, "vy":0.00136, "omega":0.00089, "ax":-4.99455, "ay":0.00358, "alpha":-0.00464, "fx":[-83.25828,-83.2583,-83.2551,-83.25508], "fy":[0.08058,0.03857,0.03865,0.08063]}, - {"t":0.43302, "x":6.6314, "y":3.72033, "heading":-3.1415, "vx":-2.16405, "vy":0.00153, "omega":0.00066, "ax":-4.98908, "ay":0.00349, "alpha":-0.06167, "fx":[-82.85141,-84.08876,-82.86111,-82.8611], "fy":[0.05402,0.06209,0.06228,0.05403]}, - {"t":0.48114, "x":6.52151, "y":3.72041, "heading":-3.14146, "vx":-2.40409, "vy":0.0017, "omega":-0.0023, "ax":-0.00108, "ay":-0.00005, "alpha":-0.01133, "fx":[-0.04491,-0.0449,0.00888,0.00887], "fy":[0.02754,-0.02823,-0.02992,0.02755]}, - {"t":0.52925, "x":6.40584, "y":3.72049, "heading":-3.14157, "vx":-2.40414, "vy":0.0017, "omega":-0.00285, "ax":4.98908, "ay":-0.00347, "alpha":0.08971, "fx":[82.60255,84.70698,82.67624,82.67626], "fy":[-0.00557,-0.10916,-0.11119,-0.00557]}, - {"t":0.57736, "x":6.29594, "y":3.72057, "heading":3.14147, "vx":-2.1641, "vy":0.00153, "omega":0.00147, "ax":4.99455, "ay":-0.00357, "alpha":-0.00482, "fx":[83.24426,83.24425,83.26908,83.26909], "fy":[-0.04837,-0.07133,-0.06968,-0.04839]}, - {"t":0.62548, "x":6.1976, "y":3.72064, "heading":3.14154, "vx":-1.9238, "vy":0.00136, "omega":0.00124, "ax":4.99637, "ay":-0.00352, "alpha":-0.02393, "fx":[83.43808,82.87245,83.41877,83.41873], "fy":[-0.07388,-0.04346,-0.04347,-0.07389]}, - {"t":0.67359, "x":6.11082, "y":3.7207, "heading":-3.14158, "vx":-1.6834, "vy":0.00119, "omega":0.00008, "ax":4.99727, "ay":-0.00354, "alpha":0.00549, "fx":[83.30853,83.30859,83.2958,83.29574], "fy":[-0.07939,-0.03882,-0.03852,-0.07927]}, - {"t":0.7217, "x":6.03561, "y":3.72075, "heading":-3.14158, "vx":-1.44297, "vy":0.00102, "omega":0.00035, "ax":4.99782, "ay":-0.00353, "alpha":-0.01178, "fx":[83.39782,83.08458,83.38138,83.38124], "fy":[-0.07161,-0.04635,-0.04592,-0.07143]}, - {"t":0.76982, "x":5.97197, "y":3.7208, "heading":-3.14156, "vx":-1.2025, "vy":0.00085, "omega":-0.00022, "ax":4.99818, "ay":-0.00354, "alpha":0.00296, "fx":[83.31998,83.3201,83.31465,83.31453], "fy":[-0.07082,-0.04706,-0.04753,-0.07049]}, - {"t":0.81793, "x":5.9199, "y":3.72083, "heading":-3.14157, "vx":-0.96202, "vy":0.00068, "omega":-0.00008, "ax":4.99844, "ay":-0.00353, "alpha":-0.00169, "fx":[83.33123,83.29076,83.33236,83.33221], "fy":[-0.06139,-0.05669,-0.05618,-0.06115]}, - {"t":0.86605, "x":5.8794, "y":3.72086, "heading":-3.14157, "vx":-0.72153, "vy":0.00051, "omega":-0.00016, "ax":4.99864, "ay":-0.00354, "alpha":0.00081, "fx":[83.32232,83.32241,83.32745,83.32736], "fy":[-0.06552,-0.05262,-0.05239,-0.06528]}, - {"t":0.91416, "x":5.85047, "y":3.72088, "heading":-3.14158, "vx":-0.48103, "vy":0.00034, "omega":-0.00012, "ax":4.99879, "ay":-0.00353, "alpha":0.00041, "fx":[83.31465,83.3503,83.32237,83.32232], "fy":[-0.0559,-0.06212,-0.06175,-0.05575]}, - {"t":0.96227, "x":5.83311, "y":3.7209, "heading":-3.14159, "vx":-0.24052, "vy":0.00017, "omega":-0.0001, "ax":4.99891, "ay":-0.00353, "alpha":0.00204, "fx":[83.30628,83.37989,83.31578,83.31576], "fy":[-0.05524,-0.06277,-0.06244,-0.0551]}, - {"t":1.01039, "x":5.82732, "y":3.7209, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.10089, "y":3.7209, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.99782, "ay":0.0, "alpha":0.00893, "fx":[-83.37378,-83.14208,-83.3647,-83.3647], "fy":[0.00989,-0.00978,-0.00997,0.00983]}, + {"t":0.04813, "x":7.0951, "y":3.7209, "heading":3.14159, "vx":-0.24055, "vy":0.0, "omega":0.00043, "ax":-4.99879, "ay":0.0, "alpha":-0.00407, "fx":[-83.31658,-83.3623,-83.31544,-83.31544], "fy":[0.00785,-0.00766,-0.00801,0.00779]}, + {"t":0.09626, "x":7.07773, "y":3.7209, "heading":-3.14157, "vx":-0.48114, "vy":0.0, "omega":0.00023, "ax":-4.99864, "ay":0.0, "alpha":-0.00299, "fx":[-83.32438,-83.32439,-83.32545,-83.32544], "fy":[0.01515,-0.01529,-0.01482,0.01511]}, + {"t":0.14439, "x":7.04878, "y":3.7209, "heading":-3.14156, "vx":-0.72173, "vy":0.0, "omega":0.00009, "ax":-4.99844, "ay":0.0, "alpha":0.00064, "fx":[-83.3341,-83.28562,-83.3335,-83.33346], "fy":[0.00873,-0.00854,-0.00885,0.00864]}, + {"t":0.19252, "x":7.00826, "y":3.7209, "heading":-3.14156, "vx":-0.9623, "vy":0.0, "omega":0.00012, "ax":-4.99819, "ay":0.0, "alpha":-0.00434, "fx":[-83.31982,-83.31982,-83.31487,-83.31487], "fy":[0.0187,-0.01887,-0.01831,0.0187]}, + {"t":0.24065, "x":6.95615, "y":3.7209, "heading":-3.14155, "vx":-1.20287, "vy":0.0, "omega":-0.00009, "ax":-4.99782, "ay":0.0, "alpha":0.00949, "fx":[-83.39514,-83.097,-83.37651,-83.37651], "fy":[0.01898,-0.01903,-0.01893,0.01899]}, + {"t":0.28878, "x":6.89247, "y":3.7209, "heading":-3.14155, "vx":-1.44342, "vy":0.0, "omega":0.00037, "ax":-4.99728, "ay":0.0, "alpha":-0.00841, "fx":[-83.31052,-83.3105,-83.29388,-83.29389], "fy":[0.0327,-0.03293,-0.03225,0.03279]}, + {"t":0.33691, "x":6.81721, "y":3.7209, "heading":-3.14154, "vx":-1.68394, "vy":0.0, "omega":-0.00004, "ax":-4.99637, "ay":0.0, "alpha":0.01913, "fx":[-83.44655,-82.87817,-83.41173,-83.41173], "fy":[0.03151,-0.03198,-0.03104,0.03158]}, + {"t":0.38504, "x":6.73037, "y":3.7209, "heading":-3.14154, "vx":-1.92441, "vy":0.0, "omega":0.00088, "ax":-4.99455, "ay":0.00001, "alpha":-0.00465, "fx":[-83.25832,-83.25832,-83.25511,-83.25511], "fy":[0.02112,-0.02098,-0.02086,0.02115]}, + {"t":0.43317, "x":6.63196, "y":3.7209, "heading":-3.1415, "vx":-2.1648, "vy":0.0, "omega":0.00066, "ax":-4.98908, "ay":0.00001, "alpha":-0.06153, "fx":[-82.85183,-84.0871,-82.86157,-82.86156], "fy":[-0.00413,0.0045,0.00421,-0.00413]}, + {"t":0.4813, "x":6.52199, "y":3.7209, "heading":-3.14146, "vx":-2.40493, "vy":0.0, "omega":-0.0023, "ax":-0.00111, "ay":-0.00004, "alpha":-0.01131, "fx":[-0.04528,-0.04527,0.00842,0.0084], "fy":[0.02751,-0.02801,-0.02987,0.02752]}, + {"t":0.52943, "x":6.40624, "y":3.7209, "heading":-3.14158, "vx":-2.40498, "vy":0.0, "omega":-0.00284, "ax":4.98909, "ay":0.00001, "alpha":0.08963, "fx":[82.60291,84.70673,82.67664,82.67664], "fy":[0.05268,-0.05185,-0.05294,0.05266]}, + {"t":0.57756, "x":6.29627, "y":3.7209, "heading":3.14147, "vx":-2.16486, "vy":0.0, "omega":0.00147, "ax":4.99455, "ay":0.0, "alpha":-0.00481, "fx":[83.24436,83.24435,83.26914,83.26915], "fy":[0.01107,-0.0119,-0.01011,0.01106]}, + {"t":0.6257, "x":6.19786, "y":3.7209, "heading":3.14154, "vx":-1.92447, "vy":0.0, "omega":0.00124, "ax":4.99637, "ay":0.0, "alpha":-0.0239, "fx":[83.43833,82.87214,83.4189,83.41888], "fy":[-0.01537,0.01572,0.01524,-0.01536]}, + {"t":0.67383, "x":6.11102, "y":3.7209, "heading":-3.14158, "vx":-1.68399, "vy":0.0, "omega":0.00009, "ax":4.99728, "ay":0.0, "alpha":0.00543, "fx":[83.30863,83.30868,83.29579,83.29574], "fy":[-0.02009,0.01899,0.02102,-0.01996]}, + {"t":0.72196, "x":6.03576, "y":3.7209, "heading":-3.14158, "vx":-1.44347, "vy":0.0, "omega":0.00035, "ax":4.99782, "ay":0.0, "alpha":-0.01175, "fx":[83.39796,83.08452,83.38141,83.38128], "fy":[-0.0129,0.01278,0.01299,-0.0127]}, + {"t":0.77009, "x":5.97207, "y":3.7209, "heading":-3.14156, "vx":-1.20292, "vy":0.0, "omega":-0.00022, "ax":4.99819, "ay":0.0, "alpha":0.00291, "fx":[83.32005,83.32017,83.31465,83.31453], "fy":[-0.01161,0.01094,0.01189,-0.01127]}, + {"t":0.81822, "x":5.91996, "y":3.7209, "heading":-3.14157, "vx":-0.96236, "vy":0.0, "omega":-0.00008, "ax":4.99844, "ay":0.0, "alpha":-0.00168, "fx":[83.33135,83.29065,83.33242,83.33228], "fy":[-0.00257,0.00228,0.00276,-0.00232]}, + {"t":0.86635, "x":5.87943, "y":3.7209, "heading":-3.14157, "vx":-0.72178, "vy":0.0, "omega":-0.00016, "ax":4.99864, "ay":0.0, "alpha":0.00081, "fx":[83.32237,83.32245,83.32746,83.32738], "fy":[-0.00658,0.00617,0.00668,-0.00634]}, + {"t":0.91448, "x":5.85048, "y":3.7209, "heading":-3.14158, "vx":-0.48119, "vy":0.0, "omega":-0.00012, "ax":4.99879, "ay":0.0, "alpha":0.00041, "fx":[83.31472,83.35024,83.32242,83.32237], "fy":[0.00298,-0.0032,-0.00279,0.00313]}, + {"t":0.96261, "x":5.83311, "y":3.7209, "heading":-3.14159, "vx":-0.2406, "vy":0.0, "omega":-0.0001, "ax":4.99891, "ay":0.0, "alpha":0.00204, "fx":[83.30634,83.37987,83.31582,83.3158], "fy":[0.00366,-0.00387,-0.00348,0.0038]}, + {"t":1.01074, "x":5.82732, "y":3.7209, "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/startBargeToOppE.traj b/src/main/deploy/choreo/startBargeToOppE.traj new file mode 100644 index 00000000..adf9f521 --- /dev/null +++ b/src/main/deploy/choreo/startBargeToOppE.traj @@ -0,0 +1,195 @@ +{ + "name":"startBargeToOppE", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.1008875, "y":4.0509, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.47006893157959, "y":5.786170482635498, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":12.055767059326172, "y":5.666640281677246, "heading":-0.9034901014083804, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":12.631814748155, "y":5.3371419902636, "heading":-1.047197551196598, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"startH.x", "val":7.1008875}, "y":{"exp":"startH.y", "val":4.0509}, "heading":{"exp":"startH.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"11.47006893157959 m", "val":11.47006893157959}, "y":{"exp":"5.786170482635498 m", "val":5.786170482635498}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"12.055767059326172 m", "val":12.055767059326172}, "y":{"exp":"5.666640281677246 m", "val":5.666640281677246}, "heading":{"exp":"-0.9034901014083804 rad", "val":-0.9034901014083804}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - E.x", "val":12.631814748155}, "y":{"exp":"FieldMaxY - E.y", "val":5.3371419902636}, "heading":{"exp":"E.heading - 180 deg", "val":-1.047197551196598}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.98505,1.58843,2.27824,2.58157,3.73527], + "samples":[ + {"t":0.0, "x":7.10089, "y":4.0509, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.27222, "ay":5.85861, "alpha":42.71769, "fx":[192.14015,113.93661,-45.26171,-175.98602], "fy":[11.54674,158.62131,189.15191,31.32061]}, + {"t":0.02662, "x":7.10134, "y":4.05298, "heading":3.14159, "vx":0.03387, "vy":0.15597, "omega":1.13727, "ax":1.30742, "ay":5.85321, "alpha":42.18818, "fx":[190.6473,112.85657,-45.96047,-170.36718], "fy":[11.62104,158.29802,187.88376,32.4778]}, + {"t":0.05325, "x":7.1027, "y":4.0592, "heading":-3.11131, "vx":0.06868, "vy":0.3118, "omega":2.26045, "ax":1.34522, "ay":5.84449, "alpha":41.16256, "fx":[188.22471,108.782,-48.94451,-158.36556], "fy":[16.8081,159.50166,185.35567,28.03411]}, + {"t":0.07987, "x":7.10501, "y":4.06958, "heading":-3.05113, "vx":0.10449, "vy":0.4674, "omega":3.35632, "ax":1.38977, "ay":5.8339, "alpha":39.30927, "fx":[183.23637,99.72337,-56.09853,-134.19385], "fy":[26.38208,162.49694,180.12301,19.99116]}, + {"t":0.10649, "x":7.10828, "y":4.08409, "heading":-2.96178, "vx":0.14149, "vy":0.62272, "omega":4.40286, "ax":1.44059, "ay":5.82138, "alpha":35.43199, "fx":[168.15366,84.5099,-64.97211,-91.63553], "fy":[40.67632,164.12341,168.99338,14.36536]}, + {"t":0.13312, "x":7.11256, "y":4.10273, "heading":-2.84456, "vx":0.17984, "vy":0.7777, "omega":5.34616, "ax":1.49331, "ay":5.80788, "alpha":25.0688, "fx":[126.38312,58.85903,-56.05122,-29.61978], "fy":[61.34175,150.66714,142.87985,32.36935]}, + {"t":0.15974, "x":7.11788, "y":4.12549, "heading":-2.70223, "vx":0.2196, "vy":0.93232, "omega":6.01357, "ax":1.55029, "ay":5.79269, "alpha":0.98145, "fx":[32.72311,26.37136,19.27117,25.00446], "fy":[94.84468,95.72694,98.90899,96.76471]}, + {"t":0.18636, "x":7.12427, "y":4.15237, "heading":-2.54213, "vx":0.26087, "vy":1.08654, "omega":6.0397, "ax":1.61471, "ay":5.77479, "alpha":-11.98574, "fx":[-20.08853,21.51858,73.75632,32.47926], "fy":[108.34531,60.89111,86.86145,128.95377]}, + {"t":0.21298, "x":7.13179, "y":4.18334, "heading":-2.38134, "vx":0.30386, "vy":1.24029, "omega":5.7206, "ax":1.68773, "ay":5.75355, "alpha":-10.42511, "fx":[-14.63925,31.36443,69.16061,26.64907], "fy":[103.52638,64.31793,91.78873,124.00241]}, + {"t":0.23961, "x":7.14048, "y":4.2184, "heading":-2.22904, "vx":0.3488, "vy":1.39346, "omega":5.44305, "ax":1.77267, "ay":5.72757, "alpha":-8.04914, "fx":[-4.19117,38.16145,60.62235,23.60547], "fy":[98.08326,71.66434,94.98241,117.17323]}, + {"t":0.26623, "x":7.15039, "y":4.25753, "heading":-2.08413, "vx":0.39599, "vy":1.54595, "omega":5.22876, "ax":1.87277, "ay":5.69517, "alpha":-6.75421, "fx":[2.67124,42.67351,56.87469,22.65328], "fy":[95.04198,76.04416,96.0969,112.55966]}, + {"t":0.29285, "x":7.1616, "y":4.3007, "heading":-1.94492, "vx":0.44585, "vy":1.69757, "omega":5.04894, "ax":1.99507, "ay":5.65292, "alpha":-10.71972, "fx":[-9.33118,58.77453,68.22102,15.36322], "fy":[90.015,62.82637,101.7564,122.32803]}, + {"t":0.31948, "x":7.17418, "y":4.3479, "heading":-1.8105, "vx":0.49896, "vy":1.84807, "omega":4.76355, "ax":2.15358, "ay":5.59374, "alpha":-18.18145, "fx":[-32.17412,87.80055,87.09938,0.87063], "fy":[77.52468,41.32918,113.94579,140.18021]}, + {"t":0.3461, "x":7.18822, "y":4.39908, "heading":-1.68368, "vx":0.5563, "vy":1.99699, "omega":4.27951, "ax":2.35803, "ay":5.50977, "alpha":-19.58924, "fx":[-28.34487,103.50642,87.20701,-5.13964], "fy":[66.68216,40.17711,119.51644,141.00523]}, + {"t":0.37272, "x":7.20387, "y":4.4542, "heading":-1.56975, "vx":0.61908, "vy":2.14368, "omega":3.75798, "ax":2.62087, "ay":5.38851, "alpha":-17.95907, "fx":[-10.55617,106.04474,82.44463,-3.17868], "fy":[60.894,44.91785,119.09211,134.39186]}, + {"t":0.39935, "x":7.22128, "y":4.51318, "heading":-1.4697, "vx":0.68885, "vy":2.28714, "omega":3.27986, "ax":2.96788, "ay":5.2038, "alpha":-16.27401, "fx":[10.09005,106.97071,79.37595,1.45597], "fy":[52.84734,49.87748,117.07443,127.18016]}, + {"t":0.42597, "x":7.24067, "y":4.57592, "heading":-1.38238, "vx":0.76786, "vy":2.42568, "omega":2.84659, "ax":3.44012, "ay":4.90201, "alpha":-14.84901, "fx":[28.32652,109.56334,80.6305,10.86035], "fy":[46.96809,48.71436,112.50096,118.67304]}, + {"t":0.45259, "x":7.26233, "y":4.64223, "heading":-1.30659, "vx":0.85945, "vy":2.55618, "omega":2.45127, "ax":4.094, "ay":4.36689, "alpha":-13.47863, "fx":[50.48334,113.13675,85.15565,24.20441], "fy":[34.1251,45.91918,104.58652,106.5447]}, + {"t":0.47921, "x":7.28666, "y":4.71183, "heading":-1.24133, "vx":0.96845, "vy":2.67244, "omega":2.09243, "ax":4.96106, "ay":3.34247, "alpha":-11.51425, "fx":[69.93727,118.42647,94.98248,47.44798], "fy":[19.35887,32.41259,87.81972,83.27851]}, + {"t":0.50584, "x":7.31421, "y":4.78417, "heading":-1.18563, "vx":1.10052, "vy":2.76143, "omega":1.78588, "ax":5.81115, "ay":1.40169, "alpha":-8.00195, "fx":[88.98075,118.9548,105.703,73.83773], "fy":[-5.8261,10.80392,49.93962,38.54455]}, + {"t":0.53246, "x":7.34556, "y":4.85818, "heading":-1.13808, "vx":1.25524, "vy":2.79875, "omega":1.57285, "ax":5.81698, "ay":-1.37216, "alpha":-2.43971, "fx":[92.92788,103.60127,99.78636,91.5498], "fy":[-32.55167,-25.84029,-13.67464,-19.42665]}, + {"t":0.55908, "x":7.38104, "y":4.93221, "heading":-1.09621, "vx":1.4101, "vy":2.76222, "omega":1.50789, "ax":4.75176, "ay":-3.63047, "alpha":3.02243, "fx":[84.58389,69.8375,74.39484,88.0217], "fy":[-49.2438,-59.97793,-70.87773,-61.97359]}, + {"t":0.58571, "x":7.42027, "y":5.00446, "heading":-1.05606, "vx":1.53661, "vy":2.66556, "omega":1.58836, "ax":3.55871, "ay":-4.811, "alpha":6.63944, "fx":[70.65898,35.96577,49.32873,81.33455], "fy":[-58.90161,-78.03114,-101.27077,-82.58503]}, + {"t":0.61233, "x":7.46244, "y":5.07372, "heading":-1.01378, "vx":1.63135, "vy":2.53748, "omega":1.76512, "ax":2.6661, "ay":-5.36111, "alpha":9.1586, "fx":[59.89545,9.43048,32.96352,75.48121], "fy":[-59.46615,-89.68704,-116.09917,-92.21624]}, + {"t":0.63895, "x":7.50682, "y":5.13937, "heading":-0.96678, "vx":1.70233, "vy":2.39475, "omega":2.00895, "ax":2.04529, "ay":-5.62977, "alpha":11.16771, "fx":[49.92208,-10.97166,22.91292,74.51269], "fy":[-59.59291,-94.09705,-125.11083,-96.5817]}, + {"t":0.66558, "x":7.55286, "y":5.20114, "heading":-0.9133, "vx":1.75678, "vy":2.24487, "omega":2.30627, "ax":1.60714, "ay":-5.77188, "alpha":12.97322, "fx":[41.98444,-26.67813,17.2739,74.58106], "fy":[-55.52259,-99.30168,-131.35564,-98.67802]}, + {"t":0.6922, "x":7.6002, "y":5.25885, "heading":-0.8519, "vx":1.79957, "vy":2.0912, "omega":2.65166, "ax":1.28652, "ay":-5.85296, "alpha":12.64558, "fx":[31.08797,-31.14484,15.4865,70.35276], "fy":[-59.2449,-101.25027,-131.49708,-98.27177]}, + {"t":0.71882, "x":7.64857, "y":5.31245, "heading":-0.7813, "vx":1.83382, "vy":1.93538, "omega":2.98832, "ax":1.04028, "ay":-5.90266, "alpha":6.24132, "fx":[19.75259,-9.51945,15.7528,43.37769], "fy":[-80.92594,-101.73914,-114.00607,-96.90681]}, + {"t":0.74544, "x":7.69776, "y":5.36189, "heading":-0.70175, "vx":1.86152, "vy":1.77823, "omega":3.15448, "ax":0.85702, "ay":-5.93278, "alpha":1.71968, "fx":[14.36907,6.21376,14.5019,22.05963], "fy":[-94.99302,-99.92534,-102.74168,-97.92645]}, + {"t":0.77207, "x":7.74762, "y":5.40713, "heading":-0.61776, "vx":1.88433, "vy":1.62028, "omega":3.20027, "ax":0.71241, "ay":-5.95247, "alpha":2.20174, "fx":[10.78854,2.91868,12.9489,20.84603], "fy":[-93.10534,-101.02317,-105.02077,-97.74995]}, + {"t":0.79869, "x":7.79804, "y":5.44816, "heading":-0.53256, "vx":1.9033, "vy":1.46181, "omega":3.25888, "ax":0.59373, "ay":-5.96596, "alpha":3.35582, "fx":[6.80221,-3.20224,13.0043,22.98436], "fy":[-90.20781,-102.4589,-108.62781,-96.50413]}, + {"t":0.82531, "x":7.84892, "y":5.48496, "heading":-0.4458, "vx":1.91911, "vy":1.30298, "omega":3.34823, "ax":0.49595, "ay":-5.97528, "alpha":4.72702, "fx":[2.39473,-8.9837,13.75743,25.90034], "fy":[-86.0982,-105.26998,-112.48282,-94.56923]}, + {"t":0.85194, "x":7.90019, "y":5.51753, "heading":-0.35666, "vx":1.93231, "vy":1.1439, "omega":3.47407, "ax":0.41695, "ay":-5.98165, "alpha":3.16437, "fx":[2.33769,-1.12863,10.90362,15.68859], "fy":[-88.29227,-104.40616,-111.17651,-94.96981]}, + {"t":0.87856, "x":7.95178, "y":5.54586, "heading":-0.26417, "vx":1.94341, "vy":0.98465, "omega":3.55832, "ax":0.3402, "ay":-5.98679, "alpha":-18.12702, "fx":[35.23758,82.94062,-43.89391,-51.60036], "fy":[-136.94717,-76.01645,-58.60205,-127.62193]}, + {"t":0.90518, "x":8.00364, "y":5.56996, "heading":-0.16944, "vx":1.95247, "vy":0.82526, "omega":3.07572, "ax":0.26533, "ay":-5.99082, "alpha":-33.90027, "fx":[66.98685,147.00421,-119.06818,-77.23088], "fy":[-165.35893,-51.0965,-24.88233,-158.11831]}, + {"t":0.93181, "x":8.05572, "y":5.58981, "heading":-0.08755, "vx":1.95953, "vy":0.66577, "omega":2.17319, "ax":0.1981, "ay":-5.99362, "alpha":-39.73021, "fx":[79.21285,172.96211,-159.98183,-78.98398], "fy":[-171.17137,-37.10501,-21.08662,-170.28015]}, + {"t":0.95843, "x":8.10796, "y":5.60541, "heading":-0.0297, "vx":1.9648, "vy":0.5062, "omega":1.11545, "ax":0.14186, "ay":-5.9954, "alpha":-41.89812, "fx":[83.82477,181.60506,-177.65099,-78.32006], "fy":[-172.64362,-28.25634,-24.02043,-174.84129]}, + {"t":0.98505, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.96858, "vy":0.34658, "omega":0.0, "ax":0.72971, "ay":-5.94905, "alpha":0.0, "fx":[12.23404,12.1979,12.11631,12.10743], "fy":[-99.1114,-99.39679,-99.04294,-99.12013]}, + {"t":1.01681, "x":8.2232, "y":5.62476, "heading":0.0, "vx":1.99175, "vy":0.15766, "omega":0.0, "ax":0.22965, "ay":-5.98592, "alpha":0.0, "fx":[3.7438,3.80802,4.03138,3.7295], "fy":[-100.10385,-99.7328,-99.72761,-99.56563]}, + {"t":1.04857, "x":8.28657, "y":5.62675, "heading":0.0, "vx":1.99905, "vy":-0.03243, "omega":0.0, "ax":-0.02163, "ay":-0.9745, "alpha":0.0, "fx":[-0.34817,-0.35105,-0.37087,-0.37196], "fy":[-16.23274,-16.33594,-16.17462,-16.23419]}, + {"t":1.08032, "x":8.35004, "y":5.62523, "heading":0.0, "vx":1.99836, "vy":-0.06338, "omega":0.0, "ax":0.01398, "ay":0.50493, "alpha":0.0, "fx":[0.21533,0.21525,0.07336,0.42847], "fy":[8.50487,8.43476,8.4346,8.29323]}, + {"t":1.11208, "x":8.41351, "y":5.62347, "heading":0.0, "vx":1.9988, "vy":-0.04734, "omega":0.0, "ax":0.0081, "ay":0.39415, "alpha":0.0, "fx":[0.14303,0.14287,0.12713,0.12707], "fy":[6.57819,6.53872,6.58589,6.57811]}, + {"t":1.14384, "x":8.47699, "y":5.62217, "heading":0.0, "vx":1.99906, "vy":-0.03483, "omega":0.0, "ax":0.00299, "ay":0.18755, "alpha":0.0, "fx":[0.04337,0.04367,0.10866,0.00341], "fy":[3.04232,3.1327,3.13269,3.19803]}, + {"t":1.17559, "x":8.54047, "y":5.62116, "heading":0.0, "vx":1.99916, "vy":-0.02887, "omega":0.0, "ax":0.00113, "ay":0.08184, "alpha":0.0, "fx":[0.03804,0.03799,-0.0004,-0.00042], "fy":[1.38338,1.27989,1.40999,1.38335]}, + {"t":1.20735, "x":8.60396, "y":5.62028, "heading":0.0, "vx":1.99919, "vy":-0.02627, "omega":0.0, "ax":0.00062, "ay":0.04882, "alpha":0.0, "fx":[0.01891,0.01893,0.07087,-0.0672], "fy":[0.78757,0.80532,0.80532,0.85725]}, + {"t":1.23911, "x":8.66745, "y":5.61947, "heading":0.0, "vx":1.99921, "vy":-0.02472, "omega":0.0, "ax":0.00053, "ay":0.04456, "alpha":0.0, "fx":[0.01227,0.01226,0.00557,0.00557], "fy":[0.74612,0.73097,0.74788,0.74612]}, + {"t":1.27086, "x":8.73094, "y":5.61871, "heading":0.0, "vx":1.99923, "vy":-0.02331, "omega":0.0, "ax":0.00051, "ay":0.04521, "alpha":0.0, "fx":[0.02651,0.02651,0.05399,-0.07297], "fy":[0.78014,0.73562,0.73562,0.76309]}, + {"t":1.30262, "x":8.79443, "y":5.61799, "heading":0.0, "vx":1.99925, "vy":-0.02187, "omega":0.0, "ax":0.00044, "ay":0.04146, "alpha":0.0, "fx":[0.00197,0.00197,0.0127,0.0127], "fy":[0.68573,0.71549,0.67744,0.68573]}, + {"t":1.33438, "x":8.85792, "y":5.61732, "heading":0.0, "vx":1.99926, "vy":-0.02055, "omega":0.0, "ax":0.00029, "ay":0.02934, "alpha":0.0, "fx":[0.03037,0.03037,0.05709,-0.09817], "fy":[0.53882,0.46368,0.46368,0.49037]}, + {"t":1.36613, "x":8.92141, "y":5.61668, "heading":0.0, "vx":1.99927, "vy":-0.01962, "omega":0.0, "ax":0.00002, "ay":0.00198, "alpha":0.0, "fx":[-0.00682,-0.00682,0.00746,0.00746], "fy":[0.02587,0.06136,0.01895,0.02587]}, + {"t":1.39789, "x":8.9849, "y":5.61606, "heading":0.0, "vx":1.99927, "vy":-0.01956, "omega":0.0, "ax":-0.00051, "ay":-0.04977, "alpha":0.0, "fx":[0.02211,0.02211,0.08152,-0.15949], "fy":[-0.79734,-0.86022,-0.86022,-0.80091]}, + {"t":1.42965, "x":9.04839, "y":5.61541, "heading":0.0, "vx":1.99925, "vy":-0.02114, "omega":0.0, "ax":-0.0014, "ay":-0.12101, "alpha":0.0, "fx":[-0.01429,-0.01429,-0.03225,-0.03225], "fy":[-2.00828,-2.06816,-1.98432,-2.00828]}, + {"t":1.4614, "x":9.11188, "y":5.61468, "heading":0.0, "vx":1.99921, "vy":-0.02498, "omega":0.0, "ax":-0.0018, "ay":-0.13268, "alpha":0.0, "fx":[-0.02786,-0.02787,0.07326,-0.13743], "fy":[-2.30648,-2.21382,-2.21381,-2.11271]}, + {"t":1.49316, "x":9.17536, "y":5.61382, "heading":0.0, "vx":1.99915, "vy":-0.0292, "omega":0.0, "ax":0.0028, "ay":0.21734, "alpha":0.0, "fx":[0.06796,0.06794,0.02545,0.02543], "fy":[3.64423,3.52712,3.67632,3.64422]}, + {"t":1.52492, "x":9.23885, "y":5.613, "heading":0.0, "vx":1.99924, "vy":-0.02229, "omega":0.0, "ax":-0.0042, "ay":1.71084, "alpha":0.0, "fx":[-0.02107,-0.02023,-0.1894,-0.0496], "fy":[28.82581,28.46948,28.46948,28.31086]}, + {"t":1.55667, "x":9.30234, "y":5.61316, "heading":0.0, "vx":1.99911, "vy":0.03204, "omega":0.0, "ax":-0.27548, "ay":5.12358, "alpha":0.0, "fx":[-4.81402,-4.81673,-4.36812,-4.36971], "fy":[85.18503,86.50551,84.75623,85.1838]}, + {"t":1.58843, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.99036, "vy":0.19475, "omega":0.0, "ax":5.9436, "ay":0.71084, "alpha":-21.44686, "fx":[142.36749,136.93349,55.13346,61.8737], "fy":[-41.33989,60.04867,91.41797,-62.72961]}, + {"t":1.61142, "x":9.41302, "y":5.62142, "heading":0.0, "vx":2.12702, "vy":0.21109, "omega":-0.49314, "ax":5.94963, "ay":0.71215, "alpha":-16.74772, "fx":[133.28241,128.81518,64.75888,69.85311], "fy":[-32.61606,51.23697,71.90309,-43.03913]}, + {"t":1.63442, "x":9.4635, "y":5.62647, "heading":-0.01134, "vx":2.26383, "vy":0.22746, "omega":-0.87823, "ax":5.9484, "ay":0.71287, "alpha":-11.83045, "fx":[123.53598,120.54765,74.62863,77.9153], "fy":[-21.27526,40.45129,52.77699,-24.42056]}, + {"t":1.65741, "x":9.51713, "y":5.63188, "heading":-0.03153, "vx":2.4006, "vy":0.24386, "omega":-1.15025, "ax":5.94677, "ay":0.71367, "alpha":-6.91165, "fx":[113.24951,111.84511,84.9424,86.48208], "fy":[-9.03598,29.03082,35.21401,-7.62279]}, + {"t":1.6804, "x":9.5739, "y":5.63768, "heading":-0.05798, "vx":2.53734, "vy":0.26027, "omega":-1.30917, "ax":5.94449, "ay":0.71473, "alpha":-2.23407, "fx":[103.47463,103.15694,94.6967,95.03901], "fy":[4.68188,17.44271,19.65694,5.87544]}, + {"t":1.7034, "x":9.63381, "y":5.64385, "heading":-0.08808, "vx":2.67402, "vy":0.2767, "omega":-1.36054, "ax":5.94105, "ay":0.71645, "alpha":1.59811, "fx":[95.6537,95.37249,102.09282,103.01878], "fy":[16.63029,8.21329,7.22506,15.70263]}, + {"t":1.72639, "x":9.69687, "y":5.6504, "heading":-0.11937, "vx":2.81063, "vy":0.29317, "omega":-1.3238, "ax":5.93531, "ay":0.71917, "alpha":4.43993, "fx":[90.26474,89.14528,107.80739,108.53733], "fy":[26.64765,1.66331,-2.14839,21.78997]}, + {"t":1.74938, "x":9.76306, "y":5.65734, "heading":-0.14981, "vx":2.9471, "vy":0.30971, "omega":-1.22171, "ax":5.92371, "ay":0.72485, "alpha":6.25706, "fx":[86.88008,84.41345,110.45258,113.2357], "fy":[33.22332,-2.25885,-7.59629,24.96352]}, + {"t":1.77238, "x":9.83239, "y":5.66465, "heading":-0.1779, "vx":3.08331, "vy":0.32638, "omega":-1.07784, "ax":5.88687, "ay":0.75494, "alpha":6.73077, "fx":[85.77131,81.88288,111.15596,113.7152], "fy":[35.31749,-2.01517,-8.78151,25.81706]}, + {"t":1.79537, "x":9.90484, "y":5.67235, "heading":-0.20268, "vx":3.21867, "vy":0.34373, "omega":-0.92307, "ax":2.58349, "ay":0.99551, "alpha":6.04103, "fx":[31.75722,26.63066,54.83621,59.03806], "fy":[35.39904,4.6569,-1.43057,27.75302]}, + {"t":1.81837, "x":9.97954, "y":5.68052, "heading":-0.2239, "vx":3.27807, "vy":0.36663, "omega":-0.78417, "ax":-0.05334, "ay":0.48304, "alpha":3.59698, "fx":[-7.49826,-11.22805,5.80719,9.36266], "fy":[18.64505,1.29161,-2.47252,14.74414]}, + {"t":1.84136, "x":10.0549, "y":5.68908, "heading":-0.24194, "vx":3.27684, "vy":0.37773, "omega":-0.70146, "ax":-0.03753, "ay":0.32294, "alpha":1.66815, "fx":[-3.39586,-5.38077,3.01508,3.25943], "fy":[10.63807,2.15853,0.1726,8.56384]}, + {"t":1.86435, "x":10.13023, "y":5.69785, "heading":-0.25806, "vx":3.27598, "vy":0.38516, "omega":-0.6631, "ax":-0.02745, "ay":0.23151, "alpha":0.68472, "fx":[-1.54851,-2.29758,0.63429,1.38163], "fy":[6.07025,2.62112,1.58434,5.16122]}, + {"t":1.88735, "x":10.20555, "y":5.70677, "heading":-0.27331, "vx":3.27535, "vy":0.39048, "omega":-0.64736, "ax":-0.01803, "ay":0.15091, "alpha":0.29987, "fx":[-0.65171,-1.10731,0.54237,0.01444], "fy":[3.69434,1.87547,1.42092,3.07176]}, + {"t":1.91034, "x":10.28086, "y":5.71578, "heading":-0.2882, "vx":3.27494, "vy":0.39395, "omega":-0.64046, "ax":-0.01423, "ay":0.11767, "alpha":0.12406, "fx":[-0.38206,-0.51512,-0.0925,0.04094], "fy":[2.43162,1.84931,1.3817,2.18347]}, + {"t":1.93333, "x":10.35616, "y":5.72487, "heading":-0.30292, "vx":3.27461, "vy":0.39666, "omega":-0.63761, "ax":-0.00916, "ay":0.07541, "alpha":0.08751, "fx":[-0.173,-0.33938,0.14337,-0.24146], "fy":[1.79385,1.02776,0.86235,1.34412]}, + {"t":1.95633, "x":10.43145, "y":5.73401, "heading":-0.31758, "vx":3.2744, "vy":0.39839, "omega":-0.6356, "ax":-0.0031, "ay":0.02566, "alpha":0.11, "fx":[-0.1941,-0.34811,0.09077,0.24506], "fy":[0.79719,0.46747,-0.11579,0.56176]}, + {"t":1.97932, "x":10.50674, "y":5.74318, "heading":-0.3322, "vx":3.27433, "vy":0.39898, "omega":-0.63307, "ax":0.00635, "ay":-0.05271, "alpha":0.0564, "fx":[0.05055,0.01637,0.17358,0.18303], "fy":[-0.49411,-1.03687,-1.07115,-0.91252]}, + {"t":2.00231, "x":10.58203, "y":5.75234, "heading":-0.34676, "vx":3.27447, "vy":0.39777, "omega":-0.63177, "ax":0.02467, "ay":-0.20351, "alpha":0.17688, "fx":[0.12995,-0.1321,0.69208,0.95509], "fy":[-2.88042,-3.42449,-4.09942,-3.16529]}, + {"t":2.02531, "x":10.65733, "y":5.76143, "heading":-0.36128, "vx":3.27504, "vy":0.39309, "omega":-0.62771, "ax":0.05108, "ay":-0.43195, "alpha":-0.02154, "fx":[0.74673,1.01112,0.68817,0.96006], "fy":[-7.23164,-7.26214,-7.00296,-7.30498]}, + {"t":2.0483, "x":10.73264, "y":5.77036, "heading":-0.37572, "vx":3.27622, "vy":0.38316, "omega":-0.6282, "ax":0.094, "ay":-0.82337, "alpha":0.23082, "fx":[1.16857,0.84227,1.9637,2.29328], "fy":[-13.07998,-14.0136,-14.46076,-13.34669]}, + {"t":2.07129, "x":10.808, "y":5.77895, "heading":-0.39016, "vx":3.27838, "vy":0.36422, "omega":-0.62289, "ax":0.14777, "ay":-1.39238, "alpha":-0.23827, "fx":[2.44519,3.26801,1.9442,2.19536], "fy":[-24.2773,-22.97809,-22.18052,-23.40523]}, + {"t":2.09429, "x":10.88342, "y":5.78696, "heading":-0.40448, "vx":3.28177, "vy":0.33221, "omega":-0.62837, "ax":0.21016, "ay":-2.25476, "alpha":-0.01256, "fx":[3.43051,3.59063,3.57392,3.41812], "fy":[-37.63028,-38.09062,-37.26527,-37.35723]}, + {"t":2.11728, "x":10.95894, "y":5.794, "heading":-0.41893, "vx":3.28661, "vy":0.28036, "omega":-0.62866, "ax":0.25182, "ay":-3.44237, "alpha":-1.20996, "fx":[5.19853,8.07432,2.37887,1.13939], "fy":[-62.08726,-55.92047,-53.18018,-58.34259]}, + {"t":2.14027, "x":11.03457, "y":5.79954, "heading":-0.43339, "vx":3.2924, "vy":0.20121, "omega":-0.65648, "ax":0.21515, "ay":-4.91111, "alpha":-1.94564, "fx":[5.96708,10.31444,1.11489,-3.05048], "fy":[-87.64753,-81.27104,-75.05553,-83.48921]}, + {"t":2.16327, "x":11.11033, "y":5.80286, "heading":-0.44848, "vx":3.29734, "vy":0.08829, "omega":-0.70122, "ax":0.02296, "ay":-5.64737, "alpha":-4.46176, "fx":[5.7147,15.26653,-7.07964,-12.37062], "fy":[-109.51337,-90.41136,-79.02558,-97.60565]}, + {"t":2.18626, "x":11.18616, "y":5.8034, "heading":-0.4646, "vx":3.29787, "vy":-0.04156, "omega":-0.80381, "ax":-3.22296, "ay":-4.85701, "alpha":-6.43161, "fx":[-44.61716,-33.21885,-64.44532,-72.61946], "fy":[-103.00341,-77.86445,-57.99639,-84.9921]}, + {"t":2.20925, "x":11.26113, "y":5.80116, "heading":-0.48309, "vx":3.22377, "vy":-0.15324, "omega":-0.9517, "ax":-5.53821, "ay":-2.17247, "alpha":-7.88055, "fx":[-82.30749,-68.48612,-103.73979,-114.74389], "fy":[-65.09617,-31.76748,-7.14961,-40.84314]}, + {"t":2.23225, "x":11.3338, "y":5.79706, "heading":-0.50497, "vx":3.09642, "vy":-0.2032, "omega":-1.1329, "ax":-5.77302, "ay":-1.52674, "alpha":-8.08789, "fx":[-87.16179,-72.86443,-107.30383,-117.60374], "fy":[-56.74313,-20.45264,5.79805,-30.40219]}, + {"t":2.25524, "x":11.40347, "y":5.79199, "heading":-0.53102, "vx":2.96368, "vy":-0.2383, "omega":-1.31887, "ax":-5.84183, "ay":-1.27952, "alpha":-7.33056, "fx":[-90.08565,-76.06561,-106.08078,-117.28984], "fy":[-49.9084,-17.12827,6.9461,-25.22547]}, + {"t":2.27824, "x":11.47007, "y":5.78617, "heading":-0.56134, "vx":2.82936, "vy":-0.26772, "omega":-1.48742, "ax":-5.84597, "ay":-1.13435, "alpha":-6.12029, "fx":[-92.22445,-79.28306,-103.85873,-114.43156], "fy":[-42.57992,-15.59272,4.61624,-22.07969]}, + {"t":2.2942, "x":11.51449, "y":5.78175, "heading":-0.58509, "vx":2.73602, "vy":-0.28583, "omega":-1.58513, "ax":-5.89047, "ay":-1.03517, "alpha":-5.97194, "fx":[-93.47608,-80.73253,-103.58017,-114.9762], "fy":[-40.62517,-14.62523,5.98512,-19.75792]}, + {"t":2.31017, "x":11.55743, "y":5.77706, "heading":-0.6104, "vx":2.64198, "vy":-0.30236, "omega":-1.68048, "ax":-5.90632, "ay":-0.95595, "alpha":-5.88529, "fx":[-94.44493,-81.39846,-103.53469,-114.44415], "fy":[-39.43897,-13.67132,7.4597,-18.09059]}, + {"t":2.32613, "x":11.59885, "y":5.77211, "heading":-0.63723, "vx":2.54769, "vy":-0.31762, "omega":-1.77444, "ax":-5.91783, "ay":-0.8947, "alpha":-5.27756, "fx":[-95.48485,-83.11417,-102.33312,-113.6577], "fy":[-35.60669,-13.44646,5.88252,-16.48653]}, + {"t":2.3421, "x":11.63877, "y":5.76692, "heading":-0.66556, "vx":2.45321, "vy":-0.33191, "omega":-1.85869, "ax":-5.92662, "ay":-0.84533, "alpha":-4.64896, "fx":[-96.49622,-85.25573,-101.77912,-111.64475], "fy":[-32.79583,-12.82159,4.4047,-15.15216]}, + {"t":2.35806, "x":11.67718, "y":5.76152, "heading":-0.69523, "vx":2.35859, "vy":-0.3454, "omega":-1.93291, "ax":-5.93346, "ay":-0.80521, "alpha":-3.50973, "fx":[-97.42527,-88.48876,-100.53513,-109.1824], "fy":[-27.07743,-13.02952,0.40786,-13.9906]}, + {"t":2.37403, "x":11.71408, "y":5.7559, "heading":-0.72609, "vx":2.26386, "vy":-0.35826, "omega":-1.98895, "ax":-5.93894, "ay":-0.77173, "alpha":-2.37961, "fx":[-98.25219,-91.92581,-99.94138,-105.87796], "fy":[-22.3394,-12.42778,-3.59254,-13.09805]}, + {"t":2.38999, "x":11.74947, "y":5.75008, "heading":-0.75784, "vx":2.16905, "vy":-0.37058, "omega":-2.02694, "ax":-5.94344, "ay":-0.74333, "alpha":-0.80038, "fx":[-98.96118,-96.1778,-99.24058,-101.91774], "fy":[-14.87828,-12.42263,-9.60233,-12.66085]}, + {"t":2.40596, "x":11.78334, "y":5.74407, "heading":-0.7902, "vx":2.07416, "vy":-0.38244, "omega":-2.03972, "ax":-5.9472, "ay":-0.71889, "alpha":0.82112, "fx":[-99.34036,-101.03144,-98.94393,-97.23201], "fy":[-8.28211,-11.29853,-15.79027,-12.56331]}, + {"t":2.42192, "x":11.8157, "y":5.73787, "heading":-0.82277, "vx":1.97921, "vy":-0.39392, "omega":-2.02661, "ax":-5.95036, "ay":-0.69776, "alpha":2.77614, "fx":[-99.38274,-106.36221,-98.92,-92.09382], "fy":[0.47655,-10.46806,-23.44499,-13.08855]}, + {"t":2.43789, "x":11.84653, "y":5.73149, "heading":-0.85512, "vx":1.88421, "vy":-0.40506, "omega":-1.98228, "ax":-5.95307, "ay":-0.67924, "alpha":4.80823, "fx":[-99.48369,-111.91558,-99.60166,-85.9384], "fy":[8.91044,-8.75057,-31.11313,-14.33744]}, + {"t":2.45385, "x":11.87586, "y":5.72494, "heading":-0.88677, "vx":1.78917, "vy":-0.41591, "omega":-1.90552, "ax":-5.95541, "ay":-0.66288, "alpha":7.04589, "fx":[-99.07721,-117.77883,-100.72942,-79.51005], "fy":[18.6755,-7.02494,-39.50406,-16.34632]}, + {"t":2.46982, "x":11.90366, "y":5.71822, "heading":-0.91719, "vx":1.69409, "vy":-0.42649, "omega":-1.79303, "ax":-5.95745, "ay":-0.64839, "alpha":9.32463, "fx":[-98.64052,-123.61028,-102.28587,-72.6947], "fy":[28.40178,-4.67884,-47.86846,-19.08803]}, + {"t":2.48578, "x":11.92995, "y":5.71133, "heading":-0.94582, "vx":1.59898, "vy":-0.43684, "omega":-1.64416, "ax":-5.95925, "ay":-0.63533, "alpha":11.6566, "fx":[-97.72884,-129.40113,-104.30028,-65.92126], "fy":[38.69282,-2.26372,-56.13287,-22.65891]}, + {"t":2.50175, "x":11.95472, "y":5.70427, "heading":-0.97207, "vx":1.50384, "vy":-0.44698, "omega":-1.45806, "ax":-5.96084, "ay":-0.62368, "alpha":13.99304, "fx":[-97.05496,-135.02682,-106.66734,-58.70809], "fy":[48.93278,0.39722,-63.93773,-26.97814]}, + {"t":2.51771, "x":11.97797, "y":5.69705, "heading":-0.99535, "vx":1.40868, "vy":-0.45694, "omega":-1.23466, "ax":-5.96226, "ay":-0.61305, "alpha":16.23002, "fx":[-95.9504,-140.31369,-109.41008,-51.8779], "fy":[59.03127,3.05884,-70.7514,-32.21604]}, + {"t":2.53368, "x":11.9997, "y":5.68968, "heading":-1.01506, "vx":1.31349, "vy":-0.46673, "omega":-0.97555, "ax":-5.96352, "ay":-0.60353, "alpha":18.40032, "fx":[-95.17939,-145.28615,-112.07183,-45.09887], "fy":[68.85765,5.67675,-77.21337,-37.5633]}, + {"t":2.54964, "x":12.01991, "y":5.68215, "heading":-1.03063, "vx":1.21828, "vy":-0.47636, "omega":-0.68179, "ax":-5.96467, "ay":-0.59475, "alpha":20.41481, "fx":[-94.09339,-149.81745,-114.68764,-39.11428], "fy":[78.27196,8.28044,-82.8548,-43.35409]}, + {"t":2.56561, "x":12.0386, "y":5.67447, "heading":-1.04152, "vx":1.12305, "vy":-0.48586, "omega":-0.35586, "ax":-5.9657, "ay":-0.58681, "alpha":22.29005, "fx":[-93.6368,-153.99544,-117.26942,-32.87969], "fy":[86.86864,10.50884,-87.71974,-48.78512]}, + {"t":2.58157, "x":12.05577, "y":5.66664, "heading":-1.0472, "vx":1.02781, "vy":-0.49523, "omega":0.0, "ax":-0.99523, "ay":-0.0231, "alpha":0.0, "fx":[-16.58854,-16.59575,-16.59159,-16.58438], "fy":[-0.35427,-0.45607,-0.36718,-0.36245]}, + {"t":2.61653, "x":12.09109, "y":5.64931, "heading":-1.0472, "vx":0.99302, "vy":-0.49603, "omega":0.0, "ax":-0.99382, "ay":0.09221, "alpha":0.0, "fx":[-16.49009,-16.57549,-16.52633,-16.67406], "fy":[1.56248,1.56971,1.48345,1.53303]}, + {"t":2.65149, "x":12.1252, "y":5.63203, "heading":-1.0472, "vx":0.95827, "vy":-0.49281, "omega":0.0, "ax":-0.98274, "ay":0.17586, "alpha":0.0, "fx":[-16.38125,-16.38406,-16.38244,-16.37962], "fy":[2.94159,2.90731,2.93781,2.9392]}, + {"t":2.68645, "x":12.1581, "y":5.61491, "heading":-1.0472, "vx":0.92391, "vy":-0.48666, "omega":0.0, "ax":-0.96977, "ay":0.23805, "alpha":0.0, "fx":[-16.10458,-16.16593,-16.13083,-16.26109], "fy":[4.00475,3.98537,3.92374,3.95882]}, + {"t":2.72141, "x":12.18981, "y":5.59804, "heading":-1.0472, "vx":0.89001, "vy":-0.47834, "omega":0.0, "ax":-0.95703, "ay":0.28556, "alpha":0.0, "fx":[-15.95308,-15.95381,-15.95342,-15.95258], "fy":[4.76149,4.75631,4.76143,4.76144]}, + {"t":2.75637, "x":12.22034, "y":5.58149, "heading":-1.0472, "vx":0.85655, "vy":-0.46836, "omega":0.0, "ax":-0.94527, "ay":0.32278, "alpha":0.0, "fx":[-15.70859,-15.75313,-15.72778,-15.83896], "fy":[5.41988,5.38888,5.34439,5.36948]}, + {"t":2.79133, "x":12.24971, "y":5.56531, "heading":-1.0472, "vx":0.82351, "vy":-0.45707, "omega":0.0, "ax":-0.93467, "ay":0.3526, "alpha":0.0, "fx":[-15.58059,-15.58014,-15.58046,-15.58071], "fy":[5.87436,5.88469,5.87621,5.87552]}, + {"t":2.82629, "x":12.27793, "y":5.54955, "heading":-1.0472, "vx":0.79083, "vy":-0.44475, "omega":0.0, "ax":-0.92521, "ay":0.37695, "alpha":0.0, "fx":[-15.38337,-15.41691,-15.39792,-15.49334], "fy":[6.32204,6.28679,6.25345,6.27209]}, + {"t":2.86126, "x":12.30501, "y":5.53423, "heading":-1.0472, "vx":0.75848, "vy":-0.43157, "omega":0.0, "ax":-0.9168, "ay":0.39717, "alpha":0.0, "fx":[-15.2829,-15.28175,-15.28248,-15.28339], "fy":[6.61464,6.63381,6.61754,6.61647]}, + {"t":2.89622, "x":12.33096, "y":5.51939, "heading":-1.0472, "vx":0.72643, "vy":-0.41768, "omega":0.0, "ax":-0.90931, "ay":0.4142, "alpha":0.0, "fx":[-15.12505,-15.15057,-15.1362,-15.21891], "fy":[6.94146,6.90435,6.87912,6.89309]}, + {"t":2.93118, "x":12.35581, "y":5.50504, "heading":-1.0472, "vx":0.69464, "vy":-0.4032, "omega":0.0, "ax":-0.90261, "ay":0.42873, "alpha":0.0, "fx":[-15.04644,-15.04481,-15.04583,-15.04719], "fy":[7.1389,7.16406,7.1425,7.14117]}, + {"t":2.96614, "x":12.37954, "y":5.4912, "heading":-1.0472, "vx":0.66309, "vy":-0.38821, "omega":0.0, "ax":-0.89661, "ay":0.44125, "alpha":0.0, "fx":[-14.91865,-14.93827,-14.92728,-14.99984], "fy":[7.39071,7.35306,7.33378,7.34435]}, + {"t":3.0011, "x":12.40217, "y":5.4779, "heading":-1.0472, "vx":0.63174, "vy":-0.37279, "omega":0.0, "ax":-0.8912, "ay":0.45216, "alpha":0.0, "fx":[-14.85639,-14.85449,-14.85567,-14.85729], "fy":[7.52859,7.55695,7.53253,7.53107]}, + {"t":3.03606, "x":12.42371, "y":5.46514, "heading":-1.0472, "vx":0.60058, "vy":-0.35698, "omega":0.0, "ax":-0.88632, "ay":0.46174, "alpha":0.0, "fx":[-14.75136,-14.76655,-14.7581,-14.82237], "fy":[7.73036,7.69301,7.67816,7.6862]}, + {"t":3.07102, "x":12.44417, "y":5.45295, "heading":-1.0472, "vx":0.5696, "vy":-0.34084, "omega":0.0, "ax":-0.8819, "ay":0.47021, "alpha":0.0, "fx":[-14.70126,-14.69915,-14.70045,-14.70228], "fy":[7.82878,7.85956,7.83298,7.83143]}, + {"t":3.10598, "x":12.46354, "y":5.44132, "heading":-1.0472, "vx":0.53877, "vy":-0.3244, "omega":0.0, "ax":-0.87786, "ay":0.47776, "alpha":0.0, "fx":[-14.61377,-14.62527,-14.61893,-14.67634], "fy":[7.99596,7.95883,7.94767,7.95361]}, + {"t":3.14094, "x":12.48184, "y":5.43027, "heading":-1.0472, "vx":0.50808, "vy":-0.30769, "omega":0.0, "ax":-0.87418, "ay":0.48452, "alpha":0.0, "fx":[-14.57267,-14.57041,-14.5718,-14.57378], "fy":[8.06687,8.09941,8.07125,8.06963]}, + {"t":3.1759, "x":12.49907, "y":5.41981, "heading":-1.0472, "vx":0.47751, "vy":-0.29076, "omega":0.0, "ax":-0.8708, "ay":0.49062, "alpha":0.0, "fx":[-14.49888,-14.50737,-14.50274,-14.55439], "fy":[8.20902,8.17223,8.16409,8.16833]}, + {"t":3.21086, "x":12.51523, "y":5.40994, "heading":-1.0472, "vx":0.44707, "vy":-0.2736, "omega":0.0, "ax":-0.86769, "ay":0.49614, "alpha":0.0, "fx":[-14.46457,-14.46217,-14.46364,-14.46577], "fy":[8.26006,8.29425,8.2646,8.26292]}, + {"t":3.24582, "x":12.53033, "y":5.40068, "heading":-1.0472, "vx":0.41674, "vy":-0.25626, "omega":0.0, "ax":-0.86483, "ay":0.50117, "alpha":0.0, "fx":[-14.40168,-14.40761,-14.40444,-14.4512], "fy":[8.38368,8.34717,8.34158,8.34437]}, + {"t":3.28078, "x":12.54437, "y":5.39203, "heading":-1.0472, "vx":0.3865, "vy":-0.23874, "omega":0.0, "ax":-0.86217, "ay":0.50576, "alpha":0.0, "fx":[-14.37254,-14.37006,-14.37158,-14.37378], "fy":[8.42009,8.45504,8.4247,8.42299]}, + {"t":3.31574, "x":12.55736, "y":5.38399, "heading":-1.0472, "vx":0.35636, "vy":-0.22106, "omega":0.0, "ax":-0.85971, "ay":0.50996, "alpha":0.0, "fx":[-14.31835,-14.3223,-14.32026,-14.36286], "fy":[8.52919,8.49327,8.48966,8.49134]}, + {"t":3.3507, "x":12.56929, "y":5.37657, "heading":-1.0472, "vx":0.3263, "vy":-0.20323, "omega":0.0, "ax":-0.85742, "ay":0.51384, "alpha":0.0, "fx":[-14.29332,-14.29076,-14.29232,-14.29462], "fy":[8.55455,8.59044,8.55925,8.55751]}, + {"t":3.38566, "x":12.58017, "y":5.36978, "heading":-1.0472, "vx":0.29633, "vy":-0.18526, "omega":0.0, "ax":-0.85528, "ay":0.51741, "alpha":0.0, "fx":[-14.24636,-14.2484,-14.24745,-14.28639], "fy":[8.65253,8.61683,8.61513,8.61573]}, + {"t":3.42062, "x":12.59001, "y":5.36362, "heading":-1.0472, "vx":0.26643, "vy":-0.16717, "omega":0.0, "ax":-0.85329, "ay":0.52073, "alpha":0.0, "fx":[-14.22445,-14.22183,-14.22343,-14.22579], "fy":[8.66917,8.70577,8.67394,8.67218]}, + {"t":3.45558, "x":12.5988, "y":5.3581, "heading":-1.0472, "vx":0.23659, "vy":-0.14897, "omega":0.0, "ax":-0.85142, "ay":0.5238, "alpha":0.0, "fx":[-14.18344,-14.18392,-14.18386,-14.21962], "fy":[8.75817,8.72285,8.7227,8.72242]}, + {"t":3.49054, "x":12.60656, "y":5.35321, "heading":-1.0472, "vx":0.20683, "vy":-0.13066, "omega":0.0, "ax":-0.84966, "ay":0.52667, "alpha":0.0, "fx":[-14.16405,-14.16139,-14.16301,-14.16541], "fy":[8.76808,8.80505,8.77287,8.7711]}, + {"t":3.5255, "x":12.61327, "y":5.34896, "heading":-1.0472, "vx":0.17712, "vy":-0.11224, "omega":0.0, "ax":-0.84801, "ay":0.52934, "alpha":0.0, "fx":[-14.12806,-14.12714,-14.12787,-14.16082], "fy":[8.84974,8.81472,8.81596,8.8149]}, + {"t":3.56046, "x":12.61894, "y":5.34536, "heading":-1.0472, "vx":0.14748, "vy":-0.09374, "omega":0.0, "ax":-0.84646, "ay":0.53184, "alpha":0.0, "fx":[-14.11068,-14.10796,-14.10961,-14.11207], "fy":[8.85417,8.89165,8.85901,8.85722]}, + {"t":3.59542, "x":12.62358, "y":5.34241, "heading":-1.0472, "vx":0.11789, "vy":-0.07515, "omega":0.0, "ax":-0.84499, "ay":0.53418, "alpha":0.0, "fx":[-14.07896,-14.07676,-14.07822,-14.10866], "fy":[8.92987,8.89508,8.89758,8.89581]}, + {"t":3.63038, "x":12.62719, "y":5.34011, "heading":-1.0472, "vx":0.08834, "vy":-0.05647, "omega":0.0, "ax":-0.84361, "ay":0.53639, "alpha":0.0, "fx":[-14.06317,-14.06042,-14.06208,-14.06458], "fy":[8.92983,8.9677,8.9347,8.9329]}, + {"t":3.66534, "x":12.62976, "y":5.33846, "heading":-1.0472, "vx":0.05885, "vy":-0.03772, "omega":0.0, "ax":-0.8423, "ay":0.53846, "alpha":0.0, "fx":[-14.04133,-14.03856,-14.04024,-14.04275], "fy":[8.96433,9.00235,8.96921,8.96741]}, + {"t":3.7003, "x":12.6313, "y":5.33747, "heading":-1.0472, "vx":0.0294, "vy":-0.01889, "omega":0.0, "ax":-0.84106, "ay":0.54041, "alpha":0.0, "fx":[-14.016,-14.03102,-14.01245,-14.02059], "fy":[9.00404,9.00708,9.01286,9.00956]}, + {"t":3.73527, "x":12.63181, "y":5.33714, "heading":-1.0472, "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/startBargeToOppG.traj b/src/main/deploy/choreo/startBargeToOppG.traj new file mode 100644 index 00000000..75280442 --- /dev/null +++ b/src/main/deploy/choreo/startBargeToOppG.traj @@ -0,0 +1,167 @@ +{ + "name":"startBargeToOppG", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.1008875, "y":4.0509, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.160315799713134, "y":5.6167577, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.365684200286866, "y":5.6167577, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":10.99120807647705, "y":4.528883934020996, "heading":0.0, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"startH.x", "val":7.1008875}, "y":{"exp":"startH.y", "val":4.0509}, "heading":{"exp":"startH.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.160315799713134 m", "val":8.160315799713134}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"9.365684200286866 m", "val":9.365684200286866}, "y":{"exp":"5.6167577 m", "val":5.6167577}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"10.99120807647705 m", "val":10.99120807647705}, "y":{"exp":"4.528883934020996 m", "val":4.528883934020996}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.98505,1.58869,2.37066,3.58503], + "samples":[ + {"t":0.0, "x":7.10089, "y":4.0509, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.2722, "ay":5.85861, "alpha":42.72744, "fx":[192.19274,113.94704,-45.36251,-175.94919], "fy":[11.5168,158.64691,189.15786,31.31909]}, + {"t":0.02662, "x":7.10134, "y":4.05298, "heading":3.14159, "vx":0.03387, "vy":0.15597, "omega":1.13753, "ax":1.30744, "ay":5.8532, "alpha":42.19664, "fx":[190.7135,112.79904,-46.12277,-170.21212], "fy":[11.53122,158.37605,187.87992,32.49305]}, + {"t":0.05325, "x":7.1027, "y":4.0592, "heading":-3.11131, "vx":0.06868, "vy":0.3118, "omega":2.26093, "ax":1.34536, "ay":5.84446, "alpha":41.16775, "fx":[188.2905,108.63157,-49.19831,-158.0177], "fy":[16.75522,159.64997,185.33116,27.96096]}, + {"t":0.07987, "x":7.10501, "y":4.06958, "heading":-3.05112, "vx":0.1045, "vy":0.4674, "omega":3.35694, "ax":1.39015, "ay":5.83381, "alpha":39.29671, "fx":[183.18098,99.51814,-56.56959,-133.4369], "fy":[26.40569,162.65488,180.03394,19.8926]}, + {"t":0.10649, "x":7.10828, "y":4.08409, "heading":-2.96174, "vx":0.14151, "vy":0.62271, "omega":4.40314, "ax":1.44122, "ay":5.82122, "alpha":35.30421, "fx":[167.45291,83.73682,-66.27626,-88.81536], "fy":[40.95516,164.41773,168.43773,14.33736]}, + {"t":0.13311, "x":7.11256, "y":4.10273, "heading":-2.84452, "vx":0.17988, "vy":0.77769, "omega":5.34304, "ax":1.49357, "ay":5.80781, "alpha":24.90274, "fx":[125.4913,58.3284,-56.19322,-28.03835], "fy":[61.4127,150.60001,142.47394,32.76701]}, + {"t":0.15974, "x":7.11788, "y":4.12549, "heading":-2.70227, "vx":0.21964, "vy":0.93231, "omega":6.00602, "ax":1.55049, "ay":5.79263, "alpha":1.28813, "fx":[33.85106,26.75543,17.98284,24.79435], "fy":[94.56799,96.34267,99.49853,95.83242]}, + {"t":0.18636, "x":7.12428, "y":4.15236, "heading":-2.54237, "vx":0.26092, "vy":1.08653, "omega":6.04032, "ax":1.61487, "ay":5.77474, "alpha":-11.95766, "fx":[-19.96137,20.74751,73.73916,33.1512], "fy":[107.63365,61.36499,86.98627,129.0636]}, + {"t":0.21298, "x":7.13179, "y":4.18334, "heading":-2.38156, "vx":0.30391, "vy":1.24027, "omega":5.72197, "ax":1.68782, "ay":5.75352, "alpha":-10.45304, "fx":[-14.2632,30.59879,69.1451,27.06021], "fy":[103.6115,63.84383,91.90336,124.27491]}, + {"t":0.23961, "x":7.14048, "y":4.2184, "heading":-2.22923, "vx":0.34884, "vy":1.39345, "omega":5.44368, "ax":1.77269, "ay":5.72756, "alpha":-8.03863, "fx":[-3.93295,37.51143,60.73333,23.88757], "fy":[97.87815,71.72911,94.96128,117.33421]}, + {"t":0.26623, "x":7.1504, "y":4.25752, "heading":-2.0843, "vx":0.39604, "vy":1.54593, "omega":5.22967, "ax":1.87267, "ay":5.6952, "alpha":-6.79539, "fx":[2.13174,42.05627,57.63484,23.04296], "fy":[94.90336,76.47471,95.74899,112.61782]}, + {"t":0.29285, "x":7.16161, "y":4.3007, "heading":-1.94507, "vx":0.44589, "vy":1.69755, "omega":5.04875, "ax":1.99493, "ay":5.65297, "alpha":-10.75075, "fx":[-8.97101,57.6271,68.61228,15.74953], "fy":[90.16423,62.12363,101.91831,122.72294]}, + {"t":0.31948, "x":7.17419, "y":4.3479, "heading":-1.81066, "vx":0.49901, "vy":1.84805, "omega":4.76254, "ax":2.15338, "ay":5.59381, "alpha":-18.09961, "fx":[-31.18982,85.84757,87.45132,1.47448], "fy":[77.09331,41.20403,114.16029,140.52703]}, + {"t":0.3461, "x":7.18823, "y":4.39908, "heading":-1.68386, "vx":0.55634, "vy":1.99698, "omega":4.28067, "ax":2.35788, "ay":5.50983, "alpha":-19.59759, "fx":[-28.08992,102.52536,87.60661,-4.82326], "fy":[66.15862,40.11338,119.70628,141.40682]}, + {"t":0.37272, "x":7.20388, "y":4.4542, "heading":-1.5699, "vx":0.61911, "vy":2.14367, "omega":3.75892, "ax":2.62072, "ay":5.38859, "alpha":-17.96032, "fx":[-10.44596,104.99259,82.88574,-2.68806], "fy":[60.42564,44.7708,119.2635,134.84065]}, + {"t":0.39934, "x":7.22129, "y":4.51318, "heading":-1.46983, "vx":0.68888, "vy":2.28713, "omega":3.28077, "ax":2.96767, "ay":5.20392, "alpha":-16.29027, "fx":[9.75733,106.49019,79.53899,2.09229], "fy":[52.29688,49.90033,117.24641,127.54348]}, + {"t":0.42597, "x":7.24068, "y":4.57591, "heading":-1.38248, "vx":0.76789, "vy":2.42567, "omega":2.84707, "ax":3.43985, "ay":4.90219, "alpha":-14.84334, "fx":[27.15208,108.98798,81.24395,11.97885], "fy":[47.00889,48.41992,112.63435,118.80552]}, + {"t":0.45259, "x":7.26235, "y":4.64223, "heading":-1.30669, "vx":0.85947, "vy":2.55618, "omega":2.4519, "ax":4.09363, "ay":4.36723, "alpha":-13.48887, "fx":[49.4464,112.88996,85.76915,24.84956], "fy":[33.8863,46.22161,104.73823,106.35242]}, + {"t":0.47921, "x":7.28668, "y":4.71183, "heading":-1.24141, "vx":0.96845, "vy":2.67245, "omega":2.09278, "ax":4.96074, "ay":3.34293, "alpha":-11.51912, "fx":[68.33371,118.60647,95.96753,47.86523], "fy":[20.03137,32.53392,88.11055,82.22454]}, + {"t":0.50584, "x":7.31422, "y":4.78416, "heading":-1.18569, "vx":1.10052, "vy":2.76145, "omega":1.78611, "ax":5.81112, "ay":1.40178, "alpha":-7.98788, "fx":[88.31189,119.37797,106.35669,73.42754], "fy":[-5.1587,11.24509,49.44914,37.93244]}, + {"t":0.53246, "x":7.34558, "y":4.85818, "heading":-1.13814, "vx":1.25523, "vy":2.79877, "omega":1.57345, "ax":5.81696, "ay":-1.3722, "alpha":-2.43083, "fx":[92.76322,103.6965,99.70767,91.69659], "fy":[-32.47343,-25.92105,-13.77293,-19.32823]}, + {"t":0.55908, "x":7.38106, "y":4.9322, "heading":-1.09625, "vx":1.4101, "vy":2.76224, "omega":1.50873, "ax":4.75192, "ay":-3.63025, "alpha":2.98514, "fx":[84.15892,69.82618,74.73918,88.12433], "fy":[-49.39975,-59.91009,-70.52548,-62.2227]}, + {"t":0.58571, "x":7.42028, "y":5.00446, "heading":-1.05608, "vx":1.53661, "vy":2.66559, "omega":1.58821, "ax":3.5583, "ay":-4.8113, "alpha":6.66999, "fx":[70.17521,35.96722,49.62551,81.49246], "fy":[-59.03915,-77.20292,-101.55786,-83.00854]}, + {"t":0.61233, "x":7.46245, "y":5.07372, "heading":-1.0138, "vx":1.63134, "vy":2.5375, "omega":1.76578, "ax":2.66571, "ay":-5.3613, "alpha":9.16401, "fx":[59.20445,9.97297,33.14751,75.4194], "fy":[-59.15647,-89.25292,-116.48708,-92.58486]}, + {"t":0.63895, "x":7.50683, "y":5.13937, "heading":-0.96679, "vx":1.70231, "vy":2.39476, "omega":2.00975, "ax":2.0451, "ay":-5.62984, "alpha":11.16032, "fx":[49.204,-10.1528,23.08282,74.22913], "fy":[-59.22803,-93.45424,-125.71501,-96.98962]}, + {"t":0.66557, "x":7.55287, "y":5.20113, "heading":-0.91328, "vx":1.75675, "vy":2.24488, "omega":2.30688, "ax":1.60695, "ay":-5.77193, "alpha":12.98856, "fx":[41.25456,-26.26609,17.43487,74.72494], "fy":[-55.29311,-99.04493,-131.66586,-98.85742]}, + {"t":0.6922, "x":7.60021, "y":5.25885, "heading":-0.85187, "vx":1.79954, "vy":2.09121, "omega":2.65267, "ax":1.28644, "ay":-5.85297, "alpha":12.58906, "fx":[30.42818,-30.03358,15.69929,69.68357], "fy":[-58.6316,-101.0742,-131.90488,-98.65423]}, + {"t":0.71882, "x":7.64858, "y":5.31245, "heading":-0.78125, "vx":1.83378, "vy":1.93539, "omega":2.98783, "ax":1.04, "ay":-5.90271, "alpha":6.28654, "fx":[19.43848,-9.51311,15.91321,43.50652], "fy":[-80.68835,-101.79986,-114.26632,-96.82655]}, + {"t":0.74544, "x":7.69777, "y":5.36189, "heading":-0.7017, "vx":1.86147, "vy":1.77824, "omega":3.15519, "ax":0.85683, "ay":-5.93281, "alpha":1.72672, "fx":[14.38862,6.12957,14.65657,21.95694], "fy":[-94.92893,-99.95651,-102.77929,-97.92346]}, + {"t":0.77207, "x":7.74763, "y":5.40713, "heading":-0.6177, "vx":1.88428, "vy":1.62029, "omega":3.20116, "ax":0.7124, "ay":-5.95247, "alpha":2.18957, "fx":[10.75462,2.98174,12.99242,20.77298], "fy":[-93.09855,-101.0853,-104.95761,-97.75773]}, + {"t":0.79869, "x":7.79805, "y":5.44815, "heading":-0.53248, "vx":1.90325, "vy":1.46182, "omega":3.25946, "ax":0.59378, "ay":-5.96595, "alpha":3.36194, "fx":[6.6927,-3.00994,13.08816,22.82088], "fy":[-90.03786,-102.40264,-108.86284,-96.4949]}, + {"t":0.82531, "x":7.84893, "y":5.48496, "heading":-0.4457, "vx":1.91906, "vy":1.30299, "omega":3.34896, "ax":0.4961, "ay":-5.97527, "alpha":4.77231, "fx":[2.09306,-9.30809,14.07539,26.21841], "fy":[-86.13352,-105.15975,-112.40942,-94.71664]}, + {"t":0.85194, "x":7.90019, "y":5.51753, "heading":-0.35654, "vx":1.93227, "vy":1.14391, "omega":3.47601, "ax":0.41767, "ay":-5.9816, "alpha":2.92329, "fx":[2.64349,0.55051,10.15016,14.5054], "fy":[-88.2449,-104.08081,-111.15259,-95.36301]}, + {"t":0.87856, "x":7.95178, "y":5.54586, "heading":-0.264, "vx":1.94339, "vy":0.98466, "omega":3.55384, "ax":0.34045, "ay":-5.98677, "alpha":-18.05734, "fx":[35.22274,82.15979,-42.92446,-51.75724], "fy":[-137.0315,-75.71206,-58.79525,-127.64778]}, + {"t":0.90518, "x":8.00364, "y":5.56996, "heading":-0.16939, "vx":1.95245, "vy":0.82528, "omega":3.0731, "ax":0.26559, "ay":-5.9908, "alpha":-33.79601, "fx":[65.27532,147.23295,-116.32574,-78.47363], "fy":[-165.79821,-50.95632,-25.12022,-157.58051]}, + {"t":0.9318, "x":8.05572, "y":5.5898, "heading":-0.08757, "vx":1.95952, "vy":0.66578, "omega":2.17335, "ax":0.19829, "ay":-5.99361, "alpha":-39.71847, "fx":[79.23054,172.77518,-159.64279,-79.14111], "fy":[-171.22479,-36.91436,-21.21674,-170.28678]}, + {"t":0.95843, "x":8.10796, "y":5.60541, "heading":-0.02971, "vx":1.9648, "vy":0.50622, "omega":1.11593, "ax":0.14185, "ay":-5.9954, "alpha":-41.91593, "fx":[83.87258,181.67783,-177.65586,-78.43602], "fy":[-172.68444,-28.18119,-24.04351,-174.85248]}, + {"t":0.98505, "x":8.16032, "y":5.61676, "heading":0.0, "vx":1.96858, "vy":0.3466, "omega":0.0, "ax":0.72921, "ay":-5.94911, "alpha":0.0, "fx":[12.25618,12.19523,12.09331,12.0775], "fy":[-99.09119,-99.46552,-99.01248,-99.10622]}, + {"t":1.01682, "x":8.22323, "y":5.62477, "heading":0.0, "vx":1.99174, "vy":0.15759, "omega":0.0, "ax":0.22975, "ay":-5.98591, "alpha":0.0, "fx":[3.66418,3.77003,3.90519,3.98], "fy":[-100.19835,-99.67303,-99.66605,-99.59172]}, + {"t":1.04859, "x":8.28662, "y":5.62675, "heading":0.0, "vx":1.99904, "vy":-0.03258, "omega":0.0, "ax":-0.01566, "ay":-0.7747, "alpha":0.0, "fx":[-0.27997,-0.28491,-0.23879,-0.24069], "fy":[-12.934,-12.8583,-12.92666,-12.93637]}, + {"t":1.08036, "x":8.35012, "y":5.62533, "heading":0.0, "vx":1.99855, "vy":-0.05719, "omega":0.0, "ax":0.01409, "ay":0.58895, "alpha":0.0, "fx":[0.22265,0.22248,-0.01354,0.50818], "fy":[10.01585,9.83005,9.8298,9.5945]}, + {"t":1.11213, "x":8.41363, "y":5.62381, "heading":0.0, "vx":1.99899, "vy":-0.03848, "omega":0.0, "ax":0.00724, "ay":0.46598, "alpha":0.0, "fx":[0.1128,0.11259,0.12887,0.12879], "fy":[7.75969,7.81297,7.73858,7.75959]}, + {"t":1.1439, "x":8.47714, "y":5.62282, "heading":0.0, "vx":1.99922, "vy":-0.02368, "omega":0.0, "ax":0.00251, "ay":0.25622, "alpha":0.0, "fx":[0.04575,0.04619,0.13768,-0.06219], "fy":[4.19168,4.26704,4.26702,4.35882]}, + {"t":1.17567, "x":8.54066, "y":5.6222, "heading":0.0, "vx":1.9993, "vy":-0.01554, "omega":0.0, "ax":0.001, "ay":0.15327, "alpha":0.0, "fx":[0.05177,0.05171,-0.01826,-0.01829], "fy":[2.59,2.39182,2.64811,2.58996]}, + {"t":1.20744, "x":8.60417, "y":5.62178, "heading":0.0, "vx":1.99933, "vy":-0.01067, "omega":0.0, "ax":0.00056, "ay":0.12959, "alpha":0.0, "fx":[0.00085,0.00088,0.12383,-0.08836], "fy":[2.01206,2.16871,2.16871,2.29161]}, + {"t":1.23921, "x":8.66769, "y":5.62151, "heading":0.0, "vx":1.99935, "vy":-0.00655, "omega":0.0, "ax":0.0003, "ay":0.13523, "alpha":0.0, "fx":[0.04124,0.04124,-0.03132,-0.03132], "fy":[2.29045,2.0787,2.35707,2.29044]}, + {"t":1.27098, "x":8.73121, "y":5.62137, "heading":0.0, "vx":1.99936, "vy":-0.00225, "omega":0.0, "ax":0.0, "ay":0.14048, "alpha":0.0, "fx":[-0.01379,-0.01379,0.09489,-0.0672], "fy":[2.19161,2.35554,2.35554,2.4642]}, + {"t":1.30275, "x":8.79474, "y":5.62137, "heading":0.0, "vx":1.99936, "vy":0.00221, "omega":0.0, "ax":-0.0003, "ay":0.13587, "alpha":0.0, "fx":[0.02957,0.02957,-0.03945,-0.03945], "fy":[2.29946,2.09879,2.36211,2.29946]}, + {"t":1.33452, "x":8.85826, "y":5.6215, "heading":0.0, "vx":1.99935, "vy":0.00653, "omega":0.0, "ax":-0.00056, "ay":0.13102, "alpha":0.0, "fx":[-0.02039,-0.02039,0.07843,-0.07525], "fy":[2.05228,2.19501,2.19501,2.29378]}, + {"t":1.3663, "x":8.92178, "y":5.62178, "heading":0.0, "vx":1.99933, "vy":0.01069, "omega":0.0, "ax":-0.00103, "ay":0.15632, "alpha":0.0, "fx":[0.00936,0.00936,-0.04367,-0.04367], "fy":[2.63229,2.4859,2.67262,2.63229]}, + {"t":1.39807, "x":8.9853, "y":5.6222, "heading":0.0, "vx":1.9993, "vy":0.01565, "omega":0.0, "ax":-0.00254, "ay":0.2577, "alpha":0.0, "fx":[-0.02146,-0.02145,0.04568,-0.17236], "fy":[4.29159,4.27484,4.27484,4.34186]}, + {"t":1.42984, "x":9.04881, "y":5.62282, "heading":0.0, "vx":1.99922, "vy":0.02384, "omega":0.0, "ax":-0.00722, "ay":0.46297, "alpha":0.0, "fx":[-0.14724,-0.1472,-0.09365,-0.09363], "fy":[7.69072,7.85674,7.63187,7.69073]}, + {"t":1.46161, "x":9.11232, "y":5.62382, "heading":0.0, "vx":1.99899, "vy":0.03855, "omega":0.0, "ax":-0.01371, "ay":0.57477, "alpha":0.0, "fx":[-0.1235,-0.12359,-0.21549,-0.45152], "fy":[9.98801,9.4762,9.47616,9.38428]}, + {"t":1.49338, "x":9.17583, "y":5.62533, "heading":0.0, "vx":1.99856, "vy":0.05681, "omega":0.0, "ax":0.01633, "ay":-0.76584, "alpha":0.0, "fx":[0.23642,0.23533,0.30878,0.3084], "fy":[-12.8023,-12.62272,-12.83688,-12.80273]}, + {"t":1.52515, "x":9.23933, "y":5.62675, "heading":0.0, "vx":1.99907, "vy":0.03248, "omega":0.0, "ax":-0.19871, "ay":-5.9787, "alpha":0.0, "fx":[-3.41569,-3.41595,-3.37393,-3.04381], "fy":[-100.01686,-99.55931,-99.55799,-99.51433]}, + {"t":1.55692, "x":9.30274, "y":5.62476, "heading":0.0, "vx":1.99276, "vy":-0.15747, "omega":0.0, "ax":-0.7292, "ay":-5.94964, "alpha":0.0, "fx":[-12.10863,-12.10432,-12.20429,-12.20454], "fy":[-99.12989,-99.36386,-99.08952,-99.1276]}, + {"t":1.58869, "x":9.36568, "y":5.61676, "heading":0.0, "vx":1.96959, "vy":-0.34649, "omega":0.0, "ax":2.95454, "ay":-5.21457, "alpha":-0.00847, "fx":[49.35337,49.24097,49.21399,49.19473], "fy":[-86.90803,-87.05328,-86.80573,-86.9303]}, + {"t":1.62269, "x":9.43436, "y":5.60196, "heading":0.0, "vx":2.07005, "vy":-0.52378, "omega":-0.00029, "ax":2.90699, "ay":-5.24449, "alpha":0.01769, "fx":[48.24755,48.37333,48.24382,48.96762], "fy":[-87.57963,-87.3549,-87.36857,-87.38975]}, + {"t":1.65669, "x":9.50642, "y":5.58112, "heading":-0.00001, "vx":2.16888, "vy":-0.70209, "omega":0.00031, "ax":2.84293, "ay":-5.27885, "alpha":-0.00559, "fx":[47.47364,47.36026,47.36892,47.35857], "fy":[-87.99035,-88.08027,-87.91035,-88.00276]}, + {"t":1.69069, "x":9.5818, "y":5.5542, "heading":0.0, "vx":2.26554, "vy":-0.88156, "omega":0.00012, "ax":2.75537, "ay":-5.32423, "alpha":0.0197, "fx":[45.68055,45.84051,45.73928,46.46229], "fy":[-88.95239,-88.67364,-88.68259,-88.70052]}, + {"t":1.72468, "x":9.66042, "y":5.52115, "heading":0.00001, "vx":2.35922, "vy":-1.06258, "omega":0.00079, "ax":2.6299, "ay":-5.3861, "alpha":-0.00765, "fx":[43.87669,43.83804,43.82047,43.82171], "fy":[-89.8025,-89.77424,-89.75476,-89.803]}, + {"t":1.75868, "x":9.74215, "y":5.48191, "heading":0.00003, "vx":2.44863, "vy":-1.2457, "omega":0.00053, "ax":2.43318, "ay":-5.47595, "alpha":0.01612, "fx":[40.4673,40.47317,40.45412,40.84495], "fy":[-91.26504,-91.2726,-91.26811,-91.32022]}, + {"t":1.79268, "x":9.8268, "y":5.4364, "heading":0.00005, "vx":2.53136, "vy":-1.43188, "omega":0.00108, "ax":2.08658, "ay":-5.6141, "alpha":-0.02517, "fx":[34.74513,34.86956,34.75298,34.76147], "fy":[-93.68544,-93.29377,-93.67972,-93.67819]}, + {"t":1.82668, "x":9.91407, "y":5.38447, "heading":0.00009, "vx":2.6023, "vy":-1.62275, "omega":0.00023, "ax":1.32407, "ay":-5.83496, "alpha":-0.00008, "fx":[21.98128,21.98368,22.00311,22.31841], "fy":[-97.53689,-97.17839,-97.17463,-97.17423]}, + {"t":1.86068, "x":10.00331, "y":5.32593, "heading":0.00009, "vx":2.64731, "vy":-1.82113, "omega":0.00022, "ax":-1.17708, "ay":-5.84927, "alpha":0.06864, "fx":[-19.64709,-19.57684,-19.63034,-19.63138], "fy":[-97.16022,-98.5334,-97.16309,-97.16143]}, + {"t":1.89468, "x":10.09264, "y":5.26063, "heading":0.0001, "vx":2.6073, "vy":-2.02, "omega":0.00256, "ax":-3.76007, "ay":-4.59212, "alpha":-0.23506, "fx":[-61.78042,-61.96404,-61.75263,-65.21745], "fy":[-78.01626,-76.19845,-76.22119,-75.75775]}, + {"t":1.92868, "x":10.17911, "y":5.1893, "heading":0.00019, "vx":2.47946, "vy":-2.17613, "omega":-0.00544, "ax":-3.98117, "ay":-4.27121, "alpha":0.16431, "fx":[-66.3974,-66.2174,-66.4199,-66.42213], "fy":[-70.34137,-73.78383,-70.32807,-70.34279]}, + {"t":1.96268, "x":10.26111, "y":5.11284, "heading":0.0, "vx":2.3441, "vy":-2.32135, "omega":0.00015, "ax":0.11439, "ay":0.88178, "alpha":0.07678, "fx":[1.49087,1.49179,1.54812,3.09679], "fy":[14.51516,14.74044,14.74055,14.79945]}, + {"t":1.99668, "x":10.34087, "y":5.03443, "heading":0.00001, "vx":2.34799, "vy":-2.29137, "omega":0.00276, "ax":-3.13949, "ay":5.07763, "alpha":-0.14678, "fx":[-52.46344,-52.11876,-52.38498,-52.36813], "fy":[83.96311,86.74707,83.88066,83.97602]}, + {"t":2.03067, "x":10.41889, "y":4.95946, "heading":0.0001, "vx":2.24125, "vy":-2.11873, "omega":-0.00223, "ax":-3.24282, "ay":5.03076, "alpha":0.05366, "fx":[-53.93389,-54.14158,-54.13299,-54.01641], "fy":[84.68073,83.57771,83.58327,83.59976]}, + {"t":2.06467, "x":10.49321, "y":4.89033, "heading":0.00003, "vx":2.131, "vy":-1.94769, "omega":-0.0004, "ax":-3.26996, "ay":5.01911, "alpha":-0.00034, "fx":[-54.48493,-54.54879,-54.50473,-54.49591], "fy":[83.6548,83.69877,83.65351,83.65772]}, + {"t":2.09867, "x":10.56378, "y":4.82701, "heading":0.00001, "vx":2.01982, "vy":-1.77705, "omega":-0.00042, "ax":-3.28475, "ay":5.01238, "alpha":0.04953, "fx":[-55.20427,-54.93102,-54.91712,-53.96853], "fy":[83.0616,83.61915,83.63117,83.90394]}, + {"t":2.13267, "x":10.63055, "y":4.76949, "heading":0.0, "vx":1.90815, "vy":-1.60663, "omega":0.00127, "ax":-3.29244, "ay":5.00908, "alpha":-0.03225, "fx":[-54.93459,-54.75768,-54.92451,-54.91681], "fy":[83.3744,83.86277,83.37489,83.38395]}, + {"t":2.16667, "x":10.69352, "y":4.71776, "heading":0.00004, "vx":1.79621, "vy":-1.43633, "omega":0.00017, "ax":-3.29826, "ay":5.00641, "alpha":0.01185, "fx":[-54.69235,-55.0218,-55.00101,-55.20645], "fy":[84.0531,83.26969,83.27722,83.21805]}, + {"t":2.20067, "x":10.75268, "y":4.67182, "heading":0.00005, "vx":1.68407, "vy":-1.26611, "omega":0.00057, "ax":-3.3021, "ay":5.00471, "alpha":-0.03024, "fx":[-55.11021,-54.9102,-55.08475,-55.07238], "fy":[83.3063,83.78658,83.29181,83.31974]}, + {"t":2.23467, "x":10.80803, "y":4.63167, "heading":0.00007, "vx":1.5718, "vy":-1.09596, "omega":-0.00045, "ax":-3.30522, "ay":5.00327, "alpha":0.00835, "fx":[-54.90824,-55.12659,-55.08574,-55.26498], "fy":[83.8005,83.27637,83.28846,83.243]}, + {"t":2.26867, "x":10.85956, "y":4.5973, "heading":0.00005, "vx":1.45943, "vy":-0.92585, "omega":-0.00017, "ax":-3.30745, "ay":5.00227, "alpha":-0.01859, "fx":[-55.18957,-55.04704,-55.15659,-55.14145], "fy":[83.30245,83.64142,83.27981,83.3181]}, + {"t":2.30267, "x":10.90727, "y":4.56871, "heading":0.00005, "vx":1.34698, "vy":-0.75578, "omega":-0.0008, "ax":-3.30939, "ay":5.00137, "alpha":0.00651, "fx":[-55.02844,-55.18969,-55.13969,-55.30623], "fy":[83.66598,83.27468,83.28883,83.25227]}, + {"t":2.33666, "x":10.95115, "y":4.54591, "heading":0.00002, "vx":1.23446, "vy":-0.58574, "omega":-0.00058, "ax":-3.3109, "ay":5.00069, "alpha":-0.01114, "fx":[-55.23896,-55.13655,-55.2025,-55.18638], "fy":[83.29999,83.54695,83.27298,83.31631]}, + {"t":2.37066, "x":10.99121, "y":4.52888, "heading":0.0, "vx":1.12189, "vy":-0.41572, "omega":-0.00096, "ax":-0.61286, "ay":0.78449, "alpha":0.00207, "fx":[-10.25101,-10.25033,-10.18179,-10.18126], "fy":[13.05231,13.24164,12.96132,13.0527]}, + {"t":2.40536, "x":11.02976, "y":4.51493, "heading":-0.00003, "vx":1.10063, "vy":-0.3885, "omega":-0.00089, "ax":-0.70862, "ay":0.70282, "alpha":0.01516, "fx":[-11.79871,-11.80061,-11.73095,-11.91892], "fy":[11.9066,11.62902,11.62956,11.69779]}, + {"t":2.44006, "x":11.06753, "y":4.50188, "heading":-0.00006, "vx":1.07604, "vy":-0.36412, "omega":-0.00036, "ax":-0.77253, "ay":0.6323, "alpha":0.00135, "fx":[-12.89861,-12.89799,-12.85716,-12.85673], "fy":[10.52581,10.63859,10.46979,10.52617]}, + {"t":2.47475, "x":11.1044, "y":4.48962, "heading":-0.00008, "vx":1.04924, "vy":-0.34218, "omega":-0.00031, "ax":-0.81695, "ay":0.5741, "alpha":0.00653, "fx":[-13.59122,-13.59253,-13.54737,-13.74132], "fy":[9.70014,9.51182,9.51219,9.556]}, + {"t":2.50945, "x":11.14031, "y":4.4781, "heading":-0.00009, "vx":1.0209, "vy":-0.32226, "omega":-0.00009, "ax":-0.84877, "ay":0.52623, "alpha":0.00066, "fx":[-14.16262,-14.16221,-14.13488,-14.13459], "fy":[8.76121,8.84188,8.72333,8.76145]}, + {"t":2.54415, "x":11.17522, "y":4.46723, "heading":-0.00009, "vx":0.99145, "vy":-0.304, "omega":-0.00006, "ax":-0.87224, "ay":0.4866, "alpha":0.00279, "fx":[-14.51141,-14.51231,-14.48035,-14.65549], "fy":[8.20544,8.0697,8.06996,8.10077]}, + {"t":2.57884, "x":11.20909, "y":4.45698, "heading":-0.00009, "vx":0.96118, "vy":-0.28712, "omega":0.00003, "ax":-0.89003, "ay":0.4535, "alpha":0.00046, "fx":[-14.84669,-14.8464,-14.82624,-14.82605], "fy":[7.55167,7.6115,7.52381,7.55185]}, + {"t":2.61354, "x":11.24191, "y":4.44729, "heading":-0.00009, "vx":0.9303, "vy":-0.27138, "omega":0.00005, "ax":-0.90382, "ay":0.42557, "alpha":0.00093, "fx":[-15.03907,-15.03973,-15.01524,-15.17117], "fy":[7.16475,7.06246,7.06265,7.08618]}, + {"t":2.64823, "x":11.27364, "y":4.43813, "heading":-0.00009, "vx":0.89894, "vy":-0.25662, "omega":0.00008, "ax":-0.91475, "ay":0.40175, "alpha":0.00052, "fx":[-15.25664,-15.25644,-15.24035,-15.2402], "fy":[6.69124,6.73586,6.66922,6.69137]}, + {"t":2.68293, "x":11.30428, "y":4.42947, "heading":-0.00009, "vx":0.8672, "vy":-0.24268, "omega":0.0001, "ax":-0.92356, "ay":0.38124, "alpha":0.00001, "fx":[-15.37016,-15.37065,-15.35066,-15.48953], "fy":[6.41046,6.3301,6.33025,6.34945]}, + {"t":2.71763, "x":11.33381, "y":4.42127, "heading":-0.00008, "vx":0.83516, "vy":-0.22945, "omega":0.0001, "ax":-0.93077, "ay":0.36343, "alpha":0.00066, "fx":[-15.52249,-15.52235,-15.50876,-15.50865], "fy":[6.05444,6.08744,6.03606,6.05455]}, + {"t":2.75232, "x":11.36223, "y":4.41353, "heading":-0.00008, "vx":0.80287, "vy":-0.21684, "omega":0.00012, "ax":-0.93677, "ay":0.34783, "alpha":-0.0005, "fx":[-15.59269,-15.59307,-15.57595,-15.70037], "fy":[5.84225,5.7778,5.77792,5.79437]}, + {"t":2.78702, "x":11.38952, "y":4.40622, "heading":-0.00008, "vx":0.77036, "vy":-0.20477, "omega":0.0001, "ax":-0.94181, "ay":0.33406, "alpha":0.00073, "fx":[-15.70565,-15.70554,-15.69365,-15.69356], "fy":[5.56619,5.59202,5.55019,5.56627]}, + {"t":2.82172, "x":11.41568, "y":4.39931, "heading":-0.00007, "vx":0.73769, "vy":-0.19318, "omega":0.00013, "ax":-0.9461, "ay":0.32184, "alpha":-0.00072, "fx":[-15.7504,-15.75071,-15.73557,-15.84773], "fy":[5.40147,5.34779,5.34789,5.36246]}, + {"t":2.85641, "x":11.44071, "y":4.39281, "heading":-0.00007, "vx":0.70486, "vy":-0.18202, "omega":0.00011, "ax":-0.94979, "ay":0.31092, "alpha":0.00084, "fx":[-15.83791,-15.83783,-15.82719,-15.82711], "fy":[5.18152,5.20088,5.16724,5.18159]}, + {"t":2.89111, "x":11.46459, "y":4.38668, "heading":-0.00006, "vx":0.6719, "vy":-0.17123, "omega":0.00013, "ax":-0.95298, "ay":0.3011, "alpha":-0.00086, "fx":[-15.86684,-15.8671,-15.85342,-15.95549], "fy":[5.04957,5.00457,5.00466,5.01785]}, + {"t":2.9258, "x":11.48733, "y":4.38092, "heading":-0.00006, "vx":0.63884, "vy":-0.16078, "omega":0.0001, "ax":-0.95577, "ay":0.29223, "alpha":0.0009, "fx":[-15.93705,-15.93698,-15.92736,-15.92729], "fy":[4.87088,4.8857,4.85789,4.87094]}, + {"t":2.9605, "x":11.50892, "y":4.37551, "heading":-0.00006, "vx":0.60568, "vy":-0.15064, "omega":0.00014, "ax":-0.95822, "ay":0.28418, "alpha":-0.00089, "fx":[-15.95582,-15.95603,-15.9435,-16.03675], "fy":[4.76332,4.72443,4.7245,4.73661]}, + {"t":2.9952, "x":11.52936, "y":4.37046, "heading":-0.00005, "vx":0.57243, "vy":-0.14078, "omega":0.0001, "ax":-0.96039, "ay":0.27685, "alpha":0.00094, "fx":[-16.01363,-16.01358,-16.00481,-16.00475], "fy":[4.61509,4.62647,4.60315,4.61515]}, + {"t":3.02989, "x":11.54864, "y":4.36574, "heading":-0.00005, "vx":0.53911, "vy":-0.13118, "omega":0.00014, "ax":-0.96232, "ay":0.27014, "alpha":-0.00092, "fx":[-16.0256,-16.02578,-16.0142,-16.1], "fy":[4.52556,4.49184,4.49191,4.50313]}, + {"t":3.06459, "x":11.56677, "y":4.36135, "heading":-0.00004, "vx":0.50572, "vy":-0.1218, "omega":0.00011, "ax":-0.96405, "ay":0.26398, "alpha":0.00095, "fx":[-16.07428,-16.07423,-16.06622,-16.06616], "fy":[4.40097,4.40967,4.3899,4.40102]}, + {"t":3.09929, "x":11.58374, "y":4.35728, "heading":-0.00004, "vx":0.47227, "vy":-0.11265, "omega":0.00014, "ax":-0.9656, "ay":0.2583, "alpha":-0.00095, "fx":[-16.08154,-16.0817,-16.07094,-16.15047], "fy":[4.325,4.29581,4.29587,4.30631]}, + {"t":3.13398, "x":11.59954, "y":4.35353, "heading":-0.00003, "vx":0.43877, "vy":-0.10368, "omega":0.00011, "ax":-0.96701, "ay":0.25305, "alpha":0.00096, "fx":[-16.1233,-16.12327,-16.11594,-16.1159], "fy":[4.21924,4.22559,4.20898,4.21928]}, + {"t":3.16868, "x":11.61418, "y":4.35009, "heading":-0.00003, "vx":0.40522, "vy":-0.0949, "omega":0.00014, "ax":-0.96829, "ay":0.24819, "alpha":-0.00097, "fx":[-16.12726,-16.1274,-16.11746,-16.1914], "fy":[4.15399,4.12833,4.12838,4.13804]}, + {"t":3.20338, "x":11.62766, "y":4.34694, "heading":-0.00003, "vx":0.37162, "vy":-0.08629, "omega":0.00011, "ax":-0.96945, "ay":0.24367, "alpha":0.00092, "fx":[-16.1636,-16.16357,-16.15696,-16.15692], "fy":[4.06295,4.06779,4.05354,4.06298]}, + {"t":3.23807, "x":11.63997, "y":4.3441, "heading":-0.00002, "vx":0.33799, "vy":-0.07784, "omega":0.00014, "ax":-0.97051, "ay":0.23945, "alpha":-0.00103, "fx":[-16.16514,-16.16526,-16.15624,-16.22531], "fy":[4.00613,3.98379,3.98383,3.99259]}, + {"t":3.27277, "x":11.65111, "y":4.34154, "heading":-0.00002, "vx":0.30431, "vy":-0.06953, "omega":0.0001, "ax":-0.97149, "ay":0.23552, "alpha":0.00084, "fx":[-16.19717,-16.19714,-16.19137,-16.19133], "fy":[3.92717,3.93082,3.91881,3.9272]}, + {"t":3.30746, "x":11.66109, "y":4.33927, "heading":-0.00001, "vx":0.27061, "vy":-0.06136, "omega":0.00013, "ax":-0.97239, "ay":0.23184, "alpha":-0.00116, "fx":[-16.19684,-16.19695,-16.18917,-16.25391], "fy":[3.87705,3.85791,3.85795,3.86549]}, + {"t":3.34216, "x":11.66989, "y":4.33728, "heading":-0.00001, "vx":0.23687, "vy":-0.05331, "omega":0.00009, "ax":-0.97322, "ay":0.22838, "alpha":0.00065, "fx":[-16.22536,-16.22533,-16.22073,-16.22071], "fy":[3.80787,3.81122,3.80105,3.80789]}, + {"t":3.37686, "x":11.67752, "y":4.33557, "heading":-0.00001, "vx":0.2031, "vy":-0.04539, "omega":0.00011, "ax":-0.97398, "ay":0.22513, "alpha":-0.00146, "fx":[-16.22343,-16.22352,-16.21767,-16.27866], "fy":[3.76293,3.74765,3.74767,3.75328]}, + {"t":3.41155, "x":11.68398, "y":4.33413, "heading":0.0, "vx":0.16931, "vy":-0.03758, "omega":0.00006, "ax":-0.97469, "ay":0.22208, "alpha":0.00028, "fx":[-16.24906,-16.24902,-16.24634,-16.24632], "fy":[3.70194,3.70613,3.69765,3.70195]}, + {"t":3.44625, "x":11.68927, "y":4.33296, "heading":0.0, "vx":0.13549, "vy":-0.02987, "omega":0.00007, "ax":-0.97536, "ay":0.21919, "alpha":-0.00205, "fx":[-16.24555,-16.24561,-16.24307,-16.30065], "fy":[3.66109,3.65068,3.65068,3.65297]}, + {"t":3.48095, "x":11.69339, "y":4.33205, "heading":0.0, "vx":0.10165, "vy":-0.02227, "omega":0.0, "ax":-0.97597, "ay":0.21647, "alpha":-0.00045, "fx":[-16.26871,-16.26866,-16.26934,-16.26934], "fy":[3.6066,3.61387,3.60673,3.60659]}, + {"t":3.51564, "x":11.69632, "y":4.33141, "heading":0.0, "vx":0.06778, "vy":-0.01476, "omega":-0.00001, "ax":-0.97655, "ay":0.21389, "alpha":-0.00099, "fx":[-16.27711,-16.27705,-16.28016,-16.28018], "fy":[3.56222,3.57198,3.56551,3.5622]}, + {"t":3.55034, "x":11.69809, "y":4.33103, "heading":0.0, "vx":0.0339, "vy":-0.00734, "omega":-0.00005, "ax":-0.97709, "ay":0.21145, "alpha":0.00141, "fx":[-16.27089,-16.32395,-16.27781,-16.27785], "fy":[3.52184,3.52762,3.5278,3.5218]}, + {"t":3.58503, "x":11.69868, "y":4.3309, "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/startHToH.traj b/src/main/deploy/choreo/startHToH.traj index 40489af0..e11befb8 100644 --- a/src/main/deploy/choreo/startHToH.traj +++ b/src/main/deploy/choreo/startHToH.traj @@ -3,25 +3,25 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1008875, "y":4.0509, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1008875, "y":4.0509, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.827323, "y":4.0509, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":3.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"startH.x", "val":7.1008875}, "y":{"exp":"startH.y", "val":4.0509}, "heading":{"exp":"startH.heading", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"startH.x", "val":7.1008875}, "y":{"exp":"startH.y", "val":4.0509}, "heading":{"exp":"startH.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"H.x", "val":5.827323}, "y":{"exp":"H.y", "val":4.0509}, "heading":{"exp":"H.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"maxAccel", "val":3.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", @@ -30,42 +30,36 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.60818], + "waypoints":[0.0,1.30427], "samples":[ - {"t":0.0, "x":7.10089, "y":4.0509, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.99863, "ay":0.0, "alpha":0.0002, "fx":[-49.96561,-50.01021,-49.98348,-49.98348], "fy":[-0.00318,0.00317,0.00317,-0.00317]}, - {"t":0.04873, "x":7.09733, "y":4.0509, "heading":3.14159, "vx":-0.14613, "vy":0.0, "omega":0.00001, "ax":-2.99918, "ay":0.0, "alpha":0.00039, "fx":[-49.97443,-50.01945,-49.99274,-49.99274], "fy":[-0.004,0.00399,0.00399,-0.004]}, - {"t":0.09747, "x":7.08664, "y":4.0509, "heading":-3.14159, "vx":-0.29229, "vy":0.0, "omega":0.00003, "ax":-2.99897, "ay":0.0, "alpha":0.00356, "fx":[-49.98718,-49.98718,-49.99565,-49.99565], "fy":[-0.01312,0.01319,0.01306,-0.01311]}, - {"t":0.1462, "x":7.06884, "y":4.0509, "heading":-3.14159, "vx":-0.43844, "vy":0.0, "omega":0.0002, "ax":-2.99863, "ay":0.0, "alpha":0.00174, "fx":[-49.95623,-50.0184,-49.98412,-49.98412], "fy":[-0.01009,0.01006,0.01007,-0.01009]}, - {"t":0.19493, "x":7.04391, "y":4.0509, "heading":-3.14158, "vx":-0.58457, "vy":0.0, "omega":0.00029, "ax":-2.99795, "ay":0.0, "alpha":0.00714, "fx":[-49.96167,-49.96167,-49.987,-49.987], "fy":[-0.02211,0.02224,0.02204,-0.02211]}, - {"t":0.24366, "x":7.01186, "y":4.0509, "heading":-3.14157, "vx":-0.73067, "vy":0.0, "omega":0.00064, "ax":-2.99591, "ay":0.0, "alpha":0.01773, "fx":[-49.94883,-49.80898,-50.00186,-50.00185], "fy":[-0.02493,0.0249,0.02483,-0.02493]}, - {"t":0.2924, "x":6.9727, "y":4.0509, "heading":-3.14154, "vx":-0.87666, "vy":0.0, "omega":0.0015, "ax":-2.5267, "ay":0.00001, "alpha":0.0176, "fx":[-42.08049,-42.08052,-42.15715,-42.15713], "fy":[-0.04731,0.04763,0.04736,-0.04733]}, - {"t":0.34113, "x":6.92698, "y":4.0509, "heading":-3.14146, "vx":-0.9998, "vy":0.0, "omega":0.00236, "ax":-0.00004, "ay":-0.00001, "alpha":-0.10502, "fx":[0.72127,-1.87954,0.57785,0.57792], "fy":[-0.06698,0.06681,0.06677,-0.06705]}, - {"t":0.38986, "x":6.87825, "y":4.0509, "heading":-3.14135, "vx":-0.9998, "vy":0.0, "omega":-0.00276, "ax":0.0, "ay":0.00001, "alpha":0.01934, "fx":[0.04539,0.04531,-0.04542,-0.04533], "fy":[-0.04863,0.05029,0.04761,-0.04872]}, - {"t":0.43859, "x":6.82953, "y":4.0509, "heading":-3.14148, "vx":-0.9998, "vy":0.0, "omega":-0.00182, "ax":0.0, "ay":-0.00001, "alpha":0.02201, "fx":[-0.02104,0.1813,-0.08014,-0.0801], "fy":[-0.02714,0.027,0.02697,-0.02718]}, - {"t":0.48733, "x":6.78081, "y":4.0509, "heading":-3.14157, "vx":-0.9998, "vy":0.0, "omega":-0.00075, "ax":0.0, "ay":0.0, "alpha":0.00761, "fx":[0.01724,0.01723,-0.01724,-0.01723], "fy":[-0.0198,0.02037,0.01941,-0.01982]}, - {"t":0.53606, "x":6.73209, "y":4.0509, "heading":3.14158, "vx":-0.9998, "vy":0.0, "omega":-0.00038, "ax":0.0, "ay":0.0, "alpha":0.00593, "fx":[0.00715,0.02936,-0.01826,-0.01825], "fy":[-0.01066,0.01059,0.01058,-0.01067]}, - {"t":0.58479, "x":6.68336, "y":4.0509, "heading":3.14156, "vx":-0.9998, "vy":0.0, "omega":-0.00009, "ax":0.0, "ay":0.0, "alpha":0.00305, "fx":[0.00648,0.00647,-0.00648,-0.00647], "fy":[-0.00833,0.00871,0.0081,-0.00833]}, - {"t":0.63352, "x":6.63464, "y":4.0509, "heading":3.14156, "vx":-0.9998, "vy":0.0, "omega":0.00006, "ax":0.0, "ay":0.0, "alpha":0.00189, "fx":[0.00478,0.00613,-0.00546,-0.00545], "fy":[-0.00378,0.00373,0.00372,-0.00378]}, - {"t":0.68226, "x":6.58592, "y":4.0509, "heading":3.14156, "vx":-0.9998, "vy":0.0, "omega":0.00015, "ax":0.0, "ay":0.0, "alpha":0.00103, "fx":[0.00198,0.00198,-0.00198,-0.00198], "fy":[-0.00302,0.00323,0.00289,-0.00302]}, - {"t":0.73099, "x":6.53719, "y":4.0509, "heading":3.14157, "vx":-0.9998, "vy":0.0, "omega":0.0002, "ax":0.0, "ay":0.0, "alpha":0.00045, "fx":[0.00136,0.00143,-0.0014,-0.00139], "fy":[-0.00081,0.00079,0.00079,-0.00081]}, - {"t":0.77972, "x":6.48847, "y":4.0509, "heading":3.14158, "vx":-0.9998, "vy":0.0, "omega":0.00023, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.0001,-0.0001,0.0001,0.0001], "fy":[-0.00012,0.00019,0.00006,-0.00012]}, - {"t":0.82846, "x":6.43975, "y":4.0509, "heading":3.14159, "vx":-0.9998, "vy":0.0, "omega":0.00023, "ax":0.0, "ay":0.0, "alpha":-0.00044, "fx":[-0.00115,-0.00119,0.00117,0.00117], "fy":[0.00097,-0.00095,-0.00095,0.00096]}, - {"t":0.87719, "x":6.39103, "y":4.0509, "heading":-3.14159, "vx":-0.9998, "vy":0.0, "omega":0.00021, "ax":0.0, "ay":0.0, "alpha":-0.00096, "fx":[-0.00203,-0.00203,0.00203,0.00203], "fy":[0.00262,-0.0027,-0.0026,0.00262]}, - {"t":0.92592, "x":6.3423, "y":4.0509, "heading":-3.14158, "vx":-0.9998, "vy":0.0, "omega":0.00016, "ax":0.0, "ay":0.0, "alpha":-0.00173, "fx":[-0.00424,-0.00544,0.00484,0.00484], "fy":[0.00361,-0.00357,-0.00357,0.00361]}, - {"t":0.97465, "x":6.29358, "y":4.0509, "heading":-3.14157, "vx":-0.9998, "vy":0.0, "omega":0.00007, "ax":0.0, "ay":0.0, "alpha":-0.00274, "fx":[-0.00597,-0.00597,0.00597,0.00597], "fy":[0.00734,-0.00757,-0.00722,0.00734]}, - {"t":1.02339, "x":6.24486, "y":4.0509, "heading":-3.14157, "vx":-0.9998, "vy":0.0, "omega":-0.00006, "ax":0.0, "ay":0.0, "alpha":-0.00528, "fx":[-0.00629,-0.02598,0.01613,0.01614], "fy":[0.00964,-0.00956,-0.00956,0.00963]}, - {"t":1.07212, "x":6.19613, "y":4.0509, "heading":-3.14157, "vx":-0.9998, "vy":0.0, "omega":-0.00032, "ax":0.0, "ay":0.0, "alpha":-0.00674, "fx":[-0.01537,-0.01537,0.01536,0.01537], "fy":[0.01741,-0.01781,-0.01714,0.0174]}, - {"t":1.12085, "x":6.14741, "y":4.0509, "heading":-3.14158, "vx":-0.9998, "vy":0.0, "omega":-0.00064, "ax":0.0, "ay":0.0, "alpha":-0.01922, "fx":[0.01777,-0.15708,0.06963,0.06965], "fy":[0.02404,-0.02387,-0.02389,0.02403]}, - {"t":1.16958, "x":6.09869, "y":4.0509, "heading":3.14157, "vx":-0.9998, "vy":0.0, "omega":-0.00158, "ax":0.0, "ay":-0.00001, "alpha":-0.01696, "fx":[-0.03986,-0.03989,0.03988,0.03991], "fy":[0.04261,-0.04388,-0.0418,0.04258]}, - {"t":1.21832, "x":6.04997, "y":4.0509, "heading":3.14149, "vx":-0.9998, "vy":0.0, "omega":-0.00241, "ax":0.00004, "ay":0.00001, "alpha":0.09404, "fx":[-0.64123,1.67552,-0.51597,-0.51592], "fy":[0.0587,-0.05844,-0.05851,0.05865]}, - {"t":1.26705, "x":6.00124, "y":4.0509, "heading":3.14138, "vx":-0.9998, "vy":0.0, "omega":0.00218, "ax":2.52601, "ay":0.0, "alpha":-0.01507, "fx":[42.07471,42.07466,42.1402,42.14024], "fy":[0.04058,-0.04076,-0.04066,0.04052]}, - {"t":1.31578, "x":5.95552, "y":4.0509, "heading":3.14148, "vx":-0.8767, "vy":0.0, "omega":0.00144, "ax":2.99591, "ay":0.0, "alpha":-0.01983, "fx":[49.97336,49.75432,50.01688,50.01689], "fy":[0.02011,-0.02006,-0.02002,0.02008]}, - {"t":1.36451, "x":5.91635, "y":4.0509, "heading":3.14155, "vx":-0.7307, "vy":0.0, "omega":0.00047, "ax":2.99795, "ay":0.0, "alpha":-0.00598, "fx":[49.96394,49.96394,49.98472,49.98472], "fy":[0.01873,-0.01883,-0.01867,0.01872]}, - {"t":1.41325, "x":5.8843, "y":4.0509, "heading":3.14157, "vx":-0.5846, "vy":0.0, "omega":0.00018, "ax":2.99863, "ay":0.0, "alpha":-0.00021, "fx":[49.9526,50.03485,49.9777,49.9777], "fy":[0.00907,-0.00904,-0.00905,0.00907]}, - {"t":1.46198, "x":5.85938, "y":4.0509, "heading":3.14158, "vx":-0.43847, "vy":0.0, "omega":0.00017, "ax":2.99897, "ay":0.0, "alpha":-0.00339, "fx":[49.98705,49.98706,49.99578,49.99577], "fy":[0.01213,-0.0122,-0.01208,0.01213]}, - {"t":1.51071, "x":5.84157, "y":4.0509, "heading":3.14159, "vx":-0.29232, "vy":0.0, "omega":0.00001, "ax":2.99918, "ay":0.0, "alpha":0.00012, "fx":[49.97187,50.02812,49.98968,49.98968], "fy":[0.00459,-0.00458,-0.00458,0.00459]}, - {"t":1.55945, "x":5.83088, "y":4.0509, "heading":3.14159, "vx":-0.14616, "vy":0.0, "omega":0.00001, "ax":2.99931, "ay":0.0, "alpha":-0.00026, "fx":[49.97734,50.0221,49.99453,49.99452], "fy":[0.00389,-0.00388,-0.00388,0.00389]}, - {"t":1.60818, "x":5.82732, "y":4.0509, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.10089, "y":4.0509, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.99871, "ay":0.0, "alpha":-0.00759, "fx":[-49.8693,-50.24484,-49.91712,-49.91712], "fy":[-0.03299,0.03297,0.03301,-0.03299]}, + {"t":0.04831, "x":7.09739, "y":4.0509, "heading":3.14159, "vx":-0.14486, "vy":0.0, "omega":-0.00037, "ax":-2.9993, "ay":0.0, "alpha":-0.00055, "fx":[-49.9227,-50.13482,-49.9651,-49.9651], "fy":[-0.02916,0.02915,0.02916,-0.02915]}, + {"t":0.09661, "x":7.08689, "y":4.0509, "heading":3.14157, "vx":-0.28974, "vy":0.0, "omega":-0.00039, "ax":-2.99924, "ay":0.0, "alpha":0.01197, "fx":[-49.97457,-49.97457,-50.01718,-50.01718], "fy":[-0.03698,0.03696,0.03699,-0.03697]}, + {"t":0.14492, "x":7.0694, "y":4.0509, "heading":3.14156, "vx":-0.43462, "vy":0.0, "omega":0.00018, "ax":-2.99916, "ay":0.0, "alpha":-0.00413, "fx":[-49.91075,-50.17034,-49.94866,-49.94866], "fy":[-0.02584,0.02583,0.02585,-0.02584]}, + {"t":0.19323, "x":7.0449, "y":4.0509, "heading":3.14156, "vx":-0.5795, "vy":0.0, "omega":-0.00001, "ax":-2.99907, "ay":0.0, "alpha":0.01172, "fx":[-49.97159,-49.97159,-50.01451,-50.01451], "fy":[-0.03563,0.03561,0.03564,-0.03562]}, + {"t":0.24153, "x":7.01341, "y":4.0509, "heading":3.14156, "vx":-0.72438, "vy":0.0, "omega":0.00055, "ax":-2.99895, "ay":0.0, "alpha":-0.0066, "fx":[-49.88696,-50.21702,-49.93024,-49.93024], "fy":[-0.02874,0.02872,0.02874,-0.02873]}, + {"t":0.28984, "x":6.97492, "y":4.0509, "heading":3.14159, "vx":-0.86925, "vy":0.0, "omega":0.00023, "ax":-2.9988, "ay":0.0, "alpha":0.01359, "fx":[-49.96262,-49.96263,-50.01462,-50.01462], "fy":[-0.04021,0.0402,0.04022,-0.0402]}, + {"t":0.33814, "x":6.92943, "y":4.0509, "heading":-3.14158, "vx":-1.01411, "vy":0.0, "omega":0.00089, "ax":-2.9986, "ay":0.0, "alpha":-0.00984, "fx":[-49.84592,-50.29233,-49.90148,-49.90147], "fy":[-0.03592,0.0359,0.03593,-0.03592]}, + {"t":0.38645, "x":6.87694, "y":4.0509, "heading":-3.14154, "vx":-1.15896, "vy":0.0, "omega":0.00041, "ax":-2.99833, "ay":0.0, "alpha":0.01663, "fx":[-49.94734,-49.94735,-50.01395,-50.01394], "fy":[-0.0477,0.04771,0.04771,-0.0477]}, + {"t":0.43476, "x":6.81746, "y":4.0509, "heading":-3.14152, "vx":-1.3038, "vy":0.0, "omega":0.00122, "ax":-2.99791, "ay":0.0, "alpha":-0.01662, "fx":[-49.74441,-50.45513,-49.84757,-49.84756], "fy":[-0.04514,0.04511,0.04517,-0.04515]}, + {"t":0.48306, "x":6.75098, "y":4.0509, "heading":-3.14146, "vx":-1.44861, "vy":0.0, "omega":0.00041, "ax":-2.99721, "ay":0.0, "alpha":0.0193, "fx":[-49.92144,-49.92146,-50.00262,-50.00261], "fy":[-0.05342,0.05347,0.05338,-0.05343]}, + {"t":0.53137, "x":6.67751, "y":4.0509, "heading":-3.14144, "vx":-1.5934, "vy":0.0, "omega":0.00135, "ax":-2.99581, "ay":0.0, "alpha":-0.07863, "fx":[-49.392,-51.35536,-49.50387,-49.50384], "fy":[-0.05188,0.05179,0.05197,-0.0519]}, + {"t":0.57968, "x":6.59704, "y":4.0509, "heading":-3.14138, "vx":-1.73812, "vy":0.0, "omega":-0.00245, "ax":-2.99162, "ay":0.0, "alpha":0.01148, "fx":[-49.84367,-49.84369,-49.89402,-49.894], "fy":[-0.03076,0.03091,0.03064,-0.03077]}, + {"t":0.62798, "x":6.50959, "y":4.0509, "heading":-3.14149, "vx":-1.88263, "vy":0.0, "omega":-0.0019, "ax":-0.00065, "ay":0.0, "alpha":-0.00734, "fx":[0.0404,-0.14404,0.03017,0.03017], "fy":[-0.00526,0.00527,0.00527,-0.00526]}, + {"t":0.67629, "x":6.41864, "y":4.0509, "heading":-3.14159, "vx":-1.88266, "vy":0.0, "omega":-0.00225, "ax":2.99162, "ay":0.0, "alpha":-0.00848, "fx":[49.85091,49.85091,49.88695,49.88695], "fy":[0.02329,-0.02322,-0.02338,0.02328]}, + {"t":0.72459, "x":6.33119, "y":4.0509, "heading":3.14149, "vx":-1.73815, "vy":0.0, "omega":-0.00266, "ax":2.99581, "ay":0.0, "alpha":0.07713, "fx":[49.41678,51.30379,49.51725,49.51726], "fy":[0.04593,-0.04581,-0.04601,0.04591]}, + {"t":0.7729, "x":6.25072, "y":4.0509, "heading":3.14136, "vx":-1.59343, "vy":0.0, "omega":0.00107, "ax":2.99721, "ay":0.0, "alpha":-0.01768, "fx":[49.92515,49.92513,49.99892,49.99894], "fy":[0.04923,-0.04915,-0.04928,0.0492]}, + {"t":0.82121, "x":6.17725, "y":4.0509, "heading":3.14141, "vx":-1.44865, "vy":0.0, "omega":0.00021, "ax":2.99791, "ay":0.0, "alpha":0.01941, "fx":[49.73857,50.48317,49.83646,49.83647], "fy":[0.0427,-0.04263,-0.04272,0.04267]}, + {"t":0.86951, "x":6.11076, "y":4.0509, "heading":3.14142, "vx":-1.30383, "vy":0.0, "omega":0.00115, "ax":2.99833, "ay":0.0, "alpha":-0.01586, "fx":[49.9489,49.94888,50.01239,50.01241], "fy":[0.04547,-0.04542,-0.04552,0.04545]}, + {"t":0.91782, "x":6.05128, "y":4.0509, "heading":3.14148, "vx":-1.15899, "vy":0.0, "omega":0.00038, "ax":2.9986, "ay":0.0, "alpha":0.01059, "fx":[49.84653,50.29656,49.89905,49.89906], "fy":[0.0347,-0.03466,-0.03471,0.03468]}, + {"t":0.96613, "x":5.99879, "y":4.0509, "heading":3.1415, "vx":-1.01414, "vy":0.0, "omega":0.00089, "ax":2.9988, "ay":0.0, "alpha":-0.01304, "fx":[49.96349,49.96348,50.01376,50.01376], "fy":[0.03838,-0.03834,-0.03841,0.03836]}, + {"t":1.01443, "x":5.9533, "y":4.0509, "heading":3.14154, "vx":-0.86928, "vy":0.0, "omega":0.00026, "ax":2.99895, "ay":0.0, "alpha":0.00725, "fx":[49.8875,50.22056,49.9282,49.9282], "fy":[0.02761,-0.02758,-0.02762,0.0276]}, + {"t":1.06274, "x":5.91481, "y":4.0509, "heading":3.14155, "vx":-0.72441, "vy":0.0, "omega":0.00062, "ax":2.99907, "ay":0.0, "alpha":-0.01093, "fx":[49.97276,49.97276,50.01334,50.01335], "fy":[0.03296,-0.03293,-0.033,0.03296]}, + {"t":1.11105, "x":5.88331, "y":4.0509, "heading":3.14158, "vx":-0.57953, "vy":0.0, "omega":0.00009, "ax":2.99916, "ay":0.0, "alpha":0.00505, "fx":[49.91251,50.1732,49.94636,49.94636], "fy":[0.02367,-0.02365,-0.02367,0.02366]}, + {"t":1.15935, "x":5.85882, "y":4.0509, "heading":3.14159, "vx":-0.43466, "vy":0.0, "omega":0.00033, "ax":2.99924, "ay":0.0, "alpha":-0.01037, "fx":[49.97725,49.97725,50.0145,50.0145], "fy":[0.03188,-0.03186,-0.03191,0.03188]}, + {"t":1.20766, "x":5.84132, "y":4.0509, "heading":-3.14158, "vx":-0.28977, "vy":0.0, "omega":-0.00017, "ax":2.9993, "ay":0.0, "alpha":0.0025, "fx":[49.92642,50.14027,49.96052,49.96052], "fy":[0.02423,-0.02422,-0.02423,0.02422]}, + {"t":1.25596, "x":5.83082, "y":4.0509, "heading":-3.14159, "vx":-0.14489, "vy":0.0, "omega":-0.00005, "ax":2.99936, "ay":0.0, "alpha":0.00102, "fx":[49.9309,50.12623,49.96709,49.96709], "fy":[0.02576,-0.02575,-0.02577,0.02576]}, + {"t":1.30427, "x":5.82732, "y":4.0509, "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/startToJSlow.traj b/src/main/deploy/choreo/startToJSlow.traj index 7390bf3a..81a7bc1b 100644 --- a/src/main/deploy/choreo/startToJSlow.traj +++ b/src/main/deploy/choreo/startToJSlow.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1008875, "y":5.0756788, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.7971601486206055, "y":5.54304313659668, "heading":4.1887902047863905, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.079583864905389, "y":5.098261807735684, "heading":4.1887902047863905, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.1, "y":5.07, "heading":3.14159, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.7971601486206055, "y":5.54304313659668, "heading":-2.205689634858387, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.1366723649053885, "y":5.197141990263579, "heading":4.1887902047863905, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,7 +18,7 @@ "params":{ "waypoints":[ {"x":{"exp":"start.x", "val":7.1}, "y":{"exp":"start.y", "val":5.07}, "heading":{"exp":"start.heading", "val":3.14159}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.7971601486206055 m", "val":5.7971601486206055}, "y":{"exp":"5.54304313659668 m", "val":5.54304313659668}, "heading":{"exp":"J.heading", "val":4.1887902047863905}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.7971601486206055 m", "val":5.7971601486206055}, "y":{"exp":"5.54304313659668 m", "val":5.54304313659668}, "heading":{"exp":"-2.205689634858387 rad", "val":-2.205689634858387}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"J.x", "val":5.1366723649053885}, "y":{"exp":"J.y", "val":5.197141990263579}, "heading":{"exp":"J.heading", "val":4.1887902047863905}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -34,75 +34,76 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.92438,2.23311], + "waypoints":[0.0,0.92046,2.14877], "samples":[ - {"t":0.0, "x":7.10089, "y":5.07568, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.08201, "ay":2.88181, "alpha":11.64697, "fx":[-44.00122,-38.23394,-90.14853,-99.79718], "fy":[19.97364,83.40552,72.26972,16.50461]}, - {"t":0.03188, "x":7.09881, "y":5.07714, "heading":3.14159, "vx":-0.13011, "vy":0.09186, "omega":0.37125, "ax":-4.09552, "ay":2.86522, "alpha":9.49084, "fx":[-48.88679,-43.69643,-86.44441,-94.05354], "fy":[25.38459,76.36435,67.65272,21.64572]}, - {"t":0.06375, "x":7.09259, "y":5.08153, "heading":-3.12976, "vx":-0.26066, "vy":0.18319, "omega":0.67377, "ax":-4.10937, "ay":2.8451, "alpha":7.65504, "fx":[-52.80443,-49.00577,-83.25869,-88.93608], "fy":[29.40111,70.58788,63.64125,26.07529]}, - {"t":0.09563, "x":7.08219, "y":5.08881, "heading":-3.10828, "vx":-0.39165, "vy":0.27388, "omega":0.91778, "ax":-4.12524, "ay":2.82179, "alpha":5.92347, "fx":[-56.20235,-53.78802,-80.68315,-84.38932], "fy":[34.00375,64.79007,59.42225,29.93544]}, - {"t":0.1275, "x":7.06761, "y":5.09897, "heading":-3.07903, "vx":-0.52314, "vy":0.36382, "omega":1.10659, "ax":-4.14357, "ay":2.7945, "alpha":4.41795, "fx":[-59.61533,-58.25799,-78.56065,-79.85113], "fy":[36.67262,60.32934,55.52993,33.80026]}, - {"t":0.15938, "x":7.04883, "y":5.11199, "heading":-3.04376, "vx":-0.65522, "vy":0.4529, "omega":1.24741, "ax":-4.16492, "ay":2.76222, "alpha":3.09499, "fx":[-62.43887,-62.04336,-76.12843,-77.0982], "fy":[39.85144,55.47063,52.29008,36.5675]}, - {"t":0.19125, "x":7.02583, "y":5.12783, "heading":-3.00399, "vx":-0.78797, "vy":0.54094, "omega":1.34607, "ax":-4.19052, "ay":2.72279, "alpha":1.93791, "fx":[-65.69179,-65.51065,-74.53251,-73.68089], "fy":[41.01555,51.86776,49.12112,39.54614]}, - {"t":0.22313, "x":6.99858, "y":5.14646, "heading":-2.96109, "vx":-0.92155, "vy":0.62773, "omega":1.40784, "ax":-4.22077, "ay":2.67513, "alpha":0.90335, "fx":[-68.14734,-68.40152,-72.43913,-72.44461], "fy":[43.06551,47.24391,46.49201,41.57078]}, - {"t":0.255, "x":6.96706, "y":5.16782, "heading":-2.91621, "vx":-1.05609, "vy":0.713, "omega":1.43663, "ax":-4.25833, "ay":2.61423, "alpha":0.07514, "fx":[-71.26263,-70.94599,-71.46604,-70.26254], "fy":[42.55831,44.22603,43.90431,43.62301]}, - {"t":0.28688, "x":6.93124, "y":5.19188, "heading":-2.87042, "vx":-1.19182, "vy":0.79633, "omega":1.43903, "ax":-4.30529, "ay":2.53523, "alpha":-0.67923, "fx":[-73.54063,-73.14308,-69.89147,-70.49321], "fy":[43.31618,39.76039,41.58476,44.38305]}, - {"t":0.31875, "x":6.89106, "y":5.21855, "heading":-2.82455, "vx":-1.32905, "vy":0.87714, "omega":1.41738, "ax":-4.36512, "ay":2.4295, "alpha":-1.21373, "fx":[-76.34247,-75.09107,-69.82216,-69.80231], "fy":[41.63393,36.62709,38.93114,44.802]}, - {"t":0.35063, "x":6.84648, "y":5.24774, "heading":-2.77937, "vx":-1.46819, "vy":0.95458, "omega":1.37869, "ax":-4.44386, "ay":2.28042, "alpha":-1.64668, "fx":[-78.71517,-76.90182,-69.32418,-71.36673], "fy":[39.98918,32.34419,36.12265,43.59799]}, - {"t":0.3825, "x":6.79742, "y":5.27933, "heading":-2.73543, "vx":-1.60984, "vy":1.02727, "omega":1.3262, "ax":-4.55497, "ay":2.04642, "alpha":-1.86191, "fx":[-81.20635,-78.7198,-70.6626,-73.12757], "fy":[36.22308,27.56037,31.96544,40.70251]}, - {"t":0.41438, "x":6.7438, "y":5.31311, "heading":-2.69315, "vx":-1.75503, "vy":1.0925, "omega":1.26685, "ax":-4.70588, "ay":1.6643, "alpha":-1.93676, "fx":[-84.17147,-81.08277,-72.60198,-75.92276], "fy":[29.61214,21.0902,25.66839,34.60193]}, - {"t":0.44625, "x":6.68546, "y":5.34878, "heading":-2.65277, "vx":-1.90503, "vy":1.14555, "omega":1.20512, "ax":-4.90712, "ay":0.89369, "alpha":-1.7778, "fx":[-87.02781,-83.82125,-76.83171,-79.51686], "fy":[16.90124,8.41202,12.96854,21.30762]}, - {"t":0.47813, "x":6.62225, "y":5.38575, "heading":-2.61436, "vx":-2.06145, "vy":1.17404, "omega":1.14845, "ax":-4.88588, "ay":-0.96661, "alpha":-1.29954, "fx":[-85.53254,-82.38364,-77.3009,-80.56426], "fy":[-14.70875,-20.56982,-17.63444,-11.5385]}, - {"t":0.51, "x":6.55406, "y":5.42268, "heading":-2.57775, "vx":-2.21719, "vy":1.14323, "omega":1.10703, "ax":-2.59397, "ay":-4.24486, "alpha":-0.44097, "fx":[-44.72744,-43.33204,-41.40991,-43.49155], "fy":[-70.89139,-72.01052,-71.03859,-69.09836]}, - {"t":0.54188, "x":6.48207, "y":5.45697, "heading":-2.54246, "vx":-2.29987, "vy":1.00792, "omega":1.09297, "ax":0.79394, "ay":-4.91937, "alpha":0.36382, "fx":[14.6747,13.58372,11.77445,12.90528], "fy":[-82.11103,-81.07253,-81.75314,-83.07712]}, - {"t":0.57375, "x":6.40916, "y":5.4866, "heading":-2.50763, "vx":-2.27456, "vy":0.85112, "omega":1.10457, "ax":2.15156, "ay":-4.5013, "alpha":0.9186, "fx":[39.32765,36.57657,32.5579,34.99992], "fy":[-74.54092,-72.3317,-75.06343,-78.20214]}, - {"t":0.60563, "x":6.33775, "y":5.51144, "heading":-2.47242, "vx":-2.20598, "vy":0.70764, "omega":1.13385, "ax":2.72374, "ay":-4.18366, "alpha":1.19662, "fx":[49.69645,46.42901,41.03441,44.4539], "fy":[-69.78953,-65.86075,-69.74849,-73.55979]}, - {"t":0.6375, "x":6.26882, "y":5.53187, "heading":-2.43628, "vx":-2.11916, "vy":0.57428, "omega":1.17199, "ax":3.02725, "ay":-3.97181, "alpha":1.16472, "fx":[54.62298,51.19782,46.39858,49.63212], "fy":[-65.74744,-62.43123,-66.42176,-70.23193]}, - {"t":0.66938, "x":6.20281, "y":5.54816, "heading":-2.39892, "vx":-2.02267, "vy":0.44768, "omega":1.20912, "ax":3.20296, "ay":-3.833, "alpha":1.06451, "fx":[56.88457,54.15993,49.72114,52.80136], "fy":[-63.92578,-59.88472,-64.40471,-67.36173]}, - {"t":0.70125, "x":6.13996, "y":5.56048, "heading":-2.36038, "vx":-1.92057, "vy":0.3255, "omega":1.24305, "ax":3.32478, "ay":-3.72886, "alpha":0.60888, "fx":[57.81006,55.72212,53.55905,54.599], "fy":[-61.19988,-60.39602,-62.50369,-64.53376]}, - {"t":0.73313, "x":6.08043, "y":5.56896, "heading":-2.32076, "vx":-1.81459, "vy":0.20664, "omega":1.26246, "ax":3.40787, "ay":-3.65386, "alpha":0.14477, "fx":[57.02823,56.9816,56.41034,56.8102], "fy":[-61.25668,-59.91879,-61.15058,-61.30633]}, - {"t":0.765, "x":6.02432, "y":5.57369, "heading":-2.28051, "vx":-1.70597, "vy":0.09018, "omega":1.26707, "ax":3.47106, "ay":-3.59449, "alpha":-0.60572, "fx":[55.92984,57.79511,60.37447,57.344], "fy":[-59.5819,-62.26017,-59.45114,-58.3806]}, - {"t":0.79688, "x":5.97171, "y":5.57474, "heading":-2.24013, "vx":-1.59533, "vy":-0.0244, "omega":1.24776, "ax":3.51909, "ay":-3.54796, "alpha":-1.44538, "fx":[53.31922,58.66775,63.77133,58.88784], "fy":[-60.86964,-63.49806,-57.98934,-54.21405]}, - {"t":0.82875, "x":5.92264, "y":5.57216, "heading":-2.20035, "vx":-1.48315, "vy":-0.13749, "omega":1.20169, "ax":3.55775, "ay":-3.50958, "alpha":-2.51861, "fx":[50.71353,59.47273,68.21029,58.82758], "fy":[-60.67482,-67.03363,-56.06994,-50.23349]}, - {"t":0.86063, "x":5.87718, "y":5.56599, "heading":-2.16205, "vx":-1.36975, "vy":-0.24936, "omega":1.12141, "ax":3.58892, "ay":-3.47803, "alpha":-3.77529, "fx":[46.52059,60.50487,72.75158,59.52498], "fy":[-62.78396,-70.06865,-53.80097,-45.25461]}, - {"t":0.89251, "x":5.83534, "y":5.55628, "heading":-2.1263, "vx":-1.25535, "vy":-0.36022, "omega":1.00107, "ax":3.61494, "ay":-3.45124, "alpha":-5.17339, "fx":[42.18668,62.19611,78.13816,58.51632], "fy":[-64.52394,-73.76342,-51.37574,-40.45923]}, - {"t":0.92438, "x":5.79716, "y":5.54304, "heading":-2.0944, "vx":-1.14013, "vy":-0.47023, "omega":0.83617, "ax":0.77937, "ay":-0.62074, "alpha":-5.87121, "fx":[-6.26542,17.68621,32.47509,8.07069], "fy":[-15.84369,-30.00584,-5.06322,9.52307]}, - {"t":0.95975, "x":5.75732, "y":5.52602, "heading":-2.06482, "vx":-1.11256, "vy":-0.49219, "omega":0.6285, "ax":0.87423, "ay":-0.48184, "alpha":-4.60238, "fx":[-0.79559,19.10995,29.86735,10.11043], "fy":[-12.66818,-22.99902,-3.56037,7.09953]}, - {"t":0.99512, "x":5.71851, "y":5.50831, "heading":-2.04259, "vx":-1.08164, "vy":-0.50923, "omega":0.46571, "ax":0.93865, "ay":-0.33994, "alpha":-3.60846, "fx":[3.98912,19.0585,27.48211,12.05775], "fy":[-9.59234,-17.61648,-1.81413,6.35634]}, - {"t":1.03049, "x":5.68084, "y":5.49009, "heading":-2.02612, "vx":-1.04844, "vy":-0.52125, "omega":0.33807, "ax":0.9767, "ay":-0.20716, "alpha":-2.84151, "fx":[6.98436,19.41919,25.53932,13.18139], "fy":[-6.6027,-12.71073,-0.32344,5.8239]}, - {"t":1.06586, "x":5.64437, "y":5.47152, "heading":-2.01416, "vx":-1.01389, "vy":-0.52858, "omega":0.23757, "ax":0.99452, "ay":-0.08956, "alpha":-2.22251, "fx":[9.46612,18.80345,23.86869,14.17447], "fy":[-4.08087,-8.78864,1.07155,5.82601]}, - {"t":1.10124, "x":5.60913, "y":5.45277, "heading":-2.00575, "vx":-0.97871, "vy":-0.53175, "omega":0.15895, "ax":0.9986, "ay":0.01112, "alpha":-1.76267, "fx":[10.98402,18.69656,22.29085,14.61346], "fy":[-1.8454,-5.61519,2.26509,5.93681]}, - {"t":1.13661, "x":5.57514, "y":5.43397, "heading":-2.00013, "vx":-0.94339, "vy":-0.53136, "omega":0.09661, "ax":0.99417, "ay":0.09585, "alpha":-1.37319, "fx":[12.19272,17.95082,21.11888,15.02663], "fy":[-0.04613,-2.87309,3.23374,6.07634]}, - {"t":1.17198, "x":5.54239, "y":5.41523, "heading":-1.99672, "vx":-0.90823, "vy":-0.52797, "omega":0.04803, "ax":0.98487, "ay":0.16668, "alpha":-1.09922, "fx":[12.94832,17.71729,19.87855,15.12511], "fy":[1.50151,-0.90145,4.13104,6.38267]}, - {"t":1.20735, "x":5.51088, "y":5.39666, "heading":-1.99502, "vx":-0.87339, "vy":-0.52207, "omega":0.00915, "ax":0.97308, "ay":0.22592, "alpha":-0.85098, "fx":[13.50573,17.03044,19.09299,15.25411], "fy":[2.7423,1.01698,4.78658,6.51805]}, - {"t":1.24272, "x":5.4806, "y":5.37834, "heading":-1.99469, "vx":-0.83897, "vy":-0.51408, "omega":-0.02095, "ax":0.96026, "ay":0.27568, "alpha":-0.68912, "fx":[13.87254,16.81711,18.13789,15.20042], "fy":[3.80276,2.23392,5.46799,6.87684]}, - {"t":1.27809, "x":5.45152, "y":5.36033, "heading":-1.99543, "vx":-0.80501, "vy":-0.50433, "omega":-0.04532, "ax":0.94724, "ay":0.31773, "alpha":-0.52862, "fx":[14.10024,16.23163,17.62873,15.1998], "fy":[4.66655,3.60188,5.92477,6.99273]}, - {"t":1.31346, "x":5.42364, "y":5.34269, "heading":-1.99704, "vx":-0.7715, "vy":-0.49309, "omega":-0.06402, "ax":0.93453, "ay":0.35355, "alpha":-0.43526, "fx":[14.26131,16.07773,16.89334,15.08053], "fy":[5.40916,4.35057,6.45944,7.35467]}, - {"t":1.34883, "x":5.39694, "y":5.32547, "heading":-1.9993, "vx":-0.73845, "vy":-0.48059, "omega":-0.07941, "ax":0.92238, "ay":0.38428, "alpha":-0.32864, "fx":[14.32448,15.58283,16.5693,15.02603], "fy":[6.02124,5.35977,6.78895,7.4529]}, - {"t":1.3842, "x":5.37139, "y":5.30871, "heading":-2.00211, "vx":-0.70582, "vy":-0.46699, "omega":-0.09104, "ax":0.91091, "ay":0.41085, "alpha":-0.27723, "fx":[14.37126,15.49008,15.99654,14.87995], "fy":[6.55954,5.81895,7.22041,7.79547]}, - {"t":1.41957, "x":5.347, "y":5.29245, "heading":-2.00533, "vx":-0.6736, "vy":-0.45246, "omega":-0.10084, "ax":0.90017, "ay":0.43398, "alpha":-0.20352, "fx":[14.35851,15.06088,15.79196,14.80994], "fy":[7.00146,6.58976,7.46598,7.88001]}, - {"t":1.45495, "x":5.32374, "y":5.27671, "heading":-2.0089, "vx":-0.64176, "vy":-0.43711, "omega":-0.10804, "ax":0.89014, "ay":0.45428, "alpha":-0.17778, "fx":[14.33809,15.02346,15.33748,14.65386], "fy":[7.40789,6.86965,7.82108,8.19157]}, - {"t":1.49032, "x":5.30159, "y":5.26154, "heading":-2.01272, "vx":-0.61028, "vy":-0.42104, "omega":-0.11433, "ax":0.88081, "ay":0.47218, "alpha":-0.1241, "fx":[14.29639,14.64323,15.20534,14.58582], "fy":[7.73211,7.47811,8.00891,8.26523]}, - {"t":1.52569, "x":5.28056, "y":5.24694, "heading":-2.01676, "vx":-0.57912, "vy":-0.40434, "omega":-0.11872, "ax":0.87213, "ay":0.48809, "alpha":-0.11353, "fx":[14.23665,14.64775,14.8387,14.42918], "fy":[8.05208,7.64898,8.30446,8.53922]}, - {"t":1.56106, "x":5.26062, "y":5.23294, "heading":-2.02096, "vx":-0.54827, "vy":-0.38708, "omega":-0.12274, "ax":0.86407, "ay":0.50229, "alpha":-0.07179, "fx":[14.1922,14.30407,14.74689,14.3712], "fy":[8.29338,8.14296,8.45124,8.60401]}, - {"t":1.59643, "x":5.24177, "y":5.21957, "heading":-2.0253, "vx":-0.51771, "vy":-0.36931, "omega":-0.12528, "ax":0.85656, "ay":0.51503, "alpha":-0.06943, "fx":[14.11018,14.33864,14.44599,14.21906], "fy":[8.55562,8.25111,8.69822,8.83652]}, - {"t":1.6318, "x":5.22399, "y":5.20682, "heading":-2.02973, "vx":-0.48741, "vy":-0.35109, "omega":-0.12773, "ax":0.84957, "ay":0.52653, "alpha":-0.03442, "fx":[14.07798,14.02361,14.37191,14.17428], "fy":[8.73785,8.66181,8.81496,8.89336]}, - {"t":1.66717, "x":5.20728, "y":5.19474, "heading":-2.03425, "vx":-0.45736, "vy":-0.33247, "omega":-0.12895, "ax":0.84305, "ay":0.53694, "alpha":-0.03552, "fx":[13.98563,14.07743,14.12018,14.02993], "fy":[8.96165,8.73683,9.02157,9.08234]}, - {"t":1.70254, "x":5.19163, "y":5.18331, "heading":-2.03881, "vx":-0.42754, "vy":-0.31348, "omega":-0.13021, "ax":0.83697, "ay":0.54642, "alpha":-0.00321, "fx":[13.97623,13.78273,14.0482,14.00026], "fy":[9.10108,9.08834,9.11479,9.12988]}, - {"t":1.73791, "x":5.17703, "y":5.17257, "heading":-2.04342, "vx":-0.39794, "vy":-0.29415, "omega":-0.13032, "ax":0.83128, "ay":0.55507, "alpha":-0.00397, "fx":[13.88241,13.84958,13.83081,13.8652], "fy":[9.29872,9.15405,9.28596,9.27222]}, - {"t":1.77328, "x":5.16348, "y":5.16251, "heading":-2.04803, "vx":-0.36853, "vy":-0.27452, "omega":-0.13046, "ax":0.82595, "ay":0.563, "alpha":0.02881, "fx":[13.90374,13.5704,13.74747,13.85109], "fy":[9.40832,9.4633,9.36033,9.30766]}, - {"t":1.80866, "x":5.15096, "y":5.15315, "heading":-2.05264, "vx":-0.33932, "vy":-0.2546, "omega":-0.12944, "ax":0.82095, "ay":0.57029, "alpha":0.03177, "fx":[13.81825,13.64308,13.55067,13.72746], "fy":[9.58948,9.53636,9.50011,9.39977]}, - {"t":1.84403, "x":5.13947, "y":5.1445, "heading":-2.05722, "vx":-0.31028, "vy":-0.23443, "omega":-0.12832, "ax":0.81626, "ay":0.57701, "alpha":0.06861, "fx":[13.87904,13.37415,13.44344,13.72983], "fy":[9.67884,9.82222,9.55706,9.41595]}, - {"t":1.8794, "x":5.12901, "y":5.13657, "heading":-2.06176, "vx":-0.28141, "vy":-0.21402, "omega":-0.12589, "ax":0.81184, "ay":0.58323, "alpha":0.07917, "fx":[13.81387,13.44684,13.25127,13.62003], "fy":[9.85083,9.91977,9.6673,9.45093]}, - {"t":1.91477, "x":5.11956, "y":5.12937, "heading":-2.06621, "vx":-0.25269, "vy":-0.19339, "omega":-0.12309, "ax":0.80768, "ay":0.589, "alpha":0.12439, "fx":[13.92536,13.18319,13.10569,13.64037], "fy":[9.92905,10.20182,9.7066,9.43607]}, - {"t":1.95014, "x":5.11113, "y":5.12289, "heading":-2.07057, "vx":-0.22413, "vy":-0.17256, "omega":-0.11869, "ax":0.80376, "ay":0.59437, "alpha":0.14767, "fx":[13.89785,13.24921,12.89758,13.54824], "fy":[10.0986,10.34301,9.78731,9.40237]}, - {"t":1.98551, "x":5.1037, "y":5.11716, "heading":-2.07477, "vx":-0.1957, "vy":-0.15153, "omega":-0.11347, "ax":0.80005, "ay":0.59937, "alpha":0.20732, "fx":[14.07635,12.98533,12.69454,13.58939], "fy":[10.17509,10.64665,9.80619,9.3368]}, - {"t":2.02088, "x":5.09728, "y":5.11218, "heading":-2.07878, "vx":-0.1674, "vy":-0.13033, "omega":-0.10613, "ax":0.79654, "ay":0.60404, "alpha":0.25058, "fx":[14.11295,13.03598,12.44153,13.52122], "fy":[10.35004,10.85476,9.85547,9.21598]}, - {"t":2.05625, "x":5.09186, "y":5.10794, "heading":-2.08253, "vx":-0.13922, "vy":-0.10897, "omega":-0.09727, "ax":0.79322, "ay":0.60841, "alpha":0.3338, "fx":[14.38356,12.76403,12.15388,13.58861], "fy":[10.43559,11.2174,9.84735,9.06757]}, - {"t":2.09162, "x":5.08743, "y":5.10447, "heading":-2.08597, "vx":-0.11117, "vy":-0.08745, "omega":-0.08546, "ax":0.79006, "ay":0.61252, "alpha":0.40817, "fx":[14.52494,12.78769,11.8128,13.55446], "fy":[10.62566,11.52714,9.85942,8.82928]}, - {"t":2.12699, "x":5.08399, "y":5.10176, "heading":-2.089, "vx":-0.08322, "vy":-0.06578, "omega":-0.07103, "ax":0.78707, "ay":0.61637, "alpha":0.5288, "fx":[14.92696,12.49567,11.39972,13.65793], "fy":[10.7355,12.00248,9.81297,8.54767]}, - {"t":2.16237, "x":5.08154, "y":5.09982, "heading":-2.09151, "vx":-0.05538, "vy":-0.04398, "omega":-0.05232, "ax":0.78422, "ay":0.62, "alpha":0.65147, "fx":[15.23621,12.47502,10.90479,13.67449], "fy":[10.95536,12.46564,9.77641,8.14329]}, - {"t":2.19774, "x":5.08007, "y":5.09865, "heading":-2.09336, "vx":-0.02764, "vy":-0.02205, "omega":-0.02928, "ax":0.78151, "ay":0.62343, "alpha":0.82778, "fx":[15.83191,12.31196,10.30288,13.66312], "fy":[11.03432,13.1995,9.69064,7.64455]}, - {"t":2.23311, "x":5.07958, "y":5.09826, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":7.1, "y":5.07, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.16085, "ay":2.76674, "alpha":10.4878, "fx":[-48.05099,-42.60453,-89.20785,-97.57417], "fy":[20.68796,78.03689,68.30258,17.45358]}, + {"t":0.03174, "x":7.0979, "y":5.07139, "heading":3.14159, "vx":-0.13207, "vy":0.08782, "omega":0.33288, "ax":-4.17205, "ay":2.75257, "alpha":8.5305, "fx":[-52.36607,-47.56022,-85.82869,-92.42953], "fy":[25.65221,71.68791,64.0103,22.18586]}, + {"t":0.06348, "x":7.09161, "y":5.07557, "heading":-3.13103, "vx":-0.26449, "vy":0.17518, "omega":0.60364, "ax":-4.18314, "ay":2.73547, "alpha":6.878, "fx":[-55.82949,-52.26817,-82.90831,-87.91794], "fy":[29.30276,66.46412,60.36912,26.25969]}, + {"t":0.09522, "x":7.08111, "y":5.08251, "heading":-3.11187, "vx":-0.39726, "vy":0.26201, "omega":0.82195, "ax":-4.19587, "ay":2.71565, "alpha":5.32283, "fx":[-58.83799,-56.52106,-80.55495,-83.85826], "fy":[33.41277,61.26293,56.58056,29.81814]}, + {"t":0.12696, "x":7.06639, "y":5.09219, "heading":-3.08578, "vx":-0.53043, "vy":0.3482, "omega":0.99089, "ax":-4.21052, "ay":2.69256, "alpha":3.9756, "fx":[-61.84322,-60.44655,-78.62494,-79.83498], "fy":[35.82787,57.26251,53.09389,33.35055]}, + {"t":0.1587, "x":7.04743, "y":5.1046, "heading":-3.05433, "vx":-0.66408, "vy":0.43366, "omega":1.11708, "ax":-4.22746, "ay":2.66553, "alpha":2.79787, "fx":[-64.28617,-63.77215,-76.42496,-77.39546], "fy":[38.69916,52.95219,50.21265,35.86862]}, + {"t":0.19044, "x":7.02422, "y":5.1197, "heading":-3.01887, "vx":-0.79826, "vy":0.51827, "omega":1.20588, "ax":-4.24795, "ay":2.63231, "alpha":1.76634, "fx":[-67.1068,-66.80438,-74.97008,-74.36371], "fy":[39.79449,49.75836,47.38555,38.5793]}, + {"t":0.22218, "x":6.99675, "y":5.13748, "heading":-2.9806, "vx":-0.93309, "vy":0.60182, "omega":1.26195, "ax":-4.2718, "ay":2.59289, "alpha":0.8405, "fx":[-69.19752,-69.36369,-73.10437,-73.16951], "fy":[41.73676,45.67683,45.04033,40.435]}, + {"t":0.25392, "x":6.96498, "y":5.15789, "heading":-2.94055, "vx":-1.06867, "vy":0.68411, "omega":1.28862, "ax":-4.30212, "ay":2.54156, "alpha":0.08898, "fx":[-71.93703,-71.6415,-72.22651,-71.05228], "fy":[41.35906,43.03314,42.71442,42.35973]}, + {"t":0.28566, "x":6.92889, "y":5.18088, "heading":-2.89965, "vx":-1.20522, "vy":0.76478, "omega":1.29145, "ax":-4.33804, "ay":2.47885, "alpha":-0.5827, "fx":[-73.77541,-73.53676,-70.75476,-71.18519], "fy":[42.29045,39.15362,40.70703,43.13409]}, + {"t":0.3174, "x":6.88845, "y":5.2064, "heading":-2.85865, "vx":-1.34291, "vy":0.84346, "omega":1.27295, "ax":-4.38624, "ay":2.39129, "alpha":-1.07791, "fx":[-76.23638,-75.28099,-70.62223,-70.32638], "fy":[40.94301,36.47826,38.35986,43.66558]}, + {"t":0.34914, "x":6.84362, "y":5.23438, "heading":-2.81825, "vx":-1.48213, "vy":0.91936, "omega":1.23874, "ax":-4.44789, "ay":2.27277, "alpha":-1.47013, "fx":[-78.14699,-76.8182,-70.0419,-71.56948], "fy":[39.84767,32.83014,36.03074,42.83516]}, + {"t":0.38088, "x":6.79434, "y":5.26471, "heading":-2.77893, "vx":-1.6233, "vy":0.9915, "omega":1.19208, "ax":-4.53826, "ay":2.0836, "alpha":-1.68786, "fx":[-80.33189,-78.41597,-71.06907,-72.78534], "fy":[36.86139,28.87907,32.55005,40.6401]}, + {"t":0.41262, "x":6.74053, "y":5.29723, "heading":-2.7411, "vx":-1.76735, "vy":1.05763, "omega":1.13851, "ax":-4.65789, "ay":1.79503, "alpha":-1.76559, "fx":[-82.72585,-80.32324,-72.47028,-75.05971], "fy":[31.88266,23.92177,27.77286,36.1116]}, + {"t":0.44436, "x":6.68209, "y":5.3317, "heading":-2.70496, "vx":-1.91519, "vy":1.11461, "omega":1.08247, "ax":-4.84234, "ay":1.19805, "alpha":-1.67019, "fx":[-85.50167,-82.95275,-76.23457,-78.18897], "fy":[22.13758,13.94808,17.90547,25.89224]}, + {"t":0.4761, "x":6.61886, "y":5.36768, "heading":-2.6706, "vx":-2.06889, "vy":1.15263, "omega":1.02945, "ax":-4.97547, "ay":-0.23479, "alpha":-1.26104, "fx":[-86.75644,-84.15863,-79.07656,-81.76331], "fy":[-2.41179,-8.25122,-5.53423,0.54197]}, + {"t":0.50784, "x":6.55069, "y":5.40415, "heading":-2.63793, "vx":-2.22681, "vy":1.14518, "omega":0.98943, "ax":-3.25906, "ay":-3.75203, "alpha":-0.48924, "fx":[-55.82359,-54.4005,-52.19375,-54.8899], "fy":[-62.61268,-63.99229,-62.99747,-60.57552]}, + {"t":0.53958, "x":6.47837, "y":5.4386, "heading":-2.60652, "vx":-2.33025, "vy":1.02609, "omega":0.9739, "ax":0.82226, "ay":-4.91094, "alpha":0.26049, "fx":[14.85486,14.04784,12.55285,13.37106], "fy":[-81.88709,-81.47924,-81.48158,-82.60441]}, + {"t":0.57132, "x":6.40482, "y":5.4687, "heading":-2.57561, "vx":-2.30415, "vy":0.87022, "omega":0.98217, "ax":2.38463, "ay":-4.38058, "alpha":0.84956, "fx":[42.86392,40.62779,36.76885,38.74191], "fy":[-72.9006,-70.45248,-72.82481,-75.91089]}, + {"t":0.60306, "x":6.33289, "y":5.49411, "heading":-2.54444, "vx":-2.22846, "vy":0.73118, "omega":1.00913, "ax":2.96377, "ay":-4.01624, "alpha":1.13666, "fx":[53.30002,50.7103,45.414,48.19431], "fy":[-67.2644,-63.15364,-66.74732,-70.62992]}, + {"t":0.6348, "x":6.26365, "y":5.5153, "heading":-2.51241, "vx":-2.13439, "vy":0.6037, "omega":1.04521, "ax":3.25142, "ay":-3.78987, "alpha":1.11544, "fx":[58.039,55.19407,50.37283,53.19249], "fy":[-63.09925,-59.47211,-63.08593,-67.0442]}, + {"t":0.66654, "x":6.19754, "y":5.53255, "heading":-2.47923, "vx":-2.03119, "vy":0.48341, "omega":1.08061, "ax":3.41411, "ay":-3.64575, "alpha":1.03061, "fx":[60.2255,57.92836,53.43971,56.05289], "fy":[-61.001,-56.90758,-60.98891,-64.19406]}, + {"t":0.69828, "x":6.13479, "y":5.54606, "heading":-2.44494, "vx":-1.92283, "vy":0.3677, "omega":1.11333, "ax":3.52603, "ay":-3.53884, "alpha":0.63893, "fx":[61.24319,59.25831,56.83235,57.77505], "fy":[-58.0612,-57.13946,-59.22567,-61.53693]}, + {"t":0.73002, "x":6.07553, "y":5.55594, "heading":-2.4096, "vx":-1.81091, "vy":0.25537, "omega":1.13361, "ax":3.5979, "ay":-3.46664, "alpha":0.21411, "fx":[60.47548,60.20648,59.32405,59.89514], "fy":[-58.06671,-56.64407,-58.01155,-58.42676]}, + {"t":0.76176, "x":6.01987, "y":5.5623, "heading":-2.37362, "vx":-1.69672, "vy":0.14534, "omega":1.1404, "ax":3.65391, "ay":-3.40824, "alpha":-0.45332, "fx":[59.56265,60.72415,62.74722,60.60171], "fy":[-56.25546,-58.63341,-56.78701,-55.57924]}, + {"t":0.7935, "x":5.96786, "y":5.5652, "heading":-2.33742, "vx":-1.58074, "vy":0.03717, "omega":1.12601, "ax":3.69497, "ay":-3.36423, "alpha":-1.1891, "fx":[57.23828,61.19047,65.77993,62.16449], "fy":[-57.059,-59.81143,-55.46941,-51.98073]}, + {"t":0.82524, "x":5.91954, "y":5.56469, "heading":-2.30168, "vx":-1.46346, "vy":-0.06961, "omega":1.08827, "ax":3.72854, "ay":-3.32742, "alpha":-2.16394, "fx":[54.93798,61.49334,69.6502,62.53052], "fy":[-56.47039,-63.17674,-54.11238,-48.10642]}, + {"t":0.85698, "x":5.87497, "y":5.5608, "heading":-2.26714, "vx":-1.34512, "vy":-0.17523, "omega":1.01959, "ax":3.75457, "ay":-3.29838, "alpha":-3.24774, "fx":[51.12498,62.12332,73.57825,63.52126], "fy":[-58.10693,-65.67532,-52.56761,-43.57975]}, + {"t":0.88872, "x":5.83417, "y":5.55358, "heading":-2.23478, "vx":-1.22595, "vy":-0.27992, "omega":0.9165, "ax":3.77631, "ay":-3.27378, "alpha":-4.52838, "fx":[47.26537,62.92981,78.38172,63.21986], "fy":[-58.9617,-69.69422,-50.69509,-38.93849]}, + {"t":0.92046, "x":5.79716, "y":5.54304, "heading":-2.20569, "vx":-1.10609, "vy":-0.38383, "omega":0.77277, "ax":0.80598, "ay":-0.58505, "alpha":-4.84811, "fx":[-2.80682,15.42347,29.9064,11.21844], "fy":[-12.42224,-26.39532,-7.20602,7.01353]}, + {"t":0.95278, "x":5.76183, "y":5.53033, "heading":-2.18071, "vx":-1.08004, "vy":-0.40274, "omega":0.61606, "ax":0.88993, "ay":-0.45182, "alpha":-3.87545, "fx":[1.53823,17.15236,28.05461,12.59381], "fy":[-9.94229,-20.50133,-5.24442,5.5617]}, + {"t":0.98511, "x":5.72738, "y":5.51708, "heading":-2.1608, "vx":-1.05127, "vy":-0.41734, "omega":0.49079, "ax":0.94488, "ay":-0.32181, "alpha":-3.10527, "fx":[5.43234,17.44694,26.24111,13.88242], "fy":[-7.49902,-15.97175,-3.2723,5.28518]}, + {"t":1.01743, "x":5.69389, "y":5.50342, "heading":-2.14493, "vx":-1.02073, "vy":-0.42774, "omega":0.39042, "ax":0.97729, "ay":-0.20382, "alpha":-2.49295, "fx":[7.86514,18.07072,24.67947,14.54831], "fy":[-5.18586,-11.78743,-1.61817,5.00123]}, + {"t":1.04975, "x":5.66141, "y":5.48949, "heading":-2.13231, "vx":-0.98914, "vy":-0.43433, "omega":0.30984, "ax":0.99334, "ay":-0.10087, "alpha":-1.9905, "fx":[9.9962,17.73898,23.30754,15.19138], "fy":[-3.21545,-8.44274,-0.16064,5.09304]}, + {"t":1.08208, "x":5.62996, "y":5.47539, "heading":-2.1223, "vx":-0.95703, "vy":-0.43759, "omega":0.2455, "ax":0.99849, "ay":-0.0131, "alpha":-1.60657, "fx":[11.29217,17.90819,21.97965,15.39745], "fy":[-1.46028,-5.67079,1.06368,5.19367]}, + {"t":1.1144, "x":5.59954, "y":5.46124, "heading":-2.11436, "vx":-0.92475, "vy":-0.43802, "omega":0.19357, "ax":0.99683, "ay":0.06104, "alpha":-1.27728, "fx":[12.41917,17.40273,20.97736,15.66717], "fy":[-0.03186,-3.29043,2.06236,5.32976]}, + {"t":1.14673, "x":5.57017, "y":5.44712, "heading":-2.10811, "vx":-0.89253, "vy":-0.43604, "omega":0.15228, "ax":0.99114, "ay":0.12347, "alpha":-1.03689, "fx":[13.11788,17.3822,19.91806,15.66884], "fy":[1.22503,-1.50309,2.9499,5.56102]}, + {"t":1.17905, "x":5.54184, "y":5.43309, "heading":-2.10318, "vx":-0.8605, "vy":-0.43205, "omega":0.11876, "ax":0.98322, "ay":0.17622, "alpha":-0.81912, "fx":[13.7045,16.86656,19.22769,15.7606], "fy":[2.23971,0.19544,3.63334,5.68121]}, + {"t":1.21137, "x":5.51454, "y":5.41921, "heading":-2.09934, "vx":-0.82871, "vy":-0.42636, "omega":0.09229, "ax":0.97422, "ay":0.22098, "alpha":-0.66967, "fx":[14.0766,16.81071,18.39959,15.67238], "fy":[3.13636,1.34634,4.29269,5.95886]}, + {"t":1.2437, "x":5.48826, "y":5.40555, "heading":-2.09636, "vx":-0.79722, "vy":-0.41921, "omega":0.07064, "ax":0.96482, "ay":0.25922, "alpha":-0.52438, "fx":[14.3671,16.34553,17.94013,15.67987], "fy":[3.86596,2.58014,4.77525,6.06322]}, + {"t":1.27602, "x":5.463, "y":5.39213, "heading":-2.09408, "vx":-0.76604, "vy":-0.41084, "omega":0.05369, "ax":0.95544, "ay":0.29212, "alpha":-0.4333, "fx":[14.55589,16.29879,17.29598,15.55649], "fy":[4.51934,3.31915,5.28517,6.35467]}, + {"t":1.30835, "x":5.43873, "y":5.379, "heading":-2.09234, "vx":-0.73515, "vy":-0.40139, "omega":0.03968, "ax":0.94632, "ay":0.32064, "alpha":-0.33412, "fx":[14.68784,15.87909,17.00125,15.53038], "fy":[5.05224,4.24416,5.63654,6.4465]}, + {"t":1.34067, "x":5.41546, "y":5.3662, "heading":-2.09106, "vx":-0.70456, "vy":-0.39103, "omega":0.02888, "ax":0.93757, "ay":0.34551, "alpha":-0.28069, "fx":[14.76432,15.8679,16.49254,15.39093], "fy":[5.54134,4.71995,6.04402,6.73257]}, + {"t":1.37299, "x":5.39318, "y":5.35374, "heading":-2.09013, "vx":-0.67426, "vy":-0.37986, "omega":0.01981, "ax":0.92928, "ay":0.36736, "alpha":-0.21143, "fx":[14.81108,15.49131,16.30731,15.35292], "fy":[5.93797,5.43218,6.30841,6.81613]}, + {"t":1.40532, "x":5.37187, "y":5.34165, "heading":-2.08949, "vx":-0.64422, "vy":-0.36799, "omega":0.01298, "ax":0.92146, "ay":0.38666, "alpha":-0.18245, "fx":[14.81874,15.51185,15.90106,15.20939], "fy":[6.3164,5.73547,6.64352,7.08667]}, + {"t":1.43764, "x":5.35153, "y":5.32996, "heading":-2.08907, "vx":-0.61444, "vy":-0.35549, "omega":0.00708, "ax":0.91411, "ay":0.40383, "alpha":-0.13232, "fx":[14.82249,15.17181,15.7862,15.1703], "fy":[6.61527,6.301,6.84701,7.16331]}, + {"t":1.46997, "x":5.33214, "y":5.31868, "heading":-2.08884, "vx":-0.58489, "vy":-0.34243, "omega":0.0028, "ax":0.90721, "ay":0.41917, "alpha":-0.11871, "fx":[14.78674,15.21768,15.45812,15.02842], "fy":[6.9163,6.49589,7.12682,7.41057]}, + {"t":1.50229, "x":5.31371, "y":5.30783, "heading":-2.08875, "vx":-0.55556, "vy":-0.32888, "omega":-0.00104, "ax":0.90075, "ay":0.43296, "alpha":-0.08123, "fx":[14.77264,14.90633,15.38702,14.99402], "fy":[7.14524,6.95227,7.28802,7.48311]}, + {"t":1.53461, "x":5.29623, "y":5.29742, "heading":-2.08878, "vx":-0.52645, "vy":-0.31489, "omega":-0.00366, "ax":0.89469, "ay":0.4454, "alpha":-0.07751, "fx":[14.70853,14.9726,15.11898,14.85611], "fy":[7.39251,7.07601,7.52535,7.70432]}, + {"t":1.56694, "x":5.27968, "y":5.28748, "heading":-2.0889, "vx":-0.49753, "vy":-0.30049, "omega":-0.00617, "ax":0.88901, "ay":0.45668, "alpha":-0.04806, "fx":[14.69113,14.6846,15.07322,14.8288], "fy":[7.56899,7.453,7.65507,7.77323]}, + {"t":1.59926, "x":5.26406, "y":5.278, "heading":-2.0891, "vx":-0.46879, "vy":-0.28573, "omega":-0.00772, "ax":0.88369, "ay":0.46694, "alpha":-0.05036, "fx":[14.60833,14.76586,14.85246,14.69615], "fy":[7.7777,7.53253,7.85803,7.96665]}, + {"t":1.63158, "x":5.24937, "y":5.26901, "heading":-2.08935, "vx":-0.44023, "vy":-0.27064, "omega":-0.00935, "ax":0.87869, "ay":0.47633, "alpha":-0.0261, "fx":[14.59602,14.49772,14.81926,14.67659], "fy":[7.91474,7.84826,7.96441,8.03307]}, + {"t":1.66391, "x":5.2356, "y":5.26051, "heading":-2.08965, "vx":-0.41182, "vy":-0.25524, "omega":-0.01019, "ax":0.874, "ay":0.48493, "alpha":-0.0318, "fx":[14.50107,14.58891,14.63655,14.54995], "fy":[8.09522,7.90205,8.13873,8.19811]}, + {"t":1.69623, "x":5.22274, "y":5.25251, "heading":-2.08998, "vx":-0.38357, "vy":-0.23957, "omega":-0.01122, "ax":0.86958, "ay":0.49284, "alpha":-0.01078, "fx":[14.49928,14.33654,14.60757,14.53855], "fy":[8.20225,8.16911,8.22757,8.26291]}, + {"t":1.72856, "x":5.2108, "y":5.24503, "heading":-2.09034, "vx":-0.35546, "vy":-0.22364, "omega":-0.01157, "ax":0.86542, "ay":0.50015, "alpha":-0.01815, "fx":[14.39624,14.4351,14.4554,14.41779], "fy":[8.36204,8.209,8.37783,8.39997]}, + {"t":1.76088, "x":5.19976, "y":5.23806, "heading":-2.09072, "vx":-0.32749, "vy":-0.20747, "omega":-0.01215, "ax":0.8615, "ay":0.50691, "alpha":0.00104, "fx":[14.40773,14.19677,14.42439,14.41404], "fy":[8.44573,8.43758,8.45295,8.46326]}, + {"t":1.7932, "x":5.18962, "y":5.23162, "heading":-2.09111, "vx":-0.29964, "vy":-0.19108, "omega":-0.01212, "ax":0.85779, "ay":0.51318, "alpha":-0.00668, "fx":[14.30016,14.29916,14.29717,14.29944], "fy":[8.59,8.47242,8.58242,8.57291]}, + {"t":1.82553, "x":5.18039, "y":5.22571, "heading":-2.0915, "vx":-0.27192, "vy":-0.1745, "omega":-0.01234, "ax":0.85429, "ay":0.51901, "alpha":0.0117, "fx":[14.32681,14.07239,14.2602,14.30307], "fy":[8.65562,8.66993,8.64671,8.63452]}, + {"t":1.85785, "x":5.17204, "y":5.22034, "heading":-2.0919, "vx":-0.2443, "vy":-0.15772, "omega":-0.01196, "ax":0.85098, "ay":0.52445, "alpha":0.00463, "fx":[14.21744,14.17689,14.15267,14.19449], "fy":[8.78801,8.70602,8.75793,8.71761]}, + {"t":1.89018, "x":5.16459, "y":5.21552, "heading":-2.09229, "vx":-0.2168, "vy":-0.14077, "omega":-0.01181, "ax":0.84784, "ay":0.52954, "alpha":0.02296, "fx":[14.25971,13.96058,14.10704,14.20477], "fy":[8.83982,8.8786,8.81344,8.77675]}, + {"t":1.9225, "x":5.15803, "y":5.21124, "heading":-2.09267, "vx":-0.18939, "vy":-0.12365, "omega":-0.01107, "ax":0.84486, "ay":0.5343, "alpha":0.01723, "fx":[14.15167,14.06487,14.01441,14.10249], "fy":[8.96324,8.91883,8.90895,8.83512]}, + {"t":1.95482, "x":5.15234, "y":5.20753, "heading":-2.09303, "vx":-0.16208, "vy":-0.10638, "omega":-0.01051, "ax":0.84203, "ay":0.53877, "alpha":0.0362, "fx":[14.20904,13.8575,13.95943,14.1188], "fy":[9.00445,9.07334,8.95657,8.88972]}, + {"t":1.98715, "x":5.14755, "y":5.20437, "heading":-2.09336, "vx":-0.13486, "vy":-0.08896, "omega":-0.00934, "ax":0.83934, "ay":0.54297, "alpha":0.03234, "fx":[14.10568,13.96033,13.87635,14.023], "fy":[9.12042,9.11923,9.03846,8.92607]}, + {"t":2.01947, "x":5.14362, "y":5.20178, "heading":-2.09367, "vx":-0.10773, "vy":-0.07141, "omega":-0.00829, "ax":0.83678, "ay":0.54693, "alpha":0.05232, "fx":[14.17539,13.76184,13.81336,14.04403], "fy":[9.15422,9.2616,9.07877,8.97336]}, + {"t":2.0518, "x":5.14058, "y":5.19975, "heading":-2.09394, "vx":-0.08068, "vy":-0.05373, "omega":-0.0066, "ax":0.83434, "ay":0.55066, "alpha":0.05051, "fx":[14.08108,13.86122,13.7342,13.9554], "fy":[9.26337,9.31079,9.14966,8.99299]}, + {"t":2.08412, "x":5.13841, "y":5.19831, "heading":-2.09415, "vx":-0.05372, "vy":-0.03593, "omega":-0.00497, "ax":0.83201, "ay":0.55418, "alpha":0.07151, "fx":[14.15709,13.67216,13.66829,13.97917], "fy":[9.29259,9.44804,9.18242,9.02887]}, + {"t":2.11644, "x":5.13711, "y":5.19743, "heading":-2.09431, "vx":-0.02682, "vy":-0.01802, "omega":-0.00266, "ax":0.82979, "ay":0.55752, "alpha":0.08228, "fx":[14.15298,13.62944,13.5961,13.95001], "fy":[9.35844,9.54188,9.22783,9.04624]}, + {"t":2.14877, "x":5.13667, "y":5.19714, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 38065df0..f4c1c9e5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -255,7 +255,8 @@ public RobotContainer() { "GToBarge", "bargeToOppE", "OppEToOppbarge", - new Pose2d(7.1, 5.07, Rotation2d.fromRadians(3.14159))); + ScoringLevel.L3, + new Pose2d(7.1, 3.7209, Rotation2d.fromRadians(3.14159))); configureTelemetry(); configureDriverBindings(); diff --git a/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java b/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java new file mode 100644 index 00000000..20eaecdd --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java @@ -0,0 +1,217 @@ +package frc.robot.commands.auton; + +import choreo.Choreo; +import choreo.trajectory.SwerveSample; +import choreo.trajectory.Trajectory; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.commands.drive.DriveAutonCommand; +import frc.robot.constants.AutonConstants; +import frc.robot.constants.PathHandlerConstants; +import frc.robot.subsystems.biscuit.BiscuitSubsystem; +import frc.robot.subsystems.drive.DriveSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem.ElevatorStates; +import frc.robot.subsystems.robotState.RobotStateSubsystem; +import frc.robot.subsystems.tagAlign.TagAlignSubsystem; +import frc.robot.subsystems.tagAlign.TagAlignSubsystem.TagAlignStates; +import frc.robot.subsystems.vision.VisionSubsystem; +import java.util.Optional; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +public class DriveAlgaeWaitAutonServoCommand extends Command implements AutoCommandInterface { + private final DriveSubsystem driveSubsystem; + private final TagAlignSubsystem tagAlignSubsystem; + private final ElevatorSubsystem elevatorSubsystem; + private final RobotStateSubsystem robotStateSubsystem; + private final VisionSubsystem visionSubsystem; + + private Trajectory trajectory; + private final Timer timer = new Timer(); + private static final Logger logger = LoggerFactory.getLogger(DriveAutonCommand.class); + private boolean pathExists = false; + private String trajectoryName; + private boolean mirrorTrajectory = false; + private boolean mirrorToProcessor = false; + private boolean isServoing = false; + + private boolean resetOdometry; + private boolean firstPath; + private boolean lastPath; + private boolean hasStaged = false; + private boolean hasPreppedAlgae = false; + + private double yOffset; + private RobotStateSubsystem.ScoringLevel algaeLevel; + private double raiseElevAfterTime = 0.0; + + private SwerveSample desiredState; + private Pose2d initialPose = new Pose2d(); + private Pose2d finalPose = new Pose2d(); + + public DriveAlgaeWaitAutonServoCommand( + DriveSubsystem driveSubsystem, + TagAlignSubsystem tagAlignSubsystem, + ElevatorSubsystem elevatorSubsystem, + BiscuitSubsystem biscuitSubsystem, + RobotStateSubsystem robotStateSubsystem, + VisionSubsystem visionSubsystem, + String trajectoryName, + boolean firstPath, + boolean lastPath, + boolean resetOdometry, + double yOffset, + RobotStateSubsystem.ScoringLevel algaeLevel, + double raiseElevAfterTime) { + + addRequirements(driveSubsystem, elevatorSubsystem, biscuitSubsystem); + this.driveSubsystem = driveSubsystem; + this.tagAlignSubsystem = tagAlignSubsystem; + this.elevatorSubsystem = elevatorSubsystem; + this.robotStateSubsystem = robotStateSubsystem; + this.visionSubsystem = visionSubsystem; + + this.resetOdometry = resetOdometry; + this.firstPath = firstPath; + this.lastPath = lastPath; + this.trajectoryName = trajectoryName; + this.yOffset = yOffset; + this.algaeLevel = algaeLevel; + this.raiseElevAfterTime = raiseElevAfterTime; + + Optional> tempTrajectory = Choreo.loadTrajectory(trajectoryName); + if (tempTrajectory.isPresent()) { + trajectory = tempTrajectory.get(); + pathExists = true; + } else { + logger.error("Trajectory {} not found", trajectoryName); + pathExists = false; + } + org.littletonrobotics.junction.Logger.recordOutput("Auto/mirrorToProcessor", mirrorToProcessor); + org.littletonrobotics.junction.Logger.recordOutput("Auto/mirrorTrajectory", mirrorTrajectory); + timer.start(); + } + + @Override + public void reassignAlliance() { + mirrorTrajectory = driveSubsystem.shouldFlip(); + if (pathExists) { + initialPose = trajectory.getInitialPose(mirrorTrajectory).get(); + finalPose = trajectory.getFinalPose(mirrorTrajectory).get(); + + if (resetOdometry) { + driveSubsystem.prepForAuto(initialPose, initialPose.getRotation().getDegrees()); + driveSubsystem.resetHolonomicController(initialPose.getRotation().getRadians()); + } + } + } + + @Override + public void initialize() { + if (firstPath) { + elevatorSubsystem.zero(); + } else { + robotStateSubsystem.clearCoral(); + } + + visionSubsystem.setIsAuto(false); + robotStateSubsystem.setAutoAlgaeLevel(algaeLevel); + + isServoing = false; + hasStaged = false; + hasPreppedAlgae = false; + + if (pathExists) { + if (resetOdometry) { + driveSubsystem.resetOdometry(initialPose); + } + driveSubsystem.setEnableHolo(true); + driveSubsystem.setAutoDebugMsg("Initialize " + trajectoryName); + + driveSubsystem.grapherTrajectoryActive(true); + timer.reset(); + + desiredState = trajectory.sampleAt(timer.get(), mirrorTrajectory).get(); + + driveSubsystem.calculateController(desiredState); + } + } + + @Override + public void execute() { + + if (elevatorSubsystem.getState() == ElevatorStates.ZEROED + && tagAlignSubsystem.getCurRadius() <= 3 + && !hasPreppedAlgae + && timer.get() > raiseElevAfterTime) { + hasPreppedAlgae = true; + robotStateSubsystem.toReefAlignAlgaeAuto(); + } + + if (pathExists) { + if (!isServoing) { + desiredState = trajectory.sampleAt(timer.get(), mirrorTrajectory).get(); + driveSubsystem.calculateController(desiredState); + + if (shouldTransitionToServoing()) { + isServoing = true; + + visionSubsystem.setIsAuto(true); + + tagAlignSubsystem.startAuto( + robotStateSubsystem.getAllianceColor(), + robotStateSubsystem.getCoralLevel(), + yOffset, + true, + true); + } + } + } + + if (robotStateSubsystem.getState() == RobotStateSubsystem.RobotStates.REEF_ALIGN_CORAL) { + robotStateSubsystem.toPlaceCoralAuto(); + } + } + + private boolean shouldTransitionToServoing() { + return tagAlignSubsystem.getCurRadius() < PathHandlerConstants.kServoRadius; + } + + @Override + public boolean isFinished() { + if (!pathExists) { + return true; + } + return ((timer.hasElapsed(trajectory.getTotalTime() + AutonConstants.kAutoTimeout) + || tagAlignSubsystem.getState() == TagAlignStates.DONE && isServoing)) + && robotStateSubsystem.hasAlgae(); + // || (FastMath.sqrt( + // FastMath.pow(driveSubsystem.getPoseMeters().getX() - finalPose.getX(), 2) + // + FastMath.pow( + // (driveSubsystem.getPoseMeters().getY() - finalPose.getY()), 2)) + // < AutonConstants.kMaxPathErrorMeters) + // && driveSubsystem.getHolonomicControllerOmegaErrorRadians() + // < AutonConstants.kMaxOmegaErrorRadians); + } + + @Override + public void end(boolean interrupted) { + driveSubsystem.setEnableHolo(false); + + if (!interrupted && !lastPath) { + driveSubsystem.calculateController( + trajectory.sampleAt(trajectory.getTotalTime(), mirrorTrajectory).get()); + } else { + driveSubsystem.drive(0, 0, 0); + } + + tagAlignSubsystem.terminate(); + visionSubsystem.setIsAuto(true); + + driveSubsystem.grapherTrajectoryActive(false); + logger.info("End Trajectory {}: {}", trajectoryName, timer.get()); + driveSubsystem.setAutoDebugMsg("End " + trajectoryName); + } +} diff --git a/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java b/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java index c483eb46..64e5a397 100644 --- a/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java +++ b/src/main/java/frc/robot/commands/auton/StealAlgaeImmediately.java @@ -15,18 +15,15 @@ import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; import frc.robot.subsystems.tagAlign.TagAlignSubsystem; import frc.robot.subsystems.vision.VisionSubsystem; -import java.util.ArrayList; -import java.util.List; public class StealAlgaeImmediately extends SequentialCommandGroup implements AutoCommandInterface { private DriveSubsystem driveSubsystem; - private DriveAlgaeAutonServoCommand firstPath; + private DriveAlgaeWaitAutonServoCommand firstPath; private DriveBargeAutonCommand secondPath; private CoralSubsystem coralSubsystem; private RobotStateSubsystem robotStateSubsystem; private VisionSubsystem visionSubsystem; - private List postOffsets = new ArrayList<>(); public StealAlgaeImmediately( DriveSubsystem driveSubsystem, @@ -39,7 +36,7 @@ public StealAlgaeImmediately( VisionSubsystem visionSubsystem, String firstPathName, String secondPathName, - List postOffsets, + ScoringLevel OppAlgeaLevel, Pose2d startPose) { addRequirements( driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); @@ -47,10 +44,9 @@ public StealAlgaeImmediately( this.coralSubsystem = coralSubsystem; this.robotStateSubsystem = robotStateSubsystem; this.visionSubsystem = visionSubsystem; - this.postOffsets = postOffsets; firstPath = - new DriveAlgaeAutonServoCommand( + new DriveAlgaeWaitAutonServoCommand( driveSubsystem, tagAlignSubsystem, elevatorSubsystem, @@ -61,8 +57,9 @@ public StealAlgaeImmediately( true, true, true, - postOffsets.get(0), - null); + 0.0, + OppAlgeaLevel, + 2.0); secondPath = new DriveBargeAutonCommand( @@ -90,6 +87,7 @@ public StealAlgaeImmediately( @Override public void reassignAlliance() { firstPath.reassignAlliance(); + secondPath.reassignAlliance(); driveSubsystem.teleResetGyro(); coralSubsystem.setAutoPreload(); robotStateSubsystem.setIsAutoPlacing(false); diff --git a/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java index 6fdf7cf5..e23f57ea 100644 --- a/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java +++ b/src/main/java/frc/robot/commands/auton/StealOneAlgeaAutonCommand.java @@ -22,7 +22,7 @@ public class StealOneAlgeaAutonCommand extends SequentialCommandGroup private DriveSubsystem driveSubsystem; private DriveAlgaeAutonServoCommand firstPath; private DriveBargeAutonCommand secondPath; - private DriveAlgaeAutonServoCommand thirdPath; + private DriveAlgaeWaitAutonServoCommand thirdPath; private DriveBargeAutonCommand fourthPath; private CoralSubsystem coralSubsystem; private RobotStateSubsystem robotStateSubsystem; @@ -41,6 +41,7 @@ public StealOneAlgeaAutonCommand( String secondPathName, String thirdPathName, String fourthPathName, + ScoringLevel OppAlgeaHeight, Pose2d startPose) { addRequirements( driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); @@ -77,7 +78,7 @@ public StealOneAlgeaAutonCommand( false); thirdPath = - new DriveAlgaeAutonServoCommand( + new DriveAlgaeWaitAutonServoCommand( driveSubsystem, tagAlignSubsystem, elevatorSubsystem, @@ -89,7 +90,8 @@ public StealOneAlgeaAutonCommand( true, false, 0.0, - ScoringLevel.L2); + OppAlgeaHeight, + 1.5); fourthPath = new DriveBargeAutonCommand( @@ -109,7 +111,6 @@ public StealOneAlgeaAutonCommand( robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), firstPath, - new PlaceCoralAutonCommand(robotStateSubsystem, coralSubsystem), secondPath, new AutoScoreAlgaeCommand( robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem), @@ -123,6 +124,9 @@ public StealOneAlgeaAutonCommand( @Override public void reassignAlliance() { firstPath.reassignAlliance(); + secondPath.reassignAlliance(); + thirdPath.reassignAlliance(); + fourthPath.reassignAlliance(); driveSubsystem.teleResetGyro(); coralSubsystem.setAutoPreload(); robotStateSubsystem.setIsAutoPlacing(false); diff --git a/src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java b/src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java new file mode 100644 index 00000000..d18382bf --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java @@ -0,0 +1,121 @@ +package frc.robot.commands.auton; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.robot.commands.drive.PrepOdomForAutoCommand; +import frc.robot.commands.robotState.AutoScoreAlgaeCommand; +import frc.robot.subsystems.algae.AlgaeSubsystem; +import frc.robot.subsystems.biscuit.BiscuitSubsystem; +import frc.robot.subsystems.coral.CoralSubsystem; +import frc.robot.subsystems.drive.DriveSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoreSide; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; +import frc.robot.subsystems.tagAlign.TagAlignSubsystem; +import frc.robot.subsystems.vision.VisionSubsystem; + +public class StealOneAlgeaNoSuperCycleAutonCommand extends SequentialCommandGroup + implements AutoCommandInterface { + + private DriveSubsystem driveSubsystem; + private DriveAutonServoCommand firstPath; + private DriveAlgaeWaitAutonServoCommand secondPath; + private DriveBargeAutonCommand thirdPath; + private CoralSubsystem coralSubsystem; + private RobotStateSubsystem robotStateSubsystem; + private VisionSubsystem visionSubsystem; + + public StealOneAlgeaNoSuperCycleAutonCommand( + DriveSubsystem driveSubsystem, + RobotStateSubsystem robotStateSubsystem, + AlgaeSubsystem algaeSubsystem, + BiscuitSubsystem biscuitSubsystem, + CoralSubsystem coralSubsystem, + ElevatorSubsystem elevatorSubsystem, + TagAlignSubsystem tagAlignSubsystem, + VisionSubsystem visionSubsystem, + String firstPathName, + String secondPathName, + String thirdPathName, + ScoringLevel OppAlgeaHeight, + Pose2d startPose) { + addRequirements( + driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); + this.driveSubsystem = driveSubsystem; + this.coralSubsystem = coralSubsystem; + this.robotStateSubsystem = robotStateSubsystem; + this.visionSubsystem = visionSubsystem; + + firstPath = + new DriveAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + firstPathName, + true, + true, + false, + false, + 0.0); + + secondPath = + new DriveAlgaeWaitAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + secondPathName, + false, + true, + false, + 0.0, + OppAlgeaHeight, + 1.5); + + thirdPath = + new DriveBargeAutonCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + thirdPathName, + true, + false); + + addCommands( + new SequentialCommandGroup( + new PrepOdomForAutoCommand( + robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), + // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), + firstPath, + new WaitForElevBelowBarge(elevatorSubsystem), + secondPath, + thirdPath, + new AutoScoreAlgaeCommand( + robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem))); + } + + @Override + public void reassignAlliance() { + firstPath.reassignAlliance(); + secondPath.reassignAlliance(); + thirdPath.reassignAlliance(); + driveSubsystem.teleResetGyro(); + coralSubsystem.setAutoPreload(); + robotStateSubsystem.setIsAutoPlacing(false); + robotStateSubsystem.setScoringLevel(ScoringLevel.L4); + robotStateSubsystem.setGetAlgaeOnCycle(false); + // robotStateSubsystem.setIsAuto(true); + robotStateSubsystem.setScoreSide(ScoreSide.RIGHT); + visionSubsystem.setVisionUpdating(true); + // pathHandler.reassignAlliance(); + } +} diff --git a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java index ad4a5bcf..5b6c1efa 100644 --- a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java +++ b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java @@ -13,6 +13,9 @@ import frc.robot.commands.auton.NonProcessorShallowSlowAutonCommand; import frc.robot.commands.auton.ProcessorShallowAutonCommand; import frc.robot.commands.auton.ProcessorShallowSlowAutonCommand; +import frc.robot.commands.auton.StealAlgaeImmediately; +import frc.robot.commands.auton.StealOneAlgeaAutonCommand; +import frc.robot.commands.auton.StealOneAlgeaNoSuperCycleAutonCommand; import frc.robot.constants.AutonConstants; import frc.robot.constants.PathHandlerConstants; import frc.robot.constants.RobotConstants; @@ -277,6 +280,57 @@ private AutoCommandInterface getAutoCommand(int switchPos) { AutonConstants.kMiddleBargeStart); } + case 0x11 -> { + return new StealOneAlgeaAutonCommand( + driveSubsystem, + robotStateSubsystem, + algaeSubsystem, + biscuitSubsystem, + coralSubsystem, + elevatorSubsystem, + tagAlignSubsystem, + visionSubsystem, + "startBargeToG", + "GToBarge", + "bargeToOppE", + "OppEToOppbarge", + ScoringLevel.L3, + new Pose2d(7.1, 3.7209, Rotation2d.fromRadians(3.14159))); + } + + case 0x12 -> { + return new StealAlgaeImmediately( + driveSubsystem, + robotStateSubsystem, + algaeSubsystem, + biscuitSubsystem, + coralSubsystem, + elevatorSubsystem, + tagAlignSubsystem, + visionSubsystem, + "startBargeToOppE", + "OppEToOppbarge", + ScoringLevel.L3, + new Pose2d(7.1, 3.7209, Rotation2d.fromRadians(3.14159))); + } + + case 0x13 -> { + return new StealOneAlgeaNoSuperCycleAutonCommand( + driveSubsystem, + robotStateSubsystem, + algaeSubsystem, + biscuitSubsystem, + coralSubsystem, + elevatorSubsystem, + tagAlignSubsystem, + visionSubsystem, + "startHToH", + "HToOppE", + "OppEToOppbarge", + ScoringLevel.L3, + new Pose2d(7.1008875, 4.0509, Rotation2d.fromDegrees(180.0))); + } + case 0x20 -> { return new ProcessorShallowSlowAutonCommand( driveSubsystem,