diff --git a/choreo.chor b/choreo.chor index bca7b97..0b7950d 100644 --- a/choreo.chor +++ b/choreo.chor @@ -14006,54 +14006,53 @@ "eventMarkers": [], "isTrajectoryStale": true }, - "shoot3 to f4": { + "f4 to shoot3": { "waypoints": [ { - "x": 5.389826774597168, - "y": 6.316443920135498, - "heading": 0.0923293613877475, + "x": 8.146272659301758, + "y": 2.5416696071624756, + "heading": -0.3602857968918242, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 + "headingConstrained": false, + "controlIntervalCount": 20 }, { - "x": 6.6103692054748535, - "y": 6.174520015716553, - "heading": 0.14073021457593823, + "x": 7.764113426208496, + "y": 0.8697969913482666, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 + "headingConstrained": false, + "controlIntervalCount": 20 }, { - "x": 7.263217449188232, - "y": 3.563127040863037, - "heading": -0.20079684663973665, + "x": 6.224337577819824, + "y": 0.9867419600486755, + "heading": -0.564804889468171, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 8 + "controlIntervalCount": 20 }, { - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 40 + "controlIntervalCount": 20 } ], "trajectory": [ { - "x": 5.389826774597168, - "y": 6.316443920135498, - "heading": 0.0923293613877475, - "angularVelocity": 5.877860824481475e-29, - "velocityX": -1.756795253310143e-28, - "velocityY": 8.074452417133554e-28, - "timestamp": 0, + "x": 8.146272659301758, + "y": 2.5416696071624756, + "heading": -0.3602857968918242, + "angularVelocity": -1.3075900293060372e-20, + "velocityX": 6.706132898787993e-18, + "velocityY": 1.25812593198883e-18, "moduleForcesX": [ 0, 0, @@ -14065,1966 +14064,1271 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 5.439971490781152, - "y": 6.3294310840425485, - "heading": 0.10920451720627261, - "angularVelocity": 0.2585002523184431, - "velocityX": 0.7681364205103656, - "velocityY": 0.1989424680267629, - "timestamp": 0.06528100327630178, + "x": 8.147600102179377, + "y": 2.5292632090411877, + "heading": -0.3603157840498909, + "angularVelocity": -0.0009376613119575286, + "velocityX": 0.041507495555634544, + "velocityY": -0.38793271150347314, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.273271836565193, + 16.072928337442587, + 16.374363325703126, + 16.173836717006505 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.6221155988456, + -151.64334986831693, + -151.61096484110163, + -151.63235323710535 + ], + "timestamp": 0.031980799126749504 }, { - "x": 5.541197751644751, - "y": 6.351497936743534, - "heading": 0.13997352557252016, - "angularVelocity": 0.47133173238802323, - "velocityX": 1.5506235471774212, - "velocityY": 0.3380287004411842, - "timestamp": 0.13056200655260355, + "x": 8.150254297043832, + "y": 2.5044524104275445, + "heading": -0.36037664752311027, + "angularVelocity": -0.0019031254653208741, + "velocityX": 0.08299338780657603, + "velocityY": -0.7758029596218509, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.266290391459854, + 16.060042938997135, + 16.370366486068306, + 16.163924970429946 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.5975805151007, + -151.61941321389335, + -151.58606809181603, + -151.60806408810078 + ], + "timestamp": 0.06396159825349901 }, { - "x": 5.694362835318405, - "y": 6.375852030285326, - "heading": 0.17940969727211997, - "angularVelocity": 0.6040987380767765, - "velocityX": 2.3462427963213397, - "velocityY": 0.3730655522972587, - "timestamp": 0.19584300982890535, + "x": 8.154234355368882, + "y": 2.4672397802732524, + "heading": -0.3604695312652079, + "angularVelocity": -0.0029043596355898395, + "velocityX": 0.12445149694369974, + "velocityY": -1.1635928798027615, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.2573093568475, + 16.043470745041123, + 16.36522736334713, + 16.15118014288652 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.5660310860003, + -151.58863090659727, + -151.55405042892923, + -151.57682572900947 + ], + "timestamp": 0.09594239738024851 }, { - "x": 5.898399800638583, - "y": 6.389171149392318, - "heading": 0.21713359386712372, - "angularVelocity": 0.5778694367691833, - "velocityX": 3.125518222454279, - "velocityY": 0.2040274879143424, - "timestamp": 0.2611240131052071, + "x": 8.159539092123575, + "y": 2.417628744730693, + "heading": -0.36059596184042236, + "angularVelocity": -0.003953327579882654, + "velocityX": 0.1658725516528769, + "velocityY": -1.5512756684446496, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.24533053532957, + 16.021367613951934, + 16.35837444996933, + 16.13418270424121 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.5239586837421, + -151.54757756377296, + -151.51134854509434, + -151.53515982751532 + ], + "timestamp": 0.12792319650699802 }, { - "x": 6.139812966993799, - "y": 6.366910320571869, - "heading": 0.23261325277244352, - "angularVelocity": 0.23712348353168142, - "velocityX": 3.6980615223303914, - "velocityY": -0.341000102682707, - "timestamp": 0.3264050163815089, + "x": 8.166166847815973, + "y": 2.355624101805838, + "heading": -0.3607580788398626, + "angularVelocity": -0.0050691978895750535, + "velocityX": 0.20724171609081768, + "velocityY": -1.9388084293612182, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.228557804703854, + 15.990413795048632, + 16.348779602523216, + 16.110376873859046 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.46504819579832, + -151.49008671446194, + -151.4515473665979, + -151.4768032806168 + ], + "timestamp": 0.15990399563374752 }, { - "x": 6.384462665197072, - "y": 6.294251581180724, - "heading": 0.20609382989342284, - "angularVelocity": -0.406234915949089, - "velocityX": 3.7476399859817295, - "velocityY": -1.1130150540673742, - "timestamp": 0.39168601965781064, + "x": 8.17411513266002, + "y": 2.28123305074042, + "heading": -0.36095909655085234, + "angularVelocity": -0.006285574984946234, + "velocityX": 0.24853302793878443, + "velocityY": -2.326116078921612, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.203401211313274, + 15.943970515420668, + 16.3343882012332, + 16.074650442388222 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.37667223936106, + -151.40382477390045, + -151.36181530924875, + -151.38922556273323 + ], + "timestamp": 0.19188479476049702 }, { - "x": 6.6103692054748535, - "y": 6.174520015716553, - "heading": 0.14073021457593823, - "angularVelocity": -1.0012654836328598, - "velocityX": 3.4605249450844475, - "velocityY": -1.8340950575990314, - "timestamp": 0.4569670229341124, + "x": 8.18337979684499, + "y": 2.194467593597625, + "heading": -0.36120438354201784, + "angularVelocity": -0.007669820575568653, + "velocityX": 0.289694580468733, + "velocityY": -2.7130484388133786, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.161494399361388, + 15.86655616821737, + 16.310412183428344, + 16.015076957011164 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.22938396197756, + -151.2600175924016, + -151.21221404758586, + -151.24318011473574 + ], + "timestamp": 0.22386559388724653 }, { - "x": 6.781201507559486, - "y": 6.042996679000263, - "heading": 0.05997960008578628, - "angularVelocity": -1.4624195868222665, - "velocityX": 3.093827907166859, - "velocityY": -2.3819299079337615, - "timestamp": 0.5121841543359267, + "x": 8.193952545895359, + "y": 2.0953517348832245, + "heading": -0.3615047098185581, + "angularVelocity": -0.009390830896688646, + "velocityX": 0.3305967748927505, + "velocityY": -3.0992302075274014, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.077804475417487, + 15.711811793516993, + 16.2625188597414, + 15.895914233552285 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -150.93497652559896, + -150.97240649679654, + -150.91298509059112, + -150.9509247547565 + ], + "timestamp": 0.25584639301399603 }, { - "x": 6.927058757559823, - "y": 5.883904997659516, - "heading": -0.02671630198517662, - "angularVelocity": -1.5700906561059491, - "velocityX": 2.641521685343184, - "velocityY": -2.881201491309624, - "timestamp": 0.5674012857377408, + "x": 8.205808597179601, + "y": 1.983957356503522, + "heading": -0.3618925222343948, + "angularVelocity": -0.01212641417431894, + "velocityX": 0.3707240471980867, + "velocityY": -3.483164317997985, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 15.828170617283522, + 15.249586417057218, + 16.11943466531586, + 15.53931489340852 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -150.0547735436772, + -150.11118433185547, + -150.0167968988603, + -150.0744635473534 + ], + "timestamp": 0.28782719214074554 }, { - "x": 7.04544649214824, - "y": 5.699791641539284, - "heading": -0.10516736657169454, - "angularVelocity": -1.4207739988452266, - "velocityX": 2.1440399307763967, - "velocityY": -3.33435206513069, - "timestamp": 0.622618417139555, + "x": 8.216671539772106, + "y": 1.869377617384765, + "heading": -0.36696562083733264, + "angularVelocity": -0.15862951337868694, + "velocityX": 0.3396707677086669, + "velocityY": -3.582766605201594, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.566099764670713, + -23.74185113213112, + 0.0026496921708137667, + -18.244579250742852 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.76169064668651, + -43.3515787570296, + -34.73527629134804, + -27.873465516812473 + ], + "timestamp": 0.31980799126749504 }, { - "x": 7.135029234718409, - "y": 5.4927451816425625, - "heading": -0.16547417949655616, - "angularVelocity": -1.0921757685311444, - "velocityX": 1.6223722655615305, - "velocityY": -3.749677946687377, - "timestamp": 0.6778355485413692, + "x": 8.221498868712358, + "y": 1.7543853485571894, + "heading": -0.3747236195820264, + "angularVelocity": -0.24258301720186537, + "velocityX": 0.1509446002940072, + "velocityY": -3.5956658985316206, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -71.40384183367793, + -78.67341164339989, + -68.77757059168027, + -76.2068575775965 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -13.340833833356406, + -8.229476539764557, + -1.5946449505173654, + 2.997708597090877 + ], + "timestamp": 0.35178879039424454 }, { - "x": 7.1946502926943605, - "y": 5.265193733392975, - "heading": -0.19902017785123988, - "angularVelocity": -0.607528814030015, - "velocityX": 1.0797565259609254, - "velocityY": -4.121029877370833, - "timestamp": 0.7330526799431833, + "x": 8.215543852868619, + "y": 1.6394468268331732, + "heading": -0.3830214208588415, + "angularVelocity": -0.2594619741654515, + "velocityX": -0.18620597378719825, + "velocityY": -3.593985293121867, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -131.63971765121195, + -132.1251803865546, + -131.44130434687978, + -131.90785243458552 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.6630978972849297, + -0.32118953059068167, + 1.6646908114812236, + 2.9471191543597266 + ], + "timestamp": 0.38376958952099405 }, { - "x": 7.222523668002858, - "y": 5.020854960102225, - "heading": -0.2007935391017843, - "angularVelocity": -0.03211614231894304, - "velocityX": 0.5047957871201888, - "velocityY": -4.425053730384866, - "timestamp": 0.7882698113449975, + "x": 8.197763529669015, + "y": 1.5257377053426124, + "heading": -0.3914743757788367, + "angularVelocity": -0.2643134365246348, + "velocityX": -0.5559686963871349, + "velocityY": -3.5555434696828456, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -144.578017286016, + -144.59861351941584, + -144.45258731628903, + -144.47191239483698 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.33303904879323, + 14.656650526753895, + 15.397545318772272, + 15.714176716229833 + ], + "timestamp": 0.41575038864774355 }, { - "x": 7.21320924569149, - "y": 4.774548798860355, - "heading": -0.2007940081879534, - "angularVelocity": -0.000008495301316681701, - "velocityX": -0.168687182309178, - "velocityY": -4.460683758623826, - "timestamp": 0.8434869427468117, + "x": 8.168046767409242, + "y": 1.4145527186587945, + "heading": -0.39998891583165985, + "angularVelocity": -0.2662391273925789, + "velocityX": -0.9292063697893852, + "velocityY": -3.476616898887431, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -145.9343150425037, + -145.92678228774997, + -145.84020625408652, + -145.83269743139033 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 30.588020568065836, + 30.675316415633148, + 31.02372322253667, + 31.109748113976742 + ], + "timestamp": 0.44773118777449306 }, { - "x": 7.175173296238236, - "y": 4.531019058688531, - "heading": -0.20079463612173012, - "angularVelocity": -0.000011372082554249561, - "velocityX": -0.6888432717822212, - "velocityY": -4.41040188052621, - "timestamp": 0.8987040741486259, + "x": 8.126614125671166, + "y": 1.3071870926693934, + "heading": -0.40853190894874974, + "angularVelocity": -0.26712881949045475, + "velocityX": -1.2955474181282334, + "velocityY": -3.357190217917398, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -143.2223527752805, + -143.21896451884223, + -143.1567807290278, + -143.1534565689169 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.56907362435667, + 46.58887135233763, + 46.769381557224264, + 46.78889731137869 + ], + "timestamp": 0.47971198690124256 }, { - "x": 7.141718943537027, - "y": 4.286817753228974, - "heading": -0.20079523032809862, - "angularVelocity": -0.000010761268349317625, - "velocityX": -0.6058690817848082, - "velocityY": -4.422564143771019, - "timestamp": 0.95392120555044, + "x": 8.07388966397511, + "y": 1.2049016007584403, + "heading": -0.41708874512702343, + "angularVelocity": -0.2675616748774896, + "velocityX": -1.6486286501378065, + "velocityY": -3.198340713921816, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -138.02583770823492, + -138.02691095616467, + -137.983400735572, + -137.9845030706035 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 62.040749744125456, + 62.04062714704642, + 62.13508849913109, + 62.1349022006288 + ], + "timestamp": 0.5116927860279921 }, { - "x": 7.1454381670638325, - "y": 4.040363589455567, - "heading": -0.20079565649200548, - "angularVelocity": -0.000007717965349429982, - "velocityX": 0.06735633366646694, - "velocityY": -4.463364132047433, - "timestamp": 1.0091383369522542, + "x": 8.010460171920732, + "y": 1.1089034284323798, + "heading": -0.42565203171992405, + "angularVelocity": -0.2677633713579741, + "velocityX": -1.9833616978637674, + "velocityY": -3.0017440135075093, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -130.84433662019046, + -130.84716832840817, + -130.82002820298402, + -130.82286884274146 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 76.82308227935584, + 76.81885979093056, + 76.86453267826641, + 76.86029810026662 + ], + "timestamp": 0.5436735851547416 }, { - "x": 7.18624821892377, - "y": 3.7972833144039435, - "heading": -0.20079609276594113, - "angularVelocity": -0.000007901061220855677, - "velocityX": 0.739083158140957, - "velocityY": -4.402261922712573, - "timestamp": 1.0643554683540684, + "x": 7.937060559126424, + "y": 1.0203364512930726, + "heading": -0.43421766230274894, + "angularVelocity": -0.26783666502130526, + "velocityX": -2.2951150314806625, + "velocityY": -2.7693797390245263, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -121.85578794466976, + -121.8580048899302, + -121.8455150455658, + -121.84773342190302 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 90.81630461889256, + 90.81346574281633, + 90.83011542575285, + 90.827275302625 + ], + "timestamp": 0.5756543842814912 }, { - "x": 7.263217449188232, - "y": 3.563127040863037, - "heading": -0.20079684663973665, - "angularVelocity": -0.000013652896780135108, - "velocityX": 1.3939375029166012, - "velocityY": -4.240645386609363, - "timestamp": 1.1195725997558825, + "x": 7.854593585590107, + "y": 0.9402979370567445, + "heading": -0.44278319357712226, + "angularVelocity": -0.26783355976895873, + "velocityX": -2.578640177520758, + "velocityY": -2.5027052613409633, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -110.81834082855958, + -110.81818208787779, + -110.81882650797832, + -110.8186677700913 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] - }, - { - "x": 7.397749706272958, - "y": 3.3122935578321564, - "heading": -0.20079688846488022, - "angularVelocity": -6.559383166085602e-7, - "velocityX": 2.1098519857195543, - "velocityY": -3.93378906833002, - "timestamp": 1.1833364362692025, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + 104.2324363557485, + 104.23260132990778, + 104.23191876194896, + 104.23208373467868 ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 0.6076351834082407 }, { - "x": 7.573835137641977, - "y": 3.0886638043230272, - "heading": -0.2007970346815199, - "angularVelocity": -0.0000022930966466017797, - "velocityX": 2.7615250429957365, - "velocityY": -3.50715649712222, - "timestamp": 1.2471002727825224, + "x": 7.764113426208496, + "y": 0.8697969913482666, + "heading": -0.4513470780394159, + "angularVelocity": -0.26778206599379895, + "velocityX": -2.8292025793968807, + "velocityY": -2.2044772999257645, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -97.93232752441206, + -97.92843601107938, + -97.94096706632563, + -97.93707630395745 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 116.56726600361961, + 116.57049191574987, + 116.55998766220065, + 116.5632134289187 + ], + "timestamp": 0.6396159825349903 }, { - "x": 7.7462197560575445, - "y": 2.911530336612712, - "heading": -0.2577959146653413, - "angularVelocity": -0.8939060618147493, - "velocityX": 2.7034856721577247, - "velocityY": -2.7779612613697275, - "timestamp": 1.3108641092958424, + "x": 7.69573401776191, + "y": 0.8245759501881655, + "heading": -0.45746757213627004, + "angularVelocity": -0.2677217527765889, + "velocityX": -2.9910420291831623, + "velocityY": -1.9780521327480727, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -88.4861315898164, + -88.47829462571221, + -88.50063980442245, + -88.49280469715737 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 123.8056466864092, + 123.81117304091167, + 123.79523611967868, + 123.80076251599314 + ], + "timestamp": 0.6624773826019531 }, { - "x": 7.887783858109899, - "y": 2.7733419210630816, - "heading": -0.31379529701075154, - "angularVelocity": -0.878231069639484, - "velocityX": 2.220131500757214, - "velocityY": -2.1671910459898878, - "timestamp": 1.3746279458091624, + "x": 7.623987319105588, + "y": 0.7847498758262718, + "heading": -0.4635864852868705, + "angularVelocity": -0.2676525992580374, + "velocityX": -3.138333542424385, + "velocityY": -1.742066288361857, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -80.53181948196043, + -80.52149105116341, + -80.54860068452955, + -80.53827444419035 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 129.0328140245211, + 129.03916886473942, + 129.02228349460336, + 129.02863880784642 + ], + "timestamp": 0.6853387826689159 }, { - "x": 7.995243833635694, - "y": 2.6711260943776467, - "heading": -0.3597426439120978, - "angularVelocity": -0.7205862980303598, - "velocityX": 1.6852808959095038, - "velocityY": -1.6030375879921008, - "timestamp": 1.4383917823224823, + "x": 7.549293712398886, + "y": 0.750554924453385, + "heading": -0.4697035775381256, + "angularVelocity": -0.2675729497466296, + "velocityX": -3.267236760988349, + "velocityY": -1.4957505346776976, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -70.47808481288641, + -70.46429363246236, + -70.49734596729725, + -70.48355715888844 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 134.68037061761825, + 134.687475768613, + 134.67021054856025, + 134.67731693269903 + ], + "timestamp": 0.7082001827358787 }, { - "x": 8.067411642910937, - "y": 2.6036026221448894, - "heading": -0.3920572116554166, - "angularVelocity": -0.5067851859347958, - "velocityX": 1.1317984177468214, - "velocityY": -1.0589618806680814, - "timestamp": 1.5021556188358023, + "x": 7.4721328963284135, + "y": 0.7222116274006383, + "heading": -0.4758185632521959, + "angularVelocity": -0.2674808059068571, + "velocityX": -3.375157070184126, + "velocityY": -1.2397883318030825, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.006175668391286, + -58.98786679255757, + -59.027989486839026, + -59.00968281962692 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 139.95412847972995, + 139.9617095259151, + 139.94481527089823, + 139.95239869070178 + ], + "timestamp": 0.7310615828028415 }, { - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, - "angularVelocity": -0.2627699338686213, - "velocityX": 0.5687865733096145, - "velocityY": -0.525973330669167, - "timestamp": 1.5659194553491222, + "x": 7.392992907645056, + "y": 0.6998955203999848, + "heading": -0.4819310863138484, + "angularVelocity": -0.2673730849269272, + "velocityX": -3.4617297475980466, + "velocityY": -0.9761478708995135, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.33533269764861, + -47.31136930105139, + -47.35986305725268, + -47.33590119796527 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 144.15179376312915, + 144.15948711273748, + 144.143567748506, + 144.1512650242772 + ], + "timestamp": 0.7539229828698043 }, { - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, - "angularVelocity": -3.188523900376183e-28, - "velocityX": 6.5135111869136715e-28, - "velocityY": 7.369889552380699e-28, - "timestamp": 1.6296832918624422, + "x": 7.312357261947624, + "y": 0.6837351582870603, + "heading": -0.4880406805585679, + "angularVelocity": -0.26724497304731976, + "velocityX": -3.5271525567519006, + "velocityY": -0.7068841832229403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -35.77322881738941, + -35.74203679044384, + -35.80083564606887, + -35.76964363098124 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 5.389826774597168, - "y": 6.316443920135498, - "heading": 0.0923293613877475, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 - }, - { - "timestamp": 0.4569670229341124, - "isStopPoint": false, - "x": 6.6103692054748535, - "y": 6.174520015716553, - "heading": 0.14073021457593823, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 1.1195725997558825, - "isStopPoint": false, - "x": 7.263217449188232, - "y": 3.563127040863037, - "heading": -0.20079684663973665, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 8 + 147.22596627706935, + 147.2333138616192, + 147.2189989032998, + 147.22635253761482 + ], + "timestamp": 0.7767843829367671 }, { - "timestamp": 1.6296832918624422, - "isStopPoint": true, - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" + "x": 7.230710459865446, + "y": 0.6738157728070118, + "heading": -0.4941467100626716, + "angularVelocity": -0.2670890446874916, + "velocityX": -3.5713824106668235, + "velocityY": -0.43389230105376214, + "moduleForcesX": [ + -24.18848759741147, + -24.147668810068858, + -24.219726931790213, + -24.178904961905072 ], - "type": "StopPoint" + "moduleForcesY": [ + 149.26422139331524, + 149.27051712254536, + 149.25874753197164, + 149.26505229532222 + ], + "timestamp": 0.7996457830037299 }, { - "scope": [ - "last" + "x": 7.148538231605274, + "y": 0.6701788078289544, + "heading": -0.5002482692550999, + "angularVelocity": -0.2668935049715411, + "velocityX": -3.594365525288816, + "velocityY": -0.15908758725178174, + "moduleForcesX": [ + -12.575787730366319, + -12.52160909524516, + -12.61149632143376, + -12.557307861363002 ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": true - }, - "f4 to shoot3": { - "waypoints": [ - { - "x": 8.146272659301758, - "y": 2.5416696071624756, - "heading": -0.3602857968918242, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 20 - }, - { - "x": 7.764113426208496, - "y": 0.8697969913482666, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 20 - }, - { - "x": 6.224337577819824, - "y": 0.9867419600486755, - "heading": -0.564804889468171, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 + "moduleForcesY": [ + 150.25564357588914, + 150.25971448700494, + 150.25196339740583, + 150.25604761826926 + ], + "timestamp": 0.8225071830706927 }, { - "x": 5, - "y": 1.8, - "heading": -0.5753497808792172, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - } - ], - "trajectory": [ - { - "x": 8.146272659301758, - "y": 2.5416696071624756, - "heading": -0.3602857968918242, - "angularVelocity": -1.3075900293060372e-20, - "velocityX": 6.706132898787993e-18, - "velocityY": 1.25812593198883e-18, + "x": 7.066324020043711, + "y": 0.6728188094027947, + "heading": -0.5063440008948622, + "angularVelocity": -0.26663859701975523, + "velocityX": -3.596201952651326, + "velocityY": 0.11547856066206823, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -1.0201874660681192, + -0.9465539168474201, + -1.0616765303960074, + -0.9880188690625796 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 + 150.12627322894065, + 150.12605332288112, + 150.12473862457858, + 150.12453820227344 ], - "timestamp": 0 + "timestamp": 0.8453685831376555 }, { - "x": 8.147600102179377, - "y": 2.5292632090411877, - "heading": -0.3603157840498909, - "angularVelocity": -0.0009376613119575286, - "velocityX": 0.041507495555634544, - "velocityY": -0.38793271150347314, + "x": 6.984542971023711, + "y": 0.6816770281689224, + "heading": -0.5124317350339042, + "angularVelocity": -0.2662887715192607, + "velocityX": -3.5772546204847124, + "velocityY": 0.38747490269078644, "moduleForcesX": [ - 16.273271836565193, - 16.072928337442587, - 16.374363325703126, - 16.173836717006505 + 10.332741322406472, + 10.43646837553177, + 10.283288526168874, + 10.387072648883647 ], "moduleForcesY": [ - -151.6221155988456, - -151.64334986831693, - -151.61096484110163, - -151.63235323710535 + 148.72404082156856, + 148.71561426886225, + 148.7249715832552, + 148.71657314789027 ], - "timestamp": 0.031980799126749504 + "timestamp": 0.8682299832046183 }, { - "x": 8.150254297043832, - "y": 2.5044524104275445, - "heading": -0.36037664752311027, - "angularVelocity": -0.0019031254653208741, - "velocityX": 0.08299338780657603, - "velocityY": -0.7758029596218509, + "x": 6.903651585748877, + "y": 0.6966276145446374, + "heading": -0.5185076949996831, + "angularVelocity": -0.265773747363762, + "velocityX": -3.5383390797278067, + "velocityY": 0.6539663507563505, "moduleForcesX": [ - 16.266290391459854, - 16.060042938997135, - 16.370366486068306, - 16.163924970429946 + 21.231631770921833, + 21.385641600808757, + 21.170234022234922, + 21.324385672336128 ], "moduleForcesY": [ - -151.5975805151007, - -151.61941321389335, - -151.58606809181603, - -151.60806408810078 + 145.72113146480064, + 145.69637227334283, + 145.72435220906613, + 145.69963076180568 ], - "timestamp": 0.06396159825349901 + "timestamp": 0.8910913832715811 }, { - "x": 8.154234355368882, - "y": 2.4672397802732524, - "heading": -0.3604695312652079, - "angularVelocity": -0.0029043596355898395, - "velocityX": 0.12445149694369974, - "velocityY": -1.1635928798027615, + "x": 6.82406615600161, + "y": 0.7174439510516107, + "heading": -0.5245645048271432, + "angularVelocity": -0.26493608482942016, + "velocityX": -3.4812141651089723, + "velocityY": 0.910545130508275, "moduleForcesX": [ - 16.2573093568475, - 16.043470745041123, - 16.36522736334713, - 16.15118014288652 + 31.151785056415026, + 31.39849026588061, + 31.070052056946253, + 31.31715337764791 ], "moduleForcesY": [ - -151.5660310860003, - -151.58863090659727, - -151.55405042892923, - -151.57682572900947 + 140.3191549264847, + 140.25920686715878, + 140.32155893229853, + 140.26164199634312 ], - "timestamp": 0.09594239738024851 + "timestamp": 0.9139527833385439 }, { - "x": 8.159539092123575, - "y": 2.417628744730693, - "heading": -0.36059596184042236, - "angularVelocity": -0.003953327579882654, - "velocityX": 0.1658725516528769, - "velocityY": -1.5512756684446496, + "x": 6.74610674204456, + "y": 0.743704755532798, + "heading": -0.5305852977107676, + "angularVelocity": -0.26336063696837764, + "velocityX": -3.4100892215527954, + "velocityY": 1.1486962480247573, "moduleForcesX": [ - 16.24533053532957, - 16.021367613951934, - 16.35837444996933, - 16.13418270424121 + 38.731884433069006, + 39.17046506528045, + 38.607292559762094, + 39.04719905364389 ], "moduleForcesY": [ - -151.5239586837421, - -151.54757756377296, - -151.51134854509434, - -151.53515982751532 + 130.29653997716505, + 130.15170243094758, + 130.27764043852704, + 130.1326752882909 ], - "timestamp": 0.12792319650699802 + "timestamp": 0.9368141834055067 }, { - "x": 8.166166847815973, - "y": 2.355624101805838, - "heading": -0.3607580788398626, - "angularVelocity": -0.0050691978895750535, - "velocityX": 0.20724171609081768, - "velocityY": -1.9388084293612182, + "x": 6.669830182834787, + "y": 0.7745147685739938, + "heading": -0.5365236901597878, + "angularVelocity": -0.25975628927477334, + "velocityX": -3.3364780365597846, + "velocityY": 1.3476870598699884, "moduleForcesX": [ - 16.228557804703854, - 15.990413795048632, - 16.348779602523216, - 16.110376873859046 + 39.94124864214655, + 40.80654387569079, + 39.688087041286394, + 40.55860191925513 ], "moduleForcesY": [ - -151.46504819579832, - -151.49008671446194, - -151.4515473665979, - -151.4768032806168 + 109.0761698927306, + 108.70622387092162, + 108.90019644961059, + 108.52875131080822 ], - "timestamp": 0.15990399563374752 + "timestamp": 0.9596755834724695 }, { - "x": 8.17411513266002, - "y": 2.28123305074042, - "heading": -0.36095909655085234, - "angularVelocity": -0.006285574984946234, - "velocityX": 0.24853302793878443, - "velocityY": -2.326116078921612, + "x": 6.594716889081477, + "y": 0.8080615465980141, + "heading": -0.5422616730975375, + "angularVelocity": -0.25099000590264137, + "velocityX": -3.285594650080714, + "velocityY": 1.4673982312930927, "moduleForcesX": [ - 16.203401211313274, - 15.943970515420668, - 16.3343882012332, - 16.074650442388222 + 27.377142802971242, + 28.946022628761813, + 26.690454588833806, + 28.273060432156495 ], "moduleForcesY": [ - -151.37667223936106, - -151.40382477390045, - -151.36181530924875, - -151.38922556273323 + 66.35392892632376, + 65.51201014408305, + 65.40147393365694, + 64.55200984947811 ], - "timestamp": 0.19188479476049702 + "timestamp": 0.9825369835394323 }, { - "x": 8.18337979684499, - "y": 2.194467593597625, - "heading": -0.36120438354201784, - "angularVelocity": -0.007669820575568653, - "velocityX": 0.289694580468733, - "velocityY": -2.7130484388133786, + "x": 6.520066650553738, + "y": 0.8426265450291917, + "heading": -0.5476867638467999, + "angularVelocity": -0.23730352180409156, + "velocityX": -3.265339756562556, + "velocityY": 1.511937078696789, "moduleForcesX": [ - 16.161494399361388, - 15.86655616821737, - 16.310412183428344, - 16.015076957011164 + 10.648662753845125, + 12.681239749083144, + 9.463409688667976, + 11.506016499607078 ], "moduleForcesY": [ - -151.22938396197756, - -151.2600175924016, - -151.21221404758586, - -151.24318011473574 + 25.913483887986448, + 24.6943019190964, + 24.01473340130225, + 22.788066480200015 ], - "timestamp": 0.22386559388724653 + "timestamp": 1.005398383606395 }, { - "x": 8.193952545895359, - "y": 2.0953517348832245, - "heading": -0.3615047098185581, - "angularVelocity": -0.009390830896688646, - "velocityX": 0.3305967748927505, - "velocityY": -3.0992302075274014, + "x": 6.4455859954733885, + "y": 0.8775554683360232, + "heading": -0.5527341676908997, + "angularVelocity": -0.2207827967366567, + "velocityX": -3.2579218622216195, + "velocityY": 1.527855827046594, "moduleForcesX": [ - 16.077804475417487, - 15.711811793516993, - 16.2625188597414, - 15.895914233552285 + 3.5960747793936263, + 5.974668322877457, + 2.134622106813328, + 4.518256964549065 ], "moduleForcesY": [ - -150.93497652559896, - -150.97240649679654, - -150.91298509059112, - -150.9509247547565 + 10.615978313397337, + 9.152103755873513, + 8.25776506449624, + 6.7899303408672695 ], - "timestamp": 0.25584639301399603 + "timestamp": 1.028259783673358 }, { - "x": 8.205808597179601, - "y": 1.983957356503522, - "heading": -0.3618925222343948, - "angularVelocity": -0.01212641417431894, - "velocityX": 0.3707240471980867, - "velocityY": -3.483164317997985, + "x": 6.371246230045802, + "y": 0.9127832529074588, + "heading": -0.5573232073222805, + "angularVelocity": -0.20073309674556802, + "velocityX": -3.2517590877959304, + "velocityY": 1.540928572539015, "moduleForcesX": [ - 15.828170617283522, - 15.249586417057218, - 16.11943466531586, - 15.53931489340852 + 2.8249678816667605, + 5.699386594135162, + 1.036854711393211, + 3.917349447970013 ], "moduleForcesY": [ - -150.0547735436772, - -150.11118433185547, - -150.0167968988603, - -150.0744635473534 + 9.472182442606849, + 7.683757328928144, + 6.614310836662044, + 4.821054942059093 ], - "timestamp": 0.28782719214074554 + "timestamp": 1.051121183740321 }, { - "x": 8.216671539772106, - "y": 1.869377617384765, - "heading": -0.36696562083733264, - "angularVelocity": -0.15862951337868694, - "velocityX": 0.3396707677086669, - "velocityY": -3.582766605201594, + "x": 6.297254785970376, + "y": 0.9487368310827328, + "heading": -0.5613505173038287, + "angularVelocity": -0.1761620010039567, + "velocityX": -3.2365228664380483, + "velocityY": 1.572676129634293, "moduleForcesX": [ - -6.566099764670713, - -23.74185113213112, - 0.0026496921708137667, - -18.244579250742852 + 7.643659184780699, + 11.201562283537305, + 5.448625799382974, + 9.029180441128442 ], "moduleForcesY": [ - -49.76169064668651, - -43.3515787570296, - -34.73527629134804, - -27.873465516812473 + 20.190111734115096, + 17.97203746964154, + 16.754205020338087, + 14.518494477830894 ], - "timestamp": 0.31980799126749504 + "timestamp": 1.0739825838072838 }, { - "x": 8.221498868712358, - "y": 1.7543853485571894, - "heading": -0.3747236195820264, - "angularVelocity": -0.24258301720186537, - "velocityX": 0.1509446002940072, - "velocityY": -3.5956658985316206, + "x": 6.224337577819824, + "y": 0.9867419600486756, + "heading": -0.564804889468171, + "angularVelocity": -0.15110063925324133, + "velocityX": -3.1895337965775994, + "velocityY": 1.6624147626342685, "moduleForcesX": [ - -71.40384183367793, - -78.67341164339989, - -68.77757059168027, - -76.2068575775965 + 24.69413705096555, + 28.735591760364457, + 22.6092516087666, + 26.730468788648686 ], "moduleForcesY": [ - -13.340833833356406, - -8.229476539764557, - -1.5946449505173654, - 2.997708597090877 + 51.821358937376736, + 49.369018779369924, + 48.79021408021854, + 46.28611264180132 ], - "timestamp": 0.35178879039424454 + "timestamp": 1.0968439838742468 }, { - "x": 8.215543852868619, - "y": 1.6394468268331732, - "heading": -0.3830214208588415, - "angularVelocity": -0.2594619741654515, - "velocityX": -0.18620597378719825, - "velocityY": -3.593985293121867, + "x": 6.136915926117871, + "y": 1.0406231791773246, + "heading": -0.5685732652453959, + "angularVelocity": -0.13205897815670353, + "velocityX": -3.063604766356653, + "velocityY": 1.8882136922157564, "moduleForcesX": [ - -131.63971765121195, - -132.1251803865546, - -131.44130434687978, - -131.90785243458552 + 53.84935384642695, + 57.24783126924976, + 53.03493991284918, + 56.520750830493995 ], "moduleForcesY": [ - -1.6630978972849297, - -0.32118953059068167, - 1.6646908114812236, - 2.9471191543597266 + 100.34545254227433, + 98.36978205454317, + 99.47589832995186, + 97.45380367464264 ], - "timestamp": 0.38376958952099405 + "timestamp": 1.1253795354120852 }, { - "x": 8.197763529669015, - "y": 1.5257377053426124, - "heading": -0.3914743757788367, - "angularVelocity": -0.2643134365246348, - "velocityX": -0.5559686963871349, - "velocityY": -3.5555434696828456, + "x": 6.051123167840896, + "y": 1.0970621147200252, + "heading": -0.5712421111800253, + "angularVelocity": -0.09352704927011987, + "velocityX": -3.006521817643263, + "velocityY": 1.9778463180509354, "moduleForcesX": [ - -144.578017286016, - -144.59861351941584, - -144.45258731628903, - -144.47191239483698 + 23.91410509335861, + 28.652094358393224, + 21.308611040730938, + 26.14594543665558 ], "moduleForcesY": [ - 14.33303904879323, - 14.656650526753895, - 15.397545318772272, - 15.714176716229833 + 42.7683004556429, + 39.72797429331798, + 38.83120738101668, + 35.72682557514087 ], - "timestamp": 0.41575038864774355 + "timestamp": 1.1539150869499237 }, { - "x": 8.168046767409242, - "y": 1.4145527186587945, - "heading": -0.39998891583165985, - "angularVelocity": -0.2662391273925789, - "velocityX": -0.9292063697893852, - "velocityY": -3.476616898887431, + "x": 5.965683840893638, + "y": 1.1540346826029093, + "heading": -0.5729960432976295, + "angularVelocity": -0.06146480523702123, + "velocityX": -2.994136168490271, + "velocityY": 1.9965469322479132, "moduleForcesX": [ - -145.9343150425037, - -145.92678228774997, - -145.84020625408652, - -145.83269743139033 + 4.770858489377729, + 8.418103508056848, + 2.4262464935696193, + 6.086928817553971 ], "moduleForcesY": [ - 30.588020568065836, - 30.675316415633148, - 31.02372322253667, - 31.109748113976742 + 11.180867586843519, + 8.827031401425955, + 7.560804267403489, + 5.198517262530141 ], - "timestamp": 0.44773118777449306 + "timestamp": 1.1824506384877622 }, { - "x": 8.126614125671166, - "y": 1.3071870926693934, - "heading": -0.40853190894874974, - "angularVelocity": -0.26712881949045475, - "velocityX": -1.2955474181282334, - "velocityY": -3.357190217917398, + "x": 5.880312922946904, + "y": 1.211109707856062, + "heading": -0.5741103421715187, + "angularVelocity": -0.03904949488751054, + "velocityX": -2.991738843159324, + "velocityY": 2.0001374488059622, "moduleForcesX": [ - -143.2223527752805, - -143.21896451884223, - -143.1567807290278, - -143.1534565689169 + 0.6011398859484628, + 3.1432421576211764, + -1.0435754592992785, + 1.4997874147072965 ], "moduleForcesY": [ - 46.56907362435667, - 46.58887135233763, - 46.769381557224264, - 46.78889731137869 + 3.665918422104314, + 2.0217009919840834, + 1.1243457364878688, + -0.5206612076893335 ], - "timestamp": 0.47971198690124256 + "timestamp": 1.2109861900256007 }, { - "x": 8.07388966397511, - "y": 1.2049016007584403, - "heading": -0.41708874512702343, - "angularVelocity": -0.2675616748774896, - "velocityX": -1.6486286501378065, - "velocityY": -3.198340713921816, + "x": 5.794955129827661, + "y": 1.2682043599529542, + "heading": -0.5747839205577984, + "angularVelocity": -0.023604884082458717, + "velocityX": -2.9912788966446664, + "velocityY": 2.000825252008144, "moduleForcesX": [ - -138.02583770823492, - -138.02691095616467, - -137.983400735572, - -137.9845030706035 + -0.10689904410139146, + 1.644021315489334, + -1.2411194394026503, + 0.5099155573045568 ], "moduleForcesY": [ - 62.040749744125456, - 62.04062714704642, - 62.13508849913109, - 62.1349022006288 + 1.7438416360451359, + 0.6097011458464747, + -0.0070807333549853845, + -1.1412931187021498 ], - "timestamp": 0.5116927860279921 + "timestamp": 1.2395217415634392 }, { - "x": 8.010460171920732, - "y": 1.1089034284323798, - "heading": -0.42565203171992405, - "angularVelocity": -0.2677633713579741, - "velocityX": -1.9833616978637674, - "velocityY": -3.0017440135075093, + "x": 5.709599851830214, + "y": 1.3253027720479766, + "heading": -0.5751582531744568, + "angularVelocity": -0.013118113948560547, + "velocityX": -2.9911907567043756, + "velocityY": 2.000957017400584, "moduleForcesX": [ - -130.84433662019046, - -130.84716832840817, - -130.82002820298402, - -130.82286884274146 + -0.1704218920700057, + 1.0181785330833306, + -0.9409641820968389, + 0.24764636483239813 ], "moduleForcesY": [ - 76.82308227935584, - 76.81885979093056, - 76.86453267826641, - 76.86029810026662 + 1.0372895310292713, + 0.26675514543478224, + -0.15131229161854076, + -0.9218530337570454 ], - "timestamp": 0.5436735851547416 + "timestamp": 1.2680572931012777 }, { - "x": 7.937060559126424, - "y": 1.0203364512930726, - "heading": -0.43421766230274894, - "angularVelocity": -0.26783666502130526, - "velocityX": -2.2951150314806625, - "velocityY": -2.7693797390245263, + "x": 5.624245055688843, + "y": 1.3824019044579752, + "heading": -0.5753356809982368, + "angularVelocity": -0.006217781476724291, + "velocityX": -2.9911738705376547, + "velocityY": 2.0009822601213343, "moduleForcesX": [ - -121.85578794466976, - -121.8580048899302, - -121.8455150455658, - -121.84773342190302 + -0.13003351732325186, + 0.6519826239409091, + -0.6371890710197835, + 0.14482790963305042 ], "moduleForcesY": [ - 90.81630461889256, - 90.81346574281633, - 90.83011542575285, - 90.827275302625 + 0.6556432889643727, + 0.14848841021887024, + -0.12637299588804285, + -0.6335284021626907 ], - "timestamp": 0.5756543842814912 + "timestamp": 1.2965928446391162 }, { - "x": 7.854593585590107, - "y": 0.9402979370567445, - "heading": -0.44278319357712226, - "angularVelocity": -0.26783355976895873, - "velocityX": -2.578640177520758, - "velocityY": -2.5027052613409633, + "x": 5.5388903519167565, + "y": 1.4395011748682582, + "heading": -0.5753927875609612, + "angularVelocity": -0.0020012426480964475, + "velocityX": -2.991170633548206, + "velocityY": 2.0009870962046543, "moduleForcesX": [ - -110.81834082855958, - -110.81818208787779, - -110.81882650797832, - -110.8186677700913 + -0.08253836840750732, + 0.3953053951011191, + -0.3924694983045292, + 0.08537432527163194 ], "moduleForcesY": [ - 104.2324363557485, - 104.23260132990778, - 104.23191876194896, - 104.23208373467868 + 0.3960058836606134, + 0.08607480250687384, + -0.08183789045737257, + -0.39176900939903536 ], - "timestamp": 0.6076351834082407 + "timestamp": 1.3251283961769547 }, { - "x": 7.764113426208496, - "y": 0.8697969913482666, - "heading": -0.4513470780394159, - "angularVelocity": -0.26778206599379895, - "velocityX": -2.8292025793968807, - "velocityY": -2.2044772999257645, + "x": 5.45353602526931, + "y": 1.496600231543662, + "heading": -0.5753904154500589, + "angularVelocity": 0.00008312826542628438, + "velocityX": -2.991157417590827, + "velocityY": 2.0009796060777063, "moduleForcesX": [ - -97.93232752441206, - -97.92843601107938, - -97.94096706632563, - -97.93707630395745 + -0.03571353257025272, + 0.2005003945995967, + -0.18892190627055824, + 0.0472920478150063 ], "moduleForcesY": [ - 116.56726600361961, - 116.57049191574987, - 116.55998766220065, - 116.5632134289187 + 0.19143010722279663, + 0.0382217235341819, + -0.04478384281703241, + -0.19799219010888172 ], - "timestamp": 0.6396159825349903 + "timestamp": 1.3536639477147931 }, { - "x": 7.69573401776191, - "y": 0.8245759501881655, - "heading": -0.45746757213627004, - "angularVelocity": -0.2677217527765889, - "velocityX": -2.9910420291831623, - "velocityY": -1.9780521327480727, + "x": 5.3712047745419405, + "y": 1.5516769638997945, + "heading": -0.575383139458815, + "angularVelocity": 0.00025497987078783665, + "velocityX": -2.8852167310726404, + "velocityY": 1.9301092632853947, "moduleForcesX": [ - -88.4861315898164, - -88.47829462571221, - -88.50063980442245, - -88.49280469715737 + 46.40606075565576, + 46.422980576407035, + 46.39166633785675, + 46.40858773323431 ], "moduleForcesY": [ - 123.8056466864092, - 123.81117304091167, - 123.79523611967868, - 123.80076251599314 + -31.028307339504288, + -31.039177996276234, + -31.050338733254236, + -31.06120695186049 ], - "timestamp": 0.6624773826019531 + "timestamp": 1.3821994992526316 }, { - "x": 7.623987319105588, - "y": 0.7847498758262718, - "heading": -0.4635864852868705, - "angularVelocity": -0.2676525992580374, - "velocityX": -3.138333542424385, - "velocityY": -1.742066288361857, + "x": 5.297024253153292, + "y": 1.6013011430713764, + "heading": -0.575376520488827, + "angularVelocity": 0.00023195521485357552, + "velocityX": -2.5995825344500436, + "velocityY": 1.7390299642811344, "moduleForcesX": [ - -80.53181948196043, - -80.52149105116341, - -80.54860068452955, - -80.53827444419035 + 125.12043250061778, + 125.12031148190131, + 125.12384111849774, + 125.12372023950422 ], "moduleForcesY": [ - 129.0328140245211, - 129.03916886473942, - 129.02228349460336, - 129.02863880784642 + -83.70483477661789, + -83.70485885697101, + -83.6997371840396, + -83.69976106164438 ], - "timestamp": 0.6853387826689159 + "timestamp": 1.4107350507904701 }, { - "x": 7.549293712398886, - "y": 0.750554924453385, - "heading": -0.4697035775381256, - "angularVelocity": -0.2675729497466296, - "velocityX": -3.267236760988349, - "velocityY": -1.4957505346776976, + "x": 5.231052510111798, + "y": 1.6454339361706405, + "heading": -0.5753706079162549, + "angularVelocity": 0.0002072002205492834, + "velocityX": -2.3119140681063466, + "velocityY": 1.546589805377666, "moduleForcesX": [ - -70.47808481288641, - -70.46429363246236, - -70.49734596729725, - -70.48355715888844 + 126.01138863656912, + 126.0112967379236, + 126.01507978815305, + 126.01498805336706 ], "moduleForcesY": [ - 134.68037061761825, - 134.687475768613, - 134.67021054856025, - 134.67731693269903 + -84.30115609028792, + -84.3012084009676, + -84.29563717246499, + -84.29568924547912 ], - "timestamp": 0.7082001827358787 + "timestamp": 1.4392706023283086 }, { - "x": 7.4721328963284135, - "y": 0.7222116274006383, - "heading": -0.4758185632521959, - "angularVelocity": -0.2674808059068571, - "velocityX": -3.375157070184126, - "velocityY": -1.2397883318030825, + "x": 5.173309060463079, + "y": 1.6840622882702077, + "heading": -0.5753654185133479, + "angularVelocity": 0.00018185745946195308, + "velocityX": -2.0235617164132784, + "velocityY": 1.3536921495409602, "moduleForcesX": [ - -59.006175668391286, - -58.98786679255757, - -59.027989486839026, - -59.00968281962692 + 126.31091076149782, + 126.31082988318829, + 126.31469867215144, + 126.31461796640845 ], "moduleForcesY": [ - 139.95412847972995, - 139.9617095259151, - 139.94481527089823, - 139.95239869070178 + -84.50162958237748, + -84.50169228950108, + -84.49596640630624, + -84.49602886317459 ], - "timestamp": 0.7310615828028415 + "timestamp": 1.467806153866147 }, { - "x": 7.392992907645056, - "y": 0.6998955203999848, - "heading": -0.4819310863138484, - "angularVelocity": -0.2673730849269272, - "velocityX": -3.4617297475980466, - "velocityY": -0.9761478708995135, + "x": 5.123803686194, + "y": 1.717179655540854, + "heading": -0.57536096078314, + "angularVelocity": 0.00015621671801120345, + "velocityX": -1.7348665647282002, + "velocityY": 1.1605651717195724, "moduleForcesX": [ - -47.33533269764861, - -47.31136930105139, - -47.35986305725268, - -47.33590119796527 + 126.46104685653675, + 126.4609717275546, + 126.46488393814495, + 126.46480898624056 ], "moduleForcesY": [ - 144.15179376312915, - 144.15948711273748, - 144.143567748506, - 144.1512650242772 + -84.60211804529388, + -84.60218615133984, + -84.5963815650095, + -84.59644941427914 ], - "timestamp": 0.7539229828698043 + "timestamp": 1.4963417054039856 }, { - "x": 7.312357261947624, - "y": 0.6837351582870603, - "heading": -0.4880406805585679, - "angularVelocity": -0.26724497304731976, - "velocityX": -3.5271525567519006, - "velocityY": -0.7068841832229403, + "x": 5.082542262692788, + "y": 1.7447821075399277, + "heading": -0.5753572398753626, + "angularVelocity": 0.00013039550935333246, + "velocityX": -1.4459655159114544, + "velocityY": 0.9673004554499911, "moduleForcesX": [ - -35.77322881738941, - -35.74203679044384, - -35.80083564606887, - -35.76964363098124 + 126.55122343875497, + 126.55115183354009, + 126.55509033162642, + 126.55501890625285 ], "moduleForcesY": [ - 147.22596627706935, - 147.2333138616192, - 147.2189989032998, - 147.22635253761482 + -84.66247494832501, + -84.66254636208572, + -84.65669402664041, + -84.65676517963085 ], - "timestamp": 0.7767843829367671 + "timestamp": 1.524877256941824 }, { - "x": 7.230710459865446, - "y": 0.6738157728070118, - "heading": -0.4941467100626716, - "angularVelocity": -0.2670890446874916, - "velocityX": -3.5713824106668235, - "velocityY": -0.43389230105376214, + "x": 5.049528708890511, + "y": 1.7668670226306855, + "heading": -0.5753542592435316, + "angularVelocity": 0.00010445327566604895, + "velocityX": -1.1569271320548264, + "velocityY": 0.7739438665295698, "moduleForcesX": [ - -24.18848759741147, - -24.147668810068858, - -24.219726931790213, - -24.178904961905072 + 126.61137186808082, + 126.61130264266669, + 126.61525876587821, + 126.61518972217198 ], "moduleForcesY": [ - 149.26422139331524, - 149.27051712254536, - 149.25874753197164, - 149.26505229532222 + -84.70273356292205, + -84.70280721082298, + -84.69692281926999, + -84.69699620370345 ], - "timestamp": 0.7996457830037299 + "timestamp": 1.5534128084796626 }, { - "x": 7.148538231605274, - "y": 0.6701788078289544, - "heading": -0.5002482692550999, - "angularVelocity": -0.2668935049715411, - "velocityX": -3.594365525288816, - "velocityY": -0.15908758725178174, + "x": 5.024765824762226, + "y": 1.7834325277213887, + "heading": -0.5753520213628347, + "angularVelocity": 0.00007842430148363545, + "velocityX": -0.8677906258603949, + "velocityY": 0.5805216369737355, "moduleForcesX": [ - -12.575787730366319, - -12.52160909524516, - -12.61149632143376, - -12.557307861363002 + 126.65434633326942, + 126.65427882334113, + 126.65824757602071, + 126.65818024914472 ], "moduleForcesY": [ - 150.25564357588914, - 150.25971448700494, - 150.25196339740583, - 150.25604761826926 + -84.73149733508968, + -84.73157259205792, + -84.72566520727734, + -84.72574019883555 ], - "timestamp": 0.8225071830706927 + "timestamp": 1.581948360017501 }, { - "x": 7.066324020043711, - "y": 0.6728188094027947, - "heading": -0.5063440008948622, - "angularVelocity": -0.26663859701975523, - "velocityX": -3.596201952651326, - "velocityY": 0.11547856066206823, + "x": 5.008255710578795, + "y": 1.7944772177994515, + "heading": -0.5753505280925695, + "angularVelocity": 0.000052330170078584925, + "velocityX": -0.5785805177631684, + "velocityY": 0.3870501701516974, "moduleForcesX": [ - -1.0201874660681192, - -0.9465539168474201, - -1.0616765303960074, - -0.9880188690625796 + 126.68658161250148, + 126.68651539880419, + 126.69049363559543, + 126.69042760596395 ], "moduleForcesY": [ - 150.12627322894065, - 150.12605332288112, - 150.12473862457858, - 150.12453820227344 + -84.75307315162317, + -84.75314962101635, + -84.74722495366248, + -84.7473011561811 ], - "timestamp": 0.8453685831376555 + "timestamp": 1.6104839115553395 }, { - "x": 6.984542971023711, - "y": 0.6816770281689224, - "heading": -0.5124317350339042, - "angularVelocity": -0.2662887715192607, - "velocityX": -3.5772546204847124, - "velocityY": 0.38747490269078644, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, + "angularVelocity": 0.000026185348173340637, + "velocityX": -0.2893131596860307, + "velocityY": 0.19354040496516622, "moduleForcesX": [ - 10.332741322406472, - 10.43646837553177, - 10.283288526168874, - 10.387072648883647 + 126.71165526653878, + 126.71159006801082, + 126.7155756800097, + 126.71551066633822 ], "moduleForcesY": [ - 148.72404082156856, - 148.71561426886225, - 148.7249715832552, - 148.71657314789027 + -84.76985553414288, + -84.76993294791707, + -84.76399482889144, + -84.7640719746484 ], - "timestamp": 0.8682299832046183 + "timestamp": 1.639019463093178 }, { - "x": 6.903651585748877, - "y": 0.6966276145446374, - "heading": -0.5185076949996831, - "angularVelocity": -0.265773747363762, - "velocityX": -3.5383390797278067, - "velocityY": 0.6539663507563505, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, + "angularVelocity": -1.1710879913494865e-20, + "velocityX": 9.461553162336024e-20, + "velocityY": 1.727252559190971e-19, "moduleForcesX": [ - 21.231631770921833, - 21.385641600808757, - 21.170234022234922, - 21.324385672336128 + 126.7317148994516, + 126.73165051885984, + 126.7356420236882, + 126.73557782858633 ], "moduleForcesY": [ - 145.72113146480064, - 145.69637227334283, - 145.72435220906613, - 145.69963076180568 + -84.78328191574379, + -84.78336008379404, + -84.77741120707537, + -84.77748910619258 ], - "timestamp": 0.8910913832715811 - }, - { - "x": 6.82406615600161, - "y": 0.7174439510516107, - "heading": -0.5245645048271432, - "angularVelocity": -0.26493608482942016, - "velocityX": -3.4812141651089723, - "velocityY": 0.910545130508275, - "moduleForcesX": [ - 31.151785056415026, - 31.39849026588061, - 31.070052056946253, - 31.31715337764791 - ], - "moduleForcesY": [ - 140.3191549264847, - 140.25920686715878, - 140.32155893229853, - 140.26164199634312 - ], - "timestamp": 0.9139527833385439 - }, - { - "x": 6.74610674204456, - "y": 0.743704755532798, - "heading": -0.5305852977107676, - "angularVelocity": -0.26336063696837764, - "velocityX": -3.4100892215527954, - "velocityY": 1.1486962480247573, - "moduleForcesX": [ - 38.731884433069006, - 39.17046506528045, - 38.607292559762094, - 39.04719905364389 - ], - "moduleForcesY": [ - 130.29653997716505, - 130.15170243094758, - 130.27764043852704, - 130.1326752882909 - ], - "timestamp": 0.9368141834055067 - }, - { - "x": 6.669830182834787, - "y": 0.7745147685739938, - "heading": -0.5365236901597878, - "angularVelocity": -0.25975628927477334, - "velocityX": -3.3364780365597846, - "velocityY": 1.3476870598699884, - "moduleForcesX": [ - 39.94124864214655, - 40.80654387569079, - 39.688087041286394, - 40.55860191925513 - ], - "moduleForcesY": [ - 109.0761698927306, - 108.70622387092162, - 108.90019644961059, - 108.52875131080822 - ], - "timestamp": 0.9596755834724695 - }, - { - "x": 6.594716889081477, - "y": 0.8080615465980141, - "heading": -0.5422616730975375, - "angularVelocity": -0.25099000590264137, - "velocityX": -3.285594650080714, - "velocityY": 1.4673982312930927, - "moduleForcesX": [ - 27.377142802971242, - 28.946022628761813, - 26.690454588833806, - 28.273060432156495 - ], - "moduleForcesY": [ - 66.35392892632376, - 65.51201014408305, - 65.40147393365694, - 64.55200984947811 - ], - "timestamp": 0.9825369835394323 - }, - { - "x": 6.520066650553738, - "y": 0.8426265450291917, - "heading": -0.5476867638467999, - "angularVelocity": -0.23730352180409156, - "velocityX": -3.265339756562556, - "velocityY": 1.511937078696789, - "moduleForcesX": [ - 10.648662753845125, - 12.681239749083144, - 9.463409688667976, - 11.506016499607078 - ], - "moduleForcesY": [ - 25.913483887986448, - 24.6943019190964, - 24.01473340130225, - 22.788066480200015 - ], - "timestamp": 1.005398383606395 - }, - { - "x": 6.4455859954733885, - "y": 0.8775554683360232, - "heading": -0.5527341676908997, - "angularVelocity": -0.2207827967366567, - "velocityX": -3.2579218622216195, - "velocityY": 1.527855827046594, - "moduleForcesX": [ - 3.5960747793936263, - 5.974668322877457, - 2.134622106813328, - 4.518256964549065 - ], - "moduleForcesY": [ - 10.615978313397337, - 9.152103755873513, - 8.25776506449624, - 6.7899303408672695 - ], - "timestamp": 1.028259783673358 - }, - { - "x": 6.371246230045802, - "y": 0.9127832529074588, - "heading": -0.5573232073222805, - "angularVelocity": -0.20073309674556802, - "velocityX": -3.2517590877959304, - "velocityY": 1.540928572539015, - "moduleForcesX": [ - 2.8249678816667605, - 5.699386594135162, - 1.036854711393211, - 3.917349447970013 - ], - "moduleForcesY": [ - 9.472182442606849, - 7.683757328928144, - 6.614310836662044, - 4.821054942059093 - ], - "timestamp": 1.051121183740321 - }, - { - "x": 6.297254785970376, - "y": 0.9487368310827328, - "heading": -0.5613505173038287, - "angularVelocity": -0.1761620010039567, - "velocityX": -3.2365228664380483, - "velocityY": 1.572676129634293, - "moduleForcesX": [ - 7.643659184780699, - 11.201562283537305, - 5.448625799382974, - 9.029180441128442 - ], - "moduleForcesY": [ - 20.190111734115096, - 17.97203746964154, - 16.754205020338087, - 14.518494477830894 - ], - "timestamp": 1.0739825838072838 - }, - { - "x": 6.224337577819824, - "y": 0.9867419600486756, - "heading": -0.564804889468171, - "angularVelocity": -0.15110063925324133, - "velocityX": -3.1895337965775994, - "velocityY": 1.6624147626342685, - "moduleForcesX": [ - 24.69413705096555, - 28.735591760364457, - 22.6092516087666, - 26.730468788648686 - ], - "moduleForcesY": [ - 51.821358937376736, - 49.369018779369924, - 48.79021408021854, - 46.28611264180132 - ], - "timestamp": 1.0968439838742468 - }, - { - "x": 6.136915926117871, - "y": 1.0406231791773246, - "heading": -0.5685732652453959, - "angularVelocity": -0.13205897815670353, - "velocityX": -3.063604766356653, - "velocityY": 1.8882136922157564, - "moduleForcesX": [ - 53.84935384642695, - 57.24783126924976, - 53.03493991284918, - 56.520750830493995 - ], - "moduleForcesY": [ - 100.34545254227433, - 98.36978205454317, - 99.47589832995186, - 97.45380367464264 - ], - "timestamp": 1.1253795354120852 - }, - { - "x": 6.051123167840896, - "y": 1.0970621147200252, - "heading": -0.5712421111800253, - "angularVelocity": -0.09352704927011987, - "velocityX": -3.006521817643263, - "velocityY": 1.9778463180509354, - "moduleForcesX": [ - 23.91410509335861, - 28.652094358393224, - 21.308611040730938, - 26.14594543665558 - ], - "moduleForcesY": [ - 42.7683004556429, - 39.72797429331798, - 38.83120738101668, - 35.72682557514087 - ], - "timestamp": 1.1539150869499237 - }, - { - "x": 5.965683840893638, - "y": 1.1540346826029093, - "heading": -0.5729960432976295, - "angularVelocity": -0.06146480523702123, - "velocityX": -2.994136168490271, - "velocityY": 1.9965469322479132, - "moduleForcesX": [ - 4.770858489377729, - 8.418103508056848, - 2.4262464935696193, - 6.086928817553971 - ], - "moduleForcesY": [ - 11.180867586843519, - 8.827031401425955, - 7.560804267403489, - 5.198517262530141 - ], - "timestamp": 1.1824506384877622 - }, - { - "x": 5.880312922946904, - "y": 1.211109707856062, - "heading": -0.5741103421715187, - "angularVelocity": -0.03904949488751054, - "velocityX": -2.991738843159324, - "velocityY": 2.0001374488059622, - "moduleForcesX": [ - 0.6011398859484628, - 3.1432421576211764, - -1.0435754592992785, - 1.4997874147072965 - ], - "moduleForcesY": [ - 3.665918422104314, - 2.0217009919840834, - 1.1243457364878688, - -0.5206612076893335 - ], - "timestamp": 1.2109861900256007 - }, - { - "x": 5.794955129827661, - "y": 1.2682043599529542, - "heading": -0.5747839205577984, - "angularVelocity": -0.023604884082458717, - "velocityX": -2.9912788966446664, - "velocityY": 2.000825252008144, - "moduleForcesX": [ - -0.10689904410139146, - 1.644021315489334, - -1.2411194394026503, - 0.5099155573045568 - ], - "moduleForcesY": [ - 1.7438416360451359, - 0.6097011458464747, - -0.0070807333549853845, - -1.1412931187021498 - ], - "timestamp": 1.2395217415634392 - }, - { - "x": 5.709599851830214, - "y": 1.3253027720479766, - "heading": -0.5751582531744568, - "angularVelocity": -0.013118113948560547, - "velocityX": -2.9911907567043756, - "velocityY": 2.000957017400584, - "moduleForcesX": [ - -0.1704218920700057, - 1.0181785330833306, - -0.9409641820968389, - 0.24764636483239813 - ], - "moduleForcesY": [ - 1.0372895310292713, - 0.26675514543478224, - -0.15131229161854076, - -0.9218530337570454 - ], - "timestamp": 1.2680572931012777 - }, - { - "x": 5.624245055688843, - "y": 1.3824019044579752, - "heading": -0.5753356809982368, - "angularVelocity": -0.006217781476724291, - "velocityX": -2.9911738705376547, - "velocityY": 2.0009822601213343, - "moduleForcesX": [ - -0.13003351732325186, - 0.6519826239409091, - -0.6371890710197835, - 0.14482790963305042 - ], - "moduleForcesY": [ - 0.6556432889643727, - 0.14848841021887024, - -0.12637299588804285, - -0.6335284021626907 - ], - "timestamp": 1.2965928446391162 - }, - { - "x": 5.5388903519167565, - "y": 1.4395011748682582, - "heading": -0.5753927875609612, - "angularVelocity": -0.0020012426480964475, - "velocityX": -2.991170633548206, - "velocityY": 2.0009870962046543, - "moduleForcesX": [ - -0.08253836840750732, - 0.3953053951011191, - -0.3924694983045292, - 0.08537432527163194 - ], - "moduleForcesY": [ - 0.3960058836606134, - 0.08607480250687384, - -0.08183789045737257, - -0.39176900939903536 - ], - "timestamp": 1.3251283961769547 - }, - { - "x": 5.45353602526931, - "y": 1.496600231543662, - "heading": -0.5753904154500589, - "angularVelocity": 0.00008312826542628438, - "velocityX": -2.991157417590827, - "velocityY": 2.0009796060777063, - "moduleForcesX": [ - -0.03571353257025272, - 0.2005003945995967, - -0.18892190627055824, - 0.0472920478150063 - ], - "moduleForcesY": [ - 0.19143010722279663, - 0.0382217235341819, - -0.04478384281703241, - -0.19799219010888172 - ], - "timestamp": 1.3536639477147931 - }, - { - "x": 5.3712047745419405, - "y": 1.5516769638997945, - "heading": -0.575383139458815, - "angularVelocity": 0.00025497987078783665, - "velocityX": -2.8852167310726404, - "velocityY": 1.9301092632853947, - "moduleForcesX": [ - 46.40606075565576, - 46.422980576407035, - 46.39166633785675, - 46.40858773323431 - ], - "moduleForcesY": [ - -31.028307339504288, - -31.039177996276234, - -31.050338733254236, - -31.06120695186049 - ], - "timestamp": 1.3821994992526316 - }, - { - "x": 5.297024253153292, - "y": 1.6013011430713764, - "heading": -0.575376520488827, - "angularVelocity": 0.00023195521485357552, - "velocityX": -2.5995825344500436, - "velocityY": 1.7390299642811344, - "moduleForcesX": [ - 125.12043250061778, - 125.12031148190131, - 125.12384111849774, - 125.12372023950422 - ], - "moduleForcesY": [ - -83.70483477661789, - -83.70485885697101, - -83.6997371840396, - -83.69976106164438 - ], - "timestamp": 1.4107350507904701 - }, - { - "x": 5.231052510111798, - "y": 1.6454339361706405, - "heading": -0.5753706079162549, - "angularVelocity": 0.0002072002205492834, - "velocityX": -2.3119140681063466, - "velocityY": 1.546589805377666, - "moduleForcesX": [ - 126.01138863656912, - 126.0112967379236, - 126.01507978815305, - 126.01498805336706 - ], - "moduleForcesY": [ - -84.30115609028792, - -84.3012084009676, - -84.29563717246499, - -84.29568924547912 - ], - "timestamp": 1.4392706023283086 - }, - { - "x": 5.173309060463079, - "y": 1.6840622882702077, - "heading": -0.5753654185133479, - "angularVelocity": 0.00018185745946195308, - "velocityX": -2.0235617164132784, - "velocityY": 1.3536921495409602, - "moduleForcesX": [ - 126.31091076149782, - 126.31082988318829, - 126.31469867215144, - 126.31461796640845 - ], - "moduleForcesY": [ - -84.50162958237748, - -84.50169228950108, - -84.49596640630624, - -84.49602886317459 - ], - "timestamp": 1.467806153866147 - }, - { - "x": 5.123803686194, - "y": 1.717179655540854, - "heading": -0.57536096078314, - "angularVelocity": 0.00015621671801120345, - "velocityX": -1.7348665647282002, - "velocityY": 1.1605651717195724, - "moduleForcesX": [ - 126.46104685653675, - 126.4609717275546, - 126.46488393814495, - 126.46480898624056 - ], - "moduleForcesY": [ - -84.60211804529388, - -84.60218615133984, - -84.5963815650095, - -84.59644941427914 - ], - "timestamp": 1.4963417054039856 - }, - { - "x": 5.082542262692788, - "y": 1.7447821075399277, - "heading": -0.5753572398753626, - "angularVelocity": 0.00013039550935333246, - "velocityX": -1.4459655159114544, - "velocityY": 0.9673004554499911, - "moduleForcesX": [ - 126.55122343875497, - 126.55115183354009, - 126.55509033162642, - 126.55501890625285 - ], - "moduleForcesY": [ - -84.66247494832501, - -84.66254636208572, - -84.65669402664041, - -84.65676517963085 - ], - "timestamp": 1.524877256941824 - }, - { - "x": 5.049528708890511, - "y": 1.7668670226306855, - "heading": -0.5753542592435316, - "angularVelocity": 0.00010445327566604895, - "velocityX": -1.1569271320548264, - "velocityY": 0.7739438665295698, - "moduleForcesX": [ - 126.61137186808082, - 126.61130264266669, - 126.61525876587821, - 126.61518972217198 - ], - "moduleForcesY": [ - -84.70273356292205, - -84.70280721082298, - -84.69692281926999, - -84.69699620370345 - ], - "timestamp": 1.5534128084796626 - }, - { - "x": 5.024765824762226, - "y": 1.7834325277213887, - "heading": -0.5753520213628347, - "angularVelocity": 0.00007842430148363545, - "velocityX": -0.8677906258603949, - "velocityY": 0.5805216369737355, - "moduleForcesX": [ - 126.65434633326942, - 126.65427882334113, - 126.65824757602071, - 126.65818024914472 - ], - "moduleForcesY": [ - -84.73149733508968, - -84.73157259205792, - -84.72566520727734, - -84.72574019883555 - ], - "timestamp": 1.581948360017501 - }, - { - "x": 5.008255710578795, - "y": 1.7944772177994515, - "heading": -0.5753505280925695, - "angularVelocity": 0.000052330170078584925, - "velocityX": -0.5785805177631684, - "velocityY": 0.3870501701516974, - "moduleForcesX": [ - 126.68658161250148, - 126.68651539880419, - 126.69049363559543, - 126.69042760596395 - ], - "moduleForcesY": [ - -84.75307315162317, - -84.75314962101635, - -84.74722495366248, - -84.7473011561811 - ], - "timestamp": 1.6104839115553395 - }, - { - "x": 5, - "y": 1.8, - "heading": -0.5753497808792172, - "angularVelocity": 0.000026185348173340637, - "velocityX": -0.2893131596860307, - "velocityY": 0.19354040496516622, - "moduleForcesX": [ - 126.71165526653878, - 126.71159006801082, - 126.7155756800097, - 126.71551066633822 - ], - "moduleForcesY": [ - -84.76985553414288, - -84.76993294791707, - -84.76399482889144, - -84.7640719746484 - ], - "timestamp": 1.639019463093178 - }, - { - "x": 5, - "y": 1.8, - "heading": -0.5753497808792172, - "angularVelocity": -1.1710879913494865e-20, - "velocityX": 9.461553162336024e-20, - "velocityY": 1.727252559190971e-19, - "moduleForcesX": [ - 126.7317148994516, - 126.73165051885984, - 126.7356420236882, - 126.73557782858633 - ], - "moduleForcesY": [ - -84.78328191574379, - -84.78336008379404, - -84.77741120707537, - -84.77748910619258 - ], - "timestamp": 1.6675550146310165 - } - ], - "trajectoryWaypoints": [ + "timestamp": 1.6675550146310165 + } + ], + "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, @@ -19329,7 +18633,7 @@ { "x": 1.516043782234192, "y": 6.1194376945495605, - "heading": 0, + "heading": 0.43948528358815875, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -19358,11 +18662,10 @@ { "x": 1.516043782234192, "y": 6.1194376945495605, - "heading": 1.6049894157922985e-23, - "angularVelocity": 2.2735418891440523e-24, - "velocityX": 3.0477317261797416e-24, - "velocityY": 1.5146213575304285e-23, - "timestamp": 0, + "heading": 0.4394852835881587, + "angularVelocity": 2.1553225387988157e-20, + "velocityX": 6.972270320082658e-20, + "velocityY": 4.295611053654781e-20, "moduleForcesX": [ 0, 0, @@ -19374,532 +18677,533 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 1.5527703301460893, - "y": 6.124248862510531, - "heading": 0.009911287570771801, - "angularVelocity": 0.17968671033219005, - "velocityX": 0.6658340330682713, - "velocityY": 0.08722408038203434, - "timestamp": 0.0551587123635834, + "x": 1.5527783303105254, + "y": 6.124239354938701, + "heading": 0.42822106457800013, + "angularVelocity": -0.20401154195820217, + "velocityX": 0.6653165913617127, + "velocityY": 0.0869651184041067, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.15168510138722, + 152.55563376905621, + 148.25143649474265, + 149.53425179167454 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.425577299755888, + 1.079090221688937, + 36.06344249231575, + 30.18518786778378 + ], + "timestamp": 0.05521363596411799 }, { - "x": 1.6262233727308029, - "y": 6.1338713391107715, - "heading": 0.029735899150431518, - "angularVelocity": 0.3594103402737918, - "velocityX": 1.331667100938479, - "velocityY": 0.17445071119165834, - "timestamp": 0.1103174247271668, + "x": 1.6262434587946901, + "y": 6.133841847800144, + "heading": 0.40576556818965487, + "angularVelocity": -0.40670200388430383, + "velocityX": 1.330561322424034, + "velocityY": 0.17391524201909558, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.1514752411763, + 152.52583766725104, + 148.3109477571502, + 149.43967171569847 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.117568904712762, + 1.3950405912477444, + 35.71760686405317, + 30.509502639379548 + ], + "timestamp": 0.11042727192823598 }, { - "x": 1.7364028312981796, - "y": 6.148305344445142, - "heading": 0.059476575253103244, - "angularVelocity": 0.5391836543723774, - "velocityX": 1.9974987421954533, - "velocityY": 0.26168133221135326, - "timestamp": 0.1654761370907502, + "x": 1.7364331659610517, + "y": 6.148243902743091, + "heading": 0.37222745778663546, + "angularVelocity": -0.6074244127812012, + "velocityX": 1.9956973534187898, + "velocityY": 0.2608423569911504, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.14875116795582, + 152.4795739356628, + 148.39902967717296, + 149.3021417108101 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.671203517005749, + 1.879944232564934, + 35.19798273562621, + 30.96975249920451 + ], + "timestamp": 0.16564090789235397 }, { - "x": 1.8833086218778385, - "y": 6.167551186620051, - "heading": 0.09913562558041339, - "angularVelocity": 0.7189988422117997, - "velocityX": 2.663328861111131, - "velocityY": 0.34891753904717876, - "timestamp": 0.2206348494543336, + "x": 1.8833374533776375, + "y": 6.167443459186671, + "heading": 0.3277921341522548, + "angularVelocity": -0.8047889413270686, + "velocityX": 2.6606522981406107, + "velocityY": 0.34773215181960043, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.12722861282575, + 152.40019866029715, + 148.51430928705759, + 149.12377301969823 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.136939532990676, + 2.6136307401841443, + 34.450825812727615, + 31.48369076919765 + ], + "timestamp": 0.22085454385647196 }, { - "x": 2.0669406842579026, - "y": 6.191609264618742, - "heading": 0.1487133421831871, - "angularVelocity": 0.8988193247873137, - "velocityX": 3.3291578884154527, - "velocityY": 0.4361609792503344, - "timestamp": 0.275793561817917, + "x": 2.066936207713953, + "y": 6.191436698471855, + "heading": 0.2728392990199779, + "angularVelocity": -0.9952765140841193, + "velocityX": 3.3252429609169756, + "velocityY": 0.434552785126586, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.04232201439086, + 152.23883325416412, + 148.64791132196592, + 148.90655894975905 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.648570785804054, + 3.7876610489605405, + 33.340033278685915, + 31.846190907565916 + ], + "timestamp": 0.27606817982058995 }, { - "x": 2.2872990171291807, - "y": 6.220480057184739, - "heading": 0.20820600984342885, - "angularVelocity": 1.078572452309813, - "velocityX": 3.9949868919848393, - "velocityY": 0.5234130988355064, - "timestamp": 0.33095227418150036, + "x": 2.287166704214004, + "y": 6.220213143554228, + "heading": 0.20848575133905684, + "angularVelocity": -1.165537218428123, + "velocityX": 3.988697586284342, + "velocityY": 0.5211836637798256, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.68099268526453, + 151.7572286089482, + 148.73862508002162, + 148.63001390800594 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.791868841444824, + 6.181510238864685, + 31.26682965292511, + 31.210410520982705 + ], + "timestamp": 0.33128181578470794 }, { - "x": 2.531433888941791, - "y": 6.252467996404381, - "heading": 0.2082060173845843, - "angularVelocity": 1.3671739476674843e-7, - "velocityX": 4.426043708260909, - "velocityY": 0.5799254161118268, - "timestamp": 0.38611098654508375, + "x": 2.5313609932490118, + "y": 6.252151659003816, + "heading": 0.20838387983121495, + "angularVelocity": -0.0018450425526778868, + "velocityX": 4.422717047535958, + "velocityY": 0.5784533999958923, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.00055595226777, + 114.57491736876523, + 86.49195384197112, + 127.96905166414155 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 80.38937450646526, + 59.23285236896116, + -66.54967875994687, + -21.21059842130901 + ], + "timestamp": 0.38649545174882594 }, { - "x": 2.7755687611349873, - "y": 6.2844559327196565, - "heading": 0.20820602492563703, - "angularVelocity": 1.3671553223585734e-7, - "velocityX": 4.426043715160706, - "velocityY": 0.5799253634570631, - "timestamp": 0.44126969890866713, + "x": 2.7755606126658567, + "y": 6.284082853222428, + "heading": 0.20829496068794068, + "angularVelocity": -0.0016104562165055944, + "velocityX": 4.422813588577585, + "velocityY": 0.5783208017559153, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.012151711430001214, + 0.028174258348796027, + 0.015538242650101808, + 0.03156078679586616 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.023701359388461653, + -0.02031482619004463, + -0.039723890138709986, + -0.036337363181382025 + ], + "timestamp": 0.4417090877129439 }, { "x": 3.0197036266326904, "y": 6.316443920135498, "heading": 0.20820603246668984, - "angularVelocity": 1.367155341591757e-7, - "velocityX": 4.426043593774774, - "velocityY": 0.5799262898848881, - "timestamp": 0.4964284112722505, + "angularVelocity": -0.0016106206319871199, + "velocityX": 4.421788380781532, + "velocityY": 0.5861064272979724, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.23209342534053798, + -0.2321046565064834, + -0.232095797837075, + -0.2321070290328012 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.7626094185789618, + 1.7626070459782812, + 1.7626206473785593, + 1.7626182747703636 + ], + "timestamp": 0.4969227236770619 }, { - "x": 3.3905499845263205, - "y": 6.39103936198438, - "heading": 0.20820603492290815, - "angularVelocity": 2.8984915876803274e-8, - "velocityX": 4.376219496277494, - "velocityY": 0.8802729755974928, - "timestamp": 0.581169672127443, + "x": 3.390625289393235, + "y": 6.39062726987157, + "heading": 0.20823110789892643, + "angularVelocity": 0.00029577496726925314, + "velocityX": 4.375172544475818, + "velocityY": 0.8750229161785061, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.927566682833129, + -6.835900756202136, + -6.910434660402271, + -6.818739557650734 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 42.628218931553526, + 42.64690527339123, + 42.550291751637296, + 42.56898489733913 + ], + "timestamp": 0.5817014744554462 }, { - "x": 3.761396332868378, - "y": 6.465634851318267, - "heading": 0.20820603737912624, - "angularVelocity": 2.8984912970624712e-8, - "velocityX": 4.376219383562953, - "velocityY": 0.8802735359502775, - "timestamp": 0.6659109329826355, + "x": 3.761459234514799, + "y": 6.465247914138682, + "heading": 0.2082561821489154, + "angularVelocity": 0.00029576102217547556, + "velocityX": 4.374137879088852, + "velocityY": 0.8801809838195572, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.15255338591933773, + -0.1525540062477676, + -0.15255351700171377, + -0.1525541373301518 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.7605186934648309, + 0.7605185623776669, + 0.760519313768514, + 0.7605191826813481 + ], + "timestamp": 0.6664802252338304 }, { - "x": 4.13224268121042, - "y": 6.540230340652234, - "heading": 0.2082060398353444, - "angularVelocity": 2.89849139196276e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 0.750652193837828, + "x": 4.132291723197539, + "y": 6.539875795954243, + "heading": 0.20828125639827352, + "angularVelocity": 0.0002957610147341192, + "velocityX": 4.3741206997979125, + "velocityY": 0.8802663536602799, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.002532959235180969, + -0.002532959566190871, + -0.0025329593051401393, + -0.0025329596361500424 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.012587151711603973, + 0.012587151641644784, + 0.012587152042613785, + 0.012587151972654595 + ], + "timestamp": 0.7512589760122147 }, { - "x": 4.503089029552461, - "y": 6.614825829986201, - "heading": 0.20820604229156262, - "angularVelocity": 2.8984914949023907e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 0.8353934546930205, + "x": 4.5031241877715384, + "y": 6.614503797568147, + "heading": 0.2083063306475851, + "angularVelocity": 0.0002957610141854324, + "velocityX": 4.374120415425489, + "velocityY": 0.8802677667306581, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.00004192859659182188, + -0.00004192862099862591, + -0.000041928601750894565, + -0.00004192862615769862 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.0002083467702601053, + 0.00020834676510103316, + 0.00020834679466691052, + 0.00020834678950783835 + ], + "timestamp": 0.836037726790599 }, { - "x": 4.873935377894502, - "y": 6.68942131932017, - "heading": 0.20820604474778065, - "angularVelocity": 2.898491228267453e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 0.920134715548213, + "x": 4.873956651946479, + "y": 6.6891318011650105, + "heading": 0.20833140489684937, + "angularVelocity": 0.00029576101362738906, + "velocityX": 4.374120410718418, + "velocityY": 0.8802677901204857, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.940078022410408e-7, + -6.940326251408791e-7, + -6.940130497751408e-7, + -6.940378726749787e-7 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.0000034486473654438606, + 0.000003448642117909772, + 0.000003448672188343677, + 0.0000034486669408095878 + ], + "timestamp": 0.9208164775689832 }, { - "x": 5.2447817262365435, - "y": 6.764016808654135, - "heading": 0.20820604720399877, - "angularVelocity": 2.8984913247587393e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 1.0048759764034054, + "x": 5.244789116114812, + "y": 6.763759804794711, + "heading": 0.20835647914606628, + "angularVelocity": 0.00029576101306840976, + "velocityX": 4.374120410640474, + "velocityY": 0.880267790507809, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -1.1477042199068713e-8, + -1.1501906599393946e-8, + -1.1482299175672622e-8, + -1.1507163575997842e-8 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.709814719252906e-8, + 5.7092890215925134e-8, + 5.7123011592850915e-8, + 5.711775461624696e-8 + ], + "timestamp": 1.0055952283473675 }, { - "x": 5.615628074578584, - "y": 6.8386122979880986, - "heading": 0.2082060496602168, - "angularVelocity": 2.8984912703636125e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 1.089617237258598, + "x": 5.615621580283032, + "y": 6.83838780842497, + "heading": 0.20838155339523554, + "angularVelocity": 0.000295761012506704, + "velocityX": 4.374120410639154, + "velocityY": 0.8802677905143902, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -1.795489383602464e-10, + -2.0453448303967815e-10, + -1.84832175555997e-10, + -2.0981772023543632e-10 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.6050193775582e-10, + 9.552187005596443e-10, + 9.854874824353835e-10, + 9.802042452391687e-10 + ], + "timestamp": 1.0903739791257516 }, { - "x": 5.986474422920626, - "y": 6.913207787322067, - "heading": 0.2082060521164348, - "angularVelocity": 2.8984911987304187e-8, - "velocityX": 4.37621938356276, - "velocityY": 0.8802735359512392, - "timestamp": 1.1743584981137904, + "x": 5.986454044451245, + "y": 6.91301581205527, + "heading": 0.20840662764435705, + "angularVelocity": 0.0002957610119434983, + "velocityX": 4.374120410639057, + "velocityY": 0.8802677905148872, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 9.531343974825759e-13, + -2.409899401633055e-11, + -4.3448548447941776e-12, + -2.9396983258712866e-11 ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "moduleForcesY": [ + 6.339678365811262e-11, + 5.809879441191008e-11, + 8.844891207108114e-11, + 8.31509228245328e-11 + ], + "timestamp": 1.1751527299041358 }, { - "x": 6.357320771262667, - "y": 6.987803276656036, - "heading": 0.20820605457265307, - "angularVelocity": 2.8984915449122214e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 1.259099758968983, + "x": 6.357286508619225, + "y": 6.987643815686722, + "heading": 0.20843170189343077, + "angularVelocity": 0.00029576101137971555, + "velocityX": 4.374120410636326, + "velocityY": 0.880267790528479, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.8751770186502077e-10, + -4.1259545453735124e-10, + -3.9282132404144496e-10, + -4.178990767189953e-10 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.9941172653449912e-9, + 1.988813643156559e-9, + 2.019195018183054e-9, + 2.0138913960094235e-9 + ], + "timestamp": 1.25993148068252 }, { - "x": 6.7281671196047075, - "y": 7.062398765990001, - "heading": 0.20820605702887124, - "angularVelocity": 2.898491432093634e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 1.3438410198241755, + "x": 6.728118972771395, + "y": 7.062271819386532, + "heading": 0.20845677614488042, + "angularVelocity": 0.00029576103940464883, + "velocityX": 4.3741204104498275, + "velocityY": 0.880267791334769, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -2.8253058061587385e-8, + -2.7006508780438317e-8, + -2.7989259178715415e-8, + -2.674270989777163e-8 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.1937286537758996e-7, + 1.1963666426110955e-7, + 1.181263161028934e-7, + 1.1839011498644116e-7 + ], + "timestamp": 1.344710231460904 }, { - "x": 7.099013467946675, - "y": 7.136994255324323, - "heading": 0.20820605948509255, - "angularVelocity": 2.898495091786537e-8, - "velocityX": 4.376219383561885, - "velocityY": 0.88027353595543, - "timestamp": 1.428582280679368, + "x": 7.098951190717228, + "y": 7.1368997778597105, + "heading": 0.20848215871531955, + "angularVelocity": 0.0002993977878427415, + "velocityX": 4.37411750634551, + "velocityY": 0.880267257868188, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.0005261822924091911, + -0.000364417496983758, + -0.0004919599237168352, + -0.0003301951282955932 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.000014884489896802861, + 0.00001933787879603433, + -0.00017664928527101836, + -0.0001424269165614444 + ], + "timestamp": 1.4294889822392882 }, { - "x": 7.442865256474911, - "y": 7.206159903040102, - "heading": 0.24066095877270974, - "angularVelocity": 0.3829881566557852, - "velocityX": 4.057666655630906, - "velocityY": 0.8161980010419216, - "timestamp": 1.5133235415345605, + "x": 7.442747019024106, + "y": 7.206086951594263, + "heading": 0.24056993909969165, + "angularVelocity": 0.37848847841897426, + "velocityX": 4.05521224540777, + "velocityY": 0.8160909791583368, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.626897272009465, + -41.778264589497184, + -52.42955258114668, + -37.246177295993725 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.506680559826083, + 1.9649146088816034, + -20.245046735583294, + -17.0624585758025 + ], + "timestamp": 1.5142677330176724 }, { - "x": 7.700754105965301, - "y": 7.258034145002986, - "heading": 0.26500200256383266, - "angularVelocity": 0.28723957544976075, - "velocityX": 3.043250087239987, - "velocityY": 0.6121485736626582, - "timestamp": 1.598064802389753, + "x": 7.700674123179524, + "y": 7.257993472862921, + "heading": 0.2648880772476538, + "angularVelocity": 0.28684237411719965, + "velocityX": 3.0423555641867304, + "velocityY": 0.6122586236773482, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -148.5481524874858, + -148.49158191666842, + -150.21448684004156, + -150.09869556670174 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.958022668705695, + -34.27857847020175, + -25.6060966952798, + -26.371597381023165 + ], + "timestamp": 1.5990464837960565 }, { - "x": 7.872680007962736, - "y": 7.292616974946182, - "heading": 0.2812293209136759, - "angularVelocity": 0.19149252897679708, - "velocityX": 2.0288334190734427, - "velocityY": 0.4080990723314019, - "timestamp": 1.6828060632449455, + "x": 7.872648715030404, + "y": 7.292602485909703, + "heading": 0.2811760292826905, + "angularVelocity": 0.19212304835222482, + "velocityX": 2.028510567470263, + "velocityY": 0.4082274476684736, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -148.68715705378688, + -148.59011634336363, + -150.4054017743301, + -150.2531208906171 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.053433723410066, + -34.512389008580925, + -25.415675177038047, + -26.350055773698628 + ], + "timestamp": 1.6838252345744407 }, { "x": 7.958642959594727, "y": 7.309908390045166, "heading": 0.2893429893402494, - "angularVelocity": 0.09574637366368952, - "velocityX": 1.0144167170097427, - "velocityY": 0.2040495376689129, - "timestamp": 1.767547324100138, + "angularVelocity": 0.09633263031803485, + "velocityX": 1.014337245769469, + "velocityY": 0.20413020923959158, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -148.7362280505179, + -148.61966231417006, + -150.47122220876605, + -150.30231985466247 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.073315136125785, + -34.60374007476275, + -25.338535198389273, + -26.3549249350695 + ], + "timestamp": 1.7686039853528248 }, { "x": 7.958642959594727, "y": 7.309908390045166, "heading": 0.2893429893402494, - "angularVelocity": -6.827633647304338e-25, - "velocityX": 1.1287054927299068e-23, - "velocityY": -1.569097245393775e-23, - "timestamp": 1.8522885849553306, + "angularVelocity": 6.940259912025461e-24, + "velocityX": -4.0214334118296335e-23, + "velocityY": 1.8464964730339851e-22, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -148.75642886804076, + -148.6379943860696, + -150.50152678728398, + -150.330159954609 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.102207104566176, + -34.63400700237027, + -25.315156974387246, + -26.338589472116062 + ], + "timestamp": 1.853382736131209 } ], "trajectoryWaypoints": [ @@ -19908,14 +19212,14 @@ "isStopPoint": true, "x": 1.516043782234192, "y": 6.1194376945495605, - "heading": 0, + "heading": 0.43948528358815875, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 9 }, { - "timestamp": 0.4964284112722505, + "timestamp": 0.4969227236770619, "isStopPoint": false, "x": 3.0197036266326904, "y": 6.316443920135498, @@ -19926,7 +19230,7 @@ "controlIntervalCount": 16 }, { - "timestamp": 1.8522885849553306, + "timestamp": 1.853382736131209, "isStopPoint": true, "x": 7.958642959594727, "y": 7.309908390045166, @@ -19956,7 +19260,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "shoot1 to n2": { "waypoints": [ @@ -21840,16 +21144,16 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 14 }, { "x": 1.8133536577224731, "y": 6.458367347717285, - "heading": 0, + "heading": 0.48505844485738425, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 8 + "controlIntervalCount": 7 }, { "x": 2.6648948192596436, @@ -21866,9 +21170,9 @@ "x": 7.990099906921387, "y": 5.7928948402404785, "heading": 0.08169581065067787, - "angularVelocity": -1.7087685206192545e-19, - "velocityX": -1.0481808976219073e-17, - "velocityY": -7.400031274477837e-18, + "angularVelocity": -1.8666187274860317e-19, + "velocityX": -1.258924910800836e-17, + "velocityY": -8.980306430569812e-18, "moduleForcesX": [ 0, 0, @@ -21884,844 +21188,844 @@ "timestamp": 0 }, { - "x": 7.96827128206756, - "y": 5.840312231405094, - "heading": 0.08499753041745138, - "angularVelocity": 0.050485254814046275, - "velocityX": -0.3337726293659763, - "velocityY": 0.7250400532635837, + "x": 7.968272597243076, + "y": 5.840313044770837, + "heading": 0.0849977249557515, + "angularVelocity": 0.050488137668972866, + "velocityX": -0.3337519130307099, + "velocityY": 0.7250511724866979, "moduleForcesX": [ - -65.38736008862666, - -60.3721787862651, - -67.2828220285152, - -62.13671899714863 + -65.38349150270592, + -60.36792096425817, + -67.27894325683056, + -62.132422221191305 ], "moduleForcesY": [ - 137.8693336637803, - 140.136543854315, - 136.95002086404955, - 139.35873800462738 + 137.87116930567547, + 140.13837908016316, + 136.9519271207836, + 139.36065449701252 ], - "timestamp": 0.06539968509488299 + "timestamp": 0.0653998039444989 }, { - "x": 7.923667381180241, - "y": 5.934691772165659, - "heading": 0.09132970257003088, - "angularVelocity": 0.09682267037513625, - "velocityX": -0.68202011712188, - "velocityY": 1.4431191926545524, + "x": 7.923670884785439, + "y": 5.934694033234134, + "heading": 0.09133019404811009, + "angularVelocity": 0.09682703479864654, + "velocityX": -0.6819854153166327, + "velocityY": 1.4431387064101626, "moduleForcesX": [ - -67.96959148160089, - -63.426260409639134, - -69.74842142066856, - -65.10126537123206 + -67.96691699870469, + -63.4233734995665, + -69.74572770991624, + -65.09834434543876 ], "moduleForcesY": [ - 136.58691014937364, - 138.75328714209047, - 135.68227941218157, - 137.97033446140466 + 136.58824274857548, + 138.75460852905647, + 135.68366571098557, + 137.9717143614889 ], - "timestamp": 0.13079937018976598 + "timestamp": 0.1307996078889978 }, { - "x": 7.854776754707682, - "y": 6.075256690124383, - "heading": 0.10025112458481739, - "angularVelocity": 0.13641383749544372, - "velocityX": -1.0533785653660546, - "velocityY": 2.1493210215109615, + "x": 7.854782640087284, + "y": 6.075260716431483, + "heading": 0.10025186934166369, + "angularVelocity": 0.13641746236922958, + "velocityX": -1.0533402325332635, + "velocityY": 2.149344106878155, "moduleForcesX": [ - -72.10396683513207, - -68.31163716512047, - -73.67947167545489, - -69.81947812176197 + -72.10314262414192, + -68.31086811098174, + -73.67859439723404, + -69.81865669021488 ], "moduleForcesY": [ - 134.40436236810163, - 136.36882182119078, - 133.54167572501325, - 135.59739488618982 + 134.40480814499313, + 136.36921074502123, + 133.54216358380987, + 135.597821754164 ], - "timestamp": 0.19619905528464898 + "timestamp": 0.1961994118334967 }, { - "x": 7.758820604764683, - "y": 6.260408687961792, - "heading": 0.11092302847260234, - "angularVelocity": 0.16317974424956264, - "velocityX": -1.4672264832000166, - "velocityY": 2.8310839349393664, + "x": 7.758827911884976, + "y": 6.260414123250669, + "heading": 0.11092372197499237, + "angularVelocity": 0.1631786639969935, + "velocityX": -1.4672020776237977, + "velocityY": 2.8311003344408383, "moduleForcesX": [ - -79.75012246156852, - -77.31832821487669, - -80.89268436166724, - -78.43787914181338 + -79.75248599097313, + -77.32116962021551, + -80.89487386602032, + -78.44055749938586 ], "moduleForcesY": [ - 129.92350326457816, - 131.38276669175326, - 129.2097727276854, - 130.71193604347482 + 129.92206223700825, + 131.3811045887359, + 129.20841299433806, + 130.71034015788265 ], - "timestamp": 0.26159874037953196 + "timestamp": 0.2615992157779956 }, { - "x": 7.6292252498634845, - "y": 6.485341032086703, - "heading": 0.12119393444489363, - "angularVelocity": 0.1570482481282575, - "velocityX": -1.981589891400619, - "velocityY": 3.4393490397929374, + "x": 7.629230951243224, + "y": 6.485345581404081, + "heading": 0.12119374980615402, + "angularVelocity": 0.15703453545330137, + "velocityX": -1.9816108429175163, + "velocityY": 3.4393292422616466, "moduleForcesX": [ - -98.2315095911243, - -98.692333991472, - -97.93072667790656, - -98.39151911620452 + -98.23986826568338, + -98.70159071548053, + -97.93845080936782, + -98.4001417294193 ], "moduleForcesY": [ - 116.32546759630988, - 115.93625758728768, - 116.58107466624477, - 116.19392316425461 + 116.3184577334818, + 115.92842951315355, + 116.57463922857194, + 116.18667778253831 ], - "timestamp": 0.32699842547441493 + "timestamp": 0.3269990197224945 }, { - "x": 7.447987208285138, - "y": 6.713768604430538, - "heading": 0.12135530141485407, - "angularVelocity": 0.0024673967424513475, - "velocityX": -2.7712372210743754, - "velocityY": 3.492793153565111, + "x": 7.447990909576445, + "y": 6.713772083784024, + "heading": 0.1213552659374303, + "angularVelocity": 0.0024696730194091647, + "velocityX": -2.7712627671803283, + "velocityY": 3.4927704459041475, "moduleForcesX": [ - -151.43809786740448, - -151.59764912707735, - -149.99869820025702, - -150.6743712377385 + -151.43864750802987, + -151.59812625056963, + -149.9994871877237, + -150.6749710727885 ], "moduleForcesY": [ - 2.5587284922629956, - 0.19509298524274, - 21.205120363951913, - 16.900669099050567 + 2.5589384757252462, + 0.19550828877216073, + 21.203363951238856, + 16.899501095056053 ], - "timestamp": 0.3923981105692979 + "timestamp": 0.3923988236669934 }, { - "x": 7.229028804297614, - "y": 6.906451202849147, - "heading": 0.12140542227201098, - "angularVelocity": 0.0007663776528008695, - "velocityX": -3.3480039495977487, - "velocityY": 2.946231287373012, + "x": 7.229030525607321, + "y": 6.906453179636098, + "heading": 0.12140540740417353, + "angularVelocity": 0.0007666913923135646, + "velocityX": -3.3480281408088937, + "velocityY": 2.946202958308125, "moduleForcesX": [ - -110.14276732693584, - -110.225069009716, - -110.2526416817468, - -110.33480157247408 + -110.14219647086705, + -110.22459421244172, + -110.25219804502804, + -110.33445366886626 ], "moduleForcesY": [ - -104.56684440521978, - -104.48133858976846, - -104.45005915927223, - -104.36452385076572 + -104.56784520453351, + -104.48224033771665, + -104.45092662206443, + -104.36529219026626 ], - "timestamp": 0.4577977956641809 + "timestamp": 0.4577986276114923 }, { "x": 6.9793701171875, "y": 7.057060623168944, "heading": 0.1214917026565047, - "angularVelocity": 0.0013192782865629191, - "velocityX": -3.817429498941476, - "velocityY": 2.3029074238655776, + "angularVelocity": 0.001319503226713262, + "velocityX": -3.8174488812631027, + "velocityY": 2.302873012572445, "moduleForcesX": [ - -89.7595258245966, - -89.72111311801326, - -89.72377154417462, - -89.68535225648114 + -89.75843788928539, + -89.72003081480057, + -89.72268947881788, + -89.68427582587927 ], "moduleForcesY": [ - -122.93297529055657, - -122.96084044776259, - -122.95925782246997, - -122.98711081784946 + -122.93391907902145, + -122.96177964606476, + -122.9601967350168, + -122.98804514379438 ], - "timestamp": 0.5231974807590639 + "timestamp": 0.5231984315559912 }, { - "x": 6.718336715333704, - "y": 7.158562408151559, - "heading": 0.121498078116177, - "angularVelocity": 0.00010149183934127749, - "velocityX": -4.155427443078891, - "velocityY": 1.615821193049687, + "x": 6.718336282755718, + "y": 7.158559959232576, + "heading": 0.12149728975208401, + "angularVelocity": 0.00008894189357197964, + "velocityX": -4.1554405487527335, + "velocityY": 1.6157846270504579, "moduleForcesX": [ - -67.16537908526134, - -67.27747310397834, - -67.2384357459009, - -67.35055296212673 + -67.16325923679894, + -67.2765303964566, + -67.23708156967989, + -67.35037641945065 ], "moduleForcesY": [ - -136.7683554965704, - -136.71344274542088, - -136.73215893444015, - -136.67716076602898 + -136.7694659649001, + -136.7139781127033, + -136.73289127712098, + -136.67731620536048 ], - "timestamp": 0.5860149418837641 + "timestamp": 0.5860157986585327 }, { - "x": 6.443709566131624, - "y": 7.21398791601781, - "heading": 0.12150014628574878, - "angularVelocity": 0.0000329234823367676, - "velocityX": -4.371828219059842, - "velocityY": 0.8823264563589321, + "x": 6.443709094303028, + "y": 7.213983009347036, + "heading": 0.12149891570167118, + "angularVelocity": 0.000025883758937229233, + "velocityX": -4.371835387810592, + "velocityY": 0.8822886512278454, "moduleForcesX": [ - -43.0561438836884, - -43.06352899550185, - -43.05933071013743, - -43.06671607719261 + -43.0554517309451, + -43.06224343487992, + -43.058382423814145, + -43.06517434362417 ], "moduleForcesY": [ - -145.9591408411586, - -145.95697388518957, - -145.9581735400142, - -145.9560063349041 + -145.95947989990938, + -145.95748711187238, + -145.95859036793553, + -145.95659736919234 ], - "timestamp": 0.6488324030084645 + "timestamp": 0.6488331657610742 }, { - "x": 6.163613190744461, - "y": 7.221830443353489, - "heading": 0.12150153992393312, - "angularVelocity": 0.00002218552229553178, - "velocityX": -4.458893599954975, - "velocityY": 0.12484629573731275, + "x": 6.1636130830647256, + "y": 7.221823066950751, + "heading": 0.12150000668943466, + "angularVelocity": 0.000017367613667935893, + "velocityX": -4.458894476899942, + "velocityY": 0.12480716684258138, "moduleForcesX": [ - -17.324291482914138, - -17.32555650544884, - -17.324594632535337, - -17.32585966471796 + -17.32322764844799, + -17.324230930250245, + -17.32346806500239, + -17.324471352873267 ], "moduleForcesY": [ - -150.73050859678926, - -150.7303651604955, - -150.7304655799086, - -150.73032213996996 + -150.73097832234896, + -150.73086457158067, + -150.73094421119154, + -150.73083045813073 ], - "timestamp": 0.7116498641331648 + "timestamp": 0.7116505328636157 }, { - "x": 5.886185228218486, - "y": 7.182331771049725, - "heading": 0.1215026771261513, - "angularVelocity": 0.000018103282078544305, - "velocityX": -4.416414760718588, - "velocityY": -0.6287849203977637, + "x": 5.886185943913737, + "y": 7.182321631252863, + "heading": 0.1215008968458159, + "angularVelocity": 0.00001417054585856583, + "velocityX": -4.4164082634026345, + "velocityY": -0.6288298527166963, "moduleForcesX": [ - 8.453094476414165, - 8.452603467956736, - 8.453061962409892, - 8.452570952373508 + 8.45451777022392, + 8.45413322509655, + 8.454492310406135, + 8.454107764310223 ], "moduleForcesY": [ - -149.96450579269072, - -149.96453399767998, - -149.96449952336602, - -149.96452772834408 + -149.96588744813002, + -149.96590954082095, + -149.96588254188293, + -149.96590463456704 ], - "timestamp": 0.7744673252578651 + "timestamp": 0.7744678999661572 }, { - "x": 5.618174097294165, - "y": 7.10047720963343, - "heading": 0.12150373342685826, - "angularVelocity": 0.000016815399540888303, - "velocityX": -4.2665068935450075, - "velocityY": -1.3030542775335832, + "x": 5.61817814252192, + "y": 7.100457609792686, + "heading": 0.12150172363347368, + "angularVelocity": 0.000013161768726115695, + "velocityX": -4.266460275902999, + "velocityY": -1.303206824059513, "moduleForcesX": [ - 29.830119798125246, - 29.829980497000864, - 29.83013011944592, - 29.829990818214906 + 29.83813400010029, + 29.83802487306505, + 29.838142091644272, + 29.838032964540062 ], "moduleForcesY": [ - -134.1723533495596, - -134.172382828284, - -134.17233576731962, - -134.17236524607773 + -134.1939695540832, + -134.19399265149724, + -134.19395579679966, + -134.19397889423507 ], - "timestamp": 0.8372847863825654 + "timestamp": 0.8372852670686987 }, { - "x": 5.352908430949472, - "y": 7.010119123499313, - "heading": 0.12150478286927985, - "angularVelocity": 0.0000167062215314428, - "velocityX": -4.222801456616003, - "velocityY": -1.4384230837586598, + "x": 5.352920663755899, + "y": 7.010076792369984, + "heading": 0.1215025450423324, + "angularVelocity": 0.000013076142738950422, + "velocityX": -4.222677437984479, + "velocityY": -1.4387870994289784, "moduleForcesX": [ - 8.696916259735493, - 8.696909394813982, - 8.696915564939353, - 8.6969087001662 + 8.712330450154536, + 8.712325066226487, + 8.712329904929348, + 8.712324521094521 ], "moduleForcesY": [ - -26.93694110588159, - -26.93694203493668, - -26.936934671210366, - -26.936935600192374 + -26.979060981094236, + -26.97906170994391, + -26.97905593449161, + -26.979056663293942 ], - "timestamp": 0.9001022475072658 + "timestamp": 0.9001026341712401 }, { - "x": 5.0877600803241245, - "y": 6.91941734882059, - "heading": 0.12150583228381992, - "angularVelocity": 0.00001670577768174823, - "velocityX": -4.220933891290342, - "velocityY": -1.4438943096687427, + "x": 5.087780695846288, + "y": 6.91935181278561, + "heading": 0.12150336643371983, + "angularVelocity": 0.000013075864610583405, + "velocityX": -4.220806763265162, + "velocityY": -1.4442658737571141, "moduleForcesX": [ - 0.37162545422122095, - 0.37162542719566294, - 0.3716254509137627, - 0.37162542388820746 + 0.37224474165256427, + 0.37224472472454856, + 0.37224473957555226, + 0.37224472264754094 ], "moduleForcesY": [ - -1.0887151979289285, - -1.0887152012267438, - -1.0887151708872957, - -1.0887151741851118 + -1.0902188793988004, + -1.0902188814610976, + -1.090218862446814, + -1.090218864509111 ], - "timestamp": 0.9629197086319661 + "timestamp": 0.9629200012737816 }, { - "x": 4.822614334222168, - "y": 6.8287113824370875, - "heading": 0.12150791398170854, - "angularVelocity": 0.0000331388415155856, - "velocityX": -4.220892429533588, - "velocityY": -1.443961038237231, + "x": 4.822642465400994, + "y": 6.828625175752252, + "heading": 0.12150521562911179, + "angularVelocity": 0.00002943764562659602, + "velocityX": -4.22077910391848, + "velocityY": -1.4442922589882323, "moduleForcesX": [ - 0.007688886280235993, - 0.008689783475712953, - 0.007811104954865959, - 0.008812002191910253 + 0.004944799336131292, + 0.005941356688969686, + 0.005066485538134172, + 0.006063042917560975 ], "moduleForcesY": [ - -0.012838928991733776, - -0.012716710485359264, - -0.013839826216343994, - -0.013717607720689785 + -0.004812949812266761, + -0.004691263702328822, + -0.005809507153664091, + -0.005687821051234439 ], - "timestamp": 1.0257371697566664 + "timestamp": 1.0257373683763231 }, { - "x": 4.583023815229973, - "y": 6.7469106111173085, - "heading": 0.14664990718021587, - "angularVelocity": 0.40023892638063474, - "velocityX": -3.8140751742193637, - "velocityY": -1.3021979853876189, + "x": 4.583044248401233, + "y": 6.746848722484074, + "heading": 0.1466076680651359, + "angularVelocity": 0.39961006953773565, + "velocityX": -3.8142034289464233, + "velocityY": -1.3018128111779048, "moduleForcesX": [ - 68.08763416028359, - 86.34293516431853, - 76.28050703289354, - 93.09797930192028 + 68.0411586446548, + 86.28228936340254, + 76.24491410285415, + 93.04889035079543 ], "moduleForcesY": [ - 45.08935409284161, - 42.35594926748721, - 11.471003089685565, - 13.920992536164679 + 45.20698013250818, + 42.461766595510824, + 11.662560290803244, + 14.076381318181891 ], - "timestamp": 1.0885546308813667 + "timestamp": 1.0885547354788647 }, { - "x": 4.38887312611478, - "y": 6.680658657847733, - "heading": 0.17200765167820456, - "angularVelocity": 0.403673501666209, - "velocityX": -3.090712130663659, - "velocityY": -1.0546741636477137, + "x": 4.388884149579828, + "y": 6.680625584971985, + "heading": 0.17196618562255697, + "angularVelocity": 0.40368641232648983, + "velocityX": -3.0908665515054907, + "velocityY": -1.0542170193876048, "moduleForcesX": [ - 143.86292726198357, - 143.88597754775168, - 143.9972354070039, - 144.01976197385073 + 143.8431930681562, + 143.87063884479912, + 144.00269858414762, + 144.02940633926386 ], "moduleForcesY": [ - 49.48201966230508, - 49.41962592815241, - 49.08904683514566, - 49.027634412325455 + 49.53898545529807, + 49.464761435516486, + 49.07250099382474, + 48.99965899484301 ], - "timestamp": 1.151372092006067 + "timestamp": 1.1513721025814063 }, { "x": 4.240245819091797, "y": 6.629983139038085, "heading": 0.1973958425268429, - "angularVelocity": 0.40415818140500265, - "velocityX": -2.3660190075739744, - "velocityY": -0.8067107121911379, + "angularVelocity": 0.40481889129124365, + "velocityX": -2.3661980331225037, + "velocityY": -0.8061854272557102, "moduleForcesX": [ - 144.19530644910765, - 144.19794863224655, - 144.21435057233037, - 144.21698269690276 + 144.17612046080438, + 144.18231563754017, + 144.22064552763342, + 144.22678577057937 ], "moduleForcesY": [ - 49.3735991949255, - 49.366215018647715, - 49.317901528730665, - 49.310537460683186 + 49.42940039192321, + 49.41210376672167, + 49.29923422325041, + 49.282047363812175 ], - "timestamp": 1.2141895531307674 + "timestamp": 1.214189469683948 }, { - "x": 4.035554282416215, - "y": 6.599679068724539, - "heading": 0.1850698409036656, - "angularVelocity": -0.1489030329764893, - "velocityX": -2.4727556889314233, - "velocityY": -0.3660852983158031, + "x": 4.053287681369821, + "y": 6.60357082602473, + "heading": 0.23075989655760565, + "angularVelocity": 0.44170014216765713, + "velocityX": -2.4751019745698706, + "velocityY": -0.3496674115865488, "moduleForcesX": [ - 1.8112171931224859, - -30.768098894034004, - -3.733333248619835, - -31.780876609007596 + -19.32534818968572, + -17.034440134164583, + -19.02395666823841, + -16.704146928311058 ], "moduleForcesY": [ - 59.71952150690801, - 53.046253818565155, - 79.57723097475466, - 73.80356149347932 + 75.95552008362218, + 76.49715078934403, + 74.59323239320383, + 75.1417029480552 ], - "timestamp": 1.2969682674174172 + "timestamp": 1.2897249989844992 }, { - "x": 3.830822841005316, - "y": 6.569645754809516, - "heading": 0.13255839157162969, - "angularVelocity": -0.6343593251545008, - "velocityX": -2.473237754147171, - "velocityY": -0.36281445262330647, + "x": 3.86628047071794, + "y": 6.577508202403374, + "heading": 0.26690580836285044, + "angularVelocity": 0.4785286095159589, + "velocityX": -2.4757516414267835, + "velocityY": -0.34503794257754133, "moduleForcesX": [ - 12.629710535502474, - -9.787677022968909, - 9.631224194186343, - -12.764434744139589 + -1.261693170943105, + 0.5510100240659234, + -0.7661385075956011, + 1.046781074278797 ], "moduleForcesY": [ - -9.214608337622659, - -12.203604350431716, - 13.1901358127297, - 10.203733129884467 + 1.424655818875878, + 1.920274808340125, + -0.38810411721682353, + 0.10760492503260351 ], - "timestamp": 1.379746981704067 + "timestamp": 1.3652605282850505 }, { - "x": 3.626091170308731, - "y": 6.539614004710939, - "heading": 0.05745258118053578, - "angularVelocity": -0.9073082499326514, - "velocityX": -2.4732405239295314, - "velocityY": -0.3627955611265052, + "x": 3.679272898622891, + "y": 6.551448172418461, + "heading": 0.304557193984984, + "angularVelocity": 0.49845928096063163, + "velocityX": -2.4757564265017593, + "velocityY": -0.3450036059350293, "moduleForcesX": [ - 6.708744451318082, - -5.979789915688665, - 5.978933447945518, - -6.7095609875495725 + -0.6383966835401044, + 0.33183390984823957, + -0.33341785332862744, + 0.6368131937477447 ], "moduleForcesY": [ - -5.976509272160543, - -6.706299699289128, - 6.712005732902414, - 5.982214080672614 + 0.3383081385234525, + 0.6432870800858395, + -0.6319227942606058, + -0.3269436218699489 ], - "timestamp": 1.462525695990717 + "timestamp": 1.4407960575856018 }, { - "x": 3.421359498114552, - "y": 6.509582265408401, - "heading": -0.029071550738207098, - "angularVelocity": -1.0452461440645835, - "velocityX": -2.473240542104828, - "velocityY": -0.3627954307524149, + "x": 3.492265323854802, + "y": 6.5253881616329235, + "heading": 0.3428018448480012, + "angularVelocity": 0.506313402674972, + "velocityX": -2.475756461889602, + "velocityY": -0.34500335175862273, "moduleForcesX": [ - 3.1167342346864357, - -3.303436650533204, - 3.3034311269173156, - -3.116739689313316 + -0.2560962783315998, + 0.12136977884358859, + -0.12138149141045615, + 0.25608456626429515 ], "moduleForcesY": [ - -3.3034142050211606, - -3.1167172714251907, - 3.1167566525753014, - 3.30345357243063 + 0.12141769759567621, + 0.2561324846143981, + -0.256048359981562, + -0.12133357265842538 ], - "timestamp": 1.5453044102773668 + "timestamp": 1.516331586886153 }, { - "x": 3.216627825696548, - "y": 6.479550527799078, - "heading": -0.11925353180704092, - "angularVelocity": -1.0894344258180857, - "velocityX": -2.4732405447750505, - "velocityY": -0.36279541023887435, + "x": 3.305257749068616, + "y": 6.4993281509720475, + "heading": 0.38087145598510536, + "angularVelocity": 0.5039960862076902, + "velocityX": -2.47575646212911, + "velocityY": -0.3450033501079941, "moduleForcesX": [ - 0.8990802302422491, - -1.1438718093685671, - 1.1438710024052712, - -0.899081036146858 + 0.07686630922594473, + -0.0329095491806194, + 0.032909469910526755, + -0.07686638849575436 ], "moduleForcesY": [ - -1.1438683083416858, - -0.8990775354452838, - 0.8990837309438258, - 1.1438745034321574 + -0.03290923639117984, + -0.07686607570655705, + 0.07686662201514474, + 0.032909782699968464 ], - "timestamp": 1.6280831245640166 + "timestamp": 1.5918671161867044 }, { - "x": 3.0118961532670436, - "y": 6.4495187901209645, - "heading": -0.206458535891088, - "angularVelocity": -1.0534713523342678, - "velocityX": -2.473240544926502, - "velocityY": -0.36279541104914065, + "x": 3.118250174277875, + "y": 6.473268140315123, + "heading": 0.41795560467973814, + "angularVelocity": 0.4909497429623765, + "velocityX": -2.4757564621893833, + "velocityY": -0.34500335005570965, "moduleForcesX": [ - -0.6478644954119227, - 0.991142855760314, - -0.9911429014855089, - 0.6478644496575423 + 0.439324393610631, + -0.16910646984037908, + 0.16910644989137977, + -0.4393244135591285 ], "moduleForcesY": [ - 0.9911427562703419, - 0.6478643501787748, - -0.6478645948906904, - -0.9911430009754812 + -0.16910645121359455, + -0.43932439493258957, + 0.4393244122371702, + 0.16910646851816438 ], - "timestamp": 1.7108618388506664 + "timestamp": 1.6674026454872557 }, { - "x": 2.8071644810067258, - "y": 6.419487050769376, - "heading": -0.2831513955859544, - "angularVelocity": -0.9264804407240823, - "velocityX": -2.4732405428399233, - "velocityY": -0.3627954313200498, + "x": 2.931242599475319, + "y": 6.4472081296861505, + "heading": 0.4530055573383787, + "angularVelocity": 0.46401942216064906, + "velocityX": -2.475756462345967, + "velocityY": -0.3450033496855248, "moduleForcesX": [ - -2.012827885014598, - 3.664862835477919, - -3.664862201689722, - 2.01282851156143 + 0.9185308119916209, + -0.3170772196554788, + 0.3170771678262979, + -0.9185308638113844 ], "moduleForcesY": [ - 3.664859459006159, - 2.0128251358482787, - -2.012831260727752, - -3.664865578161493 + -0.31707713247952724, + -0.9185307766427468, + 0.9185308991602587, + 0.31707725500224976 ], - "timestamp": 1.7936405531373163 + "timestamp": 1.742938174787807 }, { - "x": 2.6024328068209184, - "y": 6.389455323766461, - "heading": -0.3386424796144514, - "angularVelocity": -0.6703545048590797, - "velocityX": -2.473240566157465, - "velocityY": -0.36279528205738876, + "x": 2.7442350246282463, + "y": 6.421148119284497, + "heading": 0.4844810274187975, + "angularVelocity": 0.4166975510978392, + "velocityX": -2.4757564629352484, + "velocityY": -0.34500334667644433, "moduleForcesX": [ - -3.6434381223972827, - 7.605379821276402, - -7.605386957088954, - 3.6434311739480325 + 1.6307740123973564, + -0.5060968674783974, + 0.5060966723533608, + -1.63077420734138 ], "moduleForcesY": [ - 7.605405877147237, - 3.6434572390264806, - -3.6434120573193716, - -7.605360901220003 + -0.5060962719137423, + -1.6307736119559382, + 1.6307746077828291, + 0.506097267918036 ], - "timestamp": 1.8764192674239661 + "timestamp": 1.8184737040883583 }, { - "x": 2.397700769200915, - "y": 6.359426073678433, - "heading": -0.35616098731174906, - "angularVelocity": -0.21163058460456718, - "velocityX": -2.473244956552729, - "velocityY": -0.36276536004843296, + "x": 2.557227446375779, + "y": 6.3950881331884135, + "heading": 0.5099802642619993, + "angularVelocity": 0.3375793759482607, + "velocityX": -2.4757565080184727, + "velocityY": -0.3450030248997892, "moduleForcesX": [ - -6.2864447642019, - 13.73283955921059, - -13.734223941240073, - 6.285177259631434 + 2.747196761156834, + -0.7763669301504451, + 0.776351985026011, + -2.74721165842865 ], "moduleForcesY": [ - 13.738016293570539, - 6.290363184432386, - -6.281258831199867, - -13.729047154593324 + -0.7763061938729148, + -2.7471509750644736, + 2.7472574445222095, + 0.7764127213042872 ], - "timestamp": 1.959197981710616 + "timestamp": 1.8940092333889096 }, { - "x": 2.1929083387601747, - "y": 6.3298115317161185, - "heading": -0.30910551238200884, - "angularVelocity": 0.5684489706713254, - "velocityX": -2.4739745259923405, - "velocityY": -0.35775551980601694, + "x": 2.370219413193287, + "y": 6.369031411746238, + "heading": 0.5256690547267573, + "angularVelocity": 0.20770080795135804, + "velocityX": -2.475762530747634, + "velocityY": -0.3449598047889489, "moduleForcesX": [ - -11.870687671608707, - 22.700595039189636, - -22.952205809881743, - 11.68162390060337 + 4.528193261329242, + -1.2045481662855697, + 1.2025465044617698, + -4.530178285782292 ], "moduleForcesY": [ - 23.566766197286633, - 12.547313352231091, - -11.004401858763513, - -22.083633927216326 + -1.1963896605706275, + -4.522038856244832, + 4.536332654970618, + 1.2107049887289125 ], - "timestamp": 2.0419766959972656 + "timestamp": 1.9695447626894609 }, { - "x": 1.9867906929313088, - "y": 6.347734045243003, - "heading": -0.20637322784512005, - "angularVelocity": 1.241047114855465, - "velocityX": -2.4899836582974357, - "velocityY": 0.2165111366899142, + "x": 2.1831508585479256, + "y": 6.343412849709567, + "heading": 0.5253875004108501, + "angularVelocity": -0.003727442152245919, + "velocityX": -2.476563762478332, + "velocityY": -0.3391590986903073, "moduleForcesX": [ - -16.211166665758643, - 20.03084480075966, - -29.11825880425907, - 15.628744381599866 + 7.241621350085513, + -2.0955479291608454, + 1.8274082297961252, + -7.503849107013979 ], "moduleForcesY": [ - 98.95301614336789, - 95.37648263884907, - 78.27159858532718, - 74.26745540275856 + -0.9993182800075523, + -6.4141939585089665, + 8.330224546066066, + 2.923007988551705 ], - "timestamp": 2.1247554102839152 + "timestamp": 2.045080291990012 }, { - "x": 1.8592349380640236, - "y": 6.394033473766115, - "heading": -0.10327209120685515, - "angularVelocity": 1.2455029958697412, - "velocityX": -1.5409245718280102, - "velocityY": 0.5593156274907811, + "x": 1.994902716096777, + "y": 6.357795153664254, + "heading": 0.5120405023818403, + "angularVelocity": -0.1766982789768107, + "velocityX": -2.492180093186503, + "velocityY": 0.19040449028240822, "moduleForcesX": [ - 143.2183898713879, - 143.28062376824516, - 143.34504120031298, - 143.40662599509844 + 5.475779946279431, + -5.056973623609251, + -0.3319984175932723, + -10.423884280112608 ], "moduleForcesY": [ - 52.02529390813064, - 51.85593603379537, - 51.67419631557196, - 51.50534640307554 + 86.64447373614782, + 83.54331818707327, + 91.67754698318308, + 88.67406544834252 ], - "timestamp": 2.207534124570565 + "timestamp": 2.1206158212905635 }, { - "x": 1.8133536577224731, - "y": 6.458367347717285, - "heading": 9.794159881542315e-22, - "angularVelocity": 1.2475681954813016, - "velocityX": -0.5542642300723245, - "velocityY": 0.7771789463628237, + "x": 1.8701941709037448, + "y": 6.4002991353293135, + "heading": 0.49857411112546, + "angularVelocity": -0.1782789024062882, + "velocityX": -1.6509918755824966, + "velocityY": 0.5627018445311104, "moduleForcesX": [ - 148.96587158141025, - 148.97499161621937, - 149.00635261629037, - 149.0153756918047 + 139.23406553391976, + 139.23897085891994, + 139.1691864042857, + 139.17403664614216 ], "moduleForcesY": [ - 33.0103455300045, - 32.969811413063255, - 32.8269891965449, - 32.78665834834352 + 61.542519274804555, + 61.530210607297604, + 61.688994460012694, + 61.6768441673831 ], - "timestamp": 2.2903128388572145 + "timestamp": 2.1961513505911148 }, { - "x": 1.8393953464937296, - "y": 6.529722640760361, - "heading": 0.09383200652888318, - "angularVelocity": 1.2489492766886694, - "velocityX": 0.3466274416828236, - "velocityY": 0.9497733761691536, + "x": 1.8133536577224731, + "y": 6.458367347717285, + "heading": 0.48505844485738425, + "angularVelocity": -0.17893124458422383, + "velocityX": -0.7525003625129821, + "velocityY": 0.7687536305851594, "moduleForcesX": [ - 149.87670937489352, - 149.87933710767103, - 149.90325092962254, - 149.90584215837532 + 148.69221763622053, + 148.69597335167035, + 148.67783183606545, + 148.68158892208103 ], "moduleForcesY": [ - 28.792332847352924, - 28.779025047859903, - 28.653791022035243, - 28.640607577454784 + 34.07549624585428, + 34.05882645194579, + 34.13813612356617, + 34.1214924503468 ], - "timestamp": 2.3654415957092576 + "timestamp": 2.271686879891666 }, { - "x": 1.9331880583851682, - "y": 6.613585242305, - "heading": 0.18776675519630878, - "angularVelocity": 1.2503168241212024, - "velocityX": 1.248426246055256, - "velocityY": 1.1162516865567755, + "x": 1.8404200930897647, + "y": 6.544249168314799, + "heading": 0.4692061995679408, + "angularVelocity": -0.17948483063148027, + "velocityX": 0.3064559296802799, + "velocityY": 0.9723849046501007, "moduleForcesX": [ - 150.02949520098034, - 150.02947877144973, - 150.05496169072416, - 150.05492254678424 + 149.87669795369774, + 149.87918857677292, + 149.86792420889756, + 149.87041635608182 ], "moduleForcesY": [ - 27.76743793049327, - 27.7681130281194, - 27.62948934613782, - 27.63029117896184 + 28.80357991263645, + 28.790497376481127, + 28.849161539550373, + 28.83609248838388 ], - "timestamp": 2.4405703525613007 + "timestamp": 2.3600076880272094 }, { - "x": 2.094926602800359, - "y": 6.708500339985442, - "heading": 0.28180517125052573, - "angularVelocity": 1.2516966870543198, - "velocityX": 2.1528180578305576, - "velocityY": 1.2633657424582714, + "x": 1.9615122088562043, + "y": 6.645038412616653, + "heading": 0.45329199441887674, + "angularVelocity": -0.1801863624780361, + "velocityX": 1.3710485481586958, + "velocityY": 1.1411721250013982, "moduleForcesX": [ - 150.46361601915035, - 150.46110897595457, - 150.48617713354722, - 150.4836650584738 + 150.6744828058924, + 150.67722266377191, + 150.6653020104381, + 150.66804542646568 ], "moduleForcesY": [ - 24.53786858278636, - 24.554620079408515, - 24.39929245256444, - 24.416171888665623 + 23.868299666344676, + 23.850652865003898, + 23.92607906968413, + 23.908453423846506 ], - "timestamp": 2.515699109413344 + "timestamp": 2.4483284961627527 }, { - "x": 2.278513197468464, - "y": 6.748042092991387, - "heading": 0.37643899811543574, - "angularVelocity": 1.2596218922042122, - "velocityX": 2.443626147308015, - "velocityY": 0.5263198096454269, + "x": 2.1714534526585396, + "y": 6.713345937870676, + "heading": 0.4371245481347592, + "angularVelocity": -0.18305364981835054, + "velocityX": 2.3770303763541745, + "velocityY": 0.7734024030800978, "moduleForcesX": [ - 48.03491905705887, - 48.69656852196778, - 48.07484875843584, - 48.733462311292215 + 142.3774821304844, + 142.31573780687563, + 142.43638347085604, + 142.3748256339344 ], "moduleForcesY": [ - -122.71296079687782, - -122.45183150113498, - -122.8084942817181, - -122.54856130909613 + -52.050354291282474, + -52.21526085381119, + -51.885235362156244, + -52.05021200844571 ], - "timestamp": 2.590827866265387 + "timestamp": 2.536649304298296 }, { - "x": 2.4624711945661084, - "y": 6.785817927884571, - "heading": 0.4159520445273267, - "angularVelocity": 0.5259377110379972, - "velocityX": 2.448569693112552, - "velocityY": 0.502814587601326, + "x": 2.3865504668416504, + "y": 6.763104722257962, + "heading": 0.41686464053629313, + "angularVelocity": -0.22938997079118445, + "velocityX": 2.4354058655465196, + "velocityY": 0.5633868783326403, "moduleForcesX": [ - 25.557140891740982, - -8.703720088133782, - 10.54593192698955, - -24.109303745594993 + 9.629126319855438, + 7.703030863434783, + 8.825507245362973, + 6.889751250989562 ], "moduleForcesY": [ - -13.579412521988402, - -28.648158231068372, - 20.9683767591753, - 5.6159017121708175 + -30.193781509842214, + -31.020124941402248, + -28.423896223729507, + -29.2557679234477 ], - "timestamp": 2.66595662311743 + "timestamp": 2.6249701124338394 }, { - "x": 2.5974039481512925, - "y": 6.813514790618425, - "heading": 0.41648417541196436, - "angularVelocity": 0.007082918804122408, - "velocityX": 1.7960200490676481, - "velocityY": 0.3686586055058262, + "x": 2.5720973939225193, + "y": 6.805943429720139, + "heading": 0.4167523858742523, + "angularVelocity": -0.0012709877141134803, + "velocityX": 2.100829136392361, + "velocityY": 0.4850352749992307, "moduleForcesX": [ - -97.75142563158144, - -108.884046724977, - -108.90266320704143, - -118.74939386405738 + -53.38680869040493, + -45.3936329604465, + -49.412161808987165, + -41.217308098428546 ], "moduleForcesY": [ - -38.526678971698495, - -44.526244441269746, - 4.434951154396333, - -10.666070042101367 + -8.120993417314173, + -3.943806184730602, + -18.04028267464069, + -14.25117135562148 ], - "timestamp": 2.741085379969473 + "timestamp": 2.7132909205693827 }, { "x": 2.6648948192596436, "y": 6.827368259429932, "heading": 0.4167026457970273, - "angularVelocity": 0.0029079462274773584, - "velocityX": 0.8983360559560752, - "velocityY": 0.18439635356144418, + "angularVelocity": -0.0005631750691030816, + "velocityX": 1.0506858722885617, + "velocityY": 0.2425796385026702, "moduleForcesX": [ - -149.3243519124542, - -149.30664868240234, - -149.4085153460508, - -149.39083611419395 + -148.6317970327977, + -148.63435576791767, + -148.61815118404863, + -148.62070920090295 ], "moduleForcesY": [ - -30.818128640138124, - -30.906784723305456, - -30.40814322166433, - -30.497917002848983 + -34.290784981814674, + -34.27941393752895, + -34.34982528270919, + -34.338477851320015 ], - "timestamp": 2.8162141368215163 + "timestamp": 2.801611728704926 }, { "x": 2.6648948192596436, "y": 6.827368259429932, "heading": 0.4167026457970273, - "angularVelocity": 8.892617211142126e-21, - "velocityX": 2.4083265353833494e-17, - "velocityY": 1.0119144362441444e-18, + "angularVelocity": 2.2551392633305962e-23, + "velocityX": 4.475631475662116e-21, + "velocityY": 1.498144485209276e-20, "moduleForcesX": [ - -149.44303747500845, - -149.4304929400592, - -149.50165894811687, - -149.4891262445009 + -148.7074470765211, + -148.7095082136639, + -148.69658873771053, + -148.69864942265872 ], "moduleForcesY": [ - -30.7918146168916, - -30.85368557789434, - -30.50615361559, - -30.568567638640467 + -34.31319254430495, + -34.30414790428754, + -34.36019552442858, + -34.351165849085426 ], - "timestamp": 2.8913428936735595 + "timestamp": 2.8899325368404694 } ], "trajectoryWaypoints": [ @@ -22737,7 +22041,7 @@ "controlIntervalCount": 8 }, { - "timestamp": 0.5231974807590639, + "timestamp": 0.5231984315559912, "isStopPoint": false, "x": 6.9793701171875, "y": 7.057060623168944, @@ -22748,7 +22052,7 @@ "controlIntervalCount": 11 }, { - "timestamp": 1.2141895531307674, + "timestamp": 1.214189469683948, "isStopPoint": false, "x": 4.240245819091797, "y": 6.629983139038085, @@ -22756,21 +22060,21 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 14 }, { - "timestamp": 2.2903128388572145, + "timestamp": 2.271686879891666, "isStopPoint": false, "x": 1.8133536577224731, "y": 6.458367347717285, - "heading": 0, + "heading": 0.48505844485738425, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 8 + "controlIntervalCount": 7 }, { - "timestamp": 2.8913428936735595, + "timestamp": 2.8899325368404694, "isStopPoint": true, "x": 2.6648948192596436, "y": 6.827368259429932, @@ -26818,10 +26122,9 @@ "x": 7.958642959594727, "y": 7.281523704528809, "heading": 0.2935891650006914, - "angularVelocity": -1.0493751065109104e-22, - "velocityX": 1.6803355448212915e-22, - "velocityY": 3.5096726932793815e-23, - "timestamp": 0, + "angularVelocity": 7.910449343610714e-19, + "velocityX": 7.816210460236134e-18, + "velocityY": 2.286883998299667e-18, "moduleForcesX": [ 0, 0, @@ -26833,364 +26136,365 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 7.9104484582365675, - "y": 7.255156797779294, - "heading": 0.2919233346857669, - "angularVelocity": -0.024839890423486083, - "velocityX": -0.7186483053080291, - "velocityY": -0.3931679406938344, - "timestamp": 0.0670627078672399, + "x": 7.910423822649562, + "y": 7.255098568592756, + "heading": 0.29191474065161127, + "angularVelocity": -0.024948613911946617, + "velocityX": -0.7184562452596962, + "velocityY": -0.3937296506713285, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -132.98570389552992, + -133.29009557017696, + -134.34811120767287, + -134.61936518581015 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -74.82940641094345, + -74.28959613852257, + -72.35399301178578, + -71.85196252584723 + ], + "timestamp": 0.06711492490086941 }, { - "x": 7.814546483036175, - "y": 7.201552847825543, - "heading": 0.28840086306327795, - "angularVelocity": -0.05252504312027155, - "velocityX": -1.430034340251307, - "velocityY": -0.7993108488829762, - "timestamp": 0.1341254157344798, + "x": 7.814479697428702, + "y": 7.201385329298464, + "heading": 0.2883866349756638, + "angularVelocity": -0.052568123724488464, + "velocityX": -1.4295497665797807, + "velocityY": -0.8003173567048933, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -131.48223062882462, + -131.86579004359564, + -133.03423568092876, + -133.37585808274304 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -77.39057965916489, + -76.7401993821496, + -74.6899180922994, + -74.08339359888708 + ], + "timestamp": 0.13422984980173883 }, { - "x": 7.671785980313178, - "y": 7.11927807798276, - "heading": 0.2827042882884382, - "angularVelocity": -0.08494400175604291, - "velocityX": -2.128761382639247, - "velocityY": -1.2268333990576097, - "timestamp": 0.20118812360171973, + "x": 7.671671878529498, + "y": 7.11896092152593, + "heading": 0.2827061993968223, + "angularVelocity": -0.08463744222662295, + "velocityX": -2.1278101569481667, + "velocityY": -1.2281084706048966, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -128.85277339548833, + -129.39284462969383, + -130.7354543165141, + -131.21647790494484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -81.61426638827888, + -80.76256214128291, + -78.56100173047436, + -77.76260375807091 + ], + "timestamp": 0.20134477470260825 }, { - "x": 7.483996776185871, - "y": 7.005541350319856, - "heading": 0.2742040117141553, - "angularVelocity": -0.12675116834098563, - "velocityX": -2.800203124798694, - "velocityY": -1.6959757707378238, - "timestamp": 0.2682508314689596, + "x": 7.483856543069274, + "y": 7.005052117658746, + "heading": 0.2742796711208194, + "angularVelocity": -0.12555371682893862, + "velocityX": -2.798413851294792, + "velocityY": -1.6972201643757026, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -123.15802642326243, + -124.10184416530558, + -125.74557941256926, + -126.5881168076888 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -89.83425535708889, + -88.53819362170036, + -86.17036558091218, + -84.94107033153855 + ], + "timestamp": 0.26845969960347765 }, { - "x": 7.257513424252105, - "y": 6.852830987837678, - "heading": 0.261114607792209, - "angularVelocity": -0.19518155974045476, - "velocityX": -3.37718769695558, - "velocityY": -2.27712789027995, - "timestamp": 0.3353135393361995, + "x": 7.257457110651417, + "y": 6.852187840263761, + "heading": 0.2614132426077293, + "angularVelocity": -0.19170741131096927, + "velocityX": -3.3733097779822128, + "velocityY": -2.277649533453957, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -103.32789435639388, + -106.17935255374569, + -108.08945365464913, + -110.69546212226062 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -111.74751281505753, + -109.07011567082479, + -107.12996083751699, + -104.46693690571112 + ], + "timestamp": 0.33557462450434705 }, { - "x": 7.060955586034128, - "y": 6.654159757338683, - "heading": 0.2376401538618247, - "angularVelocity": -0.3500373706480103, - "velocityX": -2.930955883962903, - "velocityY": -2.9624695574816866, - "timestamp": 0.4023762472034394, + "x": 7.060928228821583, + "y": 6.6538086686528795, + "heading": 0.23842387855770952, + "angularVelocity": -0.34253728338253114, + "velocityX": -2.9282440846003595, + "velocityY": -2.9558130610311886, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 87.0885741293781, + 74.01976558721917, + 92.2241657302936, + 78.23733094891078 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -123.86429610086917, + -132.03963180599996, + -119.91632119012702, + -129.4053237385857 + ], + "timestamp": 0.40268954940521645 }, { - "x": 6.919044045961435, - "y": 6.4610874664009925, - "heading": 0.2116158030015367, - "angularVelocity": -0.38805994699478663, - "velocityX": -2.116102146570385, - "velocityY": -2.8789814351054974, - "timestamp": 0.4694389550706793, + "x": 6.918983848953729, + "y": 6.460877774466705, + "heading": 0.21261483331018893, + "angularVelocity": -0.3845500130651592, + "velocityX": -2.1149450747618843, + "velocityY": -2.8746347324626913, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.6942860788084, + 151.73202099152675, + 151.21703816361637, + 151.25691543068254 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.04919004407133, + 12.43341812970076, + 17.73084417080828, + 17.263653670468226 + ], + "timestamp": 0.46980447430608585 }, { - "x": 6.830270841306877, - "y": 6.281958701664131, - "heading": 0.1846651058623386, - "angularVelocity": -0.4018730826162105, - "velocityX": -1.323734270174364, - "velocityY": -2.6710637019231447, - "timestamp": 0.5365016629379192, + "x": 6.830192788801092, + "y": 6.281831308549748, + "heading": 0.18573952832653148, + "angularVelocity": -0.40043708643559106, + "velocityX": -1.3229704165052427, + "velocityY": -2.6677593124654453, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 147.74875680265572, + 147.71730348474364, + 147.2930534124119, + 147.25470172680141 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.594850971299984, + 37.70676261591458, + 39.343153935907175, + 39.475512208092134 + ], + "timestamp": 0.5369193992069553 }, { - "x": 6.793777838879, - "y": 6.119710601242204, - "heading": 0.1573806368642382, - "angularVelocity": -0.40685009397643, - "velocityX": -0.5441623756100464, - "velocityY": -2.419349077629241, - "timestamp": 0.6035643708051591, + "x": 6.793716983744551, + "y": 6.119646096364704, + "heading": 0.15844772877230284, + "angularVelocity": -0.40664277870440957, + "velocityX": -0.5434827666521159, + "velocityY": -2.416529742534931, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 145.30233006536105, + 145.26897978114098, + 145.087298422425, + 145.05250107408125 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.40510402133336, + 46.506957541018345, + 47.073468918812075, + 47.17818183884524 + ], + "timestamp": 0.6040343241078248 }, { "x": 6.809062480926514, "y": 5.975827217102051, - "heading": 0.13006629327791439, - "angularVelocity": -0.40729556641817066, - "velocityX": 0.2279156707744765, - "velocityY": -2.1455051356559287, - "timestamp": 0.670627078672399, + "heading": 0.13107434878258117, + "angularVelocity": -0.40785831214378826, + "velocityX": 0.22864507723464184, + "velocityY": -2.142874769993374, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 143.83469378769635, + 143.824929276307, + 143.78916326386206, + 143.77933545518925 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] - }, - { - "x": 6.925745979032288, - "y": 5.815335789503513, - "heading": 0.09307826117561616, - "angularVelocity": -0.40415055654938714, - "velocityX": 1.274944840784001, - "velocityY": -1.753613158060503, - "timestamp": 0.7621475071436593, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + 50.88966347397856, + 50.91692702381641, + 51.01823763913788, + 51.04560228204719 ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 0.6711492490086942 }, { - "x": 7.1367170390472365, - "y": 5.694574369996012, - "heading": 0.05718273163255897, - "angularVelocity": -0.3922133030040311, - "velocityX": 2.305179985921922, - "velocityY": -1.3195023398019188, - "timestamp": 0.8536679356149196, + "x": 6.925822438386365, + "y": 5.815522822264608, + "heading": 0.09396483027541527, + "angularVelocity": -0.4053780871054631, + "velocityX": 1.2754659750267079, + "velocityY": -1.751138024633272, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 142.8962380178731, + 142.915504613751, + 142.96692140354807, + 142.9860342957724 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 53.61075424760125, + 53.559641866900556, + 53.42189966449369, + 53.37099298260787 + ], + "timestamp": 0.7626922299629116 }, { - "x": 7.436897268164463, - "y": 5.623906947376197, - "heading": 0.024600443639467524, - "angularVelocity": -0.35601109541705317, - "velocityX": 3.2799259589512464, - "velocityY": -0.7721491671338275, - "timestamp": 0.9451883640861799, + "x": 7.136848372290968, + "y": 5.694947297599288, + "heading": 0.057893643373312355, + "angularVelocity": -0.3940355287329174, + "velocityX": 2.30521151600347, + "velocityY": -1.317146584136146, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 140.37183715582472, + 140.49814322914784, + 140.72276309057077, + 140.8455397456255 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.82295169390444, + 59.527299631808916, + 58.99215317651048, + 58.70004046369426 + ], + "timestamp": 0.8542352109171291 }, { - "x": 7.741182583661713, - "y": 5.655315863618575, - "heading": 0.010470370345463633, - "angularVelocity": -0.15439256054664433, - "velocityX": 3.3247802767095065, - "velocityY": 0.34319022284998507, - "timestamp": 1.0367087925574403, + "x": 7.436990321491298, + "y": 5.624462785154986, + "heading": 0.025095903345024186, + "angularVelocity": -0.3582769501974617, + "velocityX": 3.2786997547103156, + "velocityY": -0.7699608611153345, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 131.92167981010675, + 132.63308931160464, + 133.24122495836102, + 133.91502764955428 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 76.49258908510436, + 75.25922420929263, + 74.16635233721293, + 72.95003666915672 + ], + "timestamp": 0.9457781918713465 }, { - "x": 7.94317700708085, - "y": 5.687644515616541, - "heading": 0.0031862583105283326, - "angularVelocity": -0.07959001237874111, - "velocityX": 2.2070965662334965, - "velocityY": 0.35323973606743764, - "timestamp": 1.1282292210287006, + "x": 7.74116811194424, + "y": 5.655574709760058, + "heading": 0.010721070473432142, + "angularVelocity": -0.15702823659146783, + "velocityX": 3.322786600158592, + "velocityY": 0.33986138839979324, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -2.3273577236974, + 13.5338078515836, + -2.4077581082757886, + 15.281169149870706 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 151.92082096709652, + 151.33845328126515, + 151.8313753022047, + 151.08485290011717 + ], + "timestamp": 1.0373211728255638 + }, + { + "x": 7.943162586149675, + "y": 5.687726812589143, + "heading": 0.0032703797658380383, + "angularVelocity": -0.08139008179451783, + "velocityX": 2.2065533818090945, + "velocityY": 0.35122411892090194, + "moduleForcesX": [ + -152.39520503134207, + -152.37874526348457, + -152.4566965745832, + -152.44647239970655 + ], + "moduleForcesY": [ + 4.620946366315643, + 4.838376048546675, + -1.6030881708355533, + -1.6500071785175445 + ], + "timestamp": 1.1288641537797812 }, { "x": 8.043797492980957, "y": 5.706172466278076, - "heading": -9.518677084858839e-22, - "angularVelocity": -0.03481472239314195, - "velocityX": 1.0994319801693595, - "velocityY": 0.20244606555084801, - "timestamp": 1.219749649499961, + "heading": -2.2304050096855995e-17, + "angularVelocity": -0.03572507396788348, + "velocityX": 1.0993186564625848, + "velocityY": 0.2014971928679089, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -151.47540491128623, + -151.41561727677504, + -150.97808472913226, + -150.8931117723337 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.326224785005827, + -18.79043640295065, + -22.054040211247422, + -22.6088760693719 + ], + "timestamp": 1.2204071347339986 }, { "x": 8.043797492980957, "y": 5.706172466278076, - "heading": -4.67656667729741e-22, - "angularVelocity": 1.8089244762808855e-22, - "velocityX": 4.537037762657419e-23, - "velocityY": 4.864931764923773e-23, - "timestamp": 1.3112700779712212, + "heading": -1.0964763112117818e-17, + "angularVelocity": 4.090411349221503e-18, + "velocityX": 2.0676159230734473e-18, + "velocityY": 1.4627558118515907e-18, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -150.4207570881322, + -150.33148910173313, + -149.89792229265444, + -149.7883605033214 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.806263385920982, + -26.31272713362429, + -28.689025600017402, + -29.248042120819953 + ], + "timestamp": 1.311950115688216 } ], "trajectoryWaypoints": [ @@ -27206,7 +26510,7 @@ "controlIntervalCount": 10 }, { - "timestamp": 0.670627078672399, + "timestamp": 0.6711492490086942, "isStopPoint": false, "x": 6.809062480926514, "y": 5.975827217102051, @@ -27217,7 +26521,7 @@ "controlIntervalCount": 7 }, { - "timestamp": 1.3112700779712212, + "timestamp": 1.311950115688216, "isStopPoint": true, "x": 8.043797492980957, "y": 5.706172466278076, @@ -27247,7 +26551,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "f2 to f3": { "waypoints": [ @@ -30982,7 +30286,16 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 11 + "controlIntervalCount": 7 + }, + { + "x": 7.879730701446533, + "y": 3.0121572017669678, + "heading": -0.14189710619565035, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 8 }, { "x": 7.249025344848633, @@ -31008,10 +30321,9 @@ "x": 7.944450378417969, "y": 4.116629123687744, "heading": -0.15526212285423033, - "angularVelocity": 1.2738301618499996e-26, - "velocityX": -1.673623301903408e-24, - "velocityY": -1.1282263985498118e-24, - "timestamp": 0, + "angularVelocity": 5.657866738108123e-23, + "velocityX": 3.125013355805909e-20, + "velocityY": -2.982749856018487e-21, "moduleForcesX": [ 0, 0, @@ -31023,163 +30335,631 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 7.939582806004256, - "y": 4.067782774867255, - "heading": -0.17243174924459662, - "angularVelocity": -0.2700755353071717, - "velocityX": -0.07656615207524387, - "velocityY": -0.7683454203113277, - "timestamp": 0.06357342352700818, + "x": 7.942846983083771, + "y": 4.0761594926753615, + "heading": -0.15460586955436584, + "angularVelocity": 0.011392419260521475, + "velocityX": -0.027834605770836858, + "velocityY": -0.7025442826830461, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.712441678915053, + -5.192921793831758, + -6.879723872724825, + -5.375057750803933 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.42336370311696, + -152.48283666474399, + -152.41711676637016, + -152.47773217558125 + ], + "timestamp": 0.057604384534775975 }, { - "x": 7.929846673174686, - "y": 3.9700900075086296, - "heading": -0.2067629625471989, - "angularVelocity": -0.5400246108818914, - "velocityX": -0.1531478452695624, - "velocityY": -1.5366919372703223, - "timestamp": 0.12714684705401635, + "x": 7.939630787732082, + "y": 3.995227088227591, + "heading": -0.15329796483542127, + "angularVelocity": 0.02270495083850731, + "velocityX": -0.05583247486542365, + "velocityY": -1.4049695192717668, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.74430596766463, + -5.23547933227779, + -6.908122971840906, + -5.4139476726060956 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.3973721051523, + -152.45683086272467, + -152.39147883510958, + -152.45203674885735 + ], + "timestamp": 0.11520876906955195 }, { - "x": 7.915240591688866, - "y": 3.8235504797659203, - "heading": -0.2582348758115926, - "angularVelocity": -0.8096451379958585, - "velocityX": -0.22975137526791967, - "velocityY": -2.305043831412577, - "timestamp": 0.19072027058102453, + "x": 7.934787676640748, + "y": 3.8738422068285066, + "heading": -0.1513452928483005, + "angularVelocity": 0.033897975004696414, + "velocityX": -0.08407538992807558, + "velocityY": -2.1072160110625817, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.7921125919621925, + -5.2992901903109715, + -6.950811118234202, + -5.472339367223122 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.35835492351399, + -152.41778184921006, + -152.35298508348617, + -152.4134480907578 + ], + "timestamp": 0.17281315360432792 }, { - "x": 7.89576298239663, - "y": 3.6281633766511363, - "heading": -0.32680639055463684, - "angularVelocity": -1.0786191924037671, - "velocityX": -0.3063797450511806, - "velocityY": -3.073408545188329, - "timestamp": 0.2542936941080327, + "x": 7.928294105710816, + "y": 3.712022033817141, + "heading": -0.14875925826622616, + "angularVelocity": 0.044893016442405655, + "velocityX": -0.11272702559698657, + "velocityY": -2.8091641689821794, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.871297470737544, + -5.405111434345811, + -7.022620435518576, + -5.570289115195392 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.29327813743382, + -152.35261867435324, + -152.28871852898703, + -152.34900394330103 + ], + "timestamp": 0.2304175381391039 }, { - "x": 7.871412478273086, - "y": 3.3839272274764505, - "heading": -0.4124101347775807, - "angularVelocity": -1.3465334958180502, - "velocityX": -0.3830296179220048, - "velocityY": -3.8417963926533885, - "timestamp": 0.3178671176350409, + "x": 7.92010294505595, + "y": 3.5098010180301666, + "heading": -0.14556232380980777, + "angularVelocity": 0.05549810977475839, + "velocityX": -0.14219682617984003, + "velocityY": -3.5105143023426333, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.028384671953532, + -5.61497835154991, + -7.168314347944426, + -5.76779962570887 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.16296836855602, + -152.22203464709492, + -152.15983406782854, + -152.21970317217261 + ], + "timestamp": 0.2880219226738799 + }, + { + "x": 7.910072787218284, + "y": 3.267282944953213, + "heading": -0.14181838476633798, + "angularVelocity": 0.06499399435835539, + "velocityX": -0.17412143048839246, + "velocityY": -4.21006274150095, + "moduleForcesX": [ + -7.498062206900651, + -6.23541099193857, + -7.61454168771577, + -6.3622059294311715 + ], + "moduleForcesY": [ + -151.7710452187828, + -151.8287552925848, + -151.77132795366973, + -151.82956017004133 + ], + "timestamp": 0.34562630720865584 + }, + { + "x": 7.879730701446533, + "y": 3.012157201766968, + "heading": -0.14189710619565035, + "angularVelocity": -0.0013665874559400412, + "velocityX": -0.5267322273616233, + "velocityY": -4.428929242915937, + "moduleForcesX": [ + -74.13934785945415, + -78.05313721826064, + -74.97888942570094, + -78.89108907551416 + ], + "moduleForcesY": [ + -50.990139249260665, + -48.87535475372396, + -46.09089086007888, + -44.01743673280488 + ], + "timestamp": 0.4032306917434318 + }, + { + "x": 7.84851324590172, + "y": 2.8464195290901664, + "heading": -0.17762939369275865, + "angularVelocity": -0.8964170655942075, + "velocityX": -0.7831533286838311, + "velocityY": -4.157866417356401, + "moduleForcesX": [ + -96.86965858211613, + -143.24293026161976, + 8.105657984512158, + -89.63529708698657 + ], + "moduleForcesY": [ + 46.199320676364145, + 30.302682572070054, + 145.68794080755228, + 117.81815464104979 + ], + "timestamp": 0.44309192249033025 + }, + { + "x": 7.8092057677132365, + "y": 2.691475994896874, + "heading": -0.24625536958066768, + "angularVelocity": -1.721622102530006, + "velocityX": -0.9861079914375881, + "velocityY": -3.8870735120313173, + "moduleForcesX": [ + -60.12141741353999, + -126.42584161064046, + 8.312064656450728, + -76.34131888951423 + ], + "moduleForcesY": [ + 49.83398164595148, + 42.85956269829925, + 131.77985470462772, + 115.19612476048647 + ], + "timestamp": 0.4829531532372287 + }, + { + "x": 7.757392527104419, + "y": 2.5372431429694156, + "heading": -0.3036115730846537, + "angularVelocity": -1.4388969539895318, + "velocityX": -1.299840462500217, + "velocityY": -3.869244602773171, + "moduleForcesX": [ + -103.0006865615618, + -87.79465995754546, + -108.74162253404452, + -93.9938692878595 + ], + "moduleForcesY": [ + 27.300628717737897, + 21.208487503317425, + -6.148604388915014, + -19.99679033624344 + ], + "timestamp": 0.5228143839841272 + }, + { + "x": 7.6886458886534035, + "y": 2.384438757563403, + "heading": -0.34117055556659515, + "angularVelocity": -0.9422434224478593, + "velocityX": -1.724649168173744, + "velocityY": -3.833408616419141, + "moduleForcesX": [ + -133.59765536509875, + -124.98820757998148, + -143.68122942722007, + -130.5924025726484 + ], + "moduleForcesY": [ + 51.86834829298696, + 52.29546920464574, + -10.797934866663985, + -48.41495452042822 + ], + "timestamp": 0.5626756147310256 + }, + { + "x": 7.602413204682702, + "y": 2.237482835003308, + "heading": -0.36698324869193866, + "angularVelocity": -0.6475638770223355, + "velocityX": -2.1633221642977762, + "velocityY": -3.686688037608372, + "moduleForcesX": [ + -131.59587543546968, + -126.53279039089544, + -146.09076256902483, + -146.03076195800935 + ], + "moduleForcesY": [ + 68.65472618263547, + 74.11912654092238, + 26.50144161759125, + 14.763903723733922 + ], + "timestamp": 0.602536845477924 + }, + { + "x": 7.49957643811238, + "y": 2.0997006085036323, + "heading": -0.38639855111540106, + "angularVelocity": -0.48707232716273013, + "velocityX": -2.5798693277444587, + "velocityY": -3.456547224450155, + "moduleForcesX": [ + -125.4134493772579, + -121.34347465863777, + -138.22820772635242, + -137.51148417464583 + ], + "moduleForcesY": [ + 82.8196807956275, + 87.81342697559018, + 58.87730233724453, + 59.1670953849226 + ], + "timestamp": 0.6423980762248224 + }, + { + "x": 7.381369012860428, + "y": 1.9733544179077163, + "heading": -0.4015017570726852, + "angularVelocity": -0.37889462202466717, + "velocityX": -2.9654735450317258, + "velocityY": -3.1696510174893064, + "moduleForcesX": [ + -116.99423254959369, + -112.90118377470075, + -127.95593682942541, + -125.83192764572033 + ], + "moduleForcesY": [ + 95.77941310449323, + 100.26651843933628, + 80.47218860324124, + 83.35060641397696 + ], + "timestamp": 0.6822593069717208 + }, + { + "x": 7.249025344848633, + "y": 1.8600445985794067, + "heading": -0.41241037149688753, + "angularVelocity": -0.27366476698793646, + "velocityX": -3.320109929672564, + "velocityY": -2.8426071449620993, + "moduleForcesX": [ + -107.53993941300709, + -101.96949869088516, + -119.44600794989876, + -115.88328320249506 + ], + "moduleForcesY": [ + 106.99917140512535, + 112.15032587395581, + 93.45918598680824, + 97.61933327955269 + ], + "timestamp": 0.7221205377186192 + }, + { + "x": 6.9899820722484955, + "y": 1.7101159519835794, + "heading": -0.41283711100011455, + "angularVelocity": -0.006357682821435856, + "velocityX": -3.8592981239479514, + "velocityY": -2.23367832997763, + "moduleForcesX": [ + -95.92596416496082, + -84.08881090345648, + -114.49986761134663, + -107.13407912162141 + ], + "moduleForcesY": [ + 118.2837071247215, + 126.8847889452148, + 100.36787203768286, + 108.06310384526383 + ], + "timestamp": 0.7892423988137001 + }, + { + "x": 6.7078651319167095, + "y": 1.6097893975375182, + "heading": -0.41292545195017577, + "angularVelocity": -0.0013161278400198753, + "velocityX": -4.203055989942712, + "velocityY": -1.4946926799882174, + "moduleForcesX": [ + -63.995487083791986, + -63.648965311514225, + -64.38567454618867, + -64.03984816528379 + ], + "moduleForcesY": [ + 137.6333647955415, + 137.7911183196974, + 137.44875805249117, + 137.60736077997822 + ], + "timestamp": 0.8563642599087811 + }, + { + "x": 6.412282764192464, + "y": 1.5618504939905744, + "heading": -0.41299689310178256, + "angularVelocity": -0.001064349981380918, + "velocityX": -4.403667641240454, + "velocityY": -0.7142070074455849, + "moduleForcesX": [ + -37.36202833391898, + -37.34028235850081, + -37.3789107785674, + -37.357164194129254 + ], + "moduleForcesY": [ + 145.348367406506, + 145.35364229557857, + 145.34362688142363, + 145.34890448638401 + ], + "timestamp": 0.9234861210038621 + }, + { + "x": 6.112849943469472, + "y": 1.558720381519999, + "heading": -0.4130666179056077, + "angularVelocity": -0.001038779358730804, + "velocityX": -4.461032752039339, + "velocityY": -0.04663327892891592, + "moduleForcesX": [ + -10.683531616722755, + -10.68136893947551, + -10.68466214557658, + -10.68249944830863 + ], + "moduleForcesY": [ + 124.3215069375447, + 124.32145856598271, + 124.32097983291328, + 124.32093147219145 + ], + "timestamp": 0.9906079820989431 + }, + { + "x": 5.838800629494515, + "y": 1.5597948390052838, + "heading": -0.47786192445256276, + "angularVelocity": -0.9653383486368139, + "velocityX": -4.082862267283625, + "velocityY": 0.01600756397005909, + "moduleForcesX": [ + 84.13104986398798, + 39.00426284924035, + 98.1664843996097, + 60.40261228965104 + ], + "moduleForcesY": [ + -31.27625005044365, + -2.6454478171277325, + 22.076543419295742, + 58.50718219676253 + ], + "timestamp": 1.057729843194024 + }, + { + "x": 5.619495325432777, + "y": 1.560672507353205, + "heading": -0.5310162145435886, + "angularVelocity": -0.7919072746765847, + "velocityX": -3.267270908222907, + "velocityY": 0.013075745125622549, + "moduleForcesX": [ + 151.61837034308198, + 152.2270483828596, + 152.09940908270502, + 151.60042328726598 + ], + "moduleForcesY": [ + 13.32526030519508, + 2.749217967255641, + -4.480817031848705, + -13.777613530217094 + ], + "timestamp": 1.124851704289105 + }, + { + "x": 5.454995391889679, + "y": 1.5613366384337821, + "heading": -0.5713210488402767, + "angularVelocity": -0.6004725381436408, + "velocityX": -2.450765381938235, + "velocityY": 0.009894408015857701, + "moduleForcesX": [ + 151.72255146991506, + 152.4557415946503, + 152.3661524624954, + 151.6817813411554 + ], + "moduleForcesY": [ + 14.873697757017222, + 2.4705314919626136, + -4.326556814888099, + -15.387494320629086 + ], + "timestamp": 1.191973565384186 + }, + { + "x": 5.3453204497669295, + "y": 1.561781761328399, + "heading": -0.5983693466935823, + "angularVelocity": -0.4029730018211297, + "velocityX": -1.6339675380484628, + "velocityY": 0.0066315636571863575, + "moduleForcesX": [ + 151.75052235992058, + 152.53383462506702, + 152.46310966330995, + 151.69651163527786 + ], + "moduleForcesY": [ + 15.41852450328692, + 2.160836251021891, + -4.008749268505154, + -16.00114924610904 + ], + "timestamp": 1.259095426479267 + }, + { + "x": 5.290480136871338, + "y": 1.5620051622390747, + "heading": -0.6119562939072145, + "angularVelocity": -0.2024220871108692, + "velocityX": -0.817026107454078, + "velocityY": 0.0033282883854537323, + "moduleForcesX": [ + 151.76379242231292, + 152.5725021103099, + 152.51187953267123, + 151.7027639347361 + ], + "moduleForcesY": [ + 15.688642643310338, + 1.996224160307324, + -3.8357168519572205, + -16.30980525668349 + ], + "timestamp": 1.326217287574348 + }, + { + "x": 5.290480136871338, + "y": 1.5620051622390747, + "heading": -0.6119562939072145, + "angularVelocity": -5.902770693953268e-22, + "velocityX": -4.320330960880775e-21, + "velocityY": -4.615835758242181e-20, + "moduleForcesX": [ + 151.77234692669214, + 152.59401532482178, + 152.53754814927336, + 151.7101045597976 + ], + "moduleForcesY": [ + 15.841262978023073, + 2.014669355460072, + -3.875280768461969, + -16.45993948340821 + ], + "timestamp": 1.393339148669429 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 7.944450378417969, + "y": 4.116629123687744, + "heading": -0.15526212285423033, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 7 + }, + { + "timestamp": 0.4032306917434318, + "isStopPoint": false, + "x": 7.879730701446533, + "y": 3.0121572017669678, + "heading": -0.14189710619565035, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 8 + }, + { + "timestamp": 0.7221205377186192, + "isStopPoint": false, + "x": 7.249025344848633, + "y": 1.8600445985794067, + "heading": -0.41241037149688753, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 10 }, { - "x": 7.8432850474919595, - "y": 3.101540837232851, - "heading": -0.41241015859101204, - "angularVelocity": -3.74581547882556e-7, - "velocityX": -0.44244008298810883, - "velocityY": -4.441893712450953, - "timestamp": 0.38144054116204906, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + "timestamp": 1.393339148669429, + "isStopPoint": true, + "x": 5.290480136871338, + "y": 1.5620051622390747, + "heading": -0.6119562939072145, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + } + ], + "constraints": [ + { + "scope": [ + "first" ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "type": "StopPoint" }, { - "x": 7.815130449640671, - "y": 2.8191571543171, - "heading": -0.41241018240337685, - "angularVelocity": -3.7456477025623073e-7, - "velocityX": -0.4428674167488753, - "velocityY": -4.441851126607718, - "timestamp": 0.44501396468905724, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + "scope": [ + "last" ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 20, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + }, + "shoot1 to f1": { + "waypoints": [ + { + "x": 4.24, + "y": 6.6, + "heading": 0.33119543841433996, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 }, { - "x": 7.738909644290927, - "y": 2.545800951250688, - "heading": -0.4124102078468657, - "angularVelocity": -4.002220966289322e-7, - "velocityX": -1.1989413361915846, - "velocityY": -4.299850281781369, - "timestamp": 0.5085873882160654, + "x": 7.944450855255127, + "y": 7.3950629234313965, + "heading": 0.23738692172965067, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 4.24, + "y": 6.6, + "heading": 0.33119543841433996, + "angularVelocity": 8.54019290062528e-19, + "velocityX": -7.577015359177602e-18, + "velocityY": -7.219644509206452e-19, "moduleForcesX": [ 0, 0, @@ -31191,315 +30971,305 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 7.616466954962126, - "y": 2.289791166466745, - "heading": -0.4124102388779999, - "angularVelocity": -4.881148830013238e-7, - "velocityX": -1.9260043353931215, - "velocityY": -4.026993837687242, - "timestamp": 0.5721608117430736, + "x": 4.344555025844366, + "y": 6.622439994875428, + "heading": 0.32330078267162105, + "angularVelocity": -0.0843447444455485, + "velocityX": 1.1170426200628678, + "velocityY": 0.2397439096534501, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 149.81621175769138, + 149.98684912532678, + 148.38419350942556, + 148.52447943383788 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 29.101606158699376, + 28.189783263166415, + 35.69057858180957, + 35.08655994162885 + ], + "timestamp": 0.09359985372669292 }, { - "x": 7.451508006193849, - "y": 2.0588761149401096, - "heading": -0.41241028370538707, - "angularVelocity": -7.0512778300492e-7, - "velocityX": -2.5947784406827914, - "velocityY": -3.6322576119962235, - "timestamp": 0.6357342352700819, + "x": 4.553638781992398, + "y": 6.6673143366611525, + "heading": 0.3075996174352824, + "angularVelocity": -0.16774775398885527, + "velocityX": 2.2338043053967978, + "velocityY": 0.47942747796307444, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 149.7835448762301, + 149.93046981272377, + 148.36771869397393, + 148.4799282379629 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 29.068655249690917, + 28.272718743382473, + 35.59454076390086, + 35.100379514075335 + ], + "timestamp": 0.18719970745338585 }, { - "x": 7.249025344848633, - "y": 1.8600445985794067, - "heading": -0.41241037149688753, - "angularVelocity": -0.0000013809465586422582, - "velocityX": -3.1850205653812904, - "velocityY": -3.1275886263421437, - "timestamp": 0.6993076587970901, + "x": 4.8671731759182295, + "y": 6.734606255718431, + "heading": 0.28435124978350124, + "angularVelocity": -0.24838038443590085, + "velocityX": 3.349731663629253, + "velocityY": 0.718931882572188, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 149.6688431384077, + 149.77675426478214, + 148.30089771987164, + 148.36947824691018 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 29.061507367977445, + 28.445941122182884, + 35.38312007975413, + 35.0500184465812 + ], + "timestamp": 0.28079956118007876 }, { - "x": 6.998243314060886, - "y": 1.691803156852094, - "heading": -0.41241042133872813, - "angularVelocity": -7.367432297255457e-7, - "velocityX": -3.7069650939703225, - "velocityY": -2.486881336287757, - "timestamp": 0.7669592347980793, + "x": 5.275522111080395, + "y": 6.822247637598845, + "heading": 0.28433051729745523, + "angularVelocity": -0.0002215012654332083, + "velocityX": 4.362709118155981, + "velocityY": 0.9363410122611229, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 132.42606821145515, + 134.12092045543602, + 136.60907778451752, + 137.96521429524373 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.783812321009165, + 38.384037425031806, + 18.58804609595742, + 21.3816412547734 + ], + "timestamp": 0.3743994149067717 }, { - "x": 6.720745998384351, - "y": 1.5726727137088448, - "heading": -0.41241044823815964, - "angularVelocity": -3.976172184859104e-7, - "velocityX": -4.101860327281612, - "velocityY": -1.760941136707703, - "timestamp": 0.8346108107990684, + "x": 5.6838737684895095, + "y": 6.909889565358844, + "heading": 0.28431134909745137, + "angularVelocity": -0.00020478878161357287, + "velocityX": 4.362738200292577, + "velocityY": 0.9363468465340647, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.0034570173375369413, + 0.004117614488115382, + 0.0036500623401997325, + 0.004310659488843197 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.0010129269934045814, + 0.0012059719936594162, + 0.00035232983752794806, + 0.0005453748425389 + ], + "timestamp": 0.46799926863346464 }, { - "x": 6.426044110113291, - "y": 1.5067361891289583, - "heading": -0.41241046742671, - "angularVelocity": -2.8363789082110155e-7, - "velocityX": -4.3561718099036035, - "velocityY": -0.9746487587949493, - "timestamp": 0.9022623868000575, + "x": 6.092225426156647, + "y": 6.997531492743735, + "heading": 0.28429218090623914, + "angularVelocity": -0.00020478868768497758, + "velocityX": 4.362738201429997, + "velocityY": 0.9363468419296221, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.4950035552662788e-7, + 1.5321309923332782e-7, + 1.5058527506820652e-7, + 1.542980187746903e-7 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.135965754038743e-7, + -6.125116558617039e-7, + -6.173093191129446e-7, + -6.162243995702035e-7 + ], + "timestamp": 0.5615991223601575 }, { - "x": 6.124237986190413, - "y": 1.4962531513780755, - "heading": -0.41241048381055917, - "angularVelocity": -2.4217985961733845e-7, - "velocityX": -4.461183933371566, - "velocityY": -0.1549562977029477, - "timestamp": 0.9699139628010467, + "x": 6.5005770835023995, + "y": 7.085173420224756, + "heading": 0.284273012714897, + "angularVelocity": -0.0002047886890736413, + "velocityX": 4.362738201434009, + "velocityY": 0.9363468419108961, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 5.71288204025185e-10, + 5.163976443385029e-10, + 5.552499351333796e-10, + 5.003593754466973e-10 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.520230983139237e-9, + -2.536269252031043e-9, + -2.4653404234525546e-9, + -2.4813786923443603e-9 + ], + "timestamp": 0.6551989760868504 }, { - "x": 5.846319040945062, - "y": 1.5181705956759477, - "heading": -0.47894448366146875, - "angularVelocity": -0.9834804121922709, - "velocityX": -4.108092696041356, - "velocityY": 0.32397536899291, - "timestamp": 1.0375655388020357, + "x": 6.908928740796379, + "y": 7.172815348021083, + "heading": 0.2842538445145035, + "angularVelocity": -0.00020478878577692862, + "velocityX": 4.3627382006335536, + "velocityY": 0.9363468449452563, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -1.0442893683641684e-7, + -1.08251410895093e-7, + -1.0554572044231685e-7, + -1.0936819450078292e-7 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.0387751105840224e-7, + 4.027607274525131e-7, + 4.0769998511940976e-7, + 4.065832015129474e-7 + ], + "timestamp": 0.7487988298135433 }, { - "x": 5.623983595005714, - "y": 1.5357044870023329, - "heading": -0.5321557991116861, - "angularVelocity": -0.7865495321119992, - "velocityX": -3.2864784397054856, - "velocityY": 0.25917934751629157, - "timestamp": 1.105217114803025, + "x": 7.317277679103746, + "y": 7.260456717292745, + "heading": 0.28423311210708074, + "angularVelocity": -0.00022150042544152515, + "velocityX": 4.362709146794923, + "velocityY": 0.9363408787631348, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.0034532780666344572, + -0.004113856946686645, + -0.003646261652579968, + -0.004306840530072283 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.001030564670112354, + -0.0012235482529752875, + -0.0003699857853761762, + -0.0005629693726032418 + ], + "timestamp": 0.8423986835402362 }, { - "x": 5.457231881847819, - "y": 1.5488548414366092, - "heading": -0.5720570728186217, - "angularVelocity": -0.5898055310101292, - "velocityX": -2.46486073222384, - "velocityY": 0.19438356371895896, - "timestamp": 1.1728686908040142, + "x": 7.630812072765934, + "y": 7.327748616242933, + "heading": 0.2609838791161279, + "angularVelocity": -0.24838962952699864, + "velocityX": 3.349731662284197, + "velocityY": 0.7189316679580637, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -132.38600428045925, + -134.19501737149125, + -136.55643446159635, + -137.9838406501692 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.010877388365586, + -38.191049412992065, + -18.77924749336545, + -21.156406133396985 + ], + "timestamp": 0.935998537266929 }, { - "x": 5.3460640436938185, - "y": 1.5576217201449185, - "heading": -0.5986561686257958, - "angularVelocity": -0.3931777702678384, - "velocityX": -1.6432409224638784, - "velocityY": 0.12958868405639368, - "timestamp": 1.2405202668050035, + "x": 7.83989582907262, + "y": 7.372622939311148, + "heading": 0.24528199380686244, + "angularVelocity": -0.1677554470877233, + "velocityX": 2.2338043086356776, + "velocityY": 0.47942727887855646, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -149.69443192152536, + -149.75379940269764, + -148.32954125823036, + -148.33819833887227 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.928485010059244, + -28.56535146856084, + -35.26370259875946, + -35.18303964333745 + ], + "timestamp": 1.029598390993622 }, { - "x": 5.290480136871338, - "y": 1.5620051622390747, - "heading": -0.6119562939072145, - "angularVelocity": -0.19659741971457015, - "velocityX": -0.8216202800902673, - "velocityY": 0.06479438252986616, - "timestamp": 1.3081718428059927, + "x": 7.944450855255127, + "y": 7.3950629234313965, + "heading": 0.2373869217296507, + "angularVelocity": -0.08434919247059618, + "velocityX": 1.1170426221354988, + "velocityY": 0.23974379373984833, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -149.8314697443333, + -149.888592795504, + -148.42061213665866, + -148.42098756741058 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.81974998967956, + -28.4927693195202, + -35.374140398004435, + -35.34959013487695 + ], + "timestamp": 1.1231982447203148 }, { - "x": 5.290480136871338, - "y": 1.5620051622390747, - "heading": -0.6119562939072145, - "angularVelocity": -2.1906165425550643e-26, - "velocityX": 3.353038679852772e-25, - "velocityY": -4.227251621105048e-25, - "timestamp": 1.375823418806982, + "x": 7.944450855255127, + "y": 7.3950629234313965, + "heading": 0.23738692172965067, + "angularVelocity": -3.4147235588131775e-18, + "velocityX": -4.277438180575754e-18, + "velocityY": 4.536131174638912e-19, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -149.8759515541738, + -149.93572813772303, + -148.44917004923988, + -148.45088519214866 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.79165185181079, + -28.459492145311398, + -35.42001358163479, + -35.397308446767276 + ], + "timestamp": 1.2167980984470077 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 7.944450378417969, - "y": 4.116629123687744, - "heading": -0.15526212285423033, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "timestamp": 0.6993076587970901, - "isStopPoint": false, - "x": 7.249025344848633, - "y": 1.8600445985794067, - "heading": -0.41241037149688753, + "x": 4.24, + "y": 6.6, + "heading": 0.33119543841433996, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 10 + "controlIntervalCount": 13 }, { - "timestamp": 1.375823418806982, + "timestamp": 1.2167980984470077, "isStopPoint": true, - "x": 5.290480136871338, - "y": 1.5620051622390747, - "heading": -0.6119562939072145, + "x": 7.944450855255127, + "y": 7.3950629234313965, + "heading": 0.23738692172965067, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 20 + "controlIntervalCount": 40 } ], "constraints": [ @@ -31517,27 +31287,45 @@ } ], "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 20, + "defaultControlIntervalCount": 40, "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, - "shoot1 to f1": { + "shoot2 to f2": { "waypoints": [ { - "x": 4.24, - "y": 6.6, - "heading": 0.24776360937302858, + "x": 4.24, + "y": 5.4, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 8 + }, + { + "x": 4.751170635223389, + "y": 6.62867546081543, + "heading": 0.23923209044765792, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 9 + }, + { + "x": 6.823254585266113, + "y": 6.3448286056518555, + "heading": 0.12435559759089375, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 8 }, { - "x": 7.944450855255127, - "y": 7.3950629234313965, - "heading": 0.3152145956982849, + "x": 7.930258274078369, + "y": 5.762941837310791, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -31547,12 +31335,11 @@ "trajectory": [ { "x": 4.24, - "y": 6.6, - "heading": 0.24776360937302855, - "angularVelocity": -7.502783798265508e-24, - "velocityX": 1.1654587660859587e-23, - "velocityY": 2.0648995484679267e-23, - "timestamp": 0, + "y": 5.4, + "heading": 1.6003042171850536e-17, + "angularVelocity": 2.5141803360652495e-18, + "velocityX": -5.3860014364905094e-17, + "velocityY": -4.82908770167854e-18, "moduleForcesX": [ 0, 0, @@ -31564,280 +31351,533 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 4.344533555893405, - "y": 6.622435378434722, - "heading": 0.25338460463038764, - "angularVelocity": 0.0600790166932035, - "velocityX": 1.117288480415917, - "velocityY": 0.23979658650900545, - "timestamp": 0.09356004087189006, + "x": 4.237394989101419, + "y": 5.446671935157436, + "heading": 0.015402621909197974, + "angularVelocity": 0.24826929771311457, + "velocityX": -0.041989229505664305, + "velocityY": 0.7522880606134766, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -21.606784988931928, + 5.862317831554669, + -25.768855154557986, + 7.672861309679971 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 151.0558617718067, + 152.48002239630353, + 150.37973236681793, + 152.37735613946964 + ], + "timestamp": 0.062039978568037016 }, { - "x": 4.5536006609060635, - "y": 6.66730613426612, - "heading": 0.2646265659990321, - "angularVelocity": 0.12015772186373766, - "velocityX": 2.2345768884277026, - "velocityY": 0.4795931619231156, - "timestamp": 0.18712008174378011, + "x": 4.235664792713368, + "y": 5.540101493075557, + "heading": 0.04519731598891556, + "angularVelocity": 0.48024990929180905, + "velocityX": -0.027888410723138163, + "velocityY": 1.5059572885921342, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -10.986371648824381, + 14.896685725681214, + -11.82636507853594, + 19.28035117351464 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 152.1696395549111, + 151.83798158226256, + 152.0802559762257, + 151.31822244879965 + ], + "timestamp": 0.12407995713607403 }, { - "x": 4.867201294807126, - "y": 6.734612263767925, - "heading": 0.28148941803629596, - "angularVelocity": 0.18023562067863788, - "velocityX": 3.351865080204995, - "velocityY": 0.7193896975092989, - "timestamp": 0.28068012261567016, + "x": 4.240620207715621, + "y": 5.67985329397917, + "heading": 0.08749629400115912, + "angularVelocity": 0.6818019443046625, + "velocityX": 0.07987454424328937, + "velocityY": 2.2526087878716234, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 7.820038407100643, + 30.089583450761342, + 11.61308112492607, + 37.3269038783474 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 152.31885143417836, + 149.52747665642158, + 152.04558715086378, + 147.85837264806557 + ], + "timestamp": 0.18611993570411106 }, { - "x": 5.275542672410289, - "y": 6.822251994535183, - "heading": 0.2814894213795815, - "angularVelocity": 3.57341177510739e-8, - "velocityX": 4.3644848142199875, - "velocityY": 0.9367218093380972, - "timestamp": 0.37424016348756023, + "x": 4.263009305269716, + "y": 5.8631041651884255, + "heading": 0.1382833719752812, + "angularVelocity": 0.8186185609088316, + "velocityX": 0.3608817745344741, + "velocityY": 2.9537545857697416, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 46.04108153009501, + 59.42745225625236, + 53.514950016866436, + 67.489217169189 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 145.31592553410837, + 140.38779353465264, + 142.70314705567972, + 136.66892377860805 + ], + "timestamp": 0.24815991427214806 }, { - "x": 5.683884050014173, - "y": 6.909891725299845, - "heading": 0.28148942472279975, - "angularVelocity": 3.573339844475593e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102381, - "timestamp": 0.4678002043594503, + "x": 4.321586067665011, + "y": 6.076188399935321, + "heading": 0.18806048977435308, + "angularVelocity": 0.8023393777366383, + "velocityX": 0.9441776701103324, + "velocityY": 3.4346277942375822, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 118.39178072200764, + 117.78035532708323, + 117.27691643584308, + 116.64773755286181 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 95.83260810906238, + 96.57610028551827, + 97.19745995610354, + 97.94490723450029 + ], + "timestamp": 0.31019989284018507 }, { - "x": 6.092225427618089, - "y": 6.997531456064485, - "heading": 0.28148942806601784, - "angularVelocity": 3.573339734832286e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102379, - "timestamp": 0.5613602452313403, + "x": 4.426805221280394, + "y": 6.2868665112688555, + "heading": 0.223826321363989, + "angularVelocity": 0.5764965174891206, + "velocityX": 1.6959895210047542, + "velocityY": 3.3958443599641064, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.46861431237275, + 150.07043245508586, + 152.1233767343933, + 152.24675655191507 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -16.451527301303454, + -25.95887683148962, + 8.218513518696085, + 2.935082366632508 + ], + "timestamp": 0.37223987140822207 }, { - "x": 6.500566805221937, - "y": 7.085171186829149, - "heading": 0.2814894314092359, - "angularVelocity": 3.5733396744163264e-8, - "velocityX": 4.36448481422781, - "velocityY": 0.936721809310238, - "timestamp": 0.6549202861032304, + "x": 4.572147566196572, + "y": 6.473860117624879, + "heading": 0.24119054059348516, + "angularVelocity": 0.2798875762079176, + "velocityX": 2.3427207476312826, + "velocityY": 3.0140823822370324, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 131.17663514475362, + 116.09143950073401, + 142.55374199707484, + 131.39953252082395 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -77.72105092515056, + -98.792696649311, + -53.99941126481319, + -77.16101073605822 + ], + "timestamp": 0.43427984997625907 }, { - "x": 6.908908182825945, - "y": 7.172810917593798, - "heading": 0.28148943475245397, - "angularVelocity": 3.573339680314383e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102381, - "timestamp": 0.7484803269751205, + "x": 4.751170635223389, + "y": 6.62867546081543, + "heading": 0.23923209044765795, + "angularVelocity": -0.0315675503305399, + "velocityX": 2.885608169867882, + "velocityY": 2.4954125830377296, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 113.73023175215357, + 91.09124388348847, + 127.51369072478853, + 105.19514455108151 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -101.65345322397799, + -122.3308118165851, + -83.65745867411762, + -110.37083139170927 + ], + "timestamp": 0.49631982854429607 }, { - "x": 7.317249560428886, - "y": 7.260450648361741, - "heading": 0.28148943809573934, - "angularVelocity": 3.573411626116498e-8, - "velocityX": 4.364484814218445, - "velocityY": 0.9367218093452854, - "timestamp": 0.8420403678470105, + "x": 4.945849306523475, + "y": 6.742484875633697, + "heading": 0.22011430934398715, + "angularVelocity": -0.3273973396211947, + "velocityX": 3.3339266060408757, + "velocityY": 1.9490180075918664, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 102.39461706034342, + 76.59499736615128, + 116.38229521850985, + 88.50701048504622 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -113.10423755758495, + -131.93472569824226, + -98.60965873584134, + -124.20936167191242 + ], + "timestamp": 0.5547130370097453 }, { - "x": 7.63085019436579, - "y": 7.3277567829064845, - "heading": 0.29835199277457336, - "angularVelocity": 0.18023244241549222, - "velocityX": 3.3518650805884103, - "velocityY": 0.7193897514100817, - "timestamp": 0.9356004087189006, + "x": 5.16488045028419, + "y": 6.822786386452049, + "heading": 0.18847157511737284, + "angularVelocity": -0.5418906591705405, + "velocityX": 3.750969495987034, + "velocityY": 1.375185795145925, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 94.48417646222794, + 74.58513993143256, + 104.72374887548479, + 83.30573175318727 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -119.7408964438047, + -133.036596288968, + -110.85898396895124, + -127.71536671147736 + ], + "timestamp": 0.6131062454751945 }, { - "x": 7.839917299382837, - "y": 7.372627542775043, - "heading": 0.3095937223078571, - "angularVelocity": 0.12015524393236245, - "velocityX": 2.234576888473517, - "velocityY": 0.4795932050735657, - "timestamp": 1.0291604495907907, + "x": 5.404896365927269, + "y": 6.867212014758066, + "heading": 0.1524651598939561, + "angularVelocity": -0.6166199147009903, + "velocityX": 4.11033957535446, + "velocityY": 0.7608012896391921, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 79.25425845138973, + 71.49424838144787, + 82.50872345142582, + 74.45841748564037 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -130.23578732914268, + -134.6459293826603, + -128.18160451261278, + -133.01198928962248 + ], + "timestamp": 0.6714994539406438 }, { - "x": 7.944450855255127, - "y": 7.3950629234313965, - "heading": 0.3152145956982849, - "angularVelocity": 0.060077714139996824, - "velocityX": 1.1172884801909024, - "velocityY": 0.23979661025443438, - "timestamp": 1.1227204904626806, + "x": 5.658544434890597, + "y": 6.872548785159341, + "heading": 0.1281037565564906, + "angularVelocity": -0.41719583453255066, + "velocityX": 4.343794006010034, + "velocityY": 0.09139368344474305, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 39.47551763686264, + 65.37778052130328, + 36.340375524375446, + 58.704941916135745 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -147.08129784742562, + -137.5573263487432, + -147.95349647333052, + -140.59748800863187 + ], + "timestamp": 0.7298926624060931 }, { - "x": 7.944450855255127, - "y": 7.3950629234313965, - "heading": 0.3152145956982849, - "angularVelocity": 6.397603234038431e-24, - "velocityX": -2.2575156697237934e-25, - "velocityY": 2.406083967264793e-23, - "timestamp": 1.2162805313345706, + "x": 5.9158414767092475, + "y": 6.8370863882987765, + "heading": 0.1254389398308835, + "angularVelocity": -0.04563573054026556, + "velocityX": 4.406283686082696, + "velocityY": -0.6073034484971579, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -14.830920608441906, + 39.863743159827756, + -5.930864383297048, + 34.405702835845034 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.28195098086783, + -146.6760354818534, + -152.07004856543176, + -148.24113899534018 + ], + "timestamp": 0.7882858708715423 + }, + { + "x": 6.164917956037552, + "y": 6.761102505017741, + "heading": 0.12508638831575347, + "angularVelocity": -0.0060375431390566605, + "velocityX": 4.265504256807663, + "velocityY": -1.3012452180112433, + "moduleForcesX": [ + -33.387123904941994, + -28.501845289179588, + -31.706797435901247, + -26.948585160696815 + ], + "moduleForcesY": [ + -147.8636288196341, + -148.86973017789435, + -148.26866052429892, + -149.1953090306226 + ], + "timestamp": 0.8466790793369916 + }, + { + "x": 6.399034498936212, + "y": 6.646996570329378, + "heading": 0.12482589711098936, + "angularVelocity": -0.004460984617996327, + "velocityX": 4.00931117057866, + "velocityY": -1.9540959930344945, + "moduleForcesX": [ + -54.97122189224485, + -54.8032569786368, + -54.88114755772572, + -54.71328047178059 + ], + "moduleForcesY": [ + -139.7017527224851, + -139.76594412282356, + -139.7404302614692, + -139.804463723225 + ], + "timestamp": 0.9050722878024409 + }, + { + "x": 6.613708146939024, + "y": 6.499512614805456, + "heading": 0.12458959033153967, + "angularVelocity": -0.0040468195815243375, + "velocityX": 3.676346163498233, + "velocityY": -2.525703920186502, + "moduleForcesX": [ + -71.30709773970564, + -71.2710033669268, + -71.28196442680043, + -71.24587044012698 + ], + "moduleForcesY": [ + -122.34356610931268, + -122.3619087191858, + -122.36172940828367, + -122.38006383871137 + ], + "timestamp": 0.9634654962678901 + }, + { + "x": 6.823254585266113, + "y": 6.3448286056518555, + "heading": 0.12435559759089392, + "angularVelocity": -0.004007191020862903, + "velocityX": 3.5885412683518463, + "velocityY": -2.6490068488210534, + "moduleForcesX": [ + -18.79757171953196, + -18.794951651908406, + -18.797132015101216, + -18.794511958394903 + ], + "moduleForcesY": [ + -26.39378253133877, + -26.393573310928414, + -26.396353742926014, + -26.396144534955557 + ], + "timestamp": 1.0218587047333394 + }, + { + "x": 7.065801652845683, + "y": 6.2133599374604085, + "heading": 0.12430613025800714, + "angularVelocity": -0.0007999225691775531, + "velocityX": 3.9221615990251832, + "velocityY": -2.1259435002970286, + "moduleForcesX": [ + 67.2396383896899, + 67.47925879266808, + 67.39279360165396, + 67.63241756825556 + ], + "moduleForcesY": [ + 105.85919704055921, + 105.75573296072629, + 105.70220979558196, + 105.59850288773367 + ], + "timestamp": 1.0836988562590337 + }, + { + "x": 7.310439116406306, + "y": 6.085852036316136, + "heading": 0.12423115733648987, + "angularVelocity": -0.0012123663941215911, + "velocityX": 3.955964814157227, + "velocityY": -2.06189503088511, + "moduleForcesX": [ + 6.84728730369702, + 6.821669507540154, + 6.843891439301457, + 6.818274246792219 + ], + "moduleForcesY": [ + 12.935163440986223, + 12.932187797849487, + 12.960564391756757, + 12.957589281462623 + ], + "timestamp": 1.145539007784728 + }, + { + "x": 7.51698842446787, + "y": 5.978233123392839, + "heading": 0.08492994075819264, + "angularVelocity": -0.6355291118904769, + "velocityX": 3.3400517784320525, + "velocityY": -1.740275699028797, + "moduleForcesX": [ + -132.75235749478617, + -144.6976919798723, + -94.32233017960951, + -126.21559460648464 + ], + "moduleForcesY": [ + 49.826831237496535, + 22.94496413038234, + 110.90002080929183, + 76.36905041310257 + ], + "timestamp": 1.2073791593104224 + }, + { + "x": 7.682278544831293, + "y": 5.8921219245586105, + "heading": 0.05165462880841668, + "angularVelocity": -0.5380858734789837, + "velocityX": 2.67286085626934, + "velocityY": -1.3924803984373542, + "moduleForcesX": [ + -134.0383027622062, + -130.8749735664461, + -138.55658483510726, + -135.97813961086362 + ], + "moduleForcesY": [ + 72.16783110996165, + 77.69586980117688, + 63.01696876664337, + 68.32441472998893 + ], + "timestamp": 1.2692193108361167 + }, + { + "x": 7.806262421177959, + "y": 5.827533635141936, + "heading": 0.02606619608630942, + "angularVelocity": -0.4137834738563892, + "velocityX": 2.004908999875543, + "velocityY": -1.04443937829466, + "moduleForcesX": [ + -133.8780493625767, + -129.90291131787507, + -139.64383046563967, + -136.6384524863771 + ], + "moduleForcesY": [ + 72.93885173760012, + 79.7641167389487, + 61.153070492897434, + 67.54771858609767 + ], + "timestamp": 1.331059462361811 + }, + { + "x": 7.88892483204246, + "y": 5.784472870069538, + "heading": 0.00874867410338556, + "angularVelocity": -0.28003686206571693, + "velocityX": 1.3367110011724215, + "velocityY": -0.6963237317735812, + "moduleForcesX": [ + -133.76687031244984, + -129.56656044495432, + -139.9979725860421, + -136.93085525199578 + ], + "moduleForcesY": [ + 73.30398363509153, + 80.46697276297448, + 60.54185098639837, + 67.15128829812626 + ], + "timestamp": 1.3928996138875054 + }, + { + "x": 7.930258274078369, + "y": 5.762941837310791, + "heading": 1.4525173516384506e-17, + "angularVelocity": -0.1414723911171293, + "velocityX": 0.6683916681981287, + "velocityY": -0.34817238026633934, + "moduleForcesX": [ + -133.70594661462107, + -129.39482028994718, + -140.17468675606096, + -137.08490808315406 + ], + "moduleForcesY": [ + 73.49638955193494, + 80.8229895909409, + 60.23535241431497, + 66.9382328985836 + ], + "timestamp": 1.4547397654131997 + }, + { + "x": 7.930258274078369, + "y": 5.762941837310791, + "heading": 7.209164992813206e-18, + "angularVelocity": -1.6789270049338276e-18, + "velocityX": 3.731701430656866e-18, + "velocityY": -1.0120741439904773e-18, + "moduleForcesX": [ + -133.69592661005268, + -129.28270538387923, + -140.28987412902168, + -137.15034126652307 + ], + "moduleForcesY": [ + 73.56366791197308, + 81.05078722299604, + 60.029392325315996, + 66.86611950808029 + ], + "timestamp": 1.516579916938894 } ], "trajectoryWaypoints": [ @@ -31845,19 +31885,41 @@ "timestamp": 0, "isStopPoint": true, "x": 4.24, - "y": 6.6, - "heading": 0.24776360937302858, + "y": 5.4, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 8 + }, + { + "timestamp": 0.49631982854429607, + "isStopPoint": false, + "x": 4.751170635223389, + "y": 6.62867546081543, + "heading": 0.23923209044765792, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 9 + }, + { + "timestamp": 1.0218587047333394, + "isStopPoint": false, + "x": 6.823254585266113, + "y": 6.3448286056518555, + "heading": 0.12435559759089375, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 8 }, { - "timestamp": 1.2162805313345706, + "timestamp": 1.516579916938894, "isStopPoint": true, - "x": 7.944450855255127, - "y": 7.3950629234313965, - "heading": 0.3152145956982849, + "x": 7.930258274078369, + "y": 5.762941837310791, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -31883,40 +31945,22 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, - "shoot2 to f2": { + "test Forward": { "waypoints": [ { - "x": 4.24, - "y": 5.4, + "x": 1.7219549417495728, + "y": 5.976395130157471, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 8 - }, - { - "x": 4.751170635223389, - "y": 6.62867546081543, - "heading": 0.23923209044765792, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 9 - }, - { - "x": 6.823254585266113, - "y": 6.3448286056518555, - "heading": 0.12435559759089375, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 8 + "controlIntervalCount": 13 }, { - "x": 7.930258274078369, - "y": 5.762941837310791, + "x": 5.600630283355713, + "y": 6.073849678039551, "heading": 0, "isInitialGuess": false, "translationConstrained": true, @@ -31926,13 +31970,12 @@ ], "trajectory": [ { - "x": 4.24, - "y": 5.4, - "heading": 5.65520577887102e-25, - "angularVelocity": 1.247999773759975e-25, - "velocityX": 1.8200464416455633e-24, - "velocityY": 8.50921922700024e-26, - "timestamp": 0, + "x": 1.721954941749567, + "y": 5.976395130157471, + "heading": -1.5401982737451353e-28, + "angularVelocity": -4.395743386800691e-29, + "velocityX": 1.3845005417895564e-15, + "velocityY": 3.4704773415506686e-17, "moduleForcesX": [ 0, 0, @@ -31944,289 +31987,357 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 4.237379577204406, - "y": 5.446551866490192, - "heading": 0.015666909035925502, - "angularVelocity": 0.2529176676813516, - "velocityX": -0.04230261503919124, - "velocityY": 0.7515068525587645, - "timestamp": 0.061944699947431445, + "x": 1.8327282559106872, + "y": 5.9791783905912474, + "heading": -1.623546960498563e-18, + "angularVelocity": -1.7042141303527822e-17, + "velocityX": 1.1627727123395657, + "velocityY": 0.029215513756535284, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.56837701232885, + 152.56837701232885, + 152.56837701232885, + 152.56837701232885 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.833391915835618, + 3.833391915835618, + 3.8333919158356218, + 3.8333919158356218 + ], + "timestamp": 0.09526652370303917 }, { - "x": 4.235636730361383, - "y": 5.539753141411952, - "heading": 0.04593957057021425, - "angularVelocity": 0.48870462783707475, - "velocityX": -0.02813552805165378, - "velocityY": 1.5045883667344286, - "timestamp": 0.12388939989486289, + "x": 2.0542470219994327, + "y": 5.984744213094485, + "heading": -4.1430655664308795e-18, + "angularVelocity": -2.6447026570854425e-17, + "velocityX": 2.325252668666708, + "velocityY": 0.05842367178849212, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.52996422168448, + 152.52996422168448, + 152.52996422168448, + 152.52996422168448 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.8324267664074587, + 3.8324267664074587, + 3.8324267664074614, + 3.832426766407462 + ], + "timestamp": 0.19053304740607835 }, { - "x": 4.240601974321771, - "y": 5.679181571486886, - "heading": 0.08884400320580595, - "angularVelocity": 0.6926247551768269, - "velocityX": 0.08015607412095097, - "velocityY": 2.2508532641736663, - "timestamp": 0.18583409984229432, + "x": 2.3864278553627796, + "y": 5.993090497935001, + "heading": -7.948128015992785e-18, + "angularVelocity": -3.9941161629781955e-17, + "velocityX": 3.4868593463894784, + "velocityY": 0.08760988805544262, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 152.41538060783455, + 152.41538060783455, + 152.41538060783455, + 152.41538060783455 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.829547769397711, + 3.829547769397711, + 3.829547769397714, + 3.829547769397714 + ], + "timestamp": 0.2857995711091175 + }, + { + "x": 2.811381903797379, + "y": 6.003767776545869, + "heading": -1.325139050083789e-17, + "angularVelocity": -5.566765294846453e-17, + "velocityX": 4.4606845693988015, + "velocityY": 0.11207795810915008, + "moduleForcesX": [ + 127.77641942148013, + 127.77641942148013, + 127.77641942148013, + 127.77641942148013 + ], + "moduleForcesY": [ + 3.210475871606081, + 3.2104758716060804, + 3.2104758716060826, + 3.210475871606083 + ], + "timestamp": 0.3810660948121567 }, { - "x": 4.263018726063957, - "y": 5.862034306572896, - "heading": 0.14021670966114338, - "angularVelocity": 0.8293317507217601, - "velocityX": 0.36188328882391024, - "velocityY": 2.951870543261741, - "timestamp": 0.24777879978972578, + "x": 3.236337127761933, + "y": 6.014445088771317, + "heading": -1.1925931448045685e-18, + "angularVelocity": 1.2657958853672953e-16, + "velocityX": 4.460699714612114, + "velocityY": 0.11207833864303714, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.001987221490878562, + 0.0019872214908859356, + 0.001987221490878562, + 0.0019872214908859356 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.000049930304455841375, + 0.000049930304455841375, + 0.000049930304448467594, + 0.000049930304448467594 + ], + "timestamp": 0.47633261851519587 }, { - "x": 4.321522464322417, - "y": 6.0747972769624585, - "heading": 0.19033517188592944, - "angularVelocity": 0.8090839453144244, - "velocityX": 0.9444510718125638, - "velocityY": 3.43472436818841, - "timestamp": 0.30972349973715724, + "x": 3.6612923740231422, + "y": 6.025122404094382, + "heading": 1.484255332755587e-19, + "angularVelocity": 1.407649451301668e-17, + "velocityX": 4.460699714694959, + "velocityY": 0.11207833864510999, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.0934861360987135e-8, + 1.0934856809113392e-8, + 1.0934861360987135e-8, + 1.0934856809113392e-8 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.735990150688957e-10, + 2.735990150688957e-10, + 2.736035669333217e-10, + 2.736035669333217e-10 + ], + "timestamp": 0.571599142218235 }, { - "x": 4.42664427975027, - "y": 6.285590334484931, - "heading": 0.22593678397320832, - "angularVelocity": 0.5747321743021069, - "velocityX": 1.6970267919138085, - "velocityY": 3.4029232154059934, - "timestamp": 0.3716681996845887, + "x": 4.086248005304978, + "y": 6.035799715708605, + "heading": 5.108047600774015e-19, + "angularVelocity": 3.803846654810349e-18, + "velocityX": 4.460699714694959, + "velocityY": 0.11207833864510999, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -2.509241874329863e-14, + -2.5508049140578757e-14, + -2.509241874329863e-14, + -2.5508049140578757e-14 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.5601232016276687e-16, + -3.5601232016276687e-16, + 5.961807711713102e-17, + 5.961807711713102e-17 + ], + "timestamp": 0.6668656659212742 + }, + { + "x": 4.511203466967075, + "y": 6.046477032490053, + "heading": 1.0820229926594101e-18, + "angularVelocity": 5.996001809556093e-18, + "velocityX": 4.460699714612115, + "velocityY": 0.11207833864303857, + "moduleForcesX": [ + -1.0934816093154413e-8, + -1.0934816004459899e-8, + -1.0934816093154413e-8, + -1.0934816004459899e-8 + ], + "moduleForcesY": [ + -2.7341325298103526e-10, + -2.7341325298103526e-10, + -2.734133416736434e-10, + -2.734133416736434e-10 + ], + "timestamp": 0.7621321896243134 }, { - "x": 4.572008828361977, - "y": 6.473078534144687, - "heading": 0.2425417326343036, - "angularVelocity": 0.26806084580580486, - "velocityX": 2.346682585194032, - "velocityY": 3.0267028465528867, - "timestamp": 0.43361289963202015, + "x": 4.936157223312045, + "y": 6.057154310267385, + "heading": 6.079332449485454e-19, + "angularVelocity": -4.976456748681943e-18, + "velocityX": 4.460684569398774, + "velocityY": 0.11207795810928052, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.001987221504133469, + -0.0019872215041339125, + -0.001987221504133469, + -0.0019872215041339125 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.00004993028860631058, + -0.00004993028860631058, + -0.00004993028860586653, + -0.00004993028860586653 + ], + "timestamp": 0.8573987133273526 }, { - "x": 4.751170635223389, - "y": 6.62867546081543, - "heading": 0.23923209044765792, - "angularVelocity": -0.053428980840238824, - "velocityX": 2.892286297511409, - "velocityY": 2.5118682761041353, - "timestamp": 0.4955575995794516, + "x": 5.268338111169329, + "y": 6.065500598827796, + "heading": 6.37501046009351e-19, + "angularVelocity": 3.103123933891078e-19, + "velocityX": 3.486859346369429, + "velocityY": 0.08760988804386435, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -127.77641943041554, + -127.77641943041554, + -127.77641943041554, + -127.77641943041554 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.2104758718085487, + -3.2104758718085487, + -3.210475871808544, + -3.2104758718085447 + ], + "timestamp": 0.9526652370303919 }, { - "x": 4.946362436162151, - "y": 6.743542673417743, - "heading": 0.21829007379819315, - "angularVelocity": -0.35870329749719254, - "velocityX": 3.343323797946624, - "velocityY": 1.9674918907971573, - "timestamp": 0.5539401591923269, + "x": 5.489856992064052, + "y": 6.071066415072994, + "heading": 3.002662752721644e-19, + "angularVelocity": -3.539930748673699e-18, + "velocityX": 2.32525266864291, + "velocityY": 0.05842367177680507, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -152.4153806078381, + -152.4153806078381, + -152.4153806078381, + -152.4153806078381 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.8295477693944746, + -3.8295477693944746, + -3.829547769394478, + -3.8295477693944777 + ], + "timestamp": 1.047931760733431 }, { - "x": 5.166070300386926, - "y": 6.824983152939521, - "heading": 0.1846753118236742, - "angularVelocity": -0.5757671845395725, - "velocityX": 3.763244806010905, - "velocityY": 1.3949453408996755, - "timestamp": 0.6123227188052021, + "x": 5.6006302833557235, + "y": 6.073849678039551, + "heading": -6.51099530528904e-30, + "angularVelocity": -3.1518739514713245e-18, + "velocityX": 1.1627727123114147, + "velocityY": 0.029215513744636195, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -152.5299642216851, + -152.5299642216851, + -152.5299642216851, + -152.5299642216851 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.8324267664059684, + -3.8324267664059684, + -3.832426766405971, + -3.8324267664059715 + ], + "timestamp": 1.1431982844364703 }, { - "x": 5.4068861346319075, - "y": 6.870552367100581, - "heading": 0.1473229043961779, - "angularVelocity": -0.6397870815389683, - "velocityX": 4.124790619695147, - "velocityY": 0.7805278573468125, - "timestamp": 0.6707052784180774, + "x": 5.600630283355718, + "y": 6.073849678039551, + "heading": -3.271079888081092e-30, + "angularVelocity": -3.271590144883267e-31, + "velocityX": 8.181897808483324e-16, + "velocityY": 2.0447681017375165e-17, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -152.56837701232908, + -152.56837701232908, + -152.56837701232908, + -152.56837701232908 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.8333919158346506, + -3.8333919158346506, + -3.8333919158346537, + -3.8333919158346537 + ], + "timestamp": 1.2384648081395095 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 1.7219549417495728, + "y": 5.976395130157471, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 }, { - "x": 5.661085250819843, - "y": 6.876942417575123, - "heading": 0.12435614493756209, - "angularVelocity": -0.39338390798389905, - "velocityX": 4.354024864162978, - "velocityY": 0.10945135870905622, - "timestamp": 0.7290878380309527, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + "timestamp": 1.2384648081395095, + "isStopPoint": true, + "x": 5.600630283355713, + "y": 6.073849678039551, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "constraints": [ + { + "scope": [ + "first" ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "type": "StopPoint" }, { - "x": 5.9194107827089555, - "y": 6.842494035672702, - "heading": 0.12435570944864996, - "angularVelocity": -0.0000074592295202798885, - "velocityX": 4.4247037745865185, - "velocityY": -0.5900457624818211, - "timestamp": 0.787470397643828, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + "scope": [ + "last" ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + }, + "test right": { + "waypoints": [ + { + "x": 2.5015881061553955, + "y": 6.073849678039551, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 11 }, { - "x": 6.168953501170516, - "y": 6.767345749414827, - "heading": 0.12435567456164731, - "angularVelocity": -5.975586354254342e-7, - "velocityX": 4.274268208112755, - "velocityY": -1.2871701199154444, - "timestamp": 0.8458529572567033, + "x": 2.4236249923706055, + "y": 3.091752529144287, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 2.501588106155396, + "y": 6.073849678039576, + "heading": -2.208983604238118e-28, + "angularVelocity": -6.240389222371391e-29, + "velocityX": -1.0652000538583858e-16, + "velocityY": -4.0755713988464225e-15, "moduleForcesX": [ 0, 0, @@ -32238,279 +32349,258 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 6.4033437640717175, - "y": 6.653415773224552, - "heading": 0.12435564711508347, - "angularVelocity": -4.70115802069138e-7, - "velocityX": 4.014730845228495, - "velocityY": -1.9514385279735162, - "timestamp": 0.9042355168695786, + "x": 2.4987539537131562, + "y": 5.965443058143521, + "heading": -1.2687608406267825e-18, + "angularVelocity": -1.3462295465600661e-17, + "velocityX": -0.030072289888603027, + "velocityY": -1.150268154517826, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.988593758133328, + -3.9885937581333306, + -3.9885937581333284, + -3.9885937581333306 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.564117947721, + -152.564117947721, + -152.564117947721, + -152.564117947721 + ], + "timestamp": 0.09424465023435531 }, { - "x": 6.616598990419808, - "y": 6.50361242272296, - "heading": 0.12435562223085914, - "angularVelocity": -4.262270189059818e-7, - "velocityX": 3.65272142506512, - "velocityY": -2.565892134481807, - "timestamp": 0.9626180764824539, + "x": 2.4930863638276346, + "y": 5.748657137697697, + "heading": -5.237066273769015e-18, + "angularVelocity": -4.210603198607314e-17, + "velocityX": -0.06013699356917219, + "velocityY": -2.3002461358302915, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.987587569510497, + -3.9875875695105, + -3.987587569510497, + -3.9875875695105 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.52563113016706, + -152.52563113016706, + -152.52563113016706, + -152.52563113016706 + ], + "timestamp": 0.18848930046871062 }, { - "x": 6.823254585266113, - "y": 6.3448286056518555, - "heading": 0.12435559759089376, - "angularVelocity": -4.22043252923143e-7, - "velocityX": 3.539680278093358, - "velocityY": -2.7197131835940884, - "timestamp": 1.0210006360953292, + "x": 2.4845874640614483, + "y": 5.42357351626854, + "heading": -1.1017221526815394e-17, + "angularVelocity": -6.133083474497265e-17, + "velocityX": -0.09017911830074121, + "velocityY": -3.4493604702159915, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.984592842070264, + -3.9845928420702665, + -3.984592842070264, + -3.9845928420702665 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.41108249980365, + -152.41108249980365, + -152.41108249980365, + -152.41108249980365 + ], + "timestamp": 0.28273395070306595 }, { - "x": 7.06721604977345, - "y": 6.216004629924755, - "heading": 0.12435559331103313, - "angularVelocity": -6.924887671035973e-8, - "velocityX": 3.947338213597696, - "velocityY": -2.084393956406464, - "timestamp": 1.0828046800627158, + "x": 2.4735970323302534, + "y": 5.003188043373092, + "heading": -9.285057228133272e-18, + "angularVelocity": 1.83790480741803e-17, + "velocityX": -0.11661597812863811, + "velocityY": -4.460573054253765, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.506413856096554, + -3.5064138560965694, + -3.506413856096554, + -3.5064138560965694 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -134.12068753567434, + -134.12068753567434, + -134.12068753567434, + -134.12068753567434 + ], + "timestamp": 0.37697860093742125 }, { - "x": 7.311487551618, - "y": 6.087769508857744, - "heading": 0.12435558903264551, - "angularVelocity": -6.922504327615364e-8, - "velocityX": 3.952354670730751, - "velocityY": -2.07486618731098, - "timestamp": 1.1446087240301024, + "x": 2.462606549254395, + "y": 4.582801103478448, + "heading": -6.272068254934184e-18, + "angularVelocity": 3.196986762582778e-17, + "velocityX": -0.11661652620779758, + "velocityY": -4.460594018322999, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.00007269477202508841, + -0.0000726947720245311, + -0.00007269477202508841, + -0.0000726947720245311 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.002780580524003389, + -0.002780580524003389, + -0.002780580524003944, + -0.002780580524003944 + ], + "timestamp": 0.47122325117177655 }, { - "x": 7.517744482295796, - "y": 5.979493561802102, - "heading": 0.08290822958345927, - "angularVelocity": -0.6706253634642038, - "velocityX": 3.337272408689549, - "velocityY": -1.7519233387507338, - "timestamp": 1.206412767997489, + "x": 2.4516160670833504, + "y": 4.162413925587807, + "heading": -6.677178227743646e-19, + "angularVelocity": 5.946597945818417e-17, + "velocityX": -0.1166165262078067, + "velocityY": -4.460594018322999, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -1.209501031089649e-12, + -1.2083764784340715e-12, + -1.209501031089649e-12, + -1.2083764784340715e-12 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 7.980549703937243e-14, + 7.980549703937243e-14, + 7.8680944383795e-14, + 7.8680944383795e-14 + ], + "timestamp": 0.5654679014061319 }, { - "x": 7.682750007522003, - "y": 5.892872851472243, - "heading": 0.04974660502559991, - "angularVelocity": -0.5365607560462942, - "velocityX": 2.669817614414985, - "velocityY": -1.401537905441411, - "timestamp": 1.2682168119648756, + "x": 2.4406256335847365, + "y": 3.742029048098894, + "heading": -7.47505527951953e-18, + "angularVelocity": -7.22304953734906e-17, + "velocityX": -0.1166159781294275, + "velocityY": -4.460573054253511, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.0000726946684349636, + 0.00007269466842957771, + 0.0000726946684349636, + 0.00007269466842957771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.002780580570076364, + 0.002780580570076364, + 0.0027805805700817504, + 0.0027805805700817504 + ], + "timestamp": 0.6597125516404873 }, { - "x": 7.806504141226978, - "y": 5.827907340410362, - "heading": 0.024873616425569716, - "angularVelocity": -0.4024492088762902, - "velocityX": 2.002363045535981, - "velocityY": -1.0511530782057288, - "timestamp": 1.3300208559322622, + "x": 2.4321267355670684, + "y": 3.4169451327308527, + "heading": -4.5958124418329266e-18, + "angularVelocity": 3.055048164608727e-17, + "velocityX": -0.0901791183147513, + "velocityY": -3.4493604708033265, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.506413854391247, + 3.5064138543912606, + 3.506413854391247, + 3.5064138543912606 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 134.1206874798519, + 134.1206874798519, + 134.1206874798519, + 134.1206874798519 + ], + "timestamp": 0.7539572018748426 }, { - "x": 7.889006895159031, - "y": 5.78459700567496, - "heading": 0.008291134592384246, - "angularVelocity": -0.26830739169650275, - "velocityX": 1.334908666746599, - "velocityY": -0.7007686221674526, - "timestamp": 1.3918248998996487, + "x": 2.426459142522654, + "y": 3.2001590407797273, + "heading": -1.6728682363322648e-18, + "angularVelocity": 3.1014140896050614e-17, + "velocityX": -0.06013699358366982, + "velocityY": -2.3002461364222366, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.984592842045831, + 3.9845928420458323, + 3.984592842045831, + 3.9845928420458323 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 152.4110824998502, + 152.4110824998502, + 152.4110824998502, + 152.4110824998502 + ], + "timestamp": 0.848201852109198 }, { - "x": 7.930258274078369, - "y": 5.762941837310791, - "heading": -1.4348384791893978e-24, - "angularVelocity": -0.13415197550437638, - "velocityX": 0.667454364978231, - "velocityY": -0.3503843272067457, - "timestamp": 1.4536289438670353, + "x": 2.423624992370604, + "y": 3.091752529144237, + "heading": -1.9693854994170325e-28, + "angularVelocity": 1.7750139866625088e-17, + "velocityX": -0.030072289903061683, + "velocityY": -1.1502681551108478, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.987587569497559, + 3.9875875694975593, + 3.9875875694975584, + 3.9875875694975598 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 152.525631130171, + 152.525631130171, + 152.525631130171, + 152.525631130171 + ], + "timestamp": 0.9424465023435533 }, { - "x": 7.930258274078369, - "y": 5.762941837310791, - "heading": -7.1304777144670165e-25, - "angularVelocity": 1.3167262316981074e-25, - "velocityX": -7.415415619815864e-25, - "velocityY": -2.4058483262983123e-24, - "timestamp": 1.515432987834422, + "x": 2.423624992370605, + "y": 3.0917525291442622, + "heading": -9.677568676888178e-29, + "angularVelocity": 3.593961585759544e-29, + "velocityX": -4.251732954747254e-17, + "velocityY": -1.6278101697341443e-15, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.9885937581247375, + 3.9885937581247375, + 3.9885937581247375, + 3.9885937581247375 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 152.56411794772194, + 152.56411794772194, + 152.56411794772194, + 152.56411794772194 + ], + "timestamp": 1.0366911525779086 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 4.24, - "y": 5.4, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 8 - }, - { - "timestamp": 0.4955575995794516, - "isStopPoint": false, - "x": 4.751170635223389, - "y": 6.62867546081543, - "heading": 0.23923209044765792, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 9 - }, - { - "timestamp": 1.0210006360953292, - "isStopPoint": false, - "x": 6.823254585266113, - "y": 6.3448286056518555, - "heading": 0.12435559759089375, + "x": 2.5015881061553955, + "y": 6.073849678039551, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 8 + "controlIntervalCount": 11 }, { - "timestamp": 1.515432987834422, + "timestamp": 1.0366911525779086, "isStopPoint": true, - "x": 7.930258274078369, - "y": 5.762941837310791, + "x": 2.4236249923706055, + "y": 3.091752529144287, "heading": 0, "isInitialGuess": false, "translationConstrained": true, @@ -32537,22 +32627,31 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, - "test Forward": { + "s3 preload and move": { "waypoints": [ { - "x": 1.7219549417495728, - "y": 5.976395130157471, + "x": 0.6694499850273132, + "y": 4.397637844085693, + "heading": -1.0222470480422092, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 14 + }, + { + "x": 0.8253766298294067, + "y": 2.370591163635254, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 9 }, { - "x": 5.600630283355713, - "y": 6.073849678039551, + "x": 2.540570020675659, + "y": 0.9333611249923706, "heading": 0, "isInitialGuess": false, "translationConstrained": true, @@ -32562,12 +32661,12 @@ ], "trajectory": [ { - "x": 1.721954941749567, - "y": 5.976395130157471, - "heading": -1.5401982737451353e-28, - "angularVelocity": -4.395743386800691e-29, - "velocityX": 1.3845005417895564e-15, - "velocityY": 3.4704773415506686e-17, + "x": 0.6694499850273132, + "y": 4.397637844085693, + "heading": -1.0222470480422092, + "angularVelocity": 1.1969878084565206e-19, + "velocityX": 1.4888990781352247e-18, + "velocityY": -6.220733917887347e-19, "moduleForcesX": [ 0, 0, @@ -32583,616 +32682,517 @@ "timestamp": 0 }, { - "x": 1.8327282559106872, - "y": 5.9791783905912474, - "heading": -1.623546960498563e-18, - "angularVelocity": -1.7042141303527822e-17, - "velocityX": 1.1627727123395657, - "velocityY": 0.029215513756535284, - "moduleForcesX": [ - 152.56837701232885, - 152.56837701232885, - 152.56837701232885, - 152.56837701232885 - ], - "moduleForcesY": [ - 3.833391915835618, - 3.833391915835618, - 3.8333919158356218, - 3.8333919158356218 - ], - "timestamp": 0.09526652370303917 - }, - { - "x": 2.0542470219994327, - "y": 5.984744213094485, - "heading": -4.1430655664308795e-18, - "angularVelocity": -2.6447026570854425e-17, - "velocityX": 2.325252668666708, - "velocityY": 0.05842367178849212, - "moduleForcesX": [ - 152.52996422168448, - 152.52996422168448, - 152.52996422168448, - 152.52996422168448 - ], - "moduleForcesY": [ - 3.8324267664074587, - 3.8324267664074587, - 3.8324267664074614, - 3.832426766407462 - ], - "timestamp": 0.19053304740607835 - }, - { - "x": 2.3864278553627796, - "y": 5.993090497935001, - "heading": -7.948128015992785e-18, - "angularVelocity": -3.9941161629781955e-17, - "velocityX": 3.4868593463894784, - "velocityY": 0.08760988805544262, - "moduleForcesX": [ - 152.41538060783455, - 152.41538060783455, - 152.41538060783455, - 152.41538060783455 - ], - "moduleForcesY": [ - 3.829547769397711, - 3.829547769397711, - 3.829547769397714, - 3.829547769397714 - ], - "timestamp": 0.2857995711091175 - }, - { - "x": 2.811381903797379, - "y": 6.003767776545869, - "heading": -1.325139050083789e-17, - "angularVelocity": -5.566765294846453e-17, - "velocityX": 4.4606845693988015, - "velocityY": 0.11207795810915008, + "x": 0.6709670147685498, + "y": 4.375321016405783, + "heading": -0.9802411606848702, + "angularVelocity": 0.9142776436973431, + "velocityX": 0.03301885674828413, + "velocityY": -0.4857361172355536, "moduleForcesX": [ - 127.77641942148013, - 127.77641942148013, - 127.77641942148013, - 127.77641942148013 + 70.43081909774101, + 82.08222932840025, + -102.17748588857896, + -14.402025068645418 ], "moduleForcesY": [ - 3.210475871606081, - 3.2104758716060804, - 3.2104758716060826, - 3.210475871606083 + -134.81304641622538, + -128.60987683923034, + -113.27296890139196, + -151.91771496318896 ], - "timestamp": 0.3810660948121567 + "timestamp": 0.045944344857287524 }, { - "x": 3.236337127761933, - "y": 6.014445088771317, - "heading": -1.1925931448045685e-18, - "angularVelocity": 1.2657958853672953e-16, - "velocityX": 4.460699714612114, - "velocityY": 0.11207833864303714, + "x": 0.6731322904003487, + "y": 4.330054973901335, + "heading": -0.9009323521765591, + "angularVelocity": 1.7261930440984734, + "velocityX": 0.04712822947697926, + "velocityY": -0.9852364343215371, "moduleForcesX": [ - 0.001987221490878562, - 0.0019872214908859356, - 0.001987221490878562, - 0.0019872214908859356 + 37.85193661757696, + 84.48937774152081, + -97.71325773853093, + -9.273204165360545 ], "moduleForcesY": [ - 0.000049930304455841375, - 0.000049930304455841375, - 0.000049930304448467594, - 0.000049930304448467594 + -147.16622504292886, + -127.00758572256942, + -117.11996096983341, + -152.29904544111582 ], - "timestamp": 0.47633261851519587 + "timestamp": 0.09188868971457505 }, { - "x": 3.6612923740231422, - "y": 6.025122404094382, - "heading": 1.484255332755587e-19, - "angularVelocity": 1.407649451301668e-17, - "velocityX": 4.460699714694959, - "velocityY": 0.11207833864510999, + "x": 0.6745631961554209, + "y": 4.261454132588785, + "heading": -0.7872530910272255, + "angularVelocity": 2.474281905693606, + "velocityX": 0.031144328327634193, + "velocityY": -1.4931291658532881, "moduleForcesX": [ - 1.0934861360987135e-8, - 1.0934856809113392e-8, - 1.0934861360987135e-8, - 1.0934856809113392e-8 + -11.278133598753287, + 86.24466743183484, + -90.1970297519412, + -2.1643556118284146 ], "moduleForcesY": [ - 2.735990150688957e-10, - 2.735990150688957e-10, - 2.736035669333217e-10, - 2.736035669333217e-10 + -151.4545798834983, + -125.76599617260533, + -122.96709901035123, + -152.5383819807938 ], - "timestamp": 0.571599142218235 + "timestamp": 0.13783303457186258 }, { - "x": 4.086248005304978, - "y": 6.035799715708605, - "heading": 5.108047600774015e-19, - "angularVelocity": 3.803846654810349e-18, - "velocityX": 4.460699714694959, - "velocityY": 0.11207833864510999, + "x": 0.6744732159379507, + "y": 4.169491465962076, + "heading": -0.6389281937832644, + "angularVelocity": 3.228360262937439, + "velocityX": -0.0019584612403761594, + "velocityY": -2.001610141840949, "moduleForcesX": [ - -2.509241874329863e-14, - -2.5508049140578757e-14, - -2.509241874329863e-14, - -2.5508049140578757e-14 + -48.06544416944854, + 84.94824275809417, + -79.07327477121262, + 6.1655968738791564 ], "moduleForcesY": [ - -3.5601232016276687e-16, - -3.5601232016276687e-16, - 5.961807711713102e-17, - 5.961807711713102e-17 + -144.09346165290614, + -126.54531423467913, + -130.3451880362578, + -152.38226381006695 ], - "timestamp": 0.6668656659212742 + "timestamp": 0.1837773794291501 }, { - "x": 4.511203466967075, - "y": 6.046477032490053, - "heading": 1.0820229926594101e-18, - "angularVelocity": 5.996001809556093e-18, - "velocityX": 4.460699714612115, - "velocityY": 0.11207833864303857, + "x": 0.6729784918520743, + "y": 4.053716143457686, + "heading": -0.4586039764067379, + "angularVelocity": 3.924840324454516, + "velocityX": -0.03253336382793231, + "velocityY": -2.5199036544097093, "moduleForcesX": [ - -1.0934816093154413e-8, - -1.0934816004459899e-8, - -1.0934816093154413e-8, - -1.0934816004459899e-8 + -57.45188385492491, + 74.04831627365839, + -63.34978288856022, + 13.479502858626903 ], "moduleForcesY": [ - -2.7341325298103526e-10, - -2.7341325298103526e-10, - -2.734133416736434e-10, - -2.734133416736434e-10 + -140.63097459969512, + -133.02853041168984, + -138.5703261300629, + -151.8151173486061 ], - "timestamp": 0.7621321896243134 + "timestamp": 0.2297217242864376 }, { - "x": 4.936157223312045, - "y": 6.057154310267385, - "heading": 6.079332449485454e-19, - "angularVelocity": -4.976456748681943e-18, - "velocityX": 4.460684569398774, - "velocityY": 0.11207795810928052, + "x": 0.6700823754957738, + "y": 3.9128217343327902, + "heading": -0.26145152372011277, + "angularVelocity": 4.291114680142261, + "velocityX": -0.0630353172332316, + "velocityY": -3.0666322386696434, "moduleForcesX": [ - -0.001987221504133469, - -0.0019872215041339125, - -0.001987221504133469, - -0.0019872215041339125 + -37.00975444551639, + 31.496490171186416, + -37.81979871475329, + 10.138604019165227 ], "moduleForcesY": [ - -0.00004993028860631058, - -0.00004993028860631058, - -0.00004993028860586653, - -0.00004993028860586653 + -147.24130932974919, + -148.61480404549417, + -147.3321738522047, + -151.80178821946996 ], - "timestamp": 0.8573987133273526 + "timestamp": 0.27566606914372516 }, { - "x": 5.268338111169329, - "y": 6.065500598827796, - "heading": 6.37501046009351e-19, - "angularVelocity": 3.103123933891078e-19, - "velocityX": 3.486859346369429, - "velocityY": 0.08760988804386435, + "x": 0.6646383940279247, + "y": 3.750489905834898, + "heading": -0.1136603041920076, + "angularVelocity": 3.2167445196394624, + "velocityX": -0.1184907846390695, + "velocityY": -3.53322762577487, "moduleForcesX": [ - -127.77641943041554, - -127.77641943041554, - -127.77641943041554, - -127.77641943041554 + 29.295348986121127, + -63.03401424171838, + 86.8623900832144, + -113.4744247647841 ], "moduleForcesY": [ - -3.2104758718085487, - -3.2104758718085487, - -3.210475871808544, - -3.2104758718085447 + -148.7312363187883, + -137.8646697182366, + -122.6277619095209, + -98.55959521083119 ], - "timestamp": 0.9526652370303919 + "timestamp": 0.3216104140010127 }, { - "x": 5.489856992064052, - "y": 6.071066415072994, - "heading": 3.002662752721644e-19, - "angularVelocity": -3.539930748673699e-18, - "velocityX": 2.32525266864291, - "velocityY": 0.05842367177680507, + "x": 0.6599395962570124, + "y": 3.5685674982627282, + "heading": -0.02636959380800603, + "angularVelocity": 1.8999228448059116, + "velocityX": -0.10227151526579796, + "velocityY": -3.9596256761284123, "moduleForcesX": [ - -152.4153806078381, - -152.4153806078381, - -152.4153806078381, - -152.4153806078381 + 55.14252221120359, + -47.696155491533716, + 123.0880858206963, + -112.88345607534826 ], "moduleForcesY": [ - -3.8295477693944746, - -3.8295477693944746, - -3.829547769394478, - -3.8295477693944777 + -140.58294696512903, + -143.2121391675142, + -84.12157023278728, + -96.12092179355861 ], - "timestamp": 1.047931760733431 + "timestamp": 0.36755475885830025 }, { - "x": 5.6006302833557235, - "y": 6.073849678039551, - "heading": -6.51099530528904e-30, - "angularVelocity": -3.1518739514713245e-18, - "velocityX": 1.1627727123114147, - "velocityY": 0.029215513744636195, + "x": 0.6564764418679994, + "y": 3.3688383452142125, + "heading": -0.005846985163104525, + "angularVelocity": 0.446684106795927, + "velocityX": -0.07537716347565261, + "velocityY": -4.347197760095935, "moduleForcesX": [ - -152.5299642216851, - -152.5299642216851, - -152.5299642216851, - -152.5299642216851 + 61.76725952807481, + -45.68957241359409, + 130.3663876838328, + -117.17567204528125 ], "moduleForcesY": [ - -3.8324267664059684, - -3.8324267664059684, - -3.832426766405971, - -3.8324267664059715 + -135.6389029042838, + -141.67315364096496, + -63.3759320814416, + -81.09633017402443 ], - "timestamp": 1.1431982844364703 + "timestamp": 0.4134991037155878 }, { - "x": 5.600630283355718, - "y": 6.073849678039551, - "heading": -3.271079888081092e-30, - "angularVelocity": -3.271590144883267e-31, - "velocityX": 8.181897808483324e-16, - "velocityY": 2.0447681017375165e-17, + "x": 0.6559015543082519, + "y": 3.1641453805942255, + "heading": -0.004694715877950014, + "angularVelocity": 0.02507967604573989, + "velocityX": -0.01251269450795603, + "velocityY": -4.455237423743042, "moduleForcesX": [ - -152.56837701232908, - -152.56837701232908, - -152.56837701232908, - -152.56837701232908 + 33.69297977140769, + -1.0621059408624454, + 36.763890714752506, + -0.98104664055022 ], "moduleForcesY": [ - -3.8333919158346506, - -3.8333919158346506, - -3.8333919158346537, - -3.8333919158346537 + -45.64668855097649, + -47.63147561779592, + -11.87911413618385, + -12.419394061033476 ], - "timestamp": 1.2384648081395095 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 1.7219549417495728, - "y": 5.976395130157471, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 + "timestamp": 0.45944344857287533 }, { - "timestamp": 1.2384648081395095, - "isStopPoint": true, - "x": 5.600630283355713, - "y": 6.073849678039551, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" + "x": 0.6634974645472628, + "y": 2.9595872877452676, + "heading": -0.0035689566981159603, + "angularVelocity": 0.024502671293516257, + "velocityX": 0.16532851337226545, + "velocityY": -4.4523018771164535, + "moduleForcesX": [ + 48.406732665488164, + 48.363184120836685, + 48.40672757212081, + 48.36317913085675 ], - "type": "StopPoint" - }, - { - "scope": [ - "last" + "moduleForcesY": [ + 0.7718636497269633, + 0.7722088698811573, + 0.8251241669341388, + 0.825480085655136 ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "test right": { - "waypoints": [ - { - "x": 2.5015881061553955, - "y": 6.073849678039551, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 + "timestamp": 0.5053877934301628 }, { - "x": 2.4236249923706055, - "y": 3.091752529144287, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 2.501588106155396, - "y": 6.073849678039576, - "heading": -2.208983604238118e-28, - "angularVelocity": -6.240389222371391e-29, - "velocityX": -1.0652000538583858e-16, - "velocityY": -4.0755713988464225e-15, + "x": 0.6932336280630599, + "y": 2.7570600949962536, + "heading": -0.002490031498492219, + "angularVelocity": 0.023483307966956957, + "velocityX": 0.6472214068422139, + "velocityY": -4.408098393321949, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 131.12504629155436, + 131.1020280122473, + 131.11354784411918, + 131.09050747946372 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 + 11.94643022453301, + 11.958295570836226, + 12.094368176558477, + 12.10637355819931 ], - "timestamp": 0 + "timestamp": 0.5513321382874503 }, { - "x": 2.4987539537131562, - "y": 5.965443058143521, - "heading": -1.2687608406267825e-18, - "angularVelocity": -1.3462295465600661e-17, - "velocityX": -0.030072289888603027, - "velocityY": -1.150268154517826, + "x": 0.7473098306579314, + "y": 2.5596626408601812, + "heading": -0.0013874310963982652, + "angularVelocity": 0.023998609742262547, + "velocityX": 1.1769936596055108, + "velocityY": -4.2964472504956115, "moduleForcesX": [ - -3.988593758133328, - -3.9885937581333306, - -3.9885937581333284, - -3.9885937581333306 + 144.12289832190572, + 144.12935116107272, + 144.13913433929525, + 144.14557019119346 ], "moduleForcesY": [ - -152.564117947721, - -152.564117947721, - -152.564117947721, - -152.564117947721 + 30.42492933336404, + 30.408562357089075, + 30.344892360560056, + 30.32856438099663 ], - "timestamp": 0.09424465023435531 + "timestamp": 0.5972764831447378 }, { - "x": 2.4930863638276346, - "y": 5.748657137697697, - "heading": -5.237066273769015e-18, - "angularVelocity": -4.210603198607314e-17, - "velocityX": -0.06013699356917219, - "velocityY": -2.3002461358302915, + "x": 0.8253766298294067, + "y": 2.370591163635254, + "heading": 2.0891885378078043e-17, + "angularVelocity": 0.03019808206446179, + "velocityX": 1.6991601342069191, + "velocityY": -4.115228496812189, "moduleForcesX": [ - -3.987587569510497, - -3.9875875695105, - -3.987587569510497, - -3.9875875695105 + 141.845711072728, + 141.97168302022752, + 142.16007091771277, + 142.28232433159314 ], "moduleForcesY": [ - -152.52563113016706, - -152.52563113016706, - -152.52563113016706, - -152.52563113016706 + 49.91927247903819, + 49.60457536683362, + 49.00097219157908, + 48.69069609007777 ], - "timestamp": 0.18848930046871062 + "timestamp": 0.6432208280020253 }, { - "x": 2.4845874640614483, - "y": 5.42357351626854, - "heading": -1.1017221526815394e-17, - "angularVelocity": -6.133083474497265e-17, - "velocityX": -0.09017911830074121, - "velocityY": -3.4493604702159915, + "x": 1.0339653213645053, + "y": 2.074375044127949, + "heading": 0.0000044528153459022926, + "angularVelocity": 0.000054835537726940414, + "velocityX": 2.568728360730341, + "velocityY": -3.647842754472865, "moduleForcesX": [ - -3.984592842070264, - -3.9845928420702665, - -3.984592842070264, - -3.9845928420702665 + 134.7642207467098, + 134.1319729986878, + 133.59863465175766, + 132.93318273492335 ], "moduleForcesY": [ - -152.41108249980365, - -152.41108249980365, - -152.41108249980365, - -152.41108249980365 + 70.25355838454294, + 71.42773450626689, + 72.45861855731343, + 73.64822388054664 ], - "timestamp": 0.28273395070306595 + "timestamp": 0.724423922390462 }, { - "x": 2.4735970323302534, - "y": 5.003188043373092, - "heading": -9.285057228133272e-18, - "angularVelocity": 1.83790480741803e-17, - "velocityX": -0.11661597812863811, - "velocityY": -4.460573054253765, + "x": 1.301884228293889, + "y": 1.8304755047072667, + "heading": 0.000004453022265880934, + "angularVelocity": 2.548178492445836e-9, + "velocityX": 3.299368194630193, + "velocityY": -3.0035744482369404, "moduleForcesX": [ - -3.506413856096554, - -3.5064138560965694, - -3.506413856096554, - -3.5064138560965694 + 112.47344730689737, + 112.4711587247334, + 112.47095694375523, + 112.46866828606109 ], "moduleForcesY": [ - -134.12068753567434, - -134.12068753567434, - -134.12068753567434, - -134.12068753567434 + 99.17275128205026, + 99.17524167879618, + 99.17566820643269, + 99.17815856513973 ], - "timestamp": 0.37697860093742125 + "timestamp": 0.8056270167788988 }, { - "x": 2.462606549254395, - "y": 4.582801103478448, - "heading": -6.272068254934184e-18, - "angularVelocity": 3.196986762582778e-17, - "velocityX": -0.11661652620779758, - "velocityY": -4.460594018322999, + "x": 1.594889017776212, + "y": 1.6173603306898252, + "heading": 0.000004451584235964429, + "angularVelocity": -1.7709053175076407e-8, + "velocityX": 3.608295862223515, + "velocityY": -2.62447109464207, "moduleForcesX": [ - -0.00007269477202508841, - -0.0000726947720245311, - -0.00007269477202508841, - -0.0000726947720245311 + 47.5547874652992, + 47.5547864565637, + 47.554787236392016, + 47.55478622765651 ], "moduleForcesY": [ - -0.002780580524003389, - -0.002780580524003389, - -0.002780580524003944, - -0.002780580524003944 + 58.357281938658225, + 58.35728216755677, + 58.35728285302653, + 58.35728308192508 ], - "timestamp": 0.47122325117177655 + "timestamp": 0.8868301111673356 }, { - "x": 2.4516160670833504, - "y": 4.162413925587807, - "heading": -6.677178227743646e-19, - "angularVelocity": 5.946597945818417e-17, - "velocityX": -0.1166165262078067, - "velocityY": -4.460594018322999, + "x": 1.888451837562208, + "y": 1.4050152600443797, + "heading": 0.000004450118638976769, + "angularVelocity": -1.8048536188163462e-8, + "velocityX": 3.6151678947329566, + "velocityY": -2.6149874243295397, "moduleForcesX": [ - -1.209501031089649e-12, - -1.2083764784340715e-12, - -1.209501031089649e-12, - -1.2083764784340715e-12 + 1.0578464733314012, + 1.0578464572164286, + 1.0578464733291908, + 1.057846457214218 ], "moduleForcesY": [ - 7.980549703937243e-14, - 7.980549703937243e-14, - 7.8680944383795e-14, - 7.8680944383795e-14 + 1.4598689759929964, + 1.4598689759950634, + 1.4598689921065675, + 1.4598689921086345 ], - "timestamp": 0.5654679014061319 + "timestamp": 0.9680332055557723 }, { - "x": 2.4406256335847365, - "y": 3.742029048098894, - "heading": -7.47505527951953e-18, - "angularVelocity": -7.22304953734906e-17, - "velocityX": -0.1166159781294275, - "velocityY": -4.460573054253511, + "x": 2.1492330530802066, + "y": 1.2164013255207218, + "heading": 0.0000026779264587764788, + "angularVelocity": -0.00002182419516826515, + "velocityX": 3.2114689407142656, + "velocityY": -2.322743190353319, "moduleForcesX": [ - 0.0000726946684349636, - 0.00007269466842957771, - 0.0000726946684349636, - 0.00007269466842957771 + -62.14305413613443, + -62.14400761386833, + -62.14280591813743, + -62.14375939561949 ], "moduleForcesY": [ - 0.002780580570076364, - 0.002780580570076364, - 0.0027805805700817504, - 0.0027805805700817504 + 44.98618792582269, + 44.98593970394952, + 44.98730459881352, + 44.98705637335373 ], - "timestamp": 0.6597125516404873 + "timestamp": 1.049236299944209 }, { - "x": 2.4321267355670684, - "y": 3.4169451327308527, - "heading": -4.5958124418329266e-18, - "angularVelocity": 3.055048164608727e-17, - "velocityX": -0.0901791183147513, - "velocityY": -3.4493604708033265, + "x": 2.34488444039275, + "y": 1.074893575599537, + "heading": 0.0000013410863344808974, + "angularVelocity": -0.00001646292095595256, + "velocityX": 2.409408025464646, + "velocityY": -1.7426398708986943, "moduleForcesX": [ - 3.506413854391247, - 3.5064138543912606, - 3.506413854391247, - 3.5064138543912606 + -123.46523066844905, + -123.46505552919581, + -123.46547134561428, + -123.46529620731836 ], "moduleForcesY": [ - 134.1206874798519, - 134.1206874798519, - 134.1206874798519, - 134.1206874798519 + 89.29826295259151, + 89.2985036308982, + 89.29792912313685, + 89.29816980148311 ], - "timestamp": 0.7539572018748426 + "timestamp": 1.1304393943326458 }, { - "x": 2.426459142522654, - "y": 3.2001590407797273, - "heading": -1.6728682363322648e-18, - "angularVelocity": 3.1014140896050614e-17, - "velocityX": -0.06013699358366982, - "velocityY": -2.3002461364222366, + "x": 2.4753376942099, + "y": 0.9805413533982869, + "heading": 4.475065556763606e-7, + "angularVelocity": -0.000011004257726067484, + "velocityX": 1.606505944138324, + "velocityY": -1.1619289007422378, "moduleForcesX": [ - 3.984592842045831, - 3.9845928420458323, - 3.984592842045831, - 3.9845928420458323 + -123.59471464841224, + -123.59453649768017, + -123.59496021164628, + -123.59478206191011 ], "moduleForcesY": [ - 152.4110824998502, - 152.4110824998502, - 152.4110824998502, - 152.4110824998502 + 89.3918023500655, + 89.39204791400833, + 89.39146228652187, + 89.39170785050685 ], - "timestamp": 0.848201852109198 + "timestamp": 1.2116424887210826 }, { - "x": 2.423624992370604, - "y": 3.091752529144237, - "heading": -1.9693854994170325e-28, - "angularVelocity": 1.7750139866625088e-17, - "velocityX": -0.030072289903061683, - "velocityY": -1.1502681551108478, + "x": 2.540570020675659, + "y": 0.9333611249923706, + "heading": -3.6175993313333796e-22, + "angularVelocity": -0.000005510954466041731, + "velocityX": 0.8033231609807268, + "velocityY": -0.5810151541903982, "moduleForcesX": [ - 3.987587569497559, - 3.9875875694975593, - 3.9875875694975584, - 3.9875875694975598 + -123.63792416169073, + -123.6377449375932, + -123.63817145603441, + -123.63799223294664 ], "moduleForcesY": [ - 152.525631130171, - 152.525631130171, - 152.525631130171, - 152.525631130171 + 89.42301698078747, + 89.42326427561453, + 89.42267470207882, + 89.4229219969489 ], - "timestamp": 0.9424465023435533 + "timestamp": 1.2928455831095194 }, { - "x": 2.423624992370605, - "y": 3.0917525291442622, - "heading": -9.677568676888178e-29, - "angularVelocity": 3.593961585759544e-29, - "velocityX": -4.251732954747254e-17, - "velocityY": -1.6278101697341443e-15, + "x": 2.540570020675659, + "y": 0.9333611249923706, + "heading": -1.7796668418877164e-22, + "angularVelocity": 7.175302385129491e-23, + "velocityX": -6.287506906979144e-19, + "velocityY": -9.378903843018304e-19, "moduleForcesX": [ - 3.9885937581247375, - 3.9885937581247375, - 3.9885937581247375, - 3.9885937581247375 + -123.65953305775773, + -123.6593532864016, + -123.65978123338706, + -123.65960146304778 ], "moduleForcesY": [ - 152.56411794772194, - 152.56411794772194, - 152.56411794772194, - 152.56411794772194 + 89.43862729128809, + 89.43887546740409, + 89.43828388413135, + 89.43853206029088 ], - "timestamp": 1.0366911525779086 + "timestamp": 1.3740486774979561 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 2.5015881061553955, - "y": 6.073849678039551, + "x": 0.6694499850273132, + "y": 4.397637844085693, + "heading": -1.0222470480422092, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 14 + }, + { + "timestamp": 0.6432208280020253, + "isStopPoint": false, + "x": 0.8253766298294067, + "y": 2.370591163635254, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 11 + "controlIntervalCount": 9 }, { - "timestamp": 1.0366911525779086, + "timestamp": 1.3740486774979561, "isStopPoint": true, - "x": 2.4236249923706055, - "y": 3.091752529144287, + "x": 2.540570020675659, + "y": 0.9333611249923706, "heading": 0, "isInitialGuess": false, "translationConstrained": true, @@ -33205,587 +33205,733 @@ "scope": [ "first" ], - "type": "StopPoint" - }, - { - "scope": [ - "last" + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + }, + "f3 to shoot3": { + "waypoints": [ + { + "x": 8.146272659301758, + "y": 4.032406330108643, + "heading": -0.1914246125529053, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 7.744622230529785, + "y": 1.0452145338058472, + "heading": -0.30970311414121976, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 10 + }, + { + "x": 5.892993450164795, + "y": 1.201141119003296, + "heading": -0.6040226575350804, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 7 + }, + { + "x": 5, + "y": 1.8, + "heading": -0.677, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 8.146272659301758, + "y": 4.032406330108643, + "heading": -0.1914246125529053, + "angularVelocity": 9.645375035057994e-23, + "velocityX": -1.7769292564607925e-22, + "velocityY": -5.581294249346436e-22, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 8.148417025132066, + "y": 3.950840899814743, + "heading": -0.19140010834914464, + "angularVelocity": 0.00029973613396259193, + "velocityX": 0.026229945280242185, + "velocityY": -0.9977107185394133, + "moduleForcesX": [ + 3.9998304337894433, + 4.027403906582621, + 3.9937348092528993, + 4.021303574557101 + ], + "moduleForcesY": [ + -152.55060460177708, + -152.54988276405936, + -152.5507806860489, + -152.5500600730789 + ], + "timestamp": 0.08175258497102864 + }, + { + "x": 8.152705120882302, + "y": 3.7877342274413413, + "heading": -0.191348423213287, + "angularVelocity": 0.0006322140868812779, + "velocityX": 0.052452112086217584, + "velocityY": -1.9951255661359613, + "moduleForcesX": [ + 3.9974704361966547, + 4.028047533573225, + 3.990713059917131, + 4.021284368308036 + ], + "moduleForcesY": [ + -152.50539003745973, + -152.50459150843852, + -152.50559425184983, + -152.50479722777186 + ], + "timestamp": 0.16350516994205727 + }, + { + "x": 8.159135043533572, + "y": 3.5431586983916166, + "heading": -0.1912615368242427, + "angularVelocity": 0.0010627968409202594, + "velocityX": 0.0786510011095971, + "velocityY": -2.991654993372956, + "moduleForcesX": [ + 3.990407879290694, + 4.029974368713775, + 3.9816698139417244, + 4.021226610320767 + ], + "moduleForcesY": [ + -152.37007492087784, + -152.3690491448492, + -152.37037391998652, + -152.3693506587317 + ], + "timestamp": 0.2452577549130859 + }, + { + "x": 8.16686884042318, + "y": 3.248987589698177, + "heading": -0.18699133736747722, + "angularVelocity": 0.052233204103317006, + "velocityX": 0.0946000287617734, + "velocityY": -3.598309567797615, + "moduleForcesX": [ + 1.136000006915365, + 4.400930015152937, + 0.5051808204506747, + 3.7123376913275643 + ], + "moduleForcesY": [ + -91.88657153915103, + -92.12378444762422, + -93.39174307274283, + -93.62872194733127 ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "s3 preload and move": { - "waypoints": [ - { - "x": 0.6694499850273132, - "y": 4.397637844085693, - "heading": -1.0222470480422092, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 + "timestamp": 0.32701033988411454 }, { - "x": 0.8253766298294067, - "y": 2.370591163635254, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 9 + "x": 8.174602640365496, + "y": 2.9548163553137927, + "heading": -0.17978992487554665, + "angularVelocity": 0.08808788730634752, + "velocityX": 0.0946000661025737, + "velocityY": -3.5983111052529098, + "moduleForcesX": [ + -0.6804611991927269, + 0.9827688411145247, + -0.9827573955467033, + 0.6804725913127266 + ], + "moduleForcesY": [ + 0.9825280462484745, + 0.6802318123786107, + -0.6807019781208362, + -0.9829981904031304 + ], + "timestamp": 0.4087629248551432 }, { - "x": 2.540570020675659, - "y": 0.9333611249923706, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 0.6694499850273132, - "y": 4.397637844085693, - "heading": -1.0222470480422092, - "angularVelocity": 1.1969878084565206e-19, - "velocityX": 1.4888990781352247e-18, - "velocityY": -6.220733917887347e-19, + "x": 8.182336419595279, + "y": 2.660645120383735, + "heading": -0.17265189869058195, + "angularVelocity": 0.08731254415373223, + "velocityX": 0.09459981274627191, + "velocityY": -3.59831111192759, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.014827405736851762, + -0.021185021483629544, + 0.021107544942921646, + -0.014904882279200877 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 + -0.021147303775342925, + -0.014867164568006649, + 0.014865123447994169, + 0.021145262651108478 ], - "timestamp": 0 + "timestamp": 0.49051550982617187 }, { - "x": 0.6709670147685498, - "y": 4.375321016405783, - "heading": -0.9802411606848702, - "angularVelocity": 0.9142776436973431, - "velocityX": 0.03301885674828413, - "velocityY": -0.4857361172355536, + "x": 8.19006854508527, + "y": 2.3664738419455364, + "heading": -0.1686401862958291, + "angularVelocity": 0.04907138283363776, + "velocityX": 0.09457958415297534, + "velocityY": -3.5983116441204523, "moduleForcesX": [ - 70.43081909774101, - 82.08222932840025, - -102.17748588857896, - -14.402025068645418 + 0.7343070832769626, + -1.0431114475587626, + 1.0369256824166118, + -0.7404931552478177 ], "moduleForcesY": [ - -134.81304641622538, - -128.60987683923034, - -113.27296890139196, - -151.91771496318896 + -1.0401001399483536, + -0.7374812907079502, + 0.737318948934573, + 1.0399369917923729 ], - "timestamp": 0.045944344857287524 + "timestamp": 0.5722680947972005 }, { - "x": 0.6731322904003487, - "y": 4.330054973901335, - "heading": -0.9009323521765591, - "angularVelocity": 1.7261930440984734, - "velocityX": 0.04712822947697926, - "velocityY": -0.9852364343215371, + "x": 8.197668789450475, + "y": 2.072299126980922, + "heading": -0.1741797943455477, + "angularVelocity": -0.06776064697748356, + "velocityX": 0.09296641039420325, + "velocityY": -3.5983536798116402, "moduleForcesX": [ - 37.85193661757696, - 84.48937774152081, - -97.71325773853093, - -9.273204165360545 + 1.988504211284737, + -3.4364190264091907, + 2.943226751457709, + -2.4819313559783733 ], "moduleForcesY": [ - -147.16622504292886, - -127.00758572256942, - -117.11996096983341, - -152.29904544111582 + -3.1964168293802975, + -2.2415064345715487, + 2.2289507496517875, + 3.1832634243656126 ], - "timestamp": 0.09188868971457505 + "timestamp": 0.6540206797682292 }, { - "x": 0.6745631961554209, - "y": 4.261454132588785, - "heading": -0.7872530910272255, - "angularVelocity": 2.474281905693606, - "velocityX": 0.031144328327634193, - "velocityY": -1.4931291658532881, + "x": 8.194995984528562, + "y": 1.7780385866301298, + "heading": -0.20504722404553113, + "angularVelocity": -0.3775712989494117, + "velocityX": -0.03269382763687523, + "velocityY": -3.5994034984345946, "moduleForcesX": [ - -11.278133598753287, - 86.24466743183484, - -90.1970297519412, - -2.1643556118284146 + -13.67250113378783, + -27.67916724668447, + -10.679789699457652, + -24.82252646111529 ], "moduleForcesY": [ - -151.4545798834983, - -125.76599617260533, - -122.96709901035123, - -152.5383819807938 + -9.017499098691138, + -5.830803643655736, + 5.672912564749355, + 8.533319579263372 ], - "timestamp": 0.13783303457186258 + "timestamp": 0.7357732647392579 }, { - "x": 0.6744732159379507, - "y": 4.169491465962076, - "heading": -0.6389281937832644, - "angularVelocity": 3.228360262937439, - "velocityX": -0.0019584612403761594, - "velocityY": -2.001610141840949, + "x": 8.115391375940092, + "y": 1.4947412910108882, + "heading": -0.23939741581316254, + "angularVelocity": -0.4201725459788746, + "velocityX": -0.9737258903395116, + "velocityY": -3.465300769628702, "moduleForcesX": [ - -48.06544416944854, - 84.94824275809417, - -79.07327477121262, - 6.1655968738791564 + -144.0964243692273, + -144.22752752331616, + -143.53827691167783, + -143.6743508868784 ], "moduleForcesY": [ - -144.09346165290614, - -126.54531423467913, - -130.3451880362578, - -152.38226381006695 + 18.397975320527085, + 18.841691357777282, + 22.214142307817788, + 22.563615205061332 ], - "timestamp": 0.1837773794291501 + "timestamp": 0.8175258497102865 }, { - "x": 0.6729784918520743, - "y": 4.053716143457686, - "heading": -0.4586039764067379, - "angularVelocity": 3.924840324454516, - "velocityX": -0.03253336382793231, - "velocityY": -2.5199036544097093, + "x": 7.961390985470782, + "y": 1.244002957929501, + "heading": -0.274381164230418, + "angularVelocity": -0.4279222293662385, + "velocityX": -1.8837372607102711, + "velocityY": -3.067038591749035, "moduleForcesX": [ - -57.45188385492491, - 74.04831627365839, - -63.34978288856022, - 13.479502858626903 + -139.2637714751793, + -139.30653734057788, + -138.97472096834636, + -139.0192493107093 ], "moduleForcesY": [ - -140.63097459969512, - -133.02853041168984, - -138.5703261300629, - -151.8151173486061 + 60.60890812146849, + 60.52017442191164, + 61.27012077710137, + 61.17852454023575 ], - "timestamp": 0.2297217242864376 + "timestamp": 0.8992784346813152 }, { - "x": 0.6700823754957738, - "y": 3.9128217343327902, - "heading": -0.26145152372011277, - "angularVelocity": 4.291114680142261, - "velocityX": -0.0630353172332316, - "velocityY": -3.0666322386696434, + "x": 7.744622230529785, + "y": 1.0452145338058472, + "heading": -0.30970311414121976, + "angularVelocity": -0.4320591198837215, + "velocityX": -2.651521722742045, + "velocityY": -2.4315857925972675, "moduleForcesX": [ - -37.00975444551639, - 31.496490171186416, - -37.81979871475329, - 10.138604019165227 + -117.46326456228753, + -117.55591904418856, + -117.23276813146008, + -117.32614313445244 ], "moduleForcesY": [ - -147.24130932974919, - -148.61480404549417, - -147.3321738522047, - -151.80178821946996 + 97.07724361656933, + 96.96616633306593, + 97.35592956259453, + 97.24451766791815 ], - "timestamp": 0.27566606914372516 + "timestamp": 0.9810310196523438 }, { - "x": 0.6646383940279247, - "y": 3.750489905834898, - "heading": -0.1136603041920076, - "angularVelocity": 3.2167445196394624, - "velocityX": -0.1184907846390695, - "velocityY": -3.53322762577487, + "x": 7.578363256555678, + "y": 0.9416102773325772, + "heading": -0.33333802978366234, + "angularVelocity": -0.43398708486360116, + "velocityX": -3.0528667222261845, + "velocityY": -1.9023934727125855, "moduleForcesX": [ - 29.295348986121127, - -63.03401424171838, - 86.8623900832144, - -113.4744247647841 + -92.14919822623172, + -92.2698076865109, + -91.9686457539712, + -92.08953899844526 ], "moduleForcesY": [ - -148.7312363187883, - -137.8646697182366, - -122.6277619095209, - -98.55959521083119 + 121.44064716027103, + 121.34949938613124, + 121.57774932465288, + 121.48666716902005 ], - "timestamp": 0.3216104140010127 + "timestamp": 1.0354909712655833 }, { - "x": 0.6599395962570124, - "y": 3.5685674982627282, - "heading": -0.02636959380800603, - "angularVelocity": 1.8999228448059116, - "velocityX": -0.10227151526579796, - "velocityY": -3.9596256761284123, + "x": 7.395825816459427, + "y": 0.8702761273880643, + "heading": -0.357102427197656, + "angularVelocity": -0.436364644294257, + "velocityX": -3.3517738207441927, + "velocityY": -1.3098460030062014, "moduleForcesX": [ - 55.14252221120359, - -47.696155491533716, - 123.0880858206963, - -112.88345607534826 + -68.61513163122252, + -68.8188524327614, + -68.39521689426086, + -68.59915388199562 ], "moduleForcesY": [ - -140.58294696512903, - -143.2121391675142, - -84.12157023278728, - -96.12092179355861 + 136.00073578491762, + 135.89842329710453, + 136.11207438458914, + 136.01006305831356 ], - "timestamp": 0.36755475885830025 + "timestamp": 1.0899509228788227 }, { - "x": 0.6564764418679994, - "y": 3.3688383452142125, - "heading": -0.005846985163104525, - "angularVelocity": 0.446684106795927, - "velocityX": -0.07537716347565261, - "velocityY": -4.347197760095935, + "x": 7.2032808848216465, + "y": 0.8336156540010013, + "heading": -0.3810394106861625, + "angularVelocity": -0.43953368997645764, + "velocityX": -3.535532550693101, + "velocityY": -0.6731638993625341, "moduleForcesX": [ - 61.76725952807481, - -45.68957241359409, - 130.3663876838328, - -117.17567204528125 + -42.139760228517716, + -42.47875210864486, + -41.87629630322569, + -42.21515575134966 ], "moduleForcesY": [ - -135.6389029042838, - -141.67315364096496, - -63.3759320814416, - -81.09633017402443 + 146.14517358855397, + 146.04811936313038, + 146.2223151446716, + 146.12595389879553 ], - "timestamp": 0.4134991037155878 + "timestamp": 1.144410874492062 }, { - "x": 0.6559015543082519, - "y": 3.1641453805942255, - "heading": -0.004694715877950014, - "angularVelocity": 0.02507967604573989, - "velocityX": -0.01251269450795603, - "velocityY": -4.455237423743042, + "x": 7.007269454986331, + "y": 0.8327424970978986, + "heading": -0.4052388554863432, + "angularVelocity": -0.4443530352733121, + "velocityX": -3.599184795964182, + "velocityY": -0.016033009160630902, "moduleForcesX": [ - 33.69297977140769, - -1.0621059408624454, - 36.763890714752506, - -0.98104664055022 + -14.475833189340797, + -15.067618342821321, + -14.152873483846678, + -14.743173538013577 ], "moduleForcesY": [ - -45.64668855097649, - -47.63147561779592, - -11.87911413618385, - -12.419394061033476 + 150.83870808928665, + 150.7832500847813, + 150.87390805154192, + 150.8198462714167 ], - "timestamp": 0.45944344857287533 + "timestamp": 1.1988708261053014 }, { - "x": 0.6634974645472628, - "y": 2.9595872877452676, - "heading": -0.0035689566981159603, - "angularVelocity": 0.024502671293516257, - "velocityX": 0.16532851337226545, - "velocityY": -4.4523018771164535, + "x": 6.814303946019299, + "y": 0.8671980201276267, + "heading": -0.429968621887066, + "angularVelocity": -0.45409086251760405, + "velocityX": -3.5432552407946205, + "velocityY": 0.6326763430570471, "moduleForcesX": [ - 48.406732665488164, - 48.363184120836685, - 48.40672757212081, - 48.36317913085675 + 13.244262976278964, + 11.974661790189263, + 13.695220011775161, + 12.43510683949431 ], "moduleForcesY": [ - 0.7718636497269633, - 0.7722088698811573, - 0.8251241669341388, - 0.825480085655136 + 148.84318743198287, + 148.96063079599344, + 148.82988574504375, + 148.9501452604905 ], - "timestamp": 0.5053877934301628 + "timestamp": 1.2533307777185407 }, { - "x": 0.6932336280630599, - "y": 2.7570600949962536, - "heading": -0.002490031498492219, - "angularVelocity": 0.023483307966956957, - "velocityX": 0.6472214068422139, - "velocityY": -4.408098393321949, + "x": 6.628712263543099, + "y": 0.9302779038676255, + "heading": -0.45774039089355195, + "angularVelocity": -0.5099484700925522, + "velocityX": -3.40785617648406, + "velocityY": 1.158280201715492, "moduleForcesX": [ - 131.12504629155436, - 131.1020280122473, - 131.11354784411918, - 131.09050747946372 + 33.417282695451405, + 27.114876400258613, + 34.913199694778726, + 28.865313822782845 ], "moduleForcesY": [ - 11.94643022453301, - 11.958295570836226, - 12.094368176558477, - 12.10637355819931 + 119.23784108876804, + 121.12336880091314, + 120.17339026830001, + 122.02537564878055 ], - "timestamp": 0.5513321382874503 + "timestamp": 1.30779072933178 }, { - "x": 0.7473098306579314, - "y": 2.5596626408601812, - "heading": -0.0013874310963982652, - "angularVelocity": 0.023998609742262547, - "velocityX": 1.1769936596055108, - "velocityY": -4.2964472504956115, + "x": 6.444304612051052, + "y": 0.99673982015295, + "heading": -0.4925491059022693, + "angularVelocity": -0.6391616954770706, + "velocityX": -3.386114861093909, + "velocityY": 1.2203814788033573, "moduleForcesX": [ - 144.12289832190572, - 144.12935116107272, - 144.13913433929525, - 144.14557019119346 + 6.9311013878855485, + -1.2589235914684056, + 11.195523218358169, + 3.093127765015315 ], "moduleForcesY": [ - 30.42492933336404, - 30.408562357089075, - 30.344892360560056, - 30.32856438099663 + 8.082214492592856, + 12.455474145987305, + 16.084722678241526, + 20.393134279777765 ], - "timestamp": 0.5972764831447378 + "timestamp": 1.3622506809450194 }, { - "x": 0.8253766298294067, - "y": 2.370591163635254, - "heading": 2.0891885378078043e-17, - "angularVelocity": 0.03019808206446179, - "velocityX": 1.6991601342069191, - "velocityY": -4.115228496812189, + "x": 6.259949583503922, + "y": 1.0633475635270035, + "heading": -0.5302719174126233, + "angularVelocity": -0.6926706762108733, + "velocityX": -3.3851485924257156, + "velocityY": 1.2230591728594298, "moduleForcesX": [ - 141.845711072728, - 141.97168302022752, - 142.16007091771277, - 142.28232433159314 + 0.8977992801424791, + -2.369648056565962, + 2.812912798121013, + -0.45392710771747075 ], "moduleForcesY": [ - 49.91927247903819, - 49.60457536683362, - 49.00097219157908, - 48.69069609007777 + -1.9767532249504514, + -0.061050232333857736, + 1.2905167971910323, + 3.205693229280868 ], - "timestamp": 0.6432208280020253 + "timestamp": 1.4167106325582588 }, { - "x": 1.0339653213645053, - "y": 2.074375044127949, - "heading": 0.0000044528153459022926, - "angularVelocity": 0.000054835537726940414, - "velocityX": 2.568728360730341, - "velocityY": -3.647842754472865, + "x": 6.075660010569475, + "y": 1.1301361927880373, + "heading": -0.5682432821784155, + "angularVelocity": -0.6972346401527322, + "velocityX": -3.3839466888113425, + "velocityY": 1.2263806206687395, "moduleForcesX": [ - 134.7642207467098, - 134.1319729986878, - 133.59863465175766, - 132.93318273492335 + 0.3250864955543807, + 0.05281777913959363, + 0.4989170330635955, + 0.22665342805240796 ], "moduleForcesY": [ - 70.25355838454294, - 71.42773450626689, - 72.45861855731343, - 73.64822388054664 + 0.5393171369346872, + 0.7131550972632774, + 0.8115678051675532, + 0.9854006146566721 ], - "timestamp": 0.724423922390462 + "timestamp": 1.4711705841714982 }, { - "x": 1.301884228293889, - "y": 1.8304755047072667, - "heading": 0.000004453022265880934, - "angularVelocity": 2.548178492445836e-9, - "velocityX": 3.299368194630193, - "velocityY": -3.0035744482369404, + "x": 5.892993450164795, + "y": 1.201141119003296, + "heading": -0.6040226575350804, + "angularVelocity": -0.656985074293875, + "velocityX": -3.3541447429467177, + "velocityY": 1.3038007583906241, "moduleForcesX": [ - 112.47344730689737, - 112.4711587247334, - 112.47095694375523, - 112.46866828606109 + 6.454403269435821, + 8.838423885809764, + 4.837690154533395, + 7.230823438621545 ], "moduleForcesY": [ - 99.17275128205026, - 99.17524167879618, - 99.17566820643269, - 99.17815856513973 + 19.72979130526542, + 18.110887589332137, + 17.43389352286981, + 15.805308695632492 ], - "timestamp": 0.8056270167788988 + "timestamp": 1.5256305357847375 }, { - "x": 1.594889017776212, - "y": 1.6173603306898252, - "heading": 0.000004451584235964429, - "angularVelocity": -1.7709053175076407e-8, - "velocityX": 3.608295862223515, - "velocityY": -2.62447109464207, + "x": 5.6851452649926815, + "y": 1.3364075678722562, + "heading": -0.6477429375724705, + "angularVelocity": -0.6345926451548554, + "velocityX": -3.016882085526584, + "velocityY": 1.9633701686047529, "moduleForcesX": [ - 47.5547874652992, - 47.5547864565637, - 47.554787236392016, - 47.55478622765651 + 60.47066828265134, + 62.3833658479898, + 59.985084678687144, + 61.92647018182463 ], "moduleForcesY": [ - 58.357281938658225, - 58.35728216755677, - 58.35728285302653, - 58.35728308192508 + 120.22253000018532, + 119.18707985886623, + 120.15652327201965, + 119.11092055323319 ], - "timestamp": 0.8868301111673356 + "timestamp": 1.5945255669061924 }, { - "x": 1.888451837562208, - "y": 1.4050152600443797, - "heading": 0.000004450118638976769, - "angularVelocity": -1.8048536188163462e-8, - "velocityX": 3.6151678947329566, - "velocityY": -2.6149874243295397, + "x": 5.479722474176008, + "y": 1.475329735150026, + "heading": -0.6757805407555093, + "angularVelocity": -0.4069611803151864, + "velocityX": -2.9816778869659517, + "velocityY": 2.0164323176349868, "moduleForcesX": [ - 1.0578464733314012, - 1.0578464572164286, - 1.0578464733291908, - 1.057846457214218 + 5.38176061695421, + 15.32389299961575, + -2.6077577704671375, + 7.451260593474562 ], "moduleForcesY": [ - 1.4598689759929964, - 1.4598689759950634, - 1.4598689921065675, - 1.4598689921086345 + 18.536006999484993, + 10.590793785076931, + 8.71966363141323, + 0.6629521315627815 ], - "timestamp": 0.9680332055557723 + "timestamp": 1.6634205980276473 }, { - "x": 2.1492330530802066, - "y": 1.2164013255207218, - "heading": 0.0000026779264587764788, - "angularVelocity": -0.00002182419516826515, - "velocityX": 3.2114689407142656, - "velocityY": -2.322743190353319, + "x": 5.28788835103963, + "y": 1.605160439918183, + "heading": -0.6763055924098064, + "angularVelocity": -0.007621038059646501, + "velocityX": -2.7844406195012112, + "velocityY": 1.8844712405932251, "moduleForcesX": [ - -62.14305413613443, - -62.14400761386833, - -62.14280591813743, - -62.14375939561949 + 35.605443317490426, + 50.82124222631427, + 20.103805555469656, + 36.612827260674955 ], "moduleForcesY": [ - 44.98618792582269, - 44.98593970394952, - 44.98730459881352, - 44.98705637335373 + -7.520868433372345, + -21.374959763071363, + -27.254320320879245, + -39.61951360034687 ], - "timestamp": 1.049236299944209 + "timestamp": 1.7323156291491022 }, { - "x": 2.34488444039275, - "y": 1.074893575599537, - "heading": 0.0000013410863344808974, - "angularVelocity": -0.00001646292095595256, - "velocityX": 2.409408025464646, - "velocityY": -1.7426398708986943, + "x": 5.143958369504764, + "y": 1.7025705442531778, + "heading": -0.6766624232122123, + "angularVelocity": -0.005179340172977046, + "velocityX": -2.0891199146297272, + "velocityY": 1.41389157896266, "moduleForcesX": [ - -123.46523066844905, - -123.46505552919581, - -123.46547134561428, - -123.46529620731836 + 126.23799179126662, + 126.2259414826165, + 126.08557059060418, + 126.07375673445601 ], "moduleForcesY": [ - 89.29826295259151, - 89.2985036308982, - 89.29792912313685, - 89.29816980148311 + -85.25785769510401, + -85.27684806694003, + -85.48301378146238, + -85.50158451267562 ], - "timestamp": 1.1304393943326458 + "timestamp": 1.801210660270557 }, { - "x": 2.4753376942099, - "y": 0.9805413533982869, - "heading": 4.475065556763606e-7, - "angularVelocity": -0.000011004257726067484, - "velocityX": 1.606505944138324, - "velocityY": -1.1619289007422378, + "x": 5.0479892773835715, + "y": 1.7675213645966215, + "heading": -0.6768896125861458, + "angularVelocity": -0.0032976162465611666, + "velocityX": -1.3929755246355708, + "velocityY": 0.9427504318699241, "moduleForcesX": [ - -123.59471464841224, - -123.59453649768017, - -123.59496021164628, - -123.59478206191011 + 126.36876287316535, + 126.3592537449307, + 126.25119756429605, + 126.24182909351993 ], "moduleForcesY": [ - 89.3918023500655, - 89.39204791400833, - 89.39146228652187, - 89.39170785050685 + -85.3876565601612, + -85.40217141319567, + -85.56135227094266, + -85.57561725011112 ], - "timestamp": 1.2116424887210826 + "timestamp": 1.870105691392012 }, { - "x": 2.540570020675659, - "y": 0.9333611249923706, - "heading": -3.6175993313333796e-22, - "angularVelocity": -0.000005510954466041731, - "velocityX": 0.8033231609807268, - "velocityY": -0.5810151541903982, + "x": 5, + "y": 1.8, + "heading": -0.677, + "angularVelocity": -0.0016022550836751203, + "velocityX": -0.6965564366894792, + "velocityY": 0.4714220296398745, "moduleForcesX": [ - -123.63792416169073, - -123.6377449375932, - -123.63817145603441, - -123.63799223294664 + 126.41236696667832, + 126.40372905595089, + 126.30641535302146, + 126.29789167081644 ], "moduleForcesY": [ - 89.42301698078747, - 89.42326427561453, - 89.42267470207882, - 89.4229219969489 + -85.43092865807355, + -85.44397522881599, + -85.58747445661454, + -85.60031802072747 ], - "timestamp": 1.2928455831095194 + "timestamp": 1.939000722513467 }, { - "x": 2.540570020675659, - "y": 0.9333611249923706, - "heading": -1.7796668418877164e-22, - "angularVelocity": 7.175302385129491e-23, - "velocityX": -6.287506906979144e-19, - "velocityY": -9.378903843018304e-19, + "x": 5, + "y": 1.8, + "heading": -0.677, + "angularVelocity": -1.2926285951758e-23, + "velocityX": -2.0028887812039655e-22, + "velocityY": -3.7647771565811527e-22, "moduleForcesX": [ - -123.65953305775773, - -123.6593532864016, - -123.65978123338706, - -123.65960146304778 + 126.43416459375652, + 126.42597322995773, + 126.3340171207333, + 126.32592781850411 ], "moduleForcesY": [ - 89.43862729128809, - 89.43887546740409, - 89.43828388413135, - 89.43853206029088 + -85.45256601131705, + -85.464873388804, + -85.60054015152573, + -85.61266613222432 ], - "timestamp": 1.3740486774979561 + "timestamp": 2.0078957536349216 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 0.6694499850273132, - "y": 4.397637844085693, - "heading": -1.0222470480422092, + "x": 8.146272659301758, + "y": 4.032406330108643, + "heading": -0.1914246125529053, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 14 + "controlIntervalCount": 12 }, { - "timestamp": 0.6432208280020253, + "timestamp": 0.9810310196523438, "isStopPoint": false, - "x": 0.8253766298294067, - "y": 2.370591163635254, - "heading": 0, + "x": 7.744622230529785, + "y": 1.0452145338058472, + "heading": -0.30970311414121976, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 9 + "controlIntervalCount": 10 }, { - "timestamp": 1.3740486774979561, + "timestamp": 1.5256305357847375, + "isStopPoint": false, + "x": 5.892993450164795, + "y": 1.201141119003296, + "heading": -0.6040226575350804, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 7 + }, + { + "timestamp": 2.0078957536349216, "isStopPoint": true, - "x": 2.540570020675659, - "y": 0.9333611249923706, - "heading": 0, + "x": 5, + "y": 1.8, + "heading": -0.677, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -33804,6 +33950,34 @@ "last" ], "type": "StopPoint" + }, + { + "scope": [ + 0, + 3 + ], + "type": "MaxVelocity", + "velocity": 3.6 + }, + { + "scope": [ + 0, + 1 + ], + "type": "PointAt", + "x": 0, + "y": 0, + "tolerance": 0 + }, + { + "scope": [ + 1, + 1 + ], + "type": "PointAt", + "x": 0, + "y": 0, + "tolerance": 0 } ], "usesControlIntervalGuessing": true, @@ -33811,41 +33985,41 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": false + "isTrajectoryStale": true }, - "f3 to shoot3": { + "shoot3 to f2": { "waypoints": [ { - "x": 8.146272659301758, - "y": 4.032406330108643, - "heading": -0.1914246125529053, + "x": 5, + "y": 1.8, + "heading": -0.676, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 12 }, { - "x": 7.744622230529785, - "y": 1.0452145338058472, - "heading": -0.30970311414121976, + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": 0.049958090676025725, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 + "headingConstrained": false, + "controlIntervalCount": 8 }, { - "x": 5.892993450164795, - "y": 1.201141119003296, - "heading": -0.6040226575350804, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 + "headingConstrained": false, + "controlIntervalCount": 12 }, { - "x": 5, - "y": 1.8, - "heading": -0.677, + "x": 7.998003005981445, + "y": 5.528106212615967, + "heading": 0.5633166974965059, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -33854,12 +34028,12 @@ ], "trajectory": [ { - "x": 8.146272659301758, - "y": 4.032406330108643, - "heading": -0.1914246125529053, - "angularVelocity": 9.645375035057994e-23, - "velocityX": -1.7769292564607925e-22, - "velocityY": -5.581294249346436e-22, + "x": 5, + "y": 1.7999999999999998, + "heading": -0.6760000000000002, + "angularVelocity": -5.892083204050595e-18, + "velocityX": -4.430704728362794e-17, + "velocityY": 4.2138506778702865e-17, "moduleForcesX": [ 0, 0, @@ -33875,655 +34049,718 @@ "timestamp": 0 }, { - "x": 8.148417025132066, - "y": 3.950840899814743, - "heading": -0.19140010834914464, - "angularVelocity": 0.00029973613396259193, - "velocityX": 0.026229945280242185, - "velocityY": -0.9977107185394133, + "x": 4.980377515183028, + "y": 1.826882737519548, + "heading": -0.6497578465267659, + "angularVelocity": 0.4955972175197284, + "velocityX": -0.37058120577025366, + "velocityY": 0.5076949926230535, "moduleForcesX": [ - 3.9998304337894433, - 4.027403906582621, - 3.9937348092528993, - 4.021303574557101 + -74.43415448136247, + -45.718178996225625, + -116.53594376952644, + -113.24301675334495 ], "moduleForcesY": [ - -152.55060460177708, - -152.54988276405936, - -152.5507806860489, - -152.5500600730789 + 133.20794909961776, + 145.53706353711016, + 98.49588367643382, + 102.16378735629333 ], - "timestamp": 0.08175258497102864 + "timestamp": 0.05295056660034526 }, { - "x": 8.152705120882302, - "y": 3.7877342274413413, - "heading": -0.191348423213287, - "angularVelocity": 0.0006322140868812779, - "velocityX": 0.052452112086217584, - "velocityY": -1.9951255661359613, + "x": 4.941613972075383, + "y": 1.8811483540808263, + "heading": -0.5993164422267965, + "angularVelocity": 0.9526131170733522, + "velocityX": -0.7320704104929813, + "velocityY": 1.0248354325881972, "moduleForcesX": [ - 3.9974704361966547, - 4.028047533573225, - 3.990713059917131, - 4.021284368308036 + -74.59139569766093, + -45.4032279798799, + -114.4561562609566, + -106.89514696250284 ], "moduleForcesY": [ - -152.50539003745973, - -152.50459150843852, - -152.50559425184983, - -152.50479722777186 + 133.09774992288717, + 145.61258671661304, + 100.86993065049086, + 108.74353467088321 ], - "timestamp": 0.16350516994205727 + "timestamp": 0.10590113320069051 }, { - "x": 8.159135043533572, - "y": 3.5431586983916166, - "heading": -0.1912615368242427, - "angularVelocity": 0.0010627968409202594, - "velocityX": 0.0786510011095971, - "velocityY": -2.991654993372956, + "x": 4.884447771095579, + "y": 1.9634905210376599, + "heading": -0.5274667389734911, + "angularVelocity": 1.3569203856796084, + "velocityX": -1.079614532114115, + "velocityY": 1.5550762130788967, + "moduleForcesX": [ + -74.50029288311906, + -45.34170051237633, + -110.78949166787913, + -97.54642117540759 + ], + "moduleForcesY": [ + 133.11548795154695, + 145.59968266350347, + 104.83228574668382, + 117.14669531090993 + ], + "timestamp": 0.15885169980103578 + }, + { + "x": 4.810110269843343, + "y": 2.074907815821936, + "heading": -0.43812700606554594, + "angularVelocity": 1.6872290259376794, + "velocityX": -1.403903787578805, + "velocityY": 2.1041756717916735, + "moduleForcesX": [ + -72.94309540694881, + -45.74432858732193, + -103.1808361465246, + -84.35061180457247 + ], + "moduleForcesY": [ + 133.91972950599074, + 145.42358860348355, + 112.2497107413334, + 126.90893814153321 + ], + "timestamp": 0.21180226640138103 + }, + { + "x": 4.720948692206439, + "y": 2.216931332859858, + "heading": -0.3378550800175607, + "angularVelocity": 1.8936893877802896, + "velocityX": -1.683864470332234, + "velocityY": 2.682190719142244, + "moduleForcesX": [ + -66.37266930985824, + -46.67372887269105, + -84.84556689326723, + -66.46845703858692 + ], + "moduleForcesY": [ + 137.1864911297427, + 145.03574611436832, + 126.55090756693585, + 137.03314628429933 + ], + "timestamp": 0.2647528330017263 + }, + { + "x": 4.622798197011546, + "y": 2.391851317907878, + "heading": -0.24188971926729583, + "angularVelocity": 1.8123575801318021, + "velocityX": -1.8536250209051308, + "velocityY": 3.303458217455351, "moduleForcesX": [ - 3.990407879290694, - 4.029974368713775, - 3.9816698139417244, - 4.021226610320767 + -37.77098051909329, + -47.898118374865184, + -32.432907299536744, + -42.19897023817843 ], "moduleForcesY": [ - -152.37007492087784, - -152.3690491448492, - -152.37037391998652, - -152.3693506587317 + 147.36000266748036, + 144.40999000154355, + 148.66566557880853, + 146.2129257058982 ], - "timestamp": 0.2452577549130859 + "timestamp": 0.31770339960207156 }, { - "x": 8.16686884042318, - "y": 3.248987589698177, - "heading": -0.18699133736747722, - "angularVelocity": 0.052233204103317006, - "velocityX": 0.0946000287617734, - "velocityY": -3.598309567797615, + "x": 4.533769236134154, + "y": 2.595496467912925, + "heading": -0.2017222886200273, + "angularVelocity": 0.7585835851480763, + "velocityX": -1.6813599300988966, + "velocityY": 3.8459484648585014, "moduleForcesX": [ - 1.136000006915365, - 4.400930015152937, - 0.5051808204506747, - 3.7123376913275643 + 123.9491618988326, + -41.87772153518564, + 81.70395590956714, + -1.109440206644265 ], "moduleForcesY": [ - -91.88657153915103, - -92.12378444762422, - -93.39174307274283, - -93.62872194733127 + 86.91607640569367, + 145.18199812759363, + 128.18754882211792, + 151.975417680646 ], - "timestamp": 0.32701033988411454 + "timestamp": 0.3706539662024168 }, { - "x": 8.174602640365496, - "y": 2.9548163553137927, - "heading": -0.17978992487554665, - "angularVelocity": 0.08808788730634752, - "velocityX": 0.0946000661025737, - "velocityY": -3.5983111052529098, + "x": 4.473731056636912, + "y": 2.816142211478073, + "heading": -0.17895655382108167, + "angularVelocity": 0.42994317645006946, + "velocityX": -1.1338533893226406, + "velocityY": 4.16701381970986, "moduleForcesX": [ - -0.6804611991927269, - 0.9827688411145247, - -0.9827573955467033, - 0.6804725913127266 + 144.4452272235397, + 132.2932294237999, + 129.92980865345314, + 110.32954598672035 ], "moduleForcesY": [ - 0.9825280462484745, - 0.6802318123786107, - -0.6807019781208362, - -0.9829981904031304 + 46.575103143848246, + 73.72575483590033, + 78.70200075332386, + 104.17175814567906 ], - "timestamp": 0.4087629248551432 + "timestamp": 0.42360453280276206 }, { - "x": 8.182336419595279, - "y": 2.660645120383735, - "heading": -0.17265189869058195, - "angularVelocity": 0.08731254415373223, - "velocityX": 0.09459981274627191, - "velocityY": -3.59831111192759, + "x": 4.447391112223685, + "y": 3.0414879432423185, + "heading": -0.14856327669717614, + "angularVelocity": 0.5739934258557285, + "velocityX": -0.49744405127239477, + "velocityY": 4.255775661958512, "moduleForcesX": [ - 0.014827405736851762, - -0.021185021483629544, - 0.021107544942921646, - -0.014904882279200877 + 148.10459769699963, + 149.61091258867654, + 151.40204981702522, + 151.82911423000334 ], "moduleForcesY": [ - -0.021147303775342925, - -0.014867164568006649, - 0.014865123447994169, - 0.021145262651108478 + 34.28793256423099, + 27.410429408440127, + 13.373473681129678, + 8.743926808854349 ], - "timestamp": 0.49051550982617187 + "timestamp": 0.4765550994031073 }, { - "x": 8.19006854508527, - "y": 2.3664738419455364, - "heading": -0.1686401862958291, - "angularVelocity": 0.04907138283363776, - "velocityX": 0.09457958415297534, - "velocityY": -3.5983116441204523, + "x": 4.454839938784871, + "y": 3.265130880559167, + "heading": -0.10290882531613987, + "angularVelocity": 0.8622089301831298, + "velocityX": 0.14067510238983771, + "velocityY": 4.223617452209081, "moduleForcesX": [ - 0.7343070832769626, - -1.0431114475587626, - 1.0369256824166118, - -0.7404931552478177 + 151.28374223462254, + 152.03329432485006, + 149.25326496645215, + 149.99091229315783 ], "moduleForcesY": [ - -1.0401001399483536, - -0.7374812907079502, - 0.737318948934573, - 1.0399369917923729 + 16.64535606646178, + 9.18578217537885, + -29.7406359937929, + -26.456758752825344 ], - "timestamp": 0.5722680947972005 + "timestamp": 0.5295056660034526 }, { - "x": 8.197668789450475, - "y": 2.072299126980922, - "heading": -0.1741797943455477, - "angularVelocity": -0.06776064697748356, - "velocityX": 0.09296641039420325, - "velocityY": -3.5983536798116402, + "x": 4.495595233087541, + "y": 3.4816222857696513, + "heading": -0.04823100829226241, + "angularVelocity": 1.0326200555436365, + "velocityX": 0.7696857089060944, + "velocityY": 4.088556904794971, "moduleForcesX": [ - 1.988504211284737, - -3.4364190264091907, - 2.943226751457709, - -2.4819313559783733 + 150.88676051287658, + 151.2100908323866, + 145.07306721766503, + 146.79030405741582 ], "moduleForcesY": [ - -3.1964168293802975, - -2.2415064345715487, - 2.2289507496517875, - 3.1832634243656126 + -21.02771284224189, + -18.984733382391184, + -46.540233380282636, + -40.98188337101112 ], - "timestamp": 0.6540206797682292 + "timestamp": 0.5824562326037979 }, { - "x": 8.194995984528562, - "y": 1.7780385866301298, - "heading": -0.20504722404553113, - "angularVelocity": -0.3775712989494117, - "velocityX": -0.03269382763687523, - "velocityY": -3.5994034984345946, + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": 0.008149399081745999, + "angularVelocity": 1.0647743923035586, + "velocityX": 1.3784495723669492, + "velocityY": 3.8732258367380537, "moduleForcesX": [ - -13.67250113378783, - -27.67916724668447, - -10.679789699457652, - -24.82252646111529 + 144.1924793665742, + 144.69128250903304, + 142.68972041686808, + 143.26820736847984 ], "moduleForcesY": [ - -9.017499098691138, - -5.830803643655736, - 5.672912564749355, - 8.533319579263372 + -49.489607217316895, + -48.03399030162038, + -53.676196336899224, + -52.132372239953746 ], - "timestamp": 0.7357732647392579 + "timestamp": 0.6354067992041431 }, { - "x": 8.115391375940092, - "y": 1.4947412910108882, - "heading": -0.23939741581316254, - "angularVelocity": -0.4201725459788746, - "velocityX": -0.9737258903395116, - "velocityY": -3.465300769628702, + "x": 4.677590174023827, + "y": 3.8840071252572455, + "heading": 0.06308213674654971, + "angularVelocity": 1.0018301689863387, + "velocityX": 1.987972158722849, + "velocityY": 3.5981534781790563, "moduleForcesX": [ - -144.0964243692273, - -144.22752752331616, - -143.53827691167783, - -143.6743508868784 + 138.27928270641036, + 136.41294248350968, + 141.3344524093799, + 139.77860505008397 ], "moduleForcesY": [ - 18.397975320527085, - 18.841691357777282, - 22.214142307817788, - 22.563615205061332 + -64.34449672273111, + -68.19185094218747, + -57.310900797423756, + -60.98294785899841 ], - "timestamp": 0.8175258497102865 + "timestamp": 0.6902391843382308 }, { - "x": 7.961390985470782, - "y": 1.244002957929501, - "heading": -0.274381164230418, - "angularVelocity": -0.4279222293662385, - "velocityX": -1.8837372607102711, - "velocityY": -3.067038591749035, + "x": 4.818686121673278, + "y": 4.06380883623821, + "heading": 0.10834199925934923, + "angularVelocity": 0.82542210050001, + "velocityX": 2.5732228740841254, + "velocityY": 3.2791152559694683, "moduleForcesX": [ - -139.2637714751793, - -139.30653734057788, - -138.97472096834636, - -139.0192493107093 + 132.51894007516503, + 124.56203216418585, + 141.11436767112576, + 135.4771548478802 ], "moduleForcesY": [ - 60.60890812146849, - 60.52017442191164, - 61.27012077710137, - 61.17852454023575 + -75.43057546272077, + -87.90353874078961, + -57.72636555897813, + -69.86086300730888 ], - "timestamp": 0.8992784346813152 + "timestamp": 0.7450715694723186 }, { - "x": 7.744622230529785, - "y": 1.0452145338058472, - "heading": -0.30970311414121976, - "angularVelocity": -0.4320591198837215, - "velocityX": -2.651521722742045, - "velocityY": -2.4315857925972675, + "x": 4.989951911013168, + "y": 4.223314866015234, + "heading": 0.138702030886528, + "angularVelocity": 0.5536879629245064, + "velocityX": 3.1234422667874924, + "velocityY": 2.908974861206249, "moduleForcesX": [ - -117.46326456228753, - -117.55591904418856, - -117.23276813146008, - -117.32614313445244 + 125.75549554685783, + 109.2406683247939, + 139.36069081626965, + 127.3716323712326 ], "moduleForcesY": [ - 97.07724361656933, - 96.96616633306593, - 97.35592956259453, - 97.24451766791815 + -86.13307760561842, + -106.2344284166697, + -61.641500105262615, + -83.5108681749501 ], - "timestamp": 0.9810310196523438 + "timestamp": 0.7999039546064063 }, { - "x": 7.578363256555678, - "y": 0.9416102773325772, - "heading": -0.33333802978366234, - "angularVelocity": -0.43398708486360116, - "velocityX": -3.0528667222261845, - "velocityY": -1.9023934727125855, + "x": 5.188395146280205, + "y": 4.358879319707806, + "heading": 0.1516471113615421, + "angularVelocity": 0.23608457745121136, + "velocityX": 3.619088150296441, + "velocityY": 2.472342820936433, "moduleForcesX": [ - -92.14919822623172, - -92.2698076865109, - -91.9686457539712, - -92.08953899844526 + 115.84188401204301, + 91.5821951768472, + 132.7789048900249, + 111.76156415007173 ], "moduleForcesY": [ - 121.44064716027103, - 121.34949938613124, - 121.57774932465288, - 121.48666716902005 + -98.88959824290565, + -121.62288633737445, + -74.45989796449098, + -103.17922001833155 ], - "timestamp": 1.0354909712655833 + "timestamp": 0.854736339740494 }, { - "x": 7.395825816459427, - "y": 0.8702761273880643, - "heading": -0.357102427197656, - "angularVelocity": -0.436364644294257, - "velocityX": -3.3517738207441927, - "velocityY": -1.3098460030062014, + "x": 5.408360195902537, + "y": 4.465132670562482, + "heading": 0.15280468051725712, + "angularVelocity": 0.021111048751299114, + "velocityX": 4.01159003159126, + "velocityY": 1.937784588796762, "moduleForcesX": [ - -68.61513163122252, - -68.8188524327614, - -68.39521689426086, - -68.59915388199562 + 94.4687507272213, + 73.63296943486782, + 105.98385904910823, + 83.82506094701304 ], "moduleForcesY": [ - 136.00073578491762, - 135.89842329710453, - 136.11207438458914, - 136.01006305831356 + -119.1069338419601, + -132.93883764461822, + -108.8256982253121, + -126.57607687248016 ], - "timestamp": 1.0899509228788227 + "timestamp": 0.9095687248745817 }, { - "x": 7.2032808848216465, - "y": 0.8336156540010013, - "heading": -0.3810394106861625, - "angularVelocity": -0.43953368997645764, - "velocityX": -3.535532550693101, - "velocityY": -0.6731638993625341, + "x": 5.641883013619149, + "y": 4.537633023558501, + "heading": 0.1531950150358009, + "angularVelocity": 0.007118685747291646, + "velocityX": 4.258848436669876, + "velocityY": 1.322217739372288, "moduleForcesX": [ - -42.139760228517716, - -42.47875210864486, - -41.87629630322569, - -42.21515575134966 + 57.04187957204025, + 55.28876226792446, + 57.45432711094953, + 55.682521177363704 ], "moduleForcesY": [ - 146.14517358855397, - 146.04811936313038, - 146.2223151446716, - 146.12595389879553 + -140.07170394013733, + -140.76841858147503, + -139.8833590965118, + -140.5933824205102 ], - "timestamp": 1.144410874492062 + "timestamp": 0.9644011100086695 }, { - "x": 7.007269454986331, - "y": 0.8327424970978986, - "heading": -0.4052388554863432, - "angularVelocity": -0.4443530352733121, - "velocityX": -3.599184795964182, - "velocityY": -0.016033009160630902, + "x": 5.883510318384093, + "y": 4.575298971107999, + "heading": 0.15351527468744738, + "angularVelocity": 0.005840702549479969, + "velocityX": 4.406653188404993, + "velocityY": 0.6869288571769402, "moduleForcesX": [ - -14.475833189340797, - -15.067618342821321, - -14.152873483846678, - -14.743173538013577 + 33.773795782635496, + 33.60381753842894, + 33.785627428901186, + 33.61545925885703 ], "moduleForcesY": [ - 150.83870808928665, - 150.7832500847813, - 150.87390805154192, - 150.8198462714167 + -144.8093505079589, + -144.84853219562535, + -144.80183419023163, + -144.84107463825205 ], - "timestamp": 1.1988708261053014 + "timestamp": 1.019233495142757 }, { - "x": 6.814303946019299, - "y": 0.8671980201276267, - "heading": -0.429968621887066, - "angularVelocity": -0.45409086251760405, - "velocityX": -3.5432552407946205, - "velocityY": 0.6326763430570471, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": 0.1538384144218274, + "angularVelocity": 0.005893227762937242, + "velocityX": 4.3963166580801385, + "velocityY": 0.7501106870828879, "moduleForcesX": [ - 13.244262976278964, - 11.974661790189263, - 13.695220011775161, - 12.43510683949431 + -2.358513633493009, + -2.3548317125136418, + -2.357953586854597, + -2.35427164883564 ], "moduleForcesY": [ - 148.84318743198287, - 148.96063079599344, - 148.82988574504375, - 148.9501452604905 + 14.404923753873367, + 14.405495254551381, + 14.401308310924112, + 14.401879814111583 ], - "timestamp": 1.2533307777185407 + "timestamp": 1.0740658802768448 }, { - "x": 6.628712263543099, - "y": 0.9302779038676255, - "heading": -0.45774039089355195, - "angularVelocity": -0.5099484700925522, - "velocityX": -3.40785617648406, - "velocityY": 1.158280201715492, + "x": 6.365450000099995, + "y": 4.696627777232562, + "heading": 0.15409214529365953, + "angularVelocity": 0.004457866438090918, + "velocityX": 4.232071116651617, + "velocityY": 1.409028268996647, "moduleForcesX": [ - 33.417282695451405, - 27.114876400258613, - 34.913199694778726, - 28.865313822782845 + -35.98681605928867, + -36.17056593311074, + -35.97140488478616, + -36.154934187747436 ], "moduleForcesY": [ - 119.23784108876804, - 121.12336880091314, - 120.17339026830001, - 122.02537564878055 + 144.7272363429004, + 144.68183889842356, + 144.7356616347365, + 144.6903399651424 ], - "timestamp": 1.30779072933178 + "timestamp": 1.1309834383410113 }, { - "x": 6.444304612051052, - "y": 0.99673982015295, - "heading": -0.4925491059022693, - "angularVelocity": -0.6391616954770706, - "velocityX": -3.386114861093909, - "velocityY": 1.2203814788033573, + "x": 6.5937180272910005, + "y": 4.807765581222706, + "heading": 0.15432597335247764, + "angularVelocity": 0.004108188523385332, + "velocityX": 4.010502822250171, + "velocityY": 1.9526101921561656, "moduleForcesX": [ - 6.9311013878855485, - -1.2589235914684056, - 11.195523218358169, - 3.093127765015315 + -48.644428186880276, + -48.68157113591299, + -48.63826798338943, + -48.67540271583298 ], "moduleForcesY": [ - 8.082214492592856, - 12.455474145987305, - 16.084722678241526, - 20.393134279777765 + 119.38112016387173, + 119.367673365408, + 119.39077656183963, + 119.37733475087636 ], - "timestamp": 1.3622506809450194 + "timestamp": 1.1879009964051779 }, { - "x": 6.259949583503922, - "y": 1.0633475635270035, - "heading": -0.5302719174126233, - "angularVelocity": -0.6926706762108733, - "velocityX": -3.3851485924257156, - "velocityY": 1.2230591728594298, + "x": 6.8194308016649545, + "y": 4.924006335817447, + "heading": 0.15455778847097268, + "angularVelocity": 0.004072822629423099, + "velocityX": 3.9656088912503096, + "velocityY": 2.042265314042877, "moduleForcesX": [ - 0.8977992801424791, - -2.369648056565962, - 2.812912798121013, - -0.45392710771747075 + -9.858052504114498, + -9.860454571961714, + -9.858386388083545, + -9.86078844523534 ], "moduleForcesY": [ - -1.9767532249504514, - -0.061050232333857736, - 1.2905167971910323, - 3.205693229280868 + 19.688725460492304, + 19.68832195519515, + 19.691056279503822, + 19.690652772960874 ], - "timestamp": 1.4167106325582588 + "timestamp": 1.2448185544693444 }, { - "x": 6.075660010569475, - "y": 1.1301361927880373, - "heading": -0.5682432821784155, - "angularVelocity": -0.6972346401527322, - "velocityX": -3.3839466888113425, - "velocityY": 1.2263806206687395, + "x": 7.045016834807069, + "y": 5.040492878635614, + "heading": 0.1547895536688631, + "angularVelocity": 0.004071945560794485, + "velocityX": 3.9633821412122052, + "velocityY": 2.046583633982968, "moduleForcesX": [ - 0.3250864955543807, - 0.05281777913959363, - 0.4989170330635955, - 0.22665342805240796 + -0.48899576359279834, + -0.48905445085066696, + -0.48900491863048495, + -0.4890636058880379 ], "moduleForcesY": [ - 0.5393171369346872, - 0.7131550972632774, - 0.8115678051675532, - 0.9854006146566721 + 0.9483469019747641, + 0.9483377427861408, + 0.9484055851796501, + 0.9483964259909341 ], - "timestamp": 1.4711705841714982 + "timestamp": 1.301736112533511 }, { - "x": 5.892993450164795, - "y": 1.201141119003296, - "heading": -0.6040226575350804, - "angularVelocity": -0.656985074293875, - "velocityX": -3.3541447429467177, - "velocityY": 1.3038007583906241, + "x": 7.270692318326915, + "y": 5.156799568329461, + "heading": 0.15503143778836834, + "angularVelocity": 0.00424972763646615, + "velocityX": 3.9649537199595004, + "velocityY": 2.043423745669058, "moduleForcesX": [ - 6.454403269435821, - 8.838423885809764, - 4.837690154533395, - 7.230823438621545 + 0.33826660864106795, + 0.3501619013403537, + 0.34012542457061085, + 0.35202070774415994 ], "moduleForcesY": [ - 19.72979130526542, - 18.110887589332137, - 17.43389352286981, - 15.805308695632492 + -0.6889438747381978, + -0.6870846333312786, + -0.7008387171442882, + -0.698979474278377 ], - "timestamp": 1.5256305357847375 + "timestamp": 1.3586536705976775 }, { - "x": 5.6851452649926815, - "y": 1.3364075678722562, - "heading": -0.6477429375724705, - "angularVelocity": -0.6345926451548554, - "velocityX": -3.016882085526584, - "velocityY": 1.9633701686047529, + "x": 7.47869155527292, + "y": 5.262140566277018, + "heading": 0.22265398537061926, + "angularVelocity": 1.1880788614652835, + "velocityX": 3.654394951700479, + "velocityY": 1.8507645361177718, "moduleForcesX": [ - 60.47066828265134, - 62.3833658479898, - 59.985084678687144, - 61.92647018182463 + -113.10682378500714, + -58.268501818867726, + -84.96111128585942, + -16.478120534686266 ], "moduleForcesY": [ - 120.22253000018532, - 119.18707985886623, - 120.15652327201965, - 119.11092055323319 + -9.084773832411868, + 17.8330117541388, + -81.9360892658554, + -96.05624143137435 ], - "timestamp": 1.5945255669061924 + "timestamp": 1.415571228661844 }, { - "x": 5.479722474176008, - "y": 1.475329735150026, - "heading": -0.6757805407555093, - "angularVelocity": -0.4069611803151864, - "velocityX": -2.9816778869659517, - "velocityY": 2.0164323176349868, + "x": 7.652375411664445, + "y": 5.350844490204947, + "heading": 0.32194735575912, + "angularVelocity": 1.7445121288691403, + "velocityX": 3.0514987348222116, + "velocityY": 1.5584632747003067, "moduleForcesX": [ - 5.38176061695421, - 15.32389299961575, - -2.6077577704671375, - 7.451260593474562 + -147.48032529396642, + -148.5770858639771, + -124.48396777882509, + -109.08097081196131 ], "moduleForcesY": [ - 18.536006999484993, - 10.590793785076931, - 8.71966363141323, - 0.6629521315627815 + -36.08615931819689, + -28.658113889088487, + -86.98454747989135, + -105.04718249958127 ], - "timestamp": 1.6634205980276473 + "timestamp": 1.4724887867260106 }, { - "x": 5.28788835103963, - "y": 1.605160439918183, - "heading": -0.6763055924098064, - "angularVelocity": -0.007621038059646501, - "velocityX": -2.7844406195012112, - "velocityY": 1.8844712405932251, + "x": 7.790905976019744, + "y": 5.421789143607355, + "heading": 0.4128451227622419, + "angularVelocity": 1.5970074981203077, + "velocityX": 2.433881021930185, + "velocityY": 1.2464458387273487, "moduleForcesX": [ - 35.605443317490426, - 50.82124222631427, - 20.103805555469656, - 36.612827260674955 + -130.54944207328253, + -131.79196404178484, + -140.12182585024058, + -140.09141540335952 ], "moduleForcesY": [ - -7.520868433372345, - -21.374959763071363, - -27.254320320879245, - -39.61951360034687 + -78.36879144029069, + -76.36366886534739, + -59.578819497062014, + -59.784664036930636 ], - "timestamp": 1.7323156291491022 + "timestamp": 1.5294063447901771 }, { - "x": 5.143958369504764, - "y": 1.7025705442531778, - "heading": -0.6766624232122123, - "angularVelocity": -0.005179340172977046, - "velocityX": -2.0891199146297272, - "velocityY": 1.41389157896266, + "x": 7.894567363753308, + "y": 5.4749660911964835, + "heading": 0.4859802976115449, + "angularVelocity": 1.2849317036211343, + "velocityX": 1.8212550085262011, + "velocityY": 0.9342802009566795, "moduleForcesX": [ - 126.23799179126662, - 126.2259414826165, - 126.08557059060418, - 126.07375673445601 + -123.69717772814445, + -126.57945711376686, + -144.92079108595206, + -142.97219539802697 ], "moduleForcesY": [ - -85.25785769510401, - -85.27684806694003, - -85.48301378146238, - -85.50158451267562 + -89.03657856324024, + -85.0087595342956, + -47.190217781850095, + -52.99057783728137 ], - "timestamp": 1.801210660270557 + "timestamp": 1.5863239028543437 }, { - "x": 5.0479892773835715, - "y": 1.7675213645966215, - "heading": -0.6768896125861458, - "angularVelocity": -0.0032976162465611666, - "velocityX": -1.3929755246355708, - "velocityY": 0.9427504318699241, + "x": 7.963555559626499, + "y": 5.510398827176055, + "heading": 0.5369799132251958, + "angularVelocity": 0.896026065562848, + "velocityX": 1.2120723068656711, + "velocityY": 0.6225273393855725, "moduleForcesX": [ - 126.36876287316535, - 126.3592537449307, - 126.25119756429605, - 126.24182909351993 + -120.57403414129054, + -123.7726507337543, + -147.07834729197242, + -143.71976530792588 ], "moduleForcesY": [ - -85.3876565601612, - -85.40217141319567, - -85.56135227094266, - -85.57561725011112 + -93.33706503537442, + -89.15556604840498, + -40.24625588788072, + -51.1246379002151 ], - "timestamp": 1.870105691392012 + "timestamp": 1.6432414609185102 }, { - "x": 5, - "y": 1.8, - "heading": -0.677, - "angularVelocity": -0.0016022550836751203, - "velocityX": -0.6965564366894792, - "velocityY": 0.4714220296398745, + "x": 7.998003005981445, + "y": 5.528106212615967, + "heading": 0.5633166974965061, + "angularVelocity": 0.46271809907295447, + "velocityX": 0.6052165184555361, + "velocityY": 0.31110585273589136, "moduleForcesX": [ - 126.41236696667832, - 126.40372905595089, - 126.30641535302146, - 126.29789167081644 + -118.72948401262796, + -122.11468152772606, + -148.19763309055497, + -144.05889037424146 ], "moduleForcesY": [ - -85.43092865807355, - -85.44397522881599, - -85.58747445661454, - -85.60031802072747 + -95.7399010513798, + -91.47153542476727, + -36.09273840709121, + -50.26824919939529 ], - "timestamp": 1.939000722513467 + "timestamp": 1.7001590189826767 }, { - "x": 5, - "y": 1.8, - "heading": -0.677, - "angularVelocity": -1.2926285951758e-23, - "velocityX": -2.0028887812039655e-22, - "velocityY": -3.7647771565811527e-22, + "x": 7.998003005981445, + "y": 5.528106212615967, + "heading": 0.563316697496506, + "angularVelocity": -2.2843800819800127e-17, + "velocityX": 1.362120537411708e-17, + "velocityY": 9.915391470816971e-18, "moduleForcesX": [ - 126.43416459375652, - 126.42597322995773, - 126.3340171207333, - 126.32592781850411 + -117.17615114293818, + -121.28627334254745, + -148.79460891541447, + -144.40361670387216 ], "moduleForcesY": [ - -85.45256601131705, - -85.464873388804, - -85.60054015152573, - -85.61266613222432 + -97.68013818064102, + -92.6037832422659, + -33.67455165306836, + -49.336678118867894 ], - "timestamp": 2.0078957536349216 + "timestamp": 1.7570765770468433 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 8.146272659301758, - "y": 4.032406330108643, - "heading": -0.1914246125529053, + "x": 5, + "y": 1.8, + "heading": -0.676, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 12 }, { - "timestamp": 0.9810310196523438, + "timestamp": 0.6354067992041431, "isStopPoint": false, - "x": 7.744622230529785, - "y": 1.0452145338058472, - "heading": -0.30970311414121976, + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": 0.049958090676025725, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 + "headingConstrained": false, + "controlIntervalCount": 8 }, { - "timestamp": 1.5256305357847375, + "timestamp": 1.0740658802768448, "isStopPoint": false, - "x": 5.892993450164795, - "y": 1.201141119003296, - "heading": -0.6040226575350804, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 + "headingConstrained": false, + "controlIntervalCount": 12 }, { - "timestamp": 2.0078957536349216, + "timestamp": 1.7570765770468433, "isStopPoint": true, - "x": 5, - "y": 1.8, - "heading": -0.677, + "x": 7.998003005981445, + "y": 5.528106212615967, + "heading": 0.5633166974965059, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -34542,14 +34779,6 @@ "last" ], "type": "StopPoint" - }, - { - "scope": [ - 0, - 3 - ], - "type": "MaxVelocity", - "velocity": 3.6 } ], "usesControlIntervalGuessing": true, @@ -34559,39 +34788,39 @@ "eventMarkers": [], "isTrajectoryStale": false }, - "shoot3 to f2": { + "f2 to shoot3": { "waypoints": [ { - "x": 5, - "y": 1.8, - "heading": -0.676, + "x": 7.998003005981445, + "y": 5.528106212615967, + "heading": 0.011235405053141658, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 10 }, { - "x": 4.56858491897583, - "y": 3.6867117881774902, - "heading": 0.049958090676025725, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": -0.12916965873822597, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 8 + "headingConstrained": true, + "controlIntervalCount": 9 }, { - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0, + "x": 4.411689758300781, + "y": 3.968839406967163, + "heading": -0.23860874885454753, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 12 + "headingConstrained": true, + "controlIntervalCount": 11 }, { - "x": 7.998003005981445, - "y": 5.528106212615967, - "heading": 0.5633166974965059, + "x": 5, + "y": 1.8, + "heading": -0.676, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -34600,12 +34829,12 @@ ], "trajectory": [ { - "x": 5, - "y": 1.7999999999999998, - "heading": -0.6760000000000002, - "angularVelocity": -5.892083204050595e-18, - "velocityX": -4.430704728362794e-17, - "velocityY": 4.2138506778702865e-17, + "x": 7.998003005981445, + "y": 5.528106212615967, + "heading": 0.011235405053141658, + "angularVelocity": 1.9727716985269695e-21, + "velocityX": 1.1598984385989539e-20, + "velocityY": -3.313416508204257e-20, "moduleForcesX": [ 0, 0, @@ -34621,718 +34850,676 @@ "timestamp": 0 }, { - "x": 4.980377515183028, - "y": 1.826882737519548, - "heading": -0.6497578465267659, - "angularVelocity": 0.4955972175197284, - "velocityX": -0.37058120577025366, - "velocityY": 0.5076949926230535, - "moduleForcesX": [ - -74.43415448136247, - -45.718178996225625, - -116.53594376952644, - -113.24301675334495 - ], - "moduleForcesY": [ - 133.20794909961776, - 145.53706353711016, - 98.49588367643382, - 102.16378735629333 - ], - "timestamp": 0.05295056660034526 - }, - { - "x": 4.941613972075383, - "y": 1.8811483540808263, - "heading": -0.5993164422267965, - "angularVelocity": 0.9526131170733522, - "velocityX": -0.7320704104929813, - "velocityY": 1.0248354325881972, - "moduleForcesX": [ - -74.59139569766093, - -45.4032279798799, - -114.4561562609566, - -106.89514696250284 - ], - "moduleForcesY": [ - 133.09774992288717, - 145.61258671661304, - 100.86993065049086, - 108.74353467088321 - ], - "timestamp": 0.10590113320069051 - }, - { - "x": 4.884447771095579, - "y": 1.9634905210376599, - "heading": -0.5274667389734911, - "angularVelocity": 1.3569203856796084, - "velocityX": -1.079614532114115, - "velocityY": 1.5550762130788967, - "moduleForcesX": [ - -74.50029288311906, - -45.34170051237633, - -110.78949166787913, - -97.54642117540759 - ], - "moduleForcesY": [ - 133.11548795154695, - 145.59968266350347, - 104.83228574668382, - 117.14669531090993 - ], - "timestamp": 0.15885169980103578 - }, - { - "x": 4.810110269843343, - "y": 2.074907815821936, - "heading": -0.43812700606554594, - "angularVelocity": 1.6872290259376794, - "velocityX": -1.403903787578805, - "velocityY": 2.1041756717916735, + "x": 7.9569175887146875, + "y": 5.50492078364355, + "heading": 0.0014945170614359443, + "angularVelocity": -0.15652732574376957, + "velocityX": -0.6602057735710006, + "velocityY": -0.372569030294232, "moduleForcesX": [ - -72.94309540694881, - -45.74432858732193, - -103.1808361465246, - -84.35061180457247 + -125.72862648566347, + -131.17995297156568, + -134.81202176389613, + -138.72510488728477 ], "moduleForcesY": [ - 133.91972950599074, - 145.42358860348355, - 112.2497107413334, - 126.90893814153321 + -86.4385682466704, + -77.94028620800644, + -71.43134852212376, + -63.532290318278065 ], - "timestamp": 0.21180226640138103 + "timestamp": 0.062231229885389136 }, { - "x": 4.720948692206439, - "y": 2.216931332859858, - "heading": -0.3378550800175607, - "angularVelocity": 1.8936893877802896, - "velocityX": -1.683864470332234, - "velocityY": 2.682190719142244, + "x": 7.87475206903392, + "y": 5.458552381461311, + "heading": -0.01783128959182305, + "angularVelocity": -0.3105483643638606, + "velocityX": -1.3203261422294357, + "velocityY": -0.7450985986881341, "moduleForcesX": [ - -66.37266930985824, - -46.67372887269105, - -84.84556689326723, - -66.46845703858692 + -125.80023792426114, + -131.30080334340295, + -134.62297457164243, + -138.65307125520735 ], "moduleForcesY": [ - 137.1864911297427, - 145.03574611436832, - 126.55090756693585, - 137.03314628429933 + -86.28326488591357, + -77.68466847517736, + -71.72083315887575, + -63.62202090942162 ], - "timestamp": 0.2647528330017263 + "timestamp": 0.12446245977077827 }, { - "x": 4.622798197011546, - "y": 2.391851317907878, - "heading": -0.24188971926729583, - "angularVelocity": 1.8123575801318021, - "velocityX": -1.8536250209051308, - "velocityY": 3.303458217455351, + "x": 7.751515345004059, + "y": 5.389005141936599, + "heading": -0.04648481879478014, + "angularVelocity": -0.46043649234842554, + "velocityX": -1.9803035269722873, + "velocityY": -1.1175617074062156, "moduleForcesX": [ - -37.77098051909329, - -47.898118374865184, - -32.432907299536744, - -42.19897023817843 + -125.92937815130747, + -131.47303595342999, + -134.3390029122654, + -138.52078891909042 ], "moduleForcesY": [ - 147.36000266748036, - 144.40999000154355, - 148.66566557880853, - 146.2129257058982 + -86.01023220766686, + -77.30633242122214, + -72.1428467034959, + -63.79797873048581 ], - "timestamp": 0.31770339960207156 + "timestamp": 0.1866936896561674 }, { - "x": 4.533769236134154, - "y": 2.595496467912925, - "heading": -0.2017222886200273, - "angularVelocity": 0.7585835851480763, - "velocityX": -1.6813599300988966, - "velocityY": 3.8459484648585014, + "x": 7.587225362063147, + "y": 5.296287521400637, + "heading": -0.08396338157620803, + "angularVelocity": -0.6022468598234669, + "velocityX": -2.639992544635246, + "velocityY": -1.4898889304729992, "moduleForcesX": [ - 123.9491618988326, - -41.87772153518564, - 81.70395590956714, - -1.109440206644265 + -126.21457608251025, + -131.67783736161093, + -133.92532627559814, + -138.21277621087035 ], "moduleForcesY": [ - 86.91607640569367, - 145.18199812759363, - 128.18754882211792, - 151.975417680646 + -85.42383356732988, + -76.78406657617082, + -72.69707257514646, + -64.24323932255476 ], - "timestamp": 0.3706539662024168 - }, - { - "x": 4.473731056636912, - "y": 2.816142211478073, - "heading": -0.17895655382108167, - "angularVelocity": 0.42994317645006946, - "velocityX": -1.1338533893226406, - "velocityY": 4.16701381970986, - "moduleForcesX": [ - 144.4452272235397, - 132.2932294237999, - 129.92980865345314, - 110.32954598672035 + "timestamp": 0.24892491954155654 + }, + { + "x": 7.381936780403106, + "y": 5.180425847612598, + "heading": -0.12882955797797582, + "angularVelocity": -0.7209591789266827, + "velocityX": -3.298803222081959, + "velocityY": -1.8617930900839845, + "moduleForcesX": [ + -127.08642902099902, + -131.83071465838793, + -133.2208046316074, + -137.1868606796363 ], "moduleForcesY": [ - 46.575103143848246, - 73.72575483590033, - 78.70200075332386, - 104.17175814567906 + -83.62782228866124, + -76.00782105107271, + -73.38821274649887, + -65.78444345719491 ], - "timestamp": 0.42360453280276206 + "timestamp": 0.3111561494269457 }, { - "x": 4.447391112223685, - "y": 3.0414879432423185, - "heading": -0.14856327669717614, - "angularVelocity": 0.5739934258557285, - "velocityX": -0.49744405127239477, - "velocityY": 4.255775661958512, + "x": 7.140147873195117, + "y": 5.0440454098663, + "heading": -0.12891243922072446, + "angularVelocity": -0.0013318271694338192, + "velocityX": -3.8853306877156637, + "velocityY": -2.191511207435093, "moduleForcesX": [ - 148.10459769699963, - 149.61091258867654, - 151.40204981702522, - 151.82911423000334 + -141.91458709260016, + -123.1131942505478, + -122.94446119257371, + -83.27625015348674 ], "moduleForcesY": [ - 34.28793256423099, - 27.410429408440127, - 13.373473681129678, - 8.743926808854349 + -18.93436155679371, + -53.79904584366372, + -76.9283880327071, + -115.25191265066121 ], - "timestamp": 0.4765550994031073 + "timestamp": 0.37338737931233484 }, { - "x": 4.454839938784871, - "y": 3.265130880559167, - "heading": -0.10290882531613987, - "angularVelocity": 0.8622089301831298, - "velocityX": 0.14067510238983771, - "velocityY": 4.223617452209081, + "x": 6.898303234295295, + "y": 4.907741673409984, + "heading": -0.12897278899208398, + "angularVelocity": -0.0009697666504527081, + "velocityX": -3.886226245973631, + "velocityY": -2.1902786865589126, "moduleForcesX": [ - 151.28374223462254, - 152.03329432485006, - 149.25326496645215, - 149.99091229315783 + -0.1895625755255925, + -0.16732352420953933, + -0.19244691132021233, + -0.1702078526048173 ], "moduleForcesY": [ - 16.64535606646178, - 9.18578217537885, - -29.7406359937929, - -26.456758752825344 + 0.2601303622753661, + 0.257246257999909, + 0.23789134692783886, + 0.23500723581840094 ], - "timestamp": 0.5295056660034526 + "timestamp": 0.435618609197724 }, { - "x": 4.495595233087541, - "y": 3.4816222857696513, - "heading": -0.04823100829226241, - "angularVelocity": 1.0326200555436365, - "velocityX": 0.7696857089060944, - "velocityY": 4.088556904794971, + "x": 6.65481972737523, + "y": 4.774387917095784, + "heading": -0.12903325660351864, + "angularVelocity": -0.0009716602346766262, + "velocityX": -3.9125613838661173, + "velocityY": -2.142875153838199, "moduleForcesX": [ - 150.88676051287658, - 151.2100908323866, - 145.07306721766503, - 146.79030405741582 + -5.289724853288177, + -5.289841409658127, + -5.289709219900721, + -5.28982577626985 ], "moduleForcesY": [ - -21.02771284224189, - -18.984733382391184, - -46.540233380282636, - -40.98188337101112 + 9.521587408653614, + 9.521601958724384, + 9.521703471698215, + 9.521718021753724 ], - "timestamp": 0.5824562326037979 + "timestamp": 0.49784983908311314 }, { - "x": 4.56858491897583, - "y": 3.6867117881774902, - "heading": 0.008149399081745999, - "angularVelocity": 1.0647743923035586, - "velocityX": 1.3784495723669492, - "velocityY": 3.8732258367380537, + "x": 6.3962763787878725, + "y": 4.673291963493813, + "heading": -0.12909666799359598, + "angularVelocity": -0.0010189641148682473, + "velocityX": -4.154559520413035, + "velocityY": -1.6245212217106788, "moduleForcesX": [ - 144.1924793665742, - 144.69128250903304, - 142.68972041686808, - 143.26820736847984 + -48.607648921134306, + -48.61144721164257, + -48.6058731934278, + -48.6096714422678 ], "moduleForcesY": [ - -49.489607217316895, - -48.03399030162038, - -53.676196336899224, - -52.132372239953746 + 104.11803391599514, + 104.11701252810435, + 104.12004667332533, + 104.11902532934953 ], - "timestamp": 0.6354067992041431 + "timestamp": 0.5600810689685023 }, { - "x": 4.677590174023827, - "y": 3.8840071252572455, - "heading": 0.06308213674654971, - "angularVelocity": 1.0018301689863387, - "velocityX": 1.987972158722849, - "velocityY": 3.5981534781790563, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": -0.12916965873822597, + "angularVelocity": -0.0011728957432532603, + "velocityX": -4.366063996013807, + "velocityY": -0.9137314926939746, "moduleForcesX": [ - 138.27928270641036, - 136.41294248350968, - 141.3344524093799, - 139.77860505008397 + -42.47897598669043, + -42.4953264926798, + -42.47185056536853, + -42.488199843914636 ], "moduleForcesY": [ - -64.34449672273111, - -68.19185094218747, - -57.310900797423756, - -60.98294785899841 + 142.7729663419904, + 142.7682959248861, + 142.7755254141473, + 142.77085619630373 ], - "timestamp": 0.6902391843382308 + "timestamp": 0.6223122988538914 }, { - "x": 4.818686121673278, - "y": 4.06380883623821, - "heading": 0.10834199925934923, - "angularVelocity": 0.82542210050001, - "velocityX": 2.5732228740841254, - "velocityY": 3.2791152559694683, + "x": 5.902001158559105, + "y": 4.60068805397054, + "heading": -0.1291534644133745, + "angularVelocity": 0.00032371101286106195, + "velocityX": -4.4489819609630405, + "velocityY": -0.31465492410779783, "moduleForcesX": [ - 132.51894007516503, - 124.56203216418585, - 141.11436767112576, - 135.4771548478802 + -20.797647693791028, + -20.5796014522955, + -20.85705791120983, + -20.638732307656777 ], "moduleForcesY": [ - -75.43057546272077, - -87.90353874078961, - -57.72636555897813, - -69.86086300730888 + 149.67849999954183, + 149.7080058014861, + 149.6679241716924, + 149.6975543705964 ], - "timestamp": 0.7450715694723186 + "timestamp": 0.6723394039200412 }, { - "x": 4.989951911013168, - "y": 4.223314866015234, - "heading": 0.138702030886528, - "angularVelocity": 0.5536879629245064, - "velocityX": 3.1234422667874924, - "velocityY": 2.908974861206249, + "x": 5.679269540398892, + "y": 4.614172040623969, + "heading": -0.12913917036128922, + "angularVelocity": 0.0002857261491820937, + "velocityX": -4.452218809497653, + "velocityY": 0.2695336185374481, "moduleForcesX": [ - 125.75549554685783, - 109.2406683247939, - 139.36069081626965, - 127.3716323712326 + -0.806373688830386, + -0.8119244037653356, + -0.805623087819286, + -0.8111736050347149 ], "moduleForcesY": [ - -86.13307760561842, - -106.2344284166697, - -61.641500105262615, - -83.5108681749501 + 145.96787770358407, + 145.9678807812031, + 145.96813162990713, + 145.9681347334202 ], - "timestamp": 0.7999039546064063 + "timestamp": 0.722366508986191 }, { - "x": 5.188395146280205, - "y": 4.358879319707806, - "heading": 0.1516471113615421, - "angularVelocity": 0.23608457745121136, - "velocityX": 3.619088150296441, - "velocityY": 2.472342820936433, + "x": 5.45672346051179, + "y": 4.598121702682878, + "heading": -0.12912266824723567, + "angularVelocity": 0.000329863461652095, + "velocityX": -4.448510054556077, + "velocityY": -0.3208328349175777, "moduleForcesX": [ - 115.84188401204301, - 91.5821951768472, - 132.7789048900249, - 111.76156415007173 + 0.9238721173593156, + 0.9303867199512831, + 0.9229861712037025, + 0.9295005014176231 ], "moduleForcesY": [ - -98.88959824290565, - -121.62288633737445, - -74.45989796449098, - -103.17922001833155 + -147.511537132718, + -147.511526803286, + -147.51176738767208, + -147.51175709513788 ], - "timestamp": 0.854736339740494 + "timestamp": 0.7723936140523409 }, { - "x": 5.408360195902537, - "y": 4.465132670562482, - "heading": 0.15280468051725712, - "angularVelocity": 0.021111048751299114, - "velocityX": 4.01159003159126, - "velocityY": 1.937784588796762, + "x": 5.238447118193699, + "y": 4.552096750487897, + "heading": -0.1291683525281178, + "angularVelocity": -0.0009131905758232765, + "velocityX": -4.363161570701821, + "velocityY": -0.920000310514052, "moduleForcesX": [ - 94.4687507272213, - 73.63296943486782, - 105.98385904910823, - 83.82506094701304 + 21.391052988843615, + 21.210101315958756, + 21.441115172263085, + 21.25997191927462 ], "moduleForcesY": [ - -119.1069338419601, - -132.93883764461822, - -108.8256982253121, - -126.57607687248016 + -149.70253871016843, + -149.72778814507544, + -149.6935891888841, + -149.71892605537667 ], - "timestamp": 0.9095687248745817 + "timestamp": 0.8224207191184907 }, { - "x": 5.641883013619149, - "y": 4.537633023558501, - "heading": 0.1531950150358009, - "angularVelocity": 0.007118685747291646, - "velocityX": 4.258848436669876, - "velocityY": 1.322217739372288, + "x": 5.0297797440064205, + "y": 4.477234579526721, + "heading": -0.13313239585981856, + "angularVelocity": -0.07923791165727426, + "velocityX": -4.17108633232653, + "velocityY": -1.4964322013474234, "moduleForcesX": [ - 57.04187957204025, - 55.28876226792446, - 57.45432711094953, - 55.682521177363704 + 50.52035954925149, + 40.49517364050613, + 55.70719643793628, + 45.24844092206522 ], "moduleForcesY": [ - -140.07170394013733, - -140.76841858147503, - -139.8833590965118, - -140.5933824205102 + -143.32977272824255, + -146.4537065477115, + -141.33979700060894, + -144.9962993726442 ], - "timestamp": 0.9644011100086695 + "timestamp": 0.8724478241846405 }, { - "x": 5.883510318384093, - "y": 4.575298971107999, - "heading": 0.15351527468744738, - "angularVelocity": 0.005840702549479969, - "velocityX": 4.406653188404993, - "velocityY": 0.6869288571769402, + "x": 4.839399818897789, + "y": 4.378231577181855, + "heading": -0.14824901196643725, + "angularVelocity": -0.30216851617998447, + "velocityX": -3.8055355163344173, + "velocityY": -1.9789872352988866, "moduleForcesX": [ - 33.773795782635496, - 33.60381753842894, - 33.785627428901186, - 33.61545925885703 + 91.7746113460451, + 71.41827202364364, + 110.02937585942259, + 92.1304985496486 ], "moduleForcesY": [ - -144.8093505079589, - -144.84853219562535, - -144.80183419023163, - -144.84107463825205 + -121.5419022505487, + -134.4494196646526, + -105.21993034646557, + -121.08232970094119 ], - "timestamp": 1.019233495142757 + "timestamp": 0.9224749292507903 }, { - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0.1538384144218274, - "angularVelocity": 0.005893227762937242, - "velocityX": 4.3963166580801385, - "velocityY": 0.7501106870828879, + "x": 4.671770975431962, + "y": 4.259069388515953, + "heading": -0.1718769337817932, + "angularVelocity": -0.4723024005509253, + "velocityX": -3.35076041766126, + "velocityY": -2.381952513709117, "moduleForcesX": [ - -2.358513633493009, - -2.3548317125136418, - -2.357953586854597, - -2.35427164883564 + 111.50448345454889, + 100.96552586510181, + 124.88661540981843, + 117.17207333512685 ], "moduleForcesY": [ - 14.404923753873367, - 14.405495254551381, - 14.401308310924112, - 14.401879814111583 + -103.91473336829377, + -114.12950170561976, + -87.338747124122, + -97.36396655844071 ], - "timestamp": 1.0740658802768448 + "timestamp": 0.9725020343169402 }, { - "x": 6.365450000099995, - "y": 4.696627777232562, - "heading": 0.15409214529365953, - "angularVelocity": 0.004457866438090918, - "velocityX": 4.232071116651617, - "velocityY": 1.409028268996647, + "x": 4.528853914431247, + "y": 4.122109905543009, + "heading": -0.20234750814135385, + "angularVelocity": -0.609081303410821, + "velocityX": -2.8567925489936967, + "velocityY": -2.737705545660544, "moduleForcesX": [ - -35.98681605928867, - -36.17056593311074, - -35.97140488478616, - -36.154934187747436 + 120.83874609525768, + 114.7847243821658, + 131.06915888461282, + 127.00760375598948 ], "moduleForcesY": [ - 144.7272363429004, - 144.68183889842356, - 144.7356616347365, - 144.6903399651424 + -93.00401788646971, + -100.34050942421601, + -77.90624406642264, + -84.30951087490466 ], - "timestamp": 1.1309834383410113 + "timestamp": 1.02252913938309 }, { - "x": 6.5937180272910005, - "y": 4.807765581222706, - "heading": 0.15432597335247764, - "angularVelocity": 0.004108188523385332, - "velocityX": 4.010502822250171, - "velocityY": 1.9526101921561656, + "x": 4.411689758300781, + "y": 3.968839406967163, + "heading": -0.23860874885454753, + "angularVelocity": -0.7248318819417217, + "velocityX": -2.342013513985145, + "velocityY": -3.063749109071558, "moduleForcesX": [ - -48.644428186880276, - -48.68157113591299, - -48.63826798338943, - -48.67540271583298 + 126.00321261176325, + 122.22094089360395, + 134.32620664539172, + 131.94976365999312 ], "moduleForcesY": [ - 119.38112016387173, - 119.367673365408, - 119.39077656183963, - 119.37733475087636 + -85.95063611864653, + -91.21761557968208, + -72.24305244120939, + -76.45560638815826 ], - "timestamp": 1.1879009964051779 + "timestamp": 1.0725562444492398 }, { - "x": 6.8194308016649545, - "y": 4.924006335817447, - "heading": 0.15455778847097268, - "angularVelocity": 0.004072822629423099, - "velocityX": 3.9656088912503096, - "velocityY": 2.042265314042877, + "x": 4.2979382974941895, + "y": 3.717523344955852, + "heading": -0.3010743197046467, + "angularVelocity": -0.8706006628317915, + "velocityX": -1.585386891187695, + "velocityY": -3.50266438279058, "moduleForcesX": [ - -9.858052504114498, - -9.860454571961714, - -9.858386388083545, - -9.86078844523534 + 129.13406250804226, + 126.85138861390611, + 136.2725071464405, + 135.00820640366038 ], "moduleForcesY": [ - 19.688725460492304, - 19.68832195519515, - 19.691056279503822, - 19.690652772960874 + -81.3022529358746, + -84.80185654460425, + -68.66475061952836, + -71.09557292003498 ], - "timestamp": 1.2448185544693444 + "timestamp": 1.1443062137714757 }, { - "x": 7.045016834807069, - "y": 5.040492878635614, - "heading": 0.1547895536688631, - "angularVelocity": 0.004071945560794485, - "velocityX": 3.9633821412122052, - "velocityY": 2.046583633982968, + "x": 4.2404658738367065, + "y": 3.438285229417664, + "heading": -0.3664361446008389, + "angularVelocity": -0.9109665901409111, + "velocityX": -0.8010097314379159, + "velocityY": -3.891822089624895, "moduleForcesX": [ - -0.48899576359279834, - -0.48905445085066696, - -0.48900491863048495, - -0.4890636058880379 + 135.8012372951853, + 135.58429432599462, + 137.6860031782917, + 137.53299141786223 ], "moduleForcesY": [ - 0.9483469019747641, - 0.9483377427861408, - 0.9484055851796501, - 0.9483964259909341 + -69.52251996262208, + -69.93649501503523, + -65.71010237359559, + -66.0210382058678 + ], + "timestamp": 1.2160561830937116 + }, + { + "x": 4.242032867388297, + "y": 3.1378602988336195, + "heading": -0.42124373858157876, + "angularVelocity": -0.7638692322583974, + "velocityX": 0.02183964071892423, + "velocityY": -4.187108836727285, + "moduleForcesX": [ + 146.28399883316285, + 145.7242617296856, + 140.77088158681468, + 140.63529964706188 + ], + "moduleForcesY": [ + -43.095292074313335, + -45.01522975111837, + -58.64513634829476, + -59.01916646503333 ], - "timestamp": 1.301736112533511 + "timestamp": 1.2878061524159474 }, { - "x": 7.270692318326915, - "y": 5.156799568329461, - "heading": 0.15503143778836834, - "angularVelocity": 0.00424972763646615, - "velocityX": 3.9649537199595004, - "velocityY": 2.043423745669058, + "x": 4.305024386674992, + "y": 2.8306842697586276, + "heading": -0.44002387226529255, + "angularVelocity": -0.26174413537893604, + "velocityX": 0.8779309577652049, + "velocityY": -4.2812008419883245, "moduleForcesX": [ - 0.33826660864106795, - 0.3501619013403537, - 0.34012542457061085, - 0.35202070774415994 + 151.00828055830712, + 152.4270966298525, + 147.75022939934757, + 145.39396350366195 ], "moduleForcesY": [ - -0.6889438747381978, - -0.6870846333312786, - -0.7008387171442882, - -0.698979474278377 + 20.40368724384774, + -3.105169783800159, + -37.06212528911858, + -45.80576185139808 ], - "timestamp": 1.3586536705976775 + "timestamp": 1.3595561217381833 }, { - "x": 7.47869155527292, - "y": 5.262140566277018, - "heading": 0.22265398537061926, - "angularVelocity": 1.1880788614652835, - "velocityX": 3.654394951700479, - "velocityY": 1.8507645361177718, + "x": 4.429200442728241, + "y": 2.535971408660126, + "heading": -0.44100473529441175, + "angularVelocity": -0.013670570710825019, + "velocityX": 1.7306774793946242, + "velocityY": -4.1074980781513135, "moduleForcesX": [ - -113.10682378500714, - -58.268501818867726, - -84.96111128585942, - -16.478120534686266 + 144.20162448551963, + 148.686942446502, + 149.6483735415061, + 151.71176073472984 ], "moduleForcesY": [ - -9.084773832411868, - 17.8330117541388, - -81.9360892658554, - -96.05624143137435 + 48.66284725403801, + 32.7487317114457, + 27.348719001485854, + 12.286975974636599 ], - "timestamp": 1.415571228661844 + "timestamp": 1.4313060910604192 }, { - "x": 7.652375411664445, - "y": 5.350844490204947, - "heading": 0.32194735575912, - "angularVelocity": 1.7445121288691403, - "velocityX": 3.0514987348222116, - "velocityY": 1.5584632747003067, + "x": 4.601052639261489, + "y": 2.2803022454438806, + "heading": -0.47630167026618747, + "angularVelocity": -0.49194355489204306, + "velocityX": 2.395153589006337, + "velocityY": -3.5633348087999, "moduleForcesX": [ - -147.48032529396642, - -148.5770858639771, - -124.48396777882509, - -109.08097081196131 + 136.71700369811205, + 105.9770797344892, + 124.19032040270288, + 96.16534788478975 ], "moduleForcesY": [ - -36.08615931819689, - -28.658113889088487, - -86.98454747989135, - -105.04718249958127 + 65.7946343529907, + 108.31282465503567, + 87.55220228572631, + 117.54835404875244 ], - "timestamp": 1.4724887867260106 + "timestamp": 1.503056060382655 }, { - "x": 7.790905976019744, - "y": 5.421789143607355, - "heading": 0.4128451227622419, - "angularVelocity": 1.5970074981203077, - "velocityX": 2.433881021930185, - "velocityY": 1.2464458387273487, + "x": 4.7557484987791705, + "y": 2.0841183368669074, + "heading": -0.5430827515042369, + "angularVelocity": -0.9307471747915231, + "velocityX": 2.1560407757518103, + "velocityY": -2.7342716718928743, "moduleForcesX": [ - -130.54944207328253, - -131.79196404178484, - -140.12182585024058, - -140.09141540335952 + -43.71814822315815, + -72.77940535512695, + -8.9809012501366, + -41.150754572803706 ], "moduleForcesY": [ - -78.36879144029069, - -76.36366886534739, - -59.578819497062014, - -59.784664036930636 + 145.59094605261777, + 133.65045677054135, + 151.90809303684057, + 146.59509743984265 ], - "timestamp": 1.5294063447901771 + "timestamp": 1.574806029704891 }, { - "x": 7.894567363753308, - "y": 5.4749660911964835, - "heading": 0.4859802976115449, - "angularVelocity": 1.2849317036211343, - "velocityX": 1.8212550085262011, - "velocityY": 0.9342802009566795, + "x": 4.87635540052853, + "y": 1.9406366636628185, + "heading": -0.6052023324910523, + "angularVelocity": -0.8657785023967124, + "velocityX": 1.6809331472701057, + "velocityY": -1.9997454292934742, "moduleForcesX": [ - -123.69717772814445, - -126.57945711376686, - -144.92079108595206, - -142.97219539802697 + -81.24909443199846, + -78.88725476975387, + -86.53061208401152, + -84.41863566268366 ], "moduleForcesY": [ - -89.03657856324024, - -85.0087595342956, - -47.190217781850095, - -52.99057783728137 + 128.99398018340256, + 130.43968492587442, + 125.50721764127391, + 126.9243135261011 ], - "timestamp": 1.5863239028543437 + "timestamp": 1.6465559990271268 }, { - "x": 7.963555559626499, - "y": 5.510398827176055, - "heading": 0.5369799132251958, - "angularVelocity": 0.896026065562848, - "velocityX": 1.2120723068656711, - "velocityY": 0.6225273393855725, + "x": 4.958423558253985, + "y": 1.846519407554621, + "heading": -0.6513297307591658, + "angularVelocity": -0.6428908430741069, + "velocityX": 1.1438075653646438, + "velocityY": -1.3117393219432345, "moduleForcesX": [ - -120.57403414129054, - -123.7726507337543, - -147.07834729197242, - -143.71976530792588 + -87.64620166138951, + -81.31678312862682, + -104.28921286321095, + -101.05150378334076 ], "moduleForcesY": [ - -93.33706503537442, - -89.15556604840498, - -40.24625588788072, - -51.1246379002151 + 124.85350504823991, + 129.03811092674098, + 111.32139737938063, + 114.2339563442175 ], - "timestamp": 1.6432414609185102 + "timestamp": 1.7183059683493627 }, { - "x": 7.998003005981445, - "y": 5.528106212615967, - "heading": 0.5633166974965061, - "angularVelocity": 0.46271809907295447, - "velocityX": 0.6052165184555361, - "velocityY": 0.31110585273589136, + "x": 5, + "y": 1.8, + "heading": -0.676, + "angularVelocity": -0.34383665211113573, + "velocityX": 0.579462850489752, + "velocityY": -0.6483543894729527, "moduleForcesX": [ - -118.72948401262796, - -122.11468152772606, - -148.19763309055497, - -144.05889037424146 + -90.07449925926467, + -82.70822354021874, + -111.22254607688805, + -109.26647758275725 ], "moduleForcesY": [ - -95.7399010513798, - -91.47153542476727, - -36.09273840709121, - -50.26824919939529 + 123.16488122960358, + 128.2006224739697, + 104.45810710771518, + 106.46573839453345 ], - "timestamp": 1.7001590189826767 + "timestamp": 1.7900559376715985 }, { - "x": 7.998003005981445, - "y": 5.528106212615967, - "heading": 0.563316697496506, - "angularVelocity": -2.2843800819800127e-17, - "velocityX": 1.362120537411708e-17, - "velocityY": 9.915391470816971e-18, + "x": 5, + "y": 1.8, + "heading": -0.676, + "angularVelocity": -2.395011941763689e-21, + "velocityX": -5.022109754530148e-21, + "velocityY": -5.772401356893443e-22, "moduleForcesX": [ - -117.17615114293818, - -121.28627334254745, - -148.79460891541447, - -144.40361670387216 + -91.56434090488393, + -83.44857053678355, + -114.97984833420432, + -113.81427733053448 ], "moduleForcesY": [ - -97.68013818064102, - -92.6037832422659, - -33.67455165306836, - -49.336678118867894 + 122.0906538963345, + 127.75049476413463, + 100.34438877989462, + 101.62956129586864 ], - "timestamp": 1.7570765770468433 + "timestamp": 1.8618059069938344 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 5, - "y": 1.8, - "heading": -0.676, + "x": 7.998003005981445, + "y": 5.528106212615967, + "heading": 0.011235405053141658, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 10 }, { - "timestamp": 0.6354067992041431, + "timestamp": 0.6223122988538914, "isStopPoint": false, - "x": 4.56858491897583, - "y": 3.6867117881774902, - "heading": 0.049958090676025725, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": -0.12916965873822597, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 8 + "headingConstrained": true, + "controlIntervalCount": 9 }, { - "timestamp": 1.0740658802768448, + "timestamp": 1.0725562444492398, "isStopPoint": false, - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0, + "x": 4.411689758300781, + "y": 3.968839406967163, + "heading": -0.23860874885454753, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 12 + "headingConstrained": true, + "controlIntervalCount": 11 }, { - "timestamp": 1.7570765770468433, + "timestamp": 1.8618059069938344, "isStopPoint": true, - "x": 7.998003005981445, - "y": 5.528106212615967, - "heading": 0.5633166974965059, + "x": 5, + "y": 1.8, + "heading": -0.676, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -35360,39 +35547,48 @@ "eventMarkers": [], "isTrajectoryStale": false }, - "f2 to shoot3": { + "shoot3 to f1": { "waypoints": [ { - "x": 7.998003005981445, - "y": 5.528106212615967, - "heading": 0.5633166974965059, + "x": 5, + "y": 1.8, + "heading": -0.676, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 10 + }, + { + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": -0.325205182380257, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 9 }, { "x": 6.124570846557617, "y": 4.616429328918457, - "heading": 0, + "heading": -0.09522289077547066, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 9 }, { - "x": 4.411689758300781, - "y": 3.968839406967163, - "heading": 0.049958090676025725, + "x": 7.179389476776123, + "y": 6.015377044677734, + "heading": 0.11942898390010653, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 8 }, { - "x": 5, - "y": 1.8, - "heading": -0.676, + "x": 8.004569053649902, + "y": 7.289306163787842, + "heading": 0.2597534765050728, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -35401,12 +35597,12 @@ ], "trajectory": [ { - "x": 7.998003005981445, - "y": 5.528106212615967, - "heading": 0.5633166974965059, - "angularVelocity": -9.221269371191298e-22, - "velocityX": 1.2317156287659323e-20, - "velocityY": -2.58483552287895e-20, + "x": 5, + "y": 1.8, + "heading": -0.676, + "angularVelocity": -4.02965005766179e-21, + "velocityX": -1.0560575214097651e-21, + "velocityY": 5.272776227368003e-22, "moduleForcesX": [ 0, 0, @@ -35422,760 +35618,813 @@ "timestamp": 0 }, { - "x": 7.9696687174602365, - "y": 5.5121027202303825, - "heading": 0.5299383195987587, - "angularVelocity": -0.6322575751997889, - "velocityX": -0.5367117782149563, - "velocityY": -0.3031402341190824, + "x": 4.968556096880696, + "y": 1.838536182827189, + "heading": -0.6685260123845066, + "angularVelocity": 0.11702688813720821, + "velocityX": -0.4923452275077194, + "velocityY": 0.6033953745927658, "moduleForcesX": [ - -98.25293117016695, - -113.76029578232622, - -150.81027849726578, - -145.49970982886404 + -92.48696198097343, + -89.57509746406306, + -102.61006344769903, + -100.78228798287968 ], "moduleForcesY": [ - -116.65446350560288, - -101.69682840304458, - -22.780348697745318, - -45.9744463891702 + 121.37087292419673, + 123.52411101422102, + 112.93953506971155, + 114.56045030246304 ], - "timestamp": 0.05279237324629891 + "timestamp": 0.06386555888532788 }, { - "x": 7.912791865729061, - "y": 5.480037808705755, - "heading": 0.46583563306678916, - "angularVelocity": -1.2142414252320743, - "velocityX": -1.0773687226717554, - "velocityY": -0.6073777243359332, + "x": 4.907213795710883, + "y": 1.9168152576871376, + "heading": -0.6538944148741704, + "angularVelocity": 0.22909996820989958, + "velocityX": -0.9604911041325797, + "velocityY": 1.225685271156865, "moduleForcesX": [ - -100.3419369907613, - -116.41331130908317, - -149.63429419987494, - -145.6701653811938 + -88.13123048975005, + -84.72828622761, + -98.02647594193793, + -95.62287753271524 ], "moduleForcesY": [ - -114.82873702328132, - -98.61632792334258, - -29.347480983609962, - -45.35275945076621 + 124.54164836420856, + 126.86842244995975, + 116.90901105820438, + 118.86830631085398 ], - "timestamp": 0.10558474649259782 + "timestamp": 0.12773111777065577 }, { - "x": 7.827111880432552, - "y": 5.43180355098062, - "heading": 0.3749426849194033, - "angularVelocity": -1.7217060449874366, - "velocityX": -1.6229614246886177, - "velocityY": -0.9136595829872481, + "x": 4.818516217535969, + "y": 2.036622117877845, + "heading": -0.6326275802007817, + "angularVelocity": 0.33299379265706913, + "velocityX": -1.3888170670231428, + "velocityY": 1.8759228335545506, "moduleForcesX": [ - -103.78159843834948, - -119.88729736043375, - -147.4049226296483, - -145.66057753387892 + -80.96187127152437, + -76.90334678907439, + -90.34770157724064, + -87.12115585317169 ], "moduleForcesY": [ - -111.68114515715222, - -94.31040374315937, - -38.8303261994523, - -45.25966491964348 + 129.27454445032055, + 131.7149999497541, + 122.89313583607483, + 125.18478409560596 ], - "timestamp": 0.15837711973889673 + "timestamp": 0.19159667665598365 }, { - "x": 7.71231723418218, - "y": 5.367219975083802, - "heading": 0.26324206217172413, - "angularVelocity": -2.1158477234305835, - "velocityX": -2.174455119015191, - "velocityY": -1.2233504941244577, + "x": 4.707310402848676, + "y": 2.200760218327984, + "heading": -0.6057245225574083, + "angularVelocity": 0.4212451611310338, + "velocityX": -1.7412485951460135, + "velocityY": 2.5700565894185865, "moduleForcesX": [ - -110.07648610208406, - -124.06066153483282, - -143.40377274973707, - -144.78234376517767 + -67.18716047940563, + -62.42828254674346, + -75.2791718054043, + -71.02211890882606 ], "moduleForcesY": [ - -105.39942463204122, - -88.65137075396186, - -51.46926736961089, - -47.79021304158265 + 136.86877383692175, + 139.0889003474817, + 132.5822973375317, + 134.89358482599366 ], - "timestamp": 0.21116949298519563 + "timestamp": 0.25546223554131153 }, { - "x": 7.568054388411408, - "y": 5.286080017766087, - "heading": 0.14087320274310267, - "angularVelocity": -2.3179268501099317, - "velocityX": -2.7326455868485713, - "velocityY": -1.5369636242552354, + "x": 4.585275135062966, + "y": 2.413398400608054, + "heading": -0.5756156844641628, + "angularVelocity": 0.471440924008928, + "velocityX": -1.9108149981874747, + "velocityY": 3.329465614821709, "moduleForcesX": [ - -121.86526322813167, - -129.02473811240478, - -137.1352854264114, - -140.64053512098246 + -33.15670566356193, + -29.0094563550868, + -37.35156794550643, + -33.2348881926214 ], "moduleForcesY": [ - -91.33114429220936, - -81.01807967188962, - -66.14963734135337, - -58.52617360597199 + 148.68243143548384, + 149.53671912594746, + 147.6743093865777, + 148.64375123232335 ], - "timestamp": 0.26396186623149454 + "timestamp": 0.3193277944266394 }, { - "x": 7.394488469650047, - "y": 5.188575162078915, - "heading": 0.03370847924499651, - "angularVelocity": -2.029928129923939, - "velocityX": -3.287708206479221, - "velocityY": -1.846949657524951, + "x": 4.485728318178814, + "y": 2.67026066844047, + "heading": -0.5494455326403298, + "angularVelocity": 0.40976940123270744, + "velocityX": -1.5586932710146872, + "velocityY": 4.021921553894464, "moduleForcesX": [ - -143.5329976733654, - -137.56510061951735, - -128.87617180832595, - -115.72914641413347 + 72.02506123062523, + 65.27638688372417, + 72.39619462769224, + 65.97654951315377 ], "moduleForcesY": [ - -50.11997018122678, - -64.23268904043019, - -80.76867809849465, - -98.4684505678629 + 133.9382812078609, + 137.35654790086394, + 133.77138572449314, + 137.05378783995704 ], - "timestamp": 0.31675423947779346 + "timestamp": 0.38319335331196724 }, { - "x": 7.1965914634208135, - "y": 5.08176438602775, - "heading": 0.0021759734680445006, - "angularVelocity": -0.597292825420813, - "velocityX": -3.7485908297011745, - "velocityY": -2.023223611350782, + "x": 4.434354698916913, + "y": 2.939095972716812, + "heading": -0.5177114869494529, + "angularVelocity": 0.4968882484510341, + "velocityX": -0.8044025631114174, + "velocityY": 4.2093940610312455, "moduleForcesX": [ - -150.930303422536, - -132.31093236670378, - -120.82279746367252, - -32.440896229742364 + 145.75541673909345, + 147.70080261113992, + 147.74183369785868, + 149.3320550948716 ], "moduleForcesY": [ - 11.360362768556795, - 60.72904536082334, - -91.60421825889532, - -147.43539781381568 + 43.87085467447419, + 36.885394032622756, + 36.52646570323294, + 29.488495619628114 ], - "timestamp": 0.3695466127240924 + "timestamp": 0.4470589121972951 }, { - "x": 6.99146240136731, - "y": 4.966235573312276, - "heading": 0.0017834691693658995, - "angularVelocity": -0.00743486747313672, - "velocityX": -3.8855813716971808, - "velocityY": -2.188361795680249, + "x": 4.432125135897385, + "y": 3.204141899565127, + "heading": -0.46457887015687127, + "angularVelocity": 0.8319447558265705, + "velocityX": -0.03491025614494943, + "velocityY": 4.150060399913089, "moduleForcesX": [ - -57.78127267215895, - -11.38552759885874, - -51.05868348726293, - -9.519149388714803 + 151.50815729894674, + 152.41818939832748, + 150.29847241888118, + 148.20653856452319 ], "moduleForcesY": [ - -16.742687957403948, - -19.293318125639065, - -57.251970426950784, - -63.11547172960961 + 16.207714083650778, + -2.301820331640651, + -24.790561991045713, + -35.56733355483499 ], - "timestamp": 0.4223389859703913 + "timestamp": 0.510924471082623 }, { - "x": 6.786178964319163, - "y": 4.850977409358642, - "heading": 0.00139677870800406, - "angularVelocity": -0.007324741010557789, - "velocityX": -3.8885055629233105, - "velocityY": -2.1832351316338596, + "x": 4.477452741602163, + "y": 3.4550999017711996, + "heading": -0.39858197242406673, + "angularVelocity": 1.0333722727034071, + "velocityX": 0.709734738032509, + "velocityY": 3.929473202554648, "moduleForcesX": [ - -0.6964058981663227, - -0.6883650162912694, - -0.6963952499164836, - -0.6883543613342947 + 149.5961844552736, + 148.6967961153982, + 142.46539430871493, + 142.2201562523035 ], "moduleForcesY": [ - 1.2178884068359723, - 1.2179002190080723, - 1.2098482109273652, - 1.2098600192529096 + -29.475002781916494, + -33.86240667333583, + -54.314060123389325, + -55.04505199608617 ], - "timestamp": 0.47513135921669025 + "timestamp": 0.5747900299679508 }, { - "x": 6.57661676328411, - "y": 4.743699522911541, - "heading": 0.0010019529985341728, - "angularVelocity": -0.007478839938258826, - "velocityX": -3.969554466842213, - "velocityY": -2.0320716772208436, + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": -0.325205182380257, + "angularVelocity": 1.1489258267599212, + "velocityX": 1.4269377574428972, + "velocityY": 3.6265538178747527, "moduleForcesX": [ - -19.18496539084702, - -19.196657775682418, - -19.1843143822454, - -19.196006397914683 + 142.99539767200815, + 143.14844997821, + 137.31285826409976, + 138.0376518647654 ], "moduleForcesY": [ - 35.786904541713106, - 35.78623086936868, - 35.79771452795476, - 35.797040721773605 + -53.08780163514687, + -52.714542137631305, + -66.41943736111352, + -64.9321637832697 ], - "timestamp": 0.5279237324629892 + "timestamp": 0.6386555888532787 }, { - "x": 6.355075758587729, - "y": 4.6640864761211125, - "heading": 0.0005569555200048415, - "angularVelocity": -0.008429200112925944, - "velocityX": -4.1964585237110725, - "velocityY": -1.508040686464419, + "x": 4.6650338174422314, + "y": 3.8517035043632, + "heading": -0.26632541534052234, + "angularVelocity": 1.1981117995168453, + "velocityX": 1.9625852667694308, + "velocityY": 3.3573251377035485, "moduleForcesX": [ - -53.69205458765387, - -53.79871765312587, - -53.65246218928008, - -53.75907334293562 + 137.6496319514016, + 138.23079522176542, + 134.14511229919668, + 134.95419938499103 ], "moduleForcesY": [ - 124.0820814597938, - 124.0423598526692, - 124.11419371833125, - 124.07452398518409 + -65.7125254660541, + -64.49983939163093, + -72.60279689451743, + -71.10411026511437 ], - "timestamp": 0.5807161057092881 + "timestamp": 0.6877993891759854 }, { - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 1.837100054842178e-20, - "angularVelocity": -0.01054992389537797, - "velocityX": -4.366254022237577, - "velocityY": -0.9027278804140519, + "x": 4.787227826400901, + "y": 4.002368165967056, + "heading": -0.20841528735068082, + "angularVelocity": 1.1783811510214923, + "velocityX": 2.486458274620043, + "velocityY": 3.0657918316149706, "moduleForcesX": [ - -40.101497556900725, - -40.382245799621835, - -40.02519021999124, - -40.30548722470365 + 132.765861023918, + 132.2989255345606, + 134.18087477702133, + 133.75443675475552 ], "moduleForcesY": [ - 143.3476833341918, - 143.27101029085526, - 143.37669736794018, - 143.30030384755807 + -75.03737533789058, + -75.85018435455038, + -72.47436716236288, + -73.25056971058298 ], - "timestamp": 0.633508478955587 + "timestamp": 0.7369431894986921 }, { - "x": 5.901269581425344, - "y": 4.601267531433904, - "heading": 0.00032778538178764705, - "angularVelocity": 0.006531109778097138, - "velocityX": -4.449268201690918, - "velocityY": -0.30209816943293566, + "x": 4.934139658347578, + "y": 4.1371245849303735, + "heading": -0.156609608331141, + "angularVelocity": 1.054165096703016, + "velocityX": 2.989427577476002, + "velocityY": 2.742083804638591, "moduleForcesX": [ - -21.765266864971057, - -19.238964139090896, - -22.133009783201803, - -19.565458794939033 + 125.66859909792329, + 120.56158363429101, + 134.4729069150177, + 131.02911212915762 ], "moduleForcesY": [ - 149.46122907310115, - 149.80353468322048, - 149.37870598451914, - 149.73260136561345 + -86.33702776892365, + -93.29290726227366, + -71.83665274843274, + -77.88118839022783 ], - "timestamp": 0.6836967919566814 + "timestamp": 0.7860869898213988 }, { - "x": 5.677876796730156, - "y": 4.615314131123592, - "heading": 0.0006118277289749405, - "angularVelocity": 0.005659531675852505, - "velocityX": -4.451091725085485, - "velocityY": 0.27987790084499126, + "x": 5.103777717328528, + "y": 4.253675803987424, + "heading": -0.1188378945090999, + "angularVelocity": 0.7685957043209943, + "velocityX": 3.4518709962805922, + "velocityY": 2.3716362652405354, "moduleForcesX": [ - -0.3906660568677091, - -0.5179747314345424, - -0.39041887430278643, - -0.517621637807252 + 115.06473006445565, + 96.23851863831497, + 134.93153221400937, + 124.26548134205862 ], "moduleForcesY": [ - 144.94498693886857, - 144.94460460696132, - 144.95160573820078, - 144.95122397670877 + -99.95946464017854, + -118.11080503717878, + -70.81303120285384, + -88.01829908304188 ], - "timestamp": 0.7338851049577758 + "timestamp": 0.8352307901441055 }, { - "x": 5.454619234456037, - "y": 4.599618204089708, - "heading": 0.0009659063733137378, - "angularVelocity": 0.0070550019151087336, - "velocityX": -4.448397424103028, - "velocityY": -0.31274067796532645, + "x": 5.293624184460323, + "y": 4.349681438277899, + "heading": -0.10001712476665173, + "angularVelocity": 0.38297342938193807, + "velocityX": 3.863080711812074, + "velocityY": 1.9535655293251866, "moduleForcesX": [ - 0.5676772971129513, - 0.7751288257940463, - 0.5671076320572153, - 0.774277863907591 + 104.47780939566104, + 71.2961245709602, + 132.13876624195984, + 110.46124811373025 ], "moduleForcesY": [ - -147.59569169341913, - -147.59477323283127, - -147.60272452545644, - -147.60180828152625 + -110.83669044216646, + -134.485457729603, + -75.60249456529873, + -104.42986095419498 ], - "timestamp": 0.7840734179588702 + "timestamp": 0.8843745904668122 }, { - "x": 5.235814977101274, - "y": 4.553783007637478, - "heading": 0.002206043003604381, - "angularVelocity": 0.024709669565175507, - "velocityX": -4.3596655131641375, - "velocityY": -0.9132643380782642, + "x": 5.499963624380415, + "y": 4.421992258878435, + "heading": -0.09817390237308449, + "angularVelocity": 0.03750671257541272, + "velocityX": 4.1986870890151415, + "velocityY": 1.4714128766129912, "moduleForcesX": [ - 20.96347244995967, - 23.614553590668763, - 20.606837131136377, - 23.2141142325518 + 88.91243798472142, + 53.67114077594345, + 115.66016569971083, + 83.20967896158395 ], "moduleForcesY": [ - -149.72192955665022, - -149.3306998481624, - -149.79794056332977, - -149.41984818662166 + -123.32298424213555, + -142.10654913778305, + -98.42912412628205, + -126.69421950585485 ], - "timestamp": 0.8342617309599646 + "timestamp": 0.9335183907895189 }, { - "x": 5.028308386294482, - "y": 4.479657700609763, - "heading": 0.013381791169930365, - "angularVelocity": 0.2226763064556942, - "velocityX": -4.134559988143961, - "velocityY": -1.4769435869682246, + "x": 5.714578424586947, + "y": 4.4663841272135345, + "heading": -0.0979388641462991, + "angularVelocity": 0.004782662823021348, + "velocityX": 4.367077816474368, + "velocityY": 0.9033055653733777, "moduleForcesX": [ - 46.99648399976937, - 74.83224097696964, - 38.98092482900547, - 63.45125035169671 + 44.154707967428386, + 39.6964536689181, + 46.01541671933955, + 41.457908510892025 ], "moduleForcesY": [ - -144.35974269060438, - -132.17521949735482, - -146.889669656424, - -138.13962005393168 + -144.16855603164572, + -145.43492937878676, + -143.52310800483917, + -144.878472848521 ], - "timestamp": 0.884450043961059 + "timestamp": 0.9826621911122256 }, { - "x": 4.838397655709239, - "y": 4.380565629665982, - "heading": 0.033743946581002895, - "angularVelocity": 0.40571507973636295, - "velocityX": -3.7839632222968276, - "velocityY": -1.9744052951455262, + "x": 5.924927610181476, + "y": 4.527833840756606, + "heading": -0.09766804098784947, + "angularVelocity": 0.0055108305965604005, + "velocityX": 4.280279185029497, + "velocityY": 1.2504062188835994, "moduleForcesX": [ - 83.821414681413, - 103.18265563646807, - 71.62847603444364, - 90.64873536707516 + -22.106162170957248, + -22.03245285565053, + -22.122993410271913, + -22.049257709919395 ], "moduleForcesY": [ - -126.98824941377003, - -111.90859070914365, - -134.33894489426683, - -122.35938289218375 + 88.30412912809929, + 88.30980657635477, + 88.2641695391432, + 88.26985160035588 ], - "timestamp": 0.9346383569621534 + "timestamp": 1.0318059914349322 }, { - "x": 4.6711350973358154, - "y": 4.260768833936685, - "heading": 0.050496748807910406, - "angularVelocity": 0.3337988711942204, - "velocityX": -3.332699355122405, - "velocityY": -2.3869460550846107, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": -0.09522289077547066, + "angularVelocity": 0.049755008695349844, + "velocityX": 4.062429748313481, + "velocityY": 1.8027805660138634, "moduleForcesX": [ - 112.5062484341017, - 107.06183080166765, - 117.58024367820323, - 112.42234422977346 + -56.79714284165791, + -51.15444846851292, + -59.7300960302419, + -53.9631949087108 ], "moduleForcesY": [ - -102.79471095056066, - -108.43282139039233, - -96.92648346276683, - -102.83883818012409 + 140.03928247370902, + 142.16423803407525, + 138.74464941109161, + 141.04982728835452 ], - "timestamp": 0.9848266699632477 + "timestamp": 1.080949791757639 }, { - "x": 4.528563835637188, - "y": 4.122958457396661, - "heading": 0.05713621156978461, - "angularVelocity": 0.13229101288440262, - "velocityX": -2.8407263199998294, - "velocityY": -2.7458658858885725, + "x": 6.296979767855439, + "y": 4.720301949919861, + "heading": -0.07968051470268298, + "angularVelocity": 0.33555626686312695, + "velocityX": 3.7222683155821255, + "velocityY": 2.242585610416905, "moduleForcesX": [ - 122.06648151100661, - 108.88354757067108, - 134.57727236963868, - 124.5997876100833 + -94.09335029142069, + -64.60136889646938, + -117.33523294026367, + -91.17033939610653 ], "moduleForcesY": [ - -91.39735195220123, - -106.71900211182428, - -71.6621389844137, - -87.7946244183062 + 119.45845909188917, + 137.53399696927914, + 96.52339772613443, + 121.24855210635366 ], - "timestamp": 1.035014982964342 + "timestamp": 1.1272680328624234 }, { - "x": 4.411689758300781, - "y": 3.968839406967163, - "heading": 0.049958090676025725, - "angularVelocity": -0.14302375323120284, - "velocityX": -2.3287110155280515, - "velocityY": -3.0708155188668163, + "x": 6.4523427503399535, + "y": 4.84364734276305, + "heading": -0.0560650798473882, + "angularVelocity": 0.5098517191503511, + "velocityX": 3.3542504805618423, + "velocityY": 2.6629982033241797, "moduleForcesX": [ - 126.42643584086001, - 109.9537564543558, - 141.71581090648826, - 131.99815403826307 + -100.00918695093591, + -83.59416314210894, + -114.20217468666924, + -99.46542748693915 ], "moduleForcesY": [ - -85.35383445316526, - -105.68449012226834, - -56.384281757869935, - -76.30777385616288 + 113.96388621933548, + 126.33940259896592, + 99.53138805360058, + 113.99580425127789 ], - "timestamp": 1.0852032959654363 + "timestamp": 1.1735862739672078 }, { - "x": 4.308378291457096, - "y": 3.7588539673578185, - "heading": 0.017141956251286426, - "angularVelocity": -0.5373232578253696, - "velocityX": -1.6915963719760467, - "velocityY": -3.4382495831600854, + "x": 6.589539925013804, + "y": 4.985324581710571, + "heading": -0.029194307557116547, + "angularVelocity": 0.580133693537341, + "velocityX": 2.9620549356242374, + "velocityY": 3.058778476216575, "moduleForcesX": [ - 128.48058428061591, - 110.67150184100005, - 145.16985029503837, - 137.27593286732323 + -105.86529695202135, + -99.9696828539512, + -111.5517632980189, + -105.98376447892002 ], "moduleForcesY": [ - -82.32556428622348, - -105.01654492369457, - -46.97136444363354, - -66.50024484651213 + 107.10427689349676, + 112.47630279550192, + 101.00900636175308, + 106.650593468407 ], - "timestamp": 1.146276651616467 + "timestamp": 1.2199045150719923 }, { - "x": 4.245398914126946, - "y": 3.528522079982614, - "heading": -0.033838143937762286, - "angularVelocity": -0.8347355347616024, - "velocityX": -1.0312087269284649, - "velocityY": -3.7713972798761284, + "x": 6.707749834739502, + "y": 5.143742836390259, + "heading": -0.003325948751533508, + "angularVelocity": 0.5584918206859758, + "velocityX": 2.5521243230775768, + "velocityY": 3.420213093180972, "moduleForcesX": [ - 132.47946257945915, - 122.41580425879187, - 145.05327712342623, - 140.70264345710018 + -110.68124452724969, + -112.24900955602732, + -108.99147549765371, + -110.59357623485711 ], "moduleForcesY": [ - -75.66096100901395, - -90.9997556703881, - -47.23874664717877, - -58.84443060617419 + 97.3669307847397, + 95.69829252765817, + 99.3757665889251, + 97.72345540515448 ], - "timestamp": 1.2073500072674979 + "timestamp": 1.2662227561767767 }, { - "x": 4.224671679375672, - "y": 3.2814816584551254, - "heading": -0.09289372641272205, - "angularVelocity": -0.9669614817368077, - "velocityX": -0.339382608509468, - "velocityY": -4.044978680049303, + "x": 6.807705133856084, + "y": 5.315455884914979, + "heading": 0.020008127736161296, + "angularVelocity": 0.5037772577526598, + "velocityX": 2.1580115464755596, + "velocityY": 3.7072445850492777, "moduleForcesX": [ - 139.78795601996805, - 137.52603808825032, - 145.1635875142566, - 143.91189464279446 + -106.18853539819592, + -109.68078967616168, + -102.95277914413603, + -106.61803254147924 ], "moduleForcesY": [ - -60.973861755919565, - -65.87119974583536, - -46.73793101968193, - -50.39471204125329 + 76.36054782378163, + 73.03714762794966, + 81.89122297975942, + 78.55822280489912 ], - "timestamp": 1.2684233629185286 + "timestamp": 1.3125409972815612 }, { - "x": 4.248301901134284, - "y": 3.0249293066525675, - "heading": -0.14148827791656, - "angularVelocity": -0.7956751513950546, - "velocityX": 0.3869153988136552, - "velocityY": -4.200724670648218, + "x": 6.900675128858064, + "y": 5.490437172735376, + "heading": 0.04499537797765645, + "angularVelocity": 0.5394688927191178, + "velocityX": 2.007200463240491, + "velocityY": 3.7778051075932146, "moduleForcesX": [ - 150.88246554265962, - 150.9200096473529, - 145.97309845990466, - 146.83561119568333 + -42.06733772242716, + -39.26107186822132, + -42.14342031824891, + -39.32697207269472 ], "moduleForcesY": [ - -21.39299746404249, - -21.41131874349057, - -43.772870627357364, - -40.930127065494254 + 20.427717258615658, + 20.779861432372048, + 17.318760221885213, + 17.642920606622013 ], - "timestamp": 1.3294967185695594 + "timestamp": 1.3588592383863456 }, { - "x": 4.316584967247454, - "y": 2.7682546006415008, - "heading": -0.1624023571230704, - "angularVelocity": -0.342441953345615, - "velocityX": 1.118050013549911, - "velocityY": -4.202728068156105, + "x": 6.992925839029616, + "y": 5.6653758213819865, + "heading": 0.07093355177340187, + "angularVelocity": 0.5599991100064932, + "velocityX": 1.99167127186109, + "velocityY": 3.7768845377969527, "moduleForcesX": [ - 147.97702834577615, - 151.23060308979964, - 149.49289254106793, - 149.87033146636807 + -5.102887632315015, + -3.400050060472068, + -4.9817836387359575, + -3.2788592891979396 ], "moduleForcesY": [ - 35.641593300198345, - 18.38762112661069, - -28.406129864295206, - -27.263241294145647 + 0.5435200781999887, + 0.6650690053076399, + -1.1614169889095411, + -1.040916431930943 ], - "timestamp": 1.3905700742205902 + "timestamp": 1.40517747949113 }, { - "x": 4.428706355752911, - "y": 2.522332815732047, - "heading": -0.16890548543008974, - "angularVelocity": -0.1064806123340885, - "velocityX": 1.8358478474002775, - "velocityY": -4.026662401107196, + "x": 7.085412821154398, + "y": 5.840230575173243, + "heading": 0.09662175829599644, + "angularVelocity": 0.5546023750012636, + "velocityX": 1.9967723281106087, + "velocityY": 3.775073267477701, "moduleForcesX": [ - 141.41662431464678, - 145.92102478757187, - 149.36331136212047, - 150.95123761678266 + 1.6217663618886644, + 1.17479552902846, + 1.5784762103383223, + 1.131492509415358 ], "moduleForcesY": [ - 55.62474462753513, - 42.818576592235615, - 27.60264571393141, - 18.09681445769282 + -0.6906465612630897, + -0.7340117809168972, + -0.24362166548310132, + -0.2869651355562046 ], - "timestamp": 1.451643429871621 + "timestamp": 1.4514957205959145 }, { - "x": 4.5703397402100565, - "y": 2.308523728771076, - "heading": -0.21433820348607407, - "angularVelocity": -0.7439040735797124, - "velocityX": 2.3190699601710394, - "velocityY": -3.5008570379309547, + "x": 7.179389476776123, + "y": 6.015377044677734, + "heading": 0.11942898390010652, + "angularVelocity": 0.4924026703111192, + "velocityX": 2.0289340307443986, + "velocityY": 3.7813713415469334, "moduleForcesX": [ - 137.44398409577107, - 85.10669425964502, - 110.79601644197005, - 62.26126518753911 + 11.551177364070353, + 6.429204057879599, + 10.930370295018177, + 5.807430436183855 ], "moduleForcesY": [ - 63.739667013116076, - 124.57713272129291, - 103.8335348016807, - 138.32000524731748 + -0.5671607316676933, + -1.1894657283197994, + 4.578631573613982, + 3.976692245136334 ], - "timestamp": 1.5127167855226518 + "timestamp": 1.497813961700699 }, { - "x": 4.708863034475599, - "y": 2.1338830328903677, - "heading": -0.33623722674995143, - "angularVelocity": -1.9959444174052028, - "velocityX": 2.2681461136187453, - "velocityY": -2.859523502828204, + "x": 7.348389947994157, + "y": 6.277600455160327, + "heading": 0.11948976747235102, + "angularVelocity": 0.0008692635751826053, + "velocityX": 2.416869367723612, + "velocityY": 3.750047107725238, "moduleForcesX": [ - 61.323999536528326, - -115.10439798949642, - 53.473966859526456, - -41.38429098881652 + 80.83217606418133, + 59.5618218111867, + 79.32828730223372, + 57.670146288750146 ], "moduleForcesY": [ - 137.28135019431053, - 99.01464452582205, - 142.3302765313007, - 146.42555230259688 + -18.225554305615546, + -25.324850449513864, + 11.68349263422328, + 9.468577771472273 ], - "timestamp": 1.5737901411736825 + "timestamp": 1.5677393260894297 }, { - "x": 4.823756564135184, - "y": 1.9980629094234121, - "heading": -0.4591040898245942, - "angularVelocity": -2.011791586771425, - "velocityX": 1.8812382001093808, - "velocityY": -2.223885064430117, + "x": 7.518138552985311, + "y": 6.53934022296958, + "heading": 0.11955040800362154, + "angularVelocity": 0.0008672179516063189, + "velocityX": 2.4275684006090175, + "velocityY": 3.7431305520866864, "moduleForcesX": [ - -79.45486278199576, - -80.36164844370998, - -78.00890843018018, - -78.93129805267695 + 1.9126435106146276, + 1.9125315626585428, + 1.9126300860993342, + 1.9125181381414544 ], "moduleForcesY": [ - 129.93494311804596, - 129.38117145550117, - 130.81137158434214, - 130.26183224642762 + -1.2364667632679238, + -1.2364802356540947, + -1.236354800321935, + -1.236368272706409 ], - "timestamp": 1.6348634968247133 + "timestamp": 1.6376646904781604 }, { - "x": 4.911361979580447, - "y": 1.8981523072135935, - "heading": -0.5625962326963001, - "angularVelocity": -1.6945547165126038, - "velocityX": 1.4344293761396736, - "velocityY": -1.6359114567193782, + "x": 7.6802601391604854, + "y": 6.7893041713934545, + "heading": 0.15782291773137713, + "angularVelocity": 0.547333718777498, + "velocityX": 2.31849469205343, + "velocityY": 3.574725002994185, "moduleForcesX": [ - -84.11461101034625, - -69.03310112483376, - -109.7988417377545, - -102.85029747640347 + -38.094438255334715, + -7.154683571791846, + -31.073192423144093, + -1.670635453375032 ], "moduleForcesY": [ - 127.19091366739686, - 135.91117191597863, - 105.79399267963313, - 112.47063349128078 + -17.498433357044807, + -13.38453164418703, + -45.923179924760866, + -43.611925515726874 ], - "timestamp": 1.695936852475744 + "timestamp": 1.7075900548668912 }, { - "x": 4.970327098567478, - "y": 1.8324805136697246, - "heading": -0.6368991075612631, - "angularVelocity": -1.2166168711856085, - "velocityX": 0.9654802549896366, - "velocityY": -1.0752936832080013, + "x": 7.809984051376004, + "y": 6.989308421296319, + "heading": 0.19597967129961397, + "angularVelocity": 0.5456782943041228, + "velocityX": 1.8551767781195205, + "velocityY": 2.86025323788085, "moduleForcesX": [ - -83.81669416990991, - -64.00362713474995, - -119.00013375221991, - -117.10238343064512 + -82.71570723499627, + -82.82540264866643, + -82.82192459202966, + -82.93156654935326 ], "moduleForcesY": [ - 127.46553300389468, - 138.41802384438316, - 95.44064049163546, - 97.64663170271429 + -127.79039527788936, + -127.71978983328604, + -127.72110145572738, + -127.65040233029568 ], - "timestamp": 1.7570102081267749 + "timestamp": 1.777515419255622 }, { - "x": 5, - "y": 1.8, - "heading": -0.676, - "angularVelocity": -0.6402283290631171, - "velocityX": 0.4858567392640209, - "velocityY": -0.5318278867026086, + "x": 7.907277453977038, + "y": 7.13930968745116, + "heading": 0.2269902880004078, + "angularVelocity": 0.4434816603657422, + "velocityX": 1.391389282723764, + "velocityY": 2.145162452367787, "moduleForcesX": [ - -83.2538608401974, - -61.15565611051488, - -123.02558496695217, - -125.22673122783499 + -76.17205660931234, + -82.86251326156865, + -83.07691916557681, + -89.51888532774156 ], "moduleForcesY": [ - 127.87388756529947, - 139.73983435364323, - 90.25501198446264, - 87.05998395739255 + -132.07574740929024, + -127.99760496669779, + -127.83023666900148, + -123.42072922220851 ], - "timestamp": 1.8180835637778057 + "timestamp": 1.8474407836443527 }, { - "x": 5, - "y": 1.8, - "heading": -0.676, - "angularVelocity": -3.390238370077955e-21, - "velocityX": -5.245376427237132e-21, - "velocityY": 8.306040710332148e-22, + "x": 7.972138847802263, + "y": 7.239308091732087, + "heading": 0.2486147868456576, + "angularVelocity": 0.30925114276179383, + "velocityX": 0.9275803478784399, + "velocityY": 1.430073409771791, + "moduleForcesX": [ + -74.02629860363942, + -82.6963865244638, + -83.36691691390358, + -91.55610256019361 + ], + "moduleForcesY": [ + -133.3785162492047, + -128.19504701789583, + -127.73540487236428, + -122.0141038581698 + ], + "timestamp": 1.9173661480330835 + }, + { + "x": 8.004569053649902, + "y": 7.289306163787842, + "heading": 0.2597534765050728, + "angularVelocity": 0.1592939809007319, + "velocityX": 0.46378315123754393, + "velocityY": 0.7150205435870883, + "moduleForcesX": [ + -72.96117970025438, + -82.58073707695335, + -83.55463399379461, + -92.54076045024767 + ], + "moduleForcesY": [ + -134.0073520399002, + -128.3128104432483, + -127.66022837884285, + -121.31681326093911 + ], + "timestamp": 1.9872915124218142 + }, + { + "x": 8.004569053649902, + "y": 7.289306163787842, + "heading": 0.2597534765050728, + "angularVelocity": -8.026848779705696e-23, + "velocityX": 6.27121408981774e-22, + "velocityY": -4.297457211777471e-22, "moduleForcesX": [ - -83.51700006406841, - -58.925504219686225, - -125.67750774292483, - -129.6448840436913 + -72.32700963271792, + -82.56666496319225, + -83.60464594606545, + -93.12894754008244 ], "moduleForcesY": [ - 127.72696996879532, - 140.72313200725287, - 86.56297935845512, - 80.38782388301813 + -134.37639584832937, + -128.34726542948118, + -127.65614177036272, + -120.89428886225973 ], - "timestamp": 1.8791569194288364 + "timestamp": 2.057216876810545 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 7.998003005981445, - "y": 5.528106212615967, - "heading": 0.5633166974965059, + "x": 5, + "y": 1.8, + "heading": -0.676, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 10 + }, + { + "timestamp": 0.6386555888532787, + "isStopPoint": false, + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": -0.325205182380257, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 9 }, { - "timestamp": 0.633508478955587, + "timestamp": 1.080949791757639, "isStopPoint": false, "x": 6.124570846557617, "y": 4.616429328918457, - "heading": 0, + "heading": -0.09522289077547066, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 9 }, { - "timestamp": 1.0852032959654363, + "timestamp": 1.497813961700699, "isStopPoint": false, - "x": 4.411689758300781, - "y": 3.968839406967163, - "heading": 0.049958090676025725, + "x": 7.179389476776123, + "y": 6.015377044677734, + "heading": 0.11942898390010653, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 8 }, - { - "timestamp": 1.8791569194288364, - "isStopPoint": true, - "x": 5, - "y": 1.8, - "heading": -0.676, + { + "timestamp": 2.057216876810545, + "isStopPoint": true, + "x": 8.004569053649902, + "y": 7.289306163787842, + "heading": 0.2597534765050728, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -36203,7 +36452,7 @@ "eventMarkers": [], "isTrajectoryStale": false }, - "shoot3 to f1": { + "f1 to shoot3": { "waypoints": [ { "x": 5, @@ -37046,53 +37295,53 @@ "eventMarkers": [], "isTrajectoryStale": false }, - "f1 to shoot3": { + "f4 to shoot2": { "waypoints": [ { - "x": 5, - "y": 1.8, - "heading": -0.676, + "x": 8.146272659301758, + "y": 2.5416696071624756, + "heading": -0.35718839589958584, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 20 }, { - "x": 4.56858491897583, - "y": 3.6867117881774902, - "heading": 0.049958090676025725, + "x": 6.660732269287109, + "y": 3.6256182193756104, + "heading": -0.2815511117895859, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 8 + "headingConstrained": true, + "controlIntervalCount": 20 }, { - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0, + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.18603129598958645, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 + "headingConstrained": true, + "controlIntervalCount": 20 }, { - "x": 8.004569053649902, - "y": 7.289306163787842, - "heading": 0.5633166974965059, + "x": 4.2, + "y": 5.2, + "heading": -0.10067621847958641, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 40 + "controlIntervalCount": 20 } ], "trajectory": [ { - "x": 5, - "y": 1.7999999999999998, - "heading": -0.676, - "angularVelocity": 3.800687150048589e-18, - "velocityX": -5.2786451754410545e-17, - "velocityY": -3.43589640014021e-17, + "x": 8.146272659301758, + "y": 2.5416696071624756, + "heading": -0.35718839589958584, + "angularVelocity": -6.803075103828338e-24, + "velocityX": -3.834035677732325e-23, + "velocityY": -4.2655376688643334e-23, "moduleForcesX": [ 0, 0, @@ -37108,764 +37357,1310 @@ "timestamp": 0 }, { - "x": 4.978761276537438, - "y": 1.8273013474195536, - "heading": -0.6538730446040393, - "angularVelocity": 0.41179708477063015, - "velocityX": -0.39526650863722357, - "velocityY": 0.5080958982597991, + "x": 8.136096469255905, + "y": 2.5491060207108256, + "heading": -0.3571661974175566, + "angularVelocity": 0.0006906240874998994, + "velocityX": -0.31659470928687494, + "velocityY": 0.2313566447627725, "moduleForcesX": [ - -79.94323819061562, - -59.56930482342181, - -115.56559383731333, - -112.73025126958423 + -123.08735375321601, + -123.06071963548085, + -123.18120263290048, + -123.15469635315549 ], "moduleForcesY": [ - 129.9739995050107, - 140.44151562616474, - 99.6323549773227, - 102.75194790243671 + 90.0189148792037, + 90.05496579675288, + 89.89034995753235, + 89.92630482337871 ], - "timestamp": 0.053732666437672376 + "timestamp": 0.03214264088232743 }, { - "x": 4.936864582369221, - "y": 1.8824420518132277, - "heading": -0.6111373145378587, - "angularVelocity": 0.7953398351411596, - "velocityX": -0.7797248292179932, - "velocityY": 1.026204505500499, + "x": 8.115745774443306, + "y": 2.5639776162636747, + "heading": -0.35712130248754087, + "angularVelocity": 0.0013967405534631777, + "velocityX": -0.6331369873154291, + "velocityY": 0.462674974570173, "moduleForcesX": [ - -79.24993768245197, - -58.04136794554419, - -113.1867895142026, - -107.2729212037701 + -123.06623219006278, + -123.03897758016932, + -123.1621616747151, + -123.13504064589385 ], "moduleForcesY": [ - 130.3745478756316, - 141.05514717195, - 102.29227362450345, - 108.3950018689079 + 90.0050507551931, + 90.0418953714628, + 89.87362182282492, + 89.91036606469225 ], - "timestamp": 0.10746533287534475 + "timestamp": 0.06428528176465487 }, { - "x": 4.87519339523477, - "y": 1.966178896180933, - "heading": -0.5499411796835697, - "angularVelocity": 1.1389000195133803, - "velocityX": -1.1477410528136354, - "velocityY": 1.5583973385814707, + "x": 8.085222742415418, + "y": 2.586282809849173, + "heading": -0.3570530703547609, + "angularVelocity": 0.0021227917466318403, + "velocityX": -0.9496118299561199, + "velocityY": 0.6939440249217846, "moduleForcesX": [ - -77.98943495608029, - -56.151092954851364, - -109.18071498135836, - -99.1298655250073 + -123.03906803487567, + -123.01101251084259, + -123.13767285906486, + -123.10975848804657 ], "moduleForcesY": [ - 131.0977375647602, - 141.7836939155453, - 106.50736648786436, - 115.83400443830153 + 89.9872187352331, + 90.02508509744662, + 89.85210622190067, + 89.88986651260632 ], - "timestamp": 0.16119799931301712 + "timestamp": 0.0964279226469823 }, { - "x": 4.795228036773245, - "y": 2.079633928082339, - "heading": -0.4734746216988076, - "angularVelocity": 1.4230925627629927, - "velocityX": -1.4882075235744263, - "velocityY": 2.1114722090200755, + "x": 8.04453026447322, + "y": 2.616019488604275, + "heading": -0.3569606457734606, + "angularVelocity": 0.0028754507645693235, + "velocityX": -1.265996720405518, + "velocityY": 0.9251473413142052, "moduleForcesX": [ - -74.89136676523789, - -53.72744378828229, - -101.2881798052434, - -86.9081737983606 + -123.00283565038058, + -122.97370831481224, + -123.10500855636195, + -123.07603279893415 ], "moduleForcesY": [ - 132.83469927614328, - 142.66624660146846, - 113.9617158121153, - 125.1915580854802 + 89.96343327913132, + 90.0026620539759, + 89.82340643089086, + 89.86252128980769 + ], + "timestamp": 0.12857056352930973 + }, + { + "x": 7.993672390536357, + "y": 2.6531846929873755, + "heading": -0.35684282967097025, + "angularVelocity": 0.0036654145165509384, + "velocityX": -1.5822556125070788, + "velocityY": 1.1562585824593639, + "moduleForcesX": [ + -122.95208666724876, + -122.92145277337572, + -123.0592571095666, + -123.0287900216286 + ], + "moduleForcesY": [ + 89.93011920289005, + 89.97125343047745, + 89.78320622333678, + 89.82421507103362 + ], + "timestamp": 0.16071320441163717 + }, + { + "x": 7.932655199353589, + "y": 2.697773980858521, + "heading": -0.3566978198083463, + "angularVelocity": 0.004511448301799372, + "velocityX": -1.8983253867082432, + "velocityY": 1.387231622765059, + "moduleForcesX": [ + -122.87591970285536, + -122.84301410306959, + -122.99059097690268, + -122.95787640906512 + ], + "moduleForcesY": [ + 89.88012356165643, + 89.9241099343799, + 89.72286858223485, + 89.76671131944485 + ], + "timestamp": 0.1928558452939646 + }, + { + "x": 7.861488830173425, + "y": 2.749779942804573, + "heading": -0.3565226036812534, + "angularVelocity": 0.005451205074728771, + "velocityX": -2.214079715500069, + "velocityY": 1.6179741464443826, + "moduleForcesX": [ + -122.74888837760346, + -122.71216579876483, + -122.87606916885171, + -122.8395816862458 + ], + "moduleForcesY": [ + 89.79675052770294, + 89.84547310434468, + 89.62223012536384, + 89.67077580891507 + ], + "timestamp": 0.22499848617629203 + }, + { + "x": 7.780193580710889, + "y": 2.8091877459553896, + "heading": -0.35631112944757093, + "angularVelocity": 0.006579242647069844, + "velocityX": -2.529202555575733, + "velocityY": 1.8482551999478074, + "moduleForcesX": [ + -122.49464525206659, + -122.450174708773, + -122.64684811652924, + -122.60271456423307 + ], + "moduleForcesY": [ + 89.62990620878611, + 89.68803350156905, + 89.42078462785584, + 89.4786579025201 + ], + "timestamp": 0.25714112705861947 + }, + { + "x": 7.688830374979936, + "y": 2.875952869142524, + "heading": -0.3560451073038538, + "angularVelocity": 0.008276300155018216, + "velocityX": -2.842429969131302, + "velocityY": 2.0771511411137005, + "moduleForcesX": [ + -121.73210880793549, + -121.66353534311818, + -121.95904997835672, + -121.89122742115315 + ], + "moduleForcesY": [ + 89.12946820653616, + 89.21519573739569, + 88.81646337375159, + 88.90162123472918 + ], + "timestamp": 0.2892837679409469 + }, + { + "x": 7.5954346416937, + "y": 2.944203293635426, + "heading": -0.35297869481990085, + "angularVelocity": 0.09540014136296197, + "velocityX": -2.90566458518928, + "velocityY": 2.1233608259745393, + "moduleForcesX": [ + -27.405736857488268, + -17.838296663220355, + -31.323975167365713, + -21.79761143859291 + ], + "moduleForcesY": [ + 24.572633417644525, + 21.428596448034337, + 14.653430981686121, + 11.22755478950533 + ], + "timestamp": 0.32142640882327433 + }, + { + "x": 7.502038757325121, + "y": 3.0124538286619114, + "heading": -0.3479036601316385, + "angularVelocity": 0.15789103038676267, + "velocityX": -2.9056692855604864, + "velocityY": 2.1233642648202795, + "moduleForcesX": [ + -2.2468180105077424, + 4.797996787569584, + -4.801652306569902, + 2.243161791770455 + ], + "moduleForcesY": [ + 4.80115916269169, + 2.246329963325835, + -2.2436498435767525, + -4.798489930853682 + ], + "timestamp": 0.35356904970560177 + }, + { + "x": 7.40864287284743, + "y": 3.0807043630989184, + "heading": -0.34151209702071034, + "angularVelocity": 0.1988499680013025, + "velocityX": -2.9056692889550915, + "velocityY": 2.123364246480819, + "moduleForcesX": [ + -1.4915318481390096, + 3.1365196385655643, + -3.1365222722453105, + 1.4915292012866739 + ], + "moduleForcesY": [ + 3.136513825144002, + 1.4915233908533168, + -1.4915376585723443, + -3.1365280856668516 + ], + "timestamp": 0.3857116905879292 + }, + { + "x": 7.315246987161921, + "y": 3.1489548955294207, + "heading": -0.3342764369632082, + "angularVelocity": 0.22511093858129305, + "velocityX": -2.9056693265318794, + "velocityY": 2.123364184055805, + "moduleForcesX": [ + -0.9708404869494299, + 2.004005070985987, + -2.0040342856175783, + 0.9708112484060439 + ], + "moduleForcesY": [ + 2.0039954025056392, + 0.9708015903584727, + -0.9708501449966945, + -2.0040439540979156 + ], + "timestamp": 0.41785433147025663 + }, + { + "x": 7.221851093684164, + "y": 3.217205417059578, + "heading": -0.3265272105420634, + "angularVelocity": 0.24108866628334372, + "velocityX": -2.905669568959042, + "velocityY": 2.1233638449316996, + "moduleForcesX": [ + -0.6001959070969084, + 1.21457971685515, + -1.2147682470714265, + 0.6000073258559347 + ], + "moduleForcesY": [ + 1.2145420998937115, + 0.5999697335759455, + -0.6002334993708399, + -1.2148058640336519 + ], + "timestamp": 0.44999697235258407 + }, + { + "x": 7.128455150154725, + "y": 3.285455869966208, + "heading": -0.3185082014617998, + "angularVelocity": 0.24948196103801262, + "velocityX": -2.9056711261329387, + "velocityY": 2.123361709963155, + "moduleForcesX": [ + -0.3209528773764481, + 0.6349290651756393, + -0.6361401639266485, + 0.3197416893245451 + ], + "moduleForcesY": [ + 0.6347043435828209, + 0.31951701200248567, + -0.32117755457113484, + -0.6363648855395496 + ], + "timestamp": 0.4821396132349115 + }, + { + "x": 7.035058884014051, + "y": 3.3537058813640774, + "heading": -0.3104174820937953, + "angularVelocity": 0.2517129627781421, + "velocityX": -2.905681162994435, + "velocityY": 2.1233479740426113, + "moduleForcesX": [ + -0.09041797398072267, + 0.16433225374208957, + -0.1721387337863936, + 0.08261145331820727 + ], + "moduleForcesY": [ + 0.16289371096011215, + 0.08117293023446857, + -0.09185649566347615, + -0.17357727680345786 + ], + "timestamp": 0.5142822541172389 + }, + { + "x": 6.941660537278974, + "y": 3.421953045551752, + "heading": -0.30244092718791094, + "angularVelocity": 0.24816115561525146, + "velocityX": -2.905745893033585, + "velocityY": 2.1232593935739152, + "moduleForcesX": [ + 0.1146923452700671, + -0.29190050202592277, + 0.24155490914652697, + -0.16503860186697292 + ], + "moduleForcesY": [ + -0.30117590990631987, + -0.1743136147262733, + 0.10541723977859715, + 0.23227951757600634 + ], + "timestamp": 0.5464248949995664 + }, + { + "x": 6.848248774042962, + "y": 3.490181845195757, + "heading": -0.29478371738264997, + "angularVelocity": 0.23822590786157335, + "velocityX": -2.906163298093275, + "velocityY": 2.122688048371251, + "moduleForcesX": [ + 0.2346074297269557, + -0.9053995113165785, + 0.5807656855617193, + -0.5592747320560182 + ], + "moduleForcesY": [ + -0.9652752293584578, + -0.6191266486360717, + 0.17474474961535058, + 0.5208919445285582 + ], + "timestamp": 0.5785675358818938 + }, + { + "x": 6.754750593503594, + "y": 3.558292168877115, + "heading": -0.28770490292677836, + "angularVelocity": 0.220231264810715, + "velocityX": -2.90885185450878, + "velocityY": 2.119002104733907, + "moduleForcesX": [ + -0.317090486140964, + -2.3860849687524217, + 0.2953252527060545, + -1.7743768048407933 + ], + "moduleForcesY": [ + -2.7742235636875465, + -2.161660865238974, + -0.7051841680208603, + -0.0926600827183377 + ], + "timestamp": 0.6107101767642212 + }, + { + "x": 6.660732269287109, + "y": 3.6256182193756104, + "heading": -0.2815511117895859, + "angularVelocity": 0.19145256793681517, + "velocityX": -2.925034211117911, + "velocityY": 2.0946023304361443, + "moduleForcesX": [ + -5.104426544991621, + -8.425903271858951, + -4.154652417197757, + -7.4877418560063 + ], + "moduleForcesY": [ + -11.627337110859457, + -10.653497766569629, + -8.324161908854833, + -7.350463045235389 + ], + "timestamp": 0.6428528176465487 + }, + { + "x": 6.58207462967442, + "y": 3.6783390830561413, + "heading": -0.27713844228438766, + "angularVelocity": 0.16769731320735076, + "velocityX": -2.989273230352088, + "velocityY": 2.003582452477083, + "moduleForcesX": [ + -29.040645166131586, + -32.60395395572433, + -28.402662732895102, + -32.018427814010195 + ], + "moduleForcesY": [ + -45.43472723947521, + -44.146739946186194, + -42.33485123604224, + -41.03781925180775 + ], + "timestamp": 0.6691661164156364 + }, + { + "x": 6.502998879099001, + "y": 3.7304307523279796, + "heading": -0.2732839303453757, + "angularVelocity": 0.14648531804534412, + "velocityX": -3.0051629508465547, + "velocityY": 1.9796708017861422, + "moduleForcesX": [ + -6.457091020173221, + -9.45878795214291, + -5.632245481224577, + -8.64520218692986 + ], + "moduleForcesY": [ + -13.276436333260367, + -12.418268096720743, + -10.2998105483761, + -9.441921746619366 + ], + "timestamp": 0.6954794151847241 + }, + { + "x": 6.423827962385086, + "y": 3.7823776714175734, + "heading": -0.26983011980827126, + "angularVelocity": 0.13125722348282343, + "velocityX": -3.0087796064142194, + "velocityY": 1.9741697742063322, + "moduleForcesX": [ + -0.9400836415081342, + -3.089960191773399, + -0.34552103882882884, + -2.496731147104689 + ], + "moduleForcesY": [ + -3.98561105989949, + -3.3902298197622533, + -1.836213602989754, + -1.2408872562089655 + ], + "timestamp": 0.7217927139538118 + }, + { + "x": 6.344635425111529, + "y": 3.834291624382508, + "heading": -0.266656044011024, + "angularVelocity": 0.1206262971853653, + "velocityX": -3.0096012654479365, + "velocityY": 1.972916942892845, + "moduleForcesX": [ + 0.1555983604640381, + -1.346570991009149, + 0.5659949680069027, + -0.936322273527616 + ], + "moduleForcesY": [ + -1.551441120858391, + -1.141062212517814, + -0.049236706891036514, + 0.36113522807459164 + ], + "timestamp": 0.7481060127228996 + }, + { + "x": 6.265437971749186, + "y": 3.886198077355177, + "heading": -0.2636716830747281, + "angularVelocity": 0.11341645008043662, + "velocityX": -3.009788094504634, + "velocityY": 1.9726319162098973, + "moduleForcesX": [ + 0.2834303554028191, + -0.7361890309719591, + 0.558692361135776, + -0.4609424937299067 + ], + "moduleForcesY": [ + -0.7828415768479279, + -0.5075850409059524, + 0.23678447097176958, + 0.5120401883028008 + ], + "timestamp": 0.7744193114919873 + }, + { + "x": 6.186239400295341, + "y": 3.938102824373582, + "heading": -0.2608081960797146, + "angularVelocity": 0.10882280553806872, + "velocityX": -3.009830586003378, + "velocityY": 1.9725670838116756, + "moduleForcesX": [ + 0.21812692710949214, + -0.43201135872390917, + 0.39164132785276445, + -0.25849838577331313 + ], + "moduleForcesY": [ + -0.4426246746281852, + -0.2691108846494665, + 0.20751431826446415, + 0.3810280245513949 + ], + "timestamp": 0.800732610261075 + }, + { + "x": 6.107040574533406, + "y": 3.990007183375928, + "heading": -0.2580102384849567, + "angularVelocity": 0.10633245262448467, + "velocityX": -3.009840250625513, + "velocityY": 1.972552337805798, + "moduleForcesX": [ + 0.12522946818639863, + -0.2274921993451319, + 0.21830998695189685, + -0.13441177599215065 + ], + "moduleForcesY": [ + -0.22990611065569516, + -0.13682563480944512, + 0.12281560628593319, + 0.21589607600346533 + ], + "timestamp": 0.8270459090301627 + }, + { + "x": 6.027841690924591, + "y": 4.041911454117301, + "heading": -0.2552297811398612, + "angularVelocity": 0.10566738019035023, + "velocityX": -3.0098424490150477, + "velocityY": 1.9725489835713315, + "moduleForcesX": [ + 0.033790877984933784, + -0.06047556273037291, + 0.058386895759955336, + -0.03587954650266661 + ], + "moduleForcesY": [ + -0.0610246414577372, + -0.036428624378500085, + 0.03324180006651111, + 0.057837817037713714 + ], + "timestamp": 0.8533592077992505 + }, + { + "x": 5.948642794137703, + "y": 4.093815704741844, + "heading": -0.25242074794869973, + "angularVelocity": 0.10675336512582938, + "velocityX": -3.0098429498292076, + "velocityY": 1.972548219059436, + "moduleForcesX": [ + -0.05739208285371082, + 0.09664612148171403, + -0.09712193949824757, + 0.056916263897359015 ], - "timestamp": 0.2149306657506895 + "moduleForcesY": [ + 0.0965208529485974, + 0.056790995867478815, + -0.05751735087998036, + -0.0972472080318071 + ], + "timestamp": 0.8796725065683382 }, { - "x": 4.699852611459089, - "y": 2.22458381118864, - "heading": -0.3872836460184921, - "angularVelocity": 1.6040703243425392, - "velocityX": -1.7749989276621487, - "velocityY": 2.6976119504400584, + "x": 5.869443894253057, + "y": 4.145719950614997, + "heading": -0.2495338720337796, + "angularVelocity": 0.10971166862254304, + "velocityX": -3.0098430675551655, + "velocityY": 1.9725480384895655, "moduleForcesX": [ - -66.1321626897002, - -49.93166387875739, - -82.79700243691022, - -68.00793361264594 + -0.15650938453261481, + 0.26341279567532744, + -0.26352464509953055, + 0.15639753346402366 ], "moduleForcesY": [ - 137.29560456171336, - 143.94215668432236, - 127.90056942281913, - 136.28383082004092 + 0.263382941547865, + 0.15636768022328112, + -0.15653923777281012, + -0.26355449922705937 ], - "timestamp": 0.26866333218836186 + "timestamp": 0.9059858053374259 }, { - "x": 4.59642092896864, - "y": 2.403722916582047, - "heading": -0.30451754327489494, - "angularVelocity": 1.540331203175855, - "velocityX": -1.9249311332972023, - "velocityY": 3.3338956962915187, + "x": 5.790244993201206, + "y": 4.197624194662572, + "heading": -0.24651119455100304, + "angularVelocity": 0.11487261666817568, + "velocityX": -3.0098431119131153, + "velocityY": 1.972547969110972, "moduleForcesX": [ - -33.27277464163609, - -41.001895940760974, - -28.855998911082654, - -36.38614176360288 + -0.27435214104528816, + 0.4587897014772145, + -0.45883184456177833, + 0.2743099960484123 ], "moduleForcesY": [ - 148.43614867598808, - 146.50849051120406, - 149.3877985091946, - 147.75035665893637 + 0.45877781503194653, + 0.2742981106318746, + -0.2743640264616864, + -0.45884373100706105 ], - "timestamp": 0.32239599862603424 + "timestamp": 0.9322991041065136 }, { - "x": 4.507710692608205, - "y": 2.611881629544769, - "heading": -0.2661671096694265, - "angularVelocity": 0.7137266052143084, - "velocityX": -1.6509554102281525, - "velocityY": 3.873969537822001, + "x": 5.711046089813258, + "y": 4.249528435072955, + "heading": -0.2432795898320745, + "angularVelocity": 0.12281260313605828, + "velocityX": -3.0098432006932416, + "velocityY": 1.9725478308846605, "moduleForcesX": [ - 127.11990345363314, - 8.647919244408348, - 94.09568000412645, - 25.079850415146385 + -0.4243723845830821, + 0.7044588717409108, + -0.7045432163324211, + 0.424288030967902 ], "moduleForcesY": [ - 82.43458028914061, - 150.89347314933272, - 119.37068858168162, - 149.85759599058395 + 0.7044353801330886, + 0.42426454425301086, + -0.4243958712971194, + -0.7045667079403402 ], - "timestamp": 0.3761286650637066 + "timestamp": 0.9586124028756013 }, { - "x": 4.451340739631233, - "y": 2.8335232276809053, - "heading": -0.2334844208030772, - "angularVelocity": 0.6082461756216468, - "velocityX": -1.0490816241534726, - "velocityY": 4.124894832710717, + "x": 5.6318471767344365, + "y": 4.301432660581418, + "heading": -0.23974259019669522, + "angularVelocity": 0.1344187084416224, + "velocityX": -3.0098435689812604, + "velocityY": 1.9725472645580622, "moduleForcesX": [ - 143.86983773236406, - 140.8122731924101, - 139.62987846079326, - 135.75121422739596 + -0.6240690508827724, + 1.0274141106183603, + -1.027763977758222, + 0.6237191045512855 ], "moduleForcesY": [ - 48.719209257041044, - 56.76725784281224, - 59.90222526621142, - 68.10548494145164 + 1.0273200116639174, + 0.6236250490379754, + -0.6241631063750166, + -1.0278580767153747 ], - "timestamp": 0.429861331501379 + "timestamp": 0.9849257016446891 }, { - "x": 4.42975614253254, - "y": 3.057435357473267, - "heading": -0.18616550113932198, - "angularVelocity": 0.8806359855409729, - "velocityX": -0.40170344261773216, - "velocityY": 4.167150909052189, + "x": 5.552648221106484, + "y": 4.353336820983277, + "heading": -0.23576959069221684, + "angularVelocity": 0.15098827172311016, + "velocityX": -3.0098451860013293, + "velocityY": 1.972544790272893, "moduleForcesX": [ - 148.01541998583522, - 150.66014769561934, - 151.94048494087306, - 151.7904762688664 + -0.8972979997093311, + 1.4627286432932205, + -1.4642646050165993, + 0.8957613324871145 ], "moduleForcesY": [ - 35.09239728864554, - 21.841810718503123, - -6.292827810052857, - -11.320721887118713 + 1.4623212084911028, + 0.8953542881082679, + -0.8977050435130712, + -1.4646720398975872 ], - "timestamp": 0.4835939979390514 + "timestamp": 1.0112390004137768 }, { - "x": 4.442664725242422, - "y": 3.2780463998012865, - "heading": -0.11875668135664122, - "angularVelocity": 1.2545221417807453, - "velocityX": 0.24023715096968415, - "velocityY": 4.105715516434578, + "x": 5.473449078380269, + "y": 4.405240695602843, + "heading": -0.23118121564117936, + "angularVelocity": 0.17437475594765803, + "velocityX": -3.00985229640824, + "velocityY": 1.972533929517858, "moduleForcesX": [ - 151.3675407702616, - 152.23356753249857, - 145.82112364560228, - 147.92444386951456 + -1.2782166218996764, + 2.0563930795897947, + -2.0631455228847617, + 1.2714580132867064 ], "moduleForcesY": [ - 16.478639333756554, - 6.73565139735906, - -43.79985389847295, - -36.58207496618297 + 2.054609773766349, + 1.2696781444492033, + -1.2799964750955146, + -2.064928830948409 ], - "timestamp": 0.5373266643767237 + "timestamp": 1.0375522991828645 }, { - "x": 4.489347183993817, - "y": 3.4890967881994723, - "heading": -0.04248007839582056, - "angularVelocity": 1.419557375763311, - "velocityX": 0.868791032597574, - "velocityY": 3.927785505308899, + "x": 5.3942491135551975, + "y": 4.457143315290883, + "heading": -0.2257291906825515, + "angularVelocity": 0.2071965589138815, + "velocityX": -3.0098835391218053, + "velocityY": 1.9724862376059786, "moduleForcesX": [ - 148.95597326328317, - 149.74611992310528, - 141.87381538794835, - 144.31399481158914 + -1.819761787982644, + 2.8661609742481136, + -2.8958177306679644, + 1.7900517697548564 ], "moduleForcesY": [ - -32.21152576410643, - -28.53837598758538, - -55.68593369406905, - -49.13384769283962 + 2.8583318611278945, + 1.7822524852857777, + -1.827560649410769, + -2.90364690676839 ], - "timestamp": 0.5910593308143961 + "timestamp": 1.0638655979519522 }, { - "x": 4.56858491897583, - "y": 3.68671178817749, - "heading": 0.035129149501579485, - "angularVelocity": 1.4443583957917419, - "velocityX": 1.4746659757238103, - "velocityY": 3.677744155986597, + "x": 5.315045539959199, + "y": 4.50904042699221, + "heading": -0.21906843754113922, + "angularVelocity": 0.2531325775556961, + "velocityX": -3.0100206853975107, + "velocityY": 1.9722769142991032, "moduleForcesX": [ - 141.29267999159146, - 141.83290898639174, - 140.0355708341966, - 140.62525103819675 + -2.6181401034882086, + 3.950160194371622, + -4.08023294562468, + 2.487610265707213 ], "moduleForcesY": [ - -57.341163995437284, - -56.003616189059244, - -60.35141254362546, - -58.97544437754139 + 3.915743147737906, + 2.453447828344757, + -2.6522911486871954, + -4.114651756395556 ], - "timestamp": 0.6447919972520685 + "timestamp": 1.09017889672104 }, { - "x": 4.681963070427405, - "y": 3.8716462010736077, - "heading": 0.11070768306348662, - "angularVelocity": 1.3810212203821026, - "velocityX": 2.0717209729069044, - "velocityY": 3.379244562612742, + "x": 5.235826152800344, + "y": 4.560913395093347, + "heading": -0.21071825659198729, + "angularVelocity": 0.3173369109828812, + "velocityX": -3.010621657666121, + "velocityY": 1.9713593706493424, "moduleForcesX": [ - 135.86370743540135, - 133.53747298285, - 139.0536410516607, - 137.0344742239213 + -3.9014026734201597, + 5.297487442526571, + -5.866513192831879, + 3.3284730309700907 ], "moduleForcesY": [ - -69.34516980084541, - -73.70973989487817, - -62.69229013009205, - -66.9719528862851 + 5.145994533843785, + 3.179066605759634, + -4.050503764534557, + -6.018055326072395 ], - "timestamp": 0.699518552098923 + "timestamp": 1.1164921954901277 }, { - "x": 4.82680762227055, - "y": 4.03825633289643, - "heading": 0.17657982284753673, - "angularVelocity": 1.2036595391139404, - "velocityX": 2.6466959641267596, - "velocityY": 3.0444111143708725, + "x": 5.15653775687911, + "y": 4.612680808114912, + "heading": -0.20000907648138105, + "angularVelocity": 0.40698736424439425, + "velocityX": -3.0132442388554295, + "velocityY": 1.967347897952694, "moduleForcesX": [ - 131.1329141092116, - 121.94659008111141, - 139.67484986146485, - 132.5619141005329 + -6.386878878322085, + 6.501934484406803, + -8.977052902798214, + 3.8786213765695794 ], "moduleForcesY": [ - -77.86581235085843, - -91.54913124793084, - -61.1908373194677, - -75.30918959232002 + 5.83304549989505, + 3.224556013749109, + -7.032825254348293, + -9.64729582982005 ], - "timestamp": 0.7542451069457775 + "timestamp": 1.1428054942592154 }, { - "x": 5.001287860587722, - "y": 4.1841426666986345, - "heading": 0.22598382201706071, - "angularVelocity": 0.9027427234956368, - "velocityX": 3.188218933304399, - "velocityY": 2.6657320966539917, + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.18603129598958645, + "angularVelocity": 0.5312059356166852, + "velocityX": -3.0233859847182676, + "velocityY": 1.9491916526182147, "moduleForcesX": [ - 125.68615327153141, - 105.60074539533774, - 139.72597333195566, - 123.74051663706797 + -12.199143600091604, + 5.873639162386675, + -15.370342072591905, + 2.424705419556534 ], "moduleForcesY": [ - -86.29886017804915, - -109.91496547455115, - -60.8920861554806, - -88.86782870773528 + 1.9915563122754611, + -1.4114046251485406, + -15.82058956562918, + -19.259693583176883 ], - "timestamp": 0.808971661792632 + "timestamp": 1.1691187930283031 }, { - "x": 5.2027269571511745, - "y": 4.3064127822506215, - "heading": 0.25321117236278345, - "angularVelocity": 0.49751625006991185, - "velocityX": 3.6808291171531247, - "velocityY": 2.2342008534811644, + "x": 5.009006463789293, + "y": 4.706175301232312, + "heading": -0.17170313329710424, + "angularVelocity": 0.6443801871115454, + "velocityX": -3.057084895863449, + "velocityY": 1.8980770496598627, "moduleForcesX": [ - 118.59534150568663, - 86.57993548215902, - 137.41517895882328, - 107.47458581041897 + -27.88530670872213, + -7.469581642544117, + -29.884140600302487, + -10.53799541381138 ], "moduleForcesY": [ - -95.66185636852269, - -125.31227826602125, - -65.61226099154013, - -107.67489524337151 + -17.295192394525138, + -21.395900662313732, + -35.99992462571508, + -40.24778544716268 ], - "timestamp": 0.8636982166394865 + "timestamp": 1.1913543660317325 }, { - "x": 5.426680494052918, - "y": 4.400973811630735, - "heading": 0.2570211417658018, - "angularVelocity": 0.06961829436741093, - "velocityX": 4.092227941784746, - "velocityY": 1.727882006398769, + "x": 4.940799978779737, + "y": 4.748006700688708, + "heading": -0.15607475566262086, + "angularVelocity": 0.7028547288650057, + "velocityX": -3.067448947640628, + "velocityY": 1.8812827288032796, "moduleForcesX": [ - 104.95360774923395, - 66.30428675684652, - 124.90100796985048, - 79.70874146695708 + -10.10600547144898, + -0.014212153078191823, + -11.590999829890299, + -1.593897677045019 ], "moduleForcesY": [ - -110.12589532010138, - -136.84292616829345, - -86.50660049263499, - -129.11431028340613 + -3.646259973554683, + -5.254071465820472, + -13.61709861421173, + -15.247103502604105 ], - "timestamp": 0.918424771486341 + "timestamp": 1.2135899390351619 }, { - "x": 5.663103180753033, - "y": 4.4615932172120365, - "heading": 0.25729922848084547, - "angularVelocity": 0.005081385368275235, - "velocityX": 4.320072538142732, - "velocityY": 1.1076780870221035, + "x": 4.872523556080887, + "y": 4.789723852608043, + "heading": -0.14050214750591264, + "angularVelocity": 0.7003466092061806, + "velocityX": -3.070594254005464, + "velocityY": 1.8761446765010654, "moduleForcesX": [ - 55.743290733615076, - 47.58147783756521, - 56.73658502029491, - 48.10504479093734 + -1.5832342386744367, + -2.013821981304826, + -1.5224966281207268, + -1.953137305535568 ], "moduleForcesY": [ - -140.37518533278705, - -143.3382895314043, - -139.869033734059, - -143.05641204030178 + -3.1341373831362542, + -3.0730690437082, + -2.7037619087302773, + -2.6427080671467866 ], - "timestamp": 0.9731513263331956 + "timestamp": 1.2358255120385913 }, { - "x": 5.899618651226657, - "y": 4.52187357503453, - "heading": 0.2575517733536056, - "angularVelocity": 0.004614667842075693, - "velocityX": 4.321767944920409, - "velocityY": 1.1014827808552372, + "x": 4.804226043709187, + "y": 4.8314064730030815, + "heading": -0.1263588645788204, + "angularVelocity": 0.6360655929537297, + "velocityX": -3.0715427194598677, + "velocityY": 1.8745916909184601, "moduleForcesX": [ - 0.4073298825410608, - 0.37552826007325135, - 0.3989625139168673, - 0.36715934059681515 + 4.28946564897688, + -6.759703716931438, + 5.698532185988898, + -5.3610600563294195 ], "moduleForcesY": [ - -1.4267576526814514, - -1.4351339064847661, - -1.3949847685038683, - -1.4033613532443205 + -7.10306683291309, + -5.696805947972641, + 3.952332432655044, + 5.355420800949736 ], - "timestamp": 1.0278778811800502 + "timestamp": 1.2580610850420206 }, { - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0.25793730164261586, - "angularVelocity": 0.007044629249679032, - "velocityX": 4.110476092629601, - "velocityY": 1.7277856087975656, + "x": 4.7359221342041415, + "y": 4.873078616974578, + "heading": -0.11512700083410211, + "angularVelocity": 0.5051303936708101, + "velocityX": -3.0718304176154274, + "velocityY": 1.874120534922506, "moduleForcesX": [ - -48.410476140801066, - -48.09076655142578, - -48.43120828303922, - -48.110810091020994 + 9.804926634310165, + -12.735615232110854, + 12.41866260877025, + -10.134906193728058 ], "moduleForcesY": [ - 143.00444875083596, - 143.1120086234952, - 142.99339235212946, - 143.10123655039655 + -12.84309942551854, + -10.233582021268276, + 9.705993330269173, + 12.311223636152658 ], - "timestamp": 1.0826044360269047 + "timestamp": 1.28029665804545 }, { - "x": 6.379499738728888, - "y": 4.785376418684285, - "heading": 0.2582313735688241, - "angularVelocity": 0.004288903265417761, - "velocityX": 3.718020187012952, - "velocityY": 2.4640152983014283, + "x": 4.667616700514436, + "y": 4.914746985738124, + "heading": -0.10848111434945133, + "angularVelocity": 0.29888532594261424, + "velocityX": -3.071898964743279, + "velocityY": 1.8739507525675534, + "moduleForcesX": [ + 15.794211104212724, + -19.742086427115105, + 19.670581844292276, + -15.876844954973864 + ], + "moduleForcesY": [ + -19.802243704724187, + -15.930482333374542, + 15.740528521206018, + 19.610416586564405 + ], + "timestamp": 1.3025322310488794 + }, + { + "x": 4.600974027769729, + "y": 4.955400165325889, + "heading": -0.10715430180051834, + "angularVelocity": 0.059670715422011404, + "velocityX": -2.997119648521273, + "velocityY": 1.8282946691544864, "moduleForcesX": [ - -71.44560924330256, - -71.71103357166939, - -71.38388465509242, - -71.6488815011628 + 57.28718942159095, + 18.961759393072, + 65.52583323370585, + 26.377655962724752 ], "moduleForcesY": [ - 134.2730790823799, - 134.1318265240505, - 134.30723349382475, - 134.16636544188862 + -46.50101564302794, + -48.53772763348435, + -6.017030432231889, + -1.6087346581541238 ], - "timestamp": 1.1511701993490684 + "timestamp": 1.3247678040523088 }, { - "x": 6.5987379512628745, - "y": 4.998661510894463, - "heading": 0.25843940071096017, - "angularVelocity": 0.0030339798181587187, - "velocityX": 3.1974881035860774, - "velocityY": 3.110664592299739, + "x": 4.539366935735094, + "y": 4.992981453780155, + "heading": -0.10605064738070613, + "angularVelocity": 0.04963462914322005, + "velocityX": -2.770654573423076, + "velocityY": 1.6901425678784678, "moduleForcesX": [ - -94.86840238947268, - -94.96823818394641, - -94.82478293923123, - -94.92458137223326 + 126.94597770627763, + 126.10297584884034, + 128.49287880626787, + 127.69864249228695 ], "moduleForcesY": [ - 117.91009356969734, - 117.8303509386973, - 117.94663858398155, - 117.86698607183503 + -78.37666147266584, + -79.59236787229398, + -75.74866777655278, + -76.93789348258782 ], - "timestamp": 1.219735962671232 + "timestamp": 1.3470033770557381 }, { - "x": 6.7759867733861485, - "y": 5.247955494875119, - "heading": 0.2586192716270912, - "angularVelocity": 0.0026233342621136634, - "velocityX": 2.5850922316723794, - "velocityY": 3.6358376528082057, + "x": 4.482855198878393, + "y": 5.027454453263848, + "heading": -0.1050899767772636, + "angularVelocity": 0.04320422070051338, + "velocityX": -2.541501262323552, + "velocityY": 1.5503535473709684, "moduleForcesX": [ - -111.63929836087871, - -111.66387156096651, - -111.62390375896479, - -111.64847819942464 + 128.5686261151599, + 128.04667811196126, + 129.58564094037285, + 129.0844290033957 ], "moduleForcesY": [ - 95.74615505151759, - 95.71894983616147, - 95.76621173146378, - 95.7390136613767 + -79.03743300278715, + -79.83628374002983, + -77.33740247497981, + -78.12532825297457 ], - "timestamp": 1.2883017259933958 + "timestamp": 1.3692389500591675 }, { - "x": 6.934261174965004, - "y": 5.509709510093557, - "heading": 0.2587951414777653, - "angularVelocity": 0.00256498056978897, - "velocityX": 2.308359068889787, - "velocityY": 3.817561455402081, + "x": 4.431458968012331, + "y": 5.058806893744279, + "heading": -0.10424551942832437, + "angularVelocity": 0.03797776422532485, + "velocityX": -2.3114417091087915, + "velocityY": 1.4100127069176909, "moduleForcesX": [ - -50.44860391306926, - -50.45169855033135, - -50.44893662678693, - -50.452031233669686 + 129.12033660829192, + 128.70074149038646, + 129.95392739375555, + 129.5481891454527 ], "moduleForcesY": [ - 33.128521267526445, - 33.12717494060894, - 33.13176895692266, - 33.1304226181893 + -79.26131056415235, + -79.91681010008162, + -77.87544361428868, + -78.52373258635521 ], - "timestamp": 1.3568674893155594 + "timestamp": 1.391474523062597 }, { - "x": 7.091843215190642, - "y": 5.771880952183355, - "heading": 0.2589709698302554, - "angularVelocity": 0.0025643753379365167, - "velocityX": 2.2982612981929784, - "velocityY": 3.82364943358305, + "x": 4.385188350139869, + "y": 5.087032620995214, + "heading": -0.1035039160476499, + "angularVelocity": 0.033352114674988886, + "velocityX": -2.080927613843227, + "velocityY": 1.2693950925655102, "moduleForcesX": [ - -1.840870759526762, - -1.840903641934308, - -1.8408794402953386, - -1.840912322716913 + 129.39797569932037, + 129.02844434859125, + 130.1387480656699, + 129.78013207277573 ], "moduleForcesY": [ - 1.1098673102483563, - 1.1098585651410204, - 1.1099002058497693, - 1.109891460746765 + -79.37377678222988, + -79.95708067053462, + -78.14556977234983, + -78.72323700322325 ], - "timestamp": 1.4254332526377231 + "timestamp": 1.4137100960660263 }, { - "x": 7.249404421589691, - "y": 6.0340649156543105, - "heading": 0.2591467981968178, - "angularVelocity": 0.0025643755431733668, - "velocityX": 2.2979574464933967, - "velocityY": 3.8238320521356646, + "x": 4.34404941699805, + "y": 5.112127937900596, + "heading": -0.10285716786497852, + "angularVelocity": 0.029086193666861604, + "velocityX": -1.850140454463287, + "velocityY": 1.1286112078835366, "moduleForcesX": [ - -0.055394216310620505, - -0.05539420509854719, - -0.055394213515453594, - -0.055394202303552444 + 129.56507675400564, + 129.22516047391494, + 130.24984519480333, + 129.91924312365788 ], "moduleForcesY": [ - 0.03329259512829876, - 0.03329259785721462, - 0.03329258393250947, - 0.03329258666150902 + -79.44137201559003, + -79.98129301682714, + -78.3078726157832, + -78.84301019844365 ], - "timestamp": 1.4939990159598868 + "timestamp": 1.4359456690694556 }, { - "x": 7.406965272902818, - "y": 6.296249092486793, - "heading": 0.2593226267694791, - "angularVelocity": 0.0025643785490307982, - "velocityX": 2.2979522676836095, - "velocityY": 3.8238351639225767, + "x": 4.308046218648705, + "y": 5.134090378356939, + "heading": -0.10229995199932605, + "angularVelocity": 0.025059658483572257, + "velocityX": -1.6191711517302603, + "velocityY": 0.9877164151764638, "moduleForcesX": [ - -0.0009442357195338098, - -0.0009440727428309704, - -0.000944190996414584, - -0.000944028020823924 + 129.67667423314484, + 129.35630372537736, + 130.32398931278001, + 130.01193475205707 ], "moduleForcesY": [ - 0.0005673588465162425, - 0.0005674034948023384, - 0.0005671958886649733, - 0.0005672405371795352 + -79.48646432128947, + -79.99746920767701, + -78.41612764824622, + -78.9228798941575 ], - "timestamp": 1.5625647792820505 + "timestamp": 1.458181242072885 }, { - "x": 7.564534740167337, - "y": 6.558427198804303, - "heading": 0.2595007237790296, - "angularVelocity": 0.0025974626536817186, - "velocityX": 2.298077927397116, - "velocityY": 3.823746628268577, + "x": 4.277181648700871, + "y": 5.1529181804318815, + "heading": -0.10182847202282391, + "angularVelocity": 0.02120385997830667, + "velocityX": -1.3880717147731485, + "velocityY": 0.8467423831191073, "moduleForcesX": [ - 0.021771163895779856, - 0.023568712221102687, - 0.022248510539662644, - 0.024046058449725113 + 129.7564715074086, + 129.44996231967133, + 130.3769832573186, + 130.07811113767573 ], "moduleForcesY": [ - -0.015480546711810404, - -0.015003200160183068, - -0.017278091763925713, - -0.016800743117756707 + -79.5186843660336, + -80.0090424618892, + -78.49346497433869, + -78.97993075845346 ], - "timestamp": 1.6311305426042142 + "timestamp": 1.4804168150763144 }, { - "x": 7.711285201447431, - "y": 6.802107665035766, - "heading": 0.32034019087803495, - "angularVelocity": 0.8873155369560016, - "velocityX": 2.140287720392417, - "velocityY": 3.5539670883077417, + "x": 4.25145787755928, + "y": 5.16861002255607, + "heading": -0.1014398840192389, + "angularVelocity": 0.017475960863482038, + "velocityX": -1.156874668245571, + "velocityY": 0.7057089161484229, "moduleForcesX": [ - -64.36317822484585, - -14.937297503884388, - -41.38924082882618, - 5.6248508290897 + 129.81635559214615, + 129.52019310324377, + 130.416742483144, + 130.12772671095473 ], "moduleForcesY": [ - -32.83740079610559, - -19.373225864973048, - -75.18841673863052, - -69.3314580119363 + -79.54286159052201, + -80.01772984211864, + -78.55147186431859, + -79.02270752485245 ], - "timestamp": 1.6996963059263779 + "timestamp": 1.5026523880797438 }, { - "x": 7.828760771040384, - "y": 6.997272869470878, - "heading": 0.40638241198325015, - "angularVelocity": 1.2548860675689593, - "velocityX": 1.7133269419437556, - "velocityY": 2.8463943953685527, + "x": 4.23087659333383, + "y": 5.181164876831858, + "heading": -0.10113197817978152, + "angularVelocity": 0.013847443437139244, + "velocityX": -0.9256017023836997, + "velocityY": 0.5646292215563723, "moduleForcesX": [ - -100.9836760080328, - -83.47435573512564, - -75.09982171897201, - -51.793437445644365 + 129.86294325753974, + 129.5748087401744, + 130.44766989616497, + 130.1663119341695 ], "moduleForcesY": [ - -113.73586948001663, - -126.93286075077032, - -132.3451691164271, - -142.9671520228315 + -79.56168439313996, + -80.02448621102923, + -78.59659260974958, + -79.05595730453213 ], - "timestamp": 1.7682620692485416 + "timestamp": 1.5248879610831731 }, { - "x": 7.916727378291258, - "y": 7.143408297316895, - "heading": 0.48123846483269567, - "angularVelocity": 1.091740968414882, - "velocityX": 1.2829523509616856, - "velocityY": 2.131317741762136, + "x": 4.2154391464677445, + "y": 5.190581920968391, + "heading": -0.1009029880226161, + "angularVelocity": 0.010298369964655253, + "velocityX": -0.694268003064429, + "velocityY": 0.4235125460937225, "moduleForcesX": [ - -67.33834615216166, - -76.18180862108125, - -81.41996659361705, - -88.90061351995232 + 129.9002099274142, + 129.61849761010185, + 130.472409638987, + 130.19718488252792 ], "moduleForcesY": [ - -136.74333597852987, - -132.04944799622973, - -128.8335700002639, - -123.82678747587613 + -79.5767681218038, + -80.02988522212851, + -78.63269613553649, + -79.08252803833966 ], - "timestamp": 1.8368278325707053 + "timestamp": 1.5471235340866025 }, { - "x": 7.975304684745279, - "y": 7.2407056303977, - "heading": 0.5350819188255351, - "angularVelocity": 0.7852819159884439, - "velocityX": 0.8543229684453808, - "velocityY": 1.41903667905483, + "x": 4.205146641807889, + "y": 5.196860482219538, + "heading": -0.10075146914342466, + "angularVelocity": 0.006814255659977125, + "velocityX": -0.4628846154883643, + "velocityY": 0.2823656152318348, "moduleForcesX": [ - -56.88607291726352, - -73.36458495887281, - -85.56959783408232, - -96.74782619265117 + 129.93068788822578, + 129.65424329282206, + 130.49264551827898, + 130.22245681089385 ], "moduleForcesY": [ - -141.51432223762785, - -133.7482406290124, - -126.22512286876359, - -117.92683559106494 + -79.58914180319016, + -80.03429243710616, + -78.66224530027024, + -79.10423175184549 ], - "timestamp": 1.905393595892869 + "timestamp": 1.569359107090032 }, { - "x": 8.004569053649902, - "y": 7.289306163787842, - "heading": 0.5633166974965059, - "angularVelocity": 0.4117912104078289, - "velocityX": 0.426807308579053, - "velocityY": 0.7088163397446334, + "x": 4.2, + "y": 5.2, + "heading": -0.1006762184795864, + "angularVelocity": 0.0033842466675648953, + "velocityX": -0.2314598237290449, + "velocityY": 0.1411934731782533, "moduleForcesX": [ - -51.86786059065145, - -71.7928742395697, - -88.17638886107456, - -99.91880168037392 + 129.9560665658062, + 129.68403471542578, + 130.50950069278474, + 130.24353501334008 ], "moduleForcesY": [ - -143.47780701850422, - -134.6459121140117, - -124.4764760193074, - -115.31159121096721 + -79.59949199039627, + -80.03795191381815, + -78.6868822679072, + -79.12227624241693 ], - "timestamp": 1.9739593592150326 + "timestamp": 1.5915946800934613 }, { - "x": 8.004569053649902, - "y": 7.289306163787842, - "heading": 0.5633166974965059, - "angularVelocity": -6.758179503496535e-19, - "velocityX": -1.2020854158408072e-17, - "velocityY": 7.807456264368596e-18, + "x": 4.2, + "y": 5.2, + "heading": -0.1006762184795864, + "angularVelocity": -8.513559946790838e-22, + "velocityX": 1.3479126293227626e-21, + "velocityY": 3.2050949350711848e-21, "moduleForcesX": [ - -48.86499249179234, - -71.20342560134931, - -89.37977200278166, - -101.79118645243145 + 129.97751622250743, + 129.70924866709143, + 130.52375309198518, + 130.2613936110417 ], "moduleForcesY": [ - -144.55649606551765, - -134.98479325761485, - -123.65106665806778, - -113.69559611100382 + -79.60829426953454, + -80.04103286601915, + -78.70774396573493, + -79.13749752637258 ], - "timestamp": 2.0425251225371963 + "timestamp": 1.6138302530968907 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 5, - "y": 1.8, - "heading": -0.676, + "x": 8.146272659301758, + "y": 2.5416696071624756, + "heading": -0.35718839589958584, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 20 }, { - "timestamp": 0.6447919972520685, + "timestamp": 0.6428528176465487, "isStopPoint": false, - "x": 4.56858491897583, - "y": 3.6867117881774902, - "heading": 0.049958090676025725, + "x": 6.660732269287109, + "y": 3.6256182193756104, + "heading": -0.2815511117895859, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 8 + "headingConstrained": true, + "controlIntervalCount": 20 }, { - "timestamp": 1.0826044360269047, + "timestamp": 1.1691187930283031, "isStopPoint": false, - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0, + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.18603129598958645, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 + "headingConstrained": true, + "controlIntervalCount": 20 }, { - "timestamp": 2.0425251225371963, + "timestamp": 1.6138302530968907, "isStopPoint": true, - "x": 8.004569053649902, - "y": 7.289306163787842, - "heading": 0.5633166974965059, + "x": 4.2, + "y": 5.2, + "heading": -0.10067621847958641, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 40 + "controlIntervalCount": 20 } ], "constraints": [ @@ -37880,42 +38675,50 @@ "last" ], "type": "StopPoint" + }, + { + "scope": [ + 0, + 3 + ], + "type": "MaxVelocity", + "velocity": 3.6 } ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, + "usesControlIntervalGuessing": false, + "defaultControlIntervalCount": 20, "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], "isTrajectoryStale": false }, - "f4 to shoot2": { + "f5 to shoot2": { "waypoints": [ { - "x": 8.146272659301758, - "y": 2.5416696071624756, - "heading": -0.3602857968918242, + "x": 8.044, + "y": 0.828, + "heading": -0.5325926535895862, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 20 }, { - "x": 6.660732269287109, - "y": 3.6256182193756104, - "heading": -0.564804889468171, + "x": 6.663692474365234, + "y": 3.194321393966675, + "heading": -0.3501853071795864, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, "controlIntervalCount": 20 }, { "x": 5.076982498168945, "y": 4.663970470428467, - "heading": 0, + "heading": -0.166, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, "controlIntervalCount": 20 }, { @@ -37930,12 +38733,12 @@ ], "trajectory": [ { - "x": 8.146272659301758, - "y": 2.5416696071624756, - "heading": -0.3602857968918242, - "angularVelocity": -1.0745537487259938e-20, - "velocityX": -2.518497705941496e-19, - "velocityY": -1.7245903998316117e-20, + "x": 8.044, + "y": 0.828, + "heading": -0.5325926535895862, + "angularVelocity": -3.0585591860571732e-22, + "velocityX": -9.836729052176632e-24, + "velocityY": -6.3242697268018195e-25, "moduleForcesX": [ 0, 0, @@ -37951,2703 +38754,3143 @@ "timestamp": 0 }, { - "x": 8.136096469353628, - "y": 2.549106019202484, - "heading": -0.3602490718261665, - "angularVelocity": 0.0011425651783751652, - "velocityX": -0.3165946765526914, - "velocityY": 0.23135657613699906, + "x": 8.032024366069393, + "y": 0.8488326805857733, + "heading": -0.5325515213275621, + "angularVelocity": 0.0009269277947315279, + "velocityX": -0.26987448303523476, + "velocityY": 0.46947067152369854, "moduleForcesX": [ - -123.06504366568878, - -123.02139035572398, - -123.22037238702718, - -123.17706885533495 + -75.99516083642747, + -75.92615817296648, + -76.11633561208036, + -76.04744440362354 ], "moduleForcesY": [ - 90.04955880529255, - 90.10859784684727, - 89.83673208921417, - 89.89550620893729 + 132.2609309442785, + 132.30039172496134, + 132.19113914478396, + 132.2306196321183 ], - "timestamp": 0.03214264389703349 + "timestamp": 0.04437482860890867 }, { - "x": 8.11574577486022, - "y": 2.563977611653643, - "heading": -0.3601747952365552, - "angularVelocity": 0.0023108425632092423, - "velocityX": -0.6331369180025249, - "velocityY": 0.4626748346774745, + "x": 8.008075520695167, + "y": 0.8904938276682749, + "heading": -0.532467408819902, + "angularVelocity": 0.0018955004514272223, + "velocityX": -0.5396943746035827, + "velocityY": 0.9388463772936753, "moduleForcesX": [ - -123.0434355967206, - -122.99875546308593, - -123.2022162680416, - -123.15790167923356 + -75.97863636828598, + -75.906520163362, + -76.10521266920507, + -76.03321807468078 ], "moduleForcesY": [ - 90.03638131301248, - 90.09673181130734, - 89.81880132246424, - 89.87887495791746 + 132.23487337792943, + 132.2760787597028, + 132.16194917324165, + 132.20317605581712 ], - "timestamp": 0.06428528779406698 + "timestamp": 0.08874965721781734 }, { - "x": 8.085222743533151, - "y": 2.586282800433951, - "heading": -0.36006190368394986, - "angularVelocity": 0.0035122049376816577, - "velocityX": -0.9496117190870611, - "velocityY": 0.6939438103413045, + "x": 7.972157093681252, + "y": 0.9529771269444502, + "heading": -0.5323375455322986, + "angularVelocity": 0.002926507925200736, + "velocityX": -0.8094324674575465, + "velocityY": 1.4080797883607152, "moduleForcesX": [ - -123.01564778884216, - -122.96964072641977, - -123.17886664453725, - -123.13324591638336 + -75.95388015517307, + -75.87709342098178, + -76.08854743124665, + -76.01189834664568 ], "moduleForcesY": [ - 90.0194308465013, - 90.08147163050486, - 89.79573798869718, - 89.85748617783366 + 132.195831587505, + 132.23964828950457, + 132.11821188675648, + 132.16205292401975 ], - "timestamp": 0.09642793169110046 + "timestamp": 0.133124485826726 }, { - "x": 8.044530266888996, - "y": 2.616019472532202, - "heading": -0.35990897774865827, - "angularVelocity": 0.004757727328886318, - "velocityX": -1.265996561283005, - "velocityY": 0.925147047440559, + "x": 7.924275123713193, + "y": 1.0362720736897102, + "heading": -0.5321573180636888, + "angularVelocity": 0.004061479768139941, + "velocityX": -1.0790344767313993, + "velocityY": 1.8770764723255224, "moduleForcesX": [ - -122.97858535293801, - -122.93080158540018, - -123.14772298381364, - -123.10035417672329 + -75.91269939525975, + -75.82813496573823, + -76.06082434432506, + -75.9764264451034 ], "moduleForcesY": [ - 89.99682099660788, - 90.06111682172907, - 89.7649732929712, - 89.82895486446012 + 132.13088927987542, + 132.1790392856821, + 132.04545044922497, + 132.09362987970087 ], - "timestamp": 0.12857057558813395 + "timestamp": 0.1774993144356347 }, { - "x": 7.993672395152897, - "y": 2.6531846681966442, - "heading": -0.35971402738023345, - "angularVelocity": 0.006065162811414525, - "velocityX": -1.5822553956374017, - "velocityY": 1.1562582027593544, + "x": 7.864441644539395, + "y": 1.140357734339573, + "heading": -0.5319175179826507, + "angularVelocity": 0.005403966360105332, + "velocityX": -1.348365301895168, + "velocityY": 2.3456014121701103, "moduleForcesX": [ - -122.92667548791526, - -122.87639414368363, - -123.1041027668734, - -123.05427820202537 + -75.83065009016207, + -75.73056342981562, + -76.00558264136284, + -75.90572824824991 ], "moduleForcesY": [ - 89.9651554274929, - 90.0326051654772, - 89.72188113854125, - 89.78898496880375 + 132.00150945435703, + 132.05825069432692, + 131.90046092632195, + 131.95724309580459 ], - "timestamp": 0.16071321948516742 + "timestamp": 0.22187414304454336 }, { - "x": 7.932655207540108, - "y": 2.69777394496543, - "heading": -0.35947406149270655, - "angularVelocity": 0.0074656549192295965, - "velocityX": -1.8983250975917867, - "velocityY": 1.387231147249894, + "x": 7.792692387246151, + "y": 1.2651719521175644, + "heading": -0.5315907083674618, + "angularVelocity": 0.007364752167703965, + "velocityX": -1.6168909163705534, + "velocityY": 2.8127256305150823, "moduleForcesX": [ - -122.84876869523828, - -122.7947220957611, - -123.0386375908397, - -122.98511431121692 + -75.58717796594748, + -75.44083136945085, + -75.84154362878331, + -75.6956882922955 ], "moduleForcesY": [ - 89.91763988249625, - 89.98980890000963, - 89.6572045884285, - 89.72897728129809 + 131.61760889256118, + 131.69950766767352, + 131.4700397830344, + 131.55202398563486 ], - "timestamp": 0.1928558633822009 + "timestamp": 0.266248971653452 }, { - "x": 7.861488844099484, - "y": 2.749779892873853, - "heading": -0.35918408042128047, - "angularVelocity": 0.009021693186003791, - "velocityX": -2.2140793292742655, - "velocityY": 1.6179735579575156, + "x": 7.713096246009242, + "y": 1.4036365111678364, + "heading": -0.527571358722332, + "angularVelocity": 0.0905772432509834, + "velocityX": -1.7937227868172647, + "velocityY": 3.1203401430709743, "moduleForcesX": [ - -122.71884278330317, - -122.65847158425117, - -122.92946017983006, - -122.86973335590639 + -49.63409963591525, + -43.252316874528205, + -56.2292507984112, + -50.132280221483235 ], "moduleForcesY": [ - 89.83841836981522, - 89.91842010460293, - 89.54933407893087, - 89.62884761298741 + 90.01161190379975, + 89.53964334149873, + 83.84067386321088, + 83.21731108372825 ], - "timestamp": 0.22499850727923437 + "timestamp": 0.3106238002623607 }, { - "x": 7.780193604230848, - "y": 2.8091876778848563, - "heading": -0.35883404043765366, - "angularVelocity": 0.010890205072992166, - "velocityX": -2.5292020198767817, - "velocityY": 1.8482544622479, + "x": 7.633499847689751, + "y": 1.542101523873641, + "heading": -0.5182739514160493, + "angularVelocity": 0.2095198471237819, + "velocityX": -1.7937285802498997, + "velocityY": 3.1203503663337306, "moduleForcesX": [ - -122.45884208658849, - -122.38563372395392, - -122.71095615387783, - -122.63867218579807 + -1.9299869394795022, + 7.0447875520119965, + -7.048051753401431, + 1.9267233042365912 ], "moduleForcesY": [ - 89.67992789815467, - 89.77547633650862, - 89.33343260311402, - 89.42827969450236 + 7.049291875568288, + 1.9312425057242097, + -1.9254677474835347, + -7.043547420014684 ], - "timestamp": 0.25714115117626785 + "timestamp": 0.3549986288712694 }, { - "x": 7.68883041769496, - "y": 2.875952774825798, - "heading": -0.35839358843434443, - "angularVelocity": 0.013703042124355424, - "velocityX": -2.8424291053579696, - "velocityY": 2.077150129739205, + "x": 7.553903448919249, + "y": 1.6805665358349102, + "heading": -0.5059714653609751, + "angularVelocity": 0.2772401931622191, + "velocityX": -1.7937285904135667, + "velocityY": 3.1203503495553955, "moduleForcesX": [ - -121.67941448644659, - -121.566231470422, - -122.05542002980185, - -121.94429952306598 + -1.1471899580461222, + 3.9980880129499505, + -3.9980937316600738, + 1.147184224692999 ], "moduleForcesY": [ - 89.20478073771356, - 89.34596517063635, - 88.68596660609488, - 88.82557692346678 + 3.9980861478423275, + 1.1471823632126465, + -1.1471918195264532, + -3.9980955967676928 ], - "timestamp": 0.2892837950733013 + "timestamp": 0.39937345748017805 }, { - "x": 7.59543466945207, - "y": 2.9442031932964894, - "heading": -0.35332582211321417, - "angularVelocity": 0.15766488710027904, - "velocityX": -2.9056647779810096, - "velocityY": 2.123360439463065, + "x": 7.474307049473395, + "y": 1.819031547063319, + "heading": -0.49197069453367864, + "angularVelocity": 0.3155115471135735, + "velocityX": -1.7937286056328559, + "velocityY": 3.1203503330401725, "moduleForcesX": [ - -29.248872972220163, - -13.423501853358983, - -35.70399389576315, - -19.99088573602437 + -0.6798933286114363, + 2.250171441337479, + -2.250180012704963, + 0.6798847514177842 ], "moduleForcesY": [ - 28.809314250356852, - 23.756849232152433, - 12.569521059273681, - 6.747496368740438 + 2.2501710751831205, + 0.6798843874656036, + -0.679893692563601, + -2.250180378859325 ], - "timestamp": 0.3214264389703348 + "timestamp": 0.44374828608908673 }, { - "x": 7.5020387698053295, - "y": 3.0124537237033246, - "heading": -0.3449236675996103, - "angularVelocity": 0.261402096869179, - "velocityX": -2.9056694883545506, - "velocityY": 2.123363921943138, + "x": 7.394710649578657, + "y": 1.9574965578208483, + "heading": -0.47702284827381847, + "angularVelocity": 0.33685417450512256, + "velocityX": -1.793728615748574, + "velocityY": 3.1203503224287648, "moduleForcesX": [ - -3.7523266199646392, - 7.954914750928709, - -7.958577594937844, - 3.748662167632037 + -0.39786794542800824, + 1.24903585952574, + -1.2490415579463643, + 0.3978622458124058 ], "moduleForcesY": [ - 7.958092929807755, - 3.7518562536765385, - -3.749132541305897, - -7.955399415013542 + 1.2490357196538393, + 0.39786210642149683, + -0.3978680848189135, + -1.2490416978182661 ], - "timestamp": 0.35356908286736827 + "timestamp": 0.4881231146979954 }, { - "x": 7.408642869516068, - "y": 3.0807042519520493, - "heading": -0.3343176222912936, - "angularVelocity": 0.32996804314829714, - "velocityX": -2.90566950834977, - "velocityY": 2.1233638548008944, + "x": 7.315114249492908, + "y": 2.0959615683479025, + "heading": -0.4615661357254765, + "angularVelocity": 0.3483216281141615, + "velocityX": -1.793728620053098, + "velocityY": 3.1203503172349376, "moduleForcesX": [ - -2.53456488678924, - 5.232481049985871, - -5.232496528557727, - 2.534549261480311 + -0.2241224817603333, + 0.6677265136297692, + -0.6677289386444983, + 0.22412005658817793 ], "moduleForcesY": [ - 5.232462692848136, - 2.5345309484661276, - -2.5345831998035244, - -5.232514885694545 + 0.6677262630907235, + 0.22411980610932455, + -0.22412273223918652, + -0.6677291891835438 ], - "timestamp": 0.38571172676440174 + "timestamp": 0.532497943306904 }, { - "x": 7.3152469670598785, - "y": 3.1489547762092758, - "heading": -0.32226702367076615, - "angularVelocity": 0.374909999909486, - "velocityX": -2.905669575762591, - "velocityY": 2.123363730623268, + "x": 7.235517849287263, + "y": 2.2344265787474633, + "heading": -0.4458694672219707, + "angularVelocity": 0.35372910714419253, + "velocityX": -1.7937286227549183, + "velocityY": 3.120350314361836, "moduleForcesX": [ - -1.702524643420085, - 3.4093715946624865, - -3.409423959497382, - 1.7024721431709058 + -0.11061431259868915, + 0.3131687092062438, + -0.3131702313539202, + 0.11061279043018529 ], "moduleForcesY": [ - 3.4093494904792987, - 1.7024500966559644, - -1.7025466899331962, - -3.4094460636803157 + 0.3131686609532508, + 0.11061274218617016, + -0.11061436084270465, + -0.3131702796069127 ], - "timestamp": 0.4178543706614352 + "timestamp": 0.5768727719158127 }, { - "x": 7.22185105583351, - "y": 3.2172052877266277, - "heading": -0.3092826831153518, - "angularVelocity": 0.4039599417213056, - "velocityX": -2.905669848614098, - "velocityY": 2.1233633342649023, + "x": 7.15592144710445, + "y": 2.372891587997578, + "heading": -0.43012145015532527, + "angularVelocity": 0.35488626233215065, + "velocityX": -1.7937286673110473, + "velocityY": 3.120350288458719, "moduleForcesX": [ - -1.1291019405510807, - 2.189213465124858, - -2.1894255869848616, - 1.1288896239170743 + -0.024735308738378113, + 0.06662203484675998, + -0.06664713698210914, + 0.02471020659065927 ], "moduleForcesY": [ - 2.1891653864317404, - 1.1288416410766866, - -1.1291499233767037, - -2.189473665679626 + 0.06662728923295264, + 0.024715460984186425, + -0.02473005434484995, + -0.06664188259591762 ], - "timestamp": 0.4499970145584687 + "timestamp": 0.6212476005247213 }, { - "x": 7.128455093767032, - "y": 3.2854557291779836, - "heading": -0.29571246186407146, - "angularVelocity": 0.4221874620753502, - "velocityX": -2.9056714303155027, - "velocityY": 2.1233611544243325, + "x": 7.076325014289695, + "y": 2.5113565796680453, + "heading": -0.4144931558063935, + "angularVelocity": 0.35218827517441414, + "velocityX": -1.7937293576109552, + "velocityY": 3.1203498922961277, "moduleForcesX": [ - -0.7275844410413829, - 1.3633444146812341, - -1.3645744205631036, - 0.726354006192971 + 0.05986928619205338, + -0.15463779058135796, + 0.15424888823794494, + -0.06025818956605101 ], "moduleForcesY": [ - 1.3631116923537125, - 0.7261215059649009, - -0.7278169409826798, - -1.3648071429410968 + -0.15455493499508183, + -0.0601753333478141, + 0.05995214240940125, + 0.1543317438253407 ], - "timestamp": 0.48213965845550216 + "timestamp": 0.6656224291336299 }, { - "x": 7.035058808720538, - "y": 3.3537057283514544, - "heading": -0.28180092189401484, - "angularVelocity": 0.43280633710845756, - "velocityX": -2.9056814786511067, - "velocityY": 2.1233473945704735, + "x": 6.996728139127575, + "y": 2.6498213171341973, + "heading": -0.39919517325702275, + "angularVelocity": 0.34474460023716147, + "velocityX": -1.7937393260407923, + "velocityY": 3.1203441637260623, "moduleForcesX": [ - -0.438434005349309, - 0.7847310614013094, - -0.7925460256020564, - 0.4306181215770146 + 0.16940511406538833, + -0.42632820966348567, + 0.4207122274162974, + -0.1750212088195875 ], "moduleForcesY": [ - 0.7832874389166379, - 0.42917498581669855, - -0.4398771344549223, - -0.793989649395888 + -0.4251339140134009, + -0.17382684192610137, + 0.17059948045643009, + 0.4219065237178261 ], - "timestamp": 0.5142823023525357 + "timestamp": 0.7099972577425385 }, { - "x": 6.941660444150244, - "y": 3.4219528815797027, - "heading": -0.26773191992221884, - "angularVelocity": 0.4377051874408642, - "velocityX": -2.9057461753778435, - "velocityY": 2.123258853468348, + "x": 6.917124927061762, + "y": 2.78828241176976, + "heading": -0.38454771206169114, + "angularVelocity": 0.330084907469164, + "velocityX": -1.7938821300558634, + "velocityY": 3.1202620714520504, "moduleForcesX": [ - -0.23072074870199893, - 0.33581003231107065, - -0.386129414150487, - 0.18040011016189633 + 0.3111116669815416, + -0.8692554101672714, + 0.7888052344072365, + -0.3915680451708448 ], "moduleForcesY": [ - 0.32653682728916544, - 0.17112751689003508, - -0.2399932151861948, - -0.39540264605323294 + -0.852155574770193, + -0.374463984135748, + 0.328215528721465, + 0.8059053360087134 ], - "timestamp": 0.5464249462495692 + "timestamp": 0.7543720863514471 }, { - "x": 6.848248671337322, - "y": 3.4901816814065594, - "heading": -0.25366097290966344, - "angularVelocity": 0.4377657002215085, - "velocityX": -2.9061633234710005, - "velocityY": 2.122687854972637, + "x": 6.837431033870095, + "y": 2.9266913331362, + "heading": -0.3710865244682766, + "angularVelocity": 0.30335187797687796, + "velocityX": -1.7959256562777648, + "velocityY": 3.1190863312687305, "moduleForcesX": [ - -0.16482701171788813, - -0.15780264802136593, - -0.16664802076736582, - -0.15962365830830882 + 0.08528761749446666, + -2.07858187451445, + 0.9274414714110615, + -1.2367208647725303 ], "moduleForcesY": [ - -0.21763375005571528, - -0.2194547994684859, - -0.2246580879477113, - -0.22647913751426388 + -1.8342807206906333, + -0.9921401823343631, + 0.3297951286723465, + 1.1718429862525694 ], - "timestamp": 0.5785675901466026 + "timestamp": 0.7987469149603558 }, { - "x": 6.754750521187146, - "y": 3.558292059995686, - "heading": -0.23974278403723234, - "angularVelocity": 0.4330131932213453, - "velocityX": -2.908850636233242, - "velocityY": 2.1190036142414814, + "x": 6.7564486034205675, + "y": 3.0643502800704208, + "heading": -0.35972223546391724, + "angularVelocity": 0.25609764275411484, + "velocityX": -1.8249632277626047, + "velocityY": 3.1021854337164623, "moduleForcesX": [ - -0.8358906335286197, - -1.3895165963417062, - -0.7006049961934422, - -1.2542798041287426 + -6.977788164929342, + -10.810782712541323, + -5.5420570462568755, + -9.38788885158046 ], "moduleForcesY": [ - -1.7772527789252621, - -1.6418568008261916, - -1.2236790767460808, - -1.0882905026375862 + -7.414281756691886, + -5.951713614569924, + -3.56782004975934, + -2.10952297834713 ], - "timestamp": 0.6107102340436361 + "timestamp": 0.8431217435692644 }, { - "x": 6.660732269287109, - "y": 3.6256182193756104, - "heading": -0.22615519033777107, - "angularVelocity": 0.42272794182669354, - "velocityX": -2.925031686916243, - "velocityY": 2.0946055214246604, + "x": 6.663692474365234, + "y": 3.194321393966675, + "heading": -0.3501853071795864, + "angularVelocity": 0.21491752381475648, + "velocityX": -2.090287038014874, + "velocityY": 2.928937822875576, "moduleForcesX": [ - -5.825546398641265, - -7.030805894757506, - -5.553804891356853, - -6.76053309018896 + -73.11019738585297, + -76.37640399954186, + -73.08635476399151, + -76.38460444274989 ], "moduleForcesY": [ - -10.228296821465424, - -9.946084420946445, - -9.030245655153468, - -8.748213719681651 + -51.7386271441709, + -49.30343006886495, + -48.312957386096365, + -45.85431495995163 ], - "timestamp": 0.6428528779406696 + "timestamp": 0.887496572178173 }, { - "x": 6.582074320245892, - "y": 3.67833861515236, - "heading": -0.21528174145787884, - "angularVelocity": 0.4132301672329048, - "velocityX": -2.9892849817510876, - "velocityY": 2.0035646650896783, + "x": 6.592854332530707, + "y": 3.2760960961141774, + "heading": -0.3438759290019077, + "angularVelocity": 0.20987133710619676, + "velocityX": -2.356317076939008, + "velocityY": 2.720104200105429, "moduleForcesX": [ - -29.87908098495652, - -31.32260789597221, - -29.719786051141266, - -31.171340618698082 + -110.11632087856741, + -110.7825921379847, + -110.44408605077403, + -111.11011126408769 ], "moduleForcesY": [ - -44.10331963256774, - -43.66444880048413, - -42.832820474864334, - -42.39341098986325 + -87.48809219249509, + -86.72685166434762, + -86.93869542218248, + -86.1721225413497 ], - "timestamp": 0.6691661767801604 + "timestamp": 0.9175596492265937 }, { - "x": 6.502998288382309, - "y": 3.730429851125363, - "heading": -0.20463195199620696, - "angularVelocity": 0.40473030487871436, - "velocityX": -3.0051736327679723, - "velocityY": 1.9796543295751612, + "x": 6.51595953996239, + "y": 3.3522041864183256, + "heading": -0.3379462323320015, + "angularVelocity": 0.1972418412245558, + "velocityX": -2.55778184130877, + "velocityY": 2.5316134533256767, "moduleForcesX": [ - -7.05831037610595, - -8.282165122789658, - -6.812593397968463, - -8.038225463080394 + -82.71226277232306, + -84.47929267817165, + -83.05007393111133, + -84.8284701382727 ], "moduleForcesY": [ - -12.095897437934052, - -11.834558408590883, - -10.88226580136967, - -10.621215883785098 + -79.71776029119529, + -78.31087384307021, + -78.44568102806464, + -77.01779091211135 ], - "timestamp": 0.6954794756196513 + "timestamp": 0.9476227262750144 }, { - "x": 6.423827122647484, - "y": 3.7823763844056675, - "heading": -0.19414472447658124, - "angularVelocity": 0.3985523663755355, - "velocityX": -3.00878906205422, - "velocityY": 1.974155106783613, + "x": 6.4368322701067235, + "y": 3.4259886322293047, + "heading": -0.3328065285519021, + "angularVelocity": 0.17096399586180666, + "velocityX": -2.63204161464313, + "velocityY": 2.4543211492336328, "moduleForcesX": [ - -1.3605947159883434, - -2.24866871364941, - -1.18620646348506, - -2.0744959524775988 + -29.658810111341513, + -32.92803198583494, + -28.805588415264342, + -32.11417730211305 ], "moduleForcesY": [ - -3.1437176493360783, - -2.9687906910532558, - -2.2559444563698885, - -2.0810594918619185 + -34.36055838670825, + -32.99421090233494, + -31.28245186709019, + -29.913000046363706 ], - "timestamp": 0.7217927744591421 + "timestamp": 0.9776858033234351 }, { - "x": 6.344634346688931, - "y": 3.83428996701651, - "heading": -0.18377466764954056, - "angularVelocity": 0.3940994586158583, - "velocityX": -3.009610328283926, - "velocityY": 1.9729028628266356, + "x": 6.357287809374476, + "y": 3.4993231345350018, + "heading": -0.328289958402059, + "angularVelocity": 0.15023645592128132, + "velocityX": -2.645918799467223, + "velocityY": 2.439354500791197, "moduleForcesX": [ - -0.12908653352676763, - -0.7703773098176167, - -0.009886768501030025, - -0.6512029217797858 + -4.93653941276806, + -7.452827403514895, + -4.084677665126222, + -6.606069376766367 ], "moduleForcesY": [ - -0.9751226383808044, - -0.8559093477811426, - -0.3338322710281372, - -0.21462446563368587 + -7.911521990452657, + -7.046902144295959, + -5.398919042954715, + -4.53473360194574 ], - "timestamp": 0.748106073298633 + "timestamp": 1.0077488803718557 }, { - "x": 6.265436657374759, - "y": 3.8861960537648006, - "heading": -0.17348992282248102, - "angularVelocity": 0.39085729576499406, - "velocityX": -3.0097970534698915, - "velocityY": 1.9726179930883219, + "x": 6.277670648201377, + "y": 3.572578701981824, + "heading": -0.3241814198691952, + "angularVelocity": 0.1366639391651905, + "velocityX": -2.6483370629315486, + "velocityY": 2.4367288594189462, "moduleForcesX": [ - 0.10420341832743245, - -0.3635906302680396, - 0.18618643613251698, - -0.2816106583339923 + -0.45786986624495596, + -2.1072725578546754, + 0.09647311474363991, + -1.5533133047829293 ], "moduleForcesY": [ - -0.41021479856029297, - -0.3282320520047196, - 0.05758054678683605, - 0.13956256977739123 + -2.193689871469339, + -1.6392183158170819, + -0.5442068932208659, + 0.010227805425541213 ], - "timestamp": 0.7744193721381238 + "timestamp": 1.0378119574202764 }, { - "x": 6.18623785068603, - "y": 3.938100435670245, - "heading": -0.16326853160810126, - "angularVelocity": 0.38844963061186116, - "velocityX": -3.009839517722007, - "velocityY": 1.972553202928159, + "x": 6.1980408198388215, + "y": 3.645820499885105, + "heading": -0.3203217536270433, + "angularVelocity": 0.1283856019107886, + "velocityX": -2.648758416655102, + "velocityY": 2.436270837656288, "moduleForcesX": [ - 0.12516109274299025, - -0.22283268172213164, - 0.18248801385321226, - -0.1655061406997868 + 0.1613997981770602, + -0.8459902638073543, + 0.49561131943703174, + -0.5118036161210494 ], "moduleForcesY": [ - -0.2334386175613659, - -0.17611180282236025, - 0.1145553739726048, - 0.17188209018688447 + -0.8612450244010751, + -0.5270390471165232, + 0.14615636593490303, + 0.48035977025026905 ], - "timestamp": 0.8007326709776147 + "timestamp": 1.0678750344686971 }, { - "x": 6.107038789912459, - "y": 3.9900044299320476, - "heading": -0.15309585928908356, - "angularVelocity": 0.38659813735519116, - "velocityX": -3.009849173859949, - "velocityY": 1.9725384710755243, + "x": 6.1184087835649414, + "y": 3.719059897263144, + "heading": -0.31658808372831015, + "angularVelocity": 0.12419453579949626, + "velocityX": -2.6488318592811257, + "velocityY": 2.4361909880374872, "moduleForcesX": [ - 0.10875391061039971, - -0.15928783494068832, - 0.15011366102610835, - -0.11792813535298781 + 0.14113967205610656, + -0.3695040778832861, + 0.3084308565507187, + -0.20221400385867647 ], "moduleForcesY": [ - -0.16169904415715822, - -0.12033931063448154, - 0.1063427330809989, - 0.14770245231681728 + -0.3721683903375653, + -0.2048776131193835, + 0.13847593987683207, + 0.3057665939421829 ], - "timestamp": 0.8270459698171055 + "timestamp": 1.0979381115171178 }, { - "x": 6.027839671395653, - "y": 4.041908336130193, - "heading": -0.1429628771606607, - "angularVelocity": 0.3850897673542686, - "velocityX": -3.009851368310545, - "velocityY": 1.9725351243398568, + "x": 6.0387763624232, + "y": 3.792298876183092, + "heading": -0.31287593148386894, + "angularVelocity": 0.12347878557016291, + "velocityX": -2.6488446612927414, + "velocityY": 2.436177068700812, "moduleForcesX": [ - 0.09256623246457578, - -0.12613159097477683, - 0.12404666939173113, - -0.0946511616665526 + 0.02421067239250234, + -0.06310260589252221, + 0.05245664955579203, + -0.03485663437016234 ], "moduleForcesY": [ - -0.12667898068409786, - -0.09519854635268504, - 0.09201884768389032, - 0.1234992797047832 + -0.0635671829070011, + -0.03532120778125906, + 0.023746098344502573, + 0.05199207280232798 ], - "timestamp": 0.8533592686565964 + "timestamp": 1.1280011885655385 }, { - "x": 5.948640539775223, - "y": 4.093812222373882, - "heading": -0.1328651041577258, - "angularVelocity": 0.38375169394497205, - "velocityX": -3.0098518662953846, - "velocityY": 1.972534365998576, + "x": 5.959143874172723, + "y": 3.865537782117845, + "heading": -0.3090839582116471, + "angularVelocity": 0.12613390392854196, + "velocityX": -2.648846893557121, + "velocityY": 2.4361746409654383, "moduleForcesX": [ - 0.08391987041769212, - -0.11035883414038411, - 0.10988570443896967, - -0.08439300146939306 + -0.1112969886488858, + 0.21299185910575893, + -0.21484816962594097, + 0.10944066460393716 ], "moduleForcesY": [ - -0.11048251560395049, - -0.08451668203485704, - 0.08379618984786812, - 0.10976202297648692 + 0.2129105799530521, + 0.10935939301472991, + -0.11137826016633691, + -0.2149294488083506 ], - "timestamp": 0.8796725674960872 + "timestamp": 1.1580642656139593 }, { - "x": 5.869441405126993, - "y": 4.145716104036956, - "heading": -0.12280208294959341, - "angularVelocity": 0.3824310007466585, - "velocityX": -3.0098519813627, - "velocityY": 1.9725341919189148, + "x": 5.879511374082945, + "y": 3.9387766751344464, + "heading": -0.3050991667458285, + "angularVelocity": 0.13254769162187086, + "velocityX": -2.648847287372416, + "velocityY": 2.4361742112638707, "moduleForcesX": [ - 0.08409821202831282, - -0.10790519803129357, - 0.10779587388482034, - -0.08420753647499696 + -0.26883119590559346, + 0.5155217086483702, + -0.5158491925203962, + 0.2685036980971234 ], "moduleForcesY": [ - -0.1079332316500991, - -0.08423556989071378, - 0.08407017861236843, - 0.10776784026607512 + 0.5155067834632091, + 0.2684887807990641, + -0.2688461131982421, + -0.5158641177078013 ], - "timestamp": 0.9059858663355781 + "timestamp": 1.18812734266238 }, { - "x": 5.790242269391937, - "y": 4.1976199840850725, - "heading": -0.11277732881991177, - "angularVelocity": 0.3809767141258825, - "velocityX": -3.009852022665962, - "velocityY": 1.9725341305445478, + "x": 5.799878871081088, + "y": 4.012015564900903, + "heading": -0.30078039092071096, + "angularVelocity": 0.14365714521376252, + "velocityX": -2.648847384238056, + "velocityY": 2.436174103153051, "moduleForcesX": [ - 0.0938315187677691, - -0.11784477337657623, - 0.11780553162728034, - -0.09387076064479073 + -0.46925799540516216, + 0.8911709744567401, + -0.8912515212492341, + 0.4691774381959965 ], "moduleForcesY": [ - -0.11785430809786854, - -0.0938802952776739, - 0.09382198413486942, - 0.11779599690599342 + 0.8911662958541331, + 0.46917276547711606, + -0.4692626681234636, + -0.8912561998520685 ], - "timestamp": 0.932299165175069 + "timestamp": 1.2181904197108007 }, { - "x": 5.711043131449483, - "y": 4.249523860817315, - "heading": -0.1027987452849091, - "angularVelocity": 0.37922206546093973, - "velocityX": -3.0098521065550288, - "velocityY": 1.9725340045295885, + "x": 5.720246362650583, + "y": 4.085254448619502, + "heading": -0.29593764454411675, + "angularVelocity": 0.16108618451778203, + "velocityX": -2.6488475648133467, + "velocityY": 2.4361739019807627, "moduleForcesX": [ - 0.11460779231653198, - -0.14106311773260916, - 0.14098341576499887, - -0.11468749466236929 + -0.7429685165284523, + 1.3945182559611005, + -1.39466839580155, + 0.7428183290097624 ], "moduleForcesY": [ - -0.14108312955813923, - -0.11470750622277477, - 0.11458778075598006, - 0.1409634039395122 + 1.3945096782912103, + 0.7428097785270028, + -0.7429770670080417, + -1.3946769734727111 ], - "timestamp": 0.9586124640145598 + "timestamp": 1.2482534967592214 }, { - "x": 5.631843984148448, - "y": 4.301427723336742, - "heading": -0.09287955510493337, - "angularVelocity": 0.3769649043429346, - "velocityX": -3.009852462214803, - "velocityY": 1.9725334643913557, + "x": 5.640613824997811, + "y": 4.158493300313573, + "heading": -0.2903042795907885, + "angularVelocity": 0.1873848423517974, + "velocityX": -2.648848536845163, + "velocityY": 2.4361728367362288, "moduleForcesX": [ - 0.1491047005039374, - -0.1801079656385837, - 0.17977005820075515, - -0.14944261059923752 + -1.1331918015915343, + 2.097548201576523, + -2.0983562398342523, + 1.1323831859475029 ], "moduleForcesY": [ - -0.18019560214373206, - -0.14953024521691305, - 0.1490170658826029, - 0.17968242169668303 + 2.0975092769593804, + 1.1323445962401417, + -1.1332303911636672, + -2.098395164509076 ], - "timestamp": 0.9849257628540506 + "timestamp": 1.278316573807642 }, { - "x": 5.552644795504737, - "y": 4.353331522861778, - "heading": -0.08303985542307654, - "angularVelocity": 0.37394397950170505, - "velocityX": -3.00985403338519, - "velocityY": 1.9725310703779149, + "x": 5.560981120203287, + "y": 4.231731969830021, + "heading": -0.28349781785100253, + "angularVelocity": 0.22640602386852393, + "velocityX": -2.648854096547228, + "velocityY": 2.4361667768900155, "moduleForcesX": [ - 0.20139747944742756, - -0.23959455342412553, - 0.23810181073251563, - -0.20289024305214 + -1.7042591408668457, + 3.0990581458773225, + -3.103677895386098, + 1.6996321621441923 ], "moduleForcesY": [ - -0.2399854484140815, - -0.20328112292023132, - 0.20100659948414576, - 0.23771091577128253 + 3.0988480635839615, + 1.6994263303158519, + -1.7044649662058777, + -3.103887980537262 ], - "timestamp": 1.0112390616935416 + "timestamp": 1.3083796508560628 }, { - "x": 5.473445424728932, - "y": 4.40523504459515, - "heading": -0.07330897804320329, - "angularVelocity": 0.3698083406125122, - "velocityX": -3.0098609550598296, - "velocityY": 1.9725205132955745, + "x": 5.481347458890943, + "y": 4.3049695984952665, + "heading": -0.2749636000672413, + "angularVelocity": 0.28387705523342494, + "velocityX": -2.6488859135770566, + "velocityY": 2.4361321546456156, "moduleForcesX": [ - 0.2766149895435917, - -0.32756234668669754, - 0.32098621903413527, - -0.283191288506133 + -2.5587953353009434, + 4.532979929480465, + -4.559393808318418, + 2.5322920929521837 ], "moduleForcesY": [ - -0.3292893918479129, - -0.28491820668897444, - 0.27488806883749906, - 0.31925917465878034 + 4.531786899248366, + 2.531152263878934, + -2.5599348534931616, + -4.560586978806118 ], - "timestamp": 1.0375523605330326 + "timestamp": 1.3384427279044835 }, { - "x": 5.394245252756537, - "y": 4.4571373439321915, - "heading": -0.0637289281820201, - "angularVelocity": 0.3640763524034276, - "velocityX": -3.0098914034119724, - "velocityY": 1.9724740578382778, + "x": 5.4017083358337405, + "y": 4.378201286439804, + "heading": -0.2638927788904084, + "angularVelocity": 0.36825309528368627, + "velocityX": -2.64906758975247, + "velocityY": 2.4359345461074287, "moduleForcesX": [ - 0.37776840217127927, - -0.46017045440115545, - 0.4312424994164421, - -0.4066977921137878 + -3.8867158166183855, + 6.557429862857006, + -6.707961761840949, + 3.735089398406481 ], "moduleForcesY": [ - -0.4677750931271793, - -0.41430131975377804, - 0.37016480702520904, - 0.4236378824046199 + 6.550475156585462, + 3.728791017609326, + -3.8929994188543704, + -6.714923296167907 ], - "timestamp": 1.0638656593725235 + "timestamp": 1.3685058049529042 }, { - "x": 5.315041558067353, - "y": 4.509034267618418, - "heading": -0.05435929683308494, - "angularVelocity": 0.35607969210129037, - "velocityX": -3.0100252793205486, - "velocityY": 1.9722697637720494, + "x": 5.322038184212182, + "y": 4.45139921350889, + "heading": -0.24910239133254858, + "angularVelocity": 0.49197850020601347, + "velocityX": -2.6500997051379054, + "velocityY": 2.4348115447793464, "moduleForcesX": [ - 0.48940416615976284, - -0.6802418638432408, - 0.5530537963353553, - -0.6166044012987012 + -6.164011134532724, + 9.216283873289328, + -10.067935292197898, + 5.2990794775093075 ], "moduleForcesY": [ - -0.7136985483549334, - -0.650050691993453, - 0.4559560598060777, - 0.5195977142982356 + 9.174507940270216, + 5.2650935415464035, + -6.197304169327246, + -10.110039137907684 ], - "timestamp": 1.0901789582120145 + "timestamp": 1.398568882001325 }, { - "x": 5.235822380603561, - "y": 4.560907554499787, - "heading": -0.04528420013699609, - "angularVelocity": 0.34488631590612207, - "velocityX": -3.0106136804443926, - "velocityY": 1.9713714801702493, + "x": 5.242193909877443, + "y": 4.524407160352171, + "heading": -0.2288646669401861, + "angularVelocity": 0.673175415802144, + "velocityX": -2.6558916176856937, + "velocityY": 2.4284921575290683, "moduleForcesX": [ - 0.5023411808607042, - -1.1355835749790395, - 0.5766015156544861, - -1.0614270753744113 + -11.133374596621048, + 11.575862422138778, + -16.313190667353705, + 6.237769162992093 ], "moduleForcesY": [ - -1.2828398279278084, - -1.2085709135013165, - 0.3551483643080726, - 0.42936198565066247 + 11.313052488906415, + 6.053756940108435, + -11.285832708232544, + -16.591190362752045 ], - "timestamp": 1.1164922570515055 + "timestamp": 1.4286319590497456 }, { - "x": 5.156535245375025, - "y": 4.612676900070158, - "heading": -0.0366218759813688, - "angularVelocity": 0.3291994747016255, - "velocityX": -3.013196319936208, - "velocityY": 1.9674213364945454, + "x": 5.161413555068929, + "y": 4.596377951865966, + "heading": -0.2008777699575348, + "angularVelocity": 0.9309392028492137, + "velocityX": -2.687028832025592, + "velocityY": 2.393992850361793, "moduleForcesX": [ - -0.12066346402047996, - -2.416763712653346, - -0.03653199144766255, - -2.333520330304596 + -26.58220009939148, + 6.808138950257297, + -31.864889455688814, + -0.14752203360309568 ], "moduleForcesY": [ - -3.0669654355188185, - -2.9821401381771384, - -0.770605818570807, - -0.6862719886072624 + 5.165738649826619, + -1.6408223915765097, + -26.784045818200944, + -34.11907412776487 ], - "timestamp": 1.1428055558909964 + "timestamp": 1.4586950360981663 }, { "x": 5.076982498168945, "y": 4.663970470428467, - "heading": -0.028534029348921325, - "angularVelocity": 0.3073672625307347, - "velocityX": -3.0232905304403683, - "velocityY": 1.9493401671601904, + "heading": -0.166, + "angularVelocity": 1.1601530309541963, + "velocityX": -2.808463576898518, + "velocityY": 2.2483566287520587, + "moduleForcesX": [ + -68.40715651739825, + -34.763028076185925, + -64.29331377644831, + -34.5030945328469 + ], + "moduleForcesY": [ + -41.11277607876721, + -53.78698088540779, + -67.8458652924806, + -79.47213438742843 + ], + "timestamp": 1.488758113146587 + }, + { + "x": 5.011548458384883, + "y": 4.710038098381911, + "heading": -0.13876202814196595, + "angularVelocity": 1.2247907327794152, + "velocityX": -2.9423264681196164, + "velocityY": 2.0714906415428134, + "moduleForcesX": [ + -85.07382928171674, + -70.6592714731342, + -79.51526479195162, + -65.71756078060247 + ], + "moduleForcesY": [ + -90.88166882095503, + -99.868563975784, + -99.52462971020628, + -107.37556316869367 + ], + "timestamp": 1.5109969912904664 + }, + { + "x": 4.944130952408395, + "y": 4.753151371788619, + "heading": -0.1096667956061866, + "angularVelocity": 1.3083048680577039, + "velocityX": -3.031515598059749, + "velocityY": 1.9386442574913336, + "moduleForcesX": [ + -60.201633592638196, + -42.83706623126527, + -56.85719462821666, + -40.62935093819132 + ], + "moduleForcesY": [ + -65.5504668373278, + -71.81608786189103, + -77.79282615891657, + -83.52111730368917 + ], + "timestamp": 1.5332358694343458 + }, + { + "x": 4.875860429281027, + "y": 4.794900830383448, + "heading": -0.0799515731637119, + "angularVelocity": 1.3361835183513096, + "velocityX": -3.0698726206329807, + "velocityY": 1.8773185555825067, + "moduleForcesX": [ + -24.027048010641174, + -19.001035703769848, + -24.08296168472936, + -19.127618091600315 + ], + "moduleForcesY": [ + -31.81294253993924, + -32.48442086070161, + -36.44611940518913, + -37.13600354250775 + ], + "timestamp": 1.5554747475782251 + }, + { + "x": 4.80731960857004, + "y": 4.836205070048322, + "heading": -0.05252244958633514, + "angularVelocity": 1.2333861177671837, + "velocityX": -3.082026902049672, + "velocityY": 1.8572987089391957, + "moduleForcesX": [ + 1.6061962429708239, + -16.092976076741053, + 2.5906897843255123, + -15.43056136268149 + ], + "moduleForcesY": [ + -20.675346328834472, + -19.55475077273552, + -2.8774439208701095, + -1.9033775000417006 + ], + "timestamp": 1.5777136257221045 + }, + { + "x": 4.738697842922885, + "y": 4.8773747284213975, + "heading": -0.03060239696411374, + "angularVelocity": 0.9856635968957072, + "velocityX": -3.0856666961019585, + "velocityY": 1.8512470865984019, + "moduleForcesX": [ + 18.634677367546427, + -24.01774612344233, + 20.204208966757236, + -23.00454323312301 + ], + "moduleForcesY": [ + -25.59203037666513, + -24.111410524016378, + 17.452958379074122, + 18.64453014028286 + ], + "timestamp": 1.5999525038659839 + }, + { + "x": 4.670050811912327, + "y": 4.918500645096401, + "heading": -0.017548109453805617, + "angularVelocity": 0.5870029695675539, + "velocityX": -3.0868027859344562, + "velocityY": 1.8492801844100148, + "moduleForcesX": [ + 33.1855617519586, + -35.6721896573537, + 34.62586838221673, + -34.6935281192735 + ], + "moduleForcesY": [ + -36.31612966199994, + -34.97801312322975, + 32.88960630961585, + 33.982321075039984 + ], + "timestamp": 1.6221913820098632 + }, + { + "x": 4.603063207227361, + "y": 4.958620088673567, + "heading": -0.014583974120691926, + "angularVelocity": 0.13328618979503234, + "velocityX": -3.0121845288880116, + "velocityY": 1.8040228161525889, + "moduleForcesX": [ + 73.87917659891767, + 3.4610057140129897, + 84.32111497149015, + 6.104038187283307 + ], + "moduleForcesY": [ + -59.989155541489346, + -73.81837883099256, + 12.522755266575233, + 19.531965936502534 + ], + "timestamp": 1.6444302601537426 + }, + { + "x": 4.541136102505571, + "y": 4.995707297578138, + "heading": -0.01210887067440813, + "angularVelocity": 0.11129623671979184, + "velocityX": -2.7846325844885604, + "velocityY": 1.6676744512293336, + "moduleForcesX": [ + 127.36960213080559, + 125.20172315858285, + 130.49196440886652, + 128.54512626421823 + ], + "moduleForcesY": [ + -77.83386593962678, + -81.00784800371383, + -72.30730122873238, + -75.40503859160985 + ], + "timestamp": 1.666669138297622 + }, + { + "x": 4.484330351368017, + "y": 5.029726780735972, + "heading": -0.009950253222174046, + "angularVelocity": 0.09706503350881449, + "velocityX": -2.5543442780684305, + "velocityY": 1.5297301841274176, + "moduleForcesX": [ + 129.04969882385433, + 127.6931202547488, + 131.13919413377405, + 129.87860611884363 + ], + "moduleForcesY": [ + -78.29632105330516, + -80.39905635528088, + -74.68766835229971, + -76.75909857178956 + ], + "timestamp": 1.6889080164415013 + }, + { + "x": 4.4326664575145855, + "y": 5.060666584038578, + "heading": -0.008050326651272853, + "angularVelocity": 0.08543266250254172, + "velocityX": -2.3231339962052178, + "velocityY": 1.391248385033048, + "moduleForcesX": [ + 129.627970505076, + 128.53021423970918, + 131.35411406497713, + 130.32121160237895 + ], + "moduleForcesY": [ + -78.45324843562169, + -80.18890753135919, + -75.49671273609903, + -77.21181679110533 + ], + "timestamp": 1.7111468945853807 + }, + { + "x": 4.386154702915534, + "y": 5.088520713539962, + "heading": -0.006380217087861238, + "angularVelocity": 0.07509864268361359, + "velocityX": -2.091461372202599, + "velocityY": 1.2524970603809622, + "moduleForcesX": [ + 129.92056229181208, + 128.94920376313064, + 131.4615757186872, + 130.54165933677118 + ], + "moduleForcesY": [ + -78.5317392014187, + -80.0830939259021, + -75.90322494490832, + -77.43860573608792 + ], + "timestamp": 1.73338577272926 + }, + { + "x": 4.344801263770737, + "y": 5.113285568972936, + "heading": -0.004922626537450151, + "angularVelocity": 0.06554244962272314, + "velocityX": -1.8595110273667528, + "velocityY": 1.1135838450451891, + "moduleForcesX": [ + 130.09727438183094, + 129.20053375195837, + 131.5261155388415, + 130.67348131154324 + ], + "moduleForcesY": [ + -78.57862961156697, + -80.01955006183515, + -76.14750970335476, + -77.57495565992956 + ], + "timestamp": 1.7556246508731395 + }, + { + "x": 4.308610259552806, + "y": 5.134958749061031, + "heading": -0.0036660397823218994, + "angularVelocity": 0.056504053261971575, + "velocityX": -1.627375445101524, + "velocityY": 0.9745626532003613, + "moduleForcesX": [ + 130.21558103445227, + 129.36799355780244, + 131.5691865443855, + 130.76111591097109 + ], + "moduleForcesY": [ + -78.60972929291158, + -79.97722060502194, + -76.31044000900523, + -77.66602031861254 + ], + "timestamp": 1.7778635290170188 + }, + { + "x": 4.277584633330454, + "y": 5.153538538294656, + "heading": -0.002602241887639963, + "angularVelocity": 0.047835052101075526, + "velocityX": -1.3951075239276127, + "velocityY": 0.8354643212412275, + "moduleForcesX": [ + 130.3003183383157, + 129.48754068846463, + 131.5999737169155, + 130.82358383766928 + ], + "moduleForcesY": [ + -78.63186253637525, + -79.94701340088972, + -76.42683235209549, + -77.73113720079094 + ], + "timestamp": 1.8001024071608982 + }, + { + "x": 4.251726592535597, + "y": 5.16902364998069, + "heading": -0.001725077950036944, + "angularVelocity": 0.03944281415312476, + "velocityX": -1.1627403427309801, + "velocityY": 0.6963081314544508, + "moduleForcesX": [ + 130.36396852629426, + 129.5771615647065, + 131.6230687111339, + 130.87038556242325 + ], + "moduleForcesY": [ + -78.64845727601362, + -79.92436682683636, + -76.51413645317245, + -77.77996754726415 + ], + "timestamp": 1.8223412853047776 + }, + { + "x": 4.23103785403471, + "y": 5.181413083379324, + "heading": -0.0010297647851857947, + "angularVelocity": 0.031265658292323396, + "velocityX": -0.9302959603902878, + "velocityY": 0.5571069421098666, + "moduleForcesX": [ + 130.4134906135284, + 129.6468488147032, + 131.64102298241994, + 130.90679443260817 + ], + "moduleForcesY": [ + -78.66142385608707, + -79.90674306796195, + -76.58205936525013, + -77.81787498809337 + ], + "timestamp": 1.844580163448657 + }, + { + "x": 4.215519791249609, + "y": 5.190706037944631, + "heading": -0.0005124783926406911, + "angularVelocity": 0.023260453571371992, + "velocityX": -0.6977898203580443, + "velocityY": 0.41786975517268843, + "moduleForcesX": [ + 130.45307070026846, + 129.7025969278405, + 131.6553680098671, + 130.93597194036062 + ], + "moduleForcesY": [ + -78.67191089107696, + -79.89261887858592, + -76.63642957193791, + -77.84807585782026 + ], + "timestamp": 1.8668190415925363 + }, + { + "x": 4.205173527809965, + "y": 5.196901858732643, + "heading": -0.00017009171639673816, + "angularVelocity": 0.015395860979533568, + "velocityX": -0.4652331548797881, + "velocityY": 0.27860311783221064, + "moduleForcesX": [ + 130.48537787591897, + 129.74821951709995, + 131.6670788348747, + 130.95992846106546 + ], + "moduleForcesY": [ + -78.6806503066457, + -79.88102511572508, + -76.68095754418674, + -77.87261601196946 + ], + "timestamp": 1.8890579197364157 + }, + { + "x": 4.2, + "y": 5.2, + "heading": 4.659565553305106e-19, + "angularVelocity": 0.007648394640066517, + "velocityX": -0.23263438813593154, + "velocityY": 0.13931194043749218, + "moduleForcesX": [ + 130.5121943023448, + 129.78625817078492, + 131.67680581217965, + 130.9800033043441 + ], + "moduleForcesY": [ + -78.6881304288858, + -79.8713160152652, + -76.7181173709682, + -77.89285893180104 + ], + "timestamp": 1.911296797880295 + }, + { + "x": 4.2, + "y": 5.2, + "heading": 2.317076431533623e-19, + "angularVelocity": -1.1428231681219e-19, + "velocityX": 3.3495170299257697e-19, + "velocityY": 6.801671925349789e-19, "moduleForcesX": [ - -3.2351882748162315, - -6.435372096015076, - -3.1511663154853853, - -6.359088622577856 + 130.53475536945476, + 129.81847185330702, + 131.68499941760993, + 130.99712305409656 ], "moduleForcesY": [ - -10.23619377487314, - -10.132021804804008, - -7.0448731119410715, - -6.944384775788309 + -78.69468943051332, + -79.86304481858627, + -76.7496219625015, + -77.90974839273868 + ], + "timestamp": 1.9335356760241744 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 8.044, + "y": 0.828, + "heading": -0.5325926535895862, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "timestamp": 0.887496572178173, + "isStopPoint": false, + "x": 6.663692474365234, + "y": 3.194321393966675, + "heading": -0.3501853071795864, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "timestamp": 1.488758113146587, + "isStopPoint": false, + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.166, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "timestamp": 1.9335356760241744, + "isStopPoint": true, + "x": 4.2, + "y": 5.2, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + }, + { + "scope": [ + 0, + 3 ], - "timestamp": 1.1691188547304874 + "type": "MaxVelocity", + "velocity": 3.6 + } + ], + "usesControlIntervalGuessing": false, + "defaultControlIntervalCount": 20, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + }, + "shoot2 to f5": { + "waypoints": [ + { + "x": 4.2, + "y": 5.2, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.16585060450304712, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 }, { - "x": 5.0090040692616125, - "y": 4.706170985079253, - "heading": -0.022143014525621996, - "angularVelocity": 0.28742390632085546, - "velocityX": -3.0572023571075313, - "velocityY": 1.8978890058993578, + "x": 6.243828773498535, + "y": 3.715458631515503, + "heading": -0.3031853071795858, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "x": 7.31837043762207, + "y": 2.5070269107818604, + "heading": -0.3971853071795861, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "x": 8.044, + "y": 0.828, + "heading": -0.49807197564898315, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + } + ], + "trajectory": [ + { + "x": 4.2, + "y": 5.2, + "heading": -4.563103611719638e-19, + "angularVelocity": -1.9003873022833743e-19, + "velocityX": -1.7937684949387004e-19, + "velocityY": -1.3766477270420217e-19, "moduleForcesX": [ - -17.263473241760682, - -20.779282566947717, - -17.334475188314013, - -20.87880940220735 + 0, + 0, + 0, + 0 ], "moduleForcesY": [ - -30.73787971786675, - -30.49261336516838, - -27.348479545860773, - -27.117001822767072 + 0, + 0, + 0, + 0 ], - "timestamp": 1.1913543566590046 + "timestamp": 0 }, { - "x": 4.940797004149744, - "y": 4.748000979795652, - "heading": -0.016308004622261525, - "angularVelocity": 0.2624186277475945, - "velocityX": -3.0674848416349016, - "velocityY": 1.881225566702983, + "x": 4.204666979103224, + "y": 5.197181695256238, + "heading": -0.00017807810308776792, + "angularVelocity": -0.008420688498324893, + "velocityX": 0.22068506220033676, + "velocityY": -0.13326773999204286, "moduleForcesX": [ - -3.6374073035606753, - -7.9742222195858234, - -3.579012247195794, - -7.93113115033737 + 130.1871288179718, + 129.34526682626398, + 131.52129180403628, + 130.71741545554858 ], "moduleForcesY": [ - -11.576848153962082, - -11.481924386925165, - -7.248953780621313, - -7.16262008655707 + -79.21663116495644, + -80.57417865438568, + -76.97516968452116, + -78.32220536849587 ], - "timestamp": 1.2135898585875218 + "timestamp": 0.021147689185176687 }, { - "x": 4.872520869823387, - "y": 4.78971814409621, - "heading": -0.01114976980087726, - "angularVelocity": 0.2319819376224105, - "velocityX": -3.0705911000280546, - "velocityY": 1.8761512303463848, + "x": 4.214000200829075, + "y": 5.191545523927977, + "heading": -0.0005363763197332697, + "angularVelocity": -0.01694266515400878, + "velocityX": 0.44133529882915806, + "velocityY": -0.26651476096446314, "moduleForcesX": [ - 0.8622448332670305, - -4.411287404645321, - 0.9222834338698482, - -4.358148158803499 + 130.1635138385375, + 129.3115611507682, + 131.51337232756163, + 130.70031663443115 ], "moduleForcesY": [ - -5.521457076099401, - -5.458389420804438, - -0.2448259389319355, - -0.1857656395246467 + -79.21044437400388, + -80.5831591524319, + -76.9418434428814, + -78.30375141699822 ], - "timestamp": 1.235825360516039 + "timestamp": 0.042295378370353374 }, { - "x": 4.804223874419234, - "y": 4.831401147876171, - "heading": -0.006839300870148199, - "angularVelocity": 0.19385525654362926, - "velocityX": -3.071529287879592, - "velocityY": 1.8746149249953419, + "x": 4.227998803802669, + "y": 5.183091998480309, + "heading": -0.0010774006101751108, + "angularVelocity": -0.025583139874264263, + "velocityX": 0.6619448040259116, + "velocityY": -0.3997375492884055, "moduleForcesX": [ - 2.7538739550995257, - -3.853650112634323, - 2.8004504693666568, - -3.810336271686734 + 130.13575939978315, + 129.27216969882454, + 131.50407076031334, + 130.68046176896232 ], "moduleForcesY": [ - -4.191310908046083, - -4.144886830718814, - 2.4185412064468275, - 2.463033929280286 + -79.20345261389262, + -80.59360326176376, + -76.90293502412575, + -78.28191364164631 ], - "timestamp": 1.2580608624445562 + "timestamp": 0.06344306755553006 }, { - "x": 4.735920561507559, - "y": 4.873073799193854, - "heading": -0.003615092292852145, - "angularVelocity": 0.14500273426078966, - "velocityX": -3.0718134059335873, - "velocityY": 1.87414934241886, + "x": 4.246661767051926, + "y": 5.171821726326489, + "heading": -0.0018041222795569139, + "angularVelocity": -0.03436411718643911, + "velocityX": 0.8825060310861573, + "velocityY": -0.5329316151132734, "moduleForcesX": [ - 4.058801037496141, - -4.408827038768899, - 4.090193709307545, - -4.3790515409897495 + 130.10276218203998, + 129.2255006852705, + 131.49301371910502, + 130.65703985972974 ], "moduleForcesY": [ - -4.511501304942039, - -4.480371437955288, - 3.95738929485821, - 3.987548285571238 + -79.19536233472076, + -80.60593418657231, + -76.85687586374281, + -78.25582284766598 ], - "timestamp": 1.2802963643730734 + "timestamp": 0.08459075674070675 }, { - "x": 4.6676158270823365, - "y": 4.914742933547374, - "heading": -0.0018016737226168214, - "angularVelocity": 0.08155509941107296, - "velocityX": -3.0718773358390727, - "velocityY": 1.8739911735510983, + "x": 4.269987861154606, + "y": 5.157735438899701, + "heading": -0.0027201209083165803, + "angularVelocity": -0.043314360294349714, + "velocityX": 1.1030091230561865, + "velocityY": -0.666091094094158, "moduleForcesX": [ - 5.453169488765199, - -5.544860398862967, - 5.473444206062505, - -5.525509676393948 + 130.062970692219, + 129.16931172343718, + 131.47967578872218, + 130.62890802271986 ], "moduleForcesY": [ - -5.598161406804016, - -5.578157913476396, - 5.4005090075631434, - 5.420142902397309 + -79.18576021784385, + -80.62074842271907, + -76.80145715818087, + -78.2242549107933 ], - "timestamp": 1.3025318663015906 + "timestamp": 0.10573844592588344 }, { - "x": 4.600973058735623, - "y": 4.955396750768275, - "heading": -0.0014870114576706482, - "angularVelocity": 0.01415134526568148, - "velocityX": -2.9971335282179647, - "velocityY": 1.8283291895812375, + "x": 4.297975577187521, + "y": 5.140834033919877, + "heading": -0.0038297924739780402, + "angularVelocity": -0.052472473750904, + "velocityX": 1.3234408633426955, + "velocityY": -0.7992081230345436, "moduleForcesX": [ - 46.9965681341989, - 35.94870320361335, - 48.166687287225365, - 36.96117024202148 + 130.0141319259499, + 129.10033991290754, + 131.46329324439367, + 130.59440260923404 ], "moduleForcesY": [ - -31.153857620211088, - -32.42705617824138, - -19.13133740338204, - -19.965853651960558 + -79.17404544948728, + -80.63891426089039, + -76.73346650970329, + -78.18542881799303 ], - "timestamp": 1.3247673682301078 + "timestamp": 0.12688613511106012 }, { - "x": 4.539366004020569, - "y": 4.992978594024151, - "heading": -0.001229306975409843, - "angularVelocity": 0.011589775804894132, - "velocityX": -2.7706617513340817, - "velocityY": 1.6901729215152441, + "x": 4.330623019278909, + "y": 5.1211186393230665, + "heading": -0.005138664551136733, + "angularVelocity": -0.06189196681007287, + "velocityX": 1.5437829544779047, + "velocityY": -0.9322718157859456, "moduleForcesX": [ - 127.25143779949215, - 127.00019920275166, - 127.62690753749493, - 127.37862809334462 + 129.95284434423473, + 129.0136473824616, + 131.44271143160657, + 130.55100484791367 ], "moduleForcesY": [ - -77.79751332705194, - -78.1737883680453, - -77.15961283576976, - -77.53503874992407 + -79.15931023889706, + -80.66174590390789, + -76.64804571129547, + -78.1366491247632 ], - "timestamp": 1.347002870158625 + "timestamp": 0.1480338242962368 }, { - "x": 4.482854354412748, - "y": 5.02745208806284, - "heading": -0.001006868860087169, - "angularVelocity": 0.010003737088452926, - "velocityX": -2.541505462277911, - "velocityY": 1.5503807446987337, + "x": 4.36792773403565, + "y": 5.098590714749617, + "heading": -0.006653897488073601, + "angularVelocity": -0.07165004760893495, + "velocityX": 1.7640090333651195, + "velocityY": -1.065266487345482, "moduleForcesX": [ - 128.7801800055292, - 128.6277650423408, - 129.018504496516, - 128.86726811682004 + 129.8737192680789, + 128.90138961027466, + 131.4160974512311, + 130.494711074527 ], "moduleForcesY": [ - -78.66590110232622, - -78.90442036881876, - -78.26801535993917, - -78.50621285777649 + -79.14011570539454, + -80.69133062574485, + -76.5374836731909, + -78.0736324784727 ], - "timestamp": 1.3692383720871422 + "timestamp": 0.16918151348141347 }, { - "x": 4.431458233022125, - "y": 5.058804970191635, - "heading": -0.0008124594534062391, - "angularVelocity": 0.008743198480786191, - "velocityX": -2.3114441740892437, - "velocityY": 1.4100370762753027, + "x": 4.4098864225662755, + "y": 5.073252222885594, + "heading": -0.008385132146664948, + "angularVelocity": -0.08186401092961217, + "velocityX": 1.9840791191545961, + "velocityY": -1.1981683503083898, "moduleForcesX": [ - 129.2966612595165, - 129.17635509076803, - 129.48764275337825, - 129.36809049746944 + 129.7676823540196, + 128.75031083280626, + 131.3803553369797, + 130.41875057497685 ], "moduleForcesY": [ - -78.95916128105361, - -79.15026486232779, - -78.64216858600908, - -78.83306999868385 + -79.11403796103053, + -80.73119226804772, + -76.38876610774484, + -77.98913650566332 ], - "timestamp": 1.3914738740156594 + "timestamp": 0.19032920266659015 }, { - "x": 4.385187732962006, - "y": 5.087031089846425, - "heading": -0.0006424673876264742, - "angularVelocity": 0.007645074364691939, - "velocityX": -2.080928967058069, - "velocityY": 1.269416797764683, + "x": 4.456494413140236, + "y": 5.045105943235013, + "heading": -0.010346045521282677, + "angularVelocity": -0.09272471131229865, + "velocityX": 2.2039282951973744, + "velocityY": -1.330938780325654, "moduleForcesX": [ - 129.55591992105371, - 129.45146610884112, - 129.72297454408783, - 129.61909646151975 + 129.61817524143956, + 128.53611435858616, + 131.3298087689241, + 130.31069839986205 ], "moduleForcesY": [ - -79.106353921978, - -79.27352766778002, - -78.82988164098808, - -78.99690249392809 + -79.07665274538529, + -80.7877761263168, + -76.17808097196017, + -77.86987286321218 ], - "timestamp": 1.4137093759441766 + "timestamp": 0.21147689185176682 }, { - "x": 4.344048917620275, - "y": 5.112126752109736, - "heading": -0.0004947303768269868, - "angularVelocity": 0.006644195002857733, - "velocityX": -1.8501410705268246, - "velocityY": 1.128630347270273, + "x": 4.507744580934642, + "y": 5.014156114901355, + "heading": -0.012557545240757804, + "angularVelocity": -0.10457406008337129, + "velocityX": 2.4234405634705096, + "velocityY": -1.463508757971335, "moduleForcesX": [ - 129.71173452831252, - 129.61671649197825, - 129.86436447395235, - 129.76982648519757 + 129.3914464085884, + 128.20897176176393, + 131.25279680885498, + 130.14502249016374 ], "moduleForcesY": [ - -79.19481294043023, - -79.347574129576, - -78.94265390716976, - -79.09528841455774 + -79.0189377294792, + -80.87424343357573, + -75.85672443165984, + -77.68854265570891 ], - "timestamp": 1.4359448778726938 + "timestamp": 0.2326245810369435 }, { - "x": 4.30804583148561, - "y": 5.134089492345461, - "heading": -0.00036780945968653236, - "angularVelocity": 0.00570803022789773, - "velocityX": -1.6191712807026988, - "velocityY": 0.9877330543889117, + "x": 4.563624734139857, + "y": 4.980409992064349, + "heading": -0.015055521149401008, + "angularVelocity": -0.11812051363012, + "velocityX": 2.6423763237335667, + "velocityY": -1.5957357109600758, "moduleForcesX": [ - 129.81569571012, - 129.72693332405242, - 129.95868490821886, - 129.8703435237829 + 129.00646244166458, + 127.64815248223073, + 131.12093469416823, + 129.85963582933337 ], "moduleForcesY": [ - -79.25383245849626, - -79.39696771169525, - -79.01787549699489, - -79.16090014881851 + -78.91920521303138, + -81.02220146436946, + -75.30721235921105, + -77.37880760777146 ], - "timestamp": 1.458180379801211 + "timestamp": 0.2537722702221202 }, { - "x": 4.2771813641825, - "y": 5.152917549670645, - "heading": -0.0002606783013755302, - "angularVelocity": 0.004818022937166338, - "velocityX": -1.3880715354360942, - "velocityY": 0.8467565690988327, + "x": 4.62410925781352, + "y": 4.943882817271881, + "heading": -0.017915707999014333, + "angularVelocity": -0.13524819778503983, + "velocityX": 2.8601008433791937, + "velocityY": -1.7272418973247796, "moduleForcesX": [ - 129.88998503058448, - 129.80567294261806, - 130.0260777647227, - 129.9421468439595 + 128.20787039023384, + 126.4670807079848, + 130.84226510666718, + 129.25420335579074 ], "moduleForcesY": [ - -79.29600687759688, - -79.43225934195489, - -79.07161671692316, - -79.20776938298017 + -78.70887047737709, + -81.33084468872896, + -74.15655111624388, + -76.72703416241484 ], - "timestamp": 1.4804158817297282 + "timestamp": 0.27491995940729685 }, { - "x": 4.251457683125085, - "y": 5.168609603303916, - "heading": -0.00017256805840529138, - "angularVelocity": 0.003962592940492018, - "velocityX": -1.1568743147833098, - "velocityY": 0.705720684143811, + "x": 4.68911032017576, + "y": 4.904626876262551, + "heading": -0.02139953466704495, + "angularVelocity": -0.16473793602341083, + "velocityX": 3.0736721063568004, + "velocityY": -1.8562756746681615, "moduleForcesX": [ - 129.94571396373354, - 129.8647297159341, - 130.07662960303063, - 129.99599793385985 + 125.5610542910064, + 122.4035970716802, + 129.85871077124702, + 127.1284108647631 ], "moduleForcesY": [ - -79.32764509365916, - -79.45873159699714, - -79.1119253119969, - -79.24291974359889 + -77.99759374013497, + -82.3445203574127, + -70.2730310315089, + -74.46257805269641 ], - "timestamp": 1.5026513836582454 + "timestamp": 0.29606764859247353 }, { - "x": 4.230876474095848, - "y": 5.181164625961218, - "heading": -0.00010288131301070383, - "angularVelocity": 0.0031340306874392525, - "velocityX": -0.9256012792243521, - "velocityY": 0.5646385990143699, + "x": 4.754240320023069, + "y": 4.86527762096546, + "heading": -0.03556470155999461, + "angularVelocity": -0.6698210272013372, + "velocityX": 3.0797691074854976, + "velocityY": -1.8606881797920152, "moduleForcesX": [ - 129.98906277899536, - 129.91066136182133, - 130.11594952254262, - 130.0378792145017 + 47.50631815547017, + -43.61025684390323, + 51.6682034964551, + -41.148975564574776 ], "moduleForcesY": [ - -79.35225619250643, - -79.47932182464554, - -79.14327634760943, - -79.27025569165343 + -49.556469170215145, + -47.69404398779361, + 41.10496851633419, + 45.712950599799875 ], - "timestamp": 1.5248868855867626 + "timestamp": 0.3172153377776502 }, { - "x": 4.215439085675159, - "y": 5.190581795843094, - "heading": -0.00005114050254487852, - "angularVelocity": 0.002326945918835651, - "velocityX": -0.6942675937930252, - "velocityY": 0.4235195549959345, + "x": 4.819352859995755, + "y": 4.825899355320418, + "heading": -0.05754487540562608, + "angularVelocity": -1.0393652778402995, + "velocityX": 3.078943491302265, + "velocityY": -1.8620599773533908, "moduleForcesX": [ - 130.02374250392748, - 129.9474044393417, - 130.14740514727228, - 130.071381500838 + 31.114533746154628, + -35.96269616022546, + 35.15431278059342, + -32.258174949452446 ], "moduleForcesY": [ - -79.37194729295379, - -79.4957935020435, - -79.16835634782939, - -79.29212074968046 + -36.40756556990517, + -32.45594681670552, + 30.91045513850034, + 34.709682642583594 ], - "timestamp": 1.5471223875152798 + "timestamp": 0.3383630269628269 }, { - "x": 4.2051466211850315, - "y": 5.1968604406058825, - "heading": -0.000016955142455002804, - "angularVelocity": 0.0015374224607015848, - "velocityX": -0.46288428852294927, - "velocityY": 0.2823702735818858, + "x": 4.884413369809319, + "y": 4.7864352286169884, + "heading": -0.08432725407104823, + "angularVelocity": -1.2664446895784272, + "velocityX": 3.0764831676974977, + "velocityY": -1.866120045436224, "moduleForcesX": [ - 130.0521159469605, - 129.97746478199866, - 130.1731404516084, - 130.098790370483 + 17.33687257757476, + -23.72078641777426, + 21.003989854236497, + -20.43707943040043 ], "moduleForcesY": [ - -79.38806002467233, - -79.50926932883868, - -79.18887549227357, - -79.31000655483088 + -24.80274367670931, + -21.230479592663457, + 16.50640182751272, + 19.92750293646319 ], - "timestamp": 1.569357889443797 + "timestamp": 0.35951071614800356 }, { - "x": 4.2, - "y": 5.2, - "heading": 2.8328531583825156e-20, - "angularVelocity": 0.0007625257351738824, - "velocityX": -0.2314596361069011, - "velocityY": 0.14119579599384477, + "x": 4.949316155112273, + "y": 4.746712267696363, + "heading": -0.1129950929106626, + "angularVelocity": -1.3556014838589967, + "velocityX": 3.0690249291193297, + "velocityY": -1.8783594071665681, "moduleForcesX": [ - 130.07575889413536, - 130.00251324554137, - 130.1945851914263, - 130.1216297374448 + 2.7377655958615583, + -13.345928362701587, + 4.619934719884276, + -11.64546827054944 ], "moduleForcesY": [ - -79.40148915639179, - -79.5204980125326, - -79.20597412632327, - -79.3249076390574 + -16.245120476333994, + -14.34223535670772, + -0.09704427495387212, + 1.7465771071653637 ], - "timestamp": 1.5915933913723141 + "timestamp": 0.38065840533318024 }, { - "x": 4.2, - "y": 5.2, - "heading": 1.4103371199895506e-20, - "angularVelocity": -5.477228070678741e-21, - "velocityX": -3.7950839399934564e-20, - "velocityY": -5.90151052202765e-20, + "x": 5.013755644571648, + "y": 4.706242123579325, + "heading": -0.14080140929753424, + "angularVelocity": -1.3148631107346824, + "velocityX": 3.0471172947027356, + "velocityY": -1.9136910781506826, "moduleForcesX": [ - 130.09576256078142, - 130.02370669397874, - 130.21272941748146, - 130.1409546907874 + -16.265109907172622, + -8.74930923161417, + -17.09397889423828, + -9.688359108530635 ], "moduleForcesY": [ - -79.41285431957705, - -79.52999801951783, - -79.22044180421359, - -79.33751255707939 - ], - "timestamp": 1.6138288933008313 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 8.146272659301758, - "y": 2.5416696071624756, - "heading": -0.3602857968918242, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - }, - { - "timestamp": 0.6428528779406696, - "isStopPoint": false, - "x": 6.660732269287109, - "y": 3.6256182193756104, - "heading": -0.564804889468171, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 20 - }, - { - "timestamp": 1.1691188547304874, - "isStopPoint": false, - "x": 5.076982498168945, - "y": 4.663970470428467, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 20 - }, - { - "timestamp": 1.6138288933008313, - "isStopPoint": true, - "x": 4.2, - "y": 5.2, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 0, - 3 + -16.668681209667106, + -17.856440372171583, + -23.89894506945568, + -25.111469252269217 ], - "type": "MaxVelocity", - "velocity": 3.6 - } - ], - "usesControlIntervalGuessing": false, - "defaultControlIntervalCount": 20, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "f5 to shoot2": { - "waypoints": [ - { - "x": 8.044, - "y": 0.828, - "heading": -0.3602857968918242, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - }, - { - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.564804889468171, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 20 + "timestamp": 0.4018060945183569 }, { "x": 5.076982498168945, "y": 4.663970470428467, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 20 - }, - { - "x": 4.2, - "y": 5.2, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - } - ], - "trajectory": [ - { - "x": 8.044, - "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -8.810953422093737e-21, - "velocityX": -2.499787071120317e-21, - "velocityY": 5.562537066224306e-21, + "heading": -0.16585060450304712, + "angularVelocity": -1.1844885266741543, + "velocityX": 2.989776000771621, + "velocityY": -1.9988781176330481, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -46.8396950483597, + -20.12181290139014, + -46.38195915620131, + -22.229959921971602 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 + -36.05106921911469, + -43.225470012132476, + -57.57383585220262, + -64.559430821199 ], - "timestamp": 0 + "timestamp": 0.4229537837035336 }, { - "x": 8.03202438008288, - "y": 0.8488326926594779, - "heading": -0.36024448713941243, - "angularVelocity": 0.0009309275254694299, - "velocityX": -0.2698741474962072, - "velocityY": 0.46947090926705115, + "x": 5.1374092194039305, + "y": 4.619211694588991, + "heading": -0.188127967504992, + "angularVelocity": -1.0659819529000163, + "velocityX": 2.891446097269001, + "velocityY": -2.1417277832484376, "moduleForcesX": [ - -76.0117003422306, - -75.922570726689, - -76.11974354523568, - -76.03068409394186 + -75.16725884773186, + -46.71656672795253, + -69.2629608228196, + -44.10974408726768 ], "moduleForcesY": [ - 132.25143090810823, - 132.30247287432883, - 132.1891543300463, - 132.2402525200922 + -70.38180813162369, + -84.42150338864307, + -87.7635994943025, + -99.20416285650131 ], - "timestamp": 0.04437483185486916 + "timestamp": 0.44385222662870605 }, { - "x": 8.008075562723523, - "y": 0.8904938638783265, - "heading": -0.3601600115760493, - "angularVelocity": 0.0019036818807417664, - "velocityX": -0.5396937038022842, - "velocityY": 0.9388468525380488, + "x": 5.196579575930679, + "y": 4.572804525176901, + "heading": -0.2066526482341198, + "angularVelocity": -0.8864143991710767, + "velocityX": 2.8313284744998786, + "velocityY": -2.220604165499928, "moduleForcesX": [ - -75.99592028454072, - -75.90278057824887, - -76.10877479112716, - -76.01571162095554 + -53.2417883029437, + -16.066823287059474, + -53.457576058743626, + -21.066592105170084 ], "moduleForcesY": [ - 132.22494688168464, - 132.27825273710738, - 132.15986973149495, - 132.21323693761397 + -26.513068256256098, + -37.8279421128232, + -56.71620621711971, + -67.65632186714231 ], - "timestamp": 0.08874966370973832 + "timestamp": 0.4647506695538785 }, { - "x": 7.9721571777077, - "y": 0.9529771993369557, - "heading": -0.36002958756159303, - "angularVelocity": 0.0029391438571044095, - "velocityX": -0.809431461809155, - "velocityY": 1.4080805007438446, + "x": 5.255231902230934, + "y": 4.525744297397298, + "heading": -0.22148715223581195, + "angularVelocity": -0.7098377642204037, + "velocityX": 2.8065404925258464, + "velocityY": -2.25185330543958, "moduleForcesX": [ - -75.97227960679123, - -75.87312656914229, - -76.09234004800221, - -75.99327360399968 + -28.17298530792417, + 4.997578212660654, + -33.61720427932843, + -2.513199261124417 ], "moduleForcesY": [ - 132.185266199562, - 132.24196168914827, - 132.11599019197, - 132.1727551318559 + 0.8349084952629031, + -6.811360094681907, + -30.381578333414, + -38.40624808429158 ], - "timestamp": 0.13312449556460748 + "timestamp": 0.48564911247905096 }, { - "x": 7.924275263690695, - "y": 1.0362721942833608, - "heading": -0.3598485815375, - "angularVelocity": 0.004079024449828894, - "velocityX": -1.07903313692785, - "velocityY": 1.877077421246981, + "x": 5.3136988919936545, + "y": 4.478453995108253, + "heading": -0.23337444347438654, + "angularVelocity": -0.5688122929127986, + "velocityX": 2.797672054903706, + "velocityY": -2.262862475370591, "moduleForcesX": [ - -75.93295485998813, - -75.8237909656994, - -76.06499989414266, - -75.9559406953491 + -15.121826001226982, + 10.458631673014454, + -20.828408795317397, + 4.273664414186175 ], "moduleForcesY": [ - 132.11926139204178, - 132.18158603304877, - 132.04299033717723, - 132.10539899993782 + 9.067280090907817, + 3.032410787815476, + -16.152391962783437, + -22.286988361775116 ], - "timestamp": 0.17749932741947663 + "timestamp": 0.5065475554042235 }, { - "x": 7.8644418543604155, - "y": 1.140357915098812, - "heading": -0.3596077448406855, - "angularVelocity": 0.005427326408856619, - "velocityX": -1.348363629319636, - "velocityY": 2.345602596441823, + "x": 5.372102014023893, + "y": 4.431084833810635, + "heading": -0.24299301264648268, + "angularVelocity": -0.4602529100630004, + "velocityX": 2.7946159548502094, + "velocityY": -2.2666359148012347, "moduleForcesX": [ - -75.85460432851812, - -75.72547088764415, - -76.01051980338595, - -75.88153223565953 + -9.165602184078534, + 10.32091421361651, + -13.927829529585328, + 5.460728615967786 ], "moduleForcesY": [ - 131.98776594554886, - 132.06126794563855, - 131.89751886755639, - 131.97113797998938 + 9.865696944621504, + 5.051342680150189, + -9.55573642014746, + -14.389342863259175 ], - "timestamp": 0.22187415927434578 + "timestamp": 0.527445998329396 }, { - "x": 7.792692680622134, - "y": 1.2651722048486804, - "heading": -0.3592795207044657, - "angularVelocity": 0.007396628280040741, - "velocityX": -1.6168889151612051, - "velocityY": 2.8127270466755405, + "x": 5.430483406929476, + "y": 4.383688891331199, + "heading": -0.2508740295100018, + "angularVelocity": -0.37711024174084956, + "velocityX": 2.7935762063525216, + "velocityY": -2.267917406533186, "moduleForcesX": [ - -75.62210773249221, - -75.43354577978351, - -75.84872472456786, - -75.66047059435745 + -6.151134558701951, + 8.713605582065362, + -9.947622306492987, + 4.897529355001164 ], "moduleForcesY": [ - 131.59760169838054, - 131.70396185760603, - 131.46561635230412, - 131.57222320367924 + 8.563504940048885, + 4.757867047830837, + -6.289085891445833, + -10.098284210598763 ], - "timestamp": 0.26624899112921496 + "timestamp": 0.5483444412545685 }, { - "x": 7.713096640663144, - "y": 1.4036368355617939, - "heading": -0.3552438669857885, - "angularVelocity": 0.09094465375950148, - "velocityX": -1.793720373280839, - "velocityY": 3.120341529765596, + "x": 5.488857449883854, + "y": 4.336283894846937, + "heading": -0.257426057060711, + "angularVelocity": -0.3135174986083356, + "velocityX": 2.7932245078455717, + "velocityY": -2.2683506447818367, "moduleForcesX": [ - -50.71248785877764, - -43.324214598769046, - -56.245491934699594, - -48.96527396771627 + -4.389549093900768, + 6.954874027960114, + -7.373655438142301, + 3.9668838273878086 ], "moduleForcesY": [ - 89.50891240410175, - 90.06817069531616, - 83.2604022113989, - 83.77169632634327 + 6.9049924104726195, + 3.919171996191806, + -4.437110772555965, + -7.423585997313514 ], - "timestamp": 0.31062382298408414 + "timestamp": 0.569242884179741 }, { - "x": 7.633500342018771, - "y": 1.542101919023782, - "heading": -0.3459071162577261, - "angularVelocity": 0.21040644747903436, - "velocityX": -1.7937262028326606, - "velocityY": 3.120351732595778, + "x": 5.547229011625333, + "y": 4.288875841976293, + "heading": -0.262963129629384, + "angularVelocity": -0.2649514410474846, + "velocityX": 2.793105780677541, + "velocityY": -2.2684968942616313, "moduleForcesX": [ - -3.123550994615439, - 6.638474955545759, - -6.641764605707574, - 3.120272110793276 + -3.231758529033143, + 5.418150168335915, + -5.559795856529077, + 3.089346767454664 ], "moduleForcesY": [ - 6.6429866696770965, - 3.1247927571677248, - -3.1190303553560543, - -6.637252881243674 + 5.401468707089588, + 3.073099912384422, + -3.247992282290452, + -5.576481543801101 ], - "timestamp": 0.3549986548389533 + "timestamp": 0.5901413271049135 }, { - "x": 7.553904043404817, - "y": 1.6805670020127061, - "heading": -0.3335507658063954, - "angularVelocity": 0.27845402303140915, - "velocityX": -1.7937262021472027, - "velocityY": 3.1203517219351626, + "x": 5.605599728488257, + "y": 4.241466748081566, + "heading": -0.26772713848676233, + "angularVelocity": -0.22795999082017634, + "velocityX": 2.793065352855234, + "velocityY": -2.26854670773669, "moduleForcesX": [ - -1.824895365261808, - 3.760069813163758, - -3.7600694236315397, - 1.8248957480794674 + -2.411579510069721, + 4.168080450921928, + -4.2163669015241725, + 2.363141476336499 ], "moduleForcesY": [ - 3.760066616902089, - 1.8248925521629487, - -1.8248985611782538, - -3.760072619893184 + 4.162423308530226, + 2.357570529717977, + -2.4171492968327293, + -4.2220244134214 ], - "timestamp": 0.3993734866938225 + "timestamp": 0.611039770030086 }, { - "x": 7.474307744786126, - "y": 1.819032084649566, - "heading": -0.31948386187129196, - "angularVelocity": 0.3170018532376681, - "velocityX": -1.7937262022539293, - "velocityY": 3.1203517140012935, + "x": 5.663970131858567, + "y": 4.194057267702461, + "heading": -0.2719051124142363, + "angularVelocity": -0.19991795285578753, + "velocityX": 2.793050352091861, + "velocityY": -2.2685652011898916, "moduleForcesX": [ - -1.063632776019577, - 2.1152651997902097, - -2.115265259047399, - 1.063632715021037 + -1.8054688057910326, + 3.176560187226163, + -3.1944888346270637, + 1.7875077856538297 ], "moduleForcesY": [ - 2.1152629948323165, - 1.0636305103043149, - -1.0636349807363197, - -2.1152674640052544 + 3.1744619067363504, + 1.7854278546166833, + -1.8075486154833995, + -3.1965871532582466 ], - "timestamp": 0.4437483185486917 + "timestamp": 0.6319382129552585 }, { - "x": 7.394711446284727, - "y": 1.9574971671361356, - "heading": -0.30445465382953907, - "angularVelocity": 0.33868766175626086, - "velocityX": -1.7937261996106801, - "velocityY": 3.1203517106144507, + "x": 5.722340342091734, + "y": 4.1466475491955705, + "heading": -0.27564255313180885, + "angularVelocity": -0.17883823837759558, + "velocityX": 2.7930411103899693, + "velocityY": -2.2685765957131956, "moduleForcesX": [ - -0.616182147737302, - 1.1808560418785272, - -1.180854552664494, - 0.6161836368436348 + -1.3470246163789326, + 2.3941228076942003, + -2.4051726575972845, + 1.3359634843183217 ], "moduleForcesY": [ - 1.180854343315722, - 0.6161819381585638, - -0.6161838464224253, - -1.1808562512272114 + 2.392831954765027, + 1.3346789882015602, + -1.3483090778236089, + -2.4064635212979715 ], - "timestamp": 0.48812315040356086 + "timestamp": 0.652836655880431 }, { - "x": 7.315115147999082, - "y": 2.0959622496195407, - "heading": -0.28889274532837567, - "angularVelocity": 0.3506922246389493, - "velocityX": -1.7937261947486838, - "velocityY": 3.120351710543152, + "x": 5.780710225814653, + "y": 4.099237428470293, + "heading": -0.27905378548990334, + "angularVelocity": -0.1632290199948637, + "velocityX": 2.793025486728676, + "velocityY": -2.2685958420454218, "moduleForcesX": [ - -0.3512284176252388, - 0.6482976193247139, - -0.648294880195872, - 0.3512311568228451 + -0.9966370229375255, + 1.7709396806966131, + -1.7896244325816457, + 0.977941809843271 ], "moduleForcesY": [ - 0.6482962297031174, - 0.35122976711286596, - -0.35122980733532866, - -0.6482962698172746 + 1.7687699206869232, + 0.9757778831762134, + -0.9988008762415364, + -1.7917942152008368 ], - "timestamp": 0.53249798225843 + "timestamp": 0.6737350988056036 }, { - "x": 7.2355188498522445, - "y": 2.234427332113853, - "heading": -0.2730503621599515, - "angularVelocity": 0.3570128044707363, - "velocityX": -1.7937261916205365, - "velocityY": 3.1203517107888947, + "x": 5.83907922039153, + "y": 4.051826212926766, + "heading": -0.28223007208892753, + "angularVelocity": -0.1519867585540666, + "velocityX": 2.7929829406833497, + "velocityY": -2.2686482295974977, "moduleForcesX": [ - -0.1903109624433003, - 0.338366034668512, - -0.33836427233213456, - 0.19031272479337272 + -0.7324532214518408, + 1.2590241226166339, + -1.3099129208854023, + 0.6815496386364485 ], "moduleForcesY": [ - 0.3383652227283387, - 0.19031191283727208, - -0.19031177439959904, - -0.3383650842719476 + 1.2531335423185752, + 0.6756670684368524, + -0.7383353996851942, + -1.3158036208829536 ], - "timestamp": 0.5768728141132992 + "timestamp": 0.6946335417307761 }, { - "x": 7.155922549860952, - "y": 2.372892413517532, - "heading": -0.2570860619572003, - "angularVelocity": 0.3597602410069627, - "velocityX": -1.7937262331859278, - "velocityY": 3.1203516862111846, + "x": 5.897445594088348, + "y": 4.004411770846841, + "heading": -0.28524607864196977, + "angularVelocity": -0.14431728544758862, + "velocityX": 2.79285753038225, + "velocityY": -2.2688026208309453, "moduleForcesX": [ - -0.08507407153738511, - 0.1457298933770963, - -0.14575331055910548, - 0.08505065429793375 + -0.5546888508267858, + 0.802708544825346, + -0.9527218969430205, + 0.40465520530607674 ], "moduleForcesY": [ - 0.14573467863478393, - 0.0850554396012224, - -0.08506928623432829, - -0.14574852530097876 + 0.7853688690001464, + 0.38732530032628104, + -0.5720164309443548, + -0.9700622757854198 ], - "timestamp": 0.6212476459681683 + "timestamp": 0.7155319846559486 }, { - "x": 7.076326219279839, - "y": 2.511357477335723, - "heading": -0.2411176482907429, - "angularVelocity": 0.35985293913187455, - "velocityX": -1.79372692253658, - "velocityY": 3.120351289917034, + "x": 5.955804168456194, + "y": 3.956987729489555, + "heading": -0.2881651555553472, + "angularVelocity": -0.1396791580994489, + "velocityX": 2.7924843289415655, + "velocityY": -2.2692619506193297, "moduleForcesX": [ - -0.003142328567855136, - 0.004676663050146699, - -0.005065031085672818, - 0.0027539605312853046 + -0.511763343579639, + 0.30842579665995085, + -0.7548612157553136, + 0.0653058279711948 ], "moduleForcesY": [ - 0.004759214489497112, - 0.002836511971479454, - -0.0030597771276530358, - -0.00498247964633536 + 0.2569055429195831, + 0.013789703429975155, + -0.5632670109553215, + -0.8063852008221736 ], - "timestamp": 0.6656224778230374 + "timestamp": 0.7364304275811211 }, { - "x": 6.996729446668113, - "y": 2.6498222870807084, - "heading": -0.2252615977819417, - "angularVelocity": 0.35732080204065814, - "velocityX": -1.7937368838275871, - "velocityY": 3.1203455643019216, + "x": 6.01413950312956, + "y": 3.909535104421295, + "heading": -0.29104381434041826, + "angularVelocity": -0.13774513227507815, + "velocityX": 2.791372298992348, + "velocityY": -2.2706296941916735, "moduleForcesX": [ - 0.0798248134175808, - -0.13456422666230353, - 0.12895221601121215, - -0.08543683516383756 + -0.7848280319881401, + -0.44310704671529383, + -0.8871657009156513, + -0.5454561652185629 ], "moduleForcesY": [ - -0.13337107879291812, - -0.08424367777183217, - 0.08101797067806575, - 0.13014536413131914 + -0.5960535113055898, + -0.6984262355050573, + -0.9377519894300923, + -1.0401258677231495 ], - "timestamp": 0.7099973096779065 + "timestamp": 0.7573288705062936 }, { - "x": 6.917126342707538, - "y": 2.7882834571093675, - "heading": -0.2096720421317909, - "angularVelocity": 0.35131526134313035, - "velocityX": -1.79387956265213, - "velocityY": 3.120263542214793, + "x": 6.072405551728233, + "y": 3.861997430659612, + "heading": -0.29393569648604934, + "angularVelocity": -0.1383778760927563, + "velocityX": 2.7880569287995876, + "velocityY": -2.2746993128574515, "moduleForcesX": [ - 0.16063391594305526, - -0.3495927412705541, - 0.2692104376150194, - -0.24101709418223796 + -1.9440491705845653, + -2.055767896328796, + -1.9102795731461146, + -2.022001948891487 ], "moduleForcesY": [ - -0.3325067103218643, - -0.22393021588659492, - 0.17772073288233114, - 0.2862965900286298 + -2.5069278651242377, + -2.47307319963441, + -2.395254234056831, + -2.361399916000663 ], - "timestamp": 0.7543721415327757 + "timestamp": 0.7782273134314661 }, { - "x": 6.837432623971927, - "y": 2.9266924920356496, - "heading": -0.19459218350818946, - "angularVelocity": 0.3398290876441204, - "velocityX": -1.795921593489198, - "velocityY": 3.1190886622164053, + "x": 6.130465188530942, + "y": 3.814207881826753, + "heading": -0.2968948988409619, + "angularVelocity": -0.14159917872867764, + "velocityX": 2.778180030473583, + "velocityY": -2.28675164958324, "moduleForcesX": [ - -0.1822497918037773, - -1.161100082723618, - 0.01067820521849291, - -0.9682168656005873 + -5.709084652744103, + -6.278133711221989, + -5.537078137116156, + -6.106407378075469 ], "moduleForcesY": [ - -0.9168751486056409, - -0.723916550050299, - 0.06202717746403705, - 0.254951056128782 + -7.580303571028901, + -7.404528671896907, + -7.013204217905603, + -6.8374532666610355 ], - "timestamp": 0.7987469733876448 + "timestamp": 0.7991257563566386 }, { - "x": 6.756450590075606, - "y": 3.0643516852446733, - "heading": -0.18042800438723705, - "angularVelocity": 0.3191939784082406, - "velocityX": -1.824954157824799, - "velocityY": 3.102190756671405, + "x": 6.187921726569742, + "y": 3.7656949674751443, + "heading": -0.29997357882616776, + "angularVelocity": -0.14731623768474775, + "velocityX": 2.74932148029105, + "velocityY": -2.3213650186909147, "moduleForcesX": [ - -7.455775232064813, - -9.215811700127574, - -7.139626198678781, - -8.90165937144471 + -16.89175530528398, + -17.91306420363074, + -16.608056906934966, + -17.63186123724144 ], "moduleForcesY": [ - -5.807259543309023, - -5.478299087564559, - -4.040867799481383, - -3.713539287449221 + -21.369775765198668, + -21.029020128468837, + -20.377576604765093, + -20.036900317177256 ], - "timestamp": 0.8431218052425139 + "timestamp": 0.8200241992818111 }, { - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.16706774736739735, - "angularVelocity": 0.30107735536971286, - "velocityX": -2.0903316549737805, - "velocityY": 2.9289059426090236, + "x": 6.243828773498535, + "y": 3.715458631515503, + "heading": -0.3031853071795858, + "angularVelocity": -0.15368266262313146, + "velocityX": 2.6751776258625823, + "velocityY": -2.4038315265647583, "moduleForcesX": [ - -73.91468015361414, - -75.33436080071152, - -74.17403267054641, - -75.59495760611544 + -43.818566861854926, + -45.02417863121083, + -43.66800356480994, + -44.88010894513957 ], "moduleForcesY": [ - -50.046862633184155, - -49.26191550009401, - -48.36208508479678, - -47.580371343354486 + -50.11842331014225, + -49.56552814503516, + -49.08691780029413, + -48.53212640099288 ], - "timestamp": 0.887496637097383 + "timestamp": 0.8409226422069837 }, { - "x": 6.592852962651873, - "y": 3.2760948858309273, - "heading": -0.15808356464982276, - "angularVelocity": 0.29884446374830825, - "velocityX": -2.356363016611395, - "velocityY": 2.720064372377021, + "x": 6.300892363968111, + "y": 3.658116351715432, + "heading": -0.30674283671026537, + "angularVelocity": -0.1582417877978426, + "velocityX": 2.538234608089834, + "velocityY": -2.5506309346739435, "moduleForcesX": [ - -110.38378656038289, - -110.64695774914253, - -110.58098627362392, - -110.84364965586528 + -75.61700325128957, + -76.51392819630748, + -75.76775989561607, + -76.66811227586896 ], "moduleForcesY": [ - -87.12941368264276, - -86.84261805462657, - -86.82718736646878, - -86.5398156548187 + -82.22892098376002, + -81.60669461844142, + -81.63952766303406, + -81.01267063107204 ], - "timestamp": 0.9175597093888651 + "timestamp": 0.8634042482365135 }, { - "x": 6.515956370622226, - "y": 3.3522011327830636, - "heading": -0.1492679325742143, - "angularVelocity": 0.2932378963179423, - "velocityX": -2.5578421022335904, - "velocityY": 2.5315525377522556, + "x": 6.356072473882626, + "y": 3.5989592047777608, + "heading": -0.3104816657779018, + "angularVelocity": -0.16630613768097485, + "velocityX": 2.4544558712573736, + "velocityY": -2.6313576912597734, "moduleForcesX": [ - -83.25260044231106, - -83.99689238236974, - -83.5499852103215, - -84.29449318110804 + -45.98383163498227, + -47.3633239371322, + -45.79628580483161, + -47.18385375138273 ], "moduleForcesY": [ - -78.97552269350258, - -78.46537289107022, - -78.29939307936063, - -77.78693968620615 + -45.83987241316663, + -45.17942812737016, + -44.59125394926337, + -43.92901327905449 ], - "timestamp": 0.9476227816803472 + "timestamp": 0.8858858542660434 }, { - "x": 6.436826839292644, - "y": 3.425983127206822, - "heading": -0.1408059254043868, - "angularVelocity": 0.2814751296135853, - "velocityX": -2.632117255427717, - "velocityY": 2.454239996111908, + "x": 6.4105587009138425, + "y": 3.5391623265205725, + "heading": -0.31440977028763245, + "angularVelocity": -0.17472526226867494, + "velocityX": 2.4235913999945997, + "velocityY": -2.659813457215855, "moduleForcesX": [ - -30.169118284219962, - -31.68221577835491, - -30.08064588019183, - -31.600226735875573 + -16.67848671246475, + -18.057012912098166, + -16.26293022731706, + -17.64540106979152 ], "moduleForcesY": [ - -33.05066864986216, - -32.711368122823025, - -31.579361292181154, - -31.242501961633515 + -16.743903418989802, + -16.264385427508312, + -15.378694463203868, + -14.899789705324505 ], - "timestamp": 0.9776858539718293 + "timestamp": 0.9083674602955732 }, { - "x": 6.357280162873568, - "y": 3.499315199850379, - "heading": -0.13262891704786917, - "angularVelocity": 0.271995100076131, - "velocityX": -2.6459929194135534, - "velocityY": 2.4392740679512324, + "x": 6.46483075655121, + "y": 3.479170994876339, + "heading": -0.31848880184366885, + "angularVelocity": -0.1814386192284724, + "velocityX": 2.4140648833576313, + "velocityY": -2.668462900979999, "moduleForcesX": [ - -5.245382261927877, - -6.450472559728291, - -5.087847925651457, - -6.293885350313099 + -4.929174931072198, + -6.022455887256941, + -4.570825735696016, + -5.664901289661257 ], "moduleForcesY": [ - -6.907052313630917, - -6.742400939092072, - -5.702794840516918, - -5.538634674114155 + -5.536939970696897, + -5.173981283305023, + -4.444297345904226, + -4.081493743469679 ], - "timestamp": 1.0077489262633115 + "timestamp": 0.9308490663251031 }, { - "x": 6.277660809633554, - "y": 3.5725683584816994, - "heading": -0.12464856641819343, - "angularVelocity": 0.2654535954376437, - "velocityX": -2.648410397581645, - "velocityY": 2.4366491195938105, + "x": 6.5190383595683645, + "y": 3.4191214179231317, + "heading": -0.3226850323911022, + "angularVelocity": -0.18665172505565547, + "velocityX": 2.4111979787357956, + "velocityY": -2.671053699381748, "moduleForcesX": [ - -0.6411793758125354, - -1.473354637038099, - -0.5369445619106756, - -1.369198594645837 + -1.3118461384134241, + -2.1594698525002705, + -1.0285137358105447, + -1.8762819666975306 ], "moduleForcesY": [ - -1.5597107407563495, - -1.4553390501035088, - -0.7275073776278871, - -0.623178196100829 + -2.006128815980356, + -1.7225095195737818, + -1.1584967199325906, + -0.8749052505891863 ], - "timestamp": 1.0378119985547936 + "timestamp": 0.953330672354633 }, { - "x": 6.198028794547302, - "y": 3.645807752553169, - "heading": -0.11680422371346647, - "angularVelocity": 0.2609295094217477, - "velocityX": -2.6488315736385037, - "velocityY": 2.436191263533018, + "x": 6.57322663171484, + "y": 3.359054396394769, + "heading": -0.32697379158161044, + "angularVelocity": -0.19076747385729015, + "velocityX": 2.410338125991728, + "velocityY": -2.6718296481773502, "moduleForcesX": [ - 0.07912555781766323, - -0.49696552877181505, - 0.1467250946792015, - -0.4293725070092765 + -0.2572753782998051, + -0.9255243474298708, + -0.030635747905450556, + -0.6989117646761612 ], "moduleForcesY": [ - -0.5122206396510701, - -0.44461927510459204, - 0.06387486484907004, - 0.13147258441036794 + -0.8788903575940659, + -0.652237281008326, + -0.2106309545256013, + 0.01601712567576673 ], - "timestamp": 1.0678750708462756 + "timestamp": 0.9758122783841628 }, { - "x": 6.118394572592455, - "y": 3.7190447471053023, - "heading": -0.10905549596947567, - "angularVelocity": 0.2577490307331718, - "velocityX": -2.6489049815912837, - "velocityY": 2.4361114473614247, + "x": 6.627409108287623, + "y": 3.298982147052881, + "heading": -0.33133797768313705, + "angularVelocity": -0.19412252379986514, + "velocityX": 2.410080334188381, + "velocityY": -2.672062185547718, "moduleForcesX": [ - 0.14996423437335368, - -0.2553915439170704, - 0.1943468696170831, - -0.2110094650375439 + 0.035069861443211725, + -0.5088638749485511, + 0.2221968805995973, + -0.3217422517634501 ], "moduleForcesY": [ - -0.2580562810983284, - -0.21367369287870605, - 0.14729992305921327, - 0.19168218865819364 + -0.49482442875806965, + -0.30769784203425754, + 0.049112064017606115, + 0.23623770125556676 ], - "timestamp": 1.0979381431377577 + "timestamp": 0.9982938844136927 }, { - "x": 6.03875996597869, - "y": 3.792281323429322, - "heading": -0.10137623971945656, - "angularVelocity": 0.25543817263796104, - "velocityX": -2.648917776654806, - "velocityY": 2.436097535672275, + "x": 6.681589842877104, + "y": 3.2389083266034575, + "heading": -0.33576669092932737, + "angularVelocity": -0.19699274332862007, + "velocityX": 2.4100028493686514, + "velocityY": -2.6721320696801416, "moduleForcesX": [ - 0.12706800800945528, - -0.16769271465715707, - 0.15705255711115457, - -0.13770821628611327 + 0.10815555665979418, + -0.356463612696991, + 0.270299522435579, + -0.19432083563398414 ], "moduleForcesY": [ - -0.16815702015148914, - -0.1381724796237266, - 0.12660374282338163, - 0.15658825288239267 + -0.3522379533188411, + -0.1900943444380969, + 0.11238187683709236, + 0.2745252872983721 ], - "timestamp": 1.1280012154292398 + "timestamp": 1.0207754904432227 }, { - "x": 5.959125292311646, - "y": 3.8655178268672907, - "heading": -0.09375065591459454, - "angularVelocity": 0.2536528446236882, - "velocityX": -2.648920007074817, - "velocityY": 2.4360951112344926, + "x": 6.735770038272624, + "y": 3.1788340198927374, + "heading": -0.340254341064461, + "angularVelocity": -0.19961430376633296, + "velocityX": 2.4099788655815244, + "velocityY": -2.6721536989759933, "moduleForcesX": [ - 0.1023069334791649, - -0.12559002211804218, - 0.12373524090516878, - -0.10416171992012822 + 0.12351456441676863, + -0.30018420856937594, + 0.2735139065390715, + -0.15018517383066216 ], "moduleForcesY": [ - -0.1256706953880555, - -0.10424238891204964, - 0.10222626444140118, - 0.12365456766697308 + -0.29887518119240547, + -0.148875956432278, + 0.12482376681033823, + 0.2748229430801387 ], - "timestamp": 1.158064287720722 + "timestamp": 1.0432570964727526 }, { - "x": 5.879490606840395, - "y": 3.938754317491136, - "heading": -0.08617093146778532, - "angularVelocity": 0.2521274064512961, - "velocityX": -2.6489203997228277, - "velocityY": 2.4360946849932437, + "x": 6.789950014775179, + "y": 3.1187595158010093, + "heading": -0.3448001888098883, + "angularVelocity": -0.20220298049241886, + "velocityX": 2.409969129045866, + "velocityY": -2.672162478641687, "moduleForcesX": [ - 0.08884808283272758, - -0.10600714261891324, - 0.10568062275517483, - -0.08917460336110236 + 0.12843063079339379, + -0.289275898133587, + 0.2784487347359637, + -0.13925791602854584 ], "moduleForcesY": [ - -0.10602111070894989, - -0.0891885709042134, - 0.08883411528886345, - 0.10566665466565468 + -0.28874390449222265, + -0.13872585045728547, + 0.12896269391646412, + 0.2789807298576984 ], - "timestamp": 1.188127360012204 + "timestamp": 1.0657387025022824 }, { - "x": 5.799855918551338, - "y": 4.011990805071752, - "heading": -0.07863607346586281, - "angularVelocity": 0.2506349959467513, - "velocityX": -2.648920493452802, - "velocityY": 2.436094583764926, + "x": 6.844129734412625, + "y": 3.058684780086691, + "heading": -0.3494082864346629, + "angularVelocity": -0.20497190542000296, + "velocityX": 2.409957703478491, + "velocityY": -2.672172781403682, "moduleForcesX": [ - 0.08782293442813448, - -0.10293210092075286, - 0.10285415655480103, - -0.08790087894371079 + 0.13541034813559746, + -0.3106366769128751, + 0.2979312971098061, + -0.14811589173264045 ], "moduleForcesY": [ - -0.10293521873787326, - -0.08790399663683537, - 0.08781981673603895, - 0.10285103873695935 + -0.310012433508584, + -0.14749155214979615, + 0.1360346841024085, + 0.29855554267791334 ], - "timestamp": 1.218190432303686 + "timestamp": 1.0882203085318123 }, { - "x": 5.720221225319398, - "y": 4.085227287300892, - "heading": -0.07115176075870797, - "angularVelocity": 0.2489536875868602, - "velocityX": -2.6489206578697115, - "velocityY": 2.436094405756797, + "x": 6.898308738783368, + "y": 2.998609399345082, + "heading": -0.3540878132628434, + "angularVelocity": -0.20814913409806418, + "velocityX": 2.4099258878378844, + "velocityY": -2.6722014727353556, "moduleForcesX": [ - 0.0997792037198559, - -0.11524085593438568, - 0.1151041294640559, - -0.09991593052075891 + 0.14334180232680527, + -0.3676005366869572, + 0.3322212023590252, + -0.17872173796539498 ], "moduleForcesY": [ - -0.11524650720086356, - -0.09992158150866857, - 0.09977355273269863, - 0.11509847819706524 + -0.36586356871681985, + -0.17698440471271104, + 0.14507910331271257, + 0.33395818942941513 ], - "timestamp": 1.2482535045951682 + "timestamp": 1.1107019145613422 }, { - "x": 5.640586505601097, - "y": 4.158463740758798, - "heading": -0.06373118973452349, - "angularVelocity": 0.24683342248712828, - "velocityX": -2.6489215388962513, - "velocityY": 2.4360934487275787, + "x": 6.952485398744311, + "y": 2.9385319044342193, + "heading": -0.3588538343730754, + "angularVelocity": -0.2119964696459745, + "velocityX": 2.4098216065967244, + "velocityY": -2.672295512695533, "moduleForcesX": [ - 0.1266237900119596, - -0.14466974473188668, - 0.14393709767456067, - -0.12735643986632028 + 0.13499118719446718, + -0.48261548117120595, + 0.36665408135184874, + -0.2509554803686735 ], "moduleForcesY": [ - -0.14470134727364273, - -0.1273880400111231, - 0.1265921898589545, - 0.14390549513891968 + -0.47692215878299427, + -0.24526020421439584, + 0.14068604241805083, + 0.37234765020929544 ], - "timestamp": 1.2783165768866502 + "timestamp": 1.133183520590872 }, { - "x": 5.560951634181873, - "y": 4.2317000293011935, - "heading": -0.056397038991224224, - "angularVelocity": 0.24395879011265487, - "velocityX": -2.64892658498466, - "velocityY": 2.4360879630772367, + "x": 7.006654247538653, + "y": 2.878447366566292, + "heading": -0.36372854548811695, + "angularVelocity": -0.21683108887499375, + "velocityX": 2.409474159594426, + "velocityY": -2.6726087891135304, "moduleForcesX": [ - 0.17150393109087256, - -0.1964751436716441, - 0.1922789068175292, - -0.17570019710522752 + 0.046702628208398045, + -0.7279575956578657, + 0.34159713039213213, + -0.43307833188401185 ], "moduleForcesY": [ - -0.19665792297374157, - -0.17588295087056113, - 0.1713211769761752, - 0.19209612777835489 + -0.7089643394621571, + -0.41407196946526487, + 0.06570310340631297, + 0.3605937964542758 ], - "timestamp": 1.3083796491781323 + "timestamp": 1.1556651266204019 }, { - "x": 5.481315892465903, - "y": 4.304935371552852, - "heading": -0.04918484315111125, - "angularVelocity": 0.2399021553813857, - "velocityX": -2.6489555340135196, - "velocityY": 2.436056486229683, + "x": 7.06079702872604, + "y": 2.8183393379846797, + "heading": -0.36874310188786397, + "angularVelocity": -0.22305152012540205, + "velocityX": 2.4083146513775056, + "velocityY": -2.6736536750382243, "moduleForcesX": [ - 0.2349194875144274, - -0.28456442486474515, - 0.2604910115059837, - -0.25899323053918816 + -0.3395008081755916, + -1.3342730934157663, + 0.04491865980258463, + -0.9499378733414521 ], "moduleForcesY": [ - -0.2856156234355956, - -0.26004412620762246, - 0.23386857597269814, - 0.25943982506496344 + -1.2705893414940128, + -0.8861412830872801, + -0.27578875230711364, + 0.10865087007230188 ], - "timestamp": 1.3384427214696144 + "timestamp": 1.1781467326499317 }, { - "x": 5.401675158248541, - "y": 4.378165284687608, - "heading": -0.04214827296274619, - "angularVelocity": 0.23406024907037712, - "velocityX": -2.649121601584502, - "velocityY": 2.4358758953422694, + "x": 7.1148527826055945, + "y": 2.7581530334029423, + "heading": -0.37394009301115577, + "angularVelocity": -0.23116636402512653, + "velocityX": 2.4044436064092656, + "velocityY": -2.677135454765926, "moduleForcesX": [ - 0.2893409346942692, - -0.45899995045970077, - 0.3209025895272623, - -0.4274421761062247 + -1.7586887743866413, + -3.053728577829438, + -1.2507123787760428, + -2.546230657129766 ], "moduleForcesY": [ - -0.4650406480243144, - -0.43347876669017477, - 0.2833035968480443, - 0.31486247130442324 + -2.8377731865649825, + -2.3290501841775333, + -1.542737677716232, + -1.0340577195430558 ], - "timestamp": 1.3685057937610965 + "timestamp": 1.2006283386794616 }, { - "x": 5.322005791554613, - "y": 4.451364046595631, - "heading": -0.0353670897906762, - "angularVelocity": 0.2255652085828673, - "velocityX": -2.6500740151065694, - "velocityY": 2.4348396996258175, + "x": 7.168618435498477, + "y": 2.6977074399803684, + "heading": -0.3793755423672139, + "angularVelocity": -0.24177317887870262, + "velocityX": 2.3915396801395956, + "velocityY": -2.688668831896772, "moduleForcesX": [ - 0.12898090628321676, - -0.9594907121957729, - 0.16750120245699912, - -0.9210169958470311 + -6.663075109362928, + -8.352865630261862, + -5.9952082390896475, + -7.6877043254512305 ], "moduleForcesY": [ - -0.9943616126670282, - -0.9558142945600271, - 0.09414802706080905, - 0.13265824847120633 + -7.596610052171956, + -6.916064444016024, + -5.909182229835226, + -5.228839927269915 ], - "timestamp": 1.3985688660525786 + "timestamp": 1.2231099447089915 }, { - "x": 5.242172493913282, - "y": 4.524383983268107, - "heading": -0.028958609503605428, - "angularVelocity": 0.21316784342385747, - "velocityX": -2.65552691578867, - "velocityY": 2.428891364279068, + "x": 7.221445411107321, + "y": 2.636439823481927, + "heading": -0.38510394603027787, + "angularVelocity": -0.2548040231440608, + "velocityX": 2.349786556151203, + "velocityY": -2.725233082456778, "moduleForcesX": [ - -1.4955840561962401, - -3.0842275021558754, - -1.4500414668995578, - -3.0392478125313507 + -22.54706285214967, + -24.634193372078887, + -21.78990991616978, + -23.889468312382633 ], "moduleForcesY": [ - -3.291154443494078, - -3.2441395177510017, - -1.7021775756451227, - -1.6556213730364715 + -21.81772879836716, + -20.89013153263117, + -19.770054794681855, + -18.84245520724433 ], - "timestamp": 1.4286319383440607 + "timestamp": 1.2455915507385213 }, { - "x": 5.161420820335375, - "y": 4.596386955894445, - "heading": -0.023079491610195388, - "angularVelocity": 0.19555945035849812, - "velocityX": -2.6860752219521666, - "velocityY": 2.3950636823880593, + "x": 7.271848746318417, + "y": 2.5731635723731023, + "heading": -0.3910789251452919, + "angularVelocity": -0.26577189846516536, + "velocityX": 2.2419810730990144, + "velocityY": -2.8145787727852847, "moduleForcesX": [ - -11.581421530382878, - -13.83969553318351, - -11.560736705409566, - -13.82517265086285 + -59.14510365012357, + -60.97500334457335, + -58.89908247715572, + -60.74455985856462 ], "moduleForcesY": [ - -15.236183102907832, - -15.147099980145505, - -12.981006455185575, - -12.896896216540323 + -51.09224006514451, + -49.9011920063802, + -49.45740174899362, + -48.25759077145673 ], - "timestamp": 1.4586950106355427 + "timestamp": 1.2680731567680512 }, { - "x": 5.076982498168945, - "y": 4.663970470428467, - "heading": -0.017656761814862067, - "angularVelocity": 0.18037843047963403, - "velocityX": -2.808705688751399, - "velocityY": 2.248057479912707, + "x": 7.31837043762207, + "y": 2.5070269107818604, + "heading": -0.3971853071795861, + "angularVelocity": -0.27161680648052366, + "velocityX": 2.0693224159583683, + "velocityY": -2.9418121420848466, "moduleForcesX": [ - -49.724246902099985, - -51.76924989315315, - -50.20326870109139, - -52.258548202544056 + -95.3985948752904, + -96.38061522257254, + -95.61831278922654, + -96.60230549228933 ], "moduleForcesY": [ - -62.321902026006676, - -61.76830867653583, - -60.479179019187406, - -59.92691632780876 + -71.67156753643467, + -70.67968599273077, + -70.81053169321476, + -69.81036795128372 ], - "timestamp": 1.4887580829270248 + "timestamp": 1.290554762797581 }, { - "x": 5.011539251227577, - "y": 4.710022611659073, - "heading": -0.013735045633677667, - "angularVelocity": 0.1763482600806919, - "velocityX": -2.9427939705247983, - "velocityY": 2.070831902095889, + "x": 7.377160450284607, + "y": 2.4011029041383494, + "heading": -0.40649242609648484, + "angularVelocity": -0.27649351201427, + "velocityX": 1.7465186828955634, + "velocityY": -3.1467633395116366, "moduleForcesX": [ - -74.73458152101745, - -75.56600079840955, - -75.17274819436567, - -76.00482465457931 + -119.49246289699462, + -119.98997638899631, + -119.7547850716756, + -120.25131899701724 ], "moduleForcesY": [ - -100.1271088776865, - -99.67113748952008, - -99.56365598718202, - -99.10423907291187 + -76.72316966582402, + -76.02158205383883, + -76.19620567994485, + -75.49093432777171 ], - "timestamp": 1.5109965568387602 + "timestamp": 1.324216018893957 }, { - "x": 4.944111752594888, - "y": 4.753117696266641, - "heading": -0.010041806634365385, - "angularVelocity": 0.16607430051049193, - "velocityX": -3.0320200433037927, - "velocityY": 1.937861598724921, + "x": 7.427060808134305, + "y": 2.2907116379947734, + "heading": -0.4162963157147679, + "angularVelocity": -0.2912514491501278, + "velocityX": 1.4824270879358374, + "velocityY": -3.2794755438603995, "moduleForcesX": [ - -48.86955260096656, - -50.884187904670384, - -49.41548557497467, - -51.44272493080467 + -97.30907981509276, + -98.6619904856712, + -97.47772767670975, + -98.82948510798602 ], "moduleForcesY": [ - -75.80415500287263, - -75.21845848138368, - -74.26619040690021, - -73.67573814245523 + -50.91672715329267, + -49.38655671552789, + -49.18261984856432, + -47.64311007935671 ], - "timestamp": 1.5332350307504956 + "timestamp": 1.3578772749903327 }, { - "x": 4.875841722215547, - "y": 4.794865323786201, - "heading": -0.00679223256123964, - "angularVelocity": 0.14612396902877933, - "velocityX": -3.0699062647420274, - "velocityY": 1.8772703417218195, + "x": 7.474498109736472, + "y": 2.1792397005806583, + "heading": -0.4269800308313776, + "angularVelocity": -0.31738908037243385, + "velocityX": 1.4092552418258857, + "velocityY": -3.3115798497110305, "moduleForcesX": [ - -19.426122716479117, - -22.973960798364423, - -19.600670466139416, - -23.180948658787127 + -26.398534659548826, + -29.07784429997217, + -25.256666622798473, + -27.955480330755208 ], "moduleForcesY": [ - -35.85595853074835, - -35.61094015021818, - -32.49716354225627, - -32.2666369776045 + -13.976384539542336, + -12.62672610263315, + -11.214077516581959, + -9.870137826215709 ], - "timestamp": 1.555473504662231 + "timestamp": 1.3915385310867086 }, { - "x": 4.8073047973217715, - "y": 4.83617334209178, - "heading": -0.0041172704461826274, - "angularVelocity": 0.12028532738684966, - "velocityX": -3.081907740835294, - "velocityY": 1.8575023839177676, + "x": 7.521595612163223, + "y": 2.0676237695042676, + "heading": -0.4381685663663628, + "angularVelocity": -0.3323861564450007, + "velocityX": 1.3991605747839646, + "velocityY": -3.3158575771382965, "moduleForcesX": [ - -4.49876500509147, - -8.982770968875167, - -4.499495274957967, - -9.00255616112108 + -3.3352699249692073, + -4.8894316684936525, + -2.607321165861587, + -4.162466770446552 ], "moduleForcesY": [ - -13.369347403828613, - -13.316688855511625, - -8.900489708619563, - -8.858875012590483 + -2.731201011585995, + -2.001286805803779, + -1.1756054571873968, + -0.445988425491939 ], - "timestamp": 1.5777119785739664 + "timestamp": 1.4251997871830844 }, { - "x": 4.73868703457269, - "y": 4.877346940160342, - "heading": -0.0021435842298360595, - "angularVelocity": 0.0887509738384086, - "velocityX": -3.085542785951837, - "velocityY": 1.8514578937257968, + "x": 7.568648187913044, + "y": 1.9559888918104047, + "heading": -0.44951525608957216, + "angularVelocity": -0.337084560680758, + "velocityX": 1.3978259045586052, + "velocityY": -3.3164204381758204, "moduleForcesX": [ - 0.684066392717217, - -4.778975001877864, - 0.6968988986697459, - -4.774864765901889 + -0.3702371101135151, + -0.854785832612154, + -0.13645879208966746, + -0.6210203761247468 ], "moduleForcesY": [ - -6.138282614940391, - -6.120731024272286, - -0.6717603378341901, - -0.6593901141615751 + -0.5681895194740101, + -0.3344031723555381, + -0.08362832850057036, + 0.15015442211362218 ], - "timestamp": 1.5999504524857018 + "timestamp": 1.4588610432794602 }, { - "x": 4.67004490852136, - "y": 4.918478718061472, - "heading": -0.001046920687375631, - "angularVelocity": 0.04931379494892859, - "velocityX": -3.08663833339239, - "velocityY": 1.8495773614788102, + "x": 7.615694832295387, + "y": 1.8443515142540494, + "heading": -0.46070284838521497, + "angularVelocity": -0.3323581349314913, + "velocityX": 1.3976496968718422, + "velocityY": -3.316494703420945, "moduleForcesX": [ - 2.7975801448635234, - -4.035946190917921, - 2.806476705020162, - -4.031291012305256 + -0.18752199200687655, + 0.29726456898098386, + -0.42813202875105644, + 0.056652803776190815 ], "moduleForcesY": [ - -4.479015680953096, - -4.470250039016804, - 2.3574265332940394, - 2.3637337545083312 + 0.3351201739214086, + 0.0945092713432499, + -0.14966537361577648, + -0.39027671849706824 ], - "timestamp": 1.6221889263974372 + "timestamp": 1.492522299375836 }, { - "x": 4.603056526020481, - "y": 4.958600986009946, - "heading": -0.0008626277354202149, - "angularVelocity": 0.00828712224979447, - "velocityX": -3.0122742579433046, - "velocityY": 1.8041826119776336, + "x": 7.66274069366142, + "y": 1.7327138065642804, + "heading": -0.4713836979923882, + "angularVelocity": -0.3173039525498645, + "velocityX": 1.3976264353445673, + "velocityY": -3.31650451123826, "moduleForcesX": [ - 44.84494644167724, - 38.09849421901954, - 45.529247862780295, - 38.72420579633329 + -0.38513943231496744, + 1.1506838246494877, + -1.167958848854984, + 0.3678620809228331 ], "moduleForcesY": [ - -28.877466204425435, - -29.60041748602904, - -21.512170197057984, - -22.07349076341176 + 1.1556791076131048, + 0.372858786310278, + -0.38014271837654506, + -1.1629635821547937 ], - "timestamp": 1.6444274003091726 + "timestamp": 1.5261835554722119 }, { - "x": 4.541129643380843, - "y": 4.9956909602433415, - "heading": -0.0007123723070567054, - "angularVelocity": 0.006756553033264512, - "velocityX": -2.784673214819023, - "velocityY": 1.6678291136655743, + "x": 7.709786451544846, + "y": 1.6210760549655672, + "heading": -0.4811137999731988, + "angularVelocity": -0.2890593848593241, + "velocityX": 1.3976233610455515, + "velocityY": -3.316505815427596, "moduleForcesX": [ - 127.89354658384548, - 127.74727518192825, - 128.11624795495828, - 127.97103722498586 + -0.6863332214888993, + 2.1807406241952716, + -2.1830233420023566, + 0.684049414792396 ], "moduleForcesY": [ - -76.72369690811416, - -76.94671638772455, - -76.33903475956957, - -76.5617196723029 + 2.1813976195467193, + 0.684707068719898, + -0.6856755672731992, + -2.1823663471805763 ], - "timestamp": 1.666665874220908 + "timestamp": 1.5598448115685877 }, { - "x": 4.484324481990362, - "y": 5.0297130575875215, - "heading": -0.0005830001599038244, - "angularVelocity": 0.005817492138460569, - "velocityX": -2.5543641895546445, - "velocityY": 1.5298755426824582, + "x": 7.756832195620047, + "y": 1.509438297122228, + "heading": -0.4892697456121771, + "angularVelocity": -0.24229475025016645, + "velocityX": 1.3976229508694282, + "velocityY": -3.3165060007246354, "moduleForcesX": [ - 129.42798937571155, - 129.34011537524262, - 129.56798425532966, - 129.48052507091413 + -1.1051250373515424, + 3.6215302605569124, + -3.6218346930765346, + 1.104820199494974 ], "moduleForcesY": [ - -77.59106674193973, - -77.73114147626927, - -77.35327125658561, - -77.49322079361032 + 3.6216136501794054, + 1.1049038261350463, + -1.105041410701953, + -3.6217513034694577 ], - "timestamp": 1.6889043481326433 + "timestamp": 1.5935060676649635 }, { - "x": 4.432661341364797, - "y": 5.060655284664428, - "heading": -0.00047012280459204025, - "angularVelocity": 0.0050757689470867, - "velocityX": -2.323142353653137, - "velocityY": 1.3913826641160814, + "x": 7.803877937871345, + "y": 1.3978005380942633, + "heading": -0.4949349438831712, + "angularVelocity": -0.1683002635069224, + "velocityX": 1.3976228967086712, + "velocityY": -3.316506036257727, "moduleForcesX": [ - 129.94588837232158, - 129.87697539950702, - 130.0573621015547, - 129.9887112201165 + -1.7158978202212851, + 5.740288443150473, + -5.740328593932055, + 1.7158575213059033 ], "moduleForcesY": [ - -77.88372046657192, - -77.99524312645859, - -77.69542359927932, - -77.8068683651887 + 5.74029532343032, + 1.71586447567438, + -1.7158908658523535, + -5.740321713652588 ], - "timestamp": 1.7111428220443787 + "timestamp": 1.6271673237613393 }, { - "x": 4.386150402629805, - "y": 5.088511626422991, - "heading": -0.0003715505641051545, - "angularVelocity": 0.004432509212552959, - "velocityX": -2.0914627019938163, - "velocityY": 1.2526193059967814, + "x": 7.850923118532921, + "y": 1.2861641128832204, + "heading": -0.49673867546557327, + "angularVelocity": -0.05358479722912683, + "velocityX": 1.3976062131749716, + "velocityY": -3.3164664111470983, "moduleForcesX": [ - 130.2057617562999, - 130.1462088906001, - 130.30282681037423, - 130.24347231352516 + -2.6502956852340733, + 8.897918932684284, + -8.910330702155772, + 2.6379259467729037 ], "moduleForcesY": [ - -78.03055809434858, - -78.12766860136843, - -77.86705554259257, - -77.96410756885977 + 8.918781163905544, + 2.658883709327438, + -2.6293381194563694, + -8.889468120403713 ], - "timestamp": 1.7333812959561141 + "timestamp": 1.6608285798577151 }, { - "x": 4.3447977818837895, - "y": 5.11327846948588, - "heading": -0.00028597237548311677, - "angularVelocity": 0.003848204196101674, - "velocityX": -1.8595080269429423, - "velocityY": 1.1136934648442598, + "x": 7.893780351173055, + "y": 1.1844655258932626, + "heading": -0.4970882184475542, + "angularVelocity": -0.010384133645522587, + "velocityX": 1.2731917227021947, + "velocityY": -3.0212356516915326, "moduleForcesX": [ - 130.36191437677311, - 130.30793304969453, - 130.45029489895654, - 130.39647786061775 + -46.1877502888382, + -40.964460211623845, + -51.37964809444377, + -46.27183696025206 ], "moduleForcesY": [ - -78.11878783843908, - -78.2072165840905, - -77.97016224183274, - -78.058542799783 + 111.14480985941903, + 111.65070404143555, + 107.59168232285188, + 108.14480420177777 ], - "timestamp": 1.7556197698678495 + "timestamp": 1.694489835954091 }, { - "x": 4.308607558707672, - "y": 5.134953403665909, - "heading": -0.00021251574259467532, - "angularVelocity": 0.003303132812979489, - "velocityX": -1.627369904929705, - "velocityY": 0.9746592444052279, + "x": 7.931314316369594, + "y": 1.0953988507451056, + "heading": -0.49735697141239826, + "angularVelocity": -0.007984044447854154, + "velocityX": 1.1150494530358366, + "velocityY": -2.6459700399992125, "moduleForcesX": [ - 130.46608786596434, - 130.41580051599712, - 130.54866492935045, - 130.49852090168125 + -58.688034072994895, + -58.37272515138507, + -59.07815214581606, + -58.76359674414555 ], "moduleForcesY": [ - -78.17764788291926, - -78.26027732323496, - -78.0389359478294, - -78.12152349880125 + 139.3738005581902, + 139.5017056199399, + 139.20532350661, + 139.33391832390953 ], - "timestamp": 1.777858243779585 + "timestamp": 1.7281510920504668 }, { - "x": 4.2775826477640715, - "y": 5.153534707003259, - "heading": -0.00015055835535022086, - "angularVelocity": 0.0027860449188358725, - "velocityX": -1.3951007190218023, - "velocityY": 0.8355475924959945, + "x": 7.963499650081917, + "y": 1.0190242752510106, + "heading": -0.4975727610432389, + "angularVelocity": -0.006410623246583434, + "velocityX": 0.9561536747314809, + "velocityY": -2.2689163852815217, "moduleForcesX": [ - 130.54052249320324, - 130.49286314766545, - 130.61894848149828, - 130.5714183477444 + -58.98012184160624, + -58.77309399577248, + -59.23762173674359, + -59.03092264988544 ], "moduleForcesY": [ - -78.2197050353225, - -78.29818741188794, - -78.08807049218869, - -78.16651520223935 + 140.02979878943435, + 140.11532437019, + 139.9198664208089, + 140.0056947073822 ], - "timestamp": 1.8000967176913203 + "timestamp": 1.7618123481468426 }, { - "x": 4.25172523522464, - "y": 5.169021087927846, - "heading": -0.00009963402920995774, - "angularVelocity": 0.0022899199982148975, - "velocityX": -1.1627332272063562, - "velocityY": 0.6963778623495119, + "x": 7.990327656827904, + "y": 0.9553624333756724, + "heading": -0.49774508156219915, + "angularVelocity": -0.005119253971595125, + "velocityX": 0.7969995732475965, + "velocityY": -1.891249740967507, "moduleForcesX": [ - 130.59635711868773, - 130.55066290074885, - 130.67166710675176, - 130.62609199335435 + -59.08037881986922, + -58.91039328151263, + -59.292230459210764, + -59.12246761587375 ], "moduleForcesY": [ - -78.25125315900695, - -78.32662283325783, - -78.12492383132492, - -78.20025885491455 + 140.25496552524055, + 140.32562429619193, + 140.16487865291504, + 140.23574273285502 ], - "timestamp": 1.8223351916030557 + "timestamp": 1.7954736042432184 }, { - "x": 4.231037021450941, - "y": 5.181411541882464, - "heading": -0.000059380522089606604, - "angularVelocity": 0.0018100840588305442, - "velocityX": -0.9302892750621689, - "velocityY": 0.5571629601575053, + "x": 8.011793943743402, + "y": 0.9044237491972269, + "heading": -0.49787871813067874, + "angularVelocity": -0.003970041049477883, + "velocityX": 0.6377149698584023, + "velocityY": -1.5132734213458825, "moduleForcesX": [ - 130.6397864527033, - 130.59561726899813, - 130.7126715363761, - 130.66861387886254 + -59.131048703804076, + -58.9797530479407, + -59.31981652372701, + -59.16869776482143 ], "moduleForcesY": [ - -78.27579248609706, - -78.34873960250282, - -78.1535873477892, - -78.22650206900526 + 140.36877110186467, + 140.43185709403716, + 140.28866081485512, + 140.35190994425992 ], - "timestamp": 1.844573665514791 + "timestamp": 1.8291348603395943 }, { - "x": 4.2155193666776185, - "y": 5.190705265251585, - "heading": -0.000029508265840906003, - "angularVelocity": 0.0013432691634895349, - "velocityX": -0.6977841570777397, - "velocityY": 0.41791192175626024, + "x": 8.027895860916889, + "y": 0.8662145108411023, + "heading": -0.4979765532361656, + "angularVelocity": -0.002906460329545654, + "velocityX": 0.4783516434705029, + "velocityY": -1.135110295495168, "moduleForcesX": [ - 130.67452984020673, - 130.63157870886738, - 130.74547432185489, - 130.70262883272267 + -59.161621888783436, + -59.02159034599234, + -59.336458840886316, + -59.19657910173011 ], "moduleForcesY": [ - -78.29542459289338, - -78.36643239782136, - -78.17651720537638, - -78.24749436200543 + 140.43743957863458, + 140.49593833884202, + 140.36333092992325, + 140.42196969506332 ], - "timestamp": 1.8668121394265265 + "timestamp": 1.86279611643597 }, { - "x": 4.205173383756283, - "y": 5.196901600573192, - "heading": -0.000009780492476835741, - "angularVelocity": 0.0008871010413021114, - "velocityX": -0.46522899736241846, - "velocityY": 0.2786313191502734, + "x": 8.038631635940288, + "y": 0.8407389241730154, + "heading": -0.49804051307064545, + "angularVelocity": -0.001900102429235874, + "velocityX": 0.3189356626626439, + "velocityY": -0.7568222230113711, "moduleForcesX": [ - 130.70295521059742, - 130.66099956323555, - 130.77231162125068, - 130.73045692040506 + -59.1820756711995, + -59.04957186912006, + -59.34759128136666, + -59.21522355879311 ], "moduleForcesY": [ - -78.31148746662758, - -78.38090738901752, - -78.19527694331126, - -78.26466760794713 + 140.4833755419351, + 140.53879895270924, + 140.41327463038448, + 140.4688235508292 ], - "timestamp": 1.8890506133382619 + "timestamp": 1.896457372532346 }, { - "x": 4.2, - "y": 5.2, - "heading": 9.429465809543985e-20, - "angularVelocity": 0.00043980052388732703, - "velocityX": -0.23263213911703554, - "velocityY": 0.1393260814065984, + "x": 8.044, + "y": 0.828, + "heading": -0.49807197564898315, + "angularVelocity": -0.000934682242625162, + "velocityX": 0.15948198863083735, + "velocityY": -0.3784447061575567, "moduleForcesX": [ - 130.7266416719387, - 130.685515050011, - 130.79467461441962, - 130.753645107655 + -59.19672196455731, + -59.06960174170312, + -59.35556129606742, + -59.22856641171415 ], "moduleForcesY": [ - -78.32487338576404, - -78.39296890767325, - -78.21090913530264, - -78.27897653087165 + 140.51626171385033, + 140.56948097871137, + 140.44902731229965, + 140.5023621961445 ], - "timestamp": 1.9112890872499972 + "timestamp": 1.9301186286287217 }, { - "x": 4.2, - "y": 5.2, - "heading": 4.651642666052545e-20, - "angularVelocity": -5.673969863756623e-20, - "velocityX": -1.134303234353835e-18, - "velocityY": -8.93005391405592e-19, + "x": 8.044, + "y": 0.828, + "heading": -0.49807197564898315, + "angularVelocity": 1.9975515941947043e-20, + "velocityX": 6.315422113673227e-19, + "velocityY": -1.5061167880033918e-18, "moduleForcesX": [ - 130.74668268718136, - 130.70625737797803, - 130.81359585304506, - 130.77326447536933 + -59.20772840892084, + -59.08464716263621, + -59.361548843257644, + -59.23858514309133 ], "moduleForcesY": [ - -78.33620022242233, - -78.40317390934203, - -78.22413564942327, - -78.29108214716159 + 140.5409657979895, + 140.5925288366581, + 140.47588410072586, + 140.5275555995003 ], - "timestamp": 1.9335275611617326 + "timestamp": 1.9637798847250976 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 8.044, - "y": 0.828, - "heading": -0.3602857968918242, + "x": 4.2, + "y": 5.2, + "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 20 }, { - "timestamp": 0.887496637097383, + "timestamp": 0.4229537837035336, "isStopPoint": false, - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.564804889468171, + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.16585060450304712, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, "controlIntervalCount": 20 }, { - "timestamp": 1.4887580829270248, + "timestamp": 0.8409226422069837, "isStopPoint": false, - "x": 5.076982498168945, - "y": 4.663970470428467, - "heading": 0, + "x": 6.243828773498535, + "y": 3.715458631515503, + "heading": -0.3031853071795858, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "timestamp": 1.290554762797581, + "isStopPoint": false, + "x": 7.31837043762207, + "y": 2.5070269107818604, + "heading": -0.3971853071795861, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, "controlIntervalCount": 20 }, { - "timestamp": 1.9335275611617326, + "timestamp": 1.9637798847250976, "isStopPoint": true, - "x": 4.2, - "y": 5.2, - "heading": 0, + "x": 8.044, + "y": 0.828, + "heading": -0.49807197564898315, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -40669,8 +41912,8 @@ }, { "scope": [ - 0, - 3 + 4, + 0 ], "type": "MaxVelocity", "velocity": 3.6 @@ -40683,39 +41926,39 @@ "eventMarkers": [], "isTrajectoryStale": false }, - "shoot2 to f5": { + "shoot3 to f4": { "waypoints": [ { - "x": 4.2, - "y": 5.2, - "heading": 0, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 20 }, { - "x": 5.076982498168945, - "y": 4.663970470428467, - "heading": 0, + "x": 6.224337577819824, + "y": 0.9867419600486755, + "heading": -0.6375485435239854, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, "controlIntervalCount": 20 }, { - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.564804889468171, + "x": 7.764113426208496, + "y": 0.8697969913482666, + "heading": -0.4396269198543665, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, "controlIntervalCount": 20 }, { - "x": 8.044, - "y": 0.828, - "heading": -0.3602857968918242, + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -40724,12 +41967,12 @@ ], "trajectory": [ { - "x": 4.199999999999999, - "y": 5.200000000000001, - "heading": -1.730671985044625e-19, - "angularVelocity": -3.1257420401416553e-19, - "velocityX": 1.5839118525897e-16, - "velocityY": -9.052759830704213e-17, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, + "angularVelocity": -2.996572302511551e-20, + "velocityX": 1.282052848216731e-19, + "velocityY": -9.786372330902113e-20, "moduleForcesX": [ 0, 0, @@ -40745,1306 +41988,1306 @@ "timestamp": 0 }, { - "x": 4.204673708283212, - "y": 5.197191854831228, - "heading": -0.000009132666443966697, - "angularVelocity": -0.00043184204250149217, - "velocityX": 0.22099829698854134, - "velocityY": -0.13278434647371265, + "x": 5.007456788817388, + "y": 1.794992464465537, + "heading": -0.575394590507481, + "angularVelocity": -0.001651160000852412, + "velocityX": 0.2747702203103183, + "velocityY": -0.18451932537068735, "moduleForcesX": [ - 130.6113549080166, - 130.5694042468323, - 130.68052281350708, - 130.63867216064054 + 126.4323888308918, + 126.42718665686525, + 126.6930023579305, + 126.68861939280484 ], "moduleForcesY": [ - -78.50770043988908, - -78.57693109307631, - -78.39219983246139, - -78.46140203718417 + -85.18153054493328, + -85.18791199552554, + -84.79340549539133, + -84.7986080629928 ], - "timestamp": 0.02114816424787427 + "timestamp": 0.02713827142172241 }, { - "x": 4.214020392635984, - "y": 5.191575997536523, - "heading": -0.000027544020916812298, - "angularVelocity": -0.0008705887781574747, - "velocityX": 0.4419619615290967, - "velocityY": -0.2655482209414238, + "x": 5.022369060349875, + "y": 1.7849782705041466, + "heading": -0.5754852456913515, + "angularVelocity": -0.003340492195016771, + "velocityX": 0.5494923129331046, + "velocityY": -0.3690063307913569, "moduleForcesX": [ - 130.5906829917925, - 130.5480502653107, - 130.66093495522358, - 130.61840541026024 + 126.40731466446088, + 126.40193813470857, + 126.67389630628601, + 126.66937688573428 ], "moduleForcesY": [ - -78.49597674009404, - -78.5662905305081, - -78.37864016815944, - -78.44892458546369 + -85.17106421812213, + -85.177523092467, + -84.7740483898801, + -84.77927358804908 ], - "timestamp": 0.04229632849574854 + "timestamp": 0.05427654284344482 }, { - "x": 4.228039195599913, - "y": 5.183152934152155, - "heading": -0.000055404916159008067, - "angularVelocity": -0.0013174143587887511, - "velocityX": 0.6628851201689815, - "velocityY": -0.3982881515108773, + "x": 5.044735187945756, + "y": 1.7699585104871869, + "heading": -0.5756230371481199, + "angularVelocity": -0.005077385166765462, + "velocityX": 0.8241544661551196, + "velocityY": -0.5534530841546923, "moduleForcesX": [ - 130.5665054245857, - 130.52307465432185, - 130.6380252077351, - 130.59470139324483 + 126.37608481983439, + 126.37049451886605, + 126.65009906896331, + 126.64541424044413 ], "moduleForcesY": [ - -78.48226582908667, - -78.55384525624592, - -78.36278105686912, - -78.43433000804407 + -85.15803673418601, + -85.16457754560324, + -84.74994841515758, + -84.75518553756926 ], - "timestamp": 0.06344449274362281 + "timestamp": 0.08141481426516722 }, { - "x": 4.246729102868844, - "y": 5.171923265016958, - "heading": -0.0000929179576953852, - "angularVelocity": -0.0017738202283971677, - "velocityX": 0.8837602675264831, - "velocityY": -0.5309997016249781, + "x": 5.074553089941075, + "y": 1.7499345823475776, + "heading": -0.5758096175487458, + "angularVelocity": -0.0068751763045813985, + "velocityX": 1.0987399135273592, + "velocityY": -0.7378483260210185, "moduleForcesX": [ - 130.5378484464332, - 130.49347104408136, - 130.610870686388, - 130.56660480092106 + 126.33612005612933, + 126.33025402643112, + 126.61964559710664, + 126.61474884248005 ], "moduleForcesY": [ - -78.46601550262977, - -78.53909389759531, - -78.34398353405587, - -78.41703011691759 + -85.14137170926843, + -85.1480052432386, + -84.7191141217772, + -84.72435152439685 ], - "timestamp": 0.08459265699149708 + "timestamp": 0.10855308568688964 }, { - "x": 4.2700888917460045, - "y": 5.157887713497145, - "heading": -0.0001403272617748485, - "angularVelocity": -0.002241769239341299, - "velocityX": 1.1045776004916497, - "velocityY": -0.6636770764923502, + "x": 5.111820007811045, + "y": 1.7249083385610295, + "heading": -0.5760471785530623, + "angularVelocity": -0.008753726448706999, + "velocityX": 1.3732237138832095, + "velocityY": -0.9221753072527897, "moduleForcesX": [ - 130.50334109656245, - 130.45782243249553, - 130.57817203162475, - 130.532770502573 + 126.28316575436904, + 126.27692297095302, + 126.57929463644827, + 126.57410901664244 ], "moduleForcesY": [ - -78.44644832127744, - -78.52133056334544, - -78.3213479137763, - -78.3961966942172 + -85.11929376807832, + -85.1260405006317, + -84.6782603034939, + -84.68348350468067 ], - "timestamp": 0.10574082123937135 + "timestamp": 0.13569135710861205 }, { - "x": 4.298117060832159, - "y": 5.141047166056526, - "heading": -0.0001979326660304188, - "angularVelocity": -0.0027238962011234156, - "velocityX": 1.325323974469269, - "velocityY": -0.7963125060952544, + "x": 5.1565321122100904, + "y": 1.6948823507089557, + "heading": -0.5763387656761177, + "angularVelocity": -0.0107444987384904, + "velocityX": 1.6475664092287998, + "velocityY": -1.1064075299970664, "moduleForcesX": [ - 130.46098978267332, - 130.41406805688197, - 130.5380397131704, - 130.49124220533366 + 126.20966852213114, + 126.20287423564635, + 126.52329209318188, + 126.5176833233722 ], "moduleForcesY": [ - -78.42243378084926, - -78.49952874774301, - -78.2935657768092, - -78.37062519785722 + -85.08865122996004, + -85.09554719544221, + -84.62155435249382, + -84.62674069479196 ], - "timestamp": 0.12688898548724561 + "timestamp": 0.16282962853033445 }, { - "x": 4.3308117247953595, - "y": 5.12140273687129, - "heading": -0.00026611125592119914, - "angularVelocity": -0.003223853810269637, - "velocityX": 1.5459811913454422, - "velocityY": -0.9288952331555151, + "x": 5.208683729904504, + "y": 1.6598604286277538, + "heading": -0.5766888973268911, + "angularVelocity": -0.012901766856566963, + "velocityX": 1.9217000553954307, + "velocityY": -1.2904993666279352, "moduleForcesX": [ - 130.40777973586341, - 130.35909117747636, - 130.48761620383854, - 130.43906105539295 + 126.1008123813199, + 126.09313541664747, + 126.44035120519956, + 126.43406350721159 ], "moduleForcesY": [ - -78.39226231975306, - -78.4721360571692, - -78.25865826566461, - -78.33849374612313 + -85.04326199529575, + -85.05036903851256, + -84.53755536740724, + -84.54265737483904 ], - "timestamp": 0.1480371497351199 + "timestamp": 0.18996789995205685 }, { - "x": 4.368170444275252, - "y": 5.0989558687098775, - "heading": -0.0003453516023505009, - "angularVelocity": -0.0037469137037363107, - "velocityX": 1.7665230306090716, - "velocityY": -1.0614097581268722, + "x": 5.268265591451992, + "y": 1.619848797173541, + "heading": -0.5771049714908946, + "angularVelocity": -0.015331638391324806, + "velocityX": 2.1954921380772614, + "velocityY": -1.4743618277111215, "moduleForcesX": [ - 130.33892556099678, - 130.28794377779738, - 130.42236541930413, - 130.37152942436987 + 125.92303528795932, + 125.91375018194253, + 126.30490143304947, + 126.29737339526352 ], "moduleForcesY": [ - -78.35322034570375, - -78.4366881339148, - -78.21348389495462, - -78.2969097655963 + -84.96911912441205, + -84.97654103132078, + -84.40034735176783, + -84.40523096676816 ], - "timestamp": 0.16918531398299416 + "timestamp": 0.21710617137377924 }, { - "x": 4.410189937296211, - "y": 5.073708501466628, - "heading": -0.0004363116991213347, - "angularVelocity": -0.004301087115865709, - "velocityX": 1.9869097265734048, - "velocityY": -1.1938325744497251, + "x": 5.335259832104833, + "y": 1.5748594533432696, + "heading": -0.5776012930196021, + "angularVelocity": -0.018288619823818145, + "velocityX": 2.468625934637818, + "velocityY": -1.6577822194722371, "moduleForcesX": [ - 130.24634863562716, - 130.1922710919657, - 130.33462892097242, - 130.28071466769214 + 125.58070250264043, + 125.56776706999763, + 126.04405068095453, + 126.03370280999343 ], "moduleForcesY": [ - -78.30072683407086, - -78.38902409125534, - -78.1527384665495, - -78.24098861303186 + -84.82628177138449, + -84.83415988369129, + -84.13609268900012, + -84.14022830157224 ], - "timestamp": 0.19033347823086844 + "timestamp": 0.24424444279550164 }, { - "x": 4.456865558244446, - "y": 5.045663381313713, - "heading": -0.0005399253473558289, - "angularVelocity": -0.004899415713815529, - "velocityX": 2.2070767096616857, - "velocityY": -1.3261255129419585, + "x": 5.409617755537492, + "y": 1.5249250989527485, + "heading": -0.5782171017383527, + "angularVelocity": -0.022691523317057035, + "velocityX": 2.7399653528838366, + "velocityY": -1.8399976039311485, "moduleForcesX": [ - 130.11525824916671, - 130.05677301034828, - 130.21038333545303, - 130.1520878510894 + 124.64961195309371, + 124.623235035678, + 125.33405250556089, + 125.31333129241776 ], "moduleForcesY": [ - -78.22639456550651, - -78.32152415561332, - -78.06670912575701, - -78.16178371696331 + -84.43716615721891, + -84.44498459558703, + -83.41743092583421, + -83.41705558857323 ], - "timestamp": 0.2114816424787427 + "timestamp": 0.27138271421722404 }, { - "x": 4.508190219391263, - "y": 5.014824697762597, - "heading": -0.0006576208417740201, - "angularVelocity": -0.005565281839055739, - "velocityX": 2.4269085963661925, - "velocityY": -1.458220365525218, + "x": 5.490688449484936, + "y": 1.47048285138418, + "heading": -0.579501335738936, + "angularVelocity": -0.047321879150906104, + "velocityX": 2.9873197407308627, + "velocityY": -2.006105942502092, "moduleForcesX": [ - 129.91536219555564, - 129.85010334775782, - 130.02090153473856, - 129.9558765699614 + 112.51035127280414, + 111.83617468545957, + 115.95522726677144, + 115.42806096098384 ], "moduleForcesY": [ - -78.11304547472248, - -78.21857610207789, - -77.93549937599485, - -78.04096176069989 + -79.23983765632777, + -79.03404221631821, + -74.09364123128692, + -73.67322848851384 ], - "timestamp": 0.23262980672661698 + "timestamp": 0.29852098563894647 }, { - "x": 4.564151794784664, - "y": 4.981199619057344, - "heading": -0.0007918525597400885, - "angularVelocity": -0.006347204248681032, - "velocityX": 2.6461670382521083, - "velocityY": -1.5899762301736629, + "x": 5.571764631922128, + "y": 1.4160369515621272, + "heading": -0.585009820732187, + "angularVelocity": -0.2029784766925803, + "velocityX": 2.98752198241486, + "velocityY": -2.006240521954904, "moduleForcesX": [ - 129.5733886397262, - 129.49640245183312, - 129.69666985439898, - 129.62000351509624 + 3.2054895434661357, + -15.227425802057704, + 15.412441422881798, + -3.01789174161812 ], "moduleForcesY": [ - -77.91912501711411, - -78.04238737657067, - -77.7109714094435, - -77.83413942942806 + -15.380945598466191, + -3.174674309098059, + 3.0487402547549065, + 15.258928243670692 ], - "timestamp": 0.25377797097449123 + "timestamp": 0.3256592570606689 }, { - "x": 4.624724801386959, - "y": 4.944803210508792, - "heading": -0.0009478120219451947, - "angularVelocity": -0.007374609936681033, - "velocityX": 2.8642205406747117, - "velocityY": -1.7210197694812848, + "x": 5.652840881129633, + "y": 1.3615911514995893, + "heading": -0.5932459646347567, + "angularVelocity": -0.3034881542225684, + "velocityX": 2.987524442786707, + "velocityY": -2.0062368459787057, "moduleForcesX": [ - 128.8552636640432, - 128.75311707346881, - 129.0154419305616, - 128.9138378750632 + 1.9288672413666181, + -9.907386987113796, + 9.909638770721967, + -1.9265859952016877 ], "moduleForcesY": [ - -77.51185303819862, - -77.67202880725183, - -77.23929934969712, - -77.39931160306018 + -9.906824711451739, + -1.926028441832868, + 1.9294247876575241, + 9.910201044957635 ], - "timestamp": 0.2749261352223655 + "timestamp": 0.3527975284823913 }, { - "x": 4.689821840704958, - "y": 4.905687147338048, - "heading": -0.001143567426368776, - "angularVelocity": -0.009256378101605931, - "velocityX": 3.0781413721656525, - "velocityY": -1.8496197868033284, + "x": 5.733917438457481, + "y": 1.307145811706457, + "heading": -0.6030190718107843, + "angularVelocity": -0.3601226851981793, + "velocityX": 2.9875357965217164, + "velocityY": -2.006219885832324, "moduleForcesX": [ - 126.39689299471078, - 126.20357769557272, - 126.67901939081608, - 126.48741475202293 + 1.0368468820480272, + -5.588313605221329, + 5.598751468220419, + -1.0263664359308462 ], "moduleForcesY": [ - -76.11684223440086, - -76.3993131582889, - -75.6236355318941, - -75.90555271549324 + -5.585728152196183, + -1.0237871652707098, + 1.0394260682208765, + 5.601336903375729 ], - "timestamp": 0.2960742994702397 + "timestamp": 0.37993579990411375 }, { - "x": 4.755037118620865, - "y": 4.866475927671285, - "heading": -0.0022424579161950307, - "angularVelocity": -0.05196150724732792, - "velocityX": 3.0837323298213506, - "velocityY": -1.8541193061808519, + "x": 5.814995425675936, + "y": 1.2527026018276266, + "heading": -0.6133184024555035, + "angularVelocity": -0.37951314159512695, + "velocityX": 2.9875884855918717, + "velocityY": -2.006141402034897, "moduleForcesX": [ - 7.180630984335366, - -0.5946566947197884, - 7.21077872255547, - -0.5782117001104736 + 0.35773208756428887, + -1.894379346562021, + 1.9429055537318671, + -0.30918308066349826 ], "moduleForcesY": [ - -6.55339428558665, - -6.550385961802465, - 1.2227399776646763, - 1.2429552690557522 + -1.8824966239653689, + -0.297303109915791, + 0.3696114395802123, + 1.9547881404152243 ], - "timestamp": 0.31722246371811397 + "timestamp": 0.4070740713258362 }, { - "x": 4.82022523787331, - "y": 4.827219463472361, - "heading": -0.004059667380785461, - "angularVelocity": -0.08592752748166524, - "velocityX": 3.0824481412236775, - "velocityY": -1.8562587091694125, + "x": 5.89608003183431, + "y": 1.1982692498701337, + "heading": -0.6231960802728199, + "angularVelocity": -0.3639759387699967, + "velocityX": 2.98783238248231, + "velocityY": -2.0057781540945174, "moduleForcesX": [ - 2.3230441566358278, - -3.8657539746866747, - 2.3497571909130053, - -3.8432177530042897 + -0.13964067236416977, + 1.652259609410473, + -1.4276131567233472, + 0.36435388346645986 ], "moduleForcesY": [ - -4.373136456586327, - -4.346266942239965, - 1.8184324705479258, - 1.842841618591864 + 1.7072358455694714, + 0.41931830442039325, + -0.08466565410366123, + -1.372634484208684 ], - "timestamp": 0.3383706279659882 + "timestamp": 0.4342123427475586 }, { - "x": 4.885333810285495, - "y": 4.78783120940797, - "heading": -0.006459676107579388, - "angularVelocity": -0.11348544009153483, - "velocityX": 3.078686717081628, - "velocityY": -1.862490473413949, + "x": 5.977195189560978, + "y": 1.1438814342732069, + "heading": -0.6316539289347272, + "angularVelocity": -0.3116576045126171, + "velocityX": 2.988958156764731, + "velocityY": -2.004100215207972, "moduleForcesX": [ - 0.27251743330560585, - -4.7479655851420794, - 0.30546455190512517, - -4.723043941282925 + -0.2854443062609377, + 5.710127698036728, + -4.67477962382116, + 1.3242413847104415 ], "moduleForcesY": [ - -6.212911700365642, - -6.174611538738685, - -1.1898347826418583, - -1.1562239844618225 + 5.964541896781724, + 1.5780147145548884, + -0.030910688249430416, + -4.420183573716461 ], - "timestamp": 0.35951879221386246 + "timestamp": 0.461350614169281 }, { - "x": 4.950206249880245, - "y": 4.74805525555127, - "heading": -0.009343806615771314, - "angularVelocity": -0.13637734577765406, - "velocityX": 3.0675210715885504, - "velocityY": -1.880823000538438, + "x": 6.05845035310875, + "y": 1.0897030096913218, + "heading": -0.637530823620015, + "angularVelocity": -0.2165537588581955, + "velocityX": 2.9941171375750097, + "velocityY": -1.996384505859675, "moduleForcesX": [ - -4.517700347426744, - -8.695150907646779, - -4.496039053416941, - -8.689726049423163 + 0.9747164935974887, + 11.812245097806398, + -7.085668877071738, + 3.803698834519964 ], "moduleForcesY": [ - -12.949610569296242, - -12.88057132643416, - -8.786350832221437, - -8.726536934297721 + 12.988635758466254, + 4.964384898106246, + 2.1645830480875086, + -5.902053221733576 ], - "timestamp": 0.3806669564617367 + "timestamp": 0.48848888559100345 }, { - "x": 5.01439999153878, - "y": 4.7071931150759365, - "heading": -0.012615717928013477, - "angularVelocity": -0.1547137271062802, - "velocityX": 3.0354285430668346, - "velocityY": -1.932183799764877, + "x": 6.140327157305766, + "y": 1.0364687394385952, + "heading": -0.6394909087139353, + "angularVelocity": -0.0722258637427909, + "velocityX": 3.017023557784399, + "velocityY": -1.9615939948920285, "moduleForcesX": [ - -17.202722072769408, - -20.613221292196997, - -17.31064989402535, - -20.74885423981035 + 8.355453165261531, + 24.814973856101577, + -3.9840401065094464, + 13.016780437680804 ], "moduleForcesY": [ - -32.09355021289428, - -31.88099622006398, - -28.828004397205017, - -28.628318120073242 + 30.19545584050105, + 18.02057159885406, + 14.252035499465046, + 1.6305497307379508 ], - "timestamp": 0.40181512070961095 + "timestamp": 0.5156271570127259 }, { - "x": 5.076982498168946, - "y": 4.663970470428466, - "heading": -0.016117434125189685, - "angularVelocity": -0.16558014946994787, - "velocityX": 2.959240631727682, - "velocityY": -2.0438012558456413, + "x": 6.224337577819824, + "y": 0.9867419600486756, + "heading": -0.6375485435239854, + "angularVelocity": 0.07157291486130414, + "velocityX": 3.0956437574318887, + "velocityY": -1.8323488116552091, "moduleForcesX": [ - -43.708387981146146, - -45.88660016928932, - -44.17021209772122, - -46.36369993950287 + 31.819615791577423, + 50.85875506080928, + 20.36041659373089, + 41.812368373186814 ], "moduleForcesY": [ - -67.1271230312215, - -66.59453026410029, - -65.35322654491614, - -64.81907987303289 + 72.42137393520206, + 59.23178264743808, + 60.683104050181896, + 45.787202037993154 ], - "timestamp": 0.4229632849574852 + "timestamp": 0.5427654284344483 }, { - "x": 5.160465598125471, - "y": 4.59518582651235, - "heading": -0.021299787276894855, - "angularVelocity": -0.17241561529766827, - "velocityX": 2.777462211594718, - "velocityY": -2.288448192669597, + "x": 6.297263590446103, + "y": 0.9492930705537316, + "heading": -0.6346860484988494, + "angularVelocity": 0.12564672564871665, + "velocityX": 3.20102379939453, + "velocityY": -1.6437863831734283, "moduleForcesX": [ - -74.78749780987694, - -75.84978400406554, - -75.34262388353049, - -76.40626172099292 + 53.5523675643479, + 65.43509399403231, + 49.61146385779122, + 62.67933192684472 ], "moduleForcesY": [ - -102.3817660028254, - -101.79158502456613, - -101.69498492437498, - -101.09883618424197 + 108.19334961809705, + 100.99525312106235, + 106.21300004703565, + 98.43757441866944 ], - "timestamp": 0.45302061556966966 + "timestamp": 0.5655475185395178 }, { - "x": 5.240827197536756, - "y": 4.522778590821015, - "heading": -0.027020956069788445, - "angularVelocity": -0.19034187921446397, - "velocityX": 2.6736106558466814, - "velocityY": -2.4089709304447906, + "x": 6.371564744471909, + "y": 0.9146522232113448, + "heading": -0.6295584038155518, + "angularVelocity": 0.22507349675333205, + "velocityX": 3.2613844332603126, + "velocityY": -1.5205298189335548, "moduleForcesX": [ - -41.82465368506901, - -44.19046816115776, - -42.17995489334236, - -44.56070967404191 + 29.171250581068506, + 45.80158356032154, + 19.53026440806381, + 37.9707736620144 ], "moduleForcesY": [ - -51.47846103925625, - -50.98825767410318, - -49.252603786493275, - -48.76877028896119 + 77.70480945687733, + 67.22736161567101, + 68.59998393260788, + 56.97982100631284 ], - "timestamp": 0.4830779461818541 + "timestamp": 0.5883296086445873 }, { - "x": 5.320500081163206, - "y": 4.449614194082828, - "heading": -0.03327204369740652, - "angularVelocity": -0.20797214856744692, - "velocityX": 2.6506972510000297, - "velocityY": -2.4341614923234003, + "x": 6.4463689469775485, + "y": 0.8811114220878429, + "heading": -0.6219339915312758, + "angularVelocity": 0.3346669356987371, + "velocityX": 3.28346530808393, + "velocityY": -1.4722442483903808, "moduleForcesX": [ - -8.427151077073846, - -10.686860062230815, - -8.368842794204072, - -10.633313370721492 + 9.72795343235305, + 25.140331600582826, + -1.2245053182863888, + 14.817258587327487 ], "moduleForcesY": [ - -11.652792986676726, - -11.556430563344584, - -9.393793754279233, - -9.301172731121282 + 39.03185097762944, + 28.36822384321417, + 24.92114748760326, + 13.651430596716725 ], - "timestamp": 0.5131352767940386 + "timestamp": 0.6111116987496568 }, { - "x": 5.400051102907325, - "y": 4.376317315841017, - "heading": -0.03989142652340981, - "angularVelocity": -0.2202252392739082, - "velocityX": 2.6466429361627473, - "velocityY": -2.4385691193836445, + "x": 6.521345221059765, + "y": 0.8479570466797042, + "heading": -0.6124629812898468, + "angularVelocity": 0.4157217444821491, + "velocityX": 3.2910182400487518, + "velocityY": -1.455282428224732, "moduleForcesX": [ - -0.9322514839601066, - -2.5021501530416175, - -0.8697937061973879, - -2.4401075518138198 + 2.467437792099604, + 13.690512100392183, + -5.459647260772247, + 5.878165835371072 ], "moduleForcesY": [ - -2.649631103647892, - -2.5863889935660644, - -1.0794653740817501, - -1.0165479635987842 + 18.80657961055108, + 10.96791870208246, + 7.704240959044742, + -0.25252322340966965 ], - "timestamp": 0.543192607406223 + "timestamp": 0.6338937888547262 }, { - "x": 5.479580849497246, - "y": 4.302997353920524, - "heading": -0.046763141333547524, - "angularVelocity": -0.2286202623513113, - "velocityX": 2.6459351170030887, - "velocityY": -2.439337107683092, + "x": 6.596444963324744, + "y": 0.8150833078972034, + "heading": -0.6018041678317314, + "angularVelocity": 0.4678593319997204, + "velocityX": 3.2964377683795916, + "velocityY": -1.4429641280008016, "moduleForcesX": [ - 0.21816142417479056, - -0.857201827694486, - 0.268494764967261, - -0.8069028328222145 + 1.8311492777877756, + 9.105185881004484, + -3.1754832143435934, + 4.1334218158719995 ], "moduleForcesY": [ - -0.8822471374115218, - -0.8319006067984248, - 0.19314414419575177, - 0.2434645042170598 + 12.874961670086316, + 7.893828960859651, + 5.641151620980573, + 0.6251106495397948 ], - "timestamp": 0.5732499380184074 + "timestamp": 0.6566758789597957 }, { - "x": 5.559106886174522, - "y": 4.229673368155452, - "heading": -0.05380842976519327, - "angularVelocity": -0.23439501406654378, - "velocityX": 2.6458116890855163, - "velocityY": -2.439470980017981, + "x": 6.671824730257121, + "y": 0.7828568742038448, + "heading": -0.590535791785985, + "angularVelocity": 0.49461555080229314, + "velocityX": 3.308729207229498, + "velocityY": -1.4145512349716851, "moduleForcesX": [ - 0.2984889272350908, - -0.44097719340419417, - 0.33831821316855004, - -0.40115077066979765 + 6.096085787687144, + 9.899954309557076, + 3.57717088162869, + 7.402889091883087 ], "moduleForcesY": [ - -0.44532213497355455, - -0.4054928600008283, - 0.2941464279509047, - 0.3339735835327076 + 18.703718238188824, + 16.180861948429996, + 15.008429010279656, + 12.464950274945835 ], - "timestamp": 0.6033072686305918 + "timestamp": 0.6794579690648652 }, { - "x": 5.638632276050356, - "y": 4.156348680939133, - "heading": -0.06097428423075602, - "angularVelocity": -0.23840621637431408, - "velocityX": 2.64579017020405, - "velocityY": -2.4394943171102996, + "x": 6.747998101417829, + "y": 0.752554100197326, + "heading": -0.5791792820666322, + "angularVelocity": 0.4984841016332304, + "velocityX": 3.343563773534415, + "velocityY": -1.3301138686907095, "moduleForcesX": [ - 0.2320935742638698, - -0.28133667358549985, - 0.2634385978595463, - -0.24999189334130956 + 18.976891222422324, + 19.592931182713272, + 18.632105226757318, + 19.249719570497028 ], "moduleForcesY": [ - -0.2820929242389359, - -0.25074792730053325, - 0.23133753160397366, - 0.26268235373017074 + 46.75411777918659, + 46.382215320898474, + 46.27598055462321, + 45.90291837965756 ], - "timestamp": 0.6333645992427762 + "timestamp": 0.7022400591699347 }, { - "x": 5.7181575531705535, - "y": 4.083023871470378, - "heading": -0.06822559968592745, - "angularVelocity": -0.24124948248837214, - "velocityX": 2.645786418837762, - "velocityY": -2.4394983844526656, + "x": 6.8256259015020495, + "y": 0.7262003688828391, + "heading": -0.5679773597572643, + "angularVelocity": 0.4916986219308897, + "velocityX": 3.407404664199213, + "velocityY": -1.1567740796805794, "moduleForcesX": [ - 0.16789402037833806, - -0.1958708535764448, - 0.1927506884882498, - -0.17101420699690273 + 35.491910441032324, + 34.016037717677484, + 36.032887239151464, + 34.571178843079984 ], "moduleForcesY": [ - -0.19600226835952247, - -0.17114560335014298, - 0.16776262383673626, - 0.19261927384436098 + 94.52934755145844, + 95.21884917934577, + 94.99860227809624, + 95.68315322704154 ], - "timestamp": 0.6634219298549606 + "timestamp": 0.7250221492750042 }, { - "x": 5.7976828106119624, - "y": 4.009699040686787, - "heading": -0.07553996501255193, - "angularVelocity": -0.24334713621107187, - "velocityX": 2.645785764148746, - "velocityY": -2.439499093569967, + "x": 6.904822585969859, + "y": 0.7050255329464915, + "heading": -0.5569197670053849, + "angularVelocity": 0.4853634017283949, + "velocityX": 3.4762694775834855, + "velocityY": -0.9294509783205802, "moduleForcesX": [ - 0.12369265372573317, - -0.14453794696057606, - 0.1439934144274339, - -0.124237188322846 + 38.36352063695699, + 36.66349107778442, + 38.89581111017956, + 37.21522699112541 ], "moduleForcesY": [ - -0.1445605830230021, - -0.12425982265200088, - 0.12367001939233042, - 0.14397077836810557 + 124.36609931380917, + 124.95815214889265, + 124.49660787467906, + 125.08661647278456 ], - "timestamp": 0.693479260467145 + "timestamp": 0.7478042393800737 }, { - "x": 5.87720806443643, - "y": 3.936374206001281, - "heading": -0.08290433407973492, - "angularVelocity": -0.24501074836624548, - "velocityX": 2.645785643771225, - "velocityY": -2.439499223381111, + "x": 6.985331333903279, + "y": 0.6895772864133375, + "heading": -0.5459725522657982, + "angularVelocity": 0.4805184550275633, + "velocityX": 3.533861360486167, + "velocityY": -0.6780873248199517, "moduleForcesX": [ - 0.09741908042581654, - -0.11518554176100942, - 0.11508541861761402, - -0.09751920380934215 + 32.056718877777485, + 30.649186698950754, + 32.54310636263097, + 31.14826468686657 ], "moduleForcesY": [ - -0.11518946503939066, - -0.09752312688857075, - 0.0974151573464743, - 0.11508149533931514 + 137.7383996074027, + 138.0963926585369, + 137.73781744719136, + 138.0968208381404 ], - "timestamp": 0.7235365910793294 + "timestamp": 0.7705863294851432 }, { - "x": 5.956733316477515, - "y": 3.8630493694024346, - "heading": -0.09031308650340458, - "angularVelocity": -0.2464873717250968, - "velocityX": 2.6457855844623372, - "velocityY": -2.439499287039256, + "x": 7.066760944526875, + "y": 0.6801299702202116, + "heading": -0.5351116686378252, + "angularVelocity": 0.47672902608511347, + "velocityX": 3.574281826120797, + "velocityY": -0.41468171487153915, "moduleForcesX": [ - 0.08572951657716098, - -0.10285714870700775, - 0.1028078189509451, - -0.08577884642695495 + 22.51092414934221, + 21.38332455074086, + 22.96844585125429, + 21.848361914977865 ], "moduleForcesY": [ - -0.10285895747933335, - -0.08578065512239298, - 0.08572770788169852, - 0.10280601017863711 + 144.4391215021418, + 144.630689404208, + 144.4173032328607, + 144.6108758467907 ], - "timestamp": 0.7535939216915138 + "timestamp": 0.7933684195902126 }, { - "x": 6.03625856152059, - "y": 3.7897245252345058, - "heading": -0.09776719192971461, - "angularVelocity": -0.24799625497309827, - "velocityX": 2.6457853516414014, - "velocityY": -2.4394995388630343, + "x": 7.148667991884604, + "y": 0.6768315097694293, + "heading": -0.5243209701395815, + "angularVelocity": 0.47364831095293175, + "velocityX": 3.5952384956770955, + "velocityY": -0.14478304824394675, "moduleForcesX": [ - 0.08674513739297163, - -0.10582615602850828, - 0.1056325088414637, - -0.08693878497036943 + 11.73562297805631, + 10.822269613968766, + 12.172399143448366, + 11.263446020035351 ], "moduleForcesY": [ - -0.10583405893495398, - -0.08694668756146111, - 0.08673723480148822, - 0.10562460593529137 + 148.05054824037026, + 148.13236259597332, + 148.04073706172707, + 148.1246954339894 ], - "timestamp": 0.7836512523036983 + "timestamp": 0.8161505096952821 }, { - "x": 6.11578376690209, - "y": 3.7163996380760036, - "heading": -0.10527435475010422, - "angularVelocity": -0.24976146143019018, - "velocityX": 2.6457840321154866, - "velocityY": -2.43950096916163, + "x": 7.230586025064386, + "y": 0.6797534956595902, + "heading": -0.5135892338685852, + "angularVelocity": 0.4710602153490859, + "velocityX": 3.5957207087663927, + "velocityY": 0.12825802534738662, "moduleForcesX": [ - 0.10011416408781977, - -0.12499816525036585, - 0.12390065921095698, - -0.10121167318813755 + 0.4293704946022638, + -0.32112981026451193, + 0.849028205331956, + 0.10104728560870667 ], "moduleForcesY": [ - -0.12504423372175508, - -0.10125773921039682, - 0.10006809805071196, - 0.12385459074971743 + 149.80031006529802, + 149.80865912030882, + 149.81285242867685, + 149.82318253609557 ], - "timestamp": 0.8137085829158827 + "timestamp": 0.8389325998003516 }, { - "x": 6.1953087447808795, - "y": 3.6430745042083035, - "heading": -0.1128501618471629, - "angularVelocity": -0.25204523963906644, - "velocityX": 2.64577646313683, - "velocityY": -2.4395091770913226, + "x": 7.312038412070633, + "y": 0.6889106153110655, + "heading": -0.5029083318953076, + "angularVelocity": 0.4688288881317708, + "velocityX": 3.5752815755971494, + "velocityY": 0.40194379046161915, "moduleForcesX": [ - 0.12586383150035263, - -0.16513913729275234, - 0.15884370064490236, - -0.1321592978081659 + -11.105195594731443, + -11.728482699296412, + -10.701137350099517, + -11.323081666829498 ], "moduleForcesY": [ - -0.16540487095782558, - -0.13242500763602497, - 0.125598121036691, - 0.1585779674070017 + 150.1663547242976, + 150.12466874129728, + 150.20442809751788, + 150.164461228058 ], - "timestamp": 0.8437659135280671 + "timestamp": 0.8617146899054211 }, { - "x": 6.274832417591408, - "y": 3.569747954995063, - "heading": -0.12052040556675728, - "angularVelocity": -0.25518712285398487, - "velocityX": 2.645733043849278, - "velocityY": -2.4395562652919573, + "x": 7.392545360353407, + "y": 0.7042692713972551, + "heading": -0.492272164506449, + "angularVelocity": 0.46686530251637937, + "velocityX": 3.5337823663886834, + "velocityY": 0.6741548301915962, "moduleForcesX": [ - 0.15771475133497836, - -0.24226951663668175, - 0.20615595349119872, - -0.1938286393099587 + -22.703794808701353, + -23.224652555038684, + -22.31492982128889, + -22.835204756035875 ], "moduleForcesY": [ - -0.24379545012562348, - -0.195354296818722, - 0.15618906489120846, - 0.20463003911891933 + 149.36126600866385, + 149.28542165619743, + 149.4255230899525, + 149.35111272990164 ], - "timestamp": 0.8738232441402515 + "timestamp": 0.8844967800104906 }, { - "x": 6.354348603985508, - "y": 3.4964132875567637, - "heading": -0.128324930326022, - "angularVelocity": -0.2596546200313926, - "velocityX": 2.6454839726126207, - "velocityY": -2.439826356673976, + "x": 7.471628223394797, + "y": 0.7257517995401594, + "heading": -0.48167601910725155, + "angularVelocity": 0.46510857214279777, + "velocityX": 3.471273385219068, + "velocityY": 0.9429568597011301, "moduleForcesX": [ - 0.1438546460092021, - -0.4243333494304456, - 0.21717177870947632, - -0.351020015812135 + -34.26588932597665, + -34.70203739210165, + -33.89243542604512, + -34.3285017426585 ], "moduleForcesY": [ - -0.43307693401023006, - -0.35975956960657035, - 0.13511373163418927, - 0.20842907803548266 + 147.48938379137766, + 147.39069349413253, + 147.57950256196196, + 147.4819669329966 ], - "timestamp": 0.9038805747524359 + "timestamp": 0.9072788701155601 }, { - "x": 6.433821834398544, - "y": 3.4230320708341258, - "heading": -0.13632357018996996, - "angularVelocity": -0.2661127818418287, - "velocityX": 2.644054837690217, - "velocityY": -2.4413750398934724, + "x": 7.548810684641927, + "y": 0.7532380027470068, + "heading": -0.47111616818180196, + "angularVelocity": 0.46351545783324866, + "velocityX": 3.3878569038735926, + "velocityY": 1.2064829469150684, "moduleForcesX": [ - -0.24036047395240137, - -1.060837898636791, - -0.12781333612895085, - -0.9483366673621806 + -45.76517348729976, + -46.129556109228275, + -45.40766264423361, + -45.77229704534824 ], "moduleForcesY": [ - -1.1105928034052845, - -0.9980035986869876, - -0.2900924165175457, - -0.177526680161928 + 144.58925799845895, + 144.47610288499368, + 144.7046524825284, + 144.5923888512292 ], - "timestamp": 0.9339379053646203 + "timestamp": 0.9300609602206296 }, { - "x": 6.51304841856981, - "y": 3.3493846320722387, - "heading": -0.14460452607371518, - "angularVelocity": -0.27550536641428586, - "velocityX": 2.6358489778582705, - "velocityY": -2.4502321817010935, + "x": 7.623611200862927, + "y": 0.7865615451114573, + "heading": -0.4605896053015637, + "angularVelocity": 0.4620543080854512, + "velocityX": 3.283303501830834, + "velocityY": 1.4627078644129816, "moduleForcesX": [ - -2.902777128693355, - -4.094692598627172, - -2.730201197570769, - -3.9226760367579505 + -57.38553322889536, + -57.68719106961801, + -57.04458339201613, + -57.34671769205251 ], "moduleForcesY": [ - -4.366736363621871, - -4.191761183353399, - -3.1749746938151637, - -3.0002742816484957 + 140.5747566482973, + 140.45348145100257, + 140.71543542453566, + 140.5948044565011 ], - "timestamp": 0.9639952359768047 + "timestamp": 0.952843050325699 }, { - "x": 6.590890757037633, - "y": 3.2742756641379853, - "heading": -0.15327274532429216, - "angularVelocity": -0.2883895234217206, - "velocityX": 2.58979546361488, - "velocityY": -2.498856897947705, + "x": 7.695533685921564, + "y": 0.825500710900974, + "heading": -0.4500938659071291, + "angularVelocity": 0.4607013380260062, + "velocityX": 3.156974830971855, + "velocityY": 1.7092007629647494, "moduleForcesX": [ - -18.43088002784548, - -20.0723159678245, - -18.22965457195893, - -19.87660427318394 + -69.35258273413832, + -69.5975233781774, + -69.02933777289654, + -69.27490432506934 ], "moduleForcesY": [ - -21.18602765547963, - -20.878811541106785, - -19.563316584039075, - -19.25846198658899 + 135.22338691366244, + 135.09942428487724, + 135.39014877217943, + 135.26659329888668 ], - "timestamp": 0.9940525665889891 + "timestamp": 0.9756251404307685 }, { - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.16219856211454844, - "angularVelocity": -0.2969597302375868, - "velocityX": 2.422095237496305, - "velocityY": -2.6600589121829796, + "x": 7.764113426208496, + "y": 0.8697969913482666, + "heading": -0.4396269198543665, + "angularVelocity": 0.45943747937479407, + "velocityX": 3.0102479610363693, + "velocityY": 1.944346644359694, "moduleForcesX": [ - -69.04309927888647, - -70.1802267857613, - -69.3019482031423, - -70.44199046095767 + -80.55893401859741, + -80.75535560734586, + -80.25549841664379, + -80.45261916147322 ], "moduleForcesY": [ - -67.86166687091152, - -67.24772255439451, - -66.83239899214011, - -66.21578072132426 + 128.9845185186691, + 128.86334837985615, + 129.17464404750365, + 129.05367063008555 ], - "timestamp": 1.0241098972011735 + "timestamp": 0.998407230535838 }, { - "x": 6.75727581878267, - "y": 3.054935838104552, - "heading": -0.17627569254564657, - "angularVelocity": -0.30179087516060216, - "velocityX": 2.0062753236841044, - "velocityY": -2.988200549413794, + "x": 7.853359752900114, + "y": 0.9423257597059355, + "heading": -0.4249574999950666, + "angularVelocity": 0.4577608528360343, + "velocityX": 2.784941395820672, + "velocityY": 2.2632681576364724, "moduleForcesX": [ - -111.10742225888322, - -111.48079861621049, - -111.38230396187039, - -111.75474677579864 + -87.94224655061865, + -88.10874127355646, + -87.65881575223001, + -87.82599822052157 ], "moduleForcesY": [ - -88.34878550163027, - -87.93499261326687, - -87.93627680078788, - -87.52120499958227 + 124.3578722826025, + 124.24103155894792, + 124.55844798978362, + 124.44168516392915 ], - "timestamp": 1.0707552121849575 + "timestamp": 1.030453264547738 }, { - "x": 6.8419068380495345, - "y": 2.9099397665608033, - "heading": -0.19166089828251734, - "angularVelocity": -0.3298338909753175, - "velocityX": 1.8143519728891964, - "velocityY": -3.1084809180547834, + "x": 7.934356371299504, + "y": 1.0242540004677416, + "heading": -0.4103507673533828, + "angularVelocity": 0.45580469134681945, + "velocityX": 2.52750834531699, + "velocityY": 2.5565797231377423, "moduleForcesX": [ - -50.38797680823675, - -52.56276507928467, - -50.29423540381022, - -52.48131147060376 + -100.49935375084672, + -100.6498985962587, + -100.180237440022, + -100.3318365537322 ], "moduleForcesY": [ - -33.81729604211525, - -33.016913327312, - -31.443348590548812, - -30.653256080837973 + 114.33541116748893, + 114.20464413375703, + 114.61593909019788, + 114.4849813878843 ], - "timestamp": 1.1174005271687415 + "timestamp": 1.062499298559638 }, { - "x": 6.925892936635668, - "y": 2.764569180143577, - "heading": -0.2080261577493816, - "angularVelocity": -0.3508446555147825, - "velocityX": 1.8005259180972235, - "velocityY": -3.116509910325695, + "x": 8.0060511169128, + "y": 1.1145270045569435, + "heading": -0.39581904216102953, + "angularVelocity": 0.45346407567803837, + "velocityX": 2.237242386582797, + "velocityY": 2.816978976421238, "moduleForcesX": [ - -3.0347891107574947, - -4.732690146437991, - -2.677068460854431, - -4.375863288692762 + -113.33682574337871, + -113.46084999860885, + -112.98290022679578, + -113.10847517933168 ], "moduleForcesY": [ - -3.1812997713545834, - -2.821098213976949, - -1.481791403183291, - -1.122240082165069 + 101.4428129681989, + 101.30714730348473, + 101.83792144565169, + 101.70147874892135 ], - "timestamp": 1.1640458421525255 + "timestamp": 1.094545332571538 }, { - "x": 7.009840604895083, - "y": 2.6191763979249116, - "heading": -0.22491556361074883, - "angularVelocity": -0.36208150523238425, - "velocityX": 1.7997020341402077, - "velocityY": -3.116985752357137, + "x": 8.06757906613841, + "y": 1.2120409419457012, + "heading": -0.3813800205461703, + "angularVelocity": 0.45057125039240153, + "velocityX": 1.9199863921619935, + "velocityY": 3.042933092829692, "moduleForcesX": [ - 0.12824668601976072, - -0.7768999519440589, - 0.33533930926999655, - -0.5698229214031244 + -123.89689149091791, + -123.99305114043642, + -123.50605053746531, + -123.60440891368611 ], "moduleForcesY": [ - -0.683641547103973, - -0.47654646957801333, - 0.22151971113144, - 0.428604184847818 + 87.92711639831985, + 87.79732212756998, + 88.476682433819, + 88.3450261306737 ], - "timestamp": 1.2106911571363095 + "timestamp": 1.126591366583438 }, { - "x": 7.093785988313307, - "y": 2.4737822965521468, - "heading": -0.24206528003655145, - "angularVelocity": -0.3676621420986139, - "velocityX": 1.799653050846274, - "velocityY": -3.117014032884302, + "x": 8.118231950465102, + "y": 1.31563418331523, + "heading": -0.36706069116782525, + "angularVelocity": 0.4468362410471036, + "velocityX": 1.5806288013013425, + "velocityY": 3.2326384391610286, "moduleForcesX": [ - 0.1554547855162892, - -0.29224896076330903, - 0.26599601562483693, - -0.1817079644660672 + -132.55342343544478, + -132.61909080638156, + -132.1216418644511, + -132.19038281456528 ], "moduleForcesY": [ - -0.28670113941046854, - -0.17615994368312685, - 0.161002800094027, - 0.2715438482326346 + 73.66438024269421, + 73.55859136357282, + 74.43781854948784, + 74.32801498139675 ], - "timestamp": 1.2573364721200935 + "timestamp": 1.158637400595338 }, { - "x": 7.177731236209712, - "y": 2.328388116954171, - "heading": -0.2593079170201019, - "angularVelocity": -0.3696542083496428, - "velocityX": 1.799650145476885, - "velocityY": -3.1170157099061724, + "x": 8.157451875792262, + "y": 1.4240805799791298, + "heading": -0.3529054673245195, + "angularVelocity": 0.44171530985860263, + "velocityX": 1.2238620639482116, + "velocityY": 3.3840816814844557, "moduleForcesX": [ - 0.057671448462073845, - -0.10143699552355025, - 0.09987983608164007, - -0.05922860970826968 + -139.38346754915878, + -139.41565628257766, + -138.90586385781685, + -138.94226735088014 ], "moduleForcesY": [ - -0.10110782398001866, - -0.05889943672459394, - 0.05800062143771806, - 0.10020900763916966 + 58.534377055497885, + 58.48902845371008, + 59.66041802395446, + 59.60632436343745 ], - "timestamp": 1.3039817871038775 + "timestamp": 1.190683434607238 }, { - "x": 7.261676476385865, - "y": 2.1829939328901036, - "heading": -0.27651055479422826, - "angularVelocity": -0.36879669008788524, - "velocityX": 1.799649979967746, - "velocityY": -3.117015805651939, + "x": 8.184852845935204, + "y": 1.5361028015079887, + "heading": -0.33899564902183765, + "angularVelocity": 0.43405740309445084, + "velocityX": 0.8550502733901107, + "velocityY": 3.4956656879057135, "moduleForcesX": [ - -0.024456068402193106, - 0.043712146318862784, - -0.04380085250570498, - 0.024367362195912637 + -144.12256479474672, + -144.1236051642125, + -143.59404752662346, + -143.60039775739148 ], "moduleForcesY": [ - 0.043730841482873595, - 0.02438605737485271, - -0.02443737322324143, - -0.043782157341713514 + 42.6095059442019, + 42.70662735074425, + 44.35355117502826, + 44.42987240471147 ], - "timestamp": 1.3506271020876615 + "timestamp": 1.222729468619138 }, { - "x": 7.34562171641779, - "y": 2.037599748702139, - "heading": -0.29352541190080544, - "angularVelocity": -0.36477097673136666, - "velocityX": 1.7996499768754688, - "velocityY": -3.1170158083080857, + "x": 8.200277425358575, + "y": 1.650393975572135, + "heading": -0.3255058966892429, + "angularVelocity": 0.4209491985056691, + "velocityX": 0.4813256897138449, + "velocityY": 3.5664686001926427, "moduleForcesX": [ - -0.11109269207420744, - 0.20733898129633233, - -0.20734063862665736, - 0.11109103473389965 + -146.0621612429763, + -146.06771973025056, + -145.48357203727258, + -145.49237458970512 ], "moduleForcesY": [ - 0.20733909816713597, - 0.11109115161109803, - -0.11109257519700906, - -0.20734052175585366 + 25.896848406211483, + 26.357874151295484, + 28.907239917266043, + 29.30866902464574 ], - "timestamp": 1.3972724170714454 + "timestamp": 1.2547755026310379 }, { - "x": 7.429566956689485, - "y": 1.8922055645666425, - "heading": -0.31013505977289263, - "angularVelocity": -0.3560839470772452, - "velocityX": 1.7996499820161242, - "velocityY": -3.1170158071832237, + "x": 8.203998478416482, + "y": 1.7656627045856035, + "heading": -0.31292297235700006, + "angularVelocity": 0.39265153146783266, + "velocityX": 0.11611586808295281, + "velocityY": 3.5969733094168292, "moduleForcesX": [ - -0.23225803495127245, - 0.45133683310671, - -0.4513340779465994, - 0.23226079015761958 + -142.60945010521542, + -142.9130247364372, + -142.0127620152318, + -142.28538664877934 ], "moduleForcesY": [ - 0.4513357569773042, - 0.2322597139841929, - -0.23225911112469913, - -0.4513351540760055 + 8.00312445370525, + 9.6050356799455, + 14.313643271613127, + 15.673336156871905 ], - "timestamp": 1.4439177320552294 + "timestamp": 1.2868215366429379 }, { - "x": 7.51351219710036, - "y": 1.746811380353832, - "heading": -0.32597216282909236, - "angularVelocity": -0.33952183754585785, - "velocityX": 1.7996499849998264, - "velocityY": -3.1170158088407347, + "x": 8.197795218654184, + "y": 1.880824878322834, + "heading": -0.3033303795788422, + "angularVelocity": 0.29933790791695936, + "velocityX": -0.1935734000655539, + "velocityY": 3.5936482403552796, "moduleForcesX": [ - -0.429126891302155, - 0.8673914122336529, - -0.8673898131006768, - 0.42912849045634677 + -119.2325038098272, + -123.45814974763456, + -118.29925965063792, + -122.20446278473888 ], "moduleForcesY": [ - 0.8673901685240899, - 0.4291272466634665, - -0.4291281350950354, - -0.8673910568102398 + -13.18677126803289, + -6.784491118699223, + 5.045444662065725, + 9.737860518613108 ], - "timestamp": 1.4905630470390134 + "timestamp": 1.3188675706548378 }, { - "x": 7.597457437474679, - "y": 1.6014171958503052, - "heading": -0.34038489399598115, - "angularVelocity": -0.30898561135023483, - "velocityX": 1.7996499842156426, - "velocityY": -3.1170158150732465, + "x": 8.187630481977742, + "y": 1.9928563674511546, + "heading": -0.3027586664142015, + "angularVelocity": 0.01784037189838786, + "velocityX": -0.3171917209058606, + "velocityY": 3.4959548843616206, "moduleForcesX": [ - -0.7680693254555403, - 1.6104795396440061, - -1.6104799595443278, - 0.7680689047741062 + -35.31228577904976, + -66.0491751132207, + -28.327035345395426, + -63.18766559003783 ], "moduleForcesY": [ - 1.6104780795285183, - 0.7680674448067002, - -0.768070785422946, - -1.6104814196598143 + -61.70164407965374, + -46.31242736251602, + -29.89742452991276, + -14.515097529911548 ], - "timestamp": 1.5372083620227974 + "timestamp": 1.3509136046667378 }, { - "x": 7.6814026777216355, - "y": 1.4560230108529622, - "heading": -0.3522011673454256, - "angularVelocity": -0.25332176132913514, - "velocityX": 1.7996499814860263, - "velocityY": -3.117015825659816, + "x": 8.178502115602848, + "y": 2.09253161286633, + "heading": -0.3023536947133865, + "angularVelocity": 0.01263718626350393, + "velocityX": -0.28485167217583857, + "velocityY": 3.1103769464315683, "moduleForcesX": [ - -1.3653118211091806, - 2.952047825108599, - -2.9520492856808334, - 1.3653103557538708 + 12.952756844997198, + 11.813515087247348, + 13.419290004257817, + 12.273176137002718 ], "moduleForcesY": [ - 2.9520457189891305, - 1.3653082508646113, - -1.3653139259984364, - -2.9520513918002997 + -150.38192757678243, + -150.47033958558322, + -150.32770294998488, + -150.42011835237196 ], - "timestamp": 1.5838536770065814 + "timestamp": 1.3829596386786378 }, { - "x": 7.765347848019507, - "y": 1.3106289483604519, - "heading": -0.35931443900890314, - "angularVelocity": -0.15249702281891372, - "velocityX": 1.7996484818903413, - "velocityY": -3.1170131993546644, + "x": 8.170477872919705, + "y": 2.179783674787757, + "heading": -0.3020400375678197, + "angularVelocity": 0.009787705569131123, + "velocityX": -0.25039737148644364, + "velocityY": 2.722710145318631, "moduleForcesX": [ - -2.4353116978894263, - 5.364141839262935, - -5.364946351339556, - 2.434508764839553 + 13.623679773933251, + 12.996885842604826, + 13.882898440665693, + 13.254047210182028 ], "moduleForcesY": [ - 5.365246751624584, - 2.4356151681738383, - -2.4342052949352464, - -5.363841438437093 + -151.20128691730517, + -151.2549532691614, + -151.17404825336516, + -151.22896024126868 ], - "timestamp": 1.6304989919903654 + "timestamp": 1.4150056726905378 }, { - "x": 7.844910739411933, - "y": 1.172825043366584, - "heading": -0.35962508299846874, - "angularVelocity": -0.006659703973991243, - "velocityX": 1.7056995203074454, - "velocityY": -2.9542925166605505, + "x": 8.163580426505472, + "y": 2.254590284278825, + "heading": -0.3017926542937763, + "angularVelocity": 0.007719622152043735, + "velocityX": -0.2152355705441773, + "velocityY": 2.3343484396006624, "moduleForcesX": [ - -28.13401696275137, - -16.692873127701013, - -33.70860513127203, - -22.17018295362561 + 13.84894583759901, + 13.393311907899013, + 14.037925939680852, + 13.581208724891605 ], "moduleForcesY": [ - 50.509913915883445, - 47.771782987515884, - 39.65934816626974, - 36.48234852375251 + -151.47516917365684, + -151.51540552586636, + -151.45600118841276, + -151.49690150735324 ], - "timestamp": 1.6771443069741494 + "timestamp": 1.4470517067024378 }, { - "x": 7.911254949755161, - "y": 1.0579160565080306, - "heading": -0.35985730857456416, - "angularVelocity": -0.0049785402065806806, - "velocityX": 1.422312409430071, - "velocityY": -2.463462555639315, + "x": 8.157821118222682, + "y": 2.3169403228925862, + "heading": -0.30159905906964435, + "angularVelocity": 0.00604116016540777, + "velocityX": -0.1797198455401001, + "velocityY": 1.945639781528292, "moduleForcesX": [ - -75.9260077593884, - -75.77347968708932, - -76.11043353002069, - -75.95811122126071 + 13.961780215672507, + 13.591683694906532, + 14.115475252008157, + 13.744665202447031 ], "moduleForcesY": [ - 131.54299746962388, - 131.62960598985686, - 131.4352969882552, - 131.52206693684397 + -151.61215778307704, + -151.64533853118684, + -151.5968473739631, + -151.63046801737454 ], - "timestamp": 1.7237896219579334 + "timestamp": 1.4790977407143377 }, { - "x": 7.964345181177675, - "y": 0.9659631239450347, - "heading": -0.3600336449985911, - "angularVelocity": -0.003780367312092445, - "velocityX": 1.1381685693621537, - "velocityY": -1.9713219343671031, + "x": 8.153206752283682, + "y": 2.366827126409346, + "heading": -0.30145177471768475, + "angularVelocity": 0.004596024328779256, + "velocityX": -0.14399179434451276, + "velocityY": 1.556723165750651, "moduleForcesX": [ - -76.13314544990955, - -76.02439649265798, - -76.26514306857305, - -76.1564995936775 + 14.029516449228247, + 13.71070746715952, + 14.162000746997306, + 13.84266280431211 ], "moduleForcesY": [ - 131.89091278272463, - 131.95315842708902, - 131.81424460459831, - 131.87657321281534 + -151.69434480489258, + -151.7231848947932, + -151.68129092615584, + -151.7104582278528 ], - "timestamp": 1.7704349369417174 + "timestamp": 1.5111437747262377 }, { - "x": 8.00416964010226, - "y": 0.8969866722358701, - "heading": -0.3601615916933086, - "angularVelocity": -0.002742969894447131, - "velocityX": 0.8537718940998154, - "velocityY": -1.4787434007711946, + "x": 8.149741863492002, + "y": 2.4042462554439124, + "heading": -0.30134582338858884, + "angularVelocity": 0.003306222824843595, + "velocityX": -0.10812223410837736, + "velocityY": 1.1676680184721826, "moduleForcesX": [ - -76.20238462743995, - -76.10822395136077, - -76.31683810843096, - -76.22275676965029 + 14.074676461883454, + 13.790039343670175, + 14.193010206081025, + 13.907951711255329 ], "moduleForcesY": [ - 132.0072176669124, - 132.06125695215337, - 131.94085962414914, - 131.9949613298243 + -151.7491266287695, + -151.77502870219124, + -151.73755237069508, + -151.7637156845819 ], - "timestamp": 1.8170802519255014 + "timestamp": 1.5431898087381377 }, { - "x": 8.03072242655436, - "y": 0.8509969201776932, - "heading": -0.36024489387265224, - "angularVelocity": -0.001785863797310167, - "velocityX": 0.5692487329394265, - "velocityY": -0.985945792716061, + "x": 8.147429689915466, + "y": 2.4291945409166344, + "heading": -0.30127765322797195, + "angularVelocity": 0.0021272573258701278, + "velocityX": -0.0721516296112585, + "velocityY": 0.7785139797161165, "moduleForcesX": [ - -76.23702883079696, - -76.15015606865818, - -76.34270315470997, - -76.25589804171771 + 14.106928060890922, + 13.846688607239773, + 14.21515372143924, + 13.954562194676575 ], "moduleForcesY": [ - 132.0654129222889, - 132.11533600087785, - 132.00420021197434, - 132.05417651601115 + -151.7882491682676, + -151.81203108763148, + -151.77771927701934, + -151.80171982261334 ], - "timestamp": 1.8637255669092854 + "timestamp": 1.5752358427500377 }, { - "x": 8.044, - "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -0.0008768944788167842, - "velocityX": 0.28464966846641404, - "velocityY": -0.4930167195931123, + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, + "angularVelocity": 0.001031349970910864, + "velocityX": -0.03610526698181142, + "velocityY": 0.38928580807247914, "moduleForcesX": [ - -76.2578220333313, - -76.17531765009585, - -76.3582259612893, - -76.27578265511968 + 14.131109267186261, + 13.889162337739004, + 14.231757076926762, + 13.98950594309019 ], "moduleForcesY": [ - 132.10033823335075, - 132.14778878590397, - 132.04220996337114, - 132.08970857426687 + -151.81758600687584, + -151.83976599679588, + -151.8078322320615, + -151.83020136346488 ], - "timestamp": 1.9103708818930694 + "timestamp": 1.6072818767619377 }, { - "x": 8.044, - "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -4.621883630347063e-20, - "velocityX": -1.5483402467354467e-20, - "velocityY": -3.98677639047285e-21, + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, + "angularVelocity": -5.371441709463832e-21, + "velocityX": 2.750210915631186e-22, + "velocityY": 3.902233834752265e-22, "moduleForcesX": [ - -76.27168812142772, - -76.19209191675314, - -76.36857548707384, - -76.28903615724394 + 14.149909138149875, + 13.922186919632015, + 14.244668011232907, + 14.016676394170101 ], "moduleForcesY": [ - 132.12362256773704, - 132.16942490328464, - 132.06755045247886, - 132.11339755118567 + -151.84040019912104, + -151.86132718827815, + -151.83124554736247, + -151.85234021806184 ], - "timestamp": 1.9570161968768534 + "timestamp": 1.6393279107738377 } ], "trajectoryWaypoints": [ { "timestamp": 0, "isStopPoint": true, - "x": 4.2, - "y": 5.2, - "heading": 0, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 20 }, { - "timestamp": 0.4229632849574852, + "timestamp": 0.5427654284344483, "isStopPoint": false, - "x": 5.076982498168945, - "y": 4.663970470428467, - "heading": 0, + "x": 6.224337577819824, + "y": 0.9867419600486755, + "heading": -0.6375485435239854, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, "controlIntervalCount": 20 }, { - "timestamp": 1.0241098972011735, + "timestamp": 0.998407230535838, "isStopPoint": false, - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.564804889468171, + "x": 7.764113426208496, + "y": 0.8697969913482666, + "heading": -0.4396269198543665, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, + "headingConstrained": true, "controlIntervalCount": 20 }, { - "timestamp": 1.9570161968768534, + "timestamp": 1.6393279107738377, "isStopPoint": true, - "x": 8.044, - "y": 0.828, - "heading": -0.3602857968918242, + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, diff --git a/src/main/deploy/choreo/f1 to f2.1.traj b/src/main/deploy/choreo/f1 to f2.1.traj index 52981be..b790978 100644 --- a/src/main/deploy/choreo/f1 to f2.1.traj +++ b/src/main/deploy/choreo/f1 to f2.1.traj @@ -4,163 +4,379 @@ "x": 7.958642959594727, "y": 7.281523704528809, "heading": 0.2935891650006914, - "angularVelocity": -1.0493751065109104e-22, - "velocityX": 1.6803355448212915e-22, - "velocityY": 3.5096726932793815e-23, + "angularVelocity": 7.910449343610714e-19, + "velocityX": 7.816210460236134e-18, + "velocityY": 2.286883998299667e-18, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 7.9104484582365675, - "y": 7.255156797779294, - "heading": 0.2919233346857669, - "angularVelocity": -0.024839890423486083, - "velocityX": -0.7186483053080291, - "velocityY": -0.3931679406938344, - "timestamp": 0.0670627078672399 + "x": 7.910423822649562, + "y": 7.255098568592756, + "heading": 0.29191474065161127, + "angularVelocity": -0.024948613911946617, + "velocityX": -0.7184562452596962, + "velocityY": -0.3937296506713285, + "moduleForcesX": [ + -132.98570389552992, + -133.29009557017696, + -134.34811120767287, + -134.61936518581015 + ], + "moduleForcesY": [ + -74.82940641094345, + -74.28959613852257, + -72.35399301178578, + -71.85196252584723 + ], + "timestamp": 0.06711492490086941 }, { - "x": 7.814546483036175, - "y": 7.201552847825543, - "heading": 0.28840086306327795, - "angularVelocity": -0.05252504312027155, - "velocityX": -1.430034340251307, - "velocityY": -0.7993108488829762, - "timestamp": 0.1341254157344798 + "x": 7.814479697428702, + "y": 7.201385329298464, + "heading": 0.2883866349756638, + "angularVelocity": -0.052568123724488464, + "velocityX": -1.4295497665797807, + "velocityY": -0.8003173567048933, + "moduleForcesX": [ + -131.48223062882462, + -131.86579004359564, + -133.03423568092876, + -133.37585808274304 + ], + "moduleForcesY": [ + -77.39057965916489, + -76.7401993821496, + -74.6899180922994, + -74.08339359888708 + ], + "timestamp": 0.13422984980173883 }, { - "x": 7.671785980313178, - "y": 7.11927807798276, - "heading": 0.2827042882884382, - "angularVelocity": -0.08494400175604291, - "velocityX": -2.128761382639247, - "velocityY": -1.2268333990576097, - "timestamp": 0.20118812360171973 + "x": 7.671671878529498, + "y": 7.11896092152593, + "heading": 0.2827061993968223, + "angularVelocity": -0.08463744222662295, + "velocityX": -2.1278101569481667, + "velocityY": -1.2281084706048966, + "moduleForcesX": [ + -128.85277339548833, + -129.39284462969383, + -130.7354543165141, + -131.21647790494484 + ], + "moduleForcesY": [ + -81.61426638827888, + -80.76256214128291, + -78.56100173047436, + -77.76260375807091 + ], + "timestamp": 0.20134477470260825 }, { - "x": 7.483996776185871, - "y": 7.005541350319856, - "heading": 0.2742040117141553, - "angularVelocity": -0.12675116834098563, - "velocityX": -2.800203124798694, - "velocityY": -1.6959757707378238, - "timestamp": 0.2682508314689596 + "x": 7.483856543069274, + "y": 7.005052117658746, + "heading": 0.2742796711208194, + "angularVelocity": -0.12555371682893862, + "velocityX": -2.798413851294792, + "velocityY": -1.6972201643757026, + "moduleForcesX": [ + -123.15802642326243, + -124.10184416530558, + -125.74557941256926, + -126.5881168076888 + ], + "moduleForcesY": [ + -89.83425535708889, + -88.53819362170036, + -86.17036558091218, + -84.94107033153855 + ], + "timestamp": 0.26845969960347765 }, { - "x": 7.257513424252105, - "y": 6.852830987837678, - "heading": 0.261114607792209, - "angularVelocity": -0.19518155974045476, - "velocityX": -3.37718769695558, - "velocityY": -2.27712789027995, - "timestamp": 0.3353135393361995 + "x": 7.257457110651417, + "y": 6.852187840263761, + "heading": 0.2614132426077293, + "angularVelocity": -0.19170741131096927, + "velocityX": -3.3733097779822128, + "velocityY": -2.277649533453957, + "moduleForcesX": [ + -103.32789435639388, + -106.17935255374569, + -108.08945365464913, + -110.69546212226062 + ], + "moduleForcesY": [ + -111.74751281505753, + -109.07011567082479, + -107.12996083751699, + -104.46693690571112 + ], + "timestamp": 0.33557462450434705 }, { - "x": 7.060955586034128, - "y": 6.654159757338683, - "heading": 0.2376401538618247, - "angularVelocity": -0.3500373706480103, - "velocityX": -2.930955883962903, - "velocityY": -2.9624695574816866, - "timestamp": 0.4023762472034394 + "x": 7.060928228821583, + "y": 6.6538086686528795, + "heading": 0.23842387855770952, + "angularVelocity": -0.34253728338253114, + "velocityX": -2.9282440846003595, + "velocityY": -2.9558130610311886, + "moduleForcesX": [ + 87.0885741293781, + 74.01976558721917, + 92.2241657302936, + 78.23733094891078 + ], + "moduleForcesY": [ + -123.86429610086917, + -132.03963180599996, + -119.91632119012702, + -129.4053237385857 + ], + "timestamp": 0.40268954940521645 }, { - "x": 6.919044045961435, - "y": 6.4610874664009925, - "heading": 0.2116158030015367, - "angularVelocity": -0.38805994699478663, - "velocityX": -2.116102146570385, - "velocityY": -2.8789814351054974, - "timestamp": 0.4694389550706793 + "x": 6.918983848953729, + "y": 6.460877774466705, + "heading": 0.21261483331018893, + "angularVelocity": -0.3845500130651592, + "velocityX": -2.1149450747618843, + "velocityY": -2.8746347324626913, + "moduleForcesX": [ + 151.6942860788084, + 151.73202099152675, + 151.21703816361637, + 151.25691543068254 + ], + "moduleForcesY": [ + 13.04919004407133, + 12.43341812970076, + 17.73084417080828, + 17.263653670468226 + ], + "timestamp": 0.46980447430608585 }, { - "x": 6.830270841306877, - "y": 6.281958701664131, - "heading": 0.1846651058623386, - "angularVelocity": -0.4018730826162105, - "velocityX": -1.323734270174364, - "velocityY": -2.6710637019231447, - "timestamp": 0.5365016629379192 + "x": 6.830192788801092, + "y": 6.281831308549748, + "heading": 0.18573952832653148, + "angularVelocity": -0.40043708643559106, + "velocityX": -1.3229704165052427, + "velocityY": -2.6677593124654453, + "moduleForcesX": [ + 147.74875680265572, + 147.71730348474364, + 147.2930534124119, + 147.25470172680141 + ], + "moduleForcesY": [ + 37.594850971299984, + 37.70676261591458, + 39.343153935907175, + 39.475512208092134 + ], + "timestamp": 0.5369193992069553 }, { - "x": 6.793777838879, - "y": 6.119710601242204, - "heading": 0.1573806368642382, - "angularVelocity": -0.40685009397643, - "velocityX": -0.5441623756100464, - "velocityY": -2.419349077629241, - "timestamp": 0.6035643708051591 + "x": 6.793716983744551, + "y": 6.119646096364704, + "heading": 0.15844772877230284, + "angularVelocity": -0.40664277870440957, + "velocityX": -0.5434827666521159, + "velocityY": -2.416529742534931, + "moduleForcesX": [ + 145.30233006536105, + 145.26897978114098, + 145.087298422425, + 145.05250107408125 + ], + "moduleForcesY": [ + 46.40510402133336, + 46.506957541018345, + 47.073468918812075, + 47.17818183884524 + ], + "timestamp": 0.6040343241078248 }, { "x": 6.809062480926514, "y": 5.975827217102051, - "heading": 0.13006629327791439, - "angularVelocity": -0.40729556641817066, - "velocityX": 0.2279156707744765, - "velocityY": -2.1455051356559287, - "timestamp": 0.670627078672399 - }, - { - "x": 6.925745979032288, - "y": 5.815335789503513, - "heading": 0.09307826117561616, - "angularVelocity": -0.40415055654938714, - "velocityX": 1.274944840784001, - "velocityY": -1.753613158060503, - "timestamp": 0.7621475071436593 - }, - { - "x": 7.1367170390472365, - "y": 5.694574369996012, - "heading": 0.05718273163255897, - "angularVelocity": -0.3922133030040311, - "velocityX": 2.305179985921922, - "velocityY": -1.3195023398019188, - "timestamp": 0.8536679356149196 - }, - { - "x": 7.436897268164463, - "y": 5.623906947376197, - "heading": 0.024600443639467524, - "angularVelocity": -0.35601109541705317, - "velocityX": 3.2799259589512464, - "velocityY": -0.7721491671338275, - "timestamp": 0.9451883640861799 - }, - { - "x": 7.741182583661713, - "y": 5.655315863618575, - "heading": 0.010470370345463633, - "angularVelocity": -0.15439256054664433, - "velocityX": 3.3247802767095065, - "velocityY": 0.34319022284998507, - "timestamp": 1.0367087925574403 - }, - { - "x": 7.94317700708085, - "y": 5.687644515616541, - "heading": 0.0031862583105283326, - "angularVelocity": -0.07959001237874111, - "velocityX": 2.2070965662334965, - "velocityY": 0.35323973606743764, - "timestamp": 1.1282292210287006 + "heading": 0.13107434878258117, + "angularVelocity": -0.40785831214378826, + "velocityX": 0.22864507723464184, + "velocityY": -2.142874769993374, + "moduleForcesX": [ + 143.83469378769635, + 143.824929276307, + 143.78916326386206, + 143.77933545518925 + ], + "moduleForcesY": [ + 50.88966347397856, + 50.91692702381641, + 51.01823763913788, + 51.04560228204719 + ], + "timestamp": 0.6711492490086942 + }, + { + "x": 6.925822438386365, + "y": 5.815522822264608, + "heading": 0.09396483027541527, + "angularVelocity": -0.4053780871054631, + "velocityX": 1.2754659750267079, + "velocityY": -1.751138024633272, + "moduleForcesX": [ + 142.8962380178731, + 142.915504613751, + 142.96692140354807, + 142.9860342957724 + ], + "moduleForcesY": [ + 53.61075424760125, + 53.559641866900556, + 53.42189966449369, + 53.37099298260787 + ], + "timestamp": 0.7626922299629116 + }, + { + "x": 7.136848372290968, + "y": 5.694947297599288, + "heading": 0.057893643373312355, + "angularVelocity": -0.3940355287329174, + "velocityX": 2.30521151600347, + "velocityY": -1.317146584136146, + "moduleForcesX": [ + 140.37183715582472, + 140.49814322914784, + 140.72276309057077, + 140.8455397456255 + ], + "moduleForcesY": [ + 59.82295169390444, + 59.527299631808916, + 58.99215317651048, + 58.70004046369426 + ], + "timestamp": 0.8542352109171291 + }, + { + "x": 7.436990321491298, + "y": 5.624462785154986, + "heading": 0.025095903345024186, + "angularVelocity": -0.3582769501974617, + "velocityX": 3.2786997547103156, + "velocityY": -0.7699608611153345, + "moduleForcesX": [ + 131.92167981010675, + 132.63308931160464, + 133.24122495836102, + 133.91502764955428 + ], + "moduleForcesY": [ + 76.49258908510436, + 75.25922420929263, + 74.16635233721293, + 72.95003666915672 + ], + "timestamp": 0.9457781918713465 + }, + { + "x": 7.74116811194424, + "y": 5.655574709760058, + "heading": 0.010721070473432142, + "angularVelocity": -0.15702823659146783, + "velocityX": 3.322786600158592, + "velocityY": 0.33986138839979324, + "moduleForcesX": [ + -2.3273577236974, + 13.5338078515836, + -2.4077581082757886, + 15.281169149870706 + ], + "moduleForcesY": [ + 151.92082096709652, + 151.33845328126515, + 151.8313753022047, + 151.08485290011717 + ], + "timestamp": 1.0373211728255638 + }, + { + "x": 7.943162586149675, + "y": 5.687726812589143, + "heading": 0.0032703797658380383, + "angularVelocity": -0.08139008179451783, + "velocityX": 2.2065533818090945, + "velocityY": 0.35122411892090194, + "moduleForcesX": [ + -152.39520503134207, + -152.37874526348457, + -152.4566965745832, + -152.44647239970655 + ], + "moduleForcesY": [ + 4.620946366315643, + 4.838376048546675, + -1.6030881708355533, + -1.6500071785175445 + ], + "timestamp": 1.1288641537797812 }, { "x": 8.043797492980957, "y": 5.706172466278076, - "heading": -9.518677084858839e-22, - "angularVelocity": -0.03481472239314195, - "velocityX": 1.0994319801693595, - "velocityY": 0.20244606555084801, - "timestamp": 1.219749649499961 + "heading": -2.2304050096855995e-17, + "angularVelocity": -0.03572507396788348, + "velocityX": 1.0993186564625848, + "velocityY": 0.2014971928679089, + "moduleForcesX": [ + -151.47540491128623, + -151.41561727677504, + -150.97808472913226, + -150.8931117723337 + ], + "moduleForcesY": [ + -18.326224785005827, + -18.79043640295065, + -22.054040211247422, + -22.6088760693719 + ], + "timestamp": 1.2204071347339986 }, { "x": 8.043797492980957, "y": 5.706172466278076, - "heading": -4.67656667729741e-22, - "angularVelocity": 1.8089244762808855e-22, - "velocityX": 4.537037762657419e-23, - "velocityY": 4.864931764923773e-23, - "timestamp": 1.3112700779712212 + "heading": -1.0964763112117818e-17, + "angularVelocity": 4.090411349221503e-18, + "velocityX": 2.0676159230734473e-18, + "velocityY": 1.4627558118515907e-18, + "moduleForcesX": [ + -150.4207570881322, + -150.33148910173313, + -149.89792229265444, + -149.7883605033214 + ], + "moduleForcesY": [ + -25.806263385920982, + -26.31272713362429, + -28.689025600017402, + -29.248042120819953 + ], + "timestamp": 1.311950115688216 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f1 to f2.traj b/src/main/deploy/choreo/f1 to f2.traj index 52981be..b790978 100644 --- a/src/main/deploy/choreo/f1 to f2.traj +++ b/src/main/deploy/choreo/f1 to f2.traj @@ -4,163 +4,379 @@ "x": 7.958642959594727, "y": 7.281523704528809, "heading": 0.2935891650006914, - "angularVelocity": -1.0493751065109104e-22, - "velocityX": 1.6803355448212915e-22, - "velocityY": 3.5096726932793815e-23, + "angularVelocity": 7.910449343610714e-19, + "velocityX": 7.816210460236134e-18, + "velocityY": 2.286883998299667e-18, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 7.9104484582365675, - "y": 7.255156797779294, - "heading": 0.2919233346857669, - "angularVelocity": -0.024839890423486083, - "velocityX": -0.7186483053080291, - "velocityY": -0.3931679406938344, - "timestamp": 0.0670627078672399 + "x": 7.910423822649562, + "y": 7.255098568592756, + "heading": 0.29191474065161127, + "angularVelocity": -0.024948613911946617, + "velocityX": -0.7184562452596962, + "velocityY": -0.3937296506713285, + "moduleForcesX": [ + -132.98570389552992, + -133.29009557017696, + -134.34811120767287, + -134.61936518581015 + ], + "moduleForcesY": [ + -74.82940641094345, + -74.28959613852257, + -72.35399301178578, + -71.85196252584723 + ], + "timestamp": 0.06711492490086941 }, { - "x": 7.814546483036175, - "y": 7.201552847825543, - "heading": 0.28840086306327795, - "angularVelocity": -0.05252504312027155, - "velocityX": -1.430034340251307, - "velocityY": -0.7993108488829762, - "timestamp": 0.1341254157344798 + "x": 7.814479697428702, + "y": 7.201385329298464, + "heading": 0.2883866349756638, + "angularVelocity": -0.052568123724488464, + "velocityX": -1.4295497665797807, + "velocityY": -0.8003173567048933, + "moduleForcesX": [ + -131.48223062882462, + -131.86579004359564, + -133.03423568092876, + -133.37585808274304 + ], + "moduleForcesY": [ + -77.39057965916489, + -76.7401993821496, + -74.6899180922994, + -74.08339359888708 + ], + "timestamp": 0.13422984980173883 }, { - "x": 7.671785980313178, - "y": 7.11927807798276, - "heading": 0.2827042882884382, - "angularVelocity": -0.08494400175604291, - "velocityX": -2.128761382639247, - "velocityY": -1.2268333990576097, - "timestamp": 0.20118812360171973 + "x": 7.671671878529498, + "y": 7.11896092152593, + "heading": 0.2827061993968223, + "angularVelocity": -0.08463744222662295, + "velocityX": -2.1278101569481667, + "velocityY": -1.2281084706048966, + "moduleForcesX": [ + -128.85277339548833, + -129.39284462969383, + -130.7354543165141, + -131.21647790494484 + ], + "moduleForcesY": [ + -81.61426638827888, + -80.76256214128291, + -78.56100173047436, + -77.76260375807091 + ], + "timestamp": 0.20134477470260825 }, { - "x": 7.483996776185871, - "y": 7.005541350319856, - "heading": 0.2742040117141553, - "angularVelocity": -0.12675116834098563, - "velocityX": -2.800203124798694, - "velocityY": -1.6959757707378238, - "timestamp": 0.2682508314689596 + "x": 7.483856543069274, + "y": 7.005052117658746, + "heading": 0.2742796711208194, + "angularVelocity": -0.12555371682893862, + "velocityX": -2.798413851294792, + "velocityY": -1.6972201643757026, + "moduleForcesX": [ + -123.15802642326243, + -124.10184416530558, + -125.74557941256926, + -126.5881168076888 + ], + "moduleForcesY": [ + -89.83425535708889, + -88.53819362170036, + -86.17036558091218, + -84.94107033153855 + ], + "timestamp": 0.26845969960347765 }, { - "x": 7.257513424252105, - "y": 6.852830987837678, - "heading": 0.261114607792209, - "angularVelocity": -0.19518155974045476, - "velocityX": -3.37718769695558, - "velocityY": -2.27712789027995, - "timestamp": 0.3353135393361995 + "x": 7.257457110651417, + "y": 6.852187840263761, + "heading": 0.2614132426077293, + "angularVelocity": -0.19170741131096927, + "velocityX": -3.3733097779822128, + "velocityY": -2.277649533453957, + "moduleForcesX": [ + -103.32789435639388, + -106.17935255374569, + -108.08945365464913, + -110.69546212226062 + ], + "moduleForcesY": [ + -111.74751281505753, + -109.07011567082479, + -107.12996083751699, + -104.46693690571112 + ], + "timestamp": 0.33557462450434705 }, { - "x": 7.060955586034128, - "y": 6.654159757338683, - "heading": 0.2376401538618247, - "angularVelocity": -0.3500373706480103, - "velocityX": -2.930955883962903, - "velocityY": -2.9624695574816866, - "timestamp": 0.4023762472034394 + "x": 7.060928228821583, + "y": 6.6538086686528795, + "heading": 0.23842387855770952, + "angularVelocity": -0.34253728338253114, + "velocityX": -2.9282440846003595, + "velocityY": -2.9558130610311886, + "moduleForcesX": [ + 87.0885741293781, + 74.01976558721917, + 92.2241657302936, + 78.23733094891078 + ], + "moduleForcesY": [ + -123.86429610086917, + -132.03963180599996, + -119.91632119012702, + -129.4053237385857 + ], + "timestamp": 0.40268954940521645 }, { - "x": 6.919044045961435, - "y": 6.4610874664009925, - "heading": 0.2116158030015367, - "angularVelocity": -0.38805994699478663, - "velocityX": -2.116102146570385, - "velocityY": -2.8789814351054974, - "timestamp": 0.4694389550706793 + "x": 6.918983848953729, + "y": 6.460877774466705, + "heading": 0.21261483331018893, + "angularVelocity": -0.3845500130651592, + "velocityX": -2.1149450747618843, + "velocityY": -2.8746347324626913, + "moduleForcesX": [ + 151.6942860788084, + 151.73202099152675, + 151.21703816361637, + 151.25691543068254 + ], + "moduleForcesY": [ + 13.04919004407133, + 12.43341812970076, + 17.73084417080828, + 17.263653670468226 + ], + "timestamp": 0.46980447430608585 }, { - "x": 6.830270841306877, - "y": 6.281958701664131, - "heading": 0.1846651058623386, - "angularVelocity": -0.4018730826162105, - "velocityX": -1.323734270174364, - "velocityY": -2.6710637019231447, - "timestamp": 0.5365016629379192 + "x": 6.830192788801092, + "y": 6.281831308549748, + "heading": 0.18573952832653148, + "angularVelocity": -0.40043708643559106, + "velocityX": -1.3229704165052427, + "velocityY": -2.6677593124654453, + "moduleForcesX": [ + 147.74875680265572, + 147.71730348474364, + 147.2930534124119, + 147.25470172680141 + ], + "moduleForcesY": [ + 37.594850971299984, + 37.70676261591458, + 39.343153935907175, + 39.475512208092134 + ], + "timestamp": 0.5369193992069553 }, { - "x": 6.793777838879, - "y": 6.119710601242204, - "heading": 0.1573806368642382, - "angularVelocity": -0.40685009397643, - "velocityX": -0.5441623756100464, - "velocityY": -2.419349077629241, - "timestamp": 0.6035643708051591 + "x": 6.793716983744551, + "y": 6.119646096364704, + "heading": 0.15844772877230284, + "angularVelocity": -0.40664277870440957, + "velocityX": -0.5434827666521159, + "velocityY": -2.416529742534931, + "moduleForcesX": [ + 145.30233006536105, + 145.26897978114098, + 145.087298422425, + 145.05250107408125 + ], + "moduleForcesY": [ + 46.40510402133336, + 46.506957541018345, + 47.073468918812075, + 47.17818183884524 + ], + "timestamp": 0.6040343241078248 }, { "x": 6.809062480926514, "y": 5.975827217102051, - "heading": 0.13006629327791439, - "angularVelocity": -0.40729556641817066, - "velocityX": 0.2279156707744765, - "velocityY": -2.1455051356559287, - "timestamp": 0.670627078672399 - }, - { - "x": 6.925745979032288, - "y": 5.815335789503513, - "heading": 0.09307826117561616, - "angularVelocity": -0.40415055654938714, - "velocityX": 1.274944840784001, - "velocityY": -1.753613158060503, - "timestamp": 0.7621475071436593 - }, - { - "x": 7.1367170390472365, - "y": 5.694574369996012, - "heading": 0.05718273163255897, - "angularVelocity": -0.3922133030040311, - "velocityX": 2.305179985921922, - "velocityY": -1.3195023398019188, - "timestamp": 0.8536679356149196 - }, - { - "x": 7.436897268164463, - "y": 5.623906947376197, - "heading": 0.024600443639467524, - "angularVelocity": -0.35601109541705317, - "velocityX": 3.2799259589512464, - "velocityY": -0.7721491671338275, - "timestamp": 0.9451883640861799 - }, - { - "x": 7.741182583661713, - "y": 5.655315863618575, - "heading": 0.010470370345463633, - "angularVelocity": -0.15439256054664433, - "velocityX": 3.3247802767095065, - "velocityY": 0.34319022284998507, - "timestamp": 1.0367087925574403 - }, - { - "x": 7.94317700708085, - "y": 5.687644515616541, - "heading": 0.0031862583105283326, - "angularVelocity": -0.07959001237874111, - "velocityX": 2.2070965662334965, - "velocityY": 0.35323973606743764, - "timestamp": 1.1282292210287006 + "heading": 0.13107434878258117, + "angularVelocity": -0.40785831214378826, + "velocityX": 0.22864507723464184, + "velocityY": -2.142874769993374, + "moduleForcesX": [ + 143.83469378769635, + 143.824929276307, + 143.78916326386206, + 143.77933545518925 + ], + "moduleForcesY": [ + 50.88966347397856, + 50.91692702381641, + 51.01823763913788, + 51.04560228204719 + ], + "timestamp": 0.6711492490086942 + }, + { + "x": 6.925822438386365, + "y": 5.815522822264608, + "heading": 0.09396483027541527, + "angularVelocity": -0.4053780871054631, + "velocityX": 1.2754659750267079, + "velocityY": -1.751138024633272, + "moduleForcesX": [ + 142.8962380178731, + 142.915504613751, + 142.96692140354807, + 142.9860342957724 + ], + "moduleForcesY": [ + 53.61075424760125, + 53.559641866900556, + 53.42189966449369, + 53.37099298260787 + ], + "timestamp": 0.7626922299629116 + }, + { + "x": 7.136848372290968, + "y": 5.694947297599288, + "heading": 0.057893643373312355, + "angularVelocity": -0.3940355287329174, + "velocityX": 2.30521151600347, + "velocityY": -1.317146584136146, + "moduleForcesX": [ + 140.37183715582472, + 140.49814322914784, + 140.72276309057077, + 140.8455397456255 + ], + "moduleForcesY": [ + 59.82295169390444, + 59.527299631808916, + 58.99215317651048, + 58.70004046369426 + ], + "timestamp": 0.8542352109171291 + }, + { + "x": 7.436990321491298, + "y": 5.624462785154986, + "heading": 0.025095903345024186, + "angularVelocity": -0.3582769501974617, + "velocityX": 3.2786997547103156, + "velocityY": -0.7699608611153345, + "moduleForcesX": [ + 131.92167981010675, + 132.63308931160464, + 133.24122495836102, + 133.91502764955428 + ], + "moduleForcesY": [ + 76.49258908510436, + 75.25922420929263, + 74.16635233721293, + 72.95003666915672 + ], + "timestamp": 0.9457781918713465 + }, + { + "x": 7.74116811194424, + "y": 5.655574709760058, + "heading": 0.010721070473432142, + "angularVelocity": -0.15702823659146783, + "velocityX": 3.322786600158592, + "velocityY": 0.33986138839979324, + "moduleForcesX": [ + -2.3273577236974, + 13.5338078515836, + -2.4077581082757886, + 15.281169149870706 + ], + "moduleForcesY": [ + 151.92082096709652, + 151.33845328126515, + 151.8313753022047, + 151.08485290011717 + ], + "timestamp": 1.0373211728255638 + }, + { + "x": 7.943162586149675, + "y": 5.687726812589143, + "heading": 0.0032703797658380383, + "angularVelocity": -0.08139008179451783, + "velocityX": 2.2065533818090945, + "velocityY": 0.35122411892090194, + "moduleForcesX": [ + -152.39520503134207, + -152.37874526348457, + -152.4566965745832, + -152.44647239970655 + ], + "moduleForcesY": [ + 4.620946366315643, + 4.838376048546675, + -1.6030881708355533, + -1.6500071785175445 + ], + "timestamp": 1.1288641537797812 }, { "x": 8.043797492980957, "y": 5.706172466278076, - "heading": -9.518677084858839e-22, - "angularVelocity": -0.03481472239314195, - "velocityX": 1.0994319801693595, - "velocityY": 0.20244606555084801, - "timestamp": 1.219749649499961 + "heading": -2.2304050096855995e-17, + "angularVelocity": -0.03572507396788348, + "velocityX": 1.0993186564625848, + "velocityY": 0.2014971928679089, + "moduleForcesX": [ + -151.47540491128623, + -151.41561727677504, + -150.97808472913226, + -150.8931117723337 + ], + "moduleForcesY": [ + -18.326224785005827, + -18.79043640295065, + -22.054040211247422, + -22.6088760693719 + ], + "timestamp": 1.2204071347339986 }, { "x": 8.043797492980957, "y": 5.706172466278076, - "heading": -4.67656667729741e-22, - "angularVelocity": 1.8089244762808855e-22, - "velocityX": 4.537037762657419e-23, - "velocityY": 4.864931764923773e-23, - "timestamp": 1.3112700779712212 + "heading": -1.0964763112117818e-17, + "angularVelocity": 4.090411349221503e-18, + "velocityX": 2.0676159230734473e-18, + "velocityY": 1.4627558118515907e-18, + "moduleForcesX": [ + -150.4207570881322, + -150.33148910173313, + -149.89792229265444, + -149.7883605033214 + ], + "moduleForcesY": [ + -25.806263385920982, + -26.31272713362429, + -28.689025600017402, + -29.248042120819953 + ], + "timestamp": 1.311950115688216 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f2 to n1.1.traj b/src/main/deploy/choreo/f2 to n1.1.traj index a3a97ec..8f291bc 100644 --- a/src/main/deploy/choreo/f2 to n1.1.traj +++ b/src/main/deploy/choreo/f2 to n1.1.traj @@ -4,9 +4,9 @@ "x": 7.990099906921387, "y": 5.7928948402404785, "heading": 0.08169581065067787, - "angularVelocity": -1.7087685206192545e-19, - "velocityX": -1.0481808976219073e-17, - "velocityY": -7.400031274477837e-18, + "angularVelocity": -1.8666187274860317e-19, + "velocityX": -1.258924910800836e-17, + "velocityY": -8.980306430569812e-18, "moduleForcesX": [ 0, 0, @@ -22,844 +22,844 @@ "timestamp": 0 }, { - "x": 7.96827128206756, - "y": 5.840312231405094, - "heading": 0.08499753041745138, - "angularVelocity": 0.050485254814046275, - "velocityX": -0.3337726293659763, - "velocityY": 0.7250400532635837, + "x": 7.968272597243076, + "y": 5.840313044770837, + "heading": 0.0849977249557515, + "angularVelocity": 0.050488137668972866, + "velocityX": -0.3337519130307099, + "velocityY": 0.7250511724866979, "moduleForcesX": [ - -65.38736008862666, - -60.3721787862651, - -67.2828220285152, - -62.13671899714863 + -65.38349150270592, + -60.36792096425817, + -67.27894325683056, + -62.132422221191305 ], "moduleForcesY": [ - 137.8693336637803, - 140.136543854315, - 136.95002086404955, - 139.35873800462738 + 137.87116930567547, + 140.13837908016316, + 136.9519271207836, + 139.36065449701252 ], - "timestamp": 0.06539968509488299 + "timestamp": 0.0653998039444989 }, { - "x": 7.923667381180241, - "y": 5.934691772165659, - "heading": 0.09132970257003088, - "angularVelocity": 0.09682267037513625, - "velocityX": -0.68202011712188, - "velocityY": 1.4431191926545524, + "x": 7.923670884785439, + "y": 5.934694033234134, + "heading": 0.09133019404811009, + "angularVelocity": 0.09682703479864654, + "velocityX": -0.6819854153166327, + "velocityY": 1.4431387064101626, "moduleForcesX": [ - -67.96959148160089, - -63.426260409639134, - -69.74842142066856, - -65.10126537123206 + -67.96691699870469, + -63.4233734995665, + -69.74572770991624, + -65.09834434543876 ], "moduleForcesY": [ - 136.58691014937364, - 138.75328714209047, - 135.68227941218157, - 137.97033446140466 + 136.58824274857548, + 138.75460852905647, + 135.68366571098557, + 137.9717143614889 ], - "timestamp": 0.13079937018976598 + "timestamp": 0.1307996078889978 }, { - "x": 7.854776754707682, - "y": 6.075256690124383, - "heading": 0.10025112458481739, - "angularVelocity": 0.13641383749544372, - "velocityX": -1.0533785653660546, - "velocityY": 2.1493210215109615, + "x": 7.854782640087284, + "y": 6.075260716431483, + "heading": 0.10025186934166369, + "angularVelocity": 0.13641746236922958, + "velocityX": -1.0533402325332635, + "velocityY": 2.149344106878155, "moduleForcesX": [ - -72.10396683513207, - -68.31163716512047, - -73.67947167545489, - -69.81947812176197 + -72.10314262414192, + -68.31086811098174, + -73.67859439723404, + -69.81865669021488 ], "moduleForcesY": [ - 134.40436236810163, - 136.36882182119078, - 133.54167572501325, - 135.59739488618982 + 134.40480814499313, + 136.36921074502123, + 133.54216358380987, + 135.597821754164 ], - "timestamp": 0.19619905528464898 + "timestamp": 0.1961994118334967 }, { - "x": 7.758820604764683, - "y": 6.260408687961792, - "heading": 0.11092302847260234, - "angularVelocity": 0.16317974424956264, - "velocityX": -1.4672264832000166, - "velocityY": 2.8310839349393664, + "x": 7.758827911884976, + "y": 6.260414123250669, + "heading": 0.11092372197499237, + "angularVelocity": 0.1631786639969935, + "velocityX": -1.4672020776237977, + "velocityY": 2.8311003344408383, "moduleForcesX": [ - -79.75012246156852, - -77.31832821487669, - -80.89268436166724, - -78.43787914181338 + -79.75248599097313, + -77.32116962021551, + -80.89487386602032, + -78.44055749938586 ], "moduleForcesY": [ - 129.92350326457816, - 131.38276669175326, - 129.2097727276854, - 130.71193604347482 + 129.92206223700825, + 131.3811045887359, + 129.20841299433806, + 130.71034015788265 ], - "timestamp": 0.26159874037953196 + "timestamp": 0.2615992157779956 }, { - "x": 7.6292252498634845, - "y": 6.485341032086703, - "heading": 0.12119393444489363, - "angularVelocity": 0.1570482481282575, - "velocityX": -1.981589891400619, - "velocityY": 3.4393490397929374, + "x": 7.629230951243224, + "y": 6.485345581404081, + "heading": 0.12119374980615402, + "angularVelocity": 0.15703453545330137, + "velocityX": -1.9816108429175163, + "velocityY": 3.4393292422616466, "moduleForcesX": [ - -98.2315095911243, - -98.692333991472, - -97.93072667790656, - -98.39151911620452 + -98.23986826568338, + -98.70159071548053, + -97.93845080936782, + -98.4001417294193 ], "moduleForcesY": [ - 116.32546759630988, - 115.93625758728768, - 116.58107466624477, - 116.19392316425461 + 116.3184577334818, + 115.92842951315355, + 116.57463922857194, + 116.18667778253831 ], - "timestamp": 0.32699842547441493 + "timestamp": 0.3269990197224945 }, { - "x": 7.447987208285138, - "y": 6.713768604430538, - "heading": 0.12135530141485407, - "angularVelocity": 0.0024673967424513475, - "velocityX": -2.7712372210743754, - "velocityY": 3.492793153565111, + "x": 7.447990909576445, + "y": 6.713772083784024, + "heading": 0.1213552659374303, + "angularVelocity": 0.0024696730194091647, + "velocityX": -2.7712627671803283, + "velocityY": 3.4927704459041475, "moduleForcesX": [ - -151.43809786740448, - -151.59764912707735, - -149.99869820025702, - -150.6743712377385 + -151.43864750802987, + -151.59812625056963, + -149.9994871877237, + -150.6749710727885 ], "moduleForcesY": [ - 2.5587284922629956, - 0.19509298524274, - 21.205120363951913, - 16.900669099050567 + 2.5589384757252462, + 0.19550828877216073, + 21.203363951238856, + 16.899501095056053 ], - "timestamp": 0.3923981105692979 + "timestamp": 0.3923988236669934 }, { - "x": 7.229028804297614, - "y": 6.906451202849147, - "heading": 0.12140542227201098, - "angularVelocity": 0.0007663776528008695, - "velocityX": -3.3480039495977487, - "velocityY": 2.946231287373012, + "x": 7.229030525607321, + "y": 6.906453179636098, + "heading": 0.12140540740417353, + "angularVelocity": 0.0007666913923135646, + "velocityX": -3.3480281408088937, + "velocityY": 2.946202958308125, "moduleForcesX": [ - -110.14276732693584, - -110.225069009716, - -110.2526416817468, - -110.33480157247408 + -110.14219647086705, + -110.22459421244172, + -110.25219804502804, + -110.33445366886626 ], "moduleForcesY": [ - -104.56684440521978, - -104.48133858976846, - -104.45005915927223, - -104.36452385076572 + -104.56784520453351, + -104.48224033771665, + -104.45092662206443, + -104.36529219026626 ], - "timestamp": 0.4577977956641809 + "timestamp": 0.4577986276114923 }, { "x": 6.9793701171875, "y": 7.057060623168944, "heading": 0.1214917026565047, - "angularVelocity": 0.0013192782865629191, - "velocityX": -3.817429498941476, - "velocityY": 2.3029074238655776, + "angularVelocity": 0.001319503226713262, + "velocityX": -3.8174488812631027, + "velocityY": 2.302873012572445, "moduleForcesX": [ - -89.7595258245966, - -89.72111311801326, - -89.72377154417462, - -89.68535225648114 + -89.75843788928539, + -89.72003081480057, + -89.72268947881788, + -89.68427582587927 ], "moduleForcesY": [ - -122.93297529055657, - -122.96084044776259, - -122.95925782246997, - -122.98711081784946 + -122.93391907902145, + -122.96177964606476, + -122.9601967350168, + -122.98804514379438 ], - "timestamp": 0.5231974807590639 + "timestamp": 0.5231984315559912 }, { - "x": 6.718336715333704, - "y": 7.158562408151559, - "heading": 0.121498078116177, - "angularVelocity": 0.00010149183934127749, - "velocityX": -4.155427443078891, - "velocityY": 1.615821193049687, + "x": 6.718336282755718, + "y": 7.158559959232576, + "heading": 0.12149728975208401, + "angularVelocity": 0.00008894189357197964, + "velocityX": -4.1554405487527335, + "velocityY": 1.6157846270504579, "moduleForcesX": [ - -67.16537908526134, - -67.27747310397834, - -67.2384357459009, - -67.35055296212673 + -67.16325923679894, + -67.2765303964566, + -67.23708156967989, + -67.35037641945065 ], "moduleForcesY": [ - -136.7683554965704, - -136.71344274542088, - -136.73215893444015, - -136.67716076602898 + -136.7694659649001, + -136.7139781127033, + -136.73289127712098, + -136.67731620536048 ], - "timestamp": 0.5860149418837641 + "timestamp": 0.5860157986585327 }, { - "x": 6.443709566131624, - "y": 7.21398791601781, - "heading": 0.12150014628574878, - "angularVelocity": 0.0000329234823367676, - "velocityX": -4.371828219059842, - "velocityY": 0.8823264563589321, + "x": 6.443709094303028, + "y": 7.213983009347036, + "heading": 0.12149891570167118, + "angularVelocity": 0.000025883758937229233, + "velocityX": -4.371835387810592, + "velocityY": 0.8822886512278454, "moduleForcesX": [ - -43.0561438836884, - -43.06352899550185, - -43.05933071013743, - -43.06671607719261 + -43.0554517309451, + -43.06224343487992, + -43.058382423814145, + -43.06517434362417 ], "moduleForcesY": [ - -145.9591408411586, - -145.95697388518957, - -145.9581735400142, - -145.9560063349041 + -145.95947989990938, + -145.95748711187238, + -145.95859036793553, + -145.95659736919234 ], - "timestamp": 0.6488324030084645 + "timestamp": 0.6488331657610742 }, { - "x": 6.163613190744461, - "y": 7.221830443353489, - "heading": 0.12150153992393312, - "angularVelocity": 0.00002218552229553178, - "velocityX": -4.458893599954975, - "velocityY": 0.12484629573731275, + "x": 6.1636130830647256, + "y": 7.221823066950751, + "heading": 0.12150000668943466, + "angularVelocity": 0.000017367613667935893, + "velocityX": -4.458894476899942, + "velocityY": 0.12480716684258138, "moduleForcesX": [ - -17.324291482914138, - -17.32555650544884, - -17.324594632535337, - -17.32585966471796 + -17.32322764844799, + -17.324230930250245, + -17.32346806500239, + -17.324471352873267 ], "moduleForcesY": [ - -150.73050859678926, - -150.7303651604955, - -150.7304655799086, - -150.73032213996996 + -150.73097832234896, + -150.73086457158067, + -150.73094421119154, + -150.73083045813073 ], - "timestamp": 0.7116498641331648 + "timestamp": 0.7116505328636157 }, { - "x": 5.886185228218486, - "y": 7.182331771049725, - "heading": 0.1215026771261513, - "angularVelocity": 0.000018103282078544305, - "velocityX": -4.416414760718588, - "velocityY": -0.6287849203977637, + "x": 5.886185943913737, + "y": 7.182321631252863, + "heading": 0.1215008968458159, + "angularVelocity": 0.00001417054585856583, + "velocityX": -4.4164082634026345, + "velocityY": -0.6288298527166963, "moduleForcesX": [ - 8.453094476414165, - 8.452603467956736, - 8.453061962409892, - 8.452570952373508 + 8.45451777022392, + 8.45413322509655, + 8.454492310406135, + 8.454107764310223 ], "moduleForcesY": [ - -149.96450579269072, - -149.96453399767998, - -149.96449952336602, - -149.96452772834408 + -149.96588744813002, + -149.96590954082095, + -149.96588254188293, + -149.96590463456704 ], - "timestamp": 0.7744673252578651 + "timestamp": 0.7744678999661572 }, { - "x": 5.618174097294165, - "y": 7.10047720963343, - "heading": 0.12150373342685826, - "angularVelocity": 0.000016815399540888303, - "velocityX": -4.2665068935450075, - "velocityY": -1.3030542775335832, + "x": 5.61817814252192, + "y": 7.100457609792686, + "heading": 0.12150172363347368, + "angularVelocity": 0.000013161768726115695, + "velocityX": -4.266460275902999, + "velocityY": -1.303206824059513, "moduleForcesX": [ - 29.830119798125246, - 29.829980497000864, - 29.83013011944592, - 29.829990818214906 + 29.83813400010029, + 29.83802487306505, + 29.838142091644272, + 29.838032964540062 ], "moduleForcesY": [ - -134.1723533495596, - -134.172382828284, - -134.17233576731962, - -134.17236524607773 + -134.1939695540832, + -134.19399265149724, + -134.19395579679966, + -134.19397889423507 ], - "timestamp": 0.8372847863825654 + "timestamp": 0.8372852670686987 }, { - "x": 5.352908430949472, - "y": 7.010119123499313, - "heading": 0.12150478286927985, - "angularVelocity": 0.0000167062215314428, - "velocityX": -4.222801456616003, - "velocityY": -1.4384230837586598, + "x": 5.352920663755899, + "y": 7.010076792369984, + "heading": 0.1215025450423324, + "angularVelocity": 0.000013076142738950422, + "velocityX": -4.222677437984479, + "velocityY": -1.4387870994289784, "moduleForcesX": [ - 8.696916259735493, - 8.696909394813982, - 8.696915564939353, - 8.6969087001662 + 8.712330450154536, + 8.712325066226487, + 8.712329904929348, + 8.712324521094521 ], "moduleForcesY": [ - -26.93694110588159, - -26.93694203493668, - -26.936934671210366, - -26.936935600192374 + -26.979060981094236, + -26.97906170994391, + -26.97905593449161, + -26.979056663293942 ], - "timestamp": 0.9001022475072658 + "timestamp": 0.9001026341712401 }, { - "x": 5.0877600803241245, - "y": 6.91941734882059, - "heading": 0.12150583228381992, - "angularVelocity": 0.00001670577768174823, - "velocityX": -4.220933891290342, - "velocityY": -1.4438943096687427, + "x": 5.087780695846288, + "y": 6.91935181278561, + "heading": 0.12150336643371983, + "angularVelocity": 0.000013075864610583405, + "velocityX": -4.220806763265162, + "velocityY": -1.4442658737571141, "moduleForcesX": [ - 0.37162545422122095, - 0.37162542719566294, - 0.3716254509137627, - 0.37162542388820746 + 0.37224474165256427, + 0.37224472472454856, + 0.37224473957555226, + 0.37224472264754094 ], "moduleForcesY": [ - -1.0887151979289285, - -1.0887152012267438, - -1.0887151708872957, - -1.0887151741851118 + -1.0902188793988004, + -1.0902188814610976, + -1.090218862446814, + -1.090218864509111 ], - "timestamp": 0.9629197086319661 + "timestamp": 0.9629200012737816 }, { - "x": 4.822614334222168, - "y": 6.8287113824370875, - "heading": 0.12150791398170854, - "angularVelocity": 0.0000331388415155856, - "velocityX": -4.220892429533588, - "velocityY": -1.443961038237231, + "x": 4.822642465400994, + "y": 6.828625175752252, + "heading": 0.12150521562911179, + "angularVelocity": 0.00002943764562659602, + "velocityX": -4.22077910391848, + "velocityY": -1.4442922589882323, "moduleForcesX": [ - 0.007688886280235993, - 0.008689783475712953, - 0.007811104954865959, - 0.008812002191910253 + 0.004944799336131292, + 0.005941356688969686, + 0.005066485538134172, + 0.006063042917560975 ], "moduleForcesY": [ - -0.012838928991733776, - -0.012716710485359264, - -0.013839826216343994, - -0.013717607720689785 + -0.004812949812266761, + -0.004691263702328822, + -0.005809507153664091, + -0.005687821051234439 ], - "timestamp": 1.0257371697566664 + "timestamp": 1.0257373683763231 }, { - "x": 4.583023815229973, - "y": 6.7469106111173085, - "heading": 0.14664990718021587, - "angularVelocity": 0.40023892638063474, - "velocityX": -3.8140751742193637, - "velocityY": -1.3021979853876189, + "x": 4.583044248401233, + "y": 6.746848722484074, + "heading": 0.1466076680651359, + "angularVelocity": 0.39961006953773565, + "velocityX": -3.8142034289464233, + "velocityY": -1.3018128111779048, "moduleForcesX": [ - 68.08763416028359, - 86.34293516431853, - 76.28050703289354, - 93.09797930192028 + 68.0411586446548, + 86.28228936340254, + 76.24491410285415, + 93.04889035079543 ], "moduleForcesY": [ - 45.08935409284161, - 42.35594926748721, - 11.471003089685565, - 13.920992536164679 + 45.20698013250818, + 42.461766595510824, + 11.662560290803244, + 14.076381318181891 ], - "timestamp": 1.0885546308813667 + "timestamp": 1.0885547354788647 }, { - "x": 4.38887312611478, - "y": 6.680658657847733, - "heading": 0.17200765167820456, - "angularVelocity": 0.403673501666209, - "velocityX": -3.090712130663659, - "velocityY": -1.0546741636477137, + "x": 4.388884149579828, + "y": 6.680625584971985, + "heading": 0.17196618562255697, + "angularVelocity": 0.40368641232648983, + "velocityX": -3.0908665515054907, + "velocityY": -1.0542170193876048, "moduleForcesX": [ - 143.86292726198357, - 143.88597754775168, - 143.9972354070039, - 144.01976197385073 + 143.8431930681562, + 143.87063884479912, + 144.00269858414762, + 144.02940633926386 ], "moduleForcesY": [ - 49.48201966230508, - 49.41962592815241, - 49.08904683514566, - 49.027634412325455 + 49.53898545529807, + 49.464761435516486, + 49.07250099382474, + 48.99965899484301 ], - "timestamp": 1.151372092006067 + "timestamp": 1.1513721025814063 }, { "x": 4.240245819091797, "y": 6.629983139038085, "heading": 0.1973958425268429, - "angularVelocity": 0.40415818140500265, - "velocityX": -2.3660190075739744, - "velocityY": -0.8067107121911379, + "angularVelocity": 0.40481889129124365, + "velocityX": -2.3661980331225037, + "velocityY": -0.8061854272557102, "moduleForcesX": [ - 144.19530644910765, - 144.19794863224655, - 144.21435057233037, - 144.21698269690276 + 144.17612046080438, + 144.18231563754017, + 144.22064552763342, + 144.22678577057937 ], "moduleForcesY": [ - 49.3735991949255, - 49.366215018647715, - 49.317901528730665, - 49.310537460683186 + 49.42940039192321, + 49.41210376672167, + 49.29923422325041, + 49.282047363812175 ], - "timestamp": 1.2141895531307674 + "timestamp": 1.214189469683948 }, { - "x": 4.035554282416215, - "y": 6.599679068724539, - "heading": 0.1850698409036656, - "angularVelocity": -0.1489030329764893, - "velocityX": -2.4727556889314233, - "velocityY": -0.3660852983158031, + "x": 4.053287681369821, + "y": 6.60357082602473, + "heading": 0.23075989655760565, + "angularVelocity": 0.44170014216765713, + "velocityX": -2.4751019745698706, + "velocityY": -0.3496674115865488, "moduleForcesX": [ - 1.8112171931224859, - -30.768098894034004, - -3.733333248619835, - -31.780876609007596 + -19.32534818968572, + -17.034440134164583, + -19.02395666823841, + -16.704146928311058 ], "moduleForcesY": [ - 59.71952150690801, - 53.046253818565155, - 79.57723097475466, - 73.80356149347932 + 75.95552008362218, + 76.49715078934403, + 74.59323239320383, + 75.1417029480552 ], - "timestamp": 1.2969682674174172 + "timestamp": 1.2897249989844992 }, { - "x": 3.830822841005316, - "y": 6.569645754809516, - "heading": 0.13255839157162969, - "angularVelocity": -0.6343593251545008, - "velocityX": -2.473237754147171, - "velocityY": -0.36281445262330647, + "x": 3.86628047071794, + "y": 6.577508202403374, + "heading": 0.26690580836285044, + "angularVelocity": 0.4785286095159589, + "velocityX": -2.4757516414267835, + "velocityY": -0.34503794257754133, "moduleForcesX": [ - 12.629710535502474, - -9.787677022968909, - 9.631224194186343, - -12.764434744139589 + -1.261693170943105, + 0.5510100240659234, + -0.7661385075956011, + 1.046781074278797 ], "moduleForcesY": [ - -9.214608337622659, - -12.203604350431716, - 13.1901358127297, - 10.203733129884467 + 1.424655818875878, + 1.920274808340125, + -0.38810411721682353, + 0.10760492503260351 ], - "timestamp": 1.379746981704067 + "timestamp": 1.3652605282850505 }, { - "x": 3.626091170308731, - "y": 6.539614004710939, - "heading": 0.05745258118053578, - "angularVelocity": -0.9073082499326514, - "velocityX": -2.4732405239295314, - "velocityY": -0.3627955611265052, + "x": 3.679272898622891, + "y": 6.551448172418461, + "heading": 0.304557193984984, + "angularVelocity": 0.49845928096063163, + "velocityX": -2.4757564265017593, + "velocityY": -0.3450036059350293, "moduleForcesX": [ - 6.708744451318082, - -5.979789915688665, - 5.978933447945518, - -6.7095609875495725 + -0.6383966835401044, + 0.33183390984823957, + -0.33341785332862744, + 0.6368131937477447 ], "moduleForcesY": [ - -5.976509272160543, - -6.706299699289128, - 6.712005732902414, - 5.982214080672614 + 0.3383081385234525, + 0.6432870800858395, + -0.6319227942606058, + -0.3269436218699489 ], - "timestamp": 1.462525695990717 + "timestamp": 1.4407960575856018 }, { - "x": 3.421359498114552, - "y": 6.509582265408401, - "heading": -0.029071550738207098, - "angularVelocity": -1.0452461440645835, - "velocityX": -2.473240542104828, - "velocityY": -0.3627954307524149, + "x": 3.492265323854802, + "y": 6.5253881616329235, + "heading": 0.3428018448480012, + "angularVelocity": 0.506313402674972, + "velocityX": -2.475756461889602, + "velocityY": -0.34500335175862273, "moduleForcesX": [ - 3.1167342346864357, - -3.303436650533204, - 3.3034311269173156, - -3.116739689313316 + -0.2560962783315998, + 0.12136977884358859, + -0.12138149141045615, + 0.25608456626429515 ], "moduleForcesY": [ - -3.3034142050211606, - -3.1167172714251907, - 3.1167566525753014, - 3.30345357243063 + 0.12141769759567621, + 0.2561324846143981, + -0.256048359981562, + -0.12133357265842538 ], - "timestamp": 1.5453044102773668 + "timestamp": 1.516331586886153 }, { - "x": 3.216627825696548, - "y": 6.479550527799078, - "heading": -0.11925353180704092, - "angularVelocity": -1.0894344258180857, - "velocityX": -2.4732405447750505, - "velocityY": -0.36279541023887435, + "x": 3.305257749068616, + "y": 6.4993281509720475, + "heading": 0.38087145598510536, + "angularVelocity": 0.5039960862076902, + "velocityX": -2.47575646212911, + "velocityY": -0.3450033501079941, "moduleForcesX": [ - 0.8990802302422491, - -1.1438718093685671, - 1.1438710024052712, - -0.899081036146858 + 0.07686630922594473, + -0.0329095491806194, + 0.032909469910526755, + -0.07686638849575436 ], "moduleForcesY": [ - -1.1438683083416858, - -0.8990775354452838, - 0.8990837309438258, - 1.1438745034321574 + -0.03290923639117984, + -0.07686607570655705, + 0.07686662201514474, + 0.032909782699968464 ], - "timestamp": 1.6280831245640166 + "timestamp": 1.5918671161867044 }, { - "x": 3.0118961532670436, - "y": 6.4495187901209645, - "heading": -0.206458535891088, - "angularVelocity": -1.0534713523342678, - "velocityX": -2.473240544926502, - "velocityY": -0.36279541104914065, + "x": 3.118250174277875, + "y": 6.473268140315123, + "heading": 0.41795560467973814, + "angularVelocity": 0.4909497429623765, + "velocityX": -2.4757564621893833, + "velocityY": -0.34500335005570965, "moduleForcesX": [ - -0.6478644954119227, - 0.991142855760314, - -0.9911429014855089, - 0.6478644496575423 + 0.439324393610631, + -0.16910646984037908, + 0.16910644989137977, + -0.4393244135591285 ], "moduleForcesY": [ - 0.9911427562703419, - 0.6478643501787748, - -0.6478645948906904, - -0.9911430009754812 + -0.16910645121359455, + -0.43932439493258957, + 0.4393244122371702, + 0.16910646851816438 ], - "timestamp": 1.7108618388506664 + "timestamp": 1.6674026454872557 }, { - "x": 2.8071644810067258, - "y": 6.419487050769376, - "heading": -0.2831513955859544, - "angularVelocity": -0.9264804407240823, - "velocityX": -2.4732405428399233, - "velocityY": -0.3627954313200498, + "x": 2.931242599475319, + "y": 6.4472081296861505, + "heading": 0.4530055573383787, + "angularVelocity": 0.46401942216064906, + "velocityX": -2.475756462345967, + "velocityY": -0.3450033496855248, "moduleForcesX": [ - -2.012827885014598, - 3.664862835477919, - -3.664862201689722, - 2.01282851156143 + 0.9185308119916209, + -0.3170772196554788, + 0.3170771678262979, + -0.9185308638113844 ], "moduleForcesY": [ - 3.664859459006159, - 2.0128251358482787, - -2.012831260727752, - -3.664865578161493 + -0.31707713247952724, + -0.9185307766427468, + 0.9185308991602587, + 0.31707725500224976 ], - "timestamp": 1.7936405531373163 + "timestamp": 1.742938174787807 }, { - "x": 2.6024328068209184, - "y": 6.389455323766461, - "heading": -0.3386424796144514, - "angularVelocity": -0.6703545048590797, - "velocityX": -2.473240566157465, - "velocityY": -0.36279528205738876, + "x": 2.7442350246282463, + "y": 6.421148119284497, + "heading": 0.4844810274187975, + "angularVelocity": 0.4166975510978392, + "velocityX": -2.4757564629352484, + "velocityY": -0.34500334667644433, "moduleForcesX": [ - -3.6434381223972827, - 7.605379821276402, - -7.605386957088954, - 3.6434311739480325 + 1.6307740123973564, + -0.5060968674783974, + 0.5060966723533608, + -1.63077420734138 ], "moduleForcesY": [ - 7.605405877147237, - 3.6434572390264806, - -3.6434120573193716, - -7.605360901220003 + -0.5060962719137423, + -1.6307736119559382, + 1.6307746077828291, + 0.506097267918036 ], - "timestamp": 1.8764192674239661 + "timestamp": 1.8184737040883583 }, { - "x": 2.397700769200915, - "y": 6.359426073678433, - "heading": -0.35616098731174906, - "angularVelocity": -0.21163058460456718, - "velocityX": -2.473244956552729, - "velocityY": -0.36276536004843296, + "x": 2.557227446375779, + "y": 6.3950881331884135, + "heading": 0.5099802642619993, + "angularVelocity": 0.3375793759482607, + "velocityX": -2.4757565080184727, + "velocityY": -0.3450030248997892, "moduleForcesX": [ - -6.2864447642019, - 13.73283955921059, - -13.734223941240073, - 6.285177259631434 + 2.747196761156834, + -0.7763669301504451, + 0.776351985026011, + -2.74721165842865 ], "moduleForcesY": [ - 13.738016293570539, - 6.290363184432386, - -6.281258831199867, - -13.729047154593324 + -0.7763061938729148, + -2.7471509750644736, + 2.7472574445222095, + 0.7764127213042872 ], - "timestamp": 1.959197981710616 + "timestamp": 1.8940092333889096 }, { - "x": 2.1929083387601747, - "y": 6.3298115317161185, - "heading": -0.30910551238200884, - "angularVelocity": 0.5684489706713254, - "velocityX": -2.4739745259923405, - "velocityY": -0.35775551980601694, + "x": 2.370219413193287, + "y": 6.369031411746238, + "heading": 0.5256690547267573, + "angularVelocity": 0.20770080795135804, + "velocityX": -2.475762530747634, + "velocityY": -0.3449598047889489, "moduleForcesX": [ - -11.870687671608707, - 22.700595039189636, - -22.952205809881743, - 11.68162390060337 + 4.528193261329242, + -1.2045481662855697, + 1.2025465044617698, + -4.530178285782292 ], "moduleForcesY": [ - 23.566766197286633, - 12.547313352231091, - -11.004401858763513, - -22.083633927216326 + -1.1963896605706275, + -4.522038856244832, + 4.536332654970618, + 1.2107049887289125 ], - "timestamp": 2.0419766959972656 + "timestamp": 1.9695447626894609 }, { - "x": 1.9867906929313088, - "y": 6.347734045243003, - "heading": -0.20637322784512005, - "angularVelocity": 1.241047114855465, - "velocityX": -2.4899836582974357, - "velocityY": 0.2165111366899142, + "x": 2.1831508585479256, + "y": 6.343412849709567, + "heading": 0.5253875004108501, + "angularVelocity": -0.003727442152245919, + "velocityX": -2.476563762478332, + "velocityY": -0.3391590986903073, "moduleForcesX": [ - -16.211166665758643, - 20.03084480075966, - -29.11825880425907, - 15.628744381599866 + 7.241621350085513, + -2.0955479291608454, + 1.8274082297961252, + -7.503849107013979 ], "moduleForcesY": [ - 98.95301614336789, - 95.37648263884907, - 78.27159858532718, - 74.26745540275856 + -0.9993182800075523, + -6.4141939585089665, + 8.330224546066066, + 2.923007988551705 ], - "timestamp": 2.1247554102839152 + "timestamp": 2.045080291990012 }, { - "x": 1.8592349380640236, - "y": 6.394033473766115, - "heading": -0.10327209120685515, - "angularVelocity": 1.2455029958697412, - "velocityX": -1.5409245718280102, - "velocityY": 0.5593156274907811, + "x": 1.994902716096777, + "y": 6.357795153664254, + "heading": 0.5120405023818403, + "angularVelocity": -0.1766982789768107, + "velocityX": -2.492180093186503, + "velocityY": 0.19040449028240822, "moduleForcesX": [ - 143.2183898713879, - 143.28062376824516, - 143.34504120031298, - 143.40662599509844 + 5.475779946279431, + -5.056973623609251, + -0.3319984175932723, + -10.423884280112608 ], "moduleForcesY": [ - 52.02529390813064, - 51.85593603379537, - 51.67419631557196, - 51.50534640307554 + 86.64447373614782, + 83.54331818707327, + 91.67754698318308, + 88.67406544834252 ], - "timestamp": 2.207534124570565 + "timestamp": 2.1206158212905635 }, { - "x": 1.8133536577224731, - "y": 6.458367347717285, - "heading": 9.794159881542315e-22, - "angularVelocity": 1.2475681954813016, - "velocityX": -0.5542642300723245, - "velocityY": 0.7771789463628237, + "x": 1.8701941709037448, + "y": 6.4002991353293135, + "heading": 0.49857411112546, + "angularVelocity": -0.1782789024062882, + "velocityX": -1.6509918755824966, + "velocityY": 0.5627018445311104, "moduleForcesX": [ - 148.96587158141025, - 148.97499161621937, - 149.00635261629037, - 149.0153756918047 + 139.23406553391976, + 139.23897085891994, + 139.1691864042857, + 139.17403664614216 ], "moduleForcesY": [ - 33.0103455300045, - 32.969811413063255, - 32.8269891965449, - 32.78665834834352 + 61.542519274804555, + 61.530210607297604, + 61.688994460012694, + 61.6768441673831 ], - "timestamp": 2.2903128388572145 + "timestamp": 2.1961513505911148 }, { - "x": 1.8393953464937296, - "y": 6.529722640760361, - "heading": 0.09383200652888318, - "angularVelocity": 1.2489492766886694, - "velocityX": 0.3466274416828236, - "velocityY": 0.9497733761691536, + "x": 1.8133536577224731, + "y": 6.458367347717285, + "heading": 0.48505844485738425, + "angularVelocity": -0.17893124458422383, + "velocityX": -0.7525003625129821, + "velocityY": 0.7687536305851594, "moduleForcesX": [ - 149.87670937489352, - 149.87933710767103, - 149.90325092962254, - 149.90584215837532 + 148.69221763622053, + 148.69597335167035, + 148.67783183606545, + 148.68158892208103 ], "moduleForcesY": [ - 28.792332847352924, - 28.779025047859903, - 28.653791022035243, - 28.640607577454784 + 34.07549624585428, + 34.05882645194579, + 34.13813612356617, + 34.1214924503468 ], - "timestamp": 2.3654415957092576 + "timestamp": 2.271686879891666 }, { - "x": 1.9331880583851682, - "y": 6.613585242305, - "heading": 0.18776675519630878, - "angularVelocity": 1.2503168241212024, - "velocityX": 1.248426246055256, - "velocityY": 1.1162516865567755, + "x": 1.8404200930897647, + "y": 6.544249168314799, + "heading": 0.4692061995679408, + "angularVelocity": -0.17948483063148027, + "velocityX": 0.3064559296802799, + "velocityY": 0.9723849046501007, "moduleForcesX": [ - 150.02949520098034, - 150.02947877144973, - 150.05496169072416, - 150.05492254678424 + 149.87669795369774, + 149.87918857677292, + 149.86792420889756, + 149.87041635608182 ], "moduleForcesY": [ - 27.76743793049327, - 27.7681130281194, - 27.62948934613782, - 27.63029117896184 + 28.80357991263645, + 28.790497376481127, + 28.849161539550373, + 28.83609248838388 ], - "timestamp": 2.4405703525613007 + "timestamp": 2.3600076880272094 }, { - "x": 2.094926602800359, - "y": 6.708500339985442, - "heading": 0.28180517125052573, - "angularVelocity": 1.2516966870543198, - "velocityX": 2.1528180578305576, - "velocityY": 1.2633657424582714, + "x": 1.9615122088562043, + "y": 6.645038412616653, + "heading": 0.45329199441887674, + "angularVelocity": -0.1801863624780361, + "velocityX": 1.3710485481586958, + "velocityY": 1.1411721250013982, "moduleForcesX": [ - 150.46361601915035, - 150.46110897595457, - 150.48617713354722, - 150.4836650584738 + 150.6744828058924, + 150.67722266377191, + 150.6653020104381, + 150.66804542646568 ], "moduleForcesY": [ - 24.53786858278636, - 24.554620079408515, - 24.39929245256444, - 24.416171888665623 + 23.868299666344676, + 23.850652865003898, + 23.92607906968413, + 23.908453423846506 ], - "timestamp": 2.515699109413344 + "timestamp": 2.4483284961627527 }, { - "x": 2.278513197468464, - "y": 6.748042092991387, - "heading": 0.37643899811543574, - "angularVelocity": 1.2596218922042122, - "velocityX": 2.443626147308015, - "velocityY": 0.5263198096454269, + "x": 2.1714534526585396, + "y": 6.713345937870676, + "heading": 0.4371245481347592, + "angularVelocity": -0.18305364981835054, + "velocityX": 2.3770303763541745, + "velocityY": 0.7734024030800978, "moduleForcesX": [ - 48.03491905705887, - 48.69656852196778, - 48.07484875843584, - 48.733462311292215 + 142.3774821304844, + 142.31573780687563, + 142.43638347085604, + 142.3748256339344 ], "moduleForcesY": [ - -122.71296079687782, - -122.45183150113498, - -122.8084942817181, - -122.54856130909613 + -52.050354291282474, + -52.21526085381119, + -51.885235362156244, + -52.05021200844571 ], - "timestamp": 2.590827866265387 + "timestamp": 2.536649304298296 }, { - "x": 2.4624711945661084, - "y": 6.785817927884571, - "heading": 0.4159520445273267, - "angularVelocity": 0.5259377110379972, - "velocityX": 2.448569693112552, - "velocityY": 0.502814587601326, + "x": 2.3865504668416504, + "y": 6.763104722257962, + "heading": 0.41686464053629313, + "angularVelocity": -0.22938997079118445, + "velocityX": 2.4354058655465196, + "velocityY": 0.5633868783326403, "moduleForcesX": [ - 25.557140891740982, - -8.703720088133782, - 10.54593192698955, - -24.109303745594993 + 9.629126319855438, + 7.703030863434783, + 8.825507245362973, + 6.889751250989562 ], "moduleForcesY": [ - -13.579412521988402, - -28.648158231068372, - 20.9683767591753, - 5.6159017121708175 + -30.193781509842214, + -31.020124941402248, + -28.423896223729507, + -29.2557679234477 ], - "timestamp": 2.66595662311743 + "timestamp": 2.6249701124338394 }, { - "x": 2.5974039481512925, - "y": 6.813514790618425, - "heading": 0.41648417541196436, - "angularVelocity": 0.007082918804122408, - "velocityX": 1.7960200490676481, - "velocityY": 0.3686586055058262, + "x": 2.5720973939225193, + "y": 6.805943429720139, + "heading": 0.4167523858742523, + "angularVelocity": -0.0012709877141134803, + "velocityX": 2.100829136392361, + "velocityY": 0.4850352749992307, "moduleForcesX": [ - -97.75142563158144, - -108.884046724977, - -108.90266320704143, - -118.74939386405738 + -53.38680869040493, + -45.3936329604465, + -49.412161808987165, + -41.217308098428546 ], "moduleForcesY": [ - -38.526678971698495, - -44.526244441269746, - 4.434951154396333, - -10.666070042101367 + -8.120993417314173, + -3.943806184730602, + -18.04028267464069, + -14.25117135562148 ], - "timestamp": 2.741085379969473 + "timestamp": 2.7132909205693827 }, { "x": 2.6648948192596436, "y": 6.827368259429932, "heading": 0.4167026457970273, - "angularVelocity": 0.0029079462274773584, - "velocityX": 0.8983360559560752, - "velocityY": 0.18439635356144418, + "angularVelocity": -0.0005631750691030816, + "velocityX": 1.0506858722885617, + "velocityY": 0.2425796385026702, "moduleForcesX": [ - -149.3243519124542, - -149.30664868240234, - -149.4085153460508, - -149.39083611419395 + -148.6317970327977, + -148.63435576791767, + -148.61815118404863, + -148.62070920090295 ], "moduleForcesY": [ - -30.818128640138124, - -30.906784723305456, - -30.40814322166433, - -30.497917002848983 + -34.290784981814674, + -34.27941393752895, + -34.34982528270919, + -34.338477851320015 ], - "timestamp": 2.8162141368215163 + "timestamp": 2.801611728704926 }, { "x": 2.6648948192596436, "y": 6.827368259429932, "heading": 0.4167026457970273, - "angularVelocity": 8.892617211142126e-21, - "velocityX": 2.4083265353833494e-17, - "velocityY": 1.0119144362441444e-18, + "angularVelocity": 2.2551392633305962e-23, + "velocityX": 4.475631475662116e-21, + "velocityY": 1.498144485209276e-20, "moduleForcesX": [ - -149.44303747500845, - -149.4304929400592, - -149.50165894811687, - -149.4891262445009 + -148.7074470765211, + -148.7095082136639, + -148.69658873771053, + -148.69864942265872 ], "moduleForcesY": [ - -30.7918146168916, - -30.85368557789434, - -30.50615361559, - -30.568567638640467 + -34.31319254430495, + -34.30414790428754, + -34.36019552442858, + -34.351165849085426 ], - "timestamp": 2.8913428936735595 + "timestamp": 2.8899325368404694 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f2 to n1.traj b/src/main/deploy/choreo/f2 to n1.traj index a3a97ec..8f291bc 100644 --- a/src/main/deploy/choreo/f2 to n1.traj +++ b/src/main/deploy/choreo/f2 to n1.traj @@ -4,9 +4,9 @@ "x": 7.990099906921387, "y": 5.7928948402404785, "heading": 0.08169581065067787, - "angularVelocity": -1.7087685206192545e-19, - "velocityX": -1.0481808976219073e-17, - "velocityY": -7.400031274477837e-18, + "angularVelocity": -1.8666187274860317e-19, + "velocityX": -1.258924910800836e-17, + "velocityY": -8.980306430569812e-18, "moduleForcesX": [ 0, 0, @@ -22,844 +22,844 @@ "timestamp": 0 }, { - "x": 7.96827128206756, - "y": 5.840312231405094, - "heading": 0.08499753041745138, - "angularVelocity": 0.050485254814046275, - "velocityX": -0.3337726293659763, - "velocityY": 0.7250400532635837, + "x": 7.968272597243076, + "y": 5.840313044770837, + "heading": 0.0849977249557515, + "angularVelocity": 0.050488137668972866, + "velocityX": -0.3337519130307099, + "velocityY": 0.7250511724866979, "moduleForcesX": [ - -65.38736008862666, - -60.3721787862651, - -67.2828220285152, - -62.13671899714863 + -65.38349150270592, + -60.36792096425817, + -67.27894325683056, + -62.132422221191305 ], "moduleForcesY": [ - 137.8693336637803, - 140.136543854315, - 136.95002086404955, - 139.35873800462738 + 137.87116930567547, + 140.13837908016316, + 136.9519271207836, + 139.36065449701252 ], - "timestamp": 0.06539968509488299 + "timestamp": 0.0653998039444989 }, { - "x": 7.923667381180241, - "y": 5.934691772165659, - "heading": 0.09132970257003088, - "angularVelocity": 0.09682267037513625, - "velocityX": -0.68202011712188, - "velocityY": 1.4431191926545524, + "x": 7.923670884785439, + "y": 5.934694033234134, + "heading": 0.09133019404811009, + "angularVelocity": 0.09682703479864654, + "velocityX": -0.6819854153166327, + "velocityY": 1.4431387064101626, "moduleForcesX": [ - -67.96959148160089, - -63.426260409639134, - -69.74842142066856, - -65.10126537123206 + -67.96691699870469, + -63.4233734995665, + -69.74572770991624, + -65.09834434543876 ], "moduleForcesY": [ - 136.58691014937364, - 138.75328714209047, - 135.68227941218157, - 137.97033446140466 + 136.58824274857548, + 138.75460852905647, + 135.68366571098557, + 137.9717143614889 ], - "timestamp": 0.13079937018976598 + "timestamp": 0.1307996078889978 }, { - "x": 7.854776754707682, - "y": 6.075256690124383, - "heading": 0.10025112458481739, - "angularVelocity": 0.13641383749544372, - "velocityX": -1.0533785653660546, - "velocityY": 2.1493210215109615, + "x": 7.854782640087284, + "y": 6.075260716431483, + "heading": 0.10025186934166369, + "angularVelocity": 0.13641746236922958, + "velocityX": -1.0533402325332635, + "velocityY": 2.149344106878155, "moduleForcesX": [ - -72.10396683513207, - -68.31163716512047, - -73.67947167545489, - -69.81947812176197 + -72.10314262414192, + -68.31086811098174, + -73.67859439723404, + -69.81865669021488 ], "moduleForcesY": [ - 134.40436236810163, - 136.36882182119078, - 133.54167572501325, - 135.59739488618982 + 134.40480814499313, + 136.36921074502123, + 133.54216358380987, + 135.597821754164 ], - "timestamp": 0.19619905528464898 + "timestamp": 0.1961994118334967 }, { - "x": 7.758820604764683, - "y": 6.260408687961792, - "heading": 0.11092302847260234, - "angularVelocity": 0.16317974424956264, - "velocityX": -1.4672264832000166, - "velocityY": 2.8310839349393664, + "x": 7.758827911884976, + "y": 6.260414123250669, + "heading": 0.11092372197499237, + "angularVelocity": 0.1631786639969935, + "velocityX": -1.4672020776237977, + "velocityY": 2.8311003344408383, "moduleForcesX": [ - -79.75012246156852, - -77.31832821487669, - -80.89268436166724, - -78.43787914181338 + -79.75248599097313, + -77.32116962021551, + -80.89487386602032, + -78.44055749938586 ], "moduleForcesY": [ - 129.92350326457816, - 131.38276669175326, - 129.2097727276854, - 130.71193604347482 + 129.92206223700825, + 131.3811045887359, + 129.20841299433806, + 130.71034015788265 ], - "timestamp": 0.26159874037953196 + "timestamp": 0.2615992157779956 }, { - "x": 7.6292252498634845, - "y": 6.485341032086703, - "heading": 0.12119393444489363, - "angularVelocity": 0.1570482481282575, - "velocityX": -1.981589891400619, - "velocityY": 3.4393490397929374, + "x": 7.629230951243224, + "y": 6.485345581404081, + "heading": 0.12119374980615402, + "angularVelocity": 0.15703453545330137, + "velocityX": -1.9816108429175163, + "velocityY": 3.4393292422616466, "moduleForcesX": [ - -98.2315095911243, - -98.692333991472, - -97.93072667790656, - -98.39151911620452 + -98.23986826568338, + -98.70159071548053, + -97.93845080936782, + -98.4001417294193 ], "moduleForcesY": [ - 116.32546759630988, - 115.93625758728768, - 116.58107466624477, - 116.19392316425461 + 116.3184577334818, + 115.92842951315355, + 116.57463922857194, + 116.18667778253831 ], - "timestamp": 0.32699842547441493 + "timestamp": 0.3269990197224945 }, { - "x": 7.447987208285138, - "y": 6.713768604430538, - "heading": 0.12135530141485407, - "angularVelocity": 0.0024673967424513475, - "velocityX": -2.7712372210743754, - "velocityY": 3.492793153565111, + "x": 7.447990909576445, + "y": 6.713772083784024, + "heading": 0.1213552659374303, + "angularVelocity": 0.0024696730194091647, + "velocityX": -2.7712627671803283, + "velocityY": 3.4927704459041475, "moduleForcesX": [ - -151.43809786740448, - -151.59764912707735, - -149.99869820025702, - -150.6743712377385 + -151.43864750802987, + -151.59812625056963, + -149.9994871877237, + -150.6749710727885 ], "moduleForcesY": [ - 2.5587284922629956, - 0.19509298524274, - 21.205120363951913, - 16.900669099050567 + 2.5589384757252462, + 0.19550828877216073, + 21.203363951238856, + 16.899501095056053 ], - "timestamp": 0.3923981105692979 + "timestamp": 0.3923988236669934 }, { - "x": 7.229028804297614, - "y": 6.906451202849147, - "heading": 0.12140542227201098, - "angularVelocity": 0.0007663776528008695, - "velocityX": -3.3480039495977487, - "velocityY": 2.946231287373012, + "x": 7.229030525607321, + "y": 6.906453179636098, + "heading": 0.12140540740417353, + "angularVelocity": 0.0007666913923135646, + "velocityX": -3.3480281408088937, + "velocityY": 2.946202958308125, "moduleForcesX": [ - -110.14276732693584, - -110.225069009716, - -110.2526416817468, - -110.33480157247408 + -110.14219647086705, + -110.22459421244172, + -110.25219804502804, + -110.33445366886626 ], "moduleForcesY": [ - -104.56684440521978, - -104.48133858976846, - -104.45005915927223, - -104.36452385076572 + -104.56784520453351, + -104.48224033771665, + -104.45092662206443, + -104.36529219026626 ], - "timestamp": 0.4577977956641809 + "timestamp": 0.4577986276114923 }, { "x": 6.9793701171875, "y": 7.057060623168944, "heading": 0.1214917026565047, - "angularVelocity": 0.0013192782865629191, - "velocityX": -3.817429498941476, - "velocityY": 2.3029074238655776, + "angularVelocity": 0.001319503226713262, + "velocityX": -3.8174488812631027, + "velocityY": 2.302873012572445, "moduleForcesX": [ - -89.7595258245966, - -89.72111311801326, - -89.72377154417462, - -89.68535225648114 + -89.75843788928539, + -89.72003081480057, + -89.72268947881788, + -89.68427582587927 ], "moduleForcesY": [ - -122.93297529055657, - -122.96084044776259, - -122.95925782246997, - -122.98711081784946 + -122.93391907902145, + -122.96177964606476, + -122.9601967350168, + -122.98804514379438 ], - "timestamp": 0.5231974807590639 + "timestamp": 0.5231984315559912 }, { - "x": 6.718336715333704, - "y": 7.158562408151559, - "heading": 0.121498078116177, - "angularVelocity": 0.00010149183934127749, - "velocityX": -4.155427443078891, - "velocityY": 1.615821193049687, + "x": 6.718336282755718, + "y": 7.158559959232576, + "heading": 0.12149728975208401, + "angularVelocity": 0.00008894189357197964, + "velocityX": -4.1554405487527335, + "velocityY": 1.6157846270504579, "moduleForcesX": [ - -67.16537908526134, - -67.27747310397834, - -67.2384357459009, - -67.35055296212673 + -67.16325923679894, + -67.2765303964566, + -67.23708156967989, + -67.35037641945065 ], "moduleForcesY": [ - -136.7683554965704, - -136.71344274542088, - -136.73215893444015, - -136.67716076602898 + -136.7694659649001, + -136.7139781127033, + -136.73289127712098, + -136.67731620536048 ], - "timestamp": 0.5860149418837641 + "timestamp": 0.5860157986585327 }, { - "x": 6.443709566131624, - "y": 7.21398791601781, - "heading": 0.12150014628574878, - "angularVelocity": 0.0000329234823367676, - "velocityX": -4.371828219059842, - "velocityY": 0.8823264563589321, + "x": 6.443709094303028, + "y": 7.213983009347036, + "heading": 0.12149891570167118, + "angularVelocity": 0.000025883758937229233, + "velocityX": -4.371835387810592, + "velocityY": 0.8822886512278454, "moduleForcesX": [ - -43.0561438836884, - -43.06352899550185, - -43.05933071013743, - -43.06671607719261 + -43.0554517309451, + -43.06224343487992, + -43.058382423814145, + -43.06517434362417 ], "moduleForcesY": [ - -145.9591408411586, - -145.95697388518957, - -145.9581735400142, - -145.9560063349041 + -145.95947989990938, + -145.95748711187238, + -145.95859036793553, + -145.95659736919234 ], - "timestamp": 0.6488324030084645 + "timestamp": 0.6488331657610742 }, { - "x": 6.163613190744461, - "y": 7.221830443353489, - "heading": 0.12150153992393312, - "angularVelocity": 0.00002218552229553178, - "velocityX": -4.458893599954975, - "velocityY": 0.12484629573731275, + "x": 6.1636130830647256, + "y": 7.221823066950751, + "heading": 0.12150000668943466, + "angularVelocity": 0.000017367613667935893, + "velocityX": -4.458894476899942, + "velocityY": 0.12480716684258138, "moduleForcesX": [ - -17.324291482914138, - -17.32555650544884, - -17.324594632535337, - -17.32585966471796 + -17.32322764844799, + -17.324230930250245, + -17.32346806500239, + -17.324471352873267 ], "moduleForcesY": [ - -150.73050859678926, - -150.7303651604955, - -150.7304655799086, - -150.73032213996996 + -150.73097832234896, + -150.73086457158067, + -150.73094421119154, + -150.73083045813073 ], - "timestamp": 0.7116498641331648 + "timestamp": 0.7116505328636157 }, { - "x": 5.886185228218486, - "y": 7.182331771049725, - "heading": 0.1215026771261513, - "angularVelocity": 0.000018103282078544305, - "velocityX": -4.416414760718588, - "velocityY": -0.6287849203977637, + "x": 5.886185943913737, + "y": 7.182321631252863, + "heading": 0.1215008968458159, + "angularVelocity": 0.00001417054585856583, + "velocityX": -4.4164082634026345, + "velocityY": -0.6288298527166963, "moduleForcesX": [ - 8.453094476414165, - 8.452603467956736, - 8.453061962409892, - 8.452570952373508 + 8.45451777022392, + 8.45413322509655, + 8.454492310406135, + 8.454107764310223 ], "moduleForcesY": [ - -149.96450579269072, - -149.96453399767998, - -149.96449952336602, - -149.96452772834408 + -149.96588744813002, + -149.96590954082095, + -149.96588254188293, + -149.96590463456704 ], - "timestamp": 0.7744673252578651 + "timestamp": 0.7744678999661572 }, { - "x": 5.618174097294165, - "y": 7.10047720963343, - "heading": 0.12150373342685826, - "angularVelocity": 0.000016815399540888303, - "velocityX": -4.2665068935450075, - "velocityY": -1.3030542775335832, + "x": 5.61817814252192, + "y": 7.100457609792686, + "heading": 0.12150172363347368, + "angularVelocity": 0.000013161768726115695, + "velocityX": -4.266460275902999, + "velocityY": -1.303206824059513, "moduleForcesX": [ - 29.830119798125246, - 29.829980497000864, - 29.83013011944592, - 29.829990818214906 + 29.83813400010029, + 29.83802487306505, + 29.838142091644272, + 29.838032964540062 ], "moduleForcesY": [ - -134.1723533495596, - -134.172382828284, - -134.17233576731962, - -134.17236524607773 + -134.1939695540832, + -134.19399265149724, + -134.19395579679966, + -134.19397889423507 ], - "timestamp": 0.8372847863825654 + "timestamp": 0.8372852670686987 }, { - "x": 5.352908430949472, - "y": 7.010119123499313, - "heading": 0.12150478286927985, - "angularVelocity": 0.0000167062215314428, - "velocityX": -4.222801456616003, - "velocityY": -1.4384230837586598, + "x": 5.352920663755899, + "y": 7.010076792369984, + "heading": 0.1215025450423324, + "angularVelocity": 0.000013076142738950422, + "velocityX": -4.222677437984479, + "velocityY": -1.4387870994289784, "moduleForcesX": [ - 8.696916259735493, - 8.696909394813982, - 8.696915564939353, - 8.6969087001662 + 8.712330450154536, + 8.712325066226487, + 8.712329904929348, + 8.712324521094521 ], "moduleForcesY": [ - -26.93694110588159, - -26.93694203493668, - -26.936934671210366, - -26.936935600192374 + -26.979060981094236, + -26.97906170994391, + -26.97905593449161, + -26.979056663293942 ], - "timestamp": 0.9001022475072658 + "timestamp": 0.9001026341712401 }, { - "x": 5.0877600803241245, - "y": 6.91941734882059, - "heading": 0.12150583228381992, - "angularVelocity": 0.00001670577768174823, - "velocityX": -4.220933891290342, - "velocityY": -1.4438943096687427, + "x": 5.087780695846288, + "y": 6.91935181278561, + "heading": 0.12150336643371983, + "angularVelocity": 0.000013075864610583405, + "velocityX": -4.220806763265162, + "velocityY": -1.4442658737571141, "moduleForcesX": [ - 0.37162545422122095, - 0.37162542719566294, - 0.3716254509137627, - 0.37162542388820746 + 0.37224474165256427, + 0.37224472472454856, + 0.37224473957555226, + 0.37224472264754094 ], "moduleForcesY": [ - -1.0887151979289285, - -1.0887152012267438, - -1.0887151708872957, - -1.0887151741851118 + -1.0902188793988004, + -1.0902188814610976, + -1.090218862446814, + -1.090218864509111 ], - "timestamp": 0.9629197086319661 + "timestamp": 0.9629200012737816 }, { - "x": 4.822614334222168, - "y": 6.8287113824370875, - "heading": 0.12150791398170854, - "angularVelocity": 0.0000331388415155856, - "velocityX": -4.220892429533588, - "velocityY": -1.443961038237231, + "x": 4.822642465400994, + "y": 6.828625175752252, + "heading": 0.12150521562911179, + "angularVelocity": 0.00002943764562659602, + "velocityX": -4.22077910391848, + "velocityY": -1.4442922589882323, "moduleForcesX": [ - 0.007688886280235993, - 0.008689783475712953, - 0.007811104954865959, - 0.008812002191910253 + 0.004944799336131292, + 0.005941356688969686, + 0.005066485538134172, + 0.006063042917560975 ], "moduleForcesY": [ - -0.012838928991733776, - -0.012716710485359264, - -0.013839826216343994, - -0.013717607720689785 + -0.004812949812266761, + -0.004691263702328822, + -0.005809507153664091, + -0.005687821051234439 ], - "timestamp": 1.0257371697566664 + "timestamp": 1.0257373683763231 }, { - "x": 4.583023815229973, - "y": 6.7469106111173085, - "heading": 0.14664990718021587, - "angularVelocity": 0.40023892638063474, - "velocityX": -3.8140751742193637, - "velocityY": -1.3021979853876189, + "x": 4.583044248401233, + "y": 6.746848722484074, + "heading": 0.1466076680651359, + "angularVelocity": 0.39961006953773565, + "velocityX": -3.8142034289464233, + "velocityY": -1.3018128111779048, "moduleForcesX": [ - 68.08763416028359, - 86.34293516431853, - 76.28050703289354, - 93.09797930192028 + 68.0411586446548, + 86.28228936340254, + 76.24491410285415, + 93.04889035079543 ], "moduleForcesY": [ - 45.08935409284161, - 42.35594926748721, - 11.471003089685565, - 13.920992536164679 + 45.20698013250818, + 42.461766595510824, + 11.662560290803244, + 14.076381318181891 ], - "timestamp": 1.0885546308813667 + "timestamp": 1.0885547354788647 }, { - "x": 4.38887312611478, - "y": 6.680658657847733, - "heading": 0.17200765167820456, - "angularVelocity": 0.403673501666209, - "velocityX": -3.090712130663659, - "velocityY": -1.0546741636477137, + "x": 4.388884149579828, + "y": 6.680625584971985, + "heading": 0.17196618562255697, + "angularVelocity": 0.40368641232648983, + "velocityX": -3.0908665515054907, + "velocityY": -1.0542170193876048, "moduleForcesX": [ - 143.86292726198357, - 143.88597754775168, - 143.9972354070039, - 144.01976197385073 + 143.8431930681562, + 143.87063884479912, + 144.00269858414762, + 144.02940633926386 ], "moduleForcesY": [ - 49.48201966230508, - 49.41962592815241, - 49.08904683514566, - 49.027634412325455 + 49.53898545529807, + 49.464761435516486, + 49.07250099382474, + 48.99965899484301 ], - "timestamp": 1.151372092006067 + "timestamp": 1.1513721025814063 }, { "x": 4.240245819091797, "y": 6.629983139038085, "heading": 0.1973958425268429, - "angularVelocity": 0.40415818140500265, - "velocityX": -2.3660190075739744, - "velocityY": -0.8067107121911379, + "angularVelocity": 0.40481889129124365, + "velocityX": -2.3661980331225037, + "velocityY": -0.8061854272557102, "moduleForcesX": [ - 144.19530644910765, - 144.19794863224655, - 144.21435057233037, - 144.21698269690276 + 144.17612046080438, + 144.18231563754017, + 144.22064552763342, + 144.22678577057937 ], "moduleForcesY": [ - 49.3735991949255, - 49.366215018647715, - 49.317901528730665, - 49.310537460683186 + 49.42940039192321, + 49.41210376672167, + 49.29923422325041, + 49.282047363812175 ], - "timestamp": 1.2141895531307674 + "timestamp": 1.214189469683948 }, { - "x": 4.035554282416215, - "y": 6.599679068724539, - "heading": 0.1850698409036656, - "angularVelocity": -0.1489030329764893, - "velocityX": -2.4727556889314233, - "velocityY": -0.3660852983158031, + "x": 4.053287681369821, + "y": 6.60357082602473, + "heading": 0.23075989655760565, + "angularVelocity": 0.44170014216765713, + "velocityX": -2.4751019745698706, + "velocityY": -0.3496674115865488, "moduleForcesX": [ - 1.8112171931224859, - -30.768098894034004, - -3.733333248619835, - -31.780876609007596 + -19.32534818968572, + -17.034440134164583, + -19.02395666823841, + -16.704146928311058 ], "moduleForcesY": [ - 59.71952150690801, - 53.046253818565155, - 79.57723097475466, - 73.80356149347932 + 75.95552008362218, + 76.49715078934403, + 74.59323239320383, + 75.1417029480552 ], - "timestamp": 1.2969682674174172 + "timestamp": 1.2897249989844992 }, { - "x": 3.830822841005316, - "y": 6.569645754809516, - "heading": 0.13255839157162969, - "angularVelocity": -0.6343593251545008, - "velocityX": -2.473237754147171, - "velocityY": -0.36281445262330647, + "x": 3.86628047071794, + "y": 6.577508202403374, + "heading": 0.26690580836285044, + "angularVelocity": 0.4785286095159589, + "velocityX": -2.4757516414267835, + "velocityY": -0.34503794257754133, "moduleForcesX": [ - 12.629710535502474, - -9.787677022968909, - 9.631224194186343, - -12.764434744139589 + -1.261693170943105, + 0.5510100240659234, + -0.7661385075956011, + 1.046781074278797 ], "moduleForcesY": [ - -9.214608337622659, - -12.203604350431716, - 13.1901358127297, - 10.203733129884467 + 1.424655818875878, + 1.920274808340125, + -0.38810411721682353, + 0.10760492503260351 ], - "timestamp": 1.379746981704067 + "timestamp": 1.3652605282850505 }, { - "x": 3.626091170308731, - "y": 6.539614004710939, - "heading": 0.05745258118053578, - "angularVelocity": -0.9073082499326514, - "velocityX": -2.4732405239295314, - "velocityY": -0.3627955611265052, + "x": 3.679272898622891, + "y": 6.551448172418461, + "heading": 0.304557193984984, + "angularVelocity": 0.49845928096063163, + "velocityX": -2.4757564265017593, + "velocityY": -0.3450036059350293, "moduleForcesX": [ - 6.708744451318082, - -5.979789915688665, - 5.978933447945518, - -6.7095609875495725 + -0.6383966835401044, + 0.33183390984823957, + -0.33341785332862744, + 0.6368131937477447 ], "moduleForcesY": [ - -5.976509272160543, - -6.706299699289128, - 6.712005732902414, - 5.982214080672614 + 0.3383081385234525, + 0.6432870800858395, + -0.6319227942606058, + -0.3269436218699489 ], - "timestamp": 1.462525695990717 + "timestamp": 1.4407960575856018 }, { - "x": 3.421359498114552, - "y": 6.509582265408401, - "heading": -0.029071550738207098, - "angularVelocity": -1.0452461440645835, - "velocityX": -2.473240542104828, - "velocityY": -0.3627954307524149, + "x": 3.492265323854802, + "y": 6.5253881616329235, + "heading": 0.3428018448480012, + "angularVelocity": 0.506313402674972, + "velocityX": -2.475756461889602, + "velocityY": -0.34500335175862273, "moduleForcesX": [ - 3.1167342346864357, - -3.303436650533204, - 3.3034311269173156, - -3.116739689313316 + -0.2560962783315998, + 0.12136977884358859, + -0.12138149141045615, + 0.25608456626429515 ], "moduleForcesY": [ - -3.3034142050211606, - -3.1167172714251907, - 3.1167566525753014, - 3.30345357243063 + 0.12141769759567621, + 0.2561324846143981, + -0.256048359981562, + -0.12133357265842538 ], - "timestamp": 1.5453044102773668 + "timestamp": 1.516331586886153 }, { - "x": 3.216627825696548, - "y": 6.479550527799078, - "heading": -0.11925353180704092, - "angularVelocity": -1.0894344258180857, - "velocityX": -2.4732405447750505, - "velocityY": -0.36279541023887435, + "x": 3.305257749068616, + "y": 6.4993281509720475, + "heading": 0.38087145598510536, + "angularVelocity": 0.5039960862076902, + "velocityX": -2.47575646212911, + "velocityY": -0.3450033501079941, "moduleForcesX": [ - 0.8990802302422491, - -1.1438718093685671, - 1.1438710024052712, - -0.899081036146858 + 0.07686630922594473, + -0.0329095491806194, + 0.032909469910526755, + -0.07686638849575436 ], "moduleForcesY": [ - -1.1438683083416858, - -0.8990775354452838, - 0.8990837309438258, - 1.1438745034321574 + -0.03290923639117984, + -0.07686607570655705, + 0.07686662201514474, + 0.032909782699968464 ], - "timestamp": 1.6280831245640166 + "timestamp": 1.5918671161867044 }, { - "x": 3.0118961532670436, - "y": 6.4495187901209645, - "heading": -0.206458535891088, - "angularVelocity": -1.0534713523342678, - "velocityX": -2.473240544926502, - "velocityY": -0.36279541104914065, + "x": 3.118250174277875, + "y": 6.473268140315123, + "heading": 0.41795560467973814, + "angularVelocity": 0.4909497429623765, + "velocityX": -2.4757564621893833, + "velocityY": -0.34500335005570965, "moduleForcesX": [ - -0.6478644954119227, - 0.991142855760314, - -0.9911429014855089, - 0.6478644496575423 + 0.439324393610631, + -0.16910646984037908, + 0.16910644989137977, + -0.4393244135591285 ], "moduleForcesY": [ - 0.9911427562703419, - 0.6478643501787748, - -0.6478645948906904, - -0.9911430009754812 + -0.16910645121359455, + -0.43932439493258957, + 0.4393244122371702, + 0.16910646851816438 ], - "timestamp": 1.7108618388506664 + "timestamp": 1.6674026454872557 }, { - "x": 2.8071644810067258, - "y": 6.419487050769376, - "heading": -0.2831513955859544, - "angularVelocity": -0.9264804407240823, - "velocityX": -2.4732405428399233, - "velocityY": -0.3627954313200498, + "x": 2.931242599475319, + "y": 6.4472081296861505, + "heading": 0.4530055573383787, + "angularVelocity": 0.46401942216064906, + "velocityX": -2.475756462345967, + "velocityY": -0.3450033496855248, "moduleForcesX": [ - -2.012827885014598, - 3.664862835477919, - -3.664862201689722, - 2.01282851156143 + 0.9185308119916209, + -0.3170772196554788, + 0.3170771678262979, + -0.9185308638113844 ], "moduleForcesY": [ - 3.664859459006159, - 2.0128251358482787, - -2.012831260727752, - -3.664865578161493 + -0.31707713247952724, + -0.9185307766427468, + 0.9185308991602587, + 0.31707725500224976 ], - "timestamp": 1.7936405531373163 + "timestamp": 1.742938174787807 }, { - "x": 2.6024328068209184, - "y": 6.389455323766461, - "heading": -0.3386424796144514, - "angularVelocity": -0.6703545048590797, - "velocityX": -2.473240566157465, - "velocityY": -0.36279528205738876, + "x": 2.7442350246282463, + "y": 6.421148119284497, + "heading": 0.4844810274187975, + "angularVelocity": 0.4166975510978392, + "velocityX": -2.4757564629352484, + "velocityY": -0.34500334667644433, "moduleForcesX": [ - -3.6434381223972827, - 7.605379821276402, - -7.605386957088954, - 3.6434311739480325 + 1.6307740123973564, + -0.5060968674783974, + 0.5060966723533608, + -1.63077420734138 ], "moduleForcesY": [ - 7.605405877147237, - 3.6434572390264806, - -3.6434120573193716, - -7.605360901220003 + -0.5060962719137423, + -1.6307736119559382, + 1.6307746077828291, + 0.506097267918036 ], - "timestamp": 1.8764192674239661 + "timestamp": 1.8184737040883583 }, { - "x": 2.397700769200915, - "y": 6.359426073678433, - "heading": -0.35616098731174906, - "angularVelocity": -0.21163058460456718, - "velocityX": -2.473244956552729, - "velocityY": -0.36276536004843296, + "x": 2.557227446375779, + "y": 6.3950881331884135, + "heading": 0.5099802642619993, + "angularVelocity": 0.3375793759482607, + "velocityX": -2.4757565080184727, + "velocityY": -0.3450030248997892, "moduleForcesX": [ - -6.2864447642019, - 13.73283955921059, - -13.734223941240073, - 6.285177259631434 + 2.747196761156834, + -0.7763669301504451, + 0.776351985026011, + -2.74721165842865 ], "moduleForcesY": [ - 13.738016293570539, - 6.290363184432386, - -6.281258831199867, - -13.729047154593324 + -0.7763061938729148, + -2.7471509750644736, + 2.7472574445222095, + 0.7764127213042872 ], - "timestamp": 1.959197981710616 + "timestamp": 1.8940092333889096 }, { - "x": 2.1929083387601747, - "y": 6.3298115317161185, - "heading": -0.30910551238200884, - "angularVelocity": 0.5684489706713254, - "velocityX": -2.4739745259923405, - "velocityY": -0.35775551980601694, + "x": 2.370219413193287, + "y": 6.369031411746238, + "heading": 0.5256690547267573, + "angularVelocity": 0.20770080795135804, + "velocityX": -2.475762530747634, + "velocityY": -0.3449598047889489, "moduleForcesX": [ - -11.870687671608707, - 22.700595039189636, - -22.952205809881743, - 11.68162390060337 + 4.528193261329242, + -1.2045481662855697, + 1.2025465044617698, + -4.530178285782292 ], "moduleForcesY": [ - 23.566766197286633, - 12.547313352231091, - -11.004401858763513, - -22.083633927216326 + -1.1963896605706275, + -4.522038856244832, + 4.536332654970618, + 1.2107049887289125 ], - "timestamp": 2.0419766959972656 + "timestamp": 1.9695447626894609 }, { - "x": 1.9867906929313088, - "y": 6.347734045243003, - "heading": -0.20637322784512005, - "angularVelocity": 1.241047114855465, - "velocityX": -2.4899836582974357, - "velocityY": 0.2165111366899142, + "x": 2.1831508585479256, + "y": 6.343412849709567, + "heading": 0.5253875004108501, + "angularVelocity": -0.003727442152245919, + "velocityX": -2.476563762478332, + "velocityY": -0.3391590986903073, "moduleForcesX": [ - -16.211166665758643, - 20.03084480075966, - -29.11825880425907, - 15.628744381599866 + 7.241621350085513, + -2.0955479291608454, + 1.8274082297961252, + -7.503849107013979 ], "moduleForcesY": [ - 98.95301614336789, - 95.37648263884907, - 78.27159858532718, - 74.26745540275856 + -0.9993182800075523, + -6.4141939585089665, + 8.330224546066066, + 2.923007988551705 ], - "timestamp": 2.1247554102839152 + "timestamp": 2.045080291990012 }, { - "x": 1.8592349380640236, - "y": 6.394033473766115, - "heading": -0.10327209120685515, - "angularVelocity": 1.2455029958697412, - "velocityX": -1.5409245718280102, - "velocityY": 0.5593156274907811, + "x": 1.994902716096777, + "y": 6.357795153664254, + "heading": 0.5120405023818403, + "angularVelocity": -0.1766982789768107, + "velocityX": -2.492180093186503, + "velocityY": 0.19040449028240822, "moduleForcesX": [ - 143.2183898713879, - 143.28062376824516, - 143.34504120031298, - 143.40662599509844 + 5.475779946279431, + -5.056973623609251, + -0.3319984175932723, + -10.423884280112608 ], "moduleForcesY": [ - 52.02529390813064, - 51.85593603379537, - 51.67419631557196, - 51.50534640307554 + 86.64447373614782, + 83.54331818707327, + 91.67754698318308, + 88.67406544834252 ], - "timestamp": 2.207534124570565 + "timestamp": 2.1206158212905635 }, { - "x": 1.8133536577224731, - "y": 6.458367347717285, - "heading": 9.794159881542315e-22, - "angularVelocity": 1.2475681954813016, - "velocityX": -0.5542642300723245, - "velocityY": 0.7771789463628237, + "x": 1.8701941709037448, + "y": 6.4002991353293135, + "heading": 0.49857411112546, + "angularVelocity": -0.1782789024062882, + "velocityX": -1.6509918755824966, + "velocityY": 0.5627018445311104, "moduleForcesX": [ - 148.96587158141025, - 148.97499161621937, - 149.00635261629037, - 149.0153756918047 + 139.23406553391976, + 139.23897085891994, + 139.1691864042857, + 139.17403664614216 ], "moduleForcesY": [ - 33.0103455300045, - 32.969811413063255, - 32.8269891965449, - 32.78665834834352 + 61.542519274804555, + 61.530210607297604, + 61.688994460012694, + 61.6768441673831 ], - "timestamp": 2.2903128388572145 + "timestamp": 2.1961513505911148 }, { - "x": 1.8393953464937296, - "y": 6.529722640760361, - "heading": 0.09383200652888318, - "angularVelocity": 1.2489492766886694, - "velocityX": 0.3466274416828236, - "velocityY": 0.9497733761691536, + "x": 1.8133536577224731, + "y": 6.458367347717285, + "heading": 0.48505844485738425, + "angularVelocity": -0.17893124458422383, + "velocityX": -0.7525003625129821, + "velocityY": 0.7687536305851594, "moduleForcesX": [ - 149.87670937489352, - 149.87933710767103, - 149.90325092962254, - 149.90584215837532 + 148.69221763622053, + 148.69597335167035, + 148.67783183606545, + 148.68158892208103 ], "moduleForcesY": [ - 28.792332847352924, - 28.779025047859903, - 28.653791022035243, - 28.640607577454784 + 34.07549624585428, + 34.05882645194579, + 34.13813612356617, + 34.1214924503468 ], - "timestamp": 2.3654415957092576 + "timestamp": 2.271686879891666 }, { - "x": 1.9331880583851682, - "y": 6.613585242305, - "heading": 0.18776675519630878, - "angularVelocity": 1.2503168241212024, - "velocityX": 1.248426246055256, - "velocityY": 1.1162516865567755, + "x": 1.8404200930897647, + "y": 6.544249168314799, + "heading": 0.4692061995679408, + "angularVelocity": -0.17948483063148027, + "velocityX": 0.3064559296802799, + "velocityY": 0.9723849046501007, "moduleForcesX": [ - 150.02949520098034, - 150.02947877144973, - 150.05496169072416, - 150.05492254678424 + 149.87669795369774, + 149.87918857677292, + 149.86792420889756, + 149.87041635608182 ], "moduleForcesY": [ - 27.76743793049327, - 27.7681130281194, - 27.62948934613782, - 27.63029117896184 + 28.80357991263645, + 28.790497376481127, + 28.849161539550373, + 28.83609248838388 ], - "timestamp": 2.4405703525613007 + "timestamp": 2.3600076880272094 }, { - "x": 2.094926602800359, - "y": 6.708500339985442, - "heading": 0.28180517125052573, - "angularVelocity": 1.2516966870543198, - "velocityX": 2.1528180578305576, - "velocityY": 1.2633657424582714, + "x": 1.9615122088562043, + "y": 6.645038412616653, + "heading": 0.45329199441887674, + "angularVelocity": -0.1801863624780361, + "velocityX": 1.3710485481586958, + "velocityY": 1.1411721250013982, "moduleForcesX": [ - 150.46361601915035, - 150.46110897595457, - 150.48617713354722, - 150.4836650584738 + 150.6744828058924, + 150.67722266377191, + 150.6653020104381, + 150.66804542646568 ], "moduleForcesY": [ - 24.53786858278636, - 24.554620079408515, - 24.39929245256444, - 24.416171888665623 + 23.868299666344676, + 23.850652865003898, + 23.92607906968413, + 23.908453423846506 ], - "timestamp": 2.515699109413344 + "timestamp": 2.4483284961627527 }, { - "x": 2.278513197468464, - "y": 6.748042092991387, - "heading": 0.37643899811543574, - "angularVelocity": 1.2596218922042122, - "velocityX": 2.443626147308015, - "velocityY": 0.5263198096454269, + "x": 2.1714534526585396, + "y": 6.713345937870676, + "heading": 0.4371245481347592, + "angularVelocity": -0.18305364981835054, + "velocityX": 2.3770303763541745, + "velocityY": 0.7734024030800978, "moduleForcesX": [ - 48.03491905705887, - 48.69656852196778, - 48.07484875843584, - 48.733462311292215 + 142.3774821304844, + 142.31573780687563, + 142.43638347085604, + 142.3748256339344 ], "moduleForcesY": [ - -122.71296079687782, - -122.45183150113498, - -122.8084942817181, - -122.54856130909613 + -52.050354291282474, + -52.21526085381119, + -51.885235362156244, + -52.05021200844571 ], - "timestamp": 2.590827866265387 + "timestamp": 2.536649304298296 }, { - "x": 2.4624711945661084, - "y": 6.785817927884571, - "heading": 0.4159520445273267, - "angularVelocity": 0.5259377110379972, - "velocityX": 2.448569693112552, - "velocityY": 0.502814587601326, + "x": 2.3865504668416504, + "y": 6.763104722257962, + "heading": 0.41686464053629313, + "angularVelocity": -0.22938997079118445, + "velocityX": 2.4354058655465196, + "velocityY": 0.5633868783326403, "moduleForcesX": [ - 25.557140891740982, - -8.703720088133782, - 10.54593192698955, - -24.109303745594993 + 9.629126319855438, + 7.703030863434783, + 8.825507245362973, + 6.889751250989562 ], "moduleForcesY": [ - -13.579412521988402, - -28.648158231068372, - 20.9683767591753, - 5.6159017121708175 + -30.193781509842214, + -31.020124941402248, + -28.423896223729507, + -29.2557679234477 ], - "timestamp": 2.66595662311743 + "timestamp": 2.6249701124338394 }, { - "x": 2.5974039481512925, - "y": 6.813514790618425, - "heading": 0.41648417541196436, - "angularVelocity": 0.007082918804122408, - "velocityX": 1.7960200490676481, - "velocityY": 0.3686586055058262, + "x": 2.5720973939225193, + "y": 6.805943429720139, + "heading": 0.4167523858742523, + "angularVelocity": -0.0012709877141134803, + "velocityX": 2.100829136392361, + "velocityY": 0.4850352749992307, "moduleForcesX": [ - -97.75142563158144, - -108.884046724977, - -108.90266320704143, - -118.74939386405738 + -53.38680869040493, + -45.3936329604465, + -49.412161808987165, + -41.217308098428546 ], "moduleForcesY": [ - -38.526678971698495, - -44.526244441269746, - 4.434951154396333, - -10.666070042101367 + -8.120993417314173, + -3.943806184730602, + -18.04028267464069, + -14.25117135562148 ], - "timestamp": 2.741085379969473 + "timestamp": 2.7132909205693827 }, { "x": 2.6648948192596436, "y": 6.827368259429932, "heading": 0.4167026457970273, - "angularVelocity": 0.0029079462274773584, - "velocityX": 0.8983360559560752, - "velocityY": 0.18439635356144418, + "angularVelocity": -0.0005631750691030816, + "velocityX": 1.0506858722885617, + "velocityY": 0.2425796385026702, "moduleForcesX": [ - -149.3243519124542, - -149.30664868240234, - -149.4085153460508, - -149.39083611419395 + -148.6317970327977, + -148.63435576791767, + -148.61815118404863, + -148.62070920090295 ], "moduleForcesY": [ - -30.818128640138124, - -30.906784723305456, - -30.40814322166433, - -30.497917002848983 + -34.290784981814674, + -34.27941393752895, + -34.34982528270919, + -34.338477851320015 ], - "timestamp": 2.8162141368215163 + "timestamp": 2.801611728704926 }, { "x": 2.6648948192596436, "y": 6.827368259429932, "heading": 0.4167026457970273, - "angularVelocity": 8.892617211142126e-21, - "velocityX": 2.4083265353833494e-17, - "velocityY": 1.0119144362441444e-18, + "angularVelocity": 2.2551392633305962e-23, + "velocityX": 4.475631475662116e-21, + "velocityY": 1.498144485209276e-20, "moduleForcesX": [ - -149.44303747500845, - -149.4304929400592, - -149.50165894811687, - -149.4891262445009 + -148.7074470765211, + -148.7095082136639, + -148.69658873771053, + -148.69864942265872 ], "moduleForcesY": [ - -30.7918146168916, - -30.85368557789434, - -30.50615361559, - -30.568567638640467 + -34.31319254430495, + -34.30414790428754, + -34.36019552442858, + -34.351165849085426 ], - "timestamp": 2.8913428936735595 + "timestamp": 2.8899325368404694 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f2 to shoot3.1.traj b/src/main/deploy/choreo/f2 to shoot3.1.traj index 5b82e2b..5b43943 100644 --- a/src/main/deploy/choreo/f2 to shoot3.1.traj +++ b/src/main/deploy/choreo/f2 to shoot3.1.traj @@ -3,10 +3,10 @@ { "x": 7.998003005981445, "y": 5.528106212615967, - "heading": 0.5633166974965059, - "angularVelocity": -9.221269371191298e-22, - "velocityX": 1.2317156287659323e-20, - "velocityY": -2.58483552287895e-20, + "heading": 0.011235405053141658, + "angularVelocity": 1.9727716985269695e-21, + "velocityX": 1.1598984385989539e-20, + "velocityY": -3.313416508204257e-20, "moduleForcesX": [ 0, 0, @@ -22,718 +22,634 @@ "timestamp": 0 }, { - "x": 7.9696687174602365, - "y": 5.5121027202303825, - "heading": 0.5299383195987587, - "angularVelocity": -0.6322575751997889, - "velocityX": -0.5367117782149563, - "velocityY": -0.3031402341190824, + "x": 7.9569175887146875, + "y": 5.50492078364355, + "heading": 0.0014945170614359443, + "angularVelocity": -0.15652732574376957, + "velocityX": -0.6602057735710006, + "velocityY": -0.372569030294232, "moduleForcesX": [ - -98.25293117016695, - -113.76029578232622, - -150.81027849726578, - -145.49970982886404 + -125.72862648566347, + -131.17995297156568, + -134.81202176389613, + -138.72510488728477 ], "moduleForcesY": [ - -116.65446350560288, - -101.69682840304458, - -22.780348697745318, - -45.9744463891702 + -86.4385682466704, + -77.94028620800644, + -71.43134852212376, + -63.532290318278065 ], - "timestamp": 0.05279237324629891 + "timestamp": 0.062231229885389136 }, { - "x": 7.912791865729061, - "y": 5.480037808705755, - "heading": 0.46583563306678916, - "angularVelocity": -1.2142414252320743, - "velocityX": -1.0773687226717554, - "velocityY": -0.6073777243359332, + "x": 7.87475206903392, + "y": 5.458552381461311, + "heading": -0.01783128959182305, + "angularVelocity": -0.3105483643638606, + "velocityX": -1.3203261422294357, + "velocityY": -0.7450985986881341, "moduleForcesX": [ - -100.3419369907613, - -116.41331130908317, - -149.63429419987494, - -145.6701653811938 + -125.80023792426114, + -131.30080334340295, + -134.62297457164243, + -138.65307125520735 ], "moduleForcesY": [ - -114.82873702328132, - -98.61632792334258, - -29.347480983609962, - -45.35275945076621 + -86.28326488591357, + -77.68466847517736, + -71.72083315887575, + -63.62202090942162 ], - "timestamp": 0.10558474649259782 + "timestamp": 0.12446245977077827 }, { - "x": 7.827111880432552, - "y": 5.43180355098062, - "heading": 0.3749426849194033, - "angularVelocity": -1.7217060449874366, - "velocityX": -1.6229614246886177, - "velocityY": -0.9136595829872481, + "x": 7.751515345004059, + "y": 5.389005141936599, + "heading": -0.04648481879478014, + "angularVelocity": -0.46043649234842554, + "velocityX": -1.9803035269722873, + "velocityY": -1.1175617074062156, "moduleForcesX": [ - -103.78159843834948, - -119.88729736043375, - -147.4049226296483, - -145.66057753387892 + -125.92937815130747, + -131.47303595342999, + -134.3390029122654, + -138.52078891909042 ], "moduleForcesY": [ - -111.68114515715222, - -94.31040374315937, - -38.8303261994523, - -45.25966491964348 + -86.01023220766686, + -77.30633242122214, + -72.1428467034959, + -63.79797873048581 ], - "timestamp": 0.15837711973889673 + "timestamp": 0.1866936896561674 }, { - "x": 7.71231723418218, - "y": 5.367219975083802, - "heading": 0.26324206217172413, - "angularVelocity": -2.1158477234305835, - "velocityX": -2.174455119015191, - "velocityY": -1.2233504941244577, + "x": 7.587225362063147, + "y": 5.296287521400637, + "heading": -0.08396338157620803, + "angularVelocity": -0.6022468598234669, + "velocityX": -2.639992544635246, + "velocityY": -1.4898889304729992, "moduleForcesX": [ - -110.07648610208406, - -124.06066153483282, - -143.40377274973707, - -144.78234376517767 + -126.21457608251025, + -131.67783736161093, + -133.92532627559814, + -138.21277621087035 ], "moduleForcesY": [ - -105.39942463204122, - -88.65137075396186, - -51.46926736961089, - -47.79021304158265 + -85.42383356732988, + -76.78406657617082, + -72.69707257514646, + -64.24323932255476 ], - "timestamp": 0.21116949298519563 + "timestamp": 0.24892491954155654 }, { - "x": 7.568054388411408, - "y": 5.286080017766087, - "heading": 0.14087320274310267, - "angularVelocity": -2.3179268501099317, - "velocityX": -2.7326455868485713, - "velocityY": -1.5369636242552354, + "x": 7.381936780403106, + "y": 5.180425847612598, + "heading": -0.12882955797797582, + "angularVelocity": -0.7209591789266827, + "velocityX": -3.298803222081959, + "velocityY": -1.8617930900839845, "moduleForcesX": [ - -121.86526322813167, - -129.02473811240478, - -137.1352854264114, - -140.64053512098246 + -127.08642902099902, + -131.83071465838793, + -133.2208046316074, + -137.1868606796363 ], "moduleForcesY": [ - -91.33114429220936, - -81.01807967188962, - -66.14963734135337, - -58.52617360597199 + -83.62782228866124, + -76.00782105107271, + -73.38821274649887, + -65.78444345719491 ], - "timestamp": 0.26396186623149454 + "timestamp": 0.3111561494269457 }, { - "x": 7.394488469650047, - "y": 5.188575162078915, - "heading": 0.03370847924499651, - "angularVelocity": -2.029928129923939, - "velocityX": -3.287708206479221, - "velocityY": -1.846949657524951, + "x": 7.140147873195117, + "y": 5.0440454098663, + "heading": -0.12891243922072446, + "angularVelocity": -0.0013318271694338192, + "velocityX": -3.8853306877156637, + "velocityY": -2.191511207435093, "moduleForcesX": [ - -143.5329976733654, - -137.56510061951735, - -128.87617180832595, - -115.72914641413347 + -141.91458709260016, + -123.1131942505478, + -122.94446119257371, + -83.27625015348674 ], "moduleForcesY": [ - -50.11997018122678, - -64.23268904043019, - -80.76867809849465, - -98.4684505678629 + -18.93436155679371, + -53.79904584366372, + -76.9283880327071, + -115.25191265066121 ], - "timestamp": 0.31675423947779346 + "timestamp": 0.37338737931233484 }, { - "x": 7.1965914634208135, - "y": 5.08176438602775, - "heading": 0.0021759734680445006, - "angularVelocity": -0.597292825420813, - "velocityX": -3.7485908297011745, - "velocityY": -2.023223611350782, + "x": 6.898303234295295, + "y": 4.907741673409984, + "heading": -0.12897278899208398, + "angularVelocity": -0.0009697666504527081, + "velocityX": -3.886226245973631, + "velocityY": -2.1902786865589126, "moduleForcesX": [ - -150.930303422536, - -132.31093236670378, - -120.82279746367252, - -32.440896229742364 + -0.1895625755255925, + -0.16732352420953933, + -0.19244691132021233, + -0.1702078526048173 ], "moduleForcesY": [ - 11.360362768556795, - 60.72904536082334, - -91.60421825889532, - -147.43539781381568 + 0.2601303622753661, + 0.257246257999909, + 0.23789134692783886, + 0.23500723581840094 ], - "timestamp": 0.3695466127240924 + "timestamp": 0.435618609197724 }, { - "x": 6.99146240136731, - "y": 4.966235573312276, - "heading": 0.0017834691693658995, - "angularVelocity": -0.00743486747313672, - "velocityX": -3.8855813716971808, - "velocityY": -2.188361795680249, + "x": 6.65481972737523, + "y": 4.774387917095784, + "heading": -0.12903325660351864, + "angularVelocity": -0.0009716602346766262, + "velocityX": -3.9125613838661173, + "velocityY": -2.142875153838199, "moduleForcesX": [ - -57.78127267215895, - -11.38552759885874, - -51.05868348726293, - -9.519149388714803 + -5.289724853288177, + -5.289841409658127, + -5.289709219900721, + -5.28982577626985 ], "moduleForcesY": [ - -16.742687957403948, - -19.293318125639065, - -57.251970426950784, - -63.11547172960961 + 9.521587408653614, + 9.521601958724384, + 9.521703471698215, + 9.521718021753724 ], - "timestamp": 0.4223389859703913 + "timestamp": 0.49784983908311314 }, { - "x": 6.786178964319163, - "y": 4.850977409358642, - "heading": 0.00139677870800406, - "angularVelocity": -0.007324741010557789, - "velocityX": -3.8885055629233105, - "velocityY": -2.1832351316338596, + "x": 6.3962763787878725, + "y": 4.673291963493813, + "heading": -0.12909666799359598, + "angularVelocity": -0.0010189641148682473, + "velocityX": -4.154559520413035, + "velocityY": -1.6245212217106788, "moduleForcesX": [ - -0.6964058981663227, - -0.6883650162912694, - -0.6963952499164836, - -0.6883543613342947 + -48.607648921134306, + -48.61144721164257, + -48.6058731934278, + -48.6096714422678 ], "moduleForcesY": [ - 1.2178884068359723, - 1.2179002190080723, - 1.2098482109273652, - 1.2098600192529096 + 104.11803391599514, + 104.11701252810435, + 104.12004667332533, + 104.11902532934953 ], - "timestamp": 0.47513135921669025 - }, - { - "x": 6.57661676328411, - "y": 4.743699522911541, - "heading": 0.0010019529985341728, - "angularVelocity": -0.007478839938258826, - "velocityX": -3.969554466842213, - "velocityY": -2.0320716772208436, - "moduleForcesX": [ - -19.18496539084702, - -19.196657775682418, - -19.1843143822454, - -19.196006397914683 - ], - "moduleForcesY": [ - 35.786904541713106, - 35.78623086936868, - 35.79771452795476, - 35.797040721773605 - ], - "timestamp": 0.5279237324629892 - }, - { - "x": 6.355075758587729, - "y": 4.6640864761211125, - "heading": 0.0005569555200048415, - "angularVelocity": -0.008429200112925944, - "velocityX": -4.1964585237110725, - "velocityY": -1.508040686464419, - "moduleForcesX": [ - -53.69205458765387, - -53.79871765312587, - -53.65246218928008, - -53.75907334293562 - ], - "moduleForcesY": [ - 124.0820814597938, - 124.0423598526692, - 124.11419371833125, - 124.07452398518409 - ], - "timestamp": 0.5807161057092881 + "timestamp": 0.5600810689685023 }, { "x": 6.124570846557617, "y": 4.616429328918457, - "heading": 1.837100054842178e-20, - "angularVelocity": -0.01054992389537797, - "velocityX": -4.366254022237577, - "velocityY": -0.9027278804140519, + "heading": -0.12916965873822597, + "angularVelocity": -0.0011728957432532603, + "velocityX": -4.366063996013807, + "velocityY": -0.9137314926939746, "moduleForcesX": [ - -40.101497556900725, - -40.382245799621835, - -40.02519021999124, - -40.30548722470365 + -42.47897598669043, + -42.4953264926798, + -42.47185056536853, + -42.488199843914636 ], "moduleForcesY": [ - 143.3476833341918, - 143.27101029085526, - 143.37669736794018, - 143.30030384755807 + 142.7729663419904, + 142.7682959248861, + 142.7755254141473, + 142.77085619630373 ], - "timestamp": 0.633508478955587 + "timestamp": 0.6223122988538914 }, { - "x": 5.901269581425344, - "y": 4.601267531433904, - "heading": 0.00032778538178764705, - "angularVelocity": 0.006531109778097138, - "velocityX": -4.449268201690918, - "velocityY": -0.30209816943293566, + "x": 5.902001158559105, + "y": 4.60068805397054, + "heading": -0.1291534644133745, + "angularVelocity": 0.00032371101286106195, + "velocityX": -4.4489819609630405, + "velocityY": -0.31465492410779783, "moduleForcesX": [ - -21.765266864971057, - -19.238964139090896, - -22.133009783201803, - -19.565458794939033 + -20.797647693791028, + -20.5796014522955, + -20.85705791120983, + -20.638732307656777 ], "moduleForcesY": [ - 149.46122907310115, - 149.80353468322048, - 149.37870598451914, - 149.73260136561345 + 149.67849999954183, + 149.7080058014861, + 149.6679241716924, + 149.6975543705964 ], - "timestamp": 0.6836967919566814 + "timestamp": 0.6723394039200412 }, { - "x": 5.677876796730156, - "y": 4.615314131123592, - "heading": 0.0006118277289749405, - "angularVelocity": 0.005659531675852505, - "velocityX": -4.451091725085485, - "velocityY": 0.27987790084499126, + "x": 5.679269540398892, + "y": 4.614172040623969, + "heading": -0.12913917036128922, + "angularVelocity": 0.0002857261491820937, + "velocityX": -4.452218809497653, + "velocityY": 0.2695336185374481, "moduleForcesX": [ - -0.3906660568677091, - -0.5179747314345424, - -0.39041887430278643, - -0.517621637807252 + -0.806373688830386, + -0.8119244037653356, + -0.805623087819286, + -0.8111736050347149 ], "moduleForcesY": [ - 144.94498693886857, - 144.94460460696132, - 144.95160573820078, - 144.95122397670877 + 145.96787770358407, + 145.9678807812031, + 145.96813162990713, + 145.9681347334202 ], - "timestamp": 0.7338851049577758 + "timestamp": 0.722366508986191 }, { - "x": 5.454619234456037, - "y": 4.599618204089708, - "heading": 0.0009659063733137378, - "angularVelocity": 0.0070550019151087336, - "velocityX": -4.448397424103028, - "velocityY": -0.31274067796532645, + "x": 5.45672346051179, + "y": 4.598121702682878, + "heading": -0.12912266824723567, + "angularVelocity": 0.000329863461652095, + "velocityX": -4.448510054556077, + "velocityY": -0.3208328349175777, "moduleForcesX": [ - 0.5676772971129513, - 0.7751288257940463, - 0.5671076320572153, - 0.774277863907591 + 0.9238721173593156, + 0.9303867199512831, + 0.9229861712037025, + 0.9295005014176231 ], "moduleForcesY": [ - -147.59569169341913, - -147.59477323283127, - -147.60272452545644, - -147.60180828152625 + -147.511537132718, + -147.511526803286, + -147.51176738767208, + -147.51175709513788 ], - "timestamp": 0.7840734179588702 + "timestamp": 0.7723936140523409 }, { - "x": 5.235814977101274, - "y": 4.553783007637478, - "heading": 0.002206043003604381, - "angularVelocity": 0.024709669565175507, - "velocityX": -4.3596655131641375, - "velocityY": -0.9132643380782642, + "x": 5.238447118193699, + "y": 4.552096750487897, + "heading": -0.1291683525281178, + "angularVelocity": -0.0009131905758232765, + "velocityX": -4.363161570701821, + "velocityY": -0.920000310514052, "moduleForcesX": [ - 20.96347244995967, - 23.614553590668763, - 20.606837131136377, - 23.2141142325518 + 21.391052988843615, + 21.210101315958756, + 21.441115172263085, + 21.25997191927462 ], "moduleForcesY": [ - -149.72192955665022, - -149.3306998481624, - -149.79794056332977, - -149.41984818662166 + -149.70253871016843, + -149.72778814507544, + -149.6935891888841, + -149.71892605537667 ], - "timestamp": 0.8342617309599646 + "timestamp": 0.8224207191184907 }, { - "x": 5.028308386294482, - "y": 4.479657700609763, - "heading": 0.013381791169930365, - "angularVelocity": 0.2226763064556942, - "velocityX": -4.134559988143961, - "velocityY": -1.4769435869682246, + "x": 5.0297797440064205, + "y": 4.477234579526721, + "heading": -0.13313239585981856, + "angularVelocity": -0.07923791165727426, + "velocityX": -4.17108633232653, + "velocityY": -1.4964322013474234, "moduleForcesX": [ - 46.99648399976937, - 74.83224097696964, - 38.98092482900547, - 63.45125035169671 + 50.52035954925149, + 40.49517364050613, + 55.70719643793628, + 45.24844092206522 ], "moduleForcesY": [ - -144.35974269060438, - -132.17521949735482, - -146.889669656424, - -138.13962005393168 + -143.32977272824255, + -146.4537065477115, + -141.33979700060894, + -144.9962993726442 ], - "timestamp": 0.884450043961059 + "timestamp": 0.8724478241846405 }, { - "x": 4.838397655709239, - "y": 4.380565629665982, - "heading": 0.033743946581002895, - "angularVelocity": 0.40571507973636295, - "velocityX": -3.7839632222968276, - "velocityY": -1.9744052951455262, + "x": 4.839399818897789, + "y": 4.378231577181855, + "heading": -0.14824901196643725, + "angularVelocity": -0.30216851617998447, + "velocityX": -3.8055355163344173, + "velocityY": -1.9789872352988866, "moduleForcesX": [ - 83.821414681413, - 103.18265563646807, - 71.62847603444364, - 90.64873536707516 + 91.7746113460451, + 71.41827202364364, + 110.02937585942259, + 92.1304985496486 ], "moduleForcesY": [ - -126.98824941377003, - -111.90859070914365, - -134.33894489426683, - -122.35938289218375 + -121.5419022505487, + -134.4494196646526, + -105.21993034646557, + -121.08232970094119 ], - "timestamp": 0.9346383569621534 + "timestamp": 0.9224749292507903 }, { - "x": 4.6711350973358154, - "y": 4.260768833936685, - "heading": 0.050496748807910406, - "angularVelocity": 0.3337988711942204, - "velocityX": -3.332699355122405, - "velocityY": -2.3869460550846107, + "x": 4.671770975431962, + "y": 4.259069388515953, + "heading": -0.1718769337817932, + "angularVelocity": -0.4723024005509253, + "velocityX": -3.35076041766126, + "velocityY": -2.381952513709117, "moduleForcesX": [ - 112.5062484341017, - 107.06183080166765, - 117.58024367820323, - 112.42234422977346 + 111.50448345454889, + 100.96552586510181, + 124.88661540981843, + 117.17207333512685 ], "moduleForcesY": [ - -102.79471095056066, - -108.43282139039233, - -96.92648346276683, - -102.83883818012409 + -103.91473336829377, + -114.12950170561976, + -87.338747124122, + -97.36396655844071 ], - "timestamp": 0.9848266699632477 + "timestamp": 0.9725020343169402 }, { - "x": 4.528563835637188, - "y": 4.122958457396661, - "heading": 0.05713621156978461, - "angularVelocity": 0.13229101288440262, - "velocityX": -2.8407263199998294, - "velocityY": -2.7458658858885725, + "x": 4.528853914431247, + "y": 4.122109905543009, + "heading": -0.20234750814135385, + "angularVelocity": -0.609081303410821, + "velocityX": -2.8567925489936967, + "velocityY": -2.737705545660544, "moduleForcesX": [ - 122.06648151100661, - 108.88354757067108, - 134.57727236963868, - 124.5997876100833 + 120.83874609525768, + 114.7847243821658, + 131.06915888461282, + 127.00760375598948 ], "moduleForcesY": [ - -91.39735195220123, - -106.71900211182428, - -71.6621389844137, - -87.7946244183062 + -93.00401788646971, + -100.34050942421601, + -77.90624406642264, + -84.30951087490466 ], - "timestamp": 1.035014982964342 + "timestamp": 1.02252913938309 }, { "x": 4.411689758300781, "y": 3.968839406967163, - "heading": 0.049958090676025725, - "angularVelocity": -0.14302375323120284, - "velocityX": -2.3287110155280515, - "velocityY": -3.0708155188668163, - "moduleForcesX": [ - 126.42643584086001, - 109.9537564543558, - 141.71581090648826, - 131.99815403826307 - ], - "moduleForcesY": [ - -85.35383445316526, - -105.68449012226834, - -56.384281757869935, - -76.30777385616288 - ], - "timestamp": 1.0852032959654363 - }, - { - "x": 4.308378291457096, - "y": 3.7588539673578185, - "heading": 0.017141956251286426, - "angularVelocity": -0.5373232578253696, - "velocityX": -1.6915963719760467, - "velocityY": -3.4382495831600854, - "moduleForcesX": [ - 128.48058428061591, - 110.67150184100005, - 145.16985029503837, - 137.27593286732323 - ], - "moduleForcesY": [ - -82.32556428622348, - -105.01654492369457, - -46.97136444363354, - -66.50024484651213 - ], - "timestamp": 1.146276651616467 - }, - { - "x": 4.245398914126946, - "y": 3.528522079982614, - "heading": -0.033838143937762286, - "angularVelocity": -0.8347355347616024, - "velocityX": -1.0312087269284649, - "velocityY": -3.7713972798761284, + "heading": -0.23860874885454753, + "angularVelocity": -0.7248318819417217, + "velocityX": -2.342013513985145, + "velocityY": -3.063749109071558, "moduleForcesX": [ - 132.47946257945915, - 122.41580425879187, - 145.05327712342623, - 140.70264345710018 + 126.00321261176325, + 122.22094089360395, + 134.32620664539172, + 131.94976365999312 ], "moduleForcesY": [ - -75.66096100901395, - -90.9997556703881, - -47.23874664717877, - -58.84443060617419 + -85.95063611864653, + -91.21761557968208, + -72.24305244120939, + -76.45560638815826 ], - "timestamp": 1.2073500072674979 + "timestamp": 1.0725562444492398 }, { - "x": 4.224671679375672, - "y": 3.2814816584551254, - "heading": -0.09289372641272205, - "angularVelocity": -0.9669614817368077, - "velocityX": -0.339382608509468, - "velocityY": -4.044978680049303, + "x": 4.2979382974941895, + "y": 3.717523344955852, + "heading": -0.3010743197046467, + "angularVelocity": -0.8706006628317915, + "velocityX": -1.585386891187695, + "velocityY": -3.50266438279058, "moduleForcesX": [ - 139.78795601996805, - 137.52603808825032, - 145.1635875142566, - 143.91189464279446 + 129.13406250804226, + 126.85138861390611, + 136.2725071464405, + 135.00820640366038 ], "moduleForcesY": [ - -60.973861755919565, - -65.87119974583536, - -46.73793101968193, - -50.39471204125329 + -81.3022529358746, + -84.80185654460425, + -68.66475061952836, + -71.09557292003498 ], - "timestamp": 1.2684233629185286 + "timestamp": 1.1443062137714757 }, { - "x": 4.248301901134284, - "y": 3.0249293066525675, - "heading": -0.14148827791656, - "angularVelocity": -0.7956751513950546, - "velocityX": 0.3869153988136552, - "velocityY": -4.200724670648218, + "x": 4.2404658738367065, + "y": 3.438285229417664, + "heading": -0.3664361446008389, + "angularVelocity": -0.9109665901409111, + "velocityX": -0.8010097314379159, + "velocityY": -3.891822089624895, "moduleForcesX": [ - 150.88246554265962, - 150.9200096473529, - 145.97309845990466, - 146.83561119568333 + 135.8012372951853, + 135.58429432599462, + 137.6860031782917, + 137.53299141786223 ], "moduleForcesY": [ - -21.39299746404249, - -21.41131874349057, - -43.772870627357364, - -40.930127065494254 + -69.52251996262208, + -69.93649501503523, + -65.71010237359559, + -66.0210382058678 ], - "timestamp": 1.3294967185695594 + "timestamp": 1.2160561830937116 }, { - "x": 4.316584967247454, - "y": 2.7682546006415008, - "heading": -0.1624023571230704, - "angularVelocity": -0.342441953345615, - "velocityX": 1.118050013549911, - "velocityY": -4.202728068156105, + "x": 4.242032867388297, + "y": 3.1378602988336195, + "heading": -0.42124373858157876, + "angularVelocity": -0.7638692322583974, + "velocityX": 0.02183964071892423, + "velocityY": -4.187108836727285, "moduleForcesX": [ - 147.97702834577615, - 151.23060308979964, - 149.49289254106793, - 149.87033146636807 + 146.28399883316285, + 145.7242617296856, + 140.77088158681468, + 140.63529964706188 ], "moduleForcesY": [ - 35.641593300198345, - 18.38762112661069, - -28.406129864295206, - -27.263241294145647 + -43.095292074313335, + -45.01522975111837, + -58.64513634829476, + -59.01916646503333 ], - "timestamp": 1.3905700742205902 + "timestamp": 1.2878061524159474 }, { - "x": 4.428706355752911, - "y": 2.522332815732047, - "heading": -0.16890548543008974, - "angularVelocity": -0.1064806123340885, - "velocityX": 1.8358478474002775, - "velocityY": -4.026662401107196, + "x": 4.305024386674992, + "y": 2.8306842697586276, + "heading": -0.44002387226529255, + "angularVelocity": -0.26174413537893604, + "velocityX": 0.8779309577652049, + "velocityY": -4.2812008419883245, "moduleForcesX": [ - 141.41662431464678, - 145.92102478757187, - 149.36331136212047, - 150.95123761678266 + 151.00828055830712, + 152.4270966298525, + 147.75022939934757, + 145.39396350366195 ], "moduleForcesY": [ - 55.62474462753513, - 42.818576592235615, - 27.60264571393141, - 18.09681445769282 + 20.40368724384774, + -3.105169783800159, + -37.06212528911858, + -45.80576185139808 ], - "timestamp": 1.451643429871621 + "timestamp": 1.3595561217381833 }, { - "x": 4.5703397402100565, - "y": 2.308523728771076, - "heading": -0.21433820348607407, - "angularVelocity": -0.7439040735797124, - "velocityX": 2.3190699601710394, - "velocityY": -3.5008570379309547, + "x": 4.429200442728241, + "y": 2.535971408660126, + "heading": -0.44100473529441175, + "angularVelocity": -0.013670570710825019, + "velocityX": 1.7306774793946242, + "velocityY": -4.1074980781513135, "moduleForcesX": [ - 137.44398409577107, - 85.10669425964502, - 110.79601644197005, - 62.26126518753911 + 144.20162448551963, + 148.686942446502, + 149.6483735415061, + 151.71176073472984 ], "moduleForcesY": [ - 63.739667013116076, - 124.57713272129291, - 103.8335348016807, - 138.32000524731748 + 48.66284725403801, + 32.7487317114457, + 27.348719001485854, + 12.286975974636599 ], - "timestamp": 1.5127167855226518 + "timestamp": 1.4313060910604192 }, { - "x": 4.708863034475599, - "y": 2.1338830328903677, - "heading": -0.33623722674995143, - "angularVelocity": -1.9959444174052028, - "velocityX": 2.2681461136187453, - "velocityY": -2.859523502828204, + "x": 4.601052639261489, + "y": 2.2803022454438806, + "heading": -0.47630167026618747, + "angularVelocity": -0.49194355489204306, + "velocityX": 2.395153589006337, + "velocityY": -3.5633348087999, "moduleForcesX": [ - 61.323999536528326, - -115.10439798949642, - 53.473966859526456, - -41.38429098881652 + 136.71700369811205, + 105.9770797344892, + 124.19032040270288, + 96.16534788478975 ], "moduleForcesY": [ - 137.28135019431053, - 99.01464452582205, - 142.3302765313007, - 146.42555230259688 + 65.7946343529907, + 108.31282465503567, + 87.55220228572631, + 117.54835404875244 ], - "timestamp": 1.5737901411736825 + "timestamp": 1.503056060382655 }, { - "x": 4.823756564135184, - "y": 1.9980629094234121, - "heading": -0.4591040898245942, - "angularVelocity": -2.011791586771425, - "velocityX": 1.8812382001093808, - "velocityY": -2.223885064430117, + "x": 4.7557484987791705, + "y": 2.0841183368669074, + "heading": -0.5430827515042369, + "angularVelocity": -0.9307471747915231, + "velocityX": 2.1560407757518103, + "velocityY": -2.7342716718928743, "moduleForcesX": [ - -79.45486278199576, - -80.36164844370998, - -78.00890843018018, - -78.93129805267695 + -43.71814822315815, + -72.77940535512695, + -8.9809012501366, + -41.150754572803706 ], "moduleForcesY": [ - 129.93494311804596, - 129.38117145550117, - 130.81137158434214, - 130.26183224642762 + 145.59094605261777, + 133.65045677054135, + 151.90809303684057, + 146.59509743984265 ], - "timestamp": 1.6348634968247133 + "timestamp": 1.574806029704891 }, { - "x": 4.911361979580447, - "y": 1.8981523072135935, - "heading": -0.5625962326963001, - "angularVelocity": -1.6945547165126038, - "velocityX": 1.4344293761396736, - "velocityY": -1.6359114567193782, + "x": 4.87635540052853, + "y": 1.9406366636628185, + "heading": -0.6052023324910523, + "angularVelocity": -0.8657785023967124, + "velocityX": 1.6809331472701057, + "velocityY": -1.9997454292934742, "moduleForcesX": [ - -84.11461101034625, - -69.03310112483376, - -109.7988417377545, - -102.85029747640347 + -81.24909443199846, + -78.88725476975387, + -86.53061208401152, + -84.41863566268366 ], "moduleForcesY": [ - 127.19091366739686, - 135.91117191597863, - 105.79399267963313, - 112.47063349128078 + 128.99398018340256, + 130.43968492587442, + 125.50721764127391, + 126.9243135261011 ], - "timestamp": 1.695936852475744 + "timestamp": 1.6465559990271268 }, { - "x": 4.970327098567478, - "y": 1.8324805136697246, - "heading": -0.6368991075612631, - "angularVelocity": -1.2166168711856085, - "velocityX": 0.9654802549896366, - "velocityY": -1.0752936832080013, + "x": 4.958423558253985, + "y": 1.846519407554621, + "heading": -0.6513297307591658, + "angularVelocity": -0.6428908430741069, + "velocityX": 1.1438075653646438, + "velocityY": -1.3117393219432345, "moduleForcesX": [ - -83.81669416990991, - -64.00362713474995, - -119.00013375221991, - -117.10238343064512 + -87.64620166138951, + -81.31678312862682, + -104.28921286321095, + -101.05150378334076 ], "moduleForcesY": [ - 127.46553300389468, - 138.41802384438316, - 95.44064049163546, - 97.64663170271429 + 124.85350504823991, + 129.03811092674098, + 111.32139737938063, + 114.2339563442175 ], - "timestamp": 1.7570102081267749 + "timestamp": 1.7183059683493627 }, { "x": 5, "y": 1.8, "heading": -0.676, - "angularVelocity": -0.6402283290631171, - "velocityX": 0.4858567392640209, - "velocityY": -0.5318278867026086, + "angularVelocity": -0.34383665211113573, + "velocityX": 0.579462850489752, + "velocityY": -0.6483543894729527, "moduleForcesX": [ - -83.2538608401974, - -61.15565611051488, - -123.02558496695217, - -125.22673122783499 + -90.07449925926467, + -82.70822354021874, + -111.22254607688805, + -109.26647758275725 ], "moduleForcesY": [ - 127.87388756529947, - 139.73983435364323, - 90.25501198446264, - 87.05998395739255 + 123.16488122960358, + 128.2006224739697, + 104.45810710771518, + 106.46573839453345 ], - "timestamp": 1.8180835637778057 + "timestamp": 1.7900559376715985 }, { "x": 5, "y": 1.8, "heading": -0.676, - "angularVelocity": -3.390238370077955e-21, - "velocityX": -5.245376427237132e-21, - "velocityY": 8.306040710332148e-22, + "angularVelocity": -2.395011941763689e-21, + "velocityX": -5.022109754530148e-21, + "velocityY": -5.772401356893443e-22, "moduleForcesX": [ - -83.51700006406841, - -58.925504219686225, - -125.67750774292483, - -129.6448840436913 + -91.56434090488393, + -83.44857053678355, + -114.97984833420432, + -113.81427733053448 ], "moduleForcesY": [ - 127.72696996879532, - 140.72313200725287, - 86.56297935845512, - 80.38782388301813 + 122.0906538963345, + 127.75049476413463, + 100.34438877989462, + 101.62956129586864 ], - "timestamp": 1.8791569194288364 + "timestamp": 1.8618059069938344 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f2 to shoot3.traj b/src/main/deploy/choreo/f2 to shoot3.traj index 5b82e2b..5b43943 100644 --- a/src/main/deploy/choreo/f2 to shoot3.traj +++ b/src/main/deploy/choreo/f2 to shoot3.traj @@ -3,10 +3,10 @@ { "x": 7.998003005981445, "y": 5.528106212615967, - "heading": 0.5633166974965059, - "angularVelocity": -9.221269371191298e-22, - "velocityX": 1.2317156287659323e-20, - "velocityY": -2.58483552287895e-20, + "heading": 0.011235405053141658, + "angularVelocity": 1.9727716985269695e-21, + "velocityX": 1.1598984385989539e-20, + "velocityY": -3.313416508204257e-20, "moduleForcesX": [ 0, 0, @@ -22,718 +22,634 @@ "timestamp": 0 }, { - "x": 7.9696687174602365, - "y": 5.5121027202303825, - "heading": 0.5299383195987587, - "angularVelocity": -0.6322575751997889, - "velocityX": -0.5367117782149563, - "velocityY": -0.3031402341190824, + "x": 7.9569175887146875, + "y": 5.50492078364355, + "heading": 0.0014945170614359443, + "angularVelocity": -0.15652732574376957, + "velocityX": -0.6602057735710006, + "velocityY": -0.372569030294232, "moduleForcesX": [ - -98.25293117016695, - -113.76029578232622, - -150.81027849726578, - -145.49970982886404 + -125.72862648566347, + -131.17995297156568, + -134.81202176389613, + -138.72510488728477 ], "moduleForcesY": [ - -116.65446350560288, - -101.69682840304458, - -22.780348697745318, - -45.9744463891702 + -86.4385682466704, + -77.94028620800644, + -71.43134852212376, + -63.532290318278065 ], - "timestamp": 0.05279237324629891 + "timestamp": 0.062231229885389136 }, { - "x": 7.912791865729061, - "y": 5.480037808705755, - "heading": 0.46583563306678916, - "angularVelocity": -1.2142414252320743, - "velocityX": -1.0773687226717554, - "velocityY": -0.6073777243359332, + "x": 7.87475206903392, + "y": 5.458552381461311, + "heading": -0.01783128959182305, + "angularVelocity": -0.3105483643638606, + "velocityX": -1.3203261422294357, + "velocityY": -0.7450985986881341, "moduleForcesX": [ - -100.3419369907613, - -116.41331130908317, - -149.63429419987494, - -145.6701653811938 + -125.80023792426114, + -131.30080334340295, + -134.62297457164243, + -138.65307125520735 ], "moduleForcesY": [ - -114.82873702328132, - -98.61632792334258, - -29.347480983609962, - -45.35275945076621 + -86.28326488591357, + -77.68466847517736, + -71.72083315887575, + -63.62202090942162 ], - "timestamp": 0.10558474649259782 + "timestamp": 0.12446245977077827 }, { - "x": 7.827111880432552, - "y": 5.43180355098062, - "heading": 0.3749426849194033, - "angularVelocity": -1.7217060449874366, - "velocityX": -1.6229614246886177, - "velocityY": -0.9136595829872481, + "x": 7.751515345004059, + "y": 5.389005141936599, + "heading": -0.04648481879478014, + "angularVelocity": -0.46043649234842554, + "velocityX": -1.9803035269722873, + "velocityY": -1.1175617074062156, "moduleForcesX": [ - -103.78159843834948, - -119.88729736043375, - -147.4049226296483, - -145.66057753387892 + -125.92937815130747, + -131.47303595342999, + -134.3390029122654, + -138.52078891909042 ], "moduleForcesY": [ - -111.68114515715222, - -94.31040374315937, - -38.8303261994523, - -45.25966491964348 + -86.01023220766686, + -77.30633242122214, + -72.1428467034959, + -63.79797873048581 ], - "timestamp": 0.15837711973889673 + "timestamp": 0.1866936896561674 }, { - "x": 7.71231723418218, - "y": 5.367219975083802, - "heading": 0.26324206217172413, - "angularVelocity": -2.1158477234305835, - "velocityX": -2.174455119015191, - "velocityY": -1.2233504941244577, + "x": 7.587225362063147, + "y": 5.296287521400637, + "heading": -0.08396338157620803, + "angularVelocity": -0.6022468598234669, + "velocityX": -2.639992544635246, + "velocityY": -1.4898889304729992, "moduleForcesX": [ - -110.07648610208406, - -124.06066153483282, - -143.40377274973707, - -144.78234376517767 + -126.21457608251025, + -131.67783736161093, + -133.92532627559814, + -138.21277621087035 ], "moduleForcesY": [ - -105.39942463204122, - -88.65137075396186, - -51.46926736961089, - -47.79021304158265 + -85.42383356732988, + -76.78406657617082, + -72.69707257514646, + -64.24323932255476 ], - "timestamp": 0.21116949298519563 + "timestamp": 0.24892491954155654 }, { - "x": 7.568054388411408, - "y": 5.286080017766087, - "heading": 0.14087320274310267, - "angularVelocity": -2.3179268501099317, - "velocityX": -2.7326455868485713, - "velocityY": -1.5369636242552354, + "x": 7.381936780403106, + "y": 5.180425847612598, + "heading": -0.12882955797797582, + "angularVelocity": -0.7209591789266827, + "velocityX": -3.298803222081959, + "velocityY": -1.8617930900839845, "moduleForcesX": [ - -121.86526322813167, - -129.02473811240478, - -137.1352854264114, - -140.64053512098246 + -127.08642902099902, + -131.83071465838793, + -133.2208046316074, + -137.1868606796363 ], "moduleForcesY": [ - -91.33114429220936, - -81.01807967188962, - -66.14963734135337, - -58.52617360597199 + -83.62782228866124, + -76.00782105107271, + -73.38821274649887, + -65.78444345719491 ], - "timestamp": 0.26396186623149454 + "timestamp": 0.3111561494269457 }, { - "x": 7.394488469650047, - "y": 5.188575162078915, - "heading": 0.03370847924499651, - "angularVelocity": -2.029928129923939, - "velocityX": -3.287708206479221, - "velocityY": -1.846949657524951, + "x": 7.140147873195117, + "y": 5.0440454098663, + "heading": -0.12891243922072446, + "angularVelocity": -0.0013318271694338192, + "velocityX": -3.8853306877156637, + "velocityY": -2.191511207435093, "moduleForcesX": [ - -143.5329976733654, - -137.56510061951735, - -128.87617180832595, - -115.72914641413347 + -141.91458709260016, + -123.1131942505478, + -122.94446119257371, + -83.27625015348674 ], "moduleForcesY": [ - -50.11997018122678, - -64.23268904043019, - -80.76867809849465, - -98.4684505678629 + -18.93436155679371, + -53.79904584366372, + -76.9283880327071, + -115.25191265066121 ], - "timestamp": 0.31675423947779346 + "timestamp": 0.37338737931233484 }, { - "x": 7.1965914634208135, - "y": 5.08176438602775, - "heading": 0.0021759734680445006, - "angularVelocity": -0.597292825420813, - "velocityX": -3.7485908297011745, - "velocityY": -2.023223611350782, + "x": 6.898303234295295, + "y": 4.907741673409984, + "heading": -0.12897278899208398, + "angularVelocity": -0.0009697666504527081, + "velocityX": -3.886226245973631, + "velocityY": -2.1902786865589126, "moduleForcesX": [ - -150.930303422536, - -132.31093236670378, - -120.82279746367252, - -32.440896229742364 + -0.1895625755255925, + -0.16732352420953933, + -0.19244691132021233, + -0.1702078526048173 ], "moduleForcesY": [ - 11.360362768556795, - 60.72904536082334, - -91.60421825889532, - -147.43539781381568 + 0.2601303622753661, + 0.257246257999909, + 0.23789134692783886, + 0.23500723581840094 ], - "timestamp": 0.3695466127240924 + "timestamp": 0.435618609197724 }, { - "x": 6.99146240136731, - "y": 4.966235573312276, - "heading": 0.0017834691693658995, - "angularVelocity": -0.00743486747313672, - "velocityX": -3.8855813716971808, - "velocityY": -2.188361795680249, + "x": 6.65481972737523, + "y": 4.774387917095784, + "heading": -0.12903325660351864, + "angularVelocity": -0.0009716602346766262, + "velocityX": -3.9125613838661173, + "velocityY": -2.142875153838199, "moduleForcesX": [ - -57.78127267215895, - -11.38552759885874, - -51.05868348726293, - -9.519149388714803 + -5.289724853288177, + -5.289841409658127, + -5.289709219900721, + -5.28982577626985 ], "moduleForcesY": [ - -16.742687957403948, - -19.293318125639065, - -57.251970426950784, - -63.11547172960961 + 9.521587408653614, + 9.521601958724384, + 9.521703471698215, + 9.521718021753724 ], - "timestamp": 0.4223389859703913 + "timestamp": 0.49784983908311314 }, { - "x": 6.786178964319163, - "y": 4.850977409358642, - "heading": 0.00139677870800406, - "angularVelocity": -0.007324741010557789, - "velocityX": -3.8885055629233105, - "velocityY": -2.1832351316338596, + "x": 6.3962763787878725, + "y": 4.673291963493813, + "heading": -0.12909666799359598, + "angularVelocity": -0.0010189641148682473, + "velocityX": -4.154559520413035, + "velocityY": -1.6245212217106788, "moduleForcesX": [ - -0.6964058981663227, - -0.6883650162912694, - -0.6963952499164836, - -0.6883543613342947 + -48.607648921134306, + -48.61144721164257, + -48.6058731934278, + -48.6096714422678 ], "moduleForcesY": [ - 1.2178884068359723, - 1.2179002190080723, - 1.2098482109273652, - 1.2098600192529096 + 104.11803391599514, + 104.11701252810435, + 104.12004667332533, + 104.11902532934953 ], - "timestamp": 0.47513135921669025 - }, - { - "x": 6.57661676328411, - "y": 4.743699522911541, - "heading": 0.0010019529985341728, - "angularVelocity": -0.007478839938258826, - "velocityX": -3.969554466842213, - "velocityY": -2.0320716772208436, - "moduleForcesX": [ - -19.18496539084702, - -19.196657775682418, - -19.1843143822454, - -19.196006397914683 - ], - "moduleForcesY": [ - 35.786904541713106, - 35.78623086936868, - 35.79771452795476, - 35.797040721773605 - ], - "timestamp": 0.5279237324629892 - }, - { - "x": 6.355075758587729, - "y": 4.6640864761211125, - "heading": 0.0005569555200048415, - "angularVelocity": -0.008429200112925944, - "velocityX": -4.1964585237110725, - "velocityY": -1.508040686464419, - "moduleForcesX": [ - -53.69205458765387, - -53.79871765312587, - -53.65246218928008, - -53.75907334293562 - ], - "moduleForcesY": [ - 124.0820814597938, - 124.0423598526692, - 124.11419371833125, - 124.07452398518409 - ], - "timestamp": 0.5807161057092881 + "timestamp": 0.5600810689685023 }, { "x": 6.124570846557617, "y": 4.616429328918457, - "heading": 1.837100054842178e-20, - "angularVelocity": -0.01054992389537797, - "velocityX": -4.366254022237577, - "velocityY": -0.9027278804140519, + "heading": -0.12916965873822597, + "angularVelocity": -0.0011728957432532603, + "velocityX": -4.366063996013807, + "velocityY": -0.9137314926939746, "moduleForcesX": [ - -40.101497556900725, - -40.382245799621835, - -40.02519021999124, - -40.30548722470365 + -42.47897598669043, + -42.4953264926798, + -42.47185056536853, + -42.488199843914636 ], "moduleForcesY": [ - 143.3476833341918, - 143.27101029085526, - 143.37669736794018, - 143.30030384755807 + 142.7729663419904, + 142.7682959248861, + 142.7755254141473, + 142.77085619630373 ], - "timestamp": 0.633508478955587 + "timestamp": 0.6223122988538914 }, { - "x": 5.901269581425344, - "y": 4.601267531433904, - "heading": 0.00032778538178764705, - "angularVelocity": 0.006531109778097138, - "velocityX": -4.449268201690918, - "velocityY": -0.30209816943293566, + "x": 5.902001158559105, + "y": 4.60068805397054, + "heading": -0.1291534644133745, + "angularVelocity": 0.00032371101286106195, + "velocityX": -4.4489819609630405, + "velocityY": -0.31465492410779783, "moduleForcesX": [ - -21.765266864971057, - -19.238964139090896, - -22.133009783201803, - -19.565458794939033 + -20.797647693791028, + -20.5796014522955, + -20.85705791120983, + -20.638732307656777 ], "moduleForcesY": [ - 149.46122907310115, - 149.80353468322048, - 149.37870598451914, - 149.73260136561345 + 149.67849999954183, + 149.7080058014861, + 149.6679241716924, + 149.6975543705964 ], - "timestamp": 0.6836967919566814 + "timestamp": 0.6723394039200412 }, { - "x": 5.677876796730156, - "y": 4.615314131123592, - "heading": 0.0006118277289749405, - "angularVelocity": 0.005659531675852505, - "velocityX": -4.451091725085485, - "velocityY": 0.27987790084499126, + "x": 5.679269540398892, + "y": 4.614172040623969, + "heading": -0.12913917036128922, + "angularVelocity": 0.0002857261491820937, + "velocityX": -4.452218809497653, + "velocityY": 0.2695336185374481, "moduleForcesX": [ - -0.3906660568677091, - -0.5179747314345424, - -0.39041887430278643, - -0.517621637807252 + -0.806373688830386, + -0.8119244037653356, + -0.805623087819286, + -0.8111736050347149 ], "moduleForcesY": [ - 144.94498693886857, - 144.94460460696132, - 144.95160573820078, - 144.95122397670877 + 145.96787770358407, + 145.9678807812031, + 145.96813162990713, + 145.9681347334202 ], - "timestamp": 0.7338851049577758 + "timestamp": 0.722366508986191 }, { - "x": 5.454619234456037, - "y": 4.599618204089708, - "heading": 0.0009659063733137378, - "angularVelocity": 0.0070550019151087336, - "velocityX": -4.448397424103028, - "velocityY": -0.31274067796532645, + "x": 5.45672346051179, + "y": 4.598121702682878, + "heading": -0.12912266824723567, + "angularVelocity": 0.000329863461652095, + "velocityX": -4.448510054556077, + "velocityY": -0.3208328349175777, "moduleForcesX": [ - 0.5676772971129513, - 0.7751288257940463, - 0.5671076320572153, - 0.774277863907591 + 0.9238721173593156, + 0.9303867199512831, + 0.9229861712037025, + 0.9295005014176231 ], "moduleForcesY": [ - -147.59569169341913, - -147.59477323283127, - -147.60272452545644, - -147.60180828152625 + -147.511537132718, + -147.511526803286, + -147.51176738767208, + -147.51175709513788 ], - "timestamp": 0.7840734179588702 + "timestamp": 0.7723936140523409 }, { - "x": 5.235814977101274, - "y": 4.553783007637478, - "heading": 0.002206043003604381, - "angularVelocity": 0.024709669565175507, - "velocityX": -4.3596655131641375, - "velocityY": -0.9132643380782642, + "x": 5.238447118193699, + "y": 4.552096750487897, + "heading": -0.1291683525281178, + "angularVelocity": -0.0009131905758232765, + "velocityX": -4.363161570701821, + "velocityY": -0.920000310514052, "moduleForcesX": [ - 20.96347244995967, - 23.614553590668763, - 20.606837131136377, - 23.2141142325518 + 21.391052988843615, + 21.210101315958756, + 21.441115172263085, + 21.25997191927462 ], "moduleForcesY": [ - -149.72192955665022, - -149.3306998481624, - -149.79794056332977, - -149.41984818662166 + -149.70253871016843, + -149.72778814507544, + -149.6935891888841, + -149.71892605537667 ], - "timestamp": 0.8342617309599646 + "timestamp": 0.8224207191184907 }, { - "x": 5.028308386294482, - "y": 4.479657700609763, - "heading": 0.013381791169930365, - "angularVelocity": 0.2226763064556942, - "velocityX": -4.134559988143961, - "velocityY": -1.4769435869682246, + "x": 5.0297797440064205, + "y": 4.477234579526721, + "heading": -0.13313239585981856, + "angularVelocity": -0.07923791165727426, + "velocityX": -4.17108633232653, + "velocityY": -1.4964322013474234, "moduleForcesX": [ - 46.99648399976937, - 74.83224097696964, - 38.98092482900547, - 63.45125035169671 + 50.52035954925149, + 40.49517364050613, + 55.70719643793628, + 45.24844092206522 ], "moduleForcesY": [ - -144.35974269060438, - -132.17521949735482, - -146.889669656424, - -138.13962005393168 + -143.32977272824255, + -146.4537065477115, + -141.33979700060894, + -144.9962993726442 ], - "timestamp": 0.884450043961059 + "timestamp": 0.8724478241846405 }, { - "x": 4.838397655709239, - "y": 4.380565629665982, - "heading": 0.033743946581002895, - "angularVelocity": 0.40571507973636295, - "velocityX": -3.7839632222968276, - "velocityY": -1.9744052951455262, + "x": 4.839399818897789, + "y": 4.378231577181855, + "heading": -0.14824901196643725, + "angularVelocity": -0.30216851617998447, + "velocityX": -3.8055355163344173, + "velocityY": -1.9789872352988866, "moduleForcesX": [ - 83.821414681413, - 103.18265563646807, - 71.62847603444364, - 90.64873536707516 + 91.7746113460451, + 71.41827202364364, + 110.02937585942259, + 92.1304985496486 ], "moduleForcesY": [ - -126.98824941377003, - -111.90859070914365, - -134.33894489426683, - -122.35938289218375 + -121.5419022505487, + -134.4494196646526, + -105.21993034646557, + -121.08232970094119 ], - "timestamp": 0.9346383569621534 + "timestamp": 0.9224749292507903 }, { - "x": 4.6711350973358154, - "y": 4.260768833936685, - "heading": 0.050496748807910406, - "angularVelocity": 0.3337988711942204, - "velocityX": -3.332699355122405, - "velocityY": -2.3869460550846107, + "x": 4.671770975431962, + "y": 4.259069388515953, + "heading": -0.1718769337817932, + "angularVelocity": -0.4723024005509253, + "velocityX": -3.35076041766126, + "velocityY": -2.381952513709117, "moduleForcesX": [ - 112.5062484341017, - 107.06183080166765, - 117.58024367820323, - 112.42234422977346 + 111.50448345454889, + 100.96552586510181, + 124.88661540981843, + 117.17207333512685 ], "moduleForcesY": [ - -102.79471095056066, - -108.43282139039233, - -96.92648346276683, - -102.83883818012409 + -103.91473336829377, + -114.12950170561976, + -87.338747124122, + -97.36396655844071 ], - "timestamp": 0.9848266699632477 + "timestamp": 0.9725020343169402 }, { - "x": 4.528563835637188, - "y": 4.122958457396661, - "heading": 0.05713621156978461, - "angularVelocity": 0.13229101288440262, - "velocityX": -2.8407263199998294, - "velocityY": -2.7458658858885725, + "x": 4.528853914431247, + "y": 4.122109905543009, + "heading": -0.20234750814135385, + "angularVelocity": -0.609081303410821, + "velocityX": -2.8567925489936967, + "velocityY": -2.737705545660544, "moduleForcesX": [ - 122.06648151100661, - 108.88354757067108, - 134.57727236963868, - 124.5997876100833 + 120.83874609525768, + 114.7847243821658, + 131.06915888461282, + 127.00760375598948 ], "moduleForcesY": [ - -91.39735195220123, - -106.71900211182428, - -71.6621389844137, - -87.7946244183062 + -93.00401788646971, + -100.34050942421601, + -77.90624406642264, + -84.30951087490466 ], - "timestamp": 1.035014982964342 + "timestamp": 1.02252913938309 }, { "x": 4.411689758300781, "y": 3.968839406967163, - "heading": 0.049958090676025725, - "angularVelocity": -0.14302375323120284, - "velocityX": -2.3287110155280515, - "velocityY": -3.0708155188668163, - "moduleForcesX": [ - 126.42643584086001, - 109.9537564543558, - 141.71581090648826, - 131.99815403826307 - ], - "moduleForcesY": [ - -85.35383445316526, - -105.68449012226834, - -56.384281757869935, - -76.30777385616288 - ], - "timestamp": 1.0852032959654363 - }, - { - "x": 4.308378291457096, - "y": 3.7588539673578185, - "heading": 0.017141956251286426, - "angularVelocity": -0.5373232578253696, - "velocityX": -1.6915963719760467, - "velocityY": -3.4382495831600854, - "moduleForcesX": [ - 128.48058428061591, - 110.67150184100005, - 145.16985029503837, - 137.27593286732323 - ], - "moduleForcesY": [ - -82.32556428622348, - -105.01654492369457, - -46.97136444363354, - -66.50024484651213 - ], - "timestamp": 1.146276651616467 - }, - { - "x": 4.245398914126946, - "y": 3.528522079982614, - "heading": -0.033838143937762286, - "angularVelocity": -0.8347355347616024, - "velocityX": -1.0312087269284649, - "velocityY": -3.7713972798761284, + "heading": -0.23860874885454753, + "angularVelocity": -0.7248318819417217, + "velocityX": -2.342013513985145, + "velocityY": -3.063749109071558, "moduleForcesX": [ - 132.47946257945915, - 122.41580425879187, - 145.05327712342623, - 140.70264345710018 + 126.00321261176325, + 122.22094089360395, + 134.32620664539172, + 131.94976365999312 ], "moduleForcesY": [ - -75.66096100901395, - -90.9997556703881, - -47.23874664717877, - -58.84443060617419 + -85.95063611864653, + -91.21761557968208, + -72.24305244120939, + -76.45560638815826 ], - "timestamp": 1.2073500072674979 + "timestamp": 1.0725562444492398 }, { - "x": 4.224671679375672, - "y": 3.2814816584551254, - "heading": -0.09289372641272205, - "angularVelocity": -0.9669614817368077, - "velocityX": -0.339382608509468, - "velocityY": -4.044978680049303, + "x": 4.2979382974941895, + "y": 3.717523344955852, + "heading": -0.3010743197046467, + "angularVelocity": -0.8706006628317915, + "velocityX": -1.585386891187695, + "velocityY": -3.50266438279058, "moduleForcesX": [ - 139.78795601996805, - 137.52603808825032, - 145.1635875142566, - 143.91189464279446 + 129.13406250804226, + 126.85138861390611, + 136.2725071464405, + 135.00820640366038 ], "moduleForcesY": [ - -60.973861755919565, - -65.87119974583536, - -46.73793101968193, - -50.39471204125329 + -81.3022529358746, + -84.80185654460425, + -68.66475061952836, + -71.09557292003498 ], - "timestamp": 1.2684233629185286 + "timestamp": 1.1443062137714757 }, { - "x": 4.248301901134284, - "y": 3.0249293066525675, - "heading": -0.14148827791656, - "angularVelocity": -0.7956751513950546, - "velocityX": 0.3869153988136552, - "velocityY": -4.200724670648218, + "x": 4.2404658738367065, + "y": 3.438285229417664, + "heading": -0.3664361446008389, + "angularVelocity": -0.9109665901409111, + "velocityX": -0.8010097314379159, + "velocityY": -3.891822089624895, "moduleForcesX": [ - 150.88246554265962, - 150.9200096473529, - 145.97309845990466, - 146.83561119568333 + 135.8012372951853, + 135.58429432599462, + 137.6860031782917, + 137.53299141786223 ], "moduleForcesY": [ - -21.39299746404249, - -21.41131874349057, - -43.772870627357364, - -40.930127065494254 + -69.52251996262208, + -69.93649501503523, + -65.71010237359559, + -66.0210382058678 ], - "timestamp": 1.3294967185695594 + "timestamp": 1.2160561830937116 }, { - "x": 4.316584967247454, - "y": 2.7682546006415008, - "heading": -0.1624023571230704, - "angularVelocity": -0.342441953345615, - "velocityX": 1.118050013549911, - "velocityY": -4.202728068156105, + "x": 4.242032867388297, + "y": 3.1378602988336195, + "heading": -0.42124373858157876, + "angularVelocity": -0.7638692322583974, + "velocityX": 0.02183964071892423, + "velocityY": -4.187108836727285, "moduleForcesX": [ - 147.97702834577615, - 151.23060308979964, - 149.49289254106793, - 149.87033146636807 + 146.28399883316285, + 145.7242617296856, + 140.77088158681468, + 140.63529964706188 ], "moduleForcesY": [ - 35.641593300198345, - 18.38762112661069, - -28.406129864295206, - -27.263241294145647 + -43.095292074313335, + -45.01522975111837, + -58.64513634829476, + -59.01916646503333 ], - "timestamp": 1.3905700742205902 + "timestamp": 1.2878061524159474 }, { - "x": 4.428706355752911, - "y": 2.522332815732047, - "heading": -0.16890548543008974, - "angularVelocity": -0.1064806123340885, - "velocityX": 1.8358478474002775, - "velocityY": -4.026662401107196, + "x": 4.305024386674992, + "y": 2.8306842697586276, + "heading": -0.44002387226529255, + "angularVelocity": -0.26174413537893604, + "velocityX": 0.8779309577652049, + "velocityY": -4.2812008419883245, "moduleForcesX": [ - 141.41662431464678, - 145.92102478757187, - 149.36331136212047, - 150.95123761678266 + 151.00828055830712, + 152.4270966298525, + 147.75022939934757, + 145.39396350366195 ], "moduleForcesY": [ - 55.62474462753513, - 42.818576592235615, - 27.60264571393141, - 18.09681445769282 + 20.40368724384774, + -3.105169783800159, + -37.06212528911858, + -45.80576185139808 ], - "timestamp": 1.451643429871621 + "timestamp": 1.3595561217381833 }, { - "x": 4.5703397402100565, - "y": 2.308523728771076, - "heading": -0.21433820348607407, - "angularVelocity": -0.7439040735797124, - "velocityX": 2.3190699601710394, - "velocityY": -3.5008570379309547, + "x": 4.429200442728241, + "y": 2.535971408660126, + "heading": -0.44100473529441175, + "angularVelocity": -0.013670570710825019, + "velocityX": 1.7306774793946242, + "velocityY": -4.1074980781513135, "moduleForcesX": [ - 137.44398409577107, - 85.10669425964502, - 110.79601644197005, - 62.26126518753911 + 144.20162448551963, + 148.686942446502, + 149.6483735415061, + 151.71176073472984 ], "moduleForcesY": [ - 63.739667013116076, - 124.57713272129291, - 103.8335348016807, - 138.32000524731748 + 48.66284725403801, + 32.7487317114457, + 27.348719001485854, + 12.286975974636599 ], - "timestamp": 1.5127167855226518 + "timestamp": 1.4313060910604192 }, { - "x": 4.708863034475599, - "y": 2.1338830328903677, - "heading": -0.33623722674995143, - "angularVelocity": -1.9959444174052028, - "velocityX": 2.2681461136187453, - "velocityY": -2.859523502828204, + "x": 4.601052639261489, + "y": 2.2803022454438806, + "heading": -0.47630167026618747, + "angularVelocity": -0.49194355489204306, + "velocityX": 2.395153589006337, + "velocityY": -3.5633348087999, "moduleForcesX": [ - 61.323999536528326, - -115.10439798949642, - 53.473966859526456, - -41.38429098881652 + 136.71700369811205, + 105.9770797344892, + 124.19032040270288, + 96.16534788478975 ], "moduleForcesY": [ - 137.28135019431053, - 99.01464452582205, - 142.3302765313007, - 146.42555230259688 + 65.7946343529907, + 108.31282465503567, + 87.55220228572631, + 117.54835404875244 ], - "timestamp": 1.5737901411736825 + "timestamp": 1.503056060382655 }, { - "x": 4.823756564135184, - "y": 1.9980629094234121, - "heading": -0.4591040898245942, - "angularVelocity": -2.011791586771425, - "velocityX": 1.8812382001093808, - "velocityY": -2.223885064430117, + "x": 4.7557484987791705, + "y": 2.0841183368669074, + "heading": -0.5430827515042369, + "angularVelocity": -0.9307471747915231, + "velocityX": 2.1560407757518103, + "velocityY": -2.7342716718928743, "moduleForcesX": [ - -79.45486278199576, - -80.36164844370998, - -78.00890843018018, - -78.93129805267695 + -43.71814822315815, + -72.77940535512695, + -8.9809012501366, + -41.150754572803706 ], "moduleForcesY": [ - 129.93494311804596, - 129.38117145550117, - 130.81137158434214, - 130.26183224642762 + 145.59094605261777, + 133.65045677054135, + 151.90809303684057, + 146.59509743984265 ], - "timestamp": 1.6348634968247133 + "timestamp": 1.574806029704891 }, { - "x": 4.911361979580447, - "y": 1.8981523072135935, - "heading": -0.5625962326963001, - "angularVelocity": -1.6945547165126038, - "velocityX": 1.4344293761396736, - "velocityY": -1.6359114567193782, + "x": 4.87635540052853, + "y": 1.9406366636628185, + "heading": -0.6052023324910523, + "angularVelocity": -0.8657785023967124, + "velocityX": 1.6809331472701057, + "velocityY": -1.9997454292934742, "moduleForcesX": [ - -84.11461101034625, - -69.03310112483376, - -109.7988417377545, - -102.85029747640347 + -81.24909443199846, + -78.88725476975387, + -86.53061208401152, + -84.41863566268366 ], "moduleForcesY": [ - 127.19091366739686, - 135.91117191597863, - 105.79399267963313, - 112.47063349128078 + 128.99398018340256, + 130.43968492587442, + 125.50721764127391, + 126.9243135261011 ], - "timestamp": 1.695936852475744 + "timestamp": 1.6465559990271268 }, { - "x": 4.970327098567478, - "y": 1.8324805136697246, - "heading": -0.6368991075612631, - "angularVelocity": -1.2166168711856085, - "velocityX": 0.9654802549896366, - "velocityY": -1.0752936832080013, + "x": 4.958423558253985, + "y": 1.846519407554621, + "heading": -0.6513297307591658, + "angularVelocity": -0.6428908430741069, + "velocityX": 1.1438075653646438, + "velocityY": -1.3117393219432345, "moduleForcesX": [ - -83.81669416990991, - -64.00362713474995, - -119.00013375221991, - -117.10238343064512 + -87.64620166138951, + -81.31678312862682, + -104.28921286321095, + -101.05150378334076 ], "moduleForcesY": [ - 127.46553300389468, - 138.41802384438316, - 95.44064049163546, - 97.64663170271429 + 124.85350504823991, + 129.03811092674098, + 111.32139737938063, + 114.2339563442175 ], - "timestamp": 1.7570102081267749 + "timestamp": 1.7183059683493627 }, { "x": 5, "y": 1.8, "heading": -0.676, - "angularVelocity": -0.6402283290631171, - "velocityX": 0.4858567392640209, - "velocityY": -0.5318278867026086, + "angularVelocity": -0.34383665211113573, + "velocityX": 0.579462850489752, + "velocityY": -0.6483543894729527, "moduleForcesX": [ - -83.2538608401974, - -61.15565611051488, - -123.02558496695217, - -125.22673122783499 + -90.07449925926467, + -82.70822354021874, + -111.22254607688805, + -109.26647758275725 ], "moduleForcesY": [ - 127.87388756529947, - 139.73983435364323, - 90.25501198446264, - 87.05998395739255 + 123.16488122960358, + 128.2006224739697, + 104.45810710771518, + 106.46573839453345 ], - "timestamp": 1.8180835637778057 + "timestamp": 1.7900559376715985 }, { "x": 5, "y": 1.8, "heading": -0.676, - "angularVelocity": -3.390238370077955e-21, - "velocityX": -5.245376427237132e-21, - "velocityY": 8.306040710332148e-22, + "angularVelocity": -2.395011941763689e-21, + "velocityX": -5.022109754530148e-21, + "velocityY": -5.772401356893443e-22, "moduleForcesX": [ - -83.51700006406841, - -58.925504219686225, - -125.67750774292483, - -129.6448840436913 + -91.56434090488393, + -83.44857053678355, + -114.97984833420432, + -113.81427733053448 ], "moduleForcesY": [ - 127.72696996879532, - 140.72313200725287, - 86.56297935845512, - 80.38782388301813 + 122.0906538963345, + 127.75049476413463, + 100.34438877989462, + 101.62956129586864 ], - "timestamp": 1.8791569194288364 + "timestamp": 1.8618059069938344 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f3 to shoot4.1.traj b/src/main/deploy/choreo/f3 to shoot4.1.traj index ce46aa0..a4bbd5d 100644 --- a/src/main/deploy/choreo/f3 to shoot4.1.traj +++ b/src/main/deploy/choreo/f3 to shoot4.1.traj @@ -4,10 +4,9 @@ "x": 7.944450378417969, "y": 4.116629123687744, "heading": -0.15526212285423033, - "angularVelocity": 1.2738301618499996e-26, - "velocityX": -1.673623301903408e-24, - "velocityY": -1.1282263985498118e-24, - "timestamp": 0, + "angularVelocity": 5.657866738108123e-23, + "velocityX": 3.125013355805909e-20, + "velocityY": -2.982749856018487e-21, "moduleForcesX": [ 0, 0, @@ -19,448 +18,533 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 7.939582806004256, - "y": 4.067782774867255, - "heading": -0.17243174924459662, - "angularVelocity": -0.2700755353071717, - "velocityX": -0.07656615207524387, - "velocityY": -0.7683454203113277, - "timestamp": 0.06357342352700818, + "x": 7.942846983083771, + "y": 4.0761594926753615, + "heading": -0.15460586955436584, + "angularVelocity": 0.011392419260521475, + "velocityX": -0.027834605770836858, + "velocityY": -0.7025442826830461, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.712441678915053, + -5.192921793831758, + -6.879723872724825, + -5.375057750803933 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.42336370311696, + -152.48283666474399, + -152.41711676637016, + -152.47773217558125 + ], + "timestamp": 0.057604384534775975 }, { - "x": 7.929846673174686, - "y": 3.9700900075086296, - "heading": -0.2067629625471989, - "angularVelocity": -0.5400246108818914, - "velocityX": -0.1531478452695624, - "velocityY": -1.5366919372703223, - "timestamp": 0.12714684705401635, + "x": 7.939630787732082, + "y": 3.995227088227591, + "heading": -0.15329796483542127, + "angularVelocity": 0.02270495083850731, + "velocityX": -0.05583247486542365, + "velocityY": -1.4049695192717668, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.74430596766463, + -5.23547933227779, + -6.908122971840906, + -5.4139476726060956 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.3973721051523, + -152.45683086272467, + -152.39147883510958, + -152.45203674885735 + ], + "timestamp": 0.11520876906955195 }, { - "x": 7.915240591688866, - "y": 3.8235504797659203, - "heading": -0.2582348758115926, - "angularVelocity": -0.8096451379958585, - "velocityX": -0.22975137526791967, - "velocityY": -2.305043831412577, - "timestamp": 0.19072027058102453, + "x": 7.934787676640748, + "y": 3.8738422068285066, + "heading": -0.1513452928483005, + "angularVelocity": 0.033897975004696414, + "velocityX": -0.08407538992807558, + "velocityY": -2.1072160110625817, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.7921125919621925, + -5.2992901903109715, + -6.950811118234202, + -5.472339367223122 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.35835492351399, + -152.41778184921006, + -152.35298508348617, + -152.4134480907578 + ], + "timestamp": 0.17281315360432792 }, { - "x": 7.89576298239663, - "y": 3.6281633766511363, - "heading": -0.32680639055463684, - "angularVelocity": -1.0786191924037671, - "velocityX": -0.3063797450511806, - "velocityY": -3.073408545188329, - "timestamp": 0.2542936941080327, + "x": 7.928294105710816, + "y": 3.712022033817141, + "heading": -0.14875925826622616, + "angularVelocity": 0.044893016442405655, + "velocityX": -0.11272702559698657, + "velocityY": -2.8091641689821794, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.871297470737544, + -5.405111434345811, + -7.022620435518576, + -5.570289115195392 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.29327813743382, + -152.35261867435324, + -152.28871852898703, + -152.34900394330103 + ], + "timestamp": 0.2304175381391039 }, { - "x": 7.871412478273086, - "y": 3.3839272274764505, - "heading": -0.4124101347775807, - "angularVelocity": -1.3465334958180502, - "velocityX": -0.3830296179220048, - "velocityY": -3.8417963926533885, - "timestamp": 0.3178671176350409, + "x": 7.92010294505595, + "y": 3.5098010180301666, + "heading": -0.14556232380980777, + "angularVelocity": 0.05549810977475839, + "velocityX": -0.14219682617984003, + "velocityY": -3.5105143023426333, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.028384671953532, + -5.61497835154991, + -7.168314347944426, + -5.76779962570887 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.16296836855602, + -152.22203464709492, + -152.15983406782854, + -152.21970317217261 + ], + "timestamp": 0.2880219226738799 }, { - "x": 7.8432850474919595, - "y": 3.101540837232851, - "heading": -0.41241015859101204, - "angularVelocity": -3.74581547882556e-7, - "velocityX": -0.44244008298810883, - "velocityY": -4.441893712450953, - "timestamp": 0.38144054116204906, + "x": 7.910072787218284, + "y": 3.267282944953213, + "heading": -0.14181838476633798, + "angularVelocity": 0.06499399435835539, + "velocityX": -0.17412143048839246, + "velocityY": -4.21006274150095, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.498062206900651, + -6.23541099193857, + -7.61454168771577, + -6.3622059294311715 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.7710452187828, + -151.8287552925848, + -151.77132795366973, + -151.82956017004133 + ], + "timestamp": 0.34562630720865584 }, { - "x": 7.815130449640671, - "y": 2.8191571543171, - "heading": -0.41241018240337685, - "angularVelocity": -3.7456477025623073e-7, - "velocityX": -0.4428674167488753, - "velocityY": -4.441851126607718, - "timestamp": 0.44501396468905724, + "x": 7.879730701446533, + "y": 3.012157201766968, + "heading": -0.14189710619565035, + "angularVelocity": -0.0013665874559400412, + "velocityX": -0.5267322273616233, + "velocityY": -4.428929242915937, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -74.13934785945415, + -78.05313721826064, + -74.97888942570094, + -78.89108907551416 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -50.990139249260665, + -48.87535475372396, + -46.09089086007888, + -44.01743673280488 + ], + "timestamp": 0.4032306917434318 }, { - "x": 7.738909644290927, - "y": 2.545800951250688, - "heading": -0.4124102078468657, - "angularVelocity": -4.002220966289322e-7, - "velocityX": -1.1989413361915846, - "velocityY": -4.299850281781369, - "timestamp": 0.5085873882160654, + "x": 7.84851324590172, + "y": 2.8464195290901664, + "heading": -0.17762939369275865, + "angularVelocity": -0.8964170655942075, + "velocityX": -0.7831533286838311, + "velocityY": -4.157866417356401, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -96.86965858211613, + -143.24293026161976, + 8.105657984512158, + -89.63529708698657 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.199320676364145, + 30.302682572070054, + 145.68794080755228, + 117.81815464104979 + ], + "timestamp": 0.44309192249033025 }, { - "x": 7.616466954962126, - "y": 2.289791166466745, - "heading": -0.4124102388779999, - "angularVelocity": -4.881148830013238e-7, - "velocityX": -1.9260043353931215, - "velocityY": -4.026993837687242, - "timestamp": 0.5721608117430736, + "x": 7.8092057677132365, + "y": 2.691475994896874, + "heading": -0.24625536958066768, + "angularVelocity": -1.721622102530006, + "velocityX": -0.9861079914375881, + "velocityY": -3.8870735120313173, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.12141741353999, + -126.42584161064046, + 8.312064656450728, + -76.34131888951423 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.83398164595148, + 42.85956269829925, + 131.77985470462772, + 115.19612476048647 + ], + "timestamp": 0.4829531532372287 }, { - "x": 7.451508006193849, - "y": 2.0588761149401096, - "heading": -0.41241028370538707, - "angularVelocity": -7.0512778300492e-7, - "velocityX": -2.5947784406827914, - "velocityY": -3.6322576119962235, - "timestamp": 0.6357342352700819, + "x": 7.757392527104419, + "y": 2.5372431429694156, + "heading": -0.3036115730846537, + "angularVelocity": -1.4388969539895318, + "velocityX": -1.299840462500217, + "velocityY": -3.869244602773171, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -103.0006865615618, + -87.79465995754546, + -108.74162253404452, + -93.9938692878595 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.300628717737897, + 21.208487503317425, + -6.148604388915014, + -19.99679033624344 + ], + "timestamp": 0.5228143839841272 + }, + { + "x": 7.6886458886534035, + "y": 2.384438757563403, + "heading": -0.34117055556659515, + "angularVelocity": -0.9422434224478593, + "velocityX": -1.724649168173744, + "velocityY": -3.833408616419141, + "moduleForcesX": [ + -133.59765536509875, + -124.98820757998148, + -143.68122942722007, + -130.5924025726484 + ], + "moduleForcesY": [ + 51.86834829298696, + 52.29546920464574, + -10.797934866663985, + -48.41495452042822 + ], + "timestamp": 0.5626756147310256 + }, + { + "x": 7.602413204682702, + "y": 2.237482835003308, + "heading": -0.36698324869193866, + "angularVelocity": -0.6475638770223355, + "velocityX": -2.1633221642977762, + "velocityY": -3.686688037608372, + "moduleForcesX": [ + -131.59587543546968, + -126.53279039089544, + -146.09076256902483, + -146.03076195800935 + ], + "moduleForcesY": [ + 68.65472618263547, + 74.11912654092238, + 26.50144161759125, + 14.763903723733922 + ], + "timestamp": 0.602536845477924 + }, + { + "x": 7.49957643811238, + "y": 2.0997006085036323, + "heading": -0.38639855111540106, + "angularVelocity": -0.48707232716273013, + "velocityX": -2.5798693277444587, + "velocityY": -3.456547224450155, + "moduleForcesX": [ + -125.4134493772579, + -121.34347465863777, + -138.22820772635242, + -137.51148417464583 + ], + "moduleForcesY": [ + 82.8196807956275, + 87.81342697559018, + 58.87730233724453, + 59.1670953849226 + ], + "timestamp": 0.6423980762248224 + }, + { + "x": 7.381369012860428, + "y": 1.9733544179077163, + "heading": -0.4015017570726852, + "angularVelocity": -0.37889462202466717, + "velocityX": -2.9654735450317258, + "velocityY": -3.1696510174893064, + "moduleForcesX": [ + -116.99423254959369, + -112.90118377470075, + -127.95593682942541, + -125.83192764572033 + ], + "moduleForcesY": [ + 95.77941310449323, + 100.26651843933628, + 80.47218860324124, + 83.35060641397696 + ], + "timestamp": 0.6822593069717208 }, { "x": 7.249025344848633, "y": 1.8600445985794067, "heading": -0.41241037149688753, - "angularVelocity": -0.0000013809465586422582, - "velocityX": -3.1850205653812904, - "velocityY": -3.1275886263421437, - "timestamp": 0.6993076587970901, + "angularVelocity": -0.27366476698793646, + "velocityX": -3.320109929672564, + "velocityY": -2.8426071449620993, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -107.53993941300709, + -101.96949869088516, + -119.44600794989876, + -115.88328320249506 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 106.99917140512535, + 112.15032587395581, + 93.45918598680824, + 97.61933327955269 + ], + "timestamp": 0.7221205377186192 }, { - "x": 6.998243314060886, - "y": 1.691803156852094, - "heading": -0.41241042133872813, - "angularVelocity": -7.367432297255457e-7, - "velocityX": -3.7069650939703225, - "velocityY": -2.486881336287757, - "timestamp": 0.7669592347980793, + "x": 6.9899820722484955, + "y": 1.7101159519835794, + "heading": -0.41283711100011455, + "angularVelocity": -0.006357682821435856, + "velocityX": -3.8592981239479514, + "velocityY": -2.23367832997763, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -95.92596416496082, + -84.08881090345648, + -114.49986761134663, + -107.13407912162141 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 118.2837071247215, + 126.8847889452148, + 100.36787203768286, + 108.06310384526383 + ], + "timestamp": 0.7892423988137001 }, { - "x": 6.720745998384351, - "y": 1.5726727137088448, - "heading": -0.41241044823815964, - "angularVelocity": -3.976172184859104e-7, - "velocityX": -4.101860327281612, - "velocityY": -1.760941136707703, - "timestamp": 0.8346108107990684, + "x": 6.7078651319167095, + "y": 1.6097893975375182, + "heading": -0.41292545195017577, + "angularVelocity": -0.0013161278400198753, + "velocityX": -4.203055989942712, + "velocityY": -1.4946926799882174, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.995487083791986, + -63.648965311514225, + -64.38567454618867, + -64.03984816528379 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 137.6333647955415, + 137.7911183196974, + 137.44875805249117, + 137.60736077997822 + ], + "timestamp": 0.8563642599087811 }, { - "x": 6.426044110113291, - "y": 1.5067361891289583, - "heading": -0.41241046742671, - "angularVelocity": -2.8363789082110155e-7, - "velocityX": -4.3561718099036035, - "velocityY": -0.9746487587949493, - "timestamp": 0.9022623868000575, + "x": 6.412282764192464, + "y": 1.5618504939905744, + "heading": -0.41299689310178256, + "angularVelocity": -0.001064349981380918, + "velocityX": -4.403667641240454, + "velocityY": -0.7142070074455849, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -37.36202833391898, + -37.34028235850081, + -37.3789107785674, + -37.357164194129254 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 145.348367406506, + 145.35364229557857, + 145.34362688142363, + 145.34890448638401 + ], + "timestamp": 0.9234861210038621 }, { - "x": 6.124237986190413, - "y": 1.4962531513780755, - "heading": -0.41241048381055917, - "angularVelocity": -2.4217985961733845e-7, - "velocityX": -4.461183933371566, - "velocityY": -0.1549562977029477, - "timestamp": 0.9699139628010467, + "x": 6.112849943469472, + "y": 1.558720381519999, + "heading": -0.4130666179056077, + "angularVelocity": -0.001038779358730804, + "velocityX": -4.461032752039339, + "velocityY": -0.04663327892891592, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -10.683531616722755, + -10.68136893947551, + -10.68466214557658, + -10.68249944830863 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 124.3215069375447, + 124.32145856598271, + 124.32097983291328, + 124.32093147219145 + ], + "timestamp": 0.9906079820989431 }, { - "x": 5.846319040945062, - "y": 1.5181705956759477, - "heading": -0.47894448366146875, - "angularVelocity": -0.9834804121922709, - "velocityX": -4.108092696041356, - "velocityY": 0.32397536899291, - "timestamp": 1.0375655388020357, + "x": 5.838800629494515, + "y": 1.5597948390052838, + "heading": -0.47786192445256276, + "angularVelocity": -0.9653383486368139, + "velocityX": -4.082862267283625, + "velocityY": 0.01600756397005909, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 84.13104986398798, + 39.00426284924035, + 98.1664843996097, + 60.40261228965104 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.27625005044365, + -2.6454478171277325, + 22.076543419295742, + 58.50718219676253 + ], + "timestamp": 1.057729843194024 }, { - "x": 5.623983595005714, - "y": 1.5357044870023329, - "heading": -0.5321557991116861, - "angularVelocity": -0.7865495321119992, - "velocityX": -3.2864784397054856, - "velocityY": 0.25917934751629157, - "timestamp": 1.105217114803025, + "x": 5.619495325432777, + "y": 1.560672507353205, + "heading": -0.5310162145435886, + "angularVelocity": -0.7919072746765847, + "velocityX": -3.267270908222907, + "velocityY": 0.013075745125622549, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.61837034308198, + 152.2270483828596, + 152.09940908270502, + 151.60042328726598 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.32526030519508, + 2.749217967255641, + -4.480817031848705, + -13.777613530217094 + ], + "timestamp": 1.124851704289105 }, { - "x": 5.457231881847819, - "y": 1.5488548414366092, - "heading": -0.5720570728186217, - "angularVelocity": -0.5898055310101292, - "velocityX": -2.46486073222384, - "velocityY": 0.19438356371895896, - "timestamp": 1.1728686908040142, + "x": 5.454995391889679, + "y": 1.5613366384337821, + "heading": -0.5713210488402767, + "angularVelocity": -0.6004725381436408, + "velocityX": -2.450765381938235, + "velocityY": 0.009894408015857701, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.72255146991506, + 152.4557415946503, + 152.3661524624954, + 151.6817813411554 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.873697757017222, + 2.4705314919626136, + -4.326556814888099, + -15.387494320629086 + ], + "timestamp": 1.191973565384186 }, { - "x": 5.3460640436938185, - "y": 1.5576217201449185, - "heading": -0.5986561686257958, - "angularVelocity": -0.3931777702678384, - "velocityX": -1.6432409224638784, - "velocityY": 0.12958868405639368, - "timestamp": 1.2405202668050035, + "x": 5.3453204497669295, + "y": 1.561781761328399, + "heading": -0.5983693466935823, + "angularVelocity": -0.4029730018211297, + "velocityX": -1.6339675380484628, + "velocityY": 0.0066315636571863575, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.75052235992058, + 152.53383462506702, + 152.46310966330995, + 151.69651163527786 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.41852450328692, + 2.160836251021891, + -4.008749268505154, + -16.00114924610904 + ], + "timestamp": 1.259095426479267 }, { "x": 5.290480136871338, "y": 1.5620051622390747, "heading": -0.6119562939072145, - "angularVelocity": -0.19659741971457015, - "velocityX": -0.8216202800902673, - "velocityY": 0.06479438252986616, - "timestamp": 1.3081718428059927, + "angularVelocity": -0.2024220871108692, + "velocityX": -0.817026107454078, + "velocityY": 0.0033282883854537323, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.76379242231292, + 152.5725021103099, + 152.51187953267123, + 151.7027639347361 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.688642643310338, + 1.996224160307324, + -3.8357168519572205, + -16.30980525668349 + ], + "timestamp": 1.326217287574348 }, { "x": 5.290480136871338, "y": 1.5620051622390747, "heading": -0.6119562939072145, - "angularVelocity": -2.1906165425550643e-26, - "velocityX": 3.353038679852772e-25, - "velocityY": -4.227251621105048e-25, - "timestamp": 1.375823418806982, + "angularVelocity": -5.902770693953268e-22, + "velocityX": -4.320330960880775e-21, + "velocityY": -4.615835758242181e-20, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.77234692669214, + 152.59401532482178, + 152.53754814927336, + 151.7101045597976 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.841262978023073, + 2.014669355460072, + -3.875280768461969, + -16.45993948340821 + ], + "timestamp": 1.393339148669429 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f3 to shoot4.traj b/src/main/deploy/choreo/f3 to shoot4.traj index ce46aa0..a4bbd5d 100644 --- a/src/main/deploy/choreo/f3 to shoot4.traj +++ b/src/main/deploy/choreo/f3 to shoot4.traj @@ -4,10 +4,9 @@ "x": 7.944450378417969, "y": 4.116629123687744, "heading": -0.15526212285423033, - "angularVelocity": 1.2738301618499996e-26, - "velocityX": -1.673623301903408e-24, - "velocityY": -1.1282263985498118e-24, - "timestamp": 0, + "angularVelocity": 5.657866738108123e-23, + "velocityX": 3.125013355805909e-20, + "velocityY": -2.982749856018487e-21, "moduleForcesX": [ 0, 0, @@ -19,448 +18,533 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 7.939582806004256, - "y": 4.067782774867255, - "heading": -0.17243174924459662, - "angularVelocity": -0.2700755353071717, - "velocityX": -0.07656615207524387, - "velocityY": -0.7683454203113277, - "timestamp": 0.06357342352700818, + "x": 7.942846983083771, + "y": 4.0761594926753615, + "heading": -0.15460586955436584, + "angularVelocity": 0.011392419260521475, + "velocityX": -0.027834605770836858, + "velocityY": -0.7025442826830461, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.712441678915053, + -5.192921793831758, + -6.879723872724825, + -5.375057750803933 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.42336370311696, + -152.48283666474399, + -152.41711676637016, + -152.47773217558125 + ], + "timestamp": 0.057604384534775975 }, { - "x": 7.929846673174686, - "y": 3.9700900075086296, - "heading": -0.2067629625471989, - "angularVelocity": -0.5400246108818914, - "velocityX": -0.1531478452695624, - "velocityY": -1.5366919372703223, - "timestamp": 0.12714684705401635, + "x": 7.939630787732082, + "y": 3.995227088227591, + "heading": -0.15329796483542127, + "angularVelocity": 0.02270495083850731, + "velocityX": -0.05583247486542365, + "velocityY": -1.4049695192717668, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.74430596766463, + -5.23547933227779, + -6.908122971840906, + -5.4139476726060956 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.3973721051523, + -152.45683086272467, + -152.39147883510958, + -152.45203674885735 + ], + "timestamp": 0.11520876906955195 }, { - "x": 7.915240591688866, - "y": 3.8235504797659203, - "heading": -0.2582348758115926, - "angularVelocity": -0.8096451379958585, - "velocityX": -0.22975137526791967, - "velocityY": -2.305043831412577, - "timestamp": 0.19072027058102453, + "x": 7.934787676640748, + "y": 3.8738422068285066, + "heading": -0.1513452928483005, + "angularVelocity": 0.033897975004696414, + "velocityX": -0.08407538992807558, + "velocityY": -2.1072160110625817, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.7921125919621925, + -5.2992901903109715, + -6.950811118234202, + -5.472339367223122 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.35835492351399, + -152.41778184921006, + -152.35298508348617, + -152.4134480907578 + ], + "timestamp": 0.17281315360432792 }, { - "x": 7.89576298239663, - "y": 3.6281633766511363, - "heading": -0.32680639055463684, - "angularVelocity": -1.0786191924037671, - "velocityX": -0.3063797450511806, - "velocityY": -3.073408545188329, - "timestamp": 0.2542936941080327, + "x": 7.928294105710816, + "y": 3.712022033817141, + "heading": -0.14875925826622616, + "angularVelocity": 0.044893016442405655, + "velocityX": -0.11272702559698657, + "velocityY": -2.8091641689821794, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -6.871297470737544, + -5.405111434345811, + -7.022620435518576, + -5.570289115195392 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.29327813743382, + -152.35261867435324, + -152.28871852898703, + -152.34900394330103 + ], + "timestamp": 0.2304175381391039 }, { - "x": 7.871412478273086, - "y": 3.3839272274764505, - "heading": -0.4124101347775807, - "angularVelocity": -1.3465334958180502, - "velocityX": -0.3830296179220048, - "velocityY": -3.8417963926533885, - "timestamp": 0.3178671176350409, + "x": 7.92010294505595, + "y": 3.5098010180301666, + "heading": -0.14556232380980777, + "angularVelocity": 0.05549810977475839, + "velocityX": -0.14219682617984003, + "velocityY": -3.5105143023426333, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.028384671953532, + -5.61497835154991, + -7.168314347944426, + -5.76779962570887 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -152.16296836855602, + -152.22203464709492, + -152.15983406782854, + -152.21970317217261 + ], + "timestamp": 0.2880219226738799 }, { - "x": 7.8432850474919595, - "y": 3.101540837232851, - "heading": -0.41241015859101204, - "angularVelocity": -3.74581547882556e-7, - "velocityX": -0.44244008298810883, - "velocityY": -4.441893712450953, - "timestamp": 0.38144054116204906, + "x": 7.910072787218284, + "y": 3.267282944953213, + "heading": -0.14181838476633798, + "angularVelocity": 0.06499399435835539, + "velocityX": -0.17412143048839246, + "velocityY": -4.21006274150095, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.498062206900651, + -6.23541099193857, + -7.61454168771577, + -6.3622059294311715 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -151.7710452187828, + -151.8287552925848, + -151.77132795366973, + -151.82956017004133 + ], + "timestamp": 0.34562630720865584 }, { - "x": 7.815130449640671, - "y": 2.8191571543171, - "heading": -0.41241018240337685, - "angularVelocity": -3.7456477025623073e-7, - "velocityX": -0.4428674167488753, - "velocityY": -4.441851126607718, - "timestamp": 0.44501396468905724, + "x": 7.879730701446533, + "y": 3.012157201766968, + "heading": -0.14189710619565035, + "angularVelocity": -0.0013665874559400412, + "velocityX": -0.5267322273616233, + "velocityY": -4.428929242915937, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -74.13934785945415, + -78.05313721826064, + -74.97888942570094, + -78.89108907551416 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -50.990139249260665, + -48.87535475372396, + -46.09089086007888, + -44.01743673280488 + ], + "timestamp": 0.4032306917434318 }, { - "x": 7.738909644290927, - "y": 2.545800951250688, - "heading": -0.4124102078468657, - "angularVelocity": -4.002220966289322e-7, - "velocityX": -1.1989413361915846, - "velocityY": -4.299850281781369, - "timestamp": 0.5085873882160654, + "x": 7.84851324590172, + "y": 2.8464195290901664, + "heading": -0.17762939369275865, + "angularVelocity": -0.8964170655942075, + "velocityX": -0.7831533286838311, + "velocityY": -4.157866417356401, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -96.86965858211613, + -143.24293026161976, + 8.105657984512158, + -89.63529708698657 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.199320676364145, + 30.302682572070054, + 145.68794080755228, + 117.81815464104979 + ], + "timestamp": 0.44309192249033025 }, { - "x": 7.616466954962126, - "y": 2.289791166466745, - "heading": -0.4124102388779999, - "angularVelocity": -4.881148830013238e-7, - "velocityX": -1.9260043353931215, - "velocityY": -4.026993837687242, - "timestamp": 0.5721608117430736, + "x": 7.8092057677132365, + "y": 2.691475994896874, + "heading": -0.24625536958066768, + "angularVelocity": -1.721622102530006, + "velocityX": -0.9861079914375881, + "velocityY": -3.8870735120313173, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.12141741353999, + -126.42584161064046, + 8.312064656450728, + -76.34131888951423 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.83398164595148, + 42.85956269829925, + 131.77985470462772, + 115.19612476048647 + ], + "timestamp": 0.4829531532372287 }, { - "x": 7.451508006193849, - "y": 2.0588761149401096, - "heading": -0.41241028370538707, - "angularVelocity": -7.0512778300492e-7, - "velocityX": -2.5947784406827914, - "velocityY": -3.6322576119962235, - "timestamp": 0.6357342352700819, + "x": 7.757392527104419, + "y": 2.5372431429694156, + "heading": -0.3036115730846537, + "angularVelocity": -1.4388969539895318, + "velocityX": -1.299840462500217, + "velocityY": -3.869244602773171, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -103.0006865615618, + -87.79465995754546, + -108.74162253404452, + -93.9938692878595 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.300628717737897, + 21.208487503317425, + -6.148604388915014, + -19.99679033624344 + ], + "timestamp": 0.5228143839841272 + }, + { + "x": 7.6886458886534035, + "y": 2.384438757563403, + "heading": -0.34117055556659515, + "angularVelocity": -0.9422434224478593, + "velocityX": -1.724649168173744, + "velocityY": -3.833408616419141, + "moduleForcesX": [ + -133.59765536509875, + -124.98820757998148, + -143.68122942722007, + -130.5924025726484 + ], + "moduleForcesY": [ + 51.86834829298696, + 52.29546920464574, + -10.797934866663985, + -48.41495452042822 + ], + "timestamp": 0.5626756147310256 + }, + { + "x": 7.602413204682702, + "y": 2.237482835003308, + "heading": -0.36698324869193866, + "angularVelocity": -0.6475638770223355, + "velocityX": -2.1633221642977762, + "velocityY": -3.686688037608372, + "moduleForcesX": [ + -131.59587543546968, + -126.53279039089544, + -146.09076256902483, + -146.03076195800935 + ], + "moduleForcesY": [ + 68.65472618263547, + 74.11912654092238, + 26.50144161759125, + 14.763903723733922 + ], + "timestamp": 0.602536845477924 + }, + { + "x": 7.49957643811238, + "y": 2.0997006085036323, + "heading": -0.38639855111540106, + "angularVelocity": -0.48707232716273013, + "velocityX": -2.5798693277444587, + "velocityY": -3.456547224450155, + "moduleForcesX": [ + -125.4134493772579, + -121.34347465863777, + -138.22820772635242, + -137.51148417464583 + ], + "moduleForcesY": [ + 82.8196807956275, + 87.81342697559018, + 58.87730233724453, + 59.1670953849226 + ], + "timestamp": 0.6423980762248224 + }, + { + "x": 7.381369012860428, + "y": 1.9733544179077163, + "heading": -0.4015017570726852, + "angularVelocity": -0.37889462202466717, + "velocityX": -2.9654735450317258, + "velocityY": -3.1696510174893064, + "moduleForcesX": [ + -116.99423254959369, + -112.90118377470075, + -127.95593682942541, + -125.83192764572033 + ], + "moduleForcesY": [ + 95.77941310449323, + 100.26651843933628, + 80.47218860324124, + 83.35060641397696 + ], + "timestamp": 0.6822593069717208 }, { "x": 7.249025344848633, "y": 1.8600445985794067, "heading": -0.41241037149688753, - "angularVelocity": -0.0000013809465586422582, - "velocityX": -3.1850205653812904, - "velocityY": -3.1275886263421437, - "timestamp": 0.6993076587970901, + "angularVelocity": -0.27366476698793646, + "velocityX": -3.320109929672564, + "velocityY": -2.8426071449620993, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -107.53993941300709, + -101.96949869088516, + -119.44600794989876, + -115.88328320249506 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 106.99917140512535, + 112.15032587395581, + 93.45918598680824, + 97.61933327955269 + ], + "timestamp": 0.7221205377186192 }, { - "x": 6.998243314060886, - "y": 1.691803156852094, - "heading": -0.41241042133872813, - "angularVelocity": -7.367432297255457e-7, - "velocityX": -3.7069650939703225, - "velocityY": -2.486881336287757, - "timestamp": 0.7669592347980793, + "x": 6.9899820722484955, + "y": 1.7101159519835794, + "heading": -0.41283711100011455, + "angularVelocity": -0.006357682821435856, + "velocityX": -3.8592981239479514, + "velocityY": -2.23367832997763, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -95.92596416496082, + -84.08881090345648, + -114.49986761134663, + -107.13407912162141 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 118.2837071247215, + 126.8847889452148, + 100.36787203768286, + 108.06310384526383 + ], + "timestamp": 0.7892423988137001 }, { - "x": 6.720745998384351, - "y": 1.5726727137088448, - "heading": -0.41241044823815964, - "angularVelocity": -3.976172184859104e-7, - "velocityX": -4.101860327281612, - "velocityY": -1.760941136707703, - "timestamp": 0.8346108107990684, + "x": 6.7078651319167095, + "y": 1.6097893975375182, + "heading": -0.41292545195017577, + "angularVelocity": -0.0013161278400198753, + "velocityX": -4.203055989942712, + "velocityY": -1.4946926799882174, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.995487083791986, + -63.648965311514225, + -64.38567454618867, + -64.03984816528379 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 137.6333647955415, + 137.7911183196974, + 137.44875805249117, + 137.60736077997822 + ], + "timestamp": 0.8563642599087811 }, { - "x": 6.426044110113291, - "y": 1.5067361891289583, - "heading": -0.41241046742671, - "angularVelocity": -2.8363789082110155e-7, - "velocityX": -4.3561718099036035, - "velocityY": -0.9746487587949493, - "timestamp": 0.9022623868000575, + "x": 6.412282764192464, + "y": 1.5618504939905744, + "heading": -0.41299689310178256, + "angularVelocity": -0.001064349981380918, + "velocityX": -4.403667641240454, + "velocityY": -0.7142070074455849, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -37.36202833391898, + -37.34028235850081, + -37.3789107785674, + -37.357164194129254 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 145.348367406506, + 145.35364229557857, + 145.34362688142363, + 145.34890448638401 + ], + "timestamp": 0.9234861210038621 }, { - "x": 6.124237986190413, - "y": 1.4962531513780755, - "heading": -0.41241048381055917, - "angularVelocity": -2.4217985961733845e-7, - "velocityX": -4.461183933371566, - "velocityY": -0.1549562977029477, - "timestamp": 0.9699139628010467, + "x": 6.112849943469472, + "y": 1.558720381519999, + "heading": -0.4130666179056077, + "angularVelocity": -0.001038779358730804, + "velocityX": -4.461032752039339, + "velocityY": -0.04663327892891592, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -10.683531616722755, + -10.68136893947551, + -10.68466214557658, + -10.68249944830863 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 124.3215069375447, + 124.32145856598271, + 124.32097983291328, + 124.32093147219145 + ], + "timestamp": 0.9906079820989431 }, { - "x": 5.846319040945062, - "y": 1.5181705956759477, - "heading": -0.47894448366146875, - "angularVelocity": -0.9834804121922709, - "velocityX": -4.108092696041356, - "velocityY": 0.32397536899291, - "timestamp": 1.0375655388020357, + "x": 5.838800629494515, + "y": 1.5597948390052838, + "heading": -0.47786192445256276, + "angularVelocity": -0.9653383486368139, + "velocityX": -4.082862267283625, + "velocityY": 0.01600756397005909, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 84.13104986398798, + 39.00426284924035, + 98.1664843996097, + 60.40261228965104 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.27625005044365, + -2.6454478171277325, + 22.076543419295742, + 58.50718219676253 + ], + "timestamp": 1.057729843194024 }, { - "x": 5.623983595005714, - "y": 1.5357044870023329, - "heading": -0.5321557991116861, - "angularVelocity": -0.7865495321119992, - "velocityX": -3.2864784397054856, - "velocityY": 0.25917934751629157, - "timestamp": 1.105217114803025, + "x": 5.619495325432777, + "y": 1.560672507353205, + "heading": -0.5310162145435886, + "angularVelocity": -0.7919072746765847, + "velocityX": -3.267270908222907, + "velocityY": 0.013075745125622549, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.61837034308198, + 152.2270483828596, + 152.09940908270502, + 151.60042328726598 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.32526030519508, + 2.749217967255641, + -4.480817031848705, + -13.777613530217094 + ], + "timestamp": 1.124851704289105 }, { - "x": 5.457231881847819, - "y": 1.5488548414366092, - "heading": -0.5720570728186217, - "angularVelocity": -0.5898055310101292, - "velocityX": -2.46486073222384, - "velocityY": 0.19438356371895896, - "timestamp": 1.1728686908040142, + "x": 5.454995391889679, + "y": 1.5613366384337821, + "heading": -0.5713210488402767, + "angularVelocity": -0.6004725381436408, + "velocityX": -2.450765381938235, + "velocityY": 0.009894408015857701, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.72255146991506, + 152.4557415946503, + 152.3661524624954, + 151.6817813411554 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.873697757017222, + 2.4705314919626136, + -4.326556814888099, + -15.387494320629086 + ], + "timestamp": 1.191973565384186 }, { - "x": 5.3460640436938185, - "y": 1.5576217201449185, - "heading": -0.5986561686257958, - "angularVelocity": -0.3931777702678384, - "velocityX": -1.6432409224638784, - "velocityY": 0.12958868405639368, - "timestamp": 1.2405202668050035, + "x": 5.3453204497669295, + "y": 1.561781761328399, + "heading": -0.5983693466935823, + "angularVelocity": -0.4029730018211297, + "velocityX": -1.6339675380484628, + "velocityY": 0.0066315636571863575, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.75052235992058, + 152.53383462506702, + 152.46310966330995, + 151.69651163527786 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.41852450328692, + 2.160836251021891, + -4.008749268505154, + -16.00114924610904 + ], + "timestamp": 1.259095426479267 }, { "x": 5.290480136871338, "y": 1.5620051622390747, "heading": -0.6119562939072145, - "angularVelocity": -0.19659741971457015, - "velocityX": -0.8216202800902673, - "velocityY": 0.06479438252986616, - "timestamp": 1.3081718428059927, + "angularVelocity": -0.2024220871108692, + "velocityX": -0.817026107454078, + "velocityY": 0.0033282883854537323, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.76379242231292, + 152.5725021103099, + 152.51187953267123, + 151.7027639347361 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.688642643310338, + 1.996224160307324, + -3.8357168519572205, + -16.30980525668349 + ], + "timestamp": 1.326217287574348 }, { "x": 5.290480136871338, "y": 1.5620051622390747, "heading": -0.6119562939072145, - "angularVelocity": -2.1906165425550643e-26, - "velocityX": 3.353038679852772e-25, - "velocityY": -4.227251621105048e-25, - "timestamp": 1.375823418806982, + "angularVelocity": -5.902770693953268e-22, + "velocityX": -4.320330960880775e-21, + "velocityY": -4.615835758242181e-20, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 151.77234692669214, + 152.59401532482178, + 152.53754814927336, + 151.7101045597976 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.841262978023073, + 2.014669355460072, + -3.875280768461969, + -16.45993948340821 + ], + "timestamp": 1.393339148669429 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f4 to shoot2.1.traj b/src/main/deploy/choreo/f4 to shoot2.1.traj index d7305fd..2ea6bfb 100644 --- a/src/main/deploy/choreo/f4 to shoot2.1.traj +++ b/src/main/deploy/choreo/f4 to shoot2.1.traj @@ -3,10 +3,10 @@ { "x": 8.146272659301758, "y": 2.5416696071624756, - "heading": -0.3602857968918242, - "angularVelocity": -1.0745537487259938e-20, - "velocityX": -2.518497705941496e-19, - "velocityY": -1.7245903998316117e-20, + "heading": -0.35718839589958584, + "angularVelocity": -6.803075103828338e-24, + "velocityX": -3.834035677732325e-23, + "velocityY": -4.2655376688643334e-23, "moduleForcesX": [ 0, 0, @@ -22,1264 +22,1264 @@ "timestamp": 0 }, { - "x": 8.136096469353628, - "y": 2.549106019202484, - "heading": -0.3602490718261665, - "angularVelocity": 0.0011425651783751652, - "velocityX": -0.3165946765526914, - "velocityY": 0.23135657613699906, + "x": 8.136096469255905, + "y": 2.5491060207108256, + "heading": -0.3571661974175566, + "angularVelocity": 0.0006906240874998994, + "velocityX": -0.31659470928687494, + "velocityY": 0.2313566447627725, "moduleForcesX": [ - -123.06504366568878, - -123.02139035572398, - -123.22037238702718, - -123.17706885533495 + -123.08735375321601, + -123.06071963548085, + -123.18120263290048, + -123.15469635315549 ], "moduleForcesY": [ - 90.04955880529255, - 90.10859784684727, - 89.83673208921417, - 89.89550620893729 + 90.0189148792037, + 90.05496579675288, + 89.89034995753235, + 89.92630482337871 ], - "timestamp": 0.03214264389703349 + "timestamp": 0.03214264088232743 }, { - "x": 8.11574577486022, - "y": 2.563977611653643, - "heading": -0.3601747952365552, - "angularVelocity": 0.0023108425632092423, - "velocityX": -0.6331369180025249, - "velocityY": 0.4626748346774745, + "x": 8.115745774443306, + "y": 2.5639776162636747, + "heading": -0.35712130248754087, + "angularVelocity": 0.0013967405534631777, + "velocityX": -0.6331369873154291, + "velocityY": 0.462674974570173, "moduleForcesX": [ - -123.0434355967206, - -122.99875546308593, - -123.2022162680416, - -123.15790167923356 + -123.06623219006278, + -123.03897758016932, + -123.1621616747151, + -123.13504064589385 ], "moduleForcesY": [ - 90.03638131301248, - 90.09673181130734, - 89.81880132246424, - 89.87887495791746 + 90.0050507551931, + 90.0418953714628, + 89.87362182282492, + 89.91036606469225 ], - "timestamp": 0.06428528779406698 + "timestamp": 0.06428528176465487 }, { - "x": 8.085222743533151, - "y": 2.586282800433951, - "heading": -0.36006190368394986, - "angularVelocity": 0.0035122049376816577, - "velocityX": -0.9496117190870611, - "velocityY": 0.6939438103413045, + "x": 8.085222742415418, + "y": 2.586282809849173, + "heading": -0.3570530703547609, + "angularVelocity": 0.0021227917466318403, + "velocityX": -0.9496118299561199, + "velocityY": 0.6939440249217846, "moduleForcesX": [ - -123.01564778884216, - -122.96964072641977, - -123.17886664453725, - -123.13324591638336 + -123.03906803487567, + -123.01101251084259, + -123.13767285906486, + -123.10975848804657 ], "moduleForcesY": [ - 90.0194308465013, - 90.08147163050486, - 89.79573798869718, - 89.85748617783366 + 89.9872187352331, + 90.02508509744662, + 89.85210622190067, + 89.88986651260632 ], - "timestamp": 0.09642793169110046 + "timestamp": 0.0964279226469823 }, { - "x": 8.044530266888996, - "y": 2.616019472532202, - "heading": -0.35990897774865827, - "angularVelocity": 0.004757727328886318, - "velocityX": -1.265996561283005, - "velocityY": 0.925147047440559, + "x": 8.04453026447322, + "y": 2.616019488604275, + "heading": -0.3569606457734606, + "angularVelocity": 0.0028754507645693235, + "velocityX": -1.265996720405518, + "velocityY": 0.9251473413142052, "moduleForcesX": [ - -122.97858535293801, - -122.93080158540018, - -123.14772298381364, - -123.10035417672329 + -123.00283565038058, + -122.97370831481224, + -123.10500855636195, + -123.07603279893415 ], "moduleForcesY": [ - 89.99682099660788, - 90.06111682172907, - 89.7649732929712, - 89.82895486446012 + 89.96343327913132, + 90.0026620539759, + 89.82340643089086, + 89.86252128980769 ], - "timestamp": 0.12857057558813395 + "timestamp": 0.12857056352930973 }, { - "x": 7.993672395152897, - "y": 2.6531846681966442, - "heading": -0.35971402738023345, - "angularVelocity": 0.006065162811414525, - "velocityX": -1.5822553956374017, - "velocityY": 1.1562582027593544, + "x": 7.993672390536357, + "y": 2.6531846929873755, + "heading": -0.35684282967097025, + "angularVelocity": 0.0036654145165509384, + "velocityX": -1.5822556125070788, + "velocityY": 1.1562585824593639, "moduleForcesX": [ - -122.92667548791526, - -122.87639414368363, - -123.1041027668734, - -123.05427820202537 + -122.95208666724876, + -122.92145277337572, + -123.0592571095666, + -123.0287900216286 ], "moduleForcesY": [ - 89.9651554274929, - 90.0326051654772, - 89.72188113854125, - 89.78898496880375 + 89.93011920289005, + 89.97125343047745, + 89.78320622333678, + 89.82421507103362 ], - "timestamp": 0.16071321948516742 + "timestamp": 0.16071320441163717 }, { - "x": 7.932655207540108, - "y": 2.69777394496543, - "heading": -0.35947406149270655, - "angularVelocity": 0.0074656549192295965, - "velocityX": -1.8983250975917867, - "velocityY": 1.387231147249894, + "x": 7.932655199353589, + "y": 2.697773980858521, + "heading": -0.3566978198083463, + "angularVelocity": 0.004511448301799372, + "velocityX": -1.8983253867082432, + "velocityY": 1.387231622765059, "moduleForcesX": [ - -122.84876869523828, - -122.7947220957611, - -123.0386375908397, - -122.98511431121692 + -122.87591970285536, + -122.84301410306959, + -122.99059097690268, + -122.95787640906512 ], "moduleForcesY": [ - 89.91763988249625, - 89.98980890000963, - 89.6572045884285, - 89.72897728129809 + 89.88012356165643, + 89.9241099343799, + 89.72286858223485, + 89.76671131944485 ], - "timestamp": 0.1928558633822009 + "timestamp": 0.1928558452939646 }, { - "x": 7.861488844099484, - "y": 2.749779892873853, - "heading": -0.35918408042128047, - "angularVelocity": 0.009021693186003791, - "velocityX": -2.2140793292742655, - "velocityY": 1.6179735579575156, + "x": 7.861488830173425, + "y": 2.749779942804573, + "heading": -0.3565226036812534, + "angularVelocity": 0.005451205074728771, + "velocityX": -2.214079715500069, + "velocityY": 1.6179741464443826, "moduleForcesX": [ - -122.71884278330317, - -122.65847158425117, - -122.92946017983006, - -122.86973335590639 + -122.74888837760346, + -122.71216579876483, + -122.87606916885171, + -122.8395816862458 ], "moduleForcesY": [ - 89.83841836981522, - 89.91842010460293, - 89.54933407893087, - 89.62884761298741 + 89.79675052770294, + 89.84547310434468, + 89.62223012536384, + 89.67077580891507 ], - "timestamp": 0.22499850727923437 + "timestamp": 0.22499848617629203 }, { - "x": 7.780193604230848, - "y": 2.8091876778848563, - "heading": -0.35883404043765366, - "angularVelocity": 0.010890205072992166, - "velocityX": -2.5292020198767817, - "velocityY": 1.8482544622479, + "x": 7.780193580710889, + "y": 2.8091877459553896, + "heading": -0.35631112944757093, + "angularVelocity": 0.006579242647069844, + "velocityX": -2.529202555575733, + "velocityY": 1.8482551999478074, "moduleForcesX": [ - -122.45884208658849, - -122.38563372395392, - -122.71095615387783, - -122.63867218579807 + -122.49464525206659, + -122.450174708773, + -122.64684811652924, + -122.60271456423307 ], "moduleForcesY": [ - 89.67992789815467, - 89.77547633650862, - 89.33343260311402, - 89.42827969450236 + 89.62990620878611, + 89.68803350156905, + 89.42078462785584, + 89.4786579025201 ], - "timestamp": 0.25714115117626785 + "timestamp": 0.25714112705861947 }, { - "x": 7.68883041769496, - "y": 2.875952774825798, - "heading": -0.35839358843434443, - "angularVelocity": 0.013703042124355424, - "velocityX": -2.8424291053579696, - "velocityY": 2.077150129739205, + "x": 7.688830374979936, + "y": 2.875952869142524, + "heading": -0.3560451073038538, + "angularVelocity": 0.008276300155018216, + "velocityX": -2.842429969131302, + "velocityY": 2.0771511411137005, "moduleForcesX": [ - -121.67941448644659, - -121.566231470422, - -122.05542002980185, - -121.94429952306598 + -121.73210880793549, + -121.66353534311818, + -121.95904997835672, + -121.89122742115315 ], "moduleForcesY": [ - 89.20478073771356, - 89.34596517063635, - 88.68596660609488, - 88.82557692346678 + 89.12946820653616, + 89.21519573739569, + 88.81646337375159, + 88.90162123472918 ], - "timestamp": 0.2892837950733013 + "timestamp": 0.2892837679409469 }, { - "x": 7.59543466945207, - "y": 2.9442031932964894, - "heading": -0.35332582211321417, - "angularVelocity": 0.15766488710027904, - "velocityX": -2.9056647779810096, - "velocityY": 2.123360439463065, + "x": 7.5954346416937, + "y": 2.944203293635426, + "heading": -0.35297869481990085, + "angularVelocity": 0.09540014136296197, + "velocityX": -2.90566458518928, + "velocityY": 2.1233608259745393, "moduleForcesX": [ - -29.248872972220163, - -13.423501853358983, - -35.70399389576315, - -19.99088573602437 + -27.405736857488268, + -17.838296663220355, + -31.323975167365713, + -21.79761143859291 ], "moduleForcesY": [ - 28.809314250356852, - 23.756849232152433, - 12.569521059273681, - 6.747496368740438 + 24.572633417644525, + 21.428596448034337, + 14.653430981686121, + 11.22755478950533 ], - "timestamp": 0.3214264389703348 + "timestamp": 0.32142640882327433 }, { - "x": 7.5020387698053295, - "y": 3.0124537237033246, - "heading": -0.3449236675996103, - "angularVelocity": 0.261402096869179, - "velocityX": -2.9056694883545506, - "velocityY": 2.123363921943138, + "x": 7.502038757325121, + "y": 3.0124538286619114, + "heading": -0.3479036601316385, + "angularVelocity": 0.15789103038676267, + "velocityX": -2.9056692855604864, + "velocityY": 2.1233642648202795, "moduleForcesX": [ - -3.7523266199646392, - 7.954914750928709, - -7.958577594937844, - 3.748662167632037 + -2.2468180105077424, + 4.797996787569584, + -4.801652306569902, + 2.243161791770455 ], "moduleForcesY": [ - 7.958092929807755, - 3.7518562536765385, - -3.749132541305897, - -7.955399415013542 + 4.80115916269169, + 2.246329963325835, + -2.2436498435767525, + -4.798489930853682 ], - "timestamp": 0.35356908286736827 + "timestamp": 0.35356904970560177 }, { - "x": 7.408642869516068, - "y": 3.0807042519520493, - "heading": -0.3343176222912936, - "angularVelocity": 0.32996804314829714, - "velocityX": -2.90566950834977, - "velocityY": 2.1233638548008944, + "x": 7.40864287284743, + "y": 3.0807043630989184, + "heading": -0.34151209702071034, + "angularVelocity": 0.1988499680013025, + "velocityX": -2.9056692889550915, + "velocityY": 2.123364246480819, "moduleForcesX": [ - -2.53456488678924, - 5.232481049985871, - -5.232496528557727, - 2.534549261480311 + -1.4915318481390096, + 3.1365196385655643, + -3.1365222722453105, + 1.4915292012866739 ], "moduleForcesY": [ - 5.232462692848136, - 2.5345309484661276, - -2.5345831998035244, - -5.232514885694545 + 3.136513825144002, + 1.4915233908533168, + -1.4915376585723443, + -3.1365280856668516 ], - "timestamp": 0.38571172676440174 + "timestamp": 0.3857116905879292 }, { - "x": 7.3152469670598785, - "y": 3.1489547762092758, - "heading": -0.32226702367076615, - "angularVelocity": 0.374909999909486, - "velocityX": -2.905669575762591, - "velocityY": 2.123363730623268, + "x": 7.315246987161921, + "y": 3.1489548955294207, + "heading": -0.3342764369632082, + "angularVelocity": 0.22511093858129305, + "velocityX": -2.9056693265318794, + "velocityY": 2.123364184055805, "moduleForcesX": [ - -1.702524643420085, - 3.4093715946624865, - -3.409423959497382, - 1.7024721431709058 + -0.9708404869494299, + 2.004005070985987, + -2.0040342856175783, + 0.9708112484060439 ], "moduleForcesY": [ - 3.4093494904792987, - 1.7024500966559644, - -1.7025466899331962, - -3.4094460636803157 + 2.0039954025056392, + 0.9708015903584727, + -0.9708501449966945, + -2.0040439540979156 ], - "timestamp": 0.4178543706614352 + "timestamp": 0.41785433147025663 }, { - "x": 7.22185105583351, - "y": 3.2172052877266277, - "heading": -0.3092826831153518, - "angularVelocity": 0.4039599417213056, - "velocityX": -2.905669848614098, - "velocityY": 2.1233633342649023, + "x": 7.221851093684164, + "y": 3.217205417059578, + "heading": -0.3265272105420634, + "angularVelocity": 0.24108866628334372, + "velocityX": -2.905669568959042, + "velocityY": 2.1233638449316996, "moduleForcesX": [ - -1.1291019405510807, - 2.189213465124858, - -2.1894255869848616, - 1.1288896239170743 + -0.6001959070969084, + 1.21457971685515, + -1.2147682470714265, + 0.6000073258559347 ], "moduleForcesY": [ - 2.1891653864317404, - 1.1288416410766866, - -1.1291499233767037, - -2.189473665679626 + 1.2145420998937115, + 0.5999697335759455, + -0.6002334993708399, + -1.2148058640336519 ], - "timestamp": 0.4499970145584687 + "timestamp": 0.44999697235258407 }, { - "x": 7.128455093767032, - "y": 3.2854557291779836, - "heading": -0.29571246186407146, - "angularVelocity": 0.4221874620753502, - "velocityX": -2.9056714303155027, - "velocityY": 2.1233611544243325, + "x": 7.128455150154725, + "y": 3.285455869966208, + "heading": -0.3185082014617998, + "angularVelocity": 0.24948196103801262, + "velocityX": -2.9056711261329387, + "velocityY": 2.123361709963155, "moduleForcesX": [ - -0.7275844410413829, - 1.3633444146812341, - -1.3645744205631036, - 0.726354006192971 + -0.3209528773764481, + 0.6349290651756393, + -0.6361401639266485, + 0.3197416893245451 ], "moduleForcesY": [ - 1.3631116923537125, - 0.7261215059649009, - -0.7278169409826798, - -1.3648071429410968 + 0.6347043435828209, + 0.31951701200248567, + -0.32117755457113484, + -0.6363648855395496 ], - "timestamp": 0.48213965845550216 + "timestamp": 0.4821396132349115 }, { - "x": 7.035058808720538, - "y": 3.3537057283514544, - "heading": -0.28180092189401484, - "angularVelocity": 0.43280633710845756, - "velocityX": -2.9056814786511067, - "velocityY": 2.1233473945704735, + "x": 7.035058884014051, + "y": 3.3537058813640774, + "heading": -0.3104174820937953, + "angularVelocity": 0.2517129627781421, + "velocityX": -2.905681162994435, + "velocityY": 2.1233479740426113, "moduleForcesX": [ - -0.438434005349309, - 0.7847310614013094, - -0.7925460256020564, - 0.4306181215770146 + -0.09041797398072267, + 0.16433225374208957, + -0.1721387337863936, + 0.08261145331820727 ], "moduleForcesY": [ - 0.7832874389166379, - 0.42917498581669855, - -0.4398771344549223, - -0.793989649395888 + 0.16289371096011215, + 0.08117293023446857, + -0.09185649566347615, + -0.17357727680345786 ], - "timestamp": 0.5142823023525357 + "timestamp": 0.5142822541172389 }, { - "x": 6.941660444150244, - "y": 3.4219528815797027, - "heading": -0.26773191992221884, - "angularVelocity": 0.4377051874408642, - "velocityX": -2.9057461753778435, - "velocityY": 2.123258853468348, + "x": 6.941660537278974, + "y": 3.421953045551752, + "heading": -0.30244092718791094, + "angularVelocity": 0.24816115561525146, + "velocityX": -2.905745893033585, + "velocityY": 2.1232593935739152, "moduleForcesX": [ - -0.23072074870199893, - 0.33581003231107065, - -0.386129414150487, - 0.18040011016189633 + 0.1146923452700671, + -0.29190050202592277, + 0.24155490914652697, + -0.16503860186697292 ], "moduleForcesY": [ - 0.32653682728916544, - 0.17112751689003508, - -0.2399932151861948, - -0.39540264605323294 + -0.30117590990631987, + -0.1743136147262733, + 0.10541723977859715, + 0.23227951757600634 ], - "timestamp": 0.5464249462495692 + "timestamp": 0.5464248949995664 }, { - "x": 6.848248671337322, - "y": 3.4901816814065594, - "heading": -0.25366097290966344, - "angularVelocity": 0.4377657002215085, - "velocityX": -2.9061633234710005, - "velocityY": 2.122687854972637, + "x": 6.848248774042962, + "y": 3.490181845195757, + "heading": -0.29478371738264997, + "angularVelocity": 0.23822590786157335, + "velocityX": -2.906163298093275, + "velocityY": 2.122688048371251, "moduleForcesX": [ - -0.16482701171788813, - -0.15780264802136593, - -0.16664802076736582, - -0.15962365830830882 + 0.2346074297269557, + -0.9053995113165785, + 0.5807656855617193, + -0.5592747320560182 ], "moduleForcesY": [ - -0.21763375005571528, - -0.2194547994684859, - -0.2246580879477113, - -0.22647913751426388 + -0.9652752293584578, + -0.6191266486360717, + 0.17474474961535058, + 0.5208919445285582 ], - "timestamp": 0.5785675901466026 + "timestamp": 0.5785675358818938 }, { - "x": 6.754750521187146, - "y": 3.558292059995686, - "heading": -0.23974278403723234, - "angularVelocity": 0.4330131932213453, - "velocityX": -2.908850636233242, - "velocityY": 2.1190036142414814, + "x": 6.754750593503594, + "y": 3.558292168877115, + "heading": -0.28770490292677836, + "angularVelocity": 0.220231264810715, + "velocityX": -2.90885185450878, + "velocityY": 2.119002104733907, "moduleForcesX": [ - -0.8358906335286197, - -1.3895165963417062, - -0.7006049961934422, - -1.2542798041287426 + -0.317090486140964, + -2.3860849687524217, + 0.2953252527060545, + -1.7743768048407933 ], "moduleForcesY": [ - -1.7772527789252621, - -1.6418568008261916, - -1.2236790767460808, - -1.0882905026375862 + -2.7742235636875465, + -2.161660865238974, + -0.7051841680208603, + -0.0926600827183377 ], - "timestamp": 0.6107102340436361 + "timestamp": 0.6107101767642212 }, { "x": 6.660732269287109, "y": 3.6256182193756104, - "heading": -0.22615519033777107, - "angularVelocity": 0.42272794182669354, - "velocityX": -2.925031686916243, - "velocityY": 2.0946055214246604, + "heading": -0.2815511117895859, + "angularVelocity": 0.19145256793681517, + "velocityX": -2.925034211117911, + "velocityY": 2.0946023304361443, "moduleForcesX": [ - -5.825546398641265, - -7.030805894757506, - -5.553804891356853, - -6.76053309018896 + -5.104426544991621, + -8.425903271858951, + -4.154652417197757, + -7.4877418560063 ], "moduleForcesY": [ - -10.228296821465424, - -9.946084420946445, - -9.030245655153468, - -8.748213719681651 + -11.627337110859457, + -10.653497766569629, + -8.324161908854833, + -7.350463045235389 ], - "timestamp": 0.6428528779406696 + "timestamp": 0.6428528176465487 }, { - "x": 6.582074320245892, - "y": 3.67833861515236, - "heading": -0.21528174145787884, - "angularVelocity": 0.4132301672329048, - "velocityX": -2.9892849817510876, - "velocityY": 2.0035646650896783, + "x": 6.58207462967442, + "y": 3.6783390830561413, + "heading": -0.27713844228438766, + "angularVelocity": 0.16769731320735076, + "velocityX": -2.989273230352088, + "velocityY": 2.003582452477083, "moduleForcesX": [ - -29.87908098495652, - -31.32260789597221, - -29.719786051141266, - -31.171340618698082 + -29.040645166131586, + -32.60395395572433, + -28.402662732895102, + -32.018427814010195 ], "moduleForcesY": [ - -44.10331963256774, - -43.66444880048413, - -42.832820474864334, - -42.39341098986325 + -45.43472723947521, + -44.146739946186194, + -42.33485123604224, + -41.03781925180775 ], - "timestamp": 0.6691661767801604 + "timestamp": 0.6691661164156364 }, { - "x": 6.502998288382309, - "y": 3.730429851125363, - "heading": -0.20463195199620696, - "angularVelocity": 0.40473030487871436, - "velocityX": -3.0051736327679723, - "velocityY": 1.9796543295751612, + "x": 6.502998879099001, + "y": 3.7304307523279796, + "heading": -0.2732839303453757, + "angularVelocity": 0.14648531804534412, + "velocityX": -3.0051629508465547, + "velocityY": 1.9796708017861422, "moduleForcesX": [ - -7.05831037610595, - -8.282165122789658, - -6.812593397968463, - -8.038225463080394 + -6.457091020173221, + -9.45878795214291, + -5.632245481224577, + -8.64520218692986 ], "moduleForcesY": [ - -12.095897437934052, - -11.834558408590883, - -10.88226580136967, - -10.621215883785098 + -13.276436333260367, + -12.418268096720743, + -10.2998105483761, + -9.441921746619366 ], - "timestamp": 0.6954794756196513 + "timestamp": 0.6954794151847241 }, { - "x": 6.423827122647484, - "y": 3.7823763844056675, - "heading": -0.19414472447658124, - "angularVelocity": 0.3985523663755355, - "velocityX": -3.00878906205422, - "velocityY": 1.974155106783613, + "x": 6.423827962385086, + "y": 3.7823776714175734, + "heading": -0.26983011980827126, + "angularVelocity": 0.13125722348282343, + "velocityX": -3.0087796064142194, + "velocityY": 1.9741697742063322, "moduleForcesX": [ - -1.3605947159883434, - -2.24866871364941, - -1.18620646348506, - -2.0744959524775988 + -0.9400836415081342, + -3.089960191773399, + -0.34552103882882884, + -2.496731147104689 ], "moduleForcesY": [ - -3.1437176493360783, - -2.9687906910532558, - -2.2559444563698885, - -2.0810594918619185 + -3.98561105989949, + -3.3902298197622533, + -1.836213602989754, + -1.2408872562089655 ], - "timestamp": 0.7217927744591421 + "timestamp": 0.7217927139538118 }, { - "x": 6.344634346688931, - "y": 3.83428996701651, - "heading": -0.18377466764954056, - "angularVelocity": 0.3940994586158583, - "velocityX": -3.009610328283926, - "velocityY": 1.9729028628266356, + "x": 6.344635425111529, + "y": 3.834291624382508, + "heading": -0.266656044011024, + "angularVelocity": 0.1206262971853653, + "velocityX": -3.0096012654479365, + "velocityY": 1.972916942892845, "moduleForcesX": [ - -0.12908653352676763, - -0.7703773098176167, - -0.009886768501030025, - -0.6512029217797858 + 0.1555983604640381, + -1.346570991009149, + 0.5659949680069027, + -0.936322273527616 ], "moduleForcesY": [ - -0.9751226383808044, - -0.8559093477811426, - -0.3338322710281372, - -0.21462446563368587 + -1.551441120858391, + -1.141062212517814, + -0.049236706891036514, + 0.36113522807459164 ], - "timestamp": 0.748106073298633 + "timestamp": 0.7481060127228996 }, { - "x": 6.265436657374759, - "y": 3.8861960537648006, - "heading": -0.17348992282248102, - "angularVelocity": 0.39085729576499406, - "velocityX": -3.0097970534698915, - "velocityY": 1.9726179930883219, + "x": 6.265437971749186, + "y": 3.886198077355177, + "heading": -0.2636716830747281, + "angularVelocity": 0.11341645008043662, + "velocityX": -3.009788094504634, + "velocityY": 1.9726319162098973, "moduleForcesX": [ - 0.10420341832743245, - -0.3635906302680396, - 0.18618643613251698, - -0.2816106583339923 + 0.2834303554028191, + -0.7361890309719591, + 0.558692361135776, + -0.4609424937299067 ], "moduleForcesY": [ - -0.41021479856029297, - -0.3282320520047196, - 0.05758054678683605, - 0.13956256977739123 + -0.7828415768479279, + -0.5075850409059524, + 0.23678447097176958, + 0.5120401883028008 ], - "timestamp": 0.7744193721381238 + "timestamp": 0.7744193114919873 }, { - "x": 6.18623785068603, - "y": 3.938100435670245, - "heading": -0.16326853160810126, - "angularVelocity": 0.38844963061186116, - "velocityX": -3.009839517722007, - "velocityY": 1.972553202928159, + "x": 6.186239400295341, + "y": 3.938102824373582, + "heading": -0.2608081960797146, + "angularVelocity": 0.10882280553806872, + "velocityX": -3.009830586003378, + "velocityY": 1.9725670838116756, "moduleForcesX": [ - 0.12516109274299025, - -0.22283268172213164, - 0.18248801385321226, - -0.1655061406997868 + 0.21812692710949214, + -0.43201135872390917, + 0.39164132785276445, + -0.25849838577331313 ], "moduleForcesY": [ - -0.2334386175613659, - -0.17611180282236025, - 0.1145553739726048, - 0.17188209018688447 + -0.4426246746281852, + -0.2691108846494665, + 0.20751431826446415, + 0.3810280245513949 ], - "timestamp": 0.8007326709776147 + "timestamp": 0.800732610261075 }, { - "x": 6.107038789912459, - "y": 3.9900044299320476, - "heading": -0.15309585928908356, - "angularVelocity": 0.38659813735519116, - "velocityX": -3.009849173859949, - "velocityY": 1.9725384710755243, + "x": 6.107040574533406, + "y": 3.990007183375928, + "heading": -0.2580102384849567, + "angularVelocity": 0.10633245262448467, + "velocityX": -3.009840250625513, + "velocityY": 1.972552337805798, "moduleForcesX": [ - 0.10875391061039971, - -0.15928783494068832, - 0.15011366102610835, - -0.11792813535298781 + 0.12522946818639863, + -0.2274921993451319, + 0.21830998695189685, + -0.13441177599215065 ], "moduleForcesY": [ - -0.16169904415715822, - -0.12033931063448154, - 0.1063427330809989, - 0.14770245231681728 + -0.22990611065569516, + -0.13682563480944512, + 0.12281560628593319, + 0.21589607600346533 ], - "timestamp": 0.8270459698171055 + "timestamp": 0.8270459090301627 }, { - "x": 6.027839671395653, - "y": 4.041908336130193, - "heading": -0.1429628771606607, - "angularVelocity": 0.3850897673542686, - "velocityX": -3.009851368310545, - "velocityY": 1.9725351243398568, + "x": 6.027841690924591, + "y": 4.041911454117301, + "heading": -0.2552297811398612, + "angularVelocity": 0.10566738019035023, + "velocityX": -3.0098424490150477, + "velocityY": 1.9725489835713315, "moduleForcesX": [ - 0.09256623246457578, - -0.12613159097477683, - 0.12404666939173113, - -0.0946511616665526 + 0.033790877984933784, + -0.06047556273037291, + 0.058386895759955336, + -0.03587954650266661 ], "moduleForcesY": [ - -0.12667898068409786, - -0.09519854635268504, - 0.09201884768389032, - 0.1234992797047832 + -0.0610246414577372, + -0.036428624378500085, + 0.03324180006651111, + 0.057837817037713714 ], - "timestamp": 0.8533592686565964 + "timestamp": 0.8533592077992505 }, { - "x": 5.948640539775223, - "y": 4.093812222373882, - "heading": -0.1328651041577258, - "angularVelocity": 0.38375169394497205, - "velocityX": -3.0098518662953846, - "velocityY": 1.972534365998576, + "x": 5.948642794137703, + "y": 4.093815704741844, + "heading": -0.25242074794869973, + "angularVelocity": 0.10675336512582938, + "velocityX": -3.0098429498292076, + "velocityY": 1.972548219059436, "moduleForcesX": [ - 0.08391987041769212, - -0.11035883414038411, - 0.10988570443896967, - -0.08439300146939306 + -0.05739208285371082, + 0.09664612148171403, + -0.09712193949824757, + 0.056916263897359015 ], "moduleForcesY": [ - -0.11048251560395049, - -0.08451668203485704, - 0.08379618984786812, - 0.10976202297648692 + 0.0965208529485974, + 0.056790995867478815, + -0.05751735087998036, + -0.0972472080318071 ], - "timestamp": 0.8796725674960872 + "timestamp": 0.8796725065683382 }, { - "x": 5.869441405126993, - "y": 4.145716104036956, - "heading": -0.12280208294959341, - "angularVelocity": 0.3824310007466585, - "velocityX": -3.0098519813627, - "velocityY": 1.9725341919189148, + "x": 5.869443894253057, + "y": 4.145719950614997, + "heading": -0.2495338720337796, + "angularVelocity": 0.10971166862254304, + "velocityX": -3.0098430675551655, + "velocityY": 1.9725480384895655, "moduleForcesX": [ - 0.08409821202831282, - -0.10790519803129357, - 0.10779587388482034, - -0.08420753647499696 + -0.15650938453261481, + 0.26341279567532744, + -0.26352464509953055, + 0.15639753346402366 ], "moduleForcesY": [ - -0.1079332316500991, - -0.08423556989071378, - 0.08407017861236843, - 0.10776784026607512 + 0.263382941547865, + 0.15636768022328112, + -0.15653923777281012, + -0.26355449922705937 ], - "timestamp": 0.9059858663355781 + "timestamp": 0.9059858053374259 }, { - "x": 5.790242269391937, - "y": 4.1976199840850725, - "heading": -0.11277732881991177, - "angularVelocity": 0.3809767141258825, - "velocityX": -3.009852022665962, - "velocityY": 1.9725341305445478, + "x": 5.790244993201206, + "y": 4.197624194662572, + "heading": -0.24651119455100304, + "angularVelocity": 0.11487261666817568, + "velocityX": -3.0098431119131153, + "velocityY": 1.972547969110972, "moduleForcesX": [ - 0.0938315187677691, - -0.11784477337657623, - 0.11780553162728034, - -0.09387076064479073 + -0.27435214104528816, + 0.4587897014772145, + -0.45883184456177833, + 0.2743099960484123 ], "moduleForcesY": [ - -0.11785430809786854, - -0.0938802952776739, - 0.09382198413486942, - 0.11779599690599342 + 0.45877781503194653, + 0.2742981106318746, + -0.2743640264616864, + -0.45884373100706105 ], - "timestamp": 0.932299165175069 + "timestamp": 0.9322991041065136 }, { - "x": 5.711043131449483, - "y": 4.249523860817315, - "heading": -0.1027987452849091, - "angularVelocity": 0.37922206546093973, - "velocityX": -3.0098521065550288, - "velocityY": 1.9725340045295885, + "x": 5.711046089813258, + "y": 4.249528435072955, + "heading": -0.2432795898320745, + "angularVelocity": 0.12281260313605828, + "velocityX": -3.0098432006932416, + "velocityY": 1.9725478308846605, "moduleForcesX": [ - 0.11460779231653198, - -0.14106311773260916, - 0.14098341576499887, - -0.11468749466236929 + -0.4243723845830821, + 0.7044588717409108, + -0.7045432163324211, + 0.424288030967902 ], "moduleForcesY": [ - -0.14108312955813923, - -0.11470750622277477, - 0.11458778075598006, - 0.1409634039395122 + 0.7044353801330886, + 0.42426454425301086, + -0.4243958712971194, + -0.7045667079403402 ], - "timestamp": 0.9586124640145598 + "timestamp": 0.9586124028756013 }, { - "x": 5.631843984148448, - "y": 4.301427723336742, - "heading": -0.09287955510493337, - "angularVelocity": 0.3769649043429346, - "velocityX": -3.009852462214803, - "velocityY": 1.9725334643913557, + "x": 5.6318471767344365, + "y": 4.301432660581418, + "heading": -0.23974259019669522, + "angularVelocity": 0.1344187084416224, + "velocityX": -3.0098435689812604, + "velocityY": 1.9725472645580622, "moduleForcesX": [ - 0.1491047005039374, - -0.1801079656385837, - 0.17977005820075515, - -0.14944261059923752 + -0.6240690508827724, + 1.0274141106183603, + -1.027763977758222, + 0.6237191045512855 ], "moduleForcesY": [ - -0.18019560214373206, - -0.14953024521691305, - 0.1490170658826029, - 0.17968242169668303 + 1.0273200116639174, + 0.6236250490379754, + -0.6241631063750166, + -1.0278580767153747 ], - "timestamp": 0.9849257628540506 + "timestamp": 0.9849257016446891 }, { - "x": 5.552644795504737, - "y": 4.353331522861778, - "heading": -0.08303985542307654, - "angularVelocity": 0.37394397950170505, - "velocityX": -3.00985403338519, - "velocityY": 1.9725310703779149, + "x": 5.552648221106484, + "y": 4.353336820983277, + "heading": -0.23576959069221684, + "angularVelocity": 0.15098827172311016, + "velocityX": -3.0098451860013293, + "velocityY": 1.972544790272893, "moduleForcesX": [ - 0.20139747944742756, - -0.23959455342412553, - 0.23810181073251563, - -0.20289024305214 + -0.8972979997093311, + 1.4627286432932205, + -1.4642646050165993, + 0.8957613324871145 ], "moduleForcesY": [ - -0.2399854484140815, - -0.20328112292023132, - 0.20100659948414576, - 0.23771091577128253 + 1.4623212084911028, + 0.8953542881082679, + -0.8977050435130712, + -1.4646720398975872 ], - "timestamp": 1.0112390616935416 + "timestamp": 1.0112390004137768 }, { - "x": 5.473445424728932, - "y": 4.40523504459515, - "heading": -0.07330897804320329, - "angularVelocity": 0.3698083406125122, - "velocityX": -3.0098609550598296, - "velocityY": 1.9725205132955745, + "x": 5.473449078380269, + "y": 4.405240695602843, + "heading": -0.23118121564117936, + "angularVelocity": 0.17437475594765803, + "velocityX": -3.00985229640824, + "velocityY": 1.972533929517858, "moduleForcesX": [ - 0.2766149895435917, - -0.32756234668669754, - 0.32098621903413527, - -0.283191288506133 + -1.2782166218996764, + 2.0563930795897947, + -2.0631455228847617, + 1.2714580132867064 ], "moduleForcesY": [ - -0.3292893918479129, - -0.28491820668897444, - 0.27488806883749906, - 0.31925917465878034 + 2.054609773766349, + 1.2696781444492033, + -1.2799964750955146, + -2.064928830948409 ], - "timestamp": 1.0375523605330326 + "timestamp": 1.0375522991828645 }, { - "x": 5.394245252756537, - "y": 4.4571373439321915, - "heading": -0.0637289281820201, - "angularVelocity": 0.3640763524034276, - "velocityX": -3.0098914034119724, - "velocityY": 1.9724740578382778, + "x": 5.3942491135551975, + "y": 4.457143315290883, + "heading": -0.2257291906825515, + "angularVelocity": 0.2071965589138815, + "velocityX": -3.0098835391218053, + "velocityY": 1.9724862376059786, "moduleForcesX": [ - 0.37776840217127927, - -0.46017045440115545, - 0.4312424994164421, - -0.4066977921137878 + -1.819761787982644, + 2.8661609742481136, + -2.8958177306679644, + 1.7900517697548564 ], "moduleForcesY": [ - -0.4677750931271793, - -0.41430131975377804, - 0.37016480702520904, - 0.4236378824046199 + 2.8583318611278945, + 1.7822524852857777, + -1.827560649410769, + -2.90364690676839 ], - "timestamp": 1.0638656593725235 + "timestamp": 1.0638655979519522 }, { - "x": 5.315041558067353, - "y": 4.509034267618418, - "heading": -0.05435929683308494, - "angularVelocity": 0.35607969210129037, - "velocityX": -3.0100252793205486, - "velocityY": 1.9722697637720494, + "x": 5.315045539959199, + "y": 4.50904042699221, + "heading": -0.21906843754113922, + "angularVelocity": 0.2531325775556961, + "velocityX": -3.0100206853975107, + "velocityY": 1.9722769142991032, "moduleForcesX": [ - 0.48940416615976284, - -0.6802418638432408, - 0.5530537963353553, - -0.6166044012987012 + -2.6181401034882086, + 3.950160194371622, + -4.08023294562468, + 2.487610265707213 ], "moduleForcesY": [ - -0.7136985483549334, - -0.650050691993453, - 0.4559560598060777, - 0.5195977142982356 + 3.915743147737906, + 2.453447828344757, + -2.6522911486871954, + -4.114651756395556 ], - "timestamp": 1.0901789582120145 + "timestamp": 1.09017889672104 }, { - "x": 5.235822380603561, - "y": 4.560907554499787, - "heading": -0.04528420013699609, - "angularVelocity": 0.34488631590612207, - "velocityX": -3.0106136804443926, - "velocityY": 1.9713714801702493, + "x": 5.235826152800344, + "y": 4.560913395093347, + "heading": -0.21071825659198729, + "angularVelocity": 0.3173369109828812, + "velocityX": -3.010621657666121, + "velocityY": 1.9713593706493424, "moduleForcesX": [ - 0.5023411808607042, - -1.1355835749790395, - 0.5766015156544861, - -1.0614270753744113 + -3.9014026734201597, + 5.297487442526571, + -5.866513192831879, + 3.3284730309700907 ], "moduleForcesY": [ - -1.2828398279278084, - -1.2085709135013165, - 0.3551483643080726, - 0.42936198565066247 + 5.145994533843785, + 3.179066605759634, + -4.050503764534557, + -6.018055326072395 ], - "timestamp": 1.1164922570515055 + "timestamp": 1.1164921954901277 }, { - "x": 5.156535245375025, - "y": 4.612676900070158, - "heading": -0.0366218759813688, - "angularVelocity": 0.3291994747016255, - "velocityX": -3.013196319936208, - "velocityY": 1.9674213364945454, + "x": 5.15653775687911, + "y": 4.612680808114912, + "heading": -0.20000907648138105, + "angularVelocity": 0.40698736424439425, + "velocityX": -3.0132442388554295, + "velocityY": 1.967347897952694, "moduleForcesX": [ - -0.12066346402047996, - -2.416763712653346, - -0.03653199144766255, - -2.333520330304596 + -6.386878878322085, + 6.501934484406803, + -8.977052902798214, + 3.8786213765695794 ], "moduleForcesY": [ - -3.0669654355188185, - -2.9821401381771384, - -0.770605818570807, - -0.6862719886072624 + 5.83304549989505, + 3.224556013749109, + -7.032825254348293, + -9.64729582982005 ], - "timestamp": 1.1428055558909964 + "timestamp": 1.1428054942592154 }, { "x": 5.076982498168945, "y": 4.663970470428467, - "heading": -0.028534029348921325, - "angularVelocity": 0.3073672625307347, - "velocityX": -3.0232905304403683, - "velocityY": 1.9493401671601904, + "heading": -0.18603129598958645, + "angularVelocity": 0.5312059356166852, + "velocityX": -3.0233859847182676, + "velocityY": 1.9491916526182147, "moduleForcesX": [ - -3.2351882748162315, - -6.435372096015076, - -3.1511663154853853, - -6.359088622577856 + -12.199143600091604, + 5.873639162386675, + -15.370342072591905, + 2.424705419556534 ], "moduleForcesY": [ - -10.23619377487314, - -10.132021804804008, - -7.0448731119410715, - -6.944384775788309 + 1.9915563122754611, + -1.4114046251485406, + -15.82058956562918, + -19.259693583176883 ], - "timestamp": 1.1691188547304874 + "timestamp": 1.1691187930283031 }, { - "x": 5.0090040692616125, - "y": 4.706170985079253, - "heading": -0.022143014525621996, - "angularVelocity": 0.28742390632085546, - "velocityX": -3.0572023571075313, - "velocityY": 1.8978890058993578, + "x": 5.009006463789293, + "y": 4.706175301232312, + "heading": -0.17170313329710424, + "angularVelocity": 0.6443801871115454, + "velocityX": -3.057084895863449, + "velocityY": 1.8980770496598627, "moduleForcesX": [ - -17.263473241760682, - -20.779282566947717, - -17.334475188314013, - -20.87880940220735 + -27.88530670872213, + -7.469581642544117, + -29.884140600302487, + -10.53799541381138 ], "moduleForcesY": [ - -30.73787971786675, - -30.49261336516838, - -27.348479545860773, - -27.117001822767072 + -17.295192394525138, + -21.395900662313732, + -35.99992462571508, + -40.24778544716268 ], - "timestamp": 1.1913543566590046 + "timestamp": 1.1913543660317325 }, { - "x": 4.940797004149744, - "y": 4.748000979795652, - "heading": -0.016308004622261525, - "angularVelocity": 0.2624186277475945, - "velocityX": -3.0674848416349016, - "velocityY": 1.881225566702983, + "x": 4.940799978779737, + "y": 4.748006700688708, + "heading": -0.15607475566262086, + "angularVelocity": 0.7028547288650057, + "velocityX": -3.067448947640628, + "velocityY": 1.8812827288032796, "moduleForcesX": [ - -3.6374073035606753, - -7.9742222195858234, - -3.579012247195794, - -7.93113115033737 + -10.10600547144898, + -0.014212153078191823, + -11.590999829890299, + -1.593897677045019 ], "moduleForcesY": [ - -11.576848153962082, - -11.481924386925165, - -7.248953780621313, - -7.16262008655707 + -3.646259973554683, + -5.254071465820472, + -13.61709861421173, + -15.247103502604105 ], - "timestamp": 1.2135898585875218 + "timestamp": 1.2135899390351619 }, { - "x": 4.872520869823387, - "y": 4.78971814409621, - "heading": -0.01114976980087726, - "angularVelocity": 0.2319819376224105, - "velocityX": -3.0705911000280546, - "velocityY": 1.8761512303463848, + "x": 4.872523556080887, + "y": 4.789723852608043, + "heading": -0.14050214750591264, + "angularVelocity": 0.7003466092061806, + "velocityX": -3.070594254005464, + "velocityY": 1.8761446765010654, "moduleForcesX": [ - 0.8622448332670305, - -4.411287404645321, - 0.9222834338698482, - -4.358148158803499 + -1.5832342386744367, + -2.013821981304826, + -1.5224966281207268, + -1.953137305535568 ], "moduleForcesY": [ - -5.521457076099401, - -5.458389420804438, - -0.2448259389319355, - -0.1857656395246467 + -3.1341373831362542, + -3.0730690437082, + -2.7037619087302773, + -2.6427080671467866 ], - "timestamp": 1.235825360516039 + "timestamp": 1.2358255120385913 }, { - "x": 4.804223874419234, - "y": 4.831401147876171, - "heading": -0.006839300870148199, - "angularVelocity": 0.19385525654362926, - "velocityX": -3.071529287879592, - "velocityY": 1.8746149249953419, + "x": 4.804226043709187, + "y": 4.8314064730030815, + "heading": -0.1263588645788204, + "angularVelocity": 0.6360655929537297, + "velocityX": -3.0715427194598677, + "velocityY": 1.8745916909184601, "moduleForcesX": [ - 2.7538739550995257, - -3.853650112634323, - 2.8004504693666568, - -3.810336271686734 + 4.28946564897688, + -6.759703716931438, + 5.698532185988898, + -5.3610600563294195 ], "moduleForcesY": [ - -4.191310908046083, - -4.144886830718814, - 2.4185412064468275, - 2.463033929280286 + -7.10306683291309, + -5.696805947972641, + 3.952332432655044, + 5.355420800949736 ], - "timestamp": 1.2580608624445562 + "timestamp": 1.2580610850420206 }, { - "x": 4.735920561507559, - "y": 4.873073799193854, - "heading": -0.003615092292852145, - "angularVelocity": 0.14500273426078966, - "velocityX": -3.0718134059335873, - "velocityY": 1.87414934241886, + "x": 4.7359221342041415, + "y": 4.873078616974578, + "heading": -0.11512700083410211, + "angularVelocity": 0.5051303936708101, + "velocityX": -3.0718304176154274, + "velocityY": 1.874120534922506, "moduleForcesX": [ - 4.058801037496141, - -4.408827038768899, - 4.090193709307545, - -4.3790515409897495 + 9.804926634310165, + -12.735615232110854, + 12.41866260877025, + -10.134906193728058 ], "moduleForcesY": [ - -4.511501304942039, - -4.480371437955288, - 3.95738929485821, - 3.987548285571238 + -12.84309942551854, + -10.233582021268276, + 9.705993330269173, + 12.311223636152658 ], - "timestamp": 1.2802963643730734 + "timestamp": 1.28029665804545 }, { - "x": 4.6676158270823365, - "y": 4.914742933547374, - "heading": -0.0018016737226168214, - "angularVelocity": 0.08155509941107296, - "velocityX": -3.0718773358390727, - "velocityY": 1.8739911735510983, + "x": 4.667616700514436, + "y": 4.914746985738124, + "heading": -0.10848111434945133, + "angularVelocity": 0.29888532594261424, + "velocityX": -3.071898964743279, + "velocityY": 1.8739507525675534, "moduleForcesX": [ - 5.453169488765199, - -5.544860398862967, - 5.473444206062505, - -5.525509676393948 + 15.794211104212724, + -19.742086427115105, + 19.670581844292276, + -15.876844954973864 ], "moduleForcesY": [ - -5.598161406804016, - -5.578157913476396, - 5.4005090075631434, - 5.420142902397309 + -19.802243704724187, + -15.930482333374542, + 15.740528521206018, + 19.610416586564405 ], - "timestamp": 1.3025318663015906 + "timestamp": 1.3025322310488794 }, { - "x": 4.600973058735623, - "y": 4.955396750768275, - "heading": -0.0014870114576706482, - "angularVelocity": 0.01415134526568148, - "velocityX": -2.9971335282179647, - "velocityY": 1.8283291895812375, + "x": 4.600974027769729, + "y": 4.955400165325889, + "heading": -0.10715430180051834, + "angularVelocity": 0.059670715422011404, + "velocityX": -2.997119648521273, + "velocityY": 1.8282946691544864, "moduleForcesX": [ - 46.9965681341989, - 35.94870320361335, - 48.166687287225365, - 36.96117024202148 + 57.28718942159095, + 18.961759393072, + 65.52583323370585, + 26.377655962724752 ], "moduleForcesY": [ - -31.153857620211088, - -32.42705617824138, - -19.13133740338204, - -19.965853651960558 + -46.50101564302794, + -48.53772763348435, + -6.017030432231889, + -1.6087346581541238 ], - "timestamp": 1.3247673682301078 + "timestamp": 1.3247678040523088 }, { - "x": 4.539366004020569, - "y": 4.992978594024151, - "heading": -0.001229306975409843, - "angularVelocity": 0.011589775804894132, - "velocityX": -2.7706617513340817, - "velocityY": 1.6901729215152441, + "x": 4.539366935735094, + "y": 4.992981453780155, + "heading": -0.10605064738070613, + "angularVelocity": 0.04963462914322005, + "velocityX": -2.770654573423076, + "velocityY": 1.6901425678784678, "moduleForcesX": [ - 127.25143779949215, - 127.00019920275166, - 127.62690753749493, - 127.37862809334462 + 126.94597770627763, + 126.10297584884034, + 128.49287880626787, + 127.69864249228695 ], "moduleForcesY": [ - -77.79751332705194, - -78.1737883680453, - -77.15961283576976, - -77.53503874992407 + -78.37666147266584, + -79.59236787229398, + -75.74866777655278, + -76.93789348258782 ], - "timestamp": 1.347002870158625 + "timestamp": 1.3470033770557381 }, { - "x": 4.482854354412748, - "y": 5.02745208806284, - "heading": -0.001006868860087169, - "angularVelocity": 0.010003737088452926, - "velocityX": -2.541505462277911, - "velocityY": 1.5503807446987337, + "x": 4.482855198878393, + "y": 5.027454453263848, + "heading": -0.1050899767772636, + "angularVelocity": 0.04320422070051338, + "velocityX": -2.541501262323552, + "velocityY": 1.5503535473709684, "moduleForcesX": [ - 128.7801800055292, - 128.6277650423408, - 129.018504496516, - 128.86726811682004 + 128.5686261151599, + 128.04667811196126, + 129.58564094037285, + 129.0844290033957 ], "moduleForcesY": [ - -78.66590110232622, - -78.90442036881876, - -78.26801535993917, - -78.50621285777649 + -79.03743300278715, + -79.83628374002983, + -77.33740247497981, + -78.12532825297457 ], - "timestamp": 1.3692383720871422 + "timestamp": 1.3692389500591675 }, { - "x": 4.431458233022125, - "y": 5.058804970191635, - "heading": -0.0008124594534062391, - "angularVelocity": 0.008743198480786191, - "velocityX": -2.3114441740892437, - "velocityY": 1.4100370762753027, + "x": 4.431458968012331, + "y": 5.058806893744279, + "heading": -0.10424551942832437, + "angularVelocity": 0.03797776422532485, + "velocityX": -2.3114417091087915, + "velocityY": 1.4100127069176909, "moduleForcesX": [ - 129.2966612595165, - 129.17635509076803, - 129.48764275337825, - 129.36809049746944 + 129.12033660829192, + 128.70074149038646, + 129.95392739375555, + 129.5481891454527 ], "moduleForcesY": [ - -78.95916128105361, - -79.15026486232779, - -78.64216858600908, - -78.83306999868385 + -79.26131056415235, + -79.91681010008162, + -77.87544361428868, + -78.52373258635521 ], - "timestamp": 1.3914738740156594 + "timestamp": 1.391474523062597 }, { - "x": 4.385187732962006, - "y": 5.087031089846425, - "heading": -0.0006424673876264742, - "angularVelocity": 0.007645074364691939, - "velocityX": -2.080928967058069, - "velocityY": 1.269416797764683, + "x": 4.385188350139869, + "y": 5.087032620995214, + "heading": -0.1035039160476499, + "angularVelocity": 0.033352114674988886, + "velocityX": -2.080927613843227, + "velocityY": 1.2693950925655102, "moduleForcesX": [ - 129.55591992105371, - 129.45146610884112, - 129.72297454408783, - 129.61909646151975 + 129.39797569932037, + 129.02844434859125, + 130.1387480656699, + 129.78013207277573 ], "moduleForcesY": [ - -79.106353921978, - -79.27352766778002, - -78.82988164098808, - -78.99690249392809 + -79.37377678222988, + -79.95708067053462, + -78.14556977234983, + -78.72323700322325 ], - "timestamp": 1.4137093759441766 + "timestamp": 1.4137100960660263 }, { - "x": 4.344048917620275, - "y": 5.112126752109736, - "heading": -0.0004947303768269868, - "angularVelocity": 0.006644195002857733, - "velocityX": -1.8501410705268246, - "velocityY": 1.128630347270273, + "x": 4.34404941699805, + "y": 5.112127937900596, + "heading": -0.10285716786497852, + "angularVelocity": 0.029086193666861604, + "velocityX": -1.850140454463287, + "velocityY": 1.1286112078835366, "moduleForcesX": [ - 129.71173452831252, - 129.61671649197825, - 129.86436447395235, - 129.76982648519757 + 129.56507675400564, + 129.22516047391494, + 130.24984519480333, + 129.91924312365788 ], "moduleForcesY": [ - -79.19481294043023, - -79.347574129576, - -78.94265390716976, - -79.09528841455774 + -79.44137201559003, + -79.98129301682714, + -78.3078726157832, + -78.84301019844365 ], - "timestamp": 1.4359448778726938 + "timestamp": 1.4359456690694556 }, { - "x": 4.30804583148561, - "y": 5.134089492345461, - "heading": -0.00036780945968653236, - "angularVelocity": 0.00570803022789773, - "velocityX": -1.6191712807026988, - "velocityY": 0.9877330543889117, + "x": 4.308046218648705, + "y": 5.134090378356939, + "heading": -0.10229995199932605, + "angularVelocity": 0.025059658483572257, + "velocityX": -1.6191711517302603, + "velocityY": 0.9877164151764638, "moduleForcesX": [ - 129.81569571012, - 129.72693332405242, - 129.95868490821886, - 129.8703435237829 + 129.67667423314484, + 129.35630372537736, + 130.32398931278001, + 130.01193475205707 ], "moduleForcesY": [ - -79.25383245849626, - -79.39696771169525, - -79.01787549699489, - -79.16090014881851 + -79.48646432128947, + -79.99746920767701, + -78.41612764824622, + -78.9228798941575 ], - "timestamp": 1.458180379801211 + "timestamp": 1.458181242072885 }, { - "x": 4.2771813641825, - "y": 5.152917549670645, - "heading": -0.0002606783013755302, - "angularVelocity": 0.004818022937166338, - "velocityX": -1.3880715354360942, - "velocityY": 0.8467565690988327, + "x": 4.277181648700871, + "y": 5.1529181804318815, + "heading": -0.10182847202282391, + "angularVelocity": 0.02120385997830667, + "velocityX": -1.3880717147731485, + "velocityY": 0.8467423831191073, "moduleForcesX": [ - 129.88998503058448, - 129.80567294261806, - 130.0260777647227, - 129.9421468439595 + 129.7564715074086, + 129.44996231967133, + 130.3769832573186, + 130.07811113767573 ], "moduleForcesY": [ - -79.29600687759688, - -79.43225934195489, - -79.07161671692316, - -79.20776938298017 + -79.5186843660336, + -80.0090424618892, + -78.49346497433869, + -78.97993075845346 ], - "timestamp": 1.4804158817297282 + "timestamp": 1.4804168150763144 }, { - "x": 4.251457683125085, - "y": 5.168609603303916, - "heading": -0.00017256805840529138, - "angularVelocity": 0.003962592940492018, - "velocityX": -1.1568743147833098, - "velocityY": 0.705720684143811, + "x": 4.25145787755928, + "y": 5.16861002255607, + "heading": -0.1014398840192389, + "angularVelocity": 0.017475960863482038, + "velocityX": -1.156874668245571, + "velocityY": 0.7057089161484229, "moduleForcesX": [ - 129.94571396373354, - 129.8647297159341, - 130.07662960303063, - 129.99599793385985 + 129.81635559214615, + 129.52019310324377, + 130.416742483144, + 130.12772671095473 ], "moduleForcesY": [ - -79.32764509365916, - -79.45873159699714, - -79.1119253119969, - -79.24291974359889 + -79.54286159052201, + -80.01772984211864, + -78.55147186431859, + -79.02270752485245 ], - "timestamp": 1.5026513836582454 + "timestamp": 1.5026523880797438 }, { - "x": 4.230876474095848, - "y": 5.181164625961218, - "heading": -0.00010288131301070383, - "angularVelocity": 0.0031340306874392525, - "velocityX": -0.9256012792243521, - "velocityY": 0.5646385990143699, + "x": 4.23087659333383, + "y": 5.181164876831858, + "heading": -0.10113197817978152, + "angularVelocity": 0.013847443437139244, + "velocityX": -0.9256017023836997, + "velocityY": 0.5646292215563723, "moduleForcesX": [ - 129.98906277899536, - 129.91066136182133, - 130.11594952254262, - 130.0378792145017 + 129.86294325753974, + 129.5748087401744, + 130.44766989616497, + 130.1663119341695 ], "moduleForcesY": [ - -79.35225619250643, - -79.47932182464554, - -79.14327634760943, - -79.27025569165343 + -79.56168439313996, + -80.02448621102923, + -78.59659260974958, + -79.05595730453213 ], - "timestamp": 1.5248868855867626 + "timestamp": 1.5248879610831731 }, { - "x": 4.215439085675159, - "y": 5.190581795843094, - "heading": -0.00005114050254487852, - "angularVelocity": 0.002326945918835651, - "velocityX": -0.6942675937930252, - "velocityY": 0.4235195549959345, + "x": 4.2154391464677445, + "y": 5.190581920968391, + "heading": -0.1009029880226161, + "angularVelocity": 0.010298369964655253, + "velocityX": -0.694268003064429, + "velocityY": 0.4235125460937225, "moduleForcesX": [ - 130.02374250392748, - 129.9474044393417, - 130.14740514727228, - 130.071381500838 + 129.9002099274142, + 129.61849761010185, + 130.472409638987, + 130.19718488252792 ], "moduleForcesY": [ - -79.37194729295379, - -79.4957935020435, - -79.16835634782939, - -79.29212074968046 + -79.5767681218038, + -80.02988522212851, + -78.63269613553649, + -79.08252803833966 ], - "timestamp": 1.5471223875152798 + "timestamp": 1.5471235340866025 }, { - "x": 4.2051466211850315, - "y": 5.1968604406058825, - "heading": -0.000016955142455002804, - "angularVelocity": 0.0015374224607015848, - "velocityX": -0.46288428852294927, - "velocityY": 0.2823702735818858, + "x": 4.205146641807889, + "y": 5.196860482219538, + "heading": -0.10075146914342466, + "angularVelocity": 0.006814255659977125, + "velocityX": -0.4628846154883643, + "velocityY": 0.2823656152318348, "moduleForcesX": [ - 130.0521159469605, - 129.97746478199866, - 130.1731404516084, - 130.098790370483 + 129.93068788822578, + 129.65424329282206, + 130.49264551827898, + 130.22245681089385 ], "moduleForcesY": [ - -79.38806002467233, - -79.50926932883868, - -79.18887549227357, - -79.31000655483088 + -79.58914180319016, + -80.03429243710616, + -78.66224530027024, + -79.10423175184549 ], - "timestamp": 1.569357889443797 + "timestamp": 1.569359107090032 }, { "x": 4.2, "y": 5.2, - "heading": 2.8328531583825156e-20, - "angularVelocity": 0.0007625257351738824, - "velocityX": -0.2314596361069011, - "velocityY": 0.14119579599384477, + "heading": -0.1006762184795864, + "angularVelocity": 0.0033842466675648953, + "velocityX": -0.2314598237290449, + "velocityY": 0.1411934731782533, "moduleForcesX": [ - 130.07575889413536, - 130.00251324554137, - 130.1945851914263, - 130.1216297374448 + 129.9560665658062, + 129.68403471542578, + 130.50950069278474, + 130.24353501334008 ], "moduleForcesY": [ - -79.40148915639179, - -79.5204980125326, - -79.20597412632327, - -79.3249076390574 + -79.59949199039627, + -80.03795191381815, + -78.6868822679072, + -79.12227624241693 ], - "timestamp": 1.5915933913723141 + "timestamp": 1.5915946800934613 }, { "x": 4.2, "y": 5.2, - "heading": 1.4103371199895506e-20, - "angularVelocity": -5.477228070678741e-21, - "velocityX": -3.7950839399934564e-20, - "velocityY": -5.90151052202765e-20, + "heading": -0.1006762184795864, + "angularVelocity": -8.513559946790838e-22, + "velocityX": 1.3479126293227626e-21, + "velocityY": 3.2050949350711848e-21, "moduleForcesX": [ - 130.09576256078142, - 130.02370669397874, - 130.21272941748146, - 130.1409546907874 + 129.97751622250743, + 129.70924866709143, + 130.52375309198518, + 130.2613936110417 ], "moduleForcesY": [ - -79.41285431957705, - -79.52999801951783, - -79.22044180421359, - -79.33751255707939 + -79.60829426953454, + -80.04103286601915, + -78.70774396573493, + -79.13749752637258 ], - "timestamp": 1.6138288933008313 + "timestamp": 1.6138302530968907 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f4 to shoot2.traj b/src/main/deploy/choreo/f4 to shoot2.traj index d7305fd..2ea6bfb 100644 --- a/src/main/deploy/choreo/f4 to shoot2.traj +++ b/src/main/deploy/choreo/f4 to shoot2.traj @@ -3,10 +3,10 @@ { "x": 8.146272659301758, "y": 2.5416696071624756, - "heading": -0.3602857968918242, - "angularVelocity": -1.0745537487259938e-20, - "velocityX": -2.518497705941496e-19, - "velocityY": -1.7245903998316117e-20, + "heading": -0.35718839589958584, + "angularVelocity": -6.803075103828338e-24, + "velocityX": -3.834035677732325e-23, + "velocityY": -4.2655376688643334e-23, "moduleForcesX": [ 0, 0, @@ -22,1264 +22,1264 @@ "timestamp": 0 }, { - "x": 8.136096469353628, - "y": 2.549106019202484, - "heading": -0.3602490718261665, - "angularVelocity": 0.0011425651783751652, - "velocityX": -0.3165946765526914, - "velocityY": 0.23135657613699906, + "x": 8.136096469255905, + "y": 2.5491060207108256, + "heading": -0.3571661974175566, + "angularVelocity": 0.0006906240874998994, + "velocityX": -0.31659470928687494, + "velocityY": 0.2313566447627725, "moduleForcesX": [ - -123.06504366568878, - -123.02139035572398, - -123.22037238702718, - -123.17706885533495 + -123.08735375321601, + -123.06071963548085, + -123.18120263290048, + -123.15469635315549 ], "moduleForcesY": [ - 90.04955880529255, - 90.10859784684727, - 89.83673208921417, - 89.89550620893729 + 90.0189148792037, + 90.05496579675288, + 89.89034995753235, + 89.92630482337871 ], - "timestamp": 0.03214264389703349 + "timestamp": 0.03214264088232743 }, { - "x": 8.11574577486022, - "y": 2.563977611653643, - "heading": -0.3601747952365552, - "angularVelocity": 0.0023108425632092423, - "velocityX": -0.6331369180025249, - "velocityY": 0.4626748346774745, + "x": 8.115745774443306, + "y": 2.5639776162636747, + "heading": -0.35712130248754087, + "angularVelocity": 0.0013967405534631777, + "velocityX": -0.6331369873154291, + "velocityY": 0.462674974570173, "moduleForcesX": [ - -123.0434355967206, - -122.99875546308593, - -123.2022162680416, - -123.15790167923356 + -123.06623219006278, + -123.03897758016932, + -123.1621616747151, + -123.13504064589385 ], "moduleForcesY": [ - 90.03638131301248, - 90.09673181130734, - 89.81880132246424, - 89.87887495791746 + 90.0050507551931, + 90.0418953714628, + 89.87362182282492, + 89.91036606469225 ], - "timestamp": 0.06428528779406698 + "timestamp": 0.06428528176465487 }, { - "x": 8.085222743533151, - "y": 2.586282800433951, - "heading": -0.36006190368394986, - "angularVelocity": 0.0035122049376816577, - "velocityX": -0.9496117190870611, - "velocityY": 0.6939438103413045, + "x": 8.085222742415418, + "y": 2.586282809849173, + "heading": -0.3570530703547609, + "angularVelocity": 0.0021227917466318403, + "velocityX": -0.9496118299561199, + "velocityY": 0.6939440249217846, "moduleForcesX": [ - -123.01564778884216, - -122.96964072641977, - -123.17886664453725, - -123.13324591638336 + -123.03906803487567, + -123.01101251084259, + -123.13767285906486, + -123.10975848804657 ], "moduleForcesY": [ - 90.0194308465013, - 90.08147163050486, - 89.79573798869718, - 89.85748617783366 + 89.9872187352331, + 90.02508509744662, + 89.85210622190067, + 89.88986651260632 ], - "timestamp": 0.09642793169110046 + "timestamp": 0.0964279226469823 }, { - "x": 8.044530266888996, - "y": 2.616019472532202, - "heading": -0.35990897774865827, - "angularVelocity": 0.004757727328886318, - "velocityX": -1.265996561283005, - "velocityY": 0.925147047440559, + "x": 8.04453026447322, + "y": 2.616019488604275, + "heading": -0.3569606457734606, + "angularVelocity": 0.0028754507645693235, + "velocityX": -1.265996720405518, + "velocityY": 0.9251473413142052, "moduleForcesX": [ - -122.97858535293801, - -122.93080158540018, - -123.14772298381364, - -123.10035417672329 + -123.00283565038058, + -122.97370831481224, + -123.10500855636195, + -123.07603279893415 ], "moduleForcesY": [ - 89.99682099660788, - 90.06111682172907, - 89.7649732929712, - 89.82895486446012 + 89.96343327913132, + 90.0026620539759, + 89.82340643089086, + 89.86252128980769 ], - "timestamp": 0.12857057558813395 + "timestamp": 0.12857056352930973 }, { - "x": 7.993672395152897, - "y": 2.6531846681966442, - "heading": -0.35971402738023345, - "angularVelocity": 0.006065162811414525, - "velocityX": -1.5822553956374017, - "velocityY": 1.1562582027593544, + "x": 7.993672390536357, + "y": 2.6531846929873755, + "heading": -0.35684282967097025, + "angularVelocity": 0.0036654145165509384, + "velocityX": -1.5822556125070788, + "velocityY": 1.1562585824593639, "moduleForcesX": [ - -122.92667548791526, - -122.87639414368363, - -123.1041027668734, - -123.05427820202537 + -122.95208666724876, + -122.92145277337572, + -123.0592571095666, + -123.0287900216286 ], "moduleForcesY": [ - 89.9651554274929, - 90.0326051654772, - 89.72188113854125, - 89.78898496880375 + 89.93011920289005, + 89.97125343047745, + 89.78320622333678, + 89.82421507103362 ], - "timestamp": 0.16071321948516742 + "timestamp": 0.16071320441163717 }, { - "x": 7.932655207540108, - "y": 2.69777394496543, - "heading": -0.35947406149270655, - "angularVelocity": 0.0074656549192295965, - "velocityX": -1.8983250975917867, - "velocityY": 1.387231147249894, + "x": 7.932655199353589, + "y": 2.697773980858521, + "heading": -0.3566978198083463, + "angularVelocity": 0.004511448301799372, + "velocityX": -1.8983253867082432, + "velocityY": 1.387231622765059, "moduleForcesX": [ - -122.84876869523828, - -122.7947220957611, - -123.0386375908397, - -122.98511431121692 + -122.87591970285536, + -122.84301410306959, + -122.99059097690268, + -122.95787640906512 ], "moduleForcesY": [ - 89.91763988249625, - 89.98980890000963, - 89.6572045884285, - 89.72897728129809 + 89.88012356165643, + 89.9241099343799, + 89.72286858223485, + 89.76671131944485 ], - "timestamp": 0.1928558633822009 + "timestamp": 0.1928558452939646 }, { - "x": 7.861488844099484, - "y": 2.749779892873853, - "heading": -0.35918408042128047, - "angularVelocity": 0.009021693186003791, - "velocityX": -2.2140793292742655, - "velocityY": 1.6179735579575156, + "x": 7.861488830173425, + "y": 2.749779942804573, + "heading": -0.3565226036812534, + "angularVelocity": 0.005451205074728771, + "velocityX": -2.214079715500069, + "velocityY": 1.6179741464443826, "moduleForcesX": [ - -122.71884278330317, - -122.65847158425117, - -122.92946017983006, - -122.86973335590639 + -122.74888837760346, + -122.71216579876483, + -122.87606916885171, + -122.8395816862458 ], "moduleForcesY": [ - 89.83841836981522, - 89.91842010460293, - 89.54933407893087, - 89.62884761298741 + 89.79675052770294, + 89.84547310434468, + 89.62223012536384, + 89.67077580891507 ], - "timestamp": 0.22499850727923437 + "timestamp": 0.22499848617629203 }, { - "x": 7.780193604230848, - "y": 2.8091876778848563, - "heading": -0.35883404043765366, - "angularVelocity": 0.010890205072992166, - "velocityX": -2.5292020198767817, - "velocityY": 1.8482544622479, + "x": 7.780193580710889, + "y": 2.8091877459553896, + "heading": -0.35631112944757093, + "angularVelocity": 0.006579242647069844, + "velocityX": -2.529202555575733, + "velocityY": 1.8482551999478074, "moduleForcesX": [ - -122.45884208658849, - -122.38563372395392, - -122.71095615387783, - -122.63867218579807 + -122.49464525206659, + -122.450174708773, + -122.64684811652924, + -122.60271456423307 ], "moduleForcesY": [ - 89.67992789815467, - 89.77547633650862, - 89.33343260311402, - 89.42827969450236 + 89.62990620878611, + 89.68803350156905, + 89.42078462785584, + 89.4786579025201 ], - "timestamp": 0.25714115117626785 + "timestamp": 0.25714112705861947 }, { - "x": 7.68883041769496, - "y": 2.875952774825798, - "heading": -0.35839358843434443, - "angularVelocity": 0.013703042124355424, - "velocityX": -2.8424291053579696, - "velocityY": 2.077150129739205, + "x": 7.688830374979936, + "y": 2.875952869142524, + "heading": -0.3560451073038538, + "angularVelocity": 0.008276300155018216, + "velocityX": -2.842429969131302, + "velocityY": 2.0771511411137005, "moduleForcesX": [ - -121.67941448644659, - -121.566231470422, - -122.05542002980185, - -121.94429952306598 + -121.73210880793549, + -121.66353534311818, + -121.95904997835672, + -121.89122742115315 ], "moduleForcesY": [ - 89.20478073771356, - 89.34596517063635, - 88.68596660609488, - 88.82557692346678 + 89.12946820653616, + 89.21519573739569, + 88.81646337375159, + 88.90162123472918 ], - "timestamp": 0.2892837950733013 + "timestamp": 0.2892837679409469 }, { - "x": 7.59543466945207, - "y": 2.9442031932964894, - "heading": -0.35332582211321417, - "angularVelocity": 0.15766488710027904, - "velocityX": -2.9056647779810096, - "velocityY": 2.123360439463065, + "x": 7.5954346416937, + "y": 2.944203293635426, + "heading": -0.35297869481990085, + "angularVelocity": 0.09540014136296197, + "velocityX": -2.90566458518928, + "velocityY": 2.1233608259745393, "moduleForcesX": [ - -29.248872972220163, - -13.423501853358983, - -35.70399389576315, - -19.99088573602437 + -27.405736857488268, + -17.838296663220355, + -31.323975167365713, + -21.79761143859291 ], "moduleForcesY": [ - 28.809314250356852, - 23.756849232152433, - 12.569521059273681, - 6.747496368740438 + 24.572633417644525, + 21.428596448034337, + 14.653430981686121, + 11.22755478950533 ], - "timestamp": 0.3214264389703348 + "timestamp": 0.32142640882327433 }, { - "x": 7.5020387698053295, - "y": 3.0124537237033246, - "heading": -0.3449236675996103, - "angularVelocity": 0.261402096869179, - "velocityX": -2.9056694883545506, - "velocityY": 2.123363921943138, + "x": 7.502038757325121, + "y": 3.0124538286619114, + "heading": -0.3479036601316385, + "angularVelocity": 0.15789103038676267, + "velocityX": -2.9056692855604864, + "velocityY": 2.1233642648202795, "moduleForcesX": [ - -3.7523266199646392, - 7.954914750928709, - -7.958577594937844, - 3.748662167632037 + -2.2468180105077424, + 4.797996787569584, + -4.801652306569902, + 2.243161791770455 ], "moduleForcesY": [ - 7.958092929807755, - 3.7518562536765385, - -3.749132541305897, - -7.955399415013542 + 4.80115916269169, + 2.246329963325835, + -2.2436498435767525, + -4.798489930853682 ], - "timestamp": 0.35356908286736827 + "timestamp": 0.35356904970560177 }, { - "x": 7.408642869516068, - "y": 3.0807042519520493, - "heading": -0.3343176222912936, - "angularVelocity": 0.32996804314829714, - "velocityX": -2.90566950834977, - "velocityY": 2.1233638548008944, + "x": 7.40864287284743, + "y": 3.0807043630989184, + "heading": -0.34151209702071034, + "angularVelocity": 0.1988499680013025, + "velocityX": -2.9056692889550915, + "velocityY": 2.123364246480819, "moduleForcesX": [ - -2.53456488678924, - 5.232481049985871, - -5.232496528557727, - 2.534549261480311 + -1.4915318481390096, + 3.1365196385655643, + -3.1365222722453105, + 1.4915292012866739 ], "moduleForcesY": [ - 5.232462692848136, - 2.5345309484661276, - -2.5345831998035244, - -5.232514885694545 + 3.136513825144002, + 1.4915233908533168, + -1.4915376585723443, + -3.1365280856668516 ], - "timestamp": 0.38571172676440174 + "timestamp": 0.3857116905879292 }, { - "x": 7.3152469670598785, - "y": 3.1489547762092758, - "heading": -0.32226702367076615, - "angularVelocity": 0.374909999909486, - "velocityX": -2.905669575762591, - "velocityY": 2.123363730623268, + "x": 7.315246987161921, + "y": 3.1489548955294207, + "heading": -0.3342764369632082, + "angularVelocity": 0.22511093858129305, + "velocityX": -2.9056693265318794, + "velocityY": 2.123364184055805, "moduleForcesX": [ - -1.702524643420085, - 3.4093715946624865, - -3.409423959497382, - 1.7024721431709058 + -0.9708404869494299, + 2.004005070985987, + -2.0040342856175783, + 0.9708112484060439 ], "moduleForcesY": [ - 3.4093494904792987, - 1.7024500966559644, - -1.7025466899331962, - -3.4094460636803157 + 2.0039954025056392, + 0.9708015903584727, + -0.9708501449966945, + -2.0040439540979156 ], - "timestamp": 0.4178543706614352 + "timestamp": 0.41785433147025663 }, { - "x": 7.22185105583351, - "y": 3.2172052877266277, - "heading": -0.3092826831153518, - "angularVelocity": 0.4039599417213056, - "velocityX": -2.905669848614098, - "velocityY": 2.1233633342649023, + "x": 7.221851093684164, + "y": 3.217205417059578, + "heading": -0.3265272105420634, + "angularVelocity": 0.24108866628334372, + "velocityX": -2.905669568959042, + "velocityY": 2.1233638449316996, "moduleForcesX": [ - -1.1291019405510807, - 2.189213465124858, - -2.1894255869848616, - 1.1288896239170743 + -0.6001959070969084, + 1.21457971685515, + -1.2147682470714265, + 0.6000073258559347 ], "moduleForcesY": [ - 2.1891653864317404, - 1.1288416410766866, - -1.1291499233767037, - -2.189473665679626 + 1.2145420998937115, + 0.5999697335759455, + -0.6002334993708399, + -1.2148058640336519 ], - "timestamp": 0.4499970145584687 + "timestamp": 0.44999697235258407 }, { - "x": 7.128455093767032, - "y": 3.2854557291779836, - "heading": -0.29571246186407146, - "angularVelocity": 0.4221874620753502, - "velocityX": -2.9056714303155027, - "velocityY": 2.1233611544243325, + "x": 7.128455150154725, + "y": 3.285455869966208, + "heading": -0.3185082014617998, + "angularVelocity": 0.24948196103801262, + "velocityX": -2.9056711261329387, + "velocityY": 2.123361709963155, "moduleForcesX": [ - -0.7275844410413829, - 1.3633444146812341, - -1.3645744205631036, - 0.726354006192971 + -0.3209528773764481, + 0.6349290651756393, + -0.6361401639266485, + 0.3197416893245451 ], "moduleForcesY": [ - 1.3631116923537125, - 0.7261215059649009, - -0.7278169409826798, - -1.3648071429410968 + 0.6347043435828209, + 0.31951701200248567, + -0.32117755457113484, + -0.6363648855395496 ], - "timestamp": 0.48213965845550216 + "timestamp": 0.4821396132349115 }, { - "x": 7.035058808720538, - "y": 3.3537057283514544, - "heading": -0.28180092189401484, - "angularVelocity": 0.43280633710845756, - "velocityX": -2.9056814786511067, - "velocityY": 2.1233473945704735, + "x": 7.035058884014051, + "y": 3.3537058813640774, + "heading": -0.3104174820937953, + "angularVelocity": 0.2517129627781421, + "velocityX": -2.905681162994435, + "velocityY": 2.1233479740426113, "moduleForcesX": [ - -0.438434005349309, - 0.7847310614013094, - -0.7925460256020564, - 0.4306181215770146 + -0.09041797398072267, + 0.16433225374208957, + -0.1721387337863936, + 0.08261145331820727 ], "moduleForcesY": [ - 0.7832874389166379, - 0.42917498581669855, - -0.4398771344549223, - -0.793989649395888 + 0.16289371096011215, + 0.08117293023446857, + -0.09185649566347615, + -0.17357727680345786 ], - "timestamp": 0.5142823023525357 + "timestamp": 0.5142822541172389 }, { - "x": 6.941660444150244, - "y": 3.4219528815797027, - "heading": -0.26773191992221884, - "angularVelocity": 0.4377051874408642, - "velocityX": -2.9057461753778435, - "velocityY": 2.123258853468348, + "x": 6.941660537278974, + "y": 3.421953045551752, + "heading": -0.30244092718791094, + "angularVelocity": 0.24816115561525146, + "velocityX": -2.905745893033585, + "velocityY": 2.1232593935739152, "moduleForcesX": [ - -0.23072074870199893, - 0.33581003231107065, - -0.386129414150487, - 0.18040011016189633 + 0.1146923452700671, + -0.29190050202592277, + 0.24155490914652697, + -0.16503860186697292 ], "moduleForcesY": [ - 0.32653682728916544, - 0.17112751689003508, - -0.2399932151861948, - -0.39540264605323294 + -0.30117590990631987, + -0.1743136147262733, + 0.10541723977859715, + 0.23227951757600634 ], - "timestamp": 0.5464249462495692 + "timestamp": 0.5464248949995664 }, { - "x": 6.848248671337322, - "y": 3.4901816814065594, - "heading": -0.25366097290966344, - "angularVelocity": 0.4377657002215085, - "velocityX": -2.9061633234710005, - "velocityY": 2.122687854972637, + "x": 6.848248774042962, + "y": 3.490181845195757, + "heading": -0.29478371738264997, + "angularVelocity": 0.23822590786157335, + "velocityX": -2.906163298093275, + "velocityY": 2.122688048371251, "moduleForcesX": [ - -0.16482701171788813, - -0.15780264802136593, - -0.16664802076736582, - -0.15962365830830882 + 0.2346074297269557, + -0.9053995113165785, + 0.5807656855617193, + -0.5592747320560182 ], "moduleForcesY": [ - -0.21763375005571528, - -0.2194547994684859, - -0.2246580879477113, - -0.22647913751426388 + -0.9652752293584578, + -0.6191266486360717, + 0.17474474961535058, + 0.5208919445285582 ], - "timestamp": 0.5785675901466026 + "timestamp": 0.5785675358818938 }, { - "x": 6.754750521187146, - "y": 3.558292059995686, - "heading": -0.23974278403723234, - "angularVelocity": 0.4330131932213453, - "velocityX": -2.908850636233242, - "velocityY": 2.1190036142414814, + "x": 6.754750593503594, + "y": 3.558292168877115, + "heading": -0.28770490292677836, + "angularVelocity": 0.220231264810715, + "velocityX": -2.90885185450878, + "velocityY": 2.119002104733907, "moduleForcesX": [ - -0.8358906335286197, - -1.3895165963417062, - -0.7006049961934422, - -1.2542798041287426 + -0.317090486140964, + -2.3860849687524217, + 0.2953252527060545, + -1.7743768048407933 ], "moduleForcesY": [ - -1.7772527789252621, - -1.6418568008261916, - -1.2236790767460808, - -1.0882905026375862 + -2.7742235636875465, + -2.161660865238974, + -0.7051841680208603, + -0.0926600827183377 ], - "timestamp": 0.6107102340436361 + "timestamp": 0.6107101767642212 }, { "x": 6.660732269287109, "y": 3.6256182193756104, - "heading": -0.22615519033777107, - "angularVelocity": 0.42272794182669354, - "velocityX": -2.925031686916243, - "velocityY": 2.0946055214246604, + "heading": -0.2815511117895859, + "angularVelocity": 0.19145256793681517, + "velocityX": -2.925034211117911, + "velocityY": 2.0946023304361443, "moduleForcesX": [ - -5.825546398641265, - -7.030805894757506, - -5.553804891356853, - -6.76053309018896 + -5.104426544991621, + -8.425903271858951, + -4.154652417197757, + -7.4877418560063 ], "moduleForcesY": [ - -10.228296821465424, - -9.946084420946445, - -9.030245655153468, - -8.748213719681651 + -11.627337110859457, + -10.653497766569629, + -8.324161908854833, + -7.350463045235389 ], - "timestamp": 0.6428528779406696 + "timestamp": 0.6428528176465487 }, { - "x": 6.582074320245892, - "y": 3.67833861515236, - "heading": -0.21528174145787884, - "angularVelocity": 0.4132301672329048, - "velocityX": -2.9892849817510876, - "velocityY": 2.0035646650896783, + "x": 6.58207462967442, + "y": 3.6783390830561413, + "heading": -0.27713844228438766, + "angularVelocity": 0.16769731320735076, + "velocityX": -2.989273230352088, + "velocityY": 2.003582452477083, "moduleForcesX": [ - -29.87908098495652, - -31.32260789597221, - -29.719786051141266, - -31.171340618698082 + -29.040645166131586, + -32.60395395572433, + -28.402662732895102, + -32.018427814010195 ], "moduleForcesY": [ - -44.10331963256774, - -43.66444880048413, - -42.832820474864334, - -42.39341098986325 + -45.43472723947521, + -44.146739946186194, + -42.33485123604224, + -41.03781925180775 ], - "timestamp": 0.6691661767801604 + "timestamp": 0.6691661164156364 }, { - "x": 6.502998288382309, - "y": 3.730429851125363, - "heading": -0.20463195199620696, - "angularVelocity": 0.40473030487871436, - "velocityX": -3.0051736327679723, - "velocityY": 1.9796543295751612, + "x": 6.502998879099001, + "y": 3.7304307523279796, + "heading": -0.2732839303453757, + "angularVelocity": 0.14648531804534412, + "velocityX": -3.0051629508465547, + "velocityY": 1.9796708017861422, "moduleForcesX": [ - -7.05831037610595, - -8.282165122789658, - -6.812593397968463, - -8.038225463080394 + -6.457091020173221, + -9.45878795214291, + -5.632245481224577, + -8.64520218692986 ], "moduleForcesY": [ - -12.095897437934052, - -11.834558408590883, - -10.88226580136967, - -10.621215883785098 + -13.276436333260367, + -12.418268096720743, + -10.2998105483761, + -9.441921746619366 ], - "timestamp": 0.6954794756196513 + "timestamp": 0.6954794151847241 }, { - "x": 6.423827122647484, - "y": 3.7823763844056675, - "heading": -0.19414472447658124, - "angularVelocity": 0.3985523663755355, - "velocityX": -3.00878906205422, - "velocityY": 1.974155106783613, + "x": 6.423827962385086, + "y": 3.7823776714175734, + "heading": -0.26983011980827126, + "angularVelocity": 0.13125722348282343, + "velocityX": -3.0087796064142194, + "velocityY": 1.9741697742063322, "moduleForcesX": [ - -1.3605947159883434, - -2.24866871364941, - -1.18620646348506, - -2.0744959524775988 + -0.9400836415081342, + -3.089960191773399, + -0.34552103882882884, + -2.496731147104689 ], "moduleForcesY": [ - -3.1437176493360783, - -2.9687906910532558, - -2.2559444563698885, - -2.0810594918619185 + -3.98561105989949, + -3.3902298197622533, + -1.836213602989754, + -1.2408872562089655 ], - "timestamp": 0.7217927744591421 + "timestamp": 0.7217927139538118 }, { - "x": 6.344634346688931, - "y": 3.83428996701651, - "heading": -0.18377466764954056, - "angularVelocity": 0.3940994586158583, - "velocityX": -3.009610328283926, - "velocityY": 1.9729028628266356, + "x": 6.344635425111529, + "y": 3.834291624382508, + "heading": -0.266656044011024, + "angularVelocity": 0.1206262971853653, + "velocityX": -3.0096012654479365, + "velocityY": 1.972916942892845, "moduleForcesX": [ - -0.12908653352676763, - -0.7703773098176167, - -0.009886768501030025, - -0.6512029217797858 + 0.1555983604640381, + -1.346570991009149, + 0.5659949680069027, + -0.936322273527616 ], "moduleForcesY": [ - -0.9751226383808044, - -0.8559093477811426, - -0.3338322710281372, - -0.21462446563368587 + -1.551441120858391, + -1.141062212517814, + -0.049236706891036514, + 0.36113522807459164 ], - "timestamp": 0.748106073298633 + "timestamp": 0.7481060127228996 }, { - "x": 6.265436657374759, - "y": 3.8861960537648006, - "heading": -0.17348992282248102, - "angularVelocity": 0.39085729576499406, - "velocityX": -3.0097970534698915, - "velocityY": 1.9726179930883219, + "x": 6.265437971749186, + "y": 3.886198077355177, + "heading": -0.2636716830747281, + "angularVelocity": 0.11341645008043662, + "velocityX": -3.009788094504634, + "velocityY": 1.9726319162098973, "moduleForcesX": [ - 0.10420341832743245, - -0.3635906302680396, - 0.18618643613251698, - -0.2816106583339923 + 0.2834303554028191, + -0.7361890309719591, + 0.558692361135776, + -0.4609424937299067 ], "moduleForcesY": [ - -0.41021479856029297, - -0.3282320520047196, - 0.05758054678683605, - 0.13956256977739123 + -0.7828415768479279, + -0.5075850409059524, + 0.23678447097176958, + 0.5120401883028008 ], - "timestamp": 0.7744193721381238 + "timestamp": 0.7744193114919873 }, { - "x": 6.18623785068603, - "y": 3.938100435670245, - "heading": -0.16326853160810126, - "angularVelocity": 0.38844963061186116, - "velocityX": -3.009839517722007, - "velocityY": 1.972553202928159, + "x": 6.186239400295341, + "y": 3.938102824373582, + "heading": -0.2608081960797146, + "angularVelocity": 0.10882280553806872, + "velocityX": -3.009830586003378, + "velocityY": 1.9725670838116756, "moduleForcesX": [ - 0.12516109274299025, - -0.22283268172213164, - 0.18248801385321226, - -0.1655061406997868 + 0.21812692710949214, + -0.43201135872390917, + 0.39164132785276445, + -0.25849838577331313 ], "moduleForcesY": [ - -0.2334386175613659, - -0.17611180282236025, - 0.1145553739726048, - 0.17188209018688447 + -0.4426246746281852, + -0.2691108846494665, + 0.20751431826446415, + 0.3810280245513949 ], - "timestamp": 0.8007326709776147 + "timestamp": 0.800732610261075 }, { - "x": 6.107038789912459, - "y": 3.9900044299320476, - "heading": -0.15309585928908356, - "angularVelocity": 0.38659813735519116, - "velocityX": -3.009849173859949, - "velocityY": 1.9725384710755243, + "x": 6.107040574533406, + "y": 3.990007183375928, + "heading": -0.2580102384849567, + "angularVelocity": 0.10633245262448467, + "velocityX": -3.009840250625513, + "velocityY": 1.972552337805798, "moduleForcesX": [ - 0.10875391061039971, - -0.15928783494068832, - 0.15011366102610835, - -0.11792813535298781 + 0.12522946818639863, + -0.2274921993451319, + 0.21830998695189685, + -0.13441177599215065 ], "moduleForcesY": [ - -0.16169904415715822, - -0.12033931063448154, - 0.1063427330809989, - 0.14770245231681728 + -0.22990611065569516, + -0.13682563480944512, + 0.12281560628593319, + 0.21589607600346533 ], - "timestamp": 0.8270459698171055 + "timestamp": 0.8270459090301627 }, { - "x": 6.027839671395653, - "y": 4.041908336130193, - "heading": -0.1429628771606607, - "angularVelocity": 0.3850897673542686, - "velocityX": -3.009851368310545, - "velocityY": 1.9725351243398568, + "x": 6.027841690924591, + "y": 4.041911454117301, + "heading": -0.2552297811398612, + "angularVelocity": 0.10566738019035023, + "velocityX": -3.0098424490150477, + "velocityY": 1.9725489835713315, "moduleForcesX": [ - 0.09256623246457578, - -0.12613159097477683, - 0.12404666939173113, - -0.0946511616665526 + 0.033790877984933784, + -0.06047556273037291, + 0.058386895759955336, + -0.03587954650266661 ], "moduleForcesY": [ - -0.12667898068409786, - -0.09519854635268504, - 0.09201884768389032, - 0.1234992797047832 + -0.0610246414577372, + -0.036428624378500085, + 0.03324180006651111, + 0.057837817037713714 ], - "timestamp": 0.8533592686565964 + "timestamp": 0.8533592077992505 }, { - "x": 5.948640539775223, - "y": 4.093812222373882, - "heading": -0.1328651041577258, - "angularVelocity": 0.38375169394497205, - "velocityX": -3.0098518662953846, - "velocityY": 1.972534365998576, + "x": 5.948642794137703, + "y": 4.093815704741844, + "heading": -0.25242074794869973, + "angularVelocity": 0.10675336512582938, + "velocityX": -3.0098429498292076, + "velocityY": 1.972548219059436, "moduleForcesX": [ - 0.08391987041769212, - -0.11035883414038411, - 0.10988570443896967, - -0.08439300146939306 + -0.05739208285371082, + 0.09664612148171403, + -0.09712193949824757, + 0.056916263897359015 ], "moduleForcesY": [ - -0.11048251560395049, - -0.08451668203485704, - 0.08379618984786812, - 0.10976202297648692 + 0.0965208529485974, + 0.056790995867478815, + -0.05751735087998036, + -0.0972472080318071 ], - "timestamp": 0.8796725674960872 + "timestamp": 0.8796725065683382 }, { - "x": 5.869441405126993, - "y": 4.145716104036956, - "heading": -0.12280208294959341, - "angularVelocity": 0.3824310007466585, - "velocityX": -3.0098519813627, - "velocityY": 1.9725341919189148, + "x": 5.869443894253057, + "y": 4.145719950614997, + "heading": -0.2495338720337796, + "angularVelocity": 0.10971166862254304, + "velocityX": -3.0098430675551655, + "velocityY": 1.9725480384895655, "moduleForcesX": [ - 0.08409821202831282, - -0.10790519803129357, - 0.10779587388482034, - -0.08420753647499696 + -0.15650938453261481, + 0.26341279567532744, + -0.26352464509953055, + 0.15639753346402366 ], "moduleForcesY": [ - -0.1079332316500991, - -0.08423556989071378, - 0.08407017861236843, - 0.10776784026607512 + 0.263382941547865, + 0.15636768022328112, + -0.15653923777281012, + -0.26355449922705937 ], - "timestamp": 0.9059858663355781 + "timestamp": 0.9059858053374259 }, { - "x": 5.790242269391937, - "y": 4.1976199840850725, - "heading": -0.11277732881991177, - "angularVelocity": 0.3809767141258825, - "velocityX": -3.009852022665962, - "velocityY": 1.9725341305445478, + "x": 5.790244993201206, + "y": 4.197624194662572, + "heading": -0.24651119455100304, + "angularVelocity": 0.11487261666817568, + "velocityX": -3.0098431119131153, + "velocityY": 1.972547969110972, "moduleForcesX": [ - 0.0938315187677691, - -0.11784477337657623, - 0.11780553162728034, - -0.09387076064479073 + -0.27435214104528816, + 0.4587897014772145, + -0.45883184456177833, + 0.2743099960484123 ], "moduleForcesY": [ - -0.11785430809786854, - -0.0938802952776739, - 0.09382198413486942, - 0.11779599690599342 + 0.45877781503194653, + 0.2742981106318746, + -0.2743640264616864, + -0.45884373100706105 ], - "timestamp": 0.932299165175069 + "timestamp": 0.9322991041065136 }, { - "x": 5.711043131449483, - "y": 4.249523860817315, - "heading": -0.1027987452849091, - "angularVelocity": 0.37922206546093973, - "velocityX": -3.0098521065550288, - "velocityY": 1.9725340045295885, + "x": 5.711046089813258, + "y": 4.249528435072955, + "heading": -0.2432795898320745, + "angularVelocity": 0.12281260313605828, + "velocityX": -3.0098432006932416, + "velocityY": 1.9725478308846605, "moduleForcesX": [ - 0.11460779231653198, - -0.14106311773260916, - 0.14098341576499887, - -0.11468749466236929 + -0.4243723845830821, + 0.7044588717409108, + -0.7045432163324211, + 0.424288030967902 ], "moduleForcesY": [ - -0.14108312955813923, - -0.11470750622277477, - 0.11458778075598006, - 0.1409634039395122 + 0.7044353801330886, + 0.42426454425301086, + -0.4243958712971194, + -0.7045667079403402 ], - "timestamp": 0.9586124640145598 + "timestamp": 0.9586124028756013 }, { - "x": 5.631843984148448, - "y": 4.301427723336742, - "heading": -0.09287955510493337, - "angularVelocity": 0.3769649043429346, - "velocityX": -3.009852462214803, - "velocityY": 1.9725334643913557, + "x": 5.6318471767344365, + "y": 4.301432660581418, + "heading": -0.23974259019669522, + "angularVelocity": 0.1344187084416224, + "velocityX": -3.0098435689812604, + "velocityY": 1.9725472645580622, "moduleForcesX": [ - 0.1491047005039374, - -0.1801079656385837, - 0.17977005820075515, - -0.14944261059923752 + -0.6240690508827724, + 1.0274141106183603, + -1.027763977758222, + 0.6237191045512855 ], "moduleForcesY": [ - -0.18019560214373206, - -0.14953024521691305, - 0.1490170658826029, - 0.17968242169668303 + 1.0273200116639174, + 0.6236250490379754, + -0.6241631063750166, + -1.0278580767153747 ], - "timestamp": 0.9849257628540506 + "timestamp": 0.9849257016446891 }, { - "x": 5.552644795504737, - "y": 4.353331522861778, - "heading": -0.08303985542307654, - "angularVelocity": 0.37394397950170505, - "velocityX": -3.00985403338519, - "velocityY": 1.9725310703779149, + "x": 5.552648221106484, + "y": 4.353336820983277, + "heading": -0.23576959069221684, + "angularVelocity": 0.15098827172311016, + "velocityX": -3.0098451860013293, + "velocityY": 1.972544790272893, "moduleForcesX": [ - 0.20139747944742756, - -0.23959455342412553, - 0.23810181073251563, - -0.20289024305214 + -0.8972979997093311, + 1.4627286432932205, + -1.4642646050165993, + 0.8957613324871145 ], "moduleForcesY": [ - -0.2399854484140815, - -0.20328112292023132, - 0.20100659948414576, - 0.23771091577128253 + 1.4623212084911028, + 0.8953542881082679, + -0.8977050435130712, + -1.4646720398975872 ], - "timestamp": 1.0112390616935416 + "timestamp": 1.0112390004137768 }, { - "x": 5.473445424728932, - "y": 4.40523504459515, - "heading": -0.07330897804320329, - "angularVelocity": 0.3698083406125122, - "velocityX": -3.0098609550598296, - "velocityY": 1.9725205132955745, + "x": 5.473449078380269, + "y": 4.405240695602843, + "heading": -0.23118121564117936, + "angularVelocity": 0.17437475594765803, + "velocityX": -3.00985229640824, + "velocityY": 1.972533929517858, "moduleForcesX": [ - 0.2766149895435917, - -0.32756234668669754, - 0.32098621903413527, - -0.283191288506133 + -1.2782166218996764, + 2.0563930795897947, + -2.0631455228847617, + 1.2714580132867064 ], "moduleForcesY": [ - -0.3292893918479129, - -0.28491820668897444, - 0.27488806883749906, - 0.31925917465878034 + 2.054609773766349, + 1.2696781444492033, + -1.2799964750955146, + -2.064928830948409 ], - "timestamp": 1.0375523605330326 + "timestamp": 1.0375522991828645 }, { - "x": 5.394245252756537, - "y": 4.4571373439321915, - "heading": -0.0637289281820201, - "angularVelocity": 0.3640763524034276, - "velocityX": -3.0098914034119724, - "velocityY": 1.9724740578382778, + "x": 5.3942491135551975, + "y": 4.457143315290883, + "heading": -0.2257291906825515, + "angularVelocity": 0.2071965589138815, + "velocityX": -3.0098835391218053, + "velocityY": 1.9724862376059786, "moduleForcesX": [ - 0.37776840217127927, - -0.46017045440115545, - 0.4312424994164421, - -0.4066977921137878 + -1.819761787982644, + 2.8661609742481136, + -2.8958177306679644, + 1.7900517697548564 ], "moduleForcesY": [ - -0.4677750931271793, - -0.41430131975377804, - 0.37016480702520904, - 0.4236378824046199 + 2.8583318611278945, + 1.7822524852857777, + -1.827560649410769, + -2.90364690676839 ], - "timestamp": 1.0638656593725235 + "timestamp": 1.0638655979519522 }, { - "x": 5.315041558067353, - "y": 4.509034267618418, - "heading": -0.05435929683308494, - "angularVelocity": 0.35607969210129037, - "velocityX": -3.0100252793205486, - "velocityY": 1.9722697637720494, + "x": 5.315045539959199, + "y": 4.50904042699221, + "heading": -0.21906843754113922, + "angularVelocity": 0.2531325775556961, + "velocityX": -3.0100206853975107, + "velocityY": 1.9722769142991032, "moduleForcesX": [ - 0.48940416615976284, - -0.6802418638432408, - 0.5530537963353553, - -0.6166044012987012 + -2.6181401034882086, + 3.950160194371622, + -4.08023294562468, + 2.487610265707213 ], "moduleForcesY": [ - -0.7136985483549334, - -0.650050691993453, - 0.4559560598060777, - 0.5195977142982356 + 3.915743147737906, + 2.453447828344757, + -2.6522911486871954, + -4.114651756395556 ], - "timestamp": 1.0901789582120145 + "timestamp": 1.09017889672104 }, { - "x": 5.235822380603561, - "y": 4.560907554499787, - "heading": -0.04528420013699609, - "angularVelocity": 0.34488631590612207, - "velocityX": -3.0106136804443926, - "velocityY": 1.9713714801702493, + "x": 5.235826152800344, + "y": 4.560913395093347, + "heading": -0.21071825659198729, + "angularVelocity": 0.3173369109828812, + "velocityX": -3.010621657666121, + "velocityY": 1.9713593706493424, "moduleForcesX": [ - 0.5023411808607042, - -1.1355835749790395, - 0.5766015156544861, - -1.0614270753744113 + -3.9014026734201597, + 5.297487442526571, + -5.866513192831879, + 3.3284730309700907 ], "moduleForcesY": [ - -1.2828398279278084, - -1.2085709135013165, - 0.3551483643080726, - 0.42936198565066247 + 5.145994533843785, + 3.179066605759634, + -4.050503764534557, + -6.018055326072395 ], - "timestamp": 1.1164922570515055 + "timestamp": 1.1164921954901277 }, { - "x": 5.156535245375025, - "y": 4.612676900070158, - "heading": -0.0366218759813688, - "angularVelocity": 0.3291994747016255, - "velocityX": -3.013196319936208, - "velocityY": 1.9674213364945454, + "x": 5.15653775687911, + "y": 4.612680808114912, + "heading": -0.20000907648138105, + "angularVelocity": 0.40698736424439425, + "velocityX": -3.0132442388554295, + "velocityY": 1.967347897952694, "moduleForcesX": [ - -0.12066346402047996, - -2.416763712653346, - -0.03653199144766255, - -2.333520330304596 + -6.386878878322085, + 6.501934484406803, + -8.977052902798214, + 3.8786213765695794 ], "moduleForcesY": [ - -3.0669654355188185, - -2.9821401381771384, - -0.770605818570807, - -0.6862719886072624 + 5.83304549989505, + 3.224556013749109, + -7.032825254348293, + -9.64729582982005 ], - "timestamp": 1.1428055558909964 + "timestamp": 1.1428054942592154 }, { "x": 5.076982498168945, "y": 4.663970470428467, - "heading": -0.028534029348921325, - "angularVelocity": 0.3073672625307347, - "velocityX": -3.0232905304403683, - "velocityY": 1.9493401671601904, + "heading": -0.18603129598958645, + "angularVelocity": 0.5312059356166852, + "velocityX": -3.0233859847182676, + "velocityY": 1.9491916526182147, "moduleForcesX": [ - -3.2351882748162315, - -6.435372096015076, - -3.1511663154853853, - -6.359088622577856 + -12.199143600091604, + 5.873639162386675, + -15.370342072591905, + 2.424705419556534 ], "moduleForcesY": [ - -10.23619377487314, - -10.132021804804008, - -7.0448731119410715, - -6.944384775788309 + 1.9915563122754611, + -1.4114046251485406, + -15.82058956562918, + -19.259693583176883 ], - "timestamp": 1.1691188547304874 + "timestamp": 1.1691187930283031 }, { - "x": 5.0090040692616125, - "y": 4.706170985079253, - "heading": -0.022143014525621996, - "angularVelocity": 0.28742390632085546, - "velocityX": -3.0572023571075313, - "velocityY": 1.8978890058993578, + "x": 5.009006463789293, + "y": 4.706175301232312, + "heading": -0.17170313329710424, + "angularVelocity": 0.6443801871115454, + "velocityX": -3.057084895863449, + "velocityY": 1.8980770496598627, "moduleForcesX": [ - -17.263473241760682, - -20.779282566947717, - -17.334475188314013, - -20.87880940220735 + -27.88530670872213, + -7.469581642544117, + -29.884140600302487, + -10.53799541381138 ], "moduleForcesY": [ - -30.73787971786675, - -30.49261336516838, - -27.348479545860773, - -27.117001822767072 + -17.295192394525138, + -21.395900662313732, + -35.99992462571508, + -40.24778544716268 ], - "timestamp": 1.1913543566590046 + "timestamp": 1.1913543660317325 }, { - "x": 4.940797004149744, - "y": 4.748000979795652, - "heading": -0.016308004622261525, - "angularVelocity": 0.2624186277475945, - "velocityX": -3.0674848416349016, - "velocityY": 1.881225566702983, + "x": 4.940799978779737, + "y": 4.748006700688708, + "heading": -0.15607475566262086, + "angularVelocity": 0.7028547288650057, + "velocityX": -3.067448947640628, + "velocityY": 1.8812827288032796, "moduleForcesX": [ - -3.6374073035606753, - -7.9742222195858234, - -3.579012247195794, - -7.93113115033737 + -10.10600547144898, + -0.014212153078191823, + -11.590999829890299, + -1.593897677045019 ], "moduleForcesY": [ - -11.576848153962082, - -11.481924386925165, - -7.248953780621313, - -7.16262008655707 + -3.646259973554683, + -5.254071465820472, + -13.61709861421173, + -15.247103502604105 ], - "timestamp": 1.2135898585875218 + "timestamp": 1.2135899390351619 }, { - "x": 4.872520869823387, - "y": 4.78971814409621, - "heading": -0.01114976980087726, - "angularVelocity": 0.2319819376224105, - "velocityX": -3.0705911000280546, - "velocityY": 1.8761512303463848, + "x": 4.872523556080887, + "y": 4.789723852608043, + "heading": -0.14050214750591264, + "angularVelocity": 0.7003466092061806, + "velocityX": -3.070594254005464, + "velocityY": 1.8761446765010654, "moduleForcesX": [ - 0.8622448332670305, - -4.411287404645321, - 0.9222834338698482, - -4.358148158803499 + -1.5832342386744367, + -2.013821981304826, + -1.5224966281207268, + -1.953137305535568 ], "moduleForcesY": [ - -5.521457076099401, - -5.458389420804438, - -0.2448259389319355, - -0.1857656395246467 + -3.1341373831362542, + -3.0730690437082, + -2.7037619087302773, + -2.6427080671467866 ], - "timestamp": 1.235825360516039 + "timestamp": 1.2358255120385913 }, { - "x": 4.804223874419234, - "y": 4.831401147876171, - "heading": -0.006839300870148199, - "angularVelocity": 0.19385525654362926, - "velocityX": -3.071529287879592, - "velocityY": 1.8746149249953419, + "x": 4.804226043709187, + "y": 4.8314064730030815, + "heading": -0.1263588645788204, + "angularVelocity": 0.6360655929537297, + "velocityX": -3.0715427194598677, + "velocityY": 1.8745916909184601, "moduleForcesX": [ - 2.7538739550995257, - -3.853650112634323, - 2.8004504693666568, - -3.810336271686734 + 4.28946564897688, + -6.759703716931438, + 5.698532185988898, + -5.3610600563294195 ], "moduleForcesY": [ - -4.191310908046083, - -4.144886830718814, - 2.4185412064468275, - 2.463033929280286 + -7.10306683291309, + -5.696805947972641, + 3.952332432655044, + 5.355420800949736 ], - "timestamp": 1.2580608624445562 + "timestamp": 1.2580610850420206 }, { - "x": 4.735920561507559, - "y": 4.873073799193854, - "heading": -0.003615092292852145, - "angularVelocity": 0.14500273426078966, - "velocityX": -3.0718134059335873, - "velocityY": 1.87414934241886, + "x": 4.7359221342041415, + "y": 4.873078616974578, + "heading": -0.11512700083410211, + "angularVelocity": 0.5051303936708101, + "velocityX": -3.0718304176154274, + "velocityY": 1.874120534922506, "moduleForcesX": [ - 4.058801037496141, - -4.408827038768899, - 4.090193709307545, - -4.3790515409897495 + 9.804926634310165, + -12.735615232110854, + 12.41866260877025, + -10.134906193728058 ], "moduleForcesY": [ - -4.511501304942039, - -4.480371437955288, - 3.95738929485821, - 3.987548285571238 + -12.84309942551854, + -10.233582021268276, + 9.705993330269173, + 12.311223636152658 ], - "timestamp": 1.2802963643730734 + "timestamp": 1.28029665804545 }, { - "x": 4.6676158270823365, - "y": 4.914742933547374, - "heading": -0.0018016737226168214, - "angularVelocity": 0.08155509941107296, - "velocityX": -3.0718773358390727, - "velocityY": 1.8739911735510983, + "x": 4.667616700514436, + "y": 4.914746985738124, + "heading": -0.10848111434945133, + "angularVelocity": 0.29888532594261424, + "velocityX": -3.071898964743279, + "velocityY": 1.8739507525675534, "moduleForcesX": [ - 5.453169488765199, - -5.544860398862967, - 5.473444206062505, - -5.525509676393948 + 15.794211104212724, + -19.742086427115105, + 19.670581844292276, + -15.876844954973864 ], "moduleForcesY": [ - -5.598161406804016, - -5.578157913476396, - 5.4005090075631434, - 5.420142902397309 + -19.802243704724187, + -15.930482333374542, + 15.740528521206018, + 19.610416586564405 ], - "timestamp": 1.3025318663015906 + "timestamp": 1.3025322310488794 }, { - "x": 4.600973058735623, - "y": 4.955396750768275, - "heading": -0.0014870114576706482, - "angularVelocity": 0.01415134526568148, - "velocityX": -2.9971335282179647, - "velocityY": 1.8283291895812375, + "x": 4.600974027769729, + "y": 4.955400165325889, + "heading": -0.10715430180051834, + "angularVelocity": 0.059670715422011404, + "velocityX": -2.997119648521273, + "velocityY": 1.8282946691544864, "moduleForcesX": [ - 46.9965681341989, - 35.94870320361335, - 48.166687287225365, - 36.96117024202148 + 57.28718942159095, + 18.961759393072, + 65.52583323370585, + 26.377655962724752 ], "moduleForcesY": [ - -31.153857620211088, - -32.42705617824138, - -19.13133740338204, - -19.965853651960558 + -46.50101564302794, + -48.53772763348435, + -6.017030432231889, + -1.6087346581541238 ], - "timestamp": 1.3247673682301078 + "timestamp": 1.3247678040523088 }, { - "x": 4.539366004020569, - "y": 4.992978594024151, - "heading": -0.001229306975409843, - "angularVelocity": 0.011589775804894132, - "velocityX": -2.7706617513340817, - "velocityY": 1.6901729215152441, + "x": 4.539366935735094, + "y": 4.992981453780155, + "heading": -0.10605064738070613, + "angularVelocity": 0.04963462914322005, + "velocityX": -2.770654573423076, + "velocityY": 1.6901425678784678, "moduleForcesX": [ - 127.25143779949215, - 127.00019920275166, - 127.62690753749493, - 127.37862809334462 + 126.94597770627763, + 126.10297584884034, + 128.49287880626787, + 127.69864249228695 ], "moduleForcesY": [ - -77.79751332705194, - -78.1737883680453, - -77.15961283576976, - -77.53503874992407 + -78.37666147266584, + -79.59236787229398, + -75.74866777655278, + -76.93789348258782 ], - "timestamp": 1.347002870158625 + "timestamp": 1.3470033770557381 }, { - "x": 4.482854354412748, - "y": 5.02745208806284, - "heading": -0.001006868860087169, - "angularVelocity": 0.010003737088452926, - "velocityX": -2.541505462277911, - "velocityY": 1.5503807446987337, + "x": 4.482855198878393, + "y": 5.027454453263848, + "heading": -0.1050899767772636, + "angularVelocity": 0.04320422070051338, + "velocityX": -2.541501262323552, + "velocityY": 1.5503535473709684, "moduleForcesX": [ - 128.7801800055292, - 128.6277650423408, - 129.018504496516, - 128.86726811682004 + 128.5686261151599, + 128.04667811196126, + 129.58564094037285, + 129.0844290033957 ], "moduleForcesY": [ - -78.66590110232622, - -78.90442036881876, - -78.26801535993917, - -78.50621285777649 + -79.03743300278715, + -79.83628374002983, + -77.33740247497981, + -78.12532825297457 ], - "timestamp": 1.3692383720871422 + "timestamp": 1.3692389500591675 }, { - "x": 4.431458233022125, - "y": 5.058804970191635, - "heading": -0.0008124594534062391, - "angularVelocity": 0.008743198480786191, - "velocityX": -2.3114441740892437, - "velocityY": 1.4100370762753027, + "x": 4.431458968012331, + "y": 5.058806893744279, + "heading": -0.10424551942832437, + "angularVelocity": 0.03797776422532485, + "velocityX": -2.3114417091087915, + "velocityY": 1.4100127069176909, "moduleForcesX": [ - 129.2966612595165, - 129.17635509076803, - 129.48764275337825, - 129.36809049746944 + 129.12033660829192, + 128.70074149038646, + 129.95392739375555, + 129.5481891454527 ], "moduleForcesY": [ - -78.95916128105361, - -79.15026486232779, - -78.64216858600908, - -78.83306999868385 + -79.26131056415235, + -79.91681010008162, + -77.87544361428868, + -78.52373258635521 ], - "timestamp": 1.3914738740156594 + "timestamp": 1.391474523062597 }, { - "x": 4.385187732962006, - "y": 5.087031089846425, - "heading": -0.0006424673876264742, - "angularVelocity": 0.007645074364691939, - "velocityX": -2.080928967058069, - "velocityY": 1.269416797764683, + "x": 4.385188350139869, + "y": 5.087032620995214, + "heading": -0.1035039160476499, + "angularVelocity": 0.033352114674988886, + "velocityX": -2.080927613843227, + "velocityY": 1.2693950925655102, "moduleForcesX": [ - 129.55591992105371, - 129.45146610884112, - 129.72297454408783, - 129.61909646151975 + 129.39797569932037, + 129.02844434859125, + 130.1387480656699, + 129.78013207277573 ], "moduleForcesY": [ - -79.106353921978, - -79.27352766778002, - -78.82988164098808, - -78.99690249392809 + -79.37377678222988, + -79.95708067053462, + -78.14556977234983, + -78.72323700322325 ], - "timestamp": 1.4137093759441766 + "timestamp": 1.4137100960660263 }, { - "x": 4.344048917620275, - "y": 5.112126752109736, - "heading": -0.0004947303768269868, - "angularVelocity": 0.006644195002857733, - "velocityX": -1.8501410705268246, - "velocityY": 1.128630347270273, + "x": 4.34404941699805, + "y": 5.112127937900596, + "heading": -0.10285716786497852, + "angularVelocity": 0.029086193666861604, + "velocityX": -1.850140454463287, + "velocityY": 1.1286112078835366, "moduleForcesX": [ - 129.71173452831252, - 129.61671649197825, - 129.86436447395235, - 129.76982648519757 + 129.56507675400564, + 129.22516047391494, + 130.24984519480333, + 129.91924312365788 ], "moduleForcesY": [ - -79.19481294043023, - -79.347574129576, - -78.94265390716976, - -79.09528841455774 + -79.44137201559003, + -79.98129301682714, + -78.3078726157832, + -78.84301019844365 ], - "timestamp": 1.4359448778726938 + "timestamp": 1.4359456690694556 }, { - "x": 4.30804583148561, - "y": 5.134089492345461, - "heading": -0.00036780945968653236, - "angularVelocity": 0.00570803022789773, - "velocityX": -1.6191712807026988, - "velocityY": 0.9877330543889117, + "x": 4.308046218648705, + "y": 5.134090378356939, + "heading": -0.10229995199932605, + "angularVelocity": 0.025059658483572257, + "velocityX": -1.6191711517302603, + "velocityY": 0.9877164151764638, "moduleForcesX": [ - 129.81569571012, - 129.72693332405242, - 129.95868490821886, - 129.8703435237829 + 129.67667423314484, + 129.35630372537736, + 130.32398931278001, + 130.01193475205707 ], "moduleForcesY": [ - -79.25383245849626, - -79.39696771169525, - -79.01787549699489, - -79.16090014881851 + -79.48646432128947, + -79.99746920767701, + -78.41612764824622, + -78.9228798941575 ], - "timestamp": 1.458180379801211 + "timestamp": 1.458181242072885 }, { - "x": 4.2771813641825, - "y": 5.152917549670645, - "heading": -0.0002606783013755302, - "angularVelocity": 0.004818022937166338, - "velocityX": -1.3880715354360942, - "velocityY": 0.8467565690988327, + "x": 4.277181648700871, + "y": 5.1529181804318815, + "heading": -0.10182847202282391, + "angularVelocity": 0.02120385997830667, + "velocityX": -1.3880717147731485, + "velocityY": 0.8467423831191073, "moduleForcesX": [ - 129.88998503058448, - 129.80567294261806, - 130.0260777647227, - 129.9421468439595 + 129.7564715074086, + 129.44996231967133, + 130.3769832573186, + 130.07811113767573 ], "moduleForcesY": [ - -79.29600687759688, - -79.43225934195489, - -79.07161671692316, - -79.20776938298017 + -79.5186843660336, + -80.0090424618892, + -78.49346497433869, + -78.97993075845346 ], - "timestamp": 1.4804158817297282 + "timestamp": 1.4804168150763144 }, { - "x": 4.251457683125085, - "y": 5.168609603303916, - "heading": -0.00017256805840529138, - "angularVelocity": 0.003962592940492018, - "velocityX": -1.1568743147833098, - "velocityY": 0.705720684143811, + "x": 4.25145787755928, + "y": 5.16861002255607, + "heading": -0.1014398840192389, + "angularVelocity": 0.017475960863482038, + "velocityX": -1.156874668245571, + "velocityY": 0.7057089161484229, "moduleForcesX": [ - 129.94571396373354, - 129.8647297159341, - 130.07662960303063, - 129.99599793385985 + 129.81635559214615, + 129.52019310324377, + 130.416742483144, + 130.12772671095473 ], "moduleForcesY": [ - -79.32764509365916, - -79.45873159699714, - -79.1119253119969, - -79.24291974359889 + -79.54286159052201, + -80.01772984211864, + -78.55147186431859, + -79.02270752485245 ], - "timestamp": 1.5026513836582454 + "timestamp": 1.5026523880797438 }, { - "x": 4.230876474095848, - "y": 5.181164625961218, - "heading": -0.00010288131301070383, - "angularVelocity": 0.0031340306874392525, - "velocityX": -0.9256012792243521, - "velocityY": 0.5646385990143699, + "x": 4.23087659333383, + "y": 5.181164876831858, + "heading": -0.10113197817978152, + "angularVelocity": 0.013847443437139244, + "velocityX": -0.9256017023836997, + "velocityY": 0.5646292215563723, "moduleForcesX": [ - 129.98906277899536, - 129.91066136182133, - 130.11594952254262, - 130.0378792145017 + 129.86294325753974, + 129.5748087401744, + 130.44766989616497, + 130.1663119341695 ], "moduleForcesY": [ - -79.35225619250643, - -79.47932182464554, - -79.14327634760943, - -79.27025569165343 + -79.56168439313996, + -80.02448621102923, + -78.59659260974958, + -79.05595730453213 ], - "timestamp": 1.5248868855867626 + "timestamp": 1.5248879610831731 }, { - "x": 4.215439085675159, - "y": 5.190581795843094, - "heading": -0.00005114050254487852, - "angularVelocity": 0.002326945918835651, - "velocityX": -0.6942675937930252, - "velocityY": 0.4235195549959345, + "x": 4.2154391464677445, + "y": 5.190581920968391, + "heading": -0.1009029880226161, + "angularVelocity": 0.010298369964655253, + "velocityX": -0.694268003064429, + "velocityY": 0.4235125460937225, "moduleForcesX": [ - 130.02374250392748, - 129.9474044393417, - 130.14740514727228, - 130.071381500838 + 129.9002099274142, + 129.61849761010185, + 130.472409638987, + 130.19718488252792 ], "moduleForcesY": [ - -79.37194729295379, - -79.4957935020435, - -79.16835634782939, - -79.29212074968046 + -79.5767681218038, + -80.02988522212851, + -78.63269613553649, + -79.08252803833966 ], - "timestamp": 1.5471223875152798 + "timestamp": 1.5471235340866025 }, { - "x": 4.2051466211850315, - "y": 5.1968604406058825, - "heading": -0.000016955142455002804, - "angularVelocity": 0.0015374224607015848, - "velocityX": -0.46288428852294927, - "velocityY": 0.2823702735818858, + "x": 4.205146641807889, + "y": 5.196860482219538, + "heading": -0.10075146914342466, + "angularVelocity": 0.006814255659977125, + "velocityX": -0.4628846154883643, + "velocityY": 0.2823656152318348, "moduleForcesX": [ - 130.0521159469605, - 129.97746478199866, - 130.1731404516084, - 130.098790370483 + 129.93068788822578, + 129.65424329282206, + 130.49264551827898, + 130.22245681089385 ], "moduleForcesY": [ - -79.38806002467233, - -79.50926932883868, - -79.18887549227357, - -79.31000655483088 + -79.58914180319016, + -80.03429243710616, + -78.66224530027024, + -79.10423175184549 ], - "timestamp": 1.569357889443797 + "timestamp": 1.569359107090032 }, { "x": 4.2, "y": 5.2, - "heading": 2.8328531583825156e-20, - "angularVelocity": 0.0007625257351738824, - "velocityX": -0.2314596361069011, - "velocityY": 0.14119579599384477, + "heading": -0.1006762184795864, + "angularVelocity": 0.0033842466675648953, + "velocityX": -0.2314598237290449, + "velocityY": 0.1411934731782533, "moduleForcesX": [ - 130.07575889413536, - 130.00251324554137, - 130.1945851914263, - 130.1216297374448 + 129.9560665658062, + 129.68403471542578, + 130.50950069278474, + 130.24353501334008 ], "moduleForcesY": [ - -79.40148915639179, - -79.5204980125326, - -79.20597412632327, - -79.3249076390574 + -79.59949199039627, + -80.03795191381815, + -78.6868822679072, + -79.12227624241693 ], - "timestamp": 1.5915933913723141 + "timestamp": 1.5915946800934613 }, { "x": 4.2, "y": 5.2, - "heading": 1.4103371199895506e-20, - "angularVelocity": -5.477228070678741e-21, - "velocityX": -3.7950839399934564e-20, - "velocityY": -5.90151052202765e-20, + "heading": -0.1006762184795864, + "angularVelocity": -8.513559946790838e-22, + "velocityX": 1.3479126293227626e-21, + "velocityY": 3.2050949350711848e-21, "moduleForcesX": [ - 130.09576256078142, - 130.02370669397874, - 130.21272941748146, - 130.1409546907874 + 129.97751622250743, + 129.70924866709143, + 130.52375309198518, + 130.2613936110417 ], "moduleForcesY": [ - -79.41285431957705, - -79.52999801951783, - -79.22044180421359, - -79.33751255707939 + -79.60829426953454, + -80.04103286601915, + -78.70774396573493, + -79.13749752637258 ], - "timestamp": 1.6138288933008313 + "timestamp": 1.6138302530968907 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f5 to shoot2.1.traj b/src/main/deploy/choreo/f5 to shoot2.1.traj index d48da40..3762f0e 100644 --- a/src/main/deploy/choreo/f5 to shoot2.1.traj +++ b/src/main/deploy/choreo/f5 to shoot2.1.traj @@ -3,10 +3,10 @@ { "x": 8.044, "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -8.810953422093737e-21, - "velocityX": -2.499787071120317e-21, - "velocityY": 5.562537066224306e-21, + "heading": -0.5325926535895862, + "angularVelocity": -3.0585591860571732e-22, + "velocityX": -9.836729052176632e-24, + "velocityY": -6.3242697268018195e-25, "moduleForcesX": [ 0, 0, @@ -22,1264 +22,1264 @@ "timestamp": 0 }, { - "x": 8.03202438008288, - "y": 0.8488326926594779, - "heading": -0.36024448713941243, - "angularVelocity": 0.0009309275254694299, - "velocityX": -0.2698741474962072, - "velocityY": 0.46947090926705115, + "x": 8.032024366069393, + "y": 0.8488326805857733, + "heading": -0.5325515213275621, + "angularVelocity": 0.0009269277947315279, + "velocityX": -0.26987448303523476, + "velocityY": 0.46947067152369854, "moduleForcesX": [ - -76.0117003422306, - -75.922570726689, - -76.11974354523568, - -76.03068409394186 + -75.99516083642747, + -75.92615817296648, + -76.11633561208036, + -76.04744440362354 ], "moduleForcesY": [ - 132.25143090810823, - 132.30247287432883, - 132.1891543300463, - 132.2402525200922 + 132.2609309442785, + 132.30039172496134, + 132.19113914478396, + 132.2306196321183 ], - "timestamp": 0.04437483185486916 + "timestamp": 0.04437482860890867 }, { - "x": 8.008075562723523, - "y": 0.8904938638783265, - "heading": -0.3601600115760493, - "angularVelocity": 0.0019036818807417664, - "velocityX": -0.5396937038022842, - "velocityY": 0.9388468525380488, + "x": 8.008075520695167, + "y": 0.8904938276682749, + "heading": -0.532467408819902, + "angularVelocity": 0.0018955004514272223, + "velocityX": -0.5396943746035827, + "velocityY": 0.9388463772936753, "moduleForcesX": [ - -75.99592028454072, - -75.90278057824887, - -76.10877479112716, - -76.01571162095554 + -75.97863636828598, + -75.906520163362, + -76.10521266920507, + -76.03321807468078 ], "moduleForcesY": [ - 132.22494688168464, - 132.27825273710738, - 132.15986973149495, - 132.21323693761397 + 132.23487337792943, + 132.2760787597028, + 132.16194917324165, + 132.20317605581712 ], - "timestamp": 0.08874966370973832 + "timestamp": 0.08874965721781734 }, { - "x": 7.9721571777077, - "y": 0.9529771993369557, - "heading": -0.36002958756159303, - "angularVelocity": 0.0029391438571044095, - "velocityX": -0.809431461809155, - "velocityY": 1.4080805007438446, + "x": 7.972157093681252, + "y": 0.9529771269444502, + "heading": -0.5323375455322986, + "angularVelocity": 0.002926507925200736, + "velocityX": -0.8094324674575465, + "velocityY": 1.4080797883607152, "moduleForcesX": [ - -75.97227960679123, - -75.87312656914229, - -76.09234004800221, - -75.99327360399968 + -75.95388015517307, + -75.87709342098178, + -76.08854743124665, + -76.01189834664568 ], "moduleForcesY": [ - 132.185266199562, - 132.24196168914827, - 132.11599019197, - 132.1727551318559 + 132.195831587505, + 132.23964828950457, + 132.11821188675648, + 132.16205292401975 ], - "timestamp": 0.13312449556460748 + "timestamp": 0.133124485826726 }, { - "x": 7.924275263690695, - "y": 1.0362721942833608, - "heading": -0.3598485815375, - "angularVelocity": 0.004079024449828894, - "velocityX": -1.07903313692785, - "velocityY": 1.877077421246981, + "x": 7.924275123713193, + "y": 1.0362720736897102, + "heading": -0.5321573180636888, + "angularVelocity": 0.004061479768139941, + "velocityX": -1.0790344767313993, + "velocityY": 1.8770764723255224, "moduleForcesX": [ - -75.93295485998813, - -75.8237909656994, - -76.06499989414266, - -75.9559406953491 + -75.91269939525975, + -75.82813496573823, + -76.06082434432506, + -75.9764264451034 ], "moduleForcesY": [ - 132.11926139204178, - 132.18158603304877, - 132.04299033717723, - 132.10539899993782 + 132.13088927987542, + 132.1790392856821, + 132.04545044922497, + 132.09362987970087 ], - "timestamp": 0.17749932741947663 + "timestamp": 0.1774993144356347 }, { - "x": 7.8644418543604155, - "y": 1.140357915098812, - "heading": -0.3596077448406855, - "angularVelocity": 0.005427326408856619, - "velocityX": -1.348363629319636, - "velocityY": 2.345602596441823, + "x": 7.864441644539395, + "y": 1.140357734339573, + "heading": -0.5319175179826507, + "angularVelocity": 0.005403966360105332, + "velocityX": -1.348365301895168, + "velocityY": 2.3456014121701103, "moduleForcesX": [ - -75.85460432851812, - -75.72547088764415, - -76.01051980338595, - -75.88153223565953 + -75.83065009016207, + -75.73056342981562, + -76.00558264136284, + -75.90572824824991 ], "moduleForcesY": [ - 131.98776594554886, - 132.06126794563855, - 131.89751886755639, - 131.97113797998938 + 132.00150945435703, + 132.05825069432692, + 131.90046092632195, + 131.95724309580459 ], - "timestamp": 0.22187415927434578 + "timestamp": 0.22187414304454336 }, { - "x": 7.792692680622134, - "y": 1.2651722048486804, - "heading": -0.3592795207044657, - "angularVelocity": 0.007396628280040741, - "velocityX": -1.6168889151612051, - "velocityY": 2.8127270466755405, + "x": 7.792692387246151, + "y": 1.2651719521175644, + "heading": -0.5315907083674618, + "angularVelocity": 0.007364752167703965, + "velocityX": -1.6168909163705534, + "velocityY": 2.8127256305150823, "moduleForcesX": [ - -75.62210773249221, - -75.43354577978351, - -75.84872472456786, - -75.66047059435745 + -75.58717796594748, + -75.44083136945085, + -75.84154362878331, + -75.6956882922955 ], "moduleForcesY": [ - 131.59760169838054, - 131.70396185760603, - 131.46561635230412, - 131.57222320367924 + 131.61760889256118, + 131.69950766767352, + 131.4700397830344, + 131.55202398563486 ], - "timestamp": 0.26624899112921496 + "timestamp": 0.266248971653452 }, { - "x": 7.713096640663144, - "y": 1.4036368355617939, - "heading": -0.3552438669857885, - "angularVelocity": 0.09094465375950148, - "velocityX": -1.793720373280839, - "velocityY": 3.120341529765596, + "x": 7.713096246009242, + "y": 1.4036365111678364, + "heading": -0.527571358722332, + "angularVelocity": 0.0905772432509834, + "velocityX": -1.7937227868172647, + "velocityY": 3.1203401430709743, "moduleForcesX": [ - -50.71248785877764, - -43.324214598769046, - -56.245491934699594, - -48.96527396771627 + -49.63409963591525, + -43.252316874528205, + -56.2292507984112, + -50.132280221483235 ], "moduleForcesY": [ - 89.50891240410175, - 90.06817069531616, - 83.2604022113989, - 83.77169632634327 + 90.01161190379975, + 89.53964334149873, + 83.84067386321088, + 83.21731108372825 ], - "timestamp": 0.31062382298408414 + "timestamp": 0.3106238002623607 }, { - "x": 7.633500342018771, - "y": 1.542101919023782, - "heading": -0.3459071162577261, - "angularVelocity": 0.21040644747903436, - "velocityX": -1.7937262028326606, - "velocityY": 3.120351732595778, + "x": 7.633499847689751, + "y": 1.542101523873641, + "heading": -0.5182739514160493, + "angularVelocity": 0.2095198471237819, + "velocityX": -1.7937285802498997, + "velocityY": 3.1203503663337306, "moduleForcesX": [ - -3.123550994615439, - 6.638474955545759, - -6.641764605707574, - 3.120272110793276 + -1.9299869394795022, + 7.0447875520119965, + -7.048051753401431, + 1.9267233042365912 ], "moduleForcesY": [ - 6.6429866696770965, - 3.1247927571677248, - -3.1190303553560543, - -6.637252881243674 + 7.049291875568288, + 1.9312425057242097, + -1.9254677474835347, + -7.043547420014684 ], - "timestamp": 0.3549986548389533 + "timestamp": 0.3549986288712694 }, { - "x": 7.553904043404817, - "y": 1.6805670020127061, - "heading": -0.3335507658063954, - "angularVelocity": 0.27845402303140915, - "velocityX": -1.7937262021472027, - "velocityY": 3.1203517219351626, + "x": 7.553903448919249, + "y": 1.6805665358349102, + "heading": -0.5059714653609751, + "angularVelocity": 0.2772401931622191, + "velocityX": -1.7937285904135667, + "velocityY": 3.1203503495553955, "moduleForcesX": [ - -1.824895365261808, - 3.760069813163758, - -3.7600694236315397, - 1.8248957480794674 + -1.1471899580461222, + 3.9980880129499505, + -3.9980937316600738, + 1.147184224692999 ], "moduleForcesY": [ - 3.760066616902089, - 1.8248925521629487, - -1.8248985611782538, - -3.760072619893184 + 3.9980861478423275, + 1.1471823632126465, + -1.1471918195264532, + -3.9980955967676928 ], - "timestamp": 0.3993734866938225 + "timestamp": 0.39937345748017805 }, { - "x": 7.474307744786126, - "y": 1.819032084649566, - "heading": -0.31948386187129196, - "angularVelocity": 0.3170018532376681, - "velocityX": -1.7937262022539293, - "velocityY": 3.1203517140012935, + "x": 7.474307049473395, + "y": 1.819031547063319, + "heading": -0.49197069453367864, + "angularVelocity": 0.3155115471135735, + "velocityX": -1.7937286056328559, + "velocityY": 3.1203503330401725, "moduleForcesX": [ - -1.063632776019577, - 2.1152651997902097, - -2.115265259047399, - 1.063632715021037 + -0.6798933286114363, + 2.250171441337479, + -2.250180012704963, + 0.6798847514177842 ], "moduleForcesY": [ - 2.1152629948323165, - 1.0636305103043149, - -1.0636349807363197, - -2.1152674640052544 + 2.2501710751831205, + 0.6798843874656036, + -0.679893692563601, + -2.250180378859325 ], - "timestamp": 0.4437483185486917 + "timestamp": 0.44374828608908673 }, { - "x": 7.394711446284727, - "y": 1.9574971671361356, - "heading": -0.30445465382953907, - "angularVelocity": 0.33868766175626086, - "velocityX": -1.7937261996106801, - "velocityY": 3.1203517106144507, + "x": 7.394710649578657, + "y": 1.9574965578208483, + "heading": -0.47702284827381847, + "angularVelocity": 0.33685417450512256, + "velocityX": -1.793728615748574, + "velocityY": 3.1203503224287648, "moduleForcesX": [ - -0.616182147737302, - 1.1808560418785272, - -1.180854552664494, - 0.6161836368436348 + -0.39786794542800824, + 1.24903585952574, + -1.2490415579463643, + 0.3978622458124058 ], "moduleForcesY": [ - 1.180854343315722, - 0.6161819381585638, - -0.6161838464224253, - -1.1808562512272114 + 1.2490357196538393, + 0.39786210642149683, + -0.3978680848189135, + -1.2490416978182661 ], - "timestamp": 0.48812315040356086 + "timestamp": 0.4881231146979954 }, { - "x": 7.315115147999082, - "y": 2.0959622496195407, - "heading": -0.28889274532837567, - "angularVelocity": 0.3506922246389493, - "velocityX": -1.7937261947486838, - "velocityY": 3.120351710543152, + "x": 7.315114249492908, + "y": 2.0959615683479025, + "heading": -0.4615661357254765, + "angularVelocity": 0.3483216281141615, + "velocityX": -1.793728620053098, + "velocityY": 3.1203503172349376, "moduleForcesX": [ - -0.3512284176252388, - 0.6482976193247139, - -0.648294880195872, - 0.3512311568228451 + -0.2241224817603333, + 0.6677265136297692, + -0.6677289386444983, + 0.22412005658817793 ], "moduleForcesY": [ - 0.6482962297031174, - 0.35122976711286596, - -0.35122980733532866, - -0.6482962698172746 + 0.6677262630907235, + 0.22411980610932455, + -0.22412273223918652, + -0.6677291891835438 ], - "timestamp": 0.53249798225843 + "timestamp": 0.532497943306904 }, { - "x": 7.2355188498522445, - "y": 2.234427332113853, - "heading": -0.2730503621599515, - "angularVelocity": 0.3570128044707363, - "velocityX": -1.7937261916205365, - "velocityY": 3.1203517107888947, + "x": 7.235517849287263, + "y": 2.2344265787474633, + "heading": -0.4458694672219707, + "angularVelocity": 0.35372910714419253, + "velocityX": -1.7937286227549183, + "velocityY": 3.120350314361836, "moduleForcesX": [ - -0.1903109624433003, - 0.338366034668512, - -0.33836427233213456, - 0.19031272479337272 + -0.11061431259868915, + 0.3131687092062438, + -0.3131702313539202, + 0.11061279043018529 ], "moduleForcesY": [ - 0.3383652227283387, - 0.19031191283727208, - -0.19031177439959904, - -0.3383650842719476 + 0.3131686609532508, + 0.11061274218617016, + -0.11061436084270465, + -0.3131702796069127 ], - "timestamp": 0.5768728141132992 + "timestamp": 0.5768727719158127 }, { - "x": 7.155922549860952, - "y": 2.372892413517532, - "heading": -0.2570860619572003, - "angularVelocity": 0.3597602410069627, - "velocityX": -1.7937262331859278, - "velocityY": 3.1203516862111846, + "x": 7.15592144710445, + "y": 2.372891587997578, + "heading": -0.43012145015532527, + "angularVelocity": 0.35488626233215065, + "velocityX": -1.7937286673110473, + "velocityY": 3.120350288458719, "moduleForcesX": [ - -0.08507407153738511, - 0.1457298933770963, - -0.14575331055910548, - 0.08505065429793375 + -0.024735308738378113, + 0.06662203484675998, + -0.06664713698210914, + 0.02471020659065927 ], "moduleForcesY": [ - 0.14573467863478393, - 0.0850554396012224, - -0.08506928623432829, - -0.14574852530097876 + 0.06662728923295264, + 0.024715460984186425, + -0.02473005434484995, + -0.06664188259591762 ], - "timestamp": 0.6212476459681683 + "timestamp": 0.6212476005247213 }, { - "x": 7.076326219279839, - "y": 2.511357477335723, - "heading": -0.2411176482907429, - "angularVelocity": 0.35985293913187455, - "velocityX": -1.79372692253658, - "velocityY": 3.120351289917034, + "x": 7.076325014289695, + "y": 2.5113565796680453, + "heading": -0.4144931558063935, + "angularVelocity": 0.35218827517441414, + "velocityX": -1.7937293576109552, + "velocityY": 3.1203498922961277, "moduleForcesX": [ - -0.003142328567855136, - 0.004676663050146699, - -0.005065031085672818, - 0.0027539605312853046 + 0.05986928619205338, + -0.15463779058135796, + 0.15424888823794494, + -0.06025818956605101 ], "moduleForcesY": [ - 0.004759214489497112, - 0.002836511971479454, - -0.0030597771276530358, - -0.00498247964633536 + -0.15455493499508183, + -0.0601753333478141, + 0.05995214240940125, + 0.1543317438253407 ], - "timestamp": 0.6656224778230374 + "timestamp": 0.6656224291336299 }, { - "x": 6.996729446668113, - "y": 2.6498222870807084, - "heading": -0.2252615977819417, - "angularVelocity": 0.35732080204065814, - "velocityX": -1.7937368838275871, - "velocityY": 3.1203455643019216, + "x": 6.996728139127575, + "y": 2.6498213171341973, + "heading": -0.39919517325702275, + "angularVelocity": 0.34474460023716147, + "velocityX": -1.7937393260407923, + "velocityY": 3.1203441637260623, "moduleForcesX": [ - 0.0798248134175808, - -0.13456422666230353, - 0.12895221601121215, - -0.08543683516383756 + 0.16940511406538833, + -0.42632820966348567, + 0.4207122274162974, + -0.1750212088195875 ], "moduleForcesY": [ - -0.13337107879291812, - -0.08424367777183217, - 0.08101797067806575, - 0.13014536413131914 + -0.4251339140134009, + -0.17382684192610137, + 0.17059948045643009, + 0.4219065237178261 ], - "timestamp": 0.7099973096779065 + "timestamp": 0.7099972577425385 }, { - "x": 6.917126342707538, - "y": 2.7882834571093675, - "heading": -0.2096720421317909, - "angularVelocity": 0.35131526134313035, - "velocityX": -1.79387956265213, - "velocityY": 3.120263542214793, + "x": 6.917124927061762, + "y": 2.78828241176976, + "heading": -0.38454771206169114, + "angularVelocity": 0.330084907469164, + "velocityX": -1.7938821300558634, + "velocityY": 3.1202620714520504, "moduleForcesX": [ - 0.16063391594305526, - -0.3495927412705541, - 0.2692104376150194, - -0.24101709418223796 + 0.3111116669815416, + -0.8692554101672714, + 0.7888052344072365, + -0.3915680451708448 ], "moduleForcesY": [ - -0.3325067103218643, - -0.22393021588659492, - 0.17772073288233114, - 0.2862965900286298 + -0.852155574770193, + -0.374463984135748, + 0.328215528721465, + 0.8059053360087134 ], - "timestamp": 0.7543721415327757 + "timestamp": 0.7543720863514471 }, { - "x": 6.837432623971927, - "y": 2.9266924920356496, - "heading": -0.19459218350818946, - "angularVelocity": 0.3398290876441204, - "velocityX": -1.795921593489198, - "velocityY": 3.1190886622164053, + "x": 6.837431033870095, + "y": 2.9266913331362, + "heading": -0.3710865244682766, + "angularVelocity": 0.30335187797687796, + "velocityX": -1.7959256562777648, + "velocityY": 3.1190863312687305, "moduleForcesX": [ - -0.1822497918037773, - -1.161100082723618, - 0.01067820521849291, - -0.9682168656005873 + 0.08528761749446666, + -2.07858187451445, + 0.9274414714110615, + -1.2367208647725303 ], "moduleForcesY": [ - -0.9168751486056409, - -0.723916550050299, - 0.06202717746403705, - 0.254951056128782 + -1.8342807206906333, + -0.9921401823343631, + 0.3297951286723465, + 1.1718429862525694 ], - "timestamp": 0.7987469733876448 + "timestamp": 0.7987469149603558 }, { - "x": 6.756450590075606, - "y": 3.0643516852446733, - "heading": -0.18042800438723705, - "angularVelocity": 0.3191939784082406, - "velocityX": -1.824954157824799, - "velocityY": 3.102190756671405, + "x": 6.7564486034205675, + "y": 3.0643502800704208, + "heading": -0.35972223546391724, + "angularVelocity": 0.25609764275411484, + "velocityX": -1.8249632277626047, + "velocityY": 3.1021854337164623, "moduleForcesX": [ - -7.455775232064813, - -9.215811700127574, - -7.139626198678781, - -8.90165937144471 + -6.977788164929342, + -10.810782712541323, + -5.5420570462568755, + -9.38788885158046 ], "moduleForcesY": [ - -5.807259543309023, - -5.478299087564559, - -4.040867799481383, - -3.713539287449221 + -7.414281756691886, + -5.951713614569924, + -3.56782004975934, + -2.10952297834713 ], - "timestamp": 0.8431218052425139 + "timestamp": 0.8431217435692644 }, { "x": 6.663692474365234, "y": 3.194321393966675, - "heading": -0.16706774736739735, - "angularVelocity": 0.30107735536971286, - "velocityX": -2.0903316549737805, - "velocityY": 2.9289059426090236, + "heading": -0.3501853071795864, + "angularVelocity": 0.21491752381475648, + "velocityX": -2.090287038014874, + "velocityY": 2.928937822875576, "moduleForcesX": [ - -73.91468015361414, - -75.33436080071152, - -74.17403267054641, - -75.59495760611544 + -73.11019738585297, + -76.37640399954186, + -73.08635476399151, + -76.38460444274989 ], "moduleForcesY": [ - -50.046862633184155, - -49.26191550009401, - -48.36208508479678, - -47.580371343354486 + -51.7386271441709, + -49.30343006886495, + -48.312957386096365, + -45.85431495995163 ], - "timestamp": 0.887496637097383 + "timestamp": 0.887496572178173 }, { - "x": 6.592852962651873, - "y": 3.2760948858309273, - "heading": -0.15808356464982276, - "angularVelocity": 0.29884446374830825, - "velocityX": -2.356363016611395, - "velocityY": 2.720064372377021, + "x": 6.592854332530707, + "y": 3.2760960961141774, + "heading": -0.3438759290019077, + "angularVelocity": 0.20987133710619676, + "velocityX": -2.356317076939008, + "velocityY": 2.720104200105429, "moduleForcesX": [ - -110.38378656038289, - -110.64695774914253, - -110.58098627362392, - -110.84364965586528 + -110.11632087856741, + -110.7825921379847, + -110.44408605077403, + -111.11011126408769 ], "moduleForcesY": [ - -87.12941368264276, - -86.84261805462657, - -86.82718736646878, - -86.5398156548187 + -87.48809219249509, + -86.72685166434762, + -86.93869542218248, + -86.1721225413497 ], - "timestamp": 0.9175597093888651 + "timestamp": 0.9175596492265937 }, { - "x": 6.515956370622226, - "y": 3.3522011327830636, - "heading": -0.1492679325742143, - "angularVelocity": 0.2932378963179423, - "velocityX": -2.5578421022335904, - "velocityY": 2.5315525377522556, + "x": 6.51595953996239, + "y": 3.3522041864183256, + "heading": -0.3379462323320015, + "angularVelocity": 0.1972418412245558, + "velocityX": -2.55778184130877, + "velocityY": 2.5316134533256767, "moduleForcesX": [ - -83.25260044231106, - -83.99689238236974, - -83.5499852103215, - -84.29449318110804 + -82.71226277232306, + -84.47929267817165, + -83.05007393111133, + -84.8284701382727 ], "moduleForcesY": [ - -78.97552269350258, - -78.46537289107022, - -78.29939307936063, - -77.78693968620615 + -79.71776029119529, + -78.31087384307021, + -78.44568102806464, + -77.01779091211135 ], - "timestamp": 0.9476227816803472 + "timestamp": 0.9476227262750144 }, { - "x": 6.436826839292644, - "y": 3.425983127206822, - "heading": -0.1408059254043868, - "angularVelocity": 0.2814751296135853, - "velocityX": -2.632117255427717, - "velocityY": 2.454239996111908, + "x": 6.4368322701067235, + "y": 3.4259886322293047, + "heading": -0.3328065285519021, + "angularVelocity": 0.17096399586180666, + "velocityX": -2.63204161464313, + "velocityY": 2.4543211492336328, "moduleForcesX": [ - -30.169118284219962, - -31.68221577835491, - -30.08064588019183, - -31.600226735875573 + -29.658810111341513, + -32.92803198583494, + -28.805588415264342, + -32.11417730211305 ], "moduleForcesY": [ - -33.05066864986216, - -32.711368122823025, - -31.579361292181154, - -31.242501961633515 + -34.36055838670825, + -32.99421090233494, + -31.28245186709019, + -29.913000046363706 ], - "timestamp": 0.9776858539718293 + "timestamp": 0.9776858033234351 }, { - "x": 6.357280162873568, - "y": 3.499315199850379, - "heading": -0.13262891704786917, - "angularVelocity": 0.271995100076131, - "velocityX": -2.6459929194135534, - "velocityY": 2.4392740679512324, + "x": 6.357287809374476, + "y": 3.4993231345350018, + "heading": -0.328289958402059, + "angularVelocity": 0.15023645592128132, + "velocityX": -2.645918799467223, + "velocityY": 2.439354500791197, "moduleForcesX": [ - -5.245382261927877, - -6.450472559728291, - -5.087847925651457, - -6.293885350313099 + -4.93653941276806, + -7.452827403514895, + -4.084677665126222, + -6.606069376766367 ], "moduleForcesY": [ - -6.907052313630917, - -6.742400939092072, - -5.702794840516918, - -5.538634674114155 + -7.911521990452657, + -7.046902144295959, + -5.398919042954715, + -4.53473360194574 ], - "timestamp": 1.0077489262633115 + "timestamp": 1.0077488803718557 }, { - "x": 6.277660809633554, - "y": 3.5725683584816994, - "heading": -0.12464856641819343, - "angularVelocity": 0.2654535954376437, - "velocityX": -2.648410397581645, - "velocityY": 2.4366491195938105, + "x": 6.277670648201377, + "y": 3.572578701981824, + "heading": -0.3241814198691952, + "angularVelocity": 0.1366639391651905, + "velocityX": -2.6483370629315486, + "velocityY": 2.4367288594189462, "moduleForcesX": [ - -0.6411793758125354, - -1.473354637038099, - -0.5369445619106756, - -1.369198594645837 + -0.45786986624495596, + -2.1072725578546754, + 0.09647311474363991, + -1.5533133047829293 ], "moduleForcesY": [ - -1.5597107407563495, - -1.4553390501035088, - -0.7275073776278871, - -0.623178196100829 + -2.193689871469339, + -1.6392183158170819, + -0.5442068932208659, + 0.010227805425541213 ], - "timestamp": 1.0378119985547936 + "timestamp": 1.0378119574202764 }, { - "x": 6.198028794547302, - "y": 3.645807752553169, - "heading": -0.11680422371346647, - "angularVelocity": 0.2609295094217477, - "velocityX": -2.6488315736385037, - "velocityY": 2.436191263533018, + "x": 6.1980408198388215, + "y": 3.645820499885105, + "heading": -0.3203217536270433, + "angularVelocity": 0.1283856019107886, + "velocityX": -2.648758416655102, + "velocityY": 2.436270837656288, "moduleForcesX": [ - 0.07912555781766323, - -0.49696552877181505, - 0.1467250946792015, - -0.4293725070092765 + 0.1613997981770602, + -0.8459902638073543, + 0.49561131943703174, + -0.5118036161210494 ], "moduleForcesY": [ - -0.5122206396510701, - -0.44461927510459204, - 0.06387486484907004, - 0.13147258441036794 + -0.8612450244010751, + -0.5270390471165232, + 0.14615636593490303, + 0.48035977025026905 ], - "timestamp": 1.0678750708462756 + "timestamp": 1.0678750344686971 }, { - "x": 6.118394572592455, - "y": 3.7190447471053023, - "heading": -0.10905549596947567, - "angularVelocity": 0.2577490307331718, - "velocityX": -2.6489049815912837, - "velocityY": 2.4361114473614247, + "x": 6.1184087835649414, + "y": 3.719059897263144, + "heading": -0.31658808372831015, + "angularVelocity": 0.12419453579949626, + "velocityX": -2.6488318592811257, + "velocityY": 2.4361909880374872, "moduleForcesX": [ - 0.14996423437335368, - -0.2553915439170704, - 0.1943468696170831, - -0.2110094650375439 + 0.14113967205610656, + -0.3695040778832861, + 0.3084308565507187, + -0.20221400385867647 ], "moduleForcesY": [ - -0.2580562810983284, - -0.21367369287870605, - 0.14729992305921327, - 0.19168218865819364 + -0.3721683903375653, + -0.2048776131193835, + 0.13847593987683207, + 0.3057665939421829 ], - "timestamp": 1.0979381431377577 + "timestamp": 1.0979381115171178 }, { - "x": 6.03875996597869, - "y": 3.792281323429322, - "heading": -0.10137623971945656, - "angularVelocity": 0.25543817263796104, - "velocityX": -2.648917776654806, - "velocityY": 2.436097535672275, + "x": 6.0387763624232, + "y": 3.792298876183092, + "heading": -0.31287593148386894, + "angularVelocity": 0.12347878557016291, + "velocityX": -2.6488446612927414, + "velocityY": 2.436177068700812, "moduleForcesX": [ - 0.12706800800945528, - -0.16769271465715707, - 0.15705255711115457, - -0.13770821628611327 + 0.02421067239250234, + -0.06310260589252221, + 0.05245664955579203, + -0.03485663437016234 ], "moduleForcesY": [ - -0.16815702015148914, - -0.1381724796237266, - 0.12660374282338163, - 0.15658825288239267 + -0.0635671829070011, + -0.03532120778125906, + 0.023746098344502573, + 0.05199207280232798 ], - "timestamp": 1.1280012154292398 + "timestamp": 1.1280011885655385 }, { - "x": 5.959125292311646, - "y": 3.8655178268672907, - "heading": -0.09375065591459454, - "angularVelocity": 0.2536528446236882, - "velocityX": -2.648920007074817, - "velocityY": 2.4360951112344926, + "x": 5.959143874172723, + "y": 3.865537782117845, + "heading": -0.3090839582116471, + "angularVelocity": 0.12613390392854196, + "velocityX": -2.648846893557121, + "velocityY": 2.4361746409654383, "moduleForcesX": [ - 0.1023069334791649, - -0.12559002211804218, - 0.12373524090516878, - -0.10416171992012822 + -0.1112969886488858, + 0.21299185910575893, + -0.21484816962594097, + 0.10944066460393716 ], "moduleForcesY": [ - -0.1256706953880555, - -0.10424238891204964, - 0.10222626444140118, - 0.12365456766697308 + 0.2129105799530521, + 0.10935939301472991, + -0.11137826016633691, + -0.2149294488083506 ], - "timestamp": 1.158064287720722 + "timestamp": 1.1580642656139593 }, { - "x": 5.879490606840395, - "y": 3.938754317491136, - "heading": -0.08617093146778532, - "angularVelocity": 0.2521274064512961, - "velocityX": -2.6489203997228277, - "velocityY": 2.4360946849932437, + "x": 5.879511374082945, + "y": 3.9387766751344464, + "heading": -0.3050991667458285, + "angularVelocity": 0.13254769162187086, + "velocityX": -2.648847287372416, + "velocityY": 2.4361742112638707, "moduleForcesX": [ - 0.08884808283272758, - -0.10600714261891324, - 0.10568062275517483, - -0.08917460336110236 + -0.26883119590559346, + 0.5155217086483702, + -0.5158491925203962, + 0.2685036980971234 ], "moduleForcesY": [ - -0.10602111070894989, - -0.0891885709042134, - 0.08883411528886345, - 0.10566665466565468 + 0.5155067834632091, + 0.2684887807990641, + -0.2688461131982421, + -0.5158641177078013 ], - "timestamp": 1.188127360012204 + "timestamp": 1.18812734266238 }, { - "x": 5.799855918551338, - "y": 4.011990805071752, - "heading": -0.07863607346586281, - "angularVelocity": 0.2506349959467513, - "velocityX": -2.648920493452802, - "velocityY": 2.436094583764926, + "x": 5.799878871081088, + "y": 4.012015564900903, + "heading": -0.30078039092071096, + "angularVelocity": 0.14365714521376252, + "velocityX": -2.648847384238056, + "velocityY": 2.436174103153051, "moduleForcesX": [ - 0.08782293442813448, - -0.10293210092075286, - 0.10285415655480103, - -0.08790087894371079 + -0.46925799540516216, + 0.8911709744567401, + -0.8912515212492341, + 0.4691774381959965 ], "moduleForcesY": [ - -0.10293521873787326, - -0.08790399663683537, - 0.08781981673603895, - 0.10285103873695935 + 0.8911662958541331, + 0.46917276547711606, + -0.4692626681234636, + -0.8912561998520685 ], - "timestamp": 1.218190432303686 + "timestamp": 1.2181904197108007 }, { - "x": 5.720221225319398, - "y": 4.085227287300892, - "heading": -0.07115176075870797, - "angularVelocity": 0.2489536875868602, - "velocityX": -2.6489206578697115, - "velocityY": 2.436094405756797, + "x": 5.720246362650583, + "y": 4.085254448619502, + "heading": -0.29593764454411675, + "angularVelocity": 0.16108618451778203, + "velocityX": -2.6488475648133467, + "velocityY": 2.4361739019807627, "moduleForcesX": [ - 0.0997792037198559, - -0.11524085593438568, - 0.1151041294640559, - -0.09991593052075891 + -0.7429685165284523, + 1.3945182559611005, + -1.39466839580155, + 0.7428183290097624 ], "moduleForcesY": [ - -0.11524650720086356, - -0.09992158150866857, - 0.09977355273269863, - 0.11509847819706524 + 1.3945096782912103, + 0.7428097785270028, + -0.7429770670080417, + -1.3946769734727111 ], - "timestamp": 1.2482535045951682 + "timestamp": 1.2482534967592214 }, { - "x": 5.640586505601097, - "y": 4.158463740758798, - "heading": -0.06373118973452349, - "angularVelocity": 0.24683342248712828, - "velocityX": -2.6489215388962513, - "velocityY": 2.4360934487275787, + "x": 5.640613824997811, + "y": 4.158493300313573, + "heading": -0.2903042795907885, + "angularVelocity": 0.1873848423517974, + "velocityX": -2.648848536845163, + "velocityY": 2.4361728367362288, "moduleForcesX": [ - 0.1266237900119596, - -0.14466974473188668, - 0.14393709767456067, - -0.12735643986632028 + -1.1331918015915343, + 2.097548201576523, + -2.0983562398342523, + 1.1323831859475029 ], "moduleForcesY": [ - -0.14470134727364273, - -0.1273880400111231, - 0.1265921898589545, - 0.14390549513891968 + 2.0975092769593804, + 1.1323445962401417, + -1.1332303911636672, + -2.098395164509076 ], - "timestamp": 1.2783165768866502 + "timestamp": 1.278316573807642 }, { - "x": 5.560951634181873, - "y": 4.2317000293011935, - "heading": -0.056397038991224224, - "angularVelocity": 0.24395879011265487, - "velocityX": -2.64892658498466, - "velocityY": 2.4360879630772367, + "x": 5.560981120203287, + "y": 4.231731969830021, + "heading": -0.28349781785100253, + "angularVelocity": 0.22640602386852393, + "velocityX": -2.648854096547228, + "velocityY": 2.4361667768900155, "moduleForcesX": [ - 0.17150393109087256, - -0.1964751436716441, - 0.1922789068175292, - -0.17570019710522752 + -1.7042591408668457, + 3.0990581458773225, + -3.103677895386098, + 1.6996321621441923 ], "moduleForcesY": [ - -0.19665792297374157, - -0.17588295087056113, - 0.1713211769761752, - 0.19209612777835489 + 3.0988480635839615, + 1.6994263303158519, + -1.7044649662058777, + -3.103887980537262 ], - "timestamp": 1.3083796491781323 + "timestamp": 1.3083796508560628 }, { - "x": 5.481315892465903, - "y": 4.304935371552852, - "heading": -0.04918484315111125, - "angularVelocity": 0.2399021553813857, - "velocityX": -2.6489555340135196, - "velocityY": 2.436056486229683, + "x": 5.481347458890943, + "y": 4.3049695984952665, + "heading": -0.2749636000672413, + "angularVelocity": 0.28387705523342494, + "velocityX": -2.6488859135770566, + "velocityY": 2.4361321546456156, "moduleForcesX": [ - 0.2349194875144274, - -0.28456442486474515, - 0.2604910115059837, - -0.25899323053918816 + -2.5587953353009434, + 4.532979929480465, + -4.559393808318418, + 2.5322920929521837 ], "moduleForcesY": [ - -0.2856156234355956, - -0.26004412620762246, - 0.23386857597269814, - 0.25943982506496344 + 4.531786899248366, + 2.531152263878934, + -2.5599348534931616, + -4.560586978806118 ], - "timestamp": 1.3384427214696144 + "timestamp": 1.3384427279044835 }, { - "x": 5.401675158248541, - "y": 4.378165284687608, - "heading": -0.04214827296274619, - "angularVelocity": 0.23406024907037712, - "velocityX": -2.649121601584502, - "velocityY": 2.4358758953422694, + "x": 5.4017083358337405, + "y": 4.378201286439804, + "heading": -0.2638927788904084, + "angularVelocity": 0.36825309528368627, + "velocityX": -2.64906758975247, + "velocityY": 2.4359345461074287, "moduleForcesX": [ - 0.2893409346942692, - -0.45899995045970077, - 0.3209025895272623, - -0.4274421761062247 + -3.8867158166183855, + 6.557429862857006, + -6.707961761840949, + 3.735089398406481 ], "moduleForcesY": [ - -0.4650406480243144, - -0.43347876669017477, - 0.2833035968480443, - 0.31486247130442324 + 6.550475156585462, + 3.728791017609326, + -3.8929994188543704, + -6.714923296167907 ], - "timestamp": 1.3685057937610965 + "timestamp": 1.3685058049529042 }, { - "x": 5.322005791554613, - "y": 4.451364046595631, - "heading": -0.0353670897906762, - "angularVelocity": 0.2255652085828673, - "velocityX": -2.6500740151065694, - "velocityY": 2.4348396996258175, + "x": 5.322038184212182, + "y": 4.45139921350889, + "heading": -0.24910239133254858, + "angularVelocity": 0.49197850020601347, + "velocityX": -2.6500997051379054, + "velocityY": 2.4348115447793464, "moduleForcesX": [ - 0.12898090628321676, - -0.9594907121957729, - 0.16750120245699912, - -0.9210169958470311 + -6.164011134532724, + 9.216283873289328, + -10.067935292197898, + 5.2990794775093075 ], "moduleForcesY": [ - -0.9943616126670282, - -0.9558142945600271, - 0.09414802706080905, - 0.13265824847120633 + 9.174507940270216, + 5.2650935415464035, + -6.197304169327246, + -10.110039137907684 ], - "timestamp": 1.3985688660525786 + "timestamp": 1.398568882001325 }, { - "x": 5.242172493913282, - "y": 4.524383983268107, - "heading": -0.028958609503605428, - "angularVelocity": 0.21316784342385747, - "velocityX": -2.65552691578867, - "velocityY": 2.428891364279068, + "x": 5.242193909877443, + "y": 4.524407160352171, + "heading": -0.2288646669401861, + "angularVelocity": 0.673175415802144, + "velocityX": -2.6558916176856937, + "velocityY": 2.4284921575290683, "moduleForcesX": [ - -1.4955840561962401, - -3.0842275021558754, - -1.4500414668995578, - -3.0392478125313507 + -11.133374596621048, + 11.575862422138778, + -16.313190667353705, + 6.237769162992093 ], "moduleForcesY": [ - -3.291154443494078, - -3.2441395177510017, - -1.7021775756451227, - -1.6556213730364715 + 11.313052488906415, + 6.053756940108435, + -11.285832708232544, + -16.591190362752045 ], - "timestamp": 1.4286319383440607 + "timestamp": 1.4286319590497456 }, { - "x": 5.161420820335375, - "y": 4.596386955894445, - "heading": -0.023079491610195388, - "angularVelocity": 0.19555945035849812, - "velocityX": -2.6860752219521666, - "velocityY": 2.3950636823880593, + "x": 5.161413555068929, + "y": 4.596377951865966, + "heading": -0.2008777699575348, + "angularVelocity": 0.9309392028492137, + "velocityX": -2.687028832025592, + "velocityY": 2.393992850361793, "moduleForcesX": [ - -11.581421530382878, - -13.83969553318351, - -11.560736705409566, - -13.82517265086285 + -26.58220009939148, + 6.808138950257297, + -31.864889455688814, + -0.14752203360309568 ], "moduleForcesY": [ - -15.236183102907832, - -15.147099980145505, - -12.981006455185575, - -12.896896216540323 + 5.165738649826619, + -1.6408223915765097, + -26.784045818200944, + -34.11907412776487 ], - "timestamp": 1.4586950106355427 + "timestamp": 1.4586950360981663 }, { "x": 5.076982498168945, "y": 4.663970470428467, - "heading": -0.017656761814862067, - "angularVelocity": 0.18037843047963403, - "velocityX": -2.808705688751399, - "velocityY": 2.248057479912707, + "heading": -0.166, + "angularVelocity": 1.1601530309541963, + "velocityX": -2.808463576898518, + "velocityY": 2.2483566287520587, "moduleForcesX": [ - -49.724246902099985, - -51.76924989315315, - -50.20326870109139, - -52.258548202544056 + -68.40715651739825, + -34.763028076185925, + -64.29331377644831, + -34.5030945328469 ], "moduleForcesY": [ - -62.321902026006676, - -61.76830867653583, - -60.479179019187406, - -59.92691632780876 + -41.11277607876721, + -53.78698088540779, + -67.8458652924806, + -79.47213438742843 ], - "timestamp": 1.4887580829270248 + "timestamp": 1.488758113146587 }, { - "x": 5.011539251227577, - "y": 4.710022611659073, - "heading": -0.013735045633677667, - "angularVelocity": 0.1763482600806919, - "velocityX": -2.9427939705247983, - "velocityY": 2.070831902095889, + "x": 5.011548458384883, + "y": 4.710038098381911, + "heading": -0.13876202814196595, + "angularVelocity": 1.2247907327794152, + "velocityX": -2.9423264681196164, + "velocityY": 2.0714906415428134, "moduleForcesX": [ - -74.73458152101745, - -75.56600079840955, - -75.17274819436567, - -76.00482465457931 + -85.07382928171674, + -70.6592714731342, + -79.51526479195162, + -65.71756078060247 ], "moduleForcesY": [ - -100.1271088776865, - -99.67113748952008, - -99.56365598718202, - -99.10423907291187 + -90.88166882095503, + -99.868563975784, + -99.52462971020628, + -107.37556316869367 ], - "timestamp": 1.5109965568387602 + "timestamp": 1.5109969912904664 }, { - "x": 4.944111752594888, - "y": 4.753117696266641, - "heading": -0.010041806634365385, - "angularVelocity": 0.16607430051049193, - "velocityX": -3.0320200433037927, - "velocityY": 1.937861598724921, + "x": 4.944130952408395, + "y": 4.753151371788619, + "heading": -0.1096667956061866, + "angularVelocity": 1.3083048680577039, + "velocityX": -3.031515598059749, + "velocityY": 1.9386442574913336, "moduleForcesX": [ - -48.86955260096656, - -50.884187904670384, - -49.41548557497467, - -51.44272493080467 + -60.201633592638196, + -42.83706623126527, + -56.85719462821666, + -40.62935093819132 ], "moduleForcesY": [ - -75.80415500287263, - -75.21845848138368, - -74.26619040690021, - -73.67573814245523 + -65.5504668373278, + -71.81608786189103, + -77.79282615891657, + -83.52111730368917 ], - "timestamp": 1.5332350307504956 + "timestamp": 1.5332358694343458 }, { - "x": 4.875841722215547, - "y": 4.794865323786201, - "heading": -0.00679223256123964, - "angularVelocity": 0.14612396902877933, - "velocityX": -3.0699062647420274, - "velocityY": 1.8772703417218195, + "x": 4.875860429281027, + "y": 4.794900830383448, + "heading": -0.0799515731637119, + "angularVelocity": 1.3361835183513096, + "velocityX": -3.0698726206329807, + "velocityY": 1.8773185555825067, "moduleForcesX": [ - -19.426122716479117, - -22.973960798364423, - -19.600670466139416, - -23.180948658787127 + -24.027048010641174, + -19.001035703769848, + -24.08296168472936, + -19.127618091600315 ], "moduleForcesY": [ - -35.85595853074835, - -35.61094015021818, - -32.49716354225627, - -32.2666369776045 + -31.81294253993924, + -32.48442086070161, + -36.44611940518913, + -37.13600354250775 ], - "timestamp": 1.555473504662231 + "timestamp": 1.5554747475782251 }, { - "x": 4.8073047973217715, - "y": 4.83617334209178, - "heading": -0.0041172704461826274, - "angularVelocity": 0.12028532738684966, - "velocityX": -3.081907740835294, - "velocityY": 1.8575023839177676, + "x": 4.80731960857004, + "y": 4.836205070048322, + "heading": -0.05252244958633514, + "angularVelocity": 1.2333861177671837, + "velocityX": -3.082026902049672, + "velocityY": 1.8572987089391957, "moduleForcesX": [ - -4.49876500509147, - -8.982770968875167, - -4.499495274957967, - -9.00255616112108 + 1.6061962429708239, + -16.092976076741053, + 2.5906897843255123, + -15.43056136268149 ], "moduleForcesY": [ - -13.369347403828613, - -13.316688855511625, - -8.900489708619563, - -8.858875012590483 + -20.675346328834472, + -19.55475077273552, + -2.8774439208701095, + -1.9033775000417006 ], - "timestamp": 1.5777119785739664 + "timestamp": 1.5777136257221045 }, { - "x": 4.73868703457269, - "y": 4.877346940160342, - "heading": -0.0021435842298360595, - "angularVelocity": 0.0887509738384086, - "velocityX": -3.085542785951837, - "velocityY": 1.8514578937257968, + "x": 4.738697842922885, + "y": 4.8773747284213975, + "heading": -0.03060239696411374, + "angularVelocity": 0.9856635968957072, + "velocityX": -3.0856666961019585, + "velocityY": 1.8512470865984019, "moduleForcesX": [ - 0.684066392717217, - -4.778975001877864, - 0.6968988986697459, - -4.774864765901889 + 18.634677367546427, + -24.01774612344233, + 20.204208966757236, + -23.00454323312301 ], "moduleForcesY": [ - -6.138282614940391, - -6.120731024272286, - -0.6717603378341901, - -0.6593901141615751 + -25.59203037666513, + -24.111410524016378, + 17.452958379074122, + 18.64453014028286 ], - "timestamp": 1.5999504524857018 + "timestamp": 1.5999525038659839 }, { - "x": 4.67004490852136, - "y": 4.918478718061472, - "heading": -0.001046920687375631, - "angularVelocity": 0.04931379494892859, - "velocityX": -3.08663833339239, - "velocityY": 1.8495773614788102, + "x": 4.670050811912327, + "y": 4.918500645096401, + "heading": -0.017548109453805617, + "angularVelocity": 0.5870029695675539, + "velocityX": -3.0868027859344562, + "velocityY": 1.8492801844100148, "moduleForcesX": [ - 2.7975801448635234, - -4.035946190917921, - 2.806476705020162, - -4.031291012305256 + 33.1855617519586, + -35.6721896573537, + 34.62586838221673, + -34.6935281192735 ], "moduleForcesY": [ - -4.479015680953096, - -4.470250039016804, - 2.3574265332940394, - 2.3637337545083312 + -36.31612966199994, + -34.97801312322975, + 32.88960630961585, + 33.982321075039984 ], - "timestamp": 1.6221889263974372 + "timestamp": 1.6221913820098632 }, { - "x": 4.603056526020481, - "y": 4.958600986009946, - "heading": -0.0008626277354202149, - "angularVelocity": 0.00828712224979447, - "velocityX": -3.0122742579433046, - "velocityY": 1.8041826119776336, + "x": 4.603063207227361, + "y": 4.958620088673567, + "heading": -0.014583974120691926, + "angularVelocity": 0.13328618979503234, + "velocityX": -3.0121845288880116, + "velocityY": 1.8040228161525889, "moduleForcesX": [ - 44.84494644167724, - 38.09849421901954, - 45.529247862780295, - 38.72420579633329 + 73.87917659891767, + 3.4610057140129897, + 84.32111497149015, + 6.104038187283307 ], "moduleForcesY": [ - -28.877466204425435, - -29.60041748602904, - -21.512170197057984, - -22.07349076341176 + -59.989155541489346, + -73.81837883099256, + 12.522755266575233, + 19.531965936502534 ], - "timestamp": 1.6444274003091726 + "timestamp": 1.6444302601537426 }, { - "x": 4.541129643380843, - "y": 4.9956909602433415, - "heading": -0.0007123723070567054, - "angularVelocity": 0.006756553033264512, - "velocityX": -2.784673214819023, - "velocityY": 1.6678291136655743, + "x": 4.541136102505571, + "y": 4.995707297578138, + "heading": -0.01210887067440813, + "angularVelocity": 0.11129623671979184, + "velocityX": -2.7846325844885604, + "velocityY": 1.6676744512293336, "moduleForcesX": [ - 127.89354658384548, - 127.74727518192825, - 128.11624795495828, - 127.97103722498586 + 127.36960213080559, + 125.20172315858285, + 130.49196440886652, + 128.54512626421823 ], "moduleForcesY": [ - -76.72369690811416, - -76.94671638772455, - -76.33903475956957, - -76.5617196723029 + -77.83386593962678, + -81.00784800371383, + -72.30730122873238, + -75.40503859160985 ], - "timestamp": 1.666665874220908 + "timestamp": 1.666669138297622 }, { - "x": 4.484324481990362, - "y": 5.0297130575875215, - "heading": -0.0005830001599038244, - "angularVelocity": 0.005817492138460569, - "velocityX": -2.5543641895546445, - "velocityY": 1.5298755426824582, + "x": 4.484330351368017, + "y": 5.029726780735972, + "heading": -0.009950253222174046, + "angularVelocity": 0.09706503350881449, + "velocityX": -2.5543442780684305, + "velocityY": 1.5297301841274176, "moduleForcesX": [ - 129.42798937571155, - 129.34011537524262, - 129.56798425532966, - 129.48052507091413 + 129.04969882385433, + 127.6931202547488, + 131.13919413377405, + 129.87860611884363 ], "moduleForcesY": [ - -77.59106674193973, - -77.73114147626927, - -77.35327125658561, - -77.49322079361032 + -78.29632105330516, + -80.39905635528088, + -74.68766835229971, + -76.75909857178956 ], - "timestamp": 1.6889043481326433 + "timestamp": 1.6889080164415013 }, { - "x": 4.432661341364797, - "y": 5.060655284664428, - "heading": -0.00047012280459204025, - "angularVelocity": 0.0050757689470867, - "velocityX": -2.323142353653137, - "velocityY": 1.3913826641160814, + "x": 4.4326664575145855, + "y": 5.060666584038578, + "heading": -0.008050326651272853, + "angularVelocity": 0.08543266250254172, + "velocityX": -2.3231339962052178, + "velocityY": 1.391248385033048, "moduleForcesX": [ - 129.94588837232158, - 129.87697539950702, - 130.0573621015547, - 129.9887112201165 + 129.627970505076, + 128.53021423970918, + 131.35411406497713, + 130.32121160237895 ], "moduleForcesY": [ - -77.88372046657192, - -77.99524312645859, - -77.69542359927932, - -77.8068683651887 + -78.45324843562169, + -80.18890753135919, + -75.49671273609903, + -77.21181679110533 ], - "timestamp": 1.7111428220443787 + "timestamp": 1.7111468945853807 }, { - "x": 4.386150402629805, - "y": 5.088511626422991, - "heading": -0.0003715505641051545, - "angularVelocity": 0.004432509212552959, - "velocityX": -2.0914627019938163, - "velocityY": 1.2526193059967814, + "x": 4.386154702915534, + "y": 5.088520713539962, + "heading": -0.006380217087861238, + "angularVelocity": 0.07509864268361359, + "velocityX": -2.091461372202599, + "velocityY": 1.2524970603809622, "moduleForcesX": [ - 130.2057617562999, - 130.1462088906001, - 130.30282681037423, - 130.24347231352516 + 129.92056229181208, + 128.94920376313064, + 131.4615757186872, + 130.54165933677118 ], "moduleForcesY": [ - -78.03055809434858, - -78.12766860136843, - -77.86705554259257, - -77.96410756885977 + -78.5317392014187, + -80.0830939259021, + -75.90322494490832, + -77.43860573608792 ], - "timestamp": 1.7333812959561141 + "timestamp": 1.73338577272926 }, { - "x": 4.3447977818837895, - "y": 5.11327846948588, - "heading": -0.00028597237548311677, - "angularVelocity": 0.003848204196101674, - "velocityX": -1.8595080269429423, - "velocityY": 1.1136934648442598, + "x": 4.344801263770737, + "y": 5.113285568972936, + "heading": -0.004922626537450151, + "angularVelocity": 0.06554244962272314, + "velocityX": -1.8595110273667528, + "velocityY": 1.1135838450451891, "moduleForcesX": [ - 130.36191437677311, - 130.30793304969453, - 130.45029489895654, - 130.39647786061775 + 130.09727438183094, + 129.20053375195837, + 131.5261155388415, + 130.67348131154324 ], "moduleForcesY": [ - -78.11878783843908, - -78.2072165840905, - -77.97016224183274, - -78.058542799783 + -78.57862961156697, + -80.01955006183515, + -76.14750970335476, + -77.57495565992956 ], - "timestamp": 1.7556197698678495 + "timestamp": 1.7556246508731395 }, { - "x": 4.308607558707672, - "y": 5.134953403665909, - "heading": -0.00021251574259467532, - "angularVelocity": 0.003303132812979489, - "velocityX": -1.627369904929705, - "velocityY": 0.9746592444052279, + "x": 4.308610259552806, + "y": 5.134958749061031, + "heading": -0.0036660397823218994, + "angularVelocity": 0.056504053261971575, + "velocityX": -1.627375445101524, + "velocityY": 0.9745626532003613, "moduleForcesX": [ - 130.46608786596434, - 130.41580051599712, - 130.54866492935045, - 130.49852090168125 + 130.21558103445227, + 129.36799355780244, + 131.5691865443855, + 130.76111591097109 ], "moduleForcesY": [ - -78.17764788291926, - -78.26027732323496, - -78.0389359478294, - -78.12152349880125 + -78.60972929291158, + -79.97722060502194, + -76.31044000900523, + -77.66602031861254 ], - "timestamp": 1.777858243779585 + "timestamp": 1.7778635290170188 }, { - "x": 4.2775826477640715, - "y": 5.153534707003259, - "heading": -0.00015055835535022086, - "angularVelocity": 0.0027860449188358725, - "velocityX": -1.3951007190218023, - "velocityY": 0.8355475924959945, + "x": 4.277584633330454, + "y": 5.153538538294656, + "heading": -0.002602241887639963, + "angularVelocity": 0.047835052101075526, + "velocityX": -1.3951075239276127, + "velocityY": 0.8354643212412275, "moduleForcesX": [ - 130.54052249320324, - 130.49286314766545, - 130.61894848149828, - 130.5714183477444 + 130.3003183383157, + 129.48754068846463, + 131.5999737169155, + 130.82358383766928 ], "moduleForcesY": [ - -78.2197050353225, - -78.29818741188794, - -78.08807049218869, - -78.16651520223935 + -78.63186253637525, + -79.94701340088972, + -76.42683235209549, + -77.73113720079094 ], - "timestamp": 1.8000967176913203 + "timestamp": 1.8001024071608982 }, { - "x": 4.25172523522464, - "y": 5.169021087927846, - "heading": -0.00009963402920995774, - "angularVelocity": 0.0022899199982148975, - "velocityX": -1.1627332272063562, - "velocityY": 0.6963778623495119, + "x": 4.251726592535597, + "y": 5.16902364998069, + "heading": -0.001725077950036944, + "angularVelocity": 0.03944281415312476, + "velocityX": -1.1627403427309801, + "velocityY": 0.6963081314544508, "moduleForcesX": [ - 130.59635711868773, - 130.55066290074885, - 130.67166710675176, - 130.62609199335435 + 130.36396852629426, + 129.5771615647065, + 131.6230687111339, + 130.87038556242325 ], "moduleForcesY": [ - -78.25125315900695, - -78.32662283325783, - -78.12492383132492, - -78.20025885491455 + -78.64845727601362, + -79.92436682683636, + -76.51413645317245, + -77.77996754726415 ], - "timestamp": 1.8223351916030557 + "timestamp": 1.8223412853047776 }, { - "x": 4.231037021450941, - "y": 5.181411541882464, - "heading": -0.000059380522089606604, - "angularVelocity": 0.0018100840588305442, - "velocityX": -0.9302892750621689, - "velocityY": 0.5571629601575053, + "x": 4.23103785403471, + "y": 5.181413083379324, + "heading": -0.0010297647851857947, + "angularVelocity": 0.031265658292323396, + "velocityX": -0.9302959603902878, + "velocityY": 0.5571069421098666, "moduleForcesX": [ - 130.6397864527033, - 130.59561726899813, - 130.7126715363761, - 130.66861387886254 + 130.4134906135284, + 129.6468488147032, + 131.64102298241994, + 130.90679443260817 ], "moduleForcesY": [ - -78.27579248609706, - -78.34873960250282, - -78.1535873477892, - -78.22650206900526 + -78.66142385608707, + -79.90674306796195, + -76.58205936525013, + -77.81787498809337 ], - "timestamp": 1.844573665514791 + "timestamp": 1.844580163448657 }, { - "x": 4.2155193666776185, - "y": 5.190705265251585, - "heading": -0.000029508265840906003, - "angularVelocity": 0.0013432691634895349, - "velocityX": -0.6977841570777397, - "velocityY": 0.41791192175626024, + "x": 4.215519791249609, + "y": 5.190706037944631, + "heading": -0.0005124783926406911, + "angularVelocity": 0.023260453571371992, + "velocityX": -0.6977898203580443, + "velocityY": 0.41786975517268843, "moduleForcesX": [ - 130.67452984020673, - 130.63157870886738, - 130.74547432185489, - 130.70262883272267 + 130.45307070026846, + 129.7025969278405, + 131.6553680098671, + 130.93597194036062 ], "moduleForcesY": [ - -78.29542459289338, - -78.36643239782136, - -78.17651720537638, - -78.24749436200543 + -78.67191089107696, + -79.89261887858592, + -76.63642957193791, + -77.84807585782026 ], - "timestamp": 1.8668121394265265 + "timestamp": 1.8668190415925363 }, { - "x": 4.205173383756283, - "y": 5.196901600573192, - "heading": -0.000009780492476835741, - "angularVelocity": 0.0008871010413021114, - "velocityX": -0.46522899736241846, - "velocityY": 0.2786313191502734, + "x": 4.205173527809965, + "y": 5.196901858732643, + "heading": -0.00017009171639673816, + "angularVelocity": 0.015395860979533568, + "velocityX": -0.4652331548797881, + "velocityY": 0.27860311783221064, "moduleForcesX": [ - 130.70295521059742, - 130.66099956323555, - 130.77231162125068, - 130.73045692040506 + 130.48537787591897, + 129.74821951709995, + 131.6670788348747, + 130.95992846106546 ], "moduleForcesY": [ - -78.31148746662758, - -78.38090738901752, - -78.19527694331126, - -78.26466760794713 + -78.6806503066457, + -79.88102511572508, + -76.68095754418674, + -77.87261601196946 ], - "timestamp": 1.8890506133382619 + "timestamp": 1.8890579197364157 }, { "x": 4.2, "y": 5.2, - "heading": 9.429465809543985e-20, - "angularVelocity": 0.00043980052388732703, - "velocityX": -0.23263213911703554, - "velocityY": 0.1393260814065984, + "heading": 4.659565553305106e-19, + "angularVelocity": 0.007648394640066517, + "velocityX": -0.23263438813593154, + "velocityY": 0.13931194043749218, "moduleForcesX": [ - 130.7266416719387, - 130.685515050011, - 130.79467461441962, - 130.753645107655 + 130.5121943023448, + 129.78625817078492, + 131.67680581217965, + 130.9800033043441 ], "moduleForcesY": [ - -78.32487338576404, - -78.39296890767325, - -78.21090913530264, - -78.27897653087165 + -78.6881304288858, + -79.8713160152652, + -76.7181173709682, + -77.89285893180104 ], - "timestamp": 1.9112890872499972 + "timestamp": 1.911296797880295 }, { "x": 4.2, "y": 5.2, - "heading": 4.651642666052545e-20, - "angularVelocity": -5.673969863756623e-20, - "velocityX": -1.134303234353835e-18, - "velocityY": -8.93005391405592e-19, + "heading": 2.317076431533623e-19, + "angularVelocity": -1.1428231681219e-19, + "velocityX": 3.3495170299257697e-19, + "velocityY": 6.801671925349789e-19, "moduleForcesX": [ - 130.74668268718136, - 130.70625737797803, - 130.81359585304506, - 130.77326447536933 + 130.53475536945476, + 129.81847185330702, + 131.68499941760993, + 130.99712305409656 ], "moduleForcesY": [ - -78.33620022242233, - -78.40317390934203, - -78.22413564942327, - -78.29108214716159 + -78.69468943051332, + -79.86304481858627, + -76.7496219625015, + -77.90974839273868 ], - "timestamp": 1.9335275611617326 + "timestamp": 1.9335356760241744 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/f5 to shoot2.traj b/src/main/deploy/choreo/f5 to shoot2.traj index d48da40..3762f0e 100644 --- a/src/main/deploy/choreo/f5 to shoot2.traj +++ b/src/main/deploy/choreo/f5 to shoot2.traj @@ -3,10 +3,10 @@ { "x": 8.044, "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -8.810953422093737e-21, - "velocityX": -2.499787071120317e-21, - "velocityY": 5.562537066224306e-21, + "heading": -0.5325926535895862, + "angularVelocity": -3.0585591860571732e-22, + "velocityX": -9.836729052176632e-24, + "velocityY": -6.3242697268018195e-25, "moduleForcesX": [ 0, 0, @@ -22,1264 +22,1264 @@ "timestamp": 0 }, { - "x": 8.03202438008288, - "y": 0.8488326926594779, - "heading": -0.36024448713941243, - "angularVelocity": 0.0009309275254694299, - "velocityX": -0.2698741474962072, - "velocityY": 0.46947090926705115, + "x": 8.032024366069393, + "y": 0.8488326805857733, + "heading": -0.5325515213275621, + "angularVelocity": 0.0009269277947315279, + "velocityX": -0.26987448303523476, + "velocityY": 0.46947067152369854, "moduleForcesX": [ - -76.0117003422306, - -75.922570726689, - -76.11974354523568, - -76.03068409394186 + -75.99516083642747, + -75.92615817296648, + -76.11633561208036, + -76.04744440362354 ], "moduleForcesY": [ - 132.25143090810823, - 132.30247287432883, - 132.1891543300463, - 132.2402525200922 + 132.2609309442785, + 132.30039172496134, + 132.19113914478396, + 132.2306196321183 ], - "timestamp": 0.04437483185486916 + "timestamp": 0.04437482860890867 }, { - "x": 8.008075562723523, - "y": 0.8904938638783265, - "heading": -0.3601600115760493, - "angularVelocity": 0.0019036818807417664, - "velocityX": -0.5396937038022842, - "velocityY": 0.9388468525380488, + "x": 8.008075520695167, + "y": 0.8904938276682749, + "heading": -0.532467408819902, + "angularVelocity": 0.0018955004514272223, + "velocityX": -0.5396943746035827, + "velocityY": 0.9388463772936753, "moduleForcesX": [ - -75.99592028454072, - -75.90278057824887, - -76.10877479112716, - -76.01571162095554 + -75.97863636828598, + -75.906520163362, + -76.10521266920507, + -76.03321807468078 ], "moduleForcesY": [ - 132.22494688168464, - 132.27825273710738, - 132.15986973149495, - 132.21323693761397 + 132.23487337792943, + 132.2760787597028, + 132.16194917324165, + 132.20317605581712 ], - "timestamp": 0.08874966370973832 + "timestamp": 0.08874965721781734 }, { - "x": 7.9721571777077, - "y": 0.9529771993369557, - "heading": -0.36002958756159303, - "angularVelocity": 0.0029391438571044095, - "velocityX": -0.809431461809155, - "velocityY": 1.4080805007438446, + "x": 7.972157093681252, + "y": 0.9529771269444502, + "heading": -0.5323375455322986, + "angularVelocity": 0.002926507925200736, + "velocityX": -0.8094324674575465, + "velocityY": 1.4080797883607152, "moduleForcesX": [ - -75.97227960679123, - -75.87312656914229, - -76.09234004800221, - -75.99327360399968 + -75.95388015517307, + -75.87709342098178, + -76.08854743124665, + -76.01189834664568 ], "moduleForcesY": [ - 132.185266199562, - 132.24196168914827, - 132.11599019197, - 132.1727551318559 + 132.195831587505, + 132.23964828950457, + 132.11821188675648, + 132.16205292401975 ], - "timestamp": 0.13312449556460748 + "timestamp": 0.133124485826726 }, { - "x": 7.924275263690695, - "y": 1.0362721942833608, - "heading": -0.3598485815375, - "angularVelocity": 0.004079024449828894, - "velocityX": -1.07903313692785, - "velocityY": 1.877077421246981, + "x": 7.924275123713193, + "y": 1.0362720736897102, + "heading": -0.5321573180636888, + "angularVelocity": 0.004061479768139941, + "velocityX": -1.0790344767313993, + "velocityY": 1.8770764723255224, "moduleForcesX": [ - -75.93295485998813, - -75.8237909656994, - -76.06499989414266, - -75.9559406953491 + -75.91269939525975, + -75.82813496573823, + -76.06082434432506, + -75.9764264451034 ], "moduleForcesY": [ - 132.11926139204178, - 132.18158603304877, - 132.04299033717723, - 132.10539899993782 + 132.13088927987542, + 132.1790392856821, + 132.04545044922497, + 132.09362987970087 ], - "timestamp": 0.17749932741947663 + "timestamp": 0.1774993144356347 }, { - "x": 7.8644418543604155, - "y": 1.140357915098812, - "heading": -0.3596077448406855, - "angularVelocity": 0.005427326408856619, - "velocityX": -1.348363629319636, - "velocityY": 2.345602596441823, + "x": 7.864441644539395, + "y": 1.140357734339573, + "heading": -0.5319175179826507, + "angularVelocity": 0.005403966360105332, + "velocityX": -1.348365301895168, + "velocityY": 2.3456014121701103, "moduleForcesX": [ - -75.85460432851812, - -75.72547088764415, - -76.01051980338595, - -75.88153223565953 + -75.83065009016207, + -75.73056342981562, + -76.00558264136284, + -75.90572824824991 ], "moduleForcesY": [ - 131.98776594554886, - 132.06126794563855, - 131.89751886755639, - 131.97113797998938 + 132.00150945435703, + 132.05825069432692, + 131.90046092632195, + 131.95724309580459 ], - "timestamp": 0.22187415927434578 + "timestamp": 0.22187414304454336 }, { - "x": 7.792692680622134, - "y": 1.2651722048486804, - "heading": -0.3592795207044657, - "angularVelocity": 0.007396628280040741, - "velocityX": -1.6168889151612051, - "velocityY": 2.8127270466755405, + "x": 7.792692387246151, + "y": 1.2651719521175644, + "heading": -0.5315907083674618, + "angularVelocity": 0.007364752167703965, + "velocityX": -1.6168909163705534, + "velocityY": 2.8127256305150823, "moduleForcesX": [ - -75.62210773249221, - -75.43354577978351, - -75.84872472456786, - -75.66047059435745 + -75.58717796594748, + -75.44083136945085, + -75.84154362878331, + -75.6956882922955 ], "moduleForcesY": [ - 131.59760169838054, - 131.70396185760603, - 131.46561635230412, - 131.57222320367924 + 131.61760889256118, + 131.69950766767352, + 131.4700397830344, + 131.55202398563486 ], - "timestamp": 0.26624899112921496 + "timestamp": 0.266248971653452 }, { - "x": 7.713096640663144, - "y": 1.4036368355617939, - "heading": -0.3552438669857885, - "angularVelocity": 0.09094465375950148, - "velocityX": -1.793720373280839, - "velocityY": 3.120341529765596, + "x": 7.713096246009242, + "y": 1.4036365111678364, + "heading": -0.527571358722332, + "angularVelocity": 0.0905772432509834, + "velocityX": -1.7937227868172647, + "velocityY": 3.1203401430709743, "moduleForcesX": [ - -50.71248785877764, - -43.324214598769046, - -56.245491934699594, - -48.96527396771627 + -49.63409963591525, + -43.252316874528205, + -56.2292507984112, + -50.132280221483235 ], "moduleForcesY": [ - 89.50891240410175, - 90.06817069531616, - 83.2604022113989, - 83.77169632634327 + 90.01161190379975, + 89.53964334149873, + 83.84067386321088, + 83.21731108372825 ], - "timestamp": 0.31062382298408414 + "timestamp": 0.3106238002623607 }, { - "x": 7.633500342018771, - "y": 1.542101919023782, - "heading": -0.3459071162577261, - "angularVelocity": 0.21040644747903436, - "velocityX": -1.7937262028326606, - "velocityY": 3.120351732595778, + "x": 7.633499847689751, + "y": 1.542101523873641, + "heading": -0.5182739514160493, + "angularVelocity": 0.2095198471237819, + "velocityX": -1.7937285802498997, + "velocityY": 3.1203503663337306, "moduleForcesX": [ - -3.123550994615439, - 6.638474955545759, - -6.641764605707574, - 3.120272110793276 + -1.9299869394795022, + 7.0447875520119965, + -7.048051753401431, + 1.9267233042365912 ], "moduleForcesY": [ - 6.6429866696770965, - 3.1247927571677248, - -3.1190303553560543, - -6.637252881243674 + 7.049291875568288, + 1.9312425057242097, + -1.9254677474835347, + -7.043547420014684 ], - "timestamp": 0.3549986548389533 + "timestamp": 0.3549986288712694 }, { - "x": 7.553904043404817, - "y": 1.6805670020127061, - "heading": -0.3335507658063954, - "angularVelocity": 0.27845402303140915, - "velocityX": -1.7937262021472027, - "velocityY": 3.1203517219351626, + "x": 7.553903448919249, + "y": 1.6805665358349102, + "heading": -0.5059714653609751, + "angularVelocity": 0.2772401931622191, + "velocityX": -1.7937285904135667, + "velocityY": 3.1203503495553955, "moduleForcesX": [ - -1.824895365261808, - 3.760069813163758, - -3.7600694236315397, - 1.8248957480794674 + -1.1471899580461222, + 3.9980880129499505, + -3.9980937316600738, + 1.147184224692999 ], "moduleForcesY": [ - 3.760066616902089, - 1.8248925521629487, - -1.8248985611782538, - -3.760072619893184 + 3.9980861478423275, + 1.1471823632126465, + -1.1471918195264532, + -3.9980955967676928 ], - "timestamp": 0.3993734866938225 + "timestamp": 0.39937345748017805 }, { - "x": 7.474307744786126, - "y": 1.819032084649566, - "heading": -0.31948386187129196, - "angularVelocity": 0.3170018532376681, - "velocityX": -1.7937262022539293, - "velocityY": 3.1203517140012935, + "x": 7.474307049473395, + "y": 1.819031547063319, + "heading": -0.49197069453367864, + "angularVelocity": 0.3155115471135735, + "velocityX": -1.7937286056328559, + "velocityY": 3.1203503330401725, "moduleForcesX": [ - -1.063632776019577, - 2.1152651997902097, - -2.115265259047399, - 1.063632715021037 + -0.6798933286114363, + 2.250171441337479, + -2.250180012704963, + 0.6798847514177842 ], "moduleForcesY": [ - 2.1152629948323165, - 1.0636305103043149, - -1.0636349807363197, - -2.1152674640052544 + 2.2501710751831205, + 0.6798843874656036, + -0.679893692563601, + -2.250180378859325 ], - "timestamp": 0.4437483185486917 + "timestamp": 0.44374828608908673 }, { - "x": 7.394711446284727, - "y": 1.9574971671361356, - "heading": -0.30445465382953907, - "angularVelocity": 0.33868766175626086, - "velocityX": -1.7937261996106801, - "velocityY": 3.1203517106144507, + "x": 7.394710649578657, + "y": 1.9574965578208483, + "heading": -0.47702284827381847, + "angularVelocity": 0.33685417450512256, + "velocityX": -1.793728615748574, + "velocityY": 3.1203503224287648, "moduleForcesX": [ - -0.616182147737302, - 1.1808560418785272, - -1.180854552664494, - 0.6161836368436348 + -0.39786794542800824, + 1.24903585952574, + -1.2490415579463643, + 0.3978622458124058 ], "moduleForcesY": [ - 1.180854343315722, - 0.6161819381585638, - -0.6161838464224253, - -1.1808562512272114 + 1.2490357196538393, + 0.39786210642149683, + -0.3978680848189135, + -1.2490416978182661 ], - "timestamp": 0.48812315040356086 + "timestamp": 0.4881231146979954 }, { - "x": 7.315115147999082, - "y": 2.0959622496195407, - "heading": -0.28889274532837567, - "angularVelocity": 0.3506922246389493, - "velocityX": -1.7937261947486838, - "velocityY": 3.120351710543152, + "x": 7.315114249492908, + "y": 2.0959615683479025, + "heading": -0.4615661357254765, + "angularVelocity": 0.3483216281141615, + "velocityX": -1.793728620053098, + "velocityY": 3.1203503172349376, "moduleForcesX": [ - -0.3512284176252388, - 0.6482976193247139, - -0.648294880195872, - 0.3512311568228451 + -0.2241224817603333, + 0.6677265136297692, + -0.6677289386444983, + 0.22412005658817793 ], "moduleForcesY": [ - 0.6482962297031174, - 0.35122976711286596, - -0.35122980733532866, - -0.6482962698172746 + 0.6677262630907235, + 0.22411980610932455, + -0.22412273223918652, + -0.6677291891835438 ], - "timestamp": 0.53249798225843 + "timestamp": 0.532497943306904 }, { - "x": 7.2355188498522445, - "y": 2.234427332113853, - "heading": -0.2730503621599515, - "angularVelocity": 0.3570128044707363, - "velocityX": -1.7937261916205365, - "velocityY": 3.1203517107888947, + "x": 7.235517849287263, + "y": 2.2344265787474633, + "heading": -0.4458694672219707, + "angularVelocity": 0.35372910714419253, + "velocityX": -1.7937286227549183, + "velocityY": 3.120350314361836, "moduleForcesX": [ - -0.1903109624433003, - 0.338366034668512, - -0.33836427233213456, - 0.19031272479337272 + -0.11061431259868915, + 0.3131687092062438, + -0.3131702313539202, + 0.11061279043018529 ], "moduleForcesY": [ - 0.3383652227283387, - 0.19031191283727208, - -0.19031177439959904, - -0.3383650842719476 + 0.3131686609532508, + 0.11061274218617016, + -0.11061436084270465, + -0.3131702796069127 ], - "timestamp": 0.5768728141132992 + "timestamp": 0.5768727719158127 }, { - "x": 7.155922549860952, - "y": 2.372892413517532, - "heading": -0.2570860619572003, - "angularVelocity": 0.3597602410069627, - "velocityX": -1.7937262331859278, - "velocityY": 3.1203516862111846, + "x": 7.15592144710445, + "y": 2.372891587997578, + "heading": -0.43012145015532527, + "angularVelocity": 0.35488626233215065, + "velocityX": -1.7937286673110473, + "velocityY": 3.120350288458719, "moduleForcesX": [ - -0.08507407153738511, - 0.1457298933770963, - -0.14575331055910548, - 0.08505065429793375 + -0.024735308738378113, + 0.06662203484675998, + -0.06664713698210914, + 0.02471020659065927 ], "moduleForcesY": [ - 0.14573467863478393, - 0.0850554396012224, - -0.08506928623432829, - -0.14574852530097876 + 0.06662728923295264, + 0.024715460984186425, + -0.02473005434484995, + -0.06664188259591762 ], - "timestamp": 0.6212476459681683 + "timestamp": 0.6212476005247213 }, { - "x": 7.076326219279839, - "y": 2.511357477335723, - "heading": -0.2411176482907429, - "angularVelocity": 0.35985293913187455, - "velocityX": -1.79372692253658, - "velocityY": 3.120351289917034, + "x": 7.076325014289695, + "y": 2.5113565796680453, + "heading": -0.4144931558063935, + "angularVelocity": 0.35218827517441414, + "velocityX": -1.7937293576109552, + "velocityY": 3.1203498922961277, "moduleForcesX": [ - -0.003142328567855136, - 0.004676663050146699, - -0.005065031085672818, - 0.0027539605312853046 + 0.05986928619205338, + -0.15463779058135796, + 0.15424888823794494, + -0.06025818956605101 ], "moduleForcesY": [ - 0.004759214489497112, - 0.002836511971479454, - -0.0030597771276530358, - -0.00498247964633536 + -0.15455493499508183, + -0.0601753333478141, + 0.05995214240940125, + 0.1543317438253407 ], - "timestamp": 0.6656224778230374 + "timestamp": 0.6656224291336299 }, { - "x": 6.996729446668113, - "y": 2.6498222870807084, - "heading": -0.2252615977819417, - "angularVelocity": 0.35732080204065814, - "velocityX": -1.7937368838275871, - "velocityY": 3.1203455643019216, + "x": 6.996728139127575, + "y": 2.6498213171341973, + "heading": -0.39919517325702275, + "angularVelocity": 0.34474460023716147, + "velocityX": -1.7937393260407923, + "velocityY": 3.1203441637260623, "moduleForcesX": [ - 0.0798248134175808, - -0.13456422666230353, - 0.12895221601121215, - -0.08543683516383756 + 0.16940511406538833, + -0.42632820966348567, + 0.4207122274162974, + -0.1750212088195875 ], "moduleForcesY": [ - -0.13337107879291812, - -0.08424367777183217, - 0.08101797067806575, - 0.13014536413131914 + -0.4251339140134009, + -0.17382684192610137, + 0.17059948045643009, + 0.4219065237178261 ], - "timestamp": 0.7099973096779065 + "timestamp": 0.7099972577425385 }, { - "x": 6.917126342707538, - "y": 2.7882834571093675, - "heading": -0.2096720421317909, - "angularVelocity": 0.35131526134313035, - "velocityX": -1.79387956265213, - "velocityY": 3.120263542214793, + "x": 6.917124927061762, + "y": 2.78828241176976, + "heading": -0.38454771206169114, + "angularVelocity": 0.330084907469164, + "velocityX": -1.7938821300558634, + "velocityY": 3.1202620714520504, "moduleForcesX": [ - 0.16063391594305526, - -0.3495927412705541, - 0.2692104376150194, - -0.24101709418223796 + 0.3111116669815416, + -0.8692554101672714, + 0.7888052344072365, + -0.3915680451708448 ], "moduleForcesY": [ - -0.3325067103218643, - -0.22393021588659492, - 0.17772073288233114, - 0.2862965900286298 + -0.852155574770193, + -0.374463984135748, + 0.328215528721465, + 0.8059053360087134 ], - "timestamp": 0.7543721415327757 + "timestamp": 0.7543720863514471 }, { - "x": 6.837432623971927, - "y": 2.9266924920356496, - "heading": -0.19459218350818946, - "angularVelocity": 0.3398290876441204, - "velocityX": -1.795921593489198, - "velocityY": 3.1190886622164053, + "x": 6.837431033870095, + "y": 2.9266913331362, + "heading": -0.3710865244682766, + "angularVelocity": 0.30335187797687796, + "velocityX": -1.7959256562777648, + "velocityY": 3.1190863312687305, "moduleForcesX": [ - -0.1822497918037773, - -1.161100082723618, - 0.01067820521849291, - -0.9682168656005873 + 0.08528761749446666, + -2.07858187451445, + 0.9274414714110615, + -1.2367208647725303 ], "moduleForcesY": [ - -0.9168751486056409, - -0.723916550050299, - 0.06202717746403705, - 0.254951056128782 + -1.8342807206906333, + -0.9921401823343631, + 0.3297951286723465, + 1.1718429862525694 ], - "timestamp": 0.7987469733876448 + "timestamp": 0.7987469149603558 }, { - "x": 6.756450590075606, - "y": 3.0643516852446733, - "heading": -0.18042800438723705, - "angularVelocity": 0.3191939784082406, - "velocityX": -1.824954157824799, - "velocityY": 3.102190756671405, + "x": 6.7564486034205675, + "y": 3.0643502800704208, + "heading": -0.35972223546391724, + "angularVelocity": 0.25609764275411484, + "velocityX": -1.8249632277626047, + "velocityY": 3.1021854337164623, "moduleForcesX": [ - -7.455775232064813, - -9.215811700127574, - -7.139626198678781, - -8.90165937144471 + -6.977788164929342, + -10.810782712541323, + -5.5420570462568755, + -9.38788885158046 ], "moduleForcesY": [ - -5.807259543309023, - -5.478299087564559, - -4.040867799481383, - -3.713539287449221 + -7.414281756691886, + -5.951713614569924, + -3.56782004975934, + -2.10952297834713 ], - "timestamp": 0.8431218052425139 + "timestamp": 0.8431217435692644 }, { "x": 6.663692474365234, "y": 3.194321393966675, - "heading": -0.16706774736739735, - "angularVelocity": 0.30107735536971286, - "velocityX": -2.0903316549737805, - "velocityY": 2.9289059426090236, + "heading": -0.3501853071795864, + "angularVelocity": 0.21491752381475648, + "velocityX": -2.090287038014874, + "velocityY": 2.928937822875576, "moduleForcesX": [ - -73.91468015361414, - -75.33436080071152, - -74.17403267054641, - -75.59495760611544 + -73.11019738585297, + -76.37640399954186, + -73.08635476399151, + -76.38460444274989 ], "moduleForcesY": [ - -50.046862633184155, - -49.26191550009401, - -48.36208508479678, - -47.580371343354486 + -51.7386271441709, + -49.30343006886495, + -48.312957386096365, + -45.85431495995163 ], - "timestamp": 0.887496637097383 + "timestamp": 0.887496572178173 }, { - "x": 6.592852962651873, - "y": 3.2760948858309273, - "heading": -0.15808356464982276, - "angularVelocity": 0.29884446374830825, - "velocityX": -2.356363016611395, - "velocityY": 2.720064372377021, + "x": 6.592854332530707, + "y": 3.2760960961141774, + "heading": -0.3438759290019077, + "angularVelocity": 0.20987133710619676, + "velocityX": -2.356317076939008, + "velocityY": 2.720104200105429, "moduleForcesX": [ - -110.38378656038289, - -110.64695774914253, - -110.58098627362392, - -110.84364965586528 + -110.11632087856741, + -110.7825921379847, + -110.44408605077403, + -111.11011126408769 ], "moduleForcesY": [ - -87.12941368264276, - -86.84261805462657, - -86.82718736646878, - -86.5398156548187 + -87.48809219249509, + -86.72685166434762, + -86.93869542218248, + -86.1721225413497 ], - "timestamp": 0.9175597093888651 + "timestamp": 0.9175596492265937 }, { - "x": 6.515956370622226, - "y": 3.3522011327830636, - "heading": -0.1492679325742143, - "angularVelocity": 0.2932378963179423, - "velocityX": -2.5578421022335904, - "velocityY": 2.5315525377522556, + "x": 6.51595953996239, + "y": 3.3522041864183256, + "heading": -0.3379462323320015, + "angularVelocity": 0.1972418412245558, + "velocityX": -2.55778184130877, + "velocityY": 2.5316134533256767, "moduleForcesX": [ - -83.25260044231106, - -83.99689238236974, - -83.5499852103215, - -84.29449318110804 + -82.71226277232306, + -84.47929267817165, + -83.05007393111133, + -84.8284701382727 ], "moduleForcesY": [ - -78.97552269350258, - -78.46537289107022, - -78.29939307936063, - -77.78693968620615 + -79.71776029119529, + -78.31087384307021, + -78.44568102806464, + -77.01779091211135 ], - "timestamp": 0.9476227816803472 + "timestamp": 0.9476227262750144 }, { - "x": 6.436826839292644, - "y": 3.425983127206822, - "heading": -0.1408059254043868, - "angularVelocity": 0.2814751296135853, - "velocityX": -2.632117255427717, - "velocityY": 2.454239996111908, + "x": 6.4368322701067235, + "y": 3.4259886322293047, + "heading": -0.3328065285519021, + "angularVelocity": 0.17096399586180666, + "velocityX": -2.63204161464313, + "velocityY": 2.4543211492336328, "moduleForcesX": [ - -30.169118284219962, - -31.68221577835491, - -30.08064588019183, - -31.600226735875573 + -29.658810111341513, + -32.92803198583494, + -28.805588415264342, + -32.11417730211305 ], "moduleForcesY": [ - -33.05066864986216, - -32.711368122823025, - -31.579361292181154, - -31.242501961633515 + -34.36055838670825, + -32.99421090233494, + -31.28245186709019, + -29.913000046363706 ], - "timestamp": 0.9776858539718293 + "timestamp": 0.9776858033234351 }, { - "x": 6.357280162873568, - "y": 3.499315199850379, - "heading": -0.13262891704786917, - "angularVelocity": 0.271995100076131, - "velocityX": -2.6459929194135534, - "velocityY": 2.4392740679512324, + "x": 6.357287809374476, + "y": 3.4993231345350018, + "heading": -0.328289958402059, + "angularVelocity": 0.15023645592128132, + "velocityX": -2.645918799467223, + "velocityY": 2.439354500791197, "moduleForcesX": [ - -5.245382261927877, - -6.450472559728291, - -5.087847925651457, - -6.293885350313099 + -4.93653941276806, + -7.452827403514895, + -4.084677665126222, + -6.606069376766367 ], "moduleForcesY": [ - -6.907052313630917, - -6.742400939092072, - -5.702794840516918, - -5.538634674114155 + -7.911521990452657, + -7.046902144295959, + -5.398919042954715, + -4.53473360194574 ], - "timestamp": 1.0077489262633115 + "timestamp": 1.0077488803718557 }, { - "x": 6.277660809633554, - "y": 3.5725683584816994, - "heading": -0.12464856641819343, - "angularVelocity": 0.2654535954376437, - "velocityX": -2.648410397581645, - "velocityY": 2.4366491195938105, + "x": 6.277670648201377, + "y": 3.572578701981824, + "heading": -0.3241814198691952, + "angularVelocity": 0.1366639391651905, + "velocityX": -2.6483370629315486, + "velocityY": 2.4367288594189462, "moduleForcesX": [ - -0.6411793758125354, - -1.473354637038099, - -0.5369445619106756, - -1.369198594645837 + -0.45786986624495596, + -2.1072725578546754, + 0.09647311474363991, + -1.5533133047829293 ], "moduleForcesY": [ - -1.5597107407563495, - -1.4553390501035088, - -0.7275073776278871, - -0.623178196100829 + -2.193689871469339, + -1.6392183158170819, + -0.5442068932208659, + 0.010227805425541213 ], - "timestamp": 1.0378119985547936 + "timestamp": 1.0378119574202764 }, { - "x": 6.198028794547302, - "y": 3.645807752553169, - "heading": -0.11680422371346647, - "angularVelocity": 0.2609295094217477, - "velocityX": -2.6488315736385037, - "velocityY": 2.436191263533018, + "x": 6.1980408198388215, + "y": 3.645820499885105, + "heading": -0.3203217536270433, + "angularVelocity": 0.1283856019107886, + "velocityX": -2.648758416655102, + "velocityY": 2.436270837656288, "moduleForcesX": [ - 0.07912555781766323, - -0.49696552877181505, - 0.1467250946792015, - -0.4293725070092765 + 0.1613997981770602, + -0.8459902638073543, + 0.49561131943703174, + -0.5118036161210494 ], "moduleForcesY": [ - -0.5122206396510701, - -0.44461927510459204, - 0.06387486484907004, - 0.13147258441036794 + -0.8612450244010751, + -0.5270390471165232, + 0.14615636593490303, + 0.48035977025026905 ], - "timestamp": 1.0678750708462756 + "timestamp": 1.0678750344686971 }, { - "x": 6.118394572592455, - "y": 3.7190447471053023, - "heading": -0.10905549596947567, - "angularVelocity": 0.2577490307331718, - "velocityX": -2.6489049815912837, - "velocityY": 2.4361114473614247, + "x": 6.1184087835649414, + "y": 3.719059897263144, + "heading": -0.31658808372831015, + "angularVelocity": 0.12419453579949626, + "velocityX": -2.6488318592811257, + "velocityY": 2.4361909880374872, "moduleForcesX": [ - 0.14996423437335368, - -0.2553915439170704, - 0.1943468696170831, - -0.2110094650375439 + 0.14113967205610656, + -0.3695040778832861, + 0.3084308565507187, + -0.20221400385867647 ], "moduleForcesY": [ - -0.2580562810983284, - -0.21367369287870605, - 0.14729992305921327, - 0.19168218865819364 + -0.3721683903375653, + -0.2048776131193835, + 0.13847593987683207, + 0.3057665939421829 ], - "timestamp": 1.0979381431377577 + "timestamp": 1.0979381115171178 }, { - "x": 6.03875996597869, - "y": 3.792281323429322, - "heading": -0.10137623971945656, - "angularVelocity": 0.25543817263796104, - "velocityX": -2.648917776654806, - "velocityY": 2.436097535672275, + "x": 6.0387763624232, + "y": 3.792298876183092, + "heading": -0.31287593148386894, + "angularVelocity": 0.12347878557016291, + "velocityX": -2.6488446612927414, + "velocityY": 2.436177068700812, "moduleForcesX": [ - 0.12706800800945528, - -0.16769271465715707, - 0.15705255711115457, - -0.13770821628611327 + 0.02421067239250234, + -0.06310260589252221, + 0.05245664955579203, + -0.03485663437016234 ], "moduleForcesY": [ - -0.16815702015148914, - -0.1381724796237266, - 0.12660374282338163, - 0.15658825288239267 + -0.0635671829070011, + -0.03532120778125906, + 0.023746098344502573, + 0.05199207280232798 ], - "timestamp": 1.1280012154292398 + "timestamp": 1.1280011885655385 }, { - "x": 5.959125292311646, - "y": 3.8655178268672907, - "heading": -0.09375065591459454, - "angularVelocity": 0.2536528446236882, - "velocityX": -2.648920007074817, - "velocityY": 2.4360951112344926, + "x": 5.959143874172723, + "y": 3.865537782117845, + "heading": -0.3090839582116471, + "angularVelocity": 0.12613390392854196, + "velocityX": -2.648846893557121, + "velocityY": 2.4361746409654383, "moduleForcesX": [ - 0.1023069334791649, - -0.12559002211804218, - 0.12373524090516878, - -0.10416171992012822 + -0.1112969886488858, + 0.21299185910575893, + -0.21484816962594097, + 0.10944066460393716 ], "moduleForcesY": [ - -0.1256706953880555, - -0.10424238891204964, - 0.10222626444140118, - 0.12365456766697308 + 0.2129105799530521, + 0.10935939301472991, + -0.11137826016633691, + -0.2149294488083506 ], - "timestamp": 1.158064287720722 + "timestamp": 1.1580642656139593 }, { - "x": 5.879490606840395, - "y": 3.938754317491136, - "heading": -0.08617093146778532, - "angularVelocity": 0.2521274064512961, - "velocityX": -2.6489203997228277, - "velocityY": 2.4360946849932437, + "x": 5.879511374082945, + "y": 3.9387766751344464, + "heading": -0.3050991667458285, + "angularVelocity": 0.13254769162187086, + "velocityX": -2.648847287372416, + "velocityY": 2.4361742112638707, "moduleForcesX": [ - 0.08884808283272758, - -0.10600714261891324, - 0.10568062275517483, - -0.08917460336110236 + -0.26883119590559346, + 0.5155217086483702, + -0.5158491925203962, + 0.2685036980971234 ], "moduleForcesY": [ - -0.10602111070894989, - -0.0891885709042134, - 0.08883411528886345, - 0.10566665466565468 + 0.5155067834632091, + 0.2684887807990641, + -0.2688461131982421, + -0.5158641177078013 ], - "timestamp": 1.188127360012204 + "timestamp": 1.18812734266238 }, { - "x": 5.799855918551338, - "y": 4.011990805071752, - "heading": -0.07863607346586281, - "angularVelocity": 0.2506349959467513, - "velocityX": -2.648920493452802, - "velocityY": 2.436094583764926, + "x": 5.799878871081088, + "y": 4.012015564900903, + "heading": -0.30078039092071096, + "angularVelocity": 0.14365714521376252, + "velocityX": -2.648847384238056, + "velocityY": 2.436174103153051, "moduleForcesX": [ - 0.08782293442813448, - -0.10293210092075286, - 0.10285415655480103, - -0.08790087894371079 + -0.46925799540516216, + 0.8911709744567401, + -0.8912515212492341, + 0.4691774381959965 ], "moduleForcesY": [ - -0.10293521873787326, - -0.08790399663683537, - 0.08781981673603895, - 0.10285103873695935 + 0.8911662958541331, + 0.46917276547711606, + -0.4692626681234636, + -0.8912561998520685 ], - "timestamp": 1.218190432303686 + "timestamp": 1.2181904197108007 }, { - "x": 5.720221225319398, - "y": 4.085227287300892, - "heading": -0.07115176075870797, - "angularVelocity": 0.2489536875868602, - "velocityX": -2.6489206578697115, - "velocityY": 2.436094405756797, + "x": 5.720246362650583, + "y": 4.085254448619502, + "heading": -0.29593764454411675, + "angularVelocity": 0.16108618451778203, + "velocityX": -2.6488475648133467, + "velocityY": 2.4361739019807627, "moduleForcesX": [ - 0.0997792037198559, - -0.11524085593438568, - 0.1151041294640559, - -0.09991593052075891 + -0.7429685165284523, + 1.3945182559611005, + -1.39466839580155, + 0.7428183290097624 ], "moduleForcesY": [ - -0.11524650720086356, - -0.09992158150866857, - 0.09977355273269863, - 0.11509847819706524 + 1.3945096782912103, + 0.7428097785270028, + -0.7429770670080417, + -1.3946769734727111 ], - "timestamp": 1.2482535045951682 + "timestamp": 1.2482534967592214 }, { - "x": 5.640586505601097, - "y": 4.158463740758798, - "heading": -0.06373118973452349, - "angularVelocity": 0.24683342248712828, - "velocityX": -2.6489215388962513, - "velocityY": 2.4360934487275787, + "x": 5.640613824997811, + "y": 4.158493300313573, + "heading": -0.2903042795907885, + "angularVelocity": 0.1873848423517974, + "velocityX": -2.648848536845163, + "velocityY": 2.4361728367362288, "moduleForcesX": [ - 0.1266237900119596, - -0.14466974473188668, - 0.14393709767456067, - -0.12735643986632028 + -1.1331918015915343, + 2.097548201576523, + -2.0983562398342523, + 1.1323831859475029 ], "moduleForcesY": [ - -0.14470134727364273, - -0.1273880400111231, - 0.1265921898589545, - 0.14390549513891968 + 2.0975092769593804, + 1.1323445962401417, + -1.1332303911636672, + -2.098395164509076 ], - "timestamp": 1.2783165768866502 + "timestamp": 1.278316573807642 }, { - "x": 5.560951634181873, - "y": 4.2317000293011935, - "heading": -0.056397038991224224, - "angularVelocity": 0.24395879011265487, - "velocityX": -2.64892658498466, - "velocityY": 2.4360879630772367, + "x": 5.560981120203287, + "y": 4.231731969830021, + "heading": -0.28349781785100253, + "angularVelocity": 0.22640602386852393, + "velocityX": -2.648854096547228, + "velocityY": 2.4361667768900155, "moduleForcesX": [ - 0.17150393109087256, - -0.1964751436716441, - 0.1922789068175292, - -0.17570019710522752 + -1.7042591408668457, + 3.0990581458773225, + -3.103677895386098, + 1.6996321621441923 ], "moduleForcesY": [ - -0.19665792297374157, - -0.17588295087056113, - 0.1713211769761752, - 0.19209612777835489 + 3.0988480635839615, + 1.6994263303158519, + -1.7044649662058777, + -3.103887980537262 ], - "timestamp": 1.3083796491781323 + "timestamp": 1.3083796508560628 }, { - "x": 5.481315892465903, - "y": 4.304935371552852, - "heading": -0.04918484315111125, - "angularVelocity": 0.2399021553813857, - "velocityX": -2.6489555340135196, - "velocityY": 2.436056486229683, + "x": 5.481347458890943, + "y": 4.3049695984952665, + "heading": -0.2749636000672413, + "angularVelocity": 0.28387705523342494, + "velocityX": -2.6488859135770566, + "velocityY": 2.4361321546456156, "moduleForcesX": [ - 0.2349194875144274, - -0.28456442486474515, - 0.2604910115059837, - -0.25899323053918816 + -2.5587953353009434, + 4.532979929480465, + -4.559393808318418, + 2.5322920929521837 ], "moduleForcesY": [ - -0.2856156234355956, - -0.26004412620762246, - 0.23386857597269814, - 0.25943982506496344 + 4.531786899248366, + 2.531152263878934, + -2.5599348534931616, + -4.560586978806118 ], - "timestamp": 1.3384427214696144 + "timestamp": 1.3384427279044835 }, { - "x": 5.401675158248541, - "y": 4.378165284687608, - "heading": -0.04214827296274619, - "angularVelocity": 0.23406024907037712, - "velocityX": -2.649121601584502, - "velocityY": 2.4358758953422694, + "x": 5.4017083358337405, + "y": 4.378201286439804, + "heading": -0.2638927788904084, + "angularVelocity": 0.36825309528368627, + "velocityX": -2.64906758975247, + "velocityY": 2.4359345461074287, "moduleForcesX": [ - 0.2893409346942692, - -0.45899995045970077, - 0.3209025895272623, - -0.4274421761062247 + -3.8867158166183855, + 6.557429862857006, + -6.707961761840949, + 3.735089398406481 ], "moduleForcesY": [ - -0.4650406480243144, - -0.43347876669017477, - 0.2833035968480443, - 0.31486247130442324 + 6.550475156585462, + 3.728791017609326, + -3.8929994188543704, + -6.714923296167907 ], - "timestamp": 1.3685057937610965 + "timestamp": 1.3685058049529042 }, { - "x": 5.322005791554613, - "y": 4.451364046595631, - "heading": -0.0353670897906762, - "angularVelocity": 0.2255652085828673, - "velocityX": -2.6500740151065694, - "velocityY": 2.4348396996258175, + "x": 5.322038184212182, + "y": 4.45139921350889, + "heading": -0.24910239133254858, + "angularVelocity": 0.49197850020601347, + "velocityX": -2.6500997051379054, + "velocityY": 2.4348115447793464, "moduleForcesX": [ - 0.12898090628321676, - -0.9594907121957729, - 0.16750120245699912, - -0.9210169958470311 + -6.164011134532724, + 9.216283873289328, + -10.067935292197898, + 5.2990794775093075 ], "moduleForcesY": [ - -0.9943616126670282, - -0.9558142945600271, - 0.09414802706080905, - 0.13265824847120633 + 9.174507940270216, + 5.2650935415464035, + -6.197304169327246, + -10.110039137907684 ], - "timestamp": 1.3985688660525786 + "timestamp": 1.398568882001325 }, { - "x": 5.242172493913282, - "y": 4.524383983268107, - "heading": -0.028958609503605428, - "angularVelocity": 0.21316784342385747, - "velocityX": -2.65552691578867, - "velocityY": 2.428891364279068, + "x": 5.242193909877443, + "y": 4.524407160352171, + "heading": -0.2288646669401861, + "angularVelocity": 0.673175415802144, + "velocityX": -2.6558916176856937, + "velocityY": 2.4284921575290683, "moduleForcesX": [ - -1.4955840561962401, - -3.0842275021558754, - -1.4500414668995578, - -3.0392478125313507 + -11.133374596621048, + 11.575862422138778, + -16.313190667353705, + 6.237769162992093 ], "moduleForcesY": [ - -3.291154443494078, - -3.2441395177510017, - -1.7021775756451227, - -1.6556213730364715 + 11.313052488906415, + 6.053756940108435, + -11.285832708232544, + -16.591190362752045 ], - "timestamp": 1.4286319383440607 + "timestamp": 1.4286319590497456 }, { - "x": 5.161420820335375, - "y": 4.596386955894445, - "heading": -0.023079491610195388, - "angularVelocity": 0.19555945035849812, - "velocityX": -2.6860752219521666, - "velocityY": 2.3950636823880593, + "x": 5.161413555068929, + "y": 4.596377951865966, + "heading": -0.2008777699575348, + "angularVelocity": 0.9309392028492137, + "velocityX": -2.687028832025592, + "velocityY": 2.393992850361793, "moduleForcesX": [ - -11.581421530382878, - -13.83969553318351, - -11.560736705409566, - -13.82517265086285 + -26.58220009939148, + 6.808138950257297, + -31.864889455688814, + -0.14752203360309568 ], "moduleForcesY": [ - -15.236183102907832, - -15.147099980145505, - -12.981006455185575, - -12.896896216540323 + 5.165738649826619, + -1.6408223915765097, + -26.784045818200944, + -34.11907412776487 ], - "timestamp": 1.4586950106355427 + "timestamp": 1.4586950360981663 }, { "x": 5.076982498168945, "y": 4.663970470428467, - "heading": -0.017656761814862067, - "angularVelocity": 0.18037843047963403, - "velocityX": -2.808705688751399, - "velocityY": 2.248057479912707, + "heading": -0.166, + "angularVelocity": 1.1601530309541963, + "velocityX": -2.808463576898518, + "velocityY": 2.2483566287520587, "moduleForcesX": [ - -49.724246902099985, - -51.76924989315315, - -50.20326870109139, - -52.258548202544056 + -68.40715651739825, + -34.763028076185925, + -64.29331377644831, + -34.5030945328469 ], "moduleForcesY": [ - -62.321902026006676, - -61.76830867653583, - -60.479179019187406, - -59.92691632780876 + -41.11277607876721, + -53.78698088540779, + -67.8458652924806, + -79.47213438742843 ], - "timestamp": 1.4887580829270248 + "timestamp": 1.488758113146587 }, { - "x": 5.011539251227577, - "y": 4.710022611659073, - "heading": -0.013735045633677667, - "angularVelocity": 0.1763482600806919, - "velocityX": -2.9427939705247983, - "velocityY": 2.070831902095889, + "x": 5.011548458384883, + "y": 4.710038098381911, + "heading": -0.13876202814196595, + "angularVelocity": 1.2247907327794152, + "velocityX": -2.9423264681196164, + "velocityY": 2.0714906415428134, "moduleForcesX": [ - -74.73458152101745, - -75.56600079840955, - -75.17274819436567, - -76.00482465457931 + -85.07382928171674, + -70.6592714731342, + -79.51526479195162, + -65.71756078060247 ], "moduleForcesY": [ - -100.1271088776865, - -99.67113748952008, - -99.56365598718202, - -99.10423907291187 + -90.88166882095503, + -99.868563975784, + -99.52462971020628, + -107.37556316869367 ], - "timestamp": 1.5109965568387602 + "timestamp": 1.5109969912904664 }, { - "x": 4.944111752594888, - "y": 4.753117696266641, - "heading": -0.010041806634365385, - "angularVelocity": 0.16607430051049193, - "velocityX": -3.0320200433037927, - "velocityY": 1.937861598724921, + "x": 4.944130952408395, + "y": 4.753151371788619, + "heading": -0.1096667956061866, + "angularVelocity": 1.3083048680577039, + "velocityX": -3.031515598059749, + "velocityY": 1.9386442574913336, "moduleForcesX": [ - -48.86955260096656, - -50.884187904670384, - -49.41548557497467, - -51.44272493080467 + -60.201633592638196, + -42.83706623126527, + -56.85719462821666, + -40.62935093819132 ], "moduleForcesY": [ - -75.80415500287263, - -75.21845848138368, - -74.26619040690021, - -73.67573814245523 + -65.5504668373278, + -71.81608786189103, + -77.79282615891657, + -83.52111730368917 ], - "timestamp": 1.5332350307504956 + "timestamp": 1.5332358694343458 }, { - "x": 4.875841722215547, - "y": 4.794865323786201, - "heading": -0.00679223256123964, - "angularVelocity": 0.14612396902877933, - "velocityX": -3.0699062647420274, - "velocityY": 1.8772703417218195, + "x": 4.875860429281027, + "y": 4.794900830383448, + "heading": -0.0799515731637119, + "angularVelocity": 1.3361835183513096, + "velocityX": -3.0698726206329807, + "velocityY": 1.8773185555825067, "moduleForcesX": [ - -19.426122716479117, - -22.973960798364423, - -19.600670466139416, - -23.180948658787127 + -24.027048010641174, + -19.001035703769848, + -24.08296168472936, + -19.127618091600315 ], "moduleForcesY": [ - -35.85595853074835, - -35.61094015021818, - -32.49716354225627, - -32.2666369776045 + -31.81294253993924, + -32.48442086070161, + -36.44611940518913, + -37.13600354250775 ], - "timestamp": 1.555473504662231 + "timestamp": 1.5554747475782251 }, { - "x": 4.8073047973217715, - "y": 4.83617334209178, - "heading": -0.0041172704461826274, - "angularVelocity": 0.12028532738684966, - "velocityX": -3.081907740835294, - "velocityY": 1.8575023839177676, + "x": 4.80731960857004, + "y": 4.836205070048322, + "heading": -0.05252244958633514, + "angularVelocity": 1.2333861177671837, + "velocityX": -3.082026902049672, + "velocityY": 1.8572987089391957, "moduleForcesX": [ - -4.49876500509147, - -8.982770968875167, - -4.499495274957967, - -9.00255616112108 + 1.6061962429708239, + -16.092976076741053, + 2.5906897843255123, + -15.43056136268149 ], "moduleForcesY": [ - -13.369347403828613, - -13.316688855511625, - -8.900489708619563, - -8.858875012590483 + -20.675346328834472, + -19.55475077273552, + -2.8774439208701095, + -1.9033775000417006 ], - "timestamp": 1.5777119785739664 + "timestamp": 1.5777136257221045 }, { - "x": 4.73868703457269, - "y": 4.877346940160342, - "heading": -0.0021435842298360595, - "angularVelocity": 0.0887509738384086, - "velocityX": -3.085542785951837, - "velocityY": 1.8514578937257968, + "x": 4.738697842922885, + "y": 4.8773747284213975, + "heading": -0.03060239696411374, + "angularVelocity": 0.9856635968957072, + "velocityX": -3.0856666961019585, + "velocityY": 1.8512470865984019, "moduleForcesX": [ - 0.684066392717217, - -4.778975001877864, - 0.6968988986697459, - -4.774864765901889 + 18.634677367546427, + -24.01774612344233, + 20.204208966757236, + -23.00454323312301 ], "moduleForcesY": [ - -6.138282614940391, - -6.120731024272286, - -0.6717603378341901, - -0.6593901141615751 + -25.59203037666513, + -24.111410524016378, + 17.452958379074122, + 18.64453014028286 ], - "timestamp": 1.5999504524857018 + "timestamp": 1.5999525038659839 }, { - "x": 4.67004490852136, - "y": 4.918478718061472, - "heading": -0.001046920687375631, - "angularVelocity": 0.04931379494892859, - "velocityX": -3.08663833339239, - "velocityY": 1.8495773614788102, + "x": 4.670050811912327, + "y": 4.918500645096401, + "heading": -0.017548109453805617, + "angularVelocity": 0.5870029695675539, + "velocityX": -3.0868027859344562, + "velocityY": 1.8492801844100148, "moduleForcesX": [ - 2.7975801448635234, - -4.035946190917921, - 2.806476705020162, - -4.031291012305256 + 33.1855617519586, + -35.6721896573537, + 34.62586838221673, + -34.6935281192735 ], "moduleForcesY": [ - -4.479015680953096, - -4.470250039016804, - 2.3574265332940394, - 2.3637337545083312 + -36.31612966199994, + -34.97801312322975, + 32.88960630961585, + 33.982321075039984 ], - "timestamp": 1.6221889263974372 + "timestamp": 1.6221913820098632 }, { - "x": 4.603056526020481, - "y": 4.958600986009946, - "heading": -0.0008626277354202149, - "angularVelocity": 0.00828712224979447, - "velocityX": -3.0122742579433046, - "velocityY": 1.8041826119776336, + "x": 4.603063207227361, + "y": 4.958620088673567, + "heading": -0.014583974120691926, + "angularVelocity": 0.13328618979503234, + "velocityX": -3.0121845288880116, + "velocityY": 1.8040228161525889, "moduleForcesX": [ - 44.84494644167724, - 38.09849421901954, - 45.529247862780295, - 38.72420579633329 + 73.87917659891767, + 3.4610057140129897, + 84.32111497149015, + 6.104038187283307 ], "moduleForcesY": [ - -28.877466204425435, - -29.60041748602904, - -21.512170197057984, - -22.07349076341176 + -59.989155541489346, + -73.81837883099256, + 12.522755266575233, + 19.531965936502534 ], - "timestamp": 1.6444274003091726 + "timestamp": 1.6444302601537426 }, { - "x": 4.541129643380843, - "y": 4.9956909602433415, - "heading": -0.0007123723070567054, - "angularVelocity": 0.006756553033264512, - "velocityX": -2.784673214819023, - "velocityY": 1.6678291136655743, + "x": 4.541136102505571, + "y": 4.995707297578138, + "heading": -0.01210887067440813, + "angularVelocity": 0.11129623671979184, + "velocityX": -2.7846325844885604, + "velocityY": 1.6676744512293336, "moduleForcesX": [ - 127.89354658384548, - 127.74727518192825, - 128.11624795495828, - 127.97103722498586 + 127.36960213080559, + 125.20172315858285, + 130.49196440886652, + 128.54512626421823 ], "moduleForcesY": [ - -76.72369690811416, - -76.94671638772455, - -76.33903475956957, - -76.5617196723029 + -77.83386593962678, + -81.00784800371383, + -72.30730122873238, + -75.40503859160985 ], - "timestamp": 1.666665874220908 + "timestamp": 1.666669138297622 }, { - "x": 4.484324481990362, - "y": 5.0297130575875215, - "heading": -0.0005830001599038244, - "angularVelocity": 0.005817492138460569, - "velocityX": -2.5543641895546445, - "velocityY": 1.5298755426824582, + "x": 4.484330351368017, + "y": 5.029726780735972, + "heading": -0.009950253222174046, + "angularVelocity": 0.09706503350881449, + "velocityX": -2.5543442780684305, + "velocityY": 1.5297301841274176, "moduleForcesX": [ - 129.42798937571155, - 129.34011537524262, - 129.56798425532966, - 129.48052507091413 + 129.04969882385433, + 127.6931202547488, + 131.13919413377405, + 129.87860611884363 ], "moduleForcesY": [ - -77.59106674193973, - -77.73114147626927, - -77.35327125658561, - -77.49322079361032 + -78.29632105330516, + -80.39905635528088, + -74.68766835229971, + -76.75909857178956 ], - "timestamp": 1.6889043481326433 + "timestamp": 1.6889080164415013 }, { - "x": 4.432661341364797, - "y": 5.060655284664428, - "heading": -0.00047012280459204025, - "angularVelocity": 0.0050757689470867, - "velocityX": -2.323142353653137, - "velocityY": 1.3913826641160814, + "x": 4.4326664575145855, + "y": 5.060666584038578, + "heading": -0.008050326651272853, + "angularVelocity": 0.08543266250254172, + "velocityX": -2.3231339962052178, + "velocityY": 1.391248385033048, "moduleForcesX": [ - 129.94588837232158, - 129.87697539950702, - 130.0573621015547, - 129.9887112201165 + 129.627970505076, + 128.53021423970918, + 131.35411406497713, + 130.32121160237895 ], "moduleForcesY": [ - -77.88372046657192, - -77.99524312645859, - -77.69542359927932, - -77.8068683651887 + -78.45324843562169, + -80.18890753135919, + -75.49671273609903, + -77.21181679110533 ], - "timestamp": 1.7111428220443787 + "timestamp": 1.7111468945853807 }, { - "x": 4.386150402629805, - "y": 5.088511626422991, - "heading": -0.0003715505641051545, - "angularVelocity": 0.004432509212552959, - "velocityX": -2.0914627019938163, - "velocityY": 1.2526193059967814, + "x": 4.386154702915534, + "y": 5.088520713539962, + "heading": -0.006380217087861238, + "angularVelocity": 0.07509864268361359, + "velocityX": -2.091461372202599, + "velocityY": 1.2524970603809622, "moduleForcesX": [ - 130.2057617562999, - 130.1462088906001, - 130.30282681037423, - 130.24347231352516 + 129.92056229181208, + 128.94920376313064, + 131.4615757186872, + 130.54165933677118 ], "moduleForcesY": [ - -78.03055809434858, - -78.12766860136843, - -77.86705554259257, - -77.96410756885977 + -78.5317392014187, + -80.0830939259021, + -75.90322494490832, + -77.43860573608792 ], - "timestamp": 1.7333812959561141 + "timestamp": 1.73338577272926 }, { - "x": 4.3447977818837895, - "y": 5.11327846948588, - "heading": -0.00028597237548311677, - "angularVelocity": 0.003848204196101674, - "velocityX": -1.8595080269429423, - "velocityY": 1.1136934648442598, + "x": 4.344801263770737, + "y": 5.113285568972936, + "heading": -0.004922626537450151, + "angularVelocity": 0.06554244962272314, + "velocityX": -1.8595110273667528, + "velocityY": 1.1135838450451891, "moduleForcesX": [ - 130.36191437677311, - 130.30793304969453, - 130.45029489895654, - 130.39647786061775 + 130.09727438183094, + 129.20053375195837, + 131.5261155388415, + 130.67348131154324 ], "moduleForcesY": [ - -78.11878783843908, - -78.2072165840905, - -77.97016224183274, - -78.058542799783 + -78.57862961156697, + -80.01955006183515, + -76.14750970335476, + -77.57495565992956 ], - "timestamp": 1.7556197698678495 + "timestamp": 1.7556246508731395 }, { - "x": 4.308607558707672, - "y": 5.134953403665909, - "heading": -0.00021251574259467532, - "angularVelocity": 0.003303132812979489, - "velocityX": -1.627369904929705, - "velocityY": 0.9746592444052279, + "x": 4.308610259552806, + "y": 5.134958749061031, + "heading": -0.0036660397823218994, + "angularVelocity": 0.056504053261971575, + "velocityX": -1.627375445101524, + "velocityY": 0.9745626532003613, "moduleForcesX": [ - 130.46608786596434, - 130.41580051599712, - 130.54866492935045, - 130.49852090168125 + 130.21558103445227, + 129.36799355780244, + 131.5691865443855, + 130.76111591097109 ], "moduleForcesY": [ - -78.17764788291926, - -78.26027732323496, - -78.0389359478294, - -78.12152349880125 + -78.60972929291158, + -79.97722060502194, + -76.31044000900523, + -77.66602031861254 ], - "timestamp": 1.777858243779585 + "timestamp": 1.7778635290170188 }, { - "x": 4.2775826477640715, - "y": 5.153534707003259, - "heading": -0.00015055835535022086, - "angularVelocity": 0.0027860449188358725, - "velocityX": -1.3951007190218023, - "velocityY": 0.8355475924959945, + "x": 4.277584633330454, + "y": 5.153538538294656, + "heading": -0.002602241887639963, + "angularVelocity": 0.047835052101075526, + "velocityX": -1.3951075239276127, + "velocityY": 0.8354643212412275, "moduleForcesX": [ - 130.54052249320324, - 130.49286314766545, - 130.61894848149828, - 130.5714183477444 + 130.3003183383157, + 129.48754068846463, + 131.5999737169155, + 130.82358383766928 ], "moduleForcesY": [ - -78.2197050353225, - -78.29818741188794, - -78.08807049218869, - -78.16651520223935 + -78.63186253637525, + -79.94701340088972, + -76.42683235209549, + -77.73113720079094 ], - "timestamp": 1.8000967176913203 + "timestamp": 1.8001024071608982 }, { - "x": 4.25172523522464, - "y": 5.169021087927846, - "heading": -0.00009963402920995774, - "angularVelocity": 0.0022899199982148975, - "velocityX": -1.1627332272063562, - "velocityY": 0.6963778623495119, + "x": 4.251726592535597, + "y": 5.16902364998069, + "heading": -0.001725077950036944, + "angularVelocity": 0.03944281415312476, + "velocityX": -1.1627403427309801, + "velocityY": 0.6963081314544508, "moduleForcesX": [ - 130.59635711868773, - 130.55066290074885, - 130.67166710675176, - 130.62609199335435 + 130.36396852629426, + 129.5771615647065, + 131.6230687111339, + 130.87038556242325 ], "moduleForcesY": [ - -78.25125315900695, - -78.32662283325783, - -78.12492383132492, - -78.20025885491455 + -78.64845727601362, + -79.92436682683636, + -76.51413645317245, + -77.77996754726415 ], - "timestamp": 1.8223351916030557 + "timestamp": 1.8223412853047776 }, { - "x": 4.231037021450941, - "y": 5.181411541882464, - "heading": -0.000059380522089606604, - "angularVelocity": 0.0018100840588305442, - "velocityX": -0.9302892750621689, - "velocityY": 0.5571629601575053, + "x": 4.23103785403471, + "y": 5.181413083379324, + "heading": -0.0010297647851857947, + "angularVelocity": 0.031265658292323396, + "velocityX": -0.9302959603902878, + "velocityY": 0.5571069421098666, "moduleForcesX": [ - 130.6397864527033, - 130.59561726899813, - 130.7126715363761, - 130.66861387886254 + 130.4134906135284, + 129.6468488147032, + 131.64102298241994, + 130.90679443260817 ], "moduleForcesY": [ - -78.27579248609706, - -78.34873960250282, - -78.1535873477892, - -78.22650206900526 + -78.66142385608707, + -79.90674306796195, + -76.58205936525013, + -77.81787498809337 ], - "timestamp": 1.844573665514791 + "timestamp": 1.844580163448657 }, { - "x": 4.2155193666776185, - "y": 5.190705265251585, - "heading": -0.000029508265840906003, - "angularVelocity": 0.0013432691634895349, - "velocityX": -0.6977841570777397, - "velocityY": 0.41791192175626024, + "x": 4.215519791249609, + "y": 5.190706037944631, + "heading": -0.0005124783926406911, + "angularVelocity": 0.023260453571371992, + "velocityX": -0.6977898203580443, + "velocityY": 0.41786975517268843, "moduleForcesX": [ - 130.67452984020673, - 130.63157870886738, - 130.74547432185489, - 130.70262883272267 + 130.45307070026846, + 129.7025969278405, + 131.6553680098671, + 130.93597194036062 ], "moduleForcesY": [ - -78.29542459289338, - -78.36643239782136, - -78.17651720537638, - -78.24749436200543 + -78.67191089107696, + -79.89261887858592, + -76.63642957193791, + -77.84807585782026 ], - "timestamp": 1.8668121394265265 + "timestamp": 1.8668190415925363 }, { - "x": 4.205173383756283, - "y": 5.196901600573192, - "heading": -0.000009780492476835741, - "angularVelocity": 0.0008871010413021114, - "velocityX": -0.46522899736241846, - "velocityY": 0.2786313191502734, + "x": 4.205173527809965, + "y": 5.196901858732643, + "heading": -0.00017009171639673816, + "angularVelocity": 0.015395860979533568, + "velocityX": -0.4652331548797881, + "velocityY": 0.27860311783221064, "moduleForcesX": [ - 130.70295521059742, - 130.66099956323555, - 130.77231162125068, - 130.73045692040506 + 130.48537787591897, + 129.74821951709995, + 131.6670788348747, + 130.95992846106546 ], "moduleForcesY": [ - -78.31148746662758, - -78.38090738901752, - -78.19527694331126, - -78.26466760794713 + -78.6806503066457, + -79.88102511572508, + -76.68095754418674, + -77.87261601196946 ], - "timestamp": 1.8890506133382619 + "timestamp": 1.8890579197364157 }, { "x": 4.2, "y": 5.2, - "heading": 9.429465809543985e-20, - "angularVelocity": 0.00043980052388732703, - "velocityX": -0.23263213911703554, - "velocityY": 0.1393260814065984, + "heading": 4.659565553305106e-19, + "angularVelocity": 0.007648394640066517, + "velocityX": -0.23263438813593154, + "velocityY": 0.13931194043749218, "moduleForcesX": [ - 130.7266416719387, - 130.685515050011, - 130.79467461441962, - 130.753645107655 + 130.5121943023448, + 129.78625817078492, + 131.67680581217965, + 130.9800033043441 ], "moduleForcesY": [ - -78.32487338576404, - -78.39296890767325, - -78.21090913530264, - -78.27897653087165 + -78.6881304288858, + -79.8713160152652, + -76.7181173709682, + -77.89285893180104 ], - "timestamp": 1.9112890872499972 + "timestamp": 1.911296797880295 }, { "x": 4.2, "y": 5.2, - "heading": 4.651642666052545e-20, - "angularVelocity": -5.673969863756623e-20, - "velocityX": -1.134303234353835e-18, - "velocityY": -8.93005391405592e-19, + "heading": 2.317076431533623e-19, + "angularVelocity": -1.1428231681219e-19, + "velocityX": 3.3495170299257697e-19, + "velocityY": 6.801671925349789e-19, "moduleForcesX": [ - 130.74668268718136, - 130.70625737797803, - 130.81359585304506, - 130.77326447536933 + 130.53475536945476, + 129.81847185330702, + 131.68499941760993, + 130.99712305409656 ], "moduleForcesY": [ - -78.33620022242233, - -78.40317390934203, - -78.22413564942327, - -78.29108214716159 + -78.69468943051332, + -79.86304481858627, + -76.7496219625015, + -77.90974839273868 ], - "timestamp": 1.9335275611617326 + "timestamp": 1.9335356760241744 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/s15 to f1.1.traj b/src/main/deploy/choreo/s15 to f1.1.traj index 377211e..a3c49c3 100644 --- a/src/main/deploy/choreo/s15 to f1.1.traj +++ b/src/main/deploy/choreo/s15 to f1.1.traj @@ -3,236 +3,548 @@ { "x": 1.516043782234192, "y": 6.1194376945495605, - "heading": 1.6049894157922985e-23, - "angularVelocity": 2.2735418891440523e-24, - "velocityX": 3.0477317261797416e-24, - "velocityY": 1.5146213575304285e-23, + "heading": 0.4394852835881587, + "angularVelocity": 2.1553225387988157e-20, + "velocityX": 6.972270320082658e-20, + "velocityY": 4.295611053654781e-20, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 1.5527703301460893, - "y": 6.124248862510531, - "heading": 0.009911287570771801, - "angularVelocity": 0.17968671033219005, - "velocityX": 0.6658340330682713, - "velocityY": 0.08722408038203434, - "timestamp": 0.0551587123635834 + "x": 1.5527783303105254, + "y": 6.124239354938701, + "heading": 0.42822106457800013, + "angularVelocity": -0.20401154195820217, + "velocityX": 0.6653165913617127, + "velocityY": 0.0869651184041067, + "moduleForcesX": [ + 152.15168510138722, + 152.55563376905621, + 148.25143649474265, + 149.53425179167454 + ], + "moduleForcesY": [ + 11.425577299755888, + 1.079090221688937, + 36.06344249231575, + 30.18518786778378 + ], + "timestamp": 0.05521363596411799 }, { - "x": 1.6262233727308029, - "y": 6.1338713391107715, - "heading": 0.029735899150431518, - "angularVelocity": 0.3594103402737918, - "velocityX": 1.331667100938479, - "velocityY": 0.17445071119165834, - "timestamp": 0.1103174247271668 + "x": 1.6262434587946901, + "y": 6.133841847800144, + "heading": 0.40576556818965487, + "angularVelocity": -0.40670200388430383, + "velocityX": 1.330561322424034, + "velocityY": 0.17391524201909558, + "moduleForcesX": [ + 152.1514752411763, + 152.52583766725104, + 148.3109477571502, + 149.43967171569847 + ], + "moduleForcesY": [ + 11.117568904712762, + 1.3950405912477444, + 35.71760686405317, + 30.509502639379548 + ], + "timestamp": 0.11042727192823598 }, { - "x": 1.7364028312981796, - "y": 6.148305344445142, - "heading": 0.059476575253103244, - "angularVelocity": 0.5391836543723774, - "velocityX": 1.9974987421954533, - "velocityY": 0.26168133221135326, - "timestamp": 0.1654761370907502 + "x": 1.7364331659610517, + "y": 6.148243902743091, + "heading": 0.37222745778663546, + "angularVelocity": -0.6074244127812012, + "velocityX": 1.9956973534187898, + "velocityY": 0.2608423569911504, + "moduleForcesX": [ + 152.14875116795582, + 152.4795739356628, + 148.39902967717296, + 149.3021417108101 + ], + "moduleForcesY": [ + 10.671203517005749, + 1.879944232564934, + 35.19798273562621, + 30.96975249920451 + ], + "timestamp": 0.16564090789235397 }, { - "x": 1.8833086218778385, - "y": 6.167551186620051, - "heading": 0.09913562558041339, - "angularVelocity": 0.7189988422117997, - "velocityX": 2.663328861111131, - "velocityY": 0.34891753904717876, - "timestamp": 0.2206348494543336 + "x": 1.8833374533776375, + "y": 6.167443459186671, + "heading": 0.3277921341522548, + "angularVelocity": -0.8047889413270686, + "velocityX": 2.6606522981406107, + "velocityY": 0.34773215181960043, + "moduleForcesX": [ + 152.12722861282575, + 152.40019866029715, + 148.51430928705759, + 149.12377301969823 + ], + "moduleForcesY": [ + 10.136939532990676, + 2.6136307401841443, + 34.450825812727615, + 31.48369076919765 + ], + "timestamp": 0.22085454385647196 }, { - "x": 2.0669406842579026, - "y": 6.191609264618742, - "heading": 0.1487133421831871, - "angularVelocity": 0.8988193247873137, - "velocityX": 3.3291578884154527, - "velocityY": 0.4361609792503344, - "timestamp": 0.275793561817917 + "x": 2.066936207713953, + "y": 6.191436698471855, + "heading": 0.2728392990199779, + "angularVelocity": -0.9952765140841193, + "velocityX": 3.3252429609169756, + "velocityY": 0.434552785126586, + "moduleForcesX": [ + 152.04232201439086, + 152.23883325416412, + 148.64791132196592, + 148.90655894975905 + ], + "moduleForcesY": [ + 9.648570785804054, + 3.7876610489605405, + 33.340033278685915, + 31.846190907565916 + ], + "timestamp": 0.27606817982058995 }, { - "x": 2.2872990171291807, - "y": 6.220480057184739, - "heading": 0.20820600984342885, - "angularVelocity": 1.078572452309813, - "velocityX": 3.9949868919848393, - "velocityY": 0.5234130988355064, - "timestamp": 0.33095227418150036 + "x": 2.287166704214004, + "y": 6.220213143554228, + "heading": 0.20848575133905684, + "angularVelocity": -1.165537218428123, + "velocityX": 3.988697586284342, + "velocityY": 0.5211836637798256, + "moduleForcesX": [ + 151.68099268526453, + 151.7572286089482, + 148.73862508002162, + 148.63001390800594 + ], + "moduleForcesY": [ + 9.791868841444824, + 6.181510238864685, + 31.26682965292511, + 31.210410520982705 + ], + "timestamp": 0.33128181578470794 }, { - "x": 2.531433888941791, - "y": 6.252467996404381, - "heading": 0.2082060173845843, - "angularVelocity": 1.3671739476674843e-7, - "velocityX": 4.426043708260909, - "velocityY": 0.5799254161118268, - "timestamp": 0.38611098654508375 + "x": 2.5313609932490118, + "y": 6.252151659003816, + "heading": 0.20838387983121495, + "angularVelocity": -0.0018450425526778868, + "velocityX": 4.422717047535958, + "velocityY": 0.5784533999958923, + "moduleForcesX": [ + 64.00055595226777, + 114.57491736876523, + 86.49195384197112, + 127.96905166414155 + ], + "moduleForcesY": [ + 80.38937450646526, + 59.23285236896116, + -66.54967875994687, + -21.21059842130901 + ], + "timestamp": 0.38649545174882594 }, { - "x": 2.7755687611349873, - "y": 6.2844559327196565, - "heading": 0.20820602492563703, - "angularVelocity": 1.3671553223585734e-7, - "velocityX": 4.426043715160706, - "velocityY": 0.5799253634570631, - "timestamp": 0.44126969890866713 + "x": 2.7755606126658567, + "y": 6.284082853222428, + "heading": 0.20829496068794068, + "angularVelocity": -0.0016104562165055944, + "velocityX": 4.422813588577585, + "velocityY": 0.5783208017559153, + "moduleForcesX": [ + 0.012151711430001214, + 0.028174258348796027, + 0.015538242650101808, + 0.03156078679586616 + ], + "moduleForcesY": [ + -0.023701359388461653, + -0.02031482619004463, + -0.039723890138709986, + -0.036337363181382025 + ], + "timestamp": 0.4417090877129439 }, { "x": 3.0197036266326904, "y": 6.316443920135498, "heading": 0.20820603246668984, - "angularVelocity": 1.367155341591757e-7, - "velocityX": 4.426043593774774, - "velocityY": 0.5799262898848881, - "timestamp": 0.4964284112722505 - }, - { - "x": 3.3905499845263205, - "y": 6.39103936198438, - "heading": 0.20820603492290815, - "angularVelocity": 2.8984915876803274e-8, - "velocityX": 4.376219496277494, - "velocityY": 0.8802729755974928, - "timestamp": 0.581169672127443 - }, - { - "x": 3.761396332868378, - "y": 6.465634851318267, - "heading": 0.20820603737912624, - "angularVelocity": 2.8984912970624712e-8, - "velocityX": 4.376219383562953, - "velocityY": 0.8802735359502775, - "timestamp": 0.6659109329826355 - }, - { - "x": 4.13224268121042, - "y": 6.540230340652234, - "heading": 0.2082060398353444, - "angularVelocity": 2.89849139196276e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 0.750652193837828 - }, - { - "x": 4.503089029552461, - "y": 6.614825829986201, - "heading": 0.20820604229156262, - "angularVelocity": 2.8984914949023907e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 0.8353934546930205 - }, - { - "x": 4.873935377894502, - "y": 6.68942131932017, - "heading": 0.20820604474778065, - "angularVelocity": 2.898491228267453e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 0.920134715548213 - }, - { - "x": 5.2447817262365435, - "y": 6.764016808654135, - "heading": 0.20820604720399877, - "angularVelocity": 2.8984913247587393e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 1.0048759764034054 - }, - { - "x": 5.615628074578584, - "y": 6.8386122979880986, - "heading": 0.2082060496602168, - "angularVelocity": 2.8984912703636125e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 1.089617237258598 - }, - { - "x": 5.986474422920626, - "y": 6.913207787322067, - "heading": 0.2082060521164348, - "angularVelocity": 2.8984911987304187e-8, - "velocityX": 4.37621938356276, - "velocityY": 0.8802735359512392, - "timestamp": 1.1743584981137904 - }, - { - "x": 6.357320771262667, - "y": 6.987803276656036, - "heading": 0.20820605457265307, - "angularVelocity": 2.8984915449122214e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 1.259099758968983 - }, - { - "x": 6.7281671196047075, - "y": 7.062398765990001, - "heading": 0.20820605702887124, - "angularVelocity": 2.898491432093634e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 1.3438410198241755 - }, - { - "x": 7.099013467946675, - "y": 7.136994255324323, - "heading": 0.20820605948509255, - "angularVelocity": 2.898495091786537e-8, - "velocityX": 4.376219383561885, - "velocityY": 0.88027353595543, - "timestamp": 1.428582280679368 - }, - { - "x": 7.442865256474911, - "y": 7.206159903040102, - "heading": 0.24066095877270974, - "angularVelocity": 0.3829881566557852, - "velocityX": 4.057666655630906, - "velocityY": 0.8161980010419216, - "timestamp": 1.5133235415345605 - }, - { - "x": 7.700754105965301, - "y": 7.258034145002986, - "heading": 0.26500200256383266, - "angularVelocity": 0.28723957544976075, - "velocityX": 3.043250087239987, - "velocityY": 0.6121485736626582, - "timestamp": 1.598064802389753 - }, - { - "x": 7.872680007962736, - "y": 7.292616974946182, - "heading": 0.2812293209136759, - "angularVelocity": 0.19149252897679708, - "velocityX": 2.0288334190734427, - "velocityY": 0.4080990723314019, - "timestamp": 1.6828060632449455 + "angularVelocity": -0.0016106206319871199, + "velocityX": 4.421788380781532, + "velocityY": 0.5861064272979724, + "moduleForcesX": [ + -0.23209342534053798, + -0.2321046565064834, + -0.232095797837075, + -0.2321070290328012 + ], + "moduleForcesY": [ + 1.7626094185789618, + 1.7626070459782812, + 1.7626206473785593, + 1.7626182747703636 + ], + "timestamp": 0.4969227236770619 + }, + { + "x": 3.390625289393235, + "y": 6.39062726987157, + "heading": 0.20823110789892643, + "angularVelocity": 0.00029577496726925314, + "velocityX": 4.375172544475818, + "velocityY": 0.8750229161785061, + "moduleForcesX": [ + -6.927566682833129, + -6.835900756202136, + -6.910434660402271, + -6.818739557650734 + ], + "moduleForcesY": [ + 42.628218931553526, + 42.64690527339123, + 42.550291751637296, + 42.56898489733913 + ], + "timestamp": 0.5817014744554462 + }, + { + "x": 3.761459234514799, + "y": 6.465247914138682, + "heading": 0.2082561821489154, + "angularVelocity": 0.00029576102217547556, + "velocityX": 4.374137879088852, + "velocityY": 0.8801809838195572, + "moduleForcesX": [ + -0.15255338591933773, + -0.1525540062477676, + -0.15255351700171377, + -0.1525541373301518 + ], + "moduleForcesY": [ + 0.7605186934648309, + 0.7605185623776669, + 0.760519313768514, + 0.7605191826813481 + ], + "timestamp": 0.6664802252338304 + }, + { + "x": 4.132291723197539, + "y": 6.539875795954243, + "heading": 0.20828125639827352, + "angularVelocity": 0.0002957610147341192, + "velocityX": 4.3741206997979125, + "velocityY": 0.8802663536602799, + "moduleForcesX": [ + -0.002532959235180969, + -0.002532959566190871, + -0.0025329593051401393, + -0.0025329596361500424 + ], + "moduleForcesY": [ + 0.012587151711603973, + 0.012587151641644784, + 0.012587152042613785, + 0.012587151972654595 + ], + "timestamp": 0.7512589760122147 + }, + { + "x": 4.5031241877715384, + "y": 6.614503797568147, + "heading": 0.2083063306475851, + "angularVelocity": 0.0002957610141854324, + "velocityX": 4.374120415425489, + "velocityY": 0.8802677667306581, + "moduleForcesX": [ + -0.00004192859659182188, + -0.00004192862099862591, + -0.000041928601750894565, + -0.00004192862615769862 + ], + "moduleForcesY": [ + 0.0002083467702601053, + 0.00020834676510103316, + 0.00020834679466691052, + 0.00020834678950783835 + ], + "timestamp": 0.836037726790599 + }, + { + "x": 4.873956651946479, + "y": 6.6891318011650105, + "heading": 0.20833140489684937, + "angularVelocity": 0.00029576101362738906, + "velocityX": 4.374120410718418, + "velocityY": 0.8802677901204857, + "moduleForcesX": [ + -6.940078022410408e-7, + -6.940326251408791e-7, + -6.940130497751408e-7, + -6.940378726749787e-7 + ], + "moduleForcesY": [ + 0.0000034486473654438606, + 0.000003448642117909772, + 0.000003448672188343677, + 0.0000034486669408095878 + ], + "timestamp": 0.9208164775689832 + }, + { + "x": 5.244789116114812, + "y": 6.763759804794711, + "heading": 0.20835647914606628, + "angularVelocity": 0.00029576101306840976, + "velocityX": 4.374120410640474, + "velocityY": 0.880267790507809, + "moduleForcesX": [ + -1.1477042199068713e-8, + -1.1501906599393946e-8, + -1.1482299175672622e-8, + -1.1507163575997842e-8 + ], + "moduleForcesY": [ + 5.709814719252906e-8, + 5.7092890215925134e-8, + 5.7123011592850915e-8, + 5.711775461624696e-8 + ], + "timestamp": 1.0055952283473675 + }, + { + "x": 5.615621580283032, + "y": 6.83838780842497, + "heading": 0.20838155339523554, + "angularVelocity": 0.000295761012506704, + "velocityX": 4.374120410639154, + "velocityY": 0.8802677905143902, + "moduleForcesX": [ + -1.795489383602464e-10, + -2.0453448303967815e-10, + -1.84832175555997e-10, + -2.0981772023543632e-10 + ], + "moduleForcesY": [ + 9.6050193775582e-10, + 9.552187005596443e-10, + 9.854874824353835e-10, + 9.802042452391687e-10 + ], + "timestamp": 1.0903739791257516 + }, + { + "x": 5.986454044451245, + "y": 6.91301581205527, + "heading": 0.20840662764435705, + "angularVelocity": 0.0002957610119434983, + "velocityX": 4.374120410639057, + "velocityY": 0.8802677905148872, + "moduleForcesX": [ + 9.531343974825759e-13, + -2.409899401633055e-11, + -4.3448548447941776e-12, + -2.9396983258712866e-11 + ], + "moduleForcesY": [ + 6.339678365811262e-11, + 5.809879441191008e-11, + 8.844891207108114e-11, + 8.31509228245328e-11 + ], + "timestamp": 1.1751527299041358 + }, + { + "x": 6.357286508619225, + "y": 6.987643815686722, + "heading": 0.20843170189343077, + "angularVelocity": 0.00029576101137971555, + "velocityX": 4.374120410636326, + "velocityY": 0.880267790528479, + "moduleForcesX": [ + -3.8751770186502077e-10, + -4.1259545453735124e-10, + -3.9282132404144496e-10, + -4.178990767189953e-10 + ], + "moduleForcesY": [ + 1.9941172653449912e-9, + 1.988813643156559e-9, + 2.019195018183054e-9, + 2.0138913960094235e-9 + ], + "timestamp": 1.25993148068252 + }, + { + "x": 6.728118972771395, + "y": 7.062271819386532, + "heading": 0.20845677614488042, + "angularVelocity": 0.00029576103940464883, + "velocityX": 4.3741204104498275, + "velocityY": 0.880267791334769, + "moduleForcesX": [ + -2.8253058061587385e-8, + -2.7006508780438317e-8, + -2.7989259178715415e-8, + -2.674270989777163e-8 + ], + "moduleForcesY": [ + 1.1937286537758996e-7, + 1.1963666426110955e-7, + 1.181263161028934e-7, + 1.1839011498644116e-7 + ], + "timestamp": 1.344710231460904 + }, + { + "x": 7.098951190717228, + "y": 7.1368997778597105, + "heading": 0.20848215871531955, + "angularVelocity": 0.0002993977878427415, + "velocityX": 4.37411750634551, + "velocityY": 0.880267257868188, + "moduleForcesX": [ + -0.0005261822924091911, + -0.000364417496983758, + -0.0004919599237168352, + -0.0003301951282955932 + ], + "moduleForcesY": [ + -0.000014884489896802861, + 0.00001933787879603433, + -0.00017664928527101836, + -0.0001424269165614444 + ], + "timestamp": 1.4294889822392882 + }, + { + "x": 7.442747019024106, + "y": 7.206086951594263, + "heading": 0.24056993909969165, + "angularVelocity": 0.37848847841897426, + "velocityX": 4.05521224540777, + "velocityY": 0.8160909791583368, + "moduleForcesX": [ + -56.626897272009465, + -41.778264589497184, + -52.42955258114668, + -37.246177295993725 + ], + "moduleForcesY": [ + -2.506680559826083, + 1.9649146088816034, + -20.245046735583294, + -17.0624585758025 + ], + "timestamp": 1.5142677330176724 + }, + { + "x": 7.700674123179524, + "y": 7.257993472862921, + "heading": 0.2648880772476538, + "angularVelocity": 0.28684237411719965, + "velocityX": 3.0423555641867304, + "velocityY": 0.6122586236773482, + "moduleForcesX": [ + -148.5481524874858, + -148.49158191666842, + -150.21448684004156, + -150.09869556670174 + ], + "moduleForcesY": [ + -33.958022668705695, + -34.27857847020175, + -25.6060966952798, + -26.371597381023165 + ], + "timestamp": 1.5990464837960565 + }, + { + "x": 7.872648715030404, + "y": 7.292602485909703, + "heading": 0.2811760292826905, + "angularVelocity": 0.19212304835222482, + "velocityX": 2.028510567470263, + "velocityY": 0.4082274476684736, + "moduleForcesX": [ + -148.68715705378688, + -148.59011634336363, + -150.4054017743301, + -150.2531208906171 + ], + "moduleForcesY": [ + -34.053433723410066, + -34.512389008580925, + -25.415675177038047, + -26.350055773698628 + ], + "timestamp": 1.6838252345744407 }, { "x": 7.958642959594727, "y": 7.309908390045166, "heading": 0.2893429893402494, - "angularVelocity": 0.09574637366368952, - "velocityX": 1.0144167170097427, - "velocityY": 0.2040495376689129, - "timestamp": 1.767547324100138 + "angularVelocity": 0.09633263031803485, + "velocityX": 1.014337245769469, + "velocityY": 0.20413020923959158, + "moduleForcesX": [ + -148.7362280505179, + -148.61966231417006, + -150.47122220876605, + -150.30231985466247 + ], + "moduleForcesY": [ + -34.073315136125785, + -34.60374007476275, + -25.338535198389273, + -26.3549249350695 + ], + "timestamp": 1.7686039853528248 }, { "x": 7.958642959594727, "y": 7.309908390045166, "heading": 0.2893429893402494, - "angularVelocity": -6.827633647304338e-25, - "velocityX": 1.1287054927299068e-23, - "velocityY": -1.569097245393775e-23, - "timestamp": 1.8522885849553306 + "angularVelocity": 6.940259912025461e-24, + "velocityX": -4.0214334118296335e-23, + "velocityY": 1.8464964730339851e-22, + "moduleForcesX": [ + -148.75642886804076, + -148.6379943860696, + -150.50152678728398, + -150.330159954609 + ], + "moduleForcesY": [ + -34.102207104566176, + -34.63400700237027, + -25.315156974387246, + -26.338589472116062 + ], + "timestamp": 1.853382736131209 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/s15 to f1.traj b/src/main/deploy/choreo/s15 to f1.traj index 377211e..a3c49c3 100644 --- a/src/main/deploy/choreo/s15 to f1.traj +++ b/src/main/deploy/choreo/s15 to f1.traj @@ -3,236 +3,548 @@ { "x": 1.516043782234192, "y": 6.1194376945495605, - "heading": 1.6049894157922985e-23, - "angularVelocity": 2.2735418891440523e-24, - "velocityX": 3.0477317261797416e-24, - "velocityY": 1.5146213575304285e-23, + "heading": 0.4394852835881587, + "angularVelocity": 2.1553225387988157e-20, + "velocityX": 6.972270320082658e-20, + "velocityY": 4.295611053654781e-20, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 1.5527703301460893, - "y": 6.124248862510531, - "heading": 0.009911287570771801, - "angularVelocity": 0.17968671033219005, - "velocityX": 0.6658340330682713, - "velocityY": 0.08722408038203434, - "timestamp": 0.0551587123635834 + "x": 1.5527783303105254, + "y": 6.124239354938701, + "heading": 0.42822106457800013, + "angularVelocity": -0.20401154195820217, + "velocityX": 0.6653165913617127, + "velocityY": 0.0869651184041067, + "moduleForcesX": [ + 152.15168510138722, + 152.55563376905621, + 148.25143649474265, + 149.53425179167454 + ], + "moduleForcesY": [ + 11.425577299755888, + 1.079090221688937, + 36.06344249231575, + 30.18518786778378 + ], + "timestamp": 0.05521363596411799 }, { - "x": 1.6262233727308029, - "y": 6.1338713391107715, - "heading": 0.029735899150431518, - "angularVelocity": 0.3594103402737918, - "velocityX": 1.331667100938479, - "velocityY": 0.17445071119165834, - "timestamp": 0.1103174247271668 + "x": 1.6262434587946901, + "y": 6.133841847800144, + "heading": 0.40576556818965487, + "angularVelocity": -0.40670200388430383, + "velocityX": 1.330561322424034, + "velocityY": 0.17391524201909558, + "moduleForcesX": [ + 152.1514752411763, + 152.52583766725104, + 148.3109477571502, + 149.43967171569847 + ], + "moduleForcesY": [ + 11.117568904712762, + 1.3950405912477444, + 35.71760686405317, + 30.509502639379548 + ], + "timestamp": 0.11042727192823598 }, { - "x": 1.7364028312981796, - "y": 6.148305344445142, - "heading": 0.059476575253103244, - "angularVelocity": 0.5391836543723774, - "velocityX": 1.9974987421954533, - "velocityY": 0.26168133221135326, - "timestamp": 0.1654761370907502 + "x": 1.7364331659610517, + "y": 6.148243902743091, + "heading": 0.37222745778663546, + "angularVelocity": -0.6074244127812012, + "velocityX": 1.9956973534187898, + "velocityY": 0.2608423569911504, + "moduleForcesX": [ + 152.14875116795582, + 152.4795739356628, + 148.39902967717296, + 149.3021417108101 + ], + "moduleForcesY": [ + 10.671203517005749, + 1.879944232564934, + 35.19798273562621, + 30.96975249920451 + ], + "timestamp": 0.16564090789235397 }, { - "x": 1.8833086218778385, - "y": 6.167551186620051, - "heading": 0.09913562558041339, - "angularVelocity": 0.7189988422117997, - "velocityX": 2.663328861111131, - "velocityY": 0.34891753904717876, - "timestamp": 0.2206348494543336 + "x": 1.8833374533776375, + "y": 6.167443459186671, + "heading": 0.3277921341522548, + "angularVelocity": -0.8047889413270686, + "velocityX": 2.6606522981406107, + "velocityY": 0.34773215181960043, + "moduleForcesX": [ + 152.12722861282575, + 152.40019866029715, + 148.51430928705759, + 149.12377301969823 + ], + "moduleForcesY": [ + 10.136939532990676, + 2.6136307401841443, + 34.450825812727615, + 31.48369076919765 + ], + "timestamp": 0.22085454385647196 }, { - "x": 2.0669406842579026, - "y": 6.191609264618742, - "heading": 0.1487133421831871, - "angularVelocity": 0.8988193247873137, - "velocityX": 3.3291578884154527, - "velocityY": 0.4361609792503344, - "timestamp": 0.275793561817917 + "x": 2.066936207713953, + "y": 6.191436698471855, + "heading": 0.2728392990199779, + "angularVelocity": -0.9952765140841193, + "velocityX": 3.3252429609169756, + "velocityY": 0.434552785126586, + "moduleForcesX": [ + 152.04232201439086, + 152.23883325416412, + 148.64791132196592, + 148.90655894975905 + ], + "moduleForcesY": [ + 9.648570785804054, + 3.7876610489605405, + 33.340033278685915, + 31.846190907565916 + ], + "timestamp": 0.27606817982058995 }, { - "x": 2.2872990171291807, - "y": 6.220480057184739, - "heading": 0.20820600984342885, - "angularVelocity": 1.078572452309813, - "velocityX": 3.9949868919848393, - "velocityY": 0.5234130988355064, - "timestamp": 0.33095227418150036 + "x": 2.287166704214004, + "y": 6.220213143554228, + "heading": 0.20848575133905684, + "angularVelocity": -1.165537218428123, + "velocityX": 3.988697586284342, + "velocityY": 0.5211836637798256, + "moduleForcesX": [ + 151.68099268526453, + 151.7572286089482, + 148.73862508002162, + 148.63001390800594 + ], + "moduleForcesY": [ + 9.791868841444824, + 6.181510238864685, + 31.26682965292511, + 31.210410520982705 + ], + "timestamp": 0.33128181578470794 }, { - "x": 2.531433888941791, - "y": 6.252467996404381, - "heading": 0.2082060173845843, - "angularVelocity": 1.3671739476674843e-7, - "velocityX": 4.426043708260909, - "velocityY": 0.5799254161118268, - "timestamp": 0.38611098654508375 + "x": 2.5313609932490118, + "y": 6.252151659003816, + "heading": 0.20838387983121495, + "angularVelocity": -0.0018450425526778868, + "velocityX": 4.422717047535958, + "velocityY": 0.5784533999958923, + "moduleForcesX": [ + 64.00055595226777, + 114.57491736876523, + 86.49195384197112, + 127.96905166414155 + ], + "moduleForcesY": [ + 80.38937450646526, + 59.23285236896116, + -66.54967875994687, + -21.21059842130901 + ], + "timestamp": 0.38649545174882594 }, { - "x": 2.7755687611349873, - "y": 6.2844559327196565, - "heading": 0.20820602492563703, - "angularVelocity": 1.3671553223585734e-7, - "velocityX": 4.426043715160706, - "velocityY": 0.5799253634570631, - "timestamp": 0.44126969890866713 + "x": 2.7755606126658567, + "y": 6.284082853222428, + "heading": 0.20829496068794068, + "angularVelocity": -0.0016104562165055944, + "velocityX": 4.422813588577585, + "velocityY": 0.5783208017559153, + "moduleForcesX": [ + 0.012151711430001214, + 0.028174258348796027, + 0.015538242650101808, + 0.03156078679586616 + ], + "moduleForcesY": [ + -0.023701359388461653, + -0.02031482619004463, + -0.039723890138709986, + -0.036337363181382025 + ], + "timestamp": 0.4417090877129439 }, { "x": 3.0197036266326904, "y": 6.316443920135498, "heading": 0.20820603246668984, - "angularVelocity": 1.367155341591757e-7, - "velocityX": 4.426043593774774, - "velocityY": 0.5799262898848881, - "timestamp": 0.4964284112722505 - }, - { - "x": 3.3905499845263205, - "y": 6.39103936198438, - "heading": 0.20820603492290815, - "angularVelocity": 2.8984915876803274e-8, - "velocityX": 4.376219496277494, - "velocityY": 0.8802729755974928, - "timestamp": 0.581169672127443 - }, - { - "x": 3.761396332868378, - "y": 6.465634851318267, - "heading": 0.20820603737912624, - "angularVelocity": 2.8984912970624712e-8, - "velocityX": 4.376219383562953, - "velocityY": 0.8802735359502775, - "timestamp": 0.6659109329826355 - }, - { - "x": 4.13224268121042, - "y": 6.540230340652234, - "heading": 0.2082060398353444, - "angularVelocity": 2.89849139196276e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 0.750652193837828 - }, - { - "x": 4.503089029552461, - "y": 6.614825829986201, - "heading": 0.20820604229156262, - "angularVelocity": 2.8984914949023907e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 0.8353934546930205 - }, - { - "x": 4.873935377894502, - "y": 6.68942131932017, - "heading": 0.20820604474778065, - "angularVelocity": 2.898491228267453e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 0.920134715548213 - }, - { - "x": 5.2447817262365435, - "y": 6.764016808654135, - "heading": 0.20820604720399877, - "angularVelocity": 2.8984913247587393e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 1.0048759764034054 - }, - { - "x": 5.615628074578584, - "y": 6.8386122979880986, - "heading": 0.2082060496602168, - "angularVelocity": 2.8984912703636125e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 1.089617237258598 - }, - { - "x": 5.986474422920626, - "y": 6.913207787322067, - "heading": 0.2082060521164348, - "angularVelocity": 2.8984911987304187e-8, - "velocityX": 4.37621938356276, - "velocityY": 0.8802735359512392, - "timestamp": 1.1743584981137904 - }, - { - "x": 6.357320771262667, - "y": 6.987803276656036, - "heading": 0.20820605457265307, - "angularVelocity": 2.8984915449122214e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512391, - "timestamp": 1.259099758968983 - }, - { - "x": 6.7281671196047075, - "y": 7.062398765990001, - "heading": 0.20820605702887124, - "angularVelocity": 2.898491432093634e-8, - "velocityX": 4.376219383562759, - "velocityY": 0.8802735359512392, - "timestamp": 1.3438410198241755 - }, - { - "x": 7.099013467946675, - "y": 7.136994255324323, - "heading": 0.20820605948509255, - "angularVelocity": 2.898495091786537e-8, - "velocityX": 4.376219383561885, - "velocityY": 0.88027353595543, - "timestamp": 1.428582280679368 - }, - { - "x": 7.442865256474911, - "y": 7.206159903040102, - "heading": 0.24066095877270974, - "angularVelocity": 0.3829881566557852, - "velocityX": 4.057666655630906, - "velocityY": 0.8161980010419216, - "timestamp": 1.5133235415345605 - }, - { - "x": 7.700754105965301, - "y": 7.258034145002986, - "heading": 0.26500200256383266, - "angularVelocity": 0.28723957544976075, - "velocityX": 3.043250087239987, - "velocityY": 0.6121485736626582, - "timestamp": 1.598064802389753 - }, - { - "x": 7.872680007962736, - "y": 7.292616974946182, - "heading": 0.2812293209136759, - "angularVelocity": 0.19149252897679708, - "velocityX": 2.0288334190734427, - "velocityY": 0.4080990723314019, - "timestamp": 1.6828060632449455 + "angularVelocity": -0.0016106206319871199, + "velocityX": 4.421788380781532, + "velocityY": 0.5861064272979724, + "moduleForcesX": [ + -0.23209342534053798, + -0.2321046565064834, + -0.232095797837075, + -0.2321070290328012 + ], + "moduleForcesY": [ + 1.7626094185789618, + 1.7626070459782812, + 1.7626206473785593, + 1.7626182747703636 + ], + "timestamp": 0.4969227236770619 + }, + { + "x": 3.390625289393235, + "y": 6.39062726987157, + "heading": 0.20823110789892643, + "angularVelocity": 0.00029577496726925314, + "velocityX": 4.375172544475818, + "velocityY": 0.8750229161785061, + "moduleForcesX": [ + -6.927566682833129, + -6.835900756202136, + -6.910434660402271, + -6.818739557650734 + ], + "moduleForcesY": [ + 42.628218931553526, + 42.64690527339123, + 42.550291751637296, + 42.56898489733913 + ], + "timestamp": 0.5817014744554462 + }, + { + "x": 3.761459234514799, + "y": 6.465247914138682, + "heading": 0.2082561821489154, + "angularVelocity": 0.00029576102217547556, + "velocityX": 4.374137879088852, + "velocityY": 0.8801809838195572, + "moduleForcesX": [ + -0.15255338591933773, + -0.1525540062477676, + -0.15255351700171377, + -0.1525541373301518 + ], + "moduleForcesY": [ + 0.7605186934648309, + 0.7605185623776669, + 0.760519313768514, + 0.7605191826813481 + ], + "timestamp": 0.6664802252338304 + }, + { + "x": 4.132291723197539, + "y": 6.539875795954243, + "heading": 0.20828125639827352, + "angularVelocity": 0.0002957610147341192, + "velocityX": 4.3741206997979125, + "velocityY": 0.8802663536602799, + "moduleForcesX": [ + -0.002532959235180969, + -0.002532959566190871, + -0.0025329593051401393, + -0.0025329596361500424 + ], + "moduleForcesY": [ + 0.012587151711603973, + 0.012587151641644784, + 0.012587152042613785, + 0.012587151972654595 + ], + "timestamp": 0.7512589760122147 + }, + { + "x": 4.5031241877715384, + "y": 6.614503797568147, + "heading": 0.2083063306475851, + "angularVelocity": 0.0002957610141854324, + "velocityX": 4.374120415425489, + "velocityY": 0.8802677667306581, + "moduleForcesX": [ + -0.00004192859659182188, + -0.00004192862099862591, + -0.000041928601750894565, + -0.00004192862615769862 + ], + "moduleForcesY": [ + 0.0002083467702601053, + 0.00020834676510103316, + 0.00020834679466691052, + 0.00020834678950783835 + ], + "timestamp": 0.836037726790599 + }, + { + "x": 4.873956651946479, + "y": 6.6891318011650105, + "heading": 0.20833140489684937, + "angularVelocity": 0.00029576101362738906, + "velocityX": 4.374120410718418, + "velocityY": 0.8802677901204857, + "moduleForcesX": [ + -6.940078022410408e-7, + -6.940326251408791e-7, + -6.940130497751408e-7, + -6.940378726749787e-7 + ], + "moduleForcesY": [ + 0.0000034486473654438606, + 0.000003448642117909772, + 0.000003448672188343677, + 0.0000034486669408095878 + ], + "timestamp": 0.9208164775689832 + }, + { + "x": 5.244789116114812, + "y": 6.763759804794711, + "heading": 0.20835647914606628, + "angularVelocity": 0.00029576101306840976, + "velocityX": 4.374120410640474, + "velocityY": 0.880267790507809, + "moduleForcesX": [ + -1.1477042199068713e-8, + -1.1501906599393946e-8, + -1.1482299175672622e-8, + -1.1507163575997842e-8 + ], + "moduleForcesY": [ + 5.709814719252906e-8, + 5.7092890215925134e-8, + 5.7123011592850915e-8, + 5.711775461624696e-8 + ], + "timestamp": 1.0055952283473675 + }, + { + "x": 5.615621580283032, + "y": 6.83838780842497, + "heading": 0.20838155339523554, + "angularVelocity": 0.000295761012506704, + "velocityX": 4.374120410639154, + "velocityY": 0.8802677905143902, + "moduleForcesX": [ + -1.795489383602464e-10, + -2.0453448303967815e-10, + -1.84832175555997e-10, + -2.0981772023543632e-10 + ], + "moduleForcesY": [ + 9.6050193775582e-10, + 9.552187005596443e-10, + 9.854874824353835e-10, + 9.802042452391687e-10 + ], + "timestamp": 1.0903739791257516 + }, + { + "x": 5.986454044451245, + "y": 6.91301581205527, + "heading": 0.20840662764435705, + "angularVelocity": 0.0002957610119434983, + "velocityX": 4.374120410639057, + "velocityY": 0.8802677905148872, + "moduleForcesX": [ + 9.531343974825759e-13, + -2.409899401633055e-11, + -4.3448548447941776e-12, + -2.9396983258712866e-11 + ], + "moduleForcesY": [ + 6.339678365811262e-11, + 5.809879441191008e-11, + 8.844891207108114e-11, + 8.31509228245328e-11 + ], + "timestamp": 1.1751527299041358 + }, + { + "x": 6.357286508619225, + "y": 6.987643815686722, + "heading": 0.20843170189343077, + "angularVelocity": 0.00029576101137971555, + "velocityX": 4.374120410636326, + "velocityY": 0.880267790528479, + "moduleForcesX": [ + -3.8751770186502077e-10, + -4.1259545453735124e-10, + -3.9282132404144496e-10, + -4.178990767189953e-10 + ], + "moduleForcesY": [ + 1.9941172653449912e-9, + 1.988813643156559e-9, + 2.019195018183054e-9, + 2.0138913960094235e-9 + ], + "timestamp": 1.25993148068252 + }, + { + "x": 6.728118972771395, + "y": 7.062271819386532, + "heading": 0.20845677614488042, + "angularVelocity": 0.00029576103940464883, + "velocityX": 4.3741204104498275, + "velocityY": 0.880267791334769, + "moduleForcesX": [ + -2.8253058061587385e-8, + -2.7006508780438317e-8, + -2.7989259178715415e-8, + -2.674270989777163e-8 + ], + "moduleForcesY": [ + 1.1937286537758996e-7, + 1.1963666426110955e-7, + 1.181263161028934e-7, + 1.1839011498644116e-7 + ], + "timestamp": 1.344710231460904 + }, + { + "x": 7.098951190717228, + "y": 7.1368997778597105, + "heading": 0.20848215871531955, + "angularVelocity": 0.0002993977878427415, + "velocityX": 4.37411750634551, + "velocityY": 0.880267257868188, + "moduleForcesX": [ + -0.0005261822924091911, + -0.000364417496983758, + -0.0004919599237168352, + -0.0003301951282955932 + ], + "moduleForcesY": [ + -0.000014884489896802861, + 0.00001933787879603433, + -0.00017664928527101836, + -0.0001424269165614444 + ], + "timestamp": 1.4294889822392882 + }, + { + "x": 7.442747019024106, + "y": 7.206086951594263, + "heading": 0.24056993909969165, + "angularVelocity": 0.37848847841897426, + "velocityX": 4.05521224540777, + "velocityY": 0.8160909791583368, + "moduleForcesX": [ + -56.626897272009465, + -41.778264589497184, + -52.42955258114668, + -37.246177295993725 + ], + "moduleForcesY": [ + -2.506680559826083, + 1.9649146088816034, + -20.245046735583294, + -17.0624585758025 + ], + "timestamp": 1.5142677330176724 + }, + { + "x": 7.700674123179524, + "y": 7.257993472862921, + "heading": 0.2648880772476538, + "angularVelocity": 0.28684237411719965, + "velocityX": 3.0423555641867304, + "velocityY": 0.6122586236773482, + "moduleForcesX": [ + -148.5481524874858, + -148.49158191666842, + -150.21448684004156, + -150.09869556670174 + ], + "moduleForcesY": [ + -33.958022668705695, + -34.27857847020175, + -25.6060966952798, + -26.371597381023165 + ], + "timestamp": 1.5990464837960565 + }, + { + "x": 7.872648715030404, + "y": 7.292602485909703, + "heading": 0.2811760292826905, + "angularVelocity": 0.19212304835222482, + "velocityX": 2.028510567470263, + "velocityY": 0.4082274476684736, + "moduleForcesX": [ + -148.68715705378688, + -148.59011634336363, + -150.4054017743301, + -150.2531208906171 + ], + "moduleForcesY": [ + -34.053433723410066, + -34.512389008580925, + -25.415675177038047, + -26.350055773698628 + ], + "timestamp": 1.6838252345744407 }, { "x": 7.958642959594727, "y": 7.309908390045166, "heading": 0.2893429893402494, - "angularVelocity": 0.09574637366368952, - "velocityX": 1.0144167170097427, - "velocityY": 0.2040495376689129, - "timestamp": 1.767547324100138 + "angularVelocity": 0.09633263031803485, + "velocityX": 1.014337245769469, + "velocityY": 0.20413020923959158, + "moduleForcesX": [ + -148.7362280505179, + -148.61966231417006, + -150.47122220876605, + -150.30231985466247 + ], + "moduleForcesY": [ + -34.073315136125785, + -34.60374007476275, + -25.338535198389273, + -26.3549249350695 + ], + "timestamp": 1.7686039853528248 }, { "x": 7.958642959594727, "y": 7.309908390045166, "heading": 0.2893429893402494, - "angularVelocity": -6.827633647304338e-25, - "velocityX": 1.1287054927299068e-23, - "velocityY": -1.569097245393775e-23, - "timestamp": 1.8522885849553306 + "angularVelocity": 6.940259912025461e-24, + "velocityX": -4.0214334118296335e-23, + "velocityY": 1.8464964730339851e-22, + "moduleForcesX": [ + -148.75642886804076, + -148.6379943860696, + -150.50152678728398, + -150.330159954609 + ], + "moduleForcesY": [ + -34.102207104566176, + -34.63400700237027, + -25.315156974387246, + -26.338589472116062 + ], + "timestamp": 1.853382736131209 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot1 to f1.1.traj b/src/main/deploy/choreo/shoot1 to f1.1.traj index 7b023e8..6b2e03b 100644 --- a/src/main/deploy/choreo/shoot1 to f1.1.traj +++ b/src/main/deploy/choreo/shoot1 to f1.1.traj @@ -3,128 +3,296 @@ { "x": 4.24, "y": 6.6, - "heading": 0.24776360937302855, - "angularVelocity": -7.502783798265508e-24, - "velocityX": 1.1654587660859587e-23, - "velocityY": 2.0648995484679267e-23, + "heading": 0.33119543841433996, + "angularVelocity": 8.54019290062528e-19, + "velocityX": -7.577015359177602e-18, + "velocityY": -7.219644509206452e-19, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 4.344533555893405, - "y": 6.622435378434722, - "heading": 0.25338460463038764, - "angularVelocity": 0.0600790166932035, - "velocityX": 1.117288480415917, - "velocityY": 0.23979658650900545, - "timestamp": 0.09356004087189006 + "x": 4.344555025844366, + "y": 6.622439994875428, + "heading": 0.32330078267162105, + "angularVelocity": -0.0843447444455485, + "velocityX": 1.1170426200628678, + "velocityY": 0.2397439096534501, + "moduleForcesX": [ + 149.81621175769138, + 149.98684912532678, + 148.38419350942556, + 148.52447943383788 + ], + "moduleForcesY": [ + 29.101606158699376, + 28.189783263166415, + 35.69057858180957, + 35.08655994162885 + ], + "timestamp": 0.09359985372669292 }, { - "x": 4.5536006609060635, - "y": 6.66730613426612, - "heading": 0.2646265659990321, - "angularVelocity": 0.12015772186373766, - "velocityX": 2.2345768884277026, - "velocityY": 0.4795931619231156, - "timestamp": 0.18712008174378011 + "x": 4.553638781992398, + "y": 6.6673143366611525, + "heading": 0.3075996174352824, + "angularVelocity": -0.16774775398885527, + "velocityX": 2.2338043053967978, + "velocityY": 0.47942747796307444, + "moduleForcesX": [ + 149.7835448762301, + 149.93046981272377, + 148.36771869397393, + 148.4799282379629 + ], + "moduleForcesY": [ + 29.068655249690917, + 28.272718743382473, + 35.59454076390086, + 35.100379514075335 + ], + "timestamp": 0.18719970745338585 }, { - "x": 4.867201294807126, - "y": 6.734612263767925, - "heading": 0.28148941803629596, - "angularVelocity": 0.18023562067863788, - "velocityX": 3.351865080204995, - "velocityY": 0.7193896975092989, - "timestamp": 0.28068012261567016 + "x": 4.8671731759182295, + "y": 6.734606255718431, + "heading": 0.28435124978350124, + "angularVelocity": -0.24838038443590085, + "velocityX": 3.349731663629253, + "velocityY": 0.718931882572188, + "moduleForcesX": [ + 149.6688431384077, + 149.77675426478214, + 148.30089771987164, + 148.36947824691018 + ], + "moduleForcesY": [ + 29.061507367977445, + 28.445941122182884, + 35.38312007975413, + 35.0500184465812 + ], + "timestamp": 0.28079956118007876 }, { - "x": 5.275542672410289, - "y": 6.822251994535183, - "heading": 0.2814894213795815, - "angularVelocity": 3.57341177510739e-8, - "velocityX": 4.3644848142199875, - "velocityY": 0.9367218093380972, - "timestamp": 0.37424016348756023 + "x": 5.275522111080395, + "y": 6.822247637598845, + "heading": 0.28433051729745523, + "angularVelocity": -0.0002215012654332083, + "velocityX": 4.362709118155981, + "velocityY": 0.9363410122611229, + "moduleForcesX": [ + 132.42606821145515, + 134.12092045543602, + 136.60907778451752, + 137.96521429524373 + ], + "moduleForcesY": [ + 37.783812321009165, + 38.384037425031806, + 18.58804609595742, + 21.3816412547734 + ], + "timestamp": 0.3743994149067717 }, { - "x": 5.683884050014173, - "y": 6.909891725299845, - "heading": 0.28148942472279975, - "angularVelocity": 3.573339844475593e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102381, - "timestamp": 0.4678002043594503 + "x": 5.6838737684895095, + "y": 6.909889565358844, + "heading": 0.28431134909745137, + "angularVelocity": -0.00020478878161357287, + "velocityX": 4.362738200292577, + "velocityY": 0.9363468465340647, + "moduleForcesX": [ + 0.0034570173375369413, + 0.004117614488115382, + 0.0036500623401997325, + 0.004310659488843197 + ], + "moduleForcesY": [ + 0.0010129269934045814, + 0.0012059719936594162, + 0.00035232983752794806, + 0.0005453748425389 + ], + "timestamp": 0.46799926863346464 }, { - "x": 6.092225427618089, - "y": 6.997531456064485, - "heading": 0.28148942806601784, - "angularVelocity": 3.573339734832286e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102379, - "timestamp": 0.5613602452313403 + "x": 6.092225426156647, + "y": 6.997531492743735, + "heading": 0.28429218090623914, + "angularVelocity": -0.00020478868768497758, + "velocityX": 4.362738201429997, + "velocityY": 0.9363468419296221, + "moduleForcesX": [ + 1.4950035552662788e-7, + 1.5321309923332782e-7, + 1.5058527506820652e-7, + 1.542980187746903e-7 + ], + "moduleForcesY": [ + -6.135965754038743e-7, + -6.125116558617039e-7, + -6.173093191129446e-7, + -6.162243995702035e-7 + ], + "timestamp": 0.5615991223601575 }, { - "x": 6.500566805221937, - "y": 7.085171186829149, - "heading": 0.2814894314092359, - "angularVelocity": 3.5733396744163264e-8, - "velocityX": 4.36448481422781, - "velocityY": 0.936721809310238, - "timestamp": 0.6549202861032304 + "x": 6.5005770835023995, + "y": 7.085173420224756, + "heading": 0.284273012714897, + "angularVelocity": -0.0002047886890736413, + "velocityX": 4.362738201434009, + "velocityY": 0.9363468419108961, + "moduleForcesX": [ + 5.71288204025185e-10, + 5.163976443385029e-10, + 5.552499351333796e-10, + 5.003593754466973e-10 + ], + "moduleForcesY": [ + -2.520230983139237e-9, + -2.536269252031043e-9, + -2.4653404234525546e-9, + -2.4813786923443603e-9 + ], + "timestamp": 0.6551989760868504 }, { - "x": 6.908908182825945, - "y": 7.172810917593798, - "heading": 0.28148943475245397, - "angularVelocity": 3.573339680314383e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102381, - "timestamp": 0.7484803269751205 + "x": 6.908928740796379, + "y": 7.172815348021083, + "heading": 0.2842538445145035, + "angularVelocity": -0.00020478878577692862, + "velocityX": 4.3627382006335536, + "velocityY": 0.9363468449452563, + "moduleForcesX": [ + -1.0442893683641684e-7, + -1.08251410895093e-7, + -1.0554572044231685e-7, + -1.0936819450078292e-7 + ], + "moduleForcesY": [ + 4.0387751105840224e-7, + 4.027607274525131e-7, + 4.0769998511940976e-7, + 4.065832015129474e-7 + ], + "timestamp": 0.7487988298135433 }, { - "x": 7.317249560428886, - "y": 7.260450648361741, - "heading": 0.28148943809573934, - "angularVelocity": 3.573411626116498e-8, - "velocityX": 4.364484814218445, - "velocityY": 0.9367218093452854, - "timestamp": 0.8420403678470105 + "x": 7.317277679103746, + "y": 7.260456717292745, + "heading": 0.28423311210708074, + "angularVelocity": -0.00022150042544152515, + "velocityX": 4.362709146794923, + "velocityY": 0.9363408787631348, + "moduleForcesX": [ + -0.0034532780666344572, + -0.004113856946686645, + -0.003646261652579968, + -0.004306840530072283 + ], + "moduleForcesY": [ + -0.001030564670112354, + -0.0012235482529752875, + -0.0003699857853761762, + -0.0005629693726032418 + ], + "timestamp": 0.8423986835402362 }, { - "x": 7.63085019436579, - "y": 7.3277567829064845, - "heading": 0.29835199277457336, - "angularVelocity": 0.18023244241549222, - "velocityX": 3.3518650805884103, - "velocityY": 0.7193897514100817, - "timestamp": 0.9356004087189006 + "x": 7.630812072765934, + "y": 7.327748616242933, + "heading": 0.2609838791161279, + "angularVelocity": -0.24838962952699864, + "velocityX": 3.349731662284197, + "velocityY": 0.7189316679580637, + "moduleForcesX": [ + -132.38600428045925, + -134.19501737149125, + -136.55643446159635, + -137.9838406501692 + ], + "moduleForcesY": [ + -38.010877388365586, + -38.191049412992065, + -18.77924749336545, + -21.156406133396985 + ], + "timestamp": 0.935998537266929 }, { - "x": 7.839917299382837, - "y": 7.372627542775043, - "heading": 0.3095937223078571, - "angularVelocity": 0.12015524393236245, - "velocityX": 2.234576888473517, - "velocityY": 0.4795932050735657, - "timestamp": 1.0291604495907907 + "x": 7.83989582907262, + "y": 7.372622939311148, + "heading": 0.24528199380686244, + "angularVelocity": -0.1677554470877233, + "velocityX": 2.2338043086356776, + "velocityY": 0.47942727887855646, + "moduleForcesX": [ + -149.69443192152536, + -149.75379940269764, + -148.32954125823036, + -148.33819833887227 + ], + "moduleForcesY": [ + -28.928485010059244, + -28.56535146856084, + -35.26370259875946, + -35.18303964333745 + ], + "timestamp": 1.029598390993622 }, { "x": 7.944450855255127, "y": 7.3950629234313965, - "heading": 0.3152145956982849, - "angularVelocity": 0.060077714139996824, - "velocityX": 1.1172884801909024, - "velocityY": 0.23979661025443438, - "timestamp": 1.1227204904626806 + "heading": 0.2373869217296507, + "angularVelocity": -0.08434919247059618, + "velocityX": 1.1170426221354988, + "velocityY": 0.23974379373984833, + "moduleForcesX": [ + -149.8314697443333, + -149.888592795504, + -148.42061213665866, + -148.42098756741058 + ], + "moduleForcesY": [ + -28.81974998967956, + -28.4927693195202, + -35.374140398004435, + -35.34959013487695 + ], + "timestamp": 1.1231982447203148 }, { "x": 7.944450855255127, "y": 7.3950629234313965, - "heading": 0.3152145956982849, - "angularVelocity": 6.397603234038431e-24, - "velocityX": -2.2575156697237934e-25, - "velocityY": 2.406083967264793e-23, - "timestamp": 1.2162805313345706 + "heading": 0.23738692172965067, + "angularVelocity": -3.4147235588131775e-18, + "velocityX": -4.277438180575754e-18, + "velocityY": 4.536131174638912e-19, + "moduleForcesX": [ + -149.8759515541738, + -149.93572813772303, + -148.44917004923988, + -148.45088519214866 + ], + "moduleForcesY": [ + -28.79165185181079, + -28.459492145311398, + -35.42001358163479, + -35.397308446767276 + ], + "timestamp": 1.2167980984470077 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot1 to f1.traj b/src/main/deploy/choreo/shoot1 to f1.traj index 7b023e8..6b2e03b 100644 --- a/src/main/deploy/choreo/shoot1 to f1.traj +++ b/src/main/deploy/choreo/shoot1 to f1.traj @@ -3,128 +3,296 @@ { "x": 4.24, "y": 6.6, - "heading": 0.24776360937302855, - "angularVelocity": -7.502783798265508e-24, - "velocityX": 1.1654587660859587e-23, - "velocityY": 2.0648995484679267e-23, + "heading": 0.33119543841433996, + "angularVelocity": 8.54019290062528e-19, + "velocityX": -7.577015359177602e-18, + "velocityY": -7.219644509206452e-19, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 4.344533555893405, - "y": 6.622435378434722, - "heading": 0.25338460463038764, - "angularVelocity": 0.0600790166932035, - "velocityX": 1.117288480415917, - "velocityY": 0.23979658650900545, - "timestamp": 0.09356004087189006 + "x": 4.344555025844366, + "y": 6.622439994875428, + "heading": 0.32330078267162105, + "angularVelocity": -0.0843447444455485, + "velocityX": 1.1170426200628678, + "velocityY": 0.2397439096534501, + "moduleForcesX": [ + 149.81621175769138, + 149.98684912532678, + 148.38419350942556, + 148.52447943383788 + ], + "moduleForcesY": [ + 29.101606158699376, + 28.189783263166415, + 35.69057858180957, + 35.08655994162885 + ], + "timestamp": 0.09359985372669292 }, { - "x": 4.5536006609060635, - "y": 6.66730613426612, - "heading": 0.2646265659990321, - "angularVelocity": 0.12015772186373766, - "velocityX": 2.2345768884277026, - "velocityY": 0.4795931619231156, - "timestamp": 0.18712008174378011 + "x": 4.553638781992398, + "y": 6.6673143366611525, + "heading": 0.3075996174352824, + "angularVelocity": -0.16774775398885527, + "velocityX": 2.2338043053967978, + "velocityY": 0.47942747796307444, + "moduleForcesX": [ + 149.7835448762301, + 149.93046981272377, + 148.36771869397393, + 148.4799282379629 + ], + "moduleForcesY": [ + 29.068655249690917, + 28.272718743382473, + 35.59454076390086, + 35.100379514075335 + ], + "timestamp": 0.18719970745338585 }, { - "x": 4.867201294807126, - "y": 6.734612263767925, - "heading": 0.28148941803629596, - "angularVelocity": 0.18023562067863788, - "velocityX": 3.351865080204995, - "velocityY": 0.7193896975092989, - "timestamp": 0.28068012261567016 + "x": 4.8671731759182295, + "y": 6.734606255718431, + "heading": 0.28435124978350124, + "angularVelocity": -0.24838038443590085, + "velocityX": 3.349731663629253, + "velocityY": 0.718931882572188, + "moduleForcesX": [ + 149.6688431384077, + 149.77675426478214, + 148.30089771987164, + 148.36947824691018 + ], + "moduleForcesY": [ + 29.061507367977445, + 28.445941122182884, + 35.38312007975413, + 35.0500184465812 + ], + "timestamp": 0.28079956118007876 }, { - "x": 5.275542672410289, - "y": 6.822251994535183, - "heading": 0.2814894213795815, - "angularVelocity": 3.57341177510739e-8, - "velocityX": 4.3644848142199875, - "velocityY": 0.9367218093380972, - "timestamp": 0.37424016348756023 + "x": 5.275522111080395, + "y": 6.822247637598845, + "heading": 0.28433051729745523, + "angularVelocity": -0.0002215012654332083, + "velocityX": 4.362709118155981, + "velocityY": 0.9363410122611229, + "moduleForcesX": [ + 132.42606821145515, + 134.12092045543602, + 136.60907778451752, + 137.96521429524373 + ], + "moduleForcesY": [ + 37.783812321009165, + 38.384037425031806, + 18.58804609595742, + 21.3816412547734 + ], + "timestamp": 0.3743994149067717 }, { - "x": 5.683884050014173, - "y": 6.909891725299845, - "heading": 0.28148942472279975, - "angularVelocity": 3.573339844475593e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102381, - "timestamp": 0.4678002043594503 + "x": 5.6838737684895095, + "y": 6.909889565358844, + "heading": 0.28431134909745137, + "angularVelocity": -0.00020478878161357287, + "velocityX": 4.362738200292577, + "velocityY": 0.9363468465340647, + "moduleForcesX": [ + 0.0034570173375369413, + 0.004117614488115382, + 0.0036500623401997325, + 0.004310659488843197 + ], + "moduleForcesY": [ + 0.0010129269934045814, + 0.0012059719936594162, + 0.00035232983752794806, + 0.0005453748425389 + ], + "timestamp": 0.46799926863346464 }, { - "x": 6.092225427618089, - "y": 6.997531456064485, - "heading": 0.28148942806601784, - "angularVelocity": 3.573339734832286e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102379, - "timestamp": 0.5613602452313403 + "x": 6.092225426156647, + "y": 6.997531492743735, + "heading": 0.28429218090623914, + "angularVelocity": -0.00020478868768497758, + "velocityX": 4.362738201429997, + "velocityY": 0.9363468419296221, + "moduleForcesX": [ + 1.4950035552662788e-7, + 1.5321309923332782e-7, + 1.5058527506820652e-7, + 1.542980187746903e-7 + ], + "moduleForcesY": [ + -6.135965754038743e-7, + -6.125116558617039e-7, + -6.173093191129446e-7, + -6.162243995702035e-7 + ], + "timestamp": 0.5615991223601575 }, { - "x": 6.500566805221937, - "y": 7.085171186829149, - "heading": 0.2814894314092359, - "angularVelocity": 3.5733396744163264e-8, - "velocityX": 4.36448481422781, - "velocityY": 0.936721809310238, - "timestamp": 0.6549202861032304 + "x": 6.5005770835023995, + "y": 7.085173420224756, + "heading": 0.284273012714897, + "angularVelocity": -0.0002047886890736413, + "velocityX": 4.362738201434009, + "velocityY": 0.9363468419108961, + "moduleForcesX": [ + 5.71288204025185e-10, + 5.163976443385029e-10, + 5.552499351333796e-10, + 5.003593754466973e-10 + ], + "moduleForcesY": [ + -2.520230983139237e-9, + -2.536269252031043e-9, + -2.4653404234525546e-9, + -2.4813786923443603e-9 + ], + "timestamp": 0.6551989760868504 }, { - "x": 6.908908182825945, - "y": 7.172810917593798, - "heading": 0.28148943475245397, - "angularVelocity": 3.573339680314383e-8, - "velocityX": 4.364484814227809, - "velocityY": 0.9367218093102381, - "timestamp": 0.7484803269751205 + "x": 6.908928740796379, + "y": 7.172815348021083, + "heading": 0.2842538445145035, + "angularVelocity": -0.00020478878577692862, + "velocityX": 4.3627382006335536, + "velocityY": 0.9363468449452563, + "moduleForcesX": [ + -1.0442893683641684e-7, + -1.08251410895093e-7, + -1.0554572044231685e-7, + -1.0936819450078292e-7 + ], + "moduleForcesY": [ + 4.0387751105840224e-7, + 4.027607274525131e-7, + 4.0769998511940976e-7, + 4.065832015129474e-7 + ], + "timestamp": 0.7487988298135433 }, { - "x": 7.317249560428886, - "y": 7.260450648361741, - "heading": 0.28148943809573934, - "angularVelocity": 3.573411626116498e-8, - "velocityX": 4.364484814218445, - "velocityY": 0.9367218093452854, - "timestamp": 0.8420403678470105 + "x": 7.317277679103746, + "y": 7.260456717292745, + "heading": 0.28423311210708074, + "angularVelocity": -0.00022150042544152515, + "velocityX": 4.362709146794923, + "velocityY": 0.9363408787631348, + "moduleForcesX": [ + -0.0034532780666344572, + -0.004113856946686645, + -0.003646261652579968, + -0.004306840530072283 + ], + "moduleForcesY": [ + -0.001030564670112354, + -0.0012235482529752875, + -0.0003699857853761762, + -0.0005629693726032418 + ], + "timestamp": 0.8423986835402362 }, { - "x": 7.63085019436579, - "y": 7.3277567829064845, - "heading": 0.29835199277457336, - "angularVelocity": 0.18023244241549222, - "velocityX": 3.3518650805884103, - "velocityY": 0.7193897514100817, - "timestamp": 0.9356004087189006 + "x": 7.630812072765934, + "y": 7.327748616242933, + "heading": 0.2609838791161279, + "angularVelocity": -0.24838962952699864, + "velocityX": 3.349731662284197, + "velocityY": 0.7189316679580637, + "moduleForcesX": [ + -132.38600428045925, + -134.19501737149125, + -136.55643446159635, + -137.9838406501692 + ], + "moduleForcesY": [ + -38.010877388365586, + -38.191049412992065, + -18.77924749336545, + -21.156406133396985 + ], + "timestamp": 0.935998537266929 }, { - "x": 7.839917299382837, - "y": 7.372627542775043, - "heading": 0.3095937223078571, - "angularVelocity": 0.12015524393236245, - "velocityX": 2.234576888473517, - "velocityY": 0.4795932050735657, - "timestamp": 1.0291604495907907 + "x": 7.83989582907262, + "y": 7.372622939311148, + "heading": 0.24528199380686244, + "angularVelocity": -0.1677554470877233, + "velocityX": 2.2338043086356776, + "velocityY": 0.47942727887855646, + "moduleForcesX": [ + -149.69443192152536, + -149.75379940269764, + -148.32954125823036, + -148.33819833887227 + ], + "moduleForcesY": [ + -28.928485010059244, + -28.56535146856084, + -35.26370259875946, + -35.18303964333745 + ], + "timestamp": 1.029598390993622 }, { "x": 7.944450855255127, "y": 7.3950629234313965, - "heading": 0.3152145956982849, - "angularVelocity": 0.060077714139996824, - "velocityX": 1.1172884801909024, - "velocityY": 0.23979661025443438, - "timestamp": 1.1227204904626806 + "heading": 0.2373869217296507, + "angularVelocity": -0.08434919247059618, + "velocityX": 1.1170426221354988, + "velocityY": 0.23974379373984833, + "moduleForcesX": [ + -149.8314697443333, + -149.888592795504, + -148.42061213665866, + -148.42098756741058 + ], + "moduleForcesY": [ + -28.81974998967956, + -28.4927693195202, + -35.374140398004435, + -35.34959013487695 + ], + "timestamp": 1.1231982447203148 }, { "x": 7.944450855255127, "y": 7.3950629234313965, - "heading": 0.3152145956982849, - "angularVelocity": 6.397603234038431e-24, - "velocityX": -2.2575156697237934e-25, - "velocityY": 2.406083967264793e-23, - "timestamp": 1.2162805313345706 + "heading": 0.23738692172965067, + "angularVelocity": -3.4147235588131775e-18, + "velocityX": -4.277438180575754e-18, + "velocityY": 4.536131174638912e-19, + "moduleForcesX": [ + -149.8759515541738, + -149.93572813772303, + -148.44917004923988, + -148.45088519214866 + ], + "moduleForcesY": [ + -28.79165185181079, + -28.459492145311398, + -35.42001358163479, + -35.397308446767276 + ], + "timestamp": 1.2167980984470077 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot2 to f2.1.traj b/src/main/deploy/choreo/shoot2 to f2.1.traj index 3595619..2cfa80b 100644 --- a/src/main/deploy/choreo/shoot2 to f2.1.traj +++ b/src/main/deploy/choreo/shoot2 to f2.1.traj @@ -3,236 +3,548 @@ { "x": 4.24, "y": 5.4, - "heading": 5.65520577887102e-25, - "angularVelocity": 1.247999773759975e-25, - "velocityX": 1.8200464416455633e-24, - "velocityY": 8.50921922700024e-26, + "heading": 1.6003042171850536e-17, + "angularVelocity": 2.5141803360652495e-18, + "velocityX": -5.3860014364905094e-17, + "velocityY": -4.82908770167854e-18, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 4.237379577204406, - "y": 5.446551866490192, - "heading": 0.015666909035925502, - "angularVelocity": 0.2529176676813516, - "velocityX": -0.04230261503919124, - "velocityY": 0.7515068525587645, - "timestamp": 0.061944699947431445 + "x": 4.237394989101419, + "y": 5.446671935157436, + "heading": 0.015402621909197974, + "angularVelocity": 0.24826929771311457, + "velocityX": -0.041989229505664305, + "velocityY": 0.7522880606134766, + "moduleForcesX": [ + -21.606784988931928, + 5.862317831554669, + -25.768855154557986, + 7.672861309679971 + ], + "moduleForcesY": [ + 151.0558617718067, + 152.48002239630353, + 150.37973236681793, + 152.37735613946964 + ], + "timestamp": 0.062039978568037016 }, { - "x": 4.235636730361383, - "y": 5.539753141411952, - "heading": 0.04593957057021425, - "angularVelocity": 0.48870462783707475, - "velocityX": -0.02813552805165378, - "velocityY": 1.5045883667344286, - "timestamp": 0.12388939989486289 + "x": 4.235664792713368, + "y": 5.540101493075557, + "heading": 0.04519731598891556, + "angularVelocity": 0.48024990929180905, + "velocityX": -0.027888410723138163, + "velocityY": 1.5059572885921342, + "moduleForcesX": [ + -10.986371648824381, + 14.896685725681214, + -11.82636507853594, + 19.28035117351464 + ], + "moduleForcesY": [ + 152.1696395549111, + 151.83798158226256, + 152.0802559762257, + 151.31822244879965 + ], + "timestamp": 0.12407995713607403 }, { - "x": 4.240601974321771, - "y": 5.679181571486886, - "heading": 0.08884400320580595, - "angularVelocity": 0.6926247551768269, - "velocityX": 0.08015607412095097, - "velocityY": 2.2508532641736663, - "timestamp": 0.18583409984229432 + "x": 4.240620207715621, + "y": 5.67985329397917, + "heading": 0.08749629400115912, + "angularVelocity": 0.6818019443046625, + "velocityX": 0.07987454424328937, + "velocityY": 2.2526087878716234, + "moduleForcesX": [ + 7.820038407100643, + 30.089583450761342, + 11.61308112492607, + 37.3269038783474 + ], + "moduleForcesY": [ + 152.31885143417836, + 149.52747665642158, + 152.04558715086378, + 147.85837264806557 + ], + "timestamp": 0.18611993570411106 }, { - "x": 4.263018726063957, - "y": 5.862034306572896, - "heading": 0.14021670966114338, - "angularVelocity": 0.8293317507217601, - "velocityX": 0.36188328882391024, - "velocityY": 2.951870543261741, - "timestamp": 0.24777879978972578 + "x": 4.263009305269716, + "y": 5.8631041651884255, + "heading": 0.1382833719752812, + "angularVelocity": 0.8186185609088316, + "velocityX": 0.3608817745344741, + "velocityY": 2.9537545857697416, + "moduleForcesX": [ + 46.04108153009501, + 59.42745225625236, + 53.514950016866436, + 67.489217169189 + ], + "moduleForcesY": [ + 145.31592553410837, + 140.38779353465264, + 142.70314705567972, + 136.66892377860805 + ], + "timestamp": 0.24815991427214806 }, { - "x": 4.321522464322417, - "y": 6.0747972769624585, - "heading": 0.19033517188592944, - "angularVelocity": 0.8090839453144244, - "velocityX": 0.9444510718125638, - "velocityY": 3.43472436818841, - "timestamp": 0.30972349973715724 + "x": 4.321586067665011, + "y": 6.076188399935321, + "heading": 0.18806048977435308, + "angularVelocity": 0.8023393777366383, + "velocityX": 0.9441776701103324, + "velocityY": 3.4346277942375822, + "moduleForcesX": [ + 118.39178072200764, + 117.78035532708323, + 117.27691643584308, + 116.64773755286181 + ], + "moduleForcesY": [ + 95.83260810906238, + 96.57610028551827, + 97.19745995610354, + 97.94490723450029 + ], + "timestamp": 0.31019989284018507 }, { - "x": 4.42664427975027, - "y": 6.285590334484931, - "heading": 0.22593678397320832, - "angularVelocity": 0.5747321743021069, - "velocityX": 1.6970267919138085, - "velocityY": 3.4029232154059934, - "timestamp": 0.3716681996845887 + "x": 4.426805221280394, + "y": 6.2868665112688555, + "heading": 0.223826321363989, + "angularVelocity": 0.5764965174891206, + "velocityX": 1.6959895210047542, + "velocityY": 3.3958443599641064, + "moduleForcesX": [ + 151.46861431237275, + 150.07043245508586, + 152.1233767343933, + 152.24675655191507 + ], + "moduleForcesY": [ + -16.451527301303454, + -25.95887683148962, + 8.218513518696085, + 2.935082366632508 + ], + "timestamp": 0.37223987140822207 }, { - "x": 4.572008828361977, - "y": 6.473078534144687, - "heading": 0.2425417326343036, - "angularVelocity": 0.26806084580580486, - "velocityX": 2.346682585194032, - "velocityY": 3.0267028465528867, - "timestamp": 0.43361289963202015 + "x": 4.572147566196572, + "y": 6.473860117624879, + "heading": 0.24119054059348516, + "angularVelocity": 0.2798875762079176, + "velocityX": 2.3427207476312826, + "velocityY": 3.0140823822370324, + "moduleForcesX": [ + 131.17663514475362, + 116.09143950073401, + 142.55374199707484, + 131.39953252082395 + ], + "moduleForcesY": [ + -77.72105092515056, + -98.792696649311, + -53.99941126481319, + -77.16101073605822 + ], + "timestamp": 0.43427984997625907 }, { "x": 4.751170635223389, "y": 6.62867546081543, - "heading": 0.23923209044765792, - "angularVelocity": -0.053428980840238824, - "velocityX": 2.892286297511409, - "velocityY": 2.5118682761041353, - "timestamp": 0.4955575995794516 - }, - { - "x": 4.946362436162151, - "y": 6.743542673417743, - "heading": 0.21829007379819315, - "angularVelocity": -0.35870329749719254, - "velocityX": 3.343323797946624, - "velocityY": 1.9674918907971573, - "timestamp": 0.5539401591923269 - }, - { - "x": 5.166070300386926, - "y": 6.824983152939521, - "heading": 0.1846753118236742, - "angularVelocity": -0.5757671845395725, - "velocityX": 3.763244806010905, - "velocityY": 1.3949453408996755, - "timestamp": 0.6123227188052021 - }, - { - "x": 5.4068861346319075, - "y": 6.870552367100581, - "heading": 0.1473229043961779, - "angularVelocity": -0.6397870815389683, - "velocityX": 4.124790619695147, - "velocityY": 0.7805278573468125, - "timestamp": 0.6707052784180774 - }, - { - "x": 5.661085250819843, - "y": 6.876942417575123, - "heading": 0.12435614493756209, - "angularVelocity": -0.39338390798389905, - "velocityX": 4.354024864162978, - "velocityY": 0.10945135870905622, - "timestamp": 0.7290878380309527 - }, - { - "x": 5.9194107827089555, - "y": 6.842494035672702, - "heading": 0.12435570944864996, - "angularVelocity": -0.0000074592295202798885, - "velocityX": 4.4247037745865185, - "velocityY": -0.5900457624818211, - "timestamp": 0.787470397643828 - }, - { - "x": 6.168953501170516, - "y": 6.767345749414827, - "heading": 0.12435567456164731, - "angularVelocity": -5.975586354254342e-7, - "velocityX": 4.274268208112755, - "velocityY": -1.2871701199154444, - "timestamp": 0.8458529572567033 - }, - { - "x": 6.4033437640717175, - "y": 6.653415773224552, - "heading": 0.12435564711508347, - "angularVelocity": -4.70115802069138e-7, - "velocityX": 4.014730845228495, - "velocityY": -1.9514385279735162, - "timestamp": 0.9042355168695786 - }, - { - "x": 6.616598990419808, - "y": 6.50361242272296, - "heading": 0.12435562223085914, - "angularVelocity": -4.262270189059818e-7, - "velocityX": 3.65272142506512, - "velocityY": -2.565892134481807, - "timestamp": 0.9626180764824539 + "heading": 0.23923209044765795, + "angularVelocity": -0.0315675503305399, + "velocityX": 2.885608169867882, + "velocityY": 2.4954125830377296, + "moduleForcesX": [ + 113.73023175215357, + 91.09124388348847, + 127.51369072478853, + 105.19514455108151 + ], + "moduleForcesY": [ + -101.65345322397799, + -122.3308118165851, + -83.65745867411762, + -110.37083139170927 + ], + "timestamp": 0.49631982854429607 + }, + { + "x": 4.945849306523475, + "y": 6.742484875633697, + "heading": 0.22011430934398715, + "angularVelocity": -0.3273973396211947, + "velocityX": 3.3339266060408757, + "velocityY": 1.9490180075918664, + "moduleForcesX": [ + 102.39461706034342, + 76.59499736615128, + 116.38229521850985, + 88.50701048504622 + ], + "moduleForcesY": [ + -113.10423755758495, + -131.93472569824226, + -98.60965873584134, + -124.20936167191242 + ], + "timestamp": 0.5547130370097453 + }, + { + "x": 5.16488045028419, + "y": 6.822786386452049, + "heading": 0.18847157511737284, + "angularVelocity": -0.5418906591705405, + "velocityX": 3.750969495987034, + "velocityY": 1.375185795145925, + "moduleForcesX": [ + 94.48417646222794, + 74.58513993143256, + 104.72374887548479, + 83.30573175318727 + ], + "moduleForcesY": [ + -119.7408964438047, + -133.036596288968, + -110.85898396895124, + -127.71536671147736 + ], + "timestamp": 0.6131062454751945 + }, + { + "x": 5.404896365927269, + "y": 6.867212014758066, + "heading": 0.1524651598939561, + "angularVelocity": -0.6166199147009903, + "velocityX": 4.11033957535446, + "velocityY": 0.7608012896391921, + "moduleForcesX": [ + 79.25425845138973, + 71.49424838144787, + 82.50872345142582, + 74.45841748564037 + ], + "moduleForcesY": [ + -130.23578732914268, + -134.6459293826603, + -128.18160451261278, + -133.01198928962248 + ], + "timestamp": 0.6714994539406438 + }, + { + "x": 5.658544434890597, + "y": 6.872548785159341, + "heading": 0.1281037565564906, + "angularVelocity": -0.41719583453255066, + "velocityX": 4.343794006010034, + "velocityY": 0.09139368344474305, + "moduleForcesX": [ + 39.47551763686264, + 65.37778052130328, + 36.340375524375446, + 58.704941916135745 + ], + "moduleForcesY": [ + -147.08129784742562, + -137.5573263487432, + -147.95349647333052, + -140.59748800863187 + ], + "timestamp": 0.7298926624060931 + }, + { + "x": 5.9158414767092475, + "y": 6.8370863882987765, + "heading": 0.1254389398308835, + "angularVelocity": -0.04563573054026556, + "velocityX": 4.406283686082696, + "velocityY": -0.6073034484971579, + "moduleForcesX": [ + -14.830920608441906, + 39.863743159827756, + -5.930864383297048, + 34.405702835845034 + ], + "moduleForcesY": [ + -151.28195098086783, + -146.6760354818534, + -152.07004856543176, + -148.24113899534018 + ], + "timestamp": 0.7882858708715423 + }, + { + "x": 6.164917956037552, + "y": 6.761102505017741, + "heading": 0.12508638831575347, + "angularVelocity": -0.0060375431390566605, + "velocityX": 4.265504256807663, + "velocityY": -1.3012452180112433, + "moduleForcesX": [ + -33.387123904941994, + -28.501845289179588, + -31.706797435901247, + -26.948585160696815 + ], + "moduleForcesY": [ + -147.8636288196341, + -148.86973017789435, + -148.26866052429892, + -149.1953090306226 + ], + "timestamp": 0.8466790793369916 + }, + { + "x": 6.399034498936212, + "y": 6.646996570329378, + "heading": 0.12482589711098936, + "angularVelocity": -0.004460984617996327, + "velocityX": 4.00931117057866, + "velocityY": -1.9540959930344945, + "moduleForcesX": [ + -54.97122189224485, + -54.8032569786368, + -54.88114755772572, + -54.71328047178059 + ], + "moduleForcesY": [ + -139.7017527224851, + -139.76594412282356, + -139.7404302614692, + -139.804463723225 + ], + "timestamp": 0.9050722878024409 + }, + { + "x": 6.613708146939024, + "y": 6.499512614805456, + "heading": 0.12458959033153967, + "angularVelocity": -0.0040468195815243375, + "velocityX": 3.676346163498233, + "velocityY": -2.525703920186502, + "moduleForcesX": [ + -71.30709773970564, + -71.2710033669268, + -71.28196442680043, + -71.24587044012698 + ], + "moduleForcesY": [ + -122.34356610931268, + -122.3619087191858, + -122.36172940828367, + -122.38006383871137 + ], + "timestamp": 0.9634654962678901 }, { "x": 6.823254585266113, "y": 6.3448286056518555, - "heading": 0.12435559759089376, - "angularVelocity": -4.22043252923143e-7, - "velocityX": 3.539680278093358, - "velocityY": -2.7197131835940884, - "timestamp": 1.0210006360953292 - }, - { - "x": 7.06721604977345, - "y": 6.216004629924755, - "heading": 0.12435559331103313, - "angularVelocity": -6.924887671035973e-8, - "velocityX": 3.947338213597696, - "velocityY": -2.084393956406464, - "timestamp": 1.0828046800627158 - }, - { - "x": 7.311487551618, - "y": 6.087769508857744, - "heading": 0.12435558903264551, - "angularVelocity": -6.922504327615364e-8, - "velocityX": 3.952354670730751, - "velocityY": -2.07486618731098, - "timestamp": 1.1446087240301024 - }, - { - "x": 7.517744482295796, - "y": 5.979493561802102, - "heading": 0.08290822958345927, - "angularVelocity": -0.6706253634642038, - "velocityX": 3.337272408689549, - "velocityY": -1.7519233387507338, - "timestamp": 1.206412767997489 - }, - { - "x": 7.682750007522003, - "y": 5.892872851472243, - "heading": 0.04974660502559991, - "angularVelocity": -0.5365607560462942, - "velocityX": 2.669817614414985, - "velocityY": -1.401537905441411, - "timestamp": 1.2682168119648756 - }, - { - "x": 7.806504141226978, - "y": 5.827907340410362, - "heading": 0.024873616425569716, - "angularVelocity": -0.4024492088762902, - "velocityX": 2.002363045535981, - "velocityY": -1.0511530782057288, - "timestamp": 1.3300208559322622 - }, - { - "x": 7.889006895159031, - "y": 5.78459700567496, - "heading": 0.008291134592384246, - "angularVelocity": -0.26830739169650275, - "velocityX": 1.334908666746599, - "velocityY": -0.7007686221674526, - "timestamp": 1.3918248998996487 + "heading": 0.12435559759089392, + "angularVelocity": -0.004007191020862903, + "velocityX": 3.5885412683518463, + "velocityY": -2.6490068488210534, + "moduleForcesX": [ + -18.79757171953196, + -18.794951651908406, + -18.797132015101216, + -18.794511958394903 + ], + "moduleForcesY": [ + -26.39378253133877, + -26.393573310928414, + -26.396353742926014, + -26.396144534955557 + ], + "timestamp": 1.0218587047333394 + }, + { + "x": 7.065801652845683, + "y": 6.2133599374604085, + "heading": 0.12430613025800714, + "angularVelocity": -0.0007999225691775531, + "velocityX": 3.9221615990251832, + "velocityY": -2.1259435002970286, + "moduleForcesX": [ + 67.2396383896899, + 67.47925879266808, + 67.39279360165396, + 67.63241756825556 + ], + "moduleForcesY": [ + 105.85919704055921, + 105.75573296072629, + 105.70220979558196, + 105.59850288773367 + ], + "timestamp": 1.0836988562590337 + }, + { + "x": 7.310439116406306, + "y": 6.085852036316136, + "heading": 0.12423115733648987, + "angularVelocity": -0.0012123663941215911, + "velocityX": 3.955964814157227, + "velocityY": -2.06189503088511, + "moduleForcesX": [ + 6.84728730369702, + 6.821669507540154, + 6.843891439301457, + 6.818274246792219 + ], + "moduleForcesY": [ + 12.935163440986223, + 12.932187797849487, + 12.960564391756757, + 12.957589281462623 + ], + "timestamp": 1.145539007784728 + }, + { + "x": 7.51698842446787, + "y": 5.978233123392839, + "heading": 0.08492994075819264, + "angularVelocity": -0.6355291118904769, + "velocityX": 3.3400517784320525, + "velocityY": -1.740275699028797, + "moduleForcesX": [ + -132.75235749478617, + -144.6976919798723, + -94.32233017960951, + -126.21559460648464 + ], + "moduleForcesY": [ + 49.826831237496535, + 22.94496413038234, + 110.90002080929183, + 76.36905041310257 + ], + "timestamp": 1.2073791593104224 + }, + { + "x": 7.682278544831293, + "y": 5.8921219245586105, + "heading": 0.05165462880841668, + "angularVelocity": -0.5380858734789837, + "velocityX": 2.67286085626934, + "velocityY": -1.3924803984373542, + "moduleForcesX": [ + -134.0383027622062, + -130.8749735664461, + -138.55658483510726, + -135.97813961086362 + ], + "moduleForcesY": [ + 72.16783110996165, + 77.69586980117688, + 63.01696876664337, + 68.32441472998893 + ], + "timestamp": 1.2692193108361167 + }, + { + "x": 7.806262421177959, + "y": 5.827533635141936, + "heading": 0.02606619608630942, + "angularVelocity": -0.4137834738563892, + "velocityX": 2.004908999875543, + "velocityY": -1.04443937829466, + "moduleForcesX": [ + -133.8780493625767, + -129.90291131787507, + -139.64383046563967, + -136.6384524863771 + ], + "moduleForcesY": [ + 72.93885173760012, + 79.7641167389487, + 61.153070492897434, + 67.54771858609767 + ], + "timestamp": 1.331059462361811 + }, + { + "x": 7.88892483204246, + "y": 5.784472870069538, + "heading": 0.00874867410338556, + "angularVelocity": -0.28003686206571693, + "velocityX": 1.3367110011724215, + "velocityY": -0.6963237317735812, + "moduleForcesX": [ + -133.76687031244984, + -129.56656044495432, + -139.9979725860421, + -136.93085525199578 + ], + "moduleForcesY": [ + 73.30398363509153, + 80.46697276297448, + 60.54185098639837, + 67.15128829812626 + ], + "timestamp": 1.3928996138875054 }, { "x": 7.930258274078369, "y": 5.762941837310791, - "heading": -1.4348384791893978e-24, - "angularVelocity": -0.13415197550437638, - "velocityX": 0.667454364978231, - "velocityY": -0.3503843272067457, - "timestamp": 1.4536289438670353 + "heading": 1.4525173516384506e-17, + "angularVelocity": -0.1414723911171293, + "velocityX": 0.6683916681981287, + "velocityY": -0.34817238026633934, + "moduleForcesX": [ + -133.70594661462107, + -129.39482028994718, + -140.17468675606096, + -137.08490808315406 + ], + "moduleForcesY": [ + 73.49638955193494, + 80.8229895909409, + 60.23535241431497, + 66.9382328985836 + ], + "timestamp": 1.4547397654131997 }, { "x": 7.930258274078369, "y": 5.762941837310791, - "heading": -7.1304777144670165e-25, - "angularVelocity": 1.3167262316981074e-25, - "velocityX": -7.415415619815864e-25, - "velocityY": -2.4058483262983123e-24, - "timestamp": 1.515432987834422 + "heading": 7.209164992813206e-18, + "angularVelocity": -1.6789270049338276e-18, + "velocityX": 3.731701430656866e-18, + "velocityY": -1.0120741439904773e-18, + "moduleForcesX": [ + -133.69592661005268, + -129.28270538387923, + -140.28987412902168, + -137.15034126652307 + ], + "moduleForcesY": [ + 73.56366791197308, + 81.05078722299604, + 60.029392325315996, + 66.86611950808029 + ], + "timestamp": 1.516579916938894 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot2 to f2.traj b/src/main/deploy/choreo/shoot2 to f2.traj index 3595619..2cfa80b 100644 --- a/src/main/deploy/choreo/shoot2 to f2.traj +++ b/src/main/deploy/choreo/shoot2 to f2.traj @@ -3,236 +3,548 @@ { "x": 4.24, "y": 5.4, - "heading": 5.65520577887102e-25, - "angularVelocity": 1.247999773759975e-25, - "velocityX": 1.8200464416455633e-24, - "velocityY": 8.50921922700024e-26, + "heading": 1.6003042171850536e-17, + "angularVelocity": 2.5141803360652495e-18, + "velocityX": -5.3860014364905094e-17, + "velocityY": -4.82908770167854e-18, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 4.237379577204406, - "y": 5.446551866490192, - "heading": 0.015666909035925502, - "angularVelocity": 0.2529176676813516, - "velocityX": -0.04230261503919124, - "velocityY": 0.7515068525587645, - "timestamp": 0.061944699947431445 + "x": 4.237394989101419, + "y": 5.446671935157436, + "heading": 0.015402621909197974, + "angularVelocity": 0.24826929771311457, + "velocityX": -0.041989229505664305, + "velocityY": 0.7522880606134766, + "moduleForcesX": [ + -21.606784988931928, + 5.862317831554669, + -25.768855154557986, + 7.672861309679971 + ], + "moduleForcesY": [ + 151.0558617718067, + 152.48002239630353, + 150.37973236681793, + 152.37735613946964 + ], + "timestamp": 0.062039978568037016 }, { - "x": 4.235636730361383, - "y": 5.539753141411952, - "heading": 0.04593957057021425, - "angularVelocity": 0.48870462783707475, - "velocityX": -0.02813552805165378, - "velocityY": 1.5045883667344286, - "timestamp": 0.12388939989486289 + "x": 4.235664792713368, + "y": 5.540101493075557, + "heading": 0.04519731598891556, + "angularVelocity": 0.48024990929180905, + "velocityX": -0.027888410723138163, + "velocityY": 1.5059572885921342, + "moduleForcesX": [ + -10.986371648824381, + 14.896685725681214, + -11.82636507853594, + 19.28035117351464 + ], + "moduleForcesY": [ + 152.1696395549111, + 151.83798158226256, + 152.0802559762257, + 151.31822244879965 + ], + "timestamp": 0.12407995713607403 }, { - "x": 4.240601974321771, - "y": 5.679181571486886, - "heading": 0.08884400320580595, - "angularVelocity": 0.6926247551768269, - "velocityX": 0.08015607412095097, - "velocityY": 2.2508532641736663, - "timestamp": 0.18583409984229432 + "x": 4.240620207715621, + "y": 5.67985329397917, + "heading": 0.08749629400115912, + "angularVelocity": 0.6818019443046625, + "velocityX": 0.07987454424328937, + "velocityY": 2.2526087878716234, + "moduleForcesX": [ + 7.820038407100643, + 30.089583450761342, + 11.61308112492607, + 37.3269038783474 + ], + "moduleForcesY": [ + 152.31885143417836, + 149.52747665642158, + 152.04558715086378, + 147.85837264806557 + ], + "timestamp": 0.18611993570411106 }, { - "x": 4.263018726063957, - "y": 5.862034306572896, - "heading": 0.14021670966114338, - "angularVelocity": 0.8293317507217601, - "velocityX": 0.36188328882391024, - "velocityY": 2.951870543261741, - "timestamp": 0.24777879978972578 + "x": 4.263009305269716, + "y": 5.8631041651884255, + "heading": 0.1382833719752812, + "angularVelocity": 0.8186185609088316, + "velocityX": 0.3608817745344741, + "velocityY": 2.9537545857697416, + "moduleForcesX": [ + 46.04108153009501, + 59.42745225625236, + 53.514950016866436, + 67.489217169189 + ], + "moduleForcesY": [ + 145.31592553410837, + 140.38779353465264, + 142.70314705567972, + 136.66892377860805 + ], + "timestamp": 0.24815991427214806 }, { - "x": 4.321522464322417, - "y": 6.0747972769624585, - "heading": 0.19033517188592944, - "angularVelocity": 0.8090839453144244, - "velocityX": 0.9444510718125638, - "velocityY": 3.43472436818841, - "timestamp": 0.30972349973715724 + "x": 4.321586067665011, + "y": 6.076188399935321, + "heading": 0.18806048977435308, + "angularVelocity": 0.8023393777366383, + "velocityX": 0.9441776701103324, + "velocityY": 3.4346277942375822, + "moduleForcesX": [ + 118.39178072200764, + 117.78035532708323, + 117.27691643584308, + 116.64773755286181 + ], + "moduleForcesY": [ + 95.83260810906238, + 96.57610028551827, + 97.19745995610354, + 97.94490723450029 + ], + "timestamp": 0.31019989284018507 }, { - "x": 4.42664427975027, - "y": 6.285590334484931, - "heading": 0.22593678397320832, - "angularVelocity": 0.5747321743021069, - "velocityX": 1.6970267919138085, - "velocityY": 3.4029232154059934, - "timestamp": 0.3716681996845887 + "x": 4.426805221280394, + "y": 6.2868665112688555, + "heading": 0.223826321363989, + "angularVelocity": 0.5764965174891206, + "velocityX": 1.6959895210047542, + "velocityY": 3.3958443599641064, + "moduleForcesX": [ + 151.46861431237275, + 150.07043245508586, + 152.1233767343933, + 152.24675655191507 + ], + "moduleForcesY": [ + -16.451527301303454, + -25.95887683148962, + 8.218513518696085, + 2.935082366632508 + ], + "timestamp": 0.37223987140822207 }, { - "x": 4.572008828361977, - "y": 6.473078534144687, - "heading": 0.2425417326343036, - "angularVelocity": 0.26806084580580486, - "velocityX": 2.346682585194032, - "velocityY": 3.0267028465528867, - "timestamp": 0.43361289963202015 + "x": 4.572147566196572, + "y": 6.473860117624879, + "heading": 0.24119054059348516, + "angularVelocity": 0.2798875762079176, + "velocityX": 2.3427207476312826, + "velocityY": 3.0140823822370324, + "moduleForcesX": [ + 131.17663514475362, + 116.09143950073401, + 142.55374199707484, + 131.39953252082395 + ], + "moduleForcesY": [ + -77.72105092515056, + -98.792696649311, + -53.99941126481319, + -77.16101073605822 + ], + "timestamp": 0.43427984997625907 }, { "x": 4.751170635223389, "y": 6.62867546081543, - "heading": 0.23923209044765792, - "angularVelocity": -0.053428980840238824, - "velocityX": 2.892286297511409, - "velocityY": 2.5118682761041353, - "timestamp": 0.4955575995794516 - }, - { - "x": 4.946362436162151, - "y": 6.743542673417743, - "heading": 0.21829007379819315, - "angularVelocity": -0.35870329749719254, - "velocityX": 3.343323797946624, - "velocityY": 1.9674918907971573, - "timestamp": 0.5539401591923269 - }, - { - "x": 5.166070300386926, - "y": 6.824983152939521, - "heading": 0.1846753118236742, - "angularVelocity": -0.5757671845395725, - "velocityX": 3.763244806010905, - "velocityY": 1.3949453408996755, - "timestamp": 0.6123227188052021 - }, - { - "x": 5.4068861346319075, - "y": 6.870552367100581, - "heading": 0.1473229043961779, - "angularVelocity": -0.6397870815389683, - "velocityX": 4.124790619695147, - "velocityY": 0.7805278573468125, - "timestamp": 0.6707052784180774 - }, - { - "x": 5.661085250819843, - "y": 6.876942417575123, - "heading": 0.12435614493756209, - "angularVelocity": -0.39338390798389905, - "velocityX": 4.354024864162978, - "velocityY": 0.10945135870905622, - "timestamp": 0.7290878380309527 - }, - { - "x": 5.9194107827089555, - "y": 6.842494035672702, - "heading": 0.12435570944864996, - "angularVelocity": -0.0000074592295202798885, - "velocityX": 4.4247037745865185, - "velocityY": -0.5900457624818211, - "timestamp": 0.787470397643828 - }, - { - "x": 6.168953501170516, - "y": 6.767345749414827, - "heading": 0.12435567456164731, - "angularVelocity": -5.975586354254342e-7, - "velocityX": 4.274268208112755, - "velocityY": -1.2871701199154444, - "timestamp": 0.8458529572567033 - }, - { - "x": 6.4033437640717175, - "y": 6.653415773224552, - "heading": 0.12435564711508347, - "angularVelocity": -4.70115802069138e-7, - "velocityX": 4.014730845228495, - "velocityY": -1.9514385279735162, - "timestamp": 0.9042355168695786 - }, - { - "x": 6.616598990419808, - "y": 6.50361242272296, - "heading": 0.12435562223085914, - "angularVelocity": -4.262270189059818e-7, - "velocityX": 3.65272142506512, - "velocityY": -2.565892134481807, - "timestamp": 0.9626180764824539 + "heading": 0.23923209044765795, + "angularVelocity": -0.0315675503305399, + "velocityX": 2.885608169867882, + "velocityY": 2.4954125830377296, + "moduleForcesX": [ + 113.73023175215357, + 91.09124388348847, + 127.51369072478853, + 105.19514455108151 + ], + "moduleForcesY": [ + -101.65345322397799, + -122.3308118165851, + -83.65745867411762, + -110.37083139170927 + ], + "timestamp": 0.49631982854429607 + }, + { + "x": 4.945849306523475, + "y": 6.742484875633697, + "heading": 0.22011430934398715, + "angularVelocity": -0.3273973396211947, + "velocityX": 3.3339266060408757, + "velocityY": 1.9490180075918664, + "moduleForcesX": [ + 102.39461706034342, + 76.59499736615128, + 116.38229521850985, + 88.50701048504622 + ], + "moduleForcesY": [ + -113.10423755758495, + -131.93472569824226, + -98.60965873584134, + -124.20936167191242 + ], + "timestamp": 0.5547130370097453 + }, + { + "x": 5.16488045028419, + "y": 6.822786386452049, + "heading": 0.18847157511737284, + "angularVelocity": -0.5418906591705405, + "velocityX": 3.750969495987034, + "velocityY": 1.375185795145925, + "moduleForcesX": [ + 94.48417646222794, + 74.58513993143256, + 104.72374887548479, + 83.30573175318727 + ], + "moduleForcesY": [ + -119.7408964438047, + -133.036596288968, + -110.85898396895124, + -127.71536671147736 + ], + "timestamp": 0.6131062454751945 + }, + { + "x": 5.404896365927269, + "y": 6.867212014758066, + "heading": 0.1524651598939561, + "angularVelocity": -0.6166199147009903, + "velocityX": 4.11033957535446, + "velocityY": 0.7608012896391921, + "moduleForcesX": [ + 79.25425845138973, + 71.49424838144787, + 82.50872345142582, + 74.45841748564037 + ], + "moduleForcesY": [ + -130.23578732914268, + -134.6459293826603, + -128.18160451261278, + -133.01198928962248 + ], + "timestamp": 0.6714994539406438 + }, + { + "x": 5.658544434890597, + "y": 6.872548785159341, + "heading": 0.1281037565564906, + "angularVelocity": -0.41719583453255066, + "velocityX": 4.343794006010034, + "velocityY": 0.09139368344474305, + "moduleForcesX": [ + 39.47551763686264, + 65.37778052130328, + 36.340375524375446, + 58.704941916135745 + ], + "moduleForcesY": [ + -147.08129784742562, + -137.5573263487432, + -147.95349647333052, + -140.59748800863187 + ], + "timestamp": 0.7298926624060931 + }, + { + "x": 5.9158414767092475, + "y": 6.8370863882987765, + "heading": 0.1254389398308835, + "angularVelocity": -0.04563573054026556, + "velocityX": 4.406283686082696, + "velocityY": -0.6073034484971579, + "moduleForcesX": [ + -14.830920608441906, + 39.863743159827756, + -5.930864383297048, + 34.405702835845034 + ], + "moduleForcesY": [ + -151.28195098086783, + -146.6760354818534, + -152.07004856543176, + -148.24113899534018 + ], + "timestamp": 0.7882858708715423 + }, + { + "x": 6.164917956037552, + "y": 6.761102505017741, + "heading": 0.12508638831575347, + "angularVelocity": -0.0060375431390566605, + "velocityX": 4.265504256807663, + "velocityY": -1.3012452180112433, + "moduleForcesX": [ + -33.387123904941994, + -28.501845289179588, + -31.706797435901247, + -26.948585160696815 + ], + "moduleForcesY": [ + -147.8636288196341, + -148.86973017789435, + -148.26866052429892, + -149.1953090306226 + ], + "timestamp": 0.8466790793369916 + }, + { + "x": 6.399034498936212, + "y": 6.646996570329378, + "heading": 0.12482589711098936, + "angularVelocity": -0.004460984617996327, + "velocityX": 4.00931117057866, + "velocityY": -1.9540959930344945, + "moduleForcesX": [ + -54.97122189224485, + -54.8032569786368, + -54.88114755772572, + -54.71328047178059 + ], + "moduleForcesY": [ + -139.7017527224851, + -139.76594412282356, + -139.7404302614692, + -139.804463723225 + ], + "timestamp": 0.9050722878024409 + }, + { + "x": 6.613708146939024, + "y": 6.499512614805456, + "heading": 0.12458959033153967, + "angularVelocity": -0.0040468195815243375, + "velocityX": 3.676346163498233, + "velocityY": -2.525703920186502, + "moduleForcesX": [ + -71.30709773970564, + -71.2710033669268, + -71.28196442680043, + -71.24587044012698 + ], + "moduleForcesY": [ + -122.34356610931268, + -122.3619087191858, + -122.36172940828367, + -122.38006383871137 + ], + "timestamp": 0.9634654962678901 }, { "x": 6.823254585266113, "y": 6.3448286056518555, - "heading": 0.12435559759089376, - "angularVelocity": -4.22043252923143e-7, - "velocityX": 3.539680278093358, - "velocityY": -2.7197131835940884, - "timestamp": 1.0210006360953292 - }, - { - "x": 7.06721604977345, - "y": 6.216004629924755, - "heading": 0.12435559331103313, - "angularVelocity": -6.924887671035973e-8, - "velocityX": 3.947338213597696, - "velocityY": -2.084393956406464, - "timestamp": 1.0828046800627158 - }, - { - "x": 7.311487551618, - "y": 6.087769508857744, - "heading": 0.12435558903264551, - "angularVelocity": -6.922504327615364e-8, - "velocityX": 3.952354670730751, - "velocityY": -2.07486618731098, - "timestamp": 1.1446087240301024 - }, - { - "x": 7.517744482295796, - "y": 5.979493561802102, - "heading": 0.08290822958345927, - "angularVelocity": -0.6706253634642038, - "velocityX": 3.337272408689549, - "velocityY": -1.7519233387507338, - "timestamp": 1.206412767997489 - }, - { - "x": 7.682750007522003, - "y": 5.892872851472243, - "heading": 0.04974660502559991, - "angularVelocity": -0.5365607560462942, - "velocityX": 2.669817614414985, - "velocityY": -1.401537905441411, - "timestamp": 1.2682168119648756 - }, - { - "x": 7.806504141226978, - "y": 5.827907340410362, - "heading": 0.024873616425569716, - "angularVelocity": -0.4024492088762902, - "velocityX": 2.002363045535981, - "velocityY": -1.0511530782057288, - "timestamp": 1.3300208559322622 - }, - { - "x": 7.889006895159031, - "y": 5.78459700567496, - "heading": 0.008291134592384246, - "angularVelocity": -0.26830739169650275, - "velocityX": 1.334908666746599, - "velocityY": -0.7007686221674526, - "timestamp": 1.3918248998996487 + "heading": 0.12435559759089392, + "angularVelocity": -0.004007191020862903, + "velocityX": 3.5885412683518463, + "velocityY": -2.6490068488210534, + "moduleForcesX": [ + -18.79757171953196, + -18.794951651908406, + -18.797132015101216, + -18.794511958394903 + ], + "moduleForcesY": [ + -26.39378253133877, + -26.393573310928414, + -26.396353742926014, + -26.396144534955557 + ], + "timestamp": 1.0218587047333394 + }, + { + "x": 7.065801652845683, + "y": 6.2133599374604085, + "heading": 0.12430613025800714, + "angularVelocity": -0.0007999225691775531, + "velocityX": 3.9221615990251832, + "velocityY": -2.1259435002970286, + "moduleForcesX": [ + 67.2396383896899, + 67.47925879266808, + 67.39279360165396, + 67.63241756825556 + ], + "moduleForcesY": [ + 105.85919704055921, + 105.75573296072629, + 105.70220979558196, + 105.59850288773367 + ], + "timestamp": 1.0836988562590337 + }, + { + "x": 7.310439116406306, + "y": 6.085852036316136, + "heading": 0.12423115733648987, + "angularVelocity": -0.0012123663941215911, + "velocityX": 3.955964814157227, + "velocityY": -2.06189503088511, + "moduleForcesX": [ + 6.84728730369702, + 6.821669507540154, + 6.843891439301457, + 6.818274246792219 + ], + "moduleForcesY": [ + 12.935163440986223, + 12.932187797849487, + 12.960564391756757, + 12.957589281462623 + ], + "timestamp": 1.145539007784728 + }, + { + "x": 7.51698842446787, + "y": 5.978233123392839, + "heading": 0.08492994075819264, + "angularVelocity": -0.6355291118904769, + "velocityX": 3.3400517784320525, + "velocityY": -1.740275699028797, + "moduleForcesX": [ + -132.75235749478617, + -144.6976919798723, + -94.32233017960951, + -126.21559460648464 + ], + "moduleForcesY": [ + 49.826831237496535, + 22.94496413038234, + 110.90002080929183, + 76.36905041310257 + ], + "timestamp": 1.2073791593104224 + }, + { + "x": 7.682278544831293, + "y": 5.8921219245586105, + "heading": 0.05165462880841668, + "angularVelocity": -0.5380858734789837, + "velocityX": 2.67286085626934, + "velocityY": -1.3924803984373542, + "moduleForcesX": [ + -134.0383027622062, + -130.8749735664461, + -138.55658483510726, + -135.97813961086362 + ], + "moduleForcesY": [ + 72.16783110996165, + 77.69586980117688, + 63.01696876664337, + 68.32441472998893 + ], + "timestamp": 1.2692193108361167 + }, + { + "x": 7.806262421177959, + "y": 5.827533635141936, + "heading": 0.02606619608630942, + "angularVelocity": -0.4137834738563892, + "velocityX": 2.004908999875543, + "velocityY": -1.04443937829466, + "moduleForcesX": [ + -133.8780493625767, + -129.90291131787507, + -139.64383046563967, + -136.6384524863771 + ], + "moduleForcesY": [ + 72.93885173760012, + 79.7641167389487, + 61.153070492897434, + 67.54771858609767 + ], + "timestamp": 1.331059462361811 + }, + { + "x": 7.88892483204246, + "y": 5.784472870069538, + "heading": 0.00874867410338556, + "angularVelocity": -0.28003686206571693, + "velocityX": 1.3367110011724215, + "velocityY": -0.6963237317735812, + "moduleForcesX": [ + -133.76687031244984, + -129.56656044495432, + -139.9979725860421, + -136.93085525199578 + ], + "moduleForcesY": [ + 73.30398363509153, + 80.46697276297448, + 60.54185098639837, + 67.15128829812626 + ], + "timestamp": 1.3928996138875054 }, { "x": 7.930258274078369, "y": 5.762941837310791, - "heading": -1.4348384791893978e-24, - "angularVelocity": -0.13415197550437638, - "velocityX": 0.667454364978231, - "velocityY": -0.3503843272067457, - "timestamp": 1.4536289438670353 + "heading": 1.4525173516384506e-17, + "angularVelocity": -0.1414723911171293, + "velocityX": 0.6683916681981287, + "velocityY": -0.34817238026633934, + "moduleForcesX": [ + -133.70594661462107, + -129.39482028994718, + -140.17468675606096, + -137.08490808315406 + ], + "moduleForcesY": [ + 73.49638955193494, + 80.8229895909409, + 60.23535241431497, + 66.9382328985836 + ], + "timestamp": 1.4547397654131997 }, { "x": 7.930258274078369, "y": 5.762941837310791, - "heading": -7.1304777144670165e-25, - "angularVelocity": 1.3167262316981074e-25, - "velocityX": -7.415415619815864e-25, - "velocityY": -2.4058483262983123e-24, - "timestamp": 1.515432987834422 + "heading": 7.209164992813206e-18, + "angularVelocity": -1.6789270049338276e-18, + "velocityX": 3.731701430656866e-18, + "velocityY": -1.0120741439904773e-18, + "moduleForcesX": [ + -133.69592661005268, + -129.28270538387923, + -140.28987412902168, + -137.15034126652307 + ], + "moduleForcesY": [ + 73.56366791197308, + 81.05078722299604, + 60.029392325315996, + 66.86611950808029 + ], + "timestamp": 1.516579916938894 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot2 to f5.1.traj b/src/main/deploy/choreo/shoot2 to f5.1.traj index 1c1ad2f..60c2e91 100644 --- a/src/main/deploy/choreo/shoot2 to f5.1.traj +++ b/src/main/deploy/choreo/shoot2 to f5.1.traj @@ -1,12 +1,12 @@ { "samples": [ { - "x": 4.199999999999999, - "y": 5.200000000000001, - "heading": -1.730671985044625e-19, - "angularVelocity": -3.1257420401416553e-19, - "velocityX": 1.5839118525897e-16, - "velocityY": -9.052759830704213e-17, + "x": 4.2, + "y": 5.2, + "heading": -4.563103611719638e-19, + "angularVelocity": -1.9003873022833743e-19, + "velocityX": -1.7937684949387004e-19, + "velocityY": -1.3766477270420217e-19, "moduleForcesX": [ 0, 0, @@ -22,1264 +22,1684 @@ "timestamp": 0 }, { - "x": 4.204673708283212, - "y": 5.197191854831228, - "heading": -0.000009132666443966697, - "angularVelocity": -0.00043184204250149217, - "velocityX": 0.22099829698854134, - "velocityY": -0.13278434647371265, + "x": 4.204666979103224, + "y": 5.197181695256238, + "heading": -0.00017807810308776792, + "angularVelocity": -0.008420688498324893, + "velocityX": 0.22068506220033676, + "velocityY": -0.13326773999204286, "moduleForcesX": [ - 130.6113549080166, - 130.5694042468323, - 130.68052281350708, - 130.63867216064054 + 130.1871288179718, + 129.34526682626398, + 131.52129180403628, + 130.71741545554858 ], "moduleForcesY": [ - -78.50770043988908, - -78.57693109307631, - -78.39219983246139, - -78.46140203718417 + -79.21663116495644, + -80.57417865438568, + -76.97516968452116, + -78.32220536849587 ], - "timestamp": 0.02114816424787427 + "timestamp": 0.021147689185176687 }, { - "x": 4.214020392635984, - "y": 5.191575997536523, - "heading": -0.000027544020916812298, - "angularVelocity": -0.0008705887781574747, - "velocityX": 0.4419619615290967, - "velocityY": -0.2655482209414238, + "x": 4.214000200829075, + "y": 5.191545523927977, + "heading": -0.0005363763197332697, + "angularVelocity": -0.01694266515400878, + "velocityX": 0.44133529882915806, + "velocityY": -0.26651476096446314, "moduleForcesX": [ - 130.5906829917925, - 130.5480502653107, - 130.66093495522358, - 130.61840541026024 + 130.1635138385375, + 129.3115611507682, + 131.51337232756163, + 130.70031663443115 ], "moduleForcesY": [ - -78.49597674009404, - -78.5662905305081, - -78.37864016815944, - -78.44892458546369 + -79.21044437400388, + -80.5831591524319, + -76.9418434428814, + -78.30375141699822 ], - "timestamp": 0.04229632849574854 + "timestamp": 0.042295378370353374 }, { - "x": 4.228039195599913, - "y": 5.183152934152155, - "heading": -0.000055404916159008067, - "angularVelocity": -0.0013174143587887511, - "velocityX": 0.6628851201689815, - "velocityY": -0.3982881515108773, + "x": 4.227998803802669, + "y": 5.183091998480309, + "heading": -0.0010774006101751108, + "angularVelocity": -0.025583139874264263, + "velocityX": 0.6619448040259116, + "velocityY": -0.3997375492884055, "moduleForcesX": [ - 130.5665054245857, - 130.52307465432185, - 130.6380252077351, - 130.59470139324483 + 130.13575939978315, + 129.27216969882454, + 131.50407076031334, + 130.68046176896232 ], "moduleForcesY": [ - -78.48226582908667, - -78.55384525624592, - -78.36278105686912, - -78.43433000804407 + -79.20345261389262, + -80.59360326176376, + -76.90293502412575, + -78.28191364164631 ], - "timestamp": 0.06344449274362281 + "timestamp": 0.06344306755553006 }, { - "x": 4.246729102868844, - "y": 5.171923265016958, - "heading": -0.0000929179576953852, - "angularVelocity": -0.0017738202283971677, - "velocityX": 0.8837602675264831, - "velocityY": -0.5309997016249781, + "x": 4.246661767051926, + "y": 5.171821726326489, + "heading": -0.0018041222795569139, + "angularVelocity": -0.03436411718643911, + "velocityX": 0.8825060310861573, + "velocityY": -0.5329316151132734, "moduleForcesX": [ - 130.5378484464332, - 130.49347104408136, - 130.610870686388, - 130.56660480092106 + 130.10276218203998, + 129.2255006852705, + 131.49301371910502, + 130.65703985972974 ], "moduleForcesY": [ - -78.46601550262977, - -78.53909389759531, - -78.34398353405587, - -78.41703011691759 + -79.19536233472076, + -80.60593418657231, + -76.85687586374281, + -78.25582284766598 ], - "timestamp": 0.08459265699149708 + "timestamp": 0.08459075674070675 }, { - "x": 4.2700888917460045, - "y": 5.157887713497145, - "heading": -0.0001403272617748485, - "angularVelocity": -0.002241769239341299, - "velocityX": 1.1045776004916497, - "velocityY": -0.6636770764923502, + "x": 4.269987861154606, + "y": 5.157735438899701, + "heading": -0.0027201209083165803, + "angularVelocity": -0.043314360294349714, + "velocityX": 1.1030091230561865, + "velocityY": -0.666091094094158, "moduleForcesX": [ - 130.50334109656245, - 130.45782243249553, - 130.57817203162475, - 130.532770502573 + 130.062970692219, + 129.16931172343718, + 131.47967578872218, + 130.62890802271986 ], "moduleForcesY": [ - -78.44644832127744, - -78.52133056334544, - -78.3213479137763, - -78.3961966942172 + -79.18576021784385, + -80.62074842271907, + -76.80145715818087, + -78.2242549107933 ], - "timestamp": 0.10574082123937135 + "timestamp": 0.10573844592588344 }, { - "x": 4.298117060832159, - "y": 5.141047166056526, - "heading": -0.0001979326660304188, - "angularVelocity": -0.0027238962011234156, - "velocityX": 1.325323974469269, - "velocityY": -0.7963125060952544, + "x": 4.297975577187521, + "y": 5.140834033919877, + "heading": -0.0038297924739780402, + "angularVelocity": -0.052472473750904, + "velocityX": 1.3234408633426955, + "velocityY": -0.7992081230345436, "moduleForcesX": [ - 130.46098978267332, - 130.41406805688197, - 130.5380397131704, - 130.49124220533366 + 130.0141319259499, + 129.10033991290754, + 131.46329324439367, + 130.59440260923404 ], "moduleForcesY": [ - -78.42243378084926, - -78.49952874774301, - -78.2935657768092, - -78.37062519785722 + -79.17404544948728, + -80.63891426089039, + -76.73346650970329, + -78.18542881799303 ], - "timestamp": 0.12688898548724561 + "timestamp": 0.12688613511106012 }, { - "x": 4.3308117247953595, - "y": 5.12140273687129, - "heading": -0.00026611125592119914, - "angularVelocity": -0.003223853810269637, - "velocityX": 1.5459811913454422, - "velocityY": -0.9288952331555151, + "x": 4.330623019278909, + "y": 5.1211186393230665, + "heading": -0.005138664551136733, + "angularVelocity": -0.06189196681007287, + "velocityX": 1.5437829544779047, + "velocityY": -0.9322718157859456, "moduleForcesX": [ - 130.40777973586341, - 130.35909117747636, - 130.48761620383854, - 130.43906105539295 + 129.95284434423473, + 129.0136473824616, + 131.44271143160657, + 130.55100484791367 ], "moduleForcesY": [ - -78.39226231975306, - -78.4721360571692, - -78.25865826566461, - -78.33849374612313 + -79.15931023889706, + -80.66174590390789, + -76.64804571129547, + -78.1366491247632 ], - "timestamp": 0.1480371497351199 + "timestamp": 0.1480338242962368 }, { - "x": 4.368170444275252, - "y": 5.0989558687098775, - "heading": -0.0003453516023505009, - "angularVelocity": -0.0037469137037363107, - "velocityX": 1.7665230306090716, - "velocityY": -1.0614097581268722, + "x": 4.36792773403565, + "y": 5.098590714749617, + "heading": -0.006653897488073601, + "angularVelocity": -0.07165004760893495, + "velocityX": 1.7640090333651195, + "velocityY": -1.065266487345482, "moduleForcesX": [ - 130.33892556099678, - 130.28794377779738, - 130.42236541930413, - 130.37152942436987 + 129.8737192680789, + 128.90138961027466, + 131.4160974512311, + 130.494711074527 ], "moduleForcesY": [ - -78.35322034570375, - -78.4366881339148, - -78.21348389495462, - -78.2969097655963 + -79.14011570539454, + -80.69133062574485, + -76.5374836731909, + -78.0736324784727 ], - "timestamp": 0.16918531398299416 + "timestamp": 0.16918151348141347 }, { - "x": 4.410189937296211, - "y": 5.073708501466628, - "heading": -0.0004363116991213347, - "angularVelocity": -0.004301087115865709, - "velocityX": 1.9869097265734048, - "velocityY": -1.1938325744497251, + "x": 4.4098864225662755, + "y": 5.073252222885594, + "heading": -0.008385132146664948, + "angularVelocity": -0.08186401092961217, + "velocityX": 1.9840791191545961, + "velocityY": -1.1981683503083898, "moduleForcesX": [ - 130.24634863562716, - 130.1922710919657, - 130.33462892097242, - 130.28071466769214 + 129.7676823540196, + 128.75031083280626, + 131.3803553369797, + 130.41875057497685 ], "moduleForcesY": [ - -78.30072683407086, - -78.38902409125534, - -78.1527384665495, - -78.24098861303186 + -79.11403796103053, + -80.73119226804772, + -76.38876610774484, + -77.98913650566332 ], - "timestamp": 0.19033347823086844 + "timestamp": 0.19032920266659015 }, { - "x": 4.456865558244446, - "y": 5.045663381313713, - "heading": -0.0005399253473558289, - "angularVelocity": -0.004899415713815529, - "velocityX": 2.2070767096616857, - "velocityY": -1.3261255129419585, + "x": 4.456494413140236, + "y": 5.045105943235013, + "heading": -0.010346045521282677, + "angularVelocity": -0.09272471131229865, + "velocityX": 2.2039282951973744, + "velocityY": -1.330938780325654, "moduleForcesX": [ - 130.11525824916671, - 130.05677301034828, - 130.21038333545303, - 130.1520878510894 + 129.61817524143956, + 128.53611435858616, + 131.3298087689241, + 130.31069839986205 ], "moduleForcesY": [ - -78.22639456550651, - -78.32152415561332, - -78.06670912575701, - -78.16178371696331 + -79.07665274538529, + -80.7877761263168, + -76.17808097196017, + -77.86987286321218 ], - "timestamp": 0.2114816424787427 + "timestamp": 0.21147689185176682 }, { - "x": 4.508190219391263, - "y": 5.014824697762597, - "heading": -0.0006576208417740201, - "angularVelocity": -0.005565281839055739, - "velocityX": 2.4269085963661925, - "velocityY": -1.458220365525218, + "x": 4.507744580934642, + "y": 5.014156114901355, + "heading": -0.012557545240757804, + "angularVelocity": -0.10457406008337129, + "velocityX": 2.4234405634705096, + "velocityY": -1.463508757971335, "moduleForcesX": [ - 129.91536219555564, - 129.85010334775782, - 130.02090153473856, - 129.9558765699614 + 129.3914464085884, + 128.20897176176393, + 131.25279680885498, + 130.14502249016374 ], "moduleForcesY": [ - -78.11304547472248, - -78.21857610207789, - -77.93549937599485, - -78.04096176069989 + -79.0189377294792, + -80.87424343357573, + -75.85672443165984, + -77.68854265570891 ], - "timestamp": 0.23262980672661698 + "timestamp": 0.2326245810369435 }, { - "x": 4.564151794784664, - "y": 4.981199619057344, - "heading": -0.0007918525597400885, - "angularVelocity": -0.006347204248681032, - "velocityX": 2.6461670382521083, - "velocityY": -1.5899762301736629, + "x": 4.563624734139857, + "y": 4.980409992064349, + "heading": -0.015055521149401008, + "angularVelocity": -0.11812051363012, + "velocityX": 2.6423763237335667, + "velocityY": -1.5957357109600758, "moduleForcesX": [ - 129.5733886397262, - 129.49640245183312, - 129.69666985439898, - 129.62000351509624 + 129.00646244166458, + 127.64815248223073, + 131.12093469416823, + 129.85963582933337 ], "moduleForcesY": [ - -77.91912501711411, - -78.04238737657067, - -77.7109714094435, - -77.83413942942806 + -78.91920521303138, + -81.02220146436946, + -75.30721235921105, + -77.37880760777146 ], - "timestamp": 0.25377797097449123 + "timestamp": 0.2537722702221202 }, { - "x": 4.624724801386959, - "y": 4.944803210508792, - "heading": -0.0009478120219451947, - "angularVelocity": -0.007374609936681033, - "velocityX": 2.8642205406747117, - "velocityY": -1.7210197694812848, + "x": 4.62410925781352, + "y": 4.943882817271881, + "heading": -0.017915707999014333, + "angularVelocity": -0.13524819778503983, + "velocityX": 2.8601008433791937, + "velocityY": -1.7272418973247796, "moduleForcesX": [ - 128.8552636640432, - 128.75311707346881, - 129.0154419305616, - 128.9138378750632 + 128.20787039023384, + 126.4670807079848, + 130.84226510666718, + 129.25420335579074 ], "moduleForcesY": [ - -77.51185303819862, - -77.67202880725183, - -77.23929934969712, - -77.39931160306018 + -78.70887047737709, + -81.33084468872896, + -74.15655111624388, + -76.72703416241484 ], - "timestamp": 0.2749261352223655 + "timestamp": 0.27491995940729685 }, { - "x": 4.689821840704958, - "y": 4.905687147338048, - "heading": -0.001143567426368776, - "angularVelocity": -0.009256378101605931, - "velocityX": 3.0781413721656525, - "velocityY": -1.8496197868033284, + "x": 4.68911032017576, + "y": 4.904626876262551, + "heading": -0.02139953466704495, + "angularVelocity": -0.16473793602341083, + "velocityX": 3.0736721063568004, + "velocityY": -1.8562756746681615, "moduleForcesX": [ - 126.39689299471078, - 126.20357769557272, - 126.67901939081608, - 126.48741475202293 + 125.5610542910064, + 122.4035970716802, + 129.85871077124702, + 127.1284108647631 ], "moduleForcesY": [ - -76.11684223440086, - -76.3993131582889, - -75.6236355318941, - -75.90555271549324 + -77.99759374013497, + -82.3445203574127, + -70.2730310315089, + -74.46257805269641 ], - "timestamp": 0.2960742994702397 + "timestamp": 0.29606764859247353 }, { - "x": 4.755037118620865, - "y": 4.866475927671285, - "heading": -0.0022424579161950307, - "angularVelocity": -0.05196150724732792, - "velocityX": 3.0837323298213506, - "velocityY": -1.8541193061808519, + "x": 4.754240320023069, + "y": 4.86527762096546, + "heading": -0.03556470155999461, + "angularVelocity": -0.6698210272013372, + "velocityX": 3.0797691074854976, + "velocityY": -1.8606881797920152, "moduleForcesX": [ - 7.180630984335366, - -0.5946566947197884, - 7.21077872255547, - -0.5782117001104736 + 47.50631815547017, + -43.61025684390323, + 51.6682034964551, + -41.148975564574776 ], "moduleForcesY": [ - -6.55339428558665, - -6.550385961802465, - 1.2227399776646763, - 1.2429552690557522 + -49.556469170215145, + -47.69404398779361, + 41.10496851633419, + 45.712950599799875 ], - "timestamp": 0.31722246371811397 + "timestamp": 0.3172153377776502 }, { - "x": 4.82022523787331, - "y": 4.827219463472361, - "heading": -0.004059667380785461, - "angularVelocity": -0.08592752748166524, - "velocityX": 3.0824481412236775, - "velocityY": -1.8562587091694125, + "x": 4.819352859995755, + "y": 4.825899355320418, + "heading": -0.05754487540562608, + "angularVelocity": -1.0393652778402995, + "velocityX": 3.078943491302265, + "velocityY": -1.8620599773533908, "moduleForcesX": [ - 2.3230441566358278, - -3.8657539746866747, - 2.3497571909130053, - -3.8432177530042897 + 31.114533746154628, + -35.96269616022546, + 35.15431278059342, + -32.258174949452446 ], "moduleForcesY": [ - -4.373136456586327, - -4.346266942239965, - 1.8184324705479258, - 1.842841618591864 + -36.40756556990517, + -32.45594681670552, + 30.91045513850034, + 34.709682642583594 ], - "timestamp": 0.3383706279659882 + "timestamp": 0.3383630269628269 }, { - "x": 4.885333810285495, - "y": 4.78783120940797, - "heading": -0.006459676107579388, - "angularVelocity": -0.11348544009153483, - "velocityX": 3.078686717081628, - "velocityY": -1.862490473413949, + "x": 4.884413369809319, + "y": 4.7864352286169884, + "heading": -0.08432725407104823, + "angularVelocity": -1.2664446895784272, + "velocityX": 3.0764831676974977, + "velocityY": -1.866120045436224, "moduleForcesX": [ - 0.27251743330560585, - -4.7479655851420794, - 0.30546455190512517, - -4.723043941282925 + 17.33687257757476, + -23.72078641777426, + 21.003989854236497, + -20.43707943040043 ], "moduleForcesY": [ - -6.212911700365642, - -6.174611538738685, - -1.1898347826418583, - -1.1562239844618225 + -24.80274367670931, + -21.230479592663457, + 16.50640182751272, + 19.92750293646319 ], - "timestamp": 0.35951879221386246 + "timestamp": 0.35951071614800356 }, { - "x": 4.950206249880245, - "y": 4.74805525555127, - "heading": -0.009343806615771314, - "angularVelocity": -0.13637734577765406, - "velocityX": 3.0675210715885504, - "velocityY": -1.880823000538438, + "x": 4.949316155112273, + "y": 4.746712267696363, + "heading": -0.1129950929106626, + "angularVelocity": -1.3556014838589967, + "velocityX": 3.0690249291193297, + "velocityY": -1.8783594071665681, "moduleForcesX": [ - -4.517700347426744, - -8.695150907646779, - -4.496039053416941, - -8.689726049423163 + 2.7377655958615583, + -13.345928362701587, + 4.619934719884276, + -11.64546827054944 ], "moduleForcesY": [ - -12.949610569296242, - -12.88057132643416, - -8.786350832221437, - -8.726536934297721 + -16.245120476333994, + -14.34223535670772, + -0.09704427495387212, + 1.7465771071653637 ], - "timestamp": 0.3806669564617367 + "timestamp": 0.38065840533318024 }, { - "x": 5.01439999153878, - "y": 4.7071931150759365, - "heading": -0.012615717928013477, - "angularVelocity": -0.1547137271062802, - "velocityX": 3.0354285430668346, - "velocityY": -1.932183799764877, + "x": 5.013755644571648, + "y": 4.706242123579325, + "heading": -0.14080140929753424, + "angularVelocity": -1.3148631107346824, + "velocityX": 3.0471172947027356, + "velocityY": -1.9136910781506826, "moduleForcesX": [ - -17.202722072769408, - -20.613221292196997, - -17.31064989402535, - -20.74885423981035 + -16.265109907172622, + -8.74930923161417, + -17.09397889423828, + -9.688359108530635 ], "moduleForcesY": [ - -32.09355021289428, - -31.88099622006398, - -28.828004397205017, - -28.628318120073242 + -16.668681209667106, + -17.856440372171583, + -23.89894506945568, + -25.111469252269217 ], - "timestamp": 0.40181512070961095 + "timestamp": 0.4018060945183569 }, { - "x": 5.076982498168946, - "y": 4.663970470428466, - "heading": -0.016117434125189685, - "angularVelocity": -0.16558014946994787, - "velocityX": 2.959240631727682, - "velocityY": -2.0438012558456413, + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.16585060450304712, + "angularVelocity": -1.1844885266741543, + "velocityX": 2.989776000771621, + "velocityY": -1.9988781176330481, "moduleForcesX": [ - -43.708387981146146, - -45.88660016928932, - -44.17021209772122, - -46.36369993950287 + -46.8396950483597, + -20.12181290139014, + -46.38195915620131, + -22.229959921971602 ], "moduleForcesY": [ - -67.1271230312215, - -66.59453026410029, - -65.35322654491614, - -64.81907987303289 + -36.05106921911469, + -43.225470012132476, + -57.57383585220262, + -64.559430821199 ], - "timestamp": 0.4229632849574852 + "timestamp": 0.4229537837035336 }, { - "x": 5.160465598125471, - "y": 4.59518582651235, - "heading": -0.021299787276894855, - "angularVelocity": -0.17241561529766827, - "velocityX": 2.777462211594718, - "velocityY": -2.288448192669597, + "x": 5.1374092194039305, + "y": 4.619211694588991, + "heading": -0.188127967504992, + "angularVelocity": -1.0659819529000163, + "velocityX": 2.891446097269001, + "velocityY": -2.1417277832484376, "moduleForcesX": [ - -74.78749780987694, - -75.84978400406554, - -75.34262388353049, - -76.40626172099292 + -75.16725884773186, + -46.71656672795253, + -69.2629608228196, + -44.10974408726768 ], "moduleForcesY": [ - -102.3817660028254, - -101.79158502456613, - -101.69498492437498, - -101.09883618424197 + -70.38180813162369, + -84.42150338864307, + -87.7635994943025, + -99.20416285650131 ], - "timestamp": 0.45302061556966966 + "timestamp": 0.44385222662870605 }, { - "x": 5.240827197536756, - "y": 4.522778590821015, - "heading": -0.027020956069788445, - "angularVelocity": -0.19034187921446397, - "velocityX": 2.6736106558466814, - "velocityY": -2.4089709304447906, + "x": 5.196579575930679, + "y": 4.572804525176901, + "heading": -0.2066526482341198, + "angularVelocity": -0.8864143991710767, + "velocityX": 2.8313284744998786, + "velocityY": -2.220604165499928, "moduleForcesX": [ - -41.82465368506901, - -44.19046816115776, - -42.17995489334236, - -44.56070967404191 + -53.2417883029437, + -16.066823287059474, + -53.457576058743626, + -21.066592105170084 ], "moduleForcesY": [ - -51.47846103925625, - -50.98825767410318, - -49.252603786493275, - -48.76877028896119 + -26.513068256256098, + -37.8279421128232, + -56.71620621711971, + -67.65632186714231 ], - "timestamp": 0.4830779461818541 + "timestamp": 0.4647506695538785 }, { - "x": 5.320500081163206, - "y": 4.449614194082828, - "heading": -0.03327204369740652, - "angularVelocity": -0.20797214856744692, - "velocityX": 2.6506972510000297, - "velocityY": -2.4341614923234003, + "x": 5.255231902230934, + "y": 4.525744297397298, + "heading": -0.22148715223581195, + "angularVelocity": -0.7098377642204037, + "velocityX": 2.8065404925258464, + "velocityY": -2.25185330543958, "moduleForcesX": [ - -8.427151077073846, - -10.686860062230815, - -8.368842794204072, - -10.633313370721492 + -28.17298530792417, + 4.997578212660654, + -33.61720427932843, + -2.513199261124417 ], "moduleForcesY": [ - -11.652792986676726, - -11.556430563344584, - -9.393793754279233, - -9.301172731121282 + 0.8349084952629031, + -6.811360094681907, + -30.381578333414, + -38.40624808429158 ], - "timestamp": 0.5131352767940386 + "timestamp": 0.48564911247905096 }, { - "x": 5.400051102907325, - "y": 4.376317315841017, - "heading": -0.03989142652340981, - "angularVelocity": -0.2202252392739082, - "velocityX": 2.6466429361627473, - "velocityY": -2.4385691193836445, + "x": 5.3136988919936545, + "y": 4.478453995108253, + "heading": -0.23337444347438654, + "angularVelocity": -0.5688122929127986, + "velocityX": 2.797672054903706, + "velocityY": -2.262862475370591, "moduleForcesX": [ - -0.9322514839601066, - -2.5021501530416175, - -0.8697937061973879, - -2.4401075518138198 + -15.121826001226982, + 10.458631673014454, + -20.828408795317397, + 4.273664414186175 ], "moduleForcesY": [ - -2.649631103647892, - -2.5863889935660644, - -1.0794653740817501, - -1.0165479635987842 + 9.067280090907817, + 3.032410787815476, + -16.152391962783437, + -22.286988361775116 ], - "timestamp": 0.543192607406223 + "timestamp": 0.5065475554042235 }, { - "x": 5.479580849497246, - "y": 4.302997353920524, - "heading": -0.046763141333547524, - "angularVelocity": -0.2286202623513113, - "velocityX": 2.6459351170030887, - "velocityY": -2.439337107683092, + "x": 5.372102014023893, + "y": 4.431084833810635, + "heading": -0.24299301264648268, + "angularVelocity": -0.4602529100630004, + "velocityX": 2.7946159548502094, + "velocityY": -2.2666359148012347, "moduleForcesX": [ - 0.21816142417479056, - -0.857201827694486, - 0.268494764967261, - -0.8069028328222145 + -9.165602184078534, + 10.32091421361651, + -13.927829529585328, + 5.460728615967786 ], "moduleForcesY": [ - -0.8822471374115218, - -0.8319006067984248, - 0.19314414419575177, - 0.2434645042170598 + 9.865696944621504, + 5.051342680150189, + -9.55573642014746, + -14.389342863259175 ], - "timestamp": 0.5732499380184074 + "timestamp": 0.527445998329396 }, { - "x": 5.559106886174522, - "y": 4.229673368155452, - "heading": -0.05380842976519327, - "angularVelocity": -0.23439501406654378, - "velocityX": 2.6458116890855163, - "velocityY": -2.439470980017981, + "x": 5.430483406929476, + "y": 4.383688891331199, + "heading": -0.2508740295100018, + "angularVelocity": -0.37711024174084956, + "velocityX": 2.7935762063525216, + "velocityY": -2.267917406533186, "moduleForcesX": [ - 0.2984889272350908, - -0.44097719340419417, - 0.33831821316855004, - -0.40115077066979765 + -6.151134558701951, + 8.713605582065362, + -9.947622306492987, + 4.897529355001164 ], "moduleForcesY": [ - -0.44532213497355455, - -0.4054928600008283, - 0.2941464279509047, - 0.3339735835327076 + 8.563504940048885, + 4.757867047830837, + -6.289085891445833, + -10.098284210598763 ], - "timestamp": 0.6033072686305918 + "timestamp": 0.5483444412545685 }, { - "x": 5.638632276050356, - "y": 4.156348680939133, - "heading": -0.06097428423075602, - "angularVelocity": -0.23840621637431408, - "velocityX": 2.64579017020405, - "velocityY": -2.4394943171102996, + "x": 5.488857449883854, + "y": 4.336283894846937, + "heading": -0.257426057060711, + "angularVelocity": -0.3135174986083356, + "velocityX": 2.7932245078455717, + "velocityY": -2.2683506447818367, "moduleForcesX": [ - 0.2320935742638698, - -0.28133667358549985, - 0.2634385978595463, - -0.24999189334130956 + -4.389549093900768, + 6.954874027960114, + -7.373655438142301, + 3.9668838273878086 ], "moduleForcesY": [ - -0.2820929242389359, - -0.25074792730053325, - 0.23133753160397366, - 0.26268235373017074 + 6.9049924104726195, + 3.919171996191806, + -4.437110772555965, + -7.423585997313514 ], - "timestamp": 0.6333645992427762 + "timestamp": 0.569242884179741 }, { - "x": 5.7181575531705535, - "y": 4.083023871470378, - "heading": -0.06822559968592745, - "angularVelocity": -0.24124948248837214, - "velocityX": 2.645786418837762, - "velocityY": -2.4394983844526656, + "x": 5.547229011625333, + "y": 4.288875841976293, + "heading": -0.262963129629384, + "angularVelocity": -0.2649514410474846, + "velocityX": 2.793105780677541, + "velocityY": -2.2684968942616313, "moduleForcesX": [ - 0.16789402037833806, - -0.1958708535764448, - 0.1927506884882498, - -0.17101420699690273 + -3.231758529033143, + 5.418150168335915, + -5.559795856529077, + 3.089346767454664 ], "moduleForcesY": [ - -0.19600226835952247, - -0.17114560335014298, - 0.16776262383673626, - 0.19261927384436098 + 5.401468707089588, + 3.073099912384422, + -3.247992282290452, + -5.576481543801101 ], - "timestamp": 0.6634219298549606 + "timestamp": 0.5901413271049135 }, { - "x": 5.7976828106119624, - "y": 4.009699040686787, - "heading": -0.07553996501255193, - "angularVelocity": -0.24334713621107187, - "velocityX": 2.645785764148746, - "velocityY": -2.439499093569967, + "x": 5.605599728488257, + "y": 4.241466748081566, + "heading": -0.26772713848676233, + "angularVelocity": -0.22795999082017634, + "velocityX": 2.793065352855234, + "velocityY": -2.26854670773669, "moduleForcesX": [ - 0.12369265372573317, - -0.14453794696057606, - 0.1439934144274339, - -0.124237188322846 + -2.411579510069721, + 4.168080450921928, + -4.2163669015241725, + 2.363141476336499 ], "moduleForcesY": [ - -0.1445605830230021, - -0.12425982265200088, - 0.12367001939233042, - 0.14397077836810557 + 4.162423308530226, + 2.357570529717977, + -2.4171492968327293, + -4.2220244134214 ], - "timestamp": 0.693479260467145 + "timestamp": 0.611039770030086 }, { - "x": 5.87720806443643, - "y": 3.936374206001281, - "heading": -0.08290433407973492, - "angularVelocity": -0.24501074836624548, - "velocityX": 2.645785643771225, - "velocityY": -2.439499223381111, + "x": 5.663970131858567, + "y": 4.194057267702461, + "heading": -0.2719051124142363, + "angularVelocity": -0.19991795285578753, + "velocityX": 2.793050352091861, + "velocityY": -2.2685652011898916, "moduleForcesX": [ - 0.09741908042581654, - -0.11518554176100942, - 0.11508541861761402, - -0.09751920380934215 + -1.8054688057910326, + 3.176560187226163, + -3.1944888346270637, + 1.7875077856538297 ], "moduleForcesY": [ - -0.11518946503939066, - -0.09752312688857075, - 0.0974151573464743, - 0.11508149533931514 + 3.1744619067363504, + 1.7854278546166833, + -1.8075486154833995, + -3.1965871532582466 ], - "timestamp": 0.7235365910793294 + "timestamp": 0.6319382129552585 }, { - "x": 5.956733316477515, - "y": 3.8630493694024346, - "heading": -0.09031308650340458, - "angularVelocity": -0.2464873717250968, - "velocityX": 2.6457855844623372, - "velocityY": -2.439499287039256, + "x": 5.722340342091734, + "y": 4.1466475491955705, + "heading": -0.27564255313180885, + "angularVelocity": -0.17883823837759558, + "velocityX": 2.7930411103899693, + "velocityY": -2.2685765957131956, "moduleForcesX": [ - 0.08572951657716098, - -0.10285714870700775, - 0.1028078189509451, - -0.08577884642695495 + -1.3470246163789326, + 2.3941228076942003, + -2.4051726575972845, + 1.3359634843183217 ], "moduleForcesY": [ - -0.10285895747933335, - -0.08578065512239298, - 0.08572770788169852, - 0.10280601017863711 + 2.392831954765027, + 1.3346789882015602, + -1.3483090778236089, + -2.4064635212979715 ], - "timestamp": 0.7535939216915138 + "timestamp": 0.652836655880431 }, { - "x": 6.03625856152059, - "y": 3.7897245252345058, - "heading": -0.09776719192971461, - "angularVelocity": -0.24799625497309827, - "velocityX": 2.6457853516414014, - "velocityY": -2.4394995388630343, + "x": 5.780710225814653, + "y": 4.099237428470293, + "heading": -0.27905378548990334, + "angularVelocity": -0.1632290199948637, + "velocityX": 2.793025486728676, + "velocityY": -2.2685958420454218, "moduleForcesX": [ - 0.08674513739297163, - -0.10582615602850828, - 0.1056325088414637, - -0.08693878497036943 + -0.9966370229375255, + 1.7709396806966131, + -1.7896244325816457, + 0.977941809843271 ], "moduleForcesY": [ - -0.10583405893495398, - -0.08694668756146111, - 0.08673723480148822, - 0.10562460593529137 + 1.7687699206869232, + 0.9757778831762134, + -0.9988008762415364, + -1.7917942152008368 ], - "timestamp": 0.7836512523036983 + "timestamp": 0.6737350988056036 }, { - "x": 6.11578376690209, - "y": 3.7163996380760036, - "heading": -0.10527435475010422, - "angularVelocity": -0.24976146143019018, - "velocityX": 2.6457840321154866, - "velocityY": -2.43950096916163, + "x": 5.83907922039153, + "y": 4.051826212926766, + "heading": -0.28223007208892753, + "angularVelocity": -0.1519867585540666, + "velocityX": 2.7929829406833497, + "velocityY": -2.2686482295974977, "moduleForcesX": [ - 0.10011416408781977, - -0.12499816525036585, - 0.12390065921095698, - -0.10121167318813755 + -0.7324532214518408, + 1.2590241226166339, + -1.3099129208854023, + 0.6815496386364485 ], "moduleForcesY": [ - -0.12504423372175508, - -0.10125773921039682, - 0.10006809805071196, - 0.12385459074971743 + 1.2531335423185752, + 0.6756670684368524, + -0.7383353996851942, + -1.3158036208829536 ], - "timestamp": 0.8137085829158827 + "timestamp": 0.6946335417307761 }, { - "x": 6.1953087447808795, - "y": 3.6430745042083035, - "heading": -0.1128501618471629, - "angularVelocity": -0.25204523963906644, - "velocityX": 2.64577646313683, - "velocityY": -2.4395091770913226, + "x": 5.897445594088348, + "y": 4.004411770846841, + "heading": -0.28524607864196977, + "angularVelocity": -0.14431728544758862, + "velocityX": 2.79285753038225, + "velocityY": -2.2688026208309453, "moduleForcesX": [ - 0.12586383150035263, - -0.16513913729275234, - 0.15884370064490236, - -0.1321592978081659 + -0.5546888508267858, + 0.802708544825346, + -0.9527218969430205, + 0.40465520530607674 ], "moduleForcesY": [ - -0.16540487095782558, - -0.13242500763602497, - 0.125598121036691, - 0.1585779674070017 + 0.7853688690001464, + 0.38732530032628104, + -0.5720164309443548, + -0.9700622757854198 ], - "timestamp": 0.8437659135280671 + "timestamp": 0.7155319846559486 }, { - "x": 6.274832417591408, - "y": 3.569747954995063, - "heading": -0.12052040556675728, - "angularVelocity": -0.25518712285398487, - "velocityX": 2.645733043849278, - "velocityY": -2.4395562652919573, + "x": 5.955804168456194, + "y": 3.956987729489555, + "heading": -0.2881651555553472, + "angularVelocity": -0.1396791580994489, + "velocityX": 2.7924843289415655, + "velocityY": -2.2692619506193297, "moduleForcesX": [ - 0.15771475133497836, - -0.24226951663668175, - 0.20615595349119872, - -0.1938286393099587 + -0.511763343579639, + 0.30842579665995085, + -0.7548612157553136, + 0.0653058279711948 ], "moduleForcesY": [ - -0.24379545012562348, - -0.195354296818722, - 0.15618906489120846, - 0.20463003911891933 + 0.2569055429195831, + 0.013789703429975155, + -0.5632670109553215, + -0.8063852008221736 ], - "timestamp": 0.8738232441402515 + "timestamp": 0.7364304275811211 }, { - "x": 6.354348603985508, - "y": 3.4964132875567637, - "heading": -0.128324930326022, - "angularVelocity": -0.2596546200313926, - "velocityX": 2.6454839726126207, - "velocityY": -2.439826356673976, + "x": 6.01413950312956, + "y": 3.909535104421295, + "heading": -0.29104381434041826, + "angularVelocity": -0.13774513227507815, + "velocityX": 2.791372298992348, + "velocityY": -2.2706296941916735, "moduleForcesX": [ - 0.1438546460092021, - -0.4243333494304456, - 0.21717177870947632, - -0.351020015812135 + -0.7848280319881401, + -0.44310704671529383, + -0.8871657009156513, + -0.5454561652185629 ], "moduleForcesY": [ - -0.43307693401023006, - -0.35975956960657035, - 0.13511373163418927, - 0.20842907803548266 + -0.5960535113055898, + -0.6984262355050573, + -0.9377519894300923, + -1.0401258677231495 ], - "timestamp": 0.9038805747524359 + "timestamp": 0.7573288705062936 }, { - "x": 6.433821834398544, - "y": 3.4230320708341258, - "heading": -0.13632357018996996, - "angularVelocity": -0.2661127818418287, - "velocityX": 2.644054837690217, - "velocityY": -2.4413750398934724, + "x": 6.072405551728233, + "y": 3.861997430659612, + "heading": -0.29393569648604934, + "angularVelocity": -0.1383778760927563, + "velocityX": 2.7880569287995876, + "velocityY": -2.2746993128574515, "moduleForcesX": [ - -0.24036047395240137, - -1.060837898636791, - -0.12781333612895085, - -0.9483366673621806 + -1.9440491705845653, + -2.055767896328796, + -1.9102795731461146, + -2.022001948891487 ], "moduleForcesY": [ - -1.1105928034052845, - -0.9980035986869876, - -0.2900924165175457, - -0.177526680161928 + -2.5069278651242377, + -2.47307319963441, + -2.395254234056831, + -2.361399916000663 ], - "timestamp": 0.9339379053646203 + "timestamp": 0.7782273134314661 }, { - "x": 6.51304841856981, - "y": 3.3493846320722387, - "heading": -0.14460452607371518, - "angularVelocity": -0.27550536641428586, - "velocityX": 2.6358489778582705, - "velocityY": -2.4502321817010935, + "x": 6.130465188530942, + "y": 3.814207881826753, + "heading": -0.2968948988409619, + "angularVelocity": -0.14159917872867764, + "velocityX": 2.778180030473583, + "velocityY": -2.28675164958324, "moduleForcesX": [ - -2.902777128693355, - -4.094692598627172, - -2.730201197570769, - -3.9226760367579505 + -5.709084652744103, + -6.278133711221989, + -5.537078137116156, + -6.106407378075469 ], "moduleForcesY": [ - -4.366736363621871, - -4.191761183353399, - -3.1749746938151637, - -3.0002742816484957 + -7.580303571028901, + -7.404528671896907, + -7.013204217905603, + -6.8374532666610355 ], - "timestamp": 0.9639952359768047 + "timestamp": 0.7991257563566386 }, { - "x": 6.590890757037633, - "y": 3.2742756641379853, - "heading": -0.15327274532429216, - "angularVelocity": -0.2883895234217206, - "velocityX": 2.58979546361488, - "velocityY": -2.498856897947705, + "x": 6.187921726569742, + "y": 3.7656949674751443, + "heading": -0.29997357882616776, + "angularVelocity": -0.14731623768474775, + "velocityX": 2.74932148029105, + "velocityY": -2.3213650186909147, "moduleForcesX": [ - -18.43088002784548, - -20.0723159678245, - -18.22965457195893, - -19.87660427318394 + -16.89175530528398, + -17.91306420363074, + -16.608056906934966, + -17.63186123724144 ], "moduleForcesY": [ - -21.18602765547963, - -20.878811541106785, - -19.563316584039075, - -19.25846198658899 + -21.369775765198668, + -21.029020128468837, + -20.377576604765093, + -20.036900317177256 ], - "timestamp": 0.9940525665889891 + "timestamp": 0.8200241992818111 }, { - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.16219856211454844, - "angularVelocity": -0.2969597302375868, - "velocityX": 2.422095237496305, - "velocityY": -2.6600589121829796, + "x": 6.243828773498535, + "y": 3.715458631515503, + "heading": -0.3031853071795858, + "angularVelocity": -0.15368266262313146, + "velocityX": 2.6751776258625823, + "velocityY": -2.4038315265647583, "moduleForcesX": [ - -69.04309927888647, - -70.1802267857613, - -69.3019482031423, - -70.44199046095767 + -43.818566861854926, + -45.02417863121083, + -43.66800356480994, + -44.88010894513957 ], "moduleForcesY": [ - -67.86166687091152, - -67.24772255439451, - -66.83239899214011, - -66.21578072132426 + -50.11842331014225, + -49.56552814503516, + -49.08691780029413, + -48.53212640099288 ], - "timestamp": 1.0241098972011735 + "timestamp": 0.8409226422069837 }, { - "x": 6.75727581878267, - "y": 3.054935838104552, - "heading": -0.17627569254564657, - "angularVelocity": -0.30179087516060216, - "velocityX": 2.0062753236841044, - "velocityY": -2.988200549413794, + "x": 6.300892363968111, + "y": 3.658116351715432, + "heading": -0.30674283671026537, + "angularVelocity": -0.1582417877978426, + "velocityX": 2.538234608089834, + "velocityY": -2.5506309346739435, "moduleForcesX": [ - -111.10742225888322, - -111.48079861621049, - -111.38230396187039, - -111.75474677579864 + -75.61700325128957, + -76.51392819630748, + -75.76775989561607, + -76.66811227586896 ], "moduleForcesY": [ - -88.34878550163027, - -87.93499261326687, - -87.93627680078788, - -87.52120499958227 + -82.22892098376002, + -81.60669461844142, + -81.63952766303406, + -81.01267063107204 ], - "timestamp": 1.0707552121849575 + "timestamp": 0.8634042482365135 }, { - "x": 6.8419068380495345, - "y": 2.9099397665608033, - "heading": -0.19166089828251734, - "angularVelocity": -0.3298338909753175, - "velocityX": 1.8143519728891964, - "velocityY": -3.1084809180547834, + "x": 6.356072473882626, + "y": 3.5989592047777608, + "heading": -0.3104816657779018, + "angularVelocity": -0.16630613768097485, + "velocityX": 2.4544558712573736, + "velocityY": -2.6313576912597734, "moduleForcesX": [ - -50.38797680823675, - -52.56276507928467, - -50.29423540381022, - -52.48131147060376 + -45.98383163498227, + -47.3633239371322, + -45.79628580483161, + -47.18385375138273 ], "moduleForcesY": [ - -33.81729604211525, - -33.016913327312, - -31.443348590548812, - -30.653256080837973 + -45.83987241316663, + -45.17942812737016, + -44.59125394926337, + -43.92901327905449 ], - "timestamp": 1.1174005271687415 + "timestamp": 0.8858858542660434 }, { - "x": 6.925892936635668, - "y": 2.764569180143577, - "heading": -0.2080261577493816, - "angularVelocity": -0.3508446555147825, - "velocityX": 1.8005259180972235, - "velocityY": -3.116509910325695, + "x": 6.4105587009138425, + "y": 3.5391623265205725, + "heading": -0.31440977028763245, + "angularVelocity": -0.17472526226867494, + "velocityX": 2.4235913999945997, + "velocityY": -2.659813457215855, "moduleForcesX": [ - -3.0347891107574947, - -4.732690146437991, - -2.677068460854431, - -4.375863288692762 + -16.67848671246475, + -18.057012912098166, + -16.26293022731706, + -17.64540106979152 ], "moduleForcesY": [ - -3.1812997713545834, - -2.821098213976949, - -1.481791403183291, - -1.122240082165069 + -16.743903418989802, + -16.264385427508312, + -15.378694463203868, + -14.899789705324505 ], - "timestamp": 1.1640458421525255 + "timestamp": 0.9083674602955732 }, { - "x": 7.009840604895083, - "y": 2.6191763979249116, - "heading": -0.22491556361074883, - "angularVelocity": -0.36208150523238425, - "velocityX": 1.7997020341402077, - "velocityY": -3.116985752357137, + "x": 6.46483075655121, + "y": 3.479170994876339, + "heading": -0.31848880184366885, + "angularVelocity": -0.1814386192284724, + "velocityX": 2.4140648833576313, + "velocityY": -2.668462900979999, "moduleForcesX": [ - 0.12824668601976072, - -0.7768999519440589, - 0.33533930926999655, - -0.5698229214031244 + -4.929174931072198, + -6.022455887256941, + -4.570825735696016, + -5.664901289661257 ], "moduleForcesY": [ - -0.683641547103973, - -0.47654646957801333, - 0.22151971113144, - 0.428604184847818 + -5.536939970696897, + -5.173981283305023, + -4.444297345904226, + -4.081493743469679 ], - "timestamp": 1.2106911571363095 + "timestamp": 0.9308490663251031 }, { - "x": 7.093785988313307, - "y": 2.4737822965521468, - "heading": -0.24206528003655145, - "angularVelocity": -0.3676621420986139, - "velocityX": 1.799653050846274, - "velocityY": -3.117014032884302, + "x": 6.5190383595683645, + "y": 3.4191214179231317, + "heading": -0.3226850323911022, + "angularVelocity": -0.18665172505565547, + "velocityX": 2.4111979787357956, + "velocityY": -2.671053699381748, "moduleForcesX": [ - 0.1554547855162892, - -0.29224896076330903, - 0.26599601562483693, - -0.1817079644660672 + -1.3118461384134241, + -2.1594698525002705, + -1.0285137358105447, + -1.8762819666975306 ], "moduleForcesY": [ - -0.28670113941046854, - -0.17615994368312685, - 0.161002800094027, - 0.2715438482326346 + -2.006128815980356, + -1.7225095195737818, + -1.1584967199325906, + -0.8749052505891863 ], - "timestamp": 1.2573364721200935 + "timestamp": 0.953330672354633 }, { - "x": 7.177731236209712, - "y": 2.328388116954171, - "heading": -0.2593079170201019, - "angularVelocity": -0.3696542083496428, - "velocityX": 1.799650145476885, - "velocityY": -3.1170157099061724, + "x": 6.57322663171484, + "y": 3.359054396394769, + "heading": -0.32697379158161044, + "angularVelocity": -0.19076747385729015, + "velocityX": 2.410338125991728, + "velocityY": -2.6718296481773502, "moduleForcesX": [ - 0.057671448462073845, - -0.10143699552355025, - 0.09987983608164007, - -0.05922860970826968 + -0.2572753782998051, + -0.9255243474298708, + -0.030635747905450556, + -0.6989117646761612 ], "moduleForcesY": [ - -0.10110782398001866, - -0.05889943672459394, - 0.05800062143771806, - 0.10020900763916966 + -0.8788903575940659, + -0.652237281008326, + -0.2106309545256013, + 0.01601712567576673 ], - "timestamp": 1.3039817871038775 + "timestamp": 0.9758122783841628 }, { - "x": 7.261676476385865, - "y": 2.1829939328901036, - "heading": -0.27651055479422826, - "angularVelocity": -0.36879669008788524, - "velocityX": 1.799649979967746, - "velocityY": -3.117015805651939, + "x": 6.627409108287623, + "y": 3.298982147052881, + "heading": -0.33133797768313705, + "angularVelocity": -0.19412252379986514, + "velocityX": 2.410080334188381, + "velocityY": -2.672062185547718, "moduleForcesX": [ - -0.024456068402193106, - 0.043712146318862784, - -0.04380085250570498, - 0.024367362195912637 + 0.035069861443211725, + -0.5088638749485511, + 0.2221968805995973, + -0.3217422517634501 ], "moduleForcesY": [ - 0.043730841482873595, - 0.02438605737485271, - -0.02443737322324143, - -0.043782157341713514 + -0.49482442875806965, + -0.30769784203425754, + 0.049112064017606115, + 0.23623770125556676 ], - "timestamp": 1.3506271020876615 + "timestamp": 0.9982938844136927 }, { - "x": 7.34562171641779, - "y": 2.037599748702139, - "heading": -0.29352541190080544, - "angularVelocity": -0.36477097673136666, - "velocityX": 1.7996499768754688, - "velocityY": -3.1170158083080857, + "x": 6.681589842877104, + "y": 3.2389083266034575, + "heading": -0.33576669092932737, + "angularVelocity": -0.19699274332862007, + "velocityX": 2.4100028493686514, + "velocityY": -2.6721320696801416, "moduleForcesX": [ - -0.11109269207420744, - 0.20733898129633233, - -0.20734063862665736, - 0.11109103473389965 + 0.10815555665979418, + -0.356463612696991, + 0.270299522435579, + -0.19432083563398414 ], "moduleForcesY": [ - 0.20733909816713597, - 0.11109115161109803, - -0.11109257519700906, - -0.20734052175585366 + -0.3522379533188411, + -0.1900943444380969, + 0.11238187683709236, + 0.2745252872983721 ], - "timestamp": 1.3972724170714454 + "timestamp": 1.0207754904432227 }, { - "x": 7.429566956689485, - "y": 1.8922055645666425, - "heading": -0.31013505977289263, - "angularVelocity": -0.3560839470772452, - "velocityX": 1.7996499820161242, - "velocityY": -3.1170158071832237, + "x": 6.735770038272624, + "y": 3.1788340198927374, + "heading": -0.340254341064461, + "angularVelocity": -0.19961430376633296, + "velocityX": 2.4099788655815244, + "velocityY": -2.6721536989759933, "moduleForcesX": [ - -0.23225803495127245, - 0.45133683310671, - -0.4513340779465994, - 0.23226079015761958 + 0.12351456441676863, + -0.30018420856937594, + 0.2735139065390715, + -0.15018517383066216 ], "moduleForcesY": [ - 0.4513357569773042, - 0.2322597139841929, - -0.23225911112469913, - -0.4513351540760055 + -0.29887518119240547, + -0.148875956432278, + 0.12482376681033823, + 0.2748229430801387 ], - "timestamp": 1.4439177320552294 + "timestamp": 1.0432570964727526 }, { - "x": 7.51351219710036, - "y": 1.746811380353832, - "heading": -0.32597216282909236, - "angularVelocity": -0.33952183754585785, - "velocityX": 1.7996499849998264, - "velocityY": -3.1170158088407347, + "x": 6.789950014775179, + "y": 3.1187595158010093, + "heading": -0.3448001888098883, + "angularVelocity": -0.20220298049241886, + "velocityX": 2.409969129045866, + "velocityY": -2.672162478641687, "moduleForcesX": [ - -0.429126891302155, - 0.8673914122336529, - -0.8673898131006768, - 0.42912849045634677 + 0.12843063079339379, + -0.289275898133587, + 0.2784487347359637, + -0.13925791602854584 ], "moduleForcesY": [ - 0.8673901685240899, - 0.4291272466634665, - -0.4291281350950354, - -0.8673910568102398 + -0.28874390449222265, + -0.13872585045728547, + 0.12896269391646412, + 0.2789807298576984 ], - "timestamp": 1.4905630470390134 + "timestamp": 1.0657387025022824 }, { - "x": 7.597457437474679, - "y": 1.6014171958503052, - "heading": -0.34038489399598115, - "angularVelocity": -0.30898561135023483, - "velocityX": 1.7996499842156426, - "velocityY": -3.1170158150732465, + "x": 6.844129734412625, + "y": 3.058684780086691, + "heading": -0.3494082864346629, + "angularVelocity": -0.20497190542000296, + "velocityX": 2.409957703478491, + "velocityY": -2.672172781403682, "moduleForcesX": [ - -0.7680693254555403, - 1.6104795396440061, - -1.6104799595443278, - 0.7680689047741062 + 0.13541034813559746, + -0.3106366769128751, + 0.2979312971098061, + -0.14811589173264045 ], "moduleForcesY": [ - 1.6104780795285183, - 0.7680674448067002, - -0.768070785422946, - -1.6104814196598143 + -0.310012433508584, + -0.14749155214979615, + 0.1360346841024085, + 0.29855554267791334 ], - "timestamp": 1.5372083620227974 + "timestamp": 1.0882203085318123 }, { - "x": 7.6814026777216355, - "y": 1.4560230108529622, - "heading": -0.3522011673454256, - "angularVelocity": -0.25332176132913514, - "velocityX": 1.7996499814860263, - "velocityY": -3.117015825659816, + "x": 6.898308738783368, + "y": 2.998609399345082, + "heading": -0.3540878132628434, + "angularVelocity": -0.20814913409806418, + "velocityX": 2.4099258878378844, + "velocityY": -2.6722014727353556, "moduleForcesX": [ - -1.3653118211091806, - 2.952047825108599, - -2.9520492856808334, - 1.3653103557538708 + 0.14334180232680527, + -0.3676005366869572, + 0.3322212023590252, + -0.17872173796539498 ], "moduleForcesY": [ - 2.9520457189891305, - 1.3653082508646113, - -1.3653139259984364, - -2.9520513918002997 + -0.36586356871681985, + -0.17698440471271104, + 0.14507910331271257, + 0.33395818942941513 ], - "timestamp": 1.5838536770065814 + "timestamp": 1.1107019145613422 }, { - "x": 7.765347848019507, - "y": 1.3106289483604519, - "heading": -0.35931443900890314, - "angularVelocity": -0.15249702281891372, - "velocityX": 1.7996484818903413, - "velocityY": -3.1170131993546644, + "x": 6.952485398744311, + "y": 2.9385319044342193, + "heading": -0.3588538343730754, + "angularVelocity": -0.2119964696459745, + "velocityX": 2.4098216065967244, + "velocityY": -2.672295512695533, "moduleForcesX": [ - -2.4353116978894263, - 5.364141839262935, - -5.364946351339556, - 2.434508764839553 + 0.13499118719446718, + -0.48261548117120595, + 0.36665408135184874, + -0.2509554803686735 ], "moduleForcesY": [ - 5.365246751624584, - 2.4356151681738383, - -2.4342052949352464, - -5.363841438437093 + -0.47692215878299427, + -0.24526020421439584, + 0.14068604241805083, + 0.37234765020929544 ], - "timestamp": 1.6304989919903654 + "timestamp": 1.133183520590872 }, { - "x": 7.844910739411933, - "y": 1.172825043366584, - "heading": -0.35962508299846874, - "angularVelocity": -0.006659703973991243, - "velocityX": 1.7056995203074454, - "velocityY": -2.9542925166605505, + "x": 7.006654247538653, + "y": 2.878447366566292, + "heading": -0.36372854548811695, + "angularVelocity": -0.21683108887499375, + "velocityX": 2.409474159594426, + "velocityY": -2.6726087891135304, "moduleForcesX": [ - -28.13401696275137, - -16.692873127701013, - -33.70860513127203, - -22.17018295362561 + 0.046702628208398045, + -0.7279575956578657, + 0.34159713039213213, + -0.43307833188401185 ], "moduleForcesY": [ - 50.509913915883445, - 47.771782987515884, - 39.65934816626974, - 36.48234852375251 + -0.7089643394621571, + -0.41407196946526487, + 0.06570310340631297, + 0.3605937964542758 ], - "timestamp": 1.6771443069741494 + "timestamp": 1.1556651266204019 }, { - "x": 7.911254949755161, - "y": 1.0579160565080306, - "heading": -0.35985730857456416, - "angularVelocity": -0.0049785402065806806, - "velocityX": 1.422312409430071, - "velocityY": -2.463462555639315, + "x": 7.06079702872604, + "y": 2.8183393379846797, + "heading": -0.36874310188786397, + "angularVelocity": -0.22305152012540205, + "velocityX": 2.4083146513775056, + "velocityY": -2.6736536750382243, "moduleForcesX": [ - -75.9260077593884, - -75.77347968708932, - -76.11043353002069, - -75.95811122126071 + -0.3395008081755916, + -1.3342730934157663, + 0.04491865980258463, + -0.9499378733414521 ], "moduleForcesY": [ - 131.54299746962388, - 131.62960598985686, - 131.4352969882552, - 131.52206693684397 + -1.2705893414940128, + -0.8861412830872801, + -0.27578875230711364, + 0.10865087007230188 ], - "timestamp": 1.7237896219579334 + "timestamp": 1.1781467326499317 }, { - "x": 7.964345181177675, - "y": 0.9659631239450347, - "heading": -0.3600336449985911, - "angularVelocity": -0.003780367312092445, - "velocityX": 1.1381685693621537, - "velocityY": -1.9713219343671031, + "x": 7.1148527826055945, + "y": 2.7581530334029423, + "heading": -0.37394009301115577, + "angularVelocity": -0.23116636402512653, + "velocityX": 2.4044436064092656, + "velocityY": -2.677135454765926, "moduleForcesX": [ - -76.13314544990955, - -76.02439649265798, - -76.26514306857305, - -76.1564995936775 + -1.7586887743866413, + -3.053728577829438, + -1.2507123787760428, + -2.546230657129766 ], "moduleForcesY": [ - 131.89091278272463, - 131.95315842708902, - 131.81424460459831, - 131.87657321281534 + -2.8377731865649825, + -2.3290501841775333, + -1.542737677716232, + -1.0340577195430558 ], - "timestamp": 1.7704349369417174 + "timestamp": 1.2006283386794616 }, { - "x": 8.00416964010226, - "y": 0.8969866722358701, - "heading": -0.3601615916933086, - "angularVelocity": -0.002742969894447131, - "velocityX": 0.8537718940998154, - "velocityY": -1.4787434007711946, + "x": 7.168618435498477, + "y": 2.6977074399803684, + "heading": -0.3793755423672139, + "angularVelocity": -0.24177317887870262, + "velocityX": 2.3915396801395956, + "velocityY": -2.688668831896772, "moduleForcesX": [ - -76.20238462743995, - -76.10822395136077, - -76.31683810843096, - -76.22275676965029 + -6.663075109362928, + -8.352865630261862, + -5.9952082390896475, + -7.6877043254512305 ], "moduleForcesY": [ - 132.0072176669124, - 132.06125695215337, - 131.94085962414914, - 131.9949613298243 + -7.596610052171956, + -6.916064444016024, + -5.909182229835226, + -5.228839927269915 ], - "timestamp": 1.8170802519255014 + "timestamp": 1.2231099447089915 }, { - "x": 8.03072242655436, - "y": 0.8509969201776932, - "heading": -0.36024489387265224, - "angularVelocity": -0.001785863797310167, - "velocityX": 0.5692487329394265, - "velocityY": -0.985945792716061, + "x": 7.221445411107321, + "y": 2.636439823481927, + "heading": -0.38510394603027787, + "angularVelocity": -0.2548040231440608, + "velocityX": 2.349786556151203, + "velocityY": -2.725233082456778, "moduleForcesX": [ - -76.23702883079696, - -76.15015606865818, - -76.34270315470997, - -76.25589804171771 + -22.54706285214967, + -24.634193372078887, + -21.78990991616978, + -23.889468312382633 ], "moduleForcesY": [ - 132.0654129222889, - 132.11533600087785, - 132.00420021197434, - 132.05417651601115 + -21.81772879836716, + -20.89013153263117, + -19.770054794681855, + -18.84245520724433 ], - "timestamp": 1.8637255669092854 + "timestamp": 1.2455915507385213 + }, + { + "x": 7.271848746318417, + "y": 2.5731635723731023, + "heading": -0.3910789251452919, + "angularVelocity": -0.26577189846516536, + "velocityX": 2.2419810730990144, + "velocityY": -2.8145787727852847, + "moduleForcesX": [ + -59.14510365012357, + -60.97500334457335, + -58.89908247715572, + -60.74455985856462 + ], + "moduleForcesY": [ + -51.09224006514451, + -49.9011920063802, + -49.45740174899362, + -48.25759077145673 + ], + "timestamp": 1.2680731567680512 + }, + { + "x": 7.31837043762207, + "y": 2.5070269107818604, + "heading": -0.3971853071795861, + "angularVelocity": -0.27161680648052366, + "velocityX": 2.0693224159583683, + "velocityY": -2.9418121420848466, + "moduleForcesX": [ + -95.3985948752904, + -96.38061522257254, + -95.61831278922654, + -96.60230549228933 + ], + "moduleForcesY": [ + -71.67156753643467, + -70.67968599273077, + -70.81053169321476, + -69.81036795128372 + ], + "timestamp": 1.290554762797581 + }, + { + "x": 7.377160450284607, + "y": 2.4011029041383494, + "heading": -0.40649242609648484, + "angularVelocity": -0.27649351201427, + "velocityX": 1.7465186828955634, + "velocityY": -3.1467633395116366, + "moduleForcesX": [ + -119.49246289699462, + -119.98997638899631, + -119.7547850716756, + -120.25131899701724 + ], + "moduleForcesY": [ + -76.72316966582402, + -76.02158205383883, + -76.19620567994485, + -75.49093432777171 + ], + "timestamp": 1.324216018893957 + }, + { + "x": 7.427060808134305, + "y": 2.2907116379947734, + "heading": -0.4162963157147679, + "angularVelocity": -0.2912514491501278, + "velocityX": 1.4824270879358374, + "velocityY": -3.2794755438603995, + "moduleForcesX": [ + -97.30907981509276, + -98.6619904856712, + -97.47772767670975, + -98.82948510798602 + ], + "moduleForcesY": [ + -50.91672715329267, + -49.38655671552789, + -49.18261984856432, + -47.64311007935671 + ], + "timestamp": 1.3578772749903327 + }, + { + "x": 7.474498109736472, + "y": 2.1792397005806583, + "heading": -0.4269800308313776, + "angularVelocity": -0.31738908037243385, + "velocityX": 1.4092552418258857, + "velocityY": -3.3115798497110305, + "moduleForcesX": [ + -26.398534659548826, + -29.07784429997217, + -25.256666622798473, + -27.955480330755208 + ], + "moduleForcesY": [ + -13.976384539542336, + -12.62672610263315, + -11.214077516581959, + -9.870137826215709 + ], + "timestamp": 1.3915385310867086 + }, + { + "x": 7.521595612163223, + "y": 2.0676237695042676, + "heading": -0.4381685663663628, + "angularVelocity": -0.3323861564450007, + "velocityX": 1.3991605747839646, + "velocityY": -3.3158575771382965, + "moduleForcesX": [ + -3.3352699249692073, + -4.8894316684936525, + -2.607321165861587, + -4.162466770446552 + ], + "moduleForcesY": [ + -2.731201011585995, + -2.001286805803779, + -1.1756054571873968, + -0.445988425491939 + ], + "timestamp": 1.4251997871830844 + }, + { + "x": 7.568648187913044, + "y": 1.9559888918104047, + "heading": -0.44951525608957216, + "angularVelocity": -0.337084560680758, + "velocityX": 1.3978259045586052, + "velocityY": -3.3164204381758204, + "moduleForcesX": [ + -0.3702371101135151, + -0.854785832612154, + -0.13645879208966746, + -0.6210203761247468 + ], + "moduleForcesY": [ + -0.5681895194740101, + -0.3344031723555381, + -0.08362832850057036, + 0.15015442211362218 + ], + "timestamp": 1.4588610432794602 + }, + { + "x": 7.615694832295387, + "y": 1.8443515142540494, + "heading": -0.46070284838521497, + "angularVelocity": -0.3323581349314913, + "velocityX": 1.3976496968718422, + "velocityY": -3.316494703420945, + "moduleForcesX": [ + -0.18752199200687655, + 0.29726456898098386, + -0.42813202875105644, + 0.056652803776190815 + ], + "moduleForcesY": [ + 0.3351201739214086, + 0.0945092713432499, + -0.14966537361577648, + -0.39027671849706824 + ], + "timestamp": 1.492522299375836 + }, + { + "x": 7.66274069366142, + "y": 1.7327138065642804, + "heading": -0.4713836979923882, + "angularVelocity": -0.3173039525498645, + "velocityX": 1.3976264353445673, + "velocityY": -3.31650451123826, + "moduleForcesX": [ + -0.38513943231496744, + 1.1506838246494877, + -1.167958848854984, + 0.3678620809228331 + ], + "moduleForcesY": [ + 1.1556791076131048, + 0.372858786310278, + -0.38014271837654506, + -1.1629635821547937 + ], + "timestamp": 1.5261835554722119 + }, + { + "x": 7.709786451544846, + "y": 1.6210760549655672, + "heading": -0.4811137999731988, + "angularVelocity": -0.2890593848593241, + "velocityX": 1.3976233610455515, + "velocityY": -3.316505815427596, + "moduleForcesX": [ + -0.6863332214888993, + 2.1807406241952716, + -2.1830233420023566, + 0.684049414792396 + ], + "moduleForcesY": [ + 2.1813976195467193, + 0.684707068719898, + -0.6856755672731992, + -2.1823663471805763 + ], + "timestamp": 1.5598448115685877 + }, + { + "x": 7.756832195620047, + "y": 1.509438297122228, + "heading": -0.4892697456121771, + "angularVelocity": -0.24229475025016645, + "velocityX": 1.3976229508694282, + "velocityY": -3.3165060007246354, + "moduleForcesX": [ + -1.1051250373515424, + 3.6215302605569124, + -3.6218346930765346, + 1.104820199494974 + ], + "moduleForcesY": [ + 3.6216136501794054, + 1.1049038261350463, + -1.105041410701953, + -3.6217513034694577 + ], + "timestamp": 1.5935060676649635 + }, + { + "x": 7.803877937871345, + "y": 1.3978005380942633, + "heading": -0.4949349438831712, + "angularVelocity": -0.1683002635069224, + "velocityX": 1.3976228967086712, + "velocityY": -3.316506036257727, + "moduleForcesX": [ + -1.7158978202212851, + 5.740288443150473, + -5.740328593932055, + 1.7158575213059033 + ], + "moduleForcesY": [ + 5.74029532343032, + 1.71586447567438, + -1.7158908658523535, + -5.740321713652588 + ], + "timestamp": 1.6271673237613393 + }, + { + "x": 7.850923118532921, + "y": 1.2861641128832204, + "heading": -0.49673867546557327, + "angularVelocity": -0.05358479722912683, + "velocityX": 1.3976062131749716, + "velocityY": -3.3164664111470983, + "moduleForcesX": [ + -2.6502956852340733, + 8.897918932684284, + -8.910330702155772, + 2.6379259467729037 + ], + "moduleForcesY": [ + 8.918781163905544, + 2.658883709327438, + -2.6293381194563694, + -8.889468120403713 + ], + "timestamp": 1.6608285798577151 + }, + { + "x": 7.893780351173055, + "y": 1.1844655258932626, + "heading": -0.4970882184475542, + "angularVelocity": -0.010384133645522587, + "velocityX": 1.2731917227021947, + "velocityY": -3.0212356516915326, + "moduleForcesX": [ + -46.1877502888382, + -40.964460211623845, + -51.37964809444377, + -46.27183696025206 + ], + "moduleForcesY": [ + 111.14480985941903, + 111.65070404143555, + 107.59168232285188, + 108.14480420177777 + ], + "timestamp": 1.694489835954091 + }, + { + "x": 7.931314316369594, + "y": 1.0953988507451056, + "heading": -0.49735697141239826, + "angularVelocity": -0.007984044447854154, + "velocityX": 1.1150494530358366, + "velocityY": -2.6459700399992125, + "moduleForcesX": [ + -58.688034072994895, + -58.37272515138507, + -59.07815214581606, + -58.76359674414555 + ], + "moduleForcesY": [ + 139.3738005581902, + 139.5017056199399, + 139.20532350661, + 139.33391832390953 + ], + "timestamp": 1.7281510920504668 + }, + { + "x": 7.963499650081917, + "y": 1.0190242752510106, + "heading": -0.4975727610432389, + "angularVelocity": -0.006410623246583434, + "velocityX": 0.9561536747314809, + "velocityY": -2.2689163852815217, + "moduleForcesX": [ + -58.98012184160624, + -58.77309399577248, + -59.23762173674359, + -59.03092264988544 + ], + "moduleForcesY": [ + 140.02979878943435, + 140.11532437019, + 139.9198664208089, + 140.0056947073822 + ], + "timestamp": 1.7618123481468426 + }, + { + "x": 7.990327656827904, + "y": 0.9553624333756724, + "heading": -0.49774508156219915, + "angularVelocity": -0.005119253971595125, + "velocityX": 0.7969995732475965, + "velocityY": -1.891249740967507, + "moduleForcesX": [ + -59.08037881986922, + -58.91039328151263, + -59.292230459210764, + -59.12246761587375 + ], + "moduleForcesY": [ + 140.25496552524055, + 140.32562429619193, + 140.16487865291504, + 140.23574273285502 + ], + "timestamp": 1.7954736042432184 + }, + { + "x": 8.011793943743402, + "y": 0.9044237491972269, + "heading": -0.49787871813067874, + "angularVelocity": -0.003970041049477883, + "velocityX": 0.6377149698584023, + "velocityY": -1.5132734213458825, + "moduleForcesX": [ + -59.131048703804076, + -58.9797530479407, + -59.31981652372701, + -59.16869776482143 + ], + "moduleForcesY": [ + 140.36877110186467, + 140.43185709403716, + 140.28866081485512, + 140.35190994425992 + ], + "timestamp": 1.8291348603395943 + }, + { + "x": 8.027895860916889, + "y": 0.8662145108411023, + "heading": -0.4979765532361656, + "angularVelocity": -0.002906460329545654, + "velocityX": 0.4783516434705029, + "velocityY": -1.135110295495168, + "moduleForcesX": [ + -59.161621888783436, + -59.02159034599234, + -59.336458840886316, + -59.19657910173011 + ], + "moduleForcesY": [ + 140.43743957863458, + 140.49593833884202, + 140.36333092992325, + 140.42196969506332 + ], + "timestamp": 1.86279611643597 + }, + { + "x": 8.038631635940288, + "y": 0.8407389241730154, + "heading": -0.49804051307064545, + "angularVelocity": -0.001900102429235874, + "velocityX": 0.3189356626626439, + "velocityY": -0.7568222230113711, + "moduleForcesX": [ + -59.1820756711995, + -59.04957186912006, + -59.34759128136666, + -59.21522355879311 + ], + "moduleForcesY": [ + 140.4833755419351, + 140.53879895270924, + 140.41327463038448, + 140.4688235508292 + ], + "timestamp": 1.896457372532346 }, { "x": 8.044, "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -0.0008768944788167842, - "velocityX": 0.28464966846641404, - "velocityY": -0.4930167195931123, + "heading": -0.49807197564898315, + "angularVelocity": -0.000934682242625162, + "velocityX": 0.15948198863083735, + "velocityY": -0.3784447061575567, "moduleForcesX": [ - -76.2578220333313, - -76.17531765009585, - -76.3582259612893, - -76.27578265511968 + -59.19672196455731, + -59.06960174170312, + -59.35556129606742, + -59.22856641171415 ], "moduleForcesY": [ - 132.10033823335075, - 132.14778878590397, - 132.04220996337114, - 132.08970857426687 + 140.51626171385033, + 140.56948097871137, + 140.44902731229965, + 140.5023621961445 ], - "timestamp": 1.9103708818930694 + "timestamp": 1.9301186286287217 }, { "x": 8.044, "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -4.621883630347063e-20, - "velocityX": -1.5483402467354467e-20, - "velocityY": -3.98677639047285e-21, + "heading": -0.49807197564898315, + "angularVelocity": 1.9975515941947043e-20, + "velocityX": 6.315422113673227e-19, + "velocityY": -1.5061167880033918e-18, "moduleForcesX": [ - -76.27168812142772, - -76.19209191675314, - -76.36857548707384, - -76.28903615724394 + -59.20772840892084, + -59.08464716263621, + -59.361548843257644, + -59.23858514309133 ], "moduleForcesY": [ - 132.12362256773704, - 132.16942490328464, - 132.06755045247886, - 132.11339755118567 + 140.5409657979895, + 140.5925288366581, + 140.47588410072586, + 140.5275555995003 ], - "timestamp": 1.9570161968768534 + "timestamp": 1.9637798847250976 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot2 to f5.traj b/src/main/deploy/choreo/shoot2 to f5.traj index 1c1ad2f..60c2e91 100644 --- a/src/main/deploy/choreo/shoot2 to f5.traj +++ b/src/main/deploy/choreo/shoot2 to f5.traj @@ -1,12 +1,12 @@ { "samples": [ { - "x": 4.199999999999999, - "y": 5.200000000000001, - "heading": -1.730671985044625e-19, - "angularVelocity": -3.1257420401416553e-19, - "velocityX": 1.5839118525897e-16, - "velocityY": -9.052759830704213e-17, + "x": 4.2, + "y": 5.2, + "heading": -4.563103611719638e-19, + "angularVelocity": -1.9003873022833743e-19, + "velocityX": -1.7937684949387004e-19, + "velocityY": -1.3766477270420217e-19, "moduleForcesX": [ 0, 0, @@ -22,1264 +22,1684 @@ "timestamp": 0 }, { - "x": 4.204673708283212, - "y": 5.197191854831228, - "heading": -0.000009132666443966697, - "angularVelocity": -0.00043184204250149217, - "velocityX": 0.22099829698854134, - "velocityY": -0.13278434647371265, + "x": 4.204666979103224, + "y": 5.197181695256238, + "heading": -0.00017807810308776792, + "angularVelocity": -0.008420688498324893, + "velocityX": 0.22068506220033676, + "velocityY": -0.13326773999204286, "moduleForcesX": [ - 130.6113549080166, - 130.5694042468323, - 130.68052281350708, - 130.63867216064054 + 130.1871288179718, + 129.34526682626398, + 131.52129180403628, + 130.71741545554858 ], "moduleForcesY": [ - -78.50770043988908, - -78.57693109307631, - -78.39219983246139, - -78.46140203718417 + -79.21663116495644, + -80.57417865438568, + -76.97516968452116, + -78.32220536849587 ], - "timestamp": 0.02114816424787427 + "timestamp": 0.021147689185176687 }, { - "x": 4.214020392635984, - "y": 5.191575997536523, - "heading": -0.000027544020916812298, - "angularVelocity": -0.0008705887781574747, - "velocityX": 0.4419619615290967, - "velocityY": -0.2655482209414238, + "x": 4.214000200829075, + "y": 5.191545523927977, + "heading": -0.0005363763197332697, + "angularVelocity": -0.01694266515400878, + "velocityX": 0.44133529882915806, + "velocityY": -0.26651476096446314, "moduleForcesX": [ - 130.5906829917925, - 130.5480502653107, - 130.66093495522358, - 130.61840541026024 + 130.1635138385375, + 129.3115611507682, + 131.51337232756163, + 130.70031663443115 ], "moduleForcesY": [ - -78.49597674009404, - -78.5662905305081, - -78.37864016815944, - -78.44892458546369 + -79.21044437400388, + -80.5831591524319, + -76.9418434428814, + -78.30375141699822 ], - "timestamp": 0.04229632849574854 + "timestamp": 0.042295378370353374 }, { - "x": 4.228039195599913, - "y": 5.183152934152155, - "heading": -0.000055404916159008067, - "angularVelocity": -0.0013174143587887511, - "velocityX": 0.6628851201689815, - "velocityY": -0.3982881515108773, + "x": 4.227998803802669, + "y": 5.183091998480309, + "heading": -0.0010774006101751108, + "angularVelocity": -0.025583139874264263, + "velocityX": 0.6619448040259116, + "velocityY": -0.3997375492884055, "moduleForcesX": [ - 130.5665054245857, - 130.52307465432185, - 130.6380252077351, - 130.59470139324483 + 130.13575939978315, + 129.27216969882454, + 131.50407076031334, + 130.68046176896232 ], "moduleForcesY": [ - -78.48226582908667, - -78.55384525624592, - -78.36278105686912, - -78.43433000804407 + -79.20345261389262, + -80.59360326176376, + -76.90293502412575, + -78.28191364164631 ], - "timestamp": 0.06344449274362281 + "timestamp": 0.06344306755553006 }, { - "x": 4.246729102868844, - "y": 5.171923265016958, - "heading": -0.0000929179576953852, - "angularVelocity": -0.0017738202283971677, - "velocityX": 0.8837602675264831, - "velocityY": -0.5309997016249781, + "x": 4.246661767051926, + "y": 5.171821726326489, + "heading": -0.0018041222795569139, + "angularVelocity": -0.03436411718643911, + "velocityX": 0.8825060310861573, + "velocityY": -0.5329316151132734, "moduleForcesX": [ - 130.5378484464332, - 130.49347104408136, - 130.610870686388, - 130.56660480092106 + 130.10276218203998, + 129.2255006852705, + 131.49301371910502, + 130.65703985972974 ], "moduleForcesY": [ - -78.46601550262977, - -78.53909389759531, - -78.34398353405587, - -78.41703011691759 + -79.19536233472076, + -80.60593418657231, + -76.85687586374281, + -78.25582284766598 ], - "timestamp": 0.08459265699149708 + "timestamp": 0.08459075674070675 }, { - "x": 4.2700888917460045, - "y": 5.157887713497145, - "heading": -0.0001403272617748485, - "angularVelocity": -0.002241769239341299, - "velocityX": 1.1045776004916497, - "velocityY": -0.6636770764923502, + "x": 4.269987861154606, + "y": 5.157735438899701, + "heading": -0.0027201209083165803, + "angularVelocity": -0.043314360294349714, + "velocityX": 1.1030091230561865, + "velocityY": -0.666091094094158, "moduleForcesX": [ - 130.50334109656245, - 130.45782243249553, - 130.57817203162475, - 130.532770502573 + 130.062970692219, + 129.16931172343718, + 131.47967578872218, + 130.62890802271986 ], "moduleForcesY": [ - -78.44644832127744, - -78.52133056334544, - -78.3213479137763, - -78.3961966942172 + -79.18576021784385, + -80.62074842271907, + -76.80145715818087, + -78.2242549107933 ], - "timestamp": 0.10574082123937135 + "timestamp": 0.10573844592588344 }, { - "x": 4.298117060832159, - "y": 5.141047166056526, - "heading": -0.0001979326660304188, - "angularVelocity": -0.0027238962011234156, - "velocityX": 1.325323974469269, - "velocityY": -0.7963125060952544, + "x": 4.297975577187521, + "y": 5.140834033919877, + "heading": -0.0038297924739780402, + "angularVelocity": -0.052472473750904, + "velocityX": 1.3234408633426955, + "velocityY": -0.7992081230345436, "moduleForcesX": [ - 130.46098978267332, - 130.41406805688197, - 130.5380397131704, - 130.49124220533366 + 130.0141319259499, + 129.10033991290754, + 131.46329324439367, + 130.59440260923404 ], "moduleForcesY": [ - -78.42243378084926, - -78.49952874774301, - -78.2935657768092, - -78.37062519785722 + -79.17404544948728, + -80.63891426089039, + -76.73346650970329, + -78.18542881799303 ], - "timestamp": 0.12688898548724561 + "timestamp": 0.12688613511106012 }, { - "x": 4.3308117247953595, - "y": 5.12140273687129, - "heading": -0.00026611125592119914, - "angularVelocity": -0.003223853810269637, - "velocityX": 1.5459811913454422, - "velocityY": -0.9288952331555151, + "x": 4.330623019278909, + "y": 5.1211186393230665, + "heading": -0.005138664551136733, + "angularVelocity": -0.06189196681007287, + "velocityX": 1.5437829544779047, + "velocityY": -0.9322718157859456, "moduleForcesX": [ - 130.40777973586341, - 130.35909117747636, - 130.48761620383854, - 130.43906105539295 + 129.95284434423473, + 129.0136473824616, + 131.44271143160657, + 130.55100484791367 ], "moduleForcesY": [ - -78.39226231975306, - -78.4721360571692, - -78.25865826566461, - -78.33849374612313 + -79.15931023889706, + -80.66174590390789, + -76.64804571129547, + -78.1366491247632 ], - "timestamp": 0.1480371497351199 + "timestamp": 0.1480338242962368 }, { - "x": 4.368170444275252, - "y": 5.0989558687098775, - "heading": -0.0003453516023505009, - "angularVelocity": -0.0037469137037363107, - "velocityX": 1.7665230306090716, - "velocityY": -1.0614097581268722, + "x": 4.36792773403565, + "y": 5.098590714749617, + "heading": -0.006653897488073601, + "angularVelocity": -0.07165004760893495, + "velocityX": 1.7640090333651195, + "velocityY": -1.065266487345482, "moduleForcesX": [ - 130.33892556099678, - 130.28794377779738, - 130.42236541930413, - 130.37152942436987 + 129.8737192680789, + 128.90138961027466, + 131.4160974512311, + 130.494711074527 ], "moduleForcesY": [ - -78.35322034570375, - -78.4366881339148, - -78.21348389495462, - -78.2969097655963 + -79.14011570539454, + -80.69133062574485, + -76.5374836731909, + -78.0736324784727 ], - "timestamp": 0.16918531398299416 + "timestamp": 0.16918151348141347 }, { - "x": 4.410189937296211, - "y": 5.073708501466628, - "heading": -0.0004363116991213347, - "angularVelocity": -0.004301087115865709, - "velocityX": 1.9869097265734048, - "velocityY": -1.1938325744497251, + "x": 4.4098864225662755, + "y": 5.073252222885594, + "heading": -0.008385132146664948, + "angularVelocity": -0.08186401092961217, + "velocityX": 1.9840791191545961, + "velocityY": -1.1981683503083898, "moduleForcesX": [ - 130.24634863562716, - 130.1922710919657, - 130.33462892097242, - 130.28071466769214 + 129.7676823540196, + 128.75031083280626, + 131.3803553369797, + 130.41875057497685 ], "moduleForcesY": [ - -78.30072683407086, - -78.38902409125534, - -78.1527384665495, - -78.24098861303186 + -79.11403796103053, + -80.73119226804772, + -76.38876610774484, + -77.98913650566332 ], - "timestamp": 0.19033347823086844 + "timestamp": 0.19032920266659015 }, { - "x": 4.456865558244446, - "y": 5.045663381313713, - "heading": -0.0005399253473558289, - "angularVelocity": -0.004899415713815529, - "velocityX": 2.2070767096616857, - "velocityY": -1.3261255129419585, + "x": 4.456494413140236, + "y": 5.045105943235013, + "heading": -0.010346045521282677, + "angularVelocity": -0.09272471131229865, + "velocityX": 2.2039282951973744, + "velocityY": -1.330938780325654, "moduleForcesX": [ - 130.11525824916671, - 130.05677301034828, - 130.21038333545303, - 130.1520878510894 + 129.61817524143956, + 128.53611435858616, + 131.3298087689241, + 130.31069839986205 ], "moduleForcesY": [ - -78.22639456550651, - -78.32152415561332, - -78.06670912575701, - -78.16178371696331 + -79.07665274538529, + -80.7877761263168, + -76.17808097196017, + -77.86987286321218 ], - "timestamp": 0.2114816424787427 + "timestamp": 0.21147689185176682 }, { - "x": 4.508190219391263, - "y": 5.014824697762597, - "heading": -0.0006576208417740201, - "angularVelocity": -0.005565281839055739, - "velocityX": 2.4269085963661925, - "velocityY": -1.458220365525218, + "x": 4.507744580934642, + "y": 5.014156114901355, + "heading": -0.012557545240757804, + "angularVelocity": -0.10457406008337129, + "velocityX": 2.4234405634705096, + "velocityY": -1.463508757971335, "moduleForcesX": [ - 129.91536219555564, - 129.85010334775782, - 130.02090153473856, - 129.9558765699614 + 129.3914464085884, + 128.20897176176393, + 131.25279680885498, + 130.14502249016374 ], "moduleForcesY": [ - -78.11304547472248, - -78.21857610207789, - -77.93549937599485, - -78.04096176069989 + -79.0189377294792, + -80.87424343357573, + -75.85672443165984, + -77.68854265570891 ], - "timestamp": 0.23262980672661698 + "timestamp": 0.2326245810369435 }, { - "x": 4.564151794784664, - "y": 4.981199619057344, - "heading": -0.0007918525597400885, - "angularVelocity": -0.006347204248681032, - "velocityX": 2.6461670382521083, - "velocityY": -1.5899762301736629, + "x": 4.563624734139857, + "y": 4.980409992064349, + "heading": -0.015055521149401008, + "angularVelocity": -0.11812051363012, + "velocityX": 2.6423763237335667, + "velocityY": -1.5957357109600758, "moduleForcesX": [ - 129.5733886397262, - 129.49640245183312, - 129.69666985439898, - 129.62000351509624 + 129.00646244166458, + 127.64815248223073, + 131.12093469416823, + 129.85963582933337 ], "moduleForcesY": [ - -77.91912501711411, - -78.04238737657067, - -77.7109714094435, - -77.83413942942806 + -78.91920521303138, + -81.02220146436946, + -75.30721235921105, + -77.37880760777146 ], - "timestamp": 0.25377797097449123 + "timestamp": 0.2537722702221202 }, { - "x": 4.624724801386959, - "y": 4.944803210508792, - "heading": -0.0009478120219451947, - "angularVelocity": -0.007374609936681033, - "velocityX": 2.8642205406747117, - "velocityY": -1.7210197694812848, + "x": 4.62410925781352, + "y": 4.943882817271881, + "heading": -0.017915707999014333, + "angularVelocity": -0.13524819778503983, + "velocityX": 2.8601008433791937, + "velocityY": -1.7272418973247796, "moduleForcesX": [ - 128.8552636640432, - 128.75311707346881, - 129.0154419305616, - 128.9138378750632 + 128.20787039023384, + 126.4670807079848, + 130.84226510666718, + 129.25420335579074 ], "moduleForcesY": [ - -77.51185303819862, - -77.67202880725183, - -77.23929934969712, - -77.39931160306018 + -78.70887047737709, + -81.33084468872896, + -74.15655111624388, + -76.72703416241484 ], - "timestamp": 0.2749261352223655 + "timestamp": 0.27491995940729685 }, { - "x": 4.689821840704958, - "y": 4.905687147338048, - "heading": -0.001143567426368776, - "angularVelocity": -0.009256378101605931, - "velocityX": 3.0781413721656525, - "velocityY": -1.8496197868033284, + "x": 4.68911032017576, + "y": 4.904626876262551, + "heading": -0.02139953466704495, + "angularVelocity": -0.16473793602341083, + "velocityX": 3.0736721063568004, + "velocityY": -1.8562756746681615, "moduleForcesX": [ - 126.39689299471078, - 126.20357769557272, - 126.67901939081608, - 126.48741475202293 + 125.5610542910064, + 122.4035970716802, + 129.85871077124702, + 127.1284108647631 ], "moduleForcesY": [ - -76.11684223440086, - -76.3993131582889, - -75.6236355318941, - -75.90555271549324 + -77.99759374013497, + -82.3445203574127, + -70.2730310315089, + -74.46257805269641 ], - "timestamp": 0.2960742994702397 + "timestamp": 0.29606764859247353 }, { - "x": 4.755037118620865, - "y": 4.866475927671285, - "heading": -0.0022424579161950307, - "angularVelocity": -0.05196150724732792, - "velocityX": 3.0837323298213506, - "velocityY": -1.8541193061808519, + "x": 4.754240320023069, + "y": 4.86527762096546, + "heading": -0.03556470155999461, + "angularVelocity": -0.6698210272013372, + "velocityX": 3.0797691074854976, + "velocityY": -1.8606881797920152, "moduleForcesX": [ - 7.180630984335366, - -0.5946566947197884, - 7.21077872255547, - -0.5782117001104736 + 47.50631815547017, + -43.61025684390323, + 51.6682034964551, + -41.148975564574776 ], "moduleForcesY": [ - -6.55339428558665, - -6.550385961802465, - 1.2227399776646763, - 1.2429552690557522 + -49.556469170215145, + -47.69404398779361, + 41.10496851633419, + 45.712950599799875 ], - "timestamp": 0.31722246371811397 + "timestamp": 0.3172153377776502 }, { - "x": 4.82022523787331, - "y": 4.827219463472361, - "heading": -0.004059667380785461, - "angularVelocity": -0.08592752748166524, - "velocityX": 3.0824481412236775, - "velocityY": -1.8562587091694125, + "x": 4.819352859995755, + "y": 4.825899355320418, + "heading": -0.05754487540562608, + "angularVelocity": -1.0393652778402995, + "velocityX": 3.078943491302265, + "velocityY": -1.8620599773533908, "moduleForcesX": [ - 2.3230441566358278, - -3.8657539746866747, - 2.3497571909130053, - -3.8432177530042897 + 31.114533746154628, + -35.96269616022546, + 35.15431278059342, + -32.258174949452446 ], "moduleForcesY": [ - -4.373136456586327, - -4.346266942239965, - 1.8184324705479258, - 1.842841618591864 + -36.40756556990517, + -32.45594681670552, + 30.91045513850034, + 34.709682642583594 ], - "timestamp": 0.3383706279659882 + "timestamp": 0.3383630269628269 }, { - "x": 4.885333810285495, - "y": 4.78783120940797, - "heading": -0.006459676107579388, - "angularVelocity": -0.11348544009153483, - "velocityX": 3.078686717081628, - "velocityY": -1.862490473413949, + "x": 4.884413369809319, + "y": 4.7864352286169884, + "heading": -0.08432725407104823, + "angularVelocity": -1.2664446895784272, + "velocityX": 3.0764831676974977, + "velocityY": -1.866120045436224, "moduleForcesX": [ - 0.27251743330560585, - -4.7479655851420794, - 0.30546455190512517, - -4.723043941282925 + 17.33687257757476, + -23.72078641777426, + 21.003989854236497, + -20.43707943040043 ], "moduleForcesY": [ - -6.212911700365642, - -6.174611538738685, - -1.1898347826418583, - -1.1562239844618225 + -24.80274367670931, + -21.230479592663457, + 16.50640182751272, + 19.92750293646319 ], - "timestamp": 0.35951879221386246 + "timestamp": 0.35951071614800356 }, { - "x": 4.950206249880245, - "y": 4.74805525555127, - "heading": -0.009343806615771314, - "angularVelocity": -0.13637734577765406, - "velocityX": 3.0675210715885504, - "velocityY": -1.880823000538438, + "x": 4.949316155112273, + "y": 4.746712267696363, + "heading": -0.1129950929106626, + "angularVelocity": -1.3556014838589967, + "velocityX": 3.0690249291193297, + "velocityY": -1.8783594071665681, "moduleForcesX": [ - -4.517700347426744, - -8.695150907646779, - -4.496039053416941, - -8.689726049423163 + 2.7377655958615583, + -13.345928362701587, + 4.619934719884276, + -11.64546827054944 ], "moduleForcesY": [ - -12.949610569296242, - -12.88057132643416, - -8.786350832221437, - -8.726536934297721 + -16.245120476333994, + -14.34223535670772, + -0.09704427495387212, + 1.7465771071653637 ], - "timestamp": 0.3806669564617367 + "timestamp": 0.38065840533318024 }, { - "x": 5.01439999153878, - "y": 4.7071931150759365, - "heading": -0.012615717928013477, - "angularVelocity": -0.1547137271062802, - "velocityX": 3.0354285430668346, - "velocityY": -1.932183799764877, + "x": 5.013755644571648, + "y": 4.706242123579325, + "heading": -0.14080140929753424, + "angularVelocity": -1.3148631107346824, + "velocityX": 3.0471172947027356, + "velocityY": -1.9136910781506826, "moduleForcesX": [ - -17.202722072769408, - -20.613221292196997, - -17.31064989402535, - -20.74885423981035 + -16.265109907172622, + -8.74930923161417, + -17.09397889423828, + -9.688359108530635 ], "moduleForcesY": [ - -32.09355021289428, - -31.88099622006398, - -28.828004397205017, - -28.628318120073242 + -16.668681209667106, + -17.856440372171583, + -23.89894506945568, + -25.111469252269217 ], - "timestamp": 0.40181512070961095 + "timestamp": 0.4018060945183569 }, { - "x": 5.076982498168946, - "y": 4.663970470428466, - "heading": -0.016117434125189685, - "angularVelocity": -0.16558014946994787, - "velocityX": 2.959240631727682, - "velocityY": -2.0438012558456413, + "x": 5.076982498168945, + "y": 4.663970470428467, + "heading": -0.16585060450304712, + "angularVelocity": -1.1844885266741543, + "velocityX": 2.989776000771621, + "velocityY": -1.9988781176330481, "moduleForcesX": [ - -43.708387981146146, - -45.88660016928932, - -44.17021209772122, - -46.36369993950287 + -46.8396950483597, + -20.12181290139014, + -46.38195915620131, + -22.229959921971602 ], "moduleForcesY": [ - -67.1271230312215, - -66.59453026410029, - -65.35322654491614, - -64.81907987303289 + -36.05106921911469, + -43.225470012132476, + -57.57383585220262, + -64.559430821199 ], - "timestamp": 0.4229632849574852 + "timestamp": 0.4229537837035336 }, { - "x": 5.160465598125471, - "y": 4.59518582651235, - "heading": -0.021299787276894855, - "angularVelocity": -0.17241561529766827, - "velocityX": 2.777462211594718, - "velocityY": -2.288448192669597, + "x": 5.1374092194039305, + "y": 4.619211694588991, + "heading": -0.188127967504992, + "angularVelocity": -1.0659819529000163, + "velocityX": 2.891446097269001, + "velocityY": -2.1417277832484376, "moduleForcesX": [ - -74.78749780987694, - -75.84978400406554, - -75.34262388353049, - -76.40626172099292 + -75.16725884773186, + -46.71656672795253, + -69.2629608228196, + -44.10974408726768 ], "moduleForcesY": [ - -102.3817660028254, - -101.79158502456613, - -101.69498492437498, - -101.09883618424197 + -70.38180813162369, + -84.42150338864307, + -87.7635994943025, + -99.20416285650131 ], - "timestamp": 0.45302061556966966 + "timestamp": 0.44385222662870605 }, { - "x": 5.240827197536756, - "y": 4.522778590821015, - "heading": -0.027020956069788445, - "angularVelocity": -0.19034187921446397, - "velocityX": 2.6736106558466814, - "velocityY": -2.4089709304447906, + "x": 5.196579575930679, + "y": 4.572804525176901, + "heading": -0.2066526482341198, + "angularVelocity": -0.8864143991710767, + "velocityX": 2.8313284744998786, + "velocityY": -2.220604165499928, "moduleForcesX": [ - -41.82465368506901, - -44.19046816115776, - -42.17995489334236, - -44.56070967404191 + -53.2417883029437, + -16.066823287059474, + -53.457576058743626, + -21.066592105170084 ], "moduleForcesY": [ - -51.47846103925625, - -50.98825767410318, - -49.252603786493275, - -48.76877028896119 + -26.513068256256098, + -37.8279421128232, + -56.71620621711971, + -67.65632186714231 ], - "timestamp": 0.4830779461818541 + "timestamp": 0.4647506695538785 }, { - "x": 5.320500081163206, - "y": 4.449614194082828, - "heading": -0.03327204369740652, - "angularVelocity": -0.20797214856744692, - "velocityX": 2.6506972510000297, - "velocityY": -2.4341614923234003, + "x": 5.255231902230934, + "y": 4.525744297397298, + "heading": -0.22148715223581195, + "angularVelocity": -0.7098377642204037, + "velocityX": 2.8065404925258464, + "velocityY": -2.25185330543958, "moduleForcesX": [ - -8.427151077073846, - -10.686860062230815, - -8.368842794204072, - -10.633313370721492 + -28.17298530792417, + 4.997578212660654, + -33.61720427932843, + -2.513199261124417 ], "moduleForcesY": [ - -11.652792986676726, - -11.556430563344584, - -9.393793754279233, - -9.301172731121282 + 0.8349084952629031, + -6.811360094681907, + -30.381578333414, + -38.40624808429158 ], - "timestamp": 0.5131352767940386 + "timestamp": 0.48564911247905096 }, { - "x": 5.400051102907325, - "y": 4.376317315841017, - "heading": -0.03989142652340981, - "angularVelocity": -0.2202252392739082, - "velocityX": 2.6466429361627473, - "velocityY": -2.4385691193836445, + "x": 5.3136988919936545, + "y": 4.478453995108253, + "heading": -0.23337444347438654, + "angularVelocity": -0.5688122929127986, + "velocityX": 2.797672054903706, + "velocityY": -2.262862475370591, "moduleForcesX": [ - -0.9322514839601066, - -2.5021501530416175, - -0.8697937061973879, - -2.4401075518138198 + -15.121826001226982, + 10.458631673014454, + -20.828408795317397, + 4.273664414186175 ], "moduleForcesY": [ - -2.649631103647892, - -2.5863889935660644, - -1.0794653740817501, - -1.0165479635987842 + 9.067280090907817, + 3.032410787815476, + -16.152391962783437, + -22.286988361775116 ], - "timestamp": 0.543192607406223 + "timestamp": 0.5065475554042235 }, { - "x": 5.479580849497246, - "y": 4.302997353920524, - "heading": -0.046763141333547524, - "angularVelocity": -0.2286202623513113, - "velocityX": 2.6459351170030887, - "velocityY": -2.439337107683092, + "x": 5.372102014023893, + "y": 4.431084833810635, + "heading": -0.24299301264648268, + "angularVelocity": -0.4602529100630004, + "velocityX": 2.7946159548502094, + "velocityY": -2.2666359148012347, "moduleForcesX": [ - 0.21816142417479056, - -0.857201827694486, - 0.268494764967261, - -0.8069028328222145 + -9.165602184078534, + 10.32091421361651, + -13.927829529585328, + 5.460728615967786 ], "moduleForcesY": [ - -0.8822471374115218, - -0.8319006067984248, - 0.19314414419575177, - 0.2434645042170598 + 9.865696944621504, + 5.051342680150189, + -9.55573642014746, + -14.389342863259175 ], - "timestamp": 0.5732499380184074 + "timestamp": 0.527445998329396 }, { - "x": 5.559106886174522, - "y": 4.229673368155452, - "heading": -0.05380842976519327, - "angularVelocity": -0.23439501406654378, - "velocityX": 2.6458116890855163, - "velocityY": -2.439470980017981, + "x": 5.430483406929476, + "y": 4.383688891331199, + "heading": -0.2508740295100018, + "angularVelocity": -0.37711024174084956, + "velocityX": 2.7935762063525216, + "velocityY": -2.267917406533186, "moduleForcesX": [ - 0.2984889272350908, - -0.44097719340419417, - 0.33831821316855004, - -0.40115077066979765 + -6.151134558701951, + 8.713605582065362, + -9.947622306492987, + 4.897529355001164 ], "moduleForcesY": [ - -0.44532213497355455, - -0.4054928600008283, - 0.2941464279509047, - 0.3339735835327076 + 8.563504940048885, + 4.757867047830837, + -6.289085891445833, + -10.098284210598763 ], - "timestamp": 0.6033072686305918 + "timestamp": 0.5483444412545685 }, { - "x": 5.638632276050356, - "y": 4.156348680939133, - "heading": -0.06097428423075602, - "angularVelocity": -0.23840621637431408, - "velocityX": 2.64579017020405, - "velocityY": -2.4394943171102996, + "x": 5.488857449883854, + "y": 4.336283894846937, + "heading": -0.257426057060711, + "angularVelocity": -0.3135174986083356, + "velocityX": 2.7932245078455717, + "velocityY": -2.2683506447818367, "moduleForcesX": [ - 0.2320935742638698, - -0.28133667358549985, - 0.2634385978595463, - -0.24999189334130956 + -4.389549093900768, + 6.954874027960114, + -7.373655438142301, + 3.9668838273878086 ], "moduleForcesY": [ - -0.2820929242389359, - -0.25074792730053325, - 0.23133753160397366, - 0.26268235373017074 + 6.9049924104726195, + 3.919171996191806, + -4.437110772555965, + -7.423585997313514 ], - "timestamp": 0.6333645992427762 + "timestamp": 0.569242884179741 }, { - "x": 5.7181575531705535, - "y": 4.083023871470378, - "heading": -0.06822559968592745, - "angularVelocity": -0.24124948248837214, - "velocityX": 2.645786418837762, - "velocityY": -2.4394983844526656, + "x": 5.547229011625333, + "y": 4.288875841976293, + "heading": -0.262963129629384, + "angularVelocity": -0.2649514410474846, + "velocityX": 2.793105780677541, + "velocityY": -2.2684968942616313, "moduleForcesX": [ - 0.16789402037833806, - -0.1958708535764448, - 0.1927506884882498, - -0.17101420699690273 + -3.231758529033143, + 5.418150168335915, + -5.559795856529077, + 3.089346767454664 ], "moduleForcesY": [ - -0.19600226835952247, - -0.17114560335014298, - 0.16776262383673626, - 0.19261927384436098 + 5.401468707089588, + 3.073099912384422, + -3.247992282290452, + -5.576481543801101 ], - "timestamp": 0.6634219298549606 + "timestamp": 0.5901413271049135 }, { - "x": 5.7976828106119624, - "y": 4.009699040686787, - "heading": -0.07553996501255193, - "angularVelocity": -0.24334713621107187, - "velocityX": 2.645785764148746, - "velocityY": -2.439499093569967, + "x": 5.605599728488257, + "y": 4.241466748081566, + "heading": -0.26772713848676233, + "angularVelocity": -0.22795999082017634, + "velocityX": 2.793065352855234, + "velocityY": -2.26854670773669, "moduleForcesX": [ - 0.12369265372573317, - -0.14453794696057606, - 0.1439934144274339, - -0.124237188322846 + -2.411579510069721, + 4.168080450921928, + -4.2163669015241725, + 2.363141476336499 ], "moduleForcesY": [ - -0.1445605830230021, - -0.12425982265200088, - 0.12367001939233042, - 0.14397077836810557 + 4.162423308530226, + 2.357570529717977, + -2.4171492968327293, + -4.2220244134214 ], - "timestamp": 0.693479260467145 + "timestamp": 0.611039770030086 }, { - "x": 5.87720806443643, - "y": 3.936374206001281, - "heading": -0.08290433407973492, - "angularVelocity": -0.24501074836624548, - "velocityX": 2.645785643771225, - "velocityY": -2.439499223381111, + "x": 5.663970131858567, + "y": 4.194057267702461, + "heading": -0.2719051124142363, + "angularVelocity": -0.19991795285578753, + "velocityX": 2.793050352091861, + "velocityY": -2.2685652011898916, "moduleForcesX": [ - 0.09741908042581654, - -0.11518554176100942, - 0.11508541861761402, - -0.09751920380934215 + -1.8054688057910326, + 3.176560187226163, + -3.1944888346270637, + 1.7875077856538297 ], "moduleForcesY": [ - -0.11518946503939066, - -0.09752312688857075, - 0.0974151573464743, - 0.11508149533931514 + 3.1744619067363504, + 1.7854278546166833, + -1.8075486154833995, + -3.1965871532582466 ], - "timestamp": 0.7235365910793294 + "timestamp": 0.6319382129552585 }, { - "x": 5.956733316477515, - "y": 3.8630493694024346, - "heading": -0.09031308650340458, - "angularVelocity": -0.2464873717250968, - "velocityX": 2.6457855844623372, - "velocityY": -2.439499287039256, + "x": 5.722340342091734, + "y": 4.1466475491955705, + "heading": -0.27564255313180885, + "angularVelocity": -0.17883823837759558, + "velocityX": 2.7930411103899693, + "velocityY": -2.2685765957131956, "moduleForcesX": [ - 0.08572951657716098, - -0.10285714870700775, - 0.1028078189509451, - -0.08577884642695495 + -1.3470246163789326, + 2.3941228076942003, + -2.4051726575972845, + 1.3359634843183217 ], "moduleForcesY": [ - -0.10285895747933335, - -0.08578065512239298, - 0.08572770788169852, - 0.10280601017863711 + 2.392831954765027, + 1.3346789882015602, + -1.3483090778236089, + -2.4064635212979715 ], - "timestamp": 0.7535939216915138 + "timestamp": 0.652836655880431 }, { - "x": 6.03625856152059, - "y": 3.7897245252345058, - "heading": -0.09776719192971461, - "angularVelocity": -0.24799625497309827, - "velocityX": 2.6457853516414014, - "velocityY": -2.4394995388630343, + "x": 5.780710225814653, + "y": 4.099237428470293, + "heading": -0.27905378548990334, + "angularVelocity": -0.1632290199948637, + "velocityX": 2.793025486728676, + "velocityY": -2.2685958420454218, "moduleForcesX": [ - 0.08674513739297163, - -0.10582615602850828, - 0.1056325088414637, - -0.08693878497036943 + -0.9966370229375255, + 1.7709396806966131, + -1.7896244325816457, + 0.977941809843271 ], "moduleForcesY": [ - -0.10583405893495398, - -0.08694668756146111, - 0.08673723480148822, - 0.10562460593529137 + 1.7687699206869232, + 0.9757778831762134, + -0.9988008762415364, + -1.7917942152008368 ], - "timestamp": 0.7836512523036983 + "timestamp": 0.6737350988056036 }, { - "x": 6.11578376690209, - "y": 3.7163996380760036, - "heading": -0.10527435475010422, - "angularVelocity": -0.24976146143019018, - "velocityX": 2.6457840321154866, - "velocityY": -2.43950096916163, + "x": 5.83907922039153, + "y": 4.051826212926766, + "heading": -0.28223007208892753, + "angularVelocity": -0.1519867585540666, + "velocityX": 2.7929829406833497, + "velocityY": -2.2686482295974977, "moduleForcesX": [ - 0.10011416408781977, - -0.12499816525036585, - 0.12390065921095698, - -0.10121167318813755 + -0.7324532214518408, + 1.2590241226166339, + -1.3099129208854023, + 0.6815496386364485 ], "moduleForcesY": [ - -0.12504423372175508, - -0.10125773921039682, - 0.10006809805071196, - 0.12385459074971743 + 1.2531335423185752, + 0.6756670684368524, + -0.7383353996851942, + -1.3158036208829536 ], - "timestamp": 0.8137085829158827 + "timestamp": 0.6946335417307761 }, { - "x": 6.1953087447808795, - "y": 3.6430745042083035, - "heading": -0.1128501618471629, - "angularVelocity": -0.25204523963906644, - "velocityX": 2.64577646313683, - "velocityY": -2.4395091770913226, + "x": 5.897445594088348, + "y": 4.004411770846841, + "heading": -0.28524607864196977, + "angularVelocity": -0.14431728544758862, + "velocityX": 2.79285753038225, + "velocityY": -2.2688026208309453, "moduleForcesX": [ - 0.12586383150035263, - -0.16513913729275234, - 0.15884370064490236, - -0.1321592978081659 + -0.5546888508267858, + 0.802708544825346, + -0.9527218969430205, + 0.40465520530607674 ], "moduleForcesY": [ - -0.16540487095782558, - -0.13242500763602497, - 0.125598121036691, - 0.1585779674070017 + 0.7853688690001464, + 0.38732530032628104, + -0.5720164309443548, + -0.9700622757854198 ], - "timestamp": 0.8437659135280671 + "timestamp": 0.7155319846559486 }, { - "x": 6.274832417591408, - "y": 3.569747954995063, - "heading": -0.12052040556675728, - "angularVelocity": -0.25518712285398487, - "velocityX": 2.645733043849278, - "velocityY": -2.4395562652919573, + "x": 5.955804168456194, + "y": 3.956987729489555, + "heading": -0.2881651555553472, + "angularVelocity": -0.1396791580994489, + "velocityX": 2.7924843289415655, + "velocityY": -2.2692619506193297, "moduleForcesX": [ - 0.15771475133497836, - -0.24226951663668175, - 0.20615595349119872, - -0.1938286393099587 + -0.511763343579639, + 0.30842579665995085, + -0.7548612157553136, + 0.0653058279711948 ], "moduleForcesY": [ - -0.24379545012562348, - -0.195354296818722, - 0.15618906489120846, - 0.20463003911891933 + 0.2569055429195831, + 0.013789703429975155, + -0.5632670109553215, + -0.8063852008221736 ], - "timestamp": 0.8738232441402515 + "timestamp": 0.7364304275811211 }, { - "x": 6.354348603985508, - "y": 3.4964132875567637, - "heading": -0.128324930326022, - "angularVelocity": -0.2596546200313926, - "velocityX": 2.6454839726126207, - "velocityY": -2.439826356673976, + "x": 6.01413950312956, + "y": 3.909535104421295, + "heading": -0.29104381434041826, + "angularVelocity": -0.13774513227507815, + "velocityX": 2.791372298992348, + "velocityY": -2.2706296941916735, "moduleForcesX": [ - 0.1438546460092021, - -0.4243333494304456, - 0.21717177870947632, - -0.351020015812135 + -0.7848280319881401, + -0.44310704671529383, + -0.8871657009156513, + -0.5454561652185629 ], "moduleForcesY": [ - -0.43307693401023006, - -0.35975956960657035, - 0.13511373163418927, - 0.20842907803548266 + -0.5960535113055898, + -0.6984262355050573, + -0.9377519894300923, + -1.0401258677231495 ], - "timestamp": 0.9038805747524359 + "timestamp": 0.7573288705062936 }, { - "x": 6.433821834398544, - "y": 3.4230320708341258, - "heading": -0.13632357018996996, - "angularVelocity": -0.2661127818418287, - "velocityX": 2.644054837690217, - "velocityY": -2.4413750398934724, + "x": 6.072405551728233, + "y": 3.861997430659612, + "heading": -0.29393569648604934, + "angularVelocity": -0.1383778760927563, + "velocityX": 2.7880569287995876, + "velocityY": -2.2746993128574515, "moduleForcesX": [ - -0.24036047395240137, - -1.060837898636791, - -0.12781333612895085, - -0.9483366673621806 + -1.9440491705845653, + -2.055767896328796, + -1.9102795731461146, + -2.022001948891487 ], "moduleForcesY": [ - -1.1105928034052845, - -0.9980035986869876, - -0.2900924165175457, - -0.177526680161928 + -2.5069278651242377, + -2.47307319963441, + -2.395254234056831, + -2.361399916000663 ], - "timestamp": 0.9339379053646203 + "timestamp": 0.7782273134314661 }, { - "x": 6.51304841856981, - "y": 3.3493846320722387, - "heading": -0.14460452607371518, - "angularVelocity": -0.27550536641428586, - "velocityX": 2.6358489778582705, - "velocityY": -2.4502321817010935, + "x": 6.130465188530942, + "y": 3.814207881826753, + "heading": -0.2968948988409619, + "angularVelocity": -0.14159917872867764, + "velocityX": 2.778180030473583, + "velocityY": -2.28675164958324, "moduleForcesX": [ - -2.902777128693355, - -4.094692598627172, - -2.730201197570769, - -3.9226760367579505 + -5.709084652744103, + -6.278133711221989, + -5.537078137116156, + -6.106407378075469 ], "moduleForcesY": [ - -4.366736363621871, - -4.191761183353399, - -3.1749746938151637, - -3.0002742816484957 + -7.580303571028901, + -7.404528671896907, + -7.013204217905603, + -6.8374532666610355 ], - "timestamp": 0.9639952359768047 + "timestamp": 0.7991257563566386 }, { - "x": 6.590890757037633, - "y": 3.2742756641379853, - "heading": -0.15327274532429216, - "angularVelocity": -0.2883895234217206, - "velocityX": 2.58979546361488, - "velocityY": -2.498856897947705, + "x": 6.187921726569742, + "y": 3.7656949674751443, + "heading": -0.29997357882616776, + "angularVelocity": -0.14731623768474775, + "velocityX": 2.74932148029105, + "velocityY": -2.3213650186909147, "moduleForcesX": [ - -18.43088002784548, - -20.0723159678245, - -18.22965457195893, - -19.87660427318394 + -16.89175530528398, + -17.91306420363074, + -16.608056906934966, + -17.63186123724144 ], "moduleForcesY": [ - -21.18602765547963, - -20.878811541106785, - -19.563316584039075, - -19.25846198658899 + -21.369775765198668, + -21.029020128468837, + -20.377576604765093, + -20.036900317177256 ], - "timestamp": 0.9940525665889891 + "timestamp": 0.8200241992818111 }, { - "x": 6.663692474365234, - "y": 3.194321393966675, - "heading": -0.16219856211454844, - "angularVelocity": -0.2969597302375868, - "velocityX": 2.422095237496305, - "velocityY": -2.6600589121829796, + "x": 6.243828773498535, + "y": 3.715458631515503, + "heading": -0.3031853071795858, + "angularVelocity": -0.15368266262313146, + "velocityX": 2.6751776258625823, + "velocityY": -2.4038315265647583, "moduleForcesX": [ - -69.04309927888647, - -70.1802267857613, - -69.3019482031423, - -70.44199046095767 + -43.818566861854926, + -45.02417863121083, + -43.66800356480994, + -44.88010894513957 ], "moduleForcesY": [ - -67.86166687091152, - -67.24772255439451, - -66.83239899214011, - -66.21578072132426 + -50.11842331014225, + -49.56552814503516, + -49.08691780029413, + -48.53212640099288 ], - "timestamp": 1.0241098972011735 + "timestamp": 0.8409226422069837 }, { - "x": 6.75727581878267, - "y": 3.054935838104552, - "heading": -0.17627569254564657, - "angularVelocity": -0.30179087516060216, - "velocityX": 2.0062753236841044, - "velocityY": -2.988200549413794, + "x": 6.300892363968111, + "y": 3.658116351715432, + "heading": -0.30674283671026537, + "angularVelocity": -0.1582417877978426, + "velocityX": 2.538234608089834, + "velocityY": -2.5506309346739435, "moduleForcesX": [ - -111.10742225888322, - -111.48079861621049, - -111.38230396187039, - -111.75474677579864 + -75.61700325128957, + -76.51392819630748, + -75.76775989561607, + -76.66811227586896 ], "moduleForcesY": [ - -88.34878550163027, - -87.93499261326687, - -87.93627680078788, - -87.52120499958227 + -82.22892098376002, + -81.60669461844142, + -81.63952766303406, + -81.01267063107204 ], - "timestamp": 1.0707552121849575 + "timestamp": 0.8634042482365135 }, { - "x": 6.8419068380495345, - "y": 2.9099397665608033, - "heading": -0.19166089828251734, - "angularVelocity": -0.3298338909753175, - "velocityX": 1.8143519728891964, - "velocityY": -3.1084809180547834, + "x": 6.356072473882626, + "y": 3.5989592047777608, + "heading": -0.3104816657779018, + "angularVelocity": -0.16630613768097485, + "velocityX": 2.4544558712573736, + "velocityY": -2.6313576912597734, "moduleForcesX": [ - -50.38797680823675, - -52.56276507928467, - -50.29423540381022, - -52.48131147060376 + -45.98383163498227, + -47.3633239371322, + -45.79628580483161, + -47.18385375138273 ], "moduleForcesY": [ - -33.81729604211525, - -33.016913327312, - -31.443348590548812, - -30.653256080837973 + -45.83987241316663, + -45.17942812737016, + -44.59125394926337, + -43.92901327905449 ], - "timestamp": 1.1174005271687415 + "timestamp": 0.8858858542660434 }, { - "x": 6.925892936635668, - "y": 2.764569180143577, - "heading": -0.2080261577493816, - "angularVelocity": -0.3508446555147825, - "velocityX": 1.8005259180972235, - "velocityY": -3.116509910325695, + "x": 6.4105587009138425, + "y": 3.5391623265205725, + "heading": -0.31440977028763245, + "angularVelocity": -0.17472526226867494, + "velocityX": 2.4235913999945997, + "velocityY": -2.659813457215855, "moduleForcesX": [ - -3.0347891107574947, - -4.732690146437991, - -2.677068460854431, - -4.375863288692762 + -16.67848671246475, + -18.057012912098166, + -16.26293022731706, + -17.64540106979152 ], "moduleForcesY": [ - -3.1812997713545834, - -2.821098213976949, - -1.481791403183291, - -1.122240082165069 + -16.743903418989802, + -16.264385427508312, + -15.378694463203868, + -14.899789705324505 ], - "timestamp": 1.1640458421525255 + "timestamp": 0.9083674602955732 }, { - "x": 7.009840604895083, - "y": 2.6191763979249116, - "heading": -0.22491556361074883, - "angularVelocity": -0.36208150523238425, - "velocityX": 1.7997020341402077, - "velocityY": -3.116985752357137, + "x": 6.46483075655121, + "y": 3.479170994876339, + "heading": -0.31848880184366885, + "angularVelocity": -0.1814386192284724, + "velocityX": 2.4140648833576313, + "velocityY": -2.668462900979999, "moduleForcesX": [ - 0.12824668601976072, - -0.7768999519440589, - 0.33533930926999655, - -0.5698229214031244 + -4.929174931072198, + -6.022455887256941, + -4.570825735696016, + -5.664901289661257 ], "moduleForcesY": [ - -0.683641547103973, - -0.47654646957801333, - 0.22151971113144, - 0.428604184847818 + -5.536939970696897, + -5.173981283305023, + -4.444297345904226, + -4.081493743469679 ], - "timestamp": 1.2106911571363095 + "timestamp": 0.9308490663251031 }, { - "x": 7.093785988313307, - "y": 2.4737822965521468, - "heading": -0.24206528003655145, - "angularVelocity": -0.3676621420986139, - "velocityX": 1.799653050846274, - "velocityY": -3.117014032884302, + "x": 6.5190383595683645, + "y": 3.4191214179231317, + "heading": -0.3226850323911022, + "angularVelocity": -0.18665172505565547, + "velocityX": 2.4111979787357956, + "velocityY": -2.671053699381748, "moduleForcesX": [ - 0.1554547855162892, - -0.29224896076330903, - 0.26599601562483693, - -0.1817079644660672 + -1.3118461384134241, + -2.1594698525002705, + -1.0285137358105447, + -1.8762819666975306 ], "moduleForcesY": [ - -0.28670113941046854, - -0.17615994368312685, - 0.161002800094027, - 0.2715438482326346 + -2.006128815980356, + -1.7225095195737818, + -1.1584967199325906, + -0.8749052505891863 ], - "timestamp": 1.2573364721200935 + "timestamp": 0.953330672354633 }, { - "x": 7.177731236209712, - "y": 2.328388116954171, - "heading": -0.2593079170201019, - "angularVelocity": -0.3696542083496428, - "velocityX": 1.799650145476885, - "velocityY": -3.1170157099061724, + "x": 6.57322663171484, + "y": 3.359054396394769, + "heading": -0.32697379158161044, + "angularVelocity": -0.19076747385729015, + "velocityX": 2.410338125991728, + "velocityY": -2.6718296481773502, "moduleForcesX": [ - 0.057671448462073845, - -0.10143699552355025, - 0.09987983608164007, - -0.05922860970826968 + -0.2572753782998051, + -0.9255243474298708, + -0.030635747905450556, + -0.6989117646761612 ], "moduleForcesY": [ - -0.10110782398001866, - -0.05889943672459394, - 0.05800062143771806, - 0.10020900763916966 + -0.8788903575940659, + -0.652237281008326, + -0.2106309545256013, + 0.01601712567576673 ], - "timestamp": 1.3039817871038775 + "timestamp": 0.9758122783841628 }, { - "x": 7.261676476385865, - "y": 2.1829939328901036, - "heading": -0.27651055479422826, - "angularVelocity": -0.36879669008788524, - "velocityX": 1.799649979967746, - "velocityY": -3.117015805651939, + "x": 6.627409108287623, + "y": 3.298982147052881, + "heading": -0.33133797768313705, + "angularVelocity": -0.19412252379986514, + "velocityX": 2.410080334188381, + "velocityY": -2.672062185547718, "moduleForcesX": [ - -0.024456068402193106, - 0.043712146318862784, - -0.04380085250570498, - 0.024367362195912637 + 0.035069861443211725, + -0.5088638749485511, + 0.2221968805995973, + -0.3217422517634501 ], "moduleForcesY": [ - 0.043730841482873595, - 0.02438605737485271, - -0.02443737322324143, - -0.043782157341713514 + -0.49482442875806965, + -0.30769784203425754, + 0.049112064017606115, + 0.23623770125556676 ], - "timestamp": 1.3506271020876615 + "timestamp": 0.9982938844136927 }, { - "x": 7.34562171641779, - "y": 2.037599748702139, - "heading": -0.29352541190080544, - "angularVelocity": -0.36477097673136666, - "velocityX": 1.7996499768754688, - "velocityY": -3.1170158083080857, + "x": 6.681589842877104, + "y": 3.2389083266034575, + "heading": -0.33576669092932737, + "angularVelocity": -0.19699274332862007, + "velocityX": 2.4100028493686514, + "velocityY": -2.6721320696801416, "moduleForcesX": [ - -0.11109269207420744, - 0.20733898129633233, - -0.20734063862665736, - 0.11109103473389965 + 0.10815555665979418, + -0.356463612696991, + 0.270299522435579, + -0.19432083563398414 ], "moduleForcesY": [ - 0.20733909816713597, - 0.11109115161109803, - -0.11109257519700906, - -0.20734052175585366 + -0.3522379533188411, + -0.1900943444380969, + 0.11238187683709236, + 0.2745252872983721 ], - "timestamp": 1.3972724170714454 + "timestamp": 1.0207754904432227 }, { - "x": 7.429566956689485, - "y": 1.8922055645666425, - "heading": -0.31013505977289263, - "angularVelocity": -0.3560839470772452, - "velocityX": 1.7996499820161242, - "velocityY": -3.1170158071832237, + "x": 6.735770038272624, + "y": 3.1788340198927374, + "heading": -0.340254341064461, + "angularVelocity": -0.19961430376633296, + "velocityX": 2.4099788655815244, + "velocityY": -2.6721536989759933, "moduleForcesX": [ - -0.23225803495127245, - 0.45133683310671, - -0.4513340779465994, - 0.23226079015761958 + 0.12351456441676863, + -0.30018420856937594, + 0.2735139065390715, + -0.15018517383066216 ], "moduleForcesY": [ - 0.4513357569773042, - 0.2322597139841929, - -0.23225911112469913, - -0.4513351540760055 + -0.29887518119240547, + -0.148875956432278, + 0.12482376681033823, + 0.2748229430801387 ], - "timestamp": 1.4439177320552294 + "timestamp": 1.0432570964727526 }, { - "x": 7.51351219710036, - "y": 1.746811380353832, - "heading": -0.32597216282909236, - "angularVelocity": -0.33952183754585785, - "velocityX": 1.7996499849998264, - "velocityY": -3.1170158088407347, + "x": 6.789950014775179, + "y": 3.1187595158010093, + "heading": -0.3448001888098883, + "angularVelocity": -0.20220298049241886, + "velocityX": 2.409969129045866, + "velocityY": -2.672162478641687, "moduleForcesX": [ - -0.429126891302155, - 0.8673914122336529, - -0.8673898131006768, - 0.42912849045634677 + 0.12843063079339379, + -0.289275898133587, + 0.2784487347359637, + -0.13925791602854584 ], "moduleForcesY": [ - 0.8673901685240899, - 0.4291272466634665, - -0.4291281350950354, - -0.8673910568102398 + -0.28874390449222265, + -0.13872585045728547, + 0.12896269391646412, + 0.2789807298576984 ], - "timestamp": 1.4905630470390134 + "timestamp": 1.0657387025022824 }, { - "x": 7.597457437474679, - "y": 1.6014171958503052, - "heading": -0.34038489399598115, - "angularVelocity": -0.30898561135023483, - "velocityX": 1.7996499842156426, - "velocityY": -3.1170158150732465, + "x": 6.844129734412625, + "y": 3.058684780086691, + "heading": -0.3494082864346629, + "angularVelocity": -0.20497190542000296, + "velocityX": 2.409957703478491, + "velocityY": -2.672172781403682, "moduleForcesX": [ - -0.7680693254555403, - 1.6104795396440061, - -1.6104799595443278, - 0.7680689047741062 + 0.13541034813559746, + -0.3106366769128751, + 0.2979312971098061, + -0.14811589173264045 ], "moduleForcesY": [ - 1.6104780795285183, - 0.7680674448067002, - -0.768070785422946, - -1.6104814196598143 + -0.310012433508584, + -0.14749155214979615, + 0.1360346841024085, + 0.29855554267791334 ], - "timestamp": 1.5372083620227974 + "timestamp": 1.0882203085318123 }, { - "x": 7.6814026777216355, - "y": 1.4560230108529622, - "heading": -0.3522011673454256, - "angularVelocity": -0.25332176132913514, - "velocityX": 1.7996499814860263, - "velocityY": -3.117015825659816, + "x": 6.898308738783368, + "y": 2.998609399345082, + "heading": -0.3540878132628434, + "angularVelocity": -0.20814913409806418, + "velocityX": 2.4099258878378844, + "velocityY": -2.6722014727353556, "moduleForcesX": [ - -1.3653118211091806, - 2.952047825108599, - -2.9520492856808334, - 1.3653103557538708 + 0.14334180232680527, + -0.3676005366869572, + 0.3322212023590252, + -0.17872173796539498 ], "moduleForcesY": [ - 2.9520457189891305, - 1.3653082508646113, - -1.3653139259984364, - -2.9520513918002997 + -0.36586356871681985, + -0.17698440471271104, + 0.14507910331271257, + 0.33395818942941513 ], - "timestamp": 1.5838536770065814 + "timestamp": 1.1107019145613422 }, { - "x": 7.765347848019507, - "y": 1.3106289483604519, - "heading": -0.35931443900890314, - "angularVelocity": -0.15249702281891372, - "velocityX": 1.7996484818903413, - "velocityY": -3.1170131993546644, + "x": 6.952485398744311, + "y": 2.9385319044342193, + "heading": -0.3588538343730754, + "angularVelocity": -0.2119964696459745, + "velocityX": 2.4098216065967244, + "velocityY": -2.672295512695533, "moduleForcesX": [ - -2.4353116978894263, - 5.364141839262935, - -5.364946351339556, - 2.434508764839553 + 0.13499118719446718, + -0.48261548117120595, + 0.36665408135184874, + -0.2509554803686735 ], "moduleForcesY": [ - 5.365246751624584, - 2.4356151681738383, - -2.4342052949352464, - -5.363841438437093 + -0.47692215878299427, + -0.24526020421439584, + 0.14068604241805083, + 0.37234765020929544 ], - "timestamp": 1.6304989919903654 + "timestamp": 1.133183520590872 }, { - "x": 7.844910739411933, - "y": 1.172825043366584, - "heading": -0.35962508299846874, - "angularVelocity": -0.006659703973991243, - "velocityX": 1.7056995203074454, - "velocityY": -2.9542925166605505, + "x": 7.006654247538653, + "y": 2.878447366566292, + "heading": -0.36372854548811695, + "angularVelocity": -0.21683108887499375, + "velocityX": 2.409474159594426, + "velocityY": -2.6726087891135304, "moduleForcesX": [ - -28.13401696275137, - -16.692873127701013, - -33.70860513127203, - -22.17018295362561 + 0.046702628208398045, + -0.7279575956578657, + 0.34159713039213213, + -0.43307833188401185 ], "moduleForcesY": [ - 50.509913915883445, - 47.771782987515884, - 39.65934816626974, - 36.48234852375251 + -0.7089643394621571, + -0.41407196946526487, + 0.06570310340631297, + 0.3605937964542758 ], - "timestamp": 1.6771443069741494 + "timestamp": 1.1556651266204019 }, { - "x": 7.911254949755161, - "y": 1.0579160565080306, - "heading": -0.35985730857456416, - "angularVelocity": -0.0049785402065806806, - "velocityX": 1.422312409430071, - "velocityY": -2.463462555639315, + "x": 7.06079702872604, + "y": 2.8183393379846797, + "heading": -0.36874310188786397, + "angularVelocity": -0.22305152012540205, + "velocityX": 2.4083146513775056, + "velocityY": -2.6736536750382243, "moduleForcesX": [ - -75.9260077593884, - -75.77347968708932, - -76.11043353002069, - -75.95811122126071 + -0.3395008081755916, + -1.3342730934157663, + 0.04491865980258463, + -0.9499378733414521 ], "moduleForcesY": [ - 131.54299746962388, - 131.62960598985686, - 131.4352969882552, - 131.52206693684397 + -1.2705893414940128, + -0.8861412830872801, + -0.27578875230711364, + 0.10865087007230188 ], - "timestamp": 1.7237896219579334 + "timestamp": 1.1781467326499317 }, { - "x": 7.964345181177675, - "y": 0.9659631239450347, - "heading": -0.3600336449985911, - "angularVelocity": -0.003780367312092445, - "velocityX": 1.1381685693621537, - "velocityY": -1.9713219343671031, + "x": 7.1148527826055945, + "y": 2.7581530334029423, + "heading": -0.37394009301115577, + "angularVelocity": -0.23116636402512653, + "velocityX": 2.4044436064092656, + "velocityY": -2.677135454765926, "moduleForcesX": [ - -76.13314544990955, - -76.02439649265798, - -76.26514306857305, - -76.1564995936775 + -1.7586887743866413, + -3.053728577829438, + -1.2507123787760428, + -2.546230657129766 ], "moduleForcesY": [ - 131.89091278272463, - 131.95315842708902, - 131.81424460459831, - 131.87657321281534 + -2.8377731865649825, + -2.3290501841775333, + -1.542737677716232, + -1.0340577195430558 ], - "timestamp": 1.7704349369417174 + "timestamp": 1.2006283386794616 }, { - "x": 8.00416964010226, - "y": 0.8969866722358701, - "heading": -0.3601615916933086, - "angularVelocity": -0.002742969894447131, - "velocityX": 0.8537718940998154, - "velocityY": -1.4787434007711946, + "x": 7.168618435498477, + "y": 2.6977074399803684, + "heading": -0.3793755423672139, + "angularVelocity": -0.24177317887870262, + "velocityX": 2.3915396801395956, + "velocityY": -2.688668831896772, "moduleForcesX": [ - -76.20238462743995, - -76.10822395136077, - -76.31683810843096, - -76.22275676965029 + -6.663075109362928, + -8.352865630261862, + -5.9952082390896475, + -7.6877043254512305 ], "moduleForcesY": [ - 132.0072176669124, - 132.06125695215337, - 131.94085962414914, - 131.9949613298243 + -7.596610052171956, + -6.916064444016024, + -5.909182229835226, + -5.228839927269915 ], - "timestamp": 1.8170802519255014 + "timestamp": 1.2231099447089915 }, { - "x": 8.03072242655436, - "y": 0.8509969201776932, - "heading": -0.36024489387265224, - "angularVelocity": -0.001785863797310167, - "velocityX": 0.5692487329394265, - "velocityY": -0.985945792716061, + "x": 7.221445411107321, + "y": 2.636439823481927, + "heading": -0.38510394603027787, + "angularVelocity": -0.2548040231440608, + "velocityX": 2.349786556151203, + "velocityY": -2.725233082456778, "moduleForcesX": [ - -76.23702883079696, - -76.15015606865818, - -76.34270315470997, - -76.25589804171771 + -22.54706285214967, + -24.634193372078887, + -21.78990991616978, + -23.889468312382633 ], "moduleForcesY": [ - 132.0654129222889, - 132.11533600087785, - 132.00420021197434, - 132.05417651601115 + -21.81772879836716, + -20.89013153263117, + -19.770054794681855, + -18.84245520724433 ], - "timestamp": 1.8637255669092854 + "timestamp": 1.2455915507385213 + }, + { + "x": 7.271848746318417, + "y": 2.5731635723731023, + "heading": -0.3910789251452919, + "angularVelocity": -0.26577189846516536, + "velocityX": 2.2419810730990144, + "velocityY": -2.8145787727852847, + "moduleForcesX": [ + -59.14510365012357, + -60.97500334457335, + -58.89908247715572, + -60.74455985856462 + ], + "moduleForcesY": [ + -51.09224006514451, + -49.9011920063802, + -49.45740174899362, + -48.25759077145673 + ], + "timestamp": 1.2680731567680512 + }, + { + "x": 7.31837043762207, + "y": 2.5070269107818604, + "heading": -0.3971853071795861, + "angularVelocity": -0.27161680648052366, + "velocityX": 2.0693224159583683, + "velocityY": -2.9418121420848466, + "moduleForcesX": [ + -95.3985948752904, + -96.38061522257254, + -95.61831278922654, + -96.60230549228933 + ], + "moduleForcesY": [ + -71.67156753643467, + -70.67968599273077, + -70.81053169321476, + -69.81036795128372 + ], + "timestamp": 1.290554762797581 + }, + { + "x": 7.377160450284607, + "y": 2.4011029041383494, + "heading": -0.40649242609648484, + "angularVelocity": -0.27649351201427, + "velocityX": 1.7465186828955634, + "velocityY": -3.1467633395116366, + "moduleForcesX": [ + -119.49246289699462, + -119.98997638899631, + -119.7547850716756, + -120.25131899701724 + ], + "moduleForcesY": [ + -76.72316966582402, + -76.02158205383883, + -76.19620567994485, + -75.49093432777171 + ], + "timestamp": 1.324216018893957 + }, + { + "x": 7.427060808134305, + "y": 2.2907116379947734, + "heading": -0.4162963157147679, + "angularVelocity": -0.2912514491501278, + "velocityX": 1.4824270879358374, + "velocityY": -3.2794755438603995, + "moduleForcesX": [ + -97.30907981509276, + -98.6619904856712, + -97.47772767670975, + -98.82948510798602 + ], + "moduleForcesY": [ + -50.91672715329267, + -49.38655671552789, + -49.18261984856432, + -47.64311007935671 + ], + "timestamp": 1.3578772749903327 + }, + { + "x": 7.474498109736472, + "y": 2.1792397005806583, + "heading": -0.4269800308313776, + "angularVelocity": -0.31738908037243385, + "velocityX": 1.4092552418258857, + "velocityY": -3.3115798497110305, + "moduleForcesX": [ + -26.398534659548826, + -29.07784429997217, + -25.256666622798473, + -27.955480330755208 + ], + "moduleForcesY": [ + -13.976384539542336, + -12.62672610263315, + -11.214077516581959, + -9.870137826215709 + ], + "timestamp": 1.3915385310867086 + }, + { + "x": 7.521595612163223, + "y": 2.0676237695042676, + "heading": -0.4381685663663628, + "angularVelocity": -0.3323861564450007, + "velocityX": 1.3991605747839646, + "velocityY": -3.3158575771382965, + "moduleForcesX": [ + -3.3352699249692073, + -4.8894316684936525, + -2.607321165861587, + -4.162466770446552 + ], + "moduleForcesY": [ + -2.731201011585995, + -2.001286805803779, + -1.1756054571873968, + -0.445988425491939 + ], + "timestamp": 1.4251997871830844 + }, + { + "x": 7.568648187913044, + "y": 1.9559888918104047, + "heading": -0.44951525608957216, + "angularVelocity": -0.337084560680758, + "velocityX": 1.3978259045586052, + "velocityY": -3.3164204381758204, + "moduleForcesX": [ + -0.3702371101135151, + -0.854785832612154, + -0.13645879208966746, + -0.6210203761247468 + ], + "moduleForcesY": [ + -0.5681895194740101, + -0.3344031723555381, + -0.08362832850057036, + 0.15015442211362218 + ], + "timestamp": 1.4588610432794602 + }, + { + "x": 7.615694832295387, + "y": 1.8443515142540494, + "heading": -0.46070284838521497, + "angularVelocity": -0.3323581349314913, + "velocityX": 1.3976496968718422, + "velocityY": -3.316494703420945, + "moduleForcesX": [ + -0.18752199200687655, + 0.29726456898098386, + -0.42813202875105644, + 0.056652803776190815 + ], + "moduleForcesY": [ + 0.3351201739214086, + 0.0945092713432499, + -0.14966537361577648, + -0.39027671849706824 + ], + "timestamp": 1.492522299375836 + }, + { + "x": 7.66274069366142, + "y": 1.7327138065642804, + "heading": -0.4713836979923882, + "angularVelocity": -0.3173039525498645, + "velocityX": 1.3976264353445673, + "velocityY": -3.31650451123826, + "moduleForcesX": [ + -0.38513943231496744, + 1.1506838246494877, + -1.167958848854984, + 0.3678620809228331 + ], + "moduleForcesY": [ + 1.1556791076131048, + 0.372858786310278, + -0.38014271837654506, + -1.1629635821547937 + ], + "timestamp": 1.5261835554722119 + }, + { + "x": 7.709786451544846, + "y": 1.6210760549655672, + "heading": -0.4811137999731988, + "angularVelocity": -0.2890593848593241, + "velocityX": 1.3976233610455515, + "velocityY": -3.316505815427596, + "moduleForcesX": [ + -0.6863332214888993, + 2.1807406241952716, + -2.1830233420023566, + 0.684049414792396 + ], + "moduleForcesY": [ + 2.1813976195467193, + 0.684707068719898, + -0.6856755672731992, + -2.1823663471805763 + ], + "timestamp": 1.5598448115685877 + }, + { + "x": 7.756832195620047, + "y": 1.509438297122228, + "heading": -0.4892697456121771, + "angularVelocity": -0.24229475025016645, + "velocityX": 1.3976229508694282, + "velocityY": -3.3165060007246354, + "moduleForcesX": [ + -1.1051250373515424, + 3.6215302605569124, + -3.6218346930765346, + 1.104820199494974 + ], + "moduleForcesY": [ + 3.6216136501794054, + 1.1049038261350463, + -1.105041410701953, + -3.6217513034694577 + ], + "timestamp": 1.5935060676649635 + }, + { + "x": 7.803877937871345, + "y": 1.3978005380942633, + "heading": -0.4949349438831712, + "angularVelocity": -0.1683002635069224, + "velocityX": 1.3976228967086712, + "velocityY": -3.316506036257727, + "moduleForcesX": [ + -1.7158978202212851, + 5.740288443150473, + -5.740328593932055, + 1.7158575213059033 + ], + "moduleForcesY": [ + 5.74029532343032, + 1.71586447567438, + -1.7158908658523535, + -5.740321713652588 + ], + "timestamp": 1.6271673237613393 + }, + { + "x": 7.850923118532921, + "y": 1.2861641128832204, + "heading": -0.49673867546557327, + "angularVelocity": -0.05358479722912683, + "velocityX": 1.3976062131749716, + "velocityY": -3.3164664111470983, + "moduleForcesX": [ + -2.6502956852340733, + 8.897918932684284, + -8.910330702155772, + 2.6379259467729037 + ], + "moduleForcesY": [ + 8.918781163905544, + 2.658883709327438, + -2.6293381194563694, + -8.889468120403713 + ], + "timestamp": 1.6608285798577151 + }, + { + "x": 7.893780351173055, + "y": 1.1844655258932626, + "heading": -0.4970882184475542, + "angularVelocity": -0.010384133645522587, + "velocityX": 1.2731917227021947, + "velocityY": -3.0212356516915326, + "moduleForcesX": [ + -46.1877502888382, + -40.964460211623845, + -51.37964809444377, + -46.27183696025206 + ], + "moduleForcesY": [ + 111.14480985941903, + 111.65070404143555, + 107.59168232285188, + 108.14480420177777 + ], + "timestamp": 1.694489835954091 + }, + { + "x": 7.931314316369594, + "y": 1.0953988507451056, + "heading": -0.49735697141239826, + "angularVelocity": -0.007984044447854154, + "velocityX": 1.1150494530358366, + "velocityY": -2.6459700399992125, + "moduleForcesX": [ + -58.688034072994895, + -58.37272515138507, + -59.07815214581606, + -58.76359674414555 + ], + "moduleForcesY": [ + 139.3738005581902, + 139.5017056199399, + 139.20532350661, + 139.33391832390953 + ], + "timestamp": 1.7281510920504668 + }, + { + "x": 7.963499650081917, + "y": 1.0190242752510106, + "heading": -0.4975727610432389, + "angularVelocity": -0.006410623246583434, + "velocityX": 0.9561536747314809, + "velocityY": -2.2689163852815217, + "moduleForcesX": [ + -58.98012184160624, + -58.77309399577248, + -59.23762173674359, + -59.03092264988544 + ], + "moduleForcesY": [ + 140.02979878943435, + 140.11532437019, + 139.9198664208089, + 140.0056947073822 + ], + "timestamp": 1.7618123481468426 + }, + { + "x": 7.990327656827904, + "y": 0.9553624333756724, + "heading": -0.49774508156219915, + "angularVelocity": -0.005119253971595125, + "velocityX": 0.7969995732475965, + "velocityY": -1.891249740967507, + "moduleForcesX": [ + -59.08037881986922, + -58.91039328151263, + -59.292230459210764, + -59.12246761587375 + ], + "moduleForcesY": [ + 140.25496552524055, + 140.32562429619193, + 140.16487865291504, + 140.23574273285502 + ], + "timestamp": 1.7954736042432184 + }, + { + "x": 8.011793943743402, + "y": 0.9044237491972269, + "heading": -0.49787871813067874, + "angularVelocity": -0.003970041049477883, + "velocityX": 0.6377149698584023, + "velocityY": -1.5132734213458825, + "moduleForcesX": [ + -59.131048703804076, + -58.9797530479407, + -59.31981652372701, + -59.16869776482143 + ], + "moduleForcesY": [ + 140.36877110186467, + 140.43185709403716, + 140.28866081485512, + 140.35190994425992 + ], + "timestamp": 1.8291348603395943 + }, + { + "x": 8.027895860916889, + "y": 0.8662145108411023, + "heading": -0.4979765532361656, + "angularVelocity": -0.002906460329545654, + "velocityX": 0.4783516434705029, + "velocityY": -1.135110295495168, + "moduleForcesX": [ + -59.161621888783436, + -59.02159034599234, + -59.336458840886316, + -59.19657910173011 + ], + "moduleForcesY": [ + 140.43743957863458, + 140.49593833884202, + 140.36333092992325, + 140.42196969506332 + ], + "timestamp": 1.86279611643597 + }, + { + "x": 8.038631635940288, + "y": 0.8407389241730154, + "heading": -0.49804051307064545, + "angularVelocity": -0.001900102429235874, + "velocityX": 0.3189356626626439, + "velocityY": -0.7568222230113711, + "moduleForcesX": [ + -59.1820756711995, + -59.04957186912006, + -59.34759128136666, + -59.21522355879311 + ], + "moduleForcesY": [ + 140.4833755419351, + 140.53879895270924, + 140.41327463038448, + 140.4688235508292 + ], + "timestamp": 1.896457372532346 }, { "x": 8.044, "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -0.0008768944788167842, - "velocityX": 0.28464966846641404, - "velocityY": -0.4930167195931123, + "heading": -0.49807197564898315, + "angularVelocity": -0.000934682242625162, + "velocityX": 0.15948198863083735, + "velocityY": -0.3784447061575567, "moduleForcesX": [ - -76.2578220333313, - -76.17531765009585, - -76.3582259612893, - -76.27578265511968 + -59.19672196455731, + -59.06960174170312, + -59.35556129606742, + -59.22856641171415 ], "moduleForcesY": [ - 132.10033823335075, - 132.14778878590397, - 132.04220996337114, - 132.08970857426687 + 140.51626171385033, + 140.56948097871137, + 140.44902731229965, + 140.5023621961445 ], - "timestamp": 1.9103708818930694 + "timestamp": 1.9301186286287217 }, { "x": 8.044, "y": 0.828, - "heading": -0.3602857968918242, - "angularVelocity": -4.621883630347063e-20, - "velocityX": -1.5483402467354467e-20, - "velocityY": -3.98677639047285e-21, + "heading": -0.49807197564898315, + "angularVelocity": 1.9975515941947043e-20, + "velocityX": 6.315422113673227e-19, + "velocityY": -1.5061167880033918e-18, "moduleForcesX": [ - -76.27168812142772, - -76.19209191675314, - -76.36857548707384, - -76.28903615724394 + -59.20772840892084, + -59.08464716263621, + -59.361548843257644, + -59.23858514309133 ], "moduleForcesY": [ - 132.12362256773704, - 132.16942490328464, - 132.06755045247886, - 132.11339755118567 + 140.5409657979895, + 140.5925288366581, + 140.47588410072586, + 140.5275555995003 ], - "timestamp": 1.9570161968768534 + "timestamp": 1.9637798847250976 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot3 to f1.1.traj b/src/main/deploy/choreo/shoot3 to f1.1.traj index 657f5a2..50fec68 100644 --- a/src/main/deploy/choreo/shoot3 to f1.1.traj +++ b/src/main/deploy/choreo/shoot3 to f1.1.traj @@ -2,11 +2,11 @@ "samples": [ { "x": 5, - "y": 1.7999999999999998, + "y": 1.8, "heading": -0.676, - "angularVelocity": 3.800687150048589e-18, - "velocityX": -5.2786451754410545e-17, - "velocityY": -3.43589640014021e-17, + "angularVelocity": -4.02965005766179e-21, + "velocityX": -1.0560575214097651e-21, + "velocityY": 5.272776227368003e-22, "moduleForcesX": [ 0, 0, @@ -22,718 +22,760 @@ "timestamp": 0 }, { - "x": 4.978761276537438, - "y": 1.8273013474195536, - "heading": -0.6538730446040393, - "angularVelocity": 0.41179708477063015, - "velocityX": -0.39526650863722357, - "velocityY": 0.5080958982597991, + "x": 4.968556096880696, + "y": 1.838536182827189, + "heading": -0.6685260123845066, + "angularVelocity": 0.11702688813720821, + "velocityX": -0.4923452275077194, + "velocityY": 0.6033953745927658, "moduleForcesX": [ - -79.94323819061562, - -59.56930482342181, - -115.56559383731333, - -112.73025126958423 + -92.48696198097343, + -89.57509746406306, + -102.61006344769903, + -100.78228798287968 ], "moduleForcesY": [ - 129.9739995050107, - 140.44151562616474, - 99.6323549773227, - 102.75194790243671 + 121.37087292419673, + 123.52411101422102, + 112.93953506971155, + 114.56045030246304 ], - "timestamp": 0.053732666437672376 + "timestamp": 0.06386555888532788 }, { - "x": 4.936864582369221, - "y": 1.8824420518132277, - "heading": -0.6111373145378587, - "angularVelocity": 0.7953398351411596, - "velocityX": -0.7797248292179932, - "velocityY": 1.026204505500499, + "x": 4.907213795710883, + "y": 1.9168152576871376, + "heading": -0.6538944148741704, + "angularVelocity": 0.22909996820989958, + "velocityX": -0.9604911041325797, + "velocityY": 1.225685271156865, "moduleForcesX": [ - -79.24993768245197, - -58.04136794554419, - -113.1867895142026, - -107.2729212037701 + -88.13123048975005, + -84.72828622761, + -98.02647594193793, + -95.62287753271524 ], "moduleForcesY": [ - 130.3745478756316, - 141.05514717195, - 102.29227362450345, - 108.3950018689079 + 124.54164836420856, + 126.86842244995975, + 116.90901105820438, + 118.86830631085398 ], - "timestamp": 0.10746533287534475 + "timestamp": 0.12773111777065577 }, { - "x": 4.87519339523477, - "y": 1.966178896180933, - "heading": -0.5499411796835697, - "angularVelocity": 1.1389000195133803, - "velocityX": -1.1477410528136354, - "velocityY": 1.5583973385814707, + "x": 4.818516217535969, + "y": 2.036622117877845, + "heading": -0.6326275802007817, + "angularVelocity": 0.33299379265706913, + "velocityX": -1.3888170670231428, + "velocityY": 1.8759228335545506, "moduleForcesX": [ - -77.98943495608029, - -56.151092954851364, - -109.18071498135836, - -99.1298655250073 + -80.96187127152437, + -76.90334678907439, + -90.34770157724064, + -87.12115585317169 ], "moduleForcesY": [ - 131.0977375647602, - 141.7836939155453, - 106.50736648786436, - 115.83400443830153 + 129.27454445032055, + 131.7149999497541, + 122.89313583607483, + 125.18478409560596 ], - "timestamp": 0.16119799931301712 + "timestamp": 0.19159667665598365 }, { - "x": 4.795228036773245, - "y": 2.079633928082339, - "heading": -0.4734746216988076, - "angularVelocity": 1.4230925627629927, - "velocityX": -1.4882075235744263, - "velocityY": 2.1114722090200755, + "x": 4.707310402848676, + "y": 2.200760218327984, + "heading": -0.6057245225574083, + "angularVelocity": 0.4212451611310338, + "velocityX": -1.7412485951460135, + "velocityY": 2.5700565894185865, "moduleForcesX": [ - -74.89136676523789, - -53.72744378828229, - -101.2881798052434, - -86.9081737983606 + -67.18716047940563, + -62.42828254674346, + -75.2791718054043, + -71.02211890882606 ], "moduleForcesY": [ - 132.83469927614328, - 142.66624660146846, - 113.9617158121153, - 125.1915580854802 + 136.86877383692175, + 139.0889003474817, + 132.5822973375317, + 134.89358482599366 ], - "timestamp": 0.2149306657506895 + "timestamp": 0.25546223554131153 }, { - "x": 4.699852611459089, - "y": 2.22458381118864, - "heading": -0.3872836460184921, - "angularVelocity": 1.6040703243425392, - "velocityX": -1.7749989276621487, - "velocityY": 2.6976119504400584, + "x": 4.585275135062966, + "y": 2.413398400608054, + "heading": -0.5756156844641628, + "angularVelocity": 0.471440924008928, + "velocityX": -1.9108149981874747, + "velocityY": 3.329465614821709, "moduleForcesX": [ - -66.1321626897002, - -49.93166387875739, - -82.79700243691022, - -68.00793361264594 + -33.15670566356193, + -29.0094563550868, + -37.35156794550643, + -33.2348881926214 ], "moduleForcesY": [ - 137.29560456171336, - 143.94215668432236, - 127.90056942281913, - 136.28383082004092 + 148.68243143548384, + 149.53671912594746, + 147.6743093865777, + 148.64375123232335 ], - "timestamp": 0.26866333218836186 + "timestamp": 0.3193277944266394 }, { - "x": 4.59642092896864, - "y": 2.403722916582047, - "heading": -0.30451754327489494, - "angularVelocity": 1.540331203175855, - "velocityX": -1.9249311332972023, - "velocityY": 3.3338956962915187, + "x": 4.485728318178814, + "y": 2.67026066844047, + "heading": -0.5494455326403298, + "angularVelocity": 0.40976940123270744, + "velocityX": -1.5586932710146872, + "velocityY": 4.021921553894464, "moduleForcesX": [ - -33.27277464163609, - -41.001895940760974, - -28.855998911082654, - -36.38614176360288 + 72.02506123062523, + 65.27638688372417, + 72.39619462769224, + 65.97654951315377 ], "moduleForcesY": [ - 148.43614867598808, - 146.50849051120406, - 149.3877985091946, - 147.75035665893637 + 133.9382812078609, + 137.35654790086394, + 133.77138572449314, + 137.05378783995704 ], - "timestamp": 0.32239599862603424 + "timestamp": 0.38319335331196724 }, { - "x": 4.507710692608205, - "y": 2.611881629544769, - "heading": -0.2661671096694265, - "angularVelocity": 0.7137266052143084, - "velocityX": -1.6509554102281525, - "velocityY": 3.873969537822001, + "x": 4.434354698916913, + "y": 2.939095972716812, + "heading": -0.5177114869494529, + "angularVelocity": 0.4968882484510341, + "velocityX": -0.8044025631114174, + "velocityY": 4.2093940610312455, "moduleForcesX": [ - 127.11990345363314, - 8.647919244408348, - 94.09568000412645, - 25.079850415146385 + 145.75541673909345, + 147.70080261113992, + 147.74183369785868, + 149.3320550948716 ], "moduleForcesY": [ - 82.43458028914061, - 150.89347314933272, - 119.37068858168162, - 149.85759599058395 + 43.87085467447419, + 36.885394032622756, + 36.52646570323294, + 29.488495619628114 ], - "timestamp": 0.3761286650637066 + "timestamp": 0.4470589121972951 }, { - "x": 4.451340739631233, - "y": 2.8335232276809053, - "heading": -0.2334844208030772, - "angularVelocity": 0.6082461756216468, - "velocityX": -1.0490816241534726, - "velocityY": 4.124894832710717, + "x": 4.432125135897385, + "y": 3.204141899565127, + "heading": -0.46457887015687127, + "angularVelocity": 0.8319447558265705, + "velocityX": -0.03491025614494943, + "velocityY": 4.150060399913089, "moduleForcesX": [ - 143.86983773236406, - 140.8122731924101, - 139.62987846079326, - 135.75121422739596 + 151.50815729894674, + 152.41818939832748, + 150.29847241888118, + 148.20653856452319 ], "moduleForcesY": [ - 48.719209257041044, - 56.76725784281224, - 59.90222526621142, - 68.10548494145164 + 16.207714083650778, + -2.301820331640651, + -24.790561991045713, + -35.56733355483499 ], - "timestamp": 0.429861331501379 + "timestamp": 0.510924471082623 }, { - "x": 4.42975614253254, - "y": 3.057435357473267, - "heading": -0.18616550113932198, - "angularVelocity": 0.8806359855409729, - "velocityX": -0.40170344261773216, - "velocityY": 4.167150909052189, + "x": 4.477452741602163, + "y": 3.4550999017711996, + "heading": -0.39858197242406673, + "angularVelocity": 1.0333722727034071, + "velocityX": 0.709734738032509, + "velocityY": 3.929473202554648, "moduleForcesX": [ - 148.01541998583522, - 150.66014769561934, - 151.94048494087306, - 151.7904762688664 + 149.5961844552736, + 148.6967961153982, + 142.46539430871493, + 142.2201562523035 ], "moduleForcesY": [ - 35.09239728864554, - 21.841810718503123, - -6.292827810052857, - -11.320721887118713 + -29.475002781916494, + -33.86240667333583, + -54.314060123389325, + -55.04505199608617 ], - "timestamp": 0.4835939979390514 + "timestamp": 0.5747900299679508 }, { - "x": 4.442664725242422, - "y": 3.2780463998012865, - "heading": -0.11875668135664122, - "angularVelocity": 1.2545221417807453, - "velocityX": 0.24023715096968415, - "velocityY": 4.105715516434578, + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": -0.325205182380257, + "angularVelocity": 1.1489258267599212, + "velocityX": 1.4269377574428972, + "velocityY": 3.6265538178747527, "moduleForcesX": [ - 151.3675407702616, - 152.23356753249857, - 145.82112364560228, - 147.92444386951456 + 142.99539767200815, + 143.14844997821, + 137.31285826409976, + 138.0376518647654 ], "moduleForcesY": [ - 16.478639333756554, - 6.73565139735906, - -43.79985389847295, - -36.58207496618297 + -53.08780163514687, + -52.714542137631305, + -66.41943736111352, + -64.9321637832697 ], - "timestamp": 0.5373266643767237 + "timestamp": 0.6386555888532787 }, { - "x": 4.489347183993817, - "y": 3.4890967881994723, - "heading": -0.04248007839582056, - "angularVelocity": 1.419557375763311, - "velocityX": 0.868791032597574, - "velocityY": 3.927785505308899, + "x": 4.6650338174422314, + "y": 3.8517035043632, + "heading": -0.26632541534052234, + "angularVelocity": 1.1981117995168453, + "velocityX": 1.9625852667694308, + "velocityY": 3.3573251377035485, "moduleForcesX": [ - 148.95597326328317, - 149.74611992310528, - 141.87381538794835, - 144.31399481158914 + 137.6496319514016, + 138.23079522176542, + 134.14511229919668, + 134.95419938499103 ], "moduleForcesY": [ - -32.21152576410643, - -28.53837598758538, - -55.68593369406905, - -49.13384769283962 + -65.7125254660541, + -64.49983939163093, + -72.60279689451743, + -71.10411026511437 ], - "timestamp": 0.5910593308143961 + "timestamp": 0.6877993891759854 }, { - "x": 4.56858491897583, - "y": 3.68671178817749, - "heading": 0.035129149501579485, - "angularVelocity": 1.4443583957917419, - "velocityX": 1.4746659757238103, - "velocityY": 3.677744155986597, + "x": 4.787227826400901, + "y": 4.002368165967056, + "heading": -0.20841528735068082, + "angularVelocity": 1.1783811510214923, + "velocityX": 2.486458274620043, + "velocityY": 3.0657918316149706, "moduleForcesX": [ - 141.29267999159146, - 141.83290898639174, - 140.0355708341966, - 140.62525103819675 + 132.765861023918, + 132.2989255345606, + 134.18087477702133, + 133.75443675475552 ], "moduleForcesY": [ - -57.341163995437284, - -56.003616189059244, - -60.35141254362546, - -58.97544437754139 + -75.03737533789058, + -75.85018435455038, + -72.47436716236288, + -73.25056971058298 ], - "timestamp": 0.6447919972520685 + "timestamp": 0.7369431894986921 }, { - "x": 4.681963070427405, - "y": 3.8716462010736077, - "heading": 0.11070768306348662, - "angularVelocity": 1.3810212203821026, - "velocityX": 2.0717209729069044, - "velocityY": 3.379244562612742, + "x": 4.934139658347578, + "y": 4.1371245849303735, + "heading": -0.156609608331141, + "angularVelocity": 1.054165096703016, + "velocityX": 2.989427577476002, + "velocityY": 2.742083804638591, "moduleForcesX": [ - 135.86370743540135, - 133.53747298285, - 139.0536410516607, - 137.0344742239213 + 125.66859909792329, + 120.56158363429101, + 134.4729069150177, + 131.02911212915762 ], "moduleForcesY": [ - -69.34516980084541, - -73.70973989487817, - -62.69229013009205, - -66.9719528862851 + -86.33702776892365, + -93.29290726227366, + -71.83665274843274, + -77.88118839022783 ], - "timestamp": 0.699518552098923 + "timestamp": 0.7860869898213988 }, { - "x": 4.82680762227055, - "y": 4.03825633289643, - "heading": 0.17657982284753673, - "angularVelocity": 1.2036595391139404, - "velocityX": 2.6466959641267596, - "velocityY": 3.0444111143708725, + "x": 5.103777717328528, + "y": 4.253675803987424, + "heading": -0.1188378945090999, + "angularVelocity": 0.7685957043209943, + "velocityX": 3.4518709962805922, + "velocityY": 2.3716362652405354, "moduleForcesX": [ - 131.1329141092116, - 121.94659008111141, - 139.67484986146485, - 132.5619141005329 + 115.06473006445565, + 96.23851863831497, + 134.93153221400937, + 124.26548134205862 ], "moduleForcesY": [ - -77.86581235085843, - -91.54913124793084, - -61.1908373194677, - -75.30918959232002 + -99.95946464017854, + -118.11080503717878, + -70.81303120285384, + -88.01829908304188 ], - "timestamp": 0.7542451069457775 + "timestamp": 0.8352307901441055 }, { - "x": 5.001287860587722, - "y": 4.1841426666986345, - "heading": 0.22598382201706071, - "angularVelocity": 0.9027427234956368, - "velocityX": 3.188218933304399, - "velocityY": 2.6657320966539917, + "x": 5.293624184460323, + "y": 4.349681438277899, + "heading": -0.10001712476665173, + "angularVelocity": 0.38297342938193807, + "velocityX": 3.863080711812074, + "velocityY": 1.9535655293251866, "moduleForcesX": [ - 125.68615327153141, - 105.60074539533774, - 139.72597333195566, - 123.74051663706797 + 104.47780939566104, + 71.2961245709602, + 132.13876624195984, + 110.46124811373025 ], "moduleForcesY": [ - -86.29886017804915, - -109.91496547455115, - -60.8920861554806, - -88.86782870773528 + -110.83669044216646, + -134.485457729603, + -75.60249456529873, + -104.42986095419498 ], - "timestamp": 0.808971661792632 + "timestamp": 0.8843745904668122 }, { - "x": 5.2027269571511745, - "y": 4.3064127822506215, - "heading": 0.25321117236278345, - "angularVelocity": 0.49751625006991185, - "velocityX": 3.6808291171531247, - "velocityY": 2.2342008534811644, + "x": 5.499963624380415, + "y": 4.421992258878435, + "heading": -0.09817390237308449, + "angularVelocity": 0.03750671257541272, + "velocityX": 4.1986870890151415, + "velocityY": 1.4714128766129912, "moduleForcesX": [ - 118.59534150568663, - 86.57993548215902, - 137.41517895882328, - 107.47458581041897 + 88.91243798472142, + 53.67114077594345, + 115.66016569971083, + 83.20967896158395 ], "moduleForcesY": [ - -95.66185636852269, - -125.31227826602125, - -65.61226099154013, - -107.67489524337151 + -123.32298424213555, + -142.10654913778305, + -98.42912412628205, + -126.69421950585485 ], - "timestamp": 0.8636982166394865 + "timestamp": 0.9335183907895189 }, { - "x": 5.426680494052918, - "y": 4.400973811630735, - "heading": 0.2570211417658018, - "angularVelocity": 0.06961829436741093, - "velocityX": 4.092227941784746, - "velocityY": 1.727882006398769, + "x": 5.714578424586947, + "y": 4.4663841272135345, + "heading": -0.0979388641462991, + "angularVelocity": 0.004782662823021348, + "velocityX": 4.367077816474368, + "velocityY": 0.9033055653733777, "moduleForcesX": [ - 104.95360774923395, - 66.30428675684652, - 124.90100796985048, - 79.70874146695708 + 44.154707967428386, + 39.6964536689181, + 46.01541671933955, + 41.457908510892025 ], "moduleForcesY": [ - -110.12589532010138, - -136.84292616829345, - -86.50660049263499, - -129.11431028340613 + -144.16855603164572, + -145.43492937878676, + -143.52310800483917, + -144.878472848521 ], - "timestamp": 0.918424771486341 + "timestamp": 0.9826621911122256 }, { - "x": 5.663103180753033, - "y": 4.4615932172120365, - "heading": 0.25729922848084547, - "angularVelocity": 0.005081385368275235, - "velocityX": 4.320072538142732, - "velocityY": 1.1076780870221035, + "x": 5.924927610181476, + "y": 4.527833840756606, + "heading": -0.09766804098784947, + "angularVelocity": 0.0055108305965604005, + "velocityX": 4.280279185029497, + "velocityY": 1.2504062188835994, "moduleForcesX": [ - 55.743290733615076, - 47.58147783756521, - 56.73658502029491, - 48.10504479093734 + -22.106162170957248, + -22.03245285565053, + -22.122993410271913, + -22.049257709919395 ], "moduleForcesY": [ - -140.37518533278705, - -143.3382895314043, - -139.869033734059, - -143.05641204030178 + 88.30412912809929, + 88.30980657635477, + 88.2641695391432, + 88.26985160035588 ], - "timestamp": 0.9731513263331956 + "timestamp": 1.0318059914349322 }, { - "x": 5.899618651226657, - "y": 4.52187357503453, - "heading": 0.2575517733536056, - "angularVelocity": 0.004614667842075693, - "velocityX": 4.321767944920409, - "velocityY": 1.1014827808552372, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": -0.09522289077547066, + "angularVelocity": 0.049755008695349844, + "velocityX": 4.062429748313481, + "velocityY": 1.8027805660138634, "moduleForcesX": [ - 0.4073298825410608, - 0.37552826007325135, - 0.3989625139168673, - 0.36715934059681515 + -56.79714284165791, + -51.15444846851292, + -59.7300960302419, + -53.9631949087108 ], "moduleForcesY": [ - -1.4267576526814514, - -1.4351339064847661, - -1.3949847685038683, - -1.4033613532443205 + 140.03928247370902, + 142.16423803407525, + 138.74464941109161, + 141.04982728835452 ], - "timestamp": 1.0278778811800502 + "timestamp": 1.080949791757639 }, { - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0.25793730164261586, - "angularVelocity": 0.007044629249679032, - "velocityX": 4.110476092629601, - "velocityY": 1.7277856087975656, + "x": 6.296979767855439, + "y": 4.720301949919861, + "heading": -0.07968051470268298, + "angularVelocity": 0.33555626686312695, + "velocityX": 3.7222683155821255, + "velocityY": 2.242585610416905, + "moduleForcesX": [ + -94.09335029142069, + -64.60136889646938, + -117.33523294026367, + -91.17033939610653 + ], + "moduleForcesY": [ + 119.45845909188917, + 137.53399696927914, + 96.52339772613443, + 121.24855210635366 + ], + "timestamp": 1.1272680328624234 + }, + { + "x": 6.4523427503399535, + "y": 4.84364734276305, + "heading": -0.0560650798473882, + "angularVelocity": 0.5098517191503511, + "velocityX": 3.3542504805618423, + "velocityY": 2.6629982033241797, + "moduleForcesX": [ + -100.00918695093591, + -83.59416314210894, + -114.20217468666924, + -99.46542748693915 + ], + "moduleForcesY": [ + 113.96388621933548, + 126.33940259896592, + 99.53138805360058, + 113.99580425127789 + ], + "timestamp": 1.1735862739672078 + }, + { + "x": 6.589539925013804, + "y": 4.985324581710571, + "heading": -0.029194307557116547, + "angularVelocity": 0.580133693537341, + "velocityX": 2.9620549356242374, + "velocityY": 3.058778476216575, "moduleForcesX": [ - -48.410476140801066, - -48.09076655142578, - -48.43120828303922, - -48.110810091020994 + -105.86529695202135, + -99.9696828539512, + -111.5517632980189, + -105.98376447892002 ], "moduleForcesY": [ - 143.00444875083596, - 143.1120086234952, - 142.99339235212946, - 143.10123655039655 + 107.10427689349676, + 112.47630279550192, + 101.00900636175308, + 106.650593468407 ], - "timestamp": 1.0826044360269047 + "timestamp": 1.2199045150719923 }, { - "x": 6.379499738728888, - "y": 4.785376418684285, - "heading": 0.2582313735688241, - "angularVelocity": 0.004288903265417761, - "velocityX": 3.718020187012952, - "velocityY": 2.4640152983014283, + "x": 6.707749834739502, + "y": 5.143742836390259, + "heading": -0.003325948751533508, + "angularVelocity": 0.5584918206859758, + "velocityX": 2.5521243230775768, + "velocityY": 3.420213093180972, "moduleForcesX": [ - -71.44560924330256, - -71.71103357166939, - -71.38388465509242, - -71.6488815011628 + -110.68124452724969, + -112.24900955602732, + -108.99147549765371, + -110.59357623485711 ], "moduleForcesY": [ - 134.2730790823799, - 134.1318265240505, - 134.30723349382475, - 134.16636544188862 + 97.3669307847397, + 95.69829252765817, + 99.3757665889251, + 97.72345540515448 ], - "timestamp": 1.1511701993490684 + "timestamp": 1.2662227561767767 }, { - "x": 6.5987379512628745, - "y": 4.998661510894463, - "heading": 0.25843940071096017, - "angularVelocity": 0.0030339798181587187, - "velocityX": 3.1974881035860774, - "velocityY": 3.110664592299739, + "x": 6.807705133856084, + "y": 5.315455884914979, + "heading": 0.020008127736161296, + "angularVelocity": 0.5037772577526598, + "velocityX": 2.1580115464755596, + "velocityY": 3.7072445850492777, "moduleForcesX": [ - -94.86840238947268, - -94.96823818394641, - -94.82478293923123, - -94.92458137223326 + -106.18853539819592, + -109.68078967616168, + -102.95277914413603, + -106.61803254147924 ], "moduleForcesY": [ - 117.91009356969734, - 117.8303509386973, - 117.94663858398155, - 117.86698607183503 + 76.36054782378163, + 73.03714762794966, + 81.89122297975942, + 78.55822280489912 ], - "timestamp": 1.219735962671232 + "timestamp": 1.3125409972815612 }, { - "x": 6.7759867733861485, - "y": 5.247955494875119, - "heading": 0.2586192716270912, - "angularVelocity": 0.0026233342621136634, - "velocityX": 2.5850922316723794, - "velocityY": 3.6358376528082057, + "x": 6.900675128858064, + "y": 5.490437172735376, + "heading": 0.04499537797765645, + "angularVelocity": 0.5394688927191178, + "velocityX": 2.007200463240491, + "velocityY": 3.7778051075932146, "moduleForcesX": [ - -111.63929836087871, - -111.66387156096651, - -111.62390375896479, - -111.64847819942464 + -42.06733772242716, + -39.26107186822132, + -42.14342031824891, + -39.32697207269472 ], "moduleForcesY": [ - 95.74615505151759, - 95.71894983616147, - 95.76621173146378, - 95.7390136613767 + 20.427717258615658, + 20.779861432372048, + 17.318760221885213, + 17.642920606622013 ], - "timestamp": 1.2883017259933958 + "timestamp": 1.3588592383863456 }, { - "x": 6.934261174965004, - "y": 5.509709510093557, - "heading": 0.2587951414777653, - "angularVelocity": 0.00256498056978897, - "velocityX": 2.308359068889787, - "velocityY": 3.817561455402081, + "x": 6.992925839029616, + "y": 5.6653758213819865, + "heading": 0.07093355177340187, + "angularVelocity": 0.5599991100064932, + "velocityX": 1.99167127186109, + "velocityY": 3.7768845377969527, "moduleForcesX": [ - -50.44860391306926, - -50.45169855033135, - -50.44893662678693, - -50.452031233669686 + -5.102887632315015, + -3.400050060472068, + -4.9817836387359575, + -3.2788592891979396 ], "moduleForcesY": [ - 33.128521267526445, - 33.12717494060894, - 33.13176895692266, - 33.1304226181893 + 0.5435200781999887, + 0.6650690053076399, + -1.1614169889095411, + -1.040916431930943 ], - "timestamp": 1.3568674893155594 + "timestamp": 1.40517747949113 }, { - "x": 7.091843215190642, - "y": 5.771880952183355, - "heading": 0.2589709698302554, - "angularVelocity": 0.0025643753379365167, - "velocityX": 2.2982612981929784, - "velocityY": 3.82364943358305, + "x": 7.085412821154398, + "y": 5.840230575173243, + "heading": 0.09662175829599644, + "angularVelocity": 0.5546023750012636, + "velocityX": 1.9967723281106087, + "velocityY": 3.775073267477701, "moduleForcesX": [ - -1.840870759526762, - -1.840903641934308, - -1.8408794402953386, - -1.840912322716913 + 1.6217663618886644, + 1.17479552902846, + 1.5784762103383223, + 1.131492509415358 ], "moduleForcesY": [ - 1.1098673102483563, - 1.1098585651410204, - 1.1099002058497693, - 1.109891460746765 + -0.6906465612630897, + -0.7340117809168972, + -0.24362166548310132, + -0.2869651355562046 ], - "timestamp": 1.4254332526377231 + "timestamp": 1.4514957205959145 }, { - "x": 7.249404421589691, - "y": 6.0340649156543105, - "heading": 0.2591467981968178, - "angularVelocity": 0.0025643755431733668, - "velocityX": 2.2979574464933967, - "velocityY": 3.8238320521356646, + "x": 7.179389476776123, + "y": 6.015377044677734, + "heading": 0.11942898390010652, + "angularVelocity": 0.4924026703111192, + "velocityX": 2.0289340307443986, + "velocityY": 3.7813713415469334, "moduleForcesX": [ - -0.055394216310620505, - -0.05539420509854719, - -0.055394213515453594, - -0.055394202303552444 + 11.551177364070353, + 6.429204057879599, + 10.930370295018177, + 5.807430436183855 ], "moduleForcesY": [ - 0.03329259512829876, - 0.03329259785721462, - 0.03329258393250947, - 0.03329258666150902 + -0.5671607316676933, + -1.1894657283197994, + 4.578631573613982, + 3.976692245136334 ], - "timestamp": 1.4939990159598868 + "timestamp": 1.497813961700699 }, { - "x": 7.406965272902818, - "y": 6.296249092486793, - "heading": 0.2593226267694791, - "angularVelocity": 0.0025643785490307982, - "velocityX": 2.2979522676836095, - "velocityY": 3.8238351639225767, + "x": 7.348389947994157, + "y": 6.277600455160327, + "heading": 0.11948976747235102, + "angularVelocity": 0.0008692635751826053, + "velocityX": 2.416869367723612, + "velocityY": 3.750047107725238, "moduleForcesX": [ - -0.0009442357195338098, - -0.0009440727428309704, - -0.000944190996414584, - -0.000944028020823924 + 80.83217606418133, + 59.5618218111867, + 79.32828730223372, + 57.670146288750146 ], "moduleForcesY": [ - 0.0005673588465162425, - 0.0005674034948023384, - 0.0005671958886649733, - 0.0005672405371795352 + -18.225554305615546, + -25.324850449513864, + 11.68349263422328, + 9.468577771472273 ], - "timestamp": 1.5625647792820505 + "timestamp": 1.5677393260894297 }, { - "x": 7.564534740167337, - "y": 6.558427198804303, - "heading": 0.2595007237790296, - "angularVelocity": 0.0025974626536817186, - "velocityX": 2.298077927397116, - "velocityY": 3.823746628268577, + "x": 7.518138552985311, + "y": 6.53934022296958, + "heading": 0.11955040800362154, + "angularVelocity": 0.0008672179516063189, + "velocityX": 2.4275684006090175, + "velocityY": 3.7431305520866864, "moduleForcesX": [ - 0.021771163895779856, - 0.023568712221102687, - 0.022248510539662644, - 0.024046058449725113 + 1.9126435106146276, + 1.9125315626585428, + 1.9126300860993342, + 1.9125181381414544 ], "moduleForcesY": [ - -0.015480546711810404, - -0.015003200160183068, - -0.017278091763925713, - -0.016800743117756707 + -1.2364667632679238, + -1.2364802356540947, + -1.236354800321935, + -1.236368272706409 ], - "timestamp": 1.6311305426042142 + "timestamp": 1.6376646904781604 }, { - "x": 7.711285201447431, - "y": 6.802107665035766, - "heading": 0.32034019087803495, - "angularVelocity": 0.8873155369560016, - "velocityX": 2.140287720392417, - "velocityY": 3.5539670883077417, + "x": 7.6802601391604854, + "y": 6.7893041713934545, + "heading": 0.15782291773137713, + "angularVelocity": 0.547333718777498, + "velocityX": 2.31849469205343, + "velocityY": 3.574725002994185, "moduleForcesX": [ - -64.36317822484585, - -14.937297503884388, - -41.38924082882618, - 5.6248508290897 + -38.094438255334715, + -7.154683571791846, + -31.073192423144093, + -1.670635453375032 ], "moduleForcesY": [ - -32.83740079610559, - -19.373225864973048, - -75.18841673863052, - -69.3314580119363 + -17.498433357044807, + -13.38453164418703, + -45.923179924760866, + -43.611925515726874 ], - "timestamp": 1.6996963059263779 + "timestamp": 1.7075900548668912 }, { - "x": 7.828760771040384, - "y": 6.997272869470878, - "heading": 0.40638241198325015, - "angularVelocity": 1.2548860675689593, - "velocityX": 1.7133269419437556, - "velocityY": 2.8463943953685527, + "x": 7.809984051376004, + "y": 6.989308421296319, + "heading": 0.19597967129961397, + "angularVelocity": 0.5456782943041228, + "velocityX": 1.8551767781195205, + "velocityY": 2.86025323788085, "moduleForcesX": [ - -100.9836760080328, - -83.47435573512564, - -75.09982171897201, - -51.793437445644365 + -82.71570723499627, + -82.82540264866643, + -82.82192459202966, + -82.93156654935326 ], "moduleForcesY": [ - -113.73586948001663, - -126.93286075077032, - -132.3451691164271, - -142.9671520228315 + -127.79039527788936, + -127.71978983328604, + -127.72110145572738, + -127.65040233029568 ], - "timestamp": 1.7682620692485416 + "timestamp": 1.777515419255622 }, { - "x": 7.916727378291258, - "y": 7.143408297316895, - "heading": 0.48123846483269567, - "angularVelocity": 1.091740968414882, - "velocityX": 1.2829523509616856, - "velocityY": 2.131317741762136, + "x": 7.907277453977038, + "y": 7.13930968745116, + "heading": 0.2269902880004078, + "angularVelocity": 0.4434816603657422, + "velocityX": 1.391389282723764, + "velocityY": 2.145162452367787, "moduleForcesX": [ - -67.33834615216166, - -76.18180862108125, - -81.41996659361705, - -88.90061351995232 + -76.17205660931234, + -82.86251326156865, + -83.07691916557681, + -89.51888532774156 ], "moduleForcesY": [ - -136.74333597852987, - -132.04944799622973, - -128.8335700002639, - -123.82678747587613 + -132.07574740929024, + -127.99760496669779, + -127.83023666900148, + -123.42072922220851 ], - "timestamp": 1.8368278325707053 + "timestamp": 1.8474407836443527 }, { - "x": 7.975304684745279, - "y": 7.2407056303977, - "heading": 0.5350819188255351, - "angularVelocity": 0.7852819159884439, - "velocityX": 0.8543229684453808, - "velocityY": 1.41903667905483, + "x": 7.972138847802263, + "y": 7.239308091732087, + "heading": 0.2486147868456576, + "angularVelocity": 0.30925114276179383, + "velocityX": 0.9275803478784399, + "velocityY": 1.430073409771791, "moduleForcesX": [ - -56.88607291726352, - -73.36458495887281, - -85.56959783408232, - -96.74782619265117 + -74.02629860363942, + -82.6963865244638, + -83.36691691390358, + -91.55610256019361 ], "moduleForcesY": [ - -141.51432223762785, - -133.7482406290124, - -126.22512286876359, - -117.92683559106494 + -133.3785162492047, + -128.19504701789583, + -127.73540487236428, + -122.0141038581698 ], - "timestamp": 1.905393595892869 + "timestamp": 1.9173661480330835 }, { "x": 8.004569053649902, "y": 7.289306163787842, - "heading": 0.5633166974965059, - "angularVelocity": 0.4117912104078289, - "velocityX": 0.426807308579053, - "velocityY": 0.7088163397446334, + "heading": 0.2597534765050728, + "angularVelocity": 0.1592939809007319, + "velocityX": 0.46378315123754393, + "velocityY": 0.7150205435870883, "moduleForcesX": [ - -51.86786059065145, - -71.7928742395697, - -88.17638886107456, - -99.91880168037392 + -72.96117970025438, + -82.58073707695335, + -83.55463399379461, + -92.54076045024767 ], "moduleForcesY": [ - -143.47780701850422, - -134.6459121140117, - -124.4764760193074, - -115.31159121096721 + -134.0073520399002, + -128.3128104432483, + -127.66022837884285, + -121.31681326093911 ], - "timestamp": 1.9739593592150326 + "timestamp": 1.9872915124218142 }, { "x": 8.004569053649902, "y": 7.289306163787842, - "heading": 0.5633166974965059, - "angularVelocity": -6.758179503496535e-19, - "velocityX": -1.2020854158408072e-17, - "velocityY": 7.807456264368596e-18, + "heading": 0.2597534765050728, + "angularVelocity": -8.026848779705696e-23, + "velocityX": 6.27121408981774e-22, + "velocityY": -4.297457211777471e-22, "moduleForcesX": [ - -48.86499249179234, - -71.20342560134931, - -89.37977200278166, - -101.79118645243145 + -72.32700963271792, + -82.56666496319225, + -83.60464594606545, + -93.12894754008244 ], "moduleForcesY": [ - -144.55649606551765, - -134.98479325761485, - -123.65106665806778, - -113.69559611100382 + -134.37639584832937, + -128.34726542948118, + -127.65614177036272, + -120.89428886225973 ], - "timestamp": 2.0425251225371963 + "timestamp": 2.057216876810545 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot3 to f1.traj b/src/main/deploy/choreo/shoot3 to f1.traj index 657f5a2..50fec68 100644 --- a/src/main/deploy/choreo/shoot3 to f1.traj +++ b/src/main/deploy/choreo/shoot3 to f1.traj @@ -2,11 +2,11 @@ "samples": [ { "x": 5, - "y": 1.7999999999999998, + "y": 1.8, "heading": -0.676, - "angularVelocity": 3.800687150048589e-18, - "velocityX": -5.2786451754410545e-17, - "velocityY": -3.43589640014021e-17, + "angularVelocity": -4.02965005766179e-21, + "velocityX": -1.0560575214097651e-21, + "velocityY": 5.272776227368003e-22, "moduleForcesX": [ 0, 0, @@ -22,718 +22,760 @@ "timestamp": 0 }, { - "x": 4.978761276537438, - "y": 1.8273013474195536, - "heading": -0.6538730446040393, - "angularVelocity": 0.41179708477063015, - "velocityX": -0.39526650863722357, - "velocityY": 0.5080958982597991, + "x": 4.968556096880696, + "y": 1.838536182827189, + "heading": -0.6685260123845066, + "angularVelocity": 0.11702688813720821, + "velocityX": -0.4923452275077194, + "velocityY": 0.6033953745927658, "moduleForcesX": [ - -79.94323819061562, - -59.56930482342181, - -115.56559383731333, - -112.73025126958423 + -92.48696198097343, + -89.57509746406306, + -102.61006344769903, + -100.78228798287968 ], "moduleForcesY": [ - 129.9739995050107, - 140.44151562616474, - 99.6323549773227, - 102.75194790243671 + 121.37087292419673, + 123.52411101422102, + 112.93953506971155, + 114.56045030246304 ], - "timestamp": 0.053732666437672376 + "timestamp": 0.06386555888532788 }, { - "x": 4.936864582369221, - "y": 1.8824420518132277, - "heading": -0.6111373145378587, - "angularVelocity": 0.7953398351411596, - "velocityX": -0.7797248292179932, - "velocityY": 1.026204505500499, + "x": 4.907213795710883, + "y": 1.9168152576871376, + "heading": -0.6538944148741704, + "angularVelocity": 0.22909996820989958, + "velocityX": -0.9604911041325797, + "velocityY": 1.225685271156865, "moduleForcesX": [ - -79.24993768245197, - -58.04136794554419, - -113.1867895142026, - -107.2729212037701 + -88.13123048975005, + -84.72828622761, + -98.02647594193793, + -95.62287753271524 ], "moduleForcesY": [ - 130.3745478756316, - 141.05514717195, - 102.29227362450345, - 108.3950018689079 + 124.54164836420856, + 126.86842244995975, + 116.90901105820438, + 118.86830631085398 ], - "timestamp": 0.10746533287534475 + "timestamp": 0.12773111777065577 }, { - "x": 4.87519339523477, - "y": 1.966178896180933, - "heading": -0.5499411796835697, - "angularVelocity": 1.1389000195133803, - "velocityX": -1.1477410528136354, - "velocityY": 1.5583973385814707, + "x": 4.818516217535969, + "y": 2.036622117877845, + "heading": -0.6326275802007817, + "angularVelocity": 0.33299379265706913, + "velocityX": -1.3888170670231428, + "velocityY": 1.8759228335545506, "moduleForcesX": [ - -77.98943495608029, - -56.151092954851364, - -109.18071498135836, - -99.1298655250073 + -80.96187127152437, + -76.90334678907439, + -90.34770157724064, + -87.12115585317169 ], "moduleForcesY": [ - 131.0977375647602, - 141.7836939155453, - 106.50736648786436, - 115.83400443830153 + 129.27454445032055, + 131.7149999497541, + 122.89313583607483, + 125.18478409560596 ], - "timestamp": 0.16119799931301712 + "timestamp": 0.19159667665598365 }, { - "x": 4.795228036773245, - "y": 2.079633928082339, - "heading": -0.4734746216988076, - "angularVelocity": 1.4230925627629927, - "velocityX": -1.4882075235744263, - "velocityY": 2.1114722090200755, + "x": 4.707310402848676, + "y": 2.200760218327984, + "heading": -0.6057245225574083, + "angularVelocity": 0.4212451611310338, + "velocityX": -1.7412485951460135, + "velocityY": 2.5700565894185865, "moduleForcesX": [ - -74.89136676523789, - -53.72744378828229, - -101.2881798052434, - -86.9081737983606 + -67.18716047940563, + -62.42828254674346, + -75.2791718054043, + -71.02211890882606 ], "moduleForcesY": [ - 132.83469927614328, - 142.66624660146846, - 113.9617158121153, - 125.1915580854802 + 136.86877383692175, + 139.0889003474817, + 132.5822973375317, + 134.89358482599366 ], - "timestamp": 0.2149306657506895 + "timestamp": 0.25546223554131153 }, { - "x": 4.699852611459089, - "y": 2.22458381118864, - "heading": -0.3872836460184921, - "angularVelocity": 1.6040703243425392, - "velocityX": -1.7749989276621487, - "velocityY": 2.6976119504400584, + "x": 4.585275135062966, + "y": 2.413398400608054, + "heading": -0.5756156844641628, + "angularVelocity": 0.471440924008928, + "velocityX": -1.9108149981874747, + "velocityY": 3.329465614821709, "moduleForcesX": [ - -66.1321626897002, - -49.93166387875739, - -82.79700243691022, - -68.00793361264594 + -33.15670566356193, + -29.0094563550868, + -37.35156794550643, + -33.2348881926214 ], "moduleForcesY": [ - 137.29560456171336, - 143.94215668432236, - 127.90056942281913, - 136.28383082004092 + 148.68243143548384, + 149.53671912594746, + 147.6743093865777, + 148.64375123232335 ], - "timestamp": 0.26866333218836186 + "timestamp": 0.3193277944266394 }, { - "x": 4.59642092896864, - "y": 2.403722916582047, - "heading": -0.30451754327489494, - "angularVelocity": 1.540331203175855, - "velocityX": -1.9249311332972023, - "velocityY": 3.3338956962915187, + "x": 4.485728318178814, + "y": 2.67026066844047, + "heading": -0.5494455326403298, + "angularVelocity": 0.40976940123270744, + "velocityX": -1.5586932710146872, + "velocityY": 4.021921553894464, "moduleForcesX": [ - -33.27277464163609, - -41.001895940760974, - -28.855998911082654, - -36.38614176360288 + 72.02506123062523, + 65.27638688372417, + 72.39619462769224, + 65.97654951315377 ], "moduleForcesY": [ - 148.43614867598808, - 146.50849051120406, - 149.3877985091946, - 147.75035665893637 + 133.9382812078609, + 137.35654790086394, + 133.77138572449314, + 137.05378783995704 ], - "timestamp": 0.32239599862603424 + "timestamp": 0.38319335331196724 }, { - "x": 4.507710692608205, - "y": 2.611881629544769, - "heading": -0.2661671096694265, - "angularVelocity": 0.7137266052143084, - "velocityX": -1.6509554102281525, - "velocityY": 3.873969537822001, + "x": 4.434354698916913, + "y": 2.939095972716812, + "heading": -0.5177114869494529, + "angularVelocity": 0.4968882484510341, + "velocityX": -0.8044025631114174, + "velocityY": 4.2093940610312455, "moduleForcesX": [ - 127.11990345363314, - 8.647919244408348, - 94.09568000412645, - 25.079850415146385 + 145.75541673909345, + 147.70080261113992, + 147.74183369785868, + 149.3320550948716 ], "moduleForcesY": [ - 82.43458028914061, - 150.89347314933272, - 119.37068858168162, - 149.85759599058395 + 43.87085467447419, + 36.885394032622756, + 36.52646570323294, + 29.488495619628114 ], - "timestamp": 0.3761286650637066 + "timestamp": 0.4470589121972951 }, { - "x": 4.451340739631233, - "y": 2.8335232276809053, - "heading": -0.2334844208030772, - "angularVelocity": 0.6082461756216468, - "velocityX": -1.0490816241534726, - "velocityY": 4.124894832710717, + "x": 4.432125135897385, + "y": 3.204141899565127, + "heading": -0.46457887015687127, + "angularVelocity": 0.8319447558265705, + "velocityX": -0.03491025614494943, + "velocityY": 4.150060399913089, "moduleForcesX": [ - 143.86983773236406, - 140.8122731924101, - 139.62987846079326, - 135.75121422739596 + 151.50815729894674, + 152.41818939832748, + 150.29847241888118, + 148.20653856452319 ], "moduleForcesY": [ - 48.719209257041044, - 56.76725784281224, - 59.90222526621142, - 68.10548494145164 + 16.207714083650778, + -2.301820331640651, + -24.790561991045713, + -35.56733355483499 ], - "timestamp": 0.429861331501379 + "timestamp": 0.510924471082623 }, { - "x": 4.42975614253254, - "y": 3.057435357473267, - "heading": -0.18616550113932198, - "angularVelocity": 0.8806359855409729, - "velocityX": -0.40170344261773216, - "velocityY": 4.167150909052189, + "x": 4.477452741602163, + "y": 3.4550999017711996, + "heading": -0.39858197242406673, + "angularVelocity": 1.0333722727034071, + "velocityX": 0.709734738032509, + "velocityY": 3.929473202554648, "moduleForcesX": [ - 148.01541998583522, - 150.66014769561934, - 151.94048494087306, - 151.7904762688664 + 149.5961844552736, + 148.6967961153982, + 142.46539430871493, + 142.2201562523035 ], "moduleForcesY": [ - 35.09239728864554, - 21.841810718503123, - -6.292827810052857, - -11.320721887118713 + -29.475002781916494, + -33.86240667333583, + -54.314060123389325, + -55.04505199608617 ], - "timestamp": 0.4835939979390514 + "timestamp": 0.5747900299679508 }, { - "x": 4.442664725242422, - "y": 3.2780463998012865, - "heading": -0.11875668135664122, - "angularVelocity": 1.2545221417807453, - "velocityX": 0.24023715096968415, - "velocityY": 4.105715516434578, + "x": 4.56858491897583, + "y": 3.6867117881774902, + "heading": -0.325205182380257, + "angularVelocity": 1.1489258267599212, + "velocityX": 1.4269377574428972, + "velocityY": 3.6265538178747527, "moduleForcesX": [ - 151.3675407702616, - 152.23356753249857, - 145.82112364560228, - 147.92444386951456 + 142.99539767200815, + 143.14844997821, + 137.31285826409976, + 138.0376518647654 ], "moduleForcesY": [ - 16.478639333756554, - 6.73565139735906, - -43.79985389847295, - -36.58207496618297 + -53.08780163514687, + -52.714542137631305, + -66.41943736111352, + -64.9321637832697 ], - "timestamp": 0.5373266643767237 + "timestamp": 0.6386555888532787 }, { - "x": 4.489347183993817, - "y": 3.4890967881994723, - "heading": -0.04248007839582056, - "angularVelocity": 1.419557375763311, - "velocityX": 0.868791032597574, - "velocityY": 3.927785505308899, + "x": 4.6650338174422314, + "y": 3.8517035043632, + "heading": -0.26632541534052234, + "angularVelocity": 1.1981117995168453, + "velocityX": 1.9625852667694308, + "velocityY": 3.3573251377035485, "moduleForcesX": [ - 148.95597326328317, - 149.74611992310528, - 141.87381538794835, - 144.31399481158914 + 137.6496319514016, + 138.23079522176542, + 134.14511229919668, + 134.95419938499103 ], "moduleForcesY": [ - -32.21152576410643, - -28.53837598758538, - -55.68593369406905, - -49.13384769283962 + -65.7125254660541, + -64.49983939163093, + -72.60279689451743, + -71.10411026511437 ], - "timestamp": 0.5910593308143961 + "timestamp": 0.6877993891759854 }, { - "x": 4.56858491897583, - "y": 3.68671178817749, - "heading": 0.035129149501579485, - "angularVelocity": 1.4443583957917419, - "velocityX": 1.4746659757238103, - "velocityY": 3.677744155986597, + "x": 4.787227826400901, + "y": 4.002368165967056, + "heading": -0.20841528735068082, + "angularVelocity": 1.1783811510214923, + "velocityX": 2.486458274620043, + "velocityY": 3.0657918316149706, "moduleForcesX": [ - 141.29267999159146, - 141.83290898639174, - 140.0355708341966, - 140.62525103819675 + 132.765861023918, + 132.2989255345606, + 134.18087477702133, + 133.75443675475552 ], "moduleForcesY": [ - -57.341163995437284, - -56.003616189059244, - -60.35141254362546, - -58.97544437754139 + -75.03737533789058, + -75.85018435455038, + -72.47436716236288, + -73.25056971058298 ], - "timestamp": 0.6447919972520685 + "timestamp": 0.7369431894986921 }, { - "x": 4.681963070427405, - "y": 3.8716462010736077, - "heading": 0.11070768306348662, - "angularVelocity": 1.3810212203821026, - "velocityX": 2.0717209729069044, - "velocityY": 3.379244562612742, + "x": 4.934139658347578, + "y": 4.1371245849303735, + "heading": -0.156609608331141, + "angularVelocity": 1.054165096703016, + "velocityX": 2.989427577476002, + "velocityY": 2.742083804638591, "moduleForcesX": [ - 135.86370743540135, - 133.53747298285, - 139.0536410516607, - 137.0344742239213 + 125.66859909792329, + 120.56158363429101, + 134.4729069150177, + 131.02911212915762 ], "moduleForcesY": [ - -69.34516980084541, - -73.70973989487817, - -62.69229013009205, - -66.9719528862851 + -86.33702776892365, + -93.29290726227366, + -71.83665274843274, + -77.88118839022783 ], - "timestamp": 0.699518552098923 + "timestamp": 0.7860869898213988 }, { - "x": 4.82680762227055, - "y": 4.03825633289643, - "heading": 0.17657982284753673, - "angularVelocity": 1.2036595391139404, - "velocityX": 2.6466959641267596, - "velocityY": 3.0444111143708725, + "x": 5.103777717328528, + "y": 4.253675803987424, + "heading": -0.1188378945090999, + "angularVelocity": 0.7685957043209943, + "velocityX": 3.4518709962805922, + "velocityY": 2.3716362652405354, "moduleForcesX": [ - 131.1329141092116, - 121.94659008111141, - 139.67484986146485, - 132.5619141005329 + 115.06473006445565, + 96.23851863831497, + 134.93153221400937, + 124.26548134205862 ], "moduleForcesY": [ - -77.86581235085843, - -91.54913124793084, - -61.1908373194677, - -75.30918959232002 + -99.95946464017854, + -118.11080503717878, + -70.81303120285384, + -88.01829908304188 ], - "timestamp": 0.7542451069457775 + "timestamp": 0.8352307901441055 }, { - "x": 5.001287860587722, - "y": 4.1841426666986345, - "heading": 0.22598382201706071, - "angularVelocity": 0.9027427234956368, - "velocityX": 3.188218933304399, - "velocityY": 2.6657320966539917, + "x": 5.293624184460323, + "y": 4.349681438277899, + "heading": -0.10001712476665173, + "angularVelocity": 0.38297342938193807, + "velocityX": 3.863080711812074, + "velocityY": 1.9535655293251866, "moduleForcesX": [ - 125.68615327153141, - 105.60074539533774, - 139.72597333195566, - 123.74051663706797 + 104.47780939566104, + 71.2961245709602, + 132.13876624195984, + 110.46124811373025 ], "moduleForcesY": [ - -86.29886017804915, - -109.91496547455115, - -60.8920861554806, - -88.86782870773528 + -110.83669044216646, + -134.485457729603, + -75.60249456529873, + -104.42986095419498 ], - "timestamp": 0.808971661792632 + "timestamp": 0.8843745904668122 }, { - "x": 5.2027269571511745, - "y": 4.3064127822506215, - "heading": 0.25321117236278345, - "angularVelocity": 0.49751625006991185, - "velocityX": 3.6808291171531247, - "velocityY": 2.2342008534811644, + "x": 5.499963624380415, + "y": 4.421992258878435, + "heading": -0.09817390237308449, + "angularVelocity": 0.03750671257541272, + "velocityX": 4.1986870890151415, + "velocityY": 1.4714128766129912, "moduleForcesX": [ - 118.59534150568663, - 86.57993548215902, - 137.41517895882328, - 107.47458581041897 + 88.91243798472142, + 53.67114077594345, + 115.66016569971083, + 83.20967896158395 ], "moduleForcesY": [ - -95.66185636852269, - -125.31227826602125, - -65.61226099154013, - -107.67489524337151 + -123.32298424213555, + -142.10654913778305, + -98.42912412628205, + -126.69421950585485 ], - "timestamp": 0.8636982166394865 + "timestamp": 0.9335183907895189 }, { - "x": 5.426680494052918, - "y": 4.400973811630735, - "heading": 0.2570211417658018, - "angularVelocity": 0.06961829436741093, - "velocityX": 4.092227941784746, - "velocityY": 1.727882006398769, + "x": 5.714578424586947, + "y": 4.4663841272135345, + "heading": -0.0979388641462991, + "angularVelocity": 0.004782662823021348, + "velocityX": 4.367077816474368, + "velocityY": 0.9033055653733777, "moduleForcesX": [ - 104.95360774923395, - 66.30428675684652, - 124.90100796985048, - 79.70874146695708 + 44.154707967428386, + 39.6964536689181, + 46.01541671933955, + 41.457908510892025 ], "moduleForcesY": [ - -110.12589532010138, - -136.84292616829345, - -86.50660049263499, - -129.11431028340613 + -144.16855603164572, + -145.43492937878676, + -143.52310800483917, + -144.878472848521 ], - "timestamp": 0.918424771486341 + "timestamp": 0.9826621911122256 }, { - "x": 5.663103180753033, - "y": 4.4615932172120365, - "heading": 0.25729922848084547, - "angularVelocity": 0.005081385368275235, - "velocityX": 4.320072538142732, - "velocityY": 1.1076780870221035, + "x": 5.924927610181476, + "y": 4.527833840756606, + "heading": -0.09766804098784947, + "angularVelocity": 0.0055108305965604005, + "velocityX": 4.280279185029497, + "velocityY": 1.2504062188835994, "moduleForcesX": [ - 55.743290733615076, - 47.58147783756521, - 56.73658502029491, - 48.10504479093734 + -22.106162170957248, + -22.03245285565053, + -22.122993410271913, + -22.049257709919395 ], "moduleForcesY": [ - -140.37518533278705, - -143.3382895314043, - -139.869033734059, - -143.05641204030178 + 88.30412912809929, + 88.30980657635477, + 88.2641695391432, + 88.26985160035588 ], - "timestamp": 0.9731513263331956 + "timestamp": 1.0318059914349322 }, { - "x": 5.899618651226657, - "y": 4.52187357503453, - "heading": 0.2575517733536056, - "angularVelocity": 0.004614667842075693, - "velocityX": 4.321767944920409, - "velocityY": 1.1014827808552372, + "x": 6.124570846557617, + "y": 4.616429328918457, + "heading": -0.09522289077547066, + "angularVelocity": 0.049755008695349844, + "velocityX": 4.062429748313481, + "velocityY": 1.8027805660138634, "moduleForcesX": [ - 0.4073298825410608, - 0.37552826007325135, - 0.3989625139168673, - 0.36715934059681515 + -56.79714284165791, + -51.15444846851292, + -59.7300960302419, + -53.9631949087108 ], "moduleForcesY": [ - -1.4267576526814514, - -1.4351339064847661, - -1.3949847685038683, - -1.4033613532443205 + 140.03928247370902, + 142.16423803407525, + 138.74464941109161, + 141.04982728835452 ], - "timestamp": 1.0278778811800502 + "timestamp": 1.080949791757639 }, { - "x": 6.124570846557617, - "y": 4.616429328918457, - "heading": 0.25793730164261586, - "angularVelocity": 0.007044629249679032, - "velocityX": 4.110476092629601, - "velocityY": 1.7277856087975656, + "x": 6.296979767855439, + "y": 4.720301949919861, + "heading": -0.07968051470268298, + "angularVelocity": 0.33555626686312695, + "velocityX": 3.7222683155821255, + "velocityY": 2.242585610416905, + "moduleForcesX": [ + -94.09335029142069, + -64.60136889646938, + -117.33523294026367, + -91.17033939610653 + ], + "moduleForcesY": [ + 119.45845909188917, + 137.53399696927914, + 96.52339772613443, + 121.24855210635366 + ], + "timestamp": 1.1272680328624234 + }, + { + "x": 6.4523427503399535, + "y": 4.84364734276305, + "heading": -0.0560650798473882, + "angularVelocity": 0.5098517191503511, + "velocityX": 3.3542504805618423, + "velocityY": 2.6629982033241797, + "moduleForcesX": [ + -100.00918695093591, + -83.59416314210894, + -114.20217468666924, + -99.46542748693915 + ], + "moduleForcesY": [ + 113.96388621933548, + 126.33940259896592, + 99.53138805360058, + 113.99580425127789 + ], + "timestamp": 1.1735862739672078 + }, + { + "x": 6.589539925013804, + "y": 4.985324581710571, + "heading": -0.029194307557116547, + "angularVelocity": 0.580133693537341, + "velocityX": 2.9620549356242374, + "velocityY": 3.058778476216575, "moduleForcesX": [ - -48.410476140801066, - -48.09076655142578, - -48.43120828303922, - -48.110810091020994 + -105.86529695202135, + -99.9696828539512, + -111.5517632980189, + -105.98376447892002 ], "moduleForcesY": [ - 143.00444875083596, - 143.1120086234952, - 142.99339235212946, - 143.10123655039655 + 107.10427689349676, + 112.47630279550192, + 101.00900636175308, + 106.650593468407 ], - "timestamp": 1.0826044360269047 + "timestamp": 1.2199045150719923 }, { - "x": 6.379499738728888, - "y": 4.785376418684285, - "heading": 0.2582313735688241, - "angularVelocity": 0.004288903265417761, - "velocityX": 3.718020187012952, - "velocityY": 2.4640152983014283, + "x": 6.707749834739502, + "y": 5.143742836390259, + "heading": -0.003325948751533508, + "angularVelocity": 0.5584918206859758, + "velocityX": 2.5521243230775768, + "velocityY": 3.420213093180972, "moduleForcesX": [ - -71.44560924330256, - -71.71103357166939, - -71.38388465509242, - -71.6488815011628 + -110.68124452724969, + -112.24900955602732, + -108.99147549765371, + -110.59357623485711 ], "moduleForcesY": [ - 134.2730790823799, - 134.1318265240505, - 134.30723349382475, - 134.16636544188862 + 97.3669307847397, + 95.69829252765817, + 99.3757665889251, + 97.72345540515448 ], - "timestamp": 1.1511701993490684 + "timestamp": 1.2662227561767767 }, { - "x": 6.5987379512628745, - "y": 4.998661510894463, - "heading": 0.25843940071096017, - "angularVelocity": 0.0030339798181587187, - "velocityX": 3.1974881035860774, - "velocityY": 3.110664592299739, + "x": 6.807705133856084, + "y": 5.315455884914979, + "heading": 0.020008127736161296, + "angularVelocity": 0.5037772577526598, + "velocityX": 2.1580115464755596, + "velocityY": 3.7072445850492777, "moduleForcesX": [ - -94.86840238947268, - -94.96823818394641, - -94.82478293923123, - -94.92458137223326 + -106.18853539819592, + -109.68078967616168, + -102.95277914413603, + -106.61803254147924 ], "moduleForcesY": [ - 117.91009356969734, - 117.8303509386973, - 117.94663858398155, - 117.86698607183503 + 76.36054782378163, + 73.03714762794966, + 81.89122297975942, + 78.55822280489912 ], - "timestamp": 1.219735962671232 + "timestamp": 1.3125409972815612 }, { - "x": 6.7759867733861485, - "y": 5.247955494875119, - "heading": 0.2586192716270912, - "angularVelocity": 0.0026233342621136634, - "velocityX": 2.5850922316723794, - "velocityY": 3.6358376528082057, + "x": 6.900675128858064, + "y": 5.490437172735376, + "heading": 0.04499537797765645, + "angularVelocity": 0.5394688927191178, + "velocityX": 2.007200463240491, + "velocityY": 3.7778051075932146, "moduleForcesX": [ - -111.63929836087871, - -111.66387156096651, - -111.62390375896479, - -111.64847819942464 + -42.06733772242716, + -39.26107186822132, + -42.14342031824891, + -39.32697207269472 ], "moduleForcesY": [ - 95.74615505151759, - 95.71894983616147, - 95.76621173146378, - 95.7390136613767 + 20.427717258615658, + 20.779861432372048, + 17.318760221885213, + 17.642920606622013 ], - "timestamp": 1.2883017259933958 + "timestamp": 1.3588592383863456 }, { - "x": 6.934261174965004, - "y": 5.509709510093557, - "heading": 0.2587951414777653, - "angularVelocity": 0.00256498056978897, - "velocityX": 2.308359068889787, - "velocityY": 3.817561455402081, + "x": 6.992925839029616, + "y": 5.6653758213819865, + "heading": 0.07093355177340187, + "angularVelocity": 0.5599991100064932, + "velocityX": 1.99167127186109, + "velocityY": 3.7768845377969527, "moduleForcesX": [ - -50.44860391306926, - -50.45169855033135, - -50.44893662678693, - -50.452031233669686 + -5.102887632315015, + -3.400050060472068, + -4.9817836387359575, + -3.2788592891979396 ], "moduleForcesY": [ - 33.128521267526445, - 33.12717494060894, - 33.13176895692266, - 33.1304226181893 + 0.5435200781999887, + 0.6650690053076399, + -1.1614169889095411, + -1.040916431930943 ], - "timestamp": 1.3568674893155594 + "timestamp": 1.40517747949113 }, { - "x": 7.091843215190642, - "y": 5.771880952183355, - "heading": 0.2589709698302554, - "angularVelocity": 0.0025643753379365167, - "velocityX": 2.2982612981929784, - "velocityY": 3.82364943358305, + "x": 7.085412821154398, + "y": 5.840230575173243, + "heading": 0.09662175829599644, + "angularVelocity": 0.5546023750012636, + "velocityX": 1.9967723281106087, + "velocityY": 3.775073267477701, "moduleForcesX": [ - -1.840870759526762, - -1.840903641934308, - -1.8408794402953386, - -1.840912322716913 + 1.6217663618886644, + 1.17479552902846, + 1.5784762103383223, + 1.131492509415358 ], "moduleForcesY": [ - 1.1098673102483563, - 1.1098585651410204, - 1.1099002058497693, - 1.109891460746765 + -0.6906465612630897, + -0.7340117809168972, + -0.24362166548310132, + -0.2869651355562046 ], - "timestamp": 1.4254332526377231 + "timestamp": 1.4514957205959145 }, { - "x": 7.249404421589691, - "y": 6.0340649156543105, - "heading": 0.2591467981968178, - "angularVelocity": 0.0025643755431733668, - "velocityX": 2.2979574464933967, - "velocityY": 3.8238320521356646, + "x": 7.179389476776123, + "y": 6.015377044677734, + "heading": 0.11942898390010652, + "angularVelocity": 0.4924026703111192, + "velocityX": 2.0289340307443986, + "velocityY": 3.7813713415469334, "moduleForcesX": [ - -0.055394216310620505, - -0.05539420509854719, - -0.055394213515453594, - -0.055394202303552444 + 11.551177364070353, + 6.429204057879599, + 10.930370295018177, + 5.807430436183855 ], "moduleForcesY": [ - 0.03329259512829876, - 0.03329259785721462, - 0.03329258393250947, - 0.03329258666150902 + -0.5671607316676933, + -1.1894657283197994, + 4.578631573613982, + 3.976692245136334 ], - "timestamp": 1.4939990159598868 + "timestamp": 1.497813961700699 }, { - "x": 7.406965272902818, - "y": 6.296249092486793, - "heading": 0.2593226267694791, - "angularVelocity": 0.0025643785490307982, - "velocityX": 2.2979522676836095, - "velocityY": 3.8238351639225767, + "x": 7.348389947994157, + "y": 6.277600455160327, + "heading": 0.11948976747235102, + "angularVelocity": 0.0008692635751826053, + "velocityX": 2.416869367723612, + "velocityY": 3.750047107725238, "moduleForcesX": [ - -0.0009442357195338098, - -0.0009440727428309704, - -0.000944190996414584, - -0.000944028020823924 + 80.83217606418133, + 59.5618218111867, + 79.32828730223372, + 57.670146288750146 ], "moduleForcesY": [ - 0.0005673588465162425, - 0.0005674034948023384, - 0.0005671958886649733, - 0.0005672405371795352 + -18.225554305615546, + -25.324850449513864, + 11.68349263422328, + 9.468577771472273 ], - "timestamp": 1.5625647792820505 + "timestamp": 1.5677393260894297 }, { - "x": 7.564534740167337, - "y": 6.558427198804303, - "heading": 0.2595007237790296, - "angularVelocity": 0.0025974626536817186, - "velocityX": 2.298077927397116, - "velocityY": 3.823746628268577, + "x": 7.518138552985311, + "y": 6.53934022296958, + "heading": 0.11955040800362154, + "angularVelocity": 0.0008672179516063189, + "velocityX": 2.4275684006090175, + "velocityY": 3.7431305520866864, "moduleForcesX": [ - 0.021771163895779856, - 0.023568712221102687, - 0.022248510539662644, - 0.024046058449725113 + 1.9126435106146276, + 1.9125315626585428, + 1.9126300860993342, + 1.9125181381414544 ], "moduleForcesY": [ - -0.015480546711810404, - -0.015003200160183068, - -0.017278091763925713, - -0.016800743117756707 + -1.2364667632679238, + -1.2364802356540947, + -1.236354800321935, + -1.236368272706409 ], - "timestamp": 1.6311305426042142 + "timestamp": 1.6376646904781604 }, { - "x": 7.711285201447431, - "y": 6.802107665035766, - "heading": 0.32034019087803495, - "angularVelocity": 0.8873155369560016, - "velocityX": 2.140287720392417, - "velocityY": 3.5539670883077417, + "x": 7.6802601391604854, + "y": 6.7893041713934545, + "heading": 0.15782291773137713, + "angularVelocity": 0.547333718777498, + "velocityX": 2.31849469205343, + "velocityY": 3.574725002994185, "moduleForcesX": [ - -64.36317822484585, - -14.937297503884388, - -41.38924082882618, - 5.6248508290897 + -38.094438255334715, + -7.154683571791846, + -31.073192423144093, + -1.670635453375032 ], "moduleForcesY": [ - -32.83740079610559, - -19.373225864973048, - -75.18841673863052, - -69.3314580119363 + -17.498433357044807, + -13.38453164418703, + -45.923179924760866, + -43.611925515726874 ], - "timestamp": 1.6996963059263779 + "timestamp": 1.7075900548668912 }, { - "x": 7.828760771040384, - "y": 6.997272869470878, - "heading": 0.40638241198325015, - "angularVelocity": 1.2548860675689593, - "velocityX": 1.7133269419437556, - "velocityY": 2.8463943953685527, + "x": 7.809984051376004, + "y": 6.989308421296319, + "heading": 0.19597967129961397, + "angularVelocity": 0.5456782943041228, + "velocityX": 1.8551767781195205, + "velocityY": 2.86025323788085, "moduleForcesX": [ - -100.9836760080328, - -83.47435573512564, - -75.09982171897201, - -51.793437445644365 + -82.71570723499627, + -82.82540264866643, + -82.82192459202966, + -82.93156654935326 ], "moduleForcesY": [ - -113.73586948001663, - -126.93286075077032, - -132.3451691164271, - -142.9671520228315 + -127.79039527788936, + -127.71978983328604, + -127.72110145572738, + -127.65040233029568 ], - "timestamp": 1.7682620692485416 + "timestamp": 1.777515419255622 }, { - "x": 7.916727378291258, - "y": 7.143408297316895, - "heading": 0.48123846483269567, - "angularVelocity": 1.091740968414882, - "velocityX": 1.2829523509616856, - "velocityY": 2.131317741762136, + "x": 7.907277453977038, + "y": 7.13930968745116, + "heading": 0.2269902880004078, + "angularVelocity": 0.4434816603657422, + "velocityX": 1.391389282723764, + "velocityY": 2.145162452367787, "moduleForcesX": [ - -67.33834615216166, - -76.18180862108125, - -81.41996659361705, - -88.90061351995232 + -76.17205660931234, + -82.86251326156865, + -83.07691916557681, + -89.51888532774156 ], "moduleForcesY": [ - -136.74333597852987, - -132.04944799622973, - -128.8335700002639, - -123.82678747587613 + -132.07574740929024, + -127.99760496669779, + -127.83023666900148, + -123.42072922220851 ], - "timestamp": 1.8368278325707053 + "timestamp": 1.8474407836443527 }, { - "x": 7.975304684745279, - "y": 7.2407056303977, - "heading": 0.5350819188255351, - "angularVelocity": 0.7852819159884439, - "velocityX": 0.8543229684453808, - "velocityY": 1.41903667905483, + "x": 7.972138847802263, + "y": 7.239308091732087, + "heading": 0.2486147868456576, + "angularVelocity": 0.30925114276179383, + "velocityX": 0.9275803478784399, + "velocityY": 1.430073409771791, "moduleForcesX": [ - -56.88607291726352, - -73.36458495887281, - -85.56959783408232, - -96.74782619265117 + -74.02629860363942, + -82.6963865244638, + -83.36691691390358, + -91.55610256019361 ], "moduleForcesY": [ - -141.51432223762785, - -133.7482406290124, - -126.22512286876359, - -117.92683559106494 + -133.3785162492047, + -128.19504701789583, + -127.73540487236428, + -122.0141038581698 ], - "timestamp": 1.905393595892869 + "timestamp": 1.9173661480330835 }, { "x": 8.004569053649902, "y": 7.289306163787842, - "heading": 0.5633166974965059, - "angularVelocity": 0.4117912104078289, - "velocityX": 0.426807308579053, - "velocityY": 0.7088163397446334, + "heading": 0.2597534765050728, + "angularVelocity": 0.1592939809007319, + "velocityX": 0.46378315123754393, + "velocityY": 0.7150205435870883, "moduleForcesX": [ - -51.86786059065145, - -71.7928742395697, - -88.17638886107456, - -99.91880168037392 + -72.96117970025438, + -82.58073707695335, + -83.55463399379461, + -92.54076045024767 ], "moduleForcesY": [ - -143.47780701850422, - -134.6459121140117, - -124.4764760193074, - -115.31159121096721 + -134.0073520399002, + -128.3128104432483, + -127.66022837884285, + -121.31681326093911 ], - "timestamp": 1.9739593592150326 + "timestamp": 1.9872915124218142 }, { "x": 8.004569053649902, "y": 7.289306163787842, - "heading": 0.5633166974965059, - "angularVelocity": -6.758179503496535e-19, - "velocityX": -1.2020854158408072e-17, - "velocityY": 7.807456264368596e-18, + "heading": 0.2597534765050728, + "angularVelocity": -8.026848779705696e-23, + "velocityX": 6.27121408981774e-22, + "velocityY": -4.297457211777471e-22, "moduleForcesX": [ - -48.86499249179234, - -71.20342560134931, - -89.37977200278166, - -101.79118645243145 + -72.32700963271792, + -82.56666496319225, + -83.60464594606545, + -93.12894754008244 ], "moduleForcesY": [ - -144.55649606551765, - -134.98479325761485, - -123.65106665806778, - -113.69559611100382 + -134.37639584832937, + -128.34726542948118, + -127.65614177036272, + -120.89428886225973 ], - "timestamp": 2.0425251225371963 + "timestamp": 2.057216876810545 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot3 to f4.1.traj b/src/main/deploy/choreo/shoot3 to f4.1.traj index df77d88..5c2ebda 100644 --- a/src/main/deploy/choreo/shoot3 to f4.1.traj +++ b/src/main/deploy/choreo/shoot3 to f4.1.traj @@ -1,13 +1,12 @@ { "samples": [ { - "x": 5.389826774597168, - "y": 6.316443920135498, - "heading": 0.0923293613877475, - "angularVelocity": 5.877860824481475e-29, - "velocityX": -1.756795253310143e-28, - "velocityY": 8.074452417133554e-28, - "timestamp": 0, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, + "angularVelocity": -2.996572302511551e-20, + "velocityX": 1.282052848216731e-19, + "velocityY": -9.786372330902113e-20, "moduleForcesX": [ 0, 0, @@ -19,574 +18,1268 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 5.439971490781152, - "y": 6.3294310840425485, - "heading": 0.10920451720627261, - "angularVelocity": 0.2585002523184431, - "velocityX": 0.7681364205103656, - "velocityY": 0.1989424680267629, - "timestamp": 0.06528100327630178, + "x": 5.007456788817388, + "y": 1.794992464465537, + "heading": -0.575394590507481, + "angularVelocity": -0.001651160000852412, + "velocityX": 0.2747702203103183, + "velocityY": -0.18451932537068735, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.4323888308918, + 126.42718665686525, + 126.6930023579305, + 126.68861939280484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.18153054493328, + -85.18791199552554, + -84.79340549539133, + -84.7986080629928 + ], + "timestamp": 0.02713827142172241 }, { - "x": 5.541197751644751, - "y": 6.351497936743534, - "heading": 0.13997352557252016, - "angularVelocity": 0.47133173238802323, - "velocityX": 1.5506235471774212, - "velocityY": 0.3380287004411842, - "timestamp": 0.13056200655260355, + "x": 5.022369060349875, + "y": 1.7849782705041466, + "heading": -0.5754852456913515, + "angularVelocity": -0.003340492195016771, + "velocityX": 0.5494923129331046, + "velocityY": -0.3690063307913569, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.40731466446088, + 126.40193813470857, + 126.67389630628601, + 126.66937688573428 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.17106421812213, + -85.177523092467, + -84.7740483898801, + -84.77927358804908 + ], + "timestamp": 0.05427654284344482 }, { - "x": 5.694362835318405, - "y": 6.375852030285326, - "heading": 0.17940969727211997, - "angularVelocity": 0.6040987380767765, - "velocityX": 2.3462427963213397, - "velocityY": 0.3730655522972587, - "timestamp": 0.19584300982890535, + "x": 5.044735187945756, + "y": 1.7699585104871869, + "heading": -0.5756230371481199, + "angularVelocity": -0.005077385166765462, + "velocityX": 0.8241544661551196, + "velocityY": -0.5534530841546923, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.37608481983439, + 126.37049451886605, + 126.65009906896331, + 126.64541424044413 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.15803673418601, + -85.16457754560324, + -84.74994841515758, + -84.75518553756926 + ], + "timestamp": 0.08141481426516722 }, { - "x": 5.898399800638583, - "y": 6.389171149392318, - "heading": 0.21713359386712372, - "angularVelocity": 0.5778694367691833, - "velocityX": 3.125518222454279, - "velocityY": 0.2040274879143424, - "timestamp": 0.2611240131052071, + "x": 5.074553089941075, + "y": 1.7499345823475776, + "heading": -0.5758096175487458, + "angularVelocity": -0.0068751763045813985, + "velocityX": 1.0987399135273592, + "velocityY": -0.7378483260210185, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.33612005612933, + 126.33025402643112, + 126.61964559710664, + 126.61474884248005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.14137170926843, + -85.1480052432386, + -84.7191141217772, + -84.72435152439685 + ], + "timestamp": 0.10855308568688964 }, { - "x": 6.139812966993799, - "y": 6.366910320571869, - "heading": 0.23261325277244352, - "angularVelocity": 0.23712348353168142, - "velocityX": 3.6980615223303914, - "velocityY": -0.341000102682707, - "timestamp": 0.3264050163815089, + "x": 5.111820007811045, + "y": 1.7249083385610295, + "heading": -0.5760471785530623, + "angularVelocity": -0.008753726448706999, + "velocityX": 1.3732237138832095, + "velocityY": -0.9221753072527897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.28316575436904, + 126.27692297095302, + 126.57929463644827, + 126.57410901664244 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.11929376807832, + -85.1260405006317, + -84.6782603034939, + -84.68348350468067 + ], + "timestamp": 0.13569135710861205 }, { - "x": 6.384462665197072, - "y": 6.294251581180724, - "heading": 0.20609382989342284, - "angularVelocity": -0.406234915949089, - "velocityX": 3.7476399859817295, - "velocityY": -1.1130150540673742, - "timestamp": 0.39168601965781064, + "x": 5.1565321122100904, + "y": 1.6948823507089557, + "heading": -0.5763387656761177, + "angularVelocity": -0.0107444987384904, + "velocityX": 1.6475664092287998, + "velocityY": -1.1064075299970664, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.20966852213114, + 126.20287423564635, + 126.52329209318188, + 126.5176833233722 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.08865122996004, + -85.09554719544221, + -84.62155435249382, + -84.62674069479196 + ], + "timestamp": 0.16282962853033445 }, { - "x": 6.6103692054748535, - "y": 6.174520015716553, - "heading": 0.14073021457593823, - "angularVelocity": -1.0012654836328598, - "velocityX": 3.4605249450844475, - "velocityY": -1.8340950575990314, - "timestamp": 0.4569670229341124, + "x": 5.208683729904504, + "y": 1.6598604286277538, + "heading": -0.5766888973268911, + "angularVelocity": -0.012901766856566963, + "velocityX": 1.9217000553954307, + "velocityY": -1.2904993666279352, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.1008123813199, + 126.09313541664747, + 126.44035120519956, + 126.43406350721159 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.04326199529575, + -85.05036903851256, + -84.53755536740724, + -84.54265737483904 + ], + "timestamp": 0.18996789995205685 }, { - "x": 6.781201507559486, - "y": 6.042996679000263, - "heading": 0.05997960008578628, - "angularVelocity": -1.4624195868222665, - "velocityX": 3.093827907166859, - "velocityY": -2.3819299079337615, - "timestamp": 0.5121841543359267, + "x": 5.268265591451992, + "y": 1.619848797173541, + "heading": -0.5771049714908946, + "angularVelocity": -0.015331638391324806, + "velocityX": 2.1954921380772614, + "velocityY": -1.4743618277111215, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 125.92303528795932, + 125.91375018194253, + 126.30490143304947, + 126.29737339526352 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -84.96911912441205, + -84.97654103132078, + -84.40034735176783, + -84.40523096676816 + ], + "timestamp": 0.21710617137377924 }, { - "x": 6.927058757559823, - "y": 5.883904997659516, - "heading": -0.02671630198517662, - "angularVelocity": -1.5700906561059491, - "velocityX": 2.641521685343184, - "velocityY": -2.881201491309624, - "timestamp": 0.5674012857377408, + "x": 5.335259832104833, + "y": 1.5748594533432696, + "heading": -0.5776012930196021, + "angularVelocity": -0.018288619823818145, + "velocityX": 2.468625934637818, + "velocityY": -1.6577822194722371, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 125.58070250264043, + 125.56776706999763, + 126.04405068095453, + 126.03370280999343 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -84.82628177138449, + -84.83415988369129, + -84.13609268900012, + -84.14022830157224 + ], + "timestamp": 0.24424444279550164 }, { - "x": 7.04544649214824, - "y": 5.699791641539284, - "heading": -0.10516736657169454, - "angularVelocity": -1.4207739988452266, - "velocityX": 2.1440399307763967, - "velocityY": -3.33435206513069, - "timestamp": 0.622618417139555, + "x": 5.409617755537492, + "y": 1.5249250989527485, + "heading": -0.5782171017383527, + "angularVelocity": -0.022691523317057035, + "velocityX": 2.7399653528838366, + "velocityY": -1.8399976039311485, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 124.64961195309371, + 124.623235035678, + 125.33405250556089, + 125.31333129241776 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -84.43716615721891, + -84.44498459558703, + -83.41743092583421, + -83.41705558857323 + ], + "timestamp": 0.27138271421722404 }, { - "x": 7.135029234718409, - "y": 5.4927451816425625, - "heading": -0.16547417949655616, - "angularVelocity": -1.0921757685311444, - "velocityX": 1.6223722655615305, - "velocityY": -3.749677946687377, - "timestamp": 0.6778355485413692, + "x": 5.490688449484936, + "y": 1.47048285138418, + "heading": -0.579501335738936, + "angularVelocity": -0.047321879150906104, + "velocityX": 2.9873197407308627, + "velocityY": -2.006105942502092, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 112.51035127280414, + 111.83617468545957, + 115.95522726677144, + 115.42806096098384 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -79.23983765632777, + -79.03404221631821, + -74.09364123128692, + -73.67322848851384 + ], + "timestamp": 0.29852098563894647 }, { - "x": 7.1946502926943605, - "y": 5.265193733392975, - "heading": -0.19902017785123988, - "angularVelocity": -0.607528814030015, - "velocityX": 1.0797565259609254, - "velocityY": -4.121029877370833, - "timestamp": 0.7330526799431833, + "x": 5.571764631922128, + "y": 1.4160369515621272, + "heading": -0.585009820732187, + "angularVelocity": -0.2029784766925803, + "velocityX": 2.98752198241486, + "velocityY": -2.006240521954904, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.2054895434661357, + -15.227425802057704, + 15.412441422881798, + -3.01789174161812 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.380945598466191, + -3.174674309098059, + 3.0487402547549065, + 15.258928243670692 + ], + "timestamp": 0.3256592570606689 }, { - "x": 7.222523668002858, - "y": 5.020854960102225, - "heading": -0.2007935391017843, - "angularVelocity": -0.03211614231894304, - "velocityX": 0.5047957871201888, - "velocityY": -4.425053730384866, - "timestamp": 0.7882698113449975, + "x": 5.652840881129633, + "y": 1.3615911514995893, + "heading": -0.5932459646347567, + "angularVelocity": -0.3034881542225684, + "velocityX": 2.987524442786707, + "velocityY": -2.0062368459787057, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.9288672413666181, + -9.907386987113796, + 9.909638770721967, + -1.9265859952016877 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -9.906824711451739, + -1.926028441832868, + 1.9294247876575241, + 9.910201044957635 + ], + "timestamp": 0.3527975284823913 }, { - "x": 7.21320924569149, - "y": 4.774548798860355, - "heading": -0.2007940081879534, - "angularVelocity": -0.000008495301316681701, - "velocityX": -0.168687182309178, - "velocityY": -4.460683758623826, - "timestamp": 0.8434869427468117, + "x": 5.733917438457481, + "y": 1.307145811706457, + "heading": -0.6030190718107843, + "angularVelocity": -0.3601226851981793, + "velocityX": 2.9875357965217164, + "velocityY": -2.006219885832324, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.0368468820480272, + -5.588313605221329, + 5.598751468220419, + -1.0263664359308462 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.585728152196183, + -1.0237871652707098, + 1.0394260682208765, + 5.601336903375729 + ], + "timestamp": 0.37993579990411375 }, { - "x": 7.175173296238236, - "y": 4.531019058688531, - "heading": -0.20079463612173012, - "angularVelocity": -0.000011372082554249561, - "velocityX": -0.6888432717822212, - "velocityY": -4.41040188052621, - "timestamp": 0.8987040741486259, + "x": 5.814995425675936, + "y": 1.2527026018276266, + "heading": -0.6133184024555035, + "angularVelocity": -0.37951314159512695, + "velocityX": 2.9875884855918717, + "velocityY": -2.006141402034897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.35773208756428887, + -1.894379346562021, + 1.9429055537318671, + -0.30918308066349826 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.8824966239653689, + -0.297303109915791, + 0.3696114395802123, + 1.9547881404152243 + ], + "timestamp": 0.4070740713258362 }, { - "x": 7.141718943537027, - "y": 4.286817753228974, - "heading": -0.20079523032809862, - "angularVelocity": -0.000010761268349317625, - "velocityX": -0.6058690817848082, - "velocityY": -4.422564143771019, - "timestamp": 0.95392120555044, + "x": 5.89608003183431, + "y": 1.1982692498701337, + "heading": -0.6231960802728199, + "angularVelocity": -0.3639759387699967, + "velocityX": 2.98783238248231, + "velocityY": -2.0057781540945174, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.13964067236416977, + 1.652259609410473, + -1.4276131567233472, + 0.36435388346645986 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.7072358455694714, + 0.41931830442039325, + -0.08466565410366123, + -1.372634484208684 + ], + "timestamp": 0.4342123427475586 }, { - "x": 7.1454381670638325, - "y": 4.040363589455567, - "heading": -0.20079565649200548, - "angularVelocity": -0.000007717965349429982, - "velocityX": 0.06735633366646694, - "velocityY": -4.463364132047433, - "timestamp": 1.0091383369522542, + "x": 5.977195189560978, + "y": 1.1438814342732069, + "heading": -0.6316539289347272, + "angularVelocity": -0.3116576045126171, + "velocityX": 2.988958156764731, + "velocityY": -2.004100215207972, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.2854443062609377, + 5.710127698036728, + -4.67477962382116, + 1.3242413847104415 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.964541896781724, + 1.5780147145548884, + -0.030910688249430416, + -4.420183573716461 + ], + "timestamp": 0.461350614169281 }, { - "x": 7.18624821892377, - "y": 3.7972833144039435, - "heading": -0.20079609276594113, - "angularVelocity": -0.000007901061220855677, - "velocityX": 0.739083158140957, - "velocityY": -4.402261922712573, - "timestamp": 1.0643554683540684, + "x": 6.05845035310875, + "y": 1.0897030096913218, + "heading": -0.637530823620015, + "angularVelocity": -0.2165537588581955, + "velocityX": 2.9941171375750097, + "velocityY": -1.996384505859675, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.9747164935974887, + 11.812245097806398, + -7.085668877071738, + 3.803698834519964 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.988635758466254, + 4.964384898106246, + 2.1645830480875086, + -5.902053221733576 + ], + "timestamp": 0.48848888559100345 }, { - "x": 7.263217449188232, - "y": 3.563127040863037, - "heading": -0.20079684663973665, - "angularVelocity": -0.000013652896780135108, - "velocityX": 1.3939375029166012, - "velocityY": -4.240645386609363, - "timestamp": 1.1195725997558825, + "x": 6.140327157305766, + "y": 1.0364687394385952, + "heading": -0.6394909087139353, + "angularVelocity": -0.0722258637427909, + "velocityX": 3.017023557784399, + "velocityY": -1.9615939948920285, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 8.355453165261531, + 24.814973856101577, + -3.9840401065094464, + 13.016780437680804 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 30.19545584050105, + 18.02057159885406, + 14.252035499465046, + 1.6305497307379508 + ], + "timestamp": 0.5156271570127259 }, { - "x": 7.397749706272958, - "y": 3.3122935578321564, - "heading": -0.20079688846488022, - "angularVelocity": -6.559383166085602e-7, - "velocityX": 2.1098519857195543, - "velocityY": -3.93378906833002, - "timestamp": 1.1833364362692025, + "x": 6.224337577819824, + "y": 0.9867419600486756, + "heading": -0.6375485435239854, + "angularVelocity": 0.07157291486130414, + "velocityX": 3.0956437574318887, + "velocityY": -1.8323488116552091, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 31.819615791577423, + 50.85875506080928, + 20.36041659373089, + 41.812368373186814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 72.42137393520206, + 59.23178264743808, + 60.683104050181896, + 45.787202037993154 + ], + "timestamp": 0.5427654284344483 }, { - "x": 7.573835137641977, - "y": 3.0886638043230272, - "heading": -0.2007970346815199, - "angularVelocity": -0.0000022930966466017797, - "velocityX": 2.7615250429957365, - "velocityY": -3.50715649712222, - "timestamp": 1.2471002727825224, + "x": 6.297263590446103, + "y": 0.9492930705537316, + "heading": -0.6346860484988494, + "angularVelocity": 0.12564672564871665, + "velocityX": 3.20102379939453, + "velocityY": -1.6437863831734283, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 53.5523675643479, + 65.43509399403231, + 49.61146385779122, + 62.67933192684472 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 108.19334961809705, + 100.99525312106235, + 106.21300004703565, + 98.43757441866944 + ], + "timestamp": 0.5655475185395178 }, { - "x": 7.7462197560575445, - "y": 2.911530336612712, - "heading": -0.2577959146653413, - "angularVelocity": -0.8939060618147493, - "velocityX": 2.7034856721577247, - "velocityY": -2.7779612613697275, - "timestamp": 1.3108641092958424, + "x": 6.371564744471909, + "y": 0.9146522232113448, + "heading": -0.6295584038155518, + "angularVelocity": 0.22507349675333205, + "velocityX": 3.2613844332603126, + "velocityY": -1.5205298189335548, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 29.171250581068506, + 45.80158356032154, + 19.53026440806381, + 37.9707736620144 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 77.70480945687733, + 67.22736161567101, + 68.59998393260788, + 56.97982100631284 + ], + "timestamp": 0.5883296086445873 }, { - "x": 7.887783858109899, - "y": 2.7733419210630816, - "heading": -0.31379529701075154, - "angularVelocity": -0.878231069639484, - "velocityX": 2.220131500757214, - "velocityY": -2.1671910459898878, - "timestamp": 1.3746279458091624, + "x": 6.4463689469775485, + "y": 0.8811114220878429, + "heading": -0.6219339915312758, + "angularVelocity": 0.3346669356987371, + "velocityX": 3.28346530808393, + "velocityY": -1.4722442483903808, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 9.72795343235305, + 25.140331600582826, + -1.2245053182863888, + 14.817258587327487 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.03185097762944, + 28.36822384321417, + 24.92114748760326, + 13.651430596716725 + ], + "timestamp": 0.6111116987496568 }, { - "x": 7.995243833635694, - "y": 2.6711260943776467, - "heading": -0.3597426439120978, - "angularVelocity": -0.7205862980303598, - "velocityX": 1.6852808959095038, - "velocityY": -1.6030375879921008, - "timestamp": 1.4383917823224823, + "x": 6.521345221059765, + "y": 0.8479570466797042, + "heading": -0.6124629812898468, + "angularVelocity": 0.4157217444821491, + "velocityX": 3.2910182400487518, + "velocityY": -1.455282428224732, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 2.467437792099604, + 13.690512100392183, + -5.459647260772247, + 5.878165835371072 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 18.80657961055108, + 10.96791870208246, + 7.704240959044742, + -0.25252322340966965 + ], + "timestamp": 0.6338937888547262 }, { - "x": 8.067411642910937, - "y": 2.6036026221448894, - "heading": -0.3920572116554166, - "angularVelocity": -0.5067851859347958, - "velocityX": 1.1317984177468214, - "velocityY": -1.0589618806680814, - "timestamp": 1.5021556188358023, + "x": 6.596444963324744, + "y": 0.8150833078972034, + "heading": -0.6018041678317314, + "angularVelocity": 0.4678593319997204, + "velocityX": 3.2964377683795916, + "velocityY": -1.4429641280008016, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.8311492777877756, + 9.105185881004484, + -3.1754832143435934, + 4.1334218158719995 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.874961670086316, + 7.893828960859651, + 5.641151620980573, + 0.6251106495397948 + ], + "timestamp": 0.6566758789597957 }, { - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, - "angularVelocity": -0.2627699338686213, - "velocityX": 0.5687865733096145, - "velocityY": -0.525973330669167, - "timestamp": 1.5659194553491222, + "x": 6.671824730257121, + "y": 0.7828568742038448, + "heading": -0.590535791785985, + "angularVelocity": 0.49461555080229314, + "velocityX": 3.308729207229498, + "velocityY": -1.4145512349716851, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 6.096085787687144, + 9.899954309557076, + 3.57717088162869, + 7.402889091883087 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 18.703718238188824, + 16.180861948429996, + 15.008429010279656, + 12.464950274945835 + ], + "timestamp": 0.6794579690648652 }, { - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, - "angularVelocity": -3.188523900376183e-28, - "velocityX": 6.5135111869136715e-28, - "velocityY": 7.369889552380699e-28, - "timestamp": 1.6296832918624422, + "x": 6.747998101417829, + "y": 0.752554100197326, + "heading": -0.5791792820666322, + "angularVelocity": 0.4984841016332304, + "velocityX": 3.343563773534415, + "velocityY": -1.3301138686907095, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 18.976891222422324, + 19.592931182713272, + 18.632105226757318, + 19.249719570497028 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.75411777918659, + 46.382215320898474, + 46.27598055462321, + 45.90291837965756 + ], + "timestamp": 0.7022400591699347 + }, + { + "x": 6.8256259015020495, + "y": 0.7262003688828391, + "heading": -0.5679773597572643, + "angularVelocity": 0.4916986219308897, + "velocityX": 3.407404664199213, + "velocityY": -1.1567740796805794, + "moduleForcesX": [ + 35.491910441032324, + 34.016037717677484, + 36.032887239151464, + 34.571178843079984 + ], + "moduleForcesY": [ + 94.52934755145844, + 95.21884917934577, + 94.99860227809624, + 95.68315322704154 + ], + "timestamp": 0.7250221492750042 + }, + { + "x": 6.904822585969859, + "y": 0.7050255329464915, + "heading": -0.5569197670053849, + "angularVelocity": 0.4853634017283949, + "velocityX": 3.4762694775834855, + "velocityY": -0.9294509783205802, + "moduleForcesX": [ + 38.36352063695699, + 36.66349107778442, + 38.89581111017956, + 37.21522699112541 + ], + "moduleForcesY": [ + 124.36609931380917, + 124.95815214889265, + 124.49660787467906, + 125.08661647278456 + ], + "timestamp": 0.7478042393800737 + }, + { + "x": 6.985331333903279, + "y": 0.6895772864133375, + "heading": -0.5459725522657982, + "angularVelocity": 0.4805184550275633, + "velocityX": 3.533861360486167, + "velocityY": -0.6780873248199517, + "moduleForcesX": [ + 32.056718877777485, + 30.649186698950754, + 32.54310636263097, + 31.14826468686657 + ], + "moduleForcesY": [ + 137.7383996074027, + 138.0963926585369, + 137.73781744719136, + 138.0968208381404 + ], + "timestamp": 0.7705863294851432 + }, + { + "x": 7.066760944526875, + "y": 0.6801299702202116, + "heading": -0.5351116686378252, + "angularVelocity": 0.47672902608511347, + "velocityX": 3.574281826120797, + "velocityY": -0.41468171487153915, + "moduleForcesX": [ + 22.51092414934221, + 21.38332455074086, + 22.96844585125429, + 21.848361914977865 + ], + "moduleForcesY": [ + 144.4391215021418, + 144.630689404208, + 144.4173032328607, + 144.6108758467907 + ], + "timestamp": 0.7933684195902126 + }, + { + "x": 7.148667991884604, + "y": 0.6768315097694293, + "heading": -0.5243209701395815, + "angularVelocity": 0.47364831095293175, + "velocityX": 3.5952384956770955, + "velocityY": -0.14478304824394675, + "moduleForcesX": [ + 11.73562297805631, + 10.822269613968766, + 12.172399143448366, + 11.263446020035351 + ], + "moduleForcesY": [ + 148.05054824037026, + 148.13236259597332, + 148.04073706172707, + 148.1246954339894 + ], + "timestamp": 0.8161505096952821 + }, + { + "x": 7.230586025064386, + "y": 0.6797534956595902, + "heading": -0.5135892338685852, + "angularVelocity": 0.4710602153490859, + "velocityX": 3.5957207087663927, + "velocityY": 0.12825802534738662, + "moduleForcesX": [ + 0.4293704946022638, + -0.32112981026451193, + 0.849028205331956, + 0.10104728560870667 + ], + "moduleForcesY": [ + 149.80031006529802, + 149.80865912030882, + 149.81285242867685, + 149.82318253609557 + ], + "timestamp": 0.8389325998003516 + }, + { + "x": 7.312038412070633, + "y": 0.6889106153110655, + "heading": -0.5029083318953076, + "angularVelocity": 0.4688288881317708, + "velocityX": 3.5752815755971494, + "velocityY": 0.40194379046161915, + "moduleForcesX": [ + -11.105195594731443, + -11.728482699296412, + -10.701137350099517, + -11.323081666829498 + ], + "moduleForcesY": [ + 150.1663547242976, + 150.12466874129728, + 150.20442809751788, + 150.164461228058 + ], + "timestamp": 0.8617146899054211 + }, + { + "x": 7.392545360353407, + "y": 0.7042692713972551, + "heading": -0.492272164506449, + "angularVelocity": 0.46686530251637937, + "velocityX": 3.5337823663886834, + "velocityY": 0.6741548301915962, + "moduleForcesX": [ + -22.703794808701353, + -23.224652555038684, + -22.31492982128889, + -22.835204756035875 + ], + "moduleForcesY": [ + 149.36126600866385, + 149.28542165619743, + 149.4255230899525, + 149.35111272990164 + ], + "timestamp": 0.8844967800104906 + }, + { + "x": 7.471628223394797, + "y": 0.7257517995401594, + "heading": -0.48167601910725155, + "angularVelocity": 0.46510857214279777, + "velocityX": 3.471273385219068, + "velocityY": 0.9429568597011301, + "moduleForcesX": [ + -34.26588932597665, + -34.70203739210165, + -33.89243542604512, + -34.3285017426585 + ], + "moduleForcesY": [ + 147.48938379137766, + 147.39069349413253, + 147.57950256196196, + 147.4819669329966 + ], + "timestamp": 0.9072788701155601 + }, + { + "x": 7.548810684641927, + "y": 0.7532380027470068, + "heading": -0.47111616818180196, + "angularVelocity": 0.46351545783324866, + "velocityX": 3.3878569038735926, + "velocityY": 1.2064829469150684, + "moduleForcesX": [ + -45.76517348729976, + -46.129556109228275, + -45.40766264423361, + -45.77229704534824 + ], + "moduleForcesY": [ + 144.58925799845895, + 144.47610288499368, + 144.7046524825284, + 144.5923888512292 + ], + "timestamp": 0.9300609602206296 + }, + { + "x": 7.623611200862927, + "y": 0.7865615451114573, + "heading": -0.4605896053015637, + "angularVelocity": 0.4620543080854512, + "velocityX": 3.283303501830834, + "velocityY": 1.4627078644129816, + "moduleForcesX": [ + -57.38553322889536, + -57.68719106961801, + -57.04458339201613, + -57.34671769205251 + ], + "moduleForcesY": [ + 140.5747566482973, + 140.45348145100257, + 140.71543542453566, + 140.5948044565011 + ], + "timestamp": 0.952843050325699 + }, + { + "x": 7.695533685921564, + "y": 0.825500710900974, + "heading": -0.4500938659071291, + "angularVelocity": 0.4607013380260062, + "velocityX": 3.156974830971855, + "velocityY": 1.7092007629647494, + "moduleForcesX": [ + -69.35258273413832, + -69.5975233781774, + -69.02933777289654, + -69.27490432506934 + ], + "moduleForcesY": [ + 135.22338691366244, + 135.09942428487724, + 135.39014877217943, + 135.26659329888668 + ], + "timestamp": 0.9756251404307685 + }, + { + "x": 7.764113426208496, + "y": 0.8697969913482666, + "heading": -0.4396269198543665, + "angularVelocity": 0.45943747937479407, + "velocityX": 3.0102479610363693, + "velocityY": 1.944346644359694, + "moduleForcesX": [ + -80.55893401859741, + -80.75535560734586, + -80.25549841664379, + -80.45261916147322 + ], + "moduleForcesY": [ + 128.9845185186691, + 128.86334837985615, + 129.17464404750365, + 129.05367063008555 + ], + "timestamp": 0.998407230535838 + }, + { + "x": 7.853359752900114, + "y": 0.9423257597059355, + "heading": -0.4249574999950666, + "angularVelocity": 0.4577608528360343, + "velocityX": 2.784941395820672, + "velocityY": 2.2632681576364724, + "moduleForcesX": [ + -87.94224655061865, + -88.10874127355646, + -87.65881575223001, + -87.82599822052157 + ], + "moduleForcesY": [ + 124.3578722826025, + 124.24103155894792, + 124.55844798978362, + 124.44168516392915 + ], + "timestamp": 1.030453264547738 + }, + { + "x": 7.934356371299504, + "y": 1.0242540004677416, + "heading": -0.4103507673533828, + "angularVelocity": 0.45580469134681945, + "velocityX": 2.52750834531699, + "velocityY": 2.5565797231377423, + "moduleForcesX": [ + -100.49935375084672, + -100.6498985962587, + -100.180237440022, + -100.3318365537322 + ], + "moduleForcesY": [ + 114.33541116748893, + 114.20464413375703, + 114.61593909019788, + 114.4849813878843 + ], + "timestamp": 1.062499298559638 + }, + { + "x": 8.0060511169128, + "y": 1.1145270045569435, + "heading": -0.39581904216102953, + "angularVelocity": 0.45346407567803837, + "velocityX": 2.237242386582797, + "velocityY": 2.816978976421238, + "moduleForcesX": [ + -113.33682574337871, + -113.46084999860885, + -112.98290022679578, + -113.10847517933168 + ], + "moduleForcesY": [ + 101.4428129681989, + 101.30714730348473, + 101.83792144565169, + 101.70147874892135 + ], + "timestamp": 1.094545332571538 + }, + { + "x": 8.06757906613841, + "y": 1.2120409419457012, + "heading": -0.3813800205461703, + "angularVelocity": 0.45057125039240153, + "velocityX": 1.9199863921619935, + "velocityY": 3.042933092829692, + "moduleForcesX": [ + -123.89689149091791, + -123.99305114043642, + -123.50605053746531, + -123.60440891368611 + ], + "moduleForcesY": [ + 87.92711639831985, + 87.79732212756998, + 88.476682433819, + 88.3450261306737 + ], + "timestamp": 1.126591366583438 + }, + { + "x": 8.118231950465102, + "y": 1.31563418331523, + "heading": -0.36706069116782525, + "angularVelocity": 0.4468362410471036, + "velocityX": 1.5806288013013425, + "velocityY": 3.2326384391610286, + "moduleForcesX": [ + -132.55342343544478, + -132.61909080638156, + -132.1216418644511, + -132.19038281456528 + ], + "moduleForcesY": [ + 73.66438024269421, + 73.55859136357282, + 74.43781854948784, + 74.32801498139675 + ], + "timestamp": 1.158637400595338 + }, + { + "x": 8.157451875792262, + "y": 1.4240805799791298, + "heading": -0.3529054673245195, + "angularVelocity": 0.44171530985860263, + "velocityX": 1.2238620639482116, + "velocityY": 3.3840816814844557, + "moduleForcesX": [ + -139.38346754915878, + -139.41565628257766, + -138.90586385781685, + -138.94226735088014 + ], + "moduleForcesY": [ + 58.534377055497885, + 58.48902845371008, + 59.66041802395446, + 59.60632436343745 + ], + "timestamp": 1.190683434607238 + }, + { + "x": 8.184852845935204, + "y": 1.5361028015079887, + "heading": -0.33899564902183765, + "angularVelocity": 0.43405740309445084, + "velocityX": 0.8550502733901107, + "velocityY": 3.4956656879057135, + "moduleForcesX": [ + -144.12256479474672, + -144.1236051642125, + -143.59404752662346, + -143.60039775739148 + ], + "moduleForcesY": [ + 42.6095059442019, + 42.70662735074425, + 44.35355117502826, + 44.42987240471147 + ], + "timestamp": 1.222729468619138 + }, + { + "x": 8.200277425358575, + "y": 1.650393975572135, + "heading": -0.3255058966892429, + "angularVelocity": 0.4209491985056691, + "velocityX": 0.4813256897138449, + "velocityY": 3.5664686001926427, + "moduleForcesX": [ + -146.0621612429763, + -146.06771973025056, + -145.48357203727258, + -145.49237458970512 + ], + "moduleForcesY": [ + 25.896848406211483, + 26.357874151295484, + 28.907239917266043, + 29.30866902464574 + ], + "timestamp": 1.2547755026310379 + }, + { + "x": 8.203998478416482, + "y": 1.7656627045856035, + "heading": -0.31292297235700006, + "angularVelocity": 0.39265153146783266, + "velocityX": 0.11611586808295281, + "velocityY": 3.5969733094168292, + "moduleForcesX": [ + -142.60945010521542, + -142.9130247364372, + -142.0127620152318, + -142.28538664877934 + ], + "moduleForcesY": [ + 8.00312445370525, + 9.6050356799455, + 14.313643271613127, + 15.673336156871905 + ], + "timestamp": 1.2868215366429379 + }, + { + "x": 8.197795218654184, + "y": 1.880824878322834, + "heading": -0.3033303795788422, + "angularVelocity": 0.29933790791695936, + "velocityX": -0.1935734000655539, + "velocityY": 3.5936482403552796, + "moduleForcesX": [ + -119.2325038098272, + -123.45814974763456, + -118.29925965063792, + -122.20446278473888 + ], + "moduleForcesY": [ + -13.18677126803289, + -6.784491118699223, + 5.045444662065725, + 9.737860518613108 + ], + "timestamp": 1.3188675706548378 + }, + { + "x": 8.187630481977742, + "y": 1.9928563674511546, + "heading": -0.3027586664142015, + "angularVelocity": 0.01784037189838786, + "velocityX": -0.3171917209058606, + "velocityY": 3.4959548843616206, + "moduleForcesX": [ + -35.31228577904976, + -66.0491751132207, + -28.327035345395426, + -63.18766559003783 + ], + "moduleForcesY": [ + -61.70164407965374, + -46.31242736251602, + -29.89742452991276, + -14.515097529911548 + ], + "timestamp": 1.3509136046667378 + }, + { + "x": 8.178502115602848, + "y": 2.09253161286633, + "heading": -0.3023536947133865, + "angularVelocity": 0.01263718626350393, + "velocityX": -0.28485167217583857, + "velocityY": 3.1103769464315683, + "moduleForcesX": [ + 12.952756844997198, + 11.813515087247348, + 13.419290004257817, + 12.273176137002718 + ], + "moduleForcesY": [ + -150.38192757678243, + -150.47033958558322, + -150.32770294998488, + -150.42011835237196 + ], + "timestamp": 1.3829596386786378 + }, + { + "x": 8.170477872919705, + "y": 2.179783674787757, + "heading": -0.3020400375678197, + "angularVelocity": 0.009787705569131123, + "velocityX": -0.25039737148644364, + "velocityY": 2.722710145318631, + "moduleForcesX": [ + 13.623679773933251, + 12.996885842604826, + 13.882898440665693, + 13.254047210182028 + ], + "moduleForcesY": [ + -151.20128691730517, + -151.2549532691614, + -151.17404825336516, + -151.22896024126868 + ], + "timestamp": 1.4150056726905378 + }, + { + "x": 8.163580426505472, + "y": 2.254590284278825, + "heading": -0.3017926542937763, + "angularVelocity": 0.007719622152043735, + "velocityX": -0.2152355705441773, + "velocityY": 2.3343484396006624, + "moduleForcesX": [ + 13.84894583759901, + 13.393311907899013, + 14.037925939680852, + 13.581208724891605 + ], + "moduleForcesY": [ + -151.47516917365684, + -151.51540552586636, + -151.45600118841276, + -151.49690150735324 + ], + "timestamp": 1.4470517067024378 + }, + { + "x": 8.157821118222682, + "y": 2.3169403228925862, + "heading": -0.30159905906964435, + "angularVelocity": 0.00604116016540777, + "velocityX": -0.1797198455401001, + "velocityY": 1.945639781528292, + "moduleForcesX": [ + 13.961780215672507, + 13.591683694906532, + 14.115475252008157, + 13.744665202447031 + ], + "moduleForcesY": [ + -151.61215778307704, + -151.64533853118684, + -151.5968473739631, + -151.63046801737454 + ], + "timestamp": 1.4790977407143377 + }, + { + "x": 8.153206752283682, + "y": 2.366827126409346, + "heading": -0.30145177471768475, + "angularVelocity": 0.004596024328779256, + "velocityX": -0.14399179434451276, + "velocityY": 1.556723165750651, + "moduleForcesX": [ + 14.029516449228247, + 13.71070746715952, + 14.162000746997306, + 13.84266280431211 + ], + "moduleForcesY": [ + -151.69434480489258, + -151.7231848947932, + -151.68129092615584, + -151.7104582278528 + ], + "timestamp": 1.5111437747262377 + }, + { + "x": 8.149741863492002, + "y": 2.4042462554439124, + "heading": -0.30134582338858884, + "angularVelocity": 0.003306222824843595, + "velocityX": -0.10812223410837736, + "velocityY": 1.1676680184721826, + "moduleForcesX": [ + 14.074676461883454, + 13.790039343670175, + 14.193010206081025, + 13.907951711255329 + ], + "moduleForcesY": [ + -151.7491266287695, + -151.77502870219124, + -151.73755237069508, + -151.7637156845819 + ], + "timestamp": 1.5431898087381377 + }, + { + "x": 8.147429689915466, + "y": 2.4291945409166344, + "heading": -0.30127765322797195, + "angularVelocity": 0.0021272573258701278, + "velocityX": -0.0721516296112585, + "velocityY": 0.7785139797161165, + "moduleForcesX": [ + 14.106928060890922, + 13.846688607239773, + 14.21515372143924, + 13.954562194676575 + ], + "moduleForcesY": [ + -151.7882491682676, + -151.81203108763148, + -151.77771927701934, + -151.80171982261334 + ], + "timestamp": 1.5752358427500377 + }, + { + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, + "angularVelocity": 0.001031349970910864, + "velocityX": -0.03610526698181142, + "velocityY": 0.38928580807247914, + "moduleForcesX": [ + 14.131109267186261, + 13.889162337739004, + 14.231757076926762, + 13.98950594309019 + ], + "moduleForcesY": [ + -151.81758600687584, + -151.83976599679588, + -151.8078322320615, + -151.83020136346488 + ], + "timestamp": 1.6072818767619377 + }, + { + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, + "angularVelocity": -5.371441709463832e-21, + "velocityX": 2.750210915631186e-22, + "velocityY": 3.902233834752265e-22, + "moduleForcesX": [ + 14.149909138149875, + 13.922186919632015, + 14.244668011232907, + 14.016676394170101 + ], + "moduleForcesY": [ + -151.84040019912104, + -151.86132718827815, + -151.83124554736247, + -151.85234021806184 + ], + "timestamp": 1.6393279107738377 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/shoot3 to f4.traj b/src/main/deploy/choreo/shoot3 to f4.traj index df77d88..5c2ebda 100644 --- a/src/main/deploy/choreo/shoot3 to f4.traj +++ b/src/main/deploy/choreo/shoot3 to f4.traj @@ -1,13 +1,12 @@ { "samples": [ { - "x": 5.389826774597168, - "y": 6.316443920135498, - "heading": 0.0923293613877475, - "angularVelocity": 5.877860824481475e-29, - "velocityX": -1.756795253310143e-28, - "velocityY": 8.074452417133554e-28, - "timestamp": 0, + "x": 5, + "y": 1.8, + "heading": -0.5753497808792172, + "angularVelocity": -2.996572302511551e-20, + "velocityX": 1.282052848216731e-19, + "velocityY": -9.786372330902113e-20, "moduleForcesX": [ 0, 0, @@ -19,574 +18,1268 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 5.439971490781152, - "y": 6.3294310840425485, - "heading": 0.10920451720627261, - "angularVelocity": 0.2585002523184431, - "velocityX": 0.7681364205103656, - "velocityY": 0.1989424680267629, - "timestamp": 0.06528100327630178, + "x": 5.007456788817388, + "y": 1.794992464465537, + "heading": -0.575394590507481, + "angularVelocity": -0.001651160000852412, + "velocityX": 0.2747702203103183, + "velocityY": -0.18451932537068735, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.4323888308918, + 126.42718665686525, + 126.6930023579305, + 126.68861939280484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.18153054493328, + -85.18791199552554, + -84.79340549539133, + -84.7986080629928 + ], + "timestamp": 0.02713827142172241 }, { - "x": 5.541197751644751, - "y": 6.351497936743534, - "heading": 0.13997352557252016, - "angularVelocity": 0.47133173238802323, - "velocityX": 1.5506235471774212, - "velocityY": 0.3380287004411842, - "timestamp": 0.13056200655260355, + "x": 5.022369060349875, + "y": 1.7849782705041466, + "heading": -0.5754852456913515, + "angularVelocity": -0.003340492195016771, + "velocityX": 0.5494923129331046, + "velocityY": -0.3690063307913569, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.40731466446088, + 126.40193813470857, + 126.67389630628601, + 126.66937688573428 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.17106421812213, + -85.177523092467, + -84.7740483898801, + -84.77927358804908 + ], + "timestamp": 0.05427654284344482 }, { - "x": 5.694362835318405, - "y": 6.375852030285326, - "heading": 0.17940969727211997, - "angularVelocity": 0.6040987380767765, - "velocityX": 2.3462427963213397, - "velocityY": 0.3730655522972587, - "timestamp": 0.19584300982890535, + "x": 5.044735187945756, + "y": 1.7699585104871869, + "heading": -0.5756230371481199, + "angularVelocity": -0.005077385166765462, + "velocityX": 0.8241544661551196, + "velocityY": -0.5534530841546923, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.37608481983439, + 126.37049451886605, + 126.65009906896331, + 126.64541424044413 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.15803673418601, + -85.16457754560324, + -84.74994841515758, + -84.75518553756926 + ], + "timestamp": 0.08141481426516722 }, { - "x": 5.898399800638583, - "y": 6.389171149392318, - "heading": 0.21713359386712372, - "angularVelocity": 0.5778694367691833, - "velocityX": 3.125518222454279, - "velocityY": 0.2040274879143424, - "timestamp": 0.2611240131052071, + "x": 5.074553089941075, + "y": 1.7499345823475776, + "heading": -0.5758096175487458, + "angularVelocity": -0.0068751763045813985, + "velocityX": 1.0987399135273592, + "velocityY": -0.7378483260210185, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.33612005612933, + 126.33025402643112, + 126.61964559710664, + 126.61474884248005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.14137170926843, + -85.1480052432386, + -84.7191141217772, + -84.72435152439685 + ], + "timestamp": 0.10855308568688964 }, { - "x": 6.139812966993799, - "y": 6.366910320571869, - "heading": 0.23261325277244352, - "angularVelocity": 0.23712348353168142, - "velocityX": 3.6980615223303914, - "velocityY": -0.341000102682707, - "timestamp": 0.3264050163815089, + "x": 5.111820007811045, + "y": 1.7249083385610295, + "heading": -0.5760471785530623, + "angularVelocity": -0.008753726448706999, + "velocityX": 1.3732237138832095, + "velocityY": -0.9221753072527897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.28316575436904, + 126.27692297095302, + 126.57929463644827, + 126.57410901664244 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.11929376807832, + -85.1260405006317, + -84.6782603034939, + -84.68348350468067 + ], + "timestamp": 0.13569135710861205 }, { - "x": 6.384462665197072, - "y": 6.294251581180724, - "heading": 0.20609382989342284, - "angularVelocity": -0.406234915949089, - "velocityX": 3.7476399859817295, - "velocityY": -1.1130150540673742, - "timestamp": 0.39168601965781064, + "x": 5.1565321122100904, + "y": 1.6948823507089557, + "heading": -0.5763387656761177, + "angularVelocity": -0.0107444987384904, + "velocityX": 1.6475664092287998, + "velocityY": -1.1064075299970664, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.20966852213114, + 126.20287423564635, + 126.52329209318188, + 126.5176833233722 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.08865122996004, + -85.09554719544221, + -84.62155435249382, + -84.62674069479196 + ], + "timestamp": 0.16282962853033445 }, { - "x": 6.6103692054748535, - "y": 6.174520015716553, - "heading": 0.14073021457593823, - "angularVelocity": -1.0012654836328598, - "velocityX": 3.4605249450844475, - "velocityY": -1.8340950575990314, - "timestamp": 0.4569670229341124, + "x": 5.208683729904504, + "y": 1.6598604286277538, + "heading": -0.5766888973268911, + "angularVelocity": -0.012901766856566963, + "velocityX": 1.9217000553954307, + "velocityY": -1.2904993666279352, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 126.1008123813199, + 126.09313541664747, + 126.44035120519956, + 126.43406350721159 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -85.04326199529575, + -85.05036903851256, + -84.53755536740724, + -84.54265737483904 + ], + "timestamp": 0.18996789995205685 }, { - "x": 6.781201507559486, - "y": 6.042996679000263, - "heading": 0.05997960008578628, - "angularVelocity": -1.4624195868222665, - "velocityX": 3.093827907166859, - "velocityY": -2.3819299079337615, - "timestamp": 0.5121841543359267, + "x": 5.268265591451992, + "y": 1.619848797173541, + "heading": -0.5771049714908946, + "angularVelocity": -0.015331638391324806, + "velocityX": 2.1954921380772614, + "velocityY": -1.4743618277111215, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 125.92303528795932, + 125.91375018194253, + 126.30490143304947, + 126.29737339526352 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -84.96911912441205, + -84.97654103132078, + -84.40034735176783, + -84.40523096676816 + ], + "timestamp": 0.21710617137377924 }, { - "x": 6.927058757559823, - "y": 5.883904997659516, - "heading": -0.02671630198517662, - "angularVelocity": -1.5700906561059491, - "velocityX": 2.641521685343184, - "velocityY": -2.881201491309624, - "timestamp": 0.5674012857377408, + "x": 5.335259832104833, + "y": 1.5748594533432696, + "heading": -0.5776012930196021, + "angularVelocity": -0.018288619823818145, + "velocityX": 2.468625934637818, + "velocityY": -1.6577822194722371, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 125.58070250264043, + 125.56776706999763, + 126.04405068095453, + 126.03370280999343 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -84.82628177138449, + -84.83415988369129, + -84.13609268900012, + -84.14022830157224 + ], + "timestamp": 0.24424444279550164 }, { - "x": 7.04544649214824, - "y": 5.699791641539284, - "heading": -0.10516736657169454, - "angularVelocity": -1.4207739988452266, - "velocityX": 2.1440399307763967, - "velocityY": -3.33435206513069, - "timestamp": 0.622618417139555, + "x": 5.409617755537492, + "y": 1.5249250989527485, + "heading": -0.5782171017383527, + "angularVelocity": -0.022691523317057035, + "velocityX": 2.7399653528838366, + "velocityY": -1.8399976039311485, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 124.64961195309371, + 124.623235035678, + 125.33405250556089, + 125.31333129241776 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -84.43716615721891, + -84.44498459558703, + -83.41743092583421, + -83.41705558857323 + ], + "timestamp": 0.27138271421722404 }, { - "x": 7.135029234718409, - "y": 5.4927451816425625, - "heading": -0.16547417949655616, - "angularVelocity": -1.0921757685311444, - "velocityX": 1.6223722655615305, - "velocityY": -3.749677946687377, - "timestamp": 0.6778355485413692, + "x": 5.490688449484936, + "y": 1.47048285138418, + "heading": -0.579501335738936, + "angularVelocity": -0.047321879150906104, + "velocityX": 2.9873197407308627, + "velocityY": -2.006105942502092, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 112.51035127280414, + 111.83617468545957, + 115.95522726677144, + 115.42806096098384 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -79.23983765632777, + -79.03404221631821, + -74.09364123128692, + -73.67322848851384 + ], + "timestamp": 0.29852098563894647 }, { - "x": 7.1946502926943605, - "y": 5.265193733392975, - "heading": -0.19902017785123988, - "angularVelocity": -0.607528814030015, - "velocityX": 1.0797565259609254, - "velocityY": -4.121029877370833, - "timestamp": 0.7330526799431833, + "x": 5.571764631922128, + "y": 1.4160369515621272, + "heading": -0.585009820732187, + "angularVelocity": -0.2029784766925803, + "velocityX": 2.98752198241486, + "velocityY": -2.006240521954904, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.2054895434661357, + -15.227425802057704, + 15.412441422881798, + -3.01789174161812 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.380945598466191, + -3.174674309098059, + 3.0487402547549065, + 15.258928243670692 + ], + "timestamp": 0.3256592570606689 }, { - "x": 7.222523668002858, - "y": 5.020854960102225, - "heading": -0.2007935391017843, - "angularVelocity": -0.03211614231894304, - "velocityX": 0.5047957871201888, - "velocityY": -4.425053730384866, - "timestamp": 0.7882698113449975, + "x": 5.652840881129633, + "y": 1.3615911514995893, + "heading": -0.5932459646347567, + "angularVelocity": -0.3034881542225684, + "velocityX": 2.987524442786707, + "velocityY": -2.0062368459787057, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.9288672413666181, + -9.907386987113796, + 9.909638770721967, + -1.9265859952016877 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -9.906824711451739, + -1.926028441832868, + 1.9294247876575241, + 9.910201044957635 + ], + "timestamp": 0.3527975284823913 }, { - "x": 7.21320924569149, - "y": 4.774548798860355, - "heading": -0.2007940081879534, - "angularVelocity": -0.000008495301316681701, - "velocityX": -0.168687182309178, - "velocityY": -4.460683758623826, - "timestamp": 0.8434869427468117, + "x": 5.733917438457481, + "y": 1.307145811706457, + "heading": -0.6030190718107843, + "angularVelocity": -0.3601226851981793, + "velocityX": 2.9875357965217164, + "velocityY": -2.006219885832324, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.0368468820480272, + -5.588313605221329, + 5.598751468220419, + -1.0263664359308462 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.585728152196183, + -1.0237871652707098, + 1.0394260682208765, + 5.601336903375729 + ], + "timestamp": 0.37993579990411375 }, { - "x": 7.175173296238236, - "y": 4.531019058688531, - "heading": -0.20079463612173012, - "angularVelocity": -0.000011372082554249561, - "velocityX": -0.6888432717822212, - "velocityY": -4.41040188052621, - "timestamp": 0.8987040741486259, + "x": 5.814995425675936, + "y": 1.2527026018276266, + "heading": -0.6133184024555035, + "angularVelocity": -0.37951314159512695, + "velocityX": 2.9875884855918717, + "velocityY": -2.006141402034897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.35773208756428887, + -1.894379346562021, + 1.9429055537318671, + -0.30918308066349826 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.8824966239653689, + -0.297303109915791, + 0.3696114395802123, + 1.9547881404152243 + ], + "timestamp": 0.4070740713258362 }, { - "x": 7.141718943537027, - "y": 4.286817753228974, - "heading": -0.20079523032809862, - "angularVelocity": -0.000010761268349317625, - "velocityX": -0.6058690817848082, - "velocityY": -4.422564143771019, - "timestamp": 0.95392120555044, + "x": 5.89608003183431, + "y": 1.1982692498701337, + "heading": -0.6231960802728199, + "angularVelocity": -0.3639759387699967, + "velocityX": 2.98783238248231, + "velocityY": -2.0057781540945174, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.13964067236416977, + 1.652259609410473, + -1.4276131567233472, + 0.36435388346645986 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.7072358455694714, + 0.41931830442039325, + -0.08466565410366123, + -1.372634484208684 + ], + "timestamp": 0.4342123427475586 }, { - "x": 7.1454381670638325, - "y": 4.040363589455567, - "heading": -0.20079565649200548, - "angularVelocity": -0.000007717965349429982, - "velocityX": 0.06735633366646694, - "velocityY": -4.463364132047433, - "timestamp": 1.0091383369522542, + "x": 5.977195189560978, + "y": 1.1438814342732069, + "heading": -0.6316539289347272, + "angularVelocity": -0.3116576045126171, + "velocityX": 2.988958156764731, + "velocityY": -2.004100215207972, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.2854443062609377, + 5.710127698036728, + -4.67477962382116, + 1.3242413847104415 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.964541896781724, + 1.5780147145548884, + -0.030910688249430416, + -4.420183573716461 + ], + "timestamp": 0.461350614169281 }, { - "x": 7.18624821892377, - "y": 3.7972833144039435, - "heading": -0.20079609276594113, - "angularVelocity": -0.000007901061220855677, - "velocityX": 0.739083158140957, - "velocityY": -4.402261922712573, - "timestamp": 1.0643554683540684, + "x": 6.05845035310875, + "y": 1.0897030096913218, + "heading": -0.637530823620015, + "angularVelocity": -0.2165537588581955, + "velocityX": 2.9941171375750097, + "velocityY": -1.996384505859675, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.9747164935974887, + 11.812245097806398, + -7.085668877071738, + 3.803698834519964 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.988635758466254, + 4.964384898106246, + 2.1645830480875086, + -5.902053221733576 + ], + "timestamp": 0.48848888559100345 }, { - "x": 7.263217449188232, - "y": 3.563127040863037, - "heading": -0.20079684663973665, - "angularVelocity": -0.000013652896780135108, - "velocityX": 1.3939375029166012, - "velocityY": -4.240645386609363, - "timestamp": 1.1195725997558825, + "x": 6.140327157305766, + "y": 1.0364687394385952, + "heading": -0.6394909087139353, + "angularVelocity": -0.0722258637427909, + "velocityX": 3.017023557784399, + "velocityY": -1.9615939948920285, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 8.355453165261531, + 24.814973856101577, + -3.9840401065094464, + 13.016780437680804 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 30.19545584050105, + 18.02057159885406, + 14.252035499465046, + 1.6305497307379508 + ], + "timestamp": 0.5156271570127259 }, { - "x": 7.397749706272958, - "y": 3.3122935578321564, - "heading": -0.20079688846488022, - "angularVelocity": -6.559383166085602e-7, - "velocityX": 2.1098519857195543, - "velocityY": -3.93378906833002, - "timestamp": 1.1833364362692025, + "x": 6.224337577819824, + "y": 0.9867419600486756, + "heading": -0.6375485435239854, + "angularVelocity": 0.07157291486130414, + "velocityX": 3.0956437574318887, + "velocityY": -1.8323488116552091, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 31.819615791577423, + 50.85875506080928, + 20.36041659373089, + 41.812368373186814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 72.42137393520206, + 59.23178264743808, + 60.683104050181896, + 45.787202037993154 + ], + "timestamp": 0.5427654284344483 }, { - "x": 7.573835137641977, - "y": 3.0886638043230272, - "heading": -0.2007970346815199, - "angularVelocity": -0.0000022930966466017797, - "velocityX": 2.7615250429957365, - "velocityY": -3.50715649712222, - "timestamp": 1.2471002727825224, + "x": 6.297263590446103, + "y": 0.9492930705537316, + "heading": -0.6346860484988494, + "angularVelocity": 0.12564672564871665, + "velocityX": 3.20102379939453, + "velocityY": -1.6437863831734283, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 53.5523675643479, + 65.43509399403231, + 49.61146385779122, + 62.67933192684472 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 108.19334961809705, + 100.99525312106235, + 106.21300004703565, + 98.43757441866944 + ], + "timestamp": 0.5655475185395178 }, { - "x": 7.7462197560575445, - "y": 2.911530336612712, - "heading": -0.2577959146653413, - "angularVelocity": -0.8939060618147493, - "velocityX": 2.7034856721577247, - "velocityY": -2.7779612613697275, - "timestamp": 1.3108641092958424, + "x": 6.371564744471909, + "y": 0.9146522232113448, + "heading": -0.6295584038155518, + "angularVelocity": 0.22507349675333205, + "velocityX": 3.2613844332603126, + "velocityY": -1.5205298189335548, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 29.171250581068506, + 45.80158356032154, + 19.53026440806381, + 37.9707736620144 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 77.70480945687733, + 67.22736161567101, + 68.59998393260788, + 56.97982100631284 + ], + "timestamp": 0.5883296086445873 }, { - "x": 7.887783858109899, - "y": 2.7733419210630816, - "heading": -0.31379529701075154, - "angularVelocity": -0.878231069639484, - "velocityX": 2.220131500757214, - "velocityY": -2.1671910459898878, - "timestamp": 1.3746279458091624, + "x": 6.4463689469775485, + "y": 0.8811114220878429, + "heading": -0.6219339915312758, + "angularVelocity": 0.3346669356987371, + "velocityX": 3.28346530808393, + "velocityY": -1.4722442483903808, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 9.72795343235305, + 25.140331600582826, + -1.2245053182863888, + 14.817258587327487 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.03185097762944, + 28.36822384321417, + 24.92114748760326, + 13.651430596716725 + ], + "timestamp": 0.6111116987496568 }, { - "x": 7.995243833635694, - "y": 2.6711260943776467, - "heading": -0.3597426439120978, - "angularVelocity": -0.7205862980303598, - "velocityX": 1.6852808959095038, - "velocityY": -1.6030375879921008, - "timestamp": 1.4383917823224823, + "x": 6.521345221059765, + "y": 0.8479570466797042, + "heading": -0.6124629812898468, + "angularVelocity": 0.4157217444821491, + "velocityX": 3.2910182400487518, + "velocityY": -1.455282428224732, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 2.467437792099604, + 13.690512100392183, + -5.459647260772247, + 5.878165835371072 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 18.80657961055108, + 10.96791870208246, + 7.704240959044742, + -0.25252322340966965 + ], + "timestamp": 0.6338937888547262 }, { - "x": 8.067411642910937, - "y": 2.6036026221448894, - "heading": -0.3920572116554166, - "angularVelocity": -0.5067851859347958, - "velocityX": 1.1317984177468214, - "velocityY": -1.0589618806680814, - "timestamp": 1.5021556188358023, + "x": 6.596444963324744, + "y": 0.8150833078972034, + "heading": -0.6018041678317314, + "angularVelocity": 0.4678593319997204, + "velocityX": 3.2964377683795916, + "velocityY": -1.4429641280008016, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.8311492777877756, + 9.105185881004484, + -3.1754832143435934, + 4.1334218158719995 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.874961670086316, + 7.893828960859651, + 5.641151620980573, + 0.6251106495397948 + ], + "timestamp": 0.6566758789597957 }, { - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, - "angularVelocity": -0.2627699338686213, - "velocityX": 0.5687865733096145, - "velocityY": -0.525973330669167, - "timestamp": 1.5659194553491222, + "x": 6.671824730257121, + "y": 0.7828568742038448, + "heading": -0.590535791785985, + "angularVelocity": 0.49461555080229314, + "velocityX": 3.308729207229498, + "velocityY": -1.4145512349716851, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 6.096085787687144, + 9.899954309557076, + 3.57717088162869, + 7.402889091883087 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 18.703718238188824, + 16.180861948429996, + 15.008429010279656, + 12.464950274945835 + ], + "timestamp": 0.6794579690648652 }, { - "x": 8.103679656982422, - "y": 2.5700645446777344, - "heading": -0.4088124307592313, - "angularVelocity": -3.188523900376183e-28, - "velocityX": 6.5135111869136715e-28, - "velocityY": 7.369889552380699e-28, - "timestamp": 1.6296832918624422, + "x": 6.747998101417829, + "y": 0.752554100197326, + "heading": -0.5791792820666322, + "angularVelocity": 0.4984841016332304, + "velocityX": 3.343563773534415, + "velocityY": -1.3301138686907095, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 18.976891222422324, + 19.592931182713272, + 18.632105226757318, + 19.249719570497028 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.75411777918659, + 46.382215320898474, + 46.27598055462321, + 45.90291837965756 + ], + "timestamp": 0.7022400591699347 + }, + { + "x": 6.8256259015020495, + "y": 0.7262003688828391, + "heading": -0.5679773597572643, + "angularVelocity": 0.4916986219308897, + "velocityX": 3.407404664199213, + "velocityY": -1.1567740796805794, + "moduleForcesX": [ + 35.491910441032324, + 34.016037717677484, + 36.032887239151464, + 34.571178843079984 + ], + "moduleForcesY": [ + 94.52934755145844, + 95.21884917934577, + 94.99860227809624, + 95.68315322704154 + ], + "timestamp": 0.7250221492750042 + }, + { + "x": 6.904822585969859, + "y": 0.7050255329464915, + "heading": -0.5569197670053849, + "angularVelocity": 0.4853634017283949, + "velocityX": 3.4762694775834855, + "velocityY": -0.9294509783205802, + "moduleForcesX": [ + 38.36352063695699, + 36.66349107778442, + 38.89581111017956, + 37.21522699112541 + ], + "moduleForcesY": [ + 124.36609931380917, + 124.95815214889265, + 124.49660787467906, + 125.08661647278456 + ], + "timestamp": 0.7478042393800737 + }, + { + "x": 6.985331333903279, + "y": 0.6895772864133375, + "heading": -0.5459725522657982, + "angularVelocity": 0.4805184550275633, + "velocityX": 3.533861360486167, + "velocityY": -0.6780873248199517, + "moduleForcesX": [ + 32.056718877777485, + 30.649186698950754, + 32.54310636263097, + 31.14826468686657 + ], + "moduleForcesY": [ + 137.7383996074027, + 138.0963926585369, + 137.73781744719136, + 138.0968208381404 + ], + "timestamp": 0.7705863294851432 + }, + { + "x": 7.066760944526875, + "y": 0.6801299702202116, + "heading": -0.5351116686378252, + "angularVelocity": 0.47672902608511347, + "velocityX": 3.574281826120797, + "velocityY": -0.41468171487153915, + "moduleForcesX": [ + 22.51092414934221, + 21.38332455074086, + 22.96844585125429, + 21.848361914977865 + ], + "moduleForcesY": [ + 144.4391215021418, + 144.630689404208, + 144.4173032328607, + 144.6108758467907 + ], + "timestamp": 0.7933684195902126 + }, + { + "x": 7.148667991884604, + "y": 0.6768315097694293, + "heading": -0.5243209701395815, + "angularVelocity": 0.47364831095293175, + "velocityX": 3.5952384956770955, + "velocityY": -0.14478304824394675, + "moduleForcesX": [ + 11.73562297805631, + 10.822269613968766, + 12.172399143448366, + 11.263446020035351 + ], + "moduleForcesY": [ + 148.05054824037026, + 148.13236259597332, + 148.04073706172707, + 148.1246954339894 + ], + "timestamp": 0.8161505096952821 + }, + { + "x": 7.230586025064386, + "y": 0.6797534956595902, + "heading": -0.5135892338685852, + "angularVelocity": 0.4710602153490859, + "velocityX": 3.5957207087663927, + "velocityY": 0.12825802534738662, + "moduleForcesX": [ + 0.4293704946022638, + -0.32112981026451193, + 0.849028205331956, + 0.10104728560870667 + ], + "moduleForcesY": [ + 149.80031006529802, + 149.80865912030882, + 149.81285242867685, + 149.82318253609557 + ], + "timestamp": 0.8389325998003516 + }, + { + "x": 7.312038412070633, + "y": 0.6889106153110655, + "heading": -0.5029083318953076, + "angularVelocity": 0.4688288881317708, + "velocityX": 3.5752815755971494, + "velocityY": 0.40194379046161915, + "moduleForcesX": [ + -11.105195594731443, + -11.728482699296412, + -10.701137350099517, + -11.323081666829498 + ], + "moduleForcesY": [ + 150.1663547242976, + 150.12466874129728, + 150.20442809751788, + 150.164461228058 + ], + "timestamp": 0.8617146899054211 + }, + { + "x": 7.392545360353407, + "y": 0.7042692713972551, + "heading": -0.492272164506449, + "angularVelocity": 0.46686530251637937, + "velocityX": 3.5337823663886834, + "velocityY": 0.6741548301915962, + "moduleForcesX": [ + -22.703794808701353, + -23.224652555038684, + -22.31492982128889, + -22.835204756035875 + ], + "moduleForcesY": [ + 149.36126600866385, + 149.28542165619743, + 149.4255230899525, + 149.35111272990164 + ], + "timestamp": 0.8844967800104906 + }, + { + "x": 7.471628223394797, + "y": 0.7257517995401594, + "heading": -0.48167601910725155, + "angularVelocity": 0.46510857214279777, + "velocityX": 3.471273385219068, + "velocityY": 0.9429568597011301, + "moduleForcesX": [ + -34.26588932597665, + -34.70203739210165, + -33.89243542604512, + -34.3285017426585 + ], + "moduleForcesY": [ + 147.48938379137766, + 147.39069349413253, + 147.57950256196196, + 147.4819669329966 + ], + "timestamp": 0.9072788701155601 + }, + { + "x": 7.548810684641927, + "y": 0.7532380027470068, + "heading": -0.47111616818180196, + "angularVelocity": 0.46351545783324866, + "velocityX": 3.3878569038735926, + "velocityY": 1.2064829469150684, + "moduleForcesX": [ + -45.76517348729976, + -46.129556109228275, + -45.40766264423361, + -45.77229704534824 + ], + "moduleForcesY": [ + 144.58925799845895, + 144.47610288499368, + 144.7046524825284, + 144.5923888512292 + ], + "timestamp": 0.9300609602206296 + }, + { + "x": 7.623611200862927, + "y": 0.7865615451114573, + "heading": -0.4605896053015637, + "angularVelocity": 0.4620543080854512, + "velocityX": 3.283303501830834, + "velocityY": 1.4627078644129816, + "moduleForcesX": [ + -57.38553322889536, + -57.68719106961801, + -57.04458339201613, + -57.34671769205251 + ], + "moduleForcesY": [ + 140.5747566482973, + 140.45348145100257, + 140.71543542453566, + 140.5948044565011 + ], + "timestamp": 0.952843050325699 + }, + { + "x": 7.695533685921564, + "y": 0.825500710900974, + "heading": -0.4500938659071291, + "angularVelocity": 0.4607013380260062, + "velocityX": 3.156974830971855, + "velocityY": 1.7092007629647494, + "moduleForcesX": [ + -69.35258273413832, + -69.5975233781774, + -69.02933777289654, + -69.27490432506934 + ], + "moduleForcesY": [ + 135.22338691366244, + 135.09942428487724, + 135.39014877217943, + 135.26659329888668 + ], + "timestamp": 0.9756251404307685 + }, + { + "x": 7.764113426208496, + "y": 0.8697969913482666, + "heading": -0.4396269198543665, + "angularVelocity": 0.45943747937479407, + "velocityX": 3.0102479610363693, + "velocityY": 1.944346644359694, + "moduleForcesX": [ + -80.55893401859741, + -80.75535560734586, + -80.25549841664379, + -80.45261916147322 + ], + "moduleForcesY": [ + 128.9845185186691, + 128.86334837985615, + 129.17464404750365, + 129.05367063008555 + ], + "timestamp": 0.998407230535838 + }, + { + "x": 7.853359752900114, + "y": 0.9423257597059355, + "heading": -0.4249574999950666, + "angularVelocity": 0.4577608528360343, + "velocityX": 2.784941395820672, + "velocityY": 2.2632681576364724, + "moduleForcesX": [ + -87.94224655061865, + -88.10874127355646, + -87.65881575223001, + -87.82599822052157 + ], + "moduleForcesY": [ + 124.3578722826025, + 124.24103155894792, + 124.55844798978362, + 124.44168516392915 + ], + "timestamp": 1.030453264547738 + }, + { + "x": 7.934356371299504, + "y": 1.0242540004677416, + "heading": -0.4103507673533828, + "angularVelocity": 0.45580469134681945, + "velocityX": 2.52750834531699, + "velocityY": 2.5565797231377423, + "moduleForcesX": [ + -100.49935375084672, + -100.6498985962587, + -100.180237440022, + -100.3318365537322 + ], + "moduleForcesY": [ + 114.33541116748893, + 114.20464413375703, + 114.61593909019788, + 114.4849813878843 + ], + "timestamp": 1.062499298559638 + }, + { + "x": 8.0060511169128, + "y": 1.1145270045569435, + "heading": -0.39581904216102953, + "angularVelocity": 0.45346407567803837, + "velocityX": 2.237242386582797, + "velocityY": 2.816978976421238, + "moduleForcesX": [ + -113.33682574337871, + -113.46084999860885, + -112.98290022679578, + -113.10847517933168 + ], + "moduleForcesY": [ + 101.4428129681989, + 101.30714730348473, + 101.83792144565169, + 101.70147874892135 + ], + "timestamp": 1.094545332571538 + }, + { + "x": 8.06757906613841, + "y": 1.2120409419457012, + "heading": -0.3813800205461703, + "angularVelocity": 0.45057125039240153, + "velocityX": 1.9199863921619935, + "velocityY": 3.042933092829692, + "moduleForcesX": [ + -123.89689149091791, + -123.99305114043642, + -123.50605053746531, + -123.60440891368611 + ], + "moduleForcesY": [ + 87.92711639831985, + 87.79732212756998, + 88.476682433819, + 88.3450261306737 + ], + "timestamp": 1.126591366583438 + }, + { + "x": 8.118231950465102, + "y": 1.31563418331523, + "heading": -0.36706069116782525, + "angularVelocity": 0.4468362410471036, + "velocityX": 1.5806288013013425, + "velocityY": 3.2326384391610286, + "moduleForcesX": [ + -132.55342343544478, + -132.61909080638156, + -132.1216418644511, + -132.19038281456528 + ], + "moduleForcesY": [ + 73.66438024269421, + 73.55859136357282, + 74.43781854948784, + 74.32801498139675 + ], + "timestamp": 1.158637400595338 + }, + { + "x": 8.157451875792262, + "y": 1.4240805799791298, + "heading": -0.3529054673245195, + "angularVelocity": 0.44171530985860263, + "velocityX": 1.2238620639482116, + "velocityY": 3.3840816814844557, + "moduleForcesX": [ + -139.38346754915878, + -139.41565628257766, + -138.90586385781685, + -138.94226735088014 + ], + "moduleForcesY": [ + 58.534377055497885, + 58.48902845371008, + 59.66041802395446, + 59.60632436343745 + ], + "timestamp": 1.190683434607238 + }, + { + "x": 8.184852845935204, + "y": 1.5361028015079887, + "heading": -0.33899564902183765, + "angularVelocity": 0.43405740309445084, + "velocityX": 0.8550502733901107, + "velocityY": 3.4956656879057135, + "moduleForcesX": [ + -144.12256479474672, + -144.1236051642125, + -143.59404752662346, + -143.60039775739148 + ], + "moduleForcesY": [ + 42.6095059442019, + 42.70662735074425, + 44.35355117502826, + 44.42987240471147 + ], + "timestamp": 1.222729468619138 + }, + { + "x": 8.200277425358575, + "y": 1.650393975572135, + "heading": -0.3255058966892429, + "angularVelocity": 0.4209491985056691, + "velocityX": 0.4813256897138449, + "velocityY": 3.5664686001926427, + "moduleForcesX": [ + -146.0621612429763, + -146.06771973025056, + -145.48357203727258, + -145.49237458970512 + ], + "moduleForcesY": [ + 25.896848406211483, + 26.357874151295484, + 28.907239917266043, + 29.30866902464574 + ], + "timestamp": 1.2547755026310379 + }, + { + "x": 8.203998478416482, + "y": 1.7656627045856035, + "heading": -0.31292297235700006, + "angularVelocity": 0.39265153146783266, + "velocityX": 0.11611586808295281, + "velocityY": 3.5969733094168292, + "moduleForcesX": [ + -142.60945010521542, + -142.9130247364372, + -142.0127620152318, + -142.28538664877934 + ], + "moduleForcesY": [ + 8.00312445370525, + 9.6050356799455, + 14.313643271613127, + 15.673336156871905 + ], + "timestamp": 1.2868215366429379 + }, + { + "x": 8.197795218654184, + "y": 1.880824878322834, + "heading": -0.3033303795788422, + "angularVelocity": 0.29933790791695936, + "velocityX": -0.1935734000655539, + "velocityY": 3.5936482403552796, + "moduleForcesX": [ + -119.2325038098272, + -123.45814974763456, + -118.29925965063792, + -122.20446278473888 + ], + "moduleForcesY": [ + -13.18677126803289, + -6.784491118699223, + 5.045444662065725, + 9.737860518613108 + ], + "timestamp": 1.3188675706548378 + }, + { + "x": 8.187630481977742, + "y": 1.9928563674511546, + "heading": -0.3027586664142015, + "angularVelocity": 0.01784037189838786, + "velocityX": -0.3171917209058606, + "velocityY": 3.4959548843616206, + "moduleForcesX": [ + -35.31228577904976, + -66.0491751132207, + -28.327035345395426, + -63.18766559003783 + ], + "moduleForcesY": [ + -61.70164407965374, + -46.31242736251602, + -29.89742452991276, + -14.515097529911548 + ], + "timestamp": 1.3509136046667378 + }, + { + "x": 8.178502115602848, + "y": 2.09253161286633, + "heading": -0.3023536947133865, + "angularVelocity": 0.01263718626350393, + "velocityX": -0.28485167217583857, + "velocityY": 3.1103769464315683, + "moduleForcesX": [ + 12.952756844997198, + 11.813515087247348, + 13.419290004257817, + 12.273176137002718 + ], + "moduleForcesY": [ + -150.38192757678243, + -150.47033958558322, + -150.32770294998488, + -150.42011835237196 + ], + "timestamp": 1.3829596386786378 + }, + { + "x": 8.170477872919705, + "y": 2.179783674787757, + "heading": -0.3020400375678197, + "angularVelocity": 0.009787705569131123, + "velocityX": -0.25039737148644364, + "velocityY": 2.722710145318631, + "moduleForcesX": [ + 13.623679773933251, + 12.996885842604826, + 13.882898440665693, + 13.254047210182028 + ], + "moduleForcesY": [ + -151.20128691730517, + -151.2549532691614, + -151.17404825336516, + -151.22896024126868 + ], + "timestamp": 1.4150056726905378 + }, + { + "x": 8.163580426505472, + "y": 2.254590284278825, + "heading": -0.3017926542937763, + "angularVelocity": 0.007719622152043735, + "velocityX": -0.2152355705441773, + "velocityY": 2.3343484396006624, + "moduleForcesX": [ + 13.84894583759901, + 13.393311907899013, + 14.037925939680852, + 13.581208724891605 + ], + "moduleForcesY": [ + -151.47516917365684, + -151.51540552586636, + -151.45600118841276, + -151.49690150735324 + ], + "timestamp": 1.4470517067024378 + }, + { + "x": 8.157821118222682, + "y": 2.3169403228925862, + "heading": -0.30159905906964435, + "angularVelocity": 0.00604116016540777, + "velocityX": -0.1797198455401001, + "velocityY": 1.945639781528292, + "moduleForcesX": [ + 13.961780215672507, + 13.591683694906532, + 14.115475252008157, + 13.744665202447031 + ], + "moduleForcesY": [ + -151.61215778307704, + -151.64533853118684, + -151.5968473739631, + -151.63046801737454 + ], + "timestamp": 1.4790977407143377 + }, + { + "x": 8.153206752283682, + "y": 2.366827126409346, + "heading": -0.30145177471768475, + "angularVelocity": 0.004596024328779256, + "velocityX": -0.14399179434451276, + "velocityY": 1.556723165750651, + "moduleForcesX": [ + 14.029516449228247, + 13.71070746715952, + 14.162000746997306, + 13.84266280431211 + ], + "moduleForcesY": [ + -151.69434480489258, + -151.7231848947932, + -151.68129092615584, + -151.7104582278528 + ], + "timestamp": 1.5111437747262377 + }, + { + "x": 8.149741863492002, + "y": 2.4042462554439124, + "heading": -0.30134582338858884, + "angularVelocity": 0.003306222824843595, + "velocityX": -0.10812223410837736, + "velocityY": 1.1676680184721826, + "moduleForcesX": [ + 14.074676461883454, + 13.790039343670175, + 14.193010206081025, + 13.907951711255329 + ], + "moduleForcesY": [ + -151.7491266287695, + -151.77502870219124, + -151.73755237069508, + -151.7637156845819 + ], + "timestamp": 1.5431898087381377 + }, + { + "x": 8.147429689915466, + "y": 2.4291945409166344, + "heading": -0.30127765322797195, + "angularVelocity": 0.0021272573258701278, + "velocityX": -0.0721516296112585, + "velocityY": 0.7785139797161165, + "moduleForcesX": [ + 14.106928060890922, + 13.846688607239773, + 14.21515372143924, + 13.954562194676575 + ], + "moduleForcesY": [ + -151.7882491682676, + -151.81203108763148, + -151.77771927701934, + -151.80171982261334 + ], + "timestamp": 1.5752358427500377 + }, + { + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, + "angularVelocity": 0.001031349970910864, + "velocityX": -0.03610526698181142, + "velocityY": 0.38928580807247914, + "moduleForcesX": [ + 14.131109267186261, + 13.889162337739004, + 14.231757076926762, + 13.98950594309019 + ], + "moduleForcesY": [ + -151.81758600687584, + -151.83976599679588, + -151.8078322320615, + -151.83020136346488 + ], + "timestamp": 1.6072818767619377 + }, + { + "x": 8.146272659301758, + "y": 2.4416696071624755, + "heading": -0.30124460255172597, + "angularVelocity": -5.371441709463832e-21, + "velocityX": 2.750210915631186e-22, + "velocityY": 3.902233834752265e-22, + "moduleForcesX": [ + 14.149909138149875, + 13.922186919632015, + 14.244668011232907, + 14.016676394170101 + ], + "moduleForcesY": [ + -151.84040019912104, + -151.86132718827815, + -151.83124554736247, + -151.85234021806184 + ], + "timestamp": 1.6393279107738377 } ], "eventMarkers": [] diff --git a/src/main/java/team3647/frc2024/auto/AutoCommands.java b/src/main/java/team3647/frc2024/auto/AutoCommands.java index dbbd456..2e105f5 100644 --- a/src/main/java/team3647/frc2024/auto/AutoCommands.java +++ b/src/main/java/team3647/frc2024/auto/AutoCommands.java @@ -1,5 +1,16 @@ package team3647.frc2024.auto; +import java.util.ArrayList; +import java.util.List; +import java.util.Map; +import java.util.Set; +import java.util.function.BooleanSupplier; +import java.util.function.Consumer; +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; + +import org.littletonrobotics.junction.Logger; + import com.choreo.lib.Choreo; import com.choreo.lib.ChoreoControlFunction; import com.choreo.lib.ChoreoTrajectory; @@ -7,6 +18,7 @@ import com.pathplanner.lib.path.PathConstraints; import com.pathplanner.lib.path.PathPlannerPath; import com.pathplanner.lib.util.PathPlannerLogging; + import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; @@ -21,17 +33,6 @@ import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SelectCommand; import edu.wpi.first.wpilibj2.command.button.Trigger; -import java.util.ArrayList; -import java.util.List; -import java.util.Map; -import java.util.Set; -import java.util.function.BooleanSupplier; -import java.util.function.Consumer; -import java.util.function.DoubleSupplier; -import java.util.function.Supplier; - -import org.littletonrobotics.junction.Logger; - import team3647.frc2024.constants.AutoConstants; import team3647.frc2024.constants.FieldConstants; import team3647.frc2024.subsystems.Superstructure; @@ -39,7 +40,6 @@ import team3647.frc2024.util.AllianceFlip; import team3647.frc2024.util.AutoDrive.DriveMode; import team3647.frc2024.util.TargetingUtil; -import team3647.lib.team9442.AllianceChecker; import team3647.lib.team9442.AllianceObserver; public class AutoCommands implements AllianceObserver { @@ -400,13 +400,13 @@ public Command getScoringSequenceF3F4(Alliance color) { public Command getScoringSequenceF4F5(Alliance color) { return Commands.sequence( - followChoreoPathWithOverride(f4_to_shoot2, color), + followChoreoPathWithOverrideLongTimer(f4_to_shoot2, color), followChoreoPathWithOverrideFast(shoot2_to_f5, color)); } public Command getScoringSequenceF2F1(Alliance color) { return Commands.sequence( - followChoreoPathWithOverride(f2_to_shoot3, color), + followChoreoPathWithOverrideLongTimer(f2_to_shoot3, color), followChoreoPathWithOverrideFast(shoot3_to_f1, color)); } @@ -890,6 +890,30 @@ public Command followChoreoPathWithOverride(String path, Alliance color) { .andThen(Commands.runOnce(() -> swerve.drive(0, 0, 0), swerve)); } + public Command followChoreoPathWithOverrideLongTimer(String path, Alliance color) { + ChoreoTrajectory traj = Choreo.getTrajectory(path); + boolean mirror = color == Alliance.Red; + PathPlannerLogging.logActivePath(PathPlannerPath.fromChoreoTrajectory(path)); + Logger.recordOutput("Autos/current path", path); + return customChoreoFolloweForOverrideLongTimer( + traj, + swerve::getOdoPose, + choreoSwerveController( + AutoConstants.kXController, + AutoConstants.kYController, + new PIDController(0, 0, 0)), + (ChassisSpeeds speeds) -> + swerve.drive( + (!this.hasPiece && hasTarget.getAsBoolean()) + ? autoDriveVelocities.get().dx * SLOWDOWN + : speeds.vxMetersPerSecond * 0.6 * SLOWDOWN, + (!this.hasPiece && hasTarget.getAsBoolean()) + ? autoDriveVelocities.get().dy * SLOWDOWN + : speeds.vyMetersPerSecond * 0.6 * SLOWDOWN, + deeTheta()), + () -> mirror) + .andThen(Commands.runOnce(() -> swerve.drive(0, 0, 0), swerve)); + } public Command customChoreoFolloweForOverride( ChoreoTrajectory trajectory, Supplier poseSupplier, @@ -937,6 +961,54 @@ public Command customChoreoFolloweForOverride( swerve); } + public Command customChoreoFolloweForOverrideLongTimer( + ChoreoTrajectory trajectory, + Supplier poseSupplier, + ChoreoControlFunction controller, + Consumer outputChassisSpeeds, + BooleanSupplier mirrorTrajectory) { + var timer = new edu.wpi.first.wpilibj.Timer(); + return new FunctionalCommand( + timer::restart, + () -> { + PathPlannerLogging.logCurrentPose(swerve.getOdoPose()); + PathPlannerLogging.logTargetPose( + trajectory + .sample(timer.get(), mirrorTrajectory.getAsBoolean()) + .getPose()); + ; + outputChassisSpeeds.accept( + controller.apply( + poseSupplier.get(), + trajectory.sample( + timer.get(), mirrorTrajectory.getAsBoolean()))); + }, + (interrupted) -> { + timer.stop(); + outputChassisSpeeds.accept(new ChassisSpeeds()); + }, + () -> + timer.hasElapsed(0.9)//gives the note more time to get in the intake; + && ((swerve.getVel() < 0.2 + & swerve.getOdoPose() + .minus( + mirrorTrajectory + .getAsBoolean() + == false + ? trajectory + .getFinalPose() + : AllianceFlip + .flipForPP( + trajectory + .getFinalPose())) + .getTranslation() + .getNorm() + < 0.3) + || (currentYes.getAsBoolean())), + swerve); + } + + public Command customChoreoFolloweForOverrideSlow( ChoreoTrajectory trajectory, Supplier poseSupplier, diff --git a/src/main/java/team3647/frc2024/constants/PivotConstants.java b/src/main/java/team3647/frc2024/constants/PivotConstants.java index 14ff067..dad33d2 100644 --- a/src/main/java/team3647/frc2024/constants/PivotConstants.java +++ b/src/main/java/team3647/frc2024/constants/PivotConstants.java @@ -108,14 +108,14 @@ public class PivotConstants { kMasterSpeakerMap.put(4.0, 30.0+0.6); // kMasterSpeakerMap.put(4.5, 27.9-1.4); // kMasterSpeakerMap.put(5.0, 26.5+0.6); // - kMasterSpeakerMap.put(5.5, 26.0-2.2); // + kMasterSpeakerMap.put(5.5, 26.0-3.2); // kMasterSpeakerMap.put(6.0, 23.4+0.6); // - kMasterSpeakerMap.put(6.52, 22.35); // - kMasterSpeakerMap.put(7.04, 22.0); // - kMasterSpeakerMap.put(7.4961, 20.7); // it stops working here - kMasterSpeakerMap.put(8.0, 20.7); // - kMasterSpeakerMap.put(8.5, 20.7); // - kMasterSpeakerMap.put(20.0, 20.7); // // + // kMasterSpeakerMap.put(6.52, 22.35); // + // kMasterSpeakerMap.put(7.04, 22.0); // + // kMasterSpeakerMap.put(7.4961, 20.7); // it stops working here + // kMasterSpeakerMap.put(8.0, 20.7); // + // kMasterSpeakerMap.put(8.5, 20.7); // + // kMasterSpeakerMap.put(20.0, 20.7); // // kMasterAmpMap.put(0.0, 60.0); kMasterAmpMap.put(100.0, 60.0); feedmap.put(10.0, 60.0); diff --git a/src/main/java/team3647/lib/inputs/ButtonHandler.java b/src/main/java/team3647/lib/inputs/ButtonHandler.java index 8285b19..568d1e6 100644 --- a/src/main/java/team3647/lib/inputs/ButtonHandler.java +++ b/src/main/java/team3647/lib/inputs/ButtonHandler.java @@ -1,81 +1,81 @@ -package team3647.lib.inputs; +// package team3647.lib.inputs; -import java.sql.Driver; -import java.util.ArrayList; -import java.util.Collections; -import java.util.List; +// import java.sql.Driver; +// import java.util.ArrayList; +// import java.util.Collections; +// import java.util.List; -import javax.swing.text.html.HTMLDocument.HTMLReader.FormAction; +// import javax.swing.text.html.HTMLDocument.HTMLReader.FormAction; -import org.littletonrobotics.junction.Logger; +// import org.littletonrobotics.junction.Logger; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.Preferences; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.PS4Controller.Button; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import team3647.lib.team6328.VirtualSubsystem; +// import edu.wpi.first.wpilibj.DriverStation; +// import edu.wpi.first.wpilibj.Preferences; +// import edu.wpi.first.wpilibj.Timer; +// import edu.wpi.first.wpilibj.PS4Controller.Button; +// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +// import edu.wpi.first.wpilibj2.command.Command; +// import edu.wpi.first.wpilibj2.command.Commands; +// import team3647.lib.team6328.VirtualSubsystem; -public class ButtonHandler{ - public static double cacheTimer = 0; - //public static List presses = List.of(new ButtonPress("default", 0)); - public static ArrayList presses = new ArrayList(10); - public static ButtonHandler instance = new ButtonHandler(); +// public class ButtonHandler{ +// public static double cacheTimer = 0; +// //public static List presses = List.of(new ButtonPress("default", 0)); +// public static ArrayList presses = new ArrayList(10); +// public static ButtonHandler instance = new ButtonHandler(); - public ButtonHandler(){ - super(); - } +// public ButtonHandler(){ +// super(); +// } - public static void init(){ - cacheTimer = Timer.getFPGATimestamp(); - } +// public static void init(){ +// cacheTimer = Timer.getFPGATimestamp(); +// } - public Command addPress(ButtonPress press){ - return Commands.runOnce(() -> presses.add(press)); - } +// public Command addPress(ButtonPress press){ +// return Commands.runOnce(() -> presses.add(press)); +// } - public Command addPress(String name){ - return Commands.runOnce(() -> presses.add(new ButtonPress(name, Timer.getFPGATimestamp()))); - } +// public Command addPress(String name){ +// return Commands.runOnce(() -> presses.add(new ButtonPress(name, Timer.getFPGATimestamp()))); +// } - public Boolean getIsDoubleTap(ButtonPress press){ +// public Boolean getIsDoubleTap(ButtonPress press){ - for(ButtonPress p : presses){ - if(p.name.equals(press.name) && Math.abs(p.timestamp - press.timestamp) < 0.35){ - Logger.recordOutput("string", Math.abs(p.timestamp - press.timestamp)); - return true; +// for(ButtonPress p : presses){ +// if(p.name.equals(press.name) && Math.abs(p.timestamp - press.timestamp) < 0.35){ +// Logger.recordOutput("string", Math.abs(p.timestamp - press.timestamp)); +// return true; - } - } - return false; - } - - - public void periodic() { - // if(Timer.getFPGATimestamp() - cacheTimer >= 2.0){ - // presses.clear(); - // cacheTimer = Timer.getFPGATimestamp(); - // } - - for(ButtonPress p : presses){ - DriverStation.reportError(p.name, false); - DriverStation.reportError(String.valueOf(p.timestamp), false); - DriverStation.reportError("types hit", false); - DriverStation.reportError(getIsDoubleTap(p).toString(), false); +// } +// } +// return false; +// } + + +// public void periodic() { +// // if(Timer.getFPGATimestamp() - cacheTimer >= 2.0){ +// // presses.clear(); +// // cacheTimer = Timer.getFPGATimestamp(); +// // } + +// for(ButtonPress p : presses){ +// DriverStation.reportError(p.name, false); +// DriverStation.reportError(String.valueOf(p.timestamp), false); +// DriverStation.reportError("types hit", false); +// DriverStation.reportError(getIsDoubleTap(p).toString(), false); - } - DriverStation.reportError("looping",false ); +// } +// DriverStation.reportError("looping",false ); - } +// } - public static ButtonHandler getInstance(){ - return instance; - } +// public static ButtonHandler getInstance(){ +// return instance; +// } -} +// } diff --git a/src/main/java/team3647/lib/inputs/ButtonPress.java b/src/main/java/team3647/lib/inputs/ButtonPress.java index 3620b5c..a85dc24 100644 --- a/src/main/java/team3647/lib/inputs/ButtonPress.java +++ b/src/main/java/team3647/lib/inputs/ButtonPress.java @@ -1,16 +1,16 @@ -package team3647.lib.inputs; +// package team3647.lib.inputs; -public class ButtonPress implements Comparable { - public final String name; - public final double timestamp; +// public class ButtonPress implements Comparable { +// public final String name; +// public final double timestamp; - public ButtonPress(String name, double timestamp){ - this.name = name; - this.timestamp = timestamp; - } +// public ButtonPress(String name, double timestamp){ +// this.name = name; +// this.timestamp = timestamp; +// } - @Override - public int compareTo(ButtonPress o) { - return Double.compare(this.timestamp, o.timestamp); - } -} +// @Override +// public int compareTo(ButtonPress o) { +// return Double.compare(this.timestamp, o.timestamp); +// } +// }