From 54fed677674513edc1da63062278c52b5031c92d Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 19 Feb 2021 17:00:20 -0700 Subject: [PATCH] added new paths, changed barrel --- PathWeaver/Paths/Barrel | 26 ++++++++++--------- src/main/deploy/paths/Barrel.wpilib.json | 2 +- .../java/frc4388/robot/RobotContainer.java | 21 +++++++++++++-- 3 files changed, 34 insertions(+), 15 deletions(-) diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index 34341c1..065a326 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -1,13 +1,15 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.2831,-2.134,0.7360322102686336,-0.018555433872318616,true, -3.396233460027056,-2.2025005475745667,0.8597351027507569,-0.1484434709785476,true, -4.466263479997423,-3.0374950718288987,0.19173948334729118,-0.9896231398569859,true, -3.625083811118984,-3.693120401984152,-0.9834379952328804,0.35255324357405105,true, -3.433344327771693,-2.6540161051343163,0.8597351027507569,1.0391042968498356,true, -6.63106409843458,-1.8252067255040902,0.9463271274882441,0.9648825613605613,true, -6.148622817754299,-0.9159904657604843,-1.5277307221542218,-0.11751774785801683,true, -5.542478644591896,-1.9983907749790633,0.42058983443921694,-0.9030311151194992,true, -6.971247052760418,-3.501380918636861,1.7689513624943638,-0.7174767763963148,true, -8.344349159311989,-3.0127544933324737,0.012370289248213595,0.834994524254332,true, -7.416577465696062,-2.214870836822779,-1.9606908458416532,-0.09896231398569766,true, -0.7984727179024672,-2.134,-1.0391042968498356,0.0618514462410622,true, +1.1943219738452617,-2.286,1.0,0.0,true, +3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true, +4.466263479997423,-3.0436802164530046,0.15462861560265395,-1.1071408877150035,true, +3.618898666494878,-3.6374541003671967,-1.2555843586935511,0.21029491721960936,true, +3.4951957740127546,-2.530313212652193,1.2184734909489143,0.8226242350061197,true, +6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true, +6.847544160278296,-1.5035792050505696,0.08040688011338037,0.6679956194034656,true, +6.1362525285060885,-0.8788795980158475,-1.261769503317658,0.012370289248212263,true, +5.4868123429749405,-1.7757255685112412,0.42058983443921694,-0.9030311151194992,true, +6.760952135540809,-3.3405671584101007,1.7689513624943638,-0.7174767763963148,true, +8.096943374347742,-3.3900483154029506,0.6061441731624058,0.4824412806802809,true, +8.053647361978998,-2.4375360432906006,-0.7360322102686343,0.5690333054177668,true, +5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true, +0.266550280229337,-2.060242221220125,-1.0700300199703663,0.0061851446241063535,true, diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index fc80730..b0e2f47 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.2831,"y":-2.134},"rotation":{"radians":-0.025204745326941898}},"curvature":0.0},{"time":0.28978525409806766,"velocity":0.7824201860647827,"acceleration":2.7,"pose":{"translation":{"x":1.3964432465655328,"y":-2.1363164952214304},"rotation":{"radians":-0.015454568123408898}},"curvature":0.061034297419870744},{"time":0.38769999567643004,"velocity":1.0467899883263612,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.4859884317085974,"y":-2.137523589526118},"rotation":{"radians":-0.012083966290006546}},"curvature":0.021370757184301807},{"time":0.48829828716266316,"velocity":1.3184053753391907,"acceleration":2.7,"pose":{"translation":{"x":1.604948208492539,"y":-2.138862050465438},"rotation":{"radians":-0.010749117068552142}},"curvature":0.004196839512666091},{"time":0.539182339756033,"velocity":1.4557923173412892,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.6755254078789976,"y":-2.1396145287017605},"rotation":{"radians":-0.010627250896025509}},"curvature":-3.8773146281633364E-4},{"time":0.5900382811346634,"velocity":1.5931033590635912,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.7530482089726875,"y":-2.140443193705128},"rotation":{"radians":-0.010792840768729986}},"curvature":-0.003675807073970148},{"time":0.6405288463358693,"velocity":1.7294278851068472,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.8369213881813689,"y":-2.1413646001784614},"rotation":{"radians":-0.011213319721456463}},"curvature":-0.006232851642892484},{"time":0.690323462319662,"velocity":1.8638733482630876,"acceleration":2.6496951333282968,"pose":{"translation":{"x":1.926378973051313,"y":-2.142395747423556},"rotation":{"radians":-0.011871576531715826}},"curvature":-0.00842441741958269},{"time":0.739137785816483,"velocity":1.9932164236693275,"acceleration":-0.02837453647273512,"pose":{"translation":{"x":2.020512464466341,"y":-2.143553757499498},"rotation":{"radians":-0.012763325236632603}},"curvature":-0.010504109706769281},{"time":0.788218976700261,"velocity":1.9918237676284705,"acceleration":-0.03096715710026109,"pose":{"translation":{"x":2.118299058846862,"y":-2.1448555533810847},"rotation":{"radians":-0.013895585645726221}},"curvature":-0.012669436677803639},{"time":0.8386153970529502,"velocity":1.990263133762118,"acceleration":-0.03617459417754114,"pose":{"translation":{"x":2.218629870348913,"y":-2.1463175371172407},"rotation":{"radians":-0.015286202324143365}},"curvature":-0.015099539241805574},{"time":0.8897487155774066,"velocity":1.9884134067155448,"acceleration":-0.044546178812139396,"pose":{"translation":{"x":2.3203381530631955,"y":-2.1479552679894347},"rotation":{"radians":-0.016964333032811717}},"curvature":-0.017984736103339383},{"time":0.9410279579840575,"velocity":1.986129112413947,"acceleration":-0.05723806622388856,"pose":{"translation":{"x":2.422227523214116,"y":-2.1497831406700985},"rotation":{"radians":-0.018971916620528016}},"curvature":-0.021555185496678116},{"time":0.9918640595724878,"velocity":1.9832193522646642,"acceleration":-0.07627450588204061,"pose":{"translation":{"x":2.523100181358824,"y":-2.151814063381044},"rotation":{"radians":-0.021366234063120375}},"curvature":-0.026115176105347936},{"time":1.0416846442284502,"velocity":1.9794193117872763,"acceleration":-0.10505875356824391,"pose":{"translation":{"x":2.621785134586249,"y":-2.15405913605188},"rotation":{"radians":-0.02422379377700303}},"curvature":-0.0320905440568368},{"time":1.089949091272287,"velocity":1.9743487091391902,"acceleration":-0.14928738143459458,"pose":{"translation":{"x":2.7171664187161433,"y":-2.1565273284784316},"rotation":{"radians":-0.027645900421222742}},"curvature":-0.040099629026265945},{"time":1.1361639714393528,"velocity":1.9674494106957354,"acceleration":-0.21852675158162044,"pose":{"translation":{"x":2.8082113204981147,"y":-2.1592251584811555},"rotation":{"radians":-0.03176638858833548}},"curvature":-0.051063463821292725},{"time":1.1798989385658494,"velocity":1.9578921503990532,"acceleration":-0.32879998544317074,"pose":{"translation":{"x":2.893998599810673,"y":-2.162156370063559},"rotation":{"radians":-0.03676205377082032}},"curvature":-0.06637878329603894},{"time":1.2208031162759185,"velocity":1.9444428573634176,"acceleration":-0.5063636999945069,"pose":{"translation":{"x":2.97374671186026,"y":-2.165321611570618},"rotation":{"radians":-0.04286609392782423}},"curvature":-0.08818601267156655},{"time":1.2586218165213874,"velocity":1.9252928403781389,"acceleration":-1.0007481807308292,"pose":{"translation":{"x":3.0468420293802927,"y":-2.168718113847193},"rotation":{"radians":-0.050383841179388336}},"curvature":-0.11976238020425253},{"time":1.3246861212077783,"velocity":1.859179107651986,"acceleration":-2.2054847999507374,"pose":{"translation":{"x":3.1716286925944743,"y":-2.176174805538267},"rotation":{"radians":-0.07131220106226033}},"curvature":-0.23377649953213903},{"time":1.3783554147528894,"velocity":1.7408122965141493,"acceleration":-2.2289595482854216,"pose":{"translation":{"x":3.267880365423527,"y":-2.1844237119132424},"rotation":{"radians":-0.10327624577948617}},"curvature":-0.4595337759261595},{"time":1.4210409415454375,"velocity":1.6456679839963058,"acceleration":-0.44909773916951856,"pose":{"translation":{"x":3.339611725007826,"y":-2.1932868218854726},"rotation":{"radians":-0.14531391610386005}},"curvature":-0.6645431180407472},{"time":1.4560674320742961,"velocity":1.6299376662887528,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.3962334600270516,"y":-2.2025005475745636},"rotation":{"radians":-0.170976117276445}},"curvature":8.867759052284046E-15},{"time":1.4912667472871743,"velocity":1.5348995152139815,"acceleration":-1.1733125047324853,"pose":{"translation":{"x":3.451016290897761,"y":-2.212567180481429},"rotation":{"radians":-0.20122983389470417}},"curvature":-0.9352373293397735},{"time":1.532218396960761,"velocity":1.4868504325625382,"acceleration":1.6421721833267893,"pose":{"translation":{"x":3.511214332160342,"y":-2.226865502358773},"rotation":{"radians":-0.26635935642751507}},"curvature":-1.0652012647278277},{"time":1.579441777354838,"velocity":1.564399354248351,"acceleration":1.6761542587385896,"pose":{"translation":{"x":3.5799879193995587,"y":-2.248329412813585},"rotation":{"radians":-0.33612941212796144}},"curvature":-0.8594010435085215},{"time":1.631703039652513,"velocity":1.6519972916156533,"acceleration":1.0972774637427603,"pose":{"translation":{"x":3.6583772849159306,"y":-2.27864306039828},"rotation":{"radians":-0.39892374279323173}},"curvature":-0.6501720303878754},{"time":1.688696629057426,"velocity":1.7145350728474724,"acceleration":0.5530801587129874,"pose":{"translation":{"x":3.745676293881615,"y":-2.318423463686866},"rotation":{"radians":-0.4540438775236755}},"curvature":-0.5138795956583605},{"time":1.7499796842121849,"velocity":1.7484295147188833,"acceleration":0.13570774325191226,"pose":{"translation":{"x":3.8398061804962795,"y":-2.367403132351113},"rotation":{"radians":-0.504307354200138}},"curvature":-0.44408545413397155},{"time":1.814661590663903,"velocity":1.7572073502726773,"acceleration":-0.21409592792279244,"pose":{"translation":{"x":3.937689284142979,"y":-2.4246126882367194},"rotation":{"radians":-0.5532050314660589}},"curvature":-0.4264494055902498},{"time":1.8814963841306918,"velocity":1.742898293147877,"acceleration":-0.5740861260374733,"pose":{"translation":{"x":4.035622785544032,"y":-2.4885634864394772},"rotation":{"radians":-0.604321629527435}},"curvature":-0.4552897835176776},{"time":1.94912167284867,"velocity":1.704075553125607,"acceleration":-1.009229876725243,"pose":{"translation":{"x":4.129652442916893,"y":-2.557430236381438},"rotation":{"radians":-0.6615136549514895}},"curvature":-0.5359780301871251},{"time":2.01633702548968,"velocity":1.6362398110656768,"acceleration":-1.5376392843477096,"pose":{"translation":{"x":4.215946328130033,"y":-2.6292336228870825},"rotation":{"radians":-0.7292772432906693}},"curvature":-0.6861565309195857},{"time":2.082357388464582,"velocity":1.5347243073885732,"acceleration":-1.9415112629868274,"pose":{"translation":{"x":4.291168562858812,"y":-2.702022927259483},"rotation":{"radians":-0.8129805444154918}},"curvature":-0.9356964514039496},{"time":2.1147878349353584,"velocity":1.4717602303018689,"acceleration":-2.1366417530606476,"pose":{"translation":{"x":4.323812962066296,"y":-2.738230460308005},"rotation":{"radians":-0.8626221193942575}},"curvature":-1.1077685250590932},{"time":2.146871133029121,"velocity":1.4032097160188441,"acceleration":-2.1968423826124286,"pose":{"translation":{"x":4.352853054741352,"y":-2.7740586483564726},"rotation":{"radians":-0.9182789804410642}},"curvature":-1.3126657404820574},{"time":2.178617673803204,"velocity":1.333467569745005,"acceleration":-2.040367384310942,"pose":{"translation":{"x":4.378177799483502,"y":-2.8093530177753534},"rotation":{"radians":-0.9801937205002034}},"curvature":-1.5427438248124064},{"time":2.2099854755865262,"velocity":1.269465730068783,"acceleration":-1.577528246366244,"pose":{"translation":{"x":4.3997772335344205,"y":-2.8439951236668106},"rotation":{"radians":-1.0479490036184314}},"curvature":-1.7761293964982472},{"time":2.2408116135418075,"velocity":1.2208366267179445,"acceleration":-0.6926727787921498,"pose":{"translation":{"x":4.417754152032817,"y":-2.8779082567733303},"rotation":{"radians":-1.1200381986086958}},"curvature":-1.9698173969798347},{"time":2.2707335894116984,"velocity":1.2001104885451954,"acceleration":0.8434041100555671,"pose":{"translation":{"x":4.432335787269295,"y":-2.91106315038635},"rotation":{"radians":-1.1934083398757813}},"curvature":-2.0571395817342544},{"time":2.2991279590331515,"velocity":1.2240584165863657,"acceleration":2.7000000000000135,"pose":{"translation":{"x":4.443885487941235,"y":-2.943483687254895},"rotation":{"radians":-1.2631599091963834}},"curvature":-1.9565090994331797},{"time":2.325351141029126,"velocity":1.2948610079754979,"acceleration":1.0529112046285505,"pose":{"translation":{"x":4.452914398407652,"y":-2.975252606494202},"rotation":{"radians":-1.3226354249936776}},"curvature":-1.5942400715020353},{"time":2.373567840722284,"velocity":1.3456289113326338,"acceleration":-2.7,"pose":{"translation":{"x":4.466263479997426,"y":-3.0374950718289044},"rotation":{"radians":-1.379417541510467}},"curvature":-2.3598616497744574E-16},{"time":2.4229824061000054,"velocity":1.2122095848127865,"acceleration":-2.700000000000005,"pose":{"translation":{"x":4.476981402423143,"y":-3.099776827828598},"rotation":{"radians":-1.4400901867630365}},"curvature":-1.777123347663911},{"time":2.4502054299649525,"velocity":1.1387074203774286,"acceleration":-2.1871816789333542,"pose":{"translation":{"x":4.480143380771782,"y":-3.1316197567880515},"rotation":{"radians":-1.5065265323751929}},"curvature":-2.3344982067937656},{"time":2.479613292131232,"velocity":1.0743870830307443,"acceleration":-0.9328449117185704,"pose":{"translation":{"x":4.4809305478035615,"y":-3.16415142372061},"rotation":{"radians":-1.5884401288280086}},"curvature":-2.6590323317988926},{"time":2.495131847505273,"velocity":1.0599106776128477,"acceleration":-0.31879854318869655,"pose":{"translation":{"x":4.480269667968529,"y":-3.1806988406796686},"rotation":{"radians":-1.6332035125913043}},"curvature":-2.737504504451427},{"time":2.5110199760892473,"velocity":1.054845565366282,"acceleration":0.1840431571178092,"pose":{"translation":{"x":4.4788347674523825,"y":-3.1974372092277616},"rotation":{"radians":-1.6794993840192083}},"curvature":-2.76546957445642},{"time":2.527184958309643,"velocity":1.0578206197288769,"acceleration":0.599660794127813,"pose":{"translation":{"x":4.47658227301234,"y":-3.2143635962447292},"rotation":{"radians":-1.7266431799771051}},"curvature":-2.7490115015576424},{"time":2.54354587952472,"velocity":1.0676316227373728,"acceleration":0.9423497826994346,"pose":{"translation":{"x":4.473476021538918,"y":-3.231471055802031},"rotation":{"radians":-1.7740257425414787}},"curvature":-2.695386793956351},{"time":2.5600349068356203,"velocity":1.0831700540407248,"acceleration":1.220585808659296,"pose":{"translation":{"x":4.469486961438619,"y":-3.2487488551994637},"rotation":{"radians":-1.821125113943463}},"curvature":-2.6124448740746575},{"time":2.5765977247307896,"velocity":1.1033863945149764,"acceleration":1.4395811031632,"pose":{"translation":{"x":4.464592854016621,"y":-3.2661827010018745},"rotation":{"radians":-1.8675127379921233}},"curvature":-2.508029785949521},{"time":2.5931931331914986,"velocity":1.127276830934288,"acceleration":1.6030256288589229,"pose":{"translation":{"x":4.458777974859465,"y":-3.283754965075878},"rotation":{"radians":-1.9128539226044574}},"curvature":-2.3894663263398597},{"time":2.609791939891536,"velocity":1.1538851434829231,"acceleration":1.7463169125790547,"pose":{"translation":{"x":4.452032815217741,"y":-3.3014449106265698},"rotation":{"radians":-1.9569032866779226}},"curvature":-2.263193716708804},{"time":2.6429185972245657,"velocity":1.2117347854408036,"acceleration":1.7851117886888244,"pose":{"translation":{"x":4.435742906099342,"y":-3.337080711891108},"rotation":{"radians":-2.0405394639240377}},"curvature":-2.0077968860169055},{"time":2.6759433178908454,"velocity":1.2706876036203347,"acceleration":1.6783442087537521,"pose":{"translation":{"x":4.41576002248931,"y":-3.3728706266010864},"rotation":{"radians":-2.117881986395536}},"curvature":-1.7714536444234885},{"time":2.708880831436745,"velocity":1.3259680887308434,"acceleration":1.4703793795072042,"pose":{"translation":{"x":4.392201399332375,"y":-3.408559904327598},"rotation":{"radians":-2.189157407694434}},"curvature":-1.568925694993859},{"time":2.7417764161522866,"velocity":1.3743370781734083,"acceleration":1.202068919863491,"pose":{"translation":{"x":4.365255054936123,"y":-3.4438657555821273},"rotation":{"radians":-2.2550472293843082}},"curvature":-1.4050835354495932},{"time":2.774675231282034,"velocity":1.4138837213412128,"acceleration":0.9045406638084231,"pose":{"translation":{"x":4.335170235217005,"y":-3.478484584991437},"rotation":{"radians":-2.316463891304015}},"curvature":-1.2794551862737087},{"time":2.8076064061002257,"velocity":1.443671308071251,"acceleration":0.597505027815032,"pose":{"translation":{"x":4.302247857946361,"y":-3.5120992244724634},"rotation":{"radians":-2.3744117526848205}},"curvature":-1.1893731311122488},{"time":2.8405780355544565,"velocity":1.4633720224454083,"acceleration":0.29097746027494203,"pose":{"translation":{"x":4.266830956996428,"y":-3.5443861664072074},"rotation":{"radians":-2.4299124567860018}},"curvature":-1.1318100691959179},{"time":2.8735792048986872,"velocity":1.4729746188872959,"acceleration":-0.011439450390418698,"pose":{"translation":{"x":4.229295126586355,"y":-3.575022796817625},"rotation":{"radians":-2.48397226236437}},"curvature":-1.1043106417359174},{"time":2.9065859957824265,"velocity":1.4725970393404344,"acceleration":-0.308954289242947,"pose":{"translation":{"x":4.190038965528223,"y":-3.6036946285405214},"rotation":{"radians":-2.5375733494816677}},"curvature":-1.1053851611334333},{"time":2.9395692669968465,"velocity":1.462406716225476,"acceleration":-0.600119561094977,"pose":{"translation":{"x":4.149474521473051,"y":-3.63010253440244},"rotation":{"radians":-2.5916759889804366}},"curvature":-1.1345944406292379},{"time":2.9725025360654644,"velocity":1.4426428172465942,"acceleration":-0.8795393548205446,"pose":{"translation":{"x":4.1080177351568175,"y":-3.6539699803945567},"rotation":{"radians":-2.6472216264561816}},"curvature":-1.1924214350284774},{"time":3.00536844341478,"velocity":1.4137359583009856,"acceleration":-1.134844064889457,"pose":{"translation":{"x":4.066078884646473,"y":-3.675050258847569},"rotation":{"radians":-2.705127892033974}},"curvature":-1.279911505539342},{"time":3.038162083184111,"velocity":1.3765202908426373,"acceleration":-1.3444459310108403,"pose":{"translation":{"x":4.024053029585951,"y":-3.693133721606591},"rotation":{"radians":-2.766265458590605}},"curvature":-1.397959843231869},{"time":3.070889020155176,"velocity":1.332520693597441,"acceleration":-1.4770899333174017,"pose":{"translation":{"x":3.9823104554421893,"y":-3.7080550132060424},"rotation":{"radians":-2.8314040999204404}},"curvature":-1.5460332630899094},{"time":3.1035552968382145,"velocity":1.2842696651499637,"acceleration":-1.4941442597337509,"pose":{"translation":{"x":3.9411871177511397,"y":-3.719700304044542},"rotation":{"radians":-2.9011126863008165}},"curvature":-1.7200781917607315},{"time":3.1361466577601473,"velocity":1.2355734703115466,"acceleration":-1.354023748173314,"pose":{"translation":{"x":3.9009750863637835,"y":-3.7280145235597977},"rotation":{"radians":-2.9755984722062117}},"curvature":-1.909511006592625},{"time":3.168595469010784,"velocity":1.1916370092781916,"acceleration":-1.0147236713853376,"pose":{"translation":{"x":3.8619129896921454,"y":-3.7330085934035004},"rotation":{"radians":-3.0544807571401327}},"curvature":-2.0937143465685617},{"time":3.200737489551075,"velocity":1.1590217401898044,"acceleration":-0.4260659449511779,"pose":{"translation":{"x":3.8241764589553107,"y":-3.7347666606162147},"rotation":{"radians":-3.1365196924783576}},"curvature":-2.239485095913185},{"time":3.2322670190399827,"velocity":1.145588081414247,"acceleration":0.5018578671611085,"pose":{"translation":{"x":3.7878685724254377,"y":-3.7334533308022695},"rotation":{"radians":3.0638224316288794}},"curvature":-2.3019389478459167},{"time":3.2627054309359256,"velocity":1.1608638378881162,"acceleration":1.981866233843004,"pose":{"translation":{"x":3.7530102996737713,"y":-3.7293209013046527},"rotation":{"radians":2.9837745398894375}},"curvature":-2.231033771353349},{"time":3.2913984695354106,"velocity":1.2177296022347897,"acceleration":2.700000000000022,"pose":{"translation":{"x":3.7195309458166608,"y":-3.7227165943799},"rotation":{"radians":2.9112906944721533}},"curvature":-1.9827183337633887},{"time":3.318043963908122,"velocity":1.289672437041111,"acceleration":2.6999999999999966,"pose":{"translation":{"x":3.6872585957615707,"y":-3.7140897903729884},"rotation":{"radians":2.8520073399085693}},"curvature":-1.5293412920150953},{"time":3.3664672607719743,"velocity":1.4204153385735119,"acceleration":-0.7773279955429184,"pose":{"translation":{"x":3.625083811118987,"y":-3.6931204019841495},"rotation":{"radians":2.797373970607308}},"curvature":-6.613861739195397E-14},{"time":3.4131589129973237,"velocity":1.384120610140594,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.563766743875798,"y":-3.670161977504628},"rotation":{"radians":2.756525795764688}},"curvature":-1.1679757651650957},{"time":3.4376245586201692,"velocity":1.3180633669589112,"acceleration":-2.699999999999996,"pose":{"translation":{"x":3.5334086513438336,"y":-3.657083691125669},"rotation":{"radians":2.710881845746}},"curvature":-1.5728850468127837},{"time":3.463675248407115,"velocity":1.2477265045341575,"acceleration":-1.5821887128693137,"pose":{"translation":{"x":3.5034440177195476,"y":-3.642283790781534},"rotation":{"radians":2.6531691446326833}},"curvature":-1.8608499280024569},{"time":3.49133614655074,"velocity":1.2039617437034866,"acceleration":-0.6872446422271046,"pose":{"translation":{"x":3.474037336902274,"y":-3.6254019615055393},"rotation":{"radians":2.586714018015841}},"curvature":-2.040686268725096},{"time":3.5202486098607055,"velocity":1.184091808200125,"acceleration":-0.08476157505785467,"pose":{"translation":{"x":3.4453654544881678,"y":-3.6061741360086432},"rotation":{"radians":2.5145147419748537}},"curvature":-2.1267228963470264},{"time":3.5500567310296165,"velocity":1.1815652249003328,"acceleration":0.3193270096105672,"pose":{"translation":{"x":3.4176147806752866,"y":-3.584425128785749},"rotation":{"radians":2.439126476186499}},"curvature":-2.137870346254926},{"time":3.5804829088097114,"velocity":1.19128112526473,"acceleration":0.5740164376070787,"pose":{"translation":{"x":3.3909785031686845,"y":-3.560061270222009},"rotation":{"radians":2.3625766675617688}},"curvature":-2.0952618628303044},{"time":3.6113268255272444,"velocity":1.2089860404607777,"acceleration":0.7096015690119034,"pose":{"translation":{"x":3.3656538000854943,"y":-3.533063040699125},"rotation":{"radians":2.286335289287212}},"curvature":-2.01937907302757},{"time":3.6424566860564966,"velocity":1.2310758383354568,"acceleration":0.7495941045279879,"pose":{"translation":{"x":3.341839052860019,"y":-3.503477704701653},"rotation":{"radians":2.211344125874908}},"curvature":-1.9277632191983454},{"time":3.6737953625845687,"velocity":1.2545671255046094,"acceleration":0.7153945292383727,"pose":{"translation":{"x":3.3197310591488156,"y":-3.471411944923308},"rotation":{"radians":2.1380905005562063}},"curvature":-1.8338745704955193},{"time":3.705304921265768,"velocity":1.2771088914038549,"acceleration":0.6273005803187474,"pose":{"translation":{"x":3.299522245735788,"y":-3.4370244963732617},"rotation":{"radians":2.0667029105717125}},"curvature":-1.7470283167859775},{"time":3.736972378989559,"velocity":1.2969739060112082,"acceleration":0.5040407015290699,"pose":{"translation":{"x":3.2813978814372673,"y":-3.40051878048245},"rotation":{"radians":1.9970485528694084}},"curvature":-1.672997130756034},{"time":3.7687982707408607,"velocity":1.3130154508163225,"acceleration":0.36214132435362206,"pose":{"translation":{"x":3.2655332900071072,"y":-3.3621355392098735},"rotation":{"radians":1.9288203282249812}},"curvature":-1.614849757744612},{"time":3.8007884115238535,"velocity":1.3246004027657343,"acceleration":0.21571299026228571,"pose":{"translation":{"x":3.2520910630417657,"y":-3.3221454691489023},"rotation":{"radians":1.8616086539421661}},"curvature":-1.5737324658651193},{"time":3.83294842960761,"velocity":1.3315377364334706,"acceleration":0.07672440710378624,"pose":{"translation":{"x":3.241218272885395,"y":-3.2808418556335757},"rotation":{"radians":1.7949588844255948}},"curvature":-1.5494529955949774},{"time":3.865280243306379,"velocity":1.3340183756700987,"acceleration":-0.04443068684609506,"pose":{"translation":{"x":3.2330436855349305,"y":-3.2385332068449086},"rotation":{"radians":1.7284180291487734}},"curvature":-1.5408324787819185},{"time":3.8977795403411517,"velocity":1.3325744095808285,"acceleration":-0.13833036539942628,"pose":{"translation":{"x":3.2276749735451737,"y":-3.1955358879171922},"rotation":{"radians":1.661575390889586}},"curvature":-1.5458465292253905},{"time":3.9304333844593358,"velocity":1.3280573913922642,"acceleration":-0.19608357372512286,"pose":{"translation":{"x":3.225195928933885,"y":-3.152166755044298},"rotation":{"radians":1.5941014235559339}},"curvature":-1.5616018958135311},{"time":3.963217252090357,"velocity":1.3216290134666422,"acceleration":-0.20913390652676656,"pose":{"translation":{"x":3.22566367608687,"y":-3.1087357895859795},"rotation":{"radians":1.5257879631914437}},"curvature":-1.5842097830959303},{"time":3.996091071003639,"velocity":1.314753983294854,"acceleration":-0.16924556435648158,"pose":{"translation":{"x":3.2291058846630634,"y":-3.0655387321741765},"rotation":{"radians":1.4565911839871395}},"curvature":-1.6086331500455602},{"time":4.028994190509174,"velocity":1.309185276265051,"acceleration":-0.06844968209066053,"pose":{"translation":{"x":3.2355179824996205,"y":-3.0228497168193162},"rotation":{"radians":1.3866762436662294}},"curvature":-1.6286038712115953},{"time":4.06183963590201,"velocity":1.3069370159697853,"acceleration":0.10142940649846875,"pose":{"translation":{"x":3.2448603685170054,"y":-2.9809139050166182},"rotation":{"radians":1.3164598421345644}},"curvature":-1.6367148974326131},{"time":4.094508406294546,"velocity":1.310250589961735,"acceleration":0.350206402487812,"pose":{"translation":{"x":3.257055625624074,"y":-2.9399401198523964},"rotation":{"radians":1.2466444739289937}},"curvature":-1.6247702692383272},{"time":4.126844807300244,"velocity":1.3215750046273436,"acceleration":0.6924887127332007,"pose":{"translation":{"x":3.2719857336231666,"y":-2.9000934801103604},"rotation":{"radians":1.1782371558042095}},"curvature":-1.584400657831877},{"time":4.158653680117019,"velocity":1.3436022900177265,"acceleration":1.1538264025927183,"pose":{"translation":{"x":3.2894892821151913,"y":-2.8614880343779214},"rotation":{"radians":1.1125471622661867}},"curvature":-1.507826291322599},{"time":4.18969979950203,"velocity":1.3794241222621977,"acceleration":1.7824639464816843,"pose":{"translation":{"x":3.3093586834047155,"y":-2.8241793951524916},"rotation":{"radians":1.051162420518973}},"curvature":-1.3885197572141845},{"time":4.219708808817028,"velocity":1.4329140994358158,"acceleration":0.969031353383184,"pose":{"translation":{"x":3.33133738540505,"y":-2.7881573729477918},"rotation":{"radians":0.9959116398454477}},"curvature":-1.2214724706018558},{"time":4.277413932768229,"velocity":1.4888321737953927,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.380334938665646,"y":-2.7195592163747992},"rotation":{"radians":0.9121156434643556}},"curvature":-0.7292561370128183},{"time":4.337283216994263,"velocity":1.3271851063851021,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":3.4333443277716955,"y":-2.6540161051343194},"rotation":{"radians":0.8795812303834927}},"curvature":-3.445184562216454E-14},{"time":4.370452104388746,"velocity":1.2376291104199986,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":3.460881518962202,"y":-2.6215967306613086},"rotation":{"radians":0.8420790918558102}},"curvature":-1.6301230840512126},{"time":4.388584022824427,"velocity":1.1886729306436599,"acceleration":-2.528425859477668,"pose":{"translation":{"x":3.4758535122213337,"y":-2.6054816239607037},"rotation":{"radians":0.8004805577577306}},"curvature":-2.1066315455835016},{"time":4.4082354804672965,"velocity":1.1389856769629978,"acceleration":-0.11750474964164773,"pose":{"translation":{"x":3.4921884366668063,"y":-2.589473805759859},"rotation":{"radians":0.749229592750494}},"curvature":-2.333173865186426},{"time":4.429369180130817,"velocity":1.136502366875034,"acceleration":1.3856692637168875,"pose":{"translation":{"x":3.510250551571425,"y":-2.573602147099397},"rotation":{"radians":0.6926025263777589}},"curvature":-2.3450159271980753},{"time":4.451524131369025,"velocity":1.167201801844965,"acceleration":2.35118672990052,"pose":{"translation":{"x":3.530360970430365,"y":-2.5578922143216856},"rotation":{"radians":0.6343352656143817}},"curvature":-2.202159733696067},{"time":4.474375466158144,"velocity":1.2209295569616563,"acceleration":2.6999999999999744,"pose":{"translation":{"x":3.5527991996698196,"y":-2.542366385199796},"rotation":{"radians":0.5773156923769591}},"curvature":-1.9694325448416081},{"time":4.497789218298271,"velocity":1.2841466877399987,"acceleration":2.6999999999999704,"pose":{"translation":{"x":3.577804677355652,"y":-2.5270439650664533},"rotation":{"radians":0.5235000710428663}},"curvature":-1.7012918903324297},{"time":4.521801967864484,"velocity":1.3489811115687722,"acceleration":2.7000000000000144,"pose":{"translation":{"x":3.605578311902043,"y":-2.5119413029429953},"rotation":{"radians":0.4740089055247215}},"curvature":-1.4352574295427192},{"time":4.54648296749997,"velocity":1.4156198105845852,"acceleration":2.6999999999999975,"pose":{"translation":{"x":3.6362840207801415,"y":-2.497071907668324},"rotation":{"radians":0.42931629404471094}},"curvature":-1.1925377009332556},{"time":4.5979312049276,"velocity":1.554530051639187,"acceleration":2.6999999999999895,"pose":{"translation":{"x":3.7069716089527938,"y":-2.4680734488825076},"rotation":{"radians":0.35418989280423674}},"curvature":-0.8055277999615483},{"time":4.652050609364337,"velocity":1.7006524436183752,"acceleration":1.500527885787132,"pose":{"translation":{"x":3.790497433710841,"y":-2.4401042686718095},"rotation":{"radians":0.29590330104402185}},"curvature":-0.5416815763675723},{"time":4.709504544385513,"velocity":1.7868636752658515,"acceleration":0.9881824269586419,"pose":{"translation":{"x":3.8869981091565733,"y":-2.4131820363331826},"rotation":{"radians":0.2511107007606953}},"curvature":-0.3681468104509119},{"time":4.771240267307327,"velocity":1.8478698317727766,"acceleration":0.6524622259914673,"pose":{"translation":{"x":3.9961661103341264,"y":-2.387290126624276},"rotation":{"radians":0.21675353682850282}},"curvature":-0.2540966621043891},{"time":4.83739200644885,"velocity":1.8910313427462613,"acceleration":0.48085156229928416,"pose":{"translation":{"x":4.117299011906266,"y":-2.362381335889986},"rotation":{"radians":0.19041969173117493}},"curvature":-0.17785163503784965},{"time":4.872066937012767,"velocity":1.9077048372805403,"acceleration":0.3967371555110344,"pose":{"translation":{"x":4.182036929180005,"y":-2.3502734122268834},"rotation":{"radians":0.17968058888577812}},"curvature":-0.14932163915762772},{"time":4.907765008838026,"velocity":1.921867588753722,"acceleration":0.3303173318171305,"pose":{"translation":{"x":4.249348726831175,"y":-2.338381598189005},"rotation":{"radians":0.17031728949002284}},"curvature":-0.12547660350688514},{"time":4.944427212378998,"velocity":1.9339777500059125,"acceleration":0.2779662591624995,"pose":{"translation":{"x":4.319057462558619,"y":-2.3266930479784813},"rotation":{"radians":0.1621824531704985}},"curvature":-0.10536438515093496},{"time":4.981982383008724,"velocity":1.9444168202980667,"acceleration":0.2367976062714694,"pose":{"translation":{"x":4.39097074503924,"y":-2.3151937014203714},"rotation":{"radians":0.15515205970275195}},"curvature":-0.08822852280464274},{"time":5.020348585845403,"velocity":1.953501845291518,"acceleration":0.20455180660220065,"pose":{"translation":{"x":4.464882272636653,"y":-2.3038684000916225},"rotation":{"radians":0.1491222355338551}},"curvature":-0.07346439089383655},{"time":5.059434410819172,"velocity":1.96149692140244,"acceleration":0.17948380450003842,"pose":{"translation":{"x":4.540573372109835,"y":-2.292701003450021},"rotation":{"radians":0.14400655375293442}},"curvature":-0.06058467950751672},{"time":5.099140184431041,"velocity":1.9686234647109155,"acceleration":0.16026431869318425,"pose":{"translation":{"x":4.617814537321772,"y":-2.281674504963147},"rotation":{"radians":0.1397337782617638}},"curvature":-0.04919232145486198},{"time":5.139359106731494,"velocity":1.9750691228919717,"acceleration":0.14589895746381054,"pose":{"translation":{"x":4.696366967948111,"y":-2.2707711482373334},"rotation":{"radians":0.1362460101895896}},"curvature":-0.03895921954129865},{"time":5.179978322306246,"velocity":1.9809954240973258,"acceleration":0.1356653959526808,"pose":{"translation":{"x":4.775984108185809,"y":-2.259972543146615},"rotation":{"radians":0.13349719241407235}},"curvature":-0.029609406337610385},{"time":5.220879933385275,"velocity":1.9865443573594648,"acceleration":0.1290672225949068,"pose":{"translation":{"x":4.856413185461781,"y":-2.249259781961687},"rotation":{"radians":0.13145193132828084}},"curvature":-0.02090552928373673},{"time":5.261941962087048,"velocity":1.991844119358115,"acceleration":0.12580278687380791,"pose":{"translation":{"x":4.937396749141551,"y":-2.2386135554788575},"rotation":{"radians":0.13008460088481189}},"curvature":-0.012637771636990232},{"time":5.303039267542635,"velocity":1.997014274917432,"acceleration":0.019971990207388324,"pose":{"translation":{"x":5.018674209237903,"y":-2.228014269149004},"rotation":{"radians":0.1293787009140817}},"curvature":-0.004614489234186597},{"time":5.344088934024913,"velocity":1.9978341184544326,"acceleration":-0.1271132459423351,"pose":{"translation":{"x":5.099983375119528,"y":-2.2174421592065268},"rotation":{"radians":0.12932644897742043}},"curvature":0.003346033348482779},{"time":5.385068693753168,"velocity":1.992625048177437,"acceleration":-0.1315900206479624,"pose":{"translation":{"x":5.1810619942196725,"y":-2.206877408798304},"rotation":{"radians":0.12992859223332834}},"curvature":0.011423221345148716},{"time":5.425913421233679,"velocity":1.9872502896449162,"acceleration":-0.13953763939944666,"pose":{"translation":{"x":5.261649290744793,"y":-2.1963002641126463},"rotation":{"radians":0.13119443286179183}},"curvature":0.01980171198922911},{"time":5.466499621726274,"velocity":1.9815869870359868,"acceleration":-0.15134660838683192,"pose":{"translation":{"x":5.341487504383202,"y":-2.1856911505082515},"rotation":{"radians":0.1331420675198006}},"curvature":0.028679178505795922},{"time":5.506707676529999,"velocity":1.9755016343116112,"acceleration":-0.16761779046166414,"pose":{"translation":{"x":5.420323429013716,"y":-2.1750307886431592},"rotation":{"radians":0.13579884814213902}},"curvature":0.03827495683410383},{"time":5.546422768483531,"velocity":1.9688446783503784,"acceleration":-0.18920113796264115,"pose":{"translation":{"x":5.497909951414311,"y":-2.1643003106037066},"rotation":{"radians":0.13920207817834707}},"curvature":0.04884001323746928},{"time":5.585535852645079,"velocity":1.961444438317785,"acceleration":-0.2172504463506305,"pose":{"translation":{"x":5.5740075899707655,"y":-2.1534813760334806},"rotation":{"radians":0.14339996499242724}},"curvature":0.060668885053603044},{"time":5.623944677660458,"velocity":1.9531001039393905,"acceleration":-0.2532957585749247,"pose":{"translation":{"x":5.648386033385312,"y":-2.1425562882622753},"rotation":{"radians":0.14845285536703287}},"curvature":0.07411436071668827},{"time":5.661554864263116,"velocity":1.9435736031937259,"acceleration":-0.2993341622139978,"pose":{"translation":{"x":5.720825679385291,"y":-2.1315081104350444},"rotation":{"radians":0.1544347862050629}},"curvature":0.08960584019673855},{"time":5.698281047897112,"velocity":1.9325802017843263,"acceleration":-0.3579369225732707,"pose":{"translation":{"x":5.791119173431797,"y":-2.1203207816408582},"rotation":{"radians":0.16143538533438553}},"curvature":0.10767252855526172},{"time":5.73404809220177,"velocity":1.919777856016375,"acceleration":-0.4323645483568496,"pose":{"translation":{"x":5.859072947428322,"y":-2.1089792330418566},"rotation":{"radians":0.16956215544770484}},"curvature":0.12897284394132102},{"time":5.768792378319208,"velocity":1.9047556584412275,"acceleration":-0.5849095185113626,"pose":{"translation":{"x":5.924508758429419,"y":-2.0974695040022033},"rotation":{"radians":0.17894316349774575}},"curvature":0.15433161510976817},{"time":5.835057562818208,"velocity":1.8659965212818512,"acceleration":-0.8857550226535746,"pose":{"translation":{"x":6.047199377670687,"y":-2.0738958998414514},"rotation":{"radians":0.20210186741425537}},"curvature":0.2216461708159417},{"time":5.8968306562144415,"velocity":1.8112806935412893,"acceleration":-1.3412644862039838,"pose":{"translation":{"x":6.158130061541742,"y":-2.049514861012689},"rotation":{"radians":0.2324718318768459}},"curvature":0.32157743265298944},{"time":5.954162303413782,"velocity":1.734383791217237,"acceleration":-2.331826801296813,"pose":{"translation":{"x":6.256583520199152,"y":-2.0242664428554993},"rotation":{"radians":0.2721527264230046}},"curvature":0.47267687675499237},{"time":6.007725362103224,"velocity":1.6094840154057644,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.342235382246688,"y":-1.9981195803215086},"rotation":{"radians":0.3238099779718559}},"curvature":0.7014600156198976},{"time":6.058213338849478,"velocity":1.4731664781908778,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.415203433412131,"y":-1.9710758041009384},"rotation":{"radians":0.3903867886331145}},"curvature":1.0371901630444837},{"time":6.105752339495345,"velocity":1.3448111764470367,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.476096855224023,"y":-1.9431729567491556},"rotation":{"radians":0.4739435383458792}},"curvature":1.4832231101531534},{"time":6.128485237272117,"velocity":1.2834323524497513,"acceleration":-2.4802026169754052,"pose":{"translation":{"x":6.502352432719954,"y":-1.9289220507387554},"rotation":{"radians":0.5218146280173698}},"curvature":1.7232139563883593},{"time":6.150586806337536,"velocity":1.2286159830144372,"acceleration":-1.5765373163833611,"pose":{"translation":{"x":6.526065463688492,"y":-1.9144889088132213},"rotation":{"radians":0.5727064201476121}},"curvature":1.9378022914841202},{"time":6.171969647913491,"velocity":1.1949051353396314,"acceleration":-0.10174172705944219,"pose":{"translation":{"x":6.54747222748793,"y":-1.8998901288416512},"rotation":{"radians":0.6249572669696838}},"curvature":2.0795464174567466},{"time":6.19236460678597,"velocity":1.192830117000639,"acceleration":2.6999999999999766,"pose":{"translation":{"x":6.566848947966006,"y":-1.8851452749584408},"rotation":{"radians":0.676039111048394}},"curvature":2.088533006904576},{"time":6.228771342876581,"velocity":1.2911283044452886,"acceleration":2.699999999999959,"pose":{"translation":{"x":6.600826109048187,"y":-1.8553111300949146},"rotation":{"radians":0.7606071486550793}},"curvature":1.4875138068427958},{"time":6.260749647606894,"velocity":1.3774697272171323,"acceleration":1.2375589148524975,"pose":{"translation":{"x":6.631064098434575,"y":-1.8252067255040865},"rotation":{"radians":0.7951065962315665}},"curvature":1.0681933986044702E-14},{"time":6.3203921655611675,"velocity":1.4512808570156939,"acceleration":-2.7000000000000077,"pose":{"translation":{"x":6.6891990760061555,"y":-1.7640805314974568},"rotation":{"radians":0.8400058357375344}},"curvature":1.0091012852471475},{"time":6.350156926462408,"velocity":1.3709160025823435,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.716473218524454,"y":-1.7321398713590477},"rotation":{"radians":0.8907978068252934}},"curvature":1.3975123574587036},{"time":6.381660669972724,"velocity":1.285855895104492,"acceleration":-1.8606248312841802,"pose":{"translation":{"x":6.741747004775298,"y":-1.6987844305988866},"rotation":{"radians":0.956168427706724}},"curvature":1.7141489029146626},{"time":6.414926010661893,"velocity":1.2239615761970961,"acceleration":-1.1300906324638258,"pose":{"translation":{"x":6.764520118042203,"y":-1.6637983254902156},"rotation":{"radians":1.0330725208142504}},"curvature":1.9569080982274514},{"time":6.449584366109641,"velocity":1.1847944933689945,"acceleration":-0.7004168832341465,"pose":{"translation":{"x":6.784369926349423,"y":-1.6270783063324192},"rotation":{"radians":1.118528538471054}},"curvature":2.123631053800948},{"time":6.467332091780942,"velocity":1.172363686669807,"acceleration":-0.4617167318291949,"pose":{"translation":{"x":6.7930867480727,"y":-1.6080640479106032},"rotation":{"radians":1.1635623341498813}},"curvature":2.1788742647684702},{"time":6.485282269811465,"velocity":1.1640757891338016,"acceleration":-0.2535628715301025,"pose":{"translation":{"x":6.800947368178978,"y":-1.5886233390248066},"rotation":{"radians":1.209680169086059}},"curvature":2.2163617013462855},{"time":6.503393733988003,"velocity":1.1594833942695841,"acceleration":-0.07357155834084829,"pose":{"translation":{"x":6.807918974362984,"y":-1.568770312326879},"rotation":{"radians":1.256568782830156}},"curvature":2.237364560410727},{"time":6.52162950861107,"velocity":1.1581417599130126,"acceleration":0.07979798426533302,"pose":{"translation":{"x":6.813972838187689,"y":-1.548524186640388},"rotation":{"radians":1.3039425600862629}},"curvature":2.243531829556173},{"time":6.5399571849795635,"velocity":1.1596042715434858,"acceleration":0.2076107500532154,"pose":{"translation":{"x":6.819084186512958,"y":-1.5279089413847995},"rotation":{"radians":1.3515479483124617}},"curvature":2.2368096085616798},{"time":6.558349145515096,"velocity":1.1634226402652168,"acceleration":0.31072855933455895,"pose":{"translation":{"x":6.823232072924212,"y":-1.506952990999658},"rotation":{"radians":1.399166677159846}},"curvature":2.2193386983441483},{"time":6.5767826126017015,"velocity":1.1691504449365788,"acceleration":0.3900087903297516,"pose":{"translation":{"x":6.826399249161085,"y":-1.4856888593687674},"rotation":{"radians":1.446617583955812}},"curvature":2.1933451675929616},{"time":6.595239523127722,"velocity":1.1763488022840565,"acceleration":0.446441133865033,"pose":{"translation":{"x":6.828572036546076,"y":-1.4641528542443722},"rotation":{"radians":1.4937570189912825}},"curvature":2.161037033699398},{"time":6.613706249435616,"velocity":1.1845931085157277,"acceleration":0.48123051313556003,"pose":{"translation":{"x":6.829740197413215,"y":-1.4423847416713373},"rotation":{"radians":1.540477946726669}},"curvature":2.1245167801399876},{"time":6.632173200651913,"velocity":1.1934799689255955,"acceleration":0.49583373426186933,"pose":{"translation":{"x":6.829896806536711,"y":-1.420427420411329},"rotation":{"radians":1.5867079586335153}},"curvature":2.0857152360997033},{"time":6.6506343445891165,"velocity":1.2026336268627251,"acceleration":0.4919584291109401,"pose":{"translation":{"x":6.829038122559617,"y":-1.3983265963669957},"rotation":{"radians":1.6324064655838706}},"curvature":2.046348338785203},{"time":6.669086690354641,"velocity":1.2117114138989447,"acceleration":0.4715341022347319,"pose":{"translation":{"x":6.827163459422485,"y":-1.3761304570061483},"rotation":{"radians":1.6775613469247137}},"curvature":2.007895143486509},{"time":6.687529767063019,"velocity":1.220407953517076,"acceleration":0.4366656981157369,"pose":{"translation":{"x":6.824275057792018,"y":-1.3538893457859411},"rotation":{"radians":1.7221853097211897}},"curvature":1.971593420609657},{"time":6.705965126485086,"velocity":1.2284580426091274,"acceleration":0.3610840016920268,"pose":{"translation":{"x":6.820377956489739,"y":-1.331655436577052},"rotation":{"radians":1.7663121672314066}},"curvature":1.9384482457117476},{"time":6.742825468142669,"velocity":1.2417677222785828,"acceleration":0.23298172689799226,"pose":{"translation":{"x":6.809591029501818,"y":-1.2874251182886431},"rotation":{"radians":1.8532936427506985}},"curvature":1.8845900383792353},{"time":6.779707492587478,"velocity":1.250360560025228,"acceleration":0.08817999552696695,"pose":{"translation":{"x":6.794894066416111,"y":-1.2438811294956855},"rotation":{"radians":1.9390645604724865}},"curvature":1.8504278279411612},{"time":6.81665574374732,"velocity":1.2536186566472323,"acceleration":-0.05562192417703125,"pose":{"translation":{"x":6.776414997101076,"y":-1.2014735473168843},"rotation":{"radians":2.024309147669461}},"curvature":1.8375971905365511},{"time":6.853716329154582,"velocity":1.2515572755757531,"acceleration":-0.18161829700983187,"pose":{"translation":{"x":6.754314179053283,"y":-1.1606504802086652},"rotation":{"radians":2.109749746374629}},"curvature":1.8457073070460475},{"time":6.890930896206106,"velocity":1.2447984292838972,"acceleration":-0.25623679378621955,"pose":{"translation":{"x":6.728780283114442,"y":-1.1218476495389538},"rotation":{"radians":2.196066764502351}},"curvature":1.8724871357372805},{"time":6.909607757960716,"velocity":1.2400127301099073,"acceleration":-0.29169553213068905,"pose":{"translation":{"x":6.714791620004901,"y":-1.103334034791926},"rotation":{"radians":2.2397355130453853}},"curvature":1.8916255171631167},{"time":6.928334442623611,"velocity":1.2345502398621204,"acceleration":-0.31427482584164973,"pose":{"translation":{"x":6.700026179188439,"y":-1.085477971160956},"rotation":{"radians":2.283818725730719}},"curvature":1.9136517764952738},{"time":6.947112050672189,"velocity":1.2286489103629308,"acceleration":-0.32243420969152975,"pose":{"translation":{"x":6.684513675506956,"y":-1.0683258004929679},"rotation":{"radians":2.328353196471567}},"curvature":1.9376676441420069},{"time":6.9659399401003155,"velocity":1.2225781547150132,"acceleration":-0.3148207811235887,"pose":{"translation":{"x":6.668284821958371,"y":-1.051921136986938},"rotation":{"radians":2.373357114175547}},"curvature":1.9626149301905345},{"time":6.984815375884845,"velocity":1.2166357752772794,"acceleration":-0.2903027336316151,"pose":{"translation":{"x":6.651371201125272,"y":-1.0363045416180758},"rotation":{"radians":2.4188271797652203}},"curvature":1.9872757863744415},{"time":7.003733166401598,"velocity":1.2111438889759958,"acceleration":-0.24799530983317097,"pose":{"translation":{"x":6.633805136603579,"y":-1.0215131965620048},"rotation":{"radians":2.4647358499355736}},"curvature":2.0102822675065948},{"time":7.022685306448303,"velocity":1.2064438471331114,"acceleration":-0.1872732081753876,"pose":{"translation":{"x":6.615619564431199,"y":-1.0075805796189423},"rotation":{"radians":2.511028862350958}},"curvature":2.0301379058891227},{"time":7.041660651561821,"velocity":1.2028902733774678,"acceleration":-0.10776389096589815,"pose":{"translation":{"x":6.596847904516683,"y":-0.9945361386378813},"rotation":{"radians":2.5576232264359215}},"curvature":2.0452532205762393},{"time":7.060644651266592,"velocity":1.2008444837031862,"acceleration":-0.009317188522296765,"pose":{"translation":{"x":6.577523932067884,"y":-0.9824049659407695},"rotation":{"radians":2.6044058780225923}},"curvature":2.0539956711797798},{"time":7.079619168624431,"velocity":1.2006676945478436,"acceleration":0.10805229266214683,"pose":{"translation":{"x":6.557681649020615,"y":-0.9712074727466913},"rotation":{"radians":2.6512331873906914}},"curvature":2.0547525581228476},{"time":7.098562409035397,"velocity":1.2027145551046987,"acceleration":0.24425270126211895,"pose":{"translation":{"x":6.537355155467302,"y":-0.9609590635960475},"rotation":{"radians":2.697931472674842}},"curvature":2.0460029651498965},{"time":7.117448972247335,"velocity":1.2073276491867722,"acceleration":0.39923537384150737,"pose":{"translation":{"x":6.51657852108565,"y":-0.9516698107747368},"rotation":{"radians":2.7442986018011384}},"curvature":2.0263924237329554},{"time":7.136250028367018,"velocity":1.214833695855329,"acceleration":0.5731528944750627,"pose":{"translation":{"x":6.495385656567292,"y":-0.9433441287383361},"rotation":{"radians":2.790106669137364}},"curvature":1.9948020859462252},{"time":7.1549336027057855,"velocity":1.2255422405667338,"acceleration":0.8739786583168931,"pose":{"translation":{"x":6.47381018504645,"y":-0.9359804485362802},"rotation":{"radians":2.8351056174712967}},"curvature":1.950403378622449},{"time":7.191768955114984,"velocity":1.2577355524439553,"acceleration":1.3502462558076944,"pose":{"translation":{"x":6.429643704319084,"y":-0.9241009473473196},"rotation":{"radians":2.9215914310741473}},"curvature":1.8214796015737496},{"time":7.2276858613260595,"velocity":1.3062322205756554,"acceleration":1.9478935227103795,"pose":{"translation":{"x":6.3843374271180755,"y":-0.9158867155993738},"rotation":{"radians":3.0014819286252536}},"curvature":1.6392633290936194},{"time":7.262350414228316,"velocity":1.373755078641613,"acceleration":2.700000000000027,"pose":{"translation":{"x":6.338136872173428,"y":-0.9110765903332575},"rotation":{"radians":3.072423363495507}},"curvature":1.4069863876039745},{"time":7.295416391122045,"velocity":1.463033216254683,"acceleration":2.7000000000000215,"pose":{"translation":{"x":6.291270614447662,"y":-0.9092824188128626},"rotation":{"radians":3.1320569926828523}},"curvature":1.1286208538524773},{"time":7.32685468620413,"velocity":1.5479166129763111,"acceleration":2.109468383750921,"pose":{"translation":{"x":6.243946170852846,"y":-0.9099786400989421},"rotation":{"radians":-3.1051846906430445}},"curvature":0.805472859762185},{"time":7.386162052311366,"velocity":1.673023626703066,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.148622817754307,"y":-0.915990465760483},"rotation":{"radians":-3.0648207623200183}},"curvature":-7.89203166183396E-15},{"time":7.446177716593458,"velocity":1.5109813331414155,"acceleration":-2.7,"pose":{"translation":{"x":6.053483825822931,"y":-0.9247902239375771},"rotation":{"radians":-3.019610895397221}},"curvature":0.8992365944791563},{"time":7.47850582405181,"velocity":1.423695443003864,"acceleration":-2.5671745889392388,"pose":{"translation":{"x":6.006553616987809,"y":-0.9317007595978621},"rotation":{"radians":-2.968404050935608}},"curvature":1.2493667639714185},{"time":7.512685078997434,"velocity":1.3359513282385826,"acceleration":-1.6282453519488542,"pose":{"translation":{"x":5.960380032532056,"y":-0.9413024075618762},"rotation":{"radians":-2.9024912550369284}},"curvature":1.5341374301693271},{"time":7.54862946849147,"velocity":1.27742504311628,"acceleration":-0.9070671756462378,"pose":{"translation":{"x":5.915201640038248,"y":-0.9541443748360232},"rotation":{"radians":-2.8251439919227535}},"curvature":1.7458320799559244},{"time":7.585867320049374,"velocity":1.2436478102765174,"acceleration":-0.455762790030996,"pose":{"translation":{"x":5.871248247647802,"y":-0.9706195610656815},"rotation":{"radians":-2.739765250507365}},"curvature":1.8770751006538422},{"time":7.604855690046761,"velocity":1.2349936177883676,"acceleration":-0.1933444722309847,"pose":{"translation":{"x":5.849800068755062,"y":-0.9803026733013146},"rotation":{"radians":-2.6951397883490538}},"curvature":1.9118566892058002},{"time":7.6240026073109615,"velocity":1.2312916671750704,"acceleration":0.042675482529713524,"pose":{"translation":{"x":5.828739775951142,"y":-0.9909768350246999},"rotation":{"radians":-2.64978003399793}},"curvature":1.926884300481221},{"time":7.643260000109623,"velocity":1.2321134857050176,"acceleration":0.25287786440256826,"pose":{"translation":{"x":5.808093129299479,"y":-1.0026526641204496},"rotation":{"radians":-2.6040766589911293}},"curvature":1.923540431417794},{"time":7.662584438197827,"velocity":1.2370002083395422,"acceleration":0.43727984129816516,"pose":{"translation":{"x":5.787885129877842,"y":-1.0153333111048926},"rotation":{"radians":-2.5583883895540547}},"curvature":1.9037487728015463},{"time":7.681937772627747,"velocity":1.2454630313476478,"acceleration":0.5956762025275324,"pose":{"translation":{"x":5.768139984524901,"y":-1.0290148427663701},"rotation":{"radians":-2.513034735458634}},"curvature":1.86984097148406},{"time":7.701287501105994,"velocity":1.2569892041275086,"acceleration":0.781406701225068,"pose":{"translation":{"x":5.7488810705867905,"y":-1.043686625805534},"rotation":{"radians":-2.4682908102428875}},"curvature":1.824393709673177},{"time":7.739849801687658,"velocity":1.2871220442166764,"acceleration":0.9427991068460991,"pose":{"translation":{"x":5.711911087356338,"y":-1.0759272142228549},"rotation":{"radians":-2.3814961506092924}},"curvature":1.709426556833273},{"time":7.778152776863567,"velocity":1.3232340550020711,"acceleration":1.0083034514385816,"pose":{"translation":{"x":5.677144269474455,"y":-1.1118505865395363},"rotation":{"radians":-2.2992671465957306}},"curvature":1.5785444555041588},{"time":7.816111635559303,"velocity":1.3615081032376513,"acceleration":0.9913079500683991,"pose":{"translation":{"x":5.644734178128888,"y":-1.1511696045142061},"rotation":{"radians":-2.222190359469977}},"curvature":1.447405268956339},{"time":7.853685408448287,"velocity":1.3987552830165653,"acceleration":0.9087839252236611,"pose":{"translation":{"x":5.6148177182973065,"y":-1.1935267579709332},"rotation":{"radians":-2.1503175488671875}},"curvature":1.326674932683382},{"time":7.890854412555851,"velocity":1.4325338764660913,"acceleration":0.7777803293116339,"pose":{"translation":{"x":5.5875140106374666,"y":-1.238506441288723},"rotation":{"radians":-2.083323292083377}},"curvature":1.2226158708393322},{"time":7.927603257470871,"velocity":1.4611164051659176,"acceleration":0.6126271923591694,"pose":{"translation":{"x":5.562923263377361,"y":-1.2856472298910129},"rotation":{"radians":-2.0206427865034136}},"curvature":1.1383220158432645},{"time":7.96391075420665,"velocity":1.483359364952748,"acceleration":0.42358008005994263,"pose":{"translation":{"x":5.541125644205373,"y":-1.334454156735167},"rotation":{"radians":-1.9615753099681905}},"curvature":1.0749720525799527},{"time":7.999746061873212,"velocity":1.498538487443123,"acceleration":0.2168591066874238,"pose":{"translation":{"x":5.522180152160432,"y":-1.3844109888019724},"rotation":{"radians":-1.9053534388075903}},"curvature":1.0328201315729522},{"time":8.035069537353703,"velocity":1.506198704780917,"acceleration":-0.004280070985589636,"pose":{"translation":{"x":5.50612348952217,"y":-1.4349925035851323},"rotation":{"radians":-1.8511850579693447}},"curvature":1.0118705233420844},{"time":8.069836592008485,"velocity":1.5060498993190348,"acceleration":-0.2377367131712167,"pose":{"translation":{"x":5.4929689337010705,"y":-1.485676765580764},"rotation":{"radians":-1.7982771746275616}},"curvature":1.0122754554613902},{"time":8.104002967838213,"velocity":1.497927297428303,"acceleration":-0.48009512559213635,"pose":{"translation":{"x":5.48270520912863,"y":-1.5359574027768903},"rotation":{"radians":-1.745850431499475}},"curvature":1.0345008795575001},{"time":8.137529935992713,"velocity":1.4818311634414445,"acceleration":-0.723422517639652,"pose":{"translation":{"x":5.475295359147508,"y":-1.5853558831429395},"rotation":{"radians":-1.6931529226889404}},"curvature":1.079263665149212},{"time":8.170387841951019,"velocity":1.4580610143887207,"acceleration":-0.9513225497162998,"pose":{"translation":{"x":5.470675617901681,"y":-1.633433791119237},"rotation":{"radians":-1.6394824626579412}},"curvature":1.147175031532898},{"time":8.202556120854828,"velocity":1.4274586052819644,"acceleration":-1.1345514752449968,"pose":{"translation":{"x":5.468754282226602,"y":-1.6798051041065016},"rotation":{"radians":-1.5842282240159469}},"curvature":1.2379364722582198},{"time":8.234017431678454,"velocity":1.3917641286738769,"acceleration":-1.226846940364682,"pose":{"translation":{"x":5.469410583539347,"y":-1.7241484689553408},"rotation":{"radians":-1.5269453544401927}},"curvature":1.348842931873383},{"time":8.264743135917,"velocity":1.3540683924382675,"acceleration":-1.1610769236859322,"pose":{"translation":{"x":5.472493559728778,"y":-1.7662194784557457},"rotation":{"radians":-1.4674783547550003}},"curvature":1.4723156406682663},{"time":8.294667527758781,"velocity":1.3193238716154387,"acceleration":-0.8424524346302195,"pose":{"translation":{"x":5.477820927045693,"y":-1.805862947826586},"rotation":{"radians":-1.4061470572096697}},"curvature":1.5923703749316087},{"time":8.323650028484302,"velocity":1.294907493317551,"acceleration":-0.12628692887325954,"pose":{"translation":{"x":5.485177951992979,"y":-1.8430251912051077},"rotation":{"radians":-1.3439964686349548}},"curvature":1.6805922057045775},{"time":8.351429326767533,"velocity":1.2913993310511076,"acceleration":1.2536297207491771,"pose":{"translation":{"x":5.494316323215769,"y":-1.8777662981364234},"rotation":{"radians":-1.283080656802777}},"curvature":1.6935420741731513},{"time":8.377581911080872,"velocity":1.3241849880207075,"acceleration":2.6999999999999607,"pose":{"translation":{"x":5.504953023391598,"y":-1.910272410063011},"rotation":{"radians":-1.2266992149635374}},"curvature":1.5751944186612432},{"time":8.401754676434896,"velocity":1.3894514544765693,"acceleration":2.7000000000000273,"pose":{"translation":{"x":5.516769201120555,"y":-1.9408679968142106},"rotation":{"radians":-1.1794482162371718}},"curvature":1.2685350771963797},{"time":8.445261998778246,"velocity":1.5069212248036166,"acceleration":2.699999999999991,"pose":{"translation":{"x":5.542478644591903,"y":-1.9983907749790646},"rotation":{"radians":-1.134919354387482}},"curvature":1.3070218822790984E-13},{"time":8.486267689585674,"velocity":1.6176365899836684,"acceleration":2.7000000000000104,"pose":{"translation":{"x":5.56982530134747,"y":-2.05632299360774},"rotation":{"radians":-1.1204125120500528}},"curvature":0.3879515593267829},{"time":8.530142264935716,"velocity":1.7360979434287815,"acceleration":1.2249961796346904,"pose":{"translation":{"x":5.602882712629294,"y":-2.1220498761540334},"rotation":{"radians":-1.0887439491964725}},"curvature":0.42998320532340606},{"time":8.580658824040263,"velocity":1.7979805353401423,"acceleration":0.6626114436703826,"pose":{"translation":{"x":5.645682840352328,"y":-2.2003846912920983},"rotation":{"radians":-1.0540080349022314}},"curvature":0.3467873283267611},{"time":8.640057574058691,"velocity":1.8373388268420685,"acceleration":0.41337267947116724,"pose":{"translation":{"x":5.700634725487985,"y":-2.293320698519938},"rotation":{"radians":-1.0209276093040898}},"curvature":0.273243372730404},{"time":8.673238765080862,"velocity":1.8510550246829478,"acceleration":0.27703739787551573,"pose":{"translation":{"x":5.733033073615592,"y":-2.345233004487867},"rotation":{"radians":-1.0050180654317067}},"curvature":0.24834848657200695},{"time":8.708698232278598,"velocity":1.8608786232054606,"acceleration":0.16916022658078803,"pose":{"translation":{"x":5.768753826159788,"y":-2.4005068123577904},"rotation":{"radians":-0.9892968044058015}},"curvature":0.2307442087091116},{"time":8.746325204410306,"velocity":1.8672436103368093,"acceleration":0.08394110590233109,"pose":{"translation":{"x":5.807743793847349,"y":-2.4588099711995097},"rotation":{"radians":-0.973546970204985}},"curvature":0.21943678968112837},{"time":8.785959732700713,"velocity":1.8705705764734233,"acceleration":0.014862699500183481,"pose":{"translation":{"x":5.849891355739014,"y":-2.5197232665465155},"rotation":{"radians":-0.9575432479093517}},"curvature":0.21355704747379284},{"time":8.82740001555709,"velocity":1.8711864909447202,"acceleration":-0.04374476020924079,"pose":{"translation":{"x":5.895033626044969,"y":-2.582755284902185},"rotation":{"radians":-0.9410578735049588}},"curvature":0.21247083641132225},{"time":8.870410766305213,"velocity":1.8693049959668242,"acceleration":-0.09643020893113821,"pose":{"translation":{"x":5.942963620940349,"y":-2.6473572782459835},"rotation":{"radians":-0.9238608357439044}},"curvature":0.21579123949704682},{"time":8.91473205855836,"velocity":1.865031084494755,"acceleration":-0.14675852643777648,"pose":{"translation":{"x":5.993437425380712,"y":-2.7129380285396625},"rotation":{"radians":-0.9057175310740522}},"curvature":0.22335859725409915},{"time":8.960088328494454,"velocity":1.8583746651542201,"acceleration":-0.1975004988897185,"pose":{"translation":{"x":6.04618135991754,"y":-2.7788787122334604},"rotation":{"radians":-0.8863857072544966}},"curvature":0.23521372692046355},{"time":9.006197321599812,"velocity":1.8492681160126092,"acceleration":-0.2507341373669419,"pose":{"translation":{"x":6.100899147513721,"y":-2.844547764772301},"rotation":{"radians":-0.8656128977135428}},"curvature":0.2515708025949884},{"time":9.052778790398744,"velocity":1.8375885516160237,"acceleration":-0.3077870147135546,"pose":{"translation":{"x":6.157279080359043,"y":-2.909315745101995},"rotation":{"radians":-0.8431354200540824}},"curvature":0.27278680092932117},{"time":9.099562702179137,"velocity":1.8231890710725143,"acceleration":-0.3689599263009287,"pose":{"translation":{"x":6.215001186685678,"y":-2.9725702001754373},"rotation":{"radians":-0.8186802484311847}},"curvature":0.2993176913255238},{"time":9.146296608307221,"velocity":1.8059461325117419,"acceleration":-0.432963439010876,"pose":{"translation":{"x":6.273744397583673,"y":-3.0337305294588077},"rotation":{"radians":-0.7919716245381211}},"curvature":0.33164427166250504},{"time":9.192751658319319,"velocity":1.7858327942990817,"acceleration":-0.4959988806775328,"pose":{"translation":{"x":6.333193713816446,"y":-3.092262849437771},"rotation":{"radians":-0.7627451401484845}},"curvature":0.3701409763829964},{"time":9.238726514967802,"velocity":1.763029316862124,"acceleration":-0.5504516983006126,"pose":{"translation":{"x":6.3930473726362615,"y":-3.147694858123676},"rotation":{"radians":-0.7307731747380702}},"curvature":0.414849027377984},{"time":9.284048164763963,"velocity":1.7380819377620418,"acceleration":-0.5832592350341479,"pose":{"translation":{"x":6.453024014599731,"y":-3.1996306995597545},"rotation":{"radians":-0.6959068403922405}},"curvature":0.4651041262313768},{"time":9.32856839790974,"velocity":1.712115100633894,"acceleration":-0.5741462520745336,"pose":{"translation":{"x":6.512869850383298,"y":-3.2477658283273216},"rotation":{"radians":-0.6581404957959045}},"curvature":0.5189684032865987},{"time":9.372154720710625,"velocity":1.6870901767560542,"acceleration":-0.4939616197264496,"pose":{"translation":{"x":6.572365827598726,"y":-3.2919018740519763},"rotation":{"radians":-0.617704406121839}},"curvature":0.572447799590585},{"time":9.414674960003083,"velocity":1.666086810483996,"acceleration":-0.30302208928392604,"pose":{"translation":{"x":6.631334797608588,"y":-3.3319615059097996},"rotation":{"radians":-0.5751874701368777}},"curvature":0.6185729683790587},{"time":9.455976223805255,"velocity":1.6535716152365956,"acceleration":0.051624056501950705,"pose":{"translation":{"x":6.68964868234176,"y":-3.368003297133553},"rotation":{"radians":-0.531682856708637}},"curvature":0.6466145160641303},{"time":9.495861524956277,"velocity":1.6556306562768133,"acceleration":1.1026358734711734,"pose":{"translation":{"x":6.747235641108903,"y":-3.400236589518881},"rotation":{"radians":-0.48893348967978245}},"curvature":0.6419718919766995},{"time":9.56988675264985,"velocity":1.7372535278736185,"acceleration":2.0493182286488687,"pose":{"translation":{"x":6.8602656057896265,"y":-3.454958074808445},"rotation":{"radians":-0.4164252963990309}},"curvature":0.46679767150464463},{"time":9.636515275967616,"velocity":1.8737965752566719,"acceleration":-2.7,"pose":{"translation":{"x":6.97124705276041,"y":-3.501380918636864},"rotation":{"radians":-0.38531981767515666}},"curvature":-1.0652140870740447E-14},{"time":9.70348126161569,"velocity":1.6929884140068745,"acceleration":-2.363382731347409,"pose":{"translation":{"x":7.082461235428273,"y":-3.544902488089956},"rotation":{"radians":-0.3495642974887029}},"curvature":0.5597005954653418},{"time":9.739800981900707,"velocity":1.6071510142778953,"acceleration":-1.4997477920075253,"pose":{"translation":{"x":7.139143855629004,"y":-3.564362547533103},"rotation":{"radians":-0.3099070115455461}},"curvature":0.7544386673939609},{"time":9.777929984374355,"velocity":1.5499671270065924,"acceleration":-0.8925645086370674,"pose":{"translation":{"x":7.196893843227336,"y":-3.5813225161117392},"rotation":{"radians":-0.25996770892725224}},"curvature":0.896141811360608},{"time":9.817447318137951,"velocity":1.514695357413241,"acceleration":-0.4489051365171488,"pose":{"translation":{"x":7.2558282783293935,"y":-3.5952320918893177},"rotation":{"radians":-0.20264981863385562}},"curvature":0.9888812478453198},{"time":9.857983362685301,"velocity":1.4964985188018474,"acceleration":-0.12227599737550732,"pose":{"translation":{"x":7.315960118714537,"y":-3.6056694270370313},"rotation":{"radians":-0.14057124299549364}},"curvature":1.0384353193496327},{"time":9.899222097811032,"velocity":1.4914560113338442,"acceleration":0.11180079382958723,"pose":{"translation":{"x":7.377208551902188,"y":-3.6123319038768433},"rotation":{"radians":-0.07599098802819088}},"curvature":1.0523811631084359},{"time":9.940900863930288,"velocity":1.4961157304718147,"acceleration":0.2681385498726455,"pose":{"translation":{"x":7.439409347218642,"y":-3.615026910924515},"rotation":{"radians":-0.010745401454860163}},"curvature":1.0394906831511397},{"time":9.982806190066643,"velocity":1.507352163853957,"acceleration":0.3579387756707322,"pose":{"translation":{"x":7.502325207863886,"y":-3.6136626189326306},"rotation":{"radians":0.05378320144834081}},"curvature":1.0087344213636242},{"time":10.024765632695313,"velocity":1.5223710753762894,"acceleration":0.3912505411990109,"pose":{"translation":{"x":7.565656122978419,"y":-3.608238756933631},"rotation":{"radians":0.11665691621021383}},"curvature":0.9683337863205738},{"time":10.066637125531834,"velocity":1.5387533196093885,"acceleration":0.3773939175409994,"pose":{"translation":{"x":7.629049719710067,"y":-3.5988373882828357},"rotation":{"radians":0.1773378839722859}},"curvature":0.9251650977848102},{"time":10.108298083145796,"velocity":1.554475911611831,"acceleration":0.3244175181883122,"pose":{"translation":{"x":7.692111615280802,"y":-3.585613686701474},"rotation":{"radians":0.2356238420013478}},"curvature":0.8845903217961444},{"time":10.14963630467811,"velocity":1.567886754847663,"acceleration":0.23831244381616387,"pose":{"translation":{"x":7.7544157690535584,"y":-3.568786712319712},"rotation":{"radians":0.2915791045649786}},"curvature":0.8506244799153427},{"time":10.190543993222388,"velocity":1.5776355660755206,"acceleration":0.12237873991697688,"pose":{"translation":{"x":7.815514834599051,"y":-3.548630187719681},"rotation":{"radians":0.34547260347985775}},"curvature":0.8262959836208935},{"time":10.23091540788882,"velocity":1.5825761689310642,"acceleration":-0.023110730126835722,"pose":{"translation":{"x":7.874950511762593,"y":-3.5254632739785055},"rotation":{"radians":0.3977294425528269}},"curvature":0.8140809794263315},{"time":10.270648070865166,"velocity":1.5816579180797974,"acceleration":-0.20091537054936823,"pose":{"translation":{"x":7.932263898730914,"y":-3.4996413467113303},"rotation":{"radians":0.44889813636210063}},"curvature":0.816345462837729},{"time":10.309647118673468,"velocity":1.57382240993832,"acceleration":-0.4164173409421843,"pose":{"translation":{"x":7.987005844098977,"y":-3.4715467721143485},"rotation":{"radians":0.49963298167178594}},"curvature":0.8357759579371392},{"time":10.347832242939571,"velocity":1.5579214620278825,"acceleration":-0.6765109642707129,"pose":{"translation":{"x":8.038747298936794,"y":-3.441579683007832},"rotation":{"radians":0.5506895540581878}},"curvature":0.8758079051280755},{"time":10.385146585437571,"velocity":1.5326779002034332,"acceleration":-0.9871793057229954,"pose":{"translation":{"x":8.08708966885625,"y":-3.410148754879154},"rotation":{"radians":0.6029304148206418}},"curvature":0.9410667170672345},{"time":10.42156678530858,"velocity":1.4967246325804777,"acceleration":-1.3488229097578635,"pose":{"translation":{"x":8.131675166077907,"y":-3.3776619819258222},"rotation":{"radians":0.6573368492560235}},"curvature":1.0378121676045295},{"time":10.457112937285759,"velocity":1.4487791684399234,"acceleration":-1.748495100328706,"pose":{"translation":{"x":8.17219716149784,"y":-3.344517453098505},"rotation":{"radians":0.7150196857364504}},"curvature":1.17429826429085},{"time":10.491856252768544,"velocity":1.3880306515490992,"acceleration":-2.149602864273057,"pose":{"translation":{"x":8.20841053675444,"y":-3.311094128144059},"rotation":{"radians":0.7772163374693836}},"curvature":1.3607727489550137},{"time":10.52592038324135,"velocity":1.3148062991157825,"acceleration":-2.4833260179985204,"pose":{"translation":{"x":8.240142036295241,"y":-3.2777426136485563},"rotation":{"radians":0.8452499319985816}},"curvature":1.6084463350393536},{"time":10.559469367758288,"velocity":1.2314932329874426,"acceleration":-2.6506791144506043,"pose":{"translation":{"x":8.267300619443729,"y":-3.2447759390803137},"rotation":{"radians":0.920407676879282}},"curvature":1.9260637432283203},{"time":10.59267125448918,"velocity":1.143485685269514,"acceleration":-2.6101711483955117,"pose":{"translation":{"x":8.289887812466166,"y":-3.21246033283292},"rotation":{"radians":1.0036712738490405}},"curvature":2.3118459057599616},{"time":10.609188085189944,"velocity":1.1003739303114455,"acceleration":-2.4704127899199557,"pose":{"translation":{"x":8.299495473490678,"y":-3.1966148095755065},"rotation":{"radians":1.0484489627568394}},"curvature":2.5233455604426847},{"time":10.625649669047013,"velocity":1.059707023008603,"acceleration":-2.2331368352080845,"pose":{"translation":{"x":8.308008060638404,"y":-3.181005998268264},"rotation":{"radians":1.0952181033625232}},"curvature":2.7386237468118786},{"time":10.642038195840872,"velocity":1.0231092001504418,"acceleration":-1.8888327129906601,"pose":{"translation":{"x":8.315456409050029,"y":-3.165649907114787},"rotation":{"radians":1.1437486428152563}},"curvature":2.9469924235074005},{"time":10.658314073014044,"velocity":0.9923667909131356,"acceleration":-1.424989612712811,"pose":{"translation":{"x":8.321879080312703,"y":-3.150557889759564},"rotation":{"radians":1.193653649106748}},"curvature":3.1339007601512745},{"time":10.674411138616593,"velocity":0.9694286396343471,"acceleration":-0.8198629633774509,"pose":{"translation":{"x":8.327322685962109,"y":-3.135736357039326},"rotation":{"radians":1.244362468782984}},"curvature":3.2810829735723837},{"time":10.690233099005669,"velocity":0.9564568003033184,"acceleration":-0.03180397141791637,"pose":{"translation":{"x":8.331842210984558,"y":-3.121186488734392},"rotation":{"radians":1.295102715350351}},"curvature":3.3674415234660233},{"time":10.705652092757699,"velocity":0.9559664150667357,"acceleration":1.0195527027503763,"pose":{"translation":{"x":8.335501337319076,"y":-3.1069039453200107},"rotation":{"radians":1.3448965782787994}},"curvature":3.3707521819149946},{"time":10.720510089467975,"velocity":0.9711149257701549,"acceleration":2.700000000000133,"pose":{"translation":{"x":8.338372767359497,"y":-3.0928785797177047},"rotation":{"radians":1.3925755012289565}},"curvature":3.2700261652763234},{"time":10.747890933852673,"velocity":1.0450432056088457,"acceleration":2.700000000000083,"pose":{"translation":{"x":8.342090391419916,"y":-3.0655280263748717},"rotation":{"radians":1.4761804448660285}},"curvature":2.693789977093719},{"time":10.795507138275275,"velocity":1.173606957549871,"acceleration":2.7000000000000077,"pose":{"translation":{"x":8.344349159311989,"y":-3.0127544933324693},"rotation":{"radians":1.555982595682993}},"curvature":-1.5093022313593167E-16},{"time":10.880551439051601,"velocity":1.403226569645953,"acceleration":1.0015528746754288,"pose":{"translation":{"x":8.343027303605123,"y":-2.903189964124869},"rotation":{"radians":1.6294784710138688}},"curvature":1.0802638777055027},{"time":10.924514950975976,"velocity":1.447258351394638,"acceleration":-0.0781247861351588,"pose":{"translation":{"x":8.33714420928616,"y":-2.840808096855638},"rotation":{"radians":1.7011615243028346}},"curvature":1.178775538565852},{"time":10.972635698696095,"velocity":1.4434989282703397,"acceleration":-0.05634868842442921,"pose":{"translation":{"x":8.325268229753833,"y":-2.772276795168862},"rotation":{"radians":1.7837188408799658}},"curvature":1.1898837378828402},{"time":10.998533224346412,"velocity":1.4420396366665063,"acceleration":-0.14234488409645585,"pose":{"translation":{"x":8.316561950776968,"y":-2.735941127459389},"rotation":{"radians":1.8282469525252545}},"curvature":1.1942112013041932},{"time":11.025599881625682,"velocity":1.43818683647321,"acceleration":-0.25167396115221413,"pose":{"translation":{"x":8.305760340849549,"y":-2.6984886018784624},"rotation":{"radians":1.8749967241733672}},"curvature":1.2056787070205923},{"time":11.05380863254246,"velocity":1.4310874283908284,"acceleration":-0.36184138472381616,"pose":{"translation":{"x":8.29269531271058,"y":-2.660186238708542},"rotation":{"radians":1.9241922448564317}},"curvature":1.2269711577077764},{"time":11.08313405489608,"velocity":1.4204762769587835,"acceleration":-0.4586195193165509,"pose":{"translation":{"x":8.277215386645585,"y":-2.6213457136861305},"rotation":{"radians":1.9761381357113568}},"curvature":1.2591927758245085},{"time":11.113550837692967,"velocity":1.406526546653319,"acceleration":-0.5321300330800246,"pose":{"translation":{"x":8.259186685877632,"y":-2.5823141340447986},"rotation":{"radians":2.0311757660312755}},"curvature":1.3022919430137765},{"time":11.14503284984801,"velocity":1.3897740224838309,"acceleration":-0.5746746654430935,"pose":{"translation":{"x":8.238493931958379,"y":-2.5434648145582153},"rotation":{"radians":2.089642219877564}},"curvature":1.3551940677998144},{"time":11.177551843108848,"velocity":1.3710861809111123,"acceleration":-0.5798276452141844,"pose":{"translation":{"x":8.215041440159121,"y":-2.505188053583174},"rotation":{"radians":2.1518269559333016}},"curvature":1.415733059854101},{"time":11.211075047575006,"velocity":1.351648500205466,"acceleration":-0.5424293920622806,"pose":{"translation":{"x":8.188754114861815,"y":-2.467881909102622},"rotation":{"radians":2.217922702110591}},"curvature":1.4804772658016256},{"time":11.245561255769996,"velocity":1.3329421672597241,"acceleration":-0.4591544435283902,"pose":{"translation":{"x":8.159578444950137,"y":-2.431942974768686},"rotation":{"radians":2.28796973113353}},"curvature":1.5445684906593873},{"time":11.280955511253959,"velocity":1.3166907375788832,"acceleration":-0.32930530037812733,"pose":{"translation":{"x":8.127483499200503,"y":-2.397757155945703},"rotation":{"radians":2.361796525191414}},"curvature":1.6017270759278028},{"time":11.317183207425314,"velocity":1.3047607652091677,"acceleration":-0.15547156376779653,"pose":{"translation":{"x":8.09246192167313,"y":-2.365690445753246},"rotation":{"radians":2.4389647754351165}},"curvature":1.6445927595279246},{"time":11.354145103136794,"velocity":1.2990142414830816,"acceleration":0.056251270693548676,"pose":{"translation":{"x":8.054530927103063,"y":-2.336079701109153},"rotation":{"radians":2.518731458805071}},"curvature":1.6655216106397566},{"time":11.391715126870235,"velocity":1.3011276030580745,"acceleration":0.29666367872504584,"pose":{"translation":{"x":8.013733296291216,"y":-2.309223418772555},"rotation":{"radians":2.600042879597835}},"curvature":1.6578032513788243},{"time":11.429742442563418,"velocity":1.312408926423653,"acceleration":0.5545336480267966,"pose":{"translation":{"x":7.970138371495417,"y":-2.2853725113869023},"rotation":{"radians":2.6815720494408897}},"curvature":1.6170224301315665},{"time":11.468057890690014,"velocity":1.3336561316490758,"acceleration":0.8183177859209397,"pose":{"translation":{"x":7.923843051821445,"y":-2.2647210835229954},"rotation":{"radians":2.7618002802841035}},"curvature":1.5420893203432333},{"time":11.506482976466033,"velocity":1.3651000627651295,"acceleration":1.0784974658976225,"pose":{"translation":{"x":7.874972788614068,"y":-2.2473972077220097},"rotation":{"radians":2.8391290936142632}},"curvature":1.4354755090595754},{"time":11.544837996961455,"velocity":1.4064658551738924,"acceleration":1.3304780019878868,"pose":{"translation":{"x":7.823682580848091,"y":-2.2334537005385258},"rotation":{"radians":2.9119961742134977}},"curvature":1.3024813236550719},{"time":11.58294561475136,"velocity":1.4571672023515219,"acceleration":1.5780163471224258,"pose":{"translation":{"x":7.770157970519387,"y":-2.2228588985835573},"rotation":{"radians":2.9789658239361136}},"curvature":1.1497718769553091},{"time":11.620627384038693,"velocity":1.5166296502754295,"acceleration":1.8374439552478101,"pose":{"translation":{"x":7.714616038035943,"y":-2.215487434567576},"rotation":{"radians":3.0387718468052816}},"curvature":0.9836836535374798},{"time":11.657692679223262,"velocity":1.5847350528617916,"acceleration":2.3564388242533725,"pose":{"translation":{"x":7.657306397608897,"y":-2.2111110133435448},"rotation":{"radians":3.090304204313015}},"curvature":0.8087673288334416},{"time":11.728867484017808,"velocity":1.7524541261883178,"acceleration":2.699999999999981,"pose":{"translation":{"x":7.538551091130559,"y":-2.2098601356537797},"rotation":{"radians":-3.1187402947795255}},"curvature":0.43597744631936325},{"time":11.79514398451105,"velocity":1.931400677520069,"acceleration":-0.43343139853711143,"pose":{"translation":{"x":7.416577465696055,"y":-2.2148708368227785},"rotation":{"radians":-3.0911622629375177}},"curvature":-1.0730987305585518E-14},{"time":11.827782965774425,"velocity":1.917253918224258,"acceleration":-0.21888554996843468,"pose":{"translation":{"x":7.353843910366827,"y":-2.2179296402058895},"rotation":{"radians":-3.095994053517934}},"curvature":-0.13320569532057244},{"time":11.86489530461045,"velocity":1.90913056352752,"acceleration":0.5336742824615359,"pose":{"translation":{"x":7.282898808449143,"y":-2.220797395213581},"rotation":{"radians":-3.1065250145465324}},"curvature":-0.14690520860044406},{"time":11.909617284214265,"velocity":1.9329975339028462,"acceleration":0.43574327332578855,"pose":{"translation":{"x":7.1970218846164595,"y":-2.223313897710243},"rotation":{"radians":-3.1174837461697393}},"curvature":-0.10698292741751196},{"time":11.96413061613232,"velocity":1.9567513515927146,"acceleration":0.28615567235218536,"pose":{"translation":{"x":7.091019864181186,"y":-2.225350652316132},"rotation":{"radians":-3.1265936827610066}},"curvature":-0.0682168854156586},{"time":11.995633635122626,"velocity":1.9657661191730098,"acceleration":0.20645122670589333,"pose":{"translation":{"x":7.029239556435231,"y":-2.2261571146865333},"rotation":{"radians":-3.130337003021435}},"curvature":-0.053750100268123394},{"time":12.03022701510607,"velocity":1.972907964906495,"acceleration":0.14717665127846813,"pose":{"translation":{"x":6.9611166482832525,"y":-2.226808738951054},"rotation":{"radians":-3.133589287928435}},"curvature":-0.04238281448058693},{"time":12.068054630384667,"velocity":1.9784753066490492,"acceleration":0.10470300343700663,"pose":{"translation":{"x":6.886382542957668,"y":-2.2272974312200464},"rotation":{"radians":-3.1364086614417706}},"curvature":-0.033578502857345635},{"time":12.109223176020546,"velocity":1.9827857770242592,"acceleration":0.07478897469429348,"pose":{"translation":{"x":6.804843489078687,"y":-2.227616679378048},"rotation":{"radians":-3.1388541883153165}},"curvature":-0.02679579329346314},{"time":12.153802950506819,"velocity":1.9861198526501904,"acceleration":0.05384038556528701,"pose":{"translation":{"x":6.7163771486289505,"y":-2.227761486413266},"rotation":{"radians":-3.1409805379099405}},"curvature":-0.021569675616020193},{"time":12.201829204989046,"velocity":1.9887056047087701,"acceleration":0.03915095739813918,"pose":{"translation":{"x":6.620929164928181,"y":-2.2277283037470714},"rotation":{"radians":3.140349367013175}},"curvature":-0.01752860988749677},{"time":12.253303786467908,"velocity":1.990720883855336,"acceleration":0.02879229957859314,"pose":{"translation":{"x":6.518509730607817,"y":-2.227514964563488},"rotation":{"radians":3.138723474649631}},"curvature":-0.014386370079470636},{"time":12.308196919846274,"velocity":1.9923013833963736,"acceleration":0.021426741487259524,"pose":{"translation":{"x":6.409190155585662,"y":-2.2271206171386813},"rotation":{"radians":3.137292010372209}},"curvature":-0.01192648991507711},{"time":12.366449045506,"velocity":1.993549536633968,"acceleration":0.016137333621058812,"pose":{"translation":{"x":6.293099435040525,"y":-2.2265456581704504},"rotation":{"radians":3.136025501378169}},"curvature":-0.009986627963655742},{"time":12.427972670205698,"velocity":1.9945423638913238,"acceleration":0.013124270681908778,"pose":{"translation":{"x":6.170420817386862,"y":-2.225791666107717},"rotation":{"radians":3.134899269164487}},"curvature":-0.008445323697267975},{"time":12.459926544695284,"velocity":1.9949617351894608,"acceleration":0.011490485446679171,"pose":{"translation":{"x":6.106682302542985,"y":-2.2253483326590775},"rotation":{"radians":3.134382164391078}},"curvature":-0.007794735988282447},{"time":12.49265378537216,"velocity":1.9953377870721685,"acceleration":0.010088344895442329,"pose":{"translation":{"x":6.041388372249424,"y":-2.2248613344800168},"rotation":{"radians":3.1338926589958622}},"curvature":-0.007211584006870284},{"time":12.526136415820092,"velocity":1.9956755713961338,"acceleration":0.008881519388782665,"pose":{"translation":{"x":5.97457566295672,"y":-2.224331171554943},"rotation":{"radians":3.133428688000134}},"curvature":-0.00668796173841391},{"time":12.560355057165847,"velocity":1.995979484922704,"acceleration":0.007839778787555355,"pose":{"translation":{"x":5.90628355843789,"y":-2.2237584052269876},"rotation":{"radians":3.1329883581798947}},"curvature":-0.006216996339833986},{"time":12.595288984342252,"velocity":1.9962533591839475,"acceleration":0.006937915563956693,"pose":{"translation":{"x":5.836554082537628,"y":-2.2231436561145532},"rotation":{"radians":3.132569932187805}},"curvature":-0.005792704703129904},{"time":12.630916182117195,"velocity":1.9965005376738905,"acceleration":0.006154863314287663,"pose":{"translation":{"x":5.765431791921521,"y":-2.2224876020278606},"rotation":{"radians":3.132171814089926}},"curvature":-0.005409870643496421},{"time":12.667213400904643,"velocity":1.996723942094216,"acceleration":0.005472975136501249,"pose":{"translation":{"x":5.692963668825248,"y":-2.221790975885494},"rotation":{"radians":3.1317925362198378}},"curvature":-0.005063939796335612},{"time":12.704156212374555,"velocity":1.9969261291828633,"acceleration":0.0048774325325607664,"pose":{"translation":{"x":5.6191990138037955,"y":-2.2210545636309504},"rotation":{"radians":3.131430747248476}},"curvature":-0.004750929676266346},{"time":12.74171906487843,"velocity":1.9971093394616815,"acceleration":0.004355760756947821,"pose":{"translation":{"x":5.54418933848066,"y":-2.2202792021491815},"rotation":{"radians":3.1310852013681645}},"curvature":-0.0044673526925366365},{"time":12.779875338706896,"velocity":1.9972755390618548,"acceleration":0.0038974309321836405,"pose":{"translation":{"x":5.467988258297055,"y":-2.2194657771831454},"rotation":{"radians":3.130754748492347}},"curvature":-0.0042101502229143955},{"time":12.81859740119462,"velocity":1.9974264556259524,"acceleration":0.0034935328924901475,"pose":{"translation":{"x":5.390651385261126,"y":-2.218615221250349},"rotation":{"radians":3.1304383253773347}},"curvature":-0.003976636120510159},{"time":12.85785666168743,"velocity":1.997563609143819,"acceleration":0.0031365057084080192,"pose":{"translation":{"x":5.312236220697148,"y":-2.217728511559397},"rotation":{"radians":3.130134947578243}},"curvature":-0.003764448266045308},{"time":12.897623626384679,"velocity":1.997688338455598,"acceleration":0.0028199152863203174,"pose":{"translation":{"x":5.232802047994738,"y":-2.2168066679265386},"rotation":{"radians":3.129843702157582}},"curvature":-0.003571506984222128},{"time":12.937867953069576,"velocity":1.9978018240476043,"acceleration":0.0025382704258750445,"pose":{"translation":{"x":5.152409825358066,"y":-2.2158507506922116},"rotation":{"radians":3.12956374107146}},"curvature":-0.0033959793201551115},{"time":12.978558505738947,"velocity":1.9979051076740575,"acceleration":0.0022868703310031753,"pose":{"translation":{"x":5.071122078555056,"y":-2.2148618586375917},"rotation":{"radians":3.1292942751646593}},"curvature":-0.0032362483235779532},{"time":13.019663409142273,"velocity":1.9979991092581093,"acceleration":0.0020616778773792674,"pose":{"translation":{"x":4.989002793666597,"y":-2.2138411269011375},"rotation":{"radians":3.129034568711924}},"curvature":-0.003090886617978461},{"time":13.061150103240097,"velocity":1.9980846414575364,"acceleration":0.0018592139969947758,"pose":{"translation":{"x":4.906117309835752,"y":-2.212789724895138},"rotation":{"radians":3.1287839344484762}},"curvature":-0.0029586336419615833},{"time":13.10298539758967,"velocity":1.9981624222223595,"acceleration":0.001676469396010146,"pose":{"translation":{"x":4.822532212016959,"y":-2.2117088542222585},"rotation":{"radians":3.128541729038068}},"curvature":-0.0028383760437424724},{"time":13.14513552566649,"velocity":1.9982330856221182,"acceleration":0.00151083051326332,"pose":{"translation":{"x":4.738315223725253,"y":-2.2105997465920866},"rotation":{"radians":3.1283073489316866}},"curvature":-0.0027291307891688537},{"time":13.187566199127353,"velocity":1.9982971911782812,"acceleration":0.0013600171863639699,"pose":{"translation":{"x":4.653535099785452,"y":-2.209463661737681},"rotation":{"radians":3.1280802265744336}},"curvature":-0.0026300306112042524},{"time":13.230242662022844,"velocity":1.9983552319012723,"acceleration":0.001222029943137533,"pose":{"translation":{"x":4.568261519081384,"y":-2.2083018853321157},"rotation":{"radians":3.127859826922029}},"curvature":-0.002540311486226586},{"time":13.273129744964423,"velocity":1.9984076412008007,"acceleration":0.0010951052017475753,"pose":{"translation":{"x":4.482564977305086,"y":-2.207115726905027},"rotation":{"radians":3.1276456442319494}},"curvature":-0.0024593018714121925},{"time":13.316191919250077,"velocity":1.9984547988118595,"acceleration":9.776769557049588E-4,"pose":{"translation":{"x":4.3965166797060125,"y":-2.205906517759162},"rotation":{"radians":3.1274371990973155}},"curvature":-0.0023864134792563533},{"time":13.359393350956452,"velocity":1.9984970358560923,"acceleration":8.683437575221734E-4,"pose":{"translation":{"x":4.310188433840241,"y":-2.2046756088869217},"rotation":{"radians":3.1272340356944412}},"curvature":-0.0023211334011064315},{"time":13.40269795499832,"velocity":1.998534639138684,"acceleration":7.658400033530915E-4,"pose":{"translation":{"x":4.2236525423196865,"y":-2.2034243688869117},"rotation":{"radians":3.127035719217344}},"curvature":-0.0022630174224625836},{"time":13.446069449161838,"velocity":1.9985678547639196,"acceleration":6.690106715417065E-4,"pose":{"translation":{"x":4.1369816955613015,"y":-2.202154181880485},"rotation":{"radians":3.126841833474631}},"curvature":-0.0022116843996018245},{"time":13.489471408114603,"velocity":1.9985968911376248,"acceleration":5.767887860268822E-4,"pose":{"translation":{"x":4.050248864536284,"y":-2.200866445428291},"rotation":{"radians":3.126651978625937}},"curvature":-0.0021668115905553887},{"time":13.53286731739598,"velocity":1.9986219214114578,"acceleration":4.8817496577640554E-4,"pose":{"translation":{"x":3.9635271935192935,"y":-2.1995625684468214},"rotation":{"radians":3.126465769036617}},"curvature":-0.002128130854272953},{"time":13.576220627391036,"velocity":1.998643085412081,"acceleration":4.0221848796846113E-4,"pose":{"translation":{"x":3.876889892837648,"y":-2.198243969124955},"rotation":{"radians":3.12628283123058}},"curvature":-0.002095425650518927},{"time":13.619494807290806,"velocity":1.9986604910872883,"acceleration":3.179993378773219E-4,"pose":{"translation":{"x":3.7904101316205407,"y":-2.196912072840509},"rotation":{"radians":3.126102801922156}},"curvature":-0.0020685287901897015},{"time":13.662653399043723,"velocity":1.9986742154908894,"acceleration":2.346107440676758E-4,"pose":{"translation":{"x":3.7041609305482384,"y":-2.195568310076779},"rotation":{"radians":3.1259253261085616}},"curvature":-0.002047320901795857},{"time":13.705660071298645,"velocity":1.998684305318267,"acceleration":1.5114170427672335E-4,"pose":{"translation":{"x":3.618215054601298,"y":-2.194214114339091},"rotation":{"radians":3.125750055205011}},"curvature":-0.002031729595277343},{"time":13.748478673343579,"velocity":1.9986907769947548,"acceleration":6.665899480111241E-5,"pose":{"translation":{"x":3.5326449058097653,"y":-2.1928509200713466},"rotation":{"radians":3.1255766452047173}},"curvature":-0.0020217293195596243},{"time":13.791073289044895,"velocity":1.9986936163090214,"acceleration":-1.98118763280272E-5,"pose":{"translation":{"x":3.4475224160023936,"y":-2.1914801605725667},"rotation":{"radians":3.125404754845996}},"curvature":-0.002017341925768647},{"time":13.83340829078379,"velocity":1.9986927775732026,"acceleration":-1.0930736732611808E-4,"pose":{"translation":{"x":3.3629189395558408,"y":-2.1901032659134425},"rotation":{"radians":3.1252340437683626}},"curvature":-0.002018637964281791},{"time":13.875448393401669,"velocity":1.9986881822802633,"acceleration":-2.029489278165196E-4,"pose":{"translation":{"x":3.27890514614388,"y":-2.1887216608528783},"rotation":{"radians":3.1250641706389573}},"curvature":-0.002025738761323064},{"time":13.9171587081537,"velocity":1.9986797172166055,"acceleration":-3.019691391874157E-4,"pose":{"translation":{"x":3.1955509134866116,"y":-2.187336762754541},"rotation":{"radians":3.1248947912297327}},"curvature":-0.0020388193402008296},{"time":13.958504796671683,"velocity":1.998667231973847,"acceleration":-4.0774190741799983E-4,"pose":{"translation":{"x":3.112925220099666,"y":-2.185949979503404},"rotation":{"radians":3.124725556424658}},"curvature":-0.002058112274216641},{"time":13.999452724939623,"velocity":1.9986505357874702,"acceleration":-5.218178422679207E-4,"pose":{"translation":{"x":3.0310960380434144,"y":-2.1845627074222964},"rotation":{"radians":3.124556110134635}},"curvature":-0.0020839125835444387},{"time":14.03996911729368,"velocity":1.9986293936110355,"acceleration":-6.459662111610376E-4,"pose":{"translation":{"x":2.9501302256721713,"y":-2.1831763291884467},"rotation":{"radians":3.1243860870958704}},"curvature":-0.0021165838179550683},{"time":14.08002121044079,"velocity":1.9986035213121762,"acceleration":-7.822251865232192E-4,"pose":{"translation":{"x":2.870093420383406,"y":-2.181792211750033},"rotation":{"radians":3.1242151105250717}},"curvature":-0.0021565655023130506},{"time":14.119576907508739,"velocity":1.9985725798496592,"acceleration":-9.329625307962023E-4,"pose":{"translation":{"x":2.7910499313669535,"y":-2.180411704242725},"rotation":{"radians":3.124042789601907}},"curvature":-0.002204382163742287},{"time":14.15860483212728,"velocity":1.9985361682583354,"acceleration":-0.0011009494136529428,"pose":{"translation":{"x":2.713062632354217,"y":-2.1790361359062347},"rotation":{"radians":3.1238687167457}},"curvature":-0.0022606542100293155},{"time":14.197074382550285,"velocity":1.9984938152293537,"acceleration":-0.0012894507672081986,"pose":{"translation":{"x":2.636192854367372,"y":-2.1776668140008613},"rotation":{"radians":3.1236924646491606}},"curvature":-0.0023261109904346676},{"time":14.234955785824571,"velocity":1.9984449690248387,"acceleration":-0.0015023365078220222,"pose":{"translation":{"x":2.5605002784685853,"y":-2.1763050217240374},"rotation":{"radians":3.1235135830270178}},"curvature":-0.0024016064454060095},{"time":14.272220152011881,"velocity":1.9983889854070747,"acceleration":-0.0017442191509520638,"pose":{"translation":{"x":2.4860428285092127,"y":-2.1749520161268756},"rotation":{"radians":3.1233315950315523}},"curvature":-0.002488137844245664},{"time":14.308839528475872,"velocity":1.9983251131893502,"acceleration":-0.0020206249102259098,"pose":{"translation":{"x":2.4128765638790055,"y":-2.173609026030716},"rotation":{"radians":3.123145993280123}},"curvature":-0.002586868224021156},{"time":14.344786954241806,"velocity":1.998252476925389,"acceleration":-0.0023382074166932334,"pose":{"translation":{"x":2.3410555722553337,"y":-2.1722772499436718},"rotation":{"radians":3.122956235431616}},"curvature":-0.0026991532845501687},{"time":14.38003651444234,"velocity":1.998170056142293,"acceleration":-0.0027050158814356925,"pose":{"translation":{"x":2.2706318623523734,"y":-2.170957853977176},"rotation":{"radians":3.12276173923912}},"curvature":-0.0028265736702961113},{"time":14.414563394862512,"velocity":1.99807666038242,"acceleration":-0.0031308330657606443,"pose":{"translation":{"x":2.201655256670324,"y":-2.16965196976253},"rotation":{"radians":3.1225618769948227}},"curvature":-0.002970973789592576},{"time":14.448343936600477,"velocity":1.9979708991453675,"acceleration":-0.0036276031072109177,"pose":{"translation":{"x":2.134173284244617,"y":-2.168360692367445},"rotation":{"radians":3.1223559692697833}},"curvature":-0.0031345085964072815},{"time":14.481355690861827,"velocity":1.9978511456030346,"acceleration":-0.004209975469609341,"pose":{"translation":{"x":2.068231073395123,"y":-2.167085078212595},"rotation":{"radians":3.1221432778355926}},"curvature":-0.0033197001047337946},{"time":14.513577473909548,"velocity":1.9977154926868166,"acceleration":-0.004895999572381699,"pose":{"translation":{"x":2.0038712444753504,"y":-2.165826142988159},"rotation":{"radians":3.1219229976365432}},"curvature":-0.003529505839691431},{"time":14.544989422194492,"velocity":1.9975616998014458,"acceleration":-0.006184119336023466,"pose":{"translation":{"x":1.9411338026216738,"y":-2.1645848595703696},"rotation":{"radians":3.121694247659395}},"curvature":-0.003767401976879853},{"time":14.60531151294224,"velocity":1.9971886607936633,"acceleration":-0.008510504839744451,"pose":{"translation":{"x":1.820672381067575,"y":-2.1621589130892},"rotation":{"radians":3.1212073705778485}},"curvature":-0.00434459349254247},{"time":14.662191409106946,"velocity":1.9967045841620694,"acceleration":-0.011885336243113921,"pose":{"translation":{"x":1.7071104699507176,"y":-2.1598140863287707},"rotation":{"radians":3.1206736445569945}},"curvature":-0.005093911546805407},{"time":14.715523429176972,"velocity":1.9960707151710126,"acceleration":-0.9379070777694528,"pose":{"translation":{"x":1.600663022963909,"y":-2.15755640848459},"rotation":{"radians":3.1200820082951073}},"curvature":-0.006075647630876096},{"time":14.765812112130796,"velocity":1.9489046034969175,"acceleration":-2.700000000000003,"pose":{"translation":{"x":1.5014928542495447,"y":-2.1553910237174847},"rotation":{"radians":3.119418716197051}},"curvature":-0.007376165520044322},{"time":14.814566636455297,"velocity":1.8172673878207648,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":1.4097072063742342,"y":-2.153322124483086},"rotation":{"radians":3.118666509286999}},"curvature":-0.009120851361766717},{"time":14.86271919491918,"velocity":1.6872554799682808,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":1.3253543183034582,"y":-2.1513528848613226},"rotation":{"radians":3.1178035151798777}},"curvature":-0.011494215054307491},{"time":14.910128303978796,"velocity":1.5592508855073144,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":1.2484199933761841,"y":-2.14948539388591},"rotation":{"radians":3.1168017973108535}},"curvature":-0.014771247890284325},{"time":14.956650672931648,"velocity":1.4336404893346135,"acceleration":-2.700000000000002,"pose":{"translation":{"x":1.1788241672795374,"y":-2.1477205888738395},"rotation":{"radians":3.115625473705878}},"curvature":-0.019366224220877838},{"time":15.002145351144879,"velocity":1.3108048581588883,"acceleration":-2.699999999999999,"pose":{"translation":{"x":1.1164174760234316,"y":-2.14605818875487},"rotation":{"radians":3.1142283683282836}},"curvature":-0.025907417340922275},{"time":15.089547590596482,"velocity":1.0748188116395632,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":1.0122069515343028,"y":-2.1430329869560416},"rotation":{"radians":3.1105196967265303}},"curvature":-0.0491007326927275},{"time":15.171684189591767,"velocity":0.8530499943522911,"acceleration":-2.7,"pose":{"translation":{"x":0.9330770974803153,"y":-2.1403806387034514},"rotation":{"radians":3.1050198375150684}},"curvature":-0.09810692672218961},{"time":15.249390585728698,"velocity":0.643242724782579,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.8749881469747693,"y":-2.138048233102762},"rotation":{"radians":3.097041768255152}},"curvature":-0.18732439807749102},{"time":15.487628631944467,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.7984727179024684,"y":-2.1340000000000083},"rotation":{"radians":3.082138994281167}},"curvature":9.0005818810699E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2187102673732586,"velocity":0.5905177219077983,"acceleration":2.7,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.32215261307517074,"velocity":0.869812055302961,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.4160456101725616,"velocity":1.1233231474659162,"acceleration":2.7,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.5082237737738553,"velocity":1.3722041891894092,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.5540736116987828,"velocity":1.4959987515867132,"acceleration":2.7000000000000037,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.5996729933580588,"velocity":1.6191170820667586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.6448761568664696,"velocity":1.741165623539468,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.6895110814586326,"velocity":1.8616799199383078,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.7333957838818654,"velocity":1.9801686164810364,"acceleration":0.19556095277759014,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.7775101779828986,"velocity":1.9887956694226405,"acceleration":0.004777036081927796,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.8228004971851967,"velocity":1.989012022911632,"acceleration":-0.0015743391658993543,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.8689830289886846,"velocity":1.9889393159430333,"acceleration":-0.0074790756434646765,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.9156710320304023,"velocity":1.988590132836642,"acceleration":-0.013467476308546656,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.9624738642980973,"velocity":1.987959816801904,"acceleration":-0.02001623661431479,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":1.0090063612795428,"velocity":1.9870284113320684,"acceleration":-0.027590403265672102,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":1.0548981739891574,"velocity":1.9857622377128175,"acceleration":-0.03665440065941824,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":1.0998030433167383,"velocity":1.9841162766409255,"acceleration":-0.04763041418582479,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":1.1434079676170024,"velocity":1.9820393560359624,"acceleration":-0.06075189525629556,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":1.1854421892617621,"velocity":1.97948569740542,"acceleration":-0.07570747185364413,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":1.2256858793233347,"velocity":1.9764389493727967,"acceleration":-0.09089243253238403,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":1.2639783375620643,"velocity":1.9729584546958339,"acceleration":-0.1020115140745803,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.3002254615341022,"velocity":1.9692608306985973,"acceleration":-0.09985306078593055,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.3344062258433922,"velocity":1.9658477767623121,"acceleration":-0.06769571683149526,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.3665780804433594,"velocity":1.9636698800033687,"acceleration":0.10032280124846037,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.425510429235954,"velocity":1.9695821383183931,"acceleration":-1.9048605263823437,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.4812361341957114,"velocity":1.8634324426357223,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.5400675725466604,"velocity":1.7045875590881598,"acceleration":-2.4977546610683463,"pose":{"translation":{"x":3.5009774888602676,"y":-2.1958354150683257},"rotation":{"radians":0.04408248946944764}},"curvature":-0.5348899726955137},{"time":1.6043912245954925,"velocity":1.5439228573662507,"acceleration":-1.47287799369478,"pose":{"translation":{"x":3.6054513375974606,"y":-2.194901056982796},"rotation":{"radians":-0.032756727565941016}},"curvature":-0.9117330540447421},{"time":1.6386460855790086,"velocity":1.4934696264465561,"acceleration":-1.0106554724353678,"pose":{"translation":{"x":3.6573874293559525,"y":-2.197902168157788},"rotation":{"radians":-0.08385550737943201}},"curvature":-1.0468009009284915},{"time":1.6738195918579015,"velocity":1.4579213298410532,"acceleration":-0.6422442219794615,"pose":{"translation":{"x":3.708967770568674,"y":-2.2037019358964676},"rotation":{"radians":-0.14095860287814346}},"curvature":-1.1475806554581347},{"time":1.7096619936731208,"velocity":1.4349017543733624,"acceleration":-0.3436713348603966,"pose":{"translation":{"x":3.760051278933555,"y":-2.212542619576176},"rotation":{"radians":-0.20235998579142125}},"curvature":-1.2155050911469665},{"time":1.7459517657495605,"velocity":1.4224299999620729,"acceleration":-0.10334792833292146,"pose":{"translation":{"x":3.810481105154448,"y":-2.224577406560024},"rotation":{"radians":-0.26649074279012075}},"curvature":-1.253224029973154},{"time":1.782496176275441,"velocity":1.4186532108420753,"acceleration":0.08436132969467448,"pose":{"translation":{"x":3.860087950911264,"y":-2.2398779108093883},"rotation":{"radians":-0.33196358829596273}},"curvature":-1.2647771842600963},{"time":1.8191317689371393,"velocity":1.4217438381531686,"acceleration":0.2228295001324105,"pose":{"translation":{"x":3.9086933868301053,"y":-2.258441671496421},"rotation":{"radians":-0.3976142401776337}},"curvature":-1.2553184282383525},{"time":1.855723485425044,"velocity":1.4298975520471553,"acceleration":0.31519546361012984,"pose":{"translation":{"x":3.956113170453401,"y":-2.280199651616547},"rotation":{"radians":-0.462527444530531}},"curvature":-1.2305605070275378},{"time":1.8921619337483535,"velocity":1.4413827856596546,"acceleration":0.36527932236226424,"pose":{"translation":{"x":4.002160564210038,"y":-2.3050237366009685},"rotation":{"radians":-0.5260420164397219}},"curvature":-1.1961619230557818},{"time":1.9283590964436421,"velocity":1.4546048607204263,"acceleration":0.377754402930365,"pose":{"translation":{"x":4.046649653385497,"y":-2.332734232929167},"rotation":{"radians":-0.5877358727783444}},"curvature":-1.1572340891780697},{"time":1.964243260612316,"velocity":1.4681602617306189,"acceleration":0.35789353451855976,"pose":{"translation":{"x":4.089398664091985,"y":-2.3631073667414064},"rotation":{"radians":-0.6473964178347918}},"curvature":-1.1180527878720856},{"time":1.9997540511539802,"velocity":1.4808693440711234,"acceleration":0.3111721097790482,"pose":{"translation":{"x":4.1302332812385725,"y":-2.395882782451234},"rotation":{"radians":-0.7049831032830651}},"curvature":-1.0819692617086423},{"time":2.034838254527226,"velocity":1.4917865696546935,"acceleration":0.2429505055122754,"pose":{"translation":{"x":4.168989966501321,"y":-2.430771041357985},"rotation":{"radians":-0.7605881360060854}},"curvature":-1.0514640647050746},{"time":2.0694467937187353,"velocity":1.500194731746312,"acceleration":0.15838153410016248,"pose":{"translation":{"x":4.205519276293423,"y":-2.4674611202592835},"rotation":{"radians":-0.8143992858224134}},"curvature":-1.0282724102351393},{"time":2.1035328873696555,"velocity":1.5055933395502266,"acceleration":0.06261998932710873,"pose":{"translation":{"x":4.239689179735332,"y":-2.5056279100635455},"rotation":{"radians":-0.8666665259848375}},"curvature":-1.0135183537179602},{"time":2.1370511638015683,"velocity":1.507692253662656,"acceleration":-0.03863164910558287,"pose":{"translation":{"x":4.271388376624899,"y":-2.544939714402481},"rotation":{"radians":-0.9176723622074275}},"curvature":-1.0078106783408702},{"time":2.1699573155577516,"velocity":1.506421034754596,"acceleration":-0.13822392801043523,"pose":{"translation":{"x":4.3005296154075054,"y":-2.585065748243597},"rotation":{"radians":-0.9677043207669488}},"curvature":-1.011265664044275},{"time":2.202207755409455,"velocity":1.5019632522782294,"acceleration":-0.22629001602286838,"pose":{"translation":{"x":4.3270530111461945,"y":-2.6256836365027},"rotation":{"radians":-1.0170271076389201}},"curvature":-1.023427473075515},{"time":2.2337586512437118,"velocity":1.4948235995543595,"acceleration":-0.2885749841186932,"pose":{"translation":{"x":4.350929363491809,"y":-2.666486912656398},"rotation":{"radians":-1.0658513103346334}},"curvature":-1.043057135031417},{"time":2.2645636719324225,"velocity":1.4859340411983388,"acceleration":-0.3042916071781709,"pose":{"translation":{"x":4.372163474653122,"y":-2.7071925173546023},"rotation":{"radians":-1.1142951702206891}},"curvature":-1.0677616136684076},{"time":2.2945697976737685,"velocity":1.4768034289713143,"acceleration":-0.24327665415491537,"pose":{"translation":{"x":4.390797467366973,"y":-2.7475482970330325},"rotation":{"radians":-1.1623360681465613}},"curvature":-1.0934456136080546},{"time":2.3237107094473797,"velocity":1.4697141254560067,"acceleration":-0.06179236810232288,"pose":{"translation":{"x":4.4069141028684005,"y":-2.7873405025257165},"rotation":{"radians":-1.2097493658742775}},"curvature":-1.1136075850584042},{"time":2.351897698870116,"velocity":1.4679723846299007,"acceleration":0.6242602868274602,"pose":{"translation":{"x":4.420640098860775,"y":-2.826401287677493},"rotation":{"radians":-1.2560348532720509}},"curvature":-1.1185908934381819},{"time":2.4047133389182727,"velocity":1.5009430912353388,"acceleration":2.531562262686001,"pose":{"translation":{"x":4.441666733294324,"y":-2.9019317190667566},"rotation":{"radians":-1.341367133488591}},"curvature":-1.026220854154948},{"time":2.451786816216441,"velocity":1.6201125299367878,"acceleration":-2.699999999999996,"pose":{"translation":{"x":4.4558963245263365,"y":-2.9739998294508663},"rotation":{"radians":-1.4061439538167093}},"curvature":-0.680352653712131},{"time":2.4969710655400905,"velocity":1.4981150567629342,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":4.466263479997429,"y":-3.043680216453008},"rotation":{"radians":-1.4320291524242457}},"curvature":6.639446958539566E-14},{"time":2.545665174594232,"velocity":1.3666409623167521,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.47493566885881,"y":-3.1128873576883227},"rotation":{"radians":-1.4733803136380366}},"curvature":-1.1316416752351544},{"time":2.571715973027066,"velocity":1.2963038065481007,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":4.477537234678577,"y":-3.1474755755051773},"rotation":{"radians":-1.5206795873013448}},"curvature":-1.5839574422911495},{"time":2.599132502051244,"velocity":1.2222791781828186,"acceleration":-2.367971723669259,"pose":{"translation":{"x":4.47824417761648,"y":-3.1819937388066166},"rotation":{"radians":-1.582145517204758}},"curvature":-1.9638499531766747},{"time":2.6280963020090296,"velocity":1.1536937188727703,"acceleration":-1.4428552387931992,"pose":{"translation":{"x":4.476628081368838,"y":-3.216364367460064},"rotation":{"radians":-1.6551406766480576}},"curvature":-2.2640813419564507},{"time":2.6584822740423086,"velocity":1.10985115993873,"acceleration":-0.8883350680465232,"pose":{"translation":{"x":4.472353114270583,"y":-3.250487631486124},"rotation":{"radians":-1.7369261089869281}},"curvature":-2.4754427100871244},{"time":2.674109103820474,"velocity":1.0959692990443919,"acceleration":-0.5716228705953711,"pose":{"translation":{"x":4.4691373551283755,"y":-3.2674199611488914},"rotation":{"radians":-1.780235090040976}},"curvature":-2.545890852288312},{"time":2.6899468814291034,"velocity":1.086916063143896,"acceleration":-0.2871580235627821,"pose":{"translation":{"x":4.4651696587926075,"y":-3.284244469950503},"rotation":{"radians":-1.8246863401303577}},"curvature":-2.5928039841338677},{"time":2.705951184953111,"velocity":1.0823202989754432,"acceleration":-0.03155808666651995,"pose":{"translation":{"x":4.46043124887029,"y":-3.3009437821306764},"rotation":{"radians":-1.869939163282148}},"curvature":-2.6169191864273578},{"time":2.7220804777081677,"velocity":1.0818112893568095,"acceleration":0.19720746311011672,"pose":{"translation":{"x":4.454907941039103,"y":-3.317499709855939},"rotation":{"radians":-1.9156694687174334}},"curvature":-2.6196026991685377},{"time":2.7382968324207027,"velocity":1.0850092755305623,"acceleration":0.40025800337458967,"pose":{"translation":{"x":4.448589943969179,"y":-3.333893350685},"rotation":{"radians":-1.9615762061138535}},"curvature":-2.6027846116913493},{"time":2.7545665310374448,"velocity":1.0915213526144059,"acceleration":0.5781445871588778,"pose":{"translation":{"x":4.441471660244904,"y":-3.350105185034125},"rotation":{"radians":-2.007386912328833}},"curvature":-2.568842502102348},{"time":2.770860479515511,"velocity":1.1009416107304455,"acceleration":0.7311264471398314,"pose":{"translation":{"x":4.433551487286703,"y":-3.366115173642506},"rotation":{"radians":-2.052861932599258}},"curvature":-2.520452987491824},{"time":2.7871544048843155,"velocity":1.112854530495301,"acceleration":0.8593958852724004,"pose":{"translation":{"x":4.424831618272835,"y":-3.381902855037636},"rotation":{"radians":-2.097797067131599}},"curvature":-2.460432361920452},{"time":2.8034288305238113,"velocity":1.1268407049250555,"acceleration":0.9632559207353358,"pose":{"translation":{"x":4.415317843061182,"y":-3.397447443000682},"rotation":{"radians":-2.1420245879634976}},"curvature":-2.3915856821036283},{"time":2.819668850196494,"velocity":1.1424840000276255,"acceleration":1.0721497227852474,"pose":{"translation":{"x":4.405019349111045,"y":-3.4127279240318553},"rotation":{"radians":-2.1854127397259857}},"curvature":-2.3165788937424012},{"time":2.851992910800959,"velocity":1.1771402326439961,"acceleration":1.1432251419148824,"pose":{"translation":{"x":4.382120748370361,"y":-3.442411959686898},"rotation":{"radians":-2.2693121291850207}},"curvature":-2.1575089947297283},{"time":2.8841005060376426,"velocity":1.2138464427649993,"acceleration":1.1374325211346765,"pose":{"translation":{"x":4.356269702781623,"y":-3.470786012069539},"rotation":{"radians":-2.3490712474216524}},"curvature":-1.998934776694001},{"time":2.9159854888913666,"velocity":1.2501134591986465,"acceleration":1.0712292696567125,"pose":{"translation":{"x":4.32764171969303,"y":-3.497683732535139},"rotation":{"radians":-2.4246538251464913}},"curvature":-1.8514036586619682},{"time":2.9476642273169995,"velocity":1.2840486510259832,"acceleration":0.9628057784228694,"pose":{"translation":{"x":4.296447556567484,"y":-3.522944492619568},"rotation":{"radians":-2.496292579924839}},"curvature":-1.7209054999252982},{"time":2.9791614445696757,"velocity":1.3143743538011003,"acceleration":0.8298186523961925,"pose":{"translation":{"x":4.262926850479932,"y":-3.5464165029311334},"rotation":{"radians":-2.564383333222713}},"curvature":-1.6099892177074169},{"time":3.010500168435319,"velocity":1.3403798114071048,"acceleration":0.6879617862383659,"pose":{"translation":{"x":4.227341747614707,"y":-3.5679599320425046},"rotation":{"radians":-2.629400575604748}},"curvature":-1.5188715633298666},{"time":3.0416954051292944,"velocity":1.361840942165221,"acceleration":0.5505426822575425,"pose":{"translation":{"x":4.189970532762875,"y":-3.5874500253826396},"rotation":{"radians":-2.691834291672018}},"curvature":-1.4462971854706679},{"time":3.0727505760334153,"velocity":1.378938139252742,"acceleration":0.42884799622492004,"pose":{"translation":{"x":4.151101258819575,"y":-3.60478022412871},"rotation":{"radians":-2.752143554347901}},"curvature":-1.3900968726107652},{"time":3.103655637430195,"velocity":1.3921917129059591,"acceleration":0.3329682423195301,"pose":{"translation":{"x":4.111025376281363,"y":-3.6198652840980277},"rotation":{"radians":-2.810721214923607}},"curvature":-1.347480728398351},{"time":3.134385920524589,"velocity":1.402423921253881,"acceleration":0.27282006303685136,"pose":{"translation":{"x":4.070031362743557,"y":-3.6326443946399687},"rotation":{"radians":-2.867864492381076}},"curvature":-1.3151306002859184},{"time":3.164900938859538,"velocity":1.4107490304795924,"acceleration":0.25925410670061094,"pose":{"translation":{"x":4.028398352397574,"y":-3.6430842975279023},"rotation":{"radians":-2.923747444426637}},"curvature":-1.2891561805538438},{"time":3.1951426482757483,"velocity":1.4185893178393916,"acceleration":0.30531737247542357,"pose":{"translation":{"x":3.9863897655282825,"y":-3.651182405851114},"rotation":{"radians":-2.9783927226739713}},"curvature":-1.264973161372076},{"time":3.225032894962549,"velocity":1.4277153294204479,"acceleration":0.42795691937391717,"pose":{"translation":{"x":3.944246938011336,"y":-3.656969922906732},"rotation":{"radians":-3.0316415233666105}},"curvature":-1.237158889638232},{"time":3.2544700538568203,"velocity":1.4403131652559606,"acceleration":0.6507584042919169,"pose":{"translation":{"x":3.902182750810521,"y":-3.6605149610916543},"rotation":{"radians":-3.083122208440791}},"curvature":-1.1993422985822897},{"time":3.2833251459096466,"velocity":1.4590908589159541,"acceleration":1.0088142671071776,"pose":{"translation":{"x":3.8603752594751013,"y":-3.6619256607944726},"rotation":{"radians":-3.132219635474395}},"curvature":-1.1441869075289521},{"time":3.311438022097157,"velocity":1.487451529503332,"acceleration":1.5577288226690482,"pose":{"translation":{"x":3.818961323637156,"y":-3.6613533092874},"rotation":{"radians":3.1051366406066983}},"curvature":-1.0635235450551903},{"time":3.3386145070584603,"velocity":1.529785123426386,"acceleration":2.0364684447307435,"pose":{"translation":{"x":3.7780302365089273,"y":-3.658995459618195},"rotation":{"radians":3.063748832703824}},"curvature":-0.9486825705307834},{"time":3.389719288326391,"velocity":1.6338583978533936,"acceleration":-2.699999999999998,"pose":{"translation":{"x":3.6976977261154533,"y":-3.649963520213708},"rotation":{"radians":3.0004256616166676}},"curvature":-0.5831023891549099},{"time":3.440699500430887,"velocity":1.4962118251712553,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.618898666494874,"y":-3.6374541003671883},"rotation":{"radians":2.9756452543002636}},"curvature":-5.907555901800373E-14},{"time":3.496640141259626,"velocity":1.3451720949336599,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.540776543564966,"y":-3.6228555685521426},"rotation":{"radians":2.9208020800297847}},"curvature":-1.3047670116218097},{"time":3.527025732930135,"velocity":1.2631309974232854,"acceleration":-2.699999999999998,"pose":{"translation":{"x":3.5023815148348256,"y":-3.6130497592498534},"rotation":{"radians":2.8590650570922564}},"curvature":-1.7924770767245273},{"time":3.559510545970376,"velocity":1.1754220022146349,"acceleration":-1.7769523447498405,"pose":{"translation":{"x":3.4647929039991814,"y":-3.6005642654703025},"rotation":{"radians":2.780266222692359}},"curvature":-2.1651745632888697},{"time":3.5766163254027936,"velocity":1.1450258473434267,"acceleration":-1.2644340018032885,"pose":{"translation":{"x":3.4463865375503278,"y":-3.593141960722154},"rotation":{"radians":2.7358537677740284}},"curvature":-2.3045847561082318},{"time":3.5941717654004557,"velocity":1.1228281520937655,"acceleration":-0.8267553536054376,"pose":{"translation":{"x":3.42828434405497,"y":-3.584860486651614},"rotation":{"radians":2.68885663440096}},"curvature":-2.411161951346438},{"time":3.612099856728353,"velocity":1.1080060066084993,"acceleration":-0.44804760010361316,"pose":{"translation":{"x":3.4105203164627507,"y":-3.575677279059005},"rotation":{"radians":2.6398443351777328}},"curvature":-2.4847048341054063},{"time":3.6303269268751404,"velocity":1.099839411572311,"acceleration":-0.11849337509167679,"pose":{"translation":{"x":3.393128229290279,"y":-3.5655589255357705},"rotation":{"radians":2.5893742525378456}},"curvature":-2.5260718899874157},{"time":3.648784194891135,"velocity":1.097652347590124,"acceleration":0.1677732655582447,"pose":{"translation":{"x":3.376141568114266,"y":-3.554480769381791},"rotation":{"radians":2.5379779453150473}},"curvature":-2.5372547370426246},{"time":3.6674093370796417,"velocity":1.1007771485165765,"acceleration":0.4140704814619419,"pose":{"translation":{"x":3.3595934590646563,"y":-3.5424265135226998},"rotation":{"radians":2.486147310664261}},"curvature":-2.521290685390114},{"time":3.6861478162724826,"velocity":1.1085361996178207,"acceleration":0.6221686357170216,"pose":{"translation":{"x":3.3435165983177657,"y":-3.5293878244271975},"rotation":{"radians":2.4343223614868856}},"curvature":-2.482040264999584},{"time":3.7049537854169636,"velocity":1.120236683783779,"acceleration":0.7930404553574316,"pose":{"translation":{"x":3.3279431815894154,"y":-3.5153639360243667},"rotation":{"radians":2.3828819898279607}},"curvature":-2.423879628757678},{"time":3.723790463485832,"velocity":1.1351749315369357,"acceleration":0.9274327402497505,"pose":{"translation":{"x":3.312904833628065,"y":-3.500361253620989},"rotation":{"radians":2.3321385005754136}},"curvature":-2.3513672651798405},{"time":3.742629974936707,"velocity":1.1526473112667872,"acceleration":1.0262852243682508,"pose":{"translation":{"x":3.2984325377079484,"y":-3.484392957818859},"rotation":{"radians":2.2823360682148905}},"curvature":-2.268938686425091},{"time":3.7614527220157026,"velocity":1.1719648184759812,"acceleration":1.091002854736289,"pose":{"translation":{"x":3.2845565651222093,"y":-3.467478608432099},"rotation":{"radians":2.233652730724247}},"curvature":-2.1806662625159747},{"time":3.7802464093142354,"velocity":1.1924687849697015,"acceleration":1.1235868715870734,"pose":{"translation":{"x":3.2713064046760336,"y":-3.449643748404477},"rotation":{"radians":2.186205175488278}},"curvature":-2.090101078299267},{"time":3.7990048593046524,"velocity":1.2135455331102567,"acceleration":1.1266395253124004,"pose":{"translation":{"x":3.2587106921797857,"y":-3.430919507726718},"rotation":{"radians":2.1400554149730997}},"curvature":-2.0001957366119023},{"time":3.817726751121358,"velocity":1.2346383564195798,"acceleration":1.0801811538595791,"pose":{"translation":{"x":3.2467971399421427,"y":-3.411342207353823},"rotation":{"radians":2.0952184656896558}},"curvature":-1.913294919697535},{"time":3.855070434133591,"velocity":1.2749762990250997,"acceleration":0.9504554639163268,"pose":{"translation":{"x":3.2251223249277534,"y":-3.3697972896678894},"rotation":{"radians":2.0093553382472162}},"curvature":-1.755112996104958},{"time":3.892328014615906,"velocity":1.3103879699668184,"acceleration":0.7644217346343575,"pose":{"translation":{"x":3.2064825088076545,"y":-3.325388331130148},"rotation":{"radians":1.9280865630670296}},"curvature":-1.6242763519221965},{"time":3.9295540225176757,"velocity":1.3388443395006018,"acceleration":0.5470015010302945,"pose":{"translation":{"x":3.1910589522902577,"y":-3.278552373660638},"rotation":{"radians":1.850579565963845}},"curvature":-1.5241532045401187},{"time":3.966800438445929,"velocity":1.359218184921355,"acceleration":0.3178596821274382,"pose":{"translation":{"x":3.1790113713979062,"y":-3.2297714906700543},"rotation":{"radians":1.7758477540661566}},"curvature":-1.4550435488705087},{"time":4.004109021658669,"velocity":1.3710770793219815,"acceleration":0.09179416378079833,"pose":{"translation":{"x":3.170475681247182,"y":-3.179560112413838},"rotation":{"radians":1.7028488804799111}},"curvature":-1.4157629463905503},{"time":4.0415097275208405,"velocity":1.3745102458414111,"acceleration":-0.11947478109976328,"pose":{"translation":{"x":3.1655617398292164,"y":-3.1284523513462643},"rotation":{"radians":1.6305476291791685}},"curvature":-1.4045176734251699},{"time":4.07902223338982,"velocity":1.3700284474142113,"acceleration":-0.3051443621599003,"pose":{"translation":{"x":3.1643510917899986,"y":-3.0769893274745304},"rotation":{"radians":1.5579591589614288}},"curvature":-1.4192089569038318},{"time":4.116657938690206,"velocity":1.358544124125887,"acceleration":-0.45356235347850543,"pose":{"translation":{"x":3.166894712210685,"y":-3.0257064937128453},"rotation":{"radians":1.4841885833680781}},"curvature":-1.4572968598315164},{"time":4.154420201847082,"velocity":1.3414165831757796,"acceleration":-0.5513568525231486,"pose":{"translation":{"x":3.1732107503879083,"y":-2.9751209612365166},"rotation":{"radians":1.4084788592405049}},"curvature":-1.5153121649421712},{"time":4.192300978792748,"velocity":1.3205307572278862,"acceleration":-0.5837151649305099,"pose":{"translation":{"x":3.1832822736140844,"y":-2.9257188248360437},"rotation":{"radians":1.3302766569902722}},"curvature":-1.588094242430901},{"time":4.2302726094443805,"velocity":1.2983661405793878,"acceleration":-0.535677038664955,"pose":{"translation":{"x":3.197055010957725,"y":-2.8779424882712012},"rotation":{"radians":1.2493214035108509}},"curvature":-1.667893620657483},{"time":4.268274537142049,"velocity":1.2780093804867412,"acceleration":-0.3937119377148612,"pose":{"translation":{"x":3.214435097043743,"y":-2.832177989625132},"rotation":{"radians":1.1657551292949253}},"curvature":-1.7436226553831164},{"time":4.306196426934083,"velocity":1.2630790797749103,"acceleration":-0.14620768520748495,"pose":{"translation":{"x":3.2352868158337653,"y":-2.7887423266584315},"rotation":{"radians":1.0802390921780909}},"curvature":-1.8007164563684022},{"time":4.343861230887303,"velocity":1.2575721959751163,"acceleration":0.21890766499813735,"pose":{"translation":{"x":3.2594303444064368,"y":-2.7478707821632415},"rotation":{"radians":0.9940495437795314}},"curvature":-1.8221171292724059},{"time":4.381013235002289,"velocity":1.2657050544459292,"acceleration":0.7214561902823118,"pose":{"translation":{"x":3.2866394967377346,"y":-2.709704249317334},"rotation":{"radians":0.9091167767859056}},"curvature":-1.7905770515720254},{"time":4.417315436966769,"velocity":1.2918955027740817,"acceleration":1.404520263143793,"pose":{"translation":{"x":3.316639467481273,"y":-2.6742765570382048},"rotation":{"radians":0.8279796053551205}},"curvature":-1.6917062585901652},{"time":4.452356793718523,"velocity":1.3411117983799703,"acceleration":2.3666009793385654,"pose":{"translation":{"x":3.349104575748616,"y":-2.6415017953371587},"rotation":{"radians":0.7536575358116631}},"curvature":-1.516357967331428},{"time":4.485664282408903,"velocity":1.4199373337339325,"acceleration":2.7000000000000086,"pose":{"translation":{"x":3.3836560088895826,"y":-2.6111616406733975},"rotation":{"radians":0.689484901651147}},"curvature":-1.2608421714525015},{"time":4.51707479943128,"velocity":1.5047457296943512,"acceleration":1.6562861809894458,"pose":{"translation":{"x":3.4198595662725584,"y":-2.582892681308114},"rotation":{"radians":0.6389791107940948}},"curvature":-0.9245044264942149},{"time":4.576204276219181,"velocity":1.6026810649872865,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.495195774012762,"y":-2.530313212652211},"rotation":{"radians":0.5938368430682723}},"curvature":-9.875390829249706E-14},{"time":4.637939068835978,"velocity":1.4359971249219332,"acceleration":-1.1808761454707808,"pose":{"translation":{"x":3.574172942270117,"y":-2.4797136844248446},"rotation":{"radians":0.5266644556519199}},"curvature":-1.2122236070167007},{"time":4.673528858610584,"velocity":1.3939699911547812,"acceleration":0.7608583421452491,"pose":{"translation":{"x":3.6185009069449117,"y":-2.455816882507637},"rotation":{"radians":0.4611286319384223}},"curvature":-1.3418244310363576},{"time":4.712076792644429,"velocity":1.4232995083368971,"acceleration":1.6402948880703407,"pose":{"translation":{"x":3.667966637404287,"y":-2.4334198491738435},"rotation":{"radians":0.39004672823243963}},"curvature":-1.2505728967499479},{"time":4.752776363382022,"velocity":1.4900588061644289,"acceleration":1.8997261632713889,"pose":{"translation":{"x":3.7235603652448366,"y":-2.412823905881168},"rotation":{"radians":0.3214805391546347}},"curvature":-1.0562620529171904},{"time":4.79531112264222,"velocity":1.5708632011794759,"acceleration":1.7988292975485185,"pose":{"translation":{"x":3.7859495322326935,"y":-2.3942412755293208},"rotation":{"radians":0.2598048812237801}},"curvature":-0.843164631816091},{"time":4.839682476835772,"velocity":1.6506796930747396,"acceleration":1.5306540280406289,"pose":{"translation":{"x":3.8555054004240032,"y":-2.377802182916105},"rotation":{"radians":0.20662842922466537}},"curvature":-0.6531546368272418},{"time":4.886020705850168,"velocity":1.721607489967895,"acceleration":1.2247021301917744,"pose":{"translation":{"x":3.9323296622853983,"y":-2.3635619551935028},"rotation":{"radians":0.16193651601940368}},"curvature":-0.49908945394424453},{"time":4.934449934693009,"velocity":1.7809188696952676,"acceleration":0.9488189745223425,"pose":{"translation":{"x":4.01628105081447,"y":-2.3515081223237604},"rotation":{"radians":0.1249605664768298}},"curvature":-0.3796783444810861},{"time":4.9850142486389135,"velocity":1.8288952502008464,"acceleration":0.7269976818406377,"pose":{"translation":{"x":4.107001949660242,"y":-2.341567517535477},"rotation":{"radians":0.09469521385310915}},"curvature":-0.2887541424633379},{"time":5.037648107258174,"velocity":1.8671599434033768,"acceleration":0.5599323087862569,"pose":{"translation":{"x":4.203945003243648,"y":-2.333613377779689},"rotation":{"radians":0.07015584569440879}},"curvature":-0.21958492422111742},{"time":5.092172774159334,"velocity":1.897690066027145,"acceleration":0.43936814308031674,"pose":{"translation":{"x":4.306399726877996,"y":-2.327472444185958},"rotation":{"radians":0.05048474589487245}},"curvature":-0.16639777316844012},{"time":5.14830594557542,"velocity":1.92235319331744,"acceleration":0.35557220494061914,"pose":{"translation":{"x":4.413519116889452,"y":-2.3229320625184555},"rotation":{"radians":0.03498113282280543}},"curvature":-0.12466524816678795},{"time":5.205677150527316,"velocity":1.9427527991622857,"acceleration":0.30036515891265714,"pose":{"translation":{"x":4.524346260737506,"y":-2.3197472836320516},"rotation":{"radians":0.023097932367900583}},"curvature":-0.0909476962537981},{"time":5.263845104797078,"velocity":1.960224425990147,"acceleration":0.2679926103601725,"pose":{"translation":{"x":4.637840947135448,"y":-2.317647963928399},"rotation":{"radians":0.014426980710845442}},"curvature":-0.06262758268219738},{"time":5.322315244147041,"velocity":1.9758939912626667,"acceleration":0.25520376546829004,"pose":{"translation":{"x":4.752906276170842,"y":-2.3163458658120204},"rotation":{"radians":0.00868269842245165}},"curvature":-0.03765448038405876},{"time":5.380556707670313,"velocity":1.9907574320601897,"acceleration":0.06087398912530785,"pose":{"translation":{"x":4.8684152694259994,"y":-2.3155417581463964},"rotation":{"radians":0.005688430722810769}},"curvature":-0.014329442552502285},{"time":5.438184395187089,"velocity":1.9942654592834026,"acceleration":-0.2763160509721208,"pose":{"translation":{"x":4.983237480098451,"y":-2.3149325167100496},"rotation":{"radians":0.005366891900975762}},"curvature":0.008875047030571745},{"time":5.4950864053486415,"velocity":1.9785425205431868,"acceleration":-0.3105966121529787,"pose":{"translation":{"x":5.096265603121419,"y":-2.314218224652632},"rotation":{"radians":0.007734871733491828}},"curvature":0.03347251209378743},{"time":5.551020473575296,"velocity":1.9611695884480544,"acceleration":-0.368823614851472,"pose":{"translation":{"x":5.206442085284297,"y":-2.313109272951011},"rotation":{"radians":0.012901642214238736}},"curvature":0.06110993661146819},{"time":5.605532056180419,"velocity":1.9410644295003583,"acceleration":-0.4563224871357876,"pose":{"translation":{"x":5.312785735353115,"y":-2.3113334608653577},"rotation":{"radians":0.021069750609337978}},"curvature":0.09371142254991206},{"time":5.6582361125178595,"velocity":1.9170143834303126,"acceleration":-0.5793181106516878,"pose":{"translation":{"x":5.4144183341910175,"y":-2.3086430963952305},"rotation":{"radians":0.03253554725545341}},"curvature":0.13360799398094314},{"time":5.708830544672391,"velocity":1.8877041125850547,"acceleration":-0.7419596212091848,"pose":{"translation":{"x":5.510591244878737,"y":-2.3048220967356623},"rotation":{"radians":0.04768412387659894}},"curvature":0.18360517561898318},{"time":5.757106762851384,"velocity":1.8518851080315568,"acceleration":-0.9392860675208694,"pose":{"translation":{"x":5.600712022835065,"y":-2.2996930887332496},"rotation":{"radians":0.06696816652108217}},"curvature":0.24685372019843121},{"time":5.802953909329282,"velocity":1.8088215221092794,"acceleration":-1.1433732330975093,"pose":{"translation":{"x":5.684371025937329,"y":-2.2931245093422343},"rotation":{"radians":0.09085091666235459}},"curvature":0.3262107528656812},{"time":5.846350756996825,"velocity":1.7592027280853997,"acceleration":-1.2811783789950817,"pose":{"translation":{"x":5.761368024641861,"y":-2.285037706080595},"rotation":{"radians":0.11967857246497457}},"curvature":0.42246492951690434},{"time":5.887336289015701,"velocity":1.7066929506112065,"acceleration":-1.2071689070727012,"pose":{"translation":{"x":5.8317388121044775,"y":-2.275414037486129},"rotation":{"radians":0.15342908645472056}},"curvature":0.5304226929799345},{"time":5.925948846447882,"velocity":1.6600810718565184,"acceleration":-0.016498510217764335,"pose":{"translation":{"x":5.895781814300943,"y":-2.264301973572542},"rotation":{"radians":0.19127701241176445}},"curvature":0.6319766618968363},{"time":5.995113852613569,"velocity":1.658939952295582,"acceleration":2.6999999999999824,"pose":{"translation":{"x":6.007550991621105,"y":-2.238184699958877},"rotation":{"radians":0.26812054317861916}},"curvature":0.6345344005772399},{"time":6.0538674368383285,"velocity":1.8175746297024322,"acceleration":0.46182085727922534,"pose":{"translation":{"x":6.1053268053855545,"y":-2.208685692198668},"rotation":{"radians":0.3070457320188037}},"curvature":2.791280928536025E-14},{"time":6.108188895496059,"velocity":1.842661412308403,"acceleration":-2.098110831558125,"pose":{"translation":{"x":6.199952216830501,"y":-2.1782011027926833},"rotation":{"radians":0.320629751815646}},"curvature":0.26353888008416665},{"time":6.162784205539099,"velocity":1.7281144009548264,"acceleration":-1.6890109469977637,"pose":{"translation":{"x":6.2919379869050776,"y":-2.1459557772356694},"rotation":{"radians":0.35729450716432604}},"curvature":0.4855888493314479},{"time":6.218724978469333,"velocity":1.6336298230921449,"acceleration":-1.4764017727846201,"pose":{"translation":{"x":6.379141892524152,"y":-2.1107849752918497},"rotation":{"radians":0.4126651514990818}},"curvature":0.6921838319588445},{"time":6.274986268701847,"velocity":1.5505655544537111,"acceleration":-1.3253112834101113,"pose":{"translation":{"x":6.459927670080282,"y":-2.072093054962797},"rotation":{"radians":0.4836805820799579}},"curvature":0.8946047759588094},{"time":6.330851676511566,"velocity":1.4765264991311833,"acceleration":-1.213361529136395,"pose":{"translation":{"x":6.533124668926888,"y":-2.0297642854502436},"rotation":{"radians":0.5677347722248844}},"curvature":1.0942295680094478},{"time":6.35848162300802,"velocity":1.4430013850002892,"acceleration":-1.1319880735110903,"pose":{"translation":{"x":6.566628935025422,"y":-2.007309193722053},"rotation":{"radians":0.6138298431558038}},"curvature":1.1913581966357853},{"time":6.385821795371436,"velocity":1.4120526359571637,"acceleration":-1.042683020994962,"pose":{"translation":{"x":6.597987504861422,"y":-1.984073660118881},"rotation":{"radians":0.662164626463665}},"curvature":1.285116653549416},{"time":6.412818209996926,"velocity":1.3839039327994256,"acceleration":-0.9448390791430569,"pose":{"translation":{"x":6.6271670339410305,"y":-1.9601384772134873},"rotation":{"radians":0.7123568098053514}},"curvature":1.3740340109881797},{"time":6.439418455232365,"velocity":1.3587709815861946,"acceleration":-0.8385477328834093,"pose":{"translation":{"x":6.654155713608542,"y":-1.9355977094591659},"rotation":{"radians":0.7640025654309002}},"curvature":1.456538250746444},{"time":6.465570826966855,"velocity":1.3368409695587138,"acceleration":-0.7241835267449922,"pose":{"translation":{"x":6.67896201021775,"y":-1.910555906094834},"rotation":{"radians":0.8166807624370874}},"curvature":1.5310625404211395},{"time":6.49122393994431,"velocity":1.318263407730713,"acceleration":-0.6019339148536343,"pose":{"translation":{"x":6.7016134043032904,"y":-1.8851253140501194},"rotation":{"radians":0.8699591565747415}},"curvature":1.5961341811071255},{"time":6.516326689405129,"velocity":1.303153211474172,"acceleration":-0.4712638021365881,"pose":{"translation":{"x":6.722155129751999,"y":-1.8594230908504479},"rotation":{"radians":0.9234014388591596}},"curvature":1.6504288782344587},{"time":6.540828405399414,"velocity":1.2916064396358344,"acceleration":-0.3302919867664338,"pose":{"translation":{"x":6.7406489129742555,"y":-1.833568517522131},"rotation":{"radians":0.9765738785866126}},"curvature":1.6927756091736645},{"time":6.5646790324924895,"velocity":1.283728768627637,"acceleration":-0.17503358110861492,"pose":{"translation":{"x":6.757171712075334,"y":-1.8076802114974533},"rotation":{"radians":1.0290503142125185}},"curvature":1.7221033999561646},{"time":6.587829183921283,"velocity":1.2796767147198487,"acceleration":0.001572663323946682,"pose":{"translation":{"x":6.771814456026753,"y":-1.7818733395197603},"rotation":{"radians":1.0804144385146661}},"curvature":1.7373294291624883},{"time":6.610229959864006,"velocity":1.2797119435986017,"acceleration":0.21098435222013953,"pose":{"translation":{"x":6.784680783837622,"y":-1.7562568305485466},"rotation":{"radians":1.1302586694259535}},"curvature":1.7371966373448247},{"time":6.6318324801693445,"velocity":1.284269737351546,"acceleration":0.4709297421646685,"pose":{"translation":{"x":6.795885783725995,"y":-1.7309305886645412},"rotation":{"radians":1.1781793553039033}},"curvature":1.7200779215396507},{"time":6.652587159890048,"velocity":1.2940437333211272,"acceleration":0.8081506373693024,"pose":{"translation":{"x":6.805554732290213,"y":-1.7059827059747978},"rotation":{"radians":1.2237686037441655}},"curvature":1.6837741338932877},{"time":6.672442853649905,"velocity":1.310090124888565,"acceleration":1.572652156821387,"pose":{"translation":{"x":6.813821833680262,"y":-1.6814866755177813},"rotation":{"radians":1.266603651126242}},"curvature":1.6253473146165713},{"time":6.70915485285952,"velocity":1.3678253296267908,"acceleration":2.389413981417134,"pose":{"translation":{"x":6.826724384324077,"y":-1.6340544255433667},"rotation":{"radians":1.3421791884945402}},"curvature":1.4264660463431678},{"time":6.741942154372756,"velocity":1.4461677662754566,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.835797708401378,"y":-1.5888238920705637},"rotation":{"radians":1.4008735118959863}},"curvature":1.0885827493809026},{"time":6.805177133067726,"velocity":1.275433323799037,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.84754416027829,"y":-1.503579205050574},"rotation":{"radians":1.4510023040421736}},"curvature":1.7715692437350834E-13},{"time":6.839730435876133,"velocity":1.1821394062163388,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.851984607081678,"y":-1.4613534135337432},"rotation":{"radians":1.494256339822448}},"curvature":1.8581562360282755},{"time":6.85870357344745,"velocity":1.1309119347737835,"acceleration":-2.453765653252846,"pose":{"translation":{"x":6.853168939746769,"y":-1.439442477386759},"rotation":{"radians":1.5412128701960082}},"curvature":2.3718651198268668},{"time":6.879260300830578,"velocity":1.0804705431777826,"acceleration":-0.46628027259502325,"pose":{"translation":{"x":6.853201355393319,"y":-1.416713107132108},"rotation":{"radians":1.5984874223807723}},"curvature":2.6266832511082527},{"time":6.901311991568937,"velocity":1.0701882748091194,"acceleration":0.6347536638938726,"pose":{"translation":{"x":6.851797763888517,"y":-1.3930418521610104},"rotation":{"radians":1.6617678831628404}},"curvature":2.681574207858292},{"time":6.924385541918498,"velocity":1.0848342954325427,"acceleration":1.243924337656263,"pose":{"translation":{"x":6.848720491289746,"y":-1.368371019608779},"rotation":{"radians":1.727681467037012}},"curvature":2.6037022610886744},{"time":6.948157758070287,"velocity":1.1144051336637788,"acceleration":1.53611038866327,"pose":{"translation":{"x":6.843775691827878,"y":-1.3427025692897732},"rotation":{"radians":1.7938691163350458}},"curvature":2.452714373008888},{"time":6.972434640224282,"velocity":1.1516971045448856,"acceleration":1.6080339309107041,"pose":{"translation":{"x":6.8368107598905645,"y":-1.3160920086323515},"rotation":{"radians":1.8588850345754167}},"curvature":2.2733571203755925},{"time":6.997118737181306,"velocity":1.1913899700056692,"acceleration":1.5276090905729411,"pose":{"translation":{"x":6.827711742005542,"y":-1.288642287613827},"rotation":{"radians":1.9220079361582072}},"curvature":2.094788467210639},{"time":7.022175917184027,"velocity":1.2296675459619486,"acceleration":1.3491221902324873,"pose":{"translation":{"x":6.816400748823918,"y":-1.26049769369542},"rotation":{"radians":1.983035882179852}},"curvature":1.9335057759263254},{"time":7.047607828685512,"velocity":1.2639783021086313,"acceleration":1.1162273898528863,"pose":{"translation":{"x":6.80283336710347,"y":-1.2318377467572112},"rotation":{"radians":2.04210731027512}},"curvature":1.7972396387520346},{"time":7.073432033759282,"velocity":1.2928039871331505,"acceleration":0.8621262886859563,"pose":{"translation":{"x":6.786996071691942,"y":-1.2028710940330978},"rotation":{"radians":2.099563886717887}},"curvature":1.68834855487756},{"time":7.099669243977114,"velocity":1.3154237758037226,"acceleration":0.6103282919627941,"pose":{"translation":{"x":6.768903637510342,"y":-1.173829405045744},"rotation":{"radians":2.1558539023196386}},"curvature":1.6062425050525895},{"time":7.126336038770498,"velocity":1.3316992751220913,"acceleration":0.3764689796563682,"pose":{"translation":{"x":6.748596551536233,"y":-1.1449612665415376},"rotation":{"radians":2.2114675639221404}},"curvature":1.5488906518147985},{"time":7.153441291708363,"velocity":1.341903562038937,"acceleration":0.17062261728712894,"pose":{"translation":{"x":6.726138424787028,"y":-1.1165260774255419},"rotation":{"radians":2.2668940922447476}},"curvature":1.5136421893631578},{"time":7.180984765222517,"velocity":1.3466031015791007,"acceleration":-5.147317852282571E-4,"pose":{"translation":{"x":6.701613404303294,"y":-1.0887879436964503},"rotation":{"radians":2.322591776298438}},"curvature":1.4975883328404802},{"time":7.208956668715794,"velocity":1.3465887035512794,"acceleration":-0.13193326487499998,"pose":{"translation":{"x":6.675123585132039,"y":-1.0620095733815398},"rotation":{"radians":2.3789641359324474}},"curvature":1.4976373460809593},{"time":7.2373372877694475,"velocity":1.3428443558203573,"acceleration":-0.21921548777574487,"pose":{"translation":{"x":6.64678642231001,"y":-1.0364461714716247},"rotation":{"radians":2.436337296083099}},"curvature":1.510419396154959},{"time":7.266096060497662,"velocity":1.33653998742891,"acceleration":-0.25798249485304003,"pose":{"translation":{"x":6.61673214284699,"y":-1.0123393348560101},"rotation":{"radians":2.4949354139148214}},"curvature":1.5321023743715674},{"time":7.295189722975062,"velocity":1.329034331798578,"acceleration":-0.24372463969625774,"pose":{"translation":{"x":6.585101157709093,"y":-0.9899109472574465},"rotation":{"radians":2.5548526471510677}},"curvature":1.5581852495692718},{"time":7.324559401582942,"velocity":1.3218762174618774,"acceleration":-0.1717890176432394,"pose":{"translation":{"x":6.55204147380206,"y":-0.9693570741670829},"rotation":{"radians":2.6160218892927363}},"curvature":1.5833363289355815},{"time":7.354126813659562,"velocity":1.316796860786982,"acceleration":-0.037229041963867934,"pose":{"translation":{"x":6.517706105954552,"y":-0.95084185777942},"rotation":{"radians":2.6781823924242776}},"curvature":1.601349249099422},{"time":7.3837900293399334,"velocity":1.3156925276856342,"acceleration":0.16584916933394078,"pose":{"translation":{"x":6.4822504889014505,"y":-0.9344914119272651},"rotation":{"radians":2.7408502576277325}},"curvature":1.6052839514494401},{"time":7.413419475202377,"velocity":1.3206065466697454,"acceleration":0.44590694896712413,"pose":{"translation":{"x":6.445829889267147,"y":-0.920387717016685},"rotation":{"radians":2.8032970531227175}},"curvature":1.5878259726668469},{"time":7.4428549093283305,"velocity":1.3337320112923718,"acceleration":0.8172350970501214,"pose":{"translation":{"x":6.408596817548844,"y":-0.90856251496196},"rotation":{"radians":2.8645417046334765}},"curvature":1.5418259918675647},{"time":7.4719038594528895,"velocity":1.35747183286662,"acceleration":1.3060750162896464,"pose":{"translation":{"x":6.370698440099848,"y":-0.898991204120538},"rotation":{"radians":2.9233585582299653}},"curvature":1.4608860227818288},{"time":7.500341476495138,"velocity":1.3946134940083135,"acceleration":1.9621815818436252,"pose":{"translation":{"x":6.332273991112865,"y":-0.8915867342279876},"rotation":{"radians":2.9783000838047666}},"curvature":1.3397811496678185},{"time":7.527911070422358,"velocity":1.4487100434312117,"acceleration":2.6999999999999984,"pose":{"translation":{"x":6.293452184603297,"y":-0.8861935013329516},"rotation":{"radians":3.027727173937782}},"curvature":1.1745015638892786},{"time":7.579669738242302,"velocity":1.5884584465450595,"acceleration":-0.08622710402649529,"pose":{"translation":{"x":6.215063226091267,"y":-0.8804389319050934},"rotation":{"radians":3.1026663712086755}},"curvature":0.6983328490907881},{"time":7.629361047262828,"velocity":1.584173708872934,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.1362525285061205,"y":-0.8788795980158471},"rotation":{"radians":3.131789046110493}},"curvature":-1.3496542794051404E-14},{"time":7.681530743508873,"velocity":1.4433155290086135,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.0572821849446274,"y":-0.8793245304375282},"rotation":{"radians":-3.1065366404729224}},"curvature":1.0622129743789184},{"time":7.709782181592155,"velocity":1.3670366461837502,"acceleration":-2.462487092790928,"pose":{"translation":{"x":6.017652439251256,"y":-0.8816556098020346},"rotation":{"radians":-3.0567137117694307}},"curvature":1.429069662215705},{"time":7.739841651092002,"velocity":1.2930155905242353,"acceleration":-1.2773995986591504,"pose":{"translation":{"x":5.977938270388472,"y":-0.8862573007373383},"rotation":{"radians":-2.9940377392669313}},"curvature":1.6875671589121797},{"time":7.771589264460554,"velocity":1.2524612019488606,"acceleration":-0.4680929533905631,"pose":{"translation":{"x":5.938205606422835,"y":-0.8936053006215278},"rotation":{"radians":-2.922368046743592}},"curvature":1.8421476920110798},{"time":7.8045258937883295,"velocity":1.237043797852092,"acceleration":0.10476012753688066,"pose":{"translation":{"x":5.898560049495785,"y":-0.9040485692214991},"rotation":{"radians":-2.845269966839634}},"curvature":1.9035729350390005},{"time":7.838230976271646,"velocity":1.2405747465916854,"acceleration":0.5038928378210383,"pose":{"translation":{"x":5.8591419652278445,"y":-0.9178190171657469},"rotation":{"radians":-2.7658377209734057}},"curvature":1.8893703177109238},{"time":7.872375063322394,"velocity":1.2577797075104957,"acceleration":0.7604704522833328,"pose":{"translation":{"x":5.820121572122819,"y":-0.9350411944171553},"rotation":{"radians":-2.6865373237047723}},"curvature":1.8213073069968178},{"time":7.906721322599329,"velocity":1.2838990228370668,"acceleration":0.8948600179778738,"pose":{"translation":{"x":5.781694030972,"y":-0.9557419787457884},"rotation":{"radians":-2.6091299725611385}},"curvature":1.7214657553335084},{"time":7.941114700321354,"velocity":1.3146762814437178,"acceleration":0.9257327638394642,"pose":{"translation":{"x":5.7440745342583694,"y":-0.9798602642016813},"rotation":{"radians":-2.534693306744826}},"curvature":1.6089106436817548},{"time":7.975462826071504,"velocity":1.3464734668271103,"acceleration":0.8725698711873945,"pose":{"translation":{"x":5.707493395560797,"y":-1.007256649587631},"rotation":{"radians":-2.463717482289093}},"curvature":1.4980296684969048},{"time":8.009714680373555,"velocity":1.3763606029233801,"acceleration":0.7547204886792316,"pose":{"translation":{"x":5.672191138958245,"y":-1.037723126931987},"rotation":{"radians":-2.3962358647899276}},"curvature":1.3984801293003415},{"time":8.043841918457776,"velocity":1.4021171287275762,"acceleration":0.58942778363104,"pose":{"translation":{"x":5.638413588433969,"y":-1.070992769961442},"rotation":{"radians":-2.331954975508437}},"curvature":1.3160936886933714},{"time":8.077825409229675,"velocity":1.422147942373302,"acceleration":0.3903664929557621,"pose":{"translation":{"x":5.60640695727972,"y":-1.1067494225738237},"rotation":{"radians":-2.2703629028049113}},"curvature":1.2540847206404915},{"time":8.111647488455246,"velocity":1.4353509488250604,"acceleration":0.16730300980418494,"pose":{"translation":{"x":5.576412937499948,"y":-1.1446373873108833},"rotation":{"radians":-2.2108092449988384}},"curvature":1.21415879965412},{"time":8.145289178712709,"velocity":1.4409793048600341,"acceleration":-0.07314317878162659,"pose":{"translation":{"x":5.548663789216002,"y":-1.1842711138310893},"rotation":{"radians":-2.152558545394135}},"curvature":1.1973610655232012},{"time":8.178731095334074,"velocity":1.4385332567737974,"acceleration":-0.3258895163617576,"pose":{"translation":{"x":5.523377430070332,"y":-1.225244887382416},"rotation":{"radians":-2.0948233843766975}},"curvature":1.20464510558545},{"time":8.211956625780754,"velocity":1.4277054047256659,"acceleration":-0.5851708781171413,"pose":{"translation":{"x":5.500752524630691,"y":-1.2671425172751354},"rotation":{"radians":-2.0367846989138014}},"curvature":1.2371889449971691},{"time":8.244955956331987,"velocity":1.4083951574897227,"acceleration":-0.8419174028442072,"pose":{"translation":{"x":5.480963573794339,"y":-1.3095470253546075},"rotation":{"radians":-1.9776073195482964}},"curvature":1.2964691494678222},{"time":8.27772943786038,"velocity":1.3808025930391759,"acceleration":-1.0810605489500367,"pose":{"translation":{"x":5.464156004192241,"y":-1.3520503344740715},"rotation":{"radians":-1.91645936159511}},"curvature":1.3840523747115796},{"time":8.310288540242036,"velocity":1.3456042319451424,"acceleration":-1.2794267400064179,"pose":{"translation":{"x":5.4504412575932735,"y":-1.3942629569674367},"rotation":{"radians":-1.8525455761999476}},"curvature":1.5009911361091886},{"time":8.342652251469387,"velocity":1.3041972343950248,"acceleration":-1.4052189144206755,"pose":{"translation":{"x":5.439891880308422,"y":-1.435823683122073},"rotation":{"radians":-1.7851669930124427}},"curvature":1.6466369835629426},{"time":8.374836394750275,"velocity":1.258971467512295,"acceleration":-1.4198832295583168,"pose":{"translation":{"x":5.432536612594985,"y":-1.4764092696516016},"rotation":{"radians":-1.7138210860620298}},"curvature":1.8166615839118367},{"time":8.40683338399554,"velocity":1.2135394790865845,"acceleration":-1.2816300775333107,"pose":{"translation":{"x":5.428355478060779,"y":-1.5157441281686852},"rotation":{"radians":-1.6383554728237186}},"curvature":2.00022111237521},{"time":8.438581170997002,"velocity":1.1728505603703894,"acceleration":-0.946692168356731,"pose":{"translation":{"x":5.427274873068333,"y":-1.5536100136578201},"rotation":{"radians":-1.5591788539788232}},"curvature":2.1766885360236947},{"time":8.469923452820067,"velocity":1.1431790676300646,"acceleration":-0.3601833316936291,"pose":{"translation":{"x":5.4291626561390975,"y":-1.589855712948129},"rotation":{"radians":-1.477510001528427}},"curvature":2.3132938009500545},{"time":8.50056875331558,"velocity":1.1321411411968383,"acceleration":0.5772634910027226,"pose":{"translation":{"x":5.433823237357643,"y":-1.6244067331861447},"rotation":{"radians":-1.3956094518301694}},"curvature":2.365938863302389},{"time":8.530061571058377,"velocity":1.1491662681265526,"acceleration":2.0972476361380807,"pose":{"translation":{"x":5.440992667775863,"y":-1.6572749903086093},"rotation":{"radians":-1.31690582520533}},"curvature":2.2851610854603064},{"time":8.557779300783494,"velocity":1.2072972112716698,"acceleration":2.700000000000008,"pose":{"translation":{"x":5.4503337288171725,"y":-1.6885684975152582},"rotation":{"radians":-1.2459338716194437}},"curvature":2.0265213259962254},{"time":8.583482644202075,"velocity":1.27669623850184,"acceleration":2.7000000000000144,"pose":{"translation":{"x":5.461431021680719,"y":-1.7185010537416168},"rotation":{"radians":-1.1880679273629566}},"curvature":1.560926730006552},{"time":8.630207490881409,"velocity":1.402853324536044,"acceleration":2.699999999999986,"pose":{"translation":{"x":5.486812342974934,"y":-1.7757255685112403},"rotation":{"radians":-1.1349193543875298}},"curvature":-2.9874785880668607E-14},{"time":8.674011547465867,"velocity":1.5211242773140814,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.513815995351345,"y":-1.8337949888915857},"rotation":{"radians":-1.1362726057076036}},"curvature":-0.016539811910726683},{"time":8.720365585754886,"velocity":1.6462801806944318,"acceleration":2.6999999999999766,"pose":{"translation":{"x":5.544734274421549,"y":-1.9003775243225272},"rotation":{"radians":-1.1349949681124527}},"curvature":0.052034630467225826},{"time":8.772098509755157,"velocity":1.7859590754951644,"acceleration":2.1924177986393847,"pose":{"translation":{"x":5.582475456215184,"y":-1.9807359178323514},"rotation":{"radians":-1.1276106925747755}},"curvature":0.10787742141813664},{"time":8.829931106995103,"velocity":1.9127522910255637,"acceleration":-0.2101437475843327,"pose":{"translation":{"x":5.628961946084036,"y":-2.0770580831669134},"rotation":{"radians":-1.1141176507955801}},"curvature":0.14078302436425447},{"time":8.895663830238991,"velocity":1.898938970224169,"acceleration":-0.18511648609661868,"pose":{"translation":{"x":5.68525344175341,"y":-2.188975239005737},"rotation":{"radians":-1.0949403737120962}},"curvature":0.16425844298227135},{"time":8.932046588530001,"velocity":1.8922039218548345,"acceleration":-0.1904791788428733,"pose":{"translation":{"x":5.717201635343008,"y":-2.2500951074866418},"rotation":{"radians":-1.0832133988451098}},"curvature":0.1758287999775167},{"time":8.970530511617142,"velocity":1.8848735357865436,"acceleration":-0.20634317548370082,"pose":{"translation":{"x":5.7516700963735,"y":-2.3140800431781168},"rotation":{"radians":-1.0699787075876546}},"curvature":0.188515879980846},{"time":9.010891196405279,"velocity":1.8765453839226627,"acceleration":-0.23056062165592422,"pose":{"translation":{"x":5.788603496586915,"y":-2.3803956095708028},"rotation":{"radians":-1.0551275864098477}},"curvature":0.2030501201491312},{"time":9.052878773363807,"velocity":1.8668647020772786,"acceleration":-0.2622876971861426,"pose":{"translation":{"x":5.827915681570757,"y":-2.4484447268792158},"rotation":{"radians":-1.0385150768563445}},"curvature":0.22010776296991852},{"time":9.096226534682831,"velocity":1.8554951175827372,"acceleration":-0.30140497595688476,"pose":{"translation":{"x":5.869493519603363,"y":-2.5175838637359975},"rotation":{"radians":-1.019960546861272}},"curvature":0.2403685783291652},{"time":9.14065963010785,"velocity":1.8421027615244694,"acceleration":-0.3480910740607964,"pose":{"translation":{"x":5.913200750499257,"y":-2.587139228886169},"rotation":{"radians":-0.9992481395141277}},"curvature":0.2645548152728291},{"time":9.185903691159188,"velocity":1.826353707718237,"acceleration":-0.40241886682811373,"pose":{"translation":{"x":5.9588818344545045,"y":-2.6564229628813836},"rotation":{"radians":-0.9761279124327613}},"curvature":0.2934510135050659},{"time":9.231693154904216,"velocity":1.8079271636052963,"acceleration":-0.46386420004999546,"pose":{"translation":{"x":6.006365800892068,"y":-2.7247493297741805},"rotation":{"radians":-0.9503189521184723}},"curvature":0.32789893764181127},{"time":9.277778930137167,"velocity":1.7865496223431796,"acceleration":-0.5306327729840559,"pose":{"translation":{"x":6.055470097307166,"y":-2.7914509088122372},"rotation":{"radians":-0.9215164137195069}},"curvature":0.3687540797437851},{"time":9.323934864678199,"velocity":1.762057770808001,"acceleration":-0.5987405203331928,"pose":{"translation":{"x":6.10600443811262,"y":-2.8558947861326245},"rotation":{"radians":-0.8894053775600914}},"curvature":0.4167795224641493},{"time":9.369962225108107,"velocity":1.7344993250746343,"acceleration":-0.6608533400317897,"pose":{"translation":{"x":6.157774653484221,"y":-2.9174987464560562},"rotation":{"radians":-0.8536856455447042}},"curvature":0.47243980767312477},{"time":9.415691106547454,"velocity":1.704279241039524,"acceleration":-0.7050229514821472,"pose":{"translation":{"x":6.210586538206073,"y":-2.975747464781147},"rotation":{"radians":-0.8141129836732013}},"curvature":0.5355450972321937},{"time":9.460977420157452,"velocity":1.6723513505564576,"acceleration":-0.7136184146302689,"pose":{"translation":{"x":6.264249700515956,"y":-3.0302086980786602},"rotation":{"radians":-0.7705633800164033}},"curvature":0.6046942607952271},{"time":9.505694023941569,"velocity":1.6404407586563865,"acceleration":-0.662807270212816,"pose":{"translation":{"x":6.31858141095068,"y":-3.080549476985765},"rotation":{"radians":-0.7231265815336309}},"curvature":0.6764954717393413},{"time":9.549714956968483,"velocity":1.6112633642045961,"acceleration":-0.5226087445571065,"pose":{"translation":{"x":6.373410451191438,"y":-3.126552297500287},"rotation":{"radians":-0.6722317125644008}},"curvature":0.7446358293261276},{"time":9.59289297990192,"velocity":1.5886981518468948,"acceleration":-0.25653506349819394,"pose":{"translation":{"x":6.428580962909164,"y":-3.1681313126749653},"rotation":{"radians":-0.6187990131673747}},"curvature":0.7990505604509784},{"time":9.635032954545716,"velocity":1.5778877707758365,"acceleration":0.18186477554122046,"pose":{"translation":{"x":6.483956296609884,"y":-3.205348524311699},"rotation":{"radians":-0.5643967569060475}},"curvature":0.8256705872409517},{"time":9.675866692695175,"velocity":1.5853139893988968,"acceleration":0.8603217490189958,"pose":{"translation":{"x":6.539422860480078,"y":-3.2384299746558063},"rotation":{"radians":-0.5113645424618696}},"curvature":0.8073448559759118},{"time":9.715037545239566,"velocity":1.619013525770453,"acceleration":1.8941257177804751,"pose":{"translation":{"x":6.594893969232029,"y":-3.267781938090276},"rotation":{"radians":-0.4628530915600462}},"curvature":0.7262966991960407},{"time":9.752103563683558,"velocity":1.6892212245609457,"acceleration":2.700000000000018,"pose":{"translation":{"x":6.65031369294918,"y":-3.2940071128300197},"rotation":{"radians":-0.4227382002790479}},"curvature":0.5678319319036585},{"time":9.819530294527256,"velocity":1.871273397838931,"acceleration":0.41257883703244547,"pose":{"translation":{"x":6.760952135540793,"y":-3.3405671584101064},"rotation":{"radians":-0.3853198176751691}},"curvature":-3.568404011740405E-14},{"time":9.882786412769127,"velocity":1.8973715335383485,"acceleration":-1.1204921624339361,"pose":{"translation":{"x":6.871565862941563,"y":-3.384974740911895},"rotation":{"radians":-0.3749068184419325}},"curvature":0.1669438591847653},{"time":9.946410377217465,"velocity":1.8260813800310096,"acceleration":-0.8097591513268768,"pose":{"translation":{"x":6.982324743425078,"y":-3.426962499776667},"rotation":{"radians":-0.34729592857952807}},"curvature":0.2939550613525814},{"time":10.011323221522208,"velocity":1.7735176103165877,"acceleration":-0.6434353177055986,"pose":{"translation":{"x":7.092923559130723,"y":-3.464607888085905},"rotation":{"radians":-0.3069108647204054}},"curvature":0.39414309572055434},{"time":10.076526901179063,"velocity":1.7315632599810051,"acceleration":-0.5731316490912619,"pose":{"translation":{"x":7.202658440298267,"y":-3.4964883725963083},"rotation":{"radians":-0.25696495811314823}},"curvature":0.47847426426559647},{"time":10.141185613878491,"velocity":1.6945053053434633,"acceleration":-0.5776967184598296,"pose":{"translation":{"x":7.310528793310386,"y":-3.5216347167203006},"rotation":{"radians":-0.19965080629313658}},"curvature":0.5564366526783604},{"time":10.20461510696775,"velocity":1.6578622953322282,"acceleration":-0.6499641039146214,"pose":{"translation":{"x":7.415339228735183,"y":-3.5394842635065453},"rotation":{"radians":-0.13629498683287739}},"curvature":0.6369531250788507},{"time":10.26627867664414,"velocity":1.617783188523337,"acceleration":-0.7881516630656061,"pose":{"translation":{"x":7.515801489368694,"y":-3.5498342186204628},"rotation":{"radians":-0.06747821579404756}},"curvature":0.7291963010074658},{"time":10.325790212303458,"velocity":1.5708790727218573,"acceleration":-0.985667960244767,"pose":{"translation":{"x":7.6106363782773965,"y":-3.5527949333247437},"rotation":{"radians":0.006856432640540043}},"curvature":0.8431249288458307},{"time":10.38291803498104,"velocity":1.5145700082700198,"acceleration":-1.158445539755004,"pose":{"translation":{"x":7.698675686840731,"y":-3.5487431874598667},"rotation":{"radians":0.08726414438930495}},"curvature":0.9892185287145076},{"time":10.410547357336844,"velocity":1.4825629430204865,"acceleration":-1.271036005341017,"pose":{"translation":{"x":7.739837365519994,"y":-3.544266740311868},"rotation":{"radians":0.12999693859895942}},"curvature":1.0772075217169417},{"time":10.437559025197276,"velocity":1.4482301406055655,"acceleration":-1.3658083548960502,"pose":{"translation":{"x":7.778964122793601,"y":-3.5382754724246124},"rotation":{"radians":0.17454284199249823}},"curvature":1.1759135136357581},{"time":10.46395786305885,"velocity":1.4121743872946804,"acceleration":-1.4230759417353271,"pose":{"translation":{"x":7.815986537878432,"y":-3.5308706106429226},"rotation":{"radians":0.22095285474791476}},"curvature":1.2847397593008736},{"time":10.489747163767328,"velocity":1.3754742539022664,"acceleration":-1.4166133324392403,"pose":{"translation":{"x":7.850861238268895,"y":-3.5221612741565806},"rotation":{"radians":0.2691995363433516}},"curvature":1.4013701773032536},{"time":10.514921350762911,"velocity":1.3398121649710042,"acceleration":-1.3126895709286885,"pose":{"translation":{"x":7.883574084988262,"y":-3.512263014593467},"rotation":{"radians":0.3191262876820936}},"curvature":1.5208227153430485},{"time":10.539456114179455,"velocity":1.3076056369089042,"acceleration":-1.0678789212638646,"pose":{"translation":{"x":7.91414335783999,"y":-3.5012963561127033},"rotation":{"radians":0.37038254010680066}},"curvature":1.6342998063405612},{"time":10.56329625345889,"velocity":1.2821472546924002,"acceleration":-0.62300059295076,"pose":{"translation":{"x":7.942622940659051,"y":-3.489385335497793},"rotation":{"radians":0.42234699326785075}},"curvature":1.7280346581221933},{"time":10.586342321745798,"velocity":1.2677895404844732,"acceleration":0.11220725013773757,"pose":{"translation":{"x":7.969105506563265,"y":-3.4766560422497625},"rotation":{"radians":0.4740464245862101}},"curvature":1.7825583454503058},{"time":10.60843840986793,"velocity":1.2702688817714587,"acceleration":1.2945654598322394,"pose":{"translation":{"x":7.993725703204623,"y":-3.463235158680302},"rotation":{"radians":0.5240850047393663}},"curvature":1.773054957153259},{"time":10.629364820812148,"velocity":1.2973594905781,"acceleration":1.7443493412320004,"pose":{"translation":{"x":8.016663338020617,"y":-3.449248500004906},"rotation":{"radians":0.5706068403525518}},"curvature":1.6715825978442673},{"time":10.667666874944894,"velocity":1.3641716534723891,"acceleration":-2.7,"pose":{"translation":{"x":8.058455062361967,"y":-3.42006802327616},"rotation":{"radians":0.6436060077103064}},"curvature":1.095741168784282},{"time":10.704813224370183,"velocity":1.2638765100241078,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.096943374347772,"y":-3.390048315402949},"rotation":{"radians":0.672247181806882}},"curvature":-2.787021037671447E-13},{"time":10.745180165767408,"velocity":1.1548857682515996,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.134557965995524,"y":-3.3589285632876065},"rotation":{"radians":0.7266347380610323}},"curvature":2.0205918115699713},{"time":10.767527915759091,"velocity":1.0945468432740548,"acceleration":-1.7865737698374673,"pose":{"translation":{"x":8.152869542150555,"y":-3.341710888890333},"rotation":{"radians":0.7848315484298528}},"curvature":2.5532105140918953},{"time":10.791734612054688,"velocity":1.0512997946179188,"acceleration":0.0240302738542293,"pose":{"translation":{"x":8.17060129675742,"y":-3.3227339035945405},"rotation":{"radians":0.8547801268805426}},"curvature":2.7852065306571983},{"time":10.81746824289604,"velocity":1.0519181808143,"acceleration":1.090941557373027,"pose":{"translation":{"x":8.187577758965592,"y":-3.3016593624648842},"rotation":{"radians":0.9305645381411529}},"curvature":2.781754805313535},{"time":10.844078480065141,"velocity":1.0809483943936251,"acceleration":1.7229787882071528,"pose":{"translation":{"x":8.203633243724457,"y":-3.278259902703933},"rotation":{"radians":1.0075381242431172}},"curvature":2.6241576789061507},{"time":10.871134099939148,"velocity":1.1275646535383361,"acceleration":2.044021981914727,"pose":{"translation":{"x":8.218612316299136,"y":-3.2524098860546},"rotation":{"radians":1.0825127879267544}},"curvature":2.388068549471008},{"time":10.898394410136582,"velocity":1.183285326815706,"acceleration":2.123721173375994,"pose":{"translation":{"x":8.2323702567863,"y":-3.2240762412025705},"rotation":{"radians":1.153650620142098}},"curvature":2.130275972182423},{"time":10.925757147335872,"velocity":1.2413961511673597,"acceleration":2.0213213812571853,"pose":{"translation":{"x":8.244773524629995,"y":-3.1933093061787345},"rotation":{"radians":1.2201762239591805}},"curvature":1.8860779466753734},{"time":10.953203981285041,"velocity":1.2968750234766298,"acceleration":1.7939782607587298,"pose":{"translation":{"x":8.25570022313745,"y":-3.1602336707616185},"rotation":{"radians":1.282046135917554}},"curvature":1.6733600209313169},{"time":10.980756403679559,"velocity":1.3463034702836372,"acceleration":1.4923463861587445,"pose":{"translation":{"x":8.265040563994912,"y":-3.1250390188798134},"rotation":{"radians":1.3396645224757533}},"curvature":1.4986085428536888},{"time":11.008445911561205,"velocity":1.3876258073053263,"acceleration":1.1553802007373766,"pose":{"translation":{"x":8.272697331783444,"y":-3.087970971014407},"rotation":{"radians":1.393677454266626}},"curvature":1.3620702315154585},{"time":11.036297095768854,"velocity":1.4198045141059334,"acceleration":0.8087247006648917,"pose":{"translation":{"x":8.278586348494763,"y":-3.0493219266014138},"rotation":{"radians":1.4448418381519719}},"curvature":1.261248848361819},{"time":11.064320355725757,"velocity":1.4424676166262347,"acceleration":0.46648496270919426,"pose":{"translation":{"x":8.282636938047048,"y":-3.009421906434206},"rotation":{"radians":1.4939510341608968}},"curvature":1.192941138640494},{"time":11.092510976614278,"velocity":1.4556181173601657,"acceleration":0.13467598462897196,"pose":{"translation":{"x":8.284792390800762,"y":-2.9686293950659444},"rotation":{"radians":1.5417981264600373}},"curvature":1.1542800792072208},{"time":11.120851995478285,"velocity":1.459434971981064,"acceleration":-0.18503167695999476,"pose":{"translation":{"x":8.285010428074468,"y":-2.927322183212007},"rotation":{"radians":1.5891616086857403}},"curvature":1.143189393386008},{"time":11.149319004532076,"velocity":1.4541676735578055,"acceleration":-0.4918985578790323,"pose":{"translation":{"x":8.283263666660654,"y":-2.885888210152424},"rotation":{"radians":1.636802497506564}},"curvature":1.1585099193427613},{"time":11.1778855507776,"velocity":1.4401158306560478,"acceleration":-0.7831438935067128,"pose":{"translation":{"x":8.279540083341542,"y":-2.844716406134302},"rotation":{"radians":1.6854649445431082}},"curvature":1.1999295632465516},{"time":11.20652804114105,"velocity":1.417684639233087,"acceleration":-1.0513835631417279,"pose":{"translation":{"x":8.273843479404917,"y":-2.8041875347742615},"rotation":{"radians":1.7358739304854196}},"curvature":1.2677499510532177},{"time":11.235229072103452,"velocity":1.3875088470339954,"acceleration":-1.2826108500663078,"pose":{"translation":{"x":8.266193945159939,"y":-2.7646650354608617},"rotation":{"radians":1.7887237257729862}},"curvature":1.362445217661834},{"time":11.263977919902002,"velocity":1.3506352629206702,"acceleration":-1.4551516334177879,"pose":{"translation":{"x":8.256628324452965,"y":-2.726485865757035},"rotation":{"radians":1.844649800706965}},"curvature":1.483903320534828},{"time":11.292766639375634,"velocity":1.3087433107546096,"acceleration":-1.5401682155300371,"pose":{"translation":{"x":8.245200679183364,"y":-2.6899513438025164},"rotation":{"radians":1.9041753414183076}},"curvature":1.6301961451172062},{"time":11.321580006835342,"velocity":1.2643658780107787,"acceleration":-1.5038187571727237,"pose":{"translation":{"x":8.231982753819342,"y":-2.6553179907162723},"rotation":{"radians":1.9676226717805982}},"curvature":1.7957426126716163},{"time":11.350377750000291,"velocity":1.2210592916750849,"acceleration":-1.3096763002344445,"pose":{"translation":{"x":8.217064439913752,"y":-2.622788372998934},"rotation":{"radians":2.034981967891211}},"curvature":1.9688953722788336},{"time":11.379068665109497,"velocity":1.1834834801245195,"acceleration":-0.91747616427997,"pose":{"translation":{"x":8.200554240619926,"y":-2.592501944935227},"rotation":{"radians":2.1057380785550297}},"curvature":2.1294025290491683},{"time":11.407478838307942,"velocity":1.1574178233918813,"acceleration":-0.27101106314833645,"pose":{"translation":{"x":8.182579735207474,"y":-2.5645258909964013},"rotation":{"radians":2.178674004001982}},"curvature":2.2468655838223976},{"time":11.435320122534025,"velocity":1.1498725273543553,"acceleration":0.737496307997815,"pose":{"translation":{"x":8.163288043578126,"y":-2.5388459682426614},"rotation":{"radians":2.2516947501588493}},"curvature":2.281861825372894},{"time":11.462168559257933,"velocity":1.1696731503137507,"acceleration":2.3567445449009274,"pose":{"translation":{"x":8.142846290781529,"y":-2.5153573487256002},"rotation":{"radians":2.3217353486152947}},"curvature":2.190985737940753},{"time":11.487462280973476,"velocity":1.229283990987102,"acceleration":2.7000000000001054,"pose":{"translation":{"x":8.121442071531082,"y":-2.4938554618906257},"rotation":{"radians":2.3848099378396634}},"curvature":1.9350720677060358},{"time":11.511040471526455,"velocity":1.2929451054801469,"acceleration":2.700000000000057,"pose":{"translation":{"x":8.099283914719747,"y":-2.4740268369793927},"rotation":{"radians":2.436212811045131}},"curvature":1.4873792591125539},{"time":11.554280998136795,"velocity":1.409694527328067,"acceleration":0.2821257152675251,"pose":{"translation":{"x":8.053647361978992,"y":-2.437536043290592},"rotation":{"radians":2.483464928373856}},"curvature":-1.3698762162005308E-13},{"time":11.635499354269035,"velocity":1.4326083141447277,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.96117069158718,"y":-2.368466015327747},"rotation":{"radians":2.5369928581630763}},"curvature":1.0399598589066348},{"time":11.677561983973016,"velocity":1.3190392139439782,"acceleration":-1.7778731776504146,"pose":{"translation":{"x":7.91240638130442,"y":-2.3373040586323},"rotation":{"radians":2.61434205399187}},"curvature":1.5933800897975612},{"time":11.700512543074263,"velocity":1.2782360305057914,"acceleration":-0.2565561391449199,"pose":{"translation":{"x":7.8862878970003205,"y":-2.322946810158374},"rotation":{"radians":2.664366105597434}},"curvature":1.7427662179351286},{"time":11.72477594600922,"velocity":1.2720111055262813,"acceleration":1.0423621367070046,"pose":{"translation":{"x":7.858428734780647,"y":-2.3094902611749495},"rotation":{"radians":2.718995209324154}},"curvature":1.766399125109531},{"time":11.750133399089641,"velocity":1.2984427545006365,"acceleration":2.061672104249191,"pose":{"translation":{"x":7.828338197830325,"y":-2.2969733524855083},"rotation":{"radians":2.775245507404896}},"curvature":1.6676130949360795},{"time":11.776400071374725,"velocity":1.3525960200222515,"acceleration":2.699999999999905,"pose":{"translation":{"x":7.795495010921529,"y":-2.285417081311046},"rotation":{"radians":2.8301637542164064}},"curvature":1.4772780656246616},{"time":11.803507660825566,"velocity":1.4257865115395174,"acceleration":2.7000000000000908,"pose":{"translation":{"x":7.759357407042884,"y":-2.2748260275563386},"rotation":{"radians":2.8813398945937534}},"curvature":1.2395385890084851},{"time":11.83160658309351,"velocity":1.501653601662967,"acceleration":2.6999999999999824,"pose":{"translation":{"x":7.719373214028678,"y":-2.2651898800761994},"rotation":{"radians":2.927189762661659}},"curvature":0.9952887213572017},{"time":11.891722665206554,"velocity":1.6639670233681871,"acceleration":2.2285292746025402,"pose":{"translation":{"x":7.625664865934271,"y":-2.2486757617066493},"rotation":{"radians":3.0006158298296985}},"curvature":0.5844146961271413},{"time":11.958608105659193,"velocity":1.8130231854615761,"acceleration":1.2981073683704527,"pose":{"translation":{"x":7.5101277781356695,"y":-2.235552414159634},"rotation":{"radians":3.051256738618408}},"curvature":0.3183020153234541},{"time":11.995289238838465,"velocity":1.8606392347217673,"acceleration":0.9352359586060693,"pose":{"translation":{"x":7.442969940600548,"y":-2.2301217827642343},"rotation":{"radians":3.06957674540804}},"curvature":0.23117099259937773},{"time":12.034736312832282,"velocity":1.8975315567825786,"acceleration":0.6583534486314994,"pose":{"translation":{"x":7.368998823930037,"y":-2.2253569496337615},"rotation":{"radians":3.084162421412773}},"curvature":0.16666949547364027},{"time":12.07723343335315,"velocity":1.9255096826344007,"acceleration":0.45655878205012773,"pose":{"translation":{"x":7.287871845495836,"y":-2.221186101728629},"rotation":{"radians":3.0956527595729373}},"curvature":0.1194013143659248},{"time":12.123014521134047,"velocity":1.9464114403125774,"acceleration":0.31382880269028224,"pose":{"translation":{"x":7.199316710548963,"y":-2.217534745089381},"rotation":{"radians":3.1046072214432563}},"curvature":0.08497524507570217},{"time":12.172258054938021,"velocity":1.9618654795665171,"acceleration":0.21473381909047318,"pose":{"translation":{"x":7.103141498848956,"y":-2.2143272311029563},"rotation":{"radians":3.111501976800249}},"curvature":0.059993479862026994},{"time":12.225083246401507,"velocity":1.973208834673657,"acceleration":0.14664426968198285,"pose":{"translation":{"x":6.999244751293082,"y":-2.211488282768949},"rotation":{"radians":3.11673518143217}},"curvature":0.04190574277714775},{"time":12.281546816751066,"velocity":1.9814888937112052,"acceleration":0.10006227894648811,"pose":{"translation":{"x":6.887625556545544,"y":-2.2089445209658685},"rotation":{"radians":3.120636226575132}},"curvature":0.028833391033654638},{"time":12.341639905467533,"velocity":1.9875019451171083,"acceleration":0.06818399911437426,"pose":{"translation":{"x":6.768393637666687,"y":-2.2066259907174035},"rotation":{"radians":3.1234761133333215}},"curvature":0.01940840539073906},{"time":12.405284873258415,"velocity":1.9918415135445962,"acceleration":0.0508498018629541,"pose":{"translation":{"x":6.641779438742209,"y":-2.2044676874586817},"rotation":{"radians":3.125477502696193}},"curvature":0.0126418259585506},{"time":12.438394052649766,"velocity":1.9935251087564914,"acceleration":0.041805963248977014,"pose":{"translation":{"x":6.575811489951417,"y":-2.203430036256668},"rotation":{"radians":3.1262223864348835}},"curvature":0.010024570117161737},{"time":12.472329355282385,"velocity":1.9949438067711935,"acceleration":0.03426207744727327,"pose":{"translation":{"x":6.508144211512361,"y":-2.202411083302532},"rotation":{"radians":3.1268238132890485}},"curvature":0.007822543474077822},{"time":12.507060158178591,"velocity":1.9961337562298294,"acceleration":0.027944582276712714,"pose":{"translation":{"x":6.4388448534262,"y":-2.2014047749943275},"rotation":{"radians":3.127299887090871}},"curvature":0.005977981738578354},{"time":12.542550864045399,"velocity":1.997125529179983,"acceleration":0.02262679008503712,"pose":{"translation":{"x":6.367990102001158,"y":-2.200405653305747},"rotation":{"radians":3.1276671973366104}},"curvature":0.004442296384952015},{"time":12.578760776947156,"velocity":1.9979448432782085,"acceleration":0.018120041690418837,"pose":{"translation":{"x":6.295666395059675,"y":-2.199408903481941},"rotation":{"radians":3.1279410141323836}},"curvature":0.00317480050721403},{"time":12.615643975783758,"velocity":1.9986131683788038,"acceleration":0.014266199495039916,"pose":{"translation":{"x":6.221970237145585,"y":-2.198410401735342},"rotation":{"radians":3.1281354721234154}},"curvature":0.002141657313974962},{"time":12.653149186042207,"velocity":1.9991482251904542,"acceleration":0.010931224037770509,"pose":{"translation":{"x":6.147008514731264,"y":-2.1974067629414833},"rotation":{"radians":3.128263745928916}},"curvature":0.0013150273522682377},{"time":12.691219650340308,"velocity":1.9995643819649187,"acceleration":0.007999579770038272,"pose":{"translation":{"x":6.070898811424805,"y":-2.19639538833482},"rotation":{"radians":3.1283382199451615}},"curvature":6.723965081606445E-4},{"time":12.729792998346843,"velocity":1.9998729525392944,"acceleration":0.0011448129048836609,"pose":{"translation":{"x":5.993769723177171,"y":-2.1953745132045492},"rotation":{"radians":3.128370655803145}},"curvature":1.9607335146147427E-4},{"time":12.768802723814982,"velocity":1.9999176113764263,"acceleration":-0.0029455826443993607,"pose":{"translation":{"x":5.915761173489364,"y":-2.1943432545904313},"rotation":{"radians":3.12837236133}},"curvature":-1.2714817539512233E-4},{"time":12.808177154557592,"velocity":1.9998016307365978,"acceleration":-6.427215736506533E-4,"pose":{"translation":{"x":5.8370247286195855,"y":-2.1933016589786094},"rotation":{"radians":3.1283543656364334}},"curvature":-3.0615577243242695E-4},{"time":12.847835230212908,"velocity":1.9997761416358046,"acceleration":0.0016313534432887637,"pose":{"translation":{"x":5.7577239127904,"y":-2.1922507499974335},"rotation":{"radians":3.128327606032917}},"curvature":-3.4549911000586773E-4},{"time":12.887687250438569,"velocity":1.9998411543662218,"acceleration":0.003976120298810854,"pose":{"translation":{"x":5.678034523395896,"y":-2.1911925761132762},"rotation":{"radians":3.128303134003481}},"curvature":-2.4515162152455056E-4},{"time":12.927637156839637,"velocity":1.9999999999999987,"acceleration":-0.03410708710269631,"pose":{"translation":{"x":5.598144946208848,"y":-2.190130258326357},"rotation":{"radians":3.1282923496405357}},"curvature":1.9474210378896005E-15},{"time":12.967650250921059,"velocity":1.9986352699149152,"acceleration":-0.02924621058869694,"pose":{"translation":{"x":5.518153168145373,"y":-2.1890639639579894},"rotation":{"radians":3.128206317848126}},"curvature":-0.0021075030325146712},{"time":13.007886055349024,"velocity":1.9974585251054093,"acceleration":-0.02365593595439355,"pose":{"translation":{"x":5.437767465874989,"y":-2.187978970178153},"rotation":{"radians":3.12796154360714}},"curvature":-0.003927019368887291},{"time":13.0485181533967,"velocity":1.9964973347963009,"acceleration":-0.017955591071641876,"pose":{"translation":{"x":5.356633802168757,"y":-2.186858299694038},"rotation":{"radians":3.1275801092086497}},"curvature":-0.0054148307061220174},{"time":13.089698818157569,"velocity":1.9957579116197963,"acceleration":-0.012616570945945767,"pose":{"translation":{"x":5.274440287972344,"y":-2.185686797331436},"rotation":{"radians":3.1270854842392053}},"curvature":-0.0065603474723909625},{"time":13.131560008598864,"velocity":1.995229766940712,"acceleration":-0.007938460951973965,"pose":{"translation":{"x":5.190915681024544,"y":-2.1844510678227977},"rotation":{"radians":3.126501002702583}},"curvature":-0.007379070714039962},{"time":13.17421430772156,"velocity":1.9948911574526926,"acceleration":-0.004063981773115733,"pose":{"translation":{"x":5.1058278844757865,"y":-2.1831394135952915},"rotation":{"radians":3.125848704754416}},"curvature":-0.007904206951095965},{"time":13.217755799551462,"velocity":1.9947142056235216,"acceleration":-0.0010145940838082797,"pose":{"translation":{"x":5.0189824455066585,"y":-2.1817417725588646},"rotation":{"radians":3.1251485608316663}},"curvature":-0.008178705565099495},{"time":13.262260890449229,"velocity":1.9946690510215974,"acceleration":0.001268625278575934,"pose":{"translation":{"x":4.930221053946412,"y":-2.1802496558943028},"rotation":{"radians":3.124418041559822}},"curvature":-0.008248759974097315},{"time":13.307789085115378,"velocity":1.9947268092402388,"acceleration":0.002888584353957011,"pose":{"translation":{"x":4.839420040891483,"y":-2.1786560858412902},"rotation":{"radians":3.123671967252166}},"curvature":-0.008159152445000054},{"time":13.354383729273097,"velocity":1.994861401800331,"acceleration":0.003964592888863472,"pose":{"translation":{"x":4.746488877324002,"y":-2.1769555334864696},"rotation":{"radians":3.122922561812637}},"curvature":-0.007950362352150773},{"time":13.402072730368737,"velocity":1.9950504692749518,"acceleration":0.00461414957952975,"pose":{"translation":{"x":4.651368672730314,"y":-2.175143856551502},"rotation":{"radians":3.122179640638071}},"curvature":-0.007657114260296917},{"time":13.450869265769818,"velocity":1.9952756237882552,"acceleration":0.004942643532552878,"pose":{"translation":{"x":4.554030673719486,"y":-2.1732182371811266},"rotation":{"radians":3.121450874155912}},"curvature":-0.007307966822777012},{"time":13.500772485657984,"velocity":1.995522277615289,"acceleration":0.005038832234057279,"pose":{"translation":{"x":4.454474762641829,"y":-2.1711771197312215},"rotation":{"radians":3.1207420829921637}},"curvature":-0.006925570800204302},{"time":13.551768215623149,"velocity":1.9957792365432367,"acceleration":0.004974050054236376,"pose":{"translation":{"x":4.3527279562074055,"y":-2.169020148556863},"rotation":{"radians":3.1200575343688457}},"curvature":-0.006527298945459858},{"time":13.603829662118669,"velocity":1.9960381927840014,"acceleration":0.004803526647884551,"pose":{"translation":{"x":4.2488429041045475,"y":-2.166748105800386},"rotation":{"radians":3.1194002206679814}},"curvature":-0.006126035109740636},{"time":13.656918122523345,"velocity":1.9962932046182504,"acceleration":0.004568683471974612,"pose":{"translation":{"x":4.142896387618372,"y":-2.164362849179443},"rotation":{"radians":3.1187721097250813}},"curvature":-0.005730985037876374},{"time":13.710983700551834,"velocity":1.996540213130992,"acceleration":0.004299698682649953,"pose":{"translation":{"x":4.034987818249293,"y":-2.161867249775066},"rotation":{"radians":3.1181743624951737}},"curvature":-0.005348429480030352},{"time":13.765966027094798,"velocity":1.9967766205679978,"acceleration":0.0040179444680405844,"pose":{"translation":{"x":3.925237736331536,"y":-2.1592651298197243},"rotation":{"radians":3.117607517710201}},"curvature":-0.0049823810275756416},{"time":13.821794986171502,"velocity":1.9970009382252765,"acceleration":0.003738110702469086,"pose":{"translation":{"x":3.8137863096516527,"y":-2.156561200485386},"rotation":{"radians":3.1170716455263725}},"curvature":-0.004635132275129957},{"time":13.878391445467567,"velocity":1.997212502055493,"acceleration":0.0034699565560440955,"pose":{"translation":{"x":3.7007918320670385,"y":-2.1537609996715785},"rotation":{"radians":3.116566473409488}},"curvature":-0.004307698208758413},{"time":13.93566799084399,"velocity":1.9974112491796294,"acceleration":0.0032197018190612448,"pose":{"translation":{"x":3.5864292221244423,"y":-2.150870829793446},"rotation":{"radians":3.1160914880040766}},"curvature":-0.004000163547237369},{"time":13.993529664195849,"velocity":1.9975975465145743,"acceleration":0.0029911028416898964,"pose":{"translation":{"x":3.4708885216784835,"y":-2.147897695569811},"rotation":{"radians":3.1156460167631796}},"curvature":-0.003711948838857496},{"time":14.051874704076978,"velocity":1.9977720625291613,"acceleration":0.0027862693079738626,"pose":{"translation":{"x":3.3543733945101666,"y":-2.144849241811236},"rotation":{"radians":3.1152292928811334}},"curvature":-0.003442009400177728},{"time":14.110595288565035,"velocity":1.9979356738914666,"acceleration":0.0026062777128305304,"pose":{"translation":{"x":3.2370996249453934,"y":-2.1417336912080813},"rotation":{"radians":3.1148405067071203}},"curvature":-0.003188979986417676},{"time":14.169578279909233,"velocity":1.998089399947243,"acceleration":0.0024516317167007848,"pose":{"translation":{"x":3.119293616473482,"y":-2.1385597821185636},"rotation":{"radians":3.11447884640841}},"curvature":-0.0029512762257945723},{"time":14.228705970568944,"velocity":1.9982343592689997,"acceleration":0.0023226121898720724,"pose":{"translation":{"x":3.001190890365675,"y":-2.13533670635682},"rotation":{"radians":3.1141435302508027}},"curvature":-0.0027271618084911526},{"time":14.287856830311455,"velocity":1.998371743776879,"acceleration":0.0022195527238086056,"pose":{"translation":{"x":2.88303458429366,"y":-2.132074046980965},"rotation":{"radians":3.1138338324981283}},"curvature":-0.0025147884450308724},{"time":14.346906254089877,"velocity":1.9985028070862658,"acceleration":0.002143070679686871,"pose":{"translation":{"x":2.7650739509480786,"y":-2.1287817160811517},"rotation":{"radians":3.1135491046164945}},"curvature":-0.0023122138066284195},{"time":14.405727310465876,"velocity":1.9986288647675334,"acceleration":0.0020942799466907524,"pose":{"translation":{"x":2.6475628566570455,"y":-2.1254698925676316},"rotation":{"radians":3.1132887932071562}},"curvature":-0.0021174010544121875},{"time":14.464191490375645,"velocity":1.9987513051271182,"acceleration":0.002075009754440926,"pose":{"translation":{"x":2.53075828000466,"y":-2.1221489599588135},"rotation":{"radians":3.113052455884333}},"curvature":-0.0019282021286761593},{"time":14.52216945606385,"velocity":1.9988716099714638,"acceleration":0.0020880543782481587,"pose":{"translation":{"x":2.4149188104495227,"y":-2.1188294441693256},"rotation":{"radians":3.1128397761587134}},"curvature":-0.0017423256480735502},{"time":14.579531790028527,"velocity":1.9989913856440453,"acceleration":0.002137481784194524,"pose":{"translation":{"x":2.300303146943246,"y":-2.115521951298074},"rotation":{"radians":3.112650578280759}},"curvature":-0.0015572889877469743},{"time":14.636149743829515,"velocity":1.9991124054889533,"acceleration":0.002229035864724325,"pose":{"translation":{"x":2.187168596548974,"y":-2.112237105416302},"rotation":{"radians":3.112484842937748}},"curvature":-0.001370352774613068},{"time":14.691895986615375,"velocity":1.9992366658634466,"acceleration":0.0023706780508688896,"pose":{"translation":{"x":2.0757695730598926,"y":-2.1089854863556527},"rotation":{"radians":3.112342724683249}},"curvature":-0.0011784345482908772},{"time":14.746645353220288,"velocity":1.9993664589851559,"acceleration":0.002573331597234544,"pose":{"translation":{"x":1.9663560956177455,"y":-2.1057775674962267},"rotation":{"radians":3.112224572007496}},"curvature":-9.77996551766479E-4},{"time":14.800275591668601,"velocity":1.9995044673723221,"acceleration":0.002851918636356088,"pose":{"translation":{"x":1.8591722873313485,"y":-2.1026236535546428},"rotation":{"radians":3.1121309510336332}},"curvature":-7.649003617248137E-4},{"time":14.852668109904764,"velocity":1.9996538865714855,"acceleration":0.0032268207703887004,"pose":{"translation":{"x":1.7544548738951047,"y":-2.0995338183720977},"rotation":{"radians":3.1120626739519386}},"curvature":-5.342181113187636E-4},{"time":14.90370872153589,"velocity":1.9998185854772301,"acceleration":0.003592140020929649,"pose":{"translation":{"x":1.6524316822075176,"y":-2.096517842702427},"rotation":{"radians":3.1120208334876196}},"curvature":-2.799860800574455E-4},{"time":14.953288472567884,"velocity":1.9999966828851399,"acceleration":-0.0043863263341291925,"pose":{"translation":{"x":1.5533201389897062,"y":-2.093585152000163},"rotation":{"radians":3.112006844945512}},"curvature":5.119012903818416E-6},{"time":15.00130927240657,"velocity":1.9997860479862215,"acceleration":-0.005260177977933892,"pose":{"translation":{"x":1.457325769403921,"y":-2.0907447542085986},"rotation":{"radians":3.1120224976962385}},"curvature":3.3020818512220475E-4},{"time":15.04767983707488,"velocity":1.999542130563129,"acceleration":-0.006421922358693657,"pose":{"translation":{"x":1.364640695672053,"y":-2.0880051775478425},"rotation":{"radians":3.1120700183726533}},"curvature":7.067504368590148E-4},{"time":15.092311926422685,"velocity":1.999255506750631,"acceleration":-0.007974713970391342,"pose":{"translation":{"x":1.2754421356941563,"y":-2.0853744083028825},"rotation":{"radians":3.1121521485396495}},"curvature":0.0011493371723293312},{"time":15.135125608687733,"velocity":1.998914079880548,"acceleration":-0.010064737280625846,"pose":{"translation":{"x":1.1898909016669545,"y":-2.082859828611645},"rotation":{"radians":3.11227224018333}},"curvature":0.0016767130416884717},{"time":15.176050031209078,"velocity":1.9985021863195094,"acceleration":-0.012900964097364697,"pose":{"translation":{"x":1.108129898702364,"y":-2.0804681542530536},"rotation":{"radians":3.1124343730161685}},"curvature":0.0023131732161987867},{"time":15.215024195512074,"velocity":1.9979993820251116,"acceleration":-1.7971423050433066,"pose":{"translation":{"x":1.0302826234459976,"y":-2.0782053724350904},"rotation":{"radians":3.112643498250916}},"curvature":0.0030904648377904284},{"time":15.25262794017222,"velocity":1.9304201016683173,"acceleration":-2.700000000000002,"pose":{"translation":{"x":0.956451662695688,"y":-2.0760766795828562},"rotation":{"radians":3.1129056140133113}},"curvature":0.004050380271679593},{"time":15.289729270150708,"velocity":1.8302465107263979,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.8867171920199972,"y":-2.0740864191266284},"rotation":{"radians":3.1132279776400447}},"curvature":0.005248292468403186},{"time":15.326577174074808,"velocity":1.7307571701313298,"acceleration":-2.700000000000001,"pose":{"translation":{"x":0.8211354743767325,"y":-2.0722380192899243},"rotation":{"radians":3.1136193591446855}},"curvature":0.0067579536445813515},{"time":15.399252834569873,"velocity":1.5345328867946535,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.7025267786760381,"y":-2.068975565063702},"rotation":{"radians":3.114653629748533}},"curvature":0.011140119028954058},{"time":15.470159840066547,"velocity":1.3430839719536354,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":0.6005403745445239,"y":-2.0662960745033616},"rotation":{"radians":3.1161207688288886}},"curvature":0.01845091032806043},{"time":15.538907855363787,"velocity":1.1574643306510877,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":0.5146123707459616,"y":-2.064187680335724},"rotation":{"radians":3.1181764710135558}},"curvature":0.03083945170916629},{"time":15.605383569605113,"velocity":0.9779799021995058,"acceleration":-2.7,"pose":{"translation":{"x":0.44365214164944167,"y":-2.06261789963318},"rotation":{"radians":3.121013666693684}},"curvature":0.051442328732278296},{"time":15.735374289540314,"velocity":0.6270049583744657,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.33935056782021356,"y":-2.060849223948289},"rotation":{"radians":3.1293832605966303}},"curvature":0.11349130775067139},{"time":15.967598348197523,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.2665502802293451,"y":-2.0602422212201237},"rotation":{"radians":3.1358123711461245}},"curvature":-2.658857835369633E-14}] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f126d53..29b7dd6 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -112,6 +112,10 @@ public class RobotContainer { SixBallAutoMiddle m_sixBallAutoMiddle; + SixBallAutoMiddle m_sixBallAutoMiddle0; + + SixBallAutoMiddle m_sixBallAutoMiddle1; + EightBallAutoMiddle m_eightBallAutoMiddle; DriveOffLineForward m_driveOffLineForward; @@ -166,8 +170,8 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); // runs the storage not - //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); - m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); + m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); + //m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); } @@ -284,6 +288,18 @@ public class RobotContainer { m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths)); + String[] sixBallAutoMiddle0Paths = new String[]{ + "SixBallMid0" + }; + + m_sixBallAutoMiddle0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0Paths)); + + String[] sixBallAutoMiddle1Paths = new String[]{ + "SixBallMid1" + }; + + m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths)); + String[] slalom = new String[]{ "Slalom" }; @@ -349,6 +365,7 @@ public class RobotContainer { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));