From 69e1c851e7fe0350ab0b79fcceed8f7830480da9 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Wed, 7 Apr 2021 20:34:13 -0600 Subject: [PATCH] Gsc 7.4 --- PathWeaver/Paths/GSC_ARED | 9 ++++----- PathWeaver/Paths/GSC_ARED_save | 5 +++++ PathWeaver/Paths/GSC_BRED | 9 +++++---- PathWeaver/pathweaver.json | 4 ++-- src/main/deploy/paths/Barrel.wpilib.json | 2 +- src/main/deploy/paths/BarrelManyWaypoints.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/deploy/paths/Bounce.wpilib.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- src/main/deploy/paths/DriveOffLineBackward.wpilib.json | 2 +- src/main/deploy/paths/DriveOffLineForward.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid0.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid1.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid2.wpilib.json | 2 +- src/main/deploy/paths/EightBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/GSC_ABLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_ARED.wpilib.json | 2 +- src/main/deploy/paths/GSC_ARED_save.wpilib.json | 1 + src/main/deploy/paths/GSC_BBLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_BRED.wpilib.json | 2 +- src/main/deploy/paths/Seq1.wpilib.json | 2 +- src/main/deploy/paths/Seq2.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- src/main/deploy/paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- src/main/deploy/paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 6 +++--- 29 files changed, 43 insertions(+), 37 deletions(-) create mode 100644 PathWeaver/Paths/GSC_ARED_save create mode 100644 src/main/deploy/paths/GSC_ARED_save.wpilib.json diff --git a/PathWeaver/Paths/GSC_ARED b/PathWeaver/Paths/GSC_ARED index ab077a7..97486d6 100644 --- a/PathWeaver/Paths/GSC_ARED +++ b/PathWeaver/Paths/GSC_ARED @@ -1,6 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.269,-2.313833150808477,0.8840193905817173,-0.0061851446241063535,true, -2.3880548862977515,-2.3262034400566898,0.8709913158855322,-0.15096819285711183,false, -3.8415638729627,-2.9447179024673065,1.694729627005089,0.49481156992849273,true, -5.029111640791084,-1.1448408168524122,2.152430329188946,0.5381075822972362,true, -8.703087547510146,-0.9716567673774398,0.5690333054177668,0.012370289248212374,true, +1.4479129034336145,-1.621096952908587,1.2617695033176577,-1.0638448753462597,true, +3.649824389615409,-2.8890516008503506,2.220466920054112,0.6308847516588285,true, +5.715662694066867,-0.7242509824131932,2.4369469818978278,-0.03092572312053088,true, +9.024715067963667,-1.392246601816659,0.6494401855311462,-0.4700709914320682,true, diff --git a/PathWeaver/Paths/GSC_ARED_save b/PathWeaver/Paths/GSC_ARED_save new file mode 100644 index 0000000..58a0e7b --- /dev/null +++ b/PathWeaver/Paths/GSC_ARED_save @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +1.4479129034336145,-1.621096952908587,1.2617695033176577,-1.0638448753462597,true, +3.649824389615409,-2.8890516008503506,2.220466920054112,0.6308847516588285,true, +5.715662694066867,-0.860324164143529,2.671982477613862,-0.049481156992849384,true, +8.64742124589319,-1.540690072795207,0.4948115699284923,-0.265961218836565,true, diff --git a/PathWeaver/Paths/GSC_BRED b/PathWeaver/Paths/GSC_BRED index 6e25d8c..5d1e746 100644 --- a/PathWeaver/Paths/GSC_BRED +++ b/PathWeaver/Paths/GSC_BRED @@ -1,5 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.4479129034336145,-1.1819516845970495,2.0,0.0,true, -3.847749017586806,-3.853934162210913,2.5,0.0,true, -5.907402177414159,-2.3076480061843716,2.678167622237968,0.0,true, -8.591754944276234,-2.276722283063841,0.5690333054177668,0.012370289248212374,true, +2.208685692198673,-0.8974350318881658,0.3896641113186885,-0.6185144624106166,true, +2.957088191715518,-2.4808320556593437,1.0267340076016236,-1.3174358049346133,true, +4.0765993686787345,-3.3220117245377825,1.2926952264381883,0.2783315080847779,true, +5.864106165045416,-2.24579655994331,1.4473238420408423,0.29070179733298995,true, +8.795864716871737,-1.8252067255040902,0.5442927269213431,-0.6679956194034657,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 07e9646..b58e855 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -2,8 +2,8 @@ "lengthUnit": "Meter", "exportUnit": "Always Meters", "maxVelocity": 2.7, - "maxAcceleration": 4.5, + "maxAcceleration": 4.0, "wheelBase": 0.648, - "gameName": "Galactic Search A", + "gameName": "Galactic Search B", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index 153e3d2..929f052 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":4.5,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.16941224463624038,"velocity":0.7623551008630818,"acceleration":4.5,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.24953834107546757,"velocity":1.1229225348396041,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.3222675438922068,"velocity":1.4502039475149306,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.39366844239456544,"velocity":1.7715079907755444,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.42918357413647606,"velocity":1.9313260836141422,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.46450470328922244,"velocity":2.090271164801501,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.49951892318201563,"velocity":2.24783515431907,"acceleration":4.499999999999994,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.53409298710295,"velocity":2.4034184419632743,"acceleration":4.499999999999994,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.5680859314306398,"velocity":2.5563866914378783,"acceleration":3.8462633437590155,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.6014917205821215,"velocity":2.684874153720565,"acceleration":0.008706148259321525,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.6350401051764183,"velocity":2.6851662309307036,"acceleration":-0.0028692331298715464,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.6692493879938263,"velocity":2.6850680765230948,"acceleration":-0.01363061536019361,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.703833093950645,"velocity":2.6845966793294673,"acceleration":-0.0245444755723349,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.7385018585933861,"velocity":2.6837457526825705,"acceleration":-0.03647959122959362,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.7729703748759416,"velocity":2.6824883552982923,"acceleration":-0.0502835099516997,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":0.806964310216394,"velocity":2.6807790209123032,"acceleration":-0.06680264520177047,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":0.8402271763849731,"velocity":2.6785569734652497,"acceleration":-0.08680642985367452,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":0.8725271203110953,"velocity":2.675753130648549,"acceleration":-0.11072032910460182,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":0.9036635807886948,"velocity":2.672305691497317,"acceleration":-0.13797686745324442,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":0.9334737215750449,"velocity":2.668192581653276,"acceleration":-0.1656514582902912,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":0.9618385054555855,"velocity":2.6634939138393756,"acceleration":-0.1859159844009081,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":0.9886882269163543,"velocity":2.6585021214431066,"acceleration":-0.18198220328237827,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.014007311589902,"velocity":2.6538944986291213,"acceleration":-0.12337544392538517,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.0378383149972858,"velocity":2.650954338004548,"acceleration":0.182838305275328,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.0814919066955047,"velocity":2.6589358867298314,"acceleration":-3.936122636380646,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.122928747994226,"velocity":2.495835397713822,"acceleration":-4.5,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.1667090740614057,"velocity":2.2988239304115137,"acceleration":-4.499999999999998,"pose":{"translation":{"x":3.5009774888602676,"y":-2.1958354150683257},"rotation":{"radians":0.04408248946944764}},"curvature":-0.5348899726955137},{"time":1.2143819791652002,"velocity":2.0842958574444386,"acceleration":-2.684320143508745,"pose":{"translation":{"x":3.6054513375974606,"y":-2.194901056982796},"rotation":{"radians":-0.032756727565941016}},"curvature":-0.9117330540447421},{"time":1.239755950264101,"velocity":2.0161839957028507,"acceleration":-1.8419195985134524,"pose":{"translation":{"x":3.6573874293559525,"y":-2.197902168157788},"rotation":{"radians":-0.08385550737943201}},"curvature":-1.0468009009284915},{"time":1.2658103993595773,"velocity":1.9681937952854218,"acceleration":-1.1704900945575822,"pose":{"translation":{"x":3.708967770568674,"y":-2.2037019358964676},"rotation":{"radians":-0.14095860287814346}},"curvature":-1.1475806554581347},{"time":1.29236032663011,"velocity":1.937117368404039,"acceleration":-0.626341007783055,"pose":{"translation":{"x":3.760051278933555,"y":-2.212542619576176},"rotation":{"radians":-0.20235998579142125}},"curvature":-1.2155050911469665},{"time":1.3192416392793247,"velocity":1.9202804999487986,"acceleration":-0.18835159938674642,"pose":{"translation":{"x":3.810481105154448,"y":-2.224577406560024},"rotation":{"radians":-0.26649074279012075}},"curvature":-1.253224029973154},{"time":1.3463115730021993,"velocity":1.915181834636802,"acceleration":0.15374852336853706,"pose":{"translation":{"x":3.860087950911264,"y":-2.2398779108093883},"rotation":{"radians":-0.33196358829596273}},"curvature":-1.2647771842600963},{"time":1.3734490490479025,"velocity":1.9193541815067778,"acceleration":0.4061067639913179,"pose":{"translation":{"x":3.9086933868301053,"y":-2.258441671496421},"rotation":{"radians":-0.3976142401776337}},"curvature":-1.2553184282383525},{"time":1.400554024224128,"velocity":1.9303616952636597,"acceleration":0.5744437324294579,"pose":{"translation":{"x":3.956113170453401,"y":-2.280199651616547},"rotation":{"radians":-0.462527444530531}},"curvature":-1.2305605070275378},{"time":1.4275454674265795,"velocity":1.9458667606405338,"acceleration":0.6657215650052376,"pose":{"translation":{"x":4.002160564210038,"y":-2.3050237366009685},"rotation":{"radians":-0.5260420164397219}},"curvature":-1.1961619230557818},{"time":1.4543581805342007,"velocity":1.9637165619725758,"acceleration":0.6884573993405824,"pose":{"translation":{"x":4.046649653385497,"y":-2.332734232929167},"rotation":{"radians":-0.5877358727783444}},"curvature":-1.1572340891780697},{"time":1.4809390428813665,"velocity":1.9820163533363355,"acceleration":0.6522609666600743,"pose":{"translation":{"x":4.089398664091985,"y":-2.3631073667414064},"rotation":{"radians":-0.6473964178347918}},"curvature":-1.1180527878720856},{"time":1.5072433321714882,"velocity":1.9991736144960166,"acceleration":0.5671111700723195,"pose":{"translation":{"x":4.1302332812385725,"y":-2.395882782451234},"rotation":{"radians":-0.7049831032830651}},"curvature":-1.0819692617086423},{"time":1.5332316309664848,"velocity":2.0139118690338362,"acceleration":0.4427772962961255,"pose":{"translation":{"x":4.168989966501321,"y":-2.430771041357985},"rotation":{"radians":-0.7605881360060854}},"curvature":-1.0514640647050746},{"time":1.5588675859231584,"velocity":2.0252628878575214,"acceleration":0.28865034589753236,"pose":{"translation":{"x":4.205519276293423,"y":-2.4674611202592835},"rotation":{"radians":-0.8143992858224134}},"curvature":-1.0282724102351393},{"time":1.5841165441830996,"velocity":2.032551008392806,"acceleration":0.11412493054866482,"pose":{"translation":{"x":4.239689179735332,"y":-2.5056279100635455},"rotation":{"radians":-0.8666665259848375}},"curvature":-1.0135183537179602},{"time":1.6089448970956275,"velocity":2.0353845424445858,"acceleration":-0.07040618049493892,"pose":{"translation":{"x":4.271388376624899,"y":-2.544939714402481},"rotation":{"radians":-0.9176723622074275}},"curvature":-1.0078106783408702},{"time":1.6333198243224287,"velocity":2.0336683969187046,"acceleration":-0.2519131087989922,"pose":{"translation":{"x":4.3005296154075054,"y":-2.585065748243597},"rotation":{"radians":-0.9677043207669488}},"curvature":-1.011265664044275},{"time":1.6572090390273946,"velocity":2.02765039057561,"acceleration":-0.4124135542016965,"pose":{"translation":{"x":4.3270530111461945,"y":-2.6256836365027},"rotation":{"radians":-1.0170271076389201}},"curvature":-1.023427473075515},{"time":1.680580072978696,"velocity":2.0180118593983853,"acceleration":-0.5259279085563121,"pose":{"translation":{"x":4.350929363491809,"y":-2.666486912656398},"rotation":{"radians":-1.0658513103346334}},"curvature":-1.043057135031417},{"time":1.7033986068221851,"velocity":2.0060109556177577,"acceleration":-0.5545714540822179,"pose":{"translation":{"x":4.372163474653122,"y":-2.7071925173546023},"rotation":{"radians":-1.1142951702206891}},"curvature":-1.0677616136684076},{"time":1.7256253666305899,"velocity":1.9936846291112744,"acceleration":-0.4433717021973317,"pose":{"translation":{"x":4.390797467366973,"y":-2.7475482970330325},"rotation":{"radians":-1.1623360681465613}},"curvature":-1.0934456136080546},{"time":1.7472112272036349,"velocity":1.9841140693656092,"acceleration":-0.11261659086648401,"pose":{"translation":{"x":4.4069141028684005,"y":-2.7873405025257165},"rotation":{"radians":-1.2097493658742775}},"curvature":-1.1136075850584042},{"time":1.768090478627885,"velocity":1.981762719250366,"acceleration":1.1377143727430503,"pose":{"translation":{"x":4.420640098860775,"y":-2.826401287677493},"rotation":{"radians":-1.2560348532720509}},"curvature":-1.1185908934381819},{"time":1.8072131749598528,"velocity":2.0262731731677075,"acceleration":3.414362162167746,"pose":{"translation":{"x":4.441666733294324,"y":-2.9019317190667566},"rotation":{"radians":-1.341367133488591}},"curvature":-1.026220854154948},{"time":1.8424222079699377,"velocity":2.1464895632438563,"acceleration":-4.5,"pose":{"translation":{"x":4.4558963245263365,"y":-2.9739998294508663},"rotation":{"radians":-1.4061439538167093}},"curvature":-0.680352653712131},{"time":1.876456190495829,"velocity":1.993336641877345,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":4.466263479997429,"y":-3.043680216453008},"rotation":{"radians":-1.4320291524242457}},"curvature":6.639446958539566E-14},{"time":1.9129502564707486,"velocity":1.8291133449902073,"acceleration":-4.5,"pose":{"translation":{"x":4.47493566885881,"y":-3.1128873576883227},"rotation":{"radians":-1.4733803136380366}},"curvature":-1.1316416752351544},{"time":1.9323777746413227,"velocity":1.741689513222624,"acceleration":-4.5,"pose":{"translation":{"x":4.477537234678577,"y":-3.1474755755051773},"rotation":{"radians":-1.5206795873013448}},"curvature":-1.5839574422911495},{"time":1.9527361352359491,"velocity":1.650076890546805,"acceleration":-4.3156284663872135,"pose":{"translation":{"x":4.47824417761648,"y":-3.1819937388066166},"rotation":{"radians":-1.582145517204758}},"curvature":-1.9638499531766747},{"time":1.9741908018713457,"velocity":1.55748652047824,"acceleration":-2.6296036727006076,"pose":{"translation":{"x":4.476628081368838,"y":-3.216364367460064},"rotation":{"radians":-1.6551406766480576}},"curvature":-2.2640813419564507},{"time":1.9966989293034043,"velocity":1.4982990659172855,"acceleration":-1.6189906615147869,"pose":{"translation":{"x":4.472353114270583,"y":-3.250487631486124},"rotation":{"radians":-1.7369261089869281}},"curvature":-2.4754427100871244},{"time":2.008274358768712,"velocity":1.4795585537099292,"acceleration":-1.041782681660059,"pose":{"translation":{"x":4.4691373551283755,"y":-3.2674199611488914},"rotation":{"radians":-1.780235090040976}},"curvature":-2.545890852288312},{"time":2.0200060458862157,"velocity":1.4673366852442598,"acceleration":-0.5233454979431696,"pose":{"translation":{"x":4.4651696587926075,"y":-3.284244469950503},"rotation":{"radians":-1.8246863401303577}},"curvature":-2.5928039841338677},{"time":2.0318610855336283,"velocity":1.4611324036168485,"acceleration":-0.057514612949735484,"pose":{"translation":{"x":4.46043124887029,"y":-3.3009437821306764},"rotation":{"radians":-1.869939163282148}},"curvature":-2.6169191864273578},{"time":2.043808709796631,"velocity":1.460445240631693,"acceleration":0.3594106015181805,"pose":{"translation":{"x":4.454907941039103,"y":-3.317499709855939},"rotation":{"radians":-1.9156694687174334}},"curvature":-2.6196026991685377},{"time":2.0558208243985083,"velocity":1.464762521966259,"acceleration":0.7294702111501952,"pose":{"translation":{"x":4.448589943969179,"y":-3.333893350685},"rotation":{"radians":-1.9615762061138535}},"curvature":-2.6027846116913493},{"time":2.0678724530035026,"velocity":1.473553826029448,"acceleration":1.0536685100970775,"pose":{"translation":{"x":4.441471660244904,"y":-3.350105185034125},"rotation":{"radians":-2.007386912328833}},"curvature":-2.568842502102348},{"time":2.0799420444687367,"velocity":1.4862711744861017,"acceleration":1.3324779499123092,"pose":{"translation":{"x":4.433551487286703,"y":-3.366115173642506},"rotation":{"radians":-2.052861932599258}},"curvature":-2.520452987491824},{"time":2.092011618815999,"velocity":1.5023536161686564,"acceleration":1.5662490009089556,"pose":{"translation":{"x":4.424831618272835,"y":-3.381902855037636},"rotation":{"radians":-2.097797067131599}},"curvature":-2.460432361920452},{"time":2.1040667489193297,"velocity":1.521234951648825,"acceleration":1.7555339155401657,"pose":{"translation":{"x":4.415317843061182,"y":-3.397447443000682},"rotation":{"radians":-2.1420245879634976}},"curvature":-2.3915856821036283},{"time":2.116096393121317,"velocity":1.5423534000372947,"acceleration":1.953992869776103,"pose":{"translation":{"x":4.405019349111045,"y":-3.4127279240318553},"rotation":{"radians":-2.1854127397259857}},"curvature":-2.3165788937424012},{"time":2.140040141717217,"velocity":1.5891393140693948,"acceleration":2.0835278211398762,"pose":{"translation":{"x":4.382120748370361,"y":-3.442411959686898},"rotation":{"radians":-2.2693121291850207}},"curvature":-2.1575089947297283},{"time":2.163823545596242,"velocity":1.6386926977327492,"acceleration":2.072970769767945,"pose":{"translation":{"x":4.356269702781623,"y":-3.470786012069539},"rotation":{"radians":-2.3490712474216524}},"curvature":-1.998934776694001},{"time":2.187442051413815,"velocity":1.6876531699181727,"acceleration":1.952315343949358,"pose":{"translation":{"x":4.32764171969303,"y":-3.497683732535139},"rotation":{"radians":-2.4246538251464913}},"curvature":-1.8514036586619682},{"time":2.2109077835809505,"velocity":1.7334656788850773,"acceleration":1.7547135311756776,"pose":{"translation":{"x":4.296447556567484,"y":-3.522944492619568},"rotation":{"radians":-2.496292579924839}},"curvature":-1.7209054999252982},{"time":2.23423905561997,"velocity":1.7744053776314854,"acceleration":1.5123444939920676,"pose":{"translation":{"x":4.262926850479932,"y":-3.5464165029311334},"rotation":{"radians":-2.564383333222713}},"curvature":-1.6099892177074169},{"time":2.2574529251500763,"velocity":1.8095127453995916,"acceleration":1.2538103554194158,"pose":{"translation":{"x":4.227341747614707,"y":-3.5679599320425046},"rotation":{"radians":-2.629400575604748}},"curvature":-1.5188715633298666},{"time":2.2805605078863547,"velocity":1.8384852719230482,"acceleration":1.0033640384143865,"pose":{"translation":{"x":4.189970532762875,"y":-3.5874500253826396},"rotation":{"radians":-2.691834291672018}},"curvature":-1.4462971854706679},{"time":2.303564338185703,"velocity":1.861566487991202,"acceleration":0.7815754731199076,"pose":{"translation":{"x":4.151101258819575,"y":-3.60478022412871},"rotation":{"radians":-2.752143554347901}},"curvature":-1.3900968726107652},{"time":2.326456976257392,"velocity":1.879458812423045,"acceleration":0.6068346216273419,"pose":{"translation":{"x":4.111025376281363,"y":-3.6198652840980277},"rotation":{"radians":-2.810721214923607}},"curvature":-1.347480728398351},{"time":2.349220148919906,"velocity":1.8932722936927393,"acceleration":0.4972145648846656,"pose":{"translation":{"x":4.070031362743557,"y":-3.6326443946399687},"rotation":{"radians":-2.867864492381076}},"curvature":-1.3151306002859184},{"time":2.3718238662050535,"velocity":1.90451119114745,"acceleration":0.4724906094618579,"pose":{"translation":{"x":4.028398352397574,"y":-3.6430842975279023},"rotation":{"radians":-2.923747444426637}},"curvature":-1.2891561805538438},{"time":2.3942251324392836,"velocity":1.9150955790831787,"acceleration":0.5564409113364746,"pose":{"translation":{"x":3.9863897655282825,"y":-3.651182405851114},"rotation":{"radians":-2.9783927226739713}},"curvature":-1.264973161372076},{"time":2.416366055910988,"velocity":1.9274156947176049,"acceleration":0.779951485558962,"pose":{"translation":{"x":3.944246938011336,"y":-3.656969922906732},"rotation":{"radians":-3.0316415233666105}},"curvature":-1.237158889638232},{"time":2.4381713587956333,"velocity":1.9444227730955472,"acceleration":1.1860071918220114,"pose":{"translation":{"x":3.902182750810521,"y":-3.6605149610916543},"rotation":{"radians":-3.083122208440791}},"curvature":-1.1993422985822897},{"time":2.459545501056986,"velocity":1.9697726595365381,"acceleration":1.8385640018028326,"pose":{"translation":{"x":3.8603752594751013,"y":-3.6619256607944726},"rotation":{"radians":-3.132219635474395}},"curvature":-1.1441869075289521},{"time":2.480369853788475,"velocity":2.008059564829498,"acceleration":2.8389607793143337,"pose":{"translation":{"x":3.818961323637156,"y":-3.6613533092874},"rotation":{"radians":3.1051366406066983}},"curvature":-1.0635235450551903},{"time":2.5005005833894405,"velocity":2.065209916625621,"acceleration":2.4701388498516343,"pose":{"translation":{"x":3.7780302365089273,"y":-3.658995459618195},"rotation":{"radians":3.063748832703824}},"curvature":-0.9486825705307834},{"time":2.5387678967971414,"velocity":2.159735494153431,"acceleration":-4.500000000000003,"pose":{"translation":{"x":3.6976977261154533,"y":-3.649963520213708},"rotation":{"radians":3.0004256616166676}},"curvature":-0.5831023891549099},{"time":2.5772533325771416,"velocity":1.9865510331434308,"acceleration":-4.500000000000003,"pose":{"translation":{"x":3.618898666494874,"y":-3.6374541003671883},"rotation":{"radians":2.9756452543002636}},"curvature":-5.907555901800373E-14},{"time":2.619257936241283,"velocity":1.7975303166547945,"acceleration":-4.500000000000005,"pose":{"translation":{"x":3.540776543564966,"y":-3.6228555685521426},"rotation":{"radians":2.9208020800297847}},"curvature":-1.3047670116218097},{"time":2.6419478387428956,"velocity":1.6954257553975363,"acceleration":-4.500000000000005,"pose":{"translation":{"x":3.5023815148348256,"y":-3.6130497592498534},"rotation":{"radians":2.8590650570922564}},"curvature":-1.7924770767245273},{"time":2.6660825170557354,"velocity":1.5868197029897573,"acceleration":-3.238495648306599,"pose":{"translation":{"x":3.4647929039991814,"y":-3.6005642654703025},"rotation":{"radians":2.780266222692359}},"curvature":-2.1651745632888697},{"time":2.678753464783452,"velocity":1.545784893913626,"acceleration":-2.304430968286494,"pose":{"translation":{"x":3.4463865375503278,"y":-3.593141960722154},"rotation":{"radians":2.7358537677740284}},"curvature":-2.3045847561082318},{"time":2.6917574944113496,"velocity":1.5158180053265835,"acceleration":-1.5067616319458867,"pose":{"translation":{"x":3.42828434405497,"y":-3.584860486651614},"rotation":{"radians":2.68885663440096}},"curvature":-2.411161951346438},{"time":2.705037562061644,"velocity":1.4958081089214743,"acceleration":-0.8165667511888473,"pose":{"translation":{"x":3.4105203164627507,"y":-3.575677279059005},"rotation":{"radians":2.6398443351777328}},"curvature":-2.4847048341054063},{"time":2.7185390955037088,"velocity":1.4847832056226198,"acceleration":-0.2159541761045909,"pose":{"translation":{"x":3.393128229290279,"y":-3.5655589255357705},"rotation":{"radians":2.5893742525378456}},"curvature":-2.5260718899874157},{"time":2.732211145885926,"velocity":1.4818306692466676,"acceleration":0.30576677647990713,"pose":{"translation":{"x":3.376141568114266,"y":-3.554480769381791},"rotation":{"radians":2.5379779453150473}},"curvature":-2.5372547370426246},{"time":2.7460075475070416,"velocity":1.4860491504973783,"acceleration":0.7546434524643805,"pose":{"translation":{"x":3.3595934590646563,"y":-3.5424265135226998},"rotation":{"radians":2.486147310664261}},"curvature":-2.521290685390114},{"time":2.7598879024647016,"velocity":1.496523869484058,"acceleration":1.1339023385942881,"pose":{"translation":{"x":3.3435165983177657,"y":-3.5293878244271975},"rotation":{"radians":2.4343223614868856}},"curvature":-2.482040264999584},{"time":2.773818249979132,"velocity":1.5123195231081017,"acceleration":1.4453162298889217,"pose":{"translation":{"x":3.3279431815894154,"y":-3.5153639360243667},"rotation":{"radians":2.3828819898279607}},"curvature":-2.423879628757678},{"time":2.7877713448449604,"velocity":1.5324861575748634,"acceleration":1.6902461691051531,"pose":{"translation":{"x":3.312904833628065,"y":-3.500361253620989},"rotation":{"radians":2.3321385005754136}},"curvature":-2.3513672651798405},{"time":2.801726538512275,"velocity":1.5560738702101626,"acceleration":1.8704048214111406,"pose":{"translation":{"x":3.2984325377079484,"y":-3.484392957818859},"rotation":{"radians":2.2823360682148905}},"curvature":-2.268938686425091},{"time":2.815669314126346,"velocity":1.5821525049425746,"acceleration":1.988352702756897,"pose":{"translation":{"x":3.2845565651222093,"y":-3.467478608432099},"rotation":{"radians":2.233652730724247}},"curvature":-2.1806662625159747},{"time":2.829590563977111,"velocity":1.6098328597090972,"acceleration":2.047737073467437,"pose":{"translation":{"x":3.2713064046760336,"y":-3.449643748404477},"rotation":{"radians":2.186205175488278}},"curvature":-2.090101078299267},{"time":2.8434857121181603,"velocity":1.6382864696988466,"acceleration":2.05330053488186,"pose":{"translation":{"x":3.2587106921797857,"y":-3.430919507726718},"rotation":{"radians":2.1400554149730997}},"curvature":-2.0001957366119023},{"time":2.8573537801305346,"velocity":1.6667617811664328,"acceleration":1.9686301529090835,"pose":{"translation":{"x":3.2467971399421427,"y":-3.411342207353823},"rotation":{"radians":2.0952184656896558}},"curvature":-1.913294919697535},{"time":2.8850157675470034,"velocity":1.721218003683885,"acceleration":1.7322050829875035,"pose":{"translation":{"x":3.2251223249277534,"y":-3.3697972896678894},"rotation":{"radians":2.0093553382472162}},"curvature":-1.755112996104958},{"time":2.912613975311681,"velocity":1.769023759455205,"acceleration":1.3931586113711198,"pose":{"translation":{"x":3.2064825088076545,"y":-3.325388331130148},"rotation":{"radians":1.9280865630670296}},"curvature":-1.6242763519221965},{"time":2.940188795979659,"velocity":1.8074398583258127,"acceleration":0.996910235627705,"pose":{"translation":{"x":3.1910589522902577,"y":-3.278552373660638},"rotation":{"radians":1.850579565963845}},"curvature":-1.5241532045401187},{"time":2.967778733704291,"velocity":1.8349445496438292,"acceleration":0.5792992706772652,"pose":{"translation":{"x":3.1790113713979062,"y":-3.2297714906700543},"rotation":{"radians":1.7758477540661566}},"curvature":-1.4550435488705087},{"time":2.9954147212692837,"velocity":1.8509540570846754,"acceleration":0.16729486349049455,"pose":{"translation":{"x":3.170475681247182,"y":-3.179560112413838},"rotation":{"radians":1.7028488804799111}},"curvature":-1.4157629463905503},{"time":3.0231189478338547,"velocity":1.855588831885905,"acceleration":-0.21774278855432053,"pose":{"translation":{"x":3.1655617398292164,"y":-3.1284523513462643},"rotation":{"radians":1.6305476291791685}},"curvature":-1.4045176734251699},{"time":3.050905989218284,"velocity":1.8495384040091851,"acceleration":-0.5561256000364234,"pose":{"translation":{"x":3.1643510917899986,"y":-3.0769893274745304},"rotation":{"radians":1.5579591589614288}},"curvature":-1.4192089569038318},{"time":3.0787842894407915,"velocity":1.8340345675699474,"acceleration":-0.8266173892145685,"pose":{"translation":{"x":3.166894712210685,"y":-3.0257064937128453},"rotation":{"radians":1.4841885833680781}},"curvature":-1.4572968598315164},{"time":3.106756336223663,"velocity":1.8109123872873025,"acceleration":-1.0048478637234326,"pose":{"translation":{"x":3.1732107503879083,"y":-2.9751209612365166},"rotation":{"radians":1.4084788592405049}},"curvature":-1.5153121649421712},{"time":3.13481617099823,"velocity":1.7827165222576464,"acceleration":-1.0638208880858586,"pose":{"translation":{"x":3.1832822736140844,"y":-2.9257188248360437},"rotation":{"radians":1.3302766569902722}},"curvature":-1.588094242430901},{"time":3.1629433048142546,"velocity":1.7527942897821736,"acceleration":-0.9762714029668728,"pose":{"translation":{"x":3.197055010957725,"y":-2.8779424882712012},"rotation":{"radians":1.2493214035108509}},"curvature":-1.667893620657483},{"time":3.1910928808866013,"velocity":1.7253126636571008,"acceleration":-0.7175400064853497,"pose":{"translation":{"x":3.214435097043743,"y":-2.832177989625132},"rotation":{"radians":1.1657551292949253}},"curvature":-1.7436226553831164},{"time":3.2191831696214406,"velocity":1.7051567576961288,"acceleration":-0.2664635062906313,"pose":{"translation":{"x":3.2352868158337653,"y":-2.7887423266584315},"rotation":{"radians":1.0802390921780909}},"curvature":-1.8007164563684022},{"time":3.247083024401604,"velocity":1.697722464566407,"acceleration":0.39895921945909985,"pose":{"translation":{"x":3.2594303444064368,"y":-2.7478707821632415},"rotation":{"radians":0.9940495437795314}},"curvature":-1.8221171292724059},{"time":3.274603027449742,"velocity":1.7087018235020044,"acceleration":1.31485390678952,"pose":{"translation":{"x":3.2866394967377346,"y":-2.709704249317334},"rotation":{"radians":0.9091167767859056}},"curvature":-1.7905770515720254},{"time":3.301493547423431,"velocity":1.7440589287450106,"acceleration":2.5597381795795493,"pose":{"translation":{"x":3.316639467481273,"y":-2.6742765570382048},"rotation":{"radians":0.8279796053551205}},"curvature":-1.6917062585901652},{"time":3.3274501079802854,"velocity":1.8105009278129598,"acceleration":4.313130284844547,"pose":{"translation":{"x":3.349104575748616,"y":-2.6415017953371587},"rotation":{"radians":0.7536575358116631}},"curvature":-1.516357967331428},{"time":3.3521223218250116,"velocity":1.916915400540809,"acceleration":4.499999999999996,"pose":{"translation":{"x":3.3836560088895826,"y":-2.6111616406733975},"rotation":{"radians":0.689484901651147}},"curvature":-1.2608421714525015},{"time":3.3754457028818874,"velocity":2.0218706152967494,"acceleration":2.7993764261956287,"pose":{"translation":{"x":3.4198595662725584,"y":-2.582892681308114},"rotation":{"radians":0.6389791107940948}},"curvature":-0.9245044264942149},{"time":3.4195380762514365,"velocity":2.1453017658824804,"acceleration":-4.500000000000004,"pose":{"translation":{"x":3.495195774012762,"y":-2.530313212652211},"rotation":{"radians":0.5938368430682723}},"curvature":-9.875390829249706E-14},{"time":3.465472664526519,"velocity":1.9385961186446101,"acceleration":-2.152146775120492,"pose":{"translation":{"x":3.574172942270117,"y":-2.4797136844248446},"rotation":{"radians":0.5266644556519199}},"curvature":-1.2122236070167007},{"time":3.4918354717669677,"velocity":1.881859488058955,"acceleration":1.3866643285597098,"pose":{"translation":{"x":3.6185009069449117,"y":-2.455816882507637},"rotation":{"radians":0.4611286319384223}},"curvature":-1.3418244310363576},{"time":3.5203894969772236,"velocity":1.9214543362548113,"acceleration":2.9894374335081966,"pose":{"translation":{"x":3.667966637404287,"y":-2.4334198491738435},"rotation":{"radians":0.39004672823243963}},"curvature":-1.2505728967499479},{"time":3.5505373271532186,"velocity":2.0115793883219792,"acceleration":3.462250932562107,"pose":{"translation":{"x":3.7235603652448366,"y":-2.412823905881168},"rotation":{"radians":0.3214805391546347}},"curvature":-1.0562620529171904},{"time":3.5820445562348464,"velocity":2.1206653215922926,"acceleration":3.278366394782178,"pose":{"translation":{"x":3.7859495322326935,"y":-2.3942412755293208},"rotation":{"radians":0.2598048812237801}},"curvature":-0.843164631816091},{"time":3.614912226007848,"velocity":2.2284175856508988,"acceleration":2.7896169661040506,"pose":{"translation":{"x":3.8555054004240032,"y":-2.377802182916105},"rotation":{"radians":0.20662842922466537}},"curvature":-0.6531546368272418},{"time":3.6492368400925863,"velocity":2.3241701114566586,"acceleration":2.232019632274496,"pose":{"translation":{"x":3.9323296622853983,"y":-2.3635619551935028},"rotation":{"radians":0.16193651601940368}},"curvature":-0.49908945394424453},{"time":3.685110342939135,"velocity":2.404240474088611,"acceleration":1.7292225810669637,"pose":{"translation":{"x":4.01628105081447,"y":-2.3515081223237604},"rotation":{"radians":0.1249605664768298}},"curvature":-0.3796783444810861},{"time":3.722565390306472,"velocity":2.4690085877711425,"acceleration":1.3249532751545694,"pose":{"translation":{"x":4.107001949660242,"y":-2.341567517535477},"rotation":{"radians":0.09469521385310915}},"curvature":-0.2887541424633379},{"time":3.7615534337281464,"velocity":2.5206659235945588,"acceleration":1.0204766327629509,"pose":{"translation":{"x":4.203945003243648,"y":-2.333613377779689},"rotation":{"radians":0.07015584569440879}},"curvature":-0.21958492422111742},{"time":3.801942075877154,"velocity":2.5618815891366458,"acceleration":0.8007484407638845,"pose":{"translation":{"x":4.306399726877996,"y":-2.327472444185958},"rotation":{"radians":0.05048474589487245}},"curvature":-0.16639777316844012},{"time":3.8435222028520326,"velocity":2.5951768109785442,"acceleration":0.648030343504271,"pose":{"translation":{"x":4.413519116889452,"y":-2.3229320625184555},"rotation":{"radians":0.03498113282280543}},"curvature":-0.12466524816678795},{"time":3.8860193917052888,"velocity":2.6227162788690856,"acceleration":0.5474155021183308,"pose":{"translation":{"x":4.524346260737506,"y":-2.3197472836320516},"rotation":{"radians":0.023097932367900583}},"curvature":-0.0909476962537981},{"time":3.929106765238446,"velocity":2.646302975086699,"acceleration":0.48841653238140487,"pose":{"translation":{"x":4.637840947135448,"y":-2.317647963928399},"rotation":{"radians":0.014426980710845442}},"curvature":-0.06262758268219738},{"time":3.9724179795717522,"velocity":2.6674568882046,"acceleration":0.4651088625659527,"pose":{"translation":{"x":4.752906276170842,"y":-2.3163458658120204},"rotation":{"radians":0.00868269842245165}},"curvature":-0.03765448038405876},{"time":4.015559804403805,"velocity":2.687522533281256,"acceleration":0.11094284518088268,"pose":{"translation":{"x":4.8684152694259994,"y":-2.3155417581463964},"rotation":{"radians":0.005688430722810769}},"curvature":-0.014329442552502285},{"time":4.058246980342157,"velocity":2.6922583700325937,"acceleration":-0.5035860028966996,"pose":{"translation":{"x":4.983237480098451,"y":-2.3149325167100496},"rotation":{"radians":0.005366891900975762}},"curvature":0.008875047030571745},{"time":4.100396617498863,"velocity":2.671032402733302,"acceleration":-0.5660623256487971,"pose":{"translation":{"x":5.096265603121419,"y":-2.314218224652632},"rotation":{"radians":0.007734871733491828}},"curvature":0.03347251209378743},{"time":4.141829260629717,"velocity":2.6475789444048736,"acceleration":-0.6721810380668114,"pose":{"translation":{"x":5.206442085284297,"y":-2.313109272951011},"rotation":{"radians":0.012901642214238736}},"curvature":0.06110993661146819},{"time":4.182208210707587,"velocity":2.6204369798254836,"acceleration":-0.8316477328049591,"pose":{"translation":{"x":5.312785735353115,"y":-2.3113334608653577},"rotation":{"radians":0.021069750609337978}},"curvature":0.09371142254991206},{"time":4.2212482524390245,"velocity":2.5879694176309225,"acceleration":-1.0558072566627077,"pose":{"translation":{"x":5.4144183341910175,"y":-2.3086430963952305},"rotation":{"radians":0.03253554725545341}},"curvature":0.13360799398094314},{"time":4.258725609590529,"velocity":2.548400551989824,"acceleration":-1.3522214096537437,"pose":{"translation":{"x":5.510591244878737,"y":-2.3048220967356623},"rotation":{"radians":0.04768412387659894}},"curvature":0.18360517561898318},{"time":4.294485771204599,"velocity":2.500044895842602,"acceleration":-1.711848858056783,"pose":{"translation":{"x":5.600712022835065,"y":-2.2996930887332496},"rotation":{"radians":0.06696816652108217}},"curvature":0.24685372019843121},{"time":4.328446620447486,"velocity":2.4419090548475273,"acceleration":-2.0837977173202185,"pose":{"translation":{"x":5.684371025937329,"y":-2.2931245093422343},"rotation":{"radians":0.09085091666235459}},"curvature":0.3262107528656812},{"time":4.360592433534555,"velocity":2.3749236829152895,"acceleration":-2.3349475957185226,"pose":{"translation":{"x":5.761368024641861,"y":-2.285037706080595},"rotation":{"radians":0.11967857246497457}},"curvature":0.42246492951690434},{"time":4.39095208688187,"velocity":2.304035483325129,"acceleration":-2.2000653331399995,"pose":{"translation":{"x":5.8317388121044775,"y":-2.275414037486129},"rotation":{"radians":0.15342908645472056}},"curvature":0.5304226929799345},{"time":4.419553981276079,"velocity":2.2411094470063,"acceleration":-0.030068534871879073,"pose":{"translation":{"x":5.895781814300943,"y":-2.264301973572542},"rotation":{"radians":0.19127701241176445}},"curvature":0.6319766618968363},{"time":4.470787319176594,"velocity":2.239568935599036,"acceleration":4.499999999999965,"pose":{"translation":{"x":6.007550991621105,"y":-2.238184699958877},"rotation":{"radians":0.26812054317861916}},"curvature":0.6345344005772399},{"time":4.51447208271469,"velocity":2.4361503715204664,"acceleration":1.273905600896596,"pose":{"translation":{"x":6.1053268053855545,"y":-2.208685692198668},"rotation":{"radians":0.3070457320188037}},"curvature":2.791280928536025E-14},{"time":4.554853830828264,"velocity":2.487592906616344,"acceleration":-3.8238069905146865,"pose":{"translation":{"x":6.199952216830501,"y":-2.1782011027926833},"rotation":{"radians":0.320629751815646}},"curvature":0.26353888008416665},{"time":4.595294801230516,"velocity":2.3329544412890155,"acceleration":-3.078222450903412,"pose":{"translation":{"x":6.2919379869050776,"y":-2.1459557772356694},"rotation":{"radians":0.35729450716432604}},"curvature":0.4855888493314479},{"time":4.636732410808467,"velocity":2.205400261174396,"acceleration":-2.690742230899985,"pose":{"translation":{"x":6.379141892524152,"y":-2.1107849752918497},"rotation":{"radians":0.4126651514990818}},"curvature":0.6921838319588445},{"time":4.678407440610329,"velocity":2.09326349851251,"acceleration":-2.4153798140149134,"pose":{"translation":{"x":6.459927670080282,"y":-2.072093054962797},"rotation":{"radians":0.4836805820799579}},"curvature":0.8946047759588094},{"time":4.719789224173083,"velocity":1.9933107738270976,"acceleration":-2.211351386851088,"pose":{"translation":{"x":6.533124668926888,"y":-2.0297642854502436},"rotation":{"radians":0.5677347722248844}},"curvature":1.0942295680094478},{"time":4.740255851207493,"velocity":1.9480518697503906,"acceleration":-2.063048263973973,"pose":{"translation":{"x":6.566628935025422,"y":-2.007309193722053},"rotation":{"radians":0.6138298431558038}},"curvature":1.1913581966357853},{"time":4.76050783073595,"velocity":1.906271058542171,"acceleration":-1.900289805763302,"pose":{"translation":{"x":6.597987504861422,"y":-1.984073660118881},"rotation":{"radians":0.662164626463665}},"curvature":1.285116653549416},{"time":4.780505174902979,"velocity":1.8682703092792248,"acceleration":-1.721969221738226,"pose":{"translation":{"x":6.6271670339410305,"y":-1.9601384772134873},"rotation":{"radians":0.7123568098053514}},"curvature":1.3740340109881797},{"time":4.800209060262563,"velocity":1.8343408251413629,"acceleration":-1.5282532431800062,"pose":{"translation":{"x":6.654155713608542,"y":-1.9355977094591659},"rotation":{"radians":0.7640025654309002}},"curvature":1.456538250746444},{"time":4.819581187473296,"velocity":1.804735308904264,"acceleration":-1.3198244774927625,"pose":{"translation":{"x":6.67896201021775,"y":-1.910555906094834},"rotation":{"radians":0.8166807624370874}},"curvature":1.5310625404211395},{"time":4.838583493382521,"velocity":1.7796556004364625,"acceleration":-1.0970245598207273,"pose":{"translation":{"x":6.7016134043032904,"y":-1.8851253140501194},"rotation":{"radians":0.8699591565747415}},"curvature":1.5961341811071255},{"time":4.857178122612758,"velocity":1.7592568354901326,"acceleration":-0.8588782793939452,"pose":{"translation":{"x":6.722155129751999,"y":-1.8594230908504479},"rotation":{"radians":0.9234014388591596}},"curvature":1.6504288782344587},{"time":4.875327541867784,"velocity":1.7436686935083767,"acceleration":-0.6019571458818372,"pose":{"translation":{"x":6.7406489129742555,"y":-1.833568517522131},"rotation":{"radians":0.9765738785866126}},"curvature":1.6927756091736645},{"time":4.89299467304784,"velocity":1.73303383764731,"acceleration":-0.31899870157043086,"pose":{"translation":{"x":6.757171712075334,"y":-1.8076802114974533},"rotation":{"radians":1.0290503142125185}},"curvature":1.7221033999561646},{"time":4.910142933365465,"velocity":1.727563564871796,"acceleration":0.002866178907874364,"pose":{"translation":{"x":6.771814456026753,"y":-1.7818733395197603},"rotation":{"radians":1.0804144385146661}},"curvature":1.7373294291624883},{"time":4.926736100730494,"velocity":1.7276111238581124,"acceleration":0.38451898192121203,"pose":{"translation":{"x":6.784680783837622,"y":-1.7562568305485466},"rotation":{"radians":1.1302586694259535}},"curvature":1.7371966373448247},{"time":4.942737967623337,"velocity":1.7337641454245871,"acceleration":0.858269455095096,"pose":{"translation":{"x":6.795885783725995,"y":-1.7309305886645412},"rotation":{"radians":1.1781793553039033}},"curvature":1.7200779215396507},{"time":4.958111804453488,"velocity":1.7469590399835218,"acceleration":1.47285453660556,"pose":{"translation":{"x":6.805554732290213,"y":-1.7059827059747978},"rotation":{"radians":1.2237686037441655}},"curvature":1.6837741338932877},{"time":4.972819725757086,"velocity":1.7686216685995628,"acceleration":2.866158555806992,"pose":{"translation":{"x":6.813821833680262,"y":-1.6814866755177813},"rotation":{"radians":1.266603651126242}},"curvature":1.6253473146165713},{"time":5.000013799245689,"velocity":1.846564194996168,"acceleration":2.9824904804857812,"pose":{"translation":{"x":6.826724384324077,"y":-1.6340544255433667},"rotation":{"radians":1.3421791884945402}},"curvature":1.4264660463431678},{"time":5.024511547414383,"velocity":1.9196284957026333,"acceleration":-4.5,"pose":{"translation":{"x":6.835797708401378,"y":-1.5888238920705637},"rotation":{"radians":1.4008735118959863}},"curvature":1.0885827493809026},{"time":5.071978957061268,"velocity":1.7060251522916496,"acceleration":-4.499999999999995,"pose":{"translation":{"x":6.84754416027829,"y":-1.503579205050574},"rotation":{"radians":1.4510023040421736}},"curvature":1.7715692437350834E-13},{"time":5.097741767599732,"velocity":1.5900925048685621,"acceleration":-4.5,"pose":{"translation":{"x":6.851984607081678,"y":-1.4613534135337432},"rotation":{"radians":1.494256339822448}},"curvature":1.8581562360282755},{"time":5.111822077138389,"velocity":1.5267311119446079,"acceleration":-4.4719879030533,"pose":{"translation":{"x":6.853168939746769,"y":-1.439442477386759},"rotation":{"radians":1.5412128701960082}},"curvature":2.3718651198268668},{"time":5.127049282607373,"velocity":1.4586352332900068,"acceleration":-0.8497957968044542,"pose":{"translation":{"x":6.853201355393319,"y":-1.416713107132108},"rotation":{"radians":1.5984874223807723}},"curvature":2.6266832511082527},{"time":5.14338386833949,"velocity":1.444754170992311,"acceleration":1.1568385524465967,"pose":{"translation":{"x":6.851797763888517,"y":-1.3930418521610104},"rotation":{"radians":1.6617678831628404}},"curvature":2.681574207858292},{"time":5.160475387116943,"velocity":1.464526298833933,"acceleration":2.2670521053785166,"pose":{"translation":{"x":6.848720491289746,"y":-1.368371019608779},"rotation":{"radians":1.727681467037012}},"curvature":2.6037022610886744},{"time":5.178084436118269,"velocity":1.5044469304461012,"acceleration":2.7995611833388314,"pose":{"translation":{"x":6.843775691827878,"y":-1.3427025692897732},"rotation":{"radians":1.7938691163350458}},"curvature":2.452714373008888},{"time":5.196067311787895,"velocity":1.5547910911355958,"acceleration":2.9306418390847555,"pose":{"translation":{"x":6.8368107598905645,"y":-1.3160920086323515},"rotation":{"radians":1.8588850345754167}},"curvature":2.2733571203755925},{"time":5.214351828052357,"velocity":1.6083764595076535,"acceleration":2.784067567569187,"pose":{"translation":{"x":6.827711742005542,"y":-1.288642287613827},"rotation":{"radians":1.9220079361582072}},"curvature":2.094788467210639},{"time":5.232912702128447,"velocity":1.6600511870486307,"acceleration":2.4587751916986975,"pose":{"translation":{"x":6.816400748823918,"y":-1.26049769369542},"rotation":{"radians":1.983035882179852}},"curvature":1.9335057759263254},{"time":5.25175115509251,"velocity":1.7063707078466521,"acceleration":2.0343244180068916,"pose":{"translation":{"x":6.80283336710347,"y":-1.2318377467572112},"rotation":{"radians":2.04210731027512}},"curvature":1.7972396387520346},{"time":5.270880195887894,"velocity":1.7452853826297532,"acceleration":1.5712251611301735,"pose":{"translation":{"x":6.786996071691942,"y":-1.2028710940330978},"rotation":{"radians":2.099563886717887}},"curvature":1.68834855487756},{"time":5.290315166419621,"velocity":1.7758220973350258,"acceleration":1.1123233121021794,"pose":{"translation":{"x":6.768903637510342,"y":-1.173829405045744},"rotation":{"radians":2.1558539023196386}},"curvature":1.6062425050525895},{"time":5.310068347748054,"velocity":1.7977940214148234,"acceleration":0.6861147154237195,"pose":{"translation":{"x":6.748596551536233,"y":-1.1449612665415376},"rotation":{"radians":2.2114675639221404}},"curvature":1.5488906518147985},{"time":5.330146312887213,"velocity":1.811569808752565,"acceleration":0.31095972000579336,"pose":{"translation":{"x":6.726138424787028,"y":-1.1165260774255419},"rotation":{"radians":2.2668940922447476}},"curvature":1.5136421893631578},{"time":5.35054888586066,"velocity":1.8179141871317859,"acceleration":-9.380986785679246E-4,"pose":{"translation":{"x":6.701613404303294,"y":-1.0887879436964503},"rotation":{"radians":2.322591776298438}},"curvature":1.4975883328404802},{"time":5.371268814374232,"velocity":1.8178947497942273,"acceleration":-0.24044837523467286,"pose":{"translation":{"x":6.675123585132039,"y":-1.0620095733815398},"rotation":{"radians":2.3789641359324474}},"curvature":1.4976373460809593},{"time":5.392291495154716,"velocity":1.8128398803574828,"acceleration":-0.3995202264713304,"pose":{"translation":{"x":6.64678642231001,"y":-1.0364461714716247},"rotation":{"radians":2.436337296083099}},"curvature":1.510419396154959},{"time":5.4135942897682074,"velocity":1.804328983029028,"acceleration":-0.4701730968696484,"pose":{"translation":{"x":6.61673214284699,"y":-1.0123393348560101},"rotation":{"radians":2.4949354139148214}},"curvature":1.5321023743715674},{"time":5.435145150862578,"velocity":1.7941963479280805,"acceleration":-0.4441881558464242,"pose":{"translation":{"x":6.585101157709093,"y":-0.9899109472574465},"rotation":{"radians":2.5548526471510677}},"curvature":1.5581852495692718},{"time":5.456900468349897,"velocity":1.7845328935735347,"acceleration":-0.31308548465480296,"pose":{"translation":{"x":6.55204147380206,"y":-0.9693570741670829},"rotation":{"radians":2.6160218892927363}},"curvature":1.5833363289355815},{"time":5.478802255073319,"velocity":1.777675762062426,"acceleration":-0.06784992897914628,"pose":{"translation":{"x":6.517706105954552,"y":-0.95084185777942},"rotation":{"radians":2.6781823924242776}},"curvature":1.601349249099422},{"time":5.500775007429151,"velocity":1.7761849123756064,"acceleration":0.30226011111110435,"pose":{"translation":{"x":6.4822504889014505,"y":-0.9344914119272651},"rotation":{"radians":2.7408502576277325}},"curvature":1.6052839514494401},{"time":5.5227227451050345,"velocity":1.7828188380041565,"acceleration":0.8126654144925758,"pose":{"translation":{"x":6.445829889267147,"y":-0.920387717016685},"rotation":{"radians":2.8032970531227175}},"curvature":1.5878259726668469},{"time":5.544526770383518,"velocity":1.800538215244702,"acceleration":1.4894109643738536,"pose":{"translation":{"x":6.408596817548844,"y":-0.90856251496196},"rotation":{"radians":2.8645417046334765}},"curvature":1.5418259918675647},{"time":5.566044511216525,"velocity":1.8325869743699372,"acceleration":2.3803217171878797,"pose":{"translation":{"x":6.370698440099848,"y":-0.898991204120538},"rotation":{"radians":2.9233585582299653}},"curvature":1.4608860227818288},{"time":5.587109412729301,"velocity":1.8827282169112234,"acceleration":3.576075932910015,"pose":{"translation":{"x":6.332273991112865,"y":-0.8915867342279876},"rotation":{"radians":2.9783000838047666}},"curvature":1.3397811496678185},{"time":5.607531334156872,"velocity":1.955758558632136,"acceleration":4.500000000000005,"pose":{"translation":{"x":6.293452184603297,"y":-0.8861935013329516},"rotation":{"radians":3.027727173937782}},"curvature":1.1745015638892786},{"time":5.6460163647390855,"velocity":2.128941196252099,"acceleration":-0.371030142507317,"pose":{"translation":{"x":6.215063226091267,"y":-0.8804389319050934},"rotation":{"radians":3.1026663712086755}},"curvature":0.6983328490907881},{"time":5.683162578026847,"velocity":2.1151588314423337,"acceleration":-4.500000000000008,"pose":{"translation":{"x":6.1362525285061205,"y":-0.8788795980158471},"rotation":{"radians":3.131789046110493}},"curvature":-1.3496542794051404E-14},{"time":5.722112393018151,"velocity":1.939884663981463,"acceleration":-4.500000000000005,"pose":{"translation":{"x":6.0572821849446274,"y":-0.8793245304375282},"rotation":{"radians":-3.1065366404729224}},"curvature":1.0622129743789184},{"time":5.743086880047796,"velocity":1.8454994723480627,"acceleration":-4.48788272661146,"pose":{"translation":{"x":6.017652439251256,"y":-0.8816556098020346},"rotation":{"radians":-3.0567137117694307}},"curvature":1.429069662215705},{"time":5.765353153751386,"velocity":1.7455710472077177,"acceleration":-2.3280607685562855,"pose":{"translation":{"x":5.977938270388472,"y":-0.8862573007373383},"rotation":{"radians":-2.9940377392669313}},"curvature":1.6875671589121797},{"time":5.788869904394758,"velocity":1.6908226226309622,"acceleration":-0.8530994075543143,"pose":{"translation":{"x":5.938205606422835,"y":-0.8936053006215278},"rotation":{"radians":-2.922368046743592}},"curvature":1.8421476920110798},{"time":5.8132674076005175,"velocity":1.6700091271003243,"acceleration":0.19092533243597556,"pose":{"translation":{"x":5.898560049495785,"y":-0.9040485692214991},"rotation":{"radians":-2.845269966839634}},"curvature":1.9035729350390005},{"time":5.838234135365937,"velocity":1.6747759078987756,"acceleration":0.9183446969288315,"pose":{"translation":{"x":5.8591419652278445,"y":-0.9178190171657469},"rotation":{"radians":-2.7658377209734057}},"curvature":1.8893703177109238},{"time":5.863526051699825,"velocity":1.6980026051391692,"acceleration":1.3859573992863732,"pose":{"translation":{"x":5.820121572122819,"y":-0.9350411944171553},"rotation":{"radians":-2.6865373237047723}},"curvature":1.8213073069968178},{"time":5.888967725238295,"velocity":1.7332636808300403,"acceleration":1.6308823827646728,"pose":{"translation":{"x":5.781694030972,"y":-0.9557419787457884},"rotation":{"radians":-2.6091299725611385}},"curvature":1.7214657553335084},{"time":5.914444301328684,"velocity":1.774812979949019,"acceleration":1.687147962097425,"pose":{"translation":{"x":5.7440745342583694,"y":-0.9798602642016813},"rotation":{"radians":-2.534693306744826}},"curvature":1.6089106436817548},{"time":5.939887357439907,"velocity":1.817739180216599,"acceleration":1.5902585902390327,"pose":{"translation":{"x":5.707493395560797,"y":-1.007256649587631},"rotation":{"radians":-2.463717482289093}},"curvature":1.4980296684969048},{"time":5.9652591013673515,"velocity":1.8580868139465634,"acceleration":1.3754780906178958,"pose":{"translation":{"x":5.672191138958245,"y":-1.037723126931987},"rotation":{"radians":-2.3962358647899276}},"curvature":1.3984801293003415},{"time":5.9905385369852935,"velocity":1.892858123782228,"acceleration":1.0742321356675701,"pose":{"translation":{"x":5.638413588433969,"y":-1.070992769961442},"rotation":{"radians":-2.331954975508437}},"curvature":1.3160936886933714},{"time":6.015711493112626,"velocity":1.919899722203958,"acceleration":0.711442933411883,"pose":{"translation":{"x":5.60640695727972,"y":-1.1067494225738237},"rotation":{"radians":-2.2703629028049113}},"curvature":1.2540847206404915},{"time":6.040764885131567,"velocity":1.937723780913832,"acceleration":0.3049097353681134,"pose":{"translation":{"x":5.576412937499948,"y":-1.1446373873108833},"rotation":{"radians":-2.2108092449988384}},"curvature":1.21415879965412},{"time":6.065684655692651,"velocity":1.945322061561046,"acceleration":-0.13330344332951063,"pose":{"translation":{"x":5.548663789216002,"y":-1.1842711138310893},"rotation":{"radians":-2.152558545394135}},"curvature":1.1973610655232012},{"time":6.090456445782552,"velocity":1.9420198966446265,"acceleration":-0.593933643569293,"pose":{"translation":{"x":5.523377430070332,"y":-1.225244887382416},"rotation":{"radians":-2.0948233843766975}},"curvature":1.20464510558545},{"time":6.11506794981713,"velocity":1.927402296379649,"acceleration":-1.066473925368502,"pose":{"translation":{"x":5.500752524630691,"y":-1.2671425172751354},"rotation":{"radians":-2.0367846989138014}},"curvature":1.2371889449971691},{"time":6.139511898373599,"velocity":1.9013334626111256,"acceleration":-1.5343944666835607,"pose":{"translation":{"x":5.480963573794339,"y":-1.3095470253546075},"rotation":{"radians":-1.9776073195482964}},"curvature":1.2964691494678222},{"time":6.163788551357594,"velocity":1.8640835006028875,"acceleration":-1.9702328504614488,"pose":{"translation":{"x":5.464156004192241,"y":-1.3520503344740715},"rotation":{"radians":-1.91645936159511}},"curvature":1.3840523747115796},{"time":6.187906404973635,"velocity":1.8165657131259423,"acceleration":-2.3317552336616907,"pose":{"translation":{"x":5.4504412575932735,"y":-1.3942629569674367},"rotation":{"radians":-1.8525455761999476}},"curvature":1.5009911361091886},{"time":6.211879524401302,"velocity":1.7606662664332835,"acceleration":-2.5610114715316845,"pose":{"translation":{"x":5.439891880308422,"y":-1.435823683122073},"rotation":{"radians":-1.7851669930124427}},"curvature":1.6466369835629426},{"time":6.235719630535293,"velocity":1.699611481141598,"acceleration":-2.587737185870032,"pose":{"translation":{"x":5.432536612594985,"y":-1.4764092696516016},"rotation":{"radians":-1.7138210860620298}},"curvature":1.8166615839118367},{"time":6.259421104050304,"velocity":1.6382782967668892,"acceleration":-2.3357708163044526,"pose":{"translation":{"x":5.428355478060779,"y":-1.5157441281686852},"rotation":{"radians":-1.6383554728237186}},"curvature":2.00022111237521},{"time":6.282937983310647,"velocity":1.5833482565000259,"acceleration":-1.7253464768301445,"pose":{"translation":{"x":5.427274873068333,"y":-1.5536100136578201},"rotation":{"radians":-1.5591788539788232}},"curvature":2.1766885360236947},{"time":6.306154488364768,"velocity":1.5432917413005873,"acceleration":-0.6564341220116451,"pose":{"translation":{"x":5.4291626561390975,"y":-1.589855712948129},"rotation":{"radians":-1.477510001528427}},"curvature":2.3132938009500545},{"time":6.328854710954038,"velocity":1.5283905406157317,"acceleration":1.052062712352461,"pose":{"translation":{"x":5.433823237357643,"y":-1.6244067331861447},"rotation":{"radians":-1.3956094518301694}},"curvature":2.365938863302389},{"time":6.3507012426153695,"velocity":1.551374461970846,"acceleration":3.8222338168616554,"pose":{"translation":{"x":5.440992667775863,"y":-1.6572749903086093},"rotation":{"radians":-1.31690582520533}},"curvature":2.2851610854603064},{"time":6.3712328942636045,"velocity":1.6298512352167542,"acceleration":4.500000000000014,"pose":{"translation":{"x":5.4503337288171725,"y":-1.6885684975152582},"rotation":{"radians":-1.2459338716194437}},"curvature":2.0265213259962254},{"time":6.390316858999088,"velocity":1.7157290765264313,"acceleration":4.500000000000018,"pose":{"translation":{"x":5.461431021680719,"y":-1.7185010537416168},"rotation":{"radians":-1.1880679273629566}},"curvature":1.560926730006552},{"time":6.4252068758441405,"velocity":1.8727341523291676,"acceleration":4.4999999999999725,"pose":{"translation":{"x":5.486812342974934,"y":-1.7757255685112403},"rotation":{"radians":-1.1349193543875298}},"curvature":-2.9874785880668607E-14},{"time":6.458103245580261,"velocity":2.0207678161417104,"acceleration":4.500000000000006,"pose":{"translation":{"x":5.513815995351345,"y":-1.8337949888915857},"rotation":{"radians":-1.1362726057076036}},"curvature":-0.016539811910726683},{"time":6.49307013107063,"velocity":2.178118800848371,"acceleration":4.49999999999995,"pose":{"translation":{"x":5.544734274421549,"y":-1.9003775243225272},"rotation":{"radians":-1.1349949681124527}},"curvature":0.052034630467225826},{"time":6.532244727939596,"velocity":2.354404486758714,"acceleration":4.500000000000012,"pose":{"translation":{"x":5.582475456215184,"y":-1.9807359178323514},"rotation":{"radians":-1.1276106925747755}},"curvature":0.10787742141813664},{"time":6.575854077317036,"velocity":2.5506465589571934,"acceleration":0.2637408521263975,"pose":{"translation":{"x":5.628961946084036,"y":-2.0770580831669134},"rotation":{"radians":-1.1141176507955801}},"curvature":0.14078302436425447},{"time":6.624845542769809,"velocity":2.5635676098026288,"acceleration":-0.33737479591111674,"pose":{"translation":{"x":5.68525344175341,"y":-2.188975239005737},"rotation":{"radians":-1.0949403737120962}},"curvature":0.16425844298227135},{"time":6.651795734096483,"velocity":2.5544752945040266,"acceleration":-0.34714830344111935,"pose":{"translation":{"x":5.717201635343008,"y":-2.2500951074866418},"rotation":{"radians":-1.0832133988451098}},"curvature":0.1758287999775167},{"time":6.680302343790662,"velocity":2.544579273311834,"acceleration":-0.37606043731905103,"pose":{"translation":{"x":5.7516700963735,"y":-2.3140800431781168},"rotation":{"radians":-1.0699787075876546}},"curvature":0.188515879980846},{"time":6.71019914733743,"velocity":2.533336268295595,"acceleration":-0.4201967329679179,"pose":{"translation":{"x":5.788603496586915,"y":-2.3803956095708028},"rotation":{"radians":-1.0551275864098477}},"curvature":0.2030501201491312},{"time":6.741301056195598,"velocity":2.5202673478043263,"acceleration":-0.4780193281217559,"pose":{"translation":{"x":5.827915681570757,"y":-2.4484447268792158},"rotation":{"radians":-1.0385150768563445}},"curvature":0.22010776296991852},{"time":6.773410509024505,"velocity":2.504918408736695,"acceleration":-0.5493105686814109,"pose":{"translation":{"x":5.869493519603363,"y":-2.5175838637359975},"rotation":{"radians":-1.019960546861272}},"curvature":0.2403685783291652},{"time":6.8063239130430375,"velocity":2.486838728058034,"acceleration":-0.6343959824758042,"pose":{"translation":{"x":5.913200750499257,"y":-2.587139228886169},"rotation":{"radians":-0.9992481395141277}},"curvature":0.2645548152728291},{"time":6.8398380323403245,"velocity":2.46557750541962,"acceleration":-0.7334083847942388,"pose":{"translation":{"x":5.9588818344545045,"y":-2.6564229628813836},"rotation":{"radians":-0.9761279124327613}},"curvature":0.2934510135050659},{"time":6.873756153632937,"velocity":2.44070167086715,"acceleration":-0.845392504591115,"pose":{"translation":{"x":6.006365800892068,"y":-2.7247493297741805},"rotation":{"radians":-0.9503189521184723}},"curvature":0.32789893764181127},{"time":6.907893764916604,"velocity":2.4118419901632926,"acceleration":-0.9670782287634347,"pose":{"translation":{"x":6.055470097307166,"y":-2.7914509088122372},"rotation":{"radians":-0.9215164137195069}},"curvature":0.3687540797437851},{"time":6.9420833460581095,"velocity":2.3787779905908017,"acceleration":-1.091204598307252,"pose":{"translation":{"x":6.10600443811262,"y":-2.8558947861326245},"rotation":{"radians":-0.8894053775600914}},"curvature":0.4167795224641493},{"time":6.976177687117301,"velocity":2.3415740888507566,"acceleration":-1.204405212207946,"pose":{"translation":{"x":6.157774653484221,"y":-2.9174987464560562},"rotation":{"radians":-0.8536856455447042}},"curvature":0.47243980767312477},{"time":7.010050932627928,"velocity":2.300776975403357,"acceleration":-1.2849043290762034,"pose":{"translation":{"x":6.210586538206073,"y":-2.975747464781147},"rotation":{"radians":-0.8141129836732013}},"curvature":0.5355450972321937},{"time":7.0435963501168155,"velocity":2.257674323251218,"acceleration":-1.300569560663662,"pose":{"translation":{"x":6.264249700515956,"y":-3.0302086980786602},"rotation":{"radians":-0.7705633800164033}},"curvature":0.6046942607952271},{"time":7.076719760327272,"velocity":2.214595024186122,"acceleration":-1.2079662499628665,"pose":{"translation":{"x":6.31858141095068,"y":-3.080549476985765},"rotation":{"radians":-0.7231265815336309}},"curvature":0.6764954717393413},{"time":7.109327858865727,"velocity":2.175205541676205,"acceleration":-0.9524544369553246,"pose":{"translation":{"x":6.373410451191438,"y":-3.126552297500287},"rotation":{"radians":-0.6722317125644008}},"curvature":0.7446358293261276},{"time":7.141311579557162,"velocity":2.144742504993308,"acceleration":-0.4675351532254583,"pose":{"translation":{"x":6.428580962909164,"y":-3.1681313126749653},"rotation":{"radians":-0.6187990131673747}},"curvature":0.7990505604509784},{"time":7.172526375589603,"velocity":2.1301484905473793,"acceleration":0.331448553423868,"pose":{"translation":{"x":6.483956296609884,"y":-3.205348524311699},"rotation":{"radians":-0.5643967569060475}},"curvature":0.8256705872409517},{"time":7.202773589033646,"velocity":2.1401738856885104,"acceleration":1.567936387587133,"pose":{"translation":{"x":6.539422860480078,"y":-3.2384299746558063},"rotation":{"radians":-0.5113645424618696}},"curvature":0.8073448559759118},{"time":7.231789035362826,"velocity":2.185668259790112,"acceleration":3.452044120654913,"pose":{"translation":{"x":6.594893969232029,"y":-3.267781938090276},"rotation":{"radians":-0.4628530915600462}},"curvature":0.7262966991960407},{"time":7.259245345321339,"velocity":2.280448653157277,"acceleration":4.500000000000033,"pose":{"translation":{"x":6.65031369294918,"y":-3.2940071128300197},"rotation":{"radians":-0.4227382002790479}},"curvature":0.5678319319036585},{"time":7.3094005149172245,"velocity":2.506146916338765,"acceleration":1.1756447739499283,"pose":{"translation":{"x":6.760952135540793,"y":-3.3405671584101064},"rotation":{"radians":-0.3853198176751691}},"curvature":-3.568404011740405E-14},{"time":7.35644249151037,"velocity":2.5614515702767706,"acceleration":-2.04209696603584,"pose":{"translation":{"x":6.871565862941563,"y":-3.384974740911895},"rotation":{"radians":-0.3749068184419325}},"curvature":0.1669438591847653},{"time":7.403571354064694,"velocity":2.4652098630418635,"acceleration":-1.475786053293247,"pose":{"translation":{"x":6.982324743425078,"y":-3.426962499776667},"rotation":{"radians":-0.34729592857952807}},"curvature":0.2939550613525814},{"time":7.451654942438577,"velocity":2.3942487739273934,"acceleration":-1.1726608665184395,"pose":{"translation":{"x":7.092923559130723,"y":-3.464607888085905},"rotation":{"radians":-0.3069108647204054}},"curvature":0.39414309572055434},{"time":7.499953964406618,"velocity":2.3376104009743575,"acceleration":-1.0445324304688395,"pose":{"translation":{"x":7.202658440298267,"y":-3.4964883725963083},"rotation":{"radians":-0.25696495811314823}},"curvature":0.47847426426559647},{"time":7.547849307146936,"velocity":2.2875821622136754,"acceleration":-1.0528522693930378,"pose":{"translation":{"x":7.310528793310386,"y":-3.5216347167203006},"rotation":{"radians":-0.19965080629313658}},"curvature":0.5564366526783604},{"time":7.594834116842683,"velocity":2.238114098698508,"acceleration":-1.1845595793844004,"pose":{"translation":{"x":7.415339228735183,"y":-3.5394842635065453},"rotation":{"radians":-0.13629498683287739}},"curvature":0.6369531250788507},{"time":7.640510835121489,"velocity":2.1840073045065047,"acceleration":-1.4364064059370585,"pose":{"translation":{"x":7.515801489368694,"y":-3.5498342186204628},"rotation":{"radians":-0.06747821579404756}},"curvature":0.7291963010074658},{"time":7.684593454128391,"velocity":2.1206867481745078,"acceleration":-1.7963798575460974,"pose":{"translation":{"x":7.6106363782773965,"y":-3.5527949333247437},"rotation":{"radians":0.006856432640540043}},"curvature":0.8431249288458307},{"time":7.72691035981549,"velocity":2.0446695111645266,"acceleration":-2.111266996203485,"pose":{"translation":{"x":7.698675686840731,"y":-3.5487431874598667},"rotation":{"radians":0.08726414438930495}},"curvature":0.9892185287145076},{"time":7.747376524523492,"velocity":2.0014599730776568,"acceleration":-2.3164631197339873,"pose":{"translation":{"x":7.739837365519994,"y":-3.544266740311868},"rotation":{"radians":0.12999693859895942}},"curvature":1.0772075217169417},{"time":7.767385167383071,"velocity":1.9551106898175137,"acceleration":-2.489185726798071,"pose":{"translation":{"x":7.778964122793601,"y":-3.5382754724246124},"rotation":{"radians":0.17454284199249823}},"curvature":1.1759135136357581},{"time":7.786939862095348,"velocity":1.9064354228478184,"acceleration":-2.5935559038126312,"pose":{"translation":{"x":7.815986537878432,"y":-3.5308706106429226},"rotation":{"radians":0.22095285474791476}},"curvature":1.2847397593008736},{"time":7.806043047805333,"velocity":1.8568902427680596,"acceleration":-2.5817777983705077,"pose":{"translation":{"x":7.850861238268895,"y":-3.5221612741565806},"rotation":{"radians":0.2691995363433516}},"curvature":1.4013701773032536},{"time":7.824690593727987,"velocity":1.8087464227108558,"acceleration":-2.392376743017523,"pose":{"translation":{"x":7.883574084988262,"y":-3.512263014593467},"rotation":{"radians":0.3191262876820936}},"curvature":1.5208227153430485},{"time":7.842864492555057,"velocity":1.765267609827021,"acceleration":-1.946209334003406,"pose":{"translation":{"x":7.91414335783999,"y":-3.5012963561127033},"rotation":{"radians":0.37038254010680066}},"curvature":1.6342998063405612},{"time":7.860523854984268,"velocity":1.7308987938347404,"acceleration":-1.1354185806527661,"pose":{"translation":{"x":7.942622940659051,"y":-3.489385335497793},"rotation":{"radians":0.42234699326785075}},"curvature":1.7280346581221933},{"time":7.877595016678273,"velocity":1.7115158796540388,"acceleration":0.20449771337602204,"pose":{"translation":{"x":7.969105506563265,"y":-3.4766560422497625},"rotation":{"radians":0.4740464245862101}},"curvature":1.7825583454503058},{"time":7.893962489361334,"velocity":1.7148629903914692,"acceleration":2.359345550544278,"pose":{"translation":{"x":7.993725703204623,"y":-3.463235158680302},"rotation":{"radians":0.5240850047393663}},"curvature":1.773054957153259},{"time":7.9094635345052,"velocity":1.7514353122804354,"acceleration":2.1656895009193815,"pose":{"translation":{"x":8.016663338020617,"y":-3.449248500004906},"rotation":{"radians":0.5706068403525518}},"curvature":1.6715825978442673},{"time":7.9380603809051875,"velocity":1.8133672022882936,"acceleration":-4.5,"pose":{"translation":{"x":8.058455062361967,"y":-3.42006802327616},"rotation":{"radians":0.6436060077103064}},"curvature":1.095741168784282},{"time":7.965942414490546,"velocity":1.6878980511541817,"acceleration":-4.499999999999996,"pose":{"translation":{"x":8.096943374347772,"y":-3.390048315402949},"rotation":{"radians":0.672247181806882}},"curvature":-2.787021037671447E-13},{"time":7.9960757883846325,"velocity":1.552297868630792,"acceleration":-4.5,"pose":{"translation":{"x":8.134557965995524,"y":-3.3589285632876065},"rotation":{"radians":0.7266347380610323}},"curvature":2.0205918115699713},{"time":8.012666817320369,"velocity":1.4776382384199742,"acceleration":-3.25603069552879,"pose":{"translation":{"x":8.152869542150555,"y":-3.341710888890333},"rotation":{"radians":0.7848315484298528}},"curvature":2.5532105140918953},{"time":8.030597703465256,"velocity":1.4192547227341905,"acceleration":0.04379517409933931,"pose":{"translation":{"x":8.17060129675742,"y":-3.3227339035945405},"rotation":{"radians":0.8547801268805426}},"curvature":2.7852065306571983},{"time":8.049659652236626,"velocity":1.4200895440993053,"acceleration":1.988240988312329,"pose":{"translation":{"x":8.187577758965592,"y":-3.3016593624648842},"rotation":{"radians":0.9305645381411529}},"curvature":2.781754805313535},{"time":8.069370939028552,"velocity":1.4592803324313939,"acceleration":3.1401288415075297,"pose":{"translation":{"x":8.203633243724457,"y":-3.278259902703933},"rotation":{"radians":1.0075381242431172}},"curvature":2.6241576789061507},{"time":8.089412138935224,"velocity":1.5222122822767536,"acceleration":3.7252300620396044,"pose":{"translation":{"x":8.218612316299136,"y":-3.2524098860546},"rotation":{"radians":1.0825127879267544}},"curvature":2.388068549471008},{"time":8.109604961303694,"velocity":1.5974351912012033,"acceleration":3.8704818384777404,"pose":{"translation":{"x":8.2323702567863,"y":-3.2240762412025705},"rotation":{"radians":1.153650620142098}},"curvature":2.130275972182423},{"time":8.129873655525389,"velocity":1.6758848040759355,"acceleration":3.6838582173412258,"pose":{"translation":{"x":8.244773524629995,"y":-3.1933093061787345},"rotation":{"radians":1.2201762239591805}},"curvature":1.8860779466753734},{"time":8.150204643635885,"velocity":1.7507812816934503,"acceleration":3.2695253802327833,"pose":{"translation":{"x":8.25570022313745,"y":-3.1602336707616185},"rotation":{"radians":1.282046135917554}},"curvature":1.6733600209313169},{"time":8.170613845409601,"velocity":1.8175096848829102,"acceleration":2.7198012887743115,"pose":{"translation":{"x":8.265040563994912,"y":-3.1250390188798134},"rotation":{"radians":1.3396645224757533}},"curvature":1.4986085428536888},{"time":8.191124591988599,"velocity":1.8732948398621905,"acceleration":2.1056804158438616,"pose":{"translation":{"x":8.272697331783444,"y":-3.087970971014407},"rotation":{"radians":1.393677454266626}},"curvature":1.3620702315154585},{"time":8.21175509880908,"velocity":1.91673609404301,"acceleration":1.47390076696178,"pose":{"translation":{"x":8.278586348494763,"y":-3.0493219266014138},"rotation":{"radians":1.4448418381519719}},"curvature":1.261248848361819},{"time":8.232513069147528,"velocity":1.947331282445417,"acceleration":0.8501688445374985,"pose":{"translation":{"x":8.282636938047048,"y":-3.009421906434206},"rotation":{"radians":1.4939510341608968}},"curvature":1.192941138640494},{"time":8.253395010546432,"velocity":1.9650844584362237,"acceleration":0.2454469819863193,"pose":{"translation":{"x":8.284792390800762,"y":-2.9686293950659444},"rotation":{"radians":1.5417981264600373}},"curvature":1.1542800792072208},{"time":8.274388357853104,"velocity":1.9702372121744367,"acceleration":-0.3372202312596027,"pose":{"translation":{"x":8.285010428074468,"y":-2.927322183212007},"rotation":{"radians":1.5891616086857403}},"curvature":1.143189393386008},{"time":8.295475031226283,"velocity":1.9631263593030375,"acceleration":-0.8964851217345339,"pose":{"translation":{"x":8.283263666660654,"y":-2.885888210152424},"rotation":{"radians":1.636802497506564}},"curvature":1.1585099193427613},{"time":8.316635435852596,"velocity":1.9441563713856647,"acceleration":-1.427279745915985,"pose":{"translation":{"x":8.279540083341542,"y":-2.844716406134302},"rotation":{"radians":1.6854649445431082}},"curvature":1.1999295632465516},{"time":8.337852095381077,"velocity":1.9138742629646677,"acceleration":-1.9161465438257943,"pose":{"translation":{"x":8.273843479404917,"y":-2.8041875347742615},"rotation":{"radians":1.7358739304854196}},"curvature":1.2677499510532177},{"time":8.35911211831619,"velocity":1.873136943495894,"acceleration":-2.337558274245847,"pose":{"translation":{"x":8.266193945159939,"y":-2.7646650354608617},"rotation":{"radians":1.7887237257729862}},"curvature":1.362445217661834},{"time":8.380407561129932,"velocity":1.823357604942905,"acceleration":-2.652013851903929,"pose":{"translation":{"x":8.256628324452965,"y":-2.726485865757035},"rotation":{"radians":1.844649800706965}},"curvature":1.483903320534828},{"time":8.401732538517807,"velocity":1.766803469518723,"acceleration":-2.8069565728034873,"pose":{"translation":{"x":8.245200679183364,"y":-2.6899513438025164},"rotation":{"radians":1.9041753414183076}},"curvature":1.6301961451172062},{"time":8.423075773673148,"velocity":1.7068939353145514,"acceleration":-2.740709684947288,"pose":{"translation":{"x":8.231982753819342,"y":-2.6553179907162723},"rotation":{"radians":1.9676226717805982}},"curvature":1.7957426126716163},{"time":8.444407435276814,"velocity":1.6484300437613648,"acceleration":-2.3868850571772815,"pose":{"translation":{"x":8.217064439913752,"y":-2.622788372998934},"rotation":{"radians":2.034981967891211}},"curvature":1.9688953722788336},{"time":8.465659964987337,"velocity":1.5977026981681015,"acceleration":-1.6721003094002544,"pose":{"translation":{"x":8.200554240619926,"y":-2.592501944935227},"rotation":{"radians":2.1057380785550297}},"curvature":2.1294025290491683},{"time":8.486704537726926,"velocity":1.5625140615790396,"acceleration":-0.4939176625878203,"pose":{"translation":{"x":8.182579735207474,"y":-2.5645258909964013},"rotation":{"radians":2.178674004001982}},"curvature":2.2468655838223976},{"time":8.50732771122773,"velocity":1.55232791192838,"acceleration":1.3440870213260039,"pose":{"translation":{"x":8.163288043578126,"y":-2.5388459682426614},"rotation":{"radians":2.2516947501588493}},"curvature":2.281861825372894},{"time":8.527215442134327,"velocity":1.5790587529235636,"acceleration":4.29516693308195,"pose":{"translation":{"x":8.142846290781529,"y":-2.5153573487256002},"rotation":{"radians":2.3217353486152947}},"curvature":2.190985737940753},{"time":8.545951532293989,"velocity":1.659533387832588,"acceleration":4.5000000000001865,"pose":{"translation":{"x":8.121442071531082,"y":-2.4938554618906257},"rotation":{"radians":2.3848099378396634}},"curvature":1.9350720677060358},{"time":8.563453777226549,"velocity":1.7382934900291123,"acceleration":4.500000000000099,"pose":{"translation":{"x":8.099283914719747,"y":-2.4740268369793927},"rotation":{"radians":2.436212811045131}},"curvature":1.4873792591125539},{"time":8.595720594607112,"velocity":1.8834941682416528,"acceleration":0.6246105063825093,"pose":{"translation":{"x":8.053647361978992,"y":-2.437536043290592},"rotation":{"radians":2.483464928373856}},"curvature":-1.3698762162005308E-13},{"time":8.656391865860066,"velocity":1.921390081701831,"acceleration":-4.5,"pose":{"translation":{"x":7.96117069158718,"y":-2.368466015327747},"rotation":{"radians":2.5369928581630763}},"curvature":1.0399598589066348},{"time":8.68765567538839,"velocity":1.780702938824371,"acceleration":-3.240173866267892,"pose":{"translation":{"x":7.91240638130442,"y":-2.3373040586323},"rotation":{"radians":2.61434205399187}},"curvature":1.5933800897975612},{"time":8.704656089537462,"velocity":1.7256186411828185,"acceleration":-0.46757356359162,"pose":{"translation":{"x":7.8862878970003205,"y":-2.322946810158374},"rotation":{"radians":2.664366105597434}},"curvature":1.7427662179351286},{"time":8.722628980600392,"velocity":1.7172149924604798,"acceleration":1.8997049941485202,"pose":{"translation":{"x":7.858428734780647,"y":-2.3094902611749495},"rotation":{"radians":2.718995209324154}},"curvature":1.766399125109531},{"time":8.741412279178482,"velocity":1.7528977185758594,"acceleration":3.7573974099941463,"pose":{"translation":{"x":7.828338197830325,"y":-2.2969733524855083},"rotation":{"radians":2.775245507404896}},"curvature":1.6676130949360795},{"time":8.760869073463729,"velocity":1.8260046270300396,"acceleration":4.499999999999841,"pose":{"translation":{"x":7.795495010921529,"y":-2.285417081311046},"rotation":{"radians":2.8301637542164064}},"curvature":1.4772780656246616},{"time":8.780993029004511,"velocity":1.9165624269635553,"acceleration":4.500000000000156,"pose":{"translation":{"x":7.759357407042884,"y":-2.2748260275563386},"rotation":{"radians":2.8813398945937534}},"curvature":1.2395385890084851},{"time":8.8019377787345,"velocity":2.0108138007485072,"acceleration":4.499999999999967,"pose":{"translation":{"x":7.719373214028678,"y":-2.2651898800761994},"rotation":{"radians":2.927189762661659}},"curvature":0.9952887213572017},{"time":8.84698724220322,"velocity":2.2135363863577435,"acceleration":4.500000000000065,"pose":{"translation":{"x":7.625664865934271,"y":-2.2486757617066493},"rotation":{"radians":3.0006158298296985}},"curvature":0.5844146961271413},{"time":8.896978298840953,"velocity":2.438496141227542,"acceleration":2.6952213865964265,"pose":{"translation":{"x":7.5101277781356695,"y":-2.235552414159634},"rotation":{"radians":3.051256738618408}},"curvature":0.3183020153234541},{"time":8.92419937463521,"velocity":2.5118629668743857,"acceleration":1.7044675345595832,"pose":{"translation":{"x":7.442969940600548,"y":-2.2301217827642343},"rotation":{"radians":3.06957674540804}},"curvature":0.23117099259937773},{"time":8.953419429445445,"velocity":2.5616676016564814,"acceleration":1.1998491601308967,"pose":{"translation":{"x":7.368998823930037,"y":-2.2253569496337615},"rotation":{"radians":3.084162421412773}},"curvature":0.16666949547364027},{"time":8.98489877797942,"velocity":2.599438071556441,"acceleration":0.8320783802863694,"pose":{"translation":{"x":7.287871845495836,"y":-2.221186101728629},"rotation":{"radians":3.0956527595729373}},"curvature":0.1194013143659248},{"time":9.01881069485416,"velocity":2.62765544442198,"acceleration":0.5719529929030283,"pose":{"translation":{"x":7.199316710548963,"y":-2.217534745089381},"rotation":{"radians":3.1046072214432563}},"curvature":0.08497524507570217},{"time":9.055287386560808,"velocity":2.648518397414798,"acceleration":0.3913523852923889,"pose":{"translation":{"x":7.103141498848956,"y":-2.2143272311029563},"rotation":{"radians":3.111501976800249}},"curvature":0.059993479862026994},{"time":9.094417158015242,"velocity":2.663831926809437,"acceleration":0.26725918149541245,"pose":{"translation":{"x":6.999244751293082,"y":-2.211488282768949},"rotation":{"radians":3.11673518143217}},"curvature":0.04190574277714775},{"time":9.136242024940842,"velocity":2.675010006510127,"acceleration":0.18236350337998677,"pose":{"translation":{"x":6.887625556545544,"y":-2.2089445209658685},"rotation":{"radians":3.120636226575132}},"curvature":0.028833391033654638},{"time":9.180755423990076,"velocity":2.6831276259080967,"acceleration":0.12426533838593211,"pose":{"translation":{"x":6.768393637666687,"y":-2.2066259907174035},"rotation":{"radians":3.1234761133333215}},"curvature":0.01940840539073906},{"time":9.227899844575914,"velocity":2.6889860432852046,"acceleration":0.09267376389522815,"pose":{"translation":{"x":6.641779438742209,"y":-2.2044676874586817},"rotation":{"radians":3.125477502696193}},"curvature":0.0126418259585506},{"time":9.252425162643581,"velocity":2.691258896821263,"acceleration":0.07619136802126135,"pose":{"translation":{"x":6.575811489951417,"y":-2.203430036256668},"rotation":{"radians":3.1262223864348835}},"curvature":0.010024570117161737},{"time":9.27756242385293,"velocity":2.693174139141111,"acceleration":0.06244263614767541,"pose":{"translation":{"x":6.508144211512361,"y":-2.202411083302532},"rotation":{"radians":3.1268238132890485}},"curvature":0.007822543474077822},{"time":9.303288944516787,"velocity":2.69478057091027,"acceleration":0.05092900119929307,"pose":{"translation":{"x":6.4388448534262,"y":-2.2014047749943275},"rotation":{"radians":3.127299887090871}},"curvature":0.005977981738578354},{"time":9.329578356269979,"velocity":2.696119464392977,"acceleration":0.0412373249299962,"pose":{"translation":{"x":6.367990102001158,"y":-2.200405653305747},"rotation":{"radians":3.1276671973366104}},"curvature":0.004442296384952015},{"time":9.356400513974986,"velocity":2.697225538425582,"acceleration":0.03302377598079158,"pose":{"translation":{"x":6.295666395059675,"y":-2.199408903481941},"rotation":{"radians":3.1279410141323836}},"curvature":0.00317480050721403},{"time":9.383721402002095,"velocity":2.6981277773113854,"acceleration":0.02600014857970354,"pose":{"translation":{"x":6.221970237145585,"y":-2.198410401735342},"rotation":{"radians":3.1281354721234154}},"curvature":0.002141657313974962},{"time":9.411503039230576,"velocity":2.6988501040071133,"acceleration":0.019922155808837393,"pose":{"translation":{"x":6.147008514731264,"y":-2.1974067629414833},"rotation":{"radians":3.128263745928916}},"curvature":0.0013150273522682377},{"time":9.439703383155093,"velocity":2.6994119156526404,"acceleration":0.014579234130882525,"pose":{"translation":{"x":6.070898811424805,"y":-2.19639538833482},"rotation":{"radians":3.1283382199451615}},"curvature":6.723965081606445E-4},{"time":9.468276233530304,"velocity":2.6998284859280473,"acceleration":0.0020864215191713272,"pose":{"translation":{"x":5.993769723177171,"y":-2.1953745132045492},"rotation":{"radians":3.128370655803145}},"curvature":1.9607335146147427E-4},{"time":9.497172326469686,"velocity":2.699888775358176,"acceleration":-0.005368324369419618,"pose":{"translation":{"x":5.915761173489364,"y":-2.1943432545904313},"rotation":{"radians":3.12837236133}},"curvature":-1.2714817539512233E-4},{"time":9.526338571464207,"velocity":2.6997322014944074,"acceleration":-0.0011713600679816895,"pose":{"translation":{"x":5.8370247286195855,"y":-2.1933016589786094},"rotation":{"radians":3.1283543656364334}},"curvature":-3.0615577243242695E-4},{"time":9.555714923801412,"velocity":2.6996977912083366,"acceleration":0.002973141650387426,"pose":{"translation":{"x":5.7577239127904,"y":-2.1922507499974335},"rotation":{"radians":3.128327606032917}},"curvature":-3.4549911000586773E-4},{"time":9.585234938783346,"velocity":2.6997855583943995,"acceleration":0.00724647924458554,"pose":{"translation":{"x":5.678034523395896,"y":-2.1911925761132762},"rotation":{"radians":3.128303134003481}},"curvature":-2.4515162152455056E-4},{"time":9.614827462043403,"velocity":2.6999999999999984,"acceleration":-0.07479961998095733,"pose":{"translation":{"x":5.598144946208848,"y":-2.190130258326357},"rotation":{"radians":3.1282923496405357}},"curvature":1.9474210378896005E-15},{"time":9.644456041245114,"velocity":2.6977837935351348,"acceleration":-0.06581716155259797,"pose":{"translation":{"x":5.518187723522336,"y":-2.1890639639579894},"rotation":{"radians":3.128189115563257}},"curvature":-0.0025354676036198013},{"time":9.674179231515573,"velocity":2.6958274975192453,"acceleration":-0.056146769189799904,"pose":{"translation":{"x":5.438037399634061,"y":-2.187978970178153},"rotation":{"radians":3.1278939220440725}},"curvature":-0.004777046783688541},{"time":9.704057671648927,"velocity":2.6941499196373266,"acceleration":-0.0463908911063936,"pose":{"translation":{"x":5.357523139721069,"y":-2.186858299694038},"rotation":{"radians":3.127429536800752}},"curvature":-0.006701855548902655},{"time":9.734143229563177,"velocity":2.6927542237962516,"acceleration":-0.03702075676713827,"pose":{"translation":{"x":5.276497600030018,"y":-2.185686797331436},"rotation":{"radians":3.126819269327168}},"curvature":-0.00830506795015443},{"time":9.764479431409233,"velocity":2.69163115464647,"acceleration":-0.028368924708310383,"pose":{"translation":{"x":5.194836048399196,"y":-2.1844510678227977},"rotation":{"radians":3.1260861183279345}},"curvature":-0.009596325843187243},{"time":9.795101867746606,"velocity":2.69076242905563,"acceleration":-0.02063945120090555,"pose":{"translation":{"x":5.112435484780537,"y":-2.1831394135952915},"rotation":{"radians":3.1252521062498526}},"curvature":-0.010595889523865656},{"time":9.826038577066127,"velocity":2.690123912353313,"acceleration":-0.013928400502440446,"pose":{"translation":{"x":5.029213761761634,"y":-2.1817417725588646},"rotation":{"radians":3.124337799153786}},"curvature":-0.011330984366918137},{"time":9.857310408682604,"velocity":2.689688345758114,"acceleration":-0.00824851604598307,"pose":{"translation":{"x":4.94510870508775,"y":-2.1802496558943028},"rotation":{"radians":3.1233619956664764}},"curvature":-0.011832632352869889},{"time":9.888931368045741,"velocity":2.689427519767418,"acceleration":-0.0035536140248188853,"pose":{"translation":{"x":4.860077234183838,"y":-2.1786560858412902},"rotation":{"radians":3.122341560236151}},"curvature":-0.012133106986195949},{"time":9.920908947940193,"velocity":2.689313883791025,"acceleration":2.3997319631597862E-4,"pose":{"translation":{"x":4.774094482676551,"y":-2.1769555334864696},"rotation":{"radians":3.1212913724041313}},"curvature":-0.01226403520613405},{"time":9.95324444902185,"velocity":2.689321643444574,"acceleration":0.0032361271690584444,"pose":{"translation":{"x":4.687152918916258,"y":-2.175143856551502},"rotation":{"radians":3.1202243639788803}},"curvature":-0.012255094396575647},{"time":9.985933292827507,"velocity":2.6894274287001387,"acceleration":0.005546053729098068,"pose":{"translation":{"x":4.599261466499057,"y":-2.1732182371811266},"rotation":{"radians":3.1191516185467023}},"curvature":-0.01213321190695929},{"time":10.018965329920698,"velocity":2.689610626152639,"acceleration":0.007279372434891124,"pose":{"translation":{"x":4.510444624788793,"y":-2.1711771197312215},"rotation":{"radians":3.118082511563713}},"curvature":-0.011922160164336958},{"time":10.052325145327936,"velocity":2.6898534646733476,"acceleration":0.008538495319838956,"pose":{"translation":{"x":4.420741589439066,"y":-2.169020148556863},"rotation":{"radians":3.1170248735146804}},"curvature":-0.011642443526704259},{"time":10.085992362901617,"velocity":2.6901409320530325,"acceleration":0.009415533041903021,"pose":{"translation":{"x":4.330205372915251,"y":-2.166748105800386},"rotation":{"radians":3.115985162741126}},"curvature":-0.01131138584450265},{"time":10.119941949802154,"velocity":2.6904605855102535,"acceleration":0.009991020996418656,"pose":{"translation":{"x":4.238901925016508,"y":-2.164362849179443},"rotation":{"radians":3.114968638212316}},"curvature":-0.010943344597798534},{"time":10.154144521909068,"velocity":2.690802304126305,"acceleration":0.010333872614552703,"pose":{"translation":{"x":4.146909253397799,"y":-2.161867249775066},"rotation":{"radians":3.113979525591937}},"curvature":-0.01054999476695906},{"time":10.188566650669454,"velocity":2.6911580180200367,"acceleration":0.010502098667038067,"pose":{"translation":{"x":4.054316544091902,"y":-2.1592651298197243},"rotation":{"radians":3.1130211724115457}},"curvature":-0.010140641187420984},{"time":10.223171171659706,"velocity":2.691521438113802,"acceleration":0.010543955402889908,"pose":{"translation":{"x":3.961223282031424,"y":-2.156561200485386},"rotation":{"radians":3.1120961900412665}},"curvature":-0.009722531098123065},{"time":10.25791749496739,"velocity":2.6918878017971726,"acceleration":0.01049928938055518,"pose":{"translation":{"x":3.8677383715708156,"y":-2.1537609996715785},"rotation":{"radians":3.11120658152664}},"curvature":-0.009301148717061402},{"time":10.292761917380359,"velocity":2.6922536434713846,"acceleration":0.010400929703813818,"pose":{"translation":{"x":3.773979257008386,"y":-2.150870829793446},"rotation":{"radians":3.1103538553283094}},"curvature":-0.008880481176929963},{"time":10.32765793629158,"velocity":2.692616594511023,"acceleration":0.010276040384850823,"pose":{"translation":{"x":3.680071043108317,"y":-2.147897695569811},"rotation":{"radians":3.109539125647017}},"curvature":-0.00846325042810768},{"time":10.36255656517881,"velocity":2.6929752142308443,"acceleration":0.010147390110810567,"pose":{"translation":{"x":3.586145615622675,"y":-2.144849241811236},"rotation":{"radians":3.1087632004193195}},"curvature":-0.008051109213537716},{"time":10.397406650490732,"velocity":2.6933288516418994,"acceleration":0.010034527770038331,"pose":{"translation":{"x":3.4923407618134306,"y":-2.1417336912080813},"rotation":{"radians":3.1080266582962404}},"curvature":-0.007644801360093501},{"time":10.432155189759257,"velocity":2.6936775368241577,"acceleration":0.009954873521280315,"pose":{"translation":{"x":3.398799290974467,"y":-2.1385597821185636},"rotation":{"radians":3.107329916021433}},"curvature":-0.007244287769162106},{"time":10.466747650755236,"velocity":2.6940219003981625,"acceleration":0.009924750299373656,"pose":{"translation":{"x":3.3056681549535973,"y":-2.13533670635682},"rotation":{"radians":3.106673287649164}},"curvature":-0.006848839905237005},{"time":10.50112829150897,"velocity":2.6943631196727758,"acceleration":0.00996039225355273,"pose":{"translation":{"x":3.2130975686745784,"y":-2.132074046980965},"rotation":{"radians":3.106057037017205}},"curvature":-0.0064571024821045},{"time":10.535240481023367,"velocity":2.6947028904609667,"acceleration":0.010078977093208178,"pose":{"translation":{"x":3.1212401306591246,"y":-2.1287817160811517},"rotation":{"radians":3.105481424839039}},"curvature":-0.006067126573920381},{"time":10.569027020516286,"velocity":2.6950434242185746,"acceleration":0.010299740790252719,"pose":{"translation":{"x":3.030249943548923,"y":-2.1254698925676316},"rotation":{"radians":3.1049467517206084}},"curvature":-0.005676373620546509},{"time":10.602430465035178,"velocity":2.6953874710386208,"acceleration":0.010645247650252184,"pose":{"translation":{"x":2.9402817346276464,"y":-2.1221489599588135},"rotation":{"radians":3.1044533983514926}},"curvature":-0.00528168979452848},{"time":10.635393445294275,"velocity":2.695738370126769,"acceleration":0.011142908724725394,"pose":{"translation":{"x":2.8514899763429686,"y":-2.1188294441693256},"rotation":{"radians":3.104001864077603}},"curvature":-0.00487924895340063},{"time":10.667858989586735,"velocity":2.6961001307235186,"acceleration":0.01182686973763556,"pose":{"translation":{"x":2.7640280068285774,"y":-2.115521951298074},"rotation":{"radians":3.103592805038498}},"curvature":-0.004464460882674241},{"time":10.699770845626173,"velocity":2.6964775480879832,"acceleration":0.012740429916968865,"pose":{"translation":{"x":2.67804715042619,"y":-2.112237105416302},"rotation":{"radians":3.103227073051908}},"curvature":-0.00403183967478405},{"time":10.73107380216851,"velocity":2.696876361212005,"acceleration":0.01393921057891377,"pose":{"translation":{"x":2.5936958382075685,"y":-2.1089854863556527},"rotation":{"radians":3.1029057564542777}},"curvature":-0.00357482478449364},{"time":10.761714010259102,"velocity":2.6973034615247613,"acceleration":0.015495374411128868,"pose":{"translation":{"x":2.5111187284965304,"y":-2.1057775674962267},"rotation":{"radians":3.1026302241615213}},"curvature":-0.0030855444089443254},{"time":10.79163930394051,"velocity":2.6977671651547177,"acceleration":0.01750331369816184,"pose":{"translation":{"x":2.430455827390965,"y":-2.1026236535546428},"rotation":{"radians":3.1024021742999497}},"curvature":-0.0025545071720315324},{"time":10.820799520242042,"velocity":2.6982775655681497,"acceleration":0.020087393315867803,"pose":{"translation":{"x":2.3518416092848486,"y":-2.0995338183720977},"rotation":{"radians":3.102223688872988}},"curvature":-0.0019702034074247973},{"time":10.8491468182561,"velocity":2.6988469888928,"acceleration":0.02341257360653198,"pose":{"translation":{"x":2.2754041373902583,"y":-2.096517842702427},"rotation":{"radians":3.102097296071607}},"curvature":-0.001318591336016886},{"time":10.876635997086854,"velocity":2.6994905813155583,"acceleration":0.010619732370755964,"pose":{"translation":{"x":2.201264184259384,"y":-2.093585152000163},"rotation":{"radians":3.1020260419968664}},"curvature":-5.824357755258735E-4},{"time":10.903227048645062,"velocity":2.6997729711665635,"acceleration":-0.03319454747778541,"pose":{"translation":{"x":2.1295343523065458,"y":-2.0907447542085986},"rotation":{"radians":3.102013573724367}},"curvature":2.5954266655888147E-4},{"time":10.928888940808394,"velocity":2.698921136268778,"acceleration":-0.6219588302686937,"pose":{"translation":{"x":2.060318194330206,"y":-2.0880051775478425},"rotation":{"radians":3.1020642357701784}},"curvature":0.0012337619970388318},{"time":10.95365868665519,"velocity":2.683515374115851,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":1.9937093340349854,"y":-2.0853744083028825},"rotation":{"radians":3.1021831820575008}},"curvature":0.002373185387739924},{"time":11.002286278670093,"velocity":2.4646912100487897,"acceleration":-4.5,"pose":{"translation":{"x":1.8686330789692498,"y":-2.0804681542530536},"rotation":{"radians":3.1026513854520688}},"curvature":0.005323543472175422},{"time":11.050630605989115,"velocity":2.24714173711319,"acceleration":-4.5,"pose":{"translation":{"x":1.7548225747059836,"y":-2.0760766795828562},"rotation":{"radians":3.1034809929353333}},"curvature":0.00958713831762687},{"time":11.098451505579561,"velocity":2.0319476889561825,"acceleration":-4.499999999999997,"pose":{"translation":{"x":1.6525796567492614,"y":-2.0722380192899243},"rotation":{"radians":3.104757917925584}},"curvature":0.01592204431760446},{"time":11.145530730008366,"velocity":1.8200911790265653,"acceleration":-4.499999999999997,"pose":{"translation":{"x":1.5619628652150386,"y":-2.068975565063702},"rotation":{"radians":3.106597052010563}},"curvature":0.02551905610973033},{"time":11.191707875138684,"velocity":1.612294025940134,"acceleration":-4.5,"pose":{"translation":{"x":1.482759301535613,"y":-2.0662960745033616},"rotation":{"radians":3.1091452285383374}},"curvature":0.04015416610919519},{"time":11.281473629163767,"velocity":1.2083481328272605,"acceleration":-4.500000000000001,"pose":{"translation":{"x":1.3562142102787673,"y":-2.06261789963318},"rotation":{"radians":3.117020095670502}},"curvature":0.09289443536460137},{"time":11.372675161692543,"velocity":0.7979412364477684,"acceleration":-4.499999999999999,"pose":{"translation":{"x":1.2647429755332027,"y":-2.060849223948289},"rotation":{"radians":3.128450735831225}},"curvature":0.15050288426630223},{"time":11.549995436458714,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":1.194000000000007,"y":-2.0602422212201237},"rotation":{"radians":3.1358123711461245}},"curvature":-2.6839667795148236E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.17968882049747983,"velocity":0.7187552819899193,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.26467537971075705,"velocity":1.0587015188430284,"acceleration":3.9999999999999987,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.3418163484637692,"velocity":1.3672653938550767,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.41754843773451444,"velocity":1.670193750938058,"acceleration":4.0,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.45521792346867235,"velocity":1.8208716938746896,"acceleration":4.0,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.4926816383832816,"velocity":1.9707265535331266,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.529819826869508,"velocity":2.1192793074780325,"acceleration":4.0,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.5664911594470127,"velocity":2.265964637788051,"acceleration":4.000000000000005,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.6025461216169221,"velocity":2.410184486467689,"acceleration":4.000000000000005,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.6378353567700011,"velocity":2.551341427080005,"acceleration":3.8898172117284084,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.6722392365839923,"velocity":2.6851662309307036,"acceleration":-0.0028692331298715464,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.7064485194014003,"velocity":2.6850680765230948,"acceleration":-0.01363061536019361,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.741032225358219,"velocity":2.6845966793294673,"acceleration":-0.0245444755723349,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.7757009900009602,"velocity":2.6837457526825705,"acceleration":-0.03647959122959362,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.8101695062835156,"velocity":2.6824883552982923,"acceleration":-0.0502835099516997,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":0.8441634416239681,"velocity":2.6807790209123032,"acceleration":-0.06680264520177047,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":0.8774263077925472,"velocity":2.6785569734652497,"acceleration":-0.08680642985367452,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":0.9097262517186693,"velocity":2.675753130648549,"acceleration":-0.11072032910460182,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":0.9408627121962688,"velocity":2.672305691497317,"acceleration":-0.13797686745324442,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":0.970672852982619,"velocity":2.668192581653276,"acceleration":-0.1656514582902912,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":0.9990376368631595,"velocity":2.6634939138393756,"acceleration":-0.1859159844009081,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.0258873583239283,"velocity":2.6585021214431066,"acceleration":-0.18198220328237827,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.051206442997476,"velocity":2.6538944986291213,"acceleration":-0.12337544392538517,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.0750374464048598,"velocity":2.650954338004548,"acceleration":-0.6618270292552589,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.11899798857563,"velocity":2.6218600629752165,"acceleration":-4.0,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.161083002238464,"velocity":2.453520008323881,"acceleration":-4.0,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.2054664403919724,"velocity":2.275986255709847,"acceleration":-4.0,"pose":{"translation":{"x":3.5009774888602676,"y":-2.1958354150683257},"rotation":{"radians":0.04408248946944764}},"curvature":-0.5348899726955137},{"time":1.2533890399583245,"velocity":2.0842958574444386,"acceleration":-2.684320143508745,"pose":{"translation":{"x":3.6054513375974606,"y":-2.194901056982796},"rotation":{"radians":-0.032756727565941016}},"curvature":-0.9117330540447421},{"time":1.2787630110572252,"velocity":2.0161839957028507,"acceleration":-1.8419195985134524,"pose":{"translation":{"x":3.6573874293559525,"y":-2.197902168157788},"rotation":{"radians":-0.08385550737943201}},"curvature":-1.0468009009284915},{"time":1.3048174601527016,"velocity":1.9681937952854218,"acceleration":-1.170490094557565,"pose":{"translation":{"x":3.708967770568674,"y":-2.2037019358964676},"rotation":{"radians":-0.14095860287814346}},"curvature":-1.1475806554581347},{"time":1.3313673874232343,"velocity":1.9371173684040395,"acceleration":-0.6263410077830807,"pose":{"translation":{"x":3.760051278933555,"y":-2.212542619576176},"rotation":{"radians":-0.20235998579142125}},"curvature":-1.2155050911469665},{"time":1.358248700072449,"velocity":1.9202804999487983,"acceleration":-0.18835159938673787,"pose":{"translation":{"x":3.810481105154448,"y":-2.224577406560024},"rotation":{"radians":-0.26649074279012075}},"curvature":-1.253224029973154},{"time":1.3853186337953236,"velocity":1.915181834636802,"acceleration":0.15374852336853706,"pose":{"translation":{"x":3.860087950911264,"y":-2.2398779108093883},"rotation":{"radians":-0.33196358829596273}},"curvature":-1.2647771842600963},{"time":1.4124561098410269,"velocity":1.9193541815067778,"acceleration":0.4061067639913179,"pose":{"translation":{"x":3.9086933868301053,"y":-2.258441671496421},"rotation":{"radians":-0.3976142401776337}},"curvature":-1.2553184282383525},{"time":1.4395610850172522,"velocity":1.9303616952636597,"acceleration":0.5744437324294579,"pose":{"translation":{"x":3.956113170453401,"y":-2.280199651616547},"rotation":{"radians":-0.462527444530531}},"curvature":-1.2305605070275378},{"time":1.4665525282197038,"velocity":1.9458667606405338,"acceleration":0.665721565005229,"pose":{"translation":{"x":4.002160564210038,"y":-2.3050237366009685},"rotation":{"radians":-0.5260420164397219}},"curvature":-1.1961619230557818},{"time":1.493365241327325,"velocity":1.9637165619725756,"acceleration":0.6884573993405908,"pose":{"translation":{"x":4.046649653385497,"y":-2.332734232929167},"rotation":{"radians":-0.5877358727783444}},"curvature":-1.1572340891780697},{"time":1.5199461036744908,"velocity":1.9820163533363355,"acceleration":0.6522609666600743,"pose":{"translation":{"x":4.089398664091985,"y":-2.3631073667414064},"rotation":{"radians":-0.6473964178347918}},"curvature":-1.1180527878720856},{"time":1.5462503929646125,"velocity":1.9991736144960166,"acceleration":0.5671111700723195,"pose":{"translation":{"x":4.1302332812385725,"y":-2.395882782451234},"rotation":{"radians":-0.7049831032830651}},"curvature":-1.0819692617086423},{"time":1.5722386917596092,"velocity":2.0139118690338362,"acceleration":0.4427772962961255,"pose":{"translation":{"x":4.168989966501321,"y":-2.430771041357985},"rotation":{"radians":-0.7605881360060854}},"curvature":-1.0514640647050746},{"time":1.5978746467162828,"velocity":2.0252628878575214,"acceleration":0.2886503458975497,"pose":{"translation":{"x":4.205519276293423,"y":-2.4674611202592835},"rotation":{"radians":-0.8143992858224134}},"curvature":-1.0282724102351393},{"time":1.6231236049762239,"velocity":2.0325510083928062,"acceleration":0.11412493054864722,"pose":{"translation":{"x":4.239689179735332,"y":-2.5056279100635455},"rotation":{"radians":-0.8666665259848375}},"curvature":-1.0135183537179602},{"time":1.6479519578887518,"velocity":2.0353845424445858,"acceleration":-0.07040618049493892,"pose":{"translation":{"x":4.271388376624899,"y":-2.544939714402481},"rotation":{"radians":-0.9176723622074275}},"curvature":-1.0078106783408702},{"time":1.672326885115553,"velocity":2.0336683969187046,"acceleration":-0.2519131087989922,"pose":{"translation":{"x":4.3005296154075054,"y":-2.585065748243597},"rotation":{"radians":-0.9677043207669488}},"curvature":-1.011265664044275},{"time":1.696216099820519,"velocity":2.02765039057561,"acceleration":-0.4124135542016965,"pose":{"translation":{"x":4.3270530111461945,"y":-2.6256836365027},"rotation":{"radians":-1.0170271076389201}},"curvature":-1.023427473075515},{"time":1.7195871337718203,"velocity":2.0180118593983853,"acceleration":-0.5259279085563121,"pose":{"translation":{"x":4.350929363491809,"y":-2.666486912656398},"rotation":{"radians":-1.0658513103346334}},"curvature":-1.043057135031417},{"time":1.7424056676153095,"velocity":2.0060109556177577,"acceleration":-0.5545714540822179,"pose":{"translation":{"x":4.372163474653122,"y":-2.7071925173546023},"rotation":{"radians":-1.1142951702206891}},"curvature":-1.0677616136684076},{"time":1.7646324274237142,"velocity":1.9936846291112744,"acceleration":-0.4433717021973317,"pose":{"translation":{"x":4.390797467366973,"y":-2.7475482970330325},"rotation":{"radians":-1.1623360681465613}},"curvature":-1.0934456136080546},{"time":1.7862182879967592,"velocity":1.9841140693656092,"acceleration":-0.11261659086648401,"pose":{"translation":{"x":4.4069141028684005,"y":-2.7873405025257165},"rotation":{"radians":-1.2097493658742775}},"curvature":-1.1136075850584042},{"time":1.8070975394210094,"velocity":1.981762719250366,"acceleration":1.1377143727430503,"pose":{"translation":{"x":4.420640098860775,"y":-2.826401287677493},"rotation":{"radians":-1.2560348532720509}},"curvature":-1.1185908934381819},{"time":1.8462202357529771,"velocity":2.0262731731677075,"acceleration":1.8411970901688295,"pose":{"translation":{"x":4.441666733294324,"y":-2.9019317190667566},"rotation":{"radians":-1.341367133488591}},"curvature":-1.026220854154948},{"time":1.881895486267233,"velocity":2.0919583406055997,"acceleration":-4.00000000000001,"pose":{"translation":{"x":4.4558963245263365,"y":-2.9739998294508663},"rotation":{"radians":-1.4061439538167093}},"curvature":-0.680352653712131},{"time":1.916730984069666,"velocity":1.9526163493958675,"acceleration":-4.0,"pose":{"translation":{"x":4.466263479997429,"y":-3.043680216453008},"rotation":{"radians":-1.4320291524242457}},"curvature":6.639446958539566E-14},{"time":1.9538637554103326,"velocity":1.8040852640332012,"acceleration":-4.0,"pose":{"translation":{"x":4.47493566885881,"y":-3.1128873576883227},"rotation":{"radians":-1.4733803136380366}},"curvature":-1.1316416752351544},{"time":1.9735183270571879,"velocity":1.7254669774457798,"acceleration":-4.0,"pose":{"translation":{"x":4.477537234678577,"y":-3.1474755755051773},"rotation":{"radians":-1.5206795873013448}},"curvature":-1.5839574422911495},{"time":1.9940145720324844,"velocity":1.6434819975445931,"acceleration":-4.0,"pose":{"translation":{"x":4.47824417761648,"y":-3.1819937388066166},"rotation":{"radians":-1.582145517204758}},"curvature":-1.9638499531766747},{"time":2.0155134412990727,"velocity":1.5574865204782402,"acceleration":-2.629603672700614,"pose":{"translation":{"x":4.476628081368838,"y":-3.216364367460064},"rotation":{"radians":-1.6551406766480576}},"curvature":-2.2640813419564507},{"time":2.038021568731131,"velocity":1.4982990659172855,"acceleration":-1.6189906615147611,"pose":{"translation":{"x":4.472353114270583,"y":-3.250487631486124},"rotation":{"radians":-1.7369261089869281}},"curvature":-2.4754427100871244},{"time":2.049596998196439,"velocity":1.4795585537099294,"acceleration":-1.0417826816600846,"pose":{"translation":{"x":4.4691373551283755,"y":-3.2674199611488914},"rotation":{"radians":-1.780235090040976}},"curvature":-2.545890852288312},{"time":2.0613286853139425,"velocity":1.4673366852442598,"acceleration":-0.5233454979431696,"pose":{"translation":{"x":4.4651696587926075,"y":-3.284244469950503},"rotation":{"radians":-1.8246863401303577}},"curvature":-2.5928039841338677},{"time":2.073183724961355,"velocity":1.4611324036168485,"acceleration":-0.05751461294974821,"pose":{"translation":{"x":4.46043124887029,"y":-3.3009437821306764},"rotation":{"radians":-1.869939163282148}},"curvature":-2.6169191864273578},{"time":2.0851313492243593,"velocity":1.4604452406316928,"acceleration":0.35941060151819315,"pose":{"translation":{"x":4.454907941039103,"y":-3.317499709855939},"rotation":{"radians":-1.9156694687174334}},"curvature":-2.6196026991685377},{"time":2.0971434638262365,"velocity":1.464762521966259,"acceleration":0.7294702111501952,"pose":{"translation":{"x":4.448589943969179,"y":-3.333893350685},"rotation":{"radians":-1.9615762061138535}},"curvature":-2.6027846116913493},{"time":2.109195092431231,"velocity":1.473553826029448,"acceleration":1.0536685100970775,"pose":{"translation":{"x":4.441471660244904,"y":-3.350105185034125},"rotation":{"radians":-2.007386912328833}},"curvature":-2.568842502102348},{"time":2.121264683896465,"velocity":1.4862711744861017,"acceleration":1.3324779499123092,"pose":{"translation":{"x":4.433551487286703,"y":-3.366115173642506},"rotation":{"radians":-2.052861932599258}},"curvature":-2.520452987491824},{"time":2.1333342582437274,"velocity":1.5023536161686564,"acceleration":1.5662490009089556,"pose":{"translation":{"x":4.424831618272835,"y":-3.381902855037636},"rotation":{"radians":-2.097797067131599}},"curvature":-2.460432361920452},{"time":2.145389388347058,"velocity":1.521234951648825,"acceleration":1.7555339155401657,"pose":{"translation":{"x":4.415317843061182,"y":-3.397447443000682},"rotation":{"radians":-2.1420245879634976}},"curvature":-2.3915856821036283},{"time":2.157419032549045,"velocity":1.5423534000372947,"acceleration":1.953992869776103,"pose":{"translation":{"x":4.405019349111045,"y":-3.4127279240318553},"rotation":{"radians":-2.1854127397259857}},"curvature":-2.3165788937424012},{"time":2.181362781144945,"velocity":1.5891393140693948,"acceleration":2.0835278211398762,"pose":{"translation":{"x":4.382120748370361,"y":-3.442411959686898},"rotation":{"radians":-2.2693121291850207}},"curvature":-2.1575089947297283},{"time":2.20514618502397,"velocity":1.6386926977327492,"acceleration":2.072970769767945,"pose":{"translation":{"x":4.356269702781623,"y":-3.470786012069539},"rotation":{"radians":-2.3490712474216524}},"curvature":-1.998934776694001},{"time":2.228764690841543,"velocity":1.6876531699181727,"acceleration":1.952315343949358,"pose":{"translation":{"x":4.32764171969303,"y":-3.497683732535139},"rotation":{"radians":-2.4246538251464913}},"curvature":-1.8514036586619682},{"time":2.2522304230086787,"velocity":1.7334656788850773,"acceleration":1.7547135311756776,"pose":{"translation":{"x":4.296447556567484,"y":-3.522944492619568},"rotation":{"radians":-2.496292579924839}},"curvature":-1.7209054999252982},{"time":2.2755616950476982,"velocity":1.7744053776314854,"acceleration":1.5123444939920676,"pose":{"translation":{"x":4.262926850479932,"y":-3.5464165029311334},"rotation":{"radians":-2.564383333222713}},"curvature":-1.6099892177074169},{"time":2.2987755645778045,"velocity":1.8095127453995916,"acceleration":1.2538103554194158,"pose":{"translation":{"x":4.227341747614707,"y":-3.5679599320425046},"rotation":{"radians":-2.629400575604748}},"curvature":-1.5188715633298666},{"time":2.321883147314083,"velocity":1.8384852719230482,"acceleration":1.0033640384143865,"pose":{"translation":{"x":4.189970532762875,"y":-3.5874500253826396},"rotation":{"radians":-2.691834291672018}},"curvature":-1.4462971854706679},{"time":2.3448869776134313,"velocity":1.861566487991202,"acceleration":0.7815754731198973,"pose":{"translation":{"x":4.151101258819575,"y":-3.60478022412871},"rotation":{"radians":-2.752143554347901}},"curvature":-1.3900968726107652},{"time":2.3677796156851203,"velocity":1.8794588124230447,"acceleration":0.6068346216273419,"pose":{"translation":{"x":4.111025376281363,"y":-3.6198652840980277},"rotation":{"radians":-2.810721214923607}},"curvature":-1.347480728398351},{"time":2.3905427883476342,"velocity":1.893272293692739,"acceleration":0.49721456488468624,"pose":{"translation":{"x":4.070031362743557,"y":-3.6326443946399687},"rotation":{"radians":-2.867864492381076}},"curvature":-1.3151306002859184},{"time":2.4131465056327817,"velocity":1.9045111911474502,"acceleration":0.4724906094618475,"pose":{"translation":{"x":4.028398352397574,"y":-3.6430842975279023},"rotation":{"radians":-2.923747444426637}},"curvature":-1.2891561805538438},{"time":2.4355477718670118,"velocity":1.9150955790831787,"acceleration":0.5564409113364746,"pose":{"translation":{"x":3.9863897655282825,"y":-3.651182405851114},"rotation":{"radians":-2.9783927226739713}},"curvature":-1.264973161372076},{"time":2.457688695338716,"velocity":1.9274156947176049,"acceleration":0.7799514855589514,"pose":{"translation":{"x":3.944246938011336,"y":-3.656969922906732},"rotation":{"radians":-3.0316415233666105}},"curvature":-1.237158889638232},{"time":2.4794939982233615,"velocity":1.944422773095547,"acceleration":1.186007191822022,"pose":{"translation":{"x":3.902182750810521,"y":-3.6605149610916543},"rotation":{"radians":-3.083122208440791}},"curvature":-1.1993422985822897},{"time":2.500868140484714,"velocity":1.9697726595365381,"acceleration":1.8385640018028326,"pose":{"translation":{"x":3.8603752594751013,"y":-3.6619256607944726},"rotation":{"radians":-3.132219635474395}},"curvature":-1.1441869075289521},{"time":2.5216924932162033,"velocity":2.008059564829498,"acceleration":2.8389607793143337,"pose":{"translation":{"x":3.818961323637156,"y":-3.6613533092874},"rotation":{"radians":3.1051366406066983}},"curvature":-1.0635235450551903},{"time":2.5418232228171687,"velocity":2.065209916625621,"acceleration":0.9950052899346212,"pose":{"translation":{"x":3.7780302365089273,"y":-3.658995459618195},"rotation":{"radians":3.063748832703824}},"curvature":-0.9486825705307834},{"time":2.5806039957335583,"velocity":2.103796990825182,"acceleration":-4.000000000000005,"pose":{"translation":{"x":3.6976977261154533,"y":-3.649963520213708},"rotation":{"radians":3.0004256616166676}},"curvature":-0.5831023891549099},{"time":2.6200044789826027,"velocity":1.9461950578290037,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":3.618898666494874,"y":-3.6374541003671883},"rotation":{"radians":2.9756452543002636}},"curvature":-5.907555901800373E-14},{"time":2.6627148822518065,"velocity":1.7753534447521893,"acceleration":-4.000000000000005,"pose":{"translation":{"x":3.540776543564966,"y":-3.6228555685521426},"rotation":{"radians":2.9208020800297847}},"curvature":-1.3047670116218097},{"time":2.685627142226386,"velocity":1.683704404853871,"acceleration":-4.0,"pose":{"translation":{"x":3.5023815148348256,"y":-3.6130497592498534},"rotation":{"radians":2.8590650570922564}},"curvature":-1.7924770767245273},{"time":2.7098483176924146,"velocity":1.5868197029897573,"acceleration":-3.238495648306599,"pose":{"translation":{"x":3.4647929039991814,"y":-3.6005642654703025},"rotation":{"radians":2.780266222692359}},"curvature":-2.1651745632888697},{"time":2.7225192654201313,"velocity":1.545784893913626,"acceleration":-2.304430968286494,"pose":{"translation":{"x":3.4463865375503278,"y":-3.593141960722154},"rotation":{"radians":2.7358537677740284}},"curvature":-2.3045847561082318},{"time":2.735523295048029,"velocity":1.5158180053265835,"acceleration":-1.506761631945909,"pose":{"translation":{"x":3.42828434405497,"y":-3.584860486651614},"rotation":{"radians":2.68885663440096}},"curvature":-2.411161951346438},{"time":2.748803362698323,"velocity":1.495808108921474,"acceleration":-0.8165667511888252,"pose":{"translation":{"x":3.4105203164627507,"y":-3.575677279059005},"rotation":{"radians":2.6398443351777328}},"curvature":-2.4847048341054063},{"time":2.762304896140388,"velocity":1.4847832056226198,"acceleration":-0.2159541761045909,"pose":{"translation":{"x":3.393128229290279,"y":-3.5655589255357705},"rotation":{"radians":2.5893742525378456}},"curvature":-2.5260718899874157},{"time":2.775976946522605,"velocity":1.4818306692466676,"acceleration":0.30576677647990713,"pose":{"translation":{"x":3.376141568114266,"y":-3.554480769381791},"rotation":{"radians":2.5379779453150473}},"curvature":-2.5372547370426246},{"time":2.789773348143721,"velocity":1.4860491504973783,"acceleration":0.7546434524643805,"pose":{"translation":{"x":3.3595934590646563,"y":-3.5424265135226998},"rotation":{"radians":2.486147310664261}},"curvature":-2.521290685390114},{"time":2.803653703101381,"velocity":1.496523869484058,"acceleration":1.1339023385942986,"pose":{"translation":{"x":3.3435165983177657,"y":-3.5293878244271975},"rotation":{"radians":2.4343223614868856}},"curvature":-2.482040264999584},{"time":2.817584050615811,"velocity":1.512319523108102,"acceleration":1.4453162298889008,"pose":{"translation":{"x":3.3279431815894154,"y":-3.5153639360243667},"rotation":{"radians":2.3828819898279607}},"curvature":-2.423879628757678},{"time":2.8315371454816396,"velocity":1.5324861575748632,"acceleration":1.6902461691051633,"pose":{"translation":{"x":3.312904833628065,"y":-3.500361253620989},"rotation":{"radians":2.3321385005754136}},"curvature":-2.3513672651798405},{"time":2.8454923391489544,"velocity":1.5560738702101626,"acceleration":1.8704048214111508,"pose":{"translation":{"x":3.2984325377079484,"y":-3.484392957818859},"rotation":{"radians":2.2823360682148905}},"curvature":-2.268938686425091},{"time":2.8594351147630253,"velocity":1.5821525049425749,"acceleration":1.988352702756887,"pose":{"translation":{"x":3.2845565651222093,"y":-3.467478608432099},"rotation":{"radians":2.233652730724247}},"curvature":-2.1806662625159747},{"time":2.87335636461379,"velocity":1.6098328597090972,"acceleration":2.047737073467437,"pose":{"translation":{"x":3.2713064046760336,"y":-3.449643748404477},"rotation":{"radians":2.186205175488278}},"curvature":-2.090101078299267},{"time":2.8872515127548395,"velocity":1.6382864696988466,"acceleration":2.05330053488186,"pose":{"translation":{"x":3.2587106921797857,"y":-3.430919507726718},"rotation":{"radians":2.1400554149730997}},"curvature":-2.0001957366119023},{"time":2.901119580767214,"velocity":1.6667617811664328,"acceleration":1.9686301529090835,"pose":{"translation":{"x":3.2467971399421427,"y":-3.411342207353823},"rotation":{"radians":2.0952184656896558}},"curvature":-1.913294919697535},{"time":2.9287815681836826,"velocity":1.721218003683885,"acceleration":1.7322050829875082,"pose":{"translation":{"x":3.2251223249277534,"y":-3.3697972896678894},"rotation":{"radians":2.0093553382472162}},"curvature":-1.755112996104958},{"time":2.9563797759483603,"velocity":1.7690237594552052,"acceleration":1.3931586113711152,"pose":{"translation":{"x":3.2064825088076545,"y":-3.325388331130148},"rotation":{"radians":1.9280865630670296}},"curvature":-1.6242763519221965},{"time":2.9839545966163383,"velocity":1.8074398583258127,"acceleration":0.996910235627705,"pose":{"translation":{"x":3.1910589522902577,"y":-3.278552373660638},"rotation":{"radians":1.850579565963845}},"curvature":-1.5241532045401187},{"time":3.0115445343409704,"velocity":1.8349445496438292,"acceleration":0.5792992706772652,"pose":{"translation":{"x":3.1790113713979062,"y":-3.2297714906700543},"rotation":{"radians":1.7758477540661566}},"curvature":-1.4550435488705087},{"time":3.039180521905963,"velocity":1.8509540570846754,"acceleration":0.16729486349049455,"pose":{"translation":{"x":3.170475681247182,"y":-3.179560112413838},"rotation":{"radians":1.7028488804799111}},"curvature":-1.4157629463905503},{"time":3.066884748470534,"velocity":1.855588831885905,"acceleration":-0.21774278855432053,"pose":{"translation":{"x":3.1655617398292164,"y":-3.1284523513462643},"rotation":{"radians":1.6305476291791685}},"curvature":-1.4045176734251699},{"time":3.094671789854963,"velocity":1.8495384040091851,"acceleration":-0.5561256000364234,"pose":{"translation":{"x":3.1643510917899986,"y":-3.0769893274745304},"rotation":{"radians":1.5579591589614288}},"curvature":-1.4192089569038318},{"time":3.1225500900774708,"velocity":1.8340345675699474,"acceleration":-0.8266173892145599,"pose":{"translation":{"x":3.166894712210685,"y":-3.0257064937128453},"rotation":{"radians":1.4841885833680781}},"curvature":-1.4572968598315164},{"time":3.150522136860342,"velocity":1.8109123872873027,"acceleration":-1.0048478637234415,"pose":{"translation":{"x":3.1732107503879083,"y":-2.9751209612365166},"rotation":{"radians":1.4084788592405049}},"curvature":-1.5153121649421712},{"time":3.1785819716349093,"velocity":1.7827165222576464,"acceleration":-1.0638208880858586,"pose":{"translation":{"x":3.1832822736140844,"y":-2.9257188248360437},"rotation":{"radians":1.3302766569902722}},"curvature":-1.588094242430901},{"time":3.206709105450934,"velocity":1.7527942897821736,"acceleration":-0.9762714029668728,"pose":{"translation":{"x":3.197055010957725,"y":-2.8779424882712012},"rotation":{"radians":1.2493214035108509}},"curvature":-1.667893620657483},{"time":3.2348586815232805,"velocity":1.7253126636571008,"acceleration":-0.7175400064853497,"pose":{"translation":{"x":3.214435097043743,"y":-2.832177989625132},"rotation":{"radians":1.1657551292949253}},"curvature":-1.7436226553831164},{"time":3.26294897025812,"velocity":1.7051567576961288,"acceleration":-0.2664635062906313,"pose":{"translation":{"x":3.2352868158337653,"y":-2.7887423266584315},"rotation":{"radians":1.0802390921780909}},"curvature":-1.8007164563684022},{"time":3.290848825038283,"velocity":1.697722464566407,"acceleration":0.39895921945909985,"pose":{"translation":{"x":3.2594303444064368,"y":-2.7478707821632415},"rotation":{"radians":0.9940495437795314}},"curvature":-1.8221171292724059},{"time":3.318368828086421,"velocity":1.7087018235020044,"acceleration":1.31485390678952,"pose":{"translation":{"x":3.2866394967377346,"y":-2.709704249317334},"rotation":{"radians":0.9091167767859056}},"curvature":-1.7905770515720254},{"time":3.34525934806011,"velocity":1.7440589287450106,"acceleration":2.5597381795795586,"pose":{"translation":{"x":3.316639467481273,"y":-2.6742765570382048},"rotation":{"radians":0.8279796053551205}},"curvature":-1.6917062585901652},{"time":3.3712159086169646,"velocity":1.81050092781296,"acceleration":3.9999999999999614,"pose":{"translation":{"x":3.349104575748616,"y":-2.6415017953371587},"rotation":{"radians":0.7536575358116631}},"curvature":-1.516357967331428},{"time":3.3959380384309092,"velocity":1.9093894470687371,"acceleration":4.000000000000004,"pose":{"translation":{"x":3.3836560088895826,"y":-2.6111616406733975},"rotation":{"radians":0.689484901651147}},"curvature":-1.2608421714525015},{"time":3.419416949510217,"velocity":2.0033050913859696,"acceleration":2.6956073280157447,"pose":{"translation":{"x":3.4198595662725584,"y":-2.582892681308114},"rotation":{"radians":0.6389791107940948}},"curvature":-0.9245044264942149},{"time":3.4639424737618265,"velocity":2.123328420842351,"acceleration":-4.0,"pose":{"translation":{"x":3.495195774012762,"y":-2.530313212652211},"rotation":{"radians":0.5938368430682723}},"curvature":-9.875390829249706E-14},{"time":3.5101255493112618,"velocity":1.9385961186446101,"acceleration":-2.152146775120501,"pose":{"translation":{"x":3.574172942270117,"y":-2.4797136844248446},"rotation":{"radians":0.5266644556519199}},"curvature":-1.2122236070167007},{"time":3.5364883565517107,"velocity":1.8818594880589548,"acceleration":1.386664328559718,"pose":{"translation":{"x":3.6185009069449117,"y":-2.455816882507637},"rotation":{"radians":0.4611286319384223}},"curvature":-1.3418244310363576},{"time":3.5650423817619665,"velocity":1.9214543362548113,"acceleration":2.9894374335081966,"pose":{"translation":{"x":3.667966637404287,"y":-2.4334198491738435},"rotation":{"radians":0.39004672823243963}},"curvature":-1.2505728967499479},{"time":3.5951902119379615,"velocity":2.0115793883219792,"acceleration":3.462250932562107,"pose":{"translation":{"x":3.7235603652448366,"y":-2.412823905881168},"rotation":{"radians":0.3214805391546347}},"curvature":-1.0562620529171904},{"time":3.6266974410195894,"velocity":2.1206653215922926,"acceleration":3.2783663947821657,"pose":{"translation":{"x":3.7859495322326935,"y":-2.3942412755293208},"rotation":{"radians":0.2598048812237801}},"curvature":-0.843164631816091},{"time":3.659565110792591,"velocity":2.2284175856508983,"acceleration":2.7896169661040617,"pose":{"translation":{"x":3.8555054004240032,"y":-2.377802182916105},"rotation":{"radians":0.20662842922466537}},"curvature":-0.6531546368272418},{"time":3.6938897248773293,"velocity":2.3241701114566586,"acceleration":2.2320196322745067,"pose":{"translation":{"x":3.9323296622853983,"y":-2.3635619551935028},"rotation":{"radians":0.16193651601940368}},"curvature":-0.49908945394424453},{"time":3.729763227723878,"velocity":2.4042404740886116,"acceleration":1.7292225810669686,"pose":{"translation":{"x":4.01628105081447,"y":-2.3515081223237604},"rotation":{"radians":0.1249605664768298}},"curvature":-0.3796783444810861},{"time":3.767218275091215,"velocity":2.469008587771143,"acceleration":1.3249532751545465,"pose":{"translation":{"x":4.107001949660242,"y":-2.341567517535477},"rotation":{"radians":0.09469521385310915}},"curvature":-0.2887541424633379},{"time":3.8062063185128894,"velocity":2.5206659235945583,"acceleration":1.0204766327629724,"pose":{"translation":{"x":4.203945003243648,"y":-2.333613377779689},"rotation":{"radians":0.07015584569440879}},"curvature":-0.21958492422111742},{"time":3.8465949606618968,"velocity":2.561881589136646,"acceleration":0.8007484407638721,"pose":{"translation":{"x":4.306399726877996,"y":-2.327472444185958},"rotation":{"radians":0.05048474589487245}},"curvature":-0.16639777316844012},{"time":3.8881750876367756,"velocity":2.5951768109785442,"acceleration":0.648030343504271,"pose":{"translation":{"x":4.413519116889452,"y":-2.3229320625184555},"rotation":{"radians":0.03498113282280543}},"curvature":-0.12466524816678795},{"time":3.9306722764900317,"velocity":2.6227162788690856,"acceleration":0.5474155021183308,"pose":{"translation":{"x":4.524346260737506,"y":-2.3197472836320516},"rotation":{"radians":0.023097932367900583}},"curvature":-0.0909476962537981},{"time":3.973759650023189,"velocity":2.646302975086699,"acceleration":0.48841653238140487,"pose":{"translation":{"x":4.637840947135448,"y":-2.317647963928399},"rotation":{"radians":0.014426980710845442}},"curvature":-0.06262758268219738},{"time":4.017070864356495,"velocity":2.6674568882046,"acceleration":0.4651088625659527,"pose":{"translation":{"x":4.752906276170842,"y":-2.3163458658120204},"rotation":{"radians":0.00868269842245165}},"curvature":-0.03765448038405876},{"time":4.060212689188549,"velocity":2.687522533281256,"acceleration":0.11094284518088268,"pose":{"translation":{"x":4.8684152694259994,"y":-2.3155417581463964},"rotation":{"radians":0.005688430722810769}},"curvature":-0.014329442552502285},{"time":4.102899865126901,"velocity":2.6922583700325937,"acceleration":-0.5035860028966996,"pose":{"translation":{"x":4.983237480098451,"y":-2.3149325167100496},"rotation":{"radians":0.005366891900975762}},"curvature":0.008875047030571745},{"time":4.145049502283606,"velocity":2.671032402733302,"acceleration":-0.5660623256487971,"pose":{"translation":{"x":5.096265603121419,"y":-2.314218224652632},"rotation":{"radians":0.007734871733491828}},"curvature":0.03347251209378743},{"time":4.186482145414461,"velocity":2.6475789444048736,"acceleration":-0.6721810380668114,"pose":{"translation":{"x":5.206442085284297,"y":-2.313109272951011},"rotation":{"radians":0.012901642214238736}},"curvature":0.06110993661146819},{"time":4.22686109549233,"velocity":2.6204369798254836,"acceleration":-0.8316477328049591,"pose":{"translation":{"x":5.312785735353115,"y":-2.3113334608653577},"rotation":{"radians":0.021069750609337978}},"curvature":0.09371142254991206},{"time":4.265901137223768,"velocity":2.5879694176309225,"acceleration":-1.0558072566627077,"pose":{"translation":{"x":5.4144183341910175,"y":-2.3086430963952305},"rotation":{"radians":0.03253554725545341}},"curvature":0.13360799398094314},{"time":4.303378494375273,"velocity":2.548400551989824,"acceleration":-1.3522214096537437,"pose":{"translation":{"x":5.510591244878737,"y":-2.3048220967356623},"rotation":{"radians":0.04768412387659894}},"curvature":0.18360517561898318},{"time":4.339138655989342,"velocity":2.500044895842602,"acceleration":-1.711848858056783,"pose":{"translation":{"x":5.600712022835065,"y":-2.2996930887332496},"rotation":{"radians":0.06696816652108217}},"curvature":0.24685372019843121},{"time":4.373099505232229,"velocity":2.4419090548475273,"acceleration":-2.0837977173202185,"pose":{"translation":{"x":5.684371025937329,"y":-2.2931245093422343},"rotation":{"radians":0.09085091666235459}},"curvature":0.3262107528656812},{"time":4.405245318319299,"velocity":2.3749236829152895,"acceleration":-2.3349475957185417,"pose":{"translation":{"x":5.761368024641861,"y":-2.285037706080595},"rotation":{"radians":0.11967857246497457}},"curvature":0.42246492951690434},{"time":4.4356049716666135,"velocity":2.3040354833251286,"acceleration":-2.200065333139979,"pose":{"translation":{"x":5.8317388121044775,"y":-2.275414037486129},"rotation":{"radians":0.15342908645472056}},"curvature":0.5304226929799345},{"time":4.464206866060822,"velocity":2.2411094470063,"acceleration":-0.030068534871879073,"pose":{"translation":{"x":5.895781814300943,"y":-2.264301973572542},"rotation":{"radians":0.19127701241176445}},"curvature":0.6319766618968363},{"time":4.5154402039613375,"velocity":2.239568935599036,"acceleration":3.9999999999999694,"pose":{"translation":{"x":6.007550991621105,"y":-2.238184699958877},"rotation":{"radians":0.26812054317861916}},"curvature":0.6345344005772399},{"time":4.559322544432485,"velocity":2.415098297483623,"acceleration":1.7875563299580397,"pose":{"translation":{"x":6.1053268053855545,"y":-2.208685692198668},"rotation":{"radians":0.3070457320188037}},"curvature":2.791280928536025E-14},{"time":4.599877691097106,"velocity":2.487592906616344,"acceleration":-3.8238069905146865,"pose":{"translation":{"x":6.199952216830501,"y":-2.1782011027926833},"rotation":{"radians":0.320629751815646}},"curvature":0.26353888008416665},{"time":4.640318661499358,"velocity":2.3329544412890155,"acceleration":-3.078222450903412,"pose":{"translation":{"x":6.2919379869050776,"y":-2.1459557772356694},"rotation":{"radians":0.35729450716432604}},"curvature":0.4855888493314479},{"time":4.681756271077309,"velocity":2.205400261174396,"acceleration":-2.6907422308999753,"pose":{"translation":{"x":6.379141892524152,"y":-2.1107849752918497},"rotation":{"radians":0.4126651514990818}},"curvature":0.6921838319588445},{"time":4.723431300879171,"velocity":2.0932634985125103,"acceleration":-2.415379814014924,"pose":{"translation":{"x":6.459927670080282,"y":-2.072093054962797},"rotation":{"radians":0.4836805820799579}},"curvature":0.8946047759588094},{"time":4.764813084441926,"velocity":1.9933107738270976,"acceleration":-2.211351386851088,"pose":{"translation":{"x":6.533124668926888,"y":-2.0297642854502436},"rotation":{"radians":0.5677347722248844}},"curvature":1.0942295680094478},{"time":4.785279711476336,"velocity":1.9480518697503906,"acceleration":-2.063048263973973,"pose":{"translation":{"x":6.566628935025422,"y":-2.007309193722053},"rotation":{"radians":0.6138298431558038}},"curvature":1.1913581966357853},{"time":4.805531691004792,"velocity":1.906271058542171,"acceleration":-1.900289805763302,"pose":{"translation":{"x":6.597987504861422,"y":-1.984073660118881},"rotation":{"radians":0.662164626463665}},"curvature":1.285116653549416},{"time":4.825529035171821,"velocity":1.8682703092792248,"acceleration":-1.721969221738226,"pose":{"translation":{"x":6.6271670339410305,"y":-1.9601384772134873},"rotation":{"radians":0.7123568098053514}},"curvature":1.3740340109881797},{"time":4.845232920531405,"velocity":1.8343408251413629,"acceleration":-1.5282532431800062,"pose":{"translation":{"x":6.654155713608542,"y":-1.9355977094591659},"rotation":{"radians":0.7640025654309002}},"curvature":1.456538250746444},{"time":4.864605047742138,"velocity":1.804735308904264,"acceleration":-1.3198244774927625,"pose":{"translation":{"x":6.67896201021775,"y":-1.910555906094834},"rotation":{"radians":0.8166807624370874}},"curvature":1.5310625404211395},{"time":4.883607353651364,"velocity":1.7796556004364625,"acceleration":-1.0970245598207409,"pose":{"translation":{"x":6.7016134043032904,"y":-1.8851253140501194},"rotation":{"radians":0.8699591565747415}},"curvature":1.5961341811071255},{"time":4.902201982881601,"velocity":1.7592568354901323,"acceleration":-0.8588782793939312,"pose":{"translation":{"x":6.722155129751999,"y":-1.8594230908504479},"rotation":{"radians":0.9234014388591596}},"curvature":1.6504288782344587},{"time":4.920351402136626,"velocity":1.7436686935083767,"acceleration":-0.6019571458818372,"pose":{"translation":{"x":6.7406489129742555,"y":-1.833568517522131},"rotation":{"radians":0.9765738785866126}},"curvature":1.6927756091736645},{"time":4.938018533316683,"velocity":1.73303383764731,"acceleration":-0.31899870157043086,"pose":{"translation":{"x":6.757171712075334,"y":-1.8076802114974533},"rotation":{"radians":1.0290503142125185}},"curvature":1.7221033999561646},{"time":4.955166793634308,"velocity":1.727563564871796,"acceleration":0.002866178907874364,"pose":{"translation":{"x":6.771814456026753,"y":-1.7818733395197603},"rotation":{"radians":1.0804144385146661}},"curvature":1.7373294291624883},{"time":4.971759960999337,"velocity":1.7276111238581124,"acceleration":0.38451898192121203,"pose":{"translation":{"x":6.784680783837622,"y":-1.7562568305485466},"rotation":{"radians":1.1302586694259535}},"curvature":1.7371966373448247},{"time":4.98776182789218,"velocity":1.7337641454245871,"acceleration":0.858269455095096,"pose":{"translation":{"x":6.795885783725995,"y":-1.7309305886645412},"rotation":{"radians":1.1781793553039033}},"curvature":1.7200779215396507},{"time":5.003135664722331,"velocity":1.7469590399835218,"acceleration":1.47285453660556,"pose":{"translation":{"x":6.805554732290213,"y":-1.7059827059747978},"rotation":{"radians":1.2237686037441655}},"curvature":1.6837741338932877},{"time":5.017843586025928,"velocity":1.7686216685995628,"acceleration":2.866158555806992,"pose":{"translation":{"x":6.813821833680262,"y":-1.6814866755177813},"rotation":{"radians":1.266603651126242}},"curvature":1.6253473146165713},{"time":5.045037659514532,"velocity":1.846564194996168,"acceleration":1.1192593741495778,"pose":{"translation":{"x":6.826724384324077,"y":-1.6340544255433667},"rotation":{"radians":1.3421791884945402}},"curvature":1.4264660463431678},{"time":5.069833729217491,"velocity":1.8743174284532713,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.835797708401378,"y":-1.5888238920705637},"rotation":{"radians":1.4008735118959863}},"curvature":1.0885827493809026},{"time":5.118244647278131,"velocity":1.6806737562107077,"acceleration":-4.0,"pose":{"translation":{"x":6.84754416027829,"y":-1.503579205050574},"rotation":{"radians":1.4510023040421736}},"curvature":1.7715692437350834E-13},{"time":5.144316393249673,"velocity":1.5763867723245437,"acceleration":-4.00000000000001,"pose":{"translation":{"x":6.851984607081678,"y":-1.4613534135337432},"rotation":{"radians":1.494256339822448}},"curvature":1.8581562360282755},{"time":5.158491063842041,"velocity":1.519688089955072,"acceleration":-4.00000000000001,"pose":{"translation":{"x":6.853168939746769,"y":-1.439442477386759},"rotation":{"radians":1.5412128701960082}},"curvature":2.3718651198268668},{"time":5.173754278008307,"velocity":1.4586352332900065,"acceleration":-0.8497957968044447,"pose":{"translation":{"x":6.853201355393319,"y":-1.416713107132108},"rotation":{"radians":1.5984874223807723}},"curvature":2.6266832511082527},{"time":5.190088863740424,"velocity":1.444754170992311,"acceleration":1.1568385524465967,"pose":{"translation":{"x":6.851797763888517,"y":-1.3930418521610104},"rotation":{"radians":1.6617678831628404}},"curvature":2.681574207858292},{"time":5.207180382517877,"velocity":1.464526298833933,"acceleration":2.2670521053785166,"pose":{"translation":{"x":6.848720491289746,"y":-1.368371019608779},"rotation":{"radians":1.727681467037012}},"curvature":2.6037022610886744},{"time":5.224789431519203,"velocity":1.5044469304461012,"acceleration":2.7995611833388154,"pose":{"translation":{"x":6.843775691827878,"y":-1.3427025692897732},"rotation":{"radians":1.7938691163350458}},"curvature":2.452714373008888},{"time":5.2427723071888295,"velocity":1.5547910911355955,"acceleration":2.930641839084771,"pose":{"translation":{"x":6.8368107598905645,"y":-1.3160920086323515},"rotation":{"radians":1.8588850345754167}},"curvature":2.2733571203755925},{"time":5.261056823453291,"velocity":1.6083764595076535,"acceleration":2.7840675675692017,"pose":{"translation":{"x":6.827711742005542,"y":-1.288642287613827},"rotation":{"radians":1.9220079361582072}},"curvature":2.094788467210639},{"time":5.279617697529381,"velocity":1.660051187048631,"acceleration":2.4587751916986837,"pose":{"translation":{"x":6.816400748823918,"y":-1.26049769369542},"rotation":{"radians":1.983035882179852}},"curvature":1.9335057759263254},{"time":5.298456150493444,"velocity":1.7063707078466521,"acceleration":2.0343244180068916,"pose":{"translation":{"x":6.80283336710347,"y":-1.2318377467572112},"rotation":{"radians":2.04210731027512}},"curvature":1.7972396387520346},{"time":5.317585191288829,"velocity":1.7452853826297532,"acceleration":1.57122516113018,"pose":{"translation":{"x":6.786996071691942,"y":-1.2028710940330978},"rotation":{"radians":2.099563886717887}},"curvature":1.68834855487756},{"time":5.337020161820555,"velocity":1.775822097335026,"acceleration":1.1123233121021732,"pose":{"translation":{"x":6.768903637510342,"y":-1.173829405045744},"rotation":{"radians":2.1558539023196386}},"curvature":1.6062425050525895},{"time":5.356773343148988,"velocity":1.7977940214148234,"acceleration":0.6861147154237195,"pose":{"translation":{"x":6.748596551536233,"y":-1.1449612665415376},"rotation":{"radians":2.2114675639221404}},"curvature":1.5488906518147985},{"time":5.376851308288147,"velocity":1.811569808752565,"acceleration":0.31095972000579336,"pose":{"translation":{"x":6.726138424787028,"y":-1.1165260774255419},"rotation":{"radians":2.2668940922447476}},"curvature":1.5136421893631578},{"time":5.397253881261594,"velocity":1.8179141871317859,"acceleration":-9.380986785679246E-4,"pose":{"translation":{"x":6.701613404303294,"y":-1.0887879436964503},"rotation":{"radians":2.322591776298438}},"curvature":1.4975883328404802},{"time":5.417973809775166,"velocity":1.8178947497942273,"acceleration":-0.24044837523467286,"pose":{"translation":{"x":6.675123585132039,"y":-1.0620095733815398},"rotation":{"radians":2.3789641359324474}},"curvature":1.4976373460809593},{"time":5.43899649055565,"velocity":1.8128398803574828,"acceleration":-0.3995202264713304,"pose":{"translation":{"x":6.64678642231001,"y":-1.0364461714716247},"rotation":{"radians":2.436337296083099}},"curvature":1.510419396154959},{"time":5.4602992851691425,"velocity":1.804328983029028,"acceleration":-0.4701730968696484,"pose":{"translation":{"x":6.61673214284699,"y":-1.0123393348560101},"rotation":{"radians":2.4949354139148214}},"curvature":1.5321023743715674},{"time":5.481850146263513,"velocity":1.7941963479280805,"acceleration":-0.4441881558464242,"pose":{"translation":{"x":6.585101157709093,"y":-0.9899109472574465},"rotation":{"radians":2.5548526471510677}},"curvature":1.5581852495692718},{"time":5.503605463750832,"velocity":1.7845328935735347,"acceleration":-0.31308548465480296,"pose":{"translation":{"x":6.55204147380206,"y":-0.9693570741670829},"rotation":{"radians":2.6160218892927363}},"curvature":1.5833363289355815},{"time":5.525507250474254,"velocity":1.777675762062426,"acceleration":-0.06784992897915766,"pose":{"translation":{"x":6.517706105954552,"y":-0.95084185777942},"rotation":{"radians":2.6781823924242776}},"curvature":1.601349249099422},{"time":5.547480002830086,"velocity":1.7761849123756062,"acceleration":0.3022601111111157,"pose":{"translation":{"x":6.4822504889014505,"y":-0.9344914119272651},"rotation":{"radians":2.7408502576277325}},"curvature":1.6052839514494401},{"time":5.56942774050597,"velocity":1.7828188380041565,"acceleration":0.8126654144925758,"pose":{"translation":{"x":6.445829889267147,"y":-0.920387717016685},"rotation":{"radians":2.8032970531227175}},"curvature":1.5878259726668469},{"time":5.591231765784453,"velocity":1.800538215244702,"acceleration":1.4894109643738536,"pose":{"translation":{"x":6.408596817548844,"y":-0.90856251496196},"rotation":{"radians":2.8645417046334765}},"curvature":1.5418259918675647},{"time":5.61274950661746,"velocity":1.8325869743699372,"acceleration":2.3803217171878797,"pose":{"translation":{"x":6.370698440099848,"y":-0.898991204120538},"rotation":{"radians":2.9233585582299653}},"curvature":1.4608860227818288},{"time":5.633814408130236,"velocity":1.8827282169112234,"acceleration":3.5760759329100034,"pose":{"translation":{"x":6.332273991112865,"y":-0.8915867342279876},"rotation":{"radians":2.9783000838047666}},"curvature":1.3397811496678185},{"time":5.654236329557807,"velocity":1.9557585586321358,"acceleration":4.0,"pose":{"translation":{"x":6.293452184603297,"y":-0.8861935013329516},"rotation":{"radians":3.027727173937782}},"curvature":1.1745015638892786},{"time":5.692896841506459,"velocity":2.110400606426746,"acceleration":-0.8726464059645485,"pose":{"translation":{"x":6.215063226091267,"y":-0.8804389319050934},"rotation":{"radians":3.1026663712086755}},"curvature":0.6983328490907881},{"time":5.73054108353942,"velocity":2.0775504939114233,"acceleration":-3.9999999999999916,"pose":{"translation":{"x":6.1362525285061205,"y":-0.8788795980158471},"rotation":{"radians":3.131789046110493}},"curvature":-1.3496542794051404E-14},{"time":5.770056114613977,"velocity":1.9194903696131953,"acceleration":-4.0,"pose":{"translation":{"x":6.0572821849446274,"y":-0.8793245304375282},"rotation":{"radians":-3.1065366404729224}},"curvature":1.0622129743789184},{"time":5.791203754216094,"velocity":1.8348998112047257,"acceleration":-4.0,"pose":{"translation":{"x":6.017652439251256,"y":-0.8816556098020346},"rotation":{"radians":-3.0567137117694307}},"curvature":1.429069662215705},{"time":5.813535945215346,"velocity":1.7455710472077177,"acceleration":-2.3280607685562966,"pose":{"translation":{"x":5.977938270388472,"y":-0.8862573007373383},"rotation":{"radians":-2.9940377392669313}},"curvature":1.6875671589121797},{"time":5.837052695858718,"velocity":1.690822622630962,"acceleration":-0.8530994075543036,"pose":{"translation":{"x":5.938205606422835,"y":-0.8936053006215278},"rotation":{"radians":-2.922368046743592}},"curvature":1.8421476920110798},{"time":5.861450199064477,"velocity":1.6700091271003243,"acceleration":0.19092533243597556,"pose":{"translation":{"x":5.898560049495785,"y":-0.9040485692214991},"rotation":{"radians":-2.845269966839634}},"curvature":1.9035729350390005},{"time":5.886416926829897,"velocity":1.6747759078987756,"acceleration":0.9183446969288315,"pose":{"translation":{"x":5.8591419652278445,"y":-0.9178190171657469},"rotation":{"radians":-2.7658377209734057}},"curvature":1.8893703177109238},{"time":5.911708843163785,"velocity":1.6980026051391692,"acceleration":1.385957399286368,"pose":{"translation":{"x":5.820121572122819,"y":-0.9350411944171553},"rotation":{"radians":-2.6865373237047723}},"curvature":1.8213073069968178},{"time":5.937150516702255,"velocity":1.7332636808300401,"acceleration":1.630882382764678,"pose":{"translation":{"x":5.781694030972,"y":-0.9557419787457884},"rotation":{"radians":-2.6091299725611385}},"curvature":1.7214657553335084},{"time":5.962627092792644,"velocity":1.774812979949019,"acceleration":1.687147962097425,"pose":{"translation":{"x":5.7440745342583694,"y":-0.9798602642016813},"rotation":{"radians":-2.534693306744826}},"curvature":1.6089106436817548},{"time":5.988070148903867,"velocity":1.817739180216599,"acceleration":1.5902585902390232,"pose":{"translation":{"x":5.707493395560797,"y":-1.007256649587631},"rotation":{"radians":-2.463717482289093}},"curvature":1.4980296684969048},{"time":6.013441892831311,"velocity":1.8580868139465632,"acceleration":1.3754780906179052,"pose":{"translation":{"x":5.672191138958245,"y":-1.037723126931987},"rotation":{"radians":-2.3962358647899276}},"curvature":1.3984801293003415},{"time":6.038721328449253,"velocity":1.892858123782228,"acceleration":1.0742321356675701,"pose":{"translation":{"x":5.638413588433969,"y":-1.070992769961442},"rotation":{"radians":-2.331954975508437}},"curvature":1.3160936886933714},{"time":6.063894284576586,"velocity":1.919899722203958,"acceleration":0.711442933411883,"pose":{"translation":{"x":5.60640695727972,"y":-1.1067494225738237},"rotation":{"radians":-2.2703629028049113}},"curvature":1.2540847206404915},{"time":6.088947676595527,"velocity":1.937723780913832,"acceleration":0.3049097353681226,"pose":{"translation":{"x":5.576412937499948,"y":-1.1446373873108833},"rotation":{"radians":-2.2108092449988384}},"curvature":1.21415879965412},{"time":6.113867447156611,"velocity":1.9453220615610463,"acceleration":-0.13330344332951063,"pose":{"translation":{"x":5.548663789216002,"y":-1.1842711138310893},"rotation":{"radians":-2.152558545394135}},"curvature":1.1973610655232012},{"time":6.138639237246512,"velocity":1.9420198966446267,"acceleration":-0.5939336435693117,"pose":{"translation":{"x":5.523377430070332,"y":-1.225244887382416},"rotation":{"radians":-2.0948233843766975}},"curvature":1.20464510558545},{"time":6.1632507412810895,"velocity":1.9274022963796489,"acceleration":-1.066473925368483,"pose":{"translation":{"x":5.500752524630691,"y":-1.2671425172751354},"rotation":{"radians":-2.0367846989138014}},"curvature":1.2371889449971691},{"time":6.187694689837559,"velocity":1.9013334626111258,"acceleration":-1.5343944666835705,"pose":{"translation":{"x":5.480963573794339,"y":-1.3095470253546075},"rotation":{"radians":-1.9776073195482964}},"curvature":1.2964691494678222},{"time":6.2119713428215535,"velocity":1.8640835006028875,"acceleration":-1.9702328504614388,"pose":{"translation":{"x":5.464156004192241,"y":-1.3520503344740715},"rotation":{"radians":-1.91645936159511}},"curvature":1.3840523747115796},{"time":6.236089196437595,"velocity":1.8165657131259425,"acceleration":-2.331755233661701,"pose":{"translation":{"x":5.4504412575932735,"y":-1.3942629569674367},"rotation":{"radians":-1.8525455761999476}},"curvature":1.5009911361091886},{"time":6.2600623158652615,"velocity":1.7606662664332835,"acceleration":-2.5610114715316845,"pose":{"translation":{"x":5.439891880308422,"y":-1.435823683122073},"rotation":{"radians":-1.7851669930124427}},"curvature":1.6466369835629426},{"time":6.283902421999253,"velocity":1.699611481141598,"acceleration":-2.587737185870032,"pose":{"translation":{"x":5.432536612594985,"y":-1.4764092696516016},"rotation":{"radians":-1.7138210860620298}},"curvature":1.8166615839118367},{"time":6.307603895514264,"velocity":1.6382782967668892,"acceleration":-2.3357708163044526,"pose":{"translation":{"x":5.428355478060779,"y":-1.5157441281686852},"rotation":{"radians":-1.6383554728237186}},"curvature":2.00022111237521},{"time":6.3311207747746066,"velocity":1.5833482565000259,"acceleration":-1.7253464768301323,"pose":{"translation":{"x":5.427274873068333,"y":-1.5536100136578201},"rotation":{"radians":-1.5591788539788232}},"curvature":2.1766885360236947},{"time":6.354337279828728,"velocity":1.5432917413005875,"acceleration":-0.6564341220116579,"pose":{"translation":{"x":5.4291626561390975,"y":-1.589855712948129},"rotation":{"radians":-1.477510001528427}},"curvature":2.3132938009500545},{"time":6.3770375024179975,"velocity":1.5283905406157317,"acceleration":1.052062712352461,"pose":{"translation":{"x":5.433823237357643,"y":-1.6244067331861447},"rotation":{"radians":-1.3956094518301694}},"curvature":2.365938863302389},{"time":6.398884034079329,"velocity":1.551374461970846,"acceleration":3.8222338168616554,"pose":{"translation":{"x":5.440992667775863,"y":-1.6572749903086093},"rotation":{"radians":-1.31690582520533}},"curvature":2.2851610854603064},{"time":6.419415685727564,"velocity":1.6298512352167542,"acceleration":4.000000000000014,"pose":{"translation":{"x":5.4503337288171725,"y":-1.6885684975152582},"rotation":{"radians":-1.2459338716194437}},"curvature":2.0265213259962254},{"time":6.43855301139459,"velocity":1.706400537884855,"acceleration":4.000000000000018,"pose":{"translation":{"x":5.461431021680719,"y":-1.7185010537416168},"rotation":{"radians":-1.1880679273629566}},"curvature":1.560926730006552},{"time":6.473784080239603,"velocity":1.8473248132649052,"acceleration":3.9999999999999756,"pose":{"translation":{"x":5.486812342974934,"y":-1.7757255685112403},"rotation":{"radians":-1.1349193543875298}},"curvature":-2.9874785880668607E-14},{"time":6.507239238977993,"velocity":1.981145448218465,"acceleration":4.000000000000003,"pose":{"translation":{"x":5.513815995351345,"y":-1.8337949888915857},"rotation":{"radians":-1.1362726057076036}},"curvature":-0.016539811910726683},{"time":6.543002853213867,"velocity":2.124199905161961,"acceleration":3.999999999999965,"pose":{"translation":{"x":5.544734274421549,"y":-1.9003775243225272},"rotation":{"radians":-1.1349949681124527}},"curvature":0.052034630467225826},{"time":6.583270669807453,"velocity":2.2852711715363014,"acceleration":4.000000000000012,"pose":{"translation":{"x":5.582475456215184,"y":-1.9807359178323514},"rotation":{"radians":-1.1276106925747755}},"curvature":0.10787742141813664},{"time":6.628297376093794,"velocity":2.4653779966816667,"acceleration":1.9708026864547536,"pose":{"translation":{"x":5.628961946084036,"y":-2.0770580831669134},"rotation":{"radians":-1.1141176507955801}},"curvature":0.14078302436425447},{"time":6.67811951901851,"velocity":2.5635676098026283,"acceleration":-0.3373747959110974,"pose":{"translation":{"x":5.68525344175341,"y":-2.188975239005737},"rotation":{"radians":-1.0949403737120962}},"curvature":0.16425844298227135},{"time":6.7050697103451835,"velocity":2.5544752945040266,"acceleration":-0.34714830344111935,"pose":{"translation":{"x":5.717201635343008,"y":-2.2500951074866418},"rotation":{"radians":-1.0832133988451098}},"curvature":0.1758287999775167},{"time":6.733576320039362,"velocity":2.544579273311834,"acceleration":-0.37606043731905103,"pose":{"translation":{"x":5.7516700963735,"y":-2.3140800431781168},"rotation":{"radians":-1.0699787075876546}},"curvature":0.188515879980846},{"time":6.76347312358613,"velocity":2.533336268295595,"acceleration":-0.4201967329679348,"pose":{"translation":{"x":5.788603496586915,"y":-2.3803956095708028},"rotation":{"radians":-1.0551275864098477}},"curvature":0.2030501201491312},{"time":6.794575032444299,"velocity":2.520267347804326,"acceleration":-0.4780193281217229,"pose":{"translation":{"x":5.827915681570757,"y":-2.4484447268792158},"rotation":{"radians":-1.0385150768563445}},"curvature":0.22010776296991852},{"time":6.826684485273206,"velocity":2.5049184087366956,"acceleration":-0.5493105686814271,"pose":{"translation":{"x":5.869493519603363,"y":-2.5175838637359975},"rotation":{"radians":-1.019960546861272}},"curvature":0.2403685783291652},{"time":6.859597889291738,"velocity":2.486838728058034,"acceleration":-0.6343959824758042,"pose":{"translation":{"x":5.913200750499257,"y":-2.587139228886169},"rotation":{"radians":-0.9992481395141277}},"curvature":0.2645548152728291},{"time":6.893112008589025,"velocity":2.46557750541962,"acceleration":-0.7334083847942388,"pose":{"translation":{"x":5.9588818344545045,"y":-2.6564229628813836},"rotation":{"radians":-0.9761279124327613}},"curvature":0.2934510135050659},{"time":6.927030129881637,"velocity":2.44070167086715,"acceleration":-0.845392504591115,"pose":{"translation":{"x":6.006365800892068,"y":-2.7247493297741805},"rotation":{"radians":-0.9503189521184723}},"curvature":0.32789893764181127},{"time":6.961167741165305,"velocity":2.4118419901632926,"acceleration":-0.9670782287634456,"pose":{"translation":{"x":6.055470097307166,"y":-2.7914509088122372},"rotation":{"radians":-0.9215164137195069}},"curvature":0.3687540797437851},{"time":6.99535732230681,"velocity":2.3787779905908013,"acceleration":-1.0912045983072411,"pose":{"translation":{"x":6.10600443811262,"y":-2.8558947861326245},"rotation":{"radians":-0.8894053775600914}},"curvature":0.4167795224641493},{"time":7.029451663366001,"velocity":2.3415740888507566,"acceleration":-1.204405212207946,"pose":{"translation":{"x":6.157774653484221,"y":-2.9174987464560562},"rotation":{"radians":-0.8536856455447042}},"curvature":0.47243980767312477},{"time":7.063324908876629,"velocity":2.300776975403357,"acceleration":-1.2849043290762034,"pose":{"translation":{"x":6.210586538206073,"y":-2.975747464781147},"rotation":{"radians":-0.8141129836732013}},"curvature":0.5355450972321937},{"time":7.096870326365516,"velocity":2.257674323251218,"acceleration":-1.300569560663662,"pose":{"translation":{"x":6.264249700515956,"y":-3.0302086980786602},"rotation":{"radians":-0.7705633800164033}},"curvature":0.6046942607952271},{"time":7.1299937365759725,"velocity":2.214595024186122,"acceleration":-1.2079662499628665,"pose":{"translation":{"x":6.31858141095068,"y":-3.080549476985765},"rotation":{"radians":-0.7231265815336309}},"curvature":0.6764954717393413},{"time":7.162601835114428,"velocity":2.175205541676205,"acceleration":-0.9524544369553246,"pose":{"translation":{"x":6.373410451191438,"y":-3.126552297500287},"rotation":{"radians":-0.6722317125644008}},"curvature":0.7446358293261276},{"time":7.194585555805863,"velocity":2.144742504993308,"acceleration":-0.4675351532254583,"pose":{"translation":{"x":6.428580962909164,"y":-3.1681313126749653},"rotation":{"radians":-0.6187990131673747}},"curvature":0.7990505604509784},{"time":7.225800351838304,"velocity":2.1301484905473793,"acceleration":0.331448553423868,"pose":{"translation":{"x":6.483956296609884,"y":-3.205348524311699},"rotation":{"radians":-0.5643967569060475}},"curvature":0.8256705872409517},{"time":7.256047565282347,"velocity":2.1401738856885104,"acceleration":1.567936387587133,"pose":{"translation":{"x":6.539422860480078,"y":-3.2384299746558063},"rotation":{"radians":-0.5113645424618696}},"curvature":0.8073448559759118},{"time":7.285063011611526,"velocity":2.185668259790112,"acceleration":3.452044120654913,"pose":{"translation":{"x":6.594893969232029,"y":-3.267781938090276},"rotation":{"radians":-0.4628530915600462}},"curvature":0.7262966991960407},{"time":7.312519321570039,"velocity":2.280448653157277,"acceleration":4.000000000000022,"pose":{"translation":{"x":6.65031369294918,"y":-3.2940071128300197},"rotation":{"radians":-0.4227382002790479}},"curvature":0.5678319319036585},{"time":7.362927912868489,"velocity":2.482083018351079,"acceleration":1.6791739996876667,"pose":{"translation":{"x":6.760952135540793,"y":-3.3405671584101064},"rotation":{"radians":-0.3853198176751691}},"curvature":-3.568404011740405E-14},{"time":7.410194337872959,"velocity":2.5614515702767706,"acceleration":-2.04209696603584,"pose":{"translation":{"x":6.871565862941563,"y":-3.384974740911895},"rotation":{"radians":-0.3749068184419325}},"curvature":0.1669438591847653},{"time":7.457323200427283,"velocity":2.4652098630418635,"acceleration":-1.475786053293247,"pose":{"translation":{"x":6.982324743425078,"y":-3.426962499776667},"rotation":{"radians":-0.34729592857952807}},"curvature":0.2939550613525814},{"time":7.505406788801166,"velocity":2.3942487739273934,"acceleration":-1.1726608665184513,"pose":{"translation":{"x":7.092923559130723,"y":-3.464607888085905},"rotation":{"radians":-0.3069108647204054}},"curvature":0.39414309572055434},{"time":7.553705810769207,"velocity":2.337610400974357,"acceleration":-1.0445324304688155,"pose":{"translation":{"x":7.202658440298267,"y":-3.4964883725963083},"rotation":{"radians":-0.25696495811314823}},"curvature":0.47847426426559647},{"time":7.601601153509525,"velocity":2.287582162213676,"acceleration":-1.0528522693930504,"pose":{"translation":{"x":7.310528793310386,"y":-3.5216347167203006},"rotation":{"radians":-0.19965080629313658}},"curvature":0.5564366526783604},{"time":7.648585963205272,"velocity":2.238114098698508,"acceleration":-1.1845595793844004,"pose":{"translation":{"x":7.415339228735183,"y":-3.5394842635065453},"rotation":{"radians":-0.13629498683287739}},"curvature":0.6369531250788507},{"time":7.694262681484078,"velocity":2.1840073045065047,"acceleration":-1.4364064059370678,"pose":{"translation":{"x":7.515801489368694,"y":-3.5498342186204628},"rotation":{"radians":-0.06747821579404756}},"curvature":0.7291963010074658},{"time":7.73834530049098,"velocity":2.1206867481745073,"acceleration":-1.7963798575460874,"pose":{"translation":{"x":7.6106363782773965,"y":-3.5527949333247437},"rotation":{"radians":0.006856432640540043}},"curvature":0.8431249288458307},{"time":7.780662206178079,"velocity":2.0446695111645266,"acceleration":-2.111266996203464,"pose":{"translation":{"x":7.698675686840731,"y":-3.5487431874598667},"rotation":{"radians":0.08726414438930495}},"curvature":0.9892185287145076},{"time":7.801128370886081,"velocity":2.001459973077657,"acceleration":-2.3164631197340095,"pose":{"translation":{"x":7.739837365519994,"y":-3.544266740311868},"rotation":{"radians":0.12999693859895942}},"curvature":1.0772075217169417},{"time":7.82113701374566,"velocity":1.9551106898175137,"acceleration":-2.4891857267980595,"pose":{"translation":{"x":7.778964122793601,"y":-3.5382754724246124},"rotation":{"radians":0.17454284199249823}},"curvature":1.1759135136357581},{"time":7.840691708457937,"velocity":1.9064354228478186,"acceleration":-2.5935559038126437,"pose":{"translation":{"x":7.815986537878432,"y":-3.5308706106429226},"rotation":{"radians":0.22095285474791476}},"curvature":1.2847397593008736},{"time":7.859794894167922,"velocity":1.8568902427680596,"acceleration":-2.5817777983705077,"pose":{"translation":{"x":7.850861238268895,"y":-3.5221612741565806},"rotation":{"radians":0.2691995363433516}},"curvature":1.4013701773032536},{"time":7.878442440090576,"velocity":1.8087464227108558,"acceleration":-2.392376743017523,"pose":{"translation":{"x":7.883574084988262,"y":-3.512263014593467},"rotation":{"radians":0.3191262876820936}},"curvature":1.5208227153430485},{"time":7.896616338917646,"velocity":1.765267609827021,"acceleration":-1.946209334003406,"pose":{"translation":{"x":7.91414335783999,"y":-3.5012963561127033},"rotation":{"radians":0.37038254010680066}},"curvature":1.6342998063405612},{"time":7.914275701346857,"velocity":1.7308987938347404,"acceleration":-1.1354185806527661,"pose":{"translation":{"x":7.942622940659051,"y":-3.489385335497793},"rotation":{"radians":0.42234699326785075}},"curvature":1.7280346581221933},{"time":7.931346863040862,"velocity":1.7115158796540388,"acceleration":0.20449771337602204,"pose":{"translation":{"x":7.969105506563265,"y":-3.4766560422497625},"rotation":{"radians":0.4740464245862101}},"curvature":1.7825583454503058},{"time":7.947714335723923,"velocity":1.7148629903914692,"acceleration":2.359345550544278,"pose":{"translation":{"x":7.993725703204623,"y":-3.463235158680302},"rotation":{"radians":0.5240850047393663}},"curvature":1.773054957153259},{"time":7.963215380867789,"velocity":1.7514353122804354,"acceleration":0.9614266685059312,"pose":{"translation":{"x":8.016663338020617,"y":-3.449248500004906},"rotation":{"radians":0.5706068403525518}},"curvature":1.6715825978442673},{"time":7.992089008383712,"velocity":1.7791951877907506,"acceleration":-4.000000000000004,"pose":{"translation":{"x":8.058455062361967,"y":-3.42006802327616},"rotation":{"radians":0.6436060077103064}},"curvature":1.095741168784282},{"time":8.020426077294864,"velocity":1.6658469121461432,"acceleration":-4.0,"pose":{"translation":{"x":8.096943374347772,"y":-3.390048315402949},"rotation":{"radians":0.672247181806882}},"curvature":-2.787021037671447E-13},{"time":8.050842649768047,"velocity":1.5441806222534145,"acceleration":-4.0,"pose":{"translation":{"x":8.134557965995524,"y":-3.3589285632876065},"rotation":{"radians":0.7266347380610323}},"curvature":2.0205918115699713},{"time":8.067478245726408,"velocity":1.4776382384199742,"acceleration":-3.25603069552879,"pose":{"translation":{"x":8.152869542150555,"y":-3.341710888890333},"rotation":{"radians":0.7848315484298528}},"curvature":2.5532105140918953},{"time":8.085409131871295,"velocity":1.4192547227341905,"acceleration":0.04379517409933931,"pose":{"translation":{"x":8.17060129675742,"y":-3.3227339035945405},"rotation":{"radians":0.8547801268805426}},"curvature":2.7852065306571983},{"time":8.104471080642664,"velocity":1.4200895440993053,"acceleration":1.988240988312329,"pose":{"translation":{"x":8.187577758965592,"y":-3.3016593624648842},"rotation":{"radians":0.9305645381411529}},"curvature":2.781754805313535},{"time":8.12418236743459,"velocity":1.4592803324313939,"acceleration":3.1401288415075297,"pose":{"translation":{"x":8.203633243724457,"y":-3.278259902703933},"rotation":{"radians":1.0075381242431172}},"curvature":2.6241576789061507},{"time":8.144223567341262,"velocity":1.5222122822767536,"acceleration":3.7252300620396044,"pose":{"translation":{"x":8.218612316299136,"y":-3.2524098860546},"rotation":{"radians":1.0825127879267544}},"curvature":2.388068549471008},{"time":8.164416389709732,"velocity":1.5974351912012033,"acceleration":3.8704818384777404,"pose":{"translation":{"x":8.2323702567863,"y":-3.2240762412025705},"rotation":{"radians":1.153650620142098}},"curvature":2.130275972182423},{"time":8.184685083931427,"velocity":1.6758848040759355,"acceleration":3.6838582173412258,"pose":{"translation":{"x":8.244773524629995,"y":-3.1933093061787345},"rotation":{"radians":1.2201762239591805}},"curvature":1.8860779466753734},{"time":8.205016072041923,"velocity":1.7507812816934503,"acceleration":3.2695253802327833,"pose":{"translation":{"x":8.25570022313745,"y":-3.1602336707616185},"rotation":{"radians":1.282046135917554}},"curvature":1.6733600209313169},{"time":8.22542527381564,"velocity":1.8175096848829102,"acceleration":2.7198012887743115,"pose":{"translation":{"x":8.265040563994912,"y":-3.1250390188798134},"rotation":{"radians":1.3396645224757533}},"curvature":1.4986085428536888},{"time":8.245936020394637,"velocity":1.8732948398621905,"acceleration":2.1056804158438616,"pose":{"translation":{"x":8.272697331783444,"y":-3.087970971014407},"rotation":{"radians":1.393677454266626}},"curvature":1.3620702315154585},{"time":8.266566527215119,"velocity":1.91673609404301,"acceleration":1.473900766961769,"pose":{"translation":{"x":8.278586348494763,"y":-3.0493219266014138},"rotation":{"radians":1.4448418381519719}},"curvature":1.261248848361819},{"time":8.287324497553566,"velocity":1.9473312824454168,"acceleration":0.8501688445375094,"pose":{"translation":{"x":8.282636938047048,"y":-3.009421906434206},"rotation":{"radians":1.4939510341608968}},"curvature":1.192941138640494},{"time":8.308206438952471,"velocity":1.9650844584362237,"acceleration":0.2454469819862978,"pose":{"translation":{"x":8.284792390800762,"y":-2.9686293950659444},"rotation":{"radians":1.5417981264600373}},"curvature":1.1542800792072208},{"time":8.329199786259142,"velocity":1.9702372121744363,"acceleration":-0.33722023125958134,"pose":{"translation":{"x":8.285010428074468,"y":-2.927322183212007},"rotation":{"radians":1.5891616086857403}},"curvature":1.143189393386008},{"time":8.350286459632322,"velocity":1.9631263593030375,"acceleration":-0.8964851217345446,"pose":{"translation":{"x":8.283263666660654,"y":-2.885888210152424},"rotation":{"radians":1.636802497506564}},"curvature":1.1585099193427613},{"time":8.371446864258635,"velocity":1.9441563713856644,"acceleration":-1.427279745915974,"pose":{"translation":{"x":8.279540083341542,"y":-2.844716406134302},"rotation":{"radians":1.6854649445431082}},"curvature":1.1999295632465516},{"time":8.392663523787116,"velocity":1.9138742629646677,"acceleration":-1.9161465438257943,"pose":{"translation":{"x":8.273843479404917,"y":-2.8041875347742615},"rotation":{"radians":1.7358739304854196}},"curvature":1.2677499510532177},{"time":8.413923546722229,"velocity":1.873136943495894,"acceleration":-2.3375582742458527,"pose":{"translation":{"x":8.266193945159939,"y":-2.7646650354608617},"rotation":{"radians":1.7887237257729862}},"curvature":1.362445217661834},{"time":8.43521898953597,"velocity":1.8233576049429048,"acceleration":-2.652013851903923,"pose":{"translation":{"x":8.256628324452965,"y":-2.726485865757035},"rotation":{"radians":1.844649800706965}},"curvature":1.483903320534828},{"time":8.456543966923846,"velocity":1.766803469518723,"acceleration":-2.8069565728034873,"pose":{"translation":{"x":8.245200679183364,"y":-2.6899513438025164},"rotation":{"radians":1.9041753414183076}},"curvature":1.6301961451172062},{"time":8.477887202079186,"velocity":1.7068939353145514,"acceleration":-2.740709684947288,"pose":{"translation":{"x":8.231982753819342,"y":-2.6553179907162723},"rotation":{"radians":1.9676226717805982}},"curvature":1.7957426126716163},{"time":8.499218863682852,"velocity":1.6484300437613648,"acceleration":-2.3868850571772815,"pose":{"translation":{"x":8.217064439913752,"y":-2.622788372998934},"rotation":{"radians":2.034981967891211}},"curvature":1.9688953722788336},{"time":8.520471393393375,"velocity":1.5977026981681015,"acceleration":-1.6721003094002411,"pose":{"translation":{"x":8.200554240619926,"y":-2.592501944935227},"rotation":{"radians":2.1057380785550297}},"curvature":2.1294025290491683},{"time":8.541515966132964,"velocity":1.5625140615790398,"acceleration":-0.49391766258783415,"pose":{"translation":{"x":8.182579735207474,"y":-2.5645258909964013},"rotation":{"radians":2.178674004001982}},"curvature":2.2468655838223976},{"time":8.562139139633768,"velocity":1.55232791192838,"acceleration":1.3440870213260039,"pose":{"translation":{"x":8.163288043578126,"y":-2.5388459682426614},"rotation":{"radians":2.2516947501588493}},"curvature":2.281861825372894},{"time":8.582026870540366,"velocity":1.5790587529235636,"acceleration":3.9999999999997584,"pose":{"translation":{"x":8.142846290781529,"y":-2.5153573487256002},"rotation":{"radians":2.3217353486152947}},"curvature":2.190985737940753},{"time":8.600794282223047,"velocity":1.6541283996542806,"acceleration":4.000000000000157,"pose":{"translation":{"x":8.121442071531082,"y":-2.4938554618906257},"rotation":{"radians":2.3848099378396634}},"curvature":1.9350720677060358},{"time":8.618395801066608,"velocity":1.7245344750285303,"acceleration":4.0000000000000915,"pose":{"translation":{"x":8.099283914719747,"y":-2.4740268369793927},"rotation":{"radians":2.436212811045131}},"curvature":1.4873792591125539},{"time":8.651042396918477,"velocity":1.8551208584360077,"acceleration":0.8334331574785859,"pose":{"translation":{"x":8.053647361978992,"y":-2.437536043290592},"rotation":{"radians":2.483464928373856}},"curvature":-1.3698762162005308E-13},{"time":8.712415200876542,"velocity":1.9062709882220925,"acceleration":-3.999999999999996,"pose":{"translation":{"x":7.96117069158718,"y":-2.368466015327747},"rotation":{"radians":2.5369928581630763}},"curvature":1.0399598589066348},{"time":8.743807213225972,"velocity":1.780702938824371,"acceleration":-3.240173866267892,"pose":{"translation":{"x":7.91240638130442,"y":-2.3373040586323},"rotation":{"radians":2.61434205399187}},"curvature":1.5933800897975612},{"time":8.760807627375044,"velocity":1.7256186411828185,"acceleration":-0.46757356359162,"pose":{"translation":{"x":7.8862878970003205,"y":-2.322946810158374},"rotation":{"radians":2.664366105597434}},"curvature":1.7427662179351286},{"time":8.778780518437975,"velocity":1.7172149924604798,"acceleration":1.8997049941485202,"pose":{"translation":{"x":7.858428734780647,"y":-2.3094902611749495},"rotation":{"radians":2.718995209324154}},"curvature":1.766399125109531},{"time":8.797563817016064,"velocity":1.7528977185758594,"acceleration":3.7573974099941525,"pose":{"translation":{"x":7.828338197830325,"y":-2.2969733524855083},"rotation":{"radians":2.775245507404896}},"curvature":1.6676130949360795},{"time":8.817020611301311,"velocity":1.8260046270300399,"acceleration":3.9999999999998703,"pose":{"translation":{"x":7.795495010921529,"y":-2.285417081311046},"rotation":{"radians":2.8301637542164064}},"curvature":1.4772780656246616},{"time":8.837197668197085,"velocity":1.906712854613131,"acceleration":4.000000000000124,"pose":{"translation":{"x":7.759357407042884,"y":-2.2748260275563386},"rotation":{"radians":2.8813398945937534}},"curvature":1.2395385890084851},{"time":8.858301131002387,"velocity":1.9911267058343394,"acceleration":3.999999999999972,"pose":{"translation":{"x":7.719373214028678,"y":-2.2651898800761994},"rotation":{"radians":2.927189762661659}},"curvature":0.9952887213572017},{"time":8.903992337746082,"velocity":2.1738915328091206,"acceleration":4.000000000000057,"pose":{"translation":{"x":7.625664865934271,"y":-2.2486757617066493},"rotation":{"radians":3.0006158298296985}},"curvature":0.5844146961271413},{"time":8.955080452396816,"velocity":2.378243991412058,"acceleration":4.000000000000006,"pose":{"translation":{"x":7.5101277781356695,"y":-2.235552414159634},"rotation":{"radians":3.051256738618408}},"curvature":0.3183020153234541},{"time":8.982766435485116,"velocity":2.488987923765258,"acceleration":2.476107155532668,"pose":{"translation":{"x":7.442969940600548,"y":-2.2301217827642343},"rotation":{"radians":3.06957674540804}},"curvature":0.23117099259937773},{"time":9.012118831535032,"velocity":2.5616676016564814,"acceleration":1.1998491601308967,"pose":{"translation":{"x":7.368998823930037,"y":-2.2253569496337615},"rotation":{"radians":3.084162421412773}},"curvature":0.16666949547364027},{"time":9.043598180069008,"velocity":2.599438071556441,"acceleration":0.8320783802863694,"pose":{"translation":{"x":7.287871845495836,"y":-2.221186101728629},"rotation":{"radians":3.0956527595729373}},"curvature":0.1194013143659248},{"time":9.077510096943747,"velocity":2.62765544442198,"acceleration":0.5719529929030283,"pose":{"translation":{"x":7.199316710548963,"y":-2.217534745089381},"rotation":{"radians":3.1046072214432563}},"curvature":0.08497524507570217},{"time":9.113986788650395,"velocity":2.648518397414798,"acceleration":0.3913523852923889,"pose":{"translation":{"x":7.103141498848956,"y":-2.2143272311029563},"rotation":{"radians":3.111501976800249}},"curvature":0.059993479862026994},{"time":9.153116560104829,"velocity":2.663831926809437,"acceleration":0.26725918149541245,"pose":{"translation":{"x":6.999244751293082,"y":-2.211488282768949},"rotation":{"radians":3.11673518143217}},"curvature":0.04190574277714775},{"time":9.194941427030429,"velocity":2.675010006510127,"acceleration":0.18236350337998677,"pose":{"translation":{"x":6.887625556545544,"y":-2.2089445209658685},"rotation":{"radians":3.120636226575132}},"curvature":0.028833391033654638},{"time":9.239454826079664,"velocity":2.6831276259080967,"acceleration":0.12426533838593211,"pose":{"translation":{"x":6.768393637666687,"y":-2.2066259907174035},"rotation":{"radians":3.1234761133333215}},"curvature":0.01940840539073906},{"time":9.286599246665501,"velocity":2.6889860432852046,"acceleration":0.09267376389522815,"pose":{"translation":{"x":6.641779438742209,"y":-2.2044676874586817},"rotation":{"radians":3.125477502696193}},"curvature":0.0126418259585506},{"time":9.311124564733168,"velocity":2.691258896821263,"acceleration":0.07619136802126135,"pose":{"translation":{"x":6.575811489951417,"y":-2.203430036256668},"rotation":{"radians":3.1262223864348835}},"curvature":0.010024570117161737},{"time":9.336261825942517,"velocity":2.693174139141111,"acceleration":0.06244263614767541,"pose":{"translation":{"x":6.508144211512361,"y":-2.202411083302532},"rotation":{"radians":3.1268238132890485}},"curvature":0.007822543474077822},{"time":9.361988346606374,"velocity":2.69478057091027,"acceleration":0.05092900119929307,"pose":{"translation":{"x":6.4388448534262,"y":-2.2014047749943275},"rotation":{"radians":3.127299887090871}},"curvature":0.005977981738578354},{"time":9.388277758359566,"velocity":2.696119464392977,"acceleration":0.0412373249299962,"pose":{"translation":{"x":6.367990102001158,"y":-2.200405653305747},"rotation":{"radians":3.1276671973366104}},"curvature":0.004442296384952015},{"time":9.415099916064573,"velocity":2.697225538425582,"acceleration":0.03302377598079158,"pose":{"translation":{"x":6.295666395059675,"y":-2.199408903481941},"rotation":{"radians":3.1279410141323836}},"curvature":0.00317480050721403},{"time":9.442420804091682,"velocity":2.6981277773113854,"acceleration":0.02600014857970354,"pose":{"translation":{"x":6.221970237145585,"y":-2.198410401735342},"rotation":{"radians":3.1281354721234154}},"curvature":0.002141657313974962},{"time":9.470202441320163,"velocity":2.6988501040071133,"acceleration":0.019922155808837393,"pose":{"translation":{"x":6.147008514731264,"y":-2.1974067629414833},"rotation":{"radians":3.128263745928916}},"curvature":0.0013150273522682377},{"time":9.49840278524468,"velocity":2.6994119156526404,"acceleration":0.014579234130882525,"pose":{"translation":{"x":6.070898811424805,"y":-2.19639538833482},"rotation":{"radians":3.1283382199451615}},"curvature":6.723965081606445E-4},{"time":9.526975635619891,"velocity":2.6998284859280473,"acceleration":0.0020864215191713272,"pose":{"translation":{"x":5.993769723177171,"y":-2.1953745132045492},"rotation":{"radians":3.128370655803145}},"curvature":1.9607335146147427E-4},{"time":9.555871728559273,"velocity":2.699888775358176,"acceleration":-0.005368324369419618,"pose":{"translation":{"x":5.915761173489364,"y":-2.1943432545904313},"rotation":{"radians":3.12837236133}},"curvature":-1.2714817539512233E-4},{"time":9.585037973553794,"velocity":2.6997322014944074,"acceleration":-0.0011713600679816895,"pose":{"translation":{"x":5.8370247286195855,"y":-2.1933016589786094},"rotation":{"radians":3.1283543656364334}},"curvature":-3.0615577243242695E-4},{"time":9.614414325891,"velocity":2.6996977912083366,"acceleration":0.002973141650387426,"pose":{"translation":{"x":5.7577239127904,"y":-2.1922507499974335},"rotation":{"radians":3.128327606032917}},"curvature":-3.4549911000586773E-4},{"time":9.643934340872933,"velocity":2.6997855583943995,"acceleration":0.00724647924458554,"pose":{"translation":{"x":5.678034523395896,"y":-2.1911925761132762},"rotation":{"radians":3.128303134003481}},"curvature":-2.4515162152455056E-4},{"time":9.67352686413299,"velocity":2.6999999999999984,"acceleration":-0.07479961998095733,"pose":{"translation":{"x":5.598144946208848,"y":-2.190130258326357},"rotation":{"radians":3.1282923496405357}},"curvature":1.9474210378896005E-15},{"time":9.703155443334701,"velocity":2.6977837935351348,"acceleration":-0.06581716155259797,"pose":{"translation":{"x":5.518187723522336,"y":-2.1890639639579894},"rotation":{"radians":3.128189115563257}},"curvature":-0.0025354676036198013},{"time":9.73287863360516,"velocity":2.6958274975192453,"acceleration":-0.056146769189799904,"pose":{"translation":{"x":5.438037399634061,"y":-2.187978970178153},"rotation":{"radians":3.1278939220440725}},"curvature":-0.004777046783688541},{"time":9.762757073738515,"velocity":2.6941499196373266,"acceleration":-0.0463908911063936,"pose":{"translation":{"x":5.357523139721069,"y":-2.186858299694038},"rotation":{"radians":3.127429536800752}},"curvature":-0.006701855548902655},{"time":9.792842631652764,"velocity":2.6927542237962516,"acceleration":-0.03702075676713827,"pose":{"translation":{"x":5.276497600030018,"y":-2.185686797331436},"rotation":{"radians":3.126819269327168}},"curvature":-0.00830506795015443},{"time":9.82317883349882,"velocity":2.69163115464647,"acceleration":-0.028368924708310383,"pose":{"translation":{"x":5.194836048399196,"y":-2.1844510678227977},"rotation":{"radians":3.1260861183279345}},"curvature":-0.009596325843187243},{"time":9.853801269836193,"velocity":2.69076242905563,"acceleration":-0.02063945120090555,"pose":{"translation":{"x":5.112435484780537,"y":-2.1831394135952915},"rotation":{"radians":3.1252521062498526}},"curvature":-0.010595889523865656},{"time":9.884737979155714,"velocity":2.690123912353313,"acceleration":-0.013928400502440446,"pose":{"translation":{"x":5.029213761761634,"y":-2.1817417725588646},"rotation":{"radians":3.124337799153786}},"curvature":-0.011330984366918137},{"time":9.916009810772191,"velocity":2.689688345758114,"acceleration":-0.00824851604598307,"pose":{"translation":{"x":4.94510870508775,"y":-2.1802496558943028},"rotation":{"radians":3.1233619956664764}},"curvature":-0.011832632352869889},{"time":9.947630770135328,"velocity":2.689427519767418,"acceleration":-0.0035536140248188853,"pose":{"translation":{"x":4.860077234183838,"y":-2.1786560858412902},"rotation":{"radians":3.122341560236151}},"curvature":-0.012133106986195949},{"time":9.97960835002978,"velocity":2.689313883791025,"acceleration":2.3997319631597862E-4,"pose":{"translation":{"x":4.774094482676551,"y":-2.1769555334864696},"rotation":{"radians":3.1212913724041313}},"curvature":-0.01226403520613405},{"time":10.011943851111438,"velocity":2.689321643444574,"acceleration":0.0032361271690584444,"pose":{"translation":{"x":4.687152918916258,"y":-2.175143856551502},"rotation":{"radians":3.1202243639788803}},"curvature":-0.012255094396575647},{"time":10.044632694917095,"velocity":2.6894274287001387,"acceleration":0.005546053729098068,"pose":{"translation":{"x":4.599261466499057,"y":-2.1732182371811266},"rotation":{"radians":3.1191516185467023}},"curvature":-0.01213321190695929},{"time":10.077664732010286,"velocity":2.689610626152639,"acceleration":0.007279372434891124,"pose":{"translation":{"x":4.510444624788793,"y":-2.1711771197312215},"rotation":{"radians":3.118082511563713}},"curvature":-0.011922160164336958},{"time":10.111024547417523,"velocity":2.6898534646733476,"acceleration":0.008538495319838956,"pose":{"translation":{"x":4.420741589439066,"y":-2.169020148556863},"rotation":{"radians":3.1170248735146804}},"curvature":-0.011642443526704259},{"time":10.144691764991205,"velocity":2.6901409320530325,"acceleration":0.009415533041903021,"pose":{"translation":{"x":4.330205372915251,"y":-2.166748105800386},"rotation":{"radians":3.115985162741126}},"curvature":-0.01131138584450265},{"time":10.178641351891741,"velocity":2.6904605855102535,"acceleration":0.009991020996418656,"pose":{"translation":{"x":4.238901925016508,"y":-2.164362849179443},"rotation":{"radians":3.114968638212316}},"curvature":-0.010943344597798534},{"time":10.212843923998655,"velocity":2.690802304126305,"acceleration":0.010333872614552703,"pose":{"translation":{"x":4.146909253397799,"y":-2.161867249775066},"rotation":{"radians":3.113979525591937}},"curvature":-0.01054999476695906},{"time":10.247266052759041,"velocity":2.6911580180200367,"acceleration":0.010502098667038067,"pose":{"translation":{"x":4.054316544091902,"y":-2.1592651298197243},"rotation":{"radians":3.1130211724115457}},"curvature":-0.010140641187420984},{"time":10.281870573749293,"velocity":2.691521438113802,"acceleration":0.010543955402889908,"pose":{"translation":{"x":3.961223282031424,"y":-2.156561200485386},"rotation":{"radians":3.1120961900412665}},"curvature":-0.009722531098123065},{"time":10.316616897056978,"velocity":2.6918878017971726,"acceleration":0.01049928938055518,"pose":{"translation":{"x":3.8677383715708156,"y":-2.1537609996715785},"rotation":{"radians":3.11120658152664}},"curvature":-0.009301148717061402},{"time":10.351461319469946,"velocity":2.6922536434713846,"acceleration":0.010400929703813818,"pose":{"translation":{"x":3.773979257008386,"y":-2.150870829793446},"rotation":{"radians":3.1103538553283094}},"curvature":-0.008880481176929963},{"time":10.386357338381167,"velocity":2.692616594511023,"acceleration":0.010276040384850823,"pose":{"translation":{"x":3.680071043108317,"y":-2.147897695569811},"rotation":{"radians":3.109539125647017}},"curvature":-0.00846325042810768},{"time":10.421255967268397,"velocity":2.6929752142308443,"acceleration":0.010147390110810567,"pose":{"translation":{"x":3.586145615622675,"y":-2.144849241811236},"rotation":{"radians":3.1087632004193195}},"curvature":-0.008051109213537716},{"time":10.456106052580319,"velocity":2.6933288516418994,"acceleration":0.010034527770038331,"pose":{"translation":{"x":3.4923407618134306,"y":-2.1417336912080813},"rotation":{"radians":3.1080266582962404}},"curvature":-0.007644801360093501},{"time":10.490854591848844,"velocity":2.6936775368241577,"acceleration":0.009954873521280315,"pose":{"translation":{"x":3.398799290974467,"y":-2.1385597821185636},"rotation":{"radians":3.107329916021433}},"curvature":-0.007244287769162106},{"time":10.525447052844823,"velocity":2.6940219003981625,"acceleration":0.009924750299373656,"pose":{"translation":{"x":3.3056681549535973,"y":-2.13533670635682},"rotation":{"radians":3.106673287649164}},"curvature":-0.006848839905237005},{"time":10.559827693598557,"velocity":2.6943631196727758,"acceleration":0.00996039225355273,"pose":{"translation":{"x":3.2130975686745784,"y":-2.132074046980965},"rotation":{"radians":3.106057037017205}},"curvature":-0.0064571024821045},{"time":10.593939883112954,"velocity":2.6947028904609667,"acceleration":0.010078977093208178,"pose":{"translation":{"x":3.1212401306591246,"y":-2.1287817160811517},"rotation":{"radians":3.105481424839039}},"curvature":-0.006067126573920381},{"time":10.627726422605873,"velocity":2.6950434242185746,"acceleration":0.010299740790252719,"pose":{"translation":{"x":3.030249943548923,"y":-2.1254698925676316},"rotation":{"radians":3.1049467517206084}},"curvature":-0.005676373620546509},{"time":10.661129867124766,"velocity":2.6953874710386208,"acceleration":0.010645247650252184,"pose":{"translation":{"x":2.9402817346276464,"y":-2.1221489599588135},"rotation":{"radians":3.1044533983514926}},"curvature":-0.00528168979452848},{"time":10.694092847383862,"velocity":2.695738370126769,"acceleration":0.011142908724725394,"pose":{"translation":{"x":2.8514899763429686,"y":-2.1188294441693256},"rotation":{"radians":3.104001864077603}},"curvature":-0.00487924895340063},{"time":10.726558391676322,"velocity":2.6961001307235186,"acceleration":0.01182686973763556,"pose":{"translation":{"x":2.7640280068285774,"y":-2.115521951298074},"rotation":{"radians":3.103592805038498}},"curvature":-0.004464460882674241},{"time":10.75847024771576,"velocity":2.6964775480879832,"acceleration":0.012740429916968865,"pose":{"translation":{"x":2.67804715042619,"y":-2.112237105416302},"rotation":{"radians":3.103227073051908}},"curvature":-0.00403183967478405},{"time":10.789773204258097,"velocity":2.696876361212005,"acceleration":0.01393921057891377,"pose":{"translation":{"x":2.5936958382075685,"y":-2.1089854863556527},"rotation":{"radians":3.1029057564542777}},"curvature":-0.00357482478449364},{"time":10.820413412348689,"velocity":2.6973034615247613,"acceleration":0.015495374411128868,"pose":{"translation":{"x":2.5111187284965304,"y":-2.1057775674962267},"rotation":{"radians":3.1026302241615213}},"curvature":-0.0030855444089443254},{"time":10.850338706030097,"velocity":2.6977671651547177,"acceleration":0.01750331369816184,"pose":{"translation":{"x":2.430455827390965,"y":-2.1026236535546428},"rotation":{"radians":3.1024021742999497}},"curvature":-0.0025545071720315324},{"time":10.87949892233163,"velocity":2.6982775655681497,"acceleration":0.020087393315867803,"pose":{"translation":{"x":2.3518416092848486,"y":-2.0995338183720977},"rotation":{"radians":3.102223688872988}},"curvature":-0.0019702034074247973},{"time":10.907846220345688,"velocity":2.6988469888928,"acceleration":0.02341257360653198,"pose":{"translation":{"x":2.2754041373902583,"y":-2.096517842702427},"rotation":{"radians":3.102097296071607}},"curvature":-0.001318591336016886},{"time":10.935335399176441,"velocity":2.6994905813155583,"acceleration":0.010619732370755964,"pose":{"translation":{"x":2.201264184259384,"y":-2.093585152000163},"rotation":{"radians":3.1020260419968664}},"curvature":-5.824357755258735E-4},{"time":10.96192645073465,"velocity":2.6997729711665635,"acceleration":-2.557893802233361,"pose":{"translation":{"x":2.1295343523065458,"y":-2.0907447542085986},"rotation":{"radians":3.102013573724367}},"curvature":2.5954266655888147E-4},{"time":10.987903978467711,"velocity":2.6333252139808185,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":2.060318194330206,"y":-2.0880051775478425},"rotation":{"radians":3.1020642357701784}},"curvature":0.0012337619970388318},{"time":11.013724642477692,"velocity":2.5300425579408983,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":1.9937093340349854,"y":-2.0853744083028825},"rotation":{"radians":3.1021831820575008}},"curvature":0.002373185387739924},{"time":11.065301992577458,"velocity":2.323733157541836,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":1.8686330789692498,"y":-2.0804681542530536},"rotation":{"radians":3.1026513854520688}},"curvature":0.005323543472175422},{"time":11.116578895096232,"velocity":2.11862554746674,"acceleration":-4.000000000000004,"pose":{"translation":{"x":1.7548225747059836,"y":-2.0760766795828562},"rotation":{"radians":3.1034809929353333}},"curvature":0.00958713831762687},{"time":11.1673006186705,"velocity":1.9157386531696672,"acceleration":-4.0,"pose":{"translation":{"x":1.6525796567492614,"y":-2.0722380192899243},"rotation":{"radians":3.104757917925584}},"curvature":0.01592204431760446},{"time":11.217235676940417,"velocity":1.7159984200900038,"acceleration":-4.0,"pose":{"translation":{"x":1.5619628652150386,"y":-2.068975565063702},"rotation":{"radians":3.106597052010563}},"curvature":0.02551905610973033},{"time":11.266213935626642,"velocity":1.5200853853451042,"acceleration":-4.0,"pose":{"translation":{"x":1.482759301535613,"y":-2.0662960745033616},"rotation":{"radians":3.1091452285383374}},"curvature":0.04015416610919519},{"time":11.361424895710831,"velocity":1.1392415450083453,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":1.3562142102787673,"y":-2.06261789963318},"rotation":{"radians":3.117020095670502}},"curvature":0.09289443536460137},{"time":11.458158728869385,"velocity":0.7523062123741272,"acceleration":-4.000000000000001,"pose":{"translation":{"x":1.2647429755332027,"y":-2.060849223948289},"rotation":{"radians":3.128450735831225}},"curvature":0.15050288426630223},{"time":11.646235281962918,"velocity":0.0,"acceleration":-4.000000000000001,"pose":{"translation":{"x":1.194000000000007,"y":-2.0602422212201237},"rotation":{"radians":3.1358123711461245}},"curvature":-2.6839667795148236E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/BarrelManyWaypoints.wpilib.json b/src/main/deploy/paths/BarrelManyWaypoints.wpilib.json index 2ae6739..0a35efa 100644 --- a/src/main/deploy/paths/BarrelManyWaypoints.wpilib.json +++ b/src/main/deploy/paths/BarrelManyWaypoints.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.2831,"y":-2.134},"rotation":{"radians":0.041244121615251594}},"curvature":0.0},{"time":0.14237679487338306,"velocity":0.6406955769302236,"acceleration":4.5,"pose":{"translation":{"x":1.328701020098905,"y":-2.13309038448002},"rotation":{"radians":-0.002192825072650614}},"curvature":-0.689808942457635},{"time":0.24442954648302517,"velocity":1.0999329591736131,"acceleration":4.500000000000003,"pose":{"translation":{"x":1.4175021436823556,"y":-2.1348199805858163},"rotation":{"radians":-0.02941541324799535}},"curvature":-0.13319138864044253},{"time":0.29764393088367247,"velocity":1.3393976889765262,"acceleration":4.5000000000000036,"pose":{"translation":{"x":1.4823709238367437,"y":-2.1369499450918252},"rotation":{"radians":-0.035527450472486254}},"curvature":-0.06655947522413319},{"time":0.3506004111843134,"velocity":1.5777018503294105,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.5595559406263007,"y":-2.1398548704498053},"rotation":{"radians":-0.039323166805577854}},"curvature":-0.036078889012661715},{"time":0.4019678913879678,"velocity":1.808855511245855,"acceleration":4.500000000000003,"pose":{"translation":{"x":1.6464636394509342,"y":-2.1433873190170396},"rotation":{"radians":-0.041698315363887344}},"curvature":-0.020318490070223707},{"time":0.4506020905948696,"velocity":2.0277094076769133,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.739673599424829,"y":-2.1473494258831494},"rotation":{"radians":-0.04311984981859731}},"curvature":-0.010895277704161184},{"time":0.495569711134628,"velocity":2.230063700105826,"acceleration":4.499999999999997,"pose":{"translation":{"x":1.8353138934017652,"y":-2.1515149261838},"rotation":{"radians":-0.043824239355590995}},"curvature":-0.004054002142586204},{"time":0.5361547899958522,"velocity":2.412696554981335,"acceleration":4.4999999999999964,"pose":{"translation":{"x":1.9294364480004413,"y":-2.1556511824144113},"rotation":{"radians":-0.04391028317758082}},"curvature":0.0023372255165545136},{"time":0.5718703728632414,"velocity":2.573416677884586,"acceleration":3.5155910733786917,"pose":{"translation":{"x":2.0183924036297953,"y":-2.1595412117438633},"rotation":{"radians":-0.0433799936385976}},"curvature":0.010048656868101502},{"time":0.6026556613955392,"velocity":2.6816451634401197,"acceleration":-0.5354465691655881,"pose":{"translation":{"x":2.0992074745143237,"y":-2.1630057133282055},"rotation":{"radians":-0.04215825394754191}},"curvature":0.021125363972620232},{"time":0.6291310883509326,"velocity":2.66746898690966,"acceleration":-0.7441954491494692,"pose":{"translation":{"x":2.1699573087194044,"y":-2.165925095624365},"rotation":{"radians":-0.0401276341206716}},"curvature":0.03764031067752341},{"time":0.6517824443101237,"velocity":2.6506119508877655,"acceleration":1.3746492098273586,"pose":{"translation":{"x":2.230142848176617,"y":-2.168261503703853},"rotation":{"radians":-0.03727112513114321}},"curvature":0.05750832380249039},{"time":0.6877101913739625,"velocity":2.6999999999999487,"acceleration":-0.5682326568036667,"pose":{"translation":{"x":2.3262034400566898,"y":-2.171574824454032},"rotation":{"radians":-0.03249504231442196}},"curvature":5.901764018577339E-14},{"time":0.7235681146999763,"velocity":2.6796243569609457,"acceleration":0.2883804539257105,"pose":{"translation":{"x":2.422606086808268,"y":-2.174631016861803},"rotation":{"radians":-0.030556205404193983}},"curvature":0.0234688817461335},{"time":0.7462733886064862,"velocity":2.6861721141566126,"acceleration":0.20060364203593373,"pose":{"translation":{"x":2.4834947624457717,"y":-2.1764533340992185},"rotation":{"radians":-0.029361434090119997}},"curvature":0.01588828198518307},{"time":0.7730385089319162,"velocity":2.691541294773424,"acceleration":0.11317460993037652,"pose":{"translation":{"x":2.5554323373714154,"y":-2.178531051799546},"rotation":{"radians":-0.02846091699651151}},"curvature":0.009699689522704499},{"time":0.8036801688059942,"velocity":2.695009152677292,"acceleration":0.06578290862494175,"pose":{"translation":{"x":2.6379261260684697,"y":-2.1808516934760047},"rotation":{"radians":-0.02784084595448294}},"curvature":0.005715694785727201},{"time":0.8374732232009592,"velocity":2.6972321580867136,"acceleration":-1.7983390263352506,"pose":{"translation":{"x":2.729001517780213,"y":-2.1833682020138534},"rotation":{"radians":-0.027445618055253494}},"curvature":0.00316721789371224},{"time":0.8737354865678341,"velocity":2.6320203146908154,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":2.8255908280445983,"y":-2.186008066691889},"rotation":{"radians":-0.027231453600986295}},"curvature":0.001353368946051485},{"time":0.9123859745200495,"velocity":2.458093118905846,"acceleration":-4.499999999999999,"pose":{"translation":{"x":2.9239221502289103,"y":-2.188682450203946},"rotation":{"radians":-0.02717637198581686}},"curvature":-2.3363471267749878E-4},{"time":0.9529560212087915,"velocity":2.2755279088065072,"acceleration":-4.499999999999993,"pose":{"translation":{"x":3.01990820706443,"y":-2.191295315680394},"rotation":{"radians":-0.027281851086556178}},"curvature":-0.002062618750954218},{"time":0.994025981869154,"velocity":2.090713085834876,"acceleration":-4.499999999999993,"pose":{"translation":{"x":3.1095352021810947,"y":-2.1937525537096376},"rotation":{"radians":-0.0275775759098918}},"curvature":-0.004811312721425314},{"time":1.0338788434045267,"velocity":1.9113752089256995,"acceleration":-4.5,"pose":{"translation":{"x":3.1892516716421593,"y":-2.195971109359616},"rotation":{"radians":-0.028135419193203212}},"curvature":-0.009876676219632861},{"time":1.0705880473339406,"velocity":1.7461837912433371,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.2563573354788593,"y":-2.1978881091992997},"rotation":{"radians":-0.02910149342791912}},"curvature":-0.0207391501469607},{"time":1.1275800854843558,"velocity":1.4897196195664684,"acceleration":-4.499999999999997,"pose":{"translation":{"x":3.3485241554519773,"y":-2.2007216173578197},"rotation":{"radians":-0.03359028303482695}},"curvature":-0.10991559861675788},{"time":1.1613505010240965,"velocity":1.337752749637635,"acceleration":-4.500000000000005,"pose":{"translation":{"x":3.3962334600270623,"y":-2.2025005475745654},"rotation":{"radians":-0.04079368286785503}},"curvature":3.6219771054025265E-14},{"time":1.176549414671849,"velocity":1.2693576382227492,"acceleration":4.500000000000023,"pose":{"translation":{"x":3.4160134363701244,"y":-2.2036374553006297},"rotation":{"radians":-0.08555363900999823}},"curvature":-3.4785805922858946},{"time":1.1951289392680344,"velocity":1.3529654989055842,"acceleration":4.499999999999976,"pose":{"translation":{"x":3.4401793895961306,"y":-2.2067120715149344},"rotation":{"radians":-0.16386639555816465}},"curvature":-2.6772660424794057},{"time":1.217863240083462,"velocity":1.4552698525750074,"acceleration":4.500000000000016,"pose":{"translation":{"x":3.4714694950107217,"y":-2.2130302988096493},"rotation":{"radians":-0.22838295670071146}},"curvature":-1.501876024390862},{"time":1.2448427451454083,"velocity":1.5766776253537669,"acceleration":4.500000000000008,"pose":{"translation":{"x":3.5110612602764317,"y":-2.22329286254503},"rotation":{"radians":-0.274539493228866}},"curvature":-0.8551389988750135},{"time":1.3075103209421968,"velocity":1.858681716439316,"acceleration":4.5000000000000036,"pose":{"translation":{"x":3.6136202277077123,"y":-2.255982847340365},"rotation":{"radians":-0.3349074833174572}},"curvature":-0.39927370398729},{"time":1.3404442319244625,"velocity":2.0068843158595113,"acceleration":4.499999999999994,"pose":{"translation":{"x":3.6734847543506883,"y":-2.277618082042938},"rotation":{"radians":-0.35806242406953204}},"curvature":-0.33961788929602654},{"time":1.372664274611042,"velocity":2.1518745079491186,"acceleration":-1.9824450298569682,"pose":{"translation":{"x":3.735966844770239,"y":-2.301798224711784},"rotation":{"radians":-0.3803645019310016}},"curvature":-0.3340616899284977},{"time":1.4045004743625924,"velocity":2.0887609919821237,"acceleration":-4.499999999999993,"pose":{"translation":{"x":3.7983500806931723,"y":-2.327585196350376},"rotation":{"radians":-0.40405660296760854}},"curvature":-0.3764682297779519},{"time":1.4368217862685286,"velocity":1.943315088405411,"acceleration":-4.499999999999998,"pose":{"translation":{"x":3.85792114111512,"y":-2.3539905734513846},"rotation":{"radians":-0.4315251130863453}},"curvature":-0.4799987077640321},{"time":1.4998456673514664,"velocity":1.6597076235321915,"acceleration":-4.5,"pose":{"translation":{"x":3.959352702694642,"y":-2.4050059601784426},"rotation":{"radians":-0.5110247139187495}},"curvature":-1.0614527710753054},{"time":1.5281731332006496,"velocity":1.532234027210867,"acceleration":-4.499999999999994,"pose":{"translation":{"x":3.9981476955555033,"y":-2.4282196493174926},"rotation":{"radians":-0.5724367337320869}},"curvature":-1.7334363452664492},{"time":1.5532818915302307,"velocity":1.4192446147277522,"acceleration":-4.499999999999979,"pose":{"translation":{"x":4.028520751292598,"y":-2.4494440471853323},"rotation":{"radians":-0.6532722519134561}},"curvature":-2.6740328887013582},{"time":1.5646352700558388,"velocity":1.3681544113625157,"acceleration":3.033822843379411,"pose":{"translation":{"x":4.040869519420265,"y":-2.4593375563986917},"rotation":{"radians":-0.6985297569203345}},"curvature":-3.0045106741555943},{"time":1.5750307631595075,"velocity":1.3996924958086188,"acceleration":4.500000000000012,"pose":{"translation":{"x":4.051683447525521,"y":-2.4688260895234024},"rotation":{"radians":-0.7415807871716069}},"curvature":-2.8672689023057556},{"time":1.5931570586172614,"velocity":1.4812608253685113,"acceleration":4.500000000000012,"pose":{"translation":{"x":4.070414224054623,"y":-2.487017200283452},"rotation":{"radians":-0.787423662158867}},"curvature":-2.06504897929721E-13},{"time":1.6272828667872852,"velocity":1.6348269621336189,"acceleration":4.499999999999971,"pose":{"translation":{"x":4.107095964998534,"y":-2.525506761986001},"rotation":{"radians":-0.8450952702667438}},"curvature":-1.5721451016505619},{"time":1.6454502353769573,"velocity":1.7165801207871427,"acceleration":4.5000000000000195,"pose":{"translation":{"x":4.126757840425221,"y":-2.548748845510642},"rotation":{"radians":-0.8914565110823546}},"curvature":-1.43162585080387},{"time":1.6647245763660778,"velocity":1.8033146552381858,"acceleration":4.5000000000000115,"pose":{"translation":{"x":4.147463490162325,"y":-2.575618277092462},"rotation":{"radians":-0.9355286310691155}},"curvature":-1.1696919230943286},{"time":1.7057198029863034,"velocity":1.9877931750292017,"acceleration":4.500000000000005,"pose":{"translation":{"x":4.1910752370933855,"y":-2.639935084611638},"rotation":{"radians":-1.0094351855677002}},"curvature":-0.7885693519218696},{"time":1.747073252892304,"velocity":2.1738836996062045,"acceleration":-4.062796468122594,"pose":{"translation":{"x":4.234576840406595,"y":-2.7141791878373365},"rotation":{"radians":-1.0704526428626095}},"curvature":-0.6689931062565239},{"time":1.7880458013873826,"velocity":2.0074205742904176,"acceleration":-4.499999999999997,"pose":{"translation":{"x":4.273449864565585,"y":-2.790510122335995},"rotation":{"radians":-1.1305323578994944}},"curvature":-0.7734089192576035},{"time":1.8279756519593626,"velocity":1.827736246716508,"acceleration":-4.5,"pose":{"translation":{"x":4.3037605366639955,"y":-2.860823823934308},"rotation":{"radians":-1.2017779337337726}},"curvature":-1.147399466913196},{"time":1.8637825865046131,"velocity":1.6666050412628806,"acceleration":-4.5,"pose":{"translation":{"x":4.323908479206728,"y":-2.9200514967068565},"rotation":{"radians":-1.288949009645819}},"curvature":-1.5813686366376538},{"time":1.895735472733217,"velocity":1.5228170532341638,"acceleration":-4.500000000000009,"pose":{"translation":{"x":4.336375442891196,"y":-2.969458480963734},"rotation":{"radians":-1.3451950829588586}},"curvature":1.2652507390984346E-13},{"time":1.9122737086574388,"velocity":1.4483949915751657,"acceleration":-4.499999999999992,"pose":{"translation":{"x":4.3415758951471215,"y":-2.993471101411822},"rotation":{"radians":-1.380095402243127}},"curvature":-2.4888876638790376},{"time":1.9311683884491448,"velocity":1.363368932512489,"acceleration":4.499999999999971,"pose":{"translation":{"x":4.345633651235341,"y":-3.019723038773883},"rotation":{"radians":-1.4570354405213441}},"curvature":-3.0258900807428013},{"time":1.9523615352006127,"velocity":1.4587380928940938,"acceleration":4.5,"pose":{"translation":{"x":4.347734321015223,"y":-3.0495538303411593},"rotation":{"radians":-1.5415280334385852}},"curvature":-2.55732771771104},{"time":1.9748245267113738,"velocity":1.559821554692519,"acceleration":4.5,"pose":{"translation":{"x":4.34738157991217,"y":-3.083454935123909},"rotation":{"radians":-1.617374818363511}},"curvature":-1.9414977440995753},{"time":1.998315237557594,"velocity":1.6655297535005107,"acceleration":4.5,"pose":{"translation":{"x":4.344353073807754,"y":-3.1212165832895953},"rotation":{"radians":-1.6813185286194525}},"curvature":-1.4719532636371344},{"time":2.0223065313720925,"velocity":1.7734905756657535,"acceleration":2.898465641009612,"pose":{"translation":{"x":4.338656323929853,"y":-3.1620746256010692},"rotation":{"radians":-1.7353123362084182}},"curvature":-1.1751520795245802},{"time":2.0463920623076257,"velocity":1.8433016595278708,"acceleration":-4.5,"pose":{"translation":{"x":4.3304846317427925,"y":-3.20485738285476},"rotation":{"radians":-1.7826048249495483}},"curvature":-1.0176661157517188},{"time":2.0712825314823107,"velocity":1.7312945482417885,"acceleration":-4.5,"pose":{"translation":{"x":4.320172983837481,"y":-3.2481324953188606},"rotation":{"radians":-1.8264983721146553}},"curvature":-0.9733368788098502},{"time":2.097534130048857,"velocity":1.6131623546923302,"acceleration":-4.500000000000005,"pose":{"translation":{"x":4.308153956821549,"y":-3.290353772171517},"rotation":{"radians":-1.870231472474327}},"curvature":-1.0387367571502901},{"time":2.124461183000727,"velocity":1.4919906164089136,"acceleration":-4.499999999999997,"pose":{"translation":{"x":4.294913622209486,"y":-3.3300080409390134},"rotation":{"radians":-1.9172617857402379}},"curvature":-1.2399705067182853},{"time":2.1512725404492823,"velocity":1.3713395078904154,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":4.280947451312782,"y":-3.365761996933961},"rotation":{"radians":-1.9716805078766622}},"curvature":-1.644328539420413},{"time":2.177143228091259,"velocity":1.2549214135015212,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":4.266716220130062,"y":-3.396609052693486},"rotation":{"radians":-2.0384996772702273}},"curvature":-2.371983666622517},{"time":2.201354516412107,"velocity":1.1459706160577037,"acceleration":-4.5,"pose":{"translation":{"x":4.2526019142372276,"y":-3.4220161874174133},"rotation":{"radians":-2.122902589403081}},"curvature":-3.5427973786791616},{"time":2.2127025908490694,"velocity":1.094904281091373,"acceleration":-4.5,"pose":{"translation":{"x":4.245675582979829,"y":-3.4326788450042356},"rotation":{"radians":-2.172363935580213}},"curvature":-4.250069188120277},{"time":2.223540526753513,"velocity":1.0461335695213756,"acceleration":-3.2338613992953595,"pose":{"translation":{"x":4.238863633677591,"y":-3.4420707964064596},"rotation":{"radians":-2.225461581397636}},"curvature":-4.879420915945911},{"time":2.2338617343810787,"velocity":1.0127562145804778,"acceleration":4.500000000000113,"pose":{"translation":{"x":4.232172018617497,"y":-3.450323998538391},"rotation":{"radians":-2.27918481261407}},"curvature":-5.141950720833918},{"time":2.243366691785406,"velocity":1.0555285228999516,"acceleration":4.499999999999945,"pose":{"translation":{"x":4.225593497852015,"y":-3.457627540500415},"rotation":{"radians":-2.3279932169747504}},"curvature":-4.611580696638505},{"time":2.260024503024724,"velocity":1.1304886734768822,"acceleration":2.7617221265452963,"pose":{"translation":{"x":4.212672550409055,"y":-3.4704551955163354},"rotation":{"radians":-2.3775358768287482}},"curvature":-1.4509492896866132E-12},{"time":2.2756718780164533,"velocity":1.1737023752138918,"acceleration":-4.500000000000005,"pose":{"translation":{"x":4.1995018615661195,"y":-3.482764356500721},"rotation":{"radians":-2.4130782371283543}},"curvature":-3.514623529874011},{"time":2.2926731140631924,"velocity":1.097196813003566,"acceleration":2.6579128346153467,"pose":{"translation":{"x":4.1846069349365,"y":-3.4950439075764557},"rotation":{"radians":-2.494305163545657}},"curvature":-4.5086928416365915},{"time":2.3020903264621464,"velocity":1.122226942705045,"acceleration":4.50000000000011,"pose":{"translation":{"x":4.176125303615964,"y":-3.501149039238779},"rotation":{"radians":-2.540787483566944}},"curvature":-4.33929158587542},{"time":2.311800439447892,"velocity":1.1659224511409028,"acceleration":4.500000000000004,"pose":{"translation":{"x":4.166816867221693,"y":-3.5072124536305975},"rotation":{"radians":-2.5869849328931567}},"curvature":-3.958115358726707},{"time":2.3319738529243836,"velocity":1.2567028117851142,"acceleration":4.499999999999944,"pose":{"translation":{"x":4.145491488542144,"y":-3.51914398740226},"rotation":{"radians":-2.672180051426069}},"curvature":-3.0312526952992744},{"time":2.3531191223205066,"velocity":1.3518565240676659,"acceleration":4.500000000000011,"pose":{"translation":{"x":4.120441167812345,"y":-3.530680958364998},"rotation":{"radians":-2.7442002884146324}},"curvature":-2.24379037322869},{"time":2.374978119644787,"velocity":1.4502220120269271,"acceleration":4.49999999999998,"pose":{"translation":{"x":4.091846618115918,"y":-3.5416473416091985},"rotation":{"radians":-2.8037409475329813}},"curvature":-1.6895999205313315},{"time":2.397159184119375,"velocity":1.5500368021625741,"acceleration":4.500000000000044,"pose":{"translation":{"x":4.0601787020806945,"y":-3.5518617067244715},"rotation":{"radians":-2.8534261096403184}},"curvature":-1.3278957233890747},{"time":2.419228600870443,"velocity":1.6493491775423803,"acceleration":4.499999999999991,"pose":{"translation":{"x":4.026118237253801,"y":-3.5611502866820404},"rotation":{"radians":-2.895969747404089}},"curvature":-1.1024689835058716},{"time":2.4614223598545077,"velocity":1.8392210929706703,"acceleration":1.2990475436865971,"pose":{"translation":{"x":3.954111538260461,"y":-3.5763717532113795},"rotation":{"radians":-2.9681704661116073}},"curvature":-0.9030690719457863},{"time":2.5002589594710796,"velocity":1.889671682307718,"acceleration":-4.5,"pose":{"translation":{"x":3.882424764151878,"y":-3.5865714901301473},"rotation":{"radians":-3.032028794505532}},"curvature":-0.8731590609909291},{"time":2.53721408651484,"velocity":1.7233736106107969,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":3.8158829806579693,"y":-3.591968268950124},"rotation":{"radians":-3.088078485604461}},"curvature":-0.7510851526245056},{"time":2.574384925651033,"velocity":1.556104834497928,"acceleration":-4.5,"pose":{"translation":{"x":3.754971848225213,"y":-3.594158087998451},"rotation":{"radians":-3.1156244663782533}},"curvature":-6.238602905595439E-14},{"time":2.594148673580078,"velocity":1.4671679688172254,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":3.7250996475323115,"y":-3.5946088086292822},"rotation":{"radians":3.136061727913206}},"curvature":-1.9531662342533467},{"time":2.6155828252354616,"velocity":1.3707142863680004,"acceleration":-4.132595124200039,"pose":{"translation":{"x":3.694712240744392,"y":-3.59334204199147},"rotation":{"radians":3.058543079259456}},"curvature":-2.9931355679675957},{"time":2.6271297374379445,"velocity":1.3229955733004526,"acceleration":-1.1008493202071628,"pose":{"translation":{"x":3.6792491868301713,"y":-3.59168097196776},"rotation":{"radians":3.010052712224437}},"curvature":-3.212417145168894},{"time":2.6391634988563424,"velocity":1.309748215223474,"acceleration":0.8865707632069907,"pose":{"translation":{"x":3.663603722960406,"y":-3.5892002983800015},"rotation":{"radians":2.9584735611647806}},"curvature":-3.2761262969660088},{"time":2.6514529567225362,"velocity":1.3206436892633056,"acceleration":2.2584631734658935,"pose":{"translation":{"x":3.6477941566508547,"y":-3.5858385065121516},"rotation":{"radians":2.9058109570288546}},"curvature":-3.2236345038509038},{"time":2.663819664932264,"velocity":1.3485734443319741,"acceleration":3.2099961349838653,"pose":{"translation":{"x":3.631852976097636,"y":-3.5815624837629936},"rotation":{"radians":2.8535988153254137}},"curvature":-3.0929495414508255},{"time":2.676133587179493,"velocity":1.3881010871520711,"acceleration":3.8353555541388795,"pose":{"translation":{"x":3.6158250409293315,"y":-3.576364958338765},"rotation":{"radians":2.8029224241077566}},"curvature":-2.9169854819246734},{"time":2.688305417341501,"velocity":1.4347843835679641,"acceleration":4.185496176629163,"pose":{"translation":{"x":3.5997657729590933,"y":-3.5702619379457867},"rotation":{"radians":2.754474861643414}},"curvature":-2.7216538702201953},{"time":2.7002774177324826,"velocity":1.4848931454310204,"acceleration":4.294499611444405,"pose":{"translation":{"x":3.583739346936751,"y":-3.5632901484830892},"rotation":{"radians":2.7086307970219012}},"curvature":-2.525656347456435},{"time":2.712014451554797,"velocity":1.5352978326204585,"acceleration":4.045719188833257,"pose":{"translation":{"x":3.5678168813009155,"y":-3.5555044727350418},"rotation":{"radians":2.6655227947601507}},"curvature":-2.3414087478565757},{"time":2.734719249537559,"velocity":1.6271550694979022,"acceleration":3.146074064319362,"pose":{"translation":{"x":3.536592167899765,"y":-3.5377864101028305},"rotation":{"radians":2.5872339667863717}},"curvature":-2.0349933743697015},{"time":2.7563459625171784,"velocity":1.695194310299561,"acceleration":-0.2242287821783518,"pose":{"translation":{"x":3.506730702620229,"y":-3.517812620350732},"rotation":{"radians":2.5181136337500356}},"curvature":-1.8294375517087662},{"time":2.7770990250263106,"velocity":1.6905408763666672,"acceleration":-4.499999999999994,"pose":{"translation":{"x":3.4788668624822137,"y":-3.4964145602739234},"rotation":{"radians":2.455865619207337}},"curvature":-1.731324515687479},{"time":2.797459822585217,"velocity":1.598917287351588,"acceleration":-4.5,"pose":{"translation":{"x":3.453572435728348,"y":-3.4744683113252766},"rotation":{"radians":2.3979526824914337}},"curvature":-1.7469589539304369},{"time":2.8174515433043865,"velocity":1.5089545441153256,"acceleration":-4.5,"pose":{"translation":{"x":3.431298725891377,"y":-3.452812617779449},"rotation":{"radians":2.3418331076250425}},"curvature":-1.8905310113261928},{"time":2.8365825908375024,"velocity":1.4228648302163032,"acceleration":-4.5,"pose":{"translation":{"x":3.4123186558615646,"y":-3.4321669248969804},"rotation":{"radians":2.2852009489965104}},"curvature":-2.1772564962953607},{"time":2.854451163310564,"velocity":1.3424562540875273,"acceleration":-4.500000000000005,"pose":{"translation":{"x":3.396668871954087,"y":-3.413049417088383},"rotation":{"radians":2.226719709327411}},"curvature":-2.573637538496012},{"time":2.8708680753577536,"velocity":1.268580149875174,"acceleration":-4.500000000000003,"pose":{"translation":{"x":3.3840918479764355,"y":-3.395695056078237},"rotation":{"radians":2.1681420803039746}},"curvature":-2.832482643163},{"time":2.9005965028577037,"velocity":1.1348022261253996,"acceleration":-4.500000000000006,"pose":{"translation":{"x":3.365307736906527,"y":-3.365307736906524},"rotation":{"radians":2.097223446246329}},"curvature":-8.563770366091795E-13},{"time":2.9161197129840675,"velocity":1.0649477805567633,"acceleration":-4.5,"pose":{"translation":{"x":3.3569601150851334,"y":-3.3504139559098243},"rotation":{"radians":2.0534269352898393}},"curvature":-4.408270501759967},{"time":2.9248744976928407,"velocity":1.025551249367283,"acceleration":1.6289207584132146,"pose":{"translation":{"x":3.352888417839121,"y":-3.34221878152369},"rotation":{"radians":2.00945046974988}},"curvature":-5.039291505589935},{"time":2.9343806980010436,"velocity":1.0410360963829488,"acceleration":4.4999999999999165,"pose":{"translation":{"x":3.348938187910332,"y":-3.3332253921389725},"rotation":{"radians":1.9600889401197457}},"curvature":-4.918425960032723},{"time":2.9443916673431163,"velocity":1.0860854584222754,"acceleration":4.499999999999952,"pose":{"translation":{"x":3.3451483772153683,"y":-3.323275428034386},"rotation":{"radians":1.910261081074239}},"curvature":-4.408855443013236},{"time":2.95483461456529,"velocity":1.1330787209220567,"acceleration":4.499999999999928,"pose":{"translation":{"x":3.3415568043329786,"y":-3.312258790961145},"rotation":{"radians":1.862852105947923}},"curvature":-3.777559351932002},{"time":2.9770309431189186,"velocity":1.2329621994133837,"acceleration":4.500000000000059,"pose":{"translation":{"x":3.3351126798982738,"y":-3.2868030813034936},"rotation":{"radians":1.7795466119070087}},"curvature":-2.6531826547037785},{"time":3.0007133071732164,"velocity":1.3395328376577256,"acceleration":4.4999999999999645,"pose":{"translation":{"x":3.329877464834413,"y":-3.256794943799528},"rotation":{"radians":1.7112422440915225}},"curvature":-1.9091065013963306},{"time":3.02531057992159,"velocity":1.450220565025407,"acceleration":4.499999999999971,"pose":{"translation":{"x":3.3260908121412434,"y":-3.222694378935494},"rotation":{"radians":1.6539720869679109}},"curvature":-1.4789022701863384},{"time":3.050139983768167,"velocity":1.5619528823350026,"acceleration":4.499999999999961,"pose":{"translation":{"x":3.323953445678914,"y":-3.185360275196754},"rotation":{"radians":1.6033565305589343}},"curvature":-1.258675171105693},{"time":3.0745307092325986,"velocity":1.6717111469249428,"acceleration":4.500000000000005,"pose":{"translation":{"x":3.323620228256534,"y":-3.14592597721417},"rotation":{"radians":1.5556306743323207}},"curvature":-1.1826036185598943},{"time":3.0978923265978633,"velocity":1.7768384250686342,"acceleration":1.7333182928066735,"pose":{"translation":{"x":3.3251932297208238,"y":-3.1056748539104833},"rotation":{"radians":1.5075886225922053}},"curvature":-1.2202906053347709},{"time":3.12011529902664,"velocity":1.815357909699971,"acceleration":-4.500000000000006,"pose":{"translation":{"x":3.32871479504477,"y":-3.0659158666466917},"rotation":{"radians":1.4563571202624555}},"curvature":-1.36525699772591},{"time":3.141879711035816,"velocity":1.717418055658679,"acceleration":-4.5,"pose":{"translation":{"x":3.3341606124162797,"y":-3.0278591373684343},"rotation":{"radians":1.399322649027205}},"curvature":-1.6228221607848625},{"time":3.1635173933603284,"velocity":1.6200484851983727,"acceleration":-4.5,"pose":{"translation":{"x":3.341432781326834,"y":-2.9924915167523713},"rotation":{"radians":1.3344964277889204}},"curvature":-1.9866050113100104},{"time":3.184667634143847,"velocity":1.5248724016725401,"acceleration":-2.033600699074235,"pose":{"translation":{"x":3.3503528806601435,"y":-2.9604521523525613},"rotation":{"radians":1.2618308191102119}},"curvature":-2.378518378256901},{"time":3.2048398706081045,"velocity":1.4838501274969347,"acceleration":4.50000000000004,"pose":{"translation":{"x":3.3606550367807997,"y":-2.9319080567468454},"rotation":{"radians":1.1861977292409747}},"curvature":-2.529601150177309},{"time":3.2231229966676316,"velocity":1.5661241947648081,"acceleration":4.500000000000025,"pose":{"translation":{"x":3.3719789916229312,"y":-2.906429675683226},"rotation":{"radians":1.1218144675690096}},"curvature":-1.8952434569659933},{"time":3.2395845268448165,"velocity":1.6402010805621408,"acceleration":1.4691076032205581,"pose":{"translation":{"x":3.383863170778858,"y":-2.8828664562262487},"rotation":{"radians":1.093904459129229}},"curvature":-8.800441833469826E-13},{"time":3.271661208955302,"velocity":1.6873251781367435,"acceleration":-2.0142764012101138,"pose":{"translation":{"x":3.409421332559775,"y":-2.836016441307421},"rotation":{"radians":1.03246981422163}},"curvature":-1.8523635006166714},{"time":3.288728693261188,"velocity":1.6529465472713734,"acceleration":2.8717075016654707,"pose":{"translation":{"x":3.4246997039230482,"y":-2.8119517909191396},"rotation":{"radians":0.9773027697049732}},"curvature":-1.9550822525832192},{"time":3.306706006445114,"velocity":1.7045721324014438,"acceleration":4.5000000000000275,"pose":{"translation":{"x":3.4422944489302507,"y":-2.7874317553821495},"rotation":{"radians":0.9202382607450275}},"curvature":-1.8023926209567516},{"time":3.3249635029499314,"velocity":1.7867308666731234,"acceleration":4.5,"pose":{"translation":{"x":3.462286745117756,"y":-2.7626107330513356},"rotation":{"radians":0.8664839706618565}},"curvature":-1.5685015112746035},{"time":3.3432067918187522,"velocity":1.868825666582818,"acceleration":4.49999999999999,"pose":{"translation":{"x":3.484502239456919,"y":-2.737744290681301},"rotation":{"radians":0.8180642063277515}},"curvature":-1.342067422892275},{"time":3.3787709599482385,"velocity":2.028864423165506,"acceleration":-0.6669946574959361,"pose":{"translation":{"x":3.5339759346661554,"y":-2.689204633831253},"rotation":{"radians":0.7374177803804196}},"curvature":-1.0172793016020754},{"time":3.4128871380153343,"velocity":2.0061091146605734,"acceleration":-4.499999999999993,"pose":{"translation":{"x":3.58641522012724,"y":-2.6446227538041613},"rotation":{"radians":0.6735347286417496}},"curvature":-0.8614819661815898},{"time":3.445791011465626,"velocity":1.8580416841342613,"acceleration":-4.5,"pose":{"translation":{"x":3.637145180535536,"y":-2.6063086898682277},"rotation":{"radians":0.6207461925587068}},"curvature":-0.8052427483987902},{"time":3.506286478178284,"velocity":1.5858120839273007,"acceleration":-4.5,"pose":{"translation":{"x":3.7240461251046875,"y":-2.54886864652451},"rotation":{"radians":0.560204132562198}},"curvature":-7.457536366926828E-14},{"time":3.5218932990254967,"velocity":1.5155813901148418,"acceleration":-0.07742956382924224,"pose":{"translation":{"x":3.74470895187347,"y":-2.536268742306378},"rotation":{"radians":0.525164211505784}},"curvature":-2.412020243396965},{"time":3.540056151623635,"velocity":1.5141750483602732,"acceleration":4.499999999999987,"pose":{"translation":{"x":3.768986043093209,"y":-2.523319955048472},"rotation":{"radians":0.4550216790642493}},"curvature":-2.4171271072040383},{"time":3.5612197574029403,"velocity":1.6094112743671483,"acceleration":4.499999999999983,"pose":{"translation":{"x":3.7991771465695363,"y":-2.5098659729744166},"rotation":{"radians":0.3875545561952699}},"curvature":-1.6762547697600338},{"time":3.585081668049417,"velocity":1.7167898722762915,"acceleration":4.499999999999993,"pose":{"translation":{"x":3.8363339474620317,"y":-2.495928537502044},"rotation":{"radians":0.33410749913838633}},"curvature":-1.0765892532870953},{"time":3.6387560649946646,"velocity":1.9583246585299063,"acceleration":4.499999999999985,"pose":{"translation":{"x":3.9307383752858023,"y":-2.4673691759900973},"rotation":{"radians":0.26253003994804947}},"curvature":-0.5025745932489095},{"time":3.6944080320826074,"velocity":2.208758510425647,"acceleration":4.4999999999999964,"pose":{"translation":{"x":4.043424495340928,"y":-2.4400382396468108},"rotation":{"radians":0.21658966865915344}},"curvature":-0.3307318527140351},{"time":3.745042721633519,"velocity":2.436614613404749,"acceleration":-3.947962173246006,"pose":{"translation":{"x":4.1587397421442835,"y":-2.416926420557603},"rotation":{"radians":0.1789817998898148}},"curvature":-0.33293505130574713},{"time":3.788992513327934,"velocity":2.263102498273157,"acceleration":-4.499999999999995,"pose":{"translation":{"x":4.26069944999191,"y":-2.4004914696810618},"rotation":{"radians":0.13770571538347967}},"curvature":-0.5090235244777953},{"time":3.8253662578893968,"velocity":2.0994206477465736,"acceleration":4.499999999999977,"pose":{"translation":{"x":4.339532486997731,"y":-2.3915309327708725},"rotation":{"radians":0.08351328684758205}},"curvature":-0.8829292872204715},{"time":3.8525790224866423,"velocity":2.2218780884341784,"acceleration":4.499999999999986,"pose":{"translation":{"x":4.398226889132253,"y":-2.3880548862977498},"rotation":{"radians":0.04283093266875069}},"curvature":2.1870361463148794E-13},{"time":3.87991735324188,"velocity":2.3449005768327473,"acceleration":4.5,"pose":{"translation":{"x":4.4605554149507745,"y":-2.3846027507878573},"rotation":{"radians":0.07140677468934067}},"curvature":0.46248437159092276},{"time":3.920799729700754,"velocity":2.528871270897681,"acceleration":3.072156860562387,"pose":{"translation":{"x":4.559798928251242,"y":-2.375884796737991},"rotation":{"radians":0.09901680638524288}},"curvature":0.16389428767248937},{"time":3.946977086215586,"velocity":2.609292216306109,"acceleration":0.7691519340697232,"pose":{"translation":{"x":4.626689055476373,"y":-2.368919793112227},"rotation":{"radians":0.10786271121781651}},"curvature":0.10729434350126203},{"time":3.976571334735128,"velocity":2.6320546897922545,"acceleration":0.30988263977372227,"pose":{"translation":{"x":4.7037635578065276,"y":-2.3602833673590338},"rotation":{"radians":0.11495998516848317}},"curvature":0.07967454033841612},{"time":4.008983117619724,"velocity":2.642098538632306,"acceleration":0.05359364509452656,"pose":{"translation":{"x":4.788640059601188,"y":-2.350208504783425},"rotation":{"radians":0.12116549370035413}},"curvature":0.06763873923882119},{"time":4.043142283335134,"velocity":2.643929252836383,"acceleration":-0.14657537507770066,"pose":{"translation":{"x":4.878228286759015,"y":-2.3390283140025687},"rotation":{"radians":0.1271091573384734}},"curvature":0.06545480043781335},{"time":4.077825268957465,"velocity":2.638845581209975,"acceleration":-0.3811981128864764,"pose":{"translation":{"x":4.9690644657883905,"y":-2.3271371039724635},"rotation":{"radians":0.13331936365426306}},"curvature":0.0715268098618738},{"time":4.111792924886414,"velocity":2.6258971748706825,"acceleration":-0.7446623469603254,"pose":{"translation":{"x":5.057645722877963,"y":-2.3149514610146213},"rotation":{"radians":0.14032425405552681}},"curvature":0.08709877348868322},{"time":4.1439253485019485,"velocity":2.601969368887615,"acceleration":-1.361760041572054,"pose":{"translation":{"x":5.140764482967187,"y":-2.302871325842744},"rotation":{"radians":0.14873190751053336}},"curvature":0.11628256654002964},{"time":4.173350518107596,"velocity":2.561899348702164,"acceleration":-2.558148548264256,"pose":{"translation":{"x":5.2158428688168685,"y":-2.291241070589405},"rotation":{"radians":0.15927115137087328}},"curvature":0.16637522402887112},{"time":4.2224470777766285,"velocity":2.436303055860058,"acceleration":4.499999999999995,"pose":{"translation":{"x":5.336721892370825,"y":-2.270196307623063},"rotation":{"radians":0.18899271125240838}},"curvature":0.3340633076268626},{"time":4.258245543533194,"velocity":2.597396151764604,"acceleration":1.2167322241608205,"pose":{"translation":{"x":5.424960896733882,"y":-2.2519817045674144},"rotation":{"radians":0.2135821982191385}},"curvature":2.8293419745669658E-14},{"time":4.292492624112789,"velocity":2.639065678289229,"acceleration":-0.13185008498941872,"pose":{"translation":{"x":5.512562284564335,"y":-2.2328472953059184},"rotation":{"radians":0.2175917176114819}},"curvature":0.07126343831312376},{"time":4.338017748149502,"velocity":2.6330631868158347,"acceleration":-0.4428709297824877,"pose":{"translation":{"x":5.629621271591719,"y":-2.2064103501350836},"rotation":{"radians":0.22675370914173432}},"curvature":0.0784618855539497},{"time":4.365938324295922,"velocity":2.620697975297807,"acceleration":-4.5,"pose":{"translation":{"x":5.701039343573113,"y":-2.1897129203864143},"rotation":{"radians":0.23264582386144253}},"curvature":0.08287731638800282},{"time":4.397475023372505,"velocity":2.478782829453187,"acceleration":-4.500000000000005,"pose":{"translation":{"x":5.779219088344069,"y":-2.1709044313680397},"rotation":{"radians":0.23967700417373605}},"curvature":0.0930578565526003},{"time":4.432855730302202,"velocity":2.319569648269549,"acceleration":-4.5,"pose":{"translation":{"x":5.86159218441938,"y":-2.150409063454151},"rotation":{"radians":0.2483098811484462}},"curvature":0.11204410996316728},{"time":4.471455897762722,"velocity":2.1458688946972093,"acceleration":-4.500000000000003,"pose":{"translation":{"x":5.945020070517284,"y":-2.1287906562351426},"rotation":{"radians":0.25926391233015494}},"curvature":0.14522001708215543},{"time":4.512381781469754,"velocity":1.9617024180155636,"acceleration":-4.500000000000003,"pose":{"translation":{"x":6.026115603624698,"y":-2.106690427034547},"rotation":{"radians":0.2736653710251387}},"curvature":0.20347656023914576},{"time":4.5544652175328695,"velocity":1.7723269557315466,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":6.101564717062441,"y":-2.0847646894259713},"rotation":{"radians":0.29334248603288626}},"curvature":0.3101401619944382},{"time":4.596261048358124,"velocity":1.5842457170179,"acceleration":-4.5,"pose":{"translation":{"x":6.168448078550471,"y":-2.063622571750037},"rotation":{"radians":0.3213823094217437}},"curvature":0.5181893519919437},{"time":4.636086771493424,"velocity":1.4050299629090475,"acceleration":-4.499999999999997,"pose":{"translation":{"x":6.224562748273107,"y":-2.043763735631316},"rotation":{"radians":0.36313791554131464}},"curvature":0.9537347404851392},{"time":4.672196219084209,"velocity":1.2425374487505172,"acceleration":-4.5,"pose":{"translation":{"x":6.268743836944259,"y":-2.0255160944952677},"rotation":{"radians":0.42765441576926394}},"curvature":1.9073311819533667},{"time":4.6884052147251625,"velocity":1.1695969683662273,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.286358260464801,"y":-2.0170366555092842},"rotation":{"radians":0.47230023333605764}},"curvature":2.72474683368831},{"time":4.703260718465785,"velocity":1.102747201533427,"acceleration":-4.500000000000008,"pose":{"translation":{"x":6.301186163872659,"y":-2.0089735320851756},"rotation":{"radians":0.5268349435677362}},"curvature":3.799019022660335},{"time":4.716809670175952,"velocity":1.0417769188376766,"acceleration":-4.276525722038235,"pose":{"translation":{"x":6.313517126075689,"y":-2.001291674497198},"rotation":{"radians":0.5901736953658032}},"curvature":4.912733599851115},{"time":4.729237329769477,"velocity":0.9886297129212293,"acceleration":4.500000000000135,"pose":{"translation":{"x":6.3237659150270815,"y":-1.9939336209790866},"rotation":{"radians":0.6561293798924004}},"curvature":5.342755725273197},{"time":4.750258281836356,"velocity":1.0832239972221878,"acceleration":4.500000000000075,"pose":{"translation":{"x":6.340362301101588,"y":-1.9798353411067464},"rotation":{"radians":0.7328151017865228}},"curvature":1.8353266480505222E-13},{"time":4.79081374274964,"velocity":1.265723571331969,"acceleration":4.49999999999997,"pose":{"translation":{"x":6.37697674152807,"y":-1.9493701817338582},"rotation":{"radians":0.6457469422851974}},"curvature":-1.7204302495884551},{"time":4.844600099131663,"velocity":1.5077621750510704,"acceleration":4.499999999999992,"pose":{"translation":{"x":6.438321945157991,"y":-1.9069424452828057},"rotation":{"radians":0.5809137799392667}},"curvature":-0.3491452916283957},{"time":4.908582451609625,"velocity":1.7956827612019006,"acceleration":-1.5935532621849589,"pose":{"translation":{"x":6.527127318463052,"y":-1.8496528452110372},"rotation":{"radians":0.5725840871850425}},"curvature":0.1046707480801797},{"time":4.979481533591336,"velocity":1.6827012978240259,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.629904383817561,"y":-1.7815241415963405},"rotation":{"radians":0.6047141395885902}},"curvature":0.4308776058143337},{"time":5.058755633928301,"velocity":1.3259678463076874,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.725508735069408,"y":-1.7102394437764725},"rotation":{"radians":0.6905372555948094}},"curvature":1.1562933779558546},{"time":5.100585358391608,"velocity":1.137734086222807,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.764027141781647,"y":-1.6760127621236425},"rotation":{"radians":0.7699456111541707}},"curvature":2.0478463668141664},{"time":5.121594160414403,"velocity":1.0431944771202304,"acceleration":-4.499999999999997,"pose":{"translation":{"x":6.780054758356363,"y":-1.6596434694638007},"rotation":{"radians":0.8247821045611262}},"curvature":2.794381568208461},{"time":5.142525712804247,"velocity":0.9490024913659335,"acceleration":-4.5,"pose":{"translation":{"x":6.7937019931110285,"y":-1.6438805129887903},"rotation":{"radians":0.893329849782553}},"curvature":3.8590179004327334},{"time":5.163346181361478,"velocity":0.8553103828583967,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.804874847951749,"y":-1.6287814926601347},"rotation":{"radians":0.9787812683939338}},"curvature":5.339130586883095},{"time":5.173737615776716,"velocity":0.8085489279898262,"acceleration":-4.500000000000007,"pose":{"translation":{"x":6.809523037922811,"y":-1.621492503704268},"rotation":{"radians":1.0287636880120912}},"curvature":6.24997629528533},{"time":5.184147641374661,"velocity":0.7617038127990733,"acceleration":-4.5,"pose":{"translation":{"x":6.813549754230675,"y":-1.614380083662712},"rotation":{"radians":1.083887043777851}},"curvature":7.261113309248849},{"time":5.194621144096052,"velocity":0.7145730505528148,"acceleration":-4.4999999999999885,"pose":{"translation":{"x":6.81696442716858,"y":-1.6074441811069298},"rotation":{"radians":1.1441255931324854}},"curvature":8.33645997598355},{"time":5.205225972385605,"velocity":0.6668513232498238,"acceleration":-4.4473611563230735,"pose":{"translation":{"x":6.819781934030736,"y":-1.6006828511534277},"rotation":{"radians":1.2091259039315982}},"curvature":9.41011889472159},{"time":5.216056076080756,"velocity":0.6186859407570591,"acceleration":-2.9416141229714796,"pose":{"translation":{"x":6.822022860402468,"y":-1.5940921559246515},"rotation":{"radians":1.2780972354104383}},"curvature":10.382988203939716},{"time":5.227085505787239,"velocity":0.5862416145641463,"acceleration":-1.3908364839316434,"pose":{"translation":{"x":6.823713761450372,"y":-1.5876660650098837},"rotation":{"radians":1.3497281887712986}},"curvature":11.128424649470922},{"time":5.238110208160596,"velocity":0.570908056278794,"acceleration":0.36602283700122595,"pose":{"translation":{"x":6.824887423212453,"y":-1.5813963559261373},"rotation":{"radians":1.422165816061351}},"curvature":11.510209672061999},{"time":5.248868595525293,"velocity":0.5748458717435784,"acceleration":2.667672747640237,"pose":{"translation":{"x":6.825583123888281,"y":-1.5752725145790532},"rotation":{"radians":1.493085625539869}},"curvature":11.410219681858651},{"time":5.259059431047672,"velocity":0.6020316859423122,"acceleration":4.500000000000165,"pose":{"translation":{"x":6.825846895129134,"y":-1.5692816357237955},"rotation":{"radians":1.559852665501385}},"curvature":10.755598080725491},{"time":5.268485086942783,"velocity":0.6444471374703127,"acceleration":4.500000000000513,"pose":{"translation":{"x":6.8257317833281475,"y":-1.5634083234259486},"rotation":{"radians":1.619734948503121}},"curvature":9.53226304176092},{"time":5.277204107550234,"velocity":0.6836827302038456,"acceleration":4.500000000000334,"pose":{"translation":{"x":6.825298110910466,"y":-1.557634591522412},"rotation":{"radians":1.6701044785413044}},"curvature":7.777833370106699},{"time":5.285374009312521,"velocity":0.7204472881341408,"acceleration":4.500000000000229,"pose":{"translation":{"x":6.824613737623385,"y":-1.5519397640822963},"rotation":{"radians":1.7085676072589593}},"curvature":5.558902411739207},{"time":5.300477329443504,"velocity":0.7884122287235689,"acceleration":4.499999999999963,"pose":{"translation":{"x":6.822803581781871,"y":-1.540690072795206},"rotation":{"radians":1.7415315382701735}},"curvature":-1.6534851170586008E-13},{"time":5.404359275974797,"velocity":1.2558809881143833,"acceleration":4.499999999999976,"pose":{"translation":{"x":6.803420643208867,"y":-1.4362915965422276},"rotation":{"radians":1.7768034103593557}},"curvature":0.5428387418367638},{"time":5.455089816238135,"velocity":1.4841684192994038,"acceleration":-0.5233023766480401,"pose":{"translation":{"x":6.787780540108011,"y":-1.3685721151426513},"rotation":{"radians":1.8210435892908459}},"curvature":0.744883878028891},{"time":5.505924196729231,"velocity":1.4575666671729821,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.766943994395411,"y":-1.2967634316820202},"rotation":{"radians":1.8907014865260774}},"curvature":1.17914357977271},{"time":5.5321033621884075,"velocity":1.339760422606688,"acceleration":-4.5,"pose":{"translation":{"x":6.754604749550423,"y":-1.2622893385815572},"rotation":{"radians":1.940855826112598}},"curvature":1.5949639208076312},{"time":5.559183374301123,"velocity":1.2179003680994662,"acceleration":-4.5,"pose":{"translation":{"x":6.741086548810946,"y":-1.2304060109394124},"rotation":{"radians":2.006585152286982}},"curvature":2.260494128170485},{"time":5.5866719822776645,"velocity":1.0942016322050294,"acceleration":-4.5,"pose":{"translation":{"x":6.726508839101797,"y":-1.2021686871290314},"rotation":{"radians":2.093713449668494}},"curvature":3.3172628239832775},{"time":5.600447757427285,"velocity":1.032210644031735,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.718867524574831,"y":-1.1896734903144872},"rotation":{"radians":2.147358297607383}},"curvature":4.036901971053304},{"time":5.614207241108232,"velocity":0.9702929674674747,"acceleration":-4.5,"pose":{"translation":{"x":6.711017965025681,"y":-1.1783517371400503},"rotation":{"radians":2.2086397873261827}},"curvature":4.887089647595456},{"time":5.627960127848924,"velocity":0.9084049771343633,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.702981611131262,"y":-1.1682368285050675},"rotation":{"radians":2.2777482284698416}},"curvature":5.829074825841},{"time":5.641760026109854,"velocity":0.8463054349601757,"acceleration":-4.20588546093202,"pose":{"translation":{"x":6.694780798360527,"y":-1.1593297465286987},"rotation":{"radians":2.354007642841456}},"curvature":6.760301051353967},{"time":5.655683764231848,"velocity":0.7877437872310574,"acceleration":-1.3983379762273576,"pose":{"translation":{"x":6.686438547896253,"y":-1.151595338423366},"rotation":{"radians":2.4353622071565666}},"curvature":7.492315958210328},{"time":5.669503288940489,"velocity":0.7684194210175522,"acceleration":2.762170382773861,"pose":{"translation":{"x":6.677978367556838,"y":-1.1449586003682035},"rotation":{"radians":2.517915841309007}},"curvature":7.7583521324265865},{"time":5.682544471775639,"velocity":0.8044413900011423,"acceleration":4.4999999999997025,"pose":{"translation":{"x":6.669424052718093,"y":-1.1393009613825091},"rotation":{"radians":2.5957832379113794}},"curvature":7.272735602310573},{"time":5.694445061280295,"velocity":0.857994042772088,"acceleration":4.4999999999999885,"pose":{"translation":{"x":6.660799487235031,"y":-1.134456567199192},"rotation":{"radians":2.6614628811009973}},"curvature":5.827014880241687},{"time":5.715635431429093,"velocity":0.953350708441683,"acceleration":4.499999999999982,"pose":{"translation":{"x":6.643434387682778,"y":-1.1262853829800938},"rotation":{"radians":2.7233683240106124}},"curvature":2.857920997036638E-13},{"time":5.7975457418569825,"velocity":1.3219471053671825,"acceleration":4.499999999999998,"pose":{"translation":{"x":6.557458461335598,"y":-1.0903463102130708},"rotation":{"radians":2.7764324811994667}},"curvature":0.6824307842488376},{"time":5.845089206419104,"velocity":1.5358926958967287,"acceleration":4.500000000000047,"pose":{"translation":{"x":6.4934676587356,"y":-1.067532926742651},"rotation":{"radians":2.821569779198928}},"curvature":0.660081199313374},{"time":5.893924757429015,"velocity":1.7556526754413295,"acceleration":4.5,"pose":{"translation":{"x":6.416516894285899,"y":-1.0443322167106872},"rotation":{"radians":2.8769434882594798}},"curvature":0.7339257145340377},{"time":5.9403787723091455,"velocity":1.9646957424019178,"acceleration":2.5974161719812194,"pose":{"translation":{"x":6.332393415733536,"y":-1.0245744094480014},"rotation":{"radians":2.9474796460916703}},"curvature":0.9147263793149333},{"time":5.962092933273156,"velocity":2.0210964552508406,"acceleration":-2.6510544153657785,"pose":{"translation":{"x":6.2897687717642485,"y":-1.0171055023634714},"rotation":{"radians":2.9896599459326296}},"curvature":1.0367547305871343},{"time":5.983333224035187,"velocity":1.9647872886425048,"acceleration":-1.3557276110689558,"pose":{"translation":{"x":6.247790497870101,"y":-1.0116548413040323},"rotation":{"radians":3.036120298498697}},"curvature":1.154921475811154},{"time":6.00430778934867,"velocity":1.9363514913168471,"acceleration":-2.3676470927743916,"pose":{"translation":{"x":6.207013181699064,"y":-1.0083336269327297},"rotation":{"radians":3.084965450035757}},"curvature":1.2172066136669202},{"time":6.024866874046767,"velocity":1.887674834201295,"acceleration":-4.5,"pose":{"translation":{"x":6.167725265454773,"y":-1.0070390110233345},"rotation":{"radians":3.131770556722323}},"curvature":1.1275940538193328},{"time":6.06655816316655,"velocity":1.70006403316227,"acceleration":-4.5,"pose":{"translation":{"x":6.092956516137359,"y":-1.0087676351220758},"rotation":{"radians":-3.099512246147905}},"curvature":-6.697727526491845E-15},{"time":6.088822564799414,"velocity":1.599874225814383,"acceleration":-4.5,"pose":{"translation":{"x":6.056270067001254,"y":-1.010666831883629},"rotation":{"radians":-3.0714042194171935}},"curvature":1.4429829756220756},{"time":6.112508218993053,"velocity":1.493288781943006,"acceleration":-4.500000000000012,"pose":{"translation":{"x":6.019833008757685,"y":-1.0144389888611642},"rotation":{"radians":-2.9996265532233775}},"curvature":2.3996894191340905},{"time":6.124984540127361,"velocity":1.437145336838621,"acceleration":-3.8577862045415383,"pose":{"translation":{"x":6.001800574747993,"y":-1.017440435624046},"rotation":{"radians":-2.9527368640935663}},"curvature":2.712112322774948},{"time":6.1379229467790895,"velocity":1.3872317301488337,"acceleration":-1.9228259776724859,"pose":{"translation":{"x":5.983947241549731,"y":-1.0213269626030523},"rotation":{"radians":-2.9011178926280503}},"curvature":2.9207477245773625},{"time":6.151223659559521,"velocity":1.3616567740930603,"acceleration":-0.4698907823272062,"pose":{"translation":{"x":5.966316753559176,"y":-1.026160603062821},"rotation":{"radians":-2.846547030576161}},"curvature":3.0335757493659514},{"time":6.164701335884232,"velocity":1.3553237382208887,"acceleration":0.6732884863389633,"pose":{"translation":{"x":5.948954091659565,"y":-1.0319716394538048},"rotation":{"radians":-2.7906172131214007}},"curvature":3.0621727184601677},{"time":6.178196438035701,"velocity":1.3644098351214404,"acceleration":1.596303890011003,"pose":{"translation":{"x":5.931904859397732,"y":-1.0387615395740486},"rotation":{"radians":-2.734696136753045}},"curvature":3.0212270249006488},{"time":6.191576939644053,"velocity":1.3857691818891518,"acceleration":2.346609315702104,"pose":{"translation":{"x":5.91521466916074,"y":-1.046505892730968},"rotation":{"radians":-2.679898133184243}},"curvature":2.9270877214938027},{"time":6.204737998144606,"velocity":1.4166530443710506,"acceleration":2.9504092464138383,"pose":{"translation":{"x":5.898928528352517,"y":-1.0551573459031274},"rotation":{"radians":-2.627076582055845}},"curvature":2.7959897517991403},{"time":6.2175995707326015,"velocity":1.454599947058097,"acceleration":3.424407714899719,"pose":{"translation":{"x":5.8830902255704896,"y":-1.064648539902017},"rotation":{"radians":-2.5768374954167412}},"curvature":2.6425322863986325},{"time":6.230102537530299,"velocity":1.4974152030192671,"acceleration":3.7826785759616985,"pose":{"translation":{"x":5.867741716782219,"y":-1.0748950455338309},"rotation":{"radians":-2.5295695051574274}},"curvature":2.4787256498256607},{"time":6.242204129878232,"velocity":1.5431916371288135,"acceleration":4.129065224011406,"pose":{"translation":{"x":5.852922511502031,"y":-1.085798299761246},"rotation":{"radians":-2.4854831393477625}},"curvature":2.3136440710267823},{"time":6.265075584545366,"velocity":1.6376293652174314,"acceleration":4.379335829646428,"pose":{"translation":{"x":5.825014134316866,"y":-1.1091277496066647},"rotation":{"radians":-2.4070550806350965}},"curvature":2.0022367587775456},{"time":6.286059779922621,"velocity":1.7295262038893462,"acceleration":4.499999999999921,"pose":{"translation":{"x":5.799608915777081,"y":-1.1336772824168888},"rotation":{"radians":-2.3411810248049654}},"curvature":1.7318555147837016},{"time":6.305032840365401,"velocity":1.8149049758818523,"acceleration":-0.8198842442952673,"pose":{"translation":{"x":5.776872249697647,"y":-1.1584490640280332},"rotation":{"radians":-2.28688021918005}},"curvature":1.500705014874128},{"time":6.338171370290229,"velocity":1.7877352173173788,"acceleration":-4.500000000000003,"pose":{"translation":{"x":5.73955615635796,"y":-1.2050406443463997},"rotation":{"radians":-2.2095648455617143}},"curvature":1.0663928346364093},{"time":6.388952240954214,"velocity":1.5592212993294465,"acceleration":-4.5,"pose":{"translation":{"x":5.690922115570445,"y":-1.274728853958644},"rotation":{"radians":-2.1693760585828277}},"curvature":3.1335638411944943E-13},{"time":6.41381627501727,"velocity":1.447333146045691,"acceleration":4.50000000000006,"pose":{"translation":{"x":5.670719824074197,"y":-1.3061763915577729},"rotation":{"radians":-2.098117234402559}},"curvature":2.6712963305264807},{"time":6.428610769583466,"velocity":1.5139083715935753,"acceleration":4.499999999999991,"pose":{"translation":{"x":5.660237215121693,"y":-1.325410358950791},"rotation":{"radians":-2.042827111467029}},"curvature":2.3158433081657974},{"time":6.444643438891394,"velocity":1.586055383479247,"acceleration":4.500000000000035,"pose":{"translation":{"x":5.649530250959005,"y":-1.3478358056189745},"rotation":{"radians":-1.9917510069921995}},"curvature":1.81204918755287},{"time":6.479641954207445,"velocity":1.743548702401477,"acceleration":4.5000000000000435,"pose":{"translation":{"x":5.628124936299732,"y":-1.4020270652847455},"rotation":{"radians":-1.9084936558970085}},"curvature":1.1568728406117137},{"time":6.515832029941668,"velocity":1.9064040432054854,"acceleration":-0.9348497851489037,"pose":{"translation":{"x":5.608437397281406,"y":-1.4650705368070434},"rotation":{"radians":-1.8405552071831355}},"curvature":0.9641029631624295},{"time":6.551261155728754,"velocity":1.8732831325754156,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":5.592730716987842,"y":-1.5301577091511764},"rotation":{"radians":-1.7730180659913646}},"curvature":1.109354512967466},{"time":6.585141829967072,"velocity":1.7208200985029818,"acceleration":-4.5,"pose":{"translation":{"x":5.582765133190253,"y":-1.590221919599695},"rotation":{"radians":-1.692271666944514}},"curvature":1.618095112807508},{"time":6.600989004461341,"velocity":1.6495078132787733,"acceleration":-3.7716237233449394,"pose":{"translation":{"x":5.580142978819237,"y":-1.616797961292224},"rotation":{"radians":-1.6444556077438146}},"curvature":1.965592287262108},{"time":6.615814303917674,"velocity":1.5935923621435741,"acceleration":-4.465735239942467,"pose":{"translation":{"x":5.578965627135864,"y":-1.6408090793562817},"rotation":{"radians":-1.594373317417499}},"curvature":2.142855644621934},{"time":6.643320255979633,"velocity":1.4707580627123185,"acceleration":-4.5,"pose":{"translation":{"x":5.57958951233653,"y":-1.682948399149645},"rotation":{"radians":-1.532353736773731}},"curvature":-2.6030625004116267E-13},{"time":6.657632102679092,"velocity":1.406354752564753,"acceleration":-1.7525450868330463,"pose":{"translation":{"x":5.580636488585997,"y":-1.70351015989227},"rotation":{"radians":-1.4976774519414668}},"curvature":2.8390647792735195},{"time":6.674235794511472,"velocity":1.3772560340206264,"acceleration":4.499999999999874,"pose":{"translation":{"x":5.5831362558935815,"y":-1.7264836669952166},"rotation":{"radians":-1.4268690661317296}},"curvature":2.9642586447462738},{"time":6.693486714491706,"velocity":1.463885173931677,"acceleration":4.5,"pose":{"translation":{"x":5.588051475487735,"y":-1.7533856175315756},"rotation":{"radians":-1.3572066561108003}},"curvature":2.123002558233247},{"time":6.7149498391235705,"velocity":1.5604692347750686,"acceleration":4.5,"pose":{"translation":{"x":5.595876671185639,"y":-1.784884210377094},"rotation":{"radians":-1.3013911397639204}},"curvature":1.3808360671463697},{"time":6.762843110566789,"velocity":1.7759889562695528,"acceleration":4.500000000000007,"pose":{"translation":{"x":5.620333626964432,"y":-1.860945894277565},"rotation":{"radians":-1.2278665371192978}},"curvature":0.6164973483276125},{"time":6.812460995851625,"velocity":1.9992694400513153,"acceleration":4.500000000000037,"pose":{"translation":{"x":5.653882341984434,"y":-1.948391368605034},"rotation":{"radians":-1.1852016413917261}},"curvature":0.34429303450358095},{"time":6.857916508107027,"velocity":2.203819245200627,"acceleration":4.499999999999958,"pose":{"translation":{"x":5.6910929335858285,"y":-2.0363728242775925},"rotation":{"radians":-1.157614889516426}},"curvature":0.250824190081751},{"time":6.895127361181437,"velocity":2.37126808403547,"acceleration":4.4999999999999885,"pose":{"translation":{"x":5.726072966277464,"y":-2.1139747493065837},"rotation":{"radians":-1.137158827759031}},"curvature":0.23973350843623825},{"time":6.943046780972055,"velocity":2.586905473093248,"acceleration":-3.832309423963036,"pose":{"translation":{"x":5.777514140307939,"y":-2.2210559814468906},"rotation":{"radians":-1.1120651152156062}},"curvature":7.415129403439226E-13},{"time":6.990057063078747,"velocity":2.4067475259526114,"acceleration":2.4971111926970924,"pose":{"translation":{"x":5.8321094711134105,"y":-2.3249626552403284},"rotation":{"radians":-1.0595108560474091}},"curvature":0.37606779223054376},{"time":7.024078722984418,"velocity":2.4917033936971977,"acceleration":0.22164415144742505,"pose":{"translation":{"x":5.8738585015412665,"y":-2.3970761768256},"rotation":{"radians":-1.034118767531428}},"curvature":0.25801255551525},{"time":7.061805468006961,"velocity":2.5000653060845925,"acceleration":-4.122830700278299,"pose":{"translation":{"x":5.922937566024633,"y":-2.47743568731872},"rotation":{"radians":-1.011078310159012}},"curvature":0.24682650774200235},{"time":7.100649924630743,"velocity":2.3399161877804353,"acceleration":-4.500000000000005,"pose":{"translation":{"x":5.973842079584267,"y":-2.556463131427119},"rotation":{"radians":-0.984652151326193}},"curvature":0.33648044009236144},{"time":7.137372767755119,"velocity":2.1746633937207434,"acceleration":-4.500000000000007,"pose":{"translation":{"x":6.020836874199711,"y":-2.6247487148752473},"rotation":{"radians":-0.9478666066253401}},"curvature":0.5972577166583145},{"time":7.1684707992169026,"velocity":2.0347222521427177,"acceleration":4.499999999999982,"pose":{"translation":{"x":6.0602816649471665,"y":-2.6769794250048706},"rotation":{"radians":-0.8953468353017389}},"curvature":1.0091433266202567},{"time":7.192780444539311,"velocity":2.1441156560935553,"acceleration":3.1639187493685093,"pose":{"translation":{"x":6.092956516137359,"y":-2.715867551375374},"rotation":{"radians":-0.8567769112421174}},"curvature":1.0663044450359554E-12},{"time":7.244150506247744,"velocity":2.306646357489083,"acceleration":3.2879296172791803,"pose":{"translation":{"x":6.170600090278266,"y":-2.7997726840652826},"rotation":{"radians":-0.7873857382126814}},"curvature":0.526328818569205},{"time":7.2778473816154685,"velocity":2.41743931202039,"acceleration":0.49653879884787555,"pose":{"translation":{"x":6.227780816941333,"y":-2.8551394959037495},"rotation":{"radians":-0.7533443455108731}},"curvature":0.3607539947288666},{"time":7.314747824031382,"velocity":2.435761813374543,"acceleration":-4.146533287814687,"pose":{"translation":{"x":6.2940233809814625,"y":-2.9153873678345397},"rotation":{"radians":-0.7231140936947572}},"curvature":0.33482336172709365},{"time":7.35273830466022,"velocity":2.2782330208269874,"acceleration":-4.5,"pose":{"translation":{"x":6.3620947877486485,"y":-2.973562239163896},"rotation":{"radians":-0.6897416607055867}},"curvature":0.4357400030667607},{"time":7.388984661306786,"velocity":2.1151244159174407,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":6.424531030879996,"y":-3.022971901905611},"rotation":{"radians":-0.6453367149026817}},"curvature":0.7280859324189437},{"time":7.42026558601945,"velocity":1.9743602547104513,"acceleration":4.500000000000004,"pose":{"translation":{"x":6.476677851129974,"y":-3.060009366714813},"rotation":{"radians":-0.5851966645364406}},"curvature":1.1343567305626876},{"time":7.445283120739202,"velocity":2.0869391609493335,"acceleration":4.4999999999999964,"pose":{"translation":{"x":6.519731495200667,"y":-3.0869762288217513},"rotation":{"radians":-0.5431895762878614}},"curvature":-2.4028166487429024E-13},{"time":7.499425639792082,"velocity":2.330580496687296,"acceleration":4.061752906496229,"pose":{"translation":{"x":6.620964916978032,"y":-3.1506397291519033},"rotation":{"radians":-0.575172925172979}},"curvature":-0.07232842695966049},{"time":7.535898403379918,"velocity":2.4787238501981395,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.694563003851643,"y":-3.1983405430022183},"rotation":{"radians":-0.5722340595243901}},"curvature":0.11687801308505284},{"time":7.578055059788144,"velocity":2.2890188963611227,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.779507569413129,"y":-3.252042275977582},"rotation":{"radians":-0.5526375417800315}},"curvature":0.2770577720867128},{"time":7.62447370198011,"velocity":2.080135006497277,"acceleration":-4.500000000000007,"pose":{"translation":{"x":6.866747403487466,"y":-3.3037356490042007},"rotation":{"radians":-0.5128063438169186}},"curvature":0.5411839360043872},{"time":7.670243511161665,"velocity":1.8741708651802762,"acceleration":-4.499999999999995,"pose":{"translation":{"x":6.946941367245376,"y":-3.345665070580753},"rotation":{"radians":-0.44247213739924307}},"curvature":1.0953202240802196},{"time":7.691453957830709,"velocity":1.7787238551695796,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.9823342283956995,"y":-3.3614167282614686},"rotation":{"radians":-0.3922858736351156}},"curvature":1.5123651624295884},{"time":7.71115620423895,"velocity":1.690063746332493,"acceleration":4.4999999999999885,"pose":{"translation":{"x":7.014263706790425,"y":-3.373590334138761},"rotation":{"radians":-0.33426693389435}},"curvature":1.8443607286658248},{"time":7.7442072575648915,"velocity":1.8387934862992288,"acceleration":4.4999999999999485,"pose":{"translation":{"x":7.070209366746114,"y":-3.390048315402955},"rotation":{"radians":-0.25518239062085707}},"curvature":-1.8132484378761044E-13},{"time":7.775657107980449,"velocity":1.9803178131692354,"acceleration":4.5,"pose":{"translation":{"x":7.128376322966789,"y":-3.404989433190729},"rotation":{"radians":-0.24520035237996882}},"curvature":0.2492777547639235},{"time":7.815179483848517,"velocity":2.158168504575543,"acceleration":3.511709254895136,"pose":{"translation":{"x":7.207910127848667,"y":-3.424030762711756},"rotation":{"radians":-0.22499701300842825}},"curvature":0.23841630772792802},{"time":7.862866235461892,"velocity":2.325630511552115,"acceleration":-4.5,"pose":{"translation":{"x":7.312420158101617,"y":-3.446551143286501},"rotation":{"radians":-0.19918865444571962}},"curvature":0.2548563109643631},{"time":7.918215593174741,"velocity":2.076558401844292,"acceleration":-4.500000000000002,"pose":{"translation":{"x":7.432235068616428,"y":-3.46861315877339},"rotation":{"radians":-0.16290060233774908}},"curvature":0.35974289680472626},{"time":7.980155448244513,"velocity":1.7978290540303181,"acceleration":-4.5,"pose":{"translation":{"x":7.551102964805459,"y":-3.4849809034558943},"rotation":{"radians":-0.10482452381162873}},"curvature":0.6649660243235408},{"time":8.011439793006234,"velocity":1.6570495026025716,"acceleration":-4.500000000000004,"pose":{"translation":{"x":7.604952567008113,"y":-3.489534707539711},"rotation":{"radians":-0.06098067375726722}},"curvature":0.9923549168727308},{"time":8.041623356911138,"velocity":1.5212234650305023,"acceleration":-4.500000000000003,"pose":{"translation":{"x":7.652891574943272,"y":-3.491137747929619},"rotation":{"radians":-0.0014480194049227254}},"curvature":1.550322661699486},{"time":8.06985694262392,"velocity":1.394172329322984,"acceleration":-4.5,"pose":{"translation":{"x":7.69402139274211,"y":-3.4896688725896885},"rotation":{"radians":0.07887812613398294}},"curvature":2.431916868850513},{"time":8.083086505131238,"velocity":1.3346392980400528,"acceleration":-4.5,"pose":{"translation":{"x":7.711977373019305,"y":-3.4878241412718762},"rotation":{"radians":0.12747584694943273}},"curvature":2.9621222189858756},{"time":8.095721976552205,"velocity":1.277779676645702,"acceleration":-3.260079129222655,"pose":{"translation":{"x":7.728288422507271,"y":-3.4853041049893867},"rotation":{"radians":0.1804105063452546}},"curvature":3.435309685598314},{"time":8.107763312989944,"velocity":1.2385239670370838,"acceleration":4.500000000000087,"pose":{"translation":{"x":7.743114223871402,"y":-3.4821875453397415},"rotation":{"radians":0.23451927568524963}},"curvature":3.642019546533382},{"time":8.118883097042286,"velocity":1.2885629952726272,"acceleration":4.499999999999893,"pose":{"translation":{"x":7.756693444698509,"y":-3.478579699287545},"rotation":{"radians":0.2840231048140363}},"curvature":3.277554686061499},{"time":8.138471382235853,"velocity":1.376710278643676,"acceleration":4.49999999999994,"pose":{"translation":{"x":7.781500998518338,"y":-3.4704551955163327},"rotation":{"radians":0.334596037737058}},"curvature":-5.132465821278171E-13},{"time":8.176400899751805,"velocity":1.5473931074654566,"acceleration":4.500000000000015,"pose":{"translation":{"x":7.833447024223365,"y":-3.4510423635620047},"rotation":{"radians":0.39254881507743633}},"curvature":1.3677490159669776},{"time":8.221719685013152,"velocity":1.7513276411415248,"acceleration":4.499999999999968,"pose":{"translation":{"x":7.901158874893261,"y":-3.419384496028943},"rotation":{"radians":0.4758975294365203}},"curvature":0.8904599775336938},{"time":8.273502187498131,"velocity":1.9843489023239334,"acceleration":-4.325780097134684,"pose":{"translation":{"x":7.9853671627654474,"y":-3.371803177689887},"rotation":{"radians":0.549832174956981}},"curvature":0.7039396292198273},{"time":8.332112094380573,"velocity":1.7308153336369467,"acceleration":-4.5,"pose":{"translation":{"x":8.075873769881282,"y":-3.311290186263007},"rotation":{"radians":0.6315393320207507}},"curvature":0.8540924602937693},{"time":8.364807567215406,"velocity":1.5836857058802016,"acceleration":-4.5,"pose":{"translation":{"x":8.118795351472711,"y":-3.278218936564209},"rotation":{"radians":0.6835958496294005}},"curvature":1.093186733478195},{"time":8.398877691108835,"velocity":1.4303701483597742,"acceleration":-4.500000000000004,"pose":{"translation":{"x":8.157572500143276,"y":-3.2445647602300918},"rotation":{"radians":0.7496538311905988}},"curvature":1.526076108357068},{"time":8.416181626620201,"velocity":1.3525024385586242,"acceleration":-4.500000000000004,"pose":{"translation":{"x":8.174870639830251,"y":-3.2278168681512915},"rotation":{"radians":0.7901372563780413}},"curvature":1.8546232864765004},{"time":8.433532166994217,"velocity":1.2744250068755492,"acceleration":-4.500000000000005,"pose":{"translation":{"x":8.190537817399736,"y":-3.2112671858166166},"rotation":{"radians":0.8370741150846182}},"curvature":2.2881760932818747},{"time":8.450843454250933,"velocity":1.1965242142203305,"acceleration":-4.500000000000005,"pose":{"translation":{"x":8.204436738335747,"y":-3.195011361601182},"rotation":{"radians":0.8917358774589793}},"curvature":2.8530535321848056},{"time":8.46805226199597,"velocity":1.1190845793676658,"acceleration":-4.499999999999994,"pose":{"translation":{"x":8.216469731372321,"y":-3.179130866654747},"rotation":{"radians":0.9553873603355952}},"curvature":3.57033454579607},{"time":8.4851334442983,"velocity":1.0422192590071784,"acceleration":-4.499999999999994,"pose":{"translation":{"x":8.226584628036536,"y":-3.1636901211398203},"rotation":{"radians":1.029001139265827}},"curvature":4.437665818390812},{"time":8.502120479904432,"velocity":0.9657775987795827,"acceleration":-4.499999999999993,"pose":{"translation":{"x":8.23478064219153,"y":-3.1487336204697636},"rotation":{"radians":1.1127251655233006}},"curvature":5.3958425367236345},{"time":8.510613665487119,"velocity":0.9275582636574943,"acceleration":-4.5,"pose":{"translation":{"x":8.238174319436613,"y":-3.1414447113798},"rotation":{"radians":1.158002711283498}},"curvature":5.864038435994419},{"time":8.519136066520902,"velocity":0.8892074590054702,"acceleration":-3.58661437772426,"pose":{"translation":{"x":8.24111424957954,"y":-3.1342830615468933},"rotation":{"radians":1.205066634532256}},"curvature":6.2852215314499364},{"time":8.52768152851523,"velocity":0.8585581821523192,"acceleration":-2.068760594742035,"pose":{"translation":{"x":8.243617403869228,"y":-3.1272473493399215},"rotation":{"radians":1.2533170615616034}},"curvature":6.619775478135422},{"time":8.536179418717966,"velocity":0.8409780817624548,"acceleration":-0.2529389715521999,"pose":{"translation":{"x":8.245705067364913,"y":-3.120334469000586},"rotation":{"radians":1.3019467711157602}},"curvature":6.822677183029916},{"time":8.544518226354732,"velocity":0.8388688723348393,"acceleration":2.0918982421647354,"pose":{"translation":{"x":8.24740302267187,"y":-3.11353944083835},"rotation":{"radians":1.3499409195907763}},"curvature":6.8475921147505785},{"time":8.552563770222353,"velocity":0.8556993314087729,"acceleration":4.500000000000063,"pose":{"translation":{"x":8.248741733677136,"y":-3.1068553214253827},"rotation":{"radians":1.3960966505362804}},"curvature":6.652203414485566},{"time":8.567399043842665,"velocity":0.9224580627001808,"acceleration":4.49999999999997,"pose":{"translation":{"x":8.250487787153858,"y":-3.0937816776190905},"rotation":{"radians":1.4773917957150662}},"curvature":5.482334585140444},{"time":8.593282740349098,"velocity":1.0389346969791307,"acceleration":4.499999999999973,"pose":{"translation":{"x":8.251571989950385,"y":-3.0684207949494264},"rotation":{"radians":1.5554129250143873}},"curvature":5.273401634486186E-13},{"time":8.682108808572677,"velocity":1.4386520039852366,"acceleration":4.500000000000058,"pose":{"translation":{"x":8.254148474668197,"y":-2.9584138202053554},"rotation":{"radians":1.5421516992088637}},"curvature":0.05128617575513097},{"time":8.724586645388554,"velocity":1.6298022696566823,"acceleration":1.7674386605994148,"pose":{"translation":{"x":8.255689811721828,"y":-2.8932613997144565},"rotation":{"radians":1.5554456717888383}},"curvature":0.3575128362474735},{"time":8.765456912398818,"velocity":1.7020379596396435,"acceleration":-4.5,"pose":{"translation":{"x":8.2556299400458,"y":-2.8251748261349796},"rotation":{"radians":1.592384185162404}},"curvature":0.756216223123778},{"time":8.805877520499516,"velocity":1.520145223186504,"acceleration":-4.5,"pose":{"translation":{"x":8.252213394187066,"y":-2.76014320946633},"rotation":{"radians":1.6617221753614868}},"curvature":1.4597497152991845},{"time":8.826040223996568,"velocity":1.429413057449771,"acceleration":-4.5,"pose":{"translation":{"x":8.248796259470703,"y":-2.7306046718568364},"rotation":{"radians":1.7130187043878793}},"curvature":2.026892091545416},{"time":8.845706665498417,"velocity":1.3409140706914473,"acceleration":-4.500000000000004,"pose":{"translation":{"x":8.244108709641967,"y":-2.703769770413914},"rotation":{"radians":1.777802853097311}},"curvature":2.765439073223154},{"time":8.864667082616222,"velocity":1.255592193661327,"acceleration":-3.6022436032890353,"pose":{"translation":{"x":8.238155344430247,"y":-2.6798851228498424},"rotation":{"radians":1.855597704537579}},"curvature":3.550554716333623},{"time":8.88280517091061,"velocity":1.1902543811269783,"acceleration":4.50000000000017,"pose":{"translation":{"x":8.231047098019703,"y":-2.6588734271398673},"rotation":{"radians":1.939843179696697}},"curvature":3.9148847289378472},{"time":8.899320712522803,"velocity":1.264574318381854,"acceleration":4.49999999999985,"pose":{"translation":{"x":8.223021197648123,"y":-2.640258511108161},"rotation":{"radians":2.0127379836456667}},"curvature":2.9601488982812163},{"time":8.914102153652987,"velocity":1.331090803467679,"acceleration":3.9013782613533317,"pose":{"translation":{"x":8.214461122205776,"y":-2.6230903820137828},"rotation":{"radians":2.044402009767088}},"curvature":-1.9127579647249863E-12},{"time":8.928363622375697,"velocity":1.3867301875174323,"acceleration":-4.499999999999995,"pose":{"translation":{"x":8.205434254079831,"y":-2.6059409692202697},"rotation":{"radians":2.0752518765925263}},"curvature":2.7702377132219254},{"time":8.944271154260319,"velocity":1.3151462940366363,"acceleration":4.500000000000067,"pose":{"translation":{"x":8.194427713487322,"y":-2.587483445894486},"rotation":{"radians":2.1433286645040965}},"curvature":3.2500109323208037},{"time":8.962733450597122,"velocity":1.3982266275522512,"acceleration":4.5,"pose":{"translation":{"x":8.180054262713316,"y":-2.5669704366716672},"rotation":{"radians":2.2181891680835317}},"curvature":2.6785037146159185},{"time":8.983085381108523,"velocity":1.489810314853556,"acceleration":4.499999999999954,"pose":{"translation":{"x":8.161498438823216,"y":-2.544180766440671},"rotation":{"radians":2.28699854991549}},"curvature":2.045244584881243},{"time":9.005112351372661,"velocity":1.5889316810421747,"acceleration":4.500000000000041,"pose":{"translation":{"x":8.138434584219091,"y":-2.5193253984219712},"rotation":{"radians":2.348196300686289}},"curvature":1.608294074742276},{"time":9.02832412728766,"velocity":1.6933846726596735,"acceleration":4.500000000000048,"pose":{"translation":{"x":8.110944877196024,"y":-2.4929533722456467},"rotation":{"radians":2.404112044577651}},"curvature":1.3581190803570464},{"time":9.052112408563872,"velocity":1.8004319384026222,"acceleration":4.499999999999919,"pose":{"translation":{"x":8.079437362498448,"y":-2.4658577420293706},"rotation":{"radians":2.457791988985669}},"curvature":1.2459408757965535},{"time":9.07586179109264,"velocity":1.9073041597820741,"acceleration":-0.5478674480839852,"pose":{"translation":{"x":8.044563981876507,"y":-2.4389815144563993},"rotation":{"radians":2.5121195942762}},"curvature":1.2369451011023602},{"time":9.099734327757458,"velocity":1.8942251740402285,"acceleration":-2.5769015158211563,"pose":{"translation":{"x":8.007138604642394,"y":-2.4133235868535627},"rotation":{"radians":2.569682746459214}},"curvature":1.3129164227490062},{"time":9.124211687108996,"velocity":1.8311494296239506,"acceleration":-3.284454992032918,"pose":{"translation":{"x":7.968055058226695,"y":-2.3898446852692525},"rotation":{"radians":2.632733821893998}},"curvature":1.4644558873820304},{"time":9.149239266866728,"velocity":1.7489474703501693,"acceleration":-3.2772785505299518,"pose":{"translation":{"x":7.9282051587347455,"y":-2.3693733025514128},"rotation":{"radians":2.702938045733387}},"curvature":1.6783507586687776},{"time":9.174558917178086,"velocity":1.6659679234778348,"acceleration":-2.072783909573202,"pose":{"translation":{"x":7.888396741502968,"y":-2.352511636425528},"rotation":{"radians":2.7806507718208806}},"curvature":1.915677355684358},{"time":9.199693608324617,"velocity":1.6138691400972114,"acceleration":1.4143971075308912,"pose":{"translation":{"x":7.84927169165522,"y":-2.3395415275726137},"rotation":{"radians":2.8634625178316826}},"curvature":2.0771546200076565},{"time":9.223697623568771,"velocity":1.6478203498276698,"acceleration":4.500000000000047,"pose":{"translation":{"x":7.811223974659145,"y":-2.330330397707205},"rotation":{"radians":2.9440166390224687}},"curvature":1.970765840115436},{"time":9.245734758478864,"velocity":1.7469874569230877,"acceleration":4.500000000000019,"pose":{"translation":{"x":7.774317666882516,"y":-2.324237187655345},"rotation":{"radians":3.0079946605424093}},"curvature":1.336397472946046},{"time":9.266016935127437,"velocity":1.838257251841665,"acceleration":4.499999999999994,"pose":{"translation":{"x":7.738204986149579,"y":-2.320018295432578},"rotation":{"radians":3.034477330237536}},"curvature":-1.0088454191876547E-13},{"time":9.305642144262501,"velocity":2.016570692949453,"acceleration":4.499999999999996,"pose":{"translation":{"x":7.662169309014874,"y":-2.3128355772813043},"rotation":{"radians":3.0676123667018627}},"curvature":0.5942317924245504},{"time":9.350235228073581,"velocity":2.217239570099311,"acceleration":4.500000000000046,"pose":{"translation":{"x":7.567883982135379,"y":-2.3081976625913962},"rotation":{"radians":3.113407320888338}},"curvature":0.36306293548787466},{"time":9.399793222896681,"velocity":2.440250546803268,"acceleration":4.500000000000014,"pose":{"translation":{"x":7.452483694982721,"y":-2.3068690116816954},"rotation":{"radians":-3.139946899721214}},"curvature":0.1783033856731683},{"time":9.425109005653507,"velocity":2.5541715692089824,"acceleration":3.1288255524838307,"pose":{"translation":{"x":7.389266236013598,"y":-2.307288786516495},"rotation":{"radians":-3.1305459111583245}},"curvature":0.12232300766053553},{"time":9.450058694328844,"velocity":2.632234792662895,"acceleration":1.345772875962913,"pose":{"translation":{"x":7.324573439412484,"y":-2.3082278634928812},"rotation":{"radians":-3.124070211505066}},"curvature":0.07945790971239777},{"time":9.497435282582622,"velocity":2.6959929200904926,"acceleration":-2.0077302811899487,"pose":{"translation":{"x":7.198384635226886,"y":-2.3108778038425464},"rotation":{"radians":-3.118673981691051}},"curvature":0.0045873750234051046},{"time":9.539059395778889,"velocity":2.6124229275986703,"acceleration":-3.8162482610374764,"pose":{"translation":{"x":7.087931255737455,"y":-2.3132593336802647},"rotation":{"radians":-3.123346948102081}},"curvature":-0.10346701650846496},{"time":9.573121630581214,"velocity":2.4824329832672483,"acceleration":4.500000000000106,"pose":{"translation":{"x":7.001165953327701,"y":-2.3142614373426604},"rotation":{"radians":-3.1392380754450837}},"curvature":-0.2705020206347128},{"time":9.59949346856059,"velocity":2.601106254174442,"acceleration":3.5014754231343383,"pose":{"translation":{"x":6.934136185015789,"y":-2.313833150808478},"rotation":{"radians":3.1292476017455666}},"curvature":-6.062274898594957E-14},{"time":9.627364229544888,"velocity":2.698695038785011,"acceleration":-0.007552477106924319,"pose":{"translation":{"x":6.860287053148578,"y":-2.312922404873073},"rotation":{"radians":3.129296891322637}},"curvature":0.0014924465391863752},{"time":9.673315371219966,"velocity":2.698347993839473,"acceleration":-0.00299355492120747,"pose":{"translation":{"x":6.736296119568543,"y":-2.3114110385093887},"rotation":{"radians":3.1295176367139357}},"curvature":0.0018895948401434176},{"time":9.704882492699031,"velocity":2.698253495927621,"acceleration":-0.005200905591619048,"pose":{"translation":{"x":6.651124657937425,"y":-2.3103895107125028},"rotation":{"radians":3.1296827835352397}},"curvature":0.0019977532414847585},{"time":9.741419767752154,"velocity":2.6980634690094947,"acceleration":-0.00851875436187302,"pose":{"translation":{"x":6.552548172265423,"y":-2.309225437020054},"rotation":{"radians":3.1298895131925843}},"curvature":0.0022152731283798864},{"time":9.781652437825027,"velocity":2.6977207367758216,"acceleration":-0.013749721123728123,"pose":{"translation":{"x":6.444012042739514,"y":-2.307968896661262},"rotation":{"radians":3.1301495819876677}},"curvature":0.0026076691118130375},{"time":9.82394989800116,"velocity":2.6971391584941578,"acceleration":-0.023064721533046943,"pose":{"translation":{"x":6.329924869548411,"y":-2.306681577336855},"rotation":{"radians":3.1304819996921873}},"curvature":0.003273749411955144},{"time":9.866500730154517,"velocity":2.696157735399541,"acceleration":-0.041453903418147926,"pose":{"translation":{"x":6.215187055685942,"y":-2.3054304047164127},"rotation":{"radians":3.1309162986616137}},"curvature":0.0043984226900895965},{"time":9.90748811854923,"velocity":2.6944586481596646,"acceleration":-0.08109627436428295,"pose":{"translation":{"x":6.10471938975444,"y":-2.3042811719357092},"rotation":{"radians":3.1314986553020616}},"curvature":0.006347448601779398},{"time":9.945265813507657,"velocity":2.691395017844466,"acceleration":-0.17257787113557596,"pose":{"translation":{"x":6.002991628768123,"y":-2.3032921690940555},"rotation":{"radians":3.1323021757360943}},"curvature":0.009867963165462013},{"time":9.978534617281518,"velocity":2.6856535585139456,"acceleration":-0.38430669352945424,"pose":{"translation":{"x":5.91355108095648,"y":-2.3025078127516436},"rotation":{"radians":3.133441755228929}},"curvature":0.016487286771849626},{"time":10.00651753191876,"velocity":2.67489953711439,"acceleration":-0.7598722476450587,"pose":{"translation":{"x":5.8385511885676555,"y":-2.301952275426889},"rotation":{"radians":3.135083469587124}},"curvature":0.02896204638224711},{"time":10.02912253746078,"velocity":2.6577226207451456,"acceleration":-2.39561394287319,"pose":{"translation":{"x":5.778280110671833,"y":-2.3016231150937716},"rotation":{"radians":3.137382289896891}},"curvature":0.04909682350685769},{"time":10.062493997808165,"velocity":2.5777774850429145,"acceleration":-4.499999999999991,"pose":{"translation":{"x":5.690922115570432,"y":-2.3014628615602692},"rotation":{"radians":-3.1415926535897665}},"curvature":1.5160379877009949E-13},{"time":10.081361968754472,"velocity":2.4928716157845345,"acceleration":4.353170165492218,"pose":{"translation":{"x":5.643087007984952,"y":-2.301107174500496},"rotation":{"radians":3.1259563437473834}},"curvature":-0.2564452707550669},{"time":10.11938558779466,"velocity":2.6583948997743247,"acceleration":0.7342712518281415,"pose":{"translation":{"x":5.545177283895205,"y":-2.2988867844326832},"rotation":{"radians":3.114910243059119}},"curvature":-0.048303885617808295},{"time":10.14871112559963,"velocity":2.6799277991289143,"acceleration":0.2517198460619799,"pose":{"translation":{"x":5.466933694686984,"y":-2.2966839430591177},"rotation":{"radians":3.1123017105156574}},"curvature":-0.02311675608446392},{"time":10.186364590641448,"velocity":2.6894059235529406,"acceleration":0.09741705368155015,"pose":{"translation":{"x":5.365892858771759,"y":-2.2936289421802316},"rotation":{"radians":3.1106117735667183}},"curvature":-0.012157988693917538},{"time":10.232825508467362,"velocity":2.693932009278882,"acceleration":0.0507809557200647,"pose":{"translation":{"x":5.240897911668853,"y":-2.2896768338150806},"rotation":{"radians":3.1094648702768963}},"curvature":-0.006952056087049509},{"time":10.259405824788653,"velocity":2.6952817831450187,"acceleration":0.034370190551698654,"pose":{"translation":{"x":5.169311897270308,"y":-2.287359762501242},"rotation":{"radians":3.1090261462746804}},"curvature":-0.005402922170003197},{"time":10.2882047398925,"velocity":2.69627160734482,"acceleration":0.023822695515900157,"pose":{"translation":{"x":5.091718109569268,"y":-2.284816869650076},"rotation":{"radians":3.1086535260838972}},"curvature":-0.00426788781473713},{"time":10.319186503402664,"velocity":2.6970096764634683,"acceleration":0.016879503755341436,"pose":{"translation":{"x":5.0082172026805205,"y":-2.2820515977288736},"rotation":{"radians":3.1083343828684717}},"curvature":-0.003422083988728292},{"time":10.352297855808464,"velocity":2.6975685796607465,"acceleration":0.012206068963774575,"pose":{"translation":{"x":4.918956125250145,"y":-2.279069101776301},"rotation":{"radians":3.1080589327362067}},"curvature":-0.0027819065730931487},{"time":10.387469191650471,"velocity":2.697997883411582,"acceleration":0.008994712629296594,"pose":{"translation":{"x":4.8241252234528345,"y":-2.2758761431754393},"rotation":{"radians":3.1078195150517045}},"curvature":-0.002290354719871733},{"time":10.424615697818185,"velocity":2.698332005559743,"acceleration":0.006745312908022117,"pose":{"translation":{"x":4.723955343989223,"y":-2.2724809834268274},"rotation":{"radians":3.107610071619079}},"curvature":-0.0019078938313890383},{"time":10.463638474330283,"velocity":2.698595226397857,"acceleration":0.005141448240714838,"pose":{"translation":{"x":4.618714937083213,"y":-2.2688932779215},"rotation":{"radians":3.1074257661829727}},"curvature":-0.0016066585132357382},{"time":10.504425642692404,"velocity":2.698804931512876,"acceleration":0.003978835937698698,"pose":{"translation":{"x":4.5087071594793,"y":-2.2651239697140326},"rotation":{"radians":3.1072627036826765}},"curvature":-0.001366709739515263},{"time":10.546853445367912,"velocity":2.698973744778919,"acceleration":0.0031230715876911287,"pose":{"translation":{"x":4.394266977439903,"y":-2.26118518329558},"rotation":{"radians":3.1071177210472736}},"curvature":-0.001173577324411188},{"time":10.590787338829125,"velocity":2.6991109534733244,"acceleration":0.0024841474838306695,"pose":{"translation":{"x":4.275758269742692,"y":-2.2570901183669183},"rotation":{"radians":3.106988229782986}},"curvature":-0.001016620216302387},{"time":10.636083081926872,"velocity":2.699223474779569,"acceleration":0.002000782623920291,"pose":{"translation":{"x":4.153570930677908,"y":-2.2528529436114857},"rotation":{"radians":3.106872096417754}},"curvature":-8.879156548177992E-4},{"time":10.682587820811351,"velocity":2.699316520653059,"acceleration":0.0017120143432896439,"pose":{"translation":{"x":4.028117973045698,"y":-2.2484886904684247},"rotation":{"radians":3.1067675508844657}},"curvature":-7.814956642117533E-4},{"time":10.706243699284284,"velocity":2.6993570198563077,"acceleration":0.0015500210945161004,"pose":{"translation":{"x":3.964301562300153,"y":-2.2462638165942375},"rotation":{"radians":3.106719152014391}},"curvature":-7.351775262541323E-4},{"time":10.730141154339075,"velocity":2.699394061415748,"acceleration":0.0014072410324127422,"pose":{"translation":{"x":3.899832631153436,"y":-2.244013146905622},"rotation":{"radians":3.106673115719258}},"curvature":-6.92815044059811E-4},{"time":10.754259138494875,"velocity":2.699428001232671,"acceleration":0.001281070903685772,"pose":{"translation":{"x":3.834768018214972,"y":-2.24173875567832},"rotation":{"radians":3.1066292939971802}},"curvature":-6.540008821937127E-4},{"time":10.77857626860715,"velocity":2.699459153200519,"acceleration":0.001169304611454742,"pose":{"translation":{"x":3.7691654638130547,"y":-2.23944275119275},"rotation":{"radians":3.106587550912568}},"curvature":-6.183758118112734E-4},{"time":10.8030708595561,"velocity":2.6994877948386713,"acceleration":0.0010700672663403288,"pose":{"translation":{"x":3.7030835194635108,"y":-2.237127272414415},"rotation":{"radians":3.1065477614746375}},"curvature":-5.856222541849724E-4},{"time":10.827720957919182,"velocity":2.6995141721020417,"acceleration":9.817611648336901E-4,"pose":{"translation":{"x":3.636581457338368,"y":-2.234794485674309},"rotation":{"radians":3.1065098106389764}},"curvature":-5.554587697130728E-4},{"time":10.852504375631753,"velocity":2.6995385034990838,"acceleration":9.030214010938514E-4,"pose":{"translation":{"x":3.569719179734522,"y":-2.2324465813493264},"rotation":{"radians":3.1064735924174554}},"curvature":-5.276353401003713E-4},{"time":10.877398723635705,"velocity":2.6995609836280976,"acceleration":8.326792894871179E-4,"pose":{"translation":{"x":3.502557128542401,"y":-2.2300857705426673},"rotation":{"radians":3.1064390090837595}},"curvature":-5.019293175396752E-4},{"time":10.902381445517591,"velocity":2.6995817862232037,"acceleration":7.69732146120278E-4,"pose":{"translation":{"x":3.4351561947146347,"y":-2.2277142817642464},"rotation":{"radians":3.1064059704634985}},"curvature":-4.781419360229845E-4},{"time":10.927429851137928,"velocity":2.6996010667862187,"acceleration":7.133182679496934E-4,"pose":{"translation":{"x":3.3675776277347165,"y":-2.225334357611101},"rotation":{"radians":3.106374393299335}},"curvature":-4.560952973110672E-4},{"time":10.952521150252966,"velocity":2.699618964868244,"acceleration":6.626961814103708E-4,"pose":{"translation":{"x":3.2998829450856757,"y":-2.2229482514477974},"rotation":{"radians":3.1063442006828037}},"curvature":-4.356297583384139E-4},{"time":10.977632486127577,"velocity":2.6996356060546383,"acceleration":6.172274131201599E-4,"pose":{"translation":{"x":3.2321338417187393,"y":-2.220558224086839},"rotation":{"radians":3.1063153215456016}},"curvature":-4.166016585155195E-4},{"time":11.002740969144078,"velocity":2.699651103698658,"acceleration":5.763621844751754E-4,"pose":{"translation":{"x":3.1643920995220007,"y":-2.218166540469073},"rotation":{"radians":3.1062876902040606}},"curvature":-3.9888133498686357E-4},{"time":11.027823710404336,"velocity":2.6996655604422033,"acceleration":5.396275486634868E-4,"pose":{"translation":{"x":3.096719496789086,"y":-2.2157754663441005},"rotation":{"radians":3.1062612459513366}},"curvature":-3.8235138178703836E-4},{"time":11.052857855324449,"velocity":2.6996790695564594,"acceleration":5.066175846686006E-4,"pose":{"translation":{"x":3.029177717687821,"y":-2.2133872649506796},"rotation":{"radians":3.106235932692574}},"curvature":-3.6690511530848753E-4},{"time":11.077820617229543,"velocity":2.6996917161306024,"acceleration":4.7698534266150337E-4,"pose":{"translation":{"x":2.9618282617288925,"y":-2.2110041936971374},"rotation":{"radians":3.1062116986189245}},"curvature":-3.5244521379287165E-4},{"time":11.102689310939025,"velocity":2.699703578132993,"acceleration":4.5043629852293887E-4,"pose":{"translation":{"x":2.894732353234525,"y":-2.2086285008417756},"rotation":{"radians":3.10618849591686}},"curvature":-3.388825028747779E-4},{"time":11.127441386352439,"velocity":2.699714727366223,"acceleration":4.2672313324476293E-4,"pose":{"translation":{"x":2.8279508508071354,"y":-2.206262422173277},"rotation":{"radians":3.106166280509728}},"curvature":-3.261348626875983E-4},{"time":11.152054462028179,"velocity":2.699725230334994,"acceleration":4.056416989937087E-4,"pose":{"translation":{"x":2.7615441567980117,"y":-2.203908177691115},"rotation":{"radians":3.1061450118289153}},"curvature":-3.141262348087156E-4},{"time":11.176506358761765,"velocity":2.6997351490439288,"acceleration":3.8702807847278825E-4,"pose":{"translation":{"x":2.6955721267759674,"y":-2.20156796828596},"rotation":{"radians":3.106124652612419}},"curvature":-3.027857094543436E-4},{"time":11.200775133157867,"velocity":2.69974454174105,"acceleration":3.7075668477978585E-4,"pose":{"translation":{"x":2.6300939789960145,"y":-2.1992439724200876},"rotation":{"radians":3.106105168728973}},"curvature":-2.920466749060609E-4},{"time":11.224839111204277,"velocity":2.6997534636217733,"acceleration":3.567393887376045E-4,"pose":{"translation":{"x":2.5651682038680335,"y":-2.1969383428077847},"rotation":{"radians":3.10608652902623}},"curvature":-2.818460121884068E-4},{"time":11.248676921837248,"velocity":2.6997619675077673,"acceleration":3.44925703377844E-4,"pose":{"translation":{"x":2.500852473425429,"y":-2.1946532030957595},"rotation":{"radians":3.106068705201823}},"curvature":-2.7212331855363533E-4},{"time":11.272267530507955,"velocity":2.699770104515056,"acceleration":3.316273325883029E-4,"pose":{"translation":{"x":2.43720355079381,"y":-2.192390644543546},"rotation":{"radians":3.1060516716964464}},"curvature":-2.6282014334819533E-4},{"time":11.318624888457222,"velocity":2.6997854778820187,"acceleration":3.2147377152544164E-4,"pose":{"translation":{"x":2.312128093738924,"y":-2.187941454103279},"rotation":{"radians":3.106019886629307}},"curvature":-2.452436713349287E-4},{"time":11.363750913080851,"velocity":2.6997999847153484,"acceleration":3.2144665085861415E-4,"pose":{"translation":{"x":2.1903743193614797,"y":-2.1836067276752953},"rotation":{"radians":3.105991021495357}},"curvature":-2.2865809651185191E-4},{"time":11.407492865613605,"velocity":2.699814045419492,"acceleration":3.3364113446355544E-4,"pose":{"translation":{"x":2.0723543777893876,"y":-2.1794016907992315},"rotation":{"radians":3.1059649646113354}},"curvature":-2.1258274858971933E-4},{"time":11.449706612898284,"velocity":2.699828129662026,"acceleration":3.616606354575228E-4,"pose":{"translation":{"x":1.9584571856176902,"y":-2.1753407321390834},"rotation":{"radians":3.1059416453785786}},"curvature":-1.9648065751472473E-4},{"time":11.49025770081183,"velocity":2.6998427953942494,"acceleration":4.11390215460373E-4,"pose":{"translation":{"x":1.8490455289058936,"y":-2.1714372972562517},"rotation":{"radians":3.1059210363599044}},"curvature":-1.797139453059818E-4},{"time":11.529022427454036,"velocity":2.699858742823495,"acceleration":4.923024132920722E-4,"pose":{"translation":{"x":1.7444531661752865,"y":-2.16770378238258},"rotation":{"radians":3.105903157309331}},"curvature":-1.614821297554598E-4},{"time":11.56588891603378,"velocity":2.6998768922847924,"acceleration":-2.7256841814291795,"pose":{"translation":{"x":1.6449819314062735,"y":-2.1641514281933985},"rotation":{"radians":3.1058880816470227}},"curvature":-1.4073311455829206E-4},{"time":11.60139468172213,"velocity":2.603099388398526,"acceleration":-4.499999999999995,"pose":{"translation":{"x":1.550898837035696,"y":-2.160790213580565},"rotation":{"radians":3.1058759461209915}},"curvature":-1.1603056094598862E-4},{"time":11.636464159313233,"velocity":2.445286739238568,"acceleration":-4.499999999999995,"pose":{"translation":{"x":1.4624331769541712,"y":-2.1576287494255024},"rotation":{"radians":3.105866964755472}},"curvature":-8.535100121724553E-5},{"time":11.671413260621694,"velocity":2.2880157833504944,"acceleration":-4.5,"pose":{"translation":{"x":1.379773629503398,"y":-2.154674172372246},"rotation":{"radians":3.1058614487117278}},"curvature":-4.5766216699449016E-5},{"time":11.706147185407747,"velocity":2.131713121813255,"acceleration":-4.499999999999994,"pose":{"translation":{"x":1.3030653604735054,"y":-2.1519320386004788},"rotation":{"radians":3.105859834469105}},"curvature":7.064917537773632E-6},{"time":11.74056488702331,"velocity":1.9768334645432226,"acceleration":-4.5,"pose":{"translation":{"x":1.2324071261003695,"y":-2.149406217598576},"rotation":{"radians":3.1058627239070753}},"curvature":7.972688925949573E-5},{"time":11.80801384806219,"velocity":1.6733131398682644,"acceleration":-4.499999999999999,"pose":{"translation":{"x":1.1093863564805693,"y":-2.1450099210395703},"rotation":{"radians":3.1058856175084033}},"curvature":3.3139229168704297E-4},{"time":11.872816327686666,"velocity":1.3817019815581224,"acceleration":-4.5,"pose":{"translation":{"x":1.0104630933443568,"y":-2.141478468151622},"rotation":{"radians":3.105941160430028}},"curvature":8.906678409643786E-4},{"time":11.933941516995294,"velocity":1.1066386296692947,"acceleration":-4.500000000000001,"pose":{"translation":{"x":0.9344611483530123,"y":-2.138771258804821},"rotation":{"radians":3.1060505660249467}},"curvature":0.0022646239829141085},{"time":12.041822264298222,"velocity":0.6211752668061197,"acceleration":-4.500000000000001,"pose":{"translation":{"x":0.8413204297411818,"y":-2.1354778467074014},"rotation":{"radians":3.1066257443819945}},"curvature":0.015730336013924266},{"time":12.179861212477359,"velocity":0.0,"acceleration":-4.500000000000001,"pose":{"translation":{"x":0.7984727179024693,"y":-2.1339999999999986},"rotation":{"radians":3.1075942644333274}},"curvature":-8.774219350662329E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":3.9999999999999996,"pose":{"translation":{"x":1.2831,"y":-2.134},"rotation":{"radians":0.041244121615251594}},"curvature":0.0},{"time":0.15101339570786285,"velocity":0.6040535828314513,"acceleration":4.0,"pose":{"translation":{"x":1.328701020098905,"y":-2.13309038448002},"rotation":{"radians":-0.002192825072650614}},"curvature":-0.689808942457635},{"time":0.25925668476074926,"velocity":1.037026739042997,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.4175021436823556,"y":-2.1348199805858163},"rotation":{"radians":-0.02941541324799535}},"curvature":-0.13319138864044253},{"time":0.31569906286029725,"velocity":1.2627962514411892,"acceleration":3.9999999999999987,"pose":{"translation":{"x":1.4823709238367437,"y":-2.1369499450918252},"rotation":{"radians":-0.035527450472486254}},"curvature":-0.06655947522413319},{"time":0.37186789235282974,"velocity":1.4874715694113192,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.5595559406263007,"y":-2.1398548704498053},"rotation":{"radians":-0.039323166805577854}},"curvature":-0.036078889012661715},{"time":0.42635133272953435,"velocity":1.7054053309181378,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.6464636394509342,"y":-2.1433873190170396},"rotation":{"radians":-0.041698315363887344}},"curvature":-0.020318490070223707},{"time":0.47793569081470083,"velocity":1.911742763258804,"acceleration":4.0,"pose":{"translation":{"x":1.739673599424829,"y":-2.1473494258831494},"rotation":{"radians":-0.04311984981859731}},"curvature":-0.010895277704161184},{"time":0.5256310549409309,"velocity":2.102524219763724,"acceleration":3.999999999999995,"pose":{"translation":{"x":1.8353138934017652,"y":-2.1515149261838},"rotation":{"radians":-0.043824239355590995}},"curvature":-0.004054002142586204},{"time":0.5686780316575746,"velocity":2.2747121266302983,"acceleration":4.0,"pose":{"translation":{"x":1.9294364480004413,"y":-2.1556511824144113},"rotation":{"radians":-0.04391028317758082}},"curvature":0.0023372255165545136},{"time":0.606560127916916,"velocity":2.426240511667664,"acceleration":4.000000000000005,"pose":{"translation":{"x":2.0183924036297953,"y":-2.1595412117438633},"rotation":{"radians":-0.0433799936385976}},"curvature":0.010048656868101502},{"time":0.639030388587779,"velocity":2.556121554351116,"acceleration":4.0,"pose":{"translation":{"x":2.0992074745143237,"y":-2.1630057133282055},"rotation":{"radians":-0.04215825394754191}},"curvature":0.021125363972620232},{"time":0.6661567816809792,"velocity":2.664627126723917,"acceleration":-0.618403881588484,"pose":{"translation":{"x":2.1699573087194044,"y":-2.165925095624365},"rotation":{"radians":-0.0401276341206716}},"curvature":0.03764031067752341},{"time":0.688820248475772,"velocity":2.6506119508877655,"acceleration":1.3746492098273586,"pose":{"translation":{"x":2.230142848176617,"y":-2.168261503703853},"rotation":{"radians":-0.03727112513114321}},"curvature":0.05750832380249039},{"time":0.7247479955396108,"velocity":2.6999999999999487,"acceleration":-0.5682326568036667,"pose":{"translation":{"x":2.3262034400566898,"y":-2.171574824454032},"rotation":{"radians":-0.03249504231442196}},"curvature":5.901764018577339E-14},{"time":0.7606059188656246,"velocity":2.6796243569609457,"acceleration":0.2883804539257105,"pose":{"translation":{"x":2.422606086808268,"y":-2.174631016861803},"rotation":{"radians":-0.030556205404193983}},"curvature":0.0234688817461335},{"time":0.7833111927721345,"velocity":2.6861721141566126,"acceleration":0.20060364203593373,"pose":{"translation":{"x":2.4834947624457717,"y":-2.1764533340992185},"rotation":{"radians":-0.029361434090119997}},"curvature":0.01588828198518307},{"time":0.8100763130975644,"velocity":2.691541294773424,"acceleration":0.11317460993037652,"pose":{"translation":{"x":2.5554323373714154,"y":-2.178531051799546},"rotation":{"radians":-0.02846091699651151}},"curvature":0.009699689522704499},{"time":0.8407179729716425,"velocity":2.695009152677292,"acceleration":-0.840939002803499,"pose":{"translation":{"x":2.6379261260684697,"y":-2.1808516934760047},"rotation":{"radians":-0.02784084595448294}},"curvature":0.005715694785727201},{"time":0.8747051856195353,"velocity":2.6664279799651025,"acceleration":-4.000000000000004,"pose":{"translation":{"x":2.729001517780213,"y":-2.1833682020138534},"rotation":{"radians":-0.027445618055253494}},"curvature":0.00316721789371224},{"time":0.911985400160311,"velocity":2.5173071218019993,"acceleration":-4.0,"pose":{"translation":{"x":2.8255908280445983,"y":-2.186008066691889},"rotation":{"radians":-0.027231453600986295}},"curvature":0.001353368946051485},{"time":0.9523568727927795,"velocity":2.3558212312721256,"acceleration":-4.000000000000004,"pose":{"translation":{"x":2.9239221502289103,"y":-2.188682450203946},"rotation":{"radians":-0.02717637198581686}},"curvature":-2.3363471267749878E-4},{"time":0.9946335290413931,"velocity":2.186714606277671,"acceleration":-4.000000000000005,"pose":{"translation":{"x":3.01990820706443,"y":-2.191295315680394},"rotation":{"radians":-0.027281851086556178}},"curvature":-0.002062618750954218},{"time":1.037301058103717,"velocity":2.0160444900283756,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":3.1095352021810947,"y":-2.1937525537096376},"rotation":{"radians":-0.0275775759098918}},"curvature":-0.004811312721425314},{"time":1.0785449130291422,"velocity":1.8510690703266743,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":3.1892516716421593,"y":-2.195971109359616},"rotation":{"radians":-0.028135419193203212}},"curvature":-0.009876676219632861},{"time":1.1163568604420468,"velocity":1.6998212806750554,"acceleration":-3.999999999999998,"pose":{"translation":{"x":3.2563573354788593,"y":-2.1978881091992997},"rotation":{"radians":-0.02910149342791912}},"curvature":-0.0207391501469607},{"time":1.174594521532667,"velocity":1.4668706363125754,"acceleration":-4.0,"pose":{"translation":{"x":3.3485241554519773,"y":-2.2007216173578197},"rotation":{"radians":-0.03359028303482695}},"curvature":-0.10991559861675788},{"time":1.2087304428816261,"velocity":1.3303269509167392,"acceleration":-4.0,"pose":{"translation":{"x":3.3962334600270623,"y":-2.2025005475745654},"rotation":{"radians":-0.04079368286785503}},"curvature":3.6219771054025265E-14},{"time":1.2239727710551236,"velocity":1.2693576382227492,"acceleration":4.000000000000019,"pose":{"translation":{"x":3.4160134363701244,"y":-2.2036374553006297},"rotation":{"radians":-0.08555363900999823}},"curvature":-3.4785805922858946},{"time":1.2426165160823823,"velocity":1.3439326183317841,"acceleration":3.999999999999979,"pose":{"translation":{"x":3.4401793895961306,"y":-2.2067120715149344},"rotation":{"radians":-0.16386639555816465}},"curvature":-2.6772660424794057},{"time":1.2655839109819202,"velocity":1.4358021979299356,"acceleration":4.000000000000016,"pose":{"translation":{"x":3.4714694950107217,"y":-2.2130302988096493},"rotation":{"radians":-0.22838295670071146}},"curvature":-1.501876024390862},{"time":1.2930212592859236,"velocity":1.5455515911459494,"acceleration":4.000000000000008,"pose":{"translation":{"x":3.5110612602764317,"y":-2.22329286254503},"rotation":{"radians":-0.274539493228866}},"curvature":-0.8551389988750135},{"time":1.3573184156571227,"velocity":1.802740216630747,"acceleration":4.000000000000007,"pose":{"translation":{"x":3.6136202277077123,"y":-2.255982847340365},"rotation":{"radians":-0.3349074833174572}},"curvature":-0.39927370398729},{"time":1.3913436563581967,"velocity":1.9388411794350433,"acceleration":3.999999999999997,"pose":{"translation":{"x":3.6734847543506883,"y":-2.277618082042938},"rotation":{"radians":-0.35806242406953204}},"curvature":-0.33961788929602654},{"time":1.4247481331945138,"velocity":2.072459086780311,"acceleration":-1.5477152186941614,"pose":{"translation":{"x":3.735966844770239,"y":-2.301798224711784},"rotation":{"radians":-0.3803645019310016}},"curvature":-0.3340616899284977},{"time":1.4577255946276324,"velocity":2.0214193678463737,"acceleration":-4.0,"pose":{"translation":{"x":3.7983500806931723,"y":-2.327585196350376},"rotation":{"radians":-0.40405660296760854}},"curvature":-0.3764682297779519},{"time":1.4910602896268748,"velocity":1.8880805878494042,"acceleration":-4.0,"pose":{"translation":{"x":3.85792114111512,"y":-2.3539905734513846},"rotation":{"radians":-0.4315251130863453}},"curvature":-0.4799987077640321},{"time":1.555607860328823,"velocity":1.629890305041611,"acceleration":-4.0,"pose":{"translation":{"x":3.959352702694642,"y":-2.4050059601784426},"rotation":{"radians":-0.5110247139187495}},"curvature":-1.0614527710753054},{"time":1.5843602286806864,"velocity":1.5148808316341578,"acceleration":-4.0,"pose":{"translation":{"x":3.9981476955555033,"y":-2.4282196493174926},"rotation":{"radians":-0.5724367337320869}},"curvature":-1.7334363452664492},{"time":1.6096656591754226,"velocity":1.413659109655213,"acceleration":-4.000000000000007,"pose":{"translation":{"x":4.028520751292598,"y":-2.4494440471853323},"rotation":{"radians":-0.6532722519134561}},"curvature":-2.6740328887013582},{"time":1.6210418337485968,"velocity":1.3681544113625157,"acceleration":3.033822843379411,"pose":{"translation":{"x":4.040869519420265,"y":-2.4593375563986917},"rotation":{"radians":-0.6985297569203345}},"curvature":-3.0045106741555943},{"time":1.6314373268522655,"velocity":1.3996924958086188,"acceleration":4.000000000000012,"pose":{"translation":{"x":4.051683447525521,"y":-2.4688260895234024},"rotation":{"radians":-0.7415807871716069}},"curvature":-2.8672689023057556},{"time":1.6496194126586097,"velocity":1.472420839033996,"acceleration":4.000000000000012,"pose":{"translation":{"x":4.070414224054623,"y":-2.487017200283452},"rotation":{"radians":-0.787423662158867}},"curvature":-2.06504897929721E-13},{"time":1.68411350614176,"velocity":1.6103972129665973,"acceleration":3.9999999999999853,"pose":{"translation":{"x":4.107095964998534,"y":-2.525506761986001},"rotation":{"radians":-0.8450952702667438}},"curvature":-1.5721451016505619},{"time":1.7025934839304486,"velocity":1.6843171241213515,"acceleration":4.000000000000033,"pose":{"translation":{"x":4.126757840425221,"y":-2.548748845510642},"rotation":{"radians":-0.8914565110823546}},"curvature":-1.43162585080387},{"time":1.7222734046789963,"velocity":1.763036807115543,"acceleration":4.000000000000009,"pose":{"translation":{"x":4.147463490162325,"y":-2.575618277092462},"rotation":{"radians":-0.9355286310691155}},"curvature":-1.1696919230943286},{"time":1.7643423349653842,"velocity":1.9313125282610952,"acceleration":3.9999999999999947,"pose":{"translation":{"x":4.1910752370933855,"y":-2.639935084611638},"rotation":{"radians":-1.0094351855677002}},"curvature":-0.7885693519218696},{"time":1.8070119946687253,"velocity":2.1019911670744595,"acceleration":-3.676467254406349,"pose":{"translation":{"x":4.234576840406595,"y":-2.7141791878373365},"rotation":{"radians":-1.0704526428626095}},"curvature":-0.6689931062565239},{"time":1.8493295922685322,"velocity":1.946411905213625,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.273449864565585,"y":-2.790510122335995},"rotation":{"radians":-1.1305323578994944}},"curvature":-0.7734089192576035},{"time":1.8904012600743152,"velocity":1.782125233990493,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":4.3037605366639955,"y":-2.860823823934308},"rotation":{"radians":-1.2017779337337726}},"curvature":-1.147399466913196},{"time":1.9270099176864155,"velocity":1.6356906035420915,"acceleration":-4.0,"pose":{"translation":{"x":4.323908479206728,"y":-2.9200514967068565},"rotation":{"radians":-1.288949009645819}},"curvature":-1.5813686366376538},{"time":1.959448938015272,"velocity":1.5059345222266656,"acceleration":-3.999999999999991,"pose":{"translation":{"x":4.336375442891196,"y":-2.969458480963734},"rotation":{"radians":-1.3451950829588586}},"curvature":1.2652507390984346E-13},{"time":1.9761336349539496,"velocity":1.4391957344719555,"acceleration":-4.0,"pose":{"translation":{"x":4.3415758951471215,"y":-2.993471101411822},"rotation":{"radians":-1.380095402243127}},"curvature":-2.4888876638790376},{"time":1.995090335443816,"velocity":1.363368932512489,"acceleration":3.9999999999999702,"pose":{"translation":{"x":4.345633651235341,"y":-3.019723038773883},"rotation":{"radians":-1.4570354405213441}},"curvature":-3.0258900807428013},{"time":2.0163610128397633,"velocity":1.4484516420962776,"acceleration":3.9999999999999933,"pose":{"translation":{"x":4.347734321015223,"y":-3.0495538303411593},"rotation":{"radians":-1.5415280334385852}},"curvature":-2.55732771771104},{"time":2.03905614524467,"velocity":1.5392321717159043,"acceleration":3.9999999999999885,"pose":{"translation":{"x":4.34738157991217,"y":-3.083454935123909},"rotation":{"radians":-1.617374818363511}},"curvature":-1.9414977440995753},{"time":2.0629272902399007,"velocity":1.6347167516968262,"acceleration":3.9999999999999947,"pose":{"translation":{"x":4.344353073807754,"y":-3.1212165832895953},"rotation":{"radians":-1.6813185286194525}},"curvature":-1.4719532636371344},{"time":2.0874285675148467,"velocity":1.7327218607966097,"acceleration":1.6014541694644087,"pose":{"translation":{"x":4.338656323929853,"y":-3.1620746256010692},"rotation":{"radians":-1.7353123362084182}},"curvature":-1.1751520795245802},{"time":2.112280584644629,"velocity":1.7725212272487003,"acceleration":-3.999999999999995,"pose":{"translation":{"x":4.3304846317427925,"y":-3.20485738285476},"rotation":{"radians":-1.7826048249495483}},"curvature":-1.0176661157517188},{"time":2.1381326573789967,"velocity":1.6691129363112291,"acceleration":-4.0,"pose":{"translation":{"x":4.320172983837481,"y":-3.2481324953188606},"rotation":{"radians":-1.8264983721146553}},"curvature":-0.9733368788098502},{"time":2.165318864333257,"velocity":1.5603681084941876,"acceleration":-4.0,"pose":{"translation":{"x":4.308153956821549,"y":-3.290353772171517},"rotation":{"radians":-1.870231472474327}},"curvature":-1.0387367571502901},{"time":2.193100754962898,"velocity":1.4492405459756244,"acceleration":-4.000000000000003,"pose":{"translation":{"x":4.294913622209486,"y":-3.3300080409390134},"rotation":{"radians":-1.9172617857402379}},"curvature":-1.2399705067182853},{"time":2.2206330649176476,"velocity":1.339111306156626,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.280947451312782,"y":-3.365761996933961},"rotation":{"radians":-1.9716805078766622}},"curvature":-1.644328539420413},{"time":2.2470435793899015,"velocity":1.2334692482676106,"acceleration":-3.999999999999996,"pose":{"translation":{"x":4.266716220130062,"y":-3.396609052693486},"rotation":{"radians":-2.0384996772702273}},"curvature":-2.371983666622517},{"time":2.271583079460437,"velocity":1.1353112479854695,"acceleration":-3.999999999999991,"pose":{"translation":{"x":4.2526019142372276,"y":-3.4220161874174133},"rotation":{"radians":-2.122902589403081}},"curvature":-3.5427973786791616},{"time":2.2830126112154394,"velocity":1.0895931209654601,"acceleration":-4.00000000000001,"pose":{"translation":{"x":4.245675582979829,"y":-3.4326788450042356},"rotation":{"radians":-2.172363935580213}},"curvature":-4.250069188120277},{"time":2.2938774990764603,"velocity":1.0461335695213756,"acceleration":-3.2338613992953595,"pose":{"translation":{"x":4.238863633677591,"y":-3.4420707964064596},"rotation":{"radians":-2.225461581397636}},"curvature":-4.879420915945911},{"time":2.304198706704026,"velocity":1.0127562145804778,"acceleration":4.000000000000079,"pose":{"translation":{"x":4.232172018617497,"y":-3.450323998538391},"rotation":{"radians":-2.27918481261407}},"curvature":-5.141950720833918},{"time":2.313725157870012,"velocity":1.0508620192444236,"acceleration":3.999999999999945,"pose":{"translation":{"x":4.225593497852015,"y":-3.457627540500415},"rotation":{"radians":-2.3279932169747504}},"curvature":-4.611580696638505},{"time":2.330514575956413,"velocity":1.1180196915900273,"acceleration":3.0039263862814973,"pose":{"translation":{"x":4.212672550409055,"y":-3.4704551955163354},"rotation":{"radians":-2.3775358768287482}},"curvature":-1.4509492896866132E-12},{"time":2.3463039445647818,"velocity":1.1654497925754308,"acceleration":-4.000000000000005,"pose":{"translation":{"x":4.1995018615661195,"y":-3.482764356500721},"rotation":{"radians":-2.4130782371283543}},"curvature":-3.514623529874011},{"time":2.363367189457748,"velocity":1.097196813003566,"acceleration":2.6579128346153467,"pose":{"translation":{"x":4.1846069349365,"y":-3.4950439075764557},"rotation":{"radians":-2.494305163545657}},"curvature":-4.5086928416365915},{"time":2.372784401856702,"velocity":1.122226942705045,"acceleration":4.00000000000009,"pose":{"translation":{"x":4.176125303615964,"y":-3.501149039238779},"rotation":{"radians":-2.540787483566944}},"curvature":-4.33929158587542},{"time":2.3825148157736447,"velocity":1.161148598372816,"acceleration":4.000000000000009,"pose":{"translation":{"x":4.166816867221693,"y":-3.5072124536305975},"rotation":{"radians":-2.5869849328931567}},"curvature":-3.958115358726707},{"time":2.402847666342773,"velocity":1.242480000649329,"acceleration":3.9999999999999436,"pose":{"translation":{"x":4.145491488542144,"y":-3.51914398740226},"rotation":{"radians":-2.672180051426069}},"curvature":-3.0312526952992744},{"time":2.4243036469046446,"velocity":1.3283039228968148,"acceleration":4.0,"pose":{"translation":{"x":4.120441167812345,"y":-3.530680958364998},"rotation":{"radians":-2.7442002884146324}},"curvature":-2.24379037322869},{"time":2.4466103883603894,"velocity":1.417530888719793,"acceleration":3.99999999999998,"pose":{"translation":{"x":4.091846618115918,"y":-3.5416473416091985},"rotation":{"radians":-2.8037409475329813}},"curvature":-1.6895999205313315},{"time":2.469354100323114,"velocity":1.5085057365706906,"acceleration":4.000000000000044,"pose":{"translation":{"x":4.0601787020806945,"y":-3.5518617067244715},"rotation":{"radians":-2.8534261096403184}},"curvature":-1.3278957233890747},{"time":2.4920732525792104,"velocity":1.5993823455950777,"acceleration":3.999999999999994,"pose":{"translation":{"x":4.026118237253801,"y":-3.5611502866820404},"rotation":{"radians":-2.895969747404089}},"curvature":-1.1024689835058716},{"time":2.5357087438611305,"velocity":1.7739243107227585,"acceleration":1.6015135033662458,"pose":{"translation":{"x":3.954111538260461,"y":-3.5763717532113795},"rotation":{"radians":-2.9681704661116073}},"curvature":-0.9030690719457863},{"time":2.5758015453526193,"velocity":1.8381334736991601,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":3.882424764151878,"y":-3.5865714901301473},"rotation":{"radians":-3.032028794505532}},"curvature":-0.8731590609909291},{"time":2.6136824742704525,"velocity":1.6866097580278272,"acceleration":-4.0,"pose":{"translation":{"x":3.8158829806579693,"y":-3.591968268950124},"rotation":{"radians":-3.088078485604461}},"curvature":-0.7510851526245056},{"time":2.651517850179749,"velocity":1.5352682543906422,"acceleration":-4.0,"pose":{"translation":{"x":3.754971848225213,"y":-3.594158087998451},"rotation":{"radians":-3.1156244663782533}},"curvature":-6.238602905595439E-14},{"time":2.6714973979721175,"velocity":1.455350063221168,"acceleration":-3.999999999999993,"pose":{"translation":{"x":3.7250996475323115,"y":-3.5946088086292822},"rotation":{"radians":3.136061727913206}},"curvature":-1.9531662342533467},{"time":2.6930326522483248,"velocity":1.3692090461163382,"acceleration":-4.0,"pose":{"translation":{"x":3.694712240744392,"y":-3.59334204199147},"rotation":{"radians":3.058543079259456}},"curvature":-2.9931355679675957},{"time":2.7045860204522962,"velocity":1.3229955733004526,"acceleration":-1.1008493202071628,"pose":{"translation":{"x":3.6792491868301713,"y":-3.59168097196776},"rotation":{"radians":3.010052712224437}},"curvature":-3.212417145168894},{"time":2.716619781870694,"velocity":1.309748215223474,"acceleration":0.8865707632070113,"pose":{"translation":{"x":3.663603722960406,"y":-3.5892002983800015},"rotation":{"radians":2.9584735611647806}},"curvature":-3.2761262969660088},{"time":2.728909239736888,"velocity":1.3206436892633058,"acceleration":2.2584631734658736,"pose":{"translation":{"x":3.6477941566508547,"y":-3.5858385065121516},"rotation":{"radians":2.9058109570288546}},"curvature":-3.2236345038509038},{"time":2.7412759479466158,"velocity":1.3485734443319741,"acceleration":3.2099961349838653,"pose":{"translation":{"x":3.631852976097636,"y":-3.5815624837629936},"rotation":{"radians":2.8535988153254137}},"curvature":-3.0929495414508255},{"time":2.753589870193845,"velocity":1.3881010871520711,"acceleration":3.8353555541388795,"pose":{"translation":{"x":3.6158250409293315,"y":-3.576364958338765},"rotation":{"radians":2.8029224241077566}},"curvature":-2.9169854819246734},{"time":2.765761700355853,"velocity":1.4347843835679641,"acceleration":3.9999999999999365,"pose":{"translation":{"x":3.5997657729590933,"y":-3.5702619379457867},"rotation":{"radians":2.754474861643414}},"curvature":-2.7216538702201953},{"time":2.7777426665244045,"velocity":1.48270824824217,"acceleration":4.000000000000012,"pose":{"translation":{"x":3.583739346936751,"y":-3.5632901484830892},"rotation":{"radians":2.7086307970219012}},"curvature":-2.525656347456435},{"time":2.7895097248953897,"velocity":1.529776481726111,"acceleration":3.9999999999999813,"pose":{"translation":{"x":3.5678168813009155,"y":-3.5555044727350418},"rotation":{"radians":2.6655227947601507}},"curvature":-2.3414087478565757},{"time":2.8122991406140603,"velocity":1.6209341446007937,"acceleration":3.4272946380996214,"pose":{"translation":{"x":3.536592167899765,"y":-3.5377864101028305},"rotation":{"radians":2.5872339667863717}},"curvature":-2.0349933743697015},{"time":2.8339664244458183,"velocity":1.695194310299561,"acceleration":-3.0803831532934387,"pose":{"translation":{"x":3.506730702620229,"y":-3.517812620350732},"rotation":{"radians":2.5181136337500356}},"curvature":-1.8294375517087662},{"time":2.8550966644106897,"velocity":1.6301050750867232,"acceleration":-4.0,"pose":{"translation":{"x":3.4788668624822137,"y":-3.4964145602739234},"rotation":{"radians":2.455865619207337}},"curvature":-1.731324515687479},{"time":2.876185794954847,"velocity":1.545748552910095,"acceleration":-3.999999999999993,"pose":{"translation":{"x":3.453572435728348,"y":-3.4744683113252766},"rotation":{"radians":2.3979526824914337}},"curvature":-1.7469589539304369},{"time":2.8968351048172605,"velocity":1.4631513134604406,"acceleration":-4.0000000000000115,"pose":{"translation":{"x":3.431298725891377,"y":-3.452812617779449},"rotation":{"radians":2.3418331076250425}},"curvature":-1.8905310113261928},{"time":2.916532567197053,"velocity":1.3843614639412698,"acceleration":-4.000000000000004,"pose":{"translation":{"x":3.4123186558615646,"y":-3.4321669248969804},"rotation":{"radians":2.2852009489965104}},"curvature":-2.1772564962953607},{"time":2.934864704641409,"velocity":1.3110329141638457,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":3.396668871954087,"y":-3.413049417088383},"rotation":{"radians":2.226719709327411}},"curvature":-2.573637538496012},{"time":2.9516419568713705,"velocity":1.2439239052439994,"acceleration":-3.999999999999997,"pose":{"translation":{"x":3.3840918479764355,"y":-3.395695056078237},"rotation":{"radians":2.1681420803039746}},"curvature":-2.832482643163},{"time":2.9818259015964843,"velocity":1.1231881263435441,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":3.365307736906527,"y":-3.365307736906524},"rotation":{"radians":2.097223446246329}},"curvature":-8.563770366091795E-13},{"time":2.997462269522306,"velocity":1.060642654640258,"acceleration":-4.0,"pose":{"translation":{"x":3.3569601150851334,"y":-3.3504139559098243},"rotation":{"radians":2.0534269352898393}},"curvature":-4.408270501759967},{"time":3.00623512084055,"velocity":1.025551249367283,"acceleration":1.6289207584132146,"pose":{"translation":{"x":3.352888417839121,"y":-3.34221878152369},"rotation":{"radians":2.00945046974988}},"curvature":-5.039291505589935},{"time":3.0157413211487527,"velocity":1.0410360963829488,"acceleration":3.9999999999999374,"pose":{"translation":{"x":3.348938187910332,"y":-3.3332253921389725},"rotation":{"radians":1.9600889401197457}},"curvature":-4.918425960032723},{"time":3.025775465282014,"velocity":1.0811726729159945,"acceleration":3.999999999999962,"pose":{"translation":{"x":3.3451483772153683,"y":-3.323275428034386},"rotation":{"radians":1.910261081074239}},"curvature":-4.408855443013236},{"time":3.0362883696223735,"velocity":1.1232242902774319,"acceleration":3.999999999999941,"pose":{"translation":{"x":3.3415568043329786,"y":-3.312258790961145},"rotation":{"radians":1.862852105947923}},"curvature":-3.777559351932002},{"time":3.058766661637808,"velocity":1.2131374583391685,"acceleration":4.000000000000051,"pose":{"translation":{"x":3.3351126798982738,"y":-3.2868030813034936},"rotation":{"radians":1.7795466119070087}},"curvature":-2.6531826547037785},{"time":3.0829148806493176,"velocity":1.309730334385209,"acceleration":3.9999999999999645,"pose":{"translation":{"x":3.329877464834413,"y":-3.256794943799528},"rotation":{"radians":1.7112422440915225}},"curvature":-1.9091065013963306},{"time":3.1081396068272134,"velocity":1.4106292390967914,"acceleration":3.9999999999999702,"pose":{"translation":{"x":3.3260908121412434,"y":-3.222694378935494},"rotation":{"radians":1.6539720869679109}},"curvature":-1.4789022701863384},{"time":3.1337213694428026,"velocity":1.5129562895591468,"acceleration":3.9999999999999605,"pose":{"translation":{"x":3.323953445678914,"y":-3.185360275196754},"rotation":{"radians":1.6033565305589343}},"curvature":-1.258675171105693},{"time":3.1589456148128314,"velocity":1.6138532710392612,"acceleration":4.000000000000005,"pose":{"translation":{"x":3.323620228256534,"y":-3.14592597721417},"rotation":{"radians":1.5556306743323207}},"curvature":-1.1826036185598943},{"time":3.1831779513087883,"velocity":1.7107826170230889,"acceleration":3.268692189634968,"pose":{"translation":{"x":3.3251932297208238,"y":-3.1056748539104833},"rotation":{"radians":1.5075886225922053}},"curvature":-1.2202906053347709},{"time":3.206011108661914,"velocity":1.7854171801279564,"acceleration":-4.0,"pose":{"translation":{"x":3.32871479504477,"y":-3.0659158666466917},"rotation":{"radians":1.4563571202624555}},"curvature":-1.36525699772591},{"time":3.228089598607213,"velocity":1.69710322034676,"acceleration":-4.000000000000006,"pose":{"translation":{"x":3.3341606124162797,"y":-3.0278591373684343},"rotation":{"radians":1.399322649027205}},"curvature":-1.6228221607848625},{"time":3.249927584165196,"velocity":1.6097512781148287,"acceleration":-4.0,"pose":{"translation":{"x":3.341432781326834,"y":-2.9924915167523713},"rotation":{"radians":1.3344964277889204}},"curvature":-1.9866050113100104},{"time":3.271147303275768,"velocity":1.5248724016725403,"acceleration":-2.033600699074242,"pose":{"translation":{"x":3.3503528806601435,"y":-2.9604521523525613},"rotation":{"radians":1.2618308191102119}},"curvature":-2.378518378256901},{"time":3.291319539740026,"velocity":1.4838501274969347,"acceleration":4.00000000000004,"pose":{"translation":{"x":3.3606550367807997,"y":-2.9319080567468454},"rotation":{"radians":1.1861977292409747}},"curvature":-2.529601150177309},{"time":3.3096563352574537,"velocity":1.5571973095666465,"acceleration":4.000000000000017,"pose":{"translation":{"x":3.3719789916229312,"y":-2.906429675683226},"rotation":{"radians":1.1218144675690096}},"curvature":-1.8952434569659933},{"time":3.3262501235711666,"velocity":1.623572462821498,"acceleration":1.977577487988556,"pose":{"translation":{"x":3.383863170778858,"y":-2.8828664562262487},"rotation":{"radians":1.093904459129229}},"curvature":-8.800441833469826E-13},{"time":3.3584879072749496,"velocity":1.6873251781367433,"acceleration":-2.0142764012100978,"pose":{"translation":{"x":3.409421332559775,"y":-2.836016441307421},"rotation":{"radians":1.03246981422163}},"curvature":-1.8523635006166714},{"time":3.3755553915808356,"velocity":1.6529465472713734,"acceleration":2.871707501665486,"pose":{"translation":{"x":3.4246997039230482,"y":-2.8119517909191396},"rotation":{"radians":0.9773027697049732}},"curvature":-1.9550822525832192},{"time":3.3935327047647617,"velocity":1.704572132401444,"acceleration":4.000000000000021,"pose":{"translation":{"x":3.4422944489302507,"y":-2.7874317553821495},"rotation":{"radians":0.9202382607450275}},"curvature":-1.8023926209567516},{"time":3.4118370788294006,"velocity":1.7777896286599997,"acceleration":3.9999999999999933,"pose":{"translation":{"x":3.462286745117756,"y":-2.7626107330513356},"rotation":{"radians":0.8664839706618565}},"curvature":-1.5685015112746035},{"time":3.430213440704858,"velocity":1.8512950761618299,"acceleration":3.9999999999999902,"pose":{"translation":{"x":3.484502239456919,"y":-2.737744290681301},"rotation":{"radians":0.8180642063277515}},"curvature":-1.342067422892275},{"time":3.4662487375396487,"velocity":1.9954362635009926,"acceleration":-1.0841013061832634,"pose":{"translation":{"x":3.5339759346661554,"y":-2.689204633831253},"rotation":{"radians":0.7374177803804196}},"curvature":-1.0172793016020754},{"time":3.501071315549712,"velocity":1.957685061195614,"acceleration":-4.0,"pose":{"translation":{"x":3.58641522012724,"y":-2.6446227538041613},"rotation":{"radians":0.6735347286417496}},"curvature":-0.8614819661815898},{"time":3.534700092200895,"velocity":1.8231699545908826,"acceleration":-4.000000000000002,"pose":{"translation":{"x":3.637145180535536,"y":-2.6063086898682277},"rotation":{"radians":0.6207461925587068}},"curvature":-0.8052427483987902},{"time":3.59595182571624,"velocity":1.578163020529502,"acceleration":-3.9999999999999907,"pose":{"translation":{"x":3.7240461251046875,"y":-2.54886864652451},"rotation":{"radians":0.560204132562198}},"curvature":-7.457536366926828E-14},{"time":3.6115972333199053,"velocity":1.5155813901148416,"acceleration":-0.07742956382923417,"pose":{"translation":{"x":3.74470895187347,"y":-2.536268742306378},"rotation":{"radians":0.525164211505784}},"curvature":-2.412020243396965},{"time":3.6297600859180426,"velocity":1.5141750483602732,"acceleration":3.9999999999999933,"pose":{"translation":{"x":3.768986043093209,"y":-2.523319955048472},"rotation":{"radians":0.4550216790642493}},"curvature":-2.4171271072040383},{"time":3.650993720894468,"velocity":1.5991095882659736,"acceleration":3.999999999999983,"pose":{"translation":{"x":3.7991771465695363,"y":-2.5098659729744166},"rotation":{"radians":0.3875545561952699}},"curvature":-1.6762547697600338},{"time":3.675084635740547,"velocity":1.6954732476502903,"acceleration":3.9999999999999956,"pose":{"translation":{"x":3.8363339474620317,"y":-2.495928537502044},"rotation":{"radians":0.33410749913838633}},"curvature":-1.0765892532870953},{"time":3.7297340715448684,"velocity":1.9140709908675753,"acceleration":3.9999999999999885,"pose":{"translation":{"x":3.9307383752858023,"y":-2.4673691759900973},"rotation":{"radians":0.26253003994804947}},"curvature":-0.5025745932489095},{"time":3.786898905888384,"velocity":2.1427303282416372,"acceleration":3.999999999999996,"pose":{"translation":{"x":4.043424495340928,"y":-2.4400382396468108},"rotation":{"radians":0.21658966865915344}},"curvature":-0.3307318527140351},{"time":3.839230001573852,"velocity":2.3520547109835084,"acceleration":-2.371654953608918,"pose":{"translation":{"x":4.1587397421442835,"y":-2.416926420557603},"rotation":{"radians":0.1789817998898148}},"curvature":-0.33293505130574713},{"time":3.884156354998951,"velocity":2.2455049023352873,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":4.26069944999191,"y":-2.4004914696810618},"rotation":{"radians":0.13770571538347967}},"curvature":-0.5090235244777953},{"time":3.9206774186461297,"velocity":2.0994206477465736,"acceleration":3.9999999999999925,"pose":{"translation":{"x":4.339532486997731,"y":-2.3915309327708725},"rotation":{"radians":0.08351328684758205}},"curvature":-0.8829292872204715},{"time":3.947974013319076,"velocity":2.208607026438359,"acceleration":3.999999999999986,"pose":{"translation":{"x":4.398226889132253,"y":-2.3880548862977498},"rotation":{"radians":0.04283093266875069}},"curvature":2.1870361463148794E-13},{"time":3.9755494242083995,"velocity":2.3189086699956527,"acceleration":3.999999999999991,"pose":{"translation":{"x":4.4605554149507745,"y":-2.3846027507878573},"rotation":{"radians":0.07140677468934067}},"curvature":0.46248437159092276},{"time":4.017027884983818,"velocity":2.484822513097327,"acceleration":4.000000000000013,"pose":{"translation":{"x":4.559798928251242,"y":-2.375884796737991},"rotation":{"radians":0.09901680638524288}},"curvature":0.16389428767248937},{"time":4.04352768123418,"velocity":2.590821698098775,"acceleration":1.3883672873632098,"pose":{"translation":{"x":4.626689055476373,"y":-2.368919793112227},"rotation":{"radians":0.10786271121781651}},"curvature":0.10729434350126203},{"time":4.073226588770233,"velocity":2.6320546897922545,"acceleration":0.30988263977372227,"pose":{"translation":{"x":4.7037635578065276,"y":-2.3602833673590338},"rotation":{"radians":0.11495998516848317}},"curvature":0.07967454033841612},{"time":4.1056383716548295,"velocity":2.642098538632306,"acceleration":0.05359364509452656,"pose":{"translation":{"x":4.788640059601188,"y":-2.350208504783425},"rotation":{"radians":0.12116549370035413}},"curvature":0.06763873923882119},{"time":4.139797537370239,"velocity":2.643929252836383,"acceleration":-0.14657537507770066,"pose":{"translation":{"x":4.878228286759015,"y":-2.3390283140025687},"rotation":{"radians":0.1271091573384734}},"curvature":0.06545480043781335},{"time":4.17448052299257,"velocity":2.638845581209975,"acceleration":-0.3811981128864764,"pose":{"translation":{"x":4.9690644657883905,"y":-2.3271371039724635},"rotation":{"radians":0.13331936365426306}},"curvature":0.0715268098618738},{"time":4.208448178921519,"velocity":2.6258971748706825,"acceleration":-0.7446623469603254,"pose":{"translation":{"x":5.057645722877963,"y":-2.3149514610146213},"rotation":{"radians":0.14032425405552681}},"curvature":0.08709877348868322},{"time":4.240580602537054,"velocity":2.601969368887615,"acceleration":-1.361760041572054,"pose":{"translation":{"x":5.140764482967187,"y":-2.302871325842744},"rotation":{"radians":0.14873190751053336}},"curvature":0.11628256654002964},{"time":4.270005772142701,"velocity":2.561899348702164,"acceleration":-2.558148548264256,"pose":{"translation":{"x":5.2158428688168685,"y":-2.291241070589405},"rotation":{"radians":0.15927115137087328}},"curvature":0.16637522402887112},{"time":4.319102331811734,"velocity":2.436303055860058,"acceleration":3.9999999999999902,"pose":{"translation":{"x":5.336721892370825,"y":-2.270196307623063},"rotation":{"radians":0.18899271125240838}},"curvature":0.3340633076268626},{"time":4.355024989106661,"velocity":2.579993685039766,"acceleration":1.7191444291344025,"pose":{"translation":{"x":5.424960896733882,"y":-2.2519817045674144},"rotation":{"radians":0.2135821982191385}},"curvature":2.8293419745669658E-14},{"time":4.3893862633826135,"velocity":2.639065678289229,"acceleration":-0.6639770457336512,"pose":{"translation":{"x":5.512562284564335,"y":-2.2328472953059184},"rotation":{"radians":0.2175917176114819}},"curvature":0.07126343831312376},{"time":4.435122761682521,"velocity":2.6086976932658543,"acceleration":-3.999999999999994,"pose":{"translation":{"x":5.629621271591719,"y":-2.2064103501350836},"rotation":{"radians":0.22675370914173432}},"curvature":0.0784618855539497},{"time":4.463871592981231,"velocity":2.4937023680710158,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":5.701039343573113,"y":-2.1897129203864143},"rotation":{"radians":0.23264582386144253}},"curvature":0.08287731638800282},{"time":4.496997031783583,"velocity":2.3612006128616083,"acceleration":-4.0,"pose":{"translation":{"x":5.779219088344069,"y":-2.1709044313680397},"rotation":{"radians":0.23967700417373605}},"curvature":0.0930578565526003},{"time":4.534113675486813,"velocity":2.212734038048689,"acceleration":-4.000000000000005,"pose":{"translation":{"x":5.86159218441938,"y":-2.150409063454151},"rotation":{"radians":0.2483098811484462}},"curvature":0.11204410996316728},{"time":4.574539614298748,"velocity":2.0510302828009506,"acceleration":-4.0,"pose":{"translation":{"x":5.945020070517284,"y":-2.1287906562351426},"rotation":{"radians":0.25926391233015494}},"curvature":0.14522001708215543},{"time":4.617303749039713,"velocity":1.8799737438370905,"acceleration":-4.0,"pose":{"translation":{"x":6.026115603624698,"y":-2.106690427034547},"rotation":{"radians":0.2736653710251387}},"curvature":0.20347656023914576},{"time":4.661141540612062,"velocity":1.7046225775476895,"acceleration":-4.0,"pose":{"translation":{"x":6.101564717062441,"y":-2.0847646894259713},"rotation":{"radians":0.29334248603288626}},"curvature":0.3101401619944382},{"time":4.704497044785968,"velocity":1.5312005608520693,"acceleration":-4.0,"pose":{"translation":{"x":6.168448078550471,"y":-2.063622571750037},"rotation":{"radians":0.3213823094217437}},"curvature":0.5181893519919437},{"time":4.745575908303867,"velocity":1.366885106780471,"acceleration":-3.999999999999998,"pose":{"translation":{"x":6.224562748273107,"y":-2.043763735631316},"rotation":{"radians":0.36313791554131464}},"curvature":0.9537347404851392},{"time":4.782546661172456,"velocity":1.2190020953061154,"acceleration":-4.000000000000005,"pose":{"translation":{"x":6.268743836944259,"y":-2.0255160944952677},"rotation":{"radians":0.42765441576926394}},"curvature":1.9073311819533667},{"time":4.799029405478911,"velocity":1.1530711180802962,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.286358260464801,"y":-2.0170366555092842},"rotation":{"radians":0.47230023333605764}},"curvature":2.72474683368831},{"time":4.814058995171039,"velocity":1.0929527593117838,"acceleration":-4.000000000000008,"pose":{"translation":{"x":6.301186163872659,"y":-2.0089735320851756},"rotation":{"radians":0.5268349435677362}},"curvature":3.799019022660335},{"time":4.827691532241955,"velocity":1.03842261102812,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":6.313517126075689,"y":-2.001291674497198},"rotation":{"radians":0.5901736953658032}},"curvature":4.912733599851115},{"time":4.840139756768678,"velocity":0.9886297129212294,"acceleration":4.00000000000012,"pose":{"translation":{"x":6.3237659150270815,"y":-1.9939336209790866},"rotation":{"radians":0.6561293798924004}},"curvature":5.342755725273197},{"time":4.861263670998198,"velocity":1.0731253698393113,"acceleration":4.000000000000065,"pose":{"translation":{"x":6.340362301101588,"y":-1.9798353411067464},"rotation":{"radians":0.7328151017865228}},"curvature":1.8353266480505222E-13},{"time":4.902482799520257,"velocity":1.2380018839275535,"acceleration":3.9999999999999734,"pose":{"translation":{"x":6.37697674152807,"y":-1.9493701817338582},"rotation":{"radians":0.6457469422851974}},"curvature":-1.7204302495884551},{"time":4.957789763676231,"velocity":1.459229740551447,"acceleration":3.999999999999994,"pose":{"translation":{"x":6.438321945157991,"y":-1.9069424452828057},"rotation":{"radians":0.5809137799392667}},"curvature":-0.3491452916283957},{"time":5.024172552578276,"velocity":1.7247608961596248,"acceleration":-1.6817524505793822,"pose":{"translation":{"x":6.527127318463052,"y":-1.8496528452110372},"rotation":{"radians":0.5725840871850425}},"curvature":0.1046707480801797},{"time":5.098347190998099,"velocity":1.6000175162262473,"acceleration":-4.0,"pose":{"translation":{"x":6.629904383817561,"y":-1.7815241415963405},"rotation":{"radians":0.6047141395885902}},"curvature":0.4308776058143337},{"time":5.181529666832567,"velocity":1.267287612888372,"acceleration":-4.0,"pose":{"translation":{"x":6.725508735069408,"y":-1.7102394437764725},"rotation":{"radians":0.6905372555948094}},"curvature":1.1562933779558546},{"time":5.225199368687176,"velocity":1.092608805469936,"acceleration":-4.0,"pose":{"translation":{"x":6.764027141781647,"y":-1.6760127621236425},"rotation":{"radians":0.7699456111541707}},"curvature":2.0478463668141664},{"time":5.247040107903369,"velocity":1.0052458486051619,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":6.780054758356363,"y":-1.6596434694638007},"rotation":{"radians":0.8247821045611262}},"curvature":2.794381568208461},{"time":5.268715973501271,"velocity":0.918542386213553,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.7937019931110285,"y":-1.6438805129887903},"rotation":{"radians":0.893329849782553}},"curvature":3.8590179004327334},{"time":5.29016692283462,"velocity":0.8327385888801558,"acceleration":-4.0,"pose":{"translation":{"x":6.804874847951749,"y":-1.6287814926601347},"rotation":{"radians":0.9787812683939338}},"curvature":5.339130586883095},{"time":5.300820873422676,"velocity":0.7901227865279323,"acceleration":-4.0,"pose":{"translation":{"x":6.809523037922811,"y":-1.621492503704268},"rotation":{"radians":1.0287636880120912}},"curvature":6.24997629528533},{"time":5.311451106424409,"velocity":0.7476018545210017,"acceleration":-4.0,"pose":{"translation":{"x":6.813549754230675,"y":-1.614380083662712},"rotation":{"radians":1.083887043777851}},"curvature":7.261113309248849},{"time":5.322095120899623,"velocity":0.7050257966201464,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.81696442716858,"y":-1.6074441811069298},"rotation":{"radians":1.1441255931324854}},"curvature":8.33645997598355},{"time":5.332810355250168,"velocity":0.6621648592179652,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.819781934030736,"y":-1.6006828511534277},"rotation":{"radians":1.2091259039315982}},"curvature":9.41011889472159},{"time":5.343680084865395,"velocity":0.6186859407570594,"acceleration":-2.941614122971509,"pose":{"translation":{"x":6.822022860402468,"y":-1.5940921559246515},"rotation":{"radians":1.2780972354104383}},"curvature":10.382988203939716},{"time":5.354709514571878,"velocity":0.5862416145641463,"acceleration":-1.3908364839316434,"pose":{"translation":{"x":6.823713761450372,"y":-1.5876660650098837},"rotation":{"radians":1.3497281887712986}},"curvature":11.128424649470922},{"time":5.365734216945235,"velocity":0.570908056278794,"acceleration":0.36602283700120797,"pose":{"translation":{"x":6.824887423212453,"y":-1.5813963559261373},"rotation":{"radians":1.422165816061351}},"curvature":11.510209672061999},{"time":5.376492604309931,"velocity":0.5748458717435782,"acceleration":2.667672747640237,"pose":{"translation":{"x":6.825583123888281,"y":-1.5752725145790532},"rotation":{"radians":1.493085625539869}},"curvature":11.410219681858651},{"time":5.38668343983231,"velocity":0.6020316859423119,"acceleration":4.000000000000165,"pose":{"translation":{"x":6.825846895129134,"y":-1.5692816357237955},"rotation":{"radians":1.559852665501385}},"curvature":10.755598080725491},{"time":5.396143810665605,"velocity":0.6398731692754939,"acceleration":4.000000000000446,"pose":{"translation":{"x":6.8257317833281475,"y":-1.5634083234259486},"rotation":{"radians":1.619734948503121}},"curvature":9.53226304176092},{"time":5.404950079429917,"velocity":0.675098244332747,"acceleration":4.000000000000314,"pose":{"translation":{"x":6.825298110910466,"y":-1.557634591522412},"rotation":{"radians":1.6701044785413044}},"curvature":7.777833370106699},{"time":5.413242606046978,"velocity":0.7082683508009945,"acceleration":4.00000000000021,"pose":{"translation":{"x":6.824613737623385,"y":-1.5519397640822963},"rotation":{"radians":1.7085676072589593}},"curvature":5.558902411739207},{"time":5.42865915563986,"velocity":0.7699345491725229,"acceleration":3.9999999999999676,"pose":{"translation":{"x":6.822803581781871,"y":-1.540690072795206},"rotation":{"radians":1.7415315382701735}},"curvature":-1.6534851170586008E-13},{"time":5.53641082654191,"velocity":1.2009412327807174,"acceleration":3.999999999999981,"pose":{"translation":{"x":6.803420643208867,"y":-1.4362915965422276},"rotation":{"radians":1.7768034103593557}},"curvature":0.5428387418367638},{"time":5.5895765469016,"velocity":1.4136041142194764,"acceleration":-0.23361116303446589,"pose":{"translation":{"x":6.787780540108011,"y":-1.3685721151426513},"rotation":{"radians":1.8210435892908459}},"curvature":0.744883878028891},{"time":5.642703386872199,"velocity":1.4011930913455988,"acceleration":-3.999999999999997,"pose":{"translation":{"x":6.766943994395411,"y":-1.2967634316820202},"rotation":{"radians":1.8907014865260774}},"curvature":1.17914357977271},{"time":5.669890289171334,"velocity":1.292445482149062,"acceleration":-4.0,"pose":{"translation":{"x":6.754604749550423,"y":-1.2622893385815572},"rotation":{"radians":1.940855826112598}},"curvature":1.5949639208076312},{"time":5.697898988639131,"velocity":1.180410684277873,"acceleration":-4.0,"pose":{"translation":{"x":6.741086548810946,"y":-1.2304060109394124},"rotation":{"radians":2.006585152286982}},"curvature":2.260494128170485},{"time":5.7261749929372705,"velocity":1.067306667085316,"acceleration":-3.9999999999999925,"pose":{"translation":{"x":6.726508839101797,"y":-1.2021686871290314},"rotation":{"radians":2.093713449668494}},"curvature":3.3172628239832775},{"time":5.740270130705806,"velocity":1.010926116011175,"acceleration":-4.000000000000008,"pose":{"translation":{"x":6.718867524574831,"y":-1.1896734903144872},"rotation":{"radians":2.147358297607383}},"curvature":4.036901971053304},{"time":5.75428661658977,"velocity":0.9548601724753204,"acceleration":-4.0,"pose":{"translation":{"x":6.711017965025681,"y":-1.1783517371400503},"rotation":{"radians":2.2086397873261827}},"curvature":4.887089647595456},{"time":5.768222897815477,"velocity":0.8991150475724913,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":6.702981611131262,"y":-1.1682368285050675},"rotation":{"radians":2.2777482284698416}},"curvature":5.829074825841},{"time":5.782118313976581,"velocity":0.8435333829280751,"acceleration":-4.000000000000004,"pose":{"translation":{"x":6.694780798360527,"y":-1.1593297465286987},"rotation":{"radians":2.354007642841456}},"curvature":6.760301051353967},{"time":5.796065712900836,"velocity":0.7877437872310574,"acceleration":-1.3983379762273525,"pose":{"translation":{"x":6.686438547896253,"y":-1.151595338423366},"rotation":{"radians":2.4353622071565666}},"curvature":7.492315958210328},{"time":5.8098852376094765,"velocity":0.7684194210175523,"acceleration":2.7621703827738555,"pose":{"translation":{"x":6.677978367556838,"y":-1.1449586003682035},"rotation":{"radians":2.517915841309007}},"curvature":7.7583521324265865},{"time":5.8229264204446265,"velocity":0.8044413900011423,"acceleration":3.999999999999736,"pose":{"translation":{"x":6.669424052718093,"y":-1.1393009613825091},"rotation":{"radians":2.5957832379113794}},"curvature":7.272735602310573},{"time":5.834868560110163,"velocity":0.8522099486632846,"acceleration":3.999999999999991,"pose":{"translation":{"x":6.660799487235031,"y":-1.134456567199192},"rotation":{"radians":2.6614628811009973}},"curvature":5.827014880241687},{"time":5.856309417676913,"velocity":0.9379733789302837,"acceleration":3.999999999999984,"pose":{"translation":{"x":6.643434387682778,"y":-1.1262853829800938},"rotation":{"radians":2.7233683240106124}},"curvature":2.857920997036638E-13},{"time":5.940531802529679,"velocity":1.2748629183413474,"acceleration":4.0000000000000036,"pose":{"translation":{"x":6.557458461335598,"y":-1.0903463102130708},"rotation":{"radians":2.7764324811994667}},"curvature":0.6824307842488376},{"time":5.989983993347542,"velocity":1.472671681612796,"acceleration":4.000000000000042,"pose":{"translation":{"x":6.4934676587356,"y":-1.067532926742651},"rotation":{"radians":2.821569779198928}},"curvature":0.660081199313374},{"time":6.041022138722106,"velocity":1.676824263111054,"acceleration":4.0,"pose":{"translation":{"x":6.416516894285899,"y":-1.0443322167106872},"rotation":{"radians":2.8769434882594798}},"curvature":0.7339257145340377},{"time":6.089726326919729,"velocity":1.8716410159015466,"acceleration":3.999999999999954,"pose":{"translation":{"x":6.332393415733536,"y":-1.0245744094480014},"rotation":{"radians":2.9474796460916703}},"curvature":0.9147263793149333},{"time":6.112302606003654,"velocity":1.9619461322372431,"acceleration":0.13177756426426246,"pose":{"translation":{"x":6.2897687717642485,"y":-1.0171055023634714},"rotation":{"radians":2.9896599459326296}},"curvature":1.0367547305871343},{"time":6.1338628497456344,"velocity":1.964787288642505,"acceleration":-1.8214001551258847,"pose":{"translation":{"x":6.247790497870101,"y":-1.0116548413040323},"rotation":{"radians":3.036120298498697}},"curvature":1.154921475811154},{"time":6.154890584181711,"velocity":1.9264873698786895,"acceleration":-4.000000000000005,"pose":{"translation":{"x":6.207013181699064,"y":-1.0083336269327297},"rotation":{"radians":3.084965450035757}},"curvature":1.2172066136669202},{"time":6.175746782461887,"velocity":1.8430625767579862,"acceleration":-4.0,"pose":{"translation":{"x":6.167725265454773,"y":-1.0070390110233345},"rotation":{"radians":3.131770556722323}},"curvature":1.1275940538193328},{"time":6.218289263419147,"velocity":1.6728926529289423,"acceleration":-4.0,"pose":{"translation":{"x":6.092956516137359,"y":-1.0087676351220758},"rotation":{"radians":-3.099512246147905}},"curvature":-6.697727526491845E-15},{"time":6.2408574929356515,"velocity":1.5826197348629254,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.056270067001254,"y":-1.010666831883629},"rotation":{"radians":-3.0714042194171935}},"curvature":1.4429829756220756},{"time":6.2647236032152485,"velocity":1.4871552937445374,"acceleration":-4.0,"pose":{"translation":{"x":6.019833008757685,"y":-1.0144389888611642},"rotation":{"radians":-2.9996265532233775}},"curvature":2.3996894191340905},{"time":6.277226092441728,"velocity":1.4371453368386211,"acceleration":-3.8577862045415503,"pose":{"translation":{"x":6.001800574747993,"y":-1.017440435624046},"rotation":{"radians":-2.9527368640935663}},"curvature":2.712112322774948},{"time":6.290164499093456,"velocity":1.3872317301488337,"acceleration":-1.9228259776724737,"pose":{"translation":{"x":5.983947241549731,"y":-1.0213269626030523},"rotation":{"radians":-2.9011178926280503}},"curvature":2.9207477245773625},{"time":6.303465211873887,"velocity":1.3616567740930605,"acceleration":-0.4698907823272183,"pose":{"translation":{"x":5.966316753559176,"y":-1.026160603062821},"rotation":{"radians":-2.846547030576161}},"curvature":3.0335757493659514},{"time":6.316942888198599,"velocity":1.3553237382208887,"acceleration":0.6732884863389814,"pose":{"translation":{"x":5.948954091659565,"y":-1.0319716394538048},"rotation":{"radians":-2.7906172131214007}},"curvature":3.0621727184601677},{"time":6.330437990350068,"velocity":1.3644098351214407,"acceleration":1.596303890010985,"pose":{"translation":{"x":5.931904859397732,"y":-1.0387615395740486},"rotation":{"radians":-2.734696136753045}},"curvature":3.0212270249006488},{"time":6.34381849195842,"velocity":1.3857691818891518,"acceleration":2.346609315702116,"pose":{"translation":{"x":5.91521466916074,"y":-1.046505892730968},"rotation":{"radians":-2.679898133184243}},"curvature":2.9270877214938027},{"time":6.3569795504589734,"velocity":1.4166530443710508,"acceleration":2.9504092464138263,"pose":{"translation":{"x":5.898928528352517,"y":-1.0551573459031274},"rotation":{"radians":-2.627076582055845}},"curvature":2.7959897517991403},{"time":6.369841123046969,"velocity":1.454599947058097,"acceleration":3.424407714899719,"pose":{"translation":{"x":5.8830902255704896,"y":-1.064648539902017},"rotation":{"radians":-2.5768374954167412}},"curvature":2.6425322863986325},{"time":6.382344089844667,"velocity":1.4974152030192671,"acceleration":3.7826785759617105,"pose":{"translation":{"x":5.867741716782219,"y":-1.0748950455338309},"rotation":{"radians":-2.5295695051574274}},"curvature":2.4787256498256607},{"time":6.3944456821925995,"velocity":1.5431916371288137,"acceleration":4.000000000000043,"pose":{"translation":{"x":5.852922511502031,"y":-1.085798299761246},"rotation":{"radians":-2.4854831393477625}},"curvature":2.3136440710267823},{"time":6.417337787036478,"velocity":1.6347600565043285,"acceleration":3.999999999999994,"pose":{"translation":{"x":5.825014134316866,"y":-1.1091277496066647},"rotation":{"radians":-2.4070550806350965}},"curvature":2.0022367587775456},{"time":6.438405600329879,"velocity":1.7190313096779342,"acceleration":3.999999999999934,"pose":{"translation":{"x":5.799608915777081,"y":-1.1336772824168888},"rotation":{"radians":-2.3411810248049654}},"curvature":1.7318555147837016},{"time":6.457539705317942,"velocity":1.7955677296301895,"acceleration":-1.25998217303694,"pose":{"translation":{"x":5.776872249697647,"y":-1.1584490640280332},"rotation":{"radians":-2.28688021918005}},"curvature":1.500705014874128},{"time":6.491181491021764,"velocity":1.7531796793742453,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":5.73955615635796,"y":-1.2050406443463997},"rotation":{"radians":-2.2095648455617143}},"curvature":1.0663928346364093},{"time":6.542679183285786,"velocity":1.5471889103181569,"acceleration":-4.000000000000006,"pose":{"translation":{"x":5.690922115570445,"y":-1.274728853958644},"rotation":{"radians":-2.1693760585828277}},"curvature":3.1335638411944943E-13},{"time":6.567643124353903,"velocity":1.4473331460456909,"acceleration":4.000000000000051,"pose":{"translation":{"x":5.670719824074197,"y":-1.3061763915577729},"rotation":{"radians":-2.098117234402559}},"curvature":2.6712963305264807},{"time":6.58247393901637,"velocity":1.5066564046955613,"acceleration":3.9999999999999822,"pose":{"translation":{"x":5.660237215121693,"y":-1.325410358950791},"rotation":{"radians":-2.042827111467029}},"curvature":2.3158433081657974},{"time":6.598621521160384,"velocity":1.5712467332716158,"acceleration":4.000000000000027,"pose":{"translation":{"x":5.649530250959005,"y":-1.3478358056189745},"rotation":{"radians":-1.9917510069921995}},"curvature":1.81204918755287},{"time":6.634101582392927,"velocity":1.7131669782017909,"acceleration":4.000000000000037,"pose":{"translation":{"x":5.628124936299732,"y":-1.4020270652847455},"rotation":{"radians":-1.9084936558970085}},"curvature":1.1568728406117137},{"time":6.671059056028313,"velocity":1.8609968727433357,"acceleration":-0.6763744727274547,"pose":{"translation":{"x":5.608437397281406,"y":-1.4650705368070434},"rotation":{"radians":-1.8405552071831355}},"curvature":0.9641029631624295},{"time":6.707275714549413,"velocity":1.8365008494321768,"acceleration":-4.0,"pose":{"translation":{"x":5.592730716987842,"y":-1.5301577091511764},"rotation":{"radians":-1.7730180659913646}},"curvature":1.109354512967466},{"time":6.741720693749548,"velocity":1.698720932631633,"acceleration":-4.0,"pose":{"translation":{"x":5.582765133190253,"y":-1.590221919599695},"rotation":{"radians":-1.692271666944514}},"curvature":1.618095112807508},{"time":6.757743666107128,"velocity":1.6346290432013155,"acceleration":-3.9999999999999907,"pose":{"translation":{"x":5.580142978819237,"y":-1.616797961292224},"rotation":{"radians":-1.6444556077438146}},"curvature":1.965592287262108},{"time":6.772724951023803,"velocity":1.5747039035346158,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":5.578965627135864,"y":-1.6408090793562817},"rotation":{"radians":-1.594373317417499}},"curvature":2.142855644621934},{"time":6.800465406608914,"velocity":1.4637420811941717,"acceleration":-4.0,"pose":{"translation":{"x":5.57958951233653,"y":-1.682948399149645},"rotation":{"radians":-1.532353736773731}},"curvature":-2.6030625004116267E-13},{"time":6.814812238766268,"velocity":1.406354752564753,"acceleration":-1.7525450868330463,"pose":{"translation":{"x":5.580636488585997,"y":-1.70351015989227},"rotation":{"radians":-1.4976774519414668}},"curvature":2.8390647792735195},{"time":6.831415930598648,"velocity":1.3772560340206264,"acceleration":3.9999999999998823,"pose":{"translation":{"x":5.5831362558935815,"y":-1.7264836669952166},"rotation":{"radians":-1.4268690661317296}},"curvature":2.9642586447462738},{"time":6.850730554030799,"velocity":1.4545145277492277,"acceleration":4.0,"pose":{"translation":{"x":5.588051475487735,"y":-1.7533856175315756},"rotation":{"radians":-1.3572066561108003}},"curvature":2.123002558233247},{"time":6.872398957983788,"velocity":1.5411881435611843,"acceleration":3.9999999999999973,"pose":{"translation":{"x":5.595876671185639,"y":-1.784884210377094},"rotation":{"radians":-1.3013911397639204}},"curvature":1.3808360671463697},{"time":6.921155237155721,"velocity":1.7362132602489164,"acceleration":4.00000000000001,"pose":{"translation":{"x":5.620333626964432,"y":-1.860945894277565},"rotation":{"radians":-1.2278665371192978}},"curvature":0.6164973483276125},{"time":6.972109514635945,"velocity":1.9400303701698138,"acceleration":4.000000000000021,"pose":{"translation":{"x":5.653882341984434,"y":-1.948391368605034},"rotation":{"radians":-1.1852016413917261}},"curvature":0.34429303450358095},{"time":7.0190753726853226,"velocity":2.127893802367326,"acceleration":3.9999999999999636,"pose":{"translation":{"x":5.6910929335858285,"y":-2.0363728242775925},"rotation":{"radians":-1.157614889516426}},"curvature":0.250824190081751},{"time":7.057677489163515,"velocity":2.2823022682800946,"acceleration":3.999999999999989,"pose":{"translation":{"x":5.726072966277464,"y":-2.1139747493065837},"rotation":{"radians":-1.137158827759031}},"curvature":0.23973350843623825},{"time":7.107549081613927,"velocity":2.481788638081741,"acceleration":-1.5626685657696893,"pose":{"translation":{"x":5.777514140307939,"y":-2.2210559814468906},"rotation":{"radians":-1.1120651152156062}},"curvature":7.415129403439226E-13},{"time":7.155570212756452,"velocity":2.406747525952612,"acceleration":2.4971111926970764,"pose":{"translation":{"x":5.8321094711134105,"y":-2.3249626552403284},"rotation":{"radians":-1.0595108560474091}},"curvature":0.37606779223054376},{"time":7.189591872662124,"velocity":2.4917033936971977,"acceleration":-0.6886997693057433,"pose":{"translation":{"x":5.8738585015412665,"y":-2.3970761768256},"rotation":{"radians":-1.034118767531428}},"curvature":0.25801255551525},{"time":7.227581369774084,"velocity":2.4655400358001494,"acceleration":-3.999999999999995,"pose":{"translation":{"x":5.922937566024633,"y":-2.47743568731872},"rotation":{"radians":-1.011078310159012}},"curvature":0.24682650774200235},{"time":7.266966494444453,"velocity":2.3079995371186737,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":5.973842079584267,"y":-2.556463131427119},"rotation":{"radians":-0.984652151326193}},"curvature":0.33648044009236144},{"time":7.304075818496629,"velocity":2.1595622409099717,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":6.020836874199711,"y":-2.6247487148752473},"rotation":{"radians":-0.9478666066253401}},"curvature":0.5972577166583145},{"time":7.335285815688442,"velocity":2.0347222521427177,"acceleration":3.999999999999974,"pose":{"translation":{"x":6.0602816649471665,"y":-2.6769794250048706},"rotation":{"radians":-0.8953468353017389}},"curvature":1.0091433266202567},{"time":7.3596647540806615,"velocity":2.1322380057115966,"acceleration":3.386075590965683,"pose":{"translation":{"x":6.092956516137359,"y":-2.715867551375374},"rotation":{"radians":-0.8567769112421174}},"curvature":1.0663044450359554E-12},{"time":7.411172272767728,"velocity":2.306646357489083,"acceleration":3.2879296172791803,"pose":{"translation":{"x":6.170600090278266,"y":-2.7997726840652826},"rotation":{"radians":-0.7873857382126814}},"curvature":0.526328818569205},{"time":7.444869148135453,"velocity":2.41743931202039,"acceleration":-0.4517537612075961,"pose":{"translation":{"x":6.227780816941333,"y":-2.8551394959037495},"rotation":{"radians":-0.7533443455108731}},"curvature":0.3607539947288666},{"time":7.482038518559957,"velocity":2.4006479091294017,"acceleration":-4.0,"pose":{"translation":{"x":6.2940233809814625,"y":-2.9153873678345397},"rotation":{"radians":-0.7231140936947572}},"curvature":0.33482336172709365},{"time":7.520575472702164,"velocity":2.2465000925605736,"acceleration":-4.0,"pose":{"translation":{"x":6.3620947877486485,"y":-2.973562239163896},"rotation":{"radians":-0.6897416607055867}},"curvature":0.4357400030667607},{"time":7.5572130041006975,"velocity":2.099949966966437,"acceleration":-3.9999999999999964,"pose":{"translation":{"x":6.424531030879996,"y":-3.022971901905611},"rotation":{"radians":-0.6453367149026817}},"curvature":0.7280859324189437},{"time":7.588610432164694,"velocity":1.974360254710451,"acceleration":4.000000000000004,"pose":{"translation":{"x":6.476677851129974,"y":-3.060009366714813},"rotation":{"radians":-0.5851966645364406}},"curvature":1.1343567305626876},{"time":7.613703388978319,"velocity":2.074732081964951,"acceleration":3.999999999999989,"pose":{"translation":{"x":6.519731495200667,"y":-3.0869762288217513},"rotation":{"radians":-0.5431895762878614}},"curvature":-2.4028166487429024E-13},{"time":7.668453874923032,"velocity":2.2937340257438046,"acceleration":2.950538406284431,"pose":{"translation":{"x":6.620964916978032,"y":-3.1506397291519033},"rotation":{"radians":-0.575172925172979}},"curvature":-0.07232842695966049},{"time":7.7057936044709034,"velocity":2.403906331855071,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":6.694563003851643,"y":-3.1983405430022183},"rotation":{"radians":-0.5722340595243901}},"curvature":0.11687801308505284},{"time":7.749163847739337,"velocity":2.2304253587813383,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":6.779507569413129,"y":-3.252042275977582},"rotation":{"radians":-0.5526375417800315}},"curvature":0.2770577720867128},{"time":7.796650317067103,"velocity":2.040479481470275,"acceleration":-4.000000000000005,"pose":{"translation":{"x":6.866747403487466,"y":-3.3037356490042007},"rotation":{"radians":-0.5128063438169186}},"curvature":0.5411839360043872},{"time":7.843115870248065,"velocity":1.8546172687464269,"acceleration":-4.0,"pose":{"translation":{"x":6.946941367245376,"y":-3.345665070580753},"rotation":{"radians":-0.44247213739924307}},"curvature":1.0953202240802196},{"time":7.864497145431911,"velocity":1.7690921680110419,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.9823342283956995,"y":-3.3614167282614686},"rotation":{"radians":-0.3922858736351156}},"curvature":1.5123651624295884},{"time":7.884254250851548,"velocity":1.690063746332493,"acceleration":3.9999999999999925,"pose":{"translation":{"x":7.014263706790425,"y":-3.373590334138761},"rotation":{"radians":-0.33426693389435}},"curvature":1.8443607286658248},{"time":7.917455143901202,"velocity":1.8228673185311102,"acceleration":3.999999999999952,"pose":{"translation":{"x":7.070209366746114,"y":-3.390048315402955},"rotation":{"radians":-0.25518239062085707}},"curvature":-1.8132484378761044E-13},{"time":7.94928877174202,"velocity":1.9502018298943797,"acceleration":4.000000000000005,"pose":{"translation":{"x":7.128376322966789,"y":-3.404989433190729},"rotation":{"radians":-0.24520035237996882}},"curvature":0.2492777547639235},{"time":7.989560397480565,"velocity":2.111288332848561,"acceleration":2.485674495546883,"pose":{"translation":{"x":7.207910127848667,"y":-3.424030762711756},"rotation":{"radians":-0.22499701300842825}},"curvature":0.23841630772792802},{"time":8.038771615908248,"velocity":2.23361140338904,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":7.312420158101617,"y":-3.446551143286501},"rotation":{"radians":-0.19918865444571962}},"curvature":0.2548563109643631},{"time":8.096276112183876,"velocity":2.0035934182865254,"acceleration":-4.0,"pose":{"translation":{"x":7.432235068616428,"y":-3.46861315877339},"rotation":{"radians":-0.16290060233774908}},"curvature":0.35974289680472626},{"time":8.160248372046901,"velocity":1.747704378834424,"acceleration":-4.0,"pose":{"translation":{"x":7.551102964805459,"y":-3.4849809034558943},"rotation":{"radians":-0.10482452381162873}},"curvature":0.6649660243235408},{"time":8.192349184357756,"velocity":1.6193011295910011,"acceleration":-4.0,"pose":{"translation":{"x":7.604952567008113,"y":-3.489534707539711},"rotation":{"radians":-0.06098067375726722}},"curvature":0.9923549168727308},{"time":8.223141569857422,"velocity":1.4961315875923353,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.652891574943272,"y":-3.491137747929619},"rotation":{"radians":-0.0014480194049227254}},"curvature":1.550322661699486},{"time":8.251743448026248,"velocity":1.3817240749170256,"acceleration":-4.000000000000006,"pose":{"translation":{"x":7.69402139274211,"y":-3.4896688725896885},"rotation":{"radians":0.07887812613398294}},"curvature":2.431916868850513},{"time":8.265064029247727,"velocity":1.3284417500311136,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":7.711977373019305,"y":-3.4878241412718762},"rotation":{"radians":0.12747584694943273}},"curvature":2.9621222189858756},{"time":8.27772954759408,"velocity":1.277779676645702,"acceleration":-3.2600791292226696,"pose":{"translation":{"x":7.728288422507271,"y":-3.4853041049893867},"rotation":{"radians":0.1804105063452546}},"curvature":3.435309685598314},{"time":8.289770884031817,"velocity":1.2385239670370836,"acceleration":4.000000000000095,"pose":{"translation":{"x":7.743114223871402,"y":-3.4821875453397415},"rotation":{"radians":0.23451927568524963}},"curvature":3.642019546533382},{"time":8.300914760963071,"velocity":1.2830994747621,"acceleration":3.9999999999999023,"pose":{"translation":{"x":7.756693444698509,"y":-3.478579699287545},"rotation":{"radians":0.2840231048140363}},"curvature":3.277554686061499},{"time":8.32065207947807,"velocity":1.362048748822093,"acceleration":3.99999999999995,"pose":{"translation":{"x":7.781500998518338,"y":-3.4704551955163327},"rotation":{"radians":0.334596037737058}},"curvature":-5.132465821278171E-13},{"time":8.359186073213548,"velocity":1.5161847237640087,"acceleration":4.0000000000000115,"pose":{"translation":{"x":7.833447024223365,"y":-3.4510423635620047},"rotation":{"radians":0.39254881507743633}},"curvature":1.3677490159669776},{"time":8.405639024582799,"velocity":1.7019965292410093,"acceleration":3.747403203879336,"pose":{"translation":{"x":7.901158874893261,"y":-3.419384496028943},"rotation":{"radians":0.4758975294365203}},"curvature":0.8904599775336938},{"time":8.459297489197564,"velocity":1.9030764314536281,"acceleration":-4.0,"pose":{"translation":{"x":7.9853671627654474,"y":-3.371803177689887},"rotation":{"radians":0.549832174956981}},"curvature":0.7039396292198273},{"time":8.520434366624793,"velocity":1.6585289217447146,"acceleration":-4.0,"pose":{"translation":{"x":8.075873769881282,"y":-3.311290186263007},"rotation":{"radians":0.6315393320207507}},"curvature":0.8540924602937693},{"time":8.55450439210383,"velocity":1.5222488198285657,"acceleration":-4.0,"pose":{"translation":{"x":8.118795351472711,"y":-3.278218936564209},"rotation":{"radians":0.6835958496294005}},"curvature":1.093186733478195},{"time":8.589877840367008,"velocity":1.3807550267758526,"acceleration":-4.000000000000004,"pose":{"translation":{"x":8.157572500143276,"y":-3.2445647602300918},"rotation":{"radians":0.7496538311905988}},"curvature":1.526076108357068},{"time":8.607779848470644,"velocity":1.3091469943613059,"acceleration":-4.000000000000004,"pose":{"translation":{"x":8.174870639830251,"y":-3.2278168681512915},"rotation":{"radians":0.7901372563780413}},"curvature":1.8546232864765004},{"time":8.625676934778237,"velocity":1.2375586491309285,"acceleration":-4.000000000000005,"pose":{"translation":{"x":8.190537817399736,"y":-3.2112671858166166},"rotation":{"radians":0.8370741150846182}},"curvature":2.2881760932818747},{"time":8.64347075486387,"velocity":1.1663833687884007,"acceleration":-4.0,"pose":{"translation":{"x":8.204436738335747,"y":-3.195011361601182},"rotation":{"radians":0.8917358774589793}},"curvature":2.8530535321848056},{"time":8.661084994482907,"velocity":1.0959264103122484,"acceleration":-4.0,"pose":{"translation":{"x":8.216469731372321,"y":-3.179130866654747},"rotation":{"radians":0.9553873603355952}},"curvature":3.57033454579607},{"time":8.678480330217358,"velocity":1.026345067374448,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":8.226584628036536,"y":-3.1636901211398203},"rotation":{"radians":1.029001139265827}},"curvature":4.437665818390812},{"time":8.695673544106869,"velocity":0.9575722118164027,"acceleration":-4.0,"pose":{"translation":{"x":8.23478064219153,"y":-3.1487336204697636},"rotation":{"radians":1.1127251655233006}},"curvature":5.3958425367236345},{"time":8.70422266582132,"velocity":0.9233757249586018,"acceleration":-4.0,"pose":{"translation":{"x":8.238174319436613,"y":-3.1414447113798},"rotation":{"radians":1.158002711283498}},"curvature":5.864038435994419},{"time":8.712764732309603,"velocity":0.8892074590054702,"acceleration":-3.58661437772426,"pose":{"translation":{"x":8.24111424957954,"y":-3.1342830615468933},"rotation":{"radians":1.205066634532256}},"curvature":6.2852215314499364},{"time":8.72131019430393,"velocity":0.8585581821523192,"acceleration":-2.068760594742035,"pose":{"translation":{"x":8.243617403869228,"y":-3.1272473493399215},"rotation":{"radians":1.2533170615616034}},"curvature":6.619775478135422},{"time":8.729808084506667,"velocity":0.8409780817624548,"acceleration":-0.25293897155218403,"pose":{"translation":{"x":8.245705067364913,"y":-3.120334469000586},"rotation":{"radians":1.3019467711157602}},"curvature":6.822677183029916},{"time":8.738146892143433,"velocity":0.8388688723348394,"acceleration":2.091898242164719,"pose":{"translation":{"x":8.24740302267187,"y":-3.11353944083835},"rotation":{"radians":1.3499409195907763}},"curvature":6.8475921147505785},{"time":8.746192436011054,"velocity":0.8556993314087729,"acceleration":4.000000000000059,"pose":{"translation":{"x":8.248741733677136,"y":-3.1068553214253827},"rotation":{"radians":1.3960966505362804}},"curvature":6.652203414485566},{"time":8.761087831681682,"velocity":0.915280914091284,"acceleration":3.999999999999976,"pose":{"translation":{"x":8.250487787153858,"y":-3.0937816776190905},"rotation":{"radians":1.4773917957150662}},"curvature":5.482334585140444},{"time":8.787318030940504,"velocity":1.0202017111265773,"acceleration":3.9999999999999787,"pose":{"translation":{"x":8.251571989950385,"y":-3.0684207949494264},"rotation":{"radians":1.5554129250143873}},"curvature":5.273401634486186E-13},{"time":8.878777764689548,"velocity":1.3860406461227497,"acceleration":4.000000000000048,"pose":{"translation":{"x":8.254148474668197,"y":-2.9584138202053554},"rotation":{"radians":1.5421516992088637}},"curvature":0.05128617575513097},{"time":8.922978003611943,"velocity":1.5628416018123314,"acceleration":2.25995899825247,"pose":{"translation":{"x":8.255689811721828,"y":-2.8932613997144565},"rotation":{"radians":1.5554456717888383}},"curvature":0.3575128362474735},{"time":8.965251797235384,"velocity":1.6583786421018945,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":8.2556299400458,"y":-2.8251748261349796},"rotation":{"radians":1.592384185162404}},"curvature":0.756216223123778},{"time":9.006579687714535,"velocity":1.4930670801852894,"acceleration":-4.0,"pose":{"translation":{"x":8.252213394187066,"y":-2.76014320946633},"rotation":{"radians":1.6617221753614868}},"curvature":1.4597497152991845},{"time":9.027057123517489,"velocity":1.4111573369734691,"acceleration":-4.0,"pose":{"translation":{"x":8.248796259470703,"y":-2.7306046718568364},"rotation":{"radians":1.7130187043878793}},"curvature":2.026892091545416},{"time":9.046920497141631,"velocity":1.3317038424769025,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":8.244108709641967,"y":-2.703769770413914},"rotation":{"radians":1.777802853097311}},"curvature":2.765439073223154},{"time":9.065948409345525,"velocity":1.255592193661327,"acceleration":-3.6022436032890353,"pose":{"translation":{"x":8.238155344430247,"y":-2.6798851228498424},"rotation":{"radians":1.855597704537579}},"curvature":3.550554716333623},{"time":9.084086497639912,"velocity":1.1902543811269783,"acceleration":4.000000000000147,"pose":{"translation":{"x":8.231047098019703,"y":-2.6588734271398673},"rotation":{"radians":1.939843179696697}},"curvature":3.9148847289378472},{"time":9.100656312904363,"velocity":1.2565336421847833,"acceleration":3.9999999999998725,"pose":{"translation":{"x":8.223021197648123,"y":-2.640258511108161},"rotation":{"radians":2.0127379836456667}},"curvature":2.9601488982812163},{"time":9.115569582054919,"velocity":1.3161867187870089,"acceleration":4.000000000000063,"pose":{"translation":{"x":8.214461122205776,"y":-2.6230903820137828},"rotation":{"radians":2.044402009767088}},"curvature":-1.9127579647249863E-12},{"time":9.129978499464507,"velocity":1.3738223884253584,"acceleration":-3.670951521652817,"pose":{"translation":{"x":8.205434254079831,"y":-2.6059409692202697},"rotation":{"radians":2.0752518765925263}},"curvature":2.7702377132219254},{"time":9.145962391935607,"velocity":1.3151462940366363,"acceleration":4.000000000000067,"pose":{"translation":{"x":8.194427713487322,"y":-2.587483445894486},"rotation":{"radians":2.1433286645040965}},"curvature":3.2500109323208037},{"time":9.164486032295189,"velocity":1.38924085547497,"acceleration":4.000000000000015,"pose":{"translation":{"x":8.180054262713316,"y":-2.5669704366716672},"rotation":{"radians":2.2181891680835317}},"curvature":2.6785037146159185},{"time":9.18503267434883,"velocity":1.4714274236895395,"acceleration":3.999999999999967,"pose":{"translation":{"x":8.161498438823216,"y":-2.544180766440671},"rotation":{"radians":2.28699854991549}},"curvature":2.045244584881243},{"time":9.207396917353373,"velocity":1.5608843957077099,"acceleration":4.000000000000035,"pose":{"translation":{"x":8.138434584219091,"y":-2.5193253984219712},"rotation":{"radians":2.348196300686289}},"curvature":1.608294074742276},{"time":9.231083542404635,"velocity":1.65563089591276,"acceleration":4.000000000000037,"pose":{"translation":{"x":8.110944877196024,"y":-2.4929533722456467},"rotation":{"radians":2.404112044577651}},"curvature":1.3581190803570464},{"time":9.255465194337688,"velocity":1.7531575036449742,"acceleration":3.9999999999999396,"pose":{"translation":{"x":8.079437362498448,"y":-2.4658577420293706},"rotation":{"radians":2.457791988985669}},"curvature":1.2459408757965535},{"time":9.279897860007072,"velocity":1.8508881663225105,"acceleration":1.7884095152481627,"pose":{"translation":{"x":8.044563981876507,"y":-2.4389815144563993},"rotation":{"radians":2.5121195942762}},"curvature":1.2369451011023602},{"time":9.304130010053369,"velocity":1.8942251740402287,"acceleration":-2.5769015158211612,"pose":{"translation":{"x":8.007138604642394,"y":-2.4133235868535627},"rotation":{"radians":2.569682746459214}},"curvature":1.3129164227490062},{"time":9.328607369404907,"velocity":1.8311494296239508,"acceleration":-3.2844549920329227,"pose":{"translation":{"x":7.968055058226695,"y":-2.3898446852692525},"rotation":{"radians":2.632733821893998}},"curvature":1.4644558873820304},{"time":9.353634949162638,"velocity":1.7489474703501693,"acceleration":-3.2772785505299518,"pose":{"translation":{"x":7.9282051587347455,"y":-2.3693733025514128},"rotation":{"radians":2.702938045733387}},"curvature":1.6783507586687776},{"time":9.378954599473996,"velocity":1.6659679234778348,"acceleration":-2.0727839095732072,"pose":{"translation":{"x":7.888396741502968,"y":-2.352511636425528},"rotation":{"radians":2.7806507718208806}},"curvature":1.915677355684358},{"time":9.404089290620528,"velocity":1.6138691400972112,"acceleration":1.4143971075308968,"pose":{"translation":{"x":7.84927169165522,"y":-2.3395415275726137},"rotation":{"radians":2.8634625178316826}},"curvature":2.0771546200076565},{"time":9.428093305864682,"velocity":1.6478203498276698,"acceleration":4.0000000000000355,"pose":{"translation":{"x":7.811223974659145,"y":-2.330330397707205},"rotation":{"radians":2.9440166390224687}},"curvature":1.970765840115436},{"time":9.450200372355141,"velocity":1.7362486157895116,"acceleration":4.000000000000012,"pose":{"translation":{"x":7.774317666882516,"y":-2.324237187655345},"rotation":{"radians":3.0079946605424093}},"curvature":1.336397472946046},{"time":9.470658949637174,"velocity":1.8180829249176467,"acceleration":3.9999999999999885,"pose":{"translation":{"x":7.738204986149579,"y":-2.320018295432578},"rotation":{"radians":3.034477330237536}},"curvature":-1.0088454191876547E-13},{"time":9.510886827289413,"velocity":1.9789944355266016,"acceleration":3.999999999999993,"pose":{"translation":{"x":7.662169309014874,"y":-2.3128355772813043},"rotation":{"radians":3.0676123667018627}},"curvature":0.5942317924245504},{"time":9.55648611556793,"velocity":2.1613915886406656,"acceleration":4.000000000000035,"pose":{"translation":{"x":7.567883982135379,"y":-2.3081976625913962},"rotation":{"radians":3.113407320888338}},"curvature":0.36306293548787466},{"time":9.607475531403434,"velocity":2.365349251982683,"acceleration":4.000000000000021,"pose":{"translation":{"x":7.452483694982721,"y":-2.3068690116816954},"rotation":{"radians":-3.139946899721214}},"curvature":0.1783033856731683},{"time":9.633624448264067,"velocity":2.4699449194252168,"acceleration":3.999999999999931,"pose":{"translation":{"x":7.389266236013598,"y":-2.307288786516495},"rotation":{"radians":-3.1305459111583245}},"curvature":0.12232300766053553},{"time":9.65928598531695,"velocity":2.5725910676367523,"acceleration":2.5755443178918473,"pose":{"translation":{"x":7.324573439412484,"y":-2.3082278634928812},"rotation":{"radians":-3.124070211505066}},"curvature":0.07945790971239777},{"time":9.707198906712435,"velocity":2.6959929200904926,"acceleration":-2.0077302811899487,"pose":{"translation":{"x":7.198384635226886,"y":-2.3108778038425464},"rotation":{"radians":-3.118673981691051}},"curvature":0.0045873750234051046},{"time":9.748823019908702,"velocity":2.6124229275986703,"acceleration":-3.8162482610374764,"pose":{"translation":{"x":7.087931255737455,"y":-2.3132593336802647},"rotation":{"radians":-3.123346948102081}},"curvature":-0.10346701650846496},{"time":9.782885254711028,"velocity":2.4824329832672483,"acceleration":4.000000000000086,"pose":{"translation":{"x":7.001165953327701,"y":-2.3142614373426604},"rotation":{"radians":-3.1392380754450837}},"curvature":-0.2705020206347128},{"time":9.809324273828334,"velocity":2.588189059736477,"acceleration":3.9552792664165333,"pose":{"translation":{"x":6.934136185015789,"y":-2.313833150808478},"rotation":{"radians":3.1292476017455666}},"curvature":-6.062274898594957E-14},{"time":9.837263130127766,"velocity":2.698695038785011,"acceleration":-0.007552477106924319,"pose":{"translation":{"x":6.860287053148578,"y":-2.312922404873073},"rotation":{"radians":3.129296891322637}},"curvature":0.0014924465391863752},{"time":9.883214271802844,"velocity":2.698347993839473,"acceleration":-0.00299355492120747,"pose":{"translation":{"x":6.736296119568543,"y":-2.3114110385093887},"rotation":{"radians":3.1295176367139357}},"curvature":0.0018895948401434176},{"time":9.91478139328191,"velocity":2.698253495927621,"acceleration":-0.005200905591619048,"pose":{"translation":{"x":6.651124657937425,"y":-2.3103895107125028},"rotation":{"radians":3.1296827835352397}},"curvature":0.0019977532414847585},{"time":9.951318668335032,"velocity":2.6980634690094947,"acceleration":-0.00851875436187302,"pose":{"translation":{"x":6.552548172265423,"y":-2.309225437020054},"rotation":{"radians":3.1298895131925843}},"curvature":0.0022152731283798864},{"time":9.991551338407906,"velocity":2.6977207367758216,"acceleration":-0.013749721123728123,"pose":{"translation":{"x":6.444012042739514,"y":-2.307968896661262},"rotation":{"radians":3.1301495819876677}},"curvature":0.0026076691118130375},{"time":10.033848798584039,"velocity":2.6971391584941578,"acceleration":-0.023064721533046943,"pose":{"translation":{"x":6.329924869548411,"y":-2.306681577336855},"rotation":{"radians":3.1304819996921873}},"curvature":0.003273749411955144},{"time":10.076399630737395,"velocity":2.696157735399541,"acceleration":-0.041453903418147926,"pose":{"translation":{"x":6.215187055685942,"y":-2.3054304047164127},"rotation":{"radians":3.1309162986616137}},"curvature":0.0043984226900895965},{"time":10.117387019132108,"velocity":2.6944586481596646,"acceleration":-0.08109627436428295,"pose":{"translation":{"x":6.10471938975444,"y":-2.3042811719357092},"rotation":{"radians":3.1314986553020616}},"curvature":0.006347448601779398},{"time":10.155164714090535,"velocity":2.691395017844466,"acceleration":-0.17257787113557596,"pose":{"translation":{"x":6.002991628768123,"y":-2.3032921690940555},"rotation":{"radians":3.1323021757360943}},"curvature":0.009867963165462013},{"time":10.188433517864397,"velocity":2.6856535585139456,"acceleration":-0.38430669352945424,"pose":{"translation":{"x":5.91355108095648,"y":-2.3025078127516436},"rotation":{"radians":3.133441755228929}},"curvature":0.016487286771849626},{"time":10.216416432501639,"velocity":2.67489953711439,"acceleration":-0.7598722476450587,"pose":{"translation":{"x":5.8385511885676555,"y":-2.301952275426889},"rotation":{"radians":3.135083469587124}},"curvature":0.02896204638224711},{"time":10.23902143804366,"velocity":2.6577226207451456,"acceleration":-2.6694088566182983,"pose":{"translation":{"x":5.778280110671833,"y":-2.3016231150937716},"rotation":{"radians":3.137382289896891}},"curvature":0.04909682350685769},{"time":10.272452253193613,"velocity":2.568482106699891,"acceleration":-4.000000000000009,"pose":{"translation":{"x":5.690922115570432,"y":-2.3014628615602692},"rotation":{"radians":-3.1415926535897665}},"curvature":1.5160379877009949E-13},{"time":10.291354875922453,"velocity":2.4928716157845345,"acceleration":3.999999999999982,"pose":{"translation":{"x":5.643087007984952,"y":-2.301107174500496},"rotation":{"radians":3.1259563437473834}},"curvature":-0.2564452707550669},{"time":10.329475013139486,"velocity":2.6453521646526665,"acceleration":1.176147512644443,"pose":{"translation":{"x":5.545177283895205,"y":-2.2988867844326832},"rotation":{"radians":3.114910243059119}},"curvature":-0.048303885617808295},{"time":10.358872375378946,"velocity":2.6799277991289143,"acceleration":0.2517198460619799,"pose":{"translation":{"x":5.466933694686984,"y":-2.2966839430591177},"rotation":{"radians":3.1123017105156574}},"curvature":-0.02311675608446392},{"time":10.396525840420763,"velocity":2.6894059235529406,"acceleration":0.09741705368155015,"pose":{"translation":{"x":5.365892858771759,"y":-2.2936289421802316},"rotation":{"radians":3.1106117735667183}},"curvature":-0.012157988693917538},{"time":10.442986758246677,"velocity":2.693932009278882,"acceleration":0.0507809557200647,"pose":{"translation":{"x":5.240897911668853,"y":-2.2896768338150806},"rotation":{"radians":3.1094648702768963}},"curvature":-0.006952056087049509},{"time":10.469567074567967,"velocity":2.6952817831450187,"acceleration":0.034370190551698654,"pose":{"translation":{"x":5.169311897270308,"y":-2.287359762501242},"rotation":{"radians":3.1090261462746804}},"curvature":-0.005402922170003197},{"time":10.498365989671814,"velocity":2.69627160734482,"acceleration":0.023822695515900157,"pose":{"translation":{"x":5.091718109569268,"y":-2.284816869650076},"rotation":{"radians":3.1086535260838972}},"curvature":-0.00426788781473713},{"time":10.529347753181979,"velocity":2.6970096764634683,"acceleration":0.016879503755341436,"pose":{"translation":{"x":5.0082172026805205,"y":-2.2820515977288736},"rotation":{"radians":3.1083343828684717}},"curvature":-0.003422083988728292},{"time":10.562459105587779,"velocity":2.6975685796607465,"acceleration":0.012206068963774575,"pose":{"translation":{"x":4.918956125250145,"y":-2.279069101776301},"rotation":{"radians":3.1080589327362067}},"curvature":-0.0027819065730931487},{"time":10.597630441429786,"velocity":2.697997883411582,"acceleration":0.008994712629296594,"pose":{"translation":{"x":4.8241252234528345,"y":-2.2758761431754393},"rotation":{"radians":3.1078195150517045}},"curvature":-0.002290354719871733},{"time":10.6347769475975,"velocity":2.698332005559743,"acceleration":0.006745312908022117,"pose":{"translation":{"x":4.723955343989223,"y":-2.2724809834268274},"rotation":{"radians":3.107610071619079}},"curvature":-0.0019078938313890383},{"time":10.673799724109598,"velocity":2.698595226397857,"acceleration":0.005141448240714838,"pose":{"translation":{"x":4.618714937083213,"y":-2.2688932779215},"rotation":{"radians":3.1074257661829727}},"curvature":-0.0016066585132357382},{"time":10.714586892471718,"velocity":2.698804931512876,"acceleration":0.003978835937698698,"pose":{"translation":{"x":4.5087071594793,"y":-2.2651239697140326},"rotation":{"radians":3.1072627036826765}},"curvature":-0.001366709739515263},{"time":10.757014695147227,"velocity":2.698973744778919,"acceleration":0.0031230715876911287,"pose":{"translation":{"x":4.394266977439903,"y":-2.26118518329558},"rotation":{"radians":3.1071177210472736}},"curvature":-0.001173577324411188},{"time":10.80094858860844,"velocity":2.6991109534733244,"acceleration":0.0024841474838306695,"pose":{"translation":{"x":4.275758269742692,"y":-2.2570901183669183},"rotation":{"radians":3.106988229782986}},"curvature":-0.001016620216302387},{"time":10.846244331706187,"velocity":2.699223474779569,"acceleration":0.002000782623920291,"pose":{"translation":{"x":4.153570930677908,"y":-2.2528529436114857},"rotation":{"radians":3.106872096417754}},"curvature":-8.879156548177992E-4},{"time":10.892749070590666,"velocity":2.699316520653059,"acceleration":0.0017120143432896439,"pose":{"translation":{"x":4.028117973045698,"y":-2.2484886904684247},"rotation":{"radians":3.1067675508844657}},"curvature":-7.814956642117533E-4},{"time":10.9164049490636,"velocity":2.6993570198563077,"acceleration":0.0015500210945161004,"pose":{"translation":{"x":3.964301562300153,"y":-2.2462638165942375},"rotation":{"radians":3.106719152014391}},"curvature":-7.351775262541323E-4},{"time":10.94030240411839,"velocity":2.699394061415748,"acceleration":0.0014072410324127422,"pose":{"translation":{"x":3.899832631153436,"y":-2.244013146905622},"rotation":{"radians":3.106673115719258}},"curvature":-6.92815044059811E-4},{"time":10.96442038827419,"velocity":2.699428001232671,"acceleration":0.001281070903685772,"pose":{"translation":{"x":3.834768018214972,"y":-2.24173875567832},"rotation":{"radians":3.1066292939971802}},"curvature":-6.540008821937127E-4},{"time":10.988737518386465,"velocity":2.699459153200519,"acceleration":0.001169304611454742,"pose":{"translation":{"x":3.7691654638130547,"y":-2.23944275119275},"rotation":{"radians":3.106587550912568}},"curvature":-6.183758118112734E-4},{"time":11.013232109335414,"velocity":2.6994877948386713,"acceleration":0.0010700672663403288,"pose":{"translation":{"x":3.7030835194635108,"y":-2.237127272414415},"rotation":{"radians":3.1065477614746375}},"curvature":-5.856222541849724E-4},{"time":11.037882207698496,"velocity":2.6995141721020417,"acceleration":9.817611648336901E-4,"pose":{"translation":{"x":3.636581457338368,"y":-2.234794485674309},"rotation":{"radians":3.1065098106389764}},"curvature":-5.554587697130728E-4},{"time":11.062665625411068,"velocity":2.6995385034990838,"acceleration":9.030214010938514E-4,"pose":{"translation":{"x":3.569719179734522,"y":-2.2324465813493264},"rotation":{"radians":3.1064735924174554}},"curvature":-5.276353401003713E-4},{"time":11.08755997341502,"velocity":2.6995609836280976,"acceleration":8.326792894871179E-4,"pose":{"translation":{"x":3.502557128542401,"y":-2.2300857705426673},"rotation":{"radians":3.1064390090837595}},"curvature":-5.019293175396752E-4},{"time":11.112542695296906,"velocity":2.6995817862232037,"acceleration":7.69732146120278E-4,"pose":{"translation":{"x":3.4351561947146347,"y":-2.2277142817642464},"rotation":{"radians":3.1064059704634985}},"curvature":-4.781419360229845E-4},{"time":11.137591100917243,"velocity":2.6996010667862187,"acceleration":7.133182679496934E-4,"pose":{"translation":{"x":3.3675776277347165,"y":-2.225334357611101},"rotation":{"radians":3.106374393299335}},"curvature":-4.560952973110672E-4},{"time":11.162682400032281,"velocity":2.699618964868244,"acceleration":6.626961814103708E-4,"pose":{"translation":{"x":3.2998829450856757,"y":-2.2229482514477974},"rotation":{"radians":3.1063442006828037}},"curvature":-4.356297583384139E-4},{"time":11.187793735906892,"velocity":2.6996356060546383,"acceleration":6.172274131201599E-4,"pose":{"translation":{"x":3.2321338417187393,"y":-2.220558224086839},"rotation":{"radians":3.1063153215456016}},"curvature":-4.166016585155195E-4},{"time":11.212902218923393,"velocity":2.699651103698658,"acceleration":5.763621844751754E-4,"pose":{"translation":{"x":3.1643920995220007,"y":-2.218166540469073},"rotation":{"radians":3.1062876902040606}},"curvature":-3.9888133498686357E-4},{"time":11.23798496018365,"velocity":2.6996655604422033,"acceleration":5.396275486634868E-4,"pose":{"translation":{"x":3.096719496789086,"y":-2.2157754663441005},"rotation":{"radians":3.1062612459513366}},"curvature":-3.8235138178703836E-4},{"time":11.263019105103764,"velocity":2.6996790695564594,"acceleration":5.066175846686006E-4,"pose":{"translation":{"x":3.029177717687821,"y":-2.2133872649506796},"rotation":{"radians":3.106235932692574}},"curvature":-3.6690511530848753E-4},{"time":11.287981867008858,"velocity":2.6996917161306024,"acceleration":4.7698534266150337E-4,"pose":{"translation":{"x":2.9618282617288925,"y":-2.2110041936971374},"rotation":{"radians":3.1062116986189245}},"curvature":-3.5244521379287165E-4},{"time":11.31285056071834,"velocity":2.699703578132993,"acceleration":4.5043629852293887E-4,"pose":{"translation":{"x":2.894732353234525,"y":-2.2086285008417756},"rotation":{"radians":3.10618849591686}},"curvature":-3.388825028747779E-4},{"time":11.337602636131754,"velocity":2.699714727366223,"acceleration":4.2672313324476293E-4,"pose":{"translation":{"x":2.8279508508071354,"y":-2.206262422173277},"rotation":{"radians":3.106166280509728}},"curvature":-3.261348626875983E-4},{"time":11.362215711807494,"velocity":2.699725230334994,"acceleration":4.056416989937087E-4,"pose":{"translation":{"x":2.7615441567980117,"y":-2.203908177691115},"rotation":{"radians":3.1061450118289153}},"curvature":-3.141262348087156E-4},{"time":11.38666760854108,"velocity":2.6997351490439288,"acceleration":3.8702807847278825E-4,"pose":{"translation":{"x":2.6955721267759674,"y":-2.20156796828596},"rotation":{"radians":3.106124652612419}},"curvature":-3.027857094543436E-4},{"time":11.410936382937182,"velocity":2.69974454174105,"acceleration":3.7075668477978585E-4,"pose":{"translation":{"x":2.6300939789960145,"y":-2.1992439724200876},"rotation":{"radians":3.106105168728973}},"curvature":-2.920466749060609E-4},{"time":11.435000360983592,"velocity":2.6997534636217733,"acceleration":3.567393887376045E-4,"pose":{"translation":{"x":2.5651682038680335,"y":-2.1969383428077847},"rotation":{"radians":3.10608652902623}},"curvature":-2.818460121884068E-4},{"time":11.458838171616563,"velocity":2.6997619675077673,"acceleration":3.44925703377844E-4,"pose":{"translation":{"x":2.500852473425429,"y":-2.1946532030957595},"rotation":{"radians":3.106068705201823}},"curvature":-2.7212331855363533E-4},{"time":11.48242878028727,"velocity":2.699770104515056,"acceleration":3.316273325883029E-4,"pose":{"translation":{"x":2.43720355079381,"y":-2.192390644543546},"rotation":{"radians":3.1060516716964464}},"curvature":-2.6282014334819533E-4},{"time":11.528786138236537,"velocity":2.6997854778820187,"acceleration":3.2147377152544164E-4,"pose":{"translation":{"x":2.312128093738924,"y":-2.187941454103279},"rotation":{"radians":3.106019886629307}},"curvature":-2.452436713349287E-4},{"time":11.573912162860166,"velocity":2.6997999847153484,"acceleration":3.2144665085861415E-4,"pose":{"translation":{"x":2.1903743193614797,"y":-2.1836067276752953},"rotation":{"radians":3.105991021495357}},"curvature":-2.2865809651185191E-4},{"time":11.61765411539292,"velocity":2.699814045419492,"acceleration":3.3364113446355544E-4,"pose":{"translation":{"x":2.0723543777893876,"y":-2.1794016907992315},"rotation":{"radians":3.1059649646113354}},"curvature":-2.1258274858971933E-4},{"time":11.659867862677599,"velocity":2.699828129662026,"acceleration":3.616606354575228E-4,"pose":{"translation":{"x":1.9584571856176902,"y":-2.1753407321390834},"rotation":{"radians":3.1059416453785786}},"curvature":-1.9648065751472473E-4},{"time":11.700418950591144,"velocity":2.6998427953942494,"acceleration":4.11390215460373E-4,"pose":{"translation":{"x":1.8490455289058936,"y":-2.1714372972562517},"rotation":{"radians":3.1059210363599044}},"curvature":-1.797139453059818E-4},{"time":11.73918367723335,"velocity":2.699858742823495,"acceleration":-2.576333109760078,"pose":{"translation":{"x":1.7444531661752865,"y":-2.16770378238258},"rotation":{"radians":3.105903157309331}},"curvature":-1.614821297554598E-4},{"time":11.776722639886144,"velocity":2.603145870435056,"acceleration":-3.999999999999995,"pose":{"translation":{"x":1.6449819314062735,"y":-2.1641514281933985},"rotation":{"radians":3.1058880816470227}},"curvature":-1.4073311455829206E-4},{"time":11.81395269761519,"velocity":2.4542256395188704,"acceleration":-4.0,"pose":{"translation":{"x":1.550898837035696,"y":-2.160790213580565},"rotation":{"radians":3.1058759461209915}},"curvature":-1.1603056094598862E-4},{"time":11.851149495741195,"velocity":2.305438447014844,"acceleration":-4.000000000000005,"pose":{"translation":{"x":1.4624331769541712,"y":-2.1576287494255024},"rotation":{"radians":3.105866964755472}},"curvature":-8.535100121724553E-5},{"time":11.888218615538577,"velocity":2.157161967825314,"acceleration":-4.0,"pose":{"translation":{"x":1.379773629503398,"y":-2.154674172372246},"rotation":{"radians":3.1058614487117278}},"curvature":-4.5766216699449016E-5},{"time":11.92505950616874,"velocity":2.0097984053046636,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":1.3030653604735054,"y":-2.1519320386004788},"rotation":{"radians":3.105859834469105}},"curvature":7.064917537773632E-6},{"time":11.96156499147657,"velocity":1.8637764640733456,"acceleration":-4.000000000000002,"pose":{"translation":{"x":1.2324071261003695,"y":-2.149406217598576},"rotation":{"radians":3.1058627239070753}},"curvature":7.972688925949573E-5},{"time":12.033105418078438,"velocity":1.5776147576658714,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":1.1093863564805693,"y":-2.1450099210395703},"rotation":{"radians":3.1058856175084033}},"curvature":3.3139229168704297E-4},{"time":12.101838827248693,"velocity":1.3026811209848512,"acceleration":-4.000000000000002,"pose":{"translation":{"x":1.0104630933443568,"y":-2.141478468151622},"rotation":{"radians":3.105941160430028}},"curvature":8.906678409643786E-4},{"time":12.166671881040857,"velocity":1.0433489058161955,"acceleration":-4.0,"pose":{"translation":{"x":0.9344611483530123,"y":-2.138771258804821},"rotation":{"radians":3.1060505660249467}},"curvature":0.0022646239829141085},{"time":12.281096693006916,"velocity":0.5856496579519601,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":0.8413204297411818,"y":-2.1354778467074014},"rotation":{"radians":3.1066257443819945}},"curvature":0.015730336013924266},{"time":12.427509107494906,"velocity":0.0,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":0.7984727179024693,"y":-2.1339999999999986},"rotation":{"radians":3.1075942644333274}},"curvature":-8.774219350662329E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/BarrelStart.wpilib.json b/src/main/deploy/paths/BarrelStart.wpilib.json index 266fde6..2a8c4b6 100644 --- a/src/main/deploy/paths/BarrelStart.wpilib.json +++ b/src/main/deploy/paths/BarrelStart.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.16941224463624038,"velocity":0.7623551008630818,"acceleration":4.5,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.24953834107546757,"velocity":1.1229225348396041,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.3222675438922068,"velocity":1.4502039475149306,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.39366844239456544,"velocity":1.7715079907755444,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.42918357413647606,"velocity":1.9313260836141422,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.46450470328922244,"velocity":2.090271164801501,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.49951892318201563,"velocity":2.24783515431907,"acceleration":4.499999999999994,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.53409298710295,"velocity":2.4034184419632743,"acceleration":4.499999999999994,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.5680859314306398,"velocity":2.5563866914378783,"acceleration":3.8462633437590155,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.6014917205821215,"velocity":2.684874153720565,"acceleration":0.008706148259321525,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.6350401051764183,"velocity":2.6851662309307036,"acceleration":-0.0028692331298715464,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.6692493879938263,"velocity":2.6850680765230948,"acceleration":-0.01363061536019361,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.703833093950645,"velocity":2.6845966793294673,"acceleration":-0.0245444755723349,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.7385018585933861,"velocity":2.6837457526825705,"acceleration":-0.03647959122959362,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.7729703748759416,"velocity":2.6824883552982923,"acceleration":-0.0502835099516997,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":0.806964310216394,"velocity":2.6807790209123032,"acceleration":-0.06680264520177047,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":0.8402271763849731,"velocity":2.6785569734652497,"acceleration":-0.08680642985367452,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":0.8725271203110953,"velocity":2.675753130648549,"acceleration":-0.11072032910460182,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":0.9036635807886948,"velocity":2.672305691497317,"acceleration":-0.13797686745324442,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":0.9334737215750449,"velocity":2.668192581653276,"acceleration":-0.1656514582902912,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":0.9618385054555855,"velocity":2.6634939138393756,"acceleration":-0.1859159844009081,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":0.9886882269163543,"velocity":2.6585021214431066,"acceleration":-0.18198220328237827,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.014007311589902,"velocity":2.6538944986291213,"acceleration":-0.12337544392538517,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.0378383149972858,"velocity":2.650954338004548,"acceleration":0.182838305275328,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.0814919066955047,"velocity":2.6589358867298314,"acceleration":-2.904259528141501,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.1225798602534403,"velocity":2.539605806117361,"acceleration":-4.500000000000002,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.1656749575912402,"velocity":2.345677868097262,"acceleration":-3.7151072543585832,"pose":{"translation":{"x":3.5012793327139367,"y":-2.195698213316658},"rotation":{"radians":0.04748102876966936}},"curvature":-0.4662135588751524},{"time":1.212779903124691,"velocity":2.1706779432297725,"acceleration":-1.8680284686435358,"pose":{"translation":{"x":3.6076356177973556,"y":-2.1939082023464804},"rotation":{"radians":-0.01889087724371516}},"curvature":-0.7526266422227288},{"time":1.2378561347727708,"velocity":2.1238348286248594,"acceleration":-1.101188124246856,"pose":{"translation":{"x":3.6614376570651617,"y":-2.196061155562693},"rotation":{"radians":-0.06185779113317496}},"curvature":-0.8373003126255645},{"time":1.2636250502703719,"velocity":2.0954584049041802,"acceleration":-0.5556475436854321,"pose":{"translation":{"x":3.7156039231864395,"y":-2.2006855028883923},"rotation":{"radians":-0.10895597617388497}},"curvature":-0.8904348166965556},{"time":1.2899240792299582,"velocity":2.080845414061474,"acceleration":-0.17628809332195494,"pose":{"translation":{"x":3.7700300748484006,"y":-2.2080068032512465},"rotation":{"radians":-0.15872936628502857}},"curvature":-0.9183627632024834},{"time":1.3166148203457557,"velocity":2.07614015420082,"acceleration":0.0730095116139577,"pose":{"translation":{"x":3.8245668056070024,"y":-2.2181748154452263},"rotation":{"radians":-0.21000759942160274}},"curvature":-0.9274390013294783},{"time":1.343580703903429,"velocity":2.078108920189605,"acceleration":0.2179383201774643,"pose":{"translation":{"x":3.8790260816707995,"y":-2.2312696695550542},"rotation":{"radians":-0.2619010918949543}},"curvature":-0.9236363379932561},{"time":1.3707235464313228,"velocity":2.0840243856949754,"acceleration":0.27815983710638836,"pose":{"translation":{"x":3.9331873796847967,"y":-2.2473080383806523},"rotation":{"radians":-0.31378200936135137}},"curvature":-0.9122538663464707},{"time":1.3979596727597978,"velocity":2.091600382157913,"acceleration":0.26936479729601354,"pose":{"translation":{"x":3.9868039245143003,"y":-2.266249308861593},"rotation":{"radians":-0.3652551967319382}},"curvature":-0.8977702501377133},{"time":1.425216222965265,"velocity":2.0989423372789973,"acceleration":0.20414924054470082,"pose":{"translation":{"x":4.039608927028769,"y":-2.2880017535015456},"rotation":{"radians":-0.4161239573668622}},"curvature":-0.8838338290755391},{"time":1.4524281146567832,"velocity":2.1044976243016054,"acceleration":0.09241941463083576,"pose":{"translation":{"x":4.091321821885664,"y":-2.3124287017927276},"rotation":{"radians":-0.46635513834344133}},"curvature":-0.8733534664717717},{"time":1.4795359352380155,"velocity":2.1070029132116406,"acceleration":-0.058254066167028655,"pose":{"translation":{"x":4.141654505314305,"y":-2.339354711640352},"rotation":{"radians":-0.5160467289148427}},"curvature":-0.8686451787560745},{"time":1.506484844056754,"velocity":2.1054330296941846,"acceleration":-0.24210071869295952,"pose":{"translation":{"x":4.190317572899718,"y":-2.3685717407870768},"rotation":{"radians":-0.5653996649684544}},"curvature":-0.8715942116435602},{"time":1.5332244009562772,"velocity":2.0989593637512787,"acceleration":-0.4543031946889482,"pose":{"translation":{"x":4.237026557366488,"y":-2.399845318237454},"rotation":{"radians":-0.6146941272313098}},"curvature":-0.8838016229196061},{"time":1.5597091111358659,"velocity":2.0869272753062806,"acceleration":-0.6897502487943344,"pose":{"translation":{"x":4.281508166362612,"y":-2.432920715682379},"rotation":{"radians":-0.664269461258107}},"curvature":-0.9066917615974452},{"time":1.585899374446398,"velocity":2.068862534671852,"acceleration":-0.9413219695932574,"pose":{"translation":{"x":4.323506520243348,"y":-2.467529118923538},"rotation":{"radians":-0.7145058922073292}},"curvature":-0.9415585169416107},{"time":1.61176243096745,"velocity":2.0445170713677534,"acceleration":-1.197689322124552,"pose":{"translation":{"x":4.3627893898550685,"y":-2.503393799297859},"rotation":{"radians":-0.7658053317561747}},"curvature":-0.9895224095087061},{"time":1.6372727863233865,"velocity":2.0139635911543454,"acceleration":-1.440736443601888,"pose":{"translation":{"x":4.399154434319112,"y":-2.540236285101958},"rotation":{"radians":-0.8185676531047568}},"curvature":-1.0513577965846288},{"time":1.6624114728257,"velocity":1.9777453693661795,"acceleration":-1.6429284913921196,"pose":{"translation":{"x":4.432435438815632,"y":-2.5777825330165927},"rotation":{"radians":-0.8731578010408994}},"curvature":-1.1271324374081375},{"time":1.6871633722247736,"velocity":1.93707976862737,"acceleration":-1.7651522227006105,"pose":{"translation":{"x":4.462508552367454,"y":-2.6157690995311045},"rotation":{"radians":-0.9298581575679468}},"curvature":-1.2155885938586315},{"time":1.7115117493605363,"velocity":1.8941011766070257,"acceleration":-1.7554487723914454,"pose":{"translation":{"x":4.489298525623923,"y":-2.6539493123678746},"rotation":{"radians":-0.9888001966942681}},"curvature":-1.3132044255232707},{"time":1.7354292408336334,"velocity":1.8521152455618946,"acceleration":-1.5481049994813667,"pose":{"translation":{"x":4.5127849486447555,"y":-2.692099441906768},"rotation":{"radians":-1.04987064617492}},"curvature":-1.4129402912207414},{"time":1.7588649918378898,"velocity":1.8158342422656046,"acceleration":-1.0601598024085868,"pose":{"translation":{"x":4.533008488683891,"y":-2.730024872609584},"rotation":{"radians":-1.1125916616879339}},"curvature":-1.5028390786756067},{"time":1.7817286340054683,"velocity":1.7915951279028839,"acceleration":-0.17798824623218662,"pose":{"translation":{"x":4.550077127973347,"y":-2.7675662744445058},"rotation":{"radians":-1.1759834213896065}},"curvature":-1.5649287595028905},{"time":1.803873399640486,"velocity":1.7876536199042843,"acceleration":1.2809526906788278,"pose":{"translation":{"x":4.564172401507065,"y":-2.8046057743105486},"rotation":{"radians":-1.2384310294851038}},"curvature":-1.5751842850490676},{"time":1.8250825365475465,"velocity":1.814821520892359,"acceleration":3.6623831963299973,"pose":{"translation":{"x":4.575555634824767,"y":-2.8410731274620096},"rotation":{"radians":-1.2975918951608563}},"curvature":-1.5054000139812431},{"time":1.8450645038357743,"velocity":1.88800314211838,"acceleration":4.500000000000025,"pose":{"translation":{"x":4.584574181795802,"y":-2.8769518889329153},"rotation":{"radians":-1.3503867814765753}},"curvature":-1.3274147090655632},{"time":1.863737240302602,"velocity":1.9720304562191058,"acceleration":-0.011126944310312666,"pose":{"translation":{"x":4.5916676624030055,"y":-2.9122855849614706},"rotation":{"radians":-1.393110285506901}},"curvature":-1.0192894795955323},{"time":1.8994181817857747,"velocity":1.971633436370283,"acceleration":-4.5,"pose":{"translation":{"x":4.602336661727768,"y":-2.9818287702119437},"rotation":{"radians":-1.4320291524242312}},"curvature":1.0490043062426381E-13},{"time":1.9366225284706053,"velocity":1.8042138762885451,"acceleration":-4.5,"pose":{"translation":{"x":4.610789327786477,"y":-3.0515572781035987},"rotation":{"radians":-1.4843854748345995}},"curvature":-1.3706678514575072},{"time":1.956984186105699,"velocity":1.712586416930624,"acceleration":-3.4774110708286052,"pose":{"translation":{"x":4.6129053610273525,"y":-3.0872986357953214},"rotation":{"radians":-1.5413758850870642}},"curvature":-1.7795147486415084},{"time":1.978850692539313,"velocity":1.6365475853780294,"acceleration":-0.9316259633790658,"pose":{"translation":{"x":4.61272879192871,"y":-3.1239151401835556},"rotation":{"radians":-1.611237259672307}},"curvature":-2.005600428782231},{"time":2.002046871224073,"velocity":1.6149374230641271,"acceleration":0.6693388183610313,"pose":{"translation":{"x":4.609755642947021,"y":-3.1615087690803643},"rotation":{"radians":-1.6886226918677059}},"curvature":-2.0737389096077368},{"time":2.0261244092032435,"velocity":1.6310534538841481,"acceleration":1.6794926834734436,"pose":{"translation":{"x":4.6036000031879984,"y":-3.200098630675748},"rotation":{"radians":-1.768995230880868}},"curvature":-2.0227526737819645},{"time":2.050754785066551,"velocity":1.6724199899377736,"acceleration":2.257542163626816,"pose":{"translation":{"x":4.593985534403055,"y":-3.239629125744175},"rotation":{"radians":-1.8489031199190167}},"curvature":-1.8963796534450674},{"time":2.075727261148761,"velocity":1.7287964076235256,"acceleration":2.4974289185548653,"pose":{"translation":{"x":4.580736976985762,"y":-3.2799781098511076},"rotation":{"radians":-1.9260516473486369}},"curvature":-1.7338895074983334},{"time":2.1009276494924203,"velocity":1.791732586231793,"acceleration":2.477733251427541,"pose":{"translation":{"x":4.563771655968305,"y":-3.320965055559534},"rotation":{"radians":-1.9991839012331172}},"curvature":-1.5645719168587215},{"time":2.126307950382327,"velocity":1.8546182016779507,"acceleration":2.2734593301269,"pose":{"translation":{"x":4.54309098701794,"y":-3.3623592146364962},"rotation":{"radians":-2.0678522027711344}},"curvature":-1.4068680437193162},{"time":2.151856723865148,"velocity":1.9127022991257685,"acceleration":1.9521898089040237,"pose":{"translation":{"x":4.518771982433454,"y":-3.40388778025962},"rotation":{"radians":-2.1321692778718697}},"curvature":-1.2704178672490707},{"time":2.177575958395064,"velocity":1.9629111266678834,"acceleration":1.5678356135469746,"pose":{"translation":{"x":4.49095875714162,"y":-3.445244049223644},"rotation":{"radians":-2.1925960862705365}},"curvature":-1.1589753746489277},{"time":2.2034660543460487,"velocity":2.003502541137986,"acceleration":1.1579014422844256,"pose":{"translation":{"x":4.459854034693655,"y":-3.4860955841469483},"rotation":{"radians":-2.249786744624239}},"curvature":-1.0729627094883543},{"time":2.2295180381146396,"velocity":2.0336681707180078,"acceleration":0.7448573832225626,"pose":{"translation":{"x":4.425710653261679,"y":-3.5260923756780844},"rotation":{"radians":-2.304487588454943}},"curvature":-1.011266119821334},{"time":2.2557111900044537,"velocity":2.053178333293006,"acceleration":0.3399383142473355,"pose":{"translation":{"x":4.388823071635168,"y":-3.564875004702304},"rotation":{"radians":-2.3574778356072}},"curvature":-0.972328188193407},{"time":2.2820142449690453,"velocity":2.0621197494572243,"acceleration":-0.05233503444245701,"pose":{"translation":{"x":4.349518875217418,"y":-3.6020828045480897},"rotation":{"radians":-2.4095380707936367}},"curvature":-0.9547293293210256},{"time":2.3083886405383116,"velocity":2.0607394445567078,"acceleration":-0.4298368740040859,"pose":{"translation":{"x":4.3081502820219955,"y":-3.637362023193681},"rotation":{"radians":-2.4614348339687107}},"curvature":-0.9574361333747351},{"time":2.334792619509494,"velocity":2.049390040774465,"acceleration":-0.7889616405579721,"pose":{"translation":{"x":4.265085648669199,"y":-3.6703739854736073},"rotation":{"radians":-2.5139120760834235}},"curvature":-0.9798307739163198},{"time":2.3611852129071482,"velocity":2.0285672969888724,"acceleration":-1.1211519254230198,"pose":{"translation":{"x":4.220700976382515,"y":-3.700803255285214},"rotation":{"radians":-2.5676819401424895}},"curvature":-1.0215698342952828},{"time":2.3875292010603864,"velocity":1.9990316839475484,"acceleration":-1.4098768178536363,"pose":{"translation":{"x":4.175371416985078,"y":-3.7283657977951945},"rotation":{"radians":-2.623407953779348}},"curvature":-1.0822652158667727},{"time":2.413792100970697,"velocity":1.962004230194391,"acceleration":-1.628427296180908,"pose":{"translation":{"x":4.129462778896121,"y":-3.7528171416461173},"rotation":{"radians":-2.681673480868287}},"curvature":-1.1609377220336445},{"time":2.439944124469321,"velocity":1.9194175612788666,"acceleration":-1.739171885547655,"pose":{"translation":{"x":4.083323033127442,"y":-3.7739605411629564},"rotation":{"radians":-2.7429277658648656}},"curvature":-1.2551750626768652},{"time":2.4659520252834453,"velocity":1.87418535138083,"acceleration":-1.69468054107635,"pose":{"translation":{"x":4.037273819279855,"y":-3.7916551385596198},"rotation":{"radians":-2.807402261639808}},"curvature":-1.359956549659541},{"time":2.4917680221725034,"velocity":1.8304354838044554,"acceleration":-1.4398034273846205,"pose":{"translation":{"x":3.991601951539649,"y":-3.805824126145479},"rotation":{"radians":-2.8749930455965087}},"curvature":-1.466230917787255},{"time":2.517313832317631,"velocity":1.7936545388021838,"acceleration":-0.9110919487882919,"pose":{"translation":{"x":3.9465509246750465,"y":-3.8164629085318986},"rotation":{"radians":-2.945113352168395}},"curvature":-1.5595882451418221},{"time":2.54246146671776,"velocity":1.7707427315691548,"acceleration":-0.026085299603448596,"pose":{"translation":{"x":3.9023124200326587,"y":-3.8236472648387654},"rotation":{"radians":-3.0165348687710107}},"curvature":-1.619703380875959},{"time":2.5670145860284856,"velocity":1.7701022560957353,"acceleration":1.350597592984705,"pose":{"translation":{"x":3.8590178115339455,"y":-3.8275415109010185},"rotation":{"radians":-3.0872544590352686}},"curvature":-1.6214061957454475},{"time":2.5906958615908193,"velocity":1.802086129869031,"acceleration":3.4904686762347286,"pose":{"translation":{"x":3.8167296716716703,"y":-3.8284066614751753},"rotation":{"radians":3.128751156761285}},"curvature":-1.537850527457258},{"time":2.6131453744890685,"velocity":1.8804454514370965,"acceleration":4.499999999999984,"pose":{"translation":{"x":3.7754332775063597,"y":-3.8266085924458646},"rotation":{"radians":3.068733083553638}},"curvature":-1.3451543332369749},{"time":2.6342057957910505,"velocity":1.975217347296015,"acceleration":-0.6226952157094969,"pose":{"translation":{"x":3.735028116662759,"y":-3.8226262030323537},"rotation":{"radians":3.0201174246467244}},"curvature":-1.0267859233239223},{"time":2.6749299882527815,"velocity":1.9498585874864625,"acceleration":-4.499999999999997,"pose":{"translation":{"x":3.6560095342395114,"y":-3.810638149842175},"rotation":{"radians":2.97564525430031}},"curvature":5.191875792550406E-14},{"time":2.718052507750641,"velocity":1.7558072497460955,"acceleration":-4.5,"pose":{"translation":{"x":3.5775306867552668,"y":-3.7956417329472787},"rotation":{"radians":2.909637832719946}},"curvature":-1.5190148171075788},{"time":2.7419139132848347,"velocity":1.6484309248422233,"acceleration":-3.595739871255373,"pose":{"translation":{"x":3.5383466675844275,"y":-3.784955895845748},"rotation":{"radians":2.838031550929874}},"curvature":-1.9688926702296767},{"time":2.7545956447657605,"velocity":1.6028307173197036,"acceleration":-2.1151327623300156,"pose":{"translation":{"x":3.5188061264554102,"y":-3.778384821266308},"rotation":{"radians":2.7958610334625824}},"curvature":-2.1127152792572055},{"time":2.767738514805589,"velocity":1.5750318023074168,"acceleration":-0.949108352583626,"pose":{"translation":{"x":3.499322349689397,"y":-3.7708690364999584},"rotation":{"radians":2.750688800440843}},"curvature":-2.2044787044082326},{"time":2.781254838900043,"velocity":1.5622033462131433,"acceleration":-0.012232784560071923,"pose":{"translation":{"x":3.4799155820885312,"y":-3.7623308996976426},"rotation":{"radians":2.7034022685236434}},"curvature":-2.2479263507890703},{"time":2.7950651119964687,"velocity":1.562034408117639,"acceleration":0.7464214832975593,"pose":{"translation":{"x":3.4606085790523595,"y":-3.7527055996008105},"rotation":{"radians":2.6548247449340687}},"curvature":-2.2485032742338205},{"time":2.809099907612572,"velocity":1.5725102810791889,"acceleration":1.3573471915497672,"pose":{"translation":{"x":3.4414264282369347,"y":-3.7419406391823182},"rotation":{"radians":2.6056936753273847}},"curvature":-2.2129626634242685},{"time":2.8233011714303387,"velocity":1.5917863266386916,"acceleration":1.8392137089589635,"pose":{"translation":{"x":3.4223963712139205,"y":-3.7299953192873243},"rotation":{"radians":2.5566439547344837}},"curvature":-2.1487887632038816},{"time":2.8376227241380025,"velocity":1.6181267227122054,"acceleration":2.2044085737606927,"pose":{"translation":{"x":3.4035476251296997,"y":-3.7168402222741905},"rotation":{"radians":2.5081982982001287}},"curvature":-2.0635683265650355},{"time":2.8520299475509154,"velocity":1.6498861295277167,"acceleration":2.4626466336170676,"pose":{"translation":{"x":3.3849112043644753,"y":-3.7024566956553757},"rotation":{"radians":2.4607652151219233}},"curvature":-1.9644338689867396},{"time":2.8664987689991777,"velocity":1.685517723959686,"acceleration":2.6231963764286363,"pose":{"translation":{"x":3.36651974219138,"y":-3.686836335738337},"rotation":{"radians":2.4146438162072923}},"curvature":-1.8576595733275043},{"time":2.881014147876767,"velocity":1.7235944132338668,"acceleration":2.694683024586583,"pose":{"translation":{"x":3.3484073124355787,"y":-3.6699804712664266},"rotation":{"radians":2.3700338103053347}},"curvature":-1.7484377222856715},{"time":2.9101526104739324,"velocity":1.8021133337570001,"acceleration":2.562484248019994,"pose":{"translation":{"x":3.313161978191316,"y":-3.6326131076562618},"rotation":{"radians":2.2857303599163563}},"curvature":-1.5377807215642014},{"time":2.939451995564352,"velocity":1.8771925465278723,"acceleration":2.2421522912506884,"pose":{"translation":{"x":3.279469826319671,"y":-3.5905402618437194},"rotation":{"radians":2.207987987623527}},"curvature":-1.3528336142609998},{"time":2.9689389553438437,"velocity":1.9433068009594765,"acceleration":1.8174952232618529,"pose":{"translation":{"x":3.247637116523898,"y":-3.5440702628394276},"rotation":{"radians":2.136219945470668}},"curvature":-1.2018034596450358},{"time":2.998642882517415,"velocity":1.99729354670956,"acceleration":1.34948190143725,"pose":{"translation":{"x":3.21797603661389,"y":-3.493617588154535},"rotation":{"radians":2.0694509677051824}},"curvature":-1.0858929983677061},{"time":3.0285769953638955,"velocity":2.0376890902314657,"acceleration":0.8739171651987716,"pose":{"translation":{"x":3.190798995597548,"y":-3.4396863403094455},"rotation":{"radians":2.006530935609084}},"curvature":-1.0031802615982206},{"time":3.0587318591660924,"velocity":2.0640419433224366,"acceleration":0.4062624018771564,"pose":{"translation":{"x":3.1664129167721526,"y":-3.3828537233425524},"rotation":{"radians":1.9462520602625122}},"curvature":-0.9509659019353843},{"time":3.089077224551407,"velocity":2.0763701243497144,"acceleration":-0.051002275556428195,"pose":{"translation":{"x":3.145113530815734,"y":-3.3237535193189705},"rotation":{"radians":1.8874006796703071}},"curvature":-0.926994442970364},{"time":3.1195687907142,"velocity":2.0748149850901325,"acceleration":-0.5011659593179048,"pose":{"translation":{"x":3.127179668878438,"y":-3.263059564839271},"rotation":{"radians":1.8287702809041502}},"curvature":-0.9300026234713256},{"time":3.1501574616366743,"velocity":2.059484984483011,"acceleration":-0.9468406023438233,"pose":{"translation":{"x":3.1128675556739007,"y":-3.2014692275482135},"rotation":{"radians":1.7691551239947612}},"curvature":-0.9598993005216535},{"time":3.1807993283392513,"velocity":2.030472020957404,"acceleration":-1.3838794874215594,"pose":{"translation":{"x":3.102405102570615,"y":-3.139686882643481},"rotation":{"radians":1.707338704220502}},"curvature":-1.0177162543647038},{"time":3.211464828931351,"velocity":1.9880346637164832,"acceleration":-1.7953811082031454,"pose":{"translation":{"x":3.095986200683303,"y":-3.0784073893844126},"rotation":{"radians":1.6420896040830133}},"curvature":-1.1053247297561408},{"time":3.242145298076556,"velocity":1.9329515290223724,"acceleration":-2.146620247436977,"pose":{"translation":{"x":3.093765013964283,"y":-3.018299567600736},"rotation":{"radians":1.5721791601507873}},"curvature":-1.2247764710362192},{"time":3.2728544782465123,"velocity":1.8670305810873542,"acceleration":-2.383498091849369,"pose":{"translation":{"x":3.0958502722948404,"y":-2.959989674201304},"rotation":{"radians":1.496440251141733}},"curvature":-1.3769957997965012},{"time":3.303621753156123,"velocity":1.7936968400488928,"acceleration":-2.45221381287053,"pose":{"translation":{"x":3.102299564576598,"y":-2.9040448796828233},"rotation":{"radians":1.4138923213011365}},"curvature":-1.5594786770553104},{"time":3.3190399980122356,"velocity":1.7558880070425138,"acceleration":-2.4225695118119046,"pose":{"translation":{"x":3.107163331684762,"y":-2.877116412515412},"rotation":{"radians":1.3698608602948503}},"curvature":-1.6595169466973982},{"time":3.3344833241273157,"velocity":1.7184754760351524,"acceleration":-2.326299648649187,"pose":{"translation":{"x":3.113113631822886,"y":-2.8509567446385935},"rotation":{"radians":1.3239586055045571}},"curvature":-1.7628396338208108},{"time":3.349949558093288,"velocity":1.6824963813941844,"acceleration":-2.1570847969705116,"pose":{"translation":{"x":3.120140738845394,"y":-2.825612796193835},"rotation":{"radians":1.2762290954616873}},"curvature":-1.866537902862889},{"time":3.365431504096007,"velocity":1.649100511044201,"acceleration":-1.9103848887871056,"pose":{"translation":{"x":3.1282306602501113,"y":-2.8011246962672356},"rotation":{"radians":1.2267852620606372}},"curvature":-1.9668400558361514},{"time":3.3809154067757277,"velocity":1.6195202973454128,"acceleration":-1.583391132179733,"pose":{"translation":{"x":3.137364958837373,"y":-2.777525266530417},"rotation":{"radians":1.1758214206887974}},"curvature":-2.059136833634143},{"time":3.39637956177319,"velocity":1.5950344914557781,"acceleration":-1.1745315559902827,"pose":{"translation":{"x":3.147520574369127,"y":-2.754839504881429},"rotation":{"radians":1.123623052518272}},"curvature":-2.138127664523059},{"time":3.411793271266615,"velocity":1.5769306032608834,"acceleration":-0.68249833348076,"pose":{"translation":{"x":3.1586696452280396,"y":-2.73308406908564},"rotation":{"radians":1.0705726145485999}},"curvature":-2.198107870450789},{"time":3.4271163381046454,"velocity":1.566472635680113,"acceleration":-0.10480042094666406,"pose":{"translation":{"x":3.170779330076602,"y":-2.712266760416643},"rotation":{"radians":1.017149711020827}},"curvature":-2.2333880389694327},{"time":3.4422992394810543,"velocity":1.5648814612246738,"acceleration":0.5641777159844036,"pose":{"translation":{"x":3.183811629516234,"y":-2.692386007297144},"rotation":{"radians":0.9639244980152437}},"curvature":-2.2387972296821537},{"time":3.457284016551332,"velocity":1.5733355385267185,"acceleration":1.3357460140129485,"pose":{"translation":{"x":3.1977232077463915,"y":-2.6734303489398705},"rotation":{"radians":0.911544185591869}},"curvature":-2.2101829926551027},{"time":3.4720057760917404,"velocity":1.5930000701520766,"acceleration":2.2304828576237568,"pose":{"translation":{"x":3.2124652142236694,"y":-2.6553779189884605},"rotation":{"radians":0.86071379554758}},"curvature":-2.144799937028087},{"time":3.486394559450836,"velocity":1.6250940047766016,"acceleration":3.2836089337508794,"pose":{"translation":{"x":3.227983105320908,"y":-2.638195929158365},"rotation":{"radians":0.8121736119245968}},"curvature":-2.041488730262456},{"time":3.500377236402071,"velocity":1.6710076477314288,"acceleration":4.500000000000029,"pose":{"translation":{"x":3.244216465986298,"y":-2.6218401528777435},"rotation":{"radians":0.7666766420054453}},"curvature":-1.9005911350125801},{"time":3.513881887470559,"velocity":1.7317785775396246,"acceleration":4.49999999999999,"pose":{"translation":{"x":3.261098831402488,"y":-2.606254408928365},"rotation":{"radians":0.724969590565422}},"curvature":-1.723610664798437},{"time":3.539514213386609,"velocity":1.8471240441618486,"acceleration":4.500000000000022,"pose":{"translation":{"x":3.2965133983447634,"y":-2.5771054217638403},"rotation":{"radians":0.6558131092254871}},"curvature":-1.2700095960812297},{"time":3.5865248549208135,"velocity":2.0586719310657706,"acceleration":-3.1166123446280007,"pose":{"translation":{"x":3.3714928815306293,"y":-2.5241280680280984},"rotation":{"radians":0.5938368430682984}},"curvature":-5.084818372429148E-14},{"time":3.6338934359600907,"velocity":1.911042426651248,"acceleration":-1.6847316055387858,"pose":{"translation":{"x":3.4507444532913296,"y":-2.473542259975906},"rotation":{"radians":0.5222397626936539}},"curvature":-1.2742020819483864},{"time":3.660837535074126,"velocity":1.8656488512910636,"acceleration":1.836943913025291,"pose":{"translation":{"x":3.4956793336897385,"y":-2.4496758038448796},"rotation":{"radians":0.45337619989653793}},"curvature":-1.3803014777424756},{"time":3.690050817489399,"velocity":1.9193120126032888,"acceleration":3.321257987041399,"pose":{"translation":{"x":3.5462494541947955,"y":-2.42733399001337},"rotation":{"radians":0.37982889596932257}},"curvature":-1.255413819887621},{"time":3.7209304239474013,"velocity":2.0218711521886235,"acceleration":3.633825430540166,"pose":{"translation":{"x":3.603539497952904,"y":-2.406822862516572},"rotation":{"radians":0.310029630630746}},"curvature":-1.0351749016039724},{"time":3.7532864316124113,"velocity":2.1394472356724896,"acceleration":3.3023215941524415,"pose":{"translation":{"x":3.668279505766721,"y":-2.388357774206023},"rotation":{"radians":0.24820076168322397}},"curvature":-0.808667349033174},{"time":3.7871750985889494,"velocity":2.2513585124261524,"acceleration":2.712672462341097,"pose":{"translation":{"x":3.74087414059174,"y":-2.3720706199244925},"rotation":{"radians":0.19560410568278527}},"curvature":-0.6150490655572208},{"time":3.822735546450203,"velocity":2.347822360087892,"acceleration":2.104653510438106,"pose":{"translation":{"x":3.82143195203287,"y":-2.358017069680877},"rotation":{"radians":0.15189394872389556}},"curvature":-0.4629685971554492},{"time":3.860082381812415,"velocity":2.426424508236725,"acceleration":1.5879391861852519,"pose":{"translation":{"x":3.9097946408410156,"y":-2.346183801825088},"rotation":{"radians":0.11605983194700467}},"curvature":-0.347988902548674},{"time":3.89925206879144,"velocity":2.488623589101329,"acceleration":1.1897543992110675,"pose":{"translation":{"x":4.005566323409657,"y":-2.336495736222948},"rotation":{"radians":0.08694337430490592}},"curvature":-0.262151469105763},{"time":3.9401848564482616,"velocity":2.5373235532880054,"acceleration":0.8993718410244326,"pose":{"translation":{"x":4.108142796271434,"y":-2.328823267431079},"rotation":{"radians":0.06347253637661629}},"curvature":-0.19788087248202021},{"time":3.9827260463132563,"velocity":2.575583901536256,"acceleration":0.6949284796588856,"pose":{"translation":{"x":4.216740800594719,"y":-2.322989497871794},"rotation":{"radians":0.0447443243572358}},"curvature":-0.14909252370749856},{"time":4.0266362977537895,"velocity":2.606098385811265,"acceleration":0.555458138328562,"pose":{"translation":{"x":4.330427286680209,"y":-2.3187774710079934},"rotation":{"radians":0.030037550931643783}},"curvature":-0.11120830988450688},{"time":4.071605442361421,"velocity":2.631076863157248,"acceleration":0.464793116948671,"pose":{"translation":{"x":4.448148678457492,"y":-2.315937404518051},"rotation":{"radians":0.018798417531077933}},"curvature":-0.0808512035413826},{"time":4.1172671699156025,"velocity":2.652300119832417,"acceleration":0.41206473011203043,"pose":{"translation":{"x":4.56876013798164,"y":-2.3141939234707083},"rotation":{"radians":0.010618979394156793}},"curvature":-0.055507237385482994},{"time":4.16321346434946,"velocity":2.6712329672479527,"acceleration":0.39123294572992834,"pose":{"translation":{"x":4.691054829929781,"y":-2.313253293499967},"rotation":{"radians":0.0052170015910628816}},"curvature":-0.03323826083768252},{"time":4.20900838895005,"velocity":2.6891494504989213,"acceleration":0.08012589346379799,"pose":{"translation":{"x":4.813793186097687,"y":-2.31281065397998},"rotation":{"radians":0.0024203325819454084}},"curvature":-0.012453510274692898},{"time":4.25432271029153,"velocity":2.692780300983113,"acceleration":-0.42717723760824083,"pose":{"translation":{"x":4.935732169896344,"y":-2.3125572511999435},"rotation":{"radians":0.0021565976957925418}},"curvature":0.00827509828741819},{"time":4.299016138942392,"velocity":2.673688285592797,"acceleration":-0.48616613657710744,"pose":{"translation":{"x":5.055654540848542,"y":-2.312187671538987},"rotation":{"radians":0.004448065737487638}},"curvature":0.030373396749934035},{"time":4.342855718904197,"velocity":2.652374966373603,"acceleration":-0.586345620711319,"pose":{"translation":{"x":5.172398119085453,"y":-2.311407074641068},"rotation":{"radians":0.00941107768743778}},"curvature":0.05541857632855245},{"time":4.385469946899391,"velocity":2.6273883004086267,"acceleration":-0.7390288995683187,"pose":{"translation":{"x":5.284885049843208,"y":-2.309938426589861},"rotation":{"radians":0.017258893640965643}},"curvature":0.08529770186201152},{"time":4.426543604079134,"velocity":2.597033680741835,"acceleration":-0.9587622573301751,"pose":{"translation":{"x":5.392151067959482,"y":-2.307529733083652},"rotation":{"radians":0.028305682853838988}},"curvature":0.12236933391261418},{"time":4.46582936241379,"velocity":2.5593679783999725,"acceleration":-1.259084735909008,"pose":{"translation":{"x":5.493374762370072,"y":-2.303961272610227},"rotation":{"radians":0.04296687334173616}},"curvature":0.16959243572866536},{"time":4.503157572568782,"velocity":2.5123685987750184,"acceleration":-1.640645473949826,"pose":{"translation":{"x":5.587906840605474,"y":-2.2990528296217683},"rotation":{"radians":0.06174586641048331}},"curvature":0.23050330406232203},{"time":4.538441621520745,"velocity":2.4544799835593563,"acceleration":-2.0648653953319656,"pose":{"translation":{"x":5.6752993932874745,"y":-2.2926709277097395},"rotation":{"radians":0.0851870901970357}},"curvature":0.30873253544386914},{"time":4.57167405962799,"velocity":2.3858594721091935,"acceleration":-2.407235875507469,"pose":{"translation":{"x":5.7553351586257175,"y":-2.2847360627797855},"rotation":{"radians":0.1137579926199017}},"curvature":0.4063816590463496},{"time":4.602905715774585,"velocity":2.3106775089815965,"acceleration":-2.3939529513422224,"pose":{"translation":{"x":5.828056786914294,"y":-2.275229936226617},"rotation":{"radians":0.1475979702124178}},"curvature":0.5200261057327766},{"time":4.632197909708214,"velocity":2.2405533748628974,"acceleration":-0.34515105589435635,"pose":{"translation":{"x":5.893796105028318,"y":-2.2642026881089072},"rotation":{"radians":0.18605365162655563}},"curvature":0.6328995127816666},{"time":4.684371505057531,"velocity":2.2225456033382756,"acceleration":4.5,"pose":{"translation":{"x":6.007276588117778,"y":-2.238170979783707},"rotation":{"radians":0.26579960820306475}},"curvature":0.6630346206805894},{"time":4.728470492621459,"velocity":2.4209910473759475,"acceleration":2.2037403742587163,"pose":{"translation":{"x":6.105326805385568,"y":-2.208685692198664},"rotation":{"radians":0.3070457320188019}},"curvature":1.9743206567692236E-14},{"time":4.769065595328989,"velocity":2.510452114209712,"acceleration":-2.447132256909419,"pose":{"translation":{"x":6.200610785238506,"y":-2.178022740515515},"rotation":{"radians":0.31952663059330993}},"curvature":0.23303545028704092},{"time":4.810416852557548,"velocity":2.4092601187819467,"acceleration":-1.073650769632044,"pose":{"translation":{"x":6.2967036891593935,"y":-2.144665066208459},"rotation":{"radians":0.3510773724806533}},"curvature":0.3724567992496682},{"time":4.854018953296907,"velocity":2.36244668976556,"acceleration":-0.42717993124174725,"pose":{"translation":{"x":6.3936207709629125,"y":-2.106863612381352},"rotation":{"radians":0.3938805609082993}},"curvature":0.4409967043661299},{"time":4.899147064910765,"velocity":2.3431688661492824,"acceleration":-0.21861941987128036,"pose":{"translation":{"x":6.49066010743131,"y":-2.0637696865135604},"rotation":{"radians":0.4424769005801168}},"curvature":0.47001762269186576},{"time":4.94510764117749,"velocity":2.3331209916289013,"acceleration":-0.2840601145623256,"pose":{"translation":{"x":6.586566107882579,"y":-2.015290562399744},"rotation":{"radians":0.4938452299350415}},"curvature":0.48533386073508183},{"time":4.991237210485877,"velocity":2.32001742088645,"acceleration":-0.554374160235044,"pose":{"translation":{"x":6.679693023738652,"y":-1.9619450820896311},"rotation":{"radians":0.5469084971735331}},"curvature":0.5055072981118726},{"time":5.036903848522424,"velocity":2.294701016774182,"acceleration":-1.0312899858611317,"pose":{"translation":{"x":6.768168458093604,"y":-1.9047192578277952},"rotation":{"radians":0.6020257070109807}},"curvature":0.5451354135418108},{"time":5.081539189509475,"velocity":2.2486690365987387,"acceleration":-1.768021100615335,"pose":{"translation":{"x":6.850056875281839,"y":-1.8449218739934294},"rotation":{"radians":0.6606783541712747}},"curvature":0.6194761336368902},{"time":5.124703064705835,"velocity":2.1723543944672477,"acceleration":-3.7519977926694654,"pose":{"translation":{"x":6.9235231104462915,"y":-1.7840400890401216},"rotation":{"radians":0.7253789968048777}},"curvature":0.7496639699734248},{"time":5.16656394004451,"velocity":2.015292482597327,"acceleration":-4.499999999999989,"pose":{"translation":{"x":6.986995879106621,"y":-1.7235950374356304},"rotation":{"radians":0.7997368178095094}},"curvature":0.9685345270781476},{"time":5.1871249412785305,"velocity":1.9227679770442339,"acceleration":-4.5,"pose":{"translation":{"x":7.01460608057094,"y":-1.6939853960166071},"rotation":{"radians":0.8419765323300483}},"curvature":1.1257547241997719},{"time":5.207422417947164,"velocity":1.8314293320353816,"acceleration":-4.5,"pose":{"translation":{"x":7.039331286727403,"y":-1.6649974316016607},"rotation":{"radians":0.8884679668343788}},"curvature":1.323989039685353},{"time":5.227384547543209,"velocity":1.7415997488531823,"acceleration":-4.5,"pose":{"translation":{"x":7.061122116226508,"y":-1.6367665394920525},"rotation":{"radians":0.939865655406701}},"curvature":1.569058137088513},{"time":5.246959782319232,"velocity":1.653511192361079,"acceleration":-4.5,"pose":{"translation":{"x":7.079976338286333,"y":-1.6094031638536377},"rotation":{"radians":0.996697514432574}},"curvature":1.862206260366831},{"time":5.266126633469526,"velocity":1.567260362184756,"acceleration":-4.500000000000008,"pose":{"translation":{"x":7.095943982366549,"y":-1.5829882852774833},"rotation":{"radians":1.0591677450180665}},"curvature":2.1938012412618706},{"time":5.284904909841461,"velocity":1.4827581185110486,"acceleration":-3.915208899056166,"pose":{"translation":{"x":7.109132447842416,"y":-1.5575689083404847},"rotation":{"radians":1.1268488099034908}},"curvature":2.533737189100128},{"time":5.303296986565978,"velocity":1.4107492960470966,"acceleration":-1.7826199030693233,"pose":{"translation":{"x":7.119711613678798,"y":-1.5331535491659856},"rotation":{"radians":1.1982662486699698}},"curvature":2.8206066453553427},{"time":5.321105616361138,"velocity":1.3790032781278507,"acceleration":1.9140916019219598,"pose":{"translation":{"x":7.127918948104163,"y":-1.5097077229843945},"rotation":{"radians":1.2704530614915084}},"curvature":2.956592229195997},{"time":5.337865283393897,"velocity":1.4110828160462623,"acceleration":0.7036505776362408,"pose":{"translation":{"x":7.134064618284592,"y":-1.4871494316938054},"rotation":{"radians":1.3386551635317019}},"curvature":2.8192104753948866},{"time":5.35357788316138,"velocity":1.422138995948819,"acceleration":-4.5,"pose":{"translation":{"x":7.138536599997786,"y":-1.46534465142061},"rotation":{"radians":1.396431856277552}},"curvature":2.2967151189757535},{"time":5.385091520511751,"velocity":1.28032762787215,"acceleration":-4.500000000000005,"pose":{"translation":{"x":7.144431102235395,"y":-1.4231723249371946},"rotation":{"radians":1.4510023040421205}},"curvature":-6.861178378302117E-14},{"time":5.402105872447357,"velocity":1.2037630441619243,"acceleration":-4.5,"pose":{"translation":{"x":7.14673887193805,"y":-1.4021661155591232},"rotation":{"radians":1.4813502426845666}},"curvature":2.7163381253169225},{"time":5.4208460776887835,"velocity":1.1194321205755058,"acceleration":-4.5,"pose":{"translation":{"x":7.147888037806355,"y":-1.3804278919234958},"rotation":{"radians":1.5604809535270403}},"curvature":4.333574531352421},{"time":5.431184963207311,"velocity":1.0729071357421316,"acceleration":-0.9202921596687416,"pose":{"translation":{"x":7.147717536762416,"y":-1.3690960022466134},"rotation":{"radians":1.6118554050733753}},"curvature":4.680639534453088},{"time":5.442187694502641,"velocity":1.062781408396098,"acceleration":1.7377283364164617,"pose":{"translation":{"x":7.146909490441589,"y":-1.3573746181064095},"rotation":{"radians":1.6675371745929832}},"curvature":4.754640758039407},{"time":5.45361369258966,"velocity":1.0826366890437524,"acceleration":3.723181835181566,"pose":{"translation":{"x":7.14537308140454,"y":-1.345214523706267},"rotation":{"radians":1.7251234774420594}},"curvature":4.61083770887325},{"time":5.465254299016106,"velocity":1.1259767834411945,"acceleration":4.500000000000058,"pose":{"translation":{"x":7.143028836628321,"y":-1.332575283151538},"rotation":{"radians":1.7826105741940643}},"curvature":4.314561737726487},{"time":5.477002745788985,"velocity":1.1788447939191502,"acceleration":4.499999999999782,"pose":{"translation":{"x":7.139808214833833,"y":-1.3194248796202916},"rotation":{"radians":1.8384683363168302}},"curvature":3.9291187542067054},{"time":5.488866630601174,"velocity":1.2322322755739987,"acceleration":4.5000000000001465,"pose":{"translation":{"x":7.1356531938132886,"y":-1.3057393545340623},"rotation":{"radians":1.8916420983905562}},"curvature":3.5071588224139427},{"time":5.500885802245113,"velocity":1.28631854797173,"acceleration":4.500000000000166,"pose":{"translation":{"x":7.1305158577576835,"y":-1.291502446728597},"rotation":{"radians":1.9414988245117353}},"curvature":3.086943229525817},{"time":5.513085359222898,"velocity":1.3412165543717616,"acceleration":4.499999999999924,"pose":{"translation":{"x":7.124357984584254,"y":-1.2767052316246037},"rotation":{"radians":1.9877434068811348}},"curvature":2.6926986891276594},{"time":5.53805987714439,"velocity":1.4536018850184729,"acceleration":4.499999999999897,"pose":{"translation":{"x":7.108873731148877,"y":-1.245428699153159},"rotation":{"radians":2.0693736528271502}},"curvature":2.025414876185498},{"time":5.563781491737589,"velocity":1.5693491506878665,"acceleration":4.500000000000062,"pose":{"translation":{"x":7.089072849813582,"y":-1.2119713806730332},"rotation":{"radians":2.1377817886764787}},"curvature":1.528381181729626},{"time":5.590124076222681,"velocity":1.6878907808707826,"acceleration":4.500000000000028,"pose":{"translation":{"x":7.064956445462424,"y":-1.1764891920247764},"rotation":{"radians":2.1951966064859807}},"curvature":1.173963330883983},{"time":5.616898260822234,"velocity":1.8083746115687733,"acceleration":4.5000000000000275,"pose":{"translation":{"x":7.036641106035954,"y":-1.139220794800115},"rotation":{"radians":2.2439149359039936}},"curvature":0.9258673809965974},{"time":5.670844003462217,"velocity":2.0511304534486965,"acceleration":4.5,"pose":{"translation":{"x":6.968378155874989,"y":-1.0606244705279815},"rotation":{"radians":2.3230075967424315}},"curvature":0.6351789871869763},{"time":5.7238418450822,"velocity":2.2896207407386195,"acceleration":1.053834881773307,"pose":{"translation":{"x":6.887024554182035,"y":-0.9793078472435046},"rotation":{"radians":2.387360923921413}},"curvature":0.5045051740565363},{"time":5.776128484006212,"velocity":2.344722224687429,"acceleration":-0.47273090158268366,"pose":{"translation":{"x":6.796323431359919,"y":-0.8989813180441921},"rotation":{"radians":2.445464928004286}},"curvature":0.4676615131685784},{"time":5.8283761836066,"velocity":2.3200231225497165,"acceleration":-2.3601073399488146,"pose":{"translation":{"x":6.700597916686705,"y":-0.8235707405840832},"rotation":{"radians":2.5039932474596087}},"curvature":0.5054984706315235},{"time":5.880230957571051,"velocity":2.1976402899048275,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.6043285616394485,"y":-0.7568479479196439},"rotation":{"radians":2.5694901368844185}},"curvature":0.631569546484975},{"time":5.931924602267543,"velocity":1.9650188887706124,"acceleration":-4.5,"pose":{"translation":{"x":6.511730763217947,"y":-0.7020612593556628},"rotation":{"radians":2.649869504555334}},"curvature":0.8970144216690059},{"time":5.95764860934916,"velocity":1.8492608569033344,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.467949512647996,"y":-0.6799249766310986},"rotation":{"radians":2.6988179931430216}},"curvature":1.112228922860307},{"time":5.983029727965854,"velocity":1.735045823128214,"acceleration":-4.5,"pose":{"translation":{"x":6.426332187268496,"y":-0.6615659912911472},"rotation":{"radians":2.7556644125987635}},"curvature":1.405357974264111},{"time":6.007913542573301,"velocity":1.6230686573947009,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.3871429583315535,"y":-0.6470785668673122},"rotation":{"radians":2.8220196934232304}},"curvature":1.7927102546593339},{"time":6.032208077292532,"velocity":1.5137432511581626,"acceleration":-4.500000000000012,"pose":{"translation":{"x":6.350550191807647,"y":-0.6364549680652202},"rotation":{"radians":2.89912905214962}},"curvature":2.275600649870767},{"time":6.044134035663209,"velocity":1.4600764384901177,"acceleration":-4.5000000000000195,"pose":{"translation":{"x":6.33325064976345,"y":-0.6325589541585264},"rotation":{"radians":2.9418190881353796}},"curvature":2.542618882505727},{"time":6.055925121579715,"velocity":1.4070165518658366,"acceleration":-4.500000000000007,"pose":{"translation":{"x":6.316613242864505,"y":-0.6295739142285587},"rotation":{"radians":2.987069922039371}},"curvature":2.8123352317593984},{"time":6.067604043424129,"velocity":1.3544614035659717,"acceleration":-3.8985617363602754,"pose":{"translation":{"x":6.300626191038038,"y":-0.6274650523769024},"rotation":{"radians":3.0344919465552707}},"curvature":3.066087296131571},{"time":6.079173802130296,"velocity":1.309355984975188,"acceleration":-2.4355864952977417,"pose":{"translation":{"x":6.2852692503459595,"y":-0.626189032803012},"rotation":{"radians":3.0834388680232343}},"curvature":3.2780322591684827},{"time":6.090570579849939,"velocity":1.2815981470713145,"acceleration":-0.4881090457867479,"pose":{"translation":{"x":6.270513300312329,"y":-0.6256936189749592},"rotation":{"radians":3.1329651988323692}},"curvature":3.4158784535523155},{"time":6.101670158463181,"velocity":1.27618034234577,"acceleration":2.209610328338679,"pose":{"translation":{"x":6.256319931250822,"y":-0.625917312800187},"rotation":{"radians":-3.1013796054617493}},"curvature":3.4434828451746404},{"time":6.112312475812366,"velocity":1.2996957166779879,"acceleration":4.499999999999883,"pose":{"translation":{"x":6.242641031592195,"y":-0.6267889937962483},"rotation":{"radians":-3.054797006551261}},"curvature":3.3253374193025675},{"time":6.122371013898048,"velocity":1.3449591380635584,"acceleration":4.50000000000003,"pose":{"translation":{"x":6.2294183752117505,"y":-0.6282275582615597},"rotation":{"radians":-3.012298644529222}},"curvature":3.0321854536472497},{"time":6.140910462553695,"velocity":1.4283866570139678,"acceleration":4.500000000000053,"pose":{"translation":{"x":6.20405583897411,"y":-0.632428841722398},"rotation":{"radians":-2.9475674591963017}},"curvature":1.8658033671093834},{"time":6.15799440669958,"velocity":1.5052644056704523,"acceleration":4.499999999999987,"pose":{"translation":{"x":6.179548540874854,"y":-0.6376589576757038},"rotation":{"radians":-2.9229237077158436}},"curvature":8.464553727136052E-15},{"time":6.190578783247534,"velocity":1.651894100136242,"acceleration":3.4861335128381197,"pose":{"translation":{"x":6.1295602210871225,"y":-0.6497806321591174},"rotation":{"radians":-2.869861396894707}},"curvature":1.6910333133049205},{"time":6.207467346234652,"velocity":1.7107698855493119,"acceleration":3.644820187543762,"pose":{"translation":{"x":6.102405357014492,"y":-0.6580815571210421},"rotation":{"radians":-2.81957304948024}},"curvature":1.7846815000535257},{"time":6.225409907310712,"velocity":1.7761672943755724,"acceleration":4.500000000000058,"pose":{"translation":{"x":6.073011085774183,"y":-0.6687847617685752},"rotation":{"radians":-2.7661622345974175}},"curvature":1.6053304889779076},{"time":6.244522654264391,"velocity":1.8621746556671306,"acceleration":4.500000000000058,"pose":{"translation":{"x":6.041010683187202,"y":-0.6823819029161489},"rotation":{"radians":-2.7149993046076815}},"curvature":1.3382746983639802},{"time":6.264790699525499,"velocity":1.953380859342118,"acceleration":4.500000000000007,"pose":{"translation":{"x":6.006205252427887,"y":-0.6992256896369106},"rotation":{"radians":-2.668399096771176}},"curvature":1.0825201850616377},{"time":6.308519256410211,"velocity":2.1501593653233217,"acceleration":3.4183239330782533,"pose":{"translation":{"x":5.928132076193389,"y":-0.7434345950363975},"rotation":{"radians":-2.589780224443007}},"curvature":0.7144197228116332},{"time":6.355919653636489,"velocity":2.312189277599324,"acceleration":1.1377497517242756,"pose":{"translation":{"x":5.839981991667188,"y":-0.8018677475240006},"rotation":{"radians":-2.5260749766587822}},"curvature":0.5176681189867446},{"time":6.4068380756304935,"velocity":2.370121699581194,"acceleration":0.40941248140221004,"pose":{"translation":{"x":5.744662354695199,"y":-0.8734547610866235},"rotation":{"radians":-2.470530796832865}},"curvature":0.4295741027589791},{"time":6.433509749378063,"velocity":2.3810414157133364,"acceleration":0.017046500225822908,"pose":{"translation":{"x":5.6955728250905135,"y":-0.9135147284280928},"rotation":{"radians":-2.4439105897948106}},"curvature":0.4134493707090387},{"time":6.460812479230935,"velocity":2.381506831703939,"acceleration":-0.34882459348336536,"pose":{"translation":{"x":5.646313284170824,"y":-0.9559468482863553},"rotation":{"radians":-2.417132548283729}},"curvature":0.4127653940630162},{"time":6.488570839302355,"velocity":2.371824033036261,"acceleration":-0.721417953869089,"pose":{"translation":{"x":5.59751443381897,"y":-1.00034303245475},"rotation":{"radians":-2.3895121372376424}},"curvature":0.4270505622748425},{"time":6.516603968257043,"velocity":2.3516004305052216,"acceleration":-1.1322114288978038,"pose":{"translation":{"x":5.549823503833021,"y":-1.0462650744057205},"rotation":{"radians":-2.3603309712533664}},"curvature":0.4572661661847324},{"time":6.5447380484924595,"velocity":2.3197467033211554,"acceleration":-1.6118300025154806,"pose":{"translation":{"x":5.503889121982459,"y":-1.0932555322328548},"rotation":{"radians":-2.328797382826382}},"curvature":0.5059264808375653},{"time":6.572819572524822,"velocity":2.274484060369434,"acceleration":-3.491514192596362,"pose":{"translation":{"x":5.460346184064376,"y":-1.140848611592924},"rotation":{"radians":-2.2940018520204957}},"curvature":0.5774148186888551},{"time":6.629226203638017,"velocity":2.077539507281169,"acceleration":-4.5,"pose":{"translation":{"x":5.382814783689171,"y":-1.2360029930071},"rotation":{"radians":-2.210089499051718}},"curvature":0.8191431976126242},{"time":6.657595406330297,"velocity":1.9498780951659072,"acceleration":-4.500000000000004,"pose":{"translation":{"x":5.349891283469968,"y":-1.2826888906690157},"rotation":{"radians":-2.158093025334618}},"curvature":1.0131281925529403},{"time":6.686073198700284,"velocity":1.8217280295009664,"acceleration":-4.499999999999996,"pose":{"translation":{"x":5.321458891771458,"y":-1.3282483669635612},"rotation":{"radians":-2.096993700665147}},"curvature":1.2784844432874511},{"time":6.714524206520665,"velocity":1.6936984943092512,"acceleration":-4.500000000000004,"pose":{"translation":{"x":5.297856895371607,"y":-1.3723371094940076},"rotation":{"radians":-2.0246476699261304}},"curvature":1.6356597995241275},{"time":6.742876417550705,"velocity":1.5661135446740737,"acceleration":-4.500000000000011,"pose":{"translation":{"x":5.279320069413125,"y":-1.414667751079043},"rotation":{"radians":-1.9388699070720767}},"curvature":2.100401699201739},{"time":6.757025525927732,"velocity":1.502442556977452,"acceleration":-4.5,"pose":{"translation":{"x":5.27199216179662,"y":-1.43510223095423},"rotation":{"radians":-1.8903777922882574}},"curvature":2.372648740546191},{"time":6.771176772666548,"velocity":1.4387619466527781,"acceleration":-4.5,"pose":{"translation":{"x":5.265963547459657,"y":-1.4550207526948131},"rotation":{"radians":-1.837994818407175}},"curvature":2.6658934440811044},{"time":6.785362863553212,"velocity":1.3749245376627885,"acceleration":-4.500000000000006,"pose":{"translation":{"x":5.261227441844556,"y":-1.4744082575550896},"rotation":{"radians":-1.7817716333813511}},"curvature":2.9705499715624066},{"time":6.79963282689194,"velocity":1.3107097026385137,"acceleration":-3.7982166296320305,"pose":{"translation":{"x":5.257767691551971,"y":-1.493255286416956},"rotation":{"radians":-1.7219562236304857}},"curvature":3.2714589721248024},{"time":6.813997383510187,"velocity":1.2561500048137968,"acceleration":-2.868599382437519,"pose":{"translation":{"x":5.255558301530138,"y":-1.51155831988184},"rotation":{"radians":-1.6590470734077885}},"curvature":3.5476074740747268},{"time":6.828396166437932,"velocity":1.2148456649994173,"acceleration":-1.7784004679901064,"pose":{"translation":{"x":5.254562962264146,"y":-1.529320118362644},"rotation":{"radians":-1.5938342216795218}},"curvature":3.7731621456046627},{"time":6.842730081463445,"velocity":1.189354223809913,"acceleration":-0.5083859771614665,"pose":{"translation":{"x":5.254734576965176,"y":-1.5465500621756854},"rotation":{"radians":-1.5274145700663124}},"curvature":3.9201836342869263},{"time":6.856867323853468,"velocity":1.182167048023093,"acceleration":0.9988161599638208,"pose":{"translation":{"x":5.256014788759767,"y":-1.563264491632626},"rotation":{"radians":-1.4611697969647064}},"curvature":3.962781412915415},{"time":6.870649274906637,"velocity":1.1959326834508293,"acceleration":2.864054696075692,"pose":{"translation":{"x":5.258333507879074,"y":-1.579487047132424},"rotation":{"radians":-1.3967032981080931}},"curvature":3.881642453632223},{"time":6.883900143992491,"velocity":1.2338838972832542,"acceleration":4.499999999999839,"pose":{"translation":{"x":5.261608438848113,"y":-1.5952490092532592},"rotation":{"radians":-1.3357452060616892}},"curvature":3.667322111672115},{"time":6.896487980097525,"velocity":1.2905291597559043,"acceleration":4.499999999999746,"pose":{"translation":{"x":5.265744607675029,"y":-1.610589638844485},"rotation":{"radians":-1.2800465102467156}},"curvature":3.320933126767285},{"time":6.908439548821772,"velocity":1.3443112190150082,"acceleration":4.500000000000075,"pose":{"translation":{"x":5.270633889040343,"y":-1.6255565171185529},"rotation":{"radians":-1.2312882409565067}},"curvature":2.851926377891388},{"time":6.93084798621565,"velocity":1.4451491872874604,"acceleration":4.500000000000014,"pose":{"translation":{"x":5.282170694605688,"y":-1.6546029869322059},"rotation":{"radians":-1.1606815313483108}},"curvature":1.6001674143653044},{"time":6.95172019835781,"velocity":1.539074141927185,"acceleration":4.49999999999998,"pose":{"translation":{"x":5.2950728596276395,"y":-1.6829483991496463},"rotation":{"radians":-1.1349193543875415}},"curvature":-8.224457422505719E-14},{"time":6.9913386891742375,"velocity":1.717357350601109,"acceleration":4.49999999999998,"pose":{"translation":{"x":5.322090232179219,"y":-1.7415254660111636},"rotation":{"radians":-1.1447633521137015}},"curvature":-0.22438746496665007},{"time":7.033459732759277,"velocity":1.9069020467337865,"acceleration":4.500000000000021,"pose":{"translation":{"x":5.3530940765378885,"y":-1.8112739171153034},"rotation":{"radians":-1.1589779960220619}},"curvature":-0.12990824903455964},{"time":7.080976494031859,"velocity":2.1207274724604037,"acceleration":4.500000000000034,"pose":{"translation":{"x":5.3910376161687,"y":-1.899119550600637},"rotation":{"radians":-1.1653192529045584}},"curvature":-0.014588239308536147},{"time":7.133881719507914,"velocity":2.358800987102655,"acceleration":4.500000000000033,"pose":{"translation":{"x":5.437862721848224,"y":-2.007970500930071},"rotation":{"radians":-1.1624342470488767}},"curvature":0.054477980931985914},{"time":7.161926406450346,"velocity":2.4850020783435953,"acceleration":4.5,"pose":{"translation":{"x":5.464967509640941,"y":-2.070249362553824},"rotation":{"radians":-1.1579157011210433}},"curvature":0.07737308293543844},{"time":7.190714191774618,"velocity":2.614547112302822,"acceleration":-0.3240076243245205,"pose":{"translation":{"x":5.494627321717695,"y":-2.137392512172489},"rotation":{"radians":-1.1515205318719555}},"curvature":0.09614748435776965},{"time":7.220781683815544,"velocity":2.604805015637245,"acceleration":-0.4068462773200504,"pose":{"translation":{"x":5.5268571862712115,"y":-2.2089342063183803},"rotation":{"radians":-1.143307842435253}},"curvature":0.11279603592903968},{"time":7.252720837643059,"velocity":2.5918106898017683,"acceleration":-0.39711202489601416,"pose":{"translation":{"x":5.561632811336151,"y":-2.284284211284389},"rotation":{"radians":-1.1332761940040839}},"curvature":0.1288356535384748},{"time":7.28632166216496,"velocity":2.5784673983377004,"acceleration":-0.4143147319773864,"pose":{"translation":{"x":5.598894566353267,"y":-2.3627489054140365},"rotation":{"radians":-1.1213658285624772}},"curvature":0.1454742544568637},{"time":7.321328606100881,"velocity":2.563963505743542,"acceleration":-0.45374636771043453,"pose":{"translation":{"x":5.638551463733571,"y":-2.443552381391524},"rotation":{"radians":-1.107460585174397}},"curvature":0.16375651294303464},{"time":7.357471200596726,"velocity":2.547563934771421,"acceleration":-0.5139599604112789,"pose":{"translation":{"x":5.680485140422487,"y":-2.5258575485317865},"rotation":{"radians":-1.0913883843324514}},"curvature":0.18467904824004772},{"time":7.394472589095144,"velocity":2.528546702603612,"acceleration":-0.5955248730227746,"pose":{"translation":{"x":5.7245538394640185,"y":-2.60878723507054},"rotation":{"radians":-1.0729202223270249}},"curvature":0.20928102426232678},{"time":7.432058243890766,"velocity":2.5061635103039714,"acceleration":-0.7000988642544753,"pose":{"translation":{"x":5.770596391564903,"y":-2.691445290454337},"rotation":{"radians":-1.0517682344164185}},"curvature":0.23871577740519925},{"time":7.4699647302718715,"velocity":2.479625222240682,"acceleration":-0.8294290131384341,"pose":{"translation":{"x":5.818436196658777,"y":-2.7729376876306135},"rotation":{"radians":-1.0275839808535463}},"curvature":0.27430317334156},{"time":7.507948261651303,"velocity":2.448120579293127,"acceleration":-0.9839002432885127,"pose":{"translation":{"x":5.867885205470336,"y":-2.8523936253377453},"rotation":{"radians":-0.9999589735244028}},"curvature":0.3175520135900033},{"time":7.545792597368593,"velocity":2.410885528173793,"acceleration":-1.1602324635457926,"pose":{"translation":{"x":5.918747901079493,"y":-2.9289866303950935},"rotation":{"radians":-0.9684308564204173}},"curvature":0.37012483849595146},{"time":7.583315530801259,"velocity":2.367350202677747,"acceleration":-1.3480016043445844,"pose":{"translation":{"x":5.97082528048554,"y":-3.00195565999306},"rotation":{"radians":-0.9325008471086322}},"curvature":0.43369033620555253},{"time":7.620372769190603,"velocity":2.3173969858763304,"acceleration":-1.525017759485782,"pose":{"translation":{"x":6.02391883617131,"y":-3.070626203983136},"rotation":{"radians":-0.8916712250692524}},"curvature":0.5095689290953084},{"time":7.656857432392343,"velocity":2.2617572265448205,"acceleration":-1.6524098527273225,"pose":{"translation":{"x":6.077834537667337,"y":-3.1344313871679566},"rotation":{"radians":-0.8455156199074083}},"curvature":0.5980310958067537},{"time":7.692692833930391,"velocity":2.20254245596691,"acceleration":-1.6713337607031347,"pose":{"translation":{"x":6.132386813116014,"y":-3.192933071591347},"rotation":{"radians":-0.7937983428037477}},"curvature":0.6970865810400767},{"time":7.727816045594966,"velocity":2.143839846527583,"acceleration":-1.5033518227905116,"pose":{"translation":{"x":6.187402530835759,"y":-3.24584295882838},"rotation":{"radians":-0.7366585631957149}},"curvature":0.8006865281178355},{"time":7.762150739035089,"velocity":2.09222272255942,"acceleration":-1.0535203774542483,"pose":{"translation":{"x":6.2427249808851695,"y":-3.29304369227542},"rotation":{"radians":-0.6748642327173774}},"curvature":0.8965851361536471},{"time":7.795570898109744,"velocity":2.0570139039565087,"acceleration":-0.2076266685911583,"pose":{"translation":{"x":6.298217856627189,"y":-3.3346099594401784},"rotation":{"radians":-0.6101115337471066}},"curvature":0.9647601233863669},{"time":7.827862510387757,"velocity":2.0503093040757876,"acceleration":1.195580131901716,"pose":{"translation":{"x":6.35376923629326,"y":-3.3708295942317683},"rotation":{"radians":-0.5452979065062785}},"curvature":0.978007656362287},{"time":7.858696395723503,"velocity":2.0871736847725413,"acceleration":3.448640273592229,"pose":{"translation":{"x":6.409295564547495,"y":-3.4022246792507493},"rotation":{"radians":-0.48465199881758714}},"curvature":0.9062203391737963},{"time":7.887627428022769,"velocity":2.186946407916389,"acceleration":4.499999999999989,"pose":{"translation":{"x":6.464745634050827,"y":-3.42957264807918},"rotation":{"radians":-0.4336071559827316}},"curvature":0.7240683792098395},{"time":7.939809758193995,"velocity":2.4217668936869052,"acceleration":1.8423936562973335,"pose":{"translation":{"x":6.575397796817606,"y":-3.4766403401404347},"rotation":{"radians":-0.3853198176751602}},"curvature":-1.9080347229915533E-14},{"time":7.988408283672325,"velocity":2.511304508733586,"acceleration":-1.808246335328046,"pose":{"translation":{"x":6.686711253151883,"y":-3.5211165235180646},"rotation":{"radians":-0.370289697882498}},"curvature":0.23190875082556212},{"time":8.038153435089825,"velocity":2.421353020982555,"acceleration":-0.5642416368536088,"pose":{"translation":{"x":6.8018339633471046,"y":-3.5635321088251604},"rotation":{"radians":-0.3332143178494939}},"curvature":0.3551822194965661},{"time":8.090906219409975,"velocity":2.3915877036091686,"acceleration":-0.09040985872220116,"pose":{"translation":{"x":6.922753028748722,"y":-3.6021892863202782},"rotation":{"radians":-0.2847477242858942}},"curvature":0.398015846225878},{"time":8.118170833292009,"velocity":2.3891227137199786,"acceleration":0.06681408441914931,"pose":{"translation":{"x":6.985534093170646,"y":-3.6196804871707817},"rotation":{"radians":-0.2586457647789284}},"curvature":0.40161093092894135},{"time":8.145871626718662,"velocity":2.3909735168704644,"acceleration":0.14287095072434403,"pose":{"translation":{"x":7.049757316260549,"y":-3.635762849884043},"rotation":{"radians":-0.23212026719412493}},"curvature":0.3989109185141588},{"time":8.173906945119915,"velocity":2.3949789494643112,"acceleration":0.15954708007388382,"pose":{"translation":{"x":7.115245715279512,"y":-3.6503247623687196},"rotation":{"radians":-0.20554327998719507}},"curvature":0.3930819499232307},{"time":8.202172547802249,"velocity":2.399488643838806,"acceleration":0.1321333905859562,"pose":{"translation":{"x":7.181755983477622,"y":-3.6632747150085208},"rotation":{"radians":-0.1791310990793678}},"curvature":0.3865424360578913},{"time":8.230560496026314,"velocity":2.4032396396894304,"acceleration":0.0704277780785332,"pose":{"translation":{"x":7.24898844400437,"y":-3.6745405043493737},"rotation":{"radians":-0.15297543657989046}},"curvature":0.38112180860746375},{"time":8.258958927325084,"velocity":2.4052396781067187,"acceleration":-0.020422381145619513,"pose":{"translation":{"x":7.316597003819056,"y":-3.6840684367865926},"rotation":{"radians":-0.12706937355820494}},"curvature":0.3782384301233744},{"time":8.287252793759576,"velocity":2.4046618499823103,"acceleration":-0.13930218650835,"pose":{"translation":{"x":7.384199107601187,"y":-3.691822532252046},"rotation":{"radians":-0.10132718650101}},"curvature":0.3790709700248724},{"time":8.315325519488994,"velocity":2.400751257906953,"acceleration":-0.2887632523708371,"pose":{"translation":{"x":7.451385691660885,"y":-3.6977837279013257},"rotation":{"radians":-0.07559810756065148}},"curvature":0.3847159199189477},{"time":8.343061480932679,"velocity":2.3927421314728425,"acceleration":-0.47489505078631666,"pose":{"translation":{"x":7.51773113784928,"y":-3.701949081800912},"rotation":{"radians":-0.04967452784236901}},"curvature":0.3963347082995989},{"time":8.370349200585704,"velocity":2.379783328462377,"acceleration":-0.8509548108589688,"pose":{"translation":{"x":7.582803227468918,"y":-3.704330976615345},"rotation":{"radians":-0.023295296654171054}},"curvature":0.41529959827892454},{"time":8.423216197898467,"velocity":2.334795902763413,"acceleration":-1.5922715422845686,"pose":{"translation":{"x":7.70742518293158,"y":-3.7038657647602062},"rotation":{"radians":0.03215158575297248}},"curvature":0.4827715939902923},{"time":8.473254002174306,"velocity":2.2551221309765914,"acceleration":-3.220010826274779,"pose":{"translation":{"x":7.82204004609277,"y":-3.696763385725768},"rotation":{"radians":0.0940183835450109}},"curvature":0.6088716100135217},{"time":8.520416009655047,"velocity":2.103259956299749,"acceleration":-4.49999999999999,"pose":{"translation":{"x":7.923967746484699,"y":-3.6835933624495634},"rotation":{"radians":0.1667477565163834}},"curvature":0.8308875998528907},{"time":8.543025251138438,"velocity":2.0015183696244883,"acceleration":-4.499999999999985,"pose":{"translation":{"x":7.96956009169738,"y":-3.674957798817167},"rotation":{"radians":0.2088968168926489}},"curvature":0.994523031111483},{"time":8.56503642256178,"velocity":1.9024680982194515,"acceleration":-4.5,"pose":{"translation":{"x":8.011378180260746,"y":-3.665093965406172},"rotation":{"radians":0.2558723101387938}},"curvature":1.202526478078813},{"time":8.586365333111807,"velocity":1.8064880007443271,"acceleration":-4.5,"pose":{"translation":{"x":8.04937831450813,"y":-3.6541163321861956},"rotation":{"radians":0.3082627186575262}},"curvature":1.4573924921768393},{"time":8.606968212323697,"velocity":1.7137750442908244,"acceleration":-4.499999999999993,"pose":{"translation":{"x":8.0836097353283,"y":-3.642146730596593},"rotation":{"radians":0.3662617499756407}},"curvature":1.7495148440030848},{"time":8.626857539144005,"velocity":1.6242730735994344,"acceleration":-3.503899736023393,"pose":{"translation":{"x":8.114224576075856,"y":-3.629313557233622},"rotation":{"radians":0.42923948226658043}},"curvature":2.044080449608214},{"time":8.64599987548703,"velocity":1.5572002463402397,"acceleration":-0.3681466632515068,"pose":{"translation":{"x":8.141487816481622,"y":-3.615750977537616},"rotation":{"radians":0.4951349121451568}},"curvature":2.2650649727338372},{"time":8.664096987812744,"velocity":1.5505378548230406,"acceleration":4.499999999999772,"pose":{"translation":{"x":8.165787236563062,"y":-3.6015981294801462},"rotation":{"radians":0.5597986992267797}},"curvature":2.2880593719552573},{"time":8.680650830749125,"velocity":1.625030148036748,"acceleration":-3.587373620230094,"pose":{"translation":{"x":8.187643370534673,"y":-3.5869983272511945},"rotation":{"radians":0.616638786240974}},"curvature":1.9638901765571541},{"time":8.712094266928501,"velocity":1.5122307945574667,"acceleration":-4.5,"pose":{"translation":{"x":8.22683141145398,"y":-3.557047220253817},"rotation":{"radians":0.672247181806951}},"curvature":2.6088445188996727E-14},{"time":8.728607574964528,"velocity":1.4379209083953461,"acceleration":-4.499999999999996,"pose":{"translation":{"x":8.24575788673742,"y":-3.5417136198053623},"rotation":{"radians":0.6975408766805757}},"curvature":1.9541079407886521},{"time":8.746657445229355,"velocity":1.3566964922036229,"acceleration":-2.5363925685392377,"pose":{"translation":{"x":8.264587947338732,"y":-3.524934471935431},"rotation":{"radians":0.7628163878869434}},"curvature":3.055951352921132},{"time":8.76686852965582,"velocity":1.3054332478622155,"acceleration":2.1581236073499532,"pose":{"translation":{"x":8.283216972129633,"y":-3.5055259359601707},"rotation":{"radians":0.8500050079261409}},"curvature":3.2971569996736663},{"time":8.777749789097292,"velocity":1.3289163507405544,"acceleration":4.066461347679289,"pose":{"translation":{"x":8.292421291712749,"y":-3.494539505637776},"rotation":{"radians":0.8965904499204304}},"curvature":3.1843536697023693},{"time":8.788878653032844,"velocity":1.374171445778061,"acceleration":4.499999999999622,"pose":{"translation":{"x":8.301532775009951,"y":-3.4825721747033382},"rotation":{"radians":0.9430145198442916}},"curvature":2.977840539132772},{"time":8.800191130070608,"velocity":1.4250775924479957,"acceleration":4.500000000000359,"pose":{"translation":{"x":8.310536467134918,"y":-3.469548181801936},"rotation":{"radians":0.9881459927798832}},"curvature":2.7191079617737435},{"time":8.811700120931494,"velocity":1.476868051321987,"acceleration":4.500000000000147,"pose":{"translation":{"x":8.319417131173866,"y":-3.455406110269526},"rotation":{"radians":1.0312195637973471}},"curvature":2.440637290223244},{"time":8.835377439797243,"velocity":1.583415986217859,"acceleration":4.500000000000177,"pose":{"translation":{"x":8.336747303376175,"y":-3.423590179817383},"rotation":{"radians":1.1096113185386942}},"curvature":1.9066842354843674},{"time":8.859965900480331,"velocity":1.6940640592917586,"acceleration":4.49999999999997,"pose":{"translation":{"x":8.35339756819856,"y":-3.386897091332841},"rotation":{"radians":1.17705377758853}},"curvature":1.4659483535606506},{"time":8.88538803834229,"velocity":1.8084636796705733,"acceleration":4.499999999999836,"pose":{"translation":{"x":8.369240742315837,"y":-3.3452905794023384},"rotation":{"radians":1.2344010864434556}},"curvature":1.1321110385115127},{"time":8.911481780069781,"velocity":1.9258855174442828,"acceleration":4.4999999999999325,"pose":{"translation":{"x":8.384149708762232,"y":-3.29890616098604},"rotation":{"radians":1.28324297161603}},"curvature":0.8894442243133595},{"time":8.938035370729766,"velocity":2.045376675414213,"acceleration":4.499999999999992,"pose":{"translation":{"x":8.39799894319763,"y":-3.248031891191066},"rotation":{"radians":1.3252669908241683}},"curvature":0.7165561295827546},{"time":8.991565769365799,"velocity":2.286263469276359,"acceleration":1.6628534718275052,"pose":{"translation":{"x":8.422033239400871,"y":-3.134613243267676},"rotation":{"radians":1.3947628891450792}},"curvature":0.5108627602694508},{"time":9.045742061807411,"velocity":2.3763507052536355,"acceleration":0.40485816520183726,"pose":{"translation":{"x":8.44042928683588,"y":-3.009658558810685},"rotation":{"radians":1.4526017683388186}},"curvature":0.420357809211099},{"time":9.073185957435369,"velocity":2.3874615904835608,"acceleration":-0.0017351648260466607,"pose":{"translation":{"x":8.447259576651152,"y":-2.9446475979981397},"rotation":{"radians":1.479454274277376}},"curvature":0.4040377967020506},{"time":9.10076677739835,"velocity":2.3874137332148875,"acceleration":-0.4102640238706016,"pose":{"translation":{"x":8.452395904464343,"y":-2.8790007408361777},"rotation":{"radians":1.5059737027913431}},"curvature":0.4041077652049662},{"time":9.128289394993015,"velocity":2.3761221933730488,"acceleration":-2.8945613386294258,"pose":{"translation":{"x":8.455766629770315,"y":-2.8135349711108537},"rotation":{"radians":1.5329138216294398}},"curvature":0.4206950563180847},{"time":9.155893396000163,"velocity":2.296220719266267,"acceleration":-4.5,"pose":{"translation":{"x":8.457313914819684,"y":-2.749065856940965},"rotation":{"radians":1.5610633355910615}},"curvature":0.4557860793572367},{"time":9.212530862696267,"velocity":2.041352119133796,"acceleration":-4.500000000000002,"pose":{"translation":{"x":8.454784984527434,"y":-2.626257324045744},"rotation":{"radians":1.6246525457485077}},"curvature":0.6014234046665868},{"time":9.270278901356475,"velocity":1.7814859451628586,"acceleration":-4.5,"pose":{"translation":{"x":8.444680464825606,"y":-2.5163400931382585},"rotation":{"radians":1.7060514821506643}},"curvature":0.9199199435490745},{"time":9.298980409913103,"velocity":1.6523291566580347,"acceleration":-4.500000000000005,"pose":{"translation":{"x":8.436832917441011,"y":-2.467691134299181},"rotation":{"radians":1.7576606715245289}},"curvature":1.1957280076313652},{"time":9.327250713785837,"velocity":1.5251127892307317,"acceleration":-4.499999999999997,"pose":{"translation":{"x":8.427190232085055,"y":-2.423824834016457},"rotation":{"radians":1.819678555816648}},"curvature":1.5967821662889308},{"time":9.354896955143442,"velocity":1.4007047031215092,"acceleration":-4.499999999999994,"pose":{"translation":{"x":8.415833925753976,"y":-2.385008012388349},"rotation":{"radians":1.8950077856286611}},"curvature":2.1708883082219828},{"time":9.368449963953255,"velocity":1.3397161634773516,"acceleration":-4.5,"pose":{"translation":{"x":8.409545709948722,"y":-2.367534579717221},"rotation":{"radians":1.938602174842637}},"curvature":2.5365328170187293},{"time":9.38181602523898,"velocity":1.279568887691591,"acceleration":-4.5,"pose":{"translation":{"x":8.402871528329863,"y":-2.351352120031654},"rotation":{"radians":1.986573842797953}},"curvature":2.9570362284718947},{"time":9.395005119410012,"velocity":1.2202179639219484,"acceleration":-4.5,"pose":{"translation":{"x":8.395829137049132,"y":-2.336447130921312},"rotation":{"radians":2.039098883891049}},"curvature":3.426617326755694},{"time":9.408041906242524,"velocity":1.1615524231756453,"acceleration":-4.500000000000008,"pose":{"translation":{"x":8.38843810884691,"y":-2.3227939938549227},"rotation":{"radians":2.096138873112933}},"curvature":3.9286571906513537},{"time":9.420969007826379,"velocity":1.103380466048292,"acceleration":-4.499999999999992,"pose":{"translation":{"x":8.380719880748051,"y":-2.3103543727981837},"rotation":{"radians":2.157331690342444}},"curvature":4.43136047043075},{"time":9.43385051751418,"velocity":1.0454136724531895,"acceleration":-3.313251796905229,"pose":{"translation":{"x":8.372697801757694,"y":-2.299076612831686},"rotation":{"radians":2.221874308487975}},"curvature":4.884906385951116},{"time":9.44667687932615,"velocity":1.0029167061319255,"acceleration":-1.3751492972568033,"pose":{"translation":{"x":8.364397180557088,"y":-2.2888951387688197},"rotation":{"radians":2.2884238941388917}},"curvature":5.222678382763311},{"time":9.4592848140966,"velocity":0.985578913492481,"acceleration":1.1375644049071152,"pose":{"translation":{"x":8.355845333199415,"y":-2.279729853773684},"rotation":{"radians":2.3550538487702135}},"curvature":5.368847723977871},{"time":9.471415430329051,"velocity":0.9993782707281047,"acceleration":4.50000000000062,"pose":{"translation":{"x":8.347071630805608,"y":-2.271485537979013},"rotation":{"radians":2.419298411423013}},"curvature":5.252097880744081},{"time":9.482777762975047,"velocity":1.0505087676350917,"acceleration":4.50000000000045,"pose":{"translation":{"x":8.338107547260176,"y":-2.264051247104079},"rotation":{"radians":2.478295796360133}},"curvature":4.821248824930119},{"time":9.493340986509498,"velocity":1.0980432735401287,"acceleration":4.49999999999987,"pose":{"translation":{"x":8.328986706907012,"y":-2.257299711072606},"rotation":{"radians":2.5290020341433928}},"curvature":4.056045821482662},{"time":9.503280274941975,"velocity":1.1427700714862734,"acceleration":4.500000000000066,"pose":{"translation":{"x":8.31974493224523,"y":-2.2510867326306867},"rotation":{"radians":2.568418610381367}},"curvature":2.9685992511236106},{"time":9.521798138816477,"velocity":1.2261004589215332,"acceleration":4.50000000000004,"pose":{"translation":{"x":8.301053146943259,"y":-2.239611415319198},"rotation":{"radians":2.6026906028372796}},"curvature":-2.539792672694477E-13},{"time":9.555658554104497,"velocity":1.378472327717625,"acceleration":4.499999999999743,"pose":{"translation":{"x":8.262830827037828,"y":-2.2176226049385246},"rotation":{"radians":2.651557084529975}},"curvature":2.044805359484457},{"time":9.571836564613113,"velocity":1.4512733750063902,"acceleration":-1.4373902272370207,"pose":{"translation":{"x":8.242362656010032,"y":-2.207375742290304},"rotation":{"radians":2.7054274581780535}},"curvature":2.5932898999992604},{"time":9.588527981544651,"velocity":1.4272812954302578,"acceleration":2.4437408233219164,"pose":{"translation":{"x":8.220272908185258,"y":-2.197932472469342},"rotation":{"radians":2.770420757002247}},"curvature":2.7521863857414757},{"time":9.606249535177664,"velocity":1.470588179495941,"acceleration":4.500000000000167,"pose":{"translation":{"x":8.196033749814715,"y":-2.1894595290048136},"rotation":{"radians":2.839456084131849}},"curvature":2.58024712858923},{"time":9.624699848180297,"velocity":1.5536145880077914,"acceleration":4.500000000000087,"pose":{"translation":{"x":8.169129203362893,"y":-2.182078114027738},"rotation":{"radians":2.9064277058738845}},"curvature":2.2031265942296514},{"time":9.643928241640294,"velocity":1.6401423585777772,"acceleration":4.499999999999922,"pose":{"translation":{"x":8.139058465477685,"y":-2.1758674153193196},"rotation":{"radians":2.96710024673232}},"curvature":1.7529417561173186},{"time":9.664150691955138,"velocity":1.731143384994575,"acceleration":4.5000000000000195,"pose":{"translation":{"x":8.105339224960542,"y":-2.170868123359289},"rotation":{"radians":3.019263333950046}},"curvature":1.323572087674999},{"time":9.708113039095448,"velocity":1.9289739471259697,"acceleration":4.499999999999933,"pose":{"translation":{"x":8.025138359824751,"y":-2.1644951373860057},"rotation":{"radians":3.096720125974591}},"curvature":0.677150887075891},{"time":9.757145323843723,"velocity":2.149619228493205,"acceleration":4.499999999999993,"pose":{"translation":{"x":7.925164044303084,"y":-2.1626483817532725},"rotation":{"radians":-3.139703569630258}},"curvature":0.3095955426742758},{"time":9.8111359695748,"velocity":2.3925771342830457,"acceleration":4.5000000000000755,"pose":{"translation":{"x":7.802561939288404,"y":-2.1646262163767864},"rotation":{"radians":-3.1150173731148425}},"curvature":0.12085901976699137},{"time":9.839845920930143,"velocity":2.5217719153820988,"acceleration":4.500000000000069,"pose":{"translation":{"x":7.732048581414114,"y":-2.166750911916023},"rotation":{"radians":-3.108561714346927}},"curvature":0.06627620300526656},{"time":9.869592020820585,"velocity":2.655629364889088,"acceleration":1.3452382686217557,"pose":{"translation":{"x":7.655092105263157,"y":-2.169448680989499},"rotation":{"radians":-3.1050235976762517}},"curvature":0.028500450699259824},{"time":9.900834326308177,"velocity":2.6976577098309686,"acceleration":-0.31029624745016704,"pose":{"translation":{"x":7.571525937674917,"y":-2.1725720055390743},"rotation":{"radians":-3.103803966908082}},"curvature":0.0026798398547058185},{"time":9.934392847336879,"velocity":2.687244626685785,"acceleration":-0.26932213525526477,"pose":{"translation":{"x":7.481235177343656,"y":-2.175970040688554},"rotation":{"radians":-3.1044080157698524}},"curvature":-0.014650112521962794},{"time":9.970606796083263,"velocity":2.677491408683384,"acceleration":-0.1546060961680449,"pose":{"translation":{"x":7.384159912788659,"y":-2.1794921317920313},"rotation":{"radians":-3.106427066511429}},"curvature":-0.025946287121016393},{"time":10.009462948326254,"velocity":2.671484010672984,"acceleration":-0.08103405082072435,"pose":{"translation":{"x":7.280298540324362,"y":-2.1829913314822282},"rotation":{"radians":-3.109522240083562}},"curvature":-0.03294510181834588},{"time":10.050903346765532,"velocity":2.6681259273198243,"acceleration":-0.033301181318213746,"pose":{"translation":{"x":7.169711082030485,"y":-2.186327916718839},"rotation":{"radians":-3.113410419542554}},"curvature":-0.03687111111364532},{"time":10.094851906554485,"velocity":2.666662388361618,"acceleration":-0.0019071222602449322,"pose":{"translation":{"x":7.0525225037221695,"y":-2.189372905836871},"rotation":{"radians":-3.1178524324500403}},"curvature":-0.03858526056035295},{"time":10.141211987288393,"velocity":2.6665739740196637,"acceleration":0.014796142872478662,"pose":{"translation":{"x":6.92892603292011,"y":-2.1920115755949867},"rotation":{"radians":-3.122643141515202}},"curvature":-0.03868887488516708},{"time":10.165260489868363,"velocity":2.666929799099706,"acceleration":0.023456950753692436,"pose":{"translation":{"x":6.864804703275967,"y":-2.1931474540124913},"rotation":{"radians":-3.1251123691314406}},"curvature":-0.03827191901776317},{"time":10.189865088895543,"velocity":2.667506947967401,"acceleration":0.03073198379454078,"pose":{"translation":{"x":6.799186476820686,"y":-2.194146978223845},"rotation":{"radians":-3.127603056396413}},"curvature":-0.03759585245237944},{"time":10.2150069250263,"velocity":2.6682796064679364,"acceleration":0.036943540938667765,"pose":{"translation":{"x":6.732116183132616,"y":-2.195001384191123},"rotation":{"radians":-3.1300955837452142}},"curvature":-0.03669122566305292},{"time":10.24066543579656,"velocity":2.6692275227110027,"acceleration":0.04236080222024209,"pose":{"translation":{"x":6.6636435402661025,"y":-2.195703458474444},"rotation":{"radians":-3.1325710698007185}},"curvature":-0.035582122898126824},{"time":10.266818289067333,"velocity":2.670335378555901,"acceleration":0.04721232343773377,"pose":{"translation":{"x":6.593823258438056,"y":-2.196247648139729},"rotation":{"radians":-3.135011178607148}},"curvature":-0.03428688183819541},{"time":10.293441316444406,"velocity":2.671592313535319,"acceleration":0.05169635071484165,"pose":{"translation":{"x":6.522715143714517,"y":-2.196630170666464},"rotation":{"radians":-3.137397929249083}},"curvature":-0.03281864684213528},{"time":10.320508446376877,"velocity":2.672991585377152,"acceleration":-0.9237694207094911,"pose":{"translation":{"x":6.450384201697223,"y":-2.1968491238554573},"rotation":{"radians":-3.139713504594399}},"curvature":-0.03118577134605693},{"time":10.348131396069254,"velocity":2.647474349141537,"acceleration":-4.499999999999994,"pose":{"translation":{"x":6.376900741210176,"y":-2.196904595736605},"rotation":{"radians":3.141245251529441}},"curvature":-0.029392079420617487},{"time":10.377002618239896,"velocity":2.517553849373649,"acceleration":-4.5,"pose":{"translation":{"x":6.302340477986208,"y":-2.196798774476648},"rotation":{"radians":3.139125809519009}},"curvature":-0.027436991012317807},{"time":10.407865707640793,"velocity":2.3786699470696138,"acceleration":-4.5,"pose":{"translation":{"x":6.226784638353549,"y":-2.196536058286934},"rotation":{"radians":3.1371320135996665}},"curvature":-0.02531550970776811},{"time":10.441053994504585,"velocity":2.2293226561825477,"acceleration":-4.5,"pose":{"translation":{"x":6.1503200629223915,"y":-2.1961231653311786},"rotation":{"radians":3.135283087295086}},"curvature":-0.02301806562561615},{"time":10.477026482527014,"velocity":2.06744646008162,"acceleration":-4.500000000000005,"pose":{"translation":{"x":6.0730393102714615,"y":-2.1955692436332237},"rotation":{"radians":3.133599198375548}},"curvature":-0.020530198833346527},{"time":10.516446037933708,"velocity":1.8900584607515019,"acceleration":-4.5,"pose":{"translation":{"x":5.995040760634579,"y":-2.194885980984802},"rotation":{"radians":3.1321017472903767}},"curvature":-0.01783205995171728},{"time":10.560333482822516,"velocity":1.692564958751864,"acceleration":-4.5,"pose":{"translation":{"x":5.9164287195872305,"y":-2.194087714853294},"rotation":{"radians":3.130813694869316}},"curvature":-0.014897693602761558},{"time":10.610413233796018,"velocity":1.467206079371106,"acceleration":-4.499999999999998,"pose":{"translation":{"x":5.837313521733131,"y":-2.193191542289492},"rotation":{"radians":3.129759939890969}},"curvature":-0.011694056047681133},{"time":10.670058885965704,"velocity":1.1988006446075197,"acceleration":-4.500000000000002,"pose":{"translation":{"x":5.757811634390795,"y":-2.1922174298353565},"rotation":{"radians":3.1289677597313585}},"curvature":-0.008179699294010573},{"time":10.748005886983027,"velocity":0.8480391400295656,"acceleration":-4.499999999999999,"pose":{"translation":{"x":5.678045761280101,"y":-2.191188323431782},"rotation":{"radians":3.128467330750716}},"curvature":-0.0043030280378462},{"time":10.93645902921182,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":5.598144946208856,"y":-2.190130258326354},"rotation":{"radians":3.1282923496405326}},"curvature":-5.97160968968523E-16}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.17968882049747983,"velocity":0.7187552819899193,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.26467537971075705,"velocity":1.0587015188430284,"acceleration":3.9999999999999987,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.3418163484637692,"velocity":1.3672653938550767,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.41754843773451444,"velocity":1.670193750938058,"acceleration":4.0,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.45521792346867235,"velocity":1.8208716938746896,"acceleration":4.0,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.4926816383832816,"velocity":1.9707265535331266,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.529819826869508,"velocity":2.1192793074780325,"acceleration":4.0,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.5664911594470127,"velocity":2.265964637788051,"acceleration":4.000000000000005,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.6025461216169221,"velocity":2.410184486467689,"acceleration":4.000000000000005,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.6378353567700011,"velocity":2.551341427080005,"acceleration":3.8898172117284084,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.6722392365839923,"velocity":2.6851662309307036,"acceleration":-0.0028692331298715464,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.7064485194014003,"velocity":2.6850680765230948,"acceleration":-0.01363061536019361,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.741032225358219,"velocity":2.6845966793294673,"acceleration":-0.0245444755723349,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.7757009900009602,"velocity":2.6837457526825705,"acceleration":-0.03647959122959362,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.8101695062835156,"velocity":2.6824883552982923,"acceleration":-0.0502835099516997,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":0.8441634416239681,"velocity":2.6807790209123032,"acceleration":-0.06680264520177047,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":0.8774263077925472,"velocity":2.6785569734652497,"acceleration":-0.08680642985367452,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":0.9097262517186693,"velocity":2.675753130648549,"acceleration":-0.11072032910460182,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":0.9408627121962688,"velocity":2.672305691497317,"acceleration":-0.13797686745324442,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":0.970672852982619,"velocity":2.668192581653276,"acceleration":-0.1656514582902912,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":0.9990376368631595,"velocity":2.6634939138393756,"acceleration":-0.1859159844009081,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.0258873583239283,"velocity":2.6585021214431066,"acceleration":-0.18198220328237827,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.051206442997476,"velocity":2.6538944986291213,"acceleration":-0.12337544392538517,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.0750374464048598,"velocity":2.650954338004548,"acceleration":0.182838305275328,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.1186910381030786,"velocity":2.6589358867298314,"acceleration":-3.39708326192138,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.1599441305422316,"velocity":2.5187956969022895,"acceleration":-4.0,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.2032235877434885,"velocity":2.345677868097262,"acceleration":-3.7151072543585832,"pose":{"translation":{"x":3.5012793327139367,"y":-2.195698213316658},"rotation":{"radians":0.04748102876966936}},"curvature":-0.4662135588751524},{"time":1.2503285332769394,"velocity":2.1706779432297725,"acceleration":-1.8680284686435522,"pose":{"translation":{"x":3.6076356177973556,"y":-2.1939082023464804},"rotation":{"radians":-0.01889087724371516}},"curvature":-0.7526266422227288},{"time":1.2754047649250193,"velocity":2.123834828624859,"acceleration":-1.1011881242468398,"pose":{"translation":{"x":3.6614376570651617,"y":-2.196061155562693},"rotation":{"radians":-0.06185779113317496}},"curvature":-0.8373003126255645},{"time":1.3011736804226204,"velocity":2.0954584049041802,"acceleration":-0.5556475436854321,"pose":{"translation":{"x":3.7156039231864395,"y":-2.2006855028883923},"rotation":{"radians":-0.10895597617388497}},"curvature":-0.8904348166965556},{"time":1.3274727093822067,"velocity":2.080845414061474,"acceleration":-0.17628809332197093,"pose":{"translation":{"x":3.7700300748484006,"y":-2.2080068032512465},"rotation":{"radians":-0.15872936628502857}},"curvature":-0.9183627632024834},{"time":1.3541634504980042,"velocity":2.0761401542008198,"acceleration":0.07300951161398941,"pose":{"translation":{"x":3.8245668056070024,"y":-2.2181748154452263},"rotation":{"radians":-0.21000759942160274}},"curvature":-0.9274390013294783},{"time":1.3811293340556783,"velocity":2.0781089201896052,"acceleration":0.21793832017744857,"pose":{"translation":{"x":3.8790260816707995,"y":-2.2312696695550542},"rotation":{"radians":-0.2619010918949543}},"curvature":-0.9236363379932561},{"time":1.408272176583572,"velocity":2.0840243856949754,"acceleration":0.27815983710638836,"pose":{"translation":{"x":3.9331873796847967,"y":-2.2473080383806523},"rotation":{"radians":-0.31378200936135137}},"curvature":-0.9122538663464707},{"time":1.435508302912047,"velocity":2.091600382157913,"acceleration":0.26936479729601354,"pose":{"translation":{"x":3.9868039245143003,"y":-2.266249308861593},"rotation":{"radians":-0.3652551967319382}},"curvature":-0.8977702501377133},{"time":1.4627648531175141,"velocity":2.0989423372789973,"acceleration":0.20414924054470082,"pose":{"translation":{"x":4.039608927028769,"y":-2.2880017535015456},"rotation":{"radians":-0.4161239573668622}},"curvature":-0.8838338290755391},{"time":1.4899767448090324,"velocity":2.1044976243016054,"acceleration":0.0924194146308202,"pose":{"translation":{"x":4.091321821885664,"y":-2.3124287017927276},"rotation":{"radians":-0.46635513834344133}},"curvature":-0.8733534664717717},{"time":1.5170845653902645,"velocity":2.10700291321164,"acceleration":-0.05825406616701301,"pose":{"translation":{"x":4.141654505314305,"y":-2.339354711640352},"rotation":{"radians":-0.5160467289148427}},"curvature":-0.8686451787560745},{"time":1.5440334742090027,"velocity":2.1054330296941846,"acceleration":-0.24210071869295952,"pose":{"translation":{"x":4.190317572899718,"y":-2.3685717407870768},"rotation":{"radians":-0.5653996649684544}},"curvature":-0.8715942116435602},{"time":1.570773031108526,"velocity":2.0989593637512787,"acceleration":-0.4543031946889482,"pose":{"translation":{"x":4.237026557366488,"y":-2.399845318237454},"rotation":{"radians":-0.6146941272313098}},"curvature":-0.8838016229196061},{"time":1.5972577412881146,"velocity":2.0869272753062806,"acceleration":-0.6897502487943344,"pose":{"translation":{"x":4.281508166362612,"y":-2.432920715682379},"rotation":{"radians":-0.664269461258107}},"curvature":-0.9066917615974452},{"time":1.6234480045986468,"velocity":2.068862534671852,"acceleration":-0.9413219695932574,"pose":{"translation":{"x":4.323506520243348,"y":-2.467529118923538},"rotation":{"radians":-0.7145058922073292}},"curvature":-0.9415585169416107},{"time":1.6493110611196988,"velocity":2.0445170713677534,"acceleration":-1.197689322124552,"pose":{"translation":{"x":4.3627893898550685,"y":-2.503393799297859},"rotation":{"radians":-0.7658053317561747}},"curvature":-0.9895224095087061},{"time":1.6748214164756352,"velocity":2.0139635911543454,"acceleration":-1.440736443601879,"pose":{"translation":{"x":4.399154434319112,"y":-2.540236285101958},"rotation":{"radians":-0.8185676531047568}},"curvature":-1.0513577965846288},{"time":1.6999601029779488,"velocity":1.9777453693661797,"acceleration":-1.6429284913921287,"pose":{"translation":{"x":4.432435438815632,"y":-2.5777825330165927},"rotation":{"radians":-0.8731578010408994}},"curvature":-1.1271324374081375},{"time":1.7247120023770224,"velocity":1.93707976862737,"acceleration":-1.7651522227006105,"pose":{"translation":{"x":4.462508552367454,"y":-2.6157690995311045},"rotation":{"radians":-0.9298581575679468}},"curvature":-1.2155885938586315},{"time":1.749060379512785,"velocity":1.8941011766070257,"acceleration":-1.7554487723914503,"pose":{"translation":{"x":4.489298525623923,"y":-2.6539493123678746},"rotation":{"radians":-0.9888001966942681}},"curvature":-1.3132044255232707},{"time":1.772977870985882,"velocity":1.8521152455618943,"acceleration":-1.5481049994813512,"pose":{"translation":{"x":4.5127849486447555,"y":-2.692099441906768},"rotation":{"radians":-1.04987064617492}},"curvature":-1.4129402912207414},{"time":1.7964136219901385,"velocity":1.8158342422656049,"acceleration":-1.0601598024085974,"pose":{"translation":{"x":4.533008488683891,"y":-2.730024872609584},"rotation":{"radians":-1.1125916616879339}},"curvature":-1.5028390786756067},{"time":1.819277264157717,"velocity":1.7915951279028839,"acceleration":-0.1779882462321754,"pose":{"translation":{"x":4.550077127973347,"y":-2.7675662744445058},"rotation":{"radians":-1.1759834213896065}},"curvature":-1.5649287595028905},{"time":1.841422029792735,"velocity":1.7876536199042845,"acceleration":1.2809526906788162,"pose":{"translation":{"x":4.564172401507065,"y":-2.8046057743105486},"rotation":{"radians":-1.2384310294851038}},"curvature":-1.5751842850490676},{"time":1.8626311666997957,"velocity":1.814821520892359,"acceleration":3.6623831963299973,"pose":{"translation":{"x":4.575555634824767,"y":-2.8410731274620096},"rotation":{"radians":-1.2975918951608563}},"curvature":-1.5054000139812431},{"time":1.8826131339880234,"velocity":1.88800314211838,"acceleration":4.000000000000006,"pose":{"translation":{"x":4.584574181795802,"y":-2.8769518889329153},"rotation":{"radians":-1.3503867814765753}},"curvature":-1.3274147090655632},{"time":1.9013302807517867,"velocity":1.9628717291734334,"acceleration":-0.5086210936975172,"pose":{"translation":{"x":4.5916676624030055,"y":-2.9122855849614706},"rotation":{"radians":-1.393110285506901}},"curvature":-1.0192894795955323},{"time":1.9373421212341018,"velocity":1.9445553474812578,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.602336661727768,"y":-2.9818287702119437},"rotation":{"radians":-1.4320291524242312}},"curvature":1.0490043062426381E-13},{"time":1.9749149255057186,"velocity":1.7942641303947908,"acceleration":-4.0,"pose":{"translation":{"x":4.610789327786477,"y":-3.0515572781035987},"rotation":{"radians":-1.4843854748345995}},"curvature":-1.3706678514575072},{"time":1.9953343538717603,"velocity":1.712586416930624,"acceleration":-3.4774110708286052,"pose":{"translation":{"x":4.6129053610273525,"y":-3.0872986357953214},"rotation":{"radians":-1.5413758850870642}},"curvature":-1.7795147486415084},{"time":2.0172008603053744,"velocity":1.6365475853780294,"acceleration":-0.9316259633790658,"pose":{"translation":{"x":4.61272879192871,"y":-3.1239151401835556},"rotation":{"radians":-1.611237259672307}},"curvature":-2.005600428782231},{"time":2.0403970389901342,"velocity":1.6149374230641271,"acceleration":0.6693388183610313,"pose":{"translation":{"x":4.609755642947021,"y":-3.1615087690803643},"rotation":{"radians":-1.6886226918677059}},"curvature":-2.0737389096077368},{"time":2.064474576969305,"velocity":1.6310534538841481,"acceleration":1.6794926834734436,"pose":{"translation":{"x":4.6036000031879984,"y":-3.200098630675748},"rotation":{"radians":-1.768995230880868}},"curvature":-2.0227526737819645},{"time":2.089104952832612,"velocity":1.6724199899377736,"acceleration":2.257542163626816,"pose":{"translation":{"x":4.593985534403055,"y":-3.239629125744175},"rotation":{"radians":-1.8489031199190167}},"curvature":-1.8963796534450674},{"time":2.1140774289148223,"velocity":1.7287964076235256,"acceleration":2.4974289185548653,"pose":{"translation":{"x":4.580736976985762,"y":-3.2799781098511076},"rotation":{"radians":-1.9260516473486369}},"curvature":-1.7338895074983334},{"time":2.1392778172584817,"velocity":1.791732586231793,"acceleration":2.477733251427541,"pose":{"translation":{"x":4.563771655968305,"y":-3.320965055559534},"rotation":{"radians":-1.9991839012331172}},"curvature":-1.5645719168587215},{"time":2.164658118148388,"velocity":1.8546182016779507,"acceleration":2.2734593301268906,"pose":{"translation":{"x":4.54309098701794,"y":-3.3623592146364962},"rotation":{"radians":-2.0678522027711344}},"curvature":-1.4068680437193162},{"time":2.190206891631209,"velocity":1.9127022991257683,"acceleration":1.9521898089040326,"pose":{"translation":{"x":4.518771982433454,"y":-3.40388778025962},"rotation":{"radians":-2.1321692778718697}},"curvature":-1.2704178672490707},{"time":2.215926126161125,"velocity":1.9629111266678834,"acceleration":1.5678356135469746,"pose":{"translation":{"x":4.49095875714162,"y":-3.445244049223644},"rotation":{"radians":-2.1925960862705365}},"curvature":-1.1589753746489277},{"time":2.24181622211211,"velocity":2.003502541137986,"acceleration":1.1579014422844256,"pose":{"translation":{"x":4.459854034693655,"y":-3.4860955841469483},"rotation":{"radians":-2.249786744624239}},"curvature":-1.0729627094883543},{"time":2.267868205880701,"velocity":2.0336681707180078,"acceleration":0.7448573832225459,"pose":{"translation":{"x":4.425710653261679,"y":-3.5260923756780844},"rotation":{"radians":-2.304487588454943}},"curvature":-1.011266119821334},{"time":2.294061357770515,"velocity":2.0531783332930056,"acceleration":0.33993831424735194,"pose":{"translation":{"x":4.388823071635168,"y":-3.564875004702304},"rotation":{"radians":-2.3574778356072}},"curvature":-0.972328188193407},{"time":2.3203644127351066,"velocity":2.0621197494572243,"acceleration":-0.05233503444245701,"pose":{"translation":{"x":4.349518875217418,"y":-3.6020828045480897},"rotation":{"radians":-2.4095380707936367}},"curvature":-0.9547293293210256},{"time":2.346738808304373,"velocity":2.0607394445567078,"acceleration":-0.42983687400410225,"pose":{"translation":{"x":4.3081502820219955,"y":-3.637362023193681},"rotation":{"radians":-2.4614348339687107}},"curvature":-0.9574361333747351},{"time":2.373142787275556,"velocity":2.0493900407744645,"acceleration":-0.7889616405579556,"pose":{"translation":{"x":4.265085648669199,"y":-3.6703739854736073},"rotation":{"radians":-2.5139120760834235}},"curvature":-0.9798307739163198},{"time":2.39953538067321,"velocity":2.0285672969888724,"acceleration":-1.1211519254230198,"pose":{"translation":{"x":4.220700976382515,"y":-3.700803255285214},"rotation":{"radians":-2.5676819401424895}},"curvature":-1.0215698342952828},{"time":2.425879368826448,"velocity":1.9990316839475484,"acceleration":-1.4098768178536363,"pose":{"translation":{"x":4.175371416985078,"y":-3.7283657977951945},"rotation":{"radians":-2.623407953779348}},"curvature":-1.0822652158667727},{"time":2.452142268736759,"velocity":1.962004230194391,"acceleration":-1.628427296180908,"pose":{"translation":{"x":4.129462778896121,"y":-3.7528171416461173},"rotation":{"radians":-2.681673480868287}},"curvature":-1.1609377220336445},{"time":2.478294292235383,"velocity":1.9194175612788666,"acceleration":-1.739171885547655,"pose":{"translation":{"x":4.083323033127442,"y":-3.7739605411629564},"rotation":{"radians":-2.7429277658648656}},"curvature":-1.2551750626768652},{"time":2.504302193049507,"velocity":1.87418535138083,"acceleration":-1.69468054107635,"pose":{"translation":{"x":4.037273819279855,"y":-3.7916551385596198},"rotation":{"radians":-2.807402261639808}},"curvature":-1.359956549659541},{"time":2.530118189938565,"velocity":1.8304354838044554,"acceleration":-1.4398034273846303,"pose":{"translation":{"x":3.991601951539649,"y":-3.805824126145479},"rotation":{"radians":-2.8749930455965087}},"curvature":-1.466230917787255},{"time":2.5556640000836928,"velocity":1.7936545388021836,"acceleration":-0.9110919487882919,"pose":{"translation":{"x":3.9465509246750465,"y":-3.8164629085318986},"rotation":{"radians":-2.945113352168395}},"curvature":-1.5595882451418221},{"time":2.5808116344838217,"velocity":1.7707427315691546,"acceleration":-0.026085299603438382,"pose":{"translation":{"x":3.9023124200326587,"y":-3.8236472648387654},"rotation":{"radians":-3.0165348687710107}},"curvature":-1.619703380875959},{"time":2.6053647537945483,"velocity":1.7701022560957353,"acceleration":1.3505975929846943,"pose":{"translation":{"x":3.8590178115339455,"y":-3.8275415109010185},"rotation":{"radians":-3.0872544590352686}},"curvature":-1.6214061957454475},{"time":2.629046029356882,"velocity":1.8020861298690307,"acceleration":3.4904686762347397,"pose":{"translation":{"x":3.8167296716716703,"y":-3.8284066614751753},"rotation":{"radians":3.128751156761285}},"curvature":-1.537850527457258},{"time":2.651495542255131,"velocity":1.8804454514370965,"acceleration":3.9999999999999836,"pose":{"translation":{"x":3.7754332775063597,"y":-3.8266085924458646},"rotation":{"radians":3.068733083553638}},"curvature":-1.3451543332369749},{"time":2.672612399497602,"velocity":1.9649128804069806,"acceleration":-1.1226330438269667,"pose":{"translation":{"x":3.735028116662759,"y":-3.8226262030323537},"rotation":{"radians":3.0201174246467244}},"curvature":-1.0267859233239223},{"time":2.7137713110847126,"velocity":1.9187065262113376,"acceleration":-4.0,"pose":{"translation":{"x":3.6560095342395114,"y":-3.810638149842175},"rotation":{"radians":2.97564525430031}},"curvature":5.191875792550406E-14},{"time":2.757397189825193,"velocity":1.7442030112494158,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":3.5775306867552668,"y":-3.7956417329472787},"rotation":{"radians":2.909637832719946}},"curvature":-1.5190148171075788},{"time":2.781340211426991,"velocity":1.6484309248422233,"acceleration":-3.595739871255373,"pose":{"translation":{"x":3.5383466675844275,"y":-3.784955895845748},"rotation":{"radians":2.838031550929874}},"curvature":-1.9688926702296767},{"time":2.794021942907917,"velocity":1.6028307173197036,"acceleration":-2.1151327623300156,"pose":{"translation":{"x":3.5188061264554102,"y":-3.778384821266308},"rotation":{"radians":2.7958610334625824}},"curvature":-2.1127152792572055},{"time":2.8071648129477453,"velocity":1.5750318023074168,"acceleration":-0.949108352583626,"pose":{"translation":{"x":3.499322349689397,"y":-3.7708690364999584},"rotation":{"radians":2.750688800440843}},"curvature":-2.2044787044082326},{"time":2.8206811370421994,"velocity":1.5622033462131433,"acceleration":-0.012232784560071923,"pose":{"translation":{"x":3.4799155820885312,"y":-3.7623308996976426},"rotation":{"radians":2.7034022685236434}},"curvature":-2.2479263507890703},{"time":2.834491410138625,"velocity":1.562034408117639,"acceleration":0.7464214832975795,"pose":{"translation":{"x":3.4606085790523595,"y":-3.7527055996008105},"rotation":{"radians":2.6548247449340687}},"curvature":-2.2485032742338205},{"time":2.8485262057547285,"velocity":1.572510281079189,"acceleration":1.3573471915497475,"pose":{"translation":{"x":3.4414264282369347,"y":-3.7419406391823182},"rotation":{"radians":2.6056936753273847}},"curvature":-2.2129626634242685},{"time":2.862727469572495,"velocity":1.5917863266386916,"acceleration":1.8392137089589828,"pose":{"translation":{"x":3.4223963712139205,"y":-3.7299953192873243},"rotation":{"radians":2.5566439547344837}},"curvature":-2.1487887632038816},{"time":2.877049022280159,"velocity":1.6181267227122056,"acceleration":2.2044085737606736,"pose":{"translation":{"x":3.4035476251296997,"y":-3.7168402222741905},"rotation":{"radians":2.5081982982001287}},"curvature":-2.0635683265650355},{"time":2.891456245693072,"velocity":1.6498861295277167,"acceleration":2.4626466336170676,"pose":{"translation":{"x":3.3849112043644753,"y":-3.7024566956553757},"rotation":{"radians":2.4607652151219233}},"curvature":-1.9644338689867396},{"time":2.905925067141334,"velocity":1.685517723959686,"acceleration":2.6231963764286363,"pose":{"translation":{"x":3.36651974219138,"y":-3.686836335738337},"rotation":{"radians":2.4146438162072923}},"curvature":-1.8576595733275043},{"time":2.9204404460189233,"velocity":1.7235944132338668,"acceleration":2.694683024586592,"pose":{"translation":{"x":3.3484073124355787,"y":-3.6699804712664266},"rotation":{"radians":2.3700338103053347}},"curvature":-1.7484377222856715},{"time":2.949578908616089,"velocity":1.8021133337570003,"acceleration":2.5624842480199854,"pose":{"translation":{"x":3.313161978191316,"y":-3.6326131076562618},"rotation":{"radians":2.2857303599163563}},"curvature":-1.5377807215642014},{"time":2.9788782937065084,"velocity":1.8771925465278723,"acceleration":2.2421522912506804,"pose":{"translation":{"x":3.279469826319671,"y":-3.5905402618437194},"rotation":{"radians":2.207987987623527}},"curvature":-1.3528336142609998},{"time":3.008365253486,"velocity":1.9433068009594763,"acceleration":1.8174952232618604,"pose":{"translation":{"x":3.247637116523898,"y":-3.5440702628394276},"rotation":{"radians":2.136219945470668}},"curvature":-1.2018034596450358},{"time":3.0380691806595714,"velocity":1.99729354670956,"acceleration":1.34948190143725,"pose":{"translation":{"x":3.21797603661389,"y":-3.493617588154535},"rotation":{"radians":2.0694509677051824}},"curvature":-1.0858929983677061},{"time":3.068003293506052,"velocity":2.0376890902314657,"acceleration":0.8739171651987859,"pose":{"translation":{"x":3.190798995597548,"y":-3.4396863403094455},"rotation":{"radians":2.006530935609084}},"curvature":-1.0031802615982206},{"time":3.098158157308249,"velocity":2.064041943322437,"acceleration":0.40626240187714224,"pose":{"translation":{"x":3.1664129167721526,"y":-3.3828537233425524},"rotation":{"radians":1.9462520602625122}},"curvature":-0.9509659019353843},{"time":3.1285035226935634,"velocity":2.0763701243497144,"acceleration":-0.051002275556428195,"pose":{"translation":{"x":3.145113530815734,"y":-3.3237535193189705},"rotation":{"radians":1.8874006796703071}},"curvature":-0.926994442970364},{"time":3.1589950888563565,"velocity":2.0748149850901325,"acceleration":-0.5011659593179048,"pose":{"translation":{"x":3.127179668878438,"y":-3.263059564839271},"rotation":{"radians":1.8287702809041502}},"curvature":-0.9300026234713256},{"time":3.189583759778831,"velocity":2.059484984483011,"acceleration":-0.9468406023438233,"pose":{"translation":{"x":3.1128675556739007,"y":-3.2014692275482135},"rotation":{"radians":1.7691551239947612}},"curvature":-0.9598993005216535},{"time":3.2202256264814078,"velocity":2.030472020957404,"acceleration":-1.3838794874215594,"pose":{"translation":{"x":3.102405102570615,"y":-3.139686882643481},"rotation":{"radians":1.707338704220502}},"curvature":-1.0177162543647038},{"time":3.2508911270735075,"velocity":1.9880346637164832,"acceleration":-1.7953811082031454,"pose":{"translation":{"x":3.095986200683303,"y":-3.0784073893844126},"rotation":{"radians":1.6420896040830133}},"curvature":-1.1053247297561408},{"time":3.2815715962187126,"velocity":1.9329515290223724,"acceleration":-2.146620247436977,"pose":{"translation":{"x":3.093765013964283,"y":-3.018299567600736},"rotation":{"radians":1.5721791601507873}},"curvature":-1.2247764710362192},{"time":3.312280776388669,"velocity":1.8670305810873542,"acceleration":-2.383498091849369,"pose":{"translation":{"x":3.0958502722948404,"y":-2.959989674201304},"rotation":{"radians":1.496440251141733}},"curvature":-1.3769957997965012},{"time":3.3430480512982794,"velocity":1.7936968400488928,"acceleration":-2.45221381287053,"pose":{"translation":{"x":3.102299564576598,"y":-2.9040448796828233},"rotation":{"radians":1.4138923213011365}},"curvature":-1.5594786770553104},{"time":3.358466296154392,"velocity":1.7558880070425138,"acceleration":-2.4225695118119046,"pose":{"translation":{"x":3.107163331684762,"y":-2.877116412515412},"rotation":{"radians":1.3698608602948503}},"curvature":-1.6595169466973982},{"time":3.373909622269472,"velocity":1.7184754760351524,"acceleration":-2.326299648649204,"pose":{"translation":{"x":3.113113631822886,"y":-2.8509567446385935},"rotation":{"radians":1.3239586055045571}},"curvature":-1.7628396338208108},{"time":3.3893758562354446,"velocity":1.6824963813941842,"acceleration":-2.1570847969704943,"pose":{"translation":{"x":3.120140738845394,"y":-2.825612796193835},"rotation":{"radians":1.2762290954616873}},"curvature":-1.866537902862889},{"time":3.4048578022381637,"velocity":1.649100511044201,"acceleration":-1.9103848887871056,"pose":{"translation":{"x":3.1282306602501113,"y":-2.8011246962672356},"rotation":{"radians":1.2267852620606372}},"curvature":-1.9668400558361514},{"time":3.420341704917884,"velocity":1.6195202973454128,"acceleration":-1.583391132179733,"pose":{"translation":{"x":3.137364958837373,"y":-2.777525266530417},"rotation":{"radians":1.1758214206887974}},"curvature":-2.059136833634143},{"time":3.4358058599153463,"velocity":1.5950344914557781,"acceleration":-1.1745315559902827,"pose":{"translation":{"x":3.147520574369127,"y":-2.754839504881429},"rotation":{"radians":1.123623052518272}},"curvature":-2.138127664523059},{"time":3.4512195694087713,"velocity":1.5769306032608834,"acceleration":-0.68249833348076,"pose":{"translation":{"x":3.1586696452280396,"y":-2.73308406908564},"rotation":{"radians":1.0705726145485999}},"curvature":-2.198107870450789},{"time":3.466542636246802,"velocity":1.566472635680113,"acceleration":-0.10480042094666406,"pose":{"translation":{"x":3.170779330076602,"y":-2.712266760416643},"rotation":{"radians":1.017149711020827}},"curvature":-2.2333880389694327},{"time":3.481725537623211,"velocity":1.5648814612246738,"acceleration":0.5641777159844036,"pose":{"translation":{"x":3.183811629516234,"y":-2.692386007297144},"rotation":{"radians":0.9639244980152437}},"curvature":-2.2387972296821537},{"time":3.4967103146934884,"velocity":1.5733355385267185,"acceleration":1.3357460140129485,"pose":{"translation":{"x":3.1977232077463915,"y":-2.6734303489398705},"rotation":{"radians":0.911544185591869}},"curvature":-2.2101829926551027},{"time":3.511432074233897,"velocity":1.5930000701520766,"acceleration":2.2304828576237568,"pose":{"translation":{"x":3.2124652142236694,"y":-2.6553779189884605},"rotation":{"radians":0.86071379554758}},"curvature":-2.144799937028087},{"time":3.5258208575929926,"velocity":1.6250940047766016,"acceleration":3.2836089337508794,"pose":{"translation":{"x":3.227983105320908,"y":-2.638195929158365},"rotation":{"radians":0.8121736119245968}},"curvature":-2.041488730262456},{"time":3.5398035345442276,"velocity":1.6710076477314288,"acceleration":4.000000000000029,"pose":{"translation":{"x":3.244216465986298,"y":-2.6218401528777435},"rotation":{"radians":0.7666766420054453}},"curvature":-1.9005911350125801},{"time":3.553334615647026,"velocity":1.7251319721426226,"acceleration":3.9999999999999902,"pose":{"translation":{"x":3.261098831402488,"y":-2.606254408928365},"rotation":{"radians":0.724969590565422}},"curvature":-1.723610664798437},{"time":3.579149992425908,"velocity":1.82839347925815,"acceleration":4.000000000000017,"pose":{"translation":{"x":3.2965133983447634,"y":-2.5771054217638403},"rotation":{"radians":0.6558131092254871}},"curvature":-1.2700095960812297},{"time":3.626870811342741,"velocity":2.019276754925482,"acceleration":-2.262263631031037,"pose":{"translation":{"x":3.3714928815306293,"y":-2.5241280680280984},"rotation":{"radians":0.5938368430682984}},"curvature":-5.084818372429148E-14},{"time":3.674714186796249,"velocity":1.9110424266512478,"acceleration":-1.684731605538777,"pose":{"translation":{"x":3.4507444532913296,"y":-2.473542259975906},"rotation":{"radians":0.5222397626936539}},"curvature":-1.2742020819483864},{"time":3.701658285910284,"velocity":1.8656488512910636,"acceleration":1.836943913025291,"pose":{"translation":{"x":3.4956793336897385,"y":-2.4496758038448796},"rotation":{"radians":0.45337619989653793}},"curvature":-1.3803014777424756},{"time":3.7308715683255573,"velocity":1.9193120126032888,"acceleration":3.3212579870413843,"pose":{"translation":{"x":3.5462494541947955,"y":-2.42733399001337},"rotation":{"radians":0.37982889596932257}},"curvature":-1.255413819887621},{"time":3.7617511747835595,"velocity":2.021871152188623,"acceleration":3.6338254305401794,"pose":{"translation":{"x":3.603539497952904,"y":-2.406822862516572},"rotation":{"radians":0.310029630630746}},"curvature":-1.0351749016039724},{"time":3.7941071824485695,"velocity":2.1394472356724896,"acceleration":3.3023215941524415,"pose":{"translation":{"x":3.668279505766721,"y":-2.388357774206023},"rotation":{"radians":0.24820076168322397}},"curvature":-0.808667349033174},{"time":3.8279958494251076,"velocity":2.2513585124261524,"acceleration":2.712672462341097,"pose":{"translation":{"x":3.74087414059174,"y":-2.3720706199244925},"rotation":{"radians":0.19560410568278527}},"curvature":-0.6150490655572208},{"time":3.8635562972863613,"velocity":2.347822360087892,"acceleration":2.1046535104380912,"pose":{"translation":{"x":3.82143195203287,"y":-2.358017069680877},"rotation":{"radians":0.15189394872389556}},"curvature":-0.4629685971554492},{"time":3.9009031326485735,"velocity":2.4264245082367246,"acceleration":1.5879391861852659,"pose":{"translation":{"x":3.9097946408410156,"y":-2.346183801825088},"rotation":{"radians":0.11605983194700467}},"curvature":-0.347988902548674},{"time":3.9400728196275985,"velocity":2.488623589101329,"acceleration":1.1897543992110675,"pose":{"translation":{"x":4.005566323409657,"y":-2.336495736222948},"rotation":{"radians":0.08694337430490592}},"curvature":-0.262151469105763},{"time":3.98100560728442,"velocity":2.5373235532880054,"acceleration":0.8993718410244326,"pose":{"translation":{"x":4.108142796271434,"y":-2.328823267431079},"rotation":{"radians":0.06347253637661629}},"curvature":-0.19788087248202021},{"time":4.023546797149415,"velocity":2.575583901536256,"acceleration":0.6949284796588856,"pose":{"translation":{"x":4.216740800594719,"y":-2.322989497871794},"rotation":{"radians":0.0447443243572358}},"curvature":-0.14909252370749856},{"time":4.067457048589949,"velocity":2.606098385811265,"acceleration":0.555458138328562,"pose":{"translation":{"x":4.330427286680209,"y":-2.3187774710079934},"rotation":{"radians":0.030037550931643783}},"curvature":-0.11120830988450688},{"time":4.112426193197581,"velocity":2.631076863157248,"acceleration":0.464793116948671,"pose":{"translation":{"x":4.448148678457492,"y":-2.315937404518051},"rotation":{"radians":0.018798417531077933}},"curvature":-0.0808512035413826},{"time":4.158087920751762,"velocity":2.652300119832417,"acceleration":0.41206473011203043,"pose":{"translation":{"x":4.56876013798164,"y":-2.3141939234707083},"rotation":{"radians":0.010618979394156793}},"curvature":-0.055507237385482994},{"time":4.20403421518562,"velocity":2.6712329672479527,"acceleration":0.39123294572992834,"pose":{"translation":{"x":4.691054829929781,"y":-2.313253293499967},"rotation":{"radians":0.0052170015910628816}},"curvature":-0.03323826083768252},{"time":4.249829139786209,"velocity":2.6891494504989213,"acceleration":0.08012589346379799,"pose":{"translation":{"x":4.813793186097687,"y":-2.31281065397998},"rotation":{"radians":0.0024203325819454084}},"curvature":-0.012453510274692898},{"time":4.295143461127689,"velocity":2.692780300983113,"acceleration":-0.42717723760824083,"pose":{"translation":{"x":4.935732169896344,"y":-2.3125572511999435},"rotation":{"radians":0.0021565976957925418}},"curvature":0.00827509828741819},{"time":4.339836889778551,"velocity":2.673688285592797,"acceleration":-0.48616613657710744,"pose":{"translation":{"x":5.055654540848542,"y":-2.312187671538987},"rotation":{"radians":0.004448065737487638}},"curvature":0.030373396749934035},{"time":4.383676469740356,"velocity":2.652374966373603,"acceleration":-0.586345620711319,"pose":{"translation":{"x":5.172398119085453,"y":-2.311407074641068},"rotation":{"radians":0.00941107768743778}},"curvature":0.05541857632855245},{"time":4.426290697735551,"velocity":2.6273883004086267,"acceleration":-0.7390288995683187,"pose":{"translation":{"x":5.284885049843208,"y":-2.309938426589861},"rotation":{"radians":0.017258893640965643}},"curvature":0.08529770186201152},{"time":4.4673643549152935,"velocity":2.597033680741835,"acceleration":-0.9587622573301751,"pose":{"translation":{"x":5.392151067959482,"y":-2.307529733083652},"rotation":{"radians":0.028305682853838988}},"curvature":0.12236933391261418},{"time":4.5066501132499495,"velocity":2.5593679783999725,"acceleration":-1.259084735909008,"pose":{"translation":{"x":5.493374762370072,"y":-2.303961272610227},"rotation":{"radians":0.04296687334173616}},"curvature":0.16959243572866536},{"time":4.543978323404941,"velocity":2.5123685987750184,"acceleration":-1.640645473949826,"pose":{"translation":{"x":5.587906840605474,"y":-2.2990528296217683},"rotation":{"radians":0.06174586641048331}},"curvature":0.23050330406232203},{"time":4.579262372356904,"velocity":2.4544799835593563,"acceleration":-2.0648653953319656,"pose":{"translation":{"x":5.6752993932874745,"y":-2.2926709277097395},"rotation":{"radians":0.0851870901970357}},"curvature":0.30873253544386914},{"time":4.61249481046415,"velocity":2.3858594721091935,"acceleration":-2.407235875507469,"pose":{"translation":{"x":5.7553351586257175,"y":-2.2847360627797855},"rotation":{"radians":0.1137579926199017}},"curvature":0.4063816590463496},{"time":4.643726466610745,"velocity":2.3106775089815965,"acceleration":-2.3939529513422224,"pose":{"translation":{"x":5.828056786914294,"y":-2.275229936226617},"rotation":{"radians":0.1475979702124178}},"curvature":0.5200261057327766},{"time":4.673018660544374,"velocity":2.2405533748628974,"acceleration":-0.34515105589435635,"pose":{"translation":{"x":5.893796105028318,"y":-2.2642026881089072},"rotation":{"radians":0.18605365162655563}},"curvature":0.6328995127816666},{"time":4.725192255893691,"velocity":2.2225456033382756,"acceleration":4.000000000000004,"pose":{"translation":{"x":6.007276588117778,"y":-2.238170979783707},"rotation":{"radians":0.26579960820306475}},"curvature":0.6630346206805894},{"time":4.769493873678975,"velocity":2.3997520744794127,"acceleration":2.715186419209269,"pose":{"translation":{"x":6.105326805385568,"y":-2.208685692198664},"rotation":{"radians":0.3070457320188019}},"curvature":1.9743206567692236E-14},{"time":4.810264569549846,"velocity":2.510452114209712,"acceleration":-2.4471322569094105,"pose":{"translation":{"x":6.200610785238506,"y":-2.178022740515515},"rotation":{"radians":0.31952663059330993}},"curvature":0.23303545028704092},{"time":4.851615826778405,"velocity":2.409260118781947,"acceleration":-1.0736507696320612,"pose":{"translation":{"x":6.2967036891593935,"y":-2.144665066208459},"rotation":{"radians":0.3510773724806533}},"curvature":0.3724567992496682},{"time":4.895217927517764,"velocity":2.3624466897655596,"acceleration":-0.42717993124173886,"pose":{"translation":{"x":6.3936207709629125,"y":-2.106863612381352},"rotation":{"radians":0.3938805609082993}},"curvature":0.4409967043661299},{"time":4.940346039131621,"velocity":2.3431688661492824,"acceleration":-0.21861941987126796,"pose":{"translation":{"x":6.49066010743131,"y":-2.0637696865135604},"rotation":{"radians":0.4424769005801168}},"curvature":0.47001762269186576},{"time":4.986306615398347,"velocity":2.3331209916289017,"acceleration":-0.28406011456233804,"pose":{"translation":{"x":6.586566107882579,"y":-2.015290562399744},"rotation":{"radians":0.4938452299350415}},"curvature":0.48533386073508183},{"time":5.032436184706734,"velocity":2.32001742088645,"acceleration":-0.554374160235044,"pose":{"translation":{"x":6.679693023738652,"y":-1.9619450820896311},"rotation":{"radians":0.5469084971735331}},"curvature":0.5055072981118726},{"time":5.078102822743281,"velocity":2.294701016774182,"acceleration":-1.0312899858611317,"pose":{"translation":{"x":6.768168458093604,"y":-1.9047192578277952},"rotation":{"radians":0.6020257070109807}},"curvature":0.5451354135418108},{"time":5.122738163730332,"velocity":2.2486690365987387,"acceleration":-2.6248476038969257,"pose":{"translation":{"x":6.850056875281839,"y":-1.8449218739934294},"rotation":{"radians":0.6606783541712747}},"curvature":0.6194761336368902},{"time":5.1662759172904025,"velocity":2.1343890684875335,"acceleration":-4.0,"pose":{"translation":{"x":6.9235231104462915,"y":-1.7840400890401216},"rotation":{"radians":0.7253789968048777}},"curvature":0.7496639699734248},{"time":5.209056107988549,"velocity":1.963268305694948,"acceleration":-4.0,"pose":{"translation":{"x":6.986995879106621,"y":-1.7235950374356304},"rotation":{"radians":0.7997368178095094}},"curvature":0.9685345270781476},{"time":5.230129865123379,"velocity":1.8789732771556273,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":7.01460608057094,"y":-1.6939853960166071},"rotation":{"radians":0.8419765323300483}},"curvature":1.1257547241997719},{"time":5.250864717962112,"velocity":1.796033865800696,"acceleration":-4.000000000000006,"pose":{"translation":{"x":7.039331286727403,"y":-1.6649974316016607},"rotation":{"radians":0.8884679668343788}},"curvature":1.323989039685353},{"time":5.271180654091132,"velocity":1.7147701212846176,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":7.061122116226508,"y":-1.6367665394920525},"rotation":{"radians":0.939865655406701}},"curvature":1.569058137088513},{"time":5.291018366522212,"velocity":1.635419271560296,"acceleration":-4.0,"pose":{"translation":{"x":7.079976338286333,"y":-1.6094031638536377},"rotation":{"radians":0.996697514432574}},"curvature":1.862206260366831},{"time":5.310348795101224,"velocity":1.5580975572442455,"acceleration":-4.0,"pose":{"translation":{"x":7.095943982366549,"y":-1.5829882852774833},"rotation":{"radians":1.0591677450180665}},"curvature":2.1938012412618706},{"time":5.329183654784524,"velocity":1.4827581185110486,"acceleration":-3.9152088990561538,"pose":{"translation":{"x":7.109132447842416,"y":-1.5575689083404847},"rotation":{"radians":1.1268488099034908}},"curvature":2.533737189100128},{"time":5.347575731509041,"velocity":1.4107492960470969,"acceleration":-1.7826199030693366,"pose":{"translation":{"x":7.119711613678798,"y":-1.5331535491659856},"rotation":{"radians":1.1982662486699698}},"curvature":2.8206066453553427},{"time":5.365384361304201,"velocity":1.3790032781278507,"acceleration":1.914091601921974,"pose":{"translation":{"x":7.127918948104163,"y":-1.5097077229843945},"rotation":{"radians":1.2704530614915084}},"curvature":2.956592229195997},{"time":5.38214402833696,"velocity":1.4110828160462625,"acceleration":-1.4711593297582641,"pose":{"translation":{"x":7.134064618284592,"y":-1.4871494316938054},"rotation":{"radians":1.3386551635317019}},"curvature":2.8192104753948866},{"time":5.3980500709910375,"velocity":1.3876824929961826,"acceleration":-4.0,"pose":{"translation":{"x":7.138536599997786,"y":-1.46534465142061},"rotation":{"radians":1.396431856277552}},"curvature":2.2967151189757535},{"time":5.43022829075453,"velocity":1.2589696139422109,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":7.144431102235395,"y":-1.4231723249371946},"rotation":{"radians":1.4510023040421205}},"curvature":-6.861178378302117E-14},{"time":5.4474871109646745,"velocity":1.1899343331016328,"acceleration":-3.999999999999995,"pose":{"translation":{"x":7.14673887193805,"y":-1.4021661155591232},"rotation":{"radians":1.4813502426845666}},"curvature":2.7163381253169225},{"time":5.466381043018775,"velocity":1.1143586048852285,"acceleration":-4.00000000000001,"pose":{"translation":{"x":7.147888037806355,"y":-1.3804278919234958},"rotation":{"radians":1.5604809535270403}},"curvature":4.333574531352421},{"time":5.47674391030455,"velocity":1.0729071357421316,"acceleration":-0.9202921596687416,"pose":{"translation":{"x":7.147717536762416,"y":-1.3690960022466134},"rotation":{"radians":1.6118554050733753}},"curvature":4.680639534453088},{"time":5.4877466415998795,"velocity":1.062781408396098,"acceleration":1.7377283364164617,"pose":{"translation":{"x":7.146909490441589,"y":-1.3573746181064095},"rotation":{"radians":1.6675371745929832}},"curvature":4.754640758039407},{"time":5.499172639686899,"velocity":1.0826366890437524,"acceleration":3.723181835181566,"pose":{"translation":{"x":7.14537308140454,"y":-1.345214523706267},"rotation":{"radians":1.7251234774420594}},"curvature":4.61083770887325},{"time":5.5108132461133446,"velocity":1.1259767834411945,"acceleration":4.000000000000058,"pose":{"translation":{"x":7.143028836628321,"y":-1.332575283151538},"rotation":{"radians":1.7826105741940643}},"curvature":4.314561737726487},{"time":5.522591109455225,"velocity":1.1730882368087165,"acceleration":3.999999999999783,"pose":{"translation":{"x":7.139808214833833,"y":-1.3194248796202916},"rotation":{"radians":1.8384683363168302}},"curvature":3.9291187542067054},{"time":5.534539766891236,"velocity":1.2208828665527607,"acceleration":4.00000000000011,"pose":{"translation":{"x":7.1356531938132886,"y":-1.3057393545340623},"rotation":{"radians":1.8916420983905562}},"curvature":3.5071588224139427},{"time":5.546694867740258,"velocity":1.2695032699488484,"acceleration":4.000000000000111,"pose":{"translation":{"x":7.1305158577576835,"y":-1.291502446728597},"rotation":{"radians":1.9414988245117353}},"curvature":3.086943229525817},{"time":5.5590782056584995,"velocity":1.319036621621816,"acceleration":3.9999999999999267,"pose":{"translation":{"x":7.124357984584254,"y":-1.2767052316246037},"rotation":{"radians":1.9877434068811348}},"curvature":2.6926986891276594},{"time":5.58455265138642,"velocity":1.4209344045334948,"acceleration":3.9999999999999027,"pose":{"translation":{"x":7.108873731148877,"y":-1.245428699153159},"rotation":{"radians":2.0693736528271502}},"curvature":2.025414876185498},{"time":5.610933655244551,"velocity":1.5264584199660183,"acceleration":4.0000000000000515,"pose":{"translation":{"x":7.089072849813582,"y":-1.2119713806730332},"rotation":{"radians":2.1377817886764787}},"curvature":1.528381181729626},{"time":5.638074155743054,"velocity":1.63502042196003,"acceleration":4.000000000000028,"pose":{"translation":{"x":7.064956445462424,"y":-1.1764891920247764},"rotation":{"radians":2.1951966064859807}},"curvature":1.173963330883983},{"time":5.66576280381208,"velocity":1.7457750142361366,"acceleration":4.000000000000026,"pose":{"translation":{"x":7.036641106035954,"y":-1.139220794800115},"rotation":{"radians":2.2439149359039936}},"curvature":0.9258673809965974},{"time":5.7217965794454795,"velocity":1.969910116769736,"acceleration":3.9999999999999925,"pose":{"translation":{"x":6.968378155874989,"y":-1.0606244705279815},"rotation":{"radians":2.3230075967424315}},"curvature":0.6351789871869763},{"time":5.777084262579282,"velocity":2.1910608493049475,"acceleration":2.876325926726303,"pose":{"translation":{"x":6.887024554182035,"y":-0.9793078472435046},"rotation":{"radians":2.387360923921413}},"curvature":0.5045051740565363},{"time":5.830507059333533,"velocity":2.3447222246874286,"acceleration":-0.47273090158267633,"pose":{"translation":{"x":6.796323431359919,"y":-0.8989813180441921},"rotation":{"radians":2.445464928004286}},"curvature":0.4676615131685784},{"time":5.88275475893392,"velocity":2.3200231225497165,"acceleration":-3.780668669184236,"pose":{"translation":{"x":6.700597916686705,"y":-0.8235707405840832},"rotation":{"radians":2.5039932474596087}},"curvature":0.5054984706315235},{"time":5.93550945635109,"velocity":2.1205750908723293,"acceleration":-3.999999999999998,"pose":{"translation":{"x":6.6043285616394485,"y":-0.7568479479196439},"rotation":{"radians":2.5694901368844185}},"curvature":0.631569546484975},{"time":5.988938782457785,"velocity":1.906857786445551,"acceleration":-4.0,"pose":{"translation":{"x":6.511730763217947,"y":-0.7020612593556628},"rotation":{"radians":2.649869504555334}},"curvature":0.8970144216690059},{"time":6.015401051050282,"velocity":1.801008712075564,"acceleration":-4.0,"pose":{"translation":{"x":6.467949512647996,"y":-0.6799249766310986},"rotation":{"radians":2.6988179931430216}},"curvature":1.112228922860307},{"time":6.041408493616117,"velocity":1.696978941812223,"acceleration":-4.0,"pose":{"translation":{"x":6.426332187268496,"y":-0.6615659912911472},"rotation":{"radians":2.7556644125987635}},"curvature":1.405357974264111},{"time":6.066788689383513,"velocity":1.5954581587426433,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.3871429583315535,"y":-0.6470785668673122},"rotation":{"radians":2.8220196934232304}},"curvature":1.7927102546593339},{"time":6.091432606222643,"velocity":1.496882491386124,"acceleration":-4.0,"pose":{"translation":{"x":6.350550191807647,"y":-0.6364549680652202},"rotation":{"radians":2.89912905214962}},"curvature":2.275600649870767},{"time":6.103472801507876,"velocity":1.4487217102451921,"acceleration":-4.000000000000013,"pose":{"translation":{"x":6.33325064976345,"y":-0.6325589541585264},"rotation":{"radians":2.9418190881353796}},"curvature":2.542618882505727},{"time":6.115334620994312,"velocity":1.4012744322994506,"acceleration":-4.0,"pose":{"translation":{"x":6.316613242864505,"y":-0.6295739142285587},"rotation":{"radians":2.987069922039371}},"curvature":2.8123352317593984},{"time":6.127037878177681,"velocity":1.3544614035659717,"acceleration":-3.8985617363602754,"pose":{"translation":{"x":6.300626191038038,"y":-0.6274650523769024},"rotation":{"radians":3.0344919465552707}},"curvature":3.066087296131571},{"time":6.138607636883848,"velocity":1.309355984975188,"acceleration":-2.4355864952977417,"pose":{"translation":{"x":6.2852692503459595,"y":-0.626189032803012},"rotation":{"radians":3.0834388680232343}},"curvature":3.2780322591684827},{"time":6.150004414603491,"velocity":1.2815981470713145,"acceleration":-0.4881090457867479,"pose":{"translation":{"x":6.270513300312329,"y":-0.6256936189749592},"rotation":{"radians":3.1329651988323692}},"curvature":3.4158784535523155},{"time":6.161103993216733,"velocity":1.27618034234577,"acceleration":2.209610328338679,"pose":{"translation":{"x":6.256319931250822,"y":-0.625917312800187},"rotation":{"radians":-3.1013796054617493}},"curvature":3.4434828451746404},{"time":6.171746310565918,"velocity":1.2996957166779879,"acceleration":3.9999999999998748,"pose":{"translation":{"x":6.242641031592195,"y":-0.6267889937962483},"rotation":{"radians":-3.054797006551261}},"curvature":3.3253374193025675},{"time":6.18182372488913,"velocity":1.3400053739708353,"acceleration":4.000000000000026,"pose":{"translation":{"x":6.2294183752117505,"y":-0.6282275582615597},"rotation":{"radians":-3.012298644529222}},"curvature":3.0321854536472497},{"time":6.200488856532202,"velocity":1.4146659005431248,"acceleration":4.000000000000053,"pose":{"translation":{"x":6.20405583897411,"y":-0.632428841722398},"rotation":{"radians":-2.9475674591963017}},"curvature":1.8658033671093834},{"time":6.217780004797763,"velocity":1.4838304936053723,"acceleration":3.9999999999999916,"pose":{"translation":{"x":6.179548540874854,"y":-0.6376589576757038},"rotation":{"radians":-2.9229237077158436}},"curvature":8.464553727136052E-15},{"time":6.250961056547991,"velocity":1.6165547006062857,"acceleration":3.9999999999999374,"pose":{"translation":{"x":6.1295602210871225,"y":-0.6497806321591174},"rotation":{"radians":-2.869861396894707}},"curvature":1.6910333133049205},{"time":6.268160380376999,"velocity":1.685351995922315,"acceleration":3.9999999999999503,"pose":{"translation":{"x":6.102405357014492,"y":-0.6580815571210421},"rotation":{"radians":-2.81957304948024}},"curvature":1.7846815000535257},{"time":6.286329895797204,"velocity":1.7580300576031331,"acceleration":4.000000000000044,"pose":{"translation":{"x":6.073011085774183,"y":-0.6687847617685752},"rotation":{"radians":-2.7661622345974175}},"curvature":1.6053304889779076},{"time":6.30568132755557,"velocity":1.8354357846365992,"acceleration":4.0000000000000515,"pose":{"translation":{"x":6.041010683187202,"y":-0.6823819029161489},"rotation":{"radians":-2.7149993046076815}},"curvature":1.3382746983639802},{"time":6.326285618192428,"velocity":1.9178529471840338,"acceleration":4.000000000000003,"pose":{"translation":{"x":6.006205252427887,"y":-0.6992256896369106},"rotation":{"radians":-2.668399096771176}},"curvature":1.0825201850616377},{"time":6.3709840630125525,"velocity":2.0966467264645297,"acceleration":3.999999999999979,"pose":{"translation":{"x":5.928132076193389,"y":-0.7434345950363975},"rotation":{"radians":-2.589780224443007}},"curvature":0.7144197228116332},{"time":6.419207516627779,"velocity":2.289540540925434,"acceleration":1.5748991738807556,"pose":{"translation":{"x":5.839981991667188,"y":-0.8018677475240006},"rotation":{"radians":-2.5260749766587822}},"curvature":0.5176681189867446},{"time":6.470373432511269,"velocity":2.370121699581194,"acceleration":0.4094124814022241,"pose":{"translation":{"x":5.744662354695199,"y":-0.8734547610866235},"rotation":{"radians":-2.470530796832865}},"curvature":0.4295741027589791},{"time":6.497045106258838,"velocity":2.381041415713337,"acceleration":0.017046500225795586,"pose":{"translation":{"x":5.6955728250905135,"y":-0.9135147284280928},"rotation":{"radians":-2.4439105897948106}},"curvature":0.4134493707090387},{"time":6.524347836111702,"velocity":2.3815068317039385,"acceleration":-0.3488245934833519,"pose":{"translation":{"x":5.646313284170824,"y":-0.9559468482863553},"rotation":{"radians":-2.417132548283729}},"curvature":0.4127653940630162},{"time":6.552106196183122,"velocity":2.371824033036261,"acceleration":-0.721417953869089,"pose":{"translation":{"x":5.59751443381897,"y":-1.00034303245475},"rotation":{"radians":-2.3895121372376424}},"curvature":0.4270505622748425},{"time":6.580139325137811,"velocity":2.3516004305052216,"acceleration":-1.1322114288977903,"pose":{"translation":{"x":5.549823503833021,"y":-1.0462650744057205},"rotation":{"radians":-2.3603309712533664}},"curvature":0.4572661661847324},{"time":6.608273405373227,"velocity":2.319746703321156,"acceleration":-2.8819767003235626,"pose":{"translation":{"x":5.503889121982459,"y":-1.0932555322328548},"rotation":{"radians":-2.328797382826382}},"curvature":0.5059264808375653},{"time":6.636578651716396,"velocity":2.2381716428632252,"acceleration":-4.0,"pose":{"translation":{"x":5.460346184064376,"y":-1.140848611592924},"rotation":{"radians":-2.2940018520204957}},"curvature":0.5774148186888551},{"time":6.69440698028592,"velocity":2.006858328585127,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":5.382814783689171,"y":-1.2360029930071},"rotation":{"radians":-2.210089499051718}},"curvature":0.8191431976126242},{"time":6.723729918384968,"velocity":1.8895665761889344,"acceleration":-4.000000000000004,"pose":{"translation":{"x":5.349891283469968,"y":-1.2826888906690157},"rotation":{"radians":-2.158093025334618}},"curvature":1.0131281925529403},{"time":6.753061621413224,"velocity":1.7722397640759098,"acceleration":-4.0,"pose":{"translation":{"x":5.321458891771458,"y":-1.3282483669635612},"rotation":{"radians":-2.096993700665147}},"curvature":1.2784844432874511},{"time":6.782240233479668,"velocity":1.655525315810132,"acceleration":-3.999999999999995,"pose":{"translation":{"x":5.297856895371607,"y":-1.3723371094940076},"rotation":{"radians":-2.0246476699261304}},"curvature":1.6356597995241275},{"time":6.811164376834069,"velocity":1.5398287423925312,"acceleration":-4.0,"pose":{"translation":{"x":5.279320069413125,"y":-1.414667751079043},"rotation":{"radians":-1.9388699070720767}},"curvature":2.100401699201739},{"time":6.825530545902089,"velocity":1.4823640661204467,"acceleration":-4.000000000000011,"pose":{"translation":{"x":5.27199216179662,"y":-1.43510223095423},"rotation":{"radians":-1.8903777922882574}},"curvature":2.372648740546191},{"time":6.839846003527616,"velocity":1.4251022356183383,"acceleration":-4.000000000000005,"pose":{"translation":{"x":5.265963547459657,"y":-1.4550207526948131},"rotation":{"radians":-1.837994818407175}},"curvature":2.6658934440811044},{"time":6.854136956310077,"velocity":1.3679384244884953,"acceleration":-4.0,"pose":{"translation":{"x":5.261227441844556,"y":-1.4744082575550896},"rotation":{"radians":-1.7817716333813511}},"curvature":2.9705499715624066},{"time":6.868444136772572,"velocity":1.3107097026385137,"acceleration":-3.7982166296320305,"pose":{"translation":{"x":5.257767691551971,"y":-1.493255286416956},"rotation":{"radians":-1.7219562236304857}},"curvature":3.2714589721248024},{"time":6.882808693390819,"velocity":1.2561500048137968,"acceleration":-2.8685993824375005,"pose":{"translation":{"x":5.255558301530138,"y":-1.51155831988184},"rotation":{"radians":-1.6590470734077885}},"curvature":3.5476074740747268},{"time":6.897207476318564,"velocity":1.2148456649994175,"acceleration":-1.7784004679901257,"pose":{"translation":{"x":5.254562962264146,"y":-1.529320118362644},"rotation":{"radians":-1.5938342216795218}},"curvature":3.7731621456046627},{"time":6.911541391344078,"velocity":1.189354223809913,"acceleration":-0.5083859771614665,"pose":{"translation":{"x":5.254734576965176,"y":-1.5465500621756854},"rotation":{"radians":-1.5274145700663124}},"curvature":3.9201836342869263},{"time":6.9256786337341,"velocity":1.182167048023093,"acceleration":0.9988161599638208,"pose":{"translation":{"x":5.256014788759767,"y":-1.563264491632626},"rotation":{"radians":-1.4611697969647064}},"curvature":3.962781412915415},{"time":6.93946058478727,"velocity":1.1959326834508293,"acceleration":2.864054696075692,"pose":{"translation":{"x":5.258333507879074,"y":-1.579487047132424},"rotation":{"radians":-1.3967032981080931}},"curvature":3.881642453632223},{"time":6.952711453873124,"velocity":1.2338838972832542,"acceleration":3.9999999999998535,"pose":{"translation":{"x":5.261608438848113,"y":-1.5952490092532592},"rotation":{"radians":-1.3357452060616892}},"curvature":3.667322111672115},{"time":6.96533013440635,"velocity":1.2843586194161554,"acceleration":3.9999999999997744,"pose":{"translation":{"x":5.265744607675029,"y":-1.610589638844485},"rotation":{"radians":-1.2800465102467156}},"curvature":3.320933126767285},{"time":6.977363858228081,"velocity":1.3324935147030776,"acceleration":4.0000000000000675,"pose":{"translation":{"x":5.270633889040343,"y":-1.6255565171185529},"rotation":{"radians":-1.2312882409565067}},"curvature":2.851926377891388},{"time":7.000046673483351,"velocity":1.42322477572416,"acceleration":4.000000000000021,"pose":{"translation":{"x":5.282170694605688,"y":-1.6546029869322059},"rotation":{"radians":-1.1606815313483108}},"curvature":1.6001674143653044},{"time":7.021294697459274,"velocity":1.5082168716278512,"acceleration":3.999999999999976,"pose":{"translation":{"x":5.2950728596276395,"y":-1.6829483991496463},"rotation":{"radians":-1.1349193543875415}},"curvature":-8.224457422505719E-14},{"time":7.0618810050484555,"velocity":1.6705621019845784,"acceleration":3.9999999999999827,"pose":{"translation":{"x":5.322090232179219,"y":-1.7415254660111636},"rotation":{"radians":-1.1447633521137015}},"curvature":-0.22438746496665007},{"time":7.1053131479532405,"velocity":1.8442906736037192,"acceleration":4.000000000000014,"pose":{"translation":{"x":5.3530940765378885,"y":-1.8112739171153034},"rotation":{"radians":-1.1589779960220619}},"curvature":-0.12990824903455964},{"time":7.154566829191286,"velocity":2.0413053985559024,"acceleration":4.000000000000027,"pose":{"translation":{"x":5.3910376161687,"y":-1.899119550600637},"rotation":{"radians":-1.1653192529045584}},"curvature":-0.014588239308536147},{"time":7.209643520692646,"velocity":2.2616121645613427,"acceleration":4.000000000000013,"pose":{"translation":{"x":5.437862721848224,"y":-2.007970500930071},"rotation":{"radians":-1.1624342470488767}},"curvature":0.054477980931985914},{"time":7.238917983814955,"velocity":2.3787100170505764,"acceleration":3.999999999999994,"pose":{"translation":{"x":5.464967509640941,"y":-2.070249362553824},"rotation":{"radians":-1.1579157011210433}},"curvature":0.07737308293543844},{"time":7.269014451412351,"velocity":2.499095887440164,"acceleration":3.437960812915412,"pose":{"translation":{"x":5.494627321717695,"y":-2.137392512172489},"rotation":{"radians":-1.1515205318719555}},"curvature":0.09614748435776965},{"time":7.299762075934412,"velocity":2.604805015637245,"acceleration":-0.4068462773200504,"pose":{"translation":{"x":5.5268571862712115,"y":-2.2089342063183803},"rotation":{"radians":-1.143307842435253}},"curvature":0.11279603592903968},{"time":7.331701229761927,"velocity":2.5918106898017683,"acceleration":-0.39711202489601416,"pose":{"translation":{"x":5.561632811336151,"y":-2.284284211284389},"rotation":{"radians":-1.1332761940040839}},"curvature":0.1288356535384748},{"time":7.365302054283828,"velocity":2.5784673983377004,"acceleration":-0.4143147319773864,"pose":{"translation":{"x":5.598894566353267,"y":-2.3627489054140365},"rotation":{"radians":-1.1213658285624772}},"curvature":0.1454742544568637},{"time":7.4003089982197485,"velocity":2.563963505743542,"acceleration":-0.45374636771043453,"pose":{"translation":{"x":5.638551463733571,"y":-2.443552381391524},"rotation":{"radians":-1.107460585174397}},"curvature":0.16375651294303464},{"time":7.436451592715594,"velocity":2.547563934771421,"acceleration":-0.5139599604112789,"pose":{"translation":{"x":5.680485140422487,"y":-2.5258575485317865},"rotation":{"radians":-1.0913883843324514}},"curvature":0.18467904824004772},{"time":7.473452981214011,"velocity":2.528546702603612,"acceleration":-0.5955248730227746,"pose":{"translation":{"x":5.7245538394640185,"y":-2.60878723507054},"rotation":{"radians":-1.0729202223270249}},"curvature":0.20928102426232678},{"time":7.5110386360096335,"velocity":2.5061635103039714,"acceleration":-0.7000988642544753,"pose":{"translation":{"x":5.770596391564903,"y":-2.691445290454337},"rotation":{"radians":-1.0517682344164185}},"curvature":0.23871577740519925},{"time":7.548945122390739,"velocity":2.479625222240682,"acceleration":-0.8294290131384341,"pose":{"translation":{"x":5.818436196658777,"y":-2.7729376876306135},"rotation":{"radians":-1.0275839808535463}},"curvature":0.27430317334156},{"time":7.586928653770171,"velocity":2.448120579293127,"acceleration":-0.9839002432885127,"pose":{"translation":{"x":5.867885205470336,"y":-2.8523936253377453},"rotation":{"radians":-0.9999589735244028}},"curvature":0.3175520135900033},{"time":7.624772989487461,"velocity":2.410885528173793,"acceleration":-1.1602324635457828,"pose":{"translation":{"x":5.918747901079493,"y":-2.9289866303950935},"rotation":{"radians":-0.9684308564204173}},"curvature":0.37012483849595146},{"time":7.662295922920126,"velocity":2.3673502026777475,"acceleration":-1.3480016043445946,"pose":{"translation":{"x":5.97082528048554,"y":-3.00195565999306},"rotation":{"radians":-0.9325008471086322}},"curvature":0.43369033620555253},{"time":7.699353161309471,"velocity":2.3173969858763304,"acceleration":-1.525017759485782,"pose":{"translation":{"x":6.02391883617131,"y":-3.070626203983136},"rotation":{"radians":-0.8916712250692524}},"curvature":0.5095689290953084},{"time":7.7358378245112105,"velocity":2.2617572265448205,"acceleration":-1.6524098527273225,"pose":{"translation":{"x":6.077834537667337,"y":-3.1344313871679566},"rotation":{"radians":-0.8455156199074083}},"curvature":0.5980310958067537},{"time":7.771673226049258,"velocity":2.20254245596691,"acceleration":-1.6713337607031464,"pose":{"translation":{"x":6.132386813116014,"y":-3.192933071591347},"rotation":{"radians":-0.7937983428037477}},"curvature":0.6970865810400767},{"time":7.8067964377138335,"velocity":2.1438398465275825,"acceleration":-1.5033518227904994,"pose":{"translation":{"x":6.187402530835759,"y":-3.24584295882838},"rotation":{"radians":-0.7366585631957149}},"curvature":0.8006865281178355},{"time":7.841131131153957,"velocity":2.09222272255942,"acceleration":-1.0535203774542483,"pose":{"translation":{"x":6.2427249808851695,"y":-3.29304369227542},"rotation":{"radians":-0.6748642327173774}},"curvature":0.8965851361536471},{"time":7.874551290228611,"velocity":2.0570139039565087,"acceleration":-0.2076266685911583,"pose":{"translation":{"x":6.298217856627189,"y":-3.3346099594401784},"rotation":{"radians":-0.6101115337471066}},"curvature":0.9647601233863669},{"time":7.906842902506624,"velocity":2.0503093040757876,"acceleration":1.195580131901716,"pose":{"translation":{"x":6.35376923629326,"y":-3.3708295942317683},"rotation":{"radians":-0.5452979065062785}},"curvature":0.978007656362287},{"time":7.937676787842371,"velocity":2.0871736847725413,"acceleration":3.448640273592229,"pose":{"translation":{"x":6.409295564547495,"y":-3.4022246792507493},"rotation":{"radians":-0.48465199881758714}},"curvature":0.9062203391737963},{"time":7.966607820141637,"velocity":2.186946407916389,"acceleration":3.9999999999999925,"pose":{"translation":{"x":6.464745634050827,"y":-3.42957264807918},"rotation":{"radians":-0.4336071559827316}},"curvature":0.7240683792098395},{"time":8.019074240297646,"velocity":2.3968120885404285,"acceleration":2.343964947995948,"pose":{"translation":{"x":6.575397796817606,"y":-3.4766403401404347},"rotation":{"radians":-0.3853198176751602}},"curvature":-1.9080347229915533E-14},{"time":8.067919859892362,"velocity":2.511304508733586,"acceleration":-1.808246335328046,"pose":{"translation":{"x":6.686711253151883,"y":-3.5211165235180646},"rotation":{"radians":-0.370289697882498}},"curvature":0.23190875082556212},{"time":8.11766501130986,"velocity":2.421353020982555,"acceleration":-0.5642416368536228,"pose":{"translation":{"x":6.8018339633471046,"y":-3.5635321088251604},"rotation":{"radians":-0.3332143178494939}},"curvature":0.3551822194965661},{"time":8.17041779563001,"velocity":2.3915877036091677,"acceleration":-0.0904098587221739,"pose":{"translation":{"x":6.922753028748722,"y":-3.6021892863202782},"rotation":{"radians":-0.2847477242858942}},"curvature":0.398015846225878},{"time":8.197682409512042,"velocity":2.3891227137199786,"acceleration":0.06681408441914931,"pose":{"translation":{"x":6.985534093170646,"y":-3.6196804871707817},"rotation":{"radians":-0.2586457647789284}},"curvature":0.40161093092894135},{"time":8.225383202938696,"velocity":2.3909735168704644,"acceleration":0.14287095072434403,"pose":{"translation":{"x":7.049757316260549,"y":-3.635762849884043},"rotation":{"radians":-0.23212026719412493}},"curvature":0.3989109185141588},{"time":8.253418521339949,"velocity":2.3949789494643112,"acceleration":0.15954708007388382,"pose":{"translation":{"x":7.115245715279512,"y":-3.6503247623687196},"rotation":{"radians":-0.20554327998719507}},"curvature":0.3930819499232307},{"time":8.281684124022282,"velocity":2.399488643838806,"acceleration":0.1321333905859562,"pose":{"translation":{"x":7.181755983477622,"y":-3.6632747150085208},"rotation":{"radians":-0.1791310990793678}},"curvature":0.3865424360578913},{"time":8.310072072246347,"velocity":2.4032396396894304,"acceleration":0.0704277780785332,"pose":{"translation":{"x":7.24898844400437,"y":-3.6745405043493737},"rotation":{"radians":-0.15297543657989046}},"curvature":0.38112180860746375},{"time":8.338470503545118,"velocity":2.4052396781067187,"acceleration":-0.020422381145619513,"pose":{"translation":{"x":7.316597003819056,"y":-3.6840684367865926},"rotation":{"radians":-0.12706937355820494}},"curvature":0.3782384301233744},{"time":8.36676436997961,"velocity":2.4046618499823103,"acceleration":-0.13930218650836973,"pose":{"translation":{"x":7.384199107601187,"y":-3.691822532252046},"rotation":{"radians":-0.10132718650101}},"curvature":0.3790709700248724},{"time":8.394837095709025,"velocity":2.4007512579069528,"acceleration":-0.28876325237081707,"pose":{"translation":{"x":7.451385691660885,"y":-3.6977837279013257},"rotation":{"radians":-0.07559810756065148}},"curvature":0.3847159199189477},{"time":8.42257305715271,"velocity":2.3927421314728425,"acceleration":-0.47489505078631666,"pose":{"translation":{"x":7.51773113784928,"y":-3.701949081800912},"rotation":{"radians":-0.04967452784236901}},"curvature":0.3963347082995989},{"time":8.449860776805735,"velocity":2.379783328462377,"acceleration":-0.8509548108589688,"pose":{"translation":{"x":7.582803227468918,"y":-3.704330976615345},"rotation":{"radians":-0.023295296654171054}},"curvature":0.41529959827892454},{"time":8.5027277741185,"velocity":2.334795902763413,"acceleration":-1.757967723587892,"pose":{"translation":{"x":7.70742518293158,"y":-3.7038657647602062},"rotation":{"radians":0.03215158575297248}},"curvature":0.4827715939902923},{"time":8.552857904445313,"velocity":2.246668751669619,"acceleration":-4.0,"pose":{"translation":{"x":7.82204004609277,"y":-3.696763385725768},"rotation":{"radians":0.0940183835450109}},"curvature":0.6088716100135217},{"time":8.600635495433542,"velocity":2.0555583877167014,"acceleration":-4.000000000000004,"pose":{"translation":{"x":7.923967746484699,"y":-3.6835933624495634},"rotation":{"radians":0.1667477565163834}},"curvature":0.8308875998528907},{"time":8.62372876318902,"velocity":1.9631853166947935,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":7.96956009169738,"y":-3.674957798817167},"rotation":{"radians":0.2088968168926489}},"curvature":0.994523031111483},{"time":8.646125468231947,"velocity":1.8735984965230843,"acceleration":-4.000000000000005,"pose":{"translation":{"x":8.011378180260746,"y":-3.665093965406172},"rotation":{"radians":0.2558723101387938}},"curvature":1.202526478078813},{"time":8.667735198040283,"velocity":1.7871595772897422,"acceleration":-4.0,"pose":{"translation":{"x":8.04937831450813,"y":-3.6541163321861956},"rotation":{"radians":0.3082627186575262}},"curvature":1.4573924921768393},{"time":8.68850945756639,"velocity":1.704062539185314,"acceleration":-4.000000000000007,"pose":{"translation":{"x":8.0836097353283,"y":-3.642146730596593},"rotation":{"radians":0.3662617499756407}},"curvature":1.7495148440030848},{"time":8.70845682396286,"velocity":1.6242730735994344,"acceleration":-3.5038997360234,"pose":{"translation":{"x":8.114224576075856,"y":-3.629313557233622},"rotation":{"radians":0.42923948226658043}},"curvature":2.044080449608214},{"time":8.727599160305886,"velocity":1.5572002463402395,"acceleration":-0.36814666325151474,"pose":{"translation":{"x":8.141487816481622,"y":-3.615750977537616},"rotation":{"radians":0.4951349121451568}},"curvature":2.2650649727338372},{"time":8.745696272631598,"velocity":1.5505378548230404,"acceleration":3.999999999999814,"pose":{"translation":{"x":8.165787236563062,"y":-3.6015981294801462},"rotation":{"radians":0.5597986992267797}},"curvature":2.2880593719552573},{"time":8.762292486807585,"velocity":1.6169227115269822,"acceleration":-3.8235274764186737,"pose":{"translation":{"x":8.187643370534673,"y":-3.5869983272511945},"rotation":{"radians":0.616638786240974}},"curvature":1.9638901765571541},{"time":8.79398432653873,"velocity":1.4957480915366907,"acceleration":-4.0,"pose":{"translation":{"x":8.22683141145398,"y":-3.557047220253817},"rotation":{"radians":0.672247181806951}},"curvature":2.6088445188996727E-14},{"time":8.810640358986088,"velocity":1.4291239617472578,"acceleration":-4.000000000000004,"pose":{"translation":{"x":8.24575788673742,"y":-3.5417136198053623},"rotation":{"radians":0.6975408766805757}},"curvature":1.9541079407886521},{"time":8.828747226371997,"velocity":1.3566964922036229,"acceleration":-2.5363925685392377,"pose":{"translation":{"x":8.264587947338732,"y":-3.524934471935431},"rotation":{"radians":0.7628163878869434}},"curvature":3.055951352921132},{"time":8.848958310798462,"velocity":1.3054332478622155,"acceleration":2.1581236073499532,"pose":{"translation":{"x":8.283216972129633,"y":-3.5055259359601707},"rotation":{"radians":0.8500050079261409}},"curvature":3.2971569996736663},{"time":8.859839570239934,"velocity":1.3289163507405544,"acceleration":3.999999999999572,"pose":{"translation":{"x":8.292421291712749,"y":-3.494539505637776},"rotation":{"radians":0.8965904499204304}},"curvature":3.1843536697023693},{"time":8.870971430796477,"velocity":1.3734437929667207,"acceleration":3.9999999999996705,"pose":{"translation":{"x":8.301532775009951,"y":-3.4825721747033382},"rotation":{"radians":0.9430145198442916}},"curvature":2.977840539132772},{"time":8.882312259959992,"velocity":1.4188071096207777,"acceleration":4.000000000000319,"pose":{"translation":{"x":8.310536467134918,"y":-3.469548181801936},"rotation":{"radians":0.9881459927798832}},"curvature":2.7191079617737435},{"time":8.893893115732563,"velocity":1.4651305327110697,"acceleration":4.000000000000129,"pose":{"translation":{"x":8.319417131173866,"y":-3.455406110269526},"rotation":{"radians":1.0312195637973471}},"curvature":2.440637290223244},{"time":8.917838361635452,"velocity":1.5609115163226255,"acceleration":4.000000000000177,"pose":{"translation":{"x":8.336747303376175,"y":-3.423590179817383},"rotation":{"radians":1.1096113185386942}},"curvature":1.9066842354843674},{"time":8.9428511897614,"velocity":1.6609628288264264,"acceleration":3.99999999999998,"pose":{"translation":{"x":8.35339756819856,"y":-3.386897091332841},"rotation":{"radians":1.17705377758853}},"curvature":1.4659483535606506},{"time":8.968842032517795,"velocity":1.7649261998520014,"acceleration":3.999999999999859,"pose":{"translation":{"x":8.369240742315837,"y":-3.3452905794023384},"rotation":{"radians":1.2344010864434556}},"curvature":1.1321110385115127},{"time":8.995634057335165,"velocity":1.8720942991214788,"acceleration":3.9999999999999454,"pose":{"translation":{"x":8.384149708762232,"y":-3.29890616098604},"rotation":{"radians":1.28324297161603}},"curvature":0.8894442243133595},{"time":9.022998092632355,"velocity":1.9815504403102358,"acceleration":3.9999999999999942,"pose":{"translation":{"x":8.39799894319763,"y":-3.248031891191066},"rotation":{"radians":1.3252669908241683}},"curvature":0.7165561295827546},{"time":9.078407623198824,"velocity":2.203188562576113,"acceleration":3.139322827283617,"pose":{"translation":{"x":8.422033239400871,"y":-3.134613243267676},"rotation":{"radians":1.3947628891450792}},"curvature":0.5108627602694508},{"time":9.133566698007119,"velocity":2.3763507052536355,"acceleration":0.40485816520183726,"pose":{"translation":{"x":8.44042928683588,"y":-3.009658558810685},"rotation":{"radians":1.4526017683388186}},"curvature":0.420357809211099},{"time":9.161010593635076,"velocity":2.3874615904835608,"acceleration":-0.0017351648260466607,"pose":{"translation":{"x":8.447259576651152,"y":-2.9446475979981397},"rotation":{"radians":1.479454274277376}},"curvature":0.4040377967020506},{"time":9.188591413598058,"velocity":2.3874137332148875,"acceleration":-2.8650998078061813,"pose":{"translation":{"x":8.452395904464343,"y":-2.8790007408361777},"rotation":{"radians":1.5059737027913431}},"curvature":0.4041077652049662},{"time":9.216516877680444,"velocity":2.3074044914395415,"acceleration":-4.000000000000007,"pose":{"translation":{"x":8.455766629770315,"y":-2.8135349711108537},"rotation":{"radians":1.5329138216294398}},"curvature":0.4206950563180847},{"time":9.245176995207197,"velocity":2.192764021332528,"acceleration":-4.000000000000002,"pose":{"translation":{"x":8.457313914819684,"y":-2.749065856940965},"rotation":{"radians":1.5610633355910615}},"curvature":0.4557860793572367},{"time":9.304393467426438,"velocity":1.9558981324555615,"acceleration":-3.999999999999998,"pose":{"translation":{"x":8.454784984527434,"y":-2.626257324045744},"rotation":{"radians":1.6246525457485077}},"curvature":0.6014234046665868},{"time":9.364525670596365,"velocity":1.7153693197758544,"acceleration":-4.0,"pose":{"translation":{"x":8.444680464825606,"y":-2.5163400931382585},"rotation":{"radians":1.7060514821506643}},"curvature":0.9199199435490745},{"time":9.394285520882214,"velocity":1.5963299186324613,"acceleration":-4.000000000000005,"pose":{"translation":{"x":8.436832917441011,"y":-2.467691134299181},"rotation":{"radians":1.7576606715245289}},"curvature":1.1957280076313652},{"time":9.423489624269145,"velocity":1.4795135050847403,"acceleration":-4.0,"pose":{"translation":{"x":8.427190232085055,"y":-2.423824834016457},"rotation":{"radians":1.819678555816648}},"curvature":1.5967821662889308},{"time":9.451918078747191,"velocity":1.3657996871725528,"acceleration":-4.0,"pose":{"translation":{"x":8.415833925753976,"y":-2.385008012388349},"rotation":{"radians":1.8950077856286611}},"curvature":2.1708883082219828},{"time":9.46579692114589,"velocity":1.310284317577756,"acceleration":-4.0,"pose":{"translation":{"x":8.409545709948722,"y":-2.367534579717221},"rotation":{"radians":1.938602174842637}},"curvature":2.5365328170187293},{"time":9.47944057114627,"velocity":1.2557097175762322,"acceleration":-4.000000000000007,"pose":{"translation":{"x":8.402871528329863,"y":-2.351352120031654},"rotation":{"radians":1.986573842797953}},"curvature":2.9570362284718947},{"time":9.492855189037055,"velocity":1.202051246013093,"acceleration":-3.999999999999993,"pose":{"translation":{"x":8.395829137049132,"y":-2.336447130921312},"rotation":{"radians":2.039098883891049}},"curvature":3.426617326755694},{"time":9.506061036349662,"velocity":1.1492278567626648,"acceleration":-4.0,"pose":{"translation":{"x":8.38843810884691,"y":-2.3227939938549227},"rotation":{"radians":2.096138873112933}},"curvature":3.9286571906513537},{"time":9.519095258023771,"velocity":1.097090970066224,"acceleration":-4.0,"pose":{"translation":{"x":8.380719880748051,"y":-2.3103543727981837},"rotation":{"radians":2.157331690342444}},"curvature":4.43136047043075},{"time":9.53201458242703,"velocity":1.0454136724531895,"acceleration":-3.313251796905246,"pose":{"translation":{"x":8.372697801757694,"y":-2.299076612831686},"rotation":{"radians":2.221874308487975}},"curvature":4.884906385951116},{"time":9.544840944238999,"velocity":1.0029167061319253,"acceleration":-1.3751492972567945,"pose":{"translation":{"x":8.364397180557088,"y":-2.2888951387688197},"rotation":{"radians":2.2884238941388917}},"curvature":5.222678382763311},{"time":9.55744887900945,"velocity":0.9855789134924808,"acceleration":1.1375644049071245,"pose":{"translation":{"x":8.355845333199415,"y":-2.279729853773684},"rotation":{"radians":2.3550538487702135}},"curvature":5.368847723977871},{"time":9.5695794952419,"velocity":0.9993782707281047,"acceleration":4.000000000000544,"pose":{"translation":{"x":8.347071630805608,"y":-2.271485537979013},"rotation":{"radians":2.419298411423013}},"curvature":5.252097880744081},{"time":9.580972716947947,"velocity":1.0449511575523034,"acceleration":4.000000000000392,"pose":{"translation":{"x":8.338107547260176,"y":-2.264051247104079},"rotation":{"radians":2.478295796360133}},"curvature":4.821248824930119},{"time":9.59161558423841,"velocity":1.0875226267141536,"acceleration":3.9999999999998703,"pose":{"translation":{"x":8.328986706907012,"y":-2.257299711072606},"rotation":{"radians":2.5290020341433928}},"curvature":4.056045821482662},{"time":9.601669519293209,"velocity":1.127738366933347,"acceleration":4.00000000000006,"pose":{"translation":{"x":8.31974493224523,"y":-2.2510867326306867},"rotation":{"radians":2.568418610381367}},"curvature":2.9685992511236106},{"time":9.62049017609337,"velocity":1.203020994133992,"acceleration":4.000000000000038,"pose":{"translation":{"x":8.301053146943259,"y":-2.239611415319198},"rotation":{"radians":2.6026906028372796}},"curvature":-2.539792672694477E-13},{"time":9.6551476562559,"velocity":1.341650914784115,"acceleration":3.9999999999997673,"pose":{"translation":{"x":8.262830827037828,"y":-2.2176226049385246},"rotation":{"radians":2.651557084529975}},"curvature":2.044805359484457},{"time":9.671795451476088,"velocity":1.4082420956648596,"acceleration":1.1236064856305121,"pose":{"translation":{"x":8.242362656010032,"y":-2.207375742290304},"rotation":{"radians":2.7054274581780535}},"curvature":2.5932898999992604},{"time":9.68874017367989,"velocity":1.4272812954302576,"acceleration":2.4437408233219164,"pose":{"translation":{"x":8.220272908185258,"y":-2.197932472469342},"rotation":{"radians":2.770420757002247}},"curvature":2.7521863857414757},{"time":9.706461727312902,"velocity":1.4705881794959408,"acceleration":4.000000000000143,"pose":{"translation":{"x":8.196033749814715,"y":-2.1894595290048136},"rotation":{"radians":2.839456084131849}},"curvature":2.58024712858923},{"time":9.724967141340246,"velocity":1.544609835605316,"acceleration":4.000000000000087,"pose":{"translation":{"x":8.169129203362893,"y":-2.182078114027738},"rotation":{"radians":2.9064277058738845}},"curvature":2.2031265942296514},{"time":9.744359285795538,"velocity":1.6221784134264836,"acceleration":3.9999999999999414,"pose":{"translation":{"x":8.139058465477685,"y":-2.1758674153193196},"rotation":{"radians":2.96710024673232}},"curvature":1.7529417561173186},{"time":9.76485498560672,"velocity":1.704161212671207,"acceleration":4.000000000000022,"pose":{"translation":{"x":8.105339224960542,"y":-2.170868123359289},"rotation":{"radians":3.019263333950046}},"curvature":1.323572087674999},{"time":9.809704454153646,"velocity":1.883559086858916,"acceleration":3.99999999999994,"pose":{"translation":{"x":8.025138359824751,"y":-2.1644951373860057},"rotation":{"radians":3.096720125974591}},"curvature":0.677150887075891},{"time":9.860094705646581,"velocity":2.0851200928306524,"acceleration":3.9999999999999893,"pose":{"translation":{"x":7.925164044303084,"y":-2.1626483817532725},"rotation":{"radians":-3.139703569630258}},"curvature":0.3095955426742758},{"time":9.91591250019713,"velocity":2.3083912710328462,"acceleration":4.000000000000063,"pose":{"translation":{"x":7.802561939288404,"y":-2.1646262163767864},"rotation":{"radians":-3.1150173731148425}},"curvature":0.12085901976699137},{"time":9.945703940706897,"velocity":2.4275570330719174,"acceleration":4.000000000000058,"pose":{"translation":{"x":7.732048581414114,"y":-2.166750911916023},"rotation":{"radians":-3.108561714346927}},"curvature":0.06627620300526656},{"time":9.976636323428796,"velocity":2.551286563959511,"acceleration":4.000000000000005,"pose":{"translation":{"x":7.655092105263157,"y":-2.169448680989499},"rotation":{"radians":-3.1050235976762517}},"curvature":0.028500450699259824},{"time":10.008612191580909,"velocity":2.679190036567966,"acceleration":0.2391930999799247,"pose":{"translation":{"x":7.571525937674917,"y":-2.1725720055390743},"rotation":{"radians":-3.103803966908082}},"curvature":0.0026798398547058185},{"time":10.04228619855893,"velocity":2.687244626685785,"acceleration":-0.26932213525526477,"pose":{"translation":{"x":7.481235177343656,"y":-2.175970040688554},"rotation":{"radians":-3.1044080157698524}},"curvature":-0.014650112521962794},{"time":10.078500147305315,"velocity":2.677491408683384,"acceleration":-0.1546060961680449,"pose":{"translation":{"x":7.384159912788659,"y":-2.1794921317920313},"rotation":{"radians":-3.106427066511429}},"curvature":-0.025946287121016393},{"time":10.117356299548305,"velocity":2.671484010672984,"acceleration":-0.08103405082072435,"pose":{"translation":{"x":7.280298540324362,"y":-2.1829913314822282},"rotation":{"radians":-3.109522240083562}},"curvature":-0.03294510181834588},{"time":10.158796697987583,"velocity":2.6681259273198243,"acceleration":-0.033301181318213746,"pose":{"translation":{"x":7.169711082030485,"y":-2.186327916718839},"rotation":{"radians":-3.113410419542554}},"curvature":-0.03687111111364532},{"time":10.202745257776536,"velocity":2.666662388361618,"acceleration":-0.0019071222602449322,"pose":{"translation":{"x":7.0525225037221695,"y":-2.189372905836871},"rotation":{"radians":-3.1178524324500403}},"curvature":-0.03858526056035295},{"time":10.249105338510445,"velocity":2.6665739740196637,"acceleration":0.014796142872478662,"pose":{"translation":{"x":6.92892603292011,"y":-2.1920115755949867},"rotation":{"radians":-3.122643141515202}},"curvature":-0.03868887488516708},{"time":10.273153841090414,"velocity":2.666929799099706,"acceleration":0.023456950753692436,"pose":{"translation":{"x":6.864804703275967,"y":-2.1931474540124913},"rotation":{"radians":-3.1251123691314406}},"curvature":-0.03827191901776317},{"time":10.297758440117594,"velocity":2.667506947967401,"acceleration":0.03073198379454078,"pose":{"translation":{"x":6.799186476820686,"y":-2.194146978223845},"rotation":{"radians":-3.127603056396413}},"curvature":-0.03759585245237944},{"time":10.322900276248351,"velocity":2.6682796064679364,"acceleration":0.036943540938667765,"pose":{"translation":{"x":6.732116183132616,"y":-2.195001384191123},"rotation":{"radians":-3.1300955837452142}},"curvature":-0.03669122566305292},{"time":10.34855878701861,"velocity":2.6692275227110027,"acceleration":0.04236080222024209,"pose":{"translation":{"x":6.6636435402661025,"y":-2.195703458474444},"rotation":{"radians":-3.1325710698007185}},"curvature":-0.035582122898126824},{"time":10.374711640289384,"velocity":2.670335378555901,"acceleration":0.04721232343773377,"pose":{"translation":{"x":6.593823258438056,"y":-2.196247648139729},"rotation":{"radians":-3.135011178607148}},"curvature":-0.03428688183819541},{"time":10.401334667666458,"velocity":2.671592313535319,"acceleration":-2.206572293945659,"pose":{"translation":{"x":6.522715143714517,"y":-2.196630170666464},"rotation":{"radians":-3.137397929249083}},"curvature":-0.03281864684213528},{"time":10.42871856255196,"velocity":2.611167769780647,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.450384201697223,"y":-2.1968491238554573},"rotation":{"radians":-3.139713504594399}},"curvature":-0.03118577134605693},{"time":10.457494816565315,"velocity":2.496062753727229,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.376900741210176,"y":-2.196904595736605},"rotation":{"radians":3.141245251529441}},"curvature":-0.029392079420617487},{"time":10.488117372032322,"velocity":2.373572531859204,"acceleration":-4.0,"pose":{"translation":{"x":6.302340477986208,"y":-2.196798774476648},"rotation":{"radians":3.139125809519009}},"curvature":-0.027436991012317807},{"time":10.520852621737934,"velocity":2.2426315330367594,"acceleration":-4.0,"pose":{"translation":{"x":6.226784638353549,"y":-2.196536058286934},"rotation":{"radians":3.1371320135996665}},"curvature":-0.02531550970776811},{"time":10.556054115783962,"velocity":2.101825556852647,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.1503200629223915,"y":-2.1961231653311786},"rotation":{"radians":3.135283087295086}},"curvature":-0.02301806562561615},{"time":10.594208701109178,"velocity":1.9492072155517812,"acceleration":-4.0,"pose":{"translation":{"x":6.0730393102714615,"y":-2.1955692436332237},"rotation":{"radians":3.133599198375548}},"curvature":-0.020530198833346527},{"time":10.636019453518324,"velocity":1.7819642059151932,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":5.995040760634579,"y":-2.194885980984802},"rotation":{"radians":3.1321017472903767}},"curvature":-0.01783205995171728},{"time":10.682569118353065,"velocity":1.5957655465762295,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":5.9164287195872305,"y":-2.194087714853294},"rotation":{"radians":3.130813694869316}},"curvature":-0.014897693602761558},{"time":10.735686715623311,"velocity":1.383295157495249,"acceleration":-4.0,"pose":{"translation":{"x":5.837313521733131,"y":-2.193191542289492},"rotation":{"radians":3.129759939890969}},"curvature":-0.011694056047681133},{"time":10.79895048329953,"velocity":1.1302400867903752,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":5.757811634390795,"y":-2.1922174298353565},"rotation":{"radians":3.1289677597313585}},"curvature":-0.008179699294010573},{"time":10.881625762788286,"velocity":0.799538968835352,"acceleration":-4.0,"pose":{"translation":{"x":5.678045761280101,"y":-2.191188323431782},"rotation":{"radians":3.128467330750716}},"curvature":-0.0043030280378462},{"time":11.081510504997123,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":5.598144946208856,"y":-2.190130258326354},"rotation":{"radians":3.1282923496405326}},"curvature":-5.97160968968523E-16}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce.wpilib.json b/src/main/deploy/paths/Bounce.wpilib.json index e7b91d9..38bc071 100644 --- a/src/main/deploy/paths/Bounce.wpilib.json +++ b/src/main/deploy/paths/Bounce.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.2685437093345355,"y":-2.2829074276879466},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.20547130539282274,"velocity":0.9246208742677021,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.3635337579142972,"y":-2.2823770925583378},"rotation":{"radians":0.01656522391975828}},"curvature":0.34186174925200363},{"time":0.28949294546536686,"velocity":1.3027182545941507,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.4570402933602506,"y":-2.278868352045021},"rotation":{"radians":0.06336454877370898}},"curvature":0.6574752757115397},{"time":0.35260612929732255,"velocity":1.5867275818379514,"acceleration":4.500000000000007,"pose":{"translation":{"x":1.5477836424258304,"y":-2.2699447388354552},"rotation":{"radians":0.13737717826494814}},"curvature":0.9661649133827227},{"time":0.379653593757885,"velocity":1.7084411719104826,"acceleration":4.500000000000008,"pose":{"translation":{"x":1.5917772276323061,"y":-2.2628437785903914},"rotation":{"radians":0.18379913152904104}},"curvature":1.1167140968142548},{"time":0.40452100222917886,"velocity":1.8203445100313052,"acceleration":1.7041756918835271,"pose":{"translation":{"x":1.6346949926935532,"y":-2.2537246740943626},"rotation":{"radians":0.23598402142786476}},"curvature":1.2606521625592753},{"time":0.42801622421692603,"velocity":1.8603844962182312,"acceleration":-1.9962056161504953,"pose":{"translation":{"x":1.676434205874378,"y":-2.2424323752896513},"rotation":{"radians":0.2934081900119383}},"curvature":1.3929410189869018},{"time":0.45125314485189827,"velocity":1.8139988247446563,"acceleration":-1.4891725052297924,"pose":{"translation":{"x":1.7169037316223166,"y":-2.228841519103317},"rotation":{"radians":0.3553984957359821}},"curvature":1.5074825249408874},{"time":0.47477702839620134,"velocity":1.7789677041542526,"acceleration":-0.9613858884647462,"pose":{"translation":{"x":1.756023634912863,"y":-2.2128551810609345},"rotation":{"radians":0.4211210635866775}},"curvature":1.5979448443558497},{"time":0.4985241216682336,"velocity":1.7561375837904647,"acceleration":-0.4278161701437854,"pose":{"translation":{"x":1.7937247855946978,"y":-2.194403626900331},"rotation":{"radians":0.48959514366925055}},"curvature":1.6588424691060946},{"time":0.5224249371731753,"velocity":1.7459124284378273,"acceleration":0.09343573686636701,"pose":{"translation":{"x":1.8299484627349156,"y":-2.173443064185321},"rotation":{"radians":0.5597338428966229}},"curvature":1.6866336931220292},{"time":0.5464086211827976,"velocity":1.7481533616260365,"acceleration":0.5832477303987735,"pose":{"translation":{"x":1.8646459589642528,"y":-2.1499543939194465},"rotation":{"radians":0.6304072044529919}},"curvature":1.6805151830922482},{"time":0.5704085443886026,"velocity":1.762151262365567,"acceleration":1.0234559128373446,"pose":{"translation":{"x":1.8977781848223174,"y":-2.1239419621597118},"rotation":{"radians":0.7005168384259233}},"curvature":1.6426483532158769},{"time":0.5943676878113814,"velocity":1.786672389368128,"acceleration":1.3987234093013112,"pose":{"translation":{"x":1.929315273102815,"y":-2.0954323116303226},"rotation":{"radians":0.7690678650430854}},"curvature":1.577744412052153},{"time":0.6182425101557779,"velocity":1.8200666622741455,"acceleration":1.6981841818411898,"pose":{"translation":{"x":1.9592361831987777,"y":-2.064472933336421},"rotation":{"radians":0.8352250389825973}},"curvature":1.4921671229134739},{"time":0.6420045267335583,"velocity":1.8604189429551803,"acceleration":1.9165908830310991,"pose":{"translation":{"x":1.9875283054477932,"y":-2.0311310181778235},"rotation":{"radians":0.8983450467398526}},"curvature":1.3928580810213431},{"time":0.6656395377882759,"velocity":1.9057175896629912,"acceleration":2.0546730180210613,"pose":{"translation":{"x":2.0141870654772314,"y":-1.9954922085627604},"rotation":{"radians":0.957983695581811}},"curvature":1.2863862589560087},{"time":0.6891450188638419,"velocity":1.9540136674045614,"acceleration":2.1185797293979576,"pose":{"translation":{"x":2.039215528549472,"y":-1.9576593500216088},"rotation":{"radians":1.0138823198414246}},"curvature":1.1783064729088002},{"time":0.7125264632421618,"velocity":2.0035491215085157,"acceleration":2.118551319431017,"pose":{"translation":{"x":2.0626240039071364,"y":-1.917751242820633},"rotation":{"radians":1.065940647466107}},"curvature":1.0728660083023431},{"time":0.7357934533259944,"velocity":2.0528414340498076,"acceleration":2.022485801104074,"pose":{"translation":{"x":2.0844296491183103,"y":-1.8759013935757198},"rotation":{"radians":1.1141835730551033}},"curvature":0.9729942840189638},{"time":0.7820226302555494,"velocity":2.1463392879865606,"acceleration":1.7972143666257325,"pose":{"translation":{"x":2.123332947072237,"y":-1.7869765368481696},"rotation":{"radians":1.1997516315066488}},"curvature":0.7961599396846488},{"time":0.8278772820130545,"velocity":2.2287499269017688,"acceleration":1.5275046874909222,"pose":{"translation":{"x":2.1561846145839563,"y":-1.6921995210805318},"rotation":{"radians":1.2721201145966583}},"curvature":0.6525970081693718},{"time":0.8732979722452877,"velocity":2.298130244140578,"acceleration":1.26575540576075,"pose":{"translation":{"x":2.183328095128239,"y":-1.5930404923875283},"rotation":{"radians":1.3331573588038412}},"curvature":0.5397164742141854},{"time":0.9181167028790755,"velocity":2.35485979471963,"acceleration":1.0365604347378645,"pose":{"translation":{"x":2.2051784225292272,"y":-1.4910850533966182},"rotation":{"radians":1.3846810763942472}},"curvature":0.4523613463316468},{"time":0.9620629060984996,"velocity":2.4004126902338347,"acceleration":0.8470074572668961,"pose":{"translation":{"x":2.2222095600077303,"y":-1.3879943148875862},"rotation":{"radians":1.4282905186070292}},"curvature":0.3852055083687461},{"time":1.0047822352329652,"velocity":2.436596280580166,"acceleration":-2.929684205884857,"pose":{"translation":{"x":2.234941739228524,"y":-1.2854649474321318},"rotation":{"radians":1.465318763281388}},"curvature":0.3336516800642234},{"time":1.0471819701537168,"velocity":2.3123784468491353,"acceleration":-4.500000000000005,"pose":{"translation":{"x":2.2439287993476493,"y":-1.1851892330334568},"rotation":{"radians":1.4968398091172674}},"curvature":0.2939960105914216},{"time":1.0907852556651314,"velocity":2.1161636620477693,"acceleration":-4.500000000000006,"pose":{"translation":{"x":2.249745526059712,"y":-1.0888151167658568},"rotation":{"radians":1.5236939603035344}},"curvature":0.26327995310753305},{"time":1.1359394839518135,"velocity":1.9129696347576994,"acceleration":-4.499999999999999,"pose":{"translation":{"x":2.2529749906451815,"y":-0.9979062584143037},"rotation":{"radians":1.5465124271703523}},"curvature":0.23899112236639475},{"time":1.1823954771856433,"velocity":1.7039176652054657,"acceleration":-4.499999999999998,"pose":{"translation":{"x":2.254195889017688,"y":-0.9139020841140417},"rotation":{"radians":1.5657298061467197}},"curvature":0.21858753058654742},{"time":1.2298720285442322,"velocity":1.4902731840918158,"acceleration":-4.500000000000001,"pose":{"translation":{"x":2.253969880771324,"y":-0.8380778379901694},"rotation":{"radians":1.5815729832159753}},"curvature":0.19857758745512785},{"time":1.326598747599719,"velocity":1.0550029483421255,"acceleration":-4.499999999999998,"pose":{"translation":{"x":2.2512626354844425,"y":-0.715009506558816},"rotation":{"radians":1.6025690780095874}},"curvature":0.12299943950886183},{"time":1.4232584179463585,"velocity":0.6200344317822478,"acceleration":-4.499999999999998,"pose":{"translation":{"x":2.2485246889438386,"y":-0.6341015392225571},"rotation":{"radians":1.6008237222364228}},"curvature":-0.3960868135296091},{"time":1.470682497044184,"velocity":0.40662607584203264,"acceleration":-4.500000000000003,"pose":{"translation":{"x":2.248006503641532,"y":-0.6097628402733455},"rotation":{"radians":1.5767489587567318}},"curvature":-2.1962046888019713},{"time":1.4941834413224058,"velocity":0.3008718265900346,"acceleration":-4.499999999999999,"pose":{"translation":{"x":2.2480603955574736,"y":-0.6014495805615971},"rotation":{"radians":1.5471722702837498}},"curvature":-5.757187845629485},{"time":1.5179812866486293,"velocity":0.19378152262202877,"acceleration":-4.500000000000001,"pose":{"translation":{"x":2.248344593223311,"y":-0.5955706038550939},"rotation":{"radians":1.4854684954730102}},"curvature":-19.438170235336873},{"time":1.5305601659266612,"velocity":0.13717656587088478,"acceleration":-4.499999999999999,"pose":{"translation":{"x":2.2485757117192717,"y":-0.5935019335466492},"rotation":{"radians":1.4258223512075379}},"curvature":-42.68912208627659},{"time":1.5374335482264907,"velocity":0.10624634552165206,"acceleration":-4.5,"pose":{"translation":{"x":2.248713717671772,"y":-0.5926768258809587},"rotation":{"radians":1.380840431646731}},"curvature":-67.97988325388131},{"time":1.5454331377946946,"velocity":0.07024819246473468,"acceleration":-3.535032187629394,"pose":{"translation":{"x":2.24886668309217,"y":-0.5919876556609345},"rotation":{"radians":1.3184160148576025}},"curvature":-115.54059456499368},{"time":1.5504075733551397,"velocity":0.05266340264327285,"acceleration":-2.3386143802807298,"pose":{"translation":{"x":2.2489487639079524,"y":-0.5916931729573576},"rotation":{"radians":1.277509136180691}},"curvature":-155.15123514705294},{"time":1.5564436225960965,"velocity":0.03854741108828863,"acceleration":-1.482779032198186,"pose":{"translation":{"x":2.2490345667671914,"y":-0.5914316103250665},"rotation":{"radians":1.2274824233368449}},"curvature":-213.09757543784207},{"time":1.5638884240580937,"velocity":0.027508415581560808,"acceleration":-0.8960593516066463,"pose":{"translation":{"x":2.2491240817600238,"y":-0.5912025969680825},"rotation":{"radians":1.1653500772262015}},"curvature":-299.85117796589043},{"time":1.5732260140980407,"velocity":0.019141380704797095,"acceleration":-0.5850885544702401,"pose":{"translation":{"x":2.2492172970503557,"y":-0.5910057543277136},"rotation":{"radians":1.0869326476784094}},"curvature":-432.27054126513667},{"time":1.5788817989774,"velocity":0.015832245705338144,"acceleration":-0.435692970378642,"pose":{"translation":{"x":2.2492652880786332,"y":-0.5909192765946716},"rotation":{"radians":1.039887314719324}},"curvature":-523.2655260434432},{"time":1.5852937315901097,"velocity":0.013038611739438988,"acceleration":-0.31945727544235836,"pose":{"translation":{"x":2.2493141988638,"y":-0.5908406960444537},"rotation":{"radians":0.9864717617332592}},"curvature":-636.040927533967},{"time":1.5925798995753027,"velocity":0.010710992366473882,"acceleration":-0.23045495336932256,"pose":{"translation":{"x":2.249364027379216,"y":-0.5907699631569989},"rotation":{"radians":0.9256938332403406}},"curvature":-774.9305041892087},{"time":1.6008663906670901,"velocity":0.008801329448320683,"acceleration":-0.16340110545160702,"pose":{"translation":{"x":2.2494147714755917,"y":-0.5907070279199238},"rotation":{"radians":0.8564958726608092}},"curvature":-943.7402366361202},{"time":1.6102772624870323,"velocity":0.007263582589678741,"acceleration":-0.12404231430612475,"pose":{"translation":{"x":2.2494664288806048,"y":-0.5906518398273604},"rotation":{"radians":0.7778407286241105}},"curvature":-1144.1894913344634},{"time":1.6154614867120871,"velocity":0.006620519418921056,"acceleration":-0.10287027756427979,"pose":{"translation":{"x":2.249492599330014,"y":-0.5906271350419412},"rotation":{"radians":0.7346850372290483}},"curvature":-1255.6265007947031},{"time":1.6209640821023168,"velocity":0.006054465903804207,"acceleration":-0.0847737739108716,"pose":{"translation":{"x":2.249518997198524,"y":-0.5906043478787253},"rotation":{"radians":0.6888687140842368}},"curvature":-1373.3080410857367},{"time":1.62678985666442,"velocity":0.00556059300822076,"acceleration":-0.06932465432687415,"pose":{"translation":{"x":2.24954562216732,"y":-0.5905834718851497},"rotation":{"radians":0.6403523761627412}},"curvature":-1495.5547001802365},{"time":1.6329380680825458,"velocity":0.005134370376930653,"acceleration":-0.05612925580464575,"pose":{"translation":{"x":2.2495724739098337,"y":-0.5905645005775777},"rotation":{"radians":0.5891430730727714}},"curvature":-1619.9623129164893},{"time":1.6394010850272975,"velocity":0.004771606045568921,"acceleration":-0.044826262057675426,"pose":{"translation":{"x":2.2495995520917234,"y":-0.5905474274412756},"rotation":{"radians":0.5353054115697539}},"curvature":-1743.3556070509815},{"time":1.646163143657277,"velocity":0.004468488233372092,"acceleration":-0.035084151571765906,"pose":{"translation":{"x":2.249626856370859,"y":-0.5905322459303739},"rotation":{"radians":0.47897185763463984}},"curvature":-1861.8246862218014},{"time":1.6531993753202558,"velocity":0.004221628015214085,"acceleration":-0.0265982146401659,"pose":{"translation":{"x":2.2496543863973235,"y":-0.5905189494678171},"rotation":{"radians":0.42035075274132616}},"curvature":-1970.8755928405556},{"time":1.6604753079064296,"velocity":0.004028101198579659,"acceleration":-0.019087136931734132,"pose":{"translation":{"x":2.249682141813384,"y":-0.5905075314453323},"rotation":{"radians":0.3597303699783953}},"curvature":-2065.712977906601},{"time":1.6679470356506676,"velocity":0.0038854873080087504,"acceleration":-0.012289170278758846,"pose":{"translation":{"x":2.249710122253494,"y":-0.5904979852233914},"rotation":{"radians":0.2974774089626341}},"curvature":-2141.646704495272},{"time":1.6755621965061591,"velocity":0.003791903299555477,"acceleration":-0.005957939167407087,"pose":{"translation":{"x":2.249738327344275,"y":-0.5904903041311882},"rotation":{"radians":0.23402879653100003}},"curvature":-2194.57862468783},{"time":1.683261790062457,"velocity":0.003746029589533295,"acceleration":1.4203815692447402E-4,"pose":{"translation":{"x":2.2497667567045028,"y":-0.5904844814665764},"rotation":{"radians":0.1698765398993538}},"curvature":-2221.4911320679275},{"time":1.6909827277340794,"velocity":0.003747126257289901,"acceleration":0.0062400072451806576,"pose":{"translation":{"x":2.2497954099451007,"y":-0.5904805104960551},"rotation":{"radians":0.10554654048607402}},"curvature":-2220.840067143835},{"time":1.6986608642300582,"velocity":0.0037950378846542954,"acceleration":0.012563686442992095,"pose":{"translation":{"x":2.2498242866691305,"y":-0.5904783844547086},"rotation":{"radians":0.041573444827318305}},"curvature":-2192.763420647767},{"time":1.7062341570653783,"velocity":0.003890186361178216,"acceleration":0.01934389124990062,"pose":{"translation":{"x":2.2498533864717656,"y":-0.5904780965461955},"rotation":{"radians":-0.0215255567023875}},"curvature":-2139.0560278415915},{"time":1.7136455726725954,"velocity":0.00403355197869204,"acceleration":0.026818942867646176,"pose":{"translation":{"x":2.2498827089403024,"y":-0.590479639942687},"rotation":{"radians":-0.08327484291043588}},"curvature":-2062.917285506196},{"time":1.7208454130875217,"velocity":0.0042266440874361155,"acceleration":0.035238747458305006,"pose":{"translation":{"x":2.249912253654122,"y":-0.5904830077848486},"rotation":{"radians":-0.1432596987472278}},"curvature":-1968.5329456212585},{"time":1.7277928575322636,"velocity":0.004471463327704983,"acceleration":0.04486846011967391,"pose":{"translation":{"x":2.249942020184701,"y":-0.5904881931817907},"rotation":{"radians":-0.20113917140840007}},"curvature":-1860.5838650282133},{"time":1.7344566599563351,"velocity":0.004770457881014822,"acceleration":0.05599167939657605,"pose":{"translation":{"x":2.2499720080955923,"y":-0.5904951892110364},"rotation":{"radians":-0.25665194394243945}},"curvature":-1743.7759446538928},{"time":1.7408150760796166,"velocity":0.005126476278059622,"acceleration":0.06891314963740854,"pose":{"translation":{"x":2.2500022169424048,"y":-0.5905039889184827},"rotation":{"radians":-0.30961581602600724}},"curvature":-1622.4615943864944},{"time":1.7468551834971773,"velocity":0.005542719104352001,"acceleration":0.08396097559131543,"pose":{"translation":{"x":2.250032646272799,"y":-0.5905145853183664},"rotation":{"radians":-0.3599221296809572}},"curvature":-1500.387448657456},{"time":1.7525717969919625,"velocity":0.006022691550452652,"acceleration":0.10148837395120767,"pose":{"translation":{"x":2.250063295626483,"y":-0.5905269713932291},"rotation":{"radians":-0.40752680536732666}},"curvature":-1380.5695857926848},{"time":1.7579661756217932,"velocity":0.006570158266071324,"acceleration":0.1339016303921437,"pose":{"translation":{"x":2.2500941645351853,"y":-0.5905411400938596},"rotation":{"radians":-0.45243961682484185}},"curvature":-1265.274705787399},{"time":1.7677757999125085,"velocity":0.007883682952132487,"acceleration":0.18890929343053073,"pose":{"translation":{"x":2.2501565591046324,"y":-0.5905747970167385},"rotation":{"radians":-0.5344317773206304}},"curvature":-1053.9491540936895},{"time":1.776422391968676,"velocity":0.009517104548045108,"acceleration":0.26159792880761495,"pose":{"translation":{"x":2.250219826075088,"y":-0.5906154990572428},"rotation":{"radians":-0.6066494777945393}},"curvature":-872.5300338924795},{"time":1.7840256753131871,"velocity":0.011506107723106673,"acceleration":0.35612487302651946,"pose":{"translation":{"x":2.250283961412187,"y":-0.5906631886754439},"rotation":{"radians":-0.6700924622783515}},"curvature":-721.1666060201952},{"time":1.790712494623815,"velocity":0.013887450401055323,"acceleration":0.4770872497339891,"pose":{"translation":{"x":2.2503489609528726,"y":-0.5907178078200626},"rotation":{"radians":-0.7258241077033081}},"curvature":-596.9757293581793},{"time":1.7966042949078174,"velocity":0.016698353194531945,"acceleration":0.6295004568817735,"pose":{"translation":{"x":2.250414820405024,"y":-0.5907792979272535},"rotation":{"radians":-0.7748644795215773}},"curvature":-495.9647882464065},{"time":1.8018110888887975,"velocity":0.019976032384448228,"acceleration":0.9379910826428075,"pose":{"translation":{"x":2.2504815353470704,"y":-0.5908475999194347},"rotation":{"radians":-0.8181384292489339}},"curvature":-414.08017133740356},{"time":1.8104491491809058,"velocity":0.028078455909776867,"acceleration":1.5032788604578924,"pose":{"translation":{"x":2.250617513365092,"y":-0.5910044006725808},"rotation":{"radians":-0.8905198301525137}},"curvature":-293.70103038699074},{"time":1.8173685229277492,"velocity":0.038480204191013945,"acceleration":2.3017607562516265,"pose":{"translation":{"x":2.250756857031159,"y":-0.5911877271387627},"rotation":{"radians":-0.9481614193755699}},"curvature":-213.47514764315304},{"time":1.8230029489182107,"velocity":0.05144930481986232,"acceleration":4.127505914276821,"pose":{"translation":{"x":2.250899526274221,"y":-0.5913970880811568},"rotation":{"radians":-0.9948004543967184}},"curvature":-158.8853184950882},{"time":1.831383936721894,"velocity":0.0860418815470474,"acceleration":4.50000000000003,"pose":{"translation":{"x":2.2511946706583874,"y":-0.5918919067383555},"rotation":{"radians":-1.0649961839335877}},"curvature":-93.76563861080118},{"time":1.8438720959566115,"velocity":0.14223859810327624,"acceleration":4.4999999999999485,"pose":{"translation":{"x":2.251822867824714,"y":-0.5931714135683435},"rotation":{"radians":-1.1514928562515672}},"curvature":-39.70128664933871},{"time":1.8643513465191281,"velocity":0.23439522563459964,"acceleration":4.4999999999999885,"pose":{"translation":{"x":2.253218551288934,"y":-0.5967665975838226},"rotation":{"radians":-1.2327619809065389}},"curvature":-11.323606113121881},{"time":1.8824212964877616,"velocity":0.3157100004934502,"acceleration":4.500000000000068,"pose":{"translation":{"x":2.2547712174315553,"y":-0.6014880365842958},"rotation":{"radians":-1.2678108831752224}},"curvature":-4.292302842405532},{"time":1.9133659074869165,"velocity":0.4549607499896496,"acceleration":4.500000000000005,"pose":{"translation":{"x":2.2581668491915208,"y":-0.6129183791792854},"rotation":{"radians":-1.2882413743253303}},"curvature":-1.8498380758778174E-13},{"time":2.0253107614437025,"velocity":0.9587125927951868,"acceleration":4.499999999999993,"pose":{"translation":{"x":2.279153833144643,"y":-0.6892111414878828},"rotation":{"radians":-1.3116532643757461}},"curvature":-0.10570947703782992},{"time":2.1006349488813663,"velocity":1.2976714362646724,"acceleration":4.500000000000007,"pose":{"translation":{"x":2.3007055621583046,"y":-0.7714130168999085},"rotation":{"radians":-1.3160416885245836}},"curvature":-0.023177621209099813},{"time":2.185467724809306,"velocity":1.6794189279404024,"acceleration":4.4999999999999885,"pose":{"translation":{"x":2.332424825762578,"y":-0.8936417986616633},"rotation":{"radians":-1.317327006555892}},"curvature":-0.002513854329558546},{"time":2.2298514844843083,"velocity":1.8791458464779123,"acceleration":4.499999999999997,"pose":{"translation":{"x":2.3522252405544055,"y":-0.9700904782854665},"rotation":{"radians":-1.317344152111832}},"curvature":0.0016398265419870037},{"time":2.2748240748980675,"velocity":2.081522503339828,"acceleration":4.499999999999987,"pose":{"translation":{"x":2.3745670811140083,"y":-1.056303358575759},"rotation":{"radians":-1.3170714176876508}},"curvature":0.004259751807213772},{"time":2.3199263460362425,"velocity":2.2844827234616143,"acceleration":4.500000000000002,"pose":{"translation":{"x":2.3993044032070783,"y":-1.151603498417915},"rotation":{"radians":-1.316555401535147}},"curvature":0.006106446830222473},{"time":2.3647556150554614,"velocity":2.4862144340480987,"acceleration":4.500000000000006,"pose":{"translation":{"x":2.4262359984887594,"y":-1.255089962745553},"rotation":{"radians":-1.3158202133021315}},"curvature":0.0075882087355301315},{"time":2.4089575488733774,"velocity":2.6851231362287202,"acceleration":0.13096917894015875,"pose":{"translation":{"x":2.4551137557883838,"y":-1.36567312574276},"rotation":{"radians":-1.3148743169642134}},"curvature":0.00894483945628684},{"time":2.453738870335425,"velocity":2.69098810913246,"acceleration":-0.028999672019794448,"pose":{"translation":{"x":2.4856510223942085,"y":-1.4821099740463164},"rotation":{"radians":-1.3137142323073987}},"curvature":0.010336157893764478},{"time":2.5002245290915988,"velocity":2.6896400402749068,"acceleration":-0.031940764794810644,"pose":{"translation":{"x":2.5175309653381532,"y":-1.603039409947919},"rotation":{"radians":-1.3123263081563568}},"curvature":0.011888276445140903},{"time":2.5239585707494485,"velocity":2.688881956832683,"acceleration":-0.034715921185285006,"pose":{"translation":{"x":2.5338692353804695,"y":-1.6647399044234563},"rotation":{"radians":-1.3115399996258135}},"curvature":0.012761790438616126},{"time":2.547926915286065,"velocity":2.6880498736728082,"acceleration":-0.038162874269848386,"pose":{"translation":{"x":2.550414932680538,"y":-1.7270175545964053},"rotation":{"radians":-1.3106872096291706}},"curvature":0.013721138997219719},{"time":2.572058741205763,"velocity":2.687128933834333,"acceleration":-0.04236833272530868,"pose":{"translation":{"x":2.567123688304864,"y":-1.7896847329884131},"rotation":{"radians":-1.3097634296834657}},"curvature":0.014783627371505856},{"time":2.5962830148629905,"velocity":2.6861025917479946,"acceleration":-0.04745133314916554,"pose":{"translation":{"x":2.583950814794819,"y":-1.852553051199978},"rotation":{"radians":-1.308763440839727}},"curvature":0.01596857673175563},{"time":2.620528917934663,"velocity":2.6849520913238383,"acceleration":-0.053567972127216465,"pose":{"translation":{"x":2.6008515674567905,"y":-1.9154344631355147},"rotation":{"radians":-1.307681254346296}},"curvature":0.01729794834359466},{"time":2.6447262764487647,"velocity":2.6836558878974026,"acceleration":-0.06091828256946793,"pose":{"translation":{"x":2.617781405652328,"y":-1.9781423682284274},"rotation":{"radians":-1.3065100398517357}},"curvature":0.018797041255404337},{"time":2.6688059914006255,"velocity":2.682188993017773,"acceleration":-0.06975549158640726,"pose":{"translation":{"x":2.6346962540882934,"y":-2.0404927146661795},"rotation":{"radians":-1.3052420409253291}},"curvature":0.02049529094161847},{"time":2.692700470977084,"velocity":2.6805222218487157,"acceleration":-0.08677581789870258,"pose":{"translation":{"x":2.6515527641070076,"y":-2.10230510261536},"rotation":{"radians":-1.3038684777635066}},"curvature":0.02242719673888686},{"time":2.739674805729935,"velocity":2.6764459855302896,"acceleration":-0.11813121457828411,"pose":{"translation":{"x":2.68492257518015,"y":-2.2236192829604144},"rotation":{"radians":-1.300763751182038}},"curvature":0.027161981193277982},{"time":2.785154398192108,"velocity":2.6710734260342077,"acceleration":-0.1644128812324308,"pose":{"translation":{"x":2.717568511345133,"y":-2.3407566727314952},"rotation":{"radians":-1.2971006967534642}},"curvature":0.03342459567264441},{"time":2.8286973402105615,"velocity":2.663914405479617,"acceleration":-0.23318425246905736,"pose":{"translation":{"x":2.749196593812158,"y":-2.4525180734669902},"rotation":{"radians":-1.2927597526453236}},"curvature":0.041808885263160754},{"time":2.869927700173382,"velocity":2.6543001348126567,"acceleration":-0.3351538872144289,"pose":{"translation":{"x":2.779549553812988,"y":-2.557868627977995},"rotation":{"radians":-1.2875929236822399}},"curvature":0.053139795600982094},{"time":2.9085491582406267,"velocity":2.6413560030115306,"acceleration":-0.4833598646060045,"pose":{"translation":{"x":2.8084151938856836,"y":-2.6559731235505373},"rotation":{"radians":-1.2814219588079645}},"curvature":0.06852540532165513},{"time":2.944357706434111,"velocity":2.6240475880049905,"acceleration":-0.6870579553822824,"pose":{"translation":{"x":2.83563474915934,"y":-2.7462312951478056},"rotation":{"radians":-1.274043492327738}},"curvature":0.0893356605831156},{"time":2.9772520570618366,"velocity":2.6014472627190774,"acceleration":-0.9306762500321283,"pose":{"translation":{"x":2.861111248638826,"y":-2.8283131286123693},"rotation":{"radians":-1.265251512387064}},"curvature":0.11692534360533127},{"time":3.0072391167327943,"velocity":2.573539018475021,"acceleration":-1.1197376575833518,"pose":{"translation":{"x":2.8848178764895196,"y":-2.9021941638684003},"rotation":{"radians":-1.2548978568015183}},"curvature":0.1516633975904032},{"time":3.0344301583227535,"velocity":2.5430921852578283,"acceleration":-3.035808227071598,"pose":{"translation":{"x":2.9068063333220473,"y":-2.968190798123901},"rotation":{"radians":-1.2430266186077292}},"curvature":0.19043091777845456},{"time":3.0823174907325916,"velocity":2.3977154275555295,"acceleration":-4.499999999999996,"pose":{"translation":{"x":2.9462782863097625,"y":-3.0797125580978157},"rotation":{"radians":-1.2175085406148443}},"curvature":0.22008272379027985},{"time":3.1259628029628375,"velocity":2.201311522519423,"acceleration":-4.500000000000004,"pose":{"translation":{"x":2.981828770211936,"y":-3.17356825355923},"rotation":{"radians":-1.20362249297669}},"curvature":-2.3018266765920896E-14},{"time":3.172326650841896,"velocity":1.99267420706366,"acceleration":-4.5,"pose":{"translation":{"x":3.0184135170177044,"y":-3.2636470549537417},"rotation":{"radians":-1.149752725521268}},"curvature":1.0253360009993309},{"time":3.1977462164963146,"velocity":1.8782861616187758,"acceleration":-2.977835569720735,"pose":{"translation":{"x":3.0397781571240823,"y":-3.3079652251650327},"rotation":{"radians":-1.0907671614705714}},"curvature":1.3502488992297754},{"time":3.2249152892361446,"velocity":1.7973811304177798,"acceleration":-1.1379908169201627,"pose":{"translation":{"x":3.0644006774505215,"y":-3.351404374396686},"rotation":{"radians":-1.0178232366838325}},"curvature":1.549955466562376},{"time":3.2535329100425767,"velocity":1.7648145407379565,"acceleration":0.09030097031760324,"pose":{"translation":{"x":3.092904447165867,"y":-3.393660211607728},"rotation":{"radians":-0.9361624231121277}},"curvature":1.6355117252482685},{"time":3.283159497872396,"velocity":1.7674898503661889,"acceleration":0.9000618997224086,"pose":{"translation":{"x":3.125706254194471,"y":-3.4344272778316967},"rotation":{"radians":-0.8504001020085808}},"curvature":1.6283645109402347},{"time":3.3134583047927033,"velocity":1.794760652082203,"acceleration":1.383417610323503,"pose":{"translation":{"x":3.163033425942083,"y":-3.473401733271556},"rotation":{"radians":-0.7642174815982902}},"curvature":1.5567249044841396},{"time":3.344199133981549,"velocity":1.8372880565379992,"acceleration":1.601457145993322,"pose":{"translation":{"x":3.2049409500217414,"y":-3.510284144394608},"rotation":{"radians":-0.6801986104011517}},"curvature":1.4492507987789358},{"time":3.3752436688831238,"velocity":1.887004548800165,"acceleration":1.610728249402449,"pose":{"translation":{"x":3.251328594979663,"y":-3.5447822710274033},"rotation":{"radians":-0.5998595128809489}},"curvature":1.3297504880674822},{"time":3.406519071074216,"velocity":1.9373807226207806,"acceleration":1.467465541156902,"pose":{"translation":{"x":3.301958031021134,"y":-3.5766138534506577},"rotation":{"radians":-0.5238221601472356}},"curvature":1.214920317057597},{"time":3.4379894864180383,"velocity":1.9835624727037353,"acceleration":1.2225695866948918,"pose":{"translation":{"x":3.3564699507364013,"y":-3.6055093994941596},"rotation":{"radians":-0.45204665732559746}},"curvature":1.1147755447729981},{"time":3.4696326516519775,"velocity":2.0222484441455104,"acceleration":0.9160327127660358,"pose":{"translation":{"x":3.4144011898265623,"y":-3.631214971631686},"rotation":{"radians":-0.3840502377170955}},"curvature":1.0344059335193307},{"time":3.501424670897933,"velocity":2.051370973779693,"acceleration":0.5746933985332381,"pose":{"translation":{"x":3.475201847829454,"y":-3.6534949740759144},"rotation":{"radians":-0.31907711187966553}},"curvature":0.9759041463197408},{"time":3.5333328976043936,"velocity":2.0697084210267978,"acceleration":0.21347163939260513,"pose":{"translation":{"x":3.5382524088455485,"y":-3.6721349398733327},"rotation":{"radians":-0.25621242555649043}},"curvature":0.9399122889889104},{"time":3.5653153382148703,"velocity":2.076535765055693,"acceleration":-0.16125440461080925,"pose":{"translation":{"x":3.602880862263837,"y":-3.6869443179991546},"rotation":{"radians":-0.19444896564988257}},"curvature":0.9266743017178002},{"time":3.597324624946067,"velocity":2.071374126581837,"acceleration":-0.5473032457943032,"pose":{"translation":{"x":3.6683798234877267,"y":-3.697759260452232},"rotation":{"radians":-0.13272016229676237}},"curvature":0.9366744945398773},{"time":3.629314745250979,"velocity":2.0538658299056083,"acceleration":-0.9418479677958609,"pose":{"translation":{"x":3.7340236546609265,"y":-3.7044454093499635},"rotation":{"radians":-0.06991288500099563}},"curvature":0.9709695914338683},{"time":3.661248908227929,"velocity":2.023788703402506,"acceleration":-1.3360945077557191,"pose":{"translation":{"x":3.7990855853933407,"y":-3.7069006840232133},"rotation":{"radians":-0.0048725525991901285}},"curvature":1.0312696674162594},{"time":3.6931069213082695,"velocity":1.9812233870978533,"acceleration":-1.7096807202327662,"pose":{"translation":{"x":3.8628548334869577,"y":-3.705058068111217},"rotation":{"radians":0.06358660570777601}},"curvature":1.1197355889117453},{"time":3.724890130953459,"velocity":1.9268842463403564,"acceleration":-2.02597515919114,"pose":{"translation":{"x":3.9246537256617424,"y":-3.698888396656498},"rotation":{"radians":0.13665070947012398}},"curvature":1.2383513633729393},{"time":3.7566213599690186,"velocity":1.8625975645842272,"acceleration":-2.2309513912444996,"pose":{"translation":{"x":3.983854818281525,"y":-3.68840314319978},"rotation":{"radians":0.21543465079916263}},"curvature":1.3876188110053984},{"time":3.7883365849994304,"velocity":1.7918424391789978,"acceleration":-2.2787191815384578,"pose":{"translation":{"x":4.039898018079894,"y":-3.673657206874897},"rotation":{"radians":0.3008449305456563}},"curvature":1.5642867773111826},{"time":3.8042028540472987,"velocity":1.75568766756017,"acceleration":-2.237695151881863,"pose":{"translation":{"x":4.066583008445662,"y":-3.664716198688472},"rotation":{"radians":0.34620762753185813}},"curvature":1.6600585000267516},{"time":3.8200764476939923,"velocity":1.7201674040140207,"acceleration":-2.1326501602746424,"pose":{"translation":{"x":4.092307702886082,"y":-3.6547516995037075},"rotation":{"radians":0.3933536444045416}},"curvature":1.7580699831377709},{"time":3.835954866634146,"velocity":1.6863042913163948,"acceleration":-1.9578180006199268,"pose":{"translation":{"x":4.117028656107597,"y":-3.643784026288599},"rotation":{"radians":0.44222170029111096}},"curvature":1.855353434733679},{"time":3.851830398555433,"velocity":1.6552228891514824,"acceleration":-1.7091402952307702,"pose":{"translation":{"x":4.140709842350862,"y":-3.631836732691007},"rotation":{"radians":0.492680291366209}},"curvature":1.9481489373001988},{"time":3.8676886941067274,"velocity":1.6281188372110864,"acceleration":-1.3841816664375115,"pose":{"translation":{"x":4.16332319041343,"y":-3.6189366961353735},"rotation":{"radians":0.5445168944834294}},"curvature":2.0319617451634606},{"time":3.8835075355912134,"velocity":1.6062226868439797,"acceleration":-0.9816368245830521,"pose":{"translation":{"x":4.184849118672436,"y":-3.605114204919439},"rotation":{"radians":0.59742977012247}},"curvature":2.101735912742992},{"time":3.89925598328036,"velocity":1.5907634306622938,"acceleration":-0.5004089940709321,"pose":{"translation":{"x":4.205277070107284,"y":-3.590403045310956},"rotation":{"radians":0.6510240044285094}},"curvature":2.1521551177627667},{"time":3.9148940681594855,"velocity":1.5829379923387348,"acceleration":0.06173379251467531,"pose":{"translation":{"x":4.224606047322325,"y":-3.5748405886444092},"rotation":{"radians":0.7048132228502131}},"curvature":2.178052622752592},{"time":3.9303731373645037,"velocity":1.5838935739853577,"acceleration":0.7099453946153655,"pose":{"translation":{"x":4.242845147569547,"y":-3.558467878417726},"rotation":{"radians":0.7582277850211014}},"curvature":2.1748765045688128},{"time":3.9456368515914995,"velocity":1.5947299776055384,"acceleration":1.4546611854874754,"pose":{"translation":{"x":4.260014097771258,"y":-3.5413297173889973},"rotation":{"radians":0.810629260909842}},"curvature":2.139125292379961},{"time":3.960622702101452,"velocity":1.616529312673884,"acceleration":2.3148760598017684,"pose":{"translation":{"x":4.276143789542765,"y":-3.5234747546731904},"rotation":{"radians":0.8613297753179715}},"curvature":2.068657403880969},{"time":3.9752637934770667,"velocity":1.650421624588665,"acceleration":3.928189171064238,"pose":{"translation":{"x":4.291276814215065,"y":-3.5049555728388677},"rotation":{"radians":0.9096137029781508}},"curvature":1.9627950712832336},{"time":4.00315623677483,"velocity":1.759988418305461,"acceleration":4.500000000000037,"pose":{"translation":{"x":4.318784936300568,"y":-3.4661550719371856},"rotation":{"radians":0.9960517560249607}},"curvature":1.6484598896766685},{"time":4.02924537540408,"velocity":1.8773895421370888,"acceleration":4.499999999999997,"pose":{"translation":{"x":4.3431335198514684,"y":-3.4254308539795257},"rotation":{"radians":1.064337755353672}},"curvature":1.2099640477138154},{"time":4.077107969374479,"velocity":2.092771215003885,"acceleration":-0.694829394278087,"pose":{"translation":{"x":4.385856599884033,"y":-3.340567158410103},"rotation":{"radians":1.1253285328670892}},"curvature":3.9807867305918405E-14},{"time":4.124370346556198,"velocity":2.0599319260945688,"acceleration":-0.37256486673699657,"pose":{"translation":{"x":4.426239291596579,"y":-3.2511278775802035},"rotation":{"radians":1.1838212503329886}},"curvature":0.9590213742485625},{"time":4.150828091639817,"velocity":2.0500746998233286,"acceleration":2.429230758856231,"pose":{"translation":{"x":4.445402418053016,"y":-3.2002461180467194},"rotation":{"radians":1.2375331981999598}},"curvature":0.9784727769523561},{"time":4.1796647451844775,"velocity":2.1201255855964978,"acceleration":3.18379522383605,"pose":{"translation":{"x":4.4634581219405005,"y":-3.142893829377299},"rotation":{"radians":1.2926937750648604}},"curvature":0.8441650150742595},{"time":4.210595594963414,"velocity":2.2186030773918675,"acceleration":2.9612574588663927,"pose":{"translation":{"x":4.48017415189866,"y":-3.077909044843525},"rotation":{"radians":1.3433949498868154}},"curvature":0.6696975164928622},{"time":4.243626086058958,"velocity":2.316414865518567,"acceleration":2.387403150824864,"pose":{"translation":{"x":4.49537996689762,"y":-3.0045719188687383},"rotation":{"radians":1.3873287758293207}},"curvature":0.5110935669067939},{"time":4.278870093086125,"velocity":2.4005565189429188,"acceleration":1.790917632795186,"pose":{"translation":{"x":4.5089620242691515,"y":-2.9225665809449923},"rotation":{"radians":1.424252394438837}},"curvature":0.38499750685916345},{"time":4.316419152764417,"velocity":2.4678037920156513,"acceleration":1.2991286878762633,"pose":{"translation":{"x":4.520859067737793,"y":-2.8319429895500052},"rotation":{"radians":1.454836908363205}},"curvature":0.290401921430435},{"time":4.356275230571465,"velocity":2.5195819660810157,"acceleration":0.9334285992268402,"pose":{"translation":{"x":4.531057415451995,"y":-2.733078786064114},"rotation":{"radians":1.4800268263999243}},"curvature":0.22100721119491618},{"time":4.398327235633839,"velocity":2.558834510261067,"acceleration":0.6748617106465604,"pose":{"translation":{"x":4.539586248015253,"y":-2.626641148687229},"rotation":{"radians":1.5007476615481332}},"curvature":0.17027125210215716},{"time":4.442351357221462,"velocity":2.588544704265402,"acceleration":0.49646247095313406,"pose":{"translation":{"x":4.546512896517241,"y":-2.5135486463557863},"rotation":{"radians":1.5177986679845619}},"curvature":0.1328923644913342},{"time":4.488022496072617,"velocity":2.6112187107106903,"acceleration":0.37502228874740023,"pose":{"translation":{"x":4.551938130564951,"y":-2.3949330926597017},"rotation":{"radians":1.5318299254652354}},"curvature":0.10493809800115456},{"time":4.534930082530539,"velocity":2.628810101143757,"acceleration":0.2936266524981292,"pose":{"translation":{"x":4.555991446313826,"y":-2.2721013997593236},"rotation":{"radians":1.5433522935017865}},"curvature":0.08358226786884908},{"time":4.58259514658704,"velocity":2.6428058343437764,"acceleration":0.24108953031367897,"pose":{"translation":{"x":4.558826354498893,"y":-2.1464974323023895},"rotation":{"radians":1.5527567273734477}},"curvature":0.06679461667167785},{"time":4.63048731537313,"velocity":2.654352134822118,"acceleration":0.21086602071695631,"pose":{"translation":{"x":4.560615668465907,"y":-2.019663861340975},"rotation":{"radians":1.5603331477038913}},"curvature":0.053078290149578246},{"time":4.678041234735237,"velocity":2.6643796405675007,"acceleration":0.20039883711560563,"pose":{"translation":{"x":4.561546792202477,"y":-1.8932040182484504},"rotation":{"radians":1.5662851240012707}},"curvature":0.04126265615101617},{"time":4.72467223371951,"velocity":2.673724438537488,"acceleration":-0.7424536368693591,"pose":{"translation":{"x":4.561817008369205,"y":-1.7687437486364352},"rotation":{"radians":1.5707389682490362}},"curvature":0.030331252821885556},{"time":4.770158861992444,"velocity":2.639952725947324,"acceleration":-4.5,"pose":{"translation":{"x":4.561628766330825,"y":-1.6478932662717476},"rotation":{"radians":1.5737463485485246}},"curvature":0.019253743292658033},{"time":4.815751397726647,"velocity":2.4347863151434113,"acceleration":-4.5,"pose":{"translation":{"x":4.561184970187334,"y":-1.5322090069933623},"rotation":{"radians":1.5752789959015696}},"curvature":0.006777018407799931},{"time":4.862567005596569,"velocity":2.2241160797287622,"acceleration":-4.500000000000004,"pose":{"translation":{"x":4.5606842668051275,"y":-1.4231554826293622},"rotation":{"radians":1.575212573228892}},"curvature":-0.008901956109935908},{"time":4.91032577273268,"velocity":2.0092016276162634,"acceleration":-4.499999999999993,"pose":{"translation":{"x":4.5603163338481405,"y":-1.3220671349138926},"rotation":{"radians":1.5732937758219232}},"curvature":-0.030739564844547373},{"time":4.95871592903569,"velocity":1.79144592425272,"acceleration":-4.5,"pose":{"translation":{"x":4.560257167808976,"y":-1.230110189404113},"rotation":{"radians":1.5690787354186326}},"curvature":-0.06408761003331041},{"time":5.0073902215368,"velocity":1.5724116079977268,"acceleration":-4.5,"pose":{"translation":{"x":4.560664372040043,"y":-1.1482445093971525},"rotation":{"radians":1.5618181287789326}},"curvature":-0.11948485813595525},{"time":5.055961720144623,"velocity":1.3538398642625233,"acceleration":-4.500000000000001,"pose":{"translation":{"x":4.561672444784698,"y":-1.077185449847064},"rotation":{"radians":1.550235745794414}},"curvature":-0.21950551701376778},{"time":5.151028272597859,"velocity":0.9260403782229597,"acceleration":-4.499999999999998,"pose":{"translation":{"x":4.565885391429699,"y":-0.968897193720045},"rotation":{"radians":1.5031224005777883}},"curvature":-0.8532327241242842},{"time":5.19657599692855,"velocity":0.7210756187348539,"acceleration":-4.500000000000003,"pose":{"translation":{"x":4.569201328551683,"y":-0.9315328505884155},"rotation":{"radians":1.454812037224825}},"curvature":-1.95362210606186},{"time":5.240285870098295,"velocity":0.5243811894710019,"acceleration":-4.5,"pose":{"translation":{"x":4.573330836692798,"y":-0.9046285426381657},"rotation":{"radians":1.367986047743081}},"curvature":-5.250797357740762},{"time":5.261534954302398,"velocity":0.42876031055253594,"acceleration":-4.5,"pose":{"translation":{"x":4.575686473202262,"y":-0.8947796407998156},"rotation":{"radians":1.2974111653987683}},"curvature":-9.262822654758509},{"time":5.2721089716725835,"velocity":0.3811772323867031,"acceleration":-4.5,"pose":{"translation":{"x":4.576932656249183,"y":-0.890682836040614},"rotation":{"radians":1.251278714726393}},"curvature":-12.528704057556777},{"time":5.282755678820957,"velocity":0.333267050219026,"acceleration":-4.499999999999998,"pose":{"translation":{"x":4.578222209018141,"y":-0.8871048918622653},"rotation":{"radians":1.1955708620074401}},"curvature":-17.11255760272324},{"time":5.293640535049213,"velocity":0.28428519719187423,"acceleration":-4.5,"pose":{"translation":{"x":4.57955320943533,"y":-0.8840186887888786},"rotation":{"radians":1.1281096037032832}},"curvature":-23.502515226838202},{"time":5.305089670320323,"velocity":0.23276408847187557,"acceleration":-4.5,"pose":{"translation":{"x":4.580923516329712,"y":-0.8813951091768959},"rotation":{"radians":1.0465366731211305}},"curvature":-32.20887644842355},{"time":5.3112285339576255,"velocity":0.20513920210401437,"acceleration":-3.99480779132794,"pose":{"translation":{"x":4.5816226795480945,"y":-0.8802471483638525},"rotation":{"radians":0.9997711353063761}},"curvature":-37.53640244697254},{"time":5.317798822580567,"velocity":0.17889216192181312,"acceleration":-3.100318790040452,"pose":{"translation":{"x":4.582330764831489,"y":-0.8792029999630508},"rotation":{"radians":0.948752438444307}},"curvature":-43.49657887474341},{"time":5.324858531571392,"velocity":0.1570048134853419,"acceleration":-2.3729627349792457,"pose":{"translation":{"x":4.583047440863298,"y":-0.8782584456955855},"rotation":{"radians":0.8934072678493205}},"curvature":-49.99050921706474},{"time":5.332400373268159,"velocity":0.13910830418579967,"acceleration":-1.7849024006876681,"pose":{"translation":{"x":4.583772361770563,"y":-0.8774091354123255},"rotation":{"radians":0.8338214460179867}},"curvature":-56.81894234666965},{"time":5.340391998870395,"velocity":0.12484403246297249,"acceleration":-1.3081429032131748,"pose":{"translation":{"x":4.584505166980162,"y":-0.8766505859297724},"rotation":{"radians":0.7702913480603364}},"curvature":-63.663533520049945},{"time":5.348770560683289,"velocity":0.11388367628830176,"acceleration":-0.9154471915760557,"pose":{"translation":{"x":4.585245481075012,"y":-0.8759781798659367},"rotation":{"radians":0.7033681207659697}},"curvature":-70.08766107160633},{"time":5.357439632362487,"velocity":0.10594759896600814,"acceleration":-0.5803915498654394,"pose":{"translation":{"x":4.585992913650276,"y":-0.8753871644762232},"rotation":{"radians":0.633881778205852}},"curvature":-75.5688156147956},{"time":5.366270121437554,"velocity":0.10082245772565979,"acceleration":-0.27643613412335494,"pose":{"translation":{"x":4.586747059169556,"y":-0.8748726504892876},"rotation":{"radians":0.5629319005702376}},"curvature":-79.56712313126297},{"time":5.375106213346375,"velocity":0.09837984263762678,"acceleration":0.025332636286607146,"pose":{"translation":{"x":4.587507496821104,"y":-0.8744296109429235},"rotation":{"radians":0.4918367937765152}},"curvature":-81.61927919815528},{"time":5.383776080633496,"velocity":0.09859947323226459,"acceleration":0.3606661386797592,"pose":{"translation":{"x":4.5882737903740205,"y":-0.8740528800199336},"rotation":{"radians":0.42204373712551474}},"curvature":-81.43059702349429},{"time":5.392105497372845,"velocity":0.10160361180510002,"acceleration":0.7809934437492296,"pose":{"translation":{"x":4.589045488034454,"y":-0.8737371518840007},"rotation":{"radians":0.3550158115213555}},"curvature":-78.9316619399016},{"time":5.399931388468949,"velocity":0.10771558144265247,"acceleration":1.3721337668551528,"pose":{"translation":{"x":4.5898221223018085,"y":-0.8734769795155599},"rotation":{"radians":0.2921195841125127}},"curvature":-74.27781318075311},{"time":5.407112342229897,"velocity":0.11756881057627444,"acceleration":2.29785571086742,"pose":{"translation":{"x":4.590603209824941,"y":-0.8732667735476771},"rotation":{"radians":0.23453773231367941}},"curvature":-67.79405690128081},{"time":5.4135342167928515,"velocity":0.13232535171523452,"acceleration":4.499999999999209,"pose":{"translation":{"x":4.591388251258368,"y":-0.873100801101927},"rotation":{"radians":0.18322162220787044}},"curvature":-59.88967080941399},{"time":5.4237998355252985,"velocity":0.17852063601123636,"acceleration":4.500000000001236,"pose":{"translation":{"x":4.592968117639659,"y":-0.8728779007208538},"rotation":{"radians":0.1020366764318309}},"curvature":-41.39072927876437},{"time":5.4388186162217025,"velocity":0.24610514914507214,"acceleration":-4.40208716716942,"pose":{"translation":{"x":4.596151517103646,"y":-0.8726944533917305},"rotation":{"radians":0.0351097453586144}},"curvature":2.7794858786544366E-12},{"time":5.453774706847885,"velocity":0.1802671345285311,"acceleration":-4.5,"pose":{"translation":{"x":4.599339673315614,"y":-0.8726525743724289},"rotation":{"radians":-0.030406618335940702}},"curvature":-40.54629506663001},{"time":5.463900482524851,"velocity":0.13470114398218658,"acceleration":-2.4087076446473494,"pose":{"translation":{"x":4.600930663538121,"y":-0.872760536208599},"rotation":{"radians":-0.10996027848637602}},"curvature":-58.77892961941308},{"time":5.470206133205232,"velocity":0.11951267498387752,"acceleration":-1.4490796875699925,"pose":{"translation":{"x":4.601724905090623,"y":-0.8728680974194418},"rotation":{"radians":-0.1603058199412404}},"curvature":-66.64119143507843},{"time":5.4772647196518305,"velocity":0.10928422074115485,"acceleration":-0.8385365938634198,"pose":{"translation":{"x":4.602518146166333,"y":-0.8730191300306107},"rotation":{"radians":-0.21686829524209572}},"curvature":-73.16734567450669},{"time":5.484968495771949,"velocity":0.10282432255350393,"acceleration":-0.4073821581153055,"pose":{"translation":{"x":4.603310271788974,"y":-0.8732192699998336},"rotation":{"radians":-0.27874964560733445}},"curvature":-77.957958915172},{"time":5.4931830893353935,"velocity":0.09947784369958779,"acceleration":-0.06704732922788313,"pose":{"translation":{"x":4.60410117377875,"y":-0.8734740126940626},"rotation":{"radians":-0.3448259375227554}},"curvature":-80.68432781658437},{"time":5.501752265900717,"velocity":0.09890330329720065,"acceleration":0.23510118794152768,"pose":{"translation":{"x":4.6048907506814505,"y":-0.8737887140279185},"rotation":{"radians":-0.41378782670479775}},"curvature":-81.17096150234015},{"time":5.510507454173775,"velocity":0.10096165846084815,"acceleration":0.5351690091325857,"pose":{"translation":{"x":4.60567890769756,"y":-0.8741685916021357},"rotation":{"radians":-0.4842198027441893}},"curvature":-79.45316468296875},{"time":5.519280457922659,"velocity":0.10565669818425505,"acceleration":0.8618999009942183,"pose":{"translation":{"x":4.606465556611364,"y":-0.8746187258420064},"rotation":{"radians":-0.5547055769063708}},"curvature":-75.78537424146772},{"time":5.5279166520680665,"velocity":0.11310023306314876,"acceleration":1.2413163495868944,"pose":{"translation":{"x":4.607250615720056,"y":-0.8751440611358262},"rotation":{"radians":-0.6239377149934211}},"curvature":-70.5945365777504},{"time":5.536285800315232,"velocity":0.12348899361447208,"acceleration":1.6991016015703762,"pose":{"translation":{"x":4.60803400976284,"y":-0.875749406973338},"rotation":{"radians":-0.690808144795104}},"curvature":-64.3959775798263},{"time":5.544288538252766,"velocity":0.13708645846108314,"acceleration":2.2616499623958557,"pose":{"translation":{"x":4.608815669850046,"y":-0.8764394390841777},"rotation":{"radians":-0.754463313883741}},"curvature":-57.7024679815766},{"time":5.5518580302566845,"velocity":0.15420599976710125,"acceleration":2.956154018939138,"pose":{"translation":{"x":4.609595533392229,"y":-0.8772187005763176},"rotation":{"radians":-0.8143195696666922}},"curvature":-50.9538468118932},{"time":5.558957608925382,"velocity":0.17519344778134416,"acceleration":3.8098647346020984,"pose":{"translation":{"x":4.610373544029277,"y":-0.8780916030745127},"rotation":{"radians":-0.8700450182475864}},"curvature":-44.48004713746768},{"time":5.565575883756757,"velocity":0.2004081796653061,"acceleration":4.499999999997286,"pose":{"translation":{"x":4.611149651559521,"y":-0.8790624278587447},"rotation":{"radians":-0.9215198921733626}},"curvature":-38.49538268257514},{"time":5.571749684370125,"velocity":0.2281902824254467,"acceleration":4.50000000000033,"pose":{"translation":{"x":4.61192381186884,"y":-0.8801353270026662},"rotation":{"radians":-0.9687879366158929}},"curvature":-33.113593635632355},{"time":5.583208717777365,"velocity":0.27975593275803146,"acceleration":4.4999999999998614,"pose":{"translation":{"x":4.613466144380597,"y":-0.8826033174632164},"rotation":{"radians":-1.051414566336971}},"curvature":-24.256569207373587},{"time":5.594061341559157,"velocity":0.32859273977609715,"acceleration":4.499999999999308,"pose":{"translation":{"x":4.6150003077085895,"y":-0.8855262501797181},"rotation":{"radians":-1.1198966691418262}},"curvature":-17.709250675136484},{"time":5.604652785849677,"velocity":0.3762542390834284,"acceleration":4.499999999999108,"pose":{"translation":{"x":4.616526160860454,"y":-0.8889328064349341},"rotation":{"radians":-1.1765314391421913}},"curvature":-12.988935207568176},{"time":5.615157160844945,"velocity":0.4235239265621295,"acceleration":4.500000000000309,"pose":{"translation":{"x":4.618043653438842,"y":-0.8928497095010681},"rotation":{"radians":-1.2234764220767254}},"curvature":-9.61409506696725},{"time":5.636240480849199,"velocity":0.518398866581274,"acceleration":4.49999999999971,"pose":{"translation":{"x":4.621053794649349,"y":-0.9023118776835003},"rotation":{"radians":-1.2953444990600071}},"curvature":-5.455288410432885},{"time":5.657678692657099,"velocity":0.6148708197168197,"acceleration":4.500000000000221,"pose":{"translation":{"x":4.624032053855361,"y":-0.9140887650422794},"rotation":{"radians":-1.3464548155001768}},"curvature":-3.2512215183713495},{"time":5.67957309812413,"velocity":0.7133956443184591,"acceleration":4.499999999999896,"pose":{"translation":{"x":4.626981057902935,"y":-0.9283273852585817},"rotation":{"radians":-1.3837572921402705}},"curvature":-2.027835394113568},{"time":5.724701868529124,"velocity":0.9164751111409263,"acceleration":4.499999999999966,"pose":{"translation":{"x":4.632807893992809,"y":-0.9646398904226058},"rotation":{"radians":-1.432856855356095}},"curvature":-0.8827954206928376},{"time":5.818916585215621,"velocity":1.340441336230159,"acceleration":4.500000000000014,"pose":{"translation":{"x":4.64435387905734,"y":-1.0703284602077703},"rotation":{"radians":-1.480436318200243}},"curvature":-0.22385867341497218},{"time":5.867075343272573,"velocity":1.5571557474864444,"acceleration":4.499999999999995,"pose":{"translation":{"x":4.650208060269882,"y":-1.139854770157303},"rotation":{"radians":-1.4919605328031207}},"curvature":-0.1200295315059749},{"time":5.915355249859731,"velocity":1.774415327128655,"acceleration":4.500000000000039,"pose":{"translation":{"x":4.656227232733742,"y":-1.2200531774681567},"rotation":{"radians":-1.4990439383861234}},"curvature":-0.06255856320907544},{"time":5.963375292090083,"velocity":1.990505517165241,"acceleration":4.500000000000022,"pose":{"translation":{"x":4.662506693981134,"y":-1.3102306372978625},"rotation":{"radians":-1.5029870566252166}},"curvature":-0.027953133706398608},{"time":6.01079354865206,"velocity":2.2038876716941407,"acceleration":4.499999999999967,"pose":{"translation":{"x":4.669148672654916,"y":-1.4094539860053201},"rotation":{"radians":-1.504551701568427}},"curvature":-0.005252368583924339},{"time":6.057303154506212,"velocity":2.413180898037824,"acceleration":4.499999999999992,"pose":{"translation":{"x":4.67626000547822,"y":-1.5165872457085943},"rotation":{"radians":-1.5041871824623947}},"curvature":0.011106678640585057},{"time":6.102628768683162,"velocity":2.6171461618340963,"acceleration":1.1489018389110093,"pose":{"translation":{"x":4.68394981422409,"y":-1.630328928842714},"rotation":{"radians":-1.5021476823740851}},"curvature":0.024195545579616354},{"time":6.147733785779697,"velocity":2.668967398920418,"acceleration":-0.21395737431584372,"pose":{"translation":{"x":4.692327182685111,"y":-1.7492493427174662},"rotation":{"radians":-1.4985552238745412}},"curvature":0.03588640048597657},{"time":6.193874833929947,"velocity":2.6590951814100094,"acceleration":-0.22516467854876276,"pose":{"translation":{"x":4.701498833643041,"y":-1.871827894075197},"rotation":{"radians":-1.4934333913570814}},"curvature":0.04747834563244904},{"time":6.241003062686894,"velocity":2.648483568931379,"acceleration":-0.25657508611402474,"pose":{"translation":{"x":4.711566805838441,"y":-1.9964903936486045},"rotation":{"radians":-1.4867240600849803}},"curvature":0.0600348562943363},{"time":6.288552420385971,"velocity":2.636283588385072,"acceleration":-0.3103522656717664,"pose":{"translation":{"x":4.72262613094031,"y":-2.1216463607185383},"rotation":{"radians":-1.4782932987774888}},"curvature":0.07459576514094504},{"time":6.335975647302477,"velocity":2.621565682466068,"acceleration":-0.39237204130039066,"pose":{"translation":{"x":4.734762510515716,"y":-2.2457263276717963},"rotation":{"radians":-1.4679296220185907}},"curvature":0.09234223219189336},{"time":6.3827593955063975,"velocity":2.6032090476836123,"acceleration":-0.5125032759420708,"pose":{"translation":{"x":4.748049992999426,"y":-2.3672191445589235},"rotation":{"radians":-1.4553363564813817}},"curvature":0.11475740199011944},{"time":6.428439965567816,"velocity":2.579797605880234,"acceleration":-0.685054081856132,"pose":{"translation":{"x":4.7625486506635415,"y":-2.4847092836520033},"rotation":{"radians":-1.440119537410647}},"curvature":0.1438078098583787},{"time":6.472619369566173,"velocity":2.5495323248371884,"acceleration":-0.9282984235959068,"pose":{"translation":{"x":4.778302256587127,"y":-2.596914144002462},"rotation":{"radians":-1.4217735820245503}},"curvature":0.18215356608712557},{"time":6.514981050522189,"velocity":2.5102080431848464,"acceleration":-1.2605863490789289,"pose":{"translation":{"x":4.795335961625842,"y":-2.7027213559988605},"rotation":{"radians":-1.3996697741617767}},"curvature":0.23335820554060774},{"time":6.5553037138643875,"velocity":2.4593778442171654,"acceleration":-1.687868434457278,"pose":{"translation":{"x":4.813653971381577,"y":-2.801226085924693},"rotation":{"radians":-1.3730591232963623}},"curvature":0.30197107629664477},{"time":6.593469948630113,"velocity":2.394958261294012,"acceleration":-2.17440347185737,"pose":{"translation":{"x":4.83323722317208,"y":-2.891768340516184},"rotation":{"radians":-1.3411147210420618}},"curvature":0.3931120066156374},{"time":6.629463098953452,"velocity":2.316694630267859,"acceleration":-2.589719227804873,"pose":{"translation":{"x":4.854041063000594,"y":-2.97397027152009},"rotation":{"radians":-1.3030640134183291}},"curvature":0.5106591301023522},{"time":6.663341027557199,"velocity":2.228960307164535,"acceleration":-2.6382027789128752,"pose":{"translation":{"x":4.875992922525479,"y":-3.0477734802514846},"rotation":{"radians":-1.25850080836969}},"curvature":0.6522441013337538},{"time":6.69517098509361,"velocity":2.144986424739296,"acceleration":-1.7900724298764932,"pose":{"translation":{"x":4.89898999602986,"y":-3.113476322151568},"rotation":{"radians":-1.2080045615750525}},"curvature":0.7986087194579582},{"time":6.724914026024534,"velocity":2.091744227188162,"acceleration":0.8356768229183762,"pose":{"translation":{"x":4.922896917391241,"y":-3.171771211345458},"rotation":{"radians":-1.154157078106018}},"curvature":0.8974962654296017},{"time":6.752279694279256,"velocity":2.1146130818923066,"acceleration":4.499999999999983,"pose":{"translation":{"x":4.947543437051151,"y":-3.22378192519999},"rotation":{"radians":-1.102764029194351}},"curvature":0.8544115056874421},{"time":6.799580317968346,"velocity":2.327465888493209,"acceleration":-4.362266161453521,"pose":{"translation":{"x":4.998185917670555,"y":-3.315826579913677},"rotation":{"radians":-1.047896124130654}},"curvature":8.508859524386322E-15},{"time":6.845394263272428,"velocity":2.12761326517053,"acceleration":-4.5,"pose":{"translation":{"x":5.050373977924324,"y":-3.4035254617919697},"rotation":{"radians":-1.0072821505772769}},"curvature":0.7549303519675613},{"time":6.869925786754412,"velocity":2.0172214095016003,"acceleration":-4.169007853066621,"pose":{"translation":{"x":5.07845932598369,"y":-3.4459032098893174},"rotation":{"radians":-0.96129920767847}},"curvature":1.0446752740044682},{"time":6.895750341365602,"velocity":1.909558638525601,"acceleration":-2.6917370797525004,"pose":{"translation":{"x":5.108661004057927,"y":-3.4866306095960047},"rotation":{"radians":-0.9021731776348201}},"curvature":1.2775904245573666},{"time":6.922789542234434,"velocity":1.8367762189400887,"acceleration":-1.5598394030940836,"pose":{"translation":{"x":5.141389561181544,"y":-3.5252849459870292},"rotation":{"radians":-0.8328106929061733}},"curvature":1.450514712529692},{"time":6.950745373812632,"velocity":1.7931696112981537,"acceleration":-0.6542010767417252,"pose":{"translation":{"x":5.176923694679894,"y":-3.5615034399498886},"rotation":{"radians":-0.7561274696627602}},"curvature":1.5608446667586555},{"time":6.979345429604393,"velocity":1.77445942400431,"acceleration":0.07300248967437933,"pose":{"translation":{"x":5.215421066751808,"y":-3.5949803947302614},"rotation":{"radians":-0.6749729858536616}},"curvature":1.609846174780237},{"time":7.008350716825833,"velocity":1.7765768821851955,"acceleration":0.6378583107362582,"pose":{"translation":{"x":5.256929121052228,"y":-3.625464342477694},"rotation":{"radians":-0.5919747973575552}},"curvature":1.604248811216469},{"time":7.037564991220299,"velocity":1.795211449899835,"acceleration":1.0459205847852393,"pose":{"translation":{"x":5.301395899274849,"y":-3.652755190791285},"rotation":{"radians":-0.5093672553939818}},"curvature":1.5555589585568785},{"time":7.066839826718387,"velocity":1.825830602963486,"acceleration":1.3039584603585517,"pose":{"translation":{"x":5.348680857734751,"y":-3.6767013692653703},"rotation":{"radians":-0.4288680856806841}},"curvature":1.477713042041228},{"time":7.0960725337603465,"velocity":1.8639488386300318,"acceleration":1.4252529216625969,"pose":{"translation":{"x":5.398565683951038,"y":-3.6971969760352086},"rotation":{"radians":-0.3516369614361936}},"curvature":1.3843753463424795},{"time":7.125197699217651,"velocity":1.9054595657919613,"acceleration":1.42994454900496,"pose":{"translation":{"x":5.450765113229473,"y":-3.714178924322665},"rotation":{"radians":-0.2783131195479864}},"curvature":1.2869783934493062},{"time":7.1541753900159595,"velocity":1.9468960567917541,"acceleration":1.3422328644291588,"pose":{"translation":{"x":5.504937745245116,"y":-3.727624088981897},"rotation":{"radians":-0.2091046345049558}},"curvature":1.1938977832620001},{"time":7.1829793297131355,"velocity":1.9855576512783397,"acceleration":1.1865593500610079,"pose":{"translation":{"x":5.560696860624957,"y":-3.7375464530450375},"rotation":{"radians":-0.14389676689643216}},"curvature":1.1105539927870254},{"time":7.211587329290266,"velocity":2.019502740663125,"acceleration":0.9845020179736443,"pose":{"translation":{"x":5.617621237530555,"y":-3.743994254267884},"rotation":{"radians":-0.08235481167895972}},"curvature":1.0400085827310375},{"time":7.239974926985077,"velocity":2.047450387879091,"acceleration":0.7532121729491306,"pose":{"translation":{"x":5.675265968240674,"y":-3.7470471316755773},"rotation":{"radians":-0.024008749853449696}},"curvature":0.9836829378831284},{"time":7.268112174774552,"velocity":2.068643705427409,"acceleration":0.505416189167768,"pose":{"translation":{"x":5.733173275733917,"y":-3.746813272108292},"rotation":{"radians":0.03168328917279015}},"curvature":0.9419846122808662},{"time":7.295962948072265,"velocity":2.0827199371329153,"acceleration":0.25060807188229023,"pose":{"translation":{"x":5.790883330271368,"y":-3.7434265567669187},"rotation":{"radians":0.08528997924198803}},"curvature":0.9147583144770235},{"time":7.323485945113733,"velocity":2.0896174223538995,"acceleration":-0.0029646086442150516,"pose":{"translation":{"x":5.84794506597922,"y":-3.7370437077587493},"rotation":{"radians":0.13737484207164488}},"curvature":0.9015510803238661},{"time":7.350636520185021,"velocity":2.0895369315243477,"acceleration":-0.24576391206040954,"pose":{"translation":{"x":5.903926997431419,"y":-3.727841434643161},"rotation":{"radians":0.18847136708754433}},"curvature":0.9017047005235224},{"time":7.377368533308658,"velocity":2.0829671674018324,"acceleration":-0.4639564645769969,"pose":{"translation":{"x":5.958428036232295,"y":-3.7160135809773047},"rotation":{"radians":0.2390592231461033}},"curvature":0.9142834090895979},{"time":7.403635429793186,"velocity":2.0707804709734607,"acceleration":-0.6359399969925934,"pose":{"translation":{"x":6.011088307599203,"y":-3.701768270861783},"rotation":{"radians":0.2895357194769267}},"curvature":0.9378278434808232},{"time":7.429389772070335,"velocity":2.0544022546231844,"acceleration":-0.728370377153379,"pose":{"translation":{"x":6.061599966945155,"y":-3.685325055486344},"rotation":{"radians":0.34017676199896385}},"curvature":0.9699101670059925},{"time":7.454580469915163,"velocity":2.0360540965331904,"acceleration":-0.6915078910945667,"pose":{"translation":{"x":6.109718016461459,"y":-3.6669120596755596},"rotation":{"radians":0.39108186054150706}},"curvature":1.0064642952905776},{"time":7.4791470850065656,"velocity":2.0190660883400025,"acceleration":-0.4530420995108456,"pose":{"translation":{"x":6.155271121700352,"y":-3.6467631284345114},"rotation":{"radians":0.4420990014383418}},"curvature":1.0409009827022115},{"time":7.503010974153806,"velocity":2.0082547418982424,"acceleration":0.09227640700853247,"pose":{"translation":{"x":6.198172428157642,"y":-3.6251149734944788},"rotation":{"radians":0.4927286119846969}},"curvature":1.0631202228314272},{"time":7.52606388041792,"velocity":2.0103819812593993,"acceleration":1.1037756848477334,"pose":{"translation":{"x":6.238430377855339,"y":-3.60220431985862},"rotation":{"radians":0.5420128858666482}},"curvature":1.0587294827383742},{"time":7.548156058963487,"velocity":2.0347667907633116,"acceleration":-2.481735575547587,"pose":{"translation":{"x":6.276159525924294,"y":-3.578265052347659},"rotation":{"radians":0.5884284546205697}},"curvature":1.009053679624368},{"time":7.591148787333938,"velocity":1.9280702072765097,"acceleration":-4.5,"pose":{"translation":{"x":6.345085102739401,"y":-3.528204893345267},"rotation":{"radians":0.6633974864269401}},"curvature":0.6901416764400143},{"time":7.635829079002068,"velocity":1.7270088947699236,"acceleration":-4.5,"pose":{"translation":{"x":6.408398891966756,"y":-3.476640340140431},"rotation":{"radians":0.6941270293290788}},"curvature":4.1185019565407616E-14},{"time":7.6602784831547535,"velocity":1.6169865760828406,"acceleration":-4.5,"pose":{"translation":{"x":6.439463799326111,"y":-3.450067936139554},"rotation":{"radians":0.7331828725458773}},"curvature":1.761870818383021},{"time":7.673618510216197,"velocity":1.5569564543063465,"acceleration":-4.4266477833941815,"pose":{"translation":{"x":6.454897756349233,"y":-3.435577520081772},"rotation":{"radians":0.776349973919035}},"curvature":2.265902921246814},{"time":7.688074316244142,"velocity":1.4929656925955652,"acceleration":0.04194072758134266,"pose":{"translation":{"x":6.470217984312381,"y":-3.4197265761309747},"rotation":{"radians":0.8293329069462884}},"curvature":2.4953115450022763},{"time":7.703621215797828,"velocity":1.4936177408744808,"acceleration":2.8041128601926015,"pose":{"translation":{"x":6.485391560898837,"y":-3.402155354066644},"rotation":{"radians":0.887630653218616}},"curvature":2.4928748048734684},{"time":7.719898855810278,"velocity":1.5392620805669794,"acceleration":4.500000000000042,"pose":{"translation":{"x":6.500387987569066,"y":-3.3825489736843726},"rotation":{"radians":0.9473680370503084}},"curvature":2.3274298041402433},{"time":7.736663748775235,"velocity":1.6147040989092845,"acceleration":4.499999999999969,"pose":{"translation":{"x":6.515179125275045,"y":-3.3606357906955715},"rotation":{"radians":1.0056060004130027}},"curvature":2.0709243397131565},{"time":7.753874618327631,"velocity":1.6921530118950647,"acceleration":4.499999999999986,"pose":{"translation":{"x":6.52973913017459,"y":-3.33618576262718},"rotation":{"radians":1.0604038889943062}},"curvature":1.781964691819398},{"time":7.771606217120208,"velocity":1.7719452064616623,"acceleration":4.5000000000001,"pose":{"translation":{"x":6.544044389345688,"y":-3.3090088147213748},"rotation":{"radians":1.1106938955602945}},"curvature":1.4995917095020082},{"time":7.789900001757099,"velocity":1.854267237327672,"acceleration":4.499999999999961,"pose":{"translation":{"x":6.55807345650082,"y":-3.278953205835279},"rotation":{"radians":1.1560664397140645}},"curvature":1.2449184879359827},{"time":7.828196198938921,"velocity":2.026600124645869,"acceleration":4.499999999999984,"pose":{"translation":{"x":6.585227677071576,"y":-3.209780904023693},"rotation":{"radians":1.2324277101601875}},"curvature":0.8438753319297655},{"time":7.868627007650062,"velocity":2.208538763846004,"acceleration":4.338379599180127,"pose":{"translation":{"x":6.611071111421158,"y":-3.1281595045372756},"rotation":{"radians":1.2920553568063147}},"curvature":0.5737620221395537},{"time":7.910880884367478,"velocity":2.3918521205831116,"acceleration":1.8282252869318103,"pose":{"translation":{"x":6.635503630952859,"y":-3.034088410141403},"rotation":{"radians":1.3384831632401}},"curvature":0.39763064518893115},{"time":7.955490797587139,"velocity":2.4734090919791303,"acceleration":1.2001653219467743,"pose":{"translation":{"x":6.6584536017974765,"y":-2.9280234878126636},"rotation":{"radians":1.3748607379880866}},"curvature":0.2827492858554198},{"time":8.003109190819623,"velocity":2.530559036223584,"acceleration":0.8779753692079202,"pose":{"translation":{"x":6.6798758276718395,"y":-2.8108247775295485},"rotation":{"radians":1.4036494835111415}},"curvature":0.2066602399294213},{"time":8.02798644643114,"velocity":2.552400653903984,"acceleration":0.7191373046234131,"pose":{"translation":{"x":6.69000663518445,"y":-2.7484166619137964},"rotation":{"radians":1.4157909604755585}},"curvature":0.17848041867431724},{"time":8.053533805427119,"velocity":2.570772712792599,"acceleration":0.5927629029164287,"pose":{"translation":{"x":6.699749492737317,"y":-2.683704201063145},"rotation":{"radians":1.4266798900261446}},"curvature":0.15514776934186053},{"time":8.079700176064877,"velocity":2.5862831666106243,"acceleration":0.49206426631694355,"pose":{"translation":{"x":6.709105270295296,"y":-2.6168852877025452},"rotation":{"radians":1.4364693234613446}},"curvature":0.13570744509440963},{"time":8.106425562701205,"velocity":2.5994337743778653,"acceleration":0.41162891846472055,"pose":{"translation":{"x":6.718076104458341,"y":-2.5481732707678226},"rotation":{"radians":1.445289839690417}},"curvature":0.11940661397607263},{"time":8.13364213994505,"velocity":2.6106369046330604,"acceleration":0.34719760212759637,"pose":{"translation":{"x":6.726665334175835,"y":-2.4777953213053836},"rotation":{"radians":1.4532528894178407}},"curvature":0.10564932344593325},{"time":8.161275258030047,"velocity":2.6202310569714804,"acceleration":0.29544742627532355,"pose":{"translation":{"x":6.734877436460918,"y":-2.4059907983719273},"rotation":{"radians":1.4604536479816943}},"curvature":0.09396134771817073},{"time":8.189244385832774,"velocity":2.628494463795962,"acceleration":0.2538020856184074,"pose":{"translation":{"x":6.742717962104812,"y":-2.3330096149341535},"rotation":{"radians":1.4669734202249385}},"curvature":0.08396293103713041},{"time":8.21746399902311,"velocity":2.6356566604790137,"acceleration":0.22027553523276497,"pose":{"translation":{"x":6.750193471391153,"y":-2.2591106037684714},"rotation":{"radians":1.4728816497887625}},"curvature":0.07534765702032908},{"time":8.245844420715763,"velocity":2.6419081730574945,"acceleration":0.19334835336063685,"pose":{"translation":{"x":6.757311469810319,"y":-2.184559883360709},"rotation":{"radians":1.4782375850387415}},"curvature":0.06786600836346504},{"time":8.274292621298475,"velocity":2.647408585796235,"acceleration":0.1718733122785971,"pose":{"translation":{"x":6.764080343773759,"y":-2.1096292238058236},"rotation":{"radians":1.4830916491156405}},"curvature":0.061312477610036886},{"time":8.302712983171556,"velocity":2.652293287527518,"acceleration":0.15500625751989522,"pose":{"translation":{"x":6.770509296328321,"y":-2.034594412707608},"rotation":{"radians":1.4874865548787164}},"curvature":0.05551533098631964},{"time":8.331008035113799,"velocity":2.656679197635416,"acceleration":0.14215914349740932,"pose":{"translation":{"x":6.776608282870579,"y":-1.9597336210784007},"rotation":{"radians":1.4914581980765491}},"curvature":0.050328312224001436},{"time":8.359079159964999,"velocity":2.6606697647012716,"acceleration":0.1329734834160367,"pose":{"translation":{"x":6.782387946861167,"y":-1.885325769238797},"rotation":{"radians":1.4950363545066623}},"curvature":0.045623706004402596},{"time":8.386827278302158,"velocity":2.664359528654804,"acceleration":0.12731443684957244,"pose":{"translation":{"x":6.787859555539102,"y":-1.8116488927173569},"rotation":{"radians":1.4982451993383974}},"curvature":0.041286265455571895},{"time":8.414153509764096,"velocity":2.6678385524246018,"acceleration":0.125288486938965,"pose":{"translation":{"x":6.793034935636114,"y":-1.7389785081503117},"rotation":{"radians":1.5011036590114264}},"curvature":0.03720754653400985},{"time":8.440959812597718,"velocity":2.671197073547054,"acceleration":-0.13723113432041747,"pose":{"translation":{"x":6.797926409090978,"y":-1.6675859791812757},"rotation":{"radians":1.503625597790456}},"curvature":0.033280180646881756},{"time":8.467183608405433,"velocity":2.6675983523021745,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.802546728763838,"y":-1.5977368823609572},"rotation":{"radians":1.5058198315164835}},"curvature":0.02939154430372287},{"time":8.493321096408357,"velocity":2.5499796562890165,"acceleration":-4.5,"pose":{"translation":{"x":6.806909014150539,"y":-1.5296893730468626},"rotation":{"radians":1.5076899493829758}},"curvature":0.025416127459595463},{"time":8.519874890953703,"velocity":2.4304875808349586,"acceleration":-4.499999999999993,"pose":{"translation":{"x":6.811026687096953,"y":-1.4636925513030068},"rotation":{"radians":1.5092339092253166}},"curvature":0.021205616599728555},{"time":8.54680701306471,"velocity":2.309293031335428,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":6.814913407513311,"y":-1.3999848277996274},"rotation":{"radians":1.5104433505918702}},"curvature":0.016575214781125676},{"time":8.60164480006075,"velocity":2.0625229898532456,"acceleration":-4.5,"pose":{"translation":{"x":6.822049435004535,"y":-1.2803270666245878},"rotation":{"radians":1.511786810270766}},"curvature":0.005004645974562106},{"time":8.657491592866268,"velocity":1.811212422228415,"acceleration":-4.5,"pose":{"translation":{"x":6.828428694337683,"y":-1.17234749119695},"rotation":{"radians":1.511472700353067}},"curvature":-0.012557641767089704},{"time":8.713970806841234,"velocity":1.5570559593410735,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.834162477972975,"y":-1.0774018904728022},"rotation":{"radians":1.5090092982329775}},"curvature":-0.04305107850176706},{"time":8.770670019208637,"velocity":1.3019095036877562,"acceleration":-4.5,"pose":{"translation":{"x":6.839359715975894,"y":-0.9965181494798072},"rotation":{"radians":1.5034513570670693}},"curvature":-0.10322945846988668},{"time":8.882912489974986,"velocity":0.7968183852391868,"acceleration":-4.499999999999998,"pose":{"translation":{"x":6.848556120523975,"y":-0.8790945198999358},"rotation":{"radians":1.4731280226069126}},"curvature":-0.6139517188140465},{"time":8.93757475014823,"velocity":0.5508382144595939,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.852742820953082,"y":-0.842500260842463},"rotation":{"radians":1.4329181388549581}},"curvature":-1.9712854878838697},{"time":8.964470923121244,"velocity":0.4298054360810303,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.854769612254723,"y":-0.8294691567130932},"rotation":{"radians":1.3954997647593534}},"curvature":-4.121795845368698},{"time":8.991317727776302,"velocity":0.3089948151332716,"acceleration":-4.499999999999999,"pose":{"translation":{"x":6.856763929234739,"y":-0.81975453815634},"rotation":{"radians":1.3314609484833504}},"curvature":-10.274340412008122},{"time":9.004985432345357,"velocity":0.247490144572521,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.857751404782446,"y":-0.8160820438591219},"rotation":{"radians":1.2800503315000085}},"curvature":-17.88725969972494},{"time":9.01928974832689,"velocity":0.1831207226556203,"acceleration":-4.5,"pose":{"translation":{"x":6.858733643189715,"y":-0.8131630788036524},"rotation":{"radians":1.2041976966241779}},"curvature":-34.14173535821639},{"time":9.027034808516907,"velocity":0.14826795180054303,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.859223063281665,"y":-0.8119767570760623},"rotation":{"radians":1.1516310876067288}},"curvature":-49.22799526595877},{"time":9.035751971125945,"velocity":0.10904072005987286,"acceleration":-3.9647992838409616,"pose":{"translation":{"x":6.859711484260491,"y":-0.8109671983026057},"rotation":{"radians":1.084290718460031}},"curvature":-73.33762925133702},{"time":9.040833333019433,"velocity":0.08889414006363272,"acceleration":-2.948819888353438,"pose":{"translation":{"x":6.8599553500356505,"y":-0.810527394755856},"rotation":{"radians":1.0432887812360019}},"curvature":-90.65804222571367},{"time":9.046633254674669,"velocity":0.07179121573578073,"acceleration":-2.146638836187084,"pose":{"translation":{"x":6.860199001482833,"y":-0.8101301889076056},"rotation":{"radians":0.9961251940303707}},"curvature":-112.99091990366502},{"time":9.053294413167482,"velocity":0.057492114221109336,"acceleration":-1.5281666851410094,"pose":{"translation":{"x":6.860442449901311,"y":-0.8097750280753129},"rotation":{"radians":0.9415990519877865}},"curvature":-141.86099514427062},{"time":9.060984832141948,"velocity":0.045739872149554994,"acceleration":-1.0629883264719515,"pose":{"translation":{"x":6.860685706338509,"y":-0.8094613490874525},"rotation":{"radians":0.8782962418806787}},"curvature":-179.1032747455333},{"time":9.069895224257127,"velocity":0.036268229346831715,"acceleration":-0.7218508128780476,"pose":{"translation":{"x":6.860928781588039,"y":-0.8091885782336545},"rotation":{"radians":0.8046137606133765}},"curvature":-226.68309156333257},{"time":9.08022761319034,"velocity":0.02880978599641959,"acceleration":-0.5273532661618099,"pose":{"translation":{"x":6.86117168618774,"y":-0.8089561312148175},"rotation":{"radians":0.7188594861447148}},"curvature":-286.1671461834672},{"time":9.086022628540748,"velocity":0.02575376572392374,"acceleration":-0.425919036398325,"pose":{"translation":{"x":6.861293077716557,"y":-0.8088548436424126},"rotation":{"radians":0.6709562042081583}},"curvature":-320.49085522352703},{"time":9.092242260439242,"velocity":0.02310470609896509,"acceleration":-0.34130077506539946,"pose":{"translation":{"x":6.861414430417712,"y":-0.8087634130932546},"rotation":{"radians":0.6194872041481577}},"curvature":-357.5904612961168},{"time":9.098898644893149,"velocity":0.02083287692571334,"acceleration":-0.27093352251586744,"pose":{"translation":{"x":6.861535745535626,"y":-0.8086817635296635},"rotation":{"radians":0.5643535222922513}},"curvature":-396.9223434651983},{"time":9.105994860634565,"velocity":0.01891027419835889,"acceleration":-0.21247008025062475,"pose":{"translation":{"x":6.861657024298363,"y":-0.808609818242823},"rotation":{"radians":0.5055322370947256}},"curvature":-437.59113182131614},{"time":9.113522025710592,"velocity":0.01731097683059568,"acceleration":-0.16377435014643035,"pose":{"translation":{"x":6.861778267917576,"y":-0.8085474998512141},"rotation":{"radians":0.44310060942695506}},"curvature":-478.3037071521062},{"time":9.121456509507242,"velocity":0.016011511903052167,"acceleration":-0.12290878115944794,"pose":{"translation":{"x":6.861899477588438,"y":-0.8084947302990537},"rotation":{"radians":0.37725915765567114}},"curvature":-517.3724465795085},{"time":9.12975774965777,"velocity":0.014991216594038903,"acceleration":-0.08811612052072547,"pose":{"translation":{"x":6.862020654489588,"y":-0.8084514308547401},"rotation":{"radians":0.3083495925873623}},"curvature":-552.7946377354054},{"time":9.138367265800024,"velocity":0.01423257943202283,"acceleration":-0.05779586289622723,"pose":{"translation":{"x":6.862141799783062,"y":-0.8084175221092829},"rotation":{"radians":0.2368627262319711}},"curvature":-582.4246868691994},{"time":9.147209433594943,"velocity":0.01372153871444226,"acceleration":-0.03047606892109947,"pose":{"translation":{"x":6.862262914614241,"y":-0.808392923974766},"rotation":{"radians":0.163431749669685}},"curvature":-604.2312803064796},{"time":9.15619436111024,"velocity":0.01344771344423501,"acceleration":-0.004781555926033122,"pose":{"translation":{"x":6.862384000111778,"y":-0.8083775556827746},"rotation":{"radians":0.08880813429926886}},"curvature":-616.5976155953638},{"time":9.16522279842172,"velocity":0.013404543466305485,"acceleration":0.02060020978815685,"pose":{"translation":{"x":6.862505057387549,"y":-0.8083713357828364},"rotation":{"radians":0.013820799436390587}},"curvature":-618.5933378813678},{"time":9.174192511710455,"velocity":0.013589321441793034,"acceleration":0.04695394632726167,"pose":{"translation":{"x":6.862626087536582,"y":-0.8083741821408683},"rotation":{"radians":-0.060676734237531636}},"curvature":-610.1401765142326},{"time":9.183005144997175,"velocity":0.014003109352139553,"acceleration":0.07557045493090152,"pose":{"translation":{"x":6.862747091637001,"y":-0.8083860119376145},"rotation":{"radians":-0.13386317570229916}},"curvature":-592.0195044936582},{"time":9.191572448955332,"velocity":0.014650544409788857,"acceleration":0.10777803012029079,"pose":{"translation":{"x":6.862868070749965,"y":-0.808406741667091},"rotation":{"radians":-0.20500108994272842}},"curvature":-565.7206566423348},{"time":9.199820942069245,"velocity":0.01553955074906721,"acceleration":0.1449701130446985,"pose":{"translation":{"x":6.8629890259196005,"y":-0.8084362871350326},"rotation":{"radians":-0.27347563911542117}},"curvature":-533.1796195874405},{"time":9.207694500961209,"velocity":0.016680981471699274,"acceleration":0.18862832304298915,"pose":{"translation":{"x":6.863109958172949,"y":-0.8084745634573105},"rotation":{"radians":-0.3388162646113045}},"curvature":-496.4845046239759},{"time":9.215154873811938,"velocity":0.01808821909180791,"acceleration":0.2403404377051582,"pose":{"translation":{"x":6.863230868519898,"y":-0.8085214850584168},"rotation":{"radians":-0.4007011961051526}},"curvature":-457.6185999637207},{"time":9.222180500373597,"velocity":0.019776761254789887,"acceleration":0.3018132821150265,"pose":{"translation":{"x":6.863351757953127,"y":-0.8085769656698556},"rotation":{"radians":-0.4589478852842984}},"curvature":-418.28355210289493},{"time":9.228764215964874,"velocity":0.021763814065905107,"acceleration":0.37488078432601923,"pose":{"translation":{"x":6.863472627448036,"y":-0.8086409183286181},"rotation":{"radians":-0.5134940930256224}},"curvature":-379.81215253292874},{"time":9.234910423585394,"velocity":0.024067909199315896,"acceleration":0.46150764280657414,"pose":{"translation":{"x":6.863593477962698,"y":-0.8087132553756291},"rotation":{"radians":-0.5643744557798438}},"curvature":-343.15609197993024},{"time":9.24063220427905,"velocity":0.026708554719901967,"acceleration":0.5637891431746295,"pose":{"translation":{"x":6.863714310437783,"y":-0.808793888454153},"rotation":{"radians":-0.611696446335568}},"curvature":-308.92347448217276},{"time":9.245948676878776,"velocity":0.029705924251612448,"acceleration":0.7554265720791912,"pose":{"translation":{"x":6.863835125796507,"y":-0.8088827285082738},"rotation":{"radians":-0.655618342951916}},"curvature":-277.44123738186795},{"time":9.255410006707962,"velocity":0.036853264211785364,"acceleration":1.083203332054267,"pose":{"translation":{"x":6.864076708770087,"y":-0.8090846698142853},"rotation":{"radians":-0.7340409528611183}},"curvature":-223.03556731009553},{"time":9.263554314902313,"velocity":0.04567520598518415,"acceleration":1.5173329091928094,"pose":{"translation":{"x":6.864318233917688,"y":-0.8093183528031318},"rotation":{"radians":-0.8013100677496591}},"curvature":-179.36121575481815},{"time":9.27057890742131,"velocity":0.05633385138792879,"acceleration":2.0795593062853257,"pose":{"translation":{"x":6.864559707990323,"y":-0.8095830396974097},"rotation":{"radians":-0.8590850926003809}},"curvature":-144.84121395240882},{"time":9.276661920052923,"velocity":0.06898383691625298,"acceleration":2.7925434759563106,"pose":{"translation":{"x":6.864801137453804,"y":-0.80987798138296},"rotation":{"radians":-0.9088672119836225}},"curvature":-117.71482450721878},{"time":9.281956557683133,"velocity":0.08376934268804881,"acceleration":4.2364837139741764,"pose":{"translation":{"x":6.8650425284867795,"y":-0.810202417359009},"rotation":{"radians":-0.9519485406069942}},"curvature":-96.39309227276388},{"time":9.29057005340357,"velocity":0.12026027702807207,"acceleration":4.500000000006171,"pose":{"translation":{"x":6.865525218528221,"y":-0.8109366729471326},"rotation":{"radians":-1.0221518547596293}},"curvature":-66.20772740232132},{"time":9.29769593357316,"velocity":0.15232673779126343,"acceleration":4.500000000001291,"pose":{"translation":{"x":6.86600782172602,"y":-0.8117794928281112},"rotation":{"radians":-1.076269291701141}},"curvature":-46.90493873492908},{"time":9.304062372256022,"velocity":0.1809757118641538,"acceleration":4.500000000001397,"pose":{"translation":{"x":6.866490376971381,"y":-0.8127243779907172},"rotation":{"radians":-1.1187349486794673}},"curvature":-34.157759825945135},{"time":9.315542037634954,"velocity":0.23263420606936602,"acceleration":4.500000000002584,"pose":{"translation":{"x":6.867455475192086,"y":-0.814893411653415},"rotation":{"radians":-1.1798042323598463}},"curvature":-19.338092353162022},{"time":9.325985256130283,"velocity":0.2796286892983695,"acceleration":4.500000000000627,"pose":{"translation":{"x":6.868420727530992,"y":-0.8173880136542255},"rotation":{"radians":-1.2199860264714897}},"curvature":-11.592569277617375},{"time":9.361153114533781,"velocity":0.43788405211413495,"acceleration":4.500000000000084,"pose":{"translation":{"x":6.8722847387747334,"y":-0.8293984410230077},"rotation":{"radians":-1.2765617616836251}},"curvature":5.662754279154285E-13},{"time":9.457359291913601,"velocity":0.8708118503233353,"acceleration":4.499999999999935,"pose":{"translation":{"x":6.890567704069717,"y":-0.8896373582760828},"rotation":{"radians":-1.2746145134475693}},"curvature":0.07833254824964936},{"time":9.554798143348002,"velocity":1.3092866817781308,"acceleration":4.499999999999953,"pose":{"translation":{"x":6.9220714020571785,"y":-0.9910708336452296},"rotation":{"radians":-1.2643271653955044}},"curvature":0.10388628670885901},{"time":9.606233755537573,"velocity":1.5407469366312017,"acceleration":4.500000000000013,"pose":{"translation":{"x":6.944454829417782,"y":-1.0608660734877988},"rotation":{"radians":-1.2565186269244475}},"curvature":0.10957753116453166},{"time":9.657648678653556,"velocity":1.7721140906531272,"acceleration":4.499999999999953,"pose":{"translation":{"x":6.971170523484057,"y":-1.1417325750400185},"rotation":{"radians":-1.2467609450362294}},"curvature":0.12048739350628847},{"time":9.707642776106894,"velocity":1.9970875291931482,"acceleration":4.499999999999996,"pose":{"translation":{"x":7.001699938066302,"y":-1.2308681968838484},"rotation":{"radians":-1.2345624309308487}},"curvature":0.139925158341642},{"time":9.755007098607766,"velocity":2.210226980447074,"acceleration":4.500000000000061,"pose":{"translation":{"x":7.0352736825775075,"y":-1.3246796814453725},"rotation":{"radians":-1.2191296982170046}},"curvature":0.17233214816706413},{"time":9.79875695701879,"velocity":2.407101343296684,"acceleration":0.9721246195948793,"pose":{"translation":{"x":7.070963789725937,"y":-1.4191676159457582},"rotation":{"radians":-1.199264665475165}},"curvature":0.22544762203572588},{"time":9.839261969048469,"velocity":2.4464772627077216,"acceleration":-4.500000000000004,"pose":{"translation":{"x":7.107775983207727,"y":-1.5103113933522132},"rotation":{"radians":-1.173184259865773}},"curvature":0.31334664210525326},{"time":9.87822428767453,"velocity":2.2711468288904424,"acceleration":-4.5,"pose":{"translation":{"x":7.144741945399469,"y":-1.5944541733289448},"rotation":{"radians":-1.1382789125555068}},"curvature":0.46128414468694073},{"time":9.91601757848997,"velocity":2.101077020220966,"acceleration":-4.500000000000003,"pose":{"translation":{"x":7.181011585050797,"y":-1.6686878431881165},"rotation":{"radians":-1.0909592662375478}},"curvature":0.7102735090663231},{"time":9.951461681422947,"velocity":1.941578557022574,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":7.215945304976982,"y":-1.7312379788408077},"rotation":{"radians":-1.027293684323955}},"curvature":1.1015810198786917},{"time":9.983871007018015,"velocity":1.795736591844766,"acceleration":0.6950745942310417,"pose":{"translation":{"x":7.2492062697515145,"y":-1.7818488057479684},"rotation":{"radians":-0.946811271065399}},"curvature":1.554201466739854},{"time":10.01225803820698,"velocity":1.815467696029859,"acceleration":4.098840633820548,"pose":{"translation":{"x":7.280852673398701,"y":-1.822168159871382},"rotation":{"radians":-0.8640451127513438}},"curvature":1.5037656583957106},{"time":10.03675359757456,"velocity":1.915871090113861,"acceleration":-4.5,"pose":{"translation":{"x":7.311430007086242,"y":-1.8561324486246196},"rotation":{"radians":-0.823139846740522}},"curvature":-1.636932849247666E-13},{"time":10.061255376730943,"velocity":1.8056130839101363,"acceleration":-1.5967619221325358,"pose":{"translation":{"x":7.342914742195312,"y":-1.889106613799627},"rotation":{"radians":-0.7821644580227984}},"curvature":1.5288178122546148},{"time":10.08963740198367,"velocity":1.760293746713578,"acceleration":4.50000000000003,"pose":{"translation":{"x":7.380280010962411,"y":-1.9232326183274575},"rotation":{"radians":-0.6972908732044945}},"curvature":1.6476386101222478},{"time":10.121894922559125,"velocity":1.905452589303128,"acceleration":4.49999999999999,"pose":{"translation":{"x":7.427252061140204,"y":-1.959138986117052},"rotation":{"radians":-0.6124692269480457}},"curvature":1.2085999896794064},{"time":10.156902711613117,"velocity":2.0629876400460936,"acceleration":4.500000000000067,"pose":{"translation":{"x":7.485512892488573,"y":-1.9969649827093412},"rotation":{"radians":-0.5440249043502151}},"curvature":0.794250561255612},{"time":10.194146355619415,"velocity":2.2305840380744373,"acceleration":4.499999999999956,"pose":{"translation":{"x":7.555036727069078,"y":-2.036450409605098},"rotation":{"radians":-0.49266060721110555}},"curvature":0.5178393427363835},{"time":10.232623461410846,"velocity":2.403731014135877,"acceleration":2.0565133395357194,"pose":{"translation":{"x":7.6344264795393935,"y":-2.0770253985927907},"rotation":{"radians":-0.4547993886895383}},"curvature":0.3479689426353966},{"time":10.271886980626014,"velocity":2.48447696515899,"acceleration":-4.500000000000004,"pose":{"translation":{"x":7.721250227447748,"y":-2.117900206076431},"rotation":{"radians":-0.42685937253591266}},"curvature":0.2434560826226274},{"time":10.313557554126401,"velocity":2.2969593844072493,"acceleration":-4.5,"pose":{"translation":{"x":7.812377681527366,"y":-2.1581550074034315},"rotation":{"radians":-0.40617444910924005}},"curvature":0.17666200897075124},{"time":10.359004316403624,"velocity":2.092448954159744,"acceleration":-4.500000000000003,"pose":{"translation":{"x":7.9043166559909,"y":-2.196829691192452},"rotation":{"radians":-0.3909543890940912}},"curvature":0.13088966229278023},{"time":10.407557091431922,"velocity":1.8739614665324043,"acceleration":-4.499999999999997,"pose":{"translation":{"x":7.99354953882488,"y":-2.2330136536612546},"rotation":{"radians":-0.3800900990624137}},"curvature":0.09544847185693969},{"time":10.458477314349974,"velocity":1.6448204634011687,"acceleration":-4.499999999999997,"pose":{"translation":{"x":8.076869762084142,"y":-2.2659355929545537},"rotation":{"radians":-0.3730025444647795}},"curvature":0.06187924763512411},{"time":10.511091816673057,"velocity":1.4080552029472977,"acceleration":-4.499999999999998,"pose":{"translation":{"x":8.151718272186278,"y":-2.2950533034718688},"rotation":{"radians":-0.36955298253000457}},"curvature":0.02108291118563075},{"time":10.56510507451533,"velocity":1.1649955426570677,"acceleration":-4.499999999999998,"pose":{"translation":{"x":8.216520000206065,"y":-2.320143470195376},"rotation":{"radians":-0.36994084814772976}},"curvature":-0.03761188105274304},{"time":10.621447194146274,"velocity":0.9114560043178205,"acceleration":-4.5,"pose":{"translation":{"x":8.271020332169911,"y":-2.3413914630177586},"rotation":{"radians":-0.3743107217306177}},"curvature":-0.11565063019411807},{"time":10.823992972883568,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":8.356719448560193,"y":-2.3756845970495366},"rotation":{"radians":-0.385617065154655}},"curvature":-1.4913840808522647E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":1.2685437093345355,"y":-2.2829074276879466},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2179352300737754,"velocity":0.8717409202951019,"acceleration":3.9999999999999996,"pose":{"translation":{"x":1.3635337579142972,"y":-2.2823770925583378},"rotation":{"radians":0.01656522391975828}},"curvature":0.34186174925200363},{"time":0.3070536372663423,"velocity":1.2282145490653695,"acceleration":4.0,"pose":{"translation":{"x":1.4570402933602506,"y":-2.278868352045021},"rotation":{"radians":0.06336454877370898}},"curvature":0.6574752757115397},{"time":0.3739952776711159,"velocity":1.4959811106844638,"acceleration":4.0,"pose":{"translation":{"x":1.5477836424258304,"y":-2.2699447388354552},"rotation":{"radians":0.13737717826494814}},"curvature":0.9661649133827227},{"time":0.4026834459720647,"velocity":1.610733783888259,"acceleration":3.999999999999995,"pose":{"translation":{"x":1.5917772276323061,"y":-2.2628437785903914},"rotation":{"radians":0.18379913152904104}},"curvature":1.1167140968142548},{"time":0.42905931571294625,"velocity":1.716237262851785,"acceleration":4.0,"pose":{"translation":{"x":1.6346949926935532,"y":-2.2537246740943626},"rotation":{"radians":0.23598402142786476}},"curvature":1.2606521625592753},{"time":0.453554608255395,"velocity":1.81421843302158,"acceleration":-0.009332090750254993,"pose":{"translation":{"x":1.676434205874378,"y":-2.2424323752896513},"rotation":{"radians":0.2934081900119383}},"curvature":1.3929410189869018},{"time":0.4770871994829192,"velocity":1.8139988247446561,"acceleration":-1.4891725052297924,"pose":{"translation":{"x":1.7169037316223166,"y":-2.228841519103317},"rotation":{"radians":0.3553984957359821}},"curvature":1.5074825249408874},{"time":0.5006110830272223,"velocity":1.7789677041542524,"acceleration":-0.9613858884647356,"pose":{"translation":{"x":1.756023634912863,"y":-2.2128551810609345},"rotation":{"radians":0.4211210635866775}},"curvature":1.5979448443558497},{"time":0.5243581762992546,"velocity":1.7561375837904647,"acceleration":-0.4278161701437854,"pose":{"translation":{"x":1.7937247855946978,"y":-2.194403626900331},"rotation":{"radians":0.48959514366925055}},"curvature":1.6588424691060946},{"time":0.5482589918041963,"velocity":1.7459124284378273,"acceleration":0.09343573686636701,"pose":{"translation":{"x":1.8299484627349156,"y":-2.173443064185321},"rotation":{"radians":0.5597338428966229}},"curvature":1.6866336931220292},{"time":0.5722426758138187,"velocity":1.7481533616260365,"acceleration":0.5832477303987735,"pose":{"translation":{"x":1.8646459589642528,"y":-2.1499543939194465},"rotation":{"radians":0.6304072044529919}},"curvature":1.6805151830922482},{"time":0.5962425990196236,"velocity":1.762151262365567,"acceleration":1.0234559128373446,"pose":{"translation":{"x":1.8977781848223174,"y":-2.1239419621597118},"rotation":{"radians":0.7005168384259233}},"curvature":1.6426483532158769},{"time":0.6202017424424024,"velocity":1.786672389368128,"acceleration":1.3987234093013214,"pose":{"translation":{"x":1.929315273102815,"y":-2.0954323116303226},"rotation":{"radians":0.7690678650430854}},"curvature":1.577744412052153},{"time":0.644076564786799,"velocity":1.8200666622741457,"acceleration":1.6981841818411796,"pose":{"translation":{"x":1.9592361831987777,"y":-2.064472933336421},"rotation":{"radians":0.8352250389825973}},"curvature":1.4921671229134739},{"time":0.6678385813645794,"velocity":1.8604189429551803,"acceleration":1.9165908830311091,"pose":{"translation":{"x":1.9875283054477932,"y":-2.0311310181778235},"rotation":{"radians":0.8983450467398526}},"curvature":1.3928580810213431},{"time":0.691473592419297,"velocity":1.9057175896629914,"acceleration":2.0546730180210515,"pose":{"translation":{"x":2.0141870654772314,"y":-1.9954922085627604},"rotation":{"radians":0.957983695581811}},"curvature":1.2863862589560087},{"time":0.714979073494863,"velocity":1.9540136674045614,"acceleration":2.1185797293979576,"pose":{"translation":{"x":2.039215528549472,"y":-1.9576593500216088},"rotation":{"radians":1.0138823198414246}},"curvature":1.1783064729088002},{"time":0.7383605178731829,"velocity":2.0035491215085157,"acceleration":2.118551319431017,"pose":{"translation":{"x":2.0626240039071364,"y":-1.917751242820633},"rotation":{"radians":1.065940647466107}},"curvature":1.0728660083023431},{"time":0.7616275079570155,"velocity":2.0528414340498076,"acceleration":2.0224858011040645,"pose":{"translation":{"x":2.0844296491183103,"y":-1.8759013935757198},"rotation":{"radians":1.1141835730551033}},"curvature":0.9729942840189638},{"time":0.8078566848865705,"velocity":2.14633928798656,"acceleration":1.7972143666257412,"pose":{"translation":{"x":2.123332947072237,"y":-1.7869765368481696},"rotation":{"radians":1.1997516315066488}},"curvature":0.7961599396846488},{"time":0.8537113366440756,"velocity":2.2287499269017688,"acceleration":1.5275046874909222,"pose":{"translation":{"x":2.1561846145839563,"y":-1.6921995210805318},"rotation":{"radians":1.2721201145966583}},"curvature":0.6525970081693718},{"time":0.8991320268763088,"velocity":2.298130244140578,"acceleration":1.26575540576075,"pose":{"translation":{"x":2.183328095128239,"y":-1.5930404923875283},"rotation":{"radians":1.3331573588038412}},"curvature":0.5397164742141854},{"time":0.9439507575100966,"velocity":2.35485979471963,"acceleration":1.0365604347378645,"pose":{"translation":{"x":2.2051784225292272,"y":-1.4910850533966182},"rotation":{"radians":1.3846810763942472}},"curvature":0.4523613463316468},{"time":0.9878969607295207,"velocity":2.4004126902338347,"acceleration":-0.9826039957945496,"pose":{"translation":{"x":2.2222095600077303,"y":-1.3879943148875862},"rotation":{"radians":1.4282905186070292}},"curvature":0.3852055083687461},{"time":1.0313242643214673,"velocity":2.357740848197805,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":2.234941739228524,"y":-1.2854649474321318},"rotation":{"radians":1.465318763281388}},"curvature":0.3336516800642234},{"time":1.0756952124472103,"velocity":2.180257055694833,"acceleration":-4.0,"pose":{"translation":{"x":2.2439287993476493,"y":-1.1851892330334568},"rotation":{"radians":1.4968398091172674}},"curvature":0.2939960105914216},{"time":1.121940566030397,"velocity":1.9952756413620865,"acceleration":-4.000000000000003,"pose":{"translation":{"x":2.249745526059712,"y":-1.0888151167658568},"rotation":{"radians":1.5236939603035344}},"curvature":0.26327995310753305},{"time":1.1698302090318504,"velocity":1.8037170693562723,"acceleration":-4.000000000000003,"pose":{"translation":{"x":2.2529749906451815,"y":-0.9979062584143037},"rotation":{"radians":1.5465124271703523}},"curvature":0.23899112236639475},{"time":1.2190995690372448,"velocity":1.6066396293346947,"acceleration":-4.0,"pose":{"translation":{"x":2.254195889017688,"y":-0.9139020841140417},"rotation":{"radians":1.5657298061467197}},"curvature":0.21858753058654742},{"time":1.2694499409426212,"velocity":1.4052381417131892,"acceleration":-4.0,"pose":{"translation":{"x":2.253969880771324,"y":-0.8380778379901694},"rotation":{"radians":1.5815729832159753}},"curvature":0.19857758745512785},{"time":1.3720239997341857,"velocity":0.9949419065469314,"acceleration":-4.0,"pose":{"translation":{"x":2.2512626354844425,"y":-0.715009506558816},"rotation":{"radians":1.6025690780095874}},"curvature":0.12299943950886183},{"time":1.47449876020823,"velocity":0.5850428646507538,"acceleration":-4.0,"pose":{"translation":{"x":2.2485246889438386,"y":-0.6341015392225571},"rotation":{"radians":1.6008237222364228}},"curvature":-0.3960868135296091},{"time":1.5247381776274855,"velocity":0.3840851949737318,"acceleration":-4.0,"pose":{"translation":{"x":2.248006503641532,"y":-0.6097628402733455},"rotation":{"radians":1.5767489587567318}},"curvature":-2.1962046888019713},{"time":1.549602097155043,"velocity":0.28462951686350163,"acceleration":-4.0,"pose":{"translation":{"x":2.2480603955574736,"y":-0.6014495805615971},"rotation":{"radians":1.5471722702837498}},"curvature":-5.757187845629485},{"time":1.574711114367367,"velocity":0.18419344801420573,"acceleration":-4.0,"pose":{"translation":{"x":2.248344593223311,"y":-0.5955706038550939},"rotation":{"radians":1.4854684954730102}},"curvature":-19.438170235336873},{"time":1.587900973926346,"velocity":0.1314340097782897,"acceleration":-4.0,"pose":{"translation":{"x":2.2485757117192717,"y":-0.5935019335466492},"rotation":{"radians":1.4258223512075379}},"curvature":-42.68912208627659},{"time":1.595041846226106,"velocity":0.10287052057924975,"acceleration":-4.000000000000001,"pose":{"translation":{"x":2.248713717671772,"y":-0.5926768258809587},"rotation":{"radians":1.380840431646731}},"curvature":-67.97988325388131},{"time":1.6031974282547348,"velocity":0.07024819246473468,"acceleration":-3.5350321876292794,"pose":{"translation":{"x":2.24886668309217,"y":-0.5919876556609345},"rotation":{"radians":1.3184160148576025}},"curvature":-115.54059456499368},{"time":1.6081718638151798,"velocity":0.052663402643273516,"acceleration":-2.338614380280857,"pose":{"translation":{"x":2.2489487639079524,"y":-0.5916931729573576},"rotation":{"radians":1.277509136180691}},"curvature":-155.15123514705294},{"time":1.6142079130561366,"velocity":0.03854741108828863,"acceleration":-1.482779032198161,"pose":{"translation":{"x":2.2490345667671914,"y":-0.5914316103250665},"rotation":{"radians":1.2274824233368449}},"curvature":-213.09757543784207},{"time":1.6216527145181339,"velocity":0.02750841558156103,"acceleration":-0.8960593516066745,"pose":{"translation":{"x":2.2491240817600238,"y":-0.5912025969680825},"rotation":{"radians":1.1653500772262015}},"curvature":-299.85117796589043},{"time":1.630990304558081,"velocity":0.019141380704797095,"acceleration":-0.5850885544703114,"pose":{"translation":{"x":2.2492172970503557,"y":-0.5910057543277136},"rotation":{"radians":1.0869326476784094}},"curvature":-432.27054126513667},{"time":1.6366460894374402,"velocity":0.0158322457053377,"acceleration":-0.4356929703786284,"pose":{"translation":{"x":2.2492652880786332,"y":-0.5909192765946716},"rotation":{"radians":1.039887314719324}},"curvature":-523.2655260434432},{"time":1.64305802205015,"velocity":0.013038611739438544,"acceleration":-0.31945727544231894,"pose":{"translation":{"x":2.2493141988638,"y":-0.5908406960444537},"rotation":{"radians":0.9864717617332592}},"curvature":-636.040927533967},{"time":1.6503441900353433,"velocity":0.01071099236647366,"acceleration":-0.230454953369269,"pose":{"translation":{"x":2.249364027379216,"y":-0.5907699631569989},"rotation":{"radians":0.9256938332403406}},"curvature":-774.9305041892087},{"time":1.6586306811271307,"velocity":0.008801329448320905,"acceleration":-0.16340110545163283,"pose":{"translation":{"x":2.2494147714755917,"y":-0.5907070279199238},"rotation":{"radians":0.8564958726608092}},"curvature":-943.7402366361202},{"time":1.668041552947073,"velocity":0.007263582589678741,"acceleration":-0.12404231430616561,"pose":{"translation":{"x":2.2494664288806048,"y":-0.5906518398273604},"rotation":{"radians":0.7778407286241105}},"curvature":-1144.1894913344634},{"time":1.673225777172128,"velocity":0.006620519418920834,"acceleration":-0.10287027756427619,"pose":{"translation":{"x":2.249492599330014,"y":-0.5906271350419412},"rotation":{"radians":0.7346850372290483}},"curvature":-1255.6265007947031},{"time":1.6787283725623579,"velocity":0.006054465903803985,"acceleration":-0.08477377391083185,"pose":{"translation":{"x":2.249518997198524,"y":-0.5906043478787253},"rotation":{"radians":0.6888687140842368}},"curvature":-1373.3080410857367},{"time":1.6845541471244612,"velocity":0.00556059300822076,"acceleration":-0.06932465432690883,"pose":{"translation":{"x":2.24954562216732,"y":-0.5905834718851497},"rotation":{"radians":0.6403523761627412}},"curvature":-1495.5547001802365},{"time":1.690702358542587,"velocity":0.0051343703769304305,"acceleration":-0.05612925580470947,"pose":{"translation":{"x":2.2495724739098337,"y":-0.5905645005775777},"rotation":{"radians":0.5891430730727714}},"curvature":-1619.9623129164893},{"time":1.6971653754873395,"velocity":0.004771606045568255,"acceleration":-0.04482626205760542,"pose":{"translation":{"x":2.2495995520917234,"y":-0.5905474274412756},"rotation":{"radians":0.5353054115697539}},"curvature":-1743.3556070509815},{"time":1.7039274341173196,"velocity":0.00446848823337187,"acceleration":-0.035084151571764075,"pose":{"translation":{"x":2.249626856370859,"y":-0.5905322459303739},"rotation":{"radians":0.47897185763463984}},"curvature":-1861.8246862218014},{"time":1.710963665780299,"velocity":0.004221628015213863,"acceleration":-0.026598214640134687,"pose":{"translation":{"x":2.2496543863973235,"y":-0.5905189494678171},"rotation":{"radians":0.42035075274132616}},"curvature":-1970.8755928405556},{"time":1.7182395983664729,"velocity":0.004028101198579659,"acceleration":-0.01908713693167577,"pose":{"translation":{"x":2.249682141813384,"y":-0.5905075314453323},"rotation":{"radians":0.3597303699783953}},"curvature":-2065.712977906601},{"time":1.7257113261107104,"velocity":0.0038854873080091945,"acceleration":-0.01228917027881787,"pose":{"translation":{"x":2.249710122253494,"y":-0.5904979852233914},"rotation":{"radians":0.2974774089626341}},"curvature":-2141.646704495272},{"time":1.7333264869662015,"velocity":0.003791903299555477,"acceleration":-0.005957939167407087,"pose":{"translation":{"x":2.249738327344275,"y":-0.5904903041311882},"rotation":{"radians":0.23402879653100003}},"curvature":-2194.57862468783},{"time":1.7410260805224993,"velocity":0.003746029589533295,"acceleration":1.4203815692447402E-4,"pose":{"translation":{"x":2.2497667567045028,"y":-0.5904844814665764},"rotation":{"radians":0.1698765398993538}},"curvature":-2221.4911320679275},{"time":1.7487470181941218,"velocity":0.003747126257289901,"acceleration":0.0062400072451806576,"pose":{"translation":{"x":2.2497954099451007,"y":-0.5904805104960551},"rotation":{"radians":0.10554654048607402}},"curvature":-2220.840067143835},{"time":1.7564251546901006,"velocity":0.0037950378846542954,"acceleration":0.012563686442962407,"pose":{"translation":{"x":2.2498242866691305,"y":-0.5904783844547086},"rotation":{"radians":0.041573444827318305}},"curvature":-2192.763420647767},{"time":1.763998447525421,"velocity":0.003890186361177994,"acceleration":0.019343891249899582,"pose":{"translation":{"x":2.2498533864717656,"y":-0.5904780965461955},"rotation":{"radians":-0.0215255567023875}},"curvature":-2139.0560278415915},{"time":1.7714098631326385,"velocity":0.004033551978691818,"acceleration":0.026818942867613133,"pose":{"translation":{"x":2.2498827089403024,"y":-0.590479639942687},"rotation":{"radians":-0.08327484291043588}},"curvature":-2062.917285506196},{"time":1.7786097035475652,"velocity":0.0042266440874356714,"acceleration":0.03523874745836712,"pose":{"translation":{"x":2.249912253654122,"y":-0.5904830077848486},"rotation":{"radians":-0.1432596987472278}},"curvature":-1968.5329456212585},{"time":1.7855571479923076,"velocity":0.004471463327704983,"acceleration":0.04486846011967391,"pose":{"translation":{"x":2.249942020184701,"y":-0.5904881931817907},"rotation":{"radians":-0.20113917140840007}},"curvature":-1860.5838650282133},{"time":1.792220950416379,"velocity":0.004770457881014822,"acceleration":0.05599167939653992,"pose":{"translation":{"x":2.2499720080955923,"y":-0.5904951892110364},"rotation":{"radians":-0.25665194394243945}},"curvature":-1743.7759446538928},{"time":1.7985793665396608,"velocity":0.0051264762780594,"acceleration":0.06891314963748199,"pose":{"translation":{"x":2.2500022169424048,"y":-0.5905039889184827},"rotation":{"radians":-0.30961581602600724}},"curvature":-1622.4615943864944},{"time":1.8046194739572214,"velocity":0.005542719104352223,"acceleration":0.08396097559123775,"pose":{"translation":{"x":2.250032646272799,"y":-0.5905145853183664},"rotation":{"radians":-0.3599221296809572}},"curvature":-1500.387448657456},{"time":1.8103360874520067,"velocity":0.00602269155045243,"acceleration":0.10148837395124707,"pose":{"translation":{"x":2.250063295626483,"y":-0.5905269713932291},"rotation":{"radians":-0.40752680536732666}},"curvature":-1380.5695857926848},{"time":1.8157304660818376,"velocity":0.006570158266071324,"acceleration":0.1339016303921437,"pose":{"translation":{"x":2.2500941645351853,"y":-0.5905411400938596},"rotation":{"radians":-0.45243961682484185}},"curvature":-1265.274705787399},{"time":1.825540090372553,"velocity":0.007883682952132487,"acceleration":0.18890929343053073,"pose":{"translation":{"x":2.2501565591046324,"y":-0.5905747970167385},"rotation":{"radians":-0.5344317773206304}},"curvature":-1053.9491540936895},{"time":1.8341866824287203,"velocity":0.009517104548045108,"acceleration":0.26159792880761495,"pose":{"translation":{"x":2.250219826075088,"y":-0.5906154990572428},"rotation":{"radians":-0.6066494777945393}},"curvature":-872.5300338924795},{"time":1.8417899657732315,"velocity":0.011506107723106673,"acceleration":0.35612487302651946,"pose":{"translation":{"x":2.250283961412187,"y":-0.5906631886754439},"rotation":{"radians":-0.6700924622783515}},"curvature":-721.1666060201952},{"time":1.8484767850838595,"velocity":0.013887450401055323,"acceleration":0.4770872497339891,"pose":{"translation":{"x":2.2503489609528726,"y":-0.5907178078200626},"rotation":{"radians":-0.7258241077033081}},"curvature":-596.9757293581793},{"time":1.8543685853678618,"velocity":0.016698353194531945,"acceleration":0.6295004568816807,"pose":{"translation":{"x":2.250414820405024,"y":-0.5907792979272535},"rotation":{"radians":-0.7748644795215773}},"curvature":-495.9647882464065},{"time":1.8595753793488419,"velocity":0.019976032384447784,"acceleration":0.9379910826429103,"pose":{"translation":{"x":2.2504815353470704,"y":-0.5908475999194347},"rotation":{"radians":-0.8181384292489339}},"curvature":-414.08017133740356},{"time":1.8682134396409502,"velocity":0.02807845590977731,"acceleration":1.5032788604578382,"pose":{"translation":{"x":2.250617513365092,"y":-0.5910044006725808},"rotation":{"radians":-0.8905198301525137}},"curvature":-293.70103038699074},{"time":1.8751328133877936,"velocity":0.038480204191013945,"acceleration":2.3017607562516265,"pose":{"translation":{"x":2.250756857031159,"y":-0.5911877271387627},"rotation":{"radians":-0.9481614193755699}},"curvature":-213.47514764315304},{"time":1.880767239378255,"velocity":0.05144930481986232,"acceleration":3.9999999999999987,"pose":{"translation":{"x":2.250899526274221,"y":-0.5913970880811568},"rotation":{"radians":-0.9948004543967184}},"curvature":-158.8853184950882},{"time":1.889200861717947,"velocity":0.08518379417863016,"acceleration":4.000000000000026,"pose":{"translation":{"x":2.2511946706583874,"y":-0.5918919067383555},"rotation":{"radians":-1.0649961839335877}},"curvature":-93.76563861080118},{"time":1.9020548497680978,"velocity":0.13659974637923367,"acceleration":3.999999999999957,"pose":{"translation":{"x":2.251822867824714,"y":-0.5931714135683435},"rotation":{"radians":-1.1514928562515672}},"curvature":-39.70128664933871},{"time":1.9235332582959974,"velocity":0.22251338049083078,"acceleration":3.9999999999999876,"pose":{"translation":{"x":2.253218551288934,"y":-0.5967665975838226},"rotation":{"radians":-1.2327619809065389}},"curvature":-11.323606113121881},{"time":1.9426016752148636,"velocity":0.2987870481662949,"acceleration":4.0000000000000595,"pose":{"translation":{"x":2.2547712174315553,"y":-0.6014880365842958},"rotation":{"radians":-1.2678108831752224}},"curvature":-4.292302842405532},{"time":1.9753369051730059,"velocity":0.4297279679988662,"acceleration":4.000000000000005,"pose":{"translation":{"x":2.2581668491915208,"y":-0.6129183791792854},"rotation":{"radians":-1.2882413743253303}},"curvature":-1.8498380758778174E-13},{"time":2.0939690564605202,"velocity":0.9042565731489237,"acceleration":3.9999999999999916,"pose":{"translation":{"x":2.279153833144643,"y":-0.6892111414878828},"rotation":{"radians":-1.3116532643757461}},"curvature":-0.10570947703782992},{"time":2.1738380272100892,"velocity":1.2237324561471985,"acceleration":4.000000000000004,"pose":{"translation":{"x":2.3007055621583046,"y":-0.7714130168999085},"rotation":{"radians":-1.3160416885245836}},"curvature":-0.023177621209099813},{"time":2.2638010866963647,"velocity":1.5835846940923015,"acceleration":3.999999999999989,"pose":{"translation":{"x":2.332424825762578,"y":-0.8936417986616633},"rotation":{"radians":-1.317327006555892}},"curvature":-0.002513854329558546},{"time":2.310871504627025,"velocity":1.7718663658149425,"acceleration":3.999999999999995,"pose":{"translation":{"x":2.3522252405544055,"y":-0.9700904782854665},"rotation":{"radians":-1.317344152111832}},"curvature":0.0016398265419870037},{"time":2.3585675060101736,"velocity":1.9626503713475358,"acceleration":3.9999999999999956,"pose":{"translation":{"x":2.3745670811140083,"y":-1.056303358575759},"rotation":{"radians":-1.3170714176876508}},"curvature":0.004259751807213772},{"time":2.4064018657105213,"velocity":2.1539878101489265,"acceleration":4.0,"pose":{"translation":{"x":2.3993044032070783,"y":-1.151603498417915},"rotation":{"radians":-1.316555401535147}},"curvature":0.006106446830222473},{"time":2.4539473045262463,"velocity":2.3441695654118258,"acceleration":4.000000000000008,"pose":{"translation":{"x":2.4262359984887594,"y":-1.255089962745553},"rotation":{"radians":-1.3158202133021315}},"curvature":0.0075882087355301315},{"time":2.5008278663994794,"velocity":2.531691812904758,"acceleration":3.455683319759005,"pose":{"translation":{"x":2.4551137557883838,"y":-1.36567312574276},"rotation":{"radians":-1.3148743169642134}},"curvature":0.00894483945628684},{"time":2.5469247686581076,"velocity":2.69098810913246,"acceleration":-0.028999672019794448,"pose":{"translation":{"x":2.4856510223942085,"y":-1.4821099740463164},"rotation":{"radians":-1.3137142323073987}},"curvature":0.010336157893764478},{"time":2.5934104274142813,"velocity":2.6896400402749068,"acceleration":-0.031940764794810644,"pose":{"translation":{"x":2.5175309653381532,"y":-1.603039409947919},"rotation":{"radians":-1.3123263081563568}},"curvature":0.011888276445140903},{"time":2.617144469072131,"velocity":2.688881956832683,"acceleration":-0.034715921185285006,"pose":{"translation":{"x":2.5338692353804695,"y":-1.6647399044234563},"rotation":{"radians":-1.3115399996258135}},"curvature":0.012761790438616126},{"time":2.6411128136087476,"velocity":2.6880498736728082,"acceleration":-0.038162874269848386,"pose":{"translation":{"x":2.550414932680538,"y":-1.7270175545964053},"rotation":{"radians":-1.3106872096291706}},"curvature":0.013721138997219719},{"time":2.6652446395284457,"velocity":2.687128933834333,"acceleration":-0.04236833272530868,"pose":{"translation":{"x":2.567123688304864,"y":-1.7896847329884131},"rotation":{"radians":-1.3097634296834657}},"curvature":0.014783627371505856},{"time":2.689468913185673,"velocity":2.6861025917479946,"acceleration":-0.04745133314916554,"pose":{"translation":{"x":2.583950814794819,"y":-1.852553051199978},"rotation":{"radians":-1.308763440839727}},"curvature":0.01596857673175563},{"time":2.7137148162573457,"velocity":2.6849520913238383,"acceleration":-0.053567972127216465,"pose":{"translation":{"x":2.6008515674567905,"y":-1.9154344631355147},"rotation":{"radians":-1.307681254346296}},"curvature":0.01729794834359466},{"time":2.737912174771447,"velocity":2.6836558878974026,"acceleration":-0.06091828256946793,"pose":{"translation":{"x":2.617781405652328,"y":-1.9781423682284274},"rotation":{"radians":-1.3065100398517357}},"curvature":0.018797041255404337},{"time":2.761991889723308,"velocity":2.682188993017773,"acceleration":-0.06975549158640726,"pose":{"translation":{"x":2.6346962540882934,"y":-2.0404927146661795},"rotation":{"radians":-1.3052420409253291}},"curvature":0.02049529094161847},{"time":2.7858863692997664,"velocity":2.6805222218487157,"acceleration":-0.08677581789870258,"pose":{"translation":{"x":2.6515527641070076,"y":-2.10230510261536},"rotation":{"radians":-1.3038684777635066}},"curvature":0.02242719673888686},{"time":2.8328607040526177,"velocity":2.6764459855302896,"acceleration":-0.11813121457828411,"pose":{"translation":{"x":2.68492257518015,"y":-2.2236192829604144},"rotation":{"radians":-1.300763751182038}},"curvature":0.027161981193277982},{"time":2.8783402965147906,"velocity":2.6710734260342077,"acceleration":-0.1644128812324308,"pose":{"translation":{"x":2.717568511345133,"y":-2.3407566727314952},"rotation":{"radians":-1.2971006967534642}},"curvature":0.03342459567264441},{"time":2.921883238533244,"velocity":2.663914405479617,"acceleration":-0.23318425246905736,"pose":{"translation":{"x":2.749196593812158,"y":-2.4525180734669902},"rotation":{"radians":-1.2927597526453236}},"curvature":0.041808885263160754},{"time":2.9631135984960646,"velocity":2.6543001348126567,"acceleration":-0.3351538872144289,"pose":{"translation":{"x":2.779549553812988,"y":-2.557868627977995},"rotation":{"radians":-1.2875929236822399}},"curvature":0.053139795600982094},{"time":3.001735056563309,"velocity":2.6413560030115306,"acceleration":-0.4833598646060045,"pose":{"translation":{"x":2.8084151938856836,"y":-2.6559731235505373},"rotation":{"radians":-1.2814219588079645}},"curvature":0.06852540532165513},{"time":3.0375436047567934,"velocity":2.6240475880049905,"acceleration":-0.6870579553822824,"pose":{"translation":{"x":2.83563474915934,"y":-2.7462312951478056},"rotation":{"radians":-1.274043492327738}},"curvature":0.0893356605831156},{"time":3.070437955384519,"velocity":2.6014472627190774,"acceleration":-0.9306762500321283,"pose":{"translation":{"x":2.861111248638826,"y":-2.8283131286123693},"rotation":{"radians":-1.265251512387064}},"curvature":0.11692534360533127},{"time":3.100425015055477,"velocity":2.573539018475021,"acceleration":-1.2538379777859083,"pose":{"translation":{"x":2.8848178764895196,"y":-2.9021941638684003},"rotation":{"radians":-1.2548978568015183}},"curvature":0.1516633975904032},{"time":3.127635578210951,"velocity":2.5394213809937454,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":2.9068063333220473,"y":-2.968190798123901},"rotation":{"radians":-1.2430266186077292}},"curvature":0.19043091777845456},{"time":3.1760689037001115,"velocity":2.3456880790371026,"acceleration":-4.0,"pose":{"translation":{"x":2.9462782863097625,"y":-3.0797125580978157},"rotation":{"radians":-1.2175085406148443}},"curvature":0.22008272379027985},{"time":3.2205413930963522,"velocity":2.1677981214521393,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":2.981828770211936,"y":-3.17356825355923},"rotation":{"radians":-1.20362249297669}},"curvature":-2.3018266765920896E-14},{"time":3.2674182375158165,"velocity":1.9802907437742818,"acceleration":-4.0,"pose":{"translation":{"x":3.0184135170177044,"y":-3.2636470549537417},"rotation":{"radians":-1.149752725521268}},"curvature":1.0253360009993309},{"time":3.2929193830546932,"velocity":1.8782861616187758,"acceleration":-2.9778355697207437,"pose":{"translation":{"x":3.0397781571240823,"y":-3.3079652251650327},"rotation":{"radians":-1.0907671614705714}},"curvature":1.3502488992297754},{"time":3.320088455794523,"velocity":1.7973811304177796,"acceleration":-1.1379908169201451,"pose":{"translation":{"x":3.0644006774505215,"y":-3.351404374396686},"rotation":{"radians":-1.0178232366838325}},"curvature":1.549955466562376},{"time":3.3487060766009553,"velocity":1.7648145407379567,"acceleration":0.09030097031759475,"pose":{"translation":{"x":3.092904447165867,"y":-3.393660211607728},"rotation":{"radians":-0.9361624231121277}},"curvature":1.6355117252482685},{"time":3.3783326644307747,"velocity":1.7674898503661889,"acceleration":0.9000618997224002,"pose":{"translation":{"x":3.125706254194471,"y":-3.4344272778316967},"rotation":{"radians":-0.8504001020085808}},"curvature":1.6283645109402347},{"time":3.408631471351082,"velocity":1.7947606520822028,"acceleration":1.383417610323511,"pose":{"translation":{"x":3.163033425942083,"y":-3.473401733271556},"rotation":{"radians":-0.7642174815982902}},"curvature":1.5567249044841396},{"time":3.4393723005399277,"velocity":1.8372880565379992,"acceleration":1.601457145993322,"pose":{"translation":{"x":3.2049409500217414,"y":-3.510284144394608},"rotation":{"radians":-0.6801986104011517}},"curvature":1.4492507987789358},{"time":3.4704168354415024,"velocity":1.887004548800165,"acceleration":1.610728249402449,"pose":{"translation":{"x":3.251328594979663,"y":-3.5447822710274033},"rotation":{"radians":-0.5998595128809489}},"curvature":1.3297504880674822},{"time":3.5016922376325947,"velocity":1.9373807226207806,"acceleration":1.4674655411569164,"pose":{"translation":{"x":3.301958031021134,"y":-3.5766138534506577},"rotation":{"radians":-0.5238221601472356}},"curvature":1.214920317057597},{"time":3.533162652976417,"velocity":1.9835624727037358,"acceleration":1.2225695866948778,"pose":{"translation":{"x":3.3564699507364013,"y":-3.6055093994941596},"rotation":{"radians":-0.45204665732559746}},"curvature":1.1147755447729981},{"time":3.564805818210356,"velocity":2.0222484441455104,"acceleration":0.9160327127660358,"pose":{"translation":{"x":3.4144011898265623,"y":-3.631214971631686},"rotation":{"radians":-0.3840502377170955}},"curvature":1.0344059335193307},{"time":3.5965978374563115,"velocity":2.051370973779693,"acceleration":0.5746933985332381,"pose":{"translation":{"x":3.475201847829454,"y":-3.6534949740759144},"rotation":{"radians":-0.31907711187966553}},"curvature":0.9759041463197408},{"time":3.628506064162772,"velocity":2.0697084210267978,"acceleration":0.21347163939261854,"pose":{"translation":{"x":3.5382524088455485,"y":-3.6721349398733327},"rotation":{"radians":-0.25621242555649043}},"curvature":0.9399122889889104},{"time":3.660488504773249,"velocity":2.0765357650556933,"acceleration":-0.16125440461082263,"pose":{"translation":{"x":3.602880862263837,"y":-3.6869443179991546},"rotation":{"radians":-0.19444896564988257}},"curvature":0.9266743017178002},{"time":3.6924977915044455,"velocity":2.071374126581837,"acceleration":-0.5473032457943032,"pose":{"translation":{"x":3.6683798234877267,"y":-3.697759260452232},"rotation":{"radians":-0.13272016229676237}},"curvature":0.9366744945398773},{"time":3.7244879118093577,"velocity":2.0538658299056083,"acceleration":-0.9418479677958609,"pose":{"translation":{"x":3.7340236546609265,"y":-3.7044454093499635},"rotation":{"radians":-0.06991288500099563}},"curvature":0.9709695914338683},{"time":3.7564220747863075,"velocity":2.023788703402506,"acceleration":-1.3360945077557191,"pose":{"translation":{"x":3.7990855853933407,"y":-3.7069006840232133},"rotation":{"radians":-0.0048725525991901285}},"curvature":1.0312696674162594},{"time":3.788280087866648,"velocity":1.9812233870978533,"acceleration":-1.7096807202327662,"pose":{"translation":{"x":3.8628548334869577,"y":-3.705058068111217},"rotation":{"radians":0.06358660570777601}},"curvature":1.1197355889117453},{"time":3.8200632975118376,"velocity":1.9268842463403564,"acceleration":-2.0259751591911326,"pose":{"translation":{"x":3.9246537256617424,"y":-3.698888396656498},"rotation":{"radians":0.13665070947012398}},"curvature":1.2383513633729393},{"time":3.851794526527397,"velocity":1.8625975645842274,"acceleration":-2.230951391244507,"pose":{"translation":{"x":3.983854818281525,"y":-3.68840314319978},"rotation":{"radians":0.21543465079916263}},"curvature":1.3876188110053984},{"time":3.883509751557809,"velocity":1.7918424391789978,"acceleration":-2.2787191815384578,"pose":{"translation":{"x":4.039898018079894,"y":-3.673657206874897},"rotation":{"radians":0.3008449305456563}},"curvature":1.5642867773111826},{"time":3.8993760206056773,"velocity":1.75568766756017,"acceleration":-2.237695151881863,"pose":{"translation":{"x":4.066583008445662,"y":-3.664716198688472},"rotation":{"radians":0.34620762753185813}},"curvature":1.6600585000267516},{"time":3.915249614252371,"velocity":1.7201674040140207,"acceleration":-2.1326501602746424,"pose":{"translation":{"x":4.092307702886082,"y":-3.6547516995037075},"rotation":{"radians":0.3933536444045416}},"curvature":1.7580699831377709},{"time":3.9311280331925245,"velocity":1.6863042913163948,"acceleration":-1.9578180006199268,"pose":{"translation":{"x":4.117028656107597,"y":-3.643784026288599},"rotation":{"radians":0.44222170029111096}},"curvature":1.855353434733679},{"time":3.947003565113812,"velocity":1.6552228891514824,"acceleration":-1.7091402952307702,"pose":{"translation":{"x":4.140709842350862,"y":-3.631836732691007},"rotation":{"radians":0.492680291366209}},"curvature":1.9481489373001988},{"time":3.962861860665106,"velocity":1.6281188372110864,"acceleration":-1.3841816664375115,"pose":{"translation":{"x":4.16332319041343,"y":-3.6189366961353735},"rotation":{"radians":0.5445168944834294}},"curvature":2.0319617451634606},{"time":3.978680702149592,"velocity":1.6062226868439797,"acceleration":-0.9816368245830521,"pose":{"translation":{"x":4.184849118672436,"y":-3.605114204919439},"rotation":{"radians":0.59742977012247}},"curvature":2.101735912742992},{"time":3.9944291498387385,"velocity":1.5907634306622938,"acceleration":-0.5004089940709321,"pose":{"translation":{"x":4.205277070107284,"y":-3.590403045310956},"rotation":{"radians":0.6510240044285094}},"curvature":2.1521551177627667},{"time":4.010067234717864,"velocity":1.5829379923387348,"acceleration":0.06173379251467531,"pose":{"translation":{"x":4.224606047322325,"y":-3.5748405886444092},"rotation":{"radians":0.7048132228502131}},"curvature":2.178052622752592},{"time":4.025546303922883,"velocity":1.5838935739853577,"acceleration":0.7099453946153655,"pose":{"translation":{"x":4.242845147569547,"y":-3.558467878417726},"rotation":{"radians":0.7582277850211014}},"curvature":2.1748765045688128},{"time":4.0408100181498785,"velocity":1.5947299776055384,"acceleration":1.4546611854874754,"pose":{"translation":{"x":4.260014097771258,"y":-3.5413297173889973},"rotation":{"radians":0.810629260909842}},"curvature":2.139125292379961},{"time":4.055795868659831,"velocity":1.616529312673884,"acceleration":2.3148760598017684,"pose":{"translation":{"x":4.276143789542765,"y":-3.5234747546731904},"rotation":{"radians":0.8613297753179715}},"curvature":2.068657403880969},{"time":4.070436960035446,"velocity":1.650421624588665,"acceleration":3.928189171064238,"pose":{"translation":{"x":4.291276814215065,"y":-3.5049555728388677},"rotation":{"radians":0.9096137029781508}},"curvature":1.9627950712832336},{"time":4.098329403333209,"velocity":1.759988418305461,"acceleration":4.000000000000033,"pose":{"translation":{"x":4.318784936300568,"y":-3.4661550719371856},"rotation":{"radians":0.9960517560249607}},"curvature":1.6484598896766685},{"time":4.124509804112718,"velocity":1.8647100214234986,"acceleration":4.0,"pose":{"translation":{"x":4.3431335198514684,"y":-3.4254308539795257},"rotation":{"radians":1.064337755353672}},"curvature":1.2099640477138154},{"time":4.172945760083779,"velocity":2.0584538453077417,"acceleration":0.031015497255165468,"pose":{"translation":{"x":4.385856599884033,"y":-3.340567158410103},"rotation":{"radians":1.1253285328670892}},"curvature":3.9807867305918405E-14},{"time":4.2206019615841734,"velocity":2.0599319260945688,"acceleration":-0.37256486673699657,"pose":{"translation":{"x":4.426239291596579,"y":-3.2511278775802035},"rotation":{"radians":1.1838212503329886}},"curvature":0.9590213742485625},{"time":4.247059706667793,"velocity":2.0500746998233286,"acceleration":2.429230758856231,"pose":{"translation":{"x":4.445402418053016,"y":-3.2002461180467194},"rotation":{"radians":1.2375331981999598}},"curvature":0.9784727769523561},{"time":4.275896360212453,"velocity":2.1201255855964978,"acceleration":3.18379522383605,"pose":{"translation":{"x":4.4634581219405005,"y":-3.142893829377299},"rotation":{"radians":1.2926937750648604}},"curvature":0.8441650150742595},{"time":4.30682720999139,"velocity":2.2186030773918675,"acceleration":2.9612574588663927,"pose":{"translation":{"x":4.48017415189866,"y":-3.077909044843525},"rotation":{"radians":1.3433949498868154}},"curvature":0.6696975164928622},{"time":4.339857701086934,"velocity":2.316414865518567,"acceleration":2.387403150824864,"pose":{"translation":{"x":4.49537996689762,"y":-3.0045719188687383},"rotation":{"radians":1.3873287758293207}},"curvature":0.5110935669067939},{"time":4.375101708114101,"velocity":2.4005565189429188,"acceleration":1.7909176327951761,"pose":{"translation":{"x":4.5089620242691515,"y":-2.9225665809449923},"rotation":{"radians":1.424252394438837}},"curvature":0.38499750685916345},{"time":4.4126507677923925,"velocity":2.467803792015651,"acceleration":1.2991286878762722,"pose":{"translation":{"x":4.520859067737793,"y":-2.8319429895500052},"rotation":{"radians":1.454836908363205}},"curvature":0.290401921430435},{"time":4.452506845599441,"velocity":2.5195819660810157,"acceleration":0.9334285992268526,"pose":{"translation":{"x":4.531057415451995,"y":-2.733078786064114},"rotation":{"radians":1.4800268263999243}},"curvature":0.22100721119491618},{"time":4.494558850661814,"velocity":2.5588345102610672,"acceleration":0.6748617106465487,"pose":{"translation":{"x":4.539586248015253,"y":-2.626641148687229},"rotation":{"radians":1.5007476615481332}},"curvature":0.17027125210215716},{"time":4.538582972249437,"velocity":2.588544704265402,"acceleration":0.49646247095313406,"pose":{"translation":{"x":4.546512896517241,"y":-2.5135486463557863},"rotation":{"radians":1.5177986679845619}},"curvature":0.1328923644913342},{"time":4.584254111100592,"velocity":2.6112187107106903,"acceleration":0.37502228874740023,"pose":{"translation":{"x":4.551938130564951,"y":-2.3949330926597017},"rotation":{"radians":1.5318299254652354}},"curvature":0.10493809800115456},{"time":4.631161697558515,"velocity":2.628810101143757,"acceleration":0.2936266524981292,"pose":{"translation":{"x":4.555991446313826,"y":-2.2721013997593236},"rotation":{"radians":1.5433522935017865}},"curvature":0.08358226786884908},{"time":4.678826761615015,"velocity":2.6428058343437764,"acceleration":0.24108953031367897,"pose":{"translation":{"x":4.558826354498893,"y":-2.1464974323023895},"rotation":{"radians":1.5527567273734477}},"curvature":0.06679461667167785},{"time":4.7267189304011055,"velocity":2.654352134822118,"acceleration":0.21086602071695631,"pose":{"translation":{"x":4.560615668465907,"y":-2.019663861340975},"rotation":{"radians":1.5603331477038913}},"curvature":0.053078290149578246},{"time":4.7742728497632125,"velocity":2.6643796405675007,"acceleration":0.20039883711560563,"pose":{"translation":{"x":4.561546792202477,"y":-1.8932040182484504},"rotation":{"radians":1.5662851240012707}},"curvature":0.04126265615101617},{"time":4.820903848747486,"velocity":2.673724438537488,"acceleration":-3.9269487638717098,"pose":{"translation":{"x":4.561817008369205,"y":-1.7687437486364352},"rotation":{"radians":1.5707389682490362}},"curvature":0.030331252821885556},{"time":4.867712204566675,"velocity":2.4899104235144582,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":4.561628766330825,"y":-1.6478932662717476},"rotation":{"radians":1.5737463485485246}},"curvature":0.019253743292658033},{"time":4.916050616040134,"velocity":2.2965567776206215,"acceleration":-4.0,"pose":{"translation":{"x":4.561184970187334,"y":-1.5322090069933623},"rotation":{"radians":1.5752789959015696}},"curvature":0.006777018407799931},{"time":4.965681967180236,"velocity":2.0980313730602096,"acceleration":-4.000000000000002,"pose":{"translation":{"x":4.5606842668051275,"y":-1.4231554826293622},"rotation":{"radians":1.575212573228892}},"curvature":-0.008901956109935908},{"time":5.016308001344126,"velocity":1.895527236404649,"acceleration":-4.0,"pose":{"translation":{"x":4.5603163338481405,"y":-1.3220671349138926},"rotation":{"radians":1.5732937758219232}},"curvature":-0.030739564844547373},{"time":5.067596049576658,"velocity":1.6903750434745186,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":4.560257167808976,"y":-1.230110189404113},"rotation":{"radians":1.5690787354186326}},"curvature":-0.06408761003331041},{"time":5.1191747967856145,"velocity":1.4840600546386944,"acceleration":-4.0,"pose":{"translation":{"x":4.560664372040043,"y":-1.1482445093971525},"rotation":{"radians":1.5618181287789326}},"curvature":-0.11948485813595525},{"time":5.170629118974746,"velocity":1.278242765882166,"acceleration":-4.0,"pose":{"translation":{"x":4.561672444784698,"y":-1.077185449847064},"rotation":{"radians":1.550235745794414}},"curvature":-0.21950551701376778},{"time":5.271251584298517,"velocity":0.8757529045870852,"acceleration":-3.999999999999999,"pose":{"translation":{"x":4.565885391429699,"y":-0.968897193720045},"rotation":{"radians":1.5031224005777883}},"curvature":-0.8532327241242842},{"time":5.319373094267483,"velocity":0.6832668647112187,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":4.569201328551683,"y":-0.9315328505884155},"rotation":{"radians":1.454812037224825}},"curvature":-1.95362210606186},{"time":5.365415370977502,"velocity":0.49909775787114685,"acceleration":-4.000000000000002,"pose":{"translation":{"x":4.573330836692798,"y":-0.9046285426381657},"rotation":{"radians":1.367986047743081}},"curvature":-5.250797357740762},{"time":5.387694372759536,"velocity":0.40998175074300935,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":4.575686473202262,"y":-0.8947796407998156},"rotation":{"radians":1.2974111653987683}},"curvature":-9.262822654758509},{"time":5.398733584115734,"velocity":0.3658249053182204,"acceleration":-4.0,"pose":{"translation":{"x":4.576932656249183,"y":-0.890682836040614},"rotation":{"radians":1.251278714726393}},"curvature":-12.528704057556777},{"time":5.409799378354401,"velocity":0.3215617283635527,"acceleration":-4.0,"pose":{"translation":{"x":4.578222209018141,"y":-0.8871048918622653},"rotation":{"radians":1.1955708620074401}},"curvature":-17.11255760272324},{"time":5.421036866074614,"velocity":0.27661177748270094,"acceleration":-3.999999999999998,"pose":{"translation":{"x":4.57955320943533,"y":-0.8840186887888786},"rotation":{"radians":1.1281096037032832}},"curvature":-23.502515226838202},{"time":5.4327251438075645,"velocity":0.22985866655089887,"acceleration":-4.000000000000003,"pose":{"translation":{"x":4.580923516329712,"y":-0.8813951091768959},"rotation":{"radians":1.0465366731211305}},"curvature":-32.20887644842355},{"time":5.438905009919286,"velocity":0.20513920210401415,"acceleration":-3.994807791327904,"pose":{"translation":{"x":4.5816226795480945,"y":-0.8802471483638525},"rotation":{"radians":0.9997711353063761}},"curvature":-37.53640244697254},{"time":5.4454752985422274,"velocity":0.17889216192181312,"acceleration":-3.100318790040452,"pose":{"translation":{"x":4.582330764831489,"y":-0.8792029999630508},"rotation":{"radians":0.948752438444307}},"curvature":-43.49657887474341},{"time":5.4525350075330525,"velocity":0.1570048134853419,"acceleration":-2.3729627349792457,"pose":{"translation":{"x":4.583047440863298,"y":-0.8782584456955855},"rotation":{"radians":0.8934072678493205}},"curvature":-49.99050921706474},{"time":5.46007684922982,"velocity":0.13910830418579967,"acceleration":-1.7849024006876681,"pose":{"translation":{"x":4.583772361770563,"y":-0.8774091354123255},"rotation":{"radians":0.8338214460179867}},"curvature":-56.81894234666965},{"time":5.468068474832055,"velocity":0.12484403246297249,"acceleration":-1.3081429032132,"pose":{"translation":{"x":4.584505166980162,"y":-0.8766505859297724},"rotation":{"radians":0.7702913480603364}},"curvature":-63.663533520049945},{"time":5.47644703664495,"velocity":0.11388367628830154,"acceleration":-0.9154471915760293,"pose":{"translation":{"x":4.585245481075012,"y":-0.8759781798659367},"rotation":{"radians":0.7033681207659697}},"curvature":-70.08766107160633},{"time":5.4851161083241475,"velocity":0.10594759896600814,"acceleration":-0.5803915498654156,"pose":{"translation":{"x":4.585992913650276,"y":-0.8753871644762232},"rotation":{"radians":0.633881778205852}},"curvature":-75.5688156147956},{"time":5.493946597399215,"velocity":0.10082245772566001,"acceleration":-0.2764361341233796,"pose":{"translation":{"x":4.586747059169556,"y":-0.8748726504892876},"rotation":{"radians":0.5629319005702376}},"curvature":-79.56712313126297},{"time":5.502782689308035,"velocity":0.09837984263762678,"acceleration":0.025332636286607146,"pose":{"translation":{"x":4.587507496821104,"y":-0.8744296109429235},"rotation":{"radians":0.4918367937765152}},"curvature":-81.61927919815528},{"time":5.511452556595157,"velocity":0.09859947323226459,"acceleration":0.3606661386797592,"pose":{"translation":{"x":4.5882737903740205,"y":-0.8740528800199336},"rotation":{"radians":0.42204373712551474}},"curvature":-81.43059702349429},{"time":5.5197819733345055,"velocity":0.10160361180510002,"acceleration":0.7809934437492296,"pose":{"translation":{"x":4.589045488034454,"y":-0.8737371518840007},"rotation":{"radians":0.3550158115213555}},"curvature":-78.9316619399016},{"time":5.5276078644306095,"velocity":0.10771558144265247,"acceleration":1.3721337668551206,"pose":{"translation":{"x":4.5898221223018085,"y":-0.8734769795155599},"rotation":{"radians":0.2921195841125127}},"curvature":-74.27781318075311},{"time":5.534788818191557,"velocity":0.11756881057627422,"acceleration":2.297855710867452,"pose":{"translation":{"x":4.590603209824941,"y":-0.8732667735476771},"rotation":{"radians":0.23453773231367941}},"curvature":-67.79405690128081},{"time":5.541210692754512,"velocity":0.13232535171523452,"acceleration":3.9999999999993032,"pose":{"translation":{"x":4.591388251258368,"y":-0.873100801101927},"rotation":{"radians":0.18322162220787044}},"curvature":-59.88967080941399},{"time":5.551627992939876,"velocity":0.17399455245668258,"acceleration":4.0000000000011,"pose":{"translation":{"x":4.592968117639659,"y":-0.8728779007208538},"rotation":{"radians":0.1020366764318309}},"curvature":-41.39072927876437},{"time":5.567175708685302,"velocity":0.2361854154384047,"acceleration":-3.901912528690621,"pose":{"translation":{"x":4.596151517103646,"y":-0.8726944533917305},"rotation":{"radians":0.0351097453586144}},"curvature":2.7794858786544366E-12},{"time":5.582654510960532,"velocity":0.17578848291155968,"acceleration":-3.999999999999999,"pose":{"translation":{"x":4.599339673315614,"y":-0.8726525743724289},"rotation":{"radians":-0.030406618335940702}},"curvature":-40.54629506663001},{"time":5.5929263456928755,"velocity":0.13470114398218636,"acceleration":-2.4087076446473104,"pose":{"translation":{"x":4.600930663538121,"y":-0.872760536208599},"rotation":{"radians":-0.10996027848637602}},"curvature":-58.77892961941308},{"time":5.599231996373256,"velocity":0.11951267498387752,"acceleration":-1.4490796875699625,"pose":{"translation":{"x":4.601724905090623,"y":-0.8728680974194418},"rotation":{"radians":-0.1603058199412404}},"curvature":-66.64119143507843},{"time":5.606290582819855,"velocity":0.10928422074115507,"acceleration":-0.8385365938633943,"pose":{"translation":{"x":4.602518146166333,"y":-0.8730191300306107},"rotation":{"radians":-0.21686829524209572}},"curvature":-73.16734567450669},{"time":5.613994358939974,"velocity":0.10282432255350438,"acceleration":-0.40738215811535977,"pose":{"translation":{"x":4.603310271788974,"y":-0.8732192699998336},"rotation":{"radians":-0.27874964560733445}},"curvature":-77.957958915172},{"time":5.622208952503418,"velocity":0.09947784369958779,"acceleration":-0.06704732922785762,"pose":{"translation":{"x":4.60410117377875,"y":-0.8734740126940626},"rotation":{"radians":-0.3448259375227554}},"curvature":-80.68432781658437},{"time":5.630778129068742,"velocity":0.09890330329720087,"acceleration":0.23510118794150292,"pose":{"translation":{"x":4.6048907506814505,"y":-0.8737887140279185},"rotation":{"radians":-0.41378782670479775}},"curvature":-81.17096150234015},{"time":5.639533317341799,"velocity":0.10096165846084815,"acceleration":0.5351690091325857,"pose":{"translation":{"x":4.60567890769756,"y":-0.8741685916021357},"rotation":{"radians":-0.4842198027441893}},"curvature":-79.45316468296875},{"time":5.648306321090684,"velocity":0.10565669818425505,"acceleration":0.8618999009942183,"pose":{"translation":{"x":4.606465556611364,"y":-0.8746187258420064},"rotation":{"radians":-0.5547055769063708}},"curvature":-75.78537424146772},{"time":5.656942515236091,"velocity":0.11310023306314876,"acceleration":1.2413163495869224,"pose":{"translation":{"x":4.607250615720056,"y":-0.8751440611358262},"rotation":{"radians":-0.6239377149934211}},"curvature":-70.5945365777504},{"time":5.665311663483257,"velocity":0.1234889936144723,"acceleration":1.6991016015703495,"pose":{"translation":{"x":4.60803400976284,"y":-0.875749406973338},"rotation":{"radians":-0.690808144795104}},"curvature":-64.3959775798263},{"time":5.67331440142079,"velocity":0.13708645846108314,"acceleration":2.2616499623958557,"pose":{"translation":{"x":4.608815669850046,"y":-0.8764394390841777},"rotation":{"radians":-0.754463313883741}},"curvature":-57.7024679815766},{"time":5.680883893424709,"velocity":0.15420599976710125,"acceleration":2.956154018939138,"pose":{"translation":{"x":4.609595533392229,"y":-0.8772187005763176},"rotation":{"radians":-0.8143195696666922}},"curvature":-50.9538468118932},{"time":5.687983472093406,"velocity":0.17519344778134416,"acceleration":3.809864734602135,"pose":{"translation":{"x":4.610373544029277,"y":-0.8780916030745127},"rotation":{"radians":-0.8700450182475864}},"curvature":-44.48004713746768},{"time":5.694601746924781,"velocity":0.20040817966530633,"acceleration":3.999999999997616,"pose":{"translation":{"x":4.611149651559521,"y":-0.8790624278587447},"rotation":{"radians":-0.9215198921733626}},"curvature":-38.49538268257514},{"time":5.700817863083136,"velocity":0.2252726442987115,"acceleration":4.000000000000293,"pose":{"translation":{"x":4.61192381186884,"y":-0.8801353270026662},"rotation":{"radians":-0.9687879366158929}},"curvature":-33.113593635632355},{"time":5.712520863635194,"velocity":0.272084646506947,"acceleration":3.999999999999878,"pose":{"translation":{"x":4.613466144380597,"y":-0.8826033174632164},"rotation":{"radians":-1.051414566336971}},"curvature":-24.256569207373587},{"time":5.723729893519283,"velocity":0.31692076604330166,"acceleration":3.9999999999993903,"pose":{"translation":{"x":4.6150003077085895,"y":-0.8855262501797181},"rotation":{"radians":-1.1198966691418262}},"curvature":-17.709250675136484},{"time":5.734742486342304,"velocity":0.3609711373353771,"acceleration":3.9999999999992006,"pose":{"translation":{"x":4.616526160860454,"y":-0.8889328064349341},"rotation":{"radians":-1.1765314391421913}},"curvature":-12.988935207568176},{"time":5.745712609118013,"velocity":0.4048516284382047,"acceleration":4.000000000000282,"pose":{"translation":{"x":4.618043653438842,"y":-0.8928497095010681},"rotation":{"radians":-1.2234764220767254}},"curvature":-9.61409506696725},{"time":5.767823533778125,"velocity":0.49329532707865786,"acceleration":3.999999999999742,"pose":{"translation":{"x":4.621053794649349,"y":-0.9023118776835003},"rotation":{"radians":-1.2953444990600071}},"curvature":-5.455288410432885},{"time":5.790385226907044,"velocity":0.5835420995943303,"acceleration":4.000000000000201,"pose":{"translation":{"x":4.624032053855361,"y":-0.9140887650422794},"rotation":{"radians":-1.3464548155001768}},"curvature":-3.2512215183713495},{"time":5.813475994747699,"velocity":0.6759051709569555,"acceleration":3.9999999999999063,"pose":{"translation":{"x":4.626981057902935,"y":-0.9283273852585817},"rotation":{"radians":-1.3837572921402705}},"curvature":-2.027835394113568},{"time":5.861159581280401,"velocity":0.8666395170877599,"acceleration":3.999999999999972,"pose":{"translation":{"x":4.632807893992809,"y":-0.9646398904226058},"rotation":{"radians":-1.432856855356095}},"curvature":-0.8827954206928376},{"time":5.960885841408834,"velocity":1.2655445576014883,"acceleration":4.000000000000012,"pose":{"translation":{"x":4.64435387905734,"y":-1.0703284602077703},"rotation":{"radians":-1.480436318200243}},"curvature":-0.22385867341497218},{"time":6.011904599131488,"velocity":1.469619588492104,"acceleration":3.9999999999999947,"pose":{"translation":{"x":4.650208060269882,"y":-1.139854770157303},"rotation":{"radians":-1.4919605328031207}},"curvature":-0.1200295315059749},{"time":6.063066713964379,"velocity":1.6742680478236684,"acceleration":4.000000000000035,"pose":{"translation":{"x":4.656227232733742,"y":-1.2200531774681567},"rotation":{"radians":-1.4990439383861234}},"curvature":-0.06255856320907544},{"time":6.113963500380537,"velocity":1.8778551934883014,"acceleration":4.000000000000022,"pose":{"translation":{"x":4.662506693981134,"y":-1.3102306372978625},"rotation":{"radians":-1.5029870566252166}},"curvature":-0.027953133706398608},{"time":6.164229402015804,"velocity":2.0789188000293737,"acceleration":3.999999999999971,"pose":{"translation":{"x":4.669148672654916,"y":-1.4094539860053201},"rotation":{"radians":-1.504551701568427}},"curvature":-0.005252368583924339},{"time":6.213537021447776,"velocity":2.2761492777572556,"acceleration":4.0,"pose":{"translation":{"x":4.67626000547822,"y":-1.5165872457085943},"rotation":{"radians":-1.5041871824623947}},"curvature":0.011106678640585057},{"time":6.261592998674035,"velocity":2.468373186662294,"acceleration":4.000000000000019,"pose":{"translation":{"x":4.68394981422409,"y":-1.630328928842714},"rotation":{"radians":-1.5021476823740851}},"curvature":0.024195545579616354},{"time":6.308134916130347,"velocity":2.6545408564875403,"acceleration":0.09843715248984783,"pose":{"translation":{"x":4.692327182685111,"y":-1.7492493427174662},"rotation":{"radians":-1.4985552238745412}},"curvature":0.03588640048597657},{"time":6.35440123740512,"velocity":2.6590951814100094,"acceleration":-0.22516467854876276,"pose":{"translation":{"x":4.701498833643041,"y":-1.871827894075197},"rotation":{"radians":-1.4934333913570814}},"curvature":0.04747834563244904},{"time":6.401529466162066,"velocity":2.648483568931379,"acceleration":-0.25657508611402474,"pose":{"translation":{"x":4.711566805838441,"y":-1.9964903936486045},"rotation":{"radians":-1.4867240600849803}},"curvature":0.0600348562943363},{"time":6.449078823861143,"velocity":2.636283588385072,"acceleration":-0.3103522656717664,"pose":{"translation":{"x":4.72262613094031,"y":-2.1216463607185383},"rotation":{"radians":-1.4782932987774888}},"curvature":0.07459576514094504},{"time":6.496502050777649,"velocity":2.621565682466068,"acceleration":-0.39237204130039066,"pose":{"translation":{"x":4.734762510515716,"y":-2.2457263276717963},"rotation":{"radians":-1.4679296220185907}},"curvature":0.09234223219189336},{"time":6.54328579898157,"velocity":2.6032090476836123,"acceleration":-0.5125032759420708,"pose":{"translation":{"x":4.748049992999426,"y":-2.3672191445589235},"rotation":{"radians":-1.4553363564813817}},"curvature":0.11475740199011944},{"time":6.588966369042988,"velocity":2.579797605880234,"acceleration":-0.685054081856132,"pose":{"translation":{"x":4.7625486506635415,"y":-2.4847092836520033},"rotation":{"radians":-1.440119537410647}},"curvature":0.1438078098583787},{"time":6.6331457730413454,"velocity":2.5495323248371884,"acceleration":-0.9282984235959068,"pose":{"translation":{"x":4.778302256587127,"y":-2.596914144002462},"rotation":{"radians":-1.4217735820245503}},"curvature":0.18215356608712557},{"time":6.675507453997361,"velocity":2.5102080431848464,"acceleration":-1.2605863490789289,"pose":{"translation":{"x":4.795335961625842,"y":-2.7027213559988605},"rotation":{"radians":-1.3996697741617767}},"curvature":0.23335820554060774},{"time":6.71583011733956,"velocity":2.4593778442171654,"acceleration":-1.687868434457278,"pose":{"translation":{"x":4.813653971381577,"y":-2.801226085924693},"rotation":{"radians":-1.3730591232963623}},"curvature":0.30197107629664477},{"time":6.753996352105285,"velocity":2.394958261294012,"acceleration":-2.1744034718573855,"pose":{"translation":{"x":4.83323722317208,"y":-2.891768340516184},"rotation":{"radians":-1.3411147210420618}},"curvature":0.3931120066156374},{"time":6.789989502428624,"velocity":2.3166946302678584,"acceleration":-2.5897192278048555,"pose":{"translation":{"x":4.854041063000594,"y":-2.97397027152009},"rotation":{"radians":-1.3030640134183291}},"curvature":0.5106591301023522},{"time":6.8238674310323715,"velocity":2.228960307164535,"acceleration":-2.6382027789128752,"pose":{"translation":{"x":4.875992922525479,"y":-3.0477734802514846},"rotation":{"radians":-1.25850080836969}},"curvature":0.6522441013337538},{"time":6.855697388568783,"velocity":2.144986424739296,"acceleration":-1.7900724298764932,"pose":{"translation":{"x":4.89898999602986,"y":-3.113476322151568},"rotation":{"radians":-1.2080045615750525}},"curvature":0.7986087194579582},{"time":6.885440429499706,"velocity":2.091744227188162,"acceleration":0.8356768229183762,"pose":{"translation":{"x":4.922896917391241,"y":-3.171771211345458},"rotation":{"radians":-1.154157078106018}},"curvature":0.8974962654296017},{"time":6.912806097754428,"velocity":2.1146130818923066,"acceleration":3.8245617062559094,"pose":{"translation":{"x":4.947543437051151,"y":-3.22378192519999},"rotation":{"radians":-1.102764029194351}},"curvature":0.8544115056874421},{"time":6.960435792603357,"velocity":2.2967757888921727,"acceleration":-4.0,"pose":{"translation":{"x":4.998185917670555,"y":-3.315826579913677},"rotation":{"radians":-1.047896124130654}},"curvature":8.508859524386322E-15},{"time":7.0067353366928256,"velocity":2.111577612534296,"acceleration":-4.000000000000009,"pose":{"translation":{"x":5.050373977924324,"y":-3.4035254617919697},"rotation":{"radians":-1.0072821505772769}},"curvature":0.7549303519675613},{"time":7.031387528190604,"velocity":2.0129688465431816,"acceleration":-4.0,"pose":{"translation":{"x":5.07845932598369,"y":-3.4459032098893174},"rotation":{"radians":-0.96129920767847}},"curvature":1.0446752740044682},{"time":7.057240080194999,"velocity":1.909558638525601,"acceleration":-2.6917370797525004,"pose":{"translation":{"x":5.108661004057927,"y":-3.4866306095960047},"rotation":{"radians":-0.9021731776348201}},"curvature":1.2775904245573666},{"time":7.084279281063831,"velocity":1.8367762189400887,"acceleration":-1.5598394030940836,"pose":{"translation":{"x":5.141389561181544,"y":-3.5252849459870292},"rotation":{"radians":-0.8328106929061733}},"curvature":1.450514712529692},{"time":7.112235112642029,"velocity":1.7931696112981537,"acceleration":-0.6542010767417252,"pose":{"translation":{"x":5.176923694679894,"y":-3.5615034399498886},"rotation":{"radians":-0.7561274696627602}},"curvature":1.5608446667586555},{"time":7.1408351684337905,"velocity":1.77445942400431,"acceleration":0.07300248967437933,"pose":{"translation":{"x":5.215421066751808,"y":-3.5949803947302614},"rotation":{"radians":-0.6749729858536616}},"curvature":1.609846174780237},{"time":7.169840455655231,"velocity":1.7765768821851955,"acceleration":0.6378583107362582,"pose":{"translation":{"x":5.256929121052228,"y":-3.625464342477694},"rotation":{"radians":-0.5919747973575552}},"curvature":1.604248811216469},{"time":7.1990547300496965,"velocity":1.795211449899835,"acceleration":1.0459205847852393,"pose":{"translation":{"x":5.301395899274849,"y":-3.652755190791285},"rotation":{"radians":-0.5093672553939818}},"curvature":1.5555589585568785},{"time":7.228329565547784,"velocity":1.825830602963486,"acceleration":1.3039584603585435,"pose":{"translation":{"x":5.348680857734751,"y":-3.6767013692653703},"rotation":{"radians":-0.4288680856806841}},"curvature":1.477713042041228},{"time":7.257562272589744,"velocity":1.8639488386300316,"acceleration":1.425252921662621,"pose":{"translation":{"x":5.398565683951038,"y":-3.6971969760352086},"rotation":{"radians":-0.3516369614361936}},"curvature":1.3843753463424795},{"time":7.286687438047048,"velocity":1.9054595657919617,"acceleration":1.4299445490049363,"pose":{"translation":{"x":5.450765113229473,"y":-3.714178924322665},"rotation":{"radians":-0.2783131195479864}},"curvature":1.2869783934493062},{"time":7.315665128845357,"velocity":1.946896056791754,"acceleration":1.3422328644291746,"pose":{"translation":{"x":5.504937745245116,"y":-3.727624088981897},"rotation":{"radians":-0.2091046345049558}},"curvature":1.1938977832620001},{"time":7.344469068542533,"velocity":1.98555765127834,"acceleration":1.186559350061,"pose":{"translation":{"x":5.560696860624957,"y":-3.7375464530450375},"rotation":{"radians":-0.14389676689643216}},"curvature":1.1105539927870254},{"time":7.373077068119663,"velocity":2.019502740663125,"acceleration":0.9845020179736443,"pose":{"translation":{"x":5.617621237530555,"y":-3.743994254267884},"rotation":{"radians":-0.08235481167895972}},"curvature":1.0400085827310375},{"time":7.4014646658144745,"velocity":2.047450387879091,"acceleration":0.7532121729491459,"pose":{"translation":{"x":5.675265968240674,"y":-3.7470471316755773},"rotation":{"radians":-0.024008749853449696}},"curvature":0.9836829378831284},{"time":7.429601913603949,"velocity":2.0686437054274096,"acceleration":0.5054161891677527,"pose":{"translation":{"x":5.733173275733917,"y":-3.746813272108292},"rotation":{"radians":0.03168328917279015}},"curvature":0.9419846122808662},{"time":7.457452686901663,"velocity":2.0827199371329153,"acceleration":0.25060807188229023,"pose":{"translation":{"x":5.790883330271368,"y":-3.7434265567669187},"rotation":{"radians":0.08528997924198803}},"curvature":0.9147583144770235},{"time":7.48497568394313,"velocity":2.0896174223538995,"acceleration":-0.0029646086442150516,"pose":{"translation":{"x":5.84794506597922,"y":-3.7370437077587493},"rotation":{"radians":0.13737484207164488}},"curvature":0.9015510803238661},{"time":7.512126259014418,"velocity":2.0895369315243477,"acceleration":-0.2457639120603936,"pose":{"translation":{"x":5.903926997431419,"y":-3.727841434643161},"rotation":{"radians":0.18847136708754433}},"curvature":0.9017047005235224},{"time":7.5388582721380555,"velocity":2.082967167401833,"acceleration":-0.4639564645770132,"pose":{"translation":{"x":5.958428036232295,"y":-3.7160135809773047},"rotation":{"radians":0.2390592231461033}},"curvature":0.9142834090895979},{"time":7.5651251686225836,"velocity":2.0707804709734607,"acceleration":-0.6359399969925934,"pose":{"translation":{"x":6.011088307599203,"y":-3.701768270861783},"rotation":{"radians":0.2895357194769267}},"curvature":0.9378278434808232},{"time":7.5908795108997325,"velocity":2.0544022546231844,"acceleration":-0.728370377153379,"pose":{"translation":{"x":6.061599966945155,"y":-3.685325055486344},"rotation":{"radians":0.34017676199896385}},"curvature":0.9699101670059925},{"time":7.61607020874456,"velocity":2.0360540965331904,"acceleration":-0.6915078910945489,"pose":{"translation":{"x":6.109718016461459,"y":-3.6669120596755596},"rotation":{"radians":0.39108186054150706}},"curvature":1.0064642952905776},{"time":7.640636823835963,"velocity":2.019066088340003,"acceleration":-0.4530420995108641,"pose":{"translation":{"x":6.155271121700352,"y":-3.6467631284345114},"rotation":{"radians":0.4420990014383418}},"curvature":1.0409009827022115},{"time":7.6645007129832035,"velocity":2.0082547418982424,"acceleration":0.09227640700853247,"pose":{"translation":{"x":6.198172428157642,"y":-3.6251149734944788},"rotation":{"radians":0.4927286119846969}},"curvature":1.0631202228314272},{"time":7.687553619247317,"velocity":2.0103819812593993,"acceleration":1.1037756848477531,"pose":{"translation":{"x":6.238430377855339,"y":-3.60220431985862},"rotation":{"radians":0.5420128858666482}},"curvature":1.0587294827383742},{"time":7.709645797792884,"velocity":2.034766790763312,"acceleration":-3.4356128591870374,"pose":{"translation":{"x":6.276159525924294,"y":-3.578265052347659},"rotation":{"radians":0.5884284546205697}},"curvature":1.009053679624368},{"time":7.753105886147418,"velocity":1.88545475235107,"acceleration":-4.0,"pose":{"translation":{"x":6.345085102739401,"y":-3.528204893345267},"rotation":{"radians":0.6633974864269401}},"curvature":0.6901416764400143},{"time":7.798610176827636,"velocity":1.7034375896302,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":6.408398891966756,"y":-3.476640340140431},"rotation":{"radians":0.6941270293290788}},"curvature":4.1185019565407616E-14},{"time":7.823325520094514,"velocity":1.6045762165626896,"acceleration":-4.000000000000011,"pose":{"translation":{"x":6.439463799326111,"y":-3.450067936139554},"rotation":{"radians":0.7331828725458773}},"curvature":1.761870818383021},{"time":7.836743600520248,"velocity":1.5509038948597533,"acceleration":-4.0,"pose":{"translation":{"x":6.454897756349233,"y":-3.435577520081772},"rotation":{"radians":0.776349973919035}},"curvature":2.265902921246814},{"time":7.851228151086295,"velocity":1.4929656925955652,"acceleration":0.04194072758134266,"pose":{"translation":{"x":6.470217984312381,"y":-3.4197265761309747},"rotation":{"radians":0.8293329069462884}},"curvature":2.4953115450022763},{"time":7.866775050639981,"velocity":1.4936177408744808,"acceleration":2.8041128601926015,"pose":{"translation":{"x":6.485391560898837,"y":-3.402155354066644},"rotation":{"radians":0.887630653218616}},"curvature":2.4928748048734684},{"time":7.883052690652431,"velocity":1.5392620805669794,"acceleration":4.000000000000034,"pose":{"translation":{"x":6.500387987569066,"y":-3.3825489736843726},"rotation":{"radians":0.9473680370503084}},"curvature":2.3274298041402433},{"time":7.899861324285662,"velocity":1.6064966150999005,"acceleration":3.9999999999999845,"pose":{"translation":{"x":6.515179125275045,"y":-3.3606357906955715},"rotation":{"radians":1.0056060004130027}},"curvature":2.0709243397131565},{"time":7.917200692175856,"velocity":1.6758540866606795,"acceleration":4.0,"pose":{"translation":{"x":6.52973913017459,"y":-3.33618576262718},"rotation":{"radians":1.0604038889943062}},"curvature":1.781964691819398},{"time":7.935142689396152,"velocity":1.7476220755418586,"acceleration":4.000000000000087,"pose":{"translation":{"x":6.544044389345688,"y":-3.3090088147213748},"rotation":{"radians":1.1106938955602945}},"curvature":1.4995917095020082},{"time":7.9537267091459345,"velocity":1.8219581545409926,"acceleration":3.9999999999999614,"pose":{"translation":{"x":6.55807345650082,"y":-3.278953205835279},"rotation":{"radians":1.1560664397140645}},"curvature":1.2449184879359827},{"time":7.992834314900755,"velocity":1.9783885775602719,"acceleration":3.999999999999982,"pose":{"translation":{"x":6.585227677071576,"y":-3.209780904023693},"rotation":{"radians":1.2324277101601875}},"curvature":0.8438753319297655},{"time":8.034365753786417,"velocity":2.144514333102923,"acceleration":4.000000000000019,"pose":{"translation":{"x":6.611071111421158,"y":-3.1281595045372756},"rotation":{"radians":1.2920553568063147}},"curvature":0.5737620221395537},{"time":8.077918069907838,"velocity":2.318723597588604,"acceleration":3.415394571792082,"pose":{"translation":{"x":6.635503630952859,"y":-3.034088410141403},"rotation":{"radians":1.3384831632401}},"curvature":0.39763064518893115},{"time":8.123208735785239,"velocity":2.4734090919791303,"acceleration":1.2001653219467743,"pose":{"translation":{"x":6.6584536017974765,"y":-2.9280234878126636},"rotation":{"radians":1.3748607379880866}},"curvature":0.2827492858554198},{"time":8.170827129017724,"velocity":2.530559036223584,"acceleration":0.8779753692079202,"pose":{"translation":{"x":6.6798758276718395,"y":-2.8108247775295485},"rotation":{"radians":1.4036494835111415}},"curvature":0.2066602399294213},{"time":8.19570438462924,"velocity":2.552400653903984,"acceleration":0.7191373046234131,"pose":{"translation":{"x":6.69000663518445,"y":-2.7484166619137964},"rotation":{"radians":1.4157909604755585}},"curvature":0.17848041867431724},{"time":8.221251743625219,"velocity":2.570772712792599,"acceleration":0.5927629029164287,"pose":{"translation":{"x":6.699749492737317,"y":-2.683704201063145},"rotation":{"radians":1.4266798900261446}},"curvature":0.15514776934186053},{"time":8.247418114262977,"velocity":2.5862831666106243,"acceleration":0.49206426631694355,"pose":{"translation":{"x":6.709105270295296,"y":-2.6168852877025452},"rotation":{"radians":1.4364693234613446}},"curvature":0.13570744509440963},{"time":8.274143500899305,"velocity":2.5994337743778653,"acceleration":0.41162891846472055,"pose":{"translation":{"x":6.718076104458341,"y":-2.5481732707678226},"rotation":{"radians":1.445289839690417}},"curvature":0.11940661397607263},{"time":8.30136007814315,"velocity":2.6106369046330604,"acceleration":0.34719760212759637,"pose":{"translation":{"x":6.726665334175835,"y":-2.4777953213053836},"rotation":{"radians":1.4532528894178407}},"curvature":0.10564932344593325},{"time":8.328993196228147,"velocity":2.6202310569714804,"acceleration":0.29544742627532355,"pose":{"translation":{"x":6.734877436460918,"y":-2.4059907983719273},"rotation":{"radians":1.4604536479816943}},"curvature":0.09396134771817073},{"time":8.356962324030874,"velocity":2.628494463795962,"acceleration":0.2538020856184074,"pose":{"translation":{"x":6.742717962104812,"y":-2.3330096149341535},"rotation":{"radians":1.4669734202249385}},"curvature":0.08396293103713041},{"time":8.38518193722121,"velocity":2.6356566604790137,"acceleration":0.22027553523276497,"pose":{"translation":{"x":6.750193471391153,"y":-2.2591106037684714},"rotation":{"radians":1.4728816497887625}},"curvature":0.07534765702032908},{"time":8.413562358913863,"velocity":2.6419081730574945,"acceleration":0.19334835336063685,"pose":{"translation":{"x":6.757311469810319,"y":-2.184559883360709},"rotation":{"radians":1.4782375850387415}},"curvature":0.06786600836346504},{"time":8.442010559496575,"velocity":2.647408585796235,"acceleration":0.1718733122785971,"pose":{"translation":{"x":6.764080343773759,"y":-2.1096292238058236},"rotation":{"radians":1.4830916491156405}},"curvature":0.061312477610036886},{"time":8.470430921369656,"velocity":2.652293287527518,"acceleration":0.15500625751989522,"pose":{"translation":{"x":6.770509296328321,"y":-2.034594412707608},"rotation":{"radians":1.4874865548787164}},"curvature":0.05551533098631964},{"time":8.498725973311899,"velocity":2.656679197635416,"acceleration":0.14215914349740932,"pose":{"translation":{"x":6.776608282870579,"y":-1.9597336210784007},"rotation":{"radians":1.4914581980765491}},"curvature":0.050328312224001436},{"time":8.5267970981631,"velocity":2.6606697647012716,"acceleration":0.1329734834160367,"pose":{"translation":{"x":6.782387946861167,"y":-1.885325769238797},"rotation":{"radians":1.4950363545066623}},"curvature":0.045623706004402596},{"time":8.554545216500259,"velocity":2.664359528654804,"acceleration":0.12731443684957244,"pose":{"translation":{"x":6.787859555539102,"y":-1.8116488927173569},"rotation":{"radians":1.4982451993383974}},"curvature":0.041286265455571895},{"time":8.581871447962197,"velocity":2.6678385524246018,"acceleration":-1.6113927241182195,"pose":{"translation":{"x":6.793034935636114,"y":-1.7389785081503117},"rotation":{"radians":1.5011036590114264}},"curvature":0.03720754653400985},{"time":8.60891550346173,"velocity":2.6242599581620047,"acceleration":-3.999999999999994,"pose":{"translation":{"x":6.797926409090978,"y":-1.6675859791812757},"rotation":{"radians":1.503625597790456}},"curvature":0.033280180646881756},{"time":8.636155874985315,"velocity":2.515298472067666,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":6.802546728763838,"y":-1.5977368823609572},"rotation":{"radians":1.5058198315164835}},"curvature":0.02939154430372287},{"time":8.663875839407574,"velocity":2.404418614378629,"acceleration":-4.000000000000007,"pose":{"translation":{"x":6.806909014150539,"y":-1.5296893730468626},"rotation":{"radians":1.5076899493829758}},"curvature":0.025416127459595463},{"time":8.69203701530609,"velocity":2.291773910784564,"acceleration":-4.0,"pose":{"translation":{"x":6.811026687096953,"y":-1.4636925513030068},"rotation":{"radians":1.5092339092253166}},"curvature":0.021205616599728555},{"time":8.720599063232662,"velocity":2.177525719078273,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.814913407513311,"y":-1.3999848277996274},"rotation":{"radians":1.5104433505918702}},"curvature":0.016575214781125676},{"time":8.778754247167019,"velocity":1.9449049833408474,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.822049435004535,"y":-1.2803270666245878},"rotation":{"radians":1.511786810270766}},"curvature":0.005004645974562106},{"time":8.837976936338444,"velocity":1.708014226655145,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.828428694337683,"y":-1.17234749119695},"rotation":{"radians":1.511472700353067}},"curvature":-0.012557641767089704},{"time":8.897866410268293,"velocity":1.4684563309357508,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.834162477972975,"y":-1.0774018904728022},"rotation":{"radians":1.5090092982329775}},"curvature":-0.04305107850176706},{"time":8.957982973050123,"velocity":1.2279900798084276,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.839359715975894,"y":-0.9965181494798072},"rotation":{"radians":1.5034513570670693}},"curvature":-0.10322945846988668},{"time":9.076948909679393,"velocity":0.7521263332913529,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.848556120523975,"y":-0.8790945198999358},"rotation":{"radians":1.4731280226069126}},"curvature":-0.6139517188140465},{"time":9.134829091136316,"velocity":0.5206056074636585,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.852742820953082,"y":-0.842500260842463},"rotation":{"radians":1.4329181388549581}},"curvature":-1.9712854878838697},{"time":9.163267676232634,"velocity":0.4068512670783885,"acceleration":-4.000000000000001,"pose":{"translation":{"x":6.854769612254723,"y":-0.8294691567130932},"rotation":{"radians":1.3954997647593534}},"curvature":-4.121795845368698},{"time":9.191585053162,"velocity":0.2935817593609303,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":6.856763929234739,"y":-0.81975453815634},"rotation":{"radians":1.3314609484833504}},"curvature":-10.274340412008122},{"time":9.205943025384236,"velocity":0.2361498704719794,"acceleration":-4.000000000000001,"pose":{"translation":{"x":6.857751404782446,"y":-0.8160820438591219},"rotation":{"radians":1.2800503315000085}},"curvature":-17.88725969972494},{"time":9.220872397313714,"velocity":0.17643238275407003,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.858733643189715,"y":-0.8131630788036524},"rotation":{"radians":1.2041976966241779}},"curvature":-34.14173535821639},{"time":9.228871383379047,"velocity":0.14443643849273874,"acceleration":-4.000000000000001,"pose":{"translation":{"x":6.859223063281665,"y":-0.8119767570760623},"rotation":{"radians":1.1516310876067288}},"curvature":-49.22799526595877},{"time":9.237720312987264,"velocity":0.10904072005987264,"acceleration":-3.964799283840913,"pose":{"translation":{"x":6.859711484260491,"y":-0.8109671983026057},"rotation":{"radians":1.084290718460031}},"curvature":-73.33762925133702},{"time":9.242801674880752,"velocity":0.08889414006363272,"acceleration":-2.9488198883534724,"pose":{"translation":{"x":6.8599553500356505,"y":-0.810527394755856},"rotation":{"radians":1.0432887812360019}},"curvature":-90.65804222571367},{"time":9.248601596535988,"velocity":0.07179121573578051,"acceleration":-2.1466388361871056,"pose":{"translation":{"x":6.860199001482833,"y":-0.8101301889076056},"rotation":{"radians":0.9961251940303707}},"curvature":-112.99091990366502},{"time":9.2552627550288,"velocity":0.05749211422110889,"acceleration":-1.5281666851409454,"pose":{"translation":{"x":6.860442449901311,"y":-0.8097750280753129},"rotation":{"radians":0.9415990519877865}},"curvature":-141.86099514427062},{"time":9.262953174003266,"velocity":0.045739872149554994,"acceleration":-1.0629883264719515,"pose":{"translation":{"x":6.860685706338509,"y":-0.8094613490874525},"rotation":{"radians":0.8782962418806787}},"curvature":-179.1032747455333},{"time":9.271863566118446,"velocity":0.036268229346831715,"acceleration":-0.7218508128780476,"pose":{"translation":{"x":6.860928781588039,"y":-0.8091885782336545},"rotation":{"radians":0.8046137606133765}},"curvature":-226.68309156333257},{"time":9.282195955051659,"velocity":0.02880978599641959,"acceleration":-0.5273532661617739,"pose":{"translation":{"x":6.86117168618774,"y":-0.8089561312148175},"rotation":{"radians":0.7188594861447148}},"curvature":-286.1671461834672},{"time":9.287990970402067,"velocity":0.02575376572392396,"acceleration":-0.42591903639832895,"pose":{"translation":{"x":6.861293077716557,"y":-0.8088548436424126},"rotation":{"radians":0.6709562042081583}},"curvature":-320.49085522352703},{"time":9.294210602300561,"velocity":0.02310470609896531,"acceleration":-0.3413007750654028,"pose":{"translation":{"x":6.861414430417712,"y":-0.8087634130932546},"rotation":{"radians":0.6194872041481577}},"curvature":-357.5904612961168},{"time":9.300866986754468,"velocity":0.02083287692571356,"acceleration":-0.27093352251590014,"pose":{"translation":{"x":6.861535745535626,"y":-0.8086817635296635},"rotation":{"radians":0.5643535222922513}},"curvature":-396.9223434651983},{"time":9.307963202495884,"velocity":0.01891027419835889,"acceleration":-0.21247008025062475,"pose":{"translation":{"x":6.861657024298363,"y":-0.808609818242823},"rotation":{"radians":0.5055322370947256}},"curvature":-437.59113182131614},{"time":9.315490367571911,"velocity":0.01731097683059568,"acceleration":-0.16377435014643035,"pose":{"translation":{"x":6.861778267917576,"y":-0.8085474998512141},"rotation":{"radians":0.44310060942695506}},"curvature":-478.3037071521062},{"time":9.32342485136856,"velocity":0.016011511903052167,"acceleration":-0.12290878115947385,"pose":{"translation":{"x":6.861899477588438,"y":-0.8084947302990537},"rotation":{"radians":0.37725915765567114}},"curvature":-517.3724465795085},{"time":9.331726091519089,"velocity":0.014991216594038681,"acceleration":-0.08811612052067387,"pose":{"translation":{"x":6.862020654489588,"y":-0.8084514308547401},"rotation":{"radians":0.3083495925873623}},"curvature":-552.7946377354054},{"time":9.340335607661343,"velocity":0.014232579432023051,"acceleration":-0.05779586289625278,"pose":{"translation":{"x":6.862141799783062,"y":-0.8084175221092829},"rotation":{"radians":0.2368627262319711}},"curvature":-582.4246868691994},{"time":9.349177775456262,"velocity":0.01372153871444226,"acceleration":-0.030476068921050613,"pose":{"translation":{"x":6.862262914614241,"y":-0.808392923974766},"rotation":{"radians":0.163431749669685}},"curvature":-604.2312803064796},{"time":9.358162702971558,"velocity":0.013447713444235454,"acceleration":-0.004781555926082317,"pose":{"translation":{"x":6.862384000111778,"y":-0.8083775556827746},"rotation":{"radians":0.08880813429926886}},"curvature":-616.5976155953638},{"time":9.367191140283039,"velocity":0.013404543466305485,"acceleration":0.02060020978815685,"pose":{"translation":{"x":6.862505057387549,"y":-0.8083713357828364},"rotation":{"radians":0.013820799436390587}},"curvature":-618.5933378813678},{"time":9.376160853571774,"velocity":0.013589321441793034,"acceleration":0.04695394632728731,"pose":{"translation":{"x":6.862626087536582,"y":-0.8083741821408683},"rotation":{"radians":-0.060676734237531636}},"curvature":-610.1401765142326},{"time":9.384973486858494,"velocity":0.014003109352139775,"acceleration":0.07557045493087612,"pose":{"translation":{"x":6.862747091637001,"y":-0.8083860119376145},"rotation":{"radians":-0.13386317570229916}},"curvature":-592.0195044936582},{"time":9.393540790816651,"velocity":0.014650544409788857,"acceleration":0.10777803012029079,"pose":{"translation":{"x":6.862868070749965,"y":-0.808406741667091},"rotation":{"radians":-0.20500108994272842}},"curvature":-565.7206566423348},{"time":9.401789283930563,"velocity":0.01553955074906721,"acceleration":0.14497011304466922,"pose":{"translation":{"x":6.8629890259196005,"y":-0.8084362871350326},"rotation":{"radians":-0.27347563911542117}},"curvature":-533.1796195874405},{"time":9.409662842822527,"velocity":0.016680981471699052,"acceleration":0.18862832304298685,"pose":{"translation":{"x":6.863109958172949,"y":-0.8084745634573105},"rotation":{"radians":-0.3388162646113045}},"curvature":-496.4845046239759},{"time":9.417123215673257,"velocity":0.01808821909180769,"acceleration":0.24034043770518834,"pose":{"translation":{"x":6.863230868519898,"y":-0.8085214850584168},"rotation":{"radians":-0.4007011961051526}},"curvature":-457.6185999637207},{"time":9.424148842234915,"velocity":0.019776761254789887,"acceleration":0.30181328211506175,"pose":{"translation":{"x":6.863351757953127,"y":-0.8085769656698556},"rotation":{"radians":-0.4589478852842984}},"curvature":-418.28355210289493},{"time":9.430732557826193,"velocity":0.02176381406590533,"acceleration":0.37488078432594685,"pose":{"translation":{"x":6.863472627448036,"y":-0.8086409183286181},"rotation":{"radians":-0.5134940930256224}},"curvature":-379.81215253292874},{"time":9.436878765446712,"velocity":0.024067909199315674,"acceleration":0.4615076428066928,"pose":{"translation":{"x":6.863593477962698,"y":-0.8087132553756291},"rotation":{"radians":-0.5643744557798438}},"curvature":-343.15609197993024},{"time":9.442600546140369,"velocity":0.02670855471990241,"acceleration":0.5637891431746386,"pose":{"translation":{"x":6.863714310437783,"y":-0.808793888454153},"rotation":{"radians":-0.611696446335568}},"curvature":-308.92347448217276},{"time":9.447917018740094,"velocity":0.029705924251612892,"acceleration":0.7554265720791753,"pose":{"translation":{"x":6.863835125796507,"y":-0.8088827285082738},"rotation":{"radians":-0.655618342951916}},"curvature":-277.44123738186795},{"time":9.45737834856928,"velocity":0.036853264211785586,"acceleration":1.0832033320542425,"pose":{"translation":{"x":6.864076708770087,"y":-0.8090846698142853},"rotation":{"radians":-0.7340409528611183}},"curvature":-223.03556731009553},{"time":9.465522656763632,"velocity":0.04567520598518415,"acceleration":1.5173329091928094,"pose":{"translation":{"x":6.864318233917688,"y":-0.8093183528031318},"rotation":{"radians":-0.8013100677496591}},"curvature":-179.36121575481815},{"time":9.472547249282629,"velocity":0.05633385138792879,"acceleration":2.0795593062853257,"pose":{"translation":{"x":6.864559707990323,"y":-0.8095830396974097},"rotation":{"radians":-0.8590850926003809}},"curvature":-144.84121395240882},{"time":9.478630261914242,"velocity":0.06898383691625298,"acceleration":2.7925434759563568,"pose":{"translation":{"x":6.864801137453804,"y":-0.80987798138296},"rotation":{"radians":-0.9088672119836225}},"curvature":-117.71482450721878},{"time":9.483924899544451,"velocity":0.08376934268804903,"acceleration":3.9999999999957025,"pose":{"translation":{"x":6.8650425284867795,"y":-0.810202417359009},"rotation":{"radians":-0.9519485406069942}},"curvature":-96.39309227276388},{"time":9.492612506286594,"velocity":0.11851976965658562,"acceleration":4.000000000005463,"pose":{"translation":{"x":6.865525218528221,"y":-0.8109366729471326},"rotation":{"radians":-1.0221518547596293}},"curvature":-66.20772740232132},{"time":9.499908694028647,"velocity":0.14770452062484152,"acceleration":4.000000000001151,"pose":{"translation":{"x":6.86600782172602,"y":-0.8117794928281112},"rotation":{"radians":-1.076269291701141}},"curvature":-46.90493873492908},{"time":9.506502978512675,"velocity":0.17408165856095595,"acceleration":4.000000000001241,"pose":{"translation":{"x":6.866490376971381,"y":-0.8127243779907172},"rotation":{"radians":-1.1187349486794673}},"curvature":-34.157759825945135},{"time":9.518489791818707,"velocity":0.22202891178510353,"acceleration":4.000000000002301,"pose":{"translation":{"x":6.867455475192086,"y":-0.814893411653415},"rotation":{"radians":-1.1798042323598463}},"curvature":-19.338092353162022},{"time":9.529454141934965,"velocity":0.26588631225015746,"acceleration":4.000000000000559,"pose":{"translation":{"x":6.868420727530992,"y":-0.8173880136542255},"rotation":{"radians":-1.2199860264714897}},"curvature":-11.592569277617375},{"time":9.566552913458102,"velocity":0.41428139834272837,"acceleration":4.000000000000075,"pose":{"translation":{"x":6.8722847387747334,"y":-0.8293984410230077},"rotation":{"radians":-1.2765617616836251}},"curvature":5.662754279154285E-13},{"time":9.668416190245601,"velocity":0.8217345054927351,"acceleration":3.999999999999943,"pose":{"translation":{"x":6.890567704069717,"y":-0.8896373582760828},"rotation":{"radians":-1.2746145134475693}},"curvature":0.07833254824964936},{"time":9.771705010562457,"velocity":1.2348897867601523,"acceleration":3.999999999999956,"pose":{"translation":{"x":6.9220714020571785,"y":-0.9910708336452296},"rotation":{"radians":-1.2643271653955044}},"curvature":0.10388628670885901},{"time":9.826242601684479,"velocity":1.4530401512482394,"acceleration":4.000000000000011,"pose":{"translation":{"x":6.944454829417782,"y":-1.0608660734877988},"rotation":{"radians":-1.2565186269244475}},"curvature":0.10957753116453166},{"time":9.880762983260594,"velocity":1.671121677552701,"acceleration":3.999999999999955,"pose":{"translation":{"x":6.971170523484057,"y":-1.1417325750400185},"rotation":{"radians":-1.2467609450362294}},"curvature":0.12048739350628847},{"time":9.933779693324297,"velocity":1.8831885178075107,"acceleration":3.999999999999989,"pose":{"translation":{"x":7.001699938066302,"y":-1.2308681968838484},"rotation":{"radians":-1.2345624309308487}},"curvature":0.139925158341642},{"time":9.984009518476908,"velocity":2.0841078184179547,"acceleration":4.000000000000044,"pose":{"translation":{"x":7.0352736825775075,"y":-1.3246796814453725},"rotation":{"radians":-1.2191296982170046}},"curvature":0.17233214816706413},{"time":10.030407406935073,"velocity":2.2696993722506185,"acceleration":2.680569233511606,"pose":{"translation":{"x":7.070963789725937,"y":-1.4191676159457582},"rotation":{"radians":-1.199264665475165}},"curvature":0.22544762203572588},{"time":10.072661536097804,"velocity":2.3829644908730616,"acceleration":-4.0,"pose":{"translation":{"x":7.107775983207727,"y":-1.5103113933522132},"rotation":{"radians":-1.173184259865773}},"curvature":0.31334664210525326},{"time":10.112565369635224,"velocity":2.223349156723382,"acceleration":-4.0,"pose":{"translation":{"x":7.144741945399469,"y":-1.5944541733289448},"rotation":{"radians":-1.1382789125555068}},"curvature":0.46128414468694073},{"time":10.151058566181396,"velocity":2.0693763705386963,"acceleration":-4.000000000000006,"pose":{"translation":{"x":7.181011585050797,"y":-1.6686878431881165},"rotation":{"radians":-1.0909592662375478}},"curvature":0.7102735090663231},{"time":10.186922820106911,"velocity":1.9259193548366322,"acceleration":-4.0,"pose":{"translation":{"x":7.215945304976982,"y":-1.7312379788408077},"rotation":{"radians":-1.027293684323955}},"curvature":1.1015810198786917},{"time":10.219468510854878,"velocity":1.795736591844766,"acceleration":0.6950745942310417,"pose":{"translation":{"x":7.2492062697515145,"y":-1.7818488057479684},"rotation":{"radians":-0.946811271065399}},"curvature":1.554201466739854},{"time":10.247855542043842,"velocity":1.815467696029859,"acceleration":3.600034531259461,"pose":{"translation":{"x":7.280852673398701,"y":-1.822168159871382},"rotation":{"radians":-0.8640451127513438}},"curvature":1.5037656583957106},{"time":10.272429707560416,"velocity":1.9039355404664093,"acceleration":-4.0,"pose":{"translation":{"x":7.311430007086242,"y":-1.8561324486246196},"rotation":{"radians":-0.823139846740522}},"curvature":-1.636932849247666E-13},{"time":10.297010321699485,"velocity":1.8056130839101363,"acceleration":-1.5967619221325358,"pose":{"translation":{"x":7.342914742195312,"y":-1.889106613799627},"rotation":{"radians":-0.7821644580227984}},"curvature":1.5288178122546148},{"time":10.325392346952212,"velocity":1.760293746713578,"acceleration":4.000000000000022,"pose":{"translation":{"x":7.380280010962411,"y":-1.9232326183274575},"rotation":{"radians":-0.6972908732044945}},"curvature":1.6476386101222478},{"time":10.35778753530044,"velocity":1.8898745001064925,"acceleration":3.999999999999997,"pose":{"translation":{"x":7.427252061140204,"y":-1.959138986117052},"rotation":{"radians":-0.6124692269480457}},"curvature":1.2085999896794064},{"time":10.39321474727207,"velocity":2.031583347993014,"acceleration":4.00000000000005,"pose":{"translation":{"x":7.485512892488573,"y":-1.9969649827093412},"rotation":{"radians":-0.5440249043502151}},"curvature":0.794250561255612},{"time":10.431153358631574,"velocity":2.1833377934310327,"acceleration":3.999999999999955,"pose":{"translation":{"x":7.555036727069078,"y":-2.036450409605098},"rotation":{"radians":-0.49266060721110555}},"curvature":0.5178393427363835},{"time":10.470565868956813,"velocity":2.3409878347319877,"acceleration":0.03415046022841242,"pose":{"translation":{"x":7.6344264795393935,"y":-2.0770253985927907},"rotation":{"radians":-0.4547993886895383}},"curvature":0.3479689426353966},{"time":10.511546623327694,"velocity":2.342387346354261,"acceleration":-4.0,"pose":{"translation":{"x":7.721250227447748,"y":-2.117900206076431},"rotation":{"radians":-0.42685937253591266}},"curvature":0.2434560826226274},{"time":10.555744940974778,"velocity":2.165594075765925,"acceleration":-3.999999999999998,"pose":{"translation":{"x":7.812377681527366,"y":-2.1581550074034315},"rotation":{"radians":-0.40617444910924005}},"curvature":0.17666200897075124},{"time":10.603948511658574,"velocity":1.9727797930307396,"acceleration":-4.0,"pose":{"translation":{"x":7.9043166559909,"y":-2.196829691192452},"rotation":{"radians":-0.3909543890940912}},"curvature":0.13088966229278023},{"time":10.655446506360475,"velocity":1.7667878142231344,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.99354953882488,"y":-2.2330136536612546},"rotation":{"radians":-0.3800900990624137}},"curvature":0.09544847185693969},{"time":10.709455558747804,"velocity":1.5507516046738214,"acceleration":-4.000000000000002,"pose":{"translation":{"x":8.076869762084142,"y":-2.2659355929545537},"rotation":{"radians":-0.3730025444647795}},"curvature":0.06187924763512411},{"time":10.765261665819914,"velocity":1.3275271763853795,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":8.151718272186278,"y":-2.2950533034718688},"rotation":{"radians":-0.36955298253000457}},"curvature":0.02108291118563075},{"time":10.822551377161288,"velocity":1.098368331019886,"acceleration":-4.0,"pose":{"translation":{"x":8.216520000206065,"y":-2.320143470195376},"rotation":{"radians":-0.36994084814772976}},"curvature":-0.03761188105274304},{"time":10.882311219447484,"velocity":0.8593289618751013,"acceleration":-4.0,"pose":{"translation":{"x":8.271020332169911,"y":-2.3413914630177586},"rotation":{"radians":-0.3743107217306177}},"curvature":-0.11565063019411807},{"time":11.097143459916259,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":8.356719448560193,"y":-2.3756845970495366},"rotation":{"radians":-0.385617065154655}},"curvature":-1.4913840808522647E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce4.wpilib.json b/src/main/deploy/paths/Bounce4.wpilib.json index 920f414..aed6c6e 100644 --- a/src/main/deploy/paths/Bounce4.wpilib.json +++ b/src/main/deploy/paths/Bounce4.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":0.0,"y":0.0},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.18636143940480793,"velocity":0.8386264773216356,"acceleration":4.5,"pose":{"translation":{"x":0.07814381358912215,"y":-2.831307938322425E-5},"rotation":{"radians":-0.0010826509167209514}},"curvature":-0.02748258627930911},{"time":0.263648498033366,"velocity":1.186418241150147,"acceleration":4.499999999999998,"pose":{"translation":{"x":0.15639844350516796,"y":-2.2414140403270721E-4},"rotation":{"radians":-0.004261296220402157}},"curvature":-0.05347409186319095},{"time":0.3230899952383694,"velocity":1.453904978572662,"acceleration":4.500000000000001,"pose":{"translation":{"x":0.23486907390179113,"y":-7.485484820790589E-4},"rotation":{"radians":-0.0094212046777475}},"curvature":-0.07770893881369795},{"time":0.373370997488499,"velocity":1.6801694886982455,"acceleration":4.499999999999999,"pose":{"translation":{"x":0.3136548399925232,"y":-0.0017556548118591309},"rotation":{"radians":-0.01643557600211064}},"curvature":-0.0999786645789153},{"time":0.41786456647451337,"velocity":1.8803905491353101,"acceleration":4.499999999999994,"pose":{"translation":{"x":0.39284893282456324,"y":-0.0033927426557056606},"rotation":{"radians":-0.0251682723352039}},"curvature":-0.12012966946706},{"time":0.45830626523023005,"velocity":2.062378193536035,"acceleration":4.5,"pose":{"translation":{"x":0.4725387040525675,"y":-0.005800360813736916},"rotation":{"radians":-0.03547638991817513}},"curvature":-0.13806039182086433},{"time":0.49573101774805317,"velocity":2.230789579866239,"acceleration":4.500000000000003,"pose":{"translation":{"x":0.552805770712439,"y":-0.009112429397646338},"rotation":{"radians":-0.047212672643734674}},"curvature":-0.15371802470468285},{"time":0.5308159980302304,"velocity":2.388671991136037,"acceleration":4.499999999999996,"pose":{"translation":{"x":0.6337261199951172,"y":-0.013456344604492188},"rotation":{"radians":-0.06022776783721897}},"curvature":-0.1670947999411318},{"time":0.5640337160745368,"velocity":2.5381517223354155,"acceleration":0.22957858491311134,"pose":{"translation":{"x":0.7153702140203677,"y":-0.018953083490487188},"rotation":{"radians":-0.07437232026484512}},"curvature":-0.1782238294413945},{"time":0.5965725141566559,"velocity":2.545621933553882,"acceleration":-0.162079394407987,"pose":{"translation":{"x":0.7978030946105719,"y":-0.02571730874478817},"rotation":{"radians":-0.08949889521362152}},"curvature":-0.18717450044020895},{"time":0.6294784292353224,"velocity":2.540288562765491,"acceleration":-0.11400629935957243,"pose":{"translation":{"x":0.8810844880645163,"y":-0.033857473463285714},"rotation":{"radians":-0.10546371724200888}},"curvature":-0.19404745661562758},{"time":0.6628587439456693,"velocity":2.5364829966139064,"acceleration":-0.07099527616695459,"pose":{"translation":{"x":0.9652689099311829,"y":-0.0434759259223938},"rotation":{"radians":-0.12212820899172197}},"curvature":-0.19896924595594245},{"time":0.6967285615350507,"velocity":2.534078399560424,"acceleration":-0.03304853788736611,"pose":{"translation":{"x":1.0504057697835378,"y":-0.05466901435283944},"rotation":{"radians":-0.1393603148117705}},"curvature":-0.20208676461993152},{"time":0.7311030654293094,"velocity":2.532942372466115,"acceleration":-7.138845325302023E-5,"pose":{"translation":{"x":1.136539475992322,"y":-0.06752719171345234},"rotation":{"radians":-0.15703559687254381}},"curvature":-0.20356166296129774},{"time":0.765997514647208,"velocity":2.5329398814053583,"acceleration":0.02811427167115899,"pose":{"translation":{"x":1.22370954049984,"y":-0.08213512046495453},"rotation":{"radians":-0.17503809651401303}},"curvature":-0.20356489854681434},{"time":0.8014272030434771,"velocity":2.5339359612901555,"acceleration":0.05175593347649886,"pose":{"translation":{"x":1.31195068359375,"y":-0.09857177734375},"rotation":{"radians":-0.19326096007443874}},"curvature":-0.20227161900745516},{"time":0.8374073881008411,"velocity":2.5357981493544566,"acceleration":0.07115605916892172,"pose":{"translation":{"x":1.4012929386808537,"y":-0.11691055813571438},"rotation":{"radians":-0.2116068355586935}},"curvature":-0.199856536473444},{"time":0.873953195094062,"velocity":2.538398604959242,"acceleration":0.08665759070673114,"pose":{"translation":{"x":1.4917617570608854,"y":-0.13721938244998455},"rotation":{"radians":-0.22998805342187695}},"curvature":-0.1964899195916967},{"time":0.9110795024347017,"velocity":2.5416158813052196,"acceleration":0.09862985547929774,"pose":{"translation":{"x":1.5833781127003022,"y":-0.1595607984927483},"rotation":{"radians":-0.2483266107864853}},"curvature":-0.19233428470069036},{"time":0.9488008138283838,"velocity":2.545336328796468,"acceleration":0.10745536844836236,"pose":{"translation":{"x":1.676158607006073,"y":-0.18399208784103394},"rotation":{"radians":-0.26655398309896333}},"curvature":-0.18754182089294194},{"time":0.9871311225508533,"velocity":2.5494551262429805,"acceleration":0.1135179797763805,"pose":{"translation":{"x":1.770115573599469,"y":-0.21056537021650001},"rotation":{"radians":-0.2846107903049497}},"curvature":-0.18225253988851078},{"time":1.0260837726841592,"velocity":2.5538769523930496,"acceleration":0.11719271104054726,"pose":{"translation":{"x":1.8652571830898523,"y":-0.2393277082592249},"rotation":{"radians":-0.30244634603314535}},"curvature":-0.17659310488419677},{"time":1.0656713215811824,"velocity":2.558516324571742,"acceleration":0.11883748845837393,"pose":{"translation":{"x":1.9615875478484668,"y":-0.2703212123014964},"rotation":{"radians":-0.3200181181490893}},"curvature":-0.17067626514133666},{"time":1.105905407181822,"velocity":2.563297642254941,"acceleration":0.1187868421152423,"pose":{"translation":{"x":2.0591068267822266,"y":-0.30358314514160156},"rotation":{"radians":-0.33729112761652036}},"curvature":-0.1646008057287766},{"time":1.146796623126627,"velocity":2.568154980667277,"acceleration":0.11734751442865053,"pose":{"translation":{"x":2.1578113301075064,"y":-0.3391460268176161},"rotation":{"radians":-0.3542373101961703}},"curvature":-0.15845191395296837},{"time":1.1883544039397846,"velocity":2.5730316829508717,"acceleration":0.1147958208127137,"pose":{"translation":{"x":2.257693624123931,"y":-0.3770377393811941},"rotation":{"radians":-0.3708348624485024}},"curvature":-0.15230186412129473},{"time":1.2305869219138887,"velocity":2.5778797995166967,"acceleration":0.11137653609502209,"pose":{"translation":{"x":2.3587426359881647,"y":-0.4172816316713579},"rotation":{"radians":-0.38706759009738423}},"curvature":-0.14621092848984082},{"time":1.2735009967469997,"velocity":2.582659420521331,"acceleration":0.10730304178128736,"pose":{"translation":{"x":2.4609437584877014,"y":-0.45989662408828735},"rotation":{"radians":-0.4029242733210075}},"curvature":-0.1402284325466594},{"time":1.3171020184734898,"velocity":2.5873379427773555,"acceleration":0.10275845812364134,"pose":{"translation":{"x":2.564278954814654,"y":-0.5048973133671097},"rotation":{"radians":-0.41839806017259407}},"curvature":-0.13439388534690774},{"time":1.3613938838018573,"velocity":2.5918893065659185,"acceleration":0.09789749538695466,"pose":{"translation":{"x":2.6687268633395433,"y":-0.5522940773516893},"rotation":{"radians":-0.4334858962447088}},"curvature":-0.1287381289353431},{"time":1.406378945626691,"velocity":2.596293231448397,"acceleration":0.09284878426583341,"pose":{"translation":{"x":2.7742629023850895,"y":-0.602093179768417},"rotation":{"radians":-0.448187995969697}},"curvature":-0.12328446383071472},{"time":1.4520579752148275,"velocity":2.6005344738120986,"acceleration":0.08771747993630144,"pose":{"translation":{"x":2.880859375,"y":-0.654296875},"rotation":{"radians":-0.4625073586397917}},"curvature":-0.11804971934383038},{"time":1.4984301363707808,"velocity":2.604602122927899,"acceleration":0.08258797251653865,"pose":{"translation":{"x":2.98848557373276,"y":-0.7089035128592514},"rotation":{"radians":-0.47644933034151526}},"curvature":-0.11304524771977777},{"time":1.5454929707548208,"velocity":2.6084889470005583,"acceleration":0.0775265747811966,"pose":{"translation":{"x":3.0971078854054213,"y":-0.7659076433628798},"rotation":{"radians":-0.490021211510979}},"curvature":-0.10827782955645215},{"time":1.5932423934488977,"velocity":2.6121907961898096,"acceleration":0.07258409309355207,"pose":{"translation":{"x":3.2066898958873935,"y":-0.8253001215052791},"rotation":{"radians":-0.5032319086929682}},"curvature":-0.10375048466516042},{"time":1.6416726978309895,"velocity":2.6157060659116285,"acceleration":0.06897690233206104,"pose":{"translation":{"x":3.317192494869232,"y":-0.8870682120323181},"rotation":{"radians":-0.5160916282809809}},"curvature":-0.09946318763650631},{"time":1.666140942742561,"velocity":2.617393809651131,"acceleration":0.06662762330031528,"pose":{"translation":{"x":3.3727760816236696,"y":-0.9188381762487552},"rotation":{"radians":-0.5223933499305692}},"curvature":-0.09740887163401273},{"time":1.6907765388061995,"velocity":2.6190352208654377,"acceleration":0.06432568053980162,"pose":{"translation":{"x":3.428573980636429,"y":-0.9511956942151301},"rotation":{"radians":-0.5286116094776955}},"curvature":-0.09541349105745087},{"time":1.7155783239776814,"velocity":2.6206306125751953,"acceleration":0.062073266280484714,"pose":{"translation":{"x":3.4845805914756056,"y":-0.9841382109243568},"rotation":{"radians":-0.5347479353268761}},"curvature":-0.09347644950906146},{"time":1.7405450386154049,"velocity":2.6221803781010515,"acceleration":0.05987209279523727,"pose":{"translation":{"x":3.5407901648432016,"y":-1.0176629666239023},"rotation":{"radians":-0.5408038933963395}},"curvature":-0.09159706182401153},{"time":1.7656753264754605,"velocity":2.62368498102778,"acceleration":0.05772344165733487,"pose":{"translation":{"x":3.5971968058493076,"y":-1.051767000089967},"rotation":{"radians":-0.546781081651562}},"curvature":-0.08977456657954339},{"time":1.7909677357906462,"velocity":2.6251449459412584,"acceleration":0.05562820939549227,"pose":{"translation":{"x":3.653794477286283,"y":-1.086447151901666},"rotation":{"radians":-0.5526811250772102}},"curvature":-0.08800813754015926},{"time":1.8164207204277178,"velocity":2.6265608499003896,"acceleration":0.05358694966702055,"pose":{"translation":{"x":3.7105770029029372,"y":-1.12170006771521},"rotation":{"radians":-0.5585056710629697}},"curvature":-0.08629689410238194},{"time":1.84203264111739,"velocity":2.627933314605263,"acceleration":0.05159991208767551,"pose":{"translation":{"x":3.767538070678711,"y":-1.157522201538086},"rotation":{"radians":-0.5642563851793584}},"curvature":-0.08463991080199534},{"time":1.867801766751904,"velocity":2.62926299922258,"acceleration":0.04966707786983766,"pose":{"translation":{"x":3.8246712360978563,"y":-1.1939098190032382},"rotation":{"radians":-0.5699349473203195}},"curvature":-0.08303622594547336},{"time":1.8937262757451994,"velocity":2.6305505938294873,"acceleration":0.0477881924307841,"pose":{"translation":{"x":3.8819699254236184,"y":-1.2308590006432496},"rotation":{"radians":-0.5755430481901774}},"curvature":-0.08148484942566686},{"time":1.9198042574510503,"velocity":2.631796813437453,"acceleration":0.045962795138507755,"pose":{"translation":{"x":3.939427438972416,"y":-1.268365645164522},"rotation":{"radians":-0.5810823861133668}},"curvature":-0.07998476977982921},{"time":1.9460337136347685,"velocity":2.6330023925586197,"acceleration":0.04419024636411541,"pose":{"translation":{"x":3.9970369543880224,"y":-1.3064254727214575},"rotation":{"radians":-0.5865546641462306}},"curvature":-0.07853496054580741},{"time":1.9724125599942894,"velocity":2.634168080278048,"acceleration":0.042469752013186965,"pose":{"translation":{"x":4.054791529915747,"y":-1.3450340281906392},"rotation":{"radians":-0.5919615874710755}},"curvature":-0.07713438596977641},{"time":1.9989386277267895,"velocity":2.6352946357965323,"acceleration":0.04080038570191476,"pose":{"translation":{"x":4.112684107676614,"y":-1.3841866844450124},"rotation":{"radians":-0.5973048610536026}},"curvature":-0.07578200611631837},{"time":2.0256096651371327,"velocity":2.6363828244099445,"acceleration":0.0391811087452446,"pose":{"translation":{"x":4.1707075169415475,"y":-1.423878645628065},"rotation":{"radians":-0.6025861875457454}},"curvature":-0.07447678142898713},{"time":2.052423339284756,"velocity":2.637433413892582,"acceleration":0.03761078811564214,"pose":{"translation":{"x":4.228854477405548,"y":-1.464104950428009},"rotation":{"radians":-0.6078072654168749}},"curvature":-0.07321767678680903},{"time":2.079377237665804,"velocity":2.6384471712534823,"acceleration":0.0360882125271852,"pose":{"translation":{"x":4.287117602461876,"y":-1.5048604753519612},"rotation":{"radians":-0.6129697872972361}},"curvature":-0.072003665099477},{"time":2.1064688699274488,"velocity":2.639424859836249,"acceleration":0.034612106792126944,"pose":{"translation":{"x":4.3454894024762325,"y":-1.546139938000124},"rotation":{"radians":-0.6180754385183802}},"curvature":-0.07083373048133693},{"time":2.1336956696117477,"velocity":2.6403672367345297,"acceleration":0.03318114459073614,"pose":{"translation":{"x":4.403962288060939,"y":-1.5879379003399663},"rotation":{"radians":-0.6231258958362255}},"curvature":-0.06970687104165842},{"time":2.161054995926303,"velocity":2.641275050496878,"acceleration":0.03179395978599273,"pose":{"translation":{"x":4.462528573349118,"y":-1.6302487719804049},"rotation":{"radians":-0.6281228263232281}},"curvature":-0.06862210132615378},{"time":2.1885441355394524,"velocity":2.64214903909629,"acceleration":0.03044915640939964,"pose":{"translation":{"x":4.521180479268878,"y":-1.6730668134459847},"rotation":{"radians":-0.6330678864169678}},"curvature":-0.06757845444226444},{"time":2.2161603043976914,"velocity":2.642989928141283,"acceleration":0.02914531743398559,"pose":{"translation":{"x":4.579910136817489,"y":-1.7163861394510604},"rotation":{"radians":-0.6379627211132425}},"curvature":-0.066574983898393},{"time":2.2439006495632494,"velocity":2.6437984293068615,"acceleration":0.027881012444263956,"pose":{"translation":{"x":4.638709590335566,"y":-1.7602007221739768},"rotation":{"radians":-0.6428089632925209}},"curvature":-0.06561076518502294},{"time":2.2717622510700117,"velocity":2.6445752389651886,"acceleration":0.02665480430485389,"pose":{"translation":{"x":4.69757080078125,"y":-1.80450439453125},"rotation":{"radians":-0.647608233169335}},"curvature":-0.06468489712354483},{"time":2.2997421237959372,"velocity":2.645321036997173,"acceleration":0.025465254922441442,"pose":{"translation":{"x":4.756485649004389,"y":-1.8492908534517483},"rotation":{"radians":-0.6523621378548796}},"curvature":-0.06379650300659852},{"time":2.327837219350371,"velocity":2.646036485767537,"acceleration":0.02431093018774099,"pose":{"translation":{"x":4.815445939020719,"y":-1.894553663150873},"rotation":{"radians":-0.6570722710237484}},"curvature":-0.06294473155184836},{"time":2.356044427974814,"velocity":2.646722229247197,"acceleration":0.023190404178119926,"pose":{"translation":{"x":4.874443401286044,"y":-1.9402862584047398},"rotation":{"radians":-0.6617402126763631}},"curvature":-0.062128757689329704},{"time":2.3843605804557435,"velocity":2.647378892267999,"acceleration":0.0221022626952452,"pose":{"translation":{"x":4.933469695970416,"y":-1.986481947824359},"rotation":{"radians":-0.6663675289892359}},"curvature":-0.06134778320084009},{"time":2.412782450048192,"velocity":2.648007079896021,"acceleration":0.021045106204742755,"pose":{"translation":{"x":4.99251641623232,"y":-2.033133917129817},"rotation":{"radians":-0.6709557722457755}},"curvature":-0.060601037228293915},{"time":2.441306754409087,"velocity":2.6486073769107126,"acceleration":0.020017552240451222,"pose":{"translation":{"x":5.05157509149285,"y":-2.0802352324244566},"rotation":{"radians":-0.6755064808408625}},"curvature":-0.05988777666651089},{"time":2.46993015753905,"velocity":2.649180347378166,"acceleration":0.019018237329351578,"pose":{"translation":{"x":5.110637190709895,"y":-2.127778843469059},"rotation":{"radians":-0.6800211793529247}},"curvature":-0.059207286454563475},{"time":2.4986492717320297,"velocity":2.649726534307777,"acceleration":0.01804581848912495,"pose":{"translation":{"x":5.169694125652313,"y":-2.175757586956024},"rotation":{"radians":-0.6845013786777033}},"curvature":-0.058558879778560675},{"time":2.52746065953155,"velocity":2.650246459382427,"acceleration":0.017098974344582584,"pose":{"translation":{"x":5.228737254174121,"y":-2.2241641897835507},"rotation":{"radians":-0.6889485762183403}},"curvature":-0.057941898197592274},{"time":2.5563608356931002,"velocity":2.650740622753167,"acceleration":0.016176405905413027,"pose":{"translation":{"x":5.287757883488666,"y":-2.2729912723298185},"rotation":{"radians":-0.6933642561268223}},"curvature":-0.05735571170349064},{"time":2.5853462691517213,"velocity":2.651209502890138,"acceleration":0.015276837044011211,"pose":{"translation":{"x":5.346747273442816,"y":-2.3222313517271687},"rotation":{"radians":-0.697749889592203}},"curvature":-0.05679971872408576},{"time":2.614413384994255,"velocity":2.651653556482204,"acceleration":0.01439901470690396,"pose":{"translation":{"x":5.405696639791131,"y":-2.371876845136285},"rotation":{"radians":-0.702106935171379}},"curvature":-0.056273346078724217},{"time":2.643558566435695,"velocity":2.6520732183784146,"acceleration":0.01354170889213433,"pose":{"translation":{"x":5.4645971574700525,"y":-2.421920073020374},"rotation":{"radians":-0.7064368391585247}},"curvature":-0.055776048893992014},{"time":2.6727781567989752,"velocity":2.6524689015650615,"acceleration":0.012703712419451355,"pose":{"translation":{"x":5.523439963872079,"y":-2.4723532624193467},"rotation":{"radians":-0.7107410359896046}},"curvature":-0.05530731048681846},{"time":2.702068461497951,"velocity":2.6528409971726354,"acceleration":0.011883840518918077,"pose":{"translation":{"x":5.582216162119948,"y":-2.5231685502239998},"rotation":{"radians":-0.7150209486786628}},"curvature":-0.05486664222143903},{"time":2.731425750022858,"velocity":2.6531898745075333,"acceleration":0.011080930260113748,"pose":{"translation":{"x":5.64091682434082,"y":-2.5743579864501953},"rotation":{"radians":-0.7192779892828582}},"curvature":-0.05445358334605495},{"time":2.760846257928279,"velocity":2.6535158811038504,"acceleration":0.010293839842450662,"pose":{"translation":{"x":5.699532994940455,"y":-2.6259135375130427},"rotation":{"radians":-0.7235135593934571}},"curvature":-0.05406770081444218},{"time":2.7903261888227715,"velocity":2.653819342791045,"acceleration":0.009521447763124576,"pose":{"translation":{"x":5.758055693877395,"y":-2.677827089501079},"rotation":{"radians":-0.7277290506502201}},"curvature":-0.053708589097225895},{"time":2.8198617163603883,"velocity":2.6541005637736506,"acceleration":0.008762651880582464,"pose":{"translation":{"x":5.816475919937147,"y":-2.730090451450451},"rotation":{"radians":-0.7319258452768336}},"curvature":-0.05337586998704912},{"time":2.8494489862334564,"velocity":2.654359826719645,"acceleration":0.008016368385368833,"pose":{"translation":{"x":5.874784654006362,"y":-2.782695358619094},"rotation":{"radians":-0.7361053166352199}},"curvature":-0.05306919240141616},{"time":2.8790841181664963,"velocity":2.6545973928543694,"acceleration":0.007281530692448758,"pose":{"translation":{"x":5.932972862347015,"y":-2.8356334757609147},"rotation":{"radians":-0.7402688297967409}},"curvature":-0.05278823218658412},{"time":2.9087632079113286,"velocity":2.6548135020572703,"acceleration":0.006557088265266151,"pose":{"translation":{"x":5.991031499870587,"y":-2.8888964003999718},"rotation":{"radians":-0.744417742128466}},"curvature":-0.052532691925503534},{"time":2.9384823292426523,"velocity":2.655008372959006,"acceleration":0.005842005381574974,"pose":{"translation":{"x":6.0489515134122485,"y":-2.942475666104656},"rotation":{"radians":-0.7485534038928245}},"curvature":-0.052302300752467605},{"time":2.9682375359545055,"velocity":2.6551822030367465,"acceleration":0.005135259849118856,"pose":{"translation":{"x":6.106723845005035,"y":-2.9963627457618713},"rotation":{"radians":-0.7526771588590875}},"curvature":-0.052096814176818704},{"time":2.99802486385731,"velocity":2.6553351687057383,"acceleration":0.0044358416793832366,"pose":{"translation":{"x":6.164339435154034,"y":-3.050549054851217},"rotation":{"radians":-0.7567903449252481}},"curvature":-0.05191601391777436},{"time":3.027840332775114,"velocity":2.655467425405454,"acceleration":0.0037427517259545355,"pose":{"translation":{"x":6.221789226110559,"y":-3.105025954719167},"rotation":{"radians":-0.7608942947489714}},"curvature":-0.05175970775217297},{"time":3.057679948543295,"velocity":2.6555791076788724,"acceleration":0.0030550002927687875,"pose":{"translation":{"x":6.2790641651463375,"y":-3.159784755853252},"rotation":{"radians":-0.7649903363863789}},"curvature":-0.05162772937669655},{"time":3.087539705006635,"velocity":2.65567032924361,"acceleration":0.002371605718483283,"pose":{"translation":{"x":6.336155207827687,"y":-3.2148167211562395},"rotation":{"radians":-0.7690797939375139}},"curvature":-0.05151993828590486},{"time":3.1174155860174904,"velocity":2.65574118305386,"acceleration":0.001691592940688964,"pose":{"translation":{"x":6.393053321289699,"y":-3.270113069220315},"rotation":{"radians":-0.7731639881974063}},"curvature":-0.05143621966720566},{"time":3.147303567433884,"velocity":2.6557917413522354,"acceleration":0.001013992045021093,"pose":{"translation":{"x":6.449749487510417,"y":-3.3256649776012637},"rotation":{"radians":-0.7772442373117127}},"curvature":-0.05137648431369161},{"time":3.177199619118343,"velocity":2.655822055710821,"acceleration":3.3783680230273406E-4,"pose":{"translation":{"x":6.506234706585019,"y":-3.38146358609265},"rotation":{"radians":-0.7813218574359585}},"curvature":-0.05134066855558977},{"time":3.207099706935908,"velocity":2.655832157060878,"acceleration":-3.3783680230273406E-4,"pose":{"translation":{"x":6.5625,"y":-3.4375},"rotation":{"radians":-0.7853981633974483}},"curvature":-0.05132873421089494},{"time":3.2369997947534728,"velocity":2.655822055710821,"acceleration":-0.001013992045021093,"pose":{"translation":{"x":6.61853641390735,"y":-3.493765293414981},"rotation":{"radians":-0.7894744693589382}},"curvature":-0.05134066855558977},{"time":3.266895846437932,"velocity":2.6557917413522354,"acceleration":-0.001691592940688964,"pose":{"translation":{"x":6.674335022398736,"y":-3.5502505124895833},"rotation":{"radians":-0.793552089483184}},"curvature":-0.05137648431369161},{"time":3.2967838278543256,"velocity":2.65574118305386,"acceleration":-0.002371605718483283,"pose":{"translation":{"x":6.729886930779685,"y":-3.606946678710301},"rotation":{"radians":-0.7976323385974903}},"curvature":-0.05143621966720566},{"time":3.326659708865181,"velocity":2.65567032924361,"acceleration":-0.0030550002927687875,"pose":{"translation":{"x":6.7851832788437605,"y":-3.6638447921723127},"rotation":{"radians":-0.8017165328573828}},"curvature":-0.05151993828590486},{"time":3.356519465328521,"velocity":2.6555791076788724,"acceleration":-0.0037427517259545355,"pose":{"translation":{"x":6.840215244146748,"y":-3.7209358348536625},"rotation":{"radians":-0.8058059904085177}},"curvature":-0.05162772937669655},{"time":3.386359081096702,"velocity":2.655467425405454,"acceleration":-0.0044358416793832366,"pose":{"translation":{"x":6.894974045280833,"y":-3.778210773889441},"rotation":{"radians":-0.8099020320459251}},"curvature":-0.05175970775217297},{"time":3.4161745500145058,"velocity":2.6553351687057383,"acceleration":-0.005135259849118856,"pose":{"translation":{"x":6.949450945148783,"y":-3.8356605648459663},"rotation":{"radians":-0.8140059818696486}},"curvature":-0.05191601391777436},{"time":3.4459618779173105,"velocity":2.6551822030367465,"acceleration":-0.005842005381574908,"pose":{"translation":{"x":7.003637254238129,"y":-3.8932761549949646},"rotation":{"radians":-0.8181191679358092}},"curvature":-0.052096814176818704},{"time":3.475717084629164,"velocity":2.655008372959006,"acceleration":-0.006557088265266077,"pose":{"translation":{"x":7.057524333895344,"y":-3.9510484865877515},"rotation":{"radians":-0.8222429229020721}},"curvature":-0.052302300752467605},{"time":3.505436205960488,"velocity":2.6548135020572703,"acceleration":-0.007281530692448676,"pose":{"translation":{"x":7.111103599600028,"y":-4.008968500129413},"rotation":{"radians":-0.8263785846664307}},"curvature":-0.052532691925503534},{"time":3.535115295705321,"velocity":2.6545973928543694,"acceleration":-0.008016368385368924,"pose":{"translation":{"x":7.164366524239085,"y":-4.067027137652985},"rotation":{"radians":-0.8305274969981558}},"curvature":-0.05278823218658412},{"time":3.5647504276383604,"velocity":2.654359826719645,"acceleration":-0.008762651880582365,"pose":{"translation":{"x":7.217304641380906,"y":-4.125215345993638},"rotation":{"radians":-0.8346910101596766}},"curvature":-0.05306919240141616},{"time":3.594337697511429,"velocity":2.6541005637736506,"acceleration":-0.009521447763124684,"pose":{"translation":{"x":7.269909548549549,"y":-4.183524080062853},"rotation":{"radians":-0.838870481518063}},"curvature":-0.05337586998704912},{"time":3.6238732250490453,"velocity":2.653819342791045,"acceleration":-0.010293839842450662,"pose":{"translation":{"x":7.322172910498921,"y":-4.241944306122605},"rotation":{"radians":-0.8430672761446766}},"curvature":-0.053708589097225895},{"time":3.6533531559435377,"velocity":2.6535158811038504,"acceleration":-0.011080930260113623,"pose":{"translation":{"x":7.374086462486957,"y":-4.300467005059545},"rotation":{"radians":-0.8472827674014396}},"curvature":-0.05406770081444218},{"time":3.682773663848959,"velocity":2.6531898745075333,"acceleration":-0.011883840518918212,"pose":{"translation":{"x":7.425642013549805,"y":-4.35908317565918},"rotation":{"radians":-0.8515183375120384}},"curvature":-0.05445358334605495},{"time":3.7121309523738657,"velocity":2.6528409971726354,"acceleration":-0.012703712419451209,"pose":{"translation":{"x":7.476831449776,"y":-4.417783837880052},"rotation":{"radians":-0.8557753781162338}},"curvature":-0.05486664222143903},{"time":3.741421257072842,"velocity":2.6524689015650615,"acceleration":-0.013541708892134484,"pose":{"translation":{"x":7.527646737580653,"y":-4.476560036127921},"rotation":{"radians":-0.8600552908052921}},"curvature":-0.05530731048681846},{"time":3.770640847436122,"velocity":2.6520732183784146,"acceleration":-0.014399014706904125,"pose":{"translation":{"x":7.578079926979626,"y":-4.5354028425299475},"rotation":{"radians":-0.8643594876363718}},"curvature":-0.055776048893992014},{"time":3.7997860288775613,"velocity":2.651653556482204,"acceleration":-0.015276837044011211,"pose":{"translation":{"x":7.628123154863715,"y":-4.594303360208869},"rotation":{"radians":-0.8686893916235175}},"curvature":-0.056273346078724217},{"time":3.828853144720095,"velocity":2.651209502890138,"acceleration":-0.01617640590541284,"pose":{"translation":{"x":7.677768648272831,"y":-4.653252726557184},"rotation":{"radians":-0.8730464372026936}},"curvature":-0.05679971872408576},{"time":3.8578385781787166,"velocity":2.650740622753167,"acceleration":-0.017098974344582386,"pose":{"translation":{"x":7.7270087276701815,"y":-4.712242116511334},"rotation":{"radians":-0.8774320706680744}},"curvature":-0.05735571170349064},{"time":3.886738754340267,"velocity":2.650246459382427,"acceleration":-0.018045818489125162,"pose":{"translation":{"x":7.775835810216449,"y":-4.771262745825879},"rotation":{"radians":-0.8818477505765563}},"curvature":-0.057941898197592274},{"time":3.9155501421397867,"velocity":2.649726534307777,"acceleration":-0.019018237329351578,"pose":{"translation":{"x":7.824242413043976,"y":-4.830305874347687},"rotation":{"radians":-0.8862949481171933}},"curvature":-0.058558879778560675},{"time":3.9442692563327664,"velocity":2.649180347378166,"acceleration":-0.020017552240451222,"pose":{"translation":{"x":7.872221156530941,"y":-4.889362809290105},"rotation":{"radians":-0.890775147441972}},"curvature":-0.059207286454563475},{"time":3.972892659462729,"velocity":2.6486073769107126,"acceleration":-0.021045106204742755,"pose":{"translation":{"x":7.919764767575543,"y":-4.94842490850715},"rotation":{"radians":-0.895289845954034}},"curvature":-0.05988777666651089},{"time":4.001416963823624,"velocity":2.648007079896021,"acceleration":-0.0221022626952452,"pose":{"translation":{"x":7.966866082870183,"y":-5.00748358376768},"rotation":{"radians":-0.899840554549121}},"curvature":-0.060601037228293915},{"time":4.029838833416073,"velocity":2.647378892267999,"acceleration":-0.023190404178119926,"pose":{"translation":{"x":8.013518052175641,"y":-5.066530304029584},"rotation":{"radians":-0.9044287978056607}},"curvature":-0.06134778320084009},{"time":4.058154985897002,"velocity":2.646722229247197,"acceleration":-0.024310930187741282,"pose":{"translation":{"x":8.05971374159526,"y":-5.125556598713956},"rotation":{"radians":-0.9090561141185335}},"curvature":-0.062128757689329704},{"time":4.0863621945214454,"velocity":2.646036485767537,"acceleration":-0.025465254922441442,"pose":{"translation":{"x":8.105446336849127,"y":-5.184554060979281},"rotation":{"radians":-0.9137240557711481}},"curvature":-0.06294473155184836},{"time":4.114457290075879,"velocity":2.645321036997173,"acceleration":-0.026654804304853567,"pose":{"translation":{"x":8.150709146548252,"y":-5.243514350995611},"rotation":{"radians":-0.918434188940017}},"curvature":-0.06379650300659852},{"time":4.142437162801805,"velocity":2.6445752389651886,"acceleration":-0.027881012444263956,"pose":{"translation":{"x":8.19549560546875,"y":-5.30242919921875},"rotation":{"radians":-0.9231880936255615}},"curvature":-0.06468489712354483},{"time":4.170298764308567,"velocity":2.6437984293068615,"acceleration":-0.029145317433985945,"pose":{"translation":{"x":8.239799277826023,"y":-5.361290409664434},"rotation":{"radians":-0.9279873635023757}},"curvature":-0.06561076518502294},{"time":4.1980391094741245,"velocity":2.642989928141283,"acceleration":-0.03044915640939927,"pose":{"translation":{"x":8.28361386054894,"y":-5.420089863182511},"rotation":{"radians":-0.9328336056816542}},"curvature":-0.066574983898393},{"time":4.225655278332364,"velocity":2.64214903909629,"acceleration":-0.03179395978599273,"pose":{"translation":{"x":8.326933186554015,"y":-5.478819520731122},"rotation":{"radians":-0.9377284403779288}},"curvature":-0.06757845444226444},{"time":4.253144417945514,"velocity":2.641275050496878,"acceleration":-0.03318114459073614,"pose":{"translation":{"x":8.369751228019595,"y":-5.537471426650882},"rotation":{"radians":-0.9426735004716684}},"curvature":-0.06862210132615378},{"time":4.280503744260069,"velocity":2.6403672367345297,"acceleration":-0.034612106792126514,"pose":{"translation":{"x":8.412062099660034,"y":-5.596037711939061},"rotation":{"radians":-0.9476704309586711}},"curvature":-0.06970687104165842},{"time":4.307730543944368,"velocity":2.639424859836249,"acceleration":-0.0360882125271852,"pose":{"translation":{"x":8.453860061999876,"y":-5.6545105975237675},"rotation":{"radians":-0.9527208882765165}},"curvature":-0.07083373048133693},{"time":4.334822176206013,"velocity":2.6384471712534823,"acceleration":-0.03761078811564214,"pose":{"translation":{"x":8.495139524648039,"y":-5.712882397538124},"rotation":{"radians":-0.9578265394976606}},"curvature":-0.072003665099477},{"time":4.361776074587062,"velocity":2.637433413892582,"acceleration":-0.0391811087452446,"pose":{"translation":{"x":8.535895049571991,"y":-5.771145522594452},"rotation":{"radians":-0.9629890613780216}},"curvature":-0.07321767678680903},{"time":4.388589748734685,"velocity":2.6363828244099445,"acceleration":-0.04080038570191476,"pose":{"translation":{"x":8.576121354371935,"y":-5.8292924830584525},"rotation":{"radians":-0.9682101392491511}},"curvature":-0.07447678142898713},{"time":4.415260786145029,"velocity":2.6352946357965323,"acceleration":-0.042469752013186424,"pose":{"translation":{"x":8.615813315554988,"y":-5.887315892323386},"rotation":{"radians":-0.9734914657412941}},"curvature":-0.07578200611631837},{"time":4.441786853877529,"velocity":2.634168080278048,"acceleration":-0.04419024636411541,"pose":{"translation":{"x":8.65496597180936,"y":-5.945208470084253},"rotation":{"radians":-0.9788347393238211}},"curvature":-0.07713438596977641},{"time":4.46816570023705,"velocity":2.6330023925586197,"acceleration":-0.045962795138507755,"pose":{"translation":{"x":8.693574527278543,"y":-6.002963045611978},"rotation":{"radians":-0.9842416626486661}},"curvature":-0.07853496054580741},{"time":4.494395156420768,"velocity":2.631796813437453,"acceleration":-0.0477881924307841,"pose":{"translation":{"x":8.731634354835478,"y":-6.060572561027584},"rotation":{"radians":-0.9897139406815298}},"curvature":-0.07998476977982921},{"time":4.5204731381266186,"velocity":2.6305505938294873,"acceleration":-0.04966707786983701,"pose":{"translation":{"x":8.76914099935675,"y":-6.118030074576382},"rotation":{"radians":-0.9952532786047192}},"curvature":-0.08148484942566686},{"time":4.546397647119914,"velocity":2.62926299922258,"acceleration":-0.05159991208767551,"pose":{"translation":{"x":8.806090180996762,"y":-6.175328763902144},"rotation":{"radians":-1.000861379474577}},"curvature":-0.08303622594547336},{"time":4.572166772754428,"velocity":2.627933314605263,"acceleration":-0.05358694966702055,"pose":{"translation":{"x":8.842477798461914,"y":-6.232461929321289},"rotation":{"radians":-1.0065399416155383}},"curvature":-0.08463991080199534},{"time":4.597778693444099,"velocity":2.6265608499003896,"acceleration":-0.05562820939549227,"pose":{"translation":{"x":8.87829993228479,"y":-6.289422997097063},"rotation":{"radians":-1.012290655731927}},"curvature":-0.08629689410238194},{"time":4.623231678081171,"velocity":2.6251449459412584,"acceleration":-0.057723441657334486,"pose":{"translation":{"x":8.913552848098334,"y":-6.346205522713717},"rotation":{"radians":-1.0181152017176864}},"curvature":-0.08800813754015926},{"time":4.648524087396357,"velocity":2.62368498102778,"acceleration":-0.05987209279523727,"pose":{"translation":{"x":8.948232999910033,"y":-6.402803194150692},"rotation":{"radians":-1.0240152451433346}},"curvature":-0.08977456657954339},{"time":4.673654375256413,"velocity":2.6221803781010515,"acceleration":-0.06207326628048514,"pose":{"translation":{"x":8.982337033376098,"y":-6.459209835156798},"rotation":{"radians":-1.029992433398557}},"curvature":-0.09159706182401153},{"time":4.698621089894136,"velocity":2.6206306125751953,"acceleration":-0.06432568053980162,"pose":{"translation":{"x":9.015861789075643,"y":-6.515419408524394},"rotation":{"radians":-1.0360483914680205}},"curvature":-0.09347644950906146},{"time":4.7234228750656175,"velocity":2.6190352208654377,"acceleration":-0.06662762330031574,"pose":{"translation":{"x":9.04880430578487,"y":-6.571426019363571},"rotation":{"radians":-1.0421847173172012}},"curvature":-0.09541349105745087},{"time":4.748058471129256,"velocity":2.617393809651131,"acceleration":-0.06897690233206008,"pose":{"translation":{"x":9.081161823751245,"y":-6.62722391837633},"rotation":{"radians":-1.0484029768643275}},"curvature":-0.09740887163401273},{"time":4.772526716040828,"velocity":2.6157060659116285,"acceleration":-0.07258409309355233,"pose":{"translation":{"x":9.112931787967682,"y":-6.682807505130768},"rotation":{"radians":-1.0547046985139157}},"curvature":-0.09946318763650631},{"time":4.820957020422919,"velocity":2.6121907961898096,"acceleration":-0.07752657478119632,"pose":{"translation":{"x":9.174699878494721,"y":-6.7933101041126065},"rotation":{"radians":-1.0675644181019284}},"curvature":-0.10375048466516042},{"time":4.868706443116996,"velocity":2.6084889470005583,"acceleration":-0.08258797251653925,"pose":{"translation":{"x":9.23409235663712,"y":-6.902892114594579},"rotation":{"radians":-1.0807751152839176}},"curvature":-0.10827782955645215},{"time":4.9157692775010355,"velocity":2.604602122927899,"acceleration":-0.08771747993630112,"pose":{"translation":{"x":9.291096487140749,"y":-7.01151442626724},"rotation":{"radians":-1.0943469964533814}},"curvature":-0.11304524771977777},{"time":4.962141438656989,"velocity":2.6005344738120986,"acceleration":-0.09284878426583341,"pose":{"translation":{"x":9.345703125,"y":-7.119140625},"rotation":{"radians":-1.108288968155105}},"curvature":-0.11804971934383038},{"time":5.007820468245125,"velocity":2.596293231448397,"acceleration":-0.09789749538695429,"pose":{"translation":{"x":9.397906820231583,"y":-7.2257370976149105},"rotation":{"radians":-1.1226083308251997}},"curvature":-0.12328446383071472},{"time":5.052805530069959,"velocity":2.5918893065659185,"acceleration":-0.10275845812364096,"pose":{"translation":{"x":9.44770592264831,"y":-7.331273136660457},"rotation":{"radians":-1.1373104305501878}},"curvature":-0.1287381289353431},{"time":5.097097395398326,"velocity":2.5873379427773555,"acceleration":-0.10730304178128651,"pose":{"translation":{"x":9.49510268663289,"y":-7.435721045185346},"rotation":{"radians":-1.1523982666223025}},"curvature":-0.13439388534690774},{"time":5.140698417124817,"velocity":2.582659420521331,"acceleration":-0.11137653609502164,"pose":{"translation":{"x":9.540103375911713,"y":-7.539056241512299},"rotation":{"radians":-1.1678720534738891}},"curvature":-0.1402284325466594},{"time":5.183612491957928,"velocity":2.5778797995166967,"acceleration":-0.11479582081271464,"pose":{"translation":{"x":9.582718368328642,"y":-7.641257364011835},"rotation":{"radians":-1.1837287366975124}},"curvature":-0.14621092848984082},{"time":5.225845009932032,"velocity":2.5730316829508717,"acceleration":-0.11734751442865102,"pose":{"translation":{"x":9.622962260618806,"y":-7.742306375876069},"rotation":{"radians":-1.1999614643463943}},"curvature":-0.15230186412129473},{"time":5.267402790745189,"velocity":2.568154980667277,"acceleration":-0.1187868421152423,"pose":{"translation":{"x":9.660853973182384,"y":-7.842188669892494},"rotation":{"radians":-1.2165590165987263}},"curvature":-0.15845191395296837},{"time":5.3082940066899935,"velocity":2.563297642254941,"acceleration":-0.11883748845837316,"pose":{"translation":{"x":9.696416854858398,"y":-7.940893173217773},"rotation":{"radians":-1.2335051991783763}},"curvature":-0.1646008057287766},{"time":5.348528092290633,"velocity":2.558516324571742,"acceleration":-0.117192711040547,"pose":{"translation":{"x":9.729678787698504,"y":-8.038412452151533},"rotation":{"radians":-1.2507782086458072}},"curvature":-0.17067626514133666},{"time":5.388115641187656,"velocity":2.5538769523930496,"acceleration":-0.11351797977638026,"pose":{"translation":{"x":9.760672291740775,"y":-8.134742816910148},"rotation":{"radians":-1.2683499807617513}},"curvature":-0.17659310488419677},{"time":5.427068291320961,"velocity":2.5494551262429805,"acceleration":-0.10745536844836187,"pose":{"translation":{"x":9.7894346297835,"y":-8.229884426400531},"rotation":{"radians":-1.2861855364899468}},"curvature":-0.18225253988851078},{"time":5.465398600043431,"velocity":2.545336328796468,"acceleration":-0.09862985547929842,"pose":{"translation":{"x":9.816007912158966,"y":-8.323841392993927},"rotation":{"radians":-1.3042423436959334}},"curvature":-0.18754182089294194},{"time":5.503119911437113,"velocity":2.5416158813052196,"acceleration":-0.08665759070672151,"pose":{"translation":{"x":9.840439201507252,"y":-8.416621887299698},"rotation":{"radians":-1.3224697160084113}},"curvature":-0.19233428470069036},{"time":5.540246218777752,"velocity":2.5383986049592426,"acceleration":-0.07115605916893182,"pose":{"translation":{"x":9.862780617550015,"y":-8.508238242939115},"rotation":{"radians":-1.3408082733730198}},"curvature":-0.1964899195916967},{"time":5.576792025770974,"velocity":2.5357981493544566,"acceleration":-0.05175593347649911,"pose":{"translation":{"x":9.883089441864286,"y":-8.598707061319146},"rotation":{"radians":-1.359189491236203}},"curvature":-0.199856536473444},{"time":5.6127722108283375,"velocity":2.5339359612901555,"acceleration":-0.02811427167115885,"pose":{"translation":{"x":9.90142822265625,"y":-8.68804931640625},"rotation":{"radians":-1.377535366720458}},"curvature":-0.20227161900745516},{"time":5.648201899224607,"velocity":2.5329398814053583,"acceleration":7.138845325301986E-5,"pose":{"translation":{"x":9.917864879535045,"y":-8.77629045950016},"rotation":{"radians":-1.3957582302808835}},"curvature":-0.20356489854681434},{"time":5.683096348442506,"velocity":2.532942372466115,"acceleration":0.033048537887366274,"pose":{"translation":{"x":9.932472808286548,"y":-8.863460524007678},"rotation":{"radians":-1.4137607299223527}},"curvature":-0.20356166296129774},{"time":5.717470852336764,"velocity":2.534078399560424,"acceleration":0.07099527616697,"pose":{"translation":{"x":9.94533098564716,"y":-8.949594230216462},"rotation":{"radians":-1.4314360119831262}},"curvature":-0.20208676461993152},{"time":5.751340669926145,"velocity":2.536482996613907,"acceleration":0.11400629935955761,"pose":{"translation":{"x":9.956524074077606,"y":-9.034731090068817},"rotation":{"radians":-1.4486681178031746}},"curvature":-0.19896924595594245},{"time":5.784720984636492,"velocity":2.540288562765491,"acceleration":0.16207939440798655,"pose":{"translation":{"x":9.966142526536714,"y":-9.118915511935484},"rotation":{"radians":-1.4653326095528878}},"curvature":-0.19404745661562758},{"time":5.817626899715159,"velocity":2.545621933553882,"acceleration":-0.22957858491304,"pose":{"translation":{"x":9.974282691255212,"y":-9.202196905389428},"rotation":{"radians":-1.481297431581275}},"curvature":-0.18717450044020895},{"time":5.850165697797278,"velocity":2.5381517223354177,"acceleration":-4.500000000000005,"pose":{"translation":{"x":9.981046916509513,"y":-9.284629785979632},"rotation":{"radians":-1.4964240065300516}},"curvature":-0.1782238294413945},{"time":5.8833834158415845,"velocity":2.3886719911360403,"acceleration":-4.499999999999995,"pose":{"translation":{"x":9.986543655395508,"y":-9.366273880004883},"rotation":{"radians":-1.5105685589576776}},"curvature":-0.1670947999411318},{"time":5.918468396123762,"velocity":2.2307895798662423,"acceleration":-4.499999999999995,"pose":{"translation":{"x":9.990887570602354,"y":-9.447194229287561},"rotation":{"radians":-1.523583654151162}},"curvature":-0.15371802470468285},{"time":5.955893148641585,"velocity":2.0623781935360395,"acceleration":-4.500000000000003,"pose":{"translation":{"x":9.994199639186263,"y":-9.527461295947433},"rotation":{"radians":-1.5353199368767214}},"curvature":-0.13806039182086433},{"time":5.996334847397302,"velocity":1.8803905491353148,"acceleration":-4.500000000000003,"pose":{"translation":{"x":9.996607257344294,"y":-9.607151067175437},"rotation":{"radians":-1.5456280544596928}},"curvature":-0.12012966946706},{"time":6.040828416383317,"velocity":1.6801694886982486,"acceleration":-4.5,"pose":{"translation":{"x":9.99824434518814,"y":-9.686345160007477},"rotation":{"radians":-1.554360750792786}},"curvature":-0.0999786645789153},{"time":6.0911094186334465,"velocity":1.453904978572664,"acceleration":-4.499999999999998,"pose":{"translation":{"x":9.999251451517921,"y":-9.765130926098209},"rotation":{"radians":-1.561375122117149}},"curvature":-0.07770893881369795},{"time":6.1505509158384495,"velocity":1.1864182411501487,"acceleration":-4.500000000000002,"pose":{"translation":{"x":9.999775858595967,"y":-9.843601556494832},"rotation":{"radians":-1.5665350305744945}},"curvature":-0.05347409186319095},{"time":6.227837974467008,"velocity":0.8386264773216386,"acceleration":-4.5,"pose":{"translation":{"x":9.999971686920617,"y":-9.921856186410878},"rotation":{"radians":-1.5697136758781756}},"curvature":-0.02748258627930911},{"time":6.414199413871816,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":10.0,"y":-10.0},"rotation":{"radians":-1.5707963267948966}},"curvature":0.0}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":0.0,"y":0.0},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.19766615633223833,"velocity":0.7906646253289533,"acceleration":4.000000000000002,"pose":{"translation":{"x":0.07814381358912215,"y":-2.831307938322425E-5},"rotation":{"radians":-0.0010826509167209514}},"curvature":-0.02748258627930911},{"time":0.2796414612135618,"velocity":1.1185658448542475,"acceleration":4.000000000000003,"pose":{"translation":{"x":0.15639844350516796,"y":-2.2414140403270721E-4},"rotation":{"radians":-0.004261296220402157}},"curvature":-0.05347409186319095},{"time":0.34268868984987044,"velocity":1.3707547593994822,"acceleration":4.000000000000002,"pose":{"translation":{"x":0.23486907390179113,"y":-7.485484820790589E-4},"rotation":{"radians":-0.0094212046777475}},"curvature":-0.07770893881369795},{"time":0.39601974633375453,"velocity":1.5840789853350186,"acceleration":4.0,"pose":{"translation":{"x":0.3136548399925232,"y":-0.0017556548118591309},"rotation":{"radians":-0.01643557600211064}},"curvature":-0.0999786645789153},{"time":0.44321230285755786,"velocity":1.7728492114302319,"acceleration":4.0,"pose":{"translation":{"x":0.39284893282456324,"y":-0.0033927426557056606},"rotation":{"radians":-0.0251682723352039}},"curvature":-0.12012966946706},{"time":0.4861072020068641,"velocity":1.9444288080274568,"acceleration":4.0,"pose":{"translation":{"x":0.4725387040525675,"y":-0.005800360813736916},"rotation":{"radians":-0.03547638991817513}},"curvature":-0.13806039182086433},{"time":0.5258021464412357,"velocity":2.103208585764943,"acceleration":4.0,"pose":{"translation":{"x":0.552805770712439,"y":-0.009112429397646338},"rotation":{"radians":-0.047212672643734674}},"curvature":-0.15371802470468285},{"time":0.5630153876542214,"velocity":2.252061550616886,"acceleration":4.0,"pose":{"translation":{"x":0.6337261199951172,"y":-0.013456344604492188},"rotation":{"radians":-0.06022776783721897}},"curvature":-0.1670947999411318},{"time":0.5982480981812291,"velocity":2.392992392724917,"acceleration":3.9999999999999947,"pose":{"translation":{"x":0.7153702140203677,"y":-0.018953083490487188},"rotation":{"radians":-0.07437232026484512}},"curvature":-0.1782238294413945},{"time":0.6318668832107774,"velocity":2.52746753284311,"acceleration":0.38823611537516173,"pose":{"translation":{"x":0.7978030946105719,"y":-0.02571730874478817},"rotation":{"radians":-0.08949889521362152}},"curvature":-0.18717450044020895},{"time":0.6648906783051391,"velocity":2.5402885627654905,"acceleration":-0.11400629935955671,"pose":{"translation":{"x":0.8810844880645163,"y":-0.033857473463285714},"rotation":{"radians":-0.10546371724200888}},"curvature":-0.19404745661562758},{"time":0.6982709930154869,"velocity":2.5364829966139064,"acceleration":-0.07099527616695459,"pose":{"translation":{"x":0.9652689099311829,"y":-0.0434759259223938},"rotation":{"radians":-0.12212820899172197}},"curvature":-0.19896924595594245},{"time":0.7321408106048682,"velocity":2.534078399560424,"acceleration":-0.03304853788736611,"pose":{"translation":{"x":1.0504057697835378,"y":-0.05466901435283944},"rotation":{"radians":-0.1393603148117705}},"curvature":-0.20208676461993152},{"time":0.7665153144991269,"velocity":2.532942372466115,"acceleration":-7.138845325302023E-5,"pose":{"translation":{"x":1.136539475992322,"y":-0.06752719171345234},"rotation":{"radians":-0.15703559687254381}},"curvature":-0.20356166296129774},{"time":0.8014097637170255,"velocity":2.5329398814053583,"acceleration":0.02811427167115899,"pose":{"translation":{"x":1.22370954049984,"y":-0.08213512046495453},"rotation":{"radians":-0.17503809651401303}},"curvature":-0.20356489854681434},{"time":0.8368394521132947,"velocity":2.5339359612901555,"acceleration":0.05175593347649886,"pose":{"translation":{"x":1.31195068359375,"y":-0.09857177734375},"rotation":{"radians":-0.19326096007443874}},"curvature":-0.20227161900745516},{"time":0.8728196371706587,"velocity":2.5357981493544566,"acceleration":0.07115605916893131,"pose":{"translation":{"x":1.4012929386808537,"y":-0.11691055813571438},"rotation":{"radians":-0.2116068355586935}},"curvature":-0.199856536473444},{"time":0.9093654441638808,"velocity":2.5383986049592426,"acceleration":0.08665759070673584,"pose":{"translation":{"x":1.4917617570608854,"y":-0.13721938244998455},"rotation":{"radians":-0.22998805342187695}},"curvature":-0.1964899195916967},{"time":0.9464917515045184,"velocity":2.54161588130522,"acceleration":0.09862985547928385,"pose":{"translation":{"x":1.5833781127003022,"y":-0.1595607984927483},"rotation":{"radians":-0.2483266107864853}},"curvature":-0.19233428470069036},{"time":0.9842130628982012,"velocity":2.545336328796468,"acceleration":0.10745536844836236,"pose":{"translation":{"x":1.676158607006073,"y":-0.18399208784103394},"rotation":{"radians":-0.26655398309896333}},"curvature":-0.18754182089294194},{"time":1.0225433716206709,"velocity":2.5494551262429805,"acceleration":0.1135179797763805,"pose":{"translation":{"x":1.770115573599469,"y":-0.21056537021650001},"rotation":{"radians":-0.2846107903049497}},"curvature":-0.18225253988851078},{"time":1.0614960217539766,"velocity":2.5538769523930496,"acceleration":0.11719271104054726,"pose":{"translation":{"x":1.8652571830898523,"y":-0.2393277082592249},"rotation":{"radians":-0.30244634603314535}},"curvature":-0.17659310488419677},{"time":1.1010835706509998,"velocity":2.558516324571742,"acceleration":0.11883748845837393,"pose":{"translation":{"x":1.9615875478484668,"y":-0.2703212123014964},"rotation":{"radians":-0.3200181181490893}},"curvature":-0.17067626514133666},{"time":1.1413176562516394,"velocity":2.563297642254941,"acceleration":0.1187868421152423,"pose":{"translation":{"x":2.0591068267822266,"y":-0.30358314514160156},"rotation":{"radians":-0.33729112761652036}},"curvature":-0.1646008057287766},{"time":1.1822088721964443,"velocity":2.568154980667277,"acceleration":0.11734751442865053,"pose":{"translation":{"x":2.1578113301075064,"y":-0.3391460268176161},"rotation":{"radians":-0.3542373101961703}},"curvature":-0.15845191395296837},{"time":1.223766653009602,"velocity":2.5730316829508717,"acceleration":0.1147958208127137,"pose":{"translation":{"x":2.257693624123931,"y":-0.3770377393811941},"rotation":{"radians":-0.3708348624485024}},"curvature":-0.15230186412129473},{"time":1.2659991709837062,"velocity":2.5778797995166967,"acceleration":0.11137653609502209,"pose":{"translation":{"x":2.3587426359881647,"y":-0.4172816316713579},"rotation":{"radians":-0.38706759009738423}},"curvature":-0.14621092848984082},{"time":1.3089132458168171,"velocity":2.582659420521331,"acceleration":0.10730304178128736,"pose":{"translation":{"x":2.4609437584877014,"y":-0.45989662408828735},"rotation":{"radians":-0.4029242733210075}},"curvature":-0.1402284325466594},{"time":1.3525142675433073,"velocity":2.5873379427773555,"acceleration":0.10275845812364134,"pose":{"translation":{"x":2.564278954814654,"y":-0.5048973133671097},"rotation":{"radians":-0.41839806017259407}},"curvature":-0.13439388534690774},{"time":1.3968061328716748,"velocity":2.5918893065659185,"acceleration":0.09789749538695466,"pose":{"translation":{"x":2.6687268633395433,"y":-0.5522940773516893},"rotation":{"radians":-0.4334858962447088}},"curvature":-0.1287381289353431},{"time":1.4417911946965085,"velocity":2.596293231448397,"acceleration":0.09284878426583341,"pose":{"translation":{"x":2.7742629023850895,"y":-0.602093179768417},"rotation":{"radians":-0.448187995969697}},"curvature":-0.12328446383071472},{"time":1.487470224284645,"velocity":2.6005344738120986,"acceleration":0.08771747993630144,"pose":{"translation":{"x":2.880859375,"y":-0.654296875},"rotation":{"radians":-0.4625073586397917}},"curvature":-0.11804971934383038},{"time":1.5338423854405983,"velocity":2.604602122927899,"acceleration":0.08258797251653865,"pose":{"translation":{"x":2.98848557373276,"y":-0.7089035128592514},"rotation":{"radians":-0.47644933034151526}},"curvature":-0.11304524771977777},{"time":1.5809052198246383,"velocity":2.6084889470005583,"acceleration":0.0775265747811966,"pose":{"translation":{"x":3.0971078854054213,"y":-0.7659076433628798},"rotation":{"radians":-0.490021211510979}},"curvature":-0.10827782955645215},{"time":1.6286546425187152,"velocity":2.6121907961898096,"acceleration":0.07258409309355207,"pose":{"translation":{"x":3.2066898958873935,"y":-0.8253001215052791},"rotation":{"radians":-0.5032319086929682}},"curvature":-0.10375048466516042},{"time":1.677084946900807,"velocity":2.6157060659116285,"acceleration":0.06897690233206104,"pose":{"translation":{"x":3.317192494869232,"y":-0.8870682120323181},"rotation":{"radians":-0.5160916282809809}},"curvature":-0.09946318763650631},{"time":1.7015531918123785,"velocity":2.617393809651131,"acceleration":0.06662762330031528,"pose":{"translation":{"x":3.3727760816236696,"y":-0.9188381762487552},"rotation":{"radians":-0.5223933499305692}},"curvature":-0.09740887163401273},{"time":1.726188787876017,"velocity":2.6190352208654377,"acceleration":0.06432568053980162,"pose":{"translation":{"x":3.428573980636429,"y":-0.9511956942151301},"rotation":{"radians":-0.5286116094776955}},"curvature":-0.09541349105745087},{"time":1.7509905730474988,"velocity":2.6206306125751953,"acceleration":0.062073266280484714,"pose":{"translation":{"x":3.4845805914756056,"y":-0.9841382109243568},"rotation":{"radians":-0.5347479353268761}},"curvature":-0.09347644950906146},{"time":1.7759572876852223,"velocity":2.6221803781010515,"acceleration":0.05987209279523727,"pose":{"translation":{"x":3.5407901648432016,"y":-1.0176629666239023},"rotation":{"radians":-0.5408038933963395}},"curvature":-0.09159706182401153},{"time":1.801087575545278,"velocity":2.62368498102778,"acceleration":0.05772344165733487,"pose":{"translation":{"x":3.5971968058493076,"y":-1.051767000089967},"rotation":{"radians":-0.546781081651562}},"curvature":-0.08977456657954339},{"time":1.8263799848604636,"velocity":2.6251449459412584,"acceleration":0.05562820939549227,"pose":{"translation":{"x":3.653794477286283,"y":-1.086447151901666},"rotation":{"radians":-0.5526811250772102}},"curvature":-0.08800813754015926},{"time":1.8518329694975353,"velocity":2.6265608499003896,"acceleration":0.05358694966702055,"pose":{"translation":{"x":3.7105770029029372,"y":-1.12170006771521},"rotation":{"radians":-0.5585056710629697}},"curvature":-0.08629689410238194},{"time":1.8774448901872074,"velocity":2.627933314605263,"acceleration":0.05159991208767551,"pose":{"translation":{"x":3.767538070678711,"y":-1.157522201538086},"rotation":{"radians":-0.5642563851793584}},"curvature":-0.08463991080199534},{"time":1.9032140158217214,"velocity":2.62926299922258,"acceleration":0.04966707786983766,"pose":{"translation":{"x":3.8246712360978563,"y":-1.1939098190032382},"rotation":{"radians":-0.5699349473203195}},"curvature":-0.08303622594547336},{"time":1.9291385248150168,"velocity":2.6305505938294873,"acceleration":0.0477881924307841,"pose":{"translation":{"x":3.8819699254236184,"y":-1.2308590006432496},"rotation":{"radians":-0.5755430481901774}},"curvature":-0.08148484942566686},{"time":1.9552165065208678,"velocity":2.631796813437453,"acceleration":0.045962795138507755,"pose":{"translation":{"x":3.939427438972416,"y":-1.268365645164522},"rotation":{"radians":-0.5810823861133668}},"curvature":-0.07998476977982921},{"time":1.981445962704586,"velocity":2.6330023925586197,"acceleration":0.04419024636411541,"pose":{"translation":{"x":3.9970369543880224,"y":-1.3064254727214575},"rotation":{"radians":-0.5865546641462306}},"curvature":-0.07853496054580741},{"time":2.0078248090641067,"velocity":2.634168080278048,"acceleration":0.042469752013186965,"pose":{"translation":{"x":4.054791529915747,"y":-1.3450340281906392},"rotation":{"radians":-0.5919615874710755}},"curvature":-0.07713438596977641},{"time":2.0343508767966068,"velocity":2.6352946357965323,"acceleration":0.04080038570191476,"pose":{"translation":{"x":4.112684107676614,"y":-1.3841866844450124},"rotation":{"radians":-0.5973048610536026}},"curvature":-0.07578200611631837},{"time":2.06102191420695,"velocity":2.6363828244099445,"acceleration":0.0391811087452446,"pose":{"translation":{"x":4.1707075169415475,"y":-1.423878645628065},"rotation":{"radians":-0.6025861875457454}},"curvature":-0.07447678142898713},{"time":2.087835588354573,"velocity":2.637433413892582,"acceleration":0.03761078811564214,"pose":{"translation":{"x":4.228854477405548,"y":-1.464104950428009},"rotation":{"radians":-0.6078072654168749}},"curvature":-0.07321767678680903},{"time":2.114789486735621,"velocity":2.6384471712534823,"acceleration":0.0360882125271852,"pose":{"translation":{"x":4.287117602461876,"y":-1.5048604753519612},"rotation":{"radians":-0.6129697872972361}},"curvature":-0.072003665099477},{"time":2.141881118997266,"velocity":2.639424859836249,"acceleration":0.034612106792126944,"pose":{"translation":{"x":4.3454894024762325,"y":-1.546139938000124},"rotation":{"radians":-0.6180754385183802}},"curvature":-0.07083373048133693},{"time":2.169107918681565,"velocity":2.6403672367345297,"acceleration":0.03318114459073614,"pose":{"translation":{"x":4.403962288060939,"y":-1.5879379003399663},"rotation":{"radians":-0.6231258958362255}},"curvature":-0.06970687104165842},{"time":2.19646724499612,"velocity":2.641275050496878,"acceleration":0.03179395978599273,"pose":{"translation":{"x":4.462528573349118,"y":-1.6302487719804049},"rotation":{"radians":-0.6281228263232281}},"curvature":-0.06862210132615378},{"time":2.2239563846092696,"velocity":2.64214903909629,"acceleration":0.03044915640939964,"pose":{"translation":{"x":4.521180479268878,"y":-1.6730668134459847},"rotation":{"radians":-0.6330678864169678}},"curvature":-0.06757845444226444},{"time":2.2515725534675086,"velocity":2.642989928141283,"acceleration":0.02914531743398559,"pose":{"translation":{"x":4.579910136817489,"y":-1.7163861394510604},"rotation":{"radians":-0.6379627211132425}},"curvature":-0.066574983898393},{"time":2.2793128986330666,"velocity":2.6437984293068615,"acceleration":0.027881012444263956,"pose":{"translation":{"x":4.638709590335566,"y":-1.7602007221739768},"rotation":{"radians":-0.6428089632925209}},"curvature":-0.06561076518502294},{"time":2.307174500139829,"velocity":2.6445752389651886,"acceleration":0.02665480430485389,"pose":{"translation":{"x":4.69757080078125,"y":-1.80450439453125},"rotation":{"radians":-0.647608233169335}},"curvature":-0.06468489712354483},{"time":2.3351543728657544,"velocity":2.645321036997173,"acceleration":0.025465254922441442,"pose":{"translation":{"x":4.756485649004389,"y":-1.8492908534517483},"rotation":{"radians":-0.6523621378548796}},"curvature":-0.06379650300659852},{"time":2.363249468420188,"velocity":2.646036485767537,"acceleration":0.02431093018774099,"pose":{"translation":{"x":4.815445939020719,"y":-1.894553663150873},"rotation":{"radians":-0.6570722710237484}},"curvature":-0.06294473155184836},{"time":2.3914566770446313,"velocity":2.646722229247197,"acceleration":0.023190404178119926,"pose":{"translation":{"x":4.874443401286044,"y":-1.9402862584047398},"rotation":{"radians":-0.6617402126763631}},"curvature":-0.062128757689329704},{"time":2.4197728295255607,"velocity":2.647378892267999,"acceleration":0.0221022626952452,"pose":{"translation":{"x":4.933469695970416,"y":-1.986481947824359},"rotation":{"radians":-0.6663675289892359}},"curvature":-0.06134778320084009},{"time":2.4481946991180092,"velocity":2.648007079896021,"acceleration":0.021045106204742755,"pose":{"translation":{"x":4.99251641623232,"y":-2.033133917129817},"rotation":{"radians":-0.6709557722457755}},"curvature":-0.060601037228293915},{"time":2.4767190034789044,"velocity":2.6486073769107126,"acceleration":0.020017552240451222,"pose":{"translation":{"x":5.05157509149285,"y":-2.0802352324244566},"rotation":{"radians":-0.6755064808408625}},"curvature":-0.05988777666651089},{"time":2.505342406608867,"velocity":2.649180347378166,"acceleration":0.019018237329351578,"pose":{"translation":{"x":5.110637190709895,"y":-2.127778843469059},"rotation":{"radians":-0.6800211793529247}},"curvature":-0.059207286454563475},{"time":2.534061520801847,"velocity":2.649726534307777,"acceleration":0.01804581848912495,"pose":{"translation":{"x":5.169694125652313,"y":-2.175757586956024},"rotation":{"radians":-0.6845013786777033}},"curvature":-0.058558879778560675},{"time":2.562872908601367,"velocity":2.650246459382427,"acceleration":0.017098974344582584,"pose":{"translation":{"x":5.228737254174121,"y":-2.2241641897835507},"rotation":{"radians":-0.6889485762183403}},"curvature":-0.057941898197592274},{"time":2.5917730847629175,"velocity":2.650740622753167,"acceleration":0.016176405905413027,"pose":{"translation":{"x":5.287757883488666,"y":-2.2729912723298185},"rotation":{"radians":-0.6933642561268223}},"curvature":-0.05735571170349064},{"time":2.6207585182215385,"velocity":2.651209502890138,"acceleration":0.015276837044011211,"pose":{"translation":{"x":5.346747273442816,"y":-2.3222313517271687},"rotation":{"radians":-0.697749889592203}},"curvature":-0.05679971872408576},{"time":2.6498256340640722,"velocity":2.651653556482204,"acceleration":0.01439901470690396,"pose":{"translation":{"x":5.405696639791131,"y":-2.371876845136285},"rotation":{"radians":-0.702106935171379}},"curvature":-0.056273346078724217},{"time":2.678970815505512,"velocity":2.6520732183784146,"acceleration":0.01354170889213433,"pose":{"translation":{"x":5.4645971574700525,"y":-2.421920073020374},"rotation":{"radians":-0.7064368391585247}},"curvature":-0.055776048893992014},{"time":2.7081904058687924,"velocity":2.6524689015650615,"acceleration":0.012703712419451355,"pose":{"translation":{"x":5.523439963872079,"y":-2.4723532624193467},"rotation":{"radians":-0.7107410359896046}},"curvature":-0.05530731048681846},{"time":2.7374807105677683,"velocity":2.6528409971726354,"acceleration":0.011883840518918077,"pose":{"translation":{"x":5.582216162119948,"y":-2.5231685502239998},"rotation":{"radians":-0.7150209486786628}},"curvature":-0.05486664222143903},{"time":2.766837999092675,"velocity":2.6531898745075333,"acceleration":0.011080930260113748,"pose":{"translation":{"x":5.64091682434082,"y":-2.5743579864501953},"rotation":{"radians":-0.7192779892828582}},"curvature":-0.05445358334605495},{"time":2.7962585069980963,"velocity":2.6535158811038504,"acceleration":0.010293839842450662,"pose":{"translation":{"x":5.699532994940455,"y":-2.6259135375130427},"rotation":{"radians":-0.7235135593934571}},"curvature":-0.05406770081444218},{"time":2.8257384378925887,"velocity":2.653819342791045,"acceleration":0.009521447763124576,"pose":{"translation":{"x":5.758055693877395,"y":-2.677827089501079},"rotation":{"radians":-0.7277290506502201}},"curvature":-0.053708589097225895},{"time":2.8552739654302055,"velocity":2.6541005637736506,"acceleration":0.008762651880582464,"pose":{"translation":{"x":5.816475919937147,"y":-2.730090451450451},"rotation":{"radians":-0.7319258452768336}},"curvature":-0.05337586998704912},{"time":2.8848612353032737,"velocity":2.654359826719645,"acceleration":0.008016368385368833,"pose":{"translation":{"x":5.874784654006362,"y":-2.782695358619094},"rotation":{"radians":-0.7361053166352199}},"curvature":-0.05306919240141616},{"time":2.9144963672363136,"velocity":2.6545973928543694,"acceleration":0.007281530692448758,"pose":{"translation":{"x":5.932972862347015,"y":-2.8356334757609147},"rotation":{"radians":-0.7402688297967409}},"curvature":-0.05278823218658412},{"time":2.944175456981146,"velocity":2.6548135020572703,"acceleration":0.006557088265266151,"pose":{"translation":{"x":5.991031499870587,"y":-2.8888964003999718},"rotation":{"radians":-0.744417742128466}},"curvature":-0.052532691925503534},{"time":2.9738945783124695,"velocity":2.655008372959006,"acceleration":0.005842005381574974,"pose":{"translation":{"x":6.0489515134122485,"y":-2.942475666104656},"rotation":{"radians":-0.7485534038928245}},"curvature":-0.052302300752467605},{"time":3.0036497850243227,"velocity":2.6551822030367465,"acceleration":0.005135259849118856,"pose":{"translation":{"x":6.106723845005035,"y":-2.9963627457618713},"rotation":{"radians":-0.7526771588590875}},"curvature":-0.052096814176818704},{"time":3.0334371129271274,"velocity":2.6553351687057383,"acceleration":0.0044358416793832366,"pose":{"translation":{"x":6.164339435154034,"y":-3.050549054851217},"rotation":{"radians":-0.7567903449252481}},"curvature":-0.05191601391777436},{"time":3.063252581844931,"velocity":2.655467425405454,"acceleration":0.0037427517259545355,"pose":{"translation":{"x":6.221789226110559,"y":-3.105025954719167},"rotation":{"radians":-0.7608942947489714}},"curvature":-0.05175970775217297},{"time":3.093092197613112,"velocity":2.6555791076788724,"acceleration":0.0030550002927687875,"pose":{"translation":{"x":6.2790641651463375,"y":-3.159784755853252},"rotation":{"radians":-0.7649903363863789}},"curvature":-0.05162772937669655},{"time":3.122951954076452,"velocity":2.65567032924361,"acceleration":0.002371605718483283,"pose":{"translation":{"x":6.336155207827687,"y":-3.2148167211562395},"rotation":{"radians":-0.7690797939375139}},"curvature":-0.05151993828590486},{"time":3.1528278350873076,"velocity":2.65574118305386,"acceleration":0.001691592940688964,"pose":{"translation":{"x":6.393053321289699,"y":-3.270113069220315},"rotation":{"radians":-0.7731639881974063}},"curvature":-0.05143621966720566},{"time":3.182715816503701,"velocity":2.6557917413522354,"acceleration":0.001013992045021093,"pose":{"translation":{"x":6.449749487510417,"y":-3.3256649776012637},"rotation":{"radians":-0.7772442373117127}},"curvature":-0.05137648431369161},{"time":3.2126118681881604,"velocity":2.655822055710821,"acceleration":3.3783680230273406E-4,"pose":{"translation":{"x":6.506234706585019,"y":-3.38146358609265},"rotation":{"radians":-0.7813218574359585}},"curvature":-0.05134066855558977},{"time":3.242511956005725,"velocity":2.655832157060878,"acceleration":-3.3783680230273406E-4,"pose":{"translation":{"x":6.5625,"y":-3.4375},"rotation":{"radians":-0.7853981633974483}},"curvature":-0.05132873421089494},{"time":3.27241204382329,"velocity":2.655822055710821,"acceleration":-0.001013992045021093,"pose":{"translation":{"x":6.61853641390735,"y":-3.493765293414981},"rotation":{"radians":-0.7894744693589382}},"curvature":-0.05134066855558977},{"time":3.3023080955077493,"velocity":2.6557917413522354,"acceleration":-0.001691592940688964,"pose":{"translation":{"x":6.674335022398736,"y":-3.5502505124895833},"rotation":{"radians":-0.793552089483184}},"curvature":-0.05137648431369161},{"time":3.3321960769241428,"velocity":2.65574118305386,"acceleration":-0.002371605718483283,"pose":{"translation":{"x":6.729886930779685,"y":-3.606946678710301},"rotation":{"radians":-0.7976323385974903}},"curvature":-0.05143621966720566},{"time":3.3620719579349982,"velocity":2.65567032924361,"acceleration":-0.0030550002927687875,"pose":{"translation":{"x":6.7851832788437605,"y":-3.6638447921723127},"rotation":{"radians":-0.8017165328573828}},"curvature":-0.05151993828590486},{"time":3.3919317143983383,"velocity":2.6555791076788724,"acceleration":-0.0037427517259545355,"pose":{"translation":{"x":6.840215244146748,"y":-3.7209358348536625},"rotation":{"radians":-0.8058059904085177}},"curvature":-0.05162772937669655},{"time":3.421771330166519,"velocity":2.655467425405454,"acceleration":-0.0044358416793832366,"pose":{"translation":{"x":6.894974045280833,"y":-3.778210773889441},"rotation":{"radians":-0.8099020320459251}},"curvature":-0.05175970775217297},{"time":3.451586799084323,"velocity":2.6553351687057383,"acceleration":-0.005135259849118856,"pose":{"translation":{"x":6.949450945148783,"y":-3.8356605648459663},"rotation":{"radians":-0.8140059818696486}},"curvature":-0.05191601391777436},{"time":3.4813741269871277,"velocity":2.6551822030367465,"acceleration":-0.005842005381574908,"pose":{"translation":{"x":7.003637254238129,"y":-3.8932761549949646},"rotation":{"radians":-0.8181191679358092}},"curvature":-0.052096814176818704},{"time":3.5111293336989813,"velocity":2.655008372959006,"acceleration":-0.006557088265266077,"pose":{"translation":{"x":7.057524333895344,"y":-3.9510484865877515},"rotation":{"radians":-0.8222429229020721}},"curvature":-0.052302300752467605},{"time":3.5408484550303054,"velocity":2.6548135020572703,"acceleration":-0.007281530692448676,"pose":{"translation":{"x":7.111103599600028,"y":-4.008968500129413},"rotation":{"radians":-0.8263785846664307}},"curvature":-0.052532691925503534},{"time":3.570527544775138,"velocity":2.6545973928543694,"acceleration":-0.008016368385368924,"pose":{"translation":{"x":7.164366524239085,"y":-4.067027137652985},"rotation":{"radians":-0.8305274969981558}},"curvature":-0.05278823218658412},{"time":3.6001626767081776,"velocity":2.654359826719645,"acceleration":-0.008762651880582365,"pose":{"translation":{"x":7.217304641380906,"y":-4.125215345993638},"rotation":{"radians":-0.8346910101596766}},"curvature":-0.05306919240141616},{"time":3.629749946581246,"velocity":2.6541005637736506,"acceleration":-0.009521447763124684,"pose":{"translation":{"x":7.269909548549549,"y":-4.183524080062853},"rotation":{"radians":-0.838870481518063}},"curvature":-0.05337586998704912},{"time":3.6592854741188625,"velocity":2.653819342791045,"acceleration":-0.010293839842450662,"pose":{"translation":{"x":7.322172910498921,"y":-4.241944306122605},"rotation":{"radians":-0.8430672761446766}},"curvature":-0.053708589097225895},{"time":3.688765405013355,"velocity":2.6535158811038504,"acceleration":-0.011080930260113623,"pose":{"translation":{"x":7.374086462486957,"y":-4.300467005059545},"rotation":{"radians":-0.8472827674014396}},"curvature":-0.05406770081444218},{"time":3.718185912918776,"velocity":2.6531898745075333,"acceleration":-0.011883840518918212,"pose":{"translation":{"x":7.425642013549805,"y":-4.35908317565918},"rotation":{"radians":-0.8515183375120384}},"curvature":-0.05445358334605495},{"time":3.747543201443683,"velocity":2.6528409971726354,"acceleration":-0.012703712419451209,"pose":{"translation":{"x":7.476831449776,"y":-4.417783837880052},"rotation":{"radians":-0.8557753781162338}},"curvature":-0.05486664222143903},{"time":3.7768335061426592,"velocity":2.6524689015650615,"acceleration":-0.013541708892134484,"pose":{"translation":{"x":7.527646737580653,"y":-4.476560036127921},"rotation":{"radians":-0.8600552908052921}},"curvature":-0.05530731048681846},{"time":3.806053096505939,"velocity":2.6520732183784146,"acceleration":-0.014399014706904125,"pose":{"translation":{"x":7.578079926979626,"y":-4.5354028425299475},"rotation":{"radians":-0.8643594876363718}},"curvature":-0.055776048893992014},{"time":3.8351982779473786,"velocity":2.651653556482204,"acceleration":-0.015276837044011211,"pose":{"translation":{"x":7.628123154863715,"y":-4.594303360208869},"rotation":{"radians":-0.8686893916235175}},"curvature":-0.056273346078724217},{"time":3.8642653937899123,"velocity":2.651209502890138,"acceleration":-0.01617640590541284,"pose":{"translation":{"x":7.677768648272831,"y":-4.653252726557184},"rotation":{"radians":-0.8730464372026936}},"curvature":-0.05679971872408576},{"time":3.8932508272485338,"velocity":2.650740622753167,"acceleration":-0.017098974344582386,"pose":{"translation":{"x":7.7270087276701815,"y":-4.712242116511334},"rotation":{"radians":-0.8774320706680744}},"curvature":-0.05735571170349064},{"time":3.922151003410084,"velocity":2.650246459382427,"acceleration":-0.018045818489125162,"pose":{"translation":{"x":7.775835810216449,"y":-4.771262745825879},"rotation":{"radians":-0.8818477505765563}},"curvature":-0.057941898197592274},{"time":3.950962391209604,"velocity":2.649726534307777,"acceleration":-0.019018237329351578,"pose":{"translation":{"x":7.824242413043976,"y":-4.830305874347687},"rotation":{"radians":-0.8862949481171933}},"curvature":-0.058558879778560675},{"time":3.9796815054025836,"velocity":2.649180347378166,"acceleration":-0.020017552240451222,"pose":{"translation":{"x":7.872221156530941,"y":-4.889362809290105},"rotation":{"radians":-0.890775147441972}},"curvature":-0.059207286454563475},{"time":4.008304908532547,"velocity":2.6486073769107126,"acceleration":-0.021045106204742755,"pose":{"translation":{"x":7.919764767575543,"y":-4.94842490850715},"rotation":{"radians":-0.895289845954034}},"curvature":-0.05988777666651089},{"time":4.0368292128934415,"velocity":2.648007079896021,"acceleration":-0.0221022626952452,"pose":{"translation":{"x":7.966866082870183,"y":-5.00748358376768},"rotation":{"radians":-0.899840554549121}},"curvature":-0.060601037228293915},{"time":4.06525108248589,"velocity":2.647378892267999,"acceleration":-0.023190404178119926,"pose":{"translation":{"x":8.013518052175641,"y":-5.066530304029584},"rotation":{"radians":-0.9044287978056607}},"curvature":-0.06134778320084009},{"time":4.0935672349668195,"velocity":2.646722229247197,"acceleration":-0.024310930187741282,"pose":{"translation":{"x":8.05971374159526,"y":-5.125556598713956},"rotation":{"radians":-0.9090561141185335}},"curvature":-0.062128757689329704},{"time":4.121774443591263,"velocity":2.646036485767537,"acceleration":-0.025465254922441442,"pose":{"translation":{"x":8.105446336849127,"y":-5.184554060979281},"rotation":{"radians":-0.9137240557711481}},"curvature":-0.06294473155184836},{"time":4.149869539145696,"velocity":2.645321036997173,"acceleration":-0.026654804304853567,"pose":{"translation":{"x":8.150709146548252,"y":-5.243514350995611},"rotation":{"radians":-0.918434188940017}},"curvature":-0.06379650300659852},{"time":4.177849411871622,"velocity":2.6445752389651886,"acceleration":-0.027881012444263956,"pose":{"translation":{"x":8.19549560546875,"y":-5.30242919921875},"rotation":{"radians":-0.9231880936255615}},"curvature":-0.06468489712354483},{"time":4.205711013378385,"velocity":2.6437984293068615,"acceleration":-0.029145317433985945,"pose":{"translation":{"x":8.239799277826023,"y":-5.361290409664434},"rotation":{"radians":-0.9279873635023757}},"curvature":-0.06561076518502294},{"time":4.233451358543942,"velocity":2.642989928141283,"acceleration":-0.03044915640939927,"pose":{"translation":{"x":8.28361386054894,"y":-5.420089863182511},"rotation":{"radians":-0.9328336056816542}},"curvature":-0.066574983898393},{"time":4.261067527402181,"velocity":2.64214903909629,"acceleration":-0.03179395978599273,"pose":{"translation":{"x":8.326933186554015,"y":-5.478819520731122},"rotation":{"radians":-0.9377284403779288}},"curvature":-0.06757845444226444},{"time":4.288556667015331,"velocity":2.641275050496878,"acceleration":-0.03318114459073614,"pose":{"translation":{"x":8.369751228019595,"y":-5.537471426650882},"rotation":{"radians":-0.9426735004716684}},"curvature":-0.06862210132615378},{"time":4.315915993329886,"velocity":2.6403672367345297,"acceleration":-0.034612106792126514,"pose":{"translation":{"x":8.412062099660034,"y":-5.596037711939061},"rotation":{"radians":-0.9476704309586711}},"curvature":-0.06970687104165842},{"time":4.343142793014185,"velocity":2.639424859836249,"acceleration":-0.0360882125271852,"pose":{"translation":{"x":8.453860061999876,"y":-5.6545105975237675},"rotation":{"radians":-0.9527208882765165}},"curvature":-0.07083373048133693},{"time":4.3702344252758305,"velocity":2.6384471712534823,"acceleration":-0.03761078811564214,"pose":{"translation":{"x":8.495139524648039,"y":-5.712882397538124},"rotation":{"radians":-0.9578265394976606}},"curvature":-0.072003665099477},{"time":4.397188323656879,"velocity":2.637433413892582,"acceleration":-0.0391811087452446,"pose":{"translation":{"x":8.535895049571991,"y":-5.771145522594452},"rotation":{"radians":-0.9629890613780216}},"curvature":-0.07321767678680903},{"time":4.424001997804503,"velocity":2.6363828244099445,"acceleration":-0.04080038570191476,"pose":{"translation":{"x":8.576121354371935,"y":-5.8292924830584525},"rotation":{"radians":-0.9682101392491511}},"curvature":-0.07447678142898713},{"time":4.450673035214846,"velocity":2.6352946357965323,"acceleration":-0.042469752013186424,"pose":{"translation":{"x":8.615813315554988,"y":-5.887315892323386},"rotation":{"radians":-0.9734914657412941}},"curvature":-0.07578200611631837},{"time":4.477199102947347,"velocity":2.634168080278048,"acceleration":-0.04419024636411541,"pose":{"translation":{"x":8.65496597180936,"y":-5.945208470084253},"rotation":{"radians":-0.9788347393238211}},"curvature":-0.07713438596977641},{"time":4.503577949306868,"velocity":2.6330023925586197,"acceleration":-0.045962795138507755,"pose":{"translation":{"x":8.693574527278543,"y":-6.002963045611978},"rotation":{"radians":-0.9842416626486661}},"curvature":-0.07853496054580741},{"time":4.529807405490586,"velocity":2.631796813437453,"acceleration":-0.0477881924307841,"pose":{"translation":{"x":8.731634354835478,"y":-6.060572561027584},"rotation":{"radians":-0.9897139406815298}},"curvature":-0.07998476977982921},{"time":4.555885387196437,"velocity":2.6305505938294873,"acceleration":-0.04966707786983701,"pose":{"translation":{"x":8.76914099935675,"y":-6.118030074576382},"rotation":{"radians":-0.9952532786047192}},"curvature":-0.08148484942566686},{"time":4.581809896189732,"velocity":2.62926299922258,"acceleration":-0.05159991208767551,"pose":{"translation":{"x":8.806090180996762,"y":-6.175328763902144},"rotation":{"radians":-1.000861379474577}},"curvature":-0.08303622594547336},{"time":4.607579021824246,"velocity":2.627933314605263,"acceleration":-0.05358694966702055,"pose":{"translation":{"x":8.842477798461914,"y":-6.232461929321289},"rotation":{"radians":-1.0065399416155383}},"curvature":-0.08463991080199534},{"time":4.6331909425139175,"velocity":2.6265608499003896,"acceleration":-0.05562820939549227,"pose":{"translation":{"x":8.87829993228479,"y":-6.289422997097063},"rotation":{"radians":-1.012290655731927}},"curvature":-0.08629689410238194},{"time":4.658643927150989,"velocity":2.6251449459412584,"acceleration":-0.057723441657334486,"pose":{"translation":{"x":8.913552848098334,"y":-6.346205522713717},"rotation":{"radians":-1.0181152017176864}},"curvature":-0.08800813754015926},{"time":4.683936336466175,"velocity":2.62368498102778,"acceleration":-0.05987209279523727,"pose":{"translation":{"x":8.948232999910033,"y":-6.402803194150692},"rotation":{"radians":-1.0240152451433346}},"curvature":-0.08977456657954339},{"time":4.709066624326231,"velocity":2.6221803781010515,"acceleration":-0.06207326628048514,"pose":{"translation":{"x":8.982337033376098,"y":-6.459209835156798},"rotation":{"radians":-1.029992433398557}},"curvature":-0.09159706182401153},{"time":4.734033338963954,"velocity":2.6206306125751953,"acceleration":-0.06432568053980162,"pose":{"translation":{"x":9.015861789075643,"y":-6.515419408524394},"rotation":{"radians":-1.0360483914680205}},"curvature":-0.09347644950906146},{"time":4.758835124135436,"velocity":2.6190352208654377,"acceleration":-0.06662762330031574,"pose":{"translation":{"x":9.04880430578487,"y":-6.571426019363571},"rotation":{"radians":-1.0421847173172012}},"curvature":-0.09541349105745087},{"time":4.783470720199074,"velocity":2.617393809651131,"acceleration":-0.06897690233206008,"pose":{"translation":{"x":9.081161823751245,"y":-6.62722391837633},"rotation":{"radians":-1.0484029768643275}},"curvature":-0.09740887163401273},{"time":4.807938965110646,"velocity":2.6157060659116285,"acceleration":-0.07258409309355233,"pose":{"translation":{"x":9.112931787967682,"y":-6.682807505130768},"rotation":{"radians":-1.0547046985139157}},"curvature":-0.09946318763650631},{"time":4.856369269492737,"velocity":2.6121907961898096,"acceleration":-0.07752657478119632,"pose":{"translation":{"x":9.174699878494721,"y":-6.7933101041126065},"rotation":{"radians":-1.0675644181019284}},"curvature":-0.10375048466516042},{"time":4.904118692186814,"velocity":2.6084889470005583,"acceleration":-0.08258797251653925,"pose":{"translation":{"x":9.23409235663712,"y":-6.902892114594579},"rotation":{"radians":-1.0807751152839176}},"curvature":-0.10827782955645215},{"time":4.951181526570854,"velocity":2.604602122927899,"acceleration":-0.08771747993630112,"pose":{"translation":{"x":9.291096487140749,"y":-7.01151442626724},"rotation":{"radians":-1.0943469964533814}},"curvature":-0.11304524771977777},{"time":4.997553687726807,"velocity":2.6005344738120986,"acceleration":-0.09284878426583341,"pose":{"translation":{"x":9.345703125,"y":-7.119140625},"rotation":{"radians":-1.108288968155105}},"curvature":-0.11804971934383038},{"time":5.043232717314943,"velocity":2.596293231448397,"acceleration":-0.09789749538695429,"pose":{"translation":{"x":9.397906820231583,"y":-7.2257370976149105},"rotation":{"radians":-1.1226083308251997}},"curvature":-0.12328446383071472},{"time":5.088217779139777,"velocity":2.5918893065659185,"acceleration":-0.10275845812364096,"pose":{"translation":{"x":9.44770592264831,"y":-7.331273136660457},"rotation":{"radians":-1.1373104305501878}},"curvature":-0.1287381289353431},{"time":5.132509644468144,"velocity":2.5873379427773555,"acceleration":-0.10730304178128651,"pose":{"translation":{"x":9.49510268663289,"y":-7.435721045185346},"rotation":{"radians":-1.1523982666223025}},"curvature":-0.13439388534690774},{"time":5.176110666194635,"velocity":2.582659420521331,"acceleration":-0.11137653609502164,"pose":{"translation":{"x":9.540103375911713,"y":-7.539056241512299},"rotation":{"radians":-1.1678720534738891}},"curvature":-0.1402284325466594},{"time":5.219024741027746,"velocity":2.5778797995166967,"acceleration":-0.11479582081271464,"pose":{"translation":{"x":9.582718368328642,"y":-7.641257364011835},"rotation":{"radians":-1.1837287366975124}},"curvature":-0.14621092848984082},{"time":5.26125725900185,"velocity":2.5730316829508717,"acceleration":-0.11734751442865102,"pose":{"translation":{"x":9.622962260618806,"y":-7.742306375876069},"rotation":{"radians":-1.1999614643463943}},"curvature":-0.15230186412129473},{"time":5.302815039815007,"velocity":2.568154980667277,"acceleration":-0.1187868421152423,"pose":{"translation":{"x":9.660853973182384,"y":-7.842188669892494},"rotation":{"radians":-1.2165590165987263}},"curvature":-0.15845191395296837},{"time":5.343706255759812,"velocity":2.563297642254941,"acceleration":-0.11883748845837316,"pose":{"translation":{"x":9.696416854858398,"y":-7.940893173217773},"rotation":{"radians":-1.2335051991783763}},"curvature":-0.1646008057287766},{"time":5.383940341360451,"velocity":2.558516324571742,"acceleration":-0.117192711040547,"pose":{"translation":{"x":9.729678787698504,"y":-8.038412452151533},"rotation":{"radians":-1.2507782086458072}},"curvature":-0.17067626514133666},{"time":5.423527890257474,"velocity":2.5538769523930496,"acceleration":-0.11351797977638026,"pose":{"translation":{"x":9.760672291740775,"y":-8.134742816910148},"rotation":{"radians":-1.2683499807617513}},"curvature":-0.17659310488419677},{"time":5.4624805403907795,"velocity":2.5494551262429805,"acceleration":-0.10745536844836187,"pose":{"translation":{"x":9.7894346297835,"y":-8.229884426400531},"rotation":{"radians":-1.2861855364899468}},"curvature":-0.18225253988851078},{"time":5.5008108491132495,"velocity":2.545336328796468,"acceleration":-0.09862985547929842,"pose":{"translation":{"x":9.816007912158966,"y":-8.323841392993927},"rotation":{"radians":-1.3042423436959334}},"curvature":-0.18754182089294194},{"time":5.538532160506931,"velocity":2.5416158813052196,"acceleration":-0.08665759070673093,"pose":{"translation":{"x":9.840439201507252,"y":-8.416621887299698},"rotation":{"radians":-1.3224697160084113}},"curvature":-0.19233428470069036},{"time":5.575658467847571,"velocity":2.538398604959242,"acceleration":-0.07115605916892223,"pose":{"translation":{"x":9.862780617550015,"y":-8.508238242939115},"rotation":{"radians":-1.3408082733730198}},"curvature":-0.1964899195916967},{"time":5.612204274840792,"velocity":2.5357981493544566,"acceleration":-0.05175593347649911,"pose":{"translation":{"x":9.883089441864286,"y":-8.598707061319146},"rotation":{"radians":-1.359189491236203}},"curvature":-0.199856536473444},{"time":5.648184459898156,"velocity":2.5339359612901555,"acceleration":-0.02811427167115885,"pose":{"translation":{"x":9.90142822265625,"y":-8.68804931640625},"rotation":{"radians":-1.377535366720458}},"curvature":-0.20227161900745516},{"time":5.683614148294425,"velocity":2.5329398814053583,"acceleration":7.138845325301986E-5,"pose":{"translation":{"x":9.917864879535045,"y":-8.77629045950016},"rotation":{"radians":-1.3957582302808835}},"curvature":-0.20356489854681434},{"time":5.718508597512324,"velocity":2.532942372466115,"acceleration":0.033048537887366274,"pose":{"translation":{"x":9.932472808286548,"y":-8.863460524007678},"rotation":{"radians":-1.4137607299223527}},"curvature":-0.20356166296129774},{"time":5.752883101406582,"velocity":2.534078399560424,"acceleration":0.07099527616695449,"pose":{"translation":{"x":9.94533098564716,"y":-8.949594230216462},"rotation":{"radians":-1.4314360119831262}},"curvature":-0.20208676461993152},{"time":5.786752918995964,"velocity":2.5364829966139064,"acceleration":0.11400629935957333,"pose":{"translation":{"x":9.956524074077606,"y":-9.034731090068817},"rotation":{"radians":-1.4486681178031746}},"curvature":-0.19896924595594245},{"time":5.8201332337063105,"velocity":2.540288562765491,"acceleration":-0.388236115375097,"pose":{"translation":{"x":9.966142526536714,"y":-9.118915511935484},"rotation":{"radians":-1.4653326095528878}},"curvature":-0.19404745661562758},{"time":5.8531570288006725,"velocity":2.527467532843113,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":9.974282691255212,"y":-9.202196905389428},"rotation":{"radians":-1.481297431581275}},"curvature":-0.18717450044020895},{"time":5.886775813830221,"velocity":2.392992392724919,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":9.981046916509513,"y":-9.284629785979632},"rotation":{"radians":-1.4964240065300516}},"curvature":-0.1782238294413945},{"time":5.922008524357229,"velocity":2.2520615506168897,"acceleration":-4.000000000000005,"pose":{"translation":{"x":9.986543655395508,"y":-9.366273880004883},"rotation":{"radians":-1.5105685589576776}},"curvature":-0.1670947999411318},{"time":5.959221765570215,"velocity":2.103208585764946,"acceleration":-4.000000000000005,"pose":{"translation":{"x":9.990887570602354,"y":-9.447194229287561},"rotation":{"radians":-1.523583654151162}},"curvature":-0.15371802470468285},{"time":5.998916710004586,"velocity":1.9444288080274603,"acceleration":-4.0,"pose":{"translation":{"x":9.994199639186263,"y":-9.527461295947433},"rotation":{"radians":-1.5353199368767214}},"curvature":-0.13806039182086433},{"time":6.041811609153893,"velocity":1.7728492114302359,"acceleration":-4.0,"pose":{"translation":{"x":9.996607257344294,"y":-9.607151067175437},"rotation":{"radians":-1.5456280544596928}},"curvature":-0.12012966946706},{"time":6.0890041656776965,"velocity":1.5840789853350212,"acceleration":-4.0,"pose":{"translation":{"x":9.99824434518814,"y":-9.686345160007477},"rotation":{"radians":-1.554360750792786}},"curvature":-0.0999786645789153},{"time":6.142335222161581,"velocity":1.3707547593994838,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":9.999251451517921,"y":-9.765130926098209},"rotation":{"radians":-1.561375122117149}},"curvature":-0.07770893881369795},{"time":6.20538245079789,"velocity":1.118565844854249,"acceleration":-4.000000000000002,"pose":{"translation":{"x":9.999775858595967,"y":-9.843601556494832},"rotation":{"radians":-1.5665350305744945}},"curvature":-0.05347409186319095},{"time":6.287357755679213,"velocity":0.7906646253289561,"acceleration":-3.999999999999999,"pose":{"translation":{"x":9.999971686920617,"y":-9.921856186410878},"rotation":{"radians":-1.5697136758781756}},"curvature":-0.02748258627930911},{"time":6.485023912011452,"velocity":0.0,"acceleration":-3.999999999999999,"pose":{"translation":{"x":10.0,"y":-10.0},"rotation":{"radians":-1.5707963267948966}},"curvature":0.0}] \ No newline at end of file diff --git a/src/main/deploy/paths/DriveOffLineBackward.wpilib.json b/src/main/deploy/paths/DriveOffLineBackward.wpilib.json index b3ed0e4..393ddf6 100644 --- a/src/main/deploy/paths/DriveOffLineBackward.wpilib.json +++ b/src/main/deploy/paths/DriveOffLineBackward.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.23570226039551587,"velocity":1.0606601717798212,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.33333333333333337,"velocity":1.5,"acceleration":-4.500000000000001,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43096440627115085,"velocity":1.0606601717798212,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6666666666666667,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.25,"velocity":1.0,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.35355339059327373,"velocity":1.4142135623730951,"acceleration":-4.000000000000002,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.45710678118654746,"velocity":1.0,"acceleration":-4.0,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7071067811865475,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file diff --git a/src/main/deploy/paths/DriveOffLineForward.wpilib.json b/src/main/deploy/paths/DriveOffLineForward.wpilib.json index b3ed0e4..393ddf6 100644 --- a/src/main/deploy/paths/DriveOffLineForward.wpilib.json +++ b/src/main/deploy/paths/DriveOffLineForward.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.23570226039551587,"velocity":1.0606601717798212,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.33333333333333337,"velocity":1.5,"acceleration":-4.500000000000001,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43096440627115085,"velocity":1.0606601717798212,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6666666666666667,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.25,"velocity":1.0,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.35355339059327373,"velocity":1.4142135623730951,"acceleration":-4.000000000000002,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.45710678118654746,"velocity":1.0,"acceleration":-4.0,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7071067811865475,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file diff --git a/src/main/deploy/paths/EightBallMid0.wpilib.json b/src/main/deploy/paths/EightBallMid0.wpilib.json index 6cf1e49..c114a03 100644 --- a/src/main/deploy/paths/EightBallMid0.wpilib.json +++ b/src/main/deploy/paths/EightBallMid0.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.18672251850626592,"velocity":0.8402513332781965,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.2065095854674475,"y":-2.3218236291658374},"rotation":{"radians":1.4813756721292652}},"curvature":-0.23682019043437622},{"time":0.26440564802083355,"velocity":1.189825416093751,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.2144920400116974,"y":-2.243377360913824},"rotation":{"radians":1.454917761458827}},"curvature":-0.42576201763689586},{"time":0.3244864728198217,"velocity":1.4601891276891976,"acceleration":4.500000000000002,"pose":{"translation":{"x":3.2251942805954354,"y":-2.1644925027916173},"rotation":{"radians":1.4151325512096895}},"curvature":-0.5652942275784931},{"time":0.37570548780759416,"velocity":1.690674695134174,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0851022911999886},"rotation":{"radians":1.3654713587791596}},"curvature":-0.6577310942169727},{"time":0.42147295564218873,"velocity":1.8966283003898496,"acceleration":4.499999999999994,"pose":{"translation":{"x":3.2585973431481516,"y":-2.005232567172635},"rotation":{"radians":1.3091243144298805}},"curvature":-0.7083161600470856},{"time":0.4635455390889214,"velocity":2.0859549259001464,"acceleration":2.6526661887367924,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9249924521559951},"rotation":{"radians":1.2488824795564184}},"curvature":-0.7244898416325155},{"time":0.5036135894137853,"velocity":2.1922420882455174,"acceleration":0.39043234227005547,"pose":{"translation":{"x":3.3123124503261456,"y":-1.844565023789062},"rotation":{"radians":1.1870383284988666}},"curvature":-0.7148635896682205},{"time":0.5435284691808844,"velocity":2.2078261482444135,"acceleration":0.5307278833635166,"pose":{"translation":{"x":3.347702503129696,"y":-1.7641979916831971},"rotation":{"radians":1.1253401051571525}},"curvature":-0.6880320260809347},{"time":0.5840969149641976,"velocity":2.229356953606339,"acceleration":0.5872403579361413,"pose":{"translation":{"x":3.388937040133019,"y":-1.684194373201945},"rotation":{"radians":1.065004679160645}},"curvature":-0.6515789195141447},{"time":0.6252232737637009,"velocity":2.2535080112683694,"acceleration":0.5824146142396237,"pose":{"translation":{"x":3.435952123650134,"y":-1.6049031692408469},"rotation":{"radians":1.006777432997644}},"curvature":-0.6115184355792523},{"time":0.6668195799980465,"velocity":2.277734307917639,"acceleration":0.5353275869979089,"pose":{"translation":{"x":3.4885571567123694,"y":-1.526710040007253},"rotation":{"radians":0.951018464595247}},"curvature":-0.5721866543272143},{"time":0.7087956076259672,"velocity":2.3002052334994514,"acceleration":0.46090533808978784,"pose":{"translation":{"x":3.5464500344851415,"y":-1.4500279808001393},"rotation":{"radians":0.8977946082603232}},"curvature":-0.5364453773677413},{"time":0.7510519786018526,"velocity":2.3196814204505394,"acceleration":0.3697640881647478,"pose":{"translation":{"x":3.6092322956847354,"y":-1.3752879977899195},"rotation":{"radians":0.8469628668079059}},"curvature":-0.5060275803559428},{"time":0.7934766505724012,"velocity":2.335368540597418,"acceleration":0.2686344981961542,"pose":{"translation":{"x":3.676424273995083,"y":-1.3029297837982592},"rotation":{"radians":0.7982381560354028}},"curvature":-0.4818964199153621},{"time":0.8359444990721122,"velocity":2.346776869768608,"acceleration":0.16112562547742626,"pose":{"translation":{"x":3.7474802494845436,"y":-1.2333923940778901},"rotation":{"radians":0.751243975385745}},"curvature":-0.46454985151642403},{"time":0.8783194017696137,"velocity":2.353604552470288,"acceleration":0.048607440426456885,"pose":{"translation":{"x":3.8218036000226827,"y":-1.1671049220924246},"rotation":{"radians":0.7055480104280688}},"curvature":-0.45424867593529666},{"time":0.9204581393179304,"velocity":2.355652808645314,"acceleration":-0.06889401366615157,"pose":{"translation":{"x":3.8987619526970523,"y":-1.1044771752961677},"rotation":{"radians":0.6606862029065328}},"curvature":-0.45117004060039156},{"time":0.9622154431452907,"velocity":2.35277598038477,"acceleration":-0.19177216831911306,"pose":{"translation":{"x":3.9777023352299703,"y":-1.0458903509139337},"rotation":{"radians":0.6161792808148264}},"curvature":-0.4554955855641011},{"time":1.0034495607400407,"velocity":2.3448684242448996,"acceleration":-0.3197726218569049,"pose":{"translation":{"x":4.057966327395298,"y":-0.9916877117208573},"rotation":{"radians":0.5715458045066106}},"curvature":-0.4674399207316766},{"time":1.0440277192654825,"velocity":2.331892640103094,"acceleration":-0.45060666935691135,"pose":{"translation":{"x":4.138905212435224,"y":-0.9421652618222098},"rotation":{"radians":0.5263159118657924}},"curvature":-0.48721532342589935},{"time":1.0838308196003805,"velocity":2.3139570976311066,"acceleration":-0.5780533837121844,"pose":{"translation":{"x":4.219895128477039,"y":-0.8975624224332113},"rotation":{"radians":0.4800503874072753}},"curvature":-0.514914663124024},{"time":1.1227565781713125,"velocity":2.2914559311756157,"acceleration":-0.6894195674212974,"pose":{"translation":{"x":4.300352219949918,"y":-0.858052707658846},"rotation":{"radians":0.43237050210611794}},"curvature":-0.5502783042303422},{"time":1.160720175092415,"velocity":2.265283084608513,"acceleration":-0.7623993478369082,"pose":{"translation":{"x":4.3797477890017005,"y":-0.8237344002736755},"rotation":{"radians":0.38300509676508365}},"curvature":-0.5922963376106968},{"time":1.1976513356592189,"velocity":2.2371267918775213,"acceleration":-4.437043095838266,"pose":{"translation":{"x":4.457623446915669,"y":-0.794621227501652},"rotation":{"radians":0.3318620281588008}},"curvature":-0.638596353997764},{"time":1.234623820350099,"velocity":2.0730782839438655,"acceleration":-4.500000000000006,"pose":{"translation":{"x":4.5336062655273235,"y":-0.770633036795934},"rotation":{"radians":0.2791301165865979}},"curvature":-0.6846031138647943},{"time":1.2729958470663643,"velocity":1.9004041637206717,"acceleration":-4.5,"pose":{"translation":{"x":4.607423928641174,"y":-0.751586471618698},"rotation":{"radians":0.22541304675400947}},"curvature":-0.7225669573485112},{"time":1.3132957123937232,"velocity":1.7190547697475564,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":4.678919883447504,"y":-0.7371856472209546},"rotation":{"radians":0.17188576739499878}},"curvature":-0.7407736342310233},{"time":1.356383420892143,"velocity":1.5251600815046669,"acceleration":-4.5,"pose":{"translation":{"x":4.748068491939165,"y":-0.7270128264223612},"rotation":{"radians":0.1204455235478345}},"curvature":-0.7235395890805306},{"time":1.403782379034698,"velocity":1.3118647698631702,"acceleration":-4.5,"pose":{"translation":{"x":4.814990182328344,"y":-0.7205190953910354},"rotation":{"radians":0.07380665332979482}},"curvature":-0.6528042487689714},{"time":1.458523700168066,"velocity":1.0655288247630141,"acceleration":-4.5,"pose":{"translation":{"x":4.87996660046335,"y":-0.7170150394233701},"rotation":{"radians":0.03546965101273601}},"curvature":-0.5119937898610332},{"time":1.6953078834487358,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":5.006107200045358,"y":-0.7154598441848505},"rotation":{"radians":-3.99680288865064E-15}},"curvature":-7.549516567451497E-15}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":3.999999999999999,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.19804913855401687,"velocity":0.7921965542160673,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.2065095854674475,"y":-2.3218236291658374},"rotation":{"radians":1.4813756721292652}},"curvature":-0.23682019043437622},{"time":0.2804445400493323,"velocity":1.1217781601973291,"acceleration":4.0,"pose":{"translation":{"x":3.2144920400116974,"y":-2.243377360913824},"rotation":{"radians":1.454917761458827}},"curvature":-0.42576201763689586},{"time":0.3441698780013004,"velocity":1.3766795120052016,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.2251942805954354,"y":-2.1644925027916173},"rotation":{"radians":1.4151325512096895}},"curvature":-0.5652942275784931},{"time":0.39849584723662446,"velocity":1.5939833889464978,"acceleration":4.0,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0851022911999886},"rotation":{"radians":1.3654713587791596}},"curvature":-0.6577310942169727},{"time":0.44703957753199297,"velocity":1.7881583101279719,"acceleration":4.000000000000003,"pose":{"translation":{"x":3.2585973431481516,"y":-2.005232567172635},"rotation":{"radians":1.3091243144298805}},"curvature":-0.7083161600470856},{"time":0.4916642911178253,"velocity":1.9666571644713013,"acceleration":4.0,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9249924521559951},"rotation":{"radians":1.2488824795564184}},"curvature":-0.7244898416325155},{"time":0.5334683950113741,"velocity":2.133873580045497,"acceleration":1.8281793873606416,"pose":{"translation":{"x":3.3123124503261456,"y":-1.844565023789062},"rotation":{"radians":1.1870383284988666}},"curvature":-0.7148635896682205},{"time":0.5739198784435785,"velocity":2.2078261482444135,"acceleration":0.5307278833635166,"pose":{"translation":{"x":3.347702503129696,"y":-1.7641979916831971},"rotation":{"radians":1.1253401051571525}},"curvature":-0.6880320260809347},{"time":0.6144883242268917,"velocity":2.229356953606339,"acceleration":0.5872403579361413,"pose":{"translation":{"x":3.388937040133019,"y":-1.684194373201945},"rotation":{"radians":1.065004679160645}},"curvature":-0.6515789195141447},{"time":0.655614683026395,"velocity":2.2535080112683694,"acceleration":0.5824146142396237,"pose":{"translation":{"x":3.435952123650134,"y":-1.6049031692408469},"rotation":{"radians":1.006777432997644}},"curvature":-0.6115184355792523},{"time":0.6972109892607407,"velocity":2.277734307917639,"acceleration":0.5353275869979089,"pose":{"translation":{"x":3.4885571567123694,"y":-1.526710040007253},"rotation":{"radians":0.951018464595247}},"curvature":-0.5721866543272143},{"time":0.7391870168886613,"velocity":2.3002052334994514,"acceleration":0.46090533808980144,"pose":{"translation":{"x":3.5464500344851415,"y":-1.4500279808001393},"rotation":{"radians":0.8977946082603232}},"curvature":-0.5364453773677413},{"time":0.7814433878645465,"velocity":2.31968142045054,"acceleration":0.36976408816473433,"pose":{"translation":{"x":3.6092322956847354,"y":-1.3752879977899195},"rotation":{"radians":0.8469628668079059}},"curvature":-0.5060275803559428},{"time":0.8238680598350955,"velocity":2.335368540597418,"acceleration":0.2686344981961542,"pose":{"translation":{"x":3.676424273995083,"y":-1.3029297837982592},"rotation":{"radians":0.7982381560354028}},"curvature":-0.4818964199153621},{"time":0.8663359083348064,"velocity":2.346776869768608,"acceleration":0.16112562547742626,"pose":{"translation":{"x":3.7474802494845436,"y":-1.2333923940778901},"rotation":{"radians":0.751243975385745}},"curvature":-0.46454985151642403},{"time":0.9087108110323079,"velocity":2.353604552470288,"acceleration":0.04860744042647032,"pose":{"translation":{"x":3.8218036000226827,"y":-1.1671049220924246},"rotation":{"radians":0.7055480104280688}},"curvature":-0.45424867593529666},{"time":0.9508495485806221,"velocity":2.3556528086453143,"acceleration":-0.06889401366616511,"pose":{"translation":{"x":3.8987619526970523,"y":-1.1044771752961677},"rotation":{"radians":0.6606862029065328}},"curvature":-0.45117004060039156},{"time":0.9926068524079806,"velocity":2.35277598038477,"acceleration":-0.19177216831909932,"pose":{"translation":{"x":3.9777023352299703,"y":-1.0458903509139337},"rotation":{"radians":0.6161792808148264}},"curvature":-0.4554955855641011},{"time":1.0338409700027311,"velocity":2.3448684242449,"acceleration":-0.31977262185691896,"pose":{"translation":{"x":4.057966327395298,"y":-0.9916877117208573},"rotation":{"radians":0.5715458045066106}},"curvature":-0.4674399207316766},{"time":1.0744191285281726,"velocity":2.331892640103094,"acceleration":-0.45060666935691135,"pose":{"translation":{"x":4.138905212435224,"y":-0.9421652618222098},"rotation":{"radians":0.5263159118657924}},"curvature":-0.48721532342589935},{"time":1.1142222288630705,"velocity":2.3139570976311066,"acceleration":-0.5780533837121844,"pose":{"translation":{"x":4.219895128477039,"y":-0.8975624224332113},"rotation":{"radians":0.4800503874072753}},"curvature":-0.514914663124024},{"time":1.1531479874340025,"velocity":2.2914559311756157,"acceleration":-0.7403940868208007,"pose":{"translation":{"x":4.300352219949918,"y":-0.858052707658846},"rotation":{"radians":0.43237050210611794}},"curvature":-0.5502783042303422},{"time":1.191127813950314,"velocity":2.263335892204459,"acceleration":-4.0,"pose":{"translation":{"x":4.3797477890017005,"y":-0.8237344002736755},"rotation":{"radians":0.38300509676508365}},"curvature":-0.5922963376106968},{"time":1.2291376879520466,"velocity":2.1112963961975293,"acceleration":-3.9999999999999916,"pose":{"translation":{"x":4.457623446915669,"y":-0.794621227501652},"rotation":{"radians":0.3318620281588008}},"curvature":-0.638596353997764},{"time":1.268332549499003,"velocity":1.954516950009704,"acceleration":-4.0,"pose":{"translation":{"x":4.5336062655273235,"y":-0.770633036795934},"rotation":{"radians":0.2791301165865979}},"curvature":-0.6846031138647943},{"time":1.3090322299474169,"velocity":1.7917182282160486,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.607423928641174,"y":-0.751586471618698},"rotation":{"radians":0.22541304675400947}},"curvature":-0.7225669573485112},{"time":1.351776692028237,"velocity":1.620740379892768,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.678919883447504,"y":-0.7371856472209546},"rotation":{"radians":0.17188576739499878}},"curvature":-0.7407736342310233},{"time":1.39747810832577,"velocity":1.4379347147026365,"acceleration":-3.999999999999995,"pose":{"translation":{"x":4.748068491939165,"y":-0.7270128264223612},"rotation":{"radians":0.1204455235478345}},"curvature":-0.7235395890805306},{"time":1.4477522954114366,"velocity":1.2368379663599698,"acceleration":-4.000000000000002,"pose":{"translation":{"x":4.814990182328344,"y":-0.7205190953910354},"rotation":{"radians":0.07380665332979482}},"curvature":-0.6528042487689714},{"time":1.505814234488209,"velocity":1.0045902100528796,"acceleration":-4.0,"pose":{"translation":{"x":4.87996660046335,"y":-0.7170150394233701},"rotation":{"radians":0.03546965101273601}},"curvature":-0.5119937898610332},{"time":1.756961787001429,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":5.006107200045358,"y":-0.7154598441848505},"rotation":{"radians":-3.99680288865064E-15}},"curvature":-7.549516567451497E-15}] \ No newline at end of file diff --git a/src/main/deploy/paths/EightBallMid1.wpilib.json b/src/main/deploy/paths/EightBallMid1.wpilib.json index 806d7a9..8566db0 100644 --- a/src/main/deploy/paths/EightBallMid1.wpilib.json +++ b/src/main/deploy/paths/EightBallMid1.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":5.006,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.20573764844715167,"velocity":0.9258194180121825,"acceleration":4.499999999999999,"pose":{"translation":{"x":5.101237954974175,"y":-0.715000133837411},"rotation":{"radians":-4.1496514143772375E-6}},"curvature":-8.439120542891601E-5},{"time":0.29089343363920456,"velocity":1.3090204513764203,"acceleration":4.5,"pose":{"translation":{"x":5.1963927268981935,"y":-0.7150010200477351},"rotation":{"radians":-1.5566916778703903E-5}},"curvature":-1.531433592359381E-4},{"time":0.3561228026666159,"velocity":1.6025526119997713,"acceleration":4.5000000000000036,"pose":{"translation":{"x":5.291352763772011,"y":-0.7150032761523467},"rotation":{"radians":-3.281919824111288E-5}},"curvature":-2.0809210046916836E-4},{"time":0.4109495140422511,"velocity":1.84927281319013,"acceleration":4.500000000000002,"pose":{"translation":{"x":5.385978881835937,"y":-0.7150073815320199},"rotation":{"radians":-5.4628064762566565E-5}},"curvature":-2.5102787463788406E-4},{"time":0.45903663068851425,"velocity":2.0656648380983142,"acceleration":4.499999999999996,"pose":{"translation":{"x":5.480107913374901,"y":-0.7150136872941142},"rotation":{"radians":-7.986386339002337E-5}},"curvature":-2.83602941002837E-4},{"time":0.5022422413592885,"velocity":2.260090086116798,"acceleration":4.5000000000000036,"pose":{"translation":{"x":5.573556354522705,"y":-0.7150224261397599},"rotation":{"radians":-1.0753486872715826E-4}},"curvature":-3.07275938946559E-4},{"time":0.5416534416828307,"velocity":2.4374404875727382,"acceleration":4.499999999999993,"pose":{"translation":{"x":5.666124013066292,"y":-0.7150337222310442},"rotation":{"radians":-1.3677316456550684E-4}},"curvature":-3.2328258941494175E-4},{"time":0.5779648811830143,"velocity":2.600841965323564,"acceleration":2.9062291397178117,"pose":{"translation":{"x":5.757597656250001,"y":-0.7150476010581972},"rotation":{"radians":-1.6681884584259307E-4}},"curvature":-3.326228999871516E-4},{"time":0.6119828746337644,"velocity":2.699706049164864,"acceleration":5.2016258735270064E-5,"pose":{"translation":{"x":5.847754658579826,"y":-0.715063999306777},"rotation":{"radians":-1.970036246728839E-4}},"curvature":-3.3605720307272754E-4},{"time":0.6448056943784561,"velocity":2.6997077564851484,"acceleration":1.9203215607598457E-4,"pose":{"translation":{"x":5.936366649627686,"y":-0.7150827747248557},"rotation":{"radians":-2.267345283137577E-4}},"curvature":-3.3410511000065975E-4},{"time":0.676970811209073,"velocity":2.699713933221884,"acceleration":3.3810962356709765E-4,"pose":{"translation":{"x":6.023203161835671,"y":-0.7151037159902053},"rotation":{"radians":-2.554780823579629E-4}},"curvature":-3.270428558434214E-4},{"time":0.7083933821685713,"velocity":2.6997245574955224,"acceleration":4.995030911849743E-4,"pose":{"translation":{"x":6.108035278320313,"y":-0.7151265525774831},"rotation":{"radians":-2.827451666545957E-4}},"curvature":-3.1489552676741375E-4},{"time":0.7389904932411635,"velocity":2.6997398408470845,"acceleration":6.873894527128206E-4,"pose":{"translation":{"x":6.190639280676843,"y":-0.7151509646254184},"rotation":{"radians":-3.080766026243413E-4}},"curvature":-2.9742137977722E-4},{"time":0.7686825087396617,"velocity":2.699760250825368,"acceleration":9.157510278698981E-4,"pose":{"translation":{"x":6.270800296783448,"y":-0.7151765928039965},"rotation":{"radians":-3.310294717533898E-4}},"curvature":-2.740860371375139E-4},{"time":0.797394420789006,"velocity":2.6997865437883393,"acceleration":-1.9806571649785516,"pose":{"translation":{"x":6.3483159486055385,"y":-0.7152030481816463},"rotation":{"radians":-3.511641773574364E-4}},"curvature":-2.4402502101658282E-4},{"time":0.8253439176537187,"velocity":2.6444281725657004,"acceleration":-4.500000000000009,"pose":{"translation":{"x":6.423000000000001,"y":-0.7152299220924245},"rotation":{"radians":-3.6803235840971186E-4}},"curvature":-2.059943242003666E-4},{"time":0.8531081141576525,"velocity":2.519489288297998,"acceleration":-4.500000000000008,"pose":{"translation":{"x":6.494686004519464,"y":-0.7152567960032029},"rotation":{"radians":-3.811659755577217E-4}},"curvature":-1.58311254330657E-4},{"time":0.8810092107441903,"velocity":2.393934353658578,"acceleration":-4.5,"pose":{"translation":{"x":6.563230953216554,"y":-0.7152832513808527},"rotation":{"radians":-3.900682698212409E-4}},"curvature":-9.879298936442655E-5},{"time":0.9090188285566771,"velocity":2.2678910735023874,"acceleration":-4.500000000000011,"pose":{"translation":{"x":6.628518922448159,"y":-0.7153088795594308},"rotation":{"radians":-3.942079319109873E-4}},"curvature":-2.471047188454908E-5},{"time":0.9371163476993389,"velocity":2.1414522373604092,"acceleration":-4.5,"pose":{"translation":{"x":6.690464721679689,"y":-0.715333291607366},"rotation":{"radians":-3.930188464700522E-4}},"curvature":6.720568814785149E-5},{"time":0.993558275384518,"velocity":1.8874635627771035,"acceleration":-4.5,"pose":{"translation":{"x":6.804164600372316,"y":-0.7153770694599936},"rotation":{"radians":-3.722874810951608E-4}},"curvature":3.192984868163592E-4},{"time":1.0505353304545126,"velocity":1.6310668149621277,"acceleration":-4.499999999999999,"pose":{"translation":{"x":6.904402343750003,"y":-0.715412243126652},"rotation":{"radians":-3.234795622395437E-4}},"curvature":6.815272352510909E-4},{"time":1.10892949345608,"velocity":1.3682930814550742,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.9919748954772984,"y":-0.7154374180450894},"rotation":{"radians":-2.4489770884975466E-4}},"curvature":0.0011296207077533735},{"time":1.171261177052238,"velocity":1.0878005052723632,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.0685211181640675,"y":-0.7154524626528294},"rotation":{"radians":-1.43629614104435E-4}},"curvature":0.0014770805957295724},{"time":1.2451832511738725,"velocity":0.7551511717250086,"acceleration":-4.500000000000001,"pose":{"translation":{"x":7.136638523101813,"y":-0.7154588241371141},"rotation":{"radians":-4.551855926430377E-5}},"curvature":0.0012543019646483913},{"time":1.4129946226683188,"velocity":0.0,"acceleration":-4.500000000000001,"pose":{"translation":{"x":7.200000000000008,"y":-0.7154598441848493},"rotation":{"radians":0.0}},"curvature":3.552713678800261E-15}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":5.006,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.21821772954353236,"velocity":0.8728709181741294,"acceleration":3.9999999999999987,"pose":{"translation":{"x":5.101237954974175,"y":-0.715000133837411},"rotation":{"radians":-4.1496514143772375E-6}},"curvature":-8.439120542891601E-5},{"time":0.30853907929338076,"velocity":1.2341563171735228,"acceleration":4.000000000000001,"pose":{"translation":{"x":5.1963927268981935,"y":-0.7150010200477351},"rotation":{"radians":-1.5566916778703903E-5}},"curvature":-1.531433592359381E-4},{"time":0.3777252730510842,"velocity":1.5109010922043367,"acceleration":4.0,"pose":{"translation":{"x":5.291352763772011,"y":-0.7150032761523467},"rotation":{"radians":-3.281919824111288E-5}},"curvature":-2.0809210046916836E-4},{"time":0.43587778215688816,"velocity":1.7435111286275524,"acceleration":4.000000000000003,"pose":{"translation":{"x":5.385978881835937,"y":-0.7150073815320199},"rotation":{"radians":-5.4628064762566565E-5}},"curvature":-2.5102787463788406E-4},{"time":0.4868818715593099,"velocity":1.9475274862372396,"acceleration":3.999999999999993,"pose":{"translation":{"x":5.480107913374901,"y":-0.7150136872941142},"rotation":{"radians":-7.986386339002337E-5}},"curvature":-2.83602941002837E-4},{"time":0.5327083419952254,"velocity":2.1308333679809013,"acceleration":3.999999999999995,"pose":{"translation":{"x":5.573556354522705,"y":-0.7150224261397599},"rotation":{"radians":-1.0753486872715826E-4}},"curvature":-3.07275938946559E-4},{"time":0.5745102325004426,"velocity":2.29804093000177,"acceleration":4.0,"pose":{"translation":{"x":5.666124013066292,"y":-0.7150337222310442},"rotation":{"radians":-1.3677316456550684E-4}},"curvature":-3.2328258941494175E-4},{"time":0.61302433015828,"velocity":2.4520973206331194,"acceleration":4.0,"pose":{"translation":{"x":5.757597656250001,"y":-0.7150476010581972},"rotation":{"radians":-1.6681884584259307E-4}},"curvature":-3.326228999871516E-4},{"time":0.6487505925057575,"velocity":2.5950023700230296,"acceleration":3.128158226673086,"pose":{"translation":{"x":5.847754658579826,"y":-0.715063999306777},"rotation":{"radians":-1.970036246728839E-4}},"curvature":-3.3605720307272754E-4},{"time":0.6822224883866372,"velocity":2.6997077564851484,"acceleration":1.9203215607598457E-4,"pose":{"translation":{"x":5.936366649627686,"y":-0.7150827747248557},"rotation":{"radians":-2.267345283137577E-4}},"curvature":-3.3410511000065975E-4},{"time":0.7143876052172541,"velocity":2.699713933221884,"acceleration":3.3810962356709765E-4,"pose":{"translation":{"x":6.023203161835671,"y":-0.7151037159902053},"rotation":{"radians":-2.554780823579629E-4}},"curvature":-3.270428558434214E-4},{"time":0.7458101761767524,"velocity":2.6997245574955224,"acceleration":4.995030911849743E-4,"pose":{"translation":{"x":6.108035278320313,"y":-0.7151265525774831},"rotation":{"radians":-2.827451666545957E-4}},"curvature":-3.1489552676741375E-4},{"time":0.7764072872493446,"velocity":2.6997398408470845,"acceleration":6.873894527128206E-4,"pose":{"translation":{"x":6.190639280676843,"y":-0.7151509646254184},"rotation":{"radians":-3.080766026243413E-4}},"curvature":-2.9742137977722E-4},{"time":0.8060993027478428,"velocity":2.699760250825368,"acceleration":-3.065397783397387,"pose":{"translation":{"x":6.270800296783448,"y":-0.7151765928039965},"rotation":{"radians":-3.310294717533898E-4}},"curvature":-2.740860371375139E-4},{"time":0.8352952791573309,"velocity":2.6102629694556008,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.3483159486055385,"y":-0.7152030481816463},"rotation":{"radians":-3.511641773574364E-4}},"curvature":-2.4402502101658282E-4},{"time":0.8645633237939125,"velocity":2.4931907909092743,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.423000000000001,"y":-0.7152299220924245},"rotation":{"radians":-3.6803235840971186E-4}},"curvature":-2.059943242003666E-4},{"time":0.8940117012271037,"velocity":2.3753972811765096,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":6.494686004519464,"y":-0.7152567960032029},"rotation":{"radians":-3.811659755577217E-4}},"curvature":-1.58311254330657E-4},{"time":0.9236052831254261,"velocity":2.25702295358322,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":6.563230953216554,"y":-0.7152832513808527},"rotation":{"radians":-3.900682698212409E-4}},"curvature":-9.879298936442655E-5},{"time":0.9533139691659055,"velocity":2.1381882094213025,"acceleration":-3.999999999999993,"pose":{"translation":{"x":6.628518922448159,"y":-0.7153088795594308},"rotation":{"radians":-3.942079319109873E-4}},"curvature":-2.471047188454908E-5},{"time":0.9831158886463479,"velocity":2.018980531499533,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.690464721679689,"y":-0.715333291607366},"rotation":{"radians":-3.930188464700522E-4}},"curvature":6.720568814785149E-5},{"time":1.0429815933604942,"velocity":1.7795177126429476,"acceleration":-3.999999999999998,"pose":{"translation":{"x":6.804164600372316,"y":-0.7153770694599936},"rotation":{"radians":-3.722874810951608E-4}},"curvature":3.192984868163592E-4},{"time":1.1034148863785431,"velocity":1.5377845405707522,"acceleration":-4.0,"pose":{"translation":{"x":6.904402343750003,"y":-0.715412243126652},"rotation":{"radians":-3.234795622395437E-4}},"curvature":6.815272352510909E-4},{"time":1.1653512493387246,"velocity":1.2900390887300266,"acceleration":-4.0,"pose":{"translation":{"x":6.9919748954772984,"y":-0.7154374180450894},"rotation":{"radians":-2.4489770884975466E-4}},"curvature":0.0011296207077533735},{"time":1.231463983569151,"velocity":1.025588151808321,"acceleration":-4.0,"pose":{"translation":{"x":7.0685211181640675,"y":-0.7154524626528294},"rotation":{"radians":-1.43629614104435E-4}},"curvature":0.0014770805957295724},{"time":1.3098701834053244,"velocity":0.7119633524636274,"acceleration":-4.0,"pose":{"translation":{"x":7.136638523101813,"y":-0.7154588241371141},"rotation":{"radians":-4.551855926430377E-5}},"curvature":0.0012543019646483913},{"time":1.4878610215212311,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":7.200000000000008,"y":-0.7154598441848493},"rotation":{"radians":0.0}},"curvature":3.552713678800261E-15}] \ No newline at end of file diff --git a/src/main/deploy/paths/EightBallMid2.wpilib.json b/src/main/deploy/paths/EightBallMid2.wpilib.json index d55023e..3dfbd15 100644 --- a/src/main/deploy/paths/EightBallMid2.wpilib.json +++ b/src/main/deploy/paths/EightBallMid2.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.500000000000001,"pose":{"translation":{"x":7.2,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.14377911415914554,"velocity":0.6470060137161551,"acceleration":4.500000000000001,"pose":{"translation":{"x":7.246509805083275,"y":-0.7155430880188942},"rotation":{"radians":-0.0350011181299882}},"curvature":-1.5127100780557379},{"time":0.17530096881722,"velocity":0.7888543596774901,"acceleration":4.500000000000004,"pose":{"translation":{"x":7.269105931106955,"y":-0.7167897682543843},"rotation":{"radians":-0.07832761851893318}},"curvature":-2.334420656075931},{"time":0.2012345671578625,"velocity":0.9055555522103815,"acceleration":4.500000000000002,"pose":{"translation":{"x":7.290950786590576,"y":-0.7191414356231689},"rotation":{"radians":-0.1395525129244173}},"curvature":-3.263282772933744},{"time":0.22344353177972637,"velocity":1.005495893008769,"acceleration":0.3718160065778435,"pose":{"translation":{"x":7.311837589647621,"y":-0.7228940822277218},"rotation":{"radians":-0.21970640501294192}},"curvature":-4.314442138931049},{"time":0.23369622711735133,"velocity":1.009308009245864,"acceleration":-4.500000000000005,"pose":{"translation":{"x":7.321862860926544,"y":-0.7253787572213332},"rotation":{"radians":-0.26715373954274585}},"curvature":-4.8768249166265605},{"time":0.24398865265679517,"velocity":0.9629920943183666,"acceleration":-4.500000000000004,"pose":{"translation":{"x":7.331580549359321,"y":-0.7283090326189995},"rotation":{"radians":-0.3195540309110183}},"curvature":-5.44923810979411},{"time":0.25462456496122926,"velocity":0.9151304889484132,"acceleration":-4.500000000000003,"pose":{"translation":{"x":7.3409705967268675,"y":-0.7317123590575647},"rotation":{"radians":-0.3768130423863286}},"curvature":-6.013133652151949},{"time":0.2656883430512126,"velocity":0.8653434875434881,"acceleration":-3.475280425257189,"pose":{"translation":{"x":7.3500141697414225,"y":-0.7356141742598266},"rotation":{"radians":-0.4386948535617238}},"curvature":-6.54366755130846},{"time":0.27721277468324323,"velocity":0.8252928558804773,"acceleration":-2.459565832987937,"pose":{"translation":{"x":7.3586936382955175,"y":-0.7400379414865165},"rotation":{"radians":-0.5047911520002755}},"curvature":-7.011005995792478},{"time":0.28914425597137444,"velocity":0.7959465921672549,"acceleration":-1.50145358994759,"pose":{"translation":{"x":7.366992553710937,"y":-0.7450051879882812},"rotation":{"radians":-0.5745030191870489}},"curvature":-7.383294440478745},{"time":0.30140481587452767,"velocity":0.777537930485898,"acceleration":-0.5857119020004755,"pose":{"translation":{"x":7.37489562698768,"y":-0.7505355434576632},"rotation":{"radians":-0.6470431198312998}},"curvature":-7.631170999207397},{"time":0.3138992788997867,"velocity":0.7702197747828989,"acceleration":0.30376947596872483,"pose":{"translation":{"x":7.382388707052916,"y":-0.7566467784810811},"rotation":{"radians":-0.7214638781945694}},"curvature":-7.733002970359292},{"time":0.326521343405046,"velocity":0.774053972703305,"acceleration":1.1819631344055153,"pose":{"translation":{"x":7.389458759009955,"y":-0.7633548429908115},"rotation":{"radians":-0.7967118933901203}},"curvature":-7.67941005620971},{"time":0.3391619183614794,"velocity":0.7889946662994989,"acceleration":2.060172964484799,"pose":{"translation":{"x":7.3960938423872,"y":-0.7706739047169685},"rotation":{"radians":-0.8717017970267}},"curvature":-7.475544337770991},{"time":0.3517182098111778,"velocity":0.8148627984783592,"acceleration":2.9434553070918863,"pose":{"translation":{"x":7.402283089387114,"y":-0.7786163876394857},"rotation":{"radians":-0.945396735690179}},"curvature":-7.140250735362253},{"time":0.36410179326848474,"velocity":0.8513133229265846,"acceleration":3.8285347438026136,"pose":{"translation":{"x":7.408016683135182,"y":-0.7871930104400963},"rotation":{"radians":-1.0168804926180126}},"curvature":-6.702377284278848},{"time":0.3762442491855674,"velocity":0.8978011372802273,"acceleration":4.500000000000005,"pose":{"translation":{"x":7.413285835928866,"y":-0.7964128249543136},"rotation":{"radians":-1.0854090438103314}},"curvature":-6.195516955724278},{"time":0.38811468354627343,"velocity":0.9512180919034042,"acceleration":4.499999999999993,"pose":{"translation":{"x":7.418082767486572,"y":-0.8062832546234131},"rotation":{"radians":-1.1504356775241285}},"curvature":-5.652809077092928},{"time":0.3997556796220151,"velocity":1.0036025742442416,"acceleration":4.499999999999981,"pose":{"translation":{"x":7.422400683196611,"y":-0.8168101329464116},"rotation":{"radians":-1.2116107716220759}},"curvature":-5.103047095861068},{"time":0.4112433981930633,"velocity":1.0552973078139585,"acceleration":4.5,"pose":{"translation":{"x":7.426233752366156,"y":-0.8279977419320493},"rotation":{"radians":-1.2687623098382128}},"curvature":-4.568594092565457},{"time":0.4226351551176808,"velocity":1.106560213974737,"acceleration":4.499999999999996,"pose":{"translation":{"x":7.429577086470206,"y":-0.8398488505507703},"rotation":{"radians":-1.321865159656409}},"curvature":-4.064939827552741},{"time":0.43397383709312254,"velocity":1.1575842828642249,"acceleration":4.499999999999996,"pose":{"translation":{"x":7.432426717400551,"y":-0.8523647531867027},"rotation":{"radians":-1.3710064961660495}},"curvature":-3.6013796997049092},{"time":0.45660486251711707,"velocity":1.2594238972722,"acceleration":4.499999999999997,"pose":{"translation":{"x":7.436633468884975,"y":-0.8793889758270235},"rotation":{"radians":-1.4581210241861995}},"curvature":-2.8082821953841726},{"time":0.47930293452896067,"velocity":1.361565221325496,"acceleration":4.500000000000009,"pose":{"translation":{"x":7.43883984375,"y":-0.909052734375},"rotation":{"radians":-1.5319155465954188}},"curvature":-2.187808044399357},{"time":0.5021383191902181,"velocity":1.4643244523011547,"acceleration":4.500000000000006,"pose":{"translation":{"x":7.439045013528317,"y":-0.9413172208983451},"rotation":{"radians":-1.5944160241119611}},"curvature":-1.7137886686522077},{"time":0.525127152572549,"velocity":1.5677742025216441,"acceleration":4.500000000000002,"pose":{"translation":{"x":7.437260788321495,"y":-0.9761237254738808},"rotation":{"radians":-1.647530756225237}},"curvature":-1.3550438251889343},{"time":0.5714704086568314,"velocity":1.7763188549009148,"acceleration":4.499999999999999,"pose":{"translation":{"x":7.427830410003662,"y":-1.053035821914673},"rotation":{"radians":-1.7319621716711908}},"curvature":-0.8776200100484256},{"time":0.6180339576291997,"velocity":1.985854825276572,"acceleration":4.5,"pose":{"translation":{"x":7.410869511723519,"y":-1.1389680621027947},"rotation":{"radians":-1.7953267099312762}},"curvature":-0.5981874451621899},{"time":0.6644002172569784,"velocity":2.1945029936015765,"acceleration":4.500000000000001,"pose":{"translation":{"x":7.386856567382813,"y":-1.232859802246094},"rotation":{"radians":-1.8443193056718796}},"curvature":-0.42887728768877253},{"time":0.710146264737722,"velocity":2.400360207264923,"acceleration":2.0587924522802052,"pose":{"translation":{"x":7.356405448794365,"y":-1.3334500911831857},"rotation":{"radians":-1.8833328796774655}},"curvature":-0.3227070850970345},{"time":0.7558568705998842,"velocity":2.4944688576030978,"acceleration":0.7255853481413468,"pose":{"translation":{"x":7.320243152618408,"y":-1.4393170452117925},"rotation":{"radians":-1.9153030970810474}},"curvature":-0.2543047895084811},{"time":0.8024597853396696,"velocity":2.5282832497189665,"acceleration":0.4715474211743304,"pose":{"translation":{"x":7.2791875272989275,"y":-1.5489172229170802},"rotation":{"radians":-1.9422516839062522}},"curvature":-0.209624443804745},{"time":0.849892730711888,"velocity":2.550650132787939,"acceleration":0.28984905611726813,"pose":{"translation":{"x":7.234125000000001,"y":-1.6606250000000005},"rotation":{"radians":-1.965624524729717}},"curvature":-0.1807211323727493},{"time":0.8976104895498865,"velocity":2.5644810801471642,"acceleration":0.14556913453839687,"pose":{"translation":{"x":7.185988303542137,"y":-1.7727719441056258},"rotation":{"radians":-1.9865046578778909}},"curvature":-0.16310054864071177},{"time":0.9450291805519702,"velocity":2.5713837779572812,"acceleration":0.012606284052409104,"pose":{"translation":{"x":7.1357342033386235,"y":-1.88368618965149},"rotation":{"radians":-2.0057518949614077}},"curvature":-0.15437744131502087},{"time":0.9915569116223996,"velocity":2.571970319751469,"acceleration":-0.13363688841825153,"pose":{"translation":{"x":7.084321224331855,"y":-1.9917318126559267},"rotation":{"radians":-2.024100963913834}},"curvature":-0.15363837252157278},{"time":1.0366213809964826,"velocity":2.565948044286097,"acceleration":-3.9456901197349596,"pose":{"translation":{"x":7.032687377929688,"y":-2.095348205566407},"rotation":{"radians":-2.042238626552442}},"curvature":-0.16124278314075052},{"time":1.0811004968462279,"velocity":2.3904472363432108,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.981727888941764,"y":-2.1930894520878805},"rotation":{"radians":-2.0608745532745756}},"curvature":-0.17899026334377835},{"time":1.126183907788217,"velocity":2.1875718871042595,"acceleration":-4.500000000000003,"pose":{"translation":{"x":6.932272922515868,"y":-2.2836637020111104},"rotation":{"radians":-2.0808190837865843}},"curvature":-0.21073857875662377},{"time":1.1716885907723409,"velocity":1.9828008136757016,"acceleration":-4.5,"pose":{"translation":{"x":6.885065311074255,"y":-2.3659725460410135},"rotation":{"radians":-2.1030825654130876}},"curvature":-0.26376144837191884},{"time":1.2171868683322828,"velocity":1.7780585646559626,"acceleration":-4.499999999999997,"pose":{"translation":{"x":6.840738281249999,"y":-2.4391503906250023},"rotation":{"radians":-2.129015304185589}},"curvature":-0.3514924199646048},{"time":1.262225440103704,"velocity":1.5753849916845672,"acceleration":-4.5,"pose":{"translation":{"x":6.7997931808233245,"y":-2.502603832781319},"rotation":{"radians":-2.1605122947808555}},"curvature":-0.4989493268459689},{"time":1.3063466175017426,"velocity":1.3768396933933937,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.762577205657957,"y":-2.5560510349273713},"rotation":{"radians":-2.200302020305231}},"curvature":-0.7530310265685853},{"time":1.3491409841267776,"velocity":1.1842650435807363,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":6.729261126637456,"y":-2.599561099708085},"rotation":{"radians":-2.2522772528856647}},"curvature":-1.1992166376442492},{"time":1.3903702742479038,"velocity":0.9987332380356685,"acceleration":-4.5,"pose":{"translation":{"x":6.69981701660156,"y":-2.633593444824225},"rotation":{"radians":-2.3215377094330125}},"curvature":-1.9722505146070455},{"time":1.4104385158707837,"velocity":0.9084261507327093,"acceleration":-4.5,"pose":{"translation":{"x":6.686478409957137,"y":-2.6473154572118123},"rotation":{"radians":-2.364268687217763}},"curvature":-2.522324344886889},{"time":1.4302612481351753,"velocity":0.8192238555429471,"acceleration":-4.5,"pose":{"translation":{"x":6.67399597728252,"y":-2.6590371778607427},"rotation":{"radians":-2.412814916615144}},"curvature":-3.1726839328595746},{"time":1.4500454909451195,"velocity":0.7301947628981985,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.662300425384189,"y":-2.668943344196311},"rotation":{"radians":-2.4666153391310455}},"curvature":-3.854197267072015},{"time":1.4701644344955758,"velocity":0.6396595169211448,"acceleration":-4.499999999999998,"pose":{"translation":{"x":6.651305866241448,"y":-2.677250471115121},"rotation":{"radians":-2.5237315022575926}},"curvature":-4.401365184508673},{"time":1.491291844544719,"velocity":0.5445861717000005,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":6.640909120973196,"y":-2.684208081448457},"rotation":{"radians":-2.5802250024313738}},"curvature":-4.534047099645387},{"time":1.5147523172502855,"velocity":0.43901404452495063,"acceleration":-4.499999999999999,"pose":{"translation":{"x":6.630989023804658,"y":-2.6900999364256926},"rotation":{"radians":-2.6299027273834015}},"curvature":-3.9202737890595847},{"time":1.6123109938113855,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":6.611999999999994,"y":-2.70000000000001},"rotation":{"radians":-2.6779450445889683}},"curvature":8.473716576415405E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":3.9999999999999996,"pose":{"translation":{"x":7.2,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.1525007799223899,"velocity":0.6100031196895594,"acceleration":3.9999999999999987,"pose":{"translation":{"x":7.246509805083275,"y":-0.7155430880188942},"rotation":{"radians":-0.0350011181299882}},"curvature":-1.5127100780557379},{"time":0.1859347556988417,"velocity":0.7437390227953666,"acceleration":4.0,"pose":{"translation":{"x":7.269105931106955,"y":-0.7167897682543843},"rotation":{"radians":-0.07832761851893318}},"curvature":-2.334420656075931},{"time":0.2134414905696965,"velocity":0.8537659622787858,"acceleration":3.9999999999999973,"pose":{"translation":{"x":7.290950786590576,"y":-0.7191414356231689},"rotation":{"radians":-0.1395525129244173}},"curvature":-3.263282772933744},{"time":0.2369976548005746,"velocity":0.9479906192022981,"acceleration":4.000000000000005,"pose":{"translation":{"x":7.311837589647621,"y":-0.7228940822277218},"rotation":{"radians":-0.21970640501294192}},"curvature":-4.314442138931049},{"time":0.24765334850288423,"velocity":0.9906133940115366,"acceleration":-3.6354277068065617,"pose":{"translation":{"x":7.321862860926544,"y":-0.7253787572213332},"rotation":{"radians":-0.26715373954274585}},"curvature":-4.8768249166265605},{"time":0.2580996376267247,"velocity":0.9526366650974148,"acceleration":-4.000000000000005,"pose":{"translation":{"x":7.331580549359321,"y":-0.7283090326189995},"rotation":{"radians":-0.3195540309110183}},"curvature":-5.44923810979411},{"time":0.2688255132258904,"velocity":0.9097331627007522,"acceleration":-4.000000000000005,"pose":{"translation":{"x":7.3409705967268675,"y":-0.7317123590575647},"rotation":{"radians":-0.3768130423863286}},"curvature":-6.013133652151949},{"time":0.2799229320152064,"velocity":0.865343487543488,"acceleration":-3.4752804252571665,"pose":{"translation":{"x":7.3500141697414225,"y":-0.7356141742598266},"rotation":{"radians":-0.4386948535617238}},"curvature":-6.54366755130846},{"time":0.29144736364723706,"velocity":0.8252928558804774,"acceleration":-2.4595658329879484,"pose":{"translation":{"x":7.3586936382955175,"y":-0.7400379414865165},"rotation":{"radians":-0.5047911520002755}},"curvature":-7.011005995792478},{"time":0.3033788449353682,"velocity":0.7959465921672549,"acceleration":-1.50145358994759,"pose":{"translation":{"x":7.366992553710937,"y":-0.7450051879882812},"rotation":{"radians":-0.5745030191870489}},"curvature":-7.383294440478745},{"time":0.31563940483852143,"velocity":0.777537930485898,"acceleration":-0.5857119020004927,"pose":{"translation":{"x":7.37489562698768,"y":-0.7505355434576632},"rotation":{"radians":-0.6470431198312998}},"curvature":-7.631170999207397},{"time":0.3281338678637805,"velocity":0.7702197747828987,"acceleration":0.30376947596874765,"pose":{"translation":{"x":7.382388707052916,"y":-0.7566467784810811},"rotation":{"radians":-0.7214638781945694}},"curvature":-7.733002970359292},{"time":0.34075593236904,"velocity":0.7740539727033051,"acceleration":1.181963134405521,"pose":{"translation":{"x":7.389458759009955,"y":-0.7633548429908115},"rotation":{"radians":-0.7967118933901203}},"curvature":-7.67941005620971},{"time":0.35339650732547334,"velocity":0.788994666299499,"acceleration":2.0601729644847935,"pose":{"translation":{"x":7.3960938423872,"y":-0.7706739047169685},"rotation":{"radians":-0.8717017970267}},"curvature":-7.475544337770991},{"time":0.3659527987751718,"velocity":0.8148627984783593,"acceleration":2.943455307091881,"pose":{"translation":{"x":7.402283089387114,"y":-0.7786163876394857},"rotation":{"radians":-0.945396735690179}},"curvature":-7.140250735362253},{"time":0.37833638223247873,"velocity":0.8513133229265846,"acceleration":3.8285347438026136,"pose":{"translation":{"x":7.408016683135182,"y":-0.7871930104400963},"rotation":{"radians":-1.0168804926180126}},"curvature":-6.702377284278848},{"time":0.3904788381495614,"velocity":0.8978011372802273,"acceleration":4.0,"pose":{"translation":{"x":7.413285835928866,"y":-0.7964128249543136},"rotation":{"radians":-1.0854090438103314}},"curvature":-6.195516955724278},{"time":0.40238653545754527,"velocity":0.9454319265121627,"acceleration":3.9999999999999902,"pose":{"translation":{"x":7.418082767486572,"y":-0.8062832546234131},"rotation":{"radians":-1.1504356775241285}},"curvature":-5.652809077092928},{"time":0.41412956230212666,"velocity":0.992404033890488,"acceleration":3.999999999999995,"pose":{"translation":{"x":7.422400683196611,"y":-0.8168101329464116},"rotation":{"radians":-1.2116107716220759}},"curvature":-5.103047095861068},{"time":0.42577290123266626,"velocity":1.0389773896126464,"acceleration":3.999999999999991,"pose":{"translation":{"x":7.426233752366156,"y":-0.8279977419320493},"rotation":{"radians":-1.2687623098382128}},"curvature":-4.568594092565457},{"time":0.43736591737599906,"velocity":1.0853494541859776,"acceleration":3.9999999999999827,"pose":{"translation":{"x":7.429577086470206,"y":-0.8398488505507703},"rotation":{"radians":-1.321865159656409}},"curvature":-4.064939827552741},{"time":0.4489456237552841,"velocity":1.1316682797031175,"acceleration":4.0,"pose":{"translation":{"x":7.432426717400551,"y":-0.8523647531867027},"rotation":{"radians":-1.3710064961660495}},"curvature":-3.6013796997049092},{"time":0.4721607341847491,"velocity":1.2245287214209775,"acceleration":4.0,"pose":{"translation":{"x":7.436633468884975,"y":-0.8793889758270235},"rotation":{"radians":-1.4581210241861995}},"curvature":-2.8082821953841726},{"time":0.49555816067554076,"velocity":1.3181184273841442,"acceleration":4.0000000000000036,"pose":{"translation":{"x":7.43883984375,"y":-0.909052734375},"rotation":{"radians":-1.5319155465954188}},"curvature":-2.187808044399357},{"time":0.5191890431470217,"velocity":1.4126419572700681,"acceleration":4.0000000000000036,"pose":{"translation":{"x":7.439045013528317,"y":-0.9413172208983451},"rotation":{"radians":-1.5944160241119611}},"curvature":-1.7137886686522077},{"time":0.5430543273631132,"velocity":1.508103094134434,"acceleration":4.000000000000003,"pose":{"translation":{"x":7.437260788321495,"y":-0.9761237254738808},"rotation":{"radians":-1.647530756225237}},"curvature":-1.3550438251889343},{"time":0.5913431128808814,"velocity":1.7012582362055066,"acceleration":4.000000000000003,"pose":{"translation":{"x":7.427830410003662,"y":-1.053035821914673},"rotation":{"radians":-1.7319621716711908}},"curvature":-0.8776200100484256},{"time":0.6400406989702614,"velocity":1.896048580563027,"acceleration":3.9999999999999933,"pose":{"translation":{"x":7.410869511723519,"y":-1.1389680621027947},"rotation":{"radians":-1.7953267099312762}},"curvature":-0.5981874451621899},{"time":0.688660740680565,"velocity":2.090528747404241,"acceleration":3.9999999999999956,"pose":{"translation":{"x":7.386856567382813,"y":-1.232859802246094},"rotation":{"radians":-1.8443193056718796}},"curvature":-0.42887728768877253},{"time":0.7367242785999921,"velocity":2.282782899081949,"acceleration":4.0000000000000036,"pose":{"translation":{"x":7.356405448794365,"y":-1.3334500911831857},"rotation":{"radians":-1.8833328796774655}},"curvature":-0.3227070850970345},{"time":0.7837906527057804,"velocity":2.471048395505102,"acceleration":1.2224122803654829,"pose":{"translation":{"x":7.320243152618408,"y":-1.4393170452117925},"rotation":{"radians":-1.9153030970810474}},"curvature":-0.2543047895084811},{"time":0.8306118889884787,"velocity":2.5282832497189665,"acceleration":0.4715474211743304,"pose":{"translation":{"x":7.2791875272989275,"y":-1.5489172229170802},"rotation":{"radians":-1.9422516839062522}},"curvature":-0.209624443804745},{"time":0.8780448343606971,"velocity":2.550650132787939,"acceleration":0.28984905611726813,"pose":{"translation":{"x":7.234125000000001,"y":-1.6606250000000005},"rotation":{"radians":-1.965624524729717}},"curvature":-0.1807211323727493},{"time":0.9257625931986957,"velocity":2.5644810801471642,"acceleration":0.14556913453839687,"pose":{"translation":{"x":7.185988303542137,"y":-1.7727719441056258},"rotation":{"radians":-1.9865046578778909}},"curvature":-0.16310054864071177},{"time":0.9731812842007793,"velocity":2.5713837779572812,"acceleration":0.012606284052409104,"pose":{"translation":{"x":7.1357342033386235,"y":-1.88368618965149},"rotation":{"radians":-2.0057518949614077}},"curvature":-0.15437744131502087},{"time":1.0197090152712087,"velocity":2.571970319751469,"acceleration":-2.824096164560483,"pose":{"translation":{"x":7.084321224331855,"y":-1.9917318126559267},"rotation":{"radians":-2.024100963913834}},"curvature":-0.15363837252157278},{"time":1.0658916840777035,"velocity":2.44154602190588,"acceleration":-4.000000000000004,"pose":{"translation":{"x":7.032687377929688,"y":-2.095348205566407},"rotation":{"radians":-2.042238626552442}},"curvature":-0.16124278314075052},{"time":1.1128443725918649,"velocity":2.2537352678492346,"acceleration":-4.0,"pose":{"translation":{"x":6.981727888941764,"y":-2.1930894520878805},"rotation":{"radians":-2.0608745532745756}},"curvature":-0.17899026334377835},{"time":1.1606625509860153,"velocity":2.0624625542726327,"acceleration":-3.999999999999998,"pose":{"translation":{"x":6.932272922515868,"y":-2.2836637020111104},"rotation":{"radians":-2.0808190837865843}},"curvature":-0.21073857875662377},{"time":1.2089275558567425,"velocity":1.8694025347897238,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.885065311074255,"y":-2.3659725460410135},"rotation":{"radians":-2.1030825654130876}},"curvature":-0.26376144837191884},{"time":1.2571857667491566,"velocity":1.6763696912200674,"acceleration":-4.0,"pose":{"translation":{"x":6.840738281249999,"y":-2.4391503906250023},"rotation":{"radians":-2.129015304185589}},"curvature":-0.3514924199646048},{"time":1.30495638602095,"velocity":1.4852872141328937,"acceleration":-4.0,"pose":{"translation":{"x":6.7997931808233245,"y":-2.502603832781319},"rotation":{"radians":-2.1605122947808555}},"curvature":-0.4989493268459689},{"time":1.3517539616190817,"velocity":1.2980969117403676,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.762577205657957,"y":-2.5560510349273713},"rotation":{"radians":-2.200302020305231}},"curvature":-0.7530310265685853},{"time":1.3971442418748,"velocity":1.1165357907174944,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":6.729261126637456,"y":-2.599561099708085},"rotation":{"radians":-2.2522772528856647}},"curvature":-1.1992166376442492},{"time":1.4408745078170337,"velocity":0.9416147269485593,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.69981701660156,"y":-2.633593444824225},"rotation":{"radians":-2.3215377094330125}},"curvature":-1.9722505146070455},{"time":1.4621600924240765,"velocity":0.8564723885203885,"acceleration":-4.0,"pose":{"translation":{"x":6.686478409957137,"y":-2.6473154572118123},"rotation":{"radians":-2.364268687217763}},"curvature":-2.522324344886889},{"time":1.4831852750327714,"velocity":0.7723716580856086,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":6.67399597728252,"y":-2.6590371778607427},"rotation":{"radians":-2.412814916615144}},"curvature":-3.1726839328595746},{"time":1.5041696334101005,"velocity":0.6884342245762926,"acceleration":-4.0,"pose":{"translation":{"x":6.662300425384189,"y":-2.668943344196311},"rotation":{"radians":-2.4666153391310455}},"curvature":-3.854197267072015},{"time":1.525508995532356,"velocity":0.6030767760872702,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.651305866241448,"y":-2.677250471115121},"rotation":{"radians":-2.5237315022575926}},"curvature":-4.401365184508673},{"time":1.547917997904343,"velocity":0.5134407665993224,"acceleration":-4.0,"pose":{"translation":{"x":6.640909120973196,"y":-2.684208081448457},"rotation":{"radians":-2.5802250024313738}},"curvature":-4.534047099645387},{"time":1.572801586914265,"velocity":0.413906410559634,"acceleration":-4.0,"pose":{"translation":{"x":6.630989023804658,"y":-2.6900999364256926},"rotation":{"radians":-2.6299027273834015}},"curvature":-3.9202737890595847},{"time":1.6762781895541736,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":6.611999999999994,"y":-2.70000000000001},"rotation":{"radians":-2.6779450445889683}},"curvature":8.473716576415405E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/EightBallMidComplete.wpilib.json b/src/main/deploy/paths/EightBallMidComplete.wpilib.json index 6230a07..b000f21 100644 --- a/src/main/deploy/paths/EightBallMidComplete.wpilib.json +++ b/src/main/deploy/paths/EightBallMidComplete.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.18657823115310335,"velocity":0.839602040188965,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.2636201163434935,"velocity":1.1862905235457206,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.32239440714143003,"velocity":1.450774832136435,"acceleration":4.500000000000005,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.3715463924484661,"velocity":1.6719587660180977,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.414434843963577,"velocity":1.8649567978360966,"acceleration":4.499999999999993,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.4528052230574477,"velocity":2.0376235037585144,"acceleration":2.6990957806315383,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.488238109422676,"velocity":2.133260257842499,"acceleration":-1.3755817985575727,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.5228361670610473,"velocity":2.0856677994897095,"acceleration":-1.1085033593793463,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.5577828913162687,"velocity":2.046929238253493,"acceleration":-0.8190145874505249,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.5930274842125652,"velocity":2.018063402542671,"acceleration":-0.513333160124384,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.6285209279782388,"velocity":1.9998434408907406,"acceleration":-0.20295657345447937,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.6642161801062126,"velocity":1.9925988548302533,"acceleration":0.09766145035031382,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.7000705425649159,"velocity":1.9961004438693561,"acceleration":0.37371595382228145,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.7360490557014975,"velocity":2.009546188223301,"acceleration":0.6125189905823517,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.7721274623066632,"velocity":2.031644897418917,"acceleration":0.8054012982846697,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.808293530121922,"velocity":2.060773095391178,"acceleration":0.9487194852031784,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":0.8445461771378034,"velocity":2.0951666880053375,"acceleration":1.0438484118061038,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":0.8808925816014386,"velocity":2.1331068245795652,"acceleration":1.0962995466767014,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":0.9173439716441548,"velocity":2.1730684669591307,"acceleration":1.114317963167015,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":0.9539109548459818,"velocity":2.213815713199753,"acceleration":1.1073830554713748,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":0.9905991270284958,"velocity":2.254443573410885,"acceleration":1.084959111684444,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.0274054380301267,"velocity":2.294376915899596,"acceleration":1.0556776642123231,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.0643155226043857,"velocity":2.333342067768829,"acceleration":1.0269716065493961,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.1013020013930672,"velocity":2.3713261313110463,"acceleration":1.0050771173259267,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.1383236399679897,"velocity":2.4085357330886117,"acceleration":0.9952829336981895,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.1753252111990284,"velocity":2.4453627654548824,"acceleration":1.002317161501784,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.2122379154087146,"velocity":2.48236100236169,"acceleration":1.0307918830405418,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.2489802541130384,"velocity":2.520234706862033,"acceleration":1.0856529771112022,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.2854593142455406,"velocity":2.559838307097103,"acceleration":1.172591272248787,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.3215724961376205,"velocity":2.602184308996889,"acceleration":1.2983471478310618,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.3572098122775669,"velocity":2.648453916763542,"acceleration":1.470762252915322,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.3922570016749563,"velocity":2.699999999999996,"acceleration":1.1375917470597876E-13,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.42695714479145,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4615289723532172,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4958554274606588,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5298313741431298,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5633631999946407,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.596368418809561,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6287752732183198,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6605223373231064,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6915581193335736,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7218406642025372,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7513371562616795,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.78002352185725,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8078840319857656,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8349109049297148,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8611039088932557,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8864699646379213,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9110227481183184,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9347822931178298,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9800312077658149,"velocity":2.7,"acceleration":-2.893273732653812,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0235015027245726,"velocity":2.5742285374451126,"acceleration":-4.5,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0671361009906604,"velocity":2.3778728452477185,"acceleration":-4.5,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.112187464660467,"velocity":2.1751417087335887,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.159731127491834,"velocity":1.9611952259924381,"acceleration":-4.5,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2114718138699505,"velocity":1.7283621372909128,"acceleration":-4.5,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.270371162701447,"velocity":1.4633150675491784,"acceleration":-4.500000000000003,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.303865138832447,"velocity":1.3125921749596776,"acceleration":-4.500000000000003,"pose":{"translation":{"x":7.246485948221108,"y":-1.1004457665706215},"rotation":{"radians":-0.02877542075414042}},"curvature":-1.2479062966462087},{"time":2.339904781103825,"velocity":1.1504137847384757,"acceleration":-4.5,"pose":{"translation":{"x":7.290770527031534,"y":-1.103398777804336},"rotation":{"radians":-0.11545308104819059}},"curvature":-2.7518045032639415},{"time":2.3588174721167876,"velocity":1.065306675180143,"acceleration":-4.499999999999997,"pose":{"translation":{"x":7.3114956505922,"y":-1.1064779763119066},"rotation":{"radians":-0.18293230201129468}},"curvature":-3.725227733364007},{"time":2.3784123939831927,"velocity":0.9771295267813194,"acceleration":-4.5,"pose":{"translation":{"x":7.331006934455969,"y":-1.1109206638015918},"rotation":{"radians":-0.26869329900096417}},"curvature":-4.883076044748539},{"time":2.3885318408428438,"velocity":0.9315920159128896,"acceleration":-4.499999999999994,"pose":{"translation":{"x":7.340252146464765,"y":-1.1137126796958767},"rotation":{"radians":-0.31891235544080615}},"curvature":-5.523919809501616},{"time":2.398923146498989,"velocity":0.8848311404602374,"acceleration":-4.500000000000006,"pose":{"translation":{"x":7.349130295806822,"y":-1.1169134527391915},"rotation":{"radians":-0.37417386340026293}},"curvature":-6.1910282938294925},{"time":2.409653396523341,"velocity":0.8365450153506532,"acceleration":-4.500000000000006,"pose":{"translation":{"x":7.357622936902054,"y":-1.1205421754363483},"rotation":{"radians":-0.4344600800162828}},"curvature":-6.863459317284596},{"time":2.420816423060104,"velocity":0.786311395935219,"acceleration":-3.5425076556284383,"pose":{"translation":{"x":7.365712904636497,"y":-1.1246164469159217},"rotation":{"radians":-0.499598871724775}},"curvature":-7.511586808196944},{"time":2.4324555445910656,"velocity":0.7450797188069982,"acceleration":-2.556471982036986,"pose":{"translation":{"x":7.373384290445131,"y":-1.1291523046382135},"rotation":{"radians":-0.5692244956270529}},"curvature":-8.098065776430404},{"time":2.44452147387586,"velocity":0.7142335086531817,"acceleration":-1.6249367826979133,"pose":{"translation":{"x":7.380622418394695,"y":-1.1341642561032126},"rotation":{"radians":-0.6427505179428795}},"curvature":-8.58109966790429},{"time":2.4569333843593006,"velocity":0.694064938765085,"acceleration":-0.7345964125906003,"pose":{"translation":{"x":7.387413821266509,"y":-1.1396653105585597},"rotation":{"radians":-0.7193652922148932}},"curvature":-8.92014169080443},{"time":2.469588512028977,"velocity":0.6847685273780647,"acceleration":0.13134032619666056,"pose":{"translation":{"x":7.3937462166392915,"y":-1.1456670107075082},"rotation":{"radians":-0.7980584699587645}},"curvature":-9.08314266129781},{"time":2.4823688770921697,"velocity":0.6864471046943769,"acceleration":0.9905473576910585,"pose":{"translation":{"x":7.399608482971979,"y":-1.152179464416887},"rotation":{"radians":-0.8776808332180518}},"curvature":-9.053384284754978},{"time":2.4951511059315523,"velocity":0.6991085076966299,"acceleration":1.858466419600515,"pose":{"translation":{"x":7.404990635686545,"y":-1.1592113764250642},"rotation":{"radians":-0.957030545537142}},"curvature":-8.833522919030923},{"time":2.507817519340315,"velocity":0.7226486116735926,"acceleration":2.745081864428765,"pose":{"translation":{"x":7.409883803250819,"y":-1.1667700800499075},"rotation":{"radians":-1.0349502992109227}},"curvature":-8.445233665625674},{"time":2.5202661947912963,"velocity":0.7568212448902406,"acceleration":3.6520704278322227,"pose":{"translation":{"x":7.414280203261306,"y":-1.1748615688967483},"rotation":{"radians":-1.110416006752432}},"curvature":-7.924546693213447},{"time":2.532418080828766,"velocity":0.801200788530071,"acceleration":4.500000000000057,"pose":{"translation":{"x":7.4181731185260045,"y":-1.1834905285663433},"rotation":{"radians":-1.1826006954592512}},"curvature":-7.314635079400883},{"time":2.5442260171720186,"velocity":0.8543365020747082,"acceleration":4.500000000000099,"pose":{"translation":{"x":7.421556873147227,"y":-1.192660368362838},"rotation":{"radians":-1.2509054956221384}},"curvature":-6.658491095790275},{"time":2.5557321767878403,"velocity":0.9061142203459068,"acceleration":4.5000000000001,"pose":{"translation":{"x":7.424426808604417,"y":-1.2023732530017275},"rotation":{"radians":-1.3149589717095316}},"curvature":-5.99341593717812},{"time":2.567028835148864,"velocity":0.9569491829705143,"acceleration":4.500000000000056,"pose":{"translation":{"x":7.4267792598369695,"y":-1.2126301343178203},"rotation":{"radians":-1.3745927334979915}},"curvature":-5.3481080221595265},{"time":2.5781840526260558,"velocity":1.0071476616178792,"acceleration":4.500000000000165,"pose":{"translation":{"x":7.428611531327051,"y":-1.2234307829732003},"rotation":{"radians":-1.4298037347140933}},"curvature":-4.742101270083783},{"time":2.589248017079678,"velocity":1.0569355016591808,"acceleration":4.500000000000037,"pose":{"translation":{"x":7.429921873182416,"y":-1.2347738201651899},"rotation":{"radians":-1.480712629900542}},"curvature":-4.186771633619186},{"time":2.600257470714429,"velocity":1.1064780430155587,"acceleration":4.500000000000116,"pose":{"translation":{"x":7.430709457219227,"y":-1.2466567493343108},"rotation":{"radians":-1.527524747550707}},"curvature":-3.687079506807228},{"time":2.611238918470548,"velocity":1.1558945579180961,"acceleration":4.499999999999958,"pose":{"translation":{"x":7.430974353044876,"y":-1.2590759878722486},"rotation":{"radians":-1.5704972091395932}},"curvature":-3.2434293445605835},{"time":2.633182621896394,"velocity":1.2546412233344038,"acceleration":4.499999999999946,"pose":{"translation":{"x":7.429940703945299,"y":-1.2855038226249045},"rotation":{"radians":-1.6460641038472028}},"curvature":-2.5125016951673764},{"time":2.6551689757868018,"velocity":1.353579815841238,"acceleration":4.500000000000018,"pose":{"translation":{"x":7.426838529714478,"y":-1.3140081474824699},"rotation":{"radians":-1.7096996276847836}},"curvature":-1.9589426080510612},{"time":2.6772229632298417,"velocity":1.4528227593349177,"acceleration":4.500000000000007,"pose":{"translation":{"x":7.421698268143265,"y":-1.3445244380324612},"rotation":{"radians":-1.7635069388369267}},"curvature":-1.5430718610586651},{"time":2.6993348426943364,"velocity":1.552326216925145,"acceleration":4.500000000000003,"pose":{"translation":{"x":7.414562425632777,"y":-1.3769738370453977},"rotation":{"radians":-1.80928153691283}},"curvature":-1.2304194023042416},{"time":2.7435956514547355,"velocity":1.751499856346942,"acceleration":4.500000000000005,"pose":{"translation":{"x":7.394529774351022,"y":-1.4472909553859892},"rotation":{"radians":-1.8823557940783588}},"curvature":-0.8137689160789616},{"time":2.7876238221692846,"velocity":1.949626624562413,"acceleration":4.500000000000015,"pose":{"translation":{"x":7.367292915991394,"y":-1.52408054521081},"rotation":{"radians":-1.9376153749830112}},"curvature":-0.5671040820963597},{"time":2.8310342435227653,"velocity":2.1449735206530773,"acceleration":4.5,"pose":{"translation":{"x":7.333548306053704,"y":-1.6062992620615995},"rotation":{"radians":-1.980664464363438}},"curvature":-0.415270222573429},{"time":2.8734551465557803,"velocity":2.3358675843016448,"acceleration":3.8190205877457273,"pose":{"translation":{"x":7.294112024222084,"y":-1.692771843268838},"rotation":{"radians":-2.0151600783392727}},"curvature":-0.31853754024915065},{"time":2.914777229111354,"velocity":2.493677468309908,"acceleration":0.7667135174031484,"pose":{"translation":{"x":7.249895283171679,"y":-1.7822235769053099},"rotation":{"radians":-2.0435542741178185}},"curvature":-0.2553649962385433},{"time":2.9558106077428348,"velocity":2.525138314371386,"acceleration":0.5039715501402511,"pose":{"translation":{"x":7.20187993737534,"y":-1.873312770739671},"rotation":{"radians":-2.0675482771424347}},"curvature":-0.21372950444359917},{"time":2.9970322392162427,"velocity":2.5459128438843495,"acceleration":0.3064325038578512,"pose":{"translation":{"x":7.151093991910315,"y":-1.9646632211900141},"rotation":{"radians":-2.088370637372372}},"curvature":-0.18680044113633412},{"time":3.037937859185887,"velocity":2.5584476554335054,"acceleration":0.1378256115751762,"pose":{"translation":{"x":7.098587111264945,"y":-2.054896682277434},"rotation":{"radians":-2.106952696193974}},"curvature":-0.17076368611172438},{"time":3.078006186847774,"velocity":2.5639700971982995,"acceleration":-2.9453688373770612,"pose":{"translation":{"x":7.045406128145351,"y":-2.1426653345795916},"rotation":{"radians":-2.124045424613487}},"curvature":-0.1637481573893422},{"time":3.117617329329798,"velocity":2.447300672518842,"acceleration":-4.5,"pose":{"translation":{"x":6.9925705522821335,"y":-2.226684254184283},"rotation":{"radians":-2.140304501136336}},"curvature":-0.16538102479256336},{"time":3.157657459612464,"velocity":2.267120086246846,"acceleration":-4.5,"pose":{"translation":{"x":6.941048079237058,"y":-2.3057638816430024},"rotation":{"radians":-2.156361587928427}},"curvature":-0.1768009201056777},{"time":3.1981744292769863,"velocity":2.0847937227564968,"acceleration":-4.500000000000005,"pose":{"translation":{"x":6.891730099209751,"y":-2.37884249092451},"rotation":{"radians":-2.1728963784151825}},"curvature":-0.2011726549273176},{"time":3.238692553035398,"velocity":1.9024621658436436,"acceleration":-4.5,"pose":{"translation":{"x":6.845407205844394,"y":-2.4450186583683924},"rotation":{"radians":-2.1907250385502053}},"curvature":-0.24500666492416812},{"time":3.278668227507072,"velocity":1.7225716307211092,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.802744705036412,"y":-2.5035837316386345},"rotation":{"radians":-2.2109265322563663}},"curvature":-0.32107362952933843},{"time":3.354433069442424,"velocity":1.3816298420120252,"acceleration":-4.500000000000003,"pose":{"translation":{"x":6.7302887187706615,"y":-2.596204656657504},"rotation":{"radians":-2.26538823363029}},"curvature":-0.6983733281623699},{"time":3.3887875556906626,"velocity":1.2270346538949513,"acceleration":-4.500000000000003,"pose":{"translation":{"x":6.700978985620202,"y":-2.6300992809381722},"rotation":{"radians":-2.3055766625940555}},"curvature":-1.161706924289958},{"time":3.4198117939124293,"velocity":1.087425581897002,"acceleration":-4.5,"pose":{"translation":{"x":6.6762481672551255,"y":-2.6561252940163986},"rotation":{"radians":-2.3611253774593677}},"curvature":-2.069483430581481},{"time":3.446965153768142,"velocity":0.9652354625462956,"acceleration":-4.5,"pose":{"translation":{"x":6.655767762927474,"y":-2.6750249344816397},"rotation":{"radians":-2.4393793407849826}},"curvature":-3.786562605724007},{"time":3.459047503352044,"velocity":0.9108648894187349,"acceleration":-4.500000000000005,"pose":{"translation":{"x":6.646945039992192,"y":-2.682139407006597},"rotation":{"radians":-2.4888731070782244}},"curvature":-5.0067041726191235},{"time":3.47020294834608,"velocity":0.8606653869455735,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.638937036980688,"y":-2.68792802596912},"rotation":{"radians":-2.54463825964339}},"curvature":-6.289792037747411},{"time":3.4805672187749805,"velocity":0.8140261700155201,"acceleration":3.470961856713209,"pose":{"translation":{"x":6.631622107145021,"y":-2.6925979064247128},"rotation":{"radians":-2.603460002905891}},"curvature":-7.150761360113481},{"time":3.4899036505894125,"velocity":0.8464325687212174,"acceleration":3.759229005037057,"pose":{"translation":{"x":6.624858527656298,"y":-2.6963844461134348},"rotation":{"radians":-2.658512232190288}},"curvature":-6.75882207866783},{"time":3.505779112415671,"velocity":0.9061120652868473,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.6123135559006245,"y":-2.7023965955020928},"rotation":{"radians":-2.714965160462928}},"curvature":-2.782056460928346E-13},{"time":3.5212392663041125,"velocity":0.8365413727888609,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.600000781924867,"y":-2.7078609588171707},"rotation":{"radians":-2.741416782477967}},"curvature":-3.815339203835633},{"time":3.5380765700222057,"velocity":0.7607735060574412,"acceleration":-4.5,"pose":{"translation":{"x":6.587449437541447,"y":-2.7126871333494806},"rotation":{"radians":-2.814639860740997}},"curvature":-6.953564103889301},{"time":3.5471668973856865,"velocity":0.7198670329217772,"acceleration":-4.5,"pose":{"translation":{"x":6.581024377505649,"y":-2.7146891790782193},"rotation":{"radians":-2.8658404550015253}},"curvature":-8.22183756317215},{"time":3.5568420406240553,"velocity":0.6763288883491182,"acceleration":-3.5835445655341083,"pose":{"translation":{"x":6.574474775176925,"y":-2.716338996269565},"rotation":{"radians":-2.924962178570092}},"curvature":-9.235001787363444},{"time":3.5671855998637434,"velocity":0.6392622828474536,"acceleration":-1.6838682901318394,"pose":{"translation":{"x":6.567786061057784,"y":-2.7175859150618242},"rotation":{"radians":-2.990422599769865}},"curvature":-9.949439794600845},{"time":3.5781144028910017,"velocity":0.6208596179807567,"acceleration":-0.22536363395772438,"pose":{"translation":{"x":6.560946817537351,"y":-2.7183853869336816},"rotation":{"radians":-3.0604727521050985}},"curvature":-10.335830771816653},{"time":3.589420648865041,"velocity":0.6183116013016273,"acceleration":1.0072770647380205,"pose":{"translation":{"x":6.553948643263447,"y":-2.718698765306084},"rotation":{"radians":-3.133275977941982}},"curvature":-10.391142880043173},{"time":3.6009022147843996,"velocity":0.6298767193194753,"acceleration":2.1320127866252543,"pose":{"translation":{"x":6.546786017514653,"y":-2.7184930861441257},"rotation":{"radians":3.0761577385964625}},"curvature":-10.143682388705306},{"time":3.612377442805746,"velocity":0.654342052190426,"acceleration":3.2114083736175147,"pose":{"translation":{"x":6.539456164572393,"y":-2.717740848558933},"rotation":{"radians":3.00310010912821}},"curvature":-9.649019311906114},{"time":3.623697202707415,"velocity":0.6906944239259858,"acceleration":4.270856805839153,"pose":{"translation":{"x":6.531958918093006,"y":-2.716419795409549},"rotation":{"radians":2.9321083621384485}},"curvature":-8.978732425160104},{"time":3.634751518122517,"velocity":0.7379058221504683,"acceleration":4.49999999999977,"pose":{"translation":{"x":6.52429658547982,"y":-2.7145126939048203},"rotation":{"radians":2.8642215501788977}},"curvature":-8.20680098482241},{"time":3.6455291580436953,"velocity":0.7864052017957683,"acceleration":4.500000000000032,"pose":{"translation":{"x":6.5164738122552235,"y":-2.7120071162052803},"rotation":{"radians":2.800134866123928}},"curvature":-7.398430838000034},{"time":3.6560970313183394,"velocity":0.8339606315316677,"acceleration":4.500000000000031,"pose":{"translation":{"x":6.508497446432745,"y":-2.7088952200250334},"rotation":{"radians":2.740230748578606}},"curvature":-6.603818980361795},{"time":3.6665159509266334,"velocity":0.8808457697689904,"acceleration":4.499999999999958,"pose":{"translation":{"x":6.500376402889126,"y":-2.7051735292336434},"rotation":{"radians":2.6846350981540272}},"curvature":-5.856777204223596},{"time":3.676827323739337,"velocity":0.9272469474261565,"acceleration":4.499999999999977,"pose":{"translation":{"x":6.49212152773639,"y":-2.700842714458014},"rotation":{"radians":2.633281828218556}},"curvature":-5.176639926128518},{"time":3.6870580752691526,"velocity":0.9732853293103263,"acceleration":4.500000000000086,"pose":{"translation":{"x":6.483745462693925,"y":-2.6959073736842782},"rotation":{"radians":2.5859736858732676}},"curvature":-4.571644906700683},{"time":3.7073294596526067,"velocity":1.0645065590358713,"acceleration":4.499999999999965,"pose":{"translation":{"x":6.466688494086605,"y":-2.684259826494461},"rotation":{"radians":2.502339906825371}},"curvature":-3.5851423375100553},{"time":3.7273777862553676,"velocity":1.1547240287482938,"acceleration":4.500000000000089,"pose":{"translation":{"x":6.4493373891083,"y":-2.670337881609422},"rotation":{"radians":2.4311633245994693}},"curvature":-2.859842251329955},{"time":3.747168644269397,"velocity":1.2437828898114296,"acceleration":4.500000000000071,"pose":{"translation":{"x":6.4318440893306725,"y":-2.6542973292426666},"rotation":{"radians":2.3698700235605896}},"curvature":-2.3389424471387197},{"time":3.7666277107639754,"velocity":1.3313486890370323,"acceleration":4.500000000000051,"pose":{"translation":{"x":6.414376245762293,"y":-2.636335735136296},"rotation":{"radians":2.316179665573082}},"curvature":-1.971245985355279},{"time":3.7856619772276825,"velocity":1.4170028881237147,"acceleration":4.500000000000004,"pose":{"translation":{"x":6.397112878755023,"y":-2.6166854198213247},"rotation":{"radians":2.2681655710867354}},"curvature":-1.7177072822338848},{"time":3.8220539078521933,"velocity":1.5807665759340128,"acceleration":0.13876912423615814,"pose":{"translation":{"x":6.363946461985967,"y":-2.5733795571961275},"rotation":{"radians":2.1829634101425417}},"curvature":-1.4531964340918389},{"time":3.8571565306009683,"velocity":1.5856377361512526,"acceleration":-4.5,"pose":{"translation":{"x":6.333839465146571,"y":-2.5266666132856277},"rotation":{"radians":2.1038693326688813}},"curvature":-1.428497937409373},{"time":3.8931669785276735,"velocity":1.4235907204810798,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.3081906578607985,"y":-2.4789402092914683},"rotation":{"radians":2.0222056755935585}},"curvature":-1.6267050425406355},{"time":3.911895269399665,"velocity":1.339313411557118,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.297414801809275,"y":-2.4554188673206423},"rotation":{"radians":1.977719022211628}},"curvature":-1.826133388334632},{"time":3.9309773465311344,"velocity":1.253444064465507,"acceleration":-4.5,"pose":{"translation":{"x":6.288164070257655,"y":-2.432476052028613},"rotation":{"radians":1.929238799528292}},"curvature":-2.111200891597752},{"time":3.9503313502373314,"velocity":1.1663510477876213,"acceleration":-4.500000000000005,"pose":{"translation":{"x":6.280524503434468,"y":-2.4103409437610113},"rotation":{"radians":1.875500722191483}},"curvature":-2.501078261352885},{"time":3.9698996224834144,"velocity":1.0782938226802479,"acceleration":-4.500000000000003,"pose":{"translation":{"x":6.274550109975329,"y":-2.3892072702555778},"rotation":{"radians":1.8152269082626638}},"curvature":-3.014788560841303},{"time":3.9896678219826303,"velocity":0.9893369249337765,"acceleration":-4.5,"pose":{"translation":{"x":6.270258526829311,"y":-2.369226285902487},"rotation":{"radians":1.7473051168809193}},"curvature":-3.6604764302923014},{"time":4.009694324875165,"velocity":0.8992176619173698,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":6.267626679165335,"y":-2.350499751004661},"rotation":{"radians":1.6711659569549777}},"curvature":-4.412655527221165},{"time":4.030156483038721,"velocity":0.8071379501813672,"acceleration":-4.5,"pose":{"translation":{"x":6.266586440278536,"y":-2.333072911038095},"rotation":{"radians":1.5874406145062498}},"curvature":-5.1745095089891295},{"time":4.040659506803678,"velocity":0.7598743432390608,"acceleration":-4.5,"pose":{"translation":{"x":6.266628497589658,"y":-2.3248438348321385},"rotation":{"radians":1.5434847754496874}},"curvature":-5.498692515200691},{"time":4.051433984750411,"velocity":0.711389192478762,"acceleration":-4.5,"pose":{"translation":{"x":6.267020291496656,"y":-2.316927475912173},"rotation":{"radians":1.4988894184050614}},"curvature":-5.736779218810578},{"time":4.062581787863103,"velocity":0.6612240784716487,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":6.267738702623978,"y":-2.309310468744486},"rotation":{"radians":1.4544878154614598}},"curvature":-5.844205776954959},{"time":4.0742454552171585,"velocity":0.6087375753784009,"acceleration":-4.499999999999997,"pose":{"translation":{"x":6.268756982086413,"y":-2.3019745992299896},"rotation":{"radians":1.4113367378835124}},"curvature":-5.7736468362624205},{"time":4.100044850686543,"velocity":0.4926402957661691,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.271567189159886,"y":-2.2880478575486682},"rotation":{"radians":1.3340215256225776}},"curvature":-4.927882985766305},{"time":4.209520471967914,"velocity":0.0,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.279174459871376,"y":-2.2621770757491753},"rotation":{"radians":1.257895098914576}},"curvature":4.89472983251582E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.19789609870522573,"velocity":0.7915843948209031,"acceleration":3.999999999999999,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.27961135788550623,"velocity":1.1184454315420251,"acceleration":4.0,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.34195090725948274,"velocity":1.3678036290379312,"acceleration":4.0,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.3940844604385629,"velocity":1.5763378417542517,"acceleration":4.0,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.4395745327899509,"velocity":1.7582981311598038,"acceleration":3.999999999999991,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.4802724656709127,"velocity":1.9210898626836506,"acceleration":4.000000000000003,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.5173086640231962,"velocity":2.069234656092785,"acceleration":0.467764910229089,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.5524398656964395,"velocity":2.0856677994897095,"acceleration":-1.1085033593793463,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.5873865899516609,"velocity":2.046929238253493,"acceleration":-0.8190145874505249,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.6226311828479575,"velocity":2.018063402542671,"acceleration":-0.5133331601243778,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.658124626613631,"velocity":1.9998434408907408,"acceleration":-0.20295657345449183,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.6938198787416049,"velocity":1.9925988548302531,"acceleration":0.09766145035032003,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.7296742412003081,"velocity":1.9961004438693561,"acceleration":0.37371595382228145,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.7656527543368897,"velocity":2.009546188223301,"acceleration":0.6125189905823517,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.8017311609420554,"velocity":2.031644897418917,"acceleration":0.8054012982846817,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.8378972287573142,"velocity":2.0607730953911783,"acceleration":0.9487194852031666,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":0.8741498757731957,"velocity":2.0951666880053375,"acceleration":1.043848411806092,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":0.9104962802368308,"velocity":2.133106824579565,"acceleration":1.0962995466767127,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":0.9469476702795471,"velocity":2.1730684669591307,"acceleration":1.114317963167015,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":0.983514653481374,"velocity":2.213815713199753,"acceleration":1.1073830554713748,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.020202825663888,"velocity":2.254443573410885,"acceleration":1.084959111684444,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.0570091366655188,"velocity":2.294376915899596,"acceleration":1.0556776642123387,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.0939192212397775,"velocity":2.3333420677688292,"acceleration":1.026971606549391,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.1309057000284592,"velocity":2.3713261313110467,"acceleration":1.0050771173259168,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.1679273386033817,"velocity":2.4085357330886117,"acceleration":0.9952829336981994,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.2049289098344205,"velocity":2.445362765454883,"acceleration":1.002317161501784,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.2418416140441066,"velocity":2.4823610023616904,"acceleration":1.030791883040532,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.2785839527484302,"velocity":2.520234706862033,"acceleration":1.0856529771112022,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.3150630128809324,"velocity":2.559838307097103,"acceleration":1.172591272248787,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.3511761947730123,"velocity":2.602184308996889,"acceleration":1.2983471478310618,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.3868135109129587,"velocity":2.648453916763542,"acceleration":1.470762252915322,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.421860700310348,"velocity":2.699999999999996,"acceleration":1.1375917470597876E-13,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.4565608434268418,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.491132670988609,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5254591260960506,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5594350727785216,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5929668986300325,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6259721174449528,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6583789718537116,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6901260359584982,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7211618179689654,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.751444362837929,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7809408548970713,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8096272204926418,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8374877306211574,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8645146035651066,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8907076075286475,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.916073663273313,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9406264467537102,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9643859917532216,"velocity":2.7,"acceleration":-1.693736897787661,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0102960062356066,"velocity":2.622240514493219,"acceleration":-4.0,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0555766786341874,"velocity":2.441117824898895,"acceleration":-4.000000000000004,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1015687292859533,"velocity":2.2571496222918315,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1489998710176703,"velocity":2.0674250553649633,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1989768728151353,"velocity":1.8675170481751024,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2532410748761085,"velocity":1.6504602399312098,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3147802734510683,"velocity":1.4043034456313699,"acceleration":-4.0,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3496122136008997,"velocity":1.2649756850320442,"acceleration":-4.0,"pose":{"translation":{"x":7.246485948221108,"y":-1.1004457665706215},"rotation":{"radians":-0.02877542075414042}},"curvature":-1.2479062966462087},{"time":2.3868960045397296,"velocity":1.115840521276725,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":7.290770527031534,"y":-1.103398777804336},"rotation":{"radians":-0.11545308104819059}},"curvature":-2.7518045032639415},{"time":2.4063519052203377,"velocity":1.0380169185542936,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.3114956505922,"y":-1.1064779763119066},"rotation":{"radians":-0.18293230201129468}},"curvature":-3.725227733364007},{"time":2.426404468020546,"velocity":0.9578066673534599,"acceleration":-4.0,"pose":{"translation":{"x":7.331006934455969,"y":-1.1109206638015918},"rotation":{"radians":-0.26869329900096417}},"curvature":-4.883076044748539},{"time":2.4367092404955355,"velocity":0.9165875774535025,"acceleration":-4.0,"pose":{"translation":{"x":7.340252146464765,"y":-1.1137126796958767},"rotation":{"radians":-0.31891235544080615}},"curvature":-5.523919809501616},{"time":2.4472479302057306,"velocity":0.8744328186127219,"acceleration":-3.999999999999994,"pose":{"translation":{"x":7.349130295806822,"y":-1.1169134527391915},"rotation":{"radians":-0.37417386340026293}},"curvature":-6.1910282938294925},{"time":2.4580777721566447,"velocity":0.8311134508090663,"acceleration":-4.0,"pose":{"translation":{"x":7.357622936902054,"y":-1.1205421754363483},"rotation":{"radians":-0.4344600800162828}},"curvature":-6.863459317284596},{"time":2.4692782858751063,"velocity":0.786311395935219,"acceleration":-3.542507655628457,"pose":{"translation":{"x":7.365712904636497,"y":-1.1246164469159217},"rotation":{"radians":-0.499598871724775}},"curvature":-7.511586808196944},{"time":2.480917407406068,"velocity":0.745079718806998,"acceleration":-2.5564719820369675,"pose":{"translation":{"x":7.373384290445131,"y":-1.1291523046382135},"rotation":{"radians":-0.5692244956270529}},"curvature":-8.098065776430404},{"time":2.492983336690862,"velocity":0.7142335086531817,"acceleration":-1.6249367826979197,"pose":{"translation":{"x":7.380622418394695,"y":-1.1341642561032126},"rotation":{"radians":-0.6427505179428795}},"curvature":-8.58109966790429},{"time":2.505395247174303,"velocity":0.6940649387650849,"acceleration":-0.7345964125906098,"pose":{"translation":{"x":7.387413821266509,"y":-1.1396653105585597},"rotation":{"radians":-0.7193652922148932}},"curvature":-8.92014169080443},{"time":2.518050374843979,"velocity":0.6847685273780645,"acceleration":0.1313403261966859,"pose":{"translation":{"x":7.3937462166392915,"y":-1.1456670107075082},"rotation":{"radians":-0.7980584699587645}},"curvature":-9.08314266129781},{"time":2.530830739907172,"velocity":0.686447104694377,"acceleration":0.9905473576910397,"pose":{"translation":{"x":7.399608482971979,"y":-1.152179464416887},"rotation":{"radians":-0.8776808332180518}},"curvature":-9.053384284754978},{"time":2.5436129687465545,"velocity":0.6991085076966298,"acceleration":1.8584664196005427,"pose":{"translation":{"x":7.404990635686545,"y":-1.1592113764250642},"rotation":{"radians":-0.957030545537142}},"curvature":-8.833522919030923},{"time":2.556279382155317,"velocity":0.7226486116735928,"acceleration":2.745081864428759,"pose":{"translation":{"x":7.409883803250819,"y":-1.1667700800499075},"rotation":{"radians":-1.0349502992109227}},"curvature":-8.445233665625674},{"time":2.568728057606298,"velocity":0.7568212448902407,"acceleration":3.6520704278322107,"pose":{"translation":{"x":7.414280203261306,"y":-1.1748615688967483},"rotation":{"radians":-1.110416006752432}},"curvature":-7.924546693213447},{"time":2.580879943643768,"velocity":0.801200788530071,"acceleration":4.0000000000000515,"pose":{"translation":{"x":7.4181731185260045,"y":-1.1834905285663433},"rotation":{"radians":-1.1826006954592512}},"curvature":-7.314635079400883},{"time":2.592728959817972,"velocity":0.8485968532268882,"acceleration":4.000000000000088,"pose":{"translation":{"x":7.421556873147227,"y":-1.192660368362838},"rotation":{"radians":-1.2509054956221384}},"curvature":-6.658491095790275},{"time":2.604345908963599,"velocity":0.8950646498093974,"acceleration":4.000000000000095,"pose":{"translation":{"x":7.424426808604417,"y":-1.2023732530017275},"rotation":{"radians":-1.3149589717095316}},"curvature":-5.99341593717812},{"time":2.615809194395011,"velocity":0.9409177915350456,"acceleration":4.00000000000003,"pose":{"translation":{"x":7.4267792598369695,"y":-1.2126301343178203},"rotation":{"radians":-1.3745927334979915}},"curvature":-5.3481080221595265},{"time":2.6271773438507444,"velocity":0.9863903893579808,"acceleration":4.0000000000001315,"pose":{"translation":{"x":7.428611531327051,"y":-1.2234307829732003},"rotation":{"radians":-1.4298037347140933}},"curvature":-4.742101270083783},{"time":2.6384937063904426,"velocity":1.031655839516775,"acceleration":4.000000000000037,"pose":{"translation":{"x":7.429921873182416,"y":-1.2347738201651899},"rotation":{"radians":-1.480712629900542}},"curvature":-4.186771633619186},{"time":2.649789907869969,"velocity":1.0768406454348824,"acceleration":4.0000000000001075,"pose":{"translation":{"x":7.430709457219227,"y":-1.2466567493343108},"rotation":{"radians":-1.527524747550707}},"curvature":-3.687079506807228},{"time":2.6610884676043645,"velocity":1.1220348843724646,"acceleration":3.999999999999954,"pose":{"translation":{"x":7.430974353044876,"y":-1.2590759878722486},"rotation":{"radians":-1.5704972091395932}},"curvature":-3.2434293445605835},{"time":2.6837449872292347,"velocity":1.212660962871944,"acceleration":3.9999999999999534,"pose":{"translation":{"x":7.429940703945299,"y":-1.2855038226249045},"rotation":{"radians":-1.6460641038472028}},"curvature":-2.5125016951673764},{"time":2.706532934680233,"velocity":1.3038127526759353,"acceleration":4.000000000000014,"pose":{"translation":{"x":7.426838529714478,"y":-1.3140081474824699},"rotation":{"radians":-1.7096996276847836}},"curvature":-1.9589426080510612},{"time":2.729461635788677,"velocity":1.3955275571097114,"acceleration":4.000000000000017,"pose":{"translation":{"x":7.421698268143265,"y":-1.3445244380324612},"rotation":{"radians":-1.7635069388369267}},"curvature":-1.5430718610586651},{"time":2.75250843006465,"velocity":1.487714734213603,"acceleration":4.0,"pose":{"translation":{"x":7.414562425632777,"y":-1.3769738370453977},"rotation":{"radians":-1.80928153691283}},"curvature":-1.2304194023042416},{"time":2.798776409758871,"velocity":1.6727866529904878,"acceleration":4.000000000000005,"pose":{"translation":{"x":7.394529774351022,"y":-1.4472909553859892},"rotation":{"radians":-1.8823557940783588}},"curvature":-0.8137689160789616},{"time":2.844936189651482,"velocity":1.8574257725609336,"acceleration":4.000000000000015,"pose":{"translation":{"x":7.367292915991394,"y":-1.52408054521081},"rotation":{"radians":-1.9376153749830112}},"curvature":-0.5671040820963597},{"time":2.89054443713238,"velocity":2.0398587624845246,"acceleration":3.999999999999995,"pose":{"translation":{"x":7.333548306053704,"y":-1.6062992620615995},"rotation":{"radians":-1.980664464363438}},"curvature":-0.415270222573429},{"time":2.9351825928663806,"velocity":2.218411385420527,"acceleration":3.9999999999999867,"pose":{"translation":{"x":7.294112024222084,"y":-1.692771843268838},"rotation":{"radians":-2.0151600783392727}},"curvature":-0.31853754024915065},{"time":2.9784727403050235,"velocity":2.391571975175099,"acceleration":3.1888427902143404,"pose":{"translation":{"x":7.249895283171679,"y":-1.7822235769053099},"rotation":{"radians":-2.0435542741178185}},"curvature":-0.2553649962385433},{"time":3.020358260533918,"velocity":2.525138314371386,"acceleration":0.5039715501402511,"pose":{"translation":{"x":7.20187993737534,"y":-1.873312770739671},"rotation":{"radians":-2.0675482771424347}},"curvature":-0.21372950444359917},{"time":3.061579892007326,"velocity":2.5459128438843495,"acceleration":0.3064325038578512,"pose":{"translation":{"x":7.151093991910315,"y":-1.9646632211900141},"rotation":{"radians":-2.088370637372372}},"curvature":-0.18680044113633412},{"time":3.1024855119769703,"velocity":2.5584476554335054,"acceleration":-1.7257976285686147,"pose":{"translation":{"x":7.098587111264945,"y":-2.054896682277434},"rotation":{"radians":-2.106952696193974}},"curvature":-0.17076368611172438},{"time":3.1431549361347497,"velocity":2.488260459666759,"acceleration":-4.000000000000004,"pose":{"translation":{"x":7.045406128145351,"y":-2.1426653345795916},"rotation":{"radians":-2.124045424613487}},"curvature":-0.1637481573893422},{"time":3.1844107302950513,"velocity":2.323237283025552,"acceleration":-4.000000000000004,"pose":{"translation":{"x":6.9925705522821335,"y":-2.226684254184283},"rotation":{"radians":-2.140304501136336}},"curvature":-0.16538102479256336},{"time":3.2265662088388116,"velocity":2.15461536885051,"acceleration":-4.0,"pose":{"translation":{"x":6.941048079237058,"y":-2.3057638816430024},"rotation":{"radians":-2.156361587928427}},"curvature":-0.1768009201056777},{"time":3.2691692756413753,"velocity":1.9842031016402548,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.891730099209751,"y":-2.37884249092451},"rotation":{"radians":-2.1728963784151825}},"curvature":-0.2011726549273176},{"time":3.3117034142041937,"velocity":1.8140665473889817,"acceleration":-3.999999999999997,"pose":{"translation":{"x":6.845407205844394,"y":-2.4450186583683924},"rotation":{"radians":-2.1907250385502053}},"curvature":-0.24500666492416812},{"time":3.3535781591755467,"velocity":1.646567567503569,"acceleration":-4.0,"pose":{"translation":{"x":6.802744705036412,"y":-2.5035837316386345},"rotation":{"radians":-2.2109265322563663}},"curvature":-0.32107362952933843},{"time":3.4325765276395357,"velocity":1.3305740936476138,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.7302887187706615,"y":-2.596204656657504},"rotation":{"radians":-2.26538823363029}},"curvature":-0.6983733281623699},{"time":3.468156284277099,"velocity":1.1882550670973595,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.700978985620202,"y":-2.6300992809381722},"rotation":{"radians":-2.3055766625940555}},"curvature":-1.161706924289958},{"time":3.5000865184633194,"velocity":1.060534130352479,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":6.6762481672551255,"y":-2.6561252940163986},"rotation":{"radians":-2.3611253774593677}},"curvature":-2.069483430581481},{"time":3.5278140083687335,"velocity":0.9496241707308225,"acceleration":-4.000000000000005,"pose":{"translation":{"x":6.655767762927474,"y":-2.6750249344816397},"rotation":{"radians":-2.4393793407849826}},"curvature":-3.786562605724007},{"time":3.540065206498781,"velocity":0.900619378210633,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.646945039992192,"y":-2.682139407006597},"rotation":{"radians":-2.4888731070782244}},"curvature":-5.0067041726191235},{"time":3.5513178493628663,"velocity":0.8556088067542915,"acceleration":-3.999999999999994,"pose":{"translation":{"x":6.638937036980688,"y":-2.68792802596912},"rotation":{"radians":-2.54463825964339}},"curvature":-6.289792037747411},{"time":3.5617135085475593,"velocity":0.81402617001552,"acceleration":3.470961856713209,"pose":{"translation":{"x":6.631622107145021,"y":-2.6925979064247128},"rotation":{"radians":-2.603460002905891}},"curvature":-7.150761360113481},{"time":3.5710499403619913,"velocity":0.8464325687212173,"acceleration":2.3070913783748983,"pose":{"translation":{"x":6.624858527656298,"y":-2.6963844461134348},"rotation":{"radians":-2.658512232190288}},"curvature":-6.75882207866783},{"time":3.5871325705469603,"velocity":0.8835366661625511,"acceleration":-4.0,"pose":{"translation":{"x":6.6123135559006245,"y":-2.7023965955020928},"rotation":{"radians":-2.714965160462928}},"curvature":-2.782056460928346E-13},{"time":3.602945060723859,"velocity":0.820286705454957,"acceleration":-3.999999999999996,"pose":{"translation":{"x":6.600000781924867,"y":-2.7078609588171707},"rotation":{"radians":-2.741416782477967}},"curvature":-3.815339203835633},{"time":3.620051917215652,"velocity":0.7518592794877837,"acceleration":-4.0,"pose":{"translation":{"x":6.587449437541447,"y":-2.7126871333494806},"rotation":{"radians":-2.814639860740997}},"curvature":-6.953564103889301},{"time":3.6292266458975306,"velocity":0.7151603647602696,"acceleration":-4.000000000000004,"pose":{"translation":{"x":6.581024377505649,"y":-2.7146891790782193},"rotation":{"radians":-2.8658404550015253}},"curvature":-8.22183756317215},{"time":3.6389345150003187,"velocity":0.676328888349118,"acceleration":-3.583544565534088,"pose":{"translation":{"x":6.574474775176925,"y":-2.716338996269565},"rotation":{"radians":-2.924962178570092}},"curvature":-9.235001787363444},{"time":3.649278074240007,"velocity":0.6392622828474536,"acceleration":-1.6838682901318394,"pose":{"translation":{"x":6.567786061057784,"y":-2.7175859150618242},"rotation":{"radians":-2.990422599769865}},"curvature":-9.949439794600845},{"time":3.660206877267265,"velocity":0.6208596179807567,"acceleration":-0.2253636339577442,"pose":{"translation":{"x":6.560946817537351,"y":-2.7183853869336816},"rotation":{"radians":-3.0604727521050985}},"curvature":-10.335830771816653},{"time":3.6715131232413043,"velocity":0.6183116013016271,"acceleration":1.0072770647380127,"pose":{"translation":{"x":6.553948643263447,"y":-2.718698765306084},"rotation":{"radians":-3.133275977941982}},"curvature":-10.391142880043173},{"time":3.682994689160663,"velocity":0.629876719319475,"acceleration":2.1320127866252694,"pose":{"translation":{"x":6.546786017514653,"y":-2.7184930861441257},"rotation":{"radians":3.0761577385964625}},"curvature":-10.143682388705306},{"time":3.6944699171820092,"velocity":0.6543420521904258,"acceleration":3.2114083736175036,"pose":{"translation":{"x":6.539456164572393,"y":-2.717740848558933},"rotation":{"radians":3.00310010912821}},"curvature":-9.649019311906114},{"time":3.7057896770836782,"velocity":0.6906944239259856,"acceleration":4.000000000000109,"pose":{"translation":{"x":6.531958918093006,"y":-2.716419795409549},"rotation":{"radians":2.9321083621384485}},"curvature":-8.978732425160104},{"time":3.716866509559369,"velocity":0.7350017538287501,"acceleration":3.9999999999997904,"pose":{"translation":{"x":6.52429658547982,"y":-2.7145126939048203},"rotation":{"radians":2.8642215501788977}},"curvature":-8.20680098482241},{"time":3.7277216785989915,"velocity":0.7784224299872377,"acceleration":4.000000000000026,"pose":{"translation":{"x":6.5164738122552235,"y":-2.7120071162052803},"rotation":{"radians":2.800134866123928}},"curvature":-7.398430838000034},{"time":3.738426318448714,"velocity":0.8212409893861282,"acceleration":4.0000000000000435,"pose":{"translation":{"x":6.508497446432745,"y":-2.7088952200250334},"rotation":{"radians":2.740230748578606}},"curvature":-6.603818980361795},{"time":3.7490301863777447,"velocity":0.8636564611022514,"acceleration":3.9999999999999525,"pose":{"translation":{"x":6.500376402889126,"y":-2.7051735292336434},"rotation":{"radians":2.6846350981540272}},"curvature":-5.856777204223596},{"time":3.759566694190224,"velocity":0.9058024923521673,"acceleration":3.9999999999999827,"pose":{"translation":{"x":6.49212152773639,"y":-2.700842714458014},"rotation":{"radians":2.633281828218556}},"curvature":-5.176639926128518},{"time":3.7700566819551633,"velocity":0.9477624434119238,"acceleration":4.000000000000078,"pose":{"translation":{"x":6.483745462693925,"y":-2.6959073736842782},"rotation":{"radians":2.5859736858732676}},"curvature":-4.571644906700683},{"time":3.7909300907693084,"velocity":1.0312560786685068,"acceleration":3.9999999999999702,"pose":{"translation":{"x":6.466688494086605,"y":-2.684259826494461},"rotation":{"radians":2.502339906825371}},"curvature":-3.5851423375100553},{"time":3.811667742510926,"velocity":1.114206685634976,"acceleration":4.00000000000007,"pose":{"translation":{"x":6.4493373891083,"y":-2.670337881609422},"rotation":{"radians":2.4311633245994693}},"curvature":-2.859842251329955},{"time":3.8322116429723216,"velocity":1.1963822874805594,"acceleration":4.000000000000071,"pose":{"translation":{"x":6.4318440893306725,"y":-2.6542973292426666},"rotation":{"radians":2.3698700235605896}},"curvature":-2.3389424471387197},{"time":3.8524678759641566,"velocity":1.2774072194479016,"acceleration":4.000000000000051,"pose":{"translation":{"x":6.414376245762293,"y":-2.636335735136296},"rotation":{"radians":2.316179665573082}},"curvature":-1.971245985355279},{"time":3.872326609459273,"velocity":1.3568421534283677,"acceleration":4.000000000000008,"pose":{"translation":{"x":6.397112878755023,"y":-2.6166854198213247},"rotation":{"radians":2.2681655710867354}},"curvature":-1.7177072822338848},{"time":3.9103924206439653,"velocity":1.5091053981671367,"acceleration":-0.3824849245853895,"pose":{"translation":{"x":6.363946461985967,"y":-2.5733795571961275},"rotation":{"radians":2.1829634101425417}},"curvature":-1.4531964340918389},{"time":3.947392058905165,"velocity":1.494953594317115,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.333839465146571,"y":-2.5266666132856277},"rotation":{"radians":2.1038693326688813}},"curvature":-1.428497937409373},{"time":3.9855869067889724,"velocity":1.342174202781886,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":6.3081906578607985,"y":-2.4789402092914683},"rotation":{"radians":2.0222056755935585}},"curvature":-1.6267050425406355},{"time":4.005451259002402,"velocity":1.2627167939281698,"acceleration":-4.000000000000004,"pose":{"translation":{"x":6.297414801809275,"y":-2.4554188673206423},"rotation":{"radians":1.977719022211628}},"curvature":-1.826133388334632},{"time":4.025690858210582,"velocity":1.1817583970954504,"acceleration":-3.999999999999995,"pose":{"translation":{"x":6.288164070257655,"y":-2.432476052028613},"rotation":{"radians":1.929238799528292}},"curvature":-2.111200891597752},{"time":4.046218879106224,"velocity":1.0996463135128824,"acceleration":-4.0,"pose":{"translation":{"x":6.280524503434468,"y":-2.4103409437610113},"rotation":{"radians":1.875500722191483}},"curvature":-2.501078261352885},{"time":4.066974166108189,"velocity":1.0166251655050238,"acceleration":-4.0,"pose":{"translation":{"x":6.274550109975329,"y":-2.3892072702555778},"rotation":{"radians":1.8152269082626638}},"curvature":-3.014788560841303},{"time":4.087941507984805,"velocity":0.9327557979985595,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.270258526829311,"y":-2.369226285902487},"rotation":{"radians":1.7473051168809193}},"curvature":-3.6604764302923014},{"time":4.10918282198295,"velocity":0.8477905420059793,"acceleration":-4.0,"pose":{"translation":{"x":6.267626679165335,"y":-2.350499751004661},"rotation":{"radians":1.6711659569549777}},"curvature":-4.412655527221165},{"time":4.130886218175693,"velocity":0.760976957235006,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":6.266586440278536,"y":-2.333072911038095},"rotation":{"radians":1.5874406145062498}},"curvature":-5.1745095089891295},{"time":4.14202635716644,"velocity":0.7164164012720188,"acceleration":-4.0,"pose":{"translation":{"x":6.266628497589658,"y":-2.3248438348321385},"rotation":{"radians":1.5434847754496874}},"curvature":-5.498692515200691},{"time":4.15345441679626,"velocity":0.6707041627527396,"acceleration":-4.0,"pose":{"translation":{"x":6.267020291496656,"y":-2.316927475912173},"rotation":{"radians":1.4988894184050614}},"curvature":-5.736779218810578},{"time":4.165278447560735,"velocity":0.6234080396948382,"acceleration":-3.9999999999999964,"pose":{"translation":{"x":6.267738702623978,"y":-2.309310468744486},"rotation":{"radians":1.4544878154614598}},"curvature":-5.844205776954959},{"time":4.17764963498007,"velocity":0.5739232900174993,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.268756982086413,"y":-2.3019745992299896},"rotation":{"radians":1.4113367378835124}},"curvature":-5.7736468362624205},{"time":4.205014026210443,"velocity":0.4644657250960061,"acceleration":-4.0,"pose":{"translation":{"x":6.271567189159886,"y":-2.2880478575486682},"rotation":{"radians":1.3340215256225776}},"curvature":-4.927882985766305},{"time":4.321130457484444,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":6.279174459871376,"y":-2.2621770757491753},"rotation":{"radians":1.257895098914576}},"curvature":4.89472983251582E-13}] \ No newline at end of file diff --git a/src/main/deploy/paths/FiveBallMidComplete.wpilib.json b/src/main/deploy/paths/FiveBallMidComplete.wpilib.json index 32cb702..5340342 100644 --- a/src/main/deploy/paths/FiveBallMidComplete.wpilib.json +++ b/src/main/deploy/paths/FiveBallMidComplete.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.1270983688843497,"velocity":0.5719426599795737,"acceleration":4.5,"pose":{"translation":{"x":3.2363298344524436,"y":-2.298899802686018},"rotation":{"radians":0.0692577651470374}},"curvature":1.8950587512445145},{"time":0.21042113913384441,"velocity":0.9468951261023,"acceleration":4.5,"pose":{"translation":{"x":3.2992357901794267,"y":-2.292058382559469},"rotation":{"radians":0.13336588761066984}},"curvature":0.5081353245388296},{"time":0.30322770058723014,"velocity":1.3645246526425359,"acceleration":4.500000000000002,"pose":{"translation":{"x":3.4052753217803797,"y":-2.2759406702466065},"rotation":{"radians":0.1622880652133495}},"curvature":0.14308012858303878},{"time":0.35252714690117454,"velocity":1.5863721610552857,"acceleration":4.5,"pose":{"translation":{"x":3.4770070197266802,"y":-2.2638785389701312},"rotation":{"radians":0.17018012232912796}},"curvature":0.08218998056047282},{"time":0.402997011581602,"velocity":1.8134865521172092,"acceleration":4.4999999999999964,"pose":{"translation":{"x":3.5615193955328435,"y":-2.249097623342679},"rotation":{"radians":0.17564390475973646}},"curvature":0.04917485937853854},{"time":0.4540783706872829,"velocity":2.043352668092773,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.658474466495589,"y":-2.231684860998854},"rotation":{"radians":0.17945016920991327}},"curvature":0.030140843221192568},{"time":0.5052561019261164,"velocity":2.2736524586675237,"acceleration":4.5000000000000036,"pose":{"translation":{"x":3.7671397522485237,"y":-2.211813471951235},"rotation":{"radians":0.18207557565508717}},"curvature":0.018479758912245518},{"time":0.5560627060601523,"velocity":2.502282177270686,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.8864378767263954,"y":-2.1897319350134796},"rotation":{"radians":0.18381956783311507}},"curvature":0.010872498721873012},{"time":0.5811932505019345,"velocity":2.6153696272587057,"acceleration":3.18698171536912,"pose":{"translation":{"x":3.949655472782524,"y":-2.177957876460112},"rotation":{"radians":0.18442327195140867}},"curvature":0.008001487996222786},{"time":0.6062268755224148,"velocity":2.6951513324683836,"acceleration":0.07332504383291014,"pose":{"translation":{"x":4.014996170129343,"y":-2.1657529642234286},"rotation":{"radians":0.18487131031758927}},"curvature":0.0055525725273563005},{"time":0.6316052621736741,"velocity":2.6970122037819957,"acceleration":0.06387740026326601,"pose":{"translation":{"x":4.082250383218097,"y":-2.1531645157563517},"rotation":{"radians":0.185176376794578}},"curvature":0.0034191885570685615},{"time":0.6576061773633963,"velocity":2.698673074648781,"acceleration":0.04275579673681867,"pose":{"translation":{"x":4.151196270887151,"y":-2.140242485266206},"rotation":{"radians":0.185348127438105}},"curvature":0.001517578640164743},{"time":0.6841441473041079,"velocity":2.6998077266973737,"acceleration":-0.05275985503376829,"pose":{"translation":{"x":4.2216012864233665,"y":-2.127039119227935},"rotation":{"radians":0.185393608906121}},"curvature":-2.1980680822174232E-4},{"time":0.7111423744997515,"velocity":2.698383304144363,"acceleration":-0.05008122822398605,"pose":{"translation":{"x":4.293223727623496,"y":-2.1136086118973263},"rotation":{"radians":0.18531757186828496}},"curvature":-0.001849182069837596},{"time":0.7385190169385121,"velocity":2.6970122482663808,"acceleration":-0.04903238629724468,"pose":{"translation":{"x":4.365814286855553,"y":-2.100006760824233},"rotation":{"radians":0.1851226905021804}},"curvature":-0.003419137593420175},{"time":0.7661771320469957,"velocity":2.695656104882128,"acceleration":-0.04948116011854045,"pose":{"translation":{"x":4.439117601120204,"y":-2.0862906223657953},"rotation":{"radians":0.18480970272003633}},"curvature":-0.004973588312268373},{"time":0.7940183028840513,"velocity":2.694278491450052,"acceleration":-0.05140022706167344,"pose":{"translation":{"x":4.512873802112148,"y":-2.072518167199662},"rotation":{"radians":0.18437748064958973}},"curvature":-0.006554250817816681},{"time":0.8219432263648041,"velocity":2.6928431440424614,"acceleration":-0.05486080436327019,"pose":{"translation":{"x":4.586820066281499,"y":-2.0587479358372143},"rotation":{"radians":0.1838230366305232}},"curvature":-0.008202877188079381},{"time":0.8498523092169766,"velocity":2.69131202930815,"acceleration":-0.060037008352157965,"pose":{"translation":{"x":4.6606921648951705,"y":-2.0450386941367853},"rotation":{"radians":0.1831414662100924}},"curvature":-0.00996343941748574},{"time":0.8776462719590503,"velocity":2.6896433629348646,"acceleration":-0.06722119363223125,"pose":{"translation":{"x":4.734226014098256,"y":-2.031449088816883},"rotation":{"radians":0.18232582600629615}},"curvature":-0.011884448939914765},{"time":0.9052267616547104,"velocity":2.687789369496561,"acceleration":-0.07685224918049818,"pose":{"translation":{"x":4.807159224975414,"y":-2.018037302969414},"rotation":{"radians":0.1813669405494641}},"curvature":-0.014021608840024123},{"time":0.9324969747219773,"velocity":2.68569359228671,"acceleration":-0.08956082599271985,"pose":{"translation":{"x":4.87923265361225,"y":-2.0048607115729036},"rotation":{"radians":0.18025312799179333}},"curvature":-0.016441033887417626},{"time":0.9593622917049135,"velocity":2.683287512307162,"acceleration":-0.10623820353730937,"pose":{"translation":{"x":4.950191951156699,"y":-1.9919755370057164},"rotation":{"radians":0.17896982951364038}},"curvature":-0.019223341480108017},{"time":0.9857309267105918,"velocity":2.6804861558944277,"acceleration":-0.1281395344493474,"pose":{"translation":{"x":5.019789113880411,"y":-1.9794365045592819},"rotation":{"radians":0.1774991208800654}},"curvature":-0.022469026289744613},{"time":1.0115145952531992,"velocity":2.6771822486109818,"acceleration":-1.456328665216807,"pose":{"translation":{"x":5.087784033240128,"y":-1.9672964979513143},"rotation":{"radians":0.17581907627481713}},"curvature":-0.026305702065901784},{"time":1.0367843885448025,"velocity":2.6403811242763164,"acceleration":-4.500000000000009,"pose":{"translation":{"x":5.153946045939074,"y":-1.955606214839035},"rotation":{"radians":0.1739029433768764}},"curvature":-0.030898057172033474},{"time":1.061972650966147,"velocity":2.5270339433802667,"acceleration":-4.499999999999993,"pose":{"translation":{"x":5.218055483988332,"y":-1.944413822332393},"rotation":{"radians":0.17171807338504597}},"curvature":-0.036461777406136126},{"time":1.087382920156075,"velocity":2.412687732025591,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":5.27990522476823,"y":-1.9337646125072896},"rotation":{"radians":0.16922452850747088}},"curvature":-0.04328332502065509},{"time":1.1386555861217829,"velocity":2.1819607351799055,"acceleration":-4.499999999999998,"pose":{"translation":{"x":5.396069151255783,"y":-1.9142604671143888},"rotation":{"radians":0.16310370436497154}},"curvature":-0.062384057405159905},{"time":1.1901377360953787,"velocity":1.9502910602987245,"acceleration":-4.500000000000003,"pose":{"translation":{"x":5.501090654161787,"y":-1.897385524088994},"rotation":{"radians":0.15498967537946623}},"curvature":-0.09338424002657549},{"time":1.241295992947324,"velocity":1.7200789044649707,"acceleration":-4.500000000000003,"pose":{"translation":{"x":5.593922492082721,"y":-1.8833634811611886},"rotation":{"radians":0.14401549016527215}},"curvature":-0.14664144594343798},{"time":1.2915114966697394,"velocity":1.4941091377141014,"acceleration":-4.500000000000002,"pose":{"translation":{"x":5.673866955415721,"y":-1.8723389647855806},"rotation":{"radians":0.12876563152136272}},"curvature":-0.24432674544242147},{"time":1.3400594227460525,"velocity":1.2756434703706927,"acceleration":-4.500000000000001,"pose":{"translation":{"x":5.740625468322835,"y":-1.8643665065644082},"rotation":{"radians":0.10682738395944273}},"curvature":-0.43772210750117546},{"time":1.428616533952817,"velocity":0.8771364699402524,"acceleration":-4.500000000000001,"pose":{"translation":{"x":5.835683620117707,"y":-1.8572792752710763},"rotation":{"radians":0.02197361283131086}},"curvature":-1.8474877858052587},{"time":1.4667095554728644,"velocity":0.7057178731000384,"acceleration":-4.500000000000003,"pose":{"translation":{"x":5.865828193832404,"y":-1.8577238789494634},"rotation":{"radians":-0.06367453439929643}},"curvature":-4.361539640139643},{"time":1.4838904904884334,"velocity":0.628403665529978,"acceleration":-4.5,"pose":{"translation":{"x":5.87723983042111,"y":-1.8587835158903134},"rotation":{"radians":-0.12606797335766265}},"curvature":-6.765173997576896},{"time":1.4998594806900696,"velocity":0.5565432096226146,"acceleration":-4.500000000000007,"pose":{"translation":{"x":5.886575890703612,"y":-1.8603172471295863},"rotation":{"radians":-0.20493559496852556}},"curvature":-10.161883925389565},{"time":1.5074501088337502,"velocity":0.5223853829760521,"acceleration":-4.499999999999993,"pose":{"translation":{"x":5.890565694061718,"y":-1.8612389048670965},"rotation":{"radians":-0.2504220751916043}},"curvature":-12.085865426392672},{"time":1.5148368065219737,"velocity":0.4891452433790463,"acceleration":-4.500000000000004,"pose":{"translation":{"x":5.894162125738611,"y":-1.8622502866084267},"rotation":{"radians":-0.29897795833341534}},"curvature":-13.883657658978745},{"time":1.5220879335680224,"velocity":0.45651517167182765,"acceleration":-0.926019566763691,"pose":{"translation":{"x":5.897412720882245,"y":-1.8633405156596639},"rotation":{"radians":-0.3489700280234347}},"curvature":-15.167811103722578},{"time":1.529089767746511,"velocity":0.45003133621931246,"acceleration":4.499999999999997,"pose":{"translation":{"x":5.900367833181723,"y":-1.864498083498372},"rotation":{"radians":-0.39786739118221953}},"curvature":-15.430809298875147},{"time":1.5412232335973735,"velocity":0.5046319325481934,"acceleration":4.499999999999923,"pose":{"translation":{"x":5.905607407346868,"y":-1.8669659777145693},"rotation":{"radians":-0.47832444070195745}},"curvature":-11.041099262767903},{"time":1.5514447772563242,"velocity":0.5506288790134707,"acceleration":4.499999999999997,"pose":{"translation":{"x":5.910341889267582,"y":-1.8695488554289996},"rotation":{"radians":-0.5104883219168177}},"curvature":-3.7340349071888874E-13},{"time":1.6927691847566189,"velocity":1.1865887127647958,"acceleration":4.499999999999991,"pose":{"translation":{"x":6.019362680912478,"y":-1.9259705717486812},"rotation":{"radians":-0.457653588008675}},"curvature":0.08815631236043758},{"time":1.7684354288267023,"velocity":1.5270868110801705,"acceleration":-0.9196934638633146,"pose":{"translation":{"x":6.111478234899523,"y":-1.9713048863389462},"rotation":{"radians":-0.4603174376989857}},"curvature":-0.11129184244351757},{"time":1.846763455783868,"velocity":1.455049036650356,"acceleration":-4.499999999999999,"pose":{"translation":{"x":6.215595458285448,"y":-2.024220578585429},"rotation":{"radians":-0.48395842928784394}},"curvature":-0.3145673826484365},{"time":1.9330064593875584,"velocity":1.0669555204337484,"acceleration":-4.499999999999999,"pose":{"translation":{"x":6.310606314256721,"y":-2.0771362708319114},"rotation":{"radians":-0.542721169737204}},"curvature":-0.9207690115471886},{"time":1.9793201115900094,"velocity":0.8585440855227192,"acceleration":-4.500000000000003,"pose":{"translation":{"x":6.348182799436799,"y":-2.1011391557636725},"rotation":{"radians":-0.6009884368276502}},"curvature":-1.8648205143316683},{"time":2.0028544918400946,"velocity":0.752639374397337,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.363599732828538,"y":-2.1121739062004825},"rotation":{"radians":-0.6444585240143699}},"curvature":-2.8243017945696063},{"time":2.0265133990453092,"velocity":0.6461742919738699,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.376553043989027,"y":-2.1224705854221755},"rotation":{"radians":-0.7033422239728307}},"curvature":-4.491242440772023},{"time":2.050302039011927,"velocity":0.5391254121240897,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.38695681395706,"y":-2.131985026593671},"rotation":{"radians":-0.7852287507835739}},"curvature":-7.515004253757817},{"time":2.0623115094723534,"velocity":0.4850827950521711,"acceleration":-4.5,"pose":{"translation":{"x":6.39119492327807,"y":-2.1364417236195927},"rotation":{"radians":-0.8382640323882593}},"curvature":-9.890568239576622},{"time":2.0744924967030767,"velocity":0.4302683525139173,"acceleration":-4.5,"pose":{"translation":{"x":6.394795994947252,"y":-2.140697571643865},"rotation":{"radians":-0.9018170428636533}},"curvature":-13.122491542036409},{"time":2.087002536087532,"velocity":0.3739731752838684,"acceleration":-4.5,"pose":{"translation":{"x":6.397770582878232,"y":-2.144754445523107},"rotation":{"radians":-0.9780469927814595}},"curvature":-17.454602821326706},{"time":2.0934691633866267,"velocity":0.3448733524379437,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":6.399027731224297,"y":-2.1467093739969005},"rotation":{"radians":-1.02159743124877}},"curvature":-20.09502862925046},{"time":2.100153751268688,"velocity":0.3147927069686678,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":6.400134707587854,"y":-2.1486161348611237},"rotation":{"radians":-1.069089430112289}},"curvature":-23.060751341810086},{"time":2.107150741892502,"velocity":0.2833062491615044,"acceleration":-4.072194568242724,"pose":{"translation":{"x":6.401094411229809,"y":-2.1504755167024108},"rotation":{"radians":-1.1206887834018617}},"curvature":-26.32815672730302},{"time":2.1145626328527327,"velocity":0.2531235870528461,"acceleration":-3.2006750781873756,"pose":{"translation":{"x":6.4019101154848554,"y":-2.1522884397462643},"rotation":{"radians":-1.1764606640265038}},"curvature":-29.835574717517932},{"time":2.122429071913112,"velocity":0.22794567159821089,"acceleration":-2.4628865092033587,"pose":{"translation":{"x":6.402585475864242,"y":-2.154055958848849},"rotation":{"radians":-1.2363268615194787}},"curvature":-33.47199907937164},{"time":2.1307220196236205,"velocity":0.20752108256046986,"acceleration":-1.8385802665046933,"pose":{"translation":{"x":6.4031245381585515,"y":-2.155779266488783},"rotation":{"radians":-1.3000214411236208}},"curvature":-37.0701428019739},{"time":2.1393865803787446,"velocity":0.19159059213816754,"acceleration":-1.3042027284716622,"pose":{"translation":{"x":6.40353174654046,"y":-2.1574596957589307},"rotation":{"radians":-1.3670526349960594}},"curvature":-40.409104950567425},{"time":2.148338280769167,"velocity":0.17991576006451826,"acceleration":-0.8337803606088768,"pose":{"translation":{"x":6.403811951667518,"y":-2.159098723358196},"rotation":{"radians":-1.4366815305525695}},"curvature":-43.23155333801457},{"time":2.157463643425826,"velocity":0.1723072118979625,"acceleration":-0.39884339411388803,"pose":{"translation":{"x":6.403970418784919,"y":-2.160697972583314},"rotation":{"radians":-1.5079284352910682}},"curvature":-45.276810326152486},{"time":2.166624938247412,"velocity":0.16865328997684315,"acceleration":0.03297756507187391,"pose":{"translation":{"x":6.4040128358282695,"y":-2.1622592163206433},"rotation":{"radians":-1.579613900421947}},"curvature":-46.324613583278015},{"time":2.175668987220869,"velocity":0.16895154069037854,"acceleration":0.5013745235612302,"pose":{"translation":{"x":6.40394532152636,"y":-2.16378438003796},"rotation":{"radians":-1.6504330500073743}},"curvature":-46.23738812271767},{"time":2.184438633116037,"velocity":0.17334841772286902,"acceleration":1.0603145519179416,"pose":{"translation":{"x":6.403774433503942,"y":-2.1652755447762466},"rotation":{"radians":-1.7190515676349232}},"curvature":-44.98631977809164},{"time":2.1927845246865654,"velocity":0.1821976880038294,"acceleration":1.7920060134985862,"pose":{"translation":{"x":6.403507176384488,"y":-2.16673495014149},"rotation":{"radians":-1.7842040253596458}},"curvature":-42.651445664603145},{"time":2.2005747287938204,"velocity":0.19615778061041178,"acceleration":2.8363711468864405,"pose":{"translation":{"x":6.403151009892975,"y":-2.168164997296468},"rotation":{"radians":-1.8447742063981305}},"curvature":-39.39638825688053},{"time":2.207700429335205,"velocity":0.21636891202734865,"acceleration":4.458397011774164,"pose":{"translation":{"x":6.402713856958646,"y":-2.169568251952547},"rotation":{"radians":-1.8998432378181598}},"curvature":-35.42804729881617},{"time":2.2140771985578724,"velocity":0.24479908087446156,"acceleration":4.500000000000194,"pose":{"translation":{"x":6.40220411181779,"y":-2.1709474473614714},"rotation":{"radians":-1.9487014078318636}},"curvature":-30.955102394649295},{"time":2.225037478217473,"velocity":0.2941203393426666,"acceleration":4.500000000000038,"pose":{"translation":{"x":6.40100282701348,"y":-2.1736454490974797},"rotation":{"radians":-2.0258546267077726}},"curvature":-21.160549507806387},{"time":2.24289825174681,"velocity":0.3744938202246835,"acceleration":4.499999999999885,"pose":{"translation":{"x":6.398152708453254,"y":-2.1788923017418553},"rotation":{"radians":-2.0899424410415515}},"curvature":-2.945304125570491E-12},{"time":2.2577456359646506,"velocity":0.4413070492049648,"acceleration":-1.677582722423436,"pose":{"translation":{"x":6.39507216638006,"y":-2.18410655900665},"rotation":{"radians":-2.1318581991327763}},"curvature":-12.749079953629735},{"time":2.264966131337404,"velocity":0.4291940709202955,"acceleration":-3.940815267424159,"pose":{"translation":{"x":6.393341297652253,"y":-2.186729689141383},"rotation":{"radians":-2.178143871089744}},"curvature":-16.32981615964336},{"time":2.2729002344961247,"velocity":0.3979272360590905,"acceleration":0.4338315313659301,"pose":{"translation":{"x":6.3913942692807435,"y":-2.189370819539606},"rotation":{"radians":-2.2347884625292824}},"curvature":-17.85543237008885},{"time":2.281575450924012,"velocity":0.4016908184869318,"acceleration":3.2060522609712825,"pose":{"translation":{"x":6.389172967824155,"y":-2.1920346185943},"rotation":{"radians":-2.296809961481927}},"curvature":-17.659220798825885},{"time":2.290482053434836,"velocity":0.43024585160433204,"acceleration":4.500000000000149,"pose":{"translation":{"x":6.3866259633725395,"y":-2.1947251185768817},"rotation":{"radians":-2.359939148599949}},"curvature":-16.28235115373208},{"time":2.2993435838868086,"velocity":0.47012273863820986,"acceleration":4.49999999999991,"pose":{"translation":{"x":6.383708274193028,"y":-2.197445739571543},"rotation":{"radians":-2.4209897906426305}},"curvature":-14.283774338572098},{"time":2.308158260738926,"velocity":0.5097887844727383,"acceleration":4.50000000000016,"pose":{"translation":{"x":6.380381131375498,"y":-2.2001993134095907},"rotation":{"radians":-2.477923759670583}},"curvature":-12.106402683981111},{"time":2.317010135312889,"velocity":0.5496222200555732,"acceleration":4.499999999999929,"pose":{"translation":{"x":6.376611743478227,"y":-2.202988107603785},"rotation":{"radians":-2.5296884017885226}},"curvature":-10.032118530851717},{"time":2.325951467124156,"velocity":0.5898582132062749,"acceleration":4.499999999999952,"pose":{"translation":{"x":6.372373061173554,"y":-2.2058138492826806},"rotation":{"radians":-2.5759534641472417}},"curvature":-8.20177097536335},{"time":2.344201432117471,"velocity":0.6719830556761914,"acceleration":4.500000000000025,"pose":{"translation":{"x":6.362406914475598,"y":-2.211580525293808},"rotation":{"radians":-2.6527662519604673}},"curvature":-5.3971712559868905},{"time":2.362981146397038,"velocity":0.7564917699342428,"acceleration":4.500000000000025,"pose":{"translation":{"x":6.350372195476547,"y":-2.217503260292213},"rotation":{"radians":-2.711679723460505}},"curvature":-3.566532900623742},{"time":2.3822204741721733,"velocity":0.8430687449223521,"acceleration":4.499999999999988,"pose":{"translation":{"x":6.336235219518413,"y":-2.223578858777592},"rotation":{"radians":-2.7567394084285106}},"curvature":-2.4023315616831367},{"time":2.421514196603439,"velocity":1.0198904958630477,"acceleration":4.499999999999982,"pose":{"translation":{"x":6.30185862579485,"y":-2.236144887853593},"rotation":{"radians":-2.8182177716287375}},"curvature":-1.1714173696573198},{"time":2.4608363728554297,"velocity":1.1968402889970058,"acceleration":4.499999999999989,"pose":{"translation":{"x":6.260257688103602,"y":-2.249139865685754},"rotation":{"radians":-2.855491724158334}},"curvature":-0.6192913719087216},{"time":2.534895093573838,"velocity":1.530104532229843,"acceleration":-3.2608486211085475,"pose":{"translation":{"x":6.162798860477242,"y":-2.2755621287146326},"rotation":{"radians":-2.890852210433827}},"curvature":-0.16501260308299173},{"time":2.6083794814421646,"velocity":1.2904830673764056,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.062304577045997,"y":-2.3008805896326443},"rotation":{"radians":-2.8940333591153284}},"curvature":0.1141648975399554},{"time":2.6870627851623086,"velocity":0.9364082006357575,"acceleration":-4.499999999999998,"pose":{"translation":{"x":5.97760410421294,"y":-2.3232696178432635},"rotation":{"radians":-2.8640180725634394}},"curvature":0.7144006666381507},{"time":2.726957014678203,"velocity":0.7568841678142326,"acceleration":-4.5,"pose":{"translation":{"x":5.945267638157282,"y":-2.3330262163821494},"rotation":{"radians":-2.8288298217795607}},"curvature":1.4855537428430912},{"time":2.7667737994711086,"velocity":0.5777086362461576,"acceleration":-4.5,"pose":{"translation":{"x":5.920198043313465,"y":-2.3418272908322164},"rotation":{"radians":-2.7729042131356465}},"curvature":2.8905757965382564},{"time":2.809073614558088,"velocity":0.38735946835474894,"acceleration":-4.5,"pose":{"translation":{"x":5.901422525991386,"y":-2.3498331012778997},"rotation":{"radians":-2.7002183095133314}},"curvature":3.93415202030435},{"time":2.895153496414699,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":5.886546239551206,"y":-2.3573596746146754},"rotation":{"radians":-2.6571147245527174}},"curvature":4.1076051658711784E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.13480817777380943,"velocity":0.5392327110952378,"acceleration":4.000000000000001,"pose":{"translation":{"x":3.2363298344524436,"y":-2.298899802686018},"rotation":{"radians":0.0692577651470374}},"curvature":1.8950587512445145},{"time":0.22318532157980908,"velocity":0.8927412863192365,"acceleration":4.0,"pose":{"translation":{"x":3.2992357901794267,"y":-2.292058382559469},"rotation":{"radians":0.13336588761066984}},"curvature":0.5081353245388296},{"time":0.32162154499325174,"velocity":1.2864861799730072,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.4052753217803797,"y":-2.2759406702466065},"rotation":{"radians":0.1622880652133495}},"curvature":0.14308012858303878},{"time":0.3739115041892501,"velocity":1.4956460167570007,"acceleration":4.0,"pose":{"translation":{"x":3.4770070197266802,"y":-2.2638785389701312},"rotation":{"radians":0.17018012232912796}},"curvature":0.08218998056047282},{"time":0.4274428795308966,"velocity":1.7097715181235866,"acceleration":3.9999999999999956,"pose":{"translation":{"x":3.5615193955328435,"y":-2.249097623342679},"rotation":{"radians":0.17564390475973646}},"curvature":0.04917485937853854},{"time":0.48162284265467487,"velocity":1.9264913706186995,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.658474466495589,"y":-2.231684860998854},"rotation":{"radians":0.17945016920991327}},"curvature":0.030140843221192568},{"time":0.5359050238617575,"velocity":2.14362009544703,"acceleration":4.0,"pose":{"translation":{"x":3.7671397522485237,"y":-2.211813471951235},"rotation":{"radians":0.18207557565508717}},"curvature":0.018479758912245518},{"time":0.5897935653301135,"velocity":2.359174261320454,"acceleration":3.999999999999993,"pose":{"translation":{"x":3.8864378767263954,"y":-2.1897319350134796},"rotation":{"radians":0.18381956783311507}},"curvature":0.010872498721873012},{"time":0.6164485329146546,"velocity":2.4657941316586185,"acceleration":4.0,"pose":{"translation":{"x":3.949655472782524,"y":-2.177957876460112},"rotation":{"radians":0.18442327195140867}},"curvature":0.008001487996222786},{"time":0.6428407200270783,"velocity":2.571362880108313,"acceleration":4.0,"pose":{"translation":{"x":4.014996170129343,"y":-2.1657529642234286},"rotation":{"radians":0.18487131031758927}},"curvature":0.0055525725273563005},{"time":0.6689209924216599,"velocity":2.6756839696866397,"acceleration":0.8806702663934561,"pose":{"translation":{"x":4.082250383218097,"y":-2.1531645157563517},"rotation":{"radians":0.185176376794578}},"curvature":0.0034191885570685615},{"time":0.6950250927182292,"velocity":2.698673074648781,"acceleration":0.04275579673681867,"pose":{"translation":{"x":4.151196270887151,"y":-2.140242485266206},"rotation":{"radians":0.185348127438105}},"curvature":0.001517578640164743},{"time":0.7215630626589408,"velocity":2.6998077266973737,"acceleration":-0.05275985503376829,"pose":{"translation":{"x":4.2216012864233665,"y":-2.127039119227935},"rotation":{"radians":0.185393608906121}},"curvature":-2.1980680822174232E-4},{"time":0.7485612898545844,"velocity":2.698383304144363,"acceleration":-0.05008122822398605,"pose":{"translation":{"x":4.293223727623496,"y":-2.1136086118973263},"rotation":{"radians":0.18531757186828496}},"curvature":-0.001849182069837596},{"time":0.775937932293345,"velocity":2.6970122482663808,"acceleration":-0.04903238629724468,"pose":{"translation":{"x":4.365814286855553,"y":-2.100006760824233},"rotation":{"radians":0.1851226905021804}},"curvature":-0.003419137593420175},{"time":0.8035960474018286,"velocity":2.695656104882128,"acceleration":-0.04948116011854045,"pose":{"translation":{"x":4.439117601120204,"y":-2.0862906223657953},"rotation":{"radians":0.18480970272003633}},"curvature":-0.004973588312268373},{"time":0.8314372182388842,"velocity":2.694278491450052,"acceleration":-0.05140022706167344,"pose":{"translation":{"x":4.512873802112148,"y":-2.072518167199662},"rotation":{"radians":0.18437748064958973}},"curvature":-0.006554250817816681},{"time":0.8593621417196369,"velocity":2.6928431440424614,"acceleration":-0.05486080436327019,"pose":{"translation":{"x":4.586820066281499,"y":-2.0587479358372143},"rotation":{"radians":0.1838230366305232}},"curvature":-0.008202877188079381},{"time":0.8872712245718094,"velocity":2.69131202930815,"acceleration":-0.060037008352157965,"pose":{"translation":{"x":4.6606921648951705,"y":-2.0450386941367853},"rotation":{"radians":0.1831414662100924}},"curvature":-0.00996343941748574},{"time":0.9150651873138831,"velocity":2.6896433629348646,"acceleration":-0.06722119363223125,"pose":{"translation":{"x":4.734226014098256,"y":-2.031449088816883},"rotation":{"radians":0.18232582600629615}},"curvature":-0.011884448939914765},{"time":0.9426456770095432,"velocity":2.687789369496561,"acceleration":-0.07685224918049818,"pose":{"translation":{"x":4.807159224975414,"y":-2.018037302969414},"rotation":{"radians":0.1813669405494641}},"curvature":-0.014021608840024123},{"time":0.9699158900768101,"velocity":2.68569359228671,"acceleration":-0.08956082599271985,"pose":{"translation":{"x":4.87923265361225,"y":-2.0048607115729036},"rotation":{"radians":0.18025312799179333}},"curvature":-0.016441033887417626},{"time":0.9967812070597463,"velocity":2.683287512307162,"acceleration":-0.10623820353730937,"pose":{"translation":{"x":4.950191951156699,"y":-1.9919755370057164},"rotation":{"radians":0.17896982951364038}},"curvature":-0.019223341480108017},{"time":1.0231498420654246,"velocity":2.6804861558944277,"acceleration":-3.09370888700926,"pose":{"translation":{"x":5.019789113880411,"y":-1.9794365045592819},"rotation":{"radians":0.1774991208800654}},"curvature":-0.022469026289744613},{"time":1.0493126265259491,"velocity":2.599546117099995,"acceleration":-4.0,"pose":{"translation":{"x":5.087784033240128,"y":-1.9672964979513143},"rotation":{"radians":0.17581907627481713}},"curvature":-0.026305702065901784},{"time":1.075693687403807,"velocity":2.4940218735885638,"acceleration":-4.000000000000007,"pose":{"translation":{"x":5.153946045939074,"y":-1.955606214839035},"rotation":{"radians":0.1739029433768764}},"curvature":-0.030898057172033474},{"time":1.1023578725186147,"velocity":2.387365133129333,"acceleration":-4.000000000000007,"pose":{"translation":{"x":5.218055483988332,"y":-1.944413822332393},"rotation":{"radians":0.17171807338504597}},"curvature":-0.036461777406136126},{"time":1.1292521380385456,"velocity":2.279788071049609,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":5.27990522476823,"y":-1.9337646125072896},"rotation":{"radians":0.16922452850747088}},"curvature":-0.04328332502065509},{"time":1.1835009552669182,"velocity":2.0627928021361184,"acceleration":-3.999999999999998,"pose":{"translation":{"x":5.396069151255783,"y":-1.9142604671143888},"rotation":{"radians":0.16310370436497154}},"curvature":-0.062384057405159905},{"time":1.2379396492667591,"velocity":1.8450380261367552,"acceleration":-4.0,"pose":{"translation":{"x":5.501090654161787,"y":-1.897385524088994},"rotation":{"radians":0.15498967537946623}},"curvature":-0.09338424002657549},{"time":1.2919917147854358,"velocity":1.6288297640620484,"acceleration":-4.0,"pose":{"translation":{"x":5.593922492082721,"y":-1.8833634811611886},"rotation":{"radians":0.14401549016527215}},"curvature":-0.14664144594343798},{"time":1.3449854037821207,"velocity":1.4168550080753088,"acceleration":-3.999999999999995,"pose":{"translation":{"x":5.673866955415721,"y":-1.8723389647855806},"rotation":{"radians":0.12876563152136272}},"curvature":-0.24432674544242147},{"time":1.3961299460443128,"velocity":1.2122768390265406,"acceleration":-4.0,"pose":{"translation":{"x":5.740625468322835,"y":-1.8643665065644082},"rotation":{"radians":0.10682738395944273}},"curvature":-0.43772210750117546},{"time":1.4889850916709302,"velocity":0.8408562565200716,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":5.835683620117707,"y":-1.8572792752710763},"rotation":{"radians":0.02197361283131086}},"curvature":-1.8474877858052587},{"time":1.5285649663196907,"velocity":0.6825367579250295,"acceleration":-3.999999999999998,"pose":{"translation":{"x":5.865828193832404,"y":-1.8577238789494634},"rotation":{"radians":-0.06367453439929643}},"curvature":-4.361539640139643},{"time":1.546275440323566,"velocity":0.6116948619095288,"acceleration":-4.0,"pose":{"translation":{"x":5.87723983042111,"y":-1.8587835158903134},"rotation":{"radians":-0.12606797335766265}},"curvature":-6.765173997576896},{"time":1.5626156227681753,"velocity":0.5463341321310909,"acceleration":-4.0,"pose":{"translation":{"x":5.886575890703612,"y":-1.8603172471295863},"rotation":{"radians":-0.20493559496852556}},"curvature":-10.161883925389565},{"time":1.5703285809565941,"velocity":0.5154822993774161,"acceleration":-3.9999999999999964,"pose":{"translation":{"x":5.890565694061718,"y":-1.8612389048670965},"rotation":{"radians":-0.2504220751916043}},"curvature":-12.085865426392672},{"time":1.5777921653683618,"velocity":0.48562796173034567,"acceleration":-4.0,"pose":{"translation":{"x":5.894162125738611,"y":-1.8622502866084267},"rotation":{"radians":-0.29897795833341534}},"curvature":-13.883657658978745},{"time":1.5850703628829912,"velocity":0.45651517167182776,"acceleration":-0.9260195667637392,"pose":{"translation":{"x":5.897412720882245,"y":-1.8633405156596639},"rotation":{"radians":-0.3489700280234347}},"curvature":-15.167811103722578},{"time":1.5920721970614797,"velocity":0.45003133621931224,"acceleration":3.999999999999995,"pose":{"translation":{"x":5.900367833181723,"y":-1.864498083498372},"rotation":{"radians":-0.39786739118221953}},"curvature":-15.430809298875147},{"time":1.6042794634010087,"velocity":0.49886040157742784,"acceleration":3.999999999999933,"pose":{"translation":{"x":5.905607407346868,"y":-1.8669659777145693},"rotation":{"radians":-0.47832444070195745}},"curvature":-11.041099262767903},{"time":1.6146586074459093,"velocity":0.5403769777570293,"acceleration":3.999999999999998,"pose":{"translation":{"x":5.910341889267582,"y":-1.8695488554289996},"rotation":{"radians":-0.5104883219168177}},"curvature":-3.7340349071888874E-13},{"time":1.7617491722981902,"velocity":1.1287392371661529,"acceleration":3.9999999999999916,"pose":{"translation":{"x":6.019362680912478,"y":-1.9259705717486812},"rotation":{"radians":-0.457653588008675}},"curvature":0.08815631236043758},{"time":1.8414506368876435,"velocity":1.4475450955239653,"acceleration":-0.8768932730538829,"pose":{"translation":{"x":6.111478234899523,"y":-1.9713048863389462},"rotation":{"radians":-0.4603174376989857}},"curvature":-0.11129184244351757},{"time":1.9242081589140285,"velocity":1.3749755811644198,"acceleration":-3.999999999999999,"pose":{"translation":{"x":6.215595458285448,"y":-2.024220578585429},"rotation":{"radians":-0.48395842928784394}},"curvature":-0.3145673826484365},{"time":2.015397993608951,"velocity":1.0102162423847283,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":6.310606314256721,"y":-2.0771362708319114},"rotation":{"radians":-0.542721169737204}},"curvature":-0.9207690115471886},{"time":2.064262771823698,"velocity":0.8147571295257401,"acceleration":-4.0,"pose":{"translation":{"x":6.348182799436799,"y":-2.1011391557636725},"rotation":{"radians":-0.6009884368276502}},"curvature":-1.8648205143316683},{"time":2.089039302542591,"velocity":0.7156510066501683,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":6.363599732828538,"y":-2.1121739062004825},"rotation":{"radians":-0.6444585240143699}},"curvature":-2.8243017945696063},{"time":2.11388657453838,"velocity":0.616261918667013,"acceleration":-4.0,"pose":{"translation":{"x":6.376553043989027,"y":-2.1224705854221755},"rotation":{"radians":-0.7033422239728307}},"curvature":-4.491242440772023},{"time":2.1387738631409463,"velocity":0.5167127642567466,"acceleration":-3.999999999999998,"pose":{"translation":{"x":6.38695681395706,"y":-2.131985026593671},"rotation":{"radians":-0.7852287507835739}},"curvature":-7.515004253757817},{"time":2.1512817688096515,"velocity":0.4666811415819265,"acceleration":-4.0,"pose":{"translation":{"x":6.39119492327807,"y":-2.1364417236195927},"rotation":{"radians":-0.8382640323882593}},"curvature":-9.890568239576622},{"time":2.1639112673269545,"velocity":0.41616314751271427,"acceleration":-4.0,"pose":{"translation":{"x":6.394795994947252,"y":-2.140697571643865},"rotation":{"radians":-0.9018170428636533}},"curvature":-13.122491542036409},{"time":2.176797174810833,"velocity":0.36461951757719985,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.397770582878232,"y":-2.144754445523107},"rotation":{"radians":-0.9780469927814595}},"curvature":-17.454602821326706},{"time":2.1834116266430303,"velocity":0.3381617102484101,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.399027731224297,"y":-2.1467093739969005},"rotation":{"radians":-1.02159743124877}},"curvature":-20.09502862925046},{"time":2.19020448218096,"velocity":0.31099028809669177,"acceleration":-4.0,"pose":{"translation":{"x":6.400134707587854,"y":-2.1486161348611237},"rotation":{"radians":-1.069089430112289}},"curvature":-23.060751341810086},{"time":2.1972522539323247,"velocity":0.2827992010912338,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.401094411229809,"y":-2.1504755167024108},"rotation":{"radians":-1.1206887834018617}},"curvature":-26.32815672730302},{"time":2.2046711574419215,"velocity":0.2531235870528459,"acceleration":-3.200675078187319,"pose":{"translation":{"x":6.4019101154848554,"y":-2.1522884397462643},"rotation":{"radians":-1.1764606640265038}},"curvature":-29.835574717517932},{"time":2.2125375965023006,"velocity":0.2279456715982111,"acceleration":-2.4628865092034125,"pose":{"translation":{"x":6.402585475864242,"y":-2.154055958848849},"rotation":{"radians":-1.2363268615194787}},"curvature":-33.47199907937164},{"time":2.2208305442128093,"velocity":0.20752108256046964,"acceleration":-1.8385802665046673,"pose":{"translation":{"x":6.4031245381585515,"y":-2.155779266488783},"rotation":{"radians":-1.3000214411236208}},"curvature":-37.0701428019739},{"time":2.2294951049679335,"velocity":0.19159059213816754,"acceleration":-1.3042027284716622,"pose":{"translation":{"x":6.40353174654046,"y":-2.1574596957589307},"rotation":{"radians":-1.3670526349960594}},"curvature":-40.409104950567425},{"time":2.2384468053583557,"velocity":0.17991576006451826,"acceleration":-0.8337803606089006,"pose":{"translation":{"x":6.403811951667518,"y":-2.159098723358196},"rotation":{"radians":-1.4366815305525695}},"curvature":-43.23155333801457},{"time":2.2475721680150147,"velocity":0.17230721189796228,"acceleration":-0.3988433941138636,"pose":{"translation":{"x":6.403970418784919,"y":-2.160697972583314},"rotation":{"radians":-1.5079284352910682}},"curvature":-45.276810326152486},{"time":2.2567334628366007,"velocity":0.16865328997684315,"acceleration":0.032977565071898904,"pose":{"translation":{"x":6.4040128358282695,"y":-2.1622592163206433},"rotation":{"radians":-1.579613900421947}},"curvature":-46.324613583278015},{"time":2.265777511810058,"velocity":0.16895154069037877,"acceleration":0.5013745235612048,"pose":{"translation":{"x":6.40394532152636,"y":-2.16378438003796},"rotation":{"radians":-1.6504330500073743}},"curvature":-46.23738812271767},{"time":2.274547157705226,"velocity":0.17334841772286902,"acceleration":1.0603145519179136,"pose":{"translation":{"x":6.403774433503942,"y":-2.1652755447762466},"rotation":{"radians":-1.7190515676349232}},"curvature":-44.98631977809164},{"time":2.282893049275754,"velocity":0.18219768800382918,"acceleration":1.7920060134986144,"pose":{"translation":{"x":6.403507176384488,"y":-2.16673495014149},"rotation":{"radians":-1.7842040253596458}},"curvature":-42.651445664603145},{"time":2.2906832533830093,"velocity":0.19615778061041178,"acceleration":2.836371146886474,"pose":{"translation":{"x":6.403151009892975,"y":-2.168164997296468},"rotation":{"radians":-1.8447742063981305}},"curvature":-39.39638825688053},{"time":2.297808953924394,"velocity":0.21636891202734887,"acceleration":3.9999999999998206,"pose":{"translation":{"x":6.402713856958646,"y":-2.169568251952547},"rotation":{"radians":-1.8998432378181598}},"curvature":-35.42804729881617},{"time":2.304224242778254,"velocity":0.24203006744278693,"acceleration":4.000000000000169,"pose":{"translation":{"x":6.40220411181779,"y":-2.1709474473614714},"rotation":{"radians":-1.9487014078318636}},"curvature":-30.955102394649295},{"time":2.3153954290764447,"velocity":0.28671481263555126,"acceleration":4.000000000000035,"pose":{"translation":{"x":6.40100282701348,"y":-2.1736454490974797},"rotation":{"radians":-2.0258546267077726}},"curvature":-21.160549507806387},{"time":2.333846232779489,"velocity":0.36051802744772865,"acceleration":3.99999999999989,"pose":{"translation":{"x":6.398152708453254,"y":-2.1788923017418553},"rotation":{"radians":-2.0899424410415515}},"curvature":-2.945304125570491E-12},{"time":2.349317176890044,"velocity":0.4224018038899475,"acceleration":0.9202630231378486,"pose":{"translation":{"x":6.39507216638006,"y":-2.18410655900665},"rotation":{"radians":-2.1318581991327763}},"curvature":-12.749079953629735},{"time":2.3566979657075584,"velocity":0.4291940709202955,"acceleration":-3.940815267424159,"pose":{"translation":{"x":6.393341297652253,"y":-2.186729689141383},"rotation":{"radians":-2.178143871089744}},"curvature":-16.32981615964336},{"time":2.364632068866279,"velocity":0.3979272360590905,"acceleration":0.4338315313659181,"pose":{"translation":{"x":6.3913942692807435,"y":-2.189370819539606},"rotation":{"radians":-2.2347884625292824}},"curvature":-17.85543237008885},{"time":2.3733072852941666,"velocity":0.40169081848693167,"acceleration":3.2060522609712936,"pose":{"translation":{"x":6.389172967824155,"y":-2.1920346185943},"rotation":{"radians":-2.296809961481927}},"curvature":-17.659220798825885},{"time":2.3822138878049905,"velocity":0.43024585160433204,"acceleration":4.000000000000136,"pose":{"translation":{"x":6.3866259633725395,"y":-2.1947251185768817},"rotation":{"radians":-2.359939148599949}},"curvature":-16.28235115373208},{"time":2.3911175665623863,"velocity":0.46586056663391623,"acceleration":3.9999999999999036,"pose":{"translation":{"x":6.383708274193028,"y":-2.197445739571543},"rotation":{"radians":-2.4209897906426305}},"curvature":-14.283774338572098},{"time":2.4000459258379747,"velocity":0.5015740037362685,"acceleration":4.000000000000131,"pose":{"translation":{"x":6.380381131375498,"y":-2.2001993134095907},"rotation":{"radians":-2.477923759670583}},"curvature":-12.106402683981111},{"time":2.4090695867921577,"velocity":0.5376686475530021,"acceleration":3.9999999999999294,"pose":{"translation":{"x":6.376611743478227,"y":-2.202988107603785},"rotation":{"radians":-2.5296884017885226}},"curvature":-10.032118530851717},{"time":2.4182319902036125,"velocity":0.5743182611988203,"acceleration":3.9999999999999565,"pose":{"translation":{"x":6.372373061173554,"y":-2.2058138492826806},"rotation":{"radians":-2.5759534641472417}},"curvature":-8.20177097536335},{"time":2.4370477183015566,"velocity":0.6495811735905961,"acceleration":4.00000000000002,"pose":{"translation":{"x":6.362406914475598,"y":-2.211580525293808},"rotation":{"radians":-2.6527662519604673}},"curvature":-5.3971712559868905},{"time":2.4565282577895275,"velocity":0.7275033315424809,"acceleration":4.000000000000021,"pose":{"translation":{"x":6.350372195476547,"y":-2.217503260292213},"rotation":{"radians":-2.711679723460505}},"curvature":-3.566532900623742},{"time":2.47657428070018,"velocity":0.8076874231850898,"acceleration":3.999999999999991,"pose":{"translation":{"x":6.336235219518413,"y":-2.223578858777592},"rotation":{"radians":-2.7567394084285106}},"curvature":-2.4023315616831367},{"time":2.5177019809110237,"velocity":0.9721982240284655,"acceleration":3.999999999999986,"pose":{"translation":{"x":6.30185862579485,"y":-2.236144887853593},"rotation":{"radians":-2.8182177716287375}},"curvature":-1.1714173696573198},{"time":2.5590197161517345,"velocity":1.1374691649913087,"acceleration":3.999999999999989,"pose":{"translation":{"x":6.260257688103602,"y":-2.249139865685754},"rotation":{"radians":-2.855491724158334}},"curvature":-0.6192913719087216},{"time":2.637079338314134,"velocity":1.449707653640906,"acceleration":-2.9977651258354445,"pose":{"translation":{"x":6.162798860477242,"y":-2.2755621287146326},"rotation":{"radians":-2.890852210433827}},"curvature":-0.16501260308299173},{"time":2.7148134301886375,"velocity":1.2166791039310303,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":6.062304577045997,"y":-2.3008805896326443},"rotation":{"radians":-2.8940333591153284}},"curvature":0.1141648975399554},{"time":2.7982696766286494,"velocity":0.8828541181709831,"acceleration":-4.0,"pose":{"translation":{"x":5.97760410421294,"y":-2.3232696178432635},"rotation":{"radians":-2.8640180725634394}},"curvature":0.7144006666381507},{"time":2.8405838969600015,"velocity":0.7135972368455743,"acceleration":-4.000000000000001,"pose":{"translation":{"x":5.945267638157282,"y":-2.3330262163821494},"rotation":{"radians":-2.8288298217795607}},"curvature":1.4855537428430912},{"time":2.8828159747581648,"velocity":0.5446689256529208,"acceleration":-4.000000000000001,"pose":{"translation":{"x":5.920198043313465,"y":-2.3418272908322164},"rotation":{"radians":-2.7729042131356465}},"curvature":2.8905757965382564},{"time":2.9276817038945753,"velocity":0.36520600910727846,"acceleration":-4.000000000000001,"pose":{"translation":{"x":5.901422525991386,"y":-2.3498331012778997},"rotation":{"radians":-2.7002183095133314}},"curvature":3.93415202030435},{"time":3.018983206171395,"velocity":0.0,"acceleration":-4.000000000000001,"pose":{"translation":{"x":5.886546239551206,"y":-2.3573596746146754},"rotation":{"radians":-2.6571147245527174}},"curvature":4.1076051658711784E-13}] \ No newline at end of file diff --git a/src/main/deploy/paths/GSC_ABLUE.wpilib.json b/src/main/deploy/paths/GSC_ABLUE.wpilib.json index 46f9bca..7f55dc2 100644 --- a/src/main/deploy/paths/GSC_ABLUE.wpilib.json +++ b/src/main/deploy/paths/GSC_ABLUE.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.500000000000001,"pose":{"translation":{"x":1.269,"y":-2.313833150808477},"rotation":{"radians":0.023199429835684716}},"curvature":0.0},{"time":0.13727000915957996,"velocity":0.6177150412181099,"acceleration":4.5,"pose":{"translation":{"x":1.3113935590535757,"y":-2.313302930422365},"rotation":{"radians":-0.007438719375198429}},"curvature":-1.297114577684895},{"time":0.19826818055168988,"velocity":0.8922068124826046,"acceleration":4.5,"pose":{"translation":{"x":1.357404493137279,"y":-2.315229139867719},"rotation":{"radians":-0.07880889616163197}},"curvature":-1.6443073829535897},{"time":0.25071373827963367,"velocity":1.1282118222583517,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.4100006406431436,"y":-2.321603360012606},"rotation":{"radians":-0.1598243029522975}},"curvature":-1.3643876907417913},{"time":0.3012114544789495,"velocity":1.3554515451552729,"acceleration":4.4999999999999964,"pose":{"translation":{"x":1.4714844998187229,"y":-2.333941796349302},"rotation":{"radians":-0.23191632876754653}},"curvature":-0.950614168760075},{"time":0.35198190174227406,"velocity":1.5839185578402333,"acceleration":4.499999999999996,"pose":{"translation":{"x":1.5435407985738778,"y":-2.3533201848370084},"rotation":{"radians":-0.28940329245276397}},"curvature":-0.6185163182242341},{"time":0.4037440322909973,"velocity":1.8168481453094878,"acceleration":4.499999999999995,"pose":{"translation":{"x":1.6272840642875628,"y":-2.3804086977445618},"rotation":{"radians":-0.3330376021724407}},"curvature":-0.3950477769023232},{"time":0.4565603064434875,"velocity":2.0545213789956933,"acceleration":4.499999999999997,"pose":{"translation":{"x":1.723306193614612,"y":-2.415506849493148},"rotation":{"radians":-0.3654253045110595}},"curvature":-0.25270239202056904},{"time":0.5101923724341435,"velocity":2.295865675953645,"acceleration":4.500000000000007,"pose":{"translation":{"x":1.8317240222925255,"y":-2.458578402499013},"rotation":{"radians":-0.38913919544962666}},"curvature":-0.16239050580897021},{"time":0.5372016621456113,"velocity":2.41740747965525,"acceleration":4.499999999999994,"pose":{"translation":{"x":1.8904996422185807,"y":-2.483009663149381},"rotation":{"radians":-0.39840192705491306}},"curvature":-0.13009747115065695},{"time":0.5642714156629621,"velocity":2.539221370483329,"acceleration":3.323663246699626,"pose":{"translation":{"x":1.9522268949482564,"y":-2.5092862730161762},"rotation":{"radians":-0.40621367628955785}},"curvature":-0.10389687610394656},{"time":0.5915127728731331,"velocity":2.62976246823299,"acceleration":0.531724352207873,"pose":{"translation":{"x":2.0168079574953244,"y":-2.5373248161581223},"rotation":{"radians":-0.41274277864639874}},"curvature":-0.08243425331086887},{"time":0.6194130413468519,"velocity":2.644597720413604,"acceleration":0.4351457098944417,"pose":{"translation":{"x":2.084124234904996,"y":-2.5670274369791435},"rotation":{"radians":-0.4181297223826023}},"curvature":-0.06465810991273445},{"time":0.6483023206866806,"velocity":2.6571687663802726,"acceleration":0.3617228437267065,"pose":{"translation":{"x":2.1540378468103825,"y":-2.59828293103595},"rotation":{"radians":-0.42249084800756986}},"curvature":-0.049750383628462846},{"time":0.6781213971306559,"velocity":2.6679550075088914,"acceleration":0.306078798085069,"pose":{"translation":{"x":2.2263931139889603,"y":-2.6309678358456186},"rotation":{"radians":-0.4259216590644329}},"curvature":-0.03707120155088867},{"time":0.7088014111139792,"velocity":2.67734550931414,"acceleration":0.2642033593788609,"pose":{"translation":{"x":2.3010180449190303,"y":-2.6649475216931835},"rotation":{"radians":-0.42849966797450917}},"curvature":-0.026115892515816044},{"time":0.7402648707086487,"velocity":2.6856582610367328,"acceleration":0.23313484990684616,"pose":{"translation":{"x":2.377725822336179,"y":-2.700077282439216},"rotation":{"radians":-0.4302867733918382}},"curvature":-0.016481853656522275},{"time":0.7724266081610504,"velocity":2.693156282870442,"acceleration":0.20698925857672834,"pose":{"translation":{"x":2.4563162897897453,"y":-2.736203426327411},"rotation":{"radians":-0.4313311989493287}},"curvature":-0.007843059041004387},{"time":0.8051954257894055,"velocity":2.699939076135771,"acceleration":-0.19396164740395716,"pose":{"translation":{"x":2.536577438199277,"y":-2.7731643667921726},"rotation":{"radians":-0.43166903532790674}},"curvature":6.964476334040872E-5},{"time":0.8385535350082661,"velocity":2.6934688823174,"acceleration":-0.18215399156210668,"pose":{"translation":{"x":2.618286892410998,"y":-2.8107917132661977},"rotation":{"radians":-0.4313254283971369}},"curvature":0.007483944127828945},{"time":0.8724775100881258,"velocity":2.68728949484695,"acceleration":-0.17588435150983908,"pose":{"translation":{"x":2.701213397754265,"y":-2.848911361988062},"rotation":{"radians":-0.43031545139444}},"curvature":0.014598335702687346},{"time":0.9068587487357299,"velocity":2.681242372983311,"acceleration":-0.17453832302107344,"pose":{"translation":{"x":2.7851183065980347,"y":-2.8873445868098027},"rotation":{"radians":-0.42864469175635733}},"curvature":0.021592195889743926},{"time":0.9415873140229323,"velocity":2.675180907437155,"acceleration":-0.1778156455533132,"pose":{"translation":{"x":2.869757064907324,"y":-2.9259091300045053},"rotation":{"radians":-0.42630957482769166}},"curvature":0.02863437658615396},{"time":0.9765526419717067,"velocity":2.6689635250759602,"acceleration":-0.18568805886424392,"pose":{"translation":{"x":2.954880698799668,"y":-2.9644202930738874},"rotation":{"radians":-0.42329743795243213}},"curvature":0.03589093233074515},{"time":1.0116442811724327,"velocity":2.662447426710413,"acceleration":-0.19838253630142227,"pose":{"translation":{"x":3.040237301101591,"y":-3.0026920275558844},"rotation":{"radians":-0.4195863596267223}},"curvature":0.04353250427311197},{"time":1.0467526659246327,"velocity":2.6554825362978254,"acceleration":-0.2163860210154499,"pose":{"translation":{"x":3.1255735179050586,"y":-3.0405380258322317},"rotation":{"radians":-0.4151447394468627}},"curvature":0.05174185009676516},{"time":1.0817699256272009,"velocity":2.647905290803922,"acceleration":-0.2404702039474806,"pose":{"translation":{"x":3.2106360351239474,"y":-3.077772811936053},"rotation":{"radians":-0.4099306153614919}},"curvature":0.060722013001172206},{"time":1.116590734483081,"velocity":2.6395319237967323,"acceleration":-0.271736671472137,"pose":{"translation":{"x":3.295173065050503,"y":-3.1142128323594434},"rotation":{"radians":-0.40389069503190334}},"curvature":0.07070566684279743},{"time":1.1511132070505086,"velocity":2.6301509020102714,"acceleration":-0.31168404108822606,"pose":{"translation":{"x":3.3789358329118038,"y":-3.149677546861052},"rotation":{"radians":-0.3969590677258667}},"curvature":0.08196626117763565},{"time":1.1852398467885243,"velocity":2.6195141730279645,"acceleration":-0.36229939772224506,"pose":{"translation":{"x":3.461680063426222,"y":-3.183990519273672},"rotation":{"radians":-0.38905555201547987}},"curvature":0.0948317244349322},{"time":1.2188785565019673,"velocity":2.6073268887586307,"acceleration":-0.42617603497059975,"pose":{"translation":{"x":3.5431674673598854,"y":-3.2169805083118193},"rotation":{"radians":-0.3800836227232497}},"curvature":0.10970167275477977},{"time":1.2519437214323026,"velocity":2.5932353078729715,"acceleration":-0.5066572973321889,"pose":{"translation":{"x":3.623167228083145,"y":-3.2484825583793215},"rotation":{"radians":-0.3699278485780149}},"curvature":0.12706932290819872},{"time":1.2843573775088972,"velocity":2.576812692488549,"acceleration":-0.608000507222673,"pose":{"translation":{"x":3.7014574881270246,"y":-3.278339090376902},"rotation":{"radians":-0.3584507611850883}},"curvature":0.14754962219069556},{"time":1.3160504786352518,"velocity":2.557543270928266,"acceleration":-0.735542566360651,"pose":{"translation":{"x":3.7778268357396954,"y":-3.3064009925097615},"rotation":{"radians":-0.3454890688528712}},"curvature":0.17191547355814535},{"time":1.3469642771829904,"velocity":2.534804856208506,"acceleration":-0.8958250361412227,"pose":{"translation":{"x":3.8520757914429336,"y":-3.3325287110951702},"rotation":{"radians":-0.33084913068169836}},"curvature":0.20114430255378984},{"time":1.3770518298989387,"velocity":2.5078516732093408,"acceleration":-1.096594378230984,"pose":{"translation":{"x":3.9240182945885813,"y":-3.3565933413700426},"rotation":{"radians":-0.31430162652314153}},"curvature":0.23647745903977616},{"time":1.4062796350589013,"velocity":2.4758006263828953,"acceleration":-1.3465244590243977,"pose":{"translation":{"x":3.9934831899150085,"y":-3.378477718298532},"rotation":{"radians":-0.29557541368636026}},"curvature":0.2794947896803775},{"time":1.4346293922464244,"velocity":2.4376269849224927,"acceleration":-1.654408813972366,"pose":{"translation":{"x":4.060315714103578,"y":-3.398077507379604},"rotation":{"radians":-0.2743506805303375}},"curvature":0.3322055677184788},{"time":1.4620998474666074,"velocity":2.3921796216823887,"acceleration":-2.2418318655451164,"pose":{"translation":{"x":4.124378982335104,"y":-3.4153022954546364},"rotation":{"radians":-0.25025173897462233}},"curvature":0.3971536616359288},{"time":1.5145531199858147,"velocity":2.274588203896708,"acceleration":-3.2595653175843227,"pose":{"translation":{"x":4.243748523486318,"y":-3.4423413675096026},"rotation":{"radians":-0.19161018395353477}},"curvature":0.5772470675965917},{"time":1.5639964294932187,"velocity":2.1134245070397863,"acceleration":-4.500000000000009,"pose":{"translation":{"x":4.350910793949786,"y":-3.459191506730712},"rotation":{"radians":-0.11534055280126182}},"curvature":0.8539601829636505},{"time":1.5878365193546886,"velocity":2.0061441026631717,"acceleration":-4.5,"pose":{"translation":{"x":4.3998043165415135,"y":-3.4637486959112094},"rotation":{"radians":-0.06900247134208483}},"curvature":1.0414532872318605},{"time":1.6112855932106294,"velocity":1.900623270311438,"acceleration":-4.500000000000005,"pose":{"translation":{"x":4.445565969911469,"y":-3.4657418385491363},"rotation":{"radians":-0.01632754490025802}},"curvature":1.267535190274348},{"time":1.6343629024775888,"velocity":1.796775378610121,"acceleration":-4.499999999999995,"pose":{"translation":{"x":4.48822564231758,"y":-3.4652085134950603},"rotation":{"radians":0.04321639206889243}},"curvature":1.532868984850123},{"time":1.6571238905257004,"velocity":1.6943509323936183,"acceleration":-4.5,"pose":{"translation":{"x":4.527842992968925,"y":-3.462208947402644},"rotation":{"radians":0.10989931254024925}},"curvature":1.8312313408871093},{"time":1.6796709602245905,"velocity":1.5928891187486127,"acceleration":-3.826137230986683,"pose":{"translation":{"x":4.564508938582183,"y":-3.4568271055362008},"rotation":{"radians":0.1835228015694395}},"curvature":2.1451643134053344},{"time":1.7020527313163745,"velocity":1.5072533910789168,"acceleration":-2.7644915731597295,"pose":{"translation":{"x":4.59834713993811,"y":-3.449171782578312},"rotation":{"radians":0.2631774570763917}},"curvature":2.4424006713069843},{"time":1.7241774455263554,"velocity":1.4460898050868571,"acceleration":-1.3272875876805583,"pose":{"translation":{"x":4.629515488438003,"y":-3.439377693437381},"rotation":{"radians":0.34702662097859016}},"curvature":2.6762467867228454},{"time":1.745838777897597,"velocity":1.4173389874978852,"acceleration":0.536878576548131,"pose":{"translation":{"x":4.658207592660156,"y":-3.427606564055242},"rotation":{"radians":0.4322177986133052}},"curvature":2.7931428687283337},{"time":1.766724754168021,"velocity":1.4285522207077685,"acceleration":3.0175912904045856,"pose":{"translation":{"x":4.684654264916321,"y":-3.414048222214725},"rotation":{"radians":0.5150171162343373}},"curvature":2.7469920134114325},{"time":1.786451984313766,"velocity":1.4880809385793756,"acceleration":4.500000000000024,"pose":{"translation":{"x":4.709125007808173,"y":-3.3989216883472633},"rotation":{"radians":0.5911776942191542}},"curvature":2.513634059368773},{"time":1.8048350034591905,"velocity":1.5708045247337858,"acceleration":4.499999999999976,"pose":{"translation":{"x":4.731929500783764,"y":-3.3824762663404586},"rotation":{"radians":0.6564224254574065}},"curvature":2.0962639572409674},{"time":1.8220471048982014,"velocity":1.6482589812093345,"acceleration":4.500000000000012,"pose":{"translation":{"x":4.753419086694006,"y":-3.364992634345665},"rotation":{"radians":0.7068478370850437}},"curvature":1.5184150747478922},{"time":1.853928324091763,"velocity":1.791724467580362,"acceleration":4.5,"pose":{"translation":{"x":4.794076145075049,"y":-3.3281968691618875},"rotation":{"radians":0.750412444568926}},"curvature":6.784038664135938E-15},{"time":1.91080012997869,"velocity":2.0476475940715337,"acceleration":1.6014717947168857,"pose":{"translation":{"x":4.873183454443635,"y":-3.252954360898266},"rotation":{"radians":0.7793813932622665}},"curvature":0.49925204163624637},{"time":1.9625349481491776,"velocity":2.130499446176376,"acceleration":-2.110561190356951,"pose":{"translation":{"x":4.947471431363314,"y":-3.1744552162847186},"rotation":{"radians":0.8523967374756156}},"curvature":0.8250261514357481},{"time":1.9879821616825133,"velocity":2.0767915448901917,"acceleration":-1.1722397028000824,"pose":{"translation":{"x":4.981765680528612,"y":-3.133350830654742},"rotation":{"radians":0.899457080417756}},"curvature":0.9261800448263504},{"time":2.01380337085737,"velocity":2.0465228983211188,"acceleration":-0.3561917756945087,"pose":{"translation":{"x":5.013815485847569,"y":-3.0908453005229366},"rotation":{"radians":0.9505307231578736}},"curvature":0.9855275191232633},{"time":2.03976542317762,"velocity":2.037275428804495,"acceleration":0.3720565782638077,"pose":{"translation":{"x":5.043480326861056,"y":-3.046910598995582},"rotation":{"radians":1.0034466754127946}},"curvature":1.0040106401292208},{"time":2.065656514329523,"velocity":2.0469083795859886,"acceleration":1.0297140377689105,"pose":{"translation":{"x":5.070704322316079,"y":-3.0015861999633606},"rotation":{"radians":1.0561843642155477}},"curvature":0.9847606751352127},{"time":2.0912876559413385,"velocity":2.073301125907718,"acceleration":1.629415174446847,"pose":{"translation":{"x":5.095508134318651,"y":-2.9549717122076604},"rotation":{"radians":1.106949808477944}},"curvature":0.9329352885913265},{"time":2.116493022794733,"velocity":2.1143711331361383,"acceleration":2.458609665428101,"pose":{"translation":{"x":5.117980872486667,"y":-2.907219513506878},"rotation":{"radians":1.1542316743953926}},"curvature":0.8548624573706101},{"time":2.1649806328881613,"velocity":2.2335832399653506,"acceleration":3.618409179179131,"pose":{"translation":{"x":5.1565832282672535,"y":-2.809131144006512},"rotation":{"radians":1.233791702641025}},"curvature":0.6445060455252353},{"time":2.21021185972113,"velocity":2.3972483263232984,"acceleration":2.4107253144345013,"pose":{"translation":{"x":5.1882855746478045,"y":-2.7093155896691155},"rotation":{"radians":1.2882873572748106}},"curvature":0.3897880480946592},{"time":2.2522177536243375,"velocity":2.4985129981112104,"acceleration":-4.5,"pose":{"translation":{"x":5.215439122592282,"y":-2.610140235457064},"rotation":{"radians":1.3138487660535754}},"curvature":0.09944280397026592},{"time":2.2934961331829027,"velocity":2.312760290097668,"acceleration":-4.5,"pose":{"translation":{"x":5.240713041930594,"y":-2.5141096444899436},"rotation":{"radians":1.30738582369495}},"curvature":-0.24324541050168305},{"time":2.335971133928526,"velocity":2.121622786742364,"acceleration":-4.500000000000003,"pose":{"translation":{"x":5.266835394250543,"y":-2.423629849446248},"rotation":{"radians":1.265405700105641}},"curvature":-0.668894686985835},{"time":2.379428866889815,"velocity":1.9260629884165625,"acceleration":-4.5,"pose":{"translation":{"x":5.296334065789776,"y":-2.3407726439650682},"rotation":{"radians":1.1844472140574702}},"curvature":-1.192649032658403},{"time":2.401584386289964,"velocity":1.8263631511158909,"acceleration":-4.5,"pose":{"translation":{"x":5.313020995472461,"y":-2.302700547922436},"rotation":{"radians":1.1290219252505225}},"curvature":-1.475580324876985},{"time":2.424147129159289,"velocity":1.724830808203928,"acceleration":-3.2775571697857218,"pose":{"translation":{"x":5.33127770032774,"y":-2.267039874047785},"rotation":{"radians":1.0644335834286796}},"curvature":-1.744971994844417},{"time":2.447104857622257,"velocity":1.6495855406781332,"acceleration":-1.7790543941170482,"pose":{"translation":{"x":5.351248500996534,"y":-2.233850627830984},"rotation":{"radians":0.9923565370014535}},"curvature":-1.9653542397357762},{"time":2.47021867776761,"velocity":1.6084647973837123,"acceleration":-0.0021441746816635468,"pose":{"translation":{"x":5.37301663207762,"y":-2.20312772945976},"rotation":{"radians":0.915562968060513}},"curvature":-2.0945039120681557},{"time":2.493136588672446,"velocity":1.6084156573793935,"acceleration":2.1490419863653902,"pose":{"translation":{"x":5.396596146280508,"y":-2.174793647925995},"rotation":{"radians":0.8378921584887251}},"curvature":-2.094662198646698},{"time":2.5154177600071783,"velocity":1.6562988300831338,"acceleration":4.499999999999988,"pose":{"translation":{"x":5.421923818578304,"y":-2.148691035132031},"rotation":{"radians":0.7639455409545868}},"curvature":-1.9448784534787948},{"time":2.536630731554384,"velocity":1.751757202045558,"acceleration":4.499999999999988,"pose":{"translation":{"x":5.448851050360596,"y":-2.124575359996975},"rotation":{"radians":0.698600290884187}},"curvature":-1.6460215162606369},{"time":2.5567323959311787,"velocity":1.842214691741134,"acceleration":-0.4601405273073894,"pose":{"translation":{"x":5.477135773586319,"y":-2.102107542563},"rotation":{"radians":0.6465696452240218}},"curvature":-1.213895130784132},{"time":2.5962677726050623,"velocity":1.824022862671117,"acceleration":-4.499999999999997,"pose":{"translation":{"x":5.5362934999677895,"y":-2.0602422212201277},"rotation":{"radians":0.5998188925638644}},"curvature":-1.6367766060458886E-14},{"time":2.637877304113283,"velocity":1.6367799708841233,"acceleration":-4.499999999999994,"pose":{"translation":{"x":5.5964458918599425,"y":-2.0206712541050007},"rotation":{"radians":0.5467343331652026}},"curvature":-1.4397609432001035},{"time":2.6599899706716537,"velocity":1.5372729713714555,"acceleration":-4.499999999999994,"pose":{"translation":{"x":5.626942517202592,"y":-2.003307450773083},"rotation":{"radians":0.48459962774388243}},"curvature":-2.0972473165385095},{"time":2.6830946808882503,"velocity":1.4333017753967716,"acceleration":-4.5,"pose":{"translation":{"x":5.657916494115775,"y":-1.988533200734394},"rotation":{"radians":0.40209795375659724}},"curvature":-2.6975641764048097},{"time":2.695114942295357,"velocity":1.3792105990647912,"acceleration":-3.8329062636472297,"pose":{"translation":{"x":5.673623344251537,"y":-1.9822861666124594},"rotation":{"radians":0.354264391983355}},"curvature":-2.9556838523991837},{"time":2.707488308372003,"velocity":1.3317846467272145,"acceleration":-2.6310251206561506,"pose":{"translation":{"x":5.689496720209238,"y":-1.9768696907375582},"rotation":{"radians":0.30281515447376256}},"curvature":-3.1708481571662097},{"time":2.720175317229879,"velocity":1.2984048077161559,"acceleration":-1.500523298033439,"pose":{"translation":{"x":5.705550462244614,"y":-1.9723250389807423},"rotation":{"radians":0.24848021827212843}},"curvature":-3.331712160635731},{"time":2.7330951312720395,"velocity":1.2790183257396346,"acceleration":-0.42253020332493446,"pose":{"translation":{"x":5.721797529415825,"y":-1.9686846492005279},"rotation":{"radians":0.19209704125359642}},"curvature":-3.4289937993459185},{"time":2.7461603015650407,"velocity":1.2734978966792578,"acceleration":0.6155404372079435,"pose":{"translation":{"x":5.738250014099588,"y":-1.9659725128094603},"rotation":{"radians":0.13457904738249013}},"curvature":-3.45723717407705},{"time":2.75928136755245,"velocity":1.2815744433737821,"acceleration":1.62080492958926,"pose":{"translation":{"x":5.754919156507288,"y":-1.9642045563406791},"rotation":{"radians":0.07686968561427536}},"curvature":-3.4159987185207314},{"time":2.7723722906741046,"velocity":1.302792276102234,"acceleration":2.5948240895751202,"pose":{"translation":{"x":5.7718153592011,"y":-1.9633890230144848},"rotation":{"radians":0.01988914519581024}},"curvature":-3.3100975476343537},{"time":2.7853557060495864,"velocity":1.3364819550834939,"acceleration":3.533450509937905,"pose":{"translation":{"x":5.78894820161011,"y":-1.9635268543049025},"rotation":{"radians":-0.03551727520189249}},"curvature":-3.148855853618443},{"time":2.7981670504319522,"velocity":1.381750206424354,"acceleration":4.427221896140214,"pose":{"translation":{"x":5.806326454546431,"y":-1.9646120715062487},"rotation":{"radians":-0.08862077401013752}},"curvature":-2.944578682512188},{"time":2.810756963324727,"velocity":1.4374885444537455,"acceleration":4.500000000000012,"pose":{"translation":{"x":5.823958094721324,"y":-1.9666321572996959},"rotation":{"radians":-0.1388351608301196}},"curvature":-2.7107278940971278},{"time":2.8231306721583493,"velocity":1.493170234205046,"acceleration":4.5,"pose":{"translation":{"x":5.841850319261319,"y":-1.969568437319838},"rotation":{"radians":-0.1857259667136181}},"curvature":-2.460252975922416},{"time":2.8353350442078815,"velocity":1.5480899084279407,"acceleration":4.500000000000023,"pose":{"translation":{"x":5.860009560224329,"y":-1.9733964617212572},"rotation":{"radians":-0.22900459084616612}},"curvature":-2.204388181894833},{"time":2.8593762969490637,"velocity":1.6562755457632616,"acceleration":4.500000000000038,"pose":{"translation":{"x":5.8971510814047114,"y":-1.983603356285577},"rotation":{"radians":-0.30419465657765654}},"curvature":-1.7095329082147517},{"time":2.8830839279399294,"velocity":1.762959885222158,"acceleration":4.499999999999982,"pose":{"translation":{"x":5.9354193649660605,"y":-1.996956232158531},"rotation":{"radians":-0.36426669585995786}},"curvature":-1.2688099647351325},{"time":2.929755113952235,"velocity":1.9729802222775308,"acceleration":4.499999999999986,"pose":{"translation":{"x":6.01542695023096,"y":-2.031585765523824},"rotation":{"radians":-0.4427962851265677}},"curvature":-0.5848813740446837},{"time":2.975337261181581,"velocity":2.1780998848095883,"acceleration":4.5,"pose":{"translation":{"x":6.100108089608966,"y":-2.0737722250853574},"rotation":{"radians":-0.47414446102483665}},"curvature":-0.11067350891756424},{"time":3.0193835642464997,"velocity":2.376308248601723,"acceleration":-1.4755493465618428,"pose":{"translation":{"x":6.189379860390492,"y":-2.119501061635434},"rotation":{"radians":-0.46681787081526055}},"curvature":0.23909854062441527},{"time":3.0637390444495844,"velocity":2.3108595487716244,"acceleration":-2.9139629171823818,"pose":{"translation":{"x":6.2830155080726335,"y":-2.1646467376534013},"rotation":{"radians":-0.4268458231107239}},"curvature":0.5197420051057017},{"time":3.1109235708342458,"velocity":2.173365588621908,"acceleration":-1.9995749678264811,"pose":{"translation":{"x":6.38065931086536,"y":-2.205363451468609},"rotation":{"radians":-0.3592628030174853}},"curvature":0.7478791688070432},{"time":3.135684562434069,"velocity":2.1238541296403395,"acceleration":-1.3952406195095137,"pose":{"translation":{"x":6.430841500938308,"y":-2.223031779574064},"rotation":{"radians":-0.31700348624316194}},"curvature":0.8372646549122258},{"time":3.160984619658165,"velocity":2.088554462125366,"acceleration":-0.7451021907172426,"pose":{"translation":{"x":6.48184144419772,"y":-2.238475861423372},"rotation":{"radians":-0.27050043059403}},"curvature":0.9035807398157959},{"time":3.1866458930401924,"velocity":2.0694341911118235,"acceleration":-0.021755022442145798,"pose":{"translation":{"x":6.533585022720754,"y":-2.2514676418693336},"rotation":{"radians":-0.22116064435227015}},"curvature":0.9404458361286551},{"time":3.21246813999533,"velocity":2.068872427549808,"acceleration":0.8030992403644652,"pose":{"translation":{"x":6.585992845224038,"y":-2.26186981003593},"rotation":{"radians":-0.17070573319065932}},"curvature":0.9415392560645736},{"time":3.2382257948464384,"velocity":2.089558380594303,"acceleration":1.7727584952690687,"pose":{"translation":{"x":6.638980711579487,"y":-2.2696480094484155},"rotation":{"radians":-0.1211521110203663}},"curvature":0.901663762897089},{"time":3.2636671800324883,"velocity":2.134659812314286,"acceleration":3.7662767104409935,"pose":{"translation":{"x":6.692460077330119,"y":-2.27488304816341},"rotation":{"radians":-0.0747585811073213}},"curvature":0.8174029006500425},{"time":3.3122391350023688,"velocity":2.3175952350979356,"acceleration":4.5,"pose":{"translation":{"x":6.800520194639439,"y":-2.278695959164787},"rotation":{"radians":-0.0013352657722750768}},"curvature":0.5092613249259743},{"time":3.357257095969625,"velocity":2.5201760594505886,"acceleration":3.996019727253871,"pose":{"translation":{"x":6.909395606519353,"y":-2.2767222830638403},"rotation":{"radians":0.028361187705872926}},"curvature":-2.4651046619220514E-15},{"time":3.39972601011441,"velocity":2.6898826781682015,"acceleration":-0.04739904036061397,"pose":{"translation":{"x":7.019983061495265,"y":-2.2735561668377815},"rotation":{"radians":0.029098144705941218}},"curvature":0.011608796994544512},{"time":3.4438877199848292,"velocity":2.6877894554996598,"acceleration":0.03008488457556014,"pose":{"translation":{"x":7.1386736778785655,"y":-2.2700093776862866},"rotation":{"radians":0.030694509951709997}},"curvature":0.014021509633009627},{"time":3.467698481373259,"velocity":2.688505799507687,"acceleration":0.04723957772735943,"pose":{"translation":{"x":7.202649495419449,"y":-2.2680167515519156},"rotation":{"radians":0.031569524893957195}},"curvature":0.01319540670208245},{"time":3.492807916460942,"velocity":2.6896919586182015,"acceleration":0.050444157327734884,"pose":{"translation":{"x":7.270136680200005,"y":-2.2658563998152994},"rotation":{"radians":0.03241573736362172}},"curvature":0.011828470704414762},{"time":3.519243458680916,"velocity":2.69102547726899,"acceleration":0.04697833189879371,"pose":{"translation":{"x":7.341219475481932,"y":-2.2635227615584927},"rotation":{"radians":0.03320217295666078}},"curvature":0.010293155700489545},{"time":3.5469730036361518,"velocity":2.6923281650352995,"acceleration":0.041124285707131523,"pose":{"translation":{"x":7.415816402978644,"y":-2.2610178142916966},"rotation":{"radians":0.03391347846282043}},"curvature":0.008794805657415316},{"time":3.5759108682073117,"velocity":2.693518214045678,"acceleration":0.03505427714768445,"pose":{"translation":{"x":7.4936981798939915,"y":-2.2583502776404214},"rotation":{"radians":0.03454419600358589}},"curvature":0.0074272793480203245},{"time":3.6059239196077604,"velocity":2.694570299867517,"acceleration":0.029715801758456797,"pose":{"translation":{"x":7.574505635960986,"y":-2.2555348170326597},"rotation":{"radians":0.03509454524286725}},"curvature":0.006219297282040164},{"time":3.636837869467623,"velocity":2.6954889326731237,"acceleration":0.0254354265848409,"pose":{"translation":{"x":7.6577676304805244,"y":-2.2525912473860505},"rotation":{"radians":0.03556759513476385}},"curvature":0.005165314216804342},{"time":3.668443694487377,"velocity":2.696292840315067,"acceleration":0.02226938756524833,"pose":{"translation":{"x":7.742918969360108,"y":-2.249543736795048},"rotation":{"radians":0.03596747625548502}},"curvature":0.004243549034564848},{"time":3.7005041429751704,"velocity":2.6970068068679574,"acceleration":0.02019121269855779,"pose":{"translation":{"x":7.829318322152566,"y":-2.246420010218092},"rotation":{"radians":0.03629828996492461}},"curvature":0.0034253715578370404},{"time":3.732760294736473,"velocity":2.6976580976890068,"acceleration":0.019191675617351536,"pose":{"translation":{"x":7.91626613909478,"y":-2.2432505531647706},"rotation":{"radians":0.03656344698233253}},"curvature":0.002679395716841049},{"time":3.7649381510144964,"velocity":2.6982756446687564,"acceleration":0.019341268591424127,"pose":{"translation":{"x":8.00302256814641,"y":-2.240067815382994},"rotation":{"radians":0.03676524645324314}},"curvature":0.0019724020287570005},{"time":3.796755238391413,"velocity":2.69889102750151,"acceleration":-4.32098042810691,"pose":{"translation":{"x":8.088825372028603,"y":-2.2369054145461575},"rotation":{"radians":0.03690456601467999}},"curvature":0.0012682077898259992},{"time":3.828750445463178,"velocity":2.5606403639511837,"acceleration":-4.5,"pose":{"translation":{"x":8.172907845262738,"y":-2.2337973399403124},"rotation":{"radians":0.036980571519711986}},"curvature":5.248645449809674E-4},{"time":3.8615903917479293,"velocity":2.412860605669804,"acceleration":-4.499999999999995,"pose":{"translation":{"x":8.25451673120913,"y":-2.2307771561513325},"rotation":{"radians":0.03699037530878742}},"curvature":-3.1003104891141994E-4},{"time":3.8951616779964873,"velocity":2.261789817551293,"acceleration":-4.5,"pose":{"translation":{"x":8.332930139105754,"y":-2.2278772067520825},"rotation":{"radians":0.036928577989504295}},"curvature":-0.0013067347301344671},{"time":3.929302136277355,"velocity":2.108157755287388,"acceleration":-4.499999999999994,"pose":{"translation":{"x":8.407475461106985,"y":-2.225127817989586},"rotation":{"radians":0.03678662355181688}},"curvature":-0.0025650897943465074},{"time":3.963835733657563,"velocity":1.9527565670764508,"acceleration":-4.5,"pose":{"translation":{"x":8.4775472893223,"y":-2.2225565024721923},"rotation":{"radians":0.0365518842340767}},"curvature":-0.004233467586691656},{"time":3.998574536433034,"velocity":1.796431954586832,"acceleration":-4.5,"pose":{"translation":{"x":8.542625332855012,"y":-2.220187162856746},"rotation":{"radians":0.036206376062938965}},"curvature":-0.006539721834475418},{"time":4.067882642825012,"velocity":1.4845454758229337,"acceleration":-4.500000000000001,"pose":{"translation":{"x":8.656251989487382,"y":-2.2161271943245504},"rotation":{"radians":0.03507333053322498}},"curvature":-0.014707640059173093},{"time":4.13574018913865,"velocity":1.1791865174115645,"acceleration":-4.499999999999997,"pose":{"translation":{"x":8.746576291178728,"y":-2.21303667473002},"rotation":{"radians":0.03306067849671634}},"curvature":-0.033163498906881486},{"time":4.201468190954615,"velocity":0.8834105092397229,"acceleration":-4.500000000000001,"pose":{"translation":{"x":8.814327660483274,"y":-2.2108956431648297},"rotation":{"radians":0.029673145963582743}},"curvature":-0.07344019364748172},{"time":4.397781637452331,"velocity":0.0,"acceleration":-4.500000000000001,"pose":{"translation":{"x":8.901012175481569,"y":-2.2086856921986726},"rotation":{"radians":0.021735706841787276}},"curvature":-6.471262930201971E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":1.269,"y":-2.313833150808477},"rotation":{"radians":0.023199429835684716}},"curvature":0.0},{"time":0.14559683149541774,"velocity":0.582387325981671,"acceleration":4.0,"pose":{"translation":{"x":1.3113935590535757,"y":-2.313302930422365},"rotation":{"radians":-0.007438719375198429}},"curvature":-1.297114577684895},{"time":0.21029516244242802,"velocity":0.8411806497697121,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.357404493137279,"y":-2.315229139867719},"rotation":{"radians":-0.07880889616163197}},"curvature":-1.6443073829535897},{"time":0.26592207671123747,"velocity":1.0636883068449499,"acceleration":4.0000000000000036,"pose":{"translation":{"x":1.4100006406431436,"y":-2.321603360012606},"rotation":{"radians":-0.1598243029522975}},"curvature":-1.3643876907417913},{"time":0.3194829930496924,"velocity":1.2779319721987699,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.4714844998187229,"y":-2.333941796349302},"rotation":{"radians":-0.23191632876754653}},"curvature":-0.950614168760075},{"time":0.3733331843653486,"velocity":1.4933327374613947,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.5435407985738778,"y":-2.3533201848370084},"rotation":{"radians":-0.28940329245276397}},"curvature":-0.6185163182242341},{"time":0.42823521464484693,"velocity":1.7129408585793882,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.6272840642875628,"y":-2.3804086977445618},"rotation":{"radians":-0.3330376021724407}},"curvature":-0.3950477769023232},{"time":0.4842553330601973,"velocity":1.9370213322407897,"acceleration":4.0,"pose":{"translation":{"x":1.723306193614612,"y":-2.415506849493148},"rotation":{"radians":-0.3654253045110595}},"curvature":-0.25270239202056904},{"time":0.5411407293867532,"velocity":2.164562917547013,"acceleration":4.0,"pose":{"translation":{"x":1.8317240222925255,"y":-2.458578402499013},"rotation":{"radians":-0.38913919544962666}},"curvature":-0.16239050580897021},{"time":0.5697884072517695,"velocity":2.2791536290070784,"acceleration":4.0,"pose":{"translation":{"x":1.8904996422185807,"y":-2.483009663149381},"rotation":{"radians":-0.39840192705491306}},"curvature":-0.13009747115065695},{"time":0.5985002166675203,"velocity":2.3940008666700816,"acceleration":4.0,"pose":{"translation":{"x":1.9522268949482564,"y":-2.5092862730161762},"rotation":{"radians":-0.40621367628955785}},"curvature":-0.10389687610394656},{"time":0.6272200914687657,"velocity":2.508880365875063,"acceleration":3.999999999999994,"pose":{"translation":{"x":2.0168079574953244,"y":-2.5373248161581223},"rotation":{"radians":-0.41274277864639874}},"curvature":-0.08243425331086887},{"time":0.6558918046939374,"velocity":2.62356721877575,"acceleration":1.1585010498216528,"pose":{"translation":{"x":2.084124234904996,"y":-2.5670274369791435},"rotation":{"radians":-0.4181297223826023}},"curvature":-0.06465810991273445},{"time":0.6848961354277726,"velocity":2.6571687663802726,"acceleration":0.3617228437267065,"pose":{"translation":{"x":2.1540378468103825,"y":-2.59828293103595},"rotation":{"radians":-0.42249084800756986}},"curvature":-0.049750383628462846},{"time":0.7147152118717479,"velocity":2.6679550075088914,"acceleration":0.306078798085069,"pose":{"translation":{"x":2.2263931139889603,"y":-2.6309678358456186},"rotation":{"radians":-0.4259216590644329}},"curvature":-0.03707120155088867},{"time":0.7453952258550712,"velocity":2.67734550931414,"acceleration":0.2642033593788609,"pose":{"translation":{"x":2.3010180449190303,"y":-2.6649475216931835},"rotation":{"radians":-0.42849966797450917}},"curvature":-0.026115892515816044},{"time":0.7768586854497407,"velocity":2.6856582610367328,"acceleration":0.23313484990684616,"pose":{"translation":{"x":2.377725822336179,"y":-2.700077282439216},"rotation":{"radians":-0.4302867733918382}},"curvature":-0.016481853656522275},{"time":0.8090204229021424,"velocity":2.693156282870442,"acceleration":0.20698925857672834,"pose":{"translation":{"x":2.4563162897897453,"y":-2.736203426327411},"rotation":{"radians":-0.4313311989493287}},"curvature":-0.007843059041004387},{"time":0.8417892405304975,"velocity":2.699939076135771,"acceleration":-0.19396164740395716,"pose":{"translation":{"x":2.536577438199277,"y":-2.7731643667921726},"rotation":{"radians":-0.43166903532790674}},"curvature":6.964476334040872E-5},{"time":0.8751473497493581,"velocity":2.6934688823174,"acceleration":-0.18215399156210668,"pose":{"translation":{"x":2.618286892410998,"y":-2.8107917132661977},"rotation":{"radians":-0.4313254283971369}},"curvature":0.007483944127828945},{"time":0.9090713248292178,"velocity":2.68728949484695,"acceleration":-0.17588435150983908,"pose":{"translation":{"x":2.701213397754265,"y":-2.848911361988062},"rotation":{"radians":-0.43031545139444}},"curvature":0.014598335702687346},{"time":0.9434525634768219,"velocity":2.681242372983311,"acceleration":-0.17453832302107344,"pose":{"translation":{"x":2.7851183065980347,"y":-2.8873445868098027},"rotation":{"radians":-0.42864469175635733}},"curvature":0.021592195889743926},{"time":0.9781811287640243,"velocity":2.675180907437155,"acceleration":-0.1778156455533132,"pose":{"translation":{"x":2.869757064907324,"y":-2.9259091300045053},"rotation":{"radians":-0.42630957482769166}},"curvature":0.02863437658615396},{"time":1.0131464567127988,"velocity":2.6689635250759602,"acceleration":-0.18568805886424392,"pose":{"translation":{"x":2.954880698799668,"y":-2.9644202930738874},"rotation":{"radians":-0.42329743795243213}},"curvature":0.03589093233074515},{"time":1.048238095913525,"velocity":2.662447426710413,"acceleration":-0.19838253630142227,"pose":{"translation":{"x":3.040237301101591,"y":-3.0026920275558844},"rotation":{"radians":-0.4195863596267223}},"curvature":0.04353250427311197},{"time":1.083346480665725,"velocity":2.6554825362978254,"acceleration":-0.2163860210154499,"pose":{"translation":{"x":3.1255735179050586,"y":-3.0405380258322317},"rotation":{"radians":-0.4151447394468627}},"curvature":0.05174185009676516},{"time":1.1183637403682931,"velocity":2.647905290803922,"acceleration":-0.2404702039474806,"pose":{"translation":{"x":3.2106360351239474,"y":-3.077772811936053},"rotation":{"radians":-0.4099306153614919}},"curvature":0.060722013001172206},{"time":1.1531845492241732,"velocity":2.6395319237967323,"acceleration":-0.271736671472137,"pose":{"translation":{"x":3.295173065050503,"y":-3.1142128323594434},"rotation":{"radians":-0.40389069503190334}},"curvature":0.07070566684279743},{"time":1.1877070217916008,"velocity":2.6301509020102714,"acceleration":-0.31168404108822606,"pose":{"translation":{"x":3.3789358329118038,"y":-3.149677546861052},"rotation":{"radians":-0.3969590677258667}},"curvature":0.08196626117763565},{"time":1.2218336615296166,"velocity":2.6195141730279645,"acceleration":-0.36229939772224506,"pose":{"translation":{"x":3.461680063426222,"y":-3.183990519273672},"rotation":{"radians":-0.38905555201547987}},"curvature":0.0948317244349322},{"time":1.2554723712430595,"velocity":2.6073268887586307,"acceleration":-0.42617603497059975,"pose":{"translation":{"x":3.5431674673598854,"y":-3.2169805083118193},"rotation":{"radians":-0.3800836227232497}},"curvature":0.10970167275477977},{"time":1.2885375361733948,"velocity":2.5932353078729715,"acceleration":-0.5066572973321889,"pose":{"translation":{"x":3.623167228083145,"y":-3.2484825583793215},"rotation":{"radians":-0.3699278485780149}},"curvature":0.12706932290819872},{"time":1.3209511922499895,"velocity":2.576812692488549,"acceleration":-0.608000507222673,"pose":{"translation":{"x":3.7014574881270246,"y":-3.278339090376902},"rotation":{"radians":-0.3584507611850883}},"curvature":0.14754962219069556},{"time":1.352644293376344,"velocity":2.557543270928266,"acceleration":-0.735542566360651,"pose":{"translation":{"x":3.7778268357396954,"y":-3.3064009925097615},"rotation":{"radians":-0.3454890688528712}},"curvature":0.17191547355814535},{"time":1.3835580919240826,"velocity":2.534804856208506,"acceleration":-0.8958250361412403,"pose":{"translation":{"x":3.8520757914429336,"y":-3.3325287110951702},"rotation":{"radians":-0.33084913068169836}},"curvature":0.20114430255378984},{"time":1.413645644640031,"velocity":2.5078516732093403,"acceleration":-1.0965943782309535,"pose":{"translation":{"x":3.9240182945885813,"y":-3.3565933413700426},"rotation":{"radians":-0.31430162652314153}},"curvature":0.23647745903977616},{"time":1.4428734497999935,"velocity":2.4758006263828958,"acceleration":-1.3465244590244105,"pose":{"translation":{"x":3.9934831899150085,"y":-3.378477718298532},"rotation":{"radians":-0.29557541368636026}},"curvature":0.2794947896803775},{"time":1.4712232069875166,"velocity":2.4376269849224927,"acceleration":-1.654408813972366,"pose":{"translation":{"x":4.060315714103578,"y":-3.398077507379604},"rotation":{"radians":-0.2743506805303375}},"curvature":0.3322055677184788},{"time":1.4986936622076996,"velocity":2.3921796216823887,"acceleration":-2.461287388225725,"pose":{"translation":{"x":4.124378982335104,"y":-3.4153022954546364},"rotation":{"radians":-0.25025173897462233}},"curvature":0.3971536616359288},{"time":1.551280346410691,"velocity":2.262748679064957,"acceleration":-3.999999999999996,"pose":{"translation":{"x":4.243748523486318,"y":-3.4423413675096026},"rotation":{"radians":-0.19161018395353477}},"curvature":0.5772470675965917},{"time":1.6014459294409102,"velocity":2.0620863469440804,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":4.350910793949786,"y":-3.459191506730712},"rotation":{"radians":-0.11534055280126182}},"curvature":0.8539601829636505},{"time":1.62583638813741,"velocity":1.964524512158081,"acceleration":-4.000000000000004,"pose":{"translation":{"x":4.3998043165415135,"y":-3.4637486959112094},"rotation":{"radians":-0.06900247134208483}},"curvature":1.0414532872318605},{"time":1.6497338853639758,"velocity":1.868934523251818,"acceleration":-4.0,"pose":{"translation":{"x":4.445565969911469,"y":-3.4657418385491363},"rotation":{"radians":-0.01632754490025802}},"curvature":1.267535190274348},{"time":1.673148000228661,"velocity":1.7752780637930776,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":4.48822564231758,"y":-3.4652085134950603},"rotation":{"radians":0.04321639206889243}},"curvature":1.532868984850123},{"time":1.6961226615371772,"velocity":1.683379418559013,"acceleration":-4.000000000000006,"pose":{"translation":{"x":4.527842992968925,"y":-3.462208947402644},"rotation":{"radians":0.10989931254024925}},"curvature":1.8312313408871093},{"time":1.7187452364897773,"velocity":1.5928891187486127,"acceleration":-3.826137230986683,"pose":{"translation":{"x":4.564508938582183,"y":-3.4568271055362008},"rotation":{"radians":0.1835228015694395}},"curvature":2.1451643134053344},{"time":1.7411270075815612,"velocity":1.5072533910789168,"acceleration":-2.7644915731597295,"pose":{"translation":{"x":4.59834713993811,"y":-3.449171782578312},"rotation":{"radians":0.2631774570763917}},"curvature":2.4424006713069843},{"time":1.7632517217915422,"velocity":1.4460898050868571,"acceleration":-1.3272875876805583,"pose":{"translation":{"x":4.629515488438003,"y":-3.439377693437381},"rotation":{"radians":0.34702662097859016}},"curvature":2.6762467867228454},{"time":1.7849130541627838,"velocity":1.4173389874978852,"acceleration":0.536878576548131,"pose":{"translation":{"x":4.658207592660156,"y":-3.427606564055242},"rotation":{"radians":0.4322177986133052}},"curvature":2.7931428687283337},{"time":1.8057990304332079,"velocity":1.4285522207077685,"acceleration":3.0175912904045856,"pose":{"translation":{"x":4.684654264916321,"y":-3.414048222214725},"rotation":{"radians":0.5150171162343373}},"curvature":2.7469920134114325},{"time":1.8255262605789528,"velocity":1.4880809385793756,"acceleration":4.000000000000016,"pose":{"translation":{"x":4.709125007808173,"y":-3.3989216883472633},"rotation":{"radians":0.5911776942191542}},"curvature":2.513634059368773},{"time":1.8439633763504397,"velocity":1.5618294016653231,"acceleration":3.999999999999984,"pose":{"translation":{"x":4.731929500783764,"y":-3.3824762663404586},"rotation":{"radians":0.6564224254574065}},"curvature":2.0962639572409674},{"time":1.8613156069825059,"velocity":1.6312383241935877,"acceleration":4.000000000000012,"pose":{"translation":{"x":4.753419086694006,"y":-3.364992634345665},"rotation":{"radians":0.7068478370850437}},"curvature":1.5184150747478922},{"time":1.8936496058976717,"velocity":1.7605743198542512,"acceleration":3.999999999999998,"pose":{"translation":{"x":4.794076145075049,"y":-3.3281968691618875},"rotation":{"radians":0.750412444568926}},"curvature":6.784038664135938E-15},{"time":1.9518175516262513,"velocity":1.993246102768569,"acceleration":2.6184732722259856,"pose":{"translation":{"x":4.873183454443635,"y":-3.252954360898266},"rotation":{"radians":0.7793813932622665}},"curvature":0.49925204163624637},{"time":2.0042348685657236,"velocity":2.130499446176376,"acceleration":-2.110561190356951,"pose":{"translation":{"x":4.947471431363314,"y":-3.1744552162847186},"rotation":{"radians":0.8523967374756156}},"curvature":0.8250261514357481},{"time":2.0296820820990593,"velocity":2.0767915448901917,"acceleration":-1.1722397028000824,"pose":{"translation":{"x":4.981765680528612,"y":-3.133350830654742},"rotation":{"radians":0.899457080417756}},"curvature":0.9261800448263504},{"time":2.055503291273916,"velocity":2.0465228983211188,"acceleration":-0.3561917756945087,"pose":{"translation":{"x":5.013815485847569,"y":-3.0908453005229366},"rotation":{"radians":0.9505307231578736}},"curvature":0.9855275191232633},{"time":2.081465343594166,"velocity":2.037275428804495,"acceleration":0.3720565782638245,"pose":{"translation":{"x":5.043480326861056,"y":-3.046910598995582},"rotation":{"radians":1.0034466754127946}},"curvature":1.0040106401292208},{"time":2.107356434746069,"velocity":2.046908379585989,"acceleration":1.0297140377688936,"pose":{"translation":{"x":5.070704322316079,"y":-3.0015861999633606},"rotation":{"radians":1.0561843642155477}},"curvature":0.9847606751352127},{"time":2.1329875763578845,"velocity":2.073301125907718,"acceleration":1.629415174446847,"pose":{"translation":{"x":5.095508134318651,"y":-2.9549717122076604},"rotation":{"radians":1.106949808477944}},"curvature":0.9329352885913265},{"time":2.158192943211279,"velocity":2.1143711331361383,"acceleration":2.458609665428101,"pose":{"translation":{"x":5.117980872486667,"y":-2.907219513506878},"rotation":{"radians":1.1542316743953926}},"curvature":0.8548624573706101},{"time":2.2066805533047074,"velocity":2.2335832399653506,"acceleration":3.618409179179131,"pose":{"translation":{"x":5.1565832282672535,"y":-2.809131144006512},"rotation":{"radians":1.233791702641025}},"curvature":0.6445060455252353},{"time":2.251911780137676,"velocity":2.3972483263232984,"acceleration":0.6453133767054626,"pose":{"translation":{"x":5.1882855746478045,"y":-2.7093155896691155},"rotation":{"radians":1.2882873572748106}},"curvature":0.3897880480946592},{"time":2.2945600704876474,"velocity":2.4247698385797536,"acceleration":-4.0,"pose":{"translation":{"x":5.215439122592282,"y":-2.610140235457064},"rotation":{"radians":1.3138487660535754}},"curvature":0.09944280397026592},{"time":2.336998233570056,"velocity":2.255017186250118,"acceleration":-3.999999999999995,"pose":{"translation":{"x":5.240713041930594,"y":-2.5141096444899436},"rotation":{"radians":1.30738582369495}},"curvature":-0.24324541050168305},{"time":2.380434069217616,"velocity":2.0812738436598788,"acceleration":-4.0,"pose":{"translation":{"x":5.266835394250543,"y":-2.423629849446248},"rotation":{"radians":1.265405700105641}},"curvature":-0.668894686985835},{"time":2.4245640287101904,"velocity":1.9047540056895806,"acceleration":-4.0,"pose":{"translation":{"x":5.296334065789776,"y":-2.3407726439650682},"rotation":{"radians":1.1844472140574702}},"curvature":-1.192649032658403},{"time":2.4469119729388757,"velocity":1.8153622287748385,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":5.313020995472461,"y":-2.302700547922436},"rotation":{"radians":1.1290219252505225}},"curvature":-1.475580324876985},{"time":2.4695448280816032,"velocity":1.724830808203928,"acceleration":-3.2775571697857333,"pose":{"translation":{"x":5.33127770032774,"y":-2.267039874047785},"rotation":{"radians":1.0644335834286796}},"curvature":-1.744971994844417},{"time":2.4925025565445713,"velocity":1.649585540678133,"acceleration":-1.7790543941170363,"pose":{"translation":{"x":5.351248500996534,"y":-2.233850627830984},"rotation":{"radians":0.9923565370014535}},"curvature":-1.9653542397357762},{"time":2.515616376689924,"velocity":1.6084647973837123,"acceleration":-0.0021441746816635468,"pose":{"translation":{"x":5.37301663207762,"y":-2.20312772945976},"rotation":{"radians":0.915562968060513}},"curvature":-2.0945039120681557},{"time":2.5385342875947603,"velocity":1.6084156573793935,"acceleration":2.1490419863653902,"pose":{"translation":{"x":5.396596146280508,"y":-2.174793647925995},"rotation":{"radians":0.8378921584887251}},"curvature":-2.094662198646698},{"time":2.5608154589294925,"velocity":1.6562988300831338,"acceleration":3.999999999999982,"pose":{"translation":{"x":5.421923818578304,"y":-2.148691035132031},"rotation":{"radians":0.7639455409545868}},"curvature":-1.9448784534787948},{"time":2.582093036711806,"velocity":1.7414091412123884,"acceleration":4.000000000000006,"pose":{"translation":{"x":5.448851050360596,"y":-2.124575359996975},"rotation":{"radians":0.698600290884187}},"curvature":-1.6460215162606369},{"time":2.6023642983372697,"velocity":1.8224941877142438,"acceleration":-1.0537776436997641,"pose":{"translation":{"x":5.477135773586319,"y":-2.102107542563},"rotation":{"radians":0.6465696452240218}},"curvature":-1.213895130784132},{"time":2.642598143581816,"velocity":1.7800966610754645,"acceleration":-4.0,"pose":{"translation":{"x":5.5362934999677895,"y":-2.0602422212201277},"rotation":{"radians":0.5998188925638644}},"curvature":-1.6367766060458886E-14},{"time":2.685073042876178,"velocity":1.6101970638980156,"acceleration":-3.999999999999994,"pose":{"translation":{"x":5.5964458918599425,"y":-2.0206712541050007},"rotation":{"radians":0.5467343331652026}},"curvature":-1.4397609432001035},{"time":2.707491781335549,"velocity":1.520522110060534,"acceleration":-4.0,"pose":{"translation":{"x":5.626942517202592,"y":-2.003307450773083},"rotation":{"radians":0.48459962774388243}},"curvature":-2.0972473165385095},{"time":2.7307740907330507,"velocity":1.427392872470527,"acceleration":-3.9999999999999867,"pose":{"translation":{"x":5.657916494115775,"y":-1.988533200734394},"rotation":{"radians":0.40209795375659724}},"curvature":-2.6975641764048097},{"time":2.7428196590844847,"velocity":1.3792105990647912,"acceleration":-3.8329062636472297,"pose":{"translation":{"x":5.673623344251537,"y":-1.9822861666124594},"rotation":{"radians":0.354264391983355}},"curvature":-2.9556838523991837},{"time":2.7551930251611307,"velocity":1.3317846467272145,"acceleration":-2.6310251206561373,"pose":{"translation":{"x":5.689496720209238,"y":-1.9768696907375582},"rotation":{"radians":0.30281515447376256}},"curvature":-3.1708481571662097},{"time":2.7678800340190066,"velocity":1.298404807716156,"acceleration":-1.5005232980334724,"pose":{"translation":{"x":5.705550462244614,"y":-1.9723250389807423},"rotation":{"radians":0.24848021827212843}},"curvature":-3.331712160635731},{"time":2.780799848061167,"velocity":1.2790183257396344,"acceleration":-0.42253020332491453,"pose":{"translation":{"x":5.721797529415825,"y":-1.9686846492005279},"rotation":{"radians":0.19209704125359642}},"curvature":-3.4289937993459185},{"time":2.7938650183541687,"velocity":1.2734978966792578,"acceleration":0.6155404372079303,"pose":{"translation":{"x":5.738250014099588,"y":-1.9659725128094603},"rotation":{"radians":0.13457904738249013}},"curvature":-3.45723717407705},{"time":2.806986084341578,"velocity":1.281574443373782,"acceleration":1.620804929589273,"pose":{"translation":{"x":5.754919156507288,"y":-1.9642045563406791},"rotation":{"radians":0.07686968561427536}},"curvature":-3.4159987185207314},{"time":2.8200770074632326,"velocity":1.302792276102234,"acceleration":2.5948240895751398,"pose":{"translation":{"x":5.7718153592011,"y":-1.9633890230144848},"rotation":{"radians":0.01988914519581024}},"curvature":-3.3100975476343537},{"time":2.8330604228387144,"velocity":1.336481955083494,"acceleration":3.533450509937886,"pose":{"translation":{"x":5.78894820161011,"y":-1.9635268543049025},"rotation":{"radians":-0.03551727520189249}},"curvature":-3.148855853618443},{"time":2.8458717672210803,"velocity":1.381750206424354,"acceleration":4.000000000000031,"pose":{"translation":{"x":5.806326454546431,"y":-1.9646120715062487},"rotation":{"radians":-0.08862077401013752}},"curvature":-2.944578682512188},{"time":2.8584853217911657,"velocity":1.4322044247046963,"acceleration":4.0,"pose":{"translation":{"x":5.823958094721324,"y":-1.9666321572996959},"rotation":{"radians":-0.1388351608301196}},"curvature":-2.7107278940971278},{"time":2.8709289851306186,"velocity":1.4819790780625084,"acceleration":4.0,"pose":{"translation":{"x":5.841850319261319,"y":-1.969568437319838},"rotation":{"radians":-0.1857259667136181}},"curvature":-2.460252975922416},{"time":2.8832468875688653,"velocity":1.5312506878154952,"acceleration":4.000000000000023,"pose":{"translation":{"x":5.860009560224329,"y":-1.9733964617212572},"rotation":{"radians":-0.22900459084616612}},"curvature":-2.204388181894833},{"time":2.907625548710743,"velocity":1.6287653323830065,"acceleration":4.000000000000033,"pose":{"translation":{"x":5.8971510814047114,"y":-1.983603356285577},"rotation":{"radians":-0.30419465657765654}},"curvature":-1.7095329082147517},{"time":2.931792853775246,"velocity":1.7254345526410184,"acceleration":3.999999999999987,"pose":{"translation":{"x":5.9354193649660605,"y":-1.996956232158531},"rotation":{"radians":-0.36426669585995786}},"curvature":-1.2688099647351325},{"time":2.9796632460768957,"velocity":1.916916121847617,"acceleration":3.9999999999999907,"pose":{"translation":{"x":6.01542695023096,"y":-2.031585765523824},"rotation":{"radians":-0.4427962851265677}},"curvature":-0.5848813740446837},{"time":3.0267081459858303,"velocity":2.105095721483355,"acceleration":4.000000000000004,"pose":{"translation":{"x":6.100108089608966,"y":-2.0737722250853574},"rotation":{"radians":-0.47414446102483665}},"curvature":-0.11067350891756424},{"time":3.0723742999064863,"velocity":2.2877603371659787,"acceleration":0.5109364471099453,"pose":{"translation":{"x":6.189379860390492,"y":-2.119501061635434},"rotation":{"radians":-0.46681787081526055}},"curvature":0.23909854062441527},{"time":3.1175838592094167,"velocity":2.3108595487716244,"acceleration":-2.9139629171823818,"pose":{"translation":{"x":6.2830155080726335,"y":-2.1646467376534013},"rotation":{"radians":-0.4268458231107239}},"curvature":0.5197420051057017},{"time":3.164768385594078,"velocity":2.173365588621908,"acceleration":-1.9995749678264811,"pose":{"translation":{"x":6.38065931086536,"y":-2.205363451468609},"rotation":{"radians":-0.3592628030174853}},"curvature":0.7478791688070432},{"time":3.1895293771939013,"velocity":2.1238541296403395,"acceleration":-1.3952406195095137,"pose":{"translation":{"x":6.430841500938308,"y":-2.223031779574064},"rotation":{"radians":-0.31700348624316194}},"curvature":0.8372646549122258},{"time":3.214829434417997,"velocity":2.088554462125366,"acceleration":-0.7451021907172426,"pose":{"translation":{"x":6.48184144419772,"y":-2.238475861423372},"rotation":{"radians":-0.27050043059403}},"curvature":0.9035807398157959},{"time":3.2404907078000247,"velocity":2.0694341911118235,"acceleration":-0.021755022442145798,"pose":{"translation":{"x":6.533585022720754,"y":-2.2514676418693336},"rotation":{"radians":-0.22116064435227015}},"curvature":0.9404458361286551},{"time":3.266312954755162,"velocity":2.068872427549808,"acceleration":0.8030992403644652,"pose":{"translation":{"x":6.585992845224038,"y":-2.26186981003593},"rotation":{"radians":-0.17070573319065932}},"curvature":0.9415392560645736},{"time":3.2920706096062706,"velocity":2.089558380594303,"acceleration":1.7727584952690523,"pose":{"translation":{"x":6.638980711579487,"y":-2.2696480094484155},"rotation":{"radians":-0.1211521110203663}},"curvature":0.901663762897089},{"time":3.3175119947923206,"velocity":2.1346598123142857,"acceleration":3.76627671044101,"pose":{"translation":{"x":6.692460077330119,"y":-2.27488304816341},"rotation":{"radians":-0.0747585811073213}},"curvature":0.8174029006500425},{"time":3.366083949762201,"velocity":2.317595235097936,"acceleration":4.000000000000004,"pose":{"translation":{"x":6.800520194639439,"y":-2.278695959164787},"rotation":{"radians":-0.0013352657722750768}},"curvature":0.5092613249259743},{"time":3.4113047287656824,"velocity":2.4984783511118622,"acceleration":3.99999999999998,"pose":{"translation":{"x":6.909395606519353,"y":-2.2767222830638403},"rotation":{"radians":0.028361187705872926}},"curvature":-2.4651046619220514E-15},{"time":3.454117544861113,"velocity":2.6697296154935857,"acceleration":0.4074153834780951,"pose":{"translation":{"x":7.019983061495265,"y":-2.2735561668377815},"rotation":{"radians":0.029098144705941218}},"curvature":0.011608796994544512},{"time":3.4984453752240654,"velocity":2.6877894554996598,"acceleration":0.03008488457556014,"pose":{"translation":{"x":7.1386736778785655,"y":-2.2700093776862866},"rotation":{"radians":0.030694509951709997}},"curvature":0.014021509633009627},{"time":3.522256136612495,"velocity":2.688505799507687,"acceleration":0.04723957772735943,"pose":{"translation":{"x":7.202649495419449,"y":-2.2680167515519156},"rotation":{"radians":0.031569524893957195}},"curvature":0.01319540670208245},{"time":3.547365571700178,"velocity":2.6896919586182015,"acceleration":0.050444157327734884,"pose":{"translation":{"x":7.270136680200005,"y":-2.2658563998152994},"rotation":{"radians":0.03241573736362172}},"curvature":0.011828470704414762},{"time":3.573801113920152,"velocity":2.69102547726899,"acceleration":0.04697833189879371,"pose":{"translation":{"x":7.341219475481932,"y":-2.2635227615584927},"rotation":{"radians":0.03320217295666078}},"curvature":0.010293155700489545},{"time":3.601530658875388,"velocity":2.6923281650352995,"acceleration":0.041124285707131523,"pose":{"translation":{"x":7.415816402978644,"y":-2.2610178142916966},"rotation":{"radians":0.03391347846282043}},"curvature":0.008794805657415316},{"time":3.630468523446548,"velocity":2.693518214045678,"acceleration":0.03505427714768445,"pose":{"translation":{"x":7.4936981798939915,"y":-2.2583502776404214},"rotation":{"radians":0.03454419600358589}},"curvature":0.0074272793480203245},{"time":3.6604815748469965,"velocity":2.694570299867517,"acceleration":0.029715801758456797,"pose":{"translation":{"x":7.574505635960986,"y":-2.2555348170326597},"rotation":{"radians":0.03509454524286725}},"curvature":0.006219297282040164},{"time":3.6913955247068593,"velocity":2.6954889326731237,"acceleration":0.0254354265848409,"pose":{"translation":{"x":7.6577676304805244,"y":-2.2525912473860505},"rotation":{"radians":0.03556759513476385}},"curvature":0.005165314216804342},{"time":3.723001349726613,"velocity":2.696292840315067,"acceleration":0.02226938756524833,"pose":{"translation":{"x":7.742918969360108,"y":-2.249543736795048},"rotation":{"radians":0.03596747625548502}},"curvature":0.004243549034564848},{"time":3.7550617982144066,"velocity":2.6970068068679574,"acceleration":0.02019121269855779,"pose":{"translation":{"x":7.829318322152566,"y":-2.246420010218092},"rotation":{"radians":0.03629828996492461}},"curvature":0.0034253715578370404},{"time":3.787317949975709,"velocity":2.6976580976890068,"acceleration":-0.5126694386649147,"pose":{"translation":{"x":7.91626613909478,"y":-2.2432505531647706},"rotation":{"radians":0.03656344698233253}},"curvature":0.002679395716841049},{"time":3.8195985046706786,"velocity":2.6811088438337447,"acceleration":-4.0,"pose":{"translation":{"x":8.00302256814641,"y":-2.240067815382994},"rotation":{"radians":0.03676524645324314}},"curvature":0.0019724020287570005},{"time":3.852426887383926,"velocity":2.549795312980756,"acceleration":-4.000000000000005,"pose":{"translation":{"x":8.088825372028603,"y":-2.2369054145461575},"rotation":{"radians":0.03690456601467999}},"curvature":0.0012682077898259992},{"time":3.8863269937858242,"velocity":2.4141948873731613,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":8.172907845262738,"y":-2.2337973399403124},"rotation":{"radians":0.036980571519711986}},"curvature":5.248645449809674E-4},{"time":3.9211590168534483,"velocity":2.274866795102665,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":8.25451673120913,"y":-2.2307771561513325},"rotation":{"radians":0.03699037530878742}},"curvature":-3.1003104891141994E-4},{"time":3.956766743092713,"velocity":2.132435890145605,"acceleration":-3.999999999999997,"pose":{"translation":{"x":8.332930139105754,"y":-2.2278772067520825},"rotation":{"radians":0.036928577989504295}},"curvature":-0.0013067347301344671},{"time":3.99297816743754,"velocity":1.9875901927662967,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":8.407475461106985,"y":-2.225127817989586},"rotation":{"radians":0.03678662355181688}},"curvature":-0.0025650897943465074},{"time":4.029606578767007,"velocity":1.8410765474484287,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":8.4775472893223,"y":-2.2225565024721923},"rotation":{"radians":0.0365518842340767}},"curvature":-0.004233467586691656},{"time":4.066452643286263,"velocity":1.6936922893714037,"acceleration":-3.999999999999999,"pose":{"translation":{"x":8.542625332855012,"y":-2.220187162856746},"rotation":{"radians":0.036206376062938965}},"curvature":-0.006539721834475418},{"time":4.139964991317712,"velocity":1.3996428972456083,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":8.656251989487382,"y":-2.2161271943245504},"rotation":{"radians":0.03507333053322498}},"curvature":-0.014707640059173093},{"time":4.211938788047292,"velocity":1.1117477103272884,"acceleration":-4.0,"pose":{"translation":{"x":8.746576291178728,"y":-2.21303667473002},"rotation":{"radians":0.03306067849671634}},"curvature":-0.033163498906881486},{"time":4.281653861744158,"velocity":0.8328874155398256,"acceleration":-4.0,"pose":{"translation":{"x":8.814327660483274,"y":-2.2108956431648297},"rotation":{"radians":0.029673145963582743}},"curvature":-0.07344019364748172},{"time":4.489875715629115,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":8.901012175481569,"y":-2.2086856921986726},"rotation":{"radians":0.021735706841787276}},"curvature":-6.471262930201971E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/GSC_ARED.wpilib.json b/src/main/deploy/paths/GSC_ARED.wpilib.json index dbff8bf..4d5e3f1 100644 --- a/src/main/deploy/paths/GSC_ARED.wpilib.json +++ b/src/main/deploy/paths/GSC_ARED.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.269,"y":-2.313833150808477},"rotation":{"radians":-0.006996502301392429}},"curvature":0.0},{"time":0.2254437440359921,"velocity":1.0144968481619643,"acceleration":4.5,"pose":{"translation":{"x":1.3833559812540488,"y":-2.3138086384690397},"rotation":{"radians":0.011703136761171908}},"curvature":0.23054573126306802},{"time":0.2808455217665047,"velocity":1.263804847949271,"acceleration":4.499999999999997,"pose":{"translation":{"x":1.4464559369138972,"y":-2.3126289539681006},"rotation":{"radians":0.025256604136277953}},"curvature":0.191135422336946},{"time":0.33057181066221597,"velocity":1.4875731479799716,"acceleration":4.5,"pose":{"translation":{"x":1.5148308803202837,"y":-2.3105054979499218},"rotation":{"radians":0.03606950164584361}},"curvature":0.12437490460959148},{"time":0.376830787049084,"velocity":1.695738541720878,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.5884009687947025,"y":-2.3075765097672254},"rotation":{"radians":0.04268402238959673}},"curvature":0.056872759681569},{"time":0.4203720168374359,"velocity":1.8916740757684616,"acceleration":4.500000000000008,"pose":{"translation":{"x":1.6664253095632016,"y":-2.304135559457089},"rotation":{"radians":0.04465823482819974}},"curvature":-0.004868244470263223},{"time":0.4613619611889823,"velocity":2.0761288253504206,"acceleration":4.5000000000000036,"pose":{"translation":{"x":1.7476678186581749,"y":-2.300586087427878},"rotation":{"radians":0.04188104157794019}},"curvature":-0.06288663194615231},{"time":0.49972439359648385,"velocity":2.2487597711841776,"acceleration":4.500000000000001,"pose":{"translation":{"x":1.8305630798201546,"y":-2.2973959441461758},"rotation":{"radians":0.034231906179236084}},"curvature":-0.12210505028289713},{"time":0.535301511939451,"velocity":2.4088568037275295,"acceleration":2.2882444856478554,"pose":{"translation":{"x":1.913382203399605,"y":-2.2950519298237215},"rotation":{"radians":0.021445625979295353}},"curvature":-0.18835186983168886},{"time":0.5684161838212297,"velocity":2.484631269055048,"acceleration":-2.458160098692822,"pose":{"translation":{"x":1.9943986852587146,"y":-2.294014334104338},"rotation":{"radians":0.0030999726652447697}},"curvature":-0.2675319729186456},{"time":0.600170466884074,"velocity":2.4065741574673667,"acceleration":-4.500000000000002,"pose":{"translation":{"x":2.072054265673188,"y":-2.2946714757508704},"rotation":{"radians":-0.021271054272512944}},"curvature":-0.36393471350510176},{"time":0.6314687495962006,"velocity":2.265731885262797,"acceleration":-4.500000000000005,"pose":{"translation":{"x":2.14512478823404,"y":-2.297294242332113},"rotation":{"radians":-0.051841710469165636}},"curvature":-0.47496770070887306},{"time":0.6623974482408055,"velocity":2.1265527413620746,"acceleration":-4.500000000000011,"pose":{"translation":{"x":2.2128860587493877,"y":-2.301990629909748},"rotation":{"radians":-0.08773302124850481}},"curvature":-0.5780976234503743},{"time":0.692888559519501,"velocity":1.9893427406079445,"acceleration":-4.5,"pose":{"translation":{"x":2.275279704146242,"y":-2.3086602827252736},"rotation":{"radians":-0.12559446070842953}},"curvature":-0.6084003568055616},{"time":0.754562023189661,"velocity":1.7118121540922242,"acceleration":-4.500000000000002,"pose":{"translation":{"x":2.3880548862977506,"y":-2.326203440056685},"rotation":{"radians":-0.17162401644674272}},"curvature":4.2079438553416434E-14},{"time":0.7888866682884407,"velocity":1.5573512511477159,"acceleration":-4.130699545889991,"pose":{"translation":{"x":2.443065207366928,"y":-2.337239600137613},"rotation":{"radians":-0.2456846300561439}},"curvature":-2.264546078926073},{"time":0.8084490935729384,"velocity":1.4765447499085342,"acceleration":1.8144442807017895,"pose":{"translation":{"x":2.4715730282488346,"y":-2.3454809938666905},"rotation":{"radians":-0.31858542914726734}},"curvature":-2.5573870694630143},{"time":0.8295865390654968,"velocity":1.5148974669911528,"acceleration":4.4999999999999964,"pose":{"translation":{"x":2.5011764026411307,"y":-2.356580281718474},"rotation":{"radians":-0.3980604463189674}},"curvature":-2.41450259638768},{"time":0.851428758682609,"velocity":1.6131874552681578,"acceleration":4.499999999999997,"pose":{"translation":{"x":2.5321234634537486,"y":-2.371048610218283},"rotation":{"radians":-0.4744269861549188}},"curvature":-2.0376908392379582},{"time":0.8737988702990841,"velocity":1.7138529575422954,"acceleration":4.499999999999984,"pose":{"translation":{"x":2.5646089760211264,"y":-2.389200985217226},"rotation":{"radians":-0.5419529767094571}},"curvature":-1.5968941668306778},{"time":0.8968071456400867,"velocity":1.8173901965768064,"acceleration":4.499999999999995,"pose":{"translation":{"x":2.5987779998220923,"y":-2.4111732328119566},"rotation":{"radians":-0.598225563882323}},"curvature":-1.1889849437708704},{"time":0.9204526266883958,"velocity":1.9237948612941973,"acceleration":4.5,"pose":{"translation":{"x":2.634729550199755,"y":-2.4369389602644347},"rotation":{"radians":-0.642940597626741}},"curvature":-0.8496158761246674},{"time":0.9692627153651919,"velocity":2.14344026033978,"acceleration":4.5000000000000036,"pose":{"translation":{"x":2.7121680416983196,"y":-2.499035955135542},"rotation":{"radians":-0.7009689755258693}},"curvature":-0.3696671999607423},{"time":1.0190485128981412,"velocity":2.3674763492380517,"acceleration":4.115884033646609,"pose":{"translation":{"x":2.7969348359029755,"y":-2.5726809661831243},"rotation":{"radians":-0.7240163069541432}},"curvature":-0.06656853062455746},{"time":1.0685335873794253,"velocity":2.5711511771993822,"acceleration":-3.0859623142811246,"pose":{"translation":{"x":2.8885379621011227,"y":-2.6535529872691512},"rotation":{"radians":-0.7180254122165227}},"curvature":0.1546706220078947},{"time":1.0936246082226913,"velocity":2.493721232450221,"acceleration":-2.8208644263999862,"pose":{"translation":{"x":2.936640881898426,"y":-2.695069488095518},"rotation":{"radians":-0.704983724073624}},"curvature":0.2553063488104494},{"time":1.1198512264502092,"velocity":2.4197394980674423,"acceleration":-2.726254165312981,"pose":{"translation":{"x":2.9861002685177955,"y":-2.736363759197249},"rotation":{"radians":-0.6852594304817275}},"curvature":0.3574771374626919},{"time":1.1470343537133263,"velocity":2.3456313841401366,"acceleration":-2.7359065185566793,"pose":{"translation":{"x":3.0367655174757733,"y":-2.7767126797131603},"rotation":{"radians":-0.6586295091925659}},"curvature":0.466283962287927},{"time":1.1750239569483634,"velocity":2.2690544461975835,"acceleration":-2.7968855719606345,"pose":{"translation":{"x":3.0884765973520523,"y":-2.815400519144956},"rotation":{"radians":-0.6247176849702745}},"curvature":0.5861819984044248},{"time":1.2037022618082427,"velocity":2.1888445091066986,"acceleration":-2.857292073765972,"pose":{"translation":{"x":3.141067711509365,"y":-2.8517358982769805},"rotation":{"radians":-0.5830384972104835}},"curvature":0.7207640366539932},{"time":1.2329836296330252,"velocity":2.1051790889119215,"acceleration":-2.860801590553083,"pose":{"translation":{"x":3.194370959813367,"y":-2.885068750095985},"rotation":{"radians":-0.5330690078754219}},"curvature":0.872071653761291},{"time":1.262808853747374,"velocity":2.01985504032699,"acceleration":-2.747982749582946,"pose":{"translation":{"x":3.2482200003525286,"y":-2.914807280710876},"rotation":{"radians":-0.4743650022030414}},"curvature":1.0392888581534585},{"time":1.2931314554808566,"velocity":1.9365290538409057,"acceleration":-2.464263645169246,"pose":{"translation":{"x":3.3024537111580194,"y":-2.9404349302724837},"rotation":{"radians":-0.40673799709518255}},"curvature":1.2168120093315136},{"time":1.3238945731013982,"velocity":1.8607206214765395,"acceleration":-1.9713796080388148,"pose":{"translation":{"x":3.3569198519235943,"y":-2.9615273338933097},"rotation":{"radians":-0.330497563534254}},"curvature":1.3921318559781237},{"time":1.3550001850043236,"velocity":1.7993996524755431,"acceleration":-1.4606085892563108,"pose":{"translation":{"x":3.4114787257254844,"y":-2.9777692825672935},"rotation":{"radians":-0.24673211400204}},"curvature":1.5447544954295571},{"time":1.3706486682499412,"velocity":1.7765433434381606,"acceleration":-1.0473632085911806,"pose":{"translation":{"x":3.4387536131838927,"y":-2.9840068547725016},"rotation":{"radians":-0.20264284034286073}},"curvature":1.6043373647251602},{"time":1.3863140794555113,"velocity":1.7601359680939945,"acceleration":-0.5811487176484292,"pose":{"translation":{"x":3.4660068407422804,"y":-2.9889716840895657},"rotation":{"radians":-0.15755076815159422}},"curvature":1.648062971198389},{"time":1.4019603162215533,"velocity":1.7510431776613855,"acceleration":-0.06395324790098304,"pose":{"translation":{"x":3.493226104721134,"y":-2.9926626223939614},"rotation":{"radians":-0.11189274017768035}},"curvature":1.6726481212209168},{"time":1.4175454836958543,"velocity":1.7500464555823232,"acceleration":0.5031050053810309,"pose":{"translation":{"x":3.520400571974824,"y":-2.995088523976209},"rotation":{"radians":-0.0661654334899909}},"curvature":1.675358602426114},{"time":1.4330226922361908,"velocity":1.7578331166682926,"acceleration":1.1208753086118604,"pose":{"translation":{"x":3.54752099432035,"y":-2.996268775570614},"rotation":{"radians":-0.020912881393155416}},"curvature":1.6542653860853291},{"time":1.4483411777642012,"velocity":1.7750032288619675,"acceleration":2.1625694277891028,"pose":{"translation":{"x":3.5745798229660894,"y":-2.9962338263840143},"rotation":{"radians":0.023289249337331626}},"curvature":1.6084073874119102},{"time":1.4782348576381252,"velocity":1.8396503870414298,"acceleration":3.815662264831741,"pose":{"translation":{"x":3.628491687521077,"y":-2.992698615030238},"rotation":{"radians":0.1061831755941513}},"curvature":1.4434264568421966},{"time":1.5068360365579707,"velocity":1.948782826175585,"acceleration":4.499999999999992,"pose":{"translation":{"x":3.6821141114266944,"y":-2.984967874112366},"rotation":{"radians":0.17788968411960815}},"curvature":1.1897536723984485},{"time":1.5339603303649598,"velocity":2.0708421483070354,"acceleration":-0.6672947794681461,"pose":{"translation":{"x":3.7354595541716487,"y":-2.9737375092278655},"rotation":{"radians":0.23410849701394443}},"curvature":0.861442386891898},{"time":1.5875419608985684,"velocity":2.0350874059765673,"acceleration":-4.5,"pose":{"translation":{"x":3.8415638729627046,"y":-2.9447179024673034},"rotation":{"radians":0.2840743782592922}},"curvature":1.2714198864066976E-14},{"time":1.6154724222920331,"velocity":1.9094003297059756,"acceleration":-4.5,"pose":{"translation":{"x":3.8943237016824592,"y":-2.928880202263423},"rotation":{"radians":0.30643265859687374}},"curvature":0.7911438513469026},{"time":1.645139324884359,"velocity":1.7758992680405083,"acceleration":-4.5,"pose":{"translation":{"x":3.9459600251619324,"y":-2.9109350030065113},"rotation":{"radians":0.3687000190354581}},"curvature":1.4696309212979215},{"time":1.660730427830434,"velocity":1.7057393047831713,"acceleration":-4.5,"pose":{"translation":{"x":3.971063110593623,"y":-2.9006158522902195},"rotation":{"radians":0.4126582745669655}},"curvature":1.7636207295848827},{"time":1.6769332430258115,"velocity":1.6328266364039727,"acceleration":-3.690516624091882,"pose":{"translation":{"x":3.9955603817064933,"y":-2.889151628248971},"rotation":{"radians":0.46389549882471237}},"curvature":2.017204322820441},{"time":1.6938009832426766,"velocity":1.570575960722769,"acceleration":-2.317666476593184,"pose":{"translation":{"x":4.019371387333086,"y":-2.876386100491735},"rotation":{"radians":0.5212632682610032}},"curvature":2.2194893794450543},{"time":1.711267554647208,"velocity":1.5300942737174654,"acceleration":-1.0990468034316447,"pose":{"translation":{"x":4.042428181182383,"y":-2.862185445156293},"rotation":{"radians":0.5834269090774776}},"curvature":2.359867757739268},{"time":1.7291965848844055,"velocity":1.5103894303466443,"acceleration":0.001000660101428985,"pose":{"translation":{"x":4.06467482829175,"y":-2.846437384310733},"rotation":{"radians":0.6488922211008323}},"curvature":2.430921116692296},{"time":1.747447957394559,"velocity":1.5104076937669115,"acceleration":0.9961855210743449,"pose":{"translation":{"x":4.086066911478874,"y":-2.829050325354949},"rotation":{"radians":0.7160773392456569}},"curvature":2.430854402575652},{"time":1.7658874162322287,"velocity":1.5287768156774444,"acceleration":1.8855370801590616,"pose":{"translation":{"x":4.106571037793713,"y":-2.8099525004221344},"rotation":{"radians":0.783416162126215}},"curvature":2.36456121933276},{"time":1.784396887813985,"velocity":1.5636771106789966,"acceleration":2.6585835729417684,"pose":{"translation":{"x":4.126164344970431,"y":-2.789091105780282},"rotation":{"radians":0.8494693997751318}},"curvature":2.2428987337172557},{"time":1.8028827168231678,"velocity":1.6128232320150202,"acceleration":3.3005415897617407,"pose":{"translation":{"x":4.144834007879348,"y":-2.7664314412336757},"rotation":{"radians":0.913017308869613}},"curvature":2.080503173068283},{"time":1.8212798970250925,"velocity":1.6735438904058137,"acceleration":3.797927050258119,"pose":{"translation":{"x":4.162576744978877,"y":-2.741956049524393},"rotation":{"radians":0.9731158074919393}},"curvature":1.8930333590232384},{"time":1.8395518423462933,"velocity":1.7429394058020398,"acceleration":4.143713547628165,"pose":{"translation":{"x":4.179398324767469,"y":-2.7156638557337964},"rotation":{"radians":1.0291106218119497}},"curvature":1.6947753392918066},{"time":1.8576865437948602,"velocity":1.818084413876658,"acceleration":4.340692222414544,"pose":{"translation":{"x":4.195313072235553,"y":-2.687569306684033},"rotation":{"radians":1.0806159623181426}},"curvature":1.4971591334210361},{"time":1.8756906174986334,"velocity":1.8962345565744045,"acceleration":4.402144853478209,"pose":{"translation":{"x":4.2103433753174855,"y":-2.65770151033953},"rotation":{"radians":1.1274706425074799}},"curvature":1.3082545789686348},{"time":1.8935827449009874,"velocity":1.974998293136454,"acceleration":4.279946939240034,"pose":{"translation":{"x":4.224519191343483,"y":-2.6261033752084906},"rotation":{"radians":1.169685086497817}},"curvature":1.132993176177098},{"time":1.9291359835612396,"velocity":2.1271642681204708,"acceleration":3.896808685656968,"pose":{"translation":{"x":4.250462077239535,"y":-2.55795156174748},"rotation":{"radians":1.2407891000799194}},"curvature":0.8311589023206387},{"time":1.9645376975072764,"velocity":2.2651179745125303,"acceleration":3.424331701895532,"pose":{"translation":{"x":4.273514021656588,"y":-2.4837004424990323},"rotation":{"radians":1.295667944206645}},"curvature":0.5925644883973942},{"time":1.9998938992067314,"velocity":2.3861893368505873,"acceleration":3.002270888673981,"pose":{"translation":{"x":4.29413683958569,"y":-2.404102324057384},"rotation":{"radians":1.3363468906769063}},"curvature":0.4058988172128202},{"time":2.0351990973050715,"velocity":2.492185105320101,"acceleration":2.7074415712940976,"pose":{"translation":{"x":4.3128660757382224,"y":-2.320047704260865},"rotation":{"radians":1.364637008709047}},"curvature":0.2573661140002805},{"time":2.070332049226319,"velocity":2.587305519873963,"acceleration":2.580219965185635,"pose":{"translation":{"x":4.330295211008066,"y":-2.2325377330397895},"rotation":{"radians":1.3819411186886306}},"curvature":0.13443424707792126},{"time":2.105068755644325,"velocity":2.676933863298494,"acceleration":-1.175865877749583,"pose":{"translation":{"x":4.3470598689337585,"y":-2.1426566732643435},"rotation":{"radians":1.3892078731155681}},"curvature":0.0265945232786579},{"time":2.13994314198243,"velocity":2.6359262623960604,"acceleration":-2.3314374132900415,"pose":{"translation":{"x":4.363822022160664,"y":-2.0515443615924753},"rotation":{"radians":1.386942057494197}},"curvature":-0.07502427219459185},{"time":2.1757255371223416,"velocity":2.5525018476297427,"acceleration":-2.3233337028343763,"pose":{"translation":{"x":4.38125419890313,"y":-1.9603686693177842},"rotation":{"radians":1.3752275291437188}},"curvature":-0.17835098197560606},{"time":2.2123823296717973,"velocity":2.4673358860617842,"acceleration":-2.452269789521293,"pose":{"translation":{"x":4.400023689406654,"y":-1.8702979632174084},"rotation":{"radians":1.3537474244110848}},"curvature":-0.29104230240798096},{"time":2.2496475493686514,"velocity":2.375951513599315,"acceleration":-2.670529150525937,"pose":{"translation":{"x":4.420776752410042,"y":-1.7824735663999163},"rotation":{"radians":1.3218035202275327}},"curvature":-0.42094699477672},{"time":2.2873395792243576,"velocity":2.2752938491271575,"acceleration":-2.9167338732199872,"pose":{"translation":{"x":4.4441228216075785,"y":-1.6979822191531948},"rotation":{"radians":1.278351748731097}},"curvature":-0.5761108411619432},{"time":2.325369227634452,"velocity":2.1643714854227887,"acceleration":-3.1008610788210738,"pose":{"translation":{"x":4.470618712111184,"y":-1.6178285397923358},"rotation":{"radians":1.2220904698505968}},"curvature":-0.7638126998261165},{"time":2.363734253808921,"velocity":2.0454068689704266,"acceleration":-3.104673664406253,"pose":{"translation":{"x":4.5007528269125805,"y":-1.542907485507531},"rotation":{"radians":1.1516649818998281}},"curvature":-0.987749283770286},{"time":2.4024892029518643,"velocity":1.9250853990009267,"acceleration":-2.9256130369638114,"pose":{"translation":{"x":4.5349293633454515,"y":-1.4739768132119566},"rotation":{"radians":1.0660768386145423}},"curvature":-1.242392536310266},{"time":2.4220454260185953,"velocity":1.8678714578431257,"acceleration":-2.687298983247044,"pose":{"translation":{"x":4.553632939664894,"y":-1.4419503764315371},"rotation":{"radians":1.0175457678947726}},"curvature":-1.3749864632471314},{"time":2.4417169188889463,"velocity":1.8150082750536802,"acceleration":-2.352506391749363,"pose":{"translation":{"x":4.573452519547606,"y":-1.4116295403896637},"rotation":{"radians":0.9653709803751005}},"curvature":-1.5049275415075234},{"time":2.4614922222145723,"velocity":1.7684867475813626,"acceleration":-1.9227420333459462,"pose":{"translation":{"x":4.594407911759158,"y":-1.3830581735938967},"rotation":{"radians":0.9098706411152997}},"curvature":-1.6257067837565955},{"time":2.4813460549242063,"velocity":1.7303129489075302,"acceleration":-1.4048265052167652,"pose":{"translation":{"x":4.616510700923147,"y":-1.3562664059434648},"rotation":{"radians":0.8515377137420235}},"curvature":-1.7296647237677594},{"time":2.5012371777360216,"velocity":1.7023693723629703,"acceleration":-0.8094706626735523,"pose":{"translation":{"x":4.639763753973141,"y":-1.3312697681307595},"rotation":{"radians":0.7910498045007782}},"curvature":-1.808718439964051},{"time":2.5211080614441093,"velocity":1.6862844749598753,"acceleration":-0.14930496403835408,"pose":{"translation":{"x":4.6641607266046226,"y":-1.3080683310428303},"rotation":{"radians":0.7292600748483684}},"curvature":-1.8554115079359075},{"time":2.5408867388663032,"velocity":1.6833314202386285,"acceleration":0.5632418619578864,"pose":{"translation":{"x":4.689685569726931,"y":-1.2866458451628806},"rotation":{"radians":0.6671662628262438}},"curvature":-1.864080922622469},{"time":2.560490691860425,"velocity":1.6943731872247725,"acceleration":1.318036858351487,"pose":{"translation":{"x":4.716312035915202,"y":-1.2669688799717687},"rotation":{"radians":0.6058598231401405}},"curvature":-1.8318198626989128},{"time":2.5798320158101666,"velocity":1.719865765079848,"acceleration":2.1094860983967116,"pose":{"translation":{"x":4.744003185862316,"y":-1.2489859633494995},"rotation":{"radians":0.5464627927853675}},"curvature":-1.758919634750307},{"time":2.5988226632386606,"velocity":1.7599262718298097,"acceleration":2.9394328988060843,"pose":{"translation":{"x":4.77271089483083,"y":-1.2326267209767223},"rotation":{"radians":0.4900639824291269}},"curvature":-1.6486270876366862},{"time":2.6173785026943084,"velocity":1.8144699167907046,"acceleration":3.8214562526817097,"pose":{"translation":{"x":4.802375359104937,"y":-1.2178010157362318},"rotation":{"radians":0.43766666967067525}},"curvature":-1.5062898069996995},{"time":2.635421268778506,"velocity":1.8834195580588362,"acceleration":4.499999999999983,"pose":{"translation":{"x":4.832924602442394,"y":-1.2043980871144542},"rotation":{"radians":0.39015688274767946}},"curvature":-1.3381564374264157},{"time":2.6698321610726943,"velocity":2.0382685733826813,"acceleration":4.499999999999987,"pose":{"translation":{"x":4.896325697417881,"y":-1.1813092370999345},"rotation":{"radians":0.312736992252651}},"curvature":-0.9469290034598016},{"time":2.7022857955915596,"velocity":2.184309928717575,"acceleration":4.499999999999988,"pose":{"translation":{"x":4.96207616446455,"y":-1.1620289161542348},"rotation":{"radians":0.2628072675568695}},"curvature":-0.5031714530730831},{"time":2.732996571352847,"velocity":2.3225084196433663,"acceleration":4.499999999999968,"pose":{"translation":{"x":5.029111640791086,"y":-1.1448408168524127},"rotation":{"radians":0.24497866312686234}},"curvature":-7.351871257393121E-15},{"time":2.7622756839497478,"velocity":2.454264426329419,"acceleration":-0.2913390047530112,"pose":{"translation":{"x":5.0970007906487504,"y":-1.1280704514650939},"rotation":{"radians":0.23684264529521892}},"curvature":-0.21611894623126204},{"time":2.7921865502196574,"velocity":2.4455502243190432,"acceleration":-0.18699763047249868,"pose":{"translation":{"x":5.168395390699352,"y":-1.111559818623169},"rotation":{"radians":0.21641078219116108}},"curvature":-0.32112970161910687},{"time":2.824685257269318,"velocity":2.439473043107337,"acceleration":0.840384532021676,"pose":{"translation":{"x":5.246139131577874,"y":-1.095533207577735},"rotation":{"radians":0.19009014590176093}},"curvature":-0.329618541281676},{"time":2.8603816365389596,"velocity":2.4694717280947227,"acceleration":1.0501372685891153,"pose":{"translation":{"x":5.332398908795366,"y":-1.0801782329500098},"rotation":{"radians":0.16285332399322622}},"curvature":-0.2881211410354058},{"time":2.899500089501034,"velocity":2.5105514734397474,"acceleration":0.9193678869034659,"pose":{"translation":{"x":5.428714459572134,"y":-1.0656480245916202},"rotation":{"radians":0.1375102050503334}},"curvature":-0.23290407735299343},{"time":2.94225934965539,"velocity":2.549862964093413,"acceleration":0.7051844958812951,"pose":{"translation":{"x":5.536047999670953,"y":-1.0520634174448906},"rotation":{"radians":0.11520293407729429}},"curvature":-0.181729732074715},{"time":2.988804182102745,"velocity":2.5826856582986806,"acceleration":0.5547539782204688,"pose":{"translation":{"x":5.654833860230262,"y":-1.0395151414031303},"rotation":{"radians":0.09611740224880025}},"curvature":-0.14019565268573975},{"time":3.013503814641576,"velocity":2.596387877710181,"acceleration":0.46822980886298143,"pose":{"translation":{"x":5.718525011025818,"y":-1.0336502876998637},"rotation":{"radians":0.08771153241401065}},"curvature":-0.12316746031665153},{"time":3.0391483628182714,"velocity":2.6083954196013326,"acceleration":0.39378377577516066,"pose":{"translation":{"x":5.785028124597371,"y":-1.0280660111709234},"rotation":{"radians":0.07999994796527703}},"curvature":-0.10839237957980051},{"time":3.0657189232673976,"velocity":2.6188584752194517,"acceleration":0.33075446051415097,"pose":{"translation":{"x":5.854271128688917,"y":-1.0227661611800982},"rotation":{"radians":0.07292952292007532}},"curvature":-0.09562823163143602},{"time":3.093187736240517,"velocity":2.62794390763534,"acceleration":0.27794645121270145,"pose":{"translation":{"x":5.926158265161658,"y":-1.0177531161244162},"rotation":{"radians":0.06644696546946269}},"curvature":-0.08462712851608063},{"time":3.121518519067812,"velocity":2.6358183481822643,"acceleration":0.23398851381752694,"pose":{"translation":{"x":6.0005716411450365,"y":-1.013027851867281},"rotation":{"radians":0.06050079155493232}},"curvature":-0.07515370628350947},{"time":3.150666903937428,"velocity":2.642638735438087,"acceleration":0.19753022143619295,"pose":{"translation":{"x":6.077372780187776,"y":-1.0085900101716052},"rotation":{"radians":0.055042470305116276}},"curvature":-0.06699400021340986},{"time":3.1805809456227436,"velocity":2.648547662716239,"acceleration":0.16733871715750448,"pose":{"translation":{"x":6.156404173408917,"y":-1.0044379671329429},"rotation":{"radians":0.05002701277855771}},"curvature":-0.05995871336225193},{"time":3.211201674743438,"velocity":2.6536716962457234,"acceleration":0.14233689567279992,"pose":{"translation":{"x":6.237490830648853,"y":-1.0005689016126258},"rotation":{"radians":0.04541319670532271}},"curvature":-0.05388330140329022},{"time":3.2424636795947643,"velocity":2.6581214329687692,"acceleration":0.1216092710276048,"pose":{"translation":{"x":6.320441831620373,"y":-0.9969788636708965},"rotation":{"radians":0.0411635611484754}},"curvature":-0.04862638512785459},{"time":3.274295704983005,"velocity":2.6619925023715654,"acceleration":0.1043915164927757,"pose":{"translation":{"x":6.405051877059695,"y":-0.9936628430000416},"rotation":{"radians":0.03724426244566017}},"curvature":-0.04406740114454748},{"time":3.306621260337029,"velocity":2.665367016116443,"acceleration":0.09005298404395151,"pose":{"translation":{"x":6.491102839877502,"y":-0.990614837357527},"rotation":{"radians":0.03362485264017859}},"curvature":-0.04010401754062424},{"time":3.339359232035209,"velocity":2.6683151681594106,"acceleration":0.07807735071088569,"pose":{"translation":{"x":6.578365316309987,"y":-0.9878279209991309},"rotation":{"radians":0.030278020616172775}},"curvature":-0.036649602727954804},{"time":3.3724244967180956,"velocity":2.6708968164264046,"acceleration":0.06804404288871431,"pose":{"translation":{"x":6.66660017706988,"y":-0.9852943131120786},"rotation":{"radians":0.027179321745918035}},"curvature":-0.033630891357094565},{"time":3.405728533595342,"velocity":2.6731629577400473,"acceleration":0.05961164863829967,"pose":{"translation":{"x":6.755560118497496,"y":-0.9830054462481763},"rotation":{"radians":0.024306912107014977}},"curvature":-0.0309859064542626},{"time":3.439180034579589,"velocity":2.675157056863144,"acceleration":0.05250373411359366,"pose":{"translation":{"x":6.844991213711765,"y":-0.9809520347569445},"rotation":{"radians":0.021641296824626156}},"curvature":-0.02866214909725843},{"time":3.4726855116186157,"velocity":2.67691621952095,"acceleration":0.046497072043386094,"pose":{"translation":{"x":6.934634463761275,"y":-0.9791241432187529},"rotation":{"radians":0.01916509783321003}},"curvature":-0.026615041414781698},{"time":3.5061499009400783,"velocity":2.678472215642118,"acceleration":0.04141210586565926,"pose":{"translation":{"x":7.0242273487753035,"y":-0.9775112548779537},"rotation":{"radians":0.016862843626975235}},"curvature":-0.024806596273175663},{"time":3.5394771641332734,"velocity":2.6798523677936874,"acceleration":0.037105415961145194,"pose":{"translation":{"x":7.11350537911486,"y":-0.9761023400760162},"rotation":{"radians":0.01472078188857126}},"curvature":-0.023204281984637445},{"time":3.5725708861124286,"velocity":2.6810803241134264,"acceleration":0.03346396924500495,"pose":{"translation":{"x":7.202203646523726,"y":-0.9748859246846602},"rotation":{"radians":0.012726714915740202}},"curvature":-0.021780049203719235},{"time":3.605334870064907,"velocity":2.682176737064756,"acceleration":0.030400991317151828,"pose":{"translation":{"x":7.290058375279481,"y":-0.9738501585389906},"rotation":{"radians":0.010869857279208243}},"curvature":-0.02050948769617319},{"time":3.6376737295047112,"velocity":2.683159870449792,"acceleration":0.02785339004576755,"pose":{"translation":{"x":7.376808473344555,"y":-0.9729828838706311},"rotation":{"radians":0.00914071499232801}},"curvature":-0.019371081485197617},{"time":3.6694934775388144,"velocity":2.684046158302944,"acceleration":0.02578078244566204,"pose":{"translation":{"x":7.462197083517253,"y":-0.9722717037408581},"rotation":{"radians":0.007530985558839231}},"curvature":-0.018345531055449758},{"time":3.700702113418257,"velocity":2.684850741354978,"acceleration":0.024166346727234736,"pose":{"translation":{"x":7.5459731345828045,"y":-0.9717040504737351},"rotation":{"radians":0.0060334785341917925}},"curvature":-0.017415110049288987},{"time":3.7312102063909927,"velocity":2.6855880105077437,"acceleration":0.023019967011600032,"pose":{"translation":{"x":7.62789289246439,"y":-0.9712672540892462},"rotation":{"radians":0.004642056662832984}},"curvature":-0.01656302041718061},{"time":3.7609314767992776,"velocity":2.686272193172085,"acceleration":0.02238451023729301,"pose":{"translation":{"x":7.707721511374185,"y":-0.9709486107364307},"rotation":{"radians":0.003351598237967513}},"curvature":-0.015772703253202004},{"time":3.7897833742682314,"velocity":2.6869180287663443,"acceleration":0.022346660744174258,"pose":{"translation":{"x":7.785234584964396,"y":-0.9707354511265163},"rotation":{"radians":0.002157982093276859}},"curvature":-0.015027051064673981},{"time":3.8176876527085613,"velocity":2.6875415962099614,"acceleration":-1.9882292148820464,"pose":{"translation":{"x":7.860219697478299,"y":-0.9706152089660542},"rotation":{"radians":0.0010580976227363501}},"curvature":-0.01430744871213474},{"time":3.844846886719269,"velocity":2.633542813696054,"acceleration":-4.500000000000006,"pose":{"translation":{"x":7.932477974901277,"y":-0.9705754893900522},"rotation":{"radians":4.988350622059581E-5}},"curvature":-0.013592541147593513},{"time":3.8718000189274835,"velocity":2.512253718759088,"acceleration":-4.499999999999993,"pose":{"translation":{"x":8.00182563611185,"y":-0.9706041373951091},"rotation":{"radians":-8.675995015280058E-4}},"curvature":-0.012856580739544002},{"time":3.898833215455427,"velocity":2.390604334383343,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":8.068095544032733,"y":-0.9706893062725483},"rotation":{"radians":-0.0016940541390440202}},"curvature":-0.012067136431601894},{"time":3.952926004129629,"velocity":2.1471867853494353,"acceleration":-4.499999999999998,"pose":{"translation":{"x":8.190826078823374,"y":-0.970983771882298},"rotation":{"radians":-0.003065440399422827}},"curvature":-0.010143647241429065},{"time":4.006669718868423,"velocity":1.9053400690248616,"acceleration":-4.5,"pose":{"translation":{"x":8.29972430727791,"y":-0.9713728789034819},"rotation":{"radians":-0.004029004999891033}},"curvature":-0.007261928950759825},{"time":4.059564343807402,"velocity":1.6673142567994548,"acceleration":-4.5,"pose":{"translation":{"x":8.394210535774352,"y":-0.9717799324564564},"rotation":{"radians":-0.0045100682889569026}},"curvature":-0.002305830607261272},{"time":4.111072311813168,"velocity":1.4355284007735065,"acceleration":-4.499999999999997,"pose":{"translation":{"x":8.474120285897232,"y":-0.9721397399580418},"rotation":{"radians":-0.004372087474416756}},"curvature":0.007092301631983481},{"time":4.20780289513229,"velocity":1.0002407758374574,"acceleration":-4.500000000000001,"pose":{"translation":{"x":8.591926334392156,"y":-0.9725274971183763},"rotation":{"radians":-0.0011351609049884408}},"curvature":0.06650787500443192},{"time":4.430078623096169,"velocity":0.0,"acceleration":-4.500000000000001,"pose":{"translation":{"x":8.703087547510142,"y":-0.9716567673774398},"rotation":{"radians":0.021735706841795422}},"curvature":4.2188343964873276E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":1.4479129034336145,"y":-1.621096952908587},"rotation":{"radians":-0.700496369947726}},"curvature":0.0},{"time":0.22951275676366784,"velocity":0.9180510270546716,"acceleration":3.9999999999999987,"pose":{"translation":{"x":1.528022393146572,"y":-1.6895188648066843},"rotation":{"radians":-0.7180201944949473}},"curvature":-0.2711376454115812},{"time":0.3333513068167475,"velocity":1.3334052272669903,"acceleration":3.9999999999999982,"pose":{"translation":{"x":1.6147862857876842,"y":-1.7678529485166665},"rotation":{"radians":-0.7501778979058678}},"curvature":-0.24754753216574096},{"time":0.3791087552561887,"velocity":1.516435021024755,"acceleration":3.999999999999997,"pose":{"translation":{"x":1.6621513584797847,"y":-1.8126601171109857},"rotation":{"radians":-0.7645164561529635}},"curvature":-0.19140055323046565},{"time":0.42301696528473537,"velocity":1.6920678611389415,"acceleration":3.999999999999997,"pose":{"translation":{"x":1.712694193104451,"y":-1.861723225350832},"rotation":{"radians":-0.7758746591783232}},"curvature":-0.1322359711082662},{"time":0.4657265244777114,"velocity":1.8629060979108454,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.766654407934799,"y":-1.915122537145723},"rotation":{"radians":-0.7837863132895679}},"curvature":-0.07798072287072641},{"time":0.5075442723743152,"velocity":2.030177089497261,"acceleration":4.0,"pose":{"translation":{"x":1.8241617743127132,"y":-1.9727320890774975},"rotation":{"radians":-0.7881471708271921}},"curvature":-0.03089314041720269},{"time":0.5485846777923438,"velocity":2.194338711169375,"acceleration":4.000000000000004,"pose":{"translation":{"x":1.8852461041998465,"y":-2.034242252597226},"rotation":{"radians":-0.7890131045321896}},"curvature":0.009516982472095183},{"time":0.5888505689833085,"velocity":2.355402275933234,"acceleration":3.9999999999999956,"pose":{"translation":{"x":1.9498471377286177,"y":-2.0991822962221205},"rotation":{"radians":-0.7864792780113644}},"curvature":0.04480356871867952},{"time":0.6282799250634651,"velocity":2.5131197002538603,"acceleration":2.470984357643828,"pose":{"translation":{"x":2.017824430753212,"y":-2.1669429477324442},"rotation":{"radians":-0.7806139805290817}},"curvature":0.07678977439556485},{"time":0.6672088443709562,"velocity":2.6093124509226495,"acceleration":-0.6279618043700567,"pose":{"translation":{"x":2.0889672424005785,"y":-2.236798956368423},"rotation":{"radians":-0.7714242547765326}},"curvature":0.10726957698467908},{"time":0.7067449040306286,"velocity":2.5844853155610794,"acceleration":-0.6336023590980688,"pose":{"translation":{"x":2.16300442262143,"y":-2.307931655027153},"rotation":{"radians":-0.7588380285262286}},"curvature":0.13794886033098994},{"time":0.7475002417352326,"velocity":2.558662637445604,"acceleration":-0.673061130216421,"pose":{"translation":{"x":2.2396142997412403,"y":-2.379451522459514},"rotation":{"radians":-0.7426937776299146}},"curvature":0.17049001351445267},{"time":0.7891810808378079,"velocity":2.5306088847708557,"acceleration":-0.744290819999808,"pose":{"translation":{"x":2.318434568011246,"y":-2.4504207454670768},"rotation":{"radians":-0.722733014999284}},"curvature":0.2065953720414248},{"time":0.8314998080951853,"velocity":2.499111444559114,"acceleration":-0.8469282153904631,"pose":{"translation":{"x":2.399072175159441,"y":-2.5198757810990142},"rotation":{"radians":-0.6985936998150911}},"curvature":0.24809874206755533},{"time":0.8741863753640727,"velocity":2.4629589863209302,"acceleration":-0.9807312057078731,"pose":{"translation":{"x":2.481113209941581,"y":-2.586849918849012},"rotation":{"radians":-0.6698047777871081}},"curvature":0.2970443563916405},{"time":0.9169995392813184,"velocity":2.420970780452201,"acceleration":-1.1433504886688937,"pose":{"translation":{"x":2.5641327896921755,"y":-2.650395842852178},"rotation":{"radians":-0.6357842188192524}},"curvature":0.35572560472611486},{"time":0.9597372990535107,"velocity":2.3721065419320513,"acceleration":-1.3270600628588485,"pose":{"translation":{"x":2.6477049478754933,"y":-2.7096081940819525},"rotation":{"radians":-0.5958457789751919}},"curvature":0.4266321212808832},{"time":1.0022453264503877,"velocity":2.315695836422746,"acceleration":-1.5144165256200628,"pose":{"translation":{"x":2.731412521636557,"y":-2.7636461325470174},"rotation":{"radians":-0.5492238752627361}},"curvature":0.5122106033970761},{"time":1.044421379238445,"velocity":2.251823725095088,"acceleration":-1.6737773334024908,"pose":{"translation":{"x":2.814857039352143,"y":-2.811755899488208},"rotation":{"radians":-0.49513168397770213}},"curvature":0.6142843652971994},{"time":1.0862127321653565,"velocity":2.1818743058337993,"acceleration":-1.7572016807983803,"pose":{"translation":{"x":2.897668608181781,"y":-2.853293379575423},"rotation":{"radians":-0.43287392626293425}},"curvature":0.7329264443787755},{"time":1.1276029639283578,"velocity":2.109143321011219,"acceleration":-1.7044517448294627,"pose":{"translation":{"x":2.979515801618751,"y":-2.887746663104533},"rotation":{"radians":-0.3620388701698671}},"curvature":0.8646314866832681},{"time":1.1685850098861124,"velocity":2.039291401271843,"acceleration":-1.455140508106484,"pose":{"translation":{"x":3.0601155470410863,"y":-2.914758608194293},"rotation":{"radians":-0.2827846325916954}},"curvature":0.999966983078942},{"time":1.2091207893471485,"velocity":1.9803061465504181,"acceleration":-1.1180344391454933,"pose":{"translation":{"x":3.139243013262567,"y":-2.9341494029832473},"rotation":{"radians":-0.1961989889054528}},"curvature":1.1216838009269492},{"time":1.2292087817944977,"velocity":1.9578470791809872,"acceleration":-0.8082914329555762,"pose":{"translation":{"x":3.1782027405843847,"y":-2.940984718901152},"rotation":{"radians":-0.15083842410371875}},"curvature":1.16995625398118},{"time":1.2491370048601962,"velocity":1.9417392672029554,"acceleration":-0.4325962834922173,"pose":{"translation":{"x":3.2167414980837217,"y":-2.945939127826648},"rotation":{"radians":-0.10464295556009724}},"curvature":1.2052652707929026},{"time":1.2688726496551823,"velocity":1.9332017006123219,"acceleration":0.009457604868070684,"pose":{"translation":{"x":3.2548519653161607,"y":-2.9490500745734316},"rotation":{"radians":-0.05813409005451122}},"curvature":1.224218568147125},{"time":1.2883748434527922,"velocity":1.9333861446553202,"acceleration":0.5189248911048282,"pose":{"translation":{"x":3.2925323158428275,"y":-2.9503703174933573},"rotation":{"radians":-0.01191544278753161}},"curvature":1.223807335470161},{"time":1.3075952790542376,"velocity":1.9433601071067876,"acceleration":1.0991966768599621,"pose":{"translation":{"x":3.329786526216367,"y":-2.9499686335450903},"rotation":{"radians":0.03334194186577283}},"curvature":1.2016858341687053},{"time":1.326479326885518,"velocity":1.9641173897285955,"acceleration":2.1343655146269414,"pose":{"translation":{"x":3.366624684966906,"y":-2.9479305233627633},"rotation":{"radians":0.07691890116861287}},"curvature":1.156368064440539},{"time":1.362926417664806,"velocity":2.0419088033963853,"acceleration":3.9095237409562387,"pose":{"translation":{"x":3.4391256155227214,"y":-2.9393748756216835},"rotation":{"radians":0.1560414058130983}},"curvature":0.9947288856148682},{"time":1.3972633972613944,"velocity":2.1761500403219776,"acceleration":3.999999999999994,"pose":{"translation":{"x":3.5102497967677877,"y":-2.925748645461284},"rotation":{"radians":0.21949727649079642}},"curvature":0.7429730640101241},{"time":1.4294838190647423,"velocity":2.305031727535369,"acceleration":0.22065136164371593,"pose":{"translation":{"x":3.5803294847013536,"y":-2.9084098072739795},"rotation":{"radians":0.2615832463253078}},"curvature":0.40983081553824},{"time":1.4607341339866649,"velocity":2.311927152074686,"acceleration":-3.999999999999994,"pose":{"translation":{"x":3.649824389615416,"y":-2.8890516008503515},"rotation":{"radians":0.27682744807020576}},"curvature":-6.574334333449415E-15},{"time":1.4928622591264098,"velocity":2.1834146515157062,"acceleration":-4.0,"pose":{"translation":{"x":3.719143976305568,"y":-2.8688135784245756},"rotation":{"radians":0.2981153824684162}},"curvature":0.5668454483126553},{"time":1.5272504263767868,"velocity":2.045861982514198,"acceleration":-3.181200904241525,"pose":{"translation":{"x":3.788071664640002,"y":-2.8456411966686197},"rotation":{"radians":0.35560842854164015}},"curvature":0.9868429618755858},{"time":1.5644650621369118,"velocity":1.927474749583069,"acceleration":-1.3014754765644343,"pose":{"translation":{"x":3.856290372802871,"y":-2.8171400214215874},"rotation":{"radians":0.4389732811876805}},"curvature":1.2370264218302234},{"time":1.584173131650419,"velocity":1.9018251804208122,"acceleration":-0.3472530508766169,"pose":{"translation":{"x":3.8900558407948953,"y":-2.8002950800990623},"rotation":{"radians":0.4868965961444355}},"curvature":1.2953359514465475},{"time":1.6044180038613067,"velocity":1.8947950867809742,"acceleration":0.43767728027806957,"pose":{"translation":{"x":3.9235595092498197,"y":-2.781468250780155},"rotation":{"radians":0.5371246065754158}},"curvature":1.311593199063805},{"time":1.625099907438833,"velocity":1.9038470860897592,"acceleration":1.0732833605899317,"pose":{"translation":{"x":3.956782330426911,"y":-2.7605090921022257},"rotation":{"radians":0.5883507904746575}},"curvature":1.2906824807115989},{"time":1.6461357557089078,"velocity":1.926424512013925,"acceleration":1.5702839891960731,"pose":{"translation":{"x":3.989709332158752,"y":-2.7372967003787565},"rotation":{"radians":0.6394047306225001}},"curvature":1.2393834545469233},{"time":1.6674618836026134,"velocity":1.9599125891969584,"acceleration":1.9365536955004274,"pose":{"translation":{"x":4.022329441584075,"y":-2.711738459139357},"rotation":{"radians":0.6892956003494375}},"curvature":1.1654705502192892},{"time":1.689034665410832,"velocity":2.0016894395298883,"acceleration":2.181238641486069,"pose":{"translation":{"x":4.0546353088806,"y":-2.6837687886697696},"rotation":{"radians":0.7372359620714081}},"curvature":1.076730218514809},{"time":1.7108290034173455,"velocity":2.049228091755304,"acceleration":2.316813704308123,"pose":{"translation":{"x":4.086623130997874,"y":-2.6533478955518763},"rotation":{"radians":0.7826444610714953}},"curvature":0.9801521267648189},{"time":1.7328351601153813,"velocity":2.1002122571724655,"acceleration":2.343466619709854,"pose":{"translation":{"x":4.118292475390102,"y":-2.620460522203702},"rotation":{"radians":0.8251307617762429}},"curvature":0.8814331650527095},{"time":1.777491632571169,"velocity":2.2048632097265966,"acceleration":2.177251881686885,"pose":{"translation":{"x":4.180689795736567,"y":-2.547340480909376},"rotation":{"radians":0.9005639438166444}},"curvature":0.693104208568629},{"time":1.8230924065293486,"velocity":2.3041475806334213,"acceleration":1.8932183960146558,"pose":{"translation":{"x":4.241884521494657,"y":-2.4647298033741154},"rotation":{"radians":0.9631158536830213}},"curvature":0.5302467327653507},{"time":1.8696975559508637,"velocity":2.3923813068672457,"acceleration":1.5939948288348014,"pose":{"translation":{"x":4.30197655121515,"y":-2.3732621721239315},"rotation":{"radians":1.013519528507835}},"curvature":0.3968599855625972},{"time":1.917292884953873,"velocity":2.4682480151747335,"acceleration":1.3362508744648118,"pose":{"translation":{"x":4.361102789875718,"y":-2.273843798903708},"rotation":{"radians":1.052954033665949}},"curvature":0.28979417764509013},{"time":1.9657569057327744,"velocity":2.5330081053206213,"acceleration":1.1432610886548626,"pose":{"translation":{"x":4.419431508331701,"y":-2.167613409957389},"rotation":{"radians":1.0826287510633683}},"curvature":0.20347628626262262},{"time":2.0148551045666365,"velocity":2.5891401655704156,"acceleration":1.0429113503431118,"pose":{"translation":{"x":4.477156702766871,"y":-2.0559022313081625},"rotation":{"radians":1.1035783416116167}},"curvature":0.13215197360007674},{"time":2.0395371247859306,"velocity":2.6148813246065155,"acceleration":0.9997776659683337,"pose":{"translation":{"x":4.505859248449665,"y":-1.9984501432631379},"rotation":{"radians":1.111034607310751}},"curvature":0.10046802454047683},{"time":2.064244710814845,"velocity":2.6395834172982156,"acceleration":0.9748619402506012,"pose":{"translation":{"x":4.534492454144217,"y":-1.9401939740386471},"rotation":{"radians":1.1165782232145405}},"curvature":0.07064407703228859},{"time":2.0889222086264243,"velocity":2.6636405706953417,"acceleration":0.9687337360641526,"pose":{"translation":{"x":4.563085292815041,"y":-1.8813364483955834},"rotation":{"radians":1.120261202193365}},"curvature":0.042130481886882884},{"time":2.113509733082618,"velocity":2.687459335122359,"acceleration":0.04774369697712376,"pose":{"translation":{"x":4.591667287656704,"y":-1.8220848195710793},"rotation":{"radians":1.1221172097853307}},"curvature":0.014402359615025248},{"time":2.1380475647291304,"velocity":2.6886308619209656,"acceleration":-0.9661239712606897,"pose":{"translation":{"x":4.620268335826653,"y":-1.762649618818509},"rotation":{"radians":1.1221614609530348}},"curvature":-0.013051227239736568},{"time":2.1626873512276674,"velocity":2.6648257735379834,"acceleration":-0.9687438167395689,"pose":{"translation":{"x":4.648918532178056,"y":-1.703243404947497},"rotation":{"radians":1.1203905332544986}},"curvature":-0.04073903383475936},{"time":2.187480022870393,"velocity":2.6408080261836386,"acceleration":-0.9906869753379939,"pose":{"translation":{"x":4.677647992992641,"y":-1.644079513863923},"rotation":{"radians":1.1167820493250438}},"curvature":-0.06918006738831696},{"time":2.212364863088297,"velocity":2.6161549390963943,"acceleration":-1.0315965693305627,"pose":{"translation":{"x":4.706486679713526,"y":-1.5853708081099276},"rotation":{"radians":1.111294205527813}},"curvature":-0.09891656197587569},{"time":2.2372847010724786,"velocity":2.590447719723639,"acceleration":-1.0915679877803104,"pose":{"translation":{"x":4.735464222678061,"y":-1.5273284264039177},"rotation":{"radians":1.103865146412684}},"curvature":-0.1305273676307557},{"time":2.262186652144784,"velocity":2.5632655470998387,"acceleration":-1.2202722120688452,"pose":{"translation":{"x":4.764609744850662,"y":-1.4701605331805732},"rotation":{"radians":1.0944122099587776}},"curvature":-0.1646415124004655},{"time":2.311762412288361,"velocity":2.5027696246044417,"acceleration":-1.458917852105889,"pose":{"translation":{"x":4.82351762421009,"y":-1.3592584957419953},"rotation":{"radians":1.0689950911444916}},"curvature":-0.2432248340179177},{"time":2.360776891931777,"velocity":2.4312615252409815,"acceleration":-1.7735178413265602,"pose":{"translation":{"x":4.883426455896275,"y":-1.2542230081173016},"rotation":{"radians":1.033936098820851}},"curvature":-0.3411561151687865},{"time":2.409037259927403,"velocity":2.345670901571754,"acceleration":-2.1382996935053753,"pose":{"translation":{"x":4.944532978948307,"y":-1.1564847646503345},"rotation":{"radians":0.9877637942633403}},"curvature":-0.46622411001878084},{"time":2.4564828550702673,"velocity":2.244218000019586,"acceleration":-2.484861574180905,"pose":{"translation":{"x":5.00700889279066,"y":-1.0673068269858512},"rotation":{"radians":0.9286940332613262}},"curvature":-0.6268261674349407},{"time":2.503184996019324,"velocity":2.128169644543295,"acceleration":-2.6679413322014693,"pose":{"translation":{"x":5.070995216683971,"y":-0.9877446093497122},"rotation":{"radians":0.854825160976123}},"curvature":-0.8293081846277126},{"time":2.526308641259117,"velocity":2.066477115656887,"acceleration":-2.7080260937500067,"pose":{"translation":{"x":5.103589073707475,"y":-0.9518325865242976},"rotation":{"radians":0.8118229022847722}},"curvature":-0.9462081769278703},{"time":2.5493197565302337,"velocity":2.0041624150564146,"acceleration":-2.660479699781728,"pose":{"translation":{"x":5.136596649175816,"y":-0.9186058638290764},"rotation":{"radians":0.7646115711107891}},"curvature":-1.071593225666483},{"time":2.5722422937854645,"velocity":1.943177470021382,"acceleration":-2.5072659322175683,"pose":{"translation":{"x":5.170024429893414,"y":-0.8881201481507954},"rotation":{"radians":0.7132010001994235}},"curvature":-1.2020888684352353},{"time":2.595091896666377,"velocity":1.885887439153369,"acceleration":-2.236385614176108,"pose":{"translation":{"x":5.203875927551474,"y":-0.8604106656525663},"rotation":{"radians":0.6577600582919632}},"curvature":-1.3323664163969589},{"time":2.617870117365165,"velocity":1.8349465540660712,"acceleration":-1.8437000890260242,"pose":{"translation":{"x":5.238151502460813,"y":-0.8354909113138489},"rotation":{"radians":0.5986617750691549}},"curvature":-1.4550385879575962},{"time":2.640559065501047,"velocity":1.7931149383680394,"acceleration":-1.3329875180079902,"pose":{"translation":{"x":5.272848187284705,"y":-0.8133513984704752},"rotation":{"radians":0.5365200631052477}},"curvature":-1.5609863640684114},{"time":2.6631176765008067,"velocity":1.763044591481762,"acceleration":-0.7140691028049952,"pose":{"translation":{"x":5.3079595107717115,"y":-0.7939584083546447},"rotation":{"radians":0.47220713710904033}},"curvature":-1.6402521493692803},{"time":2.6854807810913877,"velocity":1.7470757894508318,"acceleration":5.373064278557823E-4,"pose":{"translation":{"x":5.343475321488523,"y":-0.7772527396349385},"rotation":{"radians":0.4068413716174573}},"curvature":-1.6834553626077875},{"time":2.70756165842929,"velocity":1.747087653648158,"acceleration":0.7997410133736073,"pose":{"translation":{"x":5.379381611552789,"y":-0.7631484579563175},"rotation":{"radians":0.34174048424877757}},"curvature":-1.6834229711364854},{"time":2.7292577837758283,"velocity":1.7644389349190794,"acceleration":1.6784329315797863,"pose":{"translation":{"x":5.4156603403659656,"y":-0.7515316454801342},"rotation":{"radians":0.27834419106247876}},"curvature":-1.6365169087683678},{"time":2.750458374355258,"velocity":1.8000227043165342,"acceleration":2.64290263747286,"pose":{"translation":{"x":5.452289258346137,"y":-0.7422591504241249},"rotation":{"radians":0.2181206770890145}},"curvature":-1.543151481403918},{"time":2.7710516265796588,"velocity":1.8544486649345466,"acceleration":3.7184791665357473,"pose":{"translation":{"x":5.489241730660867,"y":-0.7351573366024433},"rotation":{"radians":0.16247758442712731}},"curvature":-1.4072788274711938},{"time":2.790929612767323,"velocity":1.9283645424460605,"acceleration":3.9999999999999942,"pose":{"translation":{"x":5.526486560960026,"y":-0.7300208329656366},"rotation":{"radians":0.11269737340483904}},"curvature":-1.2350314818355845},{"time":2.810076772006498,"velocity":2.004953179402761,"acceleration":3.9999999999999885,"pose":{"translation":{"x":5.563987815108632,"y":-0.7266112831406697},"rotation":{"radians":0.06990935264276173}},"curvature":-1.0330014675776638},{"time":2.846487742311175,"velocity":2.1505970606214695,"acceleration":3.9999999999999827,"pose":{"translation":{"x":5.639591111887009,"y":-0.7238471900562002},"rotation":{"radians":0.009157452065793301}},"curvature":-0.5592429554377706},{"time":2.8807677203726167,"velocity":2.2877169728672353,"acceleration":3.9999999999999885,"pose":{"translation":{"x":5.715662694066858,"y":-0.7242509824131926},"rotation":{"radians":-0.012689674155841997}},"curvature":-2.276974572111265E-16},{"time":2.9133336708700956,"velocity":2.41798077485715,"acceleration":3.8993120069578424,"pose":{"translation":{"x":5.792277541505938,"y":-0.7253521158711884},"rotation":{"radians":-0.017602135458342417}},"curvature":-0.12079328615762679},{"time":2.9452702452897785,"velocity":2.5425114429529225,"acceleration":-0.5140705979143422,"pose":{"translation":{"x":5.871466225013714,"y":-0.7272138147197462},"rotation":{"radians":-0.03033543948035731}},"curvature":-0.19117939260506955},{"time":2.978380119500617,"velocity":2.5254906301204882,"acceleration":0.19704208183935062,"pose":{"translation":{"x":5.955303485692755,"y":-0.7304696044342914},"rotation":{"radians":-0.0475974811794969}},"curvature":-0.21326912080805968},{"time":3.0140454868649598,"velocity":2.5325182083555235,"acceleration":0.47551511589752754,"pose":{"translation":{"x":6.045354043972488,"y":-0.7356225656004269},"rotation":{"radians":-0.06658055000827812}},"curvature":-0.20411269238197333},{"time":3.052461324812303,"velocity":2.550785519989355,"acceleration":0.5157342819103928,"pose":{"translation":{"x":6.142710490828136,"y":-0.7430542924332953},"rotation":{"radians":-0.08540756092407506}},"curvature":-0.18054772341396075},{"time":3.0937633270630918,"velocity":2.572086378461627,"acceleration":0.45440104662218905,"pose":{"translation":{"x":6.248031178999643,"y":-0.7530338512969401},"rotation":{"radians":-0.10305792518034719}},"curvature":-0.15349217332311507},{"time":3.13801119654279,"velocity":2.592192656664004,"acceleration":0.36520863545275456,"pose":{"translation":{"x":6.36157811421061,"y":-0.765726739223667},"rotation":{"radians":-0.1191097792683723}},"curvature":-0.12836187663157855},{"time":3.1851724172751967,"velocity":2.609416341733972,"acceleration":0.30010507437299977,"pose":{"translation":{"x":6.483254846387214,"y":-0.7812038424334051},"rotation":{"radians":-0.13349503778814847}},"curvature":-0.10714242403851733},{"time":3.2098058619140777,"velocity":2.6168089634693867,"acceleration":0.2607646322361547,"pose":{"translation":{"x":6.547023055224614,"y":-0.7899849612047464},"rotation":{"radians":-0.14009437212085032}},"curvature":-0.09812044440852187},{"time":3.235110333475559,"velocity":2.6234074746900466,"acceleration":0.2253574492640533,"pose":{"translation":{"x":6.612644360877146,"y":-0.7994503948530691},"rotation":{"radians":-0.14632759868961492}},"curvature":-0.09011054719333782},{"time":3.261053956894156,"velocity":2.629254063488329,"acceleration":0.1938896835306266,"pose":{"translation":{"x":6.68002276482599,"y":-0.8095863842055369},"rotation":{"radians":-0.15222056960915675}},"curvature":-0.0830469975999675},{"time":3.287599104220936,"velocity":2.634400893702792,"acceleration":0.16612796434517224,"pose":{"translation":{"x":6.749046969668532,"y":-0.8203749366359196},"rotation":{"radians":-0.15780041848148624}},"curvature":-0.07685480897933535},{"time":3.3147027307338734,"velocity":2.638903564001758,"acceleration":0.14171439806924022,"pose":{"translation":{"x":6.819591563218962,"y":-0.8317941060183246},"rotation":{"radians":-0.163094631923225}},"curvature":-0.07145742249944124},{"time":3.342316751827083,"velocity":2.6428168683792537,"acceleration":0.12023825559697994,"pose":{"translation":{"x":6.8915182026088635,"y":-0.8438182726809252},"rotation":{"radians":-0.16813044369759708}},"curvature":-0.06678145167351271},{"time":3.3703884498651084,"velocity":2.646192160382991,"acceleration":0.10127821049563411,"pose":{"translation":{"x":6.964676798387804,"y":-0.8564184233596923},"rotation":{"radians":-0.17293446632985782}},"curvature":-0.06275945547386351},{"time":3.398860902810913,"velocity":2.649075799465763,"acceleration":0.08442508799331082,"pose":{"translation":{"x":7.0389066986239275,"y":-0.8695624311521235},"rotation":{"radians":-0.1775324957231354}},"curvature":-0.059331431162029914},{"time":3.42767342855088,"velocity":2.6515082994866694,"acceleration":0.06929199879676216,"pose":{"translation":{"x":7.114037873004548,"y":-0.8832153354709729},"rotation":{"radians":-0.18194944091991044}},"curvature":-0.05644551154302256},{"time":3.4567620405011583,"velocity":2.6535239075509276,"acceleration":0.05551642814409977,"pose":{"translation":{"x":7.189892096936736,"y":-0.8973396219979822},"rotation":{"radians":-0.18620934420894336}},"curvature":-0.054058201387558055},{"time":3.4860599113630695,"velocity":2.655150420693408,"acceleration":0.042757190247290695,"pose":{"translation":{"x":7.266284135647914,"y":-0.9118955026376099},"rotation":{"radians":-0.19033546686051736}},"curvature":-0.05213438244803169},{"time":3.5154978428780574,"velocity":2.656409103931681,"acceleration":0.030687982790668752,"pose":{"translation":{"x":7.343022928286448,"y":-0.9268411954707615},"rotation":{"radians":-0.1943504234955944}},"curvature":-0.05064724498981306},{"time":3.545004740185041,"velocity":2.657314611088444,"acceleration":0.018988441841856343,"pose":{"translation":{"x":7.419912772022237,"y":-0.9421332047085197},"rotation":{"radians":-0.19827635400700516}},"curvature":-0.049578257295939905},{"time":3.5745080899636106,"velocity":2.657874833729854,"acceleration":0.007332985809591595,"pose":{"translation":{"x":7.496754506147306,"y":-0.9577266006458743},"rotation":{"radians":-0.20213512651918544}},"curvature":-0.048917256609775875},{"time":3.603934442004761,"velocity":2.6580906167518,"acceleration":-0.0046227471527746965,"pose":{"translation":{"x":7.573346696176397,"y":-0.9735752996154524},"rotation":{"radians":-0.20594856848008433}},"curvature":-0.04866273086467649},{"time":3.63320989422572,"velocity":2.6579552837383993,"acceleration":-0.017258498543737816,"pose":{"translation":{"x":7.64948681794756,"y":-0.9896323439412483},"rotation":{"radians":-0.20973872593561738}},"curvature":-0.04882235738751879},{"time":3.662260581469423,"velocity":2.6574539124949093,"acceleration":-0.03101010959002584,"pose":{"translation":{"x":7.724972441722746,"y":-1.0058501818923535},"rotation":{"radians":-0.2135281535975678}},"curvature":-0.04941387102701307},{"time":3.691013168729732,"velocity":2.6565622916129703,"acceleration":-0.046395986169316734,"pose":{"translation":{"x":7.799602416288396,"y":-1.022180947636687},"rotation":{"radians":-0.21734024069269534}},"curvature":-0.05046634954422066},{"time":3.719395349743603,"velocity":2.6552454723351957,"acceleration":-0.06405163512261311,"pose":{"translation":{"x":7.873178053056035,"y":-1.0385767411947249},"rotation":{"radians":-0.22119957995910522}},"curvature":-0.05202202947482086},{"time":3.7473363522125003,"velocity":2.653455805440098,"acceleration":-0.0847755554124752,"pose":{"translation":{"x":7.945504310162864,"y":-1.054989908393231},"rotation":{"radians":-0.22513238970542188}},"curvature":-0.0541388031361439},{"time":3.7747674512788314,"velocity":2.651130318781175,"acceleration":-0.10959109811695456,"pose":{"translation":{"x":8.01639097657235,"y":-1.0713733208189864},"rotation":{"radians":-0.22916700173354324}},"curvature":-0.056893600579454466},{"time":3.8016224933091296,"velocity":2.6481872452350976,"acceleration":-0.13983076807690756,"pose":{"translation":{"x":8.085653856174812,"y":-1.08768065577252},"rotation":{"radians":-0.23333443131318518}},"curvature":-0.060386934517548216},{"time":3.8278384325458297,"velocity":2.6445214503157723,"acceleration":-1.1568155207665392,"pose":{"translation":{"x":8.153115951888026,"y":-1.1038666762218377},"rotation":{"radians":-0.23766904945747588}},"curvature":-0.06474898949960903},{"time":3.8534778436314663,"velocity":2.6148613816285944,"acceleration":-4.0,"pose":{"translation":{"x":8.218608649757805,"y":-1.1198875107561534},"rotation":{"radians":-0.2422093826556346}},"curvature":-0.0701477800901862},{"time":3.8789496746906367,"velocity":2.5129740573919124,"acceleration":-4.0,"pose":{"translation":{"x":8.281972903058591,"y":-1.1357009335396184},"rotation":{"radians":-0.2469990711262459}},"curvature":-0.0768001021852474},{"time":3.9045571671169275,"velocity":2.4105440876867488,"acceleration":-4.0,"pose":{"translation":{"x":8.34306041639406,"y":-1.151266644265052},"rotation":{"radians":-0.25208802365767646}},"curvature":-0.08498627818755597},{"time":3.9560069014439905,"velocity":2.204745150378497,"acceleration":-4.000000000000004,"pose":{"translation":{"x":8.457872902833376,"y":-1.181505035678819},"rotation":{"radians":-0.26340338162904636}},"curvature":-0.10752572470571559},{"time":4.007466175194661,"velocity":1.9989080553758145,"acceleration":-4.0,"pose":{"translation":{"x":8.562119768312051,"y":-1.2103294313551027},"rotation":{"radians":-0.2767411525532667}},"curvature":-0.14223501009472606},{"time":4.058551062004285,"velocity":1.7945685081373213,"acceleration":-4.0,"pose":{"translation":{"x":8.655122475771833,"y":-1.2375153031489559},"rotation":{"radians":-0.29291340507534885}},"curvature":-0.1968788367761173},{"time":4.108867193942804,"velocity":1.593303980383243,"acceleration":-4.000000000000003,"pose":{"translation":{"x":8.736488183078821,"y":-1.2628958069321987},"rotation":{"radians":-0.31306285658625393}},"curvature":-0.2851553045640966},{"time":4.158038055579324,"velocity":1.3966205338371642,"acceleration":-3.999999999999999,"pose":{"translation":{"x":8.80614763424241,"y":-1.2863707411127785},"rotation":{"radians":-0.3387947245466619}},"curvature":-0.4311712095040265},{"time":4.251946086841262,"velocity":1.0209884087894092,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":8.91191602220702,"y":-1.3275900580945525},"rotation":{"radians":-0.41613199399893885}},"curvature":-1.0726923089316405},{"time":4.297030804462844,"velocity":0.840649538303081,"acceleration":-4.000000000000001,"pose":{"translation":{"x":8.949845398713652,"y":-1.3455478770665368},"rotation":{"radians":-0.47224425108266377}},"curvature":-1.6445518078874937},{"time":4.342644564308154,"velocity":0.6581944989218432,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":8.979785180925965,"y":-1.3620449158161596},"rotation":{"radians":-0.5380883424188071}},"curvature":-2.1725103276233},{"time":4.394104802322147,"velocity":0.4523535468658705,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":9.003852411853748,"y":-1.3774485632224316},"rotation":{"radians":-0.5992830870703788}},"curvature":-1.873061657711529},{"time":4.507193189038615,"velocity":0.0,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":9.024715067963651,"y":-1.392246601816658},"rotation":{"radians":-0.6265274304107226}},"curvature":-1.8102372071911029E-13}] \ No newline at end of file diff --git a/src/main/deploy/paths/GSC_ARED_save.wpilib.json b/src/main/deploy/paths/GSC_ARED_save.wpilib.json new file mode 100644 index 0000000..ea59742 --- /dev/null +++ b/src/main/deploy/paths/GSC_ARED_save.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":1.4479129034336145,"y":-1.621096952908587},"rotation":{"radians":-0.700496369947726}},"curvature":0.0},{"time":0.22951275676366784,"velocity":0.9180510270546716,"acceleration":3.9999999999999987,"pose":{"translation":{"x":1.528022393146572,"y":-1.6895188648066843},"rotation":{"radians":-0.7180201944949473}},"curvature":-0.2711376454115812},{"time":0.3333513068167475,"velocity":1.3334052272669903,"acceleration":3.9999999999999982,"pose":{"translation":{"x":1.6147862857876842,"y":-1.7678529485166665},"rotation":{"radians":-0.7501778979058678}},"curvature":-0.24754753216574096},{"time":0.3791087552561887,"velocity":1.516435021024755,"acceleration":3.999999999999997,"pose":{"translation":{"x":1.6621513584797847,"y":-1.8126601171109857},"rotation":{"radians":-0.7645164561529635}},"curvature":-0.19140055323046565},{"time":0.42301696528473537,"velocity":1.6920678611389415,"acceleration":3.999999999999997,"pose":{"translation":{"x":1.712694193104451,"y":-1.861723225350832},"rotation":{"radians":-0.7758746591783232}},"curvature":-0.1322359711082662},{"time":0.4657265244777114,"velocity":1.8629060979108454,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.766654407934799,"y":-1.915122537145723},"rotation":{"radians":-0.7837863132895679}},"curvature":-0.07798072287072641},{"time":0.5075442723743152,"velocity":2.030177089497261,"acceleration":4.0,"pose":{"translation":{"x":1.8241617743127132,"y":-1.9727320890774975},"rotation":{"radians":-0.7881471708271921}},"curvature":-0.03089314041720269},{"time":0.5485846777923438,"velocity":2.194338711169375,"acceleration":4.000000000000004,"pose":{"translation":{"x":1.8852461041998465,"y":-2.034242252597226},"rotation":{"radians":-0.7890131045321896}},"curvature":0.009516982472095183},{"time":0.5888505689833085,"velocity":2.355402275933234,"acceleration":3.9999999999999956,"pose":{"translation":{"x":1.9498471377286177,"y":-2.0991822962221205},"rotation":{"radians":-0.7864792780113644}},"curvature":0.04480356871867952},{"time":0.6282799250634651,"velocity":2.5131197002538603,"acceleration":2.470984357643828,"pose":{"translation":{"x":2.017824430753212,"y":-2.1669429477324442},"rotation":{"radians":-0.7806139805290817}},"curvature":0.07678977439556485},{"time":0.6672088443709562,"velocity":2.6093124509226495,"acceleration":-0.6279618043700567,"pose":{"translation":{"x":2.0889672424005785,"y":-2.236798956368423},"rotation":{"radians":-0.7714242547765326}},"curvature":0.10726957698467908},{"time":0.7067449040306286,"velocity":2.5844853155610794,"acceleration":-0.6336023590980688,"pose":{"translation":{"x":2.16300442262143,"y":-2.307931655027153},"rotation":{"radians":-0.7588380285262286}},"curvature":0.13794886033098994},{"time":0.7475002417352326,"velocity":2.558662637445604,"acceleration":-0.673061130216421,"pose":{"translation":{"x":2.2396142997412403,"y":-2.379451522459514},"rotation":{"radians":-0.7426937776299146}},"curvature":0.17049001351445267},{"time":0.7891810808378079,"velocity":2.5306088847708557,"acceleration":-0.744290819999808,"pose":{"translation":{"x":2.318434568011246,"y":-2.4504207454670768},"rotation":{"radians":-0.722733014999284}},"curvature":0.2065953720414248},{"time":0.8314998080951853,"velocity":2.499111444559114,"acceleration":-0.8469282153904631,"pose":{"translation":{"x":2.399072175159441,"y":-2.5198757810990142},"rotation":{"radians":-0.6985936998150911}},"curvature":0.24809874206755533},{"time":0.8741863753640727,"velocity":2.4629589863209302,"acceleration":-0.9807312057078731,"pose":{"translation":{"x":2.481113209941581,"y":-2.586849918849012},"rotation":{"radians":-0.6698047777871081}},"curvature":0.2970443563916405},{"time":0.9169995392813184,"velocity":2.420970780452201,"acceleration":-1.1433504886688937,"pose":{"translation":{"x":2.5641327896921755,"y":-2.650395842852178},"rotation":{"radians":-0.6357842188192524}},"curvature":0.35572560472611486},{"time":0.9597372990535107,"velocity":2.3721065419320513,"acceleration":-1.3270600628588485,"pose":{"translation":{"x":2.6477049478754933,"y":-2.7096081940819525},"rotation":{"radians":-0.5958457789751919}},"curvature":0.4266321212808832},{"time":1.0022453264503877,"velocity":2.315695836422746,"acceleration":-1.5144165256200628,"pose":{"translation":{"x":2.731412521636557,"y":-2.7636461325470174},"rotation":{"radians":-0.5492238752627361}},"curvature":0.5122106033970761},{"time":1.044421379238445,"velocity":2.251823725095088,"acceleration":-1.6737773334024908,"pose":{"translation":{"x":2.814857039352143,"y":-2.811755899488208},"rotation":{"radians":-0.49513168397770213}},"curvature":0.6142843652971994},{"time":1.0862127321653565,"velocity":2.1818743058337993,"acceleration":-1.7572016807983803,"pose":{"translation":{"x":2.897668608181781,"y":-2.853293379575423},"rotation":{"radians":-0.43287392626293425}},"curvature":0.7329264443787755},{"time":1.1276029639283578,"velocity":2.109143321011219,"acceleration":-1.7044517448294627,"pose":{"translation":{"x":2.979515801618751,"y":-2.887746663104533},"rotation":{"radians":-0.3620388701698671}},"curvature":0.8646314866832681},{"time":1.1685850098861124,"velocity":2.039291401271843,"acceleration":-1.455140508106484,"pose":{"translation":{"x":3.0601155470410863,"y":-2.914758608194293},"rotation":{"radians":-0.2827846325916954}},"curvature":0.999966983078942},{"time":1.2091207893471485,"velocity":1.9803061465504181,"acceleration":-1.1180344391454933,"pose":{"translation":{"x":3.139243013262567,"y":-2.9341494029832473},"rotation":{"radians":-0.1961989889054528}},"curvature":1.1216838009269492},{"time":1.2292087817944977,"velocity":1.9578470791809872,"acceleration":-0.8082914329555762,"pose":{"translation":{"x":3.1782027405843847,"y":-2.940984718901152},"rotation":{"radians":-0.15083842410371875}},"curvature":1.16995625398118},{"time":1.2491370048601962,"velocity":1.9417392672029554,"acceleration":-0.4325962834922173,"pose":{"translation":{"x":3.2167414980837217,"y":-2.945939127826648},"rotation":{"radians":-0.10464295556009724}},"curvature":1.2052652707929026},{"time":1.2688726496551823,"velocity":1.9332017006123219,"acceleration":0.009457604868070684,"pose":{"translation":{"x":3.2548519653161607,"y":-2.9490500745734316},"rotation":{"radians":-0.05813409005451122}},"curvature":1.224218568147125},{"time":1.2883748434527922,"velocity":1.9333861446553202,"acceleration":0.5189248911048282,"pose":{"translation":{"x":3.2925323158428275,"y":-2.9503703174933573},"rotation":{"radians":-0.01191544278753161}},"curvature":1.223807335470161},{"time":1.3075952790542376,"velocity":1.9433601071067876,"acceleration":1.0991966768599621,"pose":{"translation":{"x":3.329786526216367,"y":-2.9499686335450903},"rotation":{"radians":0.03334194186577283}},"curvature":1.2016858341687053},{"time":1.326479326885518,"velocity":1.9641173897285955,"acceleration":2.1343655146269414,"pose":{"translation":{"x":3.366624684966906,"y":-2.9479305233627633},"rotation":{"radians":0.07691890116861287}},"curvature":1.156368064440539},{"time":1.362926417664806,"velocity":2.0419088033963853,"acceleration":3.9095237409562387,"pose":{"translation":{"x":3.4391256155227214,"y":-2.9393748756216835},"rotation":{"radians":0.1560414058130983}},"curvature":0.9947288856148682},{"time":1.3972633972613944,"velocity":2.1761500403219776,"acceleration":3.999999999999994,"pose":{"translation":{"x":3.5102497967677877,"y":-2.925748645461284},"rotation":{"radians":0.21949727649079642}},"curvature":0.7429730640101241},{"time":1.4294838190647423,"velocity":2.305031727535369,"acceleration":0.7625638169084232,"pose":{"translation":{"x":3.5803294847013536,"y":-2.9084098072739795},"rotation":{"radians":0.2615832463253078}},"curvature":0.40983081553824},{"time":1.4606205094194393,"velocity":2.3287754409781423,"acceleration":-3.999999999999994,"pose":{"translation":{"x":3.649824389615416,"y":-2.8890516008503515},"rotation":{"radians":0.27682744807020576}},"curvature":-6.574334333449415E-15},{"time":1.4924860685745223,"velocity":2.2013132043578105,"acceleration":-3.999999999999994,"pose":{"translation":{"x":3.7191168334665563,"y":-2.8688510395977085},"rotation":{"radians":0.2969771130588146}},"curvature":0.5380655493333714},{"time":1.526456216190677,"velocity":2.0654326138931918,"acceleration":-3.4591784359343336,"pose":{"translation":{"x":3.7878665698461287,"y":-2.845926848828036},"rotation":{"radians":0.35168267143213383}},"curvature":0.9482475012596806},{"time":1.563056023447712,"velocity":1.9388273498703033,"acceleration":-1.6504741037642574,"pose":{"translation":{"x":3.855637704851754,"y":-2.818057946154039},"rotation":{"radians":0.4318221526402853}},"curvature":1.2117109360080924},{"time":1.582399249547891,"velocity":1.9069018561087012,"acceleration":-0.707883826997163,"pose":{"translation":{"x":3.889050136224767,"y":-2.8017167963671032},"rotation":{"radians":0.4783610329899899}},"curvature":1.2836705620694222},{"time":1.602254639783792,"velocity":1.8928465464819895,"acceleration":0.08799745821014364,"pose":{"translation":{"x":3.9221034482869794,"y":-2.783537578798773},"rotation":{"radians":0.5275241122030111}},"curvature":1.3161206159791643},{"time":1.6225250238039552,"velocity":1.8946302887527073,"acceleration":0.754643183084235,"pose":{"translation":{"x":3.9547725006058756,"y":-2.7633811948092473},"rotation":{"radians":0.5780815625367176}},"curvature":1.3119757453933498},{"time":1.643125621309797,"velocity":1.9101763892279529,"acceleration":1.2999660638745476,"pose":{"translation":{"x":3.987037951454745,"y":-2.7411360296113334},"rotation":{"radians":0.6288937244525602}},"curvature":1.2761791044470803},{"time":1.6639872425837472,"velocity":1.9372957889214917,"acceleration":1.7280580011152509,"pose":{"translation":{"x":4.018886002743726,"y":-2.7167167868334374},"rotation":{"radians":0.678957257671746}},"curvature":1.2151088936942396},{"time":1.6850579809567756,"velocity":1.9737072469564094,"acceleration":2.0432086462609362,"pose":{"translation":{"x":4.050308144950854,"y":-2.6900633230825552},"rotation":{"radians":0.7274375854153489}},"curvature":1.1357531888146144},{"time":1.7063030657812255,"velocity":2.0171153879602723,"acceleration":2.2523951529977237,"pose":{"translation":{"x":4.081300902053104,"y":-2.6611394825072625},"rotation":{"radians":0.7736834476923362}},"curvature":1.0448924083661209},{"time":1.727703018445183,"velocity":2.065316537614951,"acceleration":2.383329867637414,"pose":{"translation":{"x":4.111865576457441,"y":-2.629931931360706},"rotation":{"radians":0.8172239214501507}},"curvature":0.9484742602819877},{"time":1.7709352861810945,"velocity":2.168353292555646,"acceleration":2.326187091244204,"pose":{"translation":{"x":4.171738248536445,"y":-2.560719480267184},"rotation":{"radians":0.8950975759115376}},"curvature":0.7567424114663739},{"time":1.8148039486895848,"velocity":2.270400008993045,"acceleration":2.1079330501642635,"pose":{"translation":{"x":4.2300224564230815,"y":-2.482731455312211},"rotation":{"radians":0.9600876650216809}},"curvature":0.5840054144281305},{"time":1.8593517032329063,"velocity":2.3643036931055175,"acceleration":1.8384740975122131,"pose":{"translation":{"x":4.28687462581931,"y":-2.3965639077105303},"rotation":{"radians":1.0125503486168421}},"curvature":0.4382261532892894},{"time":1.9045723284903673,"velocity":2.447440641314666,"acceleration":1.5893468600064176,"pose":{"translation":{"x":4.342503150687307,"y":-2.3030661603971017},"rotation":{"radians":1.0534459244047543}},"curvature":0.31849769114503845},{"time":1.9503700754107478,"velocity":2.5202291465779414,"acceleration":1.3978299466010486,"pose":{"translation":{"x":4.3971602310429345,"y":-2.2033035140427963},"rotation":{"radians":1.0838704202599745}},"curvature":0.22015788278000034},{"time":1.996547269640585,"velocity":2.584777011522421,"acceleration":1.2805808572590776,"pose":{"translation":{"x":4.451133710749215,"y":-2.0985199530700935},"rotation":{"radians":1.1048015942336122}},"curvature":0.13758498549837622},{"time":2.042809228165423,"velocity":2.6440191900286423,"acceleration":1.1880989199161418,"pose":{"translation":{"x":4.504738915309796,"y":-1.9901008516687757},"rotation":{"radians":1.116980309536974}},"curvature":0.06534758837643116},{"time":2.08880110297388,"velocity":2.6986620868134885,"acceleration":-1.2239809008504559,"pose":{"translation":{"x":4.558310489662427,"y":-1.8795356798116245},"rotation":{"radians":1.1208627009428138}},"curvature":-0.0015301514431691414},{"time":2.1350597425353466,"velocity":2.6420423954909285,"acceleration":-1.2213385279631865,"pose":{"translation":{"x":4.612194235972426,"y":-1.7683807092701154},"rotation":{"radians":1.116602631430669}},"curvature":-0.06770576267196145},{"time":2.182096978394951,"velocity":2.584594007086702,"acceleration":-1.3034009413131509,"pose":{"translation":{"x":4.666738951426154,"y":-1.6582217196301148},"rotation":{"radians":1.104042930750993}},"curvature":-0.13781326396931742},{"time":2.229510466154438,"velocity":2.5227952225100467,"acceleration":-1.4613652685873553,"pose":{"translation":{"x":4.722288266024482,"y":-1.5506367043075753},"rotation":{"radians":1.082706844833629}},"curvature":-0.21679457797692803},{"time":2.2769691292100998,"velocity":2.453440780626913,"acceleration":-1.6843797878369362,"pose":{"translation":{"x":4.779172480376264,"y":-1.4471585765642307},"rotation":{"radians":1.0517912451543183}},"curvature":-0.3101706187439396},{"time":2.3242334534817775,"velocity":2.3738297081379285,"acceleration":-1.9482572826514486,"pose":{"translation":{"x":4.837700403491804,"y":-1.3492378755232908},"rotation":{"radians":1.010174646649677}},"curvature":-0.42408199215887776},{"time":2.3711710757851976,"velocity":2.282383143654947,"acceleration":-2.201865805376949,"pose":{"translation":{"x":4.898151190576335,"y":-1.258205472185142},"rotation":{"radians":0.9564704198250794}},"curvature":-0.5647346801646764},{"time":2.4177606622885843,"velocity":2.179799126246488,"acceleration":-2.35764246853998,"pose":{"translation":{"x":4.96076618082348,"y":-1.175235275443034},"rotation":{"radians":0.8891819793224583}},"curvature":-0.7365624809155475},{"time":2.4640729061183357,"velocity":2.070611413380087,"acceleration":-2.349424564381998,"pose":{"translation":{"x":5.025740735208731,"y":-1.1013069380987845},"rotation":{"radians":0.8070475088219725}},"curvature":-0.9381564080822836},{"time":2.487169864411439,"velocity":2.0163468522037635,"acceleration":-2.2485222596991474,"pose":{"translation":{"x":5.059159318420953,"y":-1.0679773134849726},"rotation":{"radians":0.7602307971131759}},"curvature":-1.0464670685561108},{"time":2.5102426856696187,"velocity":1.9644671000106873,"acceleration":-2.0618189025170963,"pose":{"translation":{"x":5.093216074282914,"y":-1.0371685628784715},"rotation":{"radians":0.7096671092646087}},"curvature":-1.155612772318561},{"time":2.5332957715352213,"velocity":1.9169358118116384,"acceleration":-1.7837505642257658,"pose":{"translation":{"x":5.127918856810107,"y":-1.008931900876405},"rotation":{"radians":0.655591134514462}},"curvature":-1.2607958824010053},{"time":2.5563220409480243,"velocity":1.8758626907545368,"acceleration":-1.4147199145271636,"pose":{"translation":{"x":5.163271115965662,"y":-0.9832994084481252},"rotation":{"radians":0.5984094472736576}},"curvature":-1.3559807351824626},{"time":2.5792996477344223,"velocity":1.8433558128456453,"acceleration":-0.9609406947719368,"pose":{"translation":{"x":5.199271642591404,"y":-0.9602828674982056},"rotation":{"radians":0.5387197890392248}},"curvature":-1.434320776366171},{"time":2.6021901508249217,"velocity":1.8213593969021815,"acceleration":-0.4332178383919709,"pose":{"translation":{"x":5.235914313338887,"y":-0.9398725954294296},"rotation":{"radians":0.4773134631943718}},"curvature":-1.4889174085451056},{"time":2.6249387596014158,"velocity":1.8115042937816042,"acceleration":0.1550517880831413,"pose":{"translation":{"x":5.273187835600446,"y":-0.9220362797057742},"rotation":{"radians":0.4151555770962507}},"curvature":-1.513808555474247},{"time":2.647476847678291,"velocity":1.814998864637899,"acceleration":0.7903011166566517,"pose":{"translation":{"x":5.311075492440246,"y":-0.9067178124154132},"rotation":{"radians":0.3533421554421522}},"curvature":-1.5049513467494327},{"time":2.669726297405533,"velocity":1.8325826296023344,"acceleration":1.461446705487579,"pose":{"translation":{"x":5.349554887525319,"y":-0.8938361248336975},"rotation":{"radians":0.2930391699010231}},"curvature":-1.4608968037346202},{"time":2.691604635269171,"velocity":1.8645566543946925,"acceleration":2.1628743515362667,"pose":{"translation":{"x":5.388597690056619,"y":-0.8832840219861504},"rotation":{"radians":0.2354141396548497}},"curvature":-1.3829179383653092},{"time":2.713029618492235,"velocity":1.910896201089952,"acceleration":2.89812683671561,"pose":{"translation":{"x":5.428169379700063,"y":-0.8749270172114563},"rotation":{"radians":0.18157369300217588}},"curvature":-1.2745357653661795},{"time":2.7339220834143623,"velocity":1.9714452143659091,"acceleration":4.0,"pose":{"translation":{"x":5.4682289915175755,"y":-0.8686021667244543},"rotation":{"radians":0.13251904478454476}},"curvature":-1.1405977022343696},{"time":2.7737621555514513,"velocity":2.130805502914266,"acceleration":4.000000000000027,"pose":{"translation":{"x":5.549614368488843,"y":-0.8612478752315638},"rotation":{"radians":0.05215385117577065}},"curvature":-0.8156414555712903},{"time":2.8112526359225836,"velocity":2.280767424398795,"acceleration":3.9999999999999893,"pose":{"translation":{"x":5.632287516765783,"y":-0.8593041681428568},"rotation":{"radians":9.645843004168417E-5}},"curvature":-0.435690661445774},{"time":2.8467087476270563,"velocity":2.422591871216685,"acceleration":3.9999999999999893,"pose":{"translation":{"x":5.7156626940668565,"y":-0.8603241641435297},"rotation":{"radians":-0.018516402068010234}},"curvature":-4.292020515681124E-15},{"time":2.8803818048721967,"velocity":2.5572841001972475,"acceleration":-0.6398194460990052,"pose":{"translation":{"x":5.799489182587205,"y":-0.8620290689954421},"rotation":{"radians":-0.023849169270953388}},"curvature":-0.1209049350609413},{"time":2.914030827162227,"velocity":2.535754801393867,"acceleration":-0.8003761705021523,"pose":{"translation":{"x":5.885137671733772,"y":-0.8646272912229728},"rotation":{"radians":-0.03793138991379943}},"curvature":-0.19991271437164182},{"time":2.949333604960253,"velocity":2.5074992992917946,"acceleration":-0.11057512246816371,"pose":{"translation":{"x":5.9740575880037925,"y":-0.8688566091351309},"rotation":{"radians":-0.05766886370138292}},"curvature":-0.2369444192134324},{"time":2.986645518797556,"velocity":2.5033735298497133,"acceleration":0.26001355411618005,"pose":{"translation":{"x":6.0673182158442795,"y":-0.8752953172764935},"rotation":{"radians":-0.0802731929666876}},"curvature":-0.24242160197640789},{"time":3.026006887444467,"velocity":2.513608019206474,"acceleration":0.41501727058415433,"pose":{"translation":{"x":6.165637630351599,"y":-0.8843734411662566},"rotation":{"radians":-0.10364420507617646}},"curvature":-0.2288677816677467},{"time":3.067425729539898,"velocity":2.5307975540036756,"acceleration":0.44514279317679395,"pose":{"translation":{"x":6.269411629971035,"y":-0.8963839520372882},"rotation":{"radians":-0.12641072357499944}},"curvature":-0.2063498800081566},{"time":3.1108705885624444,"velocity":2.550136719898144,"acceleration":0.4134181583905964,"pose":{"translation":{"x":6.378742669196361,"y":-0.9114939815751795},"rotation":{"radians":-0.14779776226305902}},"curvature":-0.18137889798597423},{"time":3.1562582234888574,"velocity":2.5689007923431264,"acceleration":0.35756039192664596,"pose":{"translation":{"x":6.493468791269406,"y":-0.9297560366572989},"rotation":{"radians":-0.16745019813715506}},"curvature":-0.1575098522030075},{"time":3.20344446235731,"velocity":2.5857727224064746,"acceleration":0.2973711089395904,"pose":{"translation":{"x":6.6131925608796145,"y":-0.9511192140918429},"rotation":{"radians":-0.18527843004393074}},"curvature":-0.13634350878983512},{"time":3.252220658648824,"velocity":2.6002773539875372,"acceleration":0.2548599785229571,"pose":{"translation":{"x":6.737309996863626,"y":-0.9754404153568892},"rotation":{"radians":-0.20134551100464357}},"curvature":-0.11836658270738674},{"time":3.27712104220105,"velocity":2.606623465204871,"acceleration":0.22881389479839764,"pose":{"translation":{"x":6.800778238407163,"y":-0.9886431068543595},"rotation":{"radians":-0.20876118807065022}},"curvature":-0.11056417826108848},{"time":3.3023125436504364,"velocity":2.6123876307673246,"acceleration":0.20475911375929232,"pose":{"translation":{"x":6.865039504904832,"y":-1.0024955613394493},"rotation":{"radians":-0.21579305372245655}},"curvature":-0.1035101161212451},{"time":3.327752347074262,"velocity":2.6175966623705977,"acceleration":0.18268214933197088,"pose":{"translation":{"x":6.929973091782888,"y":-1.0169589556238068},"rotation":{"radians":-0.22246374247784376}},"curvature":-0.0971621383216866},{"time":3.353394552625574,"velocity":2.6222810355943236,"acceleration":0.1624800213010691,"pose":{"translation":{"x":6.995450810232949,"y":-1.03199080707452},"rotation":{"radians":-0.22879632104777553}},"curvature":-0.09147507215096615},{"time":3.379190480059928,"velocity":2.6264723584333383,"acceleration":0.14399343469406728,"pose":{"translation":{"x":7.061337891358867,"y":-1.047545324074712},"rotation":{"radians":-0.234813834320029}},"curvature":-0.08640378970695511},{"time":3.405088991231843,"velocity":2.630201574010445,"acceleration":0.12702885783327905,"pose":{"translation":{"x":7.127493890323581,"y":-1.0635737564841368},"rotation":{"radians":-0.24053899686378516}},"curvature":-0.0819052208154627},{"time":3.4310368271666993,"velocity":2.633497697972495,"acceleration":0.11137227939003694,"pose":{"translation":{"x":7.1937735904959865,"y":-1.0800247460997738},"rotation":{"radians":-0.24599399692638463}},"curvature":-0.07793969926817633},{"time":3.4569789562782356,"velocity":2.6363869320238775,"acceleration":0.09679671051870926,"pose":{"translation":{"x":7.26002790759779,"y":-1.096844677116425},"rotation":{"radians":-0.2512003870952275}},"curvature":-0.07447185660460413},{"time":3.4828589311008873,"velocity":2.6388920284550172,"acceleration":0.08306488184807052,"pose":{"translation":{"x":7.326104793850375,"y":-1.1139780265873083},"rotation":{"radians":-0.2561790417861881}},"curvature":-0.07147122671703231},{"time":3.5086192515601935,"velocity":2.641031806430338,"acceleration":0.0699280595212804,"pose":{"translation":{"x":7.39185014212166,"y":-1.1313677148846542},"rotation":{"radians":-0.26095016663827814}},"curvature":-0.0689126866984704},{"time":3.5342017333371887,"velocity":2.6428207397387418,"acceleration":0.057121446585423764,"pose":{"translation":{"x":7.457108690072965,"y":-1.1489554561603001},"rotation":{"radians":-0.265533348914656}},"curvature":-0.06677683267865679},{"time":3.559547880317653,"velocity":2.6442685483196327,"acceleration":0.044356213453110804,"pose":{"translation":{"x":7.521724924305868,"y":-1.1666821088062875},"rotation":{"radians":-0.26994764130749865}},"curvature":-0.06505037222629191},{"time":3.58459926047658,"velocity":2.645379732685257,"acceleration":0.03130777404559445,"pose":{"translation":{"x":7.585543984509068,"y":-1.1844880259154555},"rotation":{"radians":-0.2742116742843115}},"curvature":-0.06372660600524124},{"time":3.6092978848524178,"velocity":2.646152991636453,"acceleration":0.017599443644329797,"pose":{"translation":{"x":7.648412567605249,"y":-1.2023134057420375},"rotation":{"radians":-0.27834379444772483}},"curvature":-0.0628060700885947},{"time":3.633586589532714,"velocity":2.6465804593256674,"acceleration":0.0027800175686249658,"pose":{"translation":{"x":7.7101798318979355,"y":-1.2200986421622553},"rotation":{"radians":-0.2823622284479186}},"curvature":-0.06229741663704182},{"time":3.6574094208194827,"velocity":2.646646687215179,"acceleration":-2.26244883837303,"pose":{"translation":{"x":7.770698301218362,"y":-1.2377846751349155},"rotation":{"radians":-0.2862852739143426}},"curvature":-0.062218625276703535},{"time":3.7043775093520215,"velocity":2.5403837898741353,"acceleration":-3.999999999999996,"pose":{"translation":{"x":7.887421202787056,"y":-1.2726277237492862},"rotation":{"radians":-0.2939201084086852}},"curvature":-0.06347974102411873},{"time":3.751447347784403,"velocity":2.3521044361446104,"acceleration":-4.000000000000004,"pose":{"translation":{"x":7.997503131096046,"y":-1.3063943104099187},"rotation":{"radians":-0.3014054672356044}},"curvature":-0.06699965438822059},{"time":3.799050929282944,"velocity":2.1616901101504453,"acceleration":-4.000000000000003,"pose":{"translation":{"x":8.099977658772463,"y":-1.338667360741039},"rotation":{"radians":-0.308918325013355}},"curvature":-0.07352866601894396},{"time":3.846889113510352,"velocity":1.9703373732408154,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":8.194019004985444,"y":-1.3690721819053828},"rotation":{"radians":-0.31667059409865544}},"curvature":-0.0843828158690897},{"time":3.894634392242438,"velocity":1.7793562583124698,"acceleration":-4.0,"pose":{"translation":{"x":8.278970968145675,"y":-1.3972876773432485},"rotation":{"radians":-0.3249312763501885}},"curvature":-0.10186902884830452},{"time":3.9419330204124727,"velocity":1.5901617456323307,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":8.354375858604975,"y":-1.423057561511548},"rotation":{"radians":-0.33405952421514695}},"curvature":-0.13009975660473608},{"time":3.9884123260717144,"velocity":1.4042445229953633,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":8.420003431355855,"y":-1.4462015746228596},"rotation":{"radians":-0.34455379616598064}},"curvature":-0.1765664604380705},{"time":4.033699565232763,"velocity":1.223095566351169,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":8.47587981873109,"y":-1.4666266973844815},"rotation":{"radians":-0.3571211513247998}},"curvature":-0.25510824097124235},{"time":4.119525318189704,"velocity":0.8797925545234038,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":8.55993904958444,"y":-1.4994516855957574},"rotation":{"radians":-0.3927631039184545}},"curvature":-0.6247763021653867},{"time":4.200317495021154,"velocity":0.5566238471976067,"acceleration":-4.000000000000001,"pose":{"translation":{"x":8.612989599215991,"y":-1.5229593417821303},"rotation":{"radians":-0.44931397448429544}},"curvature":-1.4131329108042676},{"time":4.3394734568205555,"velocity":0.0,"acceleration":-4.000000000000001,"pose":{"translation":{"x":8.647421245893195,"y":-1.5406900727952086},"rotation":{"radians":-0.49319565690269473}},"curvature":2.429487148843113E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/GSC_BBLUE.wpilib.json b/src/main/deploy/paths/GSC_BBLUE.wpilib.json index fdb030c..a6b13cf 100644 --- a/src/main/deploy/paths/GSC_BBLUE.wpilib.json +++ b/src/main/deploy/paths/GSC_BBLUE.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":1.269,"y":-2.2890925723120525},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.20435758868011714,"velocity":0.9196091490605272,"acceleration":4.5,"pose":{"translation":{"x":1.3629643016445885,"y":-2.2893103944706956},"rotation":{"radians":-0.006812956111740921}},"curvature":-0.13877359685177978},{"time":0.28993251105538087,"velocity":1.304696299749214,"acceleration":4.500000000000001,"pose":{"translation":{"x":1.4581257550445312,"y":-2.290752713507232},"rotation":{"radians":-0.025060484554979143}},"curvature":-0.23730130890580617},{"time":0.35685430231552256,"velocity":1.6058443604198516,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.555445808529343,"y":-2.294424553635101},"rotation":{"radians":-0.051289497974816016}},"curvature":-0.29454998256755044},{"time":0.414701020480846,"velocity":1.866154592163807,"acceleration":4.500000000000001,"pose":{"translation":{"x":1.6556451559491294,"y":-2.3011061134114748},"rotation":{"radians":-0.08224650966729875}},"curvature":-0.31673693450149515},{"time":0.4671577852230866,"velocity":2.10221003350389,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.759221750858245,"y":-2.3113688247127024},"rotation":{"radians":-0.1152104981566855}},"curvature":-0.31319367973664736},{"time":0.5160611145982958,"velocity":2.3222750156923313,"acceleration":3.518011213276345,"pose":{"translation":{"x":1.8664688206989495,"y":-2.325591411709762},"rotation":{"radians":-0.14811854262230786}},"curvature":-0.2932340865896913},{"time":0.5628614380693437,"velocity":2.486919078448438,"acceleration":0.5166556787196223,"pose":{"translation":{"x":1.9774928809850667,"y":-2.3439759498437036},"rotation":{"radians":-0.17954262655070544}},"curvature":-0.26444654793227335},{"time":0.6096564613332183,"velocity":2.5110959929535355,"acceleration":0.5156301303086892,"pose":{"translation":{"x":2.092231749485642,"y":-2.3665639248011012},"rotation":{"radians":-0.2085845908225702}},"curvature":-0.23218429738308038},{"time":0.6576914494949114,"velocity":2.5358642801587257,"acceleration":0.4880849623721894,"pose":{"translation":{"x":2.2104725604085993,"y":-2.393252291489498},"rotation":{"radians":-0.23474407742550304}},"curvature":-0.19977083626630754},{"time":0.7068245401728496,"velocity":2.5598454028734965,"acceleration":0.4603102680773271,"pose":{"translation":{"x":2.3318697785843985,"y":-2.423809533012855},"rotation":{"radians":-0.2577937271948001}},"curvature":-0.16898517253093975},{"time":0.7317474551231079,"velocity":2.5713176765355183,"acceleration":0.4408363705945416,"pose":{"translation":{"x":2.3936122170467415,"y":-2.4404354558123287},"rotation":{"radians":-0.2681303121226664}},"curvature":-0.15446075319209848},{"time":0.7568743906999252,"velocity":2.5823945436193654,"acceleration":0.4219253886023397,"pose":{"translation":{"x":2.455963213649694,"y":-2.4578917196469994},"rotation":{"radians":-0.27767714538514177}},"curvature":-0.14055939071773224},{"time":0.7821767406327731,"velocity":2.5930702474473346,"acceleration":0.4042909175480123,"pose":{"translation":{"x":2.5188502851758097,"y":-2.476120403472609},"rotation":{"radians":-0.2864414039186245}},"curvature":-0.12727387574481538},{"time":0.8076234859475642,"velocity":2.603358135459262,"acceleration":0.3884722711760075,"pose":{"translation":{"x":2.5821960342309906,"y":-2.495058567815071},"rotation":{"radians":-0.29443270508490726}},"curvature":-0.11457407862211672},{"time":0.8331813156079606,"velocity":2.613286643593766,"acceleration":0.37488250803609546,"pose":{"translation":{"x":2.6459187121877195,"y":-2.5146387566134565},"rotation":{"radians":-0.30166188242616654}},"curvature":-0.1024127287087712},{"time":0.8588147811487522,"velocity":2.6228961814453546,"acceleration":0.3638495428230286,"pose":{"translation":{"x":2.7099327821283037,"y":-2.5347894990629714},"rotation":{"radians":-0.30813998809455245}},"curvature":-0.09072976288917144},{"time":0.8844864790965713,"velocity":2.6322368170071595,"acceleration":0.35565124975485024,"pose":{"translation":{"x":2.774149481788112,"y":-2.555435811457946},"rotation":{"radians":-0.31387748207661353}},"curvature":-0.07945547496706996},{"time":0.9101572557731352,"velocity":2.641366660814357,"acceleration":0.3505457059999167,"pose":{"translation":{"x":2.8384773864988144,"y":-2.5764996990348106},"rotation":{"radians":-0.3188835727268857}},"curvature":-0.06851267525130007},{"time":0.9357864298768771,"velocity":2.650350857744748,"acceleration":0.34879783415485865,"pose":{"translation":{"x":2.9028229721316228,"y":-2.5979006578150847},"rotation":{"radians":-0.3231656778484156}},"curvature":-0.05781804055588371},{"time":0.961332028999282,"velocity":2.659261107390831,"acceleration":0.3507037351521598,"pose":{"translation":{"x":2.967091178040528,"y":-2.619556176448355},"rotation":{"radians":-0.3267289802512446}},"curvature":-0.04728280442952603},{"time":0.9867510369330031,"velocity":2.6681756484170496,"acceleration":0.3566139959903874,"pose":{"translation":{"x":3.0311859700055415,"y":-2.641382238055261},"rotation":{"radians":-0.3295760561942765}},"curvature":-0.036812909005094555},{"time":1.0119996492659173,"velocity":2.6771796569543023,"acceleration":0.3669572367877348,"pose":{"translation":{"x":3.0950109031759316,"y":-2.663293822070476},"rotation":{"radians":-0.3317065593067031}},"curvature":-0.02630871535479161},{"time":1.037033535335215,"velocity":2.6863660226123507,"acceleration":0.38226514260578986,"pose":{"translation":{"x":3.1584696850134666,"y":-2.6852054060856907},"rotation":{"radians":-0.33311694651723955}},"curvature":-0.015664349819855514},{"time":1.0618081051526513,"velocity":2.69583647707661,"acceleration":-0.061802577209971926,"pose":{"translation":{"x":3.2214667382356517,"y":-2.707031467692597},"rotation":{"radians":-0.3338002362848454}},"curvature":-0.004766750321263912},{"time":1.0863304539268688,"velocity":2.6943209327231217,"acceleration":-0.42033621845358027,"pose":{"translation":{"x":3.2839077637589673,"y":-2.728686986325867},"rotation":{"radians":-0.3337457931695628}},"curvature":0.006505529912781947},{"time":1.11064747029562,"velocity":2.684099610018607,"acceleration":-0.4438039674388638,"pose":{"translation":{"x":3.3457003036421114,"y":-2.750087945106141},"rotation":{"radians":-0.33293913670235825}},"curvature":0.018283702116408458},{"time":1.1347577630195294,"velocity":2.6733993664516236,"acceleration":-0.4734251860162698,"pose":{"translation":{"x":3.406754304029236,"y":-2.771151832683006},"rotation":{"radians":-0.3313617768554115}},"curvature":0.030710234265257926},{"time":1.158623900717124,"velocity":2.66210053577265,"acceleration":-0.5314391455481072,"pose":{"translation":{"x":3.4669826780931885,"y":-2.79179814507798},"rotation":{"radians":-0.32899108348435324}},"curvature":0.043940359671177535},{"time":1.2054895022768597,"velocity":2.637194320524146,"acceleration":-0.6351178815263123,"pose":{"translation":{"x":3.584632412745872,"y":-2.8315290763258805},"rotation":{"radians":-0.32175804552995707}},"curvature":0.07350413590370672},{"time":1.2509900958384834,"velocity":2.6082960799330976,"acceleration":-0.7743404046969253,"pose":{"translation":{"x":3.698033545399923,"y":-2.8686959244939523},"rotation":{"radians":-0.31097500440999876}},"curvature":0.10851405732174603},{"time":1.2949225639614117,"velocity":2.5742773947874547,"acceleration":-0.9509957971390847,"pose":{"translation":{"x":3.806653614681527,"y":-2.902778111128097},"rotation":{"radians":-0.2963158217872372}},"curvature":0.15073462282005684},{"time":1.3371386311402937,"velocity":2.5341300923285965,"acceleration":-1.158380512712848,"pose":{"translation":{"x":3.910061674226955,"y":-2.933335352651454},"rotation":{"radians":-0.27741306458357634}},"curvature":0.2020196836103305},{"time":1.3775483611585198,"velocity":2.4873202485514962,"acceleration":-1.3711311906155506,"pose":{"translation":{"x":4.007946306866221,"y":-2.9600237193398513},"rotation":{"radians":-0.2539039682608815}},"curvature":0.2639060998817675},{"time":1.4161176289204676,"velocity":2.4344367225238868,"acceleration":-1.5302974527045867,"pose":{"translation":{"x":4.100133638806737,"y":-2.9826116942972494},"rotation":{"radians":-0.22552195574057715}},"curvature":0.33668558221833333},{"time":1.452855978424291,"velocity":2.378216119861615,"acceleration":-1.525912818298825,"pose":{"translation":{"x":4.186605353816975,"y":-3.00099623243119},"rotation":{"radians":-0.1922607217927194}},"curvature":0.4176071785863158},{"time":1.487790995384911,"velocity":2.3249083296739177,"acceleration":-1.1824807522799627,"pose":{"translation":{"x":4.26751670741012,"y":-3.01521881942825},"rotation":{"radians":-0.15463933918577316}},"curvature":0.4979509625117019},{"time":1.5209275922203598,"velocity":2.2857249417199386,"acceleration":-0.2495993475175316,"pose":{"translation":{"x":4.3432145410277325,"y":-3.025481530729478},"rotation":{"radians":-0.1140766702167826}},"curvature":0.5593965834421362},{"time":1.552198331427021,"velocity":2.277919785617565,"acceleration":1.6136768694888919,"pose":{"translation":{"x":4.4142552962233985,"y":-3.0321630905058528},"rotation":{"radians":-0.07331762183761525}},"curvature":0.571888755382016},{"time":1.581426210700907,"velocity":2.3250841383460488,"acceleration":-1.9316999336769676,"pose":{"translation":{"x":4.481423028846393,"y":-3.035834930633721},"rotation":{"radians":-0.036729974851668595}},"curvature":0.4976799342742537},{"time":1.6094241997378893,"velocity":2.2710004247802216,"acceleration":-4.500000000000011,"pose":{"translation":{"x":4.54574742322534,"y":-3.0372772496702596},"rotation":{"radians":-0.010156314141851384}},"curvature":0.3064655586833123},{"time":1.6378676456146164,"velocity":2.1430049183349498,"acceleration":-4.5,"pose":{"translation":{"x":4.608521806351861,"y":-3.037495071828902},"rotation":{"radians":-7.105427357601027E-15}},"curvature":-1.0658141036401579E-14},{"time":1.6678772449052504,"velocity":2.0079617215270966,"acceleration":-4.500000000000007,"pose":{"translation":{"x":4.6708050084267425,"y":-3.03710512499384},"rotation":{"radians":0.01860681820657924}},"curvature":0.5879457600706645},{"time":1.6994332832334236,"velocity":1.8659595490503167,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":4.7318732485963775,"y":-3.0345230294897068},"rotation":{"radians":0.07161768269924192}},"curvature":1.1491248953628224},{"time":1.7324950827905528,"velocity":1.717181451043235,"acceleration":-4.499999999999992,"pose":{"translation":{"x":4.790739894601254,"y":-3.0279494195624483},"rotation":{"radians":0.15641143486400413}},"curvature":1.7167991434073027},{"time":1.749678574338174,"velocity":1.63985573907894,"acceleration":-4.5,"pose":{"translation":{"x":4.819103625800021,"y":-3.022714302905144},"rotation":{"radians":0.20995989519947614}},"curvature":1.994850429863765},{"time":1.7674023773512644,"velocity":1.5600986255200329,"acceleration":-3.475426301803034,"pose":{"translation":{"x":4.846651863938099,"y":-3.0159872966310006},"rotation":{"radians":0.2702780028202267}},"curvature":2.2551228885241748},{"time":1.7856867032398116,"velocity":1.496552798416238,"acceleration":-2.4425424569676437,"pose":{"translation":{"x":4.873324161885563,"y":-3.007651931352518},"rotation":{"radians":0.3365685182828857}},"curvature":2.4819326245592466},{"time":1.8044401960459053,"velocity":1.4507465960209167,"acceleration":-1.4129480788363296,"pose":{"translation":{"x":4.899072533016873,"y":-2.9976132936795397},"rotation":{"radians":0.40773754251122285}},"curvature":2.6577490467507534},{"time":1.82354658103678,"velocity":1.4237502660545531,"acceleration":-0.39656573481424123,"pose":{"translation":{"x":4.923860917122034,"y":-2.9857971282315114},"rotation":{"radians":0.4824009120491493}},"curvature":2.7666666568121188},{"time":1.8428708236858222,"velocity":1.416086933568707,"acceleration":0.5924771331060456,"pose":{"translation":{"x":4.947664646317754,"y":-2.9721489396497374},"rotation":{"radians":0.5589511261544343}},"curvature":2.798341369828785},{"time":1.8622704138060528,"velocity":1.4275807471065736,"acceleration":1.5362249111823325,"pose":{"translation":{"x":4.970469910958594,"y":-2.956633094609639},"rotation":{"radians":0.635679115971466}},"curvature":2.7509616701524178},{"time":1.8816099055097146,"velocity":1.4572905560313427,"acceleration":2.4125579392197736,"pose":{"translation":{"x":4.992273225548132,"y":-2.939231923833014},"rotation":{"radians":0.710925561058243}},"curvature":2.6319548694923487},{"time":1.9007746577086926,"velocity":1.5035266311021664,"acceleration":3.1961179051675455,"pose":{"translation":{"x":5.013080894650113,"y":-2.919944824100292},"rotation":{"radians":0.7832247776971262}},"curvature":2.456104842719741},{"time":1.9196801322442407,"velocity":1.563950756770921,"acceleration":3.86149466796702,"pose":{"translation":{"x":5.032908478799603,"y":-2.898787360262795},"rotation":{"radians":0.8514077608525783}},"curvature":2.241966257314006},{"time":1.9382749983164707,"velocity":1.6357547329603979,"acceleration":4.3881365557705925,"pose":{"translation":{"x":5.051780260414153,"y":-2.875790367254994},"rotation":{"radians":0.9146475428257351}},"curvature":2.008068537497109},{"time":1.956538511261447,"velocity":1.7158975217510382,"acceleration":4.500000000000021,"pose":{"translation":{"x":5.069728709704949,"y":-2.8509990521067654},"rotation":{"radians":0.9724498193740853}},"curvature":1.7701251324317657},{"time":1.974497833171433,"velocity":1.7967144703459748,"acceleration":4.499999999999946,"pose":{"translation":{"x":5.086793950587968,"y":-2.8244720959556533},"rotation":{"radians":1.0246052486927568}},"curvature":1.5397027921895188},{"time":1.9922097344010388,"velocity":1.8764180258792005,"acceleration":4.500000000000016,"pose":{"translation":{"x":5.103023226595136,"y":-2.7962807560591227},"rotation":{"radians":1.0711235412421602}},"curvature":1.3241390899088163},{"time":2.027039099500089,"velocity":2.0331501688249265,"acceleration":4.500000000000006,"pose":{"translation":{"x":5.133195251656302,"y":-2.735247446732834},"rotation":{"radians":1.1479856239146995}},"curvature":0.9500366901266798},{"time":2.061180370961796,"velocity":2.186785890402609,"acceleration":4.5000000000000115,"pose":{"translation":{"x":5.160744830086744,"y":-2.6686865810518876},"rotation":{"radians":1.2051652613299138}},"curvature":0.6515627522788956},{"time":2.094598354366545,"velocity":2.3371668157239784,"acceleration":4.499999999999983,"pose":{"translation":{"x":5.186251739253912,"y":-2.597529362643551},"rotation":{"radians":1.2450659436344433}},"curvature":0.41449245462796486},{"time":2.1271651785816603,"velocity":2.4837175246919965,"acceleration":4.500000000000005,"pose":{"translation":{"x":5.210358397851398,"y":-2.5228220062306232},"rotation":{"radians":1.2697279864902644}},"curvature":0.2205611048277515},{"time":2.15871293655367,"velocity":2.6256824355660418,"acceleration":-0.43399682431432945,"pose":{"translation":{"x":5.233752775055926,"y":-2.4456970020236906},"rotation":{"radians":1.2805950649584303}},"curvature":0.052731625746743525},{"time":2.189936566575135,"velocity":2.6121314792931605,"acceleration":-3.8444739935079286,"pose":{"translation":{"x":5.257151299684339,"y":-2.36734438011338},"rotation":{"radians":1.2784666044696689}},"curvature":-0.10382292780203377},{"time":2.2220863488991585,"velocity":2.4885324772515114,"acceleration":-3.6436127408027006,"pose":{"translation":{"x":5.281281769350595,"y":-2.288982974862615},"rotation":{"radians":1.2635168633911613}},"curvature":-0.26227406928120295},{"time":2.2555700564081653,"velocity":2.366530813962383,"acceleration":-3.6474370205264544,"pose":{"translation":{"x":5.306866259622749,"y":-2.2118316892988705},"rotation":{"radians":1.2353345071447597}},"curvature":-0.43490914073874876},{"time":2.2901846305405305,"velocity":2.2402763348222363,"acceleration":-3.720734125247477,"pose":{"translation":{"x":5.334604033179953,"y":-2.137080759506426},"rotation":{"radians":1.1929837467711306}},"curvature":-0.63335945620232},{"time":2.3258310084946636,"velocity":2.107645639926823,"acceleration":-3.7230190358828676,"pose":{"translation":{"x":5.365154448969436,"y":-2.0658630190186216},"rotation":{"radians":1.13512711015489}},"curvature":-0.867439081372425},{"time":2.3625063504884003,"velocity":1.9711026435366277,"acceleration":-3.5978494255073254,"pose":{"translation":{"x":5.399119871363501,"y":-1.9992251632101117},"rotation":{"radians":1.0602922999717295}},"curvature":-1.1413323432637474},{"time":2.3812576132794194,"velocity":1.9036384234764219,"acceleration":-3.4144119913752173,"pose":{"translation":{"x":5.4175516584998675,"y":-1.9679201593089384},"rotation":{"radians":1.0161342408239469}},"curvature":-1.2911622659374515},{"time":2.400293128034064,"velocity":1.8386433336361638,"acceleration":-3.1409250438212366,"pose":{"translation":{"x":5.437028579316512,"y":-1.9380990136891207},"rotation":{"radians":0.9674020532592332}},"curvature":-1.4459075237068721},{"time":2.419616505573305,"velocity":1.7779500531919483,"acceleration":-2.772767272991174,"pose":{"translation":{"x":5.457602288869746,"y":-1.9098555405900375},"rotation":{"radians":0.9141684996498864}},"curvature":-1.6006260491128752},{"time":2.4392221363793745,"velocity":1.7235882017265314,"acceleration":-2.3122671346697996,"pose":{"translation":{"x":5.4793176755218855,"y":-1.8832727826896956},"rotation":{"radians":0.8566580585863859}},"curvature":-1.7484551462577334},{"time":2.4590910177475958,"velocity":1.6776460403361404,"acceleration":-1.7683974398996485,"pose":{"translation":{"x":5.5022123268523995,"y":-1.858422113116991},"rotation":{"radians":0.7952811589516963}},"curvature":-1.8808576898142475},{"time":2.4791875459297934,"velocity":1.6421073913478708,"acceleration":-1.1555007891345028,"pose":{"translation":{"x":5.526315995569077,"y":-1.8353623374639638},"rotation":{"radians":0.7306565439407765}},"curvature":-1.9883599947187383},{"time":2.4994582431803765,"velocity":1.6186845846785154,"acceleration":-0.49150301890976295,"pose":{"translation":{"x":5.5516500654191745,"y":-1.8141387957980597},"rotation":{"radians":0.6636129332226521}},"curvature":-2.061793439410502},{"time":2.519833191332573,"velocity":1.6086702361515808,"acceleration":0.20383348575166207,"pose":{"translation":{"x":5.578227017100577,"y":-1.7947824646743835},"rotation":{"radians":0.5951632548726437}},"curvature":-2.093842270825425},{"time":2.5402303577411303,"velocity":1.6128278616800937,"acceleration":0.9102930178497065,"pose":{"translation":{"x":5.6060498941729495,"y":-1.777309059147965},"rotation":{"radians":0.5264502750661548}},"curvature":-2.080488341279239},{"time":2.560562152622083,"velocity":1.6313357526005774,"acceleration":1.6083134238603898,"pose":{"translation":{"x":5.635111768968896,"y":-1.7617181347860051},"rotation":{"radians":0.45867025447642773}},"curvature":-2.021868543819251},{"time":2.5807427835444794,"velocity":1.6637925322150395,"acceleration":2.280224128184582,"pose":{"translation":{"x":5.6653952085051165,"y":-1.7479921896801458},"rotation":{"radians":0.39298830644526117}},"curvature":-1.9222175451222725},{"time":2.6006946508827133,"velocity":1.7092872615220185,"acceleration":2.9120391698998285,"pose":{"translation":{"x":5.696871740393558,"y":-1.736095766458718},"rotation":{"radians":0.33046209259532755}},"curvature":-1.7889066598144734},{"time":2.6203523287910735,"velocity":1.7665311895804383,"acceleration":3.4959458089019058,"pose":{"translation":{"x":5.729501318752574,"y":-1.7259745542990061},"rotation":{"radians":0.27198785532894926}},"curvature":-1.6309231291032515},{"time":2.6396634392874097,"velocity":1.8340417853853461,"acceleration":4.033278614317286,"pose":{"translation":{"x":5.763231790118082,"y":-1.717554490939508},"rotation":{"radians":0.2182759374815359}},"curvature":-1.457278978173641},{"time":2.658586576448994,"velocity":1.9103640698149562,"acceleration":4.5,"pose":{"translation":{"x":5.797998359354719,"y":-1.7107408646921827},"rotation":{"radians":0.16985517402883632}},"curvature":-1.275750508072505},{"time":2.677090264478896,"velocity":1.9936306659495147,"acceleration":4.500000000000024,"pose":{"translation":{"x":5.833723055566989,"y":-1.7054174164547136},"rotation":{"radians":0.12709992884591814}},"curvature":-1.092128755185483},{"time":2.712887945689129,"velocity":2.1547202313955642,"acceleration":4.5000000000000115,"pose":{"translation":{"x":5.9076658620027755,"y":-1.6986628926022864},"rotation":{"radians":0.05956574462857494}},"curvature":-0.7305407198054646},{"time":2.747180497139296,"velocity":2.3090367129213156,"acceleration":4.5,"pose":{"translation":{"x":5.984152631682908,"y":-1.6958957747440242},"rotation":{"radians":0.01728065430563737}},"curvature":-0.37551225168311714},{"time":2.779867833635447,"velocity":2.4561297271539946,"acceleration":-3.5983845530507703,"pose":{"translation":{"x":6.062030793016821,"y":-1.6953186883978586},"rotation":{"radians":0.0023999953920216728}},"curvature":4.520149613662385E-15},{"time":2.812346802286293,"velocity":2.3392579080617697,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.139905217844977,"y":-1.6954940785997337},"rotation":{"radians":-0.011420101366341796}},"curvature":-0.3489068894006241},{"time":2.8461474722423703,"velocity":2.1871548932594216,"acceleration":-4.499999999999994,"pose":{"translation":{"x":6.216371023286105,"y":-1.6977095174131445},"rotation":{"radians":-0.05072662900785186}},"curvature":-0.6801685828950959},{"time":2.881317191904074,"velocity":2.0288911547817547,"acceleration":-4.36813749272711,"pose":{"translation":{"x":6.290272063810509,"y":-1.7036395321842634},"rotation":{"radians":-0.11362550008268175}},"curvature":-1.0209141044707342},{"time":2.9178916445667618,"velocity":1.869128916829896,"acceleration":-3.6709992430785254,"pose":{"translation":{"x":6.360710825644809,"y":-1.7145842096542163},"rotation":{"radians":-0.1988447780691884}},"curvature":-1.3719850462288359},{"time":2.9367338676677335,"velocity":1.7999591300883124,"acceleration":-3.1417811813247614,"pose":{"translation":{"x":6.394417552358513,"y":-1.7222475186616817},"rotation":{"radians":-0.2492480619919401}},"curvature":-1.5433149970156397},{"time":2.9558868964412577,"velocity":1.7397845047222826,"acceleration":-2.554671130084568,"pose":{"translation":{"x":6.427029953075055,"y":-1.7314959368119762},"rotation":{"radians":-0.30431935369142005}},"curvature":-1.7034454921288562},{"time":2.9753072346530454,"velocity":1.6901719273561508,"acceleration":-1.9150268916129805,"pose":{"translation":{"x":6.458500352186083,"y":-1.7423985715636252},"rotation":{"radians":-0.36346354842921824}},"curvature":-1.8440451294825027},{"time":2.9949391213265484,"velocity":1.6525763364432937,"acceleration":-1.234870118996955,"pose":{"translation":{"x":6.488793774749848,"y":-1.7550061417472564},"rotation":{"radians":-0.42590666402604965}},"curvature":-1.9562116519284272},{"time":3.0147140791920126,"velocity":1.6281568318708082,"acceleration":-0.5303909731712854,"pose":{"translation":{"x":6.51788736918818,"y":-1.7693518132172525},"rotation":{"radians":-0.4907067532045363}},"curvature":-2.031842302638303},{"time":3.034553328874175,"velocity":1.617634272924898,"acceleration":0.18000360159629078,"pose":{"translation":{"x":6.545769829983456,"y":-1.7854520345034037},"rotation":{"radians":-0.5567921767866559}},"curvature":-2.0651361163781643},{"time":3.0543728095730094,"velocity":1.6212018508324564,"acceleration":0.8770022596546049,"pose":{"translation":{"x":6.572440820375579,"y":-1.8033073724625608},"rotation":{"radians":-0.6230240811294768}},"curvature":-2.053799726094612},{"time":3.0740897879209452,"velocity":1.638493685397157,"acceleration":1.541322422122588,"pose":{"translation":{"x":6.597910395058944,"y":-1.8229033479302887},"rotation":{"radians":-0.6882730767489774}},"curvature":-1.9995524466254178},{"time":3.093629537924488,"velocity":1.6686107402002872,"acceleration":2.154695229066687,"pose":{"translation":{"x":6.622198422879412,"y":-1.8442112713725183},"rotation":{"radians":-0.7514957024767347}},"curvature":-1.9077548213461193},{"time":3.1129305880008973,"velocity":1.7101986207159032,"acceleration":2.701199465758539,"pose":{"translation":{"x":6.645334009531285,"y":-1.8671890785372003},"rotation":{"radians":-0.8117964613497269}},"curvature":-1.786308614478824},{"time":3.131947548667898,"velocity":1.761567224709957,"acceleration":3.168894706197463,"pose":{"translation":{"x":6.667354920254278,"y":-1.891782166105957},"rotation":{"radians":-0.8684659427017429}},"curvature":-1.6442162490141654},{"time":3.1506512959755235,"velocity":1.8208374305391464,"acceleration":3.5513721418022817,"pose":{"translation":{"x":6.688307002530487,"y":-1.9179242273457366},"rotation":{"radians":-0.920992506563829}},"curvature":-1.49022898752402},{"time":3.1690269569108023,"velocity":1.8860962408718995,"acceleration":3.848731372202497,"pose":{"translation":{"x":6.708243608781371,"y":-1.945538087760465},"rotation":{"radians":-0.9690512401722922}},"curvature":-1.3318772313140281},{"time":3.187070510036415,"velocity":1.9555410298524476,"acceleration":4.1454773638967355,"pose":{"translation":{"x":6.727225019064712,"y":-1.9745365407426991},"rotation":{"radians":-1.0124774601830668}},"curvature":-1.174975536565014},{"time":3.2221585868426184,"velocity":2.100997857995233,"acceleration":4.361992314699109,"pose":{"translation":{"x":6.762594546323398,"y":-2.0362932513329826},"rotation":{"radians":-1.0853692960500778}},"curvature":-0.8799495136033523},{"time":3.2559845089358146,"velocity":2.248546270203366,"acceleration":4.499999999999977,"pose":{"translation":{"x":6.795014439980378,"y":-2.10232781879247},"rotation":{"radians":-1.1402649693043632}},"curvature":-0.6196784685791007},{"time":3.2885484245349783,"velocity":2.395083890399602,"acceleration":4.499999999999995,"pose":{"translation":{"x":6.825157450497,"y":-2.1716666707209242},"rotation":{"radians":-1.1783213194922086}},"curvature":-0.39279414664440937},{"time":3.3198161705730436,"velocity":2.535788747570895,"acceleration":4.499999999999983,"pose":{"translation":{"x":6.8537517494252524,"y":-2.2432559434948782},"rotation":{"radians":-1.2006579153666463}},"curvature":-0.19033081754125572},{"time":3.3497297860573245,"velocity":2.67040001725016,"acceleration":-4.463320510913272,"pose":{"translation":{"x":6.881562455710879,"y":-2.315988223120531},"rotation":{"radians":-1.2080402149213483}},"curvature":-5.125890313338524E-4},{"time":3.37964016658419,"velocity":2.5369004023553785,"acceleration":-4.5,"pose":{"translation":{"x":6.909373161996507,"y":-2.3887292860866376},"rotation":{"radians":-1.2007397303341638}},"curvature":0.18918884998466193},{"time":3.410903592528692,"velocity":2.396214985605119,"acceleration":-4.494460223579207,"pose":{"translation":{"x":6.93796746092476,"y":-2.460344840217403},"rotation":{"radians":-1.1784961952706787}},"curvature":0.39128712354798556},{"time":3.443467593752704,"velocity":2.2498573773832127,"acceleration":-4.351238851486738,"pose":{"translation":{"x":6.968110471441382,"y":-2.529727265525373},"rotation":{"radians":-1.1405560765986413}},"curvature":0.6175187352393393},{"time":3.477295337893504,"velocity":2.1026647828196094,"acceleration":-4.134506911127402,"pose":{"translation":{"x":7.000530365098362,"y":-2.5958223550643287},"rotation":{"radians":-1.085812520345364}},"curvature":0.8768051039726248},{"time":3.5123842201152735,"velocity":1.9575895567699686,"acceleration":-3.839128382917549,"pose":{"translation":{"x":7.0358998923570475,"y":-2.6576560557821756},"rotation":{"radians":-1.0131208618361698}},"curvature":1.1705161835168438},{"time":3.530427085391359,"velocity":1.8883206805793922,"acceleration":-3.543497904750792,"pose":{"translation":{"x":7.054881302640389,"y":-2.6866989915915966},"rotation":{"radians":-0.9698155050412316}},"curvature":1.3266724822728964},{"time":3.5488011083503004,"velocity":1.8232123687225403,"acceleration":-3.1632887049141196,"pose":{"translation":{"x":7.074817908891273,"y":-2.7143612093738407},"rotation":{"radians":-0.9218918215389915}},"curvature":1.4842673902726404},{"time":3.5675021885184095,"velocity":1.7640554530570673,"acceleration":-2.6982735773697124,"pose":{"translation":{"x":7.095769991167483,"y":-2.740555403816173},"rotation":{"radians":-0.8695135735749643}},"curvature":1.637543611495946},{"time":3.5865154972761606,"velocity":1.7127523444176558,"acceleration":-2.1546985914295185,"pose":{"translation":{"x":7.117790901890475,"y":-2.765204293134159},"rotation":{"radians":-0.8130035070557318}},"curvature":1.779043348157624},{"time":3.605812097956594,"velocity":1.6711739861121473,"acceleration":-1.5443316663223414,"pose":{"translation":{"x":7.140926488542348,"y":-2.788241454723318},"rotation":{"radians":-0.7528697141816699}},"curvature":1.9000947586193109},{"time":3.6253469289242823,"velocity":1.641005728052492,"acceleration":-0.8829345096759766,"pose":{"translation":{"x":7.165214516362816,"y":-2.8096121608107727},"rotation":{"radians":-0.6898167512556476}},"curvature":1.9917668680066969},{"time":3.645058954917893,"velocity":1.6236013000471032,"acceleration":-0.18864084899824332,"pose":{"translation":{"x":7.19068409104618,"y":-2.829274214106908},"rotation":{"radians":-0.6247343054850386}},"curvature":2.04620322097228},{"time":3.664873932876028,"velocity":1.6198633857821991,"acceleration":0.5193797134504484,"pose":{"translation":{"x":7.217355081438304,"y":-2.8471987834570176},"rotation":{"radians":-0.558659695266923}},"curvature":2.0580470003918907},{"time":3.6847095786132233,"velocity":1.6301656177812882,"acceleration":1.2219165263784757,"pose":{"translation":{"x":7.245237542233581,"y":-2.863371239492964},"rotation":{"radians":-0.49271662135430055}},"curvature":2.0255352792343384},{"time":3.704482168432807,"velocity":1.6543260720511404,"acceleration":1.9006581354187664,"pose":{"translation":{"x":7.274331136671913,"y":-2.877791990284821},"rotation":{"radians":-0.4280394667174199}},"curvature":1.9508781980974899},{"time":3.7241130935993203,"velocity":1.6916377496746708,"acceleration":2.539500709296893,"pose":{"translation":{"x":7.304624559235679,"y":-2.8904773169925377},"rotation":{"radians":-0.36569715977229783}},"curvature":1.8397728285912878},{"time":3.743533864257673,"velocity":1.7409568105366504,"acceleration":3.126484259564567,"pose":{"translation":{"x":7.336094958346705,"y":-2.901460209517588},"rotation":{"radians":-0.3066308906575395}},"curvature":1.7002201468227465},{"time":3.7626885445711706,"velocity":1.8008436170337911,"acceleration":3.6562687586422133,"pose":{"translation":{"x":7.368707359063248,"y":-2.9107912021546136},"rotation":{"radians":-0.2516156785943241}},"curvature":1.5410410961012233},{"time":3.7815333482107274,"velocity":1.8697452838438493,"acceleration":4.355517244164319,"pose":{"translation":{"x":7.402414085776953,"y":-2.9185392092430953},"rotation":{"radians":-0.2012490479326785}},"curvature":1.3705153200169853},{"time":3.8181141923416617,"velocity":2.0290737812622206,"acceleration":4.499999999999982,"pose":{"translation":{"x":7.472852847611253,"y":-2.9296588382663935},"rotation":{"radians":-0.11605831710096154}},"curvature":1.0205444245047175},{"time":3.8532876914035983,"velocity":2.1873545270409354,"acceleration":4.5000000000000115,"pose":{"translation":{"x":7.5467538881356555,"y":-2.9357697669626837},"rotation":{"radians":-0.053152440513937846}},"curvature":0.6802920269667051},{"time":3.8870878630327783,"velocity":2.3394552993722466,"acceleration":4.5,"pose":{"translation":{"x":7.623219693576784,"y":-2.9381702281302204},"rotation":{"radians":-0.01382875646779824}},"curvature":0.34909549553101127},{"time":3.919373157458735,"velocity":2.4847391242890517,"acceleration":4.500000000000017,"pose":{"translation":{"x":7.701094118404949,"y":-2.9385327578432014},"rotation":{"radians":-2.9330704531815688E-15}},"curvature":-2.273736754432268E-15},{"time":3.949892454549627,"velocity":2.6220759611980653,"acceleration":2.597806975036503,"pose":{"translation":{"x":7.779022321775272,"y":-2.9385309576600704},"rotation":{"radians":6.853408082008317E-5}},"curvature":0.0017235807719760783},{"time":3.978771863595702,"velocity":2.697099091452891,"acceleration":-0.05128146718681037,"pose":{"translation":{"x":7.855829636916912,"y":-2.938519037668033},"rotation":{"radians":2.62246977925937E-4}},"curvature":0.003319648681084047},{"time":4.006485096311468,"velocity":2.695677916218737,"acceleration":-3.195226974572615,"pose":{"translation":{"x":7.930555272854173,"y":-2.9384886918818522},"rotation":{"radians":5.701982273454911E-4}},"curvature":0.004948575153109202},{"time":4.0335732026913735,"velocity":2.6091252680235697,"acceleration":-4.499999999999994,"pose":{"translation":{"x":8.002403788124186,"y":-2.938433472379568},"rotation":{"radians":9.883673692899473E-4}},"curvature":0.00674354904334083},{"time":4.060382286808328,"velocity":2.488484389497276,"acceleration":-4.500000000000007,"pose":{"translation":{"x":8.07073485853743,"y":-2.93834865658369},"rotation":{"radians":0.0015179199452330626}},"curvature":0.008836814303838782},{"time":4.086862669015052,"velocity":2.369322669567015,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":8.135053044938244,"y":-2.938231114542392},"rotation":{"radians":0.002164280892643828}},"curvature":0.011378629845880573},{"time":4.1380011525433,"velocity":2.1391994936899024,"acceleration":-4.499999999999997,"pose":{"translation":{"x":8.250332040812422,"y":-2.93789249873172},"rotation":{"radians":0.0038477937100687624}},"curvature":0.018603353595874648},{"time":4.185459524854758,"velocity":1.9256368182883432,"acceleration":-4.5,"pose":{"translation":{"x":8.346786138078565,"y":-2.9374193945316227},"rotation":{"radians":0.0061535670330065875}},"curvature":0.03066204246225188},{"time":4.227996763521497,"velocity":1.734219244288019,"acceleration":-4.499999999999998,"pose":{"translation":{"x":8.424623996283676,"y":-2.9368305595332576},"rotation":{"radians":0.009239094405512483}},"curvature":0.0512020059216453},{"time":4.295646630005843,"velocity":1.4297948451084643,"acceleration":-4.499999999999999,"pose":{"translation":{"x":8.531637529794496,"y":-2.9354401855311467},"rotation":{"radians":0.01810696287899123}},"curvature":0.1278290080164256},{"time":4.383115357656961,"velocity":1.0361855706784313,"acceleration":-4.500000000000001,"pose":{"translation":{"x":8.639457729810193,"y":-2.9329878723305733},"rotation":{"radians":0.017733826290229453}},"curvature":-0.32387539520868547},{"time":4.613378817807724,"velocity":0.0,"acceleration":-4.500000000000001,"pose":{"translation":{"x":8.758753849127075,"y":-2.9323476132190947},"rotation":{"radians":-1.2486839153264893E-14}},"curvature":-1.0971975659756161E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":1.269,"y":-2.2890925723120525},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.21675395511396311,"velocity":0.8670158204558525,"acceleration":4.0,"pose":{"translation":{"x":1.3629643016445885,"y":-2.2893103944706956},"rotation":{"radians":-0.006812956111740921}},"curvature":-0.13877359685177978},{"time":0.3075198669805552,"velocity":1.230079467922221,"acceleration":4.0,"pose":{"translation":{"x":1.4581257550445312,"y":-2.290752713507232},"rotation":{"radians":-0.025060484554979143}},"curvature":-0.23730130890580617},{"time":0.37850114559435044,"velocity":1.5140045823774018,"acceleration":4.0,"pose":{"translation":{"x":1.555445808529343,"y":-2.294424553635101},"rotation":{"radians":-0.051289497974816016}},"curvature":-0.29454998256755044},{"time":0.4398568556204813,"velocity":1.7594274224819253,"acceleration":4.0,"pose":{"translation":{"x":1.6556451559491294,"y":-2.3011061134114748},"rotation":{"radians":-0.08224650966729875}},"curvature":-0.31673693450149515},{"time":0.49549565672299994,"velocity":1.9819826268919998,"acceleration":4.0,"pose":{"translation":{"x":1.759221750858245,"y":-2.3113688247127024},"rotation":{"radians":-0.1152104981566855}},"curvature":-0.31319367973664736},{"time":0.5473654704587145,"velocity":2.189461881834858,"acceleration":4.0,"pose":{"translation":{"x":1.8664688206989495,"y":-2.325591411709762},"rotation":{"radians":-0.14811854262230786}},"curvature":-0.2932340865896913},{"time":0.5965542037909884,"velocity":2.386216815163954,"acceleration":2.6148732754541926,"pose":{"translation":{"x":1.9774928809850667,"y":-2.3439759498437036},"rotation":{"radians":-0.17954262655070544}},"curvature":-0.26444654793227335},{"time":0.6443114618431557,"velocity":2.5110959929535355,"acceleration":0.5156301303087075,"pose":{"translation":{"x":2.092231749485642,"y":-2.3665639248011012},"rotation":{"radians":-0.2085845908225702}},"curvature":-0.23218429738308038},{"time":0.6923464500048488,"velocity":2.5358642801587266,"acceleration":0.48808496237217164,"pose":{"translation":{"x":2.2104725604085993,"y":-2.393252291489498},"rotation":{"radians":-0.23474407742550304}},"curvature":-0.19977083626630754},{"time":0.741479540682787,"velocity":2.5598454028734965,"acceleration":0.4603102680773271,"pose":{"translation":{"x":2.3318697785843985,"y":-2.423809533012855},"rotation":{"radians":-0.2577937271948001}},"curvature":-0.16898517253093975},{"time":0.7664024556330453,"velocity":2.5713176765355183,"acceleration":0.4408363705945416,"pose":{"translation":{"x":2.3936122170467415,"y":-2.4404354558123287},"rotation":{"radians":-0.2681303121226664}},"curvature":-0.15446075319209848},{"time":0.7915293912098627,"velocity":2.5823945436193654,"acceleration":0.4219253886023397,"pose":{"translation":{"x":2.455963213649694,"y":-2.4578917196469994},"rotation":{"radians":-0.27767714538514177}},"curvature":-0.14055939071773224},{"time":0.8168317411427105,"velocity":2.5930702474473346,"acceleration":0.40429091754799884,"pose":{"translation":{"x":2.5188502851758097,"y":-2.476120403472609},"rotation":{"radians":-0.2864414039186245}},"curvature":-0.12727387574481538},{"time":0.8422784864575014,"velocity":2.6033581354592616,"acceleration":0.38847227117602084,"pose":{"translation":{"x":2.5821960342309906,"y":-2.495058567815071},"rotation":{"radians":-0.29443270508490726}},"curvature":-0.11457407862211672},{"time":0.8678363161178981,"velocity":2.613286643593766,"acceleration":0.37488250803609546,"pose":{"translation":{"x":2.6459187121877195,"y":-2.5146387566134565},"rotation":{"radians":-0.30166188242616654}},"curvature":-0.1024127287087712},{"time":0.8934697816586897,"velocity":2.6228961814453546,"acceleration":0.3638495428230286,"pose":{"translation":{"x":2.7099327821283037,"y":-2.5347894990629714},"rotation":{"radians":-0.30813998809455245}},"curvature":-0.09072976288917144},{"time":0.9191414796065088,"velocity":2.6322368170071595,"acceleration":0.35565124975485024,"pose":{"translation":{"x":2.774149481788112,"y":-2.555435811457946},"rotation":{"radians":-0.31387748207661353}},"curvature":-0.07945547496706996},{"time":0.9448122562830727,"velocity":2.641366660814357,"acceleration":0.3505457059999167,"pose":{"translation":{"x":2.8384773864988144,"y":-2.5764996990348106},"rotation":{"radians":-0.3188835727268857}},"curvature":-0.06851267525130007},{"time":0.9704414303868146,"velocity":2.650350857744748,"acceleration":0.34879783415485865,"pose":{"translation":{"x":2.9028229721316228,"y":-2.5979006578150847},"rotation":{"radians":-0.3231656778484156}},"curvature":-0.05781804055588371},{"time":0.9959870295092196,"velocity":2.659261107390831,"acceleration":0.3507037351521598,"pose":{"translation":{"x":2.967091178040528,"y":-2.619556176448355},"rotation":{"radians":-0.3267289802512446}},"curvature":-0.04728280442952603},{"time":1.0214060374429406,"velocity":2.6681756484170496,"acceleration":0.3566139959903874,"pose":{"translation":{"x":3.0311859700055415,"y":-2.641382238055261},"rotation":{"radians":-0.3295760561942765}},"curvature":-0.036812909005094555},{"time":1.0466546497758547,"velocity":2.6771796569543023,"acceleration":0.3669572367877348,"pose":{"translation":{"x":3.0950109031759316,"y":-2.663293822070476},"rotation":{"radians":-0.3317065593067031}},"curvature":-0.02630871535479161},{"time":1.0716885358451522,"velocity":2.6863660226123507,"acceleration":0.38226514260578986,"pose":{"translation":{"x":3.1584696850134666,"y":-2.6852054060856907},"rotation":{"radians":-0.33311694651723955}},"curvature":-0.015664349819855514},{"time":1.0964631056625886,"velocity":2.69583647707661,"acceleration":-0.061802577209971926,"pose":{"translation":{"x":3.2214667382356517,"y":-2.707031467692597},"rotation":{"radians":-0.3338002362848454}},"curvature":-0.004766750321263912},{"time":1.120985454436806,"velocity":2.6943209327231217,"acceleration":-0.42033621845358027,"pose":{"translation":{"x":3.2839077637589673,"y":-2.728686986325867},"rotation":{"radians":-0.3337457931695628}},"curvature":0.006505529912781947},{"time":1.1453024708055572,"velocity":2.684099610018607,"acceleration":-0.4438039674388638,"pose":{"translation":{"x":3.3457003036421114,"y":-2.750087945106141},"rotation":{"radians":-0.33293913670235825}},"curvature":0.018283702116408458},{"time":1.1694127635294667,"velocity":2.6733993664516236,"acceleration":-0.4734251860162698,"pose":{"translation":{"x":3.406754304029236,"y":-2.771151832683006},"rotation":{"radians":-0.3313617768554115}},"curvature":0.030710234265257926},{"time":1.1932789012270613,"velocity":2.66210053577265,"acceleration":-0.5314391455481072,"pose":{"translation":{"x":3.4669826780931885,"y":-2.79179814507798},"rotation":{"radians":-0.32899108348435324}},"curvature":0.043940359671177535},{"time":1.240144502786797,"velocity":2.637194320524146,"acceleration":-0.6351178815263123,"pose":{"translation":{"x":3.584632412745872,"y":-2.8315290763258805},"rotation":{"radians":-0.32175804552995707}},"curvature":0.07350413590370672},{"time":1.2856450963484207,"velocity":2.6082960799330976,"acceleration":-0.7743404046969253,"pose":{"translation":{"x":3.698033545399923,"y":-2.8686959244939523},"rotation":{"radians":-0.31097500440999876}},"curvature":0.10851405732174603},{"time":1.329577564471349,"velocity":2.5742773947874547,"acceleration":-0.9509957971390847,"pose":{"translation":{"x":3.806653614681527,"y":-2.902778111128097},"rotation":{"radians":-0.2963158217872372}},"curvature":0.15073462282005684},{"time":1.371793631650231,"velocity":2.5341300923285965,"acceleration":-1.15838051271287,"pose":{"translation":{"x":3.910061674226955,"y":-2.933335352651454},"rotation":{"radians":-0.27741306458357634}},"curvature":0.2020196836103305},{"time":1.412203361668457,"velocity":2.4873202485514954,"acceleration":-1.371131190615527,"pose":{"translation":{"x":4.007946306866221,"y":-2.9600237193398513},"rotation":{"radians":-0.2539039682608815}},"curvature":0.2639060998817675},{"time":1.4507726294304049,"velocity":2.4344367225238868,"acceleration":-1.5302974527045867,"pose":{"translation":{"x":4.100133638806737,"y":-2.9826116942972494},"rotation":{"radians":-0.22552195574057715}},"curvature":0.33668558221833333},{"time":1.4875109789342282,"velocity":2.378216119861615,"acceleration":-1.525912818298825,"pose":{"translation":{"x":4.186605353816975,"y":-3.00099623243119},"rotation":{"radians":-0.1922607217927194}},"curvature":0.4176071785863158},{"time":1.5224459958948484,"velocity":2.3249083296739177,"acceleration":-1.182480752279951,"pose":{"translation":{"x":4.26751670741012,"y":-3.01521881942825},"rotation":{"radians":-0.15463933918577316}},"curvature":0.4979509625117019},{"time":1.555582592730297,"velocity":2.285724941719939,"acceleration":-0.24959934751754403,"pose":{"translation":{"x":4.3432145410277325,"y":-3.025481530729478},"rotation":{"radians":-0.1140766702167826}},"curvature":0.5593965834421362},{"time":1.5868533319369584,"velocity":2.277919785617565,"acceleration":1.3426428588811878,"pose":{"translation":{"x":4.4142552962233985,"y":-3.0321630905058528},"rotation":{"radians":-0.07331762183761525}},"curvature":0.571888755382016},{"time":1.6161311715811646,"velocity":2.317229467939327,"acceleration":-4.000000000000007,"pose":{"translation":{"x":4.481423028846393,"y":-3.035834930633721},"rotation":{"radians":-0.036729974851668595}},"curvature":0.4976799342742537},{"time":1.6445966881769438,"velocity":2.2033674015562097,"acceleration":-4.000000000000007,"pose":{"translation":{"x":4.54574742322534,"y":-3.0372772496702596},"rotation":{"radians":-0.010156314141851384}},"curvature":0.3064655586833123},{"time":1.6738646093661989,"velocity":2.086295716799189,"acceleration":-4.0,"pose":{"translation":{"x":4.608521806351861,"y":-3.037495071828902},"rotation":{"radians":-7.105427357601027E-15}},"curvature":-1.0658141036401579E-14},{"time":1.7046257919526338,"velocity":1.9632509864534498,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":4.6708050084267425,"y":-3.03710512499384},"rotation":{"radians":0.01860681820657924}},"curvature":0.5879457600706645},{"time":1.736814781860692,"velocity":1.8344950268212168,"acceleration":-4.0,"pose":{"translation":{"x":4.7318732485963775,"y":-3.0345230294897068},"rotation":{"radians":0.07161768269924192}},"curvature":1.1491248953628224},{"time":1.770327402706231,"velocity":1.7004445434390614,"acceleration":-4.0,"pose":{"translation":{"x":4.790739894601254,"y":-3.0279494195624483},"rotation":{"radians":0.15641143486400413}},"curvature":1.7167991434073027},{"time":1.7876419314361658,"velocity":1.6311864285193218,"acceleration":-4.0,"pose":{"translation":{"x":4.819103625800021,"y":-3.022714302905144},"rotation":{"radians":0.20995989519947614}},"curvature":1.994850429863765},{"time":1.805413882185988,"velocity":1.5600986255200329,"acceleration":-3.475426301803034,"pose":{"translation":{"x":4.846651863938099,"y":-3.0159872966310006},"rotation":{"radians":0.2702780028202267}},"curvature":2.2551228885241748},{"time":1.8236982080745352,"velocity":1.496552798416238,"acceleration":-2.4425424569676273,"pose":{"translation":{"x":4.873324161885563,"y":-3.007651931352518},"rotation":{"radians":0.3365685182828857}},"curvature":2.4819326245592466},{"time":1.842451700880629,"velocity":1.450746596020917,"acceleration":-1.4129480788363458,"pose":{"translation":{"x":4.899072533016873,"y":-2.9976132936795397},"rotation":{"radians":0.40773754251122285}},"curvature":2.6577490467507534},{"time":1.8615580858715035,"velocity":1.4237502660545531,"acceleration":-0.3965657348142251,"pose":{"translation":{"x":4.923860917122034,"y":-2.9857971282315114},"rotation":{"radians":0.4824009120491493}},"curvature":2.7666666568121188},{"time":1.880882328520546,"velocity":1.4160869335687072,"acceleration":0.5924771331060295,"pose":{"translation":{"x":4.947664646317754,"y":-2.9721489396497374},"rotation":{"radians":0.5589511261544343}},"curvature":2.798341369828785},{"time":1.900281918640777,"velocity":1.4275807471065736,"acceleration":1.5362249111823403,"pose":{"translation":{"x":4.970469910958594,"y":-2.956633094609639},"rotation":{"radians":0.635679115971466}},"curvature":2.7509616701524178},{"time":1.9196214103444387,"velocity":1.457290556031343,"acceleration":2.4125579392197656,"pose":{"translation":{"x":4.992273225548132,"y":-2.939231923833014},"rotation":{"radians":0.710925561058243}},"curvature":2.6319548694923487},{"time":1.9387861625434166,"velocity":1.5035266311021664,"acceleration":3.196117905167538,"pose":{"translation":{"x":5.013080894650113,"y":-2.919944824100292},"rotation":{"radians":0.7832247776971262}},"curvature":2.456104842719741},{"time":1.9576916370789648,"velocity":1.5639507567709208,"acceleration":3.8614946679670425,"pose":{"translation":{"x":5.032908478799603,"y":-2.898787360262795},"rotation":{"radians":0.8514077608525783}},"curvature":2.241966257314006},{"time":1.9762865031511947,"velocity":1.635754732960398,"acceleration":3.999999999999993,"pose":{"translation":{"x":5.051780260414153,"y":-2.875790367254994},"rotation":{"radians":0.9146475428257351}},"curvature":2.008068537497109},{"time":1.9945878961391943,"velocity":1.708960304912396,"acceleration":4.000000000000014,"pose":{"translation":{"x":5.069728709704949,"y":-2.8509990521067654},"rotation":{"radians":0.9724498193740853}},"curvature":1.7701251324317657},{"time":2.0126624447698895,"velocity":1.7812584994351768,"acceleration":3.999999999999952,"pose":{"translation":{"x":5.086793950587968,"y":-2.8244720959556533},"rotation":{"radians":1.0246052486927568}},"curvature":1.5397027921895188},{"time":2.0305644594084558,"velocity":1.8528665579894412,"acceleration":4.000000000000023,"pose":{"translation":{"x":5.103023226595136,"y":-2.7962807560591227},"rotation":{"radians":1.0711235412421602}},"curvature":1.3241390899088163},{"time":2.0659574864995736,"velocity":1.994438666353914,"acceleration":4.0,"pose":{"translation":{"x":5.133195251656302,"y":-2.735247446732834},"rotation":{"radians":1.1479856239146995}},"curvature":0.9500366901266798},{"time":2.1008551724871936,"velocity":2.134029410304393,"acceleration":4.0000000000000115,"pose":{"translation":{"x":5.160744830086744,"y":-2.6686865810518876},"rotation":{"radians":1.2051652613299138}},"curvature":0.6515627522788956},{"time":2.135173003719509,"velocity":2.271300735233655,"acceleration":3.999999999999989,"pose":{"translation":{"x":5.186251739253912,"y":-2.597529362643551},"rotation":{"radians":1.2450659436344433}},"curvature":0.41449245462796486},{"time":2.1687425842597645,"velocity":2.4055790573946756,"acceleration":4.000000000000011,"pose":{"translation":{"x":5.210358397851398,"y":-2.5228220062306232},"rotation":{"radians":1.2697279864902644}},"curvature":0.2205611048277515},{"time":2.201361377272526,"velocity":2.536054229445721,"acceleration":2.3948347542828574,"pose":{"translation":{"x":5.233752775055926,"y":-2.4456970020236906},"rotation":{"radians":1.2805950649584303}},"curvature":0.052731625746743525},{"time":2.2331286003393305,"velocity":2.6121314792931605,"acceleration":-3.8444739935079286,"pose":{"translation":{"x":5.257151299684339,"y":-2.36734438011338},"rotation":{"radians":1.2784666044696689}},"curvature":-0.10382292780203377},{"time":2.265278382663354,"velocity":2.4885324772515114,"acceleration":-3.6436127408027006,"pose":{"translation":{"x":5.281281769350595,"y":-2.288982974862615},"rotation":{"radians":1.2635168633911613}},"curvature":-0.26227406928120295},{"time":2.2987620901723607,"velocity":2.366530813962383,"acceleration":-3.6474370205264544,"pose":{"translation":{"x":5.306866259622749,"y":-2.2118316892988705},"rotation":{"radians":1.2353345071447597}},"curvature":-0.43490914073874876},{"time":2.333376664304726,"velocity":2.2402763348222363,"acceleration":-3.720734125247477,"pose":{"translation":{"x":5.334604033179953,"y":-2.137080759506426},"rotation":{"radians":1.1929837467711306}},"curvature":-0.63335945620232},{"time":2.369023042258859,"velocity":2.107645639926823,"acceleration":-3.7230190358828676,"pose":{"translation":{"x":5.365154448969436,"y":-2.0658630190186216},"rotation":{"radians":1.13512711015489}},"curvature":-0.867439081372425},{"time":2.4056983842525956,"velocity":1.9711026435366277,"acceleration":-3.5978494255073254,"pose":{"translation":{"x":5.399119871363501,"y":-1.9992251632101117},"rotation":{"radians":1.0602922999717295}},"curvature":-1.1413323432637474},{"time":2.4244496470436148,"velocity":1.9036384234764219,"acceleration":-3.4144119913752173,"pose":{"translation":{"x":5.4175516584998675,"y":-1.9679201593089384},"rotation":{"radians":1.0161342408239469}},"curvature":-1.2911622659374515},{"time":2.443485161798259,"velocity":1.8386433336361638,"acceleration":-3.1409250438212495,"pose":{"translation":{"x":5.437028579316512,"y":-1.9380990136891207},"rotation":{"radians":0.9674020532592332}},"curvature":-1.4459075237068721},{"time":2.4628085393375003,"velocity":1.777950053191948,"acceleration":-2.7727672729911483,"pose":{"translation":{"x":5.457602288869746,"y":-1.9098555405900375},"rotation":{"radians":0.9141684996498864}},"curvature":-1.6006260491128752},{"time":2.48241417014357,"velocity":1.7235882017265316,"acceleration":-2.3122671346697996,"pose":{"translation":{"x":5.4793176755218855,"y":-1.8832727826896956},"rotation":{"radians":0.8566580585863859}},"curvature":-1.7484551462577334},{"time":2.502283051511791,"velocity":1.6776460403361406,"acceleration":-1.7683974398996616,"pose":{"translation":{"x":5.5022123268523995,"y":-1.858422113116991},"rotation":{"radians":0.7952811589516963}},"curvature":-1.8808576898142475},{"time":2.5223795796939887,"velocity":1.6421073913478708,"acceleration":-1.1555007891345028,"pose":{"translation":{"x":5.526315995569077,"y":-1.8353623374639638},"rotation":{"radians":0.7306565439407765}},"curvature":-1.9883599947187383},{"time":2.542650276944572,"velocity":1.6186845846785154,"acceleration":-0.49150301890975623,"pose":{"translation":{"x":5.5516500654191745,"y":-1.8141387957980597},"rotation":{"radians":0.6636129332226521}},"curvature":-2.061793439410502},{"time":2.5630252250967684,"velocity":1.608670236151581,"acceleration":0.20383348575165533,"pose":{"translation":{"x":5.578227017100577,"y":-1.7947824646743835},"rotation":{"radians":0.5951632548726437}},"curvature":-2.093842270825425},{"time":2.583422391505325,"velocity":1.6128278616800937,"acceleration":0.9102930178497065,"pose":{"translation":{"x":5.6060498941729495,"y":-1.777309059147965},"rotation":{"radians":0.5264502750661548}},"curvature":-2.080488341279239},{"time":2.603754186386278,"velocity":1.6313357526005774,"acceleration":1.6083134238603898,"pose":{"translation":{"x":5.635111768968896,"y":-1.7617181347860051},"rotation":{"radians":0.45867025447642773}},"curvature":-2.021868543819251},{"time":2.6239348173086743,"velocity":1.6637925322150395,"acceleration":2.280224128184582,"pose":{"translation":{"x":5.6653952085051165,"y":-1.7479921896801458},"rotation":{"radians":0.39298830644526117}},"curvature":-1.9222175451222725},{"time":2.6438866846469082,"velocity":1.7092872615220185,"acceleration":2.9120391698998285,"pose":{"translation":{"x":5.696871740393558,"y":-1.736095766458718},"rotation":{"radians":0.33046209259532755}},"curvature":-1.7889066598144734},{"time":2.6635443625552684,"velocity":1.7665311895804383,"acceleration":3.4959458089019058,"pose":{"translation":{"x":5.729501318752574,"y":-1.7259745542990061},"rotation":{"radians":0.27198785532894926}},"curvature":-1.6309231291032515},{"time":2.6828554730516045,"velocity":1.8340417853853461,"acceleration":4.000000000000025,"pose":{"translation":{"x":5.763231790118082,"y":-1.717554490939508},"rotation":{"radians":0.2182759374815359}},"curvature":-1.457278978173641},{"time":2.7017817301596265,"velocity":1.9097468138174354,"acceleration":4.000000000000006,"pose":{"translation":{"x":5.797998359354719,"y":-1.7107408646921827},"rotation":{"radians":0.16985517402883632}},"curvature":-1.275750508072505},{"time":2.720334321923024,"velocity":1.9839571808710255,"acceleration":4.000000000000009,"pose":{"translation":{"x":5.833723055566989,"y":-1.7054174164547136},"rotation":{"radians":0.12709992884591814}},"curvature":-1.092128755185483},{"time":2.7564453149155286,"velocity":2.128401152841043,"acceleration":4.000000000000006,"pose":{"translation":{"x":5.9076658620027755,"y":-1.6986628926022864},"rotation":{"radians":0.05956574462857494}},"curvature":-0.7305407198054646},{"time":2.791265762242388,"velocity":2.2676829421484803,"acceleration":4.000000000000005,"pose":{"translation":{"x":5.984152631682908,"y":-1.6958957747440242},"rotation":{"radians":0.01728065430563737}},"curvature":-0.37551225168311714},{"time":2.824627685211805,"velocity":2.401130634026149,"acceleration":-3.1873145936020375,"pose":{"translation":{"x":6.062030793016821,"y":-1.6953186883978586},"rotation":{"radians":0.0023999953920216728}},"curvature":4.520149613662385E-15},{"time":2.857790078277121,"velocity":2.295431654650301,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.139905217844977,"y":-1.6954940785997337},"rotation":{"radians":-0.011420101366341796}},"curvature":-0.3489068894006241},{"time":2.892144554714725,"velocity":2.1580137488998847,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.216371023286105,"y":-1.6977095174131445},"rotation":{"radians":-0.05072662900785186}},"curvature":-0.6801685828950959},{"time":2.927669153713379,"velocity":2.015915352905267,"acceleration":-4.0,"pose":{"translation":{"x":6.290272063810509,"y":-1.7036395321842634},"rotation":{"radians":-0.11362550008268175}},"curvature":-1.0209141044707342},{"time":2.964365762732222,"velocity":1.869128916829896,"acceleration":-3.6709992430785254,"pose":{"translation":{"x":6.360710825644809,"y":-1.7145842096542163},"rotation":{"radians":-0.1988447780691884}},"curvature":-1.3719850462288359},{"time":2.983207985833194,"velocity":1.7999591300883124,"acceleration":-3.141781181324768,"pose":{"translation":{"x":6.394417552358513,"y":-1.7222475186616817},"rotation":{"radians":-0.2492480619919401}},"curvature":-1.5433149970156397},{"time":3.002361014606718,"velocity":1.7397845047222824,"acceleration":-2.5546711300845613,"pose":{"translation":{"x":6.427029953075055,"y":-1.7314959368119762},"rotation":{"radians":-0.30431935369142005}},"curvature":-1.7034454921288562},{"time":3.021781352818506,"velocity":1.6901719273561508,"acceleration":-1.915026891612994,"pose":{"translation":{"x":6.458500352186083,"y":-1.7423985715636252},"rotation":{"radians":-0.36346354842921824}},"curvature":-1.8440451294825027},{"time":3.041413239492009,"velocity":1.6525763364432935,"acceleration":-1.234870118996955,"pose":{"translation":{"x":6.488793774749848,"y":-1.7550061417472564},"rotation":{"radians":-0.42590666402604965}},"curvature":-1.9562116519284272},{"time":3.061188197357473,"velocity":1.628156831870808,"acceleration":-0.5303909731712716,"pose":{"translation":{"x":6.51788736918818,"y":-1.7693518132172525},"rotation":{"radians":-0.4907067532045363}},"curvature":-2.031842302638303},{"time":3.0810274470396353,"velocity":1.617634272924898,"acceleration":0.18000360159629078,"pose":{"translation":{"x":6.545769829983456,"y":-1.7854520345034037},"rotation":{"radians":-0.5567921767866559}},"curvature":-2.0651361163781643},{"time":3.10084692773847,"velocity":1.6212018508324564,"acceleration":0.8770022596546049,"pose":{"translation":{"x":6.572440820375579,"y":-1.8033073724625608},"rotation":{"radians":-0.6230240811294768}},"curvature":-2.053799726094612},{"time":3.1205639060864057,"velocity":1.638493685397157,"acceleration":1.5413224221226018,"pose":{"translation":{"x":6.597910395058944,"y":-1.8229033479302887},"rotation":{"radians":-0.6882730767489774}},"curvature":-1.9995524466254178},{"time":3.1401036560899485,"velocity":1.6686107402002874,"acceleration":2.1546952290666668,"pose":{"translation":{"x":6.622198422879412,"y":-1.8442112713725183},"rotation":{"radians":-0.7514957024767347}},"curvature":-1.9077548213461193},{"time":3.1594047061663577,"velocity":1.710198620715903,"acceleration":2.701199465758546,"pose":{"translation":{"x":6.645334009531285,"y":-1.8671890785372003},"rotation":{"radians":-0.8117964613497269}},"curvature":-1.786308614478824},{"time":3.1784216668333585,"velocity":1.761567224709957,"acceleration":3.1688947061974764,"pose":{"translation":{"x":6.667354920254278,"y":-1.891782166105957},"rotation":{"radians":-0.8684659427017429}},"curvature":-1.6442162490141654},{"time":3.197125414140984,"velocity":1.8208374305391466,"acceleration":3.5513721418022555,"pose":{"translation":{"x":6.688307002530487,"y":-1.9179242273457366},"rotation":{"radians":-0.920992506563829}},"curvature":-1.49022898752402},{"time":3.2155010750762627,"velocity":1.8860962408718993,"acceleration":3.848731372202497,"pose":{"translation":{"x":6.708243608781371,"y":-1.945538087760465},"rotation":{"radians":-0.9690512401722922}},"curvature":-1.3318772313140281},{"time":3.2335446282018756,"velocity":1.9555410298524474,"acceleration":4.000000000000022,"pose":{"translation":{"x":6.727225019064712,"y":-1.9745365407426991},"rotation":{"radians":-1.0124774601830668}},"curvature":-1.174975536565014},{"time":3.2686754315430204,"velocity":2.096064243217028,"acceleration":3.999999999999982,"pose":{"translation":{"x":6.762594546323398,"y":-2.0362932513329826},"rotation":{"radians":-1.0853692960500778}},"curvature":-0.8799495136033523},{"time":3.3026689290674285,"velocity":2.2320382333146602,"acceleration":3.9999999999999765,"pose":{"translation":{"x":6.795014439980378,"y":-2.10232781879247},"rotation":{"radians":-1.1402649693043632}},"curvature":-0.6196784685791007},{"time":3.3355725304687303,"velocity":2.363652638919867,"acceleration":4.0,"pose":{"translation":{"x":6.825157450497,"y":-2.1716666707209242},"rotation":{"radians":-1.1783213194922086}},"curvature":-0.39279414664440937},{"time":3.3673331863835037,"velocity":2.49069526257896,"acceleration":3.9999999999999827,"pose":{"translation":{"x":6.8537517494252524,"y":-2.2432559434948782},"rotation":{"radians":-1.2006579153666463}},"curvature":-0.19033081754125572},{"time":3.397848977898844,"velocity":2.612758428640321,"acceleration":-3.9385822457304775,"pose":{"translation":{"x":6.881562455710879,"y":-2.315988223120531},"rotation":{"radians":-1.2080402149213483}},"curvature":-5.125890313338524E-4},{"time":3.428356588185535,"velocity":2.492601696405495,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.909373161996507,"y":-2.3887292860866376},"rotation":{"radians":-1.2007397303341638}},"curvature":0.18918884998466193},{"time":3.460101965676783,"velocity":2.365620186440504,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":6.93796746092476,"y":-2.460344840217403},"rotation":{"radians":-1.1784961952706787}},"curvature":0.39128712354798556},{"time":3.492994476503579,"velocity":2.2340501431333197,"acceleration":-4.0,"pose":{"translation":{"x":6.968110471441382,"y":-2.529727265525373},"rotation":{"radians":-1.1405560765986413}},"curvature":0.6175187352393393},{"time":3.526981273045736,"velocity":2.0981029569646927,"acceleration":-4.0,"pose":{"translation":{"x":7.000530365098362,"y":-2.5958223550643287},"rotation":{"radians":-1.085812520345364}},"curvature":0.8768051039726248},{"time":3.562109623094417,"velocity":1.9575895567699684,"acceleration":-3.839128382917549,"pose":{"translation":{"x":7.0358998923570475,"y":-2.6576560557821756},"rotation":{"radians":-1.0131208618361698}},"curvature":1.1705161835168438},{"time":3.5801524883705023,"velocity":1.888320680579392,"acceleration":-3.5434979047507786,"pose":{"translation":{"x":7.054881302640389,"y":-2.6866989915915966},"rotation":{"radians":-0.9698155050412316}},"curvature":1.3266724822728964},{"time":3.598526511329444,"velocity":1.8232123687225403,"acceleration":-3.1632887049141196,"pose":{"translation":{"x":7.074817908891273,"y":-2.7143612093738407},"rotation":{"radians":-0.9218918215389915}},"curvature":1.4842673902726404},{"time":3.617227591497553,"velocity":1.7640554530570673,"acceleration":-2.6982735773697124,"pose":{"translation":{"x":7.095769991167483,"y":-2.740555403816173},"rotation":{"radians":-0.8695135735749643}},"curvature":1.637543611495946},{"time":3.636240900255304,"velocity":1.7127523444176558,"acceleration":-2.1546985914295185,"pose":{"translation":{"x":7.117790901890475,"y":-2.765204293134159},"rotation":{"radians":-0.8130035070557318}},"curvature":1.779043348157624},{"time":3.6555375009357376,"velocity":1.6711739861121473,"acceleration":-1.5443316663223414,"pose":{"translation":{"x":7.140926488542348,"y":-2.788241454723318},"rotation":{"radians":-0.7528697141816699}},"curvature":1.9000947586193109},{"time":3.6750723319034257,"velocity":1.641005728052492,"acceleration":-0.8829345096759766,"pose":{"translation":{"x":7.165214516362816,"y":-2.8096121608107727},"rotation":{"radians":-0.6898167512556476}},"curvature":1.9917668680066969},{"time":3.6947843578970363,"velocity":1.6236013000471032,"acceleration":-0.18864084899824332,"pose":{"translation":{"x":7.19068409104618,"y":-2.829274214106908},"rotation":{"radians":-0.6247343054850386}},"curvature":2.04620322097228},{"time":3.7145993358551714,"velocity":1.6198633857821991,"acceleration":0.5193797134504484,"pose":{"translation":{"x":7.217355081438304,"y":-2.8471987834570176},"rotation":{"radians":-0.558659695266923}},"curvature":2.0580470003918907},{"time":3.7344349815923668,"velocity":1.6301656177812882,"acceleration":1.2219165263784757,"pose":{"translation":{"x":7.245237542233581,"y":-2.863371239492964},"rotation":{"radians":-0.49271662135430055}},"curvature":2.0255352792343384},{"time":3.7542075714119503,"velocity":1.6543260720511404,"acceleration":1.9006581354187528,"pose":{"translation":{"x":7.274331136671913,"y":-2.877791990284821},"rotation":{"radians":-0.4280394667174199}},"curvature":1.9508781980974899},{"time":3.7738384965784637,"velocity":1.6916377496746706,"acceleration":2.5395007092969064,"pose":{"translation":{"x":7.304624559235679,"y":-2.8904773169925377},"rotation":{"radians":-0.36569715977229783}},"curvature":1.8397728285912878},{"time":3.7932592672368166,"velocity":1.7409568105366504,"acceleration":3.126484259564567,"pose":{"translation":{"x":7.336094958346705,"y":-2.901460209517588},"rotation":{"radians":-0.3066308906575395}},"curvature":1.7002201468227465},{"time":3.812413947550314,"velocity":1.8008436170337911,"acceleration":3.6562687586422133,"pose":{"translation":{"x":7.368707359063248,"y":-2.9107912021546136},"rotation":{"radians":-0.2516156785943241}},"curvature":1.5410410961012233},{"time":3.831258751189871,"velocity":1.8697452838438493,"acceleration":4.0,"pose":{"translation":{"x":7.402414085776953,"y":-2.9185392092430953},"rotation":{"radians":-0.2012490479326785}},"curvature":1.3705153200169853},{"time":3.8679575681456777,"velocity":2.0165405516670765,"acceleration":3.999999999999976,"pose":{"translation":{"x":7.472852847611253,"y":-2.9296588382663935},"rotation":{"radians":-0.11605831710096154}},"curvature":1.0205444245047175},{"time":3.903478683383698,"velocity":2.158625012619156,"acceleration":4.000000000000006,"pose":{"translation":{"x":7.5467538881356555,"y":-2.9357697669626837},"rotation":{"radians":-0.053152440513937846}},"curvature":0.6802920269667051},{"time":3.937826444879871,"velocity":2.2960160586038487,"acceleration":3.9999999999999885,"pose":{"translation":{"x":7.623219693576784,"y":-2.9381702281302204},"rotation":{"radians":-0.01382875646779824}},"curvature":0.34909549553101127},{"time":3.97079709458436,"velocity":2.4278986574218053,"acceleration":4.000000000000017,"pose":{"translation":{"x":7.701094118404949,"y":-2.9385327578432014},"rotation":{"radians":-2.9330704531815688E-15}},"curvature":-2.273736754432268E-15},{"time":4.002087535702309,"velocity":2.5530604218935995,"acceleration":4.000000000000035,"pose":{"translation":{"x":7.779022321775272,"y":-2.9385309576600704},"rotation":{"radians":6.853408082008317E-5}},"curvature":0.0017235807719760783},{"time":4.031494507597931,"velocity":2.670688309476092,"acceleration":-3.3900399946827755,"pose":{"translation":{"x":7.855829636916912,"y":-2.938519037668033},"rotation":{"radians":2.62246977925937E-4}},"curvature":0.003319648681084047},{"time":4.059989770088853,"velocity":2.574088229972883,"acceleration":-4.000000000000006,"pose":{"translation":{"x":7.930555272854173,"y":-2.9384886918818522},"rotation":{"radians":5.701982273454911E-4}},"curvature":0.004948575153109202},{"time":4.088535104253863,"velocity":2.4599068933128456,"acceleration":-4.0,"pose":{"translation":{"x":8.002403788124186,"y":-2.938433472379568},"rotation":{"radians":9.883673692899473E-4}},"curvature":0.00674354904334083},{"time":4.116970432018611,"velocity":2.3461655822538523,"acceleration":-3.999999999999993,"pose":{"translation":{"x":8.07073485853743,"y":-2.93834865658369},"rotation":{"radians":0.0015179199452330626}},"curvature":0.008836814303838782},{"time":4.145057118758791,"velocity":2.233818835293133,"acceleration":-3.999999999999996,"pose":{"translation":{"x":8.135053044938244,"y":-2.938231114542392},"rotation":{"radians":0.002164280892643828}},"curvature":0.011378629845880573},{"time":4.199297671482421,"velocity":2.016856624398612,"acceleration":-4.0,"pose":{"translation":{"x":8.250332040812422,"y":-2.93789249873172},"rotation":{"radians":0.0038477937100687624}},"curvature":0.018603353595874648},{"time":4.249634876810682,"velocity":1.815507803085567,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":8.346786138078565,"y":-2.9374193945316227},"rotation":{"radians":0.0061535670330065875}},"curvature":0.03066204246225188},{"time":4.294752431681984,"velocity":1.6350375836003577,"acceleration":-4.000000000000001,"pose":{"translation":{"x":8.424623996283676,"y":-2.9368305595332576},"rotation":{"radians":0.009239094405512483}},"curvature":0.0512020059216453},{"time":4.366505950688152,"velocity":1.3480235075756861,"acceleration":-4.000000000000001,"pose":{"translation":{"x":8.531637529794496,"y":-2.9354401855311467},"rotation":{"radians":0.01810696287899123}},"curvature":0.1278290080164256},{"time":4.45928054638395,"velocity":0.9769251247924952,"acceleration":-4.0,"pose":{"translation":{"x":8.639457729810193,"y":-2.9329878723305733},"rotation":{"radians":0.017733826290229453}},"curvature":-0.32387539520868547},{"time":4.703511827582074,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":8.758753849127075,"y":-2.9323476132190947},"rotation":{"radians":-1.2486839153264893E-14}},"curvature":-1.0971975659756161E-13}] \ No newline at end of file diff --git a/src/main/deploy/paths/GSC_BRED.wpilib.json b/src/main/deploy/paths/GSC_BRED.wpilib.json index 0526883..173f14a 100644 --- a/src/main/deploy/paths/GSC_BRED.wpilib.json +++ b/src/main/deploy/paths/GSC_BRED.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.4479129034336145,"y":-1.1819516845970495},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.16675126339803212,"velocity":0.7503806852911443,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.510471533527273,"y":-1.1827293637088991},"rotation":{"radians":-0.03661422496169817}},"curvature":-1.1258079685565034},{"time":0.20439557977546777,"velocity":0.9197801089896047,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.5418568736744367,"y":-1.1845138659269963},"rotation":{"radians":-0.07935248619428745}},"curvature":-1.5784559651400756},{"time":0.23634751472150364,"velocity":1.0635638162467662,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.5733635324786435,"y":-1.187878800269094},"rotation":{"radians":-0.13533742554563094}},"curvature":-1.936944340601935},{"time":0.2648260711656582,"velocity":1.1917173202454616,"acceleration":4.499999999999995,"pose":{"translation":{"x":1.6050253720852155,"y":-1.1932462623057687},"rotation":{"radians":-0.20183765383133917}},"curvature":-2.183152429418107},{"time":0.2910319664705512,"velocity":1.30964384911748,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.636873083769173,"y":-1.2009881798991728},"rotation":{"radians":-0.27576112874954156}},"curvature":-2.3052154089211987},{"time":0.31573001904763826,"velocity":1.4207850857143718,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.6689342884081788,"y":-1.2114281049069076},"rotation":{"radians":-0.3538268403339041}},"curvature":-2.304645816082935},{"time":0.33945487932553836,"velocity":1.5275469569649223,"acceleration":4.499999999999996,"pose":{"translation":{"x":1.7012336369554828,"y":-1.2248430048858951},"rotation":{"radians":-0.43285553049565206}},"curvature":-2.1987554306633887},{"time":0.3625976794329705,"velocity":1.6316895574483667,"acceleration":3.329195830865813,"pose":{"translation":{"x":1.733792910912864,"y":-1.241465054796251},"rotation":{"radians":-0.5100814412563605}},"curvature":-2.016704929883194},{"time":0.3856266097470704,"velocity":1.7083573762393676,"acceleration":3.791153630224241,"pose":{"translation":{"x":1.7666311228035774,"y":-1.2614834287051555},"rotation":{"radians":-0.5833770944698449}},"curvature":-1.7915603752153197},{"time":0.4088284325880472,"velocity":1.7963190511307563,"acceleration":4.027798471568049,"pose":{"translation":{"x":1.7997646166452952,"y":-1.2850460914907278},"rotation":{"radians":-0.651332750624201}},"curvature":-1.5526967379888286},{"time":0.43221814051692126,"velocity":1.8905280809770983,"acceleration":4.016576379642086,"pose":{"translation":{"x":1.8332071684230533,"y":-1.312261590545896},"rotation":{"radians":-0.7132010292385328}},"curvature":-1.3215197095352322},{"time":0.455848308292124,"velocity":1.9854404547099573,"acceleration":3.8125432308775786,"pose":{"translation":{"x":1.8669700865621937,"y":-1.343200847482271},"rotation":{"radians":-0.768760316514246}},"curvature":-1.1108017317305132},{"time":0.4797979486543815,"velocity":2.0767494939550346,"acceleration":3.278155026449633,"pose":{"translation":{"x":1.9010623124013093,"y":-1.3778989498340184},"rotation":{"radians":-0.8181551496208994}},"curvature":-0.9262612937080306},{"time":0.5290511504300263,"velocity":2.2382091249246026,"acceleration":2.4728685388042737,"pose":{"translation":{"x":1.9702592199377533,"y":-1.458543620756297},"rotation":{"radians":-0.9000340517764718}},"curvature":-0.6367950441966783},{"time":0.5805605948557447,"velocity":2.365585209496249,"acceleration":1.9275391821157322,"pose":{"translation":{"x":2.0408258979780145,"y":-1.553827706784292},"rotation":{"radians":-0.9627086829350265}},"curvature":-0.4363167350690478},{"time":0.6072676487445433,"velocity":2.4170641023057846,"acceleration":1.620256823143395,"pose":{"translation":{"x":2.076622967465751,"y":-1.6067175757858483},"rotation":{"radians":-0.9880845869176152}},"curvature":-0.3612891121371629},{"time":0.6346616301918903,"velocity":2.461449387658912,"acceleration":1.3606792679668507,"pose":{"translation":{"x":2.1127589103481488,"y":-1.6629246351982616},"rotation":{"radians":-1.0100701992107295}},"curvature":-0.2991194235932103},{"time":0.6627469173844331,"velocity":2.4996644556767,"acceleration":1.1456857981576365,"pose":{"translation":{"x":2.149228911598988,"y":-1.7222833017220027},"rotation":{"radians":-1.0290402364544295}},"curvature":-0.24736103273403748},{"time":0.6915114903012662,"velocity":2.5326196183575855,"acceleration":0.9702382155238638,"pose":{"translation":{"x":2.186026592888852,"y":-1.784606491611075},"rotation":{"radians":-1.0453188821193624}},"curvature":-0.20398093437944423},{"time":0.7209283583430487,"velocity":2.5611609879127455,"acceleration":0.8287774859092928,"pose":{"translation":{"x":2.223144113058071,"y":-1.8496874123768867},"rotation":{"radians":-1.0591830933146142}},"curvature":-0.16731297697702832},{"time":0.7509570700135506,"velocity":2.586048108076119,"acceleration":0.7160035503103955,"pose":{"translation":{"x":2.2605722685896654,"y":-1.9173013544921245},"rotation":{"radians":-1.0708669280987786}},"curvature":-0.13600031996198375},{"time":0.7815452079525793,"velocity":2.6079493234378477,"acceleration":0.6272513296859914,"pose":{"translation":{"x":2.2983005940822925,"y":-1.987207483094623},"rotation":{"radians":-1.0805660724562007}},"curvature":-0.10893886007412203},{"time":0.8126298195727341,"velocity":2.6274471874093623,"acceleration":0.5586278051997687,"pose":{"translation":{"x":2.336317462723187,"y":-2.0591506296912394},"rotation":{"radians":-1.0884421219232272}},"curvature":-0.08522661654048823},{"time":0.8441387615549235,"velocity":2.6450489585130397,"acceleration":0.5070223709021043,"pose":{"translation":{"x":2.3746101867611076,"y":-2.132863083861725},"rotation":{"radians":-1.0946263986255145}},"curvature":-0.06412054466975535},{"time":0.87599195234151,"velocity":2.661199238826452,"acceleration":0.4700606284054272,"pose":{"translation":{"x":2.41316511797928,"y":-2.2080663849625983},"rotation":{"radians":-1.099223214419021}},"curvature":-0.04500055237263592},{"time":0.9081025351863629,"velocity":2.676293159576968,"acceleration":0.4460429356513743,"pose":{"translation":{"x":2.45196774816834,"y":-2.284473113831014},"rotation":{"radians":-1.1023125615721399}},"curvature":-0.02733977789506477},{"time":0.9403779583017432,"velocity":2.6906893840527424,"acceleration":0.14211096673256773,"pose":{"translation":{"x":2.491002809599281,"y":-2.36178868448864},"rotation":{"radians":-1.103952247665574}},"curvature":-0.010679965195289397},{"time":0.9727776016067562,"velocity":2.695293728684608,"acceleration":-0.42204694776330315,"pose":{"translation":{"x":2.5302543754963924,"y":-2.439713135845527},"rotation":{"radians":-1.1041795059608708}},"curvature":0.005389219214448908},{"time":1.005367287976722,"velocity":2.6815393510236007,"acceleration":-0.41928442852513637,"pose":{"translation":{"x":2.56970596051021,"y":-2.517942923403981},"rotation":{"radians":-1.1030121155156816}},"curvature":0.02124798639773976},{"time":1.038155402199742,"velocity":2.667791805289185,"acceleration":-0.4271953627256975,"pose":{"translation":{"x":2.6093406211904555,"y":-2.5961727109624344},"rotation":{"radians":-1.1004490623603496}},"curvature":0.03726228117562476},{"time":1.071040745784811,"velocity":2.653743339008002,"acceleration":-0.44569068541108464,"pose":{"translation":{"x":2.6491410564589817,"y":-2.6740971623193213},"rotation":{"radians":-1.0964707675356367}},"curvature":0.05379852305192921},{"time":1.1039253776899813,"velocity":2.6390869648746955,"acceleration":-0.4751752494121733,"pose":{"translation":{"x":2.689089708082717,"y":-2.7514127329769473},"rotation":{"radians":-1.0910389020091744}},"curvature":0.07123796878747965},{"time":1.1367154923142422,"velocity":2.6235059139798587,"acceleration":-0.5165134170888379,"pose":{"translation":{"x":2.7291688611466096,"y":-2.827819461845363},"rotation":{"radians":-1.0840958042347084}},"curvature":0.08999135730123162},{"time":1.1693223536792634,"velocity":2.6066640325956696,"acceleration":-0.571009108421014,"pose":{"translation":{"x":2.7693607445265704,"y":-2.9030227629462364},"rotation":{"radians":-1.0755635152181637}},"curvature":0.11051442374923064},{"time":1.2016632870104145,"velocity":2.5881970650887456,"acceleration":-0.6403852025161758,"pose":{"translation":{"x":2.809647631362419,"y":-2.9767352171167216},"rotation":{"radians":-1.0653424507337572}},"curvature":0.13332477322444528},{"time":1.2336627273908927,"velocity":2.567705096980289,"acceleration":-0.7267422667062182,"pose":{"translation":{"x":2.850011939530825,"y":-3.048678363713339},"rotation":{"radians":-1.0533097441356003}},"curvature":0.15902044296009088},{"time":1.2652533218930808,"velocity":2.5447468767251715,"acceleration":-0.8324679116530977,"pose":{"translation":{"x":2.890436332118255,"y":-3.1185844923158377},"rotation":{"radians":-1.0393173210315185}},"curvature":0.18830018450418212},{"time":1.2963770756030364,"velocity":2.5188373504714394,"acceleration":-0.9600554397218625,"pose":{"translation":{"x":2.930903817893914,"y":-3.1861984344310748},"rotation":{"radians":-1.0231898163792652}},"curvature":0.2219849486993551},{"time":1.3269865218055568,"velocity":2.489450585137836,"acceleration":-1.1117748439179678,"pose":{"translation":{"x":2.971397851782691,"y":-3.251279355196887},"rotation":{"radians":-1.0047225262161568}},"curvature":0.26103907300308554},{"time":1.357045880251095,"velocity":2.4560313465937735,"acceleration":-1.289124525885725,"pose":{"translation":{"x":3.011902435338104,"y":-3.3136025450859594},"rotation":{"radians":-0.9836797155706489}},"curvature":0.306587972523714},{"time":1.3865321421561836,"velocity":2.418019883195234,"acceleration":-1.4919878714837354,"pose":{"translation":{"x":3.0524022172152403,"y":-3.372961211609701},"rotation":{"radians":-0.9597938015057446}},"curvature":0.3599263217529035},{"time":1.4154359830669165,"velocity":2.374895703117125,"acceleration":-1.7174432703231612,"pose":{"translation":{"x":3.0928825936437043,"y":-3.4291682710221143},"rotation":{"radians":-0.9327662202378509}},"curvature":0.4225062693892508},{"time":1.4437623515418507,"velocity":2.326246772207155,"acceleration":-2.077407184938312,"pose":{"translation":{"x":3.1333298089005606,"y":-3.48205814002367},"rotation":{"radians":-0.9022711938234533}},"curvature":0.49588863865252875},{"time":1.498804649036711,"velocity":2.21190150791582,"acceleration":-2.42600374588558,"pose":{"translation":{"x":3.214074576082667,"y":-3.5773422260516647},"rotation":{"radians":-0.8294971428204458}},"curvature":0.6810777161772439},{"time":1.52556611592409,"velocity":2.146978089001646,"acceleration":-2.6045713208389434,"pose":{"translation":{"x":3.254349761055841,"y":-3.6195289040462293},"rotation":{"radians":-0.7865443489091224}},"curvature":0.7950047365358154},{"time":1.55189819755078,"velocity":2.0783943043787794,"acceleration":-2.7030773332708016,"pose":{"translation":{"x":3.2945472518991403,"y":-3.657986896973942},"rotation":{"radians":-0.738840743047926}},"curvature":0.9230857174475366},{"time":1.577854525357382,"velocity":2.008232343029807,"acceleration":-2.6855800631537012,"pose":{"translation":{"x":3.33465904022109,"y":-3.692684999325691},"rotation":{"radians":-0.6862367744402135}},"curvature":1.06316650482679},{"time":1.603482290085437,"velocity":1.939406929012948,"acceleration":-2.5197168410170963,"pose":{"translation":{"x":3.3746785685153355,"y":-3.7236242562620636},"rotation":{"radians":-0.6287693283009255}},"curvature":1.2104264676159804},{"time":1.6288120322227428,"velocity":1.8755831511709584,"acceleration":-2.182304300468427,"pose":{"translation":{"x":3.414600830633593,"y":-3.750839755317234},"rotation":{"radians":-0.5667445629545287}},"curvature":1.3566428368769696},{"time":1.6538465872378254,"velocity":1.8209501341012304,"acceleration":-1.6622883477101384,"pose":{"translation":{"x":3.4544224722585906,"y":-3.7744024181028064},"rotation":{"radians":-0.5008206792411197}},"curvature":1.4899457262716584},{"time":1.6785513337584719,"velocity":1.7798837218268273,"acceleration":-0.9589549507118691,"pose":{"translation":{"x":3.4941418913770113,"y":-3.794420792011707},"rotation":{"radians":-0.43207026153095834}},"curvature":1.5955340347600204},{"time":1.7028485615567732,"velocity":1.7565837749410722,"acceleration":-0.0749833178322102,"pose":{"translation":{"x":3.5337593387524375,"y":-3.811042841922067},"rotation":{"radians":-0.36199703923574245}},"curvature":1.6576371215211634},{"time":1.7266184172233772,"velocity":1.7548014322987975,"acceleration":0.9946748461651891,"pose":{"translation":{"x":3.573277018398298,"y":-3.8244577419010537},"rotation":{"radians":-0.2924869434687072}},"curvature":1.6624556352910735},{"time":1.7497070657024998,"velocity":1.777767130172931,"acceleration":2.2776344043034555,"pose":{"translation":{"x":3.612699188050808,"y":-3.8348976669087844},"rotation":{"radians":-0.22569143774227315}},"curvature":1.6011083218210713},{"time":1.7719399181675344,"velocity":1.8284054398530967,"acceleration":3.845338164899309,"pose":{"translation":{"x":3.6520322596419152,"y":-3.8426395845021912},"rotation":{"radians":-0.16386707357633917}},"curvature":1.4712856396534288},{"time":1.793135519037117,"velocity":1.9099096928048758,"acceleration":4.500000000000009,"pose":{"translation":{"x":3.6912848997722456,"y":-3.848007046538861},"rotation":{"radians":-0.10921536564094128}},"curvature":1.2767882900619854},{"time":1.8324092082246315,"velocity":2.0866412941486914,"acceleration":4.500000000000005,"pose":{"translation":{"x":3.769595428234113,"y":-3.8531564830990566},"rotation":{"radians":-0.02934589725556946}},"curvature":0.7247422996065782},{"time":1.868463625624098,"velocity":2.248886172446291,"acceleration":1.3486702525698164,"pose":{"translation":{"x":3.847749017586805,"y":-3.853934162210909},"rotation":{"radians":5.684341886080814E-15}},"curvature":4.54747350886468E-15},{"time":1.9027842848634282,"velocity":2.295173424610961,"acceleration":-4.5,"pose":{"translation":{"x":3.925725279358208,"y":-3.8534841164285925},"rotation":{"radians":0.017100115782002}},"curvature":0.4282940309799268},{"time":1.9376085126953058,"velocity":2.1384643993675123,"acceleration":-4.499999999999994,"pose":{"translation":{"x":4.002866748562349,"y":-3.8505041184192206},"rotation":{"radians":0.0649806788105128}},"curvature":0.805968952500886},{"time":1.9745891972924663,"velocity":1.9720513186802906,"acceleration":-3.3490498747526223,"pose":{"translation":{"x":4.0784920216866745,"y":-3.842917671874036},"rotation":{"radians":0.13921240242768176}},"curvature":1.1392985405480751},{"time":1.9939555550834618,"velocity":1.9071924205459425,"acceleration":-2.615707065681253,"pose":{"translation":{"x":4.115566388063109,"y":-3.8368760486056708},"rotation":{"radians":0.184767232751708}},"curvature":1.2830047703960508},{"time":2.013796985129826,"velocity":1.8552930517804476,"acceleration":-1.9083275980979266,"pose":{"translation":{"x":4.152076701142558,"y":-3.8291127963030163},"rotation":{"radians":0.23501681902957883}},"curvature":1.4052336411502373},{"time":2.03404215536876,"velocity":1.8166586346852986,"acceleration":-1.2196176614200862,"pose":{"translation":{"x":4.187980079594746,"y":-3.8194935544567454},"rotation":{"radians":0.2891203307749972}},"curvature":1.5007564913800728},{"time":2.0546152469190604,"velocity":1.7915673288805398,"acceleration":-0.5519866422894071,"pose":{"translation":{"x":4.223242034915979,"y":-3.8079088473335365},"rotation":{"radians":0.34612514274475314}},"curvature":1.565000932587958},{"time":2.0754373160991197,"velocity":1.780073824828321,"acceleration":0.0859433137955258,"pose":{"translation":{"x":4.257836116418224,"y":-3.7942730471104045},"rotation":{"radians":0.40499447266280963}},"curvature":1.5950340254595576},{"time":2.0964295898034955,"velocity":1.7818779703945777,"acceleration":0.6819628972597249,"pose":{"translation":{"x":4.291743556218195,"y":-3.7785233370090343},"rotation":{"radians":0.4646543149525818}},"curvature":1.5902940689538214},{"time":2.117517926203212,"velocity":1.7962594333841164,"acceleration":1.2224541489901795,"pose":{"translation":{"x":4.324952914226439,"y":-3.7606186744301136},"rotation":{"radians":0.5240518659449637}},"curvature":1.5528507099966897},{"time":2.1386373463116595,"velocity":1.8220769561199546,"acceleration":1.6944032547974566,"pose":{"translation":{"x":4.357459723136416,"y":-3.740538754087667},"rotation":{"radians":0.5822146347131096}},"curvature":1.4871155772098692},{"time":2.1597355562009195,"velocity":1.8578258316267164,"acceleration":2.087314609776627,"pose":{"translation":{"x":4.389266133413583,"y":-3.7182829711433896},"rotation":{"radians":0.6382995592446783}},"curvature":1.3991101558376304},{"time":2.1807747297657984,"velocity":1.9017412059863148,"acceleration":2.39485266059466,"pose":{"translation":{"x":4.420380558284481,"y":-3.693869384340978},"rotation":{"radians":0.6916246710095196}},"curvature":1.295529434900677},{"time":2.2017313459629206,"velocity":1.9519292140430542,"acceleration":2.6159006142131154,"pose":{"translation":{"x":4.450817318725813,"y":-3.667333679140466},"rotation":{"radians":0.7416807363032659}},"curvature":1.182860748163112},{"time":2.222594356901731,"velocity":2.0065047771722226,"acceleration":2.7886459020280436,"pose":{"translation":{"x":4.4805962884535315,"y":-3.638728130852555},"rotation":{"radians":0.788124906198404}},"curvature":1.0667392267180251},{"time":2.2640242442241085,"velocity":2.1220380626752546,"acceleration":2.805529462049669,"pose":{"translation":{"x":4.538285984262688,"y":-3.575593334316693},"rotation":{"radians":0.8695145488581709}},"curvature":0.8406225935656925},{"time":2.30513553667682,"velocity":2.2373770048742765,"acceleration":2.666974291566329,"pose":{"translation":{"x":4.5937061998097235,"y":-3.505175593337056},"rotation":{"radians":0.9355010419194123}},"curvature":0.6381797735819096},{"time":2.345965439065447,"velocity":2.3462693048719085,"acceleration":2.4795308296024037,"pose":{"translation":{"x":4.647179612321736,"y":-3.4283845847253374},"rotation":{"radians":0.9868533574693273}},"curvature":0.4653180274103},{"time":2.3864916230269735,"velocity":2.446755227410651,"acceleration":2.3243694275462983,"pose":{"translation":{"x":4.699083661805828,"y":-3.3462958837999235},"rotation":{"radians":1.0247287506650324}},"curvature":0.3194515167390967},{"time":2.42660353344119,"velocity":2.5399901256579316,"acceleration":2.2576278495497117,"pose":{"translation":{"x":4.749839190699778,"y":-3.260117784684554},"rotation":{"radians":1.0502566951257617}},"curvature":0.19443289636030084},{"time":2.4660984564304895,"velocity":2.6291549637143956,"acceleration":1.3451061173860714,"pose":{"translation":{"x":4.799899083522717,"y":-3.171158120606983},"rotation":{"radians":1.0643235663839643}},"curvature":0.083166463147954},{"time":2.5049637897924755,"velocity":2.6814329613738517,"acceleration":-2.228115097619792,"pose":{"translation":{"x":4.8497369065258,"y":-3.0807910841976427},"rotation":{"radians":1.067478242821971}},"curvature":-0.02137128751587422},{"time":2.5441348117755855,"velocity":2.594155415904088,"acceleration":-2.1597739360445773,"pose":{"translation":{"x":4.899835547342885,"y":-2.990424047788302},"rotation":{"radians":1.0599001920562494}},"curvature":-0.1259295465136924},{"time":2.584303929688052,"velocity":2.507399202002841,"acceleration":-2.2083888761333332,"pose":{"translation":{"x":4.950675854641206,"y":-2.9014643837107315},"rotation":{"radians":1.0413990654144654}},"curvature":-0.23707709044647185},{"time":2.625192025405298,"velocity":2.4171023862546006,"acceleration":-2.325629332147615,"pose":{"translation":{"x":5.002725277772047,"y":-2.8152862845953623},"rotation":{"radians":1.0114380556827902}},"curvature":-0.36123450464081525},{"time":2.666600080042308,"velocity":2.3208025998035984,"acceleration":-2.4531340270169038,"pose":{"translation":{"x":5.056426506421418,"y":-2.733197583669948},"rotation":{"radians":0.9691938333803338}},"curvature":-0.5042920696418708},{"time":2.7084151666096026,"velocity":2.2182245881027107,"acceleration":-2.513438131438542,"pose":{"translation":{"x":5.112186110260728,"y":-2.65640657505823},"rotation":{"radians":0.9136872433609236}},"curvature":-0.6703384119923428},{"time":2.7506010666768983,"velocity":2.1121929382645135,"acceleration":-2.4141810721786654,"pose":{"translation":{"x":5.17036317859746,"y":-2.5859888340785933},"rotation":{"radians":0.844039889729757}},"curvature":-0.8589268970072171},{"time":2.7931650448804612,"velocity":2.0094357877288465,"acceleration":-2.1905307469923136,"pose":{"translation":{"x":5.231257960025852,"y":-2.5228540375427313},"rotation":{"radians":0.7599171022900525}},"curvature":-1.0606813308213356},{"time":2.8146061493625334,"velocity":1.9624683891113925,"acceleration":-1.948624251036706,"pose":{"translation":{"x":5.262799435866622,"y":-2.4942484892548213},"rotation":{"radians":0.7126266098471392}},"curvature":-1.1599331459310644},{"time":2.836137622552867,"velocity":1.9205116382921616,"acceleration":-1.6340067462363619,"pose":{"translation":{"x":5.29510050207756,"y":-2.4677127840543083},"rotation":{"radians":0.6621681338613797}},"curvature":-1.2527017430706413},{"time":2.857742265555946,"velocity":1.885209505875102,"acceleration":-1.2499924674350043,"pose":{"translation":{"x":5.328177081876786,"y":-2.4432991972518963},"rotation":{"radians":0.6089480754131007}},"curvature":-1.3339554398898406},{"time":2.879391932726951,"velocity":1.8581475849888713,"acceleration":-0.80403235597654,"pose":{"translation":{"x":5.362039290872343,"y":-2.4210434143076194},"rotation":{"radians":0.5535200522136969}},"curvature":-1.3983334498639497},{"time":2.9010467575790795,"velocity":1.840736405144755,"acceleration":-0.3067439645089806,"pose":{"translation":{"x":5.396691082051278,"y":-2.4009634939651727},"rotation":{"radians":0.4965810792660455}},"curvature":-1.4407538878771284},{"time":2.9226558297209744,"velocity":1.8341079526865895,"acceleration":0.2294566931183077,"pose":{"translation":{"x":5.432129890768733,"y":-2.3830588313862533},"rotation":{"radians":0.4389520801366672}},"curvature":-1.4571150596418718},{"time":2.9441593274661457,"velocity":1.8390420741696736,"acceleration":0.7919425573635717,"pose":{"translation":{"x":5.468346279737019,"y":-2.3673091212848822},"rotation":{"radians":0.3815431807780708}},"curvature":-1.4449248259090495},{"time":2.9654917240293606,"velocity":1.85593610685864,"acceleration":1.3696054672748121,"pose":{"translation":{"x":5.505323584014709,"y":-2.353673321061751},"rotation":{"radians":0.3253079273963904}},"curvature":-1.4036773480677496},{"time":2.9865853535607214,"velocity":1.8848260571894615,"acceleration":1.9547793938883153,"pose":{"translation":{"x":5.543037555995716,"y":-2.3420886139385404},"rotation":{"radians":0.27119369009965993}},"curvature":-1.334854720251187},{"time":3.0073734847494626,"velocity":1.9254622676746598,"acceleration":2.5454974972108553,"pose":{"translation":{"x":5.5814560103983775,"y":-2.3324693720922722},"rotation":{"radians":0.2200968167316161}},"curvature":-1.2415452625029666},{"time":3.0277921655955606,"velocity":1.9774379686647499,"acceleration":3.1482829446704805,"pose":{"translation":{"x":5.620538469254539,"y":-2.324706119789618},"rotation":{"radians":0.17283004014243872}},"curvature":-1.1277874510770332},{"time":3.047780419627271,"velocity":2.0403666479265246,"acceleration":4.134094093705775,"pose":{"translation":{"x":5.66023580689864,"y":-2.31866449652125},"rotation":{"radians":0.13010670412167258}},"curvature":-0.9978135104801514},{"time":3.0861594491271997,"velocity":2.1990291671043396,"acceleration":4.5,"pose":{"translation":{"x":5.74123324733587,"y":-2.311078049976067},"rotation":{"radians":0.060674715270784545}},"curvature":-0.7031313169917403},{"time":3.1224170275328733,"velocity":2.362188269929871,"acceleration":4.500000000000005,"pose":{"translation":{"x":5.823868882022594,"y":-2.3080980519666943},"rotation":{"radians":0.015962841866269072}},"curvature":-0.3732374814148373},{"time":3.1566631205537146,"velocity":2.5162956885236576,"acceleration":4.500000000000016,"pose":{"translation":{"x":5.907402177414155,"y":-2.307648006184375},"rotation":{"radians":-2.653092845496916E-15}},"curvature":-1.0513011341605291E-29},{"time":3.1890812149223273,"velocity":2.662177113182415,"acceleration":0.9074254832177507,"pose":{"translation":{"x":5.991340287058092,"y":-2.3076404338391994},"rotation":{"radians":2.649535115839325E-4}},"curvature":0.006029952688123767},{"time":3.22095015156524,"velocity":2.6910957984152457,"acceleration":-0.06174619166614193,"pose":{"translation":{"x":6.076641829892639,"y":-2.307590199771373},"rotation":{"radians":9.722799732904048E-4}},"curvature":0.010212235355141637},{"time":3.253566010297432,"velocity":2.689081893350612,"acceleration":-0.02129337457845388,"pose":{"translation":{"x":6.1643812940479705,"y":-2.3074620273224298},"rotation":{"radians":0.0019831542694842743}},"curvature":0.01253136251160785},{"time":3.2873953399078264,"velocity":2.68836155276348,"acceleration":0.004295711174323814,"pose":{"translation":{"x":6.255338646929341,"y":-2.3072282136537314},"rotation":{"radians":0.0031704306089004697}},"curvature":0.013361719672387466},{"time":3.322614363974325,"velocity":2.688512843518711,"acceleration":0.017812417821058826,"pose":{"translation":{"x":6.3500220964922,"y":-2.3068680988712456},"rotation":{"radians":0.0044333519039318455}},"curvature":0.013187285586570542},{"time":3.359310499840028,"velocity":2.6891664904231694,"acceleration":0.023260096693029277,"pose":{"translation":{"x":6.448690852517313,"y":-2.306367535150321},"rotation":{"radians":0.005700421247246144}},"curvature":0.012433874240311506},{"time":3.397490409696132,"velocity":2.6900545588181535,"acceleration":0.02402873227883208,"pose":{"translation":{"x":6.551377887885878,"y":-2.305718355860468},"rotation":{"radians":0.006925684113125355}},"curvature":0.011410848904973844},{"time":3.437087740992173,"velocity":2.6910060324908223,"acceleration":0.022435248079005446,"pose":{"translation":{"x":6.65791269985465,"y":-2.304917844690137},"rotation":{"radians":0.00808271542539735}},"curvature":0.010315532051502013},{"time":3.477970860018923,"velocity":2.691923255408431,"acceleration":0.019866891540529077,"pose":{"translation":{"x":6.767944071331051,"y":-2.3039682047714978},"rotation":{"radians":0.009158750769246516}},"curvature":0.009260376943499203},{"time":3.519950709148066,"velocity":2.6927572645179674,"acceleration":0.01706964839401313,"pose":{"translation":{"x":6.880962832148293,"y":-2.3028760278052154},"rotation":{"radians":0.010149941519185314}},"curvature":0.00830157331768548},{"time":3.562788815439105,"velocity":2.6934884959302208,"acceleration":0.014398607084738542,"pose":{"translation":{"x":6.996324620340491,"y":-2.301651763185232},"rotation":{"radians":0.01105789609507273}},"curvature":0.007461414746576857},{"time":3.6062054324967834,"velocity":2.694113634740183,"acceleration":0.011989567523043526,"pose":{"translation":{"x":7.113272643417793,"y":-2.3003091871235424},"rotation":{"radians":0.011887324659506156}},"curvature":0.006743514370556577},{"time":3.649887784298439,"velocity":2.694637367246674,"acceleration":0.009862856245626815,"pose":{"translation":{"x":7.230960439641481,"y":-2.298864871774976},"rotation":{"radians":0.01264451689345796}},"curvature":0.006142323957796496},{"time":3.693498381234199,"velocity":2.6950674922950375,"acceleration":0.00798045131525126,"pose":{"translation":{"x":7.348474639299103,"y":-2.2973376543619715},"rotation":{"radians":0.013336405147215685}},"curvature":0.0056487599128295625},{"time":3.73668338491159,"velocity":2.695412128114434,"acceleration":0.006273760187475729,"pose":{"translation":{"x":7.464857725979586,"y":-2.29574810629936},"rotation":{"radians":0.013970021073368994}},"curvature":0.005253407545563964},{"time":3.779081004951812,"velocity":2.695678120615086,"acceleration":0.004653040185748491,"pose":{"translation":{"x":7.579130797848353,"y":-2.294118002319139},"rotation":{"radians":0.014552209713129744}},"curvature":0.004948340754055799},{"time":3.82032991652741,"velocity":2.6958700534582656,"acceleration":-0.5502841723269392,"pose":{"translation":{"x":7.690316328922443,"y":-2.292469789595254},"rotation":{"radians":0.015089510248138453}},"curvature":0.004728250372917017},{"time":3.8602411446375644,"velocity":2.6739075363311176,"acceleration":-4.5,"pose":{"translation":{"x":7.797460930345629,"y":-2.2908260568683767},"rotation":{"radians":0.015588146180399807}},"curvature":0.004591357139598623},{"time":3.899781683844365,"velocity":2.495975109900515,"acceleration":-4.499999999999996,"pose":{"translation":{"x":7.899658111663536,"y":-2.2892090035706825},"rotation":{"radians":0.016054091812250218}},"curvature":0.004540486014822807},{"time":3.9398623013404417,"velocity":2.3156123311681696,"acceleration":-4.499999999999995,"pose":{"translation":{"x":7.996071042098757,"y":-2.287639908950629},"rotation":{"radians":0.016493199446957374}},"curvature":0.004584690576737188},{"time":3.9802709378868943,"velocity":2.1337734667091324,"acceleration":-4.500000000000005,"pose":{"translation":{"x":8.085955311825975,"y":-2.2861386011977363},"rotation":{"radians":0.016911385209116662}},"curvature":0.004741954003339922},{"time":4.0207766927444215,"velocity":1.9514975698502597,"acceleration":-4.499999999999997,"pose":{"translation":{"x":8.16868169324708,"y":-2.284722926567365},"rotation":{"radians":0.01731488235174734}},"curvature":0.005043803392536711},{"time":4.061131816175222,"velocity":1.7698995144116567,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":8.243758902266284,"y":-2.283408218505493},"rotation":{"radians":0.017710578939204365}},"curvature":0.005543231430900389},{"time":4.101076617312563,"velocity":1.5901479092936244,"acceleration":-4.5,"pose":{"translation":{"x":8.310856359565243,"y":-2.2822067667734958},"rotation":{"radians":0.018106456077918925}},"curvature":0.006328142010701095},{"time":4.178713455529856,"velocity":1.240782137315807,"acceleration":-4.5,"pose":{"translation":{"x":8.42072979326696,"y":-2.2801743876702876},"rotation":{"radians":0.018939227838648397}},"curvature":0.009419586444318525},{"time":4.252190386074643,"velocity":0.9101359498642625,"acceleration":-4.5,"pose":{"translation":{"x":8.499736383808816,"y":-2.278643060398277},"rotation":{"radians":0.019911643822342198}},"curvature":0.01651192017774628},{"time":4.454442819377812,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":8.59175494427624,"y":-2.276722283063836},"rotation":{"radians":0.021735706841822675}},"curvature":1.1971240540311216E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":2.208685692198673,"y":-0.8974350318881658},"rotation":{"radians":-1.0086095828948674}},"curvature":0.0},{"time":0.15348589525838513,"velocity":0.6139435810335405,"acceleration":4.000000000000001,"pose":{"translation":{"x":2.2332795544797395,"y":-0.9376226459646442},"rotation":{"radians":-1.0442319180226955}},"curvature":-1.2165562604172768},{"time":0.22574461585456546,"velocity":0.9029784634182619,"acceleration":3.999999999999999,"pose":{"translation":{"x":2.2592055714469685,"y":-0.9859080065212581},"rotation":{"radians":-1.1101342986345788}},"curvature":-1.0601215841048817},{"time":0.2913707694481069,"velocity":1.1654830777924277,"acceleration":4.000000000000003,"pose":{"translation":{"x":2.28751413281345,"y":-1.047595229461882},"rotation":{"radians":-1.165837706730789}},"curvature":-0.6089406630147776},{"time":0.3561239087253772,"velocity":1.424495634901509,"acceleration":3.999999999999998,"pose":{"translation":{"x":2.318973344241207,"y":-1.1253249943128742},"rotation":{"radians":-1.202313168603236}},"curvature":-0.2986832314980218},{"time":0.42080717441852683,"velocity":1.6832286976741073,"acceleration":4.0,"pose":{"translation":{"x":2.3540966328527095,"y":-1.2194971208993222},"rotation":{"radians":-1.2223809899676374}},"curvature":-0.12217958607942782},{"time":0.4848369650065649,"velocity":1.9393478600262597,"acceleration":4.0,"pose":{"translation":{"x":2.3931703527423895,"y":-1.3286931460212892},"rotation":{"radians":-1.2299728553682656}},"curvature":-0.01917395045358204},{"time":0.5163089662111563,"velocity":2.065235864844625,"acceleration":3.9999999999999933,"pose":{"translation":{"x":2.4142228133338,"y":-1.3880886574973763},"rotation":{"radians":-1.2299741069002639}},"curvature":0.017716791861267244},{"time":0.5472507177153959,"velocity":2.1890028708615836,"acceleration":4.0,"pose":{"translation":{"x":2.4362813904881513,"y":-1.4500989001300584},"rotation":{"radians":-1.2277424804045294}},"curvature":0.04919262342115615},{"time":0.5775412155832703,"velocity":2.3101648623330813,"acceleration":4.000000000000006,"pose":{"translation":{"x":2.459330307257457,"y":-1.5142233525946955},"rotation":{"radians":-1.2234093727971511}},"curvature":0.07746434882804511},{"time":0.6070677542984546,"velocity":2.4282710171938184,"acceleration":4.0,"pose":{"translation":{"x":2.483344770662887,"y":-1.57992708400438},"rotation":{"radians":-1.2170463172369834}},"curvature":0.10422434323065972},{"time":0.6357280751087071,"velocity":2.5429123004348284,"acceleration":0.8985630781183125,"pose":{"translation":{"x":2.5082918343670024,"y":-1.646653959431069},"rotation":{"radians":-1.2086745693797059}},"curvature":0.13081976348085936},{"time":0.6638953879733522,"velocity":2.5682224077848055,"acceleration":-0.8179275389133296,"pose":{"translation":{"x":2.53413126134599,"y":-1.7138398454267167},"rotation":{"radians":-1.1982738224433989}},"curvature":0.15836672182062153},{"time":0.6921346202631626,"velocity":2.545124762017199,"acceleration":-0.871540517033334,"pose":{"translation":{"x":2.5608163865618976,"y":-1.780925815544407},"rotation":{"radians":-1.185790994518245}},"curvature":0.1878139731724658},{"time":0.7205239949401661,"velocity":2.5203822717329505,"acceleration":-0.9419635838287841,"pose":{"translation":{"x":2.588294979634868,"y":-1.8473713558594875},"rotation":{"radians":-1.1711504847164207}},"curvature":0.21995699253461115},{"time":0.7488969301550578,"velocity":2.493655999994189,"acceleration":-1.0200914842470261,"pose":{"translation":{"x":2.6165101075153756,"y":-1.9126675704907004},"rotation":{"radians":-1.1542678170902871}},"curvature":0.255393766241328},{"time":0.7771027578898083,"velocity":2.4648834753158315,"acceleration":-1.0917477463108525,"pose":{"translation":{"x":2.6454009971564583,"y":-1.9763503871213164},"rotation":{"radians":-1.1350692553428865}},"curvature":0.2944026739313782},{"time":0.8050078907502204,"velocity":2.4344181094049717,"acceleration":-1.1342928344471832,"pose":{"translation":{"x":2.6749038981859545,"y":-2.0380137625202663},"rotation":{"radians":-1.113520755252833}},"curvature":0.3367117546602893},{"time":0.8324951494908543,"velocity":2.403239508776875,"acceleration":-1.0447763400933545,"pose":{"translation":{"x":2.7049529455787376,"y":-2.097322888063276},"rotation":{"radians":-1.0896703429118306}},"curvature":0.3811219974961386},{"time":0.8857822379712993,"velocity":2.347566419500045,"acceleration":-0.34085514988209914,"pose":{"translation":{"x":2.766420622122239,"y":-2.2079745612451327},"rotation":{"radians":-1.0360473474003116}},"curvature":0.4633555649248431},{"time":0.9361257032334434,"velocity":2.3304065901025326,"acceleration":1.840341552644424,"pose":{"translation":{"x":2.829267595071565,"y":-2.307553439611595},"rotation":{"radians":-0.9790052558882194}},"curvature":0.48949415340776287},{"time":0.9825023296543162,"velocity":2.415755422776332,"acceleration":4.000000000000008,"pose":{"translation":{"x":2.8929788092868987,"y":-2.397292463168556},"rotation":{"radians":-0.9301024235345895}},"curvature":0.3631568285346465},{"time":1.0246238492341961,"velocity":2.5842415010958524,"acceleration":0.7534241961876644,"pose":{"translation":{"x":2.9570881917155205,"y":-2.4808320556593415},"rotation":{"radians":-0.9087788159335944}},"curvature":1.518454228105632E-14},{"time":1.0648797137640302,"velocity":2.614571243471082,"acceleration":-0.3239205459270366,"pose":{"translation":{"x":3.0212327888671595,"y":-2.563507825685685},"rotation":{"radians":-0.9148784894599317}},"curvature":-0.10084598088152238},{"time":1.105455323794401,"velocity":2.601427969718722,"acceleration":0.9171425774437697,"pose":{"translation":{"x":3.0852715766885592,"y":-2.6477524381663495},"rotation":{"radians":-0.9270551231156252}},"curvature":-0.11694910061064094},{"time":1.1464355347694348,"velocity":2.639012666036554,"acceleration":1.138023067824081,"pose":{"translation":{"x":3.149228940048222,"y":-2.734003900550685},"rotation":{"radians":-0.9376083092841435}},"curvature":-0.07132686957336905},{"time":1.187209849625046,"velocity":2.6854147769169616,"acceleration":-2.469940005204737,"pose":{"translation":{"x":3.213246197930087,"y":-2.8216673494572566},"rotation":{"radians":-0.9408913277976564}},"curvature":0.016763190928122968},{"time":1.2284806234012637,"velocity":2.583478441721327,"acceleration":-2.8741271921964335,"pose":{"translation":{"x":3.277553997922018,"y":-2.9093358947659533},"rotation":{"radians":-0.9327265879736666}},"curvature":0.1392055119655226},{"time":1.2710919291277016,"velocity":2.461008129237976,"acceleration":-3.361054842943424,"pose":{"translation":{"x":3.3424447107042896,"y":-2.995011463710099},"rotation":{"radians":-0.9095553261243913}},"curvature":0.2997264503044887},{"time":1.3149067025271919,"velocity":2.3137442729111504,"acceleration":-4.0,"pose":{"translation":{"x":3.4082448245380705,"y":-3.0763256449685574},"rotation":{"radians":-0.8676727068750407}},"curvature":0.5126942889600824},{"time":1.3599571371466737,"velocity":2.1335425344332237,"acceleration":-4.0,"pose":{"translation":{"x":3.4752873397539137,"y":-3.1507605327578423},"rotation":{"radians":-0.8027374659555973}},"curvature":0.8004495091278804},{"time":1.3829743141198514,"velocity":2.0414738265405132,"acceleration":-4.00000000000001,"pose":{"translation":{"x":3.509373547583529,"y":-3.184624867002949},"rotation":{"radians":-0.7600952394440128}},"curvature":0.9794673085830793},{"time":1.4063116752053713,"velocity":1.948124382198433,"acceleration":-4.0,"pose":{"translation":{"x":3.5438841632402402,"y":-3.2158695709242267},"rotation":{"radians":-0.7098641463588177}},"curvature":1.1835023491213401},{"time":1.4300000112345286,"velocity":1.853371038081804,"acceleration":-3.904081665818517,"pose":{"translation":{"x":3.578850350205535,"y":-3.24423620561597},"rotation":{"radians":-0.6515731413780967}},"curvature":1.4098916503539516},{"time":1.4540978781023406,"velocity":1.759290997857844,"acceleration":-3.436545156236581,"pose":{"translation":{"x":3.6142985029318275,"y":-3.269498397035848},"rotation":{"radians":-0.5850137502235552}},"curvature":1.6503368968823489},{"time":1.4786345530386023,"velocity":1.6749696064554822,"acceleration":-2.7459230779117934,"pose":{"translation":{"x":3.6502493841702255,"y":-3.2914687373827816},"rotation":{"radians":-0.5104214438691327}},"curvature":1.8887949022816084},{"time":1.503567693542405,"velocity":1.606505120541273,"acceleration":-2.0969474954664693,"pose":{"translation":{"x":3.6867172622982944,"y":-3.3100056864748213},"rotation":{"radians":-0.42867368118371973}},"curvature":2.1008238023686783},{"time":1.5161655984700133,"velocity":1.5800879753552002,"acceleration":-1.6050723300750809,"pose":{"translation":{"x":3.7051475459604344,"y":-3.317956648306464},"rotation":{"radians":-0.38560646627713024}},"curvature":2.1875481925654796},{"time":1.5288159173198723,"velocity":1.5597832986026643,"acceleration":-1.0737498398020682,"pose":{"translation":{"x":3.723709048647823,"y":-3.325020473127025},"rotation":{"radians":-0.34144412632215987}},"curvature":2.256202738639688},{"time":1.5414921035245188,"velocity":1.546172245696124,"acceleration":-0.5075105251294986,"pose":{"translation":{"x":3.742401343206369,"y":-3.3311954419514773},"rotation":{"radians":-0.29652470315696305}},"curvature":2.303234185231084},{"time":1.554163201299986,"velocity":1.5397415302101294,"acceleration":0.08978695907597671,"pose":{"translation":{"x":3.761223434832589,"y":-3.3364839965293407},"rotation":{"radians":-0.2512286991391083}},"curvature":2.3257440223467722},{"time":1.566794716999073,"velocity":1.5408756755932709,"acceleration":0.7153102474869831,"pose":{"translation":{"x":3.7801737341151025,"y":-3.3408929550127437},"rotation":{"radians":-0.20596888243633027}},"curvature":2.321760455952715},{"time":1.5793497468551547,"velocity":1.5498564171068312,"acceleration":1.707847078038235,"pose":{"translation":{"x":3.7992500300761227,"y":-3.3444337276244784},"rotation":{"radians":-0.16117767097125293}},"curvature":2.290422412002296},{"time":1.6040393720341828,"velocity":1.5920225213266936,"acceleration":3.1296762614076044,"pose":{"translation":{"x":3.837768498539474,"y":-3.3489806104857944},"rotation":{"radians":-0.07474607776851738}},"curvature":2.1480120603459976},{"time":1.6279746927464582,"velocity":1.66693232636908,"acceleration":3.999999999999989,"pose":{"translation":{"x":3.8767476966489767,"y":-3.3503159636951647},"rotation":{"radians":0.004724003069591447}},"curvature":1.9127833948212343},{"time":1.6509929128120793,"velocity":1.7590052066315642,"acceleration":4.000000000000017,"pose":{"translation":{"x":3.9161448104240133,"y":-3.348718381720869},"rotation":{"radians":0.0743281254250358}},"curvature":1.608221649350428},{"time":1.6731609209811358,"velocity":1.8476772393077905,"acceleration":3.9999999999999782,"pose":{"translation":{"x":3.955904492804782,"y":-3.344560636295462},"rotation":{"radians":0.13171665749653022}},"curvature":1.2571069751242805},{"time":1.6946028561810105,"velocity":1.9334449801072888,"acceleration":4.000000000000003,"pose":{"translation":{"x":3.9959580009800595,"y":-3.3383165777936585},"rotation":{"radians":0.17498812903127817}},"curvature":0.8735967834412658},{"time":1.7354311666701119,"velocity":2.0967582220636944,"acceleration":-1.9721950459633566,"pose":{"translation":{"x":4.076599368678739,"y":-3.322011724537774},"rotation":{"radians":0.21207340478090622}},"curvature":5.008541567249755E-14},{"time":1.776262826248381,"velocity":2.0162302253249695,"acceleration":-3.363891152427412,"pose":{"translation":{"x":4.1583555035590205,"y":-3.302856897148806},"rotation":{"radians":0.2629493032956813}},"curvature":1.0467061313795736},{"time":1.79868052936993,"velocity":1.9408195121366467,"acceleration":0.46135003348099324,"pose":{"translation":{"x":4.20088543625517,"y":-3.2902679875858016},"rotation":{"radians":0.31379426329260834}},"curvature":1.2072991018725217},{"time":1.8228343400104619,"velocity":1.9519628734843497,"acceleration":2.4251653266299695,"pose":{"translation":{"x":4.245171174230061,"y":-3.2744890960062283},"rotation":{"radians":0.3705469455262113}},"curvature":1.1827871291417877},{"time":1.8482253076959947,"velocity":2.013540167924886,"acceleration":3.293446335025058,"pose":{"translation":{"x":4.291553611265194,"y":-3.2549139629072315},"rotation":{"radians":0.42706368049176224}},"curvature":1.0522279213334556},{"time":1.8745764870899282,"velocity":2.100326363123424,"acceleration":3.3625171085281624,"pose":{"translation":{"x":4.340264369325663,"y":-3.231140326437704},"rotation":{"radians":0.4794805348802543}},"curvature":0.8812176006345135},{"time":1.929842412359778,"velocity":2.286158982361933,"acceleration":2.8558418948997084,"pose":{"translation":{"x":4.445104728417107,"y":-3.170306556198866},"rotation":{"radians":0.5655334622697822}},"curvature":0.5587044039062821},{"time":1.9587261319691083,"velocity":2.368646318902795,"acceleration":2.4143655824559103,"pose":{"translation":{"x":4.5012318409704815,"y":-3.1333089949223196},"rotation":{"radians":0.5986413092840321}},"curvature":0.4317641424280037},{"time":1.9884498067489431,"velocity":2.4404101362753408,"acceleration":2.0117970665544544,"pose":{"translation":{"x":4.559700214632714,"y":-3.0922040992466004},"rotation":{"radians":0.6256384999782267}},"curvature":0.3283068166253529},{"time":2.0189683588126286,"velocity":2.501807269792552,"acceleration":1.6822885416979851,"pose":{"translation":{"x":4.620329490077278,"y":-3.0473547754730674},"rotation":{"radians":0.6471021915413053}},"curvature":0.24450562791797967},{"time":2.050188512696757,"velocity":2.5543285769418693,"acceleration":1.434206549250476,"pose":{"translation":{"x":4.682883787277409,"y":-2.9992259995123165},"rotation":{"radians":0.6635921032598477}},"curvature":0.1760161796119059},{"time":2.0819686282246224,"velocity":2.5999078267678706,"acceleration":1.2645753500721846,"pose":{"translation":{"x":4.747080664025464,"y":-2.948367828877095},"rotation":{"radians":0.6755886392724975}},"curvature":0.11882208184935568},{"time":2.114123294457109,"velocity":2.640569825075272,"acceleration":1.1679320483795625,"pose":{"translation":{"x":4.812600074452284,"y":-2.8953984146752187},"rotation":{"radians":0.683468106393283}},"curvature":0.06946472843672419},{"time":2.1464302551873757,"velocity":2.6783021598978904,"acceleration":0.2100793460270506,"pose":{"translation":{"x":4.879093327546553,"y":-2.840987013602483},"rotation":{"radians":0.6874960677144019}},"curvature":0.025004140045578188},{"time":2.178818179834009,"velocity":2.6851061939268286,"acceleration":-1.102010871469449,"pose":{"translation":{"x":4.94619204567416,"y":-2.78583699993558},"rotation":{"radians":0.6878282358980727}},"curvature":-0.01711982094668956},{"time":2.2114530678157096,"velocity":2.649142192581807,"acceleration":-1.1225260332426765,"pose":{"translation":{"x":5.013517123097565,"y":-2.730668877525013},"rotation":{"radians":0.68451347406291}},"curvature":-0.05925259197249749},{"time":2.2443256547525117,"velocity":2.6122418579652136,"acceleration":-1.2057571287067952,"pose":{"translation":{"x":5.080687684495155,"y":-2.676203291788011},"rotation":{"radians":0.6774965452253943}},"curvature":-0.10368812606092778},{"time":2.2771847727187824,"velocity":2.5726217422343653,"acceleration":-1.3503830975235704,"pose":{"translation":{"x":5.147330043480604,"y":-2.6231440417014444},"rotation":{"radians":0.6666202303619225}},"curvature":-0.1528179461548586},{"time":2.3098068524322115,"velocity":2.5285694371832843,"acceleration":-1.556144302580892,"pose":{"translation":{"x":5.213086661122242,"y":-2.5721610917947366},"rotation":{"radians":0.6516280945040526}},"curvature":-0.20925139234049878},{"time":2.342002863445037,"velocity":2.478467798079844,"acceleration":-1.8189881281421372,"pose":{"translation":{"x":5.277625104462409,"y":-2.5238735841427826},"rotation":{"radians":0.6321711737533672}},"curvature":-0.2758726034208785},{"time":2.3736239415080593,"velocity":2.420949432484151,"acceleration":-2.123572817037855,"pose":{"translation":{"x":5.340647005036818,"y":-2.478832850358862},"rotation":{"radians":0.6078248336627436}},"curvature":-0.35575595761500156},{"time":2.4045642902994153,"velocity":2.3552453488411578,"acceleration":-2.432505611447646,"pose":{"translation":{"x":5.401897017393921,"y":-2.437505423587554},"rotation":{"radians":0.5781266729707448}},"curvature":-0.45178204717763837},{"time":2.4347590737707505,"velocity":2.2817963686106886,"acceleration":-2.6735462315274012,"pose":{"translation":{"x":5.461171777614264,"y":-2.40025605049765},"rotation":{"radians":0.5426530122397276}},"curvature":-0.565673592301464},{"time":2.464173975867492,"velocity":2.2031542679591984,"acceleration":-2.7288257679940475,"pose":{"translation":{"x":5.518328861829851,"y":-2.367330703275073},"rotation":{"radians":0.5011593714437523}},"curvature":-0.6960359081109119},{"time":2.4927823853055178,"velocity":2.125086903103389,"acceleration":-2.430292807143565,"pose":{"translation":{"x":5.573295744743509,"y":-2.3388395916157885},"rotation":{"radians":0.4538150870211707}},"curvature":-0.8349885061069704},{"time":2.5205270174135666,"velocity":2.057659323254353,"acceleration":-1.5549425205894298,"pose":{"translation":{"x":5.626078758148242,"y":-2.314740174718719},"rotation":{"radians":0.40155269029524104}},"curvature":-0.963489402989767},{"time":2.5472673922279654,"velocity":2.016079577438946,"acceleration":0.2156995240907336,"pose":{"translation":{"x":5.676772049446596,"y":-2.294820173278665},"rotation":{"radians":0.34651000475117383}},"curvature":-1.047014971707174},{"time":2.5727249917528785,"velocity":2.021570769540962,"acceleration":3.45667447984606,"pose":{"translation":{"x":5.725566540170025,"y":-2.2786805814792075},"rotation":{"radians":0.29245275384616665}},"curvature":-1.0357873241486668},{"time":2.596452578953719,"velocity":2.103589314686429,"acceleration":4.0,"pose":{"translation":{"x":5.772758884498244,"y":-2.2657186789856385},"rotation":{"radians":0.24495227326425428}},"curvature":-0.8750632584278979},{"time":2.6391634078281223,"velocity":2.2744326301840423,"acceleration":3.9999999999999907,"pose":{"translation":{"x":5.864106165045411,"y":-2.245796559943312},"rotation":{"radians":0.19821725235188542}},"curvature":2.5819042799881837E-15},{"time":2.6801115216436813,"velocity":2.4382250854462786,"acceleration":4.000000000000015,"pose":{"translation":{"x":5.958644742999979,"y":-2.2265030030617505},"rotation":{"radians":0.20640866401216865}},"curvature":0.12482671710273613},{"time":2.726908731606977,"velocity":2.6254139252994624,"acceleration":1.0962516801837727,"pose":{"translation":{"x":6.07444449606091,"y":-2.2014346445077844},"rotation":{"radians":0.2190100081141944}},"curvature":0.07999032972897822},{"time":2.754182941115395,"velocity":2.65531332329875,"acceleration":0.6026447330636193,"pose":{"translation":{"x":6.144698543509341,"y":-2.185611856367672},"rotation":{"radians":0.22370555460305036}},"curvature":0.05194183317665187},{"time":2.78490965886446,"velocity":2.6738306179145566,"acceleration":0.39513318957960425,"pose":{"translation":{"x":6.224499196930904,"y":-2.1673051897024496},"rotation":{"radians":0.22700515270418442}},"curvature":0.03020748481725995},{"time":2.819285599146592,"velocity":2.6874136928430334,"acceleration":0.2591586962415848,"pose":{"translation":{"x":6.314260669505128,"y":-2.146465345005879},"rotation":{"radians":0.22900910447570028}},"curvature":0.01445502310683657},{"time":2.8573259291213393,"velocity":2.6972721751638886,"acceleration":-0.045306979348841626,"pose":{"translation":{"x":6.41399209892176,"y":-2.1231627793737515},"rotation":{"radians":0.2298687641449049}},"curvature":0.0031213803837290698},{"time":2.898975529711961,"velocity":2.695385157570042,"acceleration":-0.1276189038273275,"pose":{"translation":{"x":6.523339088366846,"y":-2.0975746337015635},"rotation":{"radians":0.2297191624961809}},"curvature":-0.005284343424241897},{"time":2.9440874525223903,"velocity":2.689628023431432,"acceleration":-0.10611667727224025,"pose":{"translation":{"x":6.641625247508803,"y":-2.069971659882185},"rotation":{"radians":0.22865717902167954}},"curvature":-0.011902119207895917},{"time":2.9678425186734594,"velocity":2.687107214743098,"acceleration":-0.09729449317493723,"pose":{"translation":{"x":6.703831321612053,"y":-2.0555216020059697},"rotation":{"radians":0.22780276271605338}},"curvature":-0.014808693479321148},{"time":2.9923233555025868,"velocity":2.68472536413131,"acceleration":-0.0916886066641129,"pose":{"translation":{"x":6.767893733484492,"y":-2.040705148003538},"rotation":{"radians":0.22673752287025117}},"curvature":-0.017560059772289707},{"time":3.01746888436277,"velocity":2.6824198056262873,"acceleration":-0.0887771386034335,"pose":{"translation":{"x":6.833655872378202,"y":-2.025576648472224},"rotation":{"radians":0.22546191224187354}},"curvature":-0.020227952039542287},{"time":3.0432136106179324,"velocity":2.6801342624952254,"acceleration":-0.088212477372534,"pose":{"translation":{"x":6.9009487918853,"y":-2.0101938535462622},"rotation":{"radians":0.22397391321641782}},"curvature":-0.022877213840504472},{"time":3.0694881314552873,"velocity":2.677816521920386,"acceleration":-0.08978893765798474,"pose":{"translation":{"x":6.969592508093759,"y":-1.9946175043717138},"rotation":{"radians":0.22226903425567818}},"curvature":-0.02556841530277056},{"time":3.0962196492608727,"velocity":2.675416327334637,"acceleration":-0.09342159525192821,"pose":{"translation":{"x":7.039397297743214,"y":-1.9789109245813943},"rotation":{"radians":0.22034026322495948}},"curvature":-0.028360271312756133},{"time":3.123332491421128,"velocity":2.672883402368212,"acceleration":-0.09913457569347929,"pose":{"translation":{"x":7.110164996380785,"y":-1.9631396117698},"rotation":{"radians":0.2181779712145665}},"curvature":-0.0313119541589778},{"time":3.150748637414386,"velocity":2.67016551436802,"acceleration":-0.10705771065027936,"pose":{"translation":{"x":7.181690296516891,"y":-1.9473708289680363},"rotation":{"radians":0.21576976054560934}},"curvature":-0.03448540747089652},{"time":3.178388254175691,"velocity":2.6672064802743036,"acceleration":-0.1174311434547664,"pose":{"translation":{"x":7.253762045781057,"y":-1.9316731961187446},"rotation":{"radians":0.21310024978899406}},"curvature":-0.037947780872296596},{"time":3.2061702409367334,"velocity":2.6639440098015092,"acceleration":-0.13061815552466957,"pose":{"translation":{"x":7.32616454507774,"y":-1.9161162815510298},"rotation":{"radians":0.2101507869932335}},"curvature":-0.04177412136150876},{"time":3.2340127850551244,"velocity":2.660307268043651,"acceleration":-0.14712723146802173,"pose":{"translation":{"x":7.398678846742135,"y":-1.9007701934553867},"rotation":{"radians":0.20689907995781515}},"curvature":-0.04605048200095012},{"time":3.2618339307603543,"velocity":2.656214019899772,"acceleration":-0.1676452394143715,"pose":{"translation":{"x":7.471084052695996,"y":-1.8857051713586286},"rotation":{"radians":0.20331872925877467}},"curvature":-0.05087764497782908},{"time":3.2895521632745015,"velocity":2.6515671901737945,"acceleration":-0.19308464876140743,"pose":{"translation":{"x":7.543158612603447,"y":-1.8709911775988135},"rotation":{"radians":0.19937864570602243}},"curvature":-0.056375709240572336},{"time":3.317087011440997,"velocity":2.646250633686868,"acceleration":-0.2246490287934527,"pose":{"translation":{"x":7.614681622026796,"y":-1.8566974888001715},"rotation":{"radians":0.19504232878293212}},"curvature":-0.06268986912762652},{"time":3.344359672852563,"velocity":2.640123856788147,"acceleration":-0.2639227662682753,"pose":{"translation":{"x":7.6854341205823555,"y":-1.842892287348033},"rotation":{"radians":0.19026697609686688}},"curvature":-0.06999781872829156},{"time":3.371293666560277,"velocity":2.633015362662155,"acceleration":-0.3129930981166833,"pose":{"translation":{"x":7.755200390096252,"y":-1.8296422528637546},"rotation":{"radians":0.1850023855643102}},"curvature":-0.0785193701353204},{"time":3.397815519835105,"velocity":2.6247142056378703,"acceleration":-0.37461521489735505,"pose":{"translation":{"x":7.823769252760242,"y":-1.8170121536796473},"rotation":{"radians":0.17918960145814866}},"curvature":-0.08852909103283126},{"time":3.423855497223577,"velocity":2.6149592339125656,"acceleration":-0.4524342341293776,"pose":{"translation":{"x":7.8909353692875275,"y":-1.8050644383139034},"rotation":{"radians":0.17275924191231679}},"curvature":-0.10037307536804015},{"time":3.4493483823909865,"velocity":2.6034253799361005,"acceleration":-2.569905289417855,"pose":{"translation":{"x":7.956500537068574,"y":-1.7938588269455247},"rotation":{"radians":0.16562942821474266}},"curvature":-0.11449139941139864},{"time":3.474480501489674,"velocity":2.5388382141301036,"acceleration":-3.9999999999999964,"pose":{"translation":{"x":8.020274988326918,"y":-1.7834519028892475},"rotation":{"radians":0.1577032142847992}},"curvature":-0.13144844066983458},{"time":3.524858194742294,"velocity":2.3373274411196236,"acceleration":-3.999999999999996,"pose":{"translation":{"x":8.14174263326992,"y":-1.765242314500191},"rotation":{"radians":0.1389784746640768}},"curvature":-0.1770204680252198},{"time":3.575491510539195,"velocity":2.13479417793202,"acceleration":-4.000000000000002,"pose":{"translation":{"x":8.254038188487309,"y":-1.7508100784265868},"rotation":{"radians":0.11536502654766273}},"curvature":-0.24609109226761244},{"time":3.625918577693695,"velocity":1.933085909314019,"acceleration":-3.999999999999998,"pose":{"translation":{"x":8.356079577651219,"y":-1.7404532645154078},"rotation":{"radians":0.08509466215971766}},"curvature":-0.354530784886219},{"time":3.675637616064063,"velocity":1.7342097558325469,"acceleration":-4.000000000000003,"pose":{"translation":{"x":8.447044304721212,"y":-1.7343805343784209},"rotation":{"radians":0.04556633961478791}},"curvature":-0.5311178832181277},{"time":3.7241245323804066,"velocity":1.540262090567172,"acceleration":-4.0,"pose":{"translation":{"x":8.526410994930355,"y":-1.732698068589859},"rotation":{"radians":-0.007074500898171791}},"curvature":-0.8288326706055754},{"time":3.7708801905462317,"velocity":1.3532394579038713,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":8.594000935771302,"y":-1.7353964938840947},"rotation":{"radians":-0.07846765133883896}},"curvature":-1.3433037290025898},{"time":3.7934904823978353,"velocity":1.2627982904974562,"acceleration":-4.000000000000004,"pose":{"translation":{"x":8.623427697208804,"y":-1.7383507976537182},"rotation":{"radians":-0.12354315453486762}},"curvature":-1.7279354354683287},{"time":3.8155548324774338,"velocity":1.1745408901790613,"acceleration":-3.9999999999999956,"pose":{"translation":{"x":8.650019617982363,"y":-1.7423378103533116},"rotation":{"radians":-0.1763423046585363}},"curvature":-2.227967701605784},{"time":3.837087830055935,"velocity":1.0884088998650567,"acceleration":-4.000000000000005,"pose":{"translation":{"x":8.673869231509432,"y":-1.7473180393249232},"rotation":{"radians":-0.23795000452345175}},"curvature":-2.862340906524463},{"time":3.858153141552755,"velocity":1.004147653877777,"acceleration":-4.0,"pose":{"translation":{"x":8.695098276533576,"y":-1.7532423186451762},"rotation":{"radians":-0.30915801699453194}},"curvature":-3.6315083619567488},{"time":3.8788849275409176,"velocity":0.9212205099251265,"acceleration":-4.000000000000006,"pose":{"translation":{"x":8.713858995280283,"y":-1.76005140060019},"rotation":{"radians":-0.39003180012700783}},"curvature":-4.493134292877451},{"time":3.8891963278575097,"velocity":0.8799749086587574,"acceleration":-3.999999999999994,"pose":{"translation":{"x":8.722369968258937,"y":-1.763766370380088},"rotation":{"radians":-0.43376702861053834}},"curvature":-4.926262138130195},{"time":3.8995218980884725,"velocity":0.8386726277349064,"acceleration":-4.000000000000006,"pose":{"translation":{"x":8.73033543161279,"y":-1.7676755471605132},"rotation":{"radians":-0.4793008072985803}},"curvature":-5.332667550075399},{"time":3.909912839385538,"velocity":0.7971088625466448,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":8.737783572809336,"y":-1.7717685075523304},"rotation":{"radians":-0.5261597288609259}},"curvature":-5.6845097262741815},{"time":3.9204326992964003,"velocity":0.7550294229031953,"acceleration":-4.0,"pose":{"translation":{"x":8.744744729187893,"y":-1.776034121456048},"rotation":{"radians":-0.5737212150313503}},"curvature":-5.950382363132845},{"time":3.931160426454363,"velocity":0.7121185142713433,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":8.751251428526997,"y":-1.7804605392954072},"rotation":{"radians":-0.621218192932388}},"curvature":-6.098087224321044},{"time":3.942194982115784,"velocity":0.6679802916256602,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":8.757338429611753,"y":-1.7850351792509778},"rotation":{"radians":-0.667757901579453}},"curvature":-6.098198436699231},{"time":3.9657244792842246,"velocity":0.5738623029518981,"acceleration":-4.000000000000001,"pose":{"translation":{"x":8.76840377059572,"y":-1.7945750604186936},"rotation":{"radians":-0.7539699336795398}},"curvature":-5.572868947982178},{"time":3.992685164305276,"velocity":0.4660195628676927,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":8.778264984112152,"y":-1.804537980416725},"rotation":{"radians":-0.8241290213531612}},"curvature":-4.3076991073187525},{"time":4.109190055022199,"velocity":0.0,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":8.79586471687172,"y":-1.825206725504087},"rotation":{"radians":-0.8870870151605633}},"curvature":-9.727081706471034E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/Seq1.wpilib.json b/src/main/deploy/paths/Seq1.wpilib.json index 5e0f8b3..082c1ae 100644 --- a/src/main/deploy/paths/Seq1.wpilib.json +++ b/src/main/deploy/paths/Seq1.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":1.6396523867809052,"y":-2.313833150808477},"rotation":{"radians":-0.008849326516257987}},"curvature":0.0},{"time":0.21090880545931628,"velocity":0.9490896245669233,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.739734776700425,"y":-2.3146446112802495},"rotation":{"radians":-0.007149647015655322}},"curvature":0.01725893438810635},{"time":0.27460595637302665,"velocity":1.23572680367862,"acceleration":4.500000000000003,"pose":{"translation":{"x":1.8093165329850407,"y":-2.31510673816049},"rotation":{"radians":-0.006214537421300872}},"curvature":0.010262108695263363},{"time":0.33773991962197225,"velocity":1.5198296382988754,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.8962996475995293,"y":-2.315615003996086},"rotation":{"radians":-0.005532904856197329}},"curvature":0.005996263181397757},{"time":0.40042779330236244,"velocity":1.8019250698606315,"acceleration":4.4999999999999964,"pose":{"translation":{"x":2.000415072981678,"y":-2.3161634275928744},"rotation":{"radians":-0.005039840497117272}},"curvature":0.0037792530506272166},{"time":0.46167238425554435,"velocity":2.07752572914995,"acceleration":4.499999999999997,"pose":{"translation":{"x":2.1192113689257215,"y":-2.316738666286958},"rotation":{"radians":-0.0046665773718276736}},"curvature":0.0026525886672486274},{"time":0.4913673778555592,"velocity":2.2111532003500165,"acceleration":4.499999999999998,"pose":{"translation":{"x":2.18288684602207,"y":-2.317030681391432},"rotation":{"radians":-0.004508805721396696}},"curvature":0.0023250237048777172},{"time":0.5202395350690269,"velocity":2.341077907810621,"acceleration":4.500000000000006,"pose":{"translation":{"x":2.248602565810843,"y":-2.317322139445587},"rotation":{"radians":-0.004363819082991022}},"curvature":0.0021040995089735234},{"time":0.5481447354447107,"velocity":2.466651309501198,"acceleration":3.472167497194643,"pose":{"translation":{"x":2.315682270679263,"y":-2.31761024782456},"rotation":{"radians":-0.004227674108169131}},"curvature":0.0019683194092841986},{"time":0.5750936296918713,"velocity":2.560222384191525,"acceleration":-4.500000000000008,"pose":{"translation":{"x":2.3834160278296714,"y":-2.317892151968046},"rotation":{"radians":-0.0040968776842529794}},"curvature":0.0019052546752226036},{"time":0.6021658518037379,"velocity":2.4383973846881246,"acceleration":-4.500000000000004,"pose":{"translation":{"x":2.4510773500054253,"y":-2.318165001739701},"rotation":{"radians":-0.0039681904771730085}},"curvature":0.001909770538576822},{"time":0.6303182482586918,"velocity":2.3117116006408325,"acceleration":-4.500000000000001,"pose":{"translation":{"x":2.517940316216782,"y":-2.318426017786541},"rotation":{"radians":-0.0038384445909229676}},"curvature":0.0019833496346190354},{"time":0.65941428460197,"velocity":2.18077943709608,"acceleration":-4.499999999999996,"pose":{"translation":{"x":2.583296692466793,"y":-2.3186725578983505},"rotation":{"radians":-0.003704364009272917}},"curvature":0.002134423240000436},{"time":0.6893059740979802,"velocity":2.0462668343640344,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":2.6464730524771953,"y":-2.318902183367081},"rotation":{"radians":-0.003562375965213496}},"curvature":0.002379784285935144},{"time":0.7508404841001153,"velocity":1.7693615393544266,"acceleration":-4.500000000000001,"pose":{"translation":{"x":2.7638687816148764,"y":-2.319302351210369},"rotation":{"radians":-0.003237626203522703}},"curvature":0.0032804752312573255},{"time":0.8136245188807636,"velocity":1.486833382841509,"acceleration":-4.5,"pose":{"translation":{"x":2.8660868353612363,"y":-2.3196136033526837},"rotation":{"radians":-0.0028212080559704344}},"curvature":0.005135608410691401},{"time":0.8765517184224269,"velocity":1.2036609849040243,"acceleration":-4.500000000000002,"pose":{"translation":{"x":2.950739195403628,"y":-2.3198305248667666},"rotation":{"radians":-0.002252114531954038}},"curvature":0.008854161979101095},{"time":0.9395505113911289,"velocity":0.920166416544865,"acceleration":-4.5,"pose":{"translation":{"x":3.0176383566138476,"y":-2.319957327362707},"rotation":{"radians":-0.001466708977573865}},"curvature":0.015315329026373479},{"time":1.1440319372899879,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":3.111716807318168,"y":-2.320018295432578},"rotation":{"radians":2.803592695601656E-14}},"curvature":1.0107951236368945E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":1.6396523867809052,"y":-2.313833150808477},"rotation":{"radians":-0.008849326516257987}},"curvature":0.0},{"time":0.22370256982835532,"velocity":0.8948102793134213,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.739734776700425,"y":-2.3146446112802495},"rotation":{"radians":-0.007149647015655322}},"curvature":0.01725893438810635},{"time":0.29126360085837655,"velocity":1.1650544034335064,"acceleration":3.9999999999999987,"pose":{"translation":{"x":1.8093165329850407,"y":-2.31510673816049},"rotation":{"radians":-0.006214537421300872}},"curvature":0.010262108695263363},{"time":0.3582272811631442,"velocity":1.4329091246525767,"acceleration":4.0,"pose":{"translation":{"x":1.8962996475995293,"y":-2.315615003996086},"rotation":{"radians":-0.005532904856197329}},"curvature":0.005996263181397757},{"time":0.4247178120294986,"velocity":1.6988712481179944,"acceleration":4.000000000000002,"pose":{"translation":{"x":2.000415072981678,"y":-2.3161634275928744},"rotation":{"radians":-0.005039840497117272}},"curvature":0.0037792530506272166},{"time":0.48967751039048535,"velocity":1.9587100415619416,"acceleration":3.9999999999999893,"pose":{"translation":{"x":2.1192113689257215,"y":-2.316738666286958},"rotation":{"radians":-0.0046665773718276736}},"curvature":0.0026525886672486274},{"time":0.5211738074032778,"velocity":2.084695229613111,"acceleration":3.9999999999999933,"pose":{"translation":{"x":2.18288684602207,"y":-2.317030681391432},"rotation":{"radians":-0.004508805721396696}},"curvature":0.0023250237048777172},{"time":0.5517973546329684,"velocity":2.2071894185318737,"acceleration":4.0,"pose":{"translation":{"x":2.248602565810843,"y":-2.317322139445587},"rotation":{"radians":-0.004363819082991022}},"curvature":0.0021040995089735234},{"time":0.5813952892569915,"velocity":2.325581157027966,"acceleration":3.0863711086174437,"pose":{"translation":{"x":2.315682270679263,"y":-2.31761024782456},"rotation":{"radians":-0.004227674108169131}},"curvature":0.0019683194092841986},{"time":0.609978908058461,"velocity":2.413800812276556,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":2.3834160278296714,"y":-2.317892151968046},"rotation":{"radians":-0.0040968776842529794}},"curvature":0.0019052546752226036},{"time":0.6386933358140949,"velocity":2.2989431012540202,"acceleration":-4.0,"pose":{"translation":{"x":2.4510773500054253,"y":-2.318165001739701},"rotation":{"radians":-0.0039681904771730085}},"curvature":0.001909770538576822},{"time":0.6685534614740198,"velocity":2.1795025986143206,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":2.517940316216782,"y":-2.318426017786541},"rotation":{"radians":-0.0038384445909229676}},"curvature":0.0019833496346190354},{"time":0.6994144683799933,"velocity":2.0560585709904267,"acceleration":-3.9999999999999964,"pose":{"translation":{"x":2.583296692466793,"y":-2.3186725578983505},"rotation":{"radians":-0.003704364009272917}},"curvature":0.002134423240000436},{"time":0.7311193928956206,"velocity":1.929238872927918,"acceleration":-4.0,"pose":{"translation":{"x":2.6464730524771953,"y":-2.318902183367081},"rotation":{"radians":-0.003562375965213496}},"curvature":0.002379784285935144},{"time":0.7963865968448722,"velocity":1.6681700571309113,"acceleration":-4.000000000000001,"pose":{"translation":{"x":2.7638687816148764,"y":-2.319302351210369},"rotation":{"radians":-0.003237626203522703}},"curvature":0.0032804752312573255},{"time":0.862979121960345,"velocity":1.4017999566690202,"acceleration":-4.000000000000001,"pose":{"translation":{"x":2.8660868353612363,"y":-2.3196136033526837},"rotation":{"radians":-0.0028212080559704344}},"curvature":0.005135608410691401},{"time":0.9297234962358286,"velocity":1.1348224595670855,"acceleration":-4.0,"pose":{"translation":{"x":2.950739195403628,"y":-2.3198305248667666},"rotation":{"radians":-0.002252114531954038}},"curvature":0.008854161979101095},{"time":0.9965438068079335,"velocity":0.8675412172786658,"acceleration":-4.0,"pose":{"translation":{"x":3.0176383566138476,"y":-2.319957327362707},"rotation":{"radians":-0.001466708977573865}},"curvature":0.015315329026373479},{"time":1.2134291111276,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":3.111716807318168,"y":-2.320018295432578},"rotation":{"radians":2.803592695601656E-14}},"curvature":1.0107951236368945E-13}] \ No newline at end of file diff --git a/src/main/deploy/paths/Seq2.wpilib.json b/src/main/deploy/paths/Seq2.wpilib.json index 8ce6c74..2864b1c 100644 --- a/src/main/deploy/paths/Seq2.wpilib.json +++ b/src/main/deploy/paths/Seq2.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.500000000000001,"pose":{"translation":{"x":2.957088191715518,"y":-2.3571291631772207},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.20561251483421628,"velocity":0.9252563167539735,"acceleration":4.500000000000002,"pose":{"translation":{"x":3.0522103307783257,"y":-2.3571275191873893},"rotation":{"radians":5.101157578230443E-5}},"curvature":0.001038792914185728},{"time":0.2902164945896451,"velocity":1.3059742256534033,"acceleration":4.5,"pose":{"translation":{"x":3.146595821982689,"y":-2.357116740977926},"rotation":{"radians":1.9099520049927404E-4}},"curvature":0.0019054639517066963},{"time":0.35433936655595,"velocity":1.5945271495017752,"acceleration":4.500000000000002,"pose":{"translation":{"x":3.2395900571900658,"y":-2.357089632328051},"rotation":{"radians":4.035864972296716E-4}},"curvature":0.002652082514494386},{"time":0.4074505808774465,"velocity":1.8335276139485097,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.3306241198087982,"y":-2.357040972350315},"rotation":{"radians":6.754485548111559E-4}},"curvature":0.0033104753166963616},{"time":0.45319726109031355,"velocity":2.0393876749064117,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.419210597831801,"y":-2.3569673627586405},"rotation":{"radians":9.950959992412528E-4}},"curvature":0.0038981243771801294},{"time":0.49344652394553024,"velocity":2.220509357754887,"acceleration":4.4999999999999964,"pose":{"translation":{"x":3.5049393968742493,"y":-2.356867075136363},"rotation":{"radians":0.0013520244174984744}},"curvature":0.0044210302444997965},{"time":0.529312160074773,"velocity":2.3819047203364794,"acceleration":4.500000000000002,"pose":{"translation":{"x":3.587473553211266,"y":-2.3567398982042733},"rotation":{"radians":0.0017360184754233884}},"curvature":0.004874609692377478},{"time":0.5615285518682043,"velocity":2.5268784834069202,"acceleration":4.5000000000000036,"pose":{"translation":{"x":3.6665450468156116,"y":-2.3565869850886587},"rotation":{"radians":0.002136559645089136}},"curvature":0.005243133825564394},{"time":0.5906166199291604,"velocity":2.657774789681223,"acceleration":1.3958500504498819,"pose":{"translation":{"x":3.7419506143953716,"y":-2.3564107005893433},"rotation":{"radians":0.0025422828689825997}},"curvature":0.0054979122679133},{"time":0.6173674853289427,"velocity":2.695114986499087,"acceleration":-4.069147585927979,"pose":{"translation":{"x":3.813547562431645,"y":-2.3562144684477317},"rotation":{"radians":0.0029404502277413256}},"curvature":0.005594270462982216},{"time":0.6429832264475531,"velocity":2.5908807553645374,"acceleration":-4.499999999999995,"pose":{"translation":{"x":3.881249580216232,"y":-2.3560026186148484},"rotation":{"radians":0.003316424361517827}},"curvature":0.005467307107409776},{"time":0.6681477098104625,"velocity":2.4776405802314456,"acceleration":-4.500000000000004,"pose":{"translation":{"x":3.9450225528893235,"y":-2.3557802345193797},"rotation":{"radians":0.00365313891813889}},"curvature":0.005026461101145579},{"time":0.717084339798209,"velocity":2.2574257452865862,"acceleration":-4.500000000000004,"pose":{"translation":{"x":4.06088076092986,"y":-2.355327048251995},"rotation":{"radians":0.004125323787162938}},"curvature":0.0026737820186648843},{"time":0.7639501625759009,"velocity":2.0465295427869723,"acceleration":-4.499999999999992,"pose":{"translation":{"x":4.161734080074728,"y":-2.354904842813889},"rotation":{"radians":0.004154108750296397}},"curvature":-0.0029414739347258},{"time":0.8086739979265566,"velocity":1.8452722837090219,"acceleration":-4.5,"pose":{"translation":{"x":4.24876157183169,"y":-2.3545658321706227},"rotation":{"radians":0.0034781161359367808}},"curvature":-0.01397812424405661},{"time":0.8514486952399379,"velocity":1.652786145798806,"acceleration":-4.5,"pose":{"translation":{"x":4.323575482900814,"y":-2.35435962366233},"rotation":{"radians":0.0018016415428211323}},"curvature":-0.032741911322928474},{"time":0.9337594424157586,"velocity":1.282387783507613,"acceleration":-4.5,"pose":{"translation":{"x":4.444373578973541,"y":-2.354501684748035},"rotation":{"radians":-0.005323585518118219}},"curvature":-0.0899279066882791},{"time":1.0226686735017156,"velocity":0.8822962436208065,"acceleration":-4.5,"pose":{"translation":{"x":4.5405986995686,"y":-2.3554900302219766},"rotation":{"radians":-0.015505320196648706}},"curvature":-0.10506063032999254},{"time":1.2187345054174505,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":4.627077240224189,"y":-2.3571291631772207},"rotation":{"radians":-0.02086328407244092}},"curvature":2.0691998138625314E-15}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":2.957088191715518,"y":-2.3571291631772207},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.21808500530414088,"velocity":0.8723400212165637,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.0522103307783257,"y":-2.3571275191873893},"rotation":{"radians":5.101157578230443E-5}},"curvature":0.001038792914185728},{"time":0.3078210770047905,"velocity":1.2312843080191624,"acceleration":4.0,"pose":{"translation":{"x":3.146595821982689,"y":-2.357116740977926},"rotation":{"radians":1.9099520049927404E-4}},"curvature":0.0019054639517066963},{"time":0.3758336533995869,"velocity":1.503334613598348,"acceleration":4.0,"pose":{"translation":{"x":3.2395900571900658,"y":-2.357089632328051},"rotation":{"radians":4.035864972296716E-4}},"curvature":0.002652082514494386},{"time":0.43216660310526034,"velocity":1.7286664124210418,"acceleration":4.000000000000003,"pose":{"translation":{"x":3.3306241198087982,"y":-2.357040972350315},"rotation":{"radians":6.754485548111559E-4}},"curvature":0.0033104753166963616},{"time":0.4806882847981965,"velocity":1.9227531391927866,"acceleration":4.000000000000011,"pose":{"translation":{"x":3.419210597831801,"y":-2.3569673627586405},"rotation":{"radians":9.950959992412528E-4}},"curvature":0.0038981243771801294},{"time":0.5233790748522218,"velocity":2.093516299408888,"acceleration":4.0,"pose":{"translation":{"x":3.5049393968742493,"y":-2.356867075136363},"rotation":{"radians":0.0013520244174984744}},"curvature":0.0044210302444997965},{"time":0.561420326630057,"velocity":2.245681306520229,"acceleration":4.000000000000005,"pose":{"translation":{"x":3.587473553211266,"y":-2.3567398982042733},"rotation":{"radians":0.0017360184754233884}},"curvature":0.004874609692377478},{"time":0.5955909702838039,"velocity":2.3823638811352166,"acceleration":3.9999999999999942,"pose":{"translation":{"x":3.6665450468156116,"y":-2.3565869850886587},"rotation":{"radians":0.002136559645089136}},"curvature":0.005243133825564394},{"time":0.6264435255500808,"velocity":2.505774102200324,"acceleration":1.6029015279156391,"pose":{"translation":{"x":3.7419506143953716,"y":-2.3564107005893433},"rotation":{"radians":0.0025422828689825997}},"curvature":0.0054979122679133},{"time":0.6547599636139544,"velocity":2.5511625640380355,"acceleration":-4.0,"pose":{"translation":{"x":3.813547562431645,"y":-2.3562144684477317},"rotation":{"radians":0.0029404502277413256}},"curvature":0.005594270462982216},{"time":0.6818741541688004,"velocity":2.4427058018186516,"acceleration":-4.0,"pose":{"translation":{"x":3.881249580216232,"y":-2.3560026186148484},"rotation":{"radians":0.003316424361517827}},"curvature":0.005467307107409776},{"time":0.7085651194152542,"velocity":2.335941940832836,"acceleration":-3.999999999999996,"pose":{"translation":{"x":3.9450225528893235,"y":-2.3557802345193797},"rotation":{"radians":0.00365313891813889}},"curvature":0.005026461101145579},{"time":0.7604702537843829,"velocity":2.1283214033563214,"acceleration":-3.999999999999998,"pose":{"translation":{"x":4.06088076092986,"y":-2.355327048251995},"rotation":{"radians":0.004125323787162938}},"curvature":0.0026737820186648843},{"time":0.8101789654223723,"velocity":1.9294865568043638,"acceleration":-4.0,"pose":{"translation":{"x":4.161734080074728,"y":-2.354904842813889},"rotation":{"radians":0.004154108750296397}},"curvature":-0.0029414739347258},{"time":0.8576157563080513,"velocity":1.739739393261648,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.24876157183169,"y":-2.3545658321706227},"rotation":{"radians":0.0034781161359367808}},"curvature":-0.01397812424405661},{"time":0.9029851741082922,"velocity":1.5582617220606847,"acceleration":-4.0,"pose":{"translation":{"x":4.323575482900814,"y":-2.35435962366233},"rotation":{"radians":0.0018016415428211323}},"curvature":-0.032741911322928474},{"time":0.9902889053471235,"velocity":1.2090467971053591,"acceleration":-4.000000000000001,"pose":{"translation":{"x":4.444373578973541,"y":-2.354501684748035},"rotation":{"radians":-0.005323585518118219}},"curvature":-0.0899279066882791},{"time":1.0845913856635665,"velocity":0.8318368758395872,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":4.5405986995686,"y":-2.3554900302219766},"rotation":{"radians":-0.015505320196648706}},"curvature":-0.10506063032999254},{"time":1.2925506046234634,"velocity":0.0,"acceleration":-3.9999999999999996,"pose":{"translation":{"x":4.627077240224189,"y":-2.3571291631772207},"rotation":{"radians":-0.02086328407244092}},"curvature":2.0691998138625314E-15}] \ No newline at end of file diff --git a/src/main/deploy/paths/SixBallMid0.wpilib.json b/src/main/deploy/paths/SixBallMid0.wpilib.json index 4df8488..84417e5 100644 --- a/src/main/deploy/paths/SixBallMid0.wpilib.json +++ b/src/main/deploy/paths/SixBallMid0.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.1865206339276694,"velocity":0.8393428526745125,"acceleration":4.5,"pose":{"translation":{"x":3.2065095854674475,"y":-2.321993759274483},"rotation":{"radians":1.4808013128224615}},"curvature":-0.25415239252139715},{"time":0.2633190587029384,"velocity":1.184935764163223,"acceleration":4.4999999999999964,"pose":{"translation":{"x":3.2144920400116974,"y":-2.244674015045166},"rotation":{"radians":1.4521039763788177}},"curvature":-0.48102289742329407},{"time":0.3216448869327807,"velocity":1.4474019911975131,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.2251942805954354,"y":-2.168657049536705},"rotation":{"radians":1.407083956538682}},"curvature":-0.6895659762146151},{"time":0.37018801454751543,"velocity":1.6658460654638196,"acceleration":4.5,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0944854736328122},"rotation":{"radians":1.3476355522918868}},"curvature":-0.8811082747650646},{"time":0.4123931667949754,"velocity":1.8557692505773895,"acceleration":2.4480049789766194,"pose":{"translation":{"x":3.2585973431481516,"y":-2.0226314455270766},"rotation":{"radians":1.2757042704692263}},"curvature":-1.0503191132212641},{"time":0.4508663775413617,"velocity":1.94995186204176,"acceleration":-1.2695112189858764,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9534998893737792},"rotation":{"radians":1.1935567050390803}},"curvature":-1.1871900193146532},{"time":0.46959018404583386,"velocity":1.9261817796222118,"acceleration":-0.9505764783973156,"pose":{"translation":{"x":3.29679072395957,"y":-1.9200639848597347},"rotation":{"radians":1.1494812806441845}},"curvature":-1.239928580956994},{"time":0.4884381182623463,"velocity":1.9082653766896152,"acceleration":-0.6341600109144341,"pose":{"translation":{"x":3.3123124503261456,"y":-1.887431713938713},"rotation":{"radians":1.1039001836454154}},"curvature":-1.2805479837540814},{"time":0.5073833763279108,"velocity":1.89625105162798,"acceleration":-0.3245119310934103,"pose":{"translation":{"x":3.3292782820223583,"y":-1.8556362158618867},"rotation":{"radians":1.0572084270862476}},"curvature":-1.308216350703189},{"time":0.5263996329781458,"velocity":1.8900800494602443,"acceleration":-0.026528213903626773,"pose":{"translation":{"x":3.347702503129696,"y":-1.82470703125},"rotation":{"radians":1.009808701952868}},"curvature":-1.3225645836950348},{"time":0.5454616744852285,"velocity":1.8895743675457046,"acceleration":0.2547028283301279,"pose":{"translation":{"x":3.3675900610791567,"y":-1.7946702026762067},"rotation":{"radians":0.96210010066623}},"curvature":-1.3237445021353418},{"time":0.5645460952466964,"velocity":1.8944352234906927,"acceleration":0.5143144232525184,"pose":{"translation":{"x":3.388937040133019,"y":-1.765548375248909},"rotation":{"radians":0.9144663557730784}},"curvature":-1.312428637189129},{"time":0.5836319455721812,"velocity":1.9042513515931283,"acceleration":0.7480241783349468,"pose":{"translation":{"x":3.411731134866622,"y":-1.737360897194594},"rotation":{"radians":0.8672647742046862}},"curvature":-1.2897532381321657},{"time":0.6027012324183231,"velocity":1.918515639217647,"acceleration":0.9524307525330558,"pose":{"translation":{"x":3.435952123650134,"y":-1.7101239204406737},"rotation":{"radians":0.8208169033196313}},"curvature":-1.2572161094450898},{"time":0.6217392051102513,"velocity":1.936647989875324,"acceleration":1.125227427063393,"pose":{"translation":{"x":3.461572342130331,"y":-1.6838505011983216},"rotation":{"radians":0.7754016677331865}},"curvature":-1.2165477334674017},{"time":0.6407343967244516,"velocity":1.9580219004619468,"acceleration":1.3196205552991271,"pose":{"translation":{"x":3.4885571567123694,"y":-1.6585507005453108},"rotation":{"radians":0.7312513370847253}},"curvature":-1.1695762249806743},{"time":0.6785476199509388,"velocity":2.0079210070937337,"acceleration":1.4729566395516278,"pose":{"translation":{"x":3.5464500344851415,"y":-1.6108978271484373},"rotation":{"radians":0.6474363689665855}},"curvature":-1.0638099142624002},{"time":0.7161279478595974,"velocity":2.0632752006033197,"acceleration":1.5163878721998487,"pose":{"translation":{"x":3.6092322956847354,"y":-1.567189708352089},"rotation":{"radians":0.5703086691540483}},"curvature":-0.9524662524724097},{"time":0.7534608876604659,"velocity":2.119886417750924,"acceleration":1.4764387537800263,"pose":{"translation":{"x":3.676424273995083,"y":-1.527409267425537},"rotation":{"radians":0.5001906802940327}},"curvature":-0.8446084678380373},{"time":0.7905378204802941,"velocity":2.1746282382374167,"acceleration":1.381779916256094,"pose":{"translation":{"x":3.7474802494845436,"y":-1.491501161456108},"rotation":{"radians":0.4369591767127109}},"curvature":-0.7456528682493916},{"time":0.8273411873609317,"velocity":2.2254823914436863,"acceleration":1.2577373426563747,"pose":{"translation":{"x":3.8218036000226827,"y":-1.459375},"rotation":{"radians":0.3802110136115068}},"curvature":-0.6580867707002909},{"time":0.8638352400882827,"velocity":2.2713823243437465,"acceleration":1.1237098671222336,"pose":{"translation":{"x":3.8987619526970523,"y":-1.430908563733101},"rotation":{"radians":0.3293970719543265}},"curvature":-0.5824180484673191},{"time":0.8999623021312533,"velocity":2.3119786604315697,"acceleration":0.9929925647817867,"pose":{"translation":{"x":3.9777023352299703,"y":-1.4059510231018066},"rotation":{"radians":0.2839173004495175}},"curvature":-0.5179964450188761},{"time":0.9356434093952584,"velocity":2.347409734647908,"acceleration":0.8739645791266727,"pose":{"translation":{"x":4.057966327395298,"y":-1.384326156973839},"rotation":{"radians":0.2431817004482161}},"curvature":-0.4635925052478776},{"time":0.9707819586060669,"velocity":2.3781195820200542,"acceleration":0.7717546186878751,"pose":{"translation":{"x":4.138905212435224,"y":-1.3658355712890626},"rotation":{"radians":0.2066461302891754}},"curvature":-0.4177494217263637},{"time":1.0052691703407959,"velocity":2.404735246961998,"acceleration":0.6898816606103202,"pose":{"translation":{"x":4.219895128477039,"y":-1.3502619177103043},"rotation":{"radians":0.17383156520200765}},"curvature":-0.37896519682071883},{"time":1.0389904826281047,"velocity":2.427998961880726,"acceleration":-1.5556956269457958,"pose":{"translation":{"x":4.300352219949918,"y":-1.3373721122741702},"rotation":{"radians":0.14433362331149865}},"curvature":-0.3457618351949617},{"time":1.072328658977178,"velocity":2.3761349067241246,"acceleration":-4.500000000000007,"pose":{"translation":{"x":4.3797477890017005,"y":-1.326920554041863},"rotation":{"radians":0.11782713826751266}},"curvature":-0.3166843715937036},{"time":1.106385234158137,"velocity":2.2228803184098087,"acceleration":-4.499999999999998,"pose":{"translation":{"x":4.457623446915669,"y":-1.3186523437500004},"rotation":{"radians":0.09406880478221523}},"curvature":-0.29025966227029737},{"time":1.141967961303735,"velocity":2.0627580462546176,"acceleration":-4.499999999999996,"pose":{"translation":{"x":4.5336062655273235,"y":-1.312306502461434},"rotation":{"radians":0.07289944611301012}},"curvature":-0.26493890076434345},{"time":1.1793502210712257,"velocity":1.89453787730091,"acceleration":-4.5,"pose":{"translation":{"x":4.607423928641174,"y":-1.307619190216065},"rotation":{"radians":0.05424603147602765}},"curvature":-0.2390516451714226},{"time":1.2189947232401959,"velocity":1.7161376175405445,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":4.678919883447504,"y":-1.3043269246816642},"rotation":{"radians":0.03812190138197012}},"curvature":-0.2108146530013771},{"time":1.2616983800002821,"velocity":1.5239711621201562,"acceleration":-4.499999999999998,"pose":{"translation":{"x":4.748068491939165,"y":-1.3021697998046884},"rotation":{"radians":0.02462148220789151}},"curvature":-0.1784645562722071},{"time":1.3089098458462682,"velocity":1.3115195658132184,"acceleration":-4.500000000000002,"pose":{"translation":{"x":4.814990182328344,"y":-1.3008947044610988},"rotation":{"radians":0.013903147168922325}},"curvature":-0.14060587812306488},{"time":1.3635832035830093,"velocity":1.0654894559978834,"acceleration":-4.5,"pose":{"translation":{"x":4.87996660046335,"y":-1.3002585411071794},"rotation":{"radians":0.006151724781559076}},"curvature":-0.09684470081187932},{"time":1.6003586382492057,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":5.006107200045358,"y":-1.300000000000002},"rotation":{"radians":-5.329070518200854E-15}},"curvature":-1.06581410364021E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.19783500762220302,"velocity":0.7913400304888121,"acceleration":4.000000000000002,"pose":{"translation":{"x":3.2065095854674475,"y":-2.321993759274483},"rotation":{"radians":1.4808013128224615}},"curvature":-0.25415239252139715},{"time":0.2792920380367595,"velocity":1.1171681521470382,"acceleration":4.000000000000003,"pose":{"translation":{"x":3.2144920400116974,"y":-2.244674015045166},"rotation":{"radians":1.4521039763788177}},"curvature":-0.48102289742329407},{"time":0.34115592102622433,"velocity":1.3646236841048978,"acceleration":3.9999999999999987,"pose":{"translation":{"x":3.2251942805954354,"y":-2.168657049536705},"rotation":{"radians":1.407083956538682}},"curvature":-0.6895659762146151},{"time":0.39264368310079867,"velocity":1.5705747324031951,"acceleration":4.0,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0944854736328122},"rotation":{"radians":1.3476355522918868}},"curvature":-0.8811082747650646},{"time":0.43740900713358305,"velocity":1.7496360285343326,"acceleration":3.999999999999997,"pose":{"translation":{"x":3.2585973431481516,"y":-2.0226314455270766},"rotation":{"radians":1.2757042704692263}},"curvature":-1.0503191132212641},{"time":0.47742142507802154,"velocity":1.9096857003120866,"acceleration":0.8718694174715393,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9534998893737792},"rotation":{"radians":1.1935567050390803}},"curvature":-1.1871900193146532},{"time":0.49634178055735995,"velocity":1.9261817796222118,"acceleration":-0.9505764783973342,"pose":{"translation":{"x":3.29679072395957,"y":-1.9200639848597347},"rotation":{"radians":1.1494812806441845}},"curvature":-1.239928580956994},{"time":0.5151897147738724,"velocity":1.9082653766896147,"acceleration":-0.6341600109144155,"pose":{"translation":{"x":3.3123124503261456,"y":-1.887431713938713},"rotation":{"radians":1.1039001836454154}},"curvature":-1.2805479837540814},{"time":0.5341349728394368,"velocity":1.89625105162798,"acceleration":-0.3245119310934103,"pose":{"translation":{"x":3.3292782820223583,"y":-1.8556362158618867},"rotation":{"radians":1.0572084270862476}},"curvature":-1.308216350703189},{"time":0.5531512294896719,"velocity":1.8900800494602443,"acceleration":-0.026528213903626773,"pose":{"translation":{"x":3.347702503129696,"y":-1.82470703125},"rotation":{"radians":1.009808701952868}},"curvature":-1.3225645836950348},{"time":0.5722132709967546,"velocity":1.8895743675457046,"acceleration":0.25470282833014024,"pose":{"translation":{"x":3.3675900610791567,"y":-1.7946702026762067},"rotation":{"radians":0.96210010066623}},"curvature":-1.3237445021353418},{"time":0.5912976917582224,"velocity":1.894435223490693,"acceleration":0.5143144232525062,"pose":{"translation":{"x":3.388937040133019,"y":-1.765548375248909},"rotation":{"radians":0.9144663557730784}},"curvature":-1.312428637189129},{"time":0.6103835420837073,"velocity":1.9042513515931283,"acceleration":0.7480241783349468,"pose":{"translation":{"x":3.411731134866622,"y":-1.737360897194594},"rotation":{"radians":0.8672647742046862}},"curvature":-1.2897532381321657},{"time":0.6294528289298491,"velocity":1.918515639217647,"acceleration":0.9524307525330679,"pose":{"translation":{"x":3.435952123650134,"y":-1.7101239204406737},"rotation":{"radians":0.8208169033196313}},"curvature":-1.2572161094450898},{"time":0.6484908016217773,"velocity":1.9366479898753242,"acceleration":1.125227427063393,"pose":{"translation":{"x":3.461572342130331,"y":-1.6838505011983216},"rotation":{"radians":0.7754016677331865}},"curvature":-1.2165477334674017},{"time":0.6674859932359777,"velocity":1.958021900461947,"acceleration":1.3196205552991211,"pose":{"translation":{"x":3.4885571567123694,"y":-1.6585507005453108},"rotation":{"radians":0.7312513370847253}},"curvature":-1.1695762249806743},{"time":0.7052992164624649,"velocity":2.0079210070937337,"acceleration":1.4729566395516278,"pose":{"translation":{"x":3.5464500344851415,"y":-1.6108978271484373},"rotation":{"radians":0.6474363689665855}},"curvature":-1.0638099142624002},{"time":0.7428795443711235,"velocity":2.0632752006033197,"acceleration":1.5163878721998487,"pose":{"translation":{"x":3.6092322956847354,"y":-1.567189708352089},"rotation":{"radians":0.5703086691540483}},"curvature":-0.9524662524724097},{"time":0.780212484171992,"velocity":2.119886417750924,"acceleration":1.4764387537800263,"pose":{"translation":{"x":3.676424273995083,"y":-1.527409267425537},"rotation":{"radians":0.5001906802940327}},"curvature":-0.8446084678380373},{"time":0.8172894169918201,"velocity":2.1746282382374167,"acceleration":1.381779916256094,"pose":{"translation":{"x":3.7474802494845436,"y":-1.491501161456108},"rotation":{"radians":0.4369591767127109}},"curvature":-0.7456528682493916},{"time":0.8540927838724577,"velocity":2.2254823914436863,"acceleration":1.257737342656391,"pose":{"translation":{"x":3.8218036000226827,"y":-1.459375},"rotation":{"radians":0.3802110136115068}},"curvature":-0.6580867707002909},{"time":0.8905868365998086,"velocity":2.271382324343747,"acceleration":1.1237098671222174,"pose":{"translation":{"x":3.8987619526970523,"y":-1.430908563733101},"rotation":{"radians":0.3293970719543265}},"curvature":-0.5824180484673191},{"time":0.9267138986427794,"velocity":2.3119786604315697,"acceleration":0.9929925647817867,"pose":{"translation":{"x":3.9777023352299703,"y":-1.4059510231018066},"rotation":{"radians":0.2839173004495175}},"curvature":-0.5179964450188761},{"time":0.9623950059067845,"velocity":2.347409734647908,"acceleration":0.8739645791266727,"pose":{"translation":{"x":4.057966327395298,"y":-1.384326156973839},"rotation":{"radians":0.2431817004482161}},"curvature":-0.4635925052478776},{"time":0.997533555117593,"velocity":2.3781195820200542,"acceleration":0.7717546186878751,"pose":{"translation":{"x":4.138905212435224,"y":-1.3658355712890626},"rotation":{"radians":0.2066461302891754}},"curvature":-0.4177494217263637},{"time":1.032020766852322,"velocity":2.404735246961998,"acceleration":-0.7573689709235166,"pose":{"translation":{"x":4.219895128477039,"y":-1.3502619177103043},"rotation":{"radians":0.17383156520200765}},"curvature":-0.37896519682071883},{"time":1.066087951944621,"velocity":2.3789338180463826,"acceleration":-4.0,"pose":{"translation":{"x":4.300352219949918,"y":-1.3373721122741702},"rotation":{"radians":0.14433362331149865}},"curvature":-0.3457618351949617},{"time":1.1007610379366524,"velocity":2.2402414740782572,"acceleration":-3.9999999999999942,"pose":{"translation":{"x":4.3797477890017005,"y":-1.326920554041863},"rotation":{"radians":0.11782713826751266}},"curvature":-0.3166843715937036},{"time":1.1368834908183207,"velocity":2.0957516625515837,"acceleration":-4.0,"pose":{"translation":{"x":4.457623446915669,"y":-1.3186523437500004},"rotation":{"radians":0.09406880478221523}},"curvature":-0.29025966227029737},{"time":1.1746246723049654,"velocity":1.9447869366050055,"acceleration":-4.0,"pose":{"translation":{"x":4.5336062655273235,"y":-1.312306502461434},"rotation":{"radians":0.07289944611301012}},"curvature":-0.26493890076434345},{"time":1.21427454637147,"velocity":1.7861874403389877,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.607423928641174,"y":-1.307619190216065},"rotation":{"radians":0.05424603147602765}},"curvature":-0.2390516451714226},{"time":1.2563238908521352,"velocity":1.6179900624163264,"acceleration":-3.999999999999997,"pose":{"translation":{"x":4.678919883447504,"y":-1.3043269246816642},"rotation":{"radians":0.03812190138197012}},"curvature":-0.2108146530013771},{"time":1.301617958766915,"velocity":1.4368137907572076,"acceleration":-4.000000000000002,"pose":{"translation":{"x":4.748068491939165,"y":-1.3021697998046884},"rotation":{"radians":0.02462148220789151}},"curvature":-0.1784645562722071},{"time":1.351693280241096,"velocity":1.2365125048604841,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":4.814990182328344,"y":-1.3008947044610988},"rotation":{"radians":0.013903147168922325}},"curvature":-0.14060587812306488},{"time":1.4096831332499273,"velocity":1.0045530928251585,"acceleration":-4.0,"pose":{"translation":{"x":4.87996660046335,"y":-1.3002585411071794},"rotation":{"radians":0.006151724781559076}},"curvature":-0.09684470081187932},{"time":1.660821406456217,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":5.006107200045358,"y":-1.300000000000002},"rotation":{"radians":-5.329070518200854E-15}},"curvature":-1.06581410364021E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/SixBallMid1.wpilib.json b/src/main/deploy/paths/SixBallMid1.wpilib.json index ffe9979..a63ea54 100644 --- a/src/main/deploy/paths/SixBallMid1.wpilib.json +++ b/src/main/deploy/paths/SixBallMid1.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":5.006,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.20573764844705011,"velocity":0.9258194180117253,"acceleration":4.499999999999999,"pose":{"translation":{"x":5.101237954974175,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.29089343363598014,"velocity":1.3090204513619104,"acceleration":4.500000000000001,"pose":{"translation":{"x":5.1963927268981935,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.35612280264725826,"velocity":1.602552611912662,"acceleration":4.499999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.4109495139773185,"velocity":1.849272812897933,"acceleration":4.500000000000003,"pose":{"translation":{"x":5.385978881835937,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.45903663052813415,"velocity":2.0656648373766036,"acceleration":4.499999999999996,"pose":{"translation":{"x":5.480107913374901,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5022422410319127,"velocity":2.2600900846436067,"acceleration":4.5,"pose":{"translation":{"x":5.573556354522705,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5416534410965053,"velocity":2.4374404849342732,"acceleration":4.5,"pose":{"translation":{"x":5.666124013066292,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5779648802287022,"velocity":2.6008419610291593,"acceleration":2.9150320006597665,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6119809867237246,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6448002426673765,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6769619138555188,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.708381216257238,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.738975291204101,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7686645564287696,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.797374057103618,"velocity":2.7,"acceleration":-1.988376329715021,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8253224362131558,"velocity":2.6444281045246933,"acceleration":-4.499999999999994,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8530866314675544,"velocity":2.5194892258799,"acceleration":-4.5,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8809877266489654,"velocity":2.3939342975635505,"acceleration":-4.499999999999993,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9089973429363128,"velocity":2.267891024270487,"acceleration":-4.5,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.937094860478685,"velocity":2.1414521953298125,"acceleration":-4.499999999999994,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9935367849555355,"velocity":1.887463535183985,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0505138372058496,"velocity":1.631066800057572,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1089079981988994,"velocity":1.3682930755888474,"acceleration":-4.499999999999998,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.171239680772073,"velocity":1.0878005040095662,"acceleration":-4.500000000000001,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2451617546239588,"velocity":0.7551511716760799,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4129731261075322,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.200000000000008,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":5.006,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2182177295434246,"velocity":0.8728709181736984,"acceleration":4.000000000000001,"pose":{"translation":{"x":5.101237954974175,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3085390792899607,"velocity":1.2341563171598429,"acceleration":3.9999999999999987,"pose":{"translation":{"x":5.1963927268981935,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.37772527303055237,"velocity":1.5109010921222092,"acceleration":3.999999999999998,"pose":{"translation":{"x":5.291352763772011,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43587778208801675,"velocity":1.7435111283520666,"acceleration":4.000000000000003,"pose":{"translation":{"x":5.385978881835937,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.48688187138920114,"velocity":1.9475274855568043,"acceleration":4.0,"pose":{"translation":{"x":5.480107913374901,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.532708341647991,"velocity":2.1308333665919634,"acceleration":4.000000000000004,"pose":{"translation":{"x":5.573556354522705,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5745102318785507,"velocity":2.298040927514202,"acceleration":4.000000000000004,"pose":{"translation":{"x":5.666124013066292,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6130243291460792,"velocity":2.4520973165843163,"acceleration":4.0,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6487505909746158,"velocity":2.595002363898463,"acceleration":3.137062629938597,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6822206387509946,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.714382309939137,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7458016123408562,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7763956872877191,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8060849525123878,"velocity":2.7,"acceleration":-3.0737507693152293,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.835279609451424,"velocity":2.6102629007737432,"acceleration":-4.0,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.86454765295496,"velocity":2.493190726759599,"acceleration":-3.999999999999994,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8939960290628188,"velocity":2.375397222328164,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9235896094707795,"velocity":2.257022900696321,"acceleration":-4.0,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9532982938936043,"velocity":2.138188163005022,"acceleration":-3.999999999999993,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9831002116766833,"velocity":2.018980491872706,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0429659129878832,"velocity":1.7795176866279059,"acceleration":-3.999999999999998,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.103399203015209,"velocity":1.5377845265186025,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.165335563845036,"velocity":1.2900390831992952,"acceleration":-4.0,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2314482969904237,"velocity":1.0255881506177447,"acceleration":-4.000000000000001,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.3098544965404855,"velocity":0.7119633524174972,"acceleration":-4.000000000000001,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4878453346448597,"velocity":0.0,"acceleration":-4.000000000000001,"pose":{"translation":{"x":7.200000000000008,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file diff --git a/src/main/deploy/paths/SixBallMidComplete.wpilib.json b/src/main/deploy/paths/SixBallMidComplete.wpilib.json index b0350a4..72e3fb8 100644 --- a/src/main/deploy/paths/SixBallMidComplete.wpilib.json +++ b/src/main/deploy/paths/SixBallMidComplete.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.18657823115310335,"velocity":0.839602040188965,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.2636201163434935,"velocity":1.1862905235457206,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.32239440714143003,"velocity":1.450774832136435,"acceleration":4.500000000000005,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.3715463924484661,"velocity":1.6719587660180977,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.414434843963577,"velocity":1.8649567978360966,"acceleration":4.499999999999993,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.4528052230574477,"velocity":2.0376235037585144,"acceleration":2.6990957806315383,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.488238109422676,"velocity":2.133260257842499,"acceleration":-1.3755817985575727,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.5228361670610473,"velocity":2.0856677994897095,"acceleration":-1.1085033593793463,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.5577828913162687,"velocity":2.046929238253493,"acceleration":-0.8190145874505249,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.5930274842125652,"velocity":2.018063402542671,"acceleration":-0.513333160124384,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.6285209279782388,"velocity":1.9998434408907406,"acceleration":-0.20295657345447937,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.6642161801062126,"velocity":1.9925988548302533,"acceleration":0.09766145035031382,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.7000705425649159,"velocity":1.9961004438693561,"acceleration":0.37371595382228145,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.7360490557014975,"velocity":2.009546188223301,"acceleration":0.6125189905823517,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.7721274623066632,"velocity":2.031644897418917,"acceleration":0.8054012982846697,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.808293530121922,"velocity":2.060773095391178,"acceleration":0.9487194852031784,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":0.8445461771378034,"velocity":2.0951666880053375,"acceleration":1.0438484118061038,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":0.8808925816014386,"velocity":2.1331068245795652,"acceleration":1.0962995466767014,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":0.9173439716441548,"velocity":2.1730684669591307,"acceleration":1.114317963167015,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":0.9539109548459818,"velocity":2.213815713199753,"acceleration":1.1073830554713748,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":0.9905991270284958,"velocity":2.254443573410885,"acceleration":1.084959111684444,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.0274054380301267,"velocity":2.294376915899596,"acceleration":1.0556776642123231,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.0643155226043857,"velocity":2.333342067768829,"acceleration":1.0269716065493961,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.1013020013930672,"velocity":2.3713261313110463,"acceleration":1.0050771173259267,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.1383236399679897,"velocity":2.4085357330886117,"acceleration":0.9952829336981895,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.1753252111990284,"velocity":2.4453627654548824,"acceleration":1.002317161501784,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.2122379154087146,"velocity":2.48236100236169,"acceleration":1.0307918830405418,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.2489802541130384,"velocity":2.520234706862033,"acceleration":1.0856529771112022,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.2854593142455406,"velocity":2.559838307097103,"acceleration":1.172591272248787,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.3215724961376205,"velocity":2.602184308996889,"acceleration":1.2983471478310618,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.3572098122775669,"velocity":2.648453916763542,"acceleration":1.470762252915322,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.3922570016749563,"velocity":2.699999999999996,"acceleration":1.1375917470597876E-13,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.42695714479145,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4615289723532172,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4958554274606588,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5298313741431298,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5633631999946407,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.596368418809561,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6287752732183198,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6605223373231064,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6915581193335736,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7218406642025372,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7513371562616795,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.78002352185725,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8078840319857656,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8349109049297148,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8611039088932557,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8864699646379213,"velocity":2.7,"acceleration":-0.7241212525921261,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9111041234945634,"velocity":2.682161882032175,"acceleration":-4.5,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9355218435066315,"velocity":2.572282141977869,"acceleration":-4.5,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9851738814486664,"velocity":2.3488479712387123,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0365029365172034,"velocity":2.117867223430295,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0906297099206896,"velocity":1.874296743114607,"acceleration":-4.5,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1495106962899344,"velocity":1.6093323044530048,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2169723528996705,"velocity":1.3057548497091918,"acceleration":-4.500000000000002,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.302750649277555,"velocity":0.9197525160087116,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.507140097279491,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.19789609870522573,"velocity":0.7915843948209031,"acceleration":3.999999999999999,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.27961135788550623,"velocity":1.1184454315420251,"acceleration":4.0,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.34195090725948274,"velocity":1.3678036290379312,"acceleration":4.0,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.3940844604385629,"velocity":1.5763378417542517,"acceleration":4.0,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.4395745327899509,"velocity":1.7582981311598038,"acceleration":3.999999999999991,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.4802724656709127,"velocity":1.9210898626836506,"acceleration":4.000000000000003,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.5173086640231962,"velocity":2.069234656092785,"acceleration":0.467764910229089,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.5524398656964395,"velocity":2.0856677994897095,"acceleration":-1.1085033593793463,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.5873865899516609,"velocity":2.046929238253493,"acceleration":-0.8190145874505249,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.6226311828479575,"velocity":2.018063402542671,"acceleration":-0.5133331601243778,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.658124626613631,"velocity":1.9998434408907408,"acceleration":-0.20295657345449183,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.6938198787416049,"velocity":1.9925988548302531,"acceleration":0.09766145035032003,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.7296742412003081,"velocity":1.9961004438693561,"acceleration":0.37371595382228145,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.7656527543368897,"velocity":2.009546188223301,"acceleration":0.6125189905823517,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.8017311609420554,"velocity":2.031644897418917,"acceleration":0.8054012982846817,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.8378972287573142,"velocity":2.0607730953911783,"acceleration":0.9487194852031666,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":0.8741498757731957,"velocity":2.0951666880053375,"acceleration":1.043848411806092,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":0.9104962802368308,"velocity":2.133106824579565,"acceleration":1.0962995466767127,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":0.9469476702795471,"velocity":2.1730684669591307,"acceleration":1.114317963167015,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":0.983514653481374,"velocity":2.213815713199753,"acceleration":1.1073830554713748,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.020202825663888,"velocity":2.254443573410885,"acceleration":1.084959111684444,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.0570091366655188,"velocity":2.294376915899596,"acceleration":1.0556776642123387,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.0939192212397775,"velocity":2.3333420677688292,"acceleration":1.026971606549391,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.1309057000284592,"velocity":2.3713261313110467,"acceleration":1.0050771173259168,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.1679273386033817,"velocity":2.4085357330886117,"acceleration":0.9952829336981994,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.2049289098344205,"velocity":2.445362765454883,"acceleration":1.002317161501784,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.2418416140441066,"velocity":2.4823610023616904,"acceleration":1.030791883040532,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.2785839527484302,"velocity":2.520234706862033,"acceleration":1.0856529771112022,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.3150630128809324,"velocity":2.559838307097103,"acceleration":1.172591272248787,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.3511761947730123,"velocity":2.602184308996889,"acceleration":1.2983471478310618,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.3868135109129587,"velocity":2.648453916763542,"acceleration":1.470762252915322,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.421860700310348,"velocity":2.699999999999996,"acceleration":1.1375917470597876E-13,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.4565608434268418,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.491132670988609,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5254591260960506,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5594350727785216,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5929668986300325,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6259721174449528,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6583789718537116,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6901260359584982,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7211618179689654,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.751444362837929,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7809408548970713,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8096272204926418,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8374877306211574,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8645146035651066,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8907076075286475,"velocity":2.7,"acceleration":-2.6646867480295042,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9163993803655361,"velocity":2.6315394733881585,"acceleration":-4.000000000000007,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9420926303709012,"velocity":2.528766473366698,"acceleration":-4.0,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9679915334733729,"velocity":2.4251708609568112,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.02065547256619,"velocity":2.214515104585544,"acceleration":-3.999999999999996,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0750981569324805,"velocity":1.996744367120382,"acceleration":-3.999999999999998,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.13250826970851,"velocity":1.7671039160162654,"acceleration":-4.000000000000002,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1949609868254782,"velocity":1.5172930475483908,"acceleration":-4.000000000000001,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2665148791137124,"velocity":1.2310774783954541,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3574965016848597,"velocity":0.8671509881108648,"acceleration":-4.0,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.574284248712576,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file diff --git a/src/main/deploy/paths/Slalom.wpilib.json b/src/main/deploy/paths/Slalom.wpilib.json index be345d1..3636768 100644 --- a/src/main/deploy/paths/Slalom.wpilib.json +++ b/src/main/deploy/paths/Slalom.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.500000000000001,"pose":{"translation":{"x":1.1633962507247309,"y":-3.693120401984152},"rotation":{"radians":0.02531511640568925}},"curvature":0.0},{"time":0.17877662676122996,"velocity":0.804494820425535,"acceleration":4.499999999999998,"pose":{"translation":{"x":1.2352777946890148,"y":-3.691012805632162},"rotation":{"radians":0.037121440537695366}},"curvature":0.3181412840068143},{"time":0.25285556262814207,"velocity":1.1378500318266394,"acceleration":4.499999999999997,"pose":{"translation":{"x":1.3071245723189377,"y":-3.687285043986166},"rotation":{"radians":0.06964873167915205}},"curvature":0.5761106448083948},{"time":0.30978061524762396,"velocity":1.3940127686143078,"acceleration":4.5,"pose":{"translation":{"x":1.3788765601104414,"y":-3.6805948489381852},"rotation":{"radians":0.1186749253750142}},"curvature":0.7742249382800999},{"time":0.35794987790990773,"velocity":1.610774450594585,"acceleration":4.499999999999994,"pose":{"translation":{"x":1.4504489011611548,"y":-3.669885040087983},"rotation":{"radians":0.18004390988004834}},"curvature":0.9110531868782284},{"time":0.40069076890629074,"velocity":1.8031084600783083,"acceleration":4.500000000000003,"pose":{"translation":{"x":1.5217348970358866,"y":-3.6543636445983445},"rotation":{"radians":0.2496491777008313}},"curvature":0.9865456080671817},{"time":0.43976264391466935,"velocity":1.9789318976160122,"acceleration":1.9368758960812797,"pose":{"translation":{"x":1.5926089996321178,"y":-3.6334840170503586},"rotation":{"radians":0.32357019067851966}},"curvature":1.0050682323061229},{"time":0.4770663480001811,"velocity":2.0511845428937887,"acceleration":0.8680718300946676,"pose":{"translation":{"x":1.6629298030454949,"y":-3.6069249592986985},"rotation":{"radians":0.3983093451192739}},"curvature":0.9762733684094926},{"time":0.5141990634603898,"velocity":2.0834184071597166,"acceleration":1.1836502507671631,"pose":{"translation":{"x":1.7325430354353215,"y":-3.5745708403269036},"rotation":{"radians":0.4710193368960557}},"curvature":0.9134169118367838},{"time":0.5515220500821899,"velocity":2.1275957696339898,"acceleration":1.3593925058618432,"pose":{"translation":{"x":1.8012845508900528,"y":-3.536491716102659},"rotation":{"radians":0.5396260310644195}},"curvature":0.8303643711680277},{"time":0.5889146207330397,"velocity":2.1784269499516644,"acceleration":1.423882909550672,"pose":{"translation":{"x":1.8689833212927858,"y":-3.4929234494330803},"rotation":{"radians":0.6028157231776854}},"curvature":0.7389705513799457},{"time":0.6262817795850473,"velocity":2.231633408819503,"acceleration":1.4099907917863064,"pose":{"translation":{"x":1.9354644281867546,"y":-3.4442478298199903},"rotation":{"radians":0.6599172398782495}},"curvature":0.6477658440639337},{"time":0.6635336644426015,"velocity":2.2841582234453384,"acceleration":1.3494837507148194,"pose":{"translation":{"x":2.00055205464082,"y":-3.390972693315203},"rotation":{"radians":0.7107354495895255}},"curvature":0.5618972714512447},{"time":0.7005688665905834,"velocity":2.3341366269484785,"acceleration":1.2693151791856307,"pose":{"translation":{"x":2.0640724771149666,"y":-3.3337120423758044},"rotation":{"radians":0.7553852157754044}},"curvature":0.4837797104419316},{"time":0.7372636168784836,"velocity":2.3807138304853366,"acceleration":1.190501398769672,"pose":{"translation":{"x":2.1258570573257893,"y":-3.2731661657194335},"rotation":{"radians":0.7941532354879076}},"curvature":0.4139309512376217},{"time":0.7734668060256848,"velocity":2.4238137778050026,"acceleration":1.1291367461822925,"pose":{"translation":{"x":2.1857452341119927,"y":-3.2101017581795626},"rotation":{"radians":0.8273957317092103}},"curvature":0.3516881616560946},{"time":0.8089997443058029,"velocity":2.4639353241169113,"acceleration":1.0987327753598002,"pose":{"translation":{"x":2.243587515299878,"y":-3.1453320405607794},"rotation":{"radians":0.8554684881125763}},"curvature":0.29570365403671545},{"time":0.8436592783870834,"velocity":2.5020168901907143,"acceleration":1.1133918469016995,"pose":{"translation":{"x":2.2992484695688398,"y":-3.07969687949407},"rotation":{"radians":0.8786812932840974}},"curvature":0.24422656109498916},{"time":0.877223019150485,"velocity":2.539386485508208,"acceleration":1.1919336946224874,"pose":{"translation":{"x":2.3526097183168564,"y":-3.014042907292094},"rotation":{"radians":0.8972685780293556}},"curvature":0.19521279118758927},{"time":0.9094557242124095,"velocity":2.5778057327403445,"acceleration":1.3638500105025948,"pose":{"translation":{"x":2.4035729275259836,"y":-2.9492036418044734},"rotation":{"radians":0.9113694983001825}},"curvature":0.1463038100172115},{"time":0.9401161854500395,"velocity":2.6196220031213007,"acceleration":1.679044218183879,"pose":{"translation":{"x":2.4520627996278463,"y":-2.885979606273069},"rotation":{"radians":0.9210126539772903}},"curvature":0.09470077628923046},{"time":0.9689642629222853,"velocity":2.6680592008067956,"acceleration":0.17706437079569126,"pose":{"translation":{"x":2.4980300653691323,"y":-2.825118449187263},"rotation":{"radians":0.926102657515864}},"curvature":0.03694922268946023},{"time":0.996043291073184,"velocity":2.6728539318880933,"acceleration":-3.754754707454752,"pose":{"translation":{"x":2.5414544756770843,"y":-2.76729506413924},"rotation":{"radians":0.9264081422320596}},"curvature":-0.03134632979365025},{"time":1.021916654836827,"velocity":2.5757057974988653,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":2.5823477935249928,"y":-2.713091709679267},"rotation":{"radians":0.9215543997103331}},"curvature":-0.11581540386565782},{"time":1.0469788961512994,"velocity":2.4629257115837397,"acceleration":-4.500000000000002,"pose":{"translation":{"x":2.6207567857976883,"y":-2.662978129170977},"rotation":{"radians":0.9110303457003043}},"curvature":-0.22342507498620004},{"time":1.0942148816881647,"velocity":2.2503637766678453,"acceleration":-4.500000000000006,"pose":{"translation":{"x":2.690501831907423,"y":-2.5762174066624848},"rotation":{"radians":0.8705843479230416}},"curvature":-0.53694547736186},{"time":1.136890785074292,"velocity":2.058322211430272,"acceleration":-1.6008157787487904,"pose":{"translation":{"x":2.7518775182044655,"y":-2.507765094290802},"rotation":{"radians":0.8025259805815658}},"curvature":-0.9621851189091691},{"time":1.1743453128265724,"velocity":1.9983644124188369,"acceleration":4.5000000000000036,"pose":{"translation":{"x":2.806823290863167,"y":-2.4553008174847997},"rotation":{"radians":0.7202048775711887}},"curvature":-1.0836571765995922},{"time":1.2065187396894725,"velocity":2.143144833301888,"acceleration":1.3365593507535305,"pose":{"translation":{"x":2.8581258777298224,"y":-2.4127954647941747},"rotation":{"radians":0.6756711745133663}},"curvature":-2.8789918313268314E-14},{"time":1.2368550237861122,"velocity":2.1836910774783673,"acceleration":-4.294962601588535,"pose":{"translation":{"x":2.9097120375561665,"y":-2.372222405813883},"rotation":{"radians":0.6492214649026217}},"curvature":-0.7297488521158821},{"time":1.269801083599762,"velocity":2.042188982709043,"acceleration":0.7933751762005642,"pose":{"translation":{"x":2.9663930894630144,"y":-2.3318091048835545},"rotation":{"radians":0.5865546565271924}},"curvature":-0.9941689700389225},{"time":1.3070486971125534,"velocity":2.0717403146428044,"acceleration":2.26795184633878,"pose":{"translation":{"x":3.031769358418632,"y":-2.291857736179219},"rotation":{"radians":0.5113317582090795}},"curvature":-0.9359633971734677},{"time":1.3474974496546444,"velocity":2.16347613765274,"acceleration":2.2804679574706848,"pose":{"translation":{"x":3.1079960562552342,"y":-2.252791088727211},"rotation":{"radians":0.43833655985795733}},"curvature":-0.7654061063725947},{"time":1.390754056520952,"velocity":2.262121443560261,"acceleration":1.8080946710302044,"pose":{"translation":{"x":3.1959871377540083,"y":-2.215114343388228},"rotation":{"radians":0.37348342756753944}},"curvature":-0.5974378740345352},{"time":1.4367016174373337,"velocity":2.3451989836000067,"acceleration":1.2925124900889244,"pose":{"translation":{"x":3.2956191567301345,"y":-2.1793768498413892},"rotation":{"radians":0.3176133235756969}},"curvature":-0.46693899881838397},{"time":1.4851823481869422,"velocity":2.407860933622514,"acceleration":0.8793803137856121,"pose":{"translation":{"x":3.4059351221178105,"y":-2.1461339035682943},"rotation":{"radians":0.269533224624977}},"curvature":-0.37446671962038364},{"time":1.535870255491695,"velocity":2.4524348814533035,"acceleration":0.6461039543450338,"pose":{"translation":{"x":3.5253483540552737,"y":-2.1159085228370804},"rotation":{"radians":0.22757140219358654}},"curvature":-0.31156377599918567},{"time":1.561883086790462,"velocity":2.469241874619147,"acceleration":0.5260381032427415,"pose":{"translation":{"x":3.587848594701653,"y":-2.102072630512586},"rotation":{"radians":0.20839501014722867}},"curvature":-0.2884352657718105},{"time":1.58824984739543,"velocity":2.48311179535644,"acceleration":0.42956654367889296,"pose":{"translation":{"x":3.6518463399698247,"y":-2.0891532256864807},"rotation":{"radians":0.19020129880107986}},"curvature":-0.2695843337682846},{"time":1.6148884118061084,"velocity":2.4945548313989026,"acceleration":0.35441800888521235,"pose":{"translation":{"x":3.717056934566066,"y":-2.077189586489208},"rotation":{"radians":0.17285635089935478}},"curvature":-0.25418965282515393},{"time":1.641712846020802,"velocity":2.5040618939627466,"acceleration":0.2992530145368436,"pose":{"translation":{"x":3.7831945906628492,"y":-2.0662118069098825},"rotation":{"radians":0.15625360711907801}},"curvature":-0.24150650681349273},{"time":1.668635556513075,"velocity":2.512118596237062,"acceleration":0.2638683288937072,"pose":{"translation":{"x":3.849978758401498,"y":-2.0562396023270395},"rotation":{"radians":0.14031584294648863}},"curvature":-0.2308333996174182},{"time":1.695569343359786,"velocity":2.519225569563083,"acceleration":0.24934847644856412,"pose":{"translation":{"x":3.917140496394844,"y":-2.0472811150393873},"rotation":{"radians":0.12499776636351603}},"curvature":-0.22147511508872728},{"time":1.7224293197434188,"velocity":2.525923063751786,"acceleration":0.25818790888661197,"pose":{"translation":{"x":3.9844288422298835,"y":-2.039331719796559},"rotation":{"radians":0.11028952065337949}},"curvature":-0.21270421981706455},{"time":1.749134681369228,"velocity":2.5328180652260146,"acceleration":0.29436408724976176,"pose":{"translation":{"x":4.0516171829704355,"y":-2.0323728293298653},"rotation":{"radians":0.096221213049395}},"curvature":-0.20372313074116938},{"time":1.775610335009877,"velocity":2.540611546844285,"acceleration":0.3632904750478127,"pose":{"translation":{"x":4.118509625659799,"y":-2.026370699883045},"rotation":{"radians":0.08286839432221554}},"curvature":-0.19363041581257495},{"time":1.8017884316345276,"velocity":2.550121800002902,"acceleration":0.4715095945470005,"pose":{"translation":{"x":4.184947367823408,"y":-2.021275236743017},"rotation":{"radians":0.07035813959885551}},"curvature":-0.18139801676435804},{"time":1.8276099023453203,"velocity":2.562296871188355,"acceleration":0.625892813014687,"pose":{"translation":{"x":4.250815067971489,"y":-2.017018799770633},"rotation":{"radians":0.058874981697251735}},"curvature":-0.16587057557813426},{"time":1.853026168833066,"velocity":2.5782047297167012,"acceleration":0.8319994849375711,"pose":{"translation":{"x":4.316047216101721,"y":-2.0135150089314293},"rotation":{"radians":0.04866539318716024}},"curvature":-0.14580352122625276},{"time":1.8780012933316694,"velocity":2.598984020435791,"acceleration":1.0911509397665806,"pose":{"translation":{"x":4.380634504201887,"y":-2.0106575498263766},"rotation":{"radians":0.04003880906760129}},"curvature":-0.11996138192957068},{"time":1.9025149340892473,"velocity":2.6257321025855225,"acceleration":1.5592220400337962,"pose":{"translation":{"x":4.444630196752537,"y":-2.0083189792226346},"rotation":{"radians":0.03336241822139969}},"curvature":-0.0872982835432933},{"time":1.9501463140387396,"velocity":2.699999999999995,"acceleration":-2.3077209255794346,"pose":{"translation":{"x":4.571410938607243,"y":-2.0045759196031687},"rotation":{"radians":0.027515989285455806}},"curvature":5.8417270188295924E-15},{"time":1.997923962167128,"velocity":2.589742521639142,"acceleration":-1.5395828324925163,"pose":{"translation":{"x":4.6977386124599905,"y":-2.001474928758516},"rotation":{"radians":0.01880473022026203}},"curvature":-0.1314033562390839},{"time":2.0472104579377346,"velocity":2.513861878877001,"acceleration":-1.060338694929636,"pose":{"translation":{"x":4.8235036140750935,"y":-2.000424493230762},"rotation":{"radians":-0.0041334447548078464}},"curvature":-0.22853299087898155},{"time":2.097257627130038,"velocity":2.460794928810711,"acceleration":-0.7526744546220798,"pose":{"translation":{"x":4.947962584475054,"y":-2.0029079528593434},"rotation":{"radians":-0.03725036264636639}},"curvature":-0.30001982209621836},{"time":2.1474080566674885,"velocity":2.4230479816095474,"acceleration":-0.5535426640703174,"pose":{"translation":{"x":5.0702286716208,"y":-2.009857103340123},"rotation":{"radians":-0.07737524672454135}},"curvature":-0.3527747641421612},{"time":2.197087162882671,"velocity":2.395548476806563,"acceleration":-0.4279311595809621,"pose":{"translation":{"x":5.1893305121317095,"y":-2.0217261562404234},"rotation":{"radians":-0.12206459161522219}},"curvature":-0.392254719175674},{"time":2.245792195463325,"velocity":2.374706075736895,"acceleration":-0.35459546942084597,"pose":{"translation":{"x":5.304271213005654,"y":-2.038565699014058},"rotation":{"radians":-0.16946854110985773}},"curvature":-0.422786467623407},{"time":2.2930837156650807,"velocity":2.357936716931328,"acceleration":-0.3175094516889685,"pose":{"translation":{"x":5.414087333339034,"y":-2.0600966550163577},"rotation":{"radians":-0.21821195181699984}},"curvature":-0.44774351495010356},{"time":2.338581037099344,"velocity":2.3434908873494185,"acceleration":-0.2987510821005737,"pose":{"translation":{"x":5.517907866046825,"y":-2.0857842435192064},"rotation":{"radians":-0.26727966820233007}},"curvature":-0.46952892941887714},{"time":2.3819611683495125,"velocity":2.3305310261967658,"acceleration":-0.2691627954018949,"pose":{"translation":{"x":5.615013219582611,"y":-2.114911939726066},"rotation":{"radians":-0.31589439120319307}},"curvature":-0.4893032214893127},{"time":2.422959543177569,"velocity":2.3194957890211114,"acceleration":-0.1726507872258787,"pose":{"translation":{"x":5.704894199658633,"y":-2.14665543478701},"rotation":{"radians":-0.36337372209423424}},"curvature":-0.5063150872946537},{"time":2.461369974427925,"velocity":2.312864197828052,"acceleration":0.10025529028498284,"pose":{"translation":{"x":5.787310990965825,"y":-2.1801565958137523},"rotation":{"radians":-0.40894987041685615}},"curvature":-0.516616404920151},{"time":2.4970415143715963,"velocity":2.316440458420017,"acceleration":0.7490470205719358,"pose":{"translation":{"x":5.862352138893851,"y":-2.2145974258946786},"rotation":{"radians":-0.45153738586251413}},"curvature":-0.5110538202327412},{"time":2.5298735971987787,"velocity":2.341033232240889,"acceleration":-2.7925034600625973,"pose":{"translation":{"x":5.930493531251152,"y":-2.2492740241098756},"rotation":{"radians":-0.48945961752684103}},"curvature":-0.47326202270643397},{"time":2.5607916660726833,"velocity":2.2546944179320567,"acceleration":-4.499999999999994,"pose":{"translation":{"x":5.992657379984982,"y":-2.283670545546162},"rotation":{"radians":-0.5202312049764436}},"curvature":-0.3809288459511736},{"time":2.5913640419159396,"velocity":2.1171187266374027,"acceleration":-4.5,"pose":{"translation":{"x":6.050271202901451,"y":-2.317533161312118},"rotation":{"radians":-0.5406781611919519}},"curvature":-0.2176254580782038},{"time":2.6228355266573558,"velocity":1.9754970453010299,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":6.105326805385562,"y":-2.350944018553117},"rotation":{"radians":-0.5478633037111786}},"curvature":3.9003762163637566E-14},{"time":2.657025579517794,"velocity":1.821641807429057,"acceleration":-4.5,"pose":{"translation":{"x":6.160064920892805,"y":-2.3858342893680815},"rotation":{"radians":-0.6031739969327456}},"curvature":-1.478683040978099},{"time":2.676253141596632,"velocity":1.735117778074286,"acceleration":0.48266835384745066,"pose":{"translation":{"x":6.187688843389165,"y":-2.4059872603894283},"rotation":{"radians":-0.6587340539929514}},"curvature":-1.7163281863543558},{"time":2.697044605695475,"velocity":1.7451531598249528,"acceleration":3.2304704535604603,"pose":{"translation":{"x":6.215593749073008,"y":-2.429015635130358},"rotation":{"radians":-0.720975161597871}},"curvature":-1.6887103186886028},{"time":2.718787006567386,"velocity":1.815391343431128,"acceleration":4.499999999999995,"pose":{"translation":{"x":6.2438461761575645,"y":-2.455474331872352},"rotation":{"radians":-0.7830688353626686}},"curvature":-1.5039587146125384},{"time":2.741125865757216,"velocity":1.9159162097853624,"acceleration":4.500000000000005,"pose":{"translation":{"x":6.272500187125221,"y":-2.4857379193489675},"rotation":{"radians":-0.840626413003143}},"curvature":-1.256622687041029},{"time":2.7639804287585132,"velocity":2.0187617432911997,"acceleration":4.499999999999964,"pose":{"translation":{"x":6.301598150155833,"y":-2.520015469923407},"rotation":{"radians":-0.8913944121329923}},"curvature":-1.0074545330174842},{"time":2.787360319221455,"velocity":2.1239712503744363,"acceleration":4.49999999999998,"pose":{"translation":{"x":6.33117152055503,"y":-2.5583654127660993},"rotation":{"radians":-0.9346148519743653}},"curvature":-0.7857797044053167},{"time":2.8354208205802767,"velocity":2.3402435064891334,"acceleration":3.493957047753415,"pose":{"translation":{"x":6.39182042888043,"y":-2.6468520950395225},"rotation":{"radians":-0.9992805511948477}},"curvature":-0.4498530162255146},{"time":2.884886208702892,"velocity":2.5130734479400045,"acceleration":2.5372014907541893,"pose":{"translation":{"x":6.454509991337688,"y":-2.749216956425009},"rotation":{"radians":-1.0389408611783941}},"curvature":-0.2295729968128178},{"time":2.9100287188253664,"velocity":2.5768650621040483,"acceleration":2.2635698594028737,"pose":{"translation":{"x":6.4866049775479935,"y":-2.804572508848504},"rotation":{"radians":-1.0509138352280682}},"curvature":-0.14748389824759509},{"time":2.935374313761722,"velocity":2.6342365868706166,"acceleration":2.1076573678693387,"pose":{"translation":{"x":6.51917869258722,"y":-2.8620192994587517},"rotation":{"radians":-1.058265597778546}},"curvature":-0.07705211381717159},{"time":2.9607705367921406,"velocity":2.6877631234567314,"acceleration":-1.039170790671048,"pose":{"translation":{"x":6.55220808163406,"y":-2.920977144048864},"rotation":{"radians":-1.0613060799508882}},"curvature":-0.014051884687907823},{"time":2.986410623357755,"velocity":2.661118694427468,"acceleration":-1.8629726009923653,"pose":{"translation":{"x":6.58566542841945,"y":-2.980834040639782},"rotation":{"radians":-1.0602255138450944}},"curvature":0.045095331446938974},{"time":3.0125801805079098,"velocity":2.612365526476626,"acceleration":-1.8316047968009366,"pose":{"translation":{"x":6.619519136654878,"y":-3.04096102265785},"rotation":{"radians":-1.0551012755953932}},"curvature":0.10353710741952396},{"time":3.0391903513511833,"velocity":2.563626209916394,"acceleration":-1.8899445122989902,"pose":{"translation":{"x":6.653734511460692,"y":-3.1007270121123933},"rotation":{"radians":-1.0459055419232646}},"curvature":0.1641841380343161},{"time":3.0660525370853984,"velocity":2.5128581693996574,"acceleration":-2.0219283200714493,"pose":{"translation":{"x":6.688274540794406,"y":-3.159513672773291},"rotation":{"radians":-1.0325137667183373}},"curvature":0.22985708052581566},{"time":3.093000426050869,"velocity":2.4583714695342316,"acceleration":-2.2119374895517945,"pose":{"translation":{"x":6.723100676879012,"y":-3.2167302633485555},"rotation":{"radians":-1.0147159159127899}},"curvature":0.30335816965858575},{"time":3.11989381998725,"velocity":2.3988849632650653,"acceleration":-2.4380544811788956,"pose":{"translation":{"x":6.758173617631286,"y":-3.271828490661905},"rotation":{"radians":-0.9922344948197845}},"curvature":0.38741640869060545},{"time":3.1466206963447,"velocity":2.3337233825938695,"acceleration":-2.748546512990153,"pose":{"translation":{"x":6.793454088090099,"y":-3.3243173628303393},"rotation":{"radians":-0.9647561127406776}},"curvature":0.4844119039504405},{"time":3.1992743063768336,"velocity":2.189002486343705,"acceleration":-2.8669730592257316,"pose":{"translation":{"x":6.864485342463139,"y":-3.419878699732331},"rotation":{"radians":-0.893745389768018}},"curvature":0.7204892775435615},{"time":3.2250635546382953,"velocity":2.1150654063604106,"acceleration":-2.649051801134485,"pose":{"translation":{"x":6.900164744920348,"y":-3.462389365764481},"rotation":{"radians":-0.8501104939862193}},"curvature":0.8535687258860932},{"time":3.2504114728429534,"velocity":2.0479174579853514,"acceleration":-2.042327589833607,"pose":{"translation":{"x":6.935910477026678,"y":-3.5011967856040545},"rotation":{"radians":-0.801634501629848}},"curvature":0.9827546664389113},{"time":3.2752018607730293,"velocity":1.9972873647530793,"acceleration":-0.8649707922898677,"pose":{"translation":{"x":6.971695120856093,"y":-3.536319271498096},"rotation":{"radians":-0.7496179637663417}},"curvature":1.0859059124111776},{"time":3.299236166736133,"velocity":1.9764983920820365,"acceleration":1.1690744566898184,"pose":{"translation":{"x":7.007495974174499,"y":-3.5679215560523914},"rotation":{"radians":-0.6964019071855732}},"curvature":1.1297907769687197},{"time":3.3222027531025184,"velocity":2.003348041560338,"acceleration":4.50000000000001,"pose":{"translation":{"x":7.043295831868056,"y":-3.59632964540903},"rotation":{"radians":-0.6455822984595988}},"curvature":1.0732834839221579},{"time":3.34368232934538,"velocity":2.1000061346532157,"acceleration":4.50000000000002,"pose":{"translation":{"x":7.079083767371486,"y":-3.6220456724239947},"rotation":{"radians":-0.6020137375740056}},"curvature":0.8767645283719379},{"time":3.382640641200209,"velocity":2.275318537999945,"acceleration":1.5225432055727788,"pose":{"translation":{"x":7.150616246859497,"y":-3.6683798234877205},"rotation":{"radians":-0.5600556249936315}},"curvature":-1.5341608799847865E-15},{"time":3.4192467874077024,"velocity":2.331052977190368,"acceleration":-4.499999999999995,"pose":{"translation":{"x":7.22233636853597,"y":-3.7127028139722964},"rotation":{"radians":-0.5409626725690851}},"curvature":0.43340443120677163},{"time":3.4564977893421087,"velocity":2.16342346848554,"acceleration":-3.4080737196724806,"pose":{"translation":{"x":7.29507055626316,"y":-3.7541445322801623},"rotation":{"radians":-0.49019760432345966}},"curvature":0.7654998801821016},{"time":3.4959118862488903,"velocity":2.029097320632914,"acceleration":-2.429269145918497,"pose":{"translation":{"x":7.369293129355561,"y":-3.790441078725445},"rotation":{"radians":-0.4159469816656051}},"curvature":1.0204967799924411},{"time":3.516273158396588,"velocity":1.9796343104328624,"acceleration":-1.9498185388266196,"pose":{"translation":{"x":7.4069713917442215,"y":-3.806122979217734},"rotation":{"radians":-0.3721512633977463}},"curvature":1.1231119212313414},{"time":3.5369123042344195,"velocity":1.9393917212527123,"acceleration":-1.5546742453950202,"pose":{"translation":{"x":7.444978393452456,"y":-3.8199460676798136},"rotation":{"radians":-0.32491166621403217}},"curvature":1.2104601613800496},{"time":3.5577429759822925,"velocity":1.9070068123720167,"acceleration":-1.2250088929125436,"pose":{"translation":{"x":7.48324882134417,"y":-3.8317909292605763},"rotation":{"radians":-0.27490783228551424}},"curvature":1.283430044653934},{"time":3.578687872609429,"velocity":1.8813491277426404,"acceleration":-0.9494531169805457,"pose":{"translation":{"x":7.521698321558661,"y":-3.841569046046802},"rotation":{"radians":-0.22276133389779448}},"curvature":1.343025696696835},{"time":3.5996780645461843,"velocity":1.8614199245822682,"acceleration":-0.7209067081395113,"pose":{"translation":{"x":7.560226552043141,"y":-3.849220872640479},"rotation":{"radians":-0.16903234274272852}},"curvature":1.3904493419961768},{"time":3.620652487336522,"velocity":1.8462993224933597,"acceleration":-0.5344626927857259,"pose":{"translation":{"x":7.59872023508526,"y":-3.8547139117361255},"rotation":{"radians":-0.1142157697049291}},"curvature":1.42711347081114},{"time":3.6415574647919855,"velocity":1.8351263919498877,"acceleration":-0.38601674584040896,"pose":{"translation":{"x":7.637056209845632,"y":-3.858040789698115},"rotation":{"radians":-0.05873863820559043}},"curvature":1.4545935361829192},{"time":3.662346154855972,"velocity":1.8271016094611028,"acceleration":-0.27131469164914074,"pose":{"translation":{"x":7.675104484890351,"y":-3.8592173321379954},"rotation":{"radians":-0.002959970677580733}},"curvature":1.4745380448716379},{"time":3.6829778525296084,"velocity":1.8215039267685817,"acceleration":-0.18528144800516685,"pose":{"translation":{"x":7.712731290723523,"y":-3.858280639491813},"rotation":{"radians":0.052826077634075326}},"curvature":1.488554371793447},{"time":3.703417121690345,"velocity":1.8177169093823131,"acceleration":-0.12151968581318236,"pose":{"translation":{"x":7.749802132319782,"y":-3.8552871625974356},"rotation":{"radians":0.10838359558498532}},"curvature":1.4980858375916812},{"time":3.7236327531413926,"velocity":1.8152603121998667,"acceleration":-0.07188809523865826,"pose":{"translation":{"x":7.786184841656817,"y":-3.8503107782718726},"rotation":{"radians":0.16352492081069248}},"curvature":1.5042900626503573},{"time":3.7435965568238827,"velocity":1.813825152379414,"acceleration":-0.026077951057060657,"pose":{"translation":{"x":7.821752630247893,"y":-3.8434408648886},"rotation":{"radians":0.21809758534717527}},"curvature":1.5079223875556875},{"time":3.7632819939423494,"velocity":1.8133117965137018,"acceleration":0.028895092675718475,"pose":{"translation":{"x":7.856387141674377,"y":-3.8347803779548797},"rotation":{"radians":0.2719685670334236}},"curvature":1.5092230643016957},{"time":3.782662645523866,"velocity":1.8138718022372655,"acceleration":0.10938440874116755,"pose":{"translation":{"x":7.889981504118257,"y":-3.8244439256890854},"rotation":{"radians":0.3250061711254222}},"curvature":1.5078042284842925},{"time":3.8017105052113163,"velocity":1.815955341106962,"acceleration":0.23613723475783752,"pose":{"translation":{"x":7.922443382894669,"y":-3.8125558445980223},"rotation":{"radians":0.37705980312388127}},"curvature":1.5025330392512695},{"time":3.82039408392155,"velocity":1.820367229718977,"acceleration":0.43589413199519533,"pose":{"translation":{"x":7.953698032984418,"y":-3.799248275054251},"rotation":{"radians":0.42793787917893666}},"curvature":1.4914111358050537},{"time":3.8386763301359696,"velocity":1.828336353563534,"acceleration":0.7439917700414821,"pose":{"translation":{"x":7.983691351566502,"y":-3.7846592368734084},"rotation":{"radians":0.47738422045108825}},"curvature":1.4714578590341192},{"time":3.8565124091577903,"velocity":1.841606249565578,"acceleration":1.2087342370306096,"pose":{"translation":{"x":8.012392930550632,"y":-3.7689307048915315},"rotation":{"radians":0.52505354762116}},"curvature":1.4386155715379991},{"time":3.8738474539906527,"velocity":1.8625597117555195,"acceleration":1.8988937359311235,"pose":{"translation":{"x":8.039799109109765,"y":-3.7522066845423794},"rotation":{"radians":0.5704871728369437}},"curvature":1.3877097369576405},{"time":3.890614505095342,"velocity":1.8943985600682507,"acceleration":3.662784321628669,"pose":{"translation":{"x":8.065936026212611,"y":-3.7346312874347545},"rotation":{"radians":0.6130907055536846}},"curvature":1.3125137707192063},{"time":3.9220075535608157,"velocity":2.009384525795718,"acceleration":4.5,"pose":{"translation":{"x":8.114673946098254,"y":-3.6974917937184557},"rotation":{"radians":0.6866553180722805}},"curvature":1.0607871285995667},{"time":3.9771095012095485,"velocity":2.2573432902150157,"acceleration":-0.7476589525869581,"pose":{"translation":{"x":8.202090832957548,"y":-3.6188986664948777},"rotation":{"radians":0.7571038295489254}},"curvature":-1.0143689071185567E-13},{"time":4.031468430443721,"velocity":2.2167013501200454,"acceleration":-1.035829849297179,"pose":{"translation":{"x":8.28889350898289,"y":-3.533737786976507},"rotation":{"radians":0.8082192319045362}},"curvature":0.6729199220042472},{"time":4.06297469629903,"velocity":2.184066219507224,"acceleration":-0.08346771028856988,"pose":{"translation":{"x":8.335551235603717,"y":-3.4824627082326822},"rotation":{"radians":0.8574239845002932}},"curvature":0.7290933750885707},{"time":4.098097132028513,"velocity":2.1811346302171266,"acceleration":-0.21767411561200228,"pose":{"translation":{"x":8.38406938494492,"y":-3.4231122623486114},"rotation":{"radians":0.9135963112072046}},"curvature":0.7342216772427899},{"time":4.136500117220472,"velocity":2.172775294378606,"acceleration":-0.6793545882841577,"pose":{"translation":{"x":8.433078298935254,"y":-3.355382293214105},"rotation":{"radians":0.975426737443062}},"curvature":0.7489208616993307},{"time":4.177830615749474,"velocity":2.144697230566857,"acceleration":-1.219885906011484,"pose":{"translation":{"x":8.480574100572285,"y":-3.279853153621214},"rotation":{"radians":1.0441980641073774}},"curvature":0.7991325824900017},{"time":4.221700678069392,"velocity":2.091180759846943,"acceleration":-1.6242178980336057,"pose":{"translation":{"x":8.524148032018052,"y":-3.1977900961809747},"rotation":{"radians":1.1226842201532317}},"curvature":0.8985697290964901},{"time":4.244459220091442,"velocity":2.0542159285615798,"acceleration":-1.8754932793267327,"pose":{"translation":{"x":8.54365728866336,"y":-3.1548418944554717},"rotation":{"radians":1.16670548249776}},"curvature":0.9702780932634385},{"time":4.267722120999835,"velocity":2.0105865142502446,"acceleration":-2.0943929344396954,"pose":{"translation":{"x":8.56121579269471,"y":-3.11094366424016},"rotation":{"radians":1.2145989602398326}},"curvature":1.0583078049022325},{"time":4.291459909863608,"velocity":1.960870256974736,"acceleration":-2.2596621728559025,"pose":{"translation":{"x":8.576510703768088,"y":-3.0663573017656245},"rotation":{"radians":1.266897167841401}},"curvature":1.1633939730854188},{"time":4.3156510852153085,"velocity":1.9062063731155743,"acceleration":-2.344685736447325,"pose":{"translation":{"x":8.589246877380187,"y":-3.0213500827980257},"rotation":{"radians":1.3241047818611564}},"curvature":1.2852649977692947},{"time":4.340279399470997,"velocity":1.8484607159675186,"acceleration":-2.320009129530827,"pose":{"translation":{"x":8.599154031683902,"y":-2.9761884248552506},"rotation":{"radians":1.3866406444894264}},"curvature":1.4218358248372434},{"time":4.365327696069322,"velocity":1.7903484391802091,"acceleration":-2.1578203340691724,"pose":{"translation":{"x":8.605993914303825,"y":-2.93113164942306},"rotation":{"radians":1.4547536064703062}},"curvature":1.5681676730065268},{"time":4.3907678705932485,"velocity":1.7354531132902122,"acceleration":-1.837257814641934,"pose":{"translation":{"x":8.609567469151727,"y":-2.8864257441712358},"rotation":{"radians":1.5284113373988928}},"curvature":1.715400169051567},{"time":4.416547536967426,"velocity":1.6880892197853936,"acceleration":-1.3483303740736017,"pose":{"translation":{"x":8.609722003242048,"y":-2.842297125169731},"rotation":{"radians":1.6071710994773414}},"curvature":1.850128170839514},{"time":4.4425756320660685,"velocity":1.6529947485846175,"acceleration":-0.6920425789138529,"pose":{"translation":{"x":8.606358353507387,"y":-2.7989463991048176},"rotation":{"radians":1.6900567511685176}},"curvature":1.9549352424262878},{"time":4.468710987485722,"velocity":1.63490796981917,"acceleration":0.12457754062713154,"pose":{"translation":{"x":8.599438053613992,"y":-2.756542125495235},"rotation":{"radians":1.7754818304055833}},"curvature":2.0107071110361203},{"time":4.494758569453501,"velocity":1.6381529135199995,"acceleration":1.0984920561080318,"pose":{"translation":{"x":8.588990500777253,"y":-2.7152145789083386},"rotation":{"radians":1.8612625640497609}},"curvature":2.000610440833017},{"time":4.5204761444569685,"velocity":1.6664034653636708,"acceleration":2.246176992898593,"pose":{"translation":{"x":8.575120122577177,"y":-2.675049511176247},"rotation":{"radians":1.944743837683619}},"curvature":1.9143699755371302},{"time":4.54558940127038,"velocity":1.722812285034709,"acceleration":3.6293958695470767,"pose":{"translation":{"x":8.558013543773896,"y":-2.6360819136119913},"rotation":{"radians":2.023015114354522}},"curvature":1.7506326673782069},{"time":4.569808428183871,"velocity":1.81071272127898,"acceleration":4.500000000000031,"pose":{"translation":{"x":8.53794675312314,"y":-2.5982897792256647},"rotation":{"radians":2.093144540492335}},"curvature":1.515819594659015},{"time":4.592962011289798,"velocity":1.914903845255655,"acceleration":4.50000000000003,"pose":{"translation":{"x":8.515292270191736,"y":-2.5615878649405683},"rotation":{"radians":2.1523409213565685}},"curvature":1.2197548855474756},{"time":4.615104502839362,"velocity":2.014545057228693,"acceleration":4.500000000000015,"pose":{"translation":{"x":8.490526312173095,"y":-2.5258214538093604},"rotation":{"radians":2.1979781908574307}},"curvature":0.8699749673300079},{"time":4.656763346175205,"velocity":2.202009852239986,"acceleration":-3.943850279776819,"pose":{"translation":{"x":8.437126328673585,"y":-2.456091477162927},"rotation":{"radians":2.2379980013119174}},"curvature":-3.4537114262311976E-16},{"time":4.69855193918476,"velocity":2.037201898007769,"acceleration":-4.500000000000005,"pose":{"translation":{"x":8.38122820564466,"y":-2.387382001954609},"rotation":{"radians":2.2834087013625046}},"curvature":0.9409243178408606},{"time":4.721288841672522,"velocity":1.9348858368128412,"acceleration":-2.8426924891627285,"pose":{"translation":{"x":8.350906235300549,"y":-2.353920287717051},"rotation":{"radians":2.3327121927109515}},"curvature":1.2204665627801867},{"time":4.745564959486465,"velocity":1.865876299037115,"acceleration":-0.9523065767197145,"pose":{"translation":{"x":8.318085511602552,"y":-2.321499083383515},"rotation":{"radians":2.3931454082906316}},"curvature":1.3797569905882539},{"time":4.77112722418725,"velocity":1.8415331862467075,"acceleration":0.23272992586438276,"pose":{"translation":{"x":8.28230879061648,"y":-2.2904289343686766},"rotation":{"radians":2.460289964106835}},"curvature":1.4387951035178148},{"time":4.797623332563892,"velocity":1.847699623584898,"acceleration":0.9528269633143607,"pose":{"translation":{"x":8.24328600101536,"y":-2.2610010091416313},"rotation":{"radians":2.530500431685425}},"curvature":1.4236928360827223},{"time":4.824791449378552,"velocity":1.873586137828381,"acceleration":1.3375398204190427,"pose":{"translation":{"x":8.200879976807867,"y":-2.2334865019912686},"rotation":{"radians":2.601044491242953}},"curvature":1.3613785974032233},{"time":4.852452498816223,"velocity":1.910583892925846,"acceleration":1.47311680209302,"pose":{"translation":{"x":8.155092190066755,"y":-2.2081360357916475},"rotation":{"radians":2.6701022421881757}},"curvature":1.275248616561439},{"time":4.88049193581687,"velocity":1.9518892586927272,"acceleration":1.4276090327349074,"pose":{"translation":{"x":8.106048483657267,"y":-2.185179064767374},"rotation":{"radians":2.7366540868746623}},"curvature":1.182948140722557},{"time":4.908837821348435,"velocity":1.9923561009184576,"acceleration":1.2571581073901335,"pose":{"translation":{"x":8.05398480396557,"y":-2.1648232772589755},"rotation":{"radians":2.800311770599945}},"curvature":1.0962328005869646},{"time":4.9374408656568916,"velocity":2.0283146499668736,"acceleration":1.0057474210328337,"pose":{"translation":{"x":7.9992329336271775,"y":-2.1472539984882775},"rotation":{"radians":2.8611439243995282}},"curvature":1.0220815257804632},{"time":4.966259577441104,"velocity":2.057298995021333,"acceleration":0.7045184905728152,"pose":{"translation":{"x":7.942206224255375,"y":-2.1326335933237797},"rotation":{"radians":2.9195280796466085}},"curvature":0.9641987294482112},{"time":4.99525134496572,"velocity":2.0777242313168136,"acceleration":0.37268959901355836,"pose":{"translation":{"x":7.88338532916964,"y":-2.121100869046031},"rotation":{"radians":2.9760410929908097}},"curvature":0.9243787964650092},{"time":5.024368860159496,"velocity":2.0885760263786532,"acceleration":0.01998611995025337,"pose":{"translation":{"x":7.823303936124069,"y":-2.112770478113006},"rotation":{"radians":3.0313867442158533}},"curvature":0.9035395436227165},{"time":5.053560715727347,"velocity":2.089159458305603,"acceleration":-0.35007579390082444,"pose":{"translation":{"x":7.762534500035804,"y":-2.1077323209254812},"rotation":{"radians":3.0863532224657857}},"curvature":0.9024252822714945},{"time":5.0827749217353855,"velocity":2.0789322719441565,"acceleration":-0.7364693338542546,"pose":{"translation":{"x":7.701673975713455,"y":-2.1060509485924106},"rotation":{"radians":-3.1413936486172975}},"curvature":0.9220481733555729},{"time":5.111964185956489,"velocity":2.0574352739675446,"acceleration":-1.1365205713603983,"pose":{"translation":{"x":7.6413295505855245,"y":-2.107764965696301},"rotation":{"radians":-3.0845781937855756}},"curvature":0.9639304274387678},{"time":5.141091869413649,"velocity":2.0243310625224082,"acceleration":-1.5412112025032019,"pose":{"translation":{"x":7.5821043774288315,"y":-2.1128864330585895},"rotation":{"radians":-3.025431640633687}},"curvature":1.0301664553718066},{"time":5.170137440428749,"velocity":1.9795657030908331,"acceleration":-1.9300812756868655,"pose":{"translation":{"x":7.524583307096937,"y":-2.1214002705050174},"rotation":{"radians":-2.9629609115915727}},"curvature":1.1232578142314635},{"time":5.1990999414462085,"velocity":1.923665722179973,"acceleration":-2.2668016127376815,"pose":{"translation":{"x":7.469318621248569,"y":-2.1332636596310075},"rotation":{"radians":-2.8961607621938406}},"curvature":1.2455872256986866},{"time":5.227997454440599,"velocity":1.8581607931201798,"acceleration":-2.4977911607908827,"pose":{"translation":{"x":7.416815765076047,"y":-2.1484054465670397},"rotation":{"radians":-2.824073202629109}},"curvature":1.398301571455251},{"time":5.25685994860185,"velocity":1.7860683103258288,"acceleration":-2.556889848721352,"pose":{"translation":{"x":7.367519080033704,"y":-2.166725544744027},"rotation":{"radians":-2.7458995984355443}},"curvature":1.5793219126470148},{"time":5.285712670002952,"velocity":1.712295079867366,"acceleration":-2.455298793546633,"pose":{"translation":{"x":7.3217975365663115,"y":-2.1880943376586908},"rotation":{"radians":-2.6611859224496004}},"curvature":1.7803426591368476},{"time":5.3001426996780765,"velocity":1.6768650454151903,"acceleration":-2.2959510736956226,"pose":{"translation":{"x":7.300368625840424,"y":-2.1998732679182877},"rotation":{"radians":-2.6163931659935704}},"curvature":1.8831711845492372},{"time":5.314565681368871,"velocity":1.6437505851163194,"acceleration":-2.0603476513853543,"pose":{"translation":{"x":7.279930466837509,"y":-2.212352081638937},"rotation":{"radians":-2.570089619557831}},"curvature":1.9832869340407082},{"time":5.328969684104963,"velocity":1.6140733319084646,"acceleration":-1.7442477404510686,"pose":{"translation":{"x":7.260501629372353,"y":-2.225506005507693},"rotation":{"radians":-2.5224436078586305}},"curvature":2.0765013909486414},{"time":5.3433358482020505,"velocity":1.58901518264317,"acceleration":-1.3441397455712076,"pose":{"translation":{"x":7.242093297458222,"y":-2.239308308609233},"rotation":{"radians":-2.47370122435584}},"curvature":2.157918642391751},{"time":5.357637387365087,"velocity":1.5697919154312896,"acceleration":-0.8562464578332756,"pose":{"translation":{"x":7.224708823454629,"y":-2.2537302837622724},"rotation":{"radians":-2.424192531119616}},"curvature":2.22213945875269},{"time":5.371838975918549,"velocity":1.5576318555367825,"acceleration":-0.27500292861657744,"pose":{"translation":{"x":7.2083432822150915,"y":-2.268741228855983},"rotation":{"radians":-2.3743337099928636}},"curvature":2.2635821127020446},{"time":5.385896647083625,"velocity":1.5537659547968579,"acceleration":0.40907369158736473,"pose":{"translation":{"x":7.192983025234904,"y":-2.2843084281864128},"rotation":{"radians":-2.324624140012171}},"curvature":2.2768933685624893},{"time":5.399758263792704,"velocity":1.55943637751541,"acceleration":1.2123274817174043,"pose":{"translation":{"x":7.1786052347988925,"y":-2.3003971337929023},"rotation":{"radians":-2.2756379963945523}},"curvature":2.25739128883022},{"time":5.413364528006468,"velocity":1.5759316255452647,"acceleration":2.1621884381092618,"pose":{"translation":{"x":7.165177478129184,"y":-2.316970546794503},"rotation":{"radians":-2.228010852121458}},"curvature":2.201457714598792},{"time":5.426650387740712,"velocity":1.6046581578529882,"acceleration":4.005483208451869,"pose":{"translation":{"x":7.152657261532965,"y":-2.333989798726395},"rotation":{"radians":-2.1824227344755807}},"curvature":2.106794323413977},{"time":5.4519077989456965,"velocity":1.7058262943235176,"acceleration":4.499999999999984,"pose":{"translation":{"x":7.130116494101634,"y":-2.369199885620931},"rotation":{"radians":-2.1001978738209823}},"curvature":1.7987982559595115},{"time":5.4754746250953765,"velocity":1.8118770119970784,"acceleration":4.500000000000027,"pose":{"translation":{"x":7.11042482227864,"y":-2.4056743458644183},"rotation":{"radians":-2.0346519424178204}},"curvature":1.3383403888610619},{"time":5.518690008220898,"velocity":2.006346236061925,"acceleration":4.499999999999984,"pose":{"translation":{"x":7.076394511370208,"y":-2.4808320556593397},"rotation":{"radians":-1.9756881130800295}},"curvature":-1.2161292343816814E-13},{"time":5.558231915776201,"velocity":2.184284820060786,"acceleration":4.500000000000021,"pose":{"translation":{"x":7.043491272151312,"y":-2.5568712483677425},"rotation":{"radians":-1.985845577921829}},"curvature":-0.22885142841773357},{"time":5.595709234131606,"velocity":2.352932752660109,"acceleration":0.8041845228925838,"pose":{"translation":{"x":7.008281851984441,"y":-2.6342594304054363},"rotation":{"radians":-2.011547304736564}},"curvature":-0.3591850438442614},{"time":5.633076533478113,"velocity":2.3829829564568645,"acceleration":-0.11641499769299771,"pose":{"translation":{"x":6.969186543169091,"y":-2.71363832374007},"rotation":{"radians":-2.0460763667094444}},"curvature":-0.41059784443922154},{"time":5.671899480810067,"velocity":2.3784633831327797,"acceleration":0.18717229634570035,"pose":{"translation":{"x":6.92532356196249,"y":-2.794993913265799},"rotation":{"radians":-2.084562756152062}},"curvature":-0.4172429025720123},{"time":5.712265825787108,"velocity":2.3860188446172153,"acceleration":0.2080167724031161,"pose":{"translation":{"x":6.876404997036228,"y":-2.8777838568564253},"rotation":{"radians":-2.1242145188313657}},"curvature":-0.4061483597485123},{"time":5.753737950792485,"velocity":2.3946457422055323,"acceleration":0.0903506054685957,"pose":{"translation":{"x":6.822632757932848,"y":-2.961064895418542},"rotation":{"radians":-2.16382152745173}},"curvature":-0.3935661114022927},{"time":5.795846408885375,"velocity":2.398450266889574,"acceleration":-0.09618957796034669,"pose":{"translation":{"x":6.7645945235224545,"y":-3.0436202629446667},"rotation":{"radians":-2.203179693614419}},"curvature":-0.38804600856574994},{"time":5.838091987827278,"velocity":2.394386682480462,"acceleration":-0.32041412513406253,"pose":{"translation":{"x":6.703159690459318,"y":-3.124087096566385},"rotation":{"radians":-2.2426572650122534}},"curvature":-0.3939426271037454},{"time":5.879967285271589,"velocity":2.3809692456851144,"acceleration":-0.5603806591962255,"pose":{"translation":{"x":6.639375321638473,"y":-3.201083846607489},"rotation":{"radians":-2.2829051352219554}},"curvature":-0.4135554559320614},{"time":5.920987927367182,"velocity":2.3579820712269335,"acceleration":-0.7718820581063467,"pose":{"translation":{"x":6.574362094652327,"y":-3.2733376866371167},"rotation":{"radians":-2.3246374483086463}},"curvature":-0.44767553755217004},{"time":5.960720059202905,"velocity":2.3273135515326233,"acceleration":-0.8412662485107529,"pose":{"translation":{"x":6.509210250247255,"y":-3.33981192352289},"rotation":{"radians":-2.368383094298645}},"curvature":-0.4942466026977083},{"time":5.998787789834163,"velocity":2.2952884545951475,"acceleration":-0.5089278595155451,"pose":{"translation":{"x":6.444875540780211,"y":-3.3998334074840555},"rotation":{"radians":-2.4140852904905397}},"curvature":-0.5442059822759803},{"time":6.034842762820062,"velocity":2.276939074368543,"acceleration":0.747590577376327,"pose":{"translation":{"x":6.382075178675326,"y":-3.4532199421446244},"rotation":{"radians":-2.460411612176476}},"curvature":-0.5734644428244412},{"time":6.068489764539415,"velocity":2.302093255810897,"acceleration":3.8747553481541277,"pose":{"translation":{"x":6.321183784880509,"y":-3.50040769458651},"rotation":{"radians":-2.503723296931027}},"curvature":-0.5334741466496149},{"time":6.099216902248196,"velocity":2.421153396981466,"acceleration":-4.081208236449467,"pose":{"translation":{"x":6.2621293373240565,"y":-3.5425786054026696},"rotation":{"radians":-2.5370682674920406}},"curvature":-0.355465979442046},{"time":6.128816536923825,"velocity":2.300351124147394,"acceleration":-4.500000000000006,"pose":{"translation":{"x":6.20428911937125,"y":-3.581787798750241},"rotation":{"radians":-2.550498869779899}},"curvature":-2.0041162309842205E-14},{"time":6.160307486241371,"velocity":2.158641852218435,"acceleration":-3.2601044617973396,"pose":{"translation":{"x":6.1455756528983585,"y":-3.6202849031507287},"rotation":{"radians":-2.5810778902663687}},"curvature":-0.7740322828866492},{"time":6.195871133737894,"velocity":2.0427006463372335,"acceleration":1.4564093782054186,"pose":{"translation":{"x":6.081014413692478,"y":-3.657875616128135},"rotation":{"radians":-2.650222401904124}},"curvature":-0.9931468482537387},{"time":6.235622943749907,"velocity":2.100595555239369,"acceleration":2.5952202790720715,"pose":{"translation":{"x":6.006910618547814,"y":-3.693798313724554},"rotation":{"radians":-2.728581101065252}},"curvature":-0.8807091464050039},{"time":6.278156880620073,"velocity":2.210980490753596,"acceleration":2.3943987288096866,"pose":{"translation":{"x":5.921611728162764,"y":-3.72744228421833},"rotation":{"radians":-2.8001704201782855}},"curvature":-0.6826471238867825},{"time":6.322877182855059,"velocity":2.318058725577032,"acceleration":1.831013948108721,"pose":{"translation":{"x":5.825170328001929,"y":-3.7583400106257225},"rotation":{"radians":-2.8599842463258547}},"curvature":-0.5085423768134277},{"time":6.3693682273014804,"velocity":2.403184476420572,"acceleration":1.2985359488742485,"pose":{"translation":{"x":5.719007009158103,"y":-3.786159453202566},"rotation":{"radians":-2.9083153747522816}},"curvature":-0.3812014033823649},{"time":6.417047148707015,"velocity":2.4650972698692084,"acceleration":0.8945484081546858,"pose":{"translation":{"x":5.605573249214286,"y":-3.810696331945939},"rotation":{"radians":-2.9471349585800812}},"curvature":-0.29410945977319236},{"time":6.465084914452107,"velocity":2.5080693767477884,"acceleration":0.6069458103801219,"pose":{"translation":{"x":5.488014293105676,"y":-3.8318664090958237},"rotation":{"radians":-2.9785592103622154}},"curvature":-0.2361890274327063},{"time":6.512467400387337,"velocity":2.536827978071571,"acceleration":0.4007491432006885,"pose":{"translation":{"x":5.3698320339816705,"y":-3.8496977716367717},"rotation":{"radians":-3.0043765489224143}},"curvature":-0.19852246821000108},{"time":6.558111289224035,"velocity":2.5551197274152253,"acceleration":0.24851930644617531,"pose":{"translation":{"x":5.2545478940678665,"y":-3.8643231137995686},"rotation":{"radians":-3.0259756603993404}},"curvature":-0.1750060203991092},{"time":6.600995126377626,"velocity":2.5657771888823864,"acceleration":0.14682234330427305,"pose":{"translation":{"x":5.145365705528065,"y":-3.875972019562896},"rotation":{"radians":-3.044381866595279}},"curvature":-0.16145904536965636},{"time":6.640288889748416,"velocity":2.5715463912977294,"acceleration":0.15254466383453047,"pose":{"translation":{"x":5.044834591326266,"y":-3.884963245154996},"rotation":{"radians":-3.0602822685328723}},"curvature":-0.15417250748249106},{"time":6.675473548941889,"velocity":2.57691362330653,"acceleration":0.4672145319237666,"pose":{"translation":{"x":4.954511846088667,"y":-3.8916970015553356},"rotation":{"radians":-3.0739754172741933}},"curvature":-0.1474229562553604},{"time":6.706446705043513,"velocity":2.5913847319367522,"acceleration":1.4514966625672674,"pose":{"translation":{"x":4.874625816965672,"y":-3.8966472369962704},"rotation":{"radians":-3.0852012459851825}},"curvature":-0.12936415990482375},{"time":6.733631985555349,"velocity":2.6308440758706375,"acceleration":1.1199269672233834,"pose":{"translation":{"x":4.803738784493884,"y":-3.9003539194647074},"rotation":{"radians":-3.0929329219149007}},"curvature":-0.08113145595874004},{"time":6.758361007503984,"velocity":2.6585387744239726,"acceleration":-4.499999999999993,"pose":{"translation":{"x":4.738409843458109,"y":-3.90341531920377},"rotation":{"radians":-3.0957023861370496}},"curvature":5.752531516428374E-14},{"time":6.78346780144212,"velocity":2.5455582017023612,"acceleration":-1.893039516724841,"pose":{"translation":{"x":4.673142690399473,"y":-3.9062595083966745},"rotation":{"radians":-3.102439159130292}},"curvature":-0.18725645976165164},{"time":6.811491206779814,"velocity":2.4925087880049084,"acceleration":0.11808517604334258,"pose":{"translation":{"x":4.602585537891656,"y":-3.9084740303872136},"rotation":{"radians":-3.11879561343087}},"curvature":-0.25693188259773286},{"time":6.843276411053083,"velocity":2.496262149447091,"acceleration":0.5380612656153161,"pose":{"translation":{"x":4.523307213431839,"y":-3.9094677117890835},"rotation":{"radians":-3.13924053691307}},"curvature":-0.25190484362275367},{"time":6.879057874628988,"velocity":2.515514769024311,"acceleration":0.4201549311617206,"pose":{"translation":{"x":4.433646145171597,"y":-3.9086998002051176},"rotation":{"radians":3.1224991407718035}},"curvature":-0.2263548073927352},{"time":6.918784723006775,"velocity":2.532206200269752,"acceleration":0.20678509678175758,"pose":{"translation":{"x":4.333426330301019,"y":-3.9056892347360286},"rotation":{"radians":3.100990348291293}},"curvature":-0.20451813832447602},{"time":6.962108637220575,"velocity":2.541164940063417,"acceleration":0.010498282866800343,"pose":{"translation":{"x":4.223673303432856,"y":-3.900023916489157},"rotation":{"radians":3.079260588744177}},"curvature":-0.1929161144725618},{"time":7.008406546395351,"velocity":2.5416509886100753,"acceleration":-0.1622942382274831,"pose":{"translation":{"x":4.106330104986662,"y":-3.8913699790872207},"rotation":{"radians":3.0567049631658985}},"curvature":-0.19228899594229396},{"time":7.056848886775366,"velocity":2.5337890758801445,"acceleration":-0.3273003048520282,"pose":{"translation":{"x":3.983973249572929,"y":-3.8794810591770617},"rotation":{"radians":3.03254796823495}},"curvature":-0.20246226659733887},{"time":7.106490594965836,"velocity":2.5175413296560283,"acceleration":-0.4959838419110598,"pose":{"translation":{"x":3.859528694377237,"y":-3.8642075669383993},"rotation":{"radians":3.0059489807228075}},"curvature":-0.22368810300661898},{"time":7.156366759559866,"velocity":2.492803557920893,"acceleration":-0.6594309618134712,"pose":{"translation":{"x":3.735987807544391,"y":-3.8455059565925755},"rotation":{"radians":2.9760741737550362}},"curvature":-0.25653653677209526},{"time":7.205578692453782,"velocity":2.460351685679958,"acceleration":-0.7592455590928424,"pose":{"translation":{"x":3.6161233365625622,"y":-3.8234479969113067},"rotation":{"radians":2.942238637545765}},"curvature":-0.30062990401586714},{"time":7.253353274960246,"velocity":2.424079046074411,"acceleration":-0.6297557041304022,"pose":{"translation":{"x":3.502205376647432,"y":-3.7982300417254296},"rotation":{"radians":2.904244367993409}},"curvature":-0.351311927664031},{"time":7.29905203972116,"velocity":2.3952999882945116,"acceleration":0.09299866340634305,"pose":{"translation":{"x":3.3957173391263327,"y":-3.7701823004336545},"rotation":{"radians":2.863091335959043}},"curvature":-0.3926155969979715},{"time":7.342110722945896,"velocity":2.399304388282449,"acceleration":2.060510522221924,"pose":{"translation":{"x":3.297071919822387,"y":-3.7397781085113113},"rotation":{"radians":2.8222146764304568}},"curvature":-0.3868091436017496},{"time":7.381945240226479,"velocity":2.4813838302867204,"acceleration":4.499999999999943,"pose":{"translation":{"x":3.2053270674386547,"y":-3.707643198019099},"rotation":{"radians":2.7889904832837376}},"curvature":-0.2719213594896334},{"time":7.418409542950682,"velocity":2.6454731925456354,"acceleration":-2.864020216566944,"pose":{"translation":{"x":3.1179019519422675,"y":-3.674564968111836},"rotation":{"radians":2.775017263745636}},"curvature":5.555636513999933E-14},{"time":7.453859095730667,"velocity":2.543944956715502,"acceleration":-4.500000000000005,"pose":{"translation":{"x":3.032085471018529,"y":-3.6414577666328536},"rotation":{"radians":2.770055381101418}},"curvature":-0.11286152944770401},{"time":7.489566977572743,"velocity":2.3832594884261615,"acceleration":-4.499999999999995,"pose":{"translation":{"x":2.9503441416583076,"y":-3.6089450156323597},"rotation":{"radians":2.7536758260889855}},"curvature":-0.27208070917082944},{"time":7.524980122185606,"velocity":2.2239003376682787,"acceleration":-4.499999999999994,"pose":{"translation":{"x":2.875267467016627,"y":-3.5770341827551317},"rotation":{"radians":2.722414362169733}},"curvature":-0.5143465363980968},{"time":7.5596450281914125,"velocity":2.0679082606421506,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":2.8080346625269756,"y":-3.5452024266914406},"rotation":{"radians":2.672105847864021}},"curvature":-0.8603127629942426},{"time":7.593687185155807,"velocity":1.9147185543023735,"acceleration":-4.421462364670557,"pose":{"translation":{"x":2.748646117497848,"y":-3.512517636727527},"rotation":{"radians":2.600232702549686}},"curvature":-1.2658299885836186},{"time":7.610702945658456,"velocity":1.8394840096336629,"acceleration":-2.838342169236926,"pose":{"translation":{"x":2.7216281899236057,"y":-3.4954819469091496},"rotation":{"radians":2.556865522799998}},"curvature":-1.443836171776409},{"time":7.627798295026748,"velocity":1.7909615586238032,"acceleration":-0.9058425651303896,"pose":{"translation":{"x":2.6961548567092852,"y":-3.4777594722960856},"rotation":{"radians":2.5099776973389076}},"curvature":-1.566574217223456},{"time":7.644891099340148,"velocity":1.7754781689192811,"acceleration":1.2384296341865688,"pose":{"translation":{"x":2.6719976944130024,"y":-3.459172492454056},"rotation":{"radians":2.4613721799202386}},"curvature":-1.607151522084913},{"time":7.661865034440674,"velocity":1.796499193156532,"acceleration":4.4769798735442246,"pose":{"translation":{"x":2.6488980020094117,"y":-3.439540402526746},"rotation":{"radians":2.413236314979923}},"curvature":-1.5522315555686552},{"time":7.694865564449003,"velocity":1.944241901820112,"acceleration":4.50000000000006,"pose":{"translation":{"x":2.6047282339109703,"y":-3.396426745796559},"rotation":{"radians":2.3270293425820476}},"curvature":-1.1997409996121213},{"time":7.727471821143066,"velocity":2.090970056943396,"acceleration":4.499999999999926,"pose":{"translation":{"x":2.5612452531878587,"y":-3.347059709280473},"rotation":{"radians":2.2640848799056523}},"curvature":-0.720446902504845},{"time":7.760978683501903,"velocity":2.241750937558161,"acceleration":4.500000000000005,"pose":{"translation":{"x":2.516027242471667,"y":-3.290276428501821},"rotation":{"radians":2.227299077749181}},"curvature":-0.3240543162883794},{"time":7.7961113427867526,"velocity":2.3998479043399863,"acceleration":4.49999999999999,"pose":{"translation":{"x":2.466862327848214,"y":-3.2252310068828027},"rotation":{"radians":2.2120848389373875}},"curvature":-0.07851049879752345},{"time":7.83312212859855,"velocity":2.566396440493074,"acceleration":1.5602442613895224,"pose":{"translation":{"x":2.4119800404540834,"y":-3.151515555294964},"rotation":{"radians":2.2112974228715205}},"curvature":0.04220159268620264},{"time":7.872704307233246,"velocity":2.6281543075611524,"acceleration":0.03631607479178784,"pose":{"translation":{"x":2.3502827780731606,"y":-3.0692812316096827},"rotation":{"radians":2.218339339381831}},"curvature":0.08437326669879004},{"time":7.91575038699671,"velocity":2.6297175722133357,"acceleration":0.5181393643899309,"pose":{"translation":{"x":2.28157726673317,"y":-2.979359280248649},"rotation":{"radians":2.2280841010135837}},"curvature":0.08248835377141178},{"time":7.961806825968623,"velocity":2.6535812262283063,"acceleration":-1.428000815513053,"pose":{"translation":{"x":2.20680602230221,"y":-2.8833820717343475},"rotation":{"radians":2.2366024949997456}},"curvature":0.05399036549811666},{"time":8.010197813421604,"velocity":2.5844788566819688,"acceleration":-4.5,"pose":{"translation":{"x":2.1282788120852905,"y":-2.783904142240543},"rotation":{"radians":2.2403363702861174}},"curvature":-5.254177795721726E-15},{"time":8.035462719239133,"velocity":2.4707867805030883,"acceleration":-4.500000000000007,"pose":{"translation":{"x":2.088504163262909,"y":-2.7339428707297015},"rotation":{"radians":2.248677809795087}},"curvature":0.2530253975235073},{"time":8.061984508947548,"velocity":2.351438726815222,"acceleration":-3.595351726249633,"pose":{"translation":{"x":2.047884401641002,"y":-2.6845540357028312},"rotation":{"radians":2.271653576822898}},"curvature":0.4575098583051401},{"time":8.089843672197176,"velocity":2.251275236133802,"acceleration":-2.3027171914894824,"pose":{"translation":{"x":2.0057373901637168,"y":-2.6362402797734803},"rotation":{"radians":2.3062897982133093}},"curvature":0.6151859855546158},{"time":8.118868193205957,"velocity":2.184439972632136,"acceleration":-1.3552128626057942,"pose":{"translation":{"x":1.9615475627238361,"y":-2.589431666064506},"rotation":{"radians":2.349772885019963}},"curvature":0.7284405487474199},{"time":8.14878094341103,"velocity":2.143901828798308,"acceleration":-0.6375411334186564,"pose":{"translation":{"x":1.9149535813138847,"y":-2.5444895934128366},"rotation":{"radians":2.3994826920817993}},"curvature":0.8005741481242076},{"time":8.179336481659266,"velocity":2.1244214163113098,"acceleration":-0.0895004045449808,"pose":{"translation":{"x":1.8657359931772304,"y":-2.5017107115742285},"rotation":{"radians":2.4530418621564634}},"curvature":0.8362169089948386},{"time":8.210321738393326,"velocity":2.1216482232986813,"acceleration":0.3222396961071264,"pose":{"translation":{"x":1.8138048879591864,"y":-2.461330836428023},"rotation":{"radians":2.508375540169265}},"curvature":0.8413441626379752},{"time":8.241555016644694,"velocity":2.1317128253908315,"acceleration":0.6193142143173964,"pose":{"translation":{"x":1.7591875548581137,"y":-2.423528865181907},"rotation":{"radians":2.5637619658989754}},"curvature":0.8227997412446179},{"time":8.272882645464058,"velocity":2.151114471219523,"acceleration":0.8194088214625853,"pose":{"translation":{"x":1.7020161397765223,"y":-2.388430691576669},"rotation":{"radians":2.617856593328412}},"curvature":0.7875411378042209},{"time":8.304173319837785,"velocity":2.176754325830868,"acceleration":0.9395076330253289,"pose":{"translation":{"x":1.642515302472175,"y":-2.356113121090956},"rotation":{"radians":2.6696829227994283}},"curvature":0.7419099920043581},{"time":8.335310972724772,"velocity":2.2060083883926853,"acceleration":0.9965201923811073,"pose":{"translation":{"x":1.5809898737091874,"y":-2.326607786146035},"rotation":{"radians":2.7185943126666094}},"curvature":0.691142189642667},{"time":8.366187426264537,"velocity":2.2367773978141776,"acceleration":1.0066716076246534,"pose":{"translation":{"x":1.5178125124091317,"y":-2.2999050613105476},"rotation":{"radians":2.7642175977215304}},"curvature":0.6391782172242734},{"time":8.396695974334971,"velocity":2.2674894869465367,"acceleration":0.9846296932396353,"pose":{"translation":{"x":1.4534113628021383,"y":-2.275957978505269},"rotation":{"radians":2.80639040012764}},"curvature":0.5887167277248886},{"time":8.426726650433986,"velocity":2.297058582341688,"acceleration":0.9429228434565816,"pose":{"translation":{"x":1.3882577115779975,"y":-2.254686142207866},"rotation":{"radians":2.8451013810664927}},"curvature":0.541408199319606},{"time":8.456163476972653,"velocity":2.324815238523867,"acceleration":0.891849101072879,"pose":{"translation":{"x":1.3228536450372623,"y":-2.2359796446576556},"rotation":{"radians":2.8804387921831283}},"curvature":0.49809448926883654},{"time":8.484883631833231,"velocity":2.350429282818946,"acceleration":0.8398661159921327,"pose":{"translation":{"x":1.2577197062423502,"y":-2.219702981060362},"rotation":{"radians":2.912549247266975}},"curvature":0.4590318774935471},{"time":8.512758255202119,"velocity":2.3738402344825174,"acceleration":-3.521027998540503,"pose":{"translation":{"x":1.1933825521686448,"y":-2.205698964792875},"rotation":{"radians":2.941606323203539}},"curvature":0.4240664255042592},{"time":8.540339766099741,"velocity":2.2767249623699364,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":1.130362610855599,"y":-2.193792642608006},"rotation":{"radians":2.9677873909315675}},"curvature":0.3927514294466261},{"time":8.596861084264756,"velocity":2.0223790306273712,"acceleration":-4.500000000000004,"pose":{"translation":{"x":1.010250876896254,"y":-2.1755079256055416},"rotation":{"radians":3.012152471714486}},"curvature":0.3381222170040531},{"time":8.655005102391053,"velocity":1.7607309490590337,"acceleration":-4.499999999999997,"pose":{"translation":{"x":0.9009543217031921,"y":-2.1632426493747388},"rotation":{"radians":3.046588200349112}},"curvature":0.28656029902186747},{"time":8.714054790627861,"velocity":1.4950073519933968,"acceleration":-4.499999999999997,"pose":{"translation":{"x":0.8051531573109261,"y":-2.15535694035665},"rotation":{"radians":3.0713285346069763}},"curvature":0.22265503989112376},{"time":8.773620378189753,"velocity":1.2269622079648832,"acceleration":-4.5,"pose":{"translation":{"x":0.7242430192848728,"y":-2.150302518663862},"rotation":{"radians":3.085698064550936}},"curvature":0.11904913786277567},{"time":8.834542479449258,"velocity":0.9528127522971119,"acceleration":-4.5,"pose":{"translation":{"x":0.6579399955566196,"y":-2.146747984632749},"rotation":{"radians":3.08846340825028}},"curvature":-0.053448804678096894},{"time":9.046278646626394,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":0.5572520775623286,"y":-2.1406491013335125},"rotation":{"radians":3.073322846533008}},"curvature":1.840225719981923E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.0,"pose":{"translation":{"x":1.1633962507247309,"y":-3.693120401984152},"rotation":{"radians":0.02531511640568925}},"curvature":0.0},{"time":0.1896212476507832,"velocity":0.7584849906031328,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.2352777946890148,"y":-3.691012805632162},"rotation":{"radians":0.037121440537695366}},"curvature":0.3181412840068143},{"time":0.2681938244926485,"velocity":1.0727752979705942,"acceleration":3.999999999999997,"pose":{"translation":{"x":1.3071245723189377,"y":-3.687285043986166},"rotation":{"radians":0.06964873167915205}},"curvature":0.5761106448083948},{"time":0.3285719605826036,"velocity":1.3142878423304143,"acceleration":4.000000000000002,"pose":{"translation":{"x":1.3788765601104414,"y":-3.6805948489381852},"rotation":{"radians":0.1186749253750142}},"curvature":0.7742249382800999},{"time":0.37966317899248886,"velocity":1.5186527159699554,"acceleration":4.000000000000003,"pose":{"translation":{"x":1.4504489011611548,"y":-3.669885040087983},"rotation":{"radians":0.18004390988004834}},"curvature":0.9110531868782284},{"time":0.4249967397787351,"velocity":1.6999869591149404,"acceleration":4.0,"pose":{"translation":{"x":1.5217348970358866,"y":-3.6543636445983445},"rotation":{"radians":0.2496491777008313}},"curvature":0.9865456080671817},{"time":0.4664387214368817,"velocity":1.8657548857475268,"acceleration":3.999999999999997,"pose":{"translation":{"x":1.5926089996321178,"y":-3.6334840170503586},"rotation":{"radians":0.32357019067851966}},"curvature":1.0050682323061229},{"time":0.5051233994158322,"velocity":2.0204935976633287,"acceleration":1.6820133161548056,"pose":{"translation":{"x":1.6629298030454949,"y":-3.6069249592986985},"rotation":{"radians":0.3983093451192739}},"curvature":0.9762733684094926},{"time":0.5425338104345976,"velocity":2.0834184071597166,"acceleration":1.1836502507671631,"pose":{"translation":{"x":1.7325430354353215,"y":-3.5745708403269036},"rotation":{"radians":0.4710193368960557}},"curvature":0.9134169118367838},{"time":0.5798567970563977,"velocity":2.1275957696339898,"acceleration":1.3593925058618543,"pose":{"translation":{"x":1.8012845508900528,"y":-3.536491716102659},"rotation":{"radians":0.5396260310644195}},"curvature":0.8303643711680277},{"time":0.6172493677072475,"velocity":2.178426949951665,"acceleration":1.4238829095506504,"pose":{"translation":{"x":1.8689833212927858,"y":-3.4929234494330803},"rotation":{"radians":0.6028157231776854}},"curvature":0.7389705513799457},{"time":0.654616526559255,"velocity":2.2316334088195027,"acceleration":1.4099907917863168,"pose":{"translation":{"x":1.9354644281867546,"y":-3.4442478298199903},"rotation":{"radians":0.6599172398782495}},"curvature":0.6477658440639337},{"time":0.6918684114168092,"velocity":2.2841582234453384,"acceleration":1.3494837507148194,"pose":{"translation":{"x":2.00055205464082,"y":-3.390972693315203},"rotation":{"radians":0.7107354495895255}},"curvature":0.5618972714512447},{"time":0.728903613564791,"velocity":2.3341366269484785,"acceleration":1.2693151791856307,"pose":{"translation":{"x":2.0640724771149666,"y":-3.3337120423758044},"rotation":{"radians":0.7553852157754044}},"curvature":0.4837797104419316},{"time":0.7655983638526913,"velocity":2.3807138304853366,"acceleration":1.190501398769672,"pose":{"translation":{"x":2.1258570573257893,"y":-3.2731661657194335},"rotation":{"radians":0.7941532354879076}},"curvature":0.4139309512376217},{"time":0.8018015529998925,"velocity":2.4238137778050026,"acceleration":1.1291367461822925,"pose":{"translation":{"x":2.1857452341119927,"y":-3.2101017581795626},"rotation":{"radians":0.8273957317092103}},"curvature":0.3516881616560946},{"time":0.8373344912800106,"velocity":2.4639353241169113,"acceleration":1.0987327753598002,"pose":{"translation":{"x":2.243587515299878,"y":-3.1453320405607794},"rotation":{"radians":0.8554684881125763}},"curvature":0.29570365403671545},{"time":0.8719940253612911,"velocity":2.5020168901907143,"acceleration":1.1133918469016995,"pose":{"translation":{"x":2.2992484695688398,"y":-3.07969687949407},"rotation":{"radians":0.8786812932840974}},"curvature":0.24422656109498916},{"time":0.9055577661246926,"velocity":2.539386485508208,"acceleration":1.1919336946224874,"pose":{"translation":{"x":2.3526097183168564,"y":-3.014042907292094},"rotation":{"radians":0.8972685780293556}},"curvature":0.19521279118758927},{"time":0.9377904711866172,"velocity":2.5778057327403445,"acceleration":1.3638500105025948,"pose":{"translation":{"x":2.4035729275259836,"y":-2.9492036418044734},"rotation":{"radians":0.9113694983001825}},"curvature":0.1463038100172115},{"time":0.9684509324242472,"velocity":2.6196220031213007,"acceleration":1.679044218183879,"pose":{"translation":{"x":2.4520627996278463,"y":-2.885979606273069},"rotation":{"radians":0.9210126539772903}},"curvature":0.09470077628923046},{"time":0.997299009896493,"velocity":2.6680592008067956,"acceleration":-1.434621546459912,"pose":{"translation":{"x":2.4980300653691323,"y":-2.825118449187263},"rotation":{"radians":0.926102657515864}},"curvature":0.03694922268946023},{"time":1.0246027973866683,"velocity":2.6288885989734276,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":2.5414544756770843,"y":-2.76729506413924},"rotation":{"radians":0.9264081422320596}},"curvature":-0.03134632979365025},{"time":1.0509592876312137,"velocity":2.523462637995246,"acceleration":-4.0,"pose":{"translation":{"x":2.5823477935249928,"y":-2.713091709679267},"rotation":{"radians":0.9215543997103331}},"curvature":-0.11581540386565782},{"time":1.076497241964437,"velocity":2.421310820662353,"acceleration":-4.0,"pose":{"translation":{"x":2.6207567857976883,"y":-2.662978129170977},"rotation":{"radians":0.9110303457003043}},"curvature":-0.22342507498620004},{"time":1.1243642650039138,"velocity":2.2298427285044453,"acceleration":-4.000000000000004,"pose":{"translation":{"x":2.690501831907423,"y":-2.5762174066624848},"rotation":{"radians":0.8705843479230416}},"curvature":-0.53694547736186},{"time":1.167244394272457,"velocity":2.058322211430272,"acceleration":-1.6008157787487964,"pose":{"translation":{"x":2.7518775182044655,"y":-2.507765094290802},"rotation":{"radians":0.8025259805815658}},"curvature":-0.9621851189091691},{"time":1.2046989220247375,"velocity":1.9983644124188367,"acceleration":4.0000000000000036,"pose":{"translation":{"x":2.806823290863167,"y":-2.4553008174847997},"rotation":{"radians":0.7202048775711887}},"curvature":-1.0836571765995922},{"time":1.2369939970692498,"velocity":2.127544712596886,"acceleration":1.5312626612069635,"pose":{"translation":{"x":2.8581258777298224,"y":-2.4127954647941747},"rotation":{"radians":0.6756711745133663}},"curvature":-2.8789918313268314E-14},{"time":1.2675067459864355,"velocity":2.1742677457045554,"acceleration":-3.999999999999994,"pose":{"translation":{"x":2.9097120375561665,"y":-2.372222405813883},"rotation":{"radians":0.6492214649026217}},"curvature":-0.7297488521158821},{"time":1.3005264367353138,"velocity":2.0421889827090425,"acceleration":0.7933751762005757,"pose":{"translation":{"x":2.9663930894630144,"y":-2.3318091048835545},"rotation":{"radians":0.5865546565271924}},"curvature":-0.9941689700389225},{"time":1.3377740502481053,"velocity":2.0717403146428044,"acceleration":2.26795184633878,"pose":{"translation":{"x":3.031769358418632,"y":-2.291857736179219},"rotation":{"radians":0.5113317582090795}},"curvature":-0.9359633971734677},{"time":1.3782228027901962,"velocity":2.16347613765274,"acceleration":2.280467957470694,"pose":{"translation":{"x":3.1079960562552342,"y":-2.252791088727211},"rotation":{"radians":0.43833655985795733}},"curvature":-0.7654061063725947},{"time":1.4214794096565038,"velocity":2.2621214435602615,"acceleration":1.808094671030196,"pose":{"translation":{"x":3.1959871377540083,"y":-2.215114343388228},"rotation":{"radians":0.37348342756753944}},"curvature":-0.5974378740345352},{"time":1.4674269705728855,"velocity":2.3451989836000067,"acceleration":1.2925124900889244,"pose":{"translation":{"x":3.2956191567301345,"y":-2.1793768498413892},"rotation":{"radians":0.3176133235756969}},"curvature":-0.46693899881838397},{"time":1.515907701322494,"velocity":2.407860933622514,"acceleration":0.8793803137856121,"pose":{"translation":{"x":3.4059351221178105,"y":-2.1461339035682943},"rotation":{"radians":0.269533224624977}},"curvature":-0.37446671962038364},{"time":1.5665956086272468,"velocity":2.4524348814533035,"acceleration":0.6461039543450338,"pose":{"translation":{"x":3.5253483540552737,"y":-2.1159085228370804},"rotation":{"radians":0.22757140219358654}},"curvature":-0.31156377599918567},{"time":1.5926084399260139,"velocity":2.469241874619147,"acceleration":0.526038103242721,"pose":{"translation":{"x":3.587848594701653,"y":-2.102072630512586},"rotation":{"radians":0.20839501014722867}},"curvature":-0.2884352657718105},{"time":1.6189752005309819,"velocity":2.4831117953564394,"acceleration":0.42956654367891306,"pose":{"translation":{"x":3.6518463399698247,"y":-2.0891532256864807},"rotation":{"radians":0.19020129880107986}},"curvature":-0.2695843337682846},{"time":1.64561376494166,"velocity":2.4945548313989026,"acceleration":0.35441800888521235,"pose":{"translation":{"x":3.717056934566066,"y":-2.077189586489208},"rotation":{"radians":0.17285635089935478}},"curvature":-0.25418965282515393},{"time":1.6724381991563535,"velocity":2.5040618939627466,"acceleration":0.2992530145368436,"pose":{"translation":{"x":3.7831945906628492,"y":-2.0662118069098825},"rotation":{"radians":0.15625360711907801}},"curvature":-0.24150650681349273},{"time":1.6993609096486266,"velocity":2.512118596237062,"acceleration":0.2638683288937072,"pose":{"translation":{"x":3.849978758401498,"y":-2.0562396023270395},"rotation":{"radians":0.14031584294648863}},"curvature":-0.2308333996174182},{"time":1.7262946964953376,"velocity":2.519225569563083,"acceleration":0.24934847644855102,"pose":{"translation":{"x":3.917140496394844,"y":-2.0472811150393873},"rotation":{"radians":0.12499776636351603}},"curvature":-0.22147511508872728},{"time":1.75315467287897,"velocity":2.5259230637517858,"acceleration":0.25818790888662513,"pose":{"translation":{"x":3.9844288422298835,"y":-2.039331719796559},"rotation":{"radians":0.11028952065337949}},"curvature":-0.21270421981706455},{"time":1.7798600345047793,"velocity":2.5328180652260146,"acceleration":0.29436408724976176,"pose":{"translation":{"x":4.0516171829704355,"y":-2.0323728293298653},"rotation":{"radians":0.096221213049395}},"curvature":-0.20372313074116938},{"time":1.8063356881454284,"velocity":2.540611546844285,"acceleration":0.3632904750478127,"pose":{"translation":{"x":4.118509625659799,"y":-2.026370699883045},"rotation":{"radians":0.08286839432221554}},"curvature":-0.19363041581257495},{"time":1.832513784770079,"velocity":2.550121800002902,"acceleration":0.4715095945470005,"pose":{"translation":{"x":4.184947367823408,"y":-2.021275236743017},"rotation":{"radians":0.07035813959885551}},"curvature":-0.18139801676435804},{"time":1.8583352554808716,"velocity":2.562296871188355,"acceleration":0.625892813014687,"pose":{"translation":{"x":4.250815067971489,"y":-2.017018799770633},"rotation":{"radians":0.058874981697251735}},"curvature":-0.16587057557813426},{"time":1.8837515219686174,"velocity":2.5782047297167012,"acceleration":0.8319994849375917,"pose":{"translation":{"x":4.316047216101721,"y":-2.0135150089314293},"rotation":{"radians":0.04866539318716024}},"curvature":-0.14580352122625276},{"time":1.9087266464672208,"velocity":2.5989840204357915,"acceleration":1.09115093976656,"pose":{"translation":{"x":4.380634504201887,"y":-2.0106575498263766},"rotation":{"radians":0.04003880906760129}},"curvature":-0.11996138192957068},{"time":1.9332402872247987,"velocity":2.6257321025855225,"acceleration":1.5592220400337962,"pose":{"translation":{"x":4.444630196752537,"y":-2.0083189792226346},"rotation":{"radians":0.03336241822139969}},"curvature":-0.0872982835432933},{"time":1.980871667174291,"velocity":2.699999999999995,"acceleration":-2.3077209255794346,"pose":{"translation":{"x":4.571410938607243,"y":-2.0045759196031687},"rotation":{"radians":0.027515989285455806}},"curvature":5.8417270188295924E-15},{"time":2.0286493153026792,"velocity":2.589742521639142,"acceleration":-1.5395828324925163,"pose":{"translation":{"x":4.6977386124599905,"y":-2.001474928758516},"rotation":{"radians":0.01880473022026203}},"curvature":-0.1314033562390839},{"time":2.077935811073286,"velocity":2.513861878877001,"acceleration":-1.060338694929636,"pose":{"translation":{"x":4.8235036140750935,"y":-2.000424493230762},"rotation":{"radians":-0.0041334447548078464}},"curvature":-0.22853299087898155},{"time":2.1279829802655894,"velocity":2.460794928810711,"acceleration":-0.7526744546220907,"pose":{"translation":{"x":4.947962584475054,"y":-2.0029079528593434},"rotation":{"radians":-0.03725036264636639}},"curvature":-0.30001982209621836},{"time":2.17813340980304,"velocity":2.423047981609547,"acceleration":-0.5535426640703063,"pose":{"translation":{"x":5.0702286716208,"y":-2.009857103340123},"rotation":{"radians":-0.07737524672454135}},"curvature":-0.3527747641421612},{"time":2.2278125160182225,"velocity":2.395548476806563,"acceleration":-0.4279311595809621,"pose":{"translation":{"x":5.1893305121317095,"y":-2.0217261562404234},"rotation":{"radians":-0.12206459161522219}},"curvature":-0.392254719175674},{"time":2.2765175485988762,"velocity":2.374706075736895,"acceleration":-0.35459546942084597,"pose":{"translation":{"x":5.304271213005654,"y":-2.038565699014058},"rotation":{"radians":-0.16946854110985773}},"curvature":-0.422786467623407},{"time":2.323809068800632,"velocity":2.357936716931328,"acceleration":-0.3175094516889685,"pose":{"translation":{"x":5.414087333339034,"y":-2.0600966550163577},"rotation":{"radians":-0.21821195181699984}},"curvature":-0.44774351495010356},{"time":2.3693063902348954,"velocity":2.3434908873494185,"acceleration":-0.2987510821005737,"pose":{"translation":{"x":5.517907866046825,"y":-2.0857842435192064},"rotation":{"radians":-0.26727966820233007}},"curvature":-0.46952892941887714},{"time":2.412686521485064,"velocity":2.3305310261967658,"acceleration":-0.2691627954019089,"pose":{"translation":{"x":5.615013219582611,"y":-2.114911939726066},"rotation":{"radians":-0.31589439120319307}},"curvature":-0.4893032214893127},{"time":2.4536848963131197,"velocity":2.319495789021111,"acceleration":-0.17265078722586374,"pose":{"translation":{"x":5.704894199658633,"y":-2.14665543478701},"rotation":{"radians":-0.36337372209423424}},"curvature":-0.5063150872946537},{"time":2.4920953275634763,"velocity":2.312864197828052,"acceleration":0.10025529028498284,"pose":{"translation":{"x":5.787310990965825,"y":-2.1801565958137523},"rotation":{"radians":-0.40894987041685615}},"curvature":-0.516616404920151},{"time":2.5277668675071476,"velocity":2.316440458420017,"acceleration":0.364777654759947,"pose":{"translation":{"x":5.862352138893851,"y":-2.2145974258946786},"rotation":{"radians":-0.45153738586251413}},"curvature":-0.5110538202327412},{"time":2.560687898884681,"velocity":2.3284493150381924,"acceleration":-4.0,"pose":{"translation":{"x":5.930493531251152,"y":-2.2492740241098756},"rotation":{"radians":-0.48945961752684103}},"curvature":-0.47326202270643397},{"time":2.5920443767534507,"velocity":2.203023403563114,"acceleration":-4.0,"pose":{"translation":{"x":5.992657379984982,"y":-2.283670545546162},"rotation":{"radians":-0.5202312049764436}},"curvature":-0.3809288459511736},{"time":2.623264060811391,"velocity":2.0781446673313533,"acceleration":-3.999999999999993,"pose":{"translation":{"x":6.050271202901451,"y":-2.317533161312118},"rotation":{"radians":-0.5406781611919519}},"curvature":-0.2176254580782038},{"time":2.6552372522835084,"velocity":1.9502519014428836,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.105326805385562,"y":-2.350944018553117},"rotation":{"radians":-0.5478633037111786}},"curvature":3.9003762163637566E-14},{"time":2.689742217650716,"velocity":1.812232039974053,"acceleration":-4.0,"pose":{"translation":{"x":6.160064920892805,"y":-2.3858342893680815},"rotation":{"radians":-0.6031739969327456}},"curvature":-1.478683040978099},{"time":2.709020783125658,"velocity":1.735117778074286,"acceleration":0.48266835384745066,"pose":{"translation":{"x":6.187688843389165,"y":-2.4059872603894283},"rotation":{"radians":-0.6587340539929514}},"curvature":-1.7163281863543558},{"time":2.7298122472245008,"velocity":1.7451531598249528,"acceleration":3.2304704535604487,"pose":{"translation":{"x":6.215593749073008,"y":-2.429015635130358},"rotation":{"radians":-0.720975161597871}},"curvature":-1.6887103186886028},{"time":2.7515546480964117,"velocity":1.8153913434311277,"acceleration":3.9999999999999947,"pose":{"translation":{"x":6.2438461761575645,"y":-2.455474331872352},"rotation":{"radians":-0.7830688353626686}},"curvature":-1.5039587146125384},{"time":2.7739590002851573,"velocity":1.9050087521861105,"acceleration":4.00000000000001,"pose":{"translation":{"x":6.272500187125221,"y":-2.4857379193489675},"rotation":{"radians":-0.840626413003143}},"curvature":-1.256622687041029},{"time":2.7970038009249283,"velocity":1.9971879547451952,"acceleration":3.9999999999999587,"pose":{"translation":{"x":6.301598150155833,"y":-2.520015469923407},"rotation":{"radians":-0.8913944121329923}},"curvature":-1.0074545330174842},{"time":2.8206902190628664,"velocity":2.0919336272969464,"acceleration":3.9999999999999876,"pose":{"translation":{"x":6.33117152055503,"y":-2.5583654127660993},"rotation":{"radians":-0.9346148519743653}},"curvature":-0.7857797044053167},{"time":2.869676867102137,"velocity":2.287880219454028,"acceleration":4.000000000000015,"pose":{"translation":{"x":6.39182042888043,"y":-2.6468520950395225},"rotation":{"radians":-0.9992805511948477}},"curvature":-0.4498530162255146},{"time":2.919934700852432,"velocity":2.48891155445521,"acceleration":3.4815932336386846,"pose":{"translation":{"x":6.454509991337688,"y":-2.749216956425009},"rotation":{"radians":-1.0389408611783941}},"curvature":-0.2295729968128178},{"time":2.945197131511776,"velocity":2.576865062104048,"acceleration":2.2635698594028875,"pose":{"translation":{"x":6.4866049775479935,"y":-2.804572508848504},"rotation":{"radians":-1.0509138352280682}},"curvature":-0.14748389824759509},{"time":2.9705427264481314,"velocity":2.6342365868706166,"acceleration":2.1076573678693387,"pose":{"translation":{"x":6.51917869258722,"y":-2.8620192994587517},"rotation":{"radians":-1.058265597778546}},"curvature":-0.07705211381717159},{"time":2.99593894947855,"velocity":2.6877631234567314,"acceleration":-1.039170790671048,"pose":{"translation":{"x":6.55220808163406,"y":-2.920977144048864},"rotation":{"radians":-1.0613060799508882}},"curvature":-0.014051884687907823},{"time":3.0215790360441646,"velocity":2.661118694427468,"acceleration":-1.8629726009923653,"pose":{"translation":{"x":6.58566542841945,"y":-2.980834040639782},"rotation":{"radians":-1.0602255138450944}},"curvature":0.045095331446938974},{"time":3.0477485931943193,"velocity":2.612365526476626,"acceleration":-1.8316047968009366,"pose":{"translation":{"x":6.619519136654878,"y":-3.04096102265785},"rotation":{"radians":-1.0551012755953932}},"curvature":0.10353710741952396},{"time":3.074358764037593,"velocity":2.563626209916394,"acceleration":-1.8899445122989902,"pose":{"translation":{"x":6.653734511460692,"y":-3.1007270121123933},"rotation":{"radians":-1.0459055419232646}},"curvature":0.1641841380343161},{"time":3.101220949771808,"velocity":2.5128581693996574,"acceleration":-2.0219283200714493,"pose":{"translation":{"x":6.688274540794406,"y":-3.159513672773291},"rotation":{"radians":-1.0325137667183373}},"curvature":0.22985708052581566},{"time":3.1281688387372784,"velocity":2.4583714695342316,"acceleration":-2.211937489551808,"pose":{"translation":{"x":6.723100676879012,"y":-3.2167302633485555},"rotation":{"radians":-1.0147159159127899}},"curvature":0.30335816965858575},{"time":3.1550622326736595,"velocity":2.398884963265065,"acceleration":-2.4380544811788813,"pose":{"translation":{"x":6.758173617631286,"y":-3.271828490661905},"rotation":{"radians":-0.9922344948197845}},"curvature":0.38741640869060545},{"time":3.1817891090311097,"velocity":2.3337233825938695,"acceleration":-2.748546512990153,"pose":{"translation":{"x":6.793454088090099,"y":-3.3243173628303393},"rotation":{"radians":-0.9647561127406776}},"curvature":0.4844119039504405},{"time":3.234442719063243,"velocity":2.189002486343705,"acceleration":-2.8669730592257316,"pose":{"translation":{"x":6.864485342463139,"y":-3.419878699732331},"rotation":{"radians":-0.893745389768018}},"curvature":0.7204892775435615},{"time":3.260231967324705,"velocity":2.1150654063604106,"acceleration":-2.649051801134485,"pose":{"translation":{"x":6.900164744920348,"y":-3.462389365764481},"rotation":{"radians":-0.8501104939862193}},"curvature":0.8535687258860932},{"time":3.285579885529363,"velocity":2.0479174579853514,"acceleration":-2.042327589833607,"pose":{"translation":{"x":6.935910477026678,"y":-3.5011967856040545},"rotation":{"radians":-0.801634501629848}},"curvature":0.9827546664389113},{"time":3.310370273459439,"velocity":1.9972873647530793,"acceleration":-0.8649707922898677,"pose":{"translation":{"x":6.971695120856093,"y":-3.536319271498096},"rotation":{"radians":-0.7496179637663417}},"curvature":1.0859059124111776},{"time":3.3344045794225425,"velocity":1.9764983920820365,"acceleration":1.1690744566898184,"pose":{"translation":{"x":7.007495974174499,"y":-3.5679215560523914},"rotation":{"radians":-0.6964019071855732}},"curvature":1.1297907769687197},{"time":3.357371165788928,"velocity":2.003348041560338,"acceleration":4.00000000000001,"pose":{"translation":{"x":7.043295831868056,"y":-3.59632964540903},"rotation":{"radians":-0.6455822984595988}},"curvature":1.0732834839221579},{"time":3.3789059465556197,"velocity":2.089487164627105,"acceleration":4.000000000000016,"pose":{"translation":{"x":7.079083767371486,"y":-3.6220456724239947},"rotation":{"radians":-0.6020137375740056}},"curvature":0.8767645283719379},{"time":3.418215652300936,"velocity":2.246725987608371,"acceleration":1.792881852222757,"pose":{"translation":{"x":7.150616246859497,"y":-3.6683798234877205},"rotation":{"radians":-0.5600556249936315}},"curvature":-1.5341608799847865E-15},{"time":3.4551960527761088,"velocity":2.3130274765082386,"acceleration":-4.0,"pose":{"translation":{"x":7.22233636853597,"y":-3.7127028139722964},"rotation":{"radians":-0.5409626725690851}},"curvature":0.43340443120677163},{"time":3.4925970547817835,"velocity":2.16342346848554,"acceleration":-3.4080737196724806,"pose":{"translation":{"x":7.29507055626316,"y":-3.7541445322801623},"rotation":{"radians":-0.49019760432345966}},"curvature":0.7654998801821016},{"time":3.532011151688565,"velocity":2.029097320632914,"acceleration":-2.429269145918497,"pose":{"translation":{"x":7.369293129355561,"y":-3.790441078725445},"rotation":{"radians":-0.4159469816656051}},"curvature":1.0204967799924411},{"time":3.5523724238362626,"velocity":1.9796343104328624,"acceleration":-1.9498185388266196,"pose":{"translation":{"x":7.4069713917442215,"y":-3.806122979217734},"rotation":{"radians":-0.3721512633977463}},"curvature":1.1231119212313414},{"time":3.5730115696740943,"velocity":1.9393917212527123,"acceleration":-1.5546742453950202,"pose":{"translation":{"x":7.444978393452456,"y":-3.8199460676798136},"rotation":{"radians":-0.32491166621403217}},"curvature":1.2104601613800496},{"time":3.5938422414219673,"velocity":1.9070068123720167,"acceleration":-1.2250088929125436,"pose":{"translation":{"x":7.48324882134417,"y":-3.8317909292605763},"rotation":{"radians":-0.27490783228551424}},"curvature":1.283430044653934},{"time":3.614787138049104,"velocity":1.8813491277426404,"acceleration":-0.949453116980557,"pose":{"translation":{"x":7.521698321558661,"y":-3.841569046046802},"rotation":{"radians":-0.22276133389779448}},"curvature":1.343025696696835},{"time":3.635777329985859,"velocity":1.861419924582268,"acceleration":-0.7209067081394999,"pose":{"translation":{"x":7.560226552043141,"y":-3.849220872640479},"rotation":{"radians":-0.16903234274272852}},"curvature":1.3904493419961768},{"time":3.656751752776197,"velocity":1.8462993224933597,"acceleration":-0.5344626927857374,"pose":{"translation":{"x":7.59872023508526,"y":-3.8547139117361255},"rotation":{"radians":-0.1142157697049291}},"curvature":1.42711347081114},{"time":3.6776567302316603,"velocity":1.8351263919498875,"acceleration":-0.3860167458403973,"pose":{"translation":{"x":7.637056209845632,"y":-3.858040789698115},"rotation":{"radians":-0.05873863820559043}},"curvature":1.4545935361829192},{"time":3.6984454202956467,"velocity":1.8271016094611028,"acceleration":-0.27131469164914074,"pose":{"translation":{"x":7.675104484890351,"y":-3.8592173321379954},"rotation":{"radians":-0.002959970677580733}},"curvature":1.4745380448716379},{"time":3.719077117969283,"velocity":1.8215039267685817,"acceleration":-0.18528144800516685,"pose":{"translation":{"x":7.712731290723523,"y":-3.858280639491813},"rotation":{"radians":0.052826077634075326}},"curvature":1.488554371793447},{"time":3.7395163871300197,"velocity":1.8177169093823131,"acceleration":-0.12151968581318236,"pose":{"translation":{"x":7.749802132319782,"y":-3.8552871625974356},"rotation":{"radians":0.10838359558498532}},"curvature":1.4980858375916812},{"time":3.7597320185810674,"velocity":1.8152603121998667,"acceleration":-0.07188809523865826,"pose":{"translation":{"x":7.786184841656817,"y":-3.8503107782718726},"rotation":{"radians":0.16352492081069248}},"curvature":1.5042900626503573},{"time":3.7796958222635575,"velocity":1.813825152379414,"acceleration":-0.026077951057060657,"pose":{"translation":{"x":7.821752630247893,"y":-3.8434408648886},"rotation":{"radians":0.21809758534717527}},"curvature":1.5079223875556875},{"time":3.799381259382024,"velocity":1.8133117965137018,"acceleration":0.028895092675718475,"pose":{"translation":{"x":7.856387141674377,"y":-3.8347803779548797},"rotation":{"radians":0.2719685670334236}},"curvature":1.5092230643016957},{"time":3.818761910963541,"velocity":1.8138718022372655,"acceleration":0.10938440874116755,"pose":{"translation":{"x":7.889981504118257,"y":-3.8244439256890854},"rotation":{"radians":0.3250061711254222}},"curvature":1.5078042284842925},{"time":3.837809770650991,"velocity":1.815955341106962,"acceleration":0.23613723475783752,"pose":{"translation":{"x":7.922443382894669,"y":-3.8125558445980223},"rotation":{"radians":0.37705980312388127}},"curvature":1.5025330392512695},{"time":3.856493349361225,"velocity":1.820367229718977,"acceleration":0.43589413199520866,"pose":{"translation":{"x":7.953698032984418,"y":-3.799248275054251},"rotation":{"radians":0.42793787917893666}},"curvature":1.4914111358050537},{"time":3.8747755955756444,"velocity":1.8283363535635342,"acceleration":0.7439917700414684,"pose":{"translation":{"x":7.983691351566502,"y":-3.7846592368734084},"rotation":{"radians":0.47738422045108825}},"curvature":1.4714578590341192},{"time":3.892611674597465,"velocity":1.841606249565578,"acceleration":1.2087342370306096,"pose":{"translation":{"x":8.012392930550632,"y":-3.7689307048915315},"rotation":{"radians":0.52505354762116}},"curvature":1.4386155715379991},{"time":3.9099467194303275,"velocity":1.8625597117555195,"acceleration":1.8988937359311235,"pose":{"translation":{"x":8.039799109109765,"y":-3.7522066845423794},"rotation":{"radians":0.5704871728369437}},"curvature":1.3877097369576405},{"time":3.9267137705350166,"velocity":1.8943985600682507,"acceleration":3.662784321628669,"pose":{"translation":{"x":8.065936026212611,"y":-3.7346312874347545},"rotation":{"radians":0.6130907055536846}},"curvature":1.3125137707192063},{"time":3.9581068190004904,"velocity":2.009384525795718,"acceleration":4.0,"pose":{"translation":{"x":8.114673946098254,"y":-3.6974917937184557},"rotation":{"radians":0.6866553180722805}},"curvature":1.0607871285995667},{"time":4.013549078403333,"velocity":2.2311535634070876,"acceleration":-0.26431010563961116,"pose":{"translation":{"x":8.202090832957548,"y":-3.6188986664948777},"rotation":{"radians":0.7571038295489254}},"curvature":-1.0143689071185567E-13},{"time":4.068228082265364,"velocity":2.2167013501200454,"acceleration":-1.0358298492971596,"pose":{"translation":{"x":8.28889350898289,"y":-3.533737786976507},"rotation":{"radians":0.8082192319045362}},"curvature":0.6729199220042472},{"time":4.0997343481206725,"velocity":2.1840662195072245,"acceleration":-0.08346771028858725,"pose":{"translation":{"x":8.335551235603717,"y":-3.4824627082326822},"rotation":{"radians":0.8574239845002932}},"curvature":0.7290933750885707},{"time":4.134856783850154,"velocity":2.1811346302171266,"acceleration":-0.21767411561200228,"pose":{"translation":{"x":8.38406938494492,"y":-3.4231122623486114},"rotation":{"radians":0.9135963112072046}},"curvature":0.7342216772427899},{"time":4.173259769042113,"velocity":2.172775294378606,"acceleration":-0.6793545882841577,"pose":{"translation":{"x":8.433078298935254,"y":-3.355382293214105},"rotation":{"radians":0.975426737443062}},"curvature":0.7489208616993307},{"time":4.214590267571115,"velocity":2.144697230566857,"acceleration":-1.219885906011484,"pose":{"translation":{"x":8.480574100572285,"y":-3.279853153621214},"rotation":{"radians":1.0441980641073774}},"curvature":0.7991325824900017},{"time":4.258460329891033,"velocity":2.091180759846943,"acceleration":-1.6242178980336057,"pose":{"translation":{"x":8.524148032018052,"y":-3.1977900961809747},"rotation":{"radians":1.1226842201532317}},"curvature":0.8985697290964901},{"time":4.281218871913083,"velocity":2.0542159285615798,"acceleration":-1.8754932793267138,"pose":{"translation":{"x":8.54365728866336,"y":-3.1548418944554717},"rotation":{"radians":1.16670548249776}},"curvature":0.9702780932634385},{"time":4.304481772821476,"velocity":2.010586514250245,"acceleration":-2.0943929344397145,"pose":{"translation":{"x":8.56121579269471,"y":-3.11094366424016},"rotation":{"radians":1.2145989602398326}},"curvature":1.0583078049022325},{"time":4.328219561685249,"velocity":1.960870256974736,"acceleration":-2.2596621728559074,"pose":{"translation":{"x":8.576510703768088,"y":-3.0663573017656245},"rotation":{"radians":1.266897167841401}},"curvature":1.1633939730854188},{"time":4.35241073703695,"velocity":1.906206373115574,"acceleration":-2.34468573644732,"pose":{"translation":{"x":8.589246877380187,"y":-3.0213500827980257},"rotation":{"radians":1.3241047818611564}},"curvature":1.2852649977692947},{"time":4.3770390512926385,"velocity":1.8484607159675186,"acceleration":-2.320009129530837,"pose":{"translation":{"x":8.599154031683902,"y":-2.9761884248552506},"rotation":{"radians":1.3866406444894264}},"curvature":1.4218358248372434},{"time":4.402087347890963,"velocity":1.790348439180209,"acceleration":-2.157820334069162,"pose":{"translation":{"x":8.605993914303825,"y":-2.93113164942306},"rotation":{"radians":1.4547536064703062}},"curvature":1.5681676730065268},{"time":4.42752752241489,"velocity":1.7354531132902122,"acceleration":-1.837257814641934,"pose":{"translation":{"x":8.609567469151727,"y":-2.8864257441712358},"rotation":{"radians":1.5284113373988928}},"curvature":1.715400169051567},{"time":4.453307188789067,"velocity":1.6880892197853936,"acceleration":-1.3483303740736017,"pose":{"translation":{"x":8.609722003242048,"y":-2.842297125169731},"rotation":{"radians":1.6071710994773414}},"curvature":1.850128170839514},{"time":4.47933528388771,"velocity":1.6529947485846175,"acceleration":-0.6920425789138529,"pose":{"translation":{"x":8.606358353507387,"y":-2.7989463991048176},"rotation":{"radians":1.6900567511685176}},"curvature":1.9549352424262878},{"time":4.505470639307363,"velocity":1.63490796981917,"acceleration":0.12457754062713154,"pose":{"translation":{"x":8.599438053613992,"y":-2.756542125495235},"rotation":{"radians":1.7754818304055833}},"curvature":2.0107071110361203},{"time":4.531518221275142,"velocity":1.6381529135199995,"acceleration":1.0984920561080318,"pose":{"translation":{"x":8.588990500777253,"y":-2.7152145789083386},"rotation":{"radians":1.8612625640497609}},"curvature":2.000610440833017},{"time":4.55723579627861,"velocity":1.6664034653636708,"acceleration":2.246176992898598,"pose":{"translation":{"x":8.575120122577177,"y":-2.675049511176247},"rotation":{"radians":1.944743837683619}},"curvature":1.9143699755371302},{"time":4.582349053092021,"velocity":1.7228122850347092,"acceleration":3.6293958695470714,"pose":{"translation":{"x":8.558013543773896,"y":-2.6360819136119913},"rotation":{"radians":2.023015114354522}},"curvature":1.7506326673782069},{"time":4.606568080005512,"velocity":1.81071272127898,"acceleration":4.00000000000002,"pose":{"translation":{"x":8.53794675312314,"y":-2.5982897792256647},"rotation":{"radians":2.093144540492335}},"curvature":1.515819594659015},{"time":4.6297920725491775,"velocity":1.9036086914536434,"acceleration":4.00000000000002,"pose":{"translation":{"x":8.515292270191736,"y":-2.5615878649405683},"rotation":{"radians":2.1523409213565685}},"curvature":1.2197548855474756},{"time":4.652121598211203,"velocity":1.9929267941017463,"acceleration":4.000000000000015,"pose":{"translation":{"x":8.490526312173095,"y":-2.5258214538093604},"rotation":{"radians":2.1979781908574307}},"curvature":0.8699749673300079},{"time":4.694398017583338,"velocity":2.1620324715902868,"acceleration":-3.21392655152205,"pose":{"translation":{"x":8.437126328673585,"y":-2.456091477162927},"rotation":{"radians":2.2379980013119174}},"curvature":-3.4537114262311976E-16},{"time":4.736696387360154,"velocity":2.0260886178784805,"acceleration":-4.000000000000005,"pose":{"translation":{"x":8.38122820564466,"y":-2.387382001954609},"rotation":{"radians":2.2834087013625046}},"curvature":0.9409243178408606},{"time":4.759497082626564,"velocity":1.9348858368128412,"acceleration":-2.8426924891627285,"pose":{"translation":{"x":8.350906235300549,"y":-2.353920287717051},"rotation":{"radians":2.3327121927109515}},"curvature":1.2204665627801867},{"time":4.783773200440507,"velocity":1.865876299037115,"acceleration":-0.9523065767197145,"pose":{"translation":{"x":8.318085511602552,"y":-2.321499083383515},"rotation":{"radians":2.3931454082906316}},"curvature":1.3797569905882539},{"time":4.809335465141292,"velocity":1.8415331862467075,"acceleration":0.23272992586438276,"pose":{"translation":{"x":8.28230879061648,"y":-2.2904289343686766},"rotation":{"radians":2.460289964106835}},"curvature":1.4387951035178148},{"time":4.835831573517933,"velocity":1.847699623584898,"acceleration":0.9528269633143694,"pose":{"translation":{"x":8.24328600101536,"y":-2.2610010091416313},"rotation":{"radians":2.530500431685425}},"curvature":1.4236928360827223},{"time":4.862999690332594,"velocity":1.8735861378283811,"acceleration":1.3375398204190343,"pose":{"translation":{"x":8.200879976807867,"y":-2.2334865019912686},"rotation":{"radians":2.601044491242953}},"curvature":1.3613785974032233},{"time":4.890660739770265,"velocity":1.910583892925846,"acceleration":1.47311680209302,"pose":{"translation":{"x":8.155092190066755,"y":-2.2081360357916475},"rotation":{"radians":2.6701022421881757}},"curvature":1.275248616561439},{"time":4.918700176770912,"velocity":1.9518892586927272,"acceleration":1.4276090327349074,"pose":{"translation":{"x":8.106048483657267,"y":-2.185179064767374},"rotation":{"radians":2.7366540868746623}},"curvature":1.182948140722557},{"time":4.947046062302476,"velocity":1.9923561009184576,"acceleration":1.257158107390118,"pose":{"translation":{"x":8.05398480396557,"y":-2.1648232772589755},"rotation":{"radians":2.800311770599945}},"curvature":1.0962328005869646},{"time":4.975649106610933,"velocity":2.028314649966873,"acceleration":1.0057474210328488,"pose":{"translation":{"x":7.9992329336271775,"y":-2.1472539984882775},"rotation":{"radians":2.8611439243995282}},"curvature":1.0220815257804632},{"time":5.004467818395145,"velocity":2.057298995021333,"acceleration":0.7045184905728152,"pose":{"translation":{"x":7.942206224255375,"y":-2.1326335933237797},"rotation":{"radians":2.9195280796466085}},"curvature":0.9641987294482112},{"time":5.033459585919761,"velocity":2.0777242313168136,"acceleration":0.37268959901355836,"pose":{"translation":{"x":7.88338532916964,"y":-2.121100869046031},"rotation":{"radians":2.9760410929908097}},"curvature":0.9243787964650092},{"time":5.062577101113537,"velocity":2.0885760263786532,"acceleration":0.01998611995025337,"pose":{"translation":{"x":7.823303936124069,"y":-2.112770478113006},"rotation":{"radians":3.0313867442158533}},"curvature":0.9035395436227165},{"time":5.091768956681388,"velocity":2.089159458305603,"acceleration":-0.35007579390082444,"pose":{"translation":{"x":7.762534500035804,"y":-2.1077323209254812},"rotation":{"radians":3.0863532224657857}},"curvature":0.9024252822714945},{"time":5.120983162689427,"velocity":2.0789322719441565,"acceleration":-0.7364693338542546,"pose":{"translation":{"x":7.701673975713455,"y":-2.1060509485924106},"rotation":{"radians":-3.1413936486172975}},"curvature":0.9220481733555729},{"time":5.1501724269105305,"velocity":2.0574352739675446,"acceleration":-1.1365205713603834,"pose":{"translation":{"x":7.6413295505855245,"y":-2.107764965696301},"rotation":{"radians":-3.0845781937855756}},"curvature":0.9639304274387678},{"time":5.179300110367691,"velocity":2.0243310625224087,"acceleration":-1.5412112025032172,"pose":{"translation":{"x":7.5821043774288315,"y":-2.1128864330585895},"rotation":{"radians":-3.025431640633687}},"curvature":1.0301664553718066},{"time":5.208345681382791,"velocity":1.9795657030908331,"acceleration":-1.9300812756868693,"pose":{"translation":{"x":7.524583307096937,"y":-2.1214002705050174},"rotation":{"radians":-2.9629609115915727}},"curvature":1.1232578142314635},{"time":5.23730818240025,"velocity":1.9236657221799727,"acceleration":-2.2668016127376855,"pose":{"translation":{"x":7.469318621248569,"y":-2.1332636596310075},"rotation":{"radians":-2.8961607621938406}},"curvature":1.2455872256986866},{"time":5.266205695394641,"velocity":1.8581607931201796,"acceleration":-2.4977911607908743,"pose":{"translation":{"x":7.416815765076047,"y":-2.1484054465670397},"rotation":{"radians":-2.824073202629109}},"curvature":1.398301571455251},{"time":5.2950681895558915,"velocity":1.7860683103258288,"acceleration":-2.556889848721352,"pose":{"translation":{"x":7.367519080033704,"y":-2.166725544744027},"rotation":{"radians":-2.7458995984355443}},"curvature":1.5793219126470148},{"time":5.323920910956994,"velocity":1.712295079867366,"acceleration":-2.455298793546651,"pose":{"translation":{"x":7.3217975365663115,"y":-2.1880943376586908},"rotation":{"radians":-2.6611859224496004}},"curvature":1.7803426591368476},{"time":5.338350940632118,"velocity":1.67686504541519,"acceleration":-2.2959510736956137,"pose":{"translation":{"x":7.300368625840424,"y":-2.1998732679182877},"rotation":{"radians":-2.6163931659935704}},"curvature":1.8831711845492372},{"time":5.352773922322912,"velocity":1.6437505851163192,"acceleration":-2.060347651385326,"pose":{"translation":{"x":7.279930466837509,"y":-2.212352081638937},"rotation":{"radians":-2.570089619557831}},"curvature":1.9832869340407082},{"time":5.367177925059004,"velocity":1.6140733319084648,"acceleration":-1.7442477404510879,"pose":{"translation":{"x":7.260501629372353,"y":-2.225506005507693},"rotation":{"radians":-2.5224436078586305}},"curvature":2.0765013909486414},{"time":5.381544089156092,"velocity":1.58901518264317,"acceleration":-1.3441397455712076,"pose":{"translation":{"x":7.242093297458222,"y":-2.239308308609233},"rotation":{"radians":-2.47370122435584}},"curvature":2.157918642391751},{"time":5.395845628319129,"velocity":1.5697919154312896,"acceleration":-0.8562464578332756,"pose":{"translation":{"x":7.224708823454629,"y":-2.2537302837622724},"rotation":{"radians":-2.424192531119616}},"curvature":2.22213945875269},{"time":5.410047216872591,"velocity":1.5576318555367825,"acceleration":-0.27500292861657744,"pose":{"translation":{"x":7.2083432822150915,"y":-2.268741228855983},"rotation":{"radians":-2.3743337099928636}},"curvature":2.2635821127020446},{"time":5.424104888037666,"velocity":1.5537659547968579,"acceleration":0.40907369158736473,"pose":{"translation":{"x":7.192983025234904,"y":-2.2843084281864128},"rotation":{"radians":-2.324624140012171}},"curvature":2.2768933685624893},{"time":5.437966504746746,"velocity":1.55943637751541,"acceleration":1.2123274817174043,"pose":{"translation":{"x":7.1786052347988925,"y":-2.3003971337929023},"rotation":{"radians":-2.2756379963945523}},"curvature":2.25739128883022},{"time":5.45157276896051,"velocity":1.5759316255452647,"acceleration":2.1621884381092618,"pose":{"translation":{"x":7.165177478129184,"y":-2.316970546794503},"rotation":{"radians":-2.228010852121458}},"curvature":2.201457714598792},{"time":5.464858628694754,"velocity":1.6046581578529882,"acceleration":3.999999999999984,"pose":{"translation":{"x":7.152657261532965,"y":-2.333989798726395},"rotation":{"radians":-2.1824227344755807}},"curvature":2.106794323413977},{"time":5.490117065273888,"velocity":1.705691904169526,"acceleration":3.9999999999999893,"pose":{"translation":{"x":7.130116494101634,"y":-2.369199885620931},"rotation":{"radians":-2.1001978738209823}},"curvature":1.7987982559595115},{"time":5.513762784058635,"velocity":1.8002747793085128,"acceleration":4.000000000000019,"pose":{"translation":{"x":7.11042482227864,"y":-2.4056743458644183},"rotation":{"radians":-2.0346519424178204}},"curvature":1.3383403888610619},{"time":5.557468658437237,"velocity":1.9750982768229242,"acceleration":3.999999999999984,"pose":{"translation":{"x":7.076394511370208,"y":-2.4808320556593397},"rotation":{"radians":-1.9756881130800295}},"curvature":-1.2161292343816814E-13},{"time":5.597772465173841,"velocity":2.1363135037693364,"acceleration":4.000000000000016,"pose":{"translation":{"x":7.043491272151312,"y":-2.5568712483677425},"rotation":{"radians":-1.985845577921829}},"curvature":-0.22885142841773357},{"time":5.6361889787321475,"velocity":2.2899795580025635,"acceleration":2.455813828083304,"pose":{"translation":{"x":7.008281851984441,"y":-2.6342594304054363},"rotation":{"radians":-2.011547304736564}},"curvature":-0.3591850438442614},{"time":5.674059682688109,"velocity":2.3829829564568645,"acceleration":-0.11641499769299771,"pose":{"translation":{"x":6.969186543169091,"y":-2.71363832374007},"rotation":{"radians":-2.0460763667094444}},"curvature":-0.41059784443922154},{"time":5.712882630020063,"velocity":2.3784633831327797,"acceleration":0.1871722963457096,"pose":{"translation":{"x":6.92532356196249,"y":-2.794993913265799},"rotation":{"radians":-2.084562756152062}},"curvature":-0.4172429025720123},{"time":5.7532489749971045,"velocity":2.3860188446172157,"acceleration":0.20801677240310718,"pose":{"translation":{"x":6.876404997036228,"y":-2.8777838568564253},"rotation":{"radians":-2.1242145188313657}},"curvature":-0.4061483597485123},{"time":5.794721100002481,"velocity":2.3946457422055323,"acceleration":0.0903506054685957,"pose":{"translation":{"x":6.822632757932848,"y":-2.961064895418542},"rotation":{"radians":-2.16382152745173}},"curvature":-0.3935661114022927},{"time":5.8368295580953715,"velocity":2.398450266889574,"acceleration":-0.0961895779603379,"pose":{"translation":{"x":6.7645945235224545,"y":-3.0436202629446667},"rotation":{"radians":-2.203179693614419}},"curvature":-0.38804600856574994},{"time":5.879075137037273,"velocity":2.3943866824804623,"acceleration":-0.3204141251340714,"pose":{"translation":{"x":6.703159690459318,"y":-3.124087096566385},"rotation":{"radians":-2.2426572650122534}},"curvature":-0.3939426271037454},{"time":5.920950434481584,"velocity":2.3809692456851144,"acceleration":-0.5603806591962255,"pose":{"translation":{"x":6.639375321638473,"y":-3.201083846607489},"rotation":{"radians":-2.2829051352219554}},"curvature":-0.4135554559320614},{"time":5.961971076577178,"velocity":2.3579820712269335,"acceleration":-0.771882058106361,"pose":{"translation":{"x":6.574362094652327,"y":-3.2733376866371167},"rotation":{"radians":-2.3246374483086463}},"curvature":-0.44767553755217004},{"time":6.0017032084129,"velocity":2.327313551532623,"acceleration":-0.8412662485107378,"pose":{"translation":{"x":6.509210250247255,"y":-3.33981192352289},"rotation":{"radians":-2.368383094298645}},"curvature":-0.4942466026977083},{"time":6.039770939044158,"velocity":2.2952884545951475,"acceleration":-0.5089278595155451,"pose":{"translation":{"x":6.444875540780211,"y":-3.3998334074840555},"rotation":{"radians":-2.4140852904905397}},"curvature":-0.5442059822759803},{"time":6.075825912030057,"velocity":2.276939074368543,"acceleration":0.747590577376327,"pose":{"translation":{"x":6.382075178675326,"y":-3.4532199421446244},"rotation":{"radians":-2.460411612176476}},"curvature":-0.5734644428244412},{"time":6.109472913749411,"velocity":2.302093255810897,"acceleration":3.312795982958409,"pose":{"translation":{"x":6.321183784880509,"y":-3.50040769458651},"rotation":{"radians":-2.503723296931027}},"curvature":-0.5334741466496149},{"time":6.1403104014341725,"velocity":2.404251561137507,"acceleration":-3.999999999999994,"pose":{"translation":{"x":6.2621293373240565,"y":-3.5425786054026696},"rotation":{"radians":-2.5370682674920406}},"curvature":-0.355465979442046},{"time":6.170113372031527,"velocity":2.2850396787480878,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.20428911937125,"y":-3.581787798750241},"rotation":{"radians":-2.550498869779899}},"curvature":-2.0041162309842205E-14},{"time":6.20171282866394,"velocity":2.158641852218435,"acceleration":-3.2601044617973396,"pose":{"translation":{"x":6.1455756528983585,"y":-3.6202849031507287},"rotation":{"radians":-2.5810778902663687}},"curvature":-0.7740322828866492},{"time":6.237276476160463,"velocity":2.0427006463372335,"acceleration":1.4564093782054186,"pose":{"translation":{"x":6.081014413692478,"y":-3.657875616128135},"rotation":{"radians":-2.650222401904124}},"curvature":-0.9931468482537387},{"time":6.2770282861724755,"velocity":2.100595555239369,"acceleration":2.5952202790720715,"pose":{"translation":{"x":6.006910618547814,"y":-3.693798313724554},"rotation":{"radians":-2.728581101065252}},"curvature":-0.8807091464050039},{"time":6.319562223042642,"velocity":2.210980490753596,"acceleration":2.3943987288096866,"pose":{"translation":{"x":5.921611728162764,"y":-3.72744228421833},"rotation":{"radians":-2.8001704201782855}},"curvature":-0.6826471238867825},{"time":6.364282525277628,"velocity":2.318058725577032,"acceleration":1.831013948108721,"pose":{"translation":{"x":5.825170328001929,"y":-3.7583400106257225},"rotation":{"radians":-2.8599842463258547}},"curvature":-0.5085423768134277},{"time":6.410773569724049,"velocity":2.403184476420572,"acceleration":1.29853594887426,"pose":{"translation":{"x":5.719007009158103,"y":-3.786159453202566},"rotation":{"radians":-2.9083153747522816}},"curvature":-0.3812014033823649},{"time":6.4584524911295835,"velocity":2.465097269869209,"acceleration":0.8945484081546747,"pose":{"translation":{"x":5.605573249214286,"y":-3.810696331945939},"rotation":{"radians":-2.9471349585800812}},"curvature":-0.29410945977319236},{"time":6.506490256874676,"velocity":2.5080693767477884,"acceleration":0.6069458103801219,"pose":{"translation":{"x":5.488014293105676,"y":-3.8318664090958237},"rotation":{"radians":-2.9785592103622154}},"curvature":-0.2361890274327063},{"time":6.553872742809905,"velocity":2.536827978071571,"acceleration":0.4007491432006885,"pose":{"translation":{"x":5.3698320339816705,"y":-3.8496977716367717},"rotation":{"radians":-3.0043765489224143}},"curvature":-0.19852246821000108},{"time":6.599516631646604,"velocity":2.5551197274152253,"acceleration":0.24851930644617531,"pose":{"translation":{"x":5.2545478940678665,"y":-3.8643231137995686},"rotation":{"radians":-3.0259756603993404}},"curvature":-0.1750060203991092},{"time":6.6424004688001945,"velocity":2.5657771888823864,"acceleration":0.14682234330427305,"pose":{"translation":{"x":5.145365705528065,"y":-3.875972019562896},"rotation":{"radians":-3.044381866595279}},"curvature":-0.16145904536965636},{"time":6.681694232170985,"velocity":2.5715463912977294,"acceleration":0.15254466383453047,"pose":{"translation":{"x":5.044834591326266,"y":-3.884963245154996},"rotation":{"radians":-3.0602822685328723}},"curvature":-0.15417250748249106},{"time":6.716878891364457,"velocity":2.57691362330653,"acceleration":0.4672145319237666,"pose":{"translation":{"x":4.954511846088667,"y":-3.8916970015553356},"rotation":{"radians":-3.0739754172741933}},"curvature":-0.1474229562553604},{"time":6.747852047466082,"velocity":2.5913847319367522,"acceleration":1.4514966625672674,"pose":{"translation":{"x":4.874625816965672,"y":-3.8966472369962704},"rotation":{"radians":-3.0852012459851825}},"curvature":-0.12936415990482375},{"time":6.775037327977918,"velocity":2.6308440758706375,"acceleration":0.6204738816069328,"pose":{"translation":{"x":4.803738784493884,"y":-3.9003539194647074},"rotation":{"radians":-3.0929329219149007}},"curvature":-0.08113145595874004},{"time":6.799824060446303,"velocity":2.646223595977649,"acceleration":-4.000000000000007,"pose":{"translation":{"x":4.738409843458109,"y":-3.90341531920377},"rotation":{"radians":-3.0957023861370496}},"curvature":5.752531516428374E-14},{"time":6.824990409015125,"velocity":2.5455582017023612,"acceleration":-1.8930395167248537,"pose":{"translation":{"x":4.673142690399473,"y":-3.9062595083966745},"rotation":{"radians":-3.102439159130292}},"curvature":-0.18725645976165164},{"time":6.85301381435282,"velocity":2.492508788004908,"acceleration":0.11808517604335379,"pose":{"translation":{"x":4.602585537891656,"y":-3.9084740303872136},"rotation":{"radians":-3.11879561343087}},"curvature":-0.25693188259773286},{"time":6.884799018626089,"velocity":2.496262149447091,"acceleration":0.5380612656153062,"pose":{"translation":{"x":4.523307213431839,"y":-3.9094677117890835},"rotation":{"radians":-3.13924053691307}},"curvature":-0.25190484362275367},{"time":6.920580482201995,"velocity":2.5155147690243105,"acceleration":0.42015493116173835,"pose":{"translation":{"x":4.433646145171597,"y":-3.9086998002051176},"rotation":{"radians":3.1224991407718035}},"curvature":-0.2263548073927352},{"time":6.960307330579782,"velocity":2.5322062002697523,"acceleration":0.2067850967817495,"pose":{"translation":{"x":4.333426330301019,"y":-3.9056892347360286},"rotation":{"radians":3.100990348291293}},"curvature":-0.20451813832447602},{"time":7.003631244793581,"velocity":2.541164940063417,"acceleration":0.010498282866800343,"pose":{"translation":{"x":4.223673303432856,"y":-3.900023916489157},"rotation":{"radians":3.079260588744177}},"curvature":-0.1929161144725618},{"time":7.049929153968358,"velocity":2.5416509886100753,"acceleration":-0.1622942382274831,"pose":{"translation":{"x":4.106330104986662,"y":-3.8913699790872207},"rotation":{"radians":3.0567049631658985}},"curvature":-0.19228899594229396},{"time":7.098371494348372,"velocity":2.5337890758801445,"acceleration":-0.3273003048520282,"pose":{"translation":{"x":3.983973249572929,"y":-3.8794810591770617},"rotation":{"radians":3.03254796823495}},"curvature":-0.20246226659733887},{"time":7.148013202538842,"velocity":2.5175413296560283,"acceleration":-0.4959838419110598,"pose":{"translation":{"x":3.859528694377237,"y":-3.8642075669383993},"rotation":{"radians":3.0059489807228075}},"curvature":-0.22368810300661898},{"time":7.1978893671328725,"velocity":2.492803557920893,"acceleration":-0.6594309618134785,"pose":{"translation":{"x":3.735987807544391,"y":-3.8455059565925755},"rotation":{"radians":2.9760741737550362}},"curvature":-0.25653653677209526},{"time":7.247101300026789,"velocity":2.4603516856799574,"acceleration":-0.7592455590928349,"pose":{"translation":{"x":3.6161233365625622,"y":-3.8234479969113067},"rotation":{"radians":2.942238637545765}},"curvature":-0.30062990401586714},{"time":7.294875882533252,"velocity":2.424079046074411,"acceleration":-0.6297557041304022,"pose":{"translation":{"x":3.502205376647432,"y":-3.7982300417254296},"rotation":{"radians":2.904244367993409}},"curvature":-0.351311927664031},{"time":7.340574647294166,"velocity":2.3952999882945116,"acceleration":0.09299866340633015,"pose":{"translation":{"x":3.3957173391263327,"y":-3.7701823004336545},"rotation":{"radians":2.863091335959043}},"curvature":-0.3926155969979715},{"time":7.383633330518903,"velocity":2.3993043882824487,"acceleration":2.0605105222219517,"pose":{"translation":{"x":3.297071919822387,"y":-3.7397781085113113},"rotation":{"radians":2.8222146764304568}},"curvature":-0.3868091436017496},{"time":7.423467847799485,"velocity":2.481383830286721,"acceleration":3.8063887184902487,"pose":{"translation":{"x":3.2053270674386547,"y":-3.707643198019099},"rotation":{"radians":2.7889904832837376}},"curvature":-0.2719213594896334},{"time":7.4601081191146115,"velocity":2.6208509456630376,"acceleration":-3.999999999999995,"pose":{"translation":{"x":3.1179019519422675,"y":-3.674564968111836},"rotation":{"radians":2.775017263745636}},"curvature":5.555636513999933E-14},{"time":7.496198014878763,"velocity":2.4764913626064327,"acceleration":-4.0,"pose":{"translation":{"x":3.032085471018529,"y":-3.6414577666328536},"rotation":{"radians":2.770055381101418}},"curvature":-0.11286152944770401},{"time":7.5328021148174225,"velocity":2.3300749628517945,"acceleration":-4.0,"pose":{"translation":{"x":2.9503441416583076,"y":-3.6089450156323597},"rotation":{"radians":2.7536758260889855}},"curvature":-0.27208070917082944},{"time":7.568933100371285,"velocity":2.1855510206363458,"acceleration":-4.0,"pose":{"translation":{"x":2.875267467016627,"y":-3.5770341827551317},"rotation":{"radians":2.722414362169733}},"curvature":-0.5143465363980968},{"time":7.604100948275235,"velocity":2.0448796290205453,"acceleration":-4.000000000000006,"pose":{"translation":{"x":2.8080346625269756,"y":-3.5452024266914406},"rotation":{"radians":2.672105847864021}},"curvature":-0.8603127629942426},{"time":7.638402107961445,"velocity":1.907674990275703,"acceleration":-3.999999999999993,"pose":{"translation":{"x":2.748646117497848,"y":-3.512517636727527},"rotation":{"radians":2.600232702549686}},"curvature":-1.2658299885836186},{"time":7.655449853121955,"velocity":1.8394840096336629,"acceleration":-2.838342169236926,"pose":{"translation":{"x":2.7216281899236057,"y":-3.4954819469091496},"rotation":{"radians":2.556865522799998}},"curvature":-1.443836171776409},{"time":7.672545202490247,"velocity":1.7909615586238032,"acceleration":-0.9058425651303751,"pose":{"translation":{"x":2.6961548567092852,"y":-3.4777594722960856},"rotation":{"radians":2.5099776973389076}},"curvature":-1.566574217223456},{"time":7.689638006803647,"velocity":1.7754781689192813,"acceleration":1.2384296341865542,"pose":{"translation":{"x":2.6719976944130024,"y":-3.459172492454056},"rotation":{"radians":2.4613721799202386}},"curvature":-1.607151522084913},{"time":7.706611941904173,"velocity":1.796499193156532,"acceleration":4.000000000000072,"pose":{"translation":{"x":2.6488980020094117,"y":-3.439540402526746},"rotation":{"radians":2.413236314979923}},"curvature":-1.5522315555686552},{"time":7.739747129647259,"velocity":1.9290399441288768,"acceleration":4.000000000000051,"pose":{"translation":{"x":2.6047282339109703,"y":-3.396426745796559},"rotation":{"radians":2.3270293425820476}},"curvature":-1.1997409996121213},{"time":7.772722995787028,"velocity":2.0609434086879546,"acceleration":3.9999999999999325,"pose":{"translation":{"x":2.5612452531878587,"y":-3.347059709280473},"rotation":{"radians":2.2640848799056523}},"curvature":-0.720446902504845},{"time":7.806815783742147,"velocity":2.197314560508428,"acceleration":4.000000000000005,"pose":{"translation":{"x":2.516027242471667,"y":-3.290276428501821},"rotation":{"radians":2.227299077749181}},"curvature":-0.3240543162883794},{"time":7.842747668959298,"velocity":2.3410421013770333,"acceleration":3.9999999999999853,"pose":{"translation":{"x":2.466862327848214,"y":-3.2252310068828027},"rotation":{"radians":2.2120848389373875}},"curvature":-0.07851049879752345},{"time":7.880769610848119,"velocity":2.4931298689323143,"acceleration":3.3631293231496486,"pose":{"translation":{"x":2.4119800404540834,"y":-3.151515555294964},"rotation":{"radians":2.2112974228715205}},"curvature":0.04220159268620264},{"time":7.920918063570236,"velocity":2.6281543075611524,"acceleration":0.03631607479178784,"pose":{"translation":{"x":2.3502827780731606,"y":-3.0692812316096827},"rotation":{"radians":2.218339339381831}},"curvature":0.08437326669879004},{"time":7.9639641433337,"velocity":2.6297175722133357,"acceleration":0.5181393643899309,"pose":{"translation":{"x":2.28157726673317,"y":-2.979359280248649},"rotation":{"radians":2.2280841010135837}},"curvature":0.08248835377141178},{"time":8.010020582305613,"velocity":2.6535812262283063,"acceleration":-1.9322220644212664,"pose":{"translation":{"x":2.20680602230221,"y":-2.8833820717343475},"rotation":{"radians":2.2366024949997456}},"curvature":0.05399036549811666},{"time":8.058642193775878,"velocity":2.559633475737742,"acceleration":-4.0,"pose":{"translation":{"x":2.1282788120852905,"y":-2.783904142240543},"rotation":{"radians":2.2403363702861174}},"curvature":-5.254177795721726E-15},{"time":8.0840975392164,"velocity":2.457812093975654,"acceleration":-4.0,"pose":{"translation":{"x":2.088504163262909,"y":-2.7339428707297015},"rotation":{"radians":2.248677809795087}},"curvature":0.2530253975235073},{"time":8.110690881006507,"velocity":2.3514387268152217,"acceleration":-3.595351726249619,"pose":{"translation":{"x":2.047884401641002,"y":-2.6845540357028312},"rotation":{"radians":2.271653576822898}},"curvature":0.4575098583051401},{"time":8.138550044256135,"velocity":2.251275236133802,"acceleration":-2.3027171914894824,"pose":{"translation":{"x":2.0057373901637168,"y":-2.6362402797734803},"rotation":{"radians":2.3062897982133093}},"curvature":0.6151859855546158},{"time":8.167574565264916,"velocity":2.184439972632136,"acceleration":-1.3552128626057942,"pose":{"translation":{"x":1.9615475627238361,"y":-2.589431666064506},"rotation":{"radians":2.349772885019963}},"curvature":0.7284405487474199},{"time":8.197487315469989,"velocity":2.143901828798308,"acceleration":-0.63754113341867,"pose":{"translation":{"x":1.9149535813138847,"y":-2.5444895934128366},"rotation":{"radians":2.3994826920817993}},"curvature":0.8005741481242076},{"time":8.228042853718225,"velocity":2.1244214163113093,"acceleration":-0.0895004045449673,"pose":{"translation":{"x":1.8657359931772304,"y":-2.5017107115742285},"rotation":{"radians":2.4530418621564634}},"curvature":0.8362169089948386},{"time":8.259028110452284,"velocity":2.1216482232986813,"acceleration":0.3222396961071264,"pose":{"translation":{"x":1.8138048879591864,"y":-2.461330836428023},"rotation":{"radians":2.508375540169265}},"curvature":0.8413441626379752},{"time":8.290261388703653,"velocity":2.1317128253908315,"acceleration":0.6193142143173964,"pose":{"translation":{"x":1.7591875548581137,"y":-2.423528865181907},"rotation":{"radians":2.5637619658989754}},"curvature":0.8227997412446179},{"time":8.321589017523017,"velocity":2.151114471219523,"acceleration":0.8194088214625722,"pose":{"translation":{"x":1.7020161397765223,"y":-2.388430691576669},"rotation":{"radians":2.617856593328412}},"curvature":0.7875411378042209},{"time":8.352879691896744,"velocity":2.1767543258308675,"acceleration":0.9395076330253289,"pose":{"translation":{"x":1.642515302472175,"y":-2.356113121090956},"rotation":{"radians":2.6696829227994283}},"curvature":0.7419099920043581},{"time":8.38401734478373,"velocity":2.206008388392685,"acceleration":0.9965201923811202,"pose":{"translation":{"x":1.5809898737091874,"y":-2.326607786146035},"rotation":{"radians":2.7185943126666094}},"curvature":0.691142189642667},{"time":8.414893798323495,"velocity":2.2367773978141776,"acceleration":1.0066716076246534,"pose":{"translation":{"x":1.5178125124091317,"y":-2.2999050613105476},"rotation":{"radians":2.7642175977215304}},"curvature":0.6391782172242734},{"time":8.44540234639393,"velocity":2.2674894869465367,"acceleration":0.9846296932396353,"pose":{"translation":{"x":1.4534113628021383,"y":-2.275957978505269},"rotation":{"radians":2.80639040012764}},"curvature":0.5887167277248886},{"time":8.475433022492945,"velocity":2.297058582341688,"acceleration":0.9429228434565816,"pose":{"translation":{"x":1.3882577115779975,"y":-2.254686142207866},"rotation":{"radians":2.8451013810664927}},"curvature":0.541408199319606},{"time":8.504869849031612,"velocity":2.324815238523867,"acceleration":0.891849101072879,"pose":{"translation":{"x":1.3228536450372623,"y":-2.2359796446576556},"rotation":{"radians":2.8804387921831283}},"curvature":0.49809448926883654},{"time":8.53359000389219,"velocity":2.350429282818946,"acceleration":-3.067151076777828,"pose":{"translation":{"x":1.2577197062423502,"y":-2.219702981060362},"rotation":{"radians":2.912549247266975}},"curvature":0.4590318774935471},{"time":8.562135090650619,"velocity":2.2628771892311113,"acceleration":-4.000000000000007,"pose":{"translation":{"x":1.1933825521686448,"y":-2.205698964792875},"rotation":{"radians":2.941606323203539}},"curvature":0.4240664255042592},{"time":8.591225168028908,"velocity":2.146516879717959,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":1.130362610855599,"y":-2.193792642608006},"rotation":{"radians":2.9677873909315675}},"curvature":0.3927514294466261},{"time":8.651175079063034,"velocity":1.9067172355814543,"acceleration":-4.000000000000002,"pose":{"translation":{"x":1.010250876896254,"y":-2.1755079256055416},"rotation":{"radians":3.012152471714486}},"curvature":0.3381222170040531},{"time":8.712846123316842,"velocity":1.6600330585662246,"acceleration":-4.000000000000001,"pose":{"translation":{"x":0.9009543217031921,"y":-2.1632426493747388},"rotation":{"radians":3.046588200349112}},"curvature":0.28656029902186747},{"time":8.77547777578564,"velocity":1.409506448691033,"acceleration":-3.9999999999999987,"pose":{"translation":{"x":0.8051531573109261,"y":-2.15535694035665},"rotation":{"radians":3.0713285346069763}},"curvature":0.22265503989112376},{"time":8.838656622121203,"velocity":1.156791063348784,"acceleration":-4.0,"pose":{"translation":{"x":0.7242430192848728,"y":-2.150302518663862},"rotation":{"radians":3.085698064550936}},"curvature":0.11904913786277567},{"time":8.903274268508296,"velocity":0.898320477800408,"acceleration":-4.0,"pose":{"translation":{"x":0.6579399955566196,"y":-2.146747984632749},"rotation":{"radians":3.08846340825028}},"curvature":-0.053448804678096894},{"time":9.127854387958399,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":0.5572520775623286,"y":-2.1406491013335125},"rotation":{"radians":3.073322846533008}},"curvature":1.840225719981923E-13}] \ No newline at end of file diff --git a/src/main/deploy/paths/TenBallMidComplete.wpilib.json b/src/main/deploy/paths/TenBallMidComplete.wpilib.json index 7804056..5c2dd00 100644 --- a/src/main/deploy/paths/TenBallMidComplete.wpilib.json +++ b/src/main/deploy/paths/TenBallMidComplete.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.18657823115310335,"velocity":0.839602040188965,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.2636201163434935,"velocity":1.1862905235457206,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.32239440714143003,"velocity":1.450774832136435,"acceleration":4.500000000000005,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.3715463924484661,"velocity":1.6719587660180977,"acceleration":4.499999999999998,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.414434843963577,"velocity":1.8649567978360966,"acceleration":4.499999999999993,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.4528052230574477,"velocity":2.0376235037585144,"acceleration":2.6990957806315383,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.488238109422676,"velocity":2.133260257842499,"acceleration":-1.3755817985575727,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.5228361670610473,"velocity":2.0856677994897095,"acceleration":-1.1085033593793463,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.5577828913162687,"velocity":2.046929238253493,"acceleration":-0.8190145874505249,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.5930274842125652,"velocity":2.018063402542671,"acceleration":-0.513333160124384,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.6285209279782388,"velocity":1.9998434408907406,"acceleration":-0.20295657345447937,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.6642161801062126,"velocity":1.9925988548302533,"acceleration":0.09766145035031382,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.7000705425649159,"velocity":1.9961004438693561,"acceleration":0.37371595382228145,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.7360490557014975,"velocity":2.009546188223301,"acceleration":0.6125189905823517,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.7721274623066632,"velocity":2.031644897418917,"acceleration":0.8054012982846697,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.808293530121922,"velocity":2.060773095391178,"acceleration":0.9487194852031784,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":0.8445461771378034,"velocity":2.0951666880053375,"acceleration":1.0438484118061038,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":0.8808925816014386,"velocity":2.1331068245795652,"acceleration":1.0962995466767014,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":0.9173439716441548,"velocity":2.1730684669591307,"acceleration":1.114317963167015,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":0.9539109548459818,"velocity":2.213815713199753,"acceleration":1.1073830554713748,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":0.9905991270284958,"velocity":2.254443573410885,"acceleration":1.084959111684444,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.0274054380301267,"velocity":2.294376915899596,"acceleration":1.0556776642123231,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.0643155226043857,"velocity":2.333342067768829,"acceleration":1.0269716065493961,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.1013020013930672,"velocity":2.3713261313110463,"acceleration":1.0050771173259267,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.1383236399679897,"velocity":2.4085357330886117,"acceleration":0.9952829336981895,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.1753252111990284,"velocity":2.4453627654548824,"acceleration":1.002317161501784,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.2122379154087146,"velocity":2.48236100236169,"acceleration":1.0307918830405418,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.2489802541130384,"velocity":2.520234706862033,"acceleration":1.0856529771112022,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.2854593142455406,"velocity":2.559838307097103,"acceleration":1.172591272248787,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.3215724961376205,"velocity":2.602184308996889,"acceleration":1.2983471478310618,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.3572098122775669,"velocity":2.648453916763542,"acceleration":1.470762252915322,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.3922570016749563,"velocity":2.699999999999996,"acceleration":1.1375917470597876E-13,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.42695714479145,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4615289723532172,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4958554274606588,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5298313741431298,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5633631999946407,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.596368418809561,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6287752732183198,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6605223373231064,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6915581193335736,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7218406642025372,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7513371562616795,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.78002352185725,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8078840319857656,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8349109049297148,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8611039088932557,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8864699646379213,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9110227481183184,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9347822931178298,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9800312077658149,"velocity":2.7,"acceleration":-1.4523366765218488,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.022985264321952,"velocity":2.6376162482581282,"acceleration":-4.499999999999996,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.06548806405402,"velocity":2.446353649463822,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1091662417675887,"velocity":2.2498018497527634,"acceleration":-4.500000000000004,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1549697009801054,"velocity":2.0436862832964384,"acceleration":-4.500000000000003,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.204360270256358,"velocity":1.8214287215533007,"acceleration":-4.5,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2597553809636084,"velocity":1.5721507233706749,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.323750355859175,"velocity":1.2841733363406245,"acceleration":-4.5,"pose":{"translation":{"x":7.291391427065546,"y":-1.100829703353923},"rotation":{"radians":-0.027821850230778215}},"curvature":-0.650210314192843},{"time":2.3582776082357713,"velocity":1.1288007006459417,"acceleration":-4.499999999999997,"pose":{"translation":{"x":7.33300693575994,"y":-1.102681343908726},"rotation":{"radians":-0.06466356345347674}},"curvature":-1.1671521341710898},{"time":2.3939264189964473,"velocity":0.9683810522228987,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":7.370233046899057,"y":-1.1060809225877481},"rotation":{"radians":-0.12296931421995656}},"curvature":-2.060099762721178},{"time":2.4120834331793253,"velocity":0.8866744883999478,"acceleration":-4.5,"pose":{"translation":{"x":7.386904400841855,"y":-1.1084662489341992},"rotation":{"radians":-0.16325383468827934}},"curvature":-2.7730985925232075},{"time":2.4304444564274705,"velocity":0.8040498837832945,"acceleration":-4.5,"pose":{"translation":{"x":7.402155192351948,"y":-1.111353633071441},"rotation":{"radians":-0.21358032077615297}},"curvature":-3.7862951832682605},{"time":2.4490381645932193,"velocity":0.7203781970374252,"acceleration":-4.5,"pose":{"translation":{"x":7.415909561237784,"y":-1.114770334002192},"rotation":{"radians":-0.2768284721084359}},"curvature":-5.252936086916672},{"time":2.4679606138366905,"velocity":0.6352271754418055,"acceleration":-4.5,"pose":{"translation":{"x":7.428105903379064,"y":-1.1187386439112075},"rotation":{"radians":-0.35686632281713865}},"curvature":-7.397416721857951},{"time":2.4776115477478347,"velocity":0.5917979728416572,"acceleration":-4.499999999999995,"pose":{"translation":{"x":7.433604315141906,"y":-1.1209353108447915},"rotation":{"radians":-0.40469686961167517}},"curvature":-8.81393295104801},{"time":2.4874493384770173,"velocity":0.5475279145603348,"acceleration":-4.500000000000005,"pose":{"translation":{"x":7.438696276906384,"y":-1.123276093041583},"rotation":{"radians":-0.45867228530255166}},"curvature":-10.5116637682121},{"time":2.4975500235583765,"velocity":0.5020748316942187,"acceleration":-4.5,"pose":{"translation":{"x":7.443377833241871,"y":-1.125762471341103},"rotation":{"radians":-0.5195379709979431}},"curvature":-12.521757406781552},{"time":2.5080306358085243,"velocity":0.45491207656855376,"acceleration":-4.5,"pose":{"translation":{"x":7.44764580838088,"y":-1.1283956545710556},"rotation":{"radians":-0.5880100735834901}},"curvature":-14.85458396152343},{"time":2.519077873917704,"velocity":0.40519950507724434,"acceleration":-4.121743364232768,"pose":{"translation":{"x":7.4514977876621735,"y":-1.1311765859497145},"rotation":{"radians":-0.6646802737127656}},"curvature":-17.4795810166942},{"time":2.5309327000944517,"velocity":0.3563369539491027,"acceleration":-3.2591245608163253,"pose":{"translation":{"x":7.454932098973876,"y":-1.134105949488305},"rotation":{"radians":-0.7498755855456528}},"curvature":-20.29968500248048},{"time":2.5372276837349834,"velocity":0.33582081815630915,"acceleration":-2.7492882831906647,"pose":{"translation":{"x":7.456492305080279,"y":-1.1356264377697427},"rotation":{"radians":-0.7956562154609756}},"curvature":-21.728400778541683},{"time":2.5437501533573075,"velocity":0.3178886688461864,"acceleration":-2.2826353326325606,"pose":{"translation":{"x":7.457947794196594,"y":-1.1371841763933905},"rotation":{"radians":-0.8434788689153079}},"curvature":-23.12820866880771},{"time":2.550488162320909,"velocity":0.3025082515142752,"acceleration":-1.8551049609010068,"pose":{"translation":{"x":7.459298557887232,"y":-1.1387791808097316},"rotation":{"radians":-0.8932284950696684}},"curvature":-24.46103818109851},{"time":2.5574240251398166,"velocity":0.2896414979907902,"acceleration":-1.461772928974034,"pose":{"translation":{"x":7.460544630646523,"y":-1.1404114514692556},"rotation":{"radians":-0.944741230203777}},"curvature":-25.684779785449013},{"time":2.564534130258168,"velocity":0.2792481388066248,"acceleration":-1.097044131142697,"pose":{"translation":{"x":7.461686089318814,"y":-1.1420809740225333},"rotation":{"radians":-0.9978029559869008}},"curvature":-26.755617400486308},{"time":2.5717891018439745,"velocity":0.2712891148068086,"acceleration":-0.7548275652527467,"pose":{"translation":{"x":7.462723052518566,"y":-1.1437877195202912},"rotation":{"radians":-1.0521507937987378}},"curvature":-27.631116920906926},{"time":2.5791543654721374,"velocity":0.26572961079491786,"acceleration":-0.42868941063916144,"pose":{"translation":{"x":7.463655680050451,"y":-1.1455316446134858},"rotation":{"radians":-1.1074779835281168}},"curvature":-28.2737787148395},{"time":2.5865911284968917,"velocity":0.26254154923677286,"acceleration":-0.1119841058911719,"pose":{"translation":{"x":7.464484172329446,"y":-1.1473126917533785},"rotation":{"radians":-1.1634422271483342}},"curvature":-28.65458793715891},{"time":2.5940577299968433,"velocity":0.2617054085437551,"acceleration":0.2020330525857381,"pose":{"translation":{"x":7.46520876980094,"y":-1.1491307893916096},"rotation":{"radians":-1.2196771131358384}},"curvature":-28.755999475861472},{"time":2.6015112581094795,"velocity":0.26321126758088464,"acceleration":0.520105524266088,"pose":{"translation":{"x":7.46582975236082,"y":-1.1509858521802734},"rotation":{"radians":-1.2758057659201345}},"curvature":-28.573825683680486},{"time":2.6089092876538422,"velocity":0.2670590236155914,"acceleration":0.8488794958355593,"pose":{"translation":{"x":7.466347438775576,"y":-1.1528777811719926},"rotation":{"radians":-1.331455494132833}},"curvature":-28.117668468730983},{"time":2.616211569839834,"velocity":0.2732577812360848,"acceleration":1.1948040702136535,"pose":{"translation":{"x":7.466762186102392,"y":-1.1548064640199922},"rotation":{"radians":-1.3862720377899758}},"curvature":-27.409814592509886},{"time":2.62338151436282,"velocity":0.281824460135355,"acceleration":1.5640205494310842,"pose":{"translation":{"x":7.467074389109252,"y":-1.1567717751781745},"rotation":{"radians":-1.4399320847953063}},"curvature":-26.482813979610114},{"time":2.630387339929832,"velocity":0.29278171528789176,"acceleration":1.9622358621006224,"pose":{"translation":{"x":7.467284479695027,"y":-1.158773576101194},"rotation":{"radians":-1.4921530220635075}},"curvature":-25.376195561326828},{"time":2.637202822694517,"velocity":0.30615529998628443,"acceleration":2.39457825340343,"pose":{"translation":{"x":7.467392926309582,"y":-1.1608117154445305},"rotation":{"radians":-1.542699328039103}},"curvature":-24.13288147640941},{"time":2.6438076300322813,"velocity":0.3219710280052148,"acceleration":2.8654369583296915,"pose":{"translation":{"x":7.4674002333738665,"y":-1.1628860292645662},"rotation":{"radians":-1.5913854936628287}},"curvature":-22.79582618985712},{"time":2.650187277305875,"velocity":0.3402515050840773,"acceleration":3.378291306792765,"pose":{"translation":{"x":7.4673069407000146,"y":-1.1649963412186568},"rotation":{"radians":-1.6380757769664533}},"curvature":-21.405267157377484},{"time":2.656332779785846,"velocity":0.3610128026880367,"acceleration":4.241236633342421,"pose":{"translation":{"x":7.467113622911442,"y":-1.1671424627652092},"rotation":{"radians":-1.6826813861112742}},"curvature":-19.99678746639396},{"time":2.667880738432292,"velocity":0.40999042793966745,"acceleration":4.499999999999572,"pose":{"translation":{"x":7.466429381060786,"y":-1.1715413206750205},"rotation":{"radians":-1.765489142784833}},"curvature":-17.239258032151128},{"time":2.6786264680258802,"velocity":0.458346211110809,"acceleration":4.500000000000136,"pose":{"translation":{"x":7.465352778998552,"y":-1.176080858285079},"rotation":{"radians":-1.839838206677028}},"curvature":-14.689952636946256},{"time":2.6888116737198158,"velocity":0.50417963673352,"acceleration":4.499999999999817,"pose":{"translation":{"x":7.463889607768119,"y":-1.180759148508029},"rotation":{"radians":-1.9061486326525838}},"curvature":-12.431514400354017},{"time":2.6986093350325473,"velocity":0.5482691126408104,"acceleration":4.500000000000133,"pose":{"translation":{"x":7.462046159722717,"y":-1.1855740882804664},"rotation":{"radians":-1.9650609451952596}},"curvature":-10.486462314410268},{"time":2.7081288509973875,"velocity":0.5911069344825922,"acceleration":4.500000000000092,"pose":{"translation":{"x":7.459829209968529,"y":-1.1905234049653206},"rotation":{"radians":-2.0173089249512017}},"curvature":-8.841322943841373},{"time":2.717441952364332,"velocity":0.6330158906338429,"acceleration":4.50000000000032,"pose":{"translation":{"x":7.457245997807815,"y":-1.195604662754241},"rotation":{"radians":-2.063636181634097}},"curvature":-7.464887532413894},{"time":2.7265967266615663,"velocity":0.6742123749714004,"acceleration":4.499999999999955,"pose":{"translation":{"x":7.454304208182021,"y":-1.2008152690699803},"rotation":{"radians":-2.10474771146483}},"curvature":-6.319871017969904},{"time":2.7445488946059036,"velocity":0.7549971307209167,"acceleration":4.500000000000071,"pose":{"translation":{"x":7.447377753155588,"y":-1.211613411542752},"rotation":{"radians":-2.1738212970746114}},"curvature":-4.5801372088327215},{"time":2.762143609323013,"velocity":0.8341733469479109,"acceleration":4.500000000000044,"pose":{"translation":{"x":7.4391195320428505,"y":-1.2228941996783393},"rotation":{"radians":-2.2288160276989615}},"curvature":-3.37494202009036},{"time":2.7794489683599455,"velocity":0.9120474626141086,"acceleration":4.5000000000000195,"pose":{"translation":{"x":7.429605174583705,"y":-1.234631902221708},"rotation":{"radians":-2.2729705708237473}},"curvature":-2.527916987831134},{"time":2.8132657648190267,"velocity":1.0642230466799738,"acceleration":4.500000000000024,"pose":{"translation":{"x":7.407136719595017,"y":-1.2593658620207715},"rotation":{"radians":-2.337722173229997}},"curvature":-1.4772175377638754},{"time":2.877510981125424,"velocity":1.3533265200587639,"acceleration":4.499999999999988,"pose":{"translation":{"x":7.350974555129498,"y":-1.3129995813244224},"rotation":{"radians":-2.408909455392808}},"curvature":-0.5347997001052112},{"time":2.9363308363165936,"velocity":1.6180158684190273,"acceleration":4.500000000000007,"pose":{"translation":{"x":7.285072764551772,"y":-1.3703880432690192},"rotation":{"radians":-2.4353803498498174}},"curvature":-0.1169882682753502},{"time":2.988663751075912,"velocity":1.8535139848359599,"acceleration":0.6240477491454177,"pose":{"translation":{"x":7.215918010652873,"y":-1.4292870796027968},"rotation":{"radians":-2.432432107294122}},"curvature":0.17737888614083197},{"time":3.0358748089389618,"velocity":1.8829759392301701,"acceleration":-4.5,"pose":{"translation":{"x":7.149694042178108,"y":-1.487544673339861},"rotation":{"radians":-2.402842074915739}},"curvature":0.5161747347143254},{"time":3.0810517811808733,"velocity":1.6796795641415676,"acceleration":-4.500000000000006,"pose":{"translation":{"x":7.091673621783036,"y":-1.5433107520931373},"rotation":{"radians":-2.3420150749522866}},"curvature":1.0553635894564308},{"time":3.1032767337190386,"velocity":1.5796672777198235,"acceleration":-4.5,"pose":{"translation":{"x":7.066988739956747,"y":-1.5698155175341644},"rotation":{"radians":-2.296842094749197}},"curvature":1.46358366454697},{"time":3.124979476447345,"velocity":1.482004935442445,"acceleration":-4.5,"pose":{"translation":{"x":7.045610453989442,"y":-1.5952469814073202},"rotation":{"radians":-2.239856166388038}},"curvature":1.996087590213061},{"time":3.1460364092460487,"velocity":1.3872487378482772,"acceleration":-4.499999999999996,"pose":{"translation":{"x":7.027670862293224,"y":-1.6195522301762182},"rotation":{"radians":-2.170149313599266}},"curvature":2.643464806503541},{"time":3.1664386018445865,"velocity":1.295438871154857,"acceleration":-4.499999999999991,"pose":{"translation":{"x":7.013131113141328,"y":-1.6427365580918252},"rotation":{"radians":-2.0886536159341755}},"curvature":3.309498733349602},{"time":3.176435666565386,"velocity":1.250452079911259,"acceleration":-3.0504700166407472,"pose":{"translation":{"x":7.007072617840989,"y":-1.6539275607758022},"rotation":{"radians":-2.0447575100318383}},"curvature":3.5778366924102567},{"time":3.186280683232199,"velocity":1.2204201517558189,"acceleration":2.097001667554182,"pose":{"translation":{"x":7.001762402416748,"y":-1.6648700232341174},"rotation":{"radians":-2.0001134513348635}},"curvature":3.741829781587491},{"time":3.2047623123584437,"velocity":1.2591761588526724,"acceleration":4.500000000000067,"pose":{"translation":{"x":6.993126971360874,"y":-1.6860940035537344},"rotation":{"radians":-1.9150753113486085}},"curvature":3.5316640430096276},{"time":3.221389473395138,"velocity":1.3339983835177989,"acceleration":4.500000000000021,"pose":{"translation":{"x":6.986559104322092,"y":-1.706627752913635},"rotation":{"radians":-1.8500885056813583}},"curvature":2.2972998269570555},{"time":3.236635873257298,"velocity":1.402607182897519,"acceleration":4.499999999999995,"pose":{"translation":{"x":6.981146126504432,"y":-1.7267749571307505},"rotation":{"radians":-1.8244704229335087}},"curvature":6.389810104651532E-14},{"time":3.2946832500566208,"velocity":1.6638203784944703,"acceleration":4.5000000000000036,"pose":{"translation":{"x":6.9592661543988825,"y":-1.8130425384870001},"rotation":{"radians":-1.811400282697703}},"curvature":0.18305419903007367},{"time":3.358434749181396,"velocity":1.9507021245559586,"acceleration":4.50000000000001,"pose":{"translation":{"x":6.932764737139686,"y":-1.9251688628471044},"rotation":{"radians":-1.7963819825529694}},"curvature":0.08233336529423564},{"time":3.392517854417929,"velocity":2.104076098120359,"acceleration":4.500000000000006,"pose":{"translation":{"x":6.9174684998367875,"y":-1.9925542910646845},"rotation":{"radians":-1.7920610655072007}},"curvature":0.04542948812004931},{"time":3.426962507190927,"velocity":2.259077035598851,"acceleration":4.4999999999999885,"pose":{"translation":{"x":6.901075449959414,"y":-2.0658880189922586},"rotation":{"radians":-1.7897169508357862}},"curvature":0.018473484793554897},{"time":3.4607552456701294,"velocity":2.41114435875526,"acceleration":4.500000000000017,"pose":{"translation":{"x":6.883970919741171,"y":-2.142921707934635},"rotation":{"radians":-1.7891576401649198}},"curvature":-0.003838170076288228},{"time":3.4929231137943235,"velocity":2.5558997653141335,"acceleration":-3.6341466742846165,"pose":{"translation":{"x":6.866629562244371,"y":-2.220906495772335},"rotation":{"radians":-1.7903543306679175}},"curvature":-0.02668672374829891},{"time":3.5240763589432325,"velocity":2.4426843030630523,"acceleration":-4.499999999999994,"pose":{"translation":{"x":6.849566333832086,"y":-2.2968748477473047},"rotation":{"radians":-1.7935050152380263}},"curvature":-0.05623993874744346},{"time":3.5547845408773875,"velocity":2.3044974843593553,"acceleration":-4.4999999999999964,"pose":{"translation":{"x":6.833287476640194,"y":-2.367922407248626},"rotation":{"radians":-1.7991214804768882}},"curvature":-0.10257183437654888},{"time":3.6103614777393256,"velocity":2.054401268480633,"acceleration":-4.5,"pose":{"translation":{"x":6.8047701681574635,"y":-2.4856447178365855},"rotation":{"radians":-1.822526000943982}},"curvature":-0.3523138191517206},{"time":3.651204840642323,"velocity":1.8706061354171444,"acceleration":4.500000000000043,"pose":{"translation":{"x":6.783090623277312,"y":-2.5628124674485733},"rotation":{"radians":-1.879661531385654}},"curvature":-1.3684642417610602},{"time":3.675730968687195,"velocity":1.9809737116190693,"acceleration":4.5000000000000195,"pose":{"translation":{"x":6.766985279057036,"y":-2.6072139966365957},"rotation":{"radians":-1.9513027039074702}},"curvature":-1.5427633070819612E-12},{"time":3.7251636954690084,"velocity":2.203420982137231,"acceleration":4.5000000000000115,"pose":{"translation":{"x":6.731791420174782,"y":-2.7044647720887713},"rotation":{"radians":-1.8895360249931248}},"curvature":0.3028962384922683},{"time":3.760176474456862,"velocity":2.360978487582574,"acceleration":4.5,"pose":{"translation":{"x":6.707339661769482,"y":-2.7805377969098837},"rotation":{"radians":-1.8773477894358561}},"curvature":0.047626527361036446},{"time":3.7987093182424037,"velocity":2.534376284617511,"acceleration":-0.5199508206821891,"pose":{"translation":{"x":6.678867013701109,"y":-2.8704533716239875},"rotation":{"radians":-1.8796694858289695}},"curvature":-0.087437362490553},{"time":3.837555937715137,"velocity":2.5141779529419344,"acceleration":-4.367875064691538,"pose":{"translation":{"x":6.64846271193872,"y":-2.9636803526706923},"rotation":{"radians":-1.8947048458847193}},"curvature":-0.22811624607870962},{"time":3.8748367700479385,"velocity":2.351339935004546,"acceleration":-4.5,"pose":{"translation":{"x":6.618459990812718,"y":-3.049269313584438},"rotation":{"radians":-1.9246360307009078}},"curvature":-0.45654182535567983},{"time":3.9083731467642697,"velocity":2.200426239781055,"acceleration":4.500000000000014,"pose":{"translation":{"x":6.5905210891597985,"y":-3.120296800861932},"rotation":{"radians":-1.9698094797322772}},"curvature":-0.7007252930308779},{"time":3.9364224568299973,"velocity":2.3266481350768298,"acceleration":4.5,"pose":{"translation":{"x":6.564722256467882,"y":-3.178309589829586},"rotation":{"radians":-2.001488838181345}},"curvature":2.5539066129365256E-13},{"time":3.963608392830369,"velocity":2.4489848470785023,"acceleration":4.221204858316463,"pose":{"translation":{"x":6.537938124915615,"y":-3.237441399690594},"rotation":{"radians":-1.9880549453765368}},"curvature":0.2640301659784271},{"time":3.997083630396296,"velocity":2.590290682525092,"acceleration":1.6800840690819467,"pose":{"translation":{"x":6.504467396303145,"y":-3.3148614817153645},"rotation":{"radians":-1.971607271981553}},"curvature":0.13072239607567918},{"time":4.037992709073709,"velocity":2.659021373891834,"acceleration":0.8419524991631095,"pose":{"translation":{"x":6.4630861417637835,"y":-3.4139391985919607},"rotation":{"radians":-1.9627263649341367}},"curvature":0.04756533449352125},{"time":4.083571546662751,"velocity":2.697396590108877,"acceleration":-0.6936968681609014,"pose":{"translation":{"x":6.416671370635927,"y":-3.5268403456821757},"rotation":{"radians":-1.9598523044604}},"curvature":0.0029788781311610086},{"time":4.129233284474741,"velocity":2.665721185593915,"acceleration":-1.511484273578041,"pose":{"translation":{"x":6.370156860656412,"y":-3.6401059183334414},"rotation":{"radians":-1.9619346995648212}},"curvature":-0.03968862552733675},{"time":4.170396514342045,"velocity":2.6035036109998075,"acceleration":-2.663899099640385,"pose":{"translation":{"x":6.3284889881538575,"y":-3.74023087919074},"rotation":{"radians":-1.9697003811835467}},"curvature":-0.11439521721935789},{"time":4.203998874241656,"velocity":2.5139903147174403,"acceleration":4.499999999999967,"pose":{"translation":{"x":6.294582558242029,"y":-3.81924292550852},"rotation":{"radians":-1.984322806626164}},"curvature":-0.2283636351184617},{"time":4.2299924000906435,"velocity":2.630961181037883,"acceleration":-2.5677030177677365,"pose":{"translation":{"x":6.267276635013188,"y":-3.88028125646261},"rotation":{"radians":-1.9961898206316888}},"curvature":-3.718304897395597E-13},{"time":4.255962670671904,"velocity":2.5642772388941353,"acceleration":1.9034571910962814,"pose":{"translation":{"x":6.23922019896753,"y":-3.941631121038789},"rotation":{"radians":-2.0049477277332395}},"curvature":-0.16335886169672642},{"time":4.290203154609973,"velocity":2.629452534272669,"acceleration":-4.089488078598774,"pose":{"translation":{"x":6.201335361250187,"y":-4.0220744791727014},"rotation":{"radians":-2.0156859277247685}},"curvature":-0.08280776660273527},{"time":4.334838350484018,"velocity":2.4469174328598386,"acceleration":-4.5,"pose":{"translation":{"x":6.152210651921689,"y":-4.124162319704786},"rotation":{"radians":-2.022062347830648}},"curvature":-0.037586189160884666},{"time":4.38940516663779,"velocity":2.2013667601678666,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":6.09668889886182,"y":-4.238183851564877},"rotation":{"radians":-2.0254071580455033}},"curvature":-0.017583286099940882},{"time":4.448829165635056,"velocity":1.9339587646801675,"acceleration":-4.499999999999998,"pose":{"translation":{"x":6.042646637292194,"y":-4.348529551531317},"rotation":{"radians":-2.026743957009689}},"curvature":-0.003811340975765062},{"time":4.505238094619653,"velocity":1.68011858424948,"acceleration":-4.5,"pose":{"translation":{"x":5.997773519298815,"y":-4.440054211990066},"rotation":{"radians":-2.0261395522652093}},"curvature":0.02077742451270997},{"time":4.5840266503136,"velocity":1.325570083626717,"acceleration":-4.5,"pose":{"translation":{"x":5.946035363842139,"y":-4.5465594485211},"rotation":{"radians":-2.0183163019521078}},"curvature":-3.012836197628505E-13},{"time":4.600452026942311,"velocity":1.251655888797516,"acceleration":-3.163760308087354,"pose":{"translation":{"x":5.936556497255027,"y":-4.565484265063717},"rotation":{"radians":-2.064628046880355}},"curvature":-3.571427190245016},{"time":4.609778117638347,"velocity":1.2221503732237742,"acceleration":4.499999999999709,"pose":{"translation":{"x":5.930873224440056,"y":-4.5755225665272805},"rotation":{"radians":-2.1075808705966947}},"curvature":-3.7321628991871814},{"time":4.619875736071034,"velocity":1.2675896561708613,"acceleration":4.5000000000000995,"pose":{"translation":{"x":5.924201504522159,"y":-4.586176140795628},"rotation":{"radians":-2.1520402224255477}},"curvature":-3.2843626854041},{"time":4.641934356501074,"velocity":1.3668534481060457,"acceleration":4.500000000000048,"pose":{"translation":{"x":5.907264235271395,"y":-4.609785149466344},"rotation":{"radians":-2.2277586558349807}},"curvature":-1.9758845219610193},{"time":4.6665268258082735,"velocity":1.4775195599884432,"acceleration":4.4999999999999565,"pose":{"translation":{"x":5.885140344231054,"y":-4.636873699129188},"rotation":{"radians":-2.277838812922086}},"curvature":-0.9905387662992968},{"time":4.72070127661558,"velocity":1.721304588621323,"acceleration":-1.159359227155123,"pose":{"translation":{"x":5.8272724292904545,"y":-4.701364426734989},"rotation":{"radians":-2.3124024921267456}},"curvature":0.013955931147822767},{"time":4.780050365555459,"velocity":1.652497674735625,"acceleration":-4.5,"pose":{"translation":{"x":5.760503657459791,"y":-4.775964384068014},"rotation":{"radians":-2.278730146762986}},"curvature":0.661093781844257},{"time":4.811929170039443,"velocity":1.5090430545576958,"acceleration":-4.5,"pose":{"translation":{"x":5.728505684666588,"y":-4.814894978457702},"rotation":{"radians":-2.235162805251749}},"curvature":1.0961299502459416},{"time":4.845423850091092,"velocity":1.3583169943252749,"acceleration":-4.500000000000005,"pose":{"translation":{"x":5.700081747766614,"y":-4.853599797205923},"rotation":{"radians":-2.1680248787945833}},"curvature":1.757620630537024},{"time":4.862564259875529,"velocity":1.281185150295309,"acceleration":-4.499999999999995,"pose":{"translation":{"x":5.687766218327823,"y":-4.8725745365264155},"rotation":{"radians":-2.123216480360578}},"curvature":2.2261447269644323},{"time":4.879867373645608,"velocity":1.2033211383299562,"acceleration":-4.499999999999995,"pose":{"translation":{"x":5.676964548292993,"y":-4.89115819582592},"rotation":{"radians":-2.069282861912245}},"curvature":2.8197852070434726},{"time":4.89728864338308,"velocity":1.1249254245113318,"acceleration":-4.499999999999994,"pose":{"translation":{"x":5.6678240008681655,"y":-4.90926204359236},"rotation":{"radians":-2.0049285397303866}},"curvature":3.557955262784595},{"time":4.914826277133656,"velocity":1.0460060726337381,"acceleration":-4.499999999999988,"pose":{"translation":{"x":5.660452710336893,"y":-4.92681346622997},"rotation":{"radians":-1.9290964956932903}},"curvature":4.438007692288481},{"time":4.923657626800653,"velocity":1.0062649991322554,"acceleration":-4.5,"pose":{"translation":{"x":5.657452152605622,"y":-4.935364456137411},"rotation":{"radians":-1.886727236623641}},"curvature":4.9177115386256585},{"time":4.93254969087143,"velocity":0.9662507108137552,"acceleration":-4.499999999999994,"pose":{"translation":{"x":5.654913682519064,"y":-4.943758904004977},"rotation":{"radians":-1.841461127225999}},"curvature":5.407362253384503},{"time":4.941526413628981,"velocity":0.9258554584047728,"acceleration":-4.5,"pose":{"translation":{"x":5.652837140182536,"y":-4.951993573710473},"rotation":{"radians":-1.79349304281632}},"curvature":5.887059520979176},{"time":4.950620604190482,"velocity":0.8849316008780175,"acceleration":-4.143829601553755,"pose":{"translation":{"x":5.651218795229721,"y":-4.960066786991287},"rotation":{"radians":-1.7431630871890897}},"curvature":6.330503910917793},{"time":4.959857713677479,"velocity":0.8466545931530055,"acceleration":-4.499999999999993,"pose":{"translation":{"x":5.650051159337019,"y":-4.967978515192694},"rotation":{"radians":-1.6909786461077827}},"curvature":6.705859650499326},{"time":4.969290482356664,"velocity":0.8042071340966738,"acceleration":-4.5,"pose":{"translation":{"x":5.649322798737876,"y":-4.9757304710161625},"rotation":{"radians":-1.6376263776857742}},"curvature":6.977977660835564},{"time":4.979007220438062,"velocity":0.7604818127303815,"acceleration":-4.500000000000007,"pose":{"translation":{"x":5.649018146737125,"y":-4.983326200267652},"rotation":{"radians":-1.5839693528694552}},"curvature":7.111918230185031},{"time":4.989099234959708,"velocity":0.7150677473829724,"acceleration":-4.4999999999999885,"pose":{"translation":{"x":5.649117316225329,"y":-4.9907711736059195},"rotation":{"radians":-1.531026634408773}},"curvature":7.077199829846817},{"time":4.999684947762895,"velocity":0.6674320397686304,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":5.649595912193108,"y":-4.998072878290817},"rotation":{"radians":-1.4799363085462358}},"curvature":6.851731928515863},{"time":5.010921909773139,"velocity":0.6168657107225303,"acceleration":-4.5,"pose":{"translation":{"x":5.650424844245491,"y":-5.005240909931599},"rotation":{"radians":-1.4319073873778112}},"curvature":6.424251674858325},{"time":5.036324996926984,"velocity":0.502551818530228,"acceleration":-4.5,"pose":{"translation":{"x":5.6529927531822,"y":-5.019225428754662},"rotation":{"radians":-1.349929704456554}},"curvature":4.970754709570831},{"time":5.148003178822591,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":5.660487567245657,"y":-5.0462680925649535},"rotation":{"radians":-1.2742505177252024}},"curvature":-2.1831735954903813E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":4.000000000000001,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.19789609870522573,"velocity":0.7915843948209031,"acceleration":3.999999999999999,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.27961135788550623,"velocity":1.1184454315420251,"acceleration":4.0,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.34195090725948274,"velocity":1.3678036290379312,"acceleration":4.0,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.3940844604385629,"velocity":1.5763378417542517,"acceleration":4.0,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.4395745327899509,"velocity":1.7582981311598038,"acceleration":3.999999999999991,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.4802724656709127,"velocity":1.9210898626836506,"acceleration":4.000000000000003,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.5173086640231962,"velocity":2.069234656092785,"acceleration":0.467764910229089,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.5524398656964395,"velocity":2.0856677994897095,"acceleration":-1.1085033593793463,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.5873865899516609,"velocity":2.046929238253493,"acceleration":-0.8190145874505249,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.6226311828479575,"velocity":2.018063402542671,"acceleration":-0.5133331601243778,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.658124626613631,"velocity":1.9998434408907408,"acceleration":-0.20295657345449183,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.6938198787416049,"velocity":1.9925988548302531,"acceleration":0.09766145035032003,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.7296742412003081,"velocity":1.9961004438693561,"acceleration":0.37371595382228145,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.7656527543368897,"velocity":2.009546188223301,"acceleration":0.6125189905823517,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.8017311609420554,"velocity":2.031644897418917,"acceleration":0.8054012982846817,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.8378972287573142,"velocity":2.0607730953911783,"acceleration":0.9487194852031666,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":0.8741498757731957,"velocity":2.0951666880053375,"acceleration":1.043848411806092,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":0.9104962802368308,"velocity":2.133106824579565,"acceleration":1.0962995466767127,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":0.9469476702795471,"velocity":2.1730684669591307,"acceleration":1.114317963167015,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":0.983514653481374,"velocity":2.213815713199753,"acceleration":1.1073830554713748,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.020202825663888,"velocity":2.254443573410885,"acceleration":1.084959111684444,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.0570091366655188,"velocity":2.294376915899596,"acceleration":1.0556776642123387,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.0939192212397775,"velocity":2.3333420677688292,"acceleration":1.026971606549391,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.1309057000284592,"velocity":2.3713261313110467,"acceleration":1.0050771173259168,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.1679273386033817,"velocity":2.4085357330886117,"acceleration":0.9952829336981994,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.2049289098344205,"velocity":2.445362765454883,"acceleration":1.002317161501784,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.2418416140441066,"velocity":2.4823610023616904,"acceleration":1.030791883040532,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.2785839527484302,"velocity":2.520234706862033,"acceleration":1.0856529771112022,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.3150630128809324,"velocity":2.559838307097103,"acceleration":1.172591272248787,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.3511761947730123,"velocity":2.602184308996889,"acceleration":1.2983471478310618,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.3868135109129587,"velocity":2.648453916763542,"acceleration":1.470762252915322,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.421860700310348,"velocity":2.699999999999996,"acceleration":1.1375917470597876E-13,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.4565608434268418,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.491132670988609,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5254591260960506,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5594350727785216,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5929668986300325,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6259721174449528,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6583789718537116,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6901260359584982,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7211618179689654,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.751444362837929,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7809408548970713,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8096272204926418,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8374877306211574,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8645146035651066,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8907076075286475,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.916073663273313,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9406264467537102,"velocity":2.7,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9643859917532216,"velocity":2.7,"acceleration":-0.7029009793812431,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.009904604838853,"velocity":2.668004922282034,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.054352565373846,"velocity":2.4902130801420617,"acceleration":-3.999999999999996,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.099366368852981,"velocity":2.3101578662255227,"acceleration":-4.000000000000004,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.145613113067059,"velocity":2.125170889369211,"acceleration":-4.000000000000003,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1940934446523417,"velocity":1.9312495630280797,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2463448675237663,"velocity":1.7222438715423805,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3049033894426345,"velocity":1.4880097838669066,"acceleration":-4.0,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3724584291443045,"velocity":1.2177896250602263,"acceleration":-4.0,"pose":{"translation":{"x":7.291391427065546,"y":-1.100829703353923},"rotation":{"radians":-0.027821850230778215}},"curvature":-0.650210314192843},{"time":2.4088388991915237,"velocity":1.0722677448713493,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.33300693575994,"y":-1.102681343908726},"rotation":{"radians":-0.06466356345347674}},"curvature":-1.1671521341710898},{"time":2.446320984576686,"velocity":0.9223394033306994,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":7.370233046899057,"y":-1.1060809225877481},"rotation":{"radians":-0.12296931421995656}},"curvature":-2.060099762721178},{"time":2.4653666995662546,"velocity":0.846156543372424,"acceleration":-4.0,"pose":{"translation":{"x":7.386904400841855,"y":-1.1084662489341992},"rotation":{"radians":-0.16325383468827934}},"curvature":-2.7730985925232075},{"time":2.4845833234215995,"velocity":0.7692900479510443,"acceleration":-4.000000000000002,"pose":{"translation":{"x":7.402155192351948,"y":-1.111353633071441},"rotation":{"radians":-0.21358032077615297}},"curvature":-3.7862951832682605},{"time":2.50398459349944,"velocity":0.6916849676396825,"acceleration":-4.0,"pose":{"translation":{"x":7.415909561237784,"y":-1.114770334002192},"rotation":{"radians":-0.2768284721084359}},"curvature":-5.252936086916672},{"time":2.523644906141851,"velocity":0.6130437170700381,"acceleration":-4.0,"pose":{"translation":{"x":7.428105903379064,"y":-1.1187386439112075},"rotation":{"radians":-0.35686632281713865}},"curvature":-7.397416721857951},{"time":2.533628385032158,"velocity":0.5731098015088096,"acceleration":-4.000000000000005,"pose":{"translation":{"x":7.433604315141906,"y":-1.1209353108447915},"rotation":{"radians":-0.40469686961167517}},"curvature":-8.81393295104801},{"time":2.5437656259554116,"velocity":0.5325608378157956,"acceleration":-4.000000000000005,"pose":{"translation":{"x":7.438696276906384,"y":-1.123276093041583},"rotation":{"radians":-0.45867228530255166}},"curvature":-10.5116637682121},{"time":2.5541219249270433,"velocity":0.49113564192926823,"acceleration":-3.9999999999999973,"pose":{"translation":{"x":7.443377833241871,"y":-1.125762471341103},"rotation":{"radians":-0.5195379709979431}},"curvature":-12.521757406781552},{"time":2.564796796992125,"velocity":0.448436153668942,"acceleration":-3.999999999999997,"pose":{"translation":{"x":7.44764580838088,"y":-1.1283956545710556},"rotation":{"radians":-0.5880100735834901}},"curvature":-14.85458396152343},{"time":2.575945585141688,"velocity":0.40384100107069026,"acceleration":-3.999999999999997,"pose":{"translation":{"x":7.4514977876621735,"y":-1.1311765859497145},"rotation":{"radians":-0.6646802737127656}},"curvature":-17.4795810166942},{"time":2.587821596922085,"velocity":0.3563369539491027,"acceleration":-3.25912456081629,"pose":{"translation":{"x":7.454932098973876,"y":-1.134105949488305},"rotation":{"radians":-0.7498755855456528}},"curvature":-20.29968500248048},{"time":2.5941165805626167,"velocity":0.3358208181563094,"acceleration":-2.7492882831906353,"pose":{"translation":{"x":7.456492305080279,"y":-1.1356264377697427},"rotation":{"radians":-0.7956562154609756}},"curvature":-21.728400778541683},{"time":2.600639050184941,"velocity":0.31788866884618683,"acceleration":-2.282635332632597,"pose":{"translation":{"x":7.457947794196594,"y":-1.1371841763933905},"rotation":{"radians":-0.8434788689153079}},"curvature":-23.12820866880771},{"time":2.607377059148542,"velocity":0.3025082515142754,"acceleration":-1.8551049609010373,"pose":{"translation":{"x":7.459298557887232,"y":-1.1387791808097316},"rotation":{"radians":-0.8932284950696684}},"curvature":-24.46103818109851},{"time":2.61431292196745,"velocity":0.2896414979907902,"acceleration":-1.4617729289740031,"pose":{"translation":{"x":7.460544630646523,"y":-1.1404114514692556},"rotation":{"radians":-0.944741230203777}},"curvature":-25.684779785449013},{"time":2.621423027085801,"velocity":0.279248138806625,"acceleration":-1.0970441311427284,"pose":{"translation":{"x":7.461686089318814,"y":-1.1420809740225333},"rotation":{"radians":-0.9978029559869008}},"curvature":-26.755617400486308},{"time":2.628677998671608,"velocity":0.2712891148068086,"acceleration":-0.7548275652527187,"pose":{"translation":{"x":7.462723052518566,"y":-1.1437877195202912},"rotation":{"radians":-1.0521507937987378}},"curvature":-27.631116920906926},{"time":2.6360432622997707,"velocity":0.2657296107949181,"acceleration":-0.42868941063916144,"pose":{"translation":{"x":7.463655680050451,"y":-1.1455316446134858},"rotation":{"radians":-1.1074779835281168}},"curvature":-28.2737787148395},{"time":2.643480025324525,"velocity":0.2625415492367731,"acceleration":-0.11198410589122863,"pose":{"translation":{"x":7.464484172329446,"y":-1.1473126917533785},"rotation":{"radians":-1.1634422271483342}},"curvature":-28.65458793715891},{"time":2.6509466268244766,"velocity":0.2617054085437549,"acceleration":0.2020330525857381,"pose":{"translation":{"x":7.46520876980094,"y":-1.1491307893916096},"rotation":{"radians":-1.2196771131358384}},"curvature":-28.755999475861472},{"time":2.658400154937113,"velocity":0.2632112675808844,"acceleration":0.5201055242661446,"pose":{"translation":{"x":7.46582975236082,"y":-1.1509858521802734},"rotation":{"radians":-1.2758057659201345}},"curvature":-28.573825683680486},{"time":2.6657981844814755,"velocity":0.26705902361559164,"acceleration":0.8488794958355312,"pose":{"translation":{"x":7.466347438775576,"y":-1.1528777811719926},"rotation":{"radians":-1.331455494132833}},"curvature":-28.117668468730983},{"time":2.673100466667467,"velocity":0.2732577812360848,"acceleration":1.1948040702136848,"pose":{"translation":{"x":7.466762186102392,"y":-1.1548064640199922},"rotation":{"radians":-1.3862720377899758}},"curvature":-27.409814592509886},{"time":2.6802704111904534,"velocity":0.2818244601353552,"acceleration":1.5640205494310842,"pose":{"translation":{"x":7.467074389109252,"y":-1.1567717751781745},"rotation":{"radians":-1.4399320847953063}},"curvature":-26.482813979610114},{"time":2.6872762367574654,"velocity":0.292781715287892,"acceleration":1.9622358621005578,"pose":{"translation":{"x":7.467284479695027,"y":-1.158773576101194},"rotation":{"radians":-1.4921530220635075}},"curvature":-25.376195561326828},{"time":2.69409171952215,"velocity":0.3061552999862842,"acceleration":2.3945782534034636,"pose":{"translation":{"x":7.467392926309582,"y":-1.1608117154445305},"rotation":{"radians":-1.542699328039103}},"curvature":-24.13288147640941},{"time":2.7006965268599146,"velocity":0.3219710280052148,"acceleration":2.8654369583296915,"pose":{"translation":{"x":7.4674002333738665,"y":-1.1628860292645662},"rotation":{"radians":-1.5913854936628287}},"curvature":-22.79582618985712},{"time":2.7070761741335083,"velocity":0.3402515050840773,"acceleration":3.378291306792765,"pose":{"translation":{"x":7.4673069407000146,"y":-1.1649963412186568},"rotation":{"radians":-1.6380757769664533}},"curvature":-21.405267157377484},{"time":2.7132216766134793,"velocity":0.3610128026880367,"acceleration":3.9999999999997193,"pose":{"translation":{"x":7.467113622911442,"y":-1.1671424627652092},"rotation":{"radians":-1.6826813861112742}},"curvature":-19.99678746639396},{"time":2.7248091288627534,"velocity":0.40736261168512905,"acceleration":3.999999999999613,"pose":{"translation":{"x":7.466429381060786,"y":-1.1715413206750205},"rotation":{"radians":-1.765489142784833}},"curvature":-17.239258032151128},{"time":2.7356815908274217,"velocity":0.4508524595437975,"acceleration":4.000000000000131,"pose":{"translation":{"x":7.465352778998552,"y":-1.176080858285079},"rotation":{"radians":-1.839838206677028}},"curvature":-14.689952636946256},{"time":2.746074638272199,"velocity":0.49242464932290836,"acceleration":3.9999999999998384,"pose":{"translation":{"x":7.463889607768119,"y":-1.180759148508029},"rotation":{"radians":-1.9061486326525838}},"curvature":-12.431514400354017},{"time":2.7561338291781294,"velocity":0.5326614129466279,"acceleration":4.000000000000113,"pose":{"translation":{"x":7.462046159722717,"y":-1.1855740882804664},"rotation":{"radians":-1.9650609451952596}},"curvature":-10.486462314410268},{"time":2.7659530500055323,"velocity":0.5719382962562396,"acceleration":4.000000000000073,"pose":{"translation":{"x":7.459829209968529,"y":-1.1905234049653206},"rotation":{"radians":-2.0173089249512017}},"curvature":-8.841322943841373},{"time":2.775594435100639,"velocity":0.6105038366366666,"acceleration":4.000000000000297,"pose":{"translation":{"x":7.457245997807815,"y":-1.195604662754241},"rotation":{"radians":-2.063636181634097}},"curvature":-7.464887532413894},{"time":2.7850996831191805,"velocity":0.6485248287108349,"acceleration":3.999999999999963,"pose":{"translation":{"x":7.454304208182021,"y":-1.2008152690699803},"rotation":{"radians":-2.10474771146483}},"curvature":-6.319871017969904},{"time":2.8038023240157717,"velocity":0.7233353922971991,"acceleration":4.0000000000000675,"pose":{"translation":{"x":7.447377753155588,"y":-1.211613411542752},"rotation":{"radians":-2.1738212970746114}},"curvature":-4.5801372088327215},{"time":2.822194806799664,"velocity":0.79690532343277,"acceleration":4.000000000000041,"pose":{"translation":{"x":7.4391195320428505,"y":-1.2228941996783393},"rotation":{"radians":-2.2288160276989615}},"curvature":-3.37494202009036},{"time":2.8403296395011712,"velocity":0.869444654238799,"acceleration":4.000000000000021,"pose":{"translation":{"x":7.429605174583705,"y":-1.234631902221708},"rotation":{"radians":-2.2729705708237473}},"curvature":-2.527916987831134},{"time":2.8758590843361826,"velocity":1.0115624335788451,"acceleration":4.000000000000023,"pose":{"translation":{"x":7.407136719595017,"y":-1.2593658620207715},"rotation":{"radians":-2.337722173229997}},"curvature":-1.4772175377638754},{"time":2.9435658223526495,"velocity":1.282389385644715,"acceleration":3.99999999999999,"pose":{"translation":{"x":7.350974555129498,"y":-1.3129995813244224},"rotation":{"radians":-2.408909455392808}},"curvature":-0.5347997001052112},{"time":3.005690490959292,"velocity":1.5308880600712846,"acceleration":4.000000000000005,"pose":{"translation":{"x":7.285072764551772,"y":-1.3703880432690192},"rotation":{"radians":-2.4353803498498174}},"curvature":-0.1169882682753502},{"time":3.061026645312853,"velocity":1.7522326774855301,"acceleration":1.4458905945767542,"pose":{"translation":{"x":7.215918010652873,"y":-1.4292870796027968},"rotation":{"radians":-2.432432107294122}},"curvature":0.17737888614083197},{"time":3.1103593502334266,"velocity":1.8235623715352176,"acceleration":-4.000000000000003,"pose":{"translation":{"x":7.149694042178108,"y":-1.487544673339861},"rotation":{"radians":-2.402842074915739}},"curvature":0.5161747347143254},{"time":3.156861697702054,"velocity":1.6375529816607068,"acceleration":-4.0,"pose":{"translation":{"x":7.091673621783036,"y":-1.5433107520931373},"rotation":{"radians":-2.3420150749522866}},"curvature":1.0553635894564308},{"time":3.1796118329060543,"velocity":1.546552440844706,"acceleration":-3.9999999999999933,"pose":{"translation":{"x":7.066988739956747,"y":-1.5698155175341644},"rotation":{"radians":-2.296842094749197}},"curvature":1.46358366454697},{"time":3.20172647723677,"velocity":1.4580938635218441,"acceleration":-3.999999999999989,"pose":{"translation":{"x":7.045610453989442,"y":-1.5952469814073202},"rotation":{"radians":-2.239856166388038}},"curvature":1.996087590213061},{"time":3.2230693248820597,"velocity":1.372722472940685,"acceleration":-4.000000000000004,"pose":{"translation":{"x":7.027670862293224,"y":-1.6195522301762182},"rotation":{"radians":-2.170149313599266}},"curvature":2.643464806503541},{"time":3.243620497139146,"velocity":1.2905177839123403,"acceleration":-3.999999999999991,"pose":{"translation":{"x":7.013131113141328,"y":-1.6427365580918252},"rotation":{"radians":-2.0886536159341755}},"curvature":3.309498733349602},{"time":3.253636923139416,"velocity":1.2504520799112593,"acceleration":-3.0504700166407748,"pose":{"translation":{"x":7.007072617840989,"y":-1.6539275607758022},"rotation":{"radians":-2.0447575100318383}},"curvature":3.5778366924102567},{"time":3.263481939806229,"velocity":1.2204201517558189,"acceleration":2.097001667554182,"pose":{"translation":{"x":7.001762402416748,"y":-1.6648700232341174},"rotation":{"radians":-2.0001134513348635}},"curvature":3.741829781587491},{"time":3.2819635689324738,"velocity":1.2591761588526724,"acceleration":4.000000000000067,"pose":{"translation":{"x":6.993126971360874,"y":-1.6860940035537344},"rotation":{"radians":-1.9150753113486085}},"curvature":3.5316640430096276},{"time":3.298642861656469,"velocity":1.3258933297486548,"acceleration":4.000000000000016,"pose":{"translation":{"x":6.986559104322092,"y":-1.706627752913635},"rotation":{"radians":-1.8500885056813583}},"curvature":2.2972998269570555},{"time":3.314020240332377,"velocity":1.3874028444522877,"acceleration":3.999999999999994,"pose":{"translation":{"x":6.981146126504432,"y":-1.7267749571307505},"rotation":{"radians":-1.8244704229335087}},"curvature":6.389810104651532E-14},{"time":3.3731312698065565,"velocity":1.6238469623490053,"acceleration":4.0000000000000036,"pose":{"translation":{"x":6.9592661543988825,"y":-1.8130425384870001},"rotation":{"radians":-1.811400282697703}},"curvature":0.18305419903007367},{"time":3.438776083317163,"velocity":1.8864262163914312,"acceleration":4.0,"pose":{"translation":{"x":6.932764737139686,"y":-1.9251688628471044},"rotation":{"radians":-1.7963819825529694}},"curvature":0.08233336529423564},{"time":3.474084315042944,"velocity":2.027659143294556,"acceleration":4.0000000000000115,"pose":{"translation":{"x":6.9174684998367875,"y":-1.9925542910646845},"rotation":{"radians":-1.7920610655072007}},"curvature":0.04542948812004931},{"time":3.5098797868690204,"velocity":2.1708410305988606,"acceleration":3.999999999999989,"pose":{"translation":{"x":6.901075449959414,"y":-2.0658880189922586},"rotation":{"radians":-1.7897169508357862}},"curvature":0.018473484793554897},{"time":3.5450876171115824,"velocity":2.3116723515691087,"acceleration":4.0000000000000115,"pose":{"translation":{"x":6.883970919741171,"y":-2.142921707934635},"rotation":{"radians":-1.7891576401649198}},"curvature":-0.003838170076288228},{"time":3.578671059389586,"velocity":2.4460061206811243,"acceleration":-1.8649269597260008,"pose":{"translation":{"x":6.866629562244371,"y":-2.220906495772335},"rotation":{"radians":-1.7903543306679175}},"curvature":-0.02668672374829891},{"time":3.610898920979179,"velocity":2.3859035127483748,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.849566333832086,"y":-2.2968748477473047},"rotation":{"radians":-1.7935050152380263}},"curvature":-0.05623993874744346},{"time":3.6422737969034946,"velocity":2.2604040090511113,"acceleration":-4.0,"pose":{"translation":{"x":6.833287476640194,"y":-2.367922407248626},"rotation":{"radians":-1.7991214804768882}},"curvature":-0.10257183437654888},{"time":3.698674904764029,"velocity":2.034799577608974,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":6.8047701681574635,"y":-2.4856447178365855},"rotation":{"radians":-1.822526000943982}},"curvature":-0.3523138191517206},{"time":3.7397232653119867,"velocity":1.8706061354171442,"acceleration":4.000000000000033,"pose":{"translation":{"x":6.783090623277312,"y":-2.5628124674485733},"rotation":{"radians":-1.879661531385654}},"curvature":-1.3684642417610602},{"time":3.764325773840423,"velocity":1.9690161695308905,"acceleration":4.000000000000011,"pose":{"translation":{"x":6.766985279057036,"y":-2.6072139966365957},"rotation":{"radians":-1.9513027039074702}},"curvature":-1.5427633070819612E-12},{"time":3.814312962048904,"velocity":2.168964922364814,"acceleration":4.0000000000000115,"pose":{"translation":{"x":6.731791420174782,"y":-2.7044647720887713},"rotation":{"radians":-1.8895360249931248}},"curvature":0.3028962384922683},{"time":3.8499805734167563,"velocity":2.311635367836224,"acceleration":4.0,"pose":{"translation":{"x":6.707339661769482,"y":-2.7805377969098837},"rotation":{"radians":-1.8773477894358561}},"curvature":0.047626527361036446},{"time":3.8894343597341896,"velocity":2.469450513105958,"acceleration":0.4071553445490418,"pose":{"translation":{"x":6.678867013701109,"y":-2.8704533716239875},"rotation":{"radians":-1.8796694858289695}},"curvature":-0.087437362490553},{"time":3.929014303968727,"velocity":2.485565698938003,"acceleration":-4.000000000000005,"pose":{"translation":{"x":6.64846271193872,"y":-2.9636803526706923},"rotation":{"radians":-1.8947048458847193}},"curvature":-0.22811624607870962},{"time":3.966642366042142,"velocity":2.3350534506443426,"acceleration":-4.000000000000006,"pose":{"translation":{"x":6.618459990812718,"y":-3.049269313584438},"rotation":{"radians":-1.9246360307009078}},"curvature":-0.45654182535567983},{"time":4.000299168757964,"velocity":2.200426239781055,"acceleration":4.000000000000014,"pose":{"translation":{"x":6.5905210891597985,"y":-3.120296800861932},"rotation":{"radians":-1.9698094797322772}},"curvature":-0.7007252930308779},{"time":4.02843352357277,"velocity":2.312963659040278,"acceleration":4.000000000000013,"pose":{"translation":{"x":6.564722256467882,"y":-3.178309589829586},"rotation":{"radians":-2.001488838181345}},"curvature":2.5539066129365256E-13},{"time":4.055849333910421,"velocity":2.422626900390885,"acceleration":4.000000000000005,"pose":{"translation":{"x":6.537938124915615,"y":-3.237441399690594},"rotation":{"radians":-1.9880549453765368}},"curvature":0.2640301659784271},{"time":4.0897180618124285,"velocity":2.5581018119989136,"acceleration":2.4517961457732023,"pose":{"translation":{"x":6.504467396303145,"y":-3.3148614817153645},"rotation":{"radians":-1.971607271981553}},"curvature":0.13072239607567918},{"time":4.130879543392739,"velocity":2.659021373891834,"acceleration":0.8419524991631095,"pose":{"translation":{"x":6.4630861417637835,"y":-3.4139391985919607},"rotation":{"radians":-1.9627263649341367}},"curvature":0.04756533449352125},{"time":4.176458380981781,"velocity":2.697396590108877,"acceleration":-0.6936968681609014,"pose":{"translation":{"x":6.416671370635927,"y":-3.5268403456821757},"rotation":{"radians":-1.9598523044604}},"curvature":0.0029788781311610086},{"time":4.222120118793771,"velocity":2.665721185593915,"acceleration":-1.511484273578041,"pose":{"translation":{"x":6.370156860656412,"y":-3.6401059183334414},"rotation":{"radians":-1.9619346995648212}},"curvature":-0.03968862552733675},{"time":4.263283348661075,"velocity":2.6035036109998075,"acceleration":-2.663899099640385,"pose":{"translation":{"x":6.3284889881538575,"y":-3.74023087919074},"rotation":{"radians":-1.9697003811835467}},"curvature":-0.11439521721935789},{"time":4.296885708560686,"velocity":2.5139903147174403,"acceleration":3.99999999999996,"pose":{"translation":{"x":6.294582558242029,"y":-3.81924292550852},"rotation":{"radians":-1.984322806626164}},"curvature":-0.2283636351184617},{"time":4.322943753056312,"velocity":2.6182224926999424,"acceleration":-2.0720993357263846,"pose":{"translation":{"x":6.267276635013188,"y":-3.88028125646261},"rotation":{"radians":-1.9961898206316888}},"curvature":-3.718304897395597E-13},{"time":4.348977859083809,"velocity":2.5642772388941353,"acceleration":-0.9726363979091174,"pose":{"translation":{"x":6.23922019896753,"y":-3.941631121038789},"rotation":{"radians":-2.0049477277332395}},"curvature":-0.16335886169672642},{"time":4.3838845677887734,"velocity":2.5303257034764757,"acceleration":-3.999999999999996,"pose":{"translation":{"x":6.201335361250187,"y":-4.0220744791727014},"rotation":{"radians":-2.0156859277247685}},"curvature":-0.08280776660273527},{"time":4.430366114455049,"velocity":2.3443995168113725,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":6.152210651921689,"y":-4.124162319704786},"rotation":{"radians":-2.022062347830648}},"curvature":-0.037586189160884666},{"time":4.487218838584074,"velocity":2.1169886202952757,"acceleration":-4.0,"pose":{"translation":{"x":6.09668889886182,"y":-4.238183851564877},"rotation":{"radians":-2.0254071580455033}},"curvature":-0.017583286099940882},{"time":4.548846323206311,"velocity":1.8704786818063273,"acceleration":-4.0,"pose":{"translation":{"x":6.042646637292194,"y":-4.348529551531317},"rotation":{"radians":-2.026743957009689}},"curvature":-0.003811340975765062},{"time":4.606952137893411,"velocity":1.6380554230579256,"acceleration":-4.000000000000001,"pose":{"translation":{"x":5.997773519298815,"y":-4.440054211990066},"rotation":{"radians":-2.0261395522652093}},"curvature":0.02077742451270997},{"time":4.687075449150032,"velocity":1.3175621780314428,"acceleration":-4.000000000000005,"pose":{"translation":{"x":5.946035363842139,"y":-4.5465594485211},"rotation":{"radians":-2.0183163019521078}},"curvature":-3.012836197628505E-13},{"time":4.703552021458513,"velocity":1.251655888797516,"acceleration":-3.163760308087354,"pose":{"translation":{"x":5.936556497255027,"y":-4.565484265063717},"rotation":{"radians":-2.064628046880355}},"curvature":-3.571427190245016},{"time":4.7128781121545495,"velocity":1.2221503732237742,"acceleration":3.9999999999997438,"pose":{"translation":{"x":5.930873224440056,"y":-4.5755225665272805},"rotation":{"radians":-2.1075808705966947}},"curvature":-3.7321628991871814},{"time":4.722995919763181,"velocity":1.2626216036582998,"acceleration":4.0000000000000915,"pose":{"translation":{"x":5.924201504522159,"y":-4.586176140795628},"rotation":{"radians":-2.1520402224255477}},"curvature":-3.2843626854041},{"time":4.745225672779623,"velocity":1.3515406157240668,"acceleration":4.000000000000054,"pose":{"translation":{"x":5.907264235271395,"y":-4.609785149466344},"rotation":{"radians":-2.2277586558349807}},"curvature":-1.9758845219610193},{"time":4.770181966621506,"velocity":1.4513657910916018,"acceleration":3.999999999999964,"pose":{"translation":{"x":5.885140344231054,"y":-4.636873699129188},"rotation":{"radians":-2.277838812922086}},"curvature":-0.9905387662992968},{"time":4.825643700275614,"velocity":1.673212725708028,"acceleration":-1.8340959339395007,"pose":{"translation":{"x":5.8272724292904545,"y":-4.701364426734989},"rotation":{"radians":-2.3124024921267456}},"curvature":0.013955931147822767},{"time":4.887580854641141,"velocity":1.5596140427264311,"acceleration":-4.0,"pose":{"translation":{"x":5.760503657459791,"y":-4.775964384068014},"rotation":{"radians":-2.278730146762986}},"curvature":0.661093781844257},{"time":4.9213548763057355,"velocity":1.4245179560680528,"acceleration":-4.0,"pose":{"translation":{"x":5.728505684666588,"y":-4.814894978457702},"rotation":{"radians":-2.235162805251749}},"curvature":1.0961299502459416},{"time":4.956832083107317,"velocity":1.2826091288617272,"acceleration":-4.0,"pose":{"translation":{"x":5.700081747766614,"y":-4.853599797205923},"rotation":{"radians":-2.1680248787945833}},"curvature":1.757620630537024},{"time":4.974982548809954,"velocity":1.2100072660511805,"acceleration":-4.0,"pose":{"translation":{"x":5.687766218327823,"y":-4.8725745365264155},"rotation":{"radians":-2.123216480360578}},"curvature":2.2261447269644323},{"time":4.993301457233784,"velocity":1.1367316323558605,"acceleration":-3.9999999999999947,"pose":{"translation":{"x":5.676964548292993,"y":-4.89115819582592},"rotation":{"radians":-2.069282861912245}},"curvature":2.8197852070434726},{"time":5.0117407437563015,"velocity":1.0629744862657888,"acceleration":-4.000000000000006,"pose":{"translation":{"x":5.6678240008681655,"y":-4.90926204359236},"rotation":{"radians":-2.0049285397303866}},"curvature":3.557955262784595},{"time":5.030297346995287,"velocity":0.9887480733098469,"acceleration":-4.0,"pose":{"translation":{"x":5.660452710336893,"y":-4.92681346622997},"rotation":{"radians":-1.9290964956932903}},"curvature":4.438007692288481},{"time":5.039639161107771,"velocity":0.9513808168599094,"acceleration":-4.000000000000006,"pose":{"translation":{"x":5.657452152605622,"y":-4.935364456137411},"rotation":{"radians":-1.886727236623641}},"curvature":4.9177115386256585},{"time":5.049043109964395,"velocity":0.9137650214334129,"acceleration":-4.0,"pose":{"translation":{"x":5.654913682519064,"y":-4.943758904004977},"rotation":{"radians":-1.841461127225999}},"curvature":5.407362253384503},{"time":5.058534190574089,"velocity":0.8758006989946366,"acceleration":-4.0,"pose":{"translation":{"x":5.652837140182536,"y":-4.951993573710473},"rotation":{"radians":-1.79349304281632}},"curvature":5.887059520979176},{"time":5.068146675508864,"velocity":0.8373507592555356,"acceleration":-4.0,"pose":{"translation":{"x":5.651218795229721,"y":-4.960066786991287},"rotation":{"radians":-1.7431630871890897}},"curvature":6.330503910917793},{"time":5.077925963942339,"velocity":0.7982336055216371,"acceleration":-4.000000000000007,"pose":{"translation":{"x":5.650051159337019,"y":-4.967978515192694},"rotation":{"radians":-1.6909786461077827}},"curvature":6.705859650499326},{"time":5.087930925989962,"velocity":0.758213757331143,"acceleration":-4.000000000000007,"pose":{"translation":{"x":5.649322798737876,"y":-4.9757304710161625},"rotation":{"radians":-1.6376263776857742}},"curvature":6.977977660835564},{"time":5.098237083072518,"velocity":0.7169891290009213,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":5.649018146737125,"y":-4.983326200267652},"rotation":{"radians":-1.5839693528694552}},"curvature":7.111918230185031},{"time":5.108941280928652,"velocity":0.6741723375763853,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":5.649117316225329,"y":-4.9907711736059195},"rotation":{"radians":-1.531026634408773}},"curvature":7.077199829846817},{"time":5.120169124888892,"velocity":0.629260961735424,"acceleration":-4.0000000000000036,"pose":{"translation":{"x":5.649595912193108,"y":-4.998072878290817},"rotation":{"radians":-1.4799363085462358}},"curvature":6.851731928515863},{"time":5.132087722944961,"velocity":0.5815865695111471,"acceleration":-3.9999999999999982,"pose":{"translation":{"x":5.650424844245491,"y":-5.005240909931599},"rotation":{"radians":-1.4319073873778112}},"curvature":6.424251674858325},{"time":5.159031765729296,"velocity":0.4738103983738073,"acceleration":-4.0,"pose":{"translation":{"x":5.6529927531822,"y":-5.019225428754662},"rotation":{"radians":-1.349929704456554}},"curvature":4.970754709570831},{"time":5.2774843653227475,"velocity":0.0,"acceleration":-4.0,"pose":{"translation":{"x":5.660487567245657,"y":-5.0462680925649535},"rotation":{"radians":-1.2742505177252024}},"curvature":-2.1831735954903813E-13}] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index cab3746..357d94c 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -216,15 +216,15 @@ public final class Constants { public static final double GRAV = 385.83; //Galactic Search - public static final double searchError = 1; + public static final double searchError = 2; /*public static final double bothCloseVisibleY = -17.69; public static final double closeLeftVisibleY = -12.57; public static final double closeRightVisibleY = -11.35; public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {-4.0, 6.7}; - public static final double[] bRed = {7.0, -2.6}; + public static final double[] aRed = {1.6, -11.7}; + public static final double[] bRed = {2.5, -5.5}; public static final double[] aBlue = {9.9, 9.0}; public static final double[] bBlue = {5.5, 13.3};